epan/dissectors/packet-opensafety.h

   1 /* packet-opensafety.h
   2  *
   3  *   openSAFETY is a machine-safety protocol, encapsulated in modern fieldbus
   4  *   and industrial ethernet solutions.
   5  *
   6  *   For more information see http://www.open-safety.org
   7  *
   8  *   This header contains commonly used headers, which may be used by programs
   9  *   utilizing the tap-interface of the dissector
  10  *
  11  * By Roland Knall <roland.knall@br-automation.com>
  12  * Copyright 2011-2015 Bernecker + Rainer Industrie-Elektronik Ges.m.b.H.
  13  *
  14  * Wireshark - Network traffic analyzer
  15  * By Gerald Combs <gerald@wireshark.org>
  16  * Copyright 1998 Gerald Combs
  17  *
  18  * SPDX-License-Identifier: GPL-2.0-or-later
  19  */
  20
  21 #ifndef _OPENSAFETY_HEADER_
  22 #define _OPENSAFETY_HEADER_
  23
  24 #include <epan/tfs.h>
  25
  26 #ifdef __cplusplus
  27 extern "C" {
  28 #endif /* __cplusplus */
  29
  30 /* openSAFETY UDP Port */
  31 #ifndef OPENSAFETY_UDP_PORT
  32 #define OPENSAFETY_UDP_PORT   9877
  33 #endif
  34
  35 /* SercosIII UDP Port */
  36 #ifndef OPENSAFETY_UDP_PORT_SIII
  37 #define OPENSAFETY_UDP_PORT_SIII         8755
  38 #endif
  39
  40 #define OPENSAFETY_DEFAULT_DOMAIN       0x1
  41
  42 /* openSAFETY CRC types */
  43 #define OPENSAFETY_CHECKSUM_CRC8        0x01
  44 #define OPENSAFETY_CHECKSUM_CRC16       0x02
  45 #define OPENSAFETY_CHECKSUM_CRC32       0x04
  46 #define OPENSAFETY_CHECKSUM_CRC16SLIM   0x08
  47 #define OPENSAFETY_CHECKSUM_INVALID     0xFF
  48
  49 static const value_string opensafety_frame_crc_type[] = {
  50     { OPENSAFETY_CHECKSUM_CRC8,         "CRC8" },
  51     { OPENSAFETY_CHECKSUM_CRC16,        "CRC16" },
  52     { OPENSAFETY_CHECKSUM_CRC32,        "CRC32" },
  53     { OPENSAFETY_CHECKSUM_CRC16SLIM,    "CRC16 Slim" },
  54     { 0, NULL }
  55 };
  56
  57 /* openSAFETY Message Types */
  58 #define OPENSAFETY_SNMT_MESSAGE_TYPE      0xA0
  59 #define OPENSAFETY_SPDO_MESSAGE_TYPE      0xC0
  60 #define OPENSAFETY_SSDO_MESSAGE_TYPE      0xE0
  61 #define OPENSAFETY_SLIM_SSDO_MESSAGE_TYPE 0xE8
  62
  63 /* We shift the values by 5, otherwise they won't get picked up by the
  64  * hf_field value dissection */
  65 static const value_string opensafety_msg_id_values[] = {
  66     { OPENSAFETY_SNMT_MESSAGE_TYPE >> 5,      "openSAFETY SNMT" },
  67     { OPENSAFETY_SPDO_MESSAGE_TYPE >> 5,      "openSAFETY SPDO" },
  68     { OPENSAFETY_SSDO_MESSAGE_TYPE >> 5,      "openSAFETY SSDO" },
  69     { 0, NULL }
  70 };
  71
  72 /* openSAFETY Message IDs */
  73 #define OPENSAFETY_MSG_SPDO_DATA_ONLY               0xC0
  74 #define OPENSAFETY_MSG_SPDO_DATA_WITH_TIME_REQUEST  0xC8
  75 #define OPENSAFETY_MSG_SPDO_DATA_WITH_TIME_RESPONSE 0xD0
  76 #define OPENSAFETY_MSG_SPDO_RESERVED                0xD8
