2021-04-19 19:06:30 +00:00
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/* packet-uavcan-can.c
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* Routines for dissection of UAVCAN/CAN
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*
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* Copyright 2020-2021 NXP
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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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* SPDX-License-Identifier: GPL-2.0-or-later
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*/
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#include "config.h"
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#include <inttypes.h>
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#include <epan/packet.h>
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#include <epan/prefs.h>
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#include <epan/address_types.h>
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#include <epan/to_str.h>
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#include <epan/expert.h>
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#include <epan/reassemble.h>
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#include <epan/proto_data.h>
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#include <epan/crc16-tvb.h>
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#include "packet-socketcan.h"
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#include "packet-uavcan-dsdl.h"
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#define ANONYMOUS_FLAG 0x8000
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#define BROADCAST_FLAG 0x4000
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#define ADDR_MASK 0XFF
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#define START_OF_TRANSFER 0x80
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#define END_OF_TRANSFER 0x40
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#define TOGGLE 0x20
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#define TRANSFER_ID 0x1F
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#define UAVCAN_SUBJECT_ID(can_id) ((can_id & 0x001FFF00) >> 8)
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#define UAVCAN_SERVICE_ID(can_id) ((can_id & 0x007FC000) >> 14)
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#define UAVCAN_DESTINATION_ID(can_id) ((can_id & 0x00003F80) >> 7)
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#define UAVCAN_SOURCE_ID(can_id) ((can_id & 0x0000007F))
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#define UAVCAN_IS_SERVICE(can_id) ((can_id & 0x2000000) != 0)
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#define UAVCAN_IS_MESSAGE(can_id) ((can_id & 0x2000000) == 0)
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#define UAVCAN_IS_REQUEST(can_id) ((can_id & 0x01000000) != 0)
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#define UAVCAN_IS_RESPONSE(can_id) ((can_id & 0x01000000) == 0)
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#define UAVCAN_IS_ANONYMOUS(can_id) ((can_id & 0x01000000) != 0)
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struct uavcan_proto_data
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{
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guint32 seq_id;
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gboolean toggle_error;
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};
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void proto_register_uavcan(void);
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void proto_reg_handoff_uavcan(void);
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static int proto_uavcan = -1;
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static int hf_uavcan_can_id = -1;
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static int hf_uavcan_priority = -1;
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static int hf_uavcan_anonymous = -1;
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static int hf_uavcan_req_not_rsp = -1;
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static int hf_uavcan_serv_not_msg = -1;
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static int hf_uavcan_subject_id = -1;
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static int hf_uavcan_service_id = -1;
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static int hf_uavcan_dst_addr = -1;
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static int hf_uavcan_src_addr = -1;
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static int hf_uavcan_data = -1;
