Created fast api repo for endurance testbench

EnduranceTestBench HMI/data.py

@@ -0,0 +1,157 @@
+# Real CANopen data manager for Endurance Test Bench HMI
+
+import canopen
+import time
+
+class EnduranceDataManager:
+    def __init__(self):
+        self.motor_data = {}  # {node_id: {setpoint, feedback}}
+        self.pu_data = {"setpoint": {}, "feedback": {}, "flowmeter": {}, "pressure": {}, "pump": {}}
+        self.connected = False
+        self.network = None
+        self.nodes = {}
+        self.serial_numbers = {}
+
+    def connect_to_can(self):
+        try:
+            self.network = canopen.Network()
+            self.network.connect(bustype='pcan', channel='PCAN_USBBUS1', bitrate=250000)
+            self._init_pu_node()
+            self._init_motor_nodes()
+            self.connected = True
+        except Exception as e:
+            print(f"[CAN ERROR] Could not connect to CAN: {e}")
+            self.connected = False
+
+    def disconnect(self):
+        if self.network:
+            self.network.disconnect()
+        self.connected = False
+        self.motor_data.clear()
+        self.pu_data = {"setpoint": {}, "feedback": {},  "flowmeter": {}, "pressure": {}, "pump": {}}
+        self.nodes.clear()
+
+    def _init_pu_node(self):
+        try:
+            node = canopen.RemoteNode(1, r'C:\Users\vineetagupta\Documents\NorthStar_Bitbucket\EnduranceTestBench\EnduranceTestBench\coappl\enduranceTestBench.eds')
+            self.network.add_node(node)
+            node.nmt.state = 'OPERATIONAL'
+            node.tpdo.read()
+            self.nodes[1] = node
+
+            # Enable and hook TPDOs for valve and system data
+            tpdo_cobs = {
+                0x284: 'setpoint',
+                0x285: 'setpoint',
+                0x286: 'setpoint',
+                0x281: 'flowmeter',
+                0x282: 'pressure',
+                0x283: 'pump'
+            }
+
+            for cob_id, key in tpdo_cobs.items():
+                tpdo_num = self._get_tpdo_number_by_cob_id(node, cob_id)
+                if tpdo_num is not None:
+                    node.tpdo[tpdo_num].enabled = True
+
+                    def make_pu_cb(k):
+                        def cb(map_obj):
+                            for var in map_obj:
+                                sid = f"0x{var.subindex:02X}"
+                                self.pu_data[k][sid] = var.raw
+                        return cb
+
+                    node.tpdo[tpdo_num].add_callback(make_pu_cb(key))
+
+        except Exception as e:
+            print(f"PU node error: {e}")
+
+    def _get_tpdo_number_by_cob_id(self, node, cob_id):
+        for i in range(1, 9):
+            if i in node.tpdo:
+                if node.tpdo[i].cob_id == cob_id:
+                    return i
+        return None
+
+
+    def get_valve_data(self):
+        result = {}
+        for i in range(5, 25):
+            sid = f"0x{i - 4:02X}"
+            setpoint = self.pu_data["setpoint"].get(sid, 0)
+            feedback = self.motor_data.get(i, {}).get("feedback", 0)
+            drift = abs(setpoint - feedback)
+            serial = self.serial_numbers.get(i)
+
+            status = "UNKNOWN"
+            try:
+                if i in self.nodes:
+                    status = self.nodes[i].nmt.state or "UNKNOWN"
+            except:
+                pass
+        
+            # Drift symbol
+            if drift >= 5 and drift <= 10:
+                drift_display = f"⚠️ { drift}"
+            elif drift >= 10:
+                drift_display = f"❌ { drift}"
+            else:
+                drift_display = f"{drift}"
+            result[i] = {
+                "node_id": f"{i}",
+                "setpoint": setpoint,
+                "feedback": feedback,
+                "drift": drift_display,
+                "status": status,
+                "serial": serial
+            }
+        return result
+
+
+    def _init_motor_nodes(self):
+        for node_id in range(5, 25):  # Motor nodes
+            try:
+                motor_node = canopen.RemoteNode(
+                    node_id,
+                    r'C:\Users\vineetagupta\Documents\NorthStar_Bitbucket\MotorBoard\MotorValveBoard\coappl\motorcontrollervalve.eds'
+                )
+                self.network.add_node(motor_node)
+                motor_node.nmt.state = 'OPERATIONAL'
+                motor_node.tpdo.read()
+                motor_node.tpdo[1].enabled = True
+
+                # === Add callback to read feedback ===
+                def make_cb(nid):
+                    def cb(map_obj):
+                        for var in map_obj:
+                            if var.index == 0x2004 and var.subindex == 0x0:
+                                self.motor_data[nid] = {"feedback": var.raw}
+                    return cb
+
+                motor_node.tpdo[1].add_callback(make_cb(node_id))
+                self.nodes[node_id] = motor_node
+
+                # === Serial number read (only once) ===
+                if not hasattr(self, 'serial_numbers'):
+                    self.serial_numbers = {}
+
+                if node_id not in self.serial_numbers:
+                    try:
+                        serial = motor_node.sdo[0x1018][4].raw
+                        self.serial_numbers[node_id] = serial
+                    except Exception as e:
+                        print(f"[Serial Read Error] Node {node_id}: {e}")
+                        self.serial_numbers[node_id] = "Unknown"
+
+            except Exception as e:
+                print(f"[Motor Node {node_id}] Error: {e}")
+
+
+    def get_flow_data(self):
+        return self.pu_data["flowmeter"]
+    
+    def get_pressure_data(self):
+        return self.pu_data["pressure"]
+
+    def get_pump_rpm(self):
+        return self.pu_data["pump"].get("0x00", 0)

EnduranceTestBench HMI/eds/motorcontrollervalve.eds

@@ -0,0 +1,499 @@
+; EDS file for motorcontrollervalve - generated by CANopen DeviceDesigner 3.14.2
+[FileInfo]
+FileName=motorcontrollervalve.eds
+FileVersion=1.0
+FileRevision=1.0
+EDSVersion=4.0
+Description=EDS
+CreationTime=14:47PM
+CreationDate=05-19-25
+ModificationTime=14:47PM
+ModificationDate=05-19-25
+CreatedBy=Aniket Saha
+ModifiedBy=Aniket Saha
+
+[Comments]
+Lines=1
+Line1=generated by CANopen DeviceDesigner by emotas
+
+[DeviceInfo]
+VendorName=nehemis
+VendorNumber=0x59A
+ProductName=MotorValveController
+ProductNumber=0
+RevisionNumber=0
+OrderCode=MotorValveController
+BaudRate_10=0
+BaudRate_20=0
+BaudRate_50=0
+BaudRate_125=0
+BaudRate_250=1
+BaudRate_500=0
+BaudRate_800=0
+BaudRate_1000=0
+NrOfRxPDO=0
+NrOfTxPDO=1
+SimpleBootupSlave=1
+SimpleBootupMaster=0
+LSS_Supported=0
+Granularity=8
+DynamicChannelsSupported=0
+GroupMessaging=0
+
+[DummyUsage]
+Dummy0001=0
+Dummy0002=0
+Dummy0003=0
+Dummy0004=0
+Dummy0005=0
+Dummy0006=0
+Dummy0007=0
+
+[MandatoryObjects]
+SupportedObjects=3
+1=0x1000
+2=0x1001
+3=0x1018
+
+[ManufacturerObjects]
+SupportedObjects=9
+1=0x2001
+2=0x2002
+3=0x2003
+4=0x2004
+5=0x2005
+6=0x2006
+7=0x2007
+8=0x2008
+9=0x3000
+
+[OptionalObjects]
+SupportedObjects=11
+1=0x1003
+2=0x1008
+3=0x1014
+4=0x1015
+5=0x1016
+6=0x1017
+7=0x1029
+8=0x1200
+9=0x1800
+10=0x1a00
+11=0x1f51
+
+[1000]
+ParameterName=Device Type
+ObjectType=7
+DataType=7
+AccessType=ro
+PDOMapping=0
+DefaultValue=0
+
+[1001]
+ParameterName=Error Register
+ObjectType=7
+DataType=5
+AccessType=ro
+PDOMapping=0
+
+[1003]
+ParameterName=Predefined Error Field
+ObjectType=8
+SubNumber=2
+
+[1003sub0]
+ParameterName=Number of Errors
+ObjectType=7
+DataType=5
+AccessType=rw
+PDOMapping=0
+DefaultValue=0
+
+[1003sub1]
+ParameterName=Standard Error Field
+ObjectType=7
+DataType=7
+AccessType=ro
+PDOMapping=0
+DefaultValue=0
+
+[1008]
+ParameterName=Manufacturer device name
+ObjectType=7
+DataType=9
+AccessType=const
+PDOMapping=0
+DefaultValue=emotas Slave 1
+
+[1014]
+ParameterName=COB ID EMCY
+ObjectType=7
+DataType=7
+AccessType=ro
+PDOMapping=0
+DefaultValue=$NODEID+0x80
+
+[1015]
+ParameterName=Inhibit Time Emergency
+ObjectType=7
+DataType=6
+AccessType=rw
+PDOMapping=0
+DefaultValue=0x0
+
+[1016]
+ParameterName=Consumer Heartbeat Time
+ObjectType=8
+SubNumber=2
+
+[1016sub0]
+ParameterName=Number of entries
+ObjectType=7
+DataType=5
+AccessType=ro
+PDOMapping=0
+DefaultValue=1
+
+[1016sub1]
+ParameterName=Consumer Heartbeat Time
+ObjectType=7
+DataType=7
+AccessType=rw
+PDOMapping=0
+DefaultValue=500
+
+[1017]
+ParameterName=Producer Heartbeat Time
+ObjectType=7
+DataType=6
+AccessType=rw
+PDOMapping=0
+
+[1018]
+ParameterName=Identity Object
+ObjectType=9
+SubNumber=5
+
+[1018sub0]
+ParameterName=Number of entries
+ObjectType=7
+DataType=5
+AccessType=ro
+PDOMapping=0
+DefaultValue=4
+
+[1018sub1]
+ParameterName=Vendor Id
+ObjectType=7
+DataType=7
+AccessType=ro
+PDOMapping=0
+DefaultValue=0x59A
+
+[1018sub2]
+ParameterName=Product Code
+ObjectType=7
+DataType=7
+AccessType=ro
+PDOMapping=0
+
+[1018sub3]
+ParameterName=Revision number
+ObjectType=7
+DataType=7
+AccessType=ro
+PDOMapping=0
+
+[1018sub4]
+ParameterName=Serial number
+ObjectType=7
+DataType=7
+AccessType=ro
+PDOMapping=0
+
+[1029]
+ParameterName=Error behaviour
+ObjectType=8
+SubNumber=3
+
+[1029sub0]
+ParameterName=Nr of Error Classes
+ObjectType=7
+DataType=5
+AccessType=ro
+PDOMapping=0
+DefaultValue=2
+
+[1029sub1]
+ParameterName=Communication Error
+ObjectType=7
+DataType=5
+AccessType=rw
+PDOMapping=0
+DefaultValue=1
+
+[1029sub2]
+ParameterName=Specific Error Class 
+ObjectType=7
+DataType=5
+AccessType=rw
+PDOMapping=0
+
+[1200]
+ParameterName=Server SDO Parameter
+ObjectType=9
+SubNumber=3
+
+[1200sub0]
+ParameterName=Number of entries
+ObjectType=7
+DataType=5
+AccessType=ro
+PDOMapping=0
+DefaultValue=2
+
+[1200sub1]
+ParameterName=COB ID Client to Server
+ObjectType=7
+DataType=7
+AccessType=ro
+PDOMapping=0
+DefaultValue=$NODEID+0x600
+
+[1200sub2]
+ParameterName=COB ID Server to Client
+ObjectType=7
+DataType=7
+AccessType=ro
+PDOMapping=0
+DefaultValue=$NODEID+0x580
+
+[1800]
+ParameterName=Transmit PDO Communication Parameter
+ObjectType=9
+SubNumber=6
+
+[1800sub0]
+ParameterName=Number of entries
+ObjectType=7
+DataType=5
+AccessType=ro
+PDOMapping=0
+DefaultValue=5
+
+[1800sub1]
+ParameterName=COB ID
+ObjectType=7
+DataType=7
+AccessType=rw
+PDOMapping=0
+DefaultValue=$NODEID+0x180
+
+[1800sub2]
+ParameterName=Transmission Type
+ObjectType=7
+DataType=5
+AccessType=rw
+PDOMapping=0
+DefaultValue=254
+
+[1800sub3]
+ParameterName=Inhibit Time
+ObjectType=7
+DataType=6
+AccessType=rw
+PDOMapping=0
+DefaultValue=0x0000
+
+[1800sub4]
+ParameterName=Compatibility Entry
+ObjectType=7
+DataType=5
+AccessType=rw
+PDOMapping=0
+
+[1800sub5]
+ParameterName=Event Timer
+ObjectType=7
+DataType=6
+AccessType=rw
+PDOMapping=0
+DefaultValue=500
+
+[1a00]
+ParameterName=Transmit PDO Mapping Parameter
+ObjectType=9
+SubNumber=3
+
+[1a00sub0]
+ParameterName=Number of entries
+ObjectType=7
+DataType=5
+AccessType=const
+PDOMapping=0
+DefaultValue=2
+
+[1a00sub1]
+ParameterName=PDO Mapping Entry
+ObjectType=7
+DataType=7
+AccessType=const
+PDOMapping=0
+DefaultValue=0x20040008
+
+[1a00sub2]
+ParameterName=Mapping Entry 2
+ObjectType=7
+DataType=7
+AccessType=const
+PDOMapping=0
+DefaultValue=0x20050008
+
+[1f51]
+ParameterName=Program Control
+ObjectType=8
+SubNumber=2
+
+[1f51sub0]
+ParameterName=Number of entries
+ObjectType=7
+DataType=5
+AccessType=ro
+PDOMapping=0
+DefaultValue=1
+
+[1f51sub1]
+ParameterName=Program Control
+ObjectType=7
+DataType=5
+AccessType=rw
+PDOMapping=0
+
+[2001]
+ParameterName=Pressure Setpoint
+ObjectType=7
+DataType=5
+AccessType=rw
+PDOMapping=0
+
+[2002]
+ParameterName=Position Setpoint
+ObjectType=7
+DataType=5
+AccessType=rw
+PDOMapping=0
+
+[2003]
+ParameterName=Flowrate Setpoint
+ObjectType=7
+DataType=5
+AccessType=rw
+PDOMapping=0
+
+[2004]
+ParameterName=Encoder Position
+ObjectType=7
+DataType=5
+AccessType=ro
+PDOMapping=1
+
+[2005]
+ParameterName=Voltage Loss Flag
+ObjectType=7
+DataType=5
+AccessType=ro
+PDOMapping=1
+
+[2006]
+ParameterName=Set Default Position 
+ObjectType=7
+DataType=5
+AccessType=rw
+PDOMapping=0
+
+[2007]
+ParameterName=Device ID Parameters
+ObjectType=9
+SubNumber=4
+
+[2007sub0]
+ParameterName=Highest sub-index supported
+ObjectType=7
+DataType=5
+AccessType=ro
+PDOMapping=0
+DefaultValue=3
+
+[2007sub1]
+ParameterName=Product Code
+ObjectType=7
+DataType=7
+AccessType=rw
+PDOMapping=0
+
+[2007sub2]
+ParameterName=Revision Number
+ObjectType=7
+DataType=7
+AccessType=rw
+PDOMapping=0
+
+[2007sub3]
+ParameterName=Serial Number
+ObjectType=7
+DataType=7
+AccessType=rw
+PDOMapping=0
+
+[2008]
+ParameterName=Configuration Verification
+ObjectType=9
+SubNumber=5
+
+[2008sub0]
+ParameterName=Highest sub-index supported
+ObjectType=7
+DataType=5
+AccessType=ro
+PDOMapping=0
+DefaultValue=4
+
+[2008sub1]
+ParameterName=Config Okay
+ObjectType=7
+DataType=5
+AccessType=rw
+PDOMapping=0
+DefaultValue=0
+
+[2008sub2]
+ParameterName=Test Valve Request
+ObjectType=7
+DataType=5
+AccessType=rw
+PDOMapping=0
+DefaultValue=0
+
+[2008sub3]
+ParameterName=Test Valve Response
+ObjectType=7
+DataType=5
+AccessType=ro
+PDOMapping=0
+DefaultValue=0
+
+[2008sub4]
+ParameterName=Calibration Status
+ObjectType=7
+DataType=5
+AccessType=ro
+PDOMapping=0
+
+[3000]
+ParameterName=Persistent Data Delete
+ObjectType=7
+DataType=5
+AccessType=wo
+PDOMapping=0
+DefaultValue=0
+

EnduranceTestBench HMI/graphViewer.py

@@ -0,0 +1,99 @@
+import os
+import csv
+import tkinter as tk
+from tkinter import ttk
+from tkinter import messagebox
+from datetime import datetime
+import matplotlib.pyplot as plt
+from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
+
+LOGS_DIR = "logs"
+
+class GraphViewer(tk.Toplevel):
+    def __init__(self, master=None):
+        super().__init__(master)
+        self.title("Valve Graph Viewer")
+        self.geometry("1000x600")
+
+        self._create_widgets()
+        self._populate_dates()
+
+    def _create_widgets(self):
+        self.date_label = ttk.Label(self, text="Select Date:")
+        self.date_label.pack()
+
+        self.date_cb = ttk.Combobox(self, state="readonly")
+        self.date_cb.pack()
+
+        self.node_label = ttk.Label(self, text="Select Node:")
+        self.node_label.pack()
+
+        self.node_cb = ttk.Combobox(self, state="readonly", values=[f"Node{nid:02}" for nid in range(5, 25)])
+        self.node_cb.pack()
+
+        self.plot_btn = ttk.Button(self, text="Plot Graph", command=self._plot_graph)
+        self.plot_btn.pack(pady=10)
+
+        self.canvas_frame = ttk.Frame(self)
+        self.canvas_frame.pack(fill="both", expand=True)
+
+    def _populate_dates(self):
+        if not os.path.exists(LOGS_DIR):
+            return
+        dates = [d for d in os.listdir(LOGS_DIR) if os.path.isdir(os.path.join(LOGS_DIR, d))]
+        self.date_cb['values'] = sorted(dates)
+        if dates:
+            self.date_cb.current(0)
+            self.node_cb.current(0)
+
+    def _plot_graph(self):
+        date = self.date_cb.get()
+        node = self.node_cb.get()
+
+        filepath = os.path.join(LOGS_DIR, date, f"{node}.csv")
+        if not os.path.exists(filepath):
+            messagebox.showerror("File Not Found", f"No data for {node} on {date}.")
+            return
+
+        timestamps = []
+        setpoints = []
+        feedbacks = []
+        flows = []
+        pressures = []
+
+        with open(filepath, newline='') as csvfile:
+            reader = csv.DictReader(csvfile)
+            for row in reader:
+                try:
+                    timestamps.append(datetime.strptime(row["Timestamp"], "%Y-%m-%d %H:%M:%S"))
+                    setpoints.append(float(row["Setpoint"]))
+                    feedbacks.append(float(row["Feedback"]))
+                    flows.append(float(row["Flow (L/h)"]))
+                    pressures.append(float(row["Pressure (bar)"]))
+                except Exception as e:
+                    print(f"[PARSE ERROR] {e}")
+
+        self._draw_plot(timestamps, setpoints, feedbacks, flows, pressures)
+
+    def _draw_plot(self, t, sp, fb, fl, pr):
+        for widget in self.canvas_frame.winfo_children():
+            widget.destroy()
+
+        fig, ax = plt.subplots(figsize=(10, 5))
+        ax.plot(t, sp, label="Setpoint")
+        ax.plot(t, fb, label="Feedback")
+        ax.plot(t, fl, label="Flow (L/h)")
+        ax.plot(t, pr, label="Pressure (bar)")
+        ax.set_title("Valve Performance")
+        ax.set_xlabel("Time")
+        ax.set_ylabel("Values")
+        ax.legend()
+        ax.grid(True)
+
+        canvas = FigureCanvasTkAgg(fig, master=self.canvas_frame)
+        canvas.draw()
+        canvas.get_tk_widget().pack(fill="both", expand=True)
+
+# Usage:
+# from graph_viewer import GraphViewer
+# btn.config(command=lambda: GraphViewer(root))

EnduranceTestBench HMI/icons.py

@@ -0,0 +1,19 @@
+from PIL import Image
+import os
+
+# Create output directory
+os.makedirs("icons", exist_ok=True)
+
+# Define colors
+colors = {
+    "green.png": (0, 200, 0),
+    "yellow.png": (255, 200, 0),
+    "red.png": (200, 0, 0)
+}
+
+# Create solid 16x16 square images
+for name, rgb in colors.items():
+    img = Image.new("RGB", (16, 16), rgb)
+    img.save(os.path.join("icons", name))
+
+print("✅ Icons created in ./icons")

EnduranceTestBench HMI/logger.py

@@ -0,0 +1,47 @@
+import csv
+import os
+import threading
+from datetime import datetime
+
+LOG_INTERVAL_SECONDS = 0.5
+VALVE_IDS = range(5, 25)
+BASE_LOG_DIR = "logs"
+
+def start_per_valve_logger(data_mgr):
+    def log_data():
+        threading.Timer(LOG_INTERVAL_SECONDS, log_data).start()
+
+        try:
+            now = datetime.now()
+            timestamp_str = now.strftime("%Y-%m-%d %H:%M:%S")
+            date_folder = now.strftime("%Y-%m-%d")
+            valve_data = data_mgr.get_valve_data()
+            flow = data_mgr.get_flow_data()
+            pressure = data_mgr.get_pressure_data()
+
+            # Aggregate flow and pressure
+            total_flow = sum(flow.get(f"0x{i:02X}", 0) for i in range(1, 5)) / 100.0
+            total_pressure = sum(pressure.get(f"0x{i:02X}", 0) for i in range(1, 4)) / 100.0
+
+            # Create daily folder
+            log_dir = os.path.join(BASE_LOG_DIR, date_folder)
+            os.makedirs(log_dir, exist_ok=True)
+
+            for node_id in VALVE_IDS:
+                valve = valve_data.get(node_id, {})
+                setpoint = valve.get("setpoint", 0)
+                feedback = valve.get("feedback", 0)
+
+                filepath = os.path.join(log_dir, f"Node{node_id:02}.csv")
+                is_new_file = not os.path.exists(filepath)
+
+                with open(filepath, "a", newline="") as f:
+                    writer = csv.writer(f)
+                    if is_new_file:
+                        writer.writerow(["Timestamp", "Setpoint", "Feedback", "Flow (L/h)", "Pressure (bar)"])
+                    writer.writerow([timestamp_str, setpoint, feedback, total_flow, total_pressure])
+
+        except Exception as e:
+            print(f"[LOG ERROR] {e}")
+
+    log_data()

EnduranceTestBench HMI/main.py

@@ -0,0 +1,91 @@
+from template import create_gui
+from data import EnduranceDataManager
+import ttkbootstrap as ttk
+from ttkbootstrap.constants import *
+import time
+from tkinter import PhotoImage
+from logger import start_per_valve_logger
+from graphViewer import GraphViewer
+
+
+
+# Instantiate GUI and data manager
+root, connect_btn, disconnect_btn, graph_btn, valve_tree, pressure_labels, flow_labels, pump_rpm_label = create_gui()
+data_mgr = EnduranceDataManager()
+status_icons = {
+    "OPERATIONAL": PhotoImage(file="icons/green.png"),
+    "PRE-OPERATIONAL": PhotoImage(file="icons/yellow.png"),
+    "UNKNOWN": PhotoImage(file="icons/red.png"),
+}
+image_refs = []  # Needed to prevent garbage collection of images
+
+# === Update the GUI based on data manager ===
+def refresh_gui():
+    if not data_mgr.connected:
+        root.after(1000, refresh_gui)
+        return
+
+   # data_mgr.simulate_update()  # Replace with live update later
+
+    valve_tree.delete(*valve_tree.get_children())
+    image_refs.clear()  # Clear old references
+
+    valve_data = data_mgr.get_valve_data()
+    for node_id, data in valve_data.items():
+        status = data.get("status", "UNKNOWN")
+        icon = status_icons.get(status, status_icons["UNKNOWN"])
+        image_refs.append(icon)  # prevent GC
+
+        valve_tree.insert("", "end", image=icon, values=(
+            data["node_id"],
+            data["serial"],
+            data["setpoint"],
+            data["feedback"],
+            data["drift"],
+        ))
+
+
+    # Update pressure sensors
+    pressure_data = data_mgr.get_pressure_data()
+    for i, lbl in enumerate(pressure_labels):
+        raw = pressure_data.get(f'0x{i+1:02X}', 0)
+        value = float(raw) / 100.0  # assuming raw is in centibar
+        lbl.config(text=f"Pressure {i+1}: {value:.2f} bar")
+
+    # Update flowmeters (scaled to L/h)
+    flow_data = data_mgr.get_flow_data()
+    for i, lbl in enumerate(flow_labels):
+        raw = flow_data.get(f'0x{i+1:02X}', 0)
+        value = float(raw) / 100.0
+        lbl.config(text=f"Flowmeter {i+1}: {value:.1f} L/h")
+
+    # Update pump RPM
+    pump_rpm_label.config(text=str(data_mgr.get_pump_rpm()))
+
+    root.after(1000, refresh_gui)
+
+# === Button Callbacks ===
+def handle_connect():
+    data_mgr.connect_to_can()
+    connect_btn.config(state=DISABLED)
+    disconnect_btn.config(state=NORMAL)
+
+def handle_disconnect():
+    data_mgr.disconnect()
+    connect_btn.config(state=NORMAL)
+    disconnect_btn.config(state=DISABLED)
+    valve_tree.delete(*valve_tree.get_children())
+
+# Bind buttons
+connect_btn.config(command=handle_connect)
+disconnect_btn.config(command=handle_disconnect)
+disconnect_btn.config(state=DISABLED)
+
+def main():
+    refresh_gui()
+    root.mainloop()
+
+if __name__ == "__main__":
+    start_per_valve_logger(data_mgr)
+    graph_btn.config(command=lambda: GraphViewer(root))
+    main()

EnduranceTestBench HMI/template.py

@@ -0,0 +1,93 @@
+# template.py
+
+import ttkbootstrap as ttk
+from ttkbootstrap.constants import *
+from tkinter import ttk as tkttk
+from datetime import datetime
+import screeninfo
+
+def create_gui():
+    screen = screeninfo.get_monitors()[0]
+    screen_width = int(screen.width * 0.75)
+    screen_height = int(screen.height * 0.75)
+
+    root = ttk.Window(title="Endurance Test Bench", themename="morph")
+    root.geometry(f"{screen_width}x{screen_height}")
+    root.resizable(True, True)  # Allow resizing
+
+    # === Top control bar ===
+    top_frame = ttk.Frame(root, padding=10)
+    top_frame.pack(fill=X)
+
+    connect_btn = ttk.Button(top_frame, text="✅ Connect to CAN", bootstyle="success-outline")
+    connect_btn.pack(side=LEFT, padx=5)
+
+    disconnect_btn = ttk.Button(top_frame, text="❌ Disconnect", bootstyle="danger-outline")
+    disconnect_btn.pack(side=LEFT, padx=5)
+
+    graph_btn = ttk.Button(top_frame, text="🖥 Show Graphs", bootstyle="info-outline")
+    graph_btn.pack(side=RIGHT, padx=5)
+
+    # === Valve Overview Title ===
+    valve_title = ttk.Label(root, text="Valve Overview", font=("Helvetica", 16, "bold"), padding=(10, 5))
+    valve_title.pack(anchor=W)
+
+    # === Valve Tree Container ===
+    tree_container = ttk.Frame(root, padding=(10, 5))
+    tree_container.pack(fill=BOTH, expand=True)
+
+    # === Valve Treeview Widget ===
+    valve_columns = ("Node ID", "Serial No.", "Setpoint", "Feedback", "Drift")
+    valve_tree = tkttk.Treeview(tree_container, columns=valve_columns, show="tree headings", height=16)
+
+    # Style: Font and row size
+    style = ttk.Style()
+    style.configure("Treeview", font=("Segoe UI Emoji", 11), rowheight=28)
+
+    # Set column widths proportionally to screen size
+    # First column (tree column) for icons
+    valve_tree.heading("#0", text="Status")
+    valve_tree.column("#0", width=50, anchor="center", stretch=False)
+
+    # Other data columns
+    col_width = int(screen_width / (len(valve_columns) + 1))  # +1 because of the tree column
+    for col in valve_columns:
+        valve_tree.heading(col, text=col)
+        valve_tree.column(col, anchor='center', width=col_width, stretch=True)
+
+    valve_tree.pack(side=LEFT, fill=BOTH, expand=True)
+
+    # === Scrollbar ===
+    scrollbar = ttk.Scrollbar(tree_container, orient=VERTICAL, command=valve_tree.yview)
+    valve_tree.configure(yscrollcommand=scrollbar.set)
+    scrollbar.pack(side=RIGHT, fill=Y)
+
+    # === Feedback section ===
+    feedback_title = ttk.Label(root, text="System Feedback", font=("Helvetica", 12, "bold"), padding=(10, 10))
+    feedback_title.pack(anchor=W)
+
+    feedback_frame = ttk.Frame(root, padding=(10, 0))
+    feedback_frame.pack(fill=X, padx=10, pady=10)
+
+    pressure_frame = ttk.Labelframe(feedback_frame, text="Pressure Sensor", padding=10)
+    pressure_frame.pack(side=LEFT, fill=BOTH, expand=True, padx=5)
+    pressure_labels = []
+    for i in range(3):
+        lbl = ttk.Label(pressure_frame, text=f"Pressure {i+1}: 0 bar")
+        lbl.pack(anchor=W)
+        pressure_labels.append(lbl)
+
+    flow_frame = ttk.Labelframe(feedback_frame, text="Flowmeter", padding=10)
+    flow_frame.pack(side=LEFT, fill=BOTH, expand=True, padx=5)
+    flow_labels = []
+    for i in range(4):
+        lbl = ttk.Label(flow_frame, text=f"Flowmeter {i+1}: 0 L/h")
+        lbl.pack(anchor=W)
+        flow_labels.append(lbl)
+
+    pump_frame = ttk.Labelframe(feedback_frame, text="Pump RPM", padding=10)
+    pump_frame.pack(side=LEFT, fill=BOTH, expand=True, padx=5)
+    pump_rpm_label = ttk.Label(pump_frame, text="0", font=("Helvetica", 16))
+    pump_rpm_label.pack(anchor=W)
+
+    return root, connect_btn, disconnect_btn, graph_btn, valve_tree, pressure_labels, flow_labels, pump_rpm_label

EnduranceTestBench/.cproject

@@ -25,6 +25,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1405112184" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.682025153" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32G474RETx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../Drivers/STM32G4xx_HAL_Driver/Inc | ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy | ../Drivers/CMSIS/Device/ST/STM32G4xx/Include | ../Drivers/CMSIS/Include ||  ||  || USE_HAL_DRIVER | STM32G474xx ||  || Drivers | Core/Startup | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32G474RETX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None ||  ||  || " valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.1257551364" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="160" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary.1999534235" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.732001332" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/ProcessBoardV1}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.740914774" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.506100853" name="MCU/MPU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
@@ -71,6 +72,11 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/scheduler}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/log}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/nms-hal}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/nms_hal}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/nms_can}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/north-star_emotas-stack/codrv_sl/common}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/north-star_emotas-stack/codrv_sl/stm32_mcan}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/north-star_emotas-stack/colib_sl/inc}&quot;"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.1637079955" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
 							</tool>
@@ -126,6 +132,11 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/scheduler}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/log}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/nms-hal}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/nms_hal}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/nms_can}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/north-star_emotas-stack/codrv_sl/common}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/north-star_emotas-stack/codrv_sl/stm32_mcan}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/north-star_emotas-stack/colib_sl/inc}&quot;"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.197736294" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
 							</tool>
@@ -151,16 +162,17 @@
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.symbolsrec.1592992518" name="MCU Output Converter Motorola S-rec with symbols" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.symbolsrec"/>
 						</toolChain>
 					</folderInfo>
-					<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.456731299.1252556889" name="monitoring.h" rcbsApplicability="disable" resourcePath="nehemis/monitoring.h" toolsToInvoke=""/>
+					<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.456731299.1252556889" name="monitoring.h" rcbsApplicability="disable" resourcePath="nehemis/enduranceTestBench.h" toolsToInvoke=""/>
 					<sourceEntries>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="NorthStar-Emotas-Stack"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="coappl"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="common"/>
-						<entry excluding="lss.c|lss.h|monitoring.h|monitoring.c" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="nehemis"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="nms-hal"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="scheduler"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="nms_hal"/>
+						<entry excluding="lss.c|lss.h" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="nehemis"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="common"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="nms_can"/>
+						<entry excluding="colib_ml|codrv_ml" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="north-star_emotas-stack"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="coappl"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -233,6 +245,11 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/scheduler}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/log}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/nms-hal}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/nms_hal}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/nms_can}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/north-star_emotas-stack/codrv_sl/common}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/north-star_emotas-stack/codrv_sl/stm32_mcan}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/north-star_emotas-stack/colib_sl/inc}&quot;"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.957070642" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
 							</tool>
@@ -287,6 +304,11 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/scheduler}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/log}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/nms-hal}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/nms_hal}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/nms_can}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/north-star_emotas-stack/codrv_sl/common}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/north-star_emotas-stack/codrv_sl/stm32_mcan}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/north-star_emotas-stack/colib_sl/inc}&quot;"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1211672677" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
 							</tool>
@@ -313,10 +335,10 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="nms_hal"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="nehemis"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="nehemis"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="nms-hal"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>

EnduranceTestBench/.project

@@ -30,21 +30,25 @@
 		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
 	</natures>
 	<linkedResources>
-		<link>
-			<name>NorthStar-Emotas-Stack</name>
-			<type>2</type>
-			<locationURI>copy_PARENT/NorthStar-Emotas-Stack</locationURI>
-		</link>
 		<link>
 			<name>common</name>
 			<type>2</type>
-			<locationURI>copy_PARENT/common</locationURI>
+			<locationURI>PARENT-1-PARENT_LOC/common</locationURI>
+		</link>
+		<link>
+			<name>nms_can</name>
+			<type>2</type>
+			<locationURI>PROJECT_LOC/nms_can</locationURI>
+		</link>
+		<link>
+			<name>nms_hal</name>
+			<type>2</type>
+			<locationURI>PROJECT_LOC/nms_hal</locationURI>
+		</link>
+		<link>
+			<name>north-star_emotas-stack</name>
+			<type>2</type>
+			<locationURI>PARENT-1-PROJECT_LOC/north-star_emotas-stack</locationURI>
 		</link>
 	</linkedResources>
-	<variableList>
-		<variable>
-			<name>copy_PARENT</name>
-			<value>$%7BPARENT-3-PROJECT_LOC%7D/Documents/NorthStar-Endurance-TestBench</value>
-		</variable>
-	</variableList>
 </projectDescription>

EnduranceTestBench/Core/Inc/dma.h

@@ -0,0 +1,52 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    dma.h
+  * @brief   This file contains all the function prototypes for
+  *          the dma.c file
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2025 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __DMA_H__
+#define __DMA_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* DMA memory to memory transfer handles -------------------------------------*/
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_DMA_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __DMA_H__ */
+

EnduranceTestBench/Core/Inc/stm32g4xx_it.h

@@ -55,7 +55,9 @@ void SVC_Handler(void);
 void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
+void DMA1_Channel1_IRQHandler(void);
 void TIM1_TRG_COM_TIM17_IRQHandler(void);
+void TIM6_DAC_IRQHandler(void);
 void I2C4_EV_IRQHandler(void);
 void I2C4_ER_IRQHandler(void);
 /* USER CODE BEGIN EFP */

EnduranceTestBench/Core/Inc/tim.h

@@ -32,12 +32,15 @@ extern "C" {
 
 /* USER CODE END Includes */
 
+extern TIM_HandleTypeDef htim6;
+
 extern TIM_HandleTypeDef htim17;
 
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */
 
+void MX_TIM6_Init(void);
 void MX_TIM17_Init(void);
 
 /* USER CODE BEGIN Prototypes */

EnduranceTestBench/Core/Src/adc.c

@@ -25,6 +25,7 @@
 /* USER CODE END 0 */
 
 ADC_HandleTypeDef hadc1;
+DMA_HandleTypeDef hdma_adc1;
 
 /* ADC1 init function */
 void MX_ADC1_Init(void)
@@ -48,16 +49,16 @@ void MX_ADC1_Init(void)
   hadc1.Init.Resolution = ADC_RESOLUTION_12B;
   hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
   hadc1.Init.GainCompensation = 0;
-  hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
+  hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
   hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
   hadc1.Init.LowPowerAutoWait = DISABLE;
-  hadc1.Init.ContinuousConvMode = DISABLE;
+  hadc1.Init.ContinuousConvMode = ENABLE;
-  hadc1.Init.NbrOfConversion = 1;
+  hadc1.Init.NbrOfConversion = 9;
   hadc1.Init.DiscontinuousConvMode = DISABLE;
   hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
   hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
   hadc1.Init.DMAContinuousRequests = DISABLE;
-  hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED;
+  hadc1.Init.Overrun = ADC_OVR_DATA_OVERWRITTEN;
   hadc1.Init.OversamplingMode = DISABLE;
   if (HAL_ADC_Init(&hadc1) != HAL_OK)
   {
@@ -84,6 +85,78 @@ void MX_ADC1_Init(void)
   {
     Error_Handler();
   }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_2;
+  sConfig.Rank = ADC_REGULAR_RANK_2;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_3;
+  sConfig.Rank = ADC_REGULAR_RANK_3;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_4;
+  sConfig.Rank = ADC_REGULAR_RANK_4;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_5;
+  sConfig.Rank = ADC_REGULAR_RANK_5;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_6;
+  sConfig.Rank = ADC_REGULAR_RANK_6;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_7;
+  sConfig.Rank = ADC_REGULAR_RANK_7;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_8;
+  sConfig.Rank = ADC_REGULAR_RANK_8;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_9;
+  sConfig.Rank = ADC_REGULAR_RANK_9;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
   /* USER CODE BEGIN ADC1_Init 2 */
 
   /* USER CODE END ADC1_Init 2 */
@@ -142,6 +215,24 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     HAL_GPIO_Init(PMP_FB_GPIO_Port, &GPIO_InitStruct);
 
+    /* ADC1 DMA Init */
+    /* ADC1 Init */
+    hdma_adc1.Instance = DMA1_Channel1;
+    hdma_adc1.Init.Request = DMA_REQUEST_ADC1;
+    hdma_adc1.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    hdma_adc1.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_adc1.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
+    hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
+    hdma_adc1.Init.Mode = DMA_CIRCULAR;
+    hdma_adc1.Init.Priority = DMA_PRIORITY_LOW;
+    if (HAL_DMA_Init(&hdma_adc1) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(adcHandle,DMA_Handle,hdma_adc1);
+
   /* USER CODE BEGIN ADC1_MspInit 1 */
 
   /* USER CODE END ADC1_MspInit 1 */
@@ -176,6 +267,8 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
 
     HAL_GPIO_DeInit(PMP_FB_GPIO_Port, PMP_FB_Pin);
 
+    /* ADC1 DMA DeInit */
+    HAL_DMA_DeInit(adcHandle->DMA_Handle);
   /* USER CODE BEGIN ADC1_MspDeInit 1 */
 
   /* USER CODE END ADC1_MspDeInit 1 */

EnduranceTestBench/Core/Src/dma.c

@@ -0,0 +1,56 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    dma.c
+  * @brief   This file provides code for the configuration
+  *          of all the requested memory to memory DMA transfers.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2025 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "dma.h"
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+/*----------------------------------------------------------------------------*/
+/* Configure DMA                                                              */
+/*----------------------------------------------------------------------------*/
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */
+
+/**
+  * Enable DMA controller clock
+  */
+void MX_DMA_Init(void)
+{
+
+  /* DMA controller clock enable */
+  __HAL_RCC_DMAMUX1_CLK_ENABLE();
+  __HAL_RCC_DMA1_CLK_ENABLE();
+
+  /* DMA interrupt init */
+  /* DMA1_Channel1_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
+
+}
+
+/* USER CODE BEGIN 2 */
+
+/* USER CODE END 2 */
+

EnduranceTestBench/Core/Src/main.c

@@ -19,6 +19,7 @@
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
 #include "adc.h"
+#include "dma.h"
 #include "fdcan.h"
 #include "i2c.h"
 #include "tim.h"
@@ -78,7 +79,7 @@ int main(void)
   /* MCU Configuration--------------------------------------------------------*/
 
   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
-   HAL_Init();
+  HAL_Init();
 
   /* USER CODE BEGIN Init */
 
@@ -93,11 +94,13 @@ int main(void)
 
   /* Initialize all configured peripherals */
   MX_GPIO_Init();
+  MX_DMA_Init();
   MX_FDCAN1_Init();
   MX_TIM17_Init();
   MX_FDCAN2_Init();
   MX_ADC1_Init();
   MX_I2C4_Init();
+  MX_TIM6_Init();
   /* USER CODE BEGIN 2 */
   SdlInit();
 

EnduranceTestBench/Core/Src/stm32g4xx_it.c

@@ -55,7 +55,9 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
+extern DMA_HandleTypeDef hdma_adc1;
 extern I2C_HandleTypeDef hi2c4;
+extern TIM_HandleTypeDef htim6;
 extern TIM_HandleTypeDef htim17;
 /* USER CODE BEGIN EV */
 
@@ -199,6 +201,20 @@ void SysTick_Handler(void)
 /* please refer to the startup file (startup_stm32g4xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles DMA1 channel1 global interrupt.
+  */
+void DMA1_Channel1_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Channel1_IRQn 0 */
+
+  /* USER CODE END DMA1_Channel1_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_adc1);
+  /* USER CODE BEGIN DMA1_Channel1_IRQn 1 */
+
+  /* USER CODE END DMA1_Channel1_IRQn 1 */
+}
+
 /**
   * @brief This function handles TIM1 trigger and commutation interrupts and TIM17 global interrupt.
   */
@@ -213,6 +229,20 @@ void TIM1_TRG_COM_TIM17_IRQHandler(void)
   /* USER CODE END TIM1_TRG_COM_TIM17_IRQn 1 */
 }
 
+/**
+  * @brief This function handles TIM6 global interrupt, DAC1 and DAC3 channel underrun error interrupts.
+  */
+void TIM6_DAC_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM6_DAC_IRQn 0 */
+
+  /* USER CODE END TIM6_DAC_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim6);
+  /* USER CODE BEGIN TIM6_DAC_IRQn 1 */
+
+  /* USER CODE END TIM6_DAC_IRQn 1 */
+}
+
 /**
   * @brief This function handles I2C4 event interrupt / I2C4 wake-up interrupt through EXTI line 42.
   */

EnduranceTestBench/Core/Src/tim.c

@@ -24,8 +24,42 @@
 
 /* USER CODE END 0 */
 
+TIM_HandleTypeDef htim6;
 TIM_HandleTypeDef htim17;
 
+/* TIM6 init function */
+void MX_TIM6_Init(void)
+{
+
+  /* USER CODE BEGIN TIM6_Init 0 */
+
+  /* USER CODE END TIM6_Init 0 */
+
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+
+  /* USER CODE BEGIN TIM6_Init 1 */
+
+  /* USER CODE END TIM6_Init 1 */
+  htim6.Instance = TIM6;
+  htim6.Init.Prescaler = 3999;
+  htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim6.Init.Period = 9999;
+  htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
+  if (HAL_TIM_Base_Init(&htim6) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim6, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM6_Init 2 */
+
+  /* USER CODE END TIM6_Init 2 */
+
+}
 /* TIM17 init function */
 void MX_TIM17_Init(void)
 {
@@ -57,7 +91,22 @@ void MX_TIM17_Init(void)
 void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
 {
 
-  if(tim_baseHandle->Instance==TIM17)
+  if(tim_baseHandle->Instance==TIM6)
+  {
+  /* USER CODE BEGIN TIM6_MspInit 0 */
+
+  /* USER CODE END TIM6_MspInit 0 */
+    /* TIM6 clock enable */
+    __HAL_RCC_TIM6_CLK_ENABLE();
+
+    /* TIM6 interrupt Init */
+    HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
+  /* USER CODE BEGIN TIM6_MspInit 1 */
+
+  /* USER CODE END TIM6_MspInit 1 */
+  }
+  else if(tim_baseHandle->Instance==TIM17)
   {
   /* USER CODE BEGIN TIM17_MspInit 0 */
 
@@ -77,7 +126,21 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
 void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
 {
 
-  if(tim_baseHandle->Instance==TIM17)
+  if(tim_baseHandle->Instance==TIM6)
+  {
+  /* USER CODE BEGIN TIM6_MspDeInit 0 */
+
+  /* USER CODE END TIM6_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM6_CLK_DISABLE();
+
+    /* TIM6 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(TIM6_DAC_IRQn);
+  /* USER CODE BEGIN TIM6_MspDeInit 1 */
+
+  /* USER CODE END TIM6_MspDeInit 1 */
+  }
+  else if(tim_baseHandle->Instance==TIM17)
   {
   /* USER CODE BEGIN TIM17_MspDeInit 0 */
 

EnduranceTestBench/EnduranceTestBench.ioc

@@ -1,15 +1,69 @@
 #MicroXplorer Configuration settings - do not modify
 ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_1
+ADC1.Channel-1\#ChannelRegularConversion=ADC_CHANNEL_2
+ADC1.Channel-2\#ChannelRegularConversion=ADC_CHANNEL_3
+ADC1.Channel-3\#ChannelRegularConversion=ADC_CHANNEL_4
+ADC1.Channel-4\#ChannelRegularConversion=ADC_CHANNEL_5
+ADC1.Channel-5\#ChannelRegularConversion=ADC_CHANNEL_6
+ADC1.Channel-6\#ChannelRegularConversion=ADC_CHANNEL_7
+ADC1.Channel-7\#ChannelRegularConversion=ADC_CHANNEL_8
+ADC1.Channel-8\#ChannelRegularConversion=ADC_CHANNEL_9
 ADC1.CommonPathInternal=null|null|null|null
-ADC1.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,OffsetNumber-0\#ChannelRegularConversion,NbrOfConversionFlag,master,CommonPathInternal
+ADC1.ContinuousConvMode=ENABLE
+ADC1.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,OffsetNumber-0\#ChannelRegularConversion,NbrOfConversionFlag,master,Overrun,ContinuousConvMode,Rank-1\#ChannelRegularConversion,Channel-1\#ChannelRegularConversion,SamplingTime-1\#ChannelRegularConversion,OffsetNumber-1\#ChannelRegularConversion,Rank-2\#ChannelRegularConversion,Channel-2\#ChannelRegularConversion,SamplingTime-2\#ChannelRegularConversion,OffsetNumber-2\#ChannelRegularConversion,Rank-3\#ChannelRegularConversion,Channel-3\#ChannelRegularConversion,SamplingTime-3\#ChannelRegularConversion,OffsetNumber-3\#ChannelRegularConversion,Rank-4\#ChannelRegularConversion,Channel-4\#ChannelRegularConversion,SamplingTime-4\#ChannelRegularConversion,OffsetNumber-4\#ChannelRegularConversion,Rank-5\#ChannelRegularConversion,Channel-5\#ChannelRegularConversion,SamplingTime-5\#ChannelRegularConversion,OffsetNumber-5\#ChannelRegularConversion,Rank-6\#ChannelRegularConversion,Channel-6\#ChannelRegularConversion,SamplingTime-6\#ChannelRegularConversion,OffsetNumber-6\#ChannelRegularConversion,Rank-7\#ChannelRegularConversion,Channel-7\#ChannelRegularConversion,SamplingTime-7\#ChannelRegularConversion,OffsetNumber-7\#ChannelRegularConversion,Rank-8\#ChannelRegularConversion,Channel-8\#ChannelRegularConversion,SamplingTime-8\#ChannelRegularConversion,OffsetNumber-8\#ChannelRegularConversion,NbrOfConversion,CommonPathInternal
+ADC1.NbrOfConversion=9
 ADC1.NbrOfConversionFlag=1
 ADC1.OffsetNumber-0\#ChannelRegularConversion=ADC_OFFSET_NONE
+ADC1.OffsetNumber-1\#ChannelRegularConversion=ADC_OFFSET_NONE
+ADC1.OffsetNumber-2\#ChannelRegularConversion=ADC_OFFSET_NONE
+ADC1.OffsetNumber-3\#ChannelRegularConversion=ADC_OFFSET_NONE
+ADC1.OffsetNumber-4\#ChannelRegularConversion=ADC_OFFSET_NONE
+ADC1.OffsetNumber-5\#ChannelRegularConversion=ADC_OFFSET_NONE
+ADC1.OffsetNumber-6\#ChannelRegularConversion=ADC_OFFSET_NONE
+ADC1.OffsetNumber-7\#ChannelRegularConversion=ADC_OFFSET_NONE
+ADC1.OffsetNumber-8\#ChannelRegularConversion=ADC_OFFSET_NONE
+ADC1.Overrun=ADC_OVR_DATA_OVERWRITTEN
 ADC1.Rank-0\#ChannelRegularConversion=1
+ADC1.Rank-1\#ChannelRegularConversion=2
+ADC1.Rank-2\#ChannelRegularConversion=3
+ADC1.Rank-3\#ChannelRegularConversion=4
+ADC1.Rank-4\#ChannelRegularConversion=5
+ADC1.Rank-5\#ChannelRegularConversion=6
+ADC1.Rank-6\#ChannelRegularConversion=7
+ADC1.Rank-7\#ChannelRegularConversion=8
+ADC1.Rank-8\#ChannelRegularConversion=9
 ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
+ADC1.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
+ADC1.SamplingTime-2\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
+ADC1.SamplingTime-3\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
+ADC1.SamplingTime-4\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
+ADC1.SamplingTime-5\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
+ADC1.SamplingTime-6\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
+ADC1.SamplingTime-7\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
+ADC1.SamplingTime-8\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
 ADC1.master=1
 CAD.formats=
 CAD.pinconfig=
 CAD.provider=
+Dma.ADC1.0.Direction=DMA_PERIPH_TO_MEMORY
+Dma.ADC1.0.EventEnable=DISABLE
+Dma.ADC1.0.Instance=DMA1_Channel1
+Dma.ADC1.0.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
+Dma.ADC1.0.MemInc=DMA_MINC_ENABLE
+Dma.ADC1.0.Mode=DMA_CIRCULAR
+Dma.ADC1.0.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
+Dma.ADC1.0.PeriphInc=DMA_PINC_DISABLE
+Dma.ADC1.0.Polarity=HAL_DMAMUX_REQ_GEN_RISING
+Dma.ADC1.0.Priority=DMA_PRIORITY_LOW
+Dma.ADC1.0.RequestNumber=1
+Dma.ADC1.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
+Dma.ADC1.0.SignalID=NONE
+Dma.ADC1.0.SyncEnable=DISABLE
+Dma.ADC1.0.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
+Dma.ADC1.0.SyncRequestNumber=1
+Dma.ADC1.0.SyncSignalID=NONE
+Dma.Request0=ADC1
+Dma.RequestsNb=1
 FDCAN1.AutoRetransmission=ENABLE
 FDCAN1.CalculateBaudRateNominal=250000
 FDCAN1.CalculateTimeBitNominal=4000
@@ -30,21 +84,23 @@ FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,Calculat
 FDCAN2.NominalPrescaler=32
 FDCAN2.NominalTimeSeg1=2
 File.Version=6
-GPIO.groupedBy=
+GPIO.groupedBy=Group By Peripherals
 I2C4.IPParameters=Timing
 I2C4.Timing=0x00D09BE3
 KeepUserPlacement=false
 Mcu.CPN=STM32G474RET6
 Mcu.Family=STM32G4
 Mcu.IP0=ADC1
-Mcu.IP1=FDCAN1
+Mcu.IP1=DMA
-Mcu.IP2=FDCAN2
+Mcu.IP2=FDCAN1
-Mcu.IP3=I2C4
+Mcu.IP3=FDCAN2
-Mcu.IP4=NVIC
+Mcu.IP4=I2C4
-Mcu.IP5=RCC
+Mcu.IP5=NVIC
-Mcu.IP6=SYS
+Mcu.IP6=RCC
-Mcu.IP7=TIM17
+Mcu.IP7=SYS
-Mcu.IPNb=8
+Mcu.IP8=TIM6
+Mcu.IP9=TIM17
+Mcu.IPNb=10
 Mcu.Name=STM32G474R(B-C-E)Tx
 Mcu.Package=LQFP64
 Mcu.Pin0=PF0-OSC_IN
@@ -65,7 +121,8 @@ Mcu.Pin21=PB3
 Mcu.Pin22=PB4
 Mcu.Pin23=VP_SYS_VS_Systick
 Mcu.Pin24=VP_SYS_VS_DBSignals
-Mcu.Pin25=VP_TIM17_VS_ClockSourceINT
+Mcu.Pin25=VP_TIM6_VS_ClockSourceINT
+Mcu.Pin26=VP_TIM17_VS_ClockSourceINT
 Mcu.Pin3=PC1
 Mcu.Pin4=PC2
 Mcu.Pin5=PC3
@@ -73,13 +130,14 @@ Mcu.Pin6=PA0
 Mcu.Pin7=PA1
 Mcu.Pin8=PA2
 Mcu.Pin9=PA3
-Mcu.PinsNb=26
+Mcu.PinsNb=27
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32G474RETx
 MxCube.Version=6.12.0
 MxDb.Version=DB.6.0.120
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.DMA1_Channel1_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
@@ -92,6 +150,7 @@ NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false
 NVIC.TIM1_TRG_COM_TIM17_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.TIM6_DAC_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA0.GPIOParameters=GPIO_Label
 PA0.GPIO_Label=PS1
@@ -206,8 +265,8 @@ ProjectManager.MainLocation=Core/Src
 ProjectManager.NoMain=false
 ProjectManager.PreviousToolchain=STM32CubeIDE
 ProjectManager.ProjectBuild=false
-ProjectManager.ProjectFileName=ProcessBoardV1.ioc
+ProjectManager.ProjectFileName=EnduranceTestBench.ioc
-ProjectManager.ProjectName=ProcessBoardV1
+ProjectManager.ProjectName=EnduranceTestBench
 ProjectManager.ProjectStructure=
 ProjectManager.RegisterCallBack=
 ProjectManager.StackSize=0x400
@@ -216,7 +275,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=true
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_FDCAN1_Init-FDCAN1-false-HAL-true,4-MX_TIM17_Init-TIM17-false-HAL-true,5-MX_FDCAN2_Init-FDCAN2-false-HAL-true,6-MX_ADC1_Init-ADC1-false-HAL-true,7-MX_I2C4_Init-I2C4-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_FDCAN1_Init-FDCAN1-false-HAL-true,5-MX_TIM17_Init-TIM17-false-HAL-true,6-MX_FDCAN2_Init-FDCAN2-false-HAL-true,7-MX_ADC1_Init-ADC1-false-HAL-true,8-MX_I2C4_Init-I2C4-false-HAL-true
 RCC.ADC12Freq_Value=160000000
 RCC.ADC345Freq_Value=160000000
 RCC.AHBFreq_Value=160000000
@@ -270,11 +329,17 @@ TIM17.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
 TIM17.IPParameters=AutoReloadPreload,Prescaler,PeriodNoDither
 TIM17.PeriodNoDither=999
 TIM17.Prescaler=15
+TIM6.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
+TIM6.IPParameters=Prescaler,PeriodNoDither,AutoReloadPreload
+TIM6.PeriodNoDither=9999
+TIM6.Prescaler=3999
 VP_SYS_VS_DBSignals.Mode=DisableDeadBatterySignals
 VP_SYS_VS_DBSignals.Signal=SYS_VS_DBSignals
 VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
 VP_TIM17_VS_ClockSourceINT.Mode=Enable_Timer
 VP_TIM17_VS_ClockSourceINT.Signal=TIM17_VS_ClockSourceINT
+VP_TIM6_VS_ClockSourceINT.Mode=Enable_Timer
+VP_TIM6_VS_ClockSourceINT.Signal=TIM6_VS_ClockSourceINT
 board=custom
 isbadioc=false

EnduranceTestBench/coappl/enduranceTestBench.csv

@@ -6,11 +6,30 @@ Index,Sub,EDSname,Datatype,Access,Value,varname,LowLimit,UpLimit,hasDefault,hasL
 0x1008,0x00,Manufacturer device name,VISIBLE_STRING,const,emotas Slave 1,NONE,0,0,yes,no,no,no,1,ManagedConst,14,,no
 0x1014,0x00,COB ID EMCY,UNSIGNED32,ro,$NODEID+0x80,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
 0x1015,0x00,Inhibit Time Emergency,UNSIGNED16,rw,0,NONE,0,65535,yes,no,no,no,1,ManagedVariable,0,,no
-0x1016,0x00,Consumer Heartbeat Time Number of entries,UNSIGNED8,ro,1,NONE,0,255,yes,no,no,no,1,ManagedConst,0,ARRAY,no
+0x1016,0x00,Consumer Heartbeat Time Number of entries,UNSIGNED8,ro,20,NONE,0,255,yes,no,no,no,1,ManagedConst,0,ARRAY,no
-0x1016,0x01,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,0,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x01,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
-0x1017,0x00,Producer Heartbeat Time,UNSIGNED16,rw,1500,NONE,0,65535,no,no,no,no,0,ManagedVariable,0,,no
+0x1016,0x02,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x03,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x04,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x05,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x06,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x07,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x08,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x09,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x0a,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x0b,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x0c,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x0d,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x0e,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x0f,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x10,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x11,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x12,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x13,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x14,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1017,0x00,Producer Heartbeat Time,UNSIGNED16,rw,100,NONE,0,65535,no,no,no,no,0,ManagedVariable,0,,no
 0x1018,0x00,Identity Object Number of entries,UNSIGNED8,ro,4,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1018,0x01,Identity Object Vendor Id,UNSIGNED32,ro,793,NONE,0,4294967295,yes,no,no,no,1,ManagedConst,0,,no
+0x1018,0x01,Identity Object Vendor Id,UNSIGNED32,ro,1434,NONE,0,4294967295,yes,no,no,no,1,ManagedConst,0,,no
 0x1018,0x02,Identity Object Product Code,UNSIGNED32,ro,1234,NONE,0,4294967295,yes,no,no,no,1,ManagedConst,0,,no
 0x1018,0x03,Identity Object Revision number,UNSIGNED32,ro,1,NONE,0,4294967295,yes,no,no,no,1,ManagedConst,0,,no
 0x1018,0x04,Identity Object Serial number,UNSIGNED32,ro,,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
@@ -101,115 +120,112 @@ Index,Sub,EDSname,Datatype,Access,Value,varname,LowLimit,UpLimit,hasDefault,hasL
 0x1293,0x01,SDO client parameter COB-ID client -> server,UNSIGNED32,rw,2147483648,NONE,128,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
 0x1293,0x02,SDO client parameter COB-ID server -> client,UNSIGNED32,rw,2147483648,NONE,128,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
 0x1293,0x03,SDO client parameter Node-ID of the SDO server,UNSIGNED8,rw,,NONE,1,127,no,no,no,no,0,ManagedVariable,0,,no
-0x1400,0x00,Receive PDO Communication Parameter Highest sub-index supported,UNSIGNED8,ro,2,NONE,2,5,yes,no,no,no,1,ManagedConst,0,RECORD,no
+0x1800,0x00,Flowmeter communication parameter Number of entries,UNSIGNED8,ro,5,NONE,2,6,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1400,0x01,Receive PDO Communication Parameter COB ID,UNSIGNED32,rw,$NODEID+0x200,NONE,385,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1800,0x01,Flowmeter communication parameter COB ID,UNSIGNED32,rw,$NODEID+0x280,NONE,1,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
-0x1400,0x02,Receive PDO Communication Parameter Transmission Type,UNSIGNED8,rw,254,NONE,0,255,yes,no,no,no,1,ManagedVariable,0,,no
+0x1800,0x02,Flowmeter communication parameter Transmission Type,UNSIGNED8,rw,254,NONE,0,255,yes,no,no,no,1,ManagedVariable,0,,no
-0x1401,0x00,Receive PDO Communication Parameter Highest sub-index supported,UNSIGNED8,ro,2,NONE,2,5,yes,no,no,no,1,ManagedConst,0,RECORD,no
+0x1800,0x03,Flowmeter communication parameter Inhibit Time,UNSIGNED16,rw,0,NONE,0,65535,yes,no,no,no,1,ManagedVariable,0,,no
-0x1401,0x01,Receive PDO Communication Parameter COB ID,UNSIGNED32,rw,$NODEID+0x200,NONE,385,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1800,0x04,Flowmeter communication parameter Compatibility Entry,UNSIGNED8,rw,,NONE,0,255,yes,no,no,no,0,ManagedVariable,0,,no
-0x1401,0x02,Receive PDO Communication Parameter Transmission Type,UNSIGNED8,rw,254,NONE,0,255,yes,no,no,no,1,ManagedVariable,0,,no
+0x1800,0x05,Flowmeter communication parameter Event Timer,UNSIGNED16,rw,100,NONE,0,65535,yes,no,no,no,1,ManagedVariable,0,,no
-0x1402,0x00,Receive PDO Communication Parameter Highest sub-index supported,UNSIGNED8,ro,2,NONE,2,5,yes,no,no,no,1,ManagedConst,0,RECORD,no
+0x1801,0x00,Pressure communication parameter Highest sub-index supported,UNSIGNED8,const,6,NONE,2,6,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1402,0x01,Receive PDO Communication Parameter COB ID,UNSIGNED32,rw,$NODEID+0x200,NONE,385,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1801,0x01,Pressure communication parameter COB-ID used by TPDO,UNSIGNED32,rw,$NODEID+0x280+1,NONE,128,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
-0x1402,0x02,Receive PDO Communication Parameter Transmission Type,UNSIGNED8,rw,254,NONE,0,255,yes,no,no,no,1,ManagedVariable,0,,no
+0x1801,0x02,Pressure communication parameter Transmission type,UNSIGNED8,rw,254,NONE,0,255,yes,no,no,no,2,ManagedVariable,0,,no
-0x1600,0x00,Receive PDO Mapping Parameter Highest sub-index supported,UNSIGNED8,const,2,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
+0x1801,0x03,Pressure communication parameter Inhibit time,UNSIGNED16,rw,,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1600,0x01,Receive PDO Mapping Parameter Mapping Entry 1,UNSIGNED32,const,1610678560,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
+0x1801,0x04,Pressure communication parameter Inhibit time,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1600,0x02,Receive PDO Mapping Parameter Mapping Entry 2,UNSIGNED32,const,1610678816,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
+0x1801,0x05,Pressure communication parameter Event timer,UNSIGNED16,rw,100,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1601,0x00,Receive PDO Mapping Parameter Highest sub-index supported,UNSIGNED8,const,2,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
+0x1801,0x06,Pressure communication parameter SYNC start value,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1601,0x01,Receive PDO Mapping Parameter Mapping Entry 1,UNSIGNED32,const,1610679072,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
+0x1802,0x00,Pump communication parameter Highest sub-index supported,UNSIGNED8,const,6,NONE,2,6,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1601,0x02,Receive PDO Mapping Parameter Mapping Entry 2,UNSIGNED32,const,1610679328,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
+0x1802,0x01,Pump communication parameter COB-ID used by TPDO,UNSIGNED32,rw,$NODEID+0x280+2,NONE,128,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
-0x1602,0x00,Receive PDO Mapping Parameter Highest sub-index supported,UNSIGNED8,const,2,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
+0x1802,0x02,Pump communication parameter Transmission type,UNSIGNED8,rw,254,NONE,0,255,yes,no,no,no,2,ManagedVariable,0,,no
-0x1602,0x01,Receive PDO Mapping Parameter Mapping Entry 1,UNSIGNED32,const,1610679584,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
+0x1802,0x03,Pump communication parameter Inhibit time,UNSIGNED16,rw,,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1602,0x02,Receive PDO Mapping Parameter Mapping Entry 2,UNSIGNED32,const,1610679840,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
+0x1802,0x04,Pump communication parameter Inhibit time,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1800,0x00,TPDO communication parameter Number of entries,UNSIGNED8,ro,5,NONE,2,6,yes,no,no,no,1,ManagedConst,0,RECORD,no
+0x1802,0x05,Pump communication parameter Event timer,UNSIGNED16,rw,100,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1800,0x01,TPDO communication parameter COB ID,UNSIGNED32,rw,$NODEID+0x180,NONE,1,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1802,0x06,Pump communication parameter SYNC start value,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1800,0x02,TPDO communication parameter Transmission Type,UNSIGNED8,rw,254,NONE,0,255,yes,no,no,no,1,ManagedVariable,0,,no
+0x1803,0x00,Motor setpoint 1 communication parameter Highest sub-index supported,UNSIGNED8,const,6,NONE,2,6,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1800,0x03,TPDO communication parameter Inhibit Time,UNSIGNED16,rw,0,NONE,0,65535,yes,no,no,no,1,ManagedVariable,0,,no
+0x1803,0x01,Motor setpoint 1 communication parameter COB-ID used by TPDO,UNSIGNED32,rw,$NODEID+0x280+3,NONE,128,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
-0x1800,0x04,TPDO communication parameter Compatibility Entry,UNSIGNED8,rw,,NONE,0,255,yes,no,no,no,0,ManagedVariable,0,,no
+0x1803,0x02,Motor setpoint 1 communication parameter Transmission type,UNSIGNED8,rw,254,NONE,0,255,yes,no,no,no,2,ManagedVariable,0,,both
-0x1800,0x05,TPDO communication parameter Event Timer,UNSIGNED16,rw,500,NONE,0,65535,yes,no,no,no,1,ManagedVariable,0,,no
+0x1803,0x03,Motor setpoint 1 communication parameter Inhibit time,UNSIGNED16,rw,,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1801,0x00,TPDO communication parameter Highest sub-index supported,UNSIGNED8,const,6,NONE,2,6,yes,no,no,no,1,ManagedConst,0,RECORD,no
+0x1803,0x04,Motor setpoint 1 communication parameter Inhibit time,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1801,0x01,TPDO communication parameter COB-ID used by TPDO,UNSIGNED32,rw,$NODEID+0x280,NONE,128,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1803,0x05,Motor setpoint 1 communication parameter Event timer,UNSIGNED16,rw,100,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1801,0x02,TPDO communication parameter Transmission type,UNSIGNED8,rw,254,NONE,0,255,yes,no,no,no,0,ManagedVariable,0,,no
+0x1803,0x06,Motor setpoint 1 communication parameter SYNC start value,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1801,0x03,TPDO communication parameter Inhibit time,UNSIGNED16,rw,,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1804,0x00,Motor setpoint 2 communication parameter Highest sub-index supported,UNSIGNED8,const,6,NONE,2,6,yes,no,no,no,1,ManagedConst,0,RECORD,both
-0x1801,0x04,TPDO communication parameter Inhibit time,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1804,0x01,Motor setpoint 2 communication parameter COB-ID used by TPDO,UNSIGNED32,rw,$NODEID+0x280+4,NONE,128,4294967295,yes,no,no,no,2,ManagedVariable,0,,tpdo
-0x1801,0x05,TPDO communication parameter Event timer,UNSIGNED16,rw,500,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1804,0x02,Motor setpoint 2 communication parameter Transmission type,UNSIGNED8,rw,254,NONE,0,255,yes,no,no,no,2,ManagedVariable,0,,no
-0x1801,0x06,TPDO communication parameter SYNC start value,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1804,0x03,Motor setpoint 2 communication parameter Inhibit time,UNSIGNED16,rw,,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1802,0x00,TPDO communication parameter Highest sub-index supported,UNSIGNED8,const,6,NONE,2,6,yes,no,no,no,1,ManagedConst,0,RECORD,no
+0x1804,0x04,Motor setpoint 2 communication parameter Inhibit time,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1802,0x01,TPDO communication parameter COB-ID used by TPDO,UNSIGNED32,rw,$NODEID+0x380,NONE,128,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1804,0x05,Motor setpoint 2 communication parameter Event timer,UNSIGNED16,rw,100,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1802,0x02,TPDO communication parameter Transmission type,UNSIGNED8,rw,254,NONE,0,255,yes,no,no,no,0,ManagedVariable,0,,no
+0x1804,0x06,Motor setpoint 2 communication parameter SYNC start value,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1802,0x03,TPDO communication parameter Inhibit time,UNSIGNED16,rw,,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1805,0x00,Motor setpoint 2 communication parameter Highest sub-index supported,UNSIGNED8,const,6,NONE,2,6,yes,no,no,no,1,ManagedConst,0,RECORD,both
-0x1802,0x04,TPDO communication parameter Inhibit time,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1805,0x01,Motor setpoint 2 communication parameter COB-ID used by TPDO,UNSIGNED32,rw,$NODEID+0x280+5,NONE,128,4294967295,yes,no,no,no,2,ManagedVariable,0,,tpdo
-0x1802,0x05,TPDO communication parameter Event timer,UNSIGNED16,rw,500,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1805,0x02,Motor setpoint 2 communication parameter Transmission type,UNSIGNED8,rw,254,NONE,0,255,yes,no,no,no,2,ManagedVariable,0,,no
-0x1802,0x06,TPDO communication parameter SYNC start value,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1805,0x03,Motor setpoint 2 communication parameter Inhibit time,UNSIGNED16,rw,,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1803,0x00,TPDO communication parameter Highest sub-index supported,UNSIGNED8,const,6,NONE,2,6,yes,no,no,no,1,ManagedConst,0,RECORD,no
+0x1805,0x04,Motor setpoint 2 communication parameter Inhibit time,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1803,0x01,TPDO communication parameter COB-ID used by TPDO,UNSIGNED32,rw,$NODEID+0x480,NONE,128,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1805,0x05,Motor setpoint 2 communication parameter Event timer,UNSIGNED16,rw,500,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1803,0x02,TPDO communication parameter Transmission type,UNSIGNED8,rw,254,NONE,0,255,yes,no,no,no,0,ManagedVariable,0,,both
+0x1805,0x06,Motor setpoint 2 communication parameter SYNC start value,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1803,0x03,TPDO communication parameter Inhibit time,UNSIGNED16,rw,,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1a00,0x00,Flowmeter Data mapping parameter Number of entries,UNSIGNED8,const,4,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1803,0x04,TPDO communication parameter Inhibit time,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1a00,0x01,Flowmeter Data mapping parameter Mapping Entry 1,UNSIGNED32,const,536871184,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1803,0x05,TPDO communication parameter Event timer,UNSIGNED16,rw,500,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1a00,0x02,Flowmeter Data mapping parameter Mapping Entry 2,UNSIGNED32,const,536871440,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1803,0x06,TPDO communication parameter SYNC start value,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1a00,0x03,Flowmeter Data mapping parameter Mapping Entry 3,UNSIGNED32,const,536871696,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1804,0x00,TPDO communication parameter Highest sub-index supported,UNSIGNED8,const,6,NONE,2,6,yes,no,no,no,1,ManagedConst,0,RECORD,both
+0x1a00,0x04,Flowmeter Data mapping parameter Mapping Entry 4,UNSIGNED32,const,536871952,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1804,0x01,TPDO communication parameter COB-ID used by TPDO,UNSIGNED32,rw,$NODEID+0x180+1,NONE,128,4294967295,yes,no,no,no,2,ManagedVariable,0,,tpdo
+0x1a01,0x00,Pressure Sensor mapping parameter Number of entries,UNSIGNED8,const,4,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1804,0x02,TPDO communication parameter Transmission type,UNSIGNED8,rw,254,NONE,0,255,yes,no,no,no,0,ManagedVariable,0,,no
+0x1a01,0x01,Pressure Sensor mapping parameter Mapping Entry 1,UNSIGNED32,const,536936720,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1804,0x03,TPDO communication parameter Inhibit time,UNSIGNED16,rw,,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1a01,0x02,Pressure Sensor mapping parameter Mapping Entry 2,UNSIGNED32,const,536936976,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1804,0x04,TPDO communication parameter Inhibit time,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1a01,0x03,Pressure Sensor mapping parameter Mapping Entry 3,UNSIGNED32,const,536937232,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1804,0x05,TPDO communication parameter Event timer,UNSIGNED16,rw,500,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1a01,0x04,Pressure Sensor mapping parameter Mapping Entry 4,UNSIGNED32,const,536937488,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1804,0x06,TPDO communication parameter SYNC start value,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1a02,0x00,Pump mapping parameter Number of entries,UNSIGNED8,const,1,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1a00,0x00,Conductivity Data OUT1 Number of entries,UNSIGNED8,const,2,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
+0x1a02,0x01,Pump mapping parameter Mapping Entry 1,UNSIGNED32,const,537067536,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1a00,0x01,Conductivity Data OUT1 Mapping Entry 1,UNSIGNED32,const,1610744096,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
+0x1a03,0x00,Motor setpoint 1 mapping parameter Number of entries,UNSIGNED8,const,8,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1a00,0x02,Conductivity Data OUT1 Mapping Entry 2,UNSIGNED32,const,1610744352,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
+0x1a03,0x01,Motor setpoint 1 mapping parameter Mapping Entry 1,UNSIGNED32,const,537133320,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1a01,0x00,Conductivity Data OUT2 Number of entries,UNSIGNED8,const,2,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
+0x1a03,0x02,Motor setpoint 1 mapping parameter Mapping Entry 2,UNSIGNED32,const,537133576,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1a01,0x01,Conductivity Data OUT2 Mapping Entry 1,UNSIGNED32,const,1610744608,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
+0x1a03,0x03,Motor setpoint 1 mapping parameter Mapping Entry 3,UNSIGNED32,const,537133832,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1a01,0x02,Conductivity Data OUT2 Mapping Entry 2,UNSIGNED32,const,1610744864,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
+0x1a03,0x04,Motor setpoint 1 mapping parameter Mapping Entry 4,UNSIGNED32,const,537134088,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1a02,0x00,Conductivity Data OUT3 Number of entries,UNSIGNED8,const,2,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
+0x1a03,0x05,Motor setpoint 1 mapping parameter Mapping Entry 5,UNSIGNED32,const,537134344,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1a02,0x01,Conductivity Data OUT3 Mapping Entry 1,UNSIGNED32,const,1610745120,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
+0x1a03,0x06,Motor setpoint 1 mapping parameter Mapping Entry 6,UNSIGNED32,const,537134600,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1a02,0x02,Conductivity Data OUT3 Mapping Entry 2,UNSIGNED32,const,1610745376,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
+0x1a03,0x07,Motor setpoint 1 mapping parameter Mapping Entry 7,UNSIGNED32,const,537134856,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1a03,0x00, Pressue and Flowmeter Data OUT1 Number of entries,UNSIGNED8,const,2,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
+0x1a03,0x08,Motor setpoint 1 mapping parameter Mapping Entry 8,UNSIGNED32,const,537135112,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1a03,0x01, Pressue and Flowmeter Data OUT1 Mapping Entry 1,UNSIGNED32,const,1610875168,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
+0x1a04,0x00,Motor setpoint 2 mapping parameter Number of entries,UNSIGNED8,const,8,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1a03,0x02, Pressue and Flowmeter Data OUT1 Mapping Entry 2,UNSIGNED32,const,1610940704,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
+0x1a04,0x01,Motor setpoint 2 mapping parameter Mapping Entry 1,UNSIGNED32,const,537135368,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
-0x1a04,0x00, Pressue and Flowmeter Data OUT2 Number of entries,UNSIGNED8,const,2,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
+0x1a04,0x02,Motor setpoint 2 mapping parameter Mapping Entry 2,UNSIGNED32,const,537135624,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
-0x1a04,0x01, Pressue and Flowmeter Data OUT2 Mapping Entry 1,UNSIGNED32,const,1610679072,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
+0x1a04,0x03,Motor setpoint 2 mapping parameter Mapping Entry 3,UNSIGNED32,const,537135880,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
-0x1a04,0x02, Pressue and Flowmeter Data OUT2 Mapping Entry 2,UNSIGNED32,const,1610679328,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
+0x1a04,0x04,Motor setpoint 2 mapping parameter Mapping Entry 4,UNSIGNED32,const,537136136,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
+0x1a04,0x05,Motor setpoint 2 mapping parameter Mapping Entry 5,UNSIGNED32,const,537136392,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
+0x1a04,0x06,Motor setpoint 2 mapping parameter Mapping Entry 6,UNSIGNED32,const,537136648,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
+0x1a04,0x07,Motor setpoint 2 mapping parameter Mapping Entry 7,UNSIGNED32,const,537136904,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
+0x1a04,0x08,Motor setpoint 2 mapping parameter Mapping Entry 8,UNSIGNED32,const,537137160,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
+0x1a05,0x00,Motor setpoint 3 mapping parameter Number of entries,UNSIGNED8,const,4,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
+0x1a05,0x01,Motor setpoint 3 mapping parameter Mapping Entry 1,UNSIGNED32,const,537137416,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
+0x1a05,0x02,Motor setpoint 3 mapping parameter Mapping Entry 2,UNSIGNED32,const,537137672,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
+0x1a05,0x03,Motor setpoint 3 mapping parameter Mapping Entry 3,UNSIGNED32,const,537137928,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
+0x1a05,0x04,Motor setpoint 3 mapping parameter Mapping Entry 4,UNSIGNED32,const,537138184,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
  
