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feat/usbse
| Author | SHA1 | Date | |
|---|---|---|---|
|
202d874dee |
32 changed files with 730 additions and 27541 deletions
4
.gitignore
vendored
4
.gitignore
vendored
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@ -24,7 +24,3 @@ target/
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# Ignore .DS_Store file in mac
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**/.DS_Store
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# Ignore KiCad backups and lock files
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hardware/c_its-companion/c_its-companion-backups/
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*.kicad_pro.lck
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|
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41
Cargo.lock
generated
41
Cargo.lock
generated
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@ -192,9 +192,9 @@ checksum = "1e748733b7cbc798e1434b6ac524f0c1ff2ab456fe201501e6497c8417a4fc33"
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[[package]]
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name = "c-its-parser"
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version = "2.4.1"
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version = "2.4.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "7e94d9990b20498f621f164f23ae198c4365115eb4191ae106352ec74d4a4110"
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checksum = "cd4db66f495280ec88eef8712dd9ab7d1aacc590f62485e3e03a89b3ce4f8b14"
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dependencies = [
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"chrono",
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"etherparse",
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@ -1171,7 +1171,6 @@ dependencies = [
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"esp-println",
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"esp-radio",
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"esp-rtos",
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"esp32-cits-core",
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"geo-types",
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"log",
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"mipidsi",
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@ -1179,19 +1178,6 @@ dependencies = [
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"profont",
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"prost",
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"prost-build",
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"ublox",
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]
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[[package]]
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name = "esp32-cits-core"
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version = "0.1.0"
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source = "git+https://git.hamburg.ccc.de/jtbx/esp32-cits-core?branch=main#a6d0ea6ca2da130fde2b84060a34ef45e772a459"
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dependencies = [
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"c-its-parser",
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"chrono",
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"esp-hal",
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"esp-radio",
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"geo-types",
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]
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[[package]]
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@ -2504,29 +2490,6 @@ version = "1.20.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "40ce102ab67701b8526c123c1bab5cbe42d7040ccfd0f64af1a385808d2f43de"
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[[package]]
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name = "ublox"
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version = "0.10.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "5bcc96bd937066775fb87034e1dbf6d7165a8975c74ddec1105e31b4a050538b"
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dependencies = [
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"bitflags",
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"chrono",
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"num-traits",
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"ublox_derive",
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]
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[[package]]
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name = "ublox_derive"
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version = "0.6.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f5eda7d1c1151a40ae85c7c065a19959909573535034e18e1015b738993cd2c0"
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dependencies = [
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"proc-macro2",
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"quote",
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"syn 1.0.109",
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]
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[[package]]
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name = "ufmt-write"
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version = "0.1.0"
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|
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18
Cargo.toml
18
Cargo.toml
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@ -14,8 +14,14 @@ name = "test"
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path = "./src/test.rs"
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required-features = ["std", "cam"]
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[[bin]]
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## run with cargo run --target host-tuple --bin test-proto --no-default-features -F std,uart
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name = "test-proto"
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path = "./src/test-proto.rs"
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required-features = ["std", "uart", "cam"]
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[features]
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default = ["esp", "spat", "gnss_ubx", "screen"]
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default = ["esp", "spat", "gnss", "screen"]
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# build for ESP (needed to build test for `host-tuple`)
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esp = [
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@ -30,15 +36,11 @@ esp = [
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"dep:esp-backtrace",
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"dep:esp-println",
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"dep:esp-radio",
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"esp32-cits-core/esp32c5",
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"esp32-cits-core/log-04",
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]
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std = ["c-its-parser/std", "esp32-cits-core/std"]
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std = ["c-its-parser/std"]
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# enable u-blox GNSS module
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gnss_ubx = ["_gnss", "_uart", "dep:ublox"]
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# enable L67K GNSS module
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gnss_l67k = ["_gnss", "dep:embassy_gps"]
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gnss = ["_gnss", "dep:embassy_gps"]
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# echo CAM data on serial
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cam = ["c-its-parser/cam"]
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# send CAM autonomously
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@ -95,7 +97,6 @@ esp-radio = { version = "0.18.0", optional = true, features = [
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] }
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embassy_gps = { version = "0.1.0", optional = true, default-features = false, features = ["esp", "log-04"], git = "https://github.com/jbeyerstedt/embassy_gps.git", branch = "feat/rework-gpsfix" }
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esp32-cits-core = { version = "0.1.0", default-features = false, git = "https://git.hamburg.ccc.de/jtbx/esp32-cits-core", branch = "main" }
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embedded-hal-bus = { version = "0.3.0", optional = true }
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embedded-graphics = { version = "0.8.2", optional = true }
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# needs newer GN with removed bitvec dependency
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@ -112,7 +113,6 @@ mipidsi = { version = "0.10.0", optional = true }
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num-traits = { version = "0.2.19", default-features = false, features = ["libm"] }
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profont = { version = "0.7.0", optional = true }
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prost = { version = "0.14", optional = true, default-features = false, features = ["derive"] }
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ublox = { version = "0.10", optional = true, default-features = false, features = ["alloc", "ubx_proto27"] }
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[dev-dependencies]
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assert_float_eq = "1.2.0"
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|
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34
Readme.md
34
Readme.md
|
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@ -5,16 +5,15 @@ Displays different C-ITS receive-only use cases for cheap.
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## Hardware Requirements
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The code is currently tailored to:
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- Seeed XIAO ESP32-C5 (8MB PSRAM)
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- U-Blox M10Q GNSS (connected on GPIO12 (RX), GPIO11 (TX), and GPIO25 (reset))
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or Seeed XIAO L67K (connected on GPIO12 (RX), GPIO11 (TX), GPIO1 (wakeup) and GPIO25 (reset))
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only available with `gnss_ubx` or `gnss_l67k` feature (which is included in `spat` feature)
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- Seeed XIAO L67K (connected on GPIO12 (RX), GPIO11 (TX), GPIO1 (wakeup) and GPIO25 (reset))
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only available with `gnss` feature (which is included in `spat` feature)
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- Some ST7789 172*320px screen (connected on GPIO8 (SCL/ SCK), GPIO10 (SDA/ MOSI), GPIO7 (reset), GPIO23 (DC), GPIO24 (CS), TODO GPIO0 (BL))
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only available with `screen` feature (which is included in `spat` feature)
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## Features
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### GNSS
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Enable u-blox or L67K GNSS module and in main application logic/ state.
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Enable L67K GNSS module and in main application logic/ state.
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### SPAT
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Takes the current position and heading from the GNSS receiver and displays the signal phases of the upcoming intersection.
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@ -33,25 +32,6 @@ Just prints a line for each received CAM.
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Generates and transmits a CAM when a GNSS update was received.
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Depends on the `gnss` feature.
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Note: In germany, using the 5875 to 5915 MHz frequency band is only permitted for C-ITS use cases which implement transmit power reduction measures with at least 30 dB reduction range (or equivalent measures) and have a maximum EIRP of 33 dBm.
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This is based on EU regulation 2014/53/EU, so it applies to other EU countries in similar ways.
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The relevant harmonized standard is ETSI EN 302 571 which mandates (excerpt of most relevant points):
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- a maximum power spectral density of 23 dBm/Mhz EIRP
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- transmit power control (TCP) in a range from 3 dBm up to the maximum output power of the equipment
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* used for CEN DSRC and HDR DSRC interference mitigation by implementing measures from ETSI TS 102 792
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+ Mode A or B: Output power less than 10 dBm EIRP and less than -65 or -45 dBm/MHz EIRP in CEN DSRC band -> **needs to be measured**
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+ Mode C: Maximum transmission time of less than 1 ms and at least a few 100 ms between transmission (realistically) -> **can't be ensured with big messages**
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+ Mode D: "any" realistically possible transmission time, but at least 500 ms between transmissions for ~5 ITS stations/ 1000ms for 10 ITS stations -> **safe to assume when we only send CAMs at 1 Hz**
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+ But modes C and D also need to:
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- use protected zone information from CAM messages
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- use a protected zone database, e.g. from www.asecap-pzdb.com
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* used for dynamic congestion control (DCC)
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+ mandatory mechanism described in ETSI EN 302 571, chapter 4.2.10
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This is **not** implemented in this application!
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**So legally, you're not allowed to send with this.**
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### UART
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Enable UART I/O protocol according to [docs/uart-protocol.md](./docs/uart-protocol.md).
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@ -90,10 +70,10 @@ Additional features are available through feature flags:
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- `cam_tx`: Enable CAM generation and transmission (needs time and position source)
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Officially supported feature combinations are:
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- `esp,spat,gnss_ubx,screen` (default features, "standalone")
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- `esp,spat,gnss_ubx,screen,cam_tx` ("standalone with CAM")
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- `esp,spat,gnss_ubx,screen,cam_tx,cam,denm`
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- `esp,uart,cam,denm` ("smartphone companion")
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- `esp,spat,gnss,screen` (default features)
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- `esp,spat,gnss,screen,cam_tx`
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- `esp,spat,gnss,screen,cam_tx,cam,denm`
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- `esp,uart,cam,denm`
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Connect your ESP32-C5 and run:
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|
|
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@ -9,12 +9,12 @@ extended=${2:-false}
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features_base=(
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uart,cam,denm
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spat,gnss_ubx,screen
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spat,gnss_ubx,screen,cam_tx
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spat,gnss,screen
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spat,gnss,screen,cam_tx
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)
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features_more=(
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spat,gnss_ubx,screen,cam,denm
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spat,gnss_ubx,screen,cam_tx,cam,denm
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spat,gnss,screen,cam,denm
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spat,gnss,screen,cam_tx,cam,denm
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)
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features_test=(
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spat,cam,denm,uart
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|
|
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Binary file not shown.