  77
  78 #define OPENSAFETY_MSG_SSDO_SERVICE_REQUEST         0xE0
  79 #define OPENSAFETY_MSG_SSDO_SERVICE_RESPONSE        0xE4
  80 #define OPENSAFETY_MSG_SSDO_SLIM_SERVICE_REQUEST    0xE8
  81 #define OPENSAFETY_MSG_SSDO_SLIM_SERVICE_RESPONSE   0xEC
  82
  83 #define OPENSAFETY_MSG_SNMT_REQUEST_UDID            0xA0
  84 #define OPENSAFETY_MSG_SNMT_RESPONSE_UDID           0xA4
  85 #define OPENSAFETY_MSG_SNMT_ASSIGN_SADR             0xA8
  86 #define OPENSAFETY_MSG_SNMT_SADR_ASSIGNED           0xAC
  87 #define OPENSAFETY_MSG_SNMT_SERVICE_REQUEST         0xB0
  88 #define OPENSAFETY_MSG_SNMT_SERVICE_RESPONSE        0xB4
  89 #define OPENSAFETY_MSG_SNMT_SN_RESET_GUARDING_SCM   0xBC
  90
  91 static const value_string opensafety_message_type_values[] = {
  92     { OPENSAFETY_MSG_SPDO_DATA_ONLY,               "SPDO Data only" },
  93     { OPENSAFETY_MSG_SPDO_DATA_WITH_TIME_REQUEST,  "SPDO Data with Time Request" },
  94     { OPENSAFETY_MSG_SPDO_DATA_WITH_TIME_RESPONSE, "SPDO Data with Time Response" },
  95     { OPENSAFETY_MSG_SPDO_RESERVED,                "SPDO Reserved" },
  96
  97     { OPENSAFETY_MSG_SSDO_SERVICE_REQUEST,         "SSDO Service Request" },
  98     { OPENSAFETY_MSG_SSDO_SERVICE_RESPONSE,        "SSDO Service Response" },
  99     { OPENSAFETY_MSG_SSDO_SLIM_SERVICE_REQUEST,    "SSDO Slim Service Request" },
 100     { OPENSAFETY_MSG_SSDO_SLIM_SERVICE_RESPONSE,   "SSDO Slim Service Response" },
 101
 102     { OPENSAFETY_MSG_SNMT_REQUEST_UDID,            "SNMT Request UDID" },
 103     { OPENSAFETY_MSG_SNMT_RESPONSE_UDID,           "SNMT Response UDID" },
 104     { OPENSAFETY_MSG_SNMT_ASSIGN_SADR,             "SNMT Assign SADR" },
 105     { OPENSAFETY_MSG_SNMT_SADR_ASSIGNED,           "SNMT SADR Assigned" },
 106     { OPENSAFETY_MSG_SNMT_SERVICE_REQUEST,         "SNMT Service Request" },
 107     { OPENSAFETY_MSG_SNMT_SERVICE_RESPONSE,        "SNMT Service Response" },
 108     { OPENSAFETY_MSG_SNMT_SN_RESET_GUARDING_SCM,   "SNMT SN reset guarding SCM" },
 109     {0, NULL }
 110 };
 111
 112 /* SNTM extended Services */
 113 #define OPENSAFETY_MSG_SNMT_EXT_SN_SET_TO_PRE_OP            0x00
 114 #define OPENSAFETY_MSG_SNMT_EXT_SN_SET_TO_OP                0x02
 115 #define OPENSAFETY_MSG_SNMT_EXT_SCM_SET_TO_STOP             0x04
 116 #define OPENSAFETY_MSG_SNMT_EXT_SCM_SET_TO_OP               0x06
 117 #define OPENSAFETY_MSG_SNMT_EXT_SCM_GUARD_SN                0x08
 118 #define OPENSAFETY_MSG_SNMT_EXT_ASSIGN_ADDITIONAL_SADR      0x0A
 119 #define OPENSAFETY_MSG_SNMT_EXT_SN_ACKNOWLEDGE              0x0C
 120 #define OPENSAFETY_MSG_SNMT_EXT_SN_ASSIGN_UDID_SCM          0x0E
 121 #define OPENSAFETY_MSG_SNMT_EXT_SN_STATUS_PRE_OP            0x01
 122 #define OPENSAFETY_MSG_SNMT_EXT_SN_STATUS_OP                0x03
