Revision 10:ec59d628ebdc, committed 2016-03-19

Comitter:

ptpaterson

Date:

Sat Mar 19 01:44:35 2016 +0000

Parent:

9:8352cfe17ab1

Commit message:

Final Submission (probs)

Changed in this revision

diff -r 8352cfe17ab1 -r ec59d628ebdc Application/include/Node_pin0808.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Application/include/Node_pin0808.h	Sat Mar 19 01:44:35 2016 +0000
@@ -0,0 +1,269 @@
+/**
+ ******************************************************************************
+ * @file
+ * @author  Paul Paterson
+ * @version
+ * @date    2015-12-14
+ * @brief   CANOpen implementation library
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2015 Paul Paterson
+ *
+ * All rights reserved.
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef PPCAN_NODE_PIN0808_H
+#define PPCAN_NODE_PIN0808_H
+
+#include "Node.h"
+
+namespace ppCANOpen
+{
+    
+/** Custom Object Dictionary for pinball io_0808 device.
+  */
+class Node_pin0808 : public Node
+{
+    
+public:
+    Node_pin0808(int id, ServiceProvider * provider, int bLoop = 0);
+    virtual ~Node_pin0808(void);
+
+private:
+    /* constants */
+    /** milliseconds necessary to debounce all input */
+    static const uint8_t DEBOUNCE_TIME = 3;
+
+    /* IO details */
+    uint8_t prevInputBuffers[1];
+    uint8_t inputDebounce[8];    
+    
+    uint8_t prevOutputBuffers[1];
+    int scheduleIndexTime; 
+
+    /**************************************************************************
+     * Implementation Overrides 
+     **************************************************************************
+     */
+
+    /* Application run */
+    virtual void OnFixedUpdate(void);
+    virtual void OnUpdate(void);
+
+    /* SYNC */
+    virtual void OnSync (uint8_t counter);
+
+    /* NMT Control */  
+    virtual void OnInitialize (void);
+    virtual void OnPreoperational (void);
+    virtual void OnOperational (void);
+    virtual void OnStopped (void);
+    
+    
+    /**************************************************************************
+     * Object Dictionary 
+     **************************************************************************
+     */
+    
+    /* Communication --------------------------------------------------------*/
+    /* index 0x1200 :   SDO Server */
+    ObjectData      Obj1200;
+    SubIndexSize    Obj1200_highestSubIndex;
+    uint32_t        Obj1200_ReceiveCobId;
+    uint32_t        Obj1200_TransmitCobId;
+    EntryData       Obj1200_entries[3];
+    
+    /* index 0x1400 :   Receive PDO 1 Parameter (Write Digital Output) */
+    ObjectData      Obj1400;
+    SubIndexSize    Obj1400_highestSubIndex;
+    uint32_t        Obj1400_CobId;
+    uint8_t         Obj1400_TransmissionType;
+    uint16_t        Obj1400_InhibitTime;
+    uint8_t         Obj1400_CompatibilityEntry;
+    uint16_t        Obj1400_EventTimer;
+    EntryData       Obj1400_entries[6];
+    
+    /* index 0x1401 :   Receive PDO 2 Parameter (Write Output Configuration) */
+    ObjectData      Obj1401;
+    SubIndexSize    Obj1401_highestSubIndex;
+    uint32_t        Obj1401_CobId;
+    uint8_t         Obj1401_TransmissionType;
+    uint16_t        Obj1401_InhibitTime;
+    uint8_t         Obj1401_CompatibilityEntry;
+    uint16_t        Obj1401_EventTimer;
+    EntryData       Obj1401_entries[6];
+    
+    /* index 0x1402 :   Receive PDO 3 Parameter (Write/Clear Autotrigger Rule) */
+    ObjectData      Obj1402;
+    SubIndexSize    Obj1402_highestSubIndex;
+    uint32_t        Obj1402_CobId;
+    uint8_t         Obj1402_TransmissionType;
+    uint16_t        Obj1402_InhibitTime;
+    uint8_t         Obj1402_CompatibilityEntry;
+    uint16_t        Obj1402_EventTimer;
+    EntryData       Obj1402_entries[6];
+    
+    /* index 0x1403 :   Receive PDO 5 Parameter (input changes) */
+    ObjectData      Obj1403;
+    SubIndexSize    Obj1403_highestSubIndex;
+    uint32_t        Obj1403_CobId;
+    uint8_t         Obj1403_TransmissionType;
+    uint16_t        Obj1403_InhibitTime;
+    uint8_t         Obj1403_CompatibilityEntry;
+    uint16_t        Obj1403_EventTimer;
+    EntryData       Obj1403_entries[6];
+    
+    /* index 0x1600 :   Receive PDO 1 Mapping */
+    ObjectData      Obj1600;
+    SubIndexSize    Obj1600_highestSubIndex;
+    uint32_t        Obj1600_Map;
+    EntryData       Obj1600_entries[2];
+    
+    /* index 0x1601 :   Transmit PDO 1 Mapping */
+    ObjectData      Obj1601;
+    SubIndexSize    Obj1601_highestSubIndex;
+    uint32_t        Obj1601_Map;
+    EntryData       Obj1601_entries[2];
+    
+    /* index 0x1602 :   Transmit PDO 1 Mapping */
+    ObjectData      Obj1602;
+    SubIndexSize    Obj1602_highestSubIndex;
+    uint32_t        Obj1602_Map;
+    EntryData       Obj1602_entries[2];
+    
+    /* index 0x1603 :   Receive PDO 2 Mapping */
+    ObjectData      Obj1603;
+    SubIndexSize    Obj1603_highestSubIndex;
+    uint32_t        Obj1603_Map;
+    EntryData       Obj1603_entries[2];
+    
+    
+    /* index 0x1800 :   Transmit PDO 1 Parameter */
+    ObjectData      Obj1800;
+    SubIndexSize    Obj1800_highestSubIndex;
+    uint32_t        Obj1800_CobId;
+    uint8_t         Obj1800_TransmissionType;
+    uint16_t        Obj1800_InhibitTime;
+    uint8_t         Obj1800_CompatibilityEntry;
+    uint16_t        Obj1800_EventTimer;
+    EntryData       Obj1800_entries[6];
+    
+    /* index 0x1A00 :   Transmit PDO 1 Mapping */
+    ObjectData      Obj1A00;
+    SubIndexSize    Obj1A00_highestSubIndex;
+    uint32_t        Obj1A00_MapInput;
+    uint32_t        Obj1A00_MapVoid16;
+    uint32_t        Obj1A00_MapChange;
+    uint32_t        Obj1A00_MapSourceId;
+    EntryData       Obj1A00_entries[6];
+    
+    
+    /* Manufacturer Specific ------------------------------------------------*/
+    /* index 0x2001 : Pin Output Configurations */
+    struct OutputConfiguration {
+        static const uint8_t PULSE          = 0x01;
+        static const uint8_t PATTER         = 0x02;
+        static const uint8_t PULSED_PATTER  = 0x04;
+        //static const uint8_t SCHEDULED      = 0x08;
+          
+        uint8_t     type;
+        uint8_t     pulse_ms;
+        uint8_t     pwm_on;
+        uint8_t     pwm_off;
+        uint32_t    writeData;
+    };
+    
+    ObjectData          Obj2001;
+    SubIndexSize        Obj2001_highestSubIndex;
+    OutputConfiguration writeOutputConfig;
+    OutputConfiguration outputConfigs[8];
+    OutputConfiguration outputTimers[8]; /* not actually part of dictionary */
+    EntryData           Obj2001_entries[10];
+    
+    /* index 0x2002 : Output Schedule Configuration */
+    ObjectData      Obj2002;
+    SubIndexSize    Obj2002_highestSubIndex;
+    uint32_t        scheduleConfig;
+    uint32_t        schedules[8];  
+    EntryData       Obj2002_entries[10];
+    
+    /* index 0x2100 : Input change data */
+    ObjectData      Obj2100;
+    SubIndexSize    Obj2100_highestSubIndex;
+    uint8_t         inputChangeMask[1];  
+    /* uint8_t         nodeId; */
+    EntryData       Obj2100_entries[3];
+        
+    /* index 0x2200 : Autotrigger Rules */
+    struct AutotriggerRule {
+        uint8_t     sourceId;
+        uint8_t     input; /* 0-4: inputNum (0-23)
+                              5-7: 0 on inactive
+                                   1 on active
+                                   2 on any change
+                                   3 ???
+                            */
+        uint8_t     setMask[3];
+        uint8_t     clearMask[3];  
+    };
+    
+    struct AutotriggerMessage {
+        uint8_t     input[3];
+        uint8_t     change[3];
+        uint8_t     sourceId;
+    };
+    
+    ObjectData          Obj2200;
+    SubIndexSize        Obj2200_highestSubIndex;
+    AutotriggerRule     writeRule;
+    AutotriggerMessage  autotriggerMessage;
+    AutotriggerRule     rules[24];
+    EntryData           Obj2200_entries[27];
+
+    
+    /* Device Specific ------------------------------------------------------*/
+    /* index 0x6000 :   Mapped variable "inputs" */
+    ObjectData      Obj6000;
+    SubIndexSize    Obj6000_highestSubIndex; 
+    uint8_t         readInputBuffers[1];
+    EntryData       Obj6000_entries[2];
+    
+    /* index 0x6005 :   Global Input Interrupt Enable */
+    ObjectData      Obj6005;
+    SubIndexSize    Obj6005_highestSubIndex; 
+    uint8_t         bInputInterruptEnable;
+    EntryData       Obj6005_entries[2];
+    
+    /* index 0x6006 :   Any Change Interrupt Mask */
+    ObjectData      Obj6006;
+    SubIndexSize    Obj6006_highestSubIndex; 
+    uint8_t         inputInterruptMask[1];
+    EntryData       Obj6006_entries[2];
+    
+    /* index 0x6200 :   Mapped variable "outputs" */
+    ObjectData      Obj6200;
+    SubIndexSize    Obj6200_highestSubIndex; 
+    uint8_t         writeOutputBuffers[1];
+    EntryData       Obj6200_entries[2];
+    
+    /* Scan Method */
+    virtual ObjectData * ScanIndex(IndexSize index);
+};
+
+} /* namespace ppCANOpen */
+
+#endif // PPCAN_NODE_PIN0808_H

