doc/manual/en/canfestival_overview.svg
author etisserant
Fri, 25 Apr 2008 12:18:23 +0200
changeset 448 732c33c2d8a7
parent 158 b505f7116a1c
permissions -rw-r--r--
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<!-- Created with Inkscape (http://www.inkscape.org/) -->
<svg
   xmlns:dc="http://purl.org/dc/elements/1.1/"
   xmlns:cc="http://web.resource.org/cc/"
   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
   xmlns:svg="http://www.w3.org/2000/svg"
   xmlns="http://www.w3.org/2000/svg"
   xmlns:xlink="http://www.w3.org/1999/xlink"
   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
   width="841.88977pt"
   height="595.27557pt"
   id="svg2"
   sodipodi:version="0.32"
   inkscape:version="0.45"
   sodipodi:docbase="/home/edouard/workspace/CanFestival-3/doc"
   sodipodi:docname="canfestival_overview.svg"
   version="1.0"
   inkscape:export-filename="/home/edouard/workspace/CanFestival-3/doc/canfestival_overview.png"
   inkscape:export-xdpi="87.57"
   inkscape:export-ydpi="87.57"
   inkscape:output_extension="org.inkscape.output.svg.inkscape"
   sodipodi:modified="true">
  <defs
     id="defs4">
    <linearGradient
       id="linearGradient10920">
      <stop
         id="stop10922"
         offset="0"
         style="stop-color:#000000;stop-opacity:1;" />
      <stop
         id="stop10924"
         offset="1"
         style="stop-color:#88873c;stop-opacity:1;" />
    </linearGradient>
    <linearGradient
       id="linearGradient2182">
      <stop
         style="stop-color:#000000;stop-opacity:1;"
         offset="0"
         id="stop2184" />
      <stop
         style="stop-color:#48883c;stop-opacity:1;"
         offset="1"
         id="stop2186" />
    </linearGradient>
  </defs>
  <sodipodi:namedview
     id="base"
     pagecolor="#ffffff"
     bordercolor="#666666"
     borderopacity="1.0"
     inkscape:pageopacity="0.0"
     inkscape:pageshadow="2"
     inkscape:zoom="0.98994949"
     inkscape:cx="249.67273"
     inkscape:cy="390.99214"
     inkscape:document-units="px"
     inkscape:current-layer="layer1"
     showguides="true"
     inkscape:guide-bbox="true"
     inkscape:window-width="1672"
     inkscape:window-height="965"
     inkscape:window-x="0"
     inkscape:window-y="0" />
  <metadata
     id="metadata7">
    <rdf:RDF>
      <cc:Work
         rdf:about="">
        <dc:format>image/svg+xml</dc:format>
        <dc:type
           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
      </cc:Work>
    </rdf:RDF>
  </metadata>
  <g
     inkscape:label="Calque 1"
     inkscape:groupmode="layer"
     id="layer1">
    <path
       sodipodi:nodetypes="ccc"
       id="path2474"
       d="M 10.508418,492.62359 L 18.310526,505.17437 L 22.431313,490.98232"
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#f30000;stroke-width:4;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
    <path
       sodipodi:nodetypes="cc"
       id="path2476"
       d="M 44.39517,382.36341 C -10.321738,472.35723 28.583493,546.94488 44.39516,625.33274"
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#f30000;stroke-width:4.00000095;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
    <rect
       ry="71.644768"
       y="82.979507"
       x="774.23804"
       height="614.17108"
       width="260.60794"
       id="rect10043"
       style="color:#000000;fill:#6f6f6f;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:4.34227753;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
       rx="71.644806" />
    <g
       id="g18903"
       transform="translate(0,6)">
      <path
         style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#d5d5d5;stroke-width:3.99999809;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible;opacity:1"
         d="M 752.59931,185.23734 L 752.59931,584.52305"
         id="path18889"
         sodipodi:nodetypes="cc" />
      <path
         id="path18891"
         d="M 711.17074,405.23734 L 752.59931,405.23734"
         style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#d5d5d5;stroke-width:3.99999809;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible;opacity:1"
         sodipodi:nodetypes="cc" />
      <path
         sodipodi:nodetypes="cc"
         style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#d5d5d5;stroke-width:3.99999809;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible;opacity:1"
         d="M 711.17074,465.23734 L 752.59931,465.23734"
         id="path18893" />
      <path
         id="path18895"
         d="M 711.17074,525.23734 L 752.59931,525.23734"
         style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#d5d5d5;stroke-width:3.99999809;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible;opacity:1"
         sodipodi:nodetypes="cc" />
      <path
         id="path18897"
         d="M 711.17074,345.23734 L 752.59931,345.23734"
         style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#d5d5d5;stroke-width:3.99999809;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible;opacity:1"
         sodipodi:nodetypes="cc" />
      <path
         sodipodi:nodetypes="cc"
         style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#d5d5d5;stroke-width:3.99999809;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible;opacity:1"
         d="M 711.17074,245.23734 L 752.59931,245.23734"
