The files of the CANopen/CANopen FD Master protocol stack are located inside the source/stack-com directory. The file com_conf.h holds all definitions for the configuration of the CANopen/CANopen FD Master protocol stack. The following CANopen services are supported:

Service Data Objects (SDO Client & SDO Server, Classical CANopen)
Universal Service Data Objects (USDO, Client & Server, CANopen FD)
Process Data Objects (PDO)
Network Management (NMT)
Emergency Service (EMCY)
Synchronization Service (SYNC)
Time Service (TIME)
Layer Setting Services (LSS, Master & 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 Com. The following table shows the used nomenclature:

CANopen Master Stack	Prefix
Functions	Com<Service><Name>
Enumerations	eCOM_<NAME>
Structures	Com<Name>_ts
Defines	COM_<SERVICE>_<NAME>
Error Codes	eCOM_ERR_<NAME>

CANopen/CANopen FD Master protocol stack files

File	Description
canopen.h	General CANopen/CANopen FD definitions
com_defs.h	CANopen/CANopen FD Master definitions
com_dict.h	CANopen/CANopen FD Master object dictionary
com_emcy.h	CANopen/CANopen FD Master Emergency (EMCY) service
com_led.h	CANopen/CANopen FD Master LED management
com_lss.h	CANopen Master layer setting service (LSS)
com_mgr.h	CANopen/CANopen FD Master management functions
com_nmt.h	CANopen/CANopen FD Master NMT service
com_node.h	CANopen/CANopen FD Master node support functions
com_object.h	CANopen/CANopen FD Master object definitions
com_pdo.h	CANopen/CANopen FD Master PDO service
com_sdo_cln.h	CANopen Master SDO client service
com_sync.h	CANopen/CANopen FD Master SYNC service
com_time.h	CANopen/CANopen FD Master TIME service
com_tmr.h	CANopen/CANopen FD Master timing functions
com_usdo_cln.h	CANopen FD Master USDO client service