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@wilkinsw wilkinsw released this 01 Feb 16:25
6.0.1
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wilkinsw Wilkins White
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Learn about vigilant mode.

https://www.npmjs.com/package/canopen/v/6.0.1

  1. Modifying the Eds via the protocol modules has been deprecated and the
    preferred method is to use the new dedicated methods in the Eds class itself.
    This change was made to allow configuration without needing to create
    a Device object first.

  2. NMT state now matters. Prior to version 6 the NMT state was available, but
    not used internally. The Device object is now aware of the NMT state and will
    bring up and shutdown protocol objects as the state changes. If your PDOs are
    not firing after the update make sure you are calling Nmt#startNode to switch
    to NmtState.OPERATIONAL. This new behavior should only take effect upon calling
    Device#start().

  3. Events have been refactored and moved to their respective protocol modules.
    Old events are still available, but will only fire if the Device#init() method
    has been called.

  4. The internal Eds array of DataObjects is now keyed from the hex index rather
    than the decimal index to make debug printing less confusing. A getter with the
    old indexing is provided so that iterating directly on Eds.dataObjects will
    still work as expected, however you should switch to using the new iterator
    methods (Eds.values(), Eds.entries(), Eds.keys()).

  5. SDO client/server parameters will no longer assume you want to add the node ID if you choose 0x580/0x600 for the SDO COB-IDs. As far as I can tell this is not officially in the standard, but was a convienence added to some other libraries.

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