-0x2001,0x00,Manufacturer Object,INTEGER32,rw,4,NONE,0,0,no,no,no,no,0,ManagedVariable,0,,both
+0x2000,0x00,Flowmeter Data OUT Highest sub-index supported,UNSIGNED8,ro,4,NONE,0,255,yes,no,no,no,1,ManagedConst,0,ARRAY,no
-0x3000,0x00,Managed Array NUmber of Entries,UNSIGNED8,ro,2,NONE,0,0,yes,no,no,no,1,ManagedConst,0,ARRAY,no
+0x2000,0x01,Flowmeter Data OUT FM1 OUT,UNSIGNED16,rw,,NONE,0,0xffff,yes,no,no,no,1,ManagedVariable,0,,tpdo
-0x3000,0x01,Managed Array Sub 1,INTEGER16,ro,,NONE,0,0,no,no,no,no,0,ManagedVariable,0,,tpdo
+0x2000,0x02,Flowmeter Data OUT FM2 OUT,UNSIGNED16,rw,,NONE,0,0xffff,yes,no,no,no,1,ManagedVariable,0,,tpdo
-0x3000,0x02,Managed Array sub 2,INTEGER16,rw,2,NONE,0,0,no,no,no,no,0,ManagedVariable,0,,both
+0x2000,0x03,Flowmeter Data OUT FM3 OUT,UNSIGNED16,rw,,NONE,0,0xffff,yes,no,no,no,1,ManagedVariable,0,,tpdo
- 
+0x2000,0x04,Flowmeter Data OUT FM4 OUT,UNSIGNED16,rw,,NONE,0,0xffff,yes,no,no,no,1,ManagedVariable,0,,tpdo
-0x6000,0x00,Motor Valve Control Highest sub-index supported,UNSIGNED8,ro,5,NONE,0,255,yes,no,no,no,1,ManagedConst,0,ARRAY,no
+0x2001,0x00,Pressure Sensor Data OUT Highest sub-index supported,UNSIGNED8,ro,4,NONE,0,255,yes,no,no,no,1,ManagedConst,0,ARRAY,no
-0x6000,0x01,Motor Valve Control ID,UNSIGNED8,rw,,NONE,0,255,yes,no,no,no,1,ManagedVariable,0,,no
+0x2001,0x01,Pressure Sensor Data OUT PS1 OUT,UNSIGNED16,rw,,NONE,0,0xffff,yes,no,no,no,1,ManagedVariable,0,,tpdo
-0x6000,0x02,Motor Valve Control Command,UNSIGNED8,rw,,NONE,0,255,yes,no,no,no,1,ManagedVariable,0,,no
+0x2001,0x02,Pressure Sensor Data OUT PS2 OUT,UNSIGNED16,rw,,NONE,0,0xffff,yes,no,no,no,1,ManagedVariable,0,,tpdo
-0x6000,0x03,Motor Valve Control Position setpoint,UNSIGNED8,rw,,NONE,0,255,yes,no,no,no,1,ManagedVariable,0,,no
+0x2001,0x03,Pressure Sensor Data OUT PS3 OUT,UNSIGNED16,rw,,NONE,0,0xffff,yes,no,no,no,1,ManagedVariable,0,,tpdo
-0x6000,0x04,Motor Valve Control Pressure setpoint,UNSIGNED8,rw,,NONE,0,255,yes,no,no,no,1,ManagedVariable,0,,no
+0x2001,0x04,Pressure Sensor Data OUT PS4 OUT,UNSIGNED16,rw,,NONE,0,0xffff,yes,no,no,no,1,ManagedVariable,0,,tpdo
-0x6000,0x05,Motor Valve Control Flowrate setpoint,UNSIGNED8,rw,,NONE,0,255,yes,no,no,no,1,ManagedVariable,0,,no
+0x2003,0x00,Pump Data OUT,UNSIGNED16,rw,,NONE,0,0xffff,yes,no,no,no,1,ManagedVariable,0,,tpdo
-0x6001,0x00,Conductivity Sensor Data IN Highest sub-index supported,UNSIGNED8,ro,6,NONE,0,255,yes,no,no,no,1,ManagedConst,0,ARRAY,no
+0x2004,0x00,Motor Valve Data OUT Highest sub-index supported,UNSIGNED8,ro,20,NONE,0,255,yes,no,no,no,1,ManagedConst,0,ARRAY,no
-0x6001,0x01,Conductivity Sensor Data IN Conductivity Data IN1,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
+0x2004,0x01,Motor Valve Data OUT MV 01 Setpoint,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6001,0x02,Conductivity Sensor Data IN Temperature Data IN1,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
+0x2004,0x02,Motor Valve Data OUT MV 02 Setpoint,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6001,0x03,Conductivity Sensor Data IN Conductivity Data IN2,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
+0x2004,0x03,Motor Valve Data OUT MV 03 Setpoint,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6001,0x04,Conductivity Sensor Data IN Temperature Data IN2,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
+0x2004,0x04,Motor Valve Data OUT MV 04 Setpoint,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6001,0x05,Conductivity Sensor Data IN Conductivity Data IN3,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
+0x2004,0x05,Motor Valve Data OUT MV 05 Setpoint,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6001,0x06,Conductivity Sensor Data IN Temperature Data IN3,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
+0x2004,0x06,Motor Valve Data OUT MV 06 Setpoint,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6002,0x00,Conductivity Sensor Data OUT Highest sub-index supported,UNSIGNED8,ro,6,NONE,0,255,yes,no,no,no,1,ManagedConst,0,ARRAY,no
+0x2004,0x07,Motor Valve Data OUT MV 07 Setpoint,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6002,0x01,Conductivity Sensor Data OUT Conductivity Data OUT1,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
+0x2004,0x08,Motor Valve Data OUT MV 08 Setpoint,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6002,0x02,Conductivity Sensor Data OUT Temperature Data OUT1,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
+0x2004,0x09,Motor Valve Data OUT MV 09 Setpoint,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6002,0x03,Conductivity Sensor Data OUT Conductivity Data OUT2,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
+0x2004,0x0a,Motor Valve Data OUT MV 10 Setpoint,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6002,0x04,Conductivity Sensor Data OUT Temperature Data OUT2,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
+0x2004,0x0b,Motor Valve Data OUT MV 11 Setpoint,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6002,0x05,Conductivity Sensor Data OUT Conductivity Data OUT3,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
+0x2004,0x0c,Motor Valve Data OUT MV 12 Setpoint,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6002,0x06,Conductivity Sensor Data OUT Temperature Data OUT3,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
+0x2004,0x0d,Motor Valve Data OUT MV 13 Setpoint,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6003,0x00,Motor Valve Data OUT Highest sub-index supported,UNSIGNED8,ro,8,NONE,0,255,yes,no,no,no,1,ManagedConst,0,ARRAY,no
+0x2004,0x0e,Motor Valve Data OUT MV 14 Setpoint,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6003,0x01,Motor Valve Data OUT MV 01 OUT,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
+0x2004,0x0f,Motor Valve Data OUT MV 15 Setpoint,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6003,0x02,Motor Valve Data OUT MV 02 OUT,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
+0x2004,0x10,Motor Valve Data OUT MV 16 Setpoint,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6003,0x03,Motor Valve Data OUT MV 03 OUT,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
+0x2004,0x11,Motor Valve Data OUT MV 17 Setpoint,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6003,0x04,Motor Valve Data OUT MV 04 OUT,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
+0x2004,0x12,Motor Valve Data OUT MV 18 Setpoint,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6003,0x05,Motor Valve Data OUT MV 05 OUT,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
+0x2004,0x13,Motor Valve Data OUT MV 19 Setpoint,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6003,0x06,Motor Valve Data OUT MV 06 OUT,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
+0x2004,0x14,Motor Valve Data OUT MV 20 Setpoint,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6003,0x07,Motor Valve Data OUT MV 07 OUT,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6003,0x08,Motor Valve Data OUT MV 08 OUT,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6004,0x00,Flowmeter Data OUT Highest sub-index supported,UNSIGNED8,ro,4,NONE,0,255,yes,no,no,no,1,ManagedConst,0,ARRAY,no
-0x6004,0x01,Flowmeter Data OUT FM1 OUT,REAL32,rw,,NONE,,,yes,no,no,no,1,ManagedVariable,0,,both
-0x6004,0x02,Flowmeter Data OUT FM2 OUT,REAL32,rw,,NONE,,,yes,no,no,no,1,ManagedVariable,0,,both
-0x6004,0x03,Flowmeter Data OUT FM3 OUT,REAL32,rw,,NONE,,,yes,no,no,no,1,ManagedVariable,0,,both
-0x6004,0x04,Flowmeter Data OUT FM4 OUT,REAL32,rw,,NONE,,,yes,no,no,no,1,ManagedVariable,0,,both
-0x6005,0x00,Pressure Sensor Data OUT Highest sub-index supported,UNSIGNED8,ro,4,NONE,0,255,yes,no,no,no,1,ManagedConst,0,ARRAY,no
-0x6005,0x01,Pressure Sensor Data OUT PS1 OUT,REAL32,rw,,NONE,,,yes,no,no,no,1,ManagedVariable,0,,both
-0x6005,0x02,Pressure Sensor Data OUT PS2 OUT,REAL32,rw,,NONE,,,yes,no,no,no,1,ManagedVariable,0,,both
-0x6005,0x03,Pressure Sensor Data OUT PS3 OUT,REAL32,rw,,NONE,,,yes,no,no,no,1,ManagedVariable,0,,both
-0x6005,0x04,Pressure Sensor Data OUT PS4 OUT,REAL32,rw,,NONE,,,yes,no,no,no,1,ManagedVariable,0,,both

EnduranceTestBench/coappl/enduranceTestBench.icsv

@@ -17,14 +17,33 @@ index,sub,objectcode,datatype,edsname,varname,access,mapable,hasdefault,defaulti
 0x1015,0x00,VARIABLE,UNSIGNED16,Inhibit Time Emergency,,rw,no,1,1,0,,0,ManagedVariable,no,0,65535,no
  
 0x1016,,ARRAY,UNSIGNED32,Consumer Heartbeat Time,,,,,,,,,,,,,,
-0x1016,0x00,,UNSIGNED32,Number of entries,,ro,no,1,1,1,,0,ManagedConst,no,0,255,no
+0x1016,0x00,,UNSIGNED32,Number of entries,,ro,no,1,1,20,,0,ManagedConst,no,0,255,no
-0x1016,0x01,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,0,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x01,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x02,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x03,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x04,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x05,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x06,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x07,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x08,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x09,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x0a,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x0b,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x0c,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x0d,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x0e,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x0f,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x10,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x11,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x12,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x13,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x14,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
  
-0x1017,0x00,VARIABLE,UNSIGNED16,Producer Heartbeat Time,,rw,no,0,0,1500,,0,ManagedVariable,no,0,65535,no
+0x1017,0x00,VARIABLE,UNSIGNED16,Producer Heartbeat Time,,rw,no,0,0,100,,0,ManagedVariable,no,0,65535,no
  
 0x1018,,RECORD,UNSIGNED8,Identity Object,,,,,,,,,,,,,,
 0x1018,0x00,,UNSIGNED8,Number of entries,,ro,no,1,1,4,,0,ManagedConst,no,0,255,no
-0x1018,0x01,,UNSIGNED32,Vendor Id,,ro,no,1,1,793,,0,ManagedConst,no,0,4294967295,no
+0x1018,0x01,,UNSIGNED32,Vendor Id,,ro,no,1,1,1434,,0,ManagedConst,no,0,4294967295,no
 0x1018,0x02,,UNSIGNED32,Product Code,,ro,no,1,1,1234,,0,ManagedConst,no,0,4294967295,no
 0x1018,0x03,,UNSIGNED32,Revision number,,ro,no,1,1,1,,0,ManagedConst,no,0,4294967295,no
 0x1018,0x04,,UNSIGNED32,Serial number,,ro,no,1,1,,,0,ManagedVariable,no,0,4294967295,no
@@ -161,162 +180,143 @@ index,sub,objectcode,datatype,edsname,varname,access,mapable,hasdefault,defaulti
 0x1293,0x02,,UNSIGNED32,COB-ID server -> client,,rw,no,1,1,2147483648,,0,ManagedVariable,no,128,4294967295,no
 0x1293,0x03,,UNSIGNED8,Node-ID of the SDO server,,rw,no,0,0,,,0,ManagedVariable,no,1,127,no
  
-0x1400,,RECORD,UNSIGNED8,Receive PDO Communication Parameter,,,,,,,This object contains the communication parameters for the PDO the CANopen device is able to receive.<br/>,,,,,,,
+0x1800,,RECORD,UNSIGNED8,Flowmeter communication parameter,,,,,,,,,,,,,,
-0x1400,0x00,,UNSIGNED8,Highest sub-index supported,,ro,no,1,1,2,,0,ManagedConst,no,2,5,no
-0x1400,0x01,,UNSIGNED32,COB ID,,rw,no,1,1,$NODEID+0x200,,0,ManagedVariable,no,385,4294967295,no
-0x1400,0x02,,UNSIGNED8,Transmission Type,,rw,no,1,1,254,Sub-index 0x2 defines the reception character of the RPDO.,0,ManagedVariable,no,0,255,no
- 
-0x1401,,RECORD,UNSIGNED8,Receive PDO Communication Parameter,,,,,,,This object contains the communication parameters for the PDO the CANopen device is able to receive.<br/>,,,,,,,
-0x1401,0x00,,UNSIGNED8,Highest sub-index supported,,ro,no,1,1,2,,0,ManagedConst,no,2,5,no
-0x1401,0x01,,UNSIGNED32,COB ID,,rw,no,1,1,$NODEID+0x200,,0,ManagedVariable,no,385,4294967295,no
-0x1401,0x02,,UNSIGNED8,Transmission Type,,rw,no,1,1,254,Sub-index 0x2 defines the reception character of the RPDO.,0,ManagedVariable,no,0,255,no
- 
-0x1402,,RECORD,UNSIGNED8,Receive PDO Communication Parameter,,,,,,,This object contains the communication parameters for the PDO the CANopen device is able to receive.<br/>,,,,,,,
-0x1402,0x00,,UNSIGNED8,Highest sub-index supported,,ro,no,1,1,2,,0,ManagedConst,no,2,5,no
-0x1402,0x01,,UNSIGNED32,COB ID,,rw,no,1,1,$NODEID+0x200,,0,ManagedVariable,no,385,4294967295,no
-0x1402,0x02,,UNSIGNED8,Transmission Type,,rw,no,1,1,254,Sub-index 0x2 defines the reception character of the RPDO.,0,ManagedVariable,no,0,255,no
- 
-0x1600,,RECORD,UNSIGNED8,Receive PDO Mapping Parameter,,,,,,,This object contains the mapping parameters for the PDO the CANopen device is able to receive.<br/>,,,,,,,
-0x1600,0x00,,UNSIGNED8,Highest sub-index supported,,const,no,1,1,2,,0,ManagedConst,no,0,255,no
-0x1600,0x01,,UNSIGNED32,Mapping Entry 1,,const,no,1,1,1610678560,,0,ManagedConst,no,0,0,no
-0x1600,0x02,,UNSIGNED32,Mapping Entry 2,,const,no,1,1,1610678816,,0,ManagedConst,no,0,0,no
- 
-0x1601,,RECORD,UNSIGNED8,Receive PDO Mapping Parameter,,,,,,,This object contains the mapping parameters for the PDO the CANopen device is able to receive.<br/>,,,,,,,
-0x1601,0x00,,UNSIGNED8,Highest sub-index supported,,const,no,1,1,2,,0,ManagedConst,no,0,255,no
-0x1601,0x01,,UNSIGNED32,Mapping Entry 1,,const,no,1,1,1610679072,,0,ManagedConst,no,0,0,no
-0x1601,0x02,,UNSIGNED32,Mapping Entry 2,,const,no,1,1,1610679328,,0,ManagedConst,no,0,0,no
- 
-0x1602,,RECORD,UNSIGNED8,Receive PDO Mapping Parameter,,,,,,,This object contains the mapping parameters for the PDO the CANopen device is able to receive.<br/>,,,,,,,
-0x1602,0x00,,UNSIGNED8,Highest sub-index supported,,const,no,1,1,2,,0,ManagedConst,no,0,255,no
-0x1602,0x01,,UNSIGNED32,Mapping Entry 1,,const,no,1,1,1610679584,,0,ManagedConst,no,0,0,no
-0x1602,0x02,,UNSIGNED32,Mapping Entry 2,,const,no,1,1,1610679840,,0,ManagedConst,no,0,0,no
- 
-0x1800,,RECORD,UNSIGNED8,TPDO communication parameter,,,,,,,,,,,,,,
 0x1800,0x00,,UNSIGNED8,Number of entries,,ro,no,1,1,5,,0,ManagedConst,no,2,6,no
-0x1800,0x01,,UNSIGNED32,COB ID,,rw,no,1,1,$NODEID+0x180,,0,ManagedVariable,no,1,4294967295,no
+0x1800,0x01,,UNSIGNED32,COB ID,,rw,no,1,1,$NODEID+0x280,,0,ManagedVariable,no,1,4294967295,no
 0x1800,0x02,,UNSIGNED8,Transmission Type,,rw,no,1,1,254,,0,ManagedVariable,no,0,255,no
 0x1800,0x03,,UNSIGNED16,Inhibit Time,,rw,no,1,1,0,,0,ManagedVariable,no,0,65535,no
 0x1800,0x04,,UNSIGNED8,Compatibility Entry,,rw,no,1,0,,,0,ManagedVariable,no,0,255,no
-0x1800,0x05,,UNSIGNED16,Event Timer,,rw,no,1,1,500,,0,ManagedVariable,no,0,65535,no
+0x1800,0x05,,UNSIGNED16,Event Timer,,rw,no,1,1,100,,0,ManagedVariable,no,0,65535,no
  
-0x1801,,RECORD,UNSIGNED8,TPDO communication parameter,,,,,,,,,,,,,,
+0x1801,,RECORD,UNSIGNED8,Pressure communication parameter,,,,,,,,,,,,,,
 0x1801,0x00,,UNSIGNED8,Highest sub-index supported,,const,no,1,1,6,,0,ManagedConst,no,2,6,no
-0x1801,0x01,,UNSIGNED32,COB-ID used by TPDO,,rw,no,1,1,$NODEID+0x280,,0,ManagedVariable,no,128,4294967295,no
+0x1801,0x01,,UNSIGNED32,COB-ID used by TPDO,,rw,no,1,1,$NODEID+0x280+1,,0,ManagedVariable,no,128,4294967295,no
-0x1801,0x02,,UNSIGNED8,Transmission type,,rw,no,1,0,254,,0,ManagedVariable,no,0,255,no
+0x1801,0x02,,UNSIGNED8,Transmission type,,rw,no,1,2,254,,0,ManagedVariable,no,0,255,no
 0x1801,0x03,,UNSIGNED16,Inhibit time,,rw,no,1,0,,,0,ManagedVariable,no,0,0xffff,no
 0x1801,0x04,,UNSIGNED8,Inhibit time,,rw,no,1,0,,,0,ManagedVariable,no,0,0xff,no
-0x1801,0x05,,UNSIGNED16,Event timer,,rw,no,1,0,500,,0,ManagedVariable,no,0,0xffff,no
+0x1801,0x05,,UNSIGNED16,Event timer,,rw,no,1,0,100,,0,ManagedVariable,no,0,0xffff,no
 0x1801,0x06,,UNSIGNED8,SYNC start value,,rw,no,1,0,,,0,ManagedVariable,no,0,0xff,no
  
-0x1802,,RECORD,UNSIGNED8,TPDO communication parameter,,,,,,,,,,,,,,
+0x1802,,RECORD,UNSIGNED8,Pump communication parameter,,,,,,,,,,,,,,
 0x1802,0x00,,UNSIGNED8,Highest sub-index supported,,const,no,1,1,6,,0,ManagedConst,no,2,6,no
-0x1802,0x01,,UNSIGNED32,COB-ID used by TPDO,,rw,no,1,1,$NODEID+0x380,,0,ManagedVariable,no,128,4294967295,no
+0x1802,0x01,,UNSIGNED32,COB-ID used by TPDO,,rw,no,1,1,$NODEID+0x280+2,,0,ManagedVariable,no,128,4294967295,no
-0x1802,0x02,,UNSIGNED8,Transmission type,,rw,no,1,0,254,,0,ManagedVariable,no,0,255,no
+0x1802,0x02,,UNSIGNED8,Transmission type,,rw,no,1,2,254,,0,ManagedVariable,no,0,255,no
 0x1802,0x03,,UNSIGNED16,Inhibit time,,rw,no,1,0,,,0,ManagedVariable,no,0,0xffff,no
 0x1802,0x04,,UNSIGNED8,Inhibit time,,rw,no,1,0,,,0,ManagedVariable,no,0,0xff,no
-0x1802,0x05,,UNSIGNED16,Event timer,,rw,no,1,0,500,,0,ManagedVariable,no,0,0xffff,no
+0x1802,0x05,,UNSIGNED16,Event timer,,rw,no,1,0,100,,0,ManagedVariable,no,0,0xffff,no
 0x1802,0x06,,UNSIGNED8,SYNC start value,,rw,no,1,0,,,0,ManagedVariable,no,0,0xff,no
  
-0x1803,,RECORD,UNSIGNED8,TPDO communication parameter,,,,,,,,,,,,,,
+0x1803,,RECORD,UNSIGNED8,Motor setpoint 1 communication parameter,,,,,,,,,,,,,,
 0x1803,0x00,,UNSIGNED8,Highest sub-index supported,,const,no,1,1,6,,0,ManagedConst,no,2,6,no
-0x1803,0x01,,UNSIGNED32,COB-ID used by TPDO,,rw,no,1,1,$NODEID+0x480,,0,ManagedVariable,no,128,4294967295,no
+0x1803,0x01,,UNSIGNED32,COB-ID used by TPDO,,rw,no,1,1,$NODEID+0x280+3,,0,ManagedVariable,no,128,4294967295,no
-0x1803,0x02,,UNSIGNED8,Transmission type,,rw,both,1,0,254,,0,ManagedVariable,no,0,255,no
+0x1803,0x02,,UNSIGNED8,Transmission type,,rw,both,1,2,254,,0,ManagedVariable,no,0,255,no
 0x1803,0x03,,UNSIGNED16,Inhibit time,,rw,no,1,0,,,0,ManagedVariable,no,0,0xffff,no
 0x1803,0x04,,UNSIGNED8,Inhibit time,,rw,no,1,0,,,0,ManagedVariable,no,0,0xff,no
-0x1803,0x05,,UNSIGNED16,Event timer,,rw,no,1,0,500,,0,ManagedVariable,no,0,0xffff,no
+0x1803,0x05,,UNSIGNED16,Event timer,,rw,no,1,0,100,,0,ManagedVariable,no,0,0xffff,no
 0x1803,0x06,,UNSIGNED8,SYNC start value,,rw,no,1,0,,,0,ManagedVariable,no,0,0xff,no
  
-0x1804,,RECORD,UNSIGNED8,TPDO communication parameter,,,,,,,,,,,,,,
+0x1804,,RECORD,UNSIGNED8,Motor setpoint 2 communication parameter,,,,,,,,,,,,,,
 0x1804,0x00,,UNSIGNED8,Highest sub-index supported,,const,both,1,1,6,,0,ManagedConst,no,2,6,no
-0x1804,0x01,,UNSIGNED32,COB-ID used by TPDO,,rw,tpdo,1,2,$NODEID+0x180+1,,0,ManagedVariable,no,128,4294967295,no
+0x1804,0x01,,UNSIGNED32,COB-ID used by TPDO,,rw,tpdo,1,2,$NODEID+0x280+4,,0,ManagedVariable,no,128,4294967295,no
-0x1804,0x02,,UNSIGNED8,Transmission type,,rw,no,1,0,254,,0,ManagedVariable,no,0,255,no
+0x1804,0x02,,UNSIGNED8,Transmission type,,rw,no,1,2,254,,0,ManagedVariable,no,0,255,no
 0x1804,0x03,,UNSIGNED16,Inhibit time,,rw,no,1,0,,,0,ManagedVariable,no,0,0xffff,no
 0x1804,0x04,,UNSIGNED8,Inhibit time,,rw,no,1,0,,,0,ManagedVariable,no,0,0xff,no
-0x1804,0x05,,UNSIGNED16,Event timer,,rw,no,1,0,500,,0,ManagedVariable,no,0,0xffff,no
+0x1804,0x05,,UNSIGNED16,Event timer,,rw,no,1,0,100,,0,ManagedVariable,no,0,0xffff,no
 0x1804,0x06,,UNSIGNED8,SYNC start value,,rw,no,1,0,,,0,ManagedVariable,no,0,0xff,no
  
-0x1a00,,RECORD,UNSIGNED8,Conductivity Data OUT1,,,,,,,,,,,,,,
+0x1805,,RECORD,UNSIGNED8,Motor setpoint 2 communication parameter,,,,,,,,,,,,,,
-0x1a00,0x00,,UNSIGNED8,Number of entries,,const,no,1,1,2,,0,ManagedConst,no,0,255,no
+0x1805,0x00,,UNSIGNED8,Highest sub-index supported,,const,both,1,1,6,,0,ManagedConst,no,2,6,no
-0x1a00,0x01,,UNSIGNED32,Mapping Entry 1,,const,tpdo,1,1,1610744096,,0,ManagedConst,no,0,0,no
+0x1805,0x01,,UNSIGNED32,COB-ID used by TPDO,,rw,tpdo,1,2,$NODEID+0x280+5,,0,ManagedVariable,no,128,4294967295,no
-0x1a00,0x02,,UNSIGNED32,Mapping Entry 2,,const,tpdo,1,1,1610744352,,0,ManagedConst,no,0,0,no
+0x1805,0x02,,UNSIGNED8,Transmission type,,rw,no,1,2,254,,0,ManagedVariable,no,0,255,no
+0x1805,0x03,,UNSIGNED16,Inhibit time,,rw,no,1,0,,,0,ManagedVariable,no,0,0xffff,no
+0x1805,0x04,,UNSIGNED8,Inhibit time,,rw,no,1,0,,,0,ManagedVariable,no,0,0xff,no
+0x1805,0x05,,UNSIGNED16,Event timer,,rw,no,1,0,500,,0,ManagedVariable,no,0,0xffff,no
+0x1805,0x06,,UNSIGNED8,SYNC start value,,rw,no,1,0,,,0,ManagedVariable,no,0,0xff,no
  
-0x1a01,,RECORD,UNSIGNED8,Conductivity Data OUT2,,,,,,,,,,,,,,
+0x1a00,,RECORD,UNSIGNED8,Flowmeter Data mapping parameter,,,,,,,,,,,,,,
-0x1a01,0x00,,UNSIGNED8,Number of entries,,const,no,1,1,2,,0,ManagedConst,no,0,255,no
+0x1a00,0x00,,UNSIGNED8,Number of entries,,const,no,1,1,4,,0,ManagedConst,no,0,255,no
-0x1a01,0x01,,UNSIGNED32,Mapping Entry 1,,const,tpdo,1,1,1610744608,,0,ManagedConst,no,0,0,no
+0x1a00,0x01,,UNSIGNED32,Mapping Entry 1,,const,tpdo,1,1,536871184,,0,ManagedConst,no,0,0,no
-0x1a01,0x02,,UNSIGNED32,Mapping Entry 2,,const,tpdo,1,1,1610744864,,0,ManagedConst,no,0,0,no
+0x1a00,0x02,,UNSIGNED32,Mapping Entry 2,,const,tpdo,1,1,536871440,,0,ManagedConst,no,0,0,no
+0x1a00,0x03,,UNSIGNED32,Mapping Entry 3,,const,tpdo,1,1,536871696,,0,ManagedConst,no,0,0,no
+0x1a00,0x04,,UNSIGNED32,Mapping Entry 4,,const,tpdo,1,1,536871952,,0,ManagedConst,no,0,0,no
  
-0x1a02,,RECORD,UNSIGNED8,Conductivity Data OUT3,,,,,,,,,,,,,,
+0x1a01,,RECORD,UNSIGNED8,Pressure Sensor mapping parameter,,,,,,,,,,,,,,
-0x1a02,0x00,,UNSIGNED8,Number of entries,,const,no,1,1,2,,0,ManagedConst,no,0,255,no
+0x1a01,0x00,,UNSIGNED8,Number of entries,,const,no,1,1,4,,0,ManagedConst,no,0,255,no
-0x1a02,0x01,,UNSIGNED32,Mapping Entry 1,,const,tpdo,1,1,1610745120,,0,ManagedConst,no,0,0,no
+0x1a01,0x01,,UNSIGNED32,Mapping Entry 1,,const,tpdo,1,1,536936720,,0,ManagedConst,no,0,0,no
-0x1a02,0x02,,UNSIGNED32,Mapping Entry 2,,const,tpdo,1,1,1610745376,,0,ManagedConst,no,0,0,no
+0x1a01,0x02,,UNSIGNED32,Mapping Entry 2,,const,tpdo,1,1,536936976,,0,ManagedConst,no,0,0,no
+0x1a01,0x03,,UNSIGNED32,Mapping Entry 3,,const,tpdo,1,1,536937232,,0,ManagedConst,no,0,0,no
+0x1a01,0x04,,UNSIGNED32,Mapping Entry 4,,const,tpdo,1,1,536937488,,0,ManagedConst,no,0,0,no
  
-0x1a03,,RECORD,UNSIGNED8, Pressue and Flowmeter Data OUT1,,,,,,,,,,,,,,
+0x1a02,,RECORD,UNSIGNED8,Pump mapping parameter,,,,,,,,,,,,,,
-0x1a03,0x00,,UNSIGNED8,Number of entries,,const,no,1,1,2,,0,ManagedConst,no,0,255,no
+0x1a02,0x00,,UNSIGNED8,Number of entries,,const,no,1,1,1,,0,ManagedConst,no,0,255,no
-0x1a03,0x01,,UNSIGNED32,Mapping Entry 1,,const,tpdo,1,1,1610875168,,0,ManagedConst,no,0,0,no
+0x1a02,0x01,,UNSIGNED32,Mapping Entry 1,,const,tpdo,1,1,537067536,,0,ManagedConst,no,0,0,no
-0x1a03,0x02,,UNSIGNED32,Mapping Entry 2,,const,tpdo,1,1,1610940704,,0,ManagedConst,no,0,0,no
  
-0x1a04,,RECORD,UNSIGNED8, Pressue and Flowmeter Data OUT2,,,,,,,,,,,,,,
+0x1a03,,RECORD,UNSIGNED8,Motor setpoint 1 mapping parameter,,,,,,,,,,,,,,
-0x1a04,0x00,,UNSIGNED8,Number of entries,,const,no,1,1,2,,0,ManagedConst,no,0,255,no
+0x1a03,0x00,,UNSIGNED8,Number of entries,,const,no,1,1,8,,0,ManagedConst,no,0,255,no
-0x1a04,0x01,,UNSIGNED32,Mapping Entry 1,,const,tpdo,1,1,1610679072,,0,ManagedConst,no,0,0,no
+0x1a03,0x01,,UNSIGNED32,Mapping Entry 1,,const,tpdo,1,1,537133320,,0,ManagedConst,no,0,0,no
-0x1a04,0x02,,UNSIGNED32,Mapping Entry 2,,const,tpdo,1,1,1610679328,,0,ManagedConst,no,0,0,no
+0x1a03,0x02,,UNSIGNED32,Mapping Entry 2,,const,tpdo,1,1,537133576,,0,ManagedConst,no,0,0,no
+0x1a03,0x03,,UNSIGNED32,Mapping Entry 3,,const,tpdo,1,1,537133832,,0,ManagedConst,no,0,0,no
+0x1a03,0x04,,UNSIGNED32,Mapping Entry 4,,const,tpdo,1,1,537134088,,0,ManagedConst,no,0,0,no
+0x1a03,0x05,,UNSIGNED32,Mapping Entry 5,,const,tpdo,1,1,537134344,,0,ManagedConst,no,0,0,no
+0x1a03,0x06,,UNSIGNED32,Mapping Entry 6,,const,tpdo,1,1,537134600,,0,ManagedConst,no,0,0,no
+0x1a03,0x07,,UNSIGNED32,Mapping Entry 7,,const,tpdo,1,1,537134856,,0,ManagedConst,no,0,0,no
+0x1a03,0x08,,UNSIGNED32,Mapping Entry 8,,const,tpdo,1,1,537135112,,0,ManagedConst,no,0,0,no
+ 
+0x1a04,,RECORD,UNSIGNED8,Motor setpoint 2 mapping parameter,,,,,,,,,,,,,,
+0x1a04,0x00,,UNSIGNED8,Number of entries,,const,no,1,1,8,,0,ManagedConst,no,0,255,no
+0x1a04,0x01,,UNSIGNED32,Mapping Entry 1,,const,no,1,1,537135368,,0,ManagedConst,no,0,0,no
+0x1a04,0x02,,UNSIGNED32,Mapping Entry 2,,const,no,1,1,537135624,,0,ManagedConst,no,0,0,no
+0x1a04,0x03,,UNSIGNED32,Mapping Entry 3,,const,no,1,1,537135880,,0,ManagedConst,no,0,0,no
+0x1a04,0x04,,UNSIGNED32,Mapping Entry 4,,const,no,1,1,537136136,,0,ManagedConst,no,0,0,no
+0x1a04,0x05,,UNSIGNED32,Mapping Entry 5,,const,no,1,1,537136392,,0,ManagedConst,no,0,0,no
+0x1a04,0x06,,UNSIGNED32,Mapping Entry 6,,const,no,1,1,537136648,,0,ManagedConst,no,0,0,no
+0x1a04,0x07,,UNSIGNED32,Mapping Entry 7,,const,no,1,1,537136904,,0,ManagedConst,no,0,0,no
+0x1a04,0x08,,UNSIGNED32,Mapping Entry 8,,const,no,1,1,537137160,,0,ManagedConst,no,0,0,no
+ 
+0x1a05,,RECORD,UNSIGNED8,Motor setpoint 3 mapping parameter,,,,,,,,,,,,,,
+0x1a05,0x00,,UNSIGNED8,Number of entries,,const,no,1,1,4,,0,ManagedConst,no,0,255,no
+0x1a05,0x01,,UNSIGNED32,Mapping Entry 1,,const,no,1,1,537137416,,0,ManagedConst,no,0,0,no
+0x1a05,0x02,,UNSIGNED32,Mapping Entry 2,,const,no,1,1,537137672,,0,ManagedConst,no,0,0,no
+0x1a05,0x03,,UNSIGNED32,Mapping Entry 3,,const,no,1,1,537137928,,0,ManagedConst,no,0,0,no
+0x1a05,0x04,,UNSIGNED32,Mapping Entry 4,,const,no,1,1,537138184,,0,ManagedConst,no,0,0,no
  
  
-0x2001,0x00,VARIABLE,INTEGER32,Manufacturer Object,,rw,both,0,0,4,,0,ManagedVariable,no,0,0,no
+0x2000,,ARRAY,UNSIGNED16,Flowmeter Data OUT,,,,,,,,,,,,,,
+0x2000,0x00,,UNSIGNED16,Highest sub-index supported,,ro,no,1,1,4,,0,ManagedConst,no,0,255,no
+0x2000,0x01,,UNSIGNED16,FM1 OUT,,rw,tpdo,1,1,,,0,ManagedVariable,no,0,0xffff,no
+0x2000,0x02,,UNSIGNED16,FM2 OUT,,rw,tpdo,1,1,,,0,ManagedVariable,no,0,0xffff,no
+0x2000,0x03,,UNSIGNED16,FM3 OUT,,rw,tpdo,1,1,,,0,ManagedVariable,no,0,0xffff,no
+0x2000,0x04,,UNSIGNED16,FM4 OUT,,rw,tpdo,1,1,,,0,ManagedVariable,no,0,0xffff,no
  
-0x3000,,ARRAY,INTEGER16,Managed Array,,,,,,,,,,,,,,
+0x2001,,ARRAY,UNSIGNED16,Pressure Sensor Data OUT,,,,,,,,,,,,,,
-0x3000,0x00,,INTEGER16,NUmber of Entries,,ro,no,1,1,2,,0,ManagedConst,no,0,0,no
+0x2001,0x00,,UNSIGNED16,Highest sub-index supported,,ro,no,1,1,4,,0,ManagedConst,no,0,255,no
-0x3000,0x01,,INTEGER16,Sub 1,,ro,tpdo,0,0,,,0,ManagedVariable,no,0,0,no
+0x2001,0x01,,UNSIGNED16,PS1 OUT,,rw,tpdo,1,1,,,0,ManagedVariable,no,0,0xffff,no
-0x3000,0x02,,INTEGER16,sub 2,,rw,both,0,0,2,,0,ManagedVariable,no,0,0,no
+0x2001,0x02,,UNSIGNED16,PS2 OUT,,rw,tpdo,1,1,,,0,ManagedVariable,no,0,0xffff,no
+0x2001,0x03,,UNSIGNED16,PS3 OUT,,rw,tpdo,1,1,,,0,ManagedVariable,no,0,0xffff,no
+0x2001,0x04,,UNSIGNED16,PS4 OUT,,rw,tpdo,1,1,,,0,ManagedVariable,no,0,0xffff,no
  
+0x2003,0x00,VARIABLE,UNSIGNED16,Pump Data OUT,,rw,tpdo,1,1,,,0,ManagedVariable,no,0,0xffff,no
  
-0x6000,,ARRAY,UNSIGNED8,Motor Valve Control,,,,,,,,,,,,,,
+0x2004,,ARRAY,UNSIGNED8,Motor Valve Data OUT,,,,,,,,,,,,,,
-0x6000,0x00,,UNSIGNED8,Highest sub-index supported,,ro,no,1,1,5,,0,ManagedConst,no,0,255,no
+0x2004,0x00,,UNSIGNED8,Highest sub-index supported,,ro,no,1,1,20,,0,ManagedConst,no,0,255,no
-0x6000,0x01,,UNSIGNED8,ID,,rw,no,1,1,,,0,ManagedVariable,no,0,255,no
+0x2004,0x01,,UNSIGNED8,MV 01 Setpoint,,rw,both,1,1,,,0,ManagedVariable,no,0,0xff,no
-0x6000,0x02,,UNSIGNED8,Command,,rw,no,1,1,,,0,ManagedVariable,no,0,255,no
+0x2004,0x02,,UNSIGNED8,MV 02 Setpoint,,rw,both,1,1,,,0,ManagedVariable,no,0,0xff,no
-0x6000,0x03,,UNSIGNED8,Position setpoint,,rw,no,1,1,,,0,ManagedVariable,no,0,255,no
+0x2004,0x03,,UNSIGNED8,MV 03 Setpoint,,rw,both,1,1,,,0,ManagedVariable,no,0,0xff,no
-0x6000,0x04,,UNSIGNED8,Pressure setpoint,,rw,no,1,1,,,0,ManagedVariable,no,0,255,no
+0x2004,0x04,,UNSIGNED8,MV 04 Setpoint,,rw,both,1,1,,,0,ManagedVariable,no,0,0xff,no
-0x6000,0x05,,UNSIGNED8,Flowrate setpoint,,rw,no,1,1,,,0,ManagedVariable,no,0,255,no
+0x2004,0x05,,UNSIGNED8,MV 05 Setpoint,,rw,both,1,1,,,0,ManagedVariable,no,0,0xff,no
- 
+0x2004,0x06,,UNSIGNED8,MV 06 Setpoint,,rw,both,1,1,,,0,ManagedVariable,no,0,0xff,no
-0x6001,,ARRAY,UNSIGNED32,Conductivity Sensor Data IN,,,,,,,,,,,,,,
+0x2004,0x07,,UNSIGNED8,MV 07 Setpoint,,rw,both,1,1,,,0,ManagedVariable,no,0,0xff,no
-0x6001,0x00,,UNSIGNED32,Highest sub-index supported,,ro,no,1,1,6,,0,ManagedConst,no,0,255,no
+0x2004,0x08,,UNSIGNED8,MV 08 Setpoint,,rw,both,1,1,,,0,ManagedVariable,no,0,0xff,no
-0x6001,0x01,,UNSIGNED32,Conductivity Data IN1,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
+0x2004,0x09,,UNSIGNED8,MV 09 Setpoint,,rw,both,1,1,,,0,ManagedVariable,no,0,0xff,no
-0x6001,0x02,,UNSIGNED32,Temperature Data IN1,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
+0x2004,0x0a,,UNSIGNED8,MV 10 Setpoint,,rw,both,1,1,,,0,ManagedVariable,no,0,0xff,no
-0x6001,0x03,,UNSIGNED32,Conductivity Data IN2,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
+0x2004,0x0b,,UNSIGNED8,MV 11 Setpoint,,rw,both,1,1,,,0,ManagedVariable,no,0,0xff,no
-0x6001,0x04,,UNSIGNED32,Temperature Data IN2,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
+0x2004,0x0c,,UNSIGNED8,MV 12 Setpoint,,rw,both,1,1,,,0,ManagedVariable,no,0,0xff,no
-0x6001,0x05,,UNSIGNED32,Conductivity Data IN3,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
+0x2004,0x0d,,UNSIGNED8,MV 13 Setpoint,,rw,both,1,1,,,0,ManagedVariable,no,0,0xff,no
-0x6001,0x06,,UNSIGNED32,Temperature Data IN3,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
+0x2004,0x0e,,UNSIGNED8,MV 14 Setpoint,,rw,both,1,1,,,0,ManagedVariable,no,0,0xff,no
- 
+0x2004,0x0f,,UNSIGNED8,MV 15 Setpoint,,rw,both,1,1,,,0,ManagedVariable,no,0,0xff,no
-0x6002,,ARRAY,UNSIGNED32,Conductivity Sensor Data OUT,,,,,,,,,,,,,,
+0x2004,0x10,,UNSIGNED8,MV 16 Setpoint,,rw,both,1,1,,,0,ManagedVariable,no,0,0xff,no
-0x6002,0x00,,UNSIGNED32,Highest sub-index supported,,ro,no,1,1,6,,0,ManagedConst,no,0,255,no
+0x2004,0x11,,UNSIGNED8,MV 17 Setpoint,,rw,both,1,1,,,0,ManagedVariable,no,0,0xff,no
-0x6002,0x01,,UNSIGNED32,Conductivity Data OUT1,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
+0x2004,0x12,,UNSIGNED8,MV 18 Setpoint,,rw,both,1,1,,,0,ManagedVariable,no,0,0xff,no
-0x6002,0x02,,UNSIGNED32,Temperature Data OUT1,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
+0x2004,0x13,,UNSIGNED8,MV 19 Setpoint,,rw,both,1,1,,,0,ManagedVariable,no,0,0xff,no
-0x6002,0x03,,UNSIGNED32,Conductivity Data OUT2,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
+0x2004,0x14,,UNSIGNED8,MV 20 Setpoint,,rw,both,1,1,,,0,ManagedVariable,no,0,0xff,no
-0x6002,0x04,,UNSIGNED32,Temperature Data OUT2,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6002,0x05,,UNSIGNED32,Conductivity Data OUT3,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6002,0x06,,UNSIGNED32,Temperature Data OUT3,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
- 
-0x6003,,ARRAY,UNSIGNED32,Motor Valve Data OUT,,,,,,,,,,,,,,
-0x6003,0x00,,UNSIGNED32,Highest sub-index supported,,ro,no,1,1,8,,0,ManagedConst,no,0,255,no
-0x6003,0x01,,UNSIGNED32,MV 01 OUT,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6003,0x02,,UNSIGNED32,MV 02 OUT,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6003,0x03,,UNSIGNED32,MV 03 OUT,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6003,0x04,,UNSIGNED32,MV 04 OUT,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6003,0x05,,UNSIGNED32,MV 05 OUT,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6003,0x06,,UNSIGNED32,MV 06 OUT,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6003,0x07,,UNSIGNED32,MV 07 OUT,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6003,0x08,,UNSIGNED32,MV 08 OUT,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
- 
-0x6004,,ARRAY,REAL32,Flowmeter Data OUT,,,,,,,,,,,,,,
-0x6004,0x00,,REAL32,Highest sub-index supported,,ro,no,1,1,4,,0,ManagedConst,no,0,255,no
-0x6004,0x01,,REAL32,FM1 OUT,,rw,both,1,1,,,0,ManagedVariable,no,,,no
-0x6004,0x02,,REAL32,FM2 OUT,,rw,both,1,1,,,0,ManagedVariable,no,,,no
-0x6004,0x03,,REAL32,FM3 OUT,,rw,both,1,1,,,0,ManagedVariable,no,,,no
-0x6004,0x04,,REAL32,FM4 OUT,,rw,both,1,1,,,0,ManagedVariable,no,,,no
- 
-0x6005,,ARRAY,REAL32,Pressure Sensor Data OUT,,,,,,,,,,,,,,
-0x6005,0x00,,REAL32,Highest sub-index supported,,ro,no,1,1,4,,0,ManagedConst,no,0,255,no
-0x6005,0x01,,REAL32,PS1 OUT,,rw,both,1,1,,,0,ManagedVariable,no,,,no
-0x6005,0x02,,REAL32,PS2 OUT,,rw,both,1,1,,,0,ManagedVariable,no,,,no
-0x6005,0x03,,REAL32,PS3 OUT,,rw,both,1,1,,,0,ManagedVariable,no,,,no
-0x6005,0x04,,REAL32,PS4 OUT,,rw,both,1,1,,,0,ManagedVariable,no,,,no
  

EnduranceTestBench/coappl/enduranceTestBench_doc.txt

@@ -64,12 +64,107 @@ DataType:    UNSIGNED32
 ObjectCode:  Array
   Sub:          0x00 - Number of entries
   DataType:     UNSIGNED8
-  DefaultValue: 1
+  DefaultValue: 20
   AccessType:   ro
   PDOMapping:   0
   Sub:          0x01 - Consumer Heartbeat Time
   DataType:     UNSIGNED32
-  DefaultValue: 0x0000
+  DefaultValue: 0x01f4
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x02 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 0x01f4
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x03 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 0x01f4
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x04 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 0x01f4
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x05 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 0x01f4
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x06 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 0x01f4
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x07 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 0x01f4
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x08 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 0x01f4
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x09 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 0x01f4
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x0a - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 0x01f4
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x0b - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 0x01f4
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x0c - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 0x01f4
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x0d - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 0x01f4
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x0e - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 0x01f4
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x0f - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 0x01f4
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x10 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 0x01f4
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x11 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 0x01f4
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x12 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 0x01f4
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x13 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 0x01f4
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x14 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 0x01f4
   AccessType:   rw
   PDOMapping:   0
 
@@ -78,7 +173,7 @@ DataType:    UNSIGNED16
 ObjectCode:  Variable
   Sub:          0x00 - Producer Heartbeat Time
   DataType:     UNSIGNED16
-  DefaultValue: 1500
+  DefaultValue: 100
   AccessType:   rw
   PDOMapping:   0
 
@@ -92,7 +187,7 @@ ObjectCode:  Record
   PDOMapping:   0
   Sub:          0x01 - Vendor Id
   DataType:     UNSIGNED32
-  DefaultValue: 0x319
+  DefaultValue: 0x59A
   AccessType:   ro
   PDOMapping:   0
   Sub:          0x02 - Product Code
@@ -640,136 +735,7 @@ Description: This objects contains the parameters for the SDO for which the CANo
   AccessType:   rw
   PDOMapping:   0
 
-Index:       0x1400 - Receive PDO Communication Parameter
+Index:       0x1800 - Flowmeter communication parameter
-DataType:    UNSIGNED8
-ObjectCode:  Record
-Description: This object contains the communication parameters for the PDO the CANopen device is able to receive.
-
-  Sub:          0x00 - Highest sub-index supported
-  DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   ro
-  PDOMapping:   0
-  Sub:          0x01 - COB ID
-  DataType:     UNSIGNED32
-  DefaultValue: $NODEID+0x200
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x02 - Transmission Type
-  DataType:     UNSIGNED8
-  DefaultValue: 254
-  AccessType:   rw
-  PDOMapping:   0
-  Description: Sub-index 0x2 defines the reception character of the RPDO. 
-
-Index:       0x1401 - Receive PDO Communication Parameter
-DataType:    UNSIGNED8
-ObjectCode:  Record
-Description: This object contains the communication parameters for the PDO the CANopen device is able to receive.
-
-  Sub:          0x00 - Highest sub-index supported
-  DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   ro
-  PDOMapping:   0
-  Sub:          0x01 - COB ID
-  DataType:     UNSIGNED32
-  DefaultValue: $NODEID+0x200
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x02 - Transmission Type
-  DataType:     UNSIGNED8
-  DefaultValue: 254
-  AccessType:   rw
-  PDOMapping:   0
-  Description: Sub-index 0x2 defines the reception character of the RPDO. 
-
-Index:       0x1402 - Receive PDO Communication Parameter
-DataType:    UNSIGNED8
-ObjectCode:  Record
-Description: This object contains the communication parameters for the PDO the CANopen device is able to receive.
-
-  Sub:          0x00 - Highest sub-index supported
-  DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   ro
-  PDOMapping:   0
-  Sub:          0x01 - COB ID
-  DataType:     UNSIGNED32
-  DefaultValue: $NODEID+0x200
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x02 - Transmission Type
-  DataType:     UNSIGNED8
-  DefaultValue: 254
-  AccessType:   rw
-  PDOMapping:   0
-  Description: Sub-index 0x2 defines the reception character of the RPDO. 
-
-Index:       0x1600 - Receive PDO Mapping Parameter
-DataType:    UNSIGNED8
-ObjectCode:  Record
-Description: This object contains the mapping parameters for the PDO the CANopen device is able to receive.
-
-  Sub:          0x00 - Highest sub-index supported
-  DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x01 - Mapping Entry 1
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60010120
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x02 - Mapping Entry 2
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60010220
-  AccessType:   const
-  PDOMapping:   0
-
-Index:       0x1601 - Receive PDO Mapping Parameter
-DataType:    UNSIGNED8
-ObjectCode:  Record
-Description: This object contains the mapping parameters for the PDO the CANopen device is able to receive.
-
-  Sub:          0x00 - Highest sub-index supported
-  DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x01 - Mapping Entry 1
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60010320
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x02 - Mapping Entry 2
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60010420
-  AccessType:   const
-  PDOMapping:   0
-
-Index:       0x1602 - Receive PDO Mapping Parameter
-DataType:    UNSIGNED8
-ObjectCode:  Record
-Description: This object contains the mapping parameters for the PDO the CANopen device is able to receive.
-
-  Sub:          0x00 - Highest sub-index supported
-  DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x01 - Mapping Entry 1
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60010520
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x02 - Mapping Entry 2
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60010620
-  AccessType:   const
-  PDOMapping:   0
-
-Index:       0x1800 - TPDO communication parameter
 DataType:    UNSIGNED8
 ObjectCode:  Record
   Sub:          0x00 - Number of entries
@@ -779,7 +745,7 @@ ObjectCode:  Record
   PDOMapping:   0
   Sub:          0x01 - COB ID
   DataType:     UNSIGNED32
-  DefaultValue: $NODEID+0x180
+  DefaultValue: $NODEID+0x280
   AccessType:   rw
   PDOMapping:   0
   Sub:          0x02 - Transmission Type
@@ -798,11 +764,11 @@ ObjectCode:  Record
   PDOMapping:   0
   Sub:          0x05 - Event Timer
   DataType:     UNSIGNED16
-  DefaultValue: 500
+  DefaultValue: 100
   AccessType:   rw
   PDOMapping:   0
 
-Index:       0x1801 - TPDO communication parameter
+Index:       0x1801 - Pressure communication parameter
 DataType:    UNSIGNED8
 ObjectCode:  Record
   Sub:          0x00 - Highest sub-index supported
@@ -812,7 +778,7 @@ ObjectCode:  Record
   PDOMapping:   0
   Sub:          0x01 - COB-ID used by TPDO
   DataType:     UNSIGNED32
-  DefaultValue: $NODEID+0x280
+  DefaultValue: $NODEID+0x280+1
   AccessType:   rw
   PDOMapping:   0
   Sub:          0x02 - Transmission type
@@ -830,7 +796,7 @@ ObjectCode:  Record
   PDOMapping:   0
   Sub:          0x05 - Event timer
   DataType:     UNSIGNED16
-  DefaultValue: 500
+  DefaultValue: 100
   AccessType:   rw
   PDOMapping:   0
   Sub:          0x06 - SYNC start value
@@ -838,7 +804,7 @@ ObjectCode:  Record
   AccessType:   rw
   PDOMapping:   0
 
-Index:       0x1802 - TPDO communication parameter
+Index:       0x1802 - Pump communication parameter
 DataType:    UNSIGNED8
 ObjectCode:  Record
   Sub:          0x00 - Highest sub-index supported
@@ -848,7 +814,7 @@ ObjectCode:  Record
   PDOMapping:   0
   Sub:          0x01 - COB-ID used by TPDO
   DataType:     UNSIGNED32
-  DefaultValue: $NODEID+0x380
+  DefaultValue: $NODEID+0x280+2
   AccessType:   rw
   PDOMapping:   0
   Sub:          0x02 - Transmission type
@@ -866,7 +832,7 @@ ObjectCode:  Record
   PDOMapping:   0
   Sub:          0x05 - Event timer
   DataType:     UNSIGNED16
-  DefaultValue: 500
+  DefaultValue: 100
   AccessType:   rw
   PDOMapping:   0
   Sub:          0x06 - SYNC start value
@@ -874,7 +840,7 @@ ObjectCode:  Record
   AccessType:   rw
   PDOMapping:   0
 
-Index:       0x1803 - TPDO communication parameter
+Index:       0x1803 - Motor setpoint 1 communication parameter
 DataType:    UNSIGNED8
 ObjectCode:  Record
   Sub:          0x00 - Highest sub-index supported
@@ -884,7 +850,7 @@ ObjectCode:  Record
   PDOMapping:   0
   Sub:          0x01 - COB-ID used by TPDO
   DataType:     UNSIGNED32
-  DefaultValue: $NODEID+0x480
+  DefaultValue: $NODEID+0x280+3
   AccessType:   rw
   PDOMapping:   0
   Sub:          0x02 - Transmission type
@@ -902,7 +868,7 @@ ObjectCode:  Record
   PDOMapping:   0
   Sub:          0x05 - Event timer
   DataType:     UNSIGNED16
-  DefaultValue: 500
+  DefaultValue: 100
   AccessType:   rw
   PDOMapping:   0
   Sub:          0x06 - SYNC start value
@@ -910,7 +876,7 @@ ObjectCode:  Record
   AccessType:   rw
   PDOMapping:   0
 
-Index:       0x1804 - TPDO communication parameter
+Index:       0x1804 - Motor setpoint 2 communication parameter
 DataType:    UNSIGNED8
 ObjectCode:  Record
   Sub:          0x00 - Highest sub-index supported
@@ -920,7 +886,43 @@ ObjectCode:  Record
   PDOMapping:   1
   Sub:          0x01 - COB-ID used by TPDO
   DataType:     UNSIGNED32
-  DefaultValue: $NODEID+0x180+1
+  DefaultValue: $NODEID+0x280+4
+  AccessType:   rw
+  PDOMapping:   4
+  Sub:          0x02 - Transmission type
+  DataType:     UNSIGNED8
+  DefaultValue: 254
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x03 - Inhibit time
+  DataType:     UNSIGNED16
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x04 - Inhibit time
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x05 - Event timer
+  DataType:     UNSIGNED16
+  DefaultValue: 100
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x06 - SYNC start value
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   0
+
+Index:       0x1805 - Motor setpoint 2 communication parameter
+DataType:    UNSIGNED8
+ObjectCode:  Record
+  Sub:          0x00 - Highest sub-index supported
+  DataType:     UNSIGNED8
+  DefaultValue: 6
+  AccessType:   const
+  PDOMapping:   1
+  Sub:          0x01 - COB-ID used by TPDO
+  DataType:     UNSIGNED32
+  DefaultValue: $NODEID+0x280+5
   AccessType:   rw
   PDOMapping:   4
   Sub:          0x02 - Transmission type
@@ -946,266 +948,207 @@ ObjectCode:  Record
   AccessType:   rw
   PDOMapping:   0
 
-Index:       0x1a00 - Conductivity Data OUT1
+Index:       0x1a00 - Flowmeter Data mapping parameter
 DataType:    UNSIGNED8
 ObjectCode:  Record
   Sub:          0x00 - Number of entries
   DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x01 - Mapping Entry 1
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60020120
-  AccessType:   const
-  PDOMapping:   4
-  Sub:          0x02 - Mapping Entry 2
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60020220
-  AccessType:   const
-  PDOMapping:   4
-
-Index:       0x1a01 - Conductivity Data OUT2
-DataType:    UNSIGNED8
-ObjectCode:  Record
-  Sub:          0x00 - Number of entries
-  DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x01 - Mapping Entry 1
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60020320
-  AccessType:   const
-  PDOMapping:   4
-  Sub:          0x02 - Mapping Entry 2
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60020420
-  AccessType:   const
-  PDOMapping:   4
-
-Index:       0x1a02 - Conductivity Data OUT3
-DataType:    UNSIGNED8
-ObjectCode:  Record
-  Sub:          0x00 - Number of entries
-  DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x01 - Mapping Entry 1
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60020520
-  AccessType:   const
-  PDOMapping:   4
-  Sub:          0x02 - Mapping Entry 2
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60020620
-  AccessType:   const
-  PDOMapping:   4
-
-Index:       0x1a03 -  Pressue and Flowmeter Data OUT1
-DataType:    UNSIGNED8
-ObjectCode:  Record
-  Sub:          0x00 - Number of entries
-  DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x01 - Mapping Entry 1
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60040120
-  AccessType:   const
-  PDOMapping:   4
-  Sub:          0x02 - Mapping Entry 2
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60050120
-  AccessType:   const
-  PDOMapping:   4
-
-Index:       0x1a04 -  Pressue and Flowmeter Data OUT2
-DataType:    UNSIGNED8
-ObjectCode:  Record
-  Sub:          0x00 - Number of entries
-  DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x01 - Mapping Entry 1
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60010320
-  AccessType:   const
-  PDOMapping:   4
-  Sub:          0x02 - Mapping Entry 2
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60010420
-  AccessType:   const
-  PDOMapping:   4
-
-Index:       0x2001 - Manufacturer Object
-DataType:    INTEGER32
-ObjectCode:  Variable
-  Sub:          0x00 - Manufacturer Object
-  DataType:     INTEGER32
   DefaultValue: 4
-  AccessType:   rw
+  AccessType:   const
-  PDOMapping:   1
-
-Index:       0x3000 - Managed Array
-DataType:    INTEGER16
-ObjectCode:  Array
-  Sub:          0x00 - NUmber of Entries
-  DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   ro
   PDOMapping:   0
-  Sub:          0x01 - Sub 1
+  Sub:          0x01 - Mapping Entry 1
-  DataType:     INTEGER16
+  DataType:     UNSIGNED32
-  AccessType:   ro
+  DefaultValue: 0x20000110
+  AccessType:   const
+  PDOMapping:   4
+  Sub:          0x02 - Mapping Entry 2
+  DataType:     UNSIGNED32
+  DefaultValue: 0x20000210
+  AccessType:   const
+  PDOMapping:   4
+  Sub:          0x03 - Mapping Entry 3
+  DataType:     UNSIGNED32
+  DefaultValue: 0x20000310
+  AccessType:   const
+  PDOMapping:   4
+  Sub:          0x04 - Mapping Entry 4
+  DataType:     UNSIGNED32
+  DefaultValue: 0x20000410
+  AccessType:   const
   PDOMapping:   4
-  Sub:          0x02 - sub 2
-  DataType:     INTEGER16
-  DefaultValue: 2
-  AccessType:   rw
-  PDOMapping:   1
 
-Index:       0x6000 - Motor Valve Control
+Index:       0x1a01 - Pressure Sensor mapping parameter
 DataType:    UNSIGNED8
-ObjectCode:  Array
+ObjectCode:  Record
-  Sub:          0x00 - Highest sub-index supported
+  Sub:          0x00 - Number of entries
   DataType:     UNSIGNED8
-  DefaultValue: 5
+  DefaultValue: 4
-  AccessType:   ro
+  AccessType:   const
   PDOMapping:   0
-  Sub:          0x01 - ID
+  Sub:          0x01 - Mapping Entry 1
-  DataType:     UNSIGNED8
+  DataType:     UNSIGNED32
-  AccessType:   rw
+  DefaultValue: 0x20010110
-  PDOMapping:   2
+  AccessType:   const
-  Sub:          0x02 - Command
+  PDOMapping:   4
-  DataType:     UNSIGNED8
+  Sub:          0x02 - Mapping Entry 2
-  AccessType:   rw
+  DataType:     UNSIGNED32
-  PDOMapping:   2
+  DefaultValue: 0x20010210
-  Sub:          0x03 - Position setpoint
+  AccessType:   const
-  DataType:     UNSIGNED8
+  PDOMapping:   4
-  AccessType:   rw
+  Sub:          0x03 - Mapping Entry 3
-  PDOMapping:   2
+  DataType:     UNSIGNED32
-  Sub:          0x04 - Pressure setpoint
+  DefaultValue: 0x20010310
-  DataType:     UNSIGNED8
+  AccessType:   const
-  AccessType:   rw
+  PDOMapping:   4
-  PDOMapping:   2
+  Sub:          0x04 - Mapping Entry 4
-  Sub:          0x05 - Flowrate setpoint
+  DataType:     UNSIGNED32
-  DataType:     UNSIGNED8
+  DefaultValue: 0x20010410
-  AccessType:   rw
+  AccessType:   const
-  PDOMapping:   2
+  PDOMapping:   4
 