diff -r 8352cfe17ab1 -r ec59d628ebdc Application/include/SerialBuffered.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Application/include/SerialBuffered.h	Sat Mar 19 01:44:35 2016 +0000
@@ -0,0 +1,61 @@
+#ifndef _SERIAL_BUFFERED_H_
+#define _SERIAL_BUFFERED_H_
+
+/**
+ * Buffered serial class.
+ */
+class SerialBuffered : public Serial {
+public:
+    /**
+     * Create a buffered serial class.
+     *
+     * @param tx A pin for transmit.
+     * @param rx A pin for receive.
+     */
+    SerialBuffered(PinName tx, PinName rx);
+
+    /**
+     * Destroy.
+     */
+    virtual ~SerialBuffered();
+
+    /**
+     * Get a character.
+     *
+     * @return A character. (-1:timeout)
+     */
+    int getc();
+
+    /**
+     * Returns 1 if there is a character available to read, 0 otherwise.
+     */
+    int readable();
+
+    /**
+     * Set timeout for getc().
+     *
+     * @param ms milliseconds. (-1:Disable timeout)
+     */
+    void setTimeout(int ms);
+
+    /**
+     * Read requested bytes.
+     *
+     * @param bytes A pointer to a buffer.
+     * @param requested Length.
+     *
+     * @return Readed byte length.
+     */
+    size_t readBytes(uint8_t *bytes, size_t requested);
+
+private:
+    void handleInterrupt();
+    static const int BUFFERSIZE = 2048;
+    uint8_t buffer[BUFFERSIZE];            // points at a circular buffer, containing data from m_contentStart, for m_contentSize bytes, wrapping when you get to the end
+    uint16_t indexContentStart;   // index of first bytes of content
+    uint16_t indexContentEnd;     // index of bytes after last byte of content
+    int timeout;
+    Timer timer;
+};
+
+#endif

