/* packet-sercosiii.c

 * Routines for SERCOS III dissection

 *

 * Initial plugin code by,

 * Bosch Rexroth

 * Hilscher

 *

 * Hans-Peter Bock <hpbock@avaapgh.de>

 *

 * Convert to built-in dissector

 *   Michael Mann * Copyright 2011

 *

 * 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 <epan/expert.h>

#include <epan/etypes.h>

#include <epan/tfs.h>

#include <wsutil/array.h>

#define MAX_SERCOS_DEVICES (512)

#define MAX_SERCOS_ADDRESS (511)

#define SERCOS_SLAVE_GROUP_SIZE (128)

#define COMMUNICATION_PHASE_0 (0x0)

#define COMMUNICATION_PHASE_1 (0x1)

#define COMMUNICATION_PHASE_2 (0x2)

#define COMMUNICATION_PHASE_3 (0x3)

#define COMMUNICATION_PHASE_4 (0x4)

void proto_register_sercosiii(void);

void proto_reg_handoff_sercosiii(void);

static dissector_handle_t siii_handle;

/* Initialize the protocol and registered fields */

static int proto_siii;

/* Initialize the subtree pointers */

static int ett_siii;

static int ett_siii_header;

static int ett_siii_mst;

static int ett_siii_mst_teltype;

static int ett_siii_mst_phase;

static int ett_siii_mdt;

static int ett_siii_mdt_svc;

static int ett_siii_mdt_devctrls;

static int ett_siii_mdt_version;

static int ett_siii_mdt_svc_channel;

static int ett_siii_mdt_dev_control;

static int ett_siii_mdt_devctrl;

static int ett_siii_mdt_svcctrl;

static int ett_siii_mdt_svcinfo;

static int ett_siii_at_svcstat;

static int ett_siii_at_svcinfo;

static int ett_siii_mdt_svch_data_error_info;

static int ett_siii_mdt_svch_data;

static int ett_siii_at_devstatus;

static int ett_siii_at_sercosaddress;

static int ett_siii_at;

static int ett_siii_at_svc;

static int ett_siii_at_sercos_address;

static int ett_siii_at_devstats;

static int ett_siii_at_svc_channel;

static int ett_siii_at_dev_status;

static int ett_siii_mdt_hp;

static int ett_siii_at_hp;

static int ett_siii_mdt_hp_ctrl;

static int ett_siii_mdt_hp_info;

static int ett_siii_at_hp_stat;

static int ett_siii_at_hp_info;

static int ett_siii_recognized_devices;

static int hf_siii_mdt_version;

static int hf_siii_mdt_version_initprocvers;

static int hf_siii_mdt_version_num_mdt_at_cp1_2;

static int hf_siii_mdt_version_switch_off_sercos_telegrams;

static int hf_siii_mdt_version_fast_cp_switch;

static int hf_siii_mdt_version_transmission_of_communication_parameters_mdt0_cp0;

static int hf_siii_mdt_dev_control_top_control;

static int hf_siii_at_dev_control_ident;

static int hf_siii_mdt_dev_control_change_topology;

static int hf_siii_mdt_dev_control;

static int hf_siii_mst_channel;

static int hf_siii_mst_type;

static int hf_siii_mst_cyclecntvalid;

static int hf_siii_mst_telno;

static int hf_siii_mst_phase;

static int hf_siii_mst_cyclecnt;

static int hf_siii_mst_crc32;

static int hf_siii_mdt_svch_dbe;

static int hf_siii_mdt_svch_eot;

static int hf_siii_mdt_svch_rw;

static int hf_siii_mdt_svch_mhs;

static int hf_siii_mdt_svch_info;

static int hf_siii_at_svch_valid;

static int hf_siii_at_svch_error;

static int hf_siii_at_svch_busy;

static int hf_siii_at_svch_ahs;

static int hf_siii_at_svch_info;

static int hf_siii_mdt_svch_idn;

static int hf_siii_mdt_svch_ctrl;

static int hf_siii_at_svch_stat;

/* static int hf_siii_svch_data_telofs_telno; */

/* static int hf_siii_svch_data_telofs_mdt_at; */

/* static int hf_siii_svch_data_telofs_offset; */

/* static int hf_siii_svch_data_proccmd_proccmdexec; */

/* static int hf_siii_svch_data_proccmd_proccmd; */

static int hf_siii_at_cp0_support_functions;

static int hf_siii_at_cp0_device_address;

static int hf_siii_at_dev_status;

static int hf_siii_at_dev_status_commwarning;

static int hf_siii_at_dev_status_change_topology;

static int hf_siii_at_dev_status_top_status;

static int hf_siii_at_dev_status_inactive_port_status;

static int hf_siii_at_dev_status_errorconnection;

static int hf_siii_at_dev_status_slave_valid;

static int hf_siii_at_dev_status_proc_command_change;

static int hf_siii_at_dev_status_parameterization_level_active;

static int hf_siii_mdt_hotplug_address;

static int hf_siii_mdt_hp_ctrl;

static int hf_siii_mdt_hp_info;

static int hf_siii_at_hotplug_address;

static int hf_siii_at_hp_stat;

static int hf_siii_at_hp_info;

static int hf_siii_mdt_hotplug_control_param;

static int hf_siii_mdt_hotplug_control_svc_switch;

static int hf_siii_at_hotplug_status_param;

static int hf_siii_at_hotplug_status_hp0_finished;

static int hf_siii_at_hotplug_status_error;

static int hf_siii_service_channels;

static int hf_siii_device_controls;

static int hf_siii_device_status;

static int hf_siii_idn_code;

static int hf_siii_at_cp0_num_devices;

static int hf_siii_at_cp0_sercos_address;

static expert_field ei_siii_cp_unknown;

/* Allow heuristic dissection */

static heur_dissector_list_t heur_subdissector_list;

static const value_string siii_mdt_version_num_mdtat_cp1_2_text[]=

{

  {0x00, "2 MDTs/ATs in CP1/2"},

  {0x01, "4 MDTs/ATs in CP1/2"},

  {0, NULL}

};

static const true_false_string siii_mdt_version_fast_cp_switch_text = {

  "Transmission of MST (MDT0) interrupted during CP switch for CPS delay time (120ms)",

  "CPS delay time reduce to the re-configuration time of the master"

};

static const true_false_string siii_switch_off_sercos_telegram_text = {

  "Industrial Ethernet devices not used by application",

  "Industrial Ethernet devices used by application"

};

static const true_false_string siii_mdt_version_initprocvers_text = {

  "No remote address allocation",

  "Remote address allocation"

};

#if 0

static const value_string siii_svch_data_proccmd_proccmdexec_text[]=

{

  {0, "Interrupt procedure command execution"},

  {1, "Enable procedure command execution"},

  {0, NULL}

};

static const value_string siii_svch_data_proccmd_proccmd_text[]=

{

  {0, "Cancel procedure command"},

  {1, "Set procedure command"},

  {0, NULL}

};

static const value_string siii_svch_data_mdt_at_text[]=

{

  {0, "AT-telegram"},

  {1, "MDT-telegram"},

  {0, NULL}

};

