36 lines
1.7 KiB
C
36 lines
1.7 KiB
C
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#ifndef CAM_H
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#define CAM_H
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#include <stdint.h>
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#include <stddef.h>
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// Minimal CAM (Cooperative Awareness Message) per ETSI EN 302 637-2 v1.4.1
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// (CAM-PDU-Descriptions) + TS 102 894-2 v1.3.1 (CDD / ITS-Container), matching
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// the field set the working Rust reference (esp32-c_its-companion, feat/tx-cam,
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// src/applogic/cam_tx.rs) transmits:
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// - ItsPduHeader (protocolVersion 2, messageID 2 = cam)
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// - CoopAwareness { generationDeltaTime, camParameters }
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// - CamParameters {
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// basicContainer { stationType, referencePosition },
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// highFrequencyContainer = basicVehicleContainerHighFrequency { ... },
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// lowFrequencyContainer = basicVehicleContainerLowFrequency { ... }
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// }
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// All vehicle-dynamics fields we don't measure are encoded as their ASN.1
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// "unavailable" value. Speed is a real 0 (correct for a stationary station).
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typedef struct {
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uint32_t station_id;
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uint8_t station_type; // StationType(0..255): 5 = passengerCar
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uint16_t generation_delta_time; // TimestampIts mod 65536 (ms); 0 until a real clock is wired
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int32_t latitude_tenmicrodeg; // Latitude, 1/10 microdegree
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int32_t longitude_tenmicrodeg; // Longitude, 1/10 microdegree
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uint16_t speed_cm_s; // SpeedValue, 0.01 m/s units (0 = stationary)
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uint16_t heading_ddeg; // HeadingValue, 0.1 deg units (0..3600), 3601 = unavailable
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uint16_t vehicle_length_dm; // VehicleLengthValue(1..1023), 10cm steps
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uint8_t vehicle_width_dm; // VehicleWidth(1..62), 10cm steps
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} cam_fields_t;
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// Encodes the CAM as ASN.1 UPER. Returns bytes written, or -1 if buf too small.
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int cam_encode(const cam_fields_t *f, uint8_t *buf, size_t buf_len);
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#endif
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