UAVCAN/CAN dissector see https://uavcan.org/

1 files changed, 659 insertions, 0 deletions

diff --git a/epan/dissectors/packet-uavcan-can.c b/epan/dissectors/packet-uavcan-can.c
new file mode 100644
index 0000000000..2ed248d8ab
--- /dev/null
+++ b/epan/dissectors/packet-uavcan-can.c
@@ -0,0 +1,659 @@
+/* packet-uavcan-can.c
+ * Routines for dissection of UAVCAN/CAN
+ *
+ * Copyright 2020-2021 NXP
+ *
+ * Wireshark - Network traffic analyzer
+ * By Gerald Combs <gerald@wireshark.org>
+ * Copyright 1998 Gerald Combs
+ *
+ * SPDX-License-Identifier: GPL-2.0-or-later
+ */
+#include "config.h"
+
+#include <inttypes.h>
+#include <epan/packet.h>
+#include <epan/prefs.h>
+#include <epan/address_types.h>
+#include <epan/to_str.h>
+#include <epan/expert.h>
+#include <epan/reassemble.h>
+#include <epan/proto_data.h>
+#include <epan/crc16-tvb.h>
+
+#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;
+
+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) 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:
+ */