#endif

#define IDN(SI, SE, type, paramset, datablock) ((SI<<24)|(SE<<16)|(type<<15)|(paramset<<12)|(datablock))

static const value_string siii_mdt_idn_text[]=

{

  {IDN(0,0,0,0,   0), "Dummy-Parameter"},

  {IDN(0,0,0,0,   1), "Control unit cycle time (tNcyc)"},

  {IDN(0,0,0,0,   2), "Communication cycle time (tScyc)"},

  {IDN(0,0,0,0,  11), "Class 1 diagnostic"},

  {IDN(0,0,0,0,  12), "Class 2 diagnostic"},

  {IDN(0,0,0,0,  14), "Interface status"},

  {IDN(0,0,0,0,  15), "Telegram Type"},

  {IDN(0,0,0,0,  16), "Configuration list of AT"},

  {IDN(0,0,0,0,  17), "IDN-list of all operation data"},

  {IDN(0,0,0,0,  18), "IDN-list of operation data for CP2"},

  {IDN(0,0,0,0,  19), "IDN-list of operation data for CP3"},

  {IDN(0,0,0,0,  21), "IDN-list of invalid operation data for CP2"},

  {IDN(0,0,0,0,  22), "IDN-list of invalid operation data for CP3"},

  {IDN(0,0,0,0,  24), "Configuration list of MDT"},

  {IDN(0,0,0,0,  25), "IDN-list of all procedure commands"},

  {IDN(0,0,0,0,  26), "Configuration list for signal status word"},

  {IDN(0,0,0,0,  27), "Configuration list for signal control word"},

  {IDN(0,0,0,0,  28), "MST error counter"},

  {IDN(0,0,0,0,  29), "MDT error counter"},

  {IDN(0,0,0,0,  32), "Primary operation mode"},

  {IDN(0,0,0,0,  36), "Velocity command value"},

  {IDN(0,0,0,0,  37), "Additive velocity command value"},

  {IDN(0,0,0,0,  38), "Positive velocity limit value"},

  {IDN(0,0,0,0,  39), "Negative velocity limit value"},

  {IDN(0,0,0,0,  40), "Velocity feedback value 1"},

  {IDN(0,0,0,0,  41), "Homing velocity"},

  {IDN(0,0,0,0,  42), "Homing acceleration"},

  {IDN(0,0,0,0,  43), "Velocity polarity parameter"},

  {IDN(0,0,0,0,  44), "Velocity data scaling type"},

  {IDN(0,0,0,0,  45), "Velocity data scaling factor"},

  {IDN(0,0,0,0,  46), "Velocity data scaling exponent"},

  {IDN(0,0,0,0,  47), "Position command value"},

  {IDN(0,0,0,0,  48), "Additive position command value"},

  {IDN(0,0,0,0,  49), "Positive position limit value"},

  {IDN(0,0,0,0,  50), "Negative position limit value"},

  {IDN(0,0,0,0,  51), "Position feedback value 1 (motor feedback)"},

  {IDN(0,0,0,0,  52), "Reference distance 1"},

  {IDN(0,0,0,0,  53), "Position feedback value 2 (external feedback)"},

  {IDN(0,0,0,0,  54), "Reference distance 2"},

  {IDN(0,0,0,0,  55), "Position polarity parameter"},

  {IDN(0,0,0,0,  57), "Position window"},

  {IDN(0,0,0,0,  58), "Reversal clearance"},

  {IDN(0,0,0,0,  59), "Position switch flag parameter"},

  {IDN(0,0,0,0,  60), "Position switches (position switch points on 1-16)"},

  {IDN(0,0,0,0,  76), "Position data scaling type"},

  {IDN(0,0,0,0,  77), "Linear position data scaling factor"},

  {IDN(0,0,0,0,  78), "Linear position data scaling exponent"},

  {IDN(0,0,0,0,  79), "Rotational position resolution"},

  {IDN(0,0,0,0,  80), "Torque command value"},

  {IDN(0,0,0,0,  81), "Additive torque command value"},

  {IDN(0,0,0,0,  82), "Positive torque limit value"},

  {IDN(0,0,0,0,  83), "Negative torque limit value"},

  {IDN(0,0,0,0,  84), "Torque feedback value"},

  {IDN(0,0,0,0,  85), "Torque polarity parameter"},

  {IDN(0,0,0,0,  86), "Torque/force data scaling type"},

  {IDN(0,0,0,0,  91), "Bipolar velocity limit value"},

  {IDN(0,0,0,0,  92), "Bipolar torque limit value"},

  {IDN(0,0,0,0,  93), "Torque/force scaling data factor"},

  {IDN(0,0,0,0,  94), "Torque/force scaling data exponent"},

  {IDN(0,0,0,0,  95), "Diagnostic message"},

  {IDN(0,0,0,0,  96), "Slave arrangement (SLKN)"},

  {IDN(0,0,0,0,  97), "Mask class 2 diagnostic"},

  {IDN(0,0,0,0,  98), "Mask class 3 diagnostic"},

  {IDN(0,0,0,0,  99), "Reset class 1 diagnostic"},

  {IDN(0,0,0,0, 100), "Velocity loop proportional gain"},

  {IDN(0,0,0,0, 101), "Velocity loop integral action time"},

  {IDN(0,0,0,0, 102), "Velocity loop differential time"},

  {IDN(0,0,0,0, 103), "Modulo value"},

  {IDN(0,0,0,0, 104), "Position loop KV-factor"},

  {IDN(0,0,0,0, 105), "Position loop integral action time"},

  {IDN(0,0,0,0, 106), "Current loop proportional gain 1"},

  {IDN(0,0,0,0, 107), "Current loop integral action time 1"},

  {IDN(0,0,0,0, 108), "Feedrate override"},

  {IDN(0,0,0,0, 109), "Motor peak current"},

  {IDN(0,0,0,0, 110), "Amplifier peak current"},

  {IDN(0,0,0,0, 111), "Motor continuous stall current"},

  {IDN(0,0,0,0, 112), "Amplifier rated current"},

  {IDN(0,0,0,0, 113), "Maximum motor speed"},

  {IDN(0,0,0,0, 114), "Load limit of the motor"},

  {IDN(0,0,0,0, 115), "Position feedback 2 type"},

  {IDN(0,0,0,0, 116), "Resolution of feedback 1"},

  {IDN(0,0,0,0, 117), "Resolution of feedback 2"},

  {IDN(0,0,0,0, 118), "Resolution of linear feedback"},

  {IDN(0,0,0,0, 119), "Current loop proportional gain 2"},

  {IDN(0,0,0,0, 120), "Current loop integral action time 2"},

  {IDN(0,0,0,0, 121), "Input revolutions of load gear"},

  {IDN(0,0,0,0, 122), "Output revolutions of load gear"},

  {IDN(0,0,0,0, 123), "Feed constant"},

  {IDN(0,0,0,0, 124), "Standstill window"},

  {IDN(0,0,0,0, 125), "Velocity threshold (nx)"},

  {IDN(0,0,0,0, 126), "Torque threshold (Tx)"},

  {IDN(0,0,0,0, 127), "CP3 transition check"},

  {IDN(0,0,0,0, 128), "CP4 transition check"},

  {IDN(0,0,0,0, 129), "Manufacturer class 1 diagnostic"},

  {IDN(0,0,0,0, 130), "Probe value 1 positive edge"},

  {IDN(0,0,0,0, 131), "Probe value 1 negative edge"},

  {IDN(0,0,0,0, 132), "Probe value 2 positive edge"},

  {IDN(0,0,0,0, 133), "Probe value 2 negative edge"},

