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FLASHING.md says how to take a newer version of the colleague's tree (copy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).
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.
vanetza is a clone of the open-source ETSI C-ITS stack, kept beside the
project as a reference in the same way as C-ITS-Parser. It is read, not
built, and it carries its own .git, so a plain `git add .` would have
picked it up as an embedded repository.
__pycache__/ appears when obu-firmware/test/host/check_replay.py is
imported rather than run.
Word creates ~$<name>.docx beside a document while it is open and removes it on
close. docs/~$crOBU-User-Guide.docx was showing as untracked while the user guide
was being edited, which is exactly the kind of transient file a git add -A sweeps
in by accident.
asn1/
Three tests assert exact bytes - CamEncodeGoldenTest, DenmAirReceiveTest and
SpatemUperCodecTest - and their expected values came from asn1tools compiled
against ETSI modules that existed only as an untracked working copy on one
machine. A golden-byte fixture nobody else can regenerate is a fixture nobody
can safely touch, so the modules are now in the repo.
Only the seven .asn files those tests need are copied, 576 KB of a 4.2 MB
checkout; the upstream Rust parser is not used by this project at all. Verified
sufficient in isolation: copied into an empty directory, all three specs compile
and reproduce the committed golden CAM bytes byte-identically.
Source is consider it GmbH's C-ITS-Parser (github.com/consider-it/C-ITS-Parser)
at f457426, MIT licensed - LICENSE is retained alongside as that requires. The
schemas themselves are ETSI's standard definitions; upstream's contribution is
assembling them into a compilable set. asn1/README.md records the provenance,
which module pairs with which message, and the rule that matters: never
regenerate a golden fixture from this project's own encoder, because sharing a
mistake between encoder and decoder is exactly the failure these files exist to
catch.
Doc references in the codecs and tests now point at asn1/ instead of the
untracked checkout, and C-ITS-Parser/ is gitignored so the working copy beside
the project is never picked up.
Untracked local state
- .idea/deploymentTargetSelector.xml rewrites itself on every deploy, so it has
been showing as modified in essentially every commit. Along with
deviceManager.xml, appInsightsSettings.xml and studiobot.xml it is per-machine
state, not project configuration.
- obu-firmware/sdkconfig.old is ESP-IDF build output - it is the previous
sdkconfig, rewritten on every build. sdkconfig.defaults remains tracked, since
that is the configuration actually chosen.
All five stay on disk; only the tracking is removed. Also ignores
.claude/settings.local.json, which is per-machine, while leaving the skills
beside it committable as project knowledge.
Ashin Walpola