 123 #define OPENSAFETY_MSG_SNMT_EXT_SN_ASSIGNED_ADDITIONAL_SADR 0x05
 124 #define OPENSAFETY_MSG_SNMT_EXT_SN_FAIL                     0x07
 125 #define OPENSAFETY_MSG_SNMT_EXT_SN_BUSY                     0x09
 126 #define OPENSAFETY_MSG_SNMT_EXT_SN_ASSIGNED_UDID_SCM        0x0F
 127 #define OPENSAFETY_MSG_SNMT_EXT_ASSIGN_INIT_CT              0x10
 128 #define OPENSAFETY_MSG_SNMT_EXT_ASSIGNED_INIT_CT            0x11
 129
 130 static const value_string opensafety_message_service_type[] = {
 131     { OPENSAFETY_MSG_SNMT_EXT_SN_SET_TO_PRE_OP,            "SN set to pre Operational" },
 132     { OPENSAFETY_MSG_SNMT_EXT_SN_SET_TO_OP,                "SN set to Operational" },
 133     { OPENSAFETY_MSG_SNMT_EXT_SCM_SET_TO_STOP,             "SCM set to Stop" },
 134     { OPENSAFETY_MSG_SNMT_EXT_SCM_SET_TO_OP,               "SCM set to Operational" },
 135     { OPENSAFETY_MSG_SNMT_EXT_SCM_GUARD_SN,                "SCM guard SN" },
 136     { OPENSAFETY_MSG_SNMT_EXT_ASSIGN_ADDITIONAL_SADR,      "Assign additional SADR" },
 137     { OPENSAFETY_MSG_SNMT_EXT_SN_ACKNOWLEDGE,              "SN Acknowledge" },
 138     { OPENSAFETY_MSG_SNMT_EXT_SN_ASSIGN_UDID_SCM,          "SN assign UDID SCM" },
 139     { OPENSAFETY_MSG_SNMT_EXT_SN_STATUS_PRE_OP,            "SN status pre Operational" },
 140     { OPENSAFETY_MSG_SNMT_EXT_SN_STATUS_OP,                "SN status Operational" },
 141     { OPENSAFETY_MSG_SNMT_EXT_SN_ASSIGNED_ADDITIONAL_SADR, "Assigned additional SADR" },
 142     { OPENSAFETY_MSG_SNMT_EXT_SN_FAIL,                     "SN Fail" },
 143     { OPENSAFETY_MSG_SNMT_EXT_SN_BUSY,                     "SN Busy" },
 144     { OPENSAFETY_MSG_SNMT_EXT_SN_ASSIGNED_UDID_SCM,        "SN assigned UDID SCM" },
 145     { OPENSAFETY_MSG_SNMT_EXT_ASSIGN_INIT_CT,              "Assign initial CT for SN" },
 146     { OPENSAFETY_MSG_SNMT_EXT_ASSIGNED_INIT_CT,            "Acknowledge initial CT for SN" },
 147     { 0, NULL }
 148 };
 149
 150 /* Values 6-255 are reserved for future use. They will be presented as "Reserved [%d]"
 151  * during dissection
 152  */
 153 #define OPENSAFETY_ERROR_GROUP_APPLICATION                  0x01
 154 #define OPENSAFETY_ERROR_GROUP_PARAMETER                    0x02
 155 #define OPENSAFETY_ERROR_GROUP_VENDOR_SPECIFIC              0x03
 156 #define OPENSAFETY_ERROR_GROUP_OPENSAFETY_STACK             0x04
 157 #define OPENSAFETY_ERROR_GROUP_ADD_PARAMETER                0x05
 158
 159 static const value_string opensafety_sn_fail_error_group[] = {
 160     { OPENSAFETY_ERROR_GROUP_APPLICATION,      "Application" },
 161     { OPENSAFETY_ERROR_GROUP_PARAMETER,        "Parameter" },
 162     { OPENSAFETY_ERROR_GROUP_VENDOR_SPECIFIC,  "Vendor specific" },
 163     { OPENSAFETY_ERROR_GROUP_OPENSAFETY_STACK, "openSAFETY Stack" },
