mirror of
https://github.com/paparazzi/paparazzi.git
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Galois Embedded Crypto module updates (#2235)
* Bump rustlink * Changes in GEC, now communication and key exchange works. TODO is key renegotiation and some cleanup * Bump pprzlink * Update in GEC and related control panel configs * Updated name * Bump rustlink * Changes in GEC, now communication and key exchange works. TODO is key renegotiation and some cleanup * Bump pprzlink * Update in GEC and related control panel configs * Update atomic settings * Minor changes, style fix * Code style fix * More code style fix
This commit is contained in:
Michal Podhradsky
committed by
GitHub
GitHub
parent
1f85390422
commit
4e80b97050
@@ -11,8 +11,8 @@ AggieAir Atomic Tangerine
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<module name="radio_control" type="sbus">
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<configure name="SBUS_PORT" value="UART5"/>
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</module>
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<configure name="HAS_LUFTBOOT" value="0"/>
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<configure name="FLASH_MODE" value="SWD"/>
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<configure name="HAS_LUFTBOOT" value="1"/>
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<configure name="FLASH_MODE" value="DFU"/>
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</target>
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<!-- NOTE: if you want to use extra_dl module for HITL
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@@ -39,9 +39,10 @@ AggieAir Atomic Tangerine
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<module name="control"/>
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<module name="navigation"/>
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<module name="telemetry" type="transparent">
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<module name="telemetry" type="transparent_gec">
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<configure name="MODEM_PORT" value="UART3"/>
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<configure name="MODEM_BAUD" value="B57600"/>
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<define name="GEC_STATUS_LED" value="5"/>
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</module>
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<module name="ins" type="vectornav">
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@@ -31,7 +31,6 @@
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settings="settings/fixedwing_basic.xml settings/nps.xml"
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settings_modules="modules/battery_monitor.xml modules/lidar_sf11.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
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gui_color="#ffff42870000"
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release=""
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/>
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<aircraft
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name="BluJay_Goose"
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@@ -20,7 +20,7 @@
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<program name="Secure Link" command="sw/ext/rustlink/link">
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<arg flag="-d" constant="/dev/ttyUSB0"/>
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<arg flag="-a" constant="@AC_ID"/>
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<arg flag="-n" constant="@ACIRCRAFT"/>
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<arg flag="-n" constant="@AIRCRAFT"/>
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<arg flag="-c" />
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</program>
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<program name="Link Combiner" command="sw/ground_segment/python/redundant_link/link_combiner.py"/>
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@@ -107,6 +107,46 @@
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<program name="Real-time Plotter"/>
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</session>
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<session name="Secure Flight USB-serial@57600">
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<program name="Secure Link">
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<arg flag="-d" constant="/dev/ttyUSB0"/>
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<arg flag="-s" constant="57600"/>
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<arg flag="-a" constant="@AC_ID"/>
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<arg flag="-n" constant="@AIRCRAFT"/>
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<arg flag="-c" />
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</program>
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<program name="Server"/>
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<program name="GCS">
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<arg flag="-layout" constant="AGGIEAIR/vertical.xml"/>
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</program>
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<program name="Messages"/>
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<program name="Real-time Plotter"/>
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</session>
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<session name="Secure Simulation">
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<program name="Secure Link">
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<arg flag="--udp"/>
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<arg flag="-a" constant="@AC_ID"/>
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<arg flag="-n" constant="@AIRCRAFT"/>
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<arg flag="-c" />
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</program>