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static int hf_uavcan_start_of_transfer = -1;
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static int hf_uavcan_end_of_transfer = -1;
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static int hf_uavcan_toggle = -1;
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static int hf_uavcan_transfer_id = -1;
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static int uavcan_address_type = -1;
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static wmem_tree_t *fragment_info_table = NULL;
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static reassembly_table uavcan_reassembly_table;
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static int hf_uavcan_packet_crc = -1;
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static gint ett_uavcan = -1;
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static gint ett_uavcan_can = -1;
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static gint ett_uavcan_message = -1;
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static expert_field ei_uavcan_toggle_bit_error = EI_INIT;
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static expert_field ei_uavcan_transfer_crc_error = EI_INIT;
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static gint ett_uavcan_fragment = -1;
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static gint ett_uavcan_fragments = -1;
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static int hf_uavcan_fragments = -1;
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static int hf_uavcan_fragment = -1;
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static int hf_uavcan_fragment_overlap = -1;
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static int hf_uavcan_fragment_overlap_conflicts = -1;
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static int hf_uavcan_fragment_multiple_tails = -1;
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static int hf_uavcan_fragment_too_long_fragment = -1;
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static int hf_uavcan_fragment_error = -1;
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static int hf_uavcan_fragment_count = -1;
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static int hf_uavcan_reassembled_in = -1;
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static int hf_uavcan_reassembled_length = -1;
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/* fragment struct to store packet assembly data */
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typedef struct _fragment_info_t
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{
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gint toggle;
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gint fragment_id;
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guint32 seq_id;
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} fragment_info_t;
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guint32 uavcan_seq_id = 0;
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static const fragment_items uavcan_frag_items = {
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/* Fragment subtrees */
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&ett_uavcan_fragment,
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&ett_uavcan_fragments,
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/* Fragment fields */
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&hf_uavcan_fragments,
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&hf_uavcan_fragment,
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&hf_uavcan_fragment_overlap,
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&hf_uavcan_fragment_overlap_conflicts,
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&hf_uavcan_fragment_multiple_tails,
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&hf_uavcan_fragment_too_long_fragment,
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&hf_uavcan_fragment_error,
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&hf_uavcan_fragment_count,
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/* Reassembled in field */
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&hf_uavcan_reassembled_in,
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/* Reassembled length field */
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&hf_uavcan_reassembled_length,
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/* Reassembled data field */
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NULL,
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/* Tag */
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"Message fragments"