 164     { OPENSAFETY_ERROR_GROUP_ADD_PARAMETER,    "Additional parameter needed" },
 165     { 0, NULL }
 166 };
 167
 168 /* SSDO Access Command */
 169
 170 #define OPENSAFETY_SSDO_SACMD_ACC  0x01
 171 #define OPENSAFETY_SSDO_SACMD_PRLD 0x02
 172 #define OPENSAFETY_SSDO_SACMD_ABRT 0x04
 173 #define OPENSAFETY_SSDO_SACMD_SEG  0x08
 174 #define OPENSAFETY_SSDO_SACMD_TGL  0x10
 175 #define OPENSAFETY_SSDO_SACMD_INI  0x20
 176 #define OPENSAFETY_SSDO_SACMD_ENSG 0x40
 177 #define OPENSAFETY_SSDO_SACMD_RES  0x80
 178
 179 #define OPENSAFETY_SSDO_UPLOAD     0x00
 180 #define OPENSAFETY_SSDO_DOWNLOAD   0x01
 181
 182 #define OPENSAFETY_MSG_SSDO_ABORT                           ( OPENSAFETY_SSDO_SACMD_ABRT )
 183 #define OPENSAFETY_MSG_SSDO_UPLOAD_SEGMENT_MIDDLE           ( OPENSAFETY_SSDO_SACMD_SEG | OPENSAFETY_SSDO_UPLOAD )
 184 #define OPENSAFETY_MSG_SSDO_DOWNLOAD_SEGMENT_MIDDLE         ( OPENSAFETY_SSDO_SACMD_SEG | OPENSAFETY_SSDO_DOWNLOAD )
 185 #define OPENSAFETY_MSG_SSDO_UPLOAD_SEGMENT_MID_PRELOAD      ( OPENSAFETY_MSG_SSDO_UPLOAD_SEGMENT_MIDDLE | OPENSAFETY_SSDO_SACMD_PRLD )
 186 #define OPENSAFETY_MSG_SSDO_DOWNLOAD_SEGMENT_MID_PRELOAD    ( OPENSAFETY_MSG_SSDO_DOWNLOAD_SEGMENT_MIDDLE | OPENSAFETY_SSDO_SACMD_PRLD )
 187 #define OPENSAFETY_MSG_SSDO_UPLOAD_INITIATE_EXPEDITED       ( OPENSAFETY_SSDO_SACMD_INI | OPENSAFETY_SSDO_UPLOAD )
 188 #define OPENSAFETY_MSG_SSDO_DOWNLOAD_INITIATE_EXPEDITED     ( OPENSAFETY_SSDO_SACMD_INI | OPENSAFETY_SSDO_DOWNLOAD )
 189 #define OPENSAFETY_MSG_SSDO_UPLOAD_INITIATE_EXP_PRELOAD     ( OPENSAFETY_MSG_SSDO_UPLOAD_INITIATE_EXPEDITED | OPENSAFETY_SSDO_SACMD_PRLD )
 190 #define OPENSAFETY_MSG_SSDO_DOWNLOAD_INITIATE_EXP_PRELOAD   ( OPENSAFETY_MSG_SSDO_DOWNLOAD_INITIATE_EXPEDITED | OPENSAFETY_SSDO_SACMD_PRLD )
 191 #define OPENSAFETY_MSG_SSDO_UPLOAD_INITIATE_SEGMENTED       ( OPENSAFETY_SSDO_SACMD_INI | OPENSAFETY_SSDO_SACMD_SEG | OPENSAFETY_SSDO_UPLOAD )
 192 #define OPENSAFETY_MSG_SSDO_DOWNLOAD_INITIATE_SEGMENTED     ( OPENSAFETY_SSDO_SACMD_INI | OPENSAFETY_SSDO_SACMD_SEG | OPENSAFETY_SSDO_DOWNLOAD )
 193 #define OPENSAFETY_MSG_SSDO_UPLOAD_INITIATE_SEG_PRELOAD     ( OPENSAFETY_MSG_SSDO_UPLOAD_INITIATE_SEGMENTED | OPENSAFETY_SSDO_SACMD_PRLD )
 194 #define OPENSAFETY_MSG_SSDO_DOWNLOAD_INITIATE_SEG_PRELOAD   ( OPENSAFETY_MSG_SSDO_DOWNLOAD_INITIATE_SEGMENTED | OPENSAFETY_SSDO_SACMD_PRLD )
 195 #define OPENSAFETY_MSG_SSDO_UPLOAD_SEGMENT_END              ( OPENSAFETY_SSDO_SACMD_ENSG | OPENSAFETY_SSDO_SACMD_SEG | OPENSAFETY_SSDO_UPLOAD )
 196 #define OPENSAFETY_MSG_SSDO_DOWNLOAD_SEGMENT_END            ( OPENSAFETY_SSDO_SACMD_ENSG | OPENSAFETY_SSDO_SACMD_SEG | OPENSAFETY_SSDO_DOWNLOAD )
 197
 198 static const value_string opensafety_ssdo_sacmd_values[] = {
 199     { OPENSAFETY_MSG_SSDO_DOWNLOAD_SEGMENT_END,            "Download End Segment" },
