screen: Keep GNSS status on normal display clear

BLE can only fit 251 bytes of payload in notifications which isn't nearly enough for a raw V2X message.
So only publish a notification which message was received and let the client
poll the content from the characteristic (since reads can get data in fragments)

Cargo.lock

@@ -1216,6 +1216,7 @@ dependencies = [
  "prost",
  "prost-build",
  "static_cell",
+ "tinytga",
  "trouble-host",
  "ublox",
 ]
@@ -2529,6 +2530,16 @@ dependencies = [
  "cfg-if",
 ]
 
+[[package]]
+name = "tinytga"
+version = "0.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "477839bd612acb4d0551915eaf6eef8cc1b3a9dd58e18e9c2b746c78614a25d5"
+dependencies = [
+ "embedded-graphics",
+ "nom",
+]
+
 [[package]]
 name = "toml_datetime"
 version = "1.1.1+spec-1.1.0"

Cargo.toml

@@ -15,7 +15,7 @@ path = "./src/test.rs"
 required-features = ["std", "cam"]
 
 [features]
-default = ["esp", "spat", "gnss_ubx", "screen", "ble"]
+default = ["esp", "spat", "gnss_ubx", "screen"]
 
 # build for ESP (needed to build test for `host-tuple`)
 esp = [
@@ -53,11 +53,11 @@ spat = ["c-its-parser/spatem", "c-its-parser/mapem"]
 # enable some debug printing (without enabling debug logging of the ESP RTOS)
 spat_debug = []
 # enable ST7789 based display
-screen = ["dep:mipidsi", "dep:embedded-graphics", "dep:embedded-hal-bus", "dep:profont"]
+screen = ["dep:mipidsi", "dep:embedded-graphics", "dep:embedded-hal-bus", "dep:profont", "dep:tinytga"]
 # enable I/O via UART
 uart = ["_uart", "_gnss"]
 # enable I/O via BLE
-ble = ["_gnss", "denm"]
+ble = ["_gnss"]
 
 # internal feature, that any UART I/O is enabled
 _uart = []
@@ -123,6 +123,7 @@ 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", default-features = false, features = ["derive"] }
+tinytga = { version = "0.5.0", optional = true }
 ublox = { version = "0.10", optional = true, default-features = false, features = ["alloc", "ubx_proto27"] }
 
 [dev-dependencies]

Readme.md

@@ -57,9 +57,10 @@ Enable UART I/O protocol according to [docs/uart-protocol.md](./docs/uart-protoc
 
 ### BLE
 Enable BLE I/O protocol according to [docs/ble-protocol.md](./docs/ble-protocol.md).
-Will enable `denm` feature, but also enabling `cam` is recommended for full functionality.
+Enabling `denm` feature or `cam` feature is recommended, otherwise no data will be received.
 
-Note: Raw message reception is currently not implemented!
+Note: When changing the set of supported messages on the BLE interface, you may need to turn bluetooth off and on again on your client device.
+Otherwise the client may not re-scan the service's characteristics and still use the previous set of characteristics.
 
 
 ## Usage
@@ -118,3 +119,16 @@ The unit tests in this project are meant to be run on the host:
 ```
 cargo test --target host-tuple --bin test --no-default-features -F std,spat
 ```
+
+## Tips and Tricks
+
+### Create TGA Assets
+
+Images are loaded as TGA assets, but shall not have an alpha channel.
+You can convert them using [ImageMagick](https://imagemagick.org) like this:
+```shell
+# resize to 25px height, adding a black background to the white symbol and vice versa
+magick Sinnbild_Radfahrer_StVO_1992-200px-white.png -resize x25 -background black -alpha background -flatten -alpha off -verbose Sinnbild_Radfahrer_StVO_1992-25px-white.tga
+magick Sinnbild_Radfahrer_StVO_1992-200px-black.png -resize x25 -background white -alpha background -flatten -alpha off -verbose Sinnbild_Radfahrer_StVO_1992-25px-black.tga
+```
+

docs/ble-protocol.md

@@ -19,12 +19,16 @@ V2X data is exposed via the service UUID `c0b70000-d4f4-4000-ada8-f99a02ee315c`
 UUID                                  | Type            | Description
 ------------------------------------- | --------------- | -----------
 c0b70001-d4f4-4001-ada8-f99a02ee315c  | `PositionState` | Set position from external source
-c0b70001-d4f4-4001-ada8-f99a02ee315c  | `RawMsgRx`      | Raw CAM message (de-duplicated/ rate-limited)
+c0b70001-d4f4-4002-ada8-f99a02ee315c  | `RawNotify`     | Raw message notification
-c0b70001-d4f4-4002-ada8-f99a02ee315c  | `CamEvent`      | Latest received CAM
+c0b70001-d4f4-4003-ada8-f99a02ee315c  | `RawMsgRx`      | Raw CAM message (de-duplicated/ rate-limited)
-c0b70001-d4f4-4003-ada8-f99a02ee315c  | `RawMsgRx`      | Raw DENM message (de-duplicated/ rate-limited)
+c0b70001-d4f4-4004-ada8-f99a02ee315c  | `CamEvent`      | Latest received CAM
-c0b70001-d4f4-4004-ada8-f99a02ee315c  | `DenmEvent`     | Latest received DENM
+c0b70001-d4f4-4005-ada8-f99a02ee315c  | `RawMsgRx`      | Raw DENM message (de-duplicated/ rate-limited)
-c0b70001-d4f4-4005-ada8-f99a02ee315c  | `RawMsgRx`      | Raw MAPEM message (de-duplicated/ rate-limited)
+c0b70001-d4f4-4006-ada8-f99a02ee315c  | `DenmEvent`     | Latest received DENM
-c0b70001-d4f4-4006-ada8-f99a02ee315c  | `RawMsgRx`      | Raw SPATEM message (de-duplicated/ rate-limited)
+c0b70001-d4f4-4007-ada8-f99a02ee315c  | `RawMsgRx`      | Raw MAPEM message (de-duplicated/ rate-limited)
+c0b70001-d4f4-4008-ada8-f99a02ee315c  | `RawMsgRx`      | Raw SPATEM message (de-duplicated/ rate-limited)
+
+Since a modern BLE notification can only fit up tp 251 bytes of payload, the raw messages can only be polled.
+Please subscribe to `c0b70001-d4f4-4002-ada8-f99a02ee315c` and use the message ID to determine from which service to read the incoming value.
 
 ## Message Format
 
@@ -101,3 +105,20 @@ Repetitions of the same message should be dropped by the BLE server.
 Consecutive messages with no relevant changes may be dropped by the BLE server while keeping some minimal publishing rate, e.g.:
 - only publish MAPEMs every 10 seconds (since content doesn't change, but client may be restarted after first MAPEM from an intersection was received)
 - drop high-frequency CAMs (only publish "full" CAMs which include the low-frequency container)
+
+Maximum message size (assuming realistic value ranges):
+
+field name            | tag size | (max.) data size
+--------------------- | -------- | ---------
+msg_type              |        1 | 1 (VARINT(21))
+payload               |        1 | 2+1394 (LEN(1394) + payload)
+**SUM**               |      2 + | 1397 = 1399 byte
+
+### Raw Message Notification
+
+Maximum message size (assuming realistic value ranges):
+
+field name            | tag size | (max.) data size
+--------------------- | -------- | ---------
+msg_type              |        1 | 1 (VARINT(21))
+**SUM**               |      1 + | 1 = 2 byte

docs/c_its-messages.proto

@@ -71,6 +71,10 @@ message RawMsgTx {
   optional uint32         stationType           =  6; // for source position vector
 }
 
+message RawNotify {
+  required uint32         message_type          =  1; // ITS `MessageId` integer value
+}
+
 // ------------------------------
 // Messages
 // ------------------------------

feat-permut.sh

@@ -15,6 +15,8 @@ features_base=(
   spat,gnss_ubx,screen,cam_tx
 )
 features_more=(
+  spat,gnss_ubx,screen,ble
+  spat,gnss_ubx,screen,ble,cam_tx
   spat,gnss_ubx,screen,cam,denm
   spat,gnss_ubx,screen,cam_tx,cam,denm
 )

hardware/c_its-companion/c_its-companion.kicad_prl

@@ -1,6 +1,6 @@
 {
   "board": {
-    "active_layer": 0,
+    "active_layer": 25,
     "active_layer_preset": "",
     "auto_track_width": true,
     "hidden_netclasses": [],

hardware/c_its-companion/c_its-companion.kicad_pro

@@ -38,6 +38,25 @@
         "zx": -2.1759660739917308e-08,
         "zy": 0.6427874565124512,
         "zz": 0.7660446763038635
+      },
+      {
+        "name": "ISO-front-sideways",
+        "ww": 1.0,
+        "wx": 12.766021728515625,
+        "wy": 18.745622634887695,
+        "wz": -19.07516098022461,
+        "xw": 0.0,
+        "xx": 0.3144621253013611,
+        "xy": -0.9000988006591797,
+        "xz": 0.30155274271965027,
+        "yw": 0.0,
+        "yx": 0.9491636157035828,
+        "yy": 0.29337260127067566,
+        "yz": -0.11412015557289124,
+        "zw": 0.0,
+        "zx": 0.014252186752855778,
+        "zy": 0.32210931181907654,
+        "zz": 0.9465939402580261
       }
     ],
     "design_settings": {
@@ -292,7 +311,7 @@
       "internal_id": "",
       "mfg": "",
       "mpn": "",
-      "sch_revision": "v0.1"
+      "sch_revision": "v1.0"
     },
     "layer_pairs": [],
     "layer_presets": [],
@@ -603,6 +622,7 @@
       "netlist": "",
       "plot": "",
       "specctra_dsn": "",
+      "step": "",
       "vrml": ""
     },
     "page_layout_descr_file": ""
@@ -675,12 +695,24 @@
           "label": "Datasheet",
           "name": "Datasheet",
           "show": true
+        },
+        {
+          "group_by": false,
+          "label": "Description",
+          "name": "Description",
+          "show": false
+        },
+        {
+          "group_by": false,
+          "label": "#",
+          "name": "${ITEM_NUMBER}",
+          "show": false
         }
       ],
       "filter_string": "",
       "group_symbols": true,
       "include_excluded_from_bom": true,
-      "name": "Default Editing",
+      "name": "",
       "sort_asc": true,
       "sort_field": "Reference"
     },
@@ -725,7 +757,7 @@
         "uuid": "9ad468b0-d7e4-4d4a-b652-c4a81a952e30"
       }
     ],
-    "used_designators": "C1,#PWR1-10,J1-2,SW1,TP1,U1-2,#FLG1-3",
+    "used_designators": "H1-4,C1,#PWR1-11,J1-2,SW1,TP1-5,U1-2,#FLG1-3",
     "variants": []
   },
   "sheets": [

hardware/c_its-companion/library/Mounting_Wuerth_WA-SNSN-2.0mm_H8mm_709653000.kicad_mod

@@ -0,0 +1,118 @@
+(footprint "Mounting_Wuerth_WA-SNSN-2.0mm_H8mm_709653000"
+	(version 20260206)
+	(generator "pcbnew")
+	(generator_version "10.0")
+	(layer "F.Cu")
+	(descr "Mounting Hardware, drill hole 2.0mm, height 8, Wuerth electronics 709653000 (https://www.we-online.com/components/products/datasheet/709653000.pdf)")
+	(tags "Mounting 2.0mm 709653000")
+	(property "Reference" "REF**"
+		(at 0 -3.95 0)
+		(layer "F.SilkS")
+		(uuid "276ecaff-3259-4bdb-a318-4e4bcec61921")
+		(effects
+			(font
+				(size 1 1)
+				(thickness 0.15)
+			)
+		)
+	)
+	(property "Value" "Mounting_Wuerth_WA-SNSN-2.0mm_H8mm_709653000"
+		(at 0 3.95 0)
+		(layer "F.Fab")
+		(uuid "c83307ee-1780-4e7c-ba49-6db91bf6d85c")
+		(effects
+			(font
+				(size 1 1)
+				(thickness 0.15)
+			)
+		)
+	)
+	(property "Datasheet" ""
+		(at 0 0 0)
+		(layer "F.Fab")
+		(hide yes)
+		(uuid "76a81e5b-f76a-4297-b483-e56d634ec233")
+		(effects
+			(font
+				(size 1.27 1.27)
+			)
+		)
+	)
+	(property "Description" ""
+		(at 0 0 0)
+		(layer "F.Fab")
+		(hide yes)
+		(uuid "e8a2abe1-8c02-4d58-a78a-5aafa491e78a")
+		(effects
+			(font
+				(size 1.27 1.27)
+			)
+		)
+	)
+	(property "KiLib_Generator" "mounting_hardware/Wuerth_SMT_spacer"
+		(at 0 0 0)
+		(layer "F.SilkS")
+		(hide yes)
+		(uuid "7b7b4b98-57da-4b83-8a3a-d56209527a94")
+		(effects
+			(font
+				(size 1 1)
+				(thickness 0.15)
+			)
+		)
+	)
+	(attr smd allow_soldermask_bridges)
+	(duplicate_pad_numbers_are_jumpers no)
+	(fp_circle
+		(center 0 0)
+		(end 1.75 0)
+		(stroke
+			(width 0.05)
+			(type solid)
+		)
+		(fill no)
+		(layer "F.CrtYd")
+		(uuid "03f6d4cc-b111-4551-92b5-a505d52ec32e")
+	)
+	(fp_circle
+		(center 0 0)
+		(end 1 0)
+		(stroke
+			(width 0.1)
+			(type solid)
+		)
+		(fill no)
+		(layer "F.Fab")
+		(uuid "51af9f8e-3050-418a-8fce-682c9308e104")
+	)
+	(fp_text user "${REFERENCE}"
+		(at 0 0 0)
+		(layer "F.Fab")
+		(uuid "25803184-0736-480c-b1a8-58343859c491")
+		(effects
+			(font
+				(size 1 1)
+				(thickness 0.15)
+			)
+		)
+	)
+	(pad "" np_thru_hole circle
+		(at 0 0)
+		(size 2 2)
+		(drill 2)
+		(layers "*.Cu" "*.Mask")
+		(uuid "3cc834fb-6d81-4fd9-b1d5-2b09965b58a5")
+	)
+	(embedded_fonts no)
+	(model "${KIPRJMOD}/library/Mounting_Wuerth_WA-SNSN-2.0mm_H8mm_709653000.stp"
+		(offset
+			(xyz 0 0 4)
+		)
+		(scale
+			(xyz 1 1 1)
+		)
+		(rotate
+			(xyz -0 -0 -0)
+		)
+	)
+)

hardware/c_its-companion/library/Mounting_Wuerth_WA-SNSR-3.0mm_H8mm_702910000.kicad_mod