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};
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static dissector_handle_t dsdl_message_handle;
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static dissector_handle_t dsdl_request_handle;
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static dissector_handle_t dsdl_response_handle;
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2021-04-22 08:47:51 +00:00
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static const value_string uavcan_priority_vals[] = {
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2021-04-19 19:06:30 +00:00
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{ 0, "Exceptional" },
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{ 1, "Immediate" },
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{ 2, "Fast" },
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{ 3, "High" },
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{ 4, "Nominal" },
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{ 5, "Low" },
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{ 6, "Slow" },
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{ 7, "Optional" },
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{ 0, NULL }
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};
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static int
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dissect_uavcan(tvbuff_t *tvb, packet_info *pinfo, proto_tree *tree, void *data)
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{
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proto_item *ti, *toggle, *transfer_crc;
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proto_tree *uavcan_tree, *can_id_tree, *can_data_tree, *dsdl_tree;
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gint offset = 0;
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struct can_info can_info;
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guint16 *src_addr, *dest_addr;
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guint8 tail_byte;
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fragment_info_t *fragment_info = NULL;
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guint reported_length;
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guint32 lookup_id = 0;
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/* Semi-unique lookup id for reassembly lookup table note transfer-ID rolls-over every 32 times */
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reported_length = tvb_reported_length(tvb);
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DISSECTOR_ASSERT(data);
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can_info = *((struct can_info *) data);
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tail_byte = tvb_get_guint8(tvb, reported_length - 1);
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if ((can_info.id & CAN_ERR_FLAG) ||
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!(can_info.id & CAN_EFF_FLAG)) {
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/* Error frames and frames with standards ids are not for us */
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return 0;
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}
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if ((tail_byte & (START_OF_TRANSFER | TOGGLE)) ==
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(START_OF_TRANSFER)) {
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/* UAVCAN v0 Frame */
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return 0;
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}
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if ((tail_byte & (START_OF_TRANSFER | END_OF_TRANSFER)) !=
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(START_OF_TRANSFER | END_OF_TRANSFER)) { /* Multi-frame */
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if (UAVCAN_IS_MESSAGE(can_info.id)) { /* Message */
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lookup_id = 0; // Bit 0 false indicates message
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lookup_id |= UAVCAN_SUBJECT_ID(can_info.id) << 1;
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lookup_id |= UAVCAN_SOURCE_ID(can_info.id) << 11;
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lookup_id |= (tail_byte & TRANSFER_ID) << 18;
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} else { /* Service */
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lookup_id = 1; // Bit 0 true indicates service
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lookup_id |= ((can_info.id & 0x01000000) >> 24) << 1;
