Lpc2000

Some more info from our end on this subject:

We are working with several commercial CANopen protocol stacks and 
originally still followed the "old" concept: in CAN receive interrupt, 
copy message received to a processing queue for later processing, 
pretty much as you would do with the FullCAN mode.

On the LPC2129 we now configured CMX-CANopen to not use a FullCAN 
style mode at all and directly process RPDOs (data messages coming in) 
in the CAN receive interrupt. Including the "dynamic mapping" feature 
(every single byte of a CAN message can have a different, configurable 
destination address in memory). Even at 'only' 48Mhz this interrupt 
executes in less than 5us (that is five microseconds)...

Olaf
Tutor at ESAcademy
www.esacademy.com
www.canopenbook.com