517 lines
20 KiB
C
517 lines
20 KiB
C
/* packet-opensafety.h
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*
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* openSAFETY is a machine-safety protocol, encapsulated in modern fieldbus
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* and industrial ethernet solutions.
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*
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* For more information see http://www.open-safety.org
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*
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* This header contains commonly used headers, which may be used by programs
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* utilizing the tap-interface of the dissector
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*
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* By Roland Knall <roland.knall@br-automation.com>
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* Copyright 2011-2015 Bernecker + Rainer Industrie-Elektronik Ges.m.b.H.
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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
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (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
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
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*/
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#ifndef _OPENSAFETY_HEADER_
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#define _OPENSAFETY_HEADER_
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#include <config.h>
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#include <epan/packet.h>
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#ifdef __cplusplus
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extern "C" {
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#endif /* __cplusplus */
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/* openSAFETY UDP Port */
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#ifndef OPENSAFETY_UDP_PORT
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#define OPENSAFETY_UDP_PORT 9877
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#endif
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/* SercosIII UDP Port */
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#ifndef OPENSAFETY_UDP_PORT_SIII
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#define OPENSAFETY_UDP_PORT_SIII 8755
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#endif
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#define OPENSAFETY_DEFAULT_DOMAIN 0x1
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/* openSAFETY CRC types */
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#define OPENSAFETY_CHECKSUM_CRC8 0x01
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#define OPENSAFETY_CHECKSUM_CRC16 0x02
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#define OPENSAFETY_CHECKSUM_CRC32 0x04
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#define OPENSAFETY_CHECKSUM_CRC16SLIM 0x08
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#define OPENSAFETY_CHECKSUM_INVALID 0xFF
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static const value_string opensafety_frame_crc_type[] = {
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{ OPENSAFETY_CHECKSUM_CRC8, "CRC8" },
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{ OPENSAFETY_CHECKSUM_CRC16, "CRC16" },
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{ OPENSAFETY_CHECKSUM_CRC32, "CRC32" },
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{ OPENSAFETY_CHECKSUM_CRC16SLIM, "CRC16 Slim" },
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{ 0, NULL }
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};
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/* openSAFETY Message Types */
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#define OPENSAFETY_SNMT_MESSAGE_TYPE 0xA0
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#define OPENSAFETY_SPDO_MESSAGE_TYPE 0xC0
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#define OPENSAFETY_SSDO_MESSAGE_TYPE 0xE0
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#define OPENSAFETY_SLIM_SSDO_MESSAGE_TYPE 0xE8
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/* We shift the values by 5, otherwise they won't get picked up by the
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* hf_field value dissection */
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static const value_string opensafety_msg_id_values[] = {
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{ OPENSAFETY_SNMT_MESSAGE_TYPE >> 5, "openSAFETY SNMT" },
