2012-03-07 14:28:29 +00:00
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/* packet-canopen.c
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* Routines for CANopen dissection
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* Copyright 2011, Yegor Yefremov <yegorslists@googlemail.com>
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*
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* $Id$
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*
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* Wireshark - Network traffic analyzer
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* By Gerald Combs <gerald@wireshark.org>
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* Copyright 1998 Gerald Combs
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
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*/
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2012-09-20 02:03:38 +00:00
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#include "config.h"
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2012-03-07 14:28:29 +00:00
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#include <glib.h>
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#include <epan/packet.h>
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2013-03-15 06:26:47 +00:00
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void proto_register_canopen(void);
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2012-03-07 14:28:29 +00:00
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/* Initialize the protocol and registered fields */
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static int proto_canopen = -1;
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static int hf_canopen_cob_id = -1;
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static int hf_canopen_function_code = -1;
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static int hf_canopen_node_id = -1;
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static int hf_canopen_pdo_data = -1;
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static int hf_canopen_pdo_data_string = -1;
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static int hf_canopen_sdo_cmd = -1;
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static int hf_canopen_sdo_main_idx = -1;
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static int hf_canopen_sdo_sub_idx = -1;
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static int hf_canopen_sdo_data = -1;
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static int hf_canopen_em_err_code = -1;
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static int hf_canopen_em_err_reg = -1;
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static int hf_canopen_em_err_field = -1;
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static int hf_canopen_nmt_ctrl_cs = -1;
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static int hf_canopen_nmt_ctrl_node_id = -1;
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static int hf_canopen_nmt_guard_state = -1;
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static int hf_canopen_time_stamp = -1;
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static int hf_canopen_time_stamp_ms = -1;
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static int hf_canopen_time_stamp_days = -1;
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/* Initialize the subtree pointers */
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static gint ett_canopen = -1;
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/* broadcast messages */
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2012-05-07 13:35:45 +00:00
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#define FC_NMT 0x0
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#define FC_SYNC 0x1
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#define FC_TIME_STAMP 0x2
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2012-03-07 14:28:29 +00:00
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/* point-to-point messages */
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2012-05-07 13:35:45 +00:00
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#define FC_EMERGENCY 0x1
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#define FC_PDO1_TX 0x3
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#define FC_PDO1_RX 0x4
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#define FC_PDO2_TX 0x5
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#define FC_PDO2_RX 0x6
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#define FC_PDO3_TX 0x7
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#define FC_PDO3_RX 0x8
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#define FC_PDO4_TX 0x9
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#define FC_PDO4_RX 0xA
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#define FC_DEFAULT_SDO_TX 0xB
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#define FC_DEFAULT_SDO_RX 0xC
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#define FC_NMT_ERR_CONTROL 0xE
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2012-03-07 14:28:29 +00:00