-Index:       0x6001 - Conductivity Sensor Data IN
+Index:       0x1a02 - Pump mapping parameter
-DataType:    UNSIGNED32
+DataType:    UNSIGNED8
-ObjectCode:  Array
+ObjectCode:  Record
-  Sub:          0x00 - Highest sub-index supported
+  Sub:          0x00 - Number of entries
   DataType:     UNSIGNED8
-  DefaultValue: 6
+  DefaultValue: 1
-  AccessType:   ro
+  AccessType:   const
   PDOMapping:   0
-  Sub:          0x01 - Conductivity Data IN1
+  Sub:          0x01 - Mapping Entry 1
   DataType:     UNSIGNED32
-  AccessType:   rw
+  DefaultValue: 0x20030010
-  PDOMapping:   1
+  AccessType:   const
-  Sub:          0x02 - Temperature Data IN1
+  PDOMapping:   4
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x03 - Conductivity Data IN2
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x04 - Temperature Data IN2
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x05 - Conductivity Data IN3
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x06 - Temperature Data IN3
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
 
-Index:       0x6002 - Conductivity Sensor Data OUT
+Index:       0x1a03 - Motor setpoint 1 mapping parameter
-DataType:    UNSIGNED32
+DataType:    UNSIGNED8
-ObjectCode:  Array
+ObjectCode:  Record
-  Sub:          0x00 - Highest sub-index supported
+  Sub:          0x00 - Number of entries
-  DataType:     UNSIGNED8
-  DefaultValue: 6
-  AccessType:   ro
-  PDOMapping:   0
-  Sub:          0x01 - Conductivity Data OUT1
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x02 - Temperature Data OUT1
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x03 - Conductivity Data OUT2
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x04 - Temperature Data OUT2
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x05 - Conductivity Data OUT3
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x06 - Temperature Data OUT3
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-
-Index:       0x6003 - Motor Valve Data OUT
-DataType:    UNSIGNED32
-ObjectCode:  Array
-  Sub:          0x00 - Highest sub-index supported
   DataType:     UNSIGNED8
   DefaultValue: 8
-  AccessType:   ro
+  AccessType:   const
   PDOMapping:   0
-  Sub:          0x01 - MV 01 OUT
+  Sub:          0x01 - Mapping Entry 1
   DataType:     UNSIGNED32
-  AccessType:   rw
+  DefaultValue: 0x20040108
-  PDOMapping:   1
+  AccessType:   const
-  Sub:          0x02 - MV 02 OUT
+  PDOMapping:   4
+  Sub:          0x02 - Mapping Entry 2
   DataType:     UNSIGNED32
-  AccessType:   rw
+  DefaultValue: 0x20040208
-  PDOMapping:   1
+  AccessType:   const
-  Sub:          0x03 - MV 03 OUT
+  PDOMapping:   4
+  Sub:          0x03 - Mapping Entry 3
   DataType:     UNSIGNED32
-  AccessType:   rw
+  DefaultValue: 0x20040308
-  PDOMapping:   1
+  AccessType:   const
-  Sub:          0x04 - MV 04 OUT
+  PDOMapping:   4
+  Sub:          0x04 - Mapping Entry 4
   DataType:     UNSIGNED32
-  AccessType:   rw
+  DefaultValue: 0x20040408
-  PDOMapping:   1
+  AccessType:   const
-  Sub:          0x05 - MV 05 OUT
+  PDOMapping:   4
+  Sub:          0x05 - Mapping Entry 5
   DataType:     UNSIGNED32
-  AccessType:   rw
+  DefaultValue: 0x20040508
-  PDOMapping:   1
+  AccessType:   const
-  Sub:          0x06 - MV 06 OUT
+  PDOMapping:   4
+  Sub:          0x06 - Mapping Entry 6
   DataType:     UNSIGNED32
-  AccessType:   rw
+  DefaultValue: 0x20040608
-  PDOMapping:   1
+  AccessType:   const
-  Sub:          0x07 - MV 07 OUT
+  PDOMapping:   4
+  Sub:          0x07 - Mapping Entry 7
   DataType:     UNSIGNED32
-  AccessType:   rw
+  DefaultValue: 0x20040708
-  PDOMapping:   1
+  AccessType:   const
-  Sub:          0x08 - MV 08 OUT
+  PDOMapping:   4
+  Sub:          0x08 - Mapping Entry 8
   DataType:     UNSIGNED32
-  AccessType:   rw
+  DefaultValue: 0x20040808
-  PDOMapping:   1
+  AccessType:   const
+  PDOMapping:   4
 
-Index:       0x6004 - Flowmeter Data OUT
+Index:       0x1a04 - Motor setpoint 2 mapping parameter
-DataType:    REAL32
+DataType:    UNSIGNED8
+ObjectCode:  Record
+  Sub:          0x00 - Number of entries
+  DataType:     UNSIGNED8
+  DefaultValue: 8
+  AccessType:   const
+  PDOMapping:   0
+  Sub:          0x01 - Mapping Entry 1
+  DataType:     UNSIGNED32
+  DefaultValue: 0x20040908
+  AccessType:   const
+  PDOMapping:   0
+  Sub:          0x02 - Mapping Entry 2
+  DataType:     UNSIGNED32
+  DefaultValue: 0x20040a08
+  AccessType:   const
+  PDOMapping:   0
+  Sub:          0x03 - Mapping Entry 3
+  DataType:     UNSIGNED32
+  DefaultValue: 0x20040b08
+  AccessType:   const
+  PDOMapping:   0
+  Sub:          0x04 - Mapping Entry 4
+  DataType:     UNSIGNED32
+  DefaultValue: 0x20040c08
+  AccessType:   const
+  PDOMapping:   0
+  Sub:          0x05 - Mapping Entry 5
+  DataType:     UNSIGNED32
+  DefaultValue: 0x20040d08
+  AccessType:   const
+  PDOMapping:   0
+  Sub:          0x06 - Mapping Entry 6
+  DataType:     UNSIGNED32
+  DefaultValue: 0x20040e08
+  AccessType:   const
+  PDOMapping:   0
+  Sub:          0x07 - Mapping Entry 7
+  DataType:     UNSIGNED32
+  DefaultValue: 0x20040f08
+  AccessType:   const
+  PDOMapping:   0
+  Sub:          0x08 - Mapping Entry 8
+  DataType:     UNSIGNED32
+  DefaultValue: 0x20041008
+  AccessType:   const
+  PDOMapping:   0
+
+Index:       0x1a05 - Motor setpoint 3 mapping parameter
+DataType:    UNSIGNED8
+ObjectCode:  Record
+  Sub:          0x00 - Number of entries
+  DataType:     UNSIGNED8
+  DefaultValue: 4
+  AccessType:   const
+  PDOMapping:   0
+  Sub:          0x01 - Mapping Entry 1
+  DataType:     UNSIGNED32
+  DefaultValue: 0x20041108
+  AccessType:   const
+  PDOMapping:   0
+  Sub:          0x02 - Mapping Entry 2
+  DataType:     UNSIGNED32
+  DefaultValue: 0x20041208
+  AccessType:   const
+  PDOMapping:   0
+  Sub:          0x03 - Mapping Entry 3
+  DataType:     UNSIGNED32
+  DefaultValue: 0x20041308
+  AccessType:   const
+  PDOMapping:   0
+  Sub:          0x04 - Mapping Entry 4
+  DataType:     UNSIGNED32
+  DefaultValue: 0x20041408
+  AccessType:   const
+  PDOMapping:   0
+
+Index:       0x2000 - Flowmeter Data OUT
+DataType:    UNSIGNED16
 ObjectCode:  Array
   Sub:          0x00 - Highest sub-index supported
   DataType:     UNSIGNED8
@@ -1213,24 +1156,24 @@ ObjectCode:  Array
   AccessType:   ro
   PDOMapping:   0
   Sub:          0x01 - FM1 OUT
-  DataType:     REAL32
+  DataType:     UNSIGNED16
   AccessType:   rw
-  PDOMapping:   1
+  PDOMapping:   4
   Sub:          0x02 - FM2 OUT
-  DataType:     REAL32
+  DataType:     UNSIGNED16
   AccessType:   rw
-  PDOMapping:   1
+  PDOMapping:   4
   Sub:          0x03 - FM3 OUT
-  DataType:     REAL32
+  DataType:     UNSIGNED16
   AccessType:   rw
-  PDOMapping:   1
+  PDOMapping:   4
   Sub:          0x04 - FM4 OUT
-  DataType:     REAL32
+  DataType:     UNSIGNED16
   AccessType:   rw
-  PDOMapping:   1
+  PDOMapping:   4
 
-Index:       0x6005 - Pressure Sensor Data OUT
+Index:       0x2001 - Pressure Sensor Data OUT
-DataType:    REAL32
+DataType:    UNSIGNED16
 ObjectCode:  Array
   Sub:          0x00 - Highest sub-index supported
   DataType:     UNSIGNED8
@@ -1238,18 +1181,115 @@ ObjectCode:  Array
   AccessType:   ro
   PDOMapping:   0
   Sub:          0x01 - PS1 OUT
-  DataType:     REAL32
+  DataType:     UNSIGNED16
   AccessType:   rw
-  PDOMapping:   1
+  PDOMapping:   4
   Sub:          0x02 - PS2 OUT
-  DataType:     REAL32
+  DataType:     UNSIGNED16
   AccessType:   rw
-  PDOMapping:   1
+  PDOMapping:   4
   Sub:          0x03 - PS3 OUT
-  DataType:     REAL32
+  DataType:     UNSIGNED16
   AccessType:   rw
-  PDOMapping:   1
+  PDOMapping:   4
   Sub:          0x04 - PS4 OUT
-  DataType:     REAL32
+  DataType:     UNSIGNED16
+  AccessType:   rw
+  PDOMapping:   4
+
+Index:       0x2003 - Pump Data OUT
+DataType:    UNSIGNED16
+ObjectCode:  Variable
+  Sub:          0x00 - Pump Data OUT
+  DataType:     UNSIGNED16
+  AccessType:   rw
+  PDOMapping:   4
+
+Index:       0x2004 - Motor Valve Data OUT
+DataType:    UNSIGNED8
+ObjectCode:  Array
+  Sub:          0x00 - Highest sub-index supported
+  DataType:     UNSIGNED8
+  DefaultValue: 20
+  AccessType:   ro
+  PDOMapping:   0
+  Sub:          0x01 - MV 01 Setpoint
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   1
+  Sub:          0x02 - MV 02 Setpoint
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   1
+  Sub:          0x03 - MV 03 Setpoint
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   1
+  Sub:          0x04 - MV 04 Setpoint
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   1
+  Sub:          0x05 - MV 05 Setpoint
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   1
+  Sub:          0x06 - MV 06 Setpoint
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   1
+  Sub:          0x07 - MV 07 Setpoint
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   1
+  Sub:          0x08 - MV 08 Setpoint
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   1
+  Sub:          0x09 - MV 09 Setpoint
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   1
+  Sub:          0x0a - MV 10 Setpoint
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   1
+  Sub:          0x0b - MV 11 Setpoint
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   1
+  Sub:          0x0c - MV 12 Setpoint
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   1
+  Sub:          0x0d - MV 13 Setpoint
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   1
+  Sub:          0x0e - MV 14 Setpoint
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   1
+  Sub:          0x0f - MV 15 Setpoint
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   1
+  Sub:          0x10 - MV 16 Setpoint
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   1
+  Sub:          0x11 - MV 17 Setpoint
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   1
+  Sub:          0x12 - MV 18 Setpoint
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   1
+  Sub:          0x13 - MV 19 Setpoint
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   1
+  Sub:          0x14 - MV 20 Setpoint
+  DataType:     UNSIGNED8
   AccessType:   rw
   PDOMapping:   1

EnduranceTestBench/coappl/gen_define.h

@@ -1,6 +1,6 @@
 /*
  * Stack definitions for enduranceTestBench - generated by CANopen DeviceDesigner 3.14.2
- *  */
+ * 14 08 2025 12:06:07 */
 
 /* protect against multiple inclusion of the file */
 #ifndef GEN_DEFINE_H
@@ -19,17 +19,17 @@
 #define CO_REC_BUFFER_COUNTS	10u
 #define CO_TR_BUFFER_COUNTS	20u
 /* Number of objects per line */
-#define CO_OBJECTS_LINE_0_CNT	38u
+#define CO_OBJECTS_LINE_0_CNT	48u
-#define CO_OBJECT_COUNTS	38u
+#define CO_OBJECT_COUNTS	48u
-#define CO_COB_COUNTS	21u
+#define CO_COB_COUNTS	73u
-#define CO_TXPDO_COUNTS	5u
+#define CO_TXPDO_COUNTS	6u
-#define CO_RXPDO_COUNTS	3u
+#define CO_RXPDO_COUNTS	0u
 #define CO_SSDO_COUNTS	1u
-#define CO_CSDO_COUNTS	2u
+#define CO_CSDO_COUNTS	20u
 #define CO_ASSIGN_COUNTS	0u
 #define CO_MAX_ASSIGN_COUNTS	0u
 #define CO_GUARDING_COUNTS	CO_MAX_ASSIGN_COUNTS
-#define CO_ERR_CTRL_COUNTS	2u
+#define CO_ERR_CTRL_COUNTS	20u
 #define CO_ERR_HIST_COUNTS	1u
 #define CO_ACT_ERR_HIST_COUNTS	0u
 #define CO_EMCY_CONS_COUNTS	0u
@@ -39,12 +39,12 @@
 /* Definition of numbers of CANopen services */
 #define CO_NMT_MASTER	1u
 #define CO_LSS_MASTER_SUPPORTED	1u
+#define CO_LSS_INQUIRY_SERVICES	1u
 #define CO_SDO_SERVER_CNT	1u
-#define CO_SDO_CLIENT_CNT	2u
+#define CO_SDO_CLIENT_CNT	20u
-#define CO_PDO_TRANSMIT_CNT	5u
+#define CO_PDO_TRANSMIT_CNT	6u
-#define CO_PDO_RECEIVE_CNT	3u
+#define CO_MAX_MAP_ENTRIES	8u
-#define CO_MAX_MAP_ENTRIES	2u
+#define CO_HB_CONSUMER_CNT 20u
-#define CO_HB_CONSUMER_CNT 2u
 #define CO_EMCY_PRODUCER	1u
 #define CO_EMCY_ERROR_HISTORY 1u
 #define CO_SDO_BLOCK		1u
@@ -54,10 +54,13 @@
 #define CO_SDO_QUEUE_LEN	0u
 #define CO_INHIBIT_SUPPORTED	1u
 /* number of used COB objects */
-#define CO_COB_CNT	21u
+#define CO_COB_CNT	73u
 
 
 /* Definition of number of call-back functions for each service*/
+#define CO_EVENT_DYNAMIC_SDO_SERVER_READ	1u
+#define CO_EVENT_DYNAMIC_SDO_SERVER_WRITE	1u
+#define CO_EVENT_DYNAMIC_SDO_SERVER_CHECK_WRITE	1u
 #define CO_EVENT_DYNAMIC_PDO	1u
 #define CO_EVENT_DYNAMIC_PDO_UPDATE	1u
 #define CO_EVENT_DYNAMIC_NMT	1u
@@ -92,8 +95,8 @@
 /* application-specific defines as defined in DeviceDesigner */
 #define CODRV_BIT_TABLE_EXTERN 1
 #define CODRV_CANCLOCK_40MHZ 1
-#define CO_LSS_INQUIRY_SERVICES	1
 
+#define C4L_DEVICE
 #define CODRV_MCAN_STM32_G4
 #define CONFIG_MCAN1
 #define CUBE_MX_GENERATION

EnduranceTestBench/coappl/gen_indication.h

@@ -1,6 +1,6 @@
 /*
  * static indication definitions for enduranceTestBench - generated by CANopen DeviceDesigner 3.14.2
- * Fri Feb 14 15:45:52 2025
+ * Thu Aug 14 12:06:07 2025
  */
 
 /* protect against multiple inclusion of the file */

EnduranceTestBench/coappl/gen_indices.h

@@ -1,6 +1,6 @@
 /*
  *  CO index/J1939 PGN/raw CAN-ID  defines for enduranceTestBench - generated by CANopen DeviceDesigner 3.14.2
- * Fri Feb 14 15:45:51 2025
+ * Thu Aug 14 12:06:07 2025
  */
 
 /* protect against multiple inclusion of the file */
@@ -34,74 +34,83 @@
 #define  S_COB_ID_SERVER_CLIENT   	0x2u
 #define  S_NODE_ID_OF_THE_SDO_SERVER	0x3u
 #define I_SDO_CLIENT_PARAMETER1  	0x1281u
-#define I_RECEIVE_PDO_COMMUNICATION_PARAMETER	0x1400u
+#define I_SDO_CLIENT_PARAMETER2  	0x1282u
+#define I_SDO_CLIENT_PARAMETER3  	0x1283u
+#define I_SDO_CLIENT_PARAMETER4  	0x1284u
+#define I_SDO_CLIENT_PARAMETER5  	0x1285u
+#define I_SDO_CLIENT_PARAMETER6  	0x1286u
+#define I_SDO_CLIENT_PARAMETER7  	0x1287u
+#define I_SDO_CLIENT_PARAMETER8  	0x1288u
+#define I_SDO_CLIENT_PARAMETER9  	0x1289u
+#define I_SDO_CLIENT_PARAMETER10 	0x128au
+#define I_SDO_CLIENT_PARAMETER11 	0x128bu
+#define I_SDO_CLIENT_PARAMETER12 	0x128cu
+#define I_SDO_CLIENT_PARAMETER13 	0x128du
+#define I_SDO_CLIENT_PARAMETER14 	0x128eu
+#define I_SDO_CLIENT_PARAMETER15 	0x128fu
+#define I_SDO_CLIENT_PARAMETER16 	0x1290u
+#define I_SDO_CLIENT_PARAMETER17 	0x1291u
+#define I_SDO_CLIENT_PARAMETER18 	0x1292u
+#define I_SDO_CLIENT_PARAMETER19 	0x1293u
+#define I_FLOWMETER_COMMUNICATION_PARAMETER	0x1800u
 #define  S_COB_ID                 	0x1u
 #define  S_TRANSMISSION_TYPE      	0x2u
-#define I_RECEIVE_PDO_COMMUNICATION_PARAMETER1	0x1401u
-#define I_RECEIVE_PDO_COMMUNICATION_PARAMETER2	0x1402u
-#define I_RECEIVE_PDO_MAPPING_PARAMETER	0x1600u
-#define  S_MAPPING_ENTRY_1        	0x1u
-#define  S_MAPPING_ENTRY_2        	0x2u
-#define I_RECEIVE_PDO_MAPPING_PARAMETER1	0x1601u
-#define I_RECEIVE_PDO_MAPPING_PARAMETER2	0x1602u
-#define I_TPDO_COMMUNICATION_PARAMETER	0x1800u
 #define  S_INHIBIT_TIME           	0x3u
 #define  S_COMPATIBILITY_ENTRY    	0x4u
 #define  S_EVENT_TIMER            	0x5u
-#define I_TPDO_COMMUNICATION_PARAMETER1	0x1801u
+#define I_PRESSURE_COMMUNICATION_PARAMETER	0x1801u
 #define  S_COB_ID_USED_BY_TPDO    	0x1u
 #define  S_SYNC_START_VALUE       	0x6u
-#define I_TPDO_COMMUNICATION_PARAMETER2	0x1802u
+#define I_PUMP_COMMUNICATION_PARAMETER	0x1802u
-#define I_TPDO_COMMUNICATION_PARAMETER3	0x1803u
+#define I_MOTOR_SETPOINT_1_COMMUNICATION_PARAMETER	0x1803u
-#define I_TPDO_COMMUNICATION_PARAMETER4	0x1804u
+#define I_MOTOR_SETPOINT_2_COMMUNICATION_PARAMETER	0x1804u
-#define I_CONDUCTIVITY_DATA_OUT1 	0x1a00u
+#define I_MOTOR_SETPOINT_2_COMMUNICATION_PARAMETER1	0x1805u
-#define I_CONDUCTIVITY_DATA_OUT2 	0x1a01u
+#define I_FLOWMETER_DATA_MAPPING_PARAMETER	0x1a00u
-#define I_CONDUCTIVITY_DATA_OUT3 	0x1a02u
+#define  S_MAPPING_ENTRY_1        	0x1u
-#define I_PRESSUE_AND_FLOWMETER_DATA_OUT1	0x1a03u
+#define  S_MAPPING_ENTRY_2        	0x2u
-#define I_PRESSUE_AND_FLOWMETER_DATA_OUT2	0x1a04u
+#define  S_MAPPING_ENTRY_3        	0x3u
-#define I_MANUFACTURER_OBJECT    	0x2001u
+#define  S_MAPPING_ENTRY_4        	0x4u
-#define I_MANAGED_ARRAY          	0x3000u
+#define I_PRESSURE_SENSOR_MAPPING_PARAMETER	0x1a01u
-#define  S_SUB_1                  	0x1u
+#define I_PUMP_MAPPING_PARAMETER 	0x1a02u
-#define  S_SUB_2                  	0x2u
+#define I_MOTOR_SETPOINT_1_MAPPING_PARAMETER	0x1a03u
-#define I_MOTOR_VALVE_CONTROL    	0x6000u
+#define  S_MAPPING_ENTRY_5        	0x5u
-#define  S_ID                     	0x1u
+#define  S_MAPPING_ENTRY_6        	0x6u
-#define  S_COMMAND                	0x2u
+#define  S_MAPPING_ENTRY_7        	0x7u
-#define  S_POSITION_SETPOINT      	0x3u
+#define  S_MAPPING_ENTRY_8        	0x8u
-#define  S_PRESSURE_SETPOINT      	0x4u
+#define I_MOTOR_SETPOINT_2_MAPPING_PARAMETER	0x1a04u
-#define  S_FLOWRATE_SETPOINT      	0x5u
+#define I_MOTOR_SETPOINT_3_MAPPING_PARAMETER	0x1a05u
-#define I_CONDUCTIVITY_SENSOR_DATA_IN	0x6001u
+#define I_FLOWMETER_DATA_OUT     	0x2000u
-#define  S_CONDUCTIVITY_DATA_IN1  	0x1u
-#define  S_TEMPERATURE_DATA_IN1   	0x2u
-#define  S_CONDUCTIVITY_DATA_IN2  	0x3u
-#define  S_TEMPERATURE_DATA_IN2   	0x4u
-#define  S_CONDUCTIVITY_DATA_IN3  	0x5u
-#define  S_TEMPERATURE_DATA_IN3   	0x6u
-#define I_CONDUCTIVITY_SENSOR_DATA_OUT	0x6002u
-#define  S_CONDUCTIVITY_DATA_OUT1 	0x1u
-#define  S_TEMPERATURE_DATA_OUT1  	0x2u
-#define  S_CONDUCTIVITY_DATA_OUT2 	0x3u
-#define  S_TEMPERATURE_DATA_OUT2  	0x4u
-#define  S_CONDUCTIVITY_DATA_OUT3 	0x5u
-#define  S_TEMPERATURE_DATA_OUT3  	0x6u
-#define I_MOTOR_VALVE_DATA_OUT   	0x6003u
-#define  S_MV_01_OUT              	0x1u
-#define  S_MV_02_OUT              	0x2u
-#define  S_MV_03_OUT              	0x3u
-#define  S_MV_04_OUT              	0x4u
-#define  S_MV_05_OUT              	0x5u
-#define  S_MV_06_OUT              	0x6u
-#define  S_MV_07_OUT              	0x7u
-#define  S_MV_08_OUT              	0x8u
-#define I_FLOWMETER_DATA_OUT     	0x6004u
 #define  S_FM1_OUT                	0x1u
 #define  S_FM2_OUT                	0x2u
 #define  S_FM3_OUT                	0x3u
 #define  S_FM4_OUT                	0x4u
-#define I_PRESSURE_SENSOR_DATA_OUT	0x6005u
+#define I_PRESSURE_SENSOR_DATA_OUT	0x2001u
 #define  S_PS1_OUT                	0x1u
 #define  S_PS2_OUT                	0x2u
 #define  S_PS3_OUT                	0x3u
 #define  S_PS4_OUT                	0x4u
+#define I_PUMP_DATA_OUT          	0x2003u
+#define I_MOTOR_VALVE_DATA_OUT   	0x2004u
+#define  S_MV_01_SETPOINT         	0x1u
+#define  S_MV_02_SETPOINT         	0x2u
+#define  S_MV_03_SETPOINT         	0x3u
+#define  S_MV_04_SETPOINT         	0x4u
+#define  S_MV_05_SETPOINT         	0x5u
+#define  S_MV_06_SETPOINT         	0x6u
+#define  S_MV_07_SETPOINT         	0x7u
+#define  S_MV_08_SETPOINT         	0x8u
+#define  S_MV_09_SETPOINT         	0x9u
+#define  S_MV_10_SETPOINT         	0xau
+#define  S_MV_11_SETPOINT         	0xbu
+#define  S_MV_12_SETPOINT         	0xcu
+#define  S_MV_13_SETPOINT         	0xdu
+#define  S_MV_14_SETPOINT         	0xeu
+#define  S_MV_15_SETPOINT         	0xfu
+#define  S_MV_16_SETPOINT         	0x10u
+#define  S_MV_17_SETPOINT         	0x11u
+#define  S_MV_18_SETPOINT         	0x12u
+#define  S_MV_19_SETPOINT         	0x13u
+#define  S_MV_20_SETPOINT         	0x14u
 #define  S_NUMBER_OF_ENTRIES      	0x0u
 
 #endif /* GEN_INDICES_H */

EnduranceTestBench/coappl/processBoard.csv

@@ -1,139 +0,0 @@
-Index,Sub,EDSname,Datatype,Access,Value,varname,LowLimit,UpLimit,hasDefault,hasLimit,refuseRead,refuseWrite,defaultInEDS,implementation,Size,ObjectCode,mapable
-0x1000,0x00,Device Type,UNSIGNED32,ro,0,NONE,0,4294967295,yes,no,no,no,1,ManagedConst,0,,no
-0x1001,0x00,Error Register,UNSIGNED8,ro,,NONE,0,255,no,no,no,no,0,ManagedVariable,0,,no
-0x1003,0x00,Predefined Error Field Number of Errors,UNSIGNED8,rw,0,NONE,0,255,yes,no,no,no,1,ManagedVariable,0,ARRAY,no
-0x1003,0x01,Predefined Error Field Standard Error Field,UNSIGNED32,ro,0,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
-0x1008,0x00,Manufacturer device name,VISIBLE_STRING,const,emotas Slave 1,NONE,0,0,yes,no,no,no,1,ManagedConst,14,,no
-0x1014,0x00,COB ID EMCY,UNSIGNED32,ro,$NODEID+0x80,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
-0x1015,0x00,Inhibit Time Emergency,UNSIGNED16,rw,0,NONE,0,65535,yes,no,no,no,1,ManagedVariable,0,,no
-0x1016,0x00,Consumer Heartbeat Time Number of entries,UNSIGNED8,ro,1,NONE,0,255,yes,no,no,no,1,ManagedConst,0,ARRAY,no
-0x1016,0x01,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,0,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
-0x1017,0x00,Producer Heartbeat Time,UNSIGNED16,rw,1500,NONE,0,65535,no,no,no,no,0,ManagedVariable,0,,no
-0x1018,0x00,Identity Object Number of entries,UNSIGNED8,ro,4,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1018,0x01,Identity Object Vendor Id,UNSIGNED32,ro,793,NONE,0,4294967295,yes,no,no,no,1,ManagedConst,0,,no
-0x1018,0x02,Identity Object Product Code,UNSIGNED32,ro,1234,NONE,0,4294967295,yes,no,no,no,1,ManagedConst,0,,no
-0x1018,0x03,Identity Object Revision number,UNSIGNED32,ro,1,NONE,0,4294967295,yes,no,no,no,1,ManagedConst,0,,no
-0x1018,0x04,Identity Object Serial number,UNSIGNED32,ro,,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
-0x1029,0x00,Error behaviour Nr of Error Classes,UNSIGNED8,ro,2,NONE,0,255,yes,no,no,no,1,ManagedConst,0,ARRAY,no
-0x1029,0x01,Error behaviour Communication Error,UNSIGNED8,rw,1,NONE,0,255,yes,no,no,no,1,ManagedVariable,0,,no
-0x1029,0x02,Error behaviour Specific Error Class ,UNSIGNED8,rw,,NONE,0,255,no,no,no,no,1,ManagedVariable,0,,no
-0x102a,0x00,NMT inhibit time,UNSIGNED16,rw,10,NONE,0,65535,yes,no,no,no,1,ManagedVariable,0,,no
-0x1200,0x00,Server SDO Parameter Number of entries,UNSIGNED8,ro,2,NONE,2,2,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1200,0x01,Server SDO Parameter COB ID Client to Server,UNSIGNED32,ro,$NODEID+0x600,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
-0x1200,0x02,Server SDO Parameter COB ID Server to Client,UNSIGNED32,ro,$NODEID+0x580,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
-0x1283,0x00,SDO client parameter Highest sub-index supported,UNSIGNED8,const,3,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1283,0x01,SDO client parameter COB-ID client -> server,UNSIGNED32,rw,2147483648,NONE,128,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
-0x1283,0x02,SDO client parameter COB-ID server -> client,UNSIGNED32,rw,2147483648,NONE,128,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
-0x1283,0x03,SDO client parameter Node-ID of the SDO server,UNSIGNED8,rw,,NONE,1,127,no,no,no,no,0,ManagedVariable,0,,no
-0x1400,0x00,Receive PDO Communication Parameter Highest sub-index supported,UNSIGNED8,ro,2,NONE,2,5,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1400,0x01,Receive PDO Communication Parameter COB ID,UNSIGNED32,rw,$NODEID+0x200,NONE,385,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
-0x1400,0x02,Receive PDO Communication Parameter Transmission Type,UNSIGNED8,rw,254,NONE,0,255,yes,no,no,no,1,ManagedVariable,0,,no
-0x1401,0x00,Receive PDO Communication Parameter Highest sub-index supported,UNSIGNED8,ro,2,NONE,2,5,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1401,0x01,Receive PDO Communication Parameter COB ID,UNSIGNED32,rw,$NODEID+0x200,NONE,385,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
-0x1401,0x02,Receive PDO Communication Parameter Transmission Type,UNSIGNED8,rw,254,NONE,0,255,yes,no,no,no,1,ManagedVariable,0,,no
-0x1402,0x00,Receive PDO Communication Parameter Highest sub-index supported,UNSIGNED8,ro,2,NONE,2,5,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1402,0x01,Receive PDO Communication Parameter COB ID,UNSIGNED32,rw,$NODEID+0x200,NONE,385,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
-0x1402,0x02,Receive PDO Communication Parameter Transmission Type,UNSIGNED8,rw,254,NONE,0,255,yes,no,no,no,1,ManagedVariable,0,,no
-0x1600,0x00,Receive PDO Mapping Parameter Highest sub-index supported,UNSIGNED8,const,2,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1600,0x01,Receive PDO Mapping Parameter Mapping Entry 1,UNSIGNED32,const,1610678560,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
-0x1600,0x02,Receive PDO Mapping Parameter Mapping Entry 2,UNSIGNED32,const,1610678816,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
-0x1601,0x00,Receive PDO Mapping Parameter Highest sub-index supported,UNSIGNED8,const,2,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1601,0x01,Receive PDO Mapping Parameter Mapping Entry 1,UNSIGNED32,const,1610679072,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
-0x1601,0x02,Receive PDO Mapping Parameter Mapping Entry 2,UNSIGNED32,const,1610679328,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
-0x1602,0x00,Receive PDO Mapping Parameter Highest sub-index supported,UNSIGNED8,const,2,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1602,0x01,Receive PDO Mapping Parameter Mapping Entry 1,UNSIGNED32,const,1610679584,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
-0x1602,0x02,Receive PDO Mapping Parameter Mapping Entry 2,UNSIGNED32,const,1610679840,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
-0x1800,0x00,TPDO communication parameter Number of entries,UNSIGNED8,ro,5,NONE,2,6,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1800,0x01,TPDO communication parameter COB ID,UNSIGNED32,rw,$NODEID+0x180,NONE,1,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
-0x1800,0x02,TPDO communication parameter Transmission Type,UNSIGNED8,rw,254,NONE,0,255,yes,no,no,no,1,ManagedVariable,0,,no
-0x1800,0x03,TPDO communication parameter Inhibit Time,UNSIGNED16,rw,0,NONE,0,65535,yes,no,no,no,1,ManagedVariable,0,,no
-0x1800,0x04,TPDO communication parameter Compatibility Entry,UNSIGNED8,rw,,NONE,0,255,yes,no,no,no,0,ManagedVariable,0,,no
-0x1800,0x05,TPDO communication parameter Event Timer,UNSIGNED16,rw,500,NONE,0,65535,yes,no,no,no,1,ManagedVariable,0,,no
-0x1801,0x00,TPDO communication parameter Highest sub-index supported,UNSIGNED8,const,6,NONE,2,6,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1801,0x01,TPDO communication parameter COB-ID used by TPDO,UNSIGNED32,rw,$NODEID+0x280,NONE,128,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
-0x1801,0x02,TPDO communication parameter Transmission type,UNSIGNED8,rw,254,NONE,0,255,yes,no,no,no,0,ManagedVariable,0,,no
-0x1801,0x03,TPDO communication parameter Inhibit time,UNSIGNED16,rw,,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1801,0x04,TPDO communication parameter Inhibit time,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1801,0x05,TPDO communication parameter Event timer,UNSIGNED16,rw,500,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1801,0x06,TPDO communication parameter SYNC start value,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1802,0x00,TPDO communication parameter Highest sub-index supported,UNSIGNED8,const,6,NONE,2,6,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1802,0x01,TPDO communication parameter COB-ID used by TPDO,UNSIGNED32,rw,$NODEID+0x380,NONE,128,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
-0x1802,0x02,TPDO communication parameter Transmission type,UNSIGNED8,rw,254,NONE,0,255,yes,no,no,no,0,ManagedVariable,0,,no
-0x1802,0x03,TPDO communication parameter Inhibit time,UNSIGNED16,rw,,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1802,0x04,TPDO communication parameter Inhibit time,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1802,0x05,TPDO communication parameter Event timer,UNSIGNED16,rw,500,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1802,0x06,TPDO communication parameter SYNC start value,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1803,0x00,TPDO communication parameter Highest sub-index supported,UNSIGNED8,const,6,NONE,2,6,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1803,0x01,TPDO communication parameter COB-ID used by TPDO,UNSIGNED32,rw,$NODEID+0x480,NONE,128,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
-0x1803,0x02,TPDO communication parameter Transmission type,UNSIGNED8,rw,254,NONE,0,255,yes,no,no,no,0,ManagedVariable,0,,both
-0x1803,0x03,TPDO communication parameter Inhibit time,UNSIGNED16,rw,,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1803,0x04,TPDO communication parameter Inhibit time,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1803,0x05,TPDO communication parameter Event timer,UNSIGNED16,rw,500,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1803,0x06,TPDO communication parameter SYNC start value,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1804,0x00,TPDO communication parameter Highest sub-index supported,UNSIGNED8,const,6,NONE,2,6,yes,no,no,no,1,ManagedConst,0,RECORD,both
-0x1804,0x01,TPDO communication parameter COB-ID used by TPDO,UNSIGNED32,rw,$NODEID+0x180+1,NONE,128,4294967295,yes,no,no,no,2,ManagedVariable,0,,tpdo
-0x1804,0x02,TPDO communication parameter Transmission type,UNSIGNED8,rw,254,NONE,0,255,yes,no,no,no,0,ManagedVariable,0,,no
-0x1804,0x03,TPDO communication parameter Inhibit time,UNSIGNED16,rw,,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1804,0x04,TPDO communication parameter Inhibit time,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1804,0x05,TPDO communication parameter Event timer,UNSIGNED16,rw,500,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1804,0x06,TPDO communication parameter SYNC start value,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
-0x1a00,0x00,Conductivity Data OUT1 Number of entries,UNSIGNED8,const,2,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1a00,0x01,Conductivity Data OUT1 Mapping Entry 1,UNSIGNED32,const,1610744096,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1a00,0x02,Conductivity Data OUT1 Mapping Entry 2,UNSIGNED32,const,1610744352,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1a01,0x00,Conductivity Data OUT2 Number of entries,UNSIGNED8,const,2,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1a01,0x01,Conductivity Data OUT2 Mapping Entry 1,UNSIGNED32,const,1610744608,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1a01,0x02,Conductivity Data OUT2 Mapping Entry 2,UNSIGNED32,const,1610744864,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1a02,0x00,Conductivity Data OUT3 Number of entries,UNSIGNED8,const,2,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1a02,0x01,Conductivity Data OUT3 Mapping Entry 1,UNSIGNED32,const,1610745120,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1a02,0x02,Conductivity Data OUT3 Mapping Entry 2,UNSIGNED32,const,1610745376,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1a03,0x00, Pressue and Flowmeter Data OUT1 Number of entries,UNSIGNED8,const,2,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1a03,0x01, Pressue and Flowmeter Data OUT1 Mapping Entry 1,UNSIGNED32,const,1610875168,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1a03,0x02, Pressue and Flowmeter Data OUT1 Mapping Entry 2,UNSIGNED32,const,1610940704,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1a04,0x00, Pressue and Flowmeter Data OUT2 Number of entries,UNSIGNED8,const,2,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1a04,0x01, Pressue and Flowmeter Data OUT2 Mapping Entry 1,UNSIGNED32,const,1610679072,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1a04,0x02, Pressue and Flowmeter Data OUT2 Mapping Entry 2,UNSIGNED32,const,1610679328,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
- 
-0x2001,0x00,Manufacturer Object,INTEGER32,rw,4,NONE,0,0,no,no,no,no,0,ManagedVariable,0,,both
-0x3000,0x00,Managed Array NUmber of Entries,UNSIGNED8,ro,2,NONE,0,0,yes,no,no,no,1,ManagedConst,0,ARRAY,no
-0x3000,0x01,Managed Array Sub 1,INTEGER16,ro,,NONE,0,0,no,no,no,no,0,ManagedVariable,0,,tpdo
-0x3000,0x02,Managed Array sub 2,INTEGER16,rw,2,NONE,0,0,no,no,no,no,0,ManagedVariable,0,,both
- 
-0x6000,0x00,Motor Valve Control Highest sub-index supported,UNSIGNED8,ro,5,NONE,0,255,yes,no,no,no,1,ManagedConst,0,ARRAY,no
-0x6000,0x01,Motor Valve Control ID,UNSIGNED8,rw,,NONE,0,255,yes,no,no,no,1,ManagedVariable,0,,no
-0x6000,0x02,Motor Valve Control Command,UNSIGNED8,rw,,NONE,0,255,yes,no,no,no,1,ManagedVariable,0,,no
-0x6000,0x03,Motor Valve Control Position setpoint,UNSIGNED8,rw,,NONE,0,255,yes,no,no,no,1,ManagedVariable,0,,no
-0x6000,0x04,Motor Valve Control Pressure setpoint,UNSIGNED8,rw,,NONE,0,255,yes,no,no,no,1,ManagedVariable,0,,no
-0x6000,0x05,Motor Valve Control Flowrate setpoint,UNSIGNED8,rw,,NONE,0,255,yes,no,no,no,1,ManagedVariable,0,,no
-0x6001,0x00,Conductivity Sensor Data IN Highest sub-index supported,UNSIGNED8,ro,6,NONE,0,255,yes,no,no,no,1,ManagedConst,0,ARRAY,no
-0x6001,0x01,Conductivity Sensor Data IN Conductivity Data IN1,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6001,0x02,Conductivity Sensor Data IN Temperature Data IN1,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6001,0x03,Conductivity Sensor Data IN Conductivity Data IN2,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6001,0x04,Conductivity Sensor Data IN Temperature Data IN2,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6001,0x05,Conductivity Sensor Data IN Conductivity Data IN3,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6001,0x06,Conductivity Sensor Data IN Temperature Data IN3,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6002,0x00,Conductivity Sensor Data OUT Highest sub-index supported,UNSIGNED8,ro,6,NONE,0,255,yes,no,no,no,1,ManagedConst,0,ARRAY,no
-0x6002,0x01,Conductivity Sensor Data OUT Conductivity Data OUT1,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6002,0x02,Conductivity Sensor Data OUT Temperature Data OUT1,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6002,0x03,Conductivity Sensor Data OUT Conductivity Data OUT2,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6002,0x04,Conductivity Sensor Data OUT Temperature Data OUT2,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6002,0x05,Conductivity Sensor Data OUT Conductivity Data OUT3,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6002,0x06,Conductivity Sensor Data OUT Temperature Data OUT3,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6003,0x00,Motor Valve Data OUT Highest sub-index supported,UNSIGNED8,ro,8,NONE,0,255,yes,no,no,no,1,ManagedConst,0,ARRAY,no
-0x6003,0x01,Motor Valve Data OUT MV 01 OUT,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6003,0x02,Motor Valve Data OUT MV 02 OUT,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6003,0x03,Motor Valve Data OUT MV 03 OUT,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6003,0x04,Motor Valve Data OUT MV 04 OUT,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6003,0x05,Motor Valve Data OUT MV 05 OUT,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6003,0x06,Motor Valve Data OUT MV 06 OUT,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6003,0x07,Motor Valve Data OUT MV 07 OUT,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6003,0x08,Motor Valve Data OUT MV 08 OUT,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,both
-0x6004,0x00,Flowmeter Data OUT Highest sub-index supported,UNSIGNED8,ro,4,NONE,0,255,yes,no,no,no,1,ManagedConst,0,ARRAY,no
-0x6004,0x01,Flowmeter Data OUT FM1 OUT,REAL32,rw,,NONE,,,yes,no,no,no,1,ManagedVariable,0,,both
-0x6004,0x02,Flowmeter Data OUT FM2 OUT,REAL32,rw,,NONE,,,yes,no,no,no,1,ManagedVariable,0,,both
-0x6004,0x03,Flowmeter Data OUT FM3 OUT,REAL32,rw,,NONE,,,yes,no,no,no,1,ManagedVariable,0,,both
-0x6004,0x04,Flowmeter Data OUT FM4 OUT,REAL32,rw,,NONE,,,yes,no,no,no,1,ManagedVariable,0,,both
-0x6005,0x00,Pressure Sensor Data OUT Highest sub-index supported,UNSIGNED8,ro,4,NONE,0,255,yes,no,no,no,1,ManagedConst,0,ARRAY,no
-0x6005,0x01,Pressure Sensor Data OUT PS1 OUT,REAL32,rw,,NONE,,,yes,no,no,no,1,ManagedVariable,0,,both
-0x6005,0x02,Pressure Sensor Data OUT PS2 OUT,REAL32,rw,,NONE,,,yes,no,no,no,1,ManagedVariable,0,,both
-0x6005,0x03,Pressure Sensor Data OUT PS3 OUT,REAL32,rw,,NONE,,,yes,no,no,no,1,ManagedVariable,0,,both
-0x6005,0x04,Pressure Sensor Data OUT PS4 OUT,REAL32,rw,,NONE,,,yes,no,no,no,1,ManagedVariable,0,,both

EnduranceTestBench/coappl/processBoard.icsv

@@ -1,208 +0,0 @@
-#
-# This is an importable ICSV file for the processBoard project.
-#
-index,sub,objectcode,datatype,edsname,varname,access,mapable,hasdefault,defaultineds,value,description,size,implementation,haslimit,lowlimit,uplimit,nvstorage
-0x1000,0x00,VARIABLE,UNSIGNED32,Device Type,,ro,no,1,1,0,,0,ManagedConst,no,0,4294967295,no
- 
-0x1001,0x00,VARIABLE,UNSIGNED8,Error Register,,ro,no,0,0,,,0,ManagedVariable,no,0,255,no
- 
-0x1003,,ARRAY,UNSIGNED32,Predefined Error Field,,,,,,,,,,,,,,
-0x1003,0x00,,UNSIGNED32,Number of Errors,,rw,no,1,1,0,,0,ManagedVariable,no,0,255,no
-0x1003,0x01,,UNSIGNED32,Standard Error Field,,ro,no,1,1,0,,0,ManagedVariable,no,0,4294967295,no
- 
-0x1008,0x00,VARIABLE,VISIBLE_STRING,Manufacturer device name,,const,no,1,1,emotas Slave 1,,14,ManagedConst,no,0,0,no
- 
-0x1014,0x00,VARIABLE,UNSIGNED32,COB ID EMCY,,ro,no,1,1,$NODEID+0x80,,0,ManagedVariable,no,0,4294967295,no
- 
-0x1015,0x00,VARIABLE,UNSIGNED16,Inhibit Time Emergency,,rw,no,1,1,0,,0,ManagedVariable,no,0,65535,no
- 
-0x1016,,ARRAY,UNSIGNED32,Consumer Heartbeat Time,,,,,,,,,,,,,,
-0x1016,0x00,,UNSIGNED32,Number of entries,,ro,no,1,1,1,,0,ManagedConst,no,0,255,no
-0x1016,0x01,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,0,,0,ManagedVariable,no,0,4294967295,no
- 
-0x1017,0x00,VARIABLE,UNSIGNED16,Producer Heartbeat Time,,rw,no,0,0,1500,,0,ManagedVariable,no,0,65535,no
- 
-0x1018,,RECORD,UNSIGNED8,Identity Object,,,,,,,,,,,,,,
-0x1018,0x00,,UNSIGNED8,Number of entries,,ro,no,1,1,4,,0,ManagedConst,no,0,255,no
-0x1018,0x01,,UNSIGNED32,Vendor Id,,ro,no,1,1,793,,0,ManagedConst,no,0,4294967295,no
-0x1018,0x02,,UNSIGNED32,Product Code,,ro,no,1,1,1234,,0,ManagedConst,no,0,4294967295,no
-0x1018,0x03,,UNSIGNED32,Revision number,,ro,no,1,1,1,,0,ManagedConst,no,0,4294967295,no
-0x1018,0x04,,UNSIGNED32,Serial number,,ro,no,1,1,,,0,ManagedVariable,no,0,4294967295,no
- 
-0x1029,,ARRAY,UNSIGNED8,Error behaviour,,,,,,,,,,,,,,
-0x1029,0x00,,UNSIGNED8,Nr of Error Classes,,ro,no,1,1,2,,0,ManagedConst,no,0,255,no
-0x1029,0x01,,UNSIGNED8,Communication Error,,rw,no,1,1,1,,0,ManagedVariable,no,0,255,no
-0x1029,0x02,,UNSIGNED8,Specific Error Class ,,rw,no,0,1,,,0,ManagedVariable,no,0,255,no
- 
-0x102a,0x00,VARIABLE,UNSIGNED16,NMT inhibit time,,rw,no,1,1,10,This object shall indicate the configured inhibit time between two subsequent NMT messages. The outstanding NMT services shall be queued and shall be issued in order of their occurrence respecting the configured inhibit time. <br/><br/>The value shall be given in multiples of 100 µs. The value 0 shall disable the inhibit time.<br/>,0,ManagedVariable,no,0,65535,no
- 
-0x1200,,RECORD,UNSIGNED8,Server SDO Parameter,,,,,,,,,,,,,,
-0x1200,0x00,,UNSIGNED8,Number of entries,,ro,no,1,1,2,,0,ManagedConst,no,2,2,no
-0x1200,0x01,,UNSIGNED32,COB ID Client to Server,,ro,no,1,1,$NODEID+0x600,,0,ManagedVariable,no,0,4294967295,no
-0x1200,0x02,,UNSIGNED32,COB ID Server to Client,,ro,no,1,1,$NODEID+0x580,,0,ManagedVariable,no,0,4294967295,no
- 
-0x1283,,RECORD,UNSIGNED8,SDO client parameter,,,,,,,This objects contains the parameters for the SDO for which the CANopen device is the SDO client.,,,,,,,
-0x1283,0x00,,UNSIGNED8,Highest sub-index supported,,const,no,1,1,3,,0,ManagedConst,no,0,255,no
-0x1283,0x01,,UNSIGNED32,COB-ID client -> server,,rw,no,1,1,2147483648,,0,ManagedVariable,no,128,4294967295,no
-0x1283,0x02,,UNSIGNED32,COB-ID server -> client,,rw,no,1,1,2147483648,,0,ManagedVariable,no,128,4294967295,no
-0x1283,0x03,,UNSIGNED8,Node-ID of the SDO server,,rw,no,0,0,,,0,ManagedVariable,no,1,127,no
- 
-0x1400,,RECORD,UNSIGNED8,Receive PDO Communication Parameter,,,,,,,This object contains the communication parameters for the PDO the CANopen device is able to receive.<br/>,,,,,,,
-0x1400,0x00,,UNSIGNED8,Highest sub-index supported,,ro,no,1,1,2,,0,ManagedConst,no,2,5,no
-0x1400,0x01,,UNSIGNED32,COB ID,,rw,no,1,1,$NODEID+0x200,,0,ManagedVariable,no,385,4294967295,no
-0x1400,0x02,,UNSIGNED8,Transmission Type,,rw,no,1,1,254,Sub-index 0x2 defines the reception character of the RPDO.,0,ManagedVariable,no,0,255,no
- 
-0x1401,,RECORD,UNSIGNED8,Receive PDO Communication Parameter,,,,,,,This object contains the communication parameters for the PDO the CANopen device is able to receive.<br/>,,,,,,,
-0x1401,0x00,,UNSIGNED8,Highest sub-index supported,,ro,no,1,1,2,,0,ManagedConst,no,2,5,no
-0x1401,0x01,,UNSIGNED32,COB ID,,rw,no,1,1,$NODEID+0x200,,0,ManagedVariable,no,385,4294967295,no
-0x1401,0x02,,UNSIGNED8,Transmission Type,,rw,no,1,1,254,Sub-index 0x2 defines the reception character of the RPDO.,0,ManagedVariable,no,0,255,no
- 
-0x1402,,RECORD,UNSIGNED8,Receive PDO Communication Parameter,,,,,,,This object contains the communication parameters for the PDO the CANopen device is able to receive.<br/>,,,,,,,
-0x1402,0x00,,UNSIGNED8,Highest sub-index supported,,ro,no,1,1,2,,0,ManagedConst,no,2,5,no
-0x1402,0x01,,UNSIGNED32,COB ID,,rw,no,1,1,$NODEID+0x200,,0,ManagedVariable,no,385,4294967295,no
-0x1402,0x02,,UNSIGNED8,Transmission Type,,rw,no,1,1,254,Sub-index 0x2 defines the reception character of the RPDO.,0,ManagedVariable,no,0,255,no
- 
-0x1600,,RECORD,UNSIGNED8,Receive PDO Mapping Parameter,,,,,,,This object contains the mapping parameters for the PDO the CANopen device is able to receive.<br/>,,,,,,,
-0x1600,0x00,,UNSIGNED8,Highest sub-index supported,,const,no,1,1,2,,0,ManagedConst,no,0,255,no
-0x1600,0x01,,UNSIGNED32,Mapping Entry 1,,const,no,1,1,1610678560,,0,ManagedConst,no,0,0,no
-0x1600,0x02,,UNSIGNED32,Mapping Entry 2,,const,no,1,1,1610678816,,0,ManagedConst,no,0,0,no
- 
-0x1601,,RECORD,UNSIGNED8,Receive PDO Mapping Parameter,,,,,,,This object contains the mapping parameters for the PDO the CANopen device is able to receive.<br/>,,,,,,,
-0x1601,0x00,,UNSIGNED8,Highest sub-index supported,,const,no,1,1,2,,0,ManagedConst,no,0,255,no
-0x1601,0x01,,UNSIGNED32,Mapping Entry 1,,const,no,1,1,1610679072,,0,ManagedConst,no,0,0,no
-0x1601,0x02,,UNSIGNED32,Mapping Entry 2,,const,no,1,1,1610679328,,0,ManagedConst,no,0,0,no
- 
-0x1602,,RECORD,UNSIGNED8,Receive PDO Mapping Parameter,,,,,,,This object contains the mapping parameters for the PDO the CANopen device is able to receive.<br/>,,,,,,,
-0x1602,0x00,,UNSIGNED8,Highest sub-index supported,,const,no,1,1,2,,0,ManagedConst,no,0,255,no
-0x1602,0x01,,UNSIGNED32,Mapping Entry 1,,const,no,1,1,1610679584,,0,ManagedConst,no,0,0,no
-0x1602,0x02,,UNSIGNED32,Mapping Entry 2,,const,no,1,1,1610679840,,0,ManagedConst,no,0,0,no
- 
-0x1800,,RECORD,UNSIGNED8,TPDO communication parameter,,,,,,,,,,,,,,
-0x1800,0x00,,UNSIGNED8,Number of entries,,ro,no,1,1,5,,0,ManagedConst,no,2,6,no
-0x1800,0x01,,UNSIGNED32,COB ID,,rw,no,1,1,$NODEID+0x180,,0,ManagedVariable,no,1,4294967295,no
-0x1800,0x02,,UNSIGNED8,Transmission Type,,rw,no,1,1,254,,0,ManagedVariable,no,0,255,no
-0x1800,0x03,,UNSIGNED16,Inhibit Time,,rw,no,1,1,0,,0,ManagedVariable,no,0,65535,no
-0x1800,0x04,,UNSIGNED8,Compatibility Entry,,rw,no,1,0,,,0,ManagedVariable,no,0,255,no
-0x1800,0x05,,UNSIGNED16,Event Timer,,rw,no,1,1,500,,0,ManagedVariable,no,0,65535,no
- 
-0x1801,,RECORD,UNSIGNED8,TPDO communication parameter,,,,,,,,,,,,,,
-0x1801,0x00,,UNSIGNED8,Highest sub-index supported,,const,no,1,1,6,,0,ManagedConst,no,2,6,no
-0x1801,0x01,,UNSIGNED32,COB-ID used by TPDO,,rw,no,1,1,$NODEID+0x280,,0,ManagedVariable,no,128,4294967295,no
-0x1801,0x02,,UNSIGNED8,Transmission type,,rw,no,1,0,254,,0,ManagedVariable,no,0,255,no
-0x1801,0x03,,UNSIGNED16,Inhibit time,,rw,no,1,0,,,0,ManagedVariable,no,0,0xffff,no
-0x1801,0x04,,UNSIGNED8,Inhibit time,,rw,no,1,0,,,0,ManagedVariable,no,0,0xff,no
-0x1801,0x05,,UNSIGNED16,Event timer,,rw,no,1,0,500,,0,ManagedVariable,no,0,0xffff,no
-0x1801,0x06,,UNSIGNED8,SYNC start value,,rw,no,1,0,,,0,ManagedVariable,no,0,0xff,no
- 
-0x1802,,RECORD,UNSIGNED8,TPDO communication parameter,,,,,,,,,,,,,,
-0x1802,0x00,,UNSIGNED8,Highest sub-index supported,,const,no,1,1,6,,0,ManagedConst,no,2,6,no
-0x1802,0x01,,UNSIGNED32,COB-ID used by TPDO,,rw,no,1,1,$NODEID+0x380,,0,ManagedVariable,no,128,4294967295,no
-0x1802,0x02,,UNSIGNED8,Transmission type,,rw,no,1,0,254,,0,ManagedVariable,no,0,255,no
-0x1802,0x03,,UNSIGNED16,Inhibit time,,rw,no,1,0,,,0,ManagedVariable,no,0,0xffff,no
-0x1802,0x04,,UNSIGNED8,Inhibit time,,rw,no,1,0,,,0,ManagedVariable,no,0,0xff,no
-0x1802,0x05,,UNSIGNED16,Event timer,,rw,no,1,0,500,,0,ManagedVariable,no,0,0xffff,no
-0x1802,0x06,,UNSIGNED8,SYNC start value,,rw,no,1,0,,,0,ManagedVariable,no,0,0xff,no
- 
-0x1803,,RECORD,UNSIGNED8,TPDO communication parameter,,,,,,,,,,,,,,
-0x1803,0x00,,UNSIGNED8,Highest sub-index supported,,const,no,1,1,6,,0,ManagedConst,no,2,6,no
-0x1803,0x01,,UNSIGNED32,COB-ID used by TPDO,,rw,no,1,1,$NODEID+0x480,,0,ManagedVariable,no,128,4294967295,no
-0x1803,0x02,,UNSIGNED8,Transmission type,,rw,both,1,0,254,,0,ManagedVariable,no,0,255,no
-0x1803,0x03,,UNSIGNED16,Inhibit time,,rw,no,1,0,,,0,ManagedVariable,no,0,0xffff,no
-0x1803,0x04,,UNSIGNED8,Inhibit time,,rw,no,1,0,,,0,ManagedVariable,no,0,0xff,no
-0x1803,0x05,,UNSIGNED16,Event timer,,rw,no,1,0,500,,0,ManagedVariable,no,0,0xffff,no
-0x1803,0x06,,UNSIGNED8,SYNC start value,,rw,no,1,0,,,0,ManagedVariable,no,0,0xff,no
- 
-0x1804,,RECORD,UNSIGNED8,TPDO communication parameter,,,,,,,,,,,,,,
-0x1804,0x00,,UNSIGNED8,Highest sub-index supported,,const,both,1,1,6,,0,ManagedConst,no,2,6,no
-0x1804,0x01,,UNSIGNED32,COB-ID used by TPDO,,rw,tpdo,1,2,$NODEID+0x180+1,,0,ManagedVariable,no,128,4294967295,no
-0x1804,0x02,,UNSIGNED8,Transmission type,,rw,no,1,0,254,,0,ManagedVariable,no,0,255,no
-0x1804,0x03,,UNSIGNED16,Inhibit time,,rw,no,1,0,,,0,ManagedVariable,no,0,0xffff,no
-0x1804,0x04,,UNSIGNED8,Inhibit time,,rw,no,1,0,,,0,ManagedVariable,no,0,0xff,no
-0x1804,0x05,,UNSIGNED16,Event timer,,rw,no,1,0,500,,0,ManagedVariable,no,0,0xffff,no
-0x1804,0x06,,UNSIGNED8,SYNC start value,,rw,no,1,0,,,0,ManagedVariable,no,0,0xff,no
- 
-0x1a00,,RECORD,UNSIGNED8,Conductivity Data OUT1,,,,,,,,,,,,,,
-0x1a00,0x00,,UNSIGNED8,Number of entries,,const,no,1,1,2,,0,ManagedConst,no,0,255,no
-0x1a00,0x01,,UNSIGNED32,Mapping Entry 1,,const,tpdo,1,1,1610744096,,0,ManagedConst,no,0,0,no
-0x1a00,0x02,,UNSIGNED32,Mapping Entry 2,,const,tpdo,1,1,1610744352,,0,ManagedConst,no,0,0,no
- 
-0x1a01,,RECORD,UNSIGNED8,Conductivity Data OUT2,,,,,,,,,,,,,,
-0x1a01,0x00,,UNSIGNED8,Number of entries,,const,no,1,1,2,,0,ManagedConst,no,0,255,no
-0x1a01,0x01,,UNSIGNED32,Mapping Entry 1,,const,tpdo,1,1,1610744608,,0,ManagedConst,no,0,0,no
-0x1a01,0x02,,UNSIGNED32,Mapping Entry 2,,const,tpdo,1,1,1610744864,,0,ManagedConst,no,0,0,no
- 
-0x1a02,,RECORD,UNSIGNED8,Conductivity Data OUT3,,,,,,,,,,,,,,
-0x1a02,0x00,,UNSIGNED8,Number of entries,,const,no,1,1,2,,0,ManagedConst,no,0,255,no
-0x1a02,0x01,,UNSIGNED32,Mapping Entry 1,,const,tpdo,1,1,1610745120,,0,ManagedConst,no,0,0,no
-0x1a02,0x02,,UNSIGNED32,Mapping Entry 2,,const,tpdo,1,1,1610745376,,0,ManagedConst,no,0,0,no
- 
-0x1a03,,RECORD,UNSIGNED8, Pressue and Flowmeter Data OUT1,,,,,,,,,,,,,,
-0x1a03,0x00,,UNSIGNED8,Number of entries,,const,no,1,1,2,,0,ManagedConst,no,0,255,no
-0x1a03,0x01,,UNSIGNED32,Mapping Entry 1,,const,tpdo,1,1,1610875168,,0,ManagedConst,no,0,0,no
-0x1a03,0x02,,UNSIGNED32,Mapping Entry 2,,const,tpdo,1,1,1610940704,,0,ManagedConst,no,0,0,no
- 
-0x1a04,,RECORD,UNSIGNED8, Pressue and Flowmeter Data OUT2,,,,,,,,,,,,,,
-0x1a04,0x00,,UNSIGNED8,Number of entries,,const,no,1,1,2,,0,ManagedConst,no,0,255,no
-0x1a04,0x01,,UNSIGNED32,Mapping Entry 1,,const,tpdo,1,1,1610679072,,0,ManagedConst,no,0,0,no
-0x1a04,0x02,,UNSIGNED32,Mapping Entry 2,,const,tpdo,1,1,1610679328,,0,ManagedConst,no,0,0,no
- 
- 
-0x2001,0x00,VARIABLE,INTEGER32,Manufacturer Object,,rw,both,0,0,4,,0,ManagedVariable,no,0,0,no
- 
-0x3000,,ARRAY,INTEGER16,Managed Array,,,,,,,,,,,,,,
-0x3000,0x00,,INTEGER16,NUmber of Entries,,ro,no,1,1,2,,0,ManagedConst,no,0,0,no
-0x3000,0x01,,INTEGER16,Sub 1,,ro,tpdo,0,0,,,0,ManagedVariable,no,0,0,no
-0x3000,0x02,,INTEGER16,sub 2,,rw,both,0,0,2,,0,ManagedVariable,no,0,0,no
- 
- 
-0x6000,,ARRAY,UNSIGNED8,Motor Valve Control,,,,,,,,,,,,,,
-0x6000,0x00,,UNSIGNED8,Highest sub-index supported,,ro,no,1,1,5,,0,ManagedConst,no,0,255,no
-0x6000,0x01,,UNSIGNED8,ID,,rw,no,1,1,,,0,ManagedVariable,no,0,255,no
-0x6000,0x02,,UNSIGNED8,Command,,rw,no,1,1,,,0,ManagedVariable,no,0,255,no
-0x6000,0x03,,UNSIGNED8,Position setpoint,,rw,no,1,1,,,0,ManagedVariable,no,0,255,no
-0x6000,0x04,,UNSIGNED8,Pressure setpoint,,rw,no,1,1,,,0,ManagedVariable,no,0,255,no
-0x6000,0x05,,UNSIGNED8,Flowrate setpoint,,rw,no,1,1,,,0,ManagedVariable,no,0,255,no
- 
-0x6001,,ARRAY,UNSIGNED32,Conductivity Sensor Data IN,,,,,,,,,,,,,,
-0x6001,0x00,,UNSIGNED32,Highest sub-index supported,,ro,no,1,1,6,,0,ManagedConst,no,0,255,no
-0x6001,0x01,,UNSIGNED32,Conductivity Data IN1,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6001,0x02,,UNSIGNED32,Temperature Data IN1,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6001,0x03,,UNSIGNED32,Conductivity Data IN2,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6001,0x04,,UNSIGNED32,Temperature Data IN2,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6001,0x05,,UNSIGNED32,Conductivity Data IN3,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6001,0x06,,UNSIGNED32,Temperature Data IN3,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
- 
-0x6002,,ARRAY,UNSIGNED32,Conductivity Sensor Data OUT,,,,,,,,,,,,,,
-0x6002,0x00,,UNSIGNED32,Highest sub-index supported,,ro,no,1,1,6,,0,ManagedConst,no,0,255,no
-0x6002,0x01,,UNSIGNED32,Conductivity Data OUT1,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6002,0x02,,UNSIGNED32,Temperature Data OUT1,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6002,0x03,,UNSIGNED32,Conductivity Data OUT2,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6002,0x04,,UNSIGNED32,Temperature Data OUT2,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6002,0x05,,UNSIGNED32,Conductivity Data OUT3,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6002,0x06,,UNSIGNED32,Temperature Data OUT3,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
- 
-0x6003,,ARRAY,UNSIGNED32,Motor Valve Data OUT,,,,,,,,,,,,,,
-0x6003,0x00,,UNSIGNED32,Highest sub-index supported,,ro,no,1,1,8,,0,ManagedConst,no,0,255,no
-0x6003,0x01,,UNSIGNED32,MV 01 OUT,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6003,0x02,,UNSIGNED32,MV 02 OUT,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6003,0x03,,UNSIGNED32,MV 03 OUT,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6003,0x04,,UNSIGNED32,MV 04 OUT,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6003,0x05,,UNSIGNED32,MV 05 OUT,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6003,0x06,,UNSIGNED32,MV 06 OUT,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6003,0x07,,UNSIGNED32,MV 07 OUT,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
-0x6003,0x08,,UNSIGNED32,MV 08 OUT,,rw,both,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
- 
-0x6004,,ARRAY,REAL32,Flowmeter Data OUT,,,,,,,,,,,,,,
-0x6004,0x00,,REAL32,Highest sub-index supported,,ro,no,1,1,4,,0,ManagedConst,no,0,255,no
-0x6004,0x01,,REAL32,FM1 OUT,,rw,both,1,1,,,0,ManagedVariable,no,,,no
-0x6004,0x02,,REAL32,FM2 OUT,,rw,both,1,1,,,0,ManagedVariable,no,,,no
-0x6004,0x03,,REAL32,FM3 OUT,,rw,both,1,1,,,0,ManagedVariable,no,,,no
-0x6004,0x04,,REAL32,FM4 OUT,,rw,both,1,1,,,0,ManagedVariable,no,,,no
- 
-0x6005,,ARRAY,REAL32,Pressure Sensor Data OUT,,,,,,,,,,,,,,
-0x6005,0x00,,REAL32,Highest sub-index supported,,ro,no,1,1,4,,0,ManagedConst,no,0,255,no
-0x6005,0x01,,REAL32,PS1 OUT,,rw,both,1,1,,,0,ManagedVariable,no,,,no
-0x6005,0x02,,REAL32,PS2 OUT,,rw,both,1,1,,,0,ManagedVariable,no,,,no
-0x6005,0x03,,REAL32,PS3 OUT,,rw,both,1,1,,,0,ManagedVariable,no,,,no
-0x6005,0x04,,REAL32,PS4 OUT,,rw,both,1,1,,,0,ManagedVariable,no,,,no
- 

