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Crypto updates (#2245)

Browse Source 
* Cleaned up GEC code

* Added airborne support for pprzlink 1.0

* Update hacl-c

* Add proper indexing for pprz messages

* Updated airframe config for secure link

* Code style changes and updated code style script

* Bump rustlink

* Compilation fixes
This commit is contained in:
Michal Podhradsky
2018-03-17 19:25:23 -07:00
committed by GitHub
parent 30ab122e91
commit 606cd4eea2
14 changed files with 355 additions and 188 deletions
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14
conf/airframes/AGGIEAIR/aggieair_ark_hexa_1-8.xml
View File

@@ -14,6 +14,10 @@ Aggie Air ARK
</module>
<configure name="HAS_LUFTBOOT" value="1"/>
<configure name="FLASH_MODE" value="DFU"/>
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="UART3"/>
<configure name="MODEM_BAUD" value="B57600"/>
</module>
</target>
<!-- NOTE: if you want to use extra_dl module for HITL
@@ -24,9 +28,9 @@ Aggie Air ARK
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="spektrum"/>
<module name="telemetry" type="transparent"/>
</target>
<!-- hitl currently not supported for secure link comms
<target name="hitl" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="imu" type="nps"/>
@@ -35,19 +39,14 @@ Aggie Air ARK
<configure name="INS_BAUD" value="B921600"/>
<configure name="AP_DEV" value="/dev/ttyUSB2"/>
<configure name="AP_BAUD" value="B921600"/>
<module name="telemetry" type="transparent"/>
</target>
-->
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<define name="SERVO_HZ" value="160"/>
</module>
<module name="telemetry" type="transparent_gec">
<configure name="MODEM_PORT" value="UART3"/>
<configure name="MODEM_BAUD" value="B57600"/>
</module>
<module name="stabilization" type="float_euler"/>
<module name="ins" type="vectornav">
@@ -58,7 +57,6 @@ Aggie Air ARK
<modules>
<module name="sys_mon"/>
<!--module name="rng"/-->
<module name="copilot"/>
<module name="extra_dl">
<!-- in order to use uart1 without chibios we need to remap the peripheral-->

13
conf/airframes/AGGIEAIR/aggieair_ark_quad_lisa_mx.xml
View File

@@ -19,17 +19,14 @@
<configure name="FLASH_MODE" value="DFU"/>
</target>
<!-- NOTE: if you want to use extra_dl module for HITL
you have to set TELEMETRY_FREQUENCY to PERIODIC_FREQUENCY -->
<configure name="PERIODIC_FREQUENCY" value="160"/>
<configure name="TELEMETRY_FREQUENCY" value="160"/>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="spektrum"/>
<!--configure name="USE_HITL" value="1"/-->
<configure name="INS_DEV" value="/dev/ttyUSB1"/>
<configure name="INS_BAUD" value="B921600"/>
<configure name="AP_DEV" value="/dev/ttyUSB2"/>
<configure name="AP_BAUD" value="B921600"/>
</target>
<module name="stabilization" type="int_quat"/>
@@ -64,12 +61,12 @@
<module name="lidar_lite">
<configure name="LIDAR_LITE_I2C_DEV" value="i2c2"/>
</module>
<!--module name="battery_monitor.xml">
<module name="battery_monitor.xml">
<define name="BATMON_CURRENT_OFFSET" value="-120"/>
<define name="BATMON_CURRENT_SENSITIVITY" value="25.6"/>
<define name="BATMON_TEMP_OFFSET" value="250"/>
<define name="BATMON_TEMP_SENSITIVITY" value="10"/>
</module-->
</module>
</modules>
<servos driver="Pwm">

7
conf/airframes/AGGIEAIR/aggieair_atomic_lia.xml
View File

@@ -62,6 +62,7 @@ AggieAir Atomic Tangerine
<module name="nav" type="survey_poly_osam"/>
<module name="nav" type="launcher"/>
<module name="nav" type="skid_landing"/>
<module name="sys_mon"/>
<module name="copilot"/>
<module name="extra_dl">
@@ -236,9 +237,9 @@ AggieAir Atomic Tangerine
<!-- ORIGINAL GAIN -->
<define name="PITCH_DGAIN" value="1.5"/>
<!-- SIMULATOR GAIN
<define name="PITCH_DGAIN" value="151.5"/>
-->
<!-- SIMULATOR GAIN-->
<!--define name="PITCH_DGAIN" value="151.5"/-->
<define name="ELEVATOR_OF_ROLL" value="1250"/>
<define name="ROLL_ATTITUDE_GAIN" value="9000"/>
<define name="ROLL_RATE_GAIN" value="1600"/>

