Protocol_CANopen_Slave_Over_CAN.h

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//------------------------------------------------------------------------------
//! @file       Protocol_CANopen_Slave_Over_CAN.h
//! @brief      Communication protocol CANopen over CAN class header file.
//! @attention  No special attention requered.
//! @copyright  (C) 2015-2020 ANVILEX LLC
//!             $HeadURL: https://192.168.3.4:8443/svn/P004_07/ConOpSys/Engine/Protocol_CANopen_Slave_Over_CAN.h $
//!             $Revision: 2815 $
//!             $Date: 2021-07-23 08:54:04 +0500 (Fr, 23 Jul 2021) $
//!             $Author: minch $
//------------------------------------------------------------------------------
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// 1. Redistributions of source code must retain the above copyright notice,
//    this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright notice,
//    this list of conditions and the following disclaimer in the documentation
//    and/or other materials provided with the distribution.
//
// 3. Neither the name of ANVILEX nor the names of its contributors may be
//    used to endorse or promote products derived from this software without
//    specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
//------------------------------------------------------------------------------
 
#pragma once
 
//------------------------------------------------------------------------------
// Defines
//------------------------------------------------------------------------------
 
#define SDO_BUFFER_NUMBER 4
 
//------------------------------------------------------------------------------
// Include system files
//------------------------------------------------------------------------------
 
#include "Protocol_Base.h"
 
//------------------------------------------------------------------------------
// Class definitions
//------------------------------------------------------------------------------
 
//! @brief Communication protocol CANopen over CAN class
class TProtocol_CANopen_Slave_Over_CAN : public TProtocol_Base
{
 
  //----------------------------------------------------------------------------
  // Public defines, methods and variables
  //----------------------------------------------------------------------------
 
  public:
 
    //! @brief CANopen parameter mapping entry struct
    typedef struct
    {
 
      //! @brief ConOpSys parameter ID
      U32 u32_Parameter_ID;
 
      //! @brief CANopen communication object index
      U16 u16_CANopen_Index;
 
      //! @brief CANopen communication object subindex
      U8 u8_CANopen_Subindex;
 
      //! @brief PDO mapping allowed
      BOOL bool_PDO_Mapping;
/*
      union
      {
 
        U8 u8_Properties;
 
        struct
        {
 
          U8 b1_Mondatory :1;
          U8 b1_PDO_Mapping_Allowed :1;
          U8 :6;
 
        } ;
 
      };
*/
    } TCANopen_Parameter_Mapping_Entry;
 
    //!-------------------------------------------------------------------------
    //! @brief     Class constructor method.
    //! @note      None
    //! \par       Override
    //!            Not allowed
    //! @attention Don't call this method directly.
    //--------------------------------------------------------------------------
 
    TProtocol_CANopen_Slave_Over_CAN();
 
    //!-------------------------------------------------------------------------
    //! @brief     Base class constructor method.
    //! @note      None
    //! \par       Override
    //!            Not allowed
    //! @attention Don't call this method directly.
    //--------------------------------------------------------------------------
 
    ~TProtocol_CANopen_Slave_Over_CAN();
 
    //!-------------------------------------------------------------------------
    //! @brief     Object initialisation method.
    //! @note      None
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    VOID Init();
 
    //!-------------------------------------------------------------------------
    //! @brief     Set node ID method
    //! @note      This method sets new node ID.
    //! @param     [in] u8_New_Node_ID - New node ID value
    //! @return    BOOL - Setting new node ID status
    //! @retval    false - Set new node ID failed
    //! @retval    true - Set new node ID successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_NODE_ID( U8 u8_New_Node_ID );
 
    //!-------------------------------------------------------------------------
    //! @brief     Enable show system welcome message method.
    //! @note      None
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
    
    VOID Show_System_Welcome_Message_Enable();
    
    //!-------------------------------------------------------------------------
    //! @brief     Disable show system welcome message method.
    //! @note      None
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
    
    VOID Show_System_Welcome_Message_Disable();
    
    //!-------------------------------------------------------------------------
    //! @brief     Enable system ready message method.
    //! @note      None
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
    
    VOID Show_System_Ready_Message_Enable();
    
    //!-------------------------------------------------------------------------
    //! @brief     Disable system ready message method.
    //! @note      None
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
    
    VOID Show_System_Ready_Message_Disable();
    
    //!-------------------------------------------------------------------------
    //! @brief     Transmit boot welcome message method.
    //! @note      None
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
    
    VOID Transmit_Boot_Welcome_Message();
    
    //!-------------------------------------------------------------------------
    //! @brief     Transmit system ready message method.
    //! @note      None
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
    
