CANopen Library V4.5

CANopen Library 4.5.18 - 2021-08-05

recommended ICC version 6.6 and higher

• PDO: behavior for PDO event time < PDO inhibit time configurable

• PDO: behavior of TPDOs with transmission type 252 (RTR-only synchronous) corrected

• PDO: for dynamic PDO mapping SDO abort code changed from 08000022h to 06040041h
  if the PDO mapping shall be changed but the PDO mapping is enabled

• SYNC: intialization for multi-line with usage of different SYNC services corrected

• SYNC: deactivation of SYNC via object 1006h added

• SDO: CSDO128 for none 16 bit CPUs and little-endian devices added

• SDO block transfer: The SDO block transfer is used if the data length is greater
  than CONFIG_BLOCK_MIN_DATASIZE. Older versions uses the SDO block transfer if the
  data length was equal to CONFIG_BLOCK_MIN_DATASIZE, too.

• HB consumer: DO abort code changed from 06040043h to 06090031h
  if the node-ID was too high.

• HB/NG: Both error control mechanisms are configurable. HB is preferred against NG.

• NMT: getRemoteNodeState() for NMT slaves without error control monitoring corrected

• LSS: configuration of LSS timeout via ICC and during runtime added

• object dictionary: getObjSize() for short ARRAY's corrected

• object dictionary: handling of negative values of objects from data type INTEGER8
  for 16 bit CPUs or big-endiness corrected

CANopen Library 4.5.17 - 2020-01-30

• SDO segmented transfer: The SDO abort code returned by the indication
  function sdoDomainWrCon(..) or sdoDomainRdCon(..) is reported by the
  SDO abort transfer instead of the fixed SDO abort code 0x06060000.

• SDO block transfer: unnecessary block timer removed, i.e. the compiler-define
  CO_CONFIG_BLOCKTRANSFER_BLOCKTIMER is no longer supported

• Templates for the indication functions sdoDomainCon(..), sdoDomainWrInd(..),
  and sdoDomainRdInd() were moved from sdoDomainInd.c to usr_301.c.

• SDO: arguments of function initUpLd_res(..) for multi-line corrected

• SDO block transfer: handling of lost or exchanged segment messages corrected

• SDO block transfer: handling of SDO abort transfer messages from SDO server
  on the SDO client side corrected, the SDO request is aborted on the SDO client

CANopen Library 4.5.16 - 2018-11-05

New

• library can prevent sending of identical data on subsequent calls of writePdoReq()

  • enable with define CO_CONFIG_PDO_DATA_CHECK

    • can be configured via the PDO attribute dataHandling on a per PDO setting

    • default is to prevent the sending

  • data is not checked on time triggered or sync triggered send

• library can send all linked TPDOs when data is entered

  • enable with define CO_CONFIG_PDO_AUTOSEND

    • behavior can then be disabled on a per PDO basis

    • default behaviour is: send all linked PDO

  • requires usage of putObj(..) API call to change data

    • writePdoReq(..) is called automatically

  • only in OPERATIONAL state

  • works with multiline

  • works in conjunction with the above CO_CONFIG_PDO_DATA_CHECK setting:

    • PDO is sent when data is entered, but only if the data has changed

    • in other words: only new data is sent
      Fixed

• SDO block transfer can recover on loosing the very first segment of a block

• SDO block transfer can recover on loosing the last segment(s) of a block

  • enable with define CO_CONFIG_BLOCKTRANSFER_BLOCKTIMER

    • timeout value set by define CO_CONFIG_BLOCKTRANSFER_BLOCKTIMER_TIMEOUT

      • default 500 (50 ms)

      • timeout is checked between segments in the block

CANopen Library 4.5.15b - 2018-07-30

Fixed

• automatic start of heartbeatconsumer is again possible

• heartbeat functionality included in NMTS only when heartbeatconsumer active

• nodeGuarding functionality included in NMTS only when nodeguarding active

CANopen Library 4.5.15 - 2018-06-13

New
Changes

• virtual PDO functionality can now select a handling method, on a per PDO basis

• the CO_CONFIG_SDO_SHORT_STRINGS option now works on virtual (string) objects

  • new callbacks for this are

    • coUser_getVirtualStringSize

    • coUser_setVirtualStringSize
      Minor

• the led state getter function coGetCoErrLedState(..) and coGetCoRunLedState(..) now
  have redundancy parameters
  Fixed

