Add wireshark dissector
This commit is contained in:
Michael Ehrenreich
167
utils/bobbycan.lua
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167
utils/bobbycan.lua
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local p_bobbycan = Proto("bobbycan", "BobbyCAN")
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p_bobbycan.fields = {}
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local function format_voltage(val)
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return string.format("%.2f V", val / 100)
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end
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local function format_cmd_current(val)
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return string.format("%d A", val)
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end
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local function format_fb_current(val)
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return string.format("%.2f A", -val / 50)
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end
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local function format_angle(val)
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return string.format("%d°", val)
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end
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local function format_temperature(val)
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return string.format("%.1f °C", val / 10)
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end
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local function format_speed(val)
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return string.format("%d RPM", val)
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end
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local motor_cmds = {
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[ 0] = { len = 1, abbr = "enable", name = "Enable", type = ftypes.BOOLEAN },
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[ 1] = { len = 2, abbr = "inp_tgt", name = "Input target", type = ftypes.INT16 },
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[ 2] = { len = 1, abbr = "ctrl_typ", name = "Control type", type = ftypes.UINT8,
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valuestring = {"Commutation", "Sinusoidal", "FOC"} },
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[ 3] = { len = 1, abbr = "ctrl_mod", name = "Control mode", type = ftypes.UINT8,
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valuestring = {"Open", "Voltage", "Speed", "Torque"} },
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[ 4] = { len = 1, abbr = "imotmax", name = "Maximum motor current", type = ftypes.UINT8, format = format_cmd_current },
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[ 5] = { len = 1, abbr = "idcmax", name = "Maximum DC link current", type = ftypes.UINT8, format = format_cmd_current },
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[ 6] = { len = 2, abbr = "nmotmax", name = "Maximum speed", type = ftypes.UINT16, format = format_speed },
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[ 7] = { len = 1, abbr = "fieldweakmax", name = "Maximum field weakening current", type = ftypes.UINT8, format = format_cmd_current },
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[ 8] = { len = 1, abbr = "phaseadvmax", name = "Maximum phase advance angle", type = ftypes.UINT16, format = format_angle },
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[ 9] = { len = 1, abbr = "cruisectrlena", name = "Enable cruise control", type = ftypes.BOOLEAN },
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[10] = { len = 1, abbr = "cruisemottgt", name = "Cruise control target", type = ftypes.INT16, format = format_speed },
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[11] = { len = 1, abbr = "buzzerfreq", name = "Buzzer freq. divider", type = ftypes.UINT8 },
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[12] = { len = 1, abbr = "buzzerpattern", name = "Buzzer pattern", type = ftypes.UINT8 },
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[13] = { len = 1, abbr = "led", name = "LED state", type = ftypes.BOOLEAN },
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[14] = { len = 1, abbr = "poweroff", name = "Power off", type = ftypes.BOOLEAN },
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}
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local motor_errors = {
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[0] = "None",
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[1] = "Hall sensor not connected",
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[2] = "Hall sensor short circuit",
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[4] = "Motor NOT able to spin"
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}
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local motor_fbs = {
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[ 0] = { len = 2, abbr = "dc_link", name = "DC Link Current", type = ftypes.INT16, format = format_fb_current },
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[ 1] = { len = 2, abbr = "speed", name = "Speed", type = ftypes.INT16 },
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[ 2] = { len = 1, abbr = "error", name = "Error", type = ftypes.UINT8, valuestring = motor_errors },
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[ 3] = { len = 2, abbr = "angle", name = "Electrical angle", type = ftypes.INT16, format = format_angle },
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[ 4] = { len = 2, abbr = "dc_a", name = "Phase A Current", type = ftypes.INT16, format = format_fb_current },
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[ 5] = { len = 2, abbr = "dc_b", name = "Phase B Current", type = ftypes.INT16, format = format_fb_current },
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[ 6] = { len = 2, abbr = "dc_c", name = "Phase C Current", type = ftypes.INT16, format = format_fb_current },
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[ 7] = { len = 4, abbr = "chops", name = "Chops since last update", type = ftypes.UINT32 },
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[ 8] = { len = 1, abbr = "hall", name = "Hall Sensors", type = ftypes.UINT8 },
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[ 9] = { len = 2, abbr = "voltage", name = "Supply Voltage", type = ftypes.INT16, format = format_voltage },
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[10] = { len = 2, abbr = "temp", name = "MCU Temperature", type = ftypes.INT16, format = format_temperature },
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[11] = { len = 2, abbr = "curr_id", name = "Id current", type = ftypes.INT16, format = format_fb_current },
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[12] = { len = 2, abbr = "curr_iq", name = "Iq current", type = ftypes.INT16, format = format_fb_current },
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}
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local motor_generated = {