|
Before Width: | Height: | Size: 145 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 142 KiB |
File diff suppressed because it is too large
Load diff
|
|
@ -1,138 +0,0 @@
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{
|
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"board": {
|
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"active_layer": 0,
|
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"active_layer_preset": "",
|
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"auto_track_width": true,
|
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"hidden_netclasses": [],
|
||||
"hidden_nets": [],
|
||||
"high_contrast_mode": 0,
|
||||
"net_color_mode": 1,
|
||||
"opacity": {
|
||||
"images": 0.6,
|
||||
"pads": 1.0,
|
||||
"shapes": 1.0,
|
||||
"tracks": 1.0,
|
||||
"vias": 1.0,
|
||||
"zones": 0.6
|
||||
},
|
||||
"prototype_zone_fills": false,
|
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"selection_filter": {
|
||||
"dimensions": true,
|
||||
"footprints": true,
|
||||
"graphics": true,
|
||||
"keepouts": true,
|
||||
"lockedItems": false,
|
||||
"otherItems": true,
|
||||
"pads": true,
|
||||
"text": true,
|
||||
"tracks": true,
|
||||
"vias": true,
|
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"zones": true
|
||||
},
|
||||
"visible_items": [
|
||||
"vias",
|
||||
"footprint_text",
|
||||
"footprint_anchors",
|
||||
"ratsnest",
|
||||
"grid",
|
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"footprints_front",
|
||||
"footprints_back",
|
||||
"footprint_values",
|
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"footprint_references",
|
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"tracks",
|
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"drc_errors",
|
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"drawing_sheet",
|
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"bitmaps",
|
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"pads",
|
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"zones",
|
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"drc_warnings",
|
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"drc_exclusions",
|
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"locked_item_shadows",
|
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"conflict_shadows",
|
||||
"shapes",
|
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"board_outline_area",
|
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"ly_points"
|
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],
|
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"visible_layers": "ffffffff_ffffffff_ffffffff_ffffffff",
|
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"zone_display_mode": 0
|
||||
},
|
||||
"git": {
|
||||
"integration_disabled": false,
|
||||
"repo_type": "",
|
||||
"repo_username": "",
|
||||
"ssh_key": ""
|
||||
},
|
||||
"meta": {
|
||||
"filename": "c_its-companion.kicad_prl",
|
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"version": 5
|
||||
},
|
||||
"net_inspector_panel": {
|
||||
"col_hidden": [
|
||||
false,
|
||||
false,
|
||||
false,
|
||||
false,
|
||||
false,
|
||||
false,
|
||||
false,
|
||||
false,
|
||||
false,
|
||||
false
|
||||
],
|
||||
"col_order": [
|
||||
0,
|
||||
1,
|
||||
2,
|
||||
3,
|
||||
4,
|
||||
5,
|
||||
6,
|
||||
7,
|
||||
8,
|
||||
9
|
||||
],
|
||||
"col_widths": [
|
||||
156,
|
||||
141,
|
||||
103,
|
||||
71,
|
||||
103,
|
||||
103,
|
||||
103,
|
||||
74,
|
||||
103,
|
||||
103
|
||||
],
|
||||
"custom_group_rules": [],
|
||||
"expanded_rows": [],
|
||||
"filter_by_net_name": true,
|
||||
"filter_by_netclass": true,
|
||||
"filter_text": "",
|
||||
"group_by_constraint": false,
|
||||
"group_by_netclass": false,
|
||||
"show_time_domain_details": false,
|
||||
"show_unconnected_nets": false,
|
||||
"show_zero_pad_nets": false,
|
||||
"sort_ascending": true,
|
||||
"sorting_column": 0
|
||||
},
|
||||
"open_jobsets": [],
|
||||
"project": {
|
||||
"files": []
|
||||
},
|
||||
"schematic": {
|
||||
"hierarchy_collapsed": [],
|
||||
"selection_filter": {
|
||||
"graphics": true,
|
||||
"images": true,
|
||||
"labels": true,
|
||||
"lockedItems": false,
|
||||
"otherItems": true,
|
||||
"pins": true,
|
||||
"ruleAreas": true,
|
||||
"symbols": true,
|
||||
"text": true,
|
||||
"wires": true
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1,744 +0,0 @@
|
|||
{
|
||||
"board": {
|
||||
"3dviewports": [
|
||||
{
|
||||
"name": "ISO-back",
|
||||
"ww": 1.0,
|
||||
"wx": 23.768348693847656,
|
||||
"wy": 1.82621169090271,
|
||||
"wz": -13.010103225708008,
|
||||
"xw": 0.0,
|
||||
"xx": -0.6424655318260193,
|
||||
"xy": 0.5901128053665161,
|
||||
"xz": -0.4888812303543091,
|
||||
"yw": 0.0,
|
||||
"yx": 0.7663145065307617,
|
||||
"yy": 0.49455612897872925,
|
||||
"yz": -0.41009292006492615,
|
||||
"zw": 0.0,
|
||||
"zx": -0.00022190232994034886,
|
||||
"zy": -0.638107419013977,
|
||||
"zz": -0.7699472904205322
|
||||
},
|
||||
{
|
||||
"name": "ISO-front",
|
||||
"ww": 1.0,
|
||||
"wx": 4.608643054962158,
|
||||
"wy": 18.730253219604492,
|
||||
"wz": -27.170215606689453,
|
||||
"xw": 0.0,
|
||||
"xx": 0.6427879333496094,
|
||||
"xy": -0.5868241190910339,
|
||||
"xz": 0.49240362644195557,
|
||||
"yw": 0.0,
|
||||
"yx": 0.7660443186759949,
|
||||
"yy": 0.4924042820930481,
|
||||
"yz": -0.4131760001182556,
|
||||
"zw": 0.0,
|
||||
"zx": -2.1759660739917308e-08,
|
||||
"zy": 0.6427874565124512,
|
||||
"zz": 0.7660446763038635
|
||||
}
|
||||
],
|
||||
"design_settings": {
|
||||
"defaults": {
|
||||
"apply_defaults_to_fp_barcodes": false,
|
||||
"apply_defaults_to_fp_dimensions": false,
|
||||
"apply_defaults_to_fp_fields": false,
|
||||
"apply_defaults_to_fp_shapes": false,
|
||||
"apply_defaults_to_fp_text": false,
|
||||
"board_outline_line_width": 0.05,
|
||||
"copper_line_width": 0.2,
|
||||
"copper_text_italic": false,
|
||||
"copper_text_size_h": 1.5,
|
||||
"copper_text_size_v": 1.5,
|
||||
"copper_text_thickness": 0.3,
|
||||
"copper_text_upright": false,
|
||||
"courtyard_line_width": 0.05,
|
||||
"dimension_precision": 4,
|
||||
"dimension_units": 3,
|
||||
"dimensions": {
|
||||
"arrow_length": 1270000,
|
||||
"extension_offset": 500000,
|
||||
"keep_text_aligned": true,
|
||||
"suppress_zeroes": true,
|
||||
"text_position": 0,
|
||||
"units_format": 0
|
||||
},
|
||||
"fab_line_width": 0.1,
|
||||
"fab_text_italic": false,
|
||||
"fab_text_size_h": 1.0,
|
||||
"fab_text_size_v": 1.0,
|
||||
"fab_text_thickness": 0.15,
|
||||
"fab_text_upright": false,
|
||||
"other_line_width": 0.1,
|
||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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|
||||
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||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
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||||
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||||
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||||
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|
||||
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||||
Binary file not shown.
|
|
@ -1,4 +0,0 @@
|
|||
(sym_lib_table
|
||||
(version 7)
|
||||
(lib (name "Seeed_Studio_XIAO_Series") (type "KiCad") (uri "${KIPRJMOD}/library/Seeed_Studio_XIAO_Series.kicad_sym") (options "") (descr ""))
|
||||
)
|
||||
|
|
@ -1,6 +0,0 @@
|
|||
#!/bin/sh
|
||||
|
||||
## Builds common config for smartphone connected device
|
||||
## -> only receive CAM and DENMs via UART (TODO: and BLE)
|
||||
|
||||
cargo run --release --no-default-features -F esp,cam,denm,uart
|
||||
|
|
@ -1,6 +0,0 @@
|
|||
#!/bin/sh
|
||||
|
||||
## Builds common config for standalone device with automatic CAM transmission
|
||||
## -> enable SPAT/ GLOSA with GNSS and a screen + CAM transmission
|
||||
|
||||
cargo run --release -F cam_tx
|
||||
|
|
@ -1,6 +0,0 @@
|
|||
#!/bin/sh
|
||||
|
||||
## Builds common config for standalone device
|
||||
## -> enable SPAT/ GLOSA with GNSS and a screen
|
||||
|
||||
cargo run --release
|
||||
|
|
@ -11,45 +11,6 @@ const PH_MAX_LENGHT_M: f32 = 500.;
|
|||
