Implementing CANopen => Help

From: Gerard Sweeney (gerard0sweeney_at_gmail.com)
Date: 09/29/04 

Date: 29 Sep 2004 10:32:03 -0700

I'm currently working on implementing the CANopen protocol from the
ground up on a CAN-enabled processor. However, I'm having some trouble
understanding how (and where) to actually start.
I have the Application Layer and Communication Profile (CiA DS 301).
I've been reading about the object dictionary quite a bit, but am
unsure what exactly the OD does. How is it used? What do I need to do
to actually implement the OD?

Any help on anything at all related to CANopen would be very much
appreciated.

Ger.