  {IDN(0,0,0,0, 134), "Drive control"},

  {IDN(0,0,0,0, 135), "Drive status"},

  {IDN(0,0,0,0, 136), "Positive acceleration limit value"},

  {IDN(0,0,0,0, 137), "Negative acceleration limit value"},

  {IDN(0,0,0,0, 138), "Bipolar acceleration limit value"},

  {IDN(0,0,0,0, 139), "Park axis procedure command"},

  {IDN(0,0,0,0, 143), "SERCOS Interface version"},

  {IDN(0,0,0,0, 144), "Signal status word"},

  {IDN(0,0,0,0, 145), "Signal control word"},

  {IDN(0,0,0,0, 146), "Control unit controlled homing procedure command"},

  {IDN(0,0,0,0, 147), "Homing parameter"},

  {IDN(0,0,0,0, 148), "Drive controlled homing procedure command"},

  {IDN(0,0,0,0, 149), "Position drive stop procedure command"},

  {IDN(0,0,0,0, 150), "Reference offset 1"},

  {IDN(0,0,0,0, 151), "Reference offset 2"},

  {IDN(0,0,0,0, 152), "Position spindle procedure command"},

  {IDN(0,0,0,0, 153), "Spindle angle position"},

  {IDN(0,0,0,0, 154), "Spindle positioning parameter"},

  {IDN(0,0,0,0, 155), "Friction torque compensation"},

  {IDN(0,0,0,0, 156), "Velocity feedback value 2"},

  {IDN(0,0,0,0, 157), "Velocity window"},

  {IDN(0,0,0,0, 158), "Power threshold (Px)"},

  {IDN(0,0,0,0, 159), "Monitoring window"},

  {IDN(0,0,0,0, 161), "Acceleration data scaling factor"},

  {IDN(0,0,0,0, 162), "Acceleration data scaling exponent"},

  {IDN(0,0,0,0, 163), "Weight counterbalance"},

  {IDN(0,0,0,0, 164), "Acceleration feedback value 1"},

  {IDN(0,0,0,0, 165), "Distance-coded reference marks A"},

  {IDN(0,0,0,0, 166), "Distance-coded reference marks B"},

  {IDN(0,0,0,0, 167), "Frequency limit of feedback 1"},

  {IDN(0,0,0,0, 169), "Probe control"},

  {IDN(0,0,0,0, 170), "Probing cycle procedure command"},

  {IDN(0,0,0,0, 171), "Calculate displacement procedure command"},

  {IDN(0,0,0,0, 172), "Displacement to the referenced system procedure command"},

  {IDN(0,0,0,0, 173), "Marker position A"},

  {IDN(0,0,0,0, 174), "Marker position B"},

  {IDN(0,0,0,0, 175), "Displacement parameter 1"},

  {IDN(0,0,0,0, 176), "Displacement parameter 2"},

  {IDN(0,0,0,0, 177), "Absolute distance 1"},

  {IDN(0,0,0,0, 178), "Absolute distance 2"},

  {IDN(0,0,0,0, 179), "Probe status"},

  {IDN(0,0,0,0, 180), "Spindle relative offset"},

  {IDN(0,0,0,0, 181), "Manufacturer class 2 diagnostic"},

  {IDN(0,0,0,0, 183), "Synchronization velocity window"},

  {IDN(0,0,0,0, 184), "Synchronization velocity error limit"},

  {IDN(0,0,0,0, 185), "Length of the configurable data record in the AT"},

  {IDN(0,0,0,0, 186), "Length of the configurable data record in the MDT"},

  {IDN(0,0,0,0, 187), "IDN list of configurable data in the AT"},

  {IDN(0,0,0,0, 188), "IDN list of configurable data in the MDT"},

  {IDN(0,0,0,0, 189), "Following distance"},

  {IDN(0,0,0,0, 190), "Drive controlled gear engaging procedure command"},

  {IDN(0,0,0,0, 191), "Cancel reference point procedure command"},

  {IDN(0,0,0,0, 192), "IDN-list of all backup operation data"},

  {IDN(0,0,0,0, 193), "Positioning jerk"},

  {IDN(0,0,0,0, 194), "Acceleration command time"},

  {IDN(0,0,0,0, 195), "Acceleration feedback value 2"},

  {IDN(0,0,0,0, 196), "Motor rated current"},

  {IDN(0,0,0,0, 197), "Set coordinate system procedure command"},

  {IDN(0,0,0,0, 198), "Initial coordinate value"},

  {IDN(0,0,0,0, 199), "Shift coordinate system procedure command"},

  {IDN(0,0,0,0, 200), "Amplifier warning temperature"},

  {IDN(0,0,0,0, 201), "Motor warning temperature"},

  {IDN(0,0,0,0, 202), "Cooling error warning temperature"},

  {IDN(0,0,0,0, 203), "Amplifier shut-down temperature"},

  {IDN(0,0,0,0, 204), "Motor shut-down temperature"},

  {IDN(0,0,0,0, 205), "Cooling error shut-down temperature"},

  {IDN(0,0,0,0, 206), "Drive on delay time"},

  {IDN(0,0,0,0, 207), "Drive off delay time"},

  {IDN(0,0,0,0, 208), "Temperature data scaling type"},

  {IDN(0,0,0,0, 209), "Lower adaptation limit"},

  {IDN(0,0,0,0, 210), "Upper adaptation limit"},

  {IDN(0,0,0,0, 211), "Adaptation proportional gain"},

  {IDN(0,0,0,0, 212), "Adaptation integral action time"},

  {IDN(0,0,0,0, 213), "Engaging dither amplitude"},

  {IDN(0,0,0,0, 214), "Average engaging speed"},

  {IDN(0,0,0,0, 215), "Engaging dither period"},

  {IDN(0,0,0,0, 216), "Switch parameter set procedure command"},

  {IDN(0,0,0,0, 217), "Parameter set preselection"},

  {IDN(0,0,0,0, 218), "Gear-ration preselection"},

  {IDN(0,0,0,0, 219), "IDN-list of parameter set"},

  {IDN(0,0,0,0, 220), "Minimum spindle speed"},

  {IDN(0,0,0,0, 221), "Maximum spindle speed"},

  {IDN(0,0,0,0, 222), "Spindle positioning speed"},

  {IDN(0,0,0,0, 223), "Drive controlled synchronous operation procedure command"},

  {IDN(0,0,0,0, 224), "Lead Spindle Address"},

  {IDN(0,0,0,0, 225), "Synchronous spindle revolutions"},

  {IDN(0,0,0,0, 226), "Lead spindle revolutions"},

  {IDN(0,0,0,0, 227), "Synchronous spindle revolutions"},

  {IDN(0,0,0,0, 228), "Synchronization position window"},

  {IDN(0,0,0,0, 229), "Synchronization position error limit"},

  {IDN(0,0,0,0, 230), "Synchronization position offset"},

  {IDN(0,0,0,0, 254), "Actual parameter set"},

  {IDN(0,0,0,0, 255), "Actual gear ration"},

  {IDN(0,0,0,0, 256), "Multiplication factor 1"},

  {IDN(0,0,0,0, 257), "Multiplication factor 2"},

  {IDN(0,0,0,0, 258), "Target position"},

  {IDN(0,0,0,0, 259), "Positioning velocity"},

  {IDN(0,0,0,0, 260), "Positioning acceleration"},

  {IDN(0,0,0,0, 261), "Coarse position window"},

