YawRateConfidence has nine enumerands, degSec-000-01(0) to
unavailable(8) (cdd_1_3_1_1.asn), so UPER needs 4 bits and
"unavailable" is 8. Both firmware copies of cam.c wrote 3 bits with
value 7, which is also the wrong symbol (outOfRange), and every field
after it shifted by one bit. The app's CamUperCodec fixed the same line
on 2026-08-20; these two copies were missed.
obu-cam-transmistter compiles its cam.c, so a board running that bench
beacon sent CAMs no standards-compliant station could decode.
obu-firmware's copy is reference only - it is not in SRCS, since the
phone encodes the CAM - and is kept in step because the app's encoder
was ported from it. The production OBU runs obu-firmware and was never
affected.
Every other field width was compared against CamUperCodec.kt and
matches. Checked with asn1tools against asn1/cam_1_4_1.asn and
cdd_1_3_1_1.asn: the CAM both fixed copies emit decodes with every
expected value and re-encodes byte-identically, while the version before
this change fails on yawRateConfidence. obu-cam-transmistter builds on
IDF 5.5.4.
Ashin Walpola
1baae2c5f6