path: root/epan/dissectors/packet-canopen.c

/* packet-canopen.c
 * Routines for CANopen dissection
 * Copyright 2011, Yegor Yefremov <yegorslists@googlemail.com>
 *
 * 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 <epan/packet.h>

#include "packet-socketcan.h"

void proto_register_canopen(void);
void proto_reg_handoff_canopen(void);

static dissector_handle_t canopen_handle;

/* Initialize the protocol and registered fields */
static int proto_canopen;
static int hf_canopen_cob_id;
static int hf_canopen_function_code;
static int hf_canopen_node_id;
static int hf_canopen_pdo_data;
static int hf_canopen_pdo_data_string;
static int hf_canopen_sdo_cmd;
static int hf_canopen_sdo_cmd_ccs;
static int hf_canopen_sdo_cmd_scs;
static int hf_canopen_sdo_cmd_ccs5_subcommand;
static int hf_canopen_sdo_cmd_scs5_subcommand;
static int hf_canopen_sdo_cmd_ccs6_subcommand;
static int hf_canopen_sdo_cmd_scs6_subcommand;
static int hf_canopen_sdo_cmd_block_crc_support;
static int hf_canopen_sdo_cmd_block_s;
static int hf_canopen_sdo_cmd_block_n;
static int hf_canopen_sdo_cmd_block_blksize;
static int hf_canopen_sdo_cmd_block_pst;
static int hf_canopen_sdo_cmd_block_ackseq;
static int hf_canopen_sdo_cmd_toggle;
static int hf_canopen_sdo_cmd_updown_n;
static int hf_canopen_sdo_cmd_updown_c;
static int hf_canopen_sdo_cmd_init_n;
static int hf_canopen_sdo_cmd_init_e;
static int hf_canopen_sdo_cmd_init_s;
static int hf_canopen_sdo_main_idx;
static int hf_canopen_sdo_sub_idx;
static int hf_canopen_sdo_data;
static int hf_canopen_sdo_abort_code;
static int hf_canopen_reserved;
static int hf_canopen_em_err_code;
static int hf_canopen_em_err_reg;
static int hf_canopen_em_err_reg_ge;
static int hf_canopen_em_err_reg_cu;
static int hf_canopen_em_err_reg_vo;
static int hf_canopen_em_err_reg_te;
static int hf_canopen_em_err_reg_co;
static int hf_canopen_em_err_reg_de;
static int hf_canopen_em_err_reg_re;
static int hf_canopen_em_err_reg_ma;
static int hf_canopen_em_err_field;
static int hf_canopen_nmt_ctrl_cs;
static int hf_canopen_nmt_ctrl_node_id;
static int hf_canopen_nmt_guard_state;
static int hf_canopen_nmt_guard_toggle;
static int hf_canopen_sync_counter;
static int hf_canopen_lss_cs;
static int hf_canopen_lss_addr_vendor;
static int hf_canopen_lss_addr_product;
static int hf_canopen_lss_addr_revision;
static int hf_canopen_lss_addr_revision_low;
static int hf_canopen_lss_addr_revision_high;
static int hf_canopen_lss_addr_serial;
static int hf_canopen_lss_addr_serial_low;
static int hf_canopen_lss_addr_serial_high;
static int* hf_canopen_lss_addr_ident[] = {
        &hf_canopen_lss_addr_vendor,
        &hf_canopen_lss_addr_product,
        &hf_canopen_lss_addr_revision_low,
        &hf_canopen_lss_addr_revision_high,
        &hf_canopen_lss_addr_serial_low,
        &hf_canopen_lss_addr_serial_high
};
static int* hf_canopen_lss_addr_inquire[] = {
        &hf_canopen_lss_addr_vendor,
        &hf_canopen_lss_addr_product,
        &hf_canopen_lss_addr_revision,
        &hf_canopen_lss_addr_serial
};
static int hf_canopen_lss_fastscan_id;
static int hf_canopen_lss_fastscan_check;
static int hf_canopen_lss_fastscan_sub;
static int hf_canopen_lss_fastscan_next;
static int hf_canopen_lss_switch_mode;
static int hf_canopen_lss_nid;
static int hf_canopen_lss_conf_id_err_code;
static int hf_canopen_lss_conf_bt_err_code;
static int hf_canopen_lss_store_conf_err_code;
static int hf_canopen_lss_spec_err;
static int hf_canopen_lss_bt_tbl_selector;
static int hf_canopen_lss_bt_tbl_index;
static int hf_canopen_lss_abt_delay;
static int hf_canopen_time_stamp;
static int hf_canopen_time_stamp_ms;
static int hf_canopen_time_stamp_days;


  /* Download segment request (ccs=0) decode mask */
static int * const sdo_cmd_fields_ccs0[] = {
  &hf_canopen_sdo_cmd_ccs,
  &hf_canopen_sdo_cmd_toggle,
  &hf_canopen_sdo_cmd_updown_n,
  &hf_canopen_sdo_cmd_updown_c,
  NULL
};
/* Initiate download request (ccs=1) decode mask */
static int * const sdo_cmd_fields_ccs1[] = {
  &hf_canopen_sdo_cmd_ccs,
  &hf_canopen_sdo_cmd_init_n,
  &hf_canopen_sdo_cmd_init_e,
  &hf_canopen_sdo_cmd_init_s,
  NULL
};
/* Initiate upload request (ccs=2) decode mask */
static int * const sdo_cmd_fields_ccs2[] = {
  &hf_canopen_sdo_cmd_ccs,
  NULL
};
/* Download segment request (ccs=3) decode mask */
static int * const sdo_cmd_fields_ccs3[] = {
  &hf_canopen_sdo_cmd_ccs,
  &hf_canopen_sdo_cmd_toggle,
  NULL
};
/*  */
static int * const sdo_cmd_fields_ccs4[] = {
  &hf_canopen_sdo_cmd_ccs,
  NULL
};
/* Block upload (ccs=5,cs=0) decode mask */
static int * const sdo_cmd_fields_ccs5_subcommand0[] = {
  &hf_canopen_sdo_cmd_ccs,
  &hf_canopen_sdo_cmd_block_crc_support,
  &hf_canopen_sdo_cmd_ccs5_subcommand,
  NULL
};
/* Block upload (ccs=5,cs=1,2,3) decode mask */
static int * const sdo_cmd_fields_ccs5_subcommand1[] = {
  &hf_canopen_sdo_cmd_ccs,
  &hf_canopen_sdo_cmd_ccs5_subcommand,
  NULL
};

/* Block download (ccs=6,cs=0) decode mask */
static int * const sdo_cmd_fields_ccs6_subcommand0[] = {
  &hf_canopen_sdo_cmd_ccs,
  &hf_canopen_sdo_cmd_block_crc_support,
  &hf_canopen_sdo_cmd_block_s,
  &hf_canopen_sdo_cmd_ccs6_subcommand,
  NULL
};
/* Block download (ccs=6,cs=1) decode mask */
static int * const sdo_cmd_fields_ccs6_subcommand1[] = {
  &hf_canopen_sdo_cmd_ccs,
  &hf_canopen_sdo_cmd_block_n,
  &hf_canopen_sdo_cmd_ccs6_subcommand,
  NULL
};

static int * const *_sdo_cmd_fields_ccs[] = {
  sdo_cmd_fields_ccs0,
  sdo_cmd_fields_ccs1,
  sdo_cmd_fields_ccs2,
  sdo_cmd_fields_ccs3,
  sdo_cmd_fields_ccs4,
};

static int * const *_sdo_cmd_fields_ccs5[] = {
  sdo_cmd_fields_ccs5_subcommand0,
  sdo_cmd_fields_ccs5_subcommand1,
  sdo_cmd_fields_ccs5_subcommand1,
  sdo_cmd_fields_ccs5_subcommand1
};

static int * const *_sdo_cmd_fields_ccs6[] = {
  sdo_cmd_fields_ccs6_subcommand0,
  sdo_cmd_fields_ccs6_subcommand1
};

/* Emergency error register decode mask */
static int * const em_err_reg_fields[] = {
  &hf_canopen_em_err_reg_ge,
  &hf_canopen_em_err_reg_cu,
  &hf_canopen_em_err_reg_vo,
  &hf_canopen_em_err_reg_te,
  &hf_canopen_em_err_reg_co,
  &hf_canopen_em_err_reg_de,
  &hf_canopen_em_err_reg_re,
  &hf_canopen_em_err_reg_ma,
  NULL
};