diff -r 8352cfe17ab1 -r ec59d628ebdc Application/source/Node_pin0808.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Application/source/Node_pin0808.cpp	Sat Mar 19 01:44:35 2016 +0000
@@ -0,0 +1,700 @@
+/**
+ ******************************************************************************
+ * @file
+ * @author  Paul Paterson
+ * @version
+ * @date    2015-12-14
+ * @brief   CANOpen implementation library
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2015 Paul Paterson
+ *
+ * All rights reserved.
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "Node_pin0808.h"
+#include "ServiceProvider.h"
+
+#include "stdio.h"
+#include "mbed.h"
+
+PortIn mbedInputs(PortB, 0x00FF);
+PortOut mbedOutputs(PortB, 0xFF00);
+
+namespace ppCANOpen
+{
+
+/******************************************************************************
+ * Constructor/Destructor
+ ******************************************************************************
+ */
+
+Node_pin0808::Node_pin0808 (int id, ServiceProvider * provider, int bLoop)
+    : Node(id, provider, bLoop)
+{
+    dictionary = new ObjectData[22];
+
+
+    /* Init values ***********************************************************/
+    memset(prevInputBuffers, 0, sizeof(prevInputBuffers));
+    memset(inputDebounce,    0, sizeof(inputDebounce));
+    
+    memset(prevOutputBuffers,0, sizeof(prevOutputBuffers));
+
+    /* Init Object Dictionary ************************************************/
+
+    /* Communication Objects ================================================*/
+    
+    /* SDO ------------------------------------------------------------------*/
+    /* index 0x1200  */
+    Obj1200_highestSubIndex = 2;
+    Obj1200_ReceiveCobId    = 0x600 + nodeId;
+    Obj1200_TransmitCobId   = 0x580 + nodeId;
+    Obj1200_entries[0] = EntryData((void*)&Obj1200_highestSubIndex, sizeof(uint8_t),  EntryData::TYPE_UINT8,  EntryData::PROPERTY_READABLE);
+    Obj1200_entries[1] = EntryData((void*)&Obj1200_ReceiveCobId,    sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj1200_entries[2] = EntryData((void*)&Obj1200_TransmitCobId,   sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj1200 = ObjectData(Obj1200_entries, 0x1200, sizeof(Obj1200_entries) / sizeof(Obj1200_entries[0]));
+    
+    /* RPDO -----------------------------------------------------------------*/
+    /* index 0x1400  */
+    Obj1400_highestSubIndex     = 5;
+    Obj1400_CobId               = 0x200 + nodeId;
+    Obj1400_TransmissionType    = 1;
+    Obj1400_InhibitTime         = 0;
+    Obj1400_CompatibilityEntry  = 0;
+    Obj1400_EventTimer          = 0;
+    Obj1400_entries[0] = EntryData((void*)&Obj1400_highestSubIndex,    sizeof(uint8_t),  EntryData::TYPE_UINT8,  EntryData::PROPERTY_READABLE);
+    Obj1400_entries[1] = EntryData((void*)&Obj1400_CobId,              sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj1400_entries[2] = EntryData((void*)&Obj1400_TransmissionType,   sizeof(uint8_t),  EntryData::TYPE_UINT8,  EntryData::PROPERTY_READABLE);
+    Obj1400_entries[3] = EntryData((void*)&Obj1400_InhibitTime,        sizeof(uint16_t), EntryData::TYPE_UINT16, EntryData::PROPERTY_READABLE);
+    Obj1400_entries[4] = EntryData((void*)&Obj1400_CompatibilityEntry, sizeof(uint8_t),  EntryData::TYPE_UINT8,  EntryData::PROPERTY_READABLE);
+    Obj1400_entries[5] = EntryData((void*)&Obj1400_EventTimer,         sizeof(uint16_t), EntryData::TYPE_UINT16, EntryData::PROPERTY_READABLE);
+    Obj1400 = ObjectData(Obj1400_entries, 0x1400, sizeof(Obj1400_entries) / sizeof(Obj1400_entries[0]));
+
+    /* index 0x1401  */
+    Obj1401_highestSubIndex     = 5;
+    Obj1401_CobId               = 0x300 + nodeId;
+    Obj1401_TransmissionType    = 1;
+    Obj1401_InhibitTime         = 0;
+    Obj1401_CompatibilityEntry  = 0;
+    Obj1401_EventTimer          = 0;
+    Obj1401_entries[0] = EntryData((void*)&Obj1401_highestSubIndex,    sizeof(uint8_t),  EntryData::TYPE_UINT8,  EntryData::PROPERTY_READABLE);
+    Obj1401_entries[1] = EntryData((void*)&Obj1401_CobId,              sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj1401_entries[2] = EntryData((void*)&Obj1401_TransmissionType,   sizeof(uint8_t),  EntryData::TYPE_UINT8,  EntryData::PROPERTY_READABLE);
+    Obj1401_entries[3] = EntryData((void*)&Obj1401_InhibitTime,        sizeof(uint16_t), EntryData::TYPE_UINT16, EntryData::PROPERTY_READABLE);
+    Obj1401_entries[4] = EntryData((void*)&Obj1401_CompatibilityEntry, sizeof(uint8_t),  EntryData::TYPE_UINT8,  EntryData::PROPERTY_READABLE);
+    Obj1401_entries[5] = EntryData((void*)&Obj1401_EventTimer,         sizeof(uint16_t), EntryData::TYPE_UINT16, EntryData::PROPERTY_READABLE);
+    Obj1401 = ObjectData(Obj1401_entries, 0x1401, sizeof(Obj1401_entries) / sizeof(Obj1401_entries[0]));
+
+    /* index 0x1402  */
+    Obj1402_highestSubIndex     = 5;
+    Obj1402_CobId               = 0x400 + nodeId;
+    Obj1402_TransmissionType    = 1;
+    Obj1402_InhibitTime         = 0;
+    Obj1402_CompatibilityEntry  = 0;
+    Obj1402_EventTimer          = 0;
+    Obj1402_entries[0] = EntryData((void*)&Obj1402_highestSubIndex,    sizeof(uint8_t),  EntryData::TYPE_UINT8,  EntryData::PROPERTY_READABLE);
+    Obj1402_entries[1] = EntryData((void*)&Obj1402_CobId,              sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj1402_entries[2] = EntryData((void*)&Obj1402_TransmissionType,   sizeof(uint8_t),  EntryData::TYPE_UINT8,  EntryData::PROPERTY_READABLE);
+    Obj1402_entries[3] = EntryData((void*)&Obj1402_InhibitTime,        sizeof(uint16_t), EntryData::TYPE_UINT16, EntryData::PROPERTY_READABLE);
+    Obj1402_entries[4] = EntryData((void*)&Obj1402_CompatibilityEntry, sizeof(uint8_t),  EntryData::TYPE_UINT8,  EntryData::PROPERTY_READABLE);
+    Obj1402_entries[5] = EntryData((void*)&Obj1402_EventTimer,         sizeof(uint16_t), EntryData::TYPE_UINT16, EntryData::PROPERTY_READABLE);
+    Obj1402 = ObjectData(Obj1402_entries, 0x1402, sizeof(Obj1402_entries) / sizeof(Obj1402_entries[0]));
+
+    /* index 0x1403  */
+    Obj1403_highestSubIndex     = 5;
+    Obj1403_CobId               = 0x181;
+    Obj1403_TransmissionType    = 1;
+    Obj1403_InhibitTime         = 0;
+    Obj1403_CompatibilityEntry  = 0;
+    Obj1403_EventTimer          = 0;
+    Obj1403_entries[0] = EntryData((void*)&Obj1403_highestSubIndex,    sizeof(uint8_t),  EntryData::TYPE_UINT8,  EntryData::PROPERTY_READABLE);
+    Obj1403_entries[1] = EntryData((void*)&Obj1403_CobId,              sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj1403_entries[2] = EntryData((void*)&Obj1403_TransmissionType,   sizeof(uint8_t),  EntryData::TYPE_UINT8,  EntryData::PROPERTY_READABLE);
+    Obj1403_entries[3] = EntryData((void*)&Obj1403_InhibitTime,        sizeof(uint16_t), EntryData::TYPE_UINT16, EntryData::PROPERTY_READABLE);
+    Obj1403_entries[4] = EntryData((void*)&Obj1403_CompatibilityEntry, sizeof(uint8_t),  EntryData::TYPE_UINT8,  EntryData::PROPERTY_READABLE);
+    Obj1403_entries[5] = EntryData((void*)&Obj1403_EventTimer,         sizeof(uint16_t), EntryData::TYPE_UINT16, EntryData::PROPERTY_READABLE);
+    Obj1403 = ObjectData(Obj1403_entries, 0x1403, sizeof(Obj1403_entries) / sizeof(Obj1403_entries[0]));
+
+    /* index 0x1600  */
+    Obj1600_highestSubIndex = 1;
+    Obj1600_Map             = 0x62000108;
+    Obj1600_entries[0] = EntryData((void*)&Obj1600_highestSubIndex, sizeof(uint8_t),  EntryData::TYPE_UINT8,  EntryData::PROPERTY_READABLE);
+    Obj1600_entries[1] = EntryData((void*)&Obj1600_Map,             sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj1600 = ObjectData(Obj1600_entries, 0x1600, sizeof(Obj1600_entries) / sizeof(Obj1600_entries[0]));
+    
+    /* index 0x1601  */
+    Obj1601_highestSubIndex = 1;
+    Obj1601_Map             = 0x20010140;
+    Obj1601_entries[0] = EntryData((void*)&Obj1601_highestSubIndex, sizeof(uint8_t),  EntryData::TYPE_UINT8,  EntryData::PROPERTY_READABLE);
+    Obj1601_entries[1] = EntryData((void*)&Obj1601_Map,             sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj1601 = ObjectData(Obj1601_entries, 0x1601, sizeof(Obj1601_entries) / sizeof(Obj1601_entries[0]));
+
+    /* index 0x1602  */
+    Obj1602_highestSubIndex = 1;
+    Obj1602_Map             = 0x22000140;
+    Obj1602_entries[0] = EntryData((void*)&Obj1602_highestSubIndex, sizeof(uint8_t),  EntryData::TYPE_UINT8,  EntryData::PROPERTY_READABLE);
+    Obj1602_entries[1] = EntryData((void*)&Obj1602_Map,             sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj1602 = ObjectData(Obj1602_entries, 0x1602, sizeof(Obj1602_entries) / sizeof(Obj1602_entries[0]));
+
+    /* index 0x1603  */
+    Obj1603_highestSubIndex = 1;
+    Obj1603_Map             = 0x22000238;
+    Obj1603_entries[0] = EntryData((void*)&Obj1603_highestSubIndex, sizeof(uint8_t),  EntryData::TYPE_UINT8,  EntryData::PROPERTY_READABLE);
+    Obj1603_entries[1] = EntryData((void*)&Obj1603_Map,             sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj1603 = ObjectData(Obj1603_entries, 0x1603, sizeof(Obj1603_entries) / sizeof(Obj1603_entries[0]));
+
+    /* TPDO -----------------------------------------------------------------*/
+    /* index 0x1800  */
+    Obj1800_highestSubIndex     = 5;
+    Obj1800_CobId               = 0x181;
+    Obj1800_TransmissionType    = 0xFE;  /* event driven Manuf specific */
+    Obj1800_InhibitTime         = 0;     // TODO review if this is needed
+    Obj1800_CompatibilityEntry  = 0;
+    Obj1800_EventTimer          = 0;
+    Obj1800_entries[0] = EntryData((void*)&Obj1800_highestSubIndex,    sizeof(uint8_t),  EntryData::TYPE_UINT8,  EntryData::PROPERTY_READABLE);
+    Obj1800_entries[1] = EntryData((void*)&Obj1800_CobId,              sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj1800_entries[2] = EntryData((void*)&Obj1800_TransmissionType,   sizeof(uint8_t),  EntryData::TYPE_UINT8,  EntryData::PROPERTY_READABLE);
+    Obj1800_entries[3] = EntryData((void*)&Obj1800_InhibitTime,        sizeof(uint16_t), EntryData::TYPE_UINT16, EntryData::PROPERTY_READABLE);
+    Obj1800_entries[4] = EntryData((void*)&Obj1800_CompatibilityEntry, sizeof(uint8_t),  EntryData::TYPE_UINT8,  EntryData::PROPERTY_READABLE);
+    Obj1800_entries[5] = EntryData((void*)&Obj1800_EventTimer,         sizeof(uint16_t), EntryData::TYPE_UINT16, EntryData::PROPERTY_READABLE);
+    Obj1800 = ObjectData(Obj1800_entries, 0x1800, sizeof(Obj1800_entries) / sizeof(Obj1800_entries[0]));
+
+    /* index 0x1A00  */
+    Obj1A00_highestSubIndex = 5;
+    Obj1A00_MapInput        = 0x60000108;
+    Obj1A00_MapVoid16       = 0x00000010;
+    Obj1A00_MapChange       = 0x21000108;
+    Obj1A00_MapSourceId     = 0x21000208;
+    Obj1A00_entries[0] = EntryData((void*)&Obj1A00_highestSubIndex, sizeof(uint8_t),  EntryData::TYPE_UINT8,  EntryData::PROPERTY_READABLE);
+    Obj1A00_entries[1] = EntryData((void*)&Obj1A00_MapInput,        sizeof(uint8_t),  EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj1A00_entries[2] = EntryData((void*)&Obj1A00_MapVoid16,       sizeof(uint16_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj1A00_entries[3] = EntryData((void*)&Obj1A00_MapChange,       sizeof(uint8_t),  EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj1A00_entries[4] = EntryData((void*)&Obj1A00_MapVoid16,       sizeof(uint16_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj1A00_entries[5] = EntryData((void*)&Obj1A00_MapSourceId,     sizeof(uint8_t),  EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj1A00 = ObjectData(Obj1A00_entries, 0x1A00, sizeof(Obj1A00_entries) / sizeof(Obj1A00_entries[0]));
+
+
+    /* Manufacturer Specific Objects ========================================*/
+
+    /* index 0x2001 : Pin Output Configurations */
+    Obj2001_highestSubIndex = 8;
+    memset(&writeOutputConfig, 0, sizeof(writeOutputConfig));
+    memset(outputConfigs, 0, sizeof(outputConfigs));
+    outputConfigs[0].type       = 0x08;
+    memset(outputTimers, 0, sizeof(outputTimers));
+    Obj2001_entries[0] = EntryData((void*)&Obj2001_highestSubIndex, sizeof(uint8_t),  EntryData::TYPE_UINT8,  EntryData::PROPERTY_READABLE);
+    Obj2001_entries[1] = EntryData((void*)&writeOutputConfig, sizeof(OutputConfiguration), EntryData::TYPE_UINT64, EntryData::PROPERTY_READ_WRITEABLE);
