CanOpen conformance

DS-301

1. Should conform to DS301. V.4.02 13 february 2002.
2. Master and Slave functionality implemented.
3. Sending SYNC implemented.
4. 1 SDO server per node. (update: more than one possible. To be more tested)
5. Unlimited SDO client.
6. SDO transmission mode : normal, expedited download and upload.
7. Unlimited PDO receive.
8. Unlimited PDO transmit.
9. Object Data type implemented : 8, 16, 32 bits values, and fixed length strings.
10. Slave state full implemented.
11. NMT to change slaves state implemented.
12. PDO transmission mode : on request, every reception of 0 to n SYNC, on event.
13. NMT Heartbeat implemented : A node can be either heartbeat producer or receiver.
14. NMT NodeGuard implemented : Not fully implemented.
15. TIME (time Stamp) : Not implemented.
16. EMCY (emergency objects) : Not implemented.
17. PDO Mapping bit per bit implemented.

DS-302

1. Concise : implemented.