Add support for loading DCF configuration to remote node

canopen/node/remote.py

@@ -146,16 +146,23 @@ def load_configuration(self) -> None:
 
         Iterate through all objects in the Object Dictionary and download the
         values to the remote node via SDO.
-        Then, to avoid PDO mapping conflicts, read back (upload) the PDO
-        configuration via SDO.
+        To avoid PDO mapping conflicts, PDO-related objects are handled through
+        the methods :meth:`canopen.pdo.PdoBase.read` and
+        :meth:`canopen.pdo.PdoBase.save`.
 
-        :see-also: :meth:`canopen.pdo.PdoBase.read`
         """
+        # First apply PDO configuration from object dictionary
+        self.pdo.read(from_od=True)
+        self.pdo.save()
+
+        # Now apply all other records in object dictionary
         for obj in self.object_dictionary.values():
+            if 0x1400 <= obj.index < 0x1c00:
+                # Ignore PDO related objects
+                continue
             if isinstance(obj, ODRecord) or isinstance(obj, ODArray):
                 for subobj in obj.values():
                     if isinstance(subobj, ODVariable) and subobj.writable and (subobj.value is not None):
                         self.__load_configuration_helper(subobj.index, subobj.subindex, subobj.name, subobj.value)
             elif isinstance(obj, ODVariable) and obj.writable and (obj.value is not None):
                 self.__load_configuration_helper(obj.index, None, obj.name, obj.value)
-        self.pdo.read()  # reads the new configuration from the driver

canopen/pdo/base.py

@@ -320,11 +320,20 @@ def add_callback(self, callback: Callable[[PdoMap], None]) -> None:
         self.callbacks.append(callback)
 
     def read(self, from_od=False) -> None:
-        """Read PDO configuration for this map using SDO."""
+        """Read PDO configuration for this map.
+
+        :param from_od:
+            Read using SDO if False, read from object dictionary if True.
+            When reading from object dictionary, if DCF populated a value, the
+            DCF value will be used, otherwise the EDS default will be used instead.
+        """
 
         def _raw_from(param):
             if from_od:
-                return param.od.default
+                if param.od.value is not None:
+                    return param.od.value
+                else:
+                    return param.od.default
             return param.raw
 
         cob_id = _raw_from(self.com_record[1])