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static const value_string CAN_open_bcast_msg_type_vals[] = {
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2012-05-07 13:35:45 +00:00
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{ FC_NMT, "EMERGENCY"},
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{ FC_SYNC, "Sync"},
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{ FC_TIME_STAMP, "TIME STAMP"},
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{ 0, NULL}
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2012-03-07 14:28:29 +00:00
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};
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static const value_string CAN_open_p2p_msg_type_vals[] = {
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2012-05-07 13:35:45 +00:00
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{ FC_EMERGENCY, "EMERGENCY"},
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{ FC_PDO1_TX, "PDO1 (tx)"},
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{ FC_PDO1_RX, "PDO1 (rx)"},
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{ FC_PDO2_TX, "PDO2 (tx)"},
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{ FC_PDO2_RX, "PDO2 (rx)"},
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{ FC_PDO3_TX, "PDO3 (tx)"},
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{ FC_PDO3_RX, "PDO3 (rx)"},
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{ FC_PDO4_TX, "PDO4 (tx)"},
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{ FC_PDO4_RX, "PDO4 (rx)"},
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{ FC_DEFAULT_SDO_TX, "Default-SDO (tx)"},
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{ FC_DEFAULT_SDO_RX, "Default-SDO (rx)"},
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{ FC_NMT_ERR_CONTROL, "NMT Error Control"},
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{ 0, NULL}
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2012-03-07 14:28:29 +00:00
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};
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/* message types */
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2012-05-07 13:35:45 +00:00
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#define MT_UNKNOWN 0
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#define MT_NMT_CTRL 1
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#define MT_SYNC 2
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#define MT_TIME_STAMP 3
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#define MT_EMERGENCY 4
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#define MT_PDO 5
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#define MT_SDO 6
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#define MT_NMT_GUARD 7
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2012-03-07 14:28:29 +00:00
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/* TIME STAMP conversion defines */
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2012-05-07 13:35:45 +00:00
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#define TS_DAYS_BETWEEN_1970_AND_1984 5113
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#define TS_SECONDS_IN_PER_DAY 86400
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#define TS_NANOSEC_PER_MSEC 1000000
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2012-03-07 14:28:29 +00:00
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/* NMT command specifiers */
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static const value_string nmt_ctrl_cs[] = {
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2012-05-07 13:35:45 +00:00
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{ 0x01, "Start remote node"},
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{ 0x02, "Stop remote node"},
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{ 0x80, "Enter pre-operational state"},
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{ 0x81, "Reset node"},
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{ 0x82, "Reset communication"},
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{ 0, NULL}
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2012-03-07 14:28:29 +00:00
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};
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/* NMT states */
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static const value_string nmt_guard_state[] = {
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2012-05-07 13:35:45 +00:00
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{ 0x00, "Initialising"},
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{ 0x01, "Disconnected"},
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{ 0x02, "Connecting"},
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{ 0x03, "Preparing"},
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{ 0x04, "Stopped"},
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{ 0x05, "Operational"},
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{ 0x7F, "Pre-operational"},
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{ 0, NULL}
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2012-03-07 14:28:29 +00:00
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};