/* (scs=0) decode mask */
static int * const sdo_cmd_fields_scs0[] = {
  &hf_canopen_sdo_cmd_scs,
  &hf_canopen_sdo_cmd_toggle,
  &hf_canopen_sdo_cmd_updown_n,
  &hf_canopen_sdo_cmd_updown_c,
  NULL
};
/* (scs=1) decode mask */
static int * const sdo_cmd_fields_scs1[] = {
  &hf_canopen_sdo_cmd_scs,
  &hf_canopen_sdo_cmd_toggle,
  NULL
};
/* (scs=2) decode mask */
static int * const sdo_cmd_fields_scs2[] = {
  &hf_canopen_sdo_cmd_scs,
  &hf_canopen_sdo_cmd_init_n,
  &hf_canopen_sdo_cmd_init_e,
  &hf_canopen_sdo_cmd_init_s,
  NULL
};
/* (scs=3) decode mask */
static int * const sdo_cmd_fields_scs3[] = {
  &hf_canopen_sdo_cmd_scs,
  NULL
};
/* (scs=4) decode mask */
static int * const sdo_cmd_fields_scs4[] = {
  &hf_canopen_sdo_cmd_scs,
  NULL
};
/* (scs=5,ss=0) decode mask */
static int * const sdo_cmd_fields_scs5_subcommand0[] = {
  &hf_canopen_sdo_cmd_scs,
  &hf_canopen_sdo_cmd_block_crc_support,
  &hf_canopen_sdo_cmd_scs5_subcommand,
  NULL
};
/* (scs=5,ss=1,2) decode mask */
static int * const sdo_cmd_fields_scs5_subcommand1[] = {
  &hf_canopen_sdo_cmd_scs,
  &hf_canopen_sdo_cmd_scs5_subcommand,
  NULL
};

/* (scs=6,ss=0) decode mask */
static int * const sdo_cmd_fields_scs6_subcommand0[] = {
  &hf_canopen_sdo_cmd_scs,
  &hf_canopen_sdo_cmd_block_crc_support,
  &hf_canopen_sdo_cmd_block_s,
  &hf_canopen_sdo_cmd_scs6_subcommand,
  NULL
};
/* (scs=6,ss=1) decode mask */
static int * const sdo_cmd_fields_scs6_subcommand1[] = {
  &hf_canopen_sdo_cmd_scs,
  &hf_canopen_sdo_cmd_block_n,
  &hf_canopen_sdo_cmd_scs6_subcommand,
  NULL
};


static int * const *_sdo_cmd_fields_scs[] = {
  sdo_cmd_fields_scs0,
  sdo_cmd_fields_scs1,
  sdo_cmd_fields_scs2,
  sdo_cmd_fields_scs3,
  sdo_cmd_fields_scs4
};

static int * const *_sdo_cmd_fields_scs5[] = {
  sdo_cmd_fields_scs5_subcommand0,
  sdo_cmd_fields_scs5_subcommand1,
  sdo_cmd_fields_scs5_subcommand1,
};

static int * const *_sdo_cmd_fields_scs6[] = {
  sdo_cmd_fields_scs6_subcommand0,
  sdo_cmd_fields_scs6_subcommand1
};

/* Initialize the subtree pointers */
static int ett_canopen;
static int ett_canopen_cob;
static int ett_canopen_type;
static int ett_canopen_sdo_cmd;
static int ett_canopen_em_er;

/* broadcast messages */
#define FC_NMT                  0x0
#define FC_SYNC                 0x1
#define FC_TIME_STAMP           0x2

/* point-to-point messages */
#define FC_EMERGENCY            0x1
#define FC_PDO1_TX              0x3
#define FC_PDO1_RX              0x4
#define FC_PDO2_TX              0x5
#define FC_PDO2_RX              0x6
#define FC_PDO3_TX              0x7
#define FC_PDO3_RX              0x8
#define FC_PDO4_TX              0x9
#define FC_PDO4_RX              0xA
#define FC_DEFAULT_SDO_TX       0xB
#define FC_DEFAULT_SDO_RX       0xC
#define FC_NMT_ERR_CONTROL      0xE

static const value_string CAN_open_bcast_msg_type_vals[] = {
    { FC_NMT,              "NMT"},
    { FC_SYNC,             "SYNC"},
    { FC_TIME_STAMP,       "TIME STAMP"},
    { 0, NULL}
};

static const value_string CAN_open_p2p_msg_type_vals[] = {
    { FC_EMERGENCY,        "EMCY"},
    { FC_PDO1_TX,          "PDO1 (tx)"},
    { FC_PDO1_RX,          "PDO1 (rx)"},
    { FC_PDO2_TX,          "PDO2 (tx)"},
    { FC_PDO2_RX,          "PDO2 (rx)"},
    { FC_PDO3_TX,          "PDO3 (tx)"},
    { FC_PDO3_RX,          "PDO3 (rx)"},
    { FC_PDO4_TX,          "PDO4 (tx)"},
    { FC_PDO4_RX,          "PDO4 (rx)"},
    { FC_DEFAULT_SDO_TX,   "Default-SDO (tx)"},
    { FC_DEFAULT_SDO_RX,   "Default-SDO (rx)"},
    { FC_NMT_ERR_CONTROL,  "NMT Error Control"},
    { 0, NULL}
};

/* message types */
#define MT_UNKNOWN                       0
#define MT_NMT_CTRL                      1
#define MT_SYNC                          2
#define MT_TIME_STAMP                    3
#define MT_EMERGENCY                     4
#define MT_PDO                           5
#define MT_SDO                           6
#define MT_NMT_ERR_CTRL                  7
#define MT_LSS_MASTER                    10
#define MT_LSS_SLAVE                     11

/* TIME STAMP conversion defines */
#define TS_DAYS_BETWEEN_1970_AND_1984   5113
#define TS_SECONDS_IN_PER_DAY           86400
#define TS_NANOSEC_PER_MSEC             1000000

/* SDO command specifier */
#define SDO_CCS_DOWN_SEG_REQ    0
#define SDO_CCS_INIT_DOWN_REQ   1
#define SDO_CCS_INIT_UP_REQ     2
#define SDO_CCS_UP_SEQ_REQ      3
#define SDO_CCS_BLOCK_UP        5
#define SDO_CCS_BLOCK_DOWN      6

#define SDO_SCS_UP_SEQ_RESP     0
#define SDO_SCS_DOWN_SEG_RESP   1
#define SDO_SCS_INIT_UP_RESP    2
#define SDO_SCS_INIT_DOWN_RESP  3
#define SDO_SCS_BLOCK_DOWN      5
#define SDO_SCS_BLOCK_UP        6

#define SDO_CS_ABORT_TRANSFER   4

static const range_string obj_dict[] = {
    { 0x0000, 0x0000, "not used"},
    { 0x0001, 0x001F, "Static data types"},
    { 0x0020, 0x003F, "Complex data types"},
    { 0x0040, 0x005F, "Manufacturer-specific complex data types"},
    { 0x0060, 0x025F, "Device profile specific data types"},
    { 0x0260, 0x03FF, "reserved"},
    { 0x0400, 0x0FFF, "reserved"},
    { 0x1000, 0x1000, "Device type"},
    { 0x1001, 0x1001, "Error register"},
    { 0x1002, 0x1002, "Manufacturer status register"},
    { 0x1003, 0x1003, "Pre-defined error field"},
    { 0x1004, 0x1004, "Communication profile area"},
    { 0x1005, 0x1005, "COB-ID SYNC message"},
    { 0x1006, 0x1006, "Communication cycle period"},
    { 0x1007, 0x1007, "Synchronous window length"},
    { 0x1008, 0x1008, "Manufacturer device name"},
    { 0x1009, 0x1009, "Manufacturer hardware version"},
    { 0x100A, 0x100A, "Manufacturer software version"},
    { 0x100B, 0x100B, "Communication profile area"},
    { 0x100C, 0x100C, "Guard time"},
    { 0x100D, 0x100D, "Life time factor"},
    { 0x100E, 0x100F, "Communication profile area"},
    { 0x1010, 0x1010, "Store parameters"},
    { 0x1011, 0x1011, "Restore default parameters"},
    { 0x1012, 0x1012, "COB-ID time stamp object"},
    { 0x1013, 0x1013, "High resolution time stamp"},
    { 0x1014, 0x1014, "COB-ID EMCY"},
    { 0x1015, 0x1015, "Inhibit time EMCY"},
    { 0x1016, 0x1016, "Consumer heartbeat time"},
    { 0x1017, 0x1017, "Producer heartbeat time"},
    { 0x1018, 0x1018, "Identity object"},
    { 0x1019, 0x1019, "Synchronous counter overflow value"},
    { 0x101A, 0x101F, "Communication profile area"},
    { 0x1020, 0x1020, "Verify configuration"},
    { 0x1021, 0x1021, "Store EDS"},
    { 0x1022, 0x1022, "Store format"},
    { 0x1023, 0x1023, "OS command"},
    { 0x1024, 0x1024, "OS command mode"},
    { 0x1025, 0x1025, "OS debugger interface"},
    { 0x1026, 0x1026, "OS prompt"},
    { 0x1027, 0x1027, "Module list"},
    { 0x1028, 0x1028, "Emergency consumer object"},
    { 0x1029, 0x1029, "Error behavior object"},
    { 0x102A, 0x11FF, "Communication profile area"},
    { 0x1200, 0x127F, "SDO server parameter"},
    { 0x1280, 0x12FF, "SDO client parameter"},
    { 0x1300, 0x13FF, "Communication profile area"},
    { 0x1400, 0x15FF, "RPDO communication parameter"},
    { 0x1600, 0x17FF, "RPDO mapping parameter"},
    { 0x1800, 0x19FF, "TPDO communication parameter"},
    { 0x1A00, 0x1BFF, "TPDO mapping parameter"},
    { 0x1C00, 0x1FBF, "Communication profile area"},
    { 0x1FA0, 0x1FCF, "Object scanner list"},
    { 0x1FD0, 0x1FFF, "Object dispatching list"},
    { 0x2000, 0x5FFF, "Manufacturer-specific profile area"},
    { 0x6000, 0x67FF, "Standardized profile area 1st logical device"},
    { 0x6800, 0x6FFF, "Standardized profile area 2nd logical device"},
    { 0x7000, 0x77FF, "Standardized profile area 3rd logical device"},
    { 0x7800, 0x7FFF, "Standardized profile area 4th logical device"},
    { 0x8000, 0x87FF, "Standardized profile area 5th logical device"},
    { 0x8800, 0x8FFF, "Standardized profile area 6th logical device"},
    { 0x9000, 0x97FF, "Standardized profile area 7th logical device"},
    { 0x9800, 0x9FFF, "Standardized profile area 8th logical device"},
    { 0xA000, 0xAFFF, "Standardized network variable area"},
    { 0xB000, 0xBFFF, "Standardized system variable area"},
    { 0xC000, 0xFFFF, "reserved"},
    { 0,      0,      NULL}
};