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{ OPENSAFETY_SPDO_MESSAGE_TYPE >> 5, "openSAFETY SPDO" },
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{ OPENSAFETY_SSDO_MESSAGE_TYPE >> 5, "openSAFETY SSDO" },
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{ 0, NULL }
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};
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/* openSAFETY Message IDs */
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#define OPENSAFETY_MSG_SPDO_DATA_ONLY 0xC0
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#define OPENSAFETY_MSG_SPDO_DATA_WITH_TIME_REQUEST 0xC8
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#define OPENSAFETY_MSG_SPDO_DATA_WITH_TIME_RESPONSE 0xD0
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#define OPENSAFETY_MSG_SPDO_RESERVED 0xD8
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#define OPENSAFETY_MSG_SSDO_SERVICE_REQUEST 0xE0
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#define OPENSAFETY_MSG_SSDO_SERVICE_RESPONSE 0xE4
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#define OPENSAFETY_MSG_SSDO_SLIM_SERVICE_REQUEST 0xE8
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#define OPENSAFETY_MSG_SSDO_SLIM_SERVICE_RESPONSE 0xEC
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#define OPENSAFETY_MSG_SNMT_REQUEST_UDID 0xA0
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#define OPENSAFETY_MSG_SNMT_RESPONSE_UDID 0xA4
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#define OPENSAFETY_MSG_SNMT_ASSIGN_SADR 0xA8
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#define OPENSAFETY_MSG_SNMT_SADR_ASSIGNED 0xAC
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#define OPENSAFETY_MSG_SNMT_SERVICE_REQUEST 0xB0
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#define OPENSAFETY_MSG_SNMT_SERVICE_RESPONSE 0xB4
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#define OPENSAFETY_MSG_SNMT_SN_RESET_GUARDING_SCM 0xBC
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static const value_string opensafety_message_type_values[] = {
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{ OPENSAFETY_MSG_SPDO_DATA_ONLY, "SPDO Data only" },
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{ OPENSAFETY_MSG_SPDO_DATA_WITH_TIME_REQUEST, "SPDO Data with Time Request" },
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{ OPENSAFETY_MSG_SPDO_DATA_WITH_TIME_RESPONSE, "SPDO Data with Time Response" },
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{ OPENSAFETY_MSG_SPDO_RESERVED, "SPDO Reserved" },
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{ OPENSAFETY_MSG_SSDO_SERVICE_REQUEST, "SSDO Service Request" },
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{ OPENSAFETY_MSG_SSDO_SERVICE_RESPONSE, "SSDO Service Response" },
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{ OPENSAFETY_MSG_SSDO_SLIM_SERVICE_REQUEST, "SSDO Slim Service Request" },
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{ OPENSAFETY_MSG_SSDO_SLIM_SERVICE_RESPONSE, "SSDO Slim Service Response" },
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{ OPENSAFETY_MSG_SNMT_REQUEST_UDID, "SNMT Request UDID" },
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{ OPENSAFETY_MSG_SNMT_RESPONSE_UDID, "SNMT Response UDID" },
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{ OPENSAFETY_MSG_SNMT_ASSIGN_SADR, "SNMT Assign SADR" },
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{ OPENSAFETY_MSG_SNMT_SADR_ASSIGNED, "SNMT SADR Assigned" },
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{ OPENSAFETY_MSG_SNMT_SERVICE_REQUEST, "SNMT Service Request" },
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{ OPENSAFETY_MSG_SNMT_SERVICE_RESPONSE, "SNMT Service Response" },
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{ OPENSAFETY_MSG_SNMT_SN_RESET_GUARDING_SCM, "SNMT SN reset guarding SCM" },
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{0, NULL }
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};
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/* SNTM extended Services */
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#define OPENSAFETY_MSG_SNMT_EXT_SN_SET_TO_PRE_OP 0x00
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#define OPENSAFETY_MSG_SNMT_EXT_SN_SET_TO_OP 0x02
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#define OPENSAFETY_MSG_SNMT_EXT_SCM_SET_TO_STOP 0x04
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#define OPENSAFETY_MSG_SNMT_EXT_SCM_SET_TO_OP 0x06
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#define OPENSAFETY_MSG_SNMT_EXT_SCM_GUARD_SN 0x08
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#define OPENSAFETY_MSG_SNMT_EXT_ASSIGN_ADDITIONAL_SADR 0x0A