@@ -0,0 +1,118 @@
+(footprint "Mounting_Wuerth_WA-SNSR-3.0mm_H8mm_702910000"
+	(version 20260206)
+	(generator "pcbnew")
+	(generator_version "10.0")
+	(layer "F.Cu")
+	(descr "Mounting Hardware, drill hole 3.0mm, height 8, Wuerth electronics 702910000 (https://www.we-online.com/components/products/datasheet/702910000.pdf)")
+	(tags "Mounting 3.0mm 702910000")
+	(property "Reference" "REF**"
+		(at 0 -3.95 0)
+		(layer "F.SilkS")
+		(uuid "519123da-9027-4dc9-983e-c1af92c74bca")
+		(effects
+			(font
+				(size 1 1)
+				(thickness 0.15)
+			)
+		)
+	)
+	(property "Value" "Mounting_Wuerth_WA-SNSR-3.0mm_H8mm_709653000"
+		(at 0 3.95 0)
+		(layer "F.Fab")
+		(uuid "657f373c-6469-4c2a-8d0a-45c1248a0096")
+		(effects
+			(font
+				(size 1 1)
+				(thickness 0.15)
+			)
+		)
+	)
+	(property "Datasheet" ""
+		(at 0 0 0)
+		(layer "F.Fab")
+		(hide yes)
+		(uuid "4824841d-86d1-4c9e-82c6-3320ce9c3bc5")
+		(effects
+			(font
+				(size 1.27 1.27)
+			)
+		)
+	)
+	(property "Description" ""
+		(at 0 0 0)
+		(layer "F.Fab")
+		(hide yes)
+		(uuid "0b9c08cb-3ab2-4558-b34e-9ca94d9161ee")
+		(effects
+			(font
+				(size 1.27 1.27)
+			)
+		)
+	)
+	(property "KiLib_Generator" "mounting_hardware/Wuerth_SMT_spacer"
+		(at 0 0 0)
+		(layer "F.SilkS")
+		(hide yes)
+		(uuid "87f455aa-fb50-4a44-92ee-bcc8e5cdbb49")
+		(effects
+			(font
+				(size 1 1)
+				(thickness 0.15)
+			)
+		)
+	)
+	(attr smd allow_soldermask_bridges)
+	(duplicate_pad_numbers_are_jumpers no)
+	(fp_circle
+		(center 0 0)
+		(end 2.05 0)
+		(stroke
+			(width 0.05)
+			(type solid)
+		)
+		(fill no)
+		(layer "F.CrtYd")
+		(uuid "23751fc5-61f6-4371-b602-56236ab6fac9")
+	)
+	(fp_circle
+		(center 0 0)
+		(end 1.5 0)
+		(stroke
+			(width 0.1)
+			(type solid)
+		)
+		(fill no)
+		(layer "F.Fab")
+		(uuid "c9ae63b4-7ec4-4016-9343-cf80bfc3df37")
+	)
+	(fp_text user "${REFERENCE}"
+		(at 0 0 0)
+		(layer "F.Fab")
+		(uuid "b42331e0-1e08-435a-b246-24a914b45f86")
+		(effects
+			(font
+				(size 1 1)
+				(thickness 0.15)
+			)
+		)
+	)
+	(pad "" np_thru_hole circle
+		(at 0 0)
+		(size 3 3)
+		(drill 3)
+		(layers "*.Cu" "*.Mask")
+		(uuid "e8b39436-1604-4ea9-bc81-e168da01c5eb")
+	)
+	(embedded_fonts no)
+	(model "${KIPRJMOD}/library/Mounting_Wuerth_WA-SNSR-3.0mm_H8mm_702910000.stp"
+		(offset
+			(xyz 0 0 8)
+		)
+		(scale
+			(xyz 1 1 1)
+		)
+		(rotate
+			(xyz -180 -0 -0)
+		)
+	)
+)

hardware/c_its-companion/library/Mounting_Wuerth_WA-SNSR-3.0mm_H8mm_702910000.stp

@@ -0,0 +1,881 @@
+ISO-10303-21;
+HEADER;
+/* Generated by software containing ST-Developer
+ * from STEP Tools, Inc. (www.steptools.com) 
+ */
+/* OPTION: strings as raw bytes, not using required /X/ escapes */
+
+FILE_DESCRIPTION(
+/* description */ ('Unknown'),
+/* implementation_level */ '2;1');
+
+FILE_NAME(
+/* name */ '702910000',
+/* time_stamp */ '2019-02-18T11:42:06+01:00',
+/* author */ ('Unknown'),
+/* organization */ ('Unknown'),
+/* preprocessor_version */ 'ST-DEVELOPER v16.7',
+/* originating_system */ 'DEX',
+/* authorisation */ $);
+
+FILE_SCHEMA (('AUTOMOTIVE_DESIGN {1 0 10303 214 3 1 1}'));
+ENDSEC;
+
+DATA;
+#10=PROPERTY_DEFINITION_REPRESENTATION(#14,#12);
+#11=PROPERTY_DEFINITION_REPRESENTATION(#15,#13);
+#12=REPRESENTATION('',(#16),#811);
+#13=REPRESENTATION('',(#17),#811);
+#14=PROPERTY_DEFINITION('pmi validation property','',#816);
+#15=PROPERTY_DEFINITION('pmi validation property','',#816);
+#16=VALUE_REPRESENTATION_ITEM('number of annotations',COUNT_MEASURE(0.));
+#17=VALUE_REPRESENTATION_ITEM('number of views',COUNT_MEASURE(0.));
+#18=SHAPE_REPRESENTATION_RELATIONSHIP('','',#439,#19);
+#19=ADVANCED_BREP_SHAPE_REPRESENTATION('',(#437),#811);
+#20=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#688,#689,#690,#691),(#692,#693,
+#694,#695),(#696,#697,#698,#699),(#700,#701,#702,#703),(#704,#705,#706,
+#707),(#708,#709,#710,#711),(#712,#713,#714,#715),(#716,#717,#718,#719),
+(#720,#721,#722,#723),(#724,#725,#726,#727)),.RULED_SURF.,.F.,.F.,.F.,(4,
+2,2,2,4),(4,4),(0.,0.25,0.5,0.75,1.),(0.,1.),.UNSPECIFIED.);
+#21=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#729,#730,#731,#732),(#733,#734,
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+#22=B_SPLINE_CURVE_WITH_KNOTS('',3,(#630,#631,#632,#633,#634,#635,#636),
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+#23=B_SPLINE_CURVE_WITH_KNOTS('',3,(#644,#645,#646,#647,#648,#649,#650),
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+0.00117673612409024,0.00156898149878698),.UNSPECIFIED.);
+#24=B_SPLINE_CURVE_WITH_KNOTS('',3,(#780,#781,#782,#783,#784,#785,#786),
+ .UNSPECIFIED.,.F.,.F.,(4,1,1,1,4),(0.,0.000396668400197497,0.000793336800394994,
+0.00119000520059249,0.00158667360078999),.UNSPECIFIED.);
+#25=B_SPLINE_CURVE_WITH_KNOTS('',3,(#791,#792,#793,#794,#795,#796,#797),
+ .UNSPECIFIED.,.F.,.F.,(4,1,1,1,4),(0.,0.000396668400197497,0.000793336800394994,
+0.00119000520059249,0.00158667360078999),.UNSPECIFIED.);
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+#763=CARTESIAN_POINT('',(-1.07921355058039,1.10704912203799,10.0333333333333));
+#764=CARTESIAN_POINT('',(-1.25616070044503,1.09565881661728,9.7));
+#765=CARTESIAN_POINT('',(-0.5,1.25,10.7));
+#766=CARTESIAN_POINT('',(-0.692344320475634,1.25,10.3666666666667));
+#767=CARTESIAN_POINT('',(-0.884688640951268,1.25,10.0333333333333));
+#768=CARTESIAN_POINT('',(-1.0770329614269,1.25,9.7));
+#769=CARTESIAN_POINT('',(0.166666666666667,0.,10.7));
+#770=CARTESIAN_POINT('',(0.,0.,9.7));
+#771=CARTESIAN_POINT('',(-0.166666666666667,0.,10.7));
+#772=CARTESIAN_POINT('',(-0.499999999999999,2.,10.7));
+#773=CARTESIAN_POINT('',(-0.499999999999999,0.92330926563097,10.7));
+#774=CARTESIAN_POINT('',(-0.499999999999999,2.,10.7));
+#775=CARTESIAN_POINT('',(-0.499999999999999,-0.92330926563097,10.7));
+#776=CARTESIAN_POINT('',(0.,0.,10.7));
+#777=CARTESIAN_POINT('',(0.,0.,12.1053835479525));
+#778=CARTESIAN_POINT('',(0.499999999999999,0.92330926563097,12.1053835479525));
+#779=CARTESIAN_POINT('',(0.5,0.92330926563097,7.5));
+#780=CARTESIAN_POINT('',(0.5,0.92330926563097,7.5));
+#781=CARTESIAN_POINT('',(0.5,0.92330926563097,7.36567916523348));
+#782=CARTESIAN_POINT('',(0.39185959136086,0.990558811691349,7.11049974475692));
+#783=CARTESIAN_POINT('',(0.00120616049583702,1.07969742410131,6.94480710580172));
+#784=CARTESIAN_POINT('',(-0.392294058610171,0.990649962249719,7.11027504431027));
+#785=CARTESIAN_POINT('',(-0.5,0.92330926563097,7.36560847719262));
+#786=CARTESIAN_POINT('',(-0.5,0.92330926563097,7.5));
+#787=CARTESIAN_POINT('',(-0.5,0.92330926563097,7.5));
+#788=CARTESIAN_POINT('',(-0.499999999999999,0.92330926563097,12.1053835479525));
+#789=CARTESIAN_POINT('',(-0.499999999999999,-0.92330926563097,12.1053835479525));
+#790=CARTESIAN_POINT('',(-0.499999999999999,-0.92330926563097,7.5));
+#791=CARTESIAN_POINT('',(-0.5,-0.92330926563097,7.5));
+#792=CARTESIAN_POINT('',(-0.5,-0.92330926563097,7.36567916523348));
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+#794=CARTESIAN_POINT('',(-0.00120616049583702,-1.07969742410131,6.94480710580172));
+#795=CARTESIAN_POINT('',(0.392294058610171,-0.990649962249719,7.11027504431027));
+#796=CARTESIAN_POINT('',(0.5,-0.92330926563097,7.36560847719262));
+#797=CARTESIAN_POINT('',(0.5,-0.92330926563097,7.5));
+#798=CARTESIAN_POINT('',(0.5,-0.92330926563097,7.5));
+#799=CARTESIAN_POINT('',(0.499999999999999,-0.92330926563097,12.1053835479525));
+#800=CARTESIAN_POINT('',(0.,2.,7.5));
+#801=CARTESIAN_POINT('',(0.5,2.,7.5));
+#802=CARTESIAN_POINT('',(-0.499999999999999,2.,7.5));
+#803=CARTESIAN_POINT('',(-0.499999999999999,2.,10.7));
+#804=CARTESIAN_POINT('',(0.499999999999999,2.,7.5));
+#805=CARTESIAN_POINT('',(0.499999999999999,2.,7.5));
+#806=CARTESIAN_POINT('',(0.5,2.,7.5));
+#807=CARTESIAN_POINT('',(-0.499999999999999,2.,10.7));
+#808=CARTESIAN_POINT('',(-0.499999999999999,2.,7.5));
+#809=CARTESIAN_POINT('',(0.,2.,7.5));
+#810=MECHANICAL_DESIGN_GEOMETRIC_PRESENTATION_REPRESENTATION('',(#429),
+#811);
+#811=(
+GEOMETRIC_REPRESENTATION_CONTEXT(3)
+GLOBAL_UNCERTAINTY_ASSIGNED_CONTEXT((#812))
+GLOBAL_UNIT_ASSIGNED_CONTEXT((#815,#814,#813))
+REPRESENTATION_CONTEXT('702910000','TOP_LEVEL_ASSEMBLY_PART')
+);
+#812=UNCERTAINTY_MEASURE_WITH_UNIT(LENGTH_MEASURE(0.005),#815,
+'DISTANCE_ACCURACY_VALUE','Maximum Tolerance applied to model');
+#813=(
+NAMED_UNIT(*)
+SI_UNIT($,.STERADIAN.)
+SOLID_ANGLE_UNIT()
+);
+#814=(
+NAMED_UNIT(*)
+PLANE_ANGLE_UNIT()
+SI_UNIT($,.RADIAN.)
+);
+#815=(
+LENGTH_UNIT()
+NAMED_UNIT(*)
+SI_UNIT(.MILLI.,.METRE.)
+);
+#816=PRODUCT_DEFINITION_SHAPE('','',#817);
+#817=PRODUCT_DEFINITION('','',#819,#818);
+#818=PRODUCT_DEFINITION_CONTEXT('',#825,'design');
+#819=PRODUCT_DEFINITION_FORMATION_WITH_SPECIFIED_SOURCE('','',#821,
+ .NOT_KNOWN.);
+#820=PRODUCT_RELATED_PRODUCT_CATEGORY('','',(#821));
+#821=PRODUCT('702910000','702910000','702910000',(#823));
+#822=PRODUCT_CATEGORY('','');
+#823=PRODUCT_CONTEXT('',#825,'mechanical');
+#824=APPLICATION_PROTOCOL_DEFINITION('international standard',
+'automotive_design',2010,#825);
+#825=APPLICATION_CONTEXT(
+'core data for automotive mechanical design processes');
+ENDSEC;
+END-ISO-10303-21;

