v0.2.1

Date: 2026-10-30
Previous release: v0.2.0

Built on go-canopen v0.3.1 (was v0.3.0).

• boot: go-canopen v0.3.1 fixes a race of the network boot-up. A
  slave whose boot-up arrived before the manager's NMT reset communication
  was already being configured when the reset undid its configuration, and
  boot reported it failed (status K); the boot-up now cancels the running
  boot slave processes before the reset.
• Interop scenarios for the v0.2.0 commands against canopen-interop
  v0.2.0 (contract 1.1, images pinned by digest):
  • lss against CANopenNode's and Lely's LSS slaves: identify, select,
    inquire, bit timing, configure node-ID, store, Fastscan of unconfigured
    and configured devices, assign-all; and the LSS masters of all three
    stacks against simulate --lss (inquire, configure node-ID, store kept
    across a restart with --store, Fastscan, assign-all).
  • mpdo configure, dispatcher, scanner on Lely devices, checked
    with Lely's DAM- and SAM-MPDOs and by SDO; mpdo watch of Lely's MPDOs.
  • boot of every stack's device (concise DCF, identity, start), with the
    other product's identity (error status M, exit 1), with --lss for the
    stacks' LSS slaves, and of a network with a device of every stack;
    Lely's boot master booting simulate.
  • cdcf convert byte for byte against Lely's dcfgen and dictionary dump;
    cdcf apply to every stack's device, read back.
  • store/restore, program and --fd: recorded skips — no device of
    the contract has 0x1010/0x1011 or 0x1F50/0x1F51 (probed: abort
    0x06020000), no stack implements CANopen FD.
• Four new known differences, observed on the bus: CANopenNode v4.1's LSS
  slave answers neither identify service; Lely's LSS slave applies a
  configured node-ID only at NMT reset communication and answers Fastscan
  also when configured. LIMITATIONS.md says how to work with them.

Verification:

• Interop on Linux 7.0 arm64 (vcan0), full suite twice with identical
  results, the new scenarios three more times: 152 pass, 5 known
  differences, 63 skips, 0 failures (before: 93 pass, 1 known, 17 skips).
  Per adapter: canopennode 48/2/23, lely 62/3/8, pythoncanopen 41/0/32,
  mixed network 1 pass.
• make check (fmt, staticcheck, golangci-lint, vet, cross, govulncheck,
  tests with the race detector, coverage 93.0 %); golangci-lint and go vet
  with the interop build tag.