• the options NodeGuarding and NMT StartUp can now be used together

• small cleanup on examples s33/m33

CANopen Library 4.5.14 - 2017-10-27

New

• Option CO_CONFIG_SDO_EXPEDITED_NO_VALID_SIZE_BIT allows to send expedited SDO transfers
  without the size bit set

  • setting is per SDO: adjust the SDO_T member expedited_sdo_with_valid_size_bit

  • this setting allows SDO communication to CANopen implementations that did not check
    expedited SDOs for size, it should be considered experimental

• added examples m33 and s33

  • the examples show usage of the user message system to implement an additional small
    protocol

  • implemented example protocol is the energy management of profile 447

  • also showcased is the CobId distribution of profile 447

  • example is based on socketCAN, but can be easily changed

• segmented SDO domain write transfers using an intermediate buffer on the SDO server side
  can now be delayed every time the buffer is full

  • this is useful when the domain needs to passed on through a slower process, ie. an
    I2C or SPI further transfer

  • enabled by define CO_CONFIG_DOMAIN_INDICATION_DEFERRABLE

  • the sdoDomainInd(..) function gains additional parameters, see the usr_301.c template

  • finishSdoDomainInd(..) will resume SDO processing
    Changes

• it is now possible to preselect the SDO communication line when using redundancy

  • requires option CO_CONFIG_REDUNDANCY_ALLOW_SDO_LINE_SELECT

  • this option will allow setting the SDO_T type's commLine variable

  • this option will disable the automatic switch of SDO commLine should a commLine fail,
    the application has to take over this part
    Minor
    Fixed

  • a number of C++ build errors

CANopen Library 4.5.13 - 2017-08-25

New

• the library can now report any received message to the application

  • enabled via define CO_CONFIG_USER_MESSAGE_TEST

  • the application can then suppress further handling of a message by the library

• the library can now report the time until the next internal event

  • could be used to better time the call of FlushMbox on threaded systems

  • note: FlushMbox should still be called promptly on receiving a message

  • function is called co_getNextInternalEventTime(..)
    Changes

• dynamic services setup now uses calloc instead of malloc to ensure NULLed variable
  initialization

• when using dynamic services setup on singleline more internal functions use values
  derived from arguments of initDynamicServices, where applicable

  • this was already the case on multiline

• added option CO_CONFIG_LSS_FASTSCANDATA_REPORT_FULL_ARRAY to LSS

  • this will give a pointer to the full identity information array instead of the
    start of line specific information

  • only noticeable on multiline

  • old behavior unchanged

• added option CO_CONFIG_SUPPRESS_BOOTUP to start up

  • this will suppress sending any boot up, but the device will start otherwise normal

  • this option is NOT according to the CANopen standard and WILL FAIL any conformance
    test

• added option CO_CONFIG_BLOCKTRANSFER_INHIBITED_SEND to blocktransfer

  • this will inhibit data segments of the blocktransfer, spreading them over time

  • value in CO_CONFIG_BLOCKTRANSFER_INHIBITED_SEND is used as a default value, this
    can be adjusted per SDO

  • only data segments in blocktransfer are affected
    Minor

• added template for coProtocolErrorInd

• added templates for coUserVirtualTpdoInd, coUserVirtualRpdoInd
  Fixed

• the library can now handle 64bit variable conversion on big endian systems

• the lss template for usr_305.c has a proper default case

CANopen Library 4.5.12 - 2017-03-13

New

• the library can now report any heartbeat to the application

  • enabled via define CO_CONFIG_REPORT_ANY_HB

  • uses indication coUserHbReceived(..) (see examples/template/usr_301.c)
    Changes

• LSS slaves will now react to requests while in OPERATIONAL state

  • previously any requests in while OPERATIONAL state would be ignored

  • old behaviour can be reenabled by setting
    #define CO_CONFIG_LSS_NO_REACTION_IN_OPERATIONAL 1

• added an automatic SDO abort in case the SDO client cannot start the SDO timeout monitoring

  • previously this would fail silently and had to be solved by application
    Fixed

• when using fast sort, removeNodeReq(..) will now also resort it's internal list

• many small changes due to static code checks via lint

• in the template for usr_301.c the indication mGuardErrorInd(..) is now included
  for any device that is using define (CONFIG_MASTER), so it can report received BootUp
  messages

CANopen Library 4.5.11 - 2016-11-18

New

• includes and source were changed to UTF-8, including the templates

• devices with CO_CONFIG_SELFSTARTING_SLAVE can change bit 3 of 1f80h

  • this allows (re-)configuration of selfstarting slave behavior at runtime

• all SDO abort codes defined in CiA 301 available for applications
  Changes

• PDO mapping sizes are now exact like defined in CiA 301

  • previously size less than object size would be accepted.

