diff --git a/.gitignore b/.gitignore index 1acf1bd..deb0257 100644 --- a/.gitignore +++ b/.gitignore @@ -24,7 +24,3 @@ target/ # Ignore .DS_Store file in mac **/.DS_Store - -# Ignore KiCad backups and lock files -hardware/c_its-companion/c_its-companion-backups/ -*.kicad_pro.lck diff --git a/Cargo.lock b/Cargo.lock index 98a4c6a..359840b 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -73,12 +73,6 @@ version = "1.0.102" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "7f202df86484c868dbad7eaa557ef785d5c66295e41b460ef922eca0723b842c" -[[package]] -name = "arbitrary-int" -version = "2.1.1" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "993a810118f8f37e9c4411c86f1c4c940a09a7ab34b7bf2d88d06f50c553fab7" - [[package]] name = "arrayvec" version = "0.7.6" @@ -192,9 +186,9 @@ checksum = "1e748733b7cbc798e1434b6ac524f0c1ff2ab456fe201501e6497c8417a4fc33" [[package]] name = "c-its-parser" -version = "2.4.1" +version = "2.3.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "7e94d9990b20498f621f164f23ae198c4365115eb4191ae106352ec74d4a4110" +checksum = "f9bd739e1f76c017fc9fc6c21b9ff2aee4536bef357075d454e387e94a4d6287" dependencies = [ "chrono", "etherparse", @@ -1171,7 +1165,6 @@ dependencies = [ "esp-println", "esp-radio", "esp-rtos", - "esp32-cits-core", "geo-types", "log", "mipidsi", @@ -1179,19 +1172,6 @@ dependencies = [ "profont", "prost", "prost-build", - "ublox", -] - -[[package]] -name = "esp32-cits-core" -version = "0.1.0" -source = "git+https://git.hamburg.ccc.de/jtbx/esp32-cits-core?branch=main#a6d0ea6ca2da130fde2b84060a34ef45e772a459" -dependencies = [ - "c-its-parser", - "chrono", - "esp-hal", - "esp-radio", - "geo-types", ] [[package]] @@ -1259,9 +1239,9 @@ dependencies = [ [[package]] name = "etherparse" -version = "0.21.0" +version = "0.20.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "17304d06addb3283cdc4bd528e42dd95e73c8ee2d6492ffce415e93660885449" +checksum = "3ac016aaf11dfe643edcd088a166234bfcb72e7f06691abfcf21e9af524037f4" dependencies = [ "arrayvec", ] @@ -1391,11 +1371,13 @@ dependencies = [ [[package]] name = "geonetworking" -version = "0.4.0" +version = "0.3.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "6da6fde770112587d5f5f7af439546e35bd35aa77a9e3e47e9968056783fe50d" +checksum = "6f6d36111f5057d3be7eb4e312a07edac4737fc791e4b0a73d812c6f710161e7" dependencies = [ - "arbitrary-int", + "bitvec", + "bitvec-nom2", + "bytes", "nom", "num", "num-traits", @@ -2504,29 +2486,6 @@ version = "1.20.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "40ce102ab67701b8526c123c1bab5cbe42d7040ccfd0f64af1a385808d2f43de" -[[package]] -name = "ublox" -version = "0.10.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5bcc96bd937066775fb87034e1dbf6d7165a8975c74ddec1105e31b4a050538b" -dependencies = [ - "bitflags", - "chrono", - "num-traits", - "ublox_derive", -] - -[[package]] -name = "ublox_derive" -version = "0.6.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "f5eda7d1c1151a40ae85c7c065a19959909573535034e18e1015b738993cd2c0" -dependencies = [ - "proc-macro2", - "quote", - "syn 1.0.109", -] - [[package]] name = "ufmt-write" version = "0.1.0" diff --git a/Cargo.toml b/Cargo.toml index 9b3cbd9..ac69615 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -12,10 +12,10 @@ path = "./src/main.rs" [[bin]] name = "test" path = "./src/test.rs" -required-features = ["std", "cam"] +required-features = ["std"] [features] -default = ["esp", "spat", "gnss_ubx", "screen"] +default = ["esp", "spat", "gnss", "screen"] # build for ESP (needed to build test for `host-tuple`) esp = [ @@ -30,19 +30,13 @@ esp = [ "dep:esp-backtrace", "dep:esp-println", "dep:esp-radio", - "esp32-cits-core/esp32c5", - "esp32-cits-core/log-04", ] -std = ["c-its-parser/std", "esp32-cits-core/std"] +std = ["c-its-parser/std"] -# enable u-blox GNSS module -gnss_ubx = ["_gnss", "_uart", "dep:ublox"] # enable L67K GNSS module -gnss_l67k = ["_gnss", "dep:embassy_gps"] +gnss = ["dep:embassy_gps"] # echo CAM data on serial cam = ["c-its-parser/cam"] -# send CAM autonomously -cam_tx = ["c-its-parser/cam"] # echo DENM events on serial and BLE denm = ["c-its-parser/denm"] # evaluate SPAT information @@ -51,13 +45,7 @@ spat = ["c-its-parser/spatem", "c-its-parser/mapem"] spat_debug = [] # enable ST7789 based display screen = ["dep:mipidsi", "dep:embedded-graphics", "dep:embedded-hal-bus", "dep:profont"] -# enable I/O via UART -uart = ["_uart", "_gnss", "dep:prost"] -# internal feature, that any UART I/O is enabled -_uart = [] -# internal feature, that any GNSS source is enabled -_gnss = [] [dependencies] esp-hal = { version = "~1.1.0", optional = true, features = ["esp32c5", "log-04", "unstable"] } @@ -84,7 +72,7 @@ esp-backtrace = { version = "0.19.0", optional = true, features = [ "panic-handler", "println", ] } -esp-println = { version = "0.17.0", optional = true, default-features = false, features = ["colors", "critical-section", "jtag-serial", "esp32c5", "log-04"] } +esp-println = { version = "0.17.0", optional = true, features = ["esp32c5", "log-04"] } esp-radio = { version = "0.18.0", optional = true, features = [ "esp-alloc", "esp32c5", @@ -95,11 +83,9 @@ esp-radio = { version = "0.18.0", optional = true, features = [ ] } embassy_gps = { version = "0.1.0", optional = true, default-features = false, features = ["esp", "log-04"], git = "https://github.com/jbeyerstedt/embassy_gps.git", branch = "feat/rework-gpsfix" } -esp32-cits-core = { version = "0.1.0", default-features = false, git = "https://git.hamburg.ccc.de/jtbx/esp32-cits-core", branch = "main" } embedded-hal-bus = { version = "0.3.0", optional = true } embedded-graphics = { version = "0.8.2", optional = true } -# needs newer GN with removed bitvec dependency -c-its-parser = { version = "2.4.0", default-features = false, features = [ +c-its-parser = { version = "2.3.0", default-features = false, features = [ "time", "geo", "libm", @@ -111,8 +97,7 @@ geo-types = { version = "0.7.19", default-features = false } mipidsi = { version = "0.10.0", optional = true } num-traits = { version = "0.2.19", default-features = false, features = ["libm"] } profont = { version = "0.7.0", optional = true } -prost = { version = "0.14", optional = true, default-features = false, features = ["derive"] } -ublox = { version = "0.10", optional = true, default-features = false, features = ["alloc", "ubx_proto27"] } +prost = { version = "0.14", default-features = false, features = ["derive"] } [dev-dependencies] assert_float_eq = "1.2.0" diff --git a/Readme.md b/Readme.md index 2ae3aab..9cbf097 100644 --- a/Readme.md +++ b/Readme.md @@ -5,16 +5,15 @@ Displays different C-ITS receive-only use cases for cheap. ## Hardware Requirements The code is currently tailored to: - Seeed XIAO ESP32-C5 (8MB PSRAM) -- U-Blox M10Q GNSS (connected on GPIO12 (RX), GPIO11 (TX), and GPIO25 (reset)) -or Seeed XIAO L67K (connected on GPIO12 (RX), GPIO11 (TX), GPIO1 (wakeup) and GPIO25 (reset)) -only available with `gnss_ubx` or `gnss_l67k` feature (which is included in `spat` feature) +- Seeed XIAO L67K (connected on GPIO12 (RX), GPIO11 (TX), GPIO1 (wakeup) and GPIO25 (reset)) +only available with `gnss` feature (which is included in `spat` feature) - Some ST7789 172*320px screen (connected on GPIO8 (SCL/ SCK), GPIO10 (SDA/ MOSI), GPIO7 (reset), GPIO23 (DC), GPIO24 (CS), TODO GPIO0 (BL)) only available with `screen` feature (which is included in `spat` feature) ## Features ### GNSS -Enable u-blox or L67K GNSS module and in main application logic/ state. +Enable L67K GNSS module and in main application logic/ state. ### SPAT Takes the current position and heading from the GNSS receiver and displays the signal phases of the upcoming intersection. @@ -29,32 +28,6 @@ Shall "publish" the most relevant information of a DENMs via BLE ### CAM Just prints a line for each received CAM. -### CAM-TX -Generates and transmits a CAM when a GNSS update was received. -Depends on the `gnss` feature. - -Note: In germany, using the 5875 to 5915 MHz frequency band is only permitted for C-ITS use cases which implement transmit power reduction measures with at least 30 dB reduction range (or equivalent measures) and have a maximum EIRP of 33 dBm. -This is based on EU regulation 2014/53/EU, so it applies to other EU countries in similar ways. -The relevant harmonized standard is ETSI EN 302 571 which mandates (excerpt of most relevant points): - -- a maximum power spectral density of 23 dBm/Mhz EIRP -- transmit power control (TCP) in a range from 3 dBm up to the maximum output power of the equipment - * used for CEN DSRC and HDR DSRC interference mitigation by implementing measures from ETSI TS 102 792 - + Mode A or B: Output power less than 10 dBm EIRP and less than -65 or -45 dBm/MHz EIRP in CEN DSRC band -> **needs to be measured** - + Mode C: Maximum transmission time of less than 1 ms and at least a few 100 ms between transmission (realistically) -> **can't be ensured with big messages** - + Mode D: "any" realistically possible transmission time, but at least 500 ms between transmissions for ~5 ITS stations/ 1000ms for 10 ITS stations -> **safe to assume when we only send CAMs at 1 Hz** - + But modes C and D also need to: - - use protected zone information from CAM messages - - use a protected zone database, e.g. from www.asecap-pzdb.com - * used for dynamic congestion control (DCC) - + mandatory mechanism described in ETSI EN 302 571, chapter 4.2.10 - -This is **not** implemented in this application! -**So legally, you're not allowed to send with this.