         id="path18899" />
      <path
         sodipodi:nodetypes="cc"
         style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#d5d5d5;stroke-width:3.99999809;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible;opacity:1"
         d="M 711.17074,585.23734 L 752.59931,585.23734"
         id="path18901" />
      <path
         id="path18912"
         d="M 711.17074,185.23734 L 752.59931,185.23734"
         style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#d5d5d5;stroke-width:3.99999809;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible;opacity:1"
         sodipodi:nodetypes="cc" />
      <path
         id="path18914"
         d="M 753.17074,425.23734 L 816.59931,425.23734"
         style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#d5d5d5;stroke-width:3.99999809;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible;opacity:1"
         sodipodi:nodetypes="cc" />
    </g>
    <text
       xml:space="preserve"
       style="font-size:48px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
       x="524.84515"
       y="53.523052"
       id="text12903"
       sodipodi:linespacing="100%"><tspan
         sodipodi:role="line"
         id="tspan12905"
         x="524.84515"
         y="53.523052">Implementation overview</tspan></text>
    <rect
       rx="71.644852"
       style="color:#000000;fill:#6f6f6f;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:4.34228039;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
       id="rect12909"
       width="198.62337"
       height="193.88516"
       x="17.516184"
       y="518.74823"
       ry="71.644791" />
    <rect
       ry="71.644791"
       y="88.748253"
       x="17.516184"
       height="366.74231"
       width="198.62337"
       id="rect2426"
       style="color:#000000;fill:#6f6f6f;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:4.34228039;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
       rx="71.644852" />
    <text
       sodipodi:linespacing="100%"
       id="text12911"
       y="120.68625"
       x="116.83569"
       style="font-size:32px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
       xml:space="preserve"><tspan
         id="tspan12915"
         y="120.68625"
         x="116.83569"
         sodipodi:role="line">Target</tspan><tspan
         y="152.68625"
         x="116.83569"
         sodipodi:role="line"
         id="tspan12931">interface</tspan></text>
    <rect
       style="color:#000000;fill:#4c9d40;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:4.342278;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
       id="rect1307"
       width="460.61438"
       height="629.13959"
       x="261.29205"
       y="83.254707"
       ry="71.644791"
       rx="71.644791" />
    <g
       id="g11013"
       transform="translate(-34.82926,12)">
      <g
         id="g12851">
        <path
           style="opacity:0.48648652;color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.87500024;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
           d="M 812.125,500.75 L 812.125,612.46875 C 812.125,652.15996 844.09005,684.12501 883.78125,684.125 L 1016.9062,684.125 L 1016.9062,515.5 C 1016.9063,507.31692 1010.3081,500.75 1002.125,500.75 L 812.125,500.75 z "
           id="path10961"
           sodipodi:nodetypes="ccccccc" />
        <rect
           style="color:#000000;fill:#d3b1ef;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.87499893;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
           id="rect10025"
           width="122.94017"
           height="57.609512"
           x="862.40887"
           y="607.83673"
           ry="11.01127"
           rx="11.01127" />
      </g>
      <use
         x="0"
         y="0"
         xlink:href="#g12851"
         id="use12855"
         transform="translate(-4,4)"
         width="1052.3622"
         height="744.09448" />
      <use
         height="744.09448"
         width="1052.3622"
         transform="translate(-8,8)"
         id="use12857"
         xlink:href="#g12851"
         y="0"
         x="0" />
      <use
         x="0"
         y="0"
         xlink:href="#g12851"
         id="use12859"
         transform="translate(-12,12)"
         width="1052.3622"
         height="744.09448" />
      <text
         sodipodi:linespacing="100%"
         id="text10947"
         y="559.34753"
         x="899.07031"
         style="font-size:14;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
         xml:space="preserve"><tspan
           id="tspan10981"
           y="559.34753"
           x="899.07031"
           sodipodi:role="line">(GUI generated .c+.h file,</tspan><tspan
           id="tspan10977"
           y="573.34753"
           x="899.07031"
           sodipodi:role="line">one per node,</tspan><tspan
           id="tspan10983"
           y="587.34753"
           x="899.07031"
           sodipodi:role="line">to compile and link</tspan><tspan
           id="tspan10985"
           y="601.34753"
           x="899.07031"
           sodipodi:role="line"> with your code)</tspan></text>
      <text
         xml:space="preserve"
         style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
         x="911.854"
         y="621.8938"
         id="text2345"
         sodipodi:linespacing="100%"><tspan
