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!
global Mapping, AddMenuEntries
"""
MappingDictionary for DS-402
"""
Mapping = {
0x6040 : {"name" : "Controlword", "struct" : var, "need" : False, "values" :
[{"name" : "Controlword", "type" : 0x06, "access" : 'rw', "pdo" : True}]},
0x6041 : {"name" : "Statusword", "struct" : var, "need" : False, "values" :
[{"name" : "Statusword", "type" : 0x06, "access" : 'ro', "pdo" : True}]},
0x6060 : {"name" : "Modes of operation", "struct" : var, "need" : False, "values" :
[{"name" : "Modes of operation", "type" : 0x02, "access" : 'rw', "pdo" : True}]},
0x6061 : {"name" : "Modes of operation display", "struct" : var, "need" : False, "values" :
[{"name" : "Modes of operation display", "type" : 0x02, "access" : 'ro', "pdo" : True}]},
0x6062 : {"name" : "Position demannd value", "struct" : var, "need" : False, "values" :
[{"name" : "Position demannd value", "type" : 0x04, "access" : 'ro', "pdo" : True}]},
0x6064 : {"name" : "Position actual value", "struct" : var, "need" : False, "values" :
[{"name" : "Position actual value", "type" : 0x04, "access" : 'ro', "pdo" : True}]},
0x6065 : {"name" : "Maximal following error", "struct" : var, "need" : False, "values" :
[{"name" : "Maximal following error", "type" : 0x07, "access" : 'rw', "pdo" : True}]},
0x6067 : {"name" : "Position window", "struct" : var, "need" : False, "values" :
[{"name" : "Position window", "type" : 0x07, "access" : 'rw', "pdo" : False}]},
0x6068 : {"name" : "Position window time", "struct" : var, "need" : False, "values" :
[{"name" : "Position window time", "type" : 0x06, "access" : 'rw', "pdo" : False}]},
0x6069 : {"name" : "Velocity sensor actual value", "struct" : var, "need" : False, "values" :
[{"name" : "Velocity sensor actual value", "type" : 0x04, "access" : 'ro', "pdo" : True}]},
0x606B : {"name" : "Velocity demand value", "struct" : var, "need" : False, "values" :
[{"name" : "Velocity demand value", "type" : 0x04, "access" : 'ro', "pdo" : True}]},
0x606C : {"name" : "Velocity actual value", "struct" : var, "need" : False, "values" :
[{"name" : "Velocity actual value", "type" : 0x04, "access" : 'ro', "pdo" : True}]},
0x6078 : {"name" : "Current actual value", "struct" : var, "need" : False, "values" :
[{"name" : "Current actual value", "type" : 0x03, "access" : 'ro', "pdo" : True}]},
0x607A : {"name" : "Target position", "struct" : var, "need" : False, "values" :
[{"name" : "Target position", "type" : 0x04, "access" : 'rw', "pdo" : True}]},
0x607C : {"name" : "Home offset", "struct" : var, "need" : False, "values" :
[{"name" : "Home offset", "type" : 0x04, "access" : 'rw', "pdo" : True}]},
0x607D : {"name" : "Software position limit", "struct" : array, "need" : False, "values" :
[{"name" : "Number of entries", "type" : 0x05, "access" : 'ro', "pdo" : False},
{"name" : "Minimal position limit", "type" : 0x04, "access" : 'rw', "pdo" : False},
{"name" : "Maximal position limit", "type" : 0x04, "access" : 'rw', "pdo" : False}]},
0x607F : {"name" : "Maximal profile velocity", "struct" : var, "need" : False, "values" :
[{"name" : "Maximal profile velocity", "type" : 0x07, "access" : 'rw', "pdo" : False}]},
0x6081 : {"name" : "Profile velocity", "struct" : var, "need" : False, "values" :
[{"name" : "Profile velocity", "type" : 0x07, "access" : 'rw', "pdo" : True}]},
0x6083 : {"name" : "Profile acceleration", "struct" : var, "need" : False, "values" :
[{"name" : "Profile acceleration", "type" : 0x07, "access" : 'rw', "pdo" : True}]},
0x6084 : {"name" : "Profile deceleration", "struct" : var, "need" : False, "values" :
[{"name" : "Profile deceleration", "type" : 0x07, "access" : 'rw', "pdo" : True}]},
0x6085 : {"name" : "Quick stop deceleration", "struct" : var, "need" : False, "values" :
[{"name" : "Quick stop deceleration", "type" : 0x07, "access" : 'rw', "pdo" : True}]},
0x6086 : {"name" : "Motion profile type", "struct" : var, "need" : False, "values" :
[{"name" : "Motion profile type", "type" : 0x03, "access" : 'rw', "pdo" : True}]},
0x6089 : {"name" : "Position notation index", "struct" : var, "need" : False, "values" :