  {IDN(0,0,0,0, 262), "Load defaults procedure command"},

  {IDN(0,0,0,0, 263), "Load working memory procedure command"},

  {IDN(0,0,0,0, 264), "Backup working memory procedure command"},

  {IDN(0,0,0,0, 265), "Language selection"},

  {IDN(0,0,0,0, 266), "List of available languages"},

  {IDN(0,0,0,0, 267), "Password"},

  {IDN(0,0,0,0, 268), "Angular setting"},

  {IDN(0,0,0,0, 269), "Storage mode"},

  {IDN(0,0,0,0, 270), "IDN-list of selected backup operation data"},

  {IDN(0,0,0,0, 272), "Velocity window percentage"},

  {IDN(0,0,0,0, 273), "Maximum drive off delay time"},

  {IDN(0,0,0,0, 275), "Coordinate offset value"},

  {IDN(0,0,0,0, 276), "Return to Modulo range procedure command"},

  {IDN(0,0,0,0, 277), "Position feedback 1 type"},

  {IDN(0,0,0,0, 278), "Maximum travel range"},

  {IDN(0,0,0,0, 279), "IDN list of password protected data"},

  {IDN(0,0,0,0, 280), "Underflow threshold"},

  {IDN(0,0,0,0, 282), "Positioning command value"},

  {IDN(0,0,0,0, 283), "Current coordinate offset"},

  {IDN(0,0,0,0, 292), "List of supported operation modes"},

  {IDN(0,0,0,0, 293), "Selectively backup working memory procedure command"},

  {IDN(0,0,0,0, 294), "Divider modulo value"},

  {IDN(0,0,0,0, 295), "Drive enable delay time"},

  {IDN(0,0,0,0, 296), "Velocity feed forward gain"},

  {IDN(0,0,0,0, 297), "Homing distance"},

  {IDN(0,0,0,0, 298), "Suggest home switch distance"},

  {IDN(0,0,0,0, 299), "Home switch offset 1"},

  {IDN(0,0,0,0, 300), "Real-time control bit 1"},

  {IDN(0,0,0,0, 301), "Allocation of real-time control bit 1",},

  {IDN(0,0,0,0, 302), "Real-time control bit 2"},

  {IDN(0,0,0,0, 303), "Allocation of real-time control bit 2"},

  {IDN(0,0,0,0, 304), "Real-time status bit 1"},

  {IDN(0,0,0,0, 305), "Allocation of real-time status bit 1"},

  {IDN(0,0,0,0, 306), "Real-time status-bit 2"},

  {IDN(0,0,0,0, 307), "Allocation of real-time status bit 2"},

  {IDN(0,0,0,0, 308), "Synchronization operation status"},

  {IDN(0,0,0,0, 309), "Synchronization error status"},

  {IDN(0,0,0,0, 310), "Overload warning"},

  {IDN(0,0,0,0, 311), "Amplifier overtemperature warning"},

  {IDN(0,0,0,0, 312), "Motor overtemperature warning"},

  {IDN(0,0,0,0, 313), "Cooling error warning"},

  {IDN(0,0,0,0, 315), "Positioning velocity higher than n Limit"},

  {IDN(0,0,0,0, 323), "Target position outside of travel range"},

  {IDN(0,0,0,0, 326), "Parameter checksum"},

  {IDN(0,0,0,0, 327), "IDN list of checksum parameter"},

  {IDN(0,0,0,0, 328), "Bit number allocation list for signal status word"},

  {IDN(0,0,0,0, 329), "Bit number allocation list for signal control word"},

  {IDN(0,0,0,0, 330), "Status 'nfeedback = ncommand'"},

  {IDN(0,0,0,0, 331), "Status 'nfeedback = 0'"},

  {IDN(0,0,0,0, 332), "Status 'nfeedback less then nx'"},

  {IDN(0,0,0,0, 333), "Status 'T higher than Tx'"},

  {IDN(0,0,0,0, 334), "Status 'T greater than Tlimit '"},

  {IDN(0,0,0,0, 335), "Status 'ncommand greater than nlimit'"},

  {IDN(0,0,0,0, 336), "Status 'In position'"},

  {IDN(0,0,0,0, 337), "Status 'P greater Px'"},

  {IDN(0,0,0,0, 338), "Status 'Position feedback = active target position'"},

  {IDN(0,0,0,0, 339), "Status 'nfeedback less than minimum spindle speed'"},

  {IDN(0,0,0,0, 340), "Status 'nfeedback exceeds maximum spindle speed'"},

  {IDN(0,0,0,0, 341), "Status 'In Coarse position'"},

  {IDN(0,0,0,0, 342), "Status 'Target position attained'"},

  {IDN(0,0,0,0, 343), "Status 'Interpolator halted'"},

  {IDN(0,0,0,0, 346), "Positioning control"},

  {IDN(0,0,0,0, 347), "Velocity error"},

  {IDN(0,0,0,0, 348), "Acceleration feed forward gain"},

  {IDN(0,0,0,0, 349), "Bipolar jerk limit"},

  {IDN(0,0,0,0, 356), "Distance home switch - marker puls"},

  {IDN(0,0,0,0, 357), "Marker pulse distance"},

  {IDN(0,0,0,0, 358), "Home switch offset 2"},

  {IDN(0,0,0,0, 359), "Positioning deceleration"},

  {IDN(0,0,0,0, 360), "MDT data container"},

  {IDN(0,0,0,0, 362), "MDT data container A list index"},

  {IDN(0,0,0,0, 364), "AT data container A1"},

  {IDN(0,0,0,0, 366), "AT data container A list index"},

  {IDN(0,0,0,0, 368), "Data container A pointer"},

  {IDN(0,0,0,0, 370), "MDT data container A/B configuration list"},

  {IDN(0,0,0,0, 371), "AT data container A/B configuration list"},

  {IDN(0,0,0,0, 372), "Drive Halt acceleration bipolar"},

  {IDN(0,0,0,0, 377), "Velocity feedback monitoring window"},

  {IDN(0,0,0,0, 378), "Absolute encoder range 1"},

  {IDN(0,0,0,0, 379), "Absolute encoder range 2"},

  {IDN(0,0,0,0, 380), "DC bus voltage"},

  {IDN(0,0,0,0, 381), "DC bus current"},

  {IDN(0,0,0,0, 382), "DC bus power"},

  {IDN(0,0,0,0, 383), "Motor temperature"},

  {IDN(0,0,0,0, 384), "Amplifier temperature"},

  {IDN(0,0,0,0, 385), "Active power"},

  {IDN(0,0,0,0, 386), "Active position feedback value"},

  {IDN(0,0,0,0, 387), "Power overload"},

  {IDN(0,0,0,0, 388), "Braking current limit"},

  {IDN(0,0,0,0, 389), "Effective current"},

  {IDN(0,0,0,0, 390), "DiagnosticNumber"},

  {IDN(0,0,0,0, 391), "Position feedback monitoring window"},

  {IDN(0,0,0,0, 392), "Velocity feedback filter"},

  {IDN(0,0,0,0, 393), "Command value mode"},

  {IDN(0,0,0,0, 398), "IDN list of configurable real-time/status bits"},

  {IDN(0,0,0,0, 399), "IDN list of configurable real-time/control bits"},

  {IDN(0,0,0,0, 400), "Home switch"},

  {IDN(0,0,0,0, 401), "Probe 1"},

  {IDN(0,0,0,0, 402), "Probe 2"},

  {IDN(0,0,0,0, 403), "Position feedback value status"},

  {IDN(0,0,0,0, 404), "Position command value status"},

