<?xml version="1.0" encoding="utf-8"?>
<!-- =============================== WARNING ===================================
 * name length is 16 characters maximum
 * name cannot start with a numrical character (0..9)
 * name can only be stadard ASCII characters
 (not '-')
============================================================================ -->
<!-- ======================= Parameters description ============================ 
- can 
        freq: CAN bus frequency in KHz
        waitBeforeReset: delay in ms before sending reset command on CAN bus 
    (MAX_UINT32: 4294967295: Reset not send)
    (Default: 0: no delay)                                      
        waitBeforeStart: delay in ms before sending start command on CAN bus                                        
    (Default: 0: no delay)
        canOpen: true configure the CAN master to use canOpen protocol
    (Default: true)
- module                                                                 
    name: name of the module in VAL3                                                
    address: module address on the can bus                                                
    heartBeat: maximum duration between 2 heartBeat in ms         
    (Default: no heartBeat check)                                      
    outputRefreshCycle: output refresh cycle time in ms (resolution is 4ms)
    (Default: 0 so 4ms)
    sendRtr: true force the CAN master to send a "Remote transmission Request"
        just after synchronisation message 
    (Default: false: no RTR)
- dio 
    name: name of the digital input or output in VAL3                                                      
    mode: specified in the state must be inverted(inverted) or not(notInverted) 
    in VAL3 (Default: notInverted).
    channel: bit number in the PDO associated with the dio
- aio
    name: name of the analogic input or output in VAL3
    coefA, coefB: coef apply to aio in VAL3: coefA*aio + coefB
    (Default: coeafA=1 and coefB=0)
    channel: first bit number in the PDO associated with the aio
    bitcount: size in bit of the aio
    format: specify the format in VAL3 (unsigned, signed, float)
============================================================================ -->
<can freq="500" waitBeforeReset="0" waitBeforeStart="10000">
    <Options name="tx250Paint_3V" />
    <!-- ARMIO -->
    <module name="PaintIO" address="1" sendRtr="true" heartBeat="0" outputRefreshCycle="16">
        <dinputs>
            <dio name="paint0_I" mode="notInverted" channel="0" />
            <dio name="paint1_I" mode="notInverted" channel="1" />
            <dio name="paint2_I" mode="notInverted" channel="2" />
            <dio name="paint3_I" mode="notInverted" channel="3" />
            <dio name="paint4_I" mode="notInverted" channel="4" />
            <dio name="paint5_I" mode="notInverted" channel="5" />
            <dio name="paint6_I" mode="notInverted" channel="6" />
            <dio name="paint7_I" mode="notInverted" channel="7" />
        </dinputs>
        <doutputs>
            <dio name="paint0_Q" mode="notInverted" channel="0" />
            <dio name="paint1_Q" mode="notInverted" channel="1" />
            <dio name="paint2_Q" mode="notInverted" channel="2" />
            <dio name="paint3_Q" mode="notInverted" channel="3" />
            <dio name="paint4_Q" mode="notInverted" channel="4" />
            <dio name="paint5_Q" mode="notInverted" channel="5" />
            <dio name="paint6_Q" mode="notInverted" channel="6" />
            <dio name="paint7_Q" mode="notInverted" channel="7" />
        </doutputs>
        <ainputsPdo2>
            <aio name="paint0_IW" channel="7" bitCount="8" coefA="12.8" format="signed" />
            <aio name="paint1_IW" channel="23" bitCount="8" coefA="12.8" format="signed" />
            <aio name="paint2_IW" channel="39" bitCount="8" coefA="12.8" format="signed" />
            <aio name="paint3_IW" channel="55" bitCount="8" coefA="12.8" format="signed" />
        </ainputsPdo2>
        <aoutputsPdo2>
            <aio name="paint0_QW" channel="0" bitCount="12" coefA="409.5" format="unsigned" />
            <aio name="paint1_QW" channel="16" bitCount="12" coefA="409.5" format="unsigned" />
            <aio name="paint2_QW" channel="32" bitCount="12" coefA="409.5" format="unsigned" />
            <aio name="paint3_QW" channel="48" bitCount="12" coefA="409.5" format="unsigned" />
        </aoutputsPdo2>
    </module>
</can>