 200     { OPENSAFETY_MSG_SSDO_UPLOAD_SEGMENT_END,              "Upload End Segment" },
 201     { OPENSAFETY_MSG_SSDO_DOWNLOAD_INITIATE_EXPEDITED,     "Download Expedited Initiate" },
 202     { OPENSAFETY_MSG_SSDO_UPLOAD_INITIATE_SEGMENTED,       "Upload Initiate Segmented" },
 203     { OPENSAFETY_MSG_SSDO_DOWNLOAD_INITIATE_SEGMENTED,     "Download Initiate Segmented" },
 204     { OPENSAFETY_MSG_SSDO_UPLOAD_INITIATE_EXPEDITED,       "Upload Expedited Initiate" },
 205     { OPENSAFETY_MSG_SSDO_UPLOAD_INITIATE_EXP_PRELOAD,     "Upload Expedited Initiate w.Preload" },
 206     { OPENSAFETY_MSG_SSDO_DOWNLOAD_INITIATE_EXP_PRELOAD,   "Download Initiate Segmented w.Preload" },
 207     { OPENSAFETY_MSG_SSDO_UPLOAD_INITIATE_SEG_PRELOAD,     "Upload Initiate Segmented w. Preload" },
 208     { OPENSAFETY_MSG_SSDO_DOWNLOAD_INITIATE_SEG_PRELOAD,   "Download Expedited Initiate w.Preload" },
 209     { OPENSAFETY_MSG_SSDO_DOWNLOAD_SEGMENT_MIDDLE,         "Download Middle Segment" },
 210     { OPENSAFETY_MSG_SSDO_UPLOAD_SEGMENT_MIDDLE,           "Upload Middle Segment" },
 211     { OPENSAFETY_MSG_SSDO_DOWNLOAD_SEGMENT_MID_PRELOAD,    "Download Middle Segment w. Preload" },
 212     { OPENSAFETY_MSG_SSDO_UPLOAD_SEGMENT_MID_PRELOAD,      "Upload Middle Segment w. Preload" },
 213     { OPENSAFETY_MSG_SSDO_ABORT,                           "Abort" },
 214     { 0, NULL }
 215 };
 216
 217 static const true_false_string opensafety_sacmd_acc   = { "Download", "Upload" };
 218 static const true_false_string opensafety_sacmd_abrt  = { "Abort Transfer", "Successful Transfer" };
 219 static const true_false_string opensafety_sacmd_seg   = { "Segmented Access", "Expedited Access" };
 220 static const true_false_string opensafety_sacmd_ini   = { "Initiate", "No Initiate" };
 221 static const true_false_string opensafety_sacmd_ensg  = { "No more segments", "More segments" };
 222
 223 static const value_string opensafety_sod_idx_names[] = {
 224     /* SSDO dictionary names, only names that are in common use are presented */
 225     { 0x100C0000, "Life Guarding" },
 226     { 0x100C0001, "Guard Time" },
 227     { 0x100C0002, "LifeTimeFactor" },
 228
 229     { 0x100D0000, "Number of Retries for Reset Guarding" },
 230
 231     { 0x10180000, "Device Vendor Information" },
 232     { 0x10180001, "VendorID" },
 233     { 0x10180002, "ProductCode" },
 234     { 0x10180003, "RevisionNumber" },
 235     { 0x10180004, "SerialNumber" },
 236     { 0x10180005, "FirmWareChecksum" },
 237     { 0x10180006, "Parameter Checksum" },
 238     { 0x10180007, "Parameter Timestamp" },
 239
 240     { 0x10190000, "Unique Device ID" },
 241     { 0x101A0000, "Parameter Download" },
 242     { 0x101B0000, "SCM Parameters" },
 243
 244     { 0x12000000, "Common Communication Parameters" },
 245     { 0x12000001, "Safety Domain Number" },