    VOID Transmit_System_Ready_Message();
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual node ID method
    //! @note      This method sets new node ID.
    //! @param     [out] *u8_Actual_Node_ID - Pointer to actual node ID variable
    //! @return    BOOL - Getting actual node ID status
    //! @retval    false - Get actual node ID failed
    //! @retval    true - Get actual node ID successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_NODE_ID( U8 *u8_Actual_Node_ID );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set status method
    //! @note      This method sets status.
    //! @param     [in] u8_New_STATUS - New status value
    //! @return    BOOL - Setting new status status
    //! @retval    false - Set status failed
    //! @retval    true - Set status successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_STATUS( U8 u8_New_STATUS );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual status method
    //! @note      This method sets new status.
    //! @param     [out] *u8_Actual_STATUS - Pointer to actual status variable
    //! @return    BOOL - Getting actual status status
    //! @retval    false - Get actual status failed
    //! @retval    true - Get actual status successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_STATUS( U8 *u8_Actual_STATUS );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set COB ID SYNC method
    //! @note      This method sets COB ID SYNC.
    //! @param     [in] u32_New_COB_ID_SYNC - New COB ID SYNC value
    //! @return    BOOL - Setting new COB ID SYNC status
    //! @retval    false - Set COB ID SYNC failed
    //! @retval    true - Set COB ID SYNC successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_COB_ID_SYNC( U32 u32_New_COB_ID_SYNC );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual COB ID SYNC method
    //! @note      This method sets new COB ID SYNC.
    //! @param     [out] *u32_Actual_COB_ID_SYNC - Pointer to actual COB ID SYNC variable
    //! @return    BOOL - Getting actual COB ID SYNC status
    //! @retval    false - Get actual COB ID SYNC failed
    //! @retval    true - Get actual COB ID SYNC successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_COB_ID_SYNC( U32 *u32_Actual_COB_ID_SYNC );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set guard time method
    //! @note      This method sets guard time.
    //! @param     [in] u16_New_GUARD_TIME - New guard time value
    //! @return    BOOL - Setting new guard time status
    //! @retval    false - Set guard time failed
    //! @retval    true - Set guard time successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_GUARD_TIME( U16 u16_New_GUARD_TIME );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual guard time method
    //! @note      This method sets new guard time.
    //! @param     [out] *u16_Actual_GUARD_TIME - Pointer to actual guard time variable
    //! @return    BOOL - Getting actual guard time status
    //! @retval    false - Get actual guard time failed
    //! @retval    true - Get actual guard time successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_GUARD_TIME( U16 *u16_Actual_GUARD_TIME );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set life time factor method
    //! @note      This method sets life time factor.
    //! @param     [in] u8_New_LIFE_TIME_FACTOR - New life time factor value
    //! @return    BOOL - Setting new life time factor status
    //! @retval    false - Set life time factor failed
    //! @retval    true - Set life time factor successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_LIFE_TIME_FACTOR( U8 u8_New_LIFE_TIME_FACTOR );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual life time factor method
    //! @note      This method sets new life time factor.
    //! @param     [out] *u8_Actual_LIFE_TIME_FACTOR - Pointer to actual life time factor variable
    //! @return    BOOL - Getting actual life time factor status
    //! @retval    false - Get actual life time factor failed
    //! @retval    true - Get actual life time factor successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_LIFE_TIME_FACTOR( U8 *u8_Actual_LIFE_TIME_FACTOR );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set cob id emcy method
    //! @note      This method sets cob id emcy.
    //! @param     [in] u32_New_COB_ID_EMCY - New cob id emcy value
    //! @return    BOOL - Setting new cob id emcy status
    //! @retval    false - Set cob id emcy failed
    //! @retval    true - Set cob id emcy successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_COB_ID_EMCY( U32 u32_New_COB_ID_EMCY );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual cob id emcy method
    //! @note      This method sets new cob id emcy.
    //! @param     [out] *u32_Actual_COB_ID_EMCY - Pointer to actual cob id emcy variable
    //! @return    BOOL - Getting actual cob id emcy status
    //! @retval    false - Get actual cob id emcy failed
    //! @retval    true - Get actual cob id emcy successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_COB_ID_EMCY( U32 *u32_Actual_COB_ID_EMCY );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set inhibit time emcy method
    //! @note      This method sets inhibit time emcy.
    //! @param     [in] u16_New_INHIBIT_TIME_EMCY - New inhibit time emcy value
    //! @return    BOOL - Setting new inhibit time emcy status
    //! @retval    false - Set inhibit time emcy failed
    //! @retval    true - Set inhibit time emcy successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_INHIBIT_TIME_EMCY( U16 u16_New_INHIBIT_TIME_EMCY );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual inhibit time emcy method
    //! @note      This method sets new inhibit time emcy.
    //! @param     [out] *u16_Actual_INHIBIT_TIME_EMCY - Pointer to actual inhibit time emcy variable
    //! @return    BOOL - Getting actual inhibit time emcy status
    //! @retval    false - Get actual inhibit time emcy failed
    //! @retval    true - Get actual inhibit time emcy successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_INHIBIT_TIME_EMCY( U16 *u16_Actual_INHIBIT_TIME_EMCY );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set consumer heartbeat time method
    //! @note      This method sets consumer heartbeat time.
    //! @param     [in] u32_New_CONSUMER_HEARTBEAT_TIME - New consumer heartbeat time value
    //! @return    BOOL - Setting new consumer heartbeat time status
    //! @retval    false - Set consumer heartbeat time failed
    //! @retval    true - Set consumer heartbeat time successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_CONSUMER_HEARTBEAT_TIME( U32 u32_New_CONSUMER_HEARTBEAT_TIME );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual consumer heartbeat time method
    //! @note      This method sets new consumer heartbeat time.
    //! @param     [out] *u32_Actual_CONSUMER_HEARTBEAT_TIME - Pointer to actual consumer heartbeat time variable
    //! @return    BOOL - Getting actual consumer heartbeat time status
    //! @retval    false - Get actual consumer heartbeat time failed
    //! @retval    true - Get actual consumer heartbeat time successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_CONSUMER_HEARTBEAT_TIME( U32 *u32_Actual_CONSUMER_HEARTBEAT_TIME );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set producer heartbeat time method
    //! @note      This method sets producer heartbeat time.
    //! @param     [in] u16_New_PRODUCER_HEARTBEAT_TIME - New producer heartbeat time value
    //! @return    BOOL - Setting new producer heartbeat time status
    //! @retval    false - Set producer heartbeat time failed
    //! @retval    true - Set producer heartbeat time successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_PRODUCER_HEARTBEAT_TIME( U16 u16_New_PRODUCER_HEARTBEAT_TIME );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual producer heartbeat time method
    //! @note      This method sets new producer heartbeat time.
    //! @param     [out] *u16_Actual_PRODUCER_HEARTBEAT_TIME - Pointer to actual producer heartbeat time variable
    //! @return    BOOL - Getting actual producer heartbeat time status
    //! @retval    false - Get actual producer heartbeat time failed
    //! @retval    true - Get actual producer heartbeat time successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_PRODUCER_HEARTBEAT_TIME( U16 *u16_Actual_PRODUCER_HEARTBEAT_TIME );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set sdo1 server parameter method
    //! @note      This method sets sdo1 server parameter.
    //! @param     [in] u32_New_SDO1_SERVER_PARAMETER - New sdo1 server parameter value
    //! @return    BOOL - Setting new sdo1 server parameter status
    //! @retval    false - Set sdo1 server parameter failed
    //! @retval    true - Set sdo1 server parameter successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_SDO1_SERVER_PARAMETER( U32 u32_New_SDO1_SERVER_PARAMETER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual sdo1 server parameter method
    //! @note      This method sets new sdo1 server parameter.
    //! @param     [out] *u32_Actual_SDO1_SERVER_PARAMETER - Pointer to actual sdo1 server parameter variable
    //! @return    BOOL - Getting actual sdo1 server parameter status
    //! @retval    false - Get actual sdo1 server parameter failed
    //! @retval    true - Get actual sdo1 server parameter successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_SDO1_SERVER_PARAMETER( U32 *u32_Actual_SDO1_SERVER_PARAMETER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set sdo1 server cob id client server rx method
    //! @note      This method sets sdo1 server cob id client server rx.
    //! @param     [in] u32_New_SDO1_SERVER_COB_ID_CLIENT_SERVER_RX - New sdo1 server cob id client server rx value
    //! @return    BOOL - Setting new sdo1 server cob id client server rx status
    //! @retval    false - Set sdo1 server cob id client server rx failed
    //! @retval    true - Set sdo1 server cob id client server rx successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_SDO1_SERVER_COB_ID_CLIENT_SERVER_RX( U32 u32_New_SDO1_SERVER_COB_ID_CLIENT_SERVER_RX );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual sdo1 server cob id client server rx method
    //! @note      This method sets new sdo1 server cob id client server rx.
    //! @param     [out] *u32_Actual_SDO1_SERVER_COB_ID_CLIENT_SERVER_RX - Pointer to actual sdo1 server cob id client server rx variable
    //! @return    BOOL - Getting actual sdo1 server cob id client server rx status
    //! @retval    false - Get actual sdo1 server cob id client server rx failed
    //! @retval    true - Get actual sdo1 server cob id client server rx successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_SDO1_SERVER_COB_ID_CLIENT_SERVER_RX( U32 *u32_Actual_SDO1_SERVER_COB_ID_CLIENT_SERVER_RX );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set sdo1 server cob id client server tx method
    //! @note      This method sets sdo1 server cob id client server tx.
    //! @param     [in] u32_New_SDO1_CLIENT_COB_ID_SERVER_CLIENT_TX - New sdo1 server cob id client server tx value
    //! @return    BOOL - Setting new sdo1 server cob id client server tx status
    //! @retval    false - Set sdo1 server cob id client server tx failed
    //! @retval    true - Set sdo1 server cob id client server tx successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_SDO1_CLIENT_COB_ID_SERVER_CLIENT_TX( U32 u32_New_SDO1_CLIENT_COB_ID_SERVER_CLIENT_TX );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual sdo1 server cob id client server tx method
    //! @note      This method sets new sdo1 server cob id client server tx.
    //! @param     [out] *u32_Actual_SDO1_CLIENT_COB_ID_SERVER_CLIENT_TX - Pointer to actual sdo1 server cob id client server tx variable
    //! @return    BOOL - Getting actual sdo1 server cob id client server tx status
    //! @retval    false - Get actual sdo1 server cob id client server tx failed
    //! @retval    true - Get actual sdo1 server cob id client server tx successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_SDO1_CLIENT_COB_ID_SERVER_CLIENT_TX( U32 *u32_Actual_SDO1_CLIENT_COB_ID_SERVER_CLIENT_TX );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set rpdo1 parameter method
    //! @note      This method sets rpdo1 parameter.
    //! @param     [in] u32_New_RPDO1_PARAMETER - New rpdo1 parameter value
    //! @return    BOOL - Setting new rpdo1 parameter status
    //! @retval    false - Set rpdo1 parameter failed
    //! @retval    true - Set rpdo1 parameter successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_RPDO1_PARAMETER( U32 u32_New_RPDO1_PARAMETER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual rpdo1 parameter method