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2012-05-07 13:35:45 +00:00
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static guint
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canopen_detect_msg_type(guint function_code, guint node_id)
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2012-03-07 14:28:29 +00:00
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{
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2012-05-07 13:35:45 +00:00
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switch (function_code) {
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case FC_NMT:
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return MT_NMT_CTRL;
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break;
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case FC_SYNC:
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if (node_id == 0) {
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return MT_SYNC;
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} else {
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return MT_EMERGENCY;
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}
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break;
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case FC_TIME_STAMP:
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return MT_TIME_STAMP;
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break;
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case FC_PDO1_TX:
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return MT_PDO;
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break;
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case FC_PDO1_RX:
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return MT_PDO;
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break;
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case FC_PDO2_TX:
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return MT_PDO;
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break;
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case FC_PDO2_RX:
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return MT_PDO;
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break;
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case FC_PDO3_TX:
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return MT_PDO;
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break;
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case FC_PDO3_RX:
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return MT_PDO;
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break;
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case FC_PDO4_TX:
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return MT_PDO;
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break;
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case FC_PDO4_RX:
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return MT_PDO;
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break;
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case FC_DEFAULT_SDO_TX:
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return MT_SDO;
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break;
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case FC_DEFAULT_SDO_RX:
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return MT_SDO;
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break;
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case FC_NMT_ERR_CONTROL:
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return MT_NMT_GUARD;
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break;
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default:
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return MT_UNKNOWN;
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break;
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}
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2012-03-07 14:28:29 +00:00
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}
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2013-12-05 03:36:49 +00:00
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struct can_identifier
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{
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guint32 id;
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};
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2012-03-07 14:28:29 +00:00
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/* Code to actually dissect the packets */
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2013-12-05 03:36:49 +00:00
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static int
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dissect_canopen(tvbuff_t *tvb, packet_info *pinfo, proto_tree *tree, void* data)
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2012-03-07 14:28:29 +00:00
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{
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2012-05-07 13:35:45 +00:00
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guint function_code;
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guint node_id;
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guint32 time_stamp_msec;