hardware/c_its-companion/library/XIAO-ESP32-C5-SMD-DIP.kicad_mod

@@ -6,7 +6,7 @@
 	(property "Reference" "REF**"
 		(at 7.312 -21.336 0)
 		(layer "F.SilkS")
-		(uuid "95a6896c-2eab-4f28-adc5-7fd64550efd1")
+		(uuid "7289cb19-d22c-4d43-99dc-a37a7af09173")
 		(effects
 			(font
 				(size 0.78232 0.78232)
@@ -18,7 +18,7 @@
 	(property "Value" "Val**"
 		(at 8.89 -10.795 0)
 		(layer "F.Fab")
-		(uuid "ead571aa-8f25-4413-9dd8-3ecea3d8b1b5")
+		(uuid "bdcd11a5-c8fd-480a-82a6-c8e8bcd29311")
 		(effects
 			(font
 				(size 0.536448 0.536448)
@@ -31,7 +31,7 @@
 		(unlocked yes)
 		(layer "F.Fab")
 		(hide yes)
-		(uuid "e0e614f2-f99b-42a7-87d5-6d40f74c047a")
+		(uuid "11c7907a-4c88-4cd1-aade-56cc3ffbce3d")
 		(effects
 			(font
 				(size 1.27 1.27)
@@ -44,7 +44,7 @@
 		(unlocked yes)
 		(layer "F.Fab")
 		(hide yes)
-		(uuid "074d8848-2ba7-4146-8c49-a0cf65e2aa82")
+		(uuid "d2820fe3-6b02-4bb3-95b7-3d3fff9c7376")
 		(effects
 			(font
 				(size 1.27 1.27)
@@ -61,7 +61,7 @@
 			(type solid)
 		)
 		(layer "F.SilkS")
-		(uuid "e72c3c07-5bc8-4f5f-97cd-36412308e250")
+		(uuid "2c59f052-4924-49c7-bf3a-da8f762581f4")
 	)
 	(fp_line
 		(start 1.905 -0.082)
@@ -71,7 +71,7 @@
 			(type solid)
 		)
 		(layer "F.SilkS")
-		(uuid "e3e0ab25-f18a-4068-92e8-92a17b4caf05")
+		(uuid "2ed15d83-c91c-402e-985a-9eaa24c859ff")
 	)
 	(fp_line
 		(start 4.595 -21.037)
@@ -81,7 +81,7 @@
 			(type solid)
 		)
 		(layer "F.SilkS")
-		(uuid "4838598f-afa6-445e-b237-7544ae7e9968")
+		(uuid "287916b7-11ac-4b79-9dc6-349e8ddc4746")
 	)
 	(fp_line
 		(start 5.098728 -22.547)
@@ -91,7 +91,7 @@
 			(type solid)
 		)
 		(layer "F.SilkS")
-		(uuid "101b5417-f570-447c-b9f6-42639e5eff3c")
+		(uuid "e3413d28-3aa9-4963-adb2-639c03a3bf14")
 	)
 	(fp_line
 		(start 13.594 -22.047)
@@ -101,7 +101,7 @@
 			(type solid)
 		)
 		(layer "F.SilkS")
-		(uuid "37ee6532-c85a-4899-82db-921e02cce4af")
+		(uuid "433ee433-18b6-4bfa-bf63-4ea6c8cd91d7")
 	)
 	(fp_line
 		(start 15.875 -21.037)
@@ -111,7 +111,7 @@
 			(type solid)
 		)
 		(layer "F.SilkS")
-		(uuid "f94b2798-d11f-47d7-8f2c-02478417b6f1")
+		(uuid "d5635a5e-089c-498e-8414-4a3027ae8397")
 	)
 	(fp_line
 		(start 17.78 -1.987)
@@ -121,7 +121,7 @@
 			(type solid)
 		)
 		(layer "F.SilkS")
-		(uuid "8c3282cc-86c2-4cf3-a698-856916df5f40")
+		(uuid "c3641fdd-4cec-4126-bba9-5e292cf8bf86")
 	)
 	(fp_arc
 		(start 0 -19.136)
@@ -132,7 +132,7 @@
 			(type solid)
 		)
 		(layer "F.SilkS")
-		(uuid "2a1b788b-cdcf-4a49-acac-d187cf344ffc")
+		(uuid "ebbdac55-718e-4672-9d5f-44b0d386cc11")
 	)
 	(fp_arc
 		(start 1.905 -0.082)
@@ -143,7 +143,7 @@
 			(type solid)
 		)
 		(layer "F.SilkS")
-		(uuid "677c2a8e-0212-4651-99b4-af42d29d0bd1")
+		(uuid "09e142d3-8be9-454d-a6e8-68cd0807b882")
 	)
 	(fp_arc
 		(start 4.598728 -22.047272)
@@ -154,7 +154,7 @@
 			(type default)
 		)
 		(layer "F.SilkS")
-		(uuid "b38fc005-51b4-4609-b7e3-78320e82da0d")
+		(uuid "6f1ff639-b216-41c7-b291-8df9f6813689")
 	)
 	(fp_arc
 		(start 13.094 -22.547)
@@ -165,7 +165,7 @@
 			(type default)
 		)
 		(layer "F.SilkS")
-		(uuid "46a43512-01fe-440e-b1e8-31a50057cbf8")
+		(uuid "33b95cff-53a4-40de-b83a-b01ff651b641")
 	)
 	(fp_arc
 		(start 15.875 -21.037)
@@ -176,7 +176,7 @@
 			(type solid)
 		)
 		(layer "F.SilkS")
-		(uuid "f77dffb2-d331-43db-9018-069e9fa47c57")
+		(uuid "f5c73dca-587b-474c-9506-85b6a5dbb2a1")
 	)
 	(fp_arc
 		(start 17.78 -1.987)
@@ -187,7 +187,7 @@
 			(type solid)
 		)
 		(layer "F.SilkS")
-		(uuid "535b0a70-da0d-4557-a5dd-d25a51ee5468")
+		(uuid "b2590c3b-521c-4794-96f4-54b9c7f512c3")
 	)
 	(fp_circle
 		(center -0.21 -20.621)
@@ -198,7 +198,7 @@
 		)
 		(fill yes)
 		(layer "F.SilkS")
-		(uuid "c4f8c64e-4c5d-41c1-8b14-aca8fcf77968")
+		(uuid "031cf5be-dbf5-48e7-b55c-e80db6fba62a")
 	)
 	(fp_circle
 		(center 1.064 -19.904)
@@ -209,7 +209,7 @@
 		)
 		(fill yes)
 		(layer "F.SilkS")
-		(uuid "163ea809-1cd6-43c9-968e-14c093715603")
+		(uuid "a2bb00f9-1e52-4961-9e01-c6a3620a78a9")
 	)
 	(fp_rect
 		(start 17.8 0)
@@ -220,7 +220,7 @@
 		)
 		(fill no)
 		(layer "F.CrtYd")
-		(uuid "477d102d-f2d0-4f67-ad93-9f60da51bd76")
+		(uuid "17d61597-c12f-438e-86cd-26bf95579021")
 	)
 	(fp_rect
 		(start 0 -21)
@@ -231,7 +231,7 @@
 		)
 		(fill no)
 		(layer "F.Fab")
-		(uuid "e7107e2f-485b-49f6-9f5d-2537ab0ef458")
+		(uuid "8fe10542-c51f-49ff-8670-cd7b22b70693")
 	)
 	(fp_circle
 		(center 1.084 -19.9)
@@ -242,7 +242,7 @@
 		)
 		(fill yes)
 		(layer "F.Fab")
-		(uuid "089122fe-193e-4cef-a9b8-54d37cb7fa99")
+		(uuid "63683cfd-14cc-476e-b4f9-7a4daaf029fc")
 	)
 	(pad "1" smd roundrect
 		(at 0.835 -18.12)
@@ -251,7 +251,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "351f5f05-8bc3-4b53-9daf-3207bd71876b")
+		(uuid "2a534393-88c2-4d7e-9b25-ae881057dc57")
 	)
 	(pad "1" thru_hole circle
 		(at 1.26 -18.14 180)
@@ -259,7 +259,7 @@
 		(drill 0.889)
 		(layers "*.Cu" "*.Mask")
 		(remove_unused_layers no)
-		(uuid "6a16c3b2-8d4e-4efe-a84e-dbc418c7fe79")
+		(uuid "39971d4a-ede8-4d86-8c78-fed36f7ff078")
 	)
 	(pad "2" smd roundrect
 		(at 0.835 -15.58)
@@ -268,7 +268,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "cfdee4aa-d600-484f-9a5c-2062a00bde1d")
+		(uuid "778730c0-f8ef-4bc5-a2d2-49cef3e1a5c8")
 	)
 	(pad "2" thru_hole circle
 		(at 1.26 -15.6 180)
@@ -276,7 +276,7 @@
 		(drill 0.889)
 		(layers "*.Cu" "*.Mask")
 		(remove_unused_layers no)
-		(uuid "69193d02-4e31-4519-a90d-949c3f48e92c")
+		(uuid "60d6e6cf-8424-49f9-b534-0d917feddde6")
 	)
 	(pad "3" smd roundrect
 		(at 0.835 -13.04)
@@ -285,7 +285,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "52a69e1c-edab-4079-a491-6bcb12907f61")
+		(uuid "a37ac89a-0dbc-4480-bd79-40a4874856e2")
 	)
 	(pad "3" thru_hole circle
 		(at 1.26 -13.06 180)
@@ -293,7 +293,7 @@
 		(drill 0.889)
 		(layers "*.Cu" "*.Mask")
 		(remove_unused_layers no)
-		(uuid "a3aed707-7e8b-4b1b-ba96-06cfb9154fcb")
+		(uuid "c3cef52b-cf4a-4b20-94d4-9920f06a32c2")
 	)
 	(pad "4" smd roundrect
 		(at 0.835 -10.5)
@@ -302,7 +302,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "1e864c46-432c-460c-af69-13a1c9d0fd2f")
+		(uuid "9dd4400a-d763-40d5-8df2-4f74596ce0f0")
 	)
 	(pad "4" thru_hole circle
 		(at 1.26 -10.52 180)
@@ -310,7 +310,7 @@
 		(drill 0.889)
 		(layers "*.Cu" "*.Mask")
 		(remove_unused_layers no)
-		(uuid "eee65312-1942-42a1-a13a-2a28a114ec95")
+		(uuid "1cd9d96b-d96c-4261-9b60-abca04794862")
 	)
 	(pad "5" smd roundrect
 		(at 0.835 -7.96)
@@ -319,7 +319,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "da854e17-c3b3-4a83-9d47-a379e4d7efa5")
+		(uuid "2cf548cf-85f3-43d9-8a36-e08c8bec33e8")
 	)
 	(pad "5" thru_hole circle
 		(at 1.26 -7.98 180)
@@ -327,7 +327,7 @@
 		(drill 0.889)
 		(layers "*.Cu" "*.Mask")
 		(remove_unused_layers no)
-		(uuid "febdd29f-f361-4b8e-b2b5-7502d3e5fdea")
+		(uuid "72d2d8d9-81dd-49eb-8a57-71820c388d53")
 	)
 	(pad "6" smd roundrect
 		(at 0.835 -5.42)
@@ -336,7 +336,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "3fde7f90-983d-44c1-939e-47d36175373f")
+		(uuid "ae17a813-7e06-4aa6-a595-bad75efec978")
 	)
 	(pad "6" thru_hole circle
 		(at 1.26 -5.44 180)
@@ -344,7 +344,7 @@
 		(drill 0.889)
 		(layers "*.Cu" "*.Mask")
 		(remove_unused_layers no)
-		(uuid "323ef0a5-3407-4ac3-b76f-8ac19e044d1e")
+		(uuid "f55385dd-12a0-4f5b-8870-e62c32af2fc8")
 	)
 	(pad "7" smd roundrect
 		(at 0.835 -2.88)
@@ -353,7 +353,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "ebfd6bef-ea17-4635-877b-58b57c784dec")
+		(uuid "f0c853cd-127b-497c-92f2-2d32416b2f9f")
 	)
 	(pad "7" thru_hole circle
 		(at 1.26 -2.9 180)
@@ -361,7 +361,7 @@
 		(drill 0.889)
 		(layers "*.Cu" "*.Mask")
 		(remove_unused_layers no)
-		(uuid "2b179783-65b0-4d7c-850b-74c9fa3a7a64")
+		(uuid "528c9bdf-00d3-41c7-8813-c9575c699c56")
 	)
 	(pad "8" thru_hole circle
 		(at 16.5 -2.9)
@@ -369,7 +369,7 @@
 		(drill 0.889)
 		(layers "*.Cu" "*.Mask")
 		(remove_unused_layers no)
-		(uuid "5cbc8aa6-fdfd-49e6-b018-da1d4ff342aa")
+		(uuid "60c9ec27-aec8-4d4f-9230-0276f8ddf68b")
 	)
 	(pad "8" smd roundrect
 		(at 17 -2.88)
@@ -378,7 +378,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "19eb14d0-5713-47b7-86f2-4bccede8ba54")
+		(uuid "d00455ea-b0c0-4d93-bbdc-81c12f7ba57b")
 	)
 	(pad "9" thru_hole circle
 		(at 16.5 -5.44)
@@ -386,7 +386,7 @@
 		(drill 0.889)
 		(layers "*.Cu" "*.Mask")
 		(remove_unused_layers no)
-		(uuid "e7f197b5-1fc8-47f6-9f49-60ffd6fa2335")
+		(uuid "5a2b71de-2780-4ac3-bcea-746f0a78c774")
 	)
 	(pad "9" smd roundrect
 		(at 17 -5.42)
@@ -395,7 +395,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "4c3b83bc-a000-4a70-887c-6b775bc40ee1")
+		(uuid "478f6a86-44ce-4970-ad0e-8db6ddbb0561")
 	)
 	(pad "10" thru_hole circle
 		(at 16.5 -7.98)
@@ -403,7 +403,7 @@
 		(drill 0.889)
 		(layers "*.Cu" "*.Mask")
 		(remove_unused_layers no)
-		(uuid "4df7fd17-71d5-4f8f-a3f2-68c6537a767f")
+		(uuid "e35916bc-b96f-4e05-8b66-54d3f88ff104")
 	)
 	(pad "10" smd roundrect
 		(at 17 -7.96)
@@ -412,7 +412,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "223d5c33-d2a3-4398-8d3f-544bd6345a86")
+		(uuid "26063f43-e37a-465a-a2f8-883028ddec3c")
 	)
 	(pad "11" thru_hole circle
 		(at 16.5 -10.52)
@@ -420,7 +420,7 @@
 		(drill 0.889)
 		(layers "*.Cu" "*.Mask")
 		(remove_unused_layers no)
-		(uuid "dad67976-a604-485a-bb37-2d67ea771b2c")
+		(uuid "8d60d831-b564-4516-acd6-2bde994c6c2e")
 	)
 	(pad "11" smd roundrect
 		(at 17 -10.5)
@@ -429,7 +429,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "1f04f1d2-ce82-4256-b122-36f63f189efe")
+		(uuid "4e0c2682-5a5c-4228-8522-a5078d124180")
 	)
 	(pad "12" thru_hole circle
 		(at 16.5 -13.06)
@@ -437,7 +437,7 @@
 		(drill 0.889)
 		(layers "*.Cu" "*.Mask")
 		(remove_unused_layers no)
-		(uuid "c55d522b-9f8b-4fa4-afaa-880f3b1c9c5f")
+		(uuid "e907dfc0-cb14-4296-ab05-c29bb1d0d646")
 	)
 	(pad "12" smd roundrect
 		(at 17 -13.04)
@@ -446,7 +446,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "31818d88-bbc0-4c22-b4ed-d6884ef71ebb")
+		(uuid "9ef1ce16-09d6-4ebb-aa7a-02e3ee0930aa")
 	)
 	(pad "13" thru_hole circle
 		(at 16.5 -15.6)
@@ -454,7 +454,7 @@
 		(drill 0.889)
 		(layers "*.Cu" "*.Mask")
 		(remove_unused_layers no)
-		(uuid "e46165bc-b289-44b0-b7f6-6759bba3d4b8")
+		(uuid "3761df0d-b80c-4c38-a1b7-dc0fa8ecaa2f")
 	)
 	(pad "13" smd roundrect
 		(at 17 -15.58)
@@ -463,7 +463,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "3fbf02f8-81da-4fba-bc95-9e47b9abaa05")
+		(uuid "94236148-baa2-42ed-bc8a-71357064d136")
 	)
 	(pad "14" thru_hole circle
 		(at 16.5 -18.14)
@@ -471,7 +471,7 @@
 		(drill 0.889)
 		(layers "*.Cu" "*.Mask")
 		(remove_unused_layers no)
-		(uuid "71ca3093-fd4e-46c3-9980-6d986d711719")
+		(uuid "b7d37dfd-d04e-4a01-9dc0-7db8666cc822")
 	)
 	(pad "14" smd roundrect
 		(at 17 -18.12)
@@ -480,55 +480,55 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "ce7a6ff3-5c3a-4077-bf86-beedc24debb3")
+		(uuid "a995d04e-b409-4d6d-9828-c5a7c885040e")
 	)
 	(pad "15" smd circle
 		(at 7.6166 -19.1415)
 		(size 1.7 1.7)
 		(layers "F.Cu" "F.Mask" "F.Paste")
-		(uuid "7273149b-9aea-4a23-9b4e-db1e0d6c76fc")
+		(uuid "dd0f7577-6290-4e73-96f2-b8d5a22bfae2")
 	)
 	(pad "16" smd circle
 		(at 10.1566 -19.1415)
 		(size 1.7 1.7)
 		(layers "F.Cu" "F.Mask" "F.Paste")
-		(uuid "0aef11c3-14ad-4cb5-9b05-95a892988ce8")
+		(uuid "bc571b1a-844b-4ede-be8b-eb8d95595714")
 	)
 	(pad "17" smd circle
 		(at 7.6166 -16.6015)
 		(size 1.7 1.7)
 		(layers "F.Cu" "F.Mask" "F.Paste")
-		(uuid "158a5cbb-af86-4fa6-8d58-6831485085c5")
+		(uuid "62293386-e611-4db9-9b83-9e6397ee899d")
 	)
 	(pad "18" smd circle
 		(at 10.1566 -16.6015)
 		(size 1.7 1.7)
 		(layers "F.Cu" "F.Mask" "F.Paste")
-		(uuid "3b7bcd8a-c97c-46f6-9faa-4e525d03d6e8")
+		(uuid "9296da6b-fa4e-41fb-800c-4e427d70791f")
 	)
 	(pad "19" smd circle
 		(at 7.6166 -14.0615)
 		(size 1.7 1.7)
 		(layers "F.Cu" "F.Mask" "F.Paste")
-		(uuid "ad4ba963-211d-4878-a4cb-255a615c14de")
+		(uuid "7b2d4612-967f-421e-80a9-9f8cb0e56a4b")
 	)
 	(pad "20" smd circle
 		(at 10.1566 -14.0615)
 		(size 1.7 1.7)
 		(layers "F.Cu" "F.Mask" "F.Paste")
-		(uuid "8c7e088d-0846-4d7d-9143-5ce3fdb0c4fd")
+		(uuid "e9502519-37f6-427d-8ac1-c91a57e60e31")
 	)
 	(pad "21" smd circle
 		(at 7.6166 -11.5215)
 		(size 1.7 1.7)
 		(layers "F.Cu" "F.Mask" "F.Paste")
-		(uuid "c6bbe198-c8c7-4b83-a36e-6a6fdeb3b94f")
+		(uuid "9cc565e8-a330-4288-8a84-30034925498b")
 	)
 	(pad "22" smd circle
 		(at 10.064 -11.5783)
 		(size 1.7 1.7)
 		(layers "F.Cu" "F.Mask" "F.Paste")
-		(uuid "4f1e574b-3b71-4a23-b765-d779726fd3c6")
+		(uuid "0ce47caa-4877-4cc0-806c-5f61820a68bf")
 	)
 	(pad "23" smd roundrect
 		(at 7.3086 -4.9683 270)
@@ -536,7 +536,7 @@
 		(layers "F.Cu" "F.Mask" "F.Paste")
 		(roundrect_rratio 0.25)
 		(thermal_bridge_angle 45)
-		(uuid "08d345bf-1b32-499f-94bb-44332eb5115d")
+		(uuid "05334df1-39c8-400d-b0bb-a6659401fe77")
 	)
 	(pad "24" smd roundrect
 		(at 9.8486 -4.9683 270)
@@ -544,7 +544,7 @@
 		(layers "F.Cu" "F.Mask" "F.Paste")
 		(roundrect_rratio 0.25)
 		(thermal_bridge_angle 45)
-		(uuid "8b3ca1bb-eee0-4c3d-8f3b-eefea4a68bbb")
+		(uuid "c828c680-7be4-4eb8-8aaa-0abb935706db")
 	)
 	(pad "25" smd roundrect
 		(at 9.949 -8.412 270)
@@ -552,7 +552,18 @@
 		(layers "F.Cu" "F.Mask" "F.Paste")
 		(roundrect_rratio 0.25)
 		(thermal_bridge_angle 45)
-		(uuid "45570478-e499-45ab-bb97-539cabc4e177")
+		(uuid "1545b883-dc4a-4fcb-99e4-3b7b29ed142b")
 	)
 	(embedded_fonts no)
+	(model "${KIPRJMOD}/library/Seeed Studio XIAO ESP32-C5.step"
+		(offset
+			(xyz 15 8.7 0)
+		)
+		(scale
+			(xyz 1 1 1)
+		)
+		(rotate
+			(xyz -90 -0 -90)
+		)
+	)
 )

