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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// Station's test-channel API (software lower tester; not part of the phone interface, see
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// test_channel.hpp). Kept in its own translation unit so the productive station.cpp stays free
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// of test-only code; compiles to nothing when CONFIG_MICROBU_TEST_CHANNEL is off.
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#include "station.hpp"
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#if CONFIG_MICROBU_TEST_CHANNEL
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#include <vanetza_idf/nf_sap.hpp>
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#include <vanetza_idf/sf_sap.hpp>
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#include <esp_log.h>
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#include "c5_radio.hpp"
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namespace microbu {
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using namespace vanetza_idf;
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namespace gn = vanetza::geonet;
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namespace {
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const char* TAG = "station";
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link::Code code(Result result) { return static_cast<link::Code>(result); }
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}
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void Station::test_mirror(Mirror mode) { mirror_ = mode; }
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link::Code Station::test_inject(const vanetza::MacAddress& source, const vanetza::MacAddress& destination, link::Bytes gnpdu) {
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if (!stack_) return link::Code::not_configured;
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tick();
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AlDataIndication indication;
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indication.source = source;
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indication.destination = destination;
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indication.channel_number = radio_parameters_.channel_number;
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indication.data = std::move(gnpdu);
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return code(stack_->indicate(std::move(indication)));
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}
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link::Code Station::test_gn_request(std::uint8_t traffic_class, link::Bytes payload) {
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if (!stack_) return link::Code::not_configured;
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if (!clock_.synchronised || !have_fix_) return link::Code::rejected;
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tick();
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GnRequest request;
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request.traffic_class = gn::TrafficClass(traffic_class);
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request.data = std::move(payload);
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return code(stack_->request(std::move(request)));
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}
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std::deque<TestRecord> Station::test_drain(bool& overflow, std::size_t budget) {
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std::deque<TestRecord> out;
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std::size_t used = 0;
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while (!records_.empty() && used + records_.front().bytes.size() + 3 <= budget) {
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used += records_.front().bytes.size() + 3;
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record_bytes_ -= records_.front().bytes.size();
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out.push_back(std::move(records_.front()));
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records_.pop_front();
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}
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overflow = overflow_ && records_.empty();
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if (records_.empty()) overflow_ = false;
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return out;
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}
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void Station::test_reset() {
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mirror_ = Mirror::off;
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records_.clear();
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record_bytes_ = 0;
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overflow_ = false;
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}
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link::Code Station::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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if (!radio_) {
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// Automatically start the radio for testing if not yet started
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C5RadioConfig rc;
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rc.channel_number = channel;
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rc.transmit_power_dbm = power_dbm;
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rc.laboratory_transmission = true;
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radio_ = std::make_unique<C5Radio>(rc);
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const auto error = radio_->start();
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if (error != ESP_OK) {
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ESP_LOGE(TAG, "radio start failed for test burst: %s", esp_err_to_name(error));
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radio_.reset();
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return link::Code::rejected;
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}
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}
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const auto err = radio_->transmit_burst(channel, power_dbm, mcs, count, interval_ms, payload_len);
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if (err == ESP_OK) {
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counters_.radio_submitted += count;
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if (disseminated_) disseminated_();
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return link::Code::accepted;
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}
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if (err == ESP_ERR_INVALID_ARG) return link::Code::invalid_argument;
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if (err == ESP_ERR_NO_MEM) return link::Code::resource_limit;
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return link::Code::rejected;
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}
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link::Code Station::test_cca_sample(unsigned duration_ms, link::Bytes& detail) {
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// Capped: this busy-loops with interrupts otherwise free, so keep it short enough that
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// the task watchdog and the WiFi/BLE stack's own housekeeping are not starved for long.
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duration_ms = std::min(duration_ms, 500u);
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if (!radio_) {
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C5RadioConfig rc; // default channel 180 / 10 dBm is fine: this probes PHY polling
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rc.laboratory_transmission = true; // capability, not a specific channel's RF content
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radio_ = std::make_unique<C5Radio>(rc);
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const auto error = radio_->start();
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if (error != ESP_OK) {
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ESP_LOGE(TAG, "radio start failed for CCA sample: %s", esp_err_to_name(error));
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radio_.reset();
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return link::Code::rejected;
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}
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}
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const auto result = radio_->sample_cca(duration_ms);
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link::Writer w;
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w.u32(result.samples);
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w.u32(result.duration_us);
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w.u32(result.min_delta_us);
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w.u32(result.max_delta_us);
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w.u32(result.busy_count);
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w.i32(result.first_cca);
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w.i32(result.last_cca);
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w.i32(result.noise_floor_dbm);
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w.i32(result.cca_total_cycles_delta);
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w.i32(result.cca_busy_cycles_delta);
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w.i32(result.cca_status);
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detail = w.out;
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return result.samples > 0 ? link::Code::accepted : link::Code::rejected;
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}
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void Station::record(std::uint8_t kind, link::Bytes bytes) {
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if (mirror_ == Mirror::off) return;
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if (record_bytes_ + bytes.size() > 8192 || records_.size() >= 32) { overflow_ = true; return; }
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record_bytes_ += bytes.size();
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records_.push_back(TestRecord {kind, std::move(bytes)});
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}
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} // namespace microbu
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#endif // CONFIG_MICROBU_TEST_CHANNEL
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