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
*/
#ifndef __CAN_AVR__
#define __CAN_AVR__
// AVR implementation of the CANopen driver includes
// Hardware related macros and ATMEL lib can_drv
#include "config.h"
#include "can_drv.h"
// Canfestivals includes
#include "can.h"
// Number of receive MOb
#define NB_RX_MOB 13 // minimal 8
// Number of transmit MOb
#define NB_TX_MOB (NB_MOB - NB_RX_MOB)
#if (NB_TX_MOB < 1)
#error define less RX Mobs, you must have at least 1 TX MOb!
#elif (NB_RX_MOB < 8)
#error define at least 8 RX MObs!
#endif
#define START_TX_MOB NB_RX_MOB
#define TX_INT_MSK ((0x7F << (7 - NB_TX_MOB)) & 0x7F)
/************************* To be called by user app ***************************/
unsigned char canInit(unsigned int bitrate);
unsigned char canSend(CAN_PORT notused, Message *m);
unsigned char canReceive(Message *m);
unsigned char canChangeBaudRate_driver( CAN_HANDLE fd, char* baud);
#endif