** - -### UART -Enable UART I/O protocol according to [docs/uart-protocol.md](./docs/uart-protocol.md). - ## Usage @@ -79,21 +52,13 @@ rustup component add --toolchain nightly rustfmt ### Build and Flash In default configuration only signal phases (SPAT) data is displayed for the upcoming intersection. -Additional features are available through feature flags: +Additional features are available though feature flags: - `esp`: Run on ESP (required as feature flag to enable unit tests on host) - `std`: Run on system with `std` library -- `spat`: Enable signal phase (and intersection map) data -- `spat_debug`: Enable additional debug information for the SPAT/ GLOSA use case +- `spat`: Enable signal phase (and intersection map) data - `denm`: Enable DENMs - `cam`: Enable CAMs -- `cam_tx`: Enable CAM generation and transmission (needs time and position source) - -Officially supported feature combinations are: -- `esp,spat,gnss_ubx,screen` (default features, "standalone") -- `esp,spat,gnss_ubx,screen,cam_tx` ("standalone with CAM") -- `esp,spat,gnss_ubx,screen,cam_tx,cam,denm` -- `esp,uart,cam,denm` ("smartphone companion") Connect your ESP32-C5 and run: diff --git a/docs/c_its-messages.proto b/docs/c_its-messages.proto index af8f802..c2ca54e 100644 --- a/docs/c_its-messages.proto +++ b/docs/c_its-messages.proto @@ -35,17 +35,18 @@ enum GNAreaShape { ETSI_AREASHAPE_CIRCLE = 0; ETSI_AREASHAPE_RECTANGLE = 1; ETSI_AREASHAPE_ELLIPSIS = 2; + ETSI_AREASHAPE_UNKNOWN = 15; } // GeoNetworking Destination Area/ Source Position message ITSPosition { - required int32 latitude = 1; // Latitude in 1/10th of micro degrees - required int32 longitude = 2; // Longitude in 1/10th of micro degrees + optional int32 latitude = 1; // Latitude in 1/10th of micro degrees + optional int32 longitude = 2; // Longitude in 1/10th of micro degrees } // GeoNetworking Destination Area message GNArea { - optional GNAreaShape area = 1; + optional GNAreaShape area = 1 [default = ETSI_AREASHAPE_UNKNOWN]; optional ITSPosition position = 2; optional int32 distA = 3; // Distance A of the geometric shape in meters optional int32 distB = 4; // Distance B of the geometric shape in meters, mandatory for rectangle and ellipsis @@ -54,6 +55,8 @@ message GNArea { // GeoNetworking Transport enum GNTransport { + GN_TRANSPORT_DEFAULT = 0; + GN_TRANSPORT_GUC = 2; // GeoUnicast GN_TRANSPORT_GAC = 3; // Geographically-Scoped Anycast GN_TRANSPORT_GBC = 4; // Geographically-Scoped broadcast GN_TRANSPORT_TSB = 5; // Topologically-scoped broadcast @@ -67,8 +70,6 @@ message RawMsgTx { required GNTransport gnTransport = 3; required GNArea gnArea = 4; required uint32 hopLimit = 5; - - optional uint32 stationType = 6; // for source position vector } // ------------------------------ @@ -76,8 +77,7 @@ message RawMsgTx { // ------------------------------ message PositionState { - required sfixed64 timestamp_ms = 1; // current UNIX time in milliseconds - required Position position = 2; + required Position position = 1; optional uint32 heading = 3; // heading in 1/10 deg optional uint32 speed = 4; // speed in 1/100 m/s } diff --git a/feat-permut.sh b/feat-permut.sh deleted file mode 100755 index 9c08d65..0000000 --- a/feat-permut.sh +++ /dev/null @@ -1,70 +0,0 @@ -#!/bin/bash -## Build/ Test/ Clippy all supported feature permutations -set -eu - -mode=${1:-help} -wasm_target="--chrome --headless" -extended=${2:-false} - - -features_base=( - uart,cam,denm - spat,gnss_ubx,screen - spat,gnss_ubx,screen,cam_tx -) -features_more=( - spat,gnss_ubx,screen,cam,denm - spat,gnss_ubx,screen,cam_tx,cam,denm -) -features_test=( - spat,cam,denm,uart -) - - -runBuild () { - for feat in "${features[@]}"; do - echo "cargo build for $feat ..." - cargo build --release --no-default-features -F esp,$feat - done -} - -runTest () { - for feat in "${features_test[@]}"; do - echo "cargo test for $feat ..." - cargo test --target host-tuple --bin test --no-default-features -F std,$feat - done -} - -runClippy () { - for feat in "${features[@]}"; do - echo "clippy for $feat ..." - cargo clippy --no-default-features -F esp,$feat -- -Wclippy::pedantic - done -} - -if [ $extended == "--more" ]; then - echo "running with extended feature list" - features=( "${features_base[@]}" "${features_more[@]}" ) -else - echo "running standard feature list" - features=( "${features_base[@]}" ) -fi - -case $mode in -build) - runBuild - ;; -clippy) - runClippy - ;; -test) - runTest - ;; -all) - runBuild - runClippy - runTest - ;; -*) - echo "Usage: $0 [build | clippy | test | all] [--more]" -esac diff --git a/hardware/c_its-companion-v0.1-back.jpg b/hardware/c_its-companion-v0.1-back.jpg deleted file mode 100644 index 9698624..0000000 Binary files a/hardware/c_its-companion-v0.1-back.jpg and /dev/null differ diff --git a/hardware/c_its-companion-v0.1-front.jpg b/hardware/c_its-companion-v0.1-front.jpg deleted file mode 100644 index 2386379..0000000 Binary files a/hardware/c_its-companion-v0.1-front.jpg and /dev/null differ diff --git a/hardware/c_its-companion/c_its-companion.kicad_pcb b/hardware/c_its-companion/c_its-companion.kicad_pcb deleted file mode 100644 index ff5d33d..0000000 --- a/hardware/c_its-companion/c_its-companion.kicad_pcb +++ /dev/null @@ -1,8034 +0,0 @@ -(kicad_pcb - 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) - ) - ) - (property "Footprint" "" - (at 101.6 21.59 0) - (hide yes) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (property "Datasheet" "" - (at 101.6 21.59 0) - (hide yes) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (property "Description" "Power symbol creates a global label with name \"+3V3\"" - (at 101.6 21.59 0) - (hide yes) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (pin "1" - (uuid "a1f7f88b-9108-40fd-8634-fce56db7510d") - ) - (instances - (project "c_its-companion" - (path "/9ad468b0-d7e4-4d4a-b652-c4a81a952e30" - (reference "#PWR07") - (unit 1) - ) - ) - ) - ) - (symbol - (lib_id "Switch:SW_SPDT") - (at 48.26 147.32 90) - (unit 1) - (body_style 1) - (exclude_from_sim no) - (in_bom yes) - (on_board yes) - (in_pos_files yes) - (dnp no) - (fields_autoplaced yes) - (uuid "ba38386d-3ed3-42ce-8f1d-137790571805") - (property "Reference" "SW1" - 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) - (instances - (project "c_its-companion" - (path "/9ad468b0-d7e4-4d4a-b652-c4a81a952e30" - (reference "SW1") - (unit 1) - ) - ) - ) - ) - (symbol - (lib_id "power:GND") - (at 138.43 105.41 90) - (unit 1) - (body_style 1) - (exclude_from_sim no) - (in_bom yes) - (on_board yes) - (in_pos_files yes) - (dnp no) - (fields_autoplaced yes) - (uuid "be554b9f-f0b6-4508-96f5-e0f66dd7b78e") - (property "Reference" "#PWR02" - (at 144.78 105.41 0) - (hide yes) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (property "Value" "GND" - (at 142.24 105.4099 90) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - (justify right) - ) - ) - (property "Footprint" "" - (at 138.43 105.41 0) - (hide yes) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (property "Datasheet" "" - (at 138.43 105.41 0) - (hide yes) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (property "Description" "Power symbol creates a global label with name \"GND\" , ground" - (at 138.43 105.41 0) - (hide yes) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (pin "1" - (uuid "d471b249-c52d-4e62-8bc4-488ba43bc024") - ) - (instances - (project "c_its-companion" - (path "/9ad468b0-d7e4-4d4a-b652-c4a81a952e30" - (reference "#PWR02") - (unit 1) - ) - ) - ) - ) - (symbol - (lib_id "power:GND") - (at 118.11 165.1 270) - (unit 1) - (body_style 1) - (exclude_from_sim no) - (in_bom yes) - (on_board yes) - (in_pos_files yes) - (dnp no) - (fields_autoplaced yes) - (uuid "d995eec3-6203-4c2a-9245-f1bd04164f30") - (property "Reference" "#PWR05" - (at 111.76 165.1 0) - (hide yes) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (property "Value" "GND" - (at 116.84 161.29 90) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (property "Footprint" "" - (at 118.11 165.1 0) - (hide yes) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (property "Datasheet" "" - (at 118.11 165.1 0) - (hide yes) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (property "Description" "Power symbol creates a global label with name \"GND\" , ground" - (at 118.11 165.1 0) - (hide yes) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (pin "1" - (uuid "68095be0-b379-4af6-9258-2ebaaae49584") - ) - (instances - (project "c_its-companion" - (path "/9ad468b0-d7e4-4d4a-b652-c4a81a952e30" - (reference "#PWR05") - (unit 1) - ) - ) - ) - ) - (symbol - (lib_id "power:GND") - (at 101.6 60.96 0) - (unit 1) - (body_style 1) - (exclude_from_sim no) - (in_bom yes) - (on_board yes) - (in_pos_files yes) - (dnp no) - (uuid "da74ef5d-2786-47d9-bdd6-8b8cd4c90568") - (property "Reference" "#PWR04" - (at 101.6 67.31 0) - (hide yes) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (property "Value" "GND" - (at 101.6 65.786 0) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (property "Footprint" "" - (at 101.6 60.96 0) - (hide yes) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (property "Datasheet" "" - (at 101.6 60.96 0) - (hide yes) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (property "Description" "Power symbol creates a global label with name \"GND\" , ground" - (at 101.6 60.96 0) - (hide yes) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (pin "1" - (uuid "0215556b-3601-4f46-9729-9724b80fc949") - ) - (instances - (project "c_its-companion" - (path "/9ad468b0-d7e4-4d4a-b652-c4a81a952e30" - (reference "#PWR04") - (unit 1) - ) - ) - ) - ) - (symbol - (lib_id "Connector:Conn_01x08_Socket") - (at 127 172.72 0) - (unit 1) - (body_style 1) - (exclude_from_sim no) - (in_bom yes) - (on_board yes) - (in_pos_files yes) - (dnp no) - (fields_autoplaced yes) - (uuid "e8521083-1f77-4711-8191-6272dbbdd11b") - (property "Reference" "J1" - (at 126.365 160.02 0) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (property "Value" "Display" - (at 126.365 162.56 0) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (property "Footprint" "Connector_PinHeader_2.54mm:PinHeader_1x08_P2.54mm_Vertical" - (at 127 172.72 0) - (hide yes) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (property "Datasheet" "" - (at 127 172.72 0) - (hide yes) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (property "Description" "Generic connector, single row, 01x08, script generated" - (at 127 172.72 0) - (hide yes) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (pin "2" - (uuid "6392e569-f05a-4455-8822-df34fad203bf") - ) - (pin "3" - (uuid "c85a1e97-a4e7-432e-8582-be993c600ec6") - ) - (pin "4" - (uuid "800153cf-a082-4dfb-ac8d-11c3c4313ced") - ) - (pin "1" - (uuid "4e964659-2c41-4a58-9179-0086dc5932df") - ) - (pin "7" - (uuid "43205560-d106-4cb6-8ee1-0a7b44224ce9") - ) - (pin "6" - (uuid "67636be2-0558-4344-800e-bacd218439da") - ) - (pin "5" - (uuid "16d9ebf8-626f-419a-85dd-6fda1c70291d") - ) - (pin "8" - (uuid "606d664c-81ba-4e26-b238-d3f6658d262f") - ) - (instances - (project "c_its-companion" - (path "/9ad468b0-d7e4-4d4a-b652-c4a81a952e30" - (reference "J1") - (unit 1) - ) - ) - ) - ) - (symbol - (lib_id "power:GND") - (at 100.33 83.82 180) - (unit 1) - (body_style 1) - (exclude_from_sim no) - (in_bom yes) - (on_board yes) - (in_pos_files yes) - (dnp no) - (uuid "f3039259-cc53-4131-aa94-f7d86dc2d29a") - (property "Reference" "#PWR03" - (at 100.33 77.47 0) - (hide yes) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (property "Value" "GND" - (at 98.552 80.01 0) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - (justify right) - ) - ) - (property "Footprint" "" - (at 100.33 83.82 0) - (hide yes) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (property "Datasheet" "" - (at 100.33 83.82 0) - (hide yes) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (property "Description" "Power