           sodipodi:role="line"
           id="tspan2347"
           x="911.854"
           y="621.8938" /><tspan
           sodipodi:role="line"
           x="914.40088"
           y="637.8938"
           id="tspan10035">Node DATA </tspan><tspan
           id="tspan10975"
           sodipodi:role="line"
           x="911.854"
           y="653.8938">CO_Data</tspan><tspan
           id="tspan2357"
           sodipodi:role="line"
           x="911.854"
           y="669.8938">data.h</tspan></text>
      <text
         xml:space="preserve"
         style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
         x="898.51172"
         y="537.34753"
         id="text12863"
         sodipodi:linespacing="100%"><tspan
           sodipodi:role="line"
           x="898.51172"
           y="537.34753"
           id="tspan12877">OBJECT DICTIONARY</tspan></text>
    </g>
    <path
       sodipodi:nodetypes="ccc"
       id="path14818"
       d="M 813.74257,664.52305 L 624.82375,664.52305 L 624.82376,195.16589"
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#cbcbcb;stroke-width:4;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
    <g
       id="g4155"
       transform="translate(60.20684,-100.7207)">
      <rect
         style="opacity:1;color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.87500024;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
         id="rect2251"
         width="241.31999"
         height="44.312717"
         x="443.77701"
         y="269.95526"
         ry="14.770906"
         rx="14.77091" />
      <text
         xml:space="preserve"
         style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
         x="564.43311"
         y="273.93582"
         id="text2253"
         sodipodi:linespacing="100%"><tspan
           sodipodi:role="line"
           id="tspan2255"
           x="564.43311"
           y="273.93582" /><tspan
           sodipodi:role="line"
           x="564.43311"
           y="289.93582"
           id="tspan2257">OD ACCESS</tspan><tspan
           sodipodi:role="line"
           x="564.43311"
           y="305.93582"
           id="tspan2259">objaccess.c</tspan></text>
    </g>
    <text
       sodipodi:linespacing="100%"
       id="text6009"
       y="118.68625"
       x="491.17746"
       style="font-size:32px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
       xml:space="preserve"><tspan
         y="118.68625"
         x="491.17746"
         id="tspan6011"
         sodipodi:role="line">CanFestival Library</tspan></text>
    <text
       sodipodi:linespacing="100%"
       id="text6013"
       y="320.68625"
       x="624.81299"
       style="font-size:20px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
       xml:space="preserve"><tspan
         y="320.68625"
         x="624.81299"
         sodipodi:role="line"
         id="tspan6017">CanOpen Protocols</tspan></text>
    <text
       sodipodi:linespacing="100%"
       id="text6953"
       y="160.68625"
       x="623.90649"
       style="font-size:20px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
       xml:space="preserve"><tspan
         y="160.68625"
         x="623.90649"
         sodipodi:role="line"
         id="tspan6968">Node Management</tspan></text>
    <path
       sodipodi:nodetypes="cccc"
       id="path7024"
       d="M 506.65893,248.52305 L 455.36887,248.52305 L 455.36887,301.09448 L 188.46824,301.09448"
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#ffb6b6;stroke-width:4;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
    <path
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#ffb6b6;stroke-width:4;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
       d="M 469.17074,259.23734 L 469.17074,584.52305"
       id="path6970"
       sodipodi:nodetypes="cc" />
    <path
       id="path7012"
       d="M 510.59931,405.23734 L 469.17074,405.23734"
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#ffb6b6;stroke-width:4;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
       sodipodi:nodetypes="cc" />
    <path
       sodipodi:nodetypes="cc"
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#ffb6b6;stroke-width:4;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
       d="M 510.59931,465.23734 L 469.17074,465.23734"
       id="path7014" />
    <path
       id="path7016"
       d="M 510.59931,525.23734 L 469.17074,525.23734"
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#ffb6b6;stroke-width:4;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
       sodipodi:nodetypes="cc" />
    <path
       id="path7022"
       d="M 510.59931,345.23734 L 469.17074,345.23734"
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#ffb6b6;stroke-width:4;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
       sodipodi:nodetypes="cc" />
    <path
       sodipodi:nodetypes="cc"
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#ffb6b6;stroke-width:4;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
       d="M 510.59931,259.23734 L 469.17074,259.23734"
       id="path13937" />
    <g
       id="g4162"
       transform="translate(60.20684,-120.7207)">
      <rect
         ry="14.770906"
         y="349.95526"
         x="443.77701"
         height="44.312717"
         width="241.31999"
         id="rect2261"
