Add a V2X data logger to Settings > Developer

Records every received V2X message (CAM, DENM, SPATEM, MAPEM, VAM) into one
SQLite file per run, with a timestamp, the phone's GNSS fix, the OBU's GNSS fix
where there is one (CiT One), and RSSI where the hardware reports it (ESP32-C5).
Works on both hardware paths: V2X_RX frames from the ESP32 link, and the raw
v2x/rx plus processed v2x-uca topics over MQTT. The UPER bytes are stored
untouched; CAM, DENM and SPATEM also get a few decoded columns.

A foreground service keeps it recording with the screen locked. Subscribes to
v2x/rx/mapem so MAPEM is received on the CiT One.

The current ESP32-C5 firmware forwards only BTP ports 2001, 2002 and 2004, so
MAPEM and VAM appear in an ESP32 log only once it accepts 2003 and 2018.

Checked on a Pixel 9 Pro against a simulated car and an RSU: 10 minutes with the
screen locked and forced deep Doze, no gaps, files pass integrity_check.

.gitignore

@@ -47,11 +47,6 @@ sdkconfig.old
 # and remove them on close, so they are transient and machine-local.
 ~$*
 
-# Colleague's standalone ESP32-C5 VRU station (signed ITS via Vanetza). It is its
-# own git repository with its own history; kept beside the project as a reference
-# for porting the signed-TX path into obu-firmware, not tracked here.
-/microbu-esp32c5/
-
 # Full-flash images read back off the bench boards before reflashing them (16 MB each).
 # Restore with: esptool --chip esp32c5 -p COM<N> write-flash 0 <image>
 /firmware-backups/
@@ -59,3 +54,12 @@ sdkconfig.old
 # ESP-IDF component manager downloads (espressif/esp-boost for obu-firmware's vanetza-idf), ~125 MB.
 # dependencies.lock beside the project pins them and is committed; this is its cache.
 managed_components/
+
+# The colleague's standalone ESP32-C5 VRU station (its own repository, HAW GitLab
+# urban-mobility-lab/microbu/microbu-esp32c5). Kept beside the project on the lab laptop, for
+# reference and because the V2X2MAP bridge runs from its tools/, but not part of this repository:
+# obu-firmware only needs its vanetza-idf, which is copied to obu-firmware/external/vanetza-idf.
+/microbu-esp32c5/
+
+# draw.io keeps a backup beside an open diagram.
+*.drawio.bkp

TODO.md

@@ -5,6 +5,25 @@ Engineering to-do list. The reviewer-facing open items live in
 
 ## Waiting on hardware
 
+### On-air check of the V2X data logger (added 2026-10-02)
+
+Needs the phone, a second station sending (the simulated car works) and, for the CiT One part, the OBU.
+Settings > Developer > V2X data logger. 110 unit tests pass. ESP32-C5 path checked on the Pixel 9 Pro on
+2026-10-02 (see the ticked item); the rest has not run on a device.
+
+- [x] **ESP32-C5 (done 2026-10-02, simulated car + RSU on air):** 153 CAMs and 60 SPATEMs in 30 s, RSSI -56..-36 dBm,
+      phone GNSS on every row, `obu_*` NULL, file integrity ok. MAPEM 0 as expected (firmware drops port 2003). Original steps: start a log, let the simulated car's CAMs arrive, stop. Pull the `.db` from
+      `files/v2x_logs/` and check `messages`: `msg_type='CAM'`, `source='esp32'`, `rssi_dbm` filled,
+      `phone_lat/lon` filled, `obu_*` NULL, `payload` decodes with `asn1tools`.
+- [ ] **CiT One:** same, `source='cit_one'`, `rssi_dbm` NULL, `obu_*` filled from `v2x/rx/obu_gnss`.
+      Expect both `channel='raw'` and `channel='processed'` rows for the same CAM.
+- [ ] **Screen off for a few minutes** with the log running: rows keep arriving (foreground service).
+- [ ] **MAPEM and VAM on the ESP32-C5 need a firmware change.** `gn_unwrap.c` accepts only BTP ports
+      2001, 2002, 2004; add 2003 (MAPEM) and 2018 (VAM) and reflash. Real MAPEMs are mostly over the
+      512-byte link limit, so most will still be counted as oversize drops. The app side already logs
+      any port. On the CiT One, MAPEM arrives via `v2x/rx/mapem` (subscribed now) or the processed
+      `v2x-uca/output/json/map` topic; the API lists no VAM topic, so no VAM rows are expected there.
+
 ### Signed-TX firmware (vanetza-idf port), VAM and BLE: first on-air checks (added 2026-09-23)
 