symbol creates a global label with name \"GND\" , ground" - (at 100.33 83.82 0) - (hide yes) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (pin "1" - (uuid "92aeebf8-69ec-4d8d-a8d3-d36750736448") - ) - (instances - (project "c_its-companion" - (path "/9ad468b0-d7e4-4d4a-b652-c4a81a952e30" - (reference "#PWR03") - (unit 1) - ) - ) - ) - ) - (sheet_instances - (path "/" - (page "1") - ) - ) - (embedded_fonts no) -) diff --git a/hardware/c_its-companion/fabrication-toolkit-options.json b/hardware/c_its-companion/fabrication-toolkit-options.json deleted file mode 100644 index 822d456..0000000 --- a/hardware/c_its-companion/fabrication-toolkit-options.json +++ /dev/null @@ -1 +0,0 @@ -{"ARCHIVE_NAME": "", "EXTRA_LAYERS": "", "ALL_ACTIVE_LAYERS": false, "EXTEND_EDGE_CUT": false, "ALTERNATIVE_EDGE_CUT": false, "AUTO TRANSLATE": true, "AUTO FILL": true, "EXCLUDE DNP": false, "OPEN BROWSER": true, "BACKUP_OPT": true} \ No newline at end of file diff --git a/hardware/c_its-companion/fp-lib-table b/hardware/c_its-companion/fp-lib-table deleted file mode 100644 index a9f847b..0000000 --- a/hardware/c_its-companion/fp-lib-table +++ /dev/null @@ -1,4 +0,0 @@ -(fp_lib_table - (version 7) - (lib (name "library") (type "KiCad") (uri "${KIPRJMOD}/library") (options "") (descr "")) -) diff --git a/hardware/c_its-companion/library/Seeed_Studio_XIAO_Series.kicad_sym b/hardware/c_its-companion/library/Seeed_Studio_XIAO_Series.kicad_sym deleted file mode 100644 index 624cb9c..0000000 --- a/hardware/c_its-companion/library/Seeed_Studio_XIAO_Series.kicad_sym +++ /dev/null @@ -1,11661 +0,0 @@ -(kicad_symbol_lib - (version 20251024) - (generator "kicad_symbol_editor") - (generator_version "10.0") - (symbol "XIAO-Add-On" - (exclude_from_sim no) - (in_bom yes) - (on_board yes) - (in_pos_files yes) - (duplicate_pin_numbers_are_jumpers no) - (property "Reference" "U" - (at -9.398 8.89 0) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (property "Value" "XIAO-Add-On" - (at -3.302 6.858 0) - (show_name no) - (do_not_autoplace no) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (property "Footprint" "Seeed_Studio_XIAO_Series:XIAO-14P-Add-On" - (at 0 0 0) - (show_name no) - (do_not_autoplace no) - (hide yes) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (property "Datasheet" "" - (at 0 0 0) - (show_name no) - (do_not_autoplace no) - (hide yes) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (property "Description" "" - (at 0 0 0) - (show_name no) - (do_not_autoplace no) - (hide yes) - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (symbol "XIAO-Add-On_0_1" - (rectangle - (start -10.16 5.842) - (end 15.24 -21.336) - (stroke - (width 0) - (type default) - ) - (fill - (type none) - ) - ) - ) - (symbol "XIAO-Add-On_1_1" - (pin passive line - (at -12.7 3.81 0) - (length 2.54) - (name "D0" - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (number "1" - (effects - (font - (size 1.27 1.27) - ) - ) - ) - ) - (pin passive line - (at -12.7 0 0) - (length 2.54) - (name "D1" - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (number "2" - (effects - (font - (size 1.27 1.27) - ) - ) - ) - ) - (pin passive line - (at -12.7 -3.81 0) - (length 2.54) - (name "D2" - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (number "3" - (effects - (font - (size 1.27 1.27) - ) - ) - ) - ) - (pin passive line - (at -12.7 -7.62 0) - (length 2.54) - (name "D3" - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (number "4" - (effects - (font - (size 1.27 1.27) - ) - ) - ) - ) - (pin passive line - (at -12.7 -11.43 0) - (length 2.54) - (name "D4" - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (number "5" - (effects - (font - (size 1.27 1.27) - ) - ) - ) - ) - (pin passive line - (at -12.7 -15.24 0) - (length 2.54) - (name "D5" - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (number "6" - (effects - (font - (size 1.27 1.27) - ) - ) - ) - ) - (pin passive line - (at -12.7 -19.05 0) - (length 2.54) - (name "D6" - (effects - (font - (size 1.27 1.27) - ) - ) - ) - (number "7" - (effects - (font - (size 1.27 1.27) - ) - ) - ) - ) - (pin passive line - (at 17.78 -19.05 180) - (length 2.54) - (name "D7" - (effects - (font - (size 1.27 1.27) - 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-## Builds common config for smartphone connected device -## -> only receive CAM and DENMs via UART (TODO: and BLE) - -cargo run --release --no-default-features -F esp,cam,denm,uart diff --git a/run-standalone-cam.sh b/run-standalone-cam.sh deleted file mode 100755 index 9bfafbe..0000000 --- a/run-standalone-cam.sh +++ /dev/null @@ -1,6 +0,0 @@ -#!/bin/sh - -## Builds common config for standalone device with automatic CAM transmission -## -> enable SPAT/ GLOSA with GNSS and a screen + CAM transmission - -cargo run --release -F cam_tx diff --git a/run-standalone-no_cam.sh b/run-standalone-no_cam.sh deleted file mode 100755 index e61d25c..0000000 --- a/run-standalone-no_cam.sh +++ /dev/null @@ -1,6 +0,0 @@ -#!/bin/sh - -## Builds common config for standalone device -## -> enable SPAT/ GLOSA with GNSS and a screen - -cargo run --release diff --git a/src/applogic/cam_tx.rs b/src/applogic/cam_tx.rs deleted file mode 100644 index 850ae40..0000000 --- a/src/applogic/cam_tx.rs +++ /dev/null @@ -1,465 +0,0 @@ -//! C-ITS CAM Transmission - -use alloc::vec::Vec; - -use c_its_parser::gn as geonetworking; -use c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions; -use c_its_parser::standards::cdd_1_3_1_1::its_container; -use c_its_parser::standards::extensions; - -const PH_MAX_LENGHT_M: f32 = 500.; -const PH_MAX_ITEMS: usize = 23; -const PH_MIN_DIST_M: f32 = 20.; - -/// Stand-alone CAM generator -/// -/// Generates CAM messages from time and [`PosVel`] updates -/// -/// # Send a message -/// ``` -/// use esp32_cits_core::tx::GnItsPayload as _; -/// -/// let (mut seq_no, mac_bytes) = { -/// // unwrap is fine since [`esp_hal::efuse::MacAddress`] is just an `[u8; 6]` -/// let mac_bytes = mac.as_bytes().try_into().unwrap(); -/// -/// (0, mac_bytes) -/// }; -/// -/// let mut cam = { -/// let station_id = make_station_id(mac); -/// info!("V2X Station ID: {station_id}"); -/// -/// applogic::cam_tx::CamState::new( -/// station_id, -/// OWN_STATION_TYPE, -/// OWN_VEHICLE_LENGTH, -/// OWN_VEHICLE_WIDTH, -/// ) -/// }; -/// -/// cam.update(time, fix.clone().into()); -/// match cam.encode_packet(mac_bytes, pos_vel, time, GN_IS_MOBILE, &mut seq_no) { -/// Ok(data) => { -/// if let Err(err) = -/// radio::send_80211_bcast_frame(&mut wlan_iface, &mac_bytes.clone(), &data) -/// { -/// warn!("Failed to send 802.11 frame: {err}"); -/// } -/// } -/// Err(err) => warn!("Failed to create CAM: {err}"), -/// } -/// ``` -#[derive(Debug)] -pub struct CamState { - station_id: u32, - station_type: its_container::StationType, - - vehicle_length_dm: u16, // vehicle length is in 10cm steps - vehicle_width_dm: u8, // vehicle width is in 10cm steps - - time: chrono::DateTime, - pos_state: esp32_cits_core::PosVel, - - /// database for path history, oldest item at the back of the vector - path_history: Vec, -} - -#[derive(Debug, Clone, Copy, PartialEq)] -struct PathPoint { - pos: geo_types::Point, - time: chrono::DateTime, - /// distance to previous point. Ignore on last point! - dist_m: f32, -} - -impl PathPoint { - fn new_from_pos(pos: &esp32_cits_core::PosVel, time: chrono::DateTime) -> Self { - Self { - pos: pos.position, - time, - dist_m: 0., - } - } - - fn new_from_pos_with_dist( - pos: &esp32_cits_core::PosVel, - time: chrono::DateTime, - dist_m: f32, - ) -> Self { - Self { - pos: pos.position, - time, - dist_m, - } - } -} - -impl CamState { - pub fn new( - station_id: u32, - station_type: c_its_parser::standards::extensions::ItsStationType, - vehicle_length_dm: u16, - vehicle_width_dm: u8, - ) -> Self { - Self { - station_id, - station_type: station_type.into(), - vehicle_length_dm, - vehicle_width_dm, - time: chrono::DateTime::::default(), - pos_state: esp32_cits_core::PosVel::default(), - path_history: Vec::with_capacity(PH_MAX_ITEMS + 1), - } - } - - pub fn update(&mut self, time: chrono::DateTime, pos: esp32_cits_core::PosVel) { - self.time = time; - self.pos_state = pos; - - // Update path history - Self::update_ph(&mut self.path_history, time, &self.pos_state); - } - - // this is a function, not a method for easier testing - fn update_ph( - path_history: &mut Vec, - time: chrono::DateTime, - pos: &esp32_cits_core::PosVel, - ) { - // Update path history - if path_history.is_empty() { - // prime with current position if empty - path_history.push(PathPoint::new_from_pos(pos, time)); - } else { - // unwrap is fine since we checked for non-empty before - let prev = path_history.first().unwrap(); - - // only add a point, if we moved more than PH_MIN_DIST_M - #[allow(clippy::cast_precision_loss, clippy::cast_possible_truncation)] - let dist = crate::geo_alg::haversine_dist(&prev.pos, &pos.position) as f32; - if dist > PH_MIN_DIST_M { - // new items shall be at the front of the vector - path_history.insert(0, PathPoint::new_from_pos_with_dist(pos, time, dist)); - } - } - - // check length (PH_MAX_LENGHT_M and PH_MAX_ITEMS points max) - if path_history.len() > PH_MAX_ITEMS { - let _ = path_history.pop(); - } - - let (_, cutoff_idx) = - path_history - .iter() - .enumerate() - .fold((0., None), |(len, cutoff_idx), (idx, item)| { - if cutoff_idx.is_none() { - let new_len = len + item.dist_m; - let new_cutoff_idx = if len > PH_MAX_LENGHT_M { - Some(idx) - } else { - None - }; - - (new_len, new_cutoff_idx) - } else { - (len, cutoff_idx) - } - }); - if let Some(idx) = cutoff_idx { - path_history.drain(idx..); - } - } - - fn make_ph(&self) -> Vec { - let mut ph = alloc::vec![]; - - self.path_history.iter().fold( - PathPoint::new_from_pos(&self.pos_state, self.time), - |prev_point, pt| { - // calculate delta position and append to `ph` - - let delta_time = pt.time - prev_point.time; - let delta_lat = pt.pos.y() - prev_point.pos.y(); - let delta_lon = pt.pos.x() - prev_point.pos.x(); - - // delta time is in 1/100 second / 10 ms steps - let path_delta_time = its_container::PathDeltaTime( - (delta_time.num_milliseconds().abs() / 10) - .min(65_535) // clamp to max value - .into(), - ); - let delta_latitude = its_container::DeltaLatitude::from_deg(delta_lat); - let delta_longitude = its_container::DeltaLongitude::from_deg(delta_lon); - let delta_altitude = its_container::DeltaAltitude::unavailable(); - - let ppoint = its_container::PathPoint::new( - its_container::DeltaReferencePosition::new( - delta_latitude, - delta_longitude, - delta_altitude, - ), - Some(path_delta_time), - ); - - ph.push(ppoint); - - *pt - }, - ); - - ph - } - - #[allow(clippy::too_many_lines)] - fn make_cam(&self) -> Result { - let header = its_container::ItsPduHeader::new( - 2, - extensions::ItsMessageId::Cam.as_u8(), - its_container::StationID(self.station_id), - ); - - let generation_delta_time = { - let its_timestamp = c_its_parser::time_utils::TimestampIts::from(self.time); - - #[allow(clippy::cast_possible_truncation)] - let ts_mod = (its_timestamp.0 % 65_536) as u16; - - cam_pdu_descriptions::GenerationDeltaTime(ts_mod) - }; - - let heading = match self.pos_state.heading_deg { - Some(value) => its_container::Heading { - heading_value: its_container::HeadingValue::from_deg(value) - .map_err(|err| alloc::format!