The functionality of the CANopen Slave protocol stack can by extended by a number of add-on modules. The source files of these optional add-on modules are located within the source/stack-cos/ directory as shown in the following figure.

Source code overview

Configuration of each individual add-on module is done via the cos_conf.h file.

Component	Directory	Description
CANopen Device Profile CiA 401	stack-cos/profile-401	Device profile for generic I/O modules
CANopen Device Profile CiA 404	stack-cos/profile-404	Device profile for measuring devices and closed-loop controllers
CANopen Device Profile CiA 406	stack-cos/profile-406	Device profile for encoders
CANopen Device Profile CiA 410	stack-cos/profile-410	Device profile for inclinometers
CANopen Safety	stack-cos/safety	Add-on Safety for CANopen Slave protocol stack