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#define OPENSAFETY_MSG_SNMT_EXT_SN_ACKNOWLEDGE 0x0C
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#define OPENSAFETY_MSG_SNMT_EXT_SN_ASSIGN_UDID_SCM 0x0E
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#define OPENSAFETY_MSG_SNMT_EXT_SN_STATUS_PRE_OP 0x01
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#define OPENSAFETY_MSG_SNMT_EXT_SN_STATUS_OP 0x03
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#define OPENSAFETY_MSG_SNMT_EXT_SN_ASSIGNED_ADDITIONAL_SADR 0x05
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#define OPENSAFETY_MSG_SNMT_EXT_SN_FAIL 0x07
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#define OPENSAFETY_MSG_SNMT_EXT_SN_BUSY 0x09
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#define OPENSAFETY_MSG_SNMT_EXT_SN_ASSIGNED_UDID_SCM 0x0F
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#define OPENSAFETY_MSG_SNMT_EXT_ASSIGN_INIT_CT 0x10
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#define OPENSAFETY_MSG_SNMT_EXT_ASSIGNED_INIT_CT 0x11
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static const value_string opensafety_message_service_type[] = {
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{ OPENSAFETY_MSG_SNMT_EXT_SN_SET_TO_PRE_OP, "SN set to pre Operational" },
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{ OPENSAFETY_MSG_SNMT_EXT_SN_SET_TO_OP, "SN set to Operational" },
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{ OPENSAFETY_MSG_SNMT_EXT_SCM_SET_TO_STOP, "SCM set to Stop" },
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{ OPENSAFETY_MSG_SNMT_EXT_SCM_SET_TO_OP, "SCM set to Operational" },
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{ OPENSAFETY_MSG_SNMT_EXT_SCM_GUARD_SN, "SCM guard SN" },
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{ OPENSAFETY_MSG_SNMT_EXT_ASSIGN_ADDITIONAL_SADR, "Assign additional SADR" },
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{ OPENSAFETY_MSG_SNMT_EXT_SN_ACKNOWLEDGE, "SN Acknowledge" },
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{ OPENSAFETY_MSG_SNMT_EXT_SN_ASSIGN_UDID_SCM, "SN assign UDID SCM" },
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{ OPENSAFETY_MSG_SNMT_EXT_SN_STATUS_PRE_OP, "SN status pre Operational" },
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{ OPENSAFETY_MSG_SNMT_EXT_SN_STATUS_OP, "SN status Operational" },
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{ OPENSAFETY_MSG_SNMT_EXT_SN_ASSIGNED_ADDITIONAL_SADR, "Assigned additional SADR" },
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{ OPENSAFETY_MSG_SNMT_EXT_SN_FAIL, "SN Fail" },
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{ OPENSAFETY_MSG_SNMT_EXT_SN_BUSY, "SN Busy" },
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{ OPENSAFETY_MSG_SNMT_EXT_SN_ASSIGNED_UDID_SCM, "SN assigned UDID SCM" },
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{ OPENSAFETY_MSG_SNMT_EXT_ASSIGN_INIT_CT, "Assign initial CT for SN" },
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{ OPENSAFETY_MSG_SNMT_EXT_ASSIGNED_INIT_CT, "Acknowledge initial CT for SN" },
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{ 0, NULL }
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};
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/* Values 6-255 are reserved for future use. They will be presented as "Reserved [%d]"
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* during dissection
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*/
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#define OPENSAFETY_ERROR_GROUP_APPLICATION 0x01
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#define OPENSAFETY_ERROR_GROUP_PARAMETER 0x02
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#define OPENSAFETY_ERROR_GROUP_VENDOR_SPECIFIC 0x03
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#define OPENSAFETY_ERROR_GROUP_OPENSAFETY_STACK 0x04
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#define OPENSAFETY_ERROR_GROUP_ADD_PARAMETER 0x05
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static const value_string opensafety_sn_fail_error_group[] = {
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{ OPENSAFETY_ERROR_GROUP_APPLICATION, "Application" },
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{ OPENSAFETY_ERROR_GROUP_PARAMETER, "Parameter" },
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{ OPENSAFETY_ERROR_GROUP_VENDOR_SPECIFIC, "Vendor specific" },
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{ OPENSAFETY_ERROR_GROUP_OPENSAFETY_STACK, "openSAFETY Stack" },
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{ OPENSAFETY_ERROR_GROUP_ADD_PARAMETER, "Additional parameter needed" },
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{ 0, NULL }