 obu-firmware is now a port of the colleague's `microbu-esp32c5` station (vanetza-idf, TS 103 097
@@ -75,7 +94,7 @@ resets the board, the phone is on the other port.
       Signed CAMs from the pinger already show "signature verified" live. Switch to VAM with signing
       on: the VAM must be decoded (cyclist, position) and show "signature verified" too.
       Confirmed by the user 2026-09-23: signed VAMs decode and verify.
-- [x] **VAM.** Transmit VAM: BTP port 2018, psid 638; with `microbu-esp32c5/tools/wireshark/psid-vru.lua`
+- [x] **VAM.** Transmit VAM: BTP port 2018, psid 638; with `tools/wireshark/psid-vru.lua` from the colleague's microbu-esp32c5 repository
       Wireshark decodes the VAM (stationType cyclist, bicyclist profile in every ~2 s VAM). Rate:
       ≥1 per 5 s standing still, about one per GNSS fix while riding.
       Covered by the V2X2MAP check above (decoded VAM, psid 638); Wireshark not needed.

app/src/main/AndroidManifest.xml

@@ -72,6 +72,12 @@
             android:foregroundServiceType="location"
             android:exported="false" />
 
+        <!-- Developer V2X data logger: keeps the process and GNSS alive while a log records. -->
+        <service
+            android:name=".service.V2xLogService"
+            android:foregroundServiceType="location"
+            android:exported="false" />
+
         <provider
             android:name="androidx.core.content.FileProvider"
             android:authorities="${applicationId}.fileprovider"

app/src/main/java/com/hawhamburg/micr0bu/MainActivity.kt

@@ -56,10 +56,12 @@ import com.hawhamburg.micr0bu.ui.screens.SensorsSettingsScreen
 import com.hawhamburg.micr0bu.ui.screens.SettingsScreen
 import com.hawhamburg.micr0bu.ui.screens.UnitsSettingsScreen
 import com.hawhamburg.micr0bu.ui.screens.UseCaseAlertsSettingsScreen
+import com.hawhamburg.micr0bu.ui.screens.V2xLogSettingsScreen
 import com.hawhamburg.micr0bu.ui.theme.MicrOBUTheme
 import com.hawhamburg.micr0bu.viewmodel.MqttViewModel
 import com.hawhamburg.micr0bu.viewmodel.SensorViewModel
 import com.hawhamburg.micr0bu.viewmodel.TripRecordingViewModel
+import com.hawhamburg.micr0bu.viewmodel.V2xLogViewModel
 import dagger.hilt.android.AndroidEntryPoint
 
 @AndroidEntryPoint
@@ -68,6 +70,7 @@ class MainActivity : AppCompatActivity() {
     private val viewModel:     SensorViewModel         by viewModels()
     private val mqttViewModel: MqttViewModel           by viewModels()
     private val tripViewModel: TripRecordingViewModel  by viewModels()
+    private val logViewModel:  V2xLogViewModel         by viewModels()
 
     override fun onCreate(savedInstanceState: Bundle?) {
         installSplashScreen()
@@ -99,6 +102,8 @@ class MainActivity : AppCompatActivity() {
             val denmEvents               by mqttViewModel.denmEvents.collectAsState()
             val spatIntersections        by mqttViewModel.spatIntersections.collectAsState()
             val ownCamPosition           by mqttViewModel.ownCamPosition.collectAsState()
+            val v2xLogState              by logViewModel.state.collectAsState()
+            val v2xLogFiles              by logViewModel.files.collectAsState()
 