[{"name" : "Position notation index", "type" : 0x02, "access" : 'rw', "pdo" : False}]},
0x608A : {"name" : "Position dimention index", "struct" : var, "need" : False, "values" :
[{"name" : "Position dimention index", "type" : 0x08, "access" : 'rw', "pdo" : False}]},
0x608B : {"name" : "Velocity notation index", "struct" : var, "need" : False, "values" :
[{"name" : "Velocity notation index", "type" : 0x02, "access" : 'rw', "pdo" : False}]},
0x608C : {"name" : "Velocity dimention index", "struct" : var, "need" : False, "values" :
[{"name" : "Velocity dimention index", "type" : 0x08, "access" : 'rw', "pdo" : False}]},
0x608D : {"name" : "Acceleraion notation index", "struct" : var, "need" : False, "values" :
[{"name" : "Acceleraion notation index", "type" : 0x02, "access" : 'rw', "pdo" : False}]},
0x608E : {"name" : "Acceleraion dimention index", "struct" : var, "need" : False, "values" :
[{"name" : "Acceleraion dimention index", "type" : 0x08, "access" : 'rw', "pdo" : False}]},
0x6098 : {"name" : "Homing method", "struct" : var, "need" : False, "values" :
[{"name" : "Homing method", "type" : 0x02, "access" : 'rw', "pdo" : True}]},
0x6099 : {"name" : "Homing speeds", "struct" : array, "need" : False, "values" :
[{"name" : "Number of entries", "type" : 0x05, "access" : 'ro', "pdo" : False},
{"name" : "Speed for switch search", "type" : 0x07, "access" : 'rw', "pdo" : True},
{"name" : "Speed for zero search", "type" : 0x07, "access" : 'rw', "pdo" : True}]},
0x609A : {"name" : "Homing acceleration", "struct" : var, "need" : False, "values" :
[{"name" : "Homing acceleration", "type" : 0x07, "access" : 'rw', "pdo" : True}]},
0x60F6 : {"name" : "Current control parameter set", "struct" : array, "need" : False, "values" :
[{"name" : "Number of entries", "type" : 0x05, "access" : 'ro', "pdo" : False},
{"name" : "Current regulator P-gain", "type" : 0x03, "access" : 'rw', "pdo" : True},
{"name" : "Current regulator I-gain", "type" : 0x03, "access" : 'rw', "pdo" : True}]},
0x60F9 : {"name" : "Velocity control parameter set", "struct" : array, "need" : False, "values" :
[{"name" : "Number of entries", "type" : 0x05, "access" : 'ro', "pdo" : False},
{"name" : "Velocity regulator P-gain", "type" : 0x03, "access" : 'rw', "pdo" : True},
{"name" : "Velocity regulator I-gain", "type" : 0x03, "access" : 'rw', "pdo" : True}]},
0x60FB : {"name" : "Position control parameter set", "struct" : array, "need" : False, "values" :
[{"name" : "Number of entries", "type" : 0x05, "access" : 'ro', "pdo" : False},
{"name" : "Position regulator P-gain", "type" : 0x03, "access" : 'rw', "pdo" : True},
{"name" : "Position regulator I-gain", "type" : 0x03, "access" : 'rw', "pdo" : True},
{"name" : "Position regulator D-gain", "type" : 0x03, "access" : 'rw', "pdo" : True},
{"name" : "Velocity feed forward factor", "type" : 0x06, "access" : 'rw', "pdo" : True},
{"name" : "Acceleration feed forward factor", "type" : 0x06, "access" : 'rw', "pdo" : True}]},
0x60FF : {"name" : "Target velocity", "struct" : var, "need" : False, "values" :
[{"name" : "Target velocity", "type" : 0x04, "access" : 'rw', "pdo" : True}]},
0x6402 : {"name" : "Motor type", "struct" : var, "need" : False, "values" :
[{"name" : "Motor type", "type" : 0x06, "access" : 'rw', "pdo" : False}]},
0x6410 : {"name" : "Motor data", "struct" : array, "need" : False, "values" :
[{"name" : "Number of entries", "type" : 0x05, "access" : 'ro', "pdo" : False},
{"name" : "Continous current limit", "type" : 0x06, "access" : 'rw', "pdo" : True},
{"name" : "Output current limit", "type" : 0x06, "access" : 'rw', "pdo" : True},
{"name" : "Pole pair number", "type" : 0x05, "access" : 'rw', "pdo" : False},
{"name" : "Maximal speed in current mode", "type" : 0x06, "access" : 'rw', "pdo" : True},
{"name" : "Thermal time constant winding", "type" : 0x06, "access" : 'rw', "pdo" : False}]},
0x6502 : {"name" : "Supported drive modes", "struct" : var, "need" : False, "values" :
[{"name" : "Supported drive modes", "type" : 0x07, "access" : 'ro', "pdo" : False}]},
}
AddMenuEntries = []