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};
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/* SSDO Access Command */
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#define OPENSAFETY_SSDO_SACMD_ACC 0x01
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#define OPENSAFETY_SSDO_SACMD_PRLD 0x02
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#define OPENSAFETY_SSDO_SACMD_ABRT 0x04
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#define OPENSAFETY_SSDO_SACMD_SEG 0x08
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#define OPENSAFETY_SSDO_SACMD_TGL 0x10
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#define OPENSAFETY_SSDO_SACMD_INI 0x20
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#define OPENSAFETY_SSDO_SACMD_ENSG 0x40
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#define OPENSAFETY_SSDO_SACMD_RES 0x80
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#define OPENSAFETY_SSDO_UPLOAD 0x00
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#define OPENSAFETY_SSDO_DOWNLOAD 0x01
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#define OPENSAFETY_MSG_SSDO_ABORT ( OPENSAFETY_SSDO_SACMD_ABRT )
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#define OPENSAFETY_MSG_SSDO_UPLOAD_SEGMENT_MIDDLE ( OPENSAFETY_SSDO_SACMD_SEG | OPENSAFETY_SSDO_UPLOAD )
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#define OPENSAFETY_MSG_SSDO_DOWNLOAD_SEGMENT_MIDDLE ( OPENSAFETY_SSDO_SACMD_SEG | OPENSAFETY_SSDO_DOWNLOAD )
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#define OPENSAFETY_MSG_SSDO_UPLOAD_SEGMENT_MID_PRELOAD ( OPENSAFETY_MSG_SSDO_UPLOAD_SEGMENT_MIDDLE | OPENSAFETY_SSDO_SACMD_PRLD )
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#define OPENSAFETY_MSG_SSDO_DOWNLOAD_SEGMENT_MID_PRELOAD ( OPENSAFETY_MSG_SSDO_DOWNLOAD_SEGMENT_MIDDLE | OPENSAFETY_SSDO_SACMD_PRLD )
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#define OPENSAFETY_MSG_SSDO_UPLOAD_INITIATE_EXPEDITED ( OPENSAFETY_SSDO_SACMD_INI | OPENSAFETY_SSDO_UPLOAD )
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#define OPENSAFETY_MSG_SSDO_DOWNLOAD_INITIATE_EXPEDITED ( OPENSAFETY_SSDO_SACMD_INI | OPENSAFETY_SSDO_DOWNLOAD )
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#define OPENSAFETY_MSG_SSDO_UPLOAD_INITIATE_EXP_PRELOAD ( OPENSAFETY_MSG_SSDO_UPLOAD_INITIATE_EXPEDITED | OPENSAFETY_SSDO_SACMD_PRLD )
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#define OPENSAFETY_MSG_SSDO_DOWNLOAD_INITIATE_EXP_PRELOAD ( OPENSAFETY_MSG_SSDO_DOWNLOAD_INITIATE_EXPEDITED | OPENSAFETY_SSDO_SACMD_PRLD )
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#define OPENSAFETY_MSG_SSDO_UPLOAD_INITIATE_SEGMENTED ( OPENSAFETY_SSDO_SACMD_INI | OPENSAFETY_SSDO_SACMD_SEG | OPENSAFETY_SSDO_UPLOAD )
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#define OPENSAFETY_MSG_SSDO_DOWNLOAD_INITIATE_SEGMENTED ( OPENSAFETY_SSDO_SACMD_INI | OPENSAFETY_SSDO_SACMD_SEG | OPENSAFETY_SSDO_DOWNLOAD )
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#define OPENSAFETY_MSG_SSDO_UPLOAD_INITIATE_SEG_PRELOAD ( OPENSAFETY_MSG_SSDO_UPLOAD_INITIATE_SEGMENTED | OPENSAFETY_SSDO_SACMD_PRLD )
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#define OPENSAFETY_MSG_SSDO_DOWNLOAD_INITIATE_SEG_PRELOAD ( OPENSAFETY_MSG_SSDO_DOWNLOAD_INITIATE_SEGMENTED | OPENSAFETY_SSDO_SACMD_PRLD )
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#define OPENSAFETY_MSG_SSDO_UPLOAD_SEGMENT_END ( OPENSAFETY_SSDO_SACMD_ENSG | OPENSAFETY_SSDO_SACMD_SEG | OPENSAFETY_SSDO_UPLOAD )
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#define OPENSAFETY_MSG_SSDO_DOWNLOAD_SEGMENT_END ( OPENSAFETY_SSDO_SACMD_ENSG | OPENSAFETY_SSDO_SACMD_SEG | OPENSAFETY_SSDO_DOWNLOAD )
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static const value_string opensafety_ssdo_sacmd_values[] = {
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{ OPENSAFETY_MSG_SSDO_DOWNLOAD_SEGMENT_END, "Download End Segment" },
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{ OPENSAFETY_MSG_SSDO_UPLOAD_SEGMENT_END, "Upload End Segment" },
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{ OPENSAFETY_MSG_SSDO_DOWNLOAD_INITIATE_EXPEDITED, "Download Expedited Initiate" },
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{ OPENSAFETY_MSG_SSDO_UPLOAD_INITIATE_SEGMENTED, "Upload Initiate Segmented" },
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{ OPENSAFETY_MSG_SSDO_DOWNLOAD_INITIATE_SEGMENTED, "Download Initiate Segmented" },
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{ OPENSAFETY_MSG_SSDO_UPLOAD_INITIATE_EXPEDITED, "Upload Expedited Initiate" },
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{ OPENSAFETY_MSG_SSDO_UPLOAD_INITIATE_EXP_PRELOAD, "Upload Expedited Initiate w.Preload" },
