Fix lower bound check in PDO access by index.

Extend test to cover access via 0x1400 and 0x1600 yielding the same
object.

Author: acolomb

canopen/pdo/base.py

@@ -46,7 +46,7 @@ def __getitem__(self, key: Union[int, str]):
                 raise KeyError("PDO index zero requested for 1-based sequence")
             if (
                 0 < key <= 512  # By PDO Index
-                or 0x1600 <= key <= 0x1BFF  # By RPDO / TPDO mapping or communication record
+                or 0x1400 <= key <= 0x1BFF  # By RPDO / TPDO mapping or communication record
             ):
                 return self.map[key]
         for pdo_map in self.map.values():

test/test_pdo.py

@@ -73,6 +73,8 @@ def test_pdo_getitem(self):
         self.assertIs(node.tpdo[0x2002], by_object_index)
         self.assertIs(node.pdo[0x1A00][0x2002], by_object_index)
 
+        self.assertIs(node.pdo[0x1400], node.pdo[0x1600])
+
         self.assertRaises(KeyError, lambda: node.pdo[0])
         self.assertRaises(KeyError, lambda: node.tpdo[0])
         self.assertRaises(KeyError, lambda: node.pdo['DOES NOT EXIST'])