/* EMCY error codes */
static const range_string em_err_code[] = {
    { 0x0000, 0x00FF, "Error reset or no error"},
    { 0x1000, 0x10FF, "Generic error"},
    { 0x2000, 0x20FF, "Current"},
    { 0x2100, 0x21FF, "Current, CANopen device input side"},
    { 0x2200, 0x22FF, "Current inside the CANopen device"},
    { 0x2300, 0x23FF, "Current, CANopen device output side"},
    { 0x3000, 0x30FF, "Voltage"},
    { 0x3100, 0x31FF, "Mains voltage"},
    { 0x3200, 0x32FF, "Voltage inside the CANopen device"},
    { 0x3300, 0x33FF, "Output voltage"},
    { 0x4000, 0x40FF, "Temperature"},
    { 0x4100, 0x41FF, "Ambient temperature"},
    { 0x4200, 0x42FF, "CANopen device temperature"},
    { 0x5000, 0x50FF, "CANopen device hardware"},
    { 0x6000, 0x60FF, "CANopen device software"},
    { 0x6100, 0x61FF, "Internal software"},
    { 0x6200, 0x62FF, "User software"},
    { 0x6300, 0x63FF, "Data set"},
    { 0x7000, 0x70FF, "Additional modules"},
    { 0x8000, 0x80FF, "Monitoring"},
    { 0x8100, 0x810F, "Communication"},
    { 0x8110, 0x8110, "Communication - CAN overrun (objects lost)"},
    { 0x8111, 0x811F, "Communication"},
    { 0x8120, 0x8120, "Communication - CAN in error passive mode"},
    { 0x8121, 0x812F, "Communication"},
    { 0x8130, 0x8130, "Communication - Life guard error or heartbeat error"},
    { 0x8131, 0x813F, "Communication"},
    { 0x8140, 0x8140, "Communication - recovered from bus off"},
    { 0x8141, 0x814F, "Communication"},
    { 0x8150, 0x8150, "Communication - CAN-ID collision"},
    { 0x8151, 0x81FF, "Communication"},
    { 0x8200, 0x820F, "Protocol error"},
    { 0x8210, 0x8210, "Protocol error - PDO not processed due to length error"},
    { 0x8211, 0x821F, "Protocol error"},
    { 0x8220, 0x8220, "Protocol error - PDO length exceeded"},
    { 0x8221, 0x822F, "Protocol error"},
    { 0x8230, 0x8230, "Protocol error - DAM MPDO not processed, destination object not available"},
    { 0x8231, 0x823F, "Protocol error"},
    { 0x8240, 0x8240, "Protocol error - Unexpected SYNC data length"},
    { 0x8241, 0x824F, "Protocol error"},
    { 0x8250, 0x8250, "Protocol error - RPDO timeout"},
    { 0x8251, 0x82FF, "Protocol error"},
    { 0x9000, 0x90FF, "External error"},
    { 0xF000, 0xF0FF, "Additional functions"},
    { 0xFF00, 0xFFFF, "CANopen device specific"},
    { 0,      0,      NULL}
};

/* NMT command specifiers */
static const value_string nmt_ctrl_cs[] = {
    { 0x01, "Start remote node"},
    { 0x02, "Stop remote node"},
    { 0x80, "Enter pre-operational state"},
    { 0x81, "Reset node"},
    { 0x82, "Reset communication"},
    { 0, NULL}
};

/* NMT states */
static const value_string nmt_guard_state[] = {
    { 0x00, "Boot-up"},
    { 0x04, "Stopped"},
    { 0x05, "Operational"},
    { 0x7F, "Pre-operational"},
    { 0, NULL}
};

/* SDO Client command specifier */
static const value_string sdo_ccs[] = {
    { 0x00, "Download segment request"},
    { 0x01, "Initiate download request"},
    { 0x02, "Initiate upload request"},
    { 0x03, "Upload segment request"},
    { 0x04, "Abort transfer"},
    { 0x05, "Block upload"},
    { 0x06, "Block download"},
    { 0, NULL}
};

/* SDO Server command specifier */
static const value_string sdo_scs[] = {
    { 0x00, "Upload segment response"},
    { 0x01, "Download segment response"},
    { 0x02, "Initiate upload response"},
    { 0x03, "Initiate download response"},
    { 0x04, "Abort transfer"},
    { 0x05, "Block download"},
    { 0x06, "Block upload"},
    { 0, NULL}
};

/* SDO client subcommand meaning */
static const value_string sdo_client_subcommand_meaning[] = {
    { 0x00, "Initiate upload/download request"},
    { 0x01, "End block upload/download request"},
    { 0x02, "Block upload response"},
    { 0x03, "Start upload"},
    { 0, NULL}
};

/* SDO server subcommand meaning */
static const value_string sdo_server_subcommand_meaning[] = {
    { 0x00, "Initiate upload/download response"},
    { 0x01, "End block upload/download response"},
    { 0x02, "Block download response"},
    { 0, NULL}
};

static const value_string sdo_abort_code[] = {
    { 0x05030000, "Toggle bit not alternated"},
    { 0x05040000, "SDO protocol timed out"},
    { 0x05040001, "Client/server command specifier not valid or unknown"},
    { 0x05040002, "Invalid block size"},
    { 0x05040003, "Invalid sequence number"},
    { 0x05040004, "CRC error"},
    { 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 PDO"},
    { 0x06040042, "The number and length of the objects to be mapped would exceed PDO length"},
    { 0x06040043, "General parameter incompatibility reason"},
    { 0x06040047, "General internal incompatibility in the device"},
    { 0x06060000, "Access failed due to an 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, "Invalid value for parameter"},
    { 0x06090031, "Value of parameter written too high"},
    { 0x06090032, "Value of parameter written too low"},
    { 0x06090036, "Maximum value is less than minimum value"},
    { 0x060A0023, "Resource not available: SDO connection"},
    { 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, "Object dictionary dynamic generation fails or no object dictionary is present"},
    { 0x08000024, "No data available"},
    { 0, NULL}
};

/* LSS COB-IDs */
#define LSS_MASTER_CAN_ID                  0x7E5
#define LSS_SLAVE_CAN_ID                   0x7E4

/* LSS Switch state services */
#define LSS_CS_SWITCH_GLOBAL               0x04
#define LSS_CS_SWITCH_SELECTIVE_VENDOR     0x40
#define LSS_CS_SWITCH_SELECTIVE_PRODUCT    0x41
#define LSS_CS_SWITCH_SELECTIVE_REVISION   0x42
#define LSS_CS_SWITCH_SELECTIVE_SERIAL     0x43
#define LSS_CS_SWITCH_SELECTIVE_RESP       0x44
/* LSS Configuration services */
#define LSS_CS_CONF_NODE_ID                0x11
#define LSS_CS_CONF_BIT_TIMING             0x13
#define LSS_CS_CONF_ACT_BIT_TIMING         0x15
#define LSS_CS_CONF_STORE                  0x17
/* LSS Inquire services */
#define LSS_CS_INQ_VENDOR_ID               0x5A
#define LSS_CS_INQ_PRODUCT_CODE            0x5B
#define LSS_CS_INQ_REV_NUMBER              0x5C
#define LSS_CS_INQ_SERIAL_NUMBER           0x5D
#define LSS_CS_INQ_NODE_ID                 0x5E
/* LSS Identification services */
#define LSS_CS_IDENT_REMOTE_VENDOR         0x46
#define LSS_CS_IDENT_REMOTE_PRODUCT        0x47
#define LSS_CS_IDENT_REMOTE_REV_LOW        0x48
#define LSS_CS_IDENT_REMOTE_REV_HIGH       0x49
#define LSS_CS_IDENT_REMOTE_SERIAL_LOW     0x4A
#define LSS_CS_IDENT_REMOTE_SERIAL_HIGH    0x4B
#define LSS_CS_IDENT_REMOTE_NON_CONF       0x4C
#define LSS_CS_IDENT_SLAVE                 0x4F
#define LSS_CS_IDENT_NON_CONF_SLAVE        0x50
#define LSS_CS_IDENT_FASTSCAN              0x51


