The software is subdivided into several modules which are organized as follows:

• Data interface
• CANopen Application Layer
• CANopen modules (NMT Master, PDO Handler, SDO Handler, SYNC Handler, LSS Master, Configuration Manager, SDO Manager).
• Hardware or system dependent modules (CAN Handler, Scheduler)
  

Operating modes

The CANopen Master Source Code allows the construction of single-master as well as multi-master systems (CANopen Manager according to CiA 302).

Operating systems

The Source Code encapsulates all hardware services (µC initialization, timers, interrupt synchronization, flash access, etc.) in a separate module.
By mapping these functions to suitable operating system services, custom operating systems can be supported very easily. In such cases the CANopen Master is defined as a separate task. Consequently, it is also possible to have it run on hardware, without an operating system.

The CANopen Source Code is available for many microcontrollers.

For more information please refer to Vector's website: http://www.canopen-solutions.com/canopen_index_en.html