Move the capture tooling into the repo

live_capture.py and dump_pcap.py were untracked files inside the third-party
its-g5-receiver-firmware checkout, so the tools every on-air measurement depends
on were versioned nowhere and would vanish with a fresh clone of that project.
They are ours rather than that project's, so they now live in capture/, with the
setup notes rewritten as its README: which port the sniffer speaks on and why,
how to capture, how to check a capture, and how to flash the sniffer board.

live_capture.py carries the fix made on 2026-09-14. The sniffer's console
converts LF to CRLF on its way out, and that applies to every 0x0a byte of the
binary pcap stream, not only to log text, so every inserted CR shifts the rest
of the stream. A 787 KB capture parsed cleanly for only 82 of about 2000
records, and DENMs turned up on nonsense BTP ports because their payloads carry
0x0a often. undo_crlf() reverses it on the raw stream before any framing, which
is exact; afterwards a capture parsed to EOF and DENMs read as port 2002.
Captures taken before that date are truncated at their first corrupted record,
so anything measured from them is worth re-checking.

capture/recordings/ is gitignored, since captures are data rather than source.
The host tests now read both that directory and the older one in the receiver
checkout, so no capture has to be moved while it is being written.

dump_pcap.py reads the same console and still needs the same treatment; that is
recorded in TODO.md.

.gitignore

@@ -46,3 +46,6 @@ sdkconfig.old
 # Office lock files. Word/Excel create these beside a document while it is open
 # and remove them on close, so they are transient and machine-local.
 ~$*
+
+# Captures are large data files, not source (see capture/README.md).
+/capture/recordings/

TODO.md

@@ -9,20 +9,24 @@ Engineering to-do list. The reviewer-facing open items live in
 
 `geonet.c` now writes GN lifetime `0x05` (1 s) instead of `0x83`, which decoded to 3200 s. Changed
 in both `obu-firmware` and `obu-cam-transmistter`. Both still build (IDF 6.1 / 5.5.4), and the
-compiled `geonet_wrap_shb` stores the new byte, but it has not been seen on air yet. Nothing else
+compiled `geonet_wrap_shb` stores the new byte. Confirmed on air 2026-09-14. Nothing else
 reads this byte (`gn_unwrap.c` ignores it, the app never sees GN headers), so the app does not
 need updating alongside the firmware.
 
 Needs: the phone with the app, the OBU ESP32-C5, and a **second** ESP32-C5 running
 `its-g5-receiver-firmware` to capture with.
 
-- [ ] Flash `obu-firmware` (see `obu-firmware/FLASHING.md`).
-- [ ] Connect the phone, let it send CAMs, and confirm the CAM Pinger's `tx fail` counter stays 0.
-- [ ] Capture with the receiver into `its-g5-receiver-firmware/recordings/`.
-- [ ] Run `python obu-firmware/test/pcap_gn_tally.py its-g5-receiver-firmware/recordings/<capture>.pcap`.
-      The rows for the phone's pseudonym MACs must show SHB, port 2001, lifetime `0x05`, exactly
-      like every other station's CAMs.
-- [ ] While the phone is connected: real-station CAMs/DENMs still reach the app (RX path unchanged).
+- [x] Flash `obu-firmware` (done 2026-09-14 on COM3; flash backed up first to
+      `Documents/micrOBU_workspace/firmware-backups/COM3-2026-09-14-before-secured-rx.bin`).
+- [x] Capture with the receiver (COM8) into `its-g5-receiver-firmware/recordings/`.
+- [x] `pcap_gn_tally.py` on capture_20260914_132126.pcap: our station sends SHB, port 2001,
+      lifetime `0x05`, same as both bench stations. It was `0x83` in the August captures.
+- [x] Real-station CAMs/DENMs/SPATEM still reach the app (logcat: `handleCamUper`,
+      `handleDenmUper`, `handleSpatUper` all decoding, 2026-09-14).
+- [x] Our own CAMs decode on air: 397 frames from station 999999 decode with asn1tools and
+      re-encode byte-identically.
+- [ ] Confirm the CAM Pinger card's `tx fail` / oversize / CRC counters are 0 (needs a look at the
+      phone; not readable from the PC).
 