    //! @note      This method sets new rpdo1 parameter.
    //! @param     [out] *u32_Actual_RPDO1_PARAMETER - Pointer to actual rpdo1 parameter variable
    //! @return    BOOL - Getting actual rpdo1 parameter status
    //! @retval    false - Get actual rpdo1 parameter failed
    //! @retval    true - Get actual rpdo1 parameter successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_RPDO1_PARAMETER( U32 *u32_Actual_RPDO1_PARAMETER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set RPDO1 COB ID method
    //! @note      This method sets RPDO1 COB ID.
    //! @param     [in] u32_New_RPDO1_COB_ID - New RPDO1 COB ID value
    //! @return    BOOL - Setting new RPDO1 COB ID status
    //! @retval    false - Set RPDO1 COB ID failed
    //! @retval    true - Set RPDO1 COB ID successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_RPDO1_COB_ID( U32 u32_New_RPDO1_COB_ID );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual RPDO1 COB ID method
    //! @note      This method sets new RPDO1 COB ID.
    //! @param     [out] *u32_Actual_RPDO1_COB_ID - Pointer to actual RPDO1 COB ID variable
    //! @return    BOOL - Getting actual RPDO1 COB ID status
    //! @retval    false - Get actual RPDO1 COB ID failed
    //! @retval    true - Get actual RPDO1 COB ID successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_RPDO1_COB_ID( U32 *u32_Actual_RPDO1_COB_ID );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set rpdo2 parameter method
    //! @note      This method sets rpdo2 parameter.
    //! @param     [in] u32_New_RPDO2_PARAMETER - New rpdo2 parameter value
    //! @return    BOOL - Setting new rpdo2 parameter status
    //! @retval    false - Set rpdo2 parameter failed
    //! @retval    true - Set rpdo2 parameter successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_RPDO2_PARAMETER( U32 u32_New_RPDO2_PARAMETER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual rpdo2 parameter method
    //! @note      This method sets new rpdo2 parameter.
    //! @param     [out] *u32_Actual_RPDO2_PARAMETER - Pointer to actual rpdo2 parameter variable
    //! @return    BOOL - Getting actual rpdo2 parameter status
    //! @retval    false - Get actual rpdo2 parameter failed
    //! @retval    true - Get actual rpdo2 parameter successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_RPDO2_PARAMETER( U32 *u32_Actual_RPDO2_PARAMETER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set RPDO2 COB ID method
    //! @note      This method sets RPDO2 COB ID.
    //! @param     [in] u32_New_RPDO2_COB_ID - New RPDO2 COB ID value
    //! @return    BOOL - Setting new RPDO2 COB ID status
    //! @retval    false - Set RPDO2 COB ID failed
    //! @retval    true - Set RPDO2 COB ID successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_RPDO2_COB_ID( U32 u32_New_RPDO2_COB_ID );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual RPDO2 COB ID method
    //! @note      This method sets new RPDO2 COB ID.
    //! @param     [out] *u32_Actual_RPDO2_COB_ID - Pointer to actual RPDO2 COB ID variable
    //! @return    BOOL - Getting actual RPDO2 COB ID status
    //! @retval    false - Get actual RPDO2 COB ID failed
    //! @retval    true - Get actual RPDO2 COB ID successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_RPDO2_COB_ID( U32 *u32_Actual_RPDO2_COB_ID );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set rpdo3 parameter method
    //! @note      This method sets rpdo3 parameter.
    //! @param     [in] u32_New_RPDO3_PARAMETER - New rpdo3 parameter value
    //! @return    BOOL - Setting new rpdo3 parameter status
    //! @retval    false - Set rpdo3 parameter failed
    //! @retval    true - Set rpdo3 parameter successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_RPDO3_PARAMETER( U32 u32_New_RPDO3_PARAMETER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual rpdo3 parameter method
    //! @note      This method sets new rpdo3 parameter.
    //! @param     [out] *u32_Actual_RPDO3_PARAMETER - Pointer to actual rpdo3 parameter variable
    //! @return    BOOL - Getting actual rpdo3 parameter status
    //! @retval    false - Get actual rpdo3 parameter failed
    //! @retval    true - Get actual rpdo3 parameter successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_RPDO3_PARAMETER( U32 *u32_Actual_RPDO3_PARAMETER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set RPDO3 COB ID method
    //! @note      This method sets RPDO3 COB ID.
    //! @param     [in] u32_New_RPDO3_COB_ID - New RPDO3 COB ID value
    //! @return    BOOL - Setting new RPDO3 COB ID status
    //! @retval    false - Set RPDO3 COB ID failed
    //! @retval    true - Set RPDO3 COB ID successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_RPDO3_COB_ID( U32 u32_New_RPDO3_COB_ID );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual RPDO3 COB ID method
    //! @note      This method sets new RPDO3 COB ID.
    //! @param     [out] *u32_Actual_RPDO3_COB_ID - Pointer to actual RPDO3 COB ID variable
    //! @return    BOOL - Getting actual RPDO3 COB ID status
    //! @retval    false - Get actual RPDO3 COB ID failed
    //! @retval    true - Get actual RPDO3 COB ID successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_RPDO3_COB_ID( U32 *u32_Actual_RPDO3_COB_ID );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set rpdo4 parameter method
    //! @note      This method sets rpdo4 parameter.
    //! @param     [in] u32_New_RPDO4_PARAMETER - New rpdo4 parameter value
    //! @return    BOOL - Setting new rpdo4 parameter status
    //! @retval    false - Set rpdo4 parameter failed
    //! @retval    true - Set rpdo4 parameter successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_RPDO4_PARAMETER( U32 u32_New_RPDO4_PARAMETER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual rpdo4 parameter method
    //! @note      This method sets new rpdo4 parameter.
    //! @param     [out] *u32_Actual_RPDO4_PARAMETER - Pointer to actual rpdo4 parameter variable
    //! @return    BOOL - Getting actual rpdo4 parameter status
    //! @retval    false - Get actual rpdo4 parameter failed
    //! @retval    true - Get actual rpdo4 parameter successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_RPDO4_PARAMETER( U32 *u32_Actual_RPDO4_PARAMETER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set RPDO4 COB ID method
    //! @note      This method sets RPDO4 COB ID.
    //! @param     [in] u32_New_RPDO4_COB_ID - New RPDO4 COB ID value
    //! @return    BOOL - Setting new RPDO4 COB ID status
    //! @retval    false - Set RPDO4 COB ID failed
    //! @retval    true - Set RPDO4 COB ID successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_RPDO4_COB_ID( U32 u32_New_RPDO4_COB_ID );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual RPDO4 COB ID method
    //! @note      This method sets new RPDO4 COB ID.
    //! @param     [out] *u32_Actual_RPDO4_COB_ID - Pointer to actual RPDO4 COB ID variable
    //! @return    BOOL - Getting actual RPDO4 COB ID status
    //! @retval    false - Get actual RPDO4 COB ID failed
    //! @retval    true - Get actual RPDO4 COB ID successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_RPDO4_COB_ID( U32 *u32_Actual_RPDO4_COB_ID );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO1 parameter method
    //! @note      This method sets TPDO1 parameter.
    //! @param     [in] u32_New_TPDO1_PARAMETER - New TPDO1 parameter value
    //! @return    BOOL - Setting new TPDO1 parameter status
    //! @retval    false - Set TPDO1 parameter failed
    //! @retval    true - Set TPDO1 parameter successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO1_PARAMETER( U32 u32_New_TPDO1_PARAMETER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual TPDO1 parameter method
    //! @note      This method sets new TPDO1 parameter.
    //! @param     [out] *u32_Actual_TPDO1_PARAMETER - Pointer to actual TPDO1 parameter variable
    //! @return    BOOL - Getting actual TPDO1 parameter status
    //! @retval    false - Get actual TPDO1 parameter failed
    //! @retval    true - Get actual TPDO1 parameter successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO1_PARAMETER( U32 *u32_Actual_TPDO1_PARAMETER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO1 COB ID used method
    //! @note      This method sets TPDO1 COB ID used.
    //! @param     [in] u32_New_TPDO1_COB_ID - New TPDO1 COB ID used value
    //! @return    BOOL - Setting new TPDO1 COB ID used status
    //! @retval    false - Set TPDO1 COB ID used failed
    //! @retval    true - Set TPDO1 COB ID used successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO1_COB_ID( U32 u32_New_TPDO1_COB_ID );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual TPDO1 COB ID used method
    //! @note      This method sets new TPDO1 COB ID used.
    //! @param     [out] *u32_Actual_TPDO1_COB_ID - Pointer to actual TPDO1 COB ID used variable
    //! @return    BOOL - Getting actual TPDO1 COB ID used status
    //! @retval    false - Get actual TPDO1 COB ID used failed
    //! @retval    true - Get actual TPDO1 COB ID used successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO1_COB_ID( U32 *u32_Actual_TPDO1_COB_ID );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO1 transmission type method
    //! @note      This method sets TPDO1 transmission type.
    //! @param     [in] u8_New_TPDO1_TRANSMISSION_TYPE - New TPDO1 transmission type value
    //! @return    BOOL - Setting new TPDO1 transmission type status
    //! @retval    false - Set TPDO1 transmission type failed
    //! @retval    true - Set TPDO1 transmission type successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO1_TRANSMISSION_TYPE( U8 u8_New_TPDO1_TRANSMISSION_TYPE );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual TPDO1 transmission type method
    //! @note      This method sets new TPDO1 transmission type.
    //! @param     [out] *u8_Actual_TPDO1_TRANSMISSION_TYPE - Pointer to actual TPDO1 transmission type variable
    //! @return    BOOL - Getting actual TPDO1 transmission type status
    //! @retval    false - Get actual TPDO1 transmission type failed
    //! @retval    true - Get actual TPDO1 transmission type successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO1_TRANSMISSION_TYPE( U8 *u8_Actual_TPDO1_TRANSMISSION_TYPE );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO1 inhibit time method
    //! @note      This method sets TPDO1 inhibit time.
    //! @param     [in] u16_New_TPDO1_INHIBIT_TIME - New TPDO1 inhibit time value
    //! @return    BOOL - Setting new TPDO1 inhibit time status
    //! @retval    false - Set TPDO1 inhibit time failed
    //! @retval    true - Set TPDO1 inhibit time successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO1_INHIBIT_TIME( U16 u16_New_TPDO1_INHIBIT_TIME );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual TPDO1 inhibit time method
    //! @note      This method sets new TPDO1 inhibit time.
    //! @param     [out] *u16_Actual_TPDO1_INHIBIT_TIME - Pointer to actual TPDO1 inhibit time variable
    //! @return    BOOL - Getting actual TPDO1 inhibit time status
    //! @retval    false - Get actual TPDO1 inhibit time failed
    //! @retval    true - Get actual TPDO1 inhibit time successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO1_INHIBIT_TIME( U16 *u16_Actual_TPDO1_INHIBIT_TIME );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO1 compatibility entry method
    //! @note      This method sets TPDO1 compatibility entry.
    //! @param     [in] u8_New_TPDO1_COMPATIBILITY_ENTRY - New TPDO1 compatibility entry value
    //! @return    BOOL - Setting new TPDO1 compatibility entry status
    //! @retval    false - Set TPDO1 compatibility entry failed
    //! @retval    true - Set TPDO1 compatibility entry successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO1_COMPATIBILITY_ENTRY( U8 u8_New_TPDO1_COMPATIBILITY_ENTRY );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual TPDO1 compatibility entry method
    //! @note      This method sets new TPDO1 compatibility entry.
    //! @param     [out] *u8_Actual_TPDO1_COMPATIBILITY_ENTRY - Pointer to actual TPDO1 compatibility entry variable
    //! @return    BOOL - Getting actual TPDO1 compatibility entry status
    //! @retval    false - Get actual TPDO1 compatibility entry failed
    //! @retval    true - Get actual TPDO1 compatibility entry successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO1_COMPATIBILITY_ENTRY( U8 *u8_Actual_TPDO1_COMPATIBILITY_ENTRY );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO1 event timer method
    //! @note      This method sets TPDO1 event timer.
    //! @param     [in] u16_New_TPDO1_EVENT_TIMER - New TPDO1 event timer value
    //! @return    BOOL - Setting new TPDO1 event timer status
    //! @retval    false - Set TPDO1 event timer failed