  {IDN(0,0,0,0, 405), "Probe 1 enable"},

  {IDN(0,0,0,0, 406), "Probe 2 enable"},

  {IDN(0,0,0,0, 407), "Homing enable"},

  {IDN(0,0,0,0, 408), "Reference marker pulse registered"},

  {IDN(0,0,0,0, 409), "Probe 1 positive latched"},

  {IDN(0,0,0,0, 410), "Probe 1 negative latched"},

  {IDN(0,0,0,0, 411), "Probe 2 positive latched"},

  {IDN(0,0,0,0, 412), "Probe 2 negative latched"},

  {IDN(0,0,0,0, 413), "Bit number allocation of real-time control bit 1"},

  {IDN(0,0,0,0, 414), "Bit number allocation of real-time control bit 2"},

  {IDN(0,0,0,0, 415), "Bit number allocation of real-time status bit 1"},

  {IDN(0,0,0,0, 416), "Bit number allocation of real-time status bit 2"},

  {IDN(0,0,0,0, 417), "Positioning velocity threshold in modulo mode"},

  {IDN(0,0,0,0, 418), "Target position window in modulo mode"},

  {IDN(0,0,0,0, 419), "Positioning acknowledge"},

  {IDN(0,0,0,0, 420), "Activate parameterization level procedure command (PL)"},

  {IDN(0,0,0,0, 422), "Exit parameterization level procedure command"},

  {IDN(0,0,0,0, 423), "IDN-list of invalid data for parameterization level"},

  {IDN(0,0,0,0, 426), "Measuring data allocation 1"},

  {IDN(0,0,0,0, 427), "Measuring data allocation 2"},

  {IDN(0,0,0,0, 428), "IDN list of configurable measuring data"},

  {IDN(0,0,0,0, 429), "Emergency stop deceleration"},

  {IDN(0,0,0,0, 430), "Active target position"},

  {IDN(0,0,0,0, 431), "Spindle positioning acceleration bipolar"},

  {IDN(0,0,0,0, 437), "Positioning status"},

  {IDN(0,0,0,0, 446), "Ramp reference velocity"},

  {IDN(0,0,0,0, 447), "Set absolute position procedure command"},

  {IDN(0,0,0,0, 448), "Set absolute position control word"},

  {IDN(0,0,0,0, 460), "Position switches (position switch points off 1-16)"},

  {IDN(0,0,0,0, 476), "Position switch control"},

  {IDN(0,0,0,0, 477), "Position switch hysteresis"},

  {IDN(0,0,0,0, 478), "Limit switch status"},

  {IDN(0,0,0,0, 509), "Extended probe control"},

  {IDN(0,0,0,0, 510), "Difference value probe 1"},

  {IDN(0,0,0,0, 511), "Difference value probe 2"},

  {IDN(0,0,0,0, 512), "Start position probing window 1"},

  {IDN(0,0,0,0, 513), "End position probing window 1"},

  {IDN(0,0,0,0, 514), "Start position probing window 2"},

  {IDN(0,0,0,0, 515), "End position probing window 2"},

  {IDN(0,0,0,0, 516), "Marker losses probe 1"},

  {IDN(0,0,0,0, 517), "Marker losses probe 2"},

  {IDN(0,0,0,0, 518), "Maximum marker losses probe 1"},

  {IDN(0,0,0,0, 519), "Maximum marker losses probe 2"},

  {IDN(0,0,0,0, 520), "Axis control word"},

  {IDN(0,0,0,0, 521), "Axis status word"},

  {IDN(0,0,0,0, 522), "Difference value 1 latched"},

  {IDN(0,0,0,0, 523), "Difference value 2 latched"},

  {IDN(0,0,0,0, 524), "Probe 1 delay positive"},

  {IDN(0,0,0,0, 525), "Delay Negative Edge, Probe 1"},

  {IDN(0,0,0,0, 526), "Delay positive Edge, Probe 2"},

  {IDN(0,0,0,0, 527), "Delay Negative Edge, Probe 2"},

  {IDN(0,0,0,0, 530), "Clamping torque"},

  {IDN(0,0,0,0, 531), "Checksum for backup operation data"},

  {IDN(0,0,0,0, 532), "Limit switch control"},

  {IDN(0,0,0,0, 533), "Motor continuous stall torque/force"},

  {IDN(0,0,0,0,1000), "SCP Type & Version"},

  {IDN(0,0,0,0,1001), "SERCOS III: Control unit cycle time (tNcyc)"},

  {IDN(0,0,0,0,1002), "SERCOS III: Communication cycle time (tScyc)"},

  {IDN(0,0,0,0,1003), "SERCOS III: Number of successive MDT errors"},

  {IDN(0,0,0,0,1005), "SERCOS III: Feedback value computation time (t5)"},

  {IDN(0,0,0,0,1006), "SERCOS III: AT transmission starting time (t1)"},

  {IDN(0,0,0,0,1007), "SERCOS III: Synchronization time (t8)"},

  {IDN(0,0,0,0,1008), "SERCOS III: Command value valid time (t3)"},

  {IDN(0,0,0,0,1009), "SERCOS III: Device Control offset in MDT"},

  {IDN(0,0,0,0,1010), "SERCOS III: Length of MDT"},

  {IDN(0,0,0,0,1011), "SERCOS III: Device Status offset in AT"},

  {IDN(0,0,0,0,1012), "SERCOS III: Length of AT"},

  {IDN(0,0,0,0,1013), "SERCOS III: SVC offset in MDT"},

  {IDN(0,0,0,0,1014), "SERCOS III: SVC offset in AT"},

  {IDN(0,0,0,0,1015), "SERCOS III: Ring delay"},

  {IDN(0,0,0,0,1016), "SERCOS III: Slave delay"},

  {IDN(0,0,0,0,1017), "SERCOS III: Transmission starting time IP channel"},

  {IDN(0,0,0,0,1018), "SERCOS III: SYNC delay"},

  {IDN(0,0,0,0,1019), "SERCOS III: MAC address"},

  {IDN(0,0,0,0,1020), "SERCOS III: IP address"},

  {IDN(0,0,0,0,1021), "SERCOS III: Network mask"},

  {IDN(0,0,0,0,1022), "SERCOS III: Gateway address"},

  {IDN(0,0,0,0,1023), "SERCOS III: Sync jitter"},

  {IDN(0,0,0,0,1024), "SERCOS III: Ring control - node control"},

  {IDN(0,0,0,0,1025), "SERCOS III: Ring status - node status"},

  {IDN(0,0,0,0,1026), "SERCOS III: Hardware identification"},

  {IDN(0,0,0,0,1028), "SERCOS III: Error counter MDT0 MST"},

  {IDN(0,0,0,0,1029), "SERCOS III: Error counter MDT0-3"},

  {IDN(0,0,0,0,1030), "SERCOS III: Error counter AT0-3"},

  {IDN(0,0,0,0,1031), "Signal assignment Port 1 & Port 2"},

  {IDN(0,0,0,0,1035), "Error counter Port1 and Port2"},

  {IDN(0,0,0,0,1040), "SERCOSAddress"},

  {IDN(0,0,0,0,1041), "AT Command value valid time (t9)"},

  {IDN(0,0,0,0,1044), "Device Control"},

  {IDN(0,0,0,0,1045), "Device Status"},

  {IDN(0,0,0,0,1046), "IDN-list of SERCOS addresses in device"},

  {IDN(0,0,0,0,1134), "SERCOS III: Device control"},

  {IDN(0,0,0,0,1135), "SERCOS III: Device status"},

  {IDN(1,0,0,0,1027), "Requested MTU"},

  {IDN(2,0,0,0,1027), "Effective MTU"},

  {0, NULL}

};