6
conf/airframes/AGGIEAIR/aggieair_conf.xml
View File

@@ -7,7 +7,7 @@
telemetry="telemetry/AGGIEAIR/aggieair_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic_geofence.xml"
settings="settings/rotorcraft_basic.xml settings/nps.xml"
settings_modules="modules/battery_monitor.xml modules/gps.xml modules/stabilization_float_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
settings_modules="modules/battery_monitor.xml modules/gps.xml modules/stabilization_float_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml"
gui_color="#ffff954c0000"
/>
<aircraft
@@ -18,7 +18,7 @@
telemetry="telemetry/AGGIEAIR/aggieair_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic_geofence.xml"
settings="settings/rotorcraft_basic.xml settings/nps.xml"
settings_modules="modules/lidar_lite.xml modules/gps.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
settings_modules="modules/battery_monitor.xml modules/lidar_lite.xml modules/gps.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
gui_color="#ffff954c0000"
/>
<aircraft
@@ -40,7 +40,7 @@
telemetry="telemetry/AGGIEAIR/aggieair_fixedwing.xml"
flight_plan="flight_plans/AGGIEAIR/BasicTuning_Launcher.xml"
settings="settings/fixedwing_basic.xml settings/nps.xml"
settings_modules="modules/battery_monitor.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"
settings_modules="modules/battery_monitor.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 modules/imu_common.xml"
gui_color="#00009e93ffff"
/>
<aircraft

28
conf/airframes/AGGIEAIR/aggieair_control_panel.xml
View File

@@ -22,6 +22,7 @@
<arg flag="-a" constant="@AC_ID"/>
<arg flag="-n" constant="@AIRCRAFT"/>
<arg flag="-c" />
<arg flag="-v" constant="2.0"/>
</program>
<program name="Link Combiner" command="sw/ground_segment/python/redundant_link/link_combiner.py"/>
<program name="GCS" command="sw/ground_segment/cockpit/gcs"/>
@@ -129,6 +130,7 @@
<arg flag="-a" constant="@AC_ID"/>
<arg flag="-n" constant="@AIRCRAFT"/>
<arg flag="-c" />
<arg flag="-v" constant="2.0"/>
</program>
<program name="Server">
<arg flag="-n"/>
@@ -177,6 +179,32 @@
</program>
</session>
<session name="Secure HITL USB-serial@57600">
<program name="Secure Link">
<arg flag="-d" constant="/dev/ttyUSB0"/>
<arg flag="-s" constant="57600"/>
<arg flag="-a" constant="@AC_ID"/>
<arg flag="-n" constant="@AIRCRAFT"/>
<arg flag="-c" />
<arg flag="-v" constant="2.0"/>
</program>
<program name="Server">
<arg flag="" constant="-no_md5_check"/>
</program>
<program name="GCS">
<arg flag="-layout" constant="AGGIEAIR/vertical.xml"/>
</program>
<program name="Messages"/>
<program name="Simulator">
<arg flag="-a" constant="@AIRCRAFT"/>
<arg flag="-f" constant="127.0.0.1"/>
<arg flag="-b" constant="127.255.255.255"/>
<arg flag="--fg_fdm"/>
<arg flag="-t" constant="hitl"/>
<arg flag="--nodisplay"/>
</program>
</session>
<session name="HITL USB-serial@115200">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyUSB0"/>

7
conf/airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml
View File

@@ -11,8 +11,8 @@ AggieAir RP3 Minion
<module name="radio_control" type="sbus">
<configure name="SBUS_PORT" value="UART5"/>
</module>
<configure name="HAS_LUFTBOOT" value="0"/>
<configure name="FLASH_MODE" value="JTAG"/>
<configure name="HAS_LUFTBOOT" value="1"/>
<configure name="FLASH_MODE" value="DFU"/>
</target>
<!-- NOTE: if you want to use extra_dl module for HITL
@@ -60,8 +60,7 @@ AggieAir RP3 Minion
<module name="nav" type="survey_poly_osam"/>
<module name="nav" type="launcher"/>
<module name="nav" type="skid_landing"/>
<module name="rng"/>
<module name="haclc"/>
<module name="sys_mon"/>
<module name="copilot"/>
<module name="extra_dl">

2
conf/telemetry/AGGIEAIR/aggieair_fixedwing.xml
View File

@@ -21,7 +21,7 @@
<message name="DATALINK_REPORT" period="5.1"/>
<message name="DL_VALUE" period="1.5"/>
<message name="IR_SENSORS" period="1.2"/>
<message name="SURVEY" period="2.1"/>
<message name="SECURE_LINK_STATUS" period="2.1"/>
<message name="COMMANDS" period="1"/>
<message name="FBW_STATUS" period="2"/>
<message name="VECTORNAV_INFO" period="1.0"/>

