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CITS Sniffer v2: ESP-IDF 5.5 Projektstruktur mit CMakeLists, sdkconfig, partitions_8M

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Clawdia
2026-05-18 14:19:34 +02:00
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commit 9c1732c364
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main/block2_cits_parser.c
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/**
* Block 2: C-ITS Parser für ESP32-C5 C-ITS Sniffer
*
* Ziel: C-ITS DATENSATZ parsen und extrahieren
*
* WAVE/DSRC Paket Struktur (IEEE 1609.3):
* - MAC Header: 14 Bytes
* - LLC/SNAP: 8 Bytes
* - WAVE Short Message (WSM): 6 Bytes Header
* - C-ITS DATENSATZ (Payload)
*/
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <stdint.h>
#include <stdbool.h>
#include <time.h>
#include <sys/time.h>
#include "sdkconfig.h"
#include "esp_err.h"
#include "esp_log.h"
#include "esp_wifi.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
static const char *TAG = "CITS_PARSER";
// WAVE Short Message Header Struktur
typedef struct __attribute__((packed)) {
uint8_t pduLength[3]; // PDU Länge (3 Bytes)
uint8_t senderId[6]; // Sender MAC Adresse
uint32_t timestamp; // Zeitstempel
uint8_t priority; // Priorität
uint8_t pduType; // PDU Typ
} wave_header_t;
// C-ITS Message Type (BSI Format)
typedef struct __attribute__((packed)) {
uint8_t msgId; // Message ID
uint8_t msgCnt; // Message Count
uint8_t sectionNum; // Section Number
uint8_t partId; // Part ID
uint8_t reserved[8]; // Reserviert
uint8_t payload[]; // Payload
} cits_bsi_header_t;
// C-ITS Message Types (ETSI TS 103 097)
#define CITS_MSGID_DECEVENT 0x01 // Dezisionsunterstützung
#define CITS_MSGID_DSECN 0x02 // Dekstruktive Umgebung
#define CITS_MSGID_DMM 0x03 // Dynamisches Map-Matching
#define CITS_MSGID_MAP 0x04 // Kartendaten
#define CITS_MSGID_MAPDATA 0x05 // Kartendaten
#define CITS_MSGID_MAPSELDATA 0x06 // Kartendaten Auswahl
#define CITS_MSGID_RSM 0x07 // Road Safety Message
#define CITS_MSGID_CAM 0x08 // Cooperative Awareness Message
#define CITS_MSGID_DENM 0x09 // Decentralized Environmental Notification
#define CITS_MSGID_SPA 0x0A // Signal Phase and Timing
#define CITS_MSGID_MAM 0x0B // Map Alignment Message
#define CITS_MSGID_VIT 0x0C // Vehicle Information Message
#define CITS_MSGID_VSL 0x0D // Variable Speed Limit
#define CITS_MSGID_SPA 0x0E // Signal Phase and Timing
#define CITS_MSGID_CSP 0x0F // Cross-Signal Phase
/**
* MAC Adresse als String formatieren
*/
static void format_mac(const uint8_t *mac, char *mac_str, size_t size)
{
snprintf(mac_str, size, "%02X:%02X:%02X:%02X:%02X:%02X",
mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
}
/**
* WAVE Header parsen
*/
static esp_err_t parse_wave_header(const uint8_t *packet, wave_header_t *wave_hdr)
{
if (packet == NULL || wave_hdr == NULL) {
return ESP_ERR_INVALID_ARG;
}
memcpy(wave_hdr->pduLength, packet, 3);
memcpy(wave_hdr->senderId, packet + 3, 6);
memcpy(&wave_hdr->timestamp, packet + 9, 4);
wave_hdr->priority = packet[13];
wave_hdr->pduType = packet[14];
return ESP_OK;
}
/**
* C-ITS BSI Header parsen
*/