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lookup_id |= UAVCAN_SERVICE_ID(can_info.id) << 2;
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lookup_id |= UAVCAN_DESTINATION_ID(can_info.id) << 11;
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lookup_id |= UAVCAN_SOURCE_ID(can_info.id) << 18;
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lookup_id |= (tail_byte & TRANSFER_ID) << 25;
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}
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fragment_info = (fragment_info_t *) wmem_tree_lookup32(fragment_info_table, lookup_id);
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if (!(tail_byte & START_OF_TRANSFER) && fragment_info == NULL) {
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/* Lookup id doesn't exist, but not a start of transfer discard potentially a UAVCANv0 frame */
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return 0;
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}
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}
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col_set_str(pinfo->cinfo, COL_PROTOCOL, "UAVCAN/CAN");
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col_clear(pinfo->cinfo, COL_INFO);
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ti = proto_tree_add_item(tree, proto_uavcan, tvb, offset, reported_length, ENC_NA);
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uavcan_tree = proto_item_add_subtree(ti, ett_uavcan);
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can_id_tree = proto_tree_add_subtree_format(uavcan_tree, tvb, 0, 0,
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ett_uavcan_can, &ti, "CAN ID field: 0x%08x",
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can_info.id);
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proto_item_set_generated(ti);
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ti = proto_tree_add_uint(can_id_tree, hf_uavcan_can_id, tvb, 0, 0, can_info.id);
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proto_item_set_generated(ti);
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/* Dissect UAVCAN/CAN Message frame */
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if (UAVCAN_IS_MESSAGE(can_info.id)) {
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ti = proto_tree_add_uint(can_id_tree, hf_uavcan_priority, tvb, 0, 0, can_info.id);
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proto_item_set_generated(ti);
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ti = proto_tree_add_uint(can_id_tree, hf_uavcan_serv_not_msg, tvb, 0, 0, can_info.id);
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proto_item_set_generated(ti);
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ti = proto_tree_add_uint(can_id_tree, hf_uavcan_anonymous, tvb, 0, 0, can_info.id);
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proto_item_set_generated(ti);
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ti = proto_tree_add_uint(can_id_tree, hf_uavcan_subject_id, tvb, 0, 0, can_info.id);
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proto_item_set_generated(ti);
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ti = proto_tree_add_uint(can_id_tree, hf_uavcan_src_addr, tvb, 0, 0, can_info.id);
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proto_item_set_generated(ti);
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/* Set source address */
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src_addr = wmem_new(pinfo->pool, guint16);
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*src_addr = (guint16) UAVCAN_SOURCE_ID(can_info.id);
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if (UAVCAN_IS_ANONYMOUS(can_info.id)) {
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*src_addr |= ANONYMOUS_FLAG;
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}
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set_address(&pinfo->src, uavcan_address_type, 2, (const void *) src_addr);
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/* Fill in "destination" address even if its "broadcast" */
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dest_addr = wmem_new(pinfo->pool, guint16);
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*dest_addr = BROADCAST_FLAG;
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set_address(&pinfo->dst, uavcan_address_type, 2, (const void *) dest_addr);
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col_add_fstr(pinfo->cinfo, COL_INFO, "Message: %d (%s)", UAVCAN_SUBJECT_ID(can_info.id),
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rval_to_str_const(UAVCAN_SUBJECT_ID(can_info.id), uavcan_subject_id_vals, "Reserved"));