1
fix_code_style.sh
View File

@@ -11,6 +11,7 @@ if [ $# -eq 0 ]; then
fi
ASTYLE_VERSION=`astyle --version 2>&1| awk '{print $4}'`
ASTYLE_VERSION=${ASTYLE_VERSION:0:4}
echo "Using astyle version $ASTYLE_VERSION"
set -f

69
sw/airborne/modules/datalink/gec/gec.c
View File

@@ -26,6 +26,10 @@
*/
#include "modules/datalink/gec/gec.h"
#if defined(__linux__) || defined(__CYGWIN__)
#include <arpa/inet.h>
#endif
void gec_sts_init(struct gec_sts_ctx *sts)
{
// reset all keys
@@ -75,27 +79,26 @@ void gec_generate_ephemeral_keys(struct gec_privkey *sk)
sk->priv[i + 2] = (uint8_t)(tmp >> 16);
sk->priv[i + 3] = (uint8_t)(tmp >> 24);
}
uint8_t basepoint[32] = {0};
basepoint[0] = 9; // default basepoint
uint8_t basepoint[32] = { 0 };
basepoint[0] = 9; // default basepoint
Hacl_Curve25519_crypto_scalarmult(sk->pub, sk->priv, basepoint);
sk->ready = true;
}
/**
* Derive key material for both sender and receiver
*/
void gec_derive_key_material(struct gec_sts_ctx *ctx, uint8_t *z)
{
uint8_t tmp[PPRZ_KEY_LEN * 2] = {0};
uint8_t input[PPRZ_KEY_LEN + 1] = {0};
uint8_t tmp[PPRZ_KEY_LEN * 2] = { 0 };
uint8_t input[PPRZ_KEY_LEN + 1] = { 0 };
// Ka|| Sa = kdf(z,0)
memcpy(input, z, PPRZ_KEY_LEN);
input[PPRZ_KEY_LEN] = 0;
Hacl_SHA2_512_hash(tmp, input, sizeof(input));
memcpy(ctx->rx_sym_key.key, tmp, PPRZ_KEY_LEN); // K_a
memcpy(ctx->rx_sym_key.nonce, &tmp[PPRZ_KEY_LEN], PPRZ_NONCE_LEN); // S_a
memcpy(ctx->rx_sym_key.key, tmp, PPRZ_KEY_LEN); // K_a
memcpy(ctx->rx_sym_key.nonce, &tmp[PPRZ_KEY_LEN], PPRZ_NONCE_LEN); // S_a
ctx->rx_sym_key.counter = 0;
ctx->rx_sym_key.ready = true;
@@ -108,3 +111,55 @@ void gec_derive_key_material(struct gec_sts_ctx *ctx, uint8_t *z)
ctx->tx_sym_key.ready = true;
}
/**
* Convert from network byte order (big endian) to the machine byte order
*/
uint32_t gec_bytes_to_counter(uint8_t *bytes)
{
// assume big endian
uint32_t x = (bytes[3] << 24) + (bytes[2] << 16) + (bytes[1] << 8) + bytes[0];
// now check the appropriate endiannes
/* ... for Linux */
#if defined(__linux__) || defined(__CYGWIN__)
return ntohl(x);
/* ... generic big-endian fallback code */
#elif defined(__BYTE_ORDER__) && __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
// the byte order is the same as for network
return x;
/* ... generic little-endian fallback code */
#elif defined(__BYTE_ORDER__) && __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__
// do a byte swap
return htobe32(x);
/* ... couldn't determine endian-ness of the target platform */
#else
#pragma message "Please define __BYTE_ORDER__!"
#endif /* defined(__linux__) || ... */
}
/**
* Convert counter to bytes in network byte order
*/
void gec_counter_to_bytes(uint32_t n, uint8_t *bytes)
{
//first account for appropriate endiannes
/* ... for Linux */
#if defined(__linux__) || defined(__CYGWIN__)
n = htonl(n);
/* ... generic big-endian fallback code */
#elif defined(__BYTE_ORDER__) && __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
// the byte order is the same as for network
// do nothing
/* ... generic little-endian fallback code */
#elif defined(__BYTE_ORDER__) && __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__
// do a byte swap
n = htobe32(n);
/* ... couldn't determine endian-ness of the target platform */
#else
#pragma message "Error: Please define __BYTE_ORDER__!"
#endif /* defined(__linux__) || ... */
bytes[3] = (n >> 24) & 0xFF;
bytes[2] = (n >> 16) & 0xFF;
bytes[1] = (n >> 8) & 0xFF;
bytes[0] = n & 0xFF;
}