hardware/c_its-companion/library/XIAO-ESP32-C5-SMD.kicad_mod

@@ -1,12 +1,12 @@
 (footprint "XIAO-ESP32-C5-SMD"
-	(version 20241229)
+	(version 20260206)
 	(generator "pcbnew")
-	(generator_version "9.0")
+	(generator_version "10.0")
 	(layer "F.Cu")
 	(property "Reference" "REF**"
 		(at 7.312 -21.336 0)
 		(layer "F.SilkS")
-		(uuid "a9f5f5dd-597c-45dd-b31d-a35c3963eed2")
+		(uuid "557c8d74-068c-42d8-b6ab-85ab4ee867fc")
 		(effects
 			(font
 				(size 0.78232 0.78232)
@@ -18,7 +18,7 @@
 	(property "Value" "Val**"
 		(at 8.89 -10.795 0)
 		(layer "F.Fab")
-		(uuid "2d66aca7-e0b3-44df-838e-be285890792c")
+		(uuid "705e36ff-9a63-4475-ae0c-c8cfa97917f5")
 		(effects
 			(font
 				(size 0.536448 0.536448)
@@ -31,7 +31,7 @@
 		(unlocked yes)
 		(layer "F.Fab")
 		(hide yes)
-		(uuid "5173b428-b87b-497c-9fd1-0d444c2ced85")
+		(uuid "229b4243-ef3c-470f-a5d9-97b6a42f008c")
 		(effects
 			(font
 				(size 1.27 1.27)
@@ -44,7 +44,7 @@
 		(unlocked yes)
 		(layer "F.Fab")
 		(hide yes)
-		(uuid "ea7181c4-fdca-44f1-ad15-d0627f50a68e")
+		(uuid "7a7b1278-d112-4040-a8cd-6d0400594348")
 		(effects
 			(font
 				(size 1.27 1.27)
@@ -52,6 +52,7 @@
 			)
 		)
 	)
+	(duplicate_pad_numbers_are_jumpers no)
 	(fp_line
 		(start 0 -1.987)
 		(end 0 -19.132)
@@ -60,7 +61,7 @@
 			(type solid)
 		)
 		(layer "F.SilkS")
-		(uuid "df0486b4-d04f-4201-a301-beede6e15862")
+		(uuid "a66c2840-6ec7-48db-8e31-5d72c9c553bf")
 	)
 	(fp_line
 		(start 1.905 -0.082)
@@ -70,7 +71,7 @@
 			(type solid)
 		)
 		(layer "F.SilkS")
-		(uuid "f54abd8d-62ed-4b05-8e37-f29acdadc0f8")
+		(uuid "d257aabf-9b3d-4476-84c1-ba31617c7235")
 	)
 	(fp_line
 		(start 4.595 -21.037)
@@ -80,7 +81,7 @@
 			(type solid)
 		)
 		(layer "F.SilkS")
-		(uuid "fead6daa-b9f4-4bd1-a131-b5d2cd3184de")
+		(uuid "a992b9a7-8dbf-4641-afc9-0ec10e2d7b01")
 	)
 	(fp_line
 		(start 5.098728 -22.547)
@@ -90,7 +91,7 @@
 			(type solid)
 		)
 		(layer "F.SilkS")
-		(uuid "b90ae92d-7c1a-4689-bf64-c3528a3ea3ee")
+		(uuid "b0d13c73-b834-468a-ab90-f79b89266984")
 	)
 	(fp_line
 		(start 13.594 -22.047)
@@ -100,7 +101,7 @@
 			(type solid)
 		)
 		(layer "F.SilkS")
-		(uuid "b540fbcc-8e06-44d7-95f6-8b142e4c90fb")
+		(uuid "555b99e7-1219-4a0c-ac7e-db119bda8034")
 	)
 	(fp_line
 		(start 15.875 -21.037)
@@ -110,7 +111,7 @@
 			(type solid)
 		)
 		(layer "F.SilkS")
-		(uuid "2b80542c-5088-4f89-ae32-3400cf894ca1")
+		(uuid "a8617b36-ce2c-4e94-9b21-49cec1b78e78")
 	)
 	(fp_line
 		(start 17.78 -1.987)
@@ -120,7 +121,7 @@
 			(type solid)
 		)
 		(layer "F.SilkS")
-		(uuid "4cd8add0-8a8c-468d-ba6f-b86787c288af")
+		(uuid "7b2fa456-4c5d-47eb-83a9-9899ae4199ed")
 	)
 	(fp_arc
 		(start 0 -19.136)
@@ -131,7 +132,7 @@
 			(type solid)
 		)
 		(layer "F.SilkS")
-		(uuid "4d9bf7a5-4ab4-48bb-b8ac-0a5ce4523642")
+		(uuid "e78b67dd-552c-4fc5-ad57-73bbafc2d044")
 	)
 	(fp_arc
 		(start 1.905 -0.082)
@@ -142,7 +143,7 @@
 			(type solid)
 		)
 		(layer "F.SilkS")
-		(uuid "d09661c8-1ad3-40e9-8323-9dabc8f3f98b")
+		(uuid "88429fe1-7b04-471a-9890-a0b8200a074b")
 	)
 	(fp_arc
 		(start 4.598728 -22.047272)
@@ -153,7 +154,7 @@
 			(type default)
 		)
 		(layer "F.SilkS")
-		(uuid "7a58f637-14d7-4804-b127-f1d029b5d1e6")
+		(uuid "c1959345-d081-4a6d-ad04-f511b2bcd3b3")
 	)
 	(fp_arc
 		(start 13.094 -22.547)
@@ -164,7 +165,7 @@
 			(type default)
 		)
 		(layer "F.SilkS")
-		(uuid "d0bc8663-987f-4e2e-b464-096a547b822f")
+		(uuid "3834fecb-644d-483f-af5e-b4ec4ba35133")
 	)
 	(fp_arc
 		(start 15.875 -21.037)
@@ -175,7 +176,7 @@
 			(type solid)
 		)
 		(layer "F.SilkS")
-		(uuid "77004ea5-53a4-40ab-b35c-7bdd22107e34")
+		(uuid "5e69b2f4-3544-474a-ae1a-7f149ae7eb69")
 	)
 	(fp_arc
 		(start 17.78 -1.987)
@@ -186,7 +187,7 @@
 			(type solid)
 		)
 		(layer "F.SilkS")
-		(uuid "94189dc1-14b5-4f17-b9d3-0163ed99e583")
+		(uuid "1191396d-a9ec-434e-886a-91600b65a1f3")
 	)
 	(fp_circle
 		(center -0.21 -20.621)
@@ -197,7 +198,7 @@
 		)
 		(fill yes)
 		(layer "F.SilkS")
-		(uuid "dc606cc5-10bc-4635-81d1-fa27b1e6b4e2")
+		(uuid "78de167e-67f4-421d-a3d7-f90b03c3b76a")
 	)
 	(fp_circle
 		(center 1.064 -19.904)
@@ -208,7 +209,7 @@
 		)
 		(fill yes)
 		(layer "F.SilkS")
-		(uuid "2b5e2829-6d01-441f-9983-fc4a273ff483")
+		(uuid "e0ab7501-2085-405d-8904-360e96286f3d")
 	)
 	(fp_rect
 		(start 17.8 0)
@@ -219,7 +220,7 @@
 		)
 		(fill no)
 		(layer "F.CrtYd")
-		(uuid "e428eb56-00a2-4249-bb91-d2e5823b2899")
+		(uuid "68fac093-a80b-43bd-acdd-9174c2b68a7b")
 	)
 	(fp_rect
 		(start 0 -21)
@@ -230,7 +231,7 @@
 		)
 		(fill no)
 		(layer "F.Fab")
-		(uuid "2133d927-559d-4615-ab92-732772c02d94")
+		(uuid "75e1e4bf-5495-4543-8162-6f2146eb31a7")
 	)
 	(fp_circle
 		(center 1.084 -19.9)
@@ -241,7 +242,7 @@
 		)
 		(fill yes)
 		(layer "F.Fab")
-		(uuid "50e04a65-8ff2-4d1f-be98-2db48101e90a")
+		(uuid "3f79778e-efc6-4d8a-90fc-9b0956d1e6c8")
 	)
 	(pad "1" smd roundrect
 		(at 0.835 -18.12)
@@ -250,7 +251,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "c68f6b12-dcf5-46b1-b159-2eef9023b0ac")
+		(uuid "a66a81ba-530e-4ed7-85fc-abb706366301")
 	)
 	(pad "2" smd roundrect
 		(at 0.835 -15.58)
@@ -259,7 +260,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "525b09fc-9099-4274-98c3-45f84d0591ab")
+		(uuid "2e8e6c17-1c83-40e5-886b-8ac9e111d834")
 	)
 	(pad "3" smd roundrect
 		(at 0.835 -13.04)
@@ -268,7 +269,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "99cc76a7-0a78-4868-871b-c214ecac5525")
+		(uuid "4c19fb00-2466-4963-9035-7df313ebbd03")
 	)
 	(pad "4" smd roundrect
 		(at 0.835 -10.5)
@@ -277,7 +278,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "8038b67b-b3bf-4a3e-b790-40857963c957")
+		(uuid "020dc3ce-b079-4716-befc-21c4a0b166e5")
 	)
 	(pad "5" smd roundrect
 		(at 0.835 -7.96)
@@ -286,7 +287,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "84711cb2-d222-464e-bcd5-f76af75cc612")
+		(uuid "94f0b26d-d04c-43cf-8320-ed3ef2490ead")
 	)
 	(pad "6" smd roundrect
 		(at 0.835 -5.42)
@@ -295,7 +296,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "aabcfc3b-fa72-4e48-95d1-d53474158cc0")
+		(uuid "e24700dc-8a05-4c4d-a5b3-15a1c457d46d")
 	)
 	(pad "7" smd roundrect
 		(at 0.835 -2.88)
@@ -304,7 +305,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "3e086061-1f3f-4b1e-9354-920126d40249")
+		(uuid "62fff5d6-54d1-422b-ad81-95284edc437b")
 	)
 	(pad "8" smd roundrect
 		(at 17 -2.88)
@@ -313,7 +314,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "974a7e29-b5d3-475c-b481-2bc14f5b3495")
+		(uuid "9e877d45-e3c0-44e0-9458-4922630c6a1a")
 	)
 	(pad "9" smd roundrect
 		(at 17 -5.42)
@@ -322,7 +323,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "a553cc0b-22bc-49aa-9fb7-680c812e8abd")
+		(uuid "1d9612e2-d4b8-4c42-b755-355323253c76")
 	)
 	(pad "10" smd roundrect
 		(at 17 -7.96)
@@ -331,7 +332,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "b650936d-c436-4d93-abb7-7957add5cfb1")
+		(uuid "5b31b5e5-b0e6-4ab0-8375-70a97ef6477f")
 	)
 	(pad "11" smd roundrect
 		(at 17 -10.5)
@@ -340,7 +341,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "177728f1-7b02-41a6-9de4-bdaee546f6d9")
+		(uuid "a7eb43c8-fdae-4b4e-8911-e5139f09839b")
 	)
 	(pad "12" smd roundrect
 		(at 17 -13.04)
@@ -349,7 +350,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "eb6539ef-4d84-4ae5-bc4e-237dae21b9ef")
+		(uuid "46ec70bc-5b25-41d9-8f94-d64bca50566e")
 	)
 	(pad "13" smd roundrect
 		(at 17 -15.58)
@@ -358,7 +359,7 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "c8744fbe-93c9-4c54-84bc-435357de679f")
+		(uuid "0b2adafc-0e12-42c8-82d3-09e4eaec6f34")
 	)
 	(pad "14" smd roundrect
 		(at 17 -18.12)
@@ -367,55 +368,55 @@
 		(roundrect_rratio 0.25)
 		(solder_mask_margin 0.0508)
 		(thermal_bridge_angle 45)
-		(uuid "fd579d63-bbef-4609-9252-aad3f944a314")
+		(uuid "b80dbfd3-3660-497c-91ee-d31b38368e21")
 	)
 	(pad "15" smd circle
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 		(layers "F.Cu" "F.Mask" "F.Paste")
-		(uuid "ad890579-1e55-4b71-9d59-080a59598896")
+		(uuid "1e713eb0-e2b6-45a1-abce-43bbf4392316")
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 	(pad "16" smd circle
 		(at 10.1566 -19.1415)
 		(size 1.7 1.7)
 		(layers "F.Cu" "F.Mask" "F.Paste")
-		(uuid "25d6fdae-01ac-4ca4-8702-55badc8bcbc8")