+    Obj2001_entries[2] = EntryData((void*)&outputConfigs[0],  sizeof(OutputConfiguration), EntryData::TYPE_UINT64, EntryData::PROPERTY_READ_WRITEABLE);
+    Obj2001_entries[3] = EntryData((void*)&outputConfigs[1],  sizeof(OutputConfiguration), EntryData::TYPE_UINT64, EntryData::PROPERTY_READ_WRITEABLE);
+    Obj2001_entries[4] = EntryData((void*)&outputConfigs[2],  sizeof(OutputConfiguration), EntryData::TYPE_UINT64, EntryData::PROPERTY_READ_WRITEABLE);
+    Obj2001_entries[5] = EntryData((void*)&outputConfigs[3],  sizeof(OutputConfiguration), EntryData::TYPE_UINT64, EntryData::PROPERTY_READ_WRITEABLE);
+    Obj2001_entries[6] = EntryData((void*)&outputConfigs[4],  sizeof(OutputConfiguration), EntryData::TYPE_UINT64, EntryData::PROPERTY_READ_WRITEABLE);
+    Obj2001_entries[7] = EntryData((void*)&outputConfigs[5],  sizeof(OutputConfiguration), EntryData::TYPE_UINT64, EntryData::PROPERTY_READ_WRITEABLE);
+    Obj2001_entries[8] = EntryData((void*)&outputConfigs[6],  sizeof(OutputConfiguration), EntryData::TYPE_UINT64, EntryData::PROPERTY_READ_WRITEABLE);
+    Obj2001_entries[9] = EntryData((void*)&outputConfigs[7],  sizeof(OutputConfiguration), EntryData::TYPE_UINT64, EntryData::PROPERTY_READ_WRITEABLE);
+    Obj2001 = ObjectData(Obj2001_entries, 0x2001, sizeof(Obj2001_entries) / sizeof(Obj2001_entries[0]));
+
+    /* index 0x2002 : Output Schedule Configuration */
+    Obj2002_highestSubIndex = 1;
+    scheduleConfig  = 0x01;
+    schedules[0] = 0xFF00F0F0;
+    Obj2002_entries[0] = EntryData((void*)&Obj2002_highestSubIndex, sizeof(uint8_t),  EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
+    Obj2002_entries[1] = EntryData((void*)&scheduleConfig, sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READ_WRITEABLE);
+    Obj2002_entries[2] = EntryData((void*)&schedules[0],   sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READ_WRITEABLE);
+    Obj2002_entries[3] = EntryData((void*)&schedules[1],   sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READ_WRITEABLE);
+    Obj2002_entries[4] = EntryData((void*)&schedules[2],   sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READ_WRITEABLE);
+    Obj2002_entries[5] = EntryData((void*)&schedules[3],   sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READ_WRITEABLE);
+    Obj2002_entries[6] = EntryData((void*)&schedules[4],   sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READ_WRITEABLE);
+    Obj2002_entries[7] = EntryData((void*)&schedules[5],   sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READ_WRITEABLE);
+    Obj2002_entries[8] = EntryData((void*)&schedules[6],   sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READ_WRITEABLE);
+    Obj2002_entries[9] = EntryData((void*)&schedules[7],   sizeof(uint32_t), EntryData::TYPE_UINT32, EntryData::PROPERTY_READ_WRITEABLE);
+    Obj2002 = ObjectData(Obj2002_entries, 0x2002, sizeof(Obj2002_entries) / sizeof(Obj2002_entries[0]));
+
+    /* Index 2100 */
+    Obj2100_highestSubIndex = 2;
+    inputChangeMask[0] = 0;
+    /* nodeId; */
+    Obj2100_entries[0] = EntryData((void*)&Obj2100_highestSubIndex, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
+    Obj2100_entries[1] = EntryData((void*)&inputChangeMask[0],      sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
+    Obj2100_entries[2] = EntryData((void*)&nodeId,                  sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
+    Obj2100 = ObjectData(Obj2100_entries, 0x2100, sizeof(Obj2100_entries) / sizeof(Obj2100_entries[0]));
+    
+    /* Index 2200 */
+    Obj2200_highestSubIndex = 2;
+    memset(&writeRule,          0, sizeof(AutotriggerRule));
+    memset(&autotriggerMessage, 0, sizeof(AutotriggerMessage));
+    memset(rules, 0, sizeof(rules));
+    Obj2200_entries[0]  = EntryData((void*)&Obj2200_highestSubIndex, sizeof(uint8_t),            EntryData::TYPE_UINT8,  EntryData::PROPERTY_READABLE);
+    Obj2200_entries[1]  = EntryData((void*)&writeRule,               sizeof(AutotriggerRule),    EntryData::TYPE_UINT32, EntryData::PROPERTY_READ_WRITEABLE);
+    Obj2200_entries[2]  = EntryData((void*)&autotriggerMessage,      sizeof(AutotriggerMessage), EntryData::TYPE_UINT32, EntryData::PROPERTY_READ_WRITEABLE);
+    Obj2200_entries[3]  = EntryData((void*)&rules[0],                sizeof(AutotriggerRule),    EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj2200_entries[4]  = EntryData((void*)&rules[1],                sizeof(AutotriggerRule),    EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj2200_entries[5]  = EntryData((void*)&rules[2],                sizeof(AutotriggerRule),    EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj2200_entries[6]  = EntryData((void*)&rules[3],                sizeof(AutotriggerRule),    EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj2200_entries[7]  = EntryData((void*)&rules[4],                sizeof(AutotriggerRule),    EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj2200_entries[8]  = EntryData((void*)&rules[5],                sizeof(AutotriggerRule),    EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj2200_entries[9]  = EntryData((void*)&rules[6],                sizeof(AutotriggerRule),    EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj2200_entries[10] = EntryData((void*)&rules[7],                sizeof(AutotriggerRule),    EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj2200_entries[11] = EntryData((void*)&rules[8],                sizeof(AutotriggerRule),    EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj2200_entries[12] = EntryData((void*)&rules[9],                sizeof(AutotriggerRule),    EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj2200_entries[13] = EntryData((void*)&rules[10],               sizeof(AutotriggerRule),    EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj2200_entries[14] = EntryData((void*)&rules[11],               sizeof(AutotriggerRule),    EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj2200_entries[15] = EntryData((void*)&rules[12],               sizeof(AutotriggerRule),    EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj2200_entries[16] = EntryData((void*)&rules[13],               sizeof(AutotriggerRule),    EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj2200_entries[17] = EntryData((void*)&rules[14],               sizeof(AutotriggerRule),    EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj2200_entries[18] = EntryData((void*)&rules[15],               sizeof(AutotriggerRule),    EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj2200_entries[19] = EntryData((void*)&rules[16],               sizeof(AutotriggerRule),    EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj2200_entries[20] = EntryData((void*)&rules[17],               sizeof(AutotriggerRule),    EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj2200_entries[21] = EntryData((void*)&rules[18],               sizeof(AutotriggerRule),    EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj2200_entries[22] = EntryData((void*)&rules[19],               sizeof(AutotriggerRule),    EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj2200_entries[23] = EntryData((void*)&rules[20],               sizeof(AutotriggerRule),    EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj2200_entries[24] = EntryData((void*)&rules[21],               sizeof(AutotriggerRule),    EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj2200_entries[25] = EntryData((void*)&rules[22],               sizeof(AutotriggerRule),    EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj2200_entries[26] = EntryData((void*)&rules[23],               sizeof(AutotriggerRule),    EntryData::TYPE_UINT32, EntryData::PROPERTY_READABLE);
+    Obj2200 = ObjectData(Obj2200_entries, 0x2200, sizeof(Obj2200_entries) / sizeof(Obj2200_entries[0]));
+
+    /* Device Profile Specific Objects ======================================*/
+
+    /* Index 6000 */
+    Obj6000_highestSubIndex = 1;
+    readInputBuffers[0]  = 0;
+    Obj6000_entries[0] = EntryData((void*)&Obj6000_highestSubIndex, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
+    Obj6000_entries[1] = EntryData((void*)&readInputBuffers,        sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
+    Obj6000 = ObjectData(Obj6000_entries, 0x6000, sizeof(Obj6000_entries) / sizeof(Obj6000_entries[0]));
+    
+    /* Index 6005 */
+    Obj6005_highestSubIndex = 1;
+    bInputInterruptEnable   = 0x01;
+    Obj6005_entries[0] = EntryData((void*)&Obj6005_highestSubIndex, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
+    Obj6005_entries[1] = EntryData((void*)&bInputInterruptEnable,   sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READ_WRITEABLE);
+    Obj6005 = ObjectData(Obj6005_entries, 0x6005, sizeof(Obj6005_entries) / sizeof(Obj6005_entries[0]));
+    
+    /* Index 6006 */
+    Obj6006_highestSubIndex = 1;
+    inputInterruptMask[0]      = 0xFF;
+    Obj6006_entries[0] = EntryData((void*)&Obj6006_highestSubIndex, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
+    Obj6006_entries[1] = EntryData((void*)&inputInterruptMask,      sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READ_WRITEABLE);
+    Obj6006 = ObjectData(Obj6006_entries, 0x6006, sizeof(Obj6006_entries) / sizeof(Obj6006_entries[0]));
+
+    /* Index 6200 */
+    Obj6200_highestSubIndex = 1;
+    writeOutputBuffers[0] = 0;
+    Obj6200_entries[0] = EntryData((void*)&Obj6200_highestSubIndex, sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READABLE);
+    Obj6200_entries[1] = EntryData((void*)&writeOutputBuffers,      sizeof(uint8_t), EntryData::TYPE_UINT8, EntryData::PROPERTY_READ_WRITEABLE);
+    Obj6200 = ObjectData(Obj6200_entries, 0x6200, sizeof(Obj6200_entries) / sizeof(Obj6200_entries[0]));
+
+    /* Set up the whole dictionary */
+    dictionary[0]  = Obj1200;
+    dictionary[1]  = Obj1400;
+    dictionary[2]  = Obj1401;
+    dictionary[3]  = Obj1402;
+    dictionary[4]  = Obj1403;
+    dictionary[5]  = Obj1600;
+    dictionary[6]  = Obj1601;
+    dictionary[7]  = Obj1602;
+    dictionary[8]  = Obj1603;
+    dictionary[10] = Obj1800;
+    dictionary[11] = Obj1A00;
+    dictionary[12] = Obj2001;
+    dictionary[13] = Obj2002;
+    dictionary[14] = Obj2100;
+    dictionary[15] = Obj2200;
+    dictionary[16] = Obj6000;
+    dictionary[17] = Obj6005;
+    dictionary[18] = Obj6006;
+    dictionary[19] = Obj6200;
+
+}
+
+Node_pin0808::~Node_pin0808(void)
+{
+    delete dictionary;
+}
+
+/******************************************************************************
+ * Application Run Implementation
+ ******************************************************************************
+ */
+
+void Node_pin0808::OnFixedUpdate (void)
+{
+    /**************************************************************************
+     * INPUTS
+     **************************************************************************
+     */
+
+    uint8_t inputSample = ~(uint8_t)(mbedInputs.read());
+    
+    uint8_t inputChange = readInputBuffers[0] ^ inputSample; 
+    
+    /* Loop through all of the inputs */
+    for (int in = 0; in < 8; in++) {
+        if (inputChange & (1 << in)) {
+            
+            inputDebounce[in] += (uint8_t)(timeSinceLastTick);
+            if (inputDebounce[in] > DEBOUNCE_TIME) {
+                readInputBuffers[0] &= ~(1 << in);
+                readInputBuffers[0] |=  (inputSample & (1 << in));
+                
+                inputDebounce[in] = 0; 
+            }
+            
+        } else {
+            inputDebounce[in] = 0;   
+        }
+    }
+    
+
+    /**************************************************************************
+     * OUTPUTS
+     **************************************************************************
+     */
+
+    /* create a copy of the current outputs and edit as we go */
+    uint8_t newOutput = (uint8_t)(mbedOutputs >> 8);
+
+    /* big operation, so let's only do it once! */
+    int scheduleIndexer = 1 << ((timeCurrentTick * 100) / 3125) % 32;    
+
+    /* Loop through all of the outputs */
+    for (int out = 0; out < 8; out++) {
+
+        if (scheduleConfig & (1 << out)) {
+            
+            if (schedules[out] & scheduleIndexer) {
+                writeOutputBuffers[0] |= (1 << out);