const PH_MAX_ITEMS: usize = 23;
|
||||
const PH_MIN_DIST_M: f32 = 20.;
|
||||
|
||||
/// Stand-alone CAM generator
|
||||
///
|
||||
/// Generates CAM messages from time and [`PosVel`] updates
|
||||
///
|
||||
/// # Send a message
|
||||
/// ```
|
||||
/// use esp32_cits_core::tx::GnItsPayload as _;
|
||||
///
|
||||
/// let (mut seq_no, mac_bytes) = {
|
||||
/// // unwrap is fine since [`esp_hal::efuse::MacAddress`] is just an `[u8; 6]`
|
||||
/// let mac_bytes = mac.as_bytes().try_into().unwrap();
|
||||
///
|
||||
/// (0, mac_bytes)
|
||||
/// };
|
||||
///
|
||||
/// let mut cam = {
|
||||
/// let station_id = make_station_id(mac);
|
||||
/// info!("V2X Station ID: {station_id}");
|
||||
///
|
||||
/// applogic::cam_tx::CamState::new(
|
||||
/// station_id,
|
||||
/// OWN_STATION_TYPE,
|
||||
/// OWN_VEHICLE_LENGTH,
|
||||
/// OWN_VEHICLE_WIDTH,
|
||||
/// )
|
||||
/// };
|
||||
///
|
||||
/// cam.update(time, fix.clone().into());
|
||||
/// match cam.encode_packet(mac_bytes, pos_vel, time, GN_IS_MOBILE, &mut seq_no) {
|
||||
/// Ok(data) => {
|
||||
/// if let Err(err) =
|
||||
/// radio::send_80211_bcast_frame(&mut wlan_iface, &mac_bytes.clone(), &data)
|
||||
/// {
|
||||
/// warn!("Failed to send 802.11 frame: {err}");
|
||||
/// }
|
||||
/// }
|
||||
/// Err(err) => warn!("Failed to create CAM: {err}"),
|
||||
/// }
|
||||
/// ```
|
||||
#[derive(Debug)]
|
||||
pub struct CamState {
|
||||
station_id: u32,
|
||||
|
|
@ -59,7 +20,7 @@ pub struct CamState {
|
|||
vehicle_width_dm: u8, // vehicle width is in 10cm steps
|
||||
|
||||
time: chrono::DateTime<chrono::Utc>,
|
||||
pos_state: esp32_cits_core::PosVel,
|
||||
pos_state: super::PositionState,
|
||||
|
||||
/// database for path history, oldest item at the back of the vector
|
||||
path_history: Vec<PathPoint>,
|
||||
|
|
@ -74,7 +35,7 @@ struct PathPoint {
|
|||
}
|
||||
|
||||
impl PathPoint {
|
||||
fn new_from_pos(pos: &esp32_cits_core::PosVel, time: chrono::DateTime<chrono::Utc>) -> Self {
|
||||
fn new_from_pos(pos: &super::PositionState, time: chrono::DateTime<chrono::Utc>) -> Self {
|
||||
Self {
|
||||
pos: pos.position,
|
||||
time,
|
||||
|
|
@ -83,7 +44,7 @@ impl PathPoint {
|
|||
}
|
||||
|
||||
fn new_from_pos_with_dist(
|
||||
pos: &esp32_cits_core::PosVel,
|
||||
pos: &super::PositionState,
|
||||
time: chrono::DateTime<chrono::Utc>,
|
||||
dist_m: f32,
|
||||
) -> Self {
|
||||
|
|
@ -108,12 +69,12 @@ impl CamState {
|
|||
vehicle_length_dm,
|
||||
vehicle_width_dm,
|
||||
time: chrono::DateTime::<chrono::Utc>::default(),
|
||||
pos_state: esp32_cits_core::PosVel::default(),
|
||||
pos_state: super::PositionState::default(),
|
||||
path_history: Vec::with_capacity(PH_MAX_ITEMS + 1),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn update(&mut self, time: chrono::DateTime<chrono::Utc>, pos: esp32_cits_core::PosVel) {
|
||||
pub fn update(&mut self, time: chrono::DateTime<chrono::Utc>, pos: super::PositionState) {
|
||||
self.time = time;
|
||||
self.pos_state = pos;
|
||||
|
||||
|
|
@ -125,7 +86,7 @@ impl CamState {
|
|||
fn update_ph(
|
||||
path_history: &mut Vec<PathPoint>,
|
||||
time: chrono::DateTime<chrono::Utc>,
|
||||
pos: &esp32_cits_core::PosVel,
|
||||
pos: &super::PositionState,
|
||||
) {
|
||||
// Update path history
|
||||
if path_history.is_empty() {
|
||||
|
|
@ -332,11 +293,11 @@ impl CamState {
|
|||
}
|
||||
}
|
||||
|
||||
impl esp32_cits_core::tx::GnItsPayload for CamState {
|
||||
impl crate::v2x_tx::GnItsPayload for CamState {
|
||||
fn make_eh(
|
||||
&self,
|
||||
address: [u8; 6],
|
||||
own_position: &esp32_cits_core::PosVel,
|
||||
own_position: &crate::applogic::PositionState,
|
||||
time: chrono::DateTime<chrono::Utc>,
|
||||
_seq_no: &mut u16,
|
||||
) -> Result<
|
||||
|
|
@ -352,7 +313,7 @@ impl esp32_cits_core::tx::GnItsPayload for CamState {
|
|||
|
||||
// CAM always uses SHB, hop-limit 1
|
||||
Ok((
|
||||
esp32_cits_core::tx::gn::make_shb_eh(address, station_type, own_position, time)?,
|
||||
crate::v2x_tx::gn::make_shb_eh(address, station_type, own_position, time),
|
||||
None,
|
||||
1,
|
||||
))
|
||||
|
|
@ -375,8 +336,8 @@ mod tests {
|
|||
use super::*;
|
||||
use crate::init_test_env_logger;
|
||||
|
||||
fn posstate_from_pos(position: geo_types::Point) -> esp32_cits_core::PosVel {
|
||||
esp32_cits_core::PosVel {
|
||||
fn posstate_from_pos(position: geo_types::Point) -> crate::applogic::PositionState {
|
||||
crate::applogic::PositionState {
|
||||
position,
|
||||
heading_deg: None,
|
||||
speed_mps: None,
|
||||
|
|
|
|||
|
|
@ -49,7 +49,7 @@ pub struct State {
|
|||
time: chrono::NaiveDateTime,
|
||||
|
||||
#[allow(unused)]
|
||||
pos: esp32_cits_core::PosVel,
|
||||
pos: PositionState,
|
||||
|
||||
#[cfg(feature = "spat")]
|
||||
last_prune: chrono::NaiveDateTime,
|
||||
|
|
@ -130,7 +130,15 @@ pub struct GnssFix {
|
|||
pub speed_mps: Option<f32>,
|
||||
}
|
||||
|
||||
impl From<&GnssFix> for esp32_cits_core::PosVel {
|
||||
#[allow(unused)]
|
||||
#[derive(Debug, Default, Clone, PartialEq)]
|
||||
pub struct PositionState {
|
||||
pub position: geo_types::Point,
|
||||
pub heading_deg: Option<f32>,
|
||||
pub speed_mps: Option<f32>,
|
||||
}
|
||||
|
||||
impl From<&GnssFix> for PositionState {
|
||||
fn from(value: &GnssFix) -> Self {
|
||||
let position = geo_types::Point::new(value.longitude_deg, value.latitude_deg);
|
||||
|
||||
|
|
@ -141,7 +149,7 @@ impl From<&GnssFix> for esp32_cits_core::PosVel {
|
|||
}
|
||||
}
|
||||
}
|
||||
impl From<GnssFix> for esp32_cits_core::PosVel {
|
||||
impl From<GnssFix> for PositionState {
|
||||
fn from(value: GnssFix) -> Self {
|
||||
(&value).into()
|
||||
}
|
||||
|
|
@ -204,7 +212,7 @@ impl State {
|
|||
Self {
|
||||
initialized: false,
|
||||
time: chrono::NaiveDateTime::default(),
|
||||
pos: esp32_cits_core::PosVel::default(),
|
||||
pos: PositionState::default(),
|
||||
#[cfg(feature = "spat")]
|
||||
last_prune: chrono::NaiveDateTime::default(),
|
||||
#[cfg(feature = "spat")]
|
||||
|
|
@ -633,7 +641,7 @@ impl State {
|
|||
}
|
||||
|
||||
#[allow(unused)]
|
||||
pub fn pos(&self) -> &esp32_cits_core::PosVel {
|
||||
pub fn pos(&self) -> &PositionState {
|
||||
&self.pos
|
||||
}
|
||||
}
|
||||
|
|
|
|||
18
src/io.rs
18
src/io.rs
|
|
@ -169,7 +169,7 @@ impl From<msg::PositionState> for crate::applogic::GnssFix {
|
|||
}
|
||||
}
|
||||
|
||||
impl From<msg::PositionState> for esp32_cits_core::PosVel {
|
||||
impl From<msg::PositionState> for crate::applogic::PositionState {
|
||||
fn from(value: msg::PositionState) -> Self {
|
||||
let position = geo_types::Point::new(
|
||||
value.position.longitude_deg.into(),
|
||||
|
|
@ -194,7 +194,7 @@ impl From<msg::PositionState> for esp32_cits_core::PosVel {
|
|||
}
|
||||
}
|
||||
|
||||
impl From<msg::ItsPosition> for esp32_cits_core::PosVel {
|
||||
impl From<msg::ItsPosition> for crate::applogic::PositionState {
|
||||
fn from(value: msg::ItsPosition) -> Self {
|
||||
let latitude_deg = f64::from(value.latitude) / 10_000_000.;
|
||||
let longitude_deg = f64::from(value.longitude) / 10_000_000.;
|
||||
|
|
@ -208,11 +208,11 @@ impl From<msg::ItsPosition> for esp32_cits_core::PosVel {
|
|||
}
|
||||
}
|
||||
|
||||
impl esp32_cits_core::tx::GnItsPayload for msg::RawMsgTx {
|
||||
impl crate::v2x_tx::GnItsPayload for msg::RawMsgTx {
|
||||
fn make_eh(
|
||||
&self,
|
||||
address: [u8; 6],
|
||||
own_position: &esp32_cits_core::PosVel,
|
||||
own_position: &crate::applogic::PositionState,
|
||||
time: chrono::DateTime<chrono::Utc>,
|
||||
seq_no: &mut u16,
|
||||
) -> Result<
|
||||
|
|
@ -275,19 +275,19 @@ impl esp32_cits_core::tx::GnItsPayload for msg::RawMsgTx {
|
|||
*seq_no += 1;
|
||||
|
||||
(
|
||||
esp32_cits_core::tx::gn::make_tsb_eh(
|
||||
crate::v2x_tx::gn::make_tsb_eh(
|
||||
address,
|
||||
station_type,
|
||||
own_position,
|
||||
time,
|
||||
*seq_no,
|
||||
)?,
|
||||
),
|
||||
None,
|
||||
hop_limit,
|
||||
)
|
||||
}
|
||||
msg::GnTransport::Shb => (
|
||||
esp32_cits_core::tx::gn::make_shb_eh(address, station_type, own_position, time)?,
|
||||