("Failed to make HeadingValue: {err}"))?, - heading_confidence: its_container::HeadingConfidence(127), // unavailable for now - }, - None => its_container::Heading { - heading_value: its_container::HeadingValue(0), - heading_confidence: its_container::HeadingConfidence(127), // unavailable for now - }, - }; - let speed = match self.pos_state.speed_mps { - Some(value) => its_container::Speed { - speed_value: its_container::SpeedValue::from_mps(value) - .map_err(|err| alloc::format!("Failed to make SpeedValue: {err}"))?, - speed_confidence: its_container::SpeedConfidence(127), // unavailable for now - }, - None => its_container::Speed { - speed_value: its_container::SpeedValue(0), - speed_confidence: its_container::SpeedConfidence(127), // unavailable for now - }, - }; - let reference_position = its_container::ReferencePosition { - latitude: its_container::Latitude::from_deg(self.pos_state.position.y()), - longitude: its_container::Longitude::from_deg(self.pos_state.position.x()), - position_confidence_ellipse: its_container::PosConfidenceEllipse { - semi_major_confidence: its_container::SemiAxisLength(4095), // unavailable for now - semi_minor_confidence: its_container::SemiAxisLength(4095), // unavailable for now - semi_major_orientation: its_container::HeadingValue::unavailable(), - }, - altitude: its_container::Altitude { - altitude_value: its_container::AltitudeValue(800_001), // unavailable for now - altitude_confidence: its_container::AltitudeConfidence::unavailable, - }, - }; - - let basic_container = cam_pdu_descriptions::BasicContainer::new( - self.station_type.clone(), - reference_position, - ); - let high_frequency_container = - cam_pdu_descriptions::HighFrequencyContainer::basicVehicleContainerHighFrequency( - cam_pdu_descriptions::BasicVehicleContainerHighFrequency { - heading, - speed, - drive_direction: its_container::DriveDirection::unavailable, - vehicle_length: its_container::VehicleLength { - vehicle_length_value: its_container::VehicleLengthValue( - self.vehicle_length_dm, - ), - vehicle_length_confidence_indication: - its_container::VehicleLengthConfidenceIndication::unavailable, - }, - vehicle_width: its_container::VehicleWidth(self.vehicle_width_dm), - longitudinal_acceleration: its_container::LongitudinalAcceleration { - longitudinal_acceleration_value: - its_container::LongitudinalAccelerationValue::unavailable(), - longitudinal_acceleration_confidence: its_container::AccelerationConfidence( - 102, // unavailable - ), - }, - curvature: its_container::Curvature { - curvature_value: its_container::CurvatureValue::unavailable(), - curvature_confidence: its_container::CurvatureConfidence::unavailable, - }, - curvature_calculation_mode: - its_container::CurvatureCalculationMode::unavailable, - yaw_rate: its_container::YawRate { - yaw_rate_value: its_container::YawRateValue::unavailable(), - yaw_rate_confidence: its_container::YawRateConfidence::unavailable, - }, - acceleration_control: None, - lane_position: None, - steering_wheel_angle: None, - lateral_acceleration: None, - vertical_acceleration: None, - performance_class: None, - cen_dsrc_tolling_zone: None, - }, - ); - let low_frequency_container = - cam_pdu_descriptions::LowFrequencyContainer::basicVehicleContainerLowFrequency( - cam_pdu_descriptions::BasicVehicleContainerLowFrequency { - vehicle_role: its_container::VehicleRole::default, - exterior_lights: its_container::ExteriorLights::default(), - path_history: its_container::PathHistory(self.make_ph()), - }, - ); - - let cam_parameters = cam_pdu_descriptions::CamParameters::new( - basic_container, - high_frequency_container, - Some(low_frequency_container), - None, - ); - - Ok(cam_pdu_descriptions::CAM::new( - header, - cam_pdu_descriptions::CoopAwareness::new(generation_delta_time, cam_parameters), - )) - } -} - -impl esp32_cits_core::tx::GnItsPayload for CamState { - fn make_eh( - &self, - address: [u8; 6], - own_position: &esp32_cits_core::PosVel, - time: chrono::DateTime, - _seq_no: &mut u16, - ) -> Result< - ( - geonetworking::en302636_4_1::ExtendedHeader, - Option, - u8, - ), - alloc::string::String, - > { - let station_type = geonetworking::en302636_4_1::StationType::try_from(self.station_type.0) - .unwrap_or_default(); - - // CAM always uses SHB, hop-limit 1 - Ok(( - esp32_cits_core::tx::gn::make_shb_eh(address, station_type, own_position, time)?, - None, - 1, - )) - } - - fn make_payload( - &self, - ) -> Result<(Vec, c_its_parser::standards::extensions::ItsMessageId), alloc::string::String> - { - let msg = self.make_cam()?; - let uper = msg.encode_to_uper()?; - Ok((uper, c_its_parser::standards::extensions::ItsMessageId::Cam)) - } -} - -#[cfg(test)] -mod tests { - use alloc::vec; - - use super::*; - use crate::init_test_env_logger; - - fn posstate_from_pos(position: geo_types::Point) -> esp32_cits_core::PosVel { - esp32_cits_core::PosVel { - position, - heading_deg: None, - speed_mps: None, - } - } - - #[test] - fn cam_path_history_update() { - init_test_env_logger(); - - let time = chrono::DateTime::from_timestamp(0, 0).unwrap(); - let p1 = geo_types::Point::new(10., 53.5); - let p2 = geo_types::Point::new(10., 53.5 + 0.000045); // ~5m further (< PH_MIN_DIST_M) - let p3 = geo_types::Point::new(10., 53.5 + 0.00027); // ~30m further (> PH_MIN_DIST_M) - - let ps1 = posstate_from_pos(p1); - let pp1 = PathPoint::new_from_pos(&ps1, time); - let ps2 = posstate_from_pos(p2); - let pp2 = PathPoint::new_from_pos(&ps2, time); - let ps3 = posstate_from_pos(p3); - let pp3 = PathPoint::new_from_pos_with_dist(&ps3, time, 30.02267); - - let mut path_history: Vec = vec![]; - - // add first point, expect one point in PH - CamState::update_ph(&mut path_history, time, &posstate_from_pos(p1)); - assert_eq!(1, path_history.len()); - assert_eq!(&pp1, path_history.first().unwrap()); - - // add insignificant point, expect still one point in PH - CamState::update_ph(&mut path_history, time, &posstate_from_pos(p2)); - assert_eq!(1, path_history.len()); - assert_eq!(&pp1, path_history.first().unwrap()); - - // add significantly moved point, expect [pp3, pp1] vector - CamState::update_ph(&mut path_history, time, &posstate_from_pos(p3)); - assert_eq!(2, path_history.len()); - assert_eq!(&pp3, path_history.first().unwrap()); - assert_eq!(&pp1, path_history.last().unwrap()); - } - - #[test] - fn cam_path_history_max_len() { - init_test_env_logger(); - - let time = chrono::DateTime::from_timestamp(0, 0).unwrap(); - let p1 = geo_types::Point::new(10., 53.5); - let p2 = geo_types::Point::new(10., 53.5 + 0.00023); // at ~25m from p1 (> PH_MIN_DIST_M) - let p3 = geo_types::Point::new(10., 53.5 + 0.00445); // at ~495m from p1 (slightly less than PH_MAX_LENGHT_M) - let p4 = geo_types::Point::new(10., 53.5 + 0.00477); // at ~530m from p1 (slightly more than PH_MAX_LENGHT_M) - - let ps1 = posstate_from_pos(p1); - let pp1 = PathPoint::new_from_pos(&ps1, time); - let ps2 = posstate_from_pos(p2); - let pp2 = PathPoint::new_from_pos(&ps2, time); - let ps3 = posstate_from_pos(p3); - let pp3 = PathPoint::new_from_pos(&ps3, time); - let ps4 = posstate_from_pos(p4); - let pp4 = PathPoint::new_from_pos(&ps4, time); - - let mut path_history: Vec = vec![]; - - // prime with p3, p4 (should give a length of ~470m) - CamState::update_ph(&mut path_history, time, &posstate_from_pos(p4)); - CamState::update_ph(&mut path_history, time, &posstate_from_pos(p3)); - assert_eq!(2, path_history.len()); - - // Add p2, should drop p4 from vector because of > PH_MAX_LENGHT_M - CamState::update_ph(&mut path_history, time, &posstate_from_pos(p2)); - assert_eq!(2, path_history.len()); - assert_eq!(p2, path_history.get(0).unwrap().pos); - assert_eq!(469.24323, path_history.get(0).unwrap().dist_m); - assert_eq!(p3, path_history.get(1).unwrap().pos); - assert_eq!(35.582424, path_history.get(1).unwrap().dist_m); - - // Add p1, should not drop anything from vector because still < PH_MAX_LENGHT_M - CamState::update_ph(&mut path_history, time, &posstate_from_pos(p1)); - assert_eq!(3, path_history.len()); - assert_eq!(p1, path_history.get(0).unwrap().pos); - assert_eq!(25.57487, path_history.get(0).unwrap().dist_m); - assert_eq!(p2, path_history.get(1).unwrap().pos); - assert_eq!(469.24323, path_history.get(1).unwrap().dist_m); - assert_eq!(p3, path_history.get(2).unwrap().pos); - assert_eq!(35.582424, path_history.get(2).unwrap().dist_m); - } -} diff --git a/src/applogic/mod.rs b/src/applogic/mod.rs index 70cc086..1cbe9a4 100644 --- a/src/applogic/mod.rs +++ b/src/applogic/mod.rs @@ -6,7 +6,7 @@ use alloc::rc::Rc; use alloc::vec::Vec; use log::info; -#[cfg(feature = "spat")] +#[cfg(any(feature = "gnss", feature = "spat"))] use log::warn; #[cfg(feature = "spat")] use log::{debug, error}; @@ -18,8 +18,6 @@ pub mod v2x; #[cfg(feature = "cam")] pub mod cam; -#[cfg(any(feature = "cam_tx", test))] -pub mod cam_tx; #[cfg(feature = "denm")] pub mod denm; #[cfg(feature = "spat")] @@ -33,13 +31,13 @@ const PRUNE_INTERVAL: chrono::Duration = chrono::Duration::seconds(5); #[cfg(feature = "spat")] const GLOSA_SEARCH_DIST_M: f32 = 400.; #[cfg(feature = "spat")] -const GLOSA_SEARCH_ANGLE_PARAMS: [(f32, f32); 2] = [(400., 45.), (50., 180.)]; // far and near (distance, angle) tuple +const GLOSA_SEARCH_ANGLE_PARAMS: [(f32, f32); 2] = [(400., 20.), (50., 180.)]; // far and near (distance, angle) tuple #[cfg(feature = "spat")] const GLOSA_LANE_HEADING_DIFF_DEG: f32 = 35.; #[cfg(feature = "spat")] -const GLOSA_AT_LANE_OFFSET_M: f64 = 10.; +const GLOSA_AT_LANE_OFFSET_M: f64 = 30.; #[cfg(feature = "spat")] -const GLOSA_LANE_LEFT_OFFSET_M: f64 = 20.; +const GLOSA_LANE_LEFT_OFFSET_M: f64 = 50.; #[cfg(feature = "spat")] const GLOSA_STOP_LINE_PASSED_M: f64 = 5.; @@ -49,7 +47,7 @@ pub struct State { time: chrono::NaiveDateTime, #[allow(unused)] - pos: esp32_cits_core::PosVel, + pos: PositionState, #[cfg(feature = "spat")] last_prune: chrono::NaiveDateTime, @@ -130,7 +128,15 @@ pub struct GnssFix { pub speed_mps: Option, } -impl From<&GnssFix> for esp32_cits_core::PosVel { +#[allow(unused)] +#[derive(Debug, Default, Clone, PartialEq)] +pub struct PositionState { + pub position: geo_types::Point, + pub heading_deg: Option, + pub speed_mps: Option, +} + +impl From<&GnssFix> for PositionState { fn from(value: &GnssFix) -> Self { let position = geo_types::Point::new(value.longitude_deg, value.latitude_deg); @@ -141,7 +147,7 @@ impl From<&GnssFix> for esp32_cits_core::PosVel { } } } -impl From for esp32_cits_core::PosVel { +impl From for PositionState { fn from(value: GnssFix) -> Self { (&value).into() } @@ -204,7 +210,7 @@ impl State { Self { initialized: false, time: chrono::NaiveDateTime::default(), - pos: esp32_cits_core::PosVel::default(), + pos: PositionState::default(), #[cfg(feature = "spat")] last_prune: chrono::NaiveDateTime::default(), #[cfg(feature = "spat")] @@ -631,11 +637,6 @@ impl State { pub fn time(&self) -> chrono::prelude::NaiveDateTime { self.time } - - #[allow(unused)] - pub fn pos(&self) -> &esp32_cits_core::PosVel { - &self.pos - } } #[cfg(test)] @@ -687,13 +688,13 @@ mod tests { let own_pos_passed = geo_types::Point::new(9.977217, 53.5560602); let own_heading = 90.; - state.pos.heading_deg = Some(own_heading); + state.heading_deg = Some(own_heading); - state.pos.position = own_pos_infront; + state.position = own_pos_infront; state.run_glosa(); assert!