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): Edouard TISSERANT and Francis DUPIN
AVR Port: Andreas GLAUSER and Peter CHRISTEN
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
*/
/******************************************************************************
MCU ports and Bits
Makros for access on hardware
******************************************************************************/
#ifndef _HARDWARE_INCLUDED
#define _HARDWARE_INCLUDED
/******************************************************************************
Makros for bit access on the ports and registers
******************************************************************************/
// Macros for set and clear bits in I/O registers
#define setbit(address,bit) ((address) |= (1<<(bit)))
#define clearbit(address,bit) ((address) &= ~(1<<(bit)))
#define togglebit(address,bit) ((address) ^= (1<<(bit)))
// Macro for testing of a single bit in an I/O location
#define checkbit(address,bit) ((address) & (1<<(bit)))
/************************** Hardware Makros **********************************/
// Read the inputs
#define get_inputs() (~PINA)
#define read_bcd() (~PINC & 0x0F)
// Write the outputs
#define set_outputs(val) PORTB = ~(val)
#endif // _HARDWARE_INCLUDED