EnduranceTestBench/coappl/processBoard_doc.txt

@@ -1,799 +0,0 @@
-CANopen Object Dictionary Documenation for processBoard
-
-
-Index:       0x1000 - Device Type
-DataType:    UNSIGNED32
-ObjectCode:  Variable
-  Sub:          0x00 - Device Type
-  DataType:     UNSIGNED32
-  DefaultValue: 0
-  AccessType:   ro
-  PDOMapping:   0
-
-Index:       0x1001 - Error Register
-DataType:    UNSIGNED8
-ObjectCode:  Variable
-  Sub:          0x00 - Error Register
-  DataType:     UNSIGNED8
-  AccessType:   ro
-  PDOMapping:   0
-
-Index:       0x1003 - Predefined Error Field
-DataType:    UNSIGNED32
-ObjectCode:  Array
-  Sub:          0x00 - Number of Errors
-  DataType:     UNSIGNED8
-  DefaultValue: 0
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x01 - Standard Error Field
-  DataType:     UNSIGNED32
-  DefaultValue: 0
-  AccessType:   ro
-  PDOMapping:   0
-
-Index:       0x1008 - Manufacturer device name
-DataType:    VISIBLE_STRING
-ObjectCode:  Variable
-  Sub:          0x00 - Manufacturer device name
-  DataType:     VISIBLE_STRING
-  DefaultValue: emotas Slave 1
-  AccessType:   const
-  PDOMapping:   0
-
-Index:       0x1014 - COB ID EMCY
-DataType:    UNSIGNED32
-ObjectCode:  Variable
-  Sub:          0x00 - COB ID EMCY
-  DataType:     UNSIGNED32
-  DefaultValue: $NODEID+0x80
-  AccessType:   ro
-  PDOMapping:   0
-
-Index:       0x1015 - Inhibit Time Emergency
-DataType:    UNSIGNED16
-ObjectCode:  Variable
-  Sub:          0x00 - Inhibit Time Emergency
-  DataType:     UNSIGNED16
-  DefaultValue: 0x0
-  AccessType:   rw
-  PDOMapping:   0
-
-Index:       0x1016 - Consumer Heartbeat Time
-DataType:    UNSIGNED32
-ObjectCode:  Array
-  Sub:          0x00 - Number of entries
-  DataType:     UNSIGNED8
-  DefaultValue: 1
-  AccessType:   ro
-  PDOMapping:   0
-  Sub:          0x01 - Consumer Heartbeat Time
-  DataType:     UNSIGNED32
-  DefaultValue: 0x0000
-  AccessType:   rw
-  PDOMapping:   0
-
-Index:       0x1017 - Producer Heartbeat Time
-DataType:    UNSIGNED16
-ObjectCode:  Variable
-  Sub:          0x00 - Producer Heartbeat Time
-  DataType:     UNSIGNED16
-  DefaultValue: 1500
-  AccessType:   rw
-  PDOMapping:   0
-
-Index:       0x1018 - Identity Object
-DataType:    UNSIGNED8
-ObjectCode:  Record
-  Sub:          0x00 - Number of entries
-  DataType:     UNSIGNED8
-  DefaultValue: 4
-  AccessType:   ro
-  PDOMapping:   0
-  Sub:          0x01 - Vendor Id
-  DataType:     UNSIGNED32
-  DefaultValue: 0x319
-  AccessType:   ro
-  PDOMapping:   0
-  Sub:          0x02 - Product Code
-  DataType:     UNSIGNED32
-  DefaultValue: 1234
-  AccessType:   ro
-  PDOMapping:   0
-  Sub:          0x03 - Revision number
-  DataType:     UNSIGNED32
-  DefaultValue: 0x1
-  AccessType:   ro
-  PDOMapping:   0
-  Sub:          0x04 - Serial number
-  DataType:     UNSIGNED32
-  AccessType:   ro
-  PDOMapping:   0
-
-Index:       0x1029 - Error behaviour
-DataType:    UNSIGNED8
-ObjectCode:  Array
-  Sub:          0x00 - Nr of Error Classes
-  DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   ro
-  PDOMapping:   0
-  Sub:          0x01 - Communication Error
-  DataType:     UNSIGNED8
-  DefaultValue: 1
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x02 - Specific Error Class 
-  DataType:     UNSIGNED8
-  AccessType:   rw
-  PDOMapping:   0
-
-Index:       0x102a - NMT inhibit time
-DataType:    UNSIGNED16
-ObjectCode:  Variable
-Description: This object shall indicate the configured inhibit time between two subsequent NMT messages. The outstanding NMT services shall be queued and shall be issued in order of their occurrence respecting the configured inhibit time. 
-
-The value shall be given in multiples of 100 µs. The value 0 shall disable the inhibit time.
-
-  Sub:          0x00 - NMT inhibit time
-  DataType:     UNSIGNED16
-  DefaultValue: 10
-  AccessType:   rw
-  PDOMapping:   0
-
-Index:       0x1200 - Server SDO Parameter
-DataType:    UNSIGNED8
-ObjectCode:  Record
-  Sub:          0x00 - Number of entries
-  DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   ro
-  PDOMapping:   0
-  Sub:          0x01 - COB ID Client to Server
-  DataType:     UNSIGNED32
-  DefaultValue: $NODEID+0x600
-  AccessType:   ro
-  PDOMapping:   0
-  Sub:          0x02 - COB ID Server to Client
-  DataType:     UNSIGNED32
-  DefaultValue: $NODEID+0x580
-  AccessType:   ro
-  PDOMapping:   0
-
-Index:       0x1283 - SDO client parameter
-DataType:    UNSIGNED8
-ObjectCode:  Record
-Description: This objects contains the parameters for the SDO for which the CANopen device is the SDO client.
-  Sub:          0x00 - Highest sub-index supported
-  DataType:     UNSIGNED8
-  DefaultValue: 3
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x01 - COB-ID client -> server
-  DataType:     UNSIGNED32
-  DefaultValue: 0x80000000
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x02 - COB-ID server -> client
-  DataType:     UNSIGNED32
-  DefaultValue: 0x80000000
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x03 - Node-ID of the SDO server
-  DataType:     UNSIGNED8
-  AccessType:   rw
-  PDOMapping:   0
-
-Index:       0x1400 - Receive PDO Communication Parameter
-DataType:    UNSIGNED8
-ObjectCode:  Record
-Description: This object contains the communication parameters for the PDO the CANopen device is able to receive.
-
-  Sub:          0x00 - Highest sub-index supported
-  DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   ro
-  PDOMapping:   0
-  Sub:          0x01 - COB ID
-  DataType:     UNSIGNED32
-  DefaultValue: $NODEID+0x200
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x02 - Transmission Type
-  DataType:     UNSIGNED8
-  DefaultValue: 254
-  AccessType:   rw
-  PDOMapping:   0
-  Description: Sub-index 0x2 defines the reception character of the RPDO. 
-
-Index:       0x1401 - Receive PDO Communication Parameter
-DataType:    UNSIGNED8
-ObjectCode:  Record
-Description: This object contains the communication parameters for the PDO the CANopen device is able to receive.
-
-  Sub:          0x00 - Highest sub-index supported
-  DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   ro
-  PDOMapping:   0
-  Sub:          0x01 - COB ID
-  DataType:     UNSIGNED32
-  DefaultValue: $NODEID+0x200
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x02 - Transmission Type
-  DataType:     UNSIGNED8
-  DefaultValue: 254
-  AccessType:   rw
-  PDOMapping:   0
-  Description: Sub-index 0x2 defines the reception character of the RPDO. 
-
-Index:       0x1402 - Receive PDO Communication Parameter
-DataType:    UNSIGNED8
-ObjectCode:  Record
-Description: This object contains the communication parameters for the PDO the CANopen device is able to receive.
-
-  Sub:          0x00 - Highest sub-index supported
-  DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   ro
-  PDOMapping:   0
-  Sub:          0x01 - COB ID
-  DataType:     UNSIGNED32
-  DefaultValue: $NODEID+0x200
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x02 - Transmission Type
-  DataType:     UNSIGNED8
-  DefaultValue: 254
-  AccessType:   rw
-  PDOMapping:   0
-  Description: Sub-index 0x2 defines the reception character of the RPDO. 
-
-Index:       0x1600 - Receive PDO Mapping Parameter
-DataType:    UNSIGNED8
-ObjectCode:  Record
-Description: This object contains the mapping parameters for the PDO the CANopen device is able to receive.
-
-  Sub:          0x00 - Highest sub-index supported
-  DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x01 - Mapping Entry 1
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60010120
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x02 - Mapping Entry 2
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60010220
-  AccessType:   const
-  PDOMapping:   0
-
-Index:       0x1601 - Receive PDO Mapping Parameter
-DataType:    UNSIGNED8
-ObjectCode:  Record
-Description: This object contains the mapping parameters for the PDO the CANopen device is able to receive.
-
-  Sub:          0x00 - Highest sub-index supported
-  DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x01 - Mapping Entry 1
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60010320
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x02 - Mapping Entry 2
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60010420
-  AccessType:   const
-  PDOMapping:   0
-
-Index:       0x1602 - Receive PDO Mapping Parameter
-DataType:    UNSIGNED8
-ObjectCode:  Record
-Description: This object contains the mapping parameters for the PDO the CANopen device is able to receive.
-
-  Sub:          0x00 - Highest sub-index supported
-  DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x01 - Mapping Entry 1
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60010520
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x02 - Mapping Entry 2
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60010620
-  AccessType:   const
-  PDOMapping:   0
-
-Index:       0x1800 - TPDO communication parameter
-DataType:    UNSIGNED8
-ObjectCode:  Record
-  Sub:          0x00 - Number of entries
-  DataType:     UNSIGNED8
-  DefaultValue: 5
-  AccessType:   ro
-  PDOMapping:   0
-  Sub:          0x01 - COB ID
-  DataType:     UNSIGNED32
-  DefaultValue: $NODEID+0x180
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x02 - Transmission Type
-  DataType:     UNSIGNED8
-  DefaultValue: 254
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x03 - Inhibit Time
-  DataType:     UNSIGNED16
-  DefaultValue: 0x0000
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x04 - Compatibility Entry
-  DataType:     UNSIGNED8
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x05 - Event Timer
-  DataType:     UNSIGNED16
-  DefaultValue: 500
-  AccessType:   rw
-  PDOMapping:   0
-
-Index:       0x1801 - TPDO communication parameter
-DataType:    UNSIGNED8
-ObjectCode:  Record
-  Sub:          0x00 - Highest sub-index supported
-  DataType:     UNSIGNED8
-  DefaultValue: 6
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x01 - COB-ID used by TPDO
-  DataType:     UNSIGNED32
-  DefaultValue: $NODEID+0x280
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x02 - Transmission type
-  DataType:     UNSIGNED8
-  DefaultValue: 254
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x03 - Inhibit time
-  DataType:     UNSIGNED16
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x04 - Inhibit time
-  DataType:     UNSIGNED8
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x05 - Event timer
-  DataType:     UNSIGNED16
-  DefaultValue: 500
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x06 - SYNC start value
-  DataType:     UNSIGNED8
-  AccessType:   rw
-  PDOMapping:   0
-
-Index:       0x1802 - TPDO communication parameter
-DataType:    UNSIGNED8
-ObjectCode:  Record
-  Sub:          0x00 - Highest sub-index supported
-  DataType:     UNSIGNED8
-  DefaultValue: 6
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x01 - COB-ID used by TPDO
-  DataType:     UNSIGNED32
-  DefaultValue: $NODEID+0x380
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x02 - Transmission type
-  DataType:     UNSIGNED8
-  DefaultValue: 254
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x03 - Inhibit time
-  DataType:     UNSIGNED16
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x04 - Inhibit time
-  DataType:     UNSIGNED8
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x05 - Event timer
-  DataType:     UNSIGNED16
-  DefaultValue: 500
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x06 - SYNC start value
-  DataType:     UNSIGNED8
-  AccessType:   rw
-  PDOMapping:   0
-
-Index:       0x1803 - TPDO communication parameter
-DataType:    UNSIGNED8
-ObjectCode:  Record
-  Sub:          0x00 - Highest sub-index supported
-  DataType:     UNSIGNED8
-  DefaultValue: 6
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x01 - COB-ID used by TPDO
-  DataType:     UNSIGNED32
-  DefaultValue: $NODEID+0x480
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x02 - Transmission type
-  DataType:     UNSIGNED8
-  DefaultValue: 254
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x03 - Inhibit time
-  DataType:     UNSIGNED16
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x04 - Inhibit time
-  DataType:     UNSIGNED8
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x05 - Event timer
-  DataType:     UNSIGNED16
-  DefaultValue: 500
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x06 - SYNC start value
-  DataType:     UNSIGNED8
-  AccessType:   rw
-  PDOMapping:   0
-
-Index:       0x1804 - TPDO communication parameter
-DataType:    UNSIGNED8
-ObjectCode:  Record
-  Sub:          0x00 - Highest sub-index supported
-  DataType:     UNSIGNED8
-  DefaultValue: 6
-  AccessType:   const
-  PDOMapping:   1
-  Sub:          0x01 - COB-ID used by TPDO
-  DataType:     UNSIGNED32
-  DefaultValue: $NODEID+0x180+1
-  AccessType:   rw
-  PDOMapping:   4
-  Sub:          0x02 - Transmission type
-  DataType:     UNSIGNED8
-  DefaultValue: 254
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x03 - Inhibit time
-  DataType:     UNSIGNED16
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x04 - Inhibit time
-  DataType:     UNSIGNED8
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x05 - Event timer
-  DataType:     UNSIGNED16
-  DefaultValue: 500
-  AccessType:   rw
-  PDOMapping:   0
-  Sub:          0x06 - SYNC start value
-  DataType:     UNSIGNED8
-  AccessType:   rw
-  PDOMapping:   0
-
-Index:       0x1a00 - Conductivity Data OUT1
-DataType:    UNSIGNED8
-ObjectCode:  Record
-  Sub:          0x00 - Number of entries
-  DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x01 - Mapping Entry 1
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60020120
-  AccessType:   const
-  PDOMapping:   4
-  Sub:          0x02 - Mapping Entry 2
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60020220
-  AccessType:   const
-  PDOMapping:   4
-
-Index:       0x1a01 - Conductivity Data OUT2
-DataType:    UNSIGNED8
-ObjectCode:  Record
-  Sub:          0x00 - Number of entries
-  DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x01 - Mapping Entry 1
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60020320
-  AccessType:   const
-  PDOMapping:   4
-  Sub:          0x02 - Mapping Entry 2
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60020420
-  AccessType:   const
-  PDOMapping:   4
-
-Index:       0x1a02 - Conductivity Data OUT3
-DataType:    UNSIGNED8
-ObjectCode:  Record
-  Sub:          0x00 - Number of entries
-  DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x01 - Mapping Entry 1
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60020520
-  AccessType:   const
-  PDOMapping:   4
-  Sub:          0x02 - Mapping Entry 2
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60020620
-  AccessType:   const
-  PDOMapping:   4
-
-Index:       0x1a03 -  Pressue and Flowmeter Data OUT1
-DataType:    UNSIGNED8
-ObjectCode:  Record
-  Sub:          0x00 - Number of entries
-  DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x01 - Mapping Entry 1
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60040120
-  AccessType:   const
-  PDOMapping:   4
-  Sub:          0x02 - Mapping Entry 2
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60050120
-  AccessType:   const
-  PDOMapping:   4
-
-Index:       0x1a04 -  Pressue and Flowmeter Data OUT2
-DataType:    UNSIGNED8
-ObjectCode:  Record
-  Sub:          0x00 - Number of entries
-  DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   const
-  PDOMapping:   0
-  Sub:          0x01 - Mapping Entry 1
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60010320
-  AccessType:   const
-  PDOMapping:   4
-  Sub:          0x02 - Mapping Entry 2
-  DataType:     UNSIGNED32
-  DefaultValue: 0x60010420
-  AccessType:   const
-  PDOMapping:   4
-
-Index:       0x2001 - Manufacturer Object
-DataType:    INTEGER32
-ObjectCode:  Variable
-  Sub:          0x00 - Manufacturer Object
-  DataType:     INTEGER32
-  DefaultValue: 4
-  AccessType:   rw
-  PDOMapping:   1
-
-Index:       0x3000 - Managed Array
-DataType:    INTEGER16
-ObjectCode:  Array
-  Sub:          0x00 - NUmber of Entries
-  DataType:     UNSIGNED8
-  DefaultValue: 2
-  AccessType:   ro
-  PDOMapping:   0
-  Sub:          0x01 - Sub 1
-  DataType:     INTEGER16
-  AccessType:   ro
-  PDOMapping:   4
-  Sub:          0x02 - sub 2
-  DataType:     INTEGER16
-  DefaultValue: 2
-  AccessType:   rw
-  PDOMapping:   1
-
-Index:       0x6000 - Motor Valve Control
-DataType:    UNSIGNED8
-ObjectCode:  Array
-  Sub:          0x00 - Highest sub-index supported
-  DataType:     UNSIGNED8
-  DefaultValue: 5
-  AccessType:   ro
-  PDOMapping:   0
-  Sub:          0x01 - ID
-  DataType:     UNSIGNED8
-  AccessType:   rw
-  PDOMapping:   2
-  Sub:          0x02 - Command
-  DataType:     UNSIGNED8
-  AccessType:   rw
-  PDOMapping:   2
-  Sub:          0x03 - Position setpoint
-  DataType:     UNSIGNED8
-  AccessType:   rw
-  PDOMapping:   2
-  Sub:          0x04 - Pressure setpoint
-  DataType:     UNSIGNED8
-  AccessType:   rw
-  PDOMapping:   2
-  Sub:          0x05 - Flowrate setpoint
-  DataType:     UNSIGNED8
-  AccessType:   rw
-  PDOMapping:   2
-
-Index:       0x6001 - Conductivity Sensor Data IN
-DataType:    UNSIGNED32
-ObjectCode:  Array
-  Sub:          0x00 - Highest sub-index supported
-  DataType:     UNSIGNED8
-  DefaultValue: 6
-  AccessType:   ro
-  PDOMapping:   0
-  Sub:          0x01 - Conductivity Data IN1
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x02 - Temperature Data IN1
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x03 - Conductivity Data IN2
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x04 - Temperature Data IN2
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x05 - Conductivity Data IN3
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x06 - Temperature Data IN3
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-
-Index:       0x6002 - Conductivity Sensor Data OUT
-DataType:    UNSIGNED32
-ObjectCode:  Array
-  Sub:          0x00 - Highest sub-index supported
-  DataType:     UNSIGNED8
-  DefaultValue: 6
-  AccessType:   ro
-  PDOMapping:   0
-  Sub:          0x01 - Conductivity Data OUT1
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x02 - Temperature Data OUT1
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x03 - Conductivity Data OUT2
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x04 - Temperature Data OUT2
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x05 - Conductivity Data OUT3
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x06 - Temperature Data OUT3
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-
-Index:       0x6003 - Motor Valve Data OUT
-DataType:    UNSIGNED32
-ObjectCode:  Array
-  Sub:          0x00 - Highest sub-index supported
-  DataType:     UNSIGNED8
-  DefaultValue: 8
-  AccessType:   ro
-  PDOMapping:   0
-  Sub:          0x01 - MV 01 OUT
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x02 - MV 02 OUT
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x03 - MV 03 OUT
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x04 - MV 04 OUT
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x05 - MV 05 OUT
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x06 - MV 06 OUT
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x07 - MV 07 OUT
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x08 - MV 08 OUT
-  DataType:     UNSIGNED32
-  AccessType:   rw
-  PDOMapping:   1
-
-Index:       0x6004 - Flowmeter Data OUT
-DataType:    REAL32
-ObjectCode:  Array
-  Sub:          0x00 - Highest sub-index supported
-  DataType:     UNSIGNED8
-  DefaultValue: 4
-  AccessType:   ro
-  PDOMapping:   0
-  Sub:          0x01 - FM1 OUT
-  DataType:     REAL32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x02 - FM2 OUT
-  DataType:     REAL32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x03 - FM3 OUT
-  DataType:     REAL32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x04 - FM4 OUT
-  DataType:     REAL32
-  AccessType:   rw
-  PDOMapping:   1
-
-Index:       0x6005 - Pressure Sensor Data OUT
-DataType:    REAL32
-ObjectCode:  Array
-  Sub:          0x00 - Highest sub-index supported
-  DataType:     UNSIGNED8
-  DefaultValue: 4
-  AccessType:   ro
-  PDOMapping:   0
-  Sub:          0x01 - PS1 OUT
-  DataType:     REAL32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x02 - PS2 OUT
-  DataType:     REAL32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x03 - PS3 OUT
-  DataType:     REAL32
-  AccessType:   rw
-  PDOMapping:   1
-  Sub:          0x04 - PS4 OUT
-  DataType:     REAL32
-  AccessType:   rw
-  PDOMapping:   1

EnduranceTestBench/common/nms_types.h

@@ -0,0 +1,85 @@
+/** 
+ * @file 
+ * @copyright  Nehemis SARL reserves all rights even in the event of industrial     
+ *             property rights. We reserve all rights of disposal such as           
+ *             copying and passing on to third parties.
+ *
+ * @brief      Defines helper typedef on the standard types, that are shorter 
+ *             to write because programmers are lazy. This file should be always 
+ *             included (don't include stdbool or stdint separately in other files,
+ *             it would break the benefit for portability!)
+ *
+ */
+
+#ifndef NMS_TYPES_H_INCLUDED
+#define NMS_TYPES_H_INCLUDED
+
+/******************************************************************************
+ * Include-Files
+ ******************************************************************************/
+#include <stdint.h>
+#include <stddef.h>
+#include <stdbool.h>
+
+/******************************************************************************
+ * Constants and Macros
+ ******************************************************************************/
+/* Maximum size of integer variables */
+#define NMS_INT8_MAX        INT8_MAX
+#define NMS_UINT8_MAX       UINT8_MAX
+#define NMS_INT16_MAX       INT16_MAX
+#define NMS_UINT16_MAX      UINT16_MAX
+#define NMS_INT32_MAX       INT32_MAX
+#define NMS_UINT32_MAX      UINT32_MAX
+#define NMS_INT64_MAX       INT64_MAX
+#define NMS_UINT64_MAX      UINT64_MAX
+
+/******************************************************************************
+ * Types definitions
+ ******************************************************************************/
+/* Standard types redefinition */
+typedef int8_t   sint8;
+typedef uint8_t  uint8;
+typedef int16_t  sint16;
+typedef uint16_t uint16;
+typedef int32_t  sint32;
+typedef uint32_t uint32;
+typedef int64_t  sint64;
+typedef uint64_t uint64;
+typedef float    float32;   /* Check the doc of the compiler for size of floats, 32 bits on CubeIDE */
+typedef double   float64;   /* Check the doc of the compiler for size of doubles, 64 bits on CubeIDE */
+
+/* Typedef for the errors
+*/
+typedef enum
+{
+    NMS_ERR_NONE = 0u,
+    NMS_ERR_DEFAULT,
+    NMS_ERR_UNKNOWN,                /* Error detected but unknown source */
+    NMS_ERR_UNEXPECTED,             /* Unexpected behaviour happened */
+    NMS_ERR_INVALID_ARGUMENT,       /* Invalid argument transmitted to a function (e.g. try to configured a GPIO port not present on the target) */
+    NMS_ERR_INVALID_ADDRESS,        /* Invalid address (e.g. address out of valid range) */
+    NMS_ERR_INVALID_CONFIG,         /* Module is trying to set an invalid configuration. */
+    NMS_ERR_INVALID_SIZE,           /* Invalid size */
+    NMS_ERR_INVALID_INDEX,          /* Invalid index (e.g. module index out of range) */
+    NMS_ERR_NULL_FUNCTION,          /* Invalid function pointer (NULL) */
+    NMS_ERR_INVALID_CRC,            /* Invalid CRC has been detected (e.g. after a flash read operation) */
+    NMS_ERR_TIMEOUT,                /* Timeout detected (e.g. waited too long for a response from a SPI device) */
+    NMS_ERR_INTERNAL,               /* Internal error detected by a low level driver */
+    NMS_ERR_OVERRUN,                /* Overrun error detected by a low level driver (e.g. UART overrun) */
+    NMS_ERR_DMA,                    /* DMA error detected by a low level driver (e.g. issue with ADC) */
+    NMS_ERR_BUSY,                   /* Module is already busy / configured (e.g. trying to configure something when the HAL is already running) */
+    NMS_ERR_NOISE,                  /* Noise detected on a received frame */
+    NMS_ERR_FRAME,                  /* De-synchronization detected on a received frame */
+    NMS_ERR_PARITY,                 /* Parity error detected on a received frame */
+    NMS_ERR_NOT_SUPPORTED,          /* Request not yet supported */
+    NMS_ERR_NOT_INITIALIZED,        /* The initialization was unsuccessful */
+    NMS_ERR_NOT_RUNNING,            /* Module has not been started */
+    NMS_ERR_BUS_ERROR,              /* Memory cannot be physically addressed (e.g. invalid bus address) */
+    NMS_ERR_NULL_POINTER,
+	NMS_ERR_INVALID_MODULE,
+	NMS_ERR_INVALID_POINTER,
+	NMS_LSS_NODE_CONFIG_ERROR,
+} NMSErrorEn;
+
+#endif /* NMS_TYPES_H_INCLUDED */

EnduranceTestBench/common/nms_utils.h

@@ -0,0 +1,177 @@
+/**
+ * @file
+ * @copyright    InSolem SARL reserves all rights even in the event of industrial
+ *               property rights. We reserve all rights of disposal such as
+ *               copying and passing on to third parties.
+ *
+ * @version      $Revision: #1 $
+ * @change       $Change: 17569 $
+ * @date         $Date: 2022/06/08 $
+ * @authors      $Author: qbourdon $
+ *
+ * @brief        Utility functions for Insolem's projects.
+ */
+
+#ifndef INCLUDED_INS_UTILS_H
+#define INCLUDED_INS_UTILS_H
+/******************************************************************************
+ * Include-Files
+ ******************************************************************************/
+#include "nms_types.h"
+
+/******************************************************************************
+ * Constants and Macros
+ ******************************************************************************/
+#define NMS_MIN(a,b) ((a >= b) ? b : a)
+#define NMS_MAX(a,b) ((a >= b) ? a : b)
+
+/******************************************************************************
+ * Type Declarations
+ ******************************************************************************/
+
+/******************************************************************************
+ * Global Variable Declarations
+ ******************************************************************************/
+
+/******************************************************************************
+ * Function Declarations
+ ******************************************************************************/
+/**
+ * @brief    This function sets data bytes to memory block.
+ *
+ * @param[out]    dest_pv    Pointer to the block of memory to fill.
+ * @param         val_u8     Byte to be set for initialization.
+ * @param         len_u32    Length (in bytes !).
+ *
+ * @note    This function fulfills the same task as the library function
+ *          memset(). This function should be used because at some libraries and
+ *          compilers the behavior is partly unpredictable.
+ */
+void NmsMemSet(void * dest_pv, uint8 val_u8, uint32 len_u32);
+
+
+/**
+ * @brief    This function copies data bytes from memory block to another.
+ *
+ * @param[out]    dest_pv    Pointer to the block of memory to fill.
+ * @param[in]     src_pv     Pointer to the source of data to be copied.
+ * @param         len_u32    Length (in bytes !).
+ *
+ * @note    This function fulfills the same task as the library function
+ *          memcpy(). This function should be used because at some libraries and
+ *          compilers the behavior is partly unpredictable.
+ */
+void NmsMemCpy(void * dest_pv, const void * src_pv, uint32 len_u32);
+
+
+/**
+ * @brief     This function compares data bytes from memory blocks.
+ *
+ * @param[in]    src1_pv    Pointer to first memory block to compare.
+ * @param[in]    src2_pv    Pointer to second memory block to compare.
+ * @param        len_u32    Length (in bytes !).
+ *
+ * @return    True if the buffers are identical. False if not.
+ *
+ * @note    This function fulfills the same task as the library function
+ *          memcmp(). This function should be used because at some libraries and
+ *          compilers the behavior is partly unpredictable.
+ */
+bool NmsMemCmp(const void * src1_pv, const void * src2_pv, uint32 len_u32);
+
+
+/**
+ * @brief    This function reverses data bytes from memory block to another.
+ *
+ * @param[out]    dest_pv    Pointer to the block of memory to fill.
+ * @param[in]     src_pv     Pointer to the source of data to be reversed.
+ * @param         len_u32    Length in bytes .
+ */
+void NmsMemRvs(void * dest_pv, const void * src_pv, uint32 len_u32);
+
+
+/**
+ * @brief       This function returns the bit at the position "pos_u8" from the
+ *              value "value_u64".
+ *
+ * @param       value_u64   Value where bits are stored.
+ * @param       pos_u8      Position of the bit to return (0 to 63 --> first bit = index 0).
+ *
+ * @return      True: bit set (1), False: bit reset (0).
+ *
+ * @note        uint64 is used to make this function work with all integer types
+ *              (from uint8 to uint64). A void* could have been used but that
+ *              requires to transmit the variable type as argument.
+ *
+ * @note        If called to read a bit out of range (e.g. 10th bit of an uint8,
+ *              or 65th bit of an uint64), the function will return "false".
+ */
+bool NmsMemGetBit(uint64 value_u64, uint8 pos_u8);
+
+
+/**
+ * @brief       This function sets or resets the bit at the position "pos_u8" in
+ *              the value "value_u64".
+ *
+ * @param       value_u64      Value where bits are stored.
+ * @param       bit_b          Value of the bit to set. 1 or 0.
+ * @param       pos_u8         Position of the bit to write (0 to 63 --> first bit = index 0).
+ *
+ * @return      Updated value.
+ *
+ * @note        uint64 is used to make this function work with all integer types
+ *              (from uint8 to uint64). A void* could have been used but that
+ *              requires to transmit the variable type as argument.
+ *
+ * @note        If called to set or reset a bit out of range (e.g. 10th bit of an uint8,
+ *              or 65th bit of an uint64), the function will return a copy of value_u64.
+ */
+uint64 NmsMemSetBit(uint64 value_u64, bool bit_b, uint8 pos_u8);
+
+
+/**
+ * @brief       Helper function to convert an array of bytes to a unsigned int value.
+ *              Byte at index in the array [0] is the most significant byte (big-endian).
+ *              This function is independant from the target's memory endianness.
+ *
+ * @param       bytes_tu8   Array of bytes.
+ * @param       nb_u8       Nb of bytes to consider or length of the array, max 8 bytes.
+ *
+ * @return      The unsigned integer represented by the bytes array.
+ */
+uint64 NmsBytesToUint(const uint8 bytes_tu8[], uint8 nb_u8);
+
+
+ /**
+ * @brief       Helper function to convert an integer value into an array of bytes representing it.
+ *              Byte at index [0] in the array is the most significant byte (big-endian).
+ *              This function is independant from the target's memory endianness.
+ *
+ * @param       value_u64   Integer value for which to get the byte representation.
+ * @param       bytes_tu8   Array of bytes, must be long enougth to store the number of bytes specified.
+ * @param       nb_u8       Nb of bytes in the number, max 8 bytes.
+ */
+void NmsUintToBytes(uint64 value_u64, uint8 bytes_tu8[], uint8 nb_u8);
+
+
+/**
+ * @brief     This function converts integer to ascii string.
+ *
+ * @param     num_i64    Number to be converted to a string.
+ *            str_tc     Array in memory where to store the resulting
+ *                       null-terminated string. Pointer full of null-terminated
+ *                       string in case of overflow.
+ *            base_u8    Numerical base used to represent the value as a string,
+ *                       between 2 and 36, where 10 means decimal base,
+ *                       16 hexadecimal, 8 octal, and 2 binary.
+ *            len_u32    Size of the destination string to prevent overflow.
+ *
+ * @return    Size of the final converted string, including the null-terminated
+ *            string, limited by the length. Value is 0 in case of overflow.
+ *
+ * @note      itoa() is a non-standard function. Negative value are only handled
+ *            for base 10.
+ */
+uint32 NmsItoa(sint64 num_i64, char str_tc[], uint8 base_u8, uint32 len_u32);
+
+#endif /* INCLUDED_INS_UTILS_H */

EnduranceTestBench/common/prj_modules.h

@@ -0,0 +1,56 @@
+/**
+ * @file
+ *
+ * @brief      This file references all the modules used through the project.
+ *             It is intended to be jointly used with the log module to trace
+ *             the source of an activity.
+ *
+ */
+
+#ifndef _PRJ_MODULES_H_
+#define _PRJ_MODULES_H_
+
+/******************************************************************************
+ * Templates
+ ******************************************************************************/
+
+/******************************************************************************
+ * Includes
+ ******************************************************************************/
+
+/******************************************************************************
+ * Macros (parameters)
+ ******************************************************************************/
+
+/******************************************************************************
+ * Macros (constants)
+ ******************************************************************************/
+
+/******************************************************************************
+ * Type declarations
+ ******************************************************************************/
+typedef enum
+{
+    MODULE_NONE                 = 0u, /* Reserved for forbidden code 0. */
+    MODULE_LOG                  = 1u,
+    MODULE_MAIN                 = 2u,
+    /**< Developer may add new modules here (not between existing fields!). */
+    MODULE_HAL_GPIO             = 3u,
+    MODULE_HAL_ADC              = 4u,
+    MODULE_HAL_SYSTEM           = 6u,
+    MODULE_MAP_HARDWARE         = 7u,
+	MODULE_PU_BOARD				= 8u,
+	MODULE_VALVE_CONTROLLER		= 9u,
+    MODULE_NUMBER /* Amount of modules referenced in the CCU manager. */
+
+} PrjModuleUid_en;
+
+/******************************************************************************
+ * Global variables
+ ******************************************************************************/
+
+/******************************************************************************
+ * Functions declarations
+ ******************************************************************************/
+
+#endif /* END _PRJ_MODULE_H_ */

EnduranceTestBench/nehemis/analogMeasurement.c

@@ -0,0 +1,90 @@
+/**
+ * @file       analogMeasurement.c
+ *
+ * @copyright  Nehemis SARL reserves all rights even in the event of industrial
+ *             property rights. We reserve all rights of disposal such as
+ *             copying and passing on to third parties.
+ *
+ * @brief      Source code for ADC data reading module.
+ */
+
+/******************************************************************************
+ * Include Header Files
+ ******************************************************************************/
+#include "analogMeasurement.h"
+#include "hal_adc.h"
+
+/******************************************************************************
+ * Macro Constant Declarations
+ ******************************************************************************/
+#define ADC_BUFFER_SIZE  9u
+
+/******************************************************************************
+ * Module Global Variable Declarations
+ ******************************************************************************/
+static uint16 adcBuffer_u32[ADC_BUFFER_SIZE];
+
+/******************************************************************************
+ * Private Function Declarations
+ ******************************************************************************/
+static void AnalogMeasurementInitBuffer(void);
+
+/******************************************************************************
+ * Function Definitions
+ ******************************************************************************/
+void AnalogMeasurementInit(void)
+{
+	uint32 error_u32 = NMS_ERR_DEFAULT;
+
+	AnalogMeasurementInitBuffer();
+
+	HalAdcCalibrate(MAP_HAL_ADC_1);
+	error_u32 = HalAdcStartDMA(MAP_HAL_ADC_1, (uint32 *)adcBuffer_u32, ADC_BUFFER_SIZE);
+
+	if (error_u32 != NMS_ERR_NONE)
+	{
+		/* Handle the error (DMA start failed) */
+	}
+}
+
+void AnalogMesaurementRun(void)
+{
+	HalAdcStartDMA(MAP_HAL_ADC_1, (uint32 *)adcBuffer_u32, sizeof(adcBuffer_u32));
+}
+
+
+void AnalogMeasurementReadData(uint32 channel_u32, uint32 *adcValue_pu32)
+{
+
+    if (adcValue_pu32 == NULL)
+    {
+    	return;  /* Prevent dereferencing NULL pointer */
+    }
+    switch (channel_u32)
+    {
+    	case PS1_ADC_CHANNEL: *adcValue_pu32 = adcBuffer_u32[0]; break;
+    	case PS2_ADC_CHANNEL: *adcValue_pu32 = adcBuffer_u32[1]; break;
+    	case PS3_ADC_CHANNEL: *adcValue_pu32 = adcBuffer_u32[2]; break;
+    	case PS4_ADC_CHANNEL: *adcValue_pu32 = adcBuffer_u32[3]; break;
+
+    	case PMP_ADC_CHANNEL: *adcValue_pu32 = adcBuffer_u32[4]; break;
+
+    	case FM1_ADC_CHANNEL: *adcValue_pu32 = adcBuffer_u32[5]; break;
+    	case FM2_ADC_CHANNEL: *adcValue_pu32 = adcBuffer_u32[6]; break;
+    	case FM3_ADC_CHANNEL: *adcValue_pu32 = adcBuffer_u32[7]; break;
+    	case FM4_ADC_CHANNEL: *adcValue_pu32 = adcBuffer_u32[8]; break;
+    	default: *adcValue_pu32 = 0uL; break;
+    }
+}
+
+/******************************************************************************
+ * Private Function Definitions
+ ******************************************************************************/
+/* @brief 	Initialize buffer with default values*/
+static void AnalogMeasurementInitBuffer(void)
+{
+    for (uint8 i_u8 = 0u; i_u8 < ADC_BUFFER_SIZE; i_u8++)
+    {
+        adcBuffer_u32[i_u8] = 0uL;
+    }
+}

EnduranceTestBench/nehemis/analogMeasurement.h

@@ -0,0 +1,53 @@
+/**
+ * @file	   analogMeasurement.h  
+ *
+ * @copyright  Nehemis SARL reserves all rights even in the event of industrial
+ *             property rights. We reserve all rights of disposal such as
+ *             copying and passing on to third parties.
+ *
+ * @brief	   ADC measurement module interface.
+ *             This file provides function declarations and necessary definitions
+ *             for reading analog sensor values using ADC with DMA. It defines
+ *             ADC channel mappings, reference voltage, and resolution to ensure
+ *             consistent data acquisition across multiple modules.
+ *
+ */
+#ifndef ANALOGMEASUREMENT_H_
+#define ANALOGMEASUREMENT_H_
+
+/******************************************************************************
+ * Include Header Files
+ ******************************************************************************/
+#include "nms_types.h"
+/******************************************************************************
+ * Type declarations
+ ******************************************************************************/
+#define PS1_ADC_CHANNEL		1u
+#define PS2_ADC_CHANNEL		2u
+#define PS3_ADC_CHANNEL		3u
+#define PS4_ADC_CHANNEL		4u
+#define PMP_ADC_CHANNEL		5u
+#define FM1_ADC_CHANNEL		6u
+#define FM2_ADC_CHANNEL		7u
+#define FM3_ADC_CHANNEL		8u
+#define FM4_ADC_CHANNEL		9u
+
+#define ANALOG_MEAS_ADC_REF_VOLTAGE		3.3f
+#define ANALOG_MEAS_ADC_RESOLUTION		4095.0f		/* 12-bit ADC */
+/******************************************************************************
+ * Extern Function Declarations
+ ******************************************************************************/
+/* @brief  initialize the ADC, calibrate and Start the ADC in DMA mode */
+void AnalogMeasurementInit(void);
+
+void AnalogMesaurementRun(void);
+
+/**
+ * @brief Reads the latest ADC value for the specified channel.
+ *
+ * @param channel_u32 	The ADC channel to read from.
+ *        adcValue 		Pointer to store the retrieved ADC value.
+ */
+void AnalogMeasurementReadData(uint32 channel_u32, uint32 * adcValue_pu32);
+
+#endif /* ANALOGMEASUREMENT_H_ */

EnduranceTestBench/nehemis/appl.h

@@ -0,0 +1,42 @@
+#include "nms_types.h"
+
+extern char string1[];
+extern char string2[];
+
+extern OCTET_STRING octet1[];
+extern OCTET_STRING octet2[];
+
+extern CO_DOMAIN_PTR	pDomain1;
+extern CO_DOMAIN_PTR	pDomain2;
+
+#ifdef xxx
+RET_T sdoServInd(CO_LINE_TYPE, BOOL_T, UNSIGNED8, UNSIGNED16, UNSIGNED8);
+RET_T sdoServWrInd(CO_LINE_TYPE, BOOL_T, UNSIGNED8, UNSIGNED16, UNSIGNED8);
+RET_T sdoServChkInd(CO_LINE_TYPE, BOOL_T, UNSIGNED8, UNSIGNED16, UNSIGNED8, const UNSIGNED8 *);
+void errCtrl(CO_LINE_DECL, UNSIGNED8, CO_ERRCTRL_T, CO_NMT_STATE_T);
+RET_T nmtInd(CO_LINE_DECL, BOOL_T, CO_NMT_STATE_T);
+void pdoInd(CO_LINE_TYPE, UNSIGNED16);
+void pdoRecInd(CO_LINE_TYPE, UNSIGNED16);
+void pdoSyncInd(CO_LINE_TYPE, UNSIGNED16);
+void syncInd(CO_LINE_TYPE);
+void syncFinishedInd(CO_LINE_TYPE);
+void ledRedInd(CO_LINE_TYPE, BOOL_T);
+void ledGreenInd(CO_LINE_TYPE, BOOL_T);
+void canInd(CO_LINE_TYPE, CO_CAN_STATE_T);
+void commInd(CO_LINE_TYPE, CO_COMM_STATE_EVENT_T);
+void sdoClRd(CO_LINE_TYPE, UNSIGNED8, UNSIGNED16, UNSIGNED8, UNSIGNED32, UNSIGNED32);
+void sdoClWr(CO_LINE_TYPE, UNSIGNED8, UNSIGNED16, UNSIGNED8, UNSIGNED32);
+void sdoQuInd(CO_LINE_TYPE, void *pData, UNSIGNED32 result);
+RET_T emcyInd(CO_LINE_TYPE, UNSIGNED16 errCode, const UNSIGNED8 *addErrorCode);
+void emcyConsInd(CO_LINE_TYPE, UNSIGNED8 node, UNSIGNED16 errCode, UNSIGNED8 errorRegister, UNSIGNED8 const *addErrorCode);
+void timeInd(CO_LINE_TYPE, CO_TIME_T *pTime);
+RET_T storeInd(CO_LINE_DECL, UNSIGNED8 subIndex);
+#endif
+
+
+void sdoClientReadInd(UNSIGNED8 canLine, UNSIGNED8 sdoNr, UNSIGNED16 index,
+		UNSIGNED8	subIndex, UNSIGNED32 size, UNSIGNED32 result);
+void sdoClientWriteInd(UNSIGNED8 canLine, UNSIGNED8	sdoNr,
+		UNSIGNED16 index, UNSIGNED8 subIndex, UNSIGNED32 result);
+
+uint8 getMyNodeId(CO_LINE_DECL);

EnduranceTestBench/nehemis/enduranceTestBench.c

@@ -0,0 +1,275 @@
+/**
+ * @file	   monitoring.c
+ *
+ * @copyright  Nehemis SARL reserves all rights even in the event of industrial
+ *             property rights. We reserve all rights of disposal such as
+ *             copying and passing on to third parties.
+ *
+ * @brief
+ *
+ */
+
+/******************************************************************************
+ * Include Header Files
+ ******************************************************************************/
+#include "enduranceTestBench.h"
+#include "stdlib.h"
+
+/* CANopen includes */
+#include <gen_define.h>
+#include <co_canopen.h>
+#include "hal_system.h"
+#include "nms_can.h"
+
+/******************************************************************************
+ * Macro constant declarations
+ ******************************************************************************/
+#define ENDURANCE_TEST_BENCH_MAX_RETRY_CNT					3u
+#define ENDURANCE_TEST_BENCH_TIMEOUT						1000u
+#define ENDURANCE_TEST_BENCH_LSS_NODE_COUNT					20u
+#define ENDURANCE_TEST_BENCH_POSITION_SETPOINT_INDEX		0x2002
+#define ENDURANCE_TEST_BENCH_POSITION_SETPOINT_SUB_INDEX	0x0
+#define ENDURANCE_TEST_BENCH_POSITION_FEEDBACK_INDEX		0x2004
+#define ENDURANCE_TEST_BENCH_POSITION_FEEDBACK_SUB_INDEX	0x0
+
+#define TEST_PATTERN_COUNT 3
+#define VALVE_COUNT 20
+
+static const uint8 testPatterns[TEST_PATTERN_COUNT][VALVE_COUNT] = {
+    /* Pattern 0: Columns alternately closed or open */
+    {
+        0, 0, 0, 0, 255,     		// Row 0
+        255, 252, 252, 252, 252,   	// Row 1
+        0, 0, 0, 0, 252,     		// Row 2
+        252, 252, 252, 252, 252     // Row 3
+    },
+    /* Pattern 1: Random placeholder (to be filled dynamically at runtime) */
+    {
+        0, 0, 0, 0, 0,       // Row 0
+        0, 0, 0, 0, 0,       // Row 1
+        0, 0, 0, 0, 0,       // Row 2
+        0, 0, 0, 0, 0        // Row 3
+    },
+    /* Pattern 2: Inverted version of Pattern 0 */
+    {
+        252, 252, 252, 252, 252,   // Row 0
+        0, 0, 0, 0, 252,           // Row 1
+        252, 252, 252, 252, 252,   // Row 2
+        0, 0, 0, 0, 252            // Row 3
+    }
+};
+
+/******************************************************************************
+ * Type Declarations
+ ******************************************************************************/
+typedef enum
+{
+    TEST_BENCH_STARTUP,
+    TEST_BENCH_IDLE,
+    TEST_BENCH_WRITE,
+    TEST_BENCH_WRITE_WAIT,
+    TEST_BENCH_CYCLE_COMPLETE
+} SdlTestBenchState_en;
+
+typedef enum
+{
+    TEST_BENCH_DATA_VERIF_DEFAULT,
+	TEST_BENCH_DATA_NODE_SKIPPED,
+    TEST_BENCH_DATA_VERIF_SUCCESS,
+    TEST_BENCH_DATA_VERIF_FAILURE,
+} TestBenchStatus_en;
+
+typedef struct
+{
+    uint8 targetPositions_gau8[ENDURANCE_TEST_BENCH_LSS_NODE_COUNT];
+    uint8 readPosition_gau8[ENDURANCE_TEST_BENCH_LSS_NODE_COUNT];
+    TestBenchStatus_en status_en[ENDURANCE_TEST_BENCH_LSS_NODE_COUNT];
+} TestBenchData_en;
+
+
+/******************************************************************************
+ * Global variable declarations
+ ******************************************************************************/
+static uint8 currentNode_gu8 	= 0u;
+
+static TestBenchData_en testBenchData_en;
+static SdlTestBenchState_en testBenchState_en = TEST_BENCH_IDLE;
+
+static uint64 readExecutedTime_u64;
+static uint64 writeTime_u64;
+/******************************************************************************
+ * Public Function Definitions
+ ******************************************************************************/
+void EnduranceTestBenchRun(bool *testBenchStarted_pb)
+{
+    static uint64 startTime_u64 	= 0uLL;
+    static uint8 alternate_u8 		= 0u;
+    static uint8 retries_u8 		= 0u;
+    uint64 currentTime_u64;
+
+    HalSystemGetRunTimeMs(&currentTime_u64);
+
+    if (startTime_u64 == 0uLL)
+    {
+        HalSystemGetRunTimeMs(&startTime_u64);
+        testBenchState_en = TEST_BENCH_STARTUP;
+    }
+
+    switch (testBenchState_en)
+    {
+	case TEST_BENCH_STARTUP:
+	{
+		uint8 max_u8 = NMS_UINT8_MAX; /* Fully open (255) */
+		uint8 min_u8 = 0u;            /* Fully closed (0) */
+
+		if ((currentTime_u64 - startTime_u64) < 5000uLL)
+		{
+		    /* First 5 seconds: First 10 open, rest closed */
+		    for (uint8 i_u8 = 0u; i_u8 < ENDURANCE_TEST_BENCH_LSS_NODE_COUNT; i_u8++)
+		    {
+		    	testBenchData_en.targetPositions_gau8[i_u8] = (i_u8 < 10u) ? max_u8 : min_u8;
+		    }
+		}
+		else if ((currentTime_u64 - startTime_u64) < 10000uLL)
+		{
+		    /* Next 5 seconds: First 10 closed, rest open */
+		    for (uint8 i_u8 = 0u; i_u8 < ENDURANCE_TEST_BENCH_LSS_NODE_COUNT; i_u8++)
+		    {
+		    	testBenchData_en.targetPositions_gau8[i_u8] = (i_u8 < 10) ? min_u8 : max_u8;
+		    }
+		}
+		else
+		{
+		    /* After 10 seconds, move to endurance test */
+		    testBenchState_en 	= TEST_BENCH_IDLE;
+		}
+
+		currentNode_gu8 		= 0u;
+		testBenchState_en 		= TEST_BENCH_WRITE;
+	}
+	break;
+
+	case TEST_BENCH_IDLE:
+	{
+	    *testBenchStarted_pb = true;
+
+	    uint8 patternIndex_u8 = alternate_u8 % TEST_PATTERN_COUNT;
+
+	    if (patternIndex_u8 == 1u)
+	    {
+	        /* Fill with random values */
+	        for (uint8 i_u8 = 0u; i_u8 < VALVE_COUNT; i_u8++)
+	        {
+	            testBenchData_en.targetPositions_gau8[i_u8] = (uint8)(rand() % 256);
+	        }
+	    }
+	    else
+	    {
+	        /* Copy from predefined pattern */
+	        for (uint8 i_u8 = 0u; i_u8 < VALVE_COUNT; i_u8++)
+	        {
+	            testBenchData_en.targetPositions_gau8[i_u8] = testPatterns[patternIndex_u8][i_u8];
+	        }
+	    }
+
+	    alternate_u8++;
+	    currentNode_gu8 = 0u;
+	    testBenchState_en = TEST_BENCH_WRITE;
+	}
+	break;
+
+	/* -------------------- Write -------------------- */
+    case TEST_BENCH_WRITE:
+    {
+        if (currentNode_gu8 < ENDURANCE_TEST_BENCH_LSS_NODE_COUNT)
+        {
+			RET_T retVal_en = coSdoWrite(
+				(currentNode_gu8 + 1),
+				ENDURANCE_TEST_BENCH_POSITION_SETPOINT_INDEX,
+				ENDURANCE_TEST_BENCH_POSITION_SETPOINT_SUB_INDEX,
+				&testBenchData_en.targetPositions_gau8[currentNode_gu8],
+				sizeof(uint8),
+				CO_FALSE,
+				ENDURANCE_TEST_BENCH_TIMEOUT
+			);
+
+			if (retVal_en == RET_OK)
+			{
+				NmsCanPutObj_u8(0x2004, currentNode_gu8 + 1, testBenchData_en.targetPositions_gau8[currentNode_gu8]);
+				HalSystemGetRunTimeMs(&writeTime_u64);
+				retries_u8 = 0u;
+				testBenchState_en = TEST_BENCH_WRITE_WAIT;
+			}
+			else
+			{
+				retries_u8++;
+				if (retries_u8 >= ENDURANCE_TEST_BENCH_MAX_RETRY_CNT)
+				{
+					testBenchData_en.status_en[currentNode_gu8] = TEST_BENCH_DATA_NODE_SKIPPED;
+
+					/* Mark node as skipped and move on */
+					currentNode_gu8++;
+					retries_u8 = 0u;
+					testBenchState_en = TEST_BENCH_WRITE;
+				}
+			}
+		}
+
+        else
+        {
+            /* Finished writing to all nodes */
+            currentNode_gu8 = 0u;   /* Reset index for read phase */
+            testBenchState_en = TEST_BENCH_CYCLE_COMPLETE;
+        }
+        break;
+    }
+
+    case TEST_BENCH_WRITE_WAIT:
+    {
+        /* Wait 100ms between writes */
+        if ((currentTime_u64 - writeTime_u64) >= 200)
+        {
+            /* Move to next node write */
+            currentNode_gu8++;
+            testBenchState_en = TEST_BENCH_WRITE;
+        }
+        break;
+    }
+
+
+    /* -------------------- Cycle Complete -------------------- */
+    case TEST_BENCH_CYCLE_COMPLETE:
+    {
+        /* Optionally, can log or process the batch results here */
+        /* Reset all node data for the next cycle */
+        for (uint8 i_u8 = 0u; i_u8 < ENDURANCE_TEST_BENCH_LSS_NODE_COUNT; i_u8++)
+        {
+            testBenchData_en.targetPositions_gau8[i_u8] = 0u;
+            testBenchData_en.readPosition_gau8[i_u8]    = 0u;
+            testBenchData_en.status_en[i_u8]            = TEST_BENCH_DATA_VERIF_DEFAULT;
+        }
+
+        /* Reset everything and Start next cycle */
+        currentNode_gu8 	= 0u;
+        retries_u8			= 0u;
+        testBenchState_en 	= TEST_BENCH_IDLE;
+        break;
+    }
+
+    default:
+        break;
+    }
+}
+
+/******************************************************************************
+ * Callback Functions
+ ******************************************************************************/
+void EnduranceTestBenchWriteInd(uint8 sdoNr_u8, uint16 index_u16, uint8 subIndex_u8, uint32 errorVal_u32)
+{
+	HalSystemGetRunTimeMs(&writeTime_u64);
+}
+
+void EnduranceTestBenchReadInd(uint8 sdoNr_u8, uint16 index_u16, uint8 subIndex_u8, uint32 size, uint32 errorVal_u32)
+{
+	HalSystemGetRunTimeMs(&readExecutedTime_u64);
+}

EnduranceTestBench/nehemis/enduranceTestBench.h

@@ -0,0 +1,34 @@
+/**
+ * @file	   monitoring.h
+ *
+ * @copyright  Nehemis SARL reserves all rights even in the event of industrial
+ *             property rights. We reserve all rights of disposal such as
+ *             copying and passing on to third parties.
+ *
+ * @brief
+ *
+ */
+
+#ifndef ENDURANCETESTBENCH_H_
+#define ENDURANCETESTBENCH_H_
+
+/******************************************************************************
+ * Include Header Files
+ ******************************************************************************/
+#include "nms_types.h"
+
+/**
+* @brief 		This is the main function that runs the endurance
+* 				test bench.
+*
+* @return		void
+*
+*/
+void EnduranceTestBenchRun(bool *testBenchStarted_b);
+
+void EnduranceTestBenchWriteInd(uint8 sdoNr_u8, uint16 index_u16, uint8 subIndex_u8, uint32 errorVal_u32);
+
+void EnduranceTestBenchReadInd(uint8 sdoNr_u8, uint16 index_u16, uint8 subIndex_u8, uint32 size, uint32 errorVal_u32);
+
+
+#endif /* ENDURANCETESTBENCH_H_ */

EnduranceTestBench/nehemis/filter.h

@@ -0,0 +1,100 @@
+/**
+ * @file	   puFilters.h
+ *
+ * @copyright  Nehemis SARL reserves all rights even in the event of industrial
+ *             property rights. We reserve all rights of disposal such as
+ *             copying and passing on to third parties.
+ *
+ * @brief	   
+ *
+ */
+#ifndef PUFILTERS_H_
+#define PUFILTERS_H_
+
+
+/******************************************************************************
+ * Include Header Files
+ ******************************************************************************/
+#include "nms_types.h"
+#include "map_hal.h"
+
+/******************************************************************************
+ * Macro constant declarations
+ ******************************************************************************/
+
+/******************************************************************************
+ * Type declarations
+ ******************************************************************************/
+/**
+ * @brief Input structure for 2nd order filter used with the sensors.
+ */
+typedef struct
+{
+    float32 b1_f32;
+    float32 b2_f32;
+    float32 a2_f32;
+
+    float32 xPrev_f32;
+    float32 yPrev_f32;
+} PuFilter_st;
+
+
+typedef struct
+{
+    float32 pressureRoPs2_f32;
+    float32 pmpPressureMeasFilt_f32;
+
+} PuFiltersSensorData_st;
+
+
+typedef struct
+{
+    float32 prevInput_f32;
+    float32 prevOutput_f32;
+    float32 sampleTime_f32;			// sampling time in seconds
+} QDrainSpFilter_st;
+
+/******************************************************************************
+ * Extern Function Declarations
+ ******************************************************************************/
+/**
+ * @brief  Initializes the filter module and associated sensor structures.
+ * @note   This function sets up all second-order filters for flowmeters,
+ *         pressure sensors, and other analog channels. It also initializes
+ *         sensor calibration parameters such as Ku and voltage scaling.
+ * @retval None
+ */
+void PuFiltersInit(void);
+
+/**
+ * @brief  Executes one filtering and conversion cycle for all analog inputs.
+ * @note   This function:
+ *         - Reads raw ADC values from the analog buffer
+ *         - Applies filters to each channel
+ *         - Converts filtered voltages to physical units (flow, pressure, etc.)
+ *         - Sends the processed data via queue to consumer tasks (e.g., CAN, PID)
+ * @retval None
+ */
+PuFiltersSensorData_st PuFiltersRun(void);
+
+/**
+ * @brief  Initializes the filter for the Qdrain setpoint.
+ *
+ * @param	filter_pst	Filter structure.
+ * 			Ts_f32		Sample time.
+ *
+ * @retval None
+ */
+void PuQDrainSpFilterInit(QDrainSpFilter_st* filter_pst, float32 Ts_f32);
+
+/**
+ * @brief  Initializes the filter for the Qdrain setpoint.
+ *
+ * @param	filter_pst			Filter structure.
+ * 			currentInput_f32	Input value, Qconso setpoint coming from CAN.
+ *
+ * @retval Filtered value to be used as setpoint.
+ */
+float32 PuQDrainSpFilterUpdate(QDrainSpFilter_st* filter_pst, float32 currentInput_f32);
+
+#endif /* PUFILTERS_H_ */

EnduranceTestBench/nehemis/filters.c

@@ -0,0 +1,211 @@
+/**
+ * @file	   puFilters.c
+ *
+ * @copyright  Nehemis SARL reserves all rights even in the event of industrial
+ *             property rights. We reserve all rights of disposal such as
+ *             copying and passing on to third parties.
+ *
+ * @brief	   
+ *
+ */
+
+
+/******************************************************************************
+ * Include Header Files
+ ******************************************************************************/
+
+#include "filter.h"
+#include "analogMeasurement.h"
+#include "flowmeter.h"
+#include "pressureSensor.h"
+#include "pressureController.h"
+#include "grundfos.h"
+#include "nms_can.h"
+/******************************************************************************
+ * Macro constant declarations
+ ******************************************************************************/
+#define PU_FILTERS_PS1_COEFF_B1		0.136728735997319f
+#define PU_FILTERS_PS1_COEFF_B2		0.136728735997319f
+#define PU_FILTERS_PS1_COEFF_A2		-0.726542528005361f
+
+#define PU_FILTERS_PS2_COEFF_B1		0.099424464720624f
+#define PU_FILTERS_PS2_COEFF_B2		0.099424464720624f
+#define PU_FILTERS_PS2_COEFF_A2		-0.801151070558751f
+
+#define PU_FILTERS_PS3_COEFF_B1		0.099424464720624f
+#define PU_FILTERS_PS3_COEFF_B2		0.099424464720624f
+#define PU_FILTERS_PS3_COEFF_A2		-0.801151070558751f
+
+#define PU_FILTERS_FIRST_ORDER_TS 		0.01f
+#define PU_FILTERS_FIRST_ORDER_TAU 		0.015f
+#define PU_FILTERS_FIRST_ORDER_TAU_PMP 	1.0f
+/******************************************************************************
+ * Type declarations
+ ******************************************************************************/
+/******************************************************************************
+ * Module Global Variable Declarations
+ ******************************************************************************/
+static PuFilter_st ps2RoFilter_gst;
+static PressureSensorMain_st ps1_gst;
+static PuFilter_st pmpFirstOrderFilter_gst;
+static float32 pmpPressureMeasFilt_gf32	= 0.0f;
+
+/******************************************************************************
+ * Private Function Declarations
+ ******************************************************************************/
+static void PuFiltersFirstOrderFilterInit(PuFilter_st *filter_pst, float32 b1_f32,
+		float32 b2_f32, float32 a2_f32);
+static void PuFiltersButterWorthFilterInit(PuFilter_st *filter_pst, float32 b1_f32,
+		float32 b2_f32, float32 a2_f32);
+static float32 PuFiltersApply(PuFilter_st *filter_pst, float32 inputSample_f32);
+/******************************************************************************
+ * Extern Function Declarations
+ ******************************************************************************/
+void PuFiltersInit(void)
+{
+	/* Compute first-order filter coefficients for MV07 filter */
+	float32 firstOrderAlpha_f32			= 2 * (PU_FILTERS_FIRST_ORDER_TAU / PU_FILTERS_FIRST_ORDER_TS);
+	float32 firstOrderCoeffA2_f32		= (1 - firstOrderAlpha_f32) / (1 + firstOrderAlpha_f32);
+	float32 firstOrderCoeffB1_f32		= 1 / (1 + firstOrderAlpha_f32);
+	float32 firstOrderCoeffB2_f32		= firstOrderCoeffB1_f32;
+
+
+	firstOrderAlpha_f32			= 2 * (PU_FILTERS_FIRST_ORDER_TAU_PMP / PU_FILTERS_FIRST_ORDER_TS);
+	firstOrderCoeffA2_f32		= (1 - firstOrderAlpha_f32) / (1 + firstOrderAlpha_f32);
+	firstOrderCoeffB1_f32		= 1 / (1 + firstOrderAlpha_f32);
+	firstOrderCoeffB2_f32		= firstOrderCoeffB1_f32;
+
+
+	PuFiltersFirstOrderFilterInit(&pmpFirstOrderFilter_gst, firstOrderCoeffB1_f32, firstOrderCoeffB2_f32, firstOrderCoeffA2_f32);
+	PuFiltersButterWorthFilterInit(&ps2RoFilter_gst, 		PU_FILTERS_PS2_COEFF_B1, PU_FILTERS_PS2_COEFF_B2, PU_FILTERS_PS2_COEFF_A2);
+}
+
+
+PuFiltersSensorData_st PuFiltersRun(void)
+{
+	ps1_gst.channel_u32 	= PS3_ADC_CHANNEL;
+	PressureSensorGetVal(&ps1_gst);
+
+	PuFiltersSensorData_st msg_st = {
+        .pressureRoPs2_f32			= ps1_gst.rawT_f32,
+        .pmpPressureMeasFilt_f32	= pmpPressureMeasFilt_gf32
+    };
+
+	ps1_gst.voltage_f32		= PuFiltersApply(&ps2RoFilter_gst, ps1_gst.voltage_f32);
+	pmpPressureMeasFilt_gf32= PuFiltersApply(&pmpFirstOrderFilter_gst,  ps1_gst.rawT_f32);
+
+	return msg_st;
+}
+
+
+void PuQDrainSpFilterInit(QDrainSpFilter_st* filter_pst, float32 Ts_f32)
+{
+    filter_pst->prevInput_f32 	= 0.0f;
+    filter_pst->prevOutput_f32 	= 1200.0f; // as per start_index = 1000
+    filter_pst->sampleTime_f32 	= Ts_f32;
+}
+
+
+float32 PuQDrainSpFilterUpdate(QDrainSpFilter_st* filter_pst, float32 currentInput_f32)
+{
+    float32 A_f32, B_32;
+    static float32 xN1_f32 = 0.0f;
+    static float32 yN1_f32	= 0.0f;
+
+    float32 Ts_f32 		= filter_pst->sampleTime_f32;
+    float32 xN_f32     	= currentInput_f32;
+
+    xN1_f32    	= filter_pst->prevInput_f32;
+    yN1_f32    	= filter_pst->prevOutput_f32;
+
+    static float32 yN_f32     	= 0.0f;
+
+    if (xN_f32 > xN1_f32)
+    {
+        A_f32 	= 1.0f / 200.0f;
+        B_32 	= 1.0f / 200.0f;
+    }
+    else
+    {
+        A_f32 	= 1.0f / 400.0f;
+        B_32	= 1.0f / 400.0f;
+    }
+
+    float32 alpha_f32 = -A_f32 * Ts_f32 * 0.5f;
+    float32 beta_f32  = B_32 * Ts_f32 * 0.5f;
+
+    yN_f32 = ((1.0f + alpha_f32) * yN1_f32 + beta_f32 * (xN_f32 + xN1_f32)) / (1.0f - alpha_f32);
+
+    NmsCanPutObj_u16(0x2013, 0x03, (uint16)yN_f32);
+
+    // update state
+    filter_pst->prevInput_f32 	= xN_f32;
+    filter_pst->prevOutput_f32 	= yN_f32;
+
+    return yN_f32;
+}
+/******************************************************************************
+ * Private Function Definitions
+ ******************************************************************************/
+
+
+/**
+ * @brief Initialize the butterworth filter structure.
+ *
+ * @param[in,out] filter_pst Pointer to the filter object.
+ * @param[in]     b1_f32     Coefficient for current input.
+ * @param[in]     b2_f32     Coefficient for previous input.
+ * @param[in]     a2_f32     Coefficient for previous output (negative sign already applied).
+ */
+static void PuFiltersButterWorthFilterInit(PuFilter_st *filter_pst, float32 b1_f32,
+		float32 b2_f32, float32 a2_f32)
+{
+	filter_pst->b1_f32		= b1_f32;
+	filter_pst->b2_f32		= b2_f32;
+	filter_pst->a2_f32		= a2_f32;
+
+	filter_pst->xPrev_f32	= 0.0f;
+	filter_pst->yPrev_f32	= 0.0f;
+}
+
+/**
+ * @brief Initialize the first order filter.
+ *
+ * @param[in,out] filter_pst Pointer to the filter object.
+ * @param[in]     b1_f32     Coefficient for current input.
+ * @param[in]     b2_f32     Coefficient for previous input.
+ * @param[in]     a2_f32     Coefficient for previous output (negative sign already applied).
+ */
+static void PuFiltersFirstOrderFilterInit(PuFilter_st *filter_pst, float32 b1_f32,
+		float32 b2_f32, float32 a2_f32)
+{
+	filter_pst->b1_f32		= b1_f32;
+	filter_pst->b2_f32		= b2_f32;
+	filter_pst->a2_f32		= a2_f32;
+
+	filter_pst->xPrev_f32	= 0.0f;
+	filter_pst->yPrev_f32	= 0.0f;
+}
+
+
+/**
+ * @brief Apply the butterworth filter to a new input sample.
+ *
+ * @param[in,out] filter_pst 		Pointer to the filter state.
+ * @param[in]     inputSample_f32	Current input sample.
+ *
+ * @return Filtered output value.
+ */
+static float32 PuFiltersApply(PuFilter_st *filter_pst, float32 inputSample_f32)
+{
+	float32 output_f32		= filter_pst->b1_f32 * inputSample_f32 + filter_pst->b2_f32 * filter_pst->xPrev_f32 - filter_pst->a2_f32 * filter_pst->yPrev_f32;
+
+	filter_pst->xPrev_f32	= inputSample_f32;
+	filter_pst->yPrev_f32	= output_f32;
+
+	return output_f32;
+}
+/******************************************************************************
+ * Callback Function Definitions
+ ******************************************************************************/
+

EnduranceTestBench/nehemis/flowmeter.c

@@ -14,46 +14,43 @@
  ******************************************************************************/
 #include "nms_types.h"
 #include "flowmeter.h"
+#include "analogMeasurement.h"
 
 /******************************************************************************
  * Type  declarations
  ******************************************************************************/
-
+#define FLOWMETER_GAIN		3.12f
 /******************************************************************************
  * Macro Constant Declarations
  ******************************************************************************/
-#define FLOWMETER_ADC_REF_VOLTAGE	3.3f
+
-#define FLOWMETER_ADC_RESOLUTION	4095.0f		/* 12-bit ADC */
 /******************************************************************************
  * Private function Declarations
  ******************************************************************************/
-static float32 FlowmeterReadVoltage(FlowmeterMain_st *flowmeter_pst);
+static void FlowmeterReadVoltage(FlowmeterMain_st * flowmeter_pst);
-
+FlowmeterMain_st *flowmeter_gpst;
 /******************************************************************************
  * Extern Function Definitions
  ******************************************************************************/
-void FlowmeterInit(FlowmeterMain_st *flowmeter_pst, ADC_HandleTypeDef *adcHandle_pst, uint32 channel_u32)
+void FlowmeterInit(FlowmeterMain_st *flowmeter_pst)
 {
-	if (flowmeter_pst == NULL || adcHandle_pst == NULL)
+	if (flowmeter_pst == NULL)
 	{
 		/* ERROR */
 	}
 
-	flowmeter_pst->adcHandle_pst = adcHandle_pst;
-	flowmeter_pst->channel_u32   = channel_u32;
 	flowmeter_pst->mKu_f32 = 5.0f; // Default value
 }
 
 
-
 void FlowmeterGetFlow(FlowmeterMain_st *flowmeter_pst)
 {
 	if (flowmeter_pst == NULL)
 	{
 		/* ERROR */
 	}
-
+	FlowmeterReadVoltage(flowmeter_pst);
-	flowmeter_pst->rawQ_f32 = flowmeter_pst->mKu_f32 * FlowmeterReadVoltage(flowmeter_pst);
+	flowmeter_pst->rawQ_f32 = flowmeter_pst->mKu_f32 * flowmeter_pst->voltage_f32;
 }
 
 
@@ -88,40 +85,11 @@ void FlowmeterSetKu(FlowmeterMain_st *flowmeter_pst, float32 ku_f32)
  * @return	  ADC output voltage based on sensor reading.
  *
  */
-static float32 FlowmeterReadVoltage(FlowmeterMain_st *flowmeter_pst)
+static void FlowmeterReadVoltage(FlowmeterMain_st *flowmeter_pst)
 {
-	uint32 adcVal_u32 = 0uL;
-	if (flowmeter_pst == NULL || flowmeter_pst->adcHandle_pst == NULL)
-	{
-		return 0.0f; /* Error Case */
-	}
-
-	ADC_ChannelConfTypeDef sConfig = {0};
-	sConfig.Channel      	= flowmeter_pst->channel_u32;  /* Set the channel specific to this flowmeter */
-	sConfig.Rank 			= ADC_REGULAR_RANK_1;
-	sConfig.SamplingTime 	= ADC_SAMPLETIME_12CYCLES_5;
-
-	if (HAL_ADC_ConfigChannel(flowmeter_pst->adcHandle_pst, &sConfig) != HAL_OK)
-	{
-		return 0.0f; /* ERROR */
-	}
-
-	/* Start ADC conversion and poll for completion */
-	if (HAL_ADC_Start(flowmeter_pst->adcHandle_pst) == HAL_OK)
-	{
-		if (HAL_ADC_PollForConversion(flowmeter_pst->adcHandle_pst, HAL_MAX_DELAY) == HAL_OK)
-		{
-			adcVal_u32 = HAL_ADC_GetValue(flowmeter_pst->adcHandle_pst);
-		}
-		HAL_ADC_Stop(flowmeter_pst->adcHandle_pst);
-	}
-	else
-	{
-		/* ERROR */
-	}
-
 	/* Convert ADC value to voltage (assuming 12-bit resolution and 3.3V reference) */
-	float32 voltage_f32 = (float)adcVal_u32 * (FLOWMETER_ADC_REF_VOLTAGE / FLOWMETER_ADC_RESOLUTION);
+	uint32 adcVal_u32 = 0uL;
+	AnalogMeasurementReadData(flowmeter_pst->channel_u32, &adcVal_u32);
 