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<program name="Server">
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<arg flag="-n"/>
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</program>
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<program name="GCS">
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<arg flag="-layout" constant="AGGIEAIR/vertical.xml"/>
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</program>
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<program name="Simulator">
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<arg flag="-a" constant="@AIRCRAFT"/>
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<arg flag="-f" constant="127.0.0.1"/>
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<arg flag="-b" constant="127.255.255.255"/>
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<arg flag="--fg_fdm"/>
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<arg flag="--nodisplay"/>
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</program>
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<program name="Messages"/>
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<program name="Environment Simulator"/>
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</session>
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<session name="Flight USB-serial@115200">
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<program name="Data Link">
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<arg flag="-d" constant="/dev/ttyUSB0"/>
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@@ -1,49 +0,0 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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<module name="telemetry_transparent_secure" dir="datalink" task="datalink">
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<doc>
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<description>
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Telemetry using secure PPRZ protocol over UART
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Similar to telemetry_transparent, except it uses message scheduling and encryption
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</description>
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<configure name="MODEM_PORT" value="UARTx" description="UART where the modem is connected to (UART1, UART2, etc)"/>
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<configure name="MODEM_BAUD" value="B57600" description="UART baud rate"/>
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</doc>
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<autoload name="telemetry" type="nps"/>
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<autoload name="telemetry" type="sim"/>
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<autoload name="haclc"/>
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<header>
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<file name="spprz_dl.h"/>
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</header>
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<init fun="spprz_dl_init()"/>
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<periodic fun="spprz_dl_periodic()" freq="PERIODIC_FREQUENCY" autorun="TRUE"/>
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<event fun="spprz_dl_event()"/>
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<makefile target="!fbw|sim|nps|hitl">
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<configure name="MODEM_PORT" case="upper|lower"/>
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<define name="USE_$(MODEM_PORT_UPPER)"/>
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<define name="$(MODEM_PORT_UPPER)_BAUD" value="$(MODEM_BAUD)"/>
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<define name="DOWNLINK"/>
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<define name="PERIODIC_TELEMETRY"/>
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<define name="DOWNLINK_DEVICE" value="$(MODEM_PORT_LOWER)"/>
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<define name="PPRZ_UART" value="$(MODEM_PORT_LOWER)"/>
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<define name="DOWNLINK_TRANSPORT" value="spprz_tp"/>
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<define name="DATALINK" value="PPRZ"/>
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<file name="spprz_dl.c"/>
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<file name="downlink.c" dir="subsystems/datalink"/>
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<file name="datalink.c" dir="subsystems/datalink"/>
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<file name="telemetry.c" dir="subsystems/datalink"/>
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<file name="secure_pprz_transport.c" dir="pprzlink/src"/>
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</makefile>
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<makefile target="ap" firmware="fixedwing">
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<file name="fixedwing_datalink.c" dir="$(SRC_FIRMWARE)"/>
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<file name="ap_downlink.c" dir="$(SRC_FIRMWARE)"/>
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</makefile>
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<makefile target="ap|fbw" firmware="fixedwing">
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<file name="fbw_downlink.c" dir="$(SRC_FIRMWARE)"/>
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</makefile>
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<makefile target="ap" firmware="rotorcraft">
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<file name="rotorcraft_datalink.c" dir="$(SRC_FIRMWARE)"/>
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<file name="rotorcraft_telemetry.c" dir="$(SRC_FIRMWARE)"/>
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</makefile>
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</module>
