NXP SDK CANopen Library Device CiA 401 Example
==============================================

CONTAINS:  Example device 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: 0x03, Baudrate: 500kbps

Messages produced (by CAN ID):
0x083 - Emergency and emergency reset
0x583 - SDO responses to requests
0x703 - Heartbeat (default 1000ms)
In operatinal state:
0x183 - TPDO1 - Total of 4 input Bytes
    [6000h,1] Digital in byte 1: counter of digital data received
    [6000h,2] Digital in byte 2: counter of analog data received
    [6000h,3] Digital in byte 3: copy/echo of [6200h,3] Digital out byte 3
    [6000h,4] Digital in byte 4: copy/echo of [6200h,4] Digital out byte 4
0x283 - TPDO2 - 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 2

Messages consumed (by CAN ID):
0x000 - NMT Master command message
0x701 - HBCon - Heartbeat consumer node 1 (after configiration through manager)
In operatinal state:
0x203 - RPDO1 - Four bytes of digital outputs. 
0x303 - RPDO2 - Two 16-bit analog outputs.