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guint32 time_stamp_days;
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2013-12-05 03:36:49 +00:00
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struct can_identifier can_id;
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2012-05-07 13:35:45 +00:00
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guint msg_type_id;
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nstime_t time_stamp;
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2013-12-05 03:36:49 +00:00
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gint can_data_len = tvb_reported_length(tvb);
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2012-05-07 13:35:45 +00:00
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const gchar *function_code_str;
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2013-12-05 03:36:49 +00:00
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int offset = 0;
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DISSECTOR_ASSERT(data);
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can_id = *((struct can_identifier*)data);
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2012-03-07 14:28:29 +00:00
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col_set_str(pinfo->cinfo, COL_PROTOCOL, "CANopen");
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col_clear(pinfo->cinfo, COL_INFO);
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2012-05-07 13:35:45 +00:00
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2013-12-05 03:36:49 +00:00
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node_id = can_id.id & 0x7F;
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function_code = (can_id.id >> 7) & 0x0F;
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2012-05-07 13:35:45 +00:00
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msg_type_id = canopen_detect_msg_type(function_code, node_id);
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if (node_id == 0 ) {
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/* broadcast */
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function_code_str = val_to_str(function_code, CAN_open_bcast_msg_type_vals, "Unknown (%u)");
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col_add_fstr(pinfo->cinfo, COL_INFO, "%s", function_code_str);
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} else {
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/* point-to-point */
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function_code_str = val_to_str(function_code, CAN_open_p2p_msg_type_vals, "Unknown (%u)");
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col_add_fstr(pinfo->cinfo, COL_INFO, "p2p %s", function_code_str);
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}
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col_append_fstr(pinfo->cinfo, COL_INFO, " %s",
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2013-12-19 15:49:09 +00:00
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tvb_bytes_to_ep_str_punct(tvb, offset, can_data_len, ' '));
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2012-03-07 14:28:29 +00:00
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if (tree) {
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2012-05-07 13:35:45 +00:00
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proto_item *ti, *cob_ti, *type_ti;
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proto_tree *canopen_tree;
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proto_tree *canopen_cob_tree;
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proto_tree *canopen_type_tree;
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2012-03-07 14:28:29 +00:00
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2012-05-07 13:35:45 +00:00
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ti = proto_tree_add_item(tree, proto_canopen, tvb, 0, -1, ENC_NA);
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2012-03-07 14:28:29 +00:00
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canopen_tree = proto_item_add_subtree(ti, ett_canopen);
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/* add COB-ID with function code and node id */
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2013-12-05 03:36:49 +00:00
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cob_ti = proto_tree_add_uint(canopen_tree, hf_canopen_cob_id, tvb, 0, 0, can_id.id);
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2012-03-07 14:28:29 +00:00
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canopen_cob_tree = proto_item_add_subtree(cob_ti, ett_canopen);
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/* add function code */
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2013-12-05 03:36:49 +00:00
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ti = proto_tree_add_uint(canopen_cob_tree, hf_canopen_function_code, tvb, 0, 0, can_id.id);
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PROTO_ITEM_SET_GENERATED(ti);
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2012-03-07 14:28:29 +00:00
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/* add node id */
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2013-12-05 03:36:49 +00:00