(matches!(state.glosa_state, GlosaState::Idle)); - state.pos.position = own_pos_inside; + state.position = own_pos_inside; state.run_glosa(); assert!(matches!(state.glosa_state, GlosaState::Locked(_))); if let GlosaState::Locked(info) = &state.glosa_state { @@ -701,7 +702,7 @@ mod tests { assert!(info.lane_id == 1 || info.lane_id == 2); } - state.pos.position = own_pos_inside; + state.position = own_pos_inside; state.run_glosa(); assert!(matches!(state.glosa_state, GlosaState::Locked(_))); if let GlosaState::Locked(info) = &state.glosa_state { @@ -709,7 +710,7 @@ mod tests { assert!(info.lane_id == 1 || info.lane_id == 2); } - state.pos.position = own_pos_passed; + state.position = own_pos_passed; state.run_glosa(); assert!(matches!(state.glosa_state, GlosaState::Idle)); } diff --git a/src/io.rs b/src/io.rs index 44997ee..cb23055 100644 --- a/src/io.rs +++ b/src/io.rs @@ -5,12 +5,6 @@ pub mod msg { include!(concat!(env!("OUT_DIR"), "/c_its_io.rs")); } -use alloc::string::ToString; -use alloc::vec::Vec; - -use c_its_parser::gn as geonetworking; -use log::error; - impl From for msg::SerialOutputMsg { fn from(value: msg::RawMsgRx) -> Self { use msg::serial_output_msg::Payload; @@ -31,145 +25,7 @@ impl From for msg::SerialOutputMsg { } } -impl msg::RawMsgRx { - pub fn serialize_uart_proto(&self) -> Vec { - serialize_serial_msg(&Into::::into(self.clone())) - } -} -impl msg::DenmEvent { - #[allow(unused)] - pub fn serialize_uart_proto(&self) -> Vec { - serialize_serial_msg(&Into::::into(*self)) - } -} - -#[derive(Debug, Default)] -pub struct Parser { - buffer: alloc::vec::Vec, -} - -impl Parser { - const SOF_LEN: u16 = 4; - const SOF1: u8 = 0x56; - const SOF2: u8 = 0x32; - const SOF3: u8 = 0x58; - const SOF4: u8 = 0x2B; - const EOF_LEN: u16 = 2; - #[allow(unused)] - const EOF1: u8 = 0x0d; - #[allow(unused)] - const EOF2: u8 = 0x0a; - const LENGTH_LEN: u16 = 2; - - /// Parses incoming data and return list of messages - pub fn parse(&mut self, input: &[u8]) -> alloc::vec::Vec { - use prost::Message as _; - - // combine with existing data - self.buffer.append(&mut input.to_vec()); - - // find start of frame and parse - let mut output = alloc::vec![]; - while let Some(pos) = Self::find_sof(&self.buffer) { - // drop everything before the SOF - self.buffer.drain(..pos); - - // get length field and check buffer size - if let Some(len_bytes) = self - .buffer - .get(usize::from(Self::SOF_LEN)..usize::from(Self::SOF_LEN + Self::LENGTH_LEN)) - { - // unwrap is fine since we queried 2 bytes before, so we can also convert to 2-byte slice - let msg_size = u16::from_be_bytes(len_bytes.try_into().unwrap()); - - let required_buf_size = Self::SOF_LEN + Self::LENGTH_LEN + msg_size + Self::EOF_LEN; - if let Some(payload) = self.buffer.get( - usize::from(Self::SOF_LEN + Self::LENGTH_LEN) - ..usize::from(required_buf_size - 2), - ) { - match msg::SerialInputMsg::decode(payload) { - Ok(data) => { - output.push(data); - } - Err(err) => error!("Failed to parse input: {err:?}"), - } - - // consume buffer - self.buffer.drain(..usize::from(required_buf_size)); - } else { - break; - } - } - } - - output - } - - /// Returns the start index of the SOF sequence, if present - fn find_sof(input: &[u8]) -> Option { - // search for SOF - if let Some(sof1_pos) = input.iter().position(|i| *i == Self::SOF1) { - // drop everything before sof1_pos and check if remainder continues with SOF sequence - let (_, msg) = input.split_at(sof1_pos); - if msg.starts_with(&[Self::SOF1, Self::SOF2, Self::SOF3, Self::SOF4]) { - // found the SOF sequence - return Some(sof1_pos); - } - } - - // if we reach this position, SOF sequence wasn't found - None - } -} - -fn serialize_serial_msg(msg: &T) -> Vec -where - T: prost::Message, -{ - let mut msg_buf = msg.encode_to_vec(); - - let sof = [0x56u8, 0x32, 0x58, 0x2B]; - let eof = [0x0du8, 0x0a]; - #[allow(clippy::cast_possible_truncation)] - let len: [u8; 2] = (msg_buf.len() as u16).to_be_bytes(); - - let mut out = sof.to_vec(); - out.extend_from_slice(&len); - out.append(&mut msg_buf); - out.extend_from_slice(&eof); - - out -} - -impl From for crate::applogic::GnssFix { - fn from(value: msg::PositionState) -> Self { - let time = - chrono::DateTime::from_timestamp_millis(value.timestamp_ms).map(|v| v.naive_utc()); - - let latitude_deg = value.position.latitude_deg.into(); - let longitude_deg = value.position.longitude_deg.into(); - let heading_deg = value.heading.map(|v| { - #[allow(clippy::cast_precision_loss)] - let val = (v as f32) / 10.; - val - }); - let speed_mps = value.speed.map(|v| { - #[allow(clippy::cast_precision_loss)] - let val = (v as f32) / 100.; - val - }); - - Self { - time, - latitude_deg, - longitude_deg, - heading_deg, - speed_mps, - } - } -} - -impl From for esp32_cits_core::PosVel { +impl From for crate::applogic::PositionState { fn from(value: msg::PositionState) -> Self { let position = geo_types::Point::new( value.position.longitude_deg.into(), @@ -193,323 +49,3 @@ impl From for esp32_cits_core::PosVel { } } } - -impl From for esp32_cits_core::PosVel { - fn from(value: msg::ItsPosition) -> Self { - let latitude_deg = f64::from(value.latitude) / 10_000_000.; - let longitude_deg = f64::from(value.longitude) / 10_000_000.; - let position = geo_types::Point::new(longitude_deg, latitude_deg); - - Self { - position, - heading_deg: None, - speed_mps: None, - } - } -} - -impl esp32_cits_core::tx::GnItsPayload for msg::RawMsgTx { - fn make_eh( - &self, - address: [u8; 6], - own_position: &esp32_cits_core::PosVel, - time: chrono::DateTime, - seq_no: &mut u16, - ) -> Result< - ( - c_its_parser::gn::en302636_4_1::ExtendedHeader, - Option, - u8, - ), - alloc::string::String, - > { - let station_type = self - .station_type - .and_then(|v| { - #[allow(clippy::cast_possible_truncation)] - let raw_val = v as u8; - geonetworking::en302636_4_1::StationType::try_from(raw_val).ok() - }) - .unwrap_or_default(); - #[allow(clippy::cast_possible_truncation)] - let hop_limit = self.hop_limit as u8; - - Ok(match self.gn_transport() { - msg::GnTransport::Gac => { - if self.gn_area.position.is_none() { - return Err("Failed to create GAC: gnArea.position missing".to_string()); - } - - *seq_no += 1; - - let (atype, geoanycast) = Self::make_geobcast( - address, - station_type, - own_position, - time, - self.gn_area, - *seq_no, - )?; - let eh = geonetworking::en302636_4_1::ExtendedHeader::GAC(geoanycast); - (eh, Some(atype), hop_limit) - } - msg::GnTransport::Gbc => { - if self.gn_area.position.is_none() { - return Err("Failed to create GAC: gnArea.position missing".to_string()); - } - - *seq_no += 1; - - let (atype, geoanycast) = Self::make_geobcast( - address, - station_type, - own_position, - time, - self.gn_area, - *seq_no, - )?; - let eh = geonetworking::en302636_4_1::ExtendedHeader::GBC(geoanycast); - (eh, Some(atype), hop_limit) - } - msg::GnTransport::Tsb => { - *seq_no += 1; - - ( - esp32_cits_core::tx::gn::make_tsb_eh( - address, - station_type, - own_position, - time, - *seq_no, - )?, - None, - hop_limit, - ) - } - msg::GnTransport::Shb => ( - esp32_cits_core::tx::gn::make_shb_eh(address, station_type, own_position, time)?, - None, - 1, - ), - }) - } - - fn make_payload( - &self, - ) -> Result<(Vec, c_its_parser::standards::extensions::ItsMessageId), alloc::string::String> - { - #[allow(clippy::cast_possible_truncation)] - let message_id = (self.message_type as u8).try_into()?; - Ok((self.payload.clone(), message_id)) - } -} - -impl msg::RawMsgTx { - fn make_geobcast( - address: [u8; 6], - station_type: geonetworking::en302636_4_1::StationType, - own_position: &esp32_cits_core::PosVel, - time: chrono::DateTime, - gn_area: msg::GnArea, - sequence_number: u16, - ) -> Result< - ( - c_its_parser::gn::en302636_4_1::AreaType, - geonetworking::en302636_4_1::GeoBroadcast, - ), - alloc::string::String, - > { - let source_position_vector = - esp32_cits_core::tx::gn::make_lpv(address, station_type, own_position, time)?; - - let (atype, dist_a, dist_b, angle) = match gn_area.area() { - msg::GnAreaShape::EtsiAreashapeCircle => ( - c_its_parser::gn::en302636_4_1::AreaType::Circular, - gn_area.dist_a, - None, - None, - ), - msg::GnAreaShape::EtsiAreashapeRectangle => ( - c_its_parser::gn::en302636_4_1::AreaType::Rectangular, - gn_area.dist_a, - gn_area.dist_b, - gn_area.angle, - ), - msg::GnAreaShape::EtsiAreashapeEllipsis => ( - c_its_parser::gn::en302636_4_1::AreaType::Ellipsoidal, - gn_area.dist_a, - gn_area.dist_b, - gn_area.angle, - ), - }; - - #[allow(clippy::cast_possible_truncation)] - let latitude_deg = own_position.position.y() as f32; - #[allow(clippy::cast_possible_truncation)] - let longitude_deg = own_position.position.x() as f32; - let distance_a = dist_a - .map(|v| { - #[allow(clippy::cast_possible_truncation, clippy::cast_sign_loss)] - let val = v as u16; - val - }) - .unwrap_or_default(); - let distance_b = dist_b - .map(|v| { - #[allow(clippy::cast_possible_truncation, clippy::cast_sign_loss)] - let val = v as u16; - val - }) - .unwrap_or_default(); - let angle = angle - .map(|v| { - #[allow(clippy::cast_possible_truncation, clippy::cast_sign_loss)] - let val = v as u16; - val - }) - .unwrap_or_default(); - - let gac = geonetworking::en302636_4_1::GeoAnycast::try_from_values( - sequence_number, - source_position_vector, - latitude_deg, - longitude_deg, - distance_a, - distance_b, - angle, - ) - .map_err(|err| alloc::format!