Master Driver

The master node handles the creation of the necessary can interface and sets up a canopen event loop which drivers can hook onto. In addition, the node offers services for communicating with nodes via nmt and sdo. The device manager will automatically spawn a master node on start-up. The master node is configured by the provided dcf file.

Services

Services	Type	Description
~/read_sdo	COReadID	Reads an SDO object specified by Index, Subindex and Datatype of the device with the specified nodeid.
~/write_sdo	COWriteID	Writes Data to an SDO object specified by Index, Subindex and Datatype on the device with the specified nodeid.
~/set_heartbeat	COHeartbeatID	Sets the heartbeat of the device with the specified nodeid to the heartbeat value (ms)
~/set_nmt	CONmtID	Sends the NMT command to the device with the specified nodeid