patch from Stefan Kratochwil <entwicklung@inovel.de> : canfestival-3-fm3_698.patch
Bug:
If an object dictionary entry was requested whose size exceeds
SDO_MAX_LENGTH_TRANSFERT, the memcpy() call at line 139 of objacces.c overwrites
the memory after *pDestData which causes stack corruption.
-> Bugfix:
The bug was corrected by size checking the requested data. An 'Out of
memory' error message will be generated if the requested data exceeds
SDO_MAX_LENGTH_TRANSFERT.

Additional changes:
Added dynamic buffer allocation for the SDO transfer. This feature can be used
if SDO_DYNAMIC_BUFFER_ALLOCATION is defined in config.h. The size of the
dynamically allocated buffer is controlled with
SDO_DYNAMIC_BUFFER_ALLOCATION_SIZE.
-> Note:
This change removes the detection of OD_LENGTH_DATA_INVALID errors!

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#ifndef CALLBACK_H_

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#define CALLBACK_H_

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extern "C"

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{

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#include "ObjDict.h"

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}

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void Call_heartbeatError (CO_Data * d, UNS8);

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UNS8 Call_canSend (Message *);

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void Call_initialisation (CO_Data * d);

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void Call_preOperational (CO_Data * d);

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void Call_operational (CO_Data * d);

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void Call_stopped (CO_Data * d);

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void Call_post_sync (CO_Data * d);

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void Call_post_TPDO (CO_Data * d);

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void Call_storeODSubIndex (CO_Data * d, UNS16 wIndex, UNS8 bSubindex);

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#endif /*CALLBACK_H_ */