NXP SDK CANopen Library Manager Example
=======================================

CONTAINS:  Example manager application using MicroCANopen Plus library,
           NXP LPC54xxx derivatives with CAN interface.
COPYRIGHT: (c) Embedded Systems Academy (EmSA) 2002-2019
           All rights reserved. www.em-sa.com/nxp
DISCLAIM:  Read and understand our disclaimer before using this code!
           www.esacademy.com/disclaim.htm
           This software was written in accordance to the guidelines at
           www.esacademy.com/software/softwarestyleguide.pdf
LICENSE:   THIS IS THE NXP SDK VERSION OF MICROCANOPEN PLUS
           Licensed under a modified BSD License. See LICENSE.INFO
           file in the project root for full license information.
VERSION:   7.01, EmSA 02-APR-20


Implementation Description
==========================
see manual in DOC directory for more information

ONLY CAN INTERFACE CAN0 IS USED (upper connector on CAN shield)
Node-ID: 0x01, Baudrate: 500kbps

Messages produced (by CAN ID):
0x000       - NMT Master command message
0x602-0x60A - SDO requests to nodes 2 to 10
0x701       - Heartbeat (default 333ms)
Once a CiA 401 device is found with node ID nid:
0x200+nid   - RPDO1 of nid - Total of 4 input Bytes
    [6000h,1] Digital in byte 1: 0
    [6000h,2] Digital in byte 2: 0
    [6000h,3] Digital in byte 3: copy/echo of [6200h,1] Digital out byte 1
    [6000h,4] Digital in byte 4: copy/echo of [6200h,2] Digital out byte 2
0x300+nid   - RPDO2 of nid - Two 16-bit analog inputs
    [6401h,1] Analog out word16 1: timer with hi byte seconds and lo byte quarter seconds
    [6401h,2] Analog out word16 2: copy/echo of [6411h,2] Analog out word16 1

Messages consumed (by CAN ID):
0x082-0x0AA - Emergencies of nodes 2 to 10
0x582-0x58A - SDO responses to nodes 2 to 10
0x702-0x70A - Bootup and heartbeats of nodes 2 to 10
Once a CiA 401 device is found with node ID nid:
0x180+nid   - TPDO1 of nid - Four bytes of digital outputs. 
0x280+nid   - TPDO2 of nid - Two 16-bit analog outputs.

