Keep the colleague's microbu-esp32c5 tree in this repository
obu-firmware builds against vanetza-idf from microbu-esp32c5/external, but that tree was gitignored, so a clone of this repository could not build the firmware it ships. It is now committed here as ordinary files in its own folder, microbu-esp32c5/: the colleague's commit cf4b99f plus the V2X2MAP bridge's signature verification (--trust) used on the bench. Nothing is fetched from or pushed to the colleague's repository; this repository and its remotes carry everything. The folder's own .gitignore keeps build output, downloaded components and private key material out, as it did there; the committed file set is identical to that repository's tracked files. The ESP32-C5 is still flashed from obu-firmware/, which only takes vanetza-idf from microbu-esp32c5/, so the two stay separate folders. FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
This commit is contained in:
Ashin Walpola
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// Sourced from OpenTrafficMap's its-g5-receiver-firmware_txenabled, main/tx_custom.c
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// (https://codeberg.org/opentrafficmap/its-g5-receiver-firmware_txenabled, pinned commit
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// 674e34128279235ba34c9f8d778f43cf1d075397, no stated license). Reproduced here as generated by
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// implementation/external/vanetza-idf/ports/esp_idf/radio_c5.cmake (which hashes the upstream file
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// so this copy cannot silently drift) and checked in for readability. The struct layouts
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// (x_eb_txdesc_t, x_middle_data_t, x_ebuf_t) and the bit-level manipulation of esp_wifi's private
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// tx descriptor are OTM's own reverse engineering of the closed esp_wifi/libphy internals -- not
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// documented or supported by Espressif, and not verified independently by this project. The one
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// deliberate change from upstream is `result = ieee80211_post_hmac_tx(eb);` below: upstream
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// discards that return value, but ESP_OK from this function means the driver accepted the frame
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// for submission, not that it was independently observed on air (see
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// experiments/evidence/c5-radio-characterization/phy-internals-investigation.md).
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#include "esp_private/wifi_os_adapter.h"
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#include "esp_wifi.h"
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#include "otm_tx_custom.h"
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#include <assert.h>
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#include <stddef.h>
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esp_err_t ieee80211_raw_frame_sanity_check(wifi_interface_t ifx, const void *buffer, int32_t len, bool en_sys_seq);
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esp_err_t ieee80211_post_hmac_tx(void *ebuf);
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void *ic_ebuf_alloc(const void *packet, uint32_t unknown, uint32_t len);
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void *ic_get_default_sched(void);
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extern wifi_osi_funcs_t *g_osi_funcs_p;
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extern void *g_wifi_global_lock;
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typedef struct x_eb_txdesc
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{
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uint32_t flags;
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uint32_t field_4;
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uint32_t field_8;
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uint8_t rate;
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uint8_t field_d;
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uint8_t field_e;
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uint8_t field_f;
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uint32_t field_10;
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uint32_t field_14;
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uint32_t timestamp;
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void* sched;
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uint32_t field_20;
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uint32_t field_24;
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uint32_t field_28;
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union {
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uint32_t field_2c_32;
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struct {
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uint8_t field_2c;
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uint8_t field_2d;
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uint8_t field_2e;
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uint8_t field_2f;
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};
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};
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union {
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uint32_t field_30_32;
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struct {
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uint8_t field_30;
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uint8_t field_31;
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uint8_t field_32;
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uint8_t field_33;
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};
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};
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uint32_t field_34;
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uint32_t field_38;
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uint32_t field_3c;
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uint32_t field_40;
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uint32_t field_44;
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} x_eb_txdesc_t;
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_Static_assert(sizeof(x_eb_txdesc_t) == 0x48, "eb_txdesc size");
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typedef struct x_middle_data
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{
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uint32_t field_40;
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uint8_t* buf;
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uint32_t field_48;
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uint32_t field_4c;
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} x_middle_data_t;
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_Static_assert(sizeof(x_middle_data_t) == 0x10, "middle_data size");
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typedef struct x_ebuf
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{
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uint32_t field_0;
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x_middle_data_t* ds_head;
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x_middle_data_t* ds_tail;
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uint16_t field_c;
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uint16_t field_e;
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uint32_t extra_data_start;
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uint16_t header_length;
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uint32_t data_length;
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uint16_t field_1c;
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uint8_t alloc_type;
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uint8_t field_1f;
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uint32_t field_20;
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uint8_t field_24;
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uint8_t field_25;
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uint8_t field_26;
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uint8_t field_27;
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uint32_t field_28;
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uint8_t field_2c;
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uint32_t field_30;
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uint32_t next_free;
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x_eb_txdesc_t* txdesc;
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uint16_t field_3c;
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uint8_t field_3e;
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uint8_t field_3f;
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} x_ebuf_t;
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_Static_assert(sizeof(x_ebuf_t) == 0x40, "ebuf size");
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_Static_assert(offsetof(x_ebuf_t, txdesc) == 0x38, "ebuf txdesc offset");
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_Static_assert(offsetof(x_eb_txdesc_t, rate) == 0x0c, "txdesc rate offset");
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esp_err_t esp_wifi_80211_tx_custom(wifi_interface_t ifx, const void *buffer, int32_t len, bool en_sys_seq, wifi_tx_rate_config_t *tx_rate_config, wifi_band_t band, wifi_bandwidth_t bw)
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{
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esp_err_t result = 0;
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if (!result)
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{
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g_osi_funcs_p->_mutex_lock(g_wifi_global_lock);
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x_ebuf_t* eb = ic_ebuf_alloc(buffer, 1, len);
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if (eb)
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{
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eb->data_length = 0;
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x_eb_txdesc_t *txdesc_1 = eb->txdesc;
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eb->header_length = len;
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txdesc_1->flags |= 0x4000;
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txdesc_1->sched = ic_get_default_sched();
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wifi_phy_rate_t rate = tx_rate_config->rate;
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x_eb_txdesc_t *txdesc = eb->txdesc;
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if (rate)
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txdesc->rate = (char)rate;
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else if (band != WIFI_BAND_5G)
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txdesc->rate = 0;
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else
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txdesc->rate = (char)WIFI_PHY_RATE_6M;
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wifi_phy_mode_t phymode = tx_rate_config->phymode;
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if (phymode == WIFI_PHY_MODE_HE20)
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{
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txdesc->flags |= 0x80000000;
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txdesc->field_2f =
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(char)((((uint32_t)tx_rate_config->ersu + 6) & 0xf) << 3)
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| (txdesc->field_2f & 0x87);
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if ((uint32_t)tx_rate_config->dcm)
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txdesc->field_31 |= 0x80;
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}
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else if (phymode == WIFI_PHY_MODE_VHT20)
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txdesc->flags |= 0x1000000;
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// OTM's own comment on this line upstream: "No idea if this is correct, but this is
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// what the original code does...". This project always passes WIFI_BW20 (see
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// c5_radio.cpp), so bw_is_bw40 is always 0 here; see the investigation doc above for
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// what is and isn't verified about ITS-G5's 10 MHz channel width on this path.
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uint32_t bw_is_bw40 = bw == WIFI_BW40;
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txdesc->field_8 = (bw_is_bw40 << 0xf) | (txdesc->field_8 & 0xffff7fff);
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if (en_sys_seq)
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txdesc->flags |= 1;
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txdesc->field_10 =
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(txdesc->field_10 & 0xfff3ffff) | ((ifx & WIFI_IF_MAX) << 0x12);
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txdesc->field_14 = 0x100;
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result = ieee80211_post_hmac_tx(eb);
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g_osi_funcs_p->_mutex_unlock(g_wifi_global_lock);
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}
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else
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{
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result = ESP_ERR_NO_MEM;
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g_osi_funcs_p->_mutex_unlock(g_wifi_global_lock);
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}
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}
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return result;
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}
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