added branch_func, based on @ipa-josh's idea
ReadAnyValue implementation
fixed "work in assert" bug that prevented PDO usage in Release mode
added lock to R/TPDO::init
proper inheritance
added simple OD accessor
added get_once to Entry
entry(Key) is now public
hardened access to motor data
added diagnostics logger
improved threading behaviour
moved actual pos to TPDO3
switched transmission mode from 255 to 1 for TPDO3