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{ OPENSAFETY_MSG_SSDO_DOWNLOAD_INITIATE_EXP_PRELOAD, "Download Initiate Segmented w.Preload" },
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{ OPENSAFETY_MSG_SSDO_UPLOAD_INITIATE_SEG_PRELOAD, "Upload Initiate Segmented w. Preload" },
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{ OPENSAFETY_MSG_SSDO_DOWNLOAD_INITIATE_SEG_PRELOAD, "Download Expedited Initiate w.Preload" },
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{ OPENSAFETY_MSG_SSDO_DOWNLOAD_SEGMENT_MIDDLE, "Download Middle Segment" },
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{ OPENSAFETY_MSG_SSDO_UPLOAD_SEGMENT_MIDDLE, "Upload Middle Segment" },
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{ OPENSAFETY_MSG_SSDO_DOWNLOAD_SEGMENT_MID_PRELOAD, "Download Middle Segment w. Preload" },
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{ OPENSAFETY_MSG_SSDO_UPLOAD_SEGMENT_MID_PRELOAD, "Upload Middle Segment w. Preload" },
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{ OPENSAFETY_MSG_SSDO_ABORT, "Abort" },
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{ 0, NULL }
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};
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static const true_false_string opensafety_sacmd_acc = { "Download", "Upload" };
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static const true_false_string opensafety_sacmd_abrt = { "Abort Transfer", "Successful Transfer" };
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static const true_false_string opensafety_sacmd_seg = { "Segmented Access", "Expedited Access" };
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static const true_false_string opensafety_sacmd_ini = { "Initiate", "No Initiate" };
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static const true_false_string opensafety_sacmd_ensg = { "No more segments", "More segments" };
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static const value_string opensafety_sod_idx_names[] = {
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/* SSDO dictionary names, only names that are in common use are presented */
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{ 0x100C0000, "Life Guarding" },
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{ 0x100C0001, "Guard Time" },
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{ 0x100C0002, "LifeTimeFactor" },
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{ 0x100D0000, "Number of Retries for Reset Guarding" },
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{ 0x10180000, "Device Vendor Information" },
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{ 0x10180001, "VendorID" },
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{ 0x10180002, "ProductCode" },
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{ 0x10180003, "RevisionNumber" },
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{ 0x10180004, "SerialNumber" },
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{ 0x10180005, "FirmWareChecksum" },
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{ 0x10180006, "Parameter Checksum" },
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{ 0x10180007, "Parameter Timestamp" },
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{ 0x10190000, "Unique Device ID" },
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{ 0x101A0000, "Parameter Download" },
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{ 0x101B0000, "SCM Parameters" },
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{ 0x12000000, "Common Communication Parameters" },
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{ 0x12000001, "Safety Domain Number" },
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{ 0x12000002, "SADR" },
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{ 0x12000003, "Consecutive Timebase" },
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{ 0x12000004, "UDID of SCM" },
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{ 0x14000000, "RxSPDO Communication Parameters" },
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{ 0x14000001, "SADR" },
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{ 0x14000002, "SCT" },
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{ 0x14000003, "Number of consecutive TReq" },
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{ 0x14000004, "Time delay TReq" },
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{ 0x14000005, "Time delay Sync" },
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{ 0x14000006, "Min TSync Propagation Delay" },
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{ 0x14000007, "Max TSync Propagation Delay" },