 Partial check possible with one board and no phone: flash it, `idf.py -p COMx monitor`, and look
 for `OCB @ 5900 MHz - TX/RX armed`. That proves the new build boots and brings the radio up, not
@@ -33,11 +37,12 @@ that it transmits correctly.
 Its `cam.c` (compiled into that firmware) wrote `yawRateConfidence` as 3 bits / 7 instead of
 4 bits / unavailable(8), the bug the app fixed on 2026-08-20. Fixed in it and in obu-firmware's
 reference copy; asn1tools now decodes the CAM and re-encodes it byte-identically, and it builds on
-IDF 5.5.4. No board runs this firmware right now (the production OBU runs obu-firmware), so this
-only matters if it is flashed again:
+IDF 5.5.4. Since 2026-09-14 the spare board on COM10 runs it as a bench beacon:
 
-- [ ] After flashing it: capture, run `pcap_gn_tally.py`, and decode the CAM payload with
-      asn1tools (`py -3.11`, modules in `asn1/`).
+- [x] Done 2026-09-14: flashed on COM10 and captured on COM8. All 72 CAMs from station
+      195936478 (0x0BADC0DE) decode with asn1tools and re-encode byte-identically, so the
+      4-bit yawRateConfidence is right on air. COM10 now runs this beacon rather than
+      obu-firmware - reflash it if the spare is needed as an OBU again.
 
 ### Signed-message reception and exact payloads (added 2026-09-11)
 
@@ -45,17 +50,21 @@ obu-firmware's `gn_unwrap.c` now unwraps TS 103 097 signed packets (signature no
 reported as V2X_RX flags bit1) and cuts every message to the length its header declares, dropping
 the 8 bytes the chip's RX appends to each frame, which were forwarded to the phone until now.
 Verified on the host (`obu-firmware/test/host`: chain, replay of all recordings against asn1tools,
-50M-iteration fuzz) and built on IDF 6.1, but not flashed: the production OBU still runs the
-2026-09-10 build. Needs the OBU with this build, the phone, and signed traffic - real vehicles or
+50M-iteration fuzz) and flashed to the production OBU on 2026-09-14. The remaining gap is signed
+traffic to receive: real vehicles or
 RSUs, since the bench CiT One sends unsigned. A second ESP32 running the receiver firmware is
 optional, but shows what was on air at the time.
 
-- [ ] Flash obu-firmware (this also carries the GN lifetime fix above).
+- [x] Flash obu-firmware (done 2026-09-14, COM3).
+- [x] Unsigned bench traffic still decodes in the app, with messages now cut to their declared
+      length (CAM, DENM and SPATEM all decoding in logcat after the flash).
 - [ ] Near signed traffic: signed CAMs/DENMs appear in the app, and a simultaneous capture shows
-      them on air (`pcap_gn_tally.py` lists them as `secured`).
-- [ ] Unsigned bench traffic still decodes in the app as before (messages now arrive 8 bytes
-      shorter).
-- [ ] The heartbeat's oversize counter still counts over-long messages (e.g. road SPATEMs).
+      them on air (`pcap_gn_tally.py` lists them as `secured`). NOT possible at this bench: the
+      CiT One transmits unsigned (`ItsGnSecurity = 0`) and nothing else here signs. Needs a drive
+      past real RSUs, the CiT One switched to signed mode if its API allows, or a replay firmware
+      on a spare board that re-transmits the recorded signed frames.
+- [ ] The heartbeat's oversize counter still counts over-long messages. Not exercised at the
+      bench: the SPATEMs here are ~340 bytes on air, far below the cap.
 
 ## Set up host testing
 
@@ -92,6 +101,19 @@ Suggested order after the host tests exist:
 Dropped: building vanetza as a GN/BTP oracle. Real captures (`pcap_gn_tally.py`), the host
 round-trip test and `asn1tools` for UPER cover what it would have checked.
 