crate::v2x_tx::gn::make_shb_eh(address, station_type, own_position, time),
|
||||
None,
|
||||
1,
|
||||
),
|
||||
|
|
@ -308,7 +308,7 @@ impl msg::RawMsgTx {
|
|||
fn make_geobcast(
|
||||
address: [u8; 6],
|
||||
station_type: geonetworking::en302636_4_1::StationType,
|
||||
own_position: &esp32_cits_core::PosVel,
|
||||
own_position: &crate::applogic::PositionState,
|
||||
time: chrono::DateTime<chrono::Utc>,
|
||||
gn_area: msg::GnArea,
|
||||
sequence_number: u16,
|
||||
|
|
@ -320,7 +320,7 @@ impl msg::RawMsgTx {
|
|||
alloc::string::String,
|
||||
> {
|
||||
let source_position_vector =
|
||||
esp32_cits_core::tx::gn::make_lpv(address, station_type, own_position, time)?;
|
||||
crate::v2x_tx::gn::make_lpv(address, station_type, own_position, time);
|
||||
|
||||
let (atype, dist_a, dist_b, angle) = match gn_area.area() {
|
||||
msg::GnAreaShape::EtsiAreashapeCircle => (
|
||||
|
|
|
|||
192
src/main.rs
192
src/main.rs
|
|
@ -8,16 +8,11 @@
|
|||
// #![deny(clippy::large_stack_frames)]
|
||||
|
||||
// we can't use UART I/O and GNSS at the same time
|
||||
#[cfg(all(feature = "uart", feature = "gnss_ubx", feature = "gnss_l67k"))]
|
||||
compile_error!(
|
||||
"feature \"uart\" and features \"gnss_ubx\" or \"gnss_l67k\" cannot be enabled at the same time"
|
||||
);
|
||||
#[cfg(all(feature = "uart", feature = "gnss"))]
|
||||
compile_error!("feature \"uart\" and feature \"gnss\" cannot be enabled at the same time");
|
||||
// autonomous CAM generation need a time and position source (aka _gnss)
|
||||
#[cfg(all(feature = "cam_tx", not(feature = "_gnss")))]
|
||||
compile_error!("feature \"cam_tx\" needs a time and position source (either GNSS or UART)");
|
||||
// we can't have both GNSS drivers enabled at the same time
|
||||
#[cfg(all(feature = "gnss_ubx", feature = "gnss_l67k"))]
|
||||
compile_error!("feature \"gnss_ubx\" and feature \"gnss_l67k\" cannot be enabled at the same time");
|
||||
|
||||
use alloc::string::ToString as _;
|
||||
use alloc::vec::Vec;
|
||||
|
|
@ -31,14 +26,14 @@ use c_its_parser::standards::extensions::ItsStationType;
|
|||
use critical_section::Mutex;
|
||||
use crossbeam_queue::ArrayQueue;
|
||||
use embassy_executor::Spawner;
|
||||
#[cfg(feature = "gnss_l67k")]
|
||||
#[cfg(feature = "gnss")]
|
||||
use embassy_gps::gps::l76k;
|
||||
use esp_backtrace as _;
|
||||
use esp_hal::clock::CpuClock;
|
||||
use esp_hal::timer::timg::TimerGroup;
|
||||
#[cfg(all(target_arch = "riscv32", feature = "spat"))]
|
||||
use esp_println::println;
|
||||
use esp32_cits_core::radio;
|
||||
use esp_radio::wifi;
|
||||
use geonetworking::Decode as _;
|
||||
use log::{error, info, warn};
|
||||
|
||||
|
|
@ -49,13 +44,13 @@ mod cache;
|
|||
mod geo_alg;
|
||||
#[cfg(feature = "uart")]
|
||||
mod io;
|
||||
mod radio;
|
||||
#[cfg(feature = "screen")]
|
||||
mod screen;
|
||||
#[cfg(feature = "gnss_ubx")]
|
||||
mod ubx;
|
||||
#[cfg(any(feature = "cam_tx", feature = "uart"))]
|
||||
mod v2x_tx;
|
||||
|
||||
const WIFI_CHANNEL: radio::Channel = 180;
|
||||
const WIFI_TXPOWER: i8 = 10; // dBm, 2..20
|
||||
#[cfg(feature = "spat")]
|
||||
const SPAT_RATE_LIMIT: u8 = 5; // keep every n-th message
|
||||
#[cfg(any(feature = "cam_tx", feature = "uart"))]
|
||||
|
|
@ -168,13 +163,9 @@ async fn main(spawner: Spawner) -> ! {
|
|||
esp_radio::wifi::ControllerConfig::default(),
|
||||
)
|
||||
.expect("Failed to initialize Wi-Fi controller");
|
||||
|
||||
if let Err(err) = wifi_controller.set_band_mode(esp_radio::wifi::BandMode::_5G) {
|
||||
error!("Failed to set WiFi to 5GHz only: {err}");
|
||||
}
|
||||
if let Err(err) = wifi_controller.set_max_tx_power(WIFI_TXPOWER * 4) {
|
||||
error!("Failed to set WiFi TX power: {err}");
|
||||
}
|
||||
|
||||
critical_section::with(|cs| {
|
||||
WIFI_RX_QUEUE.borrow(cs).replace(Some(ArrayQueue::new(2)));
|
||||
|
|
@ -188,15 +179,14 @@ async fn main(spawner: Spawner) -> ! {
|
|||
let mac = esp_hal::efuse::base_mac_address();
|
||||
info!("WiFi MAC: {mac}");
|
||||
|
||||
// Setup GNSS:
|
||||
// Seeed XIAO L67K:
|
||||
// Setup GNSS: Seeed XIAO L67K:
|
||||
// RX: D7/ GPIO12
|
||||
// TX: D6/ GPIO11
|
||||
// WAKEUP: D0/ GPIO1 -> HIGH for active, LOW for Sleep
|
||||
// RESET: D2/ GPIO25 -> HIGH for normal, LOW for Reset
|
||||
#[cfg(feature = "gnss_l67k")]
|
||||
#[cfg(feature = "gnss")]
|
||||
spawner.spawn(
|
||||
gnss_l67k_task(
|
||||
gnss_task(
|
||||
peripherals.GPIO1,
|
||||
peripherals.GPIO25,
|
||||
peripherals.UART0,
|
||||
|
|
@ -205,29 +195,7 @@ async fn main(spawner: Spawner) -> ! {
|
|||
)
|
||||
.expect("Failed to spawn GNSS task"),
|
||||
);
|
||||
|
||||
// U-Blox module:
|
||||
// RX: D7/ GPIO12
|
||||
// TX: D6/ GPIO11
|
||||
// RESET: D2/ GPIO25 -> HIGH for normal, LOW for Reset
|
||||
#[cfg(feature = "gnss_ubx")]
|
||||
{
|
||||
setup_uart0(
|
||||
9600,
|
||||
Some(b'\n'),
|
||||
peripherals.GPIO12,
|
||||
peripherals.GPIO11,
|
||||
peripherals.UART0,
|
||||
serial_handler,
|
||||
)
|
||||
.expect("Failed to initialize UART for GNSS");
|
||||
|
||||
// do some settings (UART receive and parsing runs in main loop)
|
||||
spawner
|
||||
.spawn(gnss_ubx_config(peripherals.GPIO25).expect("Failed to spawn GNSS config task"));
|
||||
}
|
||||
|
||||
#[cfg(feature = "_gnss")]
|
||||
#[cfg(feature = "gnss")]
|
||||
info!("GNSS task started, waiting for GNSS fix...");
|
||||
|
||||
#[cfg(any(feature = "cam_tx", feature = "uart"))]
|
||||
|
|
@ -241,7 +209,7 @@ async fn main(spawner: Spawner) -> ! {
|
|||
let mut state = applogic::State::new();
|
||||
#[cfg(feature = "cam_tx")]
|
||||
let mut cam = {
|
||||
let station_id = make_station_id(mac);
|
||||
let station_id = v2x_tx::make_station_id(mac);
|
||||
info!("V2X Station ID: {station_id}");
|
||||
|
||||
applogic::cam_tx::CamState::new(
|
||||
|
|
@ -253,8 +221,6 @@ async fn main(spawner: Spawner) -> ! {
|
|||
};
|
||||
#[cfg(feature = "uart")]
|
||||
let mut uart_input = io::Parser::default();
|
||||
#[cfg(feature = "gnss_ubx")]
|
||||
let mut ubx_parser = ublox::Parser::default();
|
||||
loop {
|
||||
embassy_time::Timer::after(embassy_time::Duration::from_millis(1)).await;
|
||||
|
||||
|
|
@ -286,7 +252,7 @@ async fn main(spawner: Spawner) -> ! {
|
|||
});
|
||||
}
|
||||
Some(io::msg::serial_input_msg::Payload::TxMsg(tx_request)) => {
|
||||
use esp32_cits_core::tx::GnItsPayload as _;
|
||||
use v2x_tx::GnItsPayload as _;
|
||||
|
||||
info!(
|
||||
"UART: Got new TX message: Type {} with {} bytes",
|
||||
|
|
@ -319,49 +285,6 @@ async fn main(spawner: Spawner) -> ! {
|
|||
}
|
||||
}
|
||||
}
|
||||
#[cfg(feature = "gnss_ubx")]
|
||||
{
|
||||
let mut it = ubx_parser.consume_ubx(&data);
|
||||
loop {
|
||||
match it.next() {
|
||||
Some(Ok(ublox::UbxPacket::Proto27(packet_ref))) => match &packet_ref {
|
||||
ublox::proto27::PacketRef::MonVer(packet) => {
|
||||
println!("{}", ubx::pretty_print_mon_ver(packet));
|
||||
}
|
||||
ublox::proto27::PacketRef::MonComms(packet) => {
|
||||
println!("{}", ubx::pretty_print_mon_comms(packet));
|
||||
}
|
||||
ublox::proto27::PacketRef::MonRf(packet) => {
|
||||
println!("{}", ubx::pretty_print_mon_rf(packet));
|
||||
}
|
||||
ublox::proto27::PacketRef::NavSat(packet) => {
|
||||
println!("{}", ubx::pretty_print_nav_sat(packet));
|
||||
}
|
||||
ublox::proto27::PacketRef::NavPvt(pvt) => {
|
||||
match applogic::GnssFix::try_from(pvt) {
|
||||
Ok(pos_state) => {
|
||||
critical_section::with(|cs| {
|
||||
let gnss_update_ref = GNSS_UPDATE.borrow(cs);
|
||||
gnss_update_ref.replace(Some(pos_state));
|
||||
});
|
||||
}
|
||||
Err(err) => warn!("{err}"),
|
||||
}
|
||||
}
|
||||
_ => {
|
||||
println!("UBX: {packet_ref:?}");
|
||||
}
|
||||
},
|
||||
Some(Err(_)) => {
|
||||
// Received a malformed packet
|
||||
}
|
||||
None => {
|
||||
// The internal buffer is now empty
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -377,7 +300,7 @@ async fn main(spawner: Spawner) -> ! {
|
|||
|
||||
#[cfg(feature = "cam_tx")]
|
||||
{
|
||||
use esp32_cits_core::tx::GnItsPayload as _;
|
||||
use v2x_tx::GnItsPayload;
|
||||
let time = state.time().and_utc();
|
||||
|
||||
cam.update(time, fix.clone().into());
|
||||
|
|