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ti = proto_tree_add_uint(canopen_cob_tree, hf_canopen_node_id, tvb, 0, 0, can_id.id);
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PROTO_ITEM_SET_GENERATED(ti);
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2012-03-07 14:28:29 +00:00
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/* add CANopen frame type */
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2012-05-07 13:35:45 +00:00
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2013-12-05 03:36:49 +00:00
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type_ti = proto_tree_add_text(canopen_tree, tvb, 0,
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2012-05-07 13:35:45 +00:00
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(msg_type_id != MT_SYNC) ? -1 : 0,
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"Type: %s", function_code_str);
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2012-03-07 14:28:29 +00:00
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canopen_type_tree = proto_item_add_subtree(type_ti, ett_canopen);
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switch(msg_type_id)
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{
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case MT_NMT_CTRL:
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proto_tree_add_item(canopen_type_tree,
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2013-12-05 03:36:49 +00:00
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hf_canopen_nmt_ctrl_cs, tvb, offset, 1, ENC_BIG_ENDIAN);
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offset++;
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2012-03-07 14:28:29 +00:00
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proto_tree_add_item(canopen_type_tree,
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2013-12-05 03:36:49 +00:00
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hf_canopen_nmt_ctrl_node_id, tvb, offset, 1, ENC_BIG_ENDIAN);
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2012-03-07 14:28:29 +00:00
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break;
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case MT_NMT_GUARD:
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proto_tree_add_item(canopen_type_tree,
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2013-12-05 03:36:49 +00:00
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hf_canopen_nmt_guard_state, tvb, offset, 1, ENC_BIG_ENDIAN);
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2012-03-07 14:28:29 +00:00
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break;
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case MT_SYNC:
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break;
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case MT_TIME_STAMP:
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/* calculate the real time stamp */
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2013-12-05 03:36:49 +00:00
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time_stamp_msec = tvb_get_letohl(tvb, offset);
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time_stamp_days = tvb_get_ntohs(tvb, offset + 4);
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2012-03-07 14:28:29 +00:00
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time_stamp.secs = (time_stamp_days + TS_DAYS_BETWEEN_1970_AND_1984)
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* TS_SECONDS_IN_PER_DAY + (time_stamp_msec / 1000);
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time_stamp.nsecs = (time_stamp_msec % 1000) * TS_NANOSEC_PER_MSEC;
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proto_tree_add_time(canopen_type_tree,
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2013-12-05 03:36:49 +00:00
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hf_canopen_time_stamp, tvb, offset, 6, &time_stamp);
|
2012-03-07 14:28:29 +00:00
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proto_tree_add_uint(canopen_type_tree,
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2013-12-05 03:36:49 +00:00
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hf_canopen_time_stamp_ms, tvb, offset, 4, time_stamp_msec);
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offset += 2;
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2012-03-07 14:28:29 +00:00
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proto_tree_add_uint(canopen_type_tree,
|
2013-12-05 03:36:49 +00:00
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hf_canopen_time_stamp_days, tvb, offset, 2, time_stamp_days);
|
2012-03-07 14:28:29 +00:00
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break;
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|
|
case MT_EMERGENCY:
|
|
|
|
proto_tree_add_item(canopen_type_tree,
|
2013-12-05 03:36:49 +00:00
|
|
|
hf_canopen_em_err_code, tvb, offset, 2, ENC_BIG_ENDIAN);
|
|
|
|
offset += 2;
|
2012-03-07 14:28:29 +00:00
|
|
|
|
|
|
|
proto_tree_add_item(canopen_type_tree,
|
2013-12-05 03:36:49 +00:00
|
|
|
hf_canopen_em_err_reg, tvb, offset, 1, ENC_BIG_ENDIAN);
|
|
|
|
offset++;
|
2012-03-07 14:28:29 +00:00
|
|
|
|
|
|