+		(uuid "0b9de9dc-04ec-439c-b85b-ce655f2f5cd6")
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 	(pad "17" smd circle
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 		(size 1.7 1.7)
 		(layers "F.Cu" "F.Mask" "F.Paste")
-		(uuid "e73ae295-736f-4acf-8ee1-0c120ebcebea")
+		(uuid "c845e0bb-80f7-42f3-a5db-d540a8c28762")
 	)
 	(pad "18" smd circle
 		(at 10.1566 -16.6015)
 		(size 1.7 1.7)
 		(layers "F.Cu" "F.Mask" "F.Paste")
-		(uuid "7adfba87-f861-42a5-bb73-c3f9fac53180")
+		(uuid "ac3ee324-2971-4b32-a471-bcb7de28c772")
 	)
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 		(size 1.7 1.7)
 		(layers "F.Cu" "F.Mask" "F.Paste")
-		(uuid "619dc2a5-519d-48ac-9c78-8c438df2a14d")
+		(uuid "ed4179a5-d6cb-4841-818a-3e2c9a5fa81d")
 	)
 	(pad "20" smd circle
 		(at 10.1566 -14.0615)
 		(size 1.7 1.7)
 		(layers "F.Cu" "F.Mask" "F.Paste")
-		(uuid "aa8b72d0-17bf-47d4-94b1-df9199638a29")
+		(uuid "032beec7-6d1b-472e-a4a2-afbf49f975b3")
 	)
 	(pad "21" smd circle
 		(at 7.6166 -11.5215)
 		(size 1.7 1.7)
 		(layers "F.Cu" "F.Mask" "F.Paste")
-		(uuid "8539b5cc-db2c-4fa4-9ead-b842a1885293")
+		(uuid "25568581-39b7-4dd1-b81f-5b4a630b9650")
 	)
 	(pad "22" smd circle
 		(at 10.064 -11.5783)
 		(size 1.7 1.7)
 		(layers "F.Cu" "F.Mask" "F.Paste")
-		(uuid "313edcfe-ad25-4ea7-b786-d8290dfb479a")
+		(uuid "23bde525-d47d-40b7-84ea-dcf8234b1a5c")
 	)
 	(pad "23" smd roundrect
 		(at 7.3086 -4.9683 270)
@@ -423,7 +424,7 @@
 		(layers "F.Cu" "F.Mask" "F.Paste")
 		(roundrect_rratio 0.25)
 		(thermal_bridge_angle 45)
-		(uuid "144d3c3d-6207-433c-9e61-4f75722af865")
+		(uuid "f3d763d5-6561-4c0f-9670-bb6789ac4352")
 	)
 	(pad "24" smd roundrect
 		(at 9.8486 -4.9683 270)
@@ -431,7 +432,7 @@
 		(layers "F.Cu" "F.Mask" "F.Paste")
 		(roundrect_rratio 0.25)
 		(thermal_bridge_angle 45)
-		(uuid "3780a4ef-348c-4241-b04b-2cb4f7127fa2")
+		(uuid "de0f17f7-8fc6-479b-9cb3-df664992a6e4")
 	)
 	(pad "25" smd roundrect
 		(at 9.949 -8.412 270)
@@ -439,7 +440,18 @@
 		(layers "F.Cu" "F.Mask" "F.Paste")
 		(roundrect_rratio 0.25)
 		(thermal_bridge_angle 45)
-		(uuid "00be3957-5a21-4898-8292-59f5f447623f")
+		(uuid "fcf89ab9-e2b7-4fff-9ab3-5d659c4716b9")
 	)
 	(embedded_fonts no)
+	(model "${KIPRJMOD}/library/Seeed Studio XIAO ESP32-C5.step"
+		(offset
+			(xyz 15 8.7 0)
+		)
+		(scale
+			(xyz 1 1 1)
+		)
+		(rotate
+			(xyz -90 -0 -90)
+		)
+	)
 )

hardware/c_its-companion/library/apple-ambulance-07mm-silkscreen.kicad_mod

@@ -0,0 +1,330 @@
+(footprint "apple-ambulance-07mm-silkscreen"
+	(version 20260206)
+	(generator "pcbnew")
+	(generator_version "10.0")
+	(layer "F.Cu")
+	(property "Reference" "G***"
+		(at 0 0 0)
+		(layer "F.SilkS")
+		(hide yes)
+		(uuid "2b5918f7-603f-4d90-b35f-93f7771c7c5a")
+		(effects
+			(font
+				(size 1.5 1.5)
+				(thickness 0.3)
+			)
+		)
+	)
+	(property "Value" "LOGO"
+		(at 0.75 0 0)
+		(layer "F.SilkS")
+		(hide yes)
+		(uuid "389520d5-426c-4ad5-96ca-473e9b598336")
+		(effects
+			(font
+				(size 1.5 1.5)
+				(thickness 0.3)
+			)
+		)
+	)
+	(property "Datasheet" ""
+		(at 0 0 0)
+		(layer "F.Fab")
+		(hide yes)
+		(uuid "b2d844bc-15e2-445c-a171-507c958fb0ae")
+		(effects
+			(font
+				(size 1.27 1.27)
+			)
+		)
+	)
+	(property "Description" ""
+		(at 0 0 0)
+		(layer "F.Fab")
+		(hide yes)
+		(uuid "6069302e-d1cc-475e-9ec2-e8f1b1e0a766")
+		(effects
+			(font
+				(size 1.27 1.27)
+			)
+		)
+	)
+	(attr board_only exclude_from_pos_files exclude_from_bom)
+	(duplicate_pad_numbers_are_jumpers no)
+	(fp_poly
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+		)
+		(stroke
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+			(type solid)
+		)
+		(fill yes)
+		(layer "F.SilkS")
+		(uuid "7752d7a9-942f-4bf8-9357-17306a94d401")
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hardware/c_its-companion/library/apple-bicycle-05mm-silkscreen.kicad_mod

@@ -0,0 +1,350 @@
+(footprint "apple-bicycle-05mm-silkscreen"
+	(version 20260206)
+	(generator "pcbnew")
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+)

hardware/c_its-companion/library/apple-bicycle-10mm-silkscreen.kicad_mod

@@ -0,0 +1,351 @@
+(footprint "apple-bicycle-10mm-silkscreen"
+	(version 20260206)
+	(generator "pcbnew")
+	(generator_version "10.0")
+	(layer "F.Cu")
+	(property "Reference" "G***"
+		(at 0 0 0)
+		(layer "F.SilkS")
+		(hide yes)
+		(uuid "8a193dd3-b124-4a53-9aa5-e591a8ea3c82")
+		(effects
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+				(thickness 0.3)
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+	(property "Value" "LOGO"
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+		(layer "F.SilkS")
+		(hide yes)
+		(uuid "dd6af5f9-6e77-4ce0-9c75-7159e3656f85")
+		(effects
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+				(size 1.5 1.5)
+				(thickness 0.3)
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+	(property "Datasheet" ""
+		(at 0 0 0)
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+		(hide yes)
+		(uuid "72b58864-183e-4095-b8e1-d920c0ca69de")
+		(effects
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+	(property "Description" ""
+		(at 0 0 0)
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+		(effects
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+	(attr board_only exclude_from_pos_files exclude_from_bom)
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hardware/c_its-companion/library/apple-trafficlight-04mm-silkscreen.kicad_mod

@@ -0,0 +1,269 @@
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hardware/c_its-companion/library/apple-trafficlight-10mm-silkscreen.kicad_mod

@@ -0,0 +1,269 @@
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src/applogic/mod.rs

@@ -106,6 +106,7 @@ pub struct GlosaSignalInfo {
 pub struct SignalGroupData {
     pub phase: SignalPhase,
     pub maneuver: map::Maneuvers,
+    pub usages: Vec<map::UsageType>,
     pub timing: Option<TimingData>,
 }
 
@@ -118,6 +119,7 @@ pub struct TimingData {
     pub max_end_sec: Option<i16>,
 }
 
+#[cfg(feature = "spat")]
 impl TimingData {
     pub fn new(value: &map::SignalGroup, now: chrono::DateTime<chrono::Utc>) -> Option<Self> {
         let min = value
@@ -382,35 +384,29 @@ impl State {
                             }),
                         )
                     } else {
-                        // get signal groups which are in our approach
+                        // get signal groups which are in our approach and have a maneuver
                         let mut approach_sig_grps = intersection
                             .signal_groups()
                             .iter()
-                            .filter(|i| {
+                            .filter_map(|i| {
-                                info.signal_groups
+                                if let Some(maneuver) = i.maneuvers()
+                                    && info
+                                        .signal_groups
                                         .iter()
                                         .find(|sg_id| **sg_id == i.id())
                                         .is_some()
-                            })
+                                {
-                            .collect::<Vec<_>>();
+                                    let phase = i
-
-                        // sort signal groups by maneuver
-                        approach_sig_grps.sort_by_key(|v| v.maneuvers());
-
-                        // display signal phases
-                        let sig_grps = approach_sig_grps
-                            .iter()
-                            .filter_map(|sig| {
-                                if let Some(maneuver) = sig.maneuvers() {
-                                    let phase = sig
                                         .phase()
                                         .map(core::convert::Into::into)
                                         .unwrap_or_default();
-                                    let timing = TimingData::new(sig, self.time.and_utc());
+                                    let timing = TimingData::new(i, self.time.and_utc());
+                                    let usages = i.source_lane_usages().to_vec();
 
