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!
/*
This file is part of CanFestival, a library implementing CanOpen Stack.
Copyright (C): Cosateq GmbH & Co.KG
http://www.cosateq.com/
http://www.scale-rt.com/
See COPYING file for copyrights details.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/*
CAN driver interface for CO-PCICAN card.
*/
#ifndef _CO_PCICANOPS_
#define _CO_PCICANOPS_
#define NUM_CAN_CHANNELS 4
#define CMDQ_OPC_ENTER_RUN_MODE 0x01
#define CMDQ_OPC_ENTER_CONFIG_MODE 0x02
#define CMDQ_OPC_SET_CONFIG_CHANNEL 0xA2
typedef struct
{
unsigned char opcode;
unsigned long param[15];
} co_pcican_config_t;
typedef struct
{
unsigned char channelnum;
unsigned long type;
unsigned long size;
unsigned long id;
unsigned char data[8];
unsigned long timestamp_lo;
unsigned long timestamp_hi;
} co_pcican_message_t;
/*=============================================================================
supported operations
===========================================================================*/
#define CAN_CONFIG 2
#define CAN_WRITE 3
#define CAN_READ 4
/*=============================================================================
directions
===========================================================================*/
#define RX 0
#define TX 1
/*=============================================================================
supported types
===========================================================================*/
#define MSG_EXT 0x00000001
#define MSG_RTR 0x00000002
#endif