Ashin Walpola
0e9525162d
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 FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
142 lines
8.9 KiB
Markdown
142 lines
8.9 KiB
Markdown
# 06 – Signed ITS messages, VAM and the BLE link (2026-09-23)
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What changed when the ESP32-C5 OBU moved onto the colleague's vanetza-idf station, how the pieces
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fit together, how it was verified, and what is still open. Hardware checks still to do are in
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`TODO.md` ("Signed-TX firmware ...").
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## Summary
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- **Signing lives on the ESP32-C5.** The authorization ticket's private key is in the board's NVS;
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vanetza-idf's security entity signs every secured message there (IEEE 1609.2 / ETSI TS 103 097,
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ECDSA NIST P-256). The phone never holds a key and never signs.
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- **The phone decides what to send and when.** It builds CAM or VAM (UPER) from its own GNSS/IMU,
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hands each message to the board with the flag "signed" or "unsigned", and keeps the board's clock
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and position current.
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- **Two links, one protocol.** USB-C (native USB Serial/JTAG) or Bluetooth LE, chosen in Settings.
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Both carry the colleague's station-link protocol v1 plus one MicrOBU extension for reception.
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- **Reception is unchanged for the app.** Every ITS message heard on air reaches the phone, signed
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or not, verifiable or not, exactly as with the previous firmware.
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- **Demo PKI, not the EU trust list.** Signed messages carry a throwaway chain. Receivers that
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verify against the EU trust list drop them; unsigned sending remains available.
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## Who does what
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| | Phone (app) | ESP32-C5 (obu-firmware) |
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|---|---|---|
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| CAM / VAM content and UPER encoding | yes | – |
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| Send cadence (CAM 1 Hz baseline; VAM per TS 103 300-3 clause 6.4) | yes | – |
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| Pseudonym (station ID + MAC, rotated together) | yes | uses the MAC it is configured with |
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| Time and position (PoTi) | yes, per new GNSS fix | keeps an ITS clock from it |
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| GeoNetworking + BTP headers | – | yes |
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| Signing (TS 103 097), certificate handling | – | yes |
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| Credentials | ships the demo bundle, provisions it once | stores it in NVS |
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| 802.11p radio at 5 900 MHz | – | yes |
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| Reception: unwrap GN/BTP, forward | decodes CAM / DENM / SPATEM | yes (all frames) |
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## Firmware (obu-firmware)
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obu-firmware is now a port of `microbu-esp32c5/firmware`: the colleague's repository, of which
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this repository keeps a copy in `microbu-esp32c5/` (their commit cf4b99f plus our V2X2MAP signature
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verification; nothing is pushed to their repository). vanetza-idf is taken from
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`microbu-esp32c5/external/vanetza-idf`. It builds
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with **ESP-IDF 6.0.2 only**: the raw-TX path uses private Wi-Fi driver structures that vanetza-idf
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pins to that version. The previous C firmware (IDF 6.1) is backed up as a full flash image in
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`firmware-backups/` (gitignored, restore command in its README.txt); its sources stay on disk,
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unbuilt. Setup and flashing: `obu-firmware/FLASHING.md`. Design notes and every deviation from the
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colleague's code (`MicrOBU:` in the sources): `obu-firmware/NOTES.md`.
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Main changes against the colleague's firmware:
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- **Raw receive path kept.** vanetza-idf decapsulates strictly and would drop unsigned frames (the
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bench car) and anything not signed under the demo root (every RSU). Every captured frame also
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goes through the previous firmware's `gn_unwrap.c` and reaches the phone as link opcode
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`V2X_RX` (0x85), whose body is the old `SERIAL_MSG_V2X_RX` payload.
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- **Unsigned sending kept.** The colleague's station refuses unsecured requests; here they go out
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with the previous firmware's `geonet.c` header.
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- **Console on UART0** (CH343, COM3 on the bench); the native USB port carries only link frames.
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- **BLE pauses advertising while USB is in use** (BLE and ITS-G5 share one RF front end).
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- **NVS 80 KB instead of 24 KB**, app at 0x20000. At 24 KB the BLE bond could not be stored and the
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phone had to pair on every connection.
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- Fixes found on the bench: radio queue drained before the first PoTi (no RX, ~177 queue drops
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before); station loop waited 0 ticks at 100 Hz and starved the idle task; 2.4 KB RX buffer moved
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off the Wi-Fi task stack; no silent truncation of BLE notifications; ATT MTU 517; serial writes
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skipped when no USB host is present.
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## Link protocol
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Station-link v1 (`microbu-esp32c5/station-link/README.md`): `[opcode][flags][sequence LE][body]`,
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little-endian, at most 512 octets. Over USB each message is one `0xAA55` frame of type `0x10`
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(the old framing and CRC). Over BLE each message is one GATT value on service
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`0000C175-BA5E-4C17-8000-00805F9B34FB` (the README describes a different, Nordic-UART layout; the
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firmware is what counts).