 246     { 0x12000002, "SADR" },
 247     { 0x12000003, "Consecutive Timebase" },
 248     { 0x12000004, "UDID of SCM" },
 249
 250     { 0x14000000, "RxSPDO Communication Parameters" },
 251     { 0x14000001, "SADR" },
 252     { 0x14000002, "SCT" },
 253     { 0x14000003, "Number of consecutive TReq" },
 254     { 0x14000004, "Time delay TReq" },
 255     { 0x14000005, "Time delay Sync" },
 256     { 0x14000006, "Min TSync Propagation Delay" },
 257     { 0x14000007, "Max TSync Propagation Delay" },
 258     { 0x14000008, "Min SPDO Propagation Delay" },
 259     { 0x14000009, "Max SPDO Propagation Delay" },
 260     { 0x1400000A, "Best case TRes Delay" },
 261     { 0x1400000B, "Time Request Cycle" },
 262     { 0x1400000C, "TxSPDO No" },
 263
 264     { 0x18000000, "RxSPDO Mapping Parameters" },
 265
 266     { 0x1C000000, "TxSPDO Communication Parameters" },
 267     { 0x1C000001, "SADR for broadcast" },
 268     { 0x1C000002, "Refresh Prescale" },
 269     { 0x1C000003, "Number of TRes" },
 270
 271     { 0x20000000, "Manufacturer Parameters" },
 272     { 0x20010000, "Used Channels" },
 273
 274     { 0x21000000, "Safe Machine Options" },
 275
 276     { 0x21010000, "SDG CRC Configuration" },
 277     { 0x21010001, "SDG CRC #1" },
 278     { 0x21010002, "SDG CRC #2" },
 279     { 0x21010003, "SDG CRC #3" },
 280     { 0x21010004, "SDG CRC #4" },
 281     { 0x21010005, "SDG CRC #5" },
 282     { 0x21010006, "SDG CRC #6" },
 283     { 0x21010007, "SDG CRC #7" },
 284     { 0x21010008, "SDG CRC #8" },
 285     { 0x21010009, "SDG CRC #9" },
 286     { 0x2101000A, "SDG CRC #10" },
 287
 288     { 0x21120000, "Manufacturer - Module specific" },
 289     { 0x21120002, "PDOmapRx" },
 290     { 0x21120003, "PDOmapTx" },
 291     { 0x21120004, "CycleTime min [us]" },
 292     { 0x21120005, "CycleTime max [us]" },
 293     { 0x21120006, "Used Channels (same as 0x2001)" },
 294     { 0x21120007, "External Machine Options" },
 295     { 0x21120008, "Parameter for SafeMC" },
 296
 297     { 0xC0000000, "TxSPDO Mapping Parameters" },
 298
 299     { 0xD0000000, "SCM Module Flags" },
 300     { 0xD0000001, "BCM" },
 301     { 0xD0000002, "Optional" },
 302     { 0xD0000003, "Startup" },
 303     { 0xD0000004, "EMOs" },
 304     { 0xD0000005, "ext. Startup-Flags allowed" },
 305     { 0xD0000006, "Remote-Ctrl allowed" },
 306     { 0xD0000007, "Scans at startup" },
 307     { 0xD0000008, "Not Present" },
 308     { 0xD0000009, "Use Remanent Data" },
 309     { 0xD000000A, "SCM-AR specific" },
 310
 311     { 0xD0100000, "Remanent Data" },
 312     { 0xD0100001, "DINT" },
 313
 314     { 0xD0110000, "Remanent Data" },
 315     { 0xD0110001, "DUINT" },
 316
 317     { 0, NULL }
 318 };
 319 static value_string_ext opensafety_sod_idx_names_ext = VALUE_STRING_EXT_INIT(opensafety_sod_idx_names);