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} else { /* UAVCAN/CAN Service frame */
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ti = proto_tree_add_uint(can_id_tree, hf_uavcan_priority, tvb, 0, 0, can_info.id);
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proto_item_set_generated(ti);
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ti = proto_tree_add_uint(can_id_tree, hf_uavcan_serv_not_msg, tvb, 0, 0, can_info.id);
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proto_item_set_generated(ti);
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ti = proto_tree_add_uint(can_id_tree, hf_uavcan_req_not_rsp, tvb, 0, 0, can_info.id);
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proto_item_set_generated(ti);
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ti = proto_tree_add_uint(can_id_tree, hf_uavcan_service_id, tvb, 0, 0, can_info.id);
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proto_item_set_generated(ti);
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ti = proto_tree_add_uint(can_id_tree, hf_uavcan_dst_addr, tvb, 0, 0, can_info.id);
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proto_item_set_generated(ti);
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ti = proto_tree_add_uint(can_id_tree, hf_uavcan_src_addr, tvb, 0, 0, can_info.id);
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proto_item_set_generated(ti);
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/* Set source address */
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src_addr = wmem_new(pinfo->pool, guint16);
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*src_addr = (guint16) UAVCAN_SOURCE_ID(can_info.id);
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set_address(&pinfo->src, uavcan_address_type, 2, (const void *) src_addr);
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dest_addr = wmem_new(pinfo->pool, guint16);
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*dest_addr = (guint16) UAVCAN_DESTINATION_ID(can_info.id);
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set_address(&pinfo->dst, uavcan_address_type, 2, (const void *) dest_addr);
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if (UAVCAN_IS_RESPONSE(can_info.id)) {
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col_add_fstr(pinfo->cinfo, COL_INFO, "Service response: %d (%s)", UAVCAN_SERVICE_ID(can_info.id),
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rval_to_str_const(UAVCAN_SERVICE_ID(can_info.id), uavcan_service_id_vals, "Reserved"));
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} else {
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col_add_fstr(pinfo->cinfo, COL_INFO, "Service request: %d (%s)", UAVCAN_SERVICE_ID(can_info.id),
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rval_to_str_const(UAVCAN_SERVICE_ID(can_info.id), uavcan_service_id_vals, "Reserved"));
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}
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}
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can_data_tree = proto_tree_add_subtree(uavcan_tree, tvb, 0, -1, ett_uavcan_message, NULL, "CAN data field");
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proto_tree_add_item(can_data_tree, hf_uavcan_start_of_transfer, tvb,
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reported_length - 1, 1, ENC_NA);
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proto_tree_add_item(can_data_tree, hf_uavcan_end_of_transfer, tvb,
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reported_length - 1, 1, ENC_NA);
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toggle = proto_tree_add_item(can_data_tree, hf_uavcan_toggle, tvb,
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reported_length - 1, 1, ENC_NA);
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proto_tree_add_item(can_data_tree, hf_uavcan_transfer_id, tvb,
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reported_length - 1, 1, ENC_NA);
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proto_tree_add_item(can_data_tree, hf_uavcan_data, tvb, 0, reported_length - 1,
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ENC_NA);
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if ((tail_byte & (START_OF_TRANSFER | END_OF_TRANSFER)) ==
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(START_OF_TRANSFER | END_OF_TRANSFER)) { /* Single frame */
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dsdl_tree = proto_tree_add_subtree(uavcan_tree, tvb, 0, tvb_reported_length(
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tvb) - 1, ett_uavcan_message, NULL, "");