static value_string_ext siii_mdt_idn_text_ext = VALUE_STRING_EXT_INIT(siii_mdt_idn_text);

static const value_string siii_mdt_svch_dbe_text[]=

{

  {0x00, "Element 0: Closed SVC"},

  {0x01, "Element 1: Opening IDN"},

  {0x02, "Element 2: Name of operation data"},

  {0x03, "Element 3: Attribute of operation data"},

  {0x04, "Element 4: Unit of operation data"},

  {0x05, "Element 5: Minimum value of operation data"},

  {0x06, "Element 6: Maximum value of operation data"},

  {0x07, "Element 7: Operation data"},

  {0, NULL}

};

static const true_false_string siii_mdt_svch_eot_text = {

  "Transmission in progress",

  "Last transmission"

};

static const true_false_string siii_mdt_svch_rw_text = {

  "Read SVC INFO",

  "Write SVC INFO"

};

static const value_string siii_mdt_devcontrol_topcontrol_text[]=

{

  {0x00, "Fast Forward on P/S-Channel"},

  {0x01, "Loopback on P-Channel and Fast Forward"},

  {0x02, "Loopback on S-Channel and Fast Forward"},

  {0, NULL}

};

static const true_false_string siii_at_svch_error_text = {

  "No error",

  "Error in SVC"

};

static const true_false_string siii_at_svch_busy_text = {

  "Step finished, slave ready for new step",

  "Step in process, new step not allowed"

};

static const value_string siii_mst_phase_text[]=

{

  {0x00, "CP0"},

  {0x01, "CP1"},

  {0x02, "CP2"},

  {0x03, "CP3"},

  {0x04, "CP4"},

  {0x80, "CP0 (Phase Change)"},

  {0x81, "CP1 (Phase Change)"},

  {0x82, "CP2 (Phase Change)"},

  {0x83, "CP3 (Phase Change)"},

  {0x84, "CP4 (Phase Change)"},

  {0, NULL}

};

#if 0

static const value_string siii_mst_teltype_text[]=

{

  {0x00, "CP0"},

  {0x01, "CP1"},

  {0x02, "CP2"},

  {0x03, "CP3"},

  {0x04, "CP4"},

  {0x80, "CP0 (Phase Change)"},

  {0x81, "CP1 (Phase Change)"},

  {0x82, "CP2 (Phase Change)"},

  {0x83, "CP3 (Phase Change)"},

  {0x84, "CP4 (Phase Change)"},

  {0, NULL}

};

#endif

static const value_string siii_mst_channel_text[]=

{

  {0x00, "P-Telegram"},

  {0x01, "S-Telegram"},

  {0, NULL}

};

static const value_string siii_mst_type_text[]=

{

  {0x00, "MDT"},

  {0x01, "AT"},

  {0, NULL}

};

static const value_string siii_at_devstatus_errorconnection_text[]=

{

  {0x00, "Error-free connection"},

  {0x01, "Error in the connection occurs"},

  {0, NULL}

};

static const value_string siii_at_devstatus_topstatus_text[]=

{

  {0x00, "Fast Forward on P/S-Channel"},

  {0x01, "Loopback on P-Channel and Fast Forward"},

  {0x02, "Loopback on S-Channel and Fast Forward"},

  {0, NULL}

};

static const true_false_string siii_at_cp0_support_functions_text = {

  "Slave doesn't support one or more of the requested functions",

  "Slave supports all requested functions"

};

static const value_string siii_at_devstatus_inactiveportstatus_text[]=

{

  {0x00, "No link on port"},

  {0x01, "Link on port"},

  {0x02, "S III P-Telegram on port"},

  {0x03, "S III S-Telegram on port"},

  {0, NULL}

};

static const value_string siii_at_dev_status_proc_command_change_text[]=

{

  {0x00, "No change in procedure command acknowledgement"},

  {0x01, "Changing procedure command acknowledgement"},

  {0, NULL}

};

static const value_string siii_mdt_hotplug_control_functioncode_text[]=

{

  {0x00, "No data"},

  {0x01, "tScyc"},

  {0x02, "t1"},

  {0x03, "t6"},

  {0x04, "t7"},

  {0x05, "Communication Version"},

  {0x06, "Communication timeout"},

  {0x10, "MDT0 Length"},

  {0x11, "MDT1 Length"},

  {0x12, "MDT2 Length"},

  {0x13, "MDT3 Length"},

  {0x20, "AT0 Length"},

  {0x21, "AT1 Length"},

  {0x22, "AT2 Length"},

  {0x23, "AT3 Length"},

  {0x80, "MDT-SVC pointer"},

  {0x81, "MDT-RTD pointer"},

  {0x82, "AT-SVC pointer"},

  {0x83, "AT-RTD pointer"},

  {0, NULL}

};

static value_string_ext siii_mdt_hotplug_control_functioncode_text_ext =

    VALUE_STRING_EXT_INIT(siii_mdt_hotplug_control_functioncode_text);

static const value_string siii_mdt_hotplug_control_svc_switch_text[]=

{

  {0, "Transmission via HP-field"},

  {1, "Switch to SVC"},

  {0, NULL}

};

static const value_string siii_mdt_hotplug_status_ackcode_text[]=

{

  {0x80, "MDT-SVC pointer"},

  {0x81, "MDT-RTD pointer"},

  {0x82, "AT-SVC pointer"},

  {0x83, "AT-RTD pointer"},

  {255, "Next Sercos Slave has same address"},

  {0, NULL}

};

static const value_string siii_at_hotplug_status_error_text[]=

{

  {0, "Acknowledgement in HP-1"},

  {1, "Error in HP-1"},

  {0, NULL}

};

static void dissect_siii_mst(tvbuff_t *tvb, packet_info *pinfo _U_, proto_tree *tree)

{

  proto_tree *subtree;

  proto_tree *subtree2;

  subtree = proto_tree_add_subtree(tree, tvb, 0, 6, ett_siii_mst, NULL, "MST");

  subtree2 = proto_tree_add_subtree(subtree, tvb, 0, 1, ett_siii_mst_teltype, NULL, "Telegram Type");

  proto_tree_add_item(subtree2, hf_siii_mst_channel,       tvb, 0, 1, ENC_LITTLE_ENDIAN);

  proto_tree_add_item(subtree2, hf_siii_mst_type,          tvb, 0, 1, ENC_LITTLE_ENDIAN);

  proto_tree_add_item(subtree2, hf_siii_mst_cyclecntvalid, tvb, 0, 1, ENC_LITTLE_ENDIAN);

  proto_tree_add_item(subtree2, hf_siii_mst_telno,         tvb, 0, 1, ENC_LITTLE_ENDIAN);

  subtree2 = proto_tree_add_subtree(subtree, tvb, 1, 1, ett_siii_mst_phase, NULL, "Phase Field");

  proto_tree_add_item(subtree2, hf_siii_mst_phase,    tvb, 1, 1, ENC_LITTLE_ENDIAN);

  proto_tree_add_item(subtree2, hf_siii_mst_cyclecnt, tvb, 1, 1, ENC_LITTLE_ENDIAN);

  proto_tree_add_item(subtree, hf_siii_mst_crc32,     tvb, 2, 4, ENC_LITTLE_ENDIAN);