("{err}"))?; - - Ok((atype, gac)) - } -} - -#[cfg(test)] -mod tests { - - use super::*; - use crate::init_test_env_logger; - - impl From for msg::SerialInputMsg { - fn from(value: msg::RawMsgTx) -> Self { - use msg::serial_input_msg::Payload; - - Self { - payload: Some(Payload::TxMsg(value)), - } - } - } - - impl From for msg::SerialInputMsg { - fn from(value: msg::PositionState) -> Self { - use msg::serial_input_msg::Payload; - - Self { - payload: Some(Payload::Position(value)), - } - } - } - - // manual example data: - // SerialInputMsg(RawMsgTx): 5632582b0040123e0a340202c173256817284029d5b3400f1feaf01ffffffc23b7743e00000fc0007e8138250737feebfff600000dffff7ffff1ce40400010011807220028020d0a - // SerialInputMsg(PositionState): 5632582b00170a1509a0bbe2a29f010000120a0d00002842150000b8410d0a - - #[test] - fn uart_parser() { - // generate some test UART input messages - let raw_tx = msg::RawMsgTx { - payload: crate::testdata::CAM_SMALL.to_vec(), - message_type: 1, - gn_transport: msg::GnTransport::Shb.into(), - gn_area: msg::GnArea { - area: None, - position: None, - dist_a: None, - dist_b: None, - angle: None, - }, - hop_limit: 2, - station_type: None, - }; - let raw_tx_buf = serialize_serial_msg::(&raw_tx.clone().into()); - - let pos_state = msg::PositionState { - timestamp_ms: 1785144196000, - position: msg::Position { - latitude_deg: 42., - longitude_deg: 23., - }, - heading: None, - speed: None, - }; - let pos_state_buf = serialize_serial_msg::(&pos_state.clone().into()); - - let mut parser = Parser::default(); - - // feed individual complete messages to parser - let output = parser.parse(&raw_tx_buf); - assert_eq!(1, output.len()); - assert_eq!( - &msg::SerialInputMsg::from(raw_tx.clone()), - output.get(0).unwrap() - ); - - let output = parser.parse(&pos_state_buf); - assert_eq!(1, output.len()); - assert_eq!( - &msg::SerialInputMsg::from(pos_state.clone()), - output.get(0).unwrap() - ); - - // feed multiple complete messages to parser - let mut combined_buf = pos_state_buf.clone(); - combined_buf.extend_from_slice(&raw_tx_buf); - - let output = parser.parse(&combined_buf); - assert_eq!(2, output.len()); - assert_eq!( - &msg::SerialInputMsg::from(pos_state.clone()), - output.get(0).unwrap() - ); - assert_eq!( - &msg::SerialInputMsg::from(raw_tx.clone()), - output.get(1).unwrap() - ); - - // feed partial messages to parser - let buf1 = &raw_tx_buf[0..3]; - let buf2 = &raw_tx_buf[3..]; - - let output = parser.parse(buf1); - assert_eq!(0, output.len()); - - let output = parser.parse(buf2); - assert_eq!(1, output.len()); - assert_eq!( - &msg::SerialInputMsg::from(raw_tx.clone()), - output.get(0).unwrap() - ); - - // feed messages with garbage in between - let mut buf1 = vec![0xabu8, 0xcd]; // prepend some garbage - buf1.extend_from_slice(&raw_tx_buf[0..3]); - let mut buf2 = (&raw_tx_buf[3..]).to_vec(); - buf2.extend_from_slice(&[0xfeu8, 0x42]); // append some garbage - buf2.extend_from_slice(&pos_state_buf); // append second message - buf2.extend_from_slice(&[0x11u8, 0x22]); // append some more garbage - - let output = parser.parse(&buf1); - assert_eq!(0, output.len()); - - let output = parser.parse(&buf2); - assert_eq!(2, output.len()); - assert_eq!( - &msg::SerialInputMsg::from(raw_tx.clone()), - output.get(0).unwrap() - ); - assert_eq!( - &msg::SerialInputMsg::from(pos_state.clone()), - output.get(1).unwrap() - ); - } -} diff --git a/src/main.rs b/src/main.rs index 67e181c..bddb837 100644 --- a/src/main.rs +++ b/src/main.rs @@ -7,18 +7,6 @@ )] // #![deny(clippy::large_stack_frames)] -// we can't use UART I/O and GNSS at the same time -#[cfg(all(feature = "uart", feature = "gnss_ubx", feature = "gnss_l67k"))] -compile_error!( - "feature \"uart\" and features \"gnss_ubx\" or \"gnss_l67k\" cannot be enabled at the same time" -); -// autonomous CAM generation need a time and position source (aka _gnss) -#[cfg(all(feature = "cam_tx", not(feature = "_gnss")))] -compile_error!("feature \"cam_tx\" needs a time and position source (either GNSS or UART)"); -// we can't have both GNSS drivers enabled at the same time -#[cfg(all(feature = "gnss_ubx", feature = "gnss_l67k"))] -compile_error!("feature \"gnss_ubx\" and feature \"gnss_l67k\" cannot be enabled at the same time"); - use alloc::string::ToString as _; use alloc::vec::Vec; use core::cell::RefCell; @@ -26,19 +14,17 @@ use core::cell::RefCell; use core::cell::UnsafeCell; use c_its_parser::gn as geonetworking; -#[cfg(feature = "cam_tx")] -use c_its_parser::standards::extensions::ItsStationType; use critical_section::Mutex; use crossbeam_queue::ArrayQueue; use embassy_executor::Spawner; -#[cfg(feature = "gnss_l67k")] +#[cfg(feature = "gnss")] use embassy_gps::gps::l76k; use esp_backtrace as _; use esp_hal::clock::CpuClock; use esp_hal::timer::timg::TimerGroup; #[cfg(all(target_arch = "riscv32", feature = "spat"))] use esp_println::println; -use esp32_cits_core::radio; +use esp_radio::wifi; use geonetworking::Decode as _; use log::{error, info, warn}; @@ -47,40 +33,22 @@ extern crate alloc; mod applogic; mod cache; mod geo_alg; -#[cfg(feature = "uart")] mod io; +mod radio; #[cfg(feature = "screen")] mod screen; -#[cfg(feature = "gnss_ubx")] -mod ubx; const WIFI_CHANNEL: radio::Channel = 180; -const WIFI_TXPOWER: i8 = 10; // dBm, 2..20 #[cfg(feature = "spat")] const SPAT_RATE_LIMIT: u8 = 5; // keep every n-th message -#[cfg(any(feature = "cam_tx", feature = "uart"))] -const GN_IS_MOBILE: bool = true; -#[cfg(feature = "cam_tx")] -const OWN_STATION_TYPE: ItsStationType = ItsStationType::Cyclist; -#[cfg(feature = "cam_tx")] -const OWN_VEHICLE_WIDTH: u8 = 5; // in 10cm steps! -#[cfg(feature = "cam_tx")] -const OWN_VEHICLE_LENGTH: u16 = 20; // in 10cm steps! -#[cfg(feature = "_uart")] -const SERIAL_FIFO_SIZE_THLD: u8 = 100; // hardware has max. 128 byte // This creates a default app-descriptor required by the esp-idf bootloader. // For more information see: esp_bootloader_esp_idf::esp_app_desc!(); -#[cfg(feature = "_gnss")] +#[cfg(feature = "gnss")] static GNSS_UPDATE: Mutex>> = Mutex::new(RefCell::new(None)); static WIFI_RX_QUEUE: Mutex>>>> = Mutex::new(RefCell::new(None)); -#[cfg(feature = "_uart")] -static UART_RX_BUF: Mutex>>> = Mutex::new(RefCell::new(None)); -#[cfg(feature = "_uart")] -static SERIAL: Mutex>>> = - Mutex::new(RefCell::new(None)); #[allow( clippy::large_stack_frames, @@ -149,38 +117,21 @@ async fn main(spawner: Spawner) -> ! { screen }; - // Setup UART I/O channel - #[cfg(feature = "uart")] - setup_uart0( - 115_200, - Some(b'\n'), - peripherals.GPIO12, - peripherals.GPIO11, - peripherals.UART0, - serial_handler, - ) - .expect("Failed to initialize UART"); - // Setup WiFi // sadly, it doesn't work any more when we move `esp_radio::wifi::new` to `setup_wifi_sniffer` - let (mut wifi_controller, interfaces) = esp_radio::wifi::new( + let (mut wifi_controller, mut interfaces) = esp_radio::wifi::new( peripherals.WIFI, esp_radio::wifi::ControllerConfig::default(), ) .expect("Failed to initialize Wi-Fi controller"); - if let Err(err) = wifi_controller.set_band_mode(esp_radio::wifi::BandMode::_5G) { error!("Failed to set WiFi to 5GHz only: {err}"); } - if let Err(err) = wifi_controller.set_max_tx_power(WIFI_TXPOWER * 4) { - error!("Failed to set WiFi TX power: {err}"); - } critical_section::with(|cs| { WIFI_RX_QUEUE.borrow(cs).replace(Some(ArrayQueue::new(2))); }); - let mut wlan_iface = interfaces.sniffer; - radio::setup_wifi_sniffer(WIFI_CHANNEL, &mut wlan_iface, handle_frame) + radio::setup_wifi_sniffer(WIFI_CHANNEL, &mut interfaces.sniffer, handle_frame) .expect("Fatal error initializing 802.11p sniffer"); info!("WiFi promiscuous mode on channel {WIFI_CHANNEL} running"); @@ -188,15 +139,14 @@ async fn main(spawner: Spawner) -> ! { let mac = esp_hal::efuse::base_mac_address(); info!("WiFi MAC: {mac}"); - // Setup GNSS: - // Seeed XIAO L67K: + // Setup GNSS: Seeed XIAO L67K: // RX: D7/ GPIO12 // TX: D6/ GPIO11 // WAKEUP: D0/ GPIO1 -> HIGH for active, LOW for Sleep // RESET: D2/ GPIO25 -> HIGH for normal, LOW for Reset - #[cfg(feature = "gnss_l67k")] + #[cfg(feature = "gnss")] spawner.spawn( - gnss_l67k_task( + gnss_task( peripherals.GPIO1, peripherals.GPIO25, peripherals.UART0, @@ -205,167 +155,14 @@ async fn main(spawner: Spawner) -> ! { ) .expect("Failed to spawn GNSS task"), ); - - // U-Blox module: - // RX: D7/ GPIO12 - // TX: D6/ GPIO11 - // RESET: D2/ GPIO25 -> HIGH for normal, LOW for Reset - #[cfg(feature = "gnss_ubx")] - { - setup_uart0( - 9600, - Some(b'\n'), - peripherals.GPIO12, - peripherals.GPIO11, - peripherals.UART0, - serial_handler, - ) - .expect("Failed to initialize UART for GNSS"); - - // do some settings (UART receive and parsing runs in main loop) - spawner - .spawn(gnss_ubx_config(peripherals.GPIO25).expect("Failed to spawn GNSS config task")); - } - - #[cfg(feature = "_gnss")] + #[cfg(feature = "gnss")] info!("GNSS task started, waiting for GNSS fix..."); - #[cfg(any(feature = "cam_tx", feature = "uart"))] - let (mut seq_no, mac_bytes) = { - // unwrap is fine since [`esp_hal::efuse::MacAddress`] is just an `[u8; 6]` - let mac_bytes = mac.as_bytes().try_into().unwrap(); - - (0, mac_bytes) - }; - let mut state = applogic::State::new(); - #[cfg(feature = "cam_tx")] - let mut cam = { - let station_id = make_station_id(mac); - info!("V2X Station ID: {station_id}"); - - applogic::cam_tx::CamState::new( - station_id, - OWN_STATION_TYPE, - OWN_VEHICLE_LENGTH, - OWN_VEHICLE_WIDTH, - ) - }; - #[cfg(feature = "uart")] - let mut uart_input = io::Parser::default(); - #[cfg(feature = "gnss_ubx")] - let mut ubx_parser = ublox::Parser::default(); loop { embassy_time::Timer::after(embassy_time::Duration::from_millis(1)).await; - #[cfg(feature = "_uart")] - { - let mut new_data = None; - critical_section::with(|cs| { - let mut buf_rc = UART_RX_BUF.borrow(cs).borrow_mut(); - // unwrap is fine b/c we stored something in it before - let buf = buf_rc.as_mut().unwrap(); - - // we move the buffer to new_data to do the processing outside of the critical section lock - if !buf.is_empty() { - new_data = Some(core::mem::take(buf)); - } - }); - - if let Some(data) = new_data { - #[cfg(feature = "uart")] - { - for msg in uart_input.parse(&data) { - match msg.payload { - Some(io::msg::serial_input_msg::Payload::Position(fix)) => { - let pos_state = fix.into(); - - critical_section::with(|cs| { - let gnss_update_ref = GNSS_UPDATE.borrow(cs); - gnss_update_ref.replace(Some(pos_state)); - }); - } - Some(io::msg::serial_input_msg::Payload::TxMsg(tx_request)) => { - use esp32_cits_core::tx::GnItsPayload as _; - - info!