Added runtime/spawn_subprocess.py. Force use posix spawn instead of fork, with API similar to subprocess. Using fork in runtime is incompatible with Xenomai, because memory is locked and this can lead to out of memory error.
[FileInfo]
FileName=slave.eds
FileVersion=1
FileRevision=1
EDSVersion=4.0
Description=
CreationTime=09:10AM
CreationDate=10-27-2008
CreatedBy=CANFestival
ModificationTime=09:10AM
ModificationDate=10-27-2008
ModifiedBy=CANFestival
[DeviceInfo]
VendorName=CANFestival
VendorNumber=0x00000000
ProductName=SlaveNode
ProductNumber=0x00000000
RevisionNumber=0x00000000
BaudRate_10=1
BaudRate_20=1
BaudRate_50=1
BaudRate_125=1
BaudRate_250=1
BaudRate_500=1
BaudRate_800=1
BaudRate_1000=1
SimpleBootUpMaster=0
SimpleBootUpSlave=1
Granularity=8
DynamicChannelsSupported=0
CompactPDO=0
GroupMessaging=0
NrOfRXPDO=4
NrOfTXPDO=4
LSS_Supported=0
[DummyUsage]
Dummy0001=0
Dummy0002=1
Dummy0003=1
Dummy0004=1
Dummy0005=1
Dummy0006=1
Dummy0007=1
[Comments]
Lines=0
[MandatoryObjects]
SupportedObjects=3
1=0x1000
2=0x1001
3=0x1018
[1000]
ParameterName=Device Type
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0
[1001]
ParameterName=Error Register
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=0
PDOMapping=1
[1018]
ParameterName=Identity
ObjectType=0x8
SubNumber=5
[1018sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=4
PDOMapping=0
[1018sub1]
ParameterName=Vendor ID
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0
[1018sub2]
ParameterName=Product Code
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0
[1018sub3]
ParameterName=Revision Number
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0
[1018sub4]
ParameterName=Serial Number
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0
[OptionalObjects]
SupportedObjects=1
1=0x1200
[1200]
ParameterName=Server SDO Parameter
ObjectType=0x8
SubNumber=3
[1200sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0
[1200sub1]
ParameterName=COB ID Client to Server (Receive SDO)
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=$NODEID+0x600
PDOMapping=0
[1200sub2]
ParameterName=COB ID Server to Client (Transmit SDO)
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=$NODEID+0x580
PDOMapping=0
[ManufacturerObjects]
SupportedObjects=2
1=0x2000
2=0x2001
[2000]
ParameterName=OutVar
ObjectType=0x7
DataType=0x0003
AccessType=rw
DefaultValue=0
PDOMapping=1
[2001]
ParameterName=InVar
ObjectType=0x7
DataType=0x0003
AccessType=rw
DefaultValue=0
PDOMapping=1