canopen-integration

# CANopen Integration ## Overview Use this skill to debug CANopen by separating raw CAN bring-up, node identity, object dictionary, NMT state, SDO configuration, PDO mapping, heartbeat, and application semantics. CANopen cannot work reliably until raw CAN timing works. ## When To Use Use this skill when: - The user is adding or debugging CANopen master/slave nodes, object dictionaries, EDS/DCF files, PDOs, SDOs, NMT, heartbeat, SYNC, or EMCY. - The issue involves missing PDOs, SDO aborts, node state, heartbeat timeout, wrong COB-IDs, mapping errors, or network management. - The implementation uses CANopenNode, a vendor stack, or a custom CANopen layer. Do not use this skill for low-level CAN bit timing or transceiver bring-up. Use `canbus-integration` first when raw CAN frames are not proven. ## First Questions Ask for: - CANopen stack, node ID, bitrate, raw CAN evidence, and network topology. - Object dictionary entries, EDS/DCF, PDO mapping, COB-IDs, and NMT state. - Master tool or peer node, SDO abort codes, heartbeat settings, and logs. - Whether SYNC, TIME, EMCY, LSS, or boot-up messages are required. - Exact frame capture from a CAN analyzer if available. ## Debug Workflow 1. Prove raw CAN. Confirm bitrate, sample point, transceiver, termination, and error counters. 1. Prove node identity. Check node ID, boot-up message, NMT state, heartbeat producer/consumer, and expected COB-IDs. 1. Validate object dictionary. Confirm index/subindex types,...