Michael Hillmann

Yes, you are right. In delta mode, you need to call COTmrService() in ISR, too. The difference to the cyclic mode is, that your timer driver must reprogram the timer...

The unit of the reload parameter depends on your driver. I typically configure the timer with a frequency of 1MHz. Then you get an accuracy of 1tick = 1us. The...

This function code was used in some special cases a few years ago. Removing it is possible, but will break all existing user-written control functions. As we are working on...

You are right, it is used in asynchronous PDOs, too. Summary: - TPDO: The `obj->Type->Ctrl()` is used to trigger the transmission when the PDO mappable object entry is changed during...

Can you share your current size and the size you want to achieve? Just to get a feeling on the challenge ;-)

One idea may be to add a conditional compilation flag `USE_SDO_BLOCK` (with defaults to 1) in `co_cfg.h`. When setting this to 0 e.g. via compile switch `-D USE_SDO_BLOCK=0`, the SDO...

As remote transfers and extended CAN Ids are not implemented, we can take your suggestion. Currently the stack is working with standard CAN identifiers only.

Hi, first: thanks for your kind words. Well, the bad news: as you may read in the documents, this CANopen stack is intended as a "CANopen Slave" only. In the...

Ahh, you are absolutely right. The function `DrvCanSend()` is not suitable. The function `COIfCanSend(CO_IF *cif, CO_IF_FRM *frm)` is much better: ```c extern CO_NODE Clk; /* assume 'CO_NODE Clk' is allocated...

Btw.: In case you want to start the nodes according to the simplified NMT startup, which is described in para. 7.3.1: There is a weak definition of "wait for time...