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{ 0x14000008, "Min SPDO Propagation Delay" },
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{ 0x14000009, "Max SPDO Propagation Delay" },
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{ 0x1400000A, "Best case TRes Delay" },
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{ 0x1400000B, "Time Request Cycle" },
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{ 0x1400000C, "TxSPDO No" },
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{ 0x18000000, "RxSPDO Mapping Parameters" },
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{ 0x1C000000, "TxSPDO Communication Parameters" },
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{ 0x1C000001, "SADR for broadcast" },
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{ 0x1C000002, "Refresh Prescale" },
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{ 0x1C000003, "Number of TRes" },
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{ 0x20000000, "Manufacturer Parameters" },
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{ 0x20010000, "Used Channels" },
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{ 0x21000000, "Safe Machine Options" },
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{ 0x21010000, "SDG CRC Configuration" },
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{ 0x21010001, "SDG CRC #1" },
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{ 0x21010002, "SDG CRC #2" },
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{ 0x21010003, "SDG CRC #3" },
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{ 0x21010004, "SDG CRC #4" },
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{ 0x21010005, "SDG CRC #5" },
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{ 0x21010006, "SDG CRC #6" },
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{ 0x21010007, "SDG CRC #7" },
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{ 0x21010008, "SDG CRC #8" },
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{ 0x21010009, "SDG CRC #9" },
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{ 0x2101000A, "SDG CRC #10" },
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{ 0x21120000, "Manufacturer - Module specific" },
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{ 0x21120002, "PDOmapRx" },
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{ 0x21120003, "PDOmapTx" },
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{ 0x21120004, "CycleTime min [us]" },
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{ 0x21120005, "CycleTime max [us]" },
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{ 0x21120006, "Used Channels (same as 0x2001)" },
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{ 0x21120007, "External Machine Options" },
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{ 0x21120008, "Parameter for SafeMC" },
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{ 0xC0000000, "TxSPDO Mapping Parameters" },
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{ 0xD0000000, "SCM Module Flags" },
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{ 0xD0000001, "BCM" },
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{ 0xD0000002, "Optional" },
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{ 0xD0000003, "Startup" },
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{ 0xD0000004, "EMOs" },
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{ 0xD0000005, "ext. Startup-Flags allowed" },
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{ 0xD0000006, "Remote-Ctrl allowed" },
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{ 0xD0000007, "Scans at startup" },
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{ 0xD0000008, "Not Present" },
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{ 0xD0000009, "Use Remanent Data" },
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{ 0xD000000A, "SCM-AR specific" },
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{ 0xD0100000, "Remanent Data" },
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{ 0xD0100001, "DINT" },
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{ 0xD0110000, "Remanent Data" },
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{ 0xD0110001, "DUINT" },
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{ 0, NULL }
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};
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static value_string_ext opensafety_sod_idx_names_ext = VALUE_STRING_EXT_INIT(opensafety_sod_idx_names);
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static const value_string opensafety_abort_codes[] = {
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/* SSDO abort codes */
