Ashin Walpola
d2fd222a62
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.
76 lines
3.6 KiB
C++
76 lines
3.6 KiB
C++
#pragma once
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// Serial transport of the station-internal link over the ESP32-C5 native USB Serial/JTAG port.
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// Framing is the app's Phase 03 one: [AA][55][type][len LE][payload][crc16 LE] with
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// CRC-16/CCITT-FALSE over type+len+payload (implementation/station-link/README.md, "Serial").
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// One writer serialises complete frames. The byte stream never carries plain text: ESP_LOG stays on
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// UART0 here, or travels as LOG frames with CONFIG_MICROBU_LOG_OVER_LINK.
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#include <cstddef>
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#include <cstdint>
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#include <functional>
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#include <vector>
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namespace microbu::serial {
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/// @brief Byte buffer type for frame payloads.
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using Bytes = std::vector<std::uint8_t>;
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/// @brief The type of a frame. Either Link (link protocol), Test (test channel), or Log (ESP_LOG output).
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enum class FrameType : std::uint8_t { LINK = 0x10, TEST = 0x11, LOG = 0x7F };
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constexpr std::size_t maximum_payload = 1536;
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/// @brief A complete frame with a type and a payload.
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struct Frame { FrameType type; Bytes payload; };
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/// @brief Computes the CRC-16/CCITT-FALSE checksum over a byte range.
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/// @param data Pointer to the first byte to checksum.
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/// @param length Number of bytes to checksum.
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/// @return Checksum value.
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std::uint16_t crc16_ccitt_false(const std::uint8_t* data, std::size_t length);
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/// @brief Frames a payload as [AA][55][type][len LE][payload][crc16 LE].
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/// @param type Frame type tag.
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/// @param payload Payload bytes; must not exceed maximum_payload.
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/// @return Encoded frame bytes.
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Bytes encode_frame(FrameType type, const Bytes& payload);
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/// Byte-at-a-time decoder, same state machine as the app's SerialFrameDecoder.
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class Decoder {
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public:
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using Handler = std::function<void(Frame)>;
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/// @brief Feeds raw bytes through the frame state machine, invoking the handler per complete frame.
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/// @param data Pointer to the first byte to feed.
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/// @param length Number of bytes to feed.
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/// @param handler Invoked once per complete, CRC-valid frame; may be called zero or more times.
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void feed(const std::uint8_t* data, std::size_t length, const Handler& handler);
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/// @return Number of frames rejected for a CRC mismatch so far.
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std::uint32_t crc_errors() const { return crc_errors_; }
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/// @return Number of frames decoded successfully so far.
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std::uint32_t frames() const { return frames_; }
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private:
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enum class State { SYNC0, SYNC1, TYPE, LEN_LO, LEN_HI, PAYLOAD, CRC_LO, CRC_HI } state_ = State::SYNC0;
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std::uint8_t type_ = 0;
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std::uint16_t length_ = 0, crc_ = 0;
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Bytes payload_;
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std::uint32_t crc_errors_ = 0, frames_ = 0;
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};
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struct Counters { std::uint32_t frames = 0, crc_errors = 0, write_failures = 0, not_connected = 0; };
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/// @brief Installs the USB Serial/JTAG driver and starts the reader task. ESP_LOG goes into LOG frames
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/// only with CONFIG_MICROBU_LOG_OVER_LINK; on this board it stays on the UART0 console.
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/// @param on_frame Invoked once per complete, CRC-valid frame.
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/// @note The handler runs on the reader task; it must only enqueue, never block.
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void start(const Decoder::Handler& on_frame);
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/// @brief Writes one complete frame (blocking, mutex-protected). Safe from any task.
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/// @param type Frame type tag.
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/// @param payload Payload bytes; must not exceed maximum_payload.
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/// @return false on a full payload, missing driver, lock timeout, or write failure.
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bool write(FrameType type, const Bytes& payload);
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/// @return Current frame/error counters.
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Counters counters();
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/// @return esp_timer time in ms (wrapping) at which the last CRC-valid frame arrived from the host,
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/// 0 if none yet. MicrOBU: app_main pauses BLE advertising while this is recent.
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std::uint32_t last_frame_ms();
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} // namespace microbu::serial
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