    //! @retval    true - Set TPDO1 event timer successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO1_EVENT_TIMER( U16 u16_New_TPDO1_EVENT_TIMER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual TPDO1 event timer method
    //! @note      This method sets new TPDO1 event timer.
    //! @param     [out] *u16_Actual_TPDO1_EVENT_TIMER - Pointer to actual TPDO1 event timer variable
    //! @return    BOOL - Getting actual TPDO1 event timer status
    //! @retval    false - Get actual TPDO1 event timer failed
    //! @retval    true - Get actual TPDO1 event timer successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO1_EVENT_TIMER( U16 *u16_Actual_TPDO1_EVENT_TIMER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO2 parameter method
    //! @note      This method sets TPDO2 parameter.
    //! @param     [in] u32_New_TPDO2_PARAMETER - New TPDO2 parameter value
    //! @return    BOOL - Setting new TPDO2 parameter status
    //! @retval    false - Set TPDO2 parameter failed
    //! @retval    true - Set TPDO2 parameter successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO2_PARAMETER( U32 u32_New_TPDO2_PARAMETER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual TPDO2 parameter method
    //! @note      This method sets new TPDO2 parameter.
    //! @param     [out] *u32_Actual_TPDO2_PARAMETER - Pointer to actual TPDO2 parameter variable
    //! @return    BOOL - Getting actual TPDO2 parameter status
    //! @retval    false - Get actual TPDO2 parameter failed
    //! @retval    true - Get actual TPDO2 parameter successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO2_PARAMETER( U32 *u32_Actual_TPDO2_PARAMETER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO2 COB ID used method
    //! @note      This method sets TPDO2 COB ID used.
    //! @param     [in] u32_New_TPDO2_COB_ID - New TPDO2 COB ID used value
    //! @return    BOOL - Setting new TPDO2 COB ID used status
    //! @retval    false - Set TPDO2 COB ID used failed
    //! @retval    true - Set TPDO2 COB ID used successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO2_COB_ID( U32 u32_New_TPDO2_COB_ID );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual TPDO2 COB ID used method
    //! @note      This method sets new TPDO2 COB ID used.
    //! @param     [out] *u32_Actual_TPDO2_COB_ID - Pointer to actual TPDO2 COB ID used variable
    //! @return    BOOL - Getting actual TPDO2 COB ID used status
    //! @retval    false - Get actual TPDO2 COB ID used failed
    //! @retval    true - Get actual TPDO2 COB ID used successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO2_COB_ID( U32 *u32_Actual_TPDO2_COB_ID );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO2 transmission type method
    //! @note      This method sets TPDO2 transmission type.
    //! @param     [in] u8_New_TPDO2_TRANSMISSION_TYPE - New TPDO2 transmission type value
    //! @return    BOOL - Setting new TPDO2 transmission type status
    //! @retval    false - Set TPDO2 transmission type failed
    //! @retval    true - Set TPDO2 transmission type successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO2_TRANSMISSION_TYPE( U8 u8_New_TPDO2_TRANSMISSION_TYPE );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual TPDO2 transmission type method
    //! @note      This method sets new TPDO2 transmission type.
    //! @param     [out] *u8_Actual_TPDO2_TRANSMISSION_TYPE - Pointer to actual TPDO2 transmission type variable
    //! @return    BOOL - Getting actual TPDO2 transmission type status
    //! @retval    false - Get actual TPDO2 transmission type failed
    //! @retval    true - Get actual TPDO2 transmission type successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO2_TRANSMISSION_TYPE( U8 *u8_Actual_TPDO2_TRANSMISSION_TYPE );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO2 inhibit time method
    //! @note      This method sets TPDO2 inhibit time.
    //! @param     [in] u16_New_TPDO2_INHIBIT_TIME - New TPDO2 inhibit time value
    //! @return    BOOL - Setting new TPDO2 inhibit time status
    //! @retval    false - Set TPDO2 inhibit time failed
    //! @retval    true - Set TPDO2 inhibit time successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO2_INHIBIT_TIME( U16 u16_New_TPDO2_INHIBIT_TIME );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual TPDO2 inhibit time method
    //! @note      This method sets new TPDO2 inhibit time.
    //! @param     [out] *u16_Actual_TPDO2_INHIBIT_TIME - Pointer to actual TPDO2 inhibit time variable
    //! @return    BOOL - Getting actual TPDO2 inhibit time status
    //! @retval    false - Get actual TPDO2 inhibit time failed
    //! @retval    true - Get actual TPDO2 inhibit time successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO2_INHIBIT_TIME( U16 *u16_Actual_TPDO2_INHIBIT_TIME );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO2 compatibility entry method
    //! @note      This method sets TPDO2 compatibility entry.
    //! @param     [in] u8_New_TPDO2_COMPATIBILITY_ENTRY - New TPDO2 compatibility entry value
    //! @return    BOOL - Setting new TPDO2 compatibility entry status
    //! @retval    false - Set TPDO2 compatibility entry failed
    //! @retval    true - Set TPDO2 compatibility entry successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO2_COMPATIBILITY_ENTRY( U8 u8_New_TPDO2_COMPATIBILITY_ENTRY );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual TPDO2 compatibility entry method
    //! @note      This method sets new TPDO2 compatibility entry.
    //! @param     [out] *u8_Actual_TPDO2_COMPATIBILITY_ENTRY - Pointer to actual TPDO2 compatibility entry variable
    //! @return    BOOL - Getting actual TPDO2 compatibility entry status
    //! @retval    false - Get actual TPDO2 compatibility entry failed
    //! @retval    true - Get actual TPDO2 compatibility entry successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO2_COMPATIBILITY_ENTRY( U8 *u8_Actual_TPDO2_COMPATIBILITY_ENTRY );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO2 event timer method
    //! @note      This method sets TPDO2 event timer.
    //! @param     [in] u16_New_TPDO2_EVENT_TIMER - New TPDO2 event timer value
    //! @return    BOOL - Setting new TPDO2 event timer status
    //! @retval    false - Set TPDO2 event timer failed
    //! @retval    true - Set TPDO2 event timer successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO2_EVENT_TIMER( U16 u16_New_TPDO2_EVENT_TIMER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual TPDO2 event timer method
    //! @note      This method sets new TPDO2 event timer.
    //! @param     [out] *u16_Actual_TPDO2_EVENT_TIMER - Pointer to actual TPDO2 event timer variable
    //! @return    BOOL - Getting actual TPDO2 event timer status
    //! @retval    false - Get actual TPDO2 event timer failed
    //! @retval    true - Get actual TPDO2 event timer successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO2_EVENT_TIMER( U16 *u16_Actual_TPDO2_EVENT_TIMER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO3 parameter method
    //! @note      This method sets TPDO3 parameter.
    //! @param     [in] u32_New_TPDO3_PARAMETER - New TPDO3 parameter value
    //! @return    BOOL - Setting new TPDO3 parameter status
    //! @retval    false - Set TPDO3 parameter failed
    //! @retval    true - Set TPDO3 parameter successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO3_PARAMETER( U32 u32_New_TPDO3_PARAMETER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual TPDO3 parameter method
    //! @note      This method sets new TPDO3 parameter.
    //! @param     [out] *u32_Actual_TPDO3_PARAMETER - Pointer to actual TPDO3 parameter variable
    //! @return    BOOL - Getting actual TPDO3 parameter status
    //! @retval    false - Get actual TPDO3 parameter failed
    //! @retval    true - Get actual TPDO3 parameter successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO3_PARAMETER( U32 *u32_Actual_TPDO3_PARAMETER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO3 COB ID used method
    //! @note      This method sets TPDO3 COB ID used.
    //! @param     [in] u32_New_TPDO3_COB_ID - New TPDO3 COB ID used value
    //! @return    BOOL - Setting new TPDO3 COB ID used status
    //! @retval    false - Set TPDO3 COB ID used failed
    //! @retval    true - Set TPDO3 COB ID used successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO3_COB_ID( U32 u32_New_TPDO3_COB_ID );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual TPDO3 COB ID used method
    //! @note      This method sets new TPDO3 COB ID used.
    //! @param     [out] *u32_Actual_TPDO3_COB_ID - Pointer to actual TPDO3 COB ID used variable
    //! @return    BOOL - Getting actual TPDO3 COB ID used status
    //! @retval    false - Get actual TPDO3 COB ID used failed
    //! @retval    true - Get actual TPDO3 COB ID used successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO3_COB_ID( U32 *u32_Actual_TPDO3_COB_ID );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO3 transmission type method
    //! @note      This method sets TPDO3 transmission type.
    //! @param     [in] u8_New_TPDO3_TRANSMISSION_TYPE - New TPDO3 transmission type value
    //! @return    BOOL - Setting new TPDO3 transmission type status
    //! @retval    false - Set TPDO3 transmission type failed
    //! @retval    true - Set TPDO3 transmission type successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO3_TRANSMISSION_TYPE( U8 u8_New_TPDO3_TRANSMISSION_TYPE );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual TPDO3 transmission type method
    //! @note      This method sets new TPDO3 transmission type.
    //! @param     [out] *u8_Actual_TPDO3_TRANSMISSION_TYPE - Pointer to actual TPDO3 transmission type variable
    //! @return    BOOL - Getting actual TPDO3 transmission type status
    //! @retval    false - Get actual TPDO3 transmission type failed
    //! @retval    true - Get actual TPDO3 transmission type successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO3_TRANSMISSION_TYPE( U8 *u8_Actual_TPDO3_TRANSMISSION_TYPE );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO3 inhibit time method
    //! @note      This method sets TPDO3 inhibit time.
    //! @param     [in] u16_New_TPDO3_INHIBIT_TIME - New TPDO3 inhibit time value
    //! @return    BOOL - Setting new TPDO3 inhibit time status
    //! @retval    false - Set TPDO3 inhibit time failed
    //! @retval    true - Set TPDO3 inhibit time successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO3_INHIBIT_TIME( U16 u16_New_TPDO3_INHIBIT_TIME );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual TPDO3 inhibit time method
    //! @note      This method sets new TPDO3 inhibit time.
    //! @param     [out] *u16_Actual_TPDO3_INHIBIT_TIME - Pointer to actual TPDO3 inhibit time variable
    //! @return    BOOL - Getting actual TPDO3 inhibit time status
    //! @retval    false - Get actual TPDO3 inhibit time failed
    //! @retval    true - Get actual TPDO3 inhibit time successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO3_INHIBIT_TIME( U16 *u16_Actual_TPDO3_INHIBIT_TIME );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO3 compatibility entry method
    //! @note      This method sets TPDO3 compatibility entry.
    //! @param     [in] u8_New_TPDO3_COMPATIBILITY_ENTRY - New TPDO3 compatibility entry value
    //! @return    BOOL - Setting new TPDO3 compatibility entry status
    //! @retval    false - Set TPDO3 compatibility entry failed
    //! @retval    true - Set TPDO3 compatibility entry successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO3_COMPATIBILITY_ENTRY( U8 u8_New_TPDO3_COMPATIBILITY_ENTRY );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual TPDO3 compatibility entry method
    //! @note      This method sets new TPDO3 compatibility entry.
    //! @param     [out] *u8_Actual_TPDO3_COMPATIBILITY_ENTRY - Pointer to actual TPDO3 compatibility entry variable
    //! @return    BOOL - Getting actual TPDO3 compatibility entry status
    //! @retval    false - Get actual TPDO3 compatibility entry failed
    //! @retval    true - Get actual TPDO3 compatibility entry successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO3_COMPATIBILITY_ENTRY( U8 *u8_Actual_TPDO3_COMPATIBILITY_ENTRY );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO3 event timer method
    //! @note      This method sets TPDO3 event timer.
    //! @param     [in] u16_New_TPDO3_EVENT_TIMER - New TPDO3 event timer value
    //! @return    BOOL - Setting new TPDO3 event timer status
    //! @retval    false - Set TPDO3 event timer failed
    //! @retval    true - Set TPDO3 event timer successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO3_EVENT_TIMER( U16 u16_New_TPDO3_EVENT_TIMER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual TPDO3 event timer method