-	return voltage_f32;
+	flowmeter_pst->voltage_f32 = (float32)adcVal_u32 * (ANALOG_MEAS_ADC_REF_VOLTAGE / ANALOG_MEAS_ADC_RESOLUTION) * FLOWMETER_GAIN;
 }

EnduranceTestBench/nehemis/flowmeter.h

@@ -22,19 +22,16 @@
  ******************************************************************************/
 typedef struct
 {
-	ADC_HandleTypeDef *adcHandle_pst;
 	float32 mKu_f32;
 	uint32 channel_u32;
 	float32 rawQ_f32;
+	float32 voltage_f32;
 } FlowmeterMain_st;        /* HubaFlowmeter structure definition */
 
 /******************************************************************************
  * Macro Constant Declarations
  ******************************************************************************/
-#define FLOWMETER_FM1_ADC_CHANNEL		6u
+
-#define FLOWMETER_FM2_ADC_CHANNEL		7u
-#define FLOWMETER_FM3_ADC_CHANNEL		8u
-#define FLOWMETER_FM4_ADC_CHANNEL		9u
 /******************************************************************************
  * Extern Function Declarations
  ******************************************************************************/
@@ -42,13 +39,11 @@ typedef struct
  * @brief     Init function of the Flowmeter module.
  *
  * @param	  flowmeter_pst   : Pointer to main strucutre of the module.
- * 			  adcHandle_pst   : ADC handler f the flowmeter.
- * 			  channel_u32	  : ADC channel of the connected sensor to use.
  *
  * @return	  Flow rate value.
  *
  */
-void FlowmeterInit(FlowmeterMain_st *flowmeter_pst, ADC_HandleTypeDef *adcHandle_pst, uint32 channel_u32);
+void FlowmeterInit(FlowmeterMain_st *flowmeter_pst);
 
 /**
  * @brief     Function to get flow value

EnduranceTestBench/nehemis/grundfos.c

@@ -13,8 +13,9 @@
  * Include Header Files
  ******************************************************************************/
 #include "grundfos.h"
-#include "gpio.h"
+#include "analogMeasurement.h"
-#include "i2c.h"
+#include "hal_gpio.h"
+#include "hal_i2c.h"
 /******************************************************************************
  * Type  declarations
  ******************************************************************************/
@@ -22,71 +23,74 @@
 /******************************************************************************
  * Macro Constant Declarations
  ******************************************************************************/
-#define GRUNDFOS_PMP_ADC_CHANNEL		5u
+#define GRUNDFOS_PMP_INTERNAL_DAC_ADDR	(0x61 << 1)
-#define GRUNDFOS_PMP_ADC_REF_VOLTAGE	3.3f
+#define GRUNFOS_GAIN					0.32f
-#define GRUNDFOS_PMP_ADC_RESOLUTION		4095.0f		/* 12-bit ADC */
-#define GRUNDFOS_PMP_ADC_MODULE			&hadc1
-
-#define GRUNDFOS_PMP_ENABLE_GPIO_PORT	GPIOB
-#define GRUNDFOS_PMP_ENABLE_GPIO_PIN	GPIO_PIN_15
-
-#define GRUNDFOS_PMP_I2C_HANDLE			&hi2c4
-#define GRUNDFOS_PMP_INTERNAL_DAC_ADDR	0x61
 /******************************************************************************
  * Private function Declarations
  ******************************************************************************/
-static uint32 GrundfosPmpReadVoltage(void);
+static float32 GrundfosPmpReadVoltage(uint8 channel_u8);
 
 /******************************************************************************
  * Extern Function Definitions
  ******************************************************************************/
+void GrundfosPmpInit(GrundfosMain_st *grundfos_pst)
+{
+	grundfos_pst->rawQ_f32 = 0.0f;
+}
+
+
 void GrundfosPmpEnable(uint8 state_u8)
 {
-	if(state_u8 == 1u)
+	if(state_u8 == 0u)
 	{
-		HAL_GPIO_WritePin(GRUNDFOS_PMP_ENABLE_GPIO_PORT, GRUNDFOS_PMP_ENABLE_GPIO_PIN, GPIO_PIN_SET);
+		HalGpioWrite(MAP_HAL_PMP_ENABLE, HAL_GPIO_STATE_HIGH); /* Pulling the line high stops the pump */
 	}
 	else
 	{
-		HAL_GPIO_WritePin(GRUNDFOS_PMP_ENABLE_GPIO_PORT, GRUNDFOS_PMP_ENABLE_GPIO_PIN, GPIO_PIN_RESET);
+		HalGpioWrite(MAP_HAL_PMP_ENABLE, HAL_GPIO_STATE_LOW);
 	}
 }
 
 
-uint32 GrundfosPmpFeedbackSpeed(void)
+void GrundfosPmpFeedback(GrundfosMain_st *grundfos_pst)
 {
-	uint32 feedbackSpeed_u32 = (GrundfosPmpReadVoltage()) * 360uL;
+	if (grundfos_pst == NULL)
-
+	{
-	return feedbackSpeed_u32;
+		/* Error */
+	}
+	float32 feedbackVoltage_f32 = GrundfosPmpReadVoltage(grundfos_pst->channel_u32);
+	grundfos_pst->rawQ_f32 = feedbackVoltage_f32 * 3600.0f;
 }
 
 
 bool GrundfosPmpSetSpeed(float32 setSpeed_f32)
 {
     uint8 data_au8[2];
-    uint16 dacVal_u16;
+    static volatile uint16 dacVal_u16 = 0u;
 
+    /* Limit the input range to 0V - 10V */
     if (setSpeed_f32 < 0.0f)
     {
-    	setSpeed_f32 = 0.0f;
+        setSpeed_f32 = 0.0f;
     }
     else if (setSpeed_f32 > 10.0f)
     {
-    	setSpeed_f32 = 10.0f;
+        setSpeed_f32 = 10.0f;
-    }
-    else
-    {
-    	/* Do nothing. */
     }
 
-    dacVal_u16 	= (uint16)(setSpeed_f32 * (GRUNDFOS_PMP_ADC_RESOLUTION / 10.0f));
+    /* Convert pump speed (0-10V) to DAC value (0-5V output) */
+    dacVal_u16 = (uint16)((setSpeed_f32 * 4095.0f) / 10.0f);
 
-    data_au8[0]	= (uint8)(dacVal_u16 >> 4);          /* Upper 8 bits */
+    /* Format the 12-bit DAC value into the correct byte format */
-    data_au8[1] = (uint8)((dacVal_u16 & 0x0F) << 4); /* Lower 4 bits shifted to the upper nibble */
+    data_au8[0] = (uint8)(dacVal_u16 >> 8);        /* Upper 8 bits */
+    data_au8[1] = (uint8)(dacVal_u16 & 0xFF);      /* Lower 8 bits */
 
-    return HAL_I2C_Master_Transmit(GRUNDFOS_PMP_I2C_HANDLE, GRUNDFOS_PMP_INTERNAL_DAC_ADDR, data_au8, 2u, HAL_MAX_DELAY) == HAL_OK;
+//    return HalI2CMasterTransmit(MAP_HAL_GRUNDFOS_PMP_I2C_HANDLE,
+//                                GRUNDFOS_PMP_INTERNAL_DAC_ADDR,
+//                                data_au8, 2u) == NMS_ERR_NONE;
 }
 
+
 /******************************************************************************
  * Private function Definitions
  ******************************************************************************/
@@ -96,33 +100,14 @@ bool GrundfosPmpSetSpeed(float32 setSpeed_f32)
  * @return	  ADC output voltage based on sensor reading.
  *
  */
-static uint32 GrundfosPmpReadVoltage(void)
+static float32 GrundfosPmpReadVoltage(uint8 channel_u8)
 {
-	uint32_t adcVal_u32 = 0uL;
+	/* Convert ADC value to voltage (assuming 12-bit resolution and 3.3V reference) */
-	ADC_ChannelConfTypeDef sConfig = {0};
+	float32 voltage_f32 = 0.0f;
-	sConfig.Channel      	= GRUNDFOS_PMP_ADC_CHANNEL;  /* Set the channel specific to this flowmeter */
+	uint32 adcVal_u32 = 0uL;
-	sConfig.Rank 			= ADC_REGULAR_RANK_1;
+	AnalogMeasurementReadData(channel_u8, &adcVal_u32);
-	sConfig.SamplingTime 	= ADC_SAMPLETIME_12CYCLES_5;
+	voltage_f32 = (float32)(adcVal_u32 * (ANALOG_MEAS_ADC_REF_VOLTAGE / ANALOG_MEAS_ADC_RESOLUTION)) * GRUNFOS_GAIN;
 
-	if (HAL_ADC_ConfigChannel(GRUNDFOS_PMP_ADC_MODULE, &sConfig) != HAL_OK)
+	return voltage_f32;
-	{
-		return 0.0f; /* ERROR */
-	}
-
-	if (HAL_ADC_Start(GRUNDFOS_PMP_ADC_MODULE) == HAL_OK)
-	{
-		if (HAL_ADC_PollForConversion(GRUNDFOS_PMP_ADC_MODULE, HAL_MAX_DELAY) == HAL_OK)
-		{
-			adcVal_u32 = HAL_ADC_GetValue(GRUNDFOS_PMP_ADC_MODULE);
-		}
-		HAL_ADC_Stop(GRUNDFOS_PMP_ADC_MODULE);
-	}
-	else
-	{
-		/* ERROR */
-	}
-
-	uint32 voltage_u32 = adcVal_u32 * (GRUNDFOS_PMP_ADC_REF_VOLTAGE / GRUNDFOS_PMP_ADC_RESOLUTION);
-
-	return voltage_u32;
 }
+

EnduranceTestBench/nehemis/grundfos.h

@@ -21,6 +21,11 @@
 /******************************************************************************
  * Type  declarations
  ******************************************************************************/
+typedef struct
+{
+	uint32 channel_u32;
+	float32 rawQ_f32;
+} GrundfosMain_st;        /* Grundfos structure definition */
 
 /******************************************************************************
  * Macro Constant Declarations
@@ -29,7 +34,8 @@
 /******************************************************************************
  * Extern Function Declarations
  ******************************************************************************/
-extern uint32_t GrundfosPmpFeedbackSpeed(void);
+void GrundfosPmpInit(GrundfosMain_st *grundfos_pst);
-extern void GrundfosPmpEnable(uint8_t state_u8);
+void GrundfosPmpFeedback(GrundfosMain_st *grundfos_pst);
-extern bool GrundfosPmpSetSpeed(float setSpeed_f);
+void GrundfosPmpEnable(uint8_t state_u8);
+bool GrundfosPmpSetSpeed(float setSpeed_f);
 #endif /* GRUNDFOS_H_ */

EnduranceTestBench/nehemis/monitoring.c

@@ -1,50 +0,0 @@
-/**
- * @file	   monitoring.c
- *
- * @copyright  Nehemis SARL reserves all rights even in the event of industrial
- *             property rights. We reserve all rights of disposal such as
- *             copying and passing on to third parties.
- *
- * @brief
- *
- */
-
-/******************************************************************************
- * Include Header Files
- ******************************************************************************/
-#include "monitoring.h"
-
-/* CANopen includes */
-#include <gen_define.h>
-#include <co_canopen.h>
-/******************************************************************************
- * Macro constant declarations
- ******************************************************************************/
-
-/******************************************************************************
- * Global variable declarations
- ******************************************************************************/
-static bool appSleep_b = CO_FALSE;			/**< application sleep flag */
-static CO_NMT_STATE_T nodeNMTState_gau[3];		/**< saved NMT states */
-/******************************************************************************
- * Public Function Definitions
- ******************************************************************************/
-void MonitoringRun(void)
-{
-	uint8 arrIndex_u8;
-	if (appSleep_b != CO_TRUE)
-	{
-		for (arrIndex_u8 = 0u; arrIndex_u8 < 3; arrIndex_u8++)
-		{
-			if (nodeNMTState_gau[arrIndex_u8] == CO_NMT_STATE_PREOP)
-			{
-				LssConfigureNode(arrIndex_u8);
-			}
-			if (nodeNMTState[arrIndex] == CO_NMT_STATE_OPERATIONAL)
-			{
-				/* Do nothing */
-			}
-		}
-	}
-	appSleep_b = CO_TRUE;
-}

EnduranceTestBench/nehemis/monitoring.h

@@ -1,23 +0,0 @@
-/**
- * @file	   monitoring.h
- *
- * @copyright  Nehemis SARL reserves all rights even in the event of industrial
- *             property rights. We reserve all rights of disposal such as
- *             copying and passing on to third parties.
- *
- * @brief
- *
- */
-
-#ifndef MONITORING_H_
-#define MONITORING_H_
-
-/******************************************************************************
- * Include Header Files
- ******************************************************************************/
-#include "nms_types.h"
-
-void MonitoringRun(void);
-
-
-#endif /* MONITORING_H_ */

EnduranceTestBench/nehemis/od_entries.h

@@ -13,44 +13,49 @@
 #define OD_ENTRIES_H_
 
 /* Device Indexes */
-#define OD_ENTRY_PU_MOTOR_CTRL_INDEX				0x6000
+#define OD_ENTRY_PU_MOTOR_CTRL_INDEX					0x6000
-#define OD_ENTRY_PU_COND_DATA_IN_INDEX				0x6001
+#define OD_ENTRY_PU_COND_DATA_IN_INDEX					0x6001
-#define OD_ENTRY_PU_COND_DATA_OUT_INDEX				0x6002
+#define OD_ENTRY_PU_COND_DATA_OUT_INDEX					0x6002
-#define OD_ENTRY_PU_MOTOR_DATA_OUT_INDEX			0x6003
+#define OD_ENTRY_PU_MOTOR_DATA_OUT_INDEX				0x6003
-#define OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX		0x6004
+#define OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX			0x2000
-#define OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX			0x6005
+#define OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX				0x2001
+#define OD_ENTRY_PU_GRUNDFOS_PUMP_CONTROL_INDEX			0x2003
 
 /* Device Sub-indexes */
-#define OD_ENTRY_PU_MOTOR_CTRL_ID_SUB_INDEX			0x01
+#define OD_ENTRY_PU_MOTOR_CTRL_ID_SUB_INDEX				0x01
-#define OD_ENTRY_PU_MOTOR_CTRL_CMD_SUB_INDEX		0x02
+#define OD_ENTRY_PU_MOTOR_CTRL_CMD_SUB_INDEX			0x02
-#define OD_ENTRY_PU_MOTOR_CTRL_POS_SUB_INDEX		0x03
+#define OD_ENTRY_PU_MOTOR_CTRL_POS_SUB_INDEX			0x03
-#define OD_ENTRY_PU_MOTOR_CTRL_PRESSURE_SUB_INDEX	0x04
+#define OD_ENTRY_PU_MOTOR_CTRL_PRESSURE_SUB_INDEX		0x04
-#define OD_ENTRY_PU_MOTOR_CTRL_FLOW_SUB_INDEX		0x05
+#define OD_ENTRY_PU_MOTOR_CTRL_FLOW_SUB_INDEX			0x05
 
-#define OD_ENTRY_PU_COND1_DATA_IN_SUB_INDEX			0x01
+#define OD_ENTRY_PU_COND1_DATA_IN_SUB_INDEX				0x01
-#define OD_ENTRY_PU_COND2_DATA_IN_SUB_INDEX			0x03
+#define OD_ENTRY_PU_COND2_DATA_IN_SUB_INDEX				0x03
-#define OD_ENTRY_PU_COND3_DATA_IN_SUB_INDEX			0x05
+#define OD_ENTRY_PU_COND3_DATA_IN_SUB_INDEX				0x05
 
-#define OD_ENTRY_PU_TEMP1_DATA_IN_SUB_INDEX			0x02
+#define OD_ENTRY_PU_TEMP1_DATA_IN_SUB_INDEX				0x02
-#define OD_ENTRY_PU_TEMP2_DATA_IN_SUB_INDEX			0x04
+#define OD_ENTRY_PU_TEMP2_DATA_IN_SUB_INDEX				0x04
-#define OD_ENTRY_PU_TEMP3_DATA_IN_SUB_INDEX			0x06
+#define OD_ENTRY_PU_TEMP3_DATA_IN_SUB_INDEX				0x06
 
-#define OD_ENTRY_PU_COND1_DATA_OUT_SUB_INDEX		0x01
+#define OD_ENTRY_PU_COND1_DATA_OUT_SUB_INDEX			0x01
-#define OD_ENTRY_PU_COND2_DATA_OUT_SUB_INDEX		0x03
+#define OD_ENTRY_PU_COND2_DATA_OUT_SUB_INDEX			0x03
-#define OD_ENTRY_PU_COND3_DATA_OUT_SUB_INDEX		0x05
+#define OD_ENTRY_PU_COND3_DATA_OUT_SUB_INDEX			0x05
 
-#define OD_ENTRY_PU_TEMP1_DATA_OUT_SUB_INDEX		0x02
+#define OD_ENTRY_PU_TEMP1_DATA_OUT_SUB_INDEX			0x02
-#define OD_ENTRY_PU_TEMP2_DATA_OUT_SUB_INDEX		0x04
+#define OD_ENTRY_PU_TEMP2_DATA_OUT_SUB_INDEX			0x04
-#define OD_ENTRY_PU_TEMP3_DATA_OUT_SUB_INDEX		0x06
+#define OD_ENTRY_PU_TEMP3_DATA_OUT_SUB_INDEX			0x06
 
-#define OD_ENTRY_PU_FLOWMETER1_DATA_OUT_SUB_INDEX	0x01
+#define OD_ENTRY_PU_FLOWMETER1_DATA_OUT_SUB_INDEX		0x01
-#define OD_ENTRY_PU_FLOWMETER2_DATA_OUT_SUB_INDEX	0x02
+#define OD_ENTRY_PU_FLOWMETER2_DATA_OUT_SUB_INDEX		0x02
-#define OD_ENTRY_PU_FLOWMETER3_DATA_OUT_SUB_INDEX	0x03
+#define OD_ENTRY_PU_FLOWMETER3_DATA_OUT_SUB_INDEX		0x03
-#define OD_ENTRY_PU_FLOWMETER4_DATA_OUT_SUB_INDEX	0x04
+#define OD_ENTRY_PU_FLOWMETER4_DATA_OUT_SUB_INDEX		0x04
 
-#define OD_ENTRY_PU_PRESSURE1_DATA_OUT_SUB_INDEX	0x01
+#define OD_ENTRY_PU_PRESSURE1_DATA_OUT_SUB_INDEX		0x01
-#define OD_ENTRY_PU_PRESSURE2_DATA_OUT_SUB_INDEX	0x02
+#define OD_ENTRY_PU_PRESSURE2_DATA_OUT_SUB_INDEX		0x02
-#define OD_ENTRY_PU_PRESSURE3_DATA_OUT_SUB_INDEX	0x03
+#define OD_ENTRY_PU_PRESSURE3_DATA_OUT_SUB_INDEX		0x03
-#define OD_ENTRY_PU_PRESSURE4_DATA_OUT_SUB_INDEX	0x04
+#define OD_ENTRY_PU_PRESSURE4_DATA_OUT_SUB_INDEX		0x04
+
+#define OD_ENTRY_PU_GRUNDFOS_PUMP_ENABLE_SUB_INDEX		0x01
+#define OD_ENTRY_PU_GRUNDFOS_PUMP_SET_SPEED_SUB_INDEX	0x02
+#define OD_ENTRY_PU_GRUNDFOS_PUMP_FEEDBACK_SUB_INDEX	0x00
 
 #endif /* OD_ENTRIES_H_ */

EnduranceTestBench/nehemis/pressureController.c

@@ -0,0 +1,184 @@
+/**
+ * @file	  pressureController.c 
+ *
+ * @copyright  Nehemis SARL reserves all rights even in the event of industrial
+ *             property rights. We reserve all rights of disposal such as
+ *             copying and passing on to third parties.
+ *
+ * @brief	   
+ *
+ */
+
+
+/******************************************************************************
+ * Include Header Files
+ ******************************************************************************/
+#include "pressureController.h"
+#include "math.h"
+/******************************************************************************
+ * Macro constant declarations
+ ******************************************************************************/
+
+/******************************************************************************
+ * Type declarations
+ ******************************************************************************/
+
+/******************************************************************************
+ * Module Global Variable Declarations
+ ******************************************************************************/
+
+/******************************************************************************
+ * Private Function Declarations
+ ******************************************************************************/
+
+/******************************************************************************
+ * Extern Function Declarations
+ ******************************************************************************/
+void PuControllersInitInputs(PuControllersPidInput_st *pumpPin_pst)
+{
+	/* === Pump RO Pressure ===	*/
+	pumpPin_pst->kpGain_f32 				= 6.0f;
+	pumpPin_pst->kiGain_f32 				= 5.0f;
+	pumpPin_pst->kdGain_f32 				= -3.0f;
+	pumpPin_pst->satDeriv_f32 				= 5.0f;
+	pumpPin_pst->sampleTime_f32 			= 0.1f;
+	pumpPin_pst->commandMin_f32 			= 0.0f;
+	pumpPin_pst->commandMax_f32				= 100.0f;
+	pumpPin_pst->regulatorActivation_f32 	= 1.0f;
+	pumpPin_pst->integralResetFlag_b		= false;
+}
+
+
+void PuControllersPidLoop(const PuControllersPidInput_st *input_pst, PuControllersPidOutput_st *output_pst, PuControllersPidState_st *state_pst)
+{
+    float32 derivTerm_f32;
+
+    /* External Trigger  */
+    if (input_pst->integralResetFlag_b)
+	{
+		state_pst->integState_f32 = 0.0f;
+	}
+    if(input_pst->regulatorActivation_f32 == 0.0f)
+    {
+    	state_pst->prevMeasFilt2_f32 	= 0.0f;
+    	state_pst->sumOutput_f32 		= 0.0f;
+    	state_pst->integState_f32 		= 0.0f;
+
+    	output_pst->derivOutput_f32 = 0.0f;
+    	output_pst->integOutput_f32 = 0.0f;
+    	output_pst->propOutput_f32 	= 0.0f;
+
+    }
+    /* Check if the regulator control should be active */
+    if (input_pst->regulatorActivation_f32 > 0.0f)
+    {
+    	 /* If regulator was inactive previously, reset integral and derivative states */
+        if (!state_pst->isRegulatorActive_b)
+        {
+            state_pst->prevMeasFilt2_f32 	= 0.0f;
+            state_pst->integState_f32 		= 0.0f;
+            state_pst->isRegulatorActive_b 	= true;
+        }
+
+        /* Compute derivative component based on measurement change rate */
+        derivTerm_f32 = -(input_pst->measFilt2_f32 - state_pst->prevMeasFilt2_f32) * input_pst->kdGain_f32 / input_pst->sampleTime_f32;
+
+        /* Apply saturation limits to derivative output to prevent excessive corrections */
+        if (derivTerm_f32 > input_pst->satDeriv_f32)
+        {
+            output_pst->derivOutput_f32 = input_pst->satDeriv_f32;
+        }
+        else if (derivTerm_f32 < -input_pst->satDeriv_f32)
+        {
+            output_pst->derivOutput_f32 = -input_pst->satDeriv_f32;
+        }
+        else
+        {
+            output_pst->derivOutput_f32 = derivTerm_f32;
+        }
+
+        /* Output current integral state */
+        output_pst->integOutput_f32 = state_pst->integState_f32;
+
+        /* Compute proportional output based on setpoint error */
+        derivTerm_f32 = input_pst->setpoint_f32 - input_pst->measFilt_f32;
+
+        if (fabsf(derivTerm_f32) > input_pst->tolerance_f32)
+		{
+        	output_pst->propOutput_f32 = input_pst->kpGain_f32 * derivTerm_f32;
+		}
+        else
+        {
+        	output_pst->propOutput_f32 = 0.0f;
+        	output_pst->derivOutput_f32 = 0.0;
+        }
+        /* Sum PID components to form the overall regulator output */
+        state_pst->sumOutput_f32 = output_pst->propOutput_f32 + output_pst->integOutput_f32 + output_pst->derivOutput_f32;
+
+        /* Calculate integral contribution based on error */
+        derivTerm_f32 *= input_pst->kiGain_f32;
+
+        /* Adjust integral contribution to respect command saturation limits */
+        if (state_pst->prevCommandInput_f32 >= input_pst->commandMax_f32)
+        {
+            derivTerm_f32 = (float32)(fmin((float64)derivTerm_f32, 0.0f));
+        }
+        else if (input_pst->commandMin_f32 >= state_pst->prevCommandInput_f32)
+        {
+            derivTerm_f32 = (float32)(fmax(0.0f, (float64)derivTerm_f32));
+        }
+
+        /* Update previous measurement for derivative calculation in next cycle */
+        state_pst->prevMeasFilt2_f32 = input_pst->measFilt2_f32;
+
+        if (input_pst->kpGain_f32 == 0.0f)// I controller only
+		{
+        	state_pst->integState_f32 += input_pst->sampleTime_f32 * derivTerm_f32;
+		}
+        /* Integrate integral term with adjusted contribution */
+        else
+        {
+        	if (fabsf(output_pst->propOutput_f32 / input_pst->kpGain_f32) > input_pst->tolerance_f32)
+			{
+        		state_pst->integState_f32 += input_pst->sampleTime_f32 * derivTerm_f32;
+			}
+        }
+
+    }
+    else if (state_pst->isRegulatorActive_b)
+    {
+    	/* Disable regulator and reset summed output if regulator is deactivated */
+        state_pst->sumOutput_f32 = 0.0f;
+        state_pst->isRegulatorActive_b = false;
+    }
+
+    /* Combine regulator output with feed-forward command to form total command */
+    derivTerm_f32 = input_pst->commandRm_f32 + state_pst->sumOutput_f32;
+
+    /* Ensure final command output respects specified saturation limits */
+    if (derivTerm_f32 > input_pst->commandMax_f32)
+    {
+        output_pst->commandSetpoint_f32 = input_pst->commandMax_f32;
+    }
+    else if (derivTerm_f32 < input_pst->commandMin_f32)
+    {
+        output_pst->commandSetpoint_f32 = input_pst->commandMin_f32;
+    }
+    else
+    {
+        output_pst->commandSetpoint_f32 = derivTerm_f32;
+    }
+
+    /* Store last command to aid future saturation checks */
+    state_pst->prevCommandInput_f32 = derivTerm_f32;
+}
+
+
+/******************************************************************************
+ * Private Function Definitions
+ ******************************************************************************/
+
+/******************************************************************************
+ * Callback Function Definitions
+ ******************************************************************************/
+

EnduranceTestBench/nehemis/pressureController.h

@@ -0,0 +1,73 @@
+/**
+ * @file	   pressureController.h
+ *
+ * @copyright  Nehemis SARL reserves all rights even in the event of industrial
+ *             property rights. We reserve all rights of disposal such as
+ *             copying and passing on to third parties.
+ *
+ * @brief	   
+ *
+ */
+
+
+#ifndef PRESSURECONTROLLER_H_
+#define PRESSURECONTROLLER_H_
+
+/******************************************************************************
+ * Include Header Files
+ ******************************************************************************/
+#include "nms_types.h"
+
+/******************************************************************************
+ * Macro constant declarations
+ ******************************************************************************/
+
+/******************************************************************************
+ * Type declarations
+ ******************************************************************************/
+typedef struct
+{
+    float32 regulatorActivation_f32;
+    float32 commandRm_f32;
+    float32 setpoint_f32;
+    float32 measFilt_f32;
+    float32 measFilt2_f32;
+    float32 kpGain_f32;
+    float32 kiGain_f32;
+    float32 kdGain_f32;
+    float32 sampleTime_f32;
+    float32 satDeriv_f32;
+    float32 commandMax_f32;
+    float32 commandMin_f32;
+    bool integralResetFlag_b;
+    float32 tolerance_f32;
+} PuControllersPidInput_st;
+
+/**
+ * @brief Output structure for regulator controller model.
+ */
+typedef struct
+{
+	float32 commandSetpoint_f32;
+	float32 propOutput_f32;
+	float32 integOutput_f32;
+	float32 derivOutput_f32;
+} PuControllersPidOutput_st;
+
+typedef struct
+{
+	float32 sumOutput_f32;
+    float32 prevMeasFilt2_f32;
+    float32 integState_f32;
+    float32 prevCommandInput_f32;
+    bool    isRegulatorActive_b;
+} PuControllersPidState_st;
+
+/******************************************************************************
+ * Extern Function Declarations
+ ******************************************************************************/
+void PuControllersInitInputs(PuControllersPidInput_st *pumpPin_pst);
+
+
+void PuControllersPidLoop(const PuControllersPidInput_st *input_pst, PuControllersPidOutput_st *output_pst, PuControllersPidState_st *state_pst);
+#endif /* PRESSURECONTROLLER_H_ */

EnduranceTestBench/nehemis/pressureSensor.c

@@ -13,35 +13,31 @@
  * Include Header Files
  ******************************************************************************/
 #include "pressureSensor.h"
+#include "analogMeasurement.h"
 
 /******************************************************************************
  * Type  declarations
  ******************************************************************************/
-
+#define PRESSURE_SENSOR_GAIN 		0.64f
 /******************************************************************************
  * Macro Constant Declarations
  ******************************************************************************/
-#define PRESSURE_SENSOR_ADC_REF_VOLTAGE		3.3f
-#define PRESSURE_SENSOR_ADC_RESOLUTION		4095.0f		/* 12-bit ADC */
 
 /******************************************************************************
  * Private function Declarations
  ******************************************************************************/
-static float PressureSensorReadVoltage(PressureSensorMain_st *pressureSensor_pst);
+static float PressureSensorReadVoltage(uint32 channel_u32);
 
 /******************************************************************************
  * Extern Function Definitions
  ******************************************************************************/
-void PressureSensorInit(PressureSensorMain_st *pressureSensor_pst,
+void PressureSensorInit(PressureSensorMain_st *pressureSensor_pst)
-		ADC_HandleTypeDef *adcHandle_pst, uint32_t channel_u32)
 {
-	if (pressureSensor_pst == NULL || adcHandle_pst == NULL)
+	pressureSensor_pst->rawT_f32 = 0.0f;
+	if (pressureSensor_pst == NULL)
 	{
 		/* ERROR */
 	}
-
-	pressureSensor_pst->adcHandle_pst = adcHandle_pst;
-	pressureSensor_pst->channel_u32   = channel_u32;
 }
 
 
@@ -52,7 +48,8 @@ void PressureSensorGetVal(PressureSensorMain_st *pressureSensor_pst)
 		/* ERROR */
 	}
 
-	pressureSensor_pst->rawT_f32 = (PressureSensorReadVoltage(pressureSensor_pst) - 0.5f) / 0.2f;
+	pressureSensor_pst->rawT_f32 = (PressureSensorReadVoltage(pressureSensor_pst->channel_u32) - 0.5f) / 0.2f;
+	pressureSensor_pst->voltage_f32 =  PressureSensorReadVoltage(pressureSensor_pst->channel_u32);
 }
 
 
@@ -67,40 +64,12 @@ void PressureSensorGetVal(PressureSensorMain_st *pressureSensor_pst)
  * @return	  ADC output voltage based on sensor reading.
  *
  */
-static float32 PressureSensorReadVoltage(PressureSensorMain_st *pressureSensor_pst)
+static float32 PressureSensorReadVoltage(uint32 channel_u32)
 {
-	uint32 adcVal_u32 = 0uL;
-	if (pressureSensor_pst == NULL || pressureSensor_pst->adcHandle_pst == NULL)
-	{
-		return 0.0f; /* Error Case */
-	}
-
-	ADC_ChannelConfTypeDef sConfig = {0};
-	sConfig.Channel      	= pressureSensor_pst->channel_u32;  /* Set the channel specific to this flowmeter */
-	sConfig.Rank 			= ADC_REGULAR_RANK_1;
-	sConfig.SamplingTime 	= ADC_SAMPLETIME_12CYCLES_5;
-
-	if (HAL_ADC_ConfigChannel(pressureSensor_pst->adcHandle_pst, &sConfig) != HAL_OK)
-	{
-		return 0.0f; /* ERROR */
-	}
-
-	/* Start ADC conversion and poll for completion */
-	if (HAL_ADC_Start(pressureSensor_pst->adcHandle_pst) == HAL_OK)
-	{
-		if (HAL_ADC_PollForConversion(pressureSensor_pst->adcHandle_pst, HAL_MAX_DELAY) == HAL_OK)
-		{
-			adcVal_u32 = HAL_ADC_GetValue(pressureSensor_pst->adcHandle_pst);
-		}
-		HAL_ADC_Stop(pressureSensor_pst->adcHandle_pst);
-	}
-	else
-	{
-		/* ERROR */
-	}
-
 	/* Convert ADC value to voltage (assuming 12-bit resolution and 3.3V reference) */
-	float32 voltage_f32 = (float32)adcVal_u32 * (PRESSURE_SENSOR_ADC_REF_VOLTAGE / PRESSURE_SENSOR_ADC_RESOLUTION);
+	uint32 adcVal_u32 = 0uL;
+	AnalogMeasurementReadData(channel_u32, &adcVal_u32);
+	float32 voltage_f32 = (float32)adcVal_u32 * (ANALOG_MEAS_ADC_REF_VOLTAGE / ANALOG_MEAS_ADC_RESOLUTION) / PRESSURE_SENSOR_GAIN;
 
 	return voltage_f32;
 }

EnduranceTestBench/nehemis/pressureSensor.h

@@ -19,18 +19,15 @@
  ******************************************************************************/
 typedef struct
 {
-	ADC_HandleTypeDef *adcHandle_pst;
 	uint32 channel_u32;
 	float32 rawT_f32;
+	float32 voltage_f32 ;
 } PressureSensorMain_st;        /* HubaPressure sensor structure definition */
 
 /******************************************************************************
  * Macro Constant Declarations
  ******************************************************************************/
-#define PRESSURE_SENSOR_PS1_ADC_CHANNEL		1u
+
-#define PRESSURE_SENSOR_PS2_ADC_CHANNEL		2u
-#define PRESSURE_SENSOR_PS3_ADC_CHANNEL		3u
-#define PRESSURE_SENSOR_PS4_ADC_CHANNEL		4u
 /******************************************************************************
  * Extern Function Declarations
  ******************************************************************************/
@@ -38,14 +35,11 @@ typedef struct
  * @brief     Init function of the Pressure sensor module.
  *
  * @param	  pressureSensor_pst   : Pointer to main strucutre of the module.
- * 			  adcHandle_pst        : ADC handler f the flowmeter.
- * 			  channel_u32	  	   : ADC channel of the connected sensor to use.
  *
  * @return	  Pressure value.
  *
  */
-void PressureSensorInit(PressureSensorMain_st *pressureSensor_pst,
+void PressureSensorInit(PressureSensorMain_st *pressureSensor_pst);
-		ADC_HandleTypeDef *adcHandle_pst, uint32 channel_u32);
 
 /**
  * @brief     Function to get pressure value.

EnduranceTestBench/nehemis/processBoard.c

@@ -15,8 +15,11 @@
 #include "processBoard.h"
 #include "flowmeter.h"
 #include "pressureSensor.h"
+#include "grundfos.h"
 #include "od_entries.h"
-#include "co_odaccess.h"
+#include "nms_can.h"
+#include "analogMeasurement.h"
+#include "hal_system.h"
 /******************************************************************************
  * Type  declarations
  ******************************************************************************/
@@ -24,21 +27,18 @@
 /******************************************************************************
  * Macro Constant Declarations
  ******************************************************************************/
-#define  PROCESS_BOARD_VALVE_POS_INDEX				0x6002
+#define NMS_CAN_CANOPEN_MASTER_LINE					1u
-#define  PROCESS_BOARD_VALVE_FLOW_INDEX				0x6006
-#define  PROCESS_BOARD_VALVE_PRESSURE_INDEX			0x6001
 
-#define  PROCESS_BOARD_VALVE_SUB_INDEX				0x0
+#define PU_PUMP_SPEED_CHANGE_INTERVAL               900000uLL
-
+#define PU_PUMP_MAX_SPEED                           10u
-#define  PROCESS_BOARD_FLOWMETER_ADC_MODULE			&hadc1
+#define PU_PUMP_MIN_SPEED                           2u
-#define  PROCESS_BOARD_PRESSURE_SENSOR_ADC_MODULE	&hadc1
+#define PU_PMP_ENABLE								1u
+#define PU_PMP_DISABLE								0u
+#define PU_PMP_RATED_SPEED							3600uL
+#define PU_MAX_PRESSURE								20u
 /******************************************************************************
  * Global variables
  ******************************************************************************/
-static volatile uint8 motorCmd_gu8;
-static volatile float32 flow_gf32 		= 0.0f;
-static volatile float32 pressure_gf32 	= 0.0f;
-
 FlowmeterMain_st flowmeterFM1_gst;
 FlowmeterMain_st flowmeterFM2_gst;
 FlowmeterMain_st flowmeterFM3_gst;
@@ -49,144 +49,180 @@ PressureSensorMain_st pressureSensorPS2_gst;
 PressureSensorMain_st pressureSensorPS3_gst;
 PressureSensorMain_st pressureSensorPS4_gst;
 
-ProcessBoardCondDataSt condBoard1_gst;
+GrundfosMain_st grundfosPMP_gst;
-ProcessBoardCondDataSt condBoard2_gst;
-ProcessBoardCondDataSt condBoard3_gst;
-
-ProcessBoardMvDataSt mvBoard1_gst;
-ProcessBoardMvDataSt mvBoard2_gst;
-ProcessBoardMvDataSt mvBoard3_gst;
-ProcessBoardMvDataSt mvBoard4_gst;
-ProcessBoardMvDataSt mvBoard5_gst;
-ProcessBoardMvDataSt mvBoard6_gst;
-ProcessBoardMvDataSt mvBoard7_gst;
-ProcessBoardMvDataSt mvBoard8_gst;
-
 /******************************************************************************
  * Private Function Declarations
  ******************************************************************************/
-static void ProcessBoardTriggerMvPosCtrl(uint8 motorId_u8, uint8 posData_u8);
+static void ProcessBoardFlowmeterDataOUT(float32 rawQ_f32);
-static void ProcessBoardTriggerMvCartCtrl(uint8 motorId_u8, uint8 flowRate_u8, uint8 pressure_u8);
+static void ProcessBoardPressureSensorDataOUT(float32 rawT_f32);
-static void ProcessBoardReadCondDataIN(void);
+static void ProcessBoardPumpSpeedDataOUT(uint32 pmpSpeed_u32);
-static void ProcessBoardWriteCondDataOUT(void);
-static void ProcessBoardReadMvDataIN(void);
-static void ProcessBoardFlowmeterDataOUT(FlowmeterMain_st flowmeter_st);
-static void ProcessBoardPressureSensorDataOUT(PressureSensorMain_st pressureSensor_st);
-
 /******************************************************************************
  * Extern Function Declarations
  ******************************************************************************/
 void ProcessBoardInit(void)
 {
-	motorCmd_gu8 = 0u;
+	HalSystemInit();
+	AnalogMeasurementInit();
 
-	FlowmeterInit(&flowmeterFM1_gst, PROCESS_BOARD_FLOWMETER_ADC_MODULE, FLOWMETER_FM1_ADC_CHANNEL);
+	/* Initializing the structures (Pressure sensor, Flow
-	PressureSensorInit(&pressureSensorPS1_gst, PROCESS_BOARD_PRESSURE_SENSOR_ADC_MODULE, PRESSURE_SENSOR_PS1_ADC_CHANNEL);
+	 * meter, and Grundfos) with their respective ADC channel */
+	pressureSensorPS1_gst.channel_u32 	= PS1_ADC_CHANNEL;
+	pressureSensorPS2_gst.channel_u32 	= PS2_ADC_CHANNEL;
+	pressureSensorPS3_gst.channel_u32 	= PS3_ADC_CHANNEL;
+	pressureSensorPS4_gst.channel_u32 	= PS4_ADC_CHANNEL;
 
-	FlowmeterInit(&flowmeterFM2_gst, PROCESS_BOARD_FLOWMETER_ADC_MODULE, FLOWMETER_FM2_ADC_CHANNEL);
+	grundfosPMP_gst.channel_u32 		= PMP_ADC_CHANNEL;
-	PressureSensorInit(&pressureSensorPS2_gst, PROCESS_BOARD_PRESSURE_SENSOR_ADC_MODULE, PRESSURE_SENSOR_PS2_ADC_CHANNEL);
 
-	FlowmeterInit(&flowmeterFM3_gst, PROCESS_BOARD_FLOWMETER_ADC_MODULE, FLOWMETER_FM3_ADC_CHANNEL);
+	flowmeterFM1_gst.channel_u32 		= FM1_ADC_CHANNEL;
-	PressureSensorInit(&pressureSensorPS3_gst, PROCESS_BOARD_PRESSURE_SENSOR_ADC_MODULE, PRESSURE_SENSOR_PS3_ADC_CHANNEL);
+	flowmeterFM2_gst.channel_u32 		= FM2_ADC_CHANNEL;
+	flowmeterFM3_gst.channel_u32 		= FM3_ADC_CHANNEL;
+	flowmeterFM4_gst.channel_u32 		= FM4_ADC_CHANNEL;
 
-	FlowmeterInit(&flowmeterFM4_gst, PROCESS_BOARD_FLOWMETER_ADC_MODULE, FLOWMETER_FM4_ADC_CHANNEL);
+	FlowmeterInit(&flowmeterFM1_gst);
-	PressureSensorInit(&pressureSensorPS4_gst, PROCESS_BOARD_PRESSURE_SENSOR_ADC_MODULE, PRESSURE_SENSOR_PS4_ADC_CHANNEL);
+	FlowmeterInit(&flowmeterFM2_gst);
+	FlowmeterInit(&flowmeterFM3_gst);
+	FlowmeterInit(&flowmeterFM4_gst);
 
+	PressureSensorInit(&pressureSensorPS1_gst);
+	PressureSensorInit(&pressureSensorPS2_gst);
+	PressureSensorInit(&pressureSensorPS3_gst);
+	PressureSensorInit(&pressureSensorPS4_gst);
+
+	GrundfosPmpInit(&grundfosPMP_gst);
 }
 
-
+void ProcessBoardRun(bool pumpTurnOn_b)
-void ProcessBoardRun(void)
 {
-	uint8 id_u8;
+	AnalogMesaurementRun();
-	uint8 motorCmd_u8;
-	uint8 posData_u8;
-	uint8 flowRate_u8;
-	uint8 pressure_u8;
 
-	coOdGetObj_u8(OD_ENTRY_PU_MOTOR_CTRL_INDEX, OD_ENTRY_PU_MOTOR_CTRL_ID_SUB_INDEX, &id_u8);
+	if (pumpTurnOn_b == true)
-	coOdGetObj_u8(OD_ENTRY_PU_MOTOR_CTRL_INDEX, OD_ENTRY_PU_MOTOR_CTRL_CMD_SUB_INDEX, &motorCmd_u8);
-	coOdGetObj_u8(OD_ENTRY_PU_MOTOR_CTRL_INDEX, OD_ENTRY_PU_MOTOR_CTRL_POS_SUB_INDEX, &posData_u8);
-	coOdGetObj_u8(OD_ENTRY_PU_MOTOR_CTRL_INDEX, OD_ENTRY_PU_MOTOR_CTRL_PRESSURE_SUB_INDEX, &flowRate_u8);
-	coOdGetObj_u8(OD_ENTRY_PU_MOTOR_CTRL_INDEX, OD_ENTRY_PU_MOTOR_CTRL_FLOW_SUB_INDEX, &pressure_u8);
-
-	if(motorCmd_u8 == 1u)
 	{
-		ProcessBoardTriggerMvPosCtrl(11, posData_u8);
+		GrundfosPmpEnable(PU_PMP_ENABLE);
+		/* Flowmeter data IN */
+		FlowmeterGetFlow(&flowmeterFM1_gst);
+		FlowmeterGetFlow(&flowmeterFM2_gst);
+		FlowmeterGetFlow(&flowmeterFM3_gst);
+		FlowmeterGetFlow(&flowmeterFM4_gst);
+
+		/* Pressure sensor data IN */
+//		PressureSensorGetVal(&pressureSensorPS1_gst);
+//		PressureSensorGetVal(&pressureSensorPS2_gst);
+//		PressureSensorGetVal(&pressureSensorPS3_gst);
+
+		/* Flowmeter data OUT */
+		ProcessBoardFlowmeterDataOUT(flowmeterFM1_gst.rawQ_f32);
+		ProcessBoardFlowmeterDataOUT(flowmeterFM2_gst.rawQ_f32);
+		ProcessBoardFlowmeterDataOUT(flowmeterFM3_gst.rawQ_f32);
+		ProcessBoardFlowmeterDataOUT(flowmeterFM4_gst.rawQ_f32);
+
+		/* Pressure sensor data OUT */
+		ProcessBoardPressureSensorDataOUT(pressureSensorPS1_gst.rawT_f32);
+		ProcessBoardPressureSensorDataOUT(pressureSensorPS2_gst.rawT_f32);
+		ProcessBoardPressureSensorDataOUT(pressureSensorPS3_gst.rawT_f32);
+		ProcessBoardPressureSensorDataOUT(pressureSensorPS4_gst.rawT_f32);
+
+		ProcessBoardPumpSpeedDataOUT(grundfosPMP_gst.rawQ_f32);
+
+		ProcessBoardGrundfosPumpHandler(pumpTurnOn_b);
 	}
 	else
 	{
-		ProcessBoardTriggerMvCartCtrl(id_u8, flowRate_u8, pressure_u8);
+		GrundfosPmpEnable(PU_PMP_DISABLE);
 	}
-
-	FlowmeterGetFlow(&flowmeterFM4_gst);
-	PressureSensorGetVal(&pressureSensorPS1_gst);
-	ProcessBoardFlowmeterDataOUT(flowmeterFM4_gst);
-	ProcessBoardPressureSensorDataOUT(pressureSensorPS1_gst);
-	ProcessBoardReadCondDataIN();
-	ProcessBoardWriteCondDataOUT();
 }
 
 
+void ProcessBoardGrundfosPumpHandler(uint8 speed_u8)
+{
+    GrundfosPmpSetSpeed(speed_u8);
+
+    /* Grundfos Pump feedback speed OUT */
+    GrundfosPmpFeedback(&grundfosPMP_gst);
+
+    if ((uint8)(grundfosPMP_gst.rawQ_f32) > PU_PMP_RATED_SPEED)
+    {
+    	speed_u8 -= 2u;
+    }
+}
 /******************************************************************************
  * Private function definitions
  ******************************************************************************/
-static void ProcessBoardTriggerMvPosCtrl(uint8 motorId_u8, uint8 posData_u8)
+//static void ProcessBoardGrundfosPumpHandler(bool pumpTurnOn_b)
-{
+//{
+//    static uint8 speed_u8         = PU_PUMP_MIN_SPEED;
+//    static uint64 startTime_u64   = 0uLL;
+//    uint64 currentTimeMs_u64;
+//
+//    HalSystemGetRunTimeMs(&currentTimeMs_u64);
+//
+//    if (startTime_u64 == 0uLL)
+//    {
+//        HalSystemGetRunTimeMs(&startTime_u64);
+//    }
+//
+//    if (pumpTurnOn_b == true)
+//    {
+//    	GrundfosPmpEnable(PU_PMP_ENABLE);
+//    }
+//    else
+//    {
+//    	GrundfosPmpEnable(PU_PMP_DISABLE);
+//    }
+//
+//
+//    if ((currentTimeMs_u64 - startTime_u64) >= PU_PUMP_SPEED_CHANGE_INTERVAL)
+//    {
+//    	if (pressureSensorPS1_gst.rawT_f32 > PU_MAX_PRESSURE || pressureSensorPS2_gst.rawT_f32 > PU_MAX_PRESSURE ||
+//    	    pressureSensorPS3_gst.rawT_f32 > PU_MAX_PRESSURE || pressureSensorPS4_gst.rawT_f32 > PU_MAX_PRESSURE)
+//    	{
+//    	    /* Decrease speed if pressure is too high */
+//    	    if (speed_u8 > PU_PUMP_MIN_SPEED)
+//    	    {
+//    	        speed_u8 -= 2u;
+//    	    }
+//    	}
+//    	else if (speed_u8 <= PU_PUMP_MAX_SPEED)
+//        {
+//            speed_u8 += 2u;
+//        }
+//        else
+//        {
+//            speed_u8 = PU_PUMP_MIN_SPEED;
+//        }
+//
+//        startTime_u64 = currentTimeMs_u64;
+//    }
+//
+//    GrundfosPmpSetSpeed(speed_u8);
+//
+//    /* Grundfos Pump feedback speed OUT */
+//    GrundfosPmpFeedback(&grundfosPMP_gst);
+//
+//    if ((uint8)(grundfosPMP_gst.rawQ_f32) > PU_PMP_RATED_SPEED)
+//    {
+//    	speed_u8 -= 2u;
+//    }
+//}
 
+static void ProcessBoardFlowmeterDataOUT(float32 rawQ_f32)
+{
+	NmsCanPutObj_u16(OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX, OD_ENTRY_PU_FLOWMETER1_DATA_OUT_SUB_INDEX, (uint16)(flowmeterFM1_gst.rawQ_f32 * 100.0f));
+	NmsCanPutObj_u16(OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX, OD_ENTRY_PU_FLOWMETER2_DATA_OUT_SUB_INDEX, (uint16)(flowmeterFM2_gst.rawQ_f32 * 100.0f));
+	NmsCanPutObj_u16(OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX, OD_ENTRY_PU_FLOWMETER3_DATA_OUT_SUB_INDEX, (uint16)(flowmeterFM3_gst.rawQ_f32 * 100.0f));
+	NmsCanPutObj_u16(OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX, OD_ENTRY_PU_FLOWMETER4_DATA_OUT_SUB_INDEX, (uint16)(flowmeterFM4_gst.rawQ_f32 * 100.0f));
 }
 
 
-static void ProcessBoardTriggerMvCartCtrl(uint8 motorId_u8, uint8 flowRate_u8, uint8 pressure_u8)
+static void ProcessBoardPressureSensorDataOUT(float32 rawT_f32)
 {
-
+	NmsCanPutObj_u16(OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX, OD_ENTRY_PU_PRESSURE1_DATA_OUT_SUB_INDEX, (uint16)pressureSensorPS1_gst.rawT_f32 * 100u);
+	NmsCanPutObj_u16(OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX, OD_ENTRY_PU_PRESSURE2_DATA_OUT_SUB_INDEX, (uint16)pressureSensorPS2_gst.rawT_f32 * 100u);
+	NmsCanPutObj_u16(OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX, OD_ENTRY_PU_PRESSURE3_DATA_OUT_SUB_INDEX, (uint16)(pressureSensorPS3_gst.rawT_f32 * 100.0f));
+	NmsCanPutObj_u16(OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX, OD_ENTRY_PU_PRESSURE4_DATA_OUT_SUB_INDEX, (uint16)pressureSensorPS4_gst.rawT_f32 * 100u);
 }
 
 
-static void ProcessBoardReadCondDataIN(void)
+static void ProcessBoardPumpSpeedDataOUT(uint32 pmpSpeed_u32)
 {
-	coOdGetObj_u32(OD_ENTRY_PU_COND_DATA_IN_INDEX, OD_ENTRY_PU_COND1_DATA_IN_SUB_INDEX, &condBoard1_gst.conductivityData_u32);
+	NmsCanPutObj_u16(OD_ENTRY_PU_GRUNDFOS_PUMP_CONTROL_INDEX, OD_ENTRY_PU_GRUNDFOS_PUMP_FEEDBACK_SUB_INDEX, (uint16)grundfosPMP_gst.rawQ_f32);
-	coOdGetObj_u32(OD_ENTRY_PU_COND_DATA_IN_INDEX, OD_ENTRY_PU_TEMP1_DATA_IN_SUB_INDEX, &condBoard1_gst.temperature_u32);
-
-	coOdGetObj_u32(OD_ENTRY_PU_COND_DATA_IN_INDEX, OD_ENTRY_PU_COND1_DATA_IN_SUB_INDEX, &condBoard2_gst.conductivityData_u32);
-	coOdGetObj_u32(OD_ENTRY_PU_COND_DATA_IN_INDEX, OD_ENTRY_PU_TEMP2_DATA_IN_SUB_INDEX, &condBoard2_gst.temperature_u32);
-
-	coOdGetObj_u32(OD_ENTRY_PU_COND_DATA_IN_INDEX, OD_ENTRY_PU_COND1_DATA_IN_SUB_INDEX, &condBoard3_gst.conductivityData_u32);
-	coOdGetObj_u32(OD_ENTRY_PU_COND_DATA_IN_INDEX, OD_ENTRY_PU_TEMP3_DATA_IN_SUB_INDEX, &condBoard3_gst.temperature_u32);
-}
-
-
-static void ProcessBoardWriteCondDataOUT(void)
-{
-	coOdPutObj_u32(OD_ENTRY_PU_COND_DATA_OUT_INDEX, OD_ENTRY_PU_COND1_DATA_IN_SUB_INDEX, condBoard1_gst.conductivityData_u32);
-	coOdPutObj_u32(OD_ENTRY_PU_COND_DATA_OUT_INDEX, OD_ENTRY_PU_TEMP1_DATA_IN_SUB_INDEX, condBoard1_gst.temperature_u32);
-
-	coOdPutObj_u32(OD_ENTRY_PU_COND_DATA_OUT_INDEX, OD_ENTRY_PU_COND2_DATA_IN_SUB_INDEX, condBoard2_gst.conductivityData_u32);
-	coOdPutObj_u32(OD_ENTRY_PU_COND_DATA_OUT_INDEX, OD_ENTRY_PU_TEMP2_DATA_IN_SUB_INDEX, condBoard2_gst.temperature_u32);
-
-	coOdPutObj_u32(OD_ENTRY_PU_COND_DATA_OUT_INDEX, OD_ENTRY_PU_COND3_DATA_IN_SUB_INDEX, condBoard3_gst.conductivityData_u32);
-	coOdPutObj_u32(OD_ENTRY_PU_COND_DATA_OUT_INDEX, OD_ENTRY_PU_TEMP3_DATA_IN_SUB_INDEX, condBoard3_gst.temperature_u32);
-}
-
-
-static void ProcessBoardFlowmeterDataOUT(FlowmeterMain_st flowmeter_st)
-{
-	coOdPutObj_r32(OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX, OD_ENTRY_PU_FLOWMETER1_DATA_OUT_SUB_INDEX, flowmeterFM1_gst.rawQ_f32);
-	coOdPutObj_r32(OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX, OD_ENTRY_PU_FLOWMETER1_DATA_OUT_SUB_INDEX, flowmeterFM2_gst.rawQ_f32);
-	coOdPutObj_r32(OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX, OD_ENTRY_PU_FLOWMETER1_DATA_OUT_SUB_INDEX, flowmeterFM3_gst.rawQ_f32);
-	coOdPutObj_r32(OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX, OD_ENTRY_PU_FLOWMETER1_DATA_OUT_SUB_INDEX, flowmeterFM4_gst.rawQ_f32);
-}
-
-
-static void ProcessBoardPressureSensorDataOUT(PressureSensorMain_st pressureSensor_st)
-{
-	coOdPutObj_r32(OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX, OD_ENTRY_PU_PRESSURE1_DATA_OUT_SUB_INDEX, pressureSensorPS1_gst.rawT_f32);
-	coOdPutObj_r32(OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX, OD_ENTRY_PU_PRESSURE1_DATA_OUT_SUB_INDEX, pressureSensorPS2_gst.rawT_f32);
-	coOdPutObj_r32(OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX, OD_ENTRY_PU_PRESSURE1_DATA_OUT_SUB_INDEX, pressureSensorPS3_gst.rawT_f32);
-	coOdPutObj_r32(OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX, OD_ENTRY_PU_PRESSURE1_DATA_OUT_SUB_INDEX, pressureSensorPS4_gst.rawT_f32);
-}
-
-
-static void ProcessBoardReadMvDataIN(void)
-{
-	/* To be implemented */
 }

EnduranceTestBench/nehemis/processBoard.h

@@ -47,6 +47,8 @@ void ProcessBoardInit(void);
  * @return	  void
  *
  */
-void ProcessBoardRun(void);
+void ProcessBoardRun(bool pumpTurnOn_b);
+
+void ProcessBoardGrundfosPumpHandler(uint8 speed_u8);
 
 #endif /* PROCESSBOARD_H_ */

EnduranceTestBench/nms_can/nms_can.c

@@ -0,0 +1,611 @@
+/**
+ * @file	   nms_can.c
+ *
+ * @copyright  Nehemis SARL reserves all rights even in the event of industrial
+ *             property rights. We reserve all rights of disposal such as
+ *             copying and passing on to third parties.
+ *
+ * @brief       Source code for CANOpen files abstracted for furthur use in the project.
+ *
+ */
+
+/******************************************************************************
+ * Include Header Files
+ ******************************************************************************/
+#include "nms_can.h"
+#include "enduranceTestBench.h"
+
+/* CANopen includes */
+#include <gen_define.h>
+#include <co_canopen.h>
+#include "co_sdo.h"
+#include "co_pdo.h"
+#include "co_odaccess.h"
+
+/******************************************************************************
+ * Global Variable Declaration
+ ******************************************************************************/
+
+/******************************************************************************
+ * Macro constant declarations
+ ******************************************************************************/
+#define NMS_CAN_CANOPEN_SLAVE_LINE				0u
+#define NMS_CAN_CANOPEN_MASTER_LINE				1u
+
+#define NMS_CAN_CANOPEN_BITRATE					250u
+
+#define NMS_CAN_PU_MASTER_NODE_ID				1u
+#define NMS_CAN_PU_SLAVE_NODE_ID				3u
+
+#define NMS_CAN_LSS_TIMEOUT						20u		/* Defined in stack examples */
+#define NMS_CAN_LSS_CONFIG_TIMEOUT				1000u
+#define NMS_CAN_LSS_CONFIG_INTERVAL				4u
+#define NMS_CAN_APPL_TIMER_TIME					250000uL
+
+#define NMS_CAN_LSS_NODE_HB_MS					1000uL
+#define NMS_CAN_LSS_NODE_STATE_RESET_INTERVAL 	3u
+
+#define NMS_CAN_SDO_TRANSMIT					0x580u
+#define NMS_CAN_SDO_RECEIVE						0x600u
+#define NMS_CAN_SDO_PARAM_INDEX					0x1280u
+#define NMS_CAN_LSS_NODE_COUNT					20u
+#define NMS_CAN_MIN_OPERATIONAL_NODES			15u
+/******************************************************************************
+ * Type Declarations
+ ******************************************************************************/
+typedef struct
+{
+    uint32 vendorId_u32;
+    uint32 productId_u32;
+    uint32 versionNbr_u32;
+    uint32 serialNbr_u32;
+    uint8 nodeId_u8;
+} NmsCanLssNodeInfo_t;
+/******************************************************************************
+ * Global Declarations
+ ******************************************************************************/
+NmsCanLssNodeInfo_t 	var_gst;
+static CO_TIMER_T 	monitorTimer_gst;							/**< application timer */
+static bool 		monitorSleep_gb = CO_FALSE;				/**< sleep flag */
+static bool   		masterStarted_gb;						/**< master started flag */
+static const NmsCanLssNodeInfo_t nodeLookupTable_gast[NMS_CAN_LSS_NODE_COUNT] =
+{
+	    {0x59A, 0x4d2,   0x1,   0x01, 0x5} ,
+	    {0x59A, 0x4d2,   0x1,   0x02, 0x6} ,
+	    {0x59A, 0x4d2,   0x1,   0x03, 0x7} ,
+	    {0x59A, 0x4d2,   0x1,   0x04, 0x8} ,
+	    {0x59A, 0x4d2,   0x1,   0x05, 0x9} ,
+	    {0x59A, 0x4d2,   0x1,   0x06, 0xA} ,
+	    {0x59A, 0x4d2,   0x1,   0x07, 0xB} ,
+	    {0x59A, 0x4d2,   0x1,   0x08, 0xC} ,
+	    {0x59A, 0x4d2,   0x1,   0x09, 0xD} ,
+	    {0x59A, 0x4d2,   0x1,   0x0A, 0xE} ,
+	    {0x59A, 0x4d2,   0x1,   0x0B, 0xF} ,
+	    {0x59A, 0x4d2,   0x1,   0x0C, 0x10},
+	    {0x59A, 0x4d2,   0x1,   0x0D, 0x11},
+	    {0x59A, 0x4d2,   0x1,   0x0E, 0x12},
+	    {0x59A, 0x4d2,   0x1,   0x0F, 0x13},
+	    {0x59A, 0x4d2,   0x1,   0x10, 0x14},
+	    {0x59A, 0x4d2,   0x1,   0x11, 0x15},
+	    {0x59A, 0x4d2,   0x1,   0x12, 0x16},
+	    {0x59A, 0x4d2,   0x1,   0x13, 0x17},
+	    {0x59A, 0x4d2,   0x1,   0x14, 0x18}
+};
+static CO_NMT_STATE_T nodeNMTState_gaen[NMS_CAN_LSS_NODE_COUNT];
+static CO_TIMER_T 	nodeResetTimer_gst;
+/******************************************************************************
+ * Private Function Definition
+ ******************************************************************************/
+
+static RET_T NmsCanOverwriteLoadIndication(uint8 index_u8);
+static void NmsCanLssIndCallback( CO_LSS_MASTER_SERVICE_T service_en, uint16 errorCode_u16, uint8 errorSpec_u8, uint32 *pIdentity_pu32);
+static void NmsCanLssHbMonitorCallback(uint8 nodeID_u8, CO_ERRCTRL_T state_en, CO_NMT_STATE_T nmtState_en);
+static void NmsCanLssResetNodesCallback(void *pData_pv);									/**< callback of reset handler */
+static uint8 NmsCanLssGetNodeIndex(uint8 nodeId_u8);
+static void NmsCanLssToggleMonitorFlag(void *pData_pv);
+static void NmsCanLssNodeHandlerRun(void);
+static uint32 NmsCanLssConfigureNode(uint8 arrIndex_u8);
+static RET_T NmsCanLssSetSdoCobID(uint8 sdoNr_u8, uint8 nodeId_u8);
+/* Supress warnings for implicit declaration.
+ * Need this function for overwriting the manual COB ids
+ * for the TPDO. */
+extern void userOverwriteCobIdSettings(void);
+/******************************************************************************
+ * Extern Function Declarations
+ ******************************************************************************/
+void NmsCanInit()
+{
+	for (uint8 i_u8 = 0u; i_u8 < NMS_CAN_LSS_NODE_COUNT; i_u8++)
+	{
+		nodeNMTState_gaen[i_u8] = CO_NMT_STATE_UNKNOWN;
+	}
+
+	codrvHardwareInit();
+	codrvCanInit(NMS_CAN_CANOPEN_BITRATE);
+
+	/* CANopen Initialization */
+	coCanOpenStackInit(NmsCanOverwriteLoadIndication);
+	codrvTimerSetup(CO_TIMER_INTERVAL);
+	coEventRegister_LSS_MASTER(NmsCanLssIndCallback);
+	coEventRegister_ERRCTRL(NmsCanLssHbMonitorCallback);
+
+	/* Register SDO event handlers */
+	coEventRegister_SDO_CLIENT_READ(EnduranceTestBenchReadInd);
+    coEventRegister_SDO_CLIENT_WRITE(EnduranceTestBenchWriteInd);
+
+	/* enable CAN communication */
+	codrvCanEnable();
+
+	coTimerStart(&monitorTimer_gst, NMS_CAN_APPL_TIMER_TIME, NmsCanLssToggleMonitorFlag, NULL, CO_TIMER_ATTR_ROUNDUP_CYCLIC);
+	//coTimerStart(&nodeResetTimer_gst, (NMS_CAN_LSS_NODE_STATE_RESET_INTERVAL * 1000000uLL), NmsCanLssResetNodesCallback, NULL, CO_TIMER_ATTR_ROUNDUP_CYCLIC);
+	coLssIdentifyNonConfiguredSlaves(NMS_CAN_LSS_CONFIG_TIMEOUT, NMS_CAN_LSS_CONFIG_INTERVAL);
+
+	/* node == 0, the NMT request is sent to all nodes. */
+	coNmtStateReq(0, CO_NMT_STATE_OPERATIONAL, CO_TRUE);
+
+}
+
+
+void NmsCanRun(void)
+{
+	coCommTask();
+
+	/* LSS main runner */
+	NmsCanLssNodeHandlerRun();
+}
+
+
+uint32 NmsCanGetObj_u8(uint16 index_u16, uint8 subIndex_u8, uint8 *pObj_pu8)
+{
+	uint32 error_u32 = NMS_ERR_DEFAULT;
+
+	RET_T retVal_en = coOdGetObj_u8(index_u16, subIndex_u8, pObj_pu8);
+	if ( retVal_en == RET_OK)
+	{
+		error_u32 =  NMS_ERR_NONE;
+	}
+
+	return error_u32;
+}
+
+
+uint32 NmsCanGetObj_u32(uint16 index_u16, uint8 subIndex_u8, uint32 *pObj_pu32)
+{
+	uint32 error_u32 = NMS_ERR_DEFAULT;
+
+	RET_T retVal_en = coOdGetObj_u32(index_u16, subIndex_u8, pObj_pu32);
+	if ( retVal_en == RET_OK)
+	{
+		error_u32 =  NMS_ERR_NONE;
+	}
+
+	return error_u32;
+}
+
+
+uint32 NmsCanGetObj_f32(uint16 index_u16, uint8 subIndex_u8, float32 *pObj_pf32)
+{
+	uint32 error_u32 = NMS_ERR_DEFAULT;
+
+	RET_T retVal_en = coOdGetObj_r32(index_u16, subIndex_u8, pObj_pf32);
+	if ( retVal_en == RET_OK)
+	{
+		error_u32 =  NMS_ERR_NONE;
+	}
+
+	return error_u32;
+}
+
+
+uint32 NmsCanPutObj_u8(uint16 index_u16, uint8 subIndex_u8, uint8 newVal_u8)
+{
+	uint32 error_u32 = NMS_ERR_DEFAULT;
+
+	RET_T retVal_en = coOdPutObj_u8(index_u16, subIndex_u8, newVal_u8);
+	if ( retVal_en == RET_OK)
+	{
+		error_u32 =  NMS_ERR_NONE;
+	}
+
+	return error_u32;
+}
+
+
+uint32 NmsCanPutObj_u16(uint16 index_u16, uint8 subIndex_u8, uint16 newVal_u16)
+{
+	uint32 error_u32 = NMS_ERR_DEFAULT;
+
+	RET_T retVal_en = coOdPutObj_u16(index_u16, subIndex_u8, newVal_u16);
+	if ( retVal_en == RET_OK)
+	{
+		error_u32 =  NMS_ERR_NONE;
+	}
+
+	return error_u32;
+}
+
+
+uint32 NmsCanPutObj_u32(uint16 index_u16, uint8 subIndex_u8, uint32 newVal_u32)
+{
+	uint32 error_u32 = NMS_ERR_DEFAULT;
+
+	RET_T retVal_en = coOdPutObj_u32(index_u16, subIndex_u8, newVal_u32);
+	if ( retVal_en == RET_OK)
+	{
+		error_u32 =  NMS_ERR_NONE;
+	}
+
+	return error_u32;
+}
+
+
+uint32 NmsCanPutObj_f32(uint16 index_u16, uint8 subIndex_u8, uint32 newVal_u32)
+{
+	uint32 error_u32 = NMS_ERR_DEFAULT;
+
+	RET_T retVal_en = coOdPutObj_r32(index_u16, subIndex_u8, newVal_u32);
+	if ( retVal_en == RET_OK)
+	{
+		error_u32 =  NMS_ERR_NONE;
+	}
+
+	return error_u32;
+}
+
+
+bool NmsCanAreAllNodesOperational(void)
+{
+	uint8 operationalNodeNb_u8 = 0u;
+
+    for (uint8 i_u8 = 0u; i_u8 < NMS_CAN_LSS_NODE_COUNT ; i_u8++)
+    {
+        if (nodeNMTState_gaen[i_u8] == CO_NMT_STATE_OPERATIONAL)
+        {
+        	operationalNodeNb_u8++;
+        }
+    }
+
+    return (operationalNodeNb_u8 >= NMS_CAN_MIN_OPERATIONAL_NODES) ? CO_TRUE : CO_FALSE;
+}
+/******************************************************************************
+ * Private Function Definitions
+ ******************************************************************************/
+/**
+ * @brief	Handler for the defined nodes in the network.
+ * 			This function starts the configuration of a node if needed
+ *
+ * @return	void
+ *
+ */
+static void NmsCanLssNodeHandlerRun(void)
+{
+    if (monitorSleep_gb != CO_TRUE)
+    {
+		for (uint8 i_u8 = 0u; i_u8 < NMS_CAN_LSS_NODE_COUNT; i_u8++)
+		{
+			if (nodeNMTState_gaen[i_u8] == CO_NMT_STATE_PREOP || nodeNMTState_gaen[i_u8] == CO_NMT_STATE_UNKNOWN)
+			{
+				NmsCanLssConfigureNode(i_u8);
+			}
+			if (nodeNMTState_gaen[i_u8] == CO_NMT_STATE_OPERATIONAL)
+			{
+				/* Do nothing */
+			}
+		}
+    }
+    monitorSleep_gb = CO_TRUE;
+}
+
+
+/**
+ * @brief	Load function for overwriting the TPDO COB id values.
+ *
+ * @param	index_u8	Subindex parameter to point parameter area(unused)
+ * 			canLine_u8	The canline MASTER or SLAVE
+ *
+ * @return	Error Code
+ */
+static RET_T NmsCanOverwriteLoadIndication(uint8 index_u8)
+{
+    userOverwriteCobIdSettings();
+
+    return RET_OK;
+}
+
+
+/**
+ * @brief	This function is called if a new NMT state of a node,
+ * 			is recordnized by the CANopen stack.
+ *
+ * @param	nodeID_u8	Node id of the node that has registered a change.
+ * 			state_en	Error control state
+ * 			nmtState_en	NMT state of the particular node.
+ *
+ * @return	Array index of the node in the network.
+ *
+ */
+static uint8 NmsCanLssGetNodeIndex(uint8 nodeId_u8)
+{
+	uint8 arrIndex_u8;
+
+	/* find node ID array arrIndex_u8 */
+	for (arrIndex_u8 = 0u; arrIndex_u8 < NMS_CAN_LSS_NODE_COUNT; arrIndex_u8++)
+	{
+		if (nodeId_u8 == nodeLookupTable_gast[arrIndex_u8].nodeId_u8)
+		{
+			return arrIndex_u8;
+		}
+	}
+
+	return NMS_UINT8_MAX;
+}
+
+
+/**
+ * @brief	This function is called when a new NMT state of a node
+ *          is recognized by the CANopen stack.
+ *
+ * @param	canLine_u8	Indicates whether the node is on the MASTER or SLAVE CAN line.
+ * 			pData		Pointer to additional data (unused).
+ */
+static void NmsCanLssToggleMonitorFlag(void *pData_pv)
+{
+	(void)pData_pv;
+
+	/* deactivate application sleep flag */
+	monitorSleep_gb = CO_FALSE;
+}
+
+
+/**
+* @brief	Configure a specific node.
+* 			This function adds the defined node to heartbeat consumers,
+* 			and sets its heartbeat interval.
+*
+* @param	arrIndex_u8	Index of the node in the array which is to be configured.
+*
+* @return	Status of the operation.
+*
+*/
+static uint32 NmsCanLssConfigureNode(uint8 arrIndex_u8)
+{
+    uint32 error_u32 	= NMS_ERR_DEFAULT;
+    RET_T retVal_en		= RET_INTERNAL_ERROR;
+
+    /* Get the node ID from the lookup table using arrIndex_u8 */
+    uint8 nodeId_u8 	= nodeLookupTable_gast[arrIndex_u8].nodeId_u8;
+
+    /* Add node to hb consumers with +25% tolerance
+     * Rationale - Allows some flexibility in detecting timeouts due to minor clock drifts,
+     * bus delays, or transmission issues.*/
+    retVal_en = coHbConsumerSet(nodeId_u8,
+    		((NMS_CAN_LSS_NODE_HB_MS / 100 * 25) + NMS_CAN_LSS_NODE_HB_MS));
+    retVal_en = coHbConsumerStart(nodeId_u8);
+
+    /* setup SDO channel */
+    retVal_en = NmsCanLssSetSdoCobID((arrIndex_u8 + 1), nodeLookupTable_gast[arrIndex_u8].nodeId_u8);
+
+    //retVal_en = coSdoWrite(NmsCan_CANOPEN_MASTER_LINE, (arrIndex_u8 + 1), 0x1017u, 0u, (uint8*)(&nodeHBs[0]), 2u, CO_FALSE, 1000u);
+
+    /* start node */
+    retVal_en = coNmtStateReq(nodeId_u8, CO_NMT_STATE_OPERATIONAL, CO_FALSE);
+    if (retVal_en != RET_OK)
+    {
+    	error_u32 = NMS_LSS_NODE_CONFIG_ERROR;
+    }
+    /* set local state to operational, if not operational yet */
+    if (masterStarted_gb == CO_FALSE)
+    {
+        /* set local state */
+        coNmtLocalStateReq(CO_NMT_STATE_OPERATIONAL);
+
+        /* save started flag */
+        masterStarted_gb = CO_TRUE;
+    }
+
+    return error_u32;
+}
+
+/******************************************************************************
+ * Callback Function Definitions
+ ******************************************************************************/
+/**
+ * @brief	LSS indication function for handling the LSS api calls for dynamic
+ * 			setup of node ids.
+ *
+ * @param	canLine_u8		 The canline MASTER or SLAVE
+ * 			service_en		 LSS master services for indication functions
+ * 			errorCode_u16	 Error code in the module
+ * 			errorSpec_u8	 Specific error case that has occured
+ * 			pIdentity_pu32	 LSS slave identity.
+ *
+ */
+static void NmsCanLssIndCallback(CO_LSS_MASTER_SERVICE_T service_en, uint16 errorCode_u16, uint8 errorSpec_u8, uint32 *pIdentity_pu32)
+{
+    static uint8 matchedIndex_u8 = NMS_UINT8_MAX;
+
+    if (errorCode_u16 != 0u)
+    {
+        if (errorCode_u16 == NMS_UINT16_MAX)
+        {
+        	/* ERROR */
+        }
+        else
+        {
+        	 /* ERROR */
+        }
+
+        if (service_en == CO_LSS_MASTER_SERVICE_STORE)
+        {
+        	 /* DEBUG INFO */
+            coLssSwitchGlobal(CO_LSS_STATE_WAITING);
+        }
+        return;
+    }
+
+    switch (service_en)
+    {
+        case CO_LSS_MASTER_SERVICE_NON_CONFIG_SLAVE:
+        	/* DEBUG INFO */
+            coLssFastScan(NMS_CAN_LSS_TIMEOUT);
+            break;
+
+        case CO_LSS_MASTER_SERVICE_FASTSCAN:
+            /* Match detected node with lookup table */
+            for (uint8 i_u8 = 0; i_u8 < NMS_CAN_LSS_NODE_COUNT; i_u8++)
+            {
+                if (pIdentity_pu32[0] == nodeLookupTable_gast[i_u8].vendorId_u32 &&
+                    pIdentity_pu32[1] == nodeLookupTable_gast[i_u8].productId_u32 &&
+                    pIdentity_pu32[2] == nodeLookupTable_gast[i_u8].versionNbr_u32 &&
+                    pIdentity_pu32[3] == nodeLookupTable_gast[i_u8].serialNbr_u32)
+                {
+                    coLssSwitchSelective(pIdentity_pu32[0], pIdentity_pu32[1],
+                                         pIdentity_pu32[2], pIdentity_pu32[3], 20);
+                    matchedIndex_u8 = i_u8;
+                    break;
+                }
+            }
+            break;
+
+        case CO_LSS_MASTER_SERVICE_SWITCH_SELECTIVE:
+            if (matchedIndex_u8 < NMS_CAN_LSS_NODE_COUNT)
+            {
+                coLssSetNodeId(nodeLookupTable_gast[matchedIndex_u8].nodeId_u8, NMS_CAN_LSS_TIMEOUT);
+                matchedIndex_u8 = NMS_UINT8_MAX;
+            }
+            else
+            {
+            	/* ERROR */
+            }
+            break;
+
+        case CO_LSS_MASTER_SERVICE_SET_NODEID:
+        	/* DEBUG INFO */
+            coLssInquireNodeId(NMS_CAN_LSS_TIMEOUT);
+            break;
+
+        case CO_LSS_MASTER_SERVICE_INQUIRE_NODEID:
+        	/* DEBUG INFO */
+            coLssStoreConfig( 200);
+            break;
+
+        case CO_LSS_MASTER_SERVICE_STORE:
+        	/* DEBUG INFO */
+            coLssSwitchGlobal(CO_LSS_STATE_WAITING);
+            break;
+
+        default:
+        	/* ERROR */
+            break;
+    }
+}
+
+
+/**
+ * @brief	This function is called if a new NMT state of a node,
+ * 			is recordnized by the CANopen stack.
+ *
+ * @param	nodeID_u8	Node id of the node that has registered a change.
+ * 			state_en	Error control state
+ * 			nmtState_en	NMT state of the particular node.
+ *
+ * @return	void
+ *
+ */
+static void NmsCanLssHbMonitorCallback(uint8 nodeID_u8, CO_ERRCTRL_T state_en, CO_NMT_STATE_T nmtState_en)
+{
+	uint8 arrIndex_u8;
+
+	/* look if node is monitored */
+	arrIndex_u8 = NmsCanLssGetNodeIndex(nodeID_u8);
+
+	/* handle monitored node */
+	if (arrIndex_u8 != NMS_UINT16_MAX)
+	{
+		/* save states */
+		nodeNMTState_gaen[arrIndex_u8] = nmtState_en;
+
+		/* indicate if monitored node lost heartbeat */
+		if (nmtState_en == CO_NMT_STATE_UNKNOWN)
+		{
+			/* To be transmitted via CAN */
+			/* ERROR */
+		}
+
+		/* indicate if monitored node sent a bootup message */
+		if (state_en == CO_ERRCTRL_BOOTUP)
+		{
+			/* INFO */
+		}
+
+	/* handle unmonitored node */
+	}
+	else
+	{
+		/* ERROR */
+	}
+}
+
+
+/**
+* @brief	This function tries to reset nodes with unknown NMT state.
+*
+* @param	pData_pv	Data.
+*/
+static void NmsCanLssResetNodesCallback(void *pData_pv)
+{
+	uint8 arrIndex_u8;
+
+	(void)pData_pv;
+
+	/* reset defined nodes without known state */
+	for (arrIndex_u8 = 0u; arrIndex_u8 < NMS_CAN_LSS_NODE_COUNT; arrIndex_u8++)
+	{
+		if ((nodeNMTState_gaen[arrIndex_u8] != CO_NMT_STATE_PREOP) &&
+			(nodeNMTState_gaen[arrIndex_u8] != CO_NMT_STATE_OPERATIONAL))
+		{
+			/* reset node */
+			coNmtStateReq(nodeLookupTable_gast[arrIndex_u8].nodeId_u8, CO_NMT_STATE_RESET_NODE, CO_FALSE);
+		}
+	}
+}
+
+
+/**
+* @brief 		This function configures a SDO client for the
+* 				given node ID and SDO number.
+*
+* @param		sdoNr_u8	Sdo number
+* 				nodeId_u8	Node id of the node.
+*
+* @return		Error state.
+*
+*/
+static RET_T NmsCanLssSetSdoCobID(uint8 sdoNr_u8, uint8 nodeId_u8)
+{
+	uint16 cobIndex_u16;
+	uint32 newCobId_u32;
+	RET_T retVal = RET_INTERNAL_ERROR;
+
+	/* get od index of sdoNr */
+	cobIndex_u16 = NMS_CAN_SDO_PARAM_INDEX + sdoNr_u8 - 1u;
+
+	/* set cobID for client to server direction (request) */
+	newCobId_u32 = NMS_CAN_SDO_RECEIVE + nodeId_u8;
+	retVal = coOdSetCobid(cobIndex_u16, 1u, newCobId_u32);
+
+	if (retVal == RET_OK)
+	{
+		/* set cobID for server to client direction (response) */
+		newCobId_u32 = NMS_CAN_SDO_TRANSMIT + nodeId_u8;
+		retVal = coOdSetCobid(cobIndex_u16, 2u, newCobId_u32);
+	}
+
+	/* print failed setup details */
+	if (retVal != RET_OK)
+	{
+		/* ERROR */
+	}
+
+	return retVal;
+}