static esp_err_t parse_cits_bsi(const uint8_t *packet, cits_bsi_header_t *bsi_hdr)
{
if (packet == NULL || bsi_hdr == NULL) {
return ESP_ERR_INVALID_ARG;
}
bsi_hdr->msgId = packet[0];
bsi_hdr->msgCnt = packet[1];
bsi_hdr->sectionNum = packet[2];
bsi_hdr->partId = packet[3];
memcpy(bsi_hdr->reserved, packet + 4, 8);
return ESP_OK;
}
/**
* Nachrichtstyp identifizieren
*/
static const char* get_message_type(uint8_t msgId)
{
switch (msgId) {
case CITS_MSGID_DECEVENT: return "DECEVENT";
case CITS_MSGID_DSECN: return "DSECN";
case CITS_MSGID_DMM: return "DMM";
case CITS_MSGID_MAP: return "MAP";
case CITS_MSGID_MAPDATA: return "MAPDATA";
case CITS_MSGID_MAPSELDATA: return "MAPSELDATA";
case CITS_MSGID_RSM: return "RSM";
case CITS_MSGID_CAM: return "CAM";
case CITS_MSGID_DENM: return "DENM";
case CITS_MSGID_SPA: return "SPA";
case CITS_MSGID_MAM: return "MAM";
case CITS_MSGID_VIT: return "VIT";
case CITS_MSGID_VSL: return "VSL";
default: return "UNKNOWN";
}
}
/**
* C-ITS Nachricht verarbeiten
*/
static uint32_t packet_count = 0;
static void process_cits_packet(const uint8_t *packet, uint32_t length,
uint32_t timestamp_sec, uint32_t timestamp_usec)
{
if (packet == NULL || length < 20) {
return;
}
wave_header_t wave_hdr;
esp_err_t ret = parse_wave_header(packet, &wave_hdr);
if (ret != ESP_OK) {
return;
}
char mac_str[18];
format_mac(wave_hdr.senderId, mac_str, sizeof(mac_str));
packet_count++;
// Wichtige C-ITS Message Types sofort loggen
uint8_t msgId = 0;
if (length >= 23) {
msgId = packet[15]; // BSI Message ID
}
const char* msg_type = get_message_type(msgId);
ESP_LOGI(TAG, "[PACKET #%lu] C-ITS %s Nachricht empfangen!",
(unsigned long)packet_count, msg_type);
ESP_LOGI(TAG, " MAC: %s | PDU: %lu B | Kanal: %u MHz",
mac_str,
(unsigned long)(wave_hdr.pduLength[0] | wave_hdr.pduLength[1] << 8 | wave_hdr.pduLength[2] << 16),
CITS_CHANNEL_0_MHZ);
ESP_LOGI(TAG, " Zeit: %u.%06u | Priorität: %d",
timestamp_sec, timestamp_usec, wave_hdr.priority);
if (length >= 23) {
cits_bsi_header_t bsi_hdr;
if (parse_cits_bsi(packet + 15, &bsi_hdr) == ESP_OK) {
ESP_LOGI(TAG, " BSI: MsgID=%d | Count=%d | Section=%d | Part=%d",
bsi_hdr.msgId, bsi_hdr.msgCnt, bsi_hdr.sectionNum, bsi_hdr.partId);
}
}
// Speichere für CSV
cits_message_t csv_msg;
csv_msg.timestamp_sec = timestamp_sec;
csv_msg.timestamp_usec = timestamp_usec;
csv_msg.length = length;
memcpy(csv_msg.sender_id, wave_hdr.senderId, 6);
csv_msg.message_type = msgId;
csv_msg.channel = CITS_CHANNEL_0_MHZ;
csv_msg.rssi = 0; // Wird vom WiFi Layer bereitgestellt
csv_store_cits_message(&csv_msg);
}
/**
* C-ITS Parser initialisieren
*/
esp_err_t cits_parser_init(void)
{
ESP_LOGI(TAG, "C-ITS Parser initialisiert");
return ESP_OK;
}
/**
* C-ITS Parser beenden
*/
void cits_parser_deinit(void)
{
ESP_LOGI(TAG, "C-ITS Parser beendet");
}
/**
* Hauptverarbeitungsfunktion
* Diese wird von der sniffer_task aufgerufen
*/
void cits_process_packet(sniffer_packet_info_t *packet_info)
{
if (packet_info == NULL || packet_info->payload == NULL) {
return;
}
process_cits_packet(packet_info->payload, packet_info->length,
packet_info->seconds, packet_info->microseconds);
}