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@@ -26,27 +26,38 @@
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*/
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#include "modules/datalink/gec/gec.h"
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void gec_sts_init(struct gec_sts_ctx * sts)
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void gec_sts_init(struct gec_sts_ctx *sts)
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{
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clear_sts(sts);
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// reset all keys
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gec_clear_sts(sts);
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// load their public key
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uint8_t theirPublicKey[PPRZ_KEY_LEN] = GCS_PUBLIC;
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memcpy(&sts->theirPublicKey, theirPublicKey, PPRZ_KEY_LEN);
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memcpy(&sts->their_public_key, theirPublicKey, PPRZ_KEY_LEN);
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sts->their_public_key.ready = true;
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// load my private key
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uint8_t myPublicKey[PPRZ_KEY_LEN] = UAV_PUBLIC;
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memcpy(&sts->myPrivateKey.pub, myPublicKey, PPRZ_KEY_LEN);
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memcpy(&sts->my_private_key.pub, myPublicKey, PPRZ_KEY_LEN);
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uint8_t myPrivateKey[PPRZ_KEY_LEN] = UAV_PRIVATE;
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memcpy(&sts->myPrivateKey.priv, myPrivateKey, PPRZ_KEY_LEN);
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memcpy(&sts->my_private_key.priv, myPrivateKey, PPRZ_KEY_LEN);
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sts->my_private_key.ready = true;
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// generate ephemeral key
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gec_generate_ephemeral_keys(&sts->my_private_ephemeral);
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}
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void clear_sts(struct gec_sts_ctx * sts)
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void gec_clear_sts(struct gec_sts_ctx *sts)
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{
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memset(&sts->theirPublicKeyEphemeral, 0, sizeof(struct gec_pubkey));
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memset(&sts->myPrivateKeyEphemeral, 0, sizeof(struct gec_privkey));
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memset(&sts->theirSymmetricKey, 0, sizeof(struct gec_sym_key));
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memset(&sts->mySymmetricKey, 0, sizeof(struct gec_sym_key));
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memset(&sts->their_public_ephemeral, 0, sizeof(struct gec_pubkey));
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sts->their_public_ephemeral.ready = false;
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memset(&sts->my_private_ephemeral, 0, sizeof(struct gec_privkey));
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sts->my_private_ephemeral.ready = false;
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memset(&sts->rx_sym_key, 0, sizeof(struct gec_sym_key));
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sts->rx_sym_key.ready = false;
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memset(&sts->tx_sym_key, 0, sizeof(struct gec_sym_key));
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sts->tx_sym_key.ready = false;
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sts->protocol_stage = WAIT_MSG1;
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sts->party = RESPONDER;
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sts->last_error = ERROR_NONE;
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@@ -55,73 +66,45 @@ void clear_sts(struct gec_sts_ctx * sts)
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/**
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* Generate private and public key pairs for future use.
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*/
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void generate_ephemeral_keys(struct gec_privkey *sk)
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void gec_generate_ephemeral_keys(struct gec_privkey *sk)
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{
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for (uint16_t i = 0; i < (PPRZ_KEY_LEN / sizeof(uint32_t)); i++) {
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for (uint16_t i = 0; i < PPRZ_KEY_LEN; i += sizeof(uint32_t)) {
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uint32_t tmp = rng_wait_and_get();
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sk->priv[i] = (uint8_t) tmp;
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sk->priv[i + 1] = (uint8_t) (tmp >> 8);
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sk->priv[i + 2] = (uint8_t) (tmp >> 16);
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sk->priv[i + 3] = (uint8_t) (tmp >> 24);
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sk->priv[i + 1] = (uint8_t)(tmp >> 8);
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sk->priv[i + 2] = (uint8_t)(tmp >> 16);
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sk->priv[i + 3] = (uint8_t)(tmp >> 24);
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}
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uint8_t basepoint[32] = {0};
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basepoint[0] = 9; // default basepoint
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Hacl_Curve25519_crypto_scalarmult(sk->pub, sk->priv, basepoint);
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sk->ready = true;
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}
