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
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_h__
#define __can_h__
#include "applicfg.h"
/*
union SHORT_CAN {
struct { UNS8 b0,b1; } b;
UNS32 w;
};
*/
/*
typedef struct {
UNS32 w;
} SHORT_CAN;
*/
/**
* @brief The CAN message structure
* @ingroup can
*/
typedef struct {
UNS16 cob_id; /**< message's ID */
UNS8 rtr; /**< remote transmission request. (0 if not rtr message, 1 if rtr message) */
UNS8 len; /**< message's length (0 to 8) */
UNS8 data[8]; /**< message's datas */
} Message;
#define Message_Initializer {0,0,0,{0,0,0,0,0,0,0,0}}
typedef UNS8 (*canSend_t)(Message *);
#endif /* __can_h__ */