@ -510,7 +433,7 @@ async fn main(spawner: Spawner) -> ! {
|
|||
reason = "adhering to callback interface"
|
||||
)]
|
||||
#[allow(clippy::too_many_lines)]
|
||||
fn handle_frame(frame: esp_radio::wifi::sniffer::PromiscuousPkt<'_>) {
|
||||
fn handle_frame(frame: wifi::sniffer::PromiscuousPkt<'_>) {
|
||||
#[cfg(feature = "spat")]
|
||||
const PRUNE_INTERVAL: chrono::Duration = chrono::Duration::seconds(60);
|
||||
#[cfg(feature = "spat")]
|
||||
|
|
@ -531,18 +454,27 @@ fn handle_frame(frame: esp_radio::wifi::sniffer::PromiscuousPkt<'_>) {
|
|||
.naive_utc()
|
||||
};
|
||||
|
||||
match esp32_cits_core::rx::is_broadcast_frame(&frame) {
|
||||
Err(err) => {
|
||||
warn!("{err}");
|
||||
return;
|
||||
}
|
||||
Ok(false) => {
|
||||
// drop frame
|
||||
return;
|
||||
}
|
||||
Ok(true) => {
|
||||
// continue
|
||||
}
|
||||
// Ignore frames with errors and non-data frames
|
||||
if frame.rx_cntl.rx_state != 0 {
|
||||
warn!("Received frame has RX error: {}", frame.rx_cntl.rx_state);
|
||||
return;
|
||||
}
|
||||
if !radio::PromiscuousPktType::Data.matches(frame.frame_type) {
|
||||
return;
|
||||
}
|
||||
|
||||
// Ignore non-broadcast frames
|
||||
if frame.len < (4 + 6) {
|
||||
warn!(
|
||||
"Received frame too small to be a valid broadcast frame: {} bytes",
|
||||
frame.len
|
||||
);
|
||||
return;
|
||||
}
|
||||
let dest_mac = &frame.data[4..10];
|
||||
if dest_mac != [0xff; 6] {
|
||||
warn!("Received frame is not broadcast frame: Dest MAC {dest_mac:02x?}");
|
||||
return;
|
||||
}
|
||||
|
||||
// info!("Received frame with {} bytes", frame.len);
|
||||
|
|
@ -689,10 +621,10 @@ fn get_its_header<'p>(
|
|||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "gnss_l67k")]
|
||||
#[cfg(feature = "gnss")]
|
||||
#[allow(clippy::large_stack_frames, reason = "GNSS driver needs some space")]
|
||||
#[embassy_executor::task]
|
||||
async fn gnss_l67k_task(
|
||||
async fn gnss_task(
|
||||
gps_wakeup: esp_hal::peripherals::GPIO1<'static>,
|
||||
gps_reset: esp_hal::peripherals::GPIO25<'static>,
|
||||
uart: esp_hal::peripherals::UART0<'static>,
|
||||
|
|
@ -742,38 +674,6 @@ async fn gnss_l67k_task(
|
|||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "gnss_ubx")]
|
||||
#[embassy_executor::task]
|
||||
async fn gnss_ubx_config(reset_pin: esp_hal::peripherals::GPIO25<'static>) {
|
||||
// reset the module
|
||||
let mut gnss_reset = esp_hal::gpio::Output::new(
|
||||
reset_pin,
|
||||
esp_hal::gpio::Level::Low,
|
||||
esp_hal::gpio::OutputConfig::default(),
|
||||
);
|
||||
embassy_time::Timer::after(embassy_time::Duration::from_millis(2)).await;
|
||||
gnss_reset.set_high();
|
||||
|
||||
embassy_time::Timer::after(embassy_time::Duration::from_secs(1)).await;
|
||||
|
||||
info!("UBX: Enabling ubx protocol with NAV-PVT and NAV-SAT");
|
||||
let buffer = ublox::packets::cfg_val::CfgValSetBuilder {
|
||||
version: 1,
|
||||
layers: ublox::packets::cfg_val::CfgLayerSet::RAM,
|
||||
reserved1: 0,
|
||||
cfg_data: &[
|
||||
ublox::cfg_val::CfgVal::Uart1OutProtNmea(false),
|
||||
ublox::cfg_val::CfgVal::Uart1OutProtUbx(true),
|
||||
// CFG-MSGOUT-UBX_NAV_PVT_UART1
|
||||
ublox::cfg_val::CfgVal::MsgOutUbxNavPvtUart1(1),
|
||||
// CFG-MSGOUT-UBX_NAV_SAT_UART1
|
||||
// ublox::cfg_val::CfgVal::MsgOutUbxNavSatUart1(10),
|
||||
],
|
||||
}
|
||||
.into_packet_vec();
|
||||
send_uart0(&buffer);
|
||||
}
|
||||
|
||||
#[cfg(feature = "screen")]
|
||||
fn log_screen_error<E>(error: &E)
|
||||
where
|
||||
|
|
@ -873,19 +773,3 @@ fn send_uart0(data: &[u8]) {
|
|||
}
|
||||
});
|
||||
}
|
||||
|
||||
#[cfg(all(feature = "esp", feature = "cam_tx"))]
|
||||
/// Creates a station ID from the WLAN MAC address
|
||||
///
|
||||
/// Will use `0xC173` as static prefix and uses last 16 bit from MAC address for the remainder.
|
||||
///
|
||||
/// # Panics
|
||||
/// Won't panic in practive b/c of pre-conditions
|
||||
#[must_use]
|
||||
pub fn make_station_id(mac: esp_hal::efuse::MacAddress) -> u32 {
|
||||
// unwrap is fine here since we can be sure that the MacAddress is 6 byte
|
||||
// and a slice of 2 bytes can be converted to [u8; 2]
|
||||
let mac_last_16bit = u16::from_be_bytes(mac.as_bytes().get(4..6).unwrap().try_into().unwrap());
|
||||
|
||||
0xC173_0000 | u32::from(mac_last_16bit)
|
||||
}
|
||||
|
|
|
|||
288
src/radio.rs
Normal file
288
src/radio.rs
Normal file
|
|
@ -0,0 +1,288 @@
|
|||
//! IEEE 802.11p C-ITS Capture with ESP32-C5
|
||||
#![allow(unused)]
|
||||
|
||||
// -----------------------------
|
||||
// missing interface definitions
|
||||
// -----------------------------
|
||||
|
||||
pub type Channel = core::ffi::c_int;
|
||||
|
||||
unsafe extern "C" {
|
||||
/// Changes the 802.11 PHY channel
|
||||
///
|
||||
/// C function signature: `void phy_change_channel(int,int,int,int)`
|
||||
///
|
||||
/// Options:
|
||||
/// - `primary`: Channel frequency in MHz
|
||||
/// - `ignored1`: Ignored (set to 1)
|
||||
/// - `ignored2`: Ignored (set to 0)
|
||||
/// - `ht_mode`: Probably HT mode
|
||||
unsafe fn phy_change_channel(
|
||||
primary: Channel,
|
||||
ignored1: core::ffi::c_int,
|
||||
ignored2: core::ffi::c_int,
|
||||
ht_mode: core::ffi::c_int,
|
||||
) -> core::ffi::c_int;
|
||||
|
||||
/// Enables 802.11p mode on the ESP32-C5
|
||||
///
|
||||
/// C function signature: `void phy_11p_set(int,int)`
|
||||
///
|
||||
/// Options:
|
||||
/// - `enable`: Boolean option to enable 802.11p mode
|
||||
/// - `half_rate`: 5 MHz mode
|
||||
unsafe fn phy_11p_set(enable: u8, half_rate: u8);
|
||||
|
||||
}
|
||||
|
||||
/// Enum values for `wifi_promiscuous_pkt_type_t` used in `esp_radio::wifi::sniffer::PromiscuousPkt::frame_type`
|
||||
///
|
||||
/// Original value is actually `core::ffi::c_uint`, but that can't be used in `#[repr()]` attributes,
|
||||
/// so we're using `u8` as the smallest suitable type here that can be casted to a bigger type.
|
||||
#[repr(u8)]
|
||||
#[derive(Debug, Clone, Copy)]
|
||||
#[allow(dead_code)]
|
||||
pub(crate) enum PromiscuousPktType {
|
||||
/// Management frame, indicates 'buf' argument is `wifi_promiscuous_pkt_t`
|
||||
Mgmt = 0,
|
||||
/// Control frame, indicates 'buf' argument is `wifi_promiscuous_pkt_t`
|
||||
Ctrl = 1,
|
||||
/// Data frame, indicates 'buf' argument is `wifi_promiscuous_pkt_t`
|
||||
Data = 2,
|
||||
/// Other type, such as MIMO etc. 'buf' argument is `wifi_promiscuous_pkt_t` but the payload is zero length.
|
||||
Misc = 3,
|
||||
}
|
||||
|
||||
impl PromiscuousPktType {
|
||||
#[allow(dead_code)]
|
||||
pub fn as_repr(self) -> u8 {
|
||||
self as u8
|
||||
}
|
||||
|
||||
/// Converts to underlying type of `wifi_promiscuous_pkt_type_t` (used by `esp_radio::wifi::sniffer::PromiscuousPkt::frame_type`)
|
||||
pub fn as_frame_type(self) -> core::ffi::c_uint {
|
||||
core::ffi::c_uint::from(self.as_repr())
|
||||
}
|
||||
|
||||
/// Determines if we are the same frame type as `esp_radio::wifi::sniffer::PromiscuousPkt::frame_type`
|
||||
pub fn matches(self, frame_type: core::ffi::c_uint) -> bool {
|
||||
self.as_frame_type() == frame_type
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "esp")]
|
||||
/// Configure WiFi Sniffer to a certain 802.11p channel
|
||||
pub fn setup_wifi_sniffer(
|
||||
channel: Channel,
|
||||
sniffer: &mut esp_radio::wifi::sniffer::Sniffer,
|
||||
callback: fn(esp_radio::wifi::sniffer::PromiscuousPkt<'_>),
|
||||
) -> Result<(), alloc::string::String> {
|
||||
sniffer
|
||||
.set_promiscuous_mode(true)
|
||||
.map_err(|err| alloc::format!("Failed to enable promiscuous mode: {err:?}"))?;
|
||||
|
||||
sniffer.set_receive_cb(callback);
|
||||
|
||||
// convert channel number to frequency in MHz
|
||||
let primary = 5000 + (channel * 5);
|
||||
|
||||
unsafe {
|
||||
phy_11p_set(1, 0);
|
||||
match phy_change_channel(primary, 1, 0, 0) {
|
||||
0 => Ok(()),
|
||||
ret => Err(alloc::format!("Failed to change channel: {ret}")),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "esp")]
|
||||
/// Sends 802.11p broadcast frame
|
||||
///
|
||||
/// Expects `data` to contain GN header (BTP header and ITS payload) to be a valid C-ITS/ ITS-G5 packet/ frame.