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/**
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* Derive key material for both sender and receiver
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*/
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void derive_key_material(struct gec_sts_ctx *ctx, uint8_t* z) {
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uint8_t tmp[PPRZ_KEY_LEN*2] = {0};
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uint8_t input[PPRZ_KEY_LEN+1] = {0};
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void gec_derive_key_material(struct gec_sts_ctx *ctx, uint8_t *z)
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{
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uint8_t tmp[PPRZ_KEY_LEN * 2] = {0};
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uint8_t input[PPRZ_KEY_LEN + 1] = {0};
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// Ka|| Sa = kdf(z,0)
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memcpy(input, z, PPRZ_KEY_LEN);
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input[PPRZ_KEY_LEN] = 0;
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Hacl_SHA2_512_hash(tmp, input, sizeof(input));
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memcpy(ctx->theirSymmetricKey.key, tmp, PPRZ_KEY_LEN); // K_a
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memcpy(ctx->theirSymmetricKey.nonce, &tmp[PPRZ_KEY_LEN], PPRZ_NONCE_LEN); // S_a
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memcpy(ctx->rx_sym_key.key, tmp, PPRZ_KEY_LEN); // K_a
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memcpy(ctx->rx_sym_key.nonce, &tmp[PPRZ_KEY_LEN], PPRZ_NONCE_LEN); // S_a
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ctx->rx_sym_key.counter = 0;
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ctx->rx_sym_key.ready = true;
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// Kb|| Sb = kdf(z,1)
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input[PPRZ_KEY_LEN] = 1;
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Hacl_SHA2_512_hash(tmp, input, sizeof(input));
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memcpy(ctx->mySymmetricKey.key, tmp, PPRZ_KEY_LEN); // K_b
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memcpy(ctx->mySymmetricKey.nonce, &tmp[PPRZ_KEY_LEN], PPRZ_NONCE_LEN); // S_b
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memcpy(ctx->tx_sym_key.key, tmp, PPRZ_KEY_LEN); // K_b
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memcpy(ctx->tx_sym_key.nonce, &tmp[PPRZ_KEY_LEN], PPRZ_NONCE_LEN); // S_b
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ctx->tx_sym_key.counter = 0;
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ctx->tx_sym_key.ready = true;
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}
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/**
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* Decrypt a message, no AAD for now
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* if res == 0 everything OK
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*/
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uint32_t gec_decrypt(struct gec_sym_key *k, uint8_t *plaintext, uint8_t *ciphertext, uint8_t len, uint8_t *mac){
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uint32_t res = Hacl_Chacha20Poly1305_aead_decrypt(plaintext,
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ciphertext,
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len,
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mac,
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NULL,
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0,
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k->key,
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k->nonce);
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return res;
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}
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/**
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* Encrypt a message, no AAD for now
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* if res == 0 everything OK
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*/
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uint32_t gec_encrypt(struct gec_sym_key *k, uint8_t *ciphertext, uint8_t *plaintext, uint8_t len, uint8_t *mac) {
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uint32_t res = Hacl_Chacha20Poly1305_aead_encrypt(ciphertext, // ciphertext
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mac, // mac
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plaintext, // plaintext
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len, // plaintext len
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NULL, // aad
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0, // aad len
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k->key, // key
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k->nonce); // nonce
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return res;
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}
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@@ -34,50 +34,75 @@
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#include "../ext/hacl-c/Hacl_Curve25519.h"
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#include "../ext/hacl-c/Hacl_SHA2_512.h"
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#include "../ext/hacl-c/Hacl_Chacha20Poly1305.h"
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#include "../ext/hacl-c/kremlib.h"
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#define PPRZ_MSG_TYPE_PLAINTEXT 0xaa
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#define PPRZ_MSG_TYPE_ENCRYPTED 0x55
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// index of encrypted/payload byte
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#define PPRZ_GEC_IDX 0
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// index of the beginning of the counter