 320
 321 static const value_string opensafety_abort_codes[] = {
 322
 323     /* SSDO abort codes */
 324     { 0x05030000, "Reserved" },
 325
 326     { 0x05040000, "SSDO protocol timed out" },
 327     { 0x05040001, "Client/server Command ID not valid or unknown" },
 328     { 0x05040002, "Invalid block size" },
 329     { 0x05040003, "Invalid sequence number" },
 330     { 0x05040004, "Reserved" },
 331     { 0x05040005, "Out of memory" },
 332
 333     { 0x06010000, "Unsupported access to an object" },
 334     { 0x06010001, "Attempt to read a write-only object" },
 335     { 0x06010002, "Attempt to write a read-only object" },
 336
 337     { 0x06020000, "Object does not exist in the object dictionary" },
 338
 339     { 0x06040041, "Object cannot be mapped to the SPDO" },
 340     { 0x06040042, "The number and length of the objects to be mapped would exceed SPDO length" },
 341     { 0x06040043, "General parameter incompatibility" },
 342     { 0x06040047, "General internal incompatibility in the device" },
 343
 344     { 0x06060000, "Access failed due to a hardware error" },
 345
 346     { 0x06070010, "Data type does not match, length of service parameter does not match" },
 347     { 0x06070012, "Data type does not match, length of service parameter too high" },
 348     { 0x06070013, "Data type does not match, length of service parameter too low" },
 349
 350     { 0x06090011, "Sub-index does not exist" },
 351     { 0x06090030, "Value range o parameter exceeded (only for write access)" },
 352     { 0x06090031, "Value of parameter written too high" },
 353     { 0x06090032, "Value of parameter written too low" },
 354     { 0x06090036, "Maximum value is less than minimum value" },
 355
 356     { 0x08000000, "General error" },
 357     { 0x08000020, "Data cannot be transferred or stored to the application" },
 358     { 0x08000021, "Data cannot be transferred or stored to the application because of local control" },
 359     { 0x08000022, "Data cannot be transferred or stored to the application because of the present device state" },
 360     { 0x08000023, "Data cannot be transferred or stored to the application because of the object data is not available now" },
 361
 362     { 0, NULL }
 363 };
 364 static value_string_ext opensafety_abort_codes_ext = VALUE_STRING_EXT_INIT(opensafety_abort_codes);
 365
 366 static const true_false_string opensafety_message_direction = { "Response", "Request" };
 367 static const true_false_string opensafety_spdo_direction = { "Producer", "Consumer" };
 368 static const true_false_string opensafety_addparam_request = { "Header only", "Header & Data" };
 369
 370 typedef struct _opensafety_packet_spdo
 371 {
 372     uint16_t timerequest;
 373
 374     bool conn_valid;
 375
 376     bool counter_40bit;
