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
*/
/** @defgroup networkmanagement Network Management
* @ingroup userapi
*/
/** @defgroup nmtmaster NMT Master
* @brief NMT master provides mechanisms that control and monitor the state of nodes and their behavior in the network.
* @ingroup networkmanagement
*/
#ifndef __nmtMaster_h__
#define __nmtMaster_h__
#include "data.h"
/**
* @ingroup nmtmaster
* @brief Transmit a NMT message on the network to the slave whose nodeId is node ID.
*
* @param *d Pointer to a CAN object data structure
* @param nodeId Id of the slave node
* @param cs The order of state changement \n\n
*
* Allowed states :
* - cs = NMT_Start_Node // Put the node in operational mode
* - cs = NMT_Stop_Node // Put the node in stopped mode
* - cs = NMT_Enter_PreOperational // Put the node in pre_operational mode
* - cs = NMT_Reset_Node // Put the node in initialization mode
* - cs = NMT_Reset_Comunication // Put the node in initialization mode
*
* The mode is changed according to the slave state machine mode :
* - initialisation ---> pre-operational (Automatic transition)
* - pre-operational <--> operational
* - pre-operational <--> stopped
* - pre-operational, operational, stopped -> initialisation
* \n\n
* @return errorcode
* - 0 if the NMT message was send
* - 1 if an error occurs
*/
UNS8 masterSendNMTstateChange (CO_Data* d, UNS8 nodeId, UNS8 cs);
/**
* @ingroup nmtmaster
* @brief Transmit a NodeGuard message on the network to the slave whose nodeId is node ID
*
* @param *d Pointer to a CAN object data structure
* @param nodeId Id of the slave node
* @return
* - 0 is returned if the NodeGuard message was send.
* - 1 is returned if an error occurs.
*/
UNS8 masterSendNMTnodeguard (CO_Data* d, UNS8 nodeId);
/**
* @ingroup nmtmaster
* @brief Ask the state of the slave node whose nodeId is node Id.
*
* To ask states of all nodes on the network (NMT broadcast), nodeId must be equal to 0
* @param *d Pointer to a CAN object data structure
* @param nodeId Id of the slave node
*/
UNS8 masterRequestNodeState (CO_Data* d, UNS8 nodeId);
#endif /* __nmtMaster_h__ */