|
||||
///
|
||||
/// # Errors
|
||||
/// Fails when MAC is not the right size or returns frame send error
|
||||
pub fn send_80211_bcast_frame(
|
||||
sniffer: &mut esp_radio::wifi::sniffer::Sniffer,
|
||||
mac_addr: &[u8],
|
||||
data: &[u8],
|
||||
) -> Result<(), alloc::string::String> {
|
||||
const HEADER_SIZE: usize = 24 + 8;
|
||||
|
||||
let mac = mac_addr
|
||||
.try_into()
|
||||
.map_err(|err| alloc::format!("Unexpected MAC address size: {err}"))?;
|
||||
|
||||
// assemble frame
|
||||
let mut frame_buf = alloc::vec::Vec::with_capacity(HEADER_SIZE + data.len());
|
||||
frame_buf.extend_from_slice(&DataFrameHeader::new_80211p(mac).to_binary());
|
||||
frame_buf.extend_from_slice(&LlcHeader::new_80211p().to_binary());
|
||||
frame_buf.extend_from_slice(data);
|
||||
|
||||
// send
|
||||
sniffer
|
||||
.send_raw_frame(true, &frame_buf, true)
|
||||
.map_err(|err| alloc::format!("Failed to send 802.11p frame: {err:?}"))
|
||||
}
|
||||
|
||||
/// IEEE 802.11p frame header
|
||||
#[derive(Debug, Default)]
|
||||
struct DataFrameHeader {
|
||||
/// byte 0: subtype in upper nibble, type in lower nibble
|
||||
/// "normal" data frame: 0x08, QoS data frame: 0x88
|
||||
pub type_and_subtype: u8,
|
||||
/// byte 1: frame contol field, 0x00 for 802.11p
|
||||
pub fcf_flags: u8,
|
||||
/// byte 2..3: duration in micros, usually 0x0000 for 802.11p (toDS = 0, fromDS = 0)
|
||||
pub duration: u16,
|
||||
/// byte 4..9: receiver/ destination for 802.11p
|
||||
pub address_1: [u8; 6],
|
||||
/// byte 10..15: transmitter/ source for 802.11p
|
||||
pub address_2: [u8; 6],
|
||||
/// byte 16..21: BSSID for 802.11p
|
||||
pub address_3: [u8; 6],
|
||||
/// byte 22..24: upper 12 bits: seq. no, lower 4 bits: fragment no
|
||||
pub sequence_control: u16,
|
||||
// Note: address 4 is not used in 802.11p
|
||||
// pub qos: Option<[u8; 2]>, // QoS frames are supported by radio library
|
||||
// Note: 802.11p does not use HT mode(s)
|
||||
}
|
||||
|
||||
impl DataFrameHeader {
|
||||
const BCAST_MAC: [u8; 6] = [0xFF; 6];
|
||||
|
||||
/// Create an 802.11p (non-QoS) data frame header with a source MAC address
|
||||
pub(crate) fn new_80211p(source_mac: &[u8; 6]) -> Self {
|
||||
Self {
|
||||
type_and_subtype: 0x08,
|
||||
address_1: Self::BCAST_MAC,
|
||||
address_2: *source_mac,
|
||||
address_3: Self::BCAST_MAC,
|
||||
..Default::default()
|
||||
}
|
||||
}
|
||||
|
||||
pub(crate) fn to_binary(&self) -> [u8; 24] {
|
||||
let mut buf = [0u8; 24];
|
||||
|
||||
buf[0] = self.type_and_subtype;
|
||||
|
||||
buf[1] = self.fcf_flags;
|
||||
|
||||
Self::write_u16(&mut buf, 2, self.duration);
|
||||
Self::write_mac_addr(&mut buf, 4, &self.address_1);
|
||||
Self::write_mac_addr(&mut buf, 10, &self.address_2);
|
||||
Self::write_mac_addr(&mut buf, 16, &self.address_3);
|
||||
Self::write_u16(&mut buf, 22, self.sequence_control);
|
||||
|
||||
buf
|
||||
}
|
||||
|
||||
fn write_u16(buf: &mut [u8; 24], offset: usize, data: u16) {
|
||||
for (idx, byte) in data.to_be_bytes().iter().enumerate() {
|
||||
buf[idx + offset] = *byte;
|
||||
}
|
||||
}
|
||||
|
||||
fn write_mac_addr(buf: &mut [u8; 24], offset: usize, data: &[u8; 6]) {
|
||||
for (idx, byte) in data.iter().enumerate() {
|
||||
buf[idx + offset] = *byte;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// IEEE 802.11p LLC header
|
||||
#[derive(Debug, Default)]
|
||||
struct LlcHeader {
|
||||
/// byte 0: SNAP (0xaa) in 802.11p
|
||||
pub dsap: u8, // SNAP in
|
||||
/// byte 1: SNAP (0xaa) in 802.11p
|
||||
pub lsap: u8, // SNAP in
|
||||
/// byte 2: SNAP (0xaa) in 802.11p
|
||||
pub control_1: u8, // 0x03
|
||||
// Note: optional second control byte not used in 802.11p
|
||||
|
||||
// SNAP fields
|
||||
/// set to 0 since ethertype is used for protocol ID in 802.11p
|
||||
pub oui: [u8; 3],
|
||||
/// ethertype GeoNetworking (0x8947) in 802.11p
|
||||
pub protocol_id: u16,
|
||||
}
|
||||
|
||||
impl LlcHeader {
|
||||
pub(crate) fn new_80211p() -> Self {
|
||||
Self {
|
||||
dsap: 0xaa,
|
||||
lsap: 0xaa,
|
||||
control_1: 0x03,
|
||||
oui: [0; 3],
|
||||
protocol_id: 0x8947,
|
||||
}
|
||||
}
|
||||
|
||||
pub(crate) fn to_binary(&self) -> [u8; 8] {
|
||||
let mut buf: [u8; 8] = [
|
||||
self.dsap,
|
||||
self.lsap,
|
||||
self.control_1,
|
||||
0x00,
|
||||
0x00,
|
||||
0x00,
|
||||
0x00,
|
||||
0x00,
|
||||
];
|
||||
|
||||
buf[3] = self.oui[0];
|
||||
buf[4] = self.oui[1];
|
||||
buf[5] = self.oui[2];
|
||||
|
||||
buf[6] = self.protocol_id.to_be_bytes()[0];
|
||||
buf[7] = self.protocol_id.to_be_bytes()[1];
|
||||
|
||||
buf
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
|
||||
use super::*;
|
||||
|
||||
#[test]
|
||||
fn data_frame_test() {
|
||||
// build a typical IEEE 802.11p frame
|
||||
const OWN_MAC: [u8; 6] = [0x12, 0x34, 0x56, 0x78, 0xab, 0xcd];
|
||||
const REF_HEADER: [u8; 24] = [
|
||||
0x08, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x12, 0x34, 0x56, 0x78,
|
||||
0xab, 0xcd, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00,
|
||||
];
|
||||
|
||||
let frame = DataFrameHeader::new_80211p(&OWN_MAC);
|
||||
|
||||
assert_eq!(0x08, frame.type_and_subtype); // data frame, subtype 0
|
||||
assert_eq!(0x0000, frame.fcf_flags);
|
||||
assert_eq!(0x0000, frame.duration);
|
||||
assert_eq!([0xFF; 6], frame.address_1);
|
||||
assert_eq!(OWN_MAC, frame.address_2);
|
||||
assert_eq!([0xFF; 6], frame.address_3);
|
||||
assert_eq!(0x0000, frame.sequence_control);
|
||||
|
||||
assert_eq!(REF_HEADER, frame.to_binary());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn llc_test() {
|
||||
// build a typical IEEE 802.11p LLC header
|
||||
const REF_HEADER: [u8; 8] = [0xaa, 0xaa, 0x03, 0x00, 0x00, 0x00, 0x89, 0x47];
|
||||
|
||||
let llc = LlcHeader::new_80211p();
|
||||
|
||||
assert_eq!(0xaa, llc.dsap);
|
||||
assert_eq!(0xaa, llc.lsap);
|
||||
assert_eq!(0x03, llc.control_1);
|
||||
assert_eq!([0x00; 3], llc.oui);
|
||||
assert_eq!(0x8947, llc.protocol_id);
|
||||
|
||||
assert_eq!(REF_HEADER, llc.to_binary());
|
||||
}
|
||||
}
|
||||
89
src/test-proto.rs
Normal file
89
src/test-proto.rs
Normal file
|
|
@ -0,0 +1,89 @@
|
|||
#![cfg(not(target_arch = "riscv32"))]
|
||||
#![allow(unused)]
|
||||
|
||||
extern crate alloc;
|
||||
|
||||
mod applogic;
|
||||
mod io;
|
||||
mod v2x_tx;
|
||||
|
||||
fn main() {
|
||||
use prost::Message as _;
|
||||
|
||||
// env_logger::init();
|
||||
|
||||
// generate some test UART messages as hex strings
|
||||
let raw_its = input_from_raw(io::msg::RawMsgTx {
|
||||
payload: [0xaa, 0xbb, 0xcc, 0xdd].to_vec(),
|
||||
message_type: 1,
|
||||
gn_transport: io::msg::GnTransport::Shb.into(),
|
||||
gn_area: io::msg::GnArea {
|
||||
area: None,
|
||||
position: None,
|
||||
dist_a: None,
|
||||
dist_b: None,
|
||||
angle: None,
|
||||
},
|
||||
hop_limit: 2,
|
||||
station_type: None,
|
||||
});
|
||||
println!("{}", serialize_serial_msg_hex(&raw_its));
|
||||
|
||||
let pos = input_from_position(io::msg::PositionState {
|
||||
timestamp_ms: 1785144196000,
|
||||
position: io::msg::Position {
|
||||
latitude_deg: 42.,
|
||||
longitude_deg: 23.,
|
||||
},
|
||||
heading: None,
|
||||
speed: None,
|
||||
});
|
||||
println!("{}", serialize_serial_msg_hex(&pos));
|
||||
}
|
||||
|
||||
fn input_from_raw(value: io::msg::RawMsgTx) -> io::msg::SerialInputMsg {
|
||||
use io::msg::serial_input_msg::Payload;
|
||||
|
||||
io::msg::SerialInputMsg {
|
||||
payload: Some(Payload::TxMsg(value)),
|
||||
}
|
||||
}
|
||||
fn input_from_position(value: io::msg::PositionState) -> io::msg::SerialInputMsg {
|
||||
use io::msg::serial_input_msg::Payload;
|
||||
|
||||
io::msg::SerialInputMsg {
|
||||
payload: Some(Payload::Position(value)),
|
||||
}
|
||||
}
|
||||
|
||||
pub(crate) fn serialize_serial_msg_hex(msg: &io::msg::SerialInputMsg) -> alloc::string::String {
|
||||
use prost::Message as _;
|
||||
|
||||
let mut msg_buf = msg.encode_to_vec();
|
||||
|
||||
let sof = [0x56u8, 0x32, 0x58, 0x2B];
|
||||
let eof = [0x0du8, 0x0a];
|
||||
let len: [u8; 2] = (msg_buf.len() as u16).to_be_bytes();
|
||||
|
||||
let mut out = sof.to_vec();
|
||||
out.extend_from_slice(&len);
|
||||
out.append(&mut msg_buf);
|
||||
out.extend_from_slice(&eof);
|
||||
|
||||