+## Follow-ups found 2026-09-14
+
+- [x] **Capture tooling moved into this repo** (`capture/`), with the CR-insertion fix. The
+      sniffer's console inserts a CR before every LF, which also hits every 0x0a byte of the binary
+      pcap stream, shifting pcap record headers and frames. A 787 KB capture parsed cleanly for
+      only 82 of ~2000 records, and DENMs showed up on nonsense BTP ports. `undo_crlf()` reverses
+      it on the raw stream before framing; afterwards a capture parsed to EOF and DENMs read as
+      port 2002. **Every capture taken before 2026-09-14 is truncated at its first corrupted
+      record** - re-measure anything derived from them.
+- [ ] `capture/dump_pcap.py` reads the same console and still needs the same treatment.
+- [ ] **Do not open COM3's console while the phone is attached.** Opening it toggles DTR/RTS on the
+      CH343 and resets the OBU, which drops the phone's USB link and needs a manual Connect.
+
 ## Follow-ups found 2026-09-11
 
 - [ ] **App: show the signed flag.** `V2xRxFrame.parse` in `SerialFrame.kt` only reads bit0 of

capture/README.md

@@ -0,0 +1,102 @@
+# Sniffer board and capture tooling
+
+How to put an ESP32-C5 on the ITS-G5 channel as a passive sniffer, pull its captures onto this
+PC, and check what is on air. The sniffer firmware itself is the third-party
+`its-g5-receiver-firmware` checkout beside this repo; only the tooling and these notes are ours.
+
+| File | What it does |
+|---|---|
+| `live_capture.py` | Streams the device's captures into a growing `.pcap` while it runs. The usual choice. |
+| `dump_pcap.py` | Pulls one capture out of the device's in-memory buffer after the fact. |
+| `../obu-firmware/test/pcap_gn_tally.py` | Tallies GeoNetworking headers per station over a `.pcap`. |
+
+One-time: `pip install pyserial` (present in Python 3.11 on the bench PC, so `py -3.11` works).
+
+## Which port
+
+The sniffer firmware's console, and with it the pcap stream, goes out **UART0** - the board's
+USB-bridge port (a CH343, its own COM number), not the native USB-C port. A board with only one
+USB-C port cannot be used as a sniffer for this reason. On the bench this has been COM5 and, after
+a re-enumeration, COM8.
+
+## Live capture (preferred)
+
+```powershell
+cd capture
+py -3.11 live_capture.py COM8
+```
+
+It writes `recordings/capture_<timestamp>.pcap` next to itself, flushing after every packet, so
+the file can be read while it grows. Stop it with Ctrl+C. Use `-o <dir>` to write elsewhere;
+`recordings/` is gitignored, since captures are large and are data rather than source. Captures
+taken before 2026-09-14 are still in `its-g5-receiver-firmware/recordings/`; the host tests read
+both directories.
+
+### The CR insertion, and why captures used to be corrupt
+
+ESP-IDF's newlib console converts LF to CRLF on its way out, and that applies to every `0x0a` byte
+of the **binary** pcap stream, not only to log text. Each inserted CR shifts everything after it,
+so pcap record headers and captured frames alike come out corrupt, and the file stops being
+parseable at the first occurrence.
+
+Measured on 2026-09-14: a 787 KB capture parsed cleanly for only 82 of about 2000 records, and
+DENMs appeared on nonsense BTP ports because their payloads contain `0x0a` often. `undo_crlf()` in
+`live_capture.py` reverses it on the raw stream before any framing, which is exact; afterwards a
+capture parsed to EOF and DENMs read as port 2002 again.
+
+**Captures taken before 2026-09-14 are truncated at their first corrupted record.** Anything
+measured from them is worth re-checking. `dump_pcap.py` reads the same console and has not been
+given the same treatment yet.
+
+## Checking a capture
+
+```powershell
+py -3.11 ..\obu-firmware\test\pcap_gn_tally.py recordings\capture_<timestamp>.pcap
+```
+
+One row per station, packet type, BTP port and GN lifetime. For the messages themselves, decode
+the payloads with `asn1tools` against the modules in `../asn1/` and re-encode them: identical bytes
+mean the message was read exactly, wrong bytes mean it was not. `obu-firmware/test/check_replay.py`
+does this over a whole capture.
+
+## Flashing the sniffer firmware
+
+From the receiver checkout, with its **pinned** ESP-IDF (not the global 5.5.4 install):
+
+```powershell
+cd its-g5-receiver-firmware
+git submodule update --init --recursive
+.\esp-idf\install.bat
+Set-ExecutionPolicy -Scope Process -ExecutionPolicy Bypass
+.\esp-idf\export.ps1
+idf.py set-target esp32c5
+idf.py -p COM8 -b 921600 flash
+```
+
+Its `sdkconfig` for a bare board (nothing wired) needs SPI Ethernet off, and the pcap destination
+set to Memory, both under `idf.py menuconfig`. Wired variants have ready-made configs in that
+checkout: `sdkconfig.proto-w5500`, `sdkconfig.proto-enc28j60`, `sdkconfig.proto-spi-eppp`.
+
+To reflash a board that already has a built image, without a toolchain terminal:
+
+```powershell
+cd its-g5-receiver-firmware\build
+C:\Espressif\python_env\idf5.5_py3.11_env\Scripts\python.exe -m esptool --chip esp32c5 -p COM8 -b 921600 write_flash --flash_mode dio --flash_freq 80m --flash_size 16MB 0x2000 bootloader/bootloader.bin 0x8000 partition_table/partition-table.bin 0x1e000 ota_data_initial.bin 0x20000 its-g5-receiver-firmware.bin
+```
+
+## Pulling a capture after the fact
+
+Only for the Memory destination, and the buffer is small (`SNIFFER_PCAP_MEMORY_SIZE`, 4096 bytes
+by default) - a smoke test, not a session. In the device console (`idf.py -p COM8 monitor`, exit
+with Ctrl+T then Ctrl+X):
+
+```
+sniffer -P
+sniffer --stop
+```
+
+Then, with the port free:
+
+```powershell
+py -3.11 dump_pcap.py COM8
+```