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| Direction | Message | Used for |
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|---|---|---|
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| phone → board | `STATION_CONFIGURE` | pseudonym MAC, station type, channel 180, 20 dBm; starts the radio |
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| phone → board | `CREDENTIALS_PROVISION` | the demo bundle, once, when the board reports no ticket |
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| phone → board | `POTI_UPDATE` | position and ITS time, once per new GNSS fix |
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| phone → board | `BTP_DATA_REQUEST` | one CAM (port 2001, psid 36) or VAM (port 2018, psid 638), signed or not |
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| board → phone | `RESULT` | answer to a request |
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| board → phone | `STATUS` | every second: counters, tickets, signed/refused counts |
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| board → phone | `V2X_RX` (0x85, MicrOBU) | every ITS message heard on air |
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The app side is `Esp32Link.kt` (session), `StationLink.kt` (codec, pinned by unit tests to bytes
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from the colleague's Python implementation), `UsbSerialTransport.kt` and `BleLinkTransport.kt`.
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A board still on the previous firmware is recognised by its old heartbeat and keeps working for
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CAM over USB.
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## Redundancy and recovery
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| Situation | What notices | What happens |
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|---|---|---|
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| USB link dead (board hung, cable) | app watchdog: no frame for 3.5 s (the board's `STATUS` comes every second) | link marked ERROR on the card |
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| USB unplugged | Android detach broadcast | port closed; Connect again after re-plugging |
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| BLE link lost | BLE supervision timeout (4 s) | app reconnects by itself: 1 s after a drop, then backing off to 30 s if attempts fail |
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| Board reset / power cycle | first `STATUS` says "not configured" | app reconfigures (and re-provisions if needed) without user action |
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| App closed and reopened | new session | app configures the board again; BLE reconnects with the stored bond, no passkey (confirmed) |
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| Phone clock or GNSS time jumping | app tracks the board's clock | PoTi never moves it backwards (except a real correction of ≥ 60 s), so the board does not restart its stack |
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| Board firmware wedged | ESP task watchdog (30 s, logs on COM3) | the phone sees it as a dead link (above) |
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## App changes
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- Settings > Connection > ESP32-C5: **link** USB-C / Bluetooth, **transmit** CAM / VAM, **sign
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outgoing messages** (on by default). The connection card, top bar and dashboard show the link in
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use, the pairing passkey when needed, and signing counters.
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- VAM encoder (`VamUperCodec.kt`, TS 103 300-3 V2.3.1, checked against asn1tools) and the VAM
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generation rules (`VamGenerationRules.kt`).
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- `GnssTimeSource` keeps the last measured phone-clock error while GNSS time drops out indoors. The
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bench phone's clock was 14 minutes fast; falling back to it made every transmitted timestamp
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jump by 14 minutes.
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- Bluetooth permissions (Android 12+) requested at start-up.
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## Credentials (demo PKI)
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`app/src/main/assets/demo-chain.vcr`, generated 2026-09-23 with the colleague's `vidf_issue`: root
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`6E7D0374FB021901` → AA `B3312F29844299E0` → AT `B80B49387A4C12EB` (two years; psid 36 SSP `010000`,
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psid 638 SSP `01`). It is throwaway and not EU-registered; its private key ships with the app on
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purpose. The colleague's own demo chain only grants psid 638 and cannot sign CAMs.
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## Verification
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- **Unit tests** (103): VAM bytes against asn1tools, station-link messages against the colleague's
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Python encoder, VAM generation rules.
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- **Signatures on air**: `obu-firmware/test/verify_signed_pcap.py` checks a pcap with asn1tools
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and OpenSSL, sharing no code with the firmware. Pinger capture of 2026-09-23: 12/12 signed CAMs,
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psid 36, signer the demo AT, all signatures valid, chain valid.
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- **Third-party stack**: the CiT One receives the signed CAMs (~1 Hz on `v2x/rx/cam`), so its
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stack unwraps our envelope. Its MQTT interface exposes no security information, and it forwards
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unsigned and unknown-root messages alike, so it cannot tell whether it verified the signature.
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- **V2X2MAP (COM10)**: now the colleague's v2x2map 0.3.0 bridge from source with a new
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`verify.py` and `--trust demo-chain.vcr`; it shows "signature verified", "SIGNATURE INVALID" or
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"not verified" per packet. Signed CAMs and signed VAMs verified live; a one-bit change in a
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signed CAM comes out invalid. Launcher: `micrOBU_workspace/v2x-obu-esp32c5/start-v2x2map-signed.bat`.
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## Open
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- BLE/ITS-G5 coexistence is not measured: does an active BLE connection cost 5.9 GHz reception?
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- `time_regression` standing still indoors for several minutes, and board reset recovery over BLE,
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after the last fixes.
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- The signature's generationTime follows the app's UTC-based `ItsTime`; the colleague's VBS adds
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the 5 leap seconds (TAI). Which is right is the open question in `ItsTime.kt`.
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- Real EU PKI enrolment/authorisation (TS 102 941) instead of the demo chain.
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