/* LSS command specifier */
static const value_string lss_cs_code[] = {
    { 0x04, "Switch state global protocol"},
    { 0x11, "Configure node-ID protocol"},
    { 0x13, "Configure bit timing protocol"},
    { 0x15, "Activate bit timing parameters protocol"},
    { 0x17, "Store configuration protocol"},
    { 0x40, "Switch state selective protocol"},
    { 0x41, "Switch state selective protocol"},
    { 0x42, "Switch state selective protocol"},
    { 0x43, "Switch state selective protocol"},
    { 0x44, "Switch state selective protocol"},
    { 0x46, "Identify remote slave protocol"},
    { 0x47, "Identify remote slave protocol"},
    { 0x48, "Identify remote slave protocol"},
    { 0x49, "Identify remote slave protocol"},
    { 0x4A, "Identify remote slave protocol"},
    { 0x4B, "Identify remote slave protocol"},
    { 0x4C, "Identify non-configured remote slave protocol"},
    { 0x4F, "Identify slave protocol"},
    { 0x50, "Identify non-configured slave protocol"},
    { 0x51, "LSS Fastscan protocol"},
    { 0x5A, "Inquire identity vendor-ID protocol"},
    { 0x5B, "Inquire identity product code protocol"},
    { 0x5C, "Inquire identity revision number protocol"},
    { 0x5D, "Inquire identity serial number protocol"},
    { 0x5E, "Inquire node-ID protocol"},
    { 0, NULL}
};

static const value_string lss_fastscan_subnext[] = {
    { 0x0, "Vendor-ID"},
    { 0x1, "Product code"},
    { 0x2, "Revision number"},
    { 0x3, "Serial number"},
    { 0, NULL}
};

static const value_string lss_switch_mode[] = {
    { 0x0, "Waiting state"},
    { 0x1, "Configuration state"},
    { 0, NULL}
};

static const value_string lss_conf_id_err_code[] = {
    { 0x00, "Protocol successfully completed"},
    { 0x01, "NID out of range"},
    { 0xFF, "Implementation specific error"},
    { 0, NULL}
};

static const value_string lss_conf_bt_err_code[] = {
    { 0x00, "Protocol successfully completed"},
    { 0x01, "Bit rate not supported"},
    { 0xFF, "Implementation specific error"},
    { 0, NULL}
};

static const value_string lss_store_conf_err_code[] = {
    { 0x00, "Protocol successfully completed"},
    { 0x01, "Store configuration not supported"},
    { 0x02, "Storage media access erro"},
    { 0xFF, "Implementation specific error"},
    { 0, NULL}
};

static const value_string bit_timing_tbl[] = {
    { 0x00, "1000 kbit/s"},
    { 0x01, "800 kbit/s"},
    { 0x02, "500 kbit/s"},
    { 0x03, "250 kbit/s"},
    { 0x04, "125 kbit/s"},
    { 0x05, "Reserved"},
    { 0x06, "50 kbit/s"},
    { 0x07, "20 kbit/s"},
    { 0x08, "10 kbit/s"},
    { 0x09, "Auto bit rate detection"},
    { 0, NULL}
};


static const value_string lss_id_remote_slave[] = {
    { 0x46, "Vendor-ID"},
    { 0x47, "Product-code"},
    { 0x48, "Revision-number (low)"},
    { 0x49, "Revision-number (high)"},
    { 0x4A, "Serial-number (low)"},
    { 0x4B, "Serial-number (high)"},
    { 0, NULL}
};

static const value_string lss_inquire_id[] = {
    { 0x5A, "Vendor-ID"},
    { 0x5B, "Product-code"},
    { 0x5C, "Revision-number"},
    { 0x5D, "Serial-number"},
    { 0x5E, "Node-ID"},
    { 0, NULL}
};

static unsigned
canopen_detect_msg_type(unsigned function_code, unsigned node_id)
{
    switch (function_code) {
        case FC_NMT:
            return MT_NMT_CTRL;
        case FC_SYNC:
            if (node_id == 0) {
                return MT_SYNC;
            } else {
                return MT_EMERGENCY;
            }
            break;
        case FC_TIME_STAMP:
            return MT_TIME_STAMP;
        case FC_PDO1_TX:
            return MT_PDO;
        case FC_PDO1_RX:
            return MT_PDO;
        case FC_PDO2_TX:
            return MT_PDO;
        case FC_PDO2_RX:
            return MT_PDO;
        case FC_PDO3_TX:
            return MT_PDO;
        case FC_PDO3_RX:
            return MT_PDO;
        case FC_PDO4_TX:
            return MT_PDO;
        case FC_PDO4_RX:
            return MT_PDO;
        case FC_DEFAULT_SDO_TX:
            return MT_SDO;
        case FC_DEFAULT_SDO_RX:
            return MT_SDO;
        case FC_NMT_ERR_CONTROL:
            return MT_NMT_ERR_CTRL;
        case LSS_MASTER_CAN_ID >> 7:
            if (node_id == (LSS_MASTER_CAN_ID & 0x7F)) {
                return MT_LSS_MASTER;
            } else if (node_id == (LSS_SLAVE_CAN_ID & 0x7F)) {
                return MT_LSS_SLAVE;
            }
            return MT_UNKNOWN;
        default:
            return MT_UNKNOWN;
    }
}


static inline int * const *
sdo_cmd_fields_scs(unsigned cs, unsigned subcommand)
{
    if (cs < array_length(_sdo_cmd_fields_scs))
        return _sdo_cmd_fields_scs[cs];
    else if(cs == SDO_SCS_BLOCK_DOWN && subcommand < array_length(_sdo_cmd_fields_scs5))
        return _sdo_cmd_fields_scs5[subcommand];
    else if(cs == SDO_SCS_BLOCK_UP  && subcommand < array_length(_sdo_cmd_fields_scs6))
        return _sdo_cmd_fields_scs6[subcommand];
    return NULL;
}

static inline int * const *
sdo_cmd_fields_ccs(unsigned cs, unsigned subcommand)
{
    if (cs < array_length(_sdo_cmd_fields_ccs))
        return _sdo_cmd_fields_ccs[cs];
    else if (cs == SDO_CCS_BLOCK_UP && subcommand < array_length(_sdo_cmd_fields_ccs5))
        return _sdo_cmd_fields_ccs5[subcommand];
    else if (cs == SDO_CCS_BLOCK_DOWN && subcommand < array_length(_sdo_cmd_fields_ccs6))
        return _sdo_cmd_fields_ccs6[subcommand];
    return NULL;
}

static void
dissect_sdo(tvbuff_t *tvb, packet_info *pinfo, proto_tree *canopen_type_tree, unsigned function_code)
{
    int offset = 0;
    /*number of data bytes*/
    uint8_t sdo_data = 0;
    /*Field existence*/
    uint8_t sdo_mux = 0, sdo_pst = 0;
    /*sdo values used to choose dissector*/
    uint8_t sdo_cs = 0, sdo_subcommand = 0;
    int * const *sdo_cmd_fields;

    /* get SDO command specifier */
    sdo_cs = tvb_get_bits8(tvb, 0, 3);

    if (function_code == FC_DEFAULT_SDO_RX) {
        col_append_fstr(pinfo->cinfo, COL_INFO,
                ": %s", val_to_str(sdo_cs, sdo_ccs,
                    "Unknown (0x%x)"));

        switch (sdo_cs) {
            case SDO_CCS_DOWN_SEG_REQ:
                sdo_mux = 0;
                sdo_data = 7;
                break;
            case SDO_CCS_INIT_DOWN_REQ:
                sdo_mux = 1;
                sdo_data = 4;
                break;
            case SDO_CCS_INIT_UP_REQ:
                sdo_mux = 1;
                sdo_data = 0;
                break;
            case SDO_CCS_UP_SEQ_REQ:
                sdo_mux = 0;
                sdo_data = 0;
                break;
            case SDO_CS_ABORT_TRANSFER:
                sdo_mux = 1;
                sdo_data = 4;
                break;
            case SDO_CCS_BLOCK_UP:
                sdo_subcommand = tvb_get_bits8(tvb, 6, 2);
                if(sdo_subcommand == 0)
                {
                  sdo_mux = 1;
                  /*only the client sends pst*/
                  sdo_pst = 1;
                }
                /*check unused field is empty, otherwise it could be a data block segment
                 (TODO: add segment decoding)*/
                if(tvb_get_bits8(tvb, 3, 3) != 0)
                  return;
                break;
            case SDO_CCS_BLOCK_DOWN:
                sdo_subcommand = tvb_get_bits8(tvb, 7, 1);
                if(sdo_subcommand == 0)
                {
                  sdo_mux = 1;
                  sdo_data = 4;
                  /*check unused field is empty, otherwise it could be a data block segment
                   (TODO: add segment decoding)*/
                  if(tvb_get_bits8(tvb, 3, 3) != 0)
                    return;
                }
                else
                {
                  sdo_data = 2;
                  /*check unused field is empty, otherwise it could be a data block segment
                   (TODO: add segment decoding)*/
                  if(tvb_get_bits8(tvb, 6, 1) != 0)
                    return;
                }
                break;
            default:
                return;
        }

        sdo_cmd_fields = sdo_cmd_fields_ccs(sdo_cs,sdo_subcommand);

