CANopen Slave Protocol Stack 
Version 7.06.00
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Version History

Version 7.06 - 2026.07

Added

Changed

  • Dictionary: local access modification fix
  • PDO:Extended mappable objects limit to up to 65536 mappable objects
  • SYNC: fixed timer event; fixed SYNC counter DLC check
  • CiA 404: update AI function block
  • CiA 890 (formerly CiA 303-2): new header file cos890.h
  • Secure Configuration: fixed buffer size on secure DCF download
  • Systematic MISRA C:2025 updates

Version 7.04 - 2026.03

Added

Changed

  • 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)

Version 7.00 - 2025.02

Added

  • 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

Changed

  • 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 1030h 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)

Removed

  • Function CosMgrGetBitrate()
  • Duplicated variable definition for heartbeat consumer
  • Symbol CoATTR_PDO_MAP

History of older major releases