             MicrOBUTheme(darkTheme = state.darkTheme) {
                 val view = LocalView.current
@@ -365,9 +370,21 @@ class MainActivity : AppCompatActivity() {
                                 state           = state,
                                 onDeveloperMode = viewModel::setDeveloperMode,
                                 onOpenSensorMonitor = { navController.navigate(Screen.Sensors.route) },
+                                onOpenV2xLogger = { navController.navigate(Screen.SettingsV2xLog.route) },
                                 onBack          = { navController.popBackStack() },
                             )
                         }
+                        composable(Screen.SettingsV2xLog.route) {
+                            V2xLogSettingsScreen(
+                                state     = v2xLogState,
+                                files     = v2xLogFiles,
+                                obuHardware = obuHardware,
+                                onStart   = logViewModel::start,
+                                onStop    = logViewModel::stop,
+                                onDelete  = logViewModel::delete,
+                                onBack    = { navController.popBackStack() },
+                            )
+                        }
                         composable(Screen.SettingsAbout.route) {
                             AboutSettingsScreen(onBack = { navController.popBackStack() })
                         }

app/src/main/java/com/hawhamburg/micr0bu/data/cam/CamUseCaseRepository.kt

@@ -9,6 +9,7 @@ import com.hawhamburg.micr0bu.data.mqtt.MqttRepository
 import com.hawhamburg.micr0bu.data.mqtt.ObuHardwarePreferences
 import com.hawhamburg.micr0bu.data.mqtt.RAW_CAM_TOPIC
 import com.hawhamburg.micr0bu.data.mqtt.RAW_DENM_TOPIC
+import com.hawhamburg.micr0bu.data.mqtt.RAW_MAPEM_TOPIC
 import com.hawhamburg.micr0bu.data.mqtt.RAW_SPATEM_TOPIC
 import com.hawhamburg.micr0bu.data.mqtt.RecvV2xMessage
 import com.hawhamburg.micr0bu.data.mqtt.UseCaseAlertPreferences
@@ -241,6 +242,8 @@ class CamUseCaseRepository @Inject constructor(
                         source = "mqtt",
                     )
                     RAW_SPATEM_TOPIC -> handleSpatUper(envelope.payload, rssiDbm = null, source = "mqtt")
+                    // No MAPEM decoder yet; it is received for the V2X data logger only.
+                    RAW_MAPEM_TOPIC -> Unit
                     else -> Log.w(TAG, "rawV2x: unexpected topic ${raw.topic}")
                 }
             }