 377
 378     union {
 379         uint16_t b16;
 380         uint64_t b40;
 381     } counter;
 382
 383     struct {
 384         bool enabled40bit;
 385         bool requested40bit;
 386     } flags;
 387
 388 } opensafety_packet_spdo;
 389
 390 typedef struct _opensafety_packet_ssdo
 391 {
 392     bool is_slim;
 393
 394     struct {
 395         bool end_segment;
 396         bool initiate;
 397         bool toggle;
 398         bool segmented;
 399         bool abort_transfer;
 400         bool preload;
 401         bool read_access;
 402     } sacmd;
 403 } opensafety_packet_ssdo;
 404
 405 typedef struct _opensafety_packet_snmt
 406 {
 407     uint8_t ext_msg_id;
 408
 409     struct {
 410         bool exists;
 411         uint8_t id;
 412         uint8_t set;
 413         bool full;
 414     } add_param;
 415
 416     struct {
 417         uint16_t actual;
 418         uint16_t additional;
 419     } add_saddr;
 420
 421     uint64_t init_ct;
 422
 423     char * scm_udid;
 424     char * sn_udid;
 425
 426     uint8_t error_code;
 427 } opensafety_packet_snmt;
 428
 429 typedef struct _opensafety_packet_frame
 430 {
 431     bool malformed;
 432
 433     uint16_t subframe1;
 434     uint16_t subframe2;
 435
 436     unsigned length;
 437
 438     uint16_t byte_offset;
 439
 440     tvbuff_t *frame_tvb;
 441
 442 } opensafety_packet_frame;
 443
 444 typedef struct _opensafety_packet_crc
 445 {
 446     uint8_t type;
 447
 448     uint16_t frame1;
 449     uint16_t frame2;
 450
 451     bool valid1;
 452     bool valid2;
 453 } opensafety_packet_crc;
 454
 455 typedef struct _opensafety_packet_info
 456 {
 457     opensafety_packet_frame frame;
 458
 459     uint16_t saddr;
 460     uint16_t sdn;
 461
 462     uint16_t sender;
 463     uint16_t receiver;
 464
 465     bool is_request;
 466
 467     uint8_t msg_id;    /**< The exact transported message id */
 468     uint8_t msg_type;  /**< Only represents the general type, e.g. SPDO, SSDO, Slim SSDO and SNMT */
 469     uint8_t msg_len;
 470     unsigned   frame_len;
 471
 472     uint8_t  scm_udid[6];
 473     bool scm_udid_valid;
 474
 475     opensafety_packet_crc crc;
 476
 477     union {
 478         opensafety_packet_snmt *snmt;
 479         opensafety_packet_ssdo *ssdo;
 480         opensafety_packet_spdo *spdo;
 481     } payload;
 482
 483 } opensafety_packet_info;
 484
 485 #ifdef __cplusplus
 486 }
 487 #endif /* __cplusplus */
 488
 489 #endif /* _OPENSAFETY_HEADER_ */
 490
 491 /*
 492  * Editor modelines  -  https://www.wireshark.org/tools/modelines.html
 493  *
 494  * Local variables:
 495  * c-basic-offset: 4
 496  * tab-width: 8
 497  * indent-tabs-mode: nil
 498  * End:
 499  *
 500  * vi: set shiftwidth=4 tabstop=8 expandtab:
 501  * :indentSize=4:tabSize=8:noTabs=true:
 502  */