    //! @note      This method sets new TPDO3 event timer.
    //! @param     [out] *u16_Actual_TPDO3_EVENT_TIMER - Pointer to actual TPDO3 event timer variable
    //! @return    BOOL - Getting actual TPDO3 event timer status
    //! @retval    false - Get actual TPDO3 event timer failed
    //! @retval    true - Get actual TPDO3 event timer successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO3_EVENT_TIMER( U16 *u16_Actual_TPDO3_EVENT_TIMER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO4 parameter method
    //! @note      This method sets TPDO4 parameter.
    //! @param     [in] u32_New_TPDO4_PARAMETER - New TPDO4 parameter value
    //! @return    BOOL - Setting new TPDO4 parameter status
    //! @retval    false - Set TPDO4 parameter failed
    //! @retval    true - Set TPDO4 parameter successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO4_PARAMETER( U32 u32_New_TPDO4_PARAMETER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual TPDO4 parameter method
    //! @note      This method sets new TPDO4 parameter.
    //! @param     [out] *u32_Actual_TPDO4_PARAMETER - Pointer to actual TPDO4 parameter variable
    //! @return    BOOL - Getting actual TPDO4 parameter status
    //! @retval    false - Get actual TPDO4 parameter failed
    //! @retval    true - Get actual TPDO4 parameter successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO4_PARAMETER( U32 *u32_Actual_TPDO4_PARAMETER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO4 COB ID used method
    //! @note      This method sets TPDO4 COB ID used.
    //! @param     [in] u32_New_TPDO4_COB_ID - New TPDO4 COB ID used value
    //! @return    BOOL - Setting new TPDO4 COB ID used status
    //! @retval    false - Set TPDO4 COB ID used failed
    //! @retval    true - Set TPDO4 COB ID used successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO4_COB_ID( U32 u32_New_TPDO4_COB_ID );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual TPDO4 COB ID used method
    //! @note      This method sets new TPDO4 COB ID used.
    //! @param     [out] *u32_Actual_TPDO4_COB_ID - Pointer to actual TPDO4 COB ID used variable
    //! @return    BOOL - Getting actual TPDO4 COB ID used status
    //! @retval    false - Get actual TPDO4 COB ID used failed
    //! @retval    true - Get actual TPDO4 COB ID used successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO4_COB_ID( U32 *u32_Actual_TPDO4_COB_ID );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO4 transmission type method
    //! @note      This method sets TPDO4 transmission type.
    //! @param     [in] u8_New_TPDO4_TRANSMISSION_TYPE - New TPDO4 transmission type value
    //! @return    BOOL - Setting new TPDO4 transmission type status
    //! @retval    false - Set TPDO4 transmission type failed
    //! @retval    true - Set TPDO4 transmission type successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO4_TRANSMISSION_TYPE( U8 u8_New_TPDO4_TRANSMISSION_TYPE );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual TPDO4 transmission type method
    //! @note      This method sets new TPDO4 transmission type.
    //! @param     [out] *u8_Actual_TPDO4_TRANSMISSION_TYPE - Pointer to actual TPDO4 transmission type variable
    //! @return    BOOL - Getting actual TPDO4 transmission type status
    //! @retval    false - Get actual TPDO4 transmission type failed
    //! @retval    true - Get actual TPDO4 transmission type successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO4_TRANSMISSION_TYPE( U8 *u8_Actual_TPDO4_TRANSMISSION_TYPE );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO4 inhibit time method
    //! @note      This method sets TPDO4 inhibit time.
    //! @param     [in] u16_New_TPDO4_INHIBIT_TIME - New TPDO4 inhibit time value
    //! @return    BOOL - Setting new TPDO4 inhibit time status
    //! @retval    false - Set TPDO4 inhibit time failed
    //! @retval    true - Set TPDO4 inhibit time successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO4_INHIBIT_TIME( U16 u16_New_TPDO4_INHIBIT_TIME );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual TPDO4 inhibit time method
    //! @note      This method sets new TPDO4 inhibit time.
    //! @param     [out] *u16_Actual_TPDO4_INHIBIT_TIME - Pointer to actual TPDO4 inhibit time variable
    //! @return    BOOL - Getting actual TPDO4 inhibit time status
    //! @retval    false - Get actual TPDO4 inhibit time failed
    //! @retval    true - Get actual TPDO4 inhibit time successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO4_INHIBIT_TIME( U16 *u16_Actual_TPDO4_INHIBIT_TIME );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO4 compatibility entry method
    //! @note      This method sets TPDO4 compatibility entry.
    //! @param     [in] u8_New_TPDO4_COMPATIBILITY_ENTRY - New TPDO4 compatibility entry value
    //! @return    BOOL - Setting new TPDO4 compatibility entry status
    //! @retval    false - Set TPDO4 compatibility entry failed
    //! @retval    true - Set TPDO4 compatibility entry successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO4_COMPATIBILITY_ENTRY( U8 u8_New_TPDO4_COMPATIBILITY_ENTRY );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual TPDO4 compatibility entry method
    //! @note      This method sets new TPDO4 compatibility entry.
    //! @param     [out] *u8_Actual_TPDO4_COMPATIBILITY_ENTRY - Pointer to actual TPDO4 compatibility entry variable
    //! @return    BOOL - Getting actual TPDO4 compatibility entry status
    //! @retval    false - Get actual TPDO4 compatibility entry failed
    //! @retval    true - Get actual TPDO4 compatibility entry successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO4_COMPATIBILITY_ENTRY( U8 *u8_Actual_TPDO4_COMPATIBILITY_ENTRY );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO4 event timer method
    //! @note      This method sets TPDO4 event timer.
    //! @param     [in] u16_New_TPDO4_EVENT_TIMER - New TPDO4 event timer value
    //! @return    BOOL - Setting new TPDO4 event timer status
    //! @retval    false - Set TPDO4 event timer failed
    //! @retval    true - Set TPDO4 event timer successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO4_EVENT_TIMER( U16 u16_New_TPDO4_EVENT_TIMER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get actual TPDO4 event timer method
    //! @note      This method sets new TPDO4 event timer.
    //! @param     [out] *u16_Actual_TPDO4_EVENT_TIMER - Pointer to actual TPDO4 event timer variable
    //! @return    BOOL - Getting actual TPDO4 event timer status
    //! @retval    false - Get actual TPDO4 event timer failed
    //! @retval    true - Get actual TPDO4 event timer successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO4_EVENT_TIMER( U16 *u16_Actual_TPDO4_EVENT_TIMER );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get TPDO1 data method
    //! @note      This method sets TPDO1 data.
    //! @param     [in] u64_Actual_TPDO1_DATA - New TPDO1 data value
    //! @return    BOOL - Getting new TPDO1 data status
    //! @retval    false - Get TPDO1 data failed
    //! @retval    true - Get TPDO1 data successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO1_DATA( U64 *u64_Actual_TPDO1_DATA );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO1 data method
    //! @note      This method sets TPDO1 data.
    //! @param     [in] u64_New_TPDO1_DATA - New TPDO1 data value
    //! @return    BOOL - Setting new TPDO1 data status
    //! @retval    false - Set TPDO1 data failed
    //! @retval    true - Set TPDO1 data successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO1_DATA( U64 u64_New_TPDO1_DATA );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get TPDO2 data method
    //! @note      This method sets TPDO2 data.
    //! @param     [in] u64_Actual_TPDO2_DATA - New TPDO2 data value
    //! @return    BOOL - Getting new TPDO2 data status
    //! @retval    false - Get TPDO2 data failed
    //! @retval    true - Get TPDO2 data successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO2_DATA( U64 *u64_Actual_TPDO2_DATA );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO2 data method
    //! @note      This method sets TPDO2 data.
    //! @param     [in] u64_New_TPDO2_DATA - New TPDO2 data value
    //! @return    BOOL - Setting new TPDO2 data status
    //! @retval    false - Set TPDO2 data failed
    //! @retval    true - Set TPDO2 data successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO2_DATA( U64 u64_New_TPDO2_DATA );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get TPDO3 data method
    //! @note      This method sets TPDO3 data.
    //! @param     [in] u64_Actual_TPDO3_DATA - New TPDO3 data value
    //! @return    BOOL - Getting new TPDO3 data status
    //! @retval    false - Get TPDO3 data failed
    //! @retval    true - Get TPDO3 data successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO3_DATA( U64 *u64_Actual_TPDO3_DATA );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO3 data method
    //! @note      This method sets TPDO3 data.
    //! @param     [in] u64_New_TPDO3_DATA - New TPDO3 data value
    //! @return    BOOL - Setting new TPDO3 data status
    //! @retval    false - Set TPDO3 data failed
    //! @retval    true - Set TPDO3 data successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO3_DATA( U64 u64_New_TPDO3_DATA );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get TPDO4 data method
    //! @note      This method sets TPDO4 data.
    //! @param     [in] u64_Actual_TPDO4_DATA - New TPDO4 data value
    //! @return    BOOL - Getting new TPDO4 data status
    //! @retval    false - Get TPDO4 data failed
    //! @retval    true - Get TPDO4 data successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_TPDO4_DATA( U64 *u64_Actual_TPDO4_DATA );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set TPDO4 data method
    //! @note      This method sets TPDO4 data.
    //! @param     [in] u64_New_TPDO4_DATA - New TPDO4 data value
    //! @return    BOOL - Setting new TPDO4 data status
    //! @retval    false - Set TPDO4 data failed
    //! @retval    true - Set TPDO4 data successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_TPDO4_DATA( U64 u64_New_TPDO4_DATA );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get RPDO1 data method
    //! @note      This method sets RPDO1 data.
    //! @param     [in] u64_Actual_RPDO1_DATA - New RPDO1 data value
    //! @return    BOOL - Getting new RPDO1 data status
    //! @retval    false - Get RPDO1 data failed
    //! @retval    true - Get RPDO1 data successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_RPDO1_DATA( U64 *u64_Actual_RPDO1_DATA );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set RPDO1 data method
    //! @note      This method sets RPDO1 data.
    //! @param     [in] u64_New_RPDO1_DATA - New RPDO1 data value
    //! @return    BOOL - Setting new RPDO1 data status
    //! @retval    false - Set RPDO1 data failed
    //! @retval    true - Set RPDO1 data successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_RPDO1_DATA( U64 u64_New_RPDO1_DATA );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get RPDO2 data method
    //! @note      This method sets RPDO2 data.
    //! @param     [in] u64_Actual_RPDO2_DATA - New RPDO2 data value
    //! @return    BOOL - Getting new RPDO2 data status
    //! @retval    false - Get RPDO2 data failed
    //! @retval    true - Get RPDO2 data successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_RPDO2_DATA( U64 *u64_Actual_RPDO2_DATA );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set RPDO2 data method
    //! @note      This method sets RPDO2 data.
    //! @param     [in] u64_New_RPDO2_DATA - New RPDO2 data value
    //! @return    BOOL - Setting new RPDO2 data status
    //! @retval    false - Set RPDO2 data failed
    //! @retval    true - Set RPDO2 data successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_RPDO2_DATA( U64 u64_New_RPDO2_DATA );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get RPDO3 data method
    //! @note      This method sets RPDO3 data.
    //! @param     [in] u64_Actual_RPDO3_DATA - New RPDO3 data value
    //! @return    BOOL - Getting new RPDO3 data status
    //! @retval    false - Get RPDO3 data failed
    //! @retval    true - Get RPDO3 data successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_RPDO3_DATA( U64 *u64_Actual_RPDO3_DATA );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set RPDO3 data method
    //! @note      This method sets RPDO3 data.
    //! @param     [in] u64_New_RPDO3_DATA - New RPDO3 data value
    //! @return    BOOL - Setting new RPDO3 data status
    //! @retval    false - Set RPDO3 data failed
    //! @retval    true - Set RPDO3 data successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_RPDO3_DATA( U64 u64_New_RPDO3_DATA );
 