    } else {
        col_append_fstr(pinfo->cinfo, COL_INFO,
                ": %s", val_to_str(sdo_cs, sdo_scs,
                    "Unknown (0x%x)"));

        switch (sdo_cs) {
            case SDO_SCS_UP_SEQ_RESP:
                sdo_mux = 0;
                sdo_data = 7;
                break;
            case SDO_SCS_DOWN_SEG_RESP:
                sdo_mux = 0;
                sdo_data = 0;
                break;
            case SDO_SCS_INIT_UP_RESP:
                sdo_mux = 1;
                sdo_data = 4;
                break;
            case SDO_SCS_INIT_DOWN_RESP:
                sdo_mux = 1;
                sdo_data = 0;
                break;
            case SDO_CS_ABORT_TRANSFER:
                sdo_mux = 1;
                sdo_data = 4;
                break;
            case SDO_SCS_BLOCK_DOWN:
                sdo_subcommand = tvb_get_bits8(tvb, 6, 2);
                if(sdo_subcommand == 0)
                {
                  sdo_mux = 1;
                }
                 /*check unused field is empty, otherwise it could be a data block segment
                  (TODO: add segment decoding)*/
                if(tvb_get_bits8(tvb, 3, 3) != 0)
                  return;
                break;
            case SDO_SCS_BLOCK_UP:
                sdo_subcommand = tvb_get_bits8(tvb, 7, 1);
                if(sdo_subcommand == 0)
                {
                  sdo_mux = 1;
                  sdo_data = 4;
                  /*check unused field is empty, otherwise it could be a data block segment
                   (TODO: add segment decoding)*/
                  if(tvb_get_bits8(tvb, 3, 3) != 0)
                    return;
                }
                else
                {
                  sdo_data = 2;
                  /*check unused field is empty, otherwise it could be a data block segment
                   (TODO: add segment decoding)*/
                  if(tvb_get_bits8(tvb, 6, 1) != 0)
                    return;
                }
                break;
            default:
                return;
        }

        sdo_cmd_fields = sdo_cmd_fields_scs(sdo_cs,sdo_subcommand);
    }

    if (sdo_cmd_fields == NULL) {
        proto_tree_add_item(canopen_type_tree, hf_canopen_sdo_cmd, tvb, 0, 1, ENC_LITTLE_ENDIAN);
        /* XXX Add expert info */
        return;
    }

    proto_tree_add_bitmask(canopen_type_tree, tvb, offset,
            hf_canopen_sdo_cmd, ett_canopen_sdo_cmd, sdo_cmd_fields, ENC_LITTLE_ENDIAN);

    offset++;

    if (sdo_mux) {
        /* decode mux */
        proto_tree_add_item(canopen_type_tree,
                hf_canopen_sdo_main_idx, tvb, offset, 2, ENC_LITTLE_ENDIAN);
        offset += 2;

        proto_tree_add_item(canopen_type_tree,
                hf_canopen_sdo_sub_idx, tvb, offset, 1, ENC_LITTLE_ENDIAN);
        offset++;
    }

    if (sdo_cs == SDO_CS_ABORT_TRANSFER) {
        /* SDO abort transfer */
        proto_tree_add_item(canopen_type_tree,
                hf_canopen_sdo_abort_code, tvb, offset, 4, ENC_LITTLE_ENDIAN);
        return;
    }

    if (sdo_cs == 5) {
        /*SDO_SCS_BLOCK_DOWN or SDO_CCS_BLOCK_UP*/
        if(sdo_subcommand == 2)
        {
          /*decode ackseq byte)*/
          proto_tree_add_item(canopen_type_tree,
                  hf_canopen_sdo_cmd_block_ackseq, tvb, offset, 1, ENC_LITTLE_ENDIAN);
          offset++;
        }

        if(sdo_subcommand == 0 || sdo_subcommand == 2)
        {
          /*decode blksize byte)*/
          proto_tree_add_item(canopen_type_tree,
                  hf_canopen_sdo_cmd_block_blksize, tvb, offset, 1, ENC_LITTLE_ENDIAN);
          offset++;
        }
    }

    if (sdo_pst) {
        /*decode pst byte)*/
        proto_tree_add_item(canopen_type_tree,
                hf_canopen_sdo_cmd_block_pst, tvb, offset, 1, ENC_LITTLE_ENDIAN);
        offset++;
    }

    if (sdo_data) {
        proto_tree_add_item(canopen_type_tree,
                hf_canopen_sdo_data, tvb, offset, sdo_data, ENC_NA);
        offset += sdo_data;
    }

    if(offset < 8)
    {
      /* Reserved */
      proto_tree_add_item(canopen_type_tree,
          hf_canopen_reserved, tvb, offset, 8 - offset, ENC_NA);
    }
}

static void
dissect_lss(tvbuff_t *tvb, packet_info *pinfo, proto_tree *canopen_type_tree, unsigned msg_type_id)
{
    int offset = 0;
    int reserved = 0;
    uint8_t lss_cs;
    uint8_t lss_bc_mask;
    uint16_t lss_abt_delay;

    proto_tree_add_item(canopen_type_tree,
            hf_canopen_lss_cs, tvb, offset, 1, ENC_LITTLE_ENDIAN);

    /* LSS command specifier */
    lss_cs = tvb_get_uint8(tvb, offset);
    col_append_fstr(pinfo->cinfo, COL_INFO, ": %s", val_to_str(lss_cs, lss_cs_code, "Unknown (0x%x)"));
    offset++;

    if (msg_type_id == MT_LSS_MASTER) {

        /* Master commands */
        switch (lss_cs) {
            case LSS_CS_SWITCH_GLOBAL:
                col_append_fstr(pinfo->cinfo, COL_INFO,
                        ": %s", val_to_str(tvb_get_uint8(tvb, offset), lss_switch_mode, "Unknown (0x%x)"));

                proto_tree_add_item(canopen_type_tree,
                        hf_canopen_lss_switch_mode, tvb, offset, 1, ENC_LITTLE_ENDIAN);
                offset++;
                reserved = 6;
                break;
            case LSS_CS_SWITCH_SELECTIVE_VENDOR:
                proto_tree_add_item(canopen_type_tree,
                        hf_canopen_lss_addr_vendor, tvb, offset, 4, ENC_LITTLE_ENDIAN);
                offset += 4;
                reserved = 3;
                break;
            case LSS_CS_SWITCH_SELECTIVE_PRODUCT:
                proto_tree_add_item(canopen_type_tree,
                        hf_canopen_lss_addr_product, tvb, offset, 4, ENC_LITTLE_ENDIAN);
                offset += 4;
                reserved = 3;
                break;
            case LSS_CS_SWITCH_SELECTIVE_REVISION:
                proto_tree_add_item(canopen_type_tree,
                        hf_canopen_lss_addr_revision, tvb, offset, 4, ENC_LITTLE_ENDIAN);
                offset += 4;
                reserved = 3;
                break;
            case LSS_CS_SWITCH_SELECTIVE_SERIAL:
                proto_tree_add_item(canopen_type_tree,
                        hf_canopen_lss_addr_serial, tvb, offset, 4, ENC_LITTLE_ENDIAN);
                offset += 4;
                reserved = 3;
                break;
            case LSS_CS_CONF_NODE_ID:
                col_append_fstr(pinfo->cinfo, COL_INFO, ": 0x%02x", tvb_get_uint8(tvb, offset));

                proto_tree_add_item(canopen_type_tree,
                        hf_canopen_lss_nid, tvb, offset, 1, ENC_LITTLE_ENDIAN);
                offset++;
                reserved = 6;
                break;
            case LSS_CS_CONF_BIT_TIMING:
                proto_tree_add_item(canopen_type_tree,
                        hf_canopen_lss_bt_tbl_selector, tvb, offset, 1, ENC_LITTLE_ENDIAN);
                offset++;