         style="opacity:1;color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.87500024;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
         rx="14.77091" />
      <text
         sodipodi:linespacing="100%"
         id="text2263"
         y="353.93582"
         x="564.4292"
         style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
         xml:space="preserve"><tspan
           y="353.93582"
           x="564.4292"
           id="tspan2265"
           sodipodi:role="line" /><tspan
           id="tspan2267"
           y="369.93582"
           x="564.4292"
           sodipodi:role="line">STATE MACHINE</tspan><tspan
           id="tspan2269"
           y="385.93582"
           x="564.4292"
           sodipodi:role="line">states.c</tspan></text>
      <text
         sodipodi:linespacing="100%"
         id="text17447"
         y="369.2576"
         x="462.20422"
         style="font-size:8px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
         xml:space="preserve"><tspan
           id="tspan17451"
           y="369.2576"
           x="462.20422"
           sodipodi:role="line">Can</tspan><tspan
           y="377.2576"
           x="462.20422"
           sodipodi:role="line"
           id="tspan17455">Dispatch</tspan></text>
    </g>
    <path
       sodipodi:nodetypes="cc"
       id="path8774"
       d="M 455.85521,315.23734 L 455.85521,594.52305"
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#bdb6ff;stroke-width:4.00000048;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
    <path
       sodipodi:nodetypes="cc"
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#bdb6ff;stroke-width:4.00000048;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
       d="M 509.04698,415.23734 L 455.85521,415.23734"
       id="path8776" />
    <path
       id="path8778"
       d="M 509.04698,475.23734 L 455.85521,475.23734"
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#bdb6ff;stroke-width:4.00000048;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
       sodipodi:nodetypes="cc" />
    <path
       sodipodi:nodetypes="cc"
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#bdb6ff;stroke-width:4.00000048;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
       d="M 509.04698,535.23734 L 455.85521,535.23734"
       id="path8780" />
    <path
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#bdb6ff;stroke-width:4.00000095;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
       d="M 515.01269,355.09447 L 456.04336,355.09447"
       id="path8786"
       sodipodi:nodetypes="cc" />
    <g
       id="g6984"
       transform="translate(5.170737,192)">
      <rect
         style="color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.87500024;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
         id="rect2271"
         width="240.66035"
         height="44.312717"
         x="499.38046"
         y="197.23451"
         ry="14.770906"
         rx="14.770906" />
      <text
         xml:space="preserve"
         style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
         x="619.6286"
         y="201.21507"
         id="text2273"
         sodipodi:linespacing="100%"><tspan
           sodipodi:role="line"
           id="tspan2275"
           x="619.6286"
           y="201.21507" /><tspan
           sodipodi:role="line"
           x="619.6286"
           y="217.21507"
           id="tspan2277">SERVICE DATA OBJECTS</tspan><tspan
           sodipodi:role="line"
           x="619.6286"
           y="233.21507"
           id="tspan2279">sdo.c</tspan></text>
    </g>
    <g
       id="g6991"
       transform="translate(5.170737,172)">
      <rect
         ry="14.770906"
         y="277.2345"
         x="499.38046"
         height="44.312717"
         width="240.66035"
         id="rect2281"
         style="color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.87500024;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
         rx="14.770906" />
      <text
         sodipodi:linespacing="100%"
         id="text2283"
         y="281.21506"
         x="619.37079"
         style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
         xml:space="preserve"><tspan
           y="281.21506"
           x="619.37079"
           id="tspan2285"
           sodipodi:role="line" /><tspan
           id="tspan2287"
           y="297.21506"
           x="619.37079"
           sodipodi:role="line">PROCESS DATA OBJECTS</tspan><tspan
           id="tspan2289"
           y="313.21506"
           x="619.37079"
           sodipodi:role="line">pdo.c</tspan></text>
    </g>
    <g
       id="g6998"
       transform="translate(5.170737,152)">
      <rect
         style="color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.87500024;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
         id="rect2333"
         width="240.66035"
         height="44.312717"
         x="499.38046"
         y="357.2345"
         ry="14.770906"
         rx="14.770906" />
      <text
         xml:space="preserve"
         style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
         x="619.48798"
         y="361.21506"
         id="text2335"
         sodipodi:linespacing="100%"><tspan
           sodipodi:role="line"
           id="tspan2337"
           x="619.48798"
           y="361.21506" /><tspan