EnduranceTestBench/nms_can/nms_can.h

@@ -0,0 +1,124 @@
+/**
+ * @file	   nms_can.h
+ *
+ * @copyright  Nehemis SARL reserves all rights even in the event of industrial
+ *             property rights. We reserve all rights of disposal such as
+ *             copying and passing on to third parties.
+ *
+ * @brief	   CANOpen files abstracted for furthur use in the project.
+ *
+ */
+
+#ifndef NMS_CAN_H_
+#define NMS_CAN_H_
+
+/******************************************************************************
+ * Include Header Files
+ ******************************************************************************/
+#include "nms_types.h"
+#include "co_datatype.h"
+#include "co_nmt.h"
+///******************************************************************************
+// * Macro constant declarations
+// ******************************************************************************/
+//#define NMS_CANOPEN_BITRATE					250u
+///******************************************************************************
+// * Extern Function Declarations
+// ******************************************************************************/
+/**
+ * @brief Initializes the CAN controller and CANopen stack.
+ */
+void NmsCanInit(void);
+
+/**
+ * @brief Runs the CAN communication tasks.
+ *
+ * @param    canLine_u8	 Can line selected.
+ */
+void NmsCanRun(void);
+
+/**
+ * @brief 	Retrieves a 8-bit object from the CANopen object dictionary.
+ *
+ * @param 	index_u16 	The object dictionary index.
+ * 			subIndex_u8 The sub-index of the object.
+ * 			pObj_pu8 	Pointer to store the retrieved object value.
+ * 			canLine_u8	Can line selected.
+ *
+ * @return 	Error code. (NMS_ERR_NONE if successful, or an error code).
+ */
+uint32 NmsCanGetObj_u8(uint16 index_u16, uint8 subIndex_u8, uint8 *pObj_pu8);
+
+/**
+ * @brief 	Retrieves a 32-bit object from the CANopen object dictionary.
+ *
+ * @param 	index_u16 	The object dictionary index.
+ * 			subIndex_u8 The sub-index of the object.
+ * 			pObj_pu8 	Pointer to store the retrieved object value.
+ *
+ * @return 	Error code. (NMS_ERR_NONE if successful, or an error code).
+ */
+uint32 NmsCanGetObj_u32(uint16 index_u16, uint8 subIndex_u8, uint32 *pObj_pu32);
+
+/**
+ * @brief 	Retrieves a float object from the CANopen object dictionary.
+ *
+ * @param 	index_u16 	The object dictionary index.
+ * 			subIndex_u8 The sub-index of the object.
+ * 			pObj_f32 	Pointer to store the retrieved object value.
+ *
+ * @return 	Error code. (NMS_ERR_NONE if successful, or an error code).
+ */
+uint32 NmsCanGetObj_f32(uint16 index_u16, uint8 subIndex_u8, float32 *pObj_pf32);
+
+/**
+ * @brief 	Puts a 8-bit object in the CANopen object dictionary.
+ *
+ * @param 	index_u16 	The object dictionary index.
+ * 			subIndex_u8 The sub-index of the object.
+ * 			newVal_u32 	The new value to be set.
+ *
+ * @return 	Error code. (NMS_ERR_NONE if successful, or an error code).
+ */
+uint32 NmsCanPutObj_u8(uint16 index_u16, uint8 subIndex_u8, uint8 newVal_u8);
+
+/**
+ * @brief 	Puts a 32-bit object in the CANopen object dictionary.
+ *
+ * @param 	index_u16 	The object dictionary index.
+ * 			subIndex_u8 The sub-index of the object.
+ * 			newVal_u16 	The new value to be set.
+ *
+ * @return 	Error code. (NMS_ERR_NONE if successful, or an error code).
+ */
+uint32 NmsCanPutObj_u16(uint16 index_u16, uint8 subIndex_u8, uint16 newVal_u16);
+
+/**
+ * @brief 	Puts a 32-bit object in the CANopen object dictionary.
+ *
+ * @param 	index_u16 	The object dictionary index.
+ * 			subIndex_u8 The sub-index of the object.
+ * 			newVal_u32 	The new value to be set.
+ *
+ * @return 	Error code. (NMS_ERR_NONE if successful, or an error code).
+ */
+uint32 NmsCanPutObj_u32(uint16 index_u16, uint8 subIndex_u8, uint32 newVal_u32);
+
+/**
+ * @brief 	Puts a float object in the CANopen object dictionary.
+ *
+ * @param 	index_u16 	The object dictionary index.
+ * 			subIndex_u8 The sub-index of the object.
+ * 			newVal_u32 	The new value to be set.
+ *
+ * @return 	Error code. (NMS_ERR_NONE if successful, or an error code).
+ */
+uint32 NmsCanPutObj_f32(uint16 index_u16, uint8 subIndex_u8, uint32 newVal_u32);
+
+/**
+ * @brief	Checks if all nodes are in OPERATIONAL state.
+ *
+ * @return	CO_TRUE if all nodes are OPERATIONAL, CO_FALSE otherwise.
+ */
+bool NmsCanAreAllNodesOperational(void);
+#endif /* NMS_CAN_H_ */

EnduranceTestBench/nms_hal/hal_adc.c

@@ -0,0 +1,267 @@
+/**
+ * @file		hal_adc.c
+ * @copyright  	Nehemis SARL reserves all rights even in the event of industrial
+ *             	property rights. We reserve all rights of disposal such as
+ *             	copying and passing on to third parties.
+ *
+ * @brief      	STM HAL layer wrapper class for ADC.
+ *
+ */
+
+/******************************************************************************
+ * Include Header Files
+ ******************************************************************************/
+#include "hal_adc.h"
+
+/* CubeMX */
+#include "adc.h"
+/******************************************************************************
+ * Macro Constant Declarations
+ ******************************************************************************/
+#define HAL_ADC_TIMEOUT		10u /* in milliseconds */
+/******************************************************************************
+ * Module Global Variable Declarations
+ ******************************************************************************/
+static uint32 (*halAdcCallbacks[MAP_HAL_ADC_NUMBER])(void);
+/******************************************************************************
+ * Extern Function Definitions
+ ******************************************************************************/
+void HalAdcCalibrate(MapHalAdcModule_en module_en)
+{
+	uint32 error_u32 = NMS_ERR_DEFAULT;
+	ADC_HandleTypeDef *targetModule_pst;
+
+	error_u32 = MapHalAdcModule(module_en, &targetModule_pst);
+    if (error_u32 == NMS_ERR_NONE)
+    {
+    	HAL_ADCEx_Calibration_Start(targetModule_pst, ADC_SINGLE_ENDED);
+    }
+    else
+    {
+    	/* Handle error */
+    }
+}
+
+
+uint32 HalAdcStart(MapHalAdcModule_en module_en)
+{
+	uint32 error_u32 = NMS_ERR_NONE;
+    HAL_StatusTypeDef halAdcStatus_en = HAL_OK;
+    ADC_HandleTypeDef *targetModule_pst;
+
+    error_u32 = MapHalAdcModule(module_en, &targetModule_pst);
+
+    if (error_u32 == NMS_ERR_NONE)
+    {
+        /* Start the ADC conversion */
+        halAdcStatus_en = HAL_ADC_Start(targetModule_pst);
+
+        switch (halAdcStatus_en)
+        {
+            case HAL_BUSY:      error_u32 = NMS_ERR_BUSY;       break;
+            case HAL_TIMEOUT:   error_u32 = NMS_ERR_TIMEOUT;    break;
+            case HAL_ERROR:     error_u32 = NMS_ERR_INTERNAL;   break;
+            case HAL_OK:        error_u32 = NMS_ERR_NONE;       break;
+            default:            error_u32 = NMS_ERR_UNKNOWN; 	break;
+        }
+    }
+    return error_u32;
+}
+
+
+uint32 HalAdcRead(MapHalAdcModule_en module_en, uint32 *adcValue_pu32)
+{
+	uint32 error_u32 = NMS_ERR_NONE;
+    HAL_StatusTypeDef halAdcStatus_en = HAL_OK;
+    ADC_HandleTypeDef *targetModule_pst;
+
+    error_u32 = MapHalAdcModule(module_en, &targetModule_pst);
+
+    if (error_u32 == NMS_ERR_NONE)
+    {
+        halAdcStatus_en = HAL_ADC_PollForConversion(targetModule_pst, HAL_ADC_TIMEOUT);
+        if (halAdcStatus_en == HAL_OK)
+        {
+            *adcValue_pu32 = HAL_ADC_GetValue(targetModule_pst);
+            return NMS_ERR_NONE;
+        }
+        else
+        {
+            return NMS_ERR_UNKNOWN;
+        }
+    }
+    return error_u32;
+}
+
+
+uint32 HalAdcStop(MapHalAdcModule_en module_en)
+{
+	uint32 error_u32 = NMS_ERR_NONE;
+    HAL_StatusTypeDef halAdcStatus_en = HAL_OK;
+    ADC_HandleTypeDef * targetModule_pst;
+
+    error_u32 = MapHalAdcModule(module_en, &targetModule_pst);
+
+    if(error_u32 == NMS_ERR_NONE)
+    {
+    	halAdcStatus_en = HAL_ADC_Stop(targetModule_pst);
+
+        switch(halAdcStatus_en)
+        {
+			case HAL_BUSY:      error_u32 = NMS_ERR_BUSY;       break;
+			case HAL_TIMEOUT:   error_u32 = NMS_ERR_TIMEOUT;    break;
+			case HAL_ERROR:     error_u32 = NMS_ERR_INTERNAL;   break;
+			case HAL_OK:        error_u32 = NMS_ERR_NONE;       break;
+			default:            error_u32 = NMS_ERR_UNKNOWN; 	break;
+        }
+    }
+    return error_u32;
+}
+
+
+uint32 HalAdcStartDMA(MapHalAdcModule_en module_en, uint32 * pData_u32, uint32 length_u32)
+{
+	uint32 error_u32 = NMS_ERR_NONE;
+    HAL_StatusTypeDef halAdcStatus_en = HAL_OK;
+    ADC_HandleTypeDef * targetModule_pst;
+
+    error_u32 = MapHalAdcModule(module_en, &targetModule_pst);
+
+    if(error_u32 == NMS_ERR_NONE)
+    {
+    	halAdcStatus_en = HAL_ADC_Start_DMA(targetModule_pst, pData_u32, length_u32);
+
+        switch(halAdcStatus_en)
+        {
+			case HAL_BUSY:      error_u32 = NMS_ERR_BUSY;       break;
+			case HAL_TIMEOUT:   error_u32 = NMS_ERR_TIMEOUT;    break;
+			case HAL_ERROR:     error_u32 = NMS_ERR_INTERNAL;   break;
+			case HAL_OK:        error_u32 = NMS_ERR_NONE;       break;
+			default:            error_u32 = NMS_ERR_UNKNOWN; 	break;
+        }
+    }
+    return error_u32;
+}
+
+
+uint32 HalAdcConfigureCallback(MapHalAdcModule_en adcModule_en, uint32 (*callback_pfn)(void))
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+
+    if (adcModule_en < MAP_HAL_ADC_NUMBER )
+    {
+    	halAdcCallbacks[adcModule_en] = callback_pfn;
+        error_u32 = NMS_ERR_NONE;
+    }
+    else
+    {
+        error_u32 = NMS_ERR_UNKNOWN;
+    }
+
+    return error_u32;
+}
+
+
+void HalAdcDeinit(MapHalAdcModule_en adcModule_en)
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+    ADC_HandleTypeDef * targetModule_pst;
+    uint8 index_u8;
+    uint8 startIndex_u8;
+    uint8 iteration_u8 = 1u;		 /* Default to 1 loop iteration (deinit one module) */
+
+    if(adcModule_en == MAP_HAL_ADC_NUMBER)
+    {
+        iteration_u8  = adcModule_en;
+        startIndex_u8 = 0u;
+    }
+    else
+    {
+        iteration_u8 += adcModule_en;
+        startIndex_u8 = adcModule_en;
+    }
+
+    for(index_u8 = startIndex_u8; index_u8 < iteration_u8; index_u8++)
+    {
+        error_u32 = MapHalAdcModule((MapHalAdcModule_en)index_u8, &targetModule_pst);
+        if(error_u32 == NMS_ERR_NONE)
+        {
+            HAL_ADC_DeInit(targetModule_pst);
+        }
+    }
+}
+/******************************************************************************
+ * Callback Function Definitions
+ ******************************************************************************/
+void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc)
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+    MapHalAdcModule_en adcModule_en;
+
+    error_u32 = MapHalAdcCallback(MAP_HAL_ADC_1, &adcModule_en);
+
+    if (error_u32 == NMS_ERR_NONE)
+    {
+        if (adcModule_en < MAP_HAL_ADC_NUMBER)
+        {
+            if (halAdcCallbacks[adcModule_en] != NULL)
+            {
+                halAdcCallbacks[adcModule_en]();
+            }
+            else
+            {
+                error_u32 = NMS_ERR_UNKNOWN;
+            }
+        }
+        else
+        {
+            error_u32 = NMS_ERR_INVALID_MODULE;
+        }
+    }
+    else
+    {
+        error_u32 = NMS_ERR_UNKNOWN;
+    }
+}
+
+void HAL_ADC_ErrorCallback(ADC_HandleTypeDef* hadc)
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+    ADC_HandleTypeDef *targetModule_pst = NULL;
+
+    error_u32 = MapHalAdcModule(MAP_HAL_ADC_1, &targetModule_pst);
+
+    if(error_u32 == NMS_ERR_NONE)
+    {
+        switch(hadc->State)
+        {
+        case HAL_ADC_STATE_RESET:
+        	error_u32 = NMS_ERR_UNKNOWN;
+        	break;
+
+        case HAL_ADC_STATE_BUSY:
+        	error_u32 = NMS_ERR_BUSY;
+            break;
+
+        case HAL_ADC_STATE_TIMEOUT:
+        	error_u32 = NMS_ERR_TIMEOUT;
+            break;
+
+        case HAL_ADC_STATE_ERROR:
+        	error_u32 = NMS_ERR_BUSY;
+        	break;
+
+        case HAL_ADC_STATE_READY:
+        	error_u32 = NMS_ERR_NOT_RUNNING;
+        	break;
+
+        default:
+        	error_u32 = NMS_ERR_UNKNOWN;
+        	break;
+        }
+    }
+    else
+    {
+    	error_u32 = NMS_ERR_UNKNOWN;
+    }
+}

EnduranceTestBench/nms_hal/hal_adc.h

@@ -0,0 +1,108 @@
+/**
+ * @file        hal_adc.h
+ * @copyright   Nehemis SARL reserves all rights even in the event of industrial
+ *              property rights. We reserve all rights of disposal such as
+ *              copying and passing on to third parties.
+ *
+ * @brief       STM HAL ADC wrapper class.
+ */
+
+#ifndef HAL_ADC_H
+#define HAL_ADC_H
+
+/******************************************************************************
+ * Include Header Files
+ ******************************************************************************/
+#include "nms_types.h"
+#include "map_hal.h"
+
+/* CubeMX */
+#include "adc.h"
+
+/******************************************************************************
+ * Typedef
+ ******************************************************************************/
+typedef enum
+{
+    HAL_ADC_SUCCESS = 0U,
+    HAL_ADC_ERROR,
+    HAL_ADC_TIMEOUT
+} HalAdcStatus_ten;
+
+/******************************************************************************
+ * Function Declarations
+ ******************************************************************************/
+/**
+ * @brief  Initializes the ADC hardware interface.
+ *         This function sets up the necessary resources and configurations for the ADC.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+void HalAdcCalibrate(MapHalAdcModule_en module_en);
+
+/**
+ * @brief  Starts the ADC conversion on the specified ADC module.
+ *         This function initiates the conversion process for the given ADC module.
+ *
+ * @param  module_en	The ADC module to be used (based on the system configuration).
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 HalAdcStart(MapHalAdcModule_en module_en);
+
+/**
+ * @brief   Reads the ADC value from the specified ADC module.
+ *
+ * @param   module_en		The ADC module to read from.
+ * 			adcValue_pu32	Pointer to store the ADC value.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 HalAdcRead(MapHalAdcModule_en module_en, uint32 *adcValue_pu32);
+
+/**
+ * @brief  Stops the ADC conversion for the specified ADC module.
+ *
+ * @param  module_en	The ADC module to stop.
+ *
+ * @return uint32_t: Status of the ADC stop operation.
+ */
+uint32 HalAdcStop(MapHalAdcModule_en module_en);
+
+/**
+ * @brief   Reads the ADC value in DMA mode
+ *
+ * @param   module_en		The ADC module to read from.
+ * 			pData_u32	    Pointer to store the ADC value.
+ * 			length_u32		Length of data.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 HalAdcStartDMA(MapHalAdcModule_en module_en, uint32 * pData_u32, uint32 length_u32);
+
+/**
+ * @brief  Deinitializes the specified ADC module.
+ *         This function frees up the resources associated with the ADC module
+ *         and prepares it for shutdown or reconfiguration.
+ *
+ * @param  adcModule_en		The ADC module to deinitialize.
+ *
+ * @return None
+ */
+void HalAdcDeinit(MapHalAdcModule_en adcModule_en);
+
+/**
+ * @brief  Configures a callback function for ADC conversion completion.
+ *         This function registers a callback function that will be called
+ *         once the ADC conversion is completed.
+ *
+ * @param  adcModule_en		The ADC module to configure the callback for.
+ *         callback_pfn     Pointer to the callback function that will be called
+ *                          after the ADC conversion is complete.
+ *                          The callback should return a `uint32` value.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 HalAdcConfigureCallback(MapHalAdcModule_en adcModule_en, uint32 (*callback_pfn)(void));
+
+#endif /* HAL_ADC_H */

EnduranceTestBench/nms_hal/hal_gpio.c

@@ -0,0 +1,331 @@
+/**
+ * @file	   hal_gpio.c
+ *
+ * @copyright  Nehemis SARL reserves all rights even in the event of industrial
+ *             property rights. We reserve all rights of disposal such as
+ *             copying and passing on to third parties.
+ *
+ * @brief	   HAL layer for the GPIO module.
+ *
+ */
+
+/******************************************************************************
+ * Include Header Files
+ ******************************************************************************/
+#include "map_hal.h"
+#include "hal_gpio.h"
+
+/* CubeMX */
+#include "gpio.h"
+
+/******************************************************************************
+ * Macro constant declarations
+ ******************************************************************************/
+#define HAL_GET_GPIO_OUTPUT_TYPE(port, pin) \
+    ((((port)->OTYPER & (OUTPUT_TYPE << (pin))) == 0) ? GPIO_MODE_OUTPUT_PP : GPIO_MODE_OUTPUT_OD)
+
+
+#define HAL_GPIO_GET_INTERRUPT_INPUT_MODE(port, pin) \
+    (((((port)->MODER >> ((pin) * 2)) & 0x3) == GPIO_MODE_IT_RISING) || \
+     ((((port)->MODER >> ((pin) * 2)) & 0x3) == GPIO_MODE_IT_FALLING) || \
+     ((((port)->MODER >> ((pin) * 2)) & 0x3) == GPIO_MODE_IT_RISING_FALLING))
+
+#define HAL_GPIO_MODE_MASK  (0x3u)
+
+/******************************************************************************
+ * Type declarations
+ ******************************************************************************/
+
+
+/******************************************************************************
+ * Module Global Variable Declarations
+ ******************************************************************************/
+static uint32 (*halGpioCallbacks[MAP_HAL_GPIO_NUMBER])(HalGpioEdgeType_en);
+
+/******************************************************************************
+ * Static Function Declarations
+ ******************************************************************************/
+
+/******************************************************************************
+ * Extern Function Definition
+ ******************************************************************************/
+uint32 HalGpioInit(void)
+{
+    return NMS_ERR_NONE;
+}
+
+
+uint32 HalGpioRead( MapHalGpioPin_en pin_en, HalGpioState_en * state_pen )
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+    uint16 targetPin_u16;
+    GPIO_TypeDef* targetPort_pst = NULL;
+
+    error_u32 = MapHalGpio(pin_en, &targetPin_u16, &targetPort_pst);
+
+    if(error_u32 == NMS_ERR_NONE)
+    {
+        *state_pen = (HAL_GPIO_ReadPin(targetPort_pst, targetPin_u16) == GPIO_PIN_SET)
+                                ? HAL_GPIO_STATE_HIGH
+                                : HAL_GPIO_STATE_LOW;
+    }
+    else
+    {
+        *state_pen = HAL_GPIO_STATE_UNKNOWN;
+        error_u32 = NMS_ERR_UNEXPECTED;
+    }
+
+    return error_u32;
+}
+
+
+uint32 HalGpioWrite( MapHalGpioPin_en pin_en, HalGpioState_en state_en )
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+    uint16 targetPin_u16;
+    GPIO_TypeDef* targetPort_pst = NULL;
+
+    error_u32 = MapHalGpio(pin_en, &targetPin_u16, &targetPort_pst);
+
+    if(error_u32 == NMS_ERR_NONE)
+    {
+        uint32 outpuType_u32 = HAL_GET_GPIO_OUTPUT_TYPE(targetPort_pst, pin_en);
+
+        if(outpuType_u32 == GPIO_MODE_OUTPUT_PP || outpuType_u32 == GPIO_MODE_OUTPUT_OD)
+        {
+            switch (state_en)
+            {
+            case HAL_GPIO_STATE_HIGH:
+                HAL_GPIO_WritePin(targetPort_pst, targetPin_u16, GPIO_PIN_SET);		break;
+
+            case HAL_GPIO_STATE_LOW:
+                HAL_GPIO_WritePin(targetPort_pst, targetPin_u16, GPIO_PIN_RESET);	break;
+
+            default:
+                error_u32 = NMS_ERR_UNKNOWN;										break;
+            }
+        }
+
+        HalGpioState_en  activeState_en = (HAL_GPIO_ReadPin(targetPort_pst, targetPin_u16) == GPIO_PIN_SET)
+                                          ? HAL_GPIO_STATE_HIGH
+                                          : HAL_GPIO_STATE_LOW;
+        if(activeState_en != state_en)
+        {
+            error_u32 = NMS_ERR_INVALID_CONFIG;
+        }
+
+    }
+    else
+    {
+        error_u32 = NMS_ERR_UNEXPECTED;
+    }
+
+    return error_u32;
+}
+
+
+uint32 HalGpioToggle( MapHalGpioPin_en pin_en )
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+    uint16 targetPin_u16;
+    GPIO_TypeDef* targetPort_pst = NULL;
+
+    error_u32 = MapHalGpio(pin_en, &targetPin_u16, &targetPort_pst);
+
+    if(error_u32 == NMS_ERR_NONE)
+    {
+        uint32 outpuType_u32 = HAL_GET_GPIO_OUTPUT_TYPE(targetPort_pst, targetPin_u16);
+
+        if(outpuType_u32 == GPIO_MODE_OUTPUT_PP || outpuType_u32 == GPIO_MODE_OUTPUT_OD)
+        {
+            HAL_GPIO_TogglePin(targetPort_pst, targetPin_u16);
+        }
+    }
+    else
+    {
+        error_u32 = NMS_ERR_UNEXPECTED;
+    }
+
+    return error_u32;
+}
+
+
+uint32 HalGpioReConfigure( MapHalGpioPin_en pin_en, HalGpioType_en type_en )
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+    uint16 targetPin_u16;
+    GPIO_TypeDef* targetPort_pst = NULL;
+    GPIO_InitTypeDef gpioInit_st = {0};
+
+    error_u32 = MapHalGpio(pin_en, &targetPin_u16, &targetPort_pst);
+
+    if(error_u32 == NMS_ERR_NONE)
+    {
+        gpioInit_st.Pin   = targetPin_u16;
+
+        switch(type_en)
+        {
+            case HAL_GPIO_INPUT:
+                gpioInit_st.Mode             = GPIO_MODE_INPUT;
+                gpioInit_st.Pull             = GPIO_NOPULL;
+                error_u32                    = NMS_ERR_NONE;
+                break;
+
+            case HAL_GPIO_OUTPUT_PUSH_PULL_UP:
+                gpioInit_st.Mode             = GPIO_MODE_OUTPUT_PP;
+                gpioInit_st.Pull             = GPIO_PULLUP;
+                error_u32                    = NMS_ERR_NONE;
+                break;
+
+            case HAL_GPIO_OUTPUT_PUSH_PULL_DOWN:
+                gpioInit_st.Mode             = GPIO_MODE_OUTPUT_PP;
+                gpioInit_st.Pull             = GPIO_PULLDOWN;
+                error_u32                    = NMS_ERR_NONE;
+                break;
+
+            case HAL_GPIO_OUTPUT_PUSH_PULL_FREE:
+                gpioInit_st.Mode             = GPIO_MODE_OUTPUT_PP;
+                gpioInit_st.Pull             = GPIO_NOPULL;
+                error_u32                    = NMS_ERR_NONE;
+                break;
+
+            case HAL_GPIO_OUTPUT_OPEN_DRAIN_UP:
+                gpioInit_st.Mode             = GPIO_MODE_OUTPUT_OD;
+                gpioInit_st.Pull             = GPIO_PULLUP;
+                error_u32                    = NMS_ERR_NONE;
+                break;
+
+            case HAL_GPIO_OUTPUT_OPEN_DRAIN_FREE:
+                gpioInit_st.Mode             = GPIO_MODE_OUTPUT_OD;
+                gpioInit_st.Pull             = GPIO_NOPULL;
+                error_u32                    = NMS_ERR_NONE;
+                break;
+
+            case HAL_GPIO_ISR_RISING:
+                gpioInit_st.Mode             = GPIO_MODE_IT_RISING;
+                gpioInit_st.Pull             = GPIO_NOPULL;
+                error_u32                    = NMS_ERR_NONE;
+                break;
+
+            case HAL_GPIO_ISR_FALLING:
+                gpioInit_st.Mode             = GPIO_MODE_IT_FALLING;
+                gpioInit_st.Pull             = GPIO_NOPULL;
+                error_u32                    = NMS_ERR_NONE;
+                break;
+
+            default: /* HAL_GPIO_ALTERNATE or unknown state. */
+                error_u32 = NMS_ERR_INVALID_ARGUMENT;
+                break;
+        }
+    }
+
+    else
+    {
+        error_u32 = NMS_ERR_UNEXPECTED;
+    }
+
+    /* Deploy hardware modification. */
+    if(error_u32 == NMS_ERR_NONE)
+    {
+        HAL_GPIO_DeInit(targetPort_pst, targetPin_u16);
+        HAL_GPIO_Init(targetPort_pst, &gpioInit_st);
+    }
+
+    return error_u32;
+}
+
+
+uint32 HalGpioSetCallback( MapHalGpioPin_en pin_en, uint32 (*callback_pfn)(HalGpioEdgeType_en edge_en))
+{
+    uint32 error_u32 = NMS_ERR_NONE;
+
+    /* Ideal values of edge are 0 or 1 for now */
+    if ((pin_en < MAP_HAL_GPIO_NUMBER) && (callback_pfn != NULL))
+    {
+#ifdef DEBUG_ISSUE_EXTI_GPIO
+        /* The check is always false. The configuration of interruption is not set in the GPIO settings, but in EXTI setttings.
+         * This part of code need to be update to correct this feature (check the pin wanted is in interruption mode).
+         * mbarth
+         */
+        GPIO_TypeDef* targetPort_pst = NULL;
+        uint32 moder_u32 = HAL_GPIO_GET_INTERRUPT_INPUT_MODE(targetPort_pst, pin_en);
+
+        if ((moder_u32 == GPIO_MODE_IT_RISING) || (moder_u32 == GPIO_MODE_IT_FALLING) || (moder_u32 == GPIO_MODE_IT_RISING_FALLING))
+#endif
+        {
+            halGpioCallbacks[pin_en] = callback_pfn;
+        }
+    }
+    else
+    {
+        error_u32 = NMS_ERR_UNEXPECTED;
+    }
+
+    return error_u32;
+}
+
+/******************************************************************************
+ * Static Function Definitions
+ ******************************************************************************/
+
+/******************************************************************************
+ * Callback Function Definitions
+ ******************************************************************************/
+/**
+ * @brief      CubeMX GPIO  callback
+ *
+ * @param[in]  GPIO_Pin     The GPIO pin on which the interrupt occurs
+ *
+ */
+void HAL_GPIO_EXTI_Rising_Callback( uint16 GPIO_Pin )
+{
+    uint32 error_u32 = NMS_ERR_NONE;
+    MapHalGpioPin_en mappedPin_en;
+
+    error_u32 = MapHalGpioCallback(GPIO_Pin, &mappedPin_en);
+
+    if ((error_u32 == NMS_ERR_NONE) && (halGpioCallbacks[mappedPin_en] != NULL))
+    {
+        halGpioCallbacks[mappedPin_en](HAL_GPIO_EDGE_RISING);
+    }
+}
+
+
+/**
+ * @brief      CubeMX GPIO falling callback
+ *
+ * @param[in]  GPIO_Pin     The GPIO pin on which the interrupt occurs
+ *
+ */
+void HAL_GPIO_EXTI_Falling_Callback( uint16 GPIO_Pin )
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+    MapHalGpioPin_en mappedPin_en;
+
+    error_u32 = MapHalGpioCallback(GPIO_Pin, &mappedPin_en);
+
+    if ((error_u32 == NMS_ERR_NONE) && (halGpioCallbacks[mappedPin_en] != NULL))
+    {
+        halGpioCallbacks[mappedPin_en](HAL_GPIO_EDGE_FALLING);
+    }
+}
+
+
+/**
+ * @brief      CubeMX GPIO callback
+ *
+ * @param[in]  GPIO_Pin     The GPIO pin on which the interrupt occurs
+ *
+ */
+void HAL_GPIO_EXTI_Callback( uint16 GPIO_Pin )
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+    MapHalGpioPin_en mappedPin_en;
+
+    error_u32 = MapHalGpioCallback(GPIO_Pin, &mappedPin_en);
+
+    if ((error_u32 == NMS_ERR_NONE) && (halGpioCallbacks[mappedPin_en] != NULL))
+    {
+        halGpioCallbacks[mappedPin_en](HAL_GPIO_EDGE_NONE);  /* Default value set for now*/
+    }
+}

EnduranceTestBench/nms_hal/hal_gpio.h

@@ -0,0 +1,120 @@
+/**
+ * @file	   hal_gpio.c
+ *
+ * @copyright  Nehemis SARL reserves all rights even in the event of industrial
+ *             property rights. We reserve all rights of disposal such as
+ *             copying and passing on to third parties.
+ *
+ * @brief	   HAL layer for the GPIO module.
+ *
+ */
+
+
+#ifndef HAL_TIMER_H_
+#define HAL_TIMER_H_
+
+/******************************************************************************
+ * Include Header Files
+ ******************************************************************************/
+#include "nms_types.h"
+#include "map_hal.h"
+
+/******************************************************************************
+ * Type declarations
+ ******************************************************************************/
+typedef enum
+{
+    HAL_GPIO_STATE_UNKNOWN = 0U,
+    HAL_GPIO_STATE_LOW,
+    HAL_GPIO_STATE_HIGH,
+} HalGpioState_en; /**< Enumeration used to analyze the gpio state. */
+
+typedef enum {
+    HAL_GPIO_EDGE_NONE = 0U,
+    HAL_GPIO_EDGE_RISING,
+    HAL_GPIO_EDGE_FALLING,
+    HAL_GPIO_EDGE_RISING_AND_FALLING
+} HalGpioEdgeType_en;  /**< Enumeration used to analyze the edge of interrupt. */
+
+typedef enum
+{
+    HAL_GPIO_INPUT = 0U,
+    HAL_GPIO_OUTPUT_PUSH_PULL_UP,
+    HAL_GPIO_OUTPUT_PUSH_PULL_DOWN,
+    HAL_GPIO_OUTPUT_PUSH_PULL_FREE,
+    HAL_GPIO_OUTPUT_OPEN_DRAIN_UP,
+    HAL_GPIO_OUTPUT_OPEN_DRAIN_FREE,
+    HAL_GPIO_ISR_RISING,
+    HAL_GPIO_ISR_FALLING,
+    HAL_GPIO_ALTERNATE
+} HalGpioType_en; /**< Enumeration used to analyze the gpio function type. */
+
+/******************************************************************************
+ * Extern Function Declarations
+ ******************************************************************************/
+/**
+ * @brief   Initializes and configures GPIO input/output pins.
+ *
+ * @note    Output pins are set to predefined states during initialization.
+ *
+ * @return  Pin state: HIGH, LOW, or UNKNOWN.
+ */
+uint32 HalGpioInit(void);
+
+/**
+ * @brief   Reads the state of a GPIO input pin.
+ *
+ * @param   pin_en      GPIO pin selection.
+ * 		    state_pen   Pointer to store the read pin state.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 HalGpioRead(MapHalGpioPin_en pin_en, HalGpioState_en *state_pen);
+
+/**
+ * @brief   Sets the state of a GPIO output pin.
+ *
+ * @param   pin_en      GPIO pin selection.
+ *			state_pen   Desired GPIO pin state.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 HalGpioWrite(MapHalGpioPin_en pin_en, HalGpioState_en state_pen);
+
+/**
+ * @brief   Toggles the state of a GPIO pin.
+ *
+ * @param   pin_en  GPIO pin selection.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 HalGpioToggle(MapHalGpioPin_en pin_en);
+
+/**
+ * @brief   Reconfigures the properties of a GPIO pin.
+ *
+ * @param   pin_en   GPIO pin selection.
+ *			type_en  GPIO pin type.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ *
+ * @warning GPIO speed modification is not supported in this driver version.
+ *          Future updates may include support for this feature.
+ */
+uint32 HalGpioReConfigure(MapHalGpioPin_en pin_en, HalGpioType_en type_en);
+
+/**
+ * @brief   Assigns a callback function for GPIO interrupt events.
+ *
+ * @param   pin_en         GPIO pin selection.
+ *			callback_pfn   Pointer to the callback function.
+ *			edge_en        Interrupt trigger edge:
+ *                         - 1 for Rising Edge
+ *                         - 0 for Falling Edge (Consider using an enum for clarity).
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 HalGpioSetCallback(MapHalGpioPin_en pin_en, uint32 (*callback_pfn)(HalGpioEdgeType_en edge_en));
+
+
+#endif /* HAL_GPIO_H_ */

EnduranceTestBench/nms_hal/hal_i2c.c

@@ -0,0 +1,97 @@
+/******************************************************************************
+ * @file        hal_i2c.c
+ * @copyright   Nehemis SARL reserves all rights even in the event of industrial
+ *              property rights. We reserve all rights of disposal such as
+ *              copying and passing on to third parties.
+ *
+ * @brief       STM HAL layer wrapper class for I2C.
+ *
+ ******************************************************************************/
+
+/******************************************************************************
+ * Include Header Files
+ ******************************************************************************/
+#include "hal_i2c.h"
+
+/* CubeMX */
+#include "i2c.h"
+
+/******************************************************************************
+ * Function Definitions
+ ******************************************************************************/
+uint32 HalI2CInit(void)
+{
+    return NMS_ERR_NONE;
+}
+
+
+uint32 HalI2CWrite(MapHalI2cModule_en module_en, uint16 devAddr_u16, uint16 memAddr_u16, uint16 memAddrSize_u16, uint8 *pData_pu8, uint16 size_u16)
+{
+    uint32 error_u32 = NMS_ERR_NONE;
+    HAL_StatusTypeDef halStatus_en = HAL_OK;
+    I2C_HandleTypeDef *targetModule_pst;
+
+    error_u32 = MapHalI2cModule(module_en, &targetModule_pst);
+    if (error_u32 == NMS_ERR_NONE)
+    {
+        halStatus_en = HAL_I2C_Mem_Write(targetModule_pst, devAddr_u16, memAddr_u16, memAddrSize_u16, pData_pu8, size_u16, HAL_MAX_DELAY);
+
+        switch (halStatus_en)
+        {
+            case HAL_BUSY:      error_u32 = NMS_ERR_BUSY;       break;
+            case HAL_TIMEOUT:   error_u32 = NMS_ERR_TIMEOUT;    break;
+            case HAL_ERROR:     error_u32 = NMS_ERR_INTERNAL;   break;
+            case HAL_OK:        error_u32 = NMS_ERR_NONE;       break;
+            default:            error_u32 = NMS_ERR_UNKNOWN;    break;
+        }
+    }
+    return error_u32;
+}
+
+
+uint32 HalI2CRead(MapHalI2cModule_en module_en, uint16 devAddr_u16, uint16 memAddr_u16, uint16 memAddrSize_u16, uint8 *pData_pu8, uint16 size_u16)
+{
+    uint32 error_u32 = NMS_ERR_NONE;
+    HAL_StatusTypeDef halStatus_en = HAL_OK;
+    I2C_HandleTypeDef *targetModule_pst;
+
+    error_u32 = MapHalI2cModule(module_en, &targetModule_pst);
+    if (error_u32 == NMS_ERR_NONE)
+    {
+        halStatus_en = HAL_I2C_Mem_Read(targetModule_pst, devAddr_u16, memAddr_u16, memAddrSize_u16, pData_pu8, size_u16, HAL_MAX_DELAY);
+
+        switch (halStatus_en)
+        {
+            case HAL_BUSY:      error_u32 = NMS_ERR_BUSY;       break;
+            case HAL_TIMEOUT:   error_u32 = NMS_ERR_TIMEOUT;    break;
+            case HAL_ERROR:     error_u32 = NMS_ERR_INTERNAL;   break;
+            case HAL_OK:        error_u32 = NMS_ERR_NONE;       break;
+            default:            error_u32 = NMS_ERR_UNKNOWN;    break;
+        }
+    }
+    return error_u32;
+}
+
+
+uint32 HalI2CMasterTransmit(MapHalI2cModule_en module_en, uint16 devAddr_u16, uint8 *pData_pu8, uint16 size_u16)
+{
+    uint32 error_u32 = NMS_ERR_NONE;
+    HAL_StatusTypeDef halStatus_en = HAL_OK;
+    I2C_HandleTypeDef *targetModule_pst;
+
+    error_u32 = MapHalI2cModule(module_en, &targetModule_pst);
+    if (error_u32 == NMS_ERR_NONE)
+    {
+        halStatus_en = HAL_I2C_Master_Transmit(targetModule_pst, devAddr_u16, pData_pu8, size_u16, HAL_MAX_DELAY);
+
+        switch (halStatus_en)
+        {
+            case HAL_BUSY:      error_u32 = NMS_ERR_BUSY;       break;
+            case HAL_TIMEOUT:   error_u32 = NMS_ERR_TIMEOUT;    break;
+            case HAL_ERROR:     error_u32 = NMS_ERR_INTERNAL;   break;
+            case HAL_OK:        error_u32 = NMS_ERR_NONE;       break;
+            default:            error_u32 = NMS_ERR_UNKNOWN;    break;
+        }
+    }
+    return error_u32;
+}

EnduranceTestBench/nms_hal/hal_i2c.h

@@ -0,0 +1,77 @@
+/******************************************************************************
+ * @file        hal_i2c.h
+ * @copyright   Nehemis SARL reserves all rights even in the event of industrial
+ *              property rights. We reserve all rights of disposal such as
+ *              copying and passing on to third parties.
+ *
+ * @brief       STM HAL layer wrapper class for I2C.
+ *
+ ******************************************************************************/
+
+#ifndef HAL_I2C_H
+#define HAL_I2C_H
+
+/******************************************************************************
+ * Include Header Files
+ ******************************************************************************/
+#include "map_hal.h"
+#include "nms_types.h"
+#include "stdint.h"
+#include "i2c.h"
+/******************************************************************************
+ * Function Prototypes
+ ******************************************************************************/
+/**
+ * @brief  Initializes the I2C hardware interface.
+ *         This function configures the necessary resources and sets up the
+ *         I2C hardware to prepare it for use.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 HalI2CInit(void);
+
+/**
+ * @brief   Reads data from a specific memory address on an I2C device.
+ *          This function sends a memory read request to the I2C device and
+ *          stores the received data in a provided buffer.
+ *
+ * @param   module_en		The I2C module to be used (depends on the system configuration).
+ *			devAddr_u16		The 7-bit address of the I2C device.
+ *          memAddr_u16		The memory address within the I2C device to read from.
+ * 			memAddrSize_u16	The size of the memory address (e.g., 8-bit, 16-bit).
+ *			pData_pu8		Pointer to the buffer where the read data will be stored.
+ *			size_u16		Number of bytes to read.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 HalI2CRead(MapHalI2cModule_en module_en, uint16 devAddr_u16, uint16 memAddr_u16, uint16 memAddrSize_u16, uint8 *pData_pu8, uint16 size_u16);
+
+/**
+ * @brief  Writes data to a specific memory address on an I2C device.
+ *         This function sends a memory write request to the I2C device to
+ *         write data from the provided buffer to the device's memory.
+ *
+ * @param   module_en		The I2C module to be used (depends on the system configuration).
+ *			devAddr_u16		The 7-bit address of the I2C device.
+ *          memAddr_u16		The memory address within the I2C device to read from.
+ * 			memAddrSize_u16	The size of the memory address (e.g., 8-bit, 16-bit).
+ *			pData_pu8		Pointer to the buffer where the read data will be stored.
+ *			size_u16		Number of bytes to write.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 HalI2CWrite(MapHalI2cModule_en module_en, uint16 devAddr_u16, uint16 memAddr_u16, uint16 memAddrSize_u16, uint8 *pData_pu8, uint16 size_u16);
+
+/**
+ * @brief   Transmits in master mode an amount of data in blocking mode.
+ *
+ * @param   module_en		The I2C module to be used (depends on the system configuration).
+ *			devAddr_u16		The 7-bit address of the I2C device.
+ *			pData_pu8		Pointer to the buffer where the read data will be stored.
+ *			size_u16		Number of bytes to write.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 HalI2CMasterTransmit(MapHalI2cModule_en module_en, uint16 devAddr_u16, uint8 *pData_pu8, uint16 size_u16);
+
+#endif /* HAL_I2C_H */

EnduranceTestBench/nms_hal/hal_system.c

@@ -21,6 +21,7 @@
  * Include Header Files
  ******************************************************************************/
 #include "hal_system.h"
+#include "string.h"
 
 /* cubeMX */
 #include "main.h"
@@ -143,7 +144,7 @@ uint32 HalSystemGetResetCause( HalSystemResetCauseEn resetCauseSelector_en, uint
 
     if (causes_pu32 == NULL)
     {
-        error_u32 = NMS_ERR_NULL_POINTER;
+        error_u32 = NMS_ERR_INVALID_POINTER;
     }
     else
     {

EnduranceTestBench/nms_hal/hal_timer.c

@@ -0,0 +1,548 @@
+/**
+ * @file	   hal_timer.c
+ *
+ * @copyright  Nehemis SARL reserves all rights even in the event of industrial
+ *             property rights. We reserve all rights of disposal such as
+ *             copying and passing on to third parties.
+ *
+ * @brief	   HAL layer for the TIMER module.
+ *
+ */
+
+/******************************************************************************
+ * Include Header Files
+ ******************************************************************************/
+#include "map_hal.h"
+#include "hal_timer.h"
+
+/* CubeMX */
+#include "tim.h"
+
+/******************************************************************************
+ * Macro constant declarations
+ ******************************************************************************/
+#define HAL_TIMER_SEC_TO_MSEC        1000000uLL      /**< Number of microseconds within a second */
+
+/******************************************************************************
+ * Type declarations
+ ******************************************************************************/
+typedef struct
+{
+    uint64 timerPeriod_u64;
+    uint64 downCounter_u64;
+} HalTimerInstance_tst;
+
+/******************************************************************************
+ * Module Global Variable Declarations
+ ******************************************************************************/
+static HalTimerInstance_tst instance_gast[MAP_HAL_TIMER_NUMBER] = {0};
+static void (*halTimerCallbacks[MAP_HAL_TIMER_NUMBER])(void);
+
+
+/******************************************************************************
+ * Static Function Declarations
+ ******************************************************************************/
+static uint32 HalTimerComputeTimerPeriod(MapHalTimerModule_en timerModule_en, uint64 * timerPeriod_u64);
+
+/******************************************************************************
+ * Extern Function Definition
+ ******************************************************************************/
+uint32 HalTimerInit(void)
+{
+    uint32 error_u32 = NMS_ERR_NONE;
+
+    for(uint8 i_u8 = 0u; i_u8 < MAP_HAL_TIMER_NUMBER; i_u8++)
+    {
+        uint64 timerPeriod_u64 = 0uLL;
+        error_u32 = HalTimerComputeTimerPeriod((MapHalTimerModule_en)(i_u8), &timerPeriod_u64);
+
+        if (error_u32 == NMS_ERR_NONE)
+        {
+            instance_gast[i_u8].timerPeriod_u64 = timerPeriod_u64;
+            instance_gast[i_u8].downCounter_u64 = 0uLL;
+        }
+    }
+
+    return error_u32;
+}
+
+
+uint32_t HalTimerGetCounter(MapHalTimerModule_en timerModule_en)
+{
+    TIM_HandleTypeDef *targetModule_pst = NULL;
+
+    /* Get the timer handle using MapHalTimerModule */
+    if (MapHalTimerModule(timerModule_en, &targetModule_pst) != NMS_ERR_NONE || targetModule_pst == NULL)
+    {
+        return 0;
+    }
+
+    return (uint32)(targetModule_pst->Instance->CNT);
+}
+
+
+void HalTimerSetCounter(MapHalTimerModule_en timerModule_en, uint32 counter_u32)
+{
+    TIM_HandleTypeDef *targetModule_pst = NULL;
+
+    if (MapHalTimerModule(timerModule_en, &targetModule_pst) != NMS_ERR_NONE || targetModule_pst == NULL)
+    {
+        return;
+    }
+
+    targetModule_pst->Instance->CNT = counter_u32;
+}
+
+
+void HalTimerSetCompare(MapHalTimerModule_en timerModule_en, uint32 channel_u32, uint32 compareValue_32)
+{
+    TIM_HandleTypeDef *targetModule_pst = NULL;
+
+    if (MapHalTimerModule(timerModule_en, &targetModule_pst) != NMS_ERR_NONE || targetModule_pst == NULL)
+    {
+        /* Handle the error (e.g., log it or return early) */
+        return;
+    }
+    switch (channel_u32)
+    {
+        case TIM_CHANNEL_1:
+            targetModule_pst->Instance->CCR1 = compareValue_32;  break;
+
+        case TIM_CHANNEL_2:
+            targetModule_pst->Instance->CCR2 = compareValue_32;  break;
+
+        case TIM_CHANNEL_3:
+            targetModule_pst->Instance->CCR3 = compareValue_32;  break;
+
+        case TIM_CHANNEL_4:
+            targetModule_pst->Instance->CCR4 = compareValue_32;  break;
+
+        #ifdef TIM_CHANNEL_5
+        case TIM_CHANNEL_5:
+            targetModule_pst->Instance->CCR5 = compareValue_32;  break;
+        #endif
+
+        #ifdef TIM_CHANNEL_6
+        case TIM_CHANNEL_6:
+            targetModule_pst->Instance->CCR6 = compareValue_32;  break;
+        #endif
+
+        default:
+            /* Invalid channel case (log or handle the error) */
+            break;
+    }
+}
+
+
+uint32 HalTimerGetAutoReload(MapHalTimerModule_en timerModule_en)
+{
+    TIM_HandleTypeDef *targetModule_pst = NULL;
+
+    if (MapHalTimerModule(timerModule_en, &targetModule_pst) != NMS_ERR_NONE || targetModule_pst == NULL)
+    {
+        /* Error */
+    }
+
+    return (uint32)(targetModule_pst->Instance->ARR);
+}
+
+
+
+uint32 HalTimerEncoderStart(MapHalTimerModule_en timerModule_en)
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+
+    HAL_StatusTypeDef halTimerStatus_en = NMS_ERR_NONE;
+    TIM_HandleTypeDef * targetModule_pst;
+
+    error_u32 = MapHalTimerModule(timerModule_en, &targetModule_pst);
+
+    if(error_u32 == NMS_ERR_NONE)
+    {
+        /* Start the requested timer */
+        halTimerStatus_en = HAL_TIM_Encoder_Start(targetModule_pst, TIM_CHANNEL_ALL);
+
+        switch(halTimerStatus_en)
+        {
+            case HAL_BUSY:      error_u32 = NMS_ERR_BUSY;		break;
+            case HAL_TIMEOUT:   error_u32 = NMS_ERR_TIMEOUT;    break;
+            case HAL_ERROR:   	error_u32 = NMS_ERR_UNKNOWN;    break;
+            case HAL_OK:      	error_u32 = NMS_ERR_NONE;       break;
+            default:            error_u32 = NMS_ERR_UNKNOWN;	break;
+        }
+    }
+
+    return error_u32;
+}
+
+
+uint32 HalTimerEncoderStop(MapHalTimerModule_en timerModule_en)
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+
+    HAL_StatusTypeDef halTimerStatus_en = NMS_ERR_NONE;
+    TIM_HandleTypeDef * targetModule_pst;
+
+    error_u32 = MapHalTimerModule(timerModule_en, &targetModule_pst);
+
+    if(error_u32 == NMS_ERR_NONE)
+    {
+        /* Start the requested timer */
+        halTimerStatus_en = HAL_TIM_Encoder_Stop(targetModule_pst, TIM_CHANNEL_ALL);
+
+        switch(halTimerStatus_en)
+        {
+            case HAL_BUSY:      error_u32 = NMS_ERR_BUSY;		break;
+            case HAL_TIMEOUT:   error_u32 = NMS_ERR_TIMEOUT;    break;
+            case HAL_ERROR:   	error_u32 = NMS_ERR_UNKNOWN;    break;
+            case HAL_OK:      	error_u32 = NMS_ERR_NONE;       break;
+            default:            error_u32 = NMS_ERR_UNKNOWN;	break;
+        }
+    }
+
+    return error_u32;
+}
+
+
+uint32 HalTimerPwmStart(MapHalTimerModule_en timerModule_en, uint32 Channel_u32)
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+
+    HAL_StatusTypeDef halTimerStatus_en = NMS_ERR_NONE;
+    TIM_HandleTypeDef * targetModule_pst;
+
+    error_u32 = MapHalTimerModule(timerModule_en, &targetModule_pst);
+
+    if(error_u32 == NMS_ERR_NONE)
+    {
+        /* Start the requested timer */
+        halTimerStatus_en = HAL_TIM_PWM_Start(targetModule_pst, Channel_u32);
+
+        switch(halTimerStatus_en)
+        {
+            case HAL_BUSY:      error_u32 = NMS_ERR_BUSY;		break;
+            case HAL_TIMEOUT:   error_u32 = NMS_ERR_TIMEOUT;    break;
+            case HAL_ERROR:   	error_u32 = NMS_ERR_UNKNOWN;    break;
+            case HAL_OK:      	error_u32 = NMS_ERR_NONE;       break;
+            default:            error_u32 = NMS_ERR_UNKNOWN;	break;
+        }
+    }
+
+    return error_u32;
+}
+
+
+uint32 HalTimerPwmStop(MapHalTimerModule_en timerModule_en, uint32 Channel_u32)
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+
+    HAL_StatusTypeDef halTimerStatus_en = NMS_ERR_NONE;
+    TIM_HandleTypeDef * targetModule_pst;
+
+    error_u32 = MapHalTimerModule(timerModule_en, &targetModule_pst);
+
+    if(error_u32 == NMS_ERR_NONE)
+    {
+        /* Stop the requested timer */
+        halTimerStatus_en = HAL_TIM_PWM_Stop(targetModule_pst, Channel_u32);
+
+        switch(halTimerStatus_en)
+        {
+            case HAL_BUSY:      error_u32 = NMS_ERR_BUSY;		break;
+            case HAL_TIMEOUT:   error_u32 = NMS_ERR_TIMEOUT;    break;
+            case HAL_ERROR:   	error_u32 = NMS_ERR_UNKNOWN;    break;
+            case HAL_OK:      	error_u32 = NMS_ERR_NONE;       break;
+            default:            error_u32 = NMS_ERR_UNKNOWN;	break;
+        }
+    }
+
+    return error_u32;
+}
+
+
+uint32 HalTimerStart(MapHalTimerModule_en timerModule_en)
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+
+    HAL_StatusTypeDef halTimerStatus_en = NMS_ERR_NONE;
+    TIM_HandleTypeDef * targetModule_pst;
+
+    error_u32 = MapHalTimerModule(timerModule_en, &targetModule_pst);
+
+    if(error_u32 == NMS_ERR_NONE)
+    {
+        /* Start the requested timer */
+        halTimerStatus_en = HAL_TIM_Base_Start_IT(targetModule_pst);
+
+        switch(halTimerStatus_en)
+        {
+            case HAL_BUSY:      error_u32 = NMS_ERR_BUSY;		break;
+            case HAL_TIMEOUT:   error_u32 = NMS_ERR_TIMEOUT;    break;
+            case HAL_ERROR:   	error_u32 = NMS_ERR_UNKNOWN;    break;
+            case HAL_OK:      	error_u32 = NMS_ERR_NONE;       break;
+            default:           	error_u32 = NMS_ERR_UNKNOWN;	break;
+        }
+    }
+
+    return error_u32;
+}
+
+
+uint32 HalTimerStop(MapHalTimerModule_en timerModule_en)
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+    HAL_StatusTypeDef halTimerStatus_en = NMS_ERR_NONE;
+    TIM_HandleTypeDef * targetModule_pst;
+
+    error_u32 = MapHalTimerModule(timerModule_en, &targetModule_pst);
+
+    if(error_u32 == NMS_ERR_NONE)
+    {
+        /* Stop the requested timer */
+        halTimerStatus_en = HAL_TIM_Base_Stop_IT(targetModule_pst);
+
+        switch(halTimerStatus_en)
+        {
+			case HAL_BUSY:      error_u32 = NMS_ERR_BUSY;		break;
+			case HAL_TIMEOUT:   error_u32 = NMS_ERR_TIMEOUT;    break;
+			case HAL_ERROR:   	error_u32 = NMS_ERR_UNKNOWN;    break;
+			case HAL_OK:      	error_u32 = NMS_ERR_NONE;       break;
+			default:           	error_u32 = NMS_ERR_UNKNOWN;	break;
+        }
+    }
+
+    return error_u32;
+}
+
+
+uint32 HalTimerReloadUs(MapHalTimerModule_en timerModule_en, uint64 period_u64)
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+    TIM_HandleTypeDef * targetModule_pst;
+
+    error_u32 = MapHalTimerModule(timerModule_en, &targetModule_pst);
+
+    if(error_u32 == NMS_ERR_NONE)
+    {
+        if(period_u64 == 0uLL)
+        {
+            error_u32 = NMS_ERR_UNKNOWN;
+        }
+        else
+        {
+            /* Compute the number of step that we need to count */
+            instance_gast[timerModule_en].downCounter_u64 = period_u64 / instance_gast[timerModule_en].timerPeriod_u64;
+            if((instance_gast[timerModule_en].downCounter_u64 * instance_gast[timerModule_en].timerPeriod_u64) < period_u64)
+            {
+                instance_gast[timerModule_en].downCounter_u64++;
+            }
+            else
+            {
+                error_u32 = NMS_ERR_UNKNOWN;
+            }
+        }
+    }
+
+    return error_u32;
+}
+
+
+uint32 HalTimerGetRemainingTimeUs(MapHalTimerModule_en timerModule_en, uint64 * remainingTime_pu64)
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+    TIM_HandleTypeDef * targetModule_pst;
+
+    error_u32 = MapHalTimerModule(timerModule_en, &targetModule_pst);
+
+    if(error_u32 == NMS_ERR_NONE)
+    {
+        /* Add the time corresponding to the number of interruption left for this timer */
+        *remainingTime_pu64 = instance_gast[timerModule_en].downCounter_u64;
+        *remainingTime_pu64 *= instance_gast[timerModule_en].timerPeriod_u64;
+    }
+    else
+    {
+        error_u32 = NMS_ERR_UNKNOWN;
+    }
+
+    return error_u32;
+}
+
+
+uint32 HalTimerConfigureCallback(MapHalTimerModule_en timerModule_en, void (*callback_pfn)(void))
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+
+    if (timerModule_en < MAP_HAL_TIMER_NUMBER )
+    {
+        halTimerCallbacks[timerModule_en] = callback_pfn;
+        error_u32 = NMS_ERR_NONE;
+    }
+    else
+    {
+        error_u32 = NMS_ERR_UNKNOWN;
+    }
+
+    return error_u32;
+}
+
+
+void HalTimerDeinit(MapHalTimerModule_en timerModule_en)
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+    TIM_HandleTypeDef * targetModule_pst;
+    uint8 index_u8;
+    uint8 startIndex_u8;
+    uint8 iteration_u8 = 1u;		 /* Default to 1 loop iteration (deinit one module) */
+
+    if(timerModule_en == MAP_HAL_TIMER_NUMBER)
+    {
+        iteration_u8  = timerModule_en;
+        startIndex_u8 = 0u;
+    }
+    else
+    {
+        iteration_u8 += timerModule_en;
+        startIndex_u8 = timerModule_en;
+    }
+
+    for(index_u8 = startIndex_u8; index_u8 < iteration_u8; index_u8++)
+    {
+        error_u32 = MapHalTimerModule((MapHalTimerModule_en)index_u8, &targetModule_pst);
+        if(error_u32 == NMS_ERR_NONE)
+        {
+            HAL_TIM_Base_DeInit(targetModule_pst);
+        }
+    }
+}
+
+/******************************************************************************
+ * Static Function Definitions
+ ******************************************************************************/
+
+/**
+* @brief    Compute the timerPeriod of the requested timer
+*
+* @param    timerModule_en      The timer module to use
+*
+* @return   The value of the timer period. If the timer module is invalid, the
+*           value returned will be 0.
+*
+* @note     CAUTION : The part to compute the actual time frequency is target
+*                     dependant, do not forget to update it to fit your needs.
+*                     This affects the calculation of the timerPeriod and so
+*                     can change the resolution that has been computed by the
+*                     user in cubeMX
+*/
+static uint32 HalTimerComputeTimerPeriod(MapHalTimerModule_en timerModule_en, uint64 * timerPeriod_u64)
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+    uint32 timerFrequency_u32 = 0uL;
+    TIM_HandleTypeDef * targetModule_pst;
+
+    error_u32 = MapHalTimerModule(timerModule_en, &targetModule_pst);
+
+    if(error_u32 == NMS_ERR_NONE)
+    {
+        *timerPeriod_u64 = HAL_TIMER_SEC_TO_MSEC;
+        *timerPeriod_u64 *= (targetModule_pst->Instance->PSC + 1UL);
+        *timerPeriod_u64 *= (targetModule_pst->Instance->ARR + 1UL);
+        *timerPeriod_u64 /= timerFrequency_u32;
+    }
+    else
+    {
+        timerPeriod_u64 = 0uLL;
+        error_u32 = NMS_ERR_UNKNOWN;
+    }
+
+    return error_u32;
+}
+
+/******************************************************************************
+ * Callback Function Definitions
+ ******************************************************************************/
+
+/**
+ * @brief      CubeMX timer period elapsed callback
+ *
+ * @param[in]  htim    pointer to a TIM_HandleTypeDef structure that contains
+ *                     the configuration information for the specified TIMER.
+ * @return             Error code in case there is one during the process.
+ */
+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
+{
+    MapHalTimerModule_en timerModule_en;
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+
+    error_u32 = MapHalTimerCallback(&htim, &timerModule_en);
+
+    if (error_u32 == NMS_ERR_NONE)
+    {
+        /* Check if we reach the interrupt enough to reach the goal counter */
+        if(instance_gast[timerModule_en].downCounter_u64 == 0uLL)
+        {
+            if(halTimerCallbacks[timerModule_en] != NULL)
+            {
+                /* Call the user callback */
+                halTimerCallbacks[timerModule_en]();
+            }
+            else
+            {
+               error_u32 = NMS_ERR_UNKNOWN;
+            }
+        }
+        else
+        {
+            instance_gast[timerModule_en].downCounter_u64--;
+        }
+    }
+    else
+    {
+       error_u32 = NMS_ERR_UNKNOWN;
+    }
+}
+
+
+/**
+ * @brief      CubeMX timer error callback
+ *
+ * @param[in]  htim         pointer to a TIM_HandleTypeDef structure that contains
+ *                          the configuration information for the specified TIMER.
+ * @return                  Error code in case there is one during the process.
+ */
+void HAL_TIM_ErrorCallback(TIM_HandleTypeDef * htim)
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+    MapHalTimerModule_en timerModule_en;
+
+    error_u32 = MapHalTimerCallback(&htim, &timerModule_en);
+
+    if(error_u32 == NMS_ERR_NONE)
+    {
+        switch(htim->State)
+        {
+        case HAL_TIM_STATE_RESET:
+        	error_u32 = NMS_ERR_NOT_INITIALIZED;	break;
+
+        case HAL_TIM_STATE_BUSY:
+        	error_u32 = NMS_ERR_BUSY;
+            break;
+
+        case HAL_TIM_STATE_TIMEOUT:
+        	error_u32 = NMS_ERR_TIMEOUT;			break;
+
+        case HAL_TIM_STATE_ERROR:
+        	error_u32 = NMS_ERR_UNEXPECTED;			break;
+
+        case HAL_TIM_STATE_READY:
+        	error_u32 = NMS_ERR_NOT_RUNNING;		break;
+
+        default:
+        	error_u32 = NMS_ERR_UNKNOWN;			break;
+        }
+    }
+    else
+    {
+    	error_u32 = NMS_ERR_INVALID_ARGUMENT;
+    }
+}

