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 synco Synchronisation Object
* SYNC object is a CANopen message forcing the receiving nodes to sample the inputs mapped into synchronous TPDOS.
* Receiving this message cause the node to set the outputs to values received in the previous synchronous RPDO.
* @ingroup comobj
*/
#ifndef __SYNC_h__
#define __SYNC_h__
void startSYNC(CO_Data* d);
void stopSYNC(CO_Data* d);
typedef void (*post_sync_t)(CO_Data*);
void _post_sync(CO_Data* d);
typedef void (*post_TPDO_t)(CO_Data*);
void _post_TPDO(CO_Data* d);
/**
* @brief Transmit a SYNC message and trigger sync TPDOs
* @param *d Pointer on a CAN object data structure
* @return
*/
UNS8 sendSYNC (CO_Data* d);
/**
* @brief Transmit a SYNC message on CAN bus
* @param *d Pointer on a CAN object data structure
* @return
*/
UNS8 sendSYNCMessage(CO_Data* d);
/**
* @brief This function is called when the node is receiving a SYNC message (cob-id = 0x80).
* - Check if the node is in OERATIONAL mode. (other mode : return 0 but does nothing).
* - Get the SYNC cobId by reading the dictionary index 1005, check it does correspond to the received cobId
* - Trigger sync TPDO emission
* @param *d Pointer on a CAN object data structure
* @return 0 if OK, 0xFF if error
*/
UNS8 proceedSYNC (CO_Data* d);
#endif