CANopen Bootloaders (short name “Paulus”) with a communication interface allow firmware updates by using of standardized communication services and objects. These provide a high transparency and operator convenience.
The bootloader Paulus makes this flexibility available for devices in CANopen networks. With the SDO transfer CANopen provides a standardized mechanism for the transfer of large blocks of data. The bootloader is independent of the application and works as a minimal CANopen slave node according to /CiA-301/.
The bootloader code is written rather universal and modular. It can therefore easily applicable to other architectures.
Paulus only supports 11 bit standard identifier.
The NMT state machine according to /CiA-301/ is not supported by the Paulus bootloader completely because code size optimization.