CANopen Node

This section describes the API functions of the CANopen core module. These functions are implemented within the source file: co_core.c/h

The class CO.NODE is defined within co_core.h and is responsible for the overall node management functions. The node is the central data point of an CANopen device. The following data members are in this class:

Data Member	Type	Description
`Dir`	`CO_DIR`	The object directory object
`If`	`CO_IF`	The bus interface object
`Emcy`	`CO_EMCY`	The node emergency object
`Tmr`	`CO_TMR`	The timer manager object
`Nmt`	`CO_NMT`	The node network management object
`Sdo[]`	`CO_SDO`	The SDO server object array
`SdoBuf`	`CPU_INT08U *`	Reference to the SDO transfer buffer
`RPdo[]`	`CO_RPDO`	The receive PDO object array
`TPdo[]`	`CO_TPDO`	The transmit PDO object array
`TMap[]`	`CO_TPDO_LINK`	The transmit PDO mapping link array
`Sync`	`CO_SYNC`	The SYNC management object
`Error`	`CO_ERR`	Internal error identification code
`NodeId`	`CPU_INT08U`	The CANopen node ID

Note: The data within these structures must never be manipulated without the corresponding class member functions. This will lead to unpredictable behavior of the CANopen node.

During calling a member function of a class, the first parameter must be a reference to a corresponding object. This should be done as shown in the following examples:

Note, that in all application source files, which needs to call one or more CANopen API functions, the header file co_core.h must be included. This header file collects and includes all other header files.