getting weird behaviour with sdo read and heartbeat callbacks on 2.3.0 about canopen

[acolomb]

Regarding the NMT heartbeat problem, sorry I have no idea what might cause the callback to not get fired. Maybe it raises an exception pretty early? How did you check whether it runs or not? An exception would be raised in the notifier background thread, you could use network.check() to find that: https://canopen.readthedocs.io/en/latest/network.html#canopen.Network.check

Did you see anything in the change log that rings a bell regarding your use case?

As for SDO, we did in fact add some SDO abort messages (0x80) in cases where the client did not correctly send them following a failure condition being detected. I guess a candump / trace of the SDO communication leading up to that point would help in diagnosing. And here as well, look at the change log and see whether the added cases might affect your device.

Sorry for the inconvenience.