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tvb_set_reported_length(tvb, reported_length - 1); /* Don't pass Tail byte to DSDL */
|
|
|
|
|
|
|
|
if (UAVCAN_IS_MESSAGE(can_info.id)) {
|
|
|
|
guint32 id;
|
|
|
|
id = UAVCAN_SUBJECT_ID(can_info.id);
|
|
|
|
proto_item_append_text(dsdl_tree, "Message");
|
|
|
|
call_dissector_with_data(dsdl_message_handle, tvb, pinfo, dsdl_tree,
|
|
|
|
GUINT_TO_POINTER((guint) id));
|
|
|
|
} else if (UAVCAN_IS_SERVICE(can_info.id)) {
|
|
|
|
guint32 id;
|
|
|
|
id = UAVCAN_SERVICE_ID(can_info.id);
|
|
|
|
|
|
|
|
if (UAVCAN_IS_REQUEST(can_info.id)) {
|
|
|
|
proto_item_append_text(dsdl_tree, "Service request");
|
|
|
|
call_dissector_with_data(dsdl_request_handle, tvb, pinfo, dsdl_tree, GUINT_TO_POINTER(
|
|
|
|
(guint) id));
|
|
|
|
} else {
|
|
|
|
proto_item_append_text(dsdl_tree, "Service response");
|
|
|
|
call_dissector_with_data(dsdl_response_handle, tvb, pinfo, dsdl_tree, GUINT_TO_POINTER(
|
|
|
|
(guint) id));
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
/* Re-assembly attempt */
|
|
|
|
|
|
|
|
if ((tail_byte & (START_OF_TRANSFER | END_OF_TRANSFER)) !=
|
|
|
|
(START_OF_TRANSFER | END_OF_TRANSFER)) { /* Multi-frame */
|
|
|
|
struct uavcan_proto_data *uavcan_frame_data;
|
|
|
|
|
|
|
|
if (!PINFO_FD_VISITED(pinfo)) { /* Not visited */
|
|
|
|
if (fragment_info == NULL) { /* Doesn't exist, allocate lookup_id */
|
|
|
|
fragment_info = (fragment_info_t *) wmem_new(wmem_file_scope(), fragment_info_t);
|
|
|
|
fragment_info->fragment_id = 0;
|
|
|
|
fragment_info->toggle = tail_byte & TOGGLE;
|
|
|
|
|
|
|
|
wmem_tree_insert32(fragment_info_table, lookup_id, fragment_info);
|
|
|
|
}
|
|
|
|
|
|
|
|
/* Store sequence number and status in pinfo so we can revisit later */
|
|
|
|
uavcan_frame_data =
|
|
|
|
wmem_new0(wmem_file_scope(), struct uavcan_proto_data);
|
|
|
|
p_add_proto_data(wmem_file_scope(), pinfo, proto_uavcan, 0, uavcan_frame_data);
|
|
|
|
|
|
|
|
if ((tail_byte & START_OF_TRANSFER) != 0) { /* Start of transfer */
|
|
|
|
uavcan_frame_data->toggle_error = 0;
|
|
|
|
fragment_info->fragment_id = 0;
|
|
|
|
fragment_info->seq_id = uavcan_seq_id;
|
|
|
|
uavcan_seq_id += 1;
|
|
|
|
} else { /* Update transfer */
|
|
|
|
fragment_info->fragment_id += 1;
|
|
|
|
uavcan_frame_data->toggle_error =
|
|
|
|
((tail_byte & TOGGLE) == fragment_info->toggle) ? TRUE : FALSE;
|
|
|
|
}
|
|
|
|
|
|
|
|
uavcan_frame_data->seq_id = fragment_info->seq_id;
|
|
|
|
|
|
|
|
fragment_info->toggle = tail_byte & TOGGLE;
|
|
|
|
|
|
|
|
pinfo->fragmented = TRUE;
|
|
|
|
fragment_add_seq_check(&uavcan_reassembly_table,
|
|
|
|
tvb, offset, pinfo, fragment_info->seq_id, NULL, /* ID for fragments belonging together */
|
|
|
|
fragment_info->fragment_id, /* fragment sequence number */
|
|
|
|
tvb_captured_length_remaining(tvb, offset) - 1, /* fragment length - minus tail byte */
|
|
|
|
((tail_byte & END_OF_TRANSFER) == 0) ? TRUE : FALSE); /* More fragments? */
|
|
|
|
} else { /* Visited reassembled data */
|
|
|
|
fragment_head *reassembled = NULL;
|
|
|
|
tvbuff_t *reassembled_tvb;
|
|
|
|
proto_tree *multi_tree;
|
|
|
|
|
|
|
|
uavcan_frame_data = (struct uavcan_proto_data *) p_get_proto_data(
|
|
|
|
wmem_file_scope(), pinfo, proto_uavcan, 0);
|
|
|
|
|
|
|
|
reassembled = fragment_get_reassembled_id(&uavcan_reassembly_table, pinfo,
|
|
|
|
uavcan_frame_data->seq_id);
|
|
|
|
|
|
|
|
if (reassembled) {
|
|
|
|
if (uavcan_frame_data->toggle_error == 1) {
|
|
|
|
expert_add_info_format(pinfo, toggle, &ei_uavcan_toggle_bit_error,
|
|
|
|
"Expected Toggle %u got %u.",
|
|
|
|
!((tail_byte & TOGGLE) != 0),
|
|
|
|
((tail_byte & TOGGLE) != 0));
|
|
|
|
}
|
|
|
|
|
|
|
|
col_append_str(pinfo->cinfo, COL_INFO,
|
|
|
|
" (Multi-frame)");
|
|
|
|
|
|
|
|
reassembled_tvb = tvb_new_chain(tvb, reassembled->tvb_data); /* Reassembled tvb chain */
|
|
|
|
|
|
|
|
multi_tree = proto_tree_add_subtree(uavcan_tree, reassembled_tvb, 0,
|
|
|
|
-1, ett_uavcan_message, NULL,
|
|
|
|
"Multi-frame");
|
|
|
|
|
|
|
|
process_reassembled_data(tvb, offset, pinfo,
|
|
|
|
"Reassembled Message", reassembled, &uavcan_frag_items,
|
|
|
|
NULL, multi_tree);
|
|
|
|
|
|
|
|
/* Parsing reassembled data */
|
|
|
|
if ((tail_byte & END_OF_TRANSFER) != 0) {
|
|
|
|
transfer_crc = proto_tree_add_item(multi_tree, hf_uavcan_packet_crc,
|
|
|
|
reassembled_tvb,
|
|
|
|
tvb_reported_length(reassembled_tvb) - 2,
|
|
|
|
2, ENC_BIG_ENDIAN);
|
|
|
|
|
|
|
|
guint16 packet_crc = tvb_get_guint16(reassembled_tvb,
|
|
|
|
tvb_reported_length(reassembled_tvb) - 2,
|
|
|
|
ENC_BIG_ENDIAN);
|
|
|
|
guint16 calc_crc = crc16_x25_ccitt_tvb(reassembled_tvb,
|
|
|
|
tvb_reported_length(reassembled_tvb) - 2);
|
|
|
|
|
|
|