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#define PPRZ_CNTR_IDX 1
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// index of the beginning of the authenticated bytes
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#define PPRZ_AUTH_IDX 5
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// index of the beginning of the ciphertex
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#define PPRZ_CIPH_IDX 7
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// legth of the message signature
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#define PPRZ_SIGN_LEN 64
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// lenght of a hash for key derivation
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#define PPRZ_HASH_LEN 64
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// length of the encryption keys
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#define PPRZ_KEY_LEN 32
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#define PPRZ_NONCE_LEN 12
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// length of the authenticated data
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#define PPRZ_AUTH_LEN 2
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// length of the message authentication tag
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#define PPRZ_MAC_LEN 16
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// length of the message nonce
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#define PPRZ_NONCE_LEN 12
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// length of the counter
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#define PPRZ_COUNTER_LEN 4
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// index of the message ID for plaintext messages
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#define PPRZ_PLAINTEXT_MSG_ID_IDX 4
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// 4 bytes of MSG info (source_ID, dest_ID, class_byte, msg_ID) + 1 GEC byte
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#define PPRZ_PLAINTEXT_MSG_MIN_LEN 5
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// 20 bytes crypto overhead + 4 bytes MSG info + 1 GEC byte
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#define PPRZ_ENCRYPTED_MSG_MIN_LEN 25
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// length of the crypto overhead (4 bytes of counter + 16 bytes of tag)
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#define PPRZ_CRYPTO_OVERHEAD 20
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// basepoint value for the scalar curve multiplication
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#define PPRZ_CURVE_BASEPOINT 9
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// minimal size of the encrypted message
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#define PPRZ_V2_MSG_ID 3
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typedef unsigned char ed25519_signature[64];
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struct gec_privkey
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{
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struct gec_privkey {
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uint8_t priv[PPRZ_KEY_LEN];
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uint8_t pub[PPRZ_KEY_LEN];
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uint8_t pub[PPRZ_KEY_LEN]; bool ready;
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};
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struct gec_pubkey
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{
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uint8_t pub[PPRZ_KEY_LEN];
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struct gec_pubkey {
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uint8_t pub[PPRZ_KEY_LEN]; bool ready;
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};
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struct gec_sym_key
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{
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struct gec_sym_key {
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uint8_t key[PPRZ_KEY_LEN];
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uint8_t nonce[PPRZ_NONCE_LEN];
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uint32_t ctr;
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uint32_t counter; bool ready;
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};
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typedef enum
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{
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typedef enum {
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INIT, WAIT_MSG1, WAIT_MSG2, WAIT_MSG3, CRYPTO_OK,
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} stage_t;
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typedef enum
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{
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typedef enum {
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INITIATOR, RESPONDER, CLIENT, INVALID_PARTY
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} party_t;
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typedef enum
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{
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typedef enum {
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P_AE, P_BE, SIG,
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} gec_sts_msg_type_t;
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typedef enum
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{
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typedef enum {
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ERROR_NONE,
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// RESPONDER ERRORS
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MSG1_TIMEOUT_ERROR,
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@@ -92,39 +117,30 @@ typedef enum
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MSG3_ENCRYPT_ERROR,