capture/dump_pcap.py

@@ -0,0 +1,101 @@
+#!/usr/bin/env python3
+"""
+Pulls a capture off the ITS-G5 receiver's in-memory pcap buffer over the existing USB serial
+connection and saves it as a real .pcap file on this machine.
+
+Requires the firmware to be built with:
+    Example Configuration -> Select destination to store pcap file -> Memory
+
+Usage (typical):
+    1. Close idf.py monitor (only one program can hold the COM port at a time).
+    2. Run a capture on the device: `sniffer -P` ... let it run ... `sniffer --stop`
+    3. python dump_pcap.py COM5
+
+The device has no access to this computer's filesystem, so it can't write here directly. Instead,
+`pcap --dump` streams the raw pcap bytes back over the same serial link, wrapped in plain-text
+markers ("===PCAP-DUMP-START:<len>===" ... raw bytes ... "===PCAP-DUMP-END==="). This script finds
+those markers and writes just the raw bytes out as a .pcap file.
+
+Install dependency once: pip install pyserial
+"""
+
+import argparse
+import datetime
+import re
+import sys
+
+try:
+    import serial
+except ImportError:
+    print("Missing dependency. Install it with:  pip install pyserial", file=sys.stderr)
+    sys.exit(1)
+
+START_RE = re.compile(rb"===PCAP-DUMP-START:(\d+)===\n")
+END_MARKER = b"\n===PCAP-DUMP-END===\n"
+
+
+def main():
+    parser = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    parser.add_argument("port", help="Serial port the device is on, e.g. COM5")
+    parser.add_argument("-b", "--baud", type=int, default=115200, help="Baud rate (default: 115200)")
+    parser.add_argument("-o", "--outdir", default="recordings", help="Output directory (default: ./recordings)")
+    parser.add_argument("-t", "--timeout", type=float, default=15.0, help="Seconds to wait for the dump to start")
+    args = parser.parse_args()
+
+    import os
+    os.makedirs(args.outdir, exist_ok=True)
+
+    print(f"Opening {args.port} @ {args.baud}...")
+    with serial.Serial(args.port, args.baud, timeout=1) as ser:
+        # Nudge the console in case there's stale input, then request the dump.
+        ser.reset_input_buffer()
+        ser.write(b"\r\n")
+        ser.write(b"pcap -f dump --dump\r\n")
+
+        print("Waiting for dump to start...")
+        buf = b""
+        match = None
+        deadline = datetime.datetime.now() + datetime.timedelta(seconds=args.timeout)
+        while datetime.datetime.now() < deadline:
+            chunk = ser.read(256)
+            if chunk:
+                buf += chunk
+                match = START_RE.search(buf)
+                if match:
+                    break
+        if not match:
+            print("Timed out waiting for '===PCAP-DUMP-START:...===' marker.\n"
+                  "Check that: the firmware is built with the Memory pcap destination, a capture was\n"
+                  "actually taken ('sniffer -P' then 'sniffer --stop'), and no other program (like\n"
+                  "idf.py monitor) is holding the serial port open.", file=sys.stderr)
+            sys.exit(1)
+
+        length = int(match.group(1))
+        print(f"Dump starting, {length} bytes expected.")
+
+        # Anything after the marker in our buffer is already part of the payload.
+        payload = buf[match.end():]
+        remaining = length - len(payload)
+        while remaining > 0:
+            chunk = ser.read(min(remaining, 4096))
+            if not chunk:
+                print(f"Serial read timed out with {remaining} bytes still missing.", file=sys.stderr)
+                sys.exit(1)
+            payload += chunk
+            remaining -= len(chunk)
+
+        # Drain (and sanity-check) the trailing end marker, but don't fail hard if it's not exact.
+        tail = ser.read(len(END_MARKER))
+        if tail != END_MARKER:
+            print("Warning: end marker didn't match exactly - payload may still be fine.", file=sys.stderr)
+
+    timestamp = datetime.datetime.now().strftime("%Y%m%d_%H%M%S")
+    outpath = os.path.join(args.outdir, f"capture_{timestamp}.pcap")
+    with open(outpath, "wb") as f:
+        f.write(payload)
+
+    print(f"Saved {len(payload)} bytes to {outpath}")
+
+
+if __name__ == "__main__":
+    main()

