Janez
Janez
I'm not sure about this solution. Stack must be fully stable, no messages lost, nothing. Here is similar code for PIC32, which makes no problems: https://github.com/CANopenNode/CANopenPIC/blob/master/PIC32/CO_driver.c#L771
You have to write driver files.
CiA-304 only works in v1.3, not updated for the last version.
Yes, it is object oriented. But may be complex.
SDO client is quite complex and has to be implemented properly and well integrated into OS. In CANopenLinux it works really fast, no delays, very reliable. See there and also...
Maybe hardware or wiring problems or missing 120 ohm resistors. SDO block transfer may have problems, if hardware is not fast enough, but not segmented transfer. See also https://github.com/CANopenNode/CANopenDemo/blob/master/test/test_report.md#notes-raspberry-pi-with-can-shield-mcp2515
Current approach is to provide enough enough empty OD variables, where data from remote nodes can be mapped. It should be possible to dynamically add variables to Object dictionary, but...
> there is any manner to handle the RPDO in X periods of the SYNC message? I think, this is not in the standard, so application should implement it somehow.
If error register is set, device enters pre-operational. See Emergency.
There should be always emergency message when error register is set. See also object 0x1003 and candump. What is the reason for entering pre-operational?