           sodipodi:role="line"
           x="619.48798"
           y="377.21506"
           id="tspan2339">NETWORK MANAGEMENT</tspan><tspan
           sodipodi:role="line"
           x="619.48798"
           y="393.21506"
           id="tspan2341">nmtMaster.c + nmtSlave.c</tspan></text>
    </g>
    <g
       id="g6977"
       transform="translate(5.170737,212)">
      <rect
         ry="14.770906"
         y="117.2345"
         x="499.38046"
         height="44.312717"
         width="240.66035"
         id="rect2303"
         style="color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.87500024;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
         rx="14.770906" />
      <text
         sodipodi:linespacing="100%"
         id="text2305"
         y="121.21507"
         x="619.96844"
         style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
         xml:space="preserve"><tspan
           y="121.21507"
           x="619.96844"
           id="tspan2307"
           sodipodi:role="line" /><tspan
           id="tspan2309"
           y="137.21507"
           x="619.96844"
           sodipodi:role="line">SYNCHRONIZATION</tspan><tspan
           id="tspan2311"
           y="153.21507"
           x="619.96844"
           sodipodi:role="line">sync.c</tspan></text>
    </g>
    <path
       id="path8782"
       d="M 509.04698,595.23734 L 455.85521,595.23734"
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#bdb6ff;stroke-width:4.00000048;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
       sodipodi:nodetypes="cc" />
    <path
       sodipodi:nodetypes="cc"
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#ffb6b6;stroke-width:4;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
       d="M 510.59931,585.23734 L 469.17074,585.23734"
       id="path7018" />
    <g
       id="g7005"
       transform="translate(5.170737,132)">
      <rect
         rx="14.770906"
         ry="14.770906"
         y="437.2345"
         x="499.38046"
         height="44.312717"
         width="240.66035"
         id="rect6045"
         style="color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.87500024;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
      <text
         sodipodi:linespacing="100%"
         id="text6047"
         y="441.21506"
         x="619.48798"
         style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
         xml:space="preserve"><tspan
           y="441.21506"
           x="619.48798"
           id="tspan6049"
           sodipodi:role="line" /><tspan
           id="tspan6053"
           y="457.21506"
           x="619.48798"
           sodipodi:role="line"> AUTO CAN BAUDRATE</tspan><tspan
           id="tspan6067"
           y="473.21506"
           x="619.48798"
           sodipodi:role="line">lss.c</tspan></text>
    </g>
    <text
       xml:space="preserve"
       style="font-size:32px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
       x="904.5498"
       y="120.68625"
       id="text10926"
       sodipodi:linespacing="100%"><tspan
         sodipodi:role="line"
         id="tspan10928"
         x="904.5498"
         y="120.68625">Application</tspan><tspan
         sodipodi:role="line"
         x="904.5498"
         y="152.68625"
         id="tspan10987">(master/slave)</tspan></text>
    <path
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#ffb6b6;stroke-width:4.00000477;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
       d="M 368.88653,307.1123 L 382.38404,301.09463 L 368.88653,295.07698"
       id="path14812"
       sodipodi:nodetypes="ccc" />
    <path
       sodipodi:nodetypes="ccc"
       id="path14814"
       d="M 463.1831,286.69273 L 469.20076,300.19024 L 475.21842,286.69273"
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#ffb6b6;stroke-width:4.00000429;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
    <path
       sodipodi:nodetypes="ccc"
       id="path14816"
       d="M 337.84788,309.11112 L 324.35037,315.12879 L 337.84789,321.14645"
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#bdb6ff;stroke-width:4;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
    <text
       xml:space="preserve"
       style="font-size:10.40019226px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
       x="117.68457"
       y="660.26733"
       id="text17850"
       sodipodi:linespacing="100%"><tspan
         y="660.26733"
         x="117.68457"
         id="tspan17864"
         sodipodi:role="line">libcanfestival_$(CAN_DRIVER).so</tspan><tspan
         y="670.66753"
         x="117.68457"
         sodipodi:role="line"
         id="tspan2438">$(CAN_DRIVER).dll,</tspan><tspan
         y="681.06772"
         x="117.68457"
         sodipodi:role="line"
         id="tspan2440">cyg$(CAN_DRIVER).dll</tspan></text>
    <text
       sodipodi:linespacing="100%"
       id="text17893"
       y="662.68628"
       x="296.53381"
       style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:start;line-height:100%;writing-mode:lr-tb;text-anchor:start;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
       xml:space="preserve"><tspan
         sodipodi:role="line"
         id="tspan17895"
         x="296.53381"
         y="662.68628">libcanfestival.a</tspan></text>
    <rect
