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
Add-on Safety	`stack-cos/safety`	Add-on Safety for CANopen Slave protocol stack