miaofng/uds-c commit e506334e270d77b20c0bc259ac6c7d8c9b702b7a (2016-10-05) contains a stack buffer overflow in send_diagnostic_request. A 6-byte stack buffer (MAX_DIAGNOSTIC_PAYLOAD_SIZE=6) receives memcpy at offset 1+pid_length with payload_length bytes. MAX_UDS_REQUEST_PAYLOAD_LENGTH=7, so 1+2+7=10 exceeds buffer by 4 bytes. No bounds check on payload_length before memcpy.