       style="opacity:1;color:#000000;fill:none;fill-opacity:1;fill-rule:nonzero;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
       id="rect17926"
       width="218.19295"
       height="304.05591"
       x="793.97992"
       y="182.44966" />
    <flowRoot
       xml:space="preserve"
       style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:start;line-height:100%;writing-mode:lr-tb;text-anchor:start;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
       id="flowRoot18801"
       transform="translate(0,-10)"><flowRegion
         id="flowRegion18803"><use
           x="0"
           y="0"
           xlink:href="#rect17926"
           id="use18805"
           width="1052.3622"
           height="744.09448" /></flowRegion><flowPara
         id="flowPara18809">Mandatory:</flowPara><flowPara
         id="flowPara18813">- Open CAN interfaces</flowPara><flowPara
         id="flowPara18815">- Initiate TImers</flowPara><flowPara
         id="flowPara2375" /><flowPara
         id="flowPara2377">Optional:</flowPara><flowPara
         id="flowPara2381">- Declare some callbacks</flowPara><flowPara
         id="flowPara18817" /><flowPara
         id="flowPara18819">Each call to the CanFestival API provide a pointer to the related node's CO_Data struct.</flowPara><flowPara
         id="flowPara18821" /><flowPara
         id="flowPara18823">In order to respect data integrity in the stack, all calls to the API should be made from mandatory nodes callback.</flowPara><flowPara
         id="flowPara18825" /><flowPara
         id="flowPara18827" /></flowRoot>    <g
       transform="translate(251.9861,177.8507)"
       id="g18829">
      <rect
         rx="14.770906"
         style="opacity:1;color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.875;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
         id="rect18831"
         width="148.84024"
         height="139.9716"
         x="519.88324"
         y="177.73375"
         ry="14.77091" />
      <use
         x="0"
         y="0"
         xlink:href="#rect18831"
         id="use18924"
         transform="translate(-4,4)"
         width="1052.3622"
         height="744.09448" />
      <use
         height="744.09448"
         width="1052.3622"
         transform="translate(-8,8)"
         id="use18926"
         xlink:href="#rect18831"
         y="0"
         x="0" />
      <use
         x="0"
         y="0"
         xlink:href="#rect18831"
         id="use18928"
         transform="translate(-12,12)"
         width="1052.3622"
         height="744.09448" />
      <text
         xml:space="preserve"
         style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
         x="581.54962"
         y="211.93582"
         id="text18833"
         sodipodi:linespacing="100%"><tspan
           sodipodi:role="line"
           id="tspan18867"
           x="581.54962"
           y="211.93582">Node Callbacks:</tspan><tspan
           sodipodi:role="line"
           id="tspan18869"
           x="581.54962"
           y="224.74622"
           style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans">SDOtimeoutError</tspan><tspan
           sodipodi:role="line"
           id="tspan18871"
           x="581.54962"
           y="236.74622"
           style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans">heartbeatError</tspan><tspan
           sodipodi:role="line"
           id="tspan18873"
           x="581.54962"
           y="248.74622"
           style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans">canSend</tspan><tspan
           sodipodi:role="line"
           id="tspan18875"
           x="581.54962"
           y="260.74622"
           style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans">initialisation</tspan><tspan
           sodipodi:role="line"
           id="tspan18877"
           x="581.54962"
           y="272.74622"
           style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans">preOperationa</tspan><tspan
           sodipodi:role="line"
           id="tspan18879"
           x="581.54962"
           y="284.74622"
           style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans">operational</tspan><tspan
           sodipodi:role="line"
           id="tspan18881"
           x="581.54962"
           y="296.74622"
           style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans">stopped</tspan><tspan
           sodipodi:role="line"
           id="tspan18883"
           x="581.54962"
           y="308.74622"
           style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans">post_sync</tspan><tspan
           sodipodi:role="line"
           id="tspan18885"
           x="581.54962"
           y="320.74622"
           style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans">post_TPDO</tspan><tspan
           sodipodi:role="line"
           id="tspan18887"
           x="581.54962"
           y="332.74622" /></text>
    </g>
    <g
       id="g18930"
       transform="translate(411.9861,177.8507)">
      <rect
         ry="14.77091"
         y="177.73375"
         x="519.52521"
         height="139.9716"
         width="91.977913"
         id="rect18932"
         style="opacity:1;color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.8750006;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
         rx="14.770914" />