// convert to hex string
|
||||
let mut hex_str = alloc::string::String::default();
|
||||
for c in out {
|
||||
hex_str.push_str(format!("{c:02x}").as_str());
|
||||
}
|
||||
|
||||
hex_str
|
||||
}
|
||||
|
||||
// /// Initializes the env-logger to be used inside tests
|
||||
// fn init_test_env_logger() {
|
||||
// let _ = env_logger::builder()
|
||||
// .format_timestamp(None)
|
||||
// .filter_level(log::LevelFilter::Debug)
|
||||
// .is_test(true)
|
||||
// .try_init();
|
||||
// }
|
||||
|
|
@ -7,7 +7,9 @@ mod applogic;
|
|||
mod cache;
|
||||
mod geo_alg;
|
||||
mod io;
|
||||
mod radio;
|
||||
mod testdata;
|
||||
mod v2x_tx;
|
||||
|
||||
fn main() {
|
||||
// env_logger::init();
|
||||
|
|
|
|||
106
src/ubx.rs
106
src/ubx.rs
|
|
@ -1,106 +0,0 @@
|
|||
//! u-blox helpers
|
||||
#![allow(unused)]
|
||||
|
||||
use alloc::vec::Vec;
|
||||
|
||||
pub fn pretty_print_mon_ver(packet: &ublox::mon_ver::MonVerRef) -> alloc::string::String {
|
||||
alloc::format!(
|
||||
"UBX-MON-VER: SW version: {} HW version: {}; Extensions: {:?}",
|
||||
packet.software_version(),
|
||||
packet.hardware_version(),
|
||||
packet.extension().collect::<Vec<&str>>()
|
||||
)
|
||||
}
|
||||
|
||||
pub fn pretty_print_mon_comms(packet: &ublox::mon_comms::MonCommsRef) -> alloc::string::String {
|
||||
alloc::format!(
|
||||
"UBX-MON-COMMS: {} ports ({:?}), {} tx err, info {:?}",
|
||||
packet.n_ports(),
|
||||
packet.prot_ids(),
|
||||
packet.tx_errors(),
|
||||
packet
|
||||
.ports()
|
||||
.map(|v| alloc::format!("{v:?}"))
|
||||
.collect::<Vec<_>>()
|
||||
)
|
||||
}
|
||||
|
||||
pub fn pretty_print_mon_rf(packet: &ublox::mon_rf::MonRfRef) -> alloc::string::String {
|
||||
alloc::format!(
|
||||
"UBX-MON-RF: {:?}",
|
||||
packet
|
||||
.blocks()
|
||||
.map(|v| alloc::format!("{v:?}"))
|
||||
.collect::<Vec<_>>()
|
||||
)
|
||||
}
|
||||
|
||||
pub fn pretty_print_nav_sat(packet: &ublox::nav_sat::NavSatRef) -> alloc::string::String {
|
||||
// sort by quality flags
|
||||
let mut sat_infos = packet.svs().collect::<Vec<_>>();
|
||||
sat_infos.sort_unstable_by_key(|v| v.flags_raw() & 0x7);
|
||||
sat_infos.reverse();
|
||||
|
||||
let sat_info_strings = sat_infos
|
||||
.iter()
|
||||
.map(|v| {
|
||||
alloc::format!(
|
||||
"- {}/{:3}: E {:3.0}, A {:3.0}, CNO {:2.1} dBHz, {:?}, {:?}",
|
||||
v.gnss_id(),
|
||||
v.sv_id(),
|
||||
v.elev(),
|
||||
v.azim(),
|
||||
v.cno(),
|
||||
v.flags().quality_ind(),
|
||||
v.flags().health(),
|
||||
)
|
||||
})
|
||||
.collect::<Vec<_>>();
|
||||
|
||||
alloc::format!(
|
||||
"UBX-NAV-SAT: num {:?}\n{}",
|
||||
packet.num_svs(),
|
||||
sat_info_strings.join("\n")
|
||||
)
|
||||
}
|
||||
|
||||
impl<'a> TryFrom<&ublox::nav_pvt::proto27::NavPvtRef<'a>> for crate::applogic::GnssFix {
|
||||
type Error = alloc::string::String;
|
||||
|
||||
fn try_from(value: &ublox::nav_pvt::proto27::NavPvtRef<'a>) -> Result<Self, Self::Error> {
|
||||
let has_time = value.fix_type() == ublox::GnssFixType::Fix3D
|
||||
|| value.fix_type() == ublox::GnssFixType::GPSPlusDeadReckoning
|
||||
|| value.fix_type() == ublox::GnssFixType::TimeOnlyFix;
|
||||
let has_posvel = value.fix_type() == ublox::GnssFixType::Fix3D
|
||||
|| value.fix_type() == ublox::GnssFixType::GPSPlusDeadReckoning;
|
||||
|
||||
if !has_posvel || !has_time {
|
||||
return Err(alloc::format!(
|
||||
"NAV-PVT without valid fix: {:?}",
|
||||
value.fix_type()
|
||||
));
|
||||
}
|
||||
|
||||
let pos: ublox::PositionLLA = value.into();
|
||||
let vel: ublox::Velocity = value.into();
|
||||
|
||||
let time: chrono::DateTime<chrono::Utc> = value
|
||||
.try_into()
|
||||
.map_err(|err| alloc::format!("Failed to convert time: {err}"))?;
|
||||
|
||||
let latitude_deg = pos.lat;
|
||||
let longitude_deg = pos.lon;
|
||||
#[allow(clippy::cast_precision_loss, clippy::cast_possible_truncation)]
|
||||
let heading_deg = vel.heading as f32;
|
||||
#[allow(clippy::cast_precision_loss, clippy::cast_possible_truncation)]
|
||||
let speed_mps = vel.speed as f32;
|
||||
|
||||
Ok(Self {
|
||||
time: Some(time.naive_utc()),
|
||||
latitude_deg,
|
||||
longitude_deg,
|
||||
heading_deg: Some(heading_deg),
|
||||
speed_mps: Some(speed_mps),
|
||||
})
|
||||
}
|
||||
}
|
||||
94
src/v2x_tx/gn.rs
Normal file
94
src/v2x_tx/gn.rs
Normal file
|
|
@ -0,0 +1,94 @@
|
|||
//! Geonetworking utilities
|
||||
|
||||
use c_its_parser::gn as geonetworking;
|
||||
|
||||
#[allow(unused)]
|
||||
pub fn make_shb_eh(
|
||||
address: [u8; 6],
|
||||
station_type: geonetworking::en302636_4_1::StationType,
|
||||
own_position: &crate::applogic::PositionState,
|
||||
time: chrono::DateTime<chrono::Utc>,
|
||||
) -> geonetworking::en302636_4_1::ExtendedHeader {
|
||||
let source_position_vector = make_lpv(address, station_type, own_position, time);
|
||||
|
||||
geonetworking::en302636_4_1::ExtendedHeader::SHB(
|
||||
geonetworking::en302636_4_1::SingleHopBroadcast {
|
||||
source_position_vector,
|
||||
media_dependent_data: [0; 4],
|
||||
},
|
||||
)
|
||||
}
|
||||
|
||||
#[allow(unused)]
|
||||
pub fn make_tsb_eh(
|
||||
address: [u8; 6],
|
||||
station_type: geonetworking::en302636_4_1::StationType,
|
||||
own_position: &crate::applogic::PositionState,
|
||||
time: chrono::DateTime<chrono::Utc>,
|
||||
sequence_number: u16,
|
||||
) -> geonetworking::en302636_4_1::ExtendedHeader {
|
||||
let source_position_vector = make_lpv(address, station_type, own_position, time);
|
||||
|
||||
geonetworking::en302636_4_1::ExtendedHeader::TSB(
|
||||
geonetworking::en302636_4_1::TopologicallyScopedBroadcast::new(
|
||||
sequence_number,
|
||||
source_position_vector,
|
||||
),
|
||||
)
|
||||
}
|
||||
|
||||
#[allow(unused)]
|
||||
pub fn make_gbc_eh(
|
||||
address: [u8; 6],
|
||||
station_type: geonetworking::en302636_4_1::StationType,
|
||||
own_position: &crate::applogic::PositionState,
|
||||
time: chrono::DateTime<chrono::Utc>,
|
||||
target_pos: geo_types::Point,
|
||||
radius_m: u16,
|
||||
sequence_number: u16,
|
||||
) -> geonetworking::en302636_4_1::ExtendedHeader {
|
||||
let source_position_vector = make_lpv(address, station_type, own_position, time);
|
||||
#[allow(clippy::cast_possible_truncation)]
|
||||
let latitude_deg = target_pos.x() as f32;
|
||||
#[allow(clippy::cast_possible_truncation)]
|
||||
let longitude_deg = target_pos.y() as f32;
|
||||
|
||||
geonetworking::en302636_4_1::ExtendedHeader::GBC(
|
||||
geonetworking::en302636_4_1::GeoBroadcast::try_from_values(
|
||||
sequence_number,
|
||||
source_position_vector,
|
||||
latitude_deg,
|
||||
longitude_deg,
|
||||
radius_m,
|
||||
0,
|
||||
0,
|
||||
)
|
||||
.expect("Failed to create circular GBC"),
|
||||
)
|
||||
}
|
||||
|
||||
pub fn make_lpv(
|
||||
address: [u8; 6],
|
||||
station_type: geonetworking::en302636_4_1::StationType,
|
||||
own_position: &crate::applogic::PositionState,
|
||||
time: chrono::DateTime<chrono::Utc>,
|
||||
) -> geonetworking::en302636_4_1::LongPositionVector {
|
||||
let timestamp_its = c_its_parser::time_utils::TimestampIts::from(time);
|
||||
#[allow(clippy::cast_possible_truncation)]
|
||||
let latitude_deg = own_position.position.y() as f32;
|
||||
#[allow(clippy::cast_possible_truncation)]
|
||||
let longitude_deg = own_position.position.x() as f32;
|
||||
let speed_mps = own_position.speed_mps.unwrap_or_default();
|
||||
let heading_deg = own_position.heading_deg.unwrap_or_default();
|
||||
|
||||
geonetworking::en302636_4_1::LongPositionVector::try_from_values(
|
||||
geonetworking::en302636_4_1::Address::new(false, station_type, address),
|
||||
timestamp_its.0,
|
||||
latitude_deg,
|
||||
longitude_deg,
|
||||
true,
|
||||
speed_mps,
|
||||
heading_deg,
|
||||
)
|
||||
.expect("Failed to create LongPositionVector")
|
||||
}
|
||||
164
src/v2x_tx/mod.rs
Normal file
164
src/v2x_tx/mod.rs
Normal file
|
|
@ -0,0 +1,164 @@
|
|||
//! V2X Transmission
|
||||
|
||||
use alloc::vec::Vec;
|
||||
|
||||
use c_its_parser::gn::{self as geonetworking, Encode};
|
||||
|
||||
pub mod gn;
|
||||
|
||||
#[cfg(all(feature = "esp", feature = "cam_tx"))]
|
||||
/// Creates a station ID from the WLAN MAC address
|
||||
///
|
||||
/// Will use `0xC173` as static prefix and uses last 16 bit from MAC address for the remainder.
