Now, setNodeId does change TPDO and RPDO CobId without testing previous CobId in order to avoid confusion. Standard does not says when 'default value' should be applied. See DS301 - Object 1400h - 15FFh: Receive PDO Communication Parameter page 108.
/* File generated by gen_cfile.py. Should not be modified. */
#include "data.h"
/* Prototypes of function provided by object dictionnary */
UNS32 TestMaster_valueRangeTest (UNS8 typeValue, void * value);
const indextable * TestMaster_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks);
/* prototypes of function to be filled by app. */
void TestMaster_SDOtimeoutError(UNS8 line);
void TestMaster_heartbeatError(UNS8);
UNS8 TestMaster_canSend(Message *);
void TestMaster_initialisation(void);
void TestMaster_preOperational(void);
void TestMaster_operational(void);
void TestMaster_stopped(void);
void TestMaster_post_sync(void);
void TestMaster_post_TPDO(void);
/* Master node data struct */
extern CO_Data TestMaster_Data;
extern ODCallback_t Store_parameters_callbacks[]; /* Callbacks of index0x1010 */
extern ODCallback_t Restore_Default_Parameters_callbacks[]; /* Callbacks of index0x1011 */
extern UNS8 MasterMap1; /* Mapped at index 0x2000, subindex 0x00*/
extern ODCallback_t MasterMap1_callbacks[]; /* Callbacks of index0x2000 */
extern UNS8 MasterMap2; /* Mapped at index 0x2001, subindex 0x00*/
extern UNS8 MasterMap3; /* Mapped at index 0x2002, subindex 0x00*/
extern UNS8 MasterMap4; /* Mapped at index 0x2003, subindex 0x00*/