--- a/plugins/canfestival/canfestival.py	Mon Oct 01 21:52:41 2007 +0200
+++ b/plugins/canfestival/canfestival.py	Tue Oct 02 18:02:32 2007 +0200
@@ -108,6 +108,7 @@
                        "candriver" : self.CanFestivalInstance.getCAN_Driver(),
                        "nodes_includes" : "",
                        "board_decls" : "",
+                       "nodes_declare" : "",
                        "nodes_init" : "",
                        "nodes_open" : "",
                        "nodes_close" : "",
@@ -122,6 +123,9 @@
                    nodename,
                    child.CanFestivalNode.getCAN_Device(),
                    child.CanFestivalNode.getCAN_Baudrate())
+            format_dict["nodes_declare"] += 'NODE_DECLARE(%s, %s)\n    '%(
+                   nodename,
+                   child.CanFestivalNode.getNodeId())
             format_dict["nodes_init"] += 'NODE_INIT(%s, %s)\n    '%(
                    nodename,
                    child.CanFestivalNode.getNodeId())

--- a/plugins/canfestival/cf_runtime.c	Mon Oct 01 21:52:41 2007 +0200
+++ b/plugins/canfestival/cf_runtime.c	Tue Oct 02 18:02:32 2007 +0200
@@ -11,6 +11,25 @@
 static int init_level=0;
 extern int common_ticktime__;
 
+
+static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)
+{
+    /* Put the master in operational mode */
+    setState(d, Operational);
+      
+    /* Ask slave node to go in operational mode */
+    masterSendNMTstateChange (d, 0, NMT_Start_Node);
+}
+
+#define NODE_DECLARE(nodename, nodeid)\
+void nodename##_preOperational()\
+{\
+    ConfigureSlaveNode(&nodename##_Data, nodeid);\
+}\
+
+%(nodes_declare)s
+
+
 #define NODE_INIT(nodename, nodeid) \
     /* Artificially force sync state to 1 so that it is not started */\
     nodename##_Data.CurrentCommunicationState.csSYNC = -1;\
@@ -47,6 +66,7 @@
 }
 
 #define NODE_OPEN(nodename)\
+    nodename##_Data.preOperational = nodename##_preOperational;\
     if(!canOpen(&nodename##Board,&nodename##_Data)){\
         printf("Cannot open " #nodename " Board (%%s,%%s)\n",nodename##Board.busname, nodename##Board.baudrate);\
         return -1;\

--- a/plugins/canfestival/config_utils.py	Mon Oct 01 21:52:41 2007 +0200
+++ b/plugins/canfestival/config_utils.py	Tue Oct 02 18:02:32 2007 +0200
@@ -493,8 +493,8 @@
                 self.MasterNode.SetEntry(current_idx, 0x02, 0xFF)
             
             # Add some subentries to PDO mapping if there is not enough
-            if len(pdo_infos["mapping"]) > 2:
-                self.Manager.AddSubentriesToCurrent(current_idx + 0x200, len(pdo_infos["mapping"]) - 2, self.MasterNode)
+            if len(pdo_infos["mapping"]) > 1:
+                self.Manager.AddSubentriesToCurrent(current_idx + 0x200, len(pdo_infos["mapping"]) - 1, self.MasterNode)
             
             # Generate MasterNode's PDO mapping
             for subindex, variable in enumerate(pdo_infos["mapping"]):