+            } else {
+                writeOutputBuffers[0] &= ~(1 << out);
+            }
+        }
+        
+        /* update GPIO's immediately only if new signal was given */
+        int outputBufferChanges = writeOutputBuffers[0] ^ prevOutputBuffers[0];
+        
+        if (outputBufferChanges & (1 << out)) {
+            if ((1 << out) & writeOutputBuffers[0]) {
+                /* switched on */
+                newOutput |= (1 << out);
+
+                /* reset timers */
+                if (outputConfigs[out].type) {
+                    outputTimers[out] = OutputConfiguration(outputConfigs[out]);
+                }
+            } else {
+                /* switched off */
+                newOutput &= ~(1 << out);
+                memset(&outputTimers[out], 0, sizeof(outputTimers[out]));
+            }
+        }
+
+        /* if there is a pulse run down the timer */
+        if (outputTimers[out].type & 0x01) {
+
+            if (outputTimers[out].pulse_ms >= timeSinceLastTick) {
+                outputTimers[out].pulse_ms -= timeSinceLastTick;
+            } else {
+                /* time past would put timer below 0 */
+                outputTimers[out].pulse_ms = 0;
+            }
+
+            /* if time has run out */
+            if (0 == outputTimers[out].pulse_ms) {
+
+                /* just turn off pulse */
+                outputTimers[out].type &= 0xFE;
+                newOutput &= ~(1 << out);
+
+                /* if there is a patter, then output buffer will stay on */
+                /* but if there is a pulsed-patter, then it should still turn off */
+                if (!(outputTimers[out].type & 0x02) ||
+                        (outputTimers[out].type & (0x02 | 0x04))) {
+                    /* turn buffer off */
+                    outputTimers[out].type = 0;
+                    writeOutputBuffers[0] &= ~(1 << out);
+                }
+            }
+        }
+
+        /* two ways to patter:
+         * wait until after pulse (pulse-then-patter),
+         * or config so pulse happens at same time (pulsed-patter)
+         */
+        if (((outputTimers[out].type & 0x02)          && !(outputTimers[out].type & 0x01)) ||
+                ((outputTimers[out].type & (0x02 | 0x04)) &&  (outputTimers[out].type & 0x01))) {
+
+            /* if output is on, run down pwm_on, else tun down pwm_off */
+            uint8_t *pw_timer;
+            if (newOutput & (1 << out)) {
+                pw_timer = &outputTimers[out].pwm_on;
+            } else {
+                pw_timer = &outputTimers[out].pwm_off;
+            }
+
+            if (*pw_timer >= timeSinceLastTick) {
+                *pw_timer -= timeSinceLastTick;
+            } else {
+                *pw_timer = 0;
+            }
+
+            if (*pw_timer == 0) {
+                newOutput ^= (1 << out);
+
+                outputTimers[out].pwm_on  = outputConfigs[out].pwm_on;
+                outputTimers[out].pwm_off = outputConfigs[out].pwm_off;
+            }
+        }
+
+
+    }
+
+    mbedOutputs = ((uint16_t)newOutput) << 8;
+
+    prevOutputBuffers[0] = writeOutputBuffers[0];
+}
+
+void Node_pin0808::OnUpdate (void)
+{    
+    /* Check for output configurations --------------------------------------*/
+    if (writeOutputConfig.writeData) {
+        uint8_t out = (uint8_t)(writeOutputConfig.writeData);
+        
+        writeOutputConfig.writeData = 0;
+        outputConfigs[out] = writeOutputConfig;
+        
+        memset(&writeOutputConfig, 0, sizeof(writeOutputConfig));
+    }
+
+
+    /* Check for rule configurations ----------------------------------------*/
+    if (writeRule.sourceId) {
+        printf("      Configuring Rules...\r\n");
+        if (writeRule.sourceId & 0x80) {
+            /* write new rule*/
+            
+            /* scan through array of rules for available (8th bit cleared) */
+            int ruleNum = 0;
+            while (ruleNum < 24) {
+                if (!(rules[ruleNum].sourceId & 0x80)) {
+                                        
+                    rules[ruleNum] = writeRule;
+                    printf("      Rule added: #%d\r\n", ruleNum);
+                    ruleNum = 24;
+                } else {
+                    ruleNum++;
+                    if (ruleNum == 24) {
+                        printf("      ERROR: Not enough rules available");
+                    }
+                }
+            }
+            
+        } else {
+            /* clear rules */
+            
+            /* scan through array of rules matching input and disable */
+            for (int ruleNum = 0; ruleNum < 24; ruleNum++) {
+                
+                /* check if rule enabled and input num matches */
+                if ((rules[ruleNum].sourceId & 0x80) &&
+                   ((rules[ruleNum].sourceId & 0x7F) == writeRule.sourceId) &&
+                   ((rules[ruleNum].input    & 0x1F) == (writeRule.input & 0x1F))) 
+                {
+                    memset(&rules[ruleNum], 0, sizeof(AutotriggerRule));
+                    printf("      Rule removed: #%d\r\n", ruleNum);
+                }
+                
+            }
+        }
+    
+        memset(&writeRule, 0, sizeof(AutotriggerRule));   
+    }
+
+    /* check for input changes  from other devices---------------------------*/
+    if (autotriggerMessage.sourceId) {
+        
+        printf("      detected change from node: %#04x\r\n", (autotriggerMessage.sourceId & 0x7F));
+        /* scan through array of rules matching inputs and direction */
+        for (int ruleNum = 0; ruleNum < 24; ruleNum++) {
+            
+            /* check if rule enabled and input num matches */
+            if ((rules[ruleNum].sourceId & 0x80) &&                                     /* rule is active AND */                  
+                (rules[ruleNum].sourceId == autotriggerMessage.sourceId) &&             /* rule source matches message source AND */ 
+                (autotriggerMessage.change[0] & (1 << (rules[ruleNum].input & 0x1F))))  /* change exists at input num */
+            {
+                
+                int ruleActivity = rules[ruleNum].input >> 5;
+                int inputActivity = (autotriggerMessage.input[0] >> (rules[ruleNum].input & 0x1F)) & 1;
+                
+                printf("         id match:      %#04x\r\n", ruleNum);
+                printf("         ruleActivity:  %#04x\r\n", ruleActivity);
+                printf("         inputActivity: %#04x\r\n", inputActivity);
+                
+                if ((2 == ruleActivity) || (inputActivity == ruleActivity)) {
+                    
+                    printf("            activating Rule...\r\n");
+                    printf("            setMask:   %#10x\r\n", rules[ruleNum].setMask[0]);
+                    printf("            clearMask: %#10x\r\n", ~rules[ruleNum].clearMask[0]);
+                    
+                    writeOutputBuffers[0] |= rules[ruleNum].setMask[0];
+                    //writeOutputBuffers[1] |= rules[ruleNum].setMask[1];
+                    //writeOutputBuffers[2] |= rules[ruleNum].setMask[2];
+                    
+                    writeOutputBuffers[0] &= ~rules[ruleNum].clearMask[0];
+                    //writeOutputBuffers[1] &= ~rules[ruleNum].clearMask[1];
+                    //writeOutputBuffers[2] &= ~rules[ruleNum].clearMask[2];
+                }
+            }
+            
+        }
+        
+        memset(&autotriggerMessage, 0, sizeof(AutotriggerMessage)); 
+    }
+
+    /* check for input changes from this device -----------------------------*/
+    /* update Index 2101-01 */
+    inputChangeMask[0] = readInputBuffers[0] ^ prevInputBuffers[0];
+
+    /* check for rules against this devices inputs */
+    if (inputChangeMask[0]) {
+        /* scan through array of rules matching inputs and direction */
+        for (int ruleNum = 0; ruleNum < 24; ruleNum++) {
+            
+            /* check if rule enabled and input num matches */
+            if ((rules[ruleNum].sourceId & 0x80) &&                             /* rule is active AND */                  
+                ((rules[ruleNum].sourceId & 0x7F) == nodeId) &&                 /* rule source is this nodeId AND */ 
+                (inputChangeMask[0] & (1 << (rules[ruleNum].input & 0x1F))))    /* change exists at input num */
+            {
+                
+                int ruleActivity = rules[ruleNum].input >> 5;
+                int inputActivity = (readInputBuffers[0] >> (rules[ruleNum].input & 0x1F)) & 1;
+                
+                if ((2 == ruleActivity) || (inputActivity == ruleActivity)) {
+                    writeOutputBuffers[0] |= rules[ruleNum].setMask[0];
+                    //writeOutputBuffers[1] |= rules[ruleNum].setMask[1];
+                    //writeOutputBuffers[2] |= rules[ruleNum].setMask[2];
+                    
+                    writeOutputBuffers[0] &= ~rules[ruleNum].clearMask[0];
+                    //writeOutputBuffers[1] &= ~rules[ruleNum].clearMask[1];
+                    //writeOutputBuffers[2] &= ~rules[ruleNum].clearMask[2];
+                }
+            }
+            
+        }
+    }
+
+    /* index 6005-01 configured to enable interrupt messages */
+    if (bInputInterruptEnable) {
+        
+        /* if change is within index 6006-01, interrupt mask */
+        if (inputChangeMask[0] & inputInterruptMask[0]) {
+            
+            /* send a message immediately */
+            PostTPDO(0x181);
+        }
+        
+    }
+    
+    prevInputBuffers[0] = readInputBuffers[0];
+}
+
+/******************************************************************************
+ * SYNC Implementation
+ ******************************************************************************
+ */
+
+void Node_pin0808::OnSync (uint8_t counter)
+{
+
+}
+
+/******************************************************************************
+ * NMT Control Implementation
+ ******************************************************************************
+ */
+
+void Node_pin0808::OnInitialize (void)
+{
+    printf("      Node_pin0808::INITIALIZE!\r\n");
+
+    mbedOutputs = 0xFFFF;
+    wait(1.0);
+    mbedOutputs = 0;
+
+    prevOutputBuffers[0] = 0;
+    writeOutputBuffers[0] = 0;
+    
+    prevInputBuffers[0] = 0;
+    readInputBuffers[0] = 0;
+}
+
+void Node_pin0808::OnPreoperational (void)
+{
+    printf("      Node_pin0808::PRE-OPERATIONAL!\r\n");
+}
+
+void Node_pin0808::OnOperational (void)
+{
+    printf("      Node_pin0808::OPERATIONAL!\r\n");
+
+    mbedOutputs = (writeOutputBuffers[0] << 16);
+}
+
+void Node_pin0808::OnStopped (void)
+{
+    printf("      Node_pin0808::STOPPED!\r\n");
+
+    mbedOutputs = 0;
+}
+
+/******************************************************************************
+ * Object Dictionary Handling
+ ******************************************************************************
+ */
+
+ObjectData * Node_pin0808::ScanIndex(IndexSize index)
+{
+    ObjectData * result = 0;
+
+    switch(index) {
+        case 0x1200: result = &dictionary[0]; break;
+        case 0x1400: result = &dictionary[1]; break;
+        case 0x1401: result = &dictionary[2]; break;
+        case 0x1402: result = &dictionary[3]; break;
+        case 0x1403: result = &dictionary[4]; break;
+        case 0x1600: result = &dictionary[5]; break;
+        case 0x1601: result = &dictionary[6]; break;
+        case 0x1602: result = &dictionary[7]; break;
+        case 0x1603: result = &dictionary[8]; break;
+        case 0x1800: result = &dictionary[10]; break;
+        case 0x1A00: result = &dictionary[11]; break;
+        case 0x2001: result = &dictionary[12]; break;
+        case 0x2002: result = &dictionary[13]; break;
+        case 0x2100: result = &dictionary[14]; break;
+        case 0x2200: result = &dictionary[15]; break;
+        case 0x6000: result = &dictionary[16]; break;
+        case 0x6005: result = &dictionary[17]; break;
+        case 0x6006: result = &dictionary[18]; break;
+        case 0x6200: result = &dictionary[19]; break;
+        default:
+            // TODO add error handling
+            break;
+    }
+
+    return result;
+}
+
+} /* namespace ppCANOpen */

