Version History

Version 6.16 - 2023.11

• Add header file cos303.h for definition of physical units
• Add toolchain support for GCC 13.2.1
• Fix parameter name for CosMgrOnStart()
• Improve error checking for LSS store configuration
• Update directory structure for CMake configuration files
• Update documentation for EMCY handling
• Update add-on for CiA 404 profile
• Update NVM organization for 401 and 404
• Remove deprecated variable ulIdx1000_DeviceTypeC
• NRL is now treated as an add-on module

Version 6.14 - 2023.06

• Define replacement for CpMsgDlcToSize() when FD is not supported
• Fix transmission of multiple EMCYs denoting a communication error
• Use McCpuReset() instead of watchdog in demo application
• Allow PDO transmission independent of its DLC, i.e. a DLC of 0 is supported

Version 6.12 - 2021.09

• Do not send EMCY upon NRL fault
• Update handling of TPDO for CAN FD frames, new function CosPdoTrmDataChangeEnable()

Version 6.10 - 2021.07

• Fix issue with SDO block transfer
• Fix issue with SYNC cycle time
• Fix issue with NVM enumeration
• New function CosMgrOnBootUp()
• New function CosMgrOnStart()
• New function CosSdoBlkFinal()
• Add SDO block download support for SDO client (add-on mini-master)
• Add example for STM32L476G-EVAL board

Version 6.08 - 2021.02

• New function CosMgrGetProductCode()
• Improve static code checking
• New symbol ID_MASK_IS_DISABLED
• Support for Network Redundancy Layer
• Improve NVM tests (PDO storage, CiA 401 storage)
• Test individual bits in error register (1001h)
• Support both LSS Fastscan interpretations (CiA TF LSS December 2020)
• Update documentation for CiA 404 AI

Version 6.06 - 2020.07

• Add profile CiA 406
• Add profile CiA 410
• Update Example for "Explorer16-PIC32MX7xx" Board

Version 6.04 - 2020.06

• Fix acceptance mask of USDO service
• Update code for EMCY error state machine
• Update example for STM32091C-EVAL board

Version 6.02 - 2019.05

• Fix name of dynamic PDO handlers for manufacturer objects (CosMob_PdoRcvHandler, CosMob_PdoTrmHandler)
• Introduce template symbols (TMPL_COS_CONFIG, TMPL_COS_TEST_MAIN, TMPL_COS_USE_CAN_IF)
• Example for STM32G474E-EVAL board

Version 6.00 - 2019.02

• Add new symbols for CANopen FD support (COS_FD_SUPPORT, COS_LOGICAL_PROFILE and COS_USDO_NUMBER)
• Update parameter for function CosMgrStart()
• Introduce function for object 1000h (Cos301_Idx1000)
• Add CosUsdoCopyMessageToValue() and CosUsdoCopyValueToMessage()
• Initialization of SDO or USDO service depends on configuration

History of older major releases

• Version History for major 5 releases
• Version History for major 4 releases
• Version History for major 3 releases
• Version History for major 2 releases