}

static void dissect_siii_mdt_hp(tvbuff_t *tvb, packet_info *pinfo _U_, proto_tree *tree)

{

  proto_tree *subtree;

  static int * const ctrl_fields[] = {

    &hf_siii_mdt_hotplug_control_svc_switch,

    &hf_siii_mdt_hotplug_control_param,

    NULL

  };

  subtree = proto_tree_add_subtree(tree, tvb, 0, 8, ett_siii_mdt_hp, NULL, "Hot-Plug");

  proto_tree_add_item(subtree, hf_siii_mdt_hotplug_address, tvb, 0, 2, ENC_LITTLE_ENDIAN);

  proto_tree_add_bitmask(subtree, tvb, 2, hf_siii_mdt_hp_ctrl,

                                   ett_siii_mdt_hp_ctrl, ctrl_fields, ENC_LITTLE_ENDIAN);

  proto_tree_add_item(subtree, hf_siii_mdt_hp_info, tvb, 4, 4, ENC_NA);

}

static void dissect_siii_mdt_devctrl(tvbuff_t *tvb, packet_info *pinfo _U_, proto_tree *tree)

{

  static int * const ctrl_fields[] = {

    &hf_siii_at_dev_control_ident,

    &hf_siii_mdt_dev_control_change_topology,

    &hf_siii_mdt_dev_control_top_control,

    NULL

  };

  proto_tree_add_bitmask(tree, tvb, 0, hf_siii_mdt_dev_control,

                                   ett_siii_mdt_devctrl, ctrl_fields, ENC_LITTLE_ENDIAN);

}

static void dissect_siii_mdt_svc(tvbuff_t *tvb, packet_info *pinfo _U_, proto_tree *tree, unsigned devno _U_) /* devno will be needed in later versions */

{

  proto_tree *subtree;

  proto_item *ti;

  static int * const svch_fields[] = {

    &hf_siii_mdt_svch_dbe, /* data block element */

    &hf_siii_mdt_svch_eot, /* end of transmission */

    &hf_siii_mdt_svch_rw,  /* read or write */

    &hf_siii_mdt_svch_mhs, /* master hand shake */

    NULL

  };

  uint16_t svc_ctrl = tvb_get_letohs(tvb, 0); /* service channel header */

  uint8_t svc_dbe  = (svc_ctrl>>3) & 7;      /* accessed data block element */

  proto_tree_add_bitmask(tree, tvb, 0, hf_siii_mdt_svch_ctrl,

                                   ett_siii_mdt_svcctrl, svch_fields, ENC_LITTLE_ENDIAN);

  ti = proto_tree_add_item(tree, hf_siii_mdt_svch_info, tvb, 2, 4, ENC_NA);

  if (1 == svc_dbe)

  {

    subtree = proto_item_add_subtree(ti, ett_siii_mdt_svcinfo);

    proto_tree_add_item(subtree, hf_siii_idn_code, tvb, 2, 4, ENC_LITTLE_ENDIAN);

    proto_tree_add_item(subtree, hf_siii_mdt_svch_idn, tvb, 2, 4, ENC_LITTLE_ENDIAN);

  }

}

static void dissect_siii_mdt_cp0(tvbuff_t *tvb, packet_info *pinfo _U_, proto_tree *tree)

{

  static int * const version_fields[] = {

    &hf_siii_mdt_version_switch_off_sercos_telegrams,

    &hf_siii_mdt_version_fast_cp_switch,

    &hf_siii_mdt_version_transmission_of_communication_parameters_mdt0_cp0,

    &hf_siii_mdt_version_num_mdt_at_cp1_2,

    &hf_siii_mdt_version_initprocvers,

    NULL

  };

  proto_tree_add_bitmask(tree, tvb, 0, hf_siii_mdt_version,

                                   ett_siii_mdt_version, version_fields, ENC_LITTLE_ENDIAN);

}

static void dissect_siii_mdt_cp1_2(tvbuff_t *tvb, packet_info *pinfo, proto_tree *tree, unsigned telno)

{

  unsigned  devstart = telno * SERCOS_SLAVE_GROUP_SIZE; /* MDT0: slaves 0-127; MDT1: slaves 128-255; ... */

  tvbuff_t *tvb_n;

  unsigned idx;

  proto_tree *subtree;

  proto_tree *subtree_svc;

  proto_tree *subtree_devctrl;

  subtree_svc = proto_tree_add_subtree(tree, tvb, 0, SERCOS_SLAVE_GROUP_SIZE * 6, ett_siii_mdt_svc, NULL, "Service Channels");

  subtree_devctrl = proto_tree_add_subtree(tree, tvb, SERCOS_SLAVE_GROUP_SIZE * 6, 512, ett_siii_mdt_svc, NULL, "Device Control");

  for (idx = 0; idx < SERCOS_SLAVE_GROUP_SIZE; ++idx) /* each MDT of CP1/2 has data for 128 different slaves */

  {

    tvb_n = tvb_new_subset_length(tvb, 6 * idx, 6); /* subset for service channel data */

    subtree = proto_tree_add_subtree_format(subtree_svc, tvb_n, 0, 6, ett_siii_mdt_svc_channel, NULL, "Device %u", idx + devstart);

    dissect_siii_mdt_svc(tvb_n, pinfo, subtree, idx + devstart);

    tvb_n = tvb_new_subset_length(tvb, SERCOS_SLAVE_GROUP_SIZE * 6 + 4 * idx, 2); /* subset for device control information */

    subtree = proto_tree_add_subtree_format(subtree_devctrl, tvb_n, 0, 2, ett_siii_mdt_dev_control, NULL, "Device %u", idx + devstart);

    dissect_siii_mdt_devctrl(tvb_n, pinfo, subtree);

  }

}

static void dissect_siii_mdt_cp3_4(tvbuff_t *tvb, packet_info *pinfo, proto_tree *tree, unsigned telno)

{

  /* unsigned devstart _U_ = telno * SERCOS_SLAVE_GROUP_SIZE; */

  if (0 == telno) /* dissect hotplug field in MDT0 only */

    dissect_siii_mdt_hp(tvb, pinfo, tree);

  /* offsets of service channel, device status and connections are unknown

   * this data could be extracted from svc communication during CP2

   */

  proto_tree_add_item(tree, hf_siii_service_channels, tvb, 0, 0, ENC_NA);

  proto_tree_add_item(tree, hf_siii_device_controls, tvb, 0, 0, ENC_NA);

}

static void dissect_siii_mdt(tvbuff_t *tvb, packet_info *pinfo, proto_tree *tree)

