Different D-Link Routers are vulnerable to OS command injection via UPnP Multicast requests. This Metasploit module has been tested on DIR-300 and DIR-645 devices. Zacharia Cutlip has initially reported the DIR-815 vulnerable. Probably there are other devices also affected.
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Crossbow is a framework built in Python whose purpose is to help make exploit development easier. It currently targets MIPS Linux systems but the plan is to expand it to support other architectures in the future.
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BT HomeHub version 3.0b has a remote vulnerability that can yield an attacker a root shell. Exploit code included.
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