EnduranceTestBench/nms_hal/hal_timer.h

@@ -0,0 +1,171 @@
+/**
+ * @file	   hal_timer.h
+ *
+ * @copyright  Nehemis SARL reserves all rights even in the event of industrial
+ *             property rights. We reserve all rights of disposal such as
+ *             copying and passing on to third parties.
+ *
+ * @brief	   HAL layer for the TIMER module.
+ *
+ */
+
+
+#ifndef __HAL_TIMER_H_
+#define __HAL_TIMER_H_
+
+/******************************************************************************
+ * Include Header Files
+ ******************************************************************************/
+#include "nms_types.h"
+#include "map_hal.h"
+
+/******************************************************************************
+ * Type declarations
+ ******************************************************************************/
+
+/******************************************************************************
+ * Extern Function Declarations
+ ******************************************************************************/
+/**
+ * @brief   Initializes the HAL timer module.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 HalTimerInit(void);
+
+/**
+ * @brief   Retrieves the current value of the TIM counter register.
+ *
+ * @param   htim  Pointer to the TIM handle containing the TIM instance.
+ *
+ * @return  The 16-bit or 32-bit value of the timer counter register (TIMx_CNT).
+ */
+uint32 HalTimerGetCounter(MapHalTimerModule_en timerModule_en);
+
+/**
+ * @brief   Sets a specific value to the TIM counter register.
+ *
+ * @param   htim        Pointer to the TIM handle containing the TIM instance.
+ * @param   counter_u32 Value to set in the TIM counter register.
+ */
+void HalTimerSetCounter(MapHalTimerModule_en timerModule_en, uint32 counter_u32);
+
+/**
+ * @brief   Set the compare value for a given timer channel.
+ *
+ * @param   timerModule_en  Timer module.
+ * 			channel      	Timer channel (e.g., TIM_CHANNEL_1, TIM_CHANNEL_2).
+ *			compareValue 	Value to set in the compare register.
+ *
+ * @note    This function abstracts the STM32 HAL macro __HAL_TIM_SET_COMPARE.
+ */
+void HalTimerSetCompare(MapHalTimerModule_en timerModule_en, uint32 channel_u32, uint32 compareValue_32);
+
+/**
+ * @brief   Get the Auto-Reload value of the specified timer module.
+ *
+ * @param   timerModule_en  Timer module selection from MapHalTimerModule_en.
+ *
+ * @return  The auto-reload value of the selected timer module.
+ *          Returns 0 if the timer module is invalid.
+ */
+uint32 HalTimerGetAutoReload(MapHalTimerModule_en timerModule_en);
+
+/**
+ * @brief   Starts the specified timer module in encoder mode.
+ *
+ * @param   timerModule_en  Timer module to be started in encoder mode.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 HalTimerEncoderStart(MapHalTimerModule_en timerModule_en);
+
+/**
+ * @brief   Stops the specified timer module in encoder mode.
+ *
+ * @param   timerModule_en  Timer module to be stopped in encoder mode.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 HalTimerEncoderStop(MapHalTimerModule_en timerModule_en);
+
+/**
+ * @brief   Stops the specified timer module in PWM mode.
+ *
+ * @param   timerModule_en  Timer module to be stopped in encoder mode.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 HalTimerPwmStart(MapHalTimerModule_en timerModule_en, uint32 Channel_u32);
+
+/**
+ * @brief   Stops the specified timer module in PWM mode.
+ *
+ * @param   timerModule_en  Timer module to be stopped in encoder mode.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 HalTimerPwmStop(MapHalTimerModule_en timerModule_en, uint32 Channel_u32);
+
+/**
+ * @brief   Starts the specified timer module.
+ *
+ * @param   timerModule_en  Timer module to be started.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 HalTimerStart(MapHalTimerModule_en timerModule_en);
+
+/**
+ * @brief   Stops the specified timer module.
+ *
+ * @param   timerModule_en  Timer module to be stopped.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 HalTimerStop(MapHalTimerModule_en timerModule_en);
+
+/**
+ * @brief   Updates the timer's prescaler and counter value based on the given period.
+ *
+ * @param   timerModule_en  Timer module to configure.
+ * @param   period_u64      Timer refresh period in microseconds.
+ *                          The value is rounded up to the nearest resolution divider.
+ *
+ * @note    The period cannot be 0, as it would imply an immediate event.
+ *          Instead, execute the event directly or call the stop function manually.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 HalTimerReloadUs(MapHalTimerModule_en timerModule_en, uint64 period_u64);
+
+/**
+ * @brief   Retrieves the remaining time for the specified timer in microseconds.
+ *
+ * @param   timerModule_en      Timer module to query.
+ * @param   remainingTime_u64   Pointer to store the remaining time in microseconds.
+ *                              The value is rounded up to the nearest resolution divider.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 HalTimerGetRemainingTimeUs(MapHalTimerModule_en timerModule_en, uint64 *remainingTime_u64);
+
+/**
+ * @brief   Configures a callback function for the specified timer module.
+ *
+ * @param   timerModule_en  Timer module for which the callback is being set.
+ * @param   callback_pfn    Pointer to the callback function.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 HalTimerConfigureCallback(MapHalTimerModule_en timerModule_en, void (*callback_pfn)(void));
+
+/**
+ * @brief   Deinitializes the specified timer module, stopping all active timers.
+ *          This is useful for transitioning between application and bootloader.
+ *
+ * @param   timerModule_en  Timer module to be deinitialized.
+ */
+void HalTimerDeinit(MapHalTimerModule_en timerModule_en);
+
+#endif /* __HAL_TIMER_H_ */

EnduranceTestBench/nms_hal/map_hal.c

@@ -0,0 +1,218 @@
+/**
+ * @file	   map_hal.c
+ *
+ * @copyright  Nehemis SARL reserves all rights even in the event of industrial
+ *             property rights. We reserve all rights of disposal such as
+ *             copying and passing on to third parties.
+ *
+ * @brief	   Mapping of the hardware interfaces.
+ *
+ */
+
+/******************************************************************************
+ * Include Header Files
+ ******************************************************************************/
+#include "nms_types.h"
+#include "map_hal.h"
+#include "stm32g4xx_hal_tim.h"
+/******************************************************************************
+ * Macro constant declarations
+ ******************************************************************************/
+extern TIM_HandleTypeDef htim7;
+/******************************************************************************
+ * Extern Function Declarations
+ ******************************************************************************/
+uint32 MapHalGpio( MapHalGpioPin_en pin_en, uint16* targetPin_pu16,  GPIO_TypeDef** targetPort_ppst)
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+
+    if(targetPin_pu16 == NULL || targetPort_ppst == NULL)
+    {
+        error_u32 = NMS_ERR_UNKNOWN;
+    }
+    else
+    {
+        switch (pin_en)
+        {
+        case MAP_HAL_PMP_ENABLE:
+
+            *targetPin_pu16     = GPIO_PIN_15;
+            *targetPort_ppst    = GPIOB;
+            error_u32           = NMS_ERR_NONE;
+
+            break;
+
+        default:
+
+            error_u32 = NMS_ERR_UNKNOWN;
+
+            break;
+        }
+    }
+
+    return error_u32;
+}
+
+
+uint32 MapHalGpioCallback(uint16 targetPin_u16, MapHalGpioPin_en * pin_pen)
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+
+    switch (targetPin_u16)
+    {
+    case GPIO_PIN_15:
+
+        *pin_pen  = MAP_HAL_PMP_ENABLE;
+        error_u32 = NMS_ERR_NONE;
+
+        break;
+
+    default:
+
+        error_u32 = NMS_ERR_UNKNOWN;
+
+        break;
+    }
+
+    return error_u32;
+}
+
+
+uint32 MapHalTimerModule(MapHalTimerModule_en timer_en, TIM_HandleTypeDef ** targetModule_ppst)
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+
+    if(targetModule_ppst != NULL)
+    {
+        switch(timer_en)
+        {
+            case MAP_HAL_TIMER_RTOS:
+                *targetModule_ppst = &htim17;
+                error_u32 = NMS_ERR_NONE;
+                break;
+
+            case MAP_HAL_TIMER_FILTER:
+				*targetModule_ppst = &htim6;
+				error_u32 = NMS_ERR_NONE;
+				break;
+
+            default:
+                error_u32 = NMS_ERR_UNKNOWN;
+                break;
+        }
+    }
+    else
+    {
+        error_u32 = NMS_ERR_UNKNOWN;
+    }
+
+    return error_u32;
+}
+
+
+uint32 MapHalTimerCallback(TIM_HandleTypeDef ** targetModule_ppst, MapHalTimerModule_en * timer_pen)
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+
+    if(*targetModule_ppst != NULL)
+    {
+        if (*targetModule_ppst == &htim17)
+        {
+            *timer_pen = MAP_HAL_TIMER_RTOS;
+            error_u32  = NMS_ERR_NONE;
+        }
+        else if (*targetModule_ppst == &htim6)
+        {
+            *timer_pen = MAP_HAL_TIMER_FILTER;
+            error_u32  = NMS_ERR_NONE;
+        }
+
+    }
+    else
+    {
+        error_u32 = NMS_ERR_UNKNOWN;
+    }
+
+    return error_u32;
+}
+
+
+uint32 MapHalAdcModule(MapHalAdcModule_en adc_en, ADC_HandleTypeDef ** targetModule_ppst)
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+
+    if(targetModule_ppst != NULL)
+    {
+        switch(adc_en)
+        {
+            case MAP_HAL_ADC_1:
+                *targetModule_ppst = &hadc1;
+                error_u32 = NMS_ERR_NONE;
+                break;
+
+
+            default:
+            	error_u32 = NMS_ERR_UNKNOWN;
+                break;
+        }
+    }
+    else
+    {
+    	error_u32 = NMS_ERR_UNKNOWN;
+    }
+
+    return error_u32;
+}
+
+
+extern uint32 MapHalAdcCallback(ADC_HandleTypeDef *targetModule_pst, MapHalAdcModule_en *adcModule_en)
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+
+    if (targetModule_pst != NULL)
+    {
+        if (targetModule_pst == &hadc1)
+        {
+            *adcModule_en = MAP_HAL_ADC_1;
+            error_u32 = NMS_ERR_NONE;
+        }
+        else
+        {
+            error_u32 = NMS_ERR_UNKNOWN;
+        }
+    }
+    else
+    {
+        error_u32 = NMS_ERR_UNKNOWN;
+    }
+
+    return error_u32;
+}
+
+
+uint32 MapHalI2cModule(MapHalI2cModule_en module_en, I2C_HandleTypeDef ** targetModule_ppst)
+{
+    uint32 error_u32 = NMS_ERR_DEFAULT;
+
+    if(targetModule_ppst != NULL)
+    {
+        switch(module_en)
+        {
+            case MAP_HAL_GRUNDFOS_PMP_I2C_HANDLE:
+                *targetModule_ppst = &hi2c4;
+                error_u32 = NMS_ERR_NONE;
+                break;
+
+
+            default:
+            	error_u32 = NMS_ERR_UNKNOWN;
+                break;
+        }
+    }
+    else
+    {
+    	error_u32 = NMS_ERR_UNKNOWN;
+    }
+
+    return error_u32;
+}

EnduranceTestBench/nms_hal/map_hal.h

@@ -0,0 +1,137 @@
+/**
+ * @file	   map_hal.c
+ *
+ * @copyright  Nehemis SARL reserves all rights even in the event of industrial
+ *             property rights. We reserve all rights of disposal such as
+ *             copying and passing on to third parties.
+ *
+ * @brief	   Mapping of the hardware interfaces.
+ *
+ */
+
+#ifndef MAP_HAL_H_
+#define MAP_HAL_H_
+
+/******************************************************************************
+ * Include Header Files
+ ******************************************************************************/
+#include "nms_types.h"
+
+/* CubeMX */
+#include "gpio.h"
+#include "tim.h"
+#include "adc.h"
+#include "fdcan.h"
+#include "i2c.h"
+
+/******************************************************************************
+ * Global define
+ ******************************************************************************/
+#define MOTOR_PWM_CHANNEL		TIM_CHANNEL_1
+
+/******************************************************************************
+ * Type declarations
+ ******************************************************************************/
+typedef enum
+{
+	MAP_HAL_PMP_ENABLE,
+	MAP_HAL_GPIO_NUMBER
+} MapHalGpioPin_en;
+
+typedef enum
+{
+	MAP_HAL_TIMER_RTOS,
+	MAP_HAL_TIMER_FILTER,
+	MAP_HAL_TIMER_NUMBER
+} MapHalTimerModule_en;
+
+typedef enum
+{
+	MAP_HAL_ADC_1,
+	MAP_HAL_ADC_NUMBER
+}MapHalAdcModule_en;
+
+typedef enum
+{
+	MAP_HAL_GRUNDFOS_PMP_I2C_HANDLE,
+	MAP_HAL_I2C_NUMBER
+}MapHalI2cModule_en;
+/******************************************************************************
+ * Extern Function Declarations
+ ******************************************************************************/
+/**
+ * @brief   Maps a HAL GPIO pin to the corresponding STM32 port and pin.
+ *
+ * @param   pin_en          HAL GPIO pin to be mapped.
+ * @param   targetPort_ppst Pointer to the corresponding STM32 port.
+ * @param   targetPin_pu16  Pointer to the corresponding STM32 pin.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 MapHalGpio(MapHalGpioPin_en pin_en, uint16* targetPin_pu16, GPIO_TypeDef** targetPort_ppst);
+
+/**
+ * @brief   Maps a specific pin callback to the corresponding STM32 pin.
+ *
+ * @param   targetPin_u16   STM32 pin.
+ * @param   pin_pen         Pointer to the enumerator representing the HAL pin.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 MapHalGpioCallback(uint16 targetPin_u16, MapHalGpioPin_en* pin_pen);
+
+/**
+ * @brief   Maps a HAL timer module to its corresponding STM32 timer module.
+ *
+ * @param[in]   halModule_en     HAL timer module (e.g., HAL_TIMER_1).
+ * @param[out]  targetModule_ppst Pointer to the corresponding STM32 timer module (e.g., htim1).
+ *
+ * @return  Error code:
+ *          - HAL_TIM_LOG_LOCATION_4_ERROR_INVALID_ARGUMENT if the mapping fails.
+ *          - LOG_ERROR_NONE if successful.
+ */
+uint32 MapHalTimerModule(MapHalTimerModule_en timer_en, TIM_HandleTypeDef** targetModule_ppst);
+
+/**
+ * @brief   Retrieves the HAL timer module associated with a given STM32 timer module.
+ *
+ * @param[in]   targetModule_ppst Pointer to the STM32 timer module (e.g., htim1).
+ * @param[out]  timerModule_pen   Pointer to store the corresponding HAL module (e.g., HAL_TIMER_1).
+ *
+ * @return  Error code:
+ *          - HAL_TIM_LOG_LOCATION_4_ERROR_INVALID_ARGUMENT if the mapping fails.
+ *          - LOG_ERROR_NONE if successful.
+ */
+uint32 MapHalTimerCallback(TIM_HandleTypeDef** targetModule_ppst, MapHalTimerModule_en* timer_pen);
+
+/**
+ * @brief   Maps a HAL ADC pin to the corresponding STM32 port and pin.
+ *
+ * @param   pin_en          	HAL GPIO pin to be mapped.
+ * @param   targetModule_ppst 	Pointer to the corresponding STM32 ADC module.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 MapHalAdcModule(MapHalAdcModule_en pin_en, ADC_HandleTypeDef** targetModule_ppst);
+
+/**
+ * @brief   Maps a specific pin callback to the corresponding STM32 pin.
+ *
+ * @param   targetModule_pst   STM32 pin.
+ * @param   adcModule_en       Pointer to the enumerator representing the HAL pin.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 MapHalAdcCallback(ADC_HandleTypeDef *targetModule_pst, MapHalAdcModule_en *adcModule_en);
+
+/**
+ * @brief   Maps a HAL I2C pin to the corresponding STM32 port and pin.
+ *
+ * @param   pin_en          	HAL GPIO pin to be mapped.
+ * @param   targetModule_ppst 	Pointer to the corresponding STM32 ADC module.
+ *
+ * @return  Error code: 0 if successful, nonzero otherwise.
+ */
+uint32 MapHalI2cModule(MapHalI2cModule_en module_en, I2C_HandleTypeDef ** targetModule_ppst);
+
+#endif /* MAP_HAL_H_ */

EnduranceTestBench/scheduler/sdl.c

@@ -9,6 +9,9 @@
  *             the Valve Controller and CANopen stack. It defines the main
  *             scheduler loop for running these components within the firmware.
  *
+ * @todo	   SDL_MIN_OPERATIONAL_NODES to be changed to 20, are the node is fixed.
+ * 			   (electronic issue in the board)
+ *
  */
 
 /******************************************************************************
@@ -24,609 +27,131 @@
 /* User includes */
 #include "sdl.h"
 #include "processBoard.h"
+#include "enduranceTestBench.h"
 #include "hal_system.h"
+#include "nms_can.h"
 
+#include "hal_timer.h"
 #include "stdlib.h"
+#include "filter.h"
+#include "pressureController.h"
 /******************************************************************************
  * Macro constant declarations
  ******************************************************************************/
-#define SDL_CANOPEN_BITRATE					250u
-#define SDL_PU_MASTER_NODE_ID				1u
-#define SDL_LSS_TIMEOUT						20u		/* Defined in stack examples */
-#define SDL_LSS_CONFIG_TIMEOUT				1000u
-#define SDL_LSS_CONFIG_INTERVAL				4u
-#define SDL_APPL_TIMER_TIME					250000uL
-#define SDL_LSS_NODE_COUNT					20u
-#define SDL_LSS_NODE_HB_MS					1000uL
-#define SDL_LSS_NODE_STATE_RESET_INTERVAL 	3u
 
-#define SDL_TEST_BENCH_SDO_TIMEOUT			1000u
-#define SDL_TEST_BENCH_STARTUP_TIMEOUT		10000uLL
-
-#define SDL_POSITION_SETPOINT_INDEX			0x6002
-#define SDL_POSITION_SETPOINT_SUB_INDEX		0x0
-#define SDL_POSITION_FEEDBACK_INDEX			0x6004
-#define SDL_POSITION_FEEDBACK_SUB_INDEX		0x0
-
-#define SDL_SDO_CLIENT_COB					0x1280
-#define SDL_SDO_CLIENT_TO_SERVER_COB		0x600
-#define SDL_SDO_SERVER_TO_CLIENT_COB		0x580
 /******************************************************************************
  * Type Declarations
  ******************************************************************************/
-typedef struct
+static void SdlFilterInterrupt(void);
+
+static inline float32 RevModelConvertToPercent(float32 value_f32, float32 minVal_f32, float32 maxVal_f32)
 {
-    uint32 vendorId_u32;
+    float32 clamped = value_f32;
-    uint32 productId_u32;
+
-    uint32 versionNbr_u32;
+    if (clamped < minVal_f32)
-    uint32 serialNbr_u32;
+    {
-    uint8 nodeId_u8;
+        clamped = minVal_f32;
-} SdlLssNodeInfo_t;
+    }
+    else if (clamped > maxVal_f32)
+    {
+        clamped = maxVal_f32;
+    }
+
+    return 100.0f * (clamped - minVal_f32) / (maxVal_f32 - minVal_f32);
+}
 /******************************************************************************
  * Global Declarations
  ******************************************************************************/
-SdlLssNodeInfo_t 	var_gst;
+static bool testBenchStarted_b;
-static CO_TIMER_T 	monitorTimer_gst;							/**< application timer */
+static PuControllersPidInput_st pmpRoPressurePidInput_st = {0};
-static CO_TIMER_T 	nodeResetTimer_gst;							/**< node reset timer */
+static PuFiltersSensorData_st receivedFilterData_st;
-static bool 		monitorSleep_gb = CO_FALSE;				/**< sleep flag */
-static bool   		masterStarted_gb;						/**< master started flag */
-static const SdlLssNodeInfo_t nodeLookupTable_gast[SDL_LSS_NODE_COUNT] =
-{
-	    {0x319, 0x4d2,   0x1,   0x01, 0x5} ,
-	    {0x319, 0x4d2,   0x1,   0x02, 0x6} ,
-	    {0x319, 0x4d2,   0x1,   0x03, 0x7} ,
-	    {0x319, 0x4d2,   0x1,   0x04, 0x8} ,
-	    {0x319, 0x4d2,   0x1,   0x05, 0x9} ,
-	    {0x319, 0x4d2,   0x1,   0x06, 0xA} ,
-	    {0x319, 0x4d2,   0x1,   0x07, 0xB} ,
-	    {0x319, 0x4d2,   0x1,   0x08, 0xC} ,
-	    {0x319, 0x4d2,   0x1,   0x09, 0xD} ,
-	    {0x319, 0x4d2,   0x1,   0x0A, 0xE} ,
-	    {0x319, 0x4d2,   0x1,   0x0B, 0xF} ,
-	    {0x319, 0x4d2,   0x1,   0x0C, 0x10},
-	    {0x319, 0x4d2,   0x1,   0x0D, 0x11},
-	    {0x319, 0x4d2,   0x1,   0x0E, 0x12},
-	    {0x319, 0x4d2,   0x1,   0x0F, 0x13},
-	    {0x319, 0x4d2,   0x1,   0x10, 0x14},
-	    {0x319, 0x4d2,   0x1,   0x11, 0x15},
-	    {0x319, 0x4d2,   0x1,   0x12, 0x16},
-	    {0x319, 0x4d2,   0x1,   0x13, 0x17},
-	    {0x319, 0x4d2,   0x1,   0x14, 0x18}
-};
-static CO_NMT_STATE_T nodeNMTState_gaen[SDL_LSS_NODE_COUNT];
-/******************************************************************************
- * Static function Declarations
- ******************************************************************************/
-static void SdlInitCanopen(void);
-static void SdlRunCanopen(void);
-static RET_T SdlOverwriteLoadIndication(uint8 index_u8);
-static void SdlLssIndCallback(CO_LSS_MASTER_SERVICE_T service_en, uint16 errorCode_u16, uint8 errorSpec_u8, uint32 *pIdentity_pu32);
-static void SdlLssHbMonitorCallback(uint8 nodeID_u8, CO_ERRCTRL_T state_en, CO_NMT_STATE_T nmtState_en);
-static void SdlLssResetNodesCallback(void *pData_pv);									/**< callback of reset handler */
-static uint8 SdlLssGetNodeIndex(uint8 nodeId_u8);
-static void SdlLssToggleMonitorFlag(void *pData);
-static void SdlLssNodeHandlerRun(void);
-static uint32 SdlLssConfigureNode(uint8 arrIndex_u8);
-static RET_T SdlLssSetSdoCobID(uint8 sdoNr_u8, uint8 nodeId_u8);
-/* Supress warnings for implicit declaration.
- * Need this function for overwriting the manual COB ids
- * for the TPDO. */
-extern void userOverwriteCobIdSettings(void);
-static bool SdlAreAllNodesOperational(void);
-static void SdlEnduranceTestBenchRun(void);
 /******************************************************************************
  * Public Function Definitions
  ******************************************************************************/
 void SdlInit(void)
 {
-	SdlInitCanopen();
+    testBenchStarted_b = false;
+
+    HalTimerStart(MAP_HAL_TIMER_FILTER);
+    NmsCanInit();
+    PuFiltersInit();
+	ProcessBoardInit();
+	HalTimerConfigureCallback(MAP_HAL_TIMER_FILTER, SdlFilterInterrupt);
+
+	PuControllersInitInputs(&pmpRoPressurePidInput_st);
 }
 
 
 void SdlRun(void)
 {
-	SdlRunCanopen();
+	static uint64 lastPressureUpdateMs_u64 = 0uLL;
-	SdlLssNodeHandlerRun();
+	uint64 currentTimeMs_u64;
-	if (SdlAreAllNodesOperational())
+	static uint8 pressureSetpoint_u8 = 0u;
-	{
+	uint8 turnOnTestbench = 0u;
-		SdlEnduranceTestBenchRun();
-	}
-}
 
+	NmsCanGetObj_u8(0x2007, 0x0, &turnOnTestbench);
+	NmsCanRun();
 
-/******************************************************************************
+//	if (turnOnTestbench == 1)
- * Private Function Declarations
+//	{
- ******************************************************************************/
+//		if (NmsCanAreAllNodesOperational())
-/**
+//		{
- * @brief	Init the CANopen stack.
+			EnduranceTestBenchRun(&testBenchStarted_b);
- *
- */
-static void SdlInitCanopen(void)
-{
-	RET_T retval;
-	HalSystemInit();
-	codrvHardwareInit();
-	retval = codrvCanInit(SDL_CANOPEN_BITRATE);
-	retval = codrvTimerSetup(CO_TIMER_INTERVAL);
 
-	/* CANopen Initialization */
+			if (testBenchStarted_b)
-	retval = coCanOpenStackInit(SdlOverwriteLoadIndication);
-	retval = coEventRegister_LSS_MASTER(SdlLssIndCallback);
-	retval = coEventRegister_ERRCTRL(SdlLssHbMonitorCallback);
-
-	/* enable CAN communication */
-	retval = codrvCanEnable();
-	retval = coTimerStart(&monitorTimer_gst, SDL_APPL_TIMER_TIME, SdlLssToggleMonitorFlag, NULL, CO_TIMER_ATTR_ROUNDUP_CYCLIC);
-	retval = coTimerStart(&nodeResetTimer_gst, (SDL_LSS_NODE_STATE_RESET_INTERVAL * 1000000uLL), SdlLssResetNodesCallback, NULL, CO_TIMER_ATTR_ROUNDUP_CYCLIC);
-	retval = coNmtStateReq(SDL_PU_MASTER_NODE_ID, CO_NMT_STATE_OPERATIONAL, CO_TRUE);
-
-	coLssIdentifyNonConfiguredSlaves(SDL_LSS_CONFIG_TIMEOUT, SDL_LSS_CONFIG_INTERVAL);
-}
-
-
-/**
- * @brief	Runs the CANopen stack.
- *
- */
-static void SdlRunCanopen(void)
-{
-    coCommTask();
-    SdlLssNodeHandlerRun();
-}
-
-
-/******************************************************************************
- * Private Function Definitions
- ******************************************************************************/
-/**
- * @brief	Handler for the defined nodes in the network.
- * 			This function starts the configuration of a node if needed
- *
- * @return	void
- *
- */
-static void SdlLssNodeHandlerRun(void)
-{
-    if (monitorSleep_gb != CO_TRUE)
-    {
-		for (uint8 i_u8 = 0u; i_u8 < SDL_LSS_NODE_COUNT; i_u8++)
-		{
-			if (nodeNMTState_gaen[i_u8] == CO_NMT_STATE_PREOP)
 			{
-				SdlLssConfigureNode(i_u8);
+				ProcessBoardRun(true);
-			}
+				HalSystemGetRunTimeMs(&currentTimeMs_u64);
-			if (nodeNMTState_gaen[i_u8] == CO_NMT_STATE_OPERATIONAL)
-			{
-				/* Do nothing */
-			}
-		}
-    }
-    monitorSleep_gb = CO_TRUE;
-}
 
-
+				if ((currentTimeMs_u64 - lastPressureUpdateMs_u64) >= 5000)
-/**
- * @brief	Load function for overwriing the TPDO COB id values.
- *
- * @param	index_u8	Subindex parameter to point parameter area(unused)
- *
- * @return	Error Code
- */
-static RET_T SdlOverwriteLoadIndication(uint8 index_u8)
-{
-    userOverwriteCobIdSettings();
-
-    return RET_OK;
-}
-
-
-/**
- * @brief	This function is called if a new NMT state of a node,
- * 			is recordnized by the CANopen stack.
- *
- * @param	nodeID_u8	Node id of the node that has registered a change.
- * 			state_en	Error control state
- * 			nmtState_en	NMT state of the particular node.
- *
- * @return	Array index of the node in the network.
- *
- */
-static uint8 SdlLssGetNodeIndex(uint8 nodeId_u8)
-{
-	uint8 arrIndex_u8;
-
-	/* find node ID array arrIndex_u8 */
-	for (arrIndex_u8 = 0u; arrIndex_u8 < SDL_LSS_NODE_COUNT; arrIndex_u8++)
-	{
-		if (nodeId_u8 == nodeLookupTable_gast[arrIndex_u8].nodeId_u8)
-		{
-			return arrIndex_u8;
-		}
-	}
-
-	return NMS_UINT8_MAX;
-}
-
-
-/**
- * @brief	This function is called if a new NMT state of a node,
- * 			is recordnized by the CANopen stack.
- *
- * @param	nodeID_u8	Node id of the node that has registered a change.
- * 			state_en	Error control state
- * 			nmtState_en	NMT state of the particular node.
- *
- * @return	Array index of the node in the network.
- *
- */
-static void SdlLssToggleMonitorFlag(void *pData)
-{
-	(void)pData;
-
-	/* deactivate application sleep flag */
-	monitorSleep_gb = CO_FALSE;
-}
-
-
-/**
-* @brief	Configure a specific node.
-* 			This function adds the defined node to heartbeat consumers,
-* 			and sets its heartbeat interval.
-*
-* @param	arrIndex_u8	Index of the node in the array which is to be configured.
-*
-* @return	Status of the operation.
-*
-*/
-static uint32 SdlLssConfigureNode(uint8 arrIndex_u8)
-{
-    uint32 error_u32 	= SDL_DEFAULT_ERROR;
-    RET_T retVal_en		= RET_INTERNAL_ERROR;
-    uint16 hb_u16 		= 500u;
-
-    /* Get the node ID from the lookup table using the index passed */
-    uint8 nodeId_u8 	= nodeLookupTable_gast[arrIndex_u8].nodeId_u8;
-
-    /* Add node to heartbeat consumers with +25% tolerance
-     * Rationale - Allows some flexibility in detecting timeouts due to minor clock drifts,
-     * bus delays, or transmission issues.*/
-    retVal_en = coHbConsumerSet(nodeId_u8,
-    		((SDL_LSS_NODE_HB_MS / 100u * 25u) + SDL_LSS_NODE_HB_MS));
-    retVal_en = coHbConsumerStart(nodeId_u8);
-
-    /* setup SDO channel */
-    retVal_en = SdlLssSetSdoCobID((arrIndex_u8 + 1u), nodeLookupTable_gast[arrIndex_u8].nodeId_u8);
-
-    /* start node */
-    retVal_en = coNmtStateReq(nodeId_u8, CO_NMT_STATE_OPERATIONAL, CO_FALSE);
-    if (retVal_en != RET_OK)
-    {
-    	error_u32 = SDL_LSS_NODE_CONFIG_ERROR;
-    }
-    /* set local state to operational, if not operational yet */
-    if (masterStarted_gb == CO_FALSE)
-    {
-        /* set local state */
-        coNmtLocalStateReq(CO_NMT_STATE_OPERATIONAL);
-
-        /* save started flag */
-        masterStarted_gb = CO_TRUE;
-    }
-
-    return error_u32;
-}
-
-
-/******************************************************************************
- * Callback Function Definitions
- ******************************************************************************/
-/**
- * @brief	LSS indication function for handling the LSS api calls for dynamic
- * 			setup of node ids.
- *
- * @param	service_en		 LSS master services for indication functions
- * 			errorCode_u16	 Error code in the module
- * 			errorSpec_u8	 Specific error case that has occured
- * 			pIdentity_pu32	 LSS slave identity.
- *
- */
-static void SdlLssIndCallback(CO_LSS_MASTER_SERVICE_T service_en, uint16 errorCode_u16, uint8 errorSpec_u8, uint32 *pIdentity_pu32)
-{
-	static uint8 matchedIndex_u8 = NMS_UINT8_MAX;
-
-    if (errorCode_u16 != 0u)
-    {
-        if (errorCode_u16 == NMS_UINT16_MAX)
-        {
-        	/* ERROR */
-        }
-        else
-        {
-        	 /* ERROR */
-        }
-
-        if (service_en == CO_LSS_MASTER_SERVICE_STORE)
-        {
-        	 /* DEBUG INFO */
-            coLssSwitchGlobal(CO_LSS_STATE_WAITING);
-        }
-        return;
-    }
-
-    switch (service_en)
-    {
-        case CO_LSS_MASTER_SERVICE_NON_CONFIG_SLAVE:
-        	/* DEBUG INFO */
-            coLssFastScan(SDL_LSS_TIMEOUT);
-            break;
-
-        case CO_LSS_MASTER_SERVICE_FASTSCAN:
-			/* Match detected node with lookup table */
-			for (uint8 i_u8 = 0u; i_u8 < SDL_LSS_NODE_COUNT; i_u8++)
-			{
-				if (pIdentity_pu32[0] == nodeLookupTable_gast[i_u8].vendorId_u32   &&
-					pIdentity_pu32[1] == nodeLookupTable_gast[i_u8].productId_u32  &&
-					pIdentity_pu32[2] == nodeLookupTable_gast[i_u8].versionNbr_u32 &&
-					pIdentity_pu32[3] == nodeLookupTable_gast[i_u8].serialNbr_u32)
 				{
-					coLssSwitchSelective(pIdentity_pu32[0], pIdentity_pu32[1],
+					if (pressureSetpoint_u8 + 2 <= 15)
-										 pIdentity_pu32[2], pIdentity_pu32[3], 20);
-					matchedIndex_u8 = i_u8;
-					break;
-				}
-			}
-            break;
-
-        case CO_LSS_MASTER_SERVICE_SWITCH_SELECTIVE:
-            if (matchedIndex_u8 < SDL_LSS_NODE_COUNT)
-            {
-                coLssSetNodeId(nodeLookupTable_gast[matchedIndex_u8].nodeId_u8, SDL_LSS_TIMEOUT);
-                matchedIndex_u8 = NMS_UINT8_MAX;
-            }
-            else
-            {
-            	/* ERROR */
-            }
-            break;
-
-        case CO_LSS_MASTER_SERVICE_SET_NODEID:
-        	/* DEBUG INFO */
-            coLssInquireNodeId(SDL_LSS_TIMEOUT);
-            break;
-
-        case CO_LSS_MASTER_SERVICE_INQUIRE_NODEID:
-        	/* DEBUG INFO */
-            coLssStoreConfig(200);
-            break;
-
-        case CO_LSS_MASTER_SERVICE_STORE:
-        	/* DEBUG INFO */
-            coLssSwitchGlobal(CO_LSS_STATE_WAITING);
-            break;
-
-        default:
-        	/* ERROR */
-            break;
-    }
-}
-
-
-/**
- * @brief	This function is called if a new NMT state of a node,
- * 			is recordnized by the CANopen stack.
- *
- * @param	nodeID_u8	Node id of the node that has registered a change.
- * 			state_en	Error control state
- * 			nmtState_en	NMT state of the particular node.
- *
- * @return	void
- *
- */
-static void SdlLssHbMonitorCallback(uint8 nodeID_u8, CO_ERRCTRL_T state_en, CO_NMT_STATE_T nmtState_en)
-{
-	uint8 arrIndex_u8;
-
-	/* look if node is monitored */
-	arrIndex_u8 = SdlLssGetNodeIndex(nodeID_u8);
-
-	/* handle monitored node */
-	if (arrIndex_u8 != NMS_UINT16_MAX)
-	{
-		/* save states */
-		nodeNMTState_gaen[arrIndex_u8] = nmtState_en;
-
-		/* indicate if monitored node lost heartbeat */
-		if (nmtState_en == CO_NMT_STATE_UNKNOWN)
-		{
-			/* To be transmitted via CAN */
-			/* ERROR */
-		}
-
-		/* indicate if monitored node sent a bootup message */
-		if (state_en == CO_ERRCTRL_BOOTUP)
-		{
-			/* INFO */
-		}
-
-	/* handle unmonitored node */
-	}
-	else
-	{
-		/* ERROR */
-	}
-}
-
-
-/**
-* @brief	This function tries to reset nodes with unknown NMT state.
-*
-* @param	pData_pv	Data.
-*/
-static void SdlLssResetNodesCallback(void *pData_pv)
-{
-	uint8 arrIndex_u8;
-
-	(void)pData_pv;
-
-	/* reset defined nodes without known state */
-	for (arrIndex_u8 = 0u; arrIndex_u8 < SDL_LSS_NODE_COUNT; arrIndex_u8++)
-	{
-		if ((nodeNMTState_gaen[arrIndex_u8] != CO_NMT_STATE_PREOP) &&
-			(nodeNMTState_gaen[arrIndex_u8] != CO_NMT_STATE_OPERATIONAL))
-		{
-			/* reset node */
-			coNmtStateReq(nodeLookupTable_gast[arrIndex_u8].nodeId_u8, CO_NMT_STATE_RESET_NODE, CO_FALSE);
-		}
-	}
-}
-
-
-/**
-* @brief 		This function configures a SDO client for the
-* 				given node ID and SDO number.
-*
-* @param		sdoNr_u8	Sdo number
-* 				nodeId_u8	Node id of the node.
-*
-* @return		Error state.
-*
-*/
-static RET_T SdlLssSetSdoCobID(uint8 sdoNr_u8, uint8 nodeId_u8)
-{
-	uint16 cobIndex_u16;
-	uint32 newCobId_u32;
-	RET_T retVal_en = RET_INTERNAL_ERROR;
-
-	/* get od index of sdoNr */
-	cobIndex_u16 = SDL_SDO_CLIENT_COB + sdoNr_u8 - 1u;	/* SDO starts from 1280 index */
-
-	/* set cobID for client to server direction (request) */
-	newCobId_u32 = SDL_SDO_CLIENT_TO_SERVER_COB + nodeId_u8;
-	retVal_en = coOdSetCobid(cobIndex_u16, 1u, newCobId_u32);
-
-	if (retVal_en == RET_OK)
-	{
-		/* set cobID for server to client direction (response) */
-		newCobId_u32 = SDL_SDO_SERVER_TO_CLIENT_COB + nodeId_u8;
-		retVal_en = coOdSetCobid(cobIndex_u16, 2u, newCobId_u32);
-	}
-
-	/* print failed setup details */
-	if (retVal_en != RET_OK)
-	{
-		/* ERROR */
-	}
-
-	return retVal_en;
-}
-
-
-/**
-* @brief 		This is the main function that runs the endurance
-* 				test bench.
-*
-* @return		void
-*
-*/
-static void SdlEnduranceTestBenchRun(void)
-{
-	RET_T retVal_en;
-	uint8 max_u8				= NMS_UINT8_MAX;
-	uint8 min_u8 				= 0u;
-	static uint64 startTime_u64 = 0uLL;
-	uint8 alternate_u8 			= 0u;
-	uint64 currentTime_u64;
-
-	if(startTime_u64 == 0uLL)
-	{
-		HalSystemGetRunTimeMs(&startTime_u64);
-		srand(startTime_u64);
-	}
-	HalSystemGetRunTimeMs(&currentTime_u64);
-	if(currentTime_u64 - startTime_u64 <= SDL_TEST_BENCH_STARTUP_TIMEOUT)
-	{
-		if(alternate_u8 == 0u)
-		{
-			for (uint8 i_u8 = 0u; i_u8 < SDL_LSS_NODE_COUNT / 2; i_u8++)
-			{
-				retVal_en = coSdoWrite((i_u8 + 1), SDL_POSITION_SETPOINT_INDEX, SDL_POSITION_SETPOINT_SUB_INDEX,
-										(uint8*)(&max_u8), sizeof(max_u8), CO_FALSE, SDL_TEST_BENCH_SDO_TIMEOUT);
-			}
-			for (uint8 i_u8 = 10u; i_u8 < SDL_LSS_NODE_COUNT; i_u8++)
-			{
-				retVal_en = coSdoWrite((i_u8 + 1), SDL_POSITION_SETPOINT_INDEX, SDL_POSITION_SETPOINT_SUB_INDEX,
-										(uint8*)(&min_u8), sizeof(min_u8), CO_FALSE, SDL_TEST_BENCH_SDO_TIMEOUT);
-			}
-		}
-		else
-		{
-			for (uint8 i_u8 = 0u; i_u8 < SDL_LSS_NODE_COUNT / 2; i_u8++)
-			{
-				retVal_en = coSdoWrite((i_u8 + 1), SDL_POSITION_SETPOINT_INDEX, SDL_POSITION_SETPOINT_SUB_INDEX,
-										(uint8*)(&min_u8), sizeof(min_u8), CO_FALSE, SDL_TEST_BENCH_SDO_TIMEOUT);
-			}
-			for (uint8 i_u8 = 10u; i_u8 < SDL_LSS_NODE_COUNT; i_u8++)
-			{
-				retVal_en = coSdoWrite((i_u8 + 1), SDL_POSITION_SETPOINT_INDEX, SDL_POSITION_SETPOINT_SUB_INDEX,
-										(uint8*)(&max_u8), sizeof(max_u8), CO_FALSE, SDL_TEST_BENCH_SDO_TIMEOUT);
-			}
-		}
-		uint8 readPos_u8 		= 0u;
-		bool allMotorsReached_b = false;
-
-		while (!allMotorsReached_b)
-		{
-			allMotorsReached_b = true;  /* Assume all motors have reached the position */
-			for (uint8 i_u8 = 0u; i_u8 < SDL_LSS_NODE_COUNT; i_u8++)
-			{
-				retVal_en = coSdoRead((i_u8 + 1), SDL_POSITION_SETPOINT_INDEX, SDL_POSITION_SETPOINT_SUB_INDEX,
-										(uint8*)(&readPos_u8), sizeof(readPos_u8), CO_FALSE, SDL_TEST_BENCH_SDO_TIMEOUT);
-				if (alternate_u8 == 0u)
-				{
-					if ((i_u8 < SDL_LSS_NODE_COUNT / 2 && readPos_u8 != max_u8) ||
-							(i_u8 >= SDL_LSS_NODE_COUNT / 2 && readPos_u8 != min_u8))
 					{
-						allMotorsReached_b = false;  /* Keep waiting */
+						pressureSetpoint_u8 += 2;
 					}
-				}
+					else
-				else
-				{
-					if ((i_u8 < SDL_LSS_NODE_COUNT / 2 && readPos_u8 != min_u8) ||
-							(i_u8 >= SDL_LSS_NODE_COUNT / 2 && readPos_u8 != max_u8))
 					{
-						allMotorsReached_b = false;  /* Keep waiting */
+						pressureSetpoint_u8 = 0;
 					}
+					lastPressureUpdateMs_u64 = currentTimeMs_u64;
 				}
+
+				SdlEnablePressureControl(pressureSetpoint_u8);
 			}
-		}
+//		}
-		alternate_u8 = !alternate_u8;
+//	}
-	}
+//	else
-	else
+//	{
-	{
+//		ProcessBoardRun(false);
-		for (uint8 i_u8 = 0u; i_u8 < SDL_LSS_NODE_COUNT; i_u8++)
+//	}
-		{
-			uint8 randomPos_u8 = (rand() % (NMS_UINT8_MAX + 1));
-			retVal_en = coSdoWrite((i_u8 + 1), SDL_POSITION_SETPOINT_INDEX, SDL_POSITION_SETPOINT_SUB_INDEX,
-									(uint8*)(&randomPos_u8), sizeof(randomPos_u8), CO_FALSE, SDL_TEST_BENCH_SDO_TIMEOUT);
-		}
-	}
-
 }
 
 
-/**
+
- * @brief	Checks if all nodes are in OPERATIONAL state.
+void SdlEnablePressureControl(uint8 pressureSetpoint_u8)
- *
- * @return	CO_TRUE if all nodes are OPERATIONAL, CO_FALSE otherwise.
- */
-static bool SdlAreAllNodesOperational(void)
 {
-    for (uint8 i_u8 = 0u; i_u8 < SDL_LSS_NODE_COUNT; i_u8++)
+	static PuControllersPidOutput_st pmpRoPressurePidOutput_st 	= {0};
-    {
+	static PuControllersPidState_st pmpRoPressurePidState_st 	= {0};
-        if (nodeNMTState_gaen[i_u8] != CO_NMT_STATE_OPERATIONAL)
+
-        {
+	pmpRoPressurePidState_st.isRegulatorActive_b = true;
-            return CO_FALSE; /* If any node is not in OPERATIONAL, return false */
+
-        }
+	/* Coming from reverse model */
-    }
+	float32 cmdPumpRoRm_f32 = 0.0f;
-    return CO_TRUE;
+	pmpRoPressurePidInput_st.commandRm_f32 	= cmdPumpRoRm_f32;
+
+	/* Coming from filters */
+	pmpRoPressurePidInput_st.measFilt_f32 	= receivedFilterData_st.pressureRoPs2_f32;
+	pmpRoPressurePidInput_st.measFilt2_f32  = receivedFilterData_st.pmpPressureMeasFilt_f32;
+
+	pmpRoPressurePidInput_st.setpoint_f32 	= pressureSetpoint_u8;
+
+	PuControllersPidLoop(&pmpRoPressurePidInput_st, &pmpRoPressurePidOutput_st, &pmpRoPressurePidState_st);
+	ProcessBoardGrundfosPumpHandler(pmpRoPressurePidOutput_st.commandSetpoint_f32 / 10.0f);
 }
+
+
+static void SdlFilterInterrupt(void)
+{
+	receivedFilterData_st = PuFiltersRun();
+}
+

EnduranceTestBench/scheduler/sdl.h

@@ -40,4 +40,6 @@ void SdlInit(void);
  */
 void SdlRun(void);
 
+void SdlEnablePressureControl(uint8 pressureSetpoint_u8);
+
 #endif /* SDL_H_ */

FASTapi/endurance_can.py

@@ -0,0 +1,159 @@
+
+# Real CANopen data manager for Endurance Test Bench HMI
+
+import canopen
+import time
+
+class EnduranceDataManager:
+    def __init__(self):
+        self.motor_data = {}  # {node_id: {setpoint, feedback}}
+        self.pu_data = {"setpoint": {}, "feedback": {}, "flowmeter": {}, "pressure": {}, "pump": {}}
+        self.connected = False
+        self.network = None
+        self.nodes = {}
+        self.serial_numbers = {}
+
+    def connect_to_can(self):
+        try:
+            self.network = canopen.Network()
+            self.network.connect(bustype='pcan', channel='PCAN_USBBUS1', bitrate=250000)
+            self._init_pu_node()
+            self._init_motor_nodes()
+            self.connected = True
+        except Exception as e:
+            print(f"[CAN ERROR] Could not connect to CAN: {e}")
+            self.connected = False
+
+    def disconnect(self):
+        if self.network:
+            self.network.disconnect()
+        self.connected = False
+        self.motor_data.clear()
+        self.pu_data = {"setpoint": {}, "feedback": {},  "flowmeter": {}, "pressure": {}, "pump": {}}
+        self.nodes.clear()
+
+    def send_test_command(self, value: int):
+        try:
+            if self.valve_node:
+                self.valve_node.sdo[0x2007].raw = value
+                print(f"[TEST COMMAND] Sent value {value} to 0x2007")
+            else:
+                print("[TEST COMMAND] Valve node not initialized")
+        except Exception as e:
+            print(f"[TEST COMMAND ERROR] {e}")
+
+    def _init_pu_node(self):
+        try:
+            node = canopen.RemoteNode(1, r'C:\Users\vineetagupta\Documents\NorthStar_Bitbucket\EnduranceTestBench\EnduranceTestBench\coappl\enduranceTestBench.eds')
+            self.network.add_node(node)
+            node.nmt.state = 'OPERATIONAL'
+            node.tpdo.read()
+            self.nodes[1] = node
+
+            tpdo_cobs = {
+                0x284: 'setpoint',
+                0x285: 'setpoint',
+                0x286: 'setpoint',
+                0x281: 'flowmeter',
+                0x282: 'pressure',
+                0x283: 'pump'
+            }
+
+            for cob_id, key in tpdo_cobs.items():
+                tpdo_num = self._get_tpdo_number_by_cob_id(node, cob_id)
+                if tpdo_num is not None:
+                    node.tpdo[tpdo_num].enabled = True
+
+                    def make_pu_cb(k):
+                        def cb(map_obj):
+                            for var in map_obj:
+                                sid = f"0x{var.subindex:02X}"
+                                self.pu_data[k][sid] = var.raw
+                        return cb
+
+                    node.tpdo[tpdo_num].add_callback(make_pu_cb(key))
+
+        except Exception as e:
+            print(f"PU node error: {e}")
+
+    def _get_tpdo_number_by_cob_id(self, node, cob_id):
+        for i in range(1, 9):
+            if i in node.tpdo:
+                if node.tpdo[i].cob_id == cob_id:
+                    return i
+        return None
+
+    def get_valve_data(self):
+        result = {}
+        for i in range(5, 25):
+            sid = f"0x{i - 4:02X}"
+            setpoint = self.pu_data["setpoint"].get(sid, 0)
+            feedback = self.motor_data.get(i, {}).get("feedback", 0)
+            drift = abs(setpoint - feedback)
+            serial = self.serial_numbers.get(i)
+            status = "UNKNOWN"
+            try:
+                if i in self.nodes:
+                    status = self.nodes[i].nmt.state or "UNKNOWN"
+            except:
+                pass
+            if drift >= 5 and drift <= 10:
+                drift_display = f"⚠️ { drift}"
+            elif drift >= 10:
+                drift_display = f"❌ { drift}"
+            else:
+                drift_display = f"{drift}"
+            result[i] = {
+                "node_id": f"{i}",
+                "setpoint": setpoint,
+                "feedback": feedback,
+                "drift": drift_display,
+                "status": status,
+                "serial": serial
+            }
+        return result
+
+    def _init_motor_nodes(self):
+        for node_id in range(5, 6):
+            try:
+                motor_node = canopen.RemoteNode(
+                    node_id,
+                    r'C:\Users\vineetagupta\Documents\NorthStar_Bitbucket\MotorBoard\MotorValveBoard\coappl\motorcontrollervalve.eds'
+                )
+                self.network.add_node(motor_node)
+                motor_node.nmt.state = 'OPERATIONAL'
+                motor_node.tpdo.read()
+                motor_node.tpdo[1].enabled = True
+
+                def make_cb(nid):
+                    def cb(map_obj):
+                        for var in map_obj:
+                            if var.index == 0x2004 and var.subindex == 0x0:
+                                self.motor_data[nid] = {"feedback": var.raw}
+                    return cb
+
+                motor_node.tpdo[1].add_callback(make_cb(node_id))
+                self.nodes[node_id] = motor_node
+
+                if not hasattr(self, 'serial_numbers'):
+                    self.serial_numbers = {}
+
+                if node_id not in self.serial_numbers:
+                    try:
+                        serial = motor_node.sdo[0x1018][4].raw
+                        self.serial_numbers[node_id] = serial
+                    except Exception as e:
+                        print(f"[Serial Read Error] Node {node_id}: {e}")
+                        self.serial_numbers[node_id] = "Unknown"
+
+            except Exception as e:
+                print(f"[Motor Node {node_id}] Error: {e}")
+
+    def get_flow_data(self):
+        return self.pu_data["flowmeter"]
+    
+    def get_pressure_data(self):
+        return self.pu_data["pressure"]
+
+    def get_pump_rpm(self):
+        return self.pu_data["pump"].get("0x00", 0)

FASTapi/graphViewer.py

@@ -0,0 +1,99 @@
+import os
+import csv
+import tkinter as tk
+from tkinter import ttk
+from tkinter import messagebox
+from datetime import datetime
+import matplotlib.pyplot as plt
+from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
+
+LOGS_DIR = "logs"
+
+class GraphViewer(tk.Toplevel):
+    def __init__(self, master=None):
+        super().__init__(master)
+        self.title("Valve Graph Viewer")
+        self.geometry("1000x600")
+
+        self._create_widgets()
+        self._populate_dates()
+
+    def _create_widgets(self):
+        self.date_label = ttk.Label(self, text="Select Date:")
+        self.date_label.pack()
+
+        self.date_cb = ttk.Combobox(self, state="readonly")
+        self.date_cb.pack()
+
+        self.node_label = ttk.Label(self, text="Select Node:")
+        self.node_label.pack()
+
+        self.node_cb = ttk.Combobox(self, state="readonly", values=[f"Node{nid:02}" for nid in range(5, 25)])
+        self.node_cb.pack()
+
+        self.plot_btn = ttk.Button(self, text="Plot Graph", command=self._plot_graph)
+        self.plot_btn.pack(pady=10)
+
+        self.canvas_frame = ttk.Frame(self)
+        self.canvas_frame.pack(fill="both", expand=True)
+
+    def _populate_dates(self):
+        if not os.path.exists(LOGS_DIR):
+            return
+        dates = [d for d in os.listdir(LOGS_DIR) if os.path.isdir(os.path.join(LOGS_DIR, d))]
+        self.date_cb['values'] = sorted(dates)
+        if dates:
+            self.date_cb.current(0)
+            self.node_cb.current(0)
+
+    def _plot_graph(self):
+        date = self.date_cb.get()
+        node = self.node_cb.get()
+
+        filepath = os.path.join(LOGS_DIR, date, f"{node}.csv")
+        if not os.path.exists(filepath):
+            messagebox.showerror("File Not Found", f"No data for {node} on {date}.")
+            return
+
+        timestamps = []
+        setpoints = []
+        feedbacks = []
+        flows = []
+        pressures = []
+
+        with open(filepath, newline='') as csvfile:
+            reader = csv.DictReader(csvfile)
+            for row in reader:
+                try:
+                    timestamps.append(datetime.strptime(row["Timestamp"], "%Y-%m-%d %H:%M:%S"))
+                    setpoints.append(float(row["Setpoint"]))
+                    feedbacks.append(float(row["Feedback"]))
+                    flows.append(float(row["Flow (L/h)"]))
+                    pressures.append(float(row["Pressure (bar)"]))
+                except Exception as e:
+                    print(f"[PARSE ERROR] {e}")
+
+        self._draw_plot(timestamps, setpoints, feedbacks, flows, pressures)
+
+    def _draw_plot(self, t, sp, fb, fl, pr):
+        for widget in self.canvas_frame.winfo_children():
+            widget.destroy()
+
+        fig, ax = plt.subplots(figsize=(10, 5))
+        ax.plot(t, sp, label="Setpoint")
+        ax.plot(t, fb, label="Feedback")
+        ax.plot(t, fl, label="Flow (L/h)")
+        ax.plot(t, pr, label="Pressure (bar)")
+        ax.set_title("Valve Performance")
+        ax.set_xlabel("Time")
+        ax.set_ylabel("Values")
+        ax.legend()
+        ax.grid(True)
+
+        canvas = FigureCanvasTkAgg(fig, master=self.canvas_frame)
+        canvas.draw()
+        canvas.get_tk_widget().pack(fill="both", expand=True)
+
+# Usage:
+# from graph_viewer import GraphViewer
+# btn.config(command=lambda: GraphViewer(root))

FASTapi/logger.py

@@ -0,0 +1,47 @@
+import csv
+import os
+import threading
+from datetime import datetime
+
+LOG_INTERVAL_SECONDS = 0.5
+VALVE_IDS = range(5, 25)
+BASE_LOG_DIR = "logs"
+
+def start_per_valve_logger(data_mgr):
+    def log_data():
+        threading.Timer(LOG_INTERVAL_SECONDS, log_data).start()
+
+        try:
+            now = datetime.now()
+            timestamp_str = now.strftime("%Y-%m-%d %H:%M:%S")
+            date_folder = now.strftime("%Y-%m-%d")
+            valve_data = data_mgr.get_valve_data()
+            flow = data_mgr.get_flow_data()
+            pressure = data_mgr.get_pressure_data()
+
+            # Aggregate flow and pressure
+            total_flow = sum(flow.get(f"0x{i:02X}", 0) for i in range(1, 5)) / 100.0
+            total_pressure = sum(pressure.get(f"0x{i:02X}", 0) for i in range(1, 4)) / 100.0
+
+            # Create daily folder
+            log_dir = os.path.join(BASE_LOG_DIR, date_folder)
+            os.makedirs(log_dir, exist_ok=True)
+
+            for node_id in VALVE_IDS:
+                valve = valve_data.get(node_id, {})
+                setpoint = valve.get("setpoint", 0)
+                feedback = valve.get("feedback", 0)
+
+                filepath = os.path.join(log_dir, f"Node{node_id:02}.csv")
+                is_new_file = not os.path.exists(filepath)
+
+                with open(filepath, "a", newline="") as f:
+                    writer = csv.writer(f)
+                    if is_new_file:
+                        writer.writerow(["Timestamp", "Setpoint", "Feedback", "Flow (L/h)", "Pressure (bar)"])
+                    writer.writerow([timestamp_str, setpoint, feedback, total_flow, total_pressure])
+
+        except Exception as e:
+            print(f"[LOG ERROR] {e}")
+
+    log_data()

FASTapi/main.py

@@ -0,0 +1,68 @@
+from fastapi import FastAPI, Request
+from fastapi.staticfiles import StaticFiles
+from fastapi.responses import HTMLResponse, JSONResponse
+from fastapi.templating import Jinja2Templates
+
+import uvicorn
+
+from endurance_can import EnduranceDataManager
+from logger import start_per_valve_logger
+
+app = FastAPI()
+
+# Static and templates
+app.mount("/static", StaticFiles(directory="static"), name="static")
+templates = Jinja2Templates(directory="templates")
+
+# Global CAN manager
+data_mgr = EnduranceDataManager()
+data_mgr.connect_to_can()
+
+start_per_valve_logger(data_mgr)
+
+@app.get("/", response_class=HTMLResponse)
+async def root(request: Request):
+    return templates.TemplateResponse("index.html", {"request": request})
+
+@app.get("/api/valve-data")
+async def get_valve_data():
+    return JSONResponse(content=data_mgr.get_valve_data())
+
+@app.get("/api/flow-data")
+async def get_flow_data():
+    return JSONResponse(content=data_mgr.get_flow_data())
+
+@app.get("/api/pressure-data")
+async def get_pressure_data():
+    return JSONResponse(content=data_mgr.get_pressure_data())
+
+@app.get("/api/pump-rpm")
+async def get_pump_rpm():
+    return JSONResponse(content={"rpm": data_mgr.get_pump_rpm()})
+
+@app.post("/api/start-test")
+async def start_test():
+    data_mgr.send_test_command(1)
+    return {"status": "started"}
+
+@app.post("/api/stop-test")
+async def stop_test():
+    data_mgr.send_test_command(0)
+    return {"status": "stopped"}
+
+@app.get("/data")
+def get_data():
+    return {
+        "valves": data_mgr.get_valve_data(),
+        "flow": data_mgr.get_flow_data(),
+        "pressure": data_mgr.get_pressure_data(),
+        "pump": data_mgr.get_pump_rpm()
+    }
+
+@app.get("/graphs", response_class=HTMLResponse)
+async def show_graphs(request: Request):
+    return templates.TemplateResponse("graphs.html", {"request": request})
+
+
+if __name__ == "__main__":
+    uvicorn.run("main:app", host="0.0.0.0", port=8080, reload=True)

FASTapi/static/main.js

@@ -0,0 +1,105 @@
+<script>
+    const ctx = document.getElementById('liveChart').getContext('2d');
+    const nodeLabel = document.getElementById('selectedNodeLabel');
+    const nodeSelector = document.getElementById('nodeSelector');
+
+    let selectedNode = "5"; // Default node
+    const historyLimit = 300; // Keep up to 300 points in memory (5 min if 1/s)
+    const viewWindow = 60; // Show last 60 points on screen
+
+    let allData = {
+        labels: [],
+        setpoint: [],
+        feedback: [],
+        flow: [],
+        pressure: []
+    };
+
+    // Populate dropdown
+    for (let i = 5; i <= 24; i++) {
+        const option = document.createElement("option");
+        option.value = i.toString();
+        option.text = `Node ${i.toString().padStart(2, "0")}`;
+        if (i === 5) option.selected = true;
+        nodeSelector.appendChild(option);
+    }
+
+    nodeSelector.addEventListener("change", () => {
+        selectedNode = nodeSelector.value;
+        nodeLabel.textContent = selectedNode.padStart(2, "0");
+
+        // Reset history for this new node
+        allData = {
+            labels: [],
+            setpoint: [],
+            feedback: [],
+            flow: [],
+            pressure: []
+        };
+
+        chart.data.labels = [];
+        chart.data.datasets.forEach(ds => ds.data = []);
+        chart.update();
+    });
+
+    const chart = new Chart(ctx, {
+        type: 'line',
+        data: {
+            labels: [],
+            datasets: [
+                { label: 'Setpoint', borderColor: 'blue', data: [], fill: false },
+                { label: 'Feedback', borderColor: 'green', data: [], fill: false },
+                { label: 'Flow (L/h)', borderColor: 'orange', data: [], fill: false },
+                { label: 'Pressure (bar)', borderColor: 'red', data: [], fill: false }
+            ]
+        },
+        options: {
+            responsive: true,
+            animation: false,
+            scales: {
+                x: { title: { display: true, text: 'Time' } },
+                y: { title: { display: true, text: 'Value' } }
+            }
+        }
+    });
+
+    function fetchLiveData() {
+        fetch("/data")
+            .then(res => res.json())
+            .then(data => {
+                const now = new Date().toLocaleTimeString();
+                const valve = data.valves?.[selectedNode] || {};
+                const flow = data.flow?.["0x01"] || 0;
+                const pressure = data.pressure?.["0x01"] || 0;
+
+                // Append to history arrays
+                allData.labels.push(now);
+                allData.setpoint.push(valve.setpoint || 0);
+                allData.feedback.push(valve.feedback || 0);
+                allData.flow.push(flow);
+                allData.pressure.push(pressure);
+
+                // Trim history if needed
+                if (allData.labels.length > historyLimit) {
+                    allData.labels.shift();
+                    allData.setpoint.shift();
+                    allData.feedback.shift();
+                    allData.flow.shift();
+                    allData.pressure.shift();
+                }
+
+                // Extract last `viewWindow` points to show in graph
+                const start = Math.max(0, allData.labels.length - viewWindow);
+
+                chart.data.labels = allData.labels.slice(start);
+                chart.data.datasets[0].data = allData.setpoint.slice(start);
+                chart.data.datasets[1].data = allData.feedback.slice(start);
+                chart.data.datasets[2].data = allData.flow.slice(start);
+                chart.data.datasets[3].data = allData.pressure.slice(start);
+
+                chart.update();
+            });
+    }
+
+    setInterval(fetchLiveData, 1000);
+</script>

FASTapi/static/styles.css

@@ -0,0 +1,22 @@
+.status-indicator {
+    display: inline-block;
+    width: 12px;
+    height: 12px;
+    border-radius: 50%;
+}
+
+.status-operational {
+    background-color: green;
+}
+
+.status-stopped {
+    background-color: red;
+}
+
+.status-preop {
+    background-color: orange;
+}
+
+.status-unknown {
+    background-color: gray;
+}

FASTapi/templates/graphs.html

@@ -0,0 +1,92 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <title>Live Valve Graph</title>
+    <script src="https://cdn.jsdelivr.net/npm/chart.js"></script>
+</head>
+<body>
+    <div style="text-align: center;">
+        <h3>Live Valve Graph - Node <span id="selectedNodeLabel">05</span></h3>
+        <label for="nodeSelector">Select Node:</label>
+        <select id="nodeSelector">
+        </select>
+    </div>
+
+    <canvas id="liveChart" width="1000" height="400"></canvas>
+
+    <script>
+        const ctx = document.getElementById('liveChart').getContext('2d');
+        const nodeLabel = document.getElementById('selectedNodeLabel');
+        const nodeSelector = document.getElementById('nodeSelector');
+
+        let selectedNode = "5";
+
+        // Add node options 05 to 24
+        for (let i = 5; i <= 24; i++) {
+            const option = document.createElement("option");
+            option.value = i.toString();
+            option.text = `Node ${i.toString().padStart(2, "0")}`;
+            if (i === 5) option.selected = true;
+            nodeSelector.appendChild(option);
+        }
+
+        nodeSelector.addEventListener("change", () => {
+            selectedNode = nodeSelector.value;
+            nodeLabel.textContent = selectedNode.padStart(2, "0");
+            // Clear chart
+            chart.data.labels = [];
+            chart.data.datasets.forEach(ds => ds.data = []);
+            chart.update();
+        });
+
+        const chart = new Chart(ctx, {
+            type: 'line',
+            data: {
+                labels: [],
+                datasets: [
+                    { label: 'Setpoint', borderColor: 'blue', data: [], fill: false },
+                    { label: 'Feedback', borderColor: 'green', data: [], fill: false },
+                    { label: 'Flow (L/h)', borderColor: 'orange', data: [], fill: false },
+                    { label: 'Pressure (bar)', borderColor: 'red', data: [], fill: false }
+                ]
+            },
+            options: {
+                responsive: true,
+                animation: false,
+                scales: {
+                    x: { title: { display: true, text: 'Time' } },
+                    y: { title: { display: true, text: 'Value' } }
+                }
+            }
+        });
+
+        function fetchLiveData() {
+            fetch("/data")
+                .then(res => res.json())
+                .then(data => {
+                    const now = new Date().toLocaleTimeString();
+
+                    const valve = data.valves?.[selectedNode] || {};
+                    const flow = data.flow?.["0x01"] || 0;
+                    const pressure = data.pressure?.["0x01"] || 0;
+
+                    chart.data.labels.push(now);
+                    chart.data.datasets[0].data.push(valve.setpoint || 0);
+                    chart.data.datasets[1].data.push(valve.feedback || 0);
+                    chart.data.datasets[2].data.push(flow);
+                    chart.data.datasets[3].data.push(pressure);
+
+                    if (chart.data.labels.length > 50) {
+                        chart.data.labels.shift();
+                        chart.data.datasets.forEach(ds => ds.data.shift());
+                    }
+
+                    chart.update();
+                });
+        }
+
+        setInterval(fetchLiveData, 1000);
+    </script>
+</body>
+</html>

