v0.2.0

Date: 2026-10-29
Previous release: v0.1.1

Built on go-canopen v0.3.0 (was v0.2.0): LSS, MPDO, CiA 302 network
management and CANopen FD.

• lss: an LSS master (CiA 305). switch (global), select
  (selective, by LSS address), inquire (address and node-ID),
  configure (node-ID, bit rate from the CiA 301 table, store), activate
  (bit timing switch), identify (non-configured devices, or an address
  range), fastscan (the addresses of every unconfigured device) and
  assign-all (a node-ID for each, with --avoid and --store). A
  refusal is exit 12 (lss_refused), no answer exit 5 (no_response).
• mpdo: configure makes a TPDO or RPDO an MPDO in source or
  destination address mode, scanner and dispatcher write the object
  scanner and dispatcher lists, watch decodes MPDOs (passive).
• boot: the CiA 302-2 network boot-up as a manager — slaves with their
  DCF or concise DCF, expected identities, mandatory and optional slaves,
  --lss for the LSS step that gives unconfigured devices the node-ID of
  the slave whose identity they have, --store, --no-start. The result
  lists each slave's CiA 302 boot status; a failed slave is exit 1.
• cdcf convert, show, apply: concise DCFs (0x1F22) from DCFs
  (PDOs in the CiA 301 sequence), listed, and written entry by entry.
• store and restore (0x1010/0x1011, --group, restore --reset); program download (CiA 302-3: stop, clear, image, flash
  status, identification, start), program control and program status.
• CANopen FD: --fd (and --brs) on sdo read/write/dump (USDO
  client, --block for bulk downloads, --client-id), scan, nmt,
  heartbeat watch, emcy watch (20-byte FD emergencies), sync, pdo show/map, dcf apply and the new commands. monitor --fd and decode
  now decode CAN FD frames: USDO requests and responses (--service usdo)
  and FD emergencies; before, they skipped CAN FD frames. A USDO abort is
  exit 11 with its SDO equivalent and usdoCode.
• simulate: --lss (an LSS slave; without --node-id it starts
  unconfigured), --serial, --fd, --store FILE (store and restore,
  LSS store) and --program (program download objects with an in-memory
  program).
• JSON: new result and record shapes in the schemas (additions only,
  schemaVersion 1.0); new error codes lss_refused, lss_conflict,
  no_node_id, program_failed, boot_failed, mpdo_inactive.

Verification:

• In-process tests of every new command against go-canopen nodes on the
  virtual bus with the race detector: LSS slaves (unconfigured and
  configured, with and without a store), MPDO producer and consumer,
  store/restore and program download devices, the CiA 302 boot-up with
  and without the LSS step, CANopen FD nodes over USDO; JSON output
  validated against the schemas; whole-module coverage ≥ 90 %.
• End to end on vcan0 (Linux 7.0, CAN FD MTU): two unconfigured
  simulate --lss processes found by lss fastscan and booted by boot --lss; a simulate --fd process operated over USDO (sdo read, nmt --wait, program download, scan) while monitor --fd decoded the
  USDO traffic.
• Interop: the existing suite against CANopenNode, Lely CANopen and
  python canopen passes on the canopen-interop v0.2.0 images (pinned by
  digest; contract 1.1 only adds things) in CI on amd64 and arm64. The
  new commands have no interop scenarios yet.