40
sw/airborne/modules/datalink/gec/gec.h
View File

@@ -21,7 +21,7 @@
/**
* @file datalink/gec/gec.h
*
* Galois embedded crypto iplementation
* Galois embedded crypto implementation
*
*/
#ifndef SPPRZ_GEC_H
@@ -44,34 +44,51 @@
#define PPRZ_CNTR_IDX 1
// index of the beginning of the authenticated bytes
#define PPRZ_AUTH_IDX 5
// index of the beginning of the ciphertex
#define PPRZ_CIPH_IDX 7
// legth of the message signature
#define PPRZ_SIGN_LEN 64
// lenght of a hash for key derivation
#define PPRZ_HASH_LEN 64
// length of the encryption keys
#define PPRZ_KEY_LEN 32
// length of the authenticated data
#define PPRZ_AUTH_LEN 2
// length of the message authentication tag
#define PPRZ_MAC_LEN 16
// length of the message nonce
#define PPRZ_NONCE_LEN 12
// length of the counter
#define PPRZ_COUNTER_LEN 4
// length of the crypto overhead (4 bytes of counter + 16 bytes of tag)
#define PPRZ_CRYPTO_OVERHEAD 20
// basepoint value for the scalar curve multiplication
#define PPRZ_CURVE_BASEPOINT 9
#if PPRZLINK_DEFAULT_VER == 2
// minimal size of the encrypted message
#define PPRZ_MSG_ID 3
// index of the message ID for plaintext messages
#define PPRZ_PLAINTEXT_MSG_ID_IDX 4
// 4 bytes of MSG info (source_ID, dest_ID, class_byte, msg_ID) + 1 GEC byte
#define PPRZ_PLAINTEXT_MSG_MIN_LEN 5
// 20 bytes crypto overhead + 4 bytes MSG info + 1 GEC byte
#define PPRZ_ENCRYPTED_MSG_MIN_LEN 25
// length of the crypto overhead (4 bytes of counter + 16 bytes of tag)
#define PPRZ_CRYPTO_OVERHEAD 20
// basepoint value for the scalar curve multiplication
#define PPRZ_CURVE_BASEPOINT 9
// length of the authenticated data (SOURCE ID, DEST ID)
#define PPRZ_AUTH_LEN 2
// index of the beginning of the ciphertext
#define PPRZ_CIPH_IDX 7
#else // PPRZLINK_DEFAULT_VER = 1
// minimal size of the encrypted message
#define PPRZ_V2_MSG_ID 3
#define PPRZ_MSG_ID 1
// index of the message ID for plaintext messages
#define PPRZ_PLAINTEXT_MSG_ID_IDX 2
// 2 bytes of MSG info (source_ID, msg_ID) + 1 GEC byte
#define PPRZ_PLAINTEXT_MSG_MIN_LEN 3
// 20 bytes crypto overhead + 2 bytes MSG info + 1 GEC byte
#define PPRZ_ENCRYPTED_MSG_MIN_LEN 23
// length of the authenticated data (SOURCE ID)
#define PPRZ_AUTH_LEN 1
// index of the beginning of the ciphertext
#define PPRZ_CIPH_IDX 6
#endif
typedef unsigned char ed25519_signature[64];
@@ -143,4 +160,7 @@ 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);
void gec_counter_to_bytes(uint32_t n, uint8_t *bytes);
uint32_t gec_bytes_to_counter(uint8_t *bytes);
#endif /* SPPRZ_GEC_H */