{

  proto_tree *subtree;

  tvbuff_t   *tvb_n;

  unsigned    t_phase;

  unsigned    telno;

  col_set_str(pinfo->cinfo, COL_PROTOCOL, "SIII MDT");

  t_phase = (tvb_get_uint8(tvb, 1)&0x8F); /* read communication phase out of SERCOS III header */

  telno   = (tvb_get_uint8(tvb, 0) & 0xF); /* read number of MDT out of SERCOS III header */

  if (t_phase & 0x80) /* communication phase switching in progress */

  {

    col_append_fstr(pinfo->cinfo, COL_INFO, " Phase=CP?s -> CP%u",

          (t_phase&0x0f));

  }

  else /* communication as usual */

  {

    col_append_fstr(pinfo->cinfo, COL_INFO, " Phase=CP%u",

          (t_phase&0x0f));

  }

  subtree = proto_tree_add_subtree_format(tree, tvb, 0, -1, ett_siii_mdt, NULL, "MDT%u", telno);

  dissect_siii_mst(tvb, pinfo, subtree); /* dissect SERCOS III header */

  switch (t_phase) /* call the MDT dissector depending on the current communication phase */

  {

  case COMMUNICATION_PHASE_0: /* CP0 */

    tvb_n = tvb_new_subset_length(tvb, 6, 40);

    dissect_siii_mdt_cp0(tvb_n, pinfo, subtree);

  break;

  case COMMUNICATION_PHASE_1: /* CP1 */

  case COMMUNICATION_PHASE_2: /* CP2 */

    tvb_n = tvb_new_subset_length(tvb, 6, 1280);

    dissect_siii_mdt_cp1_2(tvb_n, pinfo, subtree, telno);

  break;

  case COMMUNICATION_PHASE_3: /* CP3 */

  case COMMUNICATION_PHASE_4: /* CP4 */

    tvb_n = tvb_new_subset_remaining(tvb, 6);

    dissect_siii_mdt_cp3_4(tvb_n, pinfo, subtree, telno);

  break;

  default:

    proto_tree_add_expert(tree, pinfo, &ei_siii_cp_unknown, tvb, 6, -1);

  }

}

static void dissect_siii_at_svc(tvbuff_t *tvb, packet_info *pinfo _U_, proto_tree *tree, unsigned devno _U_) /* devno will be used in later versions */

{

  static int * const svch_fields[] = {

    &hf_siii_at_svch_valid,

    &hf_siii_at_svch_error,

    &hf_siii_at_svch_busy,

    &hf_siii_at_svch_ahs,

    NULL

  };

  proto_tree_add_bitmask(tree, tvb, 0, hf_siii_at_svch_stat,

                                   ett_siii_at_svcstat, svch_fields, ENC_LITTLE_ENDIAN);

  proto_tree_add_item(tree, hf_siii_at_svch_info, tvb, 2, 4, ENC_NA);

}

static void dissect_siii_at_devstat(tvbuff_t *tvb, packet_info *pinfo _U_, proto_tree *tree)

{

  static int * const status[] = {

    &hf_siii_at_dev_status_commwarning,

    &hf_siii_at_dev_status_change_topology,

    &hf_siii_at_dev_status_top_status,

    &hf_siii_at_dev_status_inactive_port_status,

    &hf_siii_at_dev_status_errorconnection,

    &hf_siii_at_dev_status_slave_valid,

    &hf_siii_at_dev_status_proc_command_change,

    &hf_siii_at_dev_status_parameterization_level_active,

    NULL

  };

  proto_tree_add_bitmask(tree, tvb, 0, hf_siii_at_dev_status,

                                   ett_siii_at_devstatus, status, ENC_LITTLE_ENDIAN);

}

static void dissect_siii_at_hp(tvbuff_t *tvb, packet_info *pinfo _U_, proto_tree *tree)

{

  proto_tree *subtree;

  static int * const status[] = {

    &hf_siii_at_hotplug_status_error,

    &hf_siii_at_hotplug_status_hp0_finished,

    &hf_siii_at_hotplug_status_param,

    NULL

  };

  subtree = proto_tree_add_subtree(tree, tvb, 0, 8, ett_siii_at_hp, NULL, "Hot-Plug");

  proto_tree_add_item(subtree, hf_siii_at_hotplug_address,              tvb, 0, 2, ENC_LITTLE_ENDIAN);

  proto_tree_add_bitmask(subtree, tvb, 2, hf_siii_at_hp_stat, ett_siii_at_hp_stat, status, ENC_LITTLE_ENDIAN);

  proto_tree_add_item(subtree, hf_siii_at_hp_info,                      tvb, 4, 4, ENC_NA);

}

static void dissect_siii_at_cp0(tvbuff_t *tvb, packet_info *pinfo _U_, proto_tree *tree)

{

  uint16_t    seqcnt;           /* sequence counter */

  uint16_t    tfield;           /* topology field for sercos addresses */

  uint16_t    i;

  proto_tree *subtree, *subtree2;

  proto_item* ti;

  subtree = proto_tree_add_subtree(tree, tvb, 0, 1024, ett_siii_recognized_devices, NULL, "Recognized Devices");

  /* check sequence count field */

  seqcnt = tvb_get_letohs(tvb, 0);

  proto_tree_add_uint(subtree, hf_siii_at_cp0_num_devices, tvb, 0, 2, (MAX_SERCOS_ADDRESS & seqcnt)-1);

  /* check SERCOS address of each topology field */

  for (i = 1; i < MAX_SERCOS_DEVICES; ++i)

  {

    tfield = tvb_get_letohs(tvb, i*2);

    if (tfield == 0xFFFF)

    {

      proto_tree_add_uint_format(subtree, hf_siii_at_cp0_sercos_address, tvb, i*2, 2, 0xFFFF, "Sercos Address %u: No Device", i);

    }

    else

    {

      ti = proto_tree_add_uint_format(subtree, hf_siii_at_cp0_sercos_address, tvb, i*2, 2, (tfield & MAX_SERCOS_ADDRESS), "Sercos Address %u: %u", i, (tfield & MAX_SERCOS_ADDRESS));

      subtree2  = proto_item_add_subtree(ti, ett_siii_at_sercos_address);

      proto_tree_add_item(subtree2, hf_siii_at_cp0_support_functions,  tvb, i*2, 2, ENC_LITTLE_ENDIAN);

      proto_tree_add_item(subtree2, hf_siii_at_cp0_device_address,     tvb, i*2, 2, ENC_LITTLE_ENDIAN);

    }

  }

}

static void dissect_siii_at_cp1_2(tvbuff_t *tvb, packet_info *pinfo, proto_tree *tree, unsigned telno)

{

  unsigned  devstart = telno * SERCOS_SLAVE_GROUP_SIZE; /* AT0: slaves 0-127; AT1: slaves 128-255; ... */

  tvbuff_t *tvb_n;

  unsigned idx;

  proto_tree *subtree;

  proto_tree *subtree_svc;

  proto_tree *subtree_devstat;

  subtree_svc = proto_tree_add_subtree(tree, tvb, 0, SERCOS_SLAVE_GROUP_SIZE * 6, ett_siii_at_svc, NULL, "Service Channel");

  subtree_devstat = proto_tree_add_subtree(tree, tvb, SERCOS_SLAVE_GROUP_SIZE * 6, 512, ett_siii_at_devstats, NULL, "Device Status");

  for (idx = 0; idx < SERCOS_SLAVE_GROUP_SIZE; ++idx) /* each AT of CP1/2 has data of 128 different slaves */

  {

    tvb_n = tvb_new_subset_length(tvb, 6 * idx, 6); /* subset for service channel data */