app/src/main/java/com/hawhamburg/micr0bu/data/log/V2xLogWriter.kt

@@ -0,0 +1,235 @@
+package com.hawhamburg.micr0bu.data.log
+
+import android.database.sqlite.SQLiteDatabase
+import android.database.sqlite.SQLiteStatement
+import com.hawhamburg.micr0bu.domain.log.ItsMessageKind
+import java.io.File
+
+/** One GNSS fix, as stored next to a logged message. Phone and OBU fixes share this shape. */
+data class LogGnss(
+    val latitude: Double,
+    val longitude: Double,
+    val altitudeM: Double? = null,
+    val speedMps: Double? = null,
+    val headingDeg: Double? = null,
+    val accuracyM: Double? = null,
+    /** Epoch ms the fix was taken, so a stale fix shows as one instead of passing for current. */
+    val fixMs: Long,
+)
+
+/** One received V2X message, ready to be written. */
+class LogMessage(
+    val tsMs: Long,
+    /** `esp32` or `cit_one`: which link delivered it. */
+    val source: String,
+    /** `raw` (UPER bytes in [payload]) or `processed` (the Use Case app's JSON in [payloadText]). */
+    val channel: String,
+    val kind: ItsMessageKind,
+    val messageId: Int?,
+    val btpPort: Int?,
+    val stationId: Long?,
+    val isOwn: Boolean?,
+    val rssiDbm: Int?,
+    val geoRadiusM: Int?,
+    val senderLat: Double?,
+    val senderLon: Double?,
+    val senderSpeedMps: Double?,
+    val senderHeadingDeg: Double?,
+    val summary: String?,
+    val payload: ByteArray?,
+    val payloadText: String?,
+    val phone: LogGnss?,
+    val obu: LogGnss?,
+)
+
+/** One GNSS fix for the `gnss` table: the receiver's own track, independent of any message. */
+class LogGnssSample(val tsMs: Long, val source: String, val fix: LogGnss)
+
+/**
+ * A V2X log: one self-contained SQLite file. Not Room, on purpose: a log is a file the developer
+ * pulls off the phone and opens in any SQLite tool or pandas, so it carries its own schema and
+ * needs no migration path or app-side entity classes. The app never reads one back.
+ *
+ * Not thread-safe; [V2xLogger] drives it from one writer coroutine. Each [writeBatch] is one
+ * transaction on the default rollback journal, so a killed process leaves a file that is
+ * complete up to the last batch, and a single file with no `-wal` sidecar to forget when sharing.
+ *
+ * Columns that do not apply to a row are NULL rather than invented: `rssi_dbm` is NULL for the
+ * CiT One, `obu_*` is NULL when no OBU position is available (always on the ESP32-C5, which has no
+ * GNSS), and the `sender_*` fields are NULL for messages the app has no decoder for.
+ */
+class V2xLogWriter(val file: File, meta: Map<String, String>) {
+
+    private val db: SQLiteDatabase = SQLiteDatabase.openOrCreateDatabase(file, null)
+    private val insertMessage: SQLiteStatement
+    private val insertGnss: SQLiteStatement
+
+    init {
+        db.execSQL(
+            """
+            CREATE TABLE meta (key TEXT PRIMARY KEY, value TEXT)
+            """.trimIndent()
+        )
+        db.execSQL(
+            """
+            CREATE TABLE messages (
+                id                 INTEGER PRIMARY KEY AUTOINCREMENT,
+                ts_ms              INTEGER NOT NULL,
+                source             TEXT    NOT NULL,
+                channel            TEXT    NOT NULL,
+                msg_type           TEXT    NOT NULL,
+                message_id         INTEGER,
+                btp_port           INTEGER,
+                station_id         INTEGER,
+                is_own             INTEGER,
+                rssi_dbm           INTEGER,
+                geo_radius_m       INTEGER,
+                sender_lat         REAL,
+                sender_lon         REAL,
+                sender_speed_mps   REAL,
+                sender_heading_deg REAL,
+                summary            TEXT,
+                payload            BLOB,
+                payload_text       TEXT,
+                phone_lat          REAL,
+                phone_lon          REAL,
+                phone_alt_m        REAL,
+                phone_speed_mps    REAL,
+                phone_heading_deg  REAL,
+                phone_accuracy_m   REAL,
+                phone_fix_ms       INTEGER,
+                obu_lat            REAL,
+                obu_lon            REAL,
+                obu_alt_m          REAL,
+                obu_speed_mps      REAL,
+                obu_heading_deg    REAL,
+                obu_fix_ms         INTEGER
+            )
+            """.trimIndent()
+        )
+        db.execSQL("CREATE INDEX idx_messages_ts ON messages(ts_ms)")
+        db.execSQL("CREATE INDEX idx_messages_type ON messages(msg_type)")
+        db.execSQL(
+            """
+            CREATE TABLE gnss (
+                id          INTEGER PRIMARY KEY AUTOINCREMENT,
