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
*/
/*!
** @file nmtMaster.c
** @author Edouard TISSERANT and Francis DUPIN
** @date Tue Jun 5 08:47:18 2007
**
** @brief
**
**
*/
#include "nmtMaster.h"
#include "canfestival.h"
#include "sysdep.h"
/*!
**
**
** @param d
** @param Node_ID
** @param cs
**
** @return
**/
UNS8 masterSendNMTstateChange(CO_Data* d, UNS8 Node_ID, UNS8 cs)
{
Message m;
MSG_WAR(0x3501, "Send_NMT cs : ", cs);
MSG_WAR(0x3502, " to node : ", Node_ID);
/* message configuration */
m.cob_id = 0x0000; /*(NMT) << 7*/
m.rtr = NOT_A_REQUEST;
m.len = 2;
m.data[0] = cs;
m.data[1] = Node_ID;
return canSend(d->canHandle,&m);
}
/*!
**
**
** @param d
** @param nodeId
**
** @return
**/
UNS8 masterSendNMTnodeguard(CO_Data* d, UNS8 nodeId)
{
Message m;
/* message configuration */
UNS16 tmp = nodeId | (NODE_GUARD << 7);
m.cob_id = UNS16_LE(tmp);
m.rtr = REQUEST;
m.len = 0;
MSG_WAR(0x3503, "Send_NODE_GUARD to node : ", nodeId);
return canSend(d->canHandle,&m);
}
/*!
**
**
** @param d
** @param nodeId
**
** @return
**/
UNS8 masterRequestNodeState(CO_Data* d, UNS8 nodeId)
{
/* FIXME: should warn for bad toggle bit. */
/* NMTable configuration to indicate that the master is waiting
for a Node_Guard frame from the slave whose node_id is ID
*/
d->NMTable[nodeId] = Unknown_state; /* A state that does not exist
*/
if (nodeId == 0) { /* NMT broadcast */
UNS8 i = 0;
for (i = 0 ; i < NMT_MAX_NODE_ID ; i++) {
d->NMTable[i] = Unknown_state;
}
}
return masterSendNMTnodeguard(d,nodeId);
}