CANopen Master Documentation
Version 6.08.00
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Version History

Version 6.08 - 2025.04

  • LSS - introduce definition for LSS default timeout, make sure fastscan timeout is correct
  • MGR - order of service calls in ComMgrNetTimerEvent() has been resorted due to priority
  • MGR - CAN error state, call ComMgrEventBus() on state change only
  • PDO - add function ComPdoSetId()
  • PDO - add function ComPdoTrmMapEvent()
  • PDO - add test for NULL pointer in ComPdoRcvDataDistribute()
  • PDO - retrigger the optional timer for PDO receive timeout
  • SDO client - make sure that the client FIFO is always initialized
  • SDO client - change to polling operation
  • SDO client - call ComUsdoGetStatus() only if COM_FD_SUPPORT is active
  • SDO client - ComSdoGetClient() calls USDO function for simple backwards compatibility
  • SDO server - set internal functions to static
  • Fix evaluation of USDO abort code
  • Fix option handling for ComCliDemo application
  • Fix description of CoAttr_e values
  • Fix SDO response command on RPDO and TPDO transmission type
  • Fix order of elements in CpCanMsg_ts structure inside canopen_master.h file
  • Add logical network numbers for 8 networks, remove deprecated macro ComNetCheck()
  • Add demo project for NUCLEO-C092RC
  • Change bool to bool_t
  • Update shift operation to short syntax
  • Apply harmonized header file canopen.h

Version 6.06 - 2023.09

  • LSS - add support for LSS identify remote slave protocol
  • SDO client - Call handler ComSdoEventObjectReady() on client abort
  • SDO client - reload timeout for segmented SDO read operation
  • SDO / USDO client - use generic callback functions (ComObjectEventReady(), etc.)
  • NMT demo - Add new function ComDemoNmtStateString()
  • NODE demo - Add new function ComDemoNodeInfoString()
  • Generic thread-safe FIFO (OS independent)
  • EMCY - use individual mailbox for EMCY consumer
  • LED - support disabled by default
  • Common demo code initiated
  • Update board demo code according to common demo code
  • New module path for CMake files
  • Add data type to CoObject_ts structure
  • Add stubs for LED testing
  • Fix compiler warnings / static code tests

Version 6.04 - 2023.01

  • PDO - send TPDO via API (see ComPdoTrmPacket())
  • PDO - add index into CANpie FD message structure for RPDO
  • PDO - ComPdoEventReceive() is only available when COM_PDO_RCV_MAX > 0
  • LSS - fix return value of ComLssConfigureNodeId()
  • removed classic Makefile support
  • update documentation for examples and templates

Version 6.02 - 2022.10

  • Add support for EMCY queue
  • Remove preprocessor symbol COM_LOCAL_DICT, local object dictionary is always active
  • ComMgrGetFrameFormat() evaluates COM_FD_SUPPORT
  • Update queue API

Version 6.00 - 2022.08

  • Improved CANopen FD support
  • Add support for dynamic PDO mapping
  • Add support for identifier manager
  • Add support for individual object dictionary during run-time on each logical network
  • Update RPDO queue handling

History of older major releases