                /* XXX Note that current dissector only works for table selector 0x00 (CiA 301 Table 1) */
                col_append_fstr(pinfo->cinfo, COL_INFO,
                        ": %s", val_to_str(tvb_get_uint8(tvb, offset), bit_timing_tbl, "Unknown (0x%x)"));
                proto_tree_add_item(canopen_type_tree,
                        hf_canopen_lss_bt_tbl_index, tvb, offset, 1, ENC_LITTLE_ENDIAN);
                offset++;
                reserved = 5;
                break;
            case LSS_CS_CONF_ACT_BIT_TIMING:
                lss_abt_delay = tvb_get_letohl(tvb, offset);

                col_append_fstr(pinfo->cinfo, COL_INFO, ": %d ms", lss_abt_delay);

                proto_tree_add_uint_format_value(canopen_type_tree,
                        hf_canopen_lss_abt_delay, tvb, offset, 2, lss_abt_delay,
                        "%d ms (0x%02x)", lss_abt_delay, lss_abt_delay);


                offset += 2;
                reserved = 5;
                break;
            case LSS_CS_CONF_STORE:
            case LSS_CS_INQ_VENDOR_ID:
            case LSS_CS_INQ_PRODUCT_CODE:
            case LSS_CS_INQ_REV_NUMBER:
            case LSS_CS_INQ_SERIAL_NUMBER:
            case LSS_CS_INQ_NODE_ID:
                reserved = 7;
                break;
            case LSS_CS_IDENT_REMOTE_VENDOR:
            case LSS_CS_IDENT_REMOTE_PRODUCT:
            case LSS_CS_IDENT_REMOTE_REV_LOW:
            case LSS_CS_IDENT_REMOTE_REV_HIGH:
            case LSS_CS_IDENT_REMOTE_SERIAL_LOW:
            case LSS_CS_IDENT_REMOTE_SERIAL_HIGH:
                col_append_fstr(pinfo->cinfo, COL_INFO, ", %s 0x%08x",
                        val_to_str_const(lss_cs, lss_id_remote_slave, "(Unknown)"), tvb_get_letohl(tvb, offset));

                proto_tree_add_item(canopen_type_tree,
                        *hf_canopen_lss_addr_ident[lss_cs - LSS_CS_IDENT_REMOTE_VENDOR], tvb, offset, 4, ENC_LITTLE_ENDIAN);
                offset += 4;
                reserved = 3;
                break;
            case LSS_CS_IDENT_REMOTE_NON_CONF:
                reserved = 7;
                break;
            case LSS_CS_IDENT_FASTSCAN:
                proto_tree_add_item(canopen_type_tree,
                        hf_canopen_lss_fastscan_id, tvb, offset, 4, ENC_LITTLE_ENDIAN);
                offset += 4;
                lss_bc_mask = tvb_get_uint8(tvb, offset);
                if (lss_bc_mask == 0x80) {
                    proto_tree_add_uint_format_value(canopen_type_tree,
                            hf_canopen_lss_fastscan_check, tvb, offset, 1, lss_bc_mask,
                            "All LSS slaves (0x%02x)", lss_bc_mask);
                } else if (lss_bc_mask < 32) {
                    proto_tree_add_uint_format_value(canopen_type_tree,
                            hf_canopen_lss_fastscan_check, tvb, offset, 1,
                            lss_bc_mask, "0x%x (0x%02x)",
                            ~((1 << lss_bc_mask) - 1),
                            lss_bc_mask);
                } else {
                    proto_tree_add_uint_format_value(canopen_type_tree,
                            hf_canopen_lss_fastscan_check, tvb, offset, 1, lss_bc_mask,
                            "Reserved (0x%02x)", lss_bc_mask);
                }
                offset++;
                proto_tree_add_item(canopen_type_tree,
                        hf_canopen_lss_fastscan_sub, tvb, offset, 1, ENC_LITTLE_ENDIAN);
                offset++;
                proto_tree_add_item(canopen_type_tree,
                        hf_canopen_lss_fastscan_next, tvb, offset, 1, ENC_LITTLE_ENDIAN);
                break;
            default: /* invalid command specifier */
                return;
        }

    } else {

        /* Slave commands */
        switch (lss_cs) {
            case LSS_CS_SWITCH_SELECTIVE_RESP:
                reserved = 7;
                break;
            case LSS_CS_CONF_NODE_ID:
                proto_tree_add_item(canopen_type_tree,
                        hf_canopen_lss_conf_id_err_code, tvb, offset, 1, ENC_LITTLE_ENDIAN);
                offset++;
                proto_tree_add_item(canopen_type_tree,
                        hf_canopen_lss_spec_err, tvb, offset, 1, ENC_LITTLE_ENDIAN);
                offset++;
                reserved = 5;
                break;
            case LSS_CS_CONF_BIT_TIMING:
                proto_tree_add_item(canopen_type_tree,
                        hf_canopen_lss_conf_bt_err_code, tvb, offset, 1, ENC_LITTLE_ENDIAN);

                offset++;
                proto_tree_add_item(canopen_type_tree,
                        hf_canopen_lss_spec_err, tvb, offset, 1, ENC_LITTLE_ENDIAN);

                offset++;
                reserved = 5;
                break;
            case LSS_CS_CONF_STORE:
                proto_tree_add_item(canopen_type_tree,
                        hf_canopen_lss_store_conf_err_code, tvb, offset, 1, ENC_LITTLE_ENDIAN);
                offset++;
                proto_tree_add_item(canopen_type_tree,
                        hf_canopen_lss_spec_err, tvb, offset, 1, ENC_LITTLE_ENDIAN);
                offset++;
                reserved = 5;
                break;
            case LSS_CS_INQ_VENDOR_ID:
            case LSS_CS_INQ_PRODUCT_CODE:
            case LSS_CS_INQ_REV_NUMBER:
            case LSS_CS_INQ_SERIAL_NUMBER:
                col_append_fstr(pinfo->cinfo, COL_INFO,
                        ", %s 0x%08x", val_to_str_const(lss_cs, lss_inquire_id, "(Unknown)"), tvb_get_letohl(tvb, offset));

                proto_tree_add_item(canopen_type_tree,
                        *hf_canopen_lss_addr_inquire[lss_cs - LSS_CS_INQ_VENDOR_ID], tvb, offset, 4, ENC_LITTLE_ENDIAN);
                offset += 4;
                reserved = 3;
                break;
            case LSS_CS_INQ_NODE_ID:
                col_append_fstr(pinfo->cinfo, COL_INFO,
                        ", %s 0x%08x", val_to_str_const(lss_cs, lss_inquire_id, "(Unknown)"), tvb_get_letohl(tvb, offset));

                proto_tree_add_item(canopen_type_tree,
                        hf_canopen_lss_nid, tvb, offset, 1, ENC_LITTLE_ENDIAN);
                offset++;
                reserved = 6;
                break;
            case LSS_CS_IDENT_SLAVE:
                reserved = 7;
                break;
            case LSS_CS_IDENT_NON_CONF_SLAVE:
                reserved = 7;
                break;
            default: /* invalid command specifier */
                return;
        }

    }

    if (reserved) {
        proto_tree_add_item(canopen_type_tree,
                hf_canopen_reserved, tvb, offset, reserved, ENC_NA);
    }

}

/* Code to actually dissect the packets */
static int
dissect_canopen(tvbuff_t *tvb, packet_info *pinfo, proto_tree *tree, void* data)
{
    unsigned     function_code;
    unsigned     node_id;
    uint32_t     time_stamp_msec;
    uint32_t     time_stamp_days;
    struct can_info can_info;
    unsigned     msg_type_id;
    nstime_t     time_stamp;
    int          can_data_len = tvb_reported_length(tvb);
    const char *function_code_str;
    int offset = 0;
    uint8_t nmt_node_id;

    proto_item *ti, *cob_ti;
    proto_tree *canopen_tree;
    proto_tree *canopen_cob_tree;
    proto_tree *canopen_type_tree;

    DISSECTOR_ASSERT(data);
    can_info = *((struct can_info*)data);

    if (can_info.id & (CAN_ERR_FLAG | CAN_RTR_FLAG | CAN_EFF_FLAG))
    {
        /* Error, RTR and frames with extended ids are not for us. */
        return 0;
    }

    col_set_str(pinfo->cinfo, COL_PROTOCOL, "CANopen");
    col_clear(pinfo->cinfo, COL_INFO);

    node_id       = can_info.id & 0x7F;
    function_code = (can_info.id >> 7) & 0x0F;

    msg_type_id = canopen_detect_msg_type(function_code, node_id);

    if (msg_type_id == MT_LSS_MASTER) {
        function_code_str = "LSS (Master)";
        col_add_str(pinfo->cinfo, COL_INFO, function_code_str);
    } else if (msg_type_id == MT_LSS_SLAVE) {
        function_code_str = "LSS (Slave)";
        col_add_str(pinfo->cinfo, COL_INFO, function_code_str);
    } else {

        if (node_id == 0 ) {
            /* broadcast */
            function_code_str = val_to_str(function_code, CAN_open_bcast_msg_type_vals, "Unknown (%u)");
            col_add_str(pinfo->cinfo, COL_INFO, function_code_str);
        } else {
            /* point-to-point */
            function_code_str = val_to_str(function_code, CAN_open_p2p_msg_type_vals, "Unknown (%u)");
            col_add_str(pinfo->cinfo, COL_INFO, function_code_str);
        }
    }

    ti = proto_tree_add_item(tree, proto_canopen, tvb, 0, tvb_reported_length(tvb), ENC_NA);
    canopen_tree = proto_item_add_subtree(ti, ett_canopen);

    /* add COB-ID with function code and node id */
    cob_ti = proto_tree_add_uint(canopen_tree, hf_canopen_cob_id, tvb, 0, 0, can_info.id);
    canopen_cob_tree = proto_item_add_subtree(cob_ti, ett_canopen_cob);

    /* add function code */
    ti = proto_tree_add_uint(canopen_cob_tree, hf_canopen_function_code, tvb, 0, 0, can_info.id);
    proto_item_set_generated(ti);

    /* add node id */
    ti = proto_tree_add_uint(canopen_cob_tree, hf_canopen_node_id, tvb, 0, 0, can_info.id);
    proto_item_set_generated(ti);

