All header files and source files of the CANopen Slave protocol stack package are located inside the source directory. The following picture shows an overview of the source code structure.

Source code overview

The files inside the source/application directory shall be used to adopt the CANopen Slave protocol stack to the target. All other files shall not be modified by the user.

Component	Directory	Description
CANopen Slave Code Examples	`application/examples-cos`	Examples for evaluation boards
CANopen Slave Templates	`application/template-cos`	Examples for callback functions, object dictionary and stack initialization
CANpie FD API	`canpie-fd` `device`	Responsible for reading and writing CAN (FD) messages between the CANopen Slave protocol stack and the CAN (FD) bus
Hardware Abstraction Layer	`hal` `misc`	Compiler data type definition and optional hardware abstraction layer
CANopen Slave Protocol Stack	`stack-cos`	Implementation of the CANopen Slave protocol stack

Optional add-on modules for the CANopen Slave protocol stack are located inside the source/stack-cos directory.