                                     Some(SignalGroupData {
                                         phase,
                                         maneuver,
+                                        usages,
                                         timing,
                                     })
                                 } else {
@@ -419,11 +415,39 @@ impl State {
                             })
                             .collect::<Vec<_>>();
 
+                        // sort signal groups by maneuver
+                        approach_sig_grps.sort_by_key(|v| v.maneuver);
+
+                        // // display signal phases
+                        // let sig_grps = approach_sig_grps
+                        //     .iter()
+                        //     .filter_map(|sig| {
+                        //         if let Some(maneuver) = sig.sig_group.maneuvers() {
+                        //             let phase = sig
+                        //                 .sig_group
+                        //                 .phase()
+                        //                 .map(core::convert::Into::into)
+                        //                 .unwrap_or_default();
+                        //             let timing =
+                        //                 TimingData::new(&sig.sig_group, self.time.and_utc());
+
+                        //             Some(SignalGroupData {
+                        //                 phase,
+                        //                 maneuver,
+                        //                 timing,
+                        //                 usages: sig.lane_types.clone(),
+                        //             })
+                        //         } else {
+                        //             None
+                        //         }
+                        //     })
+                        //     .collect::<Vec<_>>();
+
                         (
                             None,
                             GlosaOutput::Locked(GlosaSignalInfo {
                                 intersection_id: intersection.id(),
-                                signal_groups: sig_grps,
+                                signal_groups: approach_sig_grps,
                             }),
                         ) // keep state, return signal groups
                     }

src/applogic/v2x/map.rs

@@ -191,25 +191,33 @@ impl Intersection {
     fn collect_signal_groups(lanes: &[Lane]) -> Vec<SignalGroup> {
         let mut connections = lanes
             .iter()
-            .flat_map(|i| i.connections.clone())
+            .flat_map(ConnectionExt::from_lane)
-            .filter(|i| i.signal_group.is_some())
+            .filter(|i| i.conn.signal_group.is_some())
             .collect::<Vec<_>>();
 
-        connections.sort_by_key(|i| i.signal_group.unwrap_or_default());
+        connections.sort_by_key(|i| i.conn.signal_group.unwrap_or_default());
 
-        let chunks = connections.chunk_by(|a, b| a.signal_group == b.signal_group);
+        let chunks = connections.chunk_by(|a, b| a.conn.signal_group == b.conn.signal_group);
         chunks
             .map(|chunk| {
-                let (sig_grp_id, maneuvers, mut target_lanes) = chunk.iter().fold(
+                let (sig_grp_id, maneuvers, mut target_lanes, mut source_lane_usages) =
-                    (None, Maneuvers::default(), vec![]),
+                    chunk.iter().fold(
-                    |(sig_grp_id, maneuvers, mut lanes), i| {
+                        (None, Maneuvers::default(), vec![], vec![]),
+                        |(sig_grp_id, maneuvers, mut lanes, mut usages), i| {
                             let new_maneuvers = i
+                                .conn
                                 .maneuvers
                                 .map(|v| core::ops::Add::add(maneuvers, v))
                                 .unwrap_or_default();
-                        lanes.push(i.target_lane_id);
+                            lanes.push(i.conn.target_lane_id);
 
-                        (i.signal_group, new_maneuvers, lanes)
+                            let lane_usages = i.source_lane_usages.clone();
+                            usages.extend_from_slice(&lane_usages);
+
+                            usages.sort_unstable();
+                            usages.dedup(); // TODO: only do this after all lanes were added?
+
+                            (i.conn.signal_group, new_maneuvers, lanes, usages)
                         },
                     );
 
@@ -226,6 +234,7 @@ impl Intersection {
                 SignalGroup {
                     id,
                     maneuvers,
+                    source_lane_usages,
                     target_lanes,
                     phase: None,
                     min_end_time: None,
@@ -402,6 +411,28 @@ impl From<&etsi_its_dsrc::Connection> for Connection {
     }
 }
 
+#[derive(Debug, Clone)]
+#[allow(unused)]
+struct ConnectionExt {
+    source_lane_id: u8,
+    source_lane_usages: Vec<UsageType>,
+    conn: Connection,
+}
+
+impl ConnectionExt {
+    fn from_lane(value: &Lane) -> Vec<Self> {
+        value
+            .connections
+            .iter()
+            .map(|conn| Self {
+                source_lane_id: value.id,
+                source_lane_usages: value.usages.clone(),
+                conn: *conn,
+            })
+            .collect()
+    }
+}
+
 /// Different view on a lane connection
 ///
 /// Technically this data is redundant with the `Connection` data of a `Lane`,
@@ -411,6 +442,7 @@ impl From<&etsi_its_dsrc::Connection> for Connection {
 pub struct SignalGroup {
     id: u8,
     maneuvers: Option<Maneuvers>,
+    source_lane_usages: Vec<UsageType>, // for easier signal group evaluation
     target_lanes: Vec<u8>,              // mainly for debugging
 
     // SPAT data
@@ -441,6 +473,9 @@ impl SignalGroup {
     pub fn maneuvers(&self) -> Option<Maneuvers> {
         self.maneuvers
     }
+    pub fn source_lane_usages(&self) -> &[UsageType] {
+        &self.source_lane_usages
+    }
     pub fn phase(&self) -> Option<etsi_its_dsrc::MovementPhaseState> {
         self.phase
     }

src/ble.rs

@@ -6,6 +6,7 @@
 use core::cell::RefCell;
 
 use critical_section::Mutex;
+use crossbeam_queue::ArrayQueue;
 use esp_backtrace as _;
 use log::{info, warn};
 use trouble_host::prelude::*;
@@ -16,14 +17,26 @@ pub const CONTROLLER_SLOTS: usize = 20;
 const CONNECTIONS_MAX: usize = 1;
 const L2CAP_CHANNELS_MAX: usize = 1;
 
-pub static TX_DATA: Mutex<RefCell<Option<BleSendable>>> = Mutex::new(RefCell::new(None));
+pub static CLIENT_CONNECTED: Mutex<RefCell<bool>> = Mutex::new(RefCell::new(false));
+pub static TX_DATA: Mutex<RefCell<Option<ArrayQueue<BleSendable>>>> =
+    Mutex::new(RefCell::new(None));
 pub static RX_DATA: Mutex<RefCell<Option<io::msg::PositionState>>> = Mutex::new(RefCell::new(None));
 
 pub enum BleSendable {
+    #[cfg(feature = "cam")]
+    CamRaw(io::msg::RawMsgRx),
     #[cfg(feature = "cam")]
     Cam(io::msg::CamEvent),
+
+    #[cfg(feature = "denm")]
+    DenmRaw(io::msg::RawMsgRx),
     #[cfg(feature = "denm")]
     Denm(io::msg::DenmEvent),
+
+    #[cfg(feature = "spat")]
+    MapemRaw(io::msg::RawMsgRx),
+    #[cfg(feature = "spat")]
+    SpatemRaw(io::msg::RawMsgRx),
 }
 
 #[gatt_server]
@@ -31,26 +44,43 @@ struct Server {
     c_its_events: CITSEvents,
 }
 
-#[cfg(feature = "cam")]
-const CAM_EVENT_SIZE: usize = 38;
-#[cfg(feature = "denm")]
-const DENM_EVENT_SIZE: usize = 51;
-
 #[gatt_service(uuid = "c0b70000-d4f4-4000-ada8-f99a02ee315c")]
 struct CITSEvents {
     #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "Position", read, value = "PositionState proto msg", type = &'static str)]
     #[characteristic(uuid = "c0b70001-d4f4-4001-ada8-f99a02ee315c", write)]
     position: [u8; 27],
 
+    #[cfg(any(feature = "cam", feature = "denm", feature = "spat"))]
+    #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "Raw_Notify", read, value = "Raw Message Notification", type = &'static str)]
+    #[characteristic(uuid = "c0b70001-d4f4-4002-ada8-f99a02ee315c", read, notify, value = [0u8; io::msg::RawNotify::PROTO_SIZE])]
+    raw_notify: [u8; io::msg::RawNotify::PROTO_SIZE],
+
+    #[cfg(feature = "cam")]
+    // #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "CAM", read, value = "RawMsgRx proto msg", type = &'static str)]
+    #[characteristic(uuid = "c0b70001-d4f4-4003-ada8-f99a02ee315c", read, value = [0u8; io::msg::RawMsgRx::PROTO_SIZE])]
+    cam_raw: [u8; io::msg::RawMsgRx::PROTO_SIZE],
     #[cfg(feature = "cam")]
     #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "CAM_Event", read, value = "CamEvent proto msg", type = &'static str)]
-    #[characteristic(uuid = "c0b70001-d4f4-4002-ada8-f99a02ee315c", read, notify, value = [0u8; CAM_EVENT_SIZE])]
+    #[characteristic(uuid = "c0b70001-d4f4-4004-ada8-f99a02ee315c", read, notify, value = [0u8; io::msg::CamEvent::PROTO_SIZE])]
-    cam_event: [u8; CAM_EVENT_SIZE],
+    cam_event: [u8; io::msg::CamEvent::PROTO_SIZE],
 
+    #[cfg(feature = "denm")]
+    // #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "DENM", read, value = "RawMsgRx proto msg", type = &'static str)]
+    #[characteristic(uuid = "c0b70001-d4f4-4005-ada8-f99a02ee315c", read, value = [0u8; io::msg::RawMsgRx::PROTO_SIZE])]
+    denm_raw: [u8; io::msg::RawMsgRx::PROTO_SIZE],
     #[cfg(feature = "denm")]
     #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "DENM_Event", read, value = "DenmEvent proto msg", type = &'static str)]
-    #[characteristic(uuid = "c0b70001-d4f4-4004-ada8-f99a02ee315c", read, notify, value = [0u8; DENM_EVENT_SIZE])]
+    #[characteristic(uuid = "c0b70001-d4f4-4006-ada8-f99a02ee315c", read, notify, value = [0u8; io::msg::DenmEvent::PROTO_SIZE])]
-    denm_event: [u8; DENM_EVENT_SIZE],
+    denm_event: [u8; io::msg::DenmEvent::PROTO_SIZE],
+
+    #[cfg(feature = "spat")]
+    // #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "MAPEM", read, value = "RawMsgRx proto msg", type = &'static str)]
+    #[characteristic(uuid = "c0b70001-d4f4-4007-ada8-f99a02ee315c", read, value = [0u8; io::msg::RawMsgRx::PROTO_SIZE])]
+    mapem_raw: [u8; io::msg::RawMsgRx::PROTO_SIZE],
+    #[cfg(feature = "spat")]
+    // #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "SPATEM", read, value = "RawMsgRx proto msg", type = &'static str)]
+    #[characteristic(uuid = "c0b70001-d4f4-4008-ada8-f99a02ee315c", read, value = [0u8; io::msg::RawMsgRx::PROTO_SIZE])]
+    spatem_raw: [u8; io::msg::RawMsgRx::PROTO_SIZE],
 }
 
 /// Creates the BLE controller
@@ -60,6 +90,10 @@ pub fn make_controller(
     esp_radio::ble::controller::BleConnector<'static>,
     CONTROLLER_SLOTS,
 > {
+    critical_section::with(|cs| {
+        TX_DATA.borrow(cs).replace(Some(ArrayQueue::new(2)));
+    });
+
     let transport = esp_radio::ble::controller::BleConnector::new(
         bt_peripheral,
         esp_radio::ble::Config::default(),
@@ -75,6 +109,7 @@ pub async fn run(
         esp_radio::ble::controller::BleConnector<'static>,
         CONTROLLER_SLOTS,
     >,
+    name: alloc::string::String,
 ) {
     let mut resources: HostResources<DefaultPacketPool, CONNECTIONS_MAX, L2CAP_CHANNELS_MAX> =
         HostResources::new();
@@ -85,26 +120,47 @@ pub async fn run(
         ..
     } = stack.build();
 
-    info!("Starting advertising and GATT service");
+    let mut features = alloc::vec![];
+    if cfg!(feature = "cam") {
+        features.push("cam");
+    }
+    if cfg!(feature = "denm") {
+        features.push("denm");
+    }
+    if cfg!(feature = "spat") {
+        features.push("mapem");
+        features.push("spatem");
+    }
+    info!(
+        "Starting advertising and GATT service for {}",
+        features.join(",")
+    );
     let server = Server::new_with_config(GapConfig::Peripheral(PeripheralConfig {
-        name: "ESP32 C-ITS",
+        name: &name,
         appearance: &appearance::UNKNOWN,
     }))
     .unwrap();
 
     let _ = embassy_futures::join::join(ble_task(runner), async {
         loop {
-            match advertise("ESP32 C-ITS", &mut peripheral, &server).await {
+            match advertise(&mut peripheral, &server).await {
                 Ok(conn) => {
+                    info!("BLE: New client connected");
+
                     // set up tasks when the connection is established to a central, so they don't run when no one is connected.
                     let a = gatt_events_task(&server, &conn);
-                    let b = custom_task(&server, &conn);
+                    let b = publishing_task(&server, &conn);
-                    // run until any task ends (usually because the connection has been closed),
+
-                    // then return to advertising state.
+                    // run until any task ends (usually because the connection has been closed), then return to advertising state.
                     embassy_futures::select::select(a, b).await;
+
+                    critical_section::with(|cs| {
+                        let value_ref = CLIENT_CONNECTED.borrow(cs);
+                        let _ = value_ref.replace(false);
+                    });
                 }
                 Err(e) => {
-                    panic!("BLE ADV: fatal error {e:?}");
+                    panic!("BLE ADV: fatal error: {e:?}");
                 }
             }
         }
@@ -112,17 +168,35 @@ pub async fn run(
     .await;
 }
 