|
|
{ 0x05030000, "Reserved" },
|
|
|
|
{ 0x05040000, "SSDO protocol timed out" },
|
|
{ 0x05040001, "Client/server Command ID not valid or unknown" },
|
|
{ 0x05040002, "Invalid block size" },
|
|
{ 0x05040003, "Invalid sequence number" },
|
|
{ 0x05040004, "Reserved" },
|
|
{ 0x05040005, "Out of memory" },
|
|
|
|
{ 0x06010000, "Unsupported access to an object" },
|
|
{ 0x06010001, "Attempt to read a write-only object" },
|
|
{ 0x06010002, "Attempt to write a read-only object" },
|
|
|
|
{ 0x06020000, "Object does not exist in the object dictionary" },
|
|
|
|
{ 0x06040041, "Object cannot be mapped to the SPDO" },
|
|
{ 0x06040042, "The number and length of the objects to be mapped would exceed SPDO length" },
|
|
{ 0x06040043, "General parameter incompatibility" },
|
|
{ 0x06040047, "General internal incompatibility in the device" },
|
|
|
|
{ 0x06060000, "Access failed due to a hardware error" },
|
|
|
|
{ 0x06070010, "Data type does not match, length of service parameter does not match" },
|
|
{ 0x06070012, "Data type does not match, length of service parameter too high" },
|
|
{ 0x06070013, "Data type does not match, length of service parameter too low" },
|
|
|
|
{ 0x06090011, "Sub-index does not exist" },
|
|
{ 0x06090030, "Value range o parameter exceeded (only for write access)" },
|
|
{ 0x06090031, "Value of parameter written too high" },
|
|
{ 0x06090032, "Value of parameter written too low" },
|
|
{ 0x06090036, "Maximum value is less than minimum value" },
|
|
|
|
{ 0x08000000, "General error" },
|
|
{ 0x08000020, "Data cannot be transferred or stored to the application" },
|
|
{ 0x08000021, "Data cannot be transferred or stored to the application because of local control" },
|
|
{ 0x08000022, "Data cannot be transferred or stored to the application because of the present device state" },
|
|
{ 0x08000023, "Data cannot be transferred or stored to the application because of the object data is not available now" },
|
|
|
|
{ 0, NULL }
|
|
};
|
|
static value_string_ext opensafety_abort_codes_ext = VALUE_STRING_EXT_INIT(opensafety_abort_codes);
|
|
|
|
static const true_false_string opensafety_message_direction = { "Response", "Request" };
|
|
static const true_false_string opensafety_spdo_direction = { "Producer", "Consumer" };
|
|
static const true_false_string opensafety_addparam_request = { "Header only", "Header & Data" };
|
|
|
|
typedef struct _opensafety_packet_spdo
|
|
{
|
|
guint16 timerequest;
|
|
|
|
gboolean conn_valid;
|
|
|
|
gboolean counter_40bit;
|
|
|
|
union {
|
|
guint16 b16;
|
|
guint64 b40;
|
|
} counter;
|
|
|
|
struct {
|
|
gboolean enabled40bit;
|
|
gboolean requested40bit;
|
|
} flags;
|
|
|
|
} opensafety_packet_spdo;
|
|
|
|
typedef struct _opensafety_packet_ssdo
|
|
{
|
|
gboolean is_slim;
|
|
|
|
struct {
|
|
gboolean end_segment;
|
|
gboolean initiate;
|
|
gboolean toggle;
|
|
gboolean segmented;
|
|
gboolean abort_transfer;
|
|
gboolean preload;
|
|
gboolean read_access;
|
|
} sacmd;
|
|
} opensafety_packet_ssdo;
|
|
|
|
typedef struct _opensafety_packet_snmt
|
|
{
|
|
guint8 ext_msg_id;
|
|
|
|
struct {
|
|
gboolean exists;
|
|
guint8 id;
|
|
guint8 set;
|
|
gboolean full;
|
|
} add_param;
|
|
|
|
struct {
|
|
guint16 actual;
|
|
guint16 additional;
|
|
} add_saddr;
|
|
|
|
guint64 init_ct;
|
|
|
|
gchar * scm_udid;
|
|
gchar * sn_udid;
|
|
|
|
guint8 error_code;
|
|
} opensafety_packet_snmt;
|
|
|
|
typedef struct _opensafety_packet_frame
|
|
{
|
|
gboolean malformed;
|
|
|
|
guint16 subframe1;
|
|
guint16 subframe2;
|
|
|
|
guint length;
|
|
|
|
guint16 byte_offset;
|
|
|
|
tvbuff_t *frame_tvb;
|
|
|
|
} opensafety_packet_frame;
|
|
|
|
typedef struct _opensafety_packet_crc
|
|
{
|
|
guint8 type;
|
|
|
|
guint16 frame1;
|
|
guint16 frame2;
|
|
|
|
gboolean valid1;
|
|
gboolean valid2;
|
|
} opensafety_packet_crc;
|
|
|
|
typedef struct _opensafety_packet_info
|
|
{
|
|
opensafety_packet_frame frame;
|
|
|
|
guint16 saddr;
|
|
guint16 sdn;
|
|
|
|
guint16 sender;
|
|
guint16 receiver;
|
|
|
|
gboolean is_request;
|
|
|
|
guint8 msg_id; /**< The exact transported message id */
|
|
guint8 msg_type; /**< Only represents the general type, e.g. SPDO, SSDO, Slim SSDO and SNMT */
|
|
guint8 msg_len;
|
|
guint frame_len;
|
|
|
|
guint8 scm_udid[6];
|
|
gboolean scm_udid_valid;
|
|
|
|
opensafety_packet_crc crc;
|
|
|
|
union {
|
|
opensafety_packet_snmt *snmt;
|
|
opensafety_packet_ssdo *ssdo;
|
|
opensafety_packet_spdo *spdo;
|
|
} payload;
|
|
|
|
} opensafety_packet_info;
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif /* __cplusplus */
|
|
|
|
#endif /* _OPENSAFETY_HEADER_ */
|
|
|
|
/*
|
|
* Editor modelines - http://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:
|
|
*/
|