+                ts_ms       INTEGER NOT NULL,
+                source      TEXT    NOT NULL,
+                lat         REAL    NOT NULL,
+                lon         REAL    NOT NULL,
+                alt_m       REAL,
+                speed_mps   REAL,
+                heading_deg REAL,
+                accuracy_m  REAL,
+                fix_ms      INTEGER NOT NULL
+            )
+            """.trimIndent()
+        )
+        db.execSQL("CREATE INDEX idx_gnss_ts ON gnss(ts_ms)")
+        // Same rows, with the timestamp also as readable UTC, for anyone browsing in a SQLite GUI.
+        db.execSQL(
+            "CREATE VIEW messages_v AS SELECT *, " +
+                "strftime('%Y-%m-%d %H:%M:%f', ts_ms / 1000.0, 'unixepoch') AS ts_utc FROM messages"
+        )
+        db.execSQL("PRAGMA user_version = $SCHEMA_VERSION")
+        for ((k, v) in meta) setMeta(k, v)
+        setMeta("schema_version", SCHEMA_VERSION.toString())
+
+        insertMessage = db.compileStatement(
+            "INSERT INTO messages (ts_ms, source, channel, msg_type, message_id, btp_port, station_id, " +
+                "is_own, rssi_dbm, geo_radius_m, sender_lat, sender_lon, sender_speed_mps, " +
+                "sender_heading_deg, summary, payload, payload_text, " +
+                "phone_lat, phone_lon, phone_alt_m, phone_speed_mps, phone_heading_deg, " +
+                "phone_accuracy_m, phone_fix_ms, obu_lat, obu_lon, obu_alt_m, obu_speed_mps, " +
+                "obu_heading_deg, obu_fix_ms) VALUES (?,?,?,?,?,?,?,?,?,?,?,?,?,?,?,?,?,?,?,?,?,?,?,?,?,?,?,?,?,?)"
+        )
+        insertGnss = db.compileStatement(
+            "INSERT INTO gnss (ts_ms, source, lat, lon, alt_m, speed_mps, heading_deg, accuracy_m, fix_ms) " +
+                "VALUES (?,?,?,?,?,?,?,?,?)"
+        )
+    }
+
+    fun setMeta(key: String, value: String) {
+        db.execSQL("INSERT OR REPLACE INTO meta (key, value) VALUES (?, ?)", arrayOf(key, value))
+    }
+
+    /** Writes [messages] and [gnss] in one transaction. */
+    fun writeBatch(messages: List<LogMessage>, gnss: List<LogGnssSample>) {
+        if (messages.isEmpty() && gnss.isEmpty()) return
+        db.beginTransaction()
+        try {
+            for (m in messages) bindAndRun(m)
+            for (g in gnss) bindAndRun(g)
+            db.setTransactionSuccessful()
+        } finally {
+            db.endTransaction()
+        }
+    }
+
+    fun close() {
+        runCatching { insertMessage.close() }
+        runCatching { insertGnss.close() }
+        runCatching { db.close() }
+    }
+
+    private fun bindAndRun(m: LogMessage) {
+        val s = insertMessage
+        s.clearBindings()
+        s.bind(1, m.tsMs)
+        s.bind(2, m.source)
+        s.bind(3, m.channel)
+        s.bind(4, m.kind.label)
+        s.bind(5, m.messageId?.toLong())
+        s.bind(6, m.btpPort?.toLong())
+        s.bind(7, m.stationId)
+        s.bind(8, m.isOwn?.let { if (it) 1L else 0L })
+        s.bind(9, m.rssiDbm?.toLong())
+        s.bind(10, m.geoRadiusM?.toLong())
+        s.bind(11, m.senderLat)
+        s.bind(12, m.senderLon)
+        s.bind(13, m.senderSpeedMps)
+        s.bind(14, m.senderHeadingDeg)
+        s.bind(15, m.summary)
+        s.bind(16, m.payload)
+        s.bind(17, m.payloadText)
+        s.bind(18, m.phone?.latitude)
+        s.bind(19, m.phone?.longitude)
+        s.bind(20, m.phone?.altitudeM)
+        s.bind(21, m.phone?.speedMps)
+        s.bind(22, m.phone?.headingDeg)
+        s.bind(23, m.phone?.accuracyM)
+        s.bind(24, m.phone?.fixMs)
+        s.bind(25, m.obu?.latitude)
+        s.bind(26, m.obu?.longitude)
+        s.bind(27, m.obu?.altitudeM)
+        s.bind(28, m.obu?.speedMps)
+        s.bind(29, m.obu?.headingDeg)
+        s.bind(30, m.obu?.fixMs)
+        s.executeInsert()
+    }
+
+    private fun bindAndRun(g: LogGnssSample) {
+        val s = insertGnss
+        s.clearBindings()
+        s.bind(1, g.tsMs)
+        s.bind(2, g.source)
+        s.bind(3, g.fix.latitude)
+        s.bind(4, g.fix.longitude)
+        s.bind(5, g.fix.altitudeM)
+        s.bind(6, g.fix.speedMps)
+        s.bind(7, g.fix.headingDeg)
+        s.bind(8, g.fix.accuracyM)
+        s.bind(9, g.fix.fixMs)
+        s.executeInsert()
+    }
+
+    // clearBindings() leaves every parameter NULL, so a null value is simply not bound.
+    private fun SQLiteStatement.bind(i: Int, v: Long?) { if (v != null) bindLong(i, v) }
+    private fun SQLiteStatement.bind(i: Int, v: Double?) { if (v != null) bindDouble(i, v) }
+    private fun SQLiteStatement.bind(i: Int, v: String?) { if (v != null) bindString(i, v) }
+    private fun SQLiteStatement.bind(i: Int, v: ByteArray?) { if (v != null) bindBlob(i, v) }
+
+    companion object {
+        const val SCHEMA_VERSION = 1
+    }
+}