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left = { abbr = "left", name = "Is left", type = ftypes.BOOLEAN },
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right = { abbr = "right", name = "Is right", type = ftypes.BOOLEAN },
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front = { abbr = "front", name = "Is front", type = ftypes.BOOLEAN },
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back = { abbr = "back", name = "Is back", type = ftypes.BOOLEAN },
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cmd = { abbr = "cmd", name = "Is command", type = ftypes.BOOLEAN },
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fb = { abbr = "fb", name = "Is feedback", type = ftypes.BOOLEAN },
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}
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local function create_fields(prefix, proto)
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for k,p in pairs(proto) do
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p.field = ProtoField.new(p.name, prefix .. p.abbr, p.type, p.valuestring, p.base, p.mask, p.descr)
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table.insert(p_bobbycan.fields, p.field)
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end
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end
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create_fields("bobbycan.motor.", motor_cmds)
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create_fields("bobbycan.motor.", motor_fbs)
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create_fields("bobbycan.motor.", motor_generated)
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local f_can_id = Field.new("can.id")
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function to_int(t, tvsr)
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if t == ftypes.UINT8 or t == ftypes.UINT16 or t == ftypes.UINT32 then
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return tvsr:le_uint()
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else
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return tvsr:le_int()
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end
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end
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function p_bobbycan.dissector(buf, pkt, tree)
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pkt.cols.protocol:set("BobbyCAN")
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local can_id = f_can_id()()
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pkt.cols.info:set("test " .. can_id)
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local devtype = bit32.rshift(bit32.band(can_id, 0x700), 8)
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if devtype == 0 then
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local command = bit32.band(can_id, 0x80) == 0
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local subid = bit32.rshift(bit32.band(can_id, 0x7c), 2)
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local tbl
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local prefix
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local generated_fields = { nil, nil, nil }
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if command then
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tbl = motor_cmds
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prefix = " CMD "
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generated_fields[1] = motor_generated.cmd.field
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else
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tbl = motor_fbs
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prefix = " FB "
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generated_fields[1] = motor_generated.fb.field
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end
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local front = bit32.band(can_id, 0x02) == 0
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if front then
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prefix = prefix .. "F"
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generated_fields[2] = motor_generated.front.field
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else
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prefix = prefix .. "B"
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generated_fields[2] = motor_generated.back.field
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end
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local left = bit32.band(can_id, 0x01) == 0
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if left then
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prefix = prefix .. "L "
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generated_fields[3] = motor_generated.left.field
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else
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prefix = prefix .. "R "
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generated_fields[3] = motor_generated.right.field
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end
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local meta = tbl[subid]
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local tvsr = buf(0,meta.len)
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local subtree = tree:add(p_bobbycan, tvsr)
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local field_val = to_int(meta.type, tvsr)
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local ti = subtree:add_packet_field(meta.field, tvsr, ENC_LITTLE_ENDIAN)
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local val_fmt
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if meta.format then
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val_fmt = meta.format(field_val)
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elseif meta.valuestring and meta.valuestring[field_val] then
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val_fmt = string.format("%s (%d)", meta.valuestring[field_val], field_val)
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else
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val_fmt = tostring(field_val)
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end
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ti.text = meta.name..": "..val_fmt
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pkt.cols.info:set(prefix..meta.name.." = "..val_fmt)
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-- Add generated fields (front, back, left, right, cmd, fb)
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for k,f in ipairs(generated_fields) do
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subtree:add(f, true):set_generated()
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end
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end
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end
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can_table = DissectorTable.get("can.subdissector")
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can_table:add_for_decode_as(p_bobbycan)
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