    //!-------------------------------------------------------------------------
    //! @brief     Get RPDO4 data method
    //! @note      This method sets RPDO4 data.
    //! @param     [in] u64_Actual_RPDO4_DATA - New RPDO4 data value
    //! @return    BOOL - Getting new RPDO4 data status
    //! @retval    false - Get RPDO4 data failed
    //! @retval    true - Get RPDO4 data successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_RPDO4_DATA( U64 *u64_Actual_RPDO4_DATA );
 
    //!-------------------------------------------------------------------------
    //! @brief     Set RPDO4 data method
    //! @note      This method sets RPDO4 data.
    //! @param     [in] u64_New_RPDO4_DATA - New RPDO4 data value
    //! @return    BOOL - Setting new RPDO4 data status
    //! @retval    false - Set RPDO4 data failed
    //! @retval    true - Set RPDO4 data successed
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Set_RPDO4_DATA( U64 u64_New_RPDO4_DATA );
 
    //!-------------------------------------------------------------------------
    //! @brief     Send information about CAN Open protocol
    //! @note      This method sends information about CAN Open protocol.
    //! @param     [in] *object_Protocol - Pointer to the communication link protocol
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    virtual VOID Send_Information( TProtocol_Base *object_Protocol );
 
    //!-------------------------------------------------------------------------
    //! @brief     Enter terminal communication mode mode.
    //! @note      None
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention Protocol switching not supported by CANopen protocol.
    //--------------------------------------------------------------------------
 
    virtual VOID Enter_Terminal_Mode();
 
    //!-------------------------------------------------------------------------
    //! @brief     Enter protocol communication mode mode.
    //! @note      None
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention Protocol switching not supported by CANopen protocol.
    //--------------------------------------------------------------------------
 
    virtual VOID Enter_Protocol_Mode();
 
    //!-------------------------------------------------------------------------
    //! @brief     Return communication link terminal mode status
    //! @note      None
    //! @return    BOOL - Communication link terminal mode status
    //! @retval    false - Communication link not in terminal mode
    //! @retval    true - Communication link in terminal mode
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    virtual BOOL Is_Terminal_Mode();
 
    //!-------------------------------------------------------------------------
    //! @brief     Return communication link protocol mode status
    //! @note      None
    //! @return    BOOL - Communication link protocol mode status
    //! @retval    false - Communication link not in protocol mode
    //! @retval    true - Communication link in protocol mode
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    virtual BOOL Is_Protocol_Mode();
 
    //!-------------------------------------------------------------------------
    //! @brief     Receiveed character processing method
    //! @note      This method is not used in this object.
    //! @param     [in] c8_Character - Received character
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention This method called from interrupt
    //--------------------------------------------------------------------------
 
    virtual VOID Receive_Char( C8 c8_Character );
 
    //!-------------------------------------------------------------------------
    //! @brief     Receiveed null terminated string processing method
    //! @note      This method is not used in this object.
    //! @param     [in] *c8_String - Pointer to the null terminated string
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention This method called from interrupt
    //--------------------------------------------------------------------------
 
    virtual VOID Receive_String( C8 *c8_String );
 
    //!-------------------------------------------------------------------------
    //! @brief     Received fixed size string processing method
    //! @note      This method is not used in this object.
    //! @param     [in] *c8_String - Pointer to the fixed size string
    //! @param     [in] u32_Length - Length of the string
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention This method called from interrupt
    //--------------------------------------------------------------------------
 
    virtual VOID Receive_String( C8 *c8_String, U32 u32_Length );
 
    //!-------------------------------------------------------------------------
    //! @brief     CAN Open execution method
    //! @note      None
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    virtual VOID Execute();
 
    //!-------------------------------------------------------------------------
    //! @brief     CAN Open execution 1ms method
    //! @note      None
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    virtual VOID Execute_1ms();
 
    //!-------------------------------------------------------------------------
    //! @brief     Receive processing method
    //! @note      None
    //! @param     [in] *void_Receive_Data - Pointer to the received data block
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    virtual VOID Communication_Block_Data_Receive( VOID *void_Receive_Data );
 
  //----------------------------------------------------------------------------
  // Protected defines, methods and variables
  //----------------------------------------------------------------------------
 
  protected:
 
  //----------------------------------------------------------------------------
  // Private defines, methods and variables
  //----------------------------------------------------------------------------
 
  private:
 
    //! @brief Parametr SDO abort code enumeration
    typedef enum
    {
 
      //! @brief Toggle bit not alternated abort code
      enum_TOGGLE_BIT_NOT_ALTERNATED                                                                    = 0x05030000,
 
      //! @brief SDO protocol timed out abort code
      enum_SDO_PROTOCOL_TIMED_OUT                                                                       = 0x05040000,
 
      //! @brief Client-server command specifier not valid or unknown abort code
      enum_CLIENT_SERVER_COMMAND_SPECIFIER_NOT_VALID_OR_UNKNOWN                                         = 0x05040001,
 
      //! @brief Invalid block size abort code
      enum_INVALID_BLOCK_SIZE                                                                           = 0x05040002,
 
      //! @brief Invalid sequence number abort code
      enum_INVALID_SEQUENCE_NUMBER                                                                      = 0x05040003,
 
      //! @brief CRC error abort code
      enum_CRC_ERROR                                                                                    = 0x05040004,
 
      //! @brief Out of memory abort code
      enum_OUT_OF_MEMORY                                                                                = 0x05040005,
 
      //! @brief Unsupported access to an object abort code
      enum_UNSUPPORTED_ACCESS_TO_AN_OBJECT                                                              = 0x06010000,
 
      //! @brief Attempt to read a write only object abort code
      enum_ATTEMPT_TO_READ_A_WRITE_ONLY_OBJECT                                                          = 0x06010001,
 
      //! @brief Attempt to write read only object abort code
      enum_ATTEMPT_TO_WRITE_A_READ_ONLY_OBJECT                                                          = 0x06010002,
 
      //! @brief Object do's not exists in the object directory abort code
      enum_OBJECT_DOES_NOT_EXIST_IN_THE_OBJECT_DICTIONARY                                               = 0x06020000,
 
      //! @brief Object can not be mapped to the PDO abort code
      enum_OBJECT_CANNOT_BE_MAPPED_TO_THE_PDO                                                           = 0x06040041,
 
