Fixes ipa320/ipa_canopen#48
fixes ipa320/cob4#58
fixes ipa320/cob4#58
still fixes ipa320/cob4#58
First functional and hardware tested version of the multiple_chains node, fixes ipa320/ipa_canopen#57
fixes ipa320/cob4#58
Changes on diagnostics
Some init chains
Seeing EMCY
Seeing EMCY
Merge pull request #52 from thiagodefreitas/multiple_chains_simpler

This enables support for multiple chains