CANopen Master Source Code

The SDO handler makes it possible for the application to have access to the object directories of the connected CANopen nodes. It is possible to transmit data blocks in either direction. The "expedited download/upload protocol" is used for objects up to a size of 4 bytes. For objects larger than 4 bytes, the "segmented download/upload protocol" is used.

The block transfer is also implemented and can be initiated in a number of ways, one of which is by the user. It is possible to run multiple SDO transfers in parallel (only for different SDOs).