CANopen protocol stack implementation

Hi Friends,
Currently i have got two connected PC's with PCI plugged in CAN cards
with drivers installed.
We are planning to implement CANOpen protocol stack by using the API's
that are exported from CAN drivers.

Now that i have following queries:
1. How the software design should be?
2. How many threads i have to use?
3. what kind of IPCS i have to use?

Please help me..

Regards,
boyrocking
.

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