The files of the CANopen Slave protocol stack are located inside the source/stack-cos directory. The file cos_conf.h holds all definitions for the configuration of the CANopen Slave protocol stack. The following CANopen services are supported:

Service Data Objects (SDO Client, CANopen CC)
Universal Service Data Objects (USDO Client, CANopen FD)
Process Data Objects (PDO)
Network Management (NMT)
Emergency Service (EMCY)
Synchronisation Service (SYNC)
Time Service (TIME)
Layer Setting Services (LSS, 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 Cos. The following table shows the used nomenclature:

CANopen Slave Stack	Prefix
Functions	Cos<Service><Name>
Enumerations	eCOS_<NAME>
Structures	Cos<Name>_ts
Defines	COS_<SERVICE>_<NAME>
Error Codes	eCOS_ERR_<NAME>

CANopen Slave protocol stack files

File	Description
canopen.h	General CANopen definitions
cos_defs.h	CANopen Slave definitions
cos301.h	CiA 301 communication profile object dictionary entries
cos302.h	CiA 302 network variable support
cos_dict.h	CANopen Slave object dictionary
cos_emcy.h	CANopen Slave Emergency (EMCY) service
cos_led.h	CANopen Slave LED management
cos_lss.h	CANopen Slave layer setting service (LSS)
cos_mgr.h	CANopen Slave management functions
cos_nmt.h	CANopen Slave NMT service
cos_nvm.h	Non-volatile memory address definitions (required for LSS and parameter storage)
cos_pdo.h	CANopen Slave PDO service
cos_sdo.h	CANopen CC Slave SDO server service
cos_sync.h	CANopen Slave SYNC service
cos_time.h	CANopen Slave TIME service
cos_usdo_srv.h	CANopen FD Slave USDO server service
cos710.h	CiA 710 bootloader protocol
cos890.h	CiA 890 SI unit and prefix notation indexes