    /* add CANopen frame type */

    canopen_type_tree = proto_tree_add_subtree_format(canopen_tree, tvb, 0,
                                  tvb_reported_length(tvb),
                                  ett_canopen_type, NULL, "Type: %s", function_code_str);
    switch(msg_type_id)
    {
    case MT_NMT_CTRL:
        col_append_fstr(pinfo->cinfo, COL_INFO, ": %s", val_to_str(tvb_get_uint8(tvb, offset), nmt_ctrl_cs, "Unknown (0x%x)"));

        proto_tree_add_item(canopen_type_tree,
            hf_canopen_nmt_ctrl_cs, tvb, offset, 1, ENC_LITTLE_ENDIAN);
        offset++;

        nmt_node_id = tvb_get_uint8(tvb, offset);
        if (nmt_node_id == 0x00) {
            col_append_str(pinfo->cinfo, COL_INFO, " [All]");
        } else {
            col_append_fstr(pinfo->cinfo, COL_INFO, " [0x%x]", nmt_node_id);
        }

        proto_tree_add_item(canopen_type_tree,
            hf_canopen_nmt_ctrl_node_id, tvb, offset, 1, ENC_LITTLE_ENDIAN);
        break;
    case MT_NMT_ERR_CTRL:
        if (tvb_reported_length(tvb) > 0) {
            col_append_fstr(pinfo->cinfo, COL_INFO, ": %s", val_to_str_const(tvb_get_bits8(tvb, 1, 7), nmt_guard_state, "(Unknown)"));

            proto_tree_add_item(canopen_type_tree,
                hf_canopen_nmt_guard_toggle, tvb, offset, 1, ENC_LITTLE_ENDIAN);
            proto_tree_add_item(canopen_type_tree,
                hf_canopen_nmt_guard_state, tvb, offset, 1, ENC_LITTLE_ENDIAN);
        }

        col_append_fstr(pinfo->cinfo, COL_INFO, " [0x%x]", node_id);
        break;
    case MT_SYNC:
        /* Show optional counter parameter if present */
        if (tvb_reported_length(tvb) > 0) {
            col_append_fstr(pinfo->cinfo, COL_INFO, " [%d]", tvb_get_uint8(tvb, offset));

            proto_tree_add_item(canopen_type_tree,
                hf_canopen_sync_counter, tvb, offset, 1, ENC_LITTLE_ENDIAN);
        }
        break;
    case MT_TIME_STAMP:
        /* calculate the real time stamp */
        time_stamp_msec = tvb_get_letohl(tvb, offset);
        time_stamp_days = tvb_get_letohs(tvb, offset + 4);
        time_stamp.secs = (time_stamp_days + TS_DAYS_BETWEEN_1970_AND_1984)
            * TS_SECONDS_IN_PER_DAY + (time_stamp_msec / 1000);
        time_stamp.nsecs = (time_stamp_msec % 1000) * TS_NANOSEC_PER_MSEC;

        proto_tree_add_time(canopen_type_tree,
            hf_canopen_time_stamp, tvb, offset, 6, &time_stamp);

        proto_tree_add_uint(canopen_type_tree,
            hf_canopen_time_stamp_ms, tvb, offset, 4, time_stamp_msec);
        offset += 4;

        proto_tree_add_uint(canopen_type_tree,
            hf_canopen_time_stamp_days, tvb, offset, 2, time_stamp_days);

        break;
    case MT_EMERGENCY:
        proto_tree_add_item(canopen_type_tree,
            hf_canopen_em_err_code, tvb, offset, 2, ENC_LITTLE_ENDIAN);
        offset += 2;

        proto_tree_add_bitmask(canopen_type_tree, tvb, offset,
                hf_canopen_em_err_reg, ett_canopen_em_er, em_err_reg_fields, ENC_LITTLE_ENDIAN);
        offset++;

        proto_tree_add_item(canopen_type_tree,
            hf_canopen_em_err_field, tvb, offset, 5, ENC_NA);
        break;
    case MT_PDO:
        if (can_data_len != 0) {
            proto_tree_add_item(canopen_type_tree,
                hf_canopen_pdo_data, tvb, offset, can_data_len, ENC_NA);
        }
        else {
            proto_tree_add_string(canopen_type_tree,
                hf_canopen_pdo_data_string, tvb, offset, 0, "empty");
        }
        break;
    case MT_SDO:

        dissect_sdo(tvb, pinfo, canopen_type_tree, function_code);

        break;
    case MT_LSS_MASTER:
    case MT_LSS_SLAVE:

        dissect_lss(tvb, pinfo, canopen_type_tree, msg_type_id);