|
||||
pub fn make_station_id(mac: esp_hal::efuse::MacAddress) -> u32 {
|
||||
// unwrap is fine here since we can be sure that the MacAddress is 6 byte
|
||||
// and a slice of 2 bytes can be converted to [u8; 2]
|
||||
let mac_last_16bit = u16::from_be_bytes(mac.as_bytes().get(4..6).unwrap().try_into().unwrap());
|
||||
|
||||
0xC173_0000 | u32::from(mac_last_16bit)
|
||||
}
|
||||
|
||||
pub trait GnItsPayload {
|
||||
// common GN parameters
|
||||
const LIFETIME_MILLIS: u32 = 60_000; // itsGnDefaultPacketLifetime is 60 seconds according to ETSI EN 302 636-4-1 V1.4.1
|
||||
|
||||
// ---------------------------------------------
|
||||
// methods to build a GN packet with ITS payload
|
||||
// ---------------------------------------------
|
||||
|
||||
/// Builds the [`geonetworking::en302636_4_1::ExtendedHeader`] and additional information for the ITS message
|
||||
///
|
||||
/// Output:
|
||||
/// - Extended header
|
||||
/// - Area type (when using GAC or GBC)
|
||||
/// - hop limit
|
||||
///
|
||||
/// Note: Make sure to increase the sequence number on multi-hop packets.
|
||||
fn make_eh(
|
||||
&self,
|
||||
address: [u8; 6],
|
||||
own_position: &crate::applogic::PositionState,
|
||||
time: chrono::DateTime<chrono::Utc>,
|
||||
seq_no: &mut u16,
|
||||
) -> Result<
|
||||
(
|
||||
geonetworking::en302636_4_1::ExtendedHeader,
|
||||
Option<geonetworking::en302636_4_1::AreaType>,
|
||||
u8,
|
||||
),
|
||||
alloc::string::String,
|
||||
>;
|
||||
|
||||
/// Creates the ITS payload (without BTP header)
|
||||
fn make_payload(
|
||||
&self,
|
||||
) -> Result<(Vec<u8>, c_its_parser::standards::extensions::ItsMessageId), alloc::string::String>;
|
||||
|
||||
// ---------------------------------------------
|
||||
// common methods (with implementation)
|
||||
// ---------------------------------------------
|
||||
|
||||
/// Encodes the GN packet
|
||||
fn encode_packet(
|
||||
&self,
|
||||
address: [u8; 6],
|
||||
own_position: &crate::applogic::PositionState,
|
||||
time: chrono::DateTime<chrono::Utc>,
|
||||
is_mobile: bool,
|
||||
seq_no: &mut u16,
|
||||
) -> Result<Vec<u8>, alloc::string::String> {
|
||||
// Build payload (including BTP header)
|
||||
let (mut its_payload, msg_type) = self.make_payload()?;
|
||||
let mut payload = make_btp_b(msg_type).encode()?;
|
||||
|
||||
payload.append(&mut its_payload);
|
||||
|
||||
#[allow(clippy::cast_possible_truncation)]
|
||||
let payload_length = (payload.len()) as u16;
|
||||
|
||||
// get extended header (depending on message type and sometimes content as well)
|
||||
let (eh, area_type, maximum_hop_limit) =
|
||||
self.make_eh(address, own_position, time, seq_no)?;
|
||||
|
||||
// Build GN headers
|
||||
let traffic_class = geonetworking::en302636_4_1::TrafficClass::try_new(
|
||||
false,
|
||||
false,
|
||||
make_traffic_class(msg_type),
|
||||
)
|
||||
.map_err(|err| alloc::format!("Failed to create TrafficClass: {err:?}"))?;
|
||||
let common = geonetworking::en302636_4_1::CommonHeader::from_values(
|
||||
geonetworking::en302636_4_1::NextAfterCommon::BTPB,
|
||||
geonetworking::en302636_4_1::HeaderType::new_from(&eh, area_type)?,
|
||||
traffic_class,
|
||||
is_mobile,
|
||||
payload_length,
|
||||
maximum_hop_limit,
|
||||
);
|
||||
|
||||
let remaining_hop_limit = maximum_hop_limit;
|
||||
let basic = geonetworking::en302636_4_1::BasicHeader::try_new(
|
||||
1,
|
||||
geonetworking::en302636_4_1::NextAfterBasic::CommonHeader,
|
||||
geonetworking::en302636_4_1::Lifetime::from_milliseconds(Self::LIFETIME_MILLIS),
|
||||
remaining_hop_limit,
|
||||
)
|
||||
.map_err(|err| alloc::format!("Failed to create BasicHeader: {err}"))?;
|
||||
|
||||
// Assemble and encode packet
|
||||
let packet = geonetworking::Packet::Unsecured {
|
||||
basic,
|
||||
common,
|
||||
extended: Some(eh),
|
||||
payload: &payload,
|
||||
};
|
||||
|
||||
packet
|
||||
.encode_to_vec()
|
||||
.map_err(|err| alloc::format!("Failed to encode GN packet: {err:?}"))
|
||||
}
|
||||
}
|
||||
|
||||
/// Creates a BTP-B header based on the ITS message ID (message type)
|
||||
///
|
||||
/// Port numbers and destination port info according to ETSI TS 103 248
|
||||
fn make_btp_b(
|
||||
msg_type: c_its_parser::standards::extensions::ItsMessageId,
|
||||
) -> c_its_parser::transport::TransportHeader {
|
||||
let (destination_port, destination_port_info) = match msg_type {
|
||||
c_its_parser::standards::extensions::ItsMessageId::Denm => (2002, 0),
|
||||
c_its_parser::standards::extensions::ItsMessageId::Cam => (2001, 0),
|
||||
c_its_parser::standards::extensions::ItsMessageId::Mapem => (2003, 0),
|
||||
c_its_parser::standards::extensions::ItsMessageId::Spatem => (2004, 0),
|
||||
c_its_parser::standards::extensions::ItsMessageId::Saem => (2005, 0),
|
||||
c_its_parser::standards::extensions::ItsMessageId::Ivim => (2006, 0),
|
||||
c_its_parser::standards::extensions::ItsMessageId::Srem => (2007, 0),
|
||||
c_its_parser::standards::extensions::ItsMessageId::Ssem => (2008, 0),
|
||||
c_its_parser::standards::extensions::ItsMessageId::Cpm => (2009, 0),
|
||||
c_its_parser::standards::extensions::ItsMessageId::Poi => (2010, 0),
|
||||
c_its_parser::standards::extensions::ItsMessageId::EvRsr => (2012, 0),
|
||||
c_its_parser::standards::extensions::ItsMessageId::Rtcmem => (2013, 0),
|
||||
_ => (0, 0), // no information found for the subsequent types
|
||||
};
|
||||
|
||||
c_its_parser::transport::TransportHeader::BtpB(c_its_parser::transport::BasicTransportBHeader {
|
||||
destination_port,
|
||||
destination_port_info,
|
||||
})
|
||||
}
|
||||
|
||||
/// Creates a traffic class ID based on the ITS message ID (message type)
|
||||
fn make_traffic_class(msg_type: c_its_parser::standards::extensions::ItsMessageId) -> u8 {
|
||||
#[allow(clippy::match_same_arms)]
|
||||
match msg_type {
|
||||
c_its_parser::standards::extensions::ItsMessageId::Denm => 1,
|
||||
c_its_parser::standards::extensions::ItsMessageId::Cam => 2,
|
||||
c_its_parser::standards::extensions::ItsMessageId::Mapem => 3, // from C-Roads RS_RSP_063(1)
|
||||
c_its_parser::standards::extensions::ItsMessageId::Spatem => 3, // from C-Roads RS_RSP_063(1)
|
||||
c_its_parser::standards::extensions::ItsMessageId::Ivim => 3, // from C-Roads RS_RSP_063(1)
|
||||
c_its_parser::standards::extensions::ItsMessageId::Srem => 2, // from C-Roads RS_RSP_063(1)
|
||||
c_its_parser::standards::extensions::ItsMessageId::Ssem => 2, // from C-Roads RS_RSP_063(1)
|
||||
c_its_parser::standards::extensions::ItsMessageId::Rtcmem => 3, // CSP_MaxPrio=252 -> 3
|
||||
_ => 3, // fall-back to lowest priority
|
||||
}
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue