Sign ITS messages on the ESP32-C5 with vanetza-idf, over USB or BLE
obu-firmware is now a port of the colleague's standalone VRU station (microbu-esp32c5/firmware, kept beside this repository and gitignored): the vanetza-idf C-ITS stack with the TS 103 097 security entity, credentials in NVS, the station-link v1 protocol over the native USB port (frame type 0x10 in the existing 0xAA55 framing) and over a BLE GATT peripheral, and its ITS-G5 radio adapter. The phone still builds CAM and VAM; the board adds GeoNetworking/BTP and signs with the provisioned authorization ticket. The private key never leaves the board. Builds with ESP-IDF 6.0.2 only, which vanetza-idf pins for the radio's private driver ABI. The previous C firmware stays on disk unbuilt; a full-flash backup of the bench board is kept in firmware-backups/ (gitignored). Changed against the colleague's firmware, marked MicrOBU: in the sources: - Reception unchanged for the app. vanetza-idf drops what it cannot verify (unsigned traffic, every RSU), so each captured frame also goes through the previous gn_unwrap.c and reaches the phone as link opcode V2X_RX (0x85), whose body is the old SERIAL_MSG_V2X_RX payload. - Unsigned transmission still possible, with the previous geonet.c header; the phone chooses per message. - Console on UART0 (CH343 port); the native USB port carries only link frames. - BLE advertising pauses while the USB link is in use: BLE and ITS-G5 share one RF front end. - NVS 80 KB (app at 0x20000). At 24 KB, with Wi-Fi settings the previous firmware left behind, the BLE bond could not be stored and the phone had to pair on every connection. - Bench fixes: the radio queue is drained before the first PoTi (no RX and ~177 queue drops before); the station loop waited pdMS_TO_TICKS(5) = 0 ticks at 100 Hz and starved the idle task; the 2.4 KB RX capture buffer is off the Wi-Fi task stack; BLE notifications longer than the MTU are dropped instead of cut short, MTU 517; serial writes are skipped with no USB host. - Manual country policy and TX-power read-back from the previous radio setup; logs for BLE encryption changes and the number of stored bonds. Verified on the bench board (COM3) with the phone over USB and BLE: CAM and VAM, signed and unsigned, go out; reception of the sim car and the RSU's CAM/SPATEM/MAPEM continues; the board survives app restarts and reconnects. See docs/06-signed-its-vam-ble.md.
This commit is contained in:
Ashin Walpola
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#pragma once
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// The ESP32-C5 half of the VRU ITS-S: BTP-B, GeoNetworking, the SN-SAP
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// security entity with the station's provisioned credentials, and the ITS-G5 access adapter.
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// Everything here runs on one task (the station task).
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#include "c5_radio.hpp"
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#include "link_protocol.hpp"
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#include <vanetza_idf/stack.hpp>
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#include <vanetza_idf/security.hpp>
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#include <vanetza_idf/credentials.hpp>
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#include <vanetza_idf/backend_mbedtls.hpp>
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#include <vanetza/common/manual_runtime.hpp>
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#include <vanetza/common/position_provider.hpp>
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#include <deque>
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#include <functional>
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#include <map>
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#include <memory>
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#include <optional>
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namespace microbu {
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#if CONFIG_MICROBU_TEST_CHANNEL
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/// Records the software lower tester collects (test channel, test firmware only).
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struct TestRecord { std::uint8_t kind; link::Bytes bytes; };
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#endif
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/// @note All public members except the on_*() callback setters must be called from the station task.
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class Station final : public vanetza_idf::Access, public vanetza::PositionProvider {
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public:
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using Indication = std::function<void(const link::BtpDataIndication&)>;
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using IdEvent = std::function<void(const link::IdChangeEvent&)>;
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using Disseminated = std::function<void()>;
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using Received = std::function<void()>;
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/// MicrOBU: body of one link V2X_RX message (see link_protocol.hpp).
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using RawIts = std::function<void(const link::Bytes&)>;
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/// @brief Constructs an unconfigured station (call configure() before use).
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Station();
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/// @brief Tears down the stack, security entity and radio in dependency order.
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~Station() override;
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// ---- link primitives (station task) ----
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/// @brief (Re)builds the stack and security entity for a new station configuration.
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/// @param config Requested configuration.
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/// @param detail Receives the assigned GN address, identifier, and ticket count.
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/// @return Result code.
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link::Code configure(const link::StationConfigure& config, link::Bytes& detail);
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/// @brief Applies a position/time fix from the phone and advances the ITS clock.
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/// @param fix Position/time fix to apply.
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/// @return Result code.
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link::Code poti(const link::PotiUpdate& fix);
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/// @brief Submits a BTP data request to the stack.
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/// @param request Request to submit.
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/// @return Result code.
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link::Code btp_request(const link::BtpDataRequest& request);
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/// @brief Decodes and stores a credential bundle, rebuilding the security entity if configured.
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/// @param bundle Raw credential bundle bytes.
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/// @param report Receives the applied root/authority/ticket counts.
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/// @return Result code.
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link::Code provision(const link::Bytes& bundle, link::ApplyReport& report);
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/// @brief Erases stored credentials and rebuilds if security is configured.
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/// @return Result code.
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link::Code erase_credentials();
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/// @brief Subscribes to pseudonym-change events.
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/// @param subscriber_data Opaque data echoed back with events for this subscription.
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/// @param subscription Receives the assigned subscription handle.
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/// @return Result code.
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link::Code subscribe(const link::Bytes& subscriber_data, std::uint64_t& subscription);
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/// @brief Cancels a pseudonym-change subscription.
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/// @param subscription Handle returned by subscribe().
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/// @return Result code.
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link::Code unsubscribe(std::uint64_t subscription);
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/// @brief Resolves a pending PREPARE/COMMIT identity-change event.
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/// @param subscription Handle the event was delivered for.
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/// @param return_code Caller's response (accept/reject) to the pending event.
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/// @return Result code.
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link::Code event_response(std::uint64_t subscription, bool return_code);
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/// @brief Triggers an immediate pseudonym change.
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/// @return Result code.
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link::Code trigger();
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/// @brief Locks the current pseudonym for the given duration.
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/// @param seconds Lock duration in seconds.
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/// @param handle Receives the assigned lock handle.
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/// @return Result code.
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link::Code lock(std::uint8_t seconds, std::uint64_t& handle);
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/// @brief Releases a pseudonym lock.
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/// @param handle Handle returned by lock().
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/// @return Result code.
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link::Code unlock(std::uint64_t handle);
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/// @return Current station status snapshot.
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link::Status status();
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/// @brief Advances the ITS clock, runs timers, polls the radio; call every few milliseconds.
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void tick();
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/// @brief Registers the callback invoked when a BTP data indication arrives.
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/// @param f Callback to invoke; replaces any previously registered callback.
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void on_indication(Indication f) { indication_ = std::move(f); }
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/// @brief Registers the callback invoked when a pseudonym-change event fires.
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/// @param f Callback to invoke; replaces any previously registered callback.
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void on_id_event(IdEvent f) { id_event_ = std::move(f); }
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/// @brief Registers the callback invoked after a frame is disseminated.
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/// @param f Callback to invoke; replaces any previously registered callback.
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void on_disseminated(Disseminated f) { disseminated_ = std::move(f); }
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/// @brief Registers the callback invoked after a frame is received.
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/// @param f Callback to invoke; replaces any previously registered callback.
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void on_received(Received f) { received_ = std::move(f); }
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/// @brief MicrOBU: registers the callback for every ITS message heard on air, unwrapped by
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/// gn_unwrap.c before (and independently of) the stack's security checks. The stack drops
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/// what it cannot verify (itsGnSnDecapResultHandling is STRICT in vanetza-idf): unsigned
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/// traffic, and anything signed under a root other than the provisioned demo root, i.e. every
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/// RSU. This path is how those still reach the phone, exactly as with the previous firmware.
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/// @param f Callback to invoke with a V2X_RX body; replaces any previously registered callback.
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void on_raw_its(RawIts f) { raw_its_ = std::move(f); }
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#if CONFIG_MICROBU_TEST_CHANNEL
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// ---- test channel (software lower tester; not part of the phone interface -- see test_channel.hpp) ----
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enum class Mirror : std::uint8_t { off = 0, mirror = 1, divert = 2 };
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/// @brief Sets whether requests/indications are mirrored to, or diverted through, the test channel.
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/// @param mode Off, mirror (copy) or divert (intercept) mode.
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void test_mirror(Mirror mode);
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/// @brief Injects a raw GN PDU as if received over the air.
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/// @param source Source MAC address to report for the injected frame.
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/// @param destination Destination MAC address to report for the injected frame.
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/// @param gnpdu Raw GeoNetworking PDU bytes.
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/// @return Result code.
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link::Code test_inject(const vanetza::MacAddress& source, const vanetza::MacAddress& destination, link::Bytes gnpdu);
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/// @brief Submits a raw GeoNetworking request bypassing BTP.
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/// @param traffic_class GeoNetworking traffic class to submit with.
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/// @param payload Raw payload bytes.
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/// @return Result code.
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link::Code test_gn_request(std::uint8_t traffic_class, link::Bytes payload);
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/// @brief Pops queued mirror/divert records fitting into budget octets (3 per record header); the rest stays queued.
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/// @param overflow Receives true if records were dropped because the queue budget was exceeded.
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/// @param budget Maximum number of octets of records to drain.
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/// @return Drained records.
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std::deque<TestRecord> test_drain(bool& overflow, std::size_t budget);
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/// @brief Clears mirror mode and any queued records.
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void test_reset();
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/// @brief Starts the radio if needed and sends a burst of raw test frames.
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/// @param channel ITS-G5 channel number to transmit on.
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/// @param power_dbm Transmit power in dBm.
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/// @param mcs 802.11p modulation and coding scheme index.
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/// @param count Number of frames to send.
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/// @param interval_ms Interval between frames in milliseconds.
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/// @param payload_len Length of each frame's payload in bytes.
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/// @return Result code.
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link::Code test_radio_burst(std::uint16_t channel, double power_dbm, unsigned mcs,
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unsigned count, unsigned interval_ms, std::size_t payload_len);
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/// @brief Starts the radio if needed and samples the CCA state for duration_ms.
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/// @param duration_ms Sampling window duration in milliseconds.
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/// @param detail Receives the sampling statistics.
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/// @return Result code.
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link::Code test_cca_sample(unsigned duration_ms, link::Bytes& detail);
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#endif
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// vanetza_idf::Access
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/// @brief Submits a frame to the radio (through DCC_ACC when enabled), mirroring/diverting for the test channel.
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/// @param request Frame and transmit parameters from the access layer.
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/// @return Result code.
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vanetza_idf::Result request(vanetza_idf::AlDataRequest request) override;
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// vanetza::PositionProvider
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/// @return The most recently applied position fix.
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const vanetza::PositionFix& position_fix() override { return fix_; }
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private:
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struct Security;
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struct Clock {
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bool synchronised = false;
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std::int64_t base_its_us = 0; // ITS time at base_esp_us
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std::int64_t base_esp_us = 0;
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std::int64_t now_us() const;
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};
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/// @brief (Re)builds the stack and security entity from config_, stored credentials and the clock.
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/// @return Result code.
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link::Code build();
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/// @brief Destroys the stack, security entity and runtime in dependency order.
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void teardown();
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/// @brief Maps a station configuration onto the GeoNetworking MIB.
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/// @param mib MIB to populate.
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/// @param config Station configuration to map from.
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void apply_mib(vanetza_idf::StackConfig& mib, const link::StationConfigure& config) const;
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/// @brief Re-subscribes existing pseudonym-change handles to a freshly built security entity.
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void resubscribe_id_change();
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/// @brief Pushes the current position fix into the stack, clamped to not precede the station clock.
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void apply_position();
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/// @brief Samples the hardware CCA counters at the DCC cadence and feeds both DCC entities.
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void sample_dcc_channel_load();
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#if CONFIG_MICROBU_TEST_CHANNEL
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/// @brief Queues bytes for the test channel, subject to the mirror-buffer budget.
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/// @param kind Record kind tag.
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/// @param bytes Record payload bytes.
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void record(std::uint8_t kind, link::Bytes bytes);
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#endif
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/// @brief MicrOBU: unwraps one raw received frame with gn_unwrap.c and hands it to raw_its_.
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/// @param frame Complete 802.11 frame as captured (FCS included; gn_unwrap reads declared lengths).
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/// @param rssi Received signal strength, dBm.
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void forward_raw(const vanetza::ByteBuffer& frame, int rssi);
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/// @brief MicrOBU: transmits an unsecured BTP-B/SHB request the way the previous firmware did,
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/// with geonet.c's GN header and the Source Position Vector of the last PoTi, through request().
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/// @param request The phone's request (already checked: configured, clock and fix present).
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/// @return Result code.
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link::Code unsecured_request(const link::BtpDataRequest& request);
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/// @brief Translates and forwards a stack BTP indication to the link service and test channel.
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/// @param indication Indication received from the stack.
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void deliver(vanetza_idf::BtpIndication indication);
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link::Status counters_;
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std::optional<link::StationConfigure> config_;
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Clock clock_;
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vanetza::PositionFix fix_;
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bool have_fix_ = false;
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link::PotiUpdate last_poti_; // MicrOBU: the GN Source Position Vector of unsecured_request()
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std::uint32_t raw_forwarded_ = 0, raw_oversize_ = 0;
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std::unique_ptr<vanetza::ManualRuntime> runtime_;
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std::unique_ptr<Security> security_;
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std::unique_ptr<vanetza_idf::Stack> stack_;
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std::unique_ptr<C5Radio> radio_;
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std::unique_ptr<vanetza_idf::AccessStack> access_stack_; // DCC_ACC gate in front of radio_
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vanetza_idf::AlDataRequest radio_parameters_;
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std::optional<CcaCounters> dcc_cca_last_; // previous read_cca_counters() sample, for the 100 ms LCBR delta
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std::int64_t dcc_last_sample_its_us_ = 0;
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Indication indication_;
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IdEvent id_event_;
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Disseminated disseminated_;
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Received received_;
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RawIts raw_its_;
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std::map<std::uint64_t, std::shared_ptr<vanetza_idf::security::IdChangeResponder>> pending_responders_;
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std::map<std::uint64_t, std::uint64_t> link_subscriptions_; // subscription -> service handle (identity)
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bool rebuilding_ = false;
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#if CONFIG_MICROBU_TEST_CHANNEL
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Mirror mirror_ = Mirror::off;
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std::deque<TestRecord> records_;
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std::size_t record_bytes_ = 0;
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bool overflow_ = false;
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#endif
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};
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} // namespace microbu
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