+pub fn update(payload: BleSendable) {
+    critical_section::with(|cs| {
+        // only add to queue when someone is connected
+        if *CLIENT_CONNECTED.borrow(cs).borrow() {
+            let queue_rc = TX_DATA.borrow(cs).borrow();
+            // unwrap is fine b/c we stored something in it before
+            let queue = queue_rc.as_ref().unwrap();
+
+            if queue.push(payload).is_err() {
+                log::error!("BLE TX queue is full");
+            }
+        }
+    });
+}
+
 /// Create an advertiser to use to connect to a BLE Central, and wait for it to connect.
 async fn advertise<'values, 'server, C: Controller>(
-    name: &'values str,
     peripheral: &mut Peripheral<'values, C, DefaultPacketPool>,
     server: &'server Server<'values>,
 ) -> Result<GattConnection<'values, 'server, DefaultPacketPool>, BleHostError<C::Error>> {
     let mut advertiser_data = [0; 35];
+    let service_uuid = Uuid::from(0xc0b7_0000_d4f4_4000_ada8_f99a_02ee_315c_u128)
+        .as_raw()
+        .try_into()
+        .unwrap();
     let len = AdStructure::encode_slice(
         &[
             AdStructure::Flags(LE_GENERAL_DISCOVERABLE | BR_EDR_NOT_SUPPORTED),
-            AdStructure::CompleteLocalName(name.as_bytes()),
+            AdStructure::ServiceUuids128(&[service_uuid]),
         ],
         &mut advertiser_data[..],
     )?;
@@ -201,63 +275,142 @@ async fn gatt_events_task<P: PacketPool>(
     Ok(())
 }
 
-/// Example task to use the BLE notifier interface.
+#[allow(clippy::too_many_lines)]
-/// This task will notify the connected central of a counter value every 2 seconds.
+async fn publishing_task<P: PacketPool>(server: &Server<'_>, conn: &GattConnection<'_, '_, P>) {
-/// It will also read the RSSI value every 2 seconds.
+    critical_section::with(|cs| {
-/// and will stop when the connection is closed by the central or an error occurs.
+        let value_ref = CLIENT_CONNECTED.borrow(cs);
-async fn custom_task<P: PacketPool>(server: &Server<'_>, conn: &GattConnection<'_, '_, P>) {
+        let _ = value_ref.replace(true);
+    });
+
     loop {
         embassy_time::Timer::after(embassy_time::Duration::from_millis(10)).await;
 
         let mut new_data = None;
         critical_section::with(|cs| {
-            let tx_data_ref = TX_DATA.borrow(cs);
+            let queue_rc = TX_DATA.borrow(cs).borrow();
+            // unwrap is fine b/c we stored something in it before
+            let queue = queue_rc.as_ref().unwrap();
 
-            if let Some(tx_data) = tx_data_ref.replace(None) {
+            if let Some(data) = queue.pop() {
-                new_data = Some(tx_data);
+                new_data = Some(data);
             }
         });
 
         match new_data {
             #[cfg(feature = "cam")]
-            Some(BleSendable::Cam(cam_event)) => {
+            Some(BleSendable::Cam(cam_event)) => match cam_event.serialize_ble_proto() {
-                let mut buf = cam_event.serialize_ble_proto();
+                Ok(value) => {
-
-                if buf.len() <= CAM_EVENT_SIZE {
-                    // pad with zeros
-                    let pad = alloc::vec![0u8; CAM_EVENT_SIZE - buf.len()];
-                    buf.extend_from_slice(&pad);
-
-                    // unwrap should be fine since we ensured the vector size before
-                    let value = buf.try_into().unwrap();
-
                     if let Err(err) = server.c_its_events.cam_event.notify(conn, &value).await {
                         warn!("BLE: failed notifying connection of new CAM event: {err:?}");
                     }
-                } else {
-                    warn!("BLE: CAM event too big with {} bytes", buf.len());
-                }
                 }
+                Err(err) => warn!("BLE: CAM event {err}"),
+            },
+
             #[cfg(feature = "denm")]
-            Some(BleSendable::Denm(denm_event)) => {
+            Some(BleSendable::Denm(denm_event)) => match denm_event.serialize_ble_proto() {
-                let mut buf = denm_event.serialize_ble_proto();
+                Ok(value) => {
-
-                if buf.len() <= DENM_EVENT_SIZE {
-                    // pad with zeros
-                    let pad = alloc::vec![0u8; DENM_EVENT_SIZE - buf.len()];
-                    buf.extend_from_slice(&pad);
-
-                    // unwrap should be fine since we ensured the vector size before
-                    let value = buf.try_into().unwrap();
-
                     if let Err(err) = server.c_its_events.denm_event.notify(conn, &value).await {
                         warn!("BLE: failed notifying connection of new DENM event: {err:?}");
                     }
-                } else {
+                }
-                    warn!("BLE: DENM event too big with {} bytes", buf.len());
+                Err(err) => warn!("BLE: DENM event {err}"),
+            },
+
+            #[cfg(feature = "cam")]
+            Some(BleSendable::CamRaw(raw_msg)) => match raw_msg.serialize_ble_proto() {
+                Ok(value) => {
+                    if let Err(err) = server.c_its_events.cam_raw.set(server, &value) {
+                        warn!("BLE: failed setting new raw CAM value: {err:?}");
+                    }
+
+                    if let Err(err) = send_raw_notify(
+                        server,
+                        conn,
+                        c_its_parser::standards::extensions::ItsMessageId::Cam,
+                    )
+                    .await
+                    {
+                        warn!("BLE: {err}");
                     }
                 }
+                Err(err) => warn!("BLE: Raw CAM too big: {err}"),
+            },
+            #[cfg(feature = "denm")]
+            Some(BleSendable::DenmRaw(raw_msg)) => match raw_msg.serialize_ble_proto() {
+                Ok(value) => {
+                    if let Err(err) = server.c_its_events.denm_raw.set(server, &value) {
+                        warn!("BLE: failed setting new raw DENM value: {err:?}");
+                    }
+
+                    if let Err(err) = send_raw_notify(
+                        server,
+                        conn,
+                        c_its_parser::standards::extensions::ItsMessageId::Denm,
+                    )
+                    .await
+                    {
+                        warn!("BLE: {err}");
+                    }
+                }
+                Err(err) => warn!("BLE: Raw DENM {err}"),
+            },
+            #[cfg(feature = "spat")]
+            Some(BleSendable::MapemRaw(raw_msg)) => match raw_msg.serialize_ble_proto() {
+                Ok(value) => {
+                    if let Err(err) = server.c_its_events.mapem_raw.set(server, &value) {
+                        warn!("BLE: failed setting new raw MAPEM value: {err:?}");
+                    }
+
+                    if let Err(err) = send_raw_notify(
+                        server,
+                        conn,
+                        c_its_parser::standards::extensions::ItsMessageId::Mapem,
+                    )
+                    .await
+                    {
+                        warn!("BLE: {err}");
+                    }
+                }
+                Err(err) => warn!("BLE: Raw MAPEM {err}"),
+            },
+            #[cfg(feature = "spat")]
+            Some(BleSendable::SpatemRaw(raw_msg)) => match raw_msg.serialize_ble_proto() {
+                Ok(value) => {
+                    if let Err(err) = server.c_its_events.spatem_raw.set(server, &value) {
+                        warn!("BLE: failed setting new raw SPATEM value: {err:?}");
+                    }
+
+                    if let Err(err) = send_raw_notify(
+                        server,
+                        conn,
+                        c_its_parser::standards::extensions::ItsMessageId::Spatem,
+                    )
+                    .await
+                    {
+                        warn!("BLE: {err}");
+                    }
+                }
+                Err(err) => warn!("BLE: Raw SPATEM {err}"),
+            },
             None => {}
         }
     }
 }
+
+async fn send_raw_notify<P: PacketPool>(
+    server: &Server<'_>,
+    conn: &GattConnection<'_, '_, P>,
+    msg_id: c_its_parser::standards::extensions::ItsMessageId,
+) -> Result<(), alloc::string::String> {
+    let notify_buf = io::msg::RawNotify::from(msg_id)
+        .serialize_ble_proto()
+        .expect("BLE: Raw notify too big");
+
+    server
+        .c_its_events
+        .raw_notify
+        .notify(conn, &notify_buf)
+        .await
+        .map_err(|err| alloc::format!("failed notifying connection of new raw {msg_id:?}: {err:?}"))
+}

src/io.rs

@@ -40,20 +40,91 @@ impl msg::RawMsgRx {
 #[cfg(feature = "denm")]
 impl msg::DenmEvent {
     #[cfg(feature = "ble")]
-    pub fn serialize_ble_proto(&self) -> alloc::vec::Vec<u8> {
+    pub const PROTO_SIZE: usize = 51;
+
+    #[cfg(feature = "ble")]
+    pub fn serialize_ble_proto(&self) -> Result<[u8; Self::PROTO_SIZE], alloc::string::String> {
         use prost::Message as _;
 
-        self.encode_to_vec()
+        let mut data = [0u8; Self::PROTO_SIZE];
+
+        let mut mut_buf = &mut data[..];
+        if let Err(err) = self.encode(&mut mut_buf) {
+            Err(alloc::format!("Buffer too small: {err:?}"))
+        } else {
+            Ok(data)
+        }
     }
 }
 
 #[cfg(feature = "cam")]
 impl msg::CamEvent {
     #[cfg(feature = "ble")]
-    pub fn serialize_ble_proto(&self) -> alloc::vec::Vec<u8> {
+    pub const PROTO_SIZE: usize = 38;
+
+    #[cfg(feature = "ble")]
+    pub fn serialize_ble_proto(&self) -> Result<[u8; Self::PROTO_SIZE], alloc::string::String> {
         use prost::Message as _;
 
-        self.encode_to_vec()
+        let mut data = [0u8; Self::PROTO_SIZE];
+
+        let mut mut_buf = &mut data[..];
+        if let Err(err) = self.encode(&mut mut_buf) {
+            Err(alloc::format!("Buffer too small: {err:?}"))
+        } else {
+            Ok(data)
+        }
+    }
+}
+
+#[cfg(any(feature = "cam", feature = "denm", feature = "spat"))]
+impl msg::RawMsgRx {
+    #[cfg(feature = "ble")]
+    pub const PROTO_SIZE: usize = 1400;
+
+    #[cfg(feature = "ble")]
+    pub fn serialize_ble_proto(&self) -> Result<[u8; Self::PROTO_SIZE], alloc::string::String> {
+        use prost::Message as _;
+
+        let mut data = [0u8; Self::PROTO_SIZE];
+
+        let mut mut_buf = &mut data[..];
+        if let Err(err) = self.encode(&mut mut_buf) {
+            Err(alloc::format!("Buffer too small: {err:?}"))
+        } else {
+            Ok(data)
+        }
+    }
+}
+
+#[cfg(all(
+    feature = "ble",
+    any(feature = "cam", feature = "denm", feature = "spat")
+))]
+impl From<c_its_parser::standards::extensions::ItsMessageId> for msg::RawNotify {
+    fn from(value: c_its_parser::standards::extensions::ItsMessageId) -> Self {
+        let message_type = value.as_u8().into();
+        Self { message_type }
+    }
+}
+
+#[cfg(any(feature = "cam", feature = "denm", feature = "spat"))]
+impl msg::RawNotify {
+    #[cfg(feature = "ble")]
+    pub const PROTO_SIZE: usize = 2;
+
+    #[cfg(feature = "ble")]
+    pub fn serialize_ble_proto(self) -> Result<[u8; Self::PROTO_SIZE], alloc::string::String> {
+        use prost::Message as _;
+
+        let mut data = [0u8; Self::PROTO_SIZE];
+
+        let mut mut_buf = &mut data[..];
+        if let Err(err) = self.encode(&mut mut_buf) {
+            Err(alloc::format!("Buffer too small: {err:?}"))
+        } else {
+            Ok(data)
+        }
     }
 }
 
@@ -414,11 +485,11 @@ impl msg::RawMsgTx {
 }
 
 #[cfg(feature = "cam")]
-impl From<alloc::boxed::Box<c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions::CAM>>
+impl From<&alloc::boxed::Box<c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions::CAM>>
     for msg::CamEvent
 {
     fn from(
-        value: alloc::boxed::Box<c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions::CAM>,
+        value: &alloc::boxed::Box<c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions::CAM>,
     ) -> Self {
         use c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions;
 
@@ -429,12 +500,14 @@ impl From<alloc::boxed::Box<c_its_parser::standards::cam_1_4_1::cam_pdu_descript
             .cam_parameters
             .basic_container
             .reference_position
+            .clone()
             .into();
 
         let vehicle_role = value
             .cam
             .cam_parameters
             .low_frequency_container
+            .as_ref()
             .and_then(|v| match v {
                 cam_pdu_descriptions::LowFrequencyContainer::basicVehicleContainerLowFrequency(
                     basic_vehicle_container_low_frequency,
@@ -442,7 +515,7 @@ impl From<alloc::boxed::Box<c_its_parser::standards::cam_1_4_1::cam_pdu_descript
                 _ => None,
             });
 
-        let vehicle_data = match value.cam.cam_parameters.high_frequency_container {
+        let vehicle_data = match &value.cam.cam_parameters.high_frequency_container {
             cam_pdu_descriptions::HighFrequencyContainer::basicVehicleContainerHighFrequency(
                 basic_vehicle_container_high_frequency,
             ) => Some(basic_vehicle_container_high_frequency.into()),
@@ -460,8 +533,8 @@ impl From<alloc::boxed::Box<c_its_parser::standards::cam_1_4_1::cam_pdu_descript
 }
 
 #[cfg(feature = "cam")]
-impl From<c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions::BasicVehicleContainerHighFrequency> for msg::VehicleContainer {
+impl From<&c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions::BasicVehicleContainerHighFrequency> for msg::VehicleContainer {
-    fn from(value: c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions::BasicVehicleContainerHighFrequency) -> Self {
+    fn from(value: &c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions::BasicVehicleContainerHighFrequency) -> Self {
         let heading_deg = if value.heading.heading_value.is_unavailable() {
             None
         } else {
@@ -489,11 +562,11 @@ impl From<c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions::BasicVehicle
 }
 
