/* packet-uavcan-can.c * Routines for dissection of UAVCAN/CAN * * Copyright 2020-2021 NXP * * Wireshark - Network traffic analyzer * By Gerald Combs * Copyright 1998 Gerald Combs * * SPDX-License-Identifier: GPL-2.0-or-later */ #include "config.h" #include #include #include #include #include #include #include #include #include #include "packet-socketcan.h" #include "packet-uavcan-dsdl.h" #define ANONYMOUS_FLAG 0x8000 #define BROADCAST_FLAG 0x4000 #define ADDR_MASK 0XFF #define START_OF_TRANSFER 0x80 #define END_OF_TRANSFER 0x40 #define TOGGLE 0x20 #define TRANSFER_ID 0x1F #define UAVCAN_SUBJECT_ID(can_id) ((can_id & 0x001FFF00) >> 8) #define UAVCAN_SERVICE_ID(can_id) ((can_id & 0x007FC000) >> 14) #define UAVCAN_DESTINATION_ID(can_id) ((can_id & 0x00003F80) >> 7) #define UAVCAN_SOURCE_ID(can_id) ((can_id & 0x0000007F)) #define UAVCAN_IS_SERVICE(can_id) ((can_id & 0x2000000) != 0) #define UAVCAN_IS_MESSAGE(can_id) ((can_id & 0x2000000) == 0) #define UAVCAN_IS_REQUEST(can_id) ((can_id & 0x01000000) != 0) #define UAVCAN_IS_RESPONSE(can_id) ((can_id & 0x01000000) == 0) #define UAVCAN_IS_ANONYMOUS(can_id) ((can_id & 0x01000000) != 0) struct uavcan_proto_data { guint32 seq_id; gboolean toggle_error; }; void proto_register_uavcan(void); void proto_reg_handoff_uavcan(void); static int proto_uavcan = -1; static int hf_uavcan_can_id = -1; static int hf_uavcan_priority = -1; static int hf_uavcan_anonymous = -1; static int hf_uavcan_req_not_rsp = -1; static int hf_uavcan_serv_not_msg = -1; static int hf_uavcan_subject_id = -1; static int hf_uavcan_service_id = -1; static int hf_uavcan_dst_addr = -1; static int hf_uavcan_src_addr = -1; static int hf_uavcan_data = -1; static int hf_uavcan_start_of_transfer = -1; static int hf_uavcan_end_of_transfer = -1; static int hf_uavcan_toggle = -1; static int hf_uavcan_transfer_id = -1; static int uavcan_address_type = -1; static wmem_tree_t *fragment_info_table = NULL; static reassembly_table uavcan_reassembly_table; static int hf_uavcan_packet_crc = -1; static gint ett_uavcan = -1; static gint ett_uavcan_can = -1; static gint ett_uavcan_message = -1; static expert_field ei_uavcan_toggle_bit_error = EI_INIT; static expert_field ei_uavcan_transfer_crc_error = EI_INIT; static gint ett_uavcan_fragment = -1; static gint ett_uavcan_fragments = -1; static int hf_uavcan_fragments = -1; static int hf_uavcan_fragment = -1; static int hf_uavcan_fragment_overlap = -1; static int hf_uavcan_fragment_overlap_conflicts = -1; static int hf_uavcan_fragment_multiple_tails = -1; static int hf_uavcan_fragment_too_long_fragment = -1; static int hf_uavcan_fragment_error = -1; static int hf_uavcan_fragment_count = -1; static int hf_uavcan_reassembled_in = -1; static int hf_uavcan_reassembled_length = -1; /* fragment struct to store packet assembly data */ typedef struct _fragment_info_t { gint toggle; gint fragment_id; guint32 seq_id; } fragment_info_t; guint32 uavcan_seq_id = 0; static const fragment_items uavcan_frag_items = { /* Fragment subtrees */ &ett_uavcan_fragment, &ett_uavcan_fragments, /* Fragment fields */ &hf_uavcan_fragments, &hf_uavcan_fragment, &hf_uavcan_fragment_overlap, &hf_uavcan_fragment_overlap_conflicts, &hf_uavcan_fragment_multiple_tails, &hf_uavcan_fragment_too_long_fragment, &hf_uavcan_fragment_error, &hf_uavcan_fragment_count, /* Reassembled in field */ &hf_uavcan_reassembled_in, /* Reassembled length field */ &hf_uavcan_reassembled_length, /* Reassembled data field */ NULL, /* Tag */ "Message fragments" }; static dissector_handle_t dsdl_message_handle; static dissector_handle_t dsdl_request_handle; static dissector_handle_t dsdl_response_handle; static const value_string uavcan_priority_vals[] = { { 0, "Exceptional" }, { 1, "Immediate" }, { 2, "Fast" }, { 3, "High" }, { 4, "Nominal" }, { 5, "Low" }, { 6, "Slow" }, { 7, "Optional" }, { 0, NULL } }; static int dissect_uavcan(tvbuff_t *tvb, packet_info *pinfo, proto_tree *tree, void *data) { proto_item *ti, *toggle, *transfer_crc; proto_tree *uavcan_tree, *can_id_tree, *can_data_tree, *dsdl_tree; gint offset = 0; struct can_info can_info; guint16 *src_addr, *dest_addr; guint8 tail_byte; fragment_info_t *fragment_info = NULL; guint reported_length; guint32 lookup_id = 0; /* Semi-unique lookup id for reassembly lookup table note transfer-ID rolls-over every 32 times */ reported_length = tvb_reported_length(tvb); DISSECTOR_ASSERT(data); can_info = *((struct can_info *) data); tail_byte = tvb_get_guint8(tvb, reported_length - 1); if ((can_info.id & CAN_ERR_FLAG) || !(can_info.id & CAN_EFF_FLAG)) { /* Error frames and frames with standards ids are not for us */ return 0; } if ((tail_byte & (START_OF_TRANSFER | TOGGLE)) == (START_OF_TRANSFER)) { /* UAVCAN v0 Frame */ return 0; } if ((tail_byte & (START_OF_TRANSFER | END_OF_TRANSFER)) != (START_OF_TRANSFER | END_OF_TRANSFER)) { /* Multi-frame */ if (UAVCAN_IS_MESSAGE(can_info.id)) { /* Message */ lookup_id = 0; // Bit 0 false indicates message lookup_id |= UAVCAN_SUBJECT_ID(can_info.id) << 1; lookup_id |= UAVCAN_SOURCE_ID(can_info.id) << 11; lookup_id |= (tail_byte & TRANSFER_ID) << 18; } else { /* Service */ lookup_id = 1; // Bit 0 true indicates service lookup_id |= ((can_info.id & 0x01000000) >> 24) << 1; lookup_id |= UAVCAN_SERVICE_ID(can_info.id) << 2; lookup_id |= UAVCAN_DESTINATION_ID(can_info.id) << 11; lookup_id |= UAVCAN_SOURCE_ID(can_info.id) << 18; lookup_id |= (tail_byte & TRANSFER_ID) << 25; } fragment_info = (fragment_info_t *) wmem_tree_lookup32(fragment_info_table, lookup_id); if (!(tail_byte & START_OF_TRANSFER) && fragment_info == NULL) { /* Lookup id doesn't exist, but not a start of transfer discard potentially a UAVCANv0 frame */ return 0; } } col_set_str(pinfo->cinfo, COL_PROTOCOL, "UAVCAN/CAN"); col_clear(pinfo->cinfo, COL_INFO); ti = proto_tree_add_item(tree, proto_uavcan, tvb, offset, reported_length, ENC_NA); uavcan_tree = proto_item_add_subtree(ti, ett_uavcan); can_id_tree = proto_tree_add_subtree_format(uavcan_tree, tvb, 0, 0, ett_uavcan_can, &ti, "CAN ID field: 0x%08x", can_info.id); proto_item_set_generated(ti); ti = proto_tree_add_uint(can_id_tree, hf_uavcan_can_id, tvb, 0, 0, can_info.id); proto_item_set_generated(ti); /* Dissect UAVCAN/CAN Message frame */ if (UAVCAN_IS_MESSAGE(can_info.id)) { ti = proto_tree_add_uint(can_id_tree, hf_uavcan_priority, tvb, 0, 0, can_info.id); proto_item_set_generated(ti); ti = proto_tree_add_uint(can_id_tree, hf_uavcan_serv_not_msg, tvb, 0, 0, can_info.id); proto_item_set_generated(ti); ti = proto_tree_add_uint(can_id_tree, hf_uavcan_anonymous, tvb, 0, 0, can_info.id); proto_item_set_generated(ti); ti = proto_tree_add_uint(can_id_tree, hf_uavcan_subject_id, tvb, 0, 0, can_info.id); proto_item_set_generated(ti); ti = proto_tree_add_uint(can_id_tree, hf_uavcan_src_addr, tvb, 0, 0, can_info.id); proto_item_set_generated(ti); /* Set source address */ src_addr = wmem_new(pinfo->pool, guint16); *src_addr = (guint16) UAVCAN_SOURCE_ID(can_info.id); if (UAVCAN_IS_ANONYMOUS(can_info.id)) { *src_addr |= ANONYMOUS_FLAG; } set_address(&pinfo->src, uavcan_address_type, 2, (const void *) src_addr); /* Fill in "destination" address even if its "broadcast" */ dest_addr = wmem_new(pinfo->pool, guint16); *dest_addr = BROADCAST_FLAG; set_address(&pinfo->dst, uavcan_address_type, 2, (const void *) dest_addr); col_add_fstr(pinfo->cinfo, COL_INFO, "Message: %d (%s)", UAVCAN_SUBJECT_ID(can_info.id), rval_to_str_const(UAVCAN_SUBJECT_ID(can_info.id), uavcan_subject_id_vals, "Reserved")); } else { /* UAVCAN/CAN Service frame */ ti = proto_tree_add_uint(can_id_tree, hf_uavcan_priority, tvb, 0, 0, can_info.id); proto_item_set_generated(ti); ti = proto_tree_add_uint(can_id_tree, hf_uavcan_serv_not_msg, tvb, 0, 0, can_info.id); proto_item_set_generated(ti); ti = proto_tree_add_uint(can_id_tree, hf_uavcan_req_not_rsp, tvb, 0, 0, can_info.id); proto_item_set_generated(ti); ti = proto_tree_add_uint(can_id_tree, hf_uavcan_service_id, tvb, 0, 0, can_info.id); proto_item_set_generated(ti); ti = proto_tree_add_uint(can_id_tree, hf_uavcan_dst_addr, tvb, 0, 0, can_info.id); proto_item_set_generated(ti); ti = proto_tree_add_uint(can_id_tree, hf_uavcan_src_addr, tvb, 0, 0, can_info.id); proto_item_set_generated(ti); /* Set source address */ src_addr = wmem_new(pinfo->pool, guint16); *src_addr = (guint16) UAVCAN_SOURCE_ID(can_info.id); set_address(&pinfo->src, uavcan_address_type, 2, (const void *) src_addr); dest_addr = wmem_new(pinfo->pool, guint16); *dest_addr = (guint16) UAVCAN_DESTINATION_ID(can_info.id); set_address(&pinfo->dst, uavcan_address_type, 2, (const void *) dest_addr); if (UAVCAN_IS_RESPONSE(can_info.id)) { col_add_fstr(pinfo->cinfo, COL_INFO, "Service response: %d (%s)", UAVCAN_SERVICE_ID(can_info.id), rval_to_str_const(UAVCAN_SERVICE_ID(can_info.id), uavcan_service_id_vals, "Reserved")); } else { col_add_fstr(pinfo->cinfo, COL_INFO, "Service request: %d (%s)", UAVCAN_SERVICE_ID(can_info.id), rval_to_str_const(UAVCAN_SERVICE_ID(can_info.id), uavcan_service_id_vals, "Reserved")); } } can_data_tree = proto_tree_add_subtree(uavcan_tree, tvb, 0, -1, ett_uavcan_message, NULL, "CAN data field"); proto_tree_add_item(can_data_tree, hf_uavcan_start_of_transfer, tvb, reported_length - 1, 1, ENC_NA); proto_tree_add_item(can_data_tree, hf_uavcan_end_of_transfer, tvb, reported_length - 1, 1, ENC_NA); toggle = proto_tree_add_item(can_data_tree, hf_uavcan_toggle, tvb, reported_length - 1, 1, ENC_NA); proto_tree_add_item(can_data_tree, hf_uavcan_transfer_id, tvb, reported_length - 1, 1, ENC_NA); proto_tree_add_item(can_data_tree, hf_uavcan_data, tvb, 0, reported_length - 1, ENC_NA); if ((tail_byte & (START_OF_TRANSFER | END_OF_TRANSFER)) == (START_OF_TRANSFER | END_OF_TRANSFER)) { /* Single frame */ dsdl_tree = proto_tree_add_subtree(uavcan_tree, tvb, 0, tvb_reported_length( tvb) - 1, ett_uavcan_message, NULL, ""); 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) snprintf(buf, buf_len, "Anonymous"); } else if ((*addrdata & BROADCAST_FLAG) != 0) { return (int) 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: */