diff -r 8352cfe17ab1 -r ec59d628ebdc Application/source/SerialBuffered.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Application/source/SerialBuffered.cpp	Sat Mar 19 01:44:35 2016 +0000
@@ -0,0 +1,99 @@
+#include "mbed.h"
+#include "SerialBuffered.h"
+
+/**
+ * Create a buffered serial class.
+ *
+ * @param tx A pin for transmit.
+ * @param rx A pin for receive.
+ */
+SerialBuffered::SerialBuffered(PinName tx, PinName rx) : Serial(tx, rx) {
+    indexContentStart = 0;
+    indexContentEnd = 0;
+    timeout = 1;
+    attach(this, &SerialBuffered::handleInterrupt);
+}
+
+/**
+ * Destroy.
+ */
+SerialBuffered::~SerialBuffered() {
+}
+
+/**
+ * Set timeout for getc().
+ *
+ * @param ms milliseconds. (-1:Disable timeout)
+ */
+void SerialBuffered::setTimeout(int ms) {
+    timeout = ms;
+}
+
+/**
+ * Read requested bytes.
+ *
+ * @param bytes A pointer to a buffer.
+ * @param requested Length.
+ *
+ * @return Readed byte length.
+ */
+size_t SerialBuffered::readBytes(uint8_t *bytes, size_t requested) {
+    int i = 0;
+    while (i < requested) {
+        int c = getc();
+        if (c < 0) {
+            break;
+        }
+        bytes[i] = c;
+        i++;
+    }
+    return i;
+}
+
+/**
+ * Get a character.
+ *
+ * @return A character. (-1:timeout)
+ */
+int SerialBuffered::getc() {
+    timer.reset();
+    timer.start();
+    while (indexContentStart == indexContentEnd) {
+        wait_ms(1);
+        if ((timeout > 0) && (timer.read_ms() > timeout)) {
+            /*
+             * Timeout occured.
+             */
+            // printf("Timeout occured.\n");
+            return EOF;
+        }
+    }
+    timer.stop();
+
+    uint8_t result = buffer[indexContentStart++];
+    indexContentStart =  indexContentStart % BUFFERSIZE;
+
+    return result;
+}
+
+/**
+ * Returns 1 if there is a character available to read, 0 otherwise.
+ */
+int SerialBuffered::readable() {
+    return indexContentStart != indexContentEnd;
+}
+
+void SerialBuffered::handleInterrupt() {
+    while (Serial::readable()) {
+        if (indexContentStart == ((indexContentEnd + 1) % BUFFERSIZE)) {
+            /*
+             * Buffer overrun occured.
+             */
+            // printf("Buffer overrun occured.\n");
+            Serial::getc();
+        } else {
+            buffer[indexContentEnd++] = Serial::getc();
+            indexContentEnd = indexContentEnd % BUFFERSIZE;
+        }
+    }
+}