      //! @brief The number and length of the objects to be mapped would exceed PDO length abort code
      enum_THE_NUMBER_AND_LENGTH_OF_THE_OBJECTS_TO_BE_MAPPED_WOULD_EXCEED_PDO_LENGTH                    = 0x06040042,
 
      //! @brief General parameter incompatibility reason abort code
      enum_GENERAL_PARAMETER_INCOMPATIBILITY_REASON                                                     = 0x06040043,
 
      //! @brief General internal incompatibility in the device abort code
      enum_GENERAL_INTERNAL_INCOMPATIBILITY_IN_THE_DEVICE                                               = 0x06040047,
 
      //! @brief Access failed due to an hardware error abort code
      enum_ACCESS_FAILED_DUE_TO_AN_HARDWARE_ERROR                                                       = 0x06060000,
 
      //! @brief Length of the service parameter do's not match abort code
      enum_LENGTH_OF_SERVICE_PARAMETER_DOES_NOT_MATCH                                                   = 0x06070010,
 
      //! @brief Length of service parameter to high abort code
      enum_LENGTH_OF_SERVICE_PARAMETER_TOO_HIGH                                                         = 0x06070012,
 
      //! @brief Length of service parameter to low abort code
      enum_LENGTH_OF_SERVICE_PARAMETER_TOO_LOW                                                          = 0x06070013,
 
      //! @brief Sub index do's not exists abort code
      enum_SUB_INDEX_DOES_NOT_EXIST                                                                     = 0x06090011,
 
      //! @brief Value range of parameter exceeded abort code
      enum_VALUE_RANGE_OF_PARAMETER_EXCEEDED                                                            = 0x06090030,
 
      //! @brief Value of parameter written to high abort code
      enum_VALUE_OF_PARAMETER_WRITTEN_TOO_HIGH                                                          = 0x06090031,
 
      //! @brief Value pf parameter written to low abort code
      enum_VALUE_OF_PARAMETER_WRITTEN_TOO_LOW                                                           = 0x06090032,
 
      //! @brief Maximum value is less than minimum value abort code
      enum_MAXIMUM_VALUE_IS_LESS_THAN_MINIMUM_VALUE                                                     = 0x06090036,
 
      //! @brief General error abort code
      enum_GENERAL_ERROR                                                                                = 0x08000000,
 
      //! @brief Data can not be transfered or stored to the application abort code
      enum_DATA_CANNOT_BE_TRANSFERRED_OR_STORED_TO_THE_APPLICATION                                      = 0x08000020,
 
      //! @brief Data can not be transfered or stored to the application because of local control abort code
      enum_DATA_CANNOT_BE_TRANSFERRED_OR_STORED_TO_THE_APPLICATION_BECAUSE_OF_LOCAL_CONTROL             = 0x08000021,
 
      //! @brief Data can not be transfered or stored to the application because of the present device state abort code
      enum_DATA_CANNOT_BE_TRANSFERRED_OR_STORED_TO_THE_APPLICATION_BECAUSE_OF_THE_PRESENT_DEVICE_STATE  = 0x08000022,
 
      //! @brief Object dictonary dynamic generation fails or no object dictonary is present abort code
      enum_OBJECT_DICTIONARY_DYNAMIC_GENERATION_FAILS_OR_NO_OBJECT_DICTIONARY_IS_PRESENT                = 0x08000023
 
    } TSDO_Abort_Code;
 
    //! @brief NMT command code definition
    typedef enum
    {
 
      //! @brief Start device
      enum_NMT_ENTER_OPERATIONAL        = 1,
 
      //! @brief Stop device
      enum_NMT_ENTER_STOPPED            = 2,
 
      //! @brief Put device into pre-operational
      enum_NMT_ENTER_PRE_OPERATIONAL    = 128,
 
      //! @brief Reset device
      enum_NMT_RESET_NODE               = 129,
 
      //! @brief Reset CANopen communication on device
      enum_NMT_RESET_COMMUNICATION      = 130
 
    } TNMT_Command;
 
    //! @brief CANopen state machine state definition
    typedef enum
    {
 
      //! @brief Device is initialising
      //! @note Also using in BOOTUP message
      enum_NMT_INITIALISING             = 0,
 
      //! @brief Device is in pre-operational state
      enum_NMT_PRE_OPERATIONAL          = 127,
 
      //! @brief Device is in operational state
      enum_NMT_OPERATIONAL              = 5,
 
      //! @brief Device is stopped
      enum_NMT_STOPPED                  = 4
 
    } TNMT_Internal_State;
 
    //! @brief SDO message struct type definition
    typedef struct
    {
 
      //! @brief SDO header
      U32 u32_COB_ID;
 
      //! @brief DLC of the SDO message
      U8 u8_DLC;
 
      //! @brief SDO data storage
      union
      {
 
        //! @brief The raw data of the SDO msg
        U64 u64_Raw_Data;
 
        //! @brief The can open SDO data (8 bytes)
        U8 u8_Payload_Data[ 8 ];
 
        //! @brief SDO data bit parsing structure
        struct
        {
 
          //! @brief SDO data bit parsing structure
          struct
          {
 
            //! @brief  Size indicator ( 0 - data set size is not indicated, 1 -  data set size is indicated ): 1 bit
            U8 u8_S:1;
 
            //! @brief  Transfer type ( 0 - normal transfer, 1 - expedited transfer ): 1 bit
            U8 u8_E:1;
 
            //! @brief Number of the bytes without data: 2 bits
            U8 u8_N :2;
 
            //! @brief The identifier of the command: 4 bits
            U8 u8_CSS :4;
 
          } Byte_0;
 
          //! @brief Parametr index: 16 bits
          U16 u16_Index;
 
          //! @brief Parametr subindex: 8 bits
          U8 u8_Subindex;
 
          //! @brief Data section: 32 bits
          U32 u32_Data;
 
        };
 
      } SDO_Data;
 
      //! @brief Processed status
      U8 u8_Is_Processed;
 
    } TSDO_Msg;
 
    //! @brief Can Open parameter index and subindex
    typedef struct
    {
 
       //! @brief Can open parameter index
       U16 u16_Index;
 
       //! @brief Can open parameter sub-index
       U8 u8_Sub_Index;
 
    } TCAN_Open_Parameter_Address;
 
    //--------------------------------------------------------------------------
    // Private methods
    //--------------------------------------------------------------------------
 
    //!-------------------------------------------------------------------------
    //! @brief     CAN Open heartbeat transmit method
    //! @note      None
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    VOID Heartbeat_Transmit();
 
    //!-------------------------------------------------------------------------
    //! @brief     CAN Open PDO transmit method
    //! @note      None
    //! @param     [in] u16_Frame_Index - TPDO frame number
    //! @param     [in] u64_PDO_TX - Data block
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    VOID PDO_Transmit(U16 u16_Frame_Index, U64 u64_PDO_TX );
 
    //!-------------------------------------------------------------------------
    //! @brief     CAN Open SDO process method
    //! @note      None
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    VOID SDO_Process();
 
    //!-------------------------------------------------------------------------
    //! @brief     Get parameter index by can parameter index and sub-index.
    //! @note      None
    //! @param     [in] *CAN_Open_Parameter_Address - Pointer on parameter address
    //! @param     [out] *u32_ConOpSys_Parameter_Index - ConOpSys parameter index
    //! @return    BOOL - Find operationstatus
    //! @retval    false - Find operation failed
    //! @retval    true - Find operation successed
    //! \par       Override
    //!            Not requered
    //! @attention None
    //--------------------------------------------------------------------------
 
    BOOL Get_ConOpSys_Parameter_Index_By_Can_Parameter_Index( TCAN_Open_Parameter_Address *CAN_Open_Parameter_Address, U32 *u32_ConOpSys_Parameter_Index );
 
    //!-------------------------------------------------------------------------
    //! @brief     CAN Open SDO abort transmit method
    //! @note      None
    //! @param     [in] *CAN_Open_Parameter_Address - Pointer on parameter address
    //! @param     [in] enum_SDO_Abort_Code - SDO abort code
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //------------------------------------------------------------------------
 
    VOID Send_SDO_Error( TCAN_Open_Parameter_Address *CAN_Open_Parameter_Address,  TSDO_Abort_Code enum_SDO_Abort_Code );
 
    //!-------------------------------------------------------------------------
    //! @brief     CAN Open SDO write responce transmit method
    //! @note      None
    //! @param     [in] *CAN_Open_Parameter_Address - Pointer on parameter address
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //------------------------------------------------------------------------
 
    VOID Send_SDO_Write_Success( TCAN_Open_Parameter_Address *CAN_Open_Parameter_Address );
 
    //!-------------------------------------------------------------------------
    //! @brief     CAN Open SDO transmit U8 method
    //! @note      None
    //! @param     [in] *CAN_Open_Parameter_Address - Pointer on parameter address
    //! @param     [in] u8_SDO_Data - SDO U8 data
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //------------------------------------------------------------------------
 
    VOID Send_SDO_Data_U8( TCAN_Open_Parameter_Address *CAN_Open_Parameter_Address, U8 u8_SDO_Data );
 
    //!-------------------------------------------------------------------------
    //! @brief     CAN Open SDO transmit U16 method
    //! @note      None
    //! @param     [in] *CAN_Open_Parameter_Address - Pointer on parameter address
    //! @param     [in] u16_SDO_Data - SDO U16 data
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //------------------------------------------------------------------------
 
    VOID Send_SDO_Data_U16( TCAN_Open_Parameter_Address *CAN_Open_Parameter_Address, U16 u16_SDO_Data );
 
    //!-------------------------------------------------------------------------
    //! @brief     CAN Open SDO transmit U32 method
    //! @note      None
    //! @param     [in] *CAN_Open_Parameter_Address - Pointer on parameter address
    //! @param     [in] u32_SDO_Data - SDO U32 data
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //------------------------------------------------------------------------
 