capture/live_capture.py

@@ -0,0 +1,226 @@
+#!/usr/bin/env python3
+"""
+Continuously listens on the ITS-G5 receiver's serial console and writes every captured packet into a
+live-growing .pcap file, with no console commands needed on the device side.
+
+The firmware streams every packet it captures out over the same serial connection the console runs on,
+automatically, as soon as the sniffer is running (which happens on boot by default). Each packet is framed
+with plain-text markers so this script can pull the binary pcap bytes out of the stream even though
+regular log lines are interleaved with it:
+
+    ===PCAP-LIVE-HEADER:<len>===\\n<24 raw bytes>\\n   (sent once, the pcap global header)
+    ===PCAP-LIVE-PKT:<len>===\\n<raw bytes>\\n          (sent once per captured packet)
+
+Usage:
+    python live_capture.py COM5
+
+Runs until you press Ctrl+C. Writes to recordings/capture_<timestamp>.pcap, flushing after every packet
+so you can open the file in Wireshark while it's still being written (use "File > Open" again, or
+Wireshark's own "Follow" won't auto-refresh but re-opening will show the latest packets).
+
+Install dependency once: pip install pyserial
+"""
+
+import argparse
+import datetime
+import os
+import re
+import sys
+import time
+
+try:
+    import serial
+except ImportError:
+    print("Missing dependency. Install it with:  pip install pyserial", file=sys.stderr)
+    sys.exit(1)
+
+# \r? because the ESP console emits CRLF: on Windows the markers arrive as
+# "===PCAP-LIVE-PKT:310===\r\n", which never matched a bare \n and left the capture silently
+# empty while the device was streaming perfectly well.
+HEADER_RE = re.compile(rb"===PCAP-LIVE-HEADER:(\d+)===\r?\n")
+PKT_RE = re.compile(rb"===PCAP-LIVE-PKT:(\d+)===\r?\n")
+
+LINKTYPE_ETHERNET = 1
+LINKTYPE_IEEE802_11_RADIOTAP = 127
+
+
+def mac_str(b):
+    return ":".join(f"{x:02x}" for x in b)
+
+
+def build_default_pcap_header(link_type):
+    """Synthesizes the same 24-byte global pcap header the firmware would have sent, for when we
+    connect after the device's one-time header already went out (see the race note in main())."""
+    header = bytearray(24)
+    header[0:4] = bytes([0xD4, 0xC3, 0xB2, 0xA1])  # magic (LE bytes of 0xA1B2C3D4)
+    header[4:6] = (2).to_bytes(2, "little")         # major version
+    header[6:8] = (4).to_bytes(2, "little")         # minor version
+    header[16:20] = (0x40000).to_bytes(4, "little")  # snaplen
+    header[20:24] = link_type.to_bytes(4, "little")
+    return bytes(header)
+
+
+def summarize_packet(link_type, record_bytes, index):
+    """Best-effort human-readable one-line summary of a captured packet, for live feedback.
+    record_bytes is the raw 16-byte pcap record header followed by the captured frame."""
+    seconds = int.from_bytes(record_bytes[0:4], "little")
+    microseconds = int.from_bytes(record_bytes[4:8], "little")
+    cap_len = int.from_bytes(record_bytes[8:12], "little")
+    frame = record_bytes[16:]
+    ts = f"{seconds}.{microseconds:06d}"
+
+    if link_type == LINKTYPE_IEEE802_11_RADIOTAP and len(frame) >= 24:
+        radiotap_len = int.from_bytes(frame[2:4], "little")
+        rssi = frame[8] - 256 if frame[8] >= 128 else frame[8]
+        station_id = int.from_bytes(frame[16:24], "little")
+        mac_frame = frame[radiotap_len:]
+        if len(mac_frame) >= 16:
+            dst = mac_str(mac_frame[4:10])
+            src = mac_str(mac_frame[10:16])
+        else:
+            dst = src = "?"
+        station = f"{station_id:012x}" if station_id else "unknown"
+        return (f"#{index:<5} [{ts}] len={cap_len:<5} rssi={rssi:>4}dBm  "