diff -r 8352cfe17ab1 -r ec59d628ebdc Application/source/main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Application/source/main.cpp	Sat Mar 19 01:44:35 2016 +0000
@@ -0,0 +1,71 @@
+
+/** @file
+ *  @brief main program entry
+ */
+
+#include "mbed.h"
+#include "CAN.h"
+
+#include "ppCANOpen.h"
+#include "Node_pin0808.h"
+
+DigitalOut boardLed (LED1);
+
+void InputScan ()
+{
+    boardLed = !boardLed;
+}
+
+
+int main()
+{
+
+    printf ("\r\n----- MAIN -----\r\n");
+
+    /* blinker task*/
+    boardLed = 0;
+
+//#define MASTER
+#ifdef MASTER
+
+    /* CanOpen start */
+    ServiceProvider service;
+    printf ("----- READY -----\r\n");
+
+    Node_pin0808 node1(2, &service);
+    //Node_pin0808 node2(&service);
+
+    service.PostNmtControl(1, NMT_CS_RESET_NODE);
+    service.Run();
+    service.PostNmtControl(2, NMT_CS_START);
+    service.Run();
+    service.PostNmtControl(3, NMT_CS_START);
+    service.Run();
+    service.PostNmtControl(4, NMT_CS_START);
+    service.Run();
+    service.PostNmtControl(5, NMT_CS_START);
+    service.Run();
+    service.PostNmtControl(6, NMT_CS_START);
+    service.Run();
+
+    while (1) {
+        service.Run();
+    }
+
+#else
+
+    /* CanOpen start */
+    ServiceProvider service;
+    printf ("----- READY -----\r\n");
+
+    Node_pin0808 node1(3, &service);
+
+    while (1) {
+        service.Run();
+    }
+
+#endif
+
+    printf ("----- END -------\r\n\n");
+
+}