  • This new behaviour can be disabled with the define CO_CONFIG_NO_MAPPING_LOWER_SIZE_CHECK.
    Fixed

• CRC will work in block transfer, even if segments in a block were missed and are retransmitted

• a few fixes for compiler warnings in Renesas Compilers

CANopen Library 4.5.10 - 2016-06-30

New

• support for selfstarting slaves via object 0x1f80

  • requires define CO_CONFIG_SELFSTARTING_SLAVE

  • requires value 0x8 in object 0x1f80
    Changes

• objects in device profile area can be virtual

• segment size of SDO blocktransfer can be changed on an SDO Client/Server basis

CANopen Library 4.5.9 - 2016-02-16

Changes:

• added library checks for restricted CobIds according to CiA301

  • can be disabled by
    #define CO_CONFIG_DONT_CHECK_RESTRICTED_COBID 1

• added public declarations for segmented transfer functions for SDO

• added utility function coSetNodeOPERATIONAL(...) to set a node operational

• added optional indication functions for reset behaviour

• fix: corrected SDO abort code in SDO upload

• change: testSdoValue() is also available when using SDO blocktransfer

• change: setting HB will disable a running nodeGuarding

• new example: s23 SDO domain transfer

CANopen Library 4.5.8 - 2015-11-03

Changes:

• removed additional warnings in SDO blocktransfer

CANopen Library 4.5.7 - 2015-10-26

Changes:

• Added new functions for getting the state of a LED

• Added option to transfer strings without transfering full length as given by OD

• Added option to transfer domains with dynamic ending, controlled by user application

• Added support for SDO abort code 06040047h (CO_E_INTERNAL_INCOMP)

CANopen Library 4.5.6 - 2015-08-03

Changes:

• Added new request function to write an SDO as segmented transfer, even if
  blocktransfer is configured - writeSdoSegReq.

• Added new request function to read with an SDO as segmented transfer, even if
  blocktransfer is configured - readSdoSegReq.

• Added support for INTEGER64.

• Added new function to get the actual LSS-state of the local LSS-slave.

CANopen Library 4.5.5 - 2015-07-14

Changes:

• Added new indication which get called if an virtual object is mapped to an PDO, to
  gain access to the PDO payload.

• Extended the object specific callback type structure with a pointer to the object
  and the object size.

• Fixed missing pointer cast to avoid warnings.

• Corrected documentation and comments in code.

CANopen Library 4.5.4 - 2015-04-24

Changes:

• Added new object callback call if the sdo aborts for some reason.

• Added objects callback calls for mpdo.

• Added function putObjPtr for faster access if there is a known object pointer.

• Minor fixes to avoid compiler warnings.

CANopen Library 4.5.3 - 2014-09-29

Changes:

• Changed the nmt startup manager to fix compile problem from 4.5.2 multiline version.

CANopen Library 4.5.2 - 2014-08-12

Changes:

• Changed the nmt startup manager to only configure the SDOs if needed.

• Changed the nmt startup manager to only search the needed objects once.

• New indication for the nmt startup manager to retry if a device aborts object
  0x1000 read.

• Some changes to make the initialization of the stack faster

• Fixed a issue with the getObjPtrAtIndex function to return the correct pointer.

• Added an indication in the nmt startup manager to change the sdo timeout for
  every SDO request.

CANopen Library 4.5.1 - 2014-04-30

Changes:

• Changed object attributes to UNSIGNED16 from V4.4 UNSIGNED8.

• Added optional function pointers for objects, to speed up application response time.

• Speed optimization for object access, so boot up and SDO gained better reaction time.

• Added new API function getObjStoreEnableReq, which return if an object is supposed to
  be stored in non-volatile memory.

• Fixed several MISRA C issues.

• Removed several compiler warnings.

• Removed automatic emergency sending due to too short or too long PDOs.

• Fixed MPDO issue, where the stack send empty MPDOs if PDO Eventtimer is enabled this.

• Added LSS package to standard delivery of the CANopen Library