335
sw/airborne/modules/datalink/gec_dl.c
View File

@@ -33,13 +33,6 @@
#include "led.h" // for LED indication
#endif
#if PPRZLINK_DEFAULT_VER != 2
#error "Secure link is only for Pprzlink v 2.0"
#endif
void gec_encapsulate_and_send_msg(struct pprzlink_msg *msg, long fd);
static void gec_transport_init(struct gec_transport *t);
struct gec_transport gec_tp;
#if PERIODIC_TELEMETRY
@@ -56,67 +49,6 @@ static void send_secure_link_info(struct transport_tx *trans, struct link_device
}
#endif
/**
* Convert from network byte order (big endian) to the machine byte order
*/
uint32_t gec_bytes_to_counter(uint8_t *bytes)
{
// assume big endian
uint32_t x = (bytes[3] << 24) + (bytes[2] << 16) + (bytes[1] << 8) + bytes[0];
// now check the appropriate endiannes
/* ... for Linux */
#if defined(__linux__) || defined(__CYGWIN__)
return ntohl(x);
/* ... generic big-endian fallback code */
#elif defined(__BYTE_ORDER__) && __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
// the byte order is the same as for network
return x;
/* ... generic little-endian fallback code */
#elif defined(__BYTE_ORDER__) && __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__
// do a byte swap
return htobe32(x);
/* ... couldn't determine endian-ness of the target platform */
#else
#pragma message "Please define __BYTE_ORDER__!"
#endif /* defined(__linux__) || ... */
}
/**
* Convert counter to bytes in network byte order
*/
void gec_counter_to_bytes(uint32_t n, uint8_t *bytes)
{
//first account for appropriate endiannes
/* ... for Linux */
#if defined(__linux__) || defined(__CYGWIN__)
n = htonl(n);
/* ... generic big-endian fallback code */
#elif defined(__BYTE_ORDER__) && __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
// the byte order is the same as for network
// do nothing
/* ... generic little-endian fallback code */
#elif defined(__BYTE_ORDER__) && __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__
// do a byte swap
n = htobe32(n);
/* ... couldn't determine endian-ness of the target platform */
#else
#pragma message "Error: Please define __BYTE_ORDER__!"
#endif /* defined(__linux__) || ... */
bytes[3] = (n >> 24) & 0xFF;
bytes[2] = (n >> 16) & 0xFF;
bytes[1] = (n >> 8) & 0xFF;
bytes[0] = n & 0xFF;
}
/**
* Helper function to get the relevant transport struct
*/
static struct gec_transport *get_trans(struct pprzlink_msg *msg)
{
return (struct gec_transport *)(msg->trans->impl);
}
/**
* Simply insert byte to the message buffer
*/
@@ -126,31 +58,15 @@ static inline void insert_byte(struct gec_transport *t, const uint8_t byte)
t->tx_msg_idx++;
}
// add a message id to the whitelist
void gec_add_to_whitelist(struct gec_whitelist *whitelist, uint8_t id)
{
if (whitelist->init && (whitelist->idx < WHITELIST_LEN)) {
whitelist->whitelist[whitelist->idx] = id;
whitelist->idx++;
#if PPRZLINK_DEFAULT_VER == 2
void gec_encapsulate_and_send_msg(struct pprzlink_msg *msg, long fd);
} else {
memset(whitelist, 0, WHITELIST_LEN); // erase the whitelist
whitelist->init = true;
whitelist->idx = 0;
}
}
// return true if given message id is in the whitelist
bool gec_is_in_the_whitelist(struct gec_whitelist *whitelist, uint8_t id)
/**
* Helper function to get the relevant transport struct
*/
static struct gec_transport *get_trans(struct pprzlink_msg *msg)
{
if (whitelist->init) {
for (uint8_t i = 0; i < whitelist->idx; i++) {
if (whitelist->whitelist[i] == id) {
return true;
}
}
}
return false;
return (struct gec_transport *)(msg->trans->impl);
}
/**
@@ -195,8 +111,8 @@ static void start_message(struct pprzlink_msg *msg,
uint8_t payload_len __attribute__((unused)))
{
PPRZ_MUTEX_LOCK(get_trans(msg)->mtx_tx); // lock mutex
memset(get_trans(msg)->tx_msg, _FD, TRANSPORT_PAYLOAD_LEN); // erase message data
get_trans(msg)->tx_msg_idx = 0; // reset index
memset(get_trans(msg)->tx_msg, _FD, TRANSPORT_PAYLOAD_LEN);// erase message data
get_trans(msg)->tx_msg_idx = 0;// reset index
}
/**
@@ -234,26 +150,6 @@ static int check_available_space(struct pprzlink_msg *msg, long *fd,
return 0;
}
void gec_dl_init(void)
{
#ifdef GEC_STATUS_LED
LED_OFF(GEC_STATUS_LED);
#endif
// init pprz transport
pprz_transport_init(&gec_tp.pprz_tp);
// init crypto transport
gec_transport_init(&gec_tp);
// initialize keys
gec_sts_init(&gec_tp.sts);
#if PERIODIC_TELEMETRY
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_SECURE_LINK_STATUS, send_secure_link_info);
#endif
}
/**
* Get bytes from the message buffer (SENDER_ID .. MSG_PAYLOAD)
* Add crypto byte
@@ -277,8 +173,117 @@ static void end_message(struct pprzlink_msg *msg, long fd)
PPRZ_MUTEX_UNLOCK(get_trans(msg)->mtx_tx);
}
/**
* Encapsulate message data (CRYPTO_BYTE .. MSG_PAYLOAD .. TAG) with
* pprzlink header and checksum (PPRZ_STX .. CHECKSUM).
* and send message
*/
void gec_encapsulate_and_send_msg(struct pprzlink_msg *msg, long fd)
{
get_trans(msg)->pprz_tp.trans_tx.start_message(msg, fd,
get_trans(msg)->tx_msg_idx);
get_trans(msg)->pprz_tp.trans_tx.put_bytes(msg, _FD, DL_TYPE_UINT8,
DL_FORMAT_SCALAR, get_trans(msg)->tx_msg, get_trans(msg)->tx_msg_idx);
get_trans(msg)->pprz_tp.trans_tx.end_message(msg, fd);
}
#else // Pprzlink 1.0
void gec_encapsulate_and_send_msg(struct gec_transport *trans,
struct link_device *dev, long fd);
static void put_bytes(struct gec_transport *trans,
struct link_device *dev __attribute__((unused)),
long fd __attribute__((unused)),
enum TransportDataType type __attribute__((unused)),
enum TransportDataFormat format __attribute__((unused)), const void *bytes,
uint16_t len)
{
const uint8_t *b = (const uint8_t *) bytes;
int i;
for (i = 0; i < len; i++) {
insert_byte(trans, b[i]);
}
}
static void put_named_byte(struct gec_transport *trans,
struct link_device *dev __attribute__((unused)),
long fd __attribute__((unused)),
enum TransportDataType type __attribute__((unused)),
enum TransportDataFormat format __attribute__((unused)), uint8_t byte,
const char *name __attribute__((unused)))
{
insert_byte(trans, byte);
}
static uint8_t size_of(struct gec_transport *trans __attribute__((unused)),
uint8_t len)
{
return PPRZ_CRYPTO_OVERHEAD + 1 + trans->pprz_tp.trans_tx.size_of(trans, len);
}
static void start_message(struct gec_transport *trans,
struct link_device *dev __attribute__((unused)),
long fd __attribute__((unused)),
uint8_t payload_len __attribute__((unused)))
{
PPRZ_MUTEX_LOCK(trans->mtx_tx); // lock mutex
memset(trans->tx_msg, _FD, TRANSPORT_PAYLOAD_LEN); // erase message data
trans->tx_msg_idx = 0; // reset index
}
static void end_message(struct gec_transport *trans, struct link_device *dev,
long fd)
{
switch (gec_tp.sts.protocol_stage) {
case CRYPTO_OK:
if (gec_encrypt_message(gec_tp.tx_msg, &gec_tp.tx_msg_idx)) {
gec_encapsulate_and_send_msg(trans, dev, fd);
}
break;
default:
// shouldn't be here as sending messages is not allowed until after the key exchange
break;
}
// unlock mutex
PPRZ_MUTEX_UNLOCK(trans->mtx_tx);
}
void gec_encapsulate_and_send_msg(struct gec_transport *trans,
struct link_device *dev, long fd)
{
trans->pprz_tp.trans_tx.start_message(trans, dev, fd, trans->tx_msg_idx);
trans->pprz_tp.trans_tx.put_bytes(trans, dev, _FD, DL_TYPE_UINT8,
DL_FORMAT_SCALAR, trans->tx_msg, trans->tx_msg_idx);
trans->pprz_tp.trans_tx.end_message(trans, dev, fd);
}
static void overrun(struct gec_transport *trans __attribute__((unused)),
struct link_device *dev)
{
trans->pprz_tp.trans_tx.overrun(trans, dev);
}
static void count_bytes(struct gec_transport *trans __attribute__((unused)),
struct link_device *dev, uint8_t bytes)
{
trans->pprz_tp.trans_tx.count_bytes(trans, dev, bytes);
}
static int check_available_space(
struct gec_transport *trans __attribute__((unused)),
struct link_device *dev, long *fd, uint16_t bytes)
{