 #[cfg(feature = "denm")]
-impl From<alloc::boxed::Box<c_its_parser::standards::denm_2_2_1::denm_pdu_description::DENM>>
+impl From<&alloc::boxed::Box<c_its_parser::standards::denm_2_2_1::denm_pdu_description::DENM>>
     for msg::DenmEvent
 {
     fn from(
-        value: alloc::boxed::Box<c_its_parser::standards::denm_2_2_1::denm_pdu_description::DENM>,
+        value: &alloc::boxed::Box<c_its_parser::standards::denm_2_2_1::denm_pdu_description::DENM>,
     ) -> Self {
         let denm_mgmt = &value.denm.management;
 
@@ -512,7 +585,8 @@ impl From<alloc::boxed::Box<c_its_parser::standards::denm_2_2_1::denm_pdu_descri
         let event_heading_deg = value
             .denm
             .location
-            .and_then(|v| v.event_position_heading)
+            .as_ref()
+            .and_then(|v| v.event_position_heading.clone())
             .map(|v| {
                 #[allow(clippy::cast_possible_truncation, clippy::cast_sign_loss)]
                 let conv = v.value.as_deg() as u32;
@@ -524,6 +598,7 @@ impl From<alloc::boxed::Box<c_its_parser::standards::denm_2_2_1::denm_pdu_descri
         let cc_tuple = value
             .denm
             .situation
+            .as_ref()
             .map(|v| v.event_type.cc_and_scc.to_u8_tuple());
         let cause_code = cc_tuple.map(|v| v.0.into());
         let sub_cause_code = cc_tuple.map(|v| v.1.into());
@@ -592,6 +667,53 @@ impl From<c_its_parser::standards::cdd_2_2_1::etsi_its_cdd::TrafficDirection> fo
     }
 }
 
+#[cfg(any(feature = "cam", feature = "denm", feature = "spat"))]
+impl TryFrom<&c_its_parser::ItsMessage<'_>> for msg::RawMsgRx {
+    type Error = alloc::string::String;
+
+    fn try_from(value: &c_its_parser::ItsMessage<'_>) -> Result<Self, Self::Error> {
+        let msg_id = c_its_parser::standards::extensions::ItsMessageId::from(value);
+
+        let payload = match value {
+            #[cfg(feature = "denm")]
+            c_its_parser::ItsMessage::DenmV1 {
+                geonetworking: _,
+                transport: _,
+                etsi,
+            } => etsi.encode_to_uper(),
+            #[cfg(feature = "denm")]
+            c_its_parser::ItsMessage::DenmV2 {
+                geonetworking: _,
+                transport: _,
+                etsi,
+            } => etsi.encode_to_uper(),
+            #[cfg(any(feature = "cam", feature = "cam_tx"))]
+            c_its_parser::ItsMessage::Cam {
+                geonetworking: _,
+                transport: _,
+                etsi,
+            } => etsi.encode_to_uper(),
+            #[cfg(feature = "spat")]
+            c_its_parser::ItsMessage::Spatem {
+                geonetworking: _,
+                transport: _,
+                etsi,
+            } => etsi.encode_to_uper(),
+            #[cfg(feature = "spat")]
+            c_its_parser::ItsMessage::Mapem {
+                geonetworking: _,
+                transport: _,
+                etsi,
+            } => etsi.encode_to_uper(),
+        }?;
+
+        Ok(Self {
+            msg_type: msg_id.as_u8().into(),
+            payload,
+        })
+    }
+}
+
 #[cfg(test)]
 mod tests {
 

src/main.rs

@@ -68,9 +68,9 @@ 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!
+const OWN_VEHICLE_WIDTH: u8 = 7; // in 10cm steps!
 #[cfg(feature = "cam_tx")]
-const OWN_VEHICLE_LENGTH: u16 = 20; // in 10cm steps!
+const OWN_VEHICLE_LENGTH: u16 = 18; // in 10cm steps!
 #[cfg(feature = "_uart")]
 const SERIAL_FIFO_SIZE_THLD: u8 = 100; // hardware has max. 128 byte
 
@@ -219,7 +219,14 @@ async fn main(spawner: Spawner) -> ! {
     #[cfg(feature = "ble")]
     {
         let controller = ble::make_controller(peripherals.BT);
-        spawner.spawn(ble::run(controller).expect("Failed to spawn BLE task"));
+        let serial = &mac.as_bytes()[3..6];
+        let name = alloc::format!(
+            "ESP32 C-ITS {:02x}{:02x}{:02x}",
+            serial[0],
+            serial[1],
+            serial[2]
+        );
+        spawner.spawn(ble::run(controller, name).expect("Failed to spawn BLE task"));
     }
 
     // Setup GNSS:
@@ -372,15 +379,13 @@ async fn main(spawner: Spawner) -> ! {
                                     println!("{}", ubx::pretty_print_nav_sat(packet));
                                 }
                                 ublox::proto27::PacketRef::NavPvt(pvt) => {
-                                    match applogic::GnssFix::try_from(pvt) {
+                                    // error can be ignored b/c it's just when no GNSS fix yet
-                                        Ok(pos_state) => {
+                                    if let Ok(pos_state) = applogic::GnssFix::try_from(pvt) {
                                         critical_section::with(|cs| {
                                             let gnss_update_ref = GNSS_UPDATE.borrow(cs);
                                             gnss_update_ref.replace(Some(pos_state));
                                         });
                                     }
-                                        Err(err) => warn!("{err}"),
-                                    }
 
                                     // update GNSS HB on screen
                                     let _ = screen.update_gnss(pvt);
@@ -508,16 +513,36 @@ async fn main(spawner: Spawner) -> ! {
                         ItsMessage::Mapem {
                             geonetworking: _,
                             transport: _,
-                            etsi,
+                            ref etsi,
-                        } => state.handle_mapem(&etsi),
+                        } => {
+                            state.handle_mapem(etsi);
+
+                            // Send data to BLE thread
+                            #[cfg(feature = "ble")]
+                            match io::msg::RawMsgRx::try_from(&msg) {
+                                Ok(data) => {
+                                    ble::update(ble::BleSendable::MapemRaw(data));
+                                }
+                                Err(err) => warn!("Failed to create RawMsgRx: {err}"),
+                            }
+                        }
                         #[cfg(feature = "spat")]
                         ItsMessage::Spatem {
                             geonetworking: _,
                             transport: _,
-                            etsi,
+                            ref etsi,
                         } => {
                             if state.initialized() {
-                                state.handle_spatem(&etsi);
+                                state.handle_spatem(etsi);
+                            }
+
+                            // Send data to BLE thread
+                            #[cfg(feature = "ble")]
+                            match io::msg::RawMsgRx::try_from(&msg) {
+                                Ok(data) => {
+                                    ble::update(ble::BleSendable::SpatemRaw(data));
+                                }
+                                Err(err) => warn!("Failed to create RawMsgRx: {err}"),
                             }
                         }
 
@@ -525,33 +550,48 @@ async fn main(spawner: Spawner) -> ! {
                         ItsMessage::Cam {
                             geonetworking: _,
                             transport: _,
-                            etsi,
+                            ref etsi,
                         } => {
                             #[cfg(feature = "cam")]
-                            applogic::cam::handle_cam(&etsi);
+                            applogic::cam::handle_cam(etsi);
 
                             // Send data to BLE thread
                             #[cfg(all(feature = "ble", feature = "cam"))]
-                            critical_section::with(|cs| {
+                            {
-                                let ble_update_ref = ble::TX_DATA.borrow(cs);
+                                ble::update(ble::BleSendable::Cam(etsi.into()));
-                                ble_update_ref.replace(Some(ble::BleSendable::Cam(etsi.into())));
+
-                            });
+                                // raw data only when it's a full CAM
+                                if etsi.cam.cam_parameters.low_frequency_container.is_some() {
+                                    match io::msg::RawMsgRx::try_from(&msg) {
+                                        Ok(data) => {
+                                            ble::update(ble::BleSendable::CamRaw(data));
+                                        }
+                                        Err(err) => warn!("Failed to create RawMsgRx: {err}"),
+                                    }
+                                }
+                            }
                         }
 
                         #[cfg(feature = "denm")]
                         ItsMessage::DenmV2 {
                             geonetworking: _,
                             transport: _,
-                            etsi,
+                            ref etsi,
                         } => {
-                            applogic::denm::handle_denm(&etsi);
+                            applogic::denm::handle_denm(etsi);
 
                             // Send data to BLE thread
                             #[cfg(feature = "ble")]
-                            critical_section::with(|cs| {
+                            {
-                                let ble_update_ref = ble::TX_DATA.borrow(cs);
+                                ble::update(ble::BleSendable::Denm(etsi.into()));
-                                ble_update_ref.replace(Some(ble::BleSendable::Denm(etsi.into())));
+
-                            });
+                                match io::msg::RawMsgRx::try_from(&msg) {
+                                    Ok(data) => {
+                                        ble::update(ble::BleSendable::DenmRaw(data));
+                                    }
+                                    Err(err) => warn!("Failed to create RawMsgRx: {err}"),
+                                }
+                            }
                         }
                         #[cfg(feature = "denm")]
                         ItsMessage::DenmV1 {

src/screen.rs

@@ -23,6 +23,10 @@ where
     prev_state: ScreenState,
     hb_state: bool,
     gnss_hb_state: bool,
+
+    // assets
+    #[cfg(feature = "spat")]
+    bike_image: tinytga::Tga<'static, pixelcolor::Rgb565>,
 }
 
 #[derive(Debug, Default, PartialEq, Eq)]
@@ -94,12 +98,19 @@ where
     const BIG_HEIGHT_THLD: u16 = 172;
 
     pub fn new(target: D, display_size: DisplaySize) -> Self {
+        #[cfg(feature = "spat")]
+        let data = include_bytes!("../graphics/Sinnbild_Radfahrer_StVO_1992-25px-white.tga");
+        #[cfg(feature = "spat")]
+        let bike_image = tinytga::Tga::from_slice(data).expect("Failed to parse TGA image");
+
         Self {
             target,
             size: display_size,
             prev_state: ScreenState::Uninitialized,
             hb_state: false,
             gnss_hb_state: false,
+            #[cfg(feature = "spat")]
+            bike_image,
         }
     }
 
@@ -209,7 +220,28 @@ where
         Ok(())
     }
 
+    /// Clears the screen, but keeps the GNSS status row
     fn clear(&mut self) -> Result<(), D::Error>
+    where
+        D: DrawTarget<Color = pixelcolor::Rgb565>,
+    {
+        // this only differes from clear_all on big screens
+        if self.is_big_height() {
+            #[allow(clippy::cast_sign_loss)]
+            let max_y = (250 + self.size.offset_top) as u32;
+
+            primitives::Rectangle::new(
+                geometry::Point::new(0, 0),
+                geometry::Size::new(self.size.width.into(), max_y),
+            )
+            .into_styled(Self::BK_STYLE)
+            .draw(&mut self.target)
+        } else {
+            self.clear_all()
+        }
+    }
+
+    fn clear_all(&mut self) -> Result<(), D::Error>
     where
         D: DrawTarget<Color = pixelcolor::Rgb565>,
     {
@@ -291,7 +323,7 @@ where
     // uses full screen width and height
     // - from 0 to 105+67    = 172 pixels for small screens
     // - from 0 to 105+67+20 = 192 pixels for big screens
-    #[allow(unused)]
+    #[allow(unused, clippy::too_many_lines)]
     fn draw_glosa(
         &mut self,
         data: &applogic::GlosaSignalInfo,
@@ -307,7 +339,7 @@ where
             // clear everything if number of signals has changed
             self.clear();
         } else {
-            // only clear maneuver and timing area otherwise
+            // only clear maneuver and timing area otherwise (lane type will clear itself)
             let sig_total_height = 67 + if is_big_height { 20 } else { 0 };
             primitives::Rectangle::new(
                 geometry::Point::new(0, 105 + self.size.offset_top),
@@ -355,7 +387,38 @@ where
             .into_styled(style)
             .draw(&mut self.target)?;
 
-            // TODO: draw lane type?
+            // mark bike lanes which are not a vehicle lane, too
+            let lane_symbol_y_pos = 75;
+            if sig.usages.contains(&applogic::v2x::map::UsageType::Vehicle) {
+                // clear area
+                primitives::Rectangle::new(
+                    geometry::Point::new(
+                        centerline - (45 / 2),
+                        lane_symbol_y_pos + self.size.offset_top,
+                    ),
+                    geometry::Size::new(45, 25),
+                )
+                .into_styled(Self::BK_STYLE)
+                .draw(&mut self.target)?;
+            } else if sig.usages.contains(&applogic::v2x::map::UsageType::Bike) {
+                // bike symbol (45x25px)
+                embedded_graphics::image::Image::new(
+                    &self.bike_image,
+                    geometry::Point::new(
+                        centerline - (45 / 2) + 1,
+                        lane_symbol_y_pos + self.size.offset_top,
+                    ),
+                )
+                .draw(&mut self.target)?;
+            } else {
+                text::Text::with_alignment(
+                    "?",
+                    geometry::Point::new(centerline, lane_symbol_y_pos + 24 + self.size.offset_top),
+                    Self::DEFAULT_TEXT_STYLE,
+                    text::Alignment::Center,
+                )
+                .draw(&mut self.target)?;
+            }
 
             // draw maneuver
             text::Text::with_alignment(
@@ -411,7 +474,7 @@ where
     fn draw_slash_screen(&mut self) -> Result<(), D::Error> {
         let text_style = mono_font::MonoTextStyle::new(&profont::PROFONT_18_POINT, Self::COLOR_FG);
 
-        self.clear()?;
+        self.clear_all()?;
 
         let sig_width = i32::from(self.size.width) / 3;
         let circle_dia = 50;
@@ -434,6 +497,13 @@ where
 
         // draw welcome text
         let centerline = i32::from(self.size.width) / 2;
+
+        embedded_graphics::image::Image::new(
+            &self.bike_image,
+            geometry::Point::new(centerline - (45 / 2) + 1, 75 + self.size.offset_top),
+        )
+        .draw(&mut self.target)?;
+
         text::Text::with_alignment(
             "C-ITS Signal Phase\nWaiting for GNSS...",
             geometry::Point::new(centerline, 130 + self.size.offset_top),