|
if (packet_crc != calc_crc) {
|
|
|
|
expert_add_info_format(pinfo, transfer_crc, &ei_uavcan_transfer_crc_error,
|
|
|
|
"Expected CRC16 %X got %X.",
|
|
|
|
calc_crc, packet_crc);
|
|
|
|
}
|
|
|
|
|
|
|
|
tvb_set_reported_length(reassembled_tvb, tvb_reported_length(reassembled_tvb) - 2); /* Don't pass CRC16 to DSDL */
|
|
|
|
|
|
|
|
dsdl_tree = proto_tree_add_subtree(uavcan_tree, reassembled_tvb, 0,
|
|
|
|
-1, ett_uavcan_message, NULL, "");
|
|
|
|
|
|
|
|
/* Pass payload to DSDL dissector */
|
|
|
|
if (UAVCAN_IS_MESSAGE(can_info.id)) {
|
|
|
|
guint32 id = UAVCAN_SUBJECT_ID(can_info.id);
|
|
|
|
proto_item_append_text(dsdl_tree, "Message");
|
|
|
|
|
|
|
|
call_dissector_with_data(dsdl_message_handle, reassembled_tvb, pinfo,
|
|
|
|
dsdl_tree,
|
|
|
|
GUINT_TO_POINTER((guint) id));
|
|
|
|
} else if (UAVCAN_IS_SERVICE(can_info.id)) {
|
|
|
|
guint32 id = UAVCAN_SERVICE_ID(can_info.id);
|
|
|
|
|
|
|
|
if (UAVCAN_IS_REQUEST(can_info.id)) {
|
|
|
|
proto_item_append_text(dsdl_tree, "Service request");
|
|
|
|
call_dissector_with_data(dsdl_request_handle, reassembled_tvb, pinfo,
|
|
|
|
dsdl_tree, GUINT_TO_POINTER((guint) id));
|
|
|
|
} else {
|
|
|
|
proto_item_append_text(dsdl_tree, "Service response");
|
|
|
|
call_dissector_with_data(dsdl_response_handle, reassembled_tvb, pinfo,
|
|
|
|
dsdl_tree, GUINT_TO_POINTER((guint) id));
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
return tvb_captured_length(tvb);
|
|
|
|
}
|
|
|
|
|
|
|
|
static int
|
|
|
|
UAVCAN_addr_to_str(const address *addr, gchar *buf, int buf_len)
|
|
|
|
{
|
|
|
|
const guint16 *addrdata = (const guint16 *) addr->data;
|
|
|
|
|
|
|
|
if ((*addrdata & ANONYMOUS_FLAG) != 0) {
|
|
|
|
return (int) g_snprintf(buf, buf_len, "Anonymous");
|
|
|
|
} else if ((*addrdata & BROADCAST_FLAG) != 0) {
|
|
|
|
return (int) g_snprintf(buf, buf_len, "Broadcast");
|
|
|
|
} else {
|
|
|
|
guint8 real_addr = (guint8) (*addrdata & ADDR_MASK);
|
|
|
|
guint32_to_str_buf(real_addr, buf, buf_len);
|
|
|
|
return (int) strlen(buf);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
static int
|
|
|
|
UAVCAN_addr_str_len(const address *addr _U_)
|
|
|
|
{
|
|
|
|
return 12; /* Leaves required space (10 bytes) for uint_to_str_back() */
|
|
|
|
}
|
|
|
|
|
|
|
|
static const char *
|
|
|
|
UAVCAN_col_filter_str(const address *addr _U_, gboolean is_src)
|
|
|
|
{
|
|
|
|
if (is_src)
|
|
|
|
return "uavcan_can.src_addr";
|
|
|
|
|
|
|
|
return "uavcan_can.dst_addr";
|
|
|
|
}
|
|
|
|
|
|
|
|
static int
|
|
|
|
UAVCAN_addr_len(void)
|
|
|
|
{
|
|
|
|
return 2;
|
|
|
|
}
|
|
|
|
|
|
|
|
void
|
|
|
|
proto_register_uavcan(void)
|
|
|
|
{
|
|
|
|
static hf_register_info hf[] = {
|
|
|
|
{&hf_uavcan_can_id,
|
|
|
|
{"CAN Identifier", "uavcan_can.can_id",
|
|
|
|
FT_UINT32, BASE_HEX, NULL, CAN_EFF_MASK, NULL, HFILL}},
|
|
|
|
{&hf_uavcan_priority,
|
|
|
|
{"Priority", "uavcan_can.priority",
|
|
|
|
FT_UINT32, BASE_DEC, VALS(uavcan_priority_vals), 0x1C000000, NULL, HFILL}},
|
|
|
|
{&hf_uavcan_serv_not_msg,
|
|
|
|
{"Service, not message", "uavcan_can.serv_not_msg",
|
|
|
|
FT_UINT32, BASE_DEC, NULL, 0x02000000, NULL, HFILL}},
|
|
|
|
{&hf_uavcan_anonymous,
|
|
|
|
{"Anonymous", "uavcan_can.anonymous",
|
|
|
|
FT_UINT32, BASE_DEC, NULL, 0x01000000, NULL, HFILL}},
|
|
|
|
{&hf_uavcan_req_not_rsp,
|
|
|
|
{"Request, not response", "uavcan_can.req_not_rsp",
|
|
|
|
FT_UINT32, BASE_DEC, NULL, 0x01000000, NULL, HFILL}},
|
|
|
|
{&hf_uavcan_subject_id,
|
|
|
|
{"Subject ID", "uavcan_can.subject_id",
|
|
|
|
FT_UINT32, BASE_DEC|BASE_RANGE_STRING, RVALS(uavcan_subject_id_vals), 0x001FFF00, NULL, HFILL}},
|
|
|
|
{&hf_uavcan_service_id,
|
|
|
|
{"Service ID", "uavcan_can.service_id",
|
|
|
|
FT_UINT32, BASE_DEC|BASE_RANGE_STRING, RVALS(uavcan_service_id_vals), 0x007FC000, NULL, HFILL}},
|
|
|
|
{&hf_uavcan_dst_addr,
|
|
|
|
{"Destination node-ID", "uavcan_can.dst_addr",
|
|
|
|
FT_UINT32, BASE_DEC, NULL, 0x00003F80, NULL, HFILL}},
|
|
|
|
{&hf_uavcan_src_addr,
|
|
|
|
{"Source node-ID", "uavcan_can.src_addr",
|
|
|
|
FT_UINT32, BASE_DEC, NULL, 0x0000007F, NULL, HFILL}},
|
|
|
|
{&hf_uavcan_data,
|
|
|
|
{"Payload", "uavcan_can.payload",
|
|
|
|
FT_BYTES, BASE_NONE | BASE_ALLOW_ZERO, NULL, 0x0, NULL, HFILL}},
|
|
|
|
{&hf_uavcan_start_of_transfer,
|
|
|
|
{"Start of transfer", "uavcan_can.start_of_transfer",
|
|
|
|
FT_UINT8, BASE_DEC, NULL, START_OF_TRANSFER, NULL, HFILL}},
|
|
|
|
{&hf_uavcan_end_of_transfer,
|
|
|
|
{"End of transfer", "uavcan_can.end_of_transfer",
|
|
|
|
FT_UINT8, BASE_DEC, NULL, END_OF_TRANSFER, NULL, HFILL}},
|
|
|
|
{&hf_uavcan_toggle,
|
|
|
|
{"Toggle", "uavcan_can.toggle",
|
|
|
|
FT_UINT8, BASE_DEC, NULL, TOGGLE, NULL, HFILL}},