if (trans->sts.protocol_stage == CRYPTO_OK) {
return trans->pprz_tp.trans_tx.check_available_space(trans, dev, fd, bytes);
}
return 0;
}
#endif // PPRZLINK 2.0/1.0
// Init pprz transport structure
static void gec_transport_init(struct gec_transport *t)
void gec_transport_init(struct gec_transport *t)
{
t->trans_rx.msg_received = false;
t->trans_tx.size_of = (size_of_t) size_of;
@@ -298,32 +303,36 @@ static void gec_transport_init(struct gec_transport *t)
gec_add_to_whitelist(&(t->whitelist), KEY_EXCHANGE_MSG_ID_GCS);
}
/**
* Encapsulate message data (CRYPTO_BYTE .. MSG_PAYLOAD .. TAG) with
* pprzlink header and checksum (PPRZ_STX .. CHECKSUM).
* and send message
*/
void gec_encapsulate_and_send_msg(struct pprzlink_msg *msg, long fd)
void gec_dl_init(void)
{
get_trans(msg)->pprz_tp.trans_tx.start_message(msg, fd,
get_trans(msg)->tx_msg_idx);
get_trans(msg)->pprz_tp.trans_tx.put_bytes(msg, _FD, DL_TYPE_UINT8,
DL_FORMAT_SCALAR, get_trans(msg)->tx_msg, get_trans(msg)->tx_msg_idx);
get_trans(msg)->pprz_tp.trans_tx.end_message(msg, fd);
#ifdef GEC_STATUS_LED
LED_OFF(GEC_STATUS_LED);
#endif
// init pprz transport
pprz_transport_init(&gec_tp.pprz_tp);
// init crypto transport
gec_transport_init(&gec_tp);
// initialize keys
gec_sts_init(&gec_tp.sts);
#if PERIODIC_TELEMETRY
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_SECURE_LINK_STATUS, send_secure_link_info);
#endif
}
/**
* Attempts message encryption
* Adds crypto_byte, counter and tag
* Assumes that the first two bytes of 'payload' are source_ID and dest_ID
* and these two bytes will be authenticated
* Returns encrypted pprzlink 2.0 message (crypto_byte .. tag) in the same
* Returns encrypted pprzlink message (crypto_byte .. tag) in the same
* buffer as was the incoming message
*/
bool gec_encrypt_message(uint8_t *buf, uint8_t *payload_len)
{
// check payload length
if (*payload_len <= PPRZ_V2_MSG_ID) {
if (*payload_len <= PPRZ_MSG_ID) {
return false;
}
// check if the key is ready
@@ -369,13 +378,12 @@ bool gec_encrypt_message(uint8_t *buf, uint8_t *payload_len)
gec_tp.sts.encrypt_err++;
return false;
}
}
/**
* Attemp message decryption
* If a message is unencrypted, pass it through only if the MSG_ID is in the whitelist
* Returns Pprzlink 2.0 message bytes (source_ID .. msg payload)
* Returns Pprzlink message bytes (source_ID .. msg payload)
*
* Input: expects (CRYPTO_BYTE .. MSG_DATA .. optional TAG)
* Output: returns stripped message (SENDER_ID .. MSG_PAYLOAD)
@@ -466,6 +474,13 @@ bool gec_decrypt_message(uint8_t *buf, volatile uint8_t *payload_len)
* payload[3] MSG_ID
* payload[4-end] MSG_PAYLOAD
* ```
* or
* Pprzlink 1.0
* ```ignore
* payload[0] source SENDER_ID
* payload[1] MSG_ID
* payload[2-end] MSG_PAYLOAD
* ```
* and can be directly processed by a parser
*
* NOTE: the KEY_EXCHANGE messages are whitelisted and thus pass through the "decryption" even if they are
@@ -473,7 +488,7 @@ bool gec_decrypt_message(uint8_t *buf, volatile uint8_t *payload_len)
* It would be good to limit "sending" them from other processes, but for now lets assume nobody will want to send
* this message.
*
* In the future, the KEY_EXCHANGE messages will be handled in `firmware_parse_datalink_msgs()` and act upon accordingly
* In the future, the KEY_EXCHANGE messages should be handled even in CRYPTO_OK mode and acted upon accordingly
* (i.e. the key renegotiation will be possible). For now, I am keeping this note here as a reminder.
*/
void gec_dl_event(void)
@@ -491,7 +506,7 @@ void gec_dl_event(void)
if (gec_decrypt_message(gec_tp.pprz_tp.trans_rx.payload,
&gec_tp.pprz_tp.trans_rx.payload_len)) {
// copy the buffer over
// NOTE/TODO: the real payload_len is at least one byte shorter
// NOTE:the real payload_len is at least one byte shorter
// but we can copy whole buffer anyway since we don't overflow
DatalinkFillDlBuffer(gec_tp.pprz_tp.trans_rx.payload,