+                f"station={station}  {src} -> {dst}")
+
+    if link_type == LINKTYPE_ETHERNET and len(frame) >= 14:
+        dst = mac_str(frame[0:6])
+        src = mac_str(frame[6:12])
+        ethertype = int.from_bytes(frame[12:14], "big")
+        return f"#{index:<5} [{ts}] len={cap_len:<5} eth  {src} -> {dst}  type=0x{ethertype:04x}"
+
+    return f"#{index:<5} [{ts}] len={cap_len:<5} (unrecognized frame format)"
+
+
+def undo_crlf(chunk, state):
+    """Undo the CR the device console inserts before every LF.
+
+    ESP-IDF's newlib console converts LF to CRLF on its way out, and that happens to every 0x0A
+    byte of the binary pcap stream too, not only to log text. Each inserted CR shifts everything
+    after it, so pcap record headers and captured frames alike come out corrupt. This is the
+    "byte inserted mid-frame" seen in older recordings; with DENM traffic on air it wrecks most
+    of a capture (measured 2026-09-14: a 787 KB file parsed cleanly for only 82 records).
+
+    Dropping one CR immediately before each LF undoes it exactly, provided it is done on the raw
+    stream before any framing and a trailing CR is carried across read boundaries. CR and LF are
+    written as byte values here so the transformation cannot be confused with an escape.
+    """
+    CR, LF = bytes([13]), bytes([10])
+    if state["pending_cr"]:
+        chunk = CR + chunk
+        state["pending_cr"] = False
+    if chunk.endswith(CR):
+        chunk = chunk[:-1]
+        state["pending_cr"] = True
+    return chunk.replace(CR + LF, LF)
+
+
+def main():
+    parser = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    parser.add_argument("port", help="Serial port the device is on, e.g. COM5")
+    parser.add_argument("-b", "--baud", type=int, default=115200, help="Baud rate (default: 115200)")
+    parser.add_argument("-o", "--outdir", default="recordings", help="Output directory (default: ./recordings)")
+    args = parser.parse_args()
+
+    os.makedirs(args.outdir, exist_ok=True)
+    timestamp = datetime.datetime.now().strftime("%Y%m%d_%H%M%S")
+    outpath = os.path.join(args.outdir, f"capture_{timestamp}.pcap")
+
+    print(f"Opening {args.port} @ {args.baud}...")
+    print(f"Writing live capture to {outpath}")
+    print("Press Ctrl+C to stop.")
+
+    header_written = False
+    link_type = None
+    packet_count = 0
+    buf = b""
+    total_bytes = 0
+    last_status = time.monotonic()
+    printed_raw_preview = False
+
+    crlf_state = {"pending_cr": False}
+
+    with serial.Serial(args.port, args.baud, timeout=1) as ser, open(outpath, "wb") as outfile:
+        def read_bytes(n):
+            return undo_crlf(ser.read(n), crlf_state)
+
+        try:
+            while True:
+                chunk = read_bytes(256)
+                if chunk:
+                    buf += chunk
+                    total_bytes += len(chunk)
+
+                now = time.monotonic()
+                if now - last_status >= 2:
+                    last_status = now
+                    print(f"[diagnostic] {total_bytes} raw bytes received so far, "
+                          f"{packet_count} packets recognized, header_written={header_written}")
+                    if total_bytes > 0 and not printed_raw_preview and not header_written and not PKT_RE.search(buf):
+                        # We're getting bytes but none of them look like our markers - show a preview
+                        # so we can tell whether this is plain log text (markers just haven't shown up
+                        # yet), garbage (baud/port mismatch), or something else entirely.