( - "UART: Got new TX message: Type {} with {} bytes", - tx_request.message_type, - tx_request.payload.len() - ); - let own_position = state.pos(); - let time = state.time().and_utc(); - - match tx_request.encode_packet( - mac_bytes, - own_position, - time, - GN_IS_MOBILE, - &mut seq_no, - ) { - Ok(data) => { - if let Err(err) = radio::send_80211_bcast_frame( - &mut wlan_iface, - &mac_bytes.clone(), - &data, - ) { - warn!("Failed to send 802.11 frame: {err}"); - } - } - Err(err) => warn!("Failed to create GN message: {err}"), - } - } - None => {} - } - } - } - #[cfg(feature = "gnss_ubx")] - { - let mut it = ubx_parser.consume_ubx(&data); - loop { - match it.next() { - Some(Ok(ublox::UbxPacket::Proto27(packet_ref))) => match &packet_ref { - ublox::proto27::PacketRef::MonVer(packet) => { - println!("{}", ubx::pretty_print_mon_ver(packet)); - } - ublox::proto27::PacketRef::MonComms(packet) => { - println!("{}", ubx::pretty_print_mon_comms(packet)); - } - ublox::proto27::PacketRef::MonRf(packet) => { - println!("{}", ubx::pretty_print_mon_rf(packet)); - } - ublox::proto27::PacketRef::NavSat(packet) => { - println!("{}", ubx::pretty_print_nav_sat(packet)); - } - ublox::proto27::PacketRef::NavPvt(pvt) => { - match applogic::GnssFix::try_from(pvt) { - Ok(pos_state) => { - critical_section::with(|cs| { - let gnss_update_ref = GNSS_UPDATE.borrow(cs); - gnss_update_ref.replace(Some(pos_state)); - }); - } - Err(err) => warn!("{err}"), - } - } - _ => { - println!("UBX: {packet_ref:?}"); - } - }, - Some(Err(_)) => { - // Received a malformed packet - } - None => { - // The internal buffer is now empty - break; - } - } - } - } - } - } - - #[cfg(feature = "_gnss")] + #[cfg(feature = "gnss")] { let mut new_position = false; critical_section::with(|cs| { @@ -374,33 +171,6 @@ async fn main(spawner: Spawner) -> ! { if let Some(fix) = gnss_update_ref.replace(None) { state.update_with_gpsfix(&fix); new_position = true; - - #[cfg(feature = "cam_tx")] - { - use esp32_cits_core::tx::GnItsPayload as _; - let time = state.time().and_utc(); - - cam.update(time, fix.clone().into()); - - match cam.encode_packet( - mac_bytes, - &fix.into(), - time, - GN_IS_MOBILE, - &mut seq_no, - ) { - Ok(data) => { - if let Err(err) = radio::send_80211_bcast_frame( - &mut wlan_iface, - &mac_bytes.clone(), - &data, - ) { - warn!("Failed to send 802.11 frame: {err}"); - } - } - Err(err) => warn!("Failed to create CAM: {err}"), - } - } } }); @@ -466,15 +236,12 @@ async fn main(spawner: Spawner) -> ! { } } - #[cfg(any(feature = "cam", feature = "cam_tx"))] + #[cfg(feature = "cam")] ItsMessage::Cam { geonetworking: _, transport: _, etsi, - } => { - #[cfg(feature = "cam")] - applogic::cam::handle_cam(&etsi); - } + } => applogic::cam::handle_cam(&etsi), #[cfg(feature = "denm")] ItsMessage::DenmV2 { @@ -510,7 +277,7 @@ async fn main(spawner: Spawner) -> ! { reason = "adhering to callback interface" )] #[allow(clippy::too_many_lines)] -fn handle_frame(frame: esp_radio::wifi::sniffer::PromiscuousPkt<'_>) { +fn handle_frame(frame: wifi::sniffer::PromiscuousPkt<'_>) { #[cfg(feature = "spat")] const PRUNE_INTERVAL: chrono::Duration = chrono::Duration::seconds(60); #[cfg(feature = "spat")] @@ -531,18 +298,27 @@ fn handle_frame(frame: esp_radio::wifi::sniffer::PromiscuousPkt<'_>) { .naive_utc() }; - match esp32_cits_core::rx::is_broadcast_frame(&frame) { - Err(err) => { - warn!("{err}"); - return; - } - Ok(false) => { - // drop frame - return; - } - Ok(true) => { - // continue - } + // Ignore frames with errors and non-data frames + if frame.rx_cntl.rx_state != 0 { + warn!("Received frame has RX error: {}", frame.rx_cntl.rx_state); + return; + } + if !radio::PromiscuousPktType::Data.matches(frame.frame_type) { + return; + } + + // Ignore non-broadcast frames + if frame.len < (4 + 6) { + warn!( + "Received frame too small to be a valid broadcast frame: {} bytes", + frame.len + ); + return; + } + let dest_mac = &frame.data[4..10]; + if dest_mac != [0xff; 6] { + warn!("Received frame is not broadcast frame: Dest MAC {dest_mac:02x?}"); + return; } // info!("Received frame with {} bytes", frame.len); @@ -610,18 +386,6 @@ fn handle_frame(frame: esp_radio::wifi::sniffer::PromiscuousPkt<'_>) { error!("V2X RX queue is full"); } }); - - // Send data to UART - #[cfg(feature = "uart")] - { - let message = io::msg::RawMsgRx { - msg_type: message_id.as_u8().into(), - payload: frame.data.to_vec(), - } - .serialize_uart_proto(); - - send_uart0(&message); - } } } } @@ -689,10 +453,10 @@ fn get_its_header<'p>( } } -#[cfg(feature = "gnss_l67k")] +#[cfg(feature = "gnss")] #[allow(clippy::large_stack_frames, reason = "GNSS driver needs some space")] #[embassy_executor::task] -async fn gnss_l67k_task( +async fn gnss_task( gps_wakeup: esp_hal::peripherals::GPIO1<'static>, gps_reset: esp_hal::peripherals::GPIO25<'static>, uart: esp_hal::peripherals::UART0<'static>, @@ -742,38 +506,6 @@ async fn gnss_l67k_task( } } -#[cfg(feature = "gnss_ubx")] -#[embassy_executor::task] -async fn gnss_ubx_config(reset_pin: esp_hal::peripherals::GPIO25<'static>) { - // reset the module - let mut gnss_reset = esp_hal::gpio::Output::new( - reset_pin, - esp_hal::gpio::Level::Low, - esp_hal::gpio::OutputConfig::default(), - ); - embassy_time::Timer::after(embassy_time::Duration::from_millis(2)).await; - gnss_reset.set_high(); - - embassy_time::Timer::after(embassy_time::Duration::from_secs(1)).await; - - info!("UBX: Enabling ubx protocol with NAV-PVT and NAV-SAT"); - let buffer = ublox::packets::cfg_val::CfgValSetBuilder { - version: 1, - layers: ublox::packets::cfg_val::CfgLayerSet::RAM, - reserved1: 0, - cfg_data: &[ - ublox::cfg_val::CfgVal::Uart1OutProtNmea(false), - ublox::cfg_val::CfgVal::Uart1OutProtUbx(true), - // CFG-MSGOUT-UBX_NAV_PVT_UART1 - ublox::cfg_val::CfgVal::MsgOutUbxNavPvtUart1(1), - // CFG-MSGOUT-UBX_NAV_SAT_UART1 - // ublox::cfg_val::CfgVal::MsgOutUbxNavSatUart1(10), - ], - } - .into_packet_vec(); - send_uart0(&buffer); -} - #[cfg(feature = "screen")] fn log_screen_error(error: &E) where @@ -781,111 +513,3 @@ where { error!("graphics failed: {error:?}"); } - -#[cfg(feature = "_uart")] -/// Configures UART0 with an interrupt handler and saves it to `SERIAL` -fn setup_uart0( - baud: u32, - cmd_char: Option, - gpio12: esp_hal::peripherals::GPIO12<'static>, - gpio11: esp_hal::peripherals::GPIO11<'static>, - uart0: esp_hal::peripherals::UART0<'static>, - handler: esp_hal::interrupt::InterruptHandler, -) -> Result<(), alloc::string::String> { - critical_section::with(|cs| { - UART_RX_BUF - .borrow(cs) - .replace(Some(alloc::vec::Vec::with_capacity(255))); - }); - - let mut uart = esp_hal::uart::Uart::new( - uart0, - esp_hal::uart::Config::default() - .with_baudrate(baud) - .with_rx( - esp_hal::uart::RxConfig::default() - .with_fifo_full_threshold(u16::from(SERIAL_FIFO_SIZE_THLD)) - .with_timeout(50), - ), - ) - .map_err(|err| alloc::format!("UART0 config error: {err}"))? - .with_rx(gpio12) - .with_tx(gpio11); - - if let Some(char) = cmd_char { - uart.set_at_cmd( - esp_hal::uart::AtCmdConfig::default() - .with_cmd_char(char) - .with_char_num(1) - .with_pre_idle_count(0) // command start can be right after other data - .with_post_idle_count(0) // we don't expect a gap between the command start and subsequent text - .with_gap_timeout(5), // needs to be >0 to work - ); - } - uart.set_interrupt_handler(handler); - uart.listen( - esp_hal::uart::UartInterrupt::AtCmd - | esp_hal::uart::UartInterrupt::RxTimeout - | esp_hal::uart::UartInterrupt::RxFifoFull, // just to be save - ); - - critical_section::with(|cs| SERIAL.borrow_ref_mut(cs).replace(uart)); - - Ok(()) -} - -#[cfg(feature = "_uart")] -#[esp_hal::handler] -fn serial_handler() { - critical_section::with(|cs| { - let mut serial = SERIAL.borrow_ref_mut(cs); - let mut uart_buf = UART_RX_BUF.borrow_ref_mut(cs); - - if let (Some(serial), Some(uart_buf)) = (serial.as_mut(), uart_buf.as_mut()) { - let mut buf = [0u8; SERIAL_FIFO_SIZE_THLD as usize]; - - match serial.read_buffered(&mut buf) { - Ok(0) => {} - Ok(len) => { - uart_buf.extend_from_slice(&buf[..len]); - } - Err(err) => error!("Failed to read from UART: {err}"), - } - - serial.clear_interrupts( - esp_hal::uart::UartInterrupt::RxFifoFull - | esp_hal::uart::UartInterrupt::RxTimeout - | esp_hal::uart::UartInterrupt::AtCmd, - ); - } - }); -} - -#[cfg(feature = "_uart")] -fn send_uart0(data: &[u8]) { - critical_section::with(|cs| { - let mut serial = SERIAL.borrow_ref_mut(cs); - - if let Some(serial) = serial.as_mut() - && let Err(err) = serial.write(data) - { - error!("Failed to write to UART: {err:?}"); - } - }); -} - -#[cfg(all(feature = "esp", feature = "cam_tx"))] -/// Creates a station ID from the WLAN MAC address -/// -/// Will use `0xC173` as static prefix and uses last 16 bit from MAC address for the remainder. -/// -/// # Panics -/// Won't panic in practive b/c of pre-conditions -#[must_use] -pub fn make_station_id(mac: esp_hal::efuse::MacAddress) -> u32 { - // unwrap is fine here since we can be sure that the MacAddress is 6 byte - // and a slice of 2 bytes can be converted to [u8; 2] - let mac_last_16bit = u16::from_be_bytes(mac.as_bytes().get(4..6).unwrap().try_into().unwrap()); - - 0xC173_0000 | u32::from(mac_last_16bit) -} diff --git a/src/radio.rs b/src/radio.rs new file mode 100644 index 0000000..46cd72a --- /dev/null +++ b/src/radio.rs @@ -0,0 +1,288 @@ +//! IEEE 802.11p C-ITS Capture with ESP32-C5 +#![allow(unused)] + +// ----------------------------- +// missing interface definitions +// ----------------------------- + +pub type Channel = core::ffi::c_int; + +unsafe extern "C" { + /// Changes the 802.11 PHY channel + /// + /// C function signature: `void phy_change_channel(int,int,int,int)` + /// + /// Options: + /// - `primary`: Channel frequency in MHz + /// - `ignored1`: Ignored (set to 1) + /// - `ignored2`: Ignored (set to 0) + /// - `ht_mode`: Probably HT mode + unsafe fn phy_change_channel( + primary: Channel, + ignored1: core::ffi::c_int, + ignored2: core::ffi::c_int, + ht_mode: core::ffi::c_int, + ) -> core::ffi::c_int; + + /// Enables 802.11p mode on the ESP32-C5 + /// + /// C function signature: `void phy_11p_set(int,int)` + /// + /// Options: + /// - `enable`: Boolean option to enable 802.11p mode + /// - `half_rate`: 5 MHz mode + unsafe fn phy_11p_set(enable: u8, half_rate: u8); + +} + +/// Enum values for `wifi_promiscuous_pkt_type_t` used in `esp_radio::wifi::sniffer::PromiscuousPkt::frame_type` +/// +/// Original value is actually `core::ffi::c_uint`, but that can't be used in `#[repr()]` attributes, +/// so we're using `u8` as the smallest suitable type here that can be casted to a bigger type. +#[repr(u8)] +#[derive(Debug, Clone, Copy)] +#[allow(dead_code)] +pub(crate) enum PromiscuousPktType { + /// Management frame, indicates 'buf' argument is `wifi_promiscuous_pkt_t` + Mgmt = 0, + /// Control frame, indicates 'buf' argument is `wifi_promiscuous_pkt_t` + Ctrl = 1, + /// Data frame, indicates 'buf' argument is `wifi_promiscuous_pkt_t` + Data = 2, + /// Other type, such as MIMO etc. 