canopen--basic knowledge of the bus

1. Bus Standard

2. Getting indexes and sub-indexes

2fh,2bh,23h,40h and so on, is not corresponding to the different values of CS;

The object Dictionary of the main station 1280h?
1280H-SUB2, the Cob-id value of the client is obtained;

The value of CS is obtained based on the bit7,bit6,bit5 of the received m->data[0].

subcommand = (m->data[0]) & 1;

How to get indexes and sub-indexes
index = Getsdoindex (m->data[1],m->data[2]);
#define GETSDOINDEX (Byte1, Byte2) ((UNS16) byte2 << 8) | ((UNS16) byte1))

subindex = Getsdosubindex (m->data[3]);
#define GETSDOSUBINDEX (Byte3) (Byte3)

canopen--basic knowledge of the bus