    VOID Send_SDO_Data_U32( TCAN_Open_Parameter_Address *CAN_Open_Parameter_Address, U32 u32_SDO_Data );
 
    //!-------------------------------------------------------------------------
    //! @brief     CAN Open SDO transmit I8 method
    //! @note      None
    //! @param     [in] *CAN_Open_Parameter_Address - Pointer on parameter address
    //! @param     [in] i8_SDO_Data - SDO I8 data
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //------------------------------------------------------------------------
 
    VOID Send_SDO_Data_I8( TCAN_Open_Parameter_Address *CAN_Open_Parameter_Address, I8 i8_SDO_Data );
 
    //!-------------------------------------------------------------------------
    //! @brief     CAN Open SDO transmit I16 method
    //! @note      None
    //! @param     [in] *CAN_Open_Parameter_Address - Pointer on parameter address
    //! @param     [in] i16_SDO_Data - SDO I16 data
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //------------------------------------------------------------------------
 
    VOID Send_SDO_Data_I16( TCAN_Open_Parameter_Address *CAN_Open_Parameter_Address, I16 i16_SDO_Data );
 
    //!-------------------------------------------------------------------------
    //! @brief     CAN Open SDO transmit I32 method
    //! @note      None
    //! @param     [in] *CAN_Open_Parameter_Address - Pointer on parameter address
    //! @param     [in] i32_SDO_Data - SDO I32 data
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //------------------------------------------------------------------------
 
    VOID Send_SDO_Data_I32( TCAN_Open_Parameter_Address *CAN_Open_Parameter_Address, I32 i32_SDO_Data );
 
    //!-------------------------------------------------------------------------
    //! @brief     CAN Open SDO transmit F32 method
    //! @note      None
    //! @param     [in] *CAN_Open_Parameter_Address - Pointer on parameter address
    //! @param     [in] f32_SDO_Data - SDO F32 data
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //------------------------------------------------------------------------
 
    VOID Send_SDO_Data_F32( TCAN_Open_Parameter_Address *CAN_Open_Parameter_Address, F32 f32_SDO_Data );
 
    //!-------------------------------------------------------------------------
    //! @brief     CAN Open SDO transmit BOOL value method
    //! @note      None
    //! @param     [in] *CAN_Open_Parameter_Address - Pointer on parameter address
    //! @param     [in] bool_SDO_Data - SDO BOOL data
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //------------------------------------------------------------------------
 
    VOID Send_SDO_Data_BOOL( TCAN_Open_Parameter_Address *CAN_Open_Parameter_Address, BOOL bool_SDO_Data );
 
    //--------------------------------------------------------------------------
    // Private variables
    //--------------------------------------------------------------------------
 
    //! @brief SDO buffers
    TSDO_Msg SDO_Buffer[ SDO_BUFFER_NUMBER ];
 
    //! @brief Node ID
    U8 u8_Node_ID;
 
    //! @brief Current buffer index
    U8 u8_SDO_Buffer_Index;
 
    //! @brief Device satae
    TNMT_Internal_State CAN_Open_Device_State;
 
    //! @brief Master satae
    TNMT_Internal_State CAN_Open_Master_State;
 
    //! @brief rxPDO1 frame
    U64 u64_PDO_RX_1;
 
    //! @brief rxPDO2 frame
    U64 u64_PDO_RX_2;
 
    //! @brief rxPDO3 frame
    U64 u64_PDO_RX_3;
 
    //! @brief rxPDO4 frame
    U64 u64_PDO_RX_4;
 
    //! @brief txPDO1 frame
    U64 u64_PDO_TX_1;
 
    //! @brief txPDO2 frame
    U64 u64_PDO_TX_2;
 
    //! @brief txPDO3 frame
    U64 u64_PDO_TX_3;
 
    //! @brief txPDO4 frame
    U64 u64_PDO_TX_4;
 
    //! @brief RX PDO1 buffered data
    U64 u64_RX_PDO_1_Buffered_Data;
 
    //! @brief RX PDO2 buffered data
    U64 u64_RX_PDO_2_Buffered_Data;
 
    //! @brief RX PDO3 buffered data
    U64 u64_RX_PDO_3_Buffered_Data;
 
    //! @brief RX PDO4 buffered data
    U64 u64_RX_PDO_4_Buffered_Data;
 
    //! @brief Heartbeat interval counter
    U16 u16_Heartbeat_Send_Counter;
 
    //! @brief TPDO1 interval counter
    U16 u16_TPDO1_Send_Counter;
 
    //! @brief TPDO2 interval counter
    U16 u16_TPDO2_Send_Counter;
 
    //! @brief TPDO3 interval counter
    U16 u16_TPDO3_Send_Counter;
 
    //! @brief TPDO4 interval counter
    U16 u16_TPDO4_Send_Counter;
 
    //! @brief Master node ID
    U8 u8_Master_Node_ID;
 
    //! @brief Master Heartbeat time counter
    U32 u32_Watch_Heartbeat_Time;
 
    //! @brief Master Heartbeat process status
    BOOL bool_Master_Heartbeat_Process_Started;
 
    //! @brief Master lives status
    BOOL bool_Master_Lives_Status;
 
    //! @brief COB ID SYNC
    U32 u32_COB_ID_SYNC;
 
    //! @brief guard time
    U16 u16_GUARD_TIME;
 
    //! @brief life time factor
    U8 u8_LIFE_TIME_FACTOR;
 
    //! @brief COB ID EMCY
    U32 u32_COB_ID_EMCY;
 
    //! @brief inhibit time EMCY
    U16 u16_INHIBIT_TIME_EMCY;
 
    //! @brief consumer heartbeat time
    U32 u32_CONSUMER_HEARTBEAT_TIME;
 
    //! @brief producer heartbeat time
    U16 u16_PRODUCER_HEARTBEAT_TIME;
 
    //! @brief SDO1 server parameter
    U32 u32_SDO1_SERVER_PARAMETER;
 
    //! @brief SDO1 server COB ID client server RX
    U32 u32_SDO1_SERVER_COB_ID_CLIENT_SERVER_RX;
 
    //! @brief SDO1 server COB ID client server TX
    U32 u32_SDO1_CLIENT_COB_ID_SERVER_CLIENT_TX;
 
    //! @brief RPDO1 parameter
    U32 u32_RPDO1_PARAMETER;
 
    //! @brief RPDO1 COB ID
    U32 u32_RPDO1_COB_ID;
 
    //! @brief RPDO2 parameter
    U32 u32_RPDO2_PARAMETER;
 
    //! @brief RPDO2 COB ID
    U32 u32_RPDO2_COB_ID;
 
    //! @brief RPDO3 parameter
    U32 u32_RPDO3_PARAMETER;
 
    //! @brief RPDO3 COB ID
    U32 u32_RPDO3_COB_ID;
 
    //! @brief RPDO3 parameter
    U32 u32_RPDO4_PARAMETER;
 
    //! @brief RPDO4 COB ID
    U32 u32_RPDO4_COB_ID;
 
    //! @brief TPDO1 parameter
    U32 u32_TPDO1_PARAMETER;
 
    //! @brief TPDO1 COB ID
    U32 u32_TPDO1_COB_ID;
 
    //! @brief TPDO1 transmission type
    U8 u8_TPDO1_TRANSMISSION_TYPE;
 
    //! @brief TPDO1 inhibit time
    U16 u16_TPDO1_INHIBIT_TIME;
 
    //! @brief TPDO1 compatibility entry;
    U8 u8_TPDO1_COMPATIBILITY_ENTRY;
 
    //! @brief TPDO1 event timer
    U16 u16_TPDO1_EVENT_TIMER;
 
    //! @brief TPDO2 parameter
    U32 u32_TPDO2_PARAMETER;
 
    //! @brief TPDO2 COB ID
    U32 u32_TPDO2_COB_ID;
 
    //! @brief TPDO2 transmission type
    U8 u8_TPDO2_TRANSMISSION_TYPE;
 
    //! @brief TPDO2 inhibit time
    U16 u16_TPDO2_INHIBIT_TIME;
 
    //! @brief TPDO2 compatibility entry;
    U8 u8_TPDO2_COMPATIBILITY_ENTRY;
 
    //! @brief TPDO2 event timer
    U16 u16_TPDO2_EVENT_TIMER;
 
    //! @brief TPDO3 parameter
    U32 u32_TPDO3_PARAMETER;
 
    //! @brief TPDO3 COB ID
    U32 u32_TPDO3_COB_ID;
 
    //! @brief TPDO3 transmission type
    U8 u8_TPDO3_TRANSMISSION_TYPE;
 
    //! @brief TPDO3 inhibit time
    U16 u16_TPDO3_INHIBIT_TIME;
 
    //! @brief TPDO3 compatibility entry;
    U8 u8_TPDO3_COMPATIBILITY_ENTRY;
 
    //! @brief TPDO3 event timer
    U16 u16_TPDO3_EVENT_TIMER;
 
    //! @brief TPDO4 parameter
    U32 u32_TPDO4_PARAMETER;
 
    //! @brief TPDO4 COB ID
    U32 u32_TPDO4_COB_ID;
 
    //! @brief TPDO4 transmission type
    U8 u8_TPDO4_TRANSMISSION_TYPE;
 
    //! @brief TPDO4 inhibit time
    U16 u16_TPDO4_INHIBIT_TIME;
 
    //! @brief TPDO4 compatibility entry;
    U8 u8_TPDO4_COMPATIBILITY_ENTRY;
 
    //! @brief TPDO4 event timer
    U16 u16_TPDO4_EVENT_TIMER;
 
};
 
//------------------------------------------------------------------------------
// End of file
//------------------------------------------------------------------------------