diff -r 8352cfe17ab1 -r ec59d628ebdc CANnucleo.lib
--- a/CANnucleo.lib	Wed Dec 23 10:38:02 2015 +0000
+++ b/CANnucleo.lib	Sat Mar 19 01:44:35 2016 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/users/hudakz/code/CANnucleo/#a3e2be3d49a2
+https://developer.mbed.org/users/ptpaterson/code/CANnucleo/#cdab1fd4ff26

diff -r 8352cfe17ab1 -r ec59d628ebdc main.cpp
--- a/main.cpp	Wed Dec 23 10:38:02 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,129 +0,0 @@
-/*
- * An example showing how to use the CANnucleo library:
- *
- * Two affordable (less than $4 on ebay) STM32F103C8T6 boards (20kB SRAM, 64kB Flash), 
- * compatible with the NUCLEO-F103RB platform (20kB SRAM, 128kB Flash), 
- * are connected to the same CAN bus via transceivers (MCP2551 or TJA1040, or etc.). 
- * CAN transceivers are not part of NUCLEO boards, therefore must be added by you. 
- * Remember also that CAN bus (even a short one) must be terminated with 120 Ohm resitors at both ends.
- *
- * For more details see the wiki page <https://developer.mbed.org/users/hudakz/code/CAN_Nucleo_Hello/>
- *
- * NOTE: If you'd like to use the official NUCLEO-F103RB boards
- *       comment out the line #define TARGET_STM32F103C8T6  1
- *
- * The same code is used for both NUCLEO boards, but:
- *      For board #1 compile the example without any change.
- *      For board #2 comment out the line #define BOARD1 1 before compiling 
- *
- * Once the binaries have been downloaded to the boards reset board #1.
- *
- */ 
-
-#include "mbed.h"
-#include "CAN.h"
-
-#define BOARD1    1                 // comment out this line when compiling for board #2
-
-#if defined(BOARD1)
-    #define RX_ID   0x100
-    #define TX_ID   0x101
-#else
-    #define RX_ID   0x101
-    #define TX_ID   0x100
-#endif
-
-// See wiki page <https://developer.mbed.org/users/hudakz/code/CAN_Nucleo_Hello/>
-//#define TARGET_STM32F103C8T6  1     // comment out this line if you'd like to use the official NUCLEO-F103RB boards
-                                    
-#if defined(TARGET_STM32F103C8T6)  
-    DigitalOut  led(PC_13);
-#else
-    DigitalOut  led(LED1);
-#endif
-
-int             ledReceived;
-Timer           timer;
-CAN             can(PA_11, PA_12);  // CAN Rx pin name, CAN Tx pin name, Automatic recovery from bus-off state enabled by default
-CANMessage      rxMsg;
-CANMessage      txMsg;
-int             counter = 0;
-volatile bool   msgAvailable = false;
-
-/**
- * @brief   'CAN receive-complete' interrup handler.
- * @note    Called on arrival of new CAN message.
- *          Keep it as short as possible.
- * @param   
- * @retval  
- */
-void onMsgReceived() {
-    msgAvailable = true;
-}
-
-/**
- * @brief   Main
- * @note
- * @param 
- * @retval
- */
-int main() {
-    can.frequency(1000000);                     // set bit rate to 1Mbps
-    can.attach(&onMsgReceived, CAN::RxIrq);     // attach 'CAN receive-complete' interrupt handler
-    
-#if defined(BOARD1)
-    #if defined(TARGET_STM32F103C8T6)
-        led = 0;    // turn LED on
-    #else
-        led = 1;    // turn LED on
-    #endif
-    timer.start();
-#else
-    #if defined(TARGET_STM32F103C8T6)
-        led = 1;    // turn LED off
-    #else
-        led = 0;    // turn LED off
-    #endif
-#endif
-
-    while(1) {
-        if(timer.read() >= 1.0) {               // check for timeout
-            timer.stop();                       // stop timer
-            timer.reset();                      // reset timer (to avaoid repeated send)
-            counter++;                          // increment counter
-            txMsg.clear();                      // clear Tx message storage
-            txMsg.id = TX_ID;                   // set ID
-            txMsg << counter;                   // append first data item (make sure that CAN message total data lenght <= 8 bytes!)
-            txMsg << led.read();                // append second data item (make sure that CAN message total data lenght <= 8 bytes!)
-            can.write(txMsg);                   // transmit message
-            printf("CAN message sent\r\n");
-            
-            #if defined(TARGET_STM32F103C8T6)
-                led = 1;                        // turn LED off
-            #else
-                led = 0;                        // turn LED off
-            #endif
-        }
-        if(msgAvailable) {
-            msgAvailable = false;               // reset flag for next use
-            can.read(rxMsg);                    // read message into Rx message storage
-            printf("CAN message received:\r\n");
-            printf("  ID     = %#x\r\n", rxMsg.id);
-            printf("  Type   = %d\r\n", rxMsg.type);
-            printf("  Format = %d\r\n", rxMsg.format);
-            printf("  Length = %d\r\n", rxMsg.len);
-            printf("  Data   =");            
-            for(int i = 0; i < rxMsg.len; i++)
-                printf(" %x", rxMsg.data[i]);
-            printf("\r\n");            
-            if(rxMsg.id == RX_ID) {             // if ID matches
-                rxMsg >> counter;               // extract first data item
-                rxMsg >> ledReceived;           // extract second data item
-                led = ledReceived;              // set LED
-                printf("counter = %d\r\n", counter);
-                timer.start();
-            }
-        }
-    }
-}
-

diff -r 8352cfe17ab1 -r ec59d628ebdc ppCANOpen.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ppCANOpen.lib	Sat Mar 19 01:44:35 2016 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/ptpaterson/code/ppCANOpen/#22a337cdc0e3