|
proto_tree_add_item(canopen_type_tree,
|
2013-12-05 03:36:49 +00:00
|
|
|
hf_canopen_em_err_field, tvb, offset, 4, ENC_NA);
|
2012-03-07 14:28:29 +00:00
|
|
|
break;
|
|
|
|
case MT_PDO:
|
2012-05-07 13:35:45 +00:00
|
|
|
if (can_data_len != 0) {
|
2012-03-07 14:28:29 +00:00
|
|
|
proto_tree_add_item(canopen_type_tree,
|
2013-12-05 03:36:49 +00:00
|
|
|
hf_canopen_pdo_data, tvb, offset, can_data_len, ENC_NA);
|
2012-03-07 14:28:29 +00:00
|
|
|
}
|
2012-05-07 13:35:45 +00:00
|
|
|
else {
|
|
|
|
proto_tree_add_string(canopen_type_tree,
|
2013-12-05 03:36:49 +00:00
|
|
|
hf_canopen_pdo_data_string, tvb, offset, 0, "empty");
|
2012-03-07 14:28:29 +00:00
|
|
|
}
|
|
|
|
break;
|
|
|
|
case MT_SDO:
|
|
|
|
proto_tree_add_item(canopen_type_tree,
|
2013-12-05 03:36:49 +00:00
|
|
|
hf_canopen_sdo_cmd, tvb, offset, 1, ENC_BIG_ENDIAN);
|
|
|
|
offset++;
|
2012-03-07 14:28:29 +00:00
|
|
|
|
|
|
|
proto_tree_add_item(canopen_type_tree,
|
2013-12-05 03:36:49 +00:00
|
|
|
hf_canopen_sdo_main_idx, tvb, offset, 2, ENC_BIG_ENDIAN);
|
|
|
|
offset += 2;
|
2012-03-07 14:28:29 +00:00
|
|
|
|
|
|
|
proto_tree_add_item(canopen_type_tree,
|
2013-12-05 03:36:49 +00:00
|
|
|
hf_canopen_sdo_sub_idx, tvb, offset, 1, ENC_BIG_ENDIAN);
|
|
|
|
offset++;
|
2012-03-07 14:28:29 +00:00
|
|
|
|
|
|
|
proto_tree_add_item(canopen_type_tree,
|
2013-12-05 03:36:49 +00:00
|
|
|
hf_canopen_sdo_data, tvb, offset, 4, ENC_NA);
|
2012-03-07 14:28:29 +00:00
|
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
2013-12-05 03:36:49 +00:00
|
|
|
|
|
|
|
return tvb_length(tvb);
|
2012-03-07 14:28:29 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/* Register the protocol with Wireshark */
|
|
|
|
void
|
|
|
|
proto_register_canopen(void)
|
|
|
|
{
|
2012-05-07 13:35:45 +00:00
|
|
|
static hf_register_info hf[] = {
|
|
|
|
{ &hf_canopen_cob_id,
|
|
|
|
{ "COB-ID", "canopen.cob_id",
|
|
|
|
FT_UINT32, BASE_HEX, NULL, 0x0,
|
|
|
|
NULL, HFILL }
|
|
|
|
},
|
|
|
|
{ &hf_canopen_function_code,
|
|
|
|
{ "Function code", "canopen.function_code",
|
|
|
|
FT_UINT32, BASE_HEX, NULL, 0x780,
|
|
|
|
NULL, HFILL }
|
|
|
|
},
|
|
|
|
{ &hf_canopen_node_id,
|
|
|
|
{ "Node-ID", "canopen.node_id",
|
|
|
|
FT_UINT32, BASE_HEX, NULL, 0x7F,
|
|
|
|
NULL, HFILL }
|
|
|
|
},
|
|
|
|
{ &hf_canopen_pdo_data,
|
|
|
|
{ "Data", "canopen.pdo.data",
|
|
|
|
FT_BYTES, BASE_NONE, NULL, 0x0,
|
|
|
|
NULL, HFILL }
|
|
|
|
},
|
|
|
|
{ &hf_canopen_pdo_data_string,
|
|
|
|
{ "Data", "canopen.pdo.data",
|
|
|
|
FT_STRINGZ, BASE_NONE, NULL, 0x0,
|
|
|
|
NULL, HFILL }
|
|
|
|
},
|
|
|
|
{ &hf_canopen_sdo_cmd,
|
|
|
|
{ "SDO command byte", "canopen.sdo.cmd",
|
|
|
|
FT_UINT8, BASE_HEX, NULL, 0x0,
|
|
|
|
NULL, HFILL }
|
|
|
|
},
|
|
|
|
{ &hf_canopen_sdo_main_idx,
|
|
|
|
{ "OD main-index", "canopen.sdo.main_idx",
|
|
|
|
FT_UINT16, BASE_HEX, NULL, 0x0,
|
|
|
|
NULL, HFILL }
|
|
|
|
},
|
|
|
|
{ &hf_canopen_sdo_sub_idx,
|
|
|
|
{ "OD sub-index", "canopen.sdo.sub_idx",
|
|
|
|
FT_UINT8, BASE_HEX, NULL, 0x0,
|
|
|
|
NULL, HFILL }
|
|
|
|
},
|
|
|
|
{ &hf_canopen_sdo_data,
|
|
|
|
{ "Data", "canopen.sdo.data",
|
|
|
|
FT_BYTES, BASE_NONE, NULL, 0x0,
|
|
|
|
NULL, HFILL }
|
|
|
|
},
|
|
|
|
{ &hf_canopen_em_err_code,
|
|
|
|
{ "Error code", "canopen.em.err_code",
|
|
|
|
FT_UINT16, BASE_HEX, NULL, 0x0,
|
|
|
|
NULL, HFILL }
|
|
|
|
},
|
|
|
|
{ &hf_canopen_em_err_reg,
|
|
|
|
{ "Error register", "canopen.em.err_reg",
|
|
|
|
FT_UINT8, BASE_HEX, NULL, 0x0,
|
|
|
|
NULL, HFILL }
|
|
|
|
},
|
|
|
|
{ &hf_canopen_em_err_field,
|
|
|
|
{ "Manufacture specific error field", "canopen.em.err_field",
|
|
|
|
FT_BYTES, BASE_NONE, NULL, 0x0,
|
|
|
|
NULL, HFILL }
|
|
|
|
},
|
|
|
|
{ &hf_canopen_nmt_ctrl_cs,
|
|
|
|
{ "Command specifier", "canopen.nmt_ctrl.cd",
|
|
|
|
FT_UINT8, BASE_HEX, VALS(nmt_ctrl_cs), 0xFF,
|
|
|
|
NULL, HFILL }
|
|
|
|
},
|
|
|
|
{ &hf_canopen_nmt_ctrl_node_id,
|
|
|
|
{ "Node-ID", "canopen.nmt_ctrl.node_id",
|
|
|
|
FT_UINT8, BASE_HEX, NULL, 0x0,
|
|
|
|
NULL, HFILL }
|
|
|
|
},
|
|
|
|
{ &hf_canopen_nmt_guard_state,
|
|
|
|
{ "Node-ID", "canopen.nmt_guard.state",
|
|
|
|
FT_UINT8, BASE_HEX, VALS(nmt_guard_state), 0x7F,
|
|
|
|
NULL, HFILL }
|
|
|
|
},
|
|
|
|
{ &hf_canopen_time_stamp,
|
|
|
|
{ "Time stamp", "canopen.time_stamp",
|
|
|
|
FT_ABSOLUTE_TIME, ABSOLUTE_TIME_UTC, NULL, 0x0,
|
|
|
|
NULL, HFILL }
|
|
|
|
},
|
|
|
|
{ &hf_canopen_time_stamp_ms,
|
|
|
|
{ "Time, after Midnight in Milliseconds", "canopen.time_stamp_ms",
|
|
|
|
FT_UINT32, BASE_DEC, NULL, 0x0,
|
|
|
|
NULL, HFILL }
|
|
|
|
},
|
|
|
|
{ &hf_canopen_time_stamp_days,
|
|
|
|
{ "Current day since 1 Jan 1984", "canopen.time_stamp_days",
|
|
|
|
FT_UINT16, BASE_DEC, NULL, 0x0,
|
|
|
|
NULL, HFILL }
|
|
|
|
},
|
|
|
|
};
|
|
|
|
|
|
|
|
static gint *ett[] = {
|
|
|
|
&ett_canopen
|
|
|
|
};
|
|
|
|
|
|
|
|
proto_canopen = proto_register_protocol("CANopen",
|
|
|
|
"CANOPEN",
|
|
|
|
"canopen");
|
|
|
|
|
2013-12-05 03:36:49 +00:00
|
|
|
new_register_dissector("canopen", dissect_canopen, proto_canopen);
|
2012-05-07 13:35:45 +00:00
|
|
|
|
|
|
|
proto_register_field_array(proto_canopen, hf, array_length(hf));
|
|
|
|
proto_register_subtree_array(ett, array_length(ett));
|
2012-03-07 14:28:29 +00:00
|
|
|
}
|
|
|
|
|