CANopen Slave Documentation
Version 7.00.00
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Version History

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