gec_tp.pprz_tp.trans_rx.payload_len);
@@ -606,6 +621,7 @@ void gec_process_msg1(uint8_t *buf)
return;
}
#if PPRZLINK_DEFAULT_VER == 2
// now we have to manually construct the message
// CRYPTO BYTE
// source_id
@@ -620,7 +636,7 @@ void gec_process_msg1(uint8_t *buf)
gec_tp.tx_msg_idx++;
gec_tp.tx_msg[gec_tp.tx_msg_idx] = 0;
gec_tp.tx_msg_idx++;
gec_tp.tx_msg[gec_tp.tx_msg_idx] = 1; // telemetry
gec_tp.tx_msg[gec_tp.tx_msg_idx] = 1;// telemetry
gec_tp.tx_msg_idx++;
gec_tp.tx_msg[gec_tp.tx_msg_idx] = 239;
gec_tp.tx_msg_idx++;
@@ -636,6 +652,29 @@ void gec_process_msg1(uint8_t *buf)
msg2.dev = &DOWNLINK_DEVICE.device;
gec_encapsulate_and_send_msg(&msg2, 0);
#else
// Pprzlink 1.0
// now we have to manually construct the message
// CRYPTO BYTE
// source_id
// msg id
// msg_type
// msg_data
gec_tp.tx_msg[PPRZ_GEC_IDX] = PPRZ_MSG_TYPE_PLAINTEXT;
gec_tp.tx_msg_idx = 1;
gec_tp.tx_msg[gec_tp.tx_msg_idx] = AC_ID;
gec_tp.tx_msg_idx++;
gec_tp.tx_msg[gec_tp.tx_msg_idx] = 239;
gec_tp.tx_msg_idx++;
gec_tp.tx_msg[gec_tp.tx_msg_idx] = P_BE;
gec_tp.tx_msg_idx++;
gec_tp.tx_msg[gec_tp.tx_msg_idx] = sizeof(msg_data);
gec_tp.tx_msg_idx++;
memcpy(&gec_tp.tx_msg[gec_tp.tx_msg_idx], msg_data, sizeof(msg_data));
gec_tp.tx_msg_idx += sizeof(msg_data);
gec_encapsulate_and_send_msg(&gec_tp, &DOWNLINK_DEVICE.device, 0);
#endif // PPRZLINK 1.0/2.0
/*
* Note that ideally we would use the following function call, but the problem is that
@@ -645,6 +684,7 @@ void gec_process_msg1(uint8_t *buf)
*
* Since I am doing this only once, the method above is fine for the time being.
*
* Pprzlink 2.0:
uint8_t msg_status = P_BE;
pprz_msg_send_KEY_EXCHANGE_UAV(&gec_tp.pprz_tp.trans_tx, &DOWNLINK_DEVICE.device, AC_ID,
&msg_status, sizeof(msg_data), msg_data);
@@ -715,3 +755,30 @@ bool gec_process_msg3(uint8_t *buf)
// all ok
return true;
}
// add a message id to the whitelist
void gec_add_to_whitelist(struct gec_whitelist *whitelist, uint8_t id)
{
if (whitelist->init && (whitelist->idx < WHITELIST_LEN)) {
whitelist->whitelist[whitelist->idx] = id;
whitelist->idx++;
} else {
memset(whitelist, 0, WHITELIST_LEN); // erase the whitelist
whitelist->init = true;
whitelist->idx = 0;
}
}
// return true if given message id is in the whitelist
bool gec_is_in_the_whitelist(struct gec_whitelist *whitelist, uint8_t id)
{
if (whitelist->init) {
for (uint8_t i = 0; i < whitelist->idx; i++) {
if (whitelist->whitelist[i] == id) {
return true;
}
}
}
return false;
}

17
sw/airborne/modules/datalink/gec_dl.h
View File

@@ -39,8 +39,8 @@
#include "mcu_periph/udp.h"
#endif
// TODO: a hack to to allow passing the key exchage messages before
// secure comlink is established
// MSG_ID for key exchange messages.
// Update if IDs change in messages.xml
#define KEY_EXCHANGE_MSG_ID_UAV 239
#define KEY_EXCHANGE_MSG_ID_GCS 159
#define WHITELIST_LEN 20
@@ -81,10 +81,10 @@ struct gec_transport {
// ecnryption primitives
struct gec_sts_ctx sts;
struct gec_whitelist whitelist;
PPRZ_MUTEX(mtx_tx); // optional mutex
// optional mutex
PPRZ_MUTEX(mtx_tx);
};
/** PPRZ transport structure */
@@ -96,6 +96,8 @@ extern void gec_dl_init(void);
/** Datalink Event */
extern void gec_dl_event(void);
void gec_transport_init(struct gec_transport *t);
/** 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);
@@ -103,15 +105,14 @@ void gec_check_and_parse(struct link_device *dev, struct gec_transport *trans,
void gec_process_sts_msg(struct link_device *dev, struct gec_transport *trans, uint8_t *buf);
void respond_sts(struct link_device *dev, struct gec_transport *trans, uint8_t *buf);
void finish_sts(struct link_device *dev, struct gec_transport *trans, uint8_t *buf);
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);

2
sw/ext/hacl-c

Submodule sw/ext/hacl-c updated: 9f7381d809...bca1a10ddc

2
sw/ext/rustlink

Submodule sw/ext/rustlink updated: 508a6d3fa1...84f5d4bdbc