      <text
         sodipodi:linespacing="100%"
         id="text18940"
         y="197.93582"
         x="565.54962"
         style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
         xml:space="preserve"><tspan
           style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans"
           y="197.93582"
           x="565.54962"
           id="tspan18960"
           sodipodi:role="line">Nodes</tspan><tspan
           style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans"
           y="209.93582"
           x="565.54962"
           sodipodi:role="line"
           id="tspan19022">Initialisation</tspan><tspan
           style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans"
           y="221.93582"
           x="565.54962"
           sodipodi:role="line"
           id="tspan19018" /><tspan
           style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans"
           y="233.93582"
           x="565.54962"
           sodipodi:role="line"
           id="tspan19024">Called at</tspan><tspan
           style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans"
           y="245.93582"
           x="565.54962"
           sodipodi:role="line"
           id="tspan19028">initialisation</tspan><tspan
           style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans"
           y="257.93582"
           x="565.54962"
           sodipodi:role="line"
           id="tspan19030">of stack,</tspan><tspan
           style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans"
           y="269.93582"
           x="565.54962"
           sodipodi:role="line"
           id="tspan19032">once CAN</tspan><tspan
           style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans"
           y="281.93582"
           x="565.54962"
           sodipodi:role="line"
           id="tspan19034">interfaces</tspan><tspan
           y="293.93582"
           x="565.54962"
           id="tspan18962"
           sodipodi:role="line"
           style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans">opened.</tspan></text>
    </g>
    <path
       sodipodi:nodetypes="cc"
       id="path2394"
       d="M 455.01269,315.09447 L 192.04336,315.09447"
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#bdb6ff;stroke-width:4.00000095;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
    <path
       sodipodi:nodetypes="cc"
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#d5d5d5;stroke-width:3.99999809;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
       d="M 240.53386,230.81304 L 208.79172,230.81304"
       id="path2396" />
    <g
       transform="translate(-259.7932,17.8507)"
       id="g2398">
      <rect
         rx="14.770906"
         style="opacity:1;color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.875;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
         id="rect2400"
         width="183.69043"
         height="44.312717"
         x="501.7005"
         y="189.95525"
         ry="14.770906" />
      <text
         xml:space="preserve"
         style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
         x="593.54962"
         y="193.93582"
         id="text2402"
         sodipodi:linespacing="100%"><tspan
           sodipodi:role="line"
           id="tspan2404"
           x="593.54962"
           y="193.93582" /><tspan
           sodipodi:role="line"
           x="593.54962"
           y="209.93582"
           id="tspan2406">SCHEDULING</tspan><tspan
           sodipodi:role="line"
           x="593.54962"
           y="225.93582"
           id="tspan2408">timer.c</tspan></text>
    </g>
    <g
       transform="translate(-10.82926,-154.42963)"
       id="g2410">
      <rect
         rx="20.028"
         style="color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.87499928;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
         id="rect2412"
         width="183.69043"
         height="60.0825"
         x="36.736599"
         y="354.35071"
         ry="20.027502" />
      <text
         xml:space="preserve"
         style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
         x="128.57401"
         y="356.4429"
         id="text2414"
         sodipodi:linespacing="100%"><tspan
           sodipodi:role="line"
           id="tspan2416"
           x="128.57401"
           y="356.4429" /><tspan
           sodipodi:role="line"
           x="128.57401"
           y="372.4429"
           id="tspan2418">SYSTEM TIMERS</tspan><tspan
           sodipodi:role="line"
           x="128.57401"
           y="388.4429"
           id="tspan2420">INTERFACE</tspan><tspan
           sodipodi:role="line"
           x="128.57401"
           y="404.4429"
           id="tspan2422">timers_xxx.c</tspan></text>
    </g>
    <text
       sodipodi:linespacing="100%"
       id="text2428"
       y="166.68628"
       x="36.533813"
       style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:start;line-height:100%;writing-mode:lr-tb;text-anchor:start;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
       xml:space="preserve"><tspan
         sodipodi:role="line"
         id="tspan2430"
         x="36.533813"
         y="166.68628">libcanfestival_$(TARGET).a</tspan><tspan
         sodipodi:role="line"
         x="36.533813"
         y="178.68628"