        break;
    }

    return tvb_reported_length(tvb);
}


/* Register the protocol with Wireshark */
void
proto_register_canopen(void)
{
    static hf_register_info hf[] = {
        /* COB-ID */
        { &hf_canopen_cob_id,
          { "COB-ID",           "canopen.cob_id",
            FT_UINT32, BASE_HEX, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_function_code,
          { "Function code", "canopen.function_code",
            FT_UINT32, BASE_HEX, NULL, 0x00000780,
            NULL, HFILL }
        },
        { &hf_canopen_node_id,
          { "Node-ID", "canopen.node_id",
            FT_UINT32, BASE_HEX, NULL, 0x7F,
            NULL, HFILL }
        },
        { &hf_canopen_pdo_data,
          { "Data", "canopen.pdo.data.bytes",
            FT_BYTES, BASE_NONE, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_pdo_data_string,
          { "Data", "canopen.pdo.data.string",
            FT_STRINGZ, BASE_NONE, NULL, 0x0,
            NULL, HFILL }
        },
        /* SDO */
        { &hf_canopen_sdo_cmd,
          { "SDO command byte", "canopen.sdo.cmd",
            FT_UINT8, BASE_HEX, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_sdo_cmd_ccs,
          { "Client command specifier", "canopen.sdo.ccs",
            FT_UINT8, BASE_DEC, VALS(sdo_ccs), 0xE0,
            NULL, HFILL }
        },
        { &hf_canopen_sdo_cmd_scs,
          { "Server command specifier", "canopen.sdo.scs",
            FT_UINT8, BASE_DEC, VALS(sdo_scs), 0xE0,
            NULL, HFILL }
        },
        { &hf_canopen_sdo_cmd_ccs5_subcommand,
          { "Client subcommand", "canopen.sdo.cs",
            FT_UINT8, BASE_DEC, VALS(sdo_client_subcommand_meaning), 0x03,
            NULL, HFILL }
        },
        { &hf_canopen_sdo_cmd_scs5_subcommand,
          { "Server command specifier", "canopen.sdo.ss",
            FT_UINT8, BASE_DEC, VALS(sdo_server_subcommand_meaning), 0x03,
            NULL, HFILL }
        },
        { &hf_canopen_sdo_cmd_ccs6_subcommand,
          { "Client subcommand", "canopen.sdo.cs",
            FT_UINT8, BASE_DEC, VALS(sdo_client_subcommand_meaning), 0x01,
            NULL, HFILL }
        },
        { &hf_canopen_sdo_cmd_scs6_subcommand,
          { "Server command specifier", "canopen.sdo.ss",
            FT_UINT8, BASE_DEC, VALS(sdo_server_subcommand_meaning), 0x01,
            NULL, HFILL }
        },
        { &hf_canopen_sdo_cmd_block_crc_support,
          { "CRC support", "canopen.sdo.crc_support",
            FT_BOOLEAN, 8, NULL, 0x04,
            "toggle", HFILL }
        },
        { &hf_canopen_sdo_cmd_block_s,
          { "Data set size indicated", "canopen.sdo.s",
            FT_BOOLEAN, 8, NULL, 0x02,
            "toggle", HFILL }
        },
        { &hf_canopen_sdo_cmd_block_n,
          { "Non-data byte", "canopen.sdo.n",
            FT_UINT8, BASE_DEC, NULL, 0x1C,
            "toggle", HFILL }
        },
        { &hf_canopen_sdo_cmd_block_ackseq,
          { "Number of segments acknowledged", "canopen.sdo.ackseq",
            FT_UINT8, BASE_DEC, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_sdo_cmd_block_blksize,
          { "Number of segments per block", "canopen.sdo.blksize",
            FT_UINT8, BASE_DEC, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_sdo_cmd_block_pst,
          { "Protocol switch threshold (bytes)", "canopen.sdo.pst",
            FT_UINT8, BASE_DEC, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_sdo_cmd_toggle,
          { "Toggle bit", "canopen.sdo.toggle",
            FT_UINT8, BASE_DEC, NULL, 0x10,
            NULL, HFILL }},
        { &hf_canopen_sdo_cmd_updown_n,
          { "Non-data bytes", "canopen.sdo.n",
            FT_UINT8, BASE_DEC, NULL, 0x0E,
            "toggle", HFILL }},
        { &hf_canopen_sdo_cmd_updown_c,
          { "No more segments", "canopen.sdo.c",
            FT_BOOLEAN, 8, NULL, 0x01,
            "toggle", HFILL }},
        { &hf_canopen_sdo_cmd_init_n,
          { "Non-data bytes", "canopen.sdo.n",
            FT_UINT8, BASE_DEC, NULL, 0x0C,
            "toggle", HFILL }},
        { &hf_canopen_sdo_cmd_init_e,
          { "Expedited transfer", "canopen.sdo.e",
            FT_BOOLEAN, 8, NULL, 0x02,
            "toggle", HFILL }},
        { &hf_canopen_sdo_cmd_init_s,
          { "Data set size indicated", "canopen.sdo.s",
            FT_BOOLEAN, 8, NULL, 0x01,
            "toggle", HFILL }},
        { &hf_canopen_sdo_main_idx,
          { "OD main-index", "canopen.sdo.main_idx",
            FT_UINT16, BASE_HEX|BASE_RANGE_STRING, RVALS(obj_dict), 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_sdo_sub_idx,
          { "OD sub-index", "canopen.sdo.sub_idx",
            FT_UINT8, BASE_HEX, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_sdo_data,
          { "Data", "canopen.sdo.data.bytes",
            FT_BYTES, BASE_NONE, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_sdo_abort_code,
          { "Abort code", "canopen.sdo.abort_code",
            FT_UINT32, BASE_HEX, VALS(sdo_abort_code), 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_reserved,
          { "Reserved", "canopen.reserved",
            FT_BYTES, BASE_NONE, NULL, 0x00,
            NULL, HFILL }
        },
        { &hf_canopen_em_err_code,
          { "Error code", "canopen.em.err_code",
            FT_UINT16, BASE_HEX|BASE_RANGE_STRING, RVALS(em_err_code), 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_em_err_reg,
          { "Error register", "canopen.em.err_reg",
            FT_UINT8, BASE_HEX, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_em_err_reg_ge,
          { "Generic error", "canopen.em.err_reg_ge",
            FT_BOOLEAN, 8, NULL, 0x01,
            NULL, HFILL }
        },
        { &hf_canopen_em_err_reg_cu,
          { "Current", "canopen.em.err_reg_cu",
            FT_BOOLEAN, 8, NULL, 0x02,
            NULL, HFILL }
        },
        { &hf_canopen_em_err_reg_vo,
          { "Voltage", "canopen.em.err_reg_vo",
            FT_BOOLEAN, 8, NULL, 0x04,
            NULL, HFILL }
        },
        { &hf_canopen_em_err_reg_te,
          { "Temperature", "canopen.em.err_reg_te",
            FT_BOOLEAN, 8, NULL, 0x08,
            NULL, HFILL }
        },
        { &hf_canopen_em_err_reg_co,
          { "Communication error (overrun, error state)", "canopen.em.err_reg_co",
            FT_BOOLEAN, 8, NULL, 0x10,
            NULL, HFILL }
        },
        { &hf_canopen_em_err_reg_de,
          { "Device profile specific", "canopen.em.err_reg_de",
            FT_BOOLEAN, 8, NULL, 0x20,
            NULL, HFILL }
        },
        { &hf_canopen_em_err_reg_re,
          { "Reserved (must be false)", "canopen.em.err_reg_re",
            FT_BOOLEAN, 8, NULL, 0x40,
            NULL, HFILL }
        },
        { &hf_canopen_em_err_reg_ma,
          { "Manufacturer specific", "canopen.em.err_reg_ma",
            FT_BOOLEAN, 8, NULL, 0x80,
            NULL, HFILL }
        },
        { &hf_canopen_em_err_field,
          { "Manufacturer specific error field", "canopen.em.err_field",
            FT_BYTES, BASE_NONE, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_nmt_ctrl_cs,
          { "Command specifier", "canopen.nmt_ctrl.cd",
            FT_UINT8, BASE_HEX, VALS(nmt_ctrl_cs), 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_nmt_ctrl_node_id,
          { "Node-ID", "canopen.nmt_ctrl.node_id",
            FT_UINT8, BASE_HEX, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_nmt_guard_toggle,
          { "Reserved/Toggle", "canopen.nmt_guard.toggle",
            FT_UINT8, BASE_DEC, NULL, 0x80,
            NULL, HFILL }
        },
        { &hf_canopen_nmt_guard_state,
          { "State", "canopen.nmt_guard.state",
            FT_UINT8, BASE_HEX, VALS(nmt_guard_state), 0x7F,
            NULL, HFILL }
        },
        /* SYNC */
        { &hf_canopen_sync_counter,
          { "Counter", "canopen.sync.counter",
            FT_UINT8, BASE_DEC, NULL, 0x0,
            NULL, HFILL }
        },
        /* LSS */
        { &hf_canopen_lss_cs,
          { "Command specifier", "canopen.lss.cs",
            FT_UINT8, BASE_HEX, VALS(lss_cs_code), 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_lss_addr_vendor,
          { "Vendor-ID", "canopen.lss.addr.vendor",
            FT_UINT32, BASE_HEX, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_lss_addr_product,
          { "Product-code", "canopen.lss.addr.product",
            FT_UINT32, BASE_HEX, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_lss_addr_revision,
          { "Revision-number", "canopen.lss.addr.revision",
            FT_UINT32, BASE_HEX, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_lss_addr_revision_low,
          { "Revision-number (low)", "canopen.lss.addr.revision_low",
            FT_UINT32, BASE_HEX, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_lss_addr_revision_high,
          { "Revision-number (high)", "canopen.lss.addr.revision_high",
            FT_UINT32, BASE_HEX, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_lss_addr_serial,
          { "Serial-number", "canopen.lss.addr.serial",
            FT_UINT32, BASE_HEX, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_lss_addr_serial_low,
          { "Serial-number (low)", "canopen.lss.addr.serial_low",
            FT_UINT32, BASE_HEX, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_lss_addr_serial_high,
          { "Serial-number (high)", "canopen.lss.addr.serial_high",
            FT_UINT32, BASE_HEX, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_lss_fastscan_id,
          { "IDNumber", "canopen.lss.fastscan.id",
            FT_UINT32, BASE_HEX, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_lss_fastscan_check,
          { "Bit Check", "canopen.lss.fastscan.check",
            FT_UINT8, BASE_HEX, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_lss_fastscan_sub,
          { "LSS Sub", "canopen.lss.fastscan.sub",
            FT_UINT8, BASE_HEX, VALS(lss_fastscan_subnext), 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_lss_fastscan_next,
          { "LSS Next", "canopen.lss.fastscan.next",
            FT_UINT8, BASE_HEX, VALS(lss_fastscan_subnext), 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_lss_switch_mode,
          { "Mode", "canopen.lss.switch.mode",
            FT_UINT8, BASE_HEX, VALS(lss_switch_mode), 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_lss_nid,
          { "NID", "canopen.lss.nid",
            FT_UINT8, BASE_HEX, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_lss_conf_id_err_code,
          { "Error code", "canopen.lss.conf_id.err_code",
            FT_UINT8, BASE_HEX, VALS(lss_conf_id_err_code), 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_lss_conf_bt_err_code,
          { "Error code", "canopen.lss.conf_bt.err_code",
            FT_UINT8, BASE_HEX, VALS(lss_conf_bt_err_code), 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_lss_store_conf_err_code,
          { "Error code", "canopen.lss.store_conf.err_code",
            FT_UINT8, BASE_HEX, VALS(lss_store_conf_err_code), 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_lss_spec_err,
          { "Spec-error", "canopen.lss.spec_err",
            FT_UINT8, BASE_HEX, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_lss_bt_tbl_selector,
          { "Table selector", "canopen.lss.bt.tbl_selector",
            FT_UINT8, BASE_HEX, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_lss_bt_tbl_index,
          { "Table index", "canopen.lss.bt.tbl_index",
            FT_UINT8, BASE_HEX, VALS(bit_timing_tbl), 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_lss_abt_delay,
          { "Switch delay", "canopen.lss.abt_delay",
            FT_UINT16, BASE_DEC, NULL, 0x0,
            NULL, HFILL }
        },


        { &hf_canopen_time_stamp,
          { "Time stamp",           "canopen.time_stamp",
            FT_ABSOLUTE_TIME, ABSOLUTE_TIME_UTC, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_time_stamp_ms,
          { "Time, after Midnight in Milliseconds", "canopen.time_stamp_ms",
            FT_UINT32, BASE_DEC, NULL, 0x0,
            NULL, HFILL }
        },
        { &hf_canopen_time_stamp_days,
          { "Current day since 1 Jan 1984", "canopen.time_stamp_days",
            FT_UINT16, BASE_DEC, NULL, 0x0,
            NULL, HFILL }
        },
    };

    static int *ett[] = {
        &ett_canopen,
        &ett_canopen_cob,
        &ett_canopen_type,
        &ett_canopen_sdo_cmd,
        &ett_canopen_em_er
    };

    proto_canopen = proto_register_protocol("CANopen", "CANOPEN", "canopen");

    proto_register_field_array(proto_canopen, hf, array_length(hf));
    proto_register_subtree_array(ett, array_length(ett));

    canopen_handle = register_dissector("canopen",  dissect_canopen, proto_canopen );
}

void
proto_reg_handoff_canopen(void)
{
   dissector_add_for_decode_as("can.subdissector", canopen_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:
 */