+                        preview = buf[:200]
+                        print(f"[diagnostic] no markers matched yet - raw preview: {preview!r}")
+                        printed_raw_preview = True
+                    elif total_bytes == 0:
+                        print("[diagnostic] zero bytes received from the port at all - this points at "
+                              "the wrong COM port, another program holding the port, or a port that "
+                              "isn't actually wired to the console/sniffer output.")
+
+                # The device only sends the global header once, right when the sniffer first starts
+                # (typically within a second or two of boot). If this script connects even slightly
+                # late - very likely right after a fresh flash, since esptool itself resets the board -
+                # that header is already gone before we ever see it. Rather than blocking forever
+                # waiting for a header that's never coming, look for whichever marker shows up first.
+                header_match = None if header_written else HEADER_RE.search(buf)
+                pkt_match = PKT_RE.search(buf)
+
+                if header_match and (not pkt_match or header_match.start() < pkt_match.start()):
+                    length = int(header_match.group(1))
+                    buf = buf[header_match.end():]
+                    while len(buf) < length:
+                        buf += read_bytes(length - len(buf))
+                    header_bytes = buf[:length]
+                    outfile.write(header_bytes)
+                    outfile.flush()
+                    buf = buf[length:]
+                    header_written = True
+                    if length >= 24:
+                        link_type = int.from_bytes(header_bytes[20:24], "little")
+                    print(f"Got pcap global header (link type {link_type}) - device is streaming.\n")
+                    continue
+
+                if not header_written and pkt_match:
+                    link_type = LINKTYPE_IEEE802_11_RADIOTAP
+                    outfile.write(build_default_pcap_header(link_type))
+                    outfile.flush()
+                    header_written = True
+                    print("Note: missed the device's one-time pcap header (it was likely sent before "
+                          "this script connected, e.g. right after a flash/reset) - assuming WLAN "
+                          "radiotap capture and writing a default header instead.\n")
+                    # fall through and process pkt_match below, don't discard this packet
+
+                if not pkt_match:
+                    # Keep the buffer from growing unbounded while waiting for a marker, but don't
+                    # discard anything - a marker could be split across reads.
+                    if len(buf) > 65536:
+                        buf = buf[-4096:]
+                    continue
+
+                length = int(pkt_match.group(1))
+                buf = buf[pkt_match.end():]
+                while len(buf) < length:
+                    buf += read_bytes(length - len(buf))
+                record_bytes = buf[:length]
+                outfile.write(record_bytes)
+                outfile.flush()
+                buf = buf[length:]
+                packet_count += 1
+                print(summarize_packet(link_type, record_bytes, packet_count))
+        except KeyboardInterrupt:
+            print(f"\nStopped. {packet_count} packets saved to {outpath}")
+
+
+if __name__ == "__main__":
+    main()

