Ashin WalpolaandClaude Opus 5
528637dab6
CurvatureCalculationMode is the one extensible ENUMERATED in CAM:
ENUMERATED {yawRateUsed(0), yawRateNotUsed(1), unavailable(2), ...}
UPER encodes an extensible ENUMERATED as an extension bit followed by the root
index - 1 + 2 = 3 bits. All three of our encoders wrote only the 2-bit index,
shifting yawRate and the entire low-frequency container one bit early for any
standards-compliant receiver.
It went unnoticed because every end of this project shared the mistake: the
Kotlin codec was ported bit-for-bit from cam.c, so phone and ESP32 agreed
perfectly with each other and with nothing else. Confirmed against the ETSI
ASN.1 in the C-ITS-Parser checkout, where rasn marks this type - and only this
type - #[non_exhaustive].
Fixed in all three copies of the encoder (app CamUperCodec.kt,
obu-firmware/main/cam.c, obu-cam-transmistter/main/cam.c) plus the decoder,
which now rejects rather than misreads a set extension bit. Frame size is
unchanged at 43 bytes. Transmitter reflashed and the phone decodes its CAMs.
Also in this change:
- serial_link: skip send_frame entirely when no USB host is attached, and raise
the tx mutex timeout above the worst-case hold. With the phone unplugged every
write blocked its full timeout while holding the lock, so forwarded CAM_RX
traffic starved the 1 Hz heartbeat - observed as "tx mutex timeout, dropping
frame" on the console, and it would have tripped the phone's link watchdog.
Verified gone on hardware.
- Log decoded and failed CAMs in CamUseCaseRepository. "The app shows nothing"
had two indistinguishable causes; a silent `?: return` made this bug much
harder to find than it needed to be.
- Remove the ESP32 send-only/send-and-receive toggle. Reception can't be
disabled in firmware (raw TX only works while promiscuous), so it was an
app-side filter pretending to be a radio control.
- V2X monitor follows the serial link state on the ESP32 path instead of MQTT,
which is permanently disconnected there; CAM intake is gated on the link being
up, and engine state is cleared when it drops.
- About screen: 0.5.0, Phase 03.
- Track obu-cam-transmistter, the bench CAM transmitter. Its cam.c is compiled
(unlike obu-firmware's reference copy) and must stay bit-identical to the other
two - this commit is what that coupling costs when it's broken.
- Document the two-toolchain split: this project builds on IDF 5.5.4, obu-firmware
on the pinned 6.1. Exporting both in one shell fails confusingly.
Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
58 lines
2.3 KiB
C
58 lines
2.3 KiB
C
#include "dot11p.h"
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#include <string.h>
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int dot11p_build_frame(const uint8_t *gn_payload, int gn_len,
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const uint8_t src_mac[6],
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uint8_t *out, size_t out_len, bool qos)
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{
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static const uint8_t broadcast[6] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
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static const uint8_t llc_snap[8] = {0xAA, 0xAA, 0x03, 0x00, 0x00, 0x00, 0x89, 0x47};
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int hdr_len = qos ? 26 : 24; // QoS Data adds a 2-byte QoS Control field
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int total = hdr_len + 8 /* LLC/SNAP */ + gn_len;
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if ((size_t)total > out_len) {
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return -1;
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}
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uint8_t *p = out;
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// Frame Control: version=0, type=Data(2), subtype=QoS Data(8) -> bytes
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// 0x88 0x00. This is what real ITS-G5 hardware actually transmits.
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//
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// Back on QoS Data again (previously downgraded to non-QoS, subtype 0,
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// as a working-but-nonstandard fallback - see git history / old comments
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// here for that whole detour). What changed: main.c no longer calls
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// esp_wifi_80211_tx() at all - it now goes through
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// esp_wifi_80211_tx_custom() (tx_custom.c, pulled from
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// opentrafficmap/its-g5-receiver-firmware_txenabled), which bypasses the
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// frame-type sanity check entirely by never calling the code path that
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// contains it. Frame subtype is no longer gated, so there's no reason
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// left to avoid matching real hardware here.
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// Frame Control byte 0: version=0, type=Data(2). Subtype: QoS Data(8)=0x88
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// for the tx_custom path, or plain Data(0)=0x08 for the standard
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// esp_wifi_80211_tx() path (which rejects QoS Data outright).
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*p++ = qos ? 0x88 : 0x08; *p++ = 0x00;
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// Duration
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*p++ = 0x00; *p++ = 0x00;
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// Addr1 = destination = broadcast
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memcpy(p, broadcast, 6); p += 6;
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// Addr2 = source (our pseudonym)
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memcpy(p, src_mac, 6); p += 6;
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// Addr3 = BSSID = broadcast (no BSS exists in OCB mode)
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memcpy(p, broadcast, 6); p += 6;
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// Sequence control - left at 0; en_sys_seq=true fills this in for us
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*p++ = 0x00; *p++ = 0x00;
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// QoS Control field - only present in QoS Data frames
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if (qos) {
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*p++ = 0x00; *p++ = 0x00; // best-effort access category
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}
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// LLC/SNAP (Ethertype 0x8947 = GeoNetworking)
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memcpy(p, llc_snap, 8); p += 8;
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// GeoNetworking + BTP + DENM payload
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memcpy(p, gn_payload, gn_len); p += gn_len;
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return (int)(p - out);
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}
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