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CAN peripheral for XMC 4500 and 4400

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Hello,
I am kind of new with XMC4500 series. I have a project with this board and CANopen running and I am pretty much stuck. I've written the code and do know all the CAN commands needed but I cannot combine those two, since I am new to the XMC. Does anybody have a programm written for CAN or CANopen, who would be kind enough to share it? It would very helpful. Thanks in advance!

Georg

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