'buf' argument is `wifi_promiscuous_pkt_t` but the payload is zero length. + Misc = 3, +} + +impl PromiscuousPktType { + #[allow(dead_code)] + pub fn as_repr(self) -> u8 { + self as u8 + } + + /// Converts to underlying type of `wifi_promiscuous_pkt_type_t` (used by `esp_radio::wifi::sniffer::PromiscuousPkt::frame_type`) + pub fn as_frame_type(self) -> core::ffi::c_uint { + core::ffi::c_uint::from(self.as_repr()) + } + + /// Determines if we are the same frame type as `esp_radio::wifi::sniffer::PromiscuousPkt::frame_type` + pub fn matches(self, frame_type: core::ffi::c_uint) -> bool { + self.as_frame_type() == frame_type + } +} + +#[cfg(feature = "esp")] +/// Configure WiFi Sniffer to a certain 802.11p channel +pub fn setup_wifi_sniffer( + channel: Channel, + sniffer: &mut esp_radio::wifi::sniffer::Sniffer, + callback: fn(esp_radio::wifi::sniffer::PromiscuousPkt<'_>), +) -> Result<(), alloc::string::String> { + sniffer + .set_promiscuous_mode(true) + .map_err(|err| alloc::format!("Failed to enable promiscuous mode: {err:?}"))?; + + sniffer.set_receive_cb(callback); + + // convert channel number to frequency in MHz + let primary = 5000 + (channel * 5); + + unsafe { + phy_11p_set(1, 0); + match phy_change_channel(primary, 1, 0, 0) { + 0 => Ok(()), + ret => Err(alloc::format!("Failed to change channel: {ret}")), + } + } +} + +#[cfg(feature = "esp")] +/// Sends 802.11p broadcast frame +/// +/// Expects `data` to contain GN header (BTP header and ITS payload) to be a valid C-ITS/ ITS-G5 packet/ frame. +/// +/// # Errors +/// Fails when MAC is not the right size or returns frame send error +pub fn send_80211_bcast_frame( + sniffer: &mut esp_radio::wifi::sniffer::Sniffer, + mac_addr: &[u8], + data: &[u8], +) -> Result<(), alloc::string::String> { + const HEADER_SIZE: usize = 24 + 8; + + let mac = mac_addr + .try_into() + .map_err(|err| alloc::format!("Unexpected MAC address size: {err}"))?; + + // assemble frame + let mut frame_buf = alloc::vec::Vec::with_capacity(HEADER_SIZE + data.len()); + frame_buf.extend_from_slice(&DataFrameHeader::new_80211p(mac).to_binary()); + frame_buf.extend_from_slice(&LlcHeader::new_80211p().to_binary()); + frame_buf.extend_from_slice(data); + + // send + sniffer + .send_raw_frame(true, &frame_buf, true) + .map_err(|err| alloc::format!("Failed to send 802.11p frame: {err:?}")) +} + +/// IEEE 802.11p frame header +#[derive(Debug, Default)] +struct DataFrameHeader { + /// byte 0: subtype in upper nibble, type in lower nibble + /// "normal" data frame: 0x08, QoS data frame: 0x88 + pub type_and_subtype: u8, + /// byte 1: frame contol field, 0x00 for 802.11p + pub fcf_flags: u8, + /// byte 2..3: duration in micros, usually 0x0000 for 802.11p (toDS = 0, fromDS = 0) + pub duration: u16, + /// byte 4..9: receiver/ destination for 802.11p + pub address_1: [u8; 6], + /// byte 10..15: transmitter/ source for 802.11p + pub address_2: [u8; 6], + /// byte 16..21: BSSID for 802.11p + pub address_3: [u8; 6], + /// byte 22..24: upper 12 bits: seq. no, lower 4 bits: fragment no + pub sequence_control: u16, + // Note: address 4 is not used in 802.11p + // pub qos: Option<[u8; 2]>, // QoS frames are supported by radio library + // Note: 802.11p does not use HT mode(s) +} + +impl DataFrameHeader { + const BCAST_MAC: [u8; 6] = [0xFF; 6]; + + /// Create an 802.11p (non-QoS) data frame header with a source MAC address + pub(crate) fn new_80211p(source_mac: &[u8; 6]) -> Self { + Self { + type_and_subtype: 0x08, + address_1: Self::BCAST_MAC, + address_2: *source_mac, + address_3: Self::BCAST_MAC, + ..Default::default() + } + } + + pub(crate) fn to_binary(&self) -> [u8; 24] { + let mut buf = [0u8; 24]; + + buf[0] = self.type_and_subtype; + + buf[1] = self.fcf_flags; + + Self::write_u16(&mut buf, 2, self.duration); + Self::write_mac_addr(&mut buf, 4, &self.address_1); + Self::write_mac_addr(&mut buf, 10, &self.address_2); + Self::write_mac_addr(&mut buf, 16, &self.address_3); + Self::write_u16(&mut buf, 22, self.sequence_control); + + buf + } + + fn write_u16(buf: &mut [u8; 24], offset: usize, data: u16) { + for (idx, byte) in data.to_be_bytes().iter().enumerate() { + buf[idx + offset] = *byte; + } + } + + fn write_mac_addr(buf: &mut [u8; 24], offset: usize, data: &[u8; 6]) { + for (idx, byte) in data.iter().enumerate() { + buf[idx + offset] = *byte; + } + } +} + +/// IEEE 802.11p LLC header +#[derive(Debug, Default)] +struct LlcHeader { + /// byte 0: SNAP (0xaa) in 802.11p + pub dsap: u8, // SNAP in + /// byte 1: SNAP (0xaa) in 802.11p + pub lsap: u8, // SNAP in + /// byte 2: SNAP (0xaa) in 802.11p + pub control_1: u8, // 0x03 + // Note: optional second control byte not used in 802.11p + + // SNAP fields + /// set to 0 since ethertype is used for protocol ID in 802.11p + pub oui: [u8; 3], + /// ethertype GeoNetworking (0x8947) in 802.11p + pub protocol_id: u16, +} + +impl LlcHeader { + pub(crate) fn new_80211p() -> Self { + Self { + dsap: 0xaa, + lsap: 0xaa, + control_1: 0x03, + oui: [0; 3], + protocol_id: 0x8947, + } + } + + pub(crate) fn to_binary(&self) -> [u8; 8] { + let mut buf: [u8; 8] = [ + self.dsap, + self.lsap, + self.control_1, + 0x00, + 0x00, + 0x00, + 0x00, + 0x00, + ]; + + buf[3] = self.oui[0]; + buf[4] = self.oui[1]; + buf[5] = self.oui[2]; + + buf[6] = self.protocol_id.to_be_bytes()[0]; + buf[7] = self.protocol_id.to_be_bytes()[1]; + + buf + } +} + +#[cfg(test)] +mod tests { + + use super::*; + + #[test] + fn data_frame_test() { + // build a typical IEEE 802.11p frame + const OWN_MAC: [u8; 6] = [0x12, 0x34, 0x56, 0x78, 0xab, 0xcd]; + const REF_HEADER: [u8; 24] = [ + 0x08, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x12, 0x34, 0x56, 0x78, + 0xab, 0xcd, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, + ]; + + let frame = DataFrameHeader::new_80211p(&OWN_MAC); + + assert_eq!(0x08, frame.type_and_subtype); // data frame, subtype 0 + assert_eq!(0x0000, frame.fcf_flags); + assert_eq!(0x0000, frame.duration); + assert_eq!([0xFF; 6], frame.address_1); + assert_eq!(OWN_MAC, frame.address_2); + assert_eq!([0xFF; 6], frame.address_3); + assert_eq!(0x0000, frame.sequence_control); + + assert_eq!(REF_HEADER, frame.to_binary()); + } + + #[test] + fn llc_test() { + // build a typical IEEE 802.11p LLC header + const REF_HEADER: [u8; 8] = [0xaa, 0xaa, 0x03, 0x00, 0x00, 0x00, 0x89, 0x47]; + + let llc = LlcHeader::new_80211p(); + + assert_eq!(0xaa, llc.dsap); + assert_eq!(0xaa, llc.lsap); + assert_eq!(0x03, llc.control_1); + assert_eq!([0x00; 3], llc.oui); + assert_eq!(0x8947, llc.protocol_id); + + assert_eq!(REF_HEADER, llc.to_binary()); + } +} diff --git a/src/test.rs b/src/test.rs index a7a5bb5..5a04150 100644 --- a/src/test.rs +++ b/src/test.rs @@ -6,7 +6,7 @@ extern crate alloc; mod applogic; mod cache; mod geo_alg; -mod io; +mod radio; mod testdata; fn main() { diff --git a/src/testdata.rs b/src/testdata.rs index fa884d6..567410d 100644 --- a/src/testdata.rs +++ b/src/testdata.rs @@ -455,11 +455,3 @@ pub const CAM: &[u8] = &[ 0x00, 0x06, 0xc6, 0x70, 0x00, 0xdf, 0x80, 0x8d, 0x5f, 0xde, 0x66, 0x27, 0x00, 0x07, 0x3c, 0x04, 0x76, 0xfd, 0x67, 0x31, 0x9c, 0x00, 0x58, 0x60, 0x41, 0x37, 0xd3, 0x15, 0x89, 0xc0, 0x06, 0xdc, ]; - -#[cfg(any(feature = "cam_tx", feature = "uart"))] -pub const CAM_SMALL: &[u8] = &[ - 0x2, 0x2, 0xc1, 0x73, 0x25, 0x68, 0x17, 0x28, 0x40, 0x29, 0xd5, 0xb3, 0x40, 0xf, 0x1f, 0xea, - 0xf0, 0x1f, 0xff, 0xff, 0xfc, 0x23, 0xb7, 0x74, 0x3e, 0x0, 0x0, 0xf, 0xc0, 0x0, 0x7e, 0x81, - 0x38, 0x25, 0x7, 0x37, 0xfe, 0xeb, 0xff, 0xf6, 0x0, 0x0, 0xd, 0xff, 0xff, 0x7f, 0xff, 0xf1, - 0xce, 0x40, 0x40, 0x0, -]; diff --git a/src/ubx.rs b/src/ubx.rs deleted file mode 100644 index 8e1f32e..0000000 --- a/src/ubx.rs +++ /dev/null @@ -1,106 +0,0 @@ -//! u-blox helpers -#![allow(unused)] - -use alloc::vec::Vec; - -pub fn pretty_print_mon_ver(packet: &ublox::mon_ver::MonVerRef) -> alloc::string::String { - alloc::format!( - "UBX-MON-VER: SW version: {} HW version: {}; Extensions: {:?}", - packet.software_version(), - packet.hardware_version(), - packet.extension().collect::>() - ) -} - -pub fn pretty_print_mon_comms(packet: &ublox::mon_comms::MonCommsRef) -> alloc::string::String { - alloc::format!( - "UBX-MON-COMMS: {} ports ({:?}), {} tx err, info {:?}", - packet.n_ports(), - packet.prot_ids(), - packet.tx_errors(), - packet - .ports() - .map(|v| alloc::format!("{v:?}")) - .collect::>() - ) -} - -pub fn pretty_print_mon_rf(packet: &ublox::mon_rf::MonRfRef) -> alloc::string::String { - alloc::format!( - "UBX-MON-RF: {:?}", - packet - .blocks() - .map(|v| alloc::format!("{v:?}")) - .collect::>() - ) -} - -pub fn pretty_print_nav_sat(packet: &ublox::nav_sat::NavSatRef) -> alloc::string::String { - // sort by quality flags - let mut sat_infos = packet.svs().collect::>(); - sat_infos.sort_unstable_by_key(|v| v.flags_raw() & 0x7); - sat_infos.reverse(); - - let sat_info_strings = sat_infos - .iter() - .map(|v| { - alloc::format!( - "- {}/{:3}: E {:3.0}, A {:3.0}, CNO {:2.1} dBHz, {:?}, {:?}", - v.gnss_id(), - v.sv_id(), - v.elev(), - v.azim(), - v.cno(), - v.flags().quality_ind(), - v.flags().health(), - ) - }) - .collect::>(); - - alloc::format!( - "UBX-NAV-SAT: num {:?}\n{}", - packet.num_svs(), - sat_info_strings.join("\n") - ) -} - -impl<'a> TryFrom<&ublox::nav_pvt::proto27::NavPvtRef<'a>> for crate::applogic::GnssFix { - type Error = alloc::string::String; - - fn try_from(value: &ublox::nav_pvt::proto27::NavPvtRef<'a>) -> Result { - let has_time = value.fix_type() == ublox::GnssFixType::Fix3D - || value.fix_type() == ublox::GnssFixType::GPSPlusDeadReckoning - || value.fix_type() == ublox::GnssFixType::TimeOnlyFix; - let has_posvel = value.fix_type() == ublox::GnssFixType::Fix3D - || value.fix_type() == ublox::GnssFixType::GPSPlusDeadReckoning; - - if !has_posvel || !has_time { - return Err(alloc::format!( - "NAV-PVT without valid fix: {:?}", - value.fix_type() - )); - } - - let pos: ublox::PositionLLA = value.into(); - let vel: ublox::Velocity = value.into(); - - let time: chrono::DateTime = value - .try_into() - .map_err(|err| alloc::format!("Failed to convert time: {err}"))?; - - let latitude_deg = pos.lat; - let longitude_deg = pos.lon; - #[allow(clippy::cast_precision_loss, clippy::cast_possible_truncation)] - let heading_deg = vel.heading as f32; - #[allow(clippy::cast_precision_loss, clippy::cast_possible_truncation)] - let speed_mps = vel.speed as f32; - - Ok(Self { - time: Some(time.naive_utc()), - latitude_deg, - longitude_deg, - heading_deg: Some(heading_deg), - speed_mps: Some(speed_mps), - }) - } -}