The files of the CANopen Bootloader protocol stack are located inside the source/stack-cbl directory. The file cbl_conf.h inside the source/application/template-cbl directory holds all definitions for the configuration of the CANopen Bootloader protocol stack. The following CANopen services are supported:

Service Data Objects (SDO Server, Classical CANopen)
Network Management (NMT)
Emergency Service (EMCY)
Layer Setting Services (LSS, Slave)

The functionality of the different CANopen services can be configured individually in order to achieve an optimal performance for different platforms and applications.

Naming Conventions

All functions, structures, definitions and constant values have the prefix Cbl. The following table shows the used nomenclature:

CANopen Bootloader Stack	Prefix
Functions	`Cbl<Service><Name>`
Enumerations	`eCBL_<NAME>`
Structures	`Cbl<Name>_ts`
Defines	`CBL_<SERVICE>_<NAME>`
Error Codes	`eCblErr_<NAME>`

CANopen Bootloader protocol stack files

canopen.h	General CANopen definitions
cbl_defs.h	CANopen Bootloader definitions
cbl_dict.h	CANopen Bootloader object dictionary
cbl_emcy.h	CANopen Bootloader Emergency (EMCY) service
cbl_led.h	CANopen Bootloader LED support
cbl_lss.h	CANopen Bootloader layer setting service (LSS)
cbl_mgr.h	CANopen Bootloader management functions
cbl_nmt.h	CANopen Bootloader NMT service
cbl_objs.h	CANopen Bootloader object definitions
cbl_sdo.h	CANopen Bootloader SDO client service
cbl_time.h	CANopen Bootloader timing functions