docs/Architecture2.drawio

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obu-cam-transmistter/NOTES.md

@@ -51,3 +51,49 @@ Known gaps, tracked as TODOs in the source: no real GNSS (lat/long hardcoded
 0), no real time source (detectionTime/referenceTime hardcoded 0, decodes as
 2004-01-01), fixed (non-rotating) pseudonym MAC, SHB instead of GeoBroadcast
 (no multi-hop forwarding), unsecured (no IEEE 1609.2 signing).
+
+## Running it as a bench beacon
+
+This firmware needs no phone: it beacons a CAM every second by itself
+(`TX_INTERVAL_MS`) from station `0x0BADC0DE` (195936478), stationType 5
+(passengerCar), at the hardcoded bench position, under the fixed MAC
+`02:00:00:00:00:01`, on 5900 MHz. That makes it the quickest way to put known,
+repeatable traffic on air, and it is how the 4-bit `yawRateConfidence` encoding
+was confirmed over the air on 2026-09-14.
+
+A board with only one USB-C port is fine. This firmware's console is on UART0,
+so such a board shows no log output, but nothing here needs the console.
+
+Flash it from the toolchain terminal (ESP-IDF 5.5.4, see the table above):
+
+```powershell
+cd C:\Users\Ashin\AndroidStudioProjects\MicrOBU\obu-cam-transmistter
+idf.py -p COM10 -b 921600 flash
+```
+
+Or flash the existing build without any toolchain terminal:
+
+```powershell
+cd obu-cam-transmistter\build
+C:\Espressif\python_env\idf5.5_py3.11_env\Scripts\python.exe -m esptool --chip esp32c5 -p COM10 -b 921600 write_flash --flash_mode dio --flash_freq 80m --flash_size 2MB 0x2000 bootloader/bootloader.bin 0x8000 partition_table/partition-table.bin 0x10000 obu_firmware.bin
+```
+
+It starts beaconing as soon as it boots, so there is nothing to start by hand,
+and unplugging it is how you stop it.
+
+**It transmits under the same MAC as the phone's CAM pinger**, so on air the two
+are told apart by station ID (195936478 here, 999999 for the pinger), never by
+source address.
+
+To see what it is sending, capture on the sniffer board and decode:
+
+```powershell
+cd capture
+py -3.11 live_capture.py COM8
+py -3.11 ..\obu-firmware\test\pcap_gn_tally.py recordings\capture_<timestamp>.pcap
+```
+
+The tally lists it as SHB / port 2001 / lifetime `0x05`. For the message itself,
+decode the payload with `asn1tools` against `asn1/cam_1_4_1.asn` +
+`asn1/cdd_1_3_1_1.asn`; re-encoding must return the identical bytes. On
+2026-09-14, 72 of 72 frames did.

obu-firmware/test/host/Makefile

@@ -14,7 +14,9 @@ PYTHON_ASN1 = py -3.11
 FW          = ../../main
 BUILD       = build
 EXE         = $(if $(filter Windows_NT,$(OS)),.exe,)
-RECORDINGS  = $(wildcard ../../../its-g5-receiver-firmware/recordings/*.pcap)
+# Captures live in capture/recordings/ since 2026-09-14; older ones are still in the
+# receiver checkout beside this repo.
+RECORDINGS  = $(wildcard ../../../capture/recordings/*.pcap ../../../its-g5-receiver-firmware/recordings/*.pcap)
 FUZZ_ITER   = 2000000
 FUZZ_SEED   = 1