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// BOTH PARTIES
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UNEXPECTED_MSG_TYPE_ERROR,
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UNEXPECTED_STS_STAGE_ERROR,
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UNEXPECTED_MSG_ERROR
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UNEXPECTED_MSG_DATA_ERROR,
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UNEXPECTED_MSG_ERROR,
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} sts_error_t;
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// Intermediate data structure containing information relating to the stage of
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// the STS protocol.
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struct gec_sts_ctx
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{
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struct gec_pubkey theirPublicKey;
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struct gec_privkey myPrivateKey;
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struct gec_pubkey theirPublicKeyEphemeral;
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struct gec_privkey myPrivateKeyEphemeral;
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struct gec_sym_key theirSymmetricKey;
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struct gec_sym_key mySymmetricKey;
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struct gec_sts_ctx {
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struct gec_pubkey their_public_key;
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struct gec_privkey my_private_key;
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struct gec_pubkey their_public_ephemeral;
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struct gec_privkey my_private_ephemeral;
|
||||
struct gec_sym_key rx_sym_key;
|
||||
struct gec_sym_key tx_sym_key;
|
||||
stage_t protocol_stage;
|
||||
party_t party;
|
||||
sts_error_t last_error;
|
||||
uint32_t counter_err;
|
||||
uint32_t rx_counter_err;
|
||||
uint32_t encrypt_err;
|
||||
uint32_t decrypt_err;
|
||||
};
|
||||
|
||||
void gec_sts_init(struct gec_sts_ctx * sts);
|
||||
|
||||
void clear_sts(struct gec_sts_ctx * sts);
|
||||
|
||||
void generate_ephemeral_keys(struct gec_privkey *sk);
|
||||
|
||||
void derive_key_material(struct gec_sts_ctx *sts, uint8_t* z);
|
||||
|
||||
uint32_t gec_encrypt(struct gec_sym_key *k, uint8_t *ciphertext,
|
||||
uint8_t *plaintext, uint8_t len, uint8_t *mac);
|
||||
uint32_t gec_decrypt(struct gec_sym_key *k, uint8_t *plaintext,
|
||||
uint8_t *ciphertext, uint8_t len, uint8_t *mac);
|
||||
void gec_sts_init(struct gec_sts_ctx *sts);
|
||||
void gec_clear_sts(struct gec_sts_ctx *sts);
|
||||
void gec_generate_ephemeral_keys(struct gec_privkey *sk);
|
||||
void gec_derive_key_material(struct gec_sts_ctx *sts, uint8_t *z);
|
||||
|
||||
#endif /* SPPRZ_GEC_H */
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -39,6 +39,33 @@
|
||||
#include "mcu_periph/udp.h"
|
||||
#endif
|
||||
|
||||
// TODO: a hack to to allow passing the key exchage messages before
|
||||
// secure comlink is established
|
||||
#define KEY_EXCHANGE_MSG_ID_UAV 239
|
||||
#define KEY_EXCHANGE_MSG_ID_GCS 159
|
||||
#define WHITELIST_LEN 20
|
||||
|
||||
/**
|
||||
* Whitelist for sending and receiving
|
||||
* unencrypted messages
|
||||
* (mostly for KEY_EXCHANGE messages)
|
||||
*/
|
||||
struct gec_whitelist {
|
||||
uint8_t whitelist[WHITELIST_LEN];
|
||||
uint8_t idx;
|
||||
bool init;
|
||||
};
|
||||
|
||||
/**
|
||||
* Auxilliary message buffer for storing
|
||||
* precomputed key exchange messages
|
||||
*/
|
||||
struct message_buffer {
|
||||
uint8_t msg[TRANSPORT_PAYLOAD_LEN];
|
||||
uint8_t len;
|
||||
bool message_ready;
|
||||
};
|
||||
|
||||
struct gec_transport {
|
||||
// pprz encapsulation layer
|
||||
struct pprz_transport pprz_tp;
|
||||
@@ -50,15 +77,16 @@ struct gec_transport {
|
||||
struct transport_tx trans_tx;
|
||||
// buffered tx message
|
||||
uint8_t tx_msg[TRANSPORT_PAYLOAD_LEN];
|
||||
volatile uint8_t tx_msg_idx;
|
||||
uint8_t tx_msg_idx;
|
||||
|
||||
// ecnryption primitives
|
||||
struct gec_sts_ctx sts;
|
||||
|
||||
struct gec_whitelist whitelist;
|
||||
|
||||
PPRZ_MUTEX(mtx_tx); // optional mutex
|
||||
};
|
||||
|
||||
|
||||
/** PPRZ transport structure */
|
||||
extern struct gec_transport gec_tp;
|
||||
|
||||
@@ -70,7 +98,7 @@ extern void gec_dl_event(void);
|
||||
|
||||
/** Parsing a frame data and copy the payload to the datalink buffer */
|
||||
void gec_check_and_parse(struct link_device *dev, struct gec_transport *trans,
|
||||
uint8_t *buf, bool *msg_available);
|
||||
uint8_t *buf, bool *msg_available);
|
||||
|
||||
void gec_process_sts_msg(struct link_device *dev, struct gec_transport *trans, uint8_t *buf);
|
||||
|
||||
@@ -78,5 +106,14 @@ void respond_sts(struct link_device *dev, struct gec_transport *trans, uint8_t *
|
||||
|
||||
void finish_sts(struct link_device *dev, struct gec_transport *trans, uint8_t *buf);
|
||||
|
||||
void gec_add_to_whitelist(struct gec_whitelist *whitelist, uint8_t id);
|
||||
bool gec_is_in_the_whitelist(struct gec_whitelist *whitelist, uint8_t id);
|
||||
bool gec_decrypt_message(uint8_t *buf, volatile uint8_t *payload_len);
|
||||
bool gec_encrypt_message(uint8_t *buf, uint8_t *payload_len);
|
||||
void gec_counter_to_bytes(uint32_t n, uint8_t *bytes);
|
||||
uint32_t gec_bytes_to_counter(uint8_t *bytes);
|
||||
void gec_process_msg1(uint8_t *buf);
|
||||
bool gec_process_msg3(uint8_t *buf);
|
||||
|
||||
#endif /* GEC_DL_H */
|
||||
|
||||
|
||||
@@ -66,6 +66,7 @@ EXTERN bool datalink_enabled;
|
||||
#endif
|
||||
|
||||
/** Convenience macro to fill dl_buffer */
|
||||
// TODO: replace with a memcpy for efficiency
|
||||
#define DatalinkFillDlBuffer(_buf, _len) { \
|
||||
uint16_t _i = 0; \
|
||||
for (_i = 0; _i < _len; _i++) { \
|
||||
|
||||
+1
-1
Submodule sw/ext/rustlink updated: 1e70ae72d4...508a6d3fa1
Reference in New Issue
Block a user