         id="tspan2432">canfestival_$(TARGET).lib</tspan></text>
    <path
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#ffb6b6;stroke-width:4;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
       d="M 110.39517,382.00723 L 110.39518,628.90785"
       id="path2466"
       sodipodi:nodetypes="cc" />
    <path
       sodipodi:nodetypes="ccc"
       id="path2468"
       d="M 116.41299,480.48957 L 110.39532,466.99206 L 104.37768,480.48957"
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#ffb6b6;stroke-width:4.00000477;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
    <path
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#bdb6ff;stroke-width:4;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
       d="M 118.41182,491.52822 L 124.42949,505.02572 L 130.44715,491.52821"
       id="path2470"
       sodipodi:nodetypes="ccc" />
    <path
       style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#bdb6ff;stroke-width:4.00000095;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
       d="M 124.39517,382.36341 L 124.39516,625.33274"
       id="path2472"
       sodipodi:nodetypes="cc" />
    <use
       x="0"
       y="0"
       xlink:href="#rect18831"
       id="use2448"
       transform="translate(-477.47549,101.80629)"
       width="1052.3622"
       height="744.09448" />
    <text
       sodipodi:linespacing="100%"
       id="text2450"
       y="315.32974"
       x="116.96068"
       style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
       xml:space="preserve"><tspan
         y="315.32974"
         x="116.96068"
         id="tspan2452"
         sodipodi:role="line" /><tspan
         id="tspan2456"
         y="331.32974"
         x="116.96068"
         sodipodi:role="line">OS interface</tspan><tspan
         y="347.32974"
         x="116.96068"
         sodipodi:role="line"
         id="tspan2460">unix.c</tspan><tspan
         y="363.32974"
         x="116.96068"
         sodipodi:role="line"
         id="tspan2464">or</tspan><tspan
         y="379.32974"
         x="116.96068"
         sodipodi:role="line"
         id="tspan2462">win32.c</tspan></text>
    <g
       id="g8884"
       transform="translate(-10.82926,355.42856)">
      <rect
         ry="20.027502"
         y="231.34967"
         x="36.736599"
         height="60.0825"
         width="183.69043"
         id="rect19040"
         style="color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.87499928;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
         rx="20.028" />
      <text
         xml:space="preserve"
         style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
         x="128.57401"
         y="232.4429"
         id="text8812"
         sodipodi:linespacing="100%"><tspan
           sodipodi:role="line"
           id="tspan8814"
           x="128.57401"
           y="232.4429" /><tspan
           sodipodi:role="line"
           x="128.57401"
           y="248.4429"
           id="tspan8816">CAN DRIVER</tspan><tspan
           sodipodi:role="line"
           x="128.57401"
           y="264.4429"
           id="tspan8820">INTERFACE</tspan><tspan
           sodipodi:role="line"
           x="128.57401"
           y="280.4429"
           id="tspan8818">can_xxx.c</tspan></text>
      <text
         sodipodi:linespacing="100%"
         id="text8822"
         y="246.4429"
         x="204.57401"
         style="font-size:8px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
         xml:space="preserve"><tspan
           y="246.4429"
           x="204.57401"
           id="tspan8824"
           sodipodi:role="line" /><tspan
           id="tspan8830"
           y="254.4429"
           x="204.57401"
           sodipodi:role="line">RCV</tspan></text>
      <text
         xml:space="preserve"
         style="font-size:8px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
         x="204.57401"
         y="264.4429"
         id="text8836"
         sodipodi:linespacing="100%"><tspan
           sodipodi:role="line"
           id="tspan8838"
           x="204.57401"
           y="264.4429" /><tspan
           sodipodi:role="line"
           x="204.57401"
           y="272.4429"
           id="tspan8840">TRS</tspan></text>
    </g>
    <text
       xml:space="preserve"
       style="font-size:32px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
       x="116.83569"
       y="546.68628"
       id="text2442"
       sodipodi:linespacing="100%"><tspan
         sodipodi:role="line"
         x="116.83569"
         y="546.68628"
         id="tspan2444">CAN</tspan><tspan
         id="tspan2446"
         sodipodi:role="line"
         x="116.83569"
         y="578.68628">interface</tspan></text>
    <text
       xml:space="preserve"
       style="font-size:12px;font-style:normal;font-weight:normal;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
       x="23.39595"
       y="480.36346"
       id="text3447"><tspan
         sodipodi:role="line"
         id="tspan3449"
         x="23.39595"
         y="480.36346">Dynamicaly </tspan><tspan
         sodipodi:role="line"
         x="23.39595"
         y="495.36346"
         id="tspan3453">loaded</tspan><tspan
         sodipodi:role="line"
         x="23.39595"
         y="510.36346"
         id="tspan3451">or Linked</tspan></text>
  </g>
</svg>