FASTapi/templates/index.html

@@ -0,0 +1,140 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <title>Endurance Test Bench</title>
+    <meta name="viewport" content="width=device-width, initial-scale=1">
+    <link href="https://cdn.jsdelivr.net/npm/bootstrap@5.3.2/dist/css/bootstrap.min.css" rel="stylesheet">
+    <style>
+        .status-indicator {
+            display: inline-block;
+            width: 15px;
+            height: 15px;
+            border-radius: 50%;
+        }
+        .status-unknown {
+            background-color: gray;
+        }
+        .valve-table-wrapper {
+            max-height: 500px;
+            overflow-y: auto;
+        }
+    </style>
+</head>
+<body class="bg-light text-dark">
+<div class="container-fluid p-4">
+    <div class="row mb-4">
+        <div class="col-12 d-flex justify-content-between align-items-center flex-wrap">
+            <div class="mb-2 mb-md-0">
+                <button id="startTest" class="btn btn-outline-success me-2">✅ Start Test</button>
+                <button id="stopTest" class="btn btn-outline-danger">❌ Stop Test</button>
+            </div>
+            <button id="showGraphs" class="btn btn-outline-info">🖥 Show Graphs</button>
+        </div>
+    </div>
+
+    <div class="row gx-4">
+        <div class="col-lg-9 col-md-12 mb-4">
+            <h4 class="fw-bold mb-3">Valve Overview</h4>
+            <div class="table-responsive valve-table-wrapper">
+                <table class="table table-bordered align-middle text-center">
+                    <thead class="table-primary text-white">
+                        <tr>
+                            <th>Status</th>
+                            <th>Node ID</th>
+                            <th>Serial No.</th>
+                            <th>Setpoint</th>
+                            <th>Feedback</th>
+                            <th>Drift</th>
+                        </tr>
+                    </thead>
+                    <tbody id="valve-table-body">
+                        <!-- JS will populate this -->
+                    </tbody>
+                </table>
+            </div>
+        </div>
+
+        <div class="col-lg-3 col-md-12">
+            <h5 class="fw-bold mb-3">System Feedback</h5>
+
+            <div class="card mb-3">
+                <div class="card-header bg-primary text-white fw-bold">Pressure Sensor</div>
+                <ul class="list-group list-group-flush" id="pressureList">
+                    <li class="list-group-item">Pressure 1: 0 bar</li>
+                    <li class="list-group-item">Pressure 2: 0 bar</li>
+                    <li class="list-group-item">Pressure 3: 0 bar</li>
+                    <li class="list-group-item">Pressure 4: 0 bar</li>
+                </ul>
+            </div>
+
+            <div class="card mb-3">
+                <div class="card-header bg-primary text-white fw-bold">Flowmeter</div>
+                <ul class="list-group list-group-flush" id="flowList">
+                    <li class="list-group-item">Flowmeter 1: 0 L/h</li>
+                    <li class="list-group-item">Flowmeter 2: 0 L/h</li>
+                    <li class="list-group-item">Flowmeter 3: 0 L/h</li>
+                    <li class="list-group-item">Flowmeter 4: 0 L/h</li>
+                </ul>
+            </div>
+
+            <div class="card">
+                <div class="card-header bg-primary text-white fw-bold">Pump RPM</div>
+                <div class="card-body">
+                    <h3 class="card-title text-center" id="pumpRPM">0</h3>
+                </div>
+            </div>
+        </div>
+    </div>
+</div>
+
+<script>
+function fetchAllData() {
+    fetch("/data")
+        .then(res => res.json())
+        .then(data => {
+            const tbody = document.getElementById("valve-table-body");
+            tbody.innerHTML = "";
+            for (let i = 5; i <= 24; i++) {
+                const valve = data.valves?.[i.toString()] || {
+                    node_id: "--", serial: "--", setpoint: "--",
+                    feedback: "--", drift: "--", status: "UNKNOWN"
+                };
+                const row = document.createElement("tr");
+                row.innerHTML = `
+                    <td><span class="status-indicator status-${valve.status?.toLowerCase() || 'unknown'}"></span></td>
+                    <td>${valve.node_id}</td>
+                    <td>${valve.serial ?? "--"}</td>
+                    <td>${valve.setpoint}</td>
+                    <td>${valve.feedback}</td>
+                    <td>${valve.drift}</td>
+                `;
+                tbody.appendChild(row);
+            }
+
+            const flowEls = document.querySelectorAll("#flowList li");
+            Object.values(data.flow || {}).forEach((val, i) => {
+                if (flowEls[i]) flowEls[i].textContent = `Flowmeter ${i + 1}: ${val} L/h`;
+            });
+
+            const pressureEls = document.querySelectorAll("#pressureList li");
+            Object.values(data.pressure || {}).forEach((val, i) => {
+                if (pressureEls[i]) pressureEls[i].textContent = `Pressure ${i + 1}: ${val} bar`;
+            });
+
+            document.getElementById("pumpRPM").textContent = data.pump ?? "0";
+        })
+        .catch(err => console.error("Failed to fetch /data", err));
+}
+
+setInterval(fetchAllData, 1000);
+</script>
+
+<script>
+document.getElementById("showGraphs").addEventListener("click", () => {
+    window.open("/graphs", "_blank");
+});
+</script>
+
+</body>
+</html>

common/nms_types.h

@@ -76,7 +76,10 @@ typedef enum
     NMS_ERR_NOT_INITIALIZED,        /* The initialization was unsuccessful */
     NMS_ERR_NOT_RUNNING,            /* Module has not been started */
     NMS_ERR_BUS_ERROR,              /* Memory cannot be physically addressed (e.g. invalid bus address) */
-    NMS_ERR_NULL_POINTER
+    NMS_ERR_NULL_POINTER,
+	NMS_ERR_INVALID_MODULE,
+	NMS_ERR_INVALID_POINTER,
+	NMS_LSS_NODE_CONFIG_ERROR,
 } NMSErrorEn;
 
 #endif /* NMS_TYPES_H_INCLUDED */

gui.py

@@ -0,0 +1,263 @@
+import sys
+import time
+import struct
+import canopen
+import can
+from can.listener import Listener
+from PyQt5.QtWidgets import (
+    QApplication, QWidget, QTableWidget, QTableWidgetItem, QVBoxLayout,
+    QHBoxLayout, QLabel, QGroupBox, QFormLayout, QPushButton, QMessageBox, QHeaderView
+)
+from PyQt5.QtCore import QTimer, Qt
+from PyQt5.QtGui import QColor
+
+motorBoardEdsPath = r'C:\Users\vineetagupta\Documents\NorthStar-Motor-Valve-Board-Firmware\MotorValveBoard\coappl\motorcontrollervalve.eds'
+puBoardEdsPath = r'C:\Users\vineetagupta\Documents\NorthStar-Endurance-TestBench\EnduranceTestBench\coappl\enduranceTestBench.eds'
+
+
+class SDOSetpointListener(Listener):
+    def __init__(self, parent):
+        self.parent = parent
+
+    def on_message_received(self, msg):
+        if 0x600 <= msg.arbitration_id <= 0x61F and len(msg.data) >= 8:
+            node_id = msg.arbitration_id - 0x600
+            cmd = msg.data[0] & 0xE0
+            index = msg.data[1] | (msg.data[2] << 8)
+            subindex = msg.data[3]
+
+            if index == 0x6000 and subindex == 0x01 and cmd == 0x20:
+                setpoint_val = msg.data[4]
+                self.parent.motorBoardTpdoData[node_id]['setpoint'] = setpoint_val
+
+
+class NodeTableWindow(QWidget):
+    def __init__(self, nodes):
+        super().__init__()
+        self.setWindowTitle("Endurance Test Bench")
+        self.nodes = nodes
+        self.motorBoardTpdoData = {}
+        self.PuBoardData = {}
+        self.connected = False
+        self.network = None
+        self.num_nodes = 0
+        self.init_ui()
+        self.start_timer()
+
+    def init_ui(self):
+        layout = QVBoxLayout(self)
+        button_row = QHBoxLayout()
+        self.connect_btn = QPushButton("Connect to CAN", self)
+        self.disconnect_btn = QPushButton("Disconnect", self)
+        self.disconnect_btn.setEnabled(False)
+        self.connect_btn.clicked.connect(self.handle_connect)
+        self.disconnect_btn.clicked.connect(self.handle_disconnect)
+        button_row.addWidget(self.connect_btn)
+        button_row.addWidget(self.disconnect_btn)
+        layout.addLayout(button_row)
+        main_layout = QHBoxLayout()
+        self.table_widget = QWidget(self)
+        table_layout = QVBoxLayout()
+        table_heading = QLabel("Valve Details")
+        table_heading.setAlignment(Qt.AlignLeft)
+        table_layout.addWidget(table_heading)
+        self.table = QTableWidget(0, 4)
+        self.table.setHorizontalHeaderLabels(["Node ID", "Setpoint", "Feedback", "Status"])
+        self.table.horizontalHeader().setStretchLastSection(True)
+        self.table.horizontalHeader().setSectionResizeMode(QHeaderView.Stretch)
+        self.table.verticalHeader().setVisible(False)
+        table_layout.addWidget(self.table)
+        self.table_widget.setLayout(table_layout)
+        self.details_widget = QWidget(self)
+        details_layout = QVBoxLayout(self.details_widget)
+        pressure_group = QGroupBox("Pressure Sensor Details", self)
+        pressure_layout = QFormLayout(pressure_group)
+        self.pressure_labels = []
+        for i in range(1, 5):
+            label = QLabel("0 bar", self)
+            self.pressure_labels.append(label)
+            pressure_layout.addRow(f"Pressure Sensor {i}", label)
+        details_layout.addWidget(pressure_group)
+        flow_group = QGroupBox("Flow Meter Details", self)
+        flow_layout = QFormLayout(flow_group)
+        self.flow_rate_label = []
+        for i in range(1, 5):
+            label = QLabel("0 L/h", self)
+            self.flow_rate_label.append(label)
+            flow_layout.addRow(f"Flowmeter {i}", label)
+        details_layout.addWidget(flow_group)
+        pump_group = QGroupBox("Pump Details", self)
+        pump_layout = QFormLayout(pump_group)
+        self.pump_value_label = QLabel("0 RPM", self)
+        pump_layout.addRow("Speed", self.pump_value_label)
+        details_layout.addWidget(pump_group)
+        self.details_widget.setLayout(details_layout)
+        main_layout.addWidget(self.table_widget)
+        main_layout.addWidget(self.details_widget)
+        layout.addLayout(main_layout)
+        screen = QApplication.primaryScreen()
+        screen_geometry = screen.availableGeometry()
+        width = int(screen_geometry.width() * 0.4)
+        height = int(screen_geometry.height() * 0.7)
+        x = int((screen_geometry.width() - width) / 2)
+        y = int((screen_geometry.height() - height) / 2)
+        self.setGeometry(x, y, width, height)
+
+    def start_timer(self):
+        self.timer = QTimer()
+        self.timer.setInterval(500)
+        self.timer.timeout.connect(self.update_table)
+        self.timer.start()
+
+    def handle_connect(self):
+        try:
+            self.network = canopen.Network()
+            self.network.connect(channel='PCAN_USBBUS1', bustype='pcan', bitrate=250000)
+            self.nodes = {}
+            self.motorBoardTpdoData = {}
+            self.PuBoardData = {}
+            self.init_motor_nodes()
+            self.init_pu_node()
+            self.listener = SDOSetpointListener(self)
+            self.notifier = can.Notifier(self.network.bus, [self.listener])
+
+            self.connected = True
+            self.num_nodes = len(self.nodes)
+            self.table.setRowCount(self.num_nodes)
+            for row, node_id in enumerate(sorted(self.nodes.keys())):
+                item = QTableWidgetItem(str(node_id))
+                item.setTextAlignment(Qt.AlignCenter)
+                self.table.setItem(row, 0, item)
+            self.connect_btn.setStyleSheet("background-color: lightgreen;")
+            self.disconnect_btn.setEnabled(True)
+            QMessageBox.information(self, "Connected", "Successfully connected to CAN and initialized nodes.")
+        except Exception as e:
+            QMessageBox.critical(self, "Connection Error", f"Failed to connect:\n{e}")
+            self.connected = False
+
+    def handle_disconnect(self):
+        try:
+            if hasattr(self, 'notifier'):
+                self.notifier.stop()
+            if self.network:
+                self.network.disconnect()
+            self.connected = False
+            self.nodes.clear()
+            self.motorBoardTpdoData.clear()
+            self.PuBoardData.clear()
+            self.table.clearContents()
+            self.table.setRowCount(0)
+            self.connect_btn.setEnabled(True)
+            self.disconnect_btn.setEnabled(False)
+            self.connect_btn.setStyleSheet("")
+            QMessageBox.information(self, "Disconnected", "CAN network disconnected.")
+        except Exception as e:
+            QMessageBox.warning(self, "Disconnect Error", f"Error while disconnecting:\n{e}")
+
+    def init_motor_nodes(self):
+        for node_id in range(5, 27):
+            try:
+                node = canopen.RemoteNode(node_id, motorBoardEdsPath)
+                self.network.add_node(node)
+                time.sleep(0.1)
+                self.nodes[node_id] = node
+                self.motorBoardTpdoData[node_id] = {'setpoint': '-', 'feedback': '-'}
+                if node.nmt.state == 'OPERATIONAL':
+                    node.tpdo.read()
+                    node.tpdo[1].enabled = True
+
+                    def make_callback(nid):
+                        def cb(map_obj):
+                            for var in map_obj:
+                                if var.index == 0x6002:
+                                    self.motorBoardTpdoData[nid]['feedback'] = var.raw
+                        return cb
+
+                    node.tpdo[1].add_callback(make_callback(node_id))
+            except Exception as e:
+                print(f"Motor node {node_id} error: {e}")
+
+    def init_pu_node(self):
+        try:
+            node = canopen.RemoteNode(0x1, puBoardEdsPath)
+            self.network.add_node(node)
+            time.sleep(0.1)
+            self.nodes[1] = node
+            self.PuBoardData = {'flowmeter': {}, 'pressure': {}, 'pump': {}}
+            
+            if node.nmt.state == 'OPERATIONAL':
+                node.tpdo.read()
+                
+                # Enable all relevant TPDOs
+                for tpdo_id in range(4, 9):  # TPDO4 to TPDO8
+                    if tpdo_id in node.tpdo:
+                        node.tpdo[tpdo_id].enabled = True
+
+                        def make_callback():
+                            def cb(map_obj):
+                                for var in map_obj:
+                                    if var.index == 0x6004:
+                                        self.PuBoardData['flowmeter'][f'0x{var.subindex:02X}'] = var.raw
+                                    elif var.index == 0x6005:
+                                        self.PuBoardData['pressure'][f'0x{var.subindex:02X}'] = var.raw
+                                    elif var.index == 0x6006:
+                                        self.PuBoardData['pump'][f'0x{var.subindex:02X}'] = var.raw
+                            return cb
+                        
+                        node.tpdo[tpdo_id].add_callback(make_callback())
+        except Exception as e:
+            print(f"PU node error: {e}")
+
+
+    def update_table(self):
+        if not self.connected:
+            return
+        for row, node_id in enumerate(sorted(self.nodes.keys())):
+            node = self.nodes[node_id]
+            try:
+                status = node.nmt.state
+            except:
+                status = "UNKNOWN"
+            node_item = self.table.item(row, 0)
+            if node_item:
+                node_item.setBackground(
+                    QColor("green") if status == "OPERATIONAL" else
+                    QColor("yellow") if status == "PRE-OPERATIONAL" else
+                    QColor("red")
+                )
+            set_val = str(self.motorBoardTpdoData.get(node_id, {}).get('setpoint', '-'))
+            setpoint_item = QTableWidgetItem(set_val)
+            setpoint_item.setTextAlignment(Qt.AlignCenter)
+            self.table.setItem(row, 1, setpoint_item)
+            fb_val = str(self.motorBoardTpdoData.get(node_id, {}).get('feedback', '-'))
+            feedback_item = QTableWidgetItem(fb_val)
+            feedback_item.setTextAlignment(Qt.AlignCenter)
+            self.table.setItem(row, 2, feedback_item)
+            status_item = QTableWidgetItem(status)
+            status_item.setTextAlignment(Qt.AlignCenter)
+            self.table.setItem(row, 3, status_item)
+            # Update flowmeter values
+            for i in range(1, 5):
+                value = self.PuBoardData.get("flowmeter", {}).get(f"0x{i:02X}", 0)
+                self.flow_rate_label[i-1].setText(f"{value} L/h")
+
+            # Update pressure sensor values
+            for i in range(1, 5):
+                value = self.PuBoardData.get("pressure", {}).get(f"0x{i:02X}", 0)
+                self.pressure_labels[i-1].setText(f"{value} bar")
+
+            # Update pump speed
+            value = self.PuBoardData.get("pump", {}).get("0x00", 0)
+            self.pump_value_label.setText(f"{value} RPM")
+
+
+
+def main():
+    app = QApplication(sys.argv)
+    window = NodeTableWindow({})
+    window.show()
+    sys.exit(app.exec_())
+
+
+if __name__ == "__main__":
+    main()

north-star_emotas-stack/codrv_ml/common/can_printf.c

@@ -0,0 +1,96 @@
+/*
+* can_printf - printf over CAN
+*
+* Copyright (c) 2013-2024 emotas embedded communication GmbH
+*-------------------------------------------------------------------
+* $Id: can_printf.c 52765 2024-03-13 12:42:43Z hil $
+*
+*
+*-------------------------------------------------------------------
+*
+*
+*/
+
+/********************************************************************/
+/**
+* \brief printf over CAN
+*
+* \file can_printf.c 
+*
+* Requirements:
+* 1) additional COB
+* 2) more TX queue buffers
+* 3) in gen_define.h
+*      #define CAN_PRINTF
+*      #define CO_CAN_DEBUG_SUPPORTED
+*      #define printf can_printf
+*      extern int can_printf( const char *_format, ...);
+* 
+*
+*/
+
+
+/* header of standard C - libraries
+---------------------------------------------------------------------------*/
+#include <stdio.h>
+#include <string.h>
+#include <stdarg.h>
+
+/* header of project specific types
+---------------------------------------------------------------------------*/
+#include <gen_define.h>
+
+#ifdef NO_PRINTF
+#else
+
+#ifdef CAN_PRINTF
+
+#include <co_datatype.h>
+#include <co_candebug.h>
+
+# ifdef CO_CAN_DEBUG_SUPPORTED
+# else /* CO_CAN_DEBUG_SUPPORTED */
+#   error "CAN_PRINTF req. CO_CAN_DEBUG_SUPPORTED!"
+# endif /* CO_CAN_DEBUG_SUPPORTED */
+
+
+#ifndef PRINTF_COBID
+# define PRINTF_COBID 0x580
+#endif
+/*
+* can_printf - format like printf
+*
+* Currently fix for 8 Byte.
+*
+* Note: Required Stack size!
+*
+*/
+int can_printf( const char *_format, ...)
+{
+va_list _ap;
+int rval;
+static char buf[80] = {0};
+int idx = 0;
+UNSIGNED8 canLine = 0; /* currently the complete output write to a fix line */
+
+	va_start(_ap, _format);
+
+	vsnprintf(buf, 79, _format, _ap);
+	rval = strlen(buf);
+
+	while (rval > 8) {
+		coCanDebugPrint(CO_LINE, PRINTF_COBID, 8, (const UNSIGNED8 *)&buf[idx]);
+		rval -= 8;
+		idx += 8;
+	} 
+
+	if (rval > 0) {
+		coCanDebugPrint(CO_LINE, PRINTF_COBID, rval, (const UNSIGNED8 *)&buf[idx]);
+	}
+
+	va_end(_ap);
+	return (rval);
+}
+
+#endif
+#endif

north-star_emotas-stack/codrv_ml/common/codrv_canbittiming.c

@@ -0,0 +1,631 @@
+/*
+* codrv_canbittiming.c - CAN Bittiming tables 
+*
+* Copyright (c) 2012-2024 emotas embedded communication GmbH
+*-------------------------------------------------------------------
+* $Id: codrv_canbittiming.c 54593 2024-07-08 13:01:45Z hil $
+*
+*
+*-------------------------------------------------------------------
+*
+*
+*/
+
+/********************************************************************/
+/**
+* \brief 
+*
+* \file 
+* \author emotas embedded communication GmbH
+*
+* This module contains different bittiming tables.
+*
+*/
+/* header of project specific types
+---------------------------------------------------------------------------*/
+#include <gen_define.h>
+
+#include <co_datatype.h>
+#include <co_drv.h>
+
+#ifdef CODRV_BIT_TABLE_EXTERN
+
+/*
+* 200 MHz table
+*
+* Samplepoint is not on 87.5%.
+*/
+#ifdef CODRV_CANCLOCK_200MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+         {   125u, 100u, 0u, 13u, 2u }, /* ! 87.5% */
+         {   250u,  50u, 0u, 13u, 2u }, /* ! 87.5% */
+         {   500u,  40u, 0u, 8u, 1u },  /* ! 90% */
+         {  1000u,  20u, 0u, 8u, 1u }, /*  ! 90% */
+         {0u,0u,0u,0u,0u} /* last */
+    };
+#endif /* CODRV_CANCLOCK_200MHZ */
+
+/*
+* 160 MHz table
+*
+* Samplepoint is not on 87.5%.
+*/
+#ifdef CODRV_CANCLOCK_160MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+# ifdef CODRV_CANCLOCK_PRE_10BIT
+		{   10u, 1000u, 0u, 13u, 2u }, /* 87.5% */
+		{   20u,  500u, 0u, 13u, 2u }, /* 87.5% */
+		{   50u,  200u, 0u, 13u, 2u }, /* 87.5% */
+		{  100u,  100u, 0u, 13u, 2u }, /* 87.5% */
+		{  125u,   80u, 0u, 13u, 2u }, /* 87.5% */
+# endif /* CODRV_CANCLOCK_PRE_10BIT */
+		{  250u,   40u, 0u, 13u, 2u }, /* 87.5% */
+		{  500u,   20u, 0u, 13u, 2u }, /* 87.5% */
+		{  800u,   25u, 0u,  6u, 1u }, /* 87.5% */
+		{ 1000u,   10u, 0u, 13u, 2u }, /* 87.5% */
+		{    0u,    0u, 0u,  0u, 0u }  /* last */
+	};
+#endif /* CODRV_CANCLOCK_160MHZ */
+
+/*
+* 120 MHz table
+*
+* Samplepoint is not on 87.5%.
+*/
+#ifdef CODRV_CANCLOCK_120MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+# ifdef CODRV_CANCLOCK_PRE_10BIT
+		{   10u, 480u, 0u, 16u, 8u }, /* 68.0% */
+		{   20u, 400u, 0u, 12u, 2u }, /* 86.7% */
+		{   50u, 160u, 0u, 12u, 2u }, /* 86.7% */
+		{  100u,  80u, 0u, 12u, 2u }, /* 86.7% */
+# endif /* CODRV_CANCLOCK_PRE_10BIT */
+		{  125u,  60u, 0u, 13u, 2u }, /* 87.5% */
+		{  250u,  30u, 0u, 13u, 2u }, /* 87.5% */
+		{  500u,  15u, 0u, 13u, 2u }, /* 87.5% */
+		{  800u,  10u, 0u, 12u, 2u }, /* 86.7% */
+		{ 1000u,   8u, 0u, 12u, 2u }, /* 86.7% */
+		{    0u,   0u, 0u,  0u, 0u }  /* last */
+	};
+#endif /* CODRV_CANCLOCK_120MHZ */
+
+/*
+* 100 MHz table
+*
+* Samplepoint is not on 87.5%.
+*/
+#ifdef CODRV_CANCLOCK_100MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+         {   125u,  50u, 0u, 13u, 2u }, /* ! 87.5% */
+         {   250u,  25u, 0u, 13u, 2u }, /* ! 87.5% */
+         {   500u,  20u, 0u, 8u, 1u },  /* ! 90% */
+         {  1000u,  10u, 0u, 8u, 1u }, /*  ! 90% */
+         {0u,0u,0u,0u,0u} /* last */
+    };
+#endif /* CODRV_CANCLOCK_100MHZ */
+
+
+
+/*
+* 90 MHz table
+*
+* Samplepoint is not on 87.5%.
+*/
+#ifdef CODRV_CANCLOCK_90MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+		/* 90MHz table, prescaler 6bit (max 64) + BRPE 4bit == 1024 */
+# ifdef CODRV_CANCLOCK_PRE_10BIT
+		{    10u, 600u, 0u, 12u, 2u }, /* !! 86.7% */
+		{    20u, 300u, 0u, 12u, 2u }, /* !! 86.7% */
+		{    50u, 120u, 0u, 12u, 2u }, /* !! 86.7% */
+# endif /* CODRV_CANCLOCK_PRE_10BIT */
+		{   125u,  45u, 0u, 13u, 2u }, /* !! 87.5% */
+		{   250u,  24u, 0u, 12u, 2u }, /* !! 86.7% */
+		{   500u,  12u, 0u, 12u, 2u }, /* !! 86.7% */
+		{  1000u,   6u, 0u, 12u, 2u }, /* !! 86.7% */
+		{     0u,   0u, 0u,  0u, 0u }  /* last */
+	};
+#endif /* CODRV_CANCLOCK_90MHZ */
+
+/*
+* 80 MHz table
+*
+* Samplepoint is not on 87.5%.
+*/
+#ifdef CODRV_CANCLOCK_80MHZ
+
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+# ifdef CODRV_CANCLOCK_PRE_10BIT
+		{   10u, 500u, 0u, 13u, 2u }, /* 87.5% */
+		{   20u, 250u, 0u, 13u, 2u }, /* 87.5% */
+		{   50u, 100u, 0u, 13u, 2u }, /* 87.5% */
+# endif /* CODRV_CANCLOCK_PRE_10BIT */
+		{  100u,  50u, 0u, 13u, 2u }, /* 87.5% */
+		{  125u,  40u, 0u, 13u, 2u }, /* 87.5% */
+		{  250u,  20u, 0u, 13u, 2u }, /* 87.5% */
+		{  500u,  10u, 0u, 13u, 2u }, /* 87.5% */
+		{  800u,  10u, 0u,  8u, 1u }, /* 90.0% */
+		{ 1000u,   5u, 0u, 13u, 2u }, /* 87.5% */
+		{    0u,   0u, 0u,  0u, 0u }  /* last */
+	};
+#endif /* CODRV_CANCLOCK_80MHZ */
+
+#ifdef CODRV_CANCLOCK_75MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+		/* 75MHz table, prescaler 6bit (max 64) + BRPE 4bit == 1024 */
+# ifdef CODRV_CANCLOCK_PRE_10BIT
+		{   20u, 250u, 0u, 12u, 2u }, /* 86.7% */
+		{   50u, 100u, 0u, 12u, 2u }, /* 86.7% */
+# endif
+		{  100u,  50u, 0u, 12u, 2u }, /* 86.7% */
+		{  125u,  40u, 0u, 12u, 2u }, /* 86.7% */
+		{  250u,  20u, 0u, 12u, 2u }, /* 86.7% */
+		{  500u,  10u, 0u, 12u, 2u }, /* 86.7% */
+		{ 1000u,   5u, 0u, 12u, 2u }, /* 86.7% */
+		{    0u,   0u, 0u,  0u, 0u }  /* last */
+	};
+#endif
+
+/*
+* 72 MHz table
+*
+* Samplepoint is not on 87.5%.
+*/
+#ifdef CODRV_CANCLOCK_72MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+		/* 72MHz table, prescaler 6bit (max 64) + BRPE 4bit == 1024 */
+# ifdef CODRV_CANCLOCK_PRE_10BIT
+		{   10u, 450u, 0u, 13u,  2u },
+		{   20u, 225u, 0u, 13u,  2u },
+		{   50u,  90u, 0u, 13u,  2u },
+# endif /* CODRV_CANCLOCK_PRE_10BIT */
+		{  100u,  45u, 0u, 13u,  2u },
+		{  125u,  36u, 0u, 13u,  2u },
+		{  250u,  18u, 0u, 13u,  2u },
+		{  500u,   9u, 0u, 13u,  2u },
+		{  800u,   6u, 0u, 12u,  2u }, /* 86.7% */
+		{ 1000u,   9u, 0u,  6u,  1u }, /* 8tq 87.5% */
+		{    0u,   0u, 0u,  0u,  0u }  /* last */
+	};
+#endif /* CODRV_CANCLOCK_72MHZ */
+
+/*
+* 70 MHz table
+*
+* Samplepoint is not on 87.5%.
+*/
+#ifdef CODRV_CANCLOCK_70MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+		/* 70MHz table, prescaler 6bit (max 64) + BRPE 4bit == 1024 */
+# ifdef CODRV_CANCLOCK_PRE_10BIT
+		{   20u, 250u, 3u, 8u, 2u }, /* !! 85,7% */
+		{   50u,  70u, 8u, 8u, 3u }, /* !! 85% */
+# endif
+		{  100u,  35u, 8u, 8u, 3u }, /* !! 85% */
+		{  125u,  35u, 5u, 8u, 2u },
+		{  250u,  14u, 8u, 8u, 3u }, /* !! 85% */
+		{  500u,   7u, 8u, 8u, 3u }, /* !! 85% */
+		{ 1000u,   5u, 3u, 8u, 2u }, /* !! 85,7% */
+		{    0u,   0u, 0u, 0u, 0u }  /* last */
+	};
+#endif /* CODRV_CANCLOCK_70MHZ */
+
+/*
+* 64 MHz table
+*/
+#ifdef CODRV_CANCLOCK_64MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+		/* 64MHz table, prescaler 6bit (max 64) + BRPE 4bit == 1024 */
+# ifdef CODRV_CANCLOCK_PRE_10BIT
+		{   10u, 256u, 0u, 16u,  8u }, /* 68.0% */
+		{   20u, 200u, 0u, 13u,  2u },
+		{   50u,  80u, 0u, 13u,  2u },
+# endif /* CODRV_CANCLOCK_PRE_10BIT */
+		{  100u,  40u, 0u, 13u,  2u },
+		{  125u,  32u, 0u, 13u,  2u },
+		{  250u,  16u, 0u, 13u,  2u },
+		{  500u,   8u, 0u, 13u,  2u },
+		{  800u,   5u, 0u, 13u,  2u },
+		{ 1000u,   4u, 0u, 13u,  2u },
+		{    0u,   0u, 0u,  0u,  0u }  /* last */
+	};
+#endif /* CODRV_CANCLOCK_64MHZ */
+
+/*
+* 60 MHz table
+*
+* Samplepoint is not on 87.5%.
+*/
+#ifdef CODRV_CANCLOCK_60MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+		/* 60MHz table, prescaler 6bit (max 64) + BRPE 4bit == 1024 */
+# ifdef CODRV_CANCLOCK_PRE_10BIT
+		{   10u, 375u, 0u, 13u,  2u },
+		{   20u, 200u, 0u, 12u,  2u }, /* 86.7% */
+		{   50u,  75u, 0u, 13u,  2u },
+# endif /* CODRV_CANCLOCK_PRE_10BIT */
+		{  100u,  40u, 0u, 12u,  2u }, /* 86.7% */
+		{  125u,  30u, 0u, 13u,  2u },
+		{  250u,  15u, 0u, 13u,  2u },
+		{  500u,   8u, 0u, 12u,  2u }, /* 86.7% */
+		{  800u,   5u, 0u, 12u,  2u }, /* 86.7% */
+		{ 1000u,   4u, 0u, 12u,  2u }, /* 86.7% */
+		{    0u,   0u, 0u,  0u,  0u }  /* last */
+	};
+#endif /* CODRV_CANCLOCK_60MHZ */
+
+/*
+* 54 MHz table
+*
+* Samplepoint is not on 87.5%.
+*/
+#ifdef CODRV_CANCLOCK_54MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+		/* 54MHz table, prescaler 6bit (max 64) + BRPE 4bit == 1024 */
+# ifdef CODRV_CANCLOCK_PRE_10BIT
+		{   20u, 150u, 0u, 15u,  2u }, /* !! 88.9% */
+# endif /* CODRV_CANCLOCK_PRE_10BIT */
+		{   50u,  60u, 0u, 15u,  2u }, /* !! 88.9% */
+		{  100u,  30u, 0u, 15u,  2u }, /* !! 88.9% */
+		{  125u,  27u, 0u, 13u,  2u },
+		{  250u,  12u, 0u, 15u,  2u }, /* !! 88.9% */
+		{  500u,   6u, 0u, 15u,  2u }, /* !! 88.9%*/
+		{ 1000u,   3u, 0u, 15u,  2u }, /* !! 88.9% */
+		{    0u,   0u, 0u,  0u,  0u }  /* last */
+	};
+#endif /* CODRV_CANCLOCK_54MHZ */
+
+
+/*
+* 50 MHz table
+*
+* Samplepoint is not on 87.5%.
+*/
+#ifdef CODRV_CANCLOCK_50MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+		/* 50MHz table, prescaler 6bit (max 64) + BRPE 4bit == 1024 */
+# ifdef CODRV_CANCLOCK_PRE_10BIT
+		{   10u, 250u, 0u, 16u,  3u }, /* !! 85% */
+		{   20u, 125u, 0u, 16u,  3u }, /* !! 85% */
+# endif /* CODRV_CANCLOCK_PRE_10BIT */
+		{   50u,  50u, 0u, 16u,  3u }, /* !! 85% */
+		{  100u,  25u, 0u, 16u,  3u }, /* !! 85% */
+		{  125u,  25u, 0u, 13u,  2u },
+		{  250u,  10u, 0u, 16u,  3u }, /* !! 85% */
+		{  500u,   5u, 0u, 16u,  3u }, /* !! */
+		{ 1000u,   5u, 0u,  7u,  2u }, /* !! 80% */
+		{    0u,   0u, 0u,  0u,  0u }  /* last */
+	};
+#endif /* CODRV_CANCLOCK_50MHZ */
+
+/*
+* 48 MHz table
+*/
+#ifdef CODRV_CANCLOCK_48MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+		/* 48MHz table, prescaler 6bit (max 64) + BRPE 4bit == 1024 */
+# ifdef CODRV_CANCLOCK_PRE_10BIT
+		{   10u, 300u, 0u, 13u,  2u },
+		{   20u, 150u, 0u, 13u,  2u },
+# endif /* CODRV_CANCLOCK_PRE_10BIT */
+		{   50u,  60u, 0u, 13u,  2u },
+		{  100u,  30u, 0u, 13u,  2u },
+		{  125u,  24u, 0u, 13u,  2u },
+		{  250u,  12u, 0u, 13u,  2u },
+		{  500u,   6u, 0u, 13u,  2u },
+		{ 1000u,   3u, 0u, 13u,  2u },
+		{    0u,   0u, 0u,  0u,  0u }  /* last */
+	};
+#endif /* CODRV_CANCLOCK_48MHZ */
+
+/*
+* 45 MHz table
+*
+* Samplepoint is not on 87.5%.
+*/
+#ifdef CODRV_CANCLOCK_45MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+		/* 45MHz table, prescaler 6bit (max 64) + BRPE 4bit == 1024 */
+# ifdef CODRV_CANCLOCK_PRE_10BIT
+		{   10u, 300u, 0u, 12u,  2u }, /* 86.7% */
+		{   20u, 150u, 0u, 12u,  2u }, /* 86.7% */
+# endif /* CODRV_CANCLOCK_PRE_10BIT */
+		{   50u,  60u, 0u, 12u,  2u }, /* 86.7% */
+		{  100u,  30u, 0u, 12u,  2u }, /* 86.7% */
+		{  125u,  24u, 0u, 12u,  2u }, /* 86.7% */
+		{  250u,  12u, 0u, 12u,  2u }, /* 86.7% */
+		{  500u,   6u, 0u, 12u,  2u }, /* 86.7% */
+		{ 1000u,   3u, 0u, 12u,  2u }, /* 86.7% */
+		{    0u,   0u, 0u,  0u,  0u }  /* last */
+	};
+#endif /* CODRV_CANCLOCK_45MHZ */
+
+/*
+* 42 MHz table
+*
+* Samplepoint is not on 87.5%.
+*/
+#ifdef CODRV_CANCLOCK_42MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+		/* 42MHz table, prescaler 10bit (max 1024) */
+# ifdef CODRV_CANCLOCK_PRE_10BIT
+		{   10u, 280u, 0u, 12u,  2u },
+		{   20u, 140u, 0u, 12u,  2u }, /* 86,7% */
+# endif /* CODRV_CANCLOCK_PRE_10BIT */
+		{   50u,  56u, 0u, 12u,  2u },
+		{  100u,  28u, 0u, 12u,  2u },
+		{  125u,  21u, 0u, 13u,  2u },
+		{  250u,  12u, 0u, 11u,  2u },
+		{  500u,   6u, 0u, 11u,  2u },
+		{ 1000u,   3u, 0u, 11u,  2u },
+		{    0u,   0u, 0u,  0u,  0u }  /* last */
+	};
+#endif /* CODRV_CANCLOCK_42MHZ */
+
+/*
+* 40 MHz table
+*
+* Samplepoint is not on 87.5%.
+*/
+#ifdef CODRV_CANCLOCK_40MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+		/* 40MHz table, prescaler 10bit (max 1024) */
+# ifdef CODRV_CANCLOCK_PRE_10BIT
+		{   10u, 250u, 0u, 13u,  2u },
+		{   20u, 125u, 0u, 13u,  2u },
+# endif /* CODRV_CANCLOCK_PRE_10BIT */
+		{   50u,  50u, 0u, 13u,  2u },
+		{  100u,  25u, 0u, 13u,  2u },
+		{  125u,  20u, 0u, 13u,  2u },
+		{  250u,  10u, 0u, 13u,  2u },
+		{  500u,   5u, 0u, 13u,  2u },
+		{ 1000u,   5u, 0u,  6u,  1u },
+		{    0u,   0u, 0u,  0u,  0u }  /* last */
+	};
+#endif /* CODRV_CANCLOCK_40MHZ */
+
+/*
+* 36 MHz table
+*
+* Samplepoint is not on 87.5%.
+*/
+#ifdef CODRV_CANCLOCK_36MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+		/* 36MHz table, prescaler 10bit (max 1024) */
+# ifdef CODRV_CANCLOCK_PRE_10BIT
+		{   10u, 225u, 0u, 13u,  2u },
+		{   20u, 120u, 0u, 12u,  2u }, /* 86,7% */
+# endif /* CODRV_CANCLOCK_PRE_10BIT */
+		{   50u,  45u, 0u, 13u,  2u }, /* 85% */
+		{  100u,  18u, 0u, 16u,  3u }, /* 85% */
+		{  125u,  18u, 0u, 13u,  2u },
+		{  250u,   9u, 0u, 13u,  2u },
+		{  500u,   9u, 0u,  6u,  1u }, /* only 8tq */
+		{  800u,   3u, 0u, 12u,  2u },
+		{ 1000u,   2u, 0u, 14u,  3u }, /* 83.3% */
+		{    0u,   0u, 0u,  0u,  0u }  /* last */
+	};
+#endif /* CODRV_CANCLOCK_36MHZ */
+
+/*
+* 35 MHz table
+*
+* Samplepoint is not on 87.5%.
+*/
+#ifdef CODRV_CANCLOCK_35MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+		/* 35MHz table, prescaler 6bit (max 64) + BRPE 4bit == 1024 */
+# ifdef CODRV_CANCLOCK_PRE_10BIT
+		{   10u,175u, 8u, 8u, 3u }, /* 85% */
+		{   20u,125u, 3u, 8u, 2u }, /* 85,7% */
+# endif
+		{   50u, 35u, 8u, 8u, 3u }, /* 85% */
+		{  100u, 25u, 3u, 8u, 2u }, /* 85,7% */
+		{  125u, 14u, 8u, 8u, 3u }, /* 85% */
+		{  250u,  7u, 8u, 8u, 3u }, /* 85% */
+		{  500u,  5u, 3u, 8u, 2u }, /* 85,7% */
+		{     0u, 0u, 0u, 0u, 0u }  /* last */
+	};
+#endif /* CODRV_CANCLOCK_35MHZ */
+
+/*
+* 32 MHz table
+*/
+#ifdef CODRV_CANCLOCK_32MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+		/* 32MHz table, prescaler 10bit (max 1024) */
+# ifdef CODRV_CANCLOCK_PRE_10BIT
+		{   10u,200u, 0, 13u, 2u },
+		{   20u,100u, 0, 13u, 2u },
+# endif /* CODRV_CANCLOCK_PRE_10BIT */
+		{   50u, 40u, 0, 13u, 2u },
+		{  100u, 20u, 0, 13u, 2u },
+		{  125u, 16u, 0, 13u, 2u },
+		{  250u,  8u, 0, 13u, 2u },
+		{  500u,  4u, 0, 13u, 2u },
+		{  800u,  5u, 0,  6u, 1u },
+		{ 1000u,  2u, 0, 13u, 2u },
+		{    0u,  0u, 0u, 0u, 0u }  /* last */
+	};
+#endif /* CODRV_CANCLOCK_32MHZ */
+
+/*
+* 30 MHz table
+*
+* Samplepoint is not on 87.5%.
+*/
+#ifdef CODRV_CANCLOCK_30MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+		/* 30MHz table, prescaler 10bit (max 1024) */
+# ifdef CODRV_CANCLOCK_PRE_10BIT
+		{   10u,200u, 0u, 12u, 2u },
+		{   20u,100u, 0u, 12u, 2u },
+# endif /* CODRV_CANCLOCK_PRE_10BIT */
+		{   50u, 40u, 0u, 12u, 2u },
+		{  100u, 20u, 0u, 12u, 2u },
+		{  125u, 16u, 0u, 12u, 2u },
+		{  250u,  8u, 0u, 12u, 2u },
+		{  500u,  4u, 0u, 12u, 2u },
+		{ 1000u,  2u, 0u, 12u, 2u },
+		{    0u,  0u, 0u,  0u, 0u }  /* last */
+	};
+#endif /* CODRV_CANCLOCK_30MHZ */
+
+/*
+* 25 MHz table
+*
+* Samplepoint is not on 87.5%.
+*/
+#ifdef CODRV_CANCLOCK_25MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+		/* 25MHz table, prescaler 10bit (max 1024) */
+# ifdef CODRV_CANCLOCK_PRE_10BIT
+		{   10u, 125u, 0u, 16u,  3u },
+# endif /* CODRV_CANCLOCK_PRE_10BIT */
+		{   20u,  50u, 0u, 16u,  8u },
+		{   50u,  25u, 0u, 16u,  3u },
+		{  100u,  10u, 0u, 16u,  8u },
+		{  125u,  10u, 0u, 16u,  3u },
+		{  250u,   5u, 0u, 16u,  3u },
+		{  500u,   2u, 0u, 16u,  8u },
+		{ 1000u,   1u, 0u, 16u,  8u },
+		{    0u,   0u, 0u,  0u,  0u }  /* last */
+	};
+#endif /* CODRV_CANCLOCK_25MHZ */
+
+#ifdef CODRV_CANCLOCK_24MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+		/* e.g. 24MHz table, prescaler 10bit (max 1024)
+		 * own values you can find on www.bittiming.can-wiki.info
+		 */
+		/* brate, pre, prop, seg1, seg2 */
+# ifdef CODRV_CANCLOCK_PRE_10BIT
+		{   10u, 150u, 0u, 13u, 2u },
+		{   20u,  75u, 0u, 13u, 2u },
+# endif /* CODRV_CANCLOCK_PRE_10BIT */
+		{   50u,  30u, 0u, 13u, 2u },
+		{  100u,  15u, 0u, 13u, 2u },
+		{  125u,  12u, 0u, 13u, 2u },
+		{  250u,   6u, 0u, 13u, 2u },
+		{  500u,   3u, 0u, 13u, 2u },
+		{ 1000u,   2u, 0u,  9u, 2u },
+		{    0u,   0u, 0u, 0u,  0u }  /* last */
+	};
+#endif /* CODRV_CANCLOCK_24MHZ */
+
+/*
+* 20 MHz table
+*
+* Samplepoint is not on 87.5%.
+*/
+#ifdef CODRV_CANCLOCK_20MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+		/* 20MHz table, prescaler 6bit (max 64) + BRPE 4bit == 1024 */
+# ifdef CODRV_CANCLOCK_PRE_10BIT
+		{   10u, 125u, 0u, 13u,  2u },
+# endif /* CODRV_CANCLOCK_PRE_10BIT */
+		{   20u,  50u, 0u, 16u,  3u }, /* !! 85% */
+		{   50u,  25u, 0u, 13u,  2u },
+		{  100u,  10u, 0u, 16u,  3u }, /* !! 85% */
+		{  125u,  10u, 0u, 13u,  2u },
+		{  250u,   5u, 0u, 13u,  2u },
+		{  500u,   2u, 0u, 16u,  3u }, /* !! 85% */
+		{ 1000u,   1u, 0u, 16u,  3u }, /* !! 85% */
+		{    0u,   0u, 0u,  0u,  0u }  /* last */
+	};
+#endif /* CODRV_CANCLOCK_20MHZ */
+
+/*
+* 18 MHz table
+*
+* Samplepoint is not on 87.5%.
+*/
+#ifdef CODRV_CANCLOCK_18MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+		/* 18MHz table, prescaler 10bit (max 1024) */
+# ifdef CODRV_CANCLOCK_PRE_10BIT
+		{   10u, 100u, 0u, 15u,  2u }, /* 88.9% */
+# endif /* CODRV_CANCLOCK_PRE_10BIT */
+		{   20u,  50u, 0u, 15u,  2u }, /* 88.9% */
+		{   50u,  18u, 0u, 16u,  3u }, /* 85.0% */
+		{  100u,  12u, 0u, 12u,  2u }, /* 86.7% */
+		{  125u,   9u, 0u, 13u,  2u },
+		{  250u,   4u, 0u, 15u,  2u }, /* 88.9% */
+		{  500u,   2u, 0u, 15u,  2u }, /* 88.9% */
+		{ 1000u,   1u, 0u, 15u,  2u }, /* 88.9% */
+		{    0u,   0u, 0u,  0u,  0u }  /* last */
+	};
+#endif /* CODRV_CANCLOCK_18MHZ */
+
+/*
+* 16 MHz table
+*/
+#ifdef CODRV_CANCLOCK_16MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+		/* 16MHz table, prescaler 6bit (max 64) + BRPE 4bit == 1024 */
+# ifdef CODRV_CANCLOCK_PRE_10BIT
+		{   10u,100u, 0u, 13u, 2u },
+# endif /* CODRV_CANCLOCK_PRE_10BIT */
+		{   20u,  50u, 0u,  13u, 2u },
+		{   50u,  20u, 0u,  13u, 2u },
+		{  100u,  10u, 0u,  13u, 2u },
+		{  125u,   8u, 0u,  13u, 2u },
+		{  250u,   4u, 0u,  13u, 2u },
+		{  500u,   2u, 0u,  13u, 2u },
+		{  800u,   1u, 0u,  16u, 3u },
+		{ 1000u,   1u, 0u,  13u, 2u },
+		{    0u,   0u, 0u,  0u,  0u }  /* last */
+	};
+#endif /* CODRV_CANCLOCK_16MHZ */
+
+/*
+* 12 MHz table
+*/
+#ifdef CODRV_CANCLOCK_12MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+		/* 12MHz table, prescaler 7bit (max 127) + BRPE 4bit == 1024 */
+# ifdef CODRV_CANCLOCK_PRE_10BIT
+# endif /* CODRV_CANCLOCK_PRE_10BIT */
+		{   10u,  75u, 0u,  13u, 2u },
+		{   20u,  40u, 0u,  12u, 2u }, /* 86.7% */
+		{   50u,  15u, 0u,  13u, 2u },
+		{  100u,   8u, 0u,  12u, 2u }, /* 86.7% */
+		{  125u,   6u, 0u,  13u, 2u },
+		{  250u,   3u, 0u,  13u, 2u },
+		{  500u,   2u, 0u,   9u, 2u }, /* 83.3% */
+		{  800u,   1u, 0u,  12u, 2u }, /* 86.7% */
+		{ 1000u,   1u, 0u,   9u, 2u }, /* 83.3% */
+		{    0u,   0u, 0u,  0u,  0u }  /* last */
+	};
+#endif /* CODRV_CANCLOCK_12MHZ */
+
+#ifdef CODRV_CANCLOCK_8MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+		/* 8MHz table, prescaler 6bit (max 64) + BRPE 4bit == 1024 */
+		{    10u, 50u, 0u, 13u, 2u },
+		{    20u, 25u, 0u, 13u, 2u },
+		{    50u, 10u, 0u, 13u, 2u },
+		{   100u,  5u, 0u, 13u, 2u },
+		{   125u,  4u, 0u, 13u, 2u },
+		{   250u,  2u, 0u, 13u, 2u },
+		{   500u,  1u, 0u, 13u, 2u },
+		{   800u,  1u, 3u,  4u, 2u }, /* 80% */
+		{  1000u,  1u, 3u,  2u, 1u }, /* 75% */
+		{     0u,  0u, 0u,  0u, 0u }  /* last */
+	};
+#endif
+
+#ifdef CODRV_CANCLOCK_4MHZ
+CO_CONST CODRV_BTR_T codrvCanBittimingTable[] = {
+		/* 4MHz table */
+		{    10u, 20u, 0u, 16u, 3u },
+		{    20u, 10u, 0u, 16u, 3u },
+		{    50u,  4u, 0u, 16u, 3u },
+		{   100u,  2u, 0u, 16u, 3u },
+		{   125u,  2u, 0u, 13u, 2u },
+		{   250u,  1u, 0u, 13u, 2u },
+		{     0u,  0u, 0u,  0u, 0u }  /* last */
+	};
+#endif
+
+#endif /* CODRV_BIT_TABLE_EXTERN */

north-star_emotas-stack/codrv_ml/common/codrv_error.c

@@ -0,0 +1,210 @@
+/*
+* error state handler
+*
+* Copyright (c) 2012-2023 emotas embedded communication GmbH
+*-------------------------------------------------------------------
+* $Id: codrv_error.c 47801 2023-07-06 14:39:17Z ro $
+*
+*
+*-------------------------------------------------------------------
+*
+*
+*/
+
+/********************************************************************/
+/**
+* \file
+* \brief   error state handling
+*
+*/
+
+/* header of standard C - libraries
+---------------------------------------------------------------------------*/
+#include <stddef.h>
+
+/* header of project specific types
+---------------------------------------------------------------------------*/
+#include <gen_define.h>
+
+#include <co_datatype.h>
+#include <co_commtask.h>
+#include <co_drv.h>
+
+#include "codrv_error.h"
+
+
+/* constant definitions
+---------------------------------------------------------------------------*/
+
+/* local defined data types
+---------------------------------------------------------------------------*/
+
+/* list of external used functions, if not in headers
+---------------------------------------------------------------------------*/
+
+/* list of global defined functions
+---------------------------------------------------------------------------*/
+
+/* list of local defined functions
+---------------------------------------------------------------------------*/
+
+/* external variables
+---------------------------------------------------------------------------*/
+
+/* global variables
+---------------------------------------------------------------------------*/
+static CAN_ERROR_FLAGS_T canErrorFlags[CO_LINE_ARRAY_DECL];
+
+/* local defined variables
+---------------------------------------------------------------------------*/
+
+/***************************************************************************/
+/**
+* \brief codrvCanErrorgetFlags - Reference to the error flags
+*
+* \retval
+*	pointer to error flags
+*
+*/
+
+CAN_ERROR_FLAGS_T * codrvCanErrorGetFlags(
+		CO_LINE_TYPE	CO_LINE		/**< can line */
+	)
+{
+	return(&canErrorFlags[CO_LINE]);
+}
+
+
+/***************************************************************************/
+/**
+* \brief codrvCanErrorInit - init Error variables
+*
+*/
+
+void codrvCanErrorInit(
+		CO_LINE_TYPE	CO_LINE		/**< can line */
+	)
+{
+CAN_ERROR_FLAGS_T * pError;
+
+	pError = codrvCanErrorGetFlags(CO_LINE);
+
+	pError->canErrorRxOverrun = CO_FALSE;
+
+	pError->canErrorPassive = CO_FALSE;
+	pError->canErrorActive = CO_FALSE;
+	pError->canErrorBusoff = CO_FALSE;
+
+	pError->drvErrorGeneric = CO_FALSE;
+
+	pError->canOldState = Error_Offline; /* last signaled state */
+
+}
+
+/***********************************************************************/
+/**
+* codrvCanErrorInformStack - inform the stack about changes
+*
+* Call outside of interrupts!
+* Typical call in codrvCanDriverHandler().
+*
+*/
+
+RET_T codrvCanErrorInformStack(
+		CO_LINE_TYPE	CO_LINE		/**< can line */
+	)
+{
+CAN_ERROR_FLAGS_T * pError;
+
+	pError = codrvCanErrorGetFlags(CO_LINE);
+
+	if (pError->canErrorRxOverrun == CO_TRUE)  {
+		/* CAN Overrun */
+		pError->canErrorRxOverrun = CO_FALSE;
+		coCommStateEvent(CO_LINE, CO_COMM_STATE_EVENT_CAN_OVERRUN);
+	}
+
+	if (pError->drvErrorGeneric == CO_TRUE)  {
+		/* general driver error */
+		pError->drvErrorGeneric = CO_FALSE;
+		coCommStateEvent(CO_LINE, CO_COMM_STATE_EVENT_DRV_ERROR);
+	}
+
+	/* signal CAN Error changed events
+	* 	(Active <-> Passive -> Busoff -> Active)
+	*/
+
+	if ((pError->canNewState == Error_Busoff)
+			|| (pError->canErrorBusoff == CO_TRUE))
+	{
+		if (pError->canOldState == Error_Active)  {
+			/* Passive event */
+			coCommStateEvent(CO_LINE, CO_COMM_STATE_EVENT_PASSIVE);
+		}
+		if (pError->canOldState != Error_Busoff)  {
+			/* Busoff event */
+			coCommStateEvent(CO_LINE, CO_COMM_STATE_EVENT_BUS_OFF);
+		}
+	}
+
+	if ((pError->canOldState == Error_Busoff)
+		|| (pError->canOldState == Error_Offline)
+		|| (pError->canErrorBusoff == CO_TRUE))
+	{
+		if (pError->canNewState == Error_Passive)  {
+			/* Active event */
+			coCommStateEvent(CO_LINE, CO_COMM_STATE_EVENT_ACTIVE);
+			/* Passive event*/
+			coCommStateEvent(CO_LINE, CO_COMM_STATE_EVENT_PASSIVE);
+		}
+	}
+
+
+	if ((pError->canOldState == Error_Active)
+			&& (pError->canNewState == Error_Passive)
+			&& (pError->canErrorBusoff == CO_FALSE))
+	{
+		/* Passive event */
+		coCommStateEvent(CO_LINE, CO_COMM_STATE_EVENT_PASSIVE);
+	}
+
+
+	if ((pError->canOldState == Error_Active)
+		&& (pError->canNewState == Error_Active))
+	{
+		if (pError->canErrorBusoff == CO_TRUE)  {
+			/* Active event */
+			coCommStateEvent(CO_LINE, CO_COMM_STATE_EVENT_ACTIVE);
+		} else
+		if (pError->canErrorPassive == CO_TRUE)  {
+			/* Passive event */
+			coCommStateEvent(CO_LINE, CO_COMM_STATE_EVENT_PASSIVE);
+			/* Active event */
+			coCommStateEvent(CO_LINE, CO_COMM_STATE_EVENT_ACTIVE);
+		} else {
+			/* nothing */
+		}
+
+	}
+
+	/* if ((pError->canOldState == Error_Passive)
+		|| (pError->canOldState == Error_Busoff)
+		|| (pError->canOldState == Error_Offline)) */
+	if (pError->canOldState != Error_Active)
+	{
+		if (pError->canNewState == Error_Active)  {
+			/* Active event */
+			coCommStateEvent(CO_LINE, CO_COMM_STATE_EVENT_ACTIVE);
+		}
+
+	}
+
+	pError->canErrorPassive = CO_FALSE;
+	pError->canErrorActive = CO_FALSE;
+	pError->canErrorBusoff = CO_FALSE;
+	pError->canOldState = pError->canNewState;
+
+	return(RET_OK);
+}
+
+

north-star_emotas-stack/codrv_ml/common/codrv_error.h

@@ -0,0 +1,57 @@
+/*
+* codrv_error.h
+*
+* Copyright (c) 2012-2023 emotas embedded communication GmbH
+*-------------------------------------------------------------------
+* SVN  $Id: codrv_error.h 51612 2023-12-19 17:23:36Z ro $
+*
+*
+*-------------------------------------------------------------------
+*
+*
+*/
+
+/********************************************************************/
+/**
+* \file
+* \brief can error handling
+*
+*/
+
+#ifndef CODRV_ERROR_H
+#define CODRV_ERROR_H 1
+
+/** CAN controller state */
+typedef enum {
+	Error_Offline,		/**< disabled */
+	Error_Active,		/**< Error Active */
+	Error_Passive,		/**< Error Passive */
+	Error_Busoff		/**< Error bus off */
+} CAN_ERROR_STATES_T;
+
+/** CAN state event collection structure */
+typedef struct {
+	BOOL_T canErrorRxOverrun; 			/**< CAN controller overrun */
+
+	BOOL_T canErrorPassive;				/**< CAN Passive event occured */
+	BOOL_T canErrorActive;				/**< CAN active event occured */
+	BOOL_T canErrorBusoff;				/**< CAN busoff event occured */
+
+	BOOL_T drvErrorGeneric;				/**< CAN for generic errors */
+
+	CAN_ERROR_STATES_T canOldState; 	/**< last signaled state */
+	CAN_ERROR_STATES_T canNewState; 	/**< current state */
+
+} CAN_ERROR_FLAGS_T;
+
+/* externals
+*--------------------------------------------------------------------------*/
+
+/* function prototypes
+*--------------------------------------------------------------------------*/
+CAN_ERROR_FLAGS_T * codrvCanErrorGetFlags(CO_LINE_DECL);
+void codrvCanErrorInit(CO_LINE_DECL);
+RET_T codrvCanErrorInformStack(CO_LINE_DECL);
+
+#endif /* CODRV_ERROR_H */
+

north-star_emotas-stack/codrv_ml/common/cpu_linux.c

@@ -0,0 +1,318 @@
+/*
+* cpu_linux.c - contains driver for linux
+*
+* Copyright (c) 2012-2023 emotas embedded communication GmbH
+*-------------------------------------------------------------------
+* $Id: cpu_linux.c 54592 2024-07-08 13:01:02Z hil $
+*
+*
+*-------------------------------------------------------------------
+*
+*
+*/
+#if defined(linux) || defined(__linux) || defined(__linux__) || defined(__gnu_linux__)
+/********************************************************************/
+/**
+* \file
+* \brief cpu functionality for linux system
+*
+* LINUX_SIGNAL_TIMER	
+* signal 34 interrupt functions like usleep() or sleep()
+*
+* LINUX_THREAD_TIMER
+* compile with -pthread
+*	Please note, that the Thread Timer accuracy is depend from the cpu load.
+*	In our tests a 1 second Stack timer jitter between 0.78s and 1.24s.
+*/
+
+/* header of standard C - libraries
+---------------------------------------------------------------------------*/
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <signal.h>
+#include <time.h>
+#include <sys/time.h>
+#include <pthread.h>
+
+/* header of project specific types
+---------------------------------------------------------------------------*/
+#include <gen_define.h>
+#include <co_datatype.h>
+#include <co_timer.h>
+#include <co_drv.h>
+
+/* constant definitions
+---------------------------------------------------------------------------*/
+/* set default */
+#if defined(LINUX_THREAD_TIMER) || defined(THREAD_SPAWN)
+#else /* defined(LINUX_THREAD_TIMER) || defined(THREAD_SPAWN) */
+# define LINUX_SIGNAL_TIMER	1
+#endif /* defined(LINUX_THREAD_TIMER) || defined(THREAD_SPAWN) */
+
+#define SIG SIGRTMIN
+
+#define errExit(msg)	do { perror(msg); exit(EXIT_FAILURE); \
+						} while (0)
+
+/* local defined data types
+---------------------------------------------------------------------------*/
+
+/* list of external used functions, if not in headers
+---------------------------------------------------------------------------*/
+
+/* list of global defined functions
+---------------------------------------------------------------------------*/
+void codrvHardwareInit(void);
+
+/* list of local defined functions
+---------------------------------------------------------------------------*/
+#ifdef LINUX_SIGNAL_TIMER
+static void timerInt (int sig, siginfo_t *si, void *uc);
+#endif /* LINUX_SIGNAL_TIMER */
+#ifdef THREAD_SPAWN
+static void timerIntSpawnedThread(sigval_t sival);
+#endif /* THREAD_SPAWN */
+
+/* external variables
+---------------------------------------------------------------------------*/
+
+/* global variables
+---------------------------------------------------------------------------*/
+
+/* local defined variables
+---------------------------------------------------------------------------*/
+
+
+/***************************************************************************/
+/**
+* \brief codrvHardwareInit - hardware initialization
+*
+* This function initialize the hardware, incl. Clock and CAN hardware.
+*/
+void codrvHardwareInit(void)
+{
+	/* normally nothing to do */
+}
+
+
+/***************************************************************************/
+/**
+* \brief codrvCanEnableInterrupt - enable the CAN interrupt
+*
+*/
+void codrvCanEnableInterrupt(
+		CO_LINE_TYPE	CO_LINE		/**< can line */
+	)
+{
+	/* enable CAN interrupts */
+	(void)(CO_LINE);
+}
+
+
+/***************************************************************************/
+/**
+* \brief codrvCanDisableInterrupt - disable the CAN interrupt
+*
+*/
+void codrvCanDisableInterrupt(
+		CO_LINE_TYPE	CO_LINE		/**< can line */
+	)
+{
+	/* disable CAN interrupts */
+	(void)(CO_LINE);
+}
+
+
+#ifdef LINUX_SIGNAL_TIMER
+/***************************************************************************/
+/**
+* \brief codrvTimerSetup - init Timer
+*
+* \param
+* \results
+*	nothing
+*/
+RET_T codrvTimerSetup(
+		UNSIGNED32	timerInterval
+	)
+{
+timer_t timerid;
+struct sigevent sev;
+struct sigaction sa;
+struct itimerspec its;
+
+	/* Establish handler for timer signal */
+	printf("Establishing handler for signal %d\n", SIG);
+	sa.sa_flags = SA_SIGINFO;
+	sa.sa_sigaction = timerInt;
+	sigemptyset(&sa.sa_mask);
+	if (sigaction(SIG, &sa, NULL) == -1)  {
+		return(RET_INTERNAL_ERROR);
+	}
+
+	/* Create the timer */
+	sev.sigev_notify = SIGEV_SIGNAL;
+	sev.sigev_signo = SIG;
+	sev.sigev_value.sival_ptr = &timerid;
+	if (timer_create(CLOCK_REALTIME, &sev, &timerid) == -1)  {
+		return(RET_INTERNAL_ERROR);
+	}
+	printf("timer ID is 0x%lx\n", (long) timerid);
+
+   	/* Start the timer (value is in usec */
+	its.it_value.tv_sec = timerInterval / 1000000;
+	its.it_value.tv_nsec = (timerInterval % 1000000) * 1000;
+	its.it_interval.tv_sec = its.it_value.tv_sec;
+	its.it_interval.tv_nsec = its.it_value.tv_nsec;
+
+	if (timer_settime(timerid, 0, &its, NULL) == -1)  {
+		return(RET_INTERNAL_ERROR);
+	}
+
+	return(RET_OK);
+}
+
+
+/***************************************************************************/
+/**
+* \internal
+*
+* \brief timerInt - timer interrupt
+*
+* \param
+* \results
+*	nothing
+*/
+void timerInt (
+		int sig,
+		siginfo_t *si,
+		void *uc
+	)
+{
+	(void)sig;
+	(void)si;
+	(void)uc;
+	
+//	printf("Caught signal %d\n", sig);
+	coTimerTick();
+}
+#endif /* LINUX_SIGNAL_TIMER */
+
+
+#ifdef LINUX_THREAD_TIMER
+void *coTimerThreadFn(void *x_void_ptr);
+/***************************************************************************/
+/**
+* \brief codrvTimerSetup - init Timer
+*
+* \param
+* \results
+*	nothing
+*/
+RET_T codrvTimerSetup(
+		UNSIGNED32	timerInterval
+	)
+{
+static __useconds_t interval = 0;
+interval = timerInterval;
+pthread_t inc_x_thread = 0;
+
+	if (inc_x_thread != 0)  {
+		printf("ERROR: resetting the CANopen timre not (yet) supported\n");
+		return(RET_INTERNAL_ERROR);
+	}
+
+	pthread_create(&inc_x_thread, NULL, coTimerThreadFn, &interval);
+
+	return(RET_OK);
+}
+
+
+
+/* thread timer callback */
+void *coTimerThreadFn(void *x_void_ptr)
+{
+struct timeval  tv;
+static uint64_t l_time_usec_last=0;
+__useconds_t interval = *(__useconds_t*)x_void_ptr;
+	
+	while(1)  {
+		
+		gettimeofday(&tv, NULL);
+		uint64_t l_time_usec = (uint64_t)(tv.tv_sec) * (uint64_t)1000000ul + (uint64_t)(tv.tv_usec);
+		
+		if (l_time_usec_last == 0)  {
+			/* initialization */
+			l_time_usec_last = l_time_usec;
+		}
+		
+		if (l_time_usec_last > l_time_usec) {
+			/* time decrease - was system time changed? */
+			l_time_usec_last = l_time_usec;
+			coTimerTick();
+		} else 		
+		if  ((l_time_usec - l_time_usec_last) / (uint64_t)interval > 10u) {
+			/* too many time - was system time changed? */
+			l_time_usec_last = l_time_usec;
+			coTimerTick();
+		}
+
+		while (l_time_usec > (l_time_usec_last + (uint64_t)interval))  {
+			coTimerTick();
+			l_time_usec_last += (uint64_t)interval;
+		}
+				
+		usleep(interval);
+
+	}
+
+	return(x_void_ptr);
+}
+#endif /* LINUX_THREAD_TIMER */
+
+
+#ifdef THREAD_SPAWN
+RET_T codrvTimerSetup(
+		UNSIGNED32	timerInterval
+	)
+{
+	timer_t timerid;
+	struct sigevent sev;
+	struct itimerspec its;
+
+	/* Create the timer */
+
+	sev.sigev_notify = SIGEV_THREAD;
+	sev.sigev_signo = 0;
+	sev.sigev_value.sival_int = 0;
+	sev.sigev_notify_function = timerIntSpawnedThread;
+	sev.sigev_notify_attributes = 0;
+
+	if (timer_create(CLOCK_MONOTONIC, &sev, &timerid) == -1)  {
+		return(RET_INTERNAL_ERROR);
+	}
+	printf("timer ID is 0x%lx\n", (long) timerid);
+
+	/* Start the timer (value is in usec */
+	its.it_value.tv_sec = timerInterval / 1000000;
+	its.it_value.tv_nsec = (timerInterval % 1000000) * 1000;
+	its.it_interval.tv_sec = its.it_value.tv_sec;
+	its.it_interval.tv_nsec = its.it_value.tv_nsec;
+
+	if (timer_settime(timerid, 0, &its, NULL) == -1)  {
+		return(RET_INTERNAL_ERROR);
+	}
+	return(RET_OK);
+}
+
+
+static void timerIntSpawnedThread(
+		sigval_t sival
+	)
+{
+	coTimerTick();
+}
+#endif /* THREAD_SPAWN */
+
+#endif /* defined(linux) || defined(__linux) || defined(__linux__) || defined(__gnu_linux__) */

north-star_emotas-stack/codrv_ml/stm32_mcan/Readme.txt

@@ -0,0 +1,40 @@
+STM32H7 hardware depend part
+==========================
+
+Please set the device dependend define in the device designer.
+
+CODRV_MCAN_CFG_VER_1
+CODRV_MCAN_STM32_H7
+
+CODRV_MCAN_CFG_VER_2
+CODRV_MCAN_STM32_L5
+CODRV_MCAN_STM32_G4
+
+CODRV_MCAN_CFG_VER_3
+CODRV_MCAN_STM32_MP1
+
+
+codrv_mcan - CAN driver
+codrv_canbittiming - additional bittimings
+codrv_error - error handling
+
+There are different examples for hardware initialization.
+Compile and adapt only one of it!
+
+cpu_stm32h7xx*          - hardware initialization
+cpu_stm32h7xx_atollic8  - STM32H743, Atollic8, ST HAL, CAN1
+
+
+Use of additional bittimings:
+=============================
+- set CODRV_BIT_TABLE_EXTERN  
+
+depend of the Peripherie clock
+- set CODRV_CANCLOCK_80MHZ
+(please check the src included tables)
+
+Debug functionality
+===================
+can_printf.c	- send printf information over CAN
+printf.js   - script for CDE to see the printf information
+