go-canopen v0.3.2

Date: 2026-10-30
Previous release: v0.3.1

Fixes of the program download (CiA 302-3) and of the scan in master, and
of the node-ID assignment in lss.

• A step of DownloadProgram whose answer came after the SDO timeout
  (a loaded system, a slow flash) was carried out by the device, but the
  master repeated it: Clear and the program data were then refused with
  abort 0x08000022 (the program was no longer in the state they need).
  The download failed, a boot slave process ended with status I, and when
  the data had reached the device the new program stayed stopped: the
  next boot slave process found it up to date and did not start it. A
  step that timed out is now repeated only after reading the program
  state (0x1F51), and a late answer met by the next request (a protocol
  error) no longer fails the download. A timed-out start is repeated too
  unless the program runs. Found by CI; regression test
  TestDownloadProgramLateAnswers.
• Master.Scan took a device for absent, without an error, when one
  request timed out (a lost frame, a loaded system). It now repeats a
  request that timed out once, so a scan of absent nodes takes twice as
  long. Found by CI; regression test TestScanRepeatsTimedOutRequest.
• lss.Master.FastscanSelect and AssignAll: when the acknowledgement of
  the Fastscan step that selects a slave was lost, the selection restarted
  with that slave still in the configuration state. If its answer to the
  check of the next selection was lost too, the configure node-ID request
  reached both slaves and they took the same node-ID. The master now
  switches the slaves to waiting and checks before it restarts, and sends
  the switch before each check of that step. The case needs lost frames;
  see LIMITATIONS.md. Found by make chaos; regression test
  TestAssignAllLostSelectionAck.