Version 7.04 - 2026.03

Added

Bootloader security access not granted by default
Secure configuration add-on
EMCY: add internal time stamp for CANopen FD
Dictionary: check for hidden objects (CANopen CC and CANopen FD)
PDO: Fix DLC size calculation for dynamic RPDO (CANopen FD)
SYNC: change SYNC message handling, new function CosSyncEvent(), SYNC is handled in CosMgrProcess()
SDO: improve handling of SDO block upload
USDO: fix possible null pointer access
USDO: change internal structures to support TI C28 compiler
CiA 404: profile does not require NVM support
CiA 410: add initial support for single axis during run-time
CiA 417: support VD car door unit
Fix warning on pointer cast (const / non-const)

Bootloader support (CiA 710)
LSS - add support for Identify Remote Slaves service
PDO - introduce return value for CosPdoTrmDataUpdate()
PDO - new functions for dynamic PDO handling, CosPdoGetTrmType() and CosPdoGetTrmNumber()
PDO - new function CosPdoRcvTimeout() for deadline monitoring
SDO - support block download for function pointer callbacks
USDO - add MTU support
J1939 - add CosPdoRcvDataFromPgn() for J1939 tunnel
Support for access modification of local object dictionary
New function CosMgrGetFrameFormat()
New function CosMgrGetNominalBitrate()
Example for STM32U575I-EV and STM32H735G-DK
Example for CANopen Safety callbacks

EMCY - Make sure the EMCY Error list is cleared before registration of EMCY error codes
TIME - Make sure that timestamp tick value is incremented with correct tick
Object 1030_h is only available in FD mode
Return value of CosSdoCopyMessageToValue()
Apply harmonized header file canopen.h (update enumerations CoAttr_e, CoDT_e and CoErrReg_e)