|
|
|
|
{&hf_uavcan_transfer_id,
|
|
|
|
{"Transfer-ID", "uavcan_can.transfer_id",
|
|
|
|
FT_UINT8, BASE_DEC, NULL, TRANSFER_ID, NULL, HFILL}},
|
|
|
|
{&hf_uavcan_fragments,
|
|
|
|
{"Message fragments", "uavcan_can.multiframe.fragments",
|
|
|
|
FT_NONE, BASE_NONE, NULL, 0x00,
|
|
|
|
NULL, HFILL}},
|
|
|
|
{&hf_uavcan_fragment,
|
|
|
|
{"Message fragment", "uavcan_can.multiframe.fragment",
|
|
|
|
FT_FRAMENUM, BASE_NONE, NULL, 0x00,
|
|
|
|
NULL, HFILL}},
|
|
|
|
{&hf_uavcan_fragment_overlap,
|
|
|
|
{"Message fragment overlap",
|
|
|
|
"uavcan_can.multiframe.fragment.overlap",
|
|
|
|
FT_BOOLEAN, BASE_NONE, NULL, 0x00,
|
|
|
|
NULL, HFILL}},
|
|
|
|
{&hf_uavcan_fragment_overlap_conflicts,
|
|
|
|
{"Message fragment overlapping with conflicting data",
|
|
|
|
"uavcan_can.multiframe.fragment.overlap.conflicts",
|
|
|
|
FT_BOOLEAN, BASE_NONE, NULL, 0x00,
|
|
|
|
NULL, HFILL}},
|
|
|
|
{&hf_uavcan_fragment_multiple_tails,
|
|
|
|
{"Message has multiple tail fragments",
|
|
|
|
"uavcan_can.multiframe.fragment.multiple_tails",
|
|
|
|
FT_BOOLEAN, BASE_NONE, NULL, 0x00,
|
|
|
|
NULL, HFILL}},
|
|
|
|
{&hf_uavcan_fragment_too_long_fragment,
|
|
|
|
{"Message fragment too long",
|
|
|
|
"uavcan_can.multiframe.fragment.too_long_fragment",
|
|
|
|
FT_BOOLEAN, BASE_NONE, NULL, 0x00,
|
|
|
|
NULL, HFILL}},
|
|
|
|
{&hf_uavcan_fragment_error,
|
|
|
|
{"Message defragmentation error",
|
|
|
|
"uavcan_can.multiframe.fragment.error",
|
|
|
|
FT_FRAMENUM, BASE_NONE, NULL, 0x00,
|
|
|
|
NULL, HFILL}},
|
|
|
|
{&hf_uavcan_fragment_count,
|
|
|
|
{"Message fragment count", "uavcan_can.fragment.count",
|
|
|
|
FT_UINT32, BASE_DEC, NULL, 0x00,
|
|
|
|
NULL, HFILL}},
|
|
|
|
{&hf_uavcan_reassembled_in,
|
|
|
|
{"Reassembled in",
|
|
|
|
"uavcan_can.multiframe.reassembled.in",
|
|
|
|
FT_FRAMENUM, BASE_NONE, NULL, 0x00,
|
|
|
|
NULL, HFILL}},
|
|
|
|
{&hf_uavcan_reassembled_length,
|
|
|
|
{"Reassembled payload length",
|
|
|
|
"uavcan_can.multiframe.reassembled.length",
|
|
|
|
FT_UINT32, BASE_DEC, NULL, 0x00,
|
|
|
|
NULL, HFILL}},
|
|
|
|
{&hf_uavcan_packet_crc,
|
|
|
|
{"Transfer CRC", "uavcan_can.multiframe.crc",
|
|
|
|
FT_UINT16, BASE_HEX, NULL, 0x0, NULL, HFILL}}
|
|
|
|
};
|
|
|
|
|
|
|
|
static gint *ett[] = {
|
|
|
|
&ett_uavcan,
|
|
|
|
&ett_uavcan_can,
|
|
|
|
&ett_uavcan_message,
|
|
|
|
&ett_uavcan_fragment,
|
|
|
|
&ett_uavcan_fragments
|
|
|
|
};
|
|
|
|
|
|
|
|
reassembly_table_register(&uavcan_reassembly_table,
|
|
|
|
&addresses_reassembly_table_functions);
|
|
|
|
fragment_info_table = wmem_tree_new_autoreset(wmem_epan_scope(), wmem_file_scope());
|
|
|
|
|
|
|
|
|
|
|
|
expert_module_t *expert_uavcan;
|
|
|
|
|
|
|
|
proto_uavcan = proto_register_protocol("UAVCAN/CAN", "UAVCAN/CAN", "uavcan_can");
|
|
|
|
|
|
|
|
|
|
|
|
static ei_register_info ei[] = {
|
|
|
|
{&ei_uavcan_toggle_bit_error,
|
|
|
|
{"uavcan_can.toggle_bit.error", PI_MALFORMED, PI_ERROR,
|
|
|
|
"Toggle bit error",
|
|
|
|
EXPFILL}},
|
|
|
|
{&ei_uavcan_transfer_crc_error,
|
|
|
|
{"uavcan_can.transfer_crc.error", PI_MALFORMED, PI_ERROR,
|
|
|
|
"Transfer CRC don't match",
|
|
|
|
EXPFILL}}
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
|
|
proto_register_field_array(proto_uavcan, hf, array_length(hf));
|
|
|
|
proto_register_subtree_array(ett, array_length(ett));
|
|
|
|
|
|
|
|
expert_uavcan = expert_register_protocol(proto_uavcan);
|
|
|
|
expert_register_field_array(expert_uavcan, ei, array_length(ei));
|
|
|
|
|
|
|
|
uavcan_address_type = address_type_dissector_register("AT_UAVCAN", "UAVCAN Address",
|
|
|
|
UAVCAN_addr_to_str, UAVCAN_addr_str_len,
|
|
|
|
NULL, UAVCAN_col_filter_str,
|
|
|
|
UAVCAN_addr_len, NULL, NULL);
|
|
|
|
}
|
|
|
|
|
|
|
|
void
|
|
|
|
proto_reg_handoff_uavcan(void)
|
|
|
|
{
|
|
|
|
dissector_handle_t uavcan_handle;
|
|
|
|
|
|
|
|
uavcan_handle = create_dissector_handle(dissect_uavcan, proto_uavcan);
|
|
|
|
|
|
|
|
dsdl_message_handle = find_dissector_add_dependency("uavcan_dsdl.message", proto_uavcan);
|
|
|
|
dsdl_request_handle = find_dissector_add_dependency("uavcan_dsdl.request", proto_uavcan);
|
|
|
|
dsdl_response_handle = find_dissector_add_dependency("uavcan_dsdl.response", proto_uavcan);
|
|
|
|
|
|
|
|
dissector_add_for_decode_as("can.subdissector", uavcan_handle);
|
|
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
|
|
* Editor modelines - https://www.wireshark.org/tools/modelines.html
|
|
|
|
*
|
|
|
|
* Local variables:
|
|
|
|
* c-basic-offset: 4
|
|
|
|
* tab-width: 8
|
|
|
|
* indent-tabs-mode: nil
|
|
|
|
* End:
|
|
|
|
*
|
|
|
|
* vi: set shiftwidth=4 tabstop=8 expandtab:
|
|
|
|
* :indentSize=4:tabSize=8:noTabs=true:
|
|
|
|
*/
|