app/src/main/java/com/hawhamburg/micr0bu/data/log/V2xLogger.kt

@@ -0,0 +1,413 @@
+package com.hawhamburg.micr0bu.data.log
+
+import android.content.Context
+import android.os.Build
+import android.util.Log
+import com.hawhamburg.micr0bu.data.GnssReading
+import com.hawhamburg.micr0bu.data.SensorRepository
+import com.hawhamburg.micr0bu.data.cam.CamUseCaseRepository
+import com.hawhamburg.micr0bu.data.mqtt.MessageDirection
+import com.hawhamburg.micr0bu.data.mqtt.MqttRepository
+import com.hawhamburg.micr0bu.data.mqtt.RAW_CAM_TOPIC
+import com.hawhamburg.micr0bu.data.mqtt.RAW_DENM_TOPIC
+import com.hawhamburg.micr0bu.data.mqtt.RAW_MAPEM_TOPIC
+import com.hawhamburg.micr0bu.data.mqtt.RAW_SPATEM_TOPIC
+import com.hawhamburg.micr0bu.data.mqtt.RecvV2xMessage
+import com.hawhamburg.micr0bu.data.transport.Esp32Link
+import com.hawhamburg.micr0bu.data.transport.Esp32LinkState
+import com.hawhamburg.micr0bu.data.transport.ObuHardware
+import com.hawhamburg.micr0bu.data.transport.SerialFrameType
+import com.hawhamburg.micr0bu.data.transport.V2xRxFrame
+import com.hawhamburg.micr0bu.domain.asn1.DenmUperCodec
+import com.hawhamburg.micr0bu.domain.asn1.RealAsn1UperCodec
+import com.hawhamburg.micr0bu.domain.asn1.SpatemUperCodec
+import com.hawhamburg.micr0bu.domain.cam.ObuGnssParser
+import com.hawhamburg.micr0bu.domain.log.ItsMessageKind
+import com.hawhamburg.micr0bu.domain.log.classifyItsPdu
+import dagger.hilt.android.qualifiers.ApplicationContext
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.SupervisorJob
+import kotlinx.coroutines.cancelAndJoin
+import kotlinx.coroutines.channels.Channel
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.flow.MutableStateFlow
+import kotlinx.coroutines.flow.StateFlow
+import kotlinx.coroutines.flow.asStateFlow
+import kotlinx.coroutines.flow.update
+import kotlinx.coroutines.launch
+import kotlinx.coroutines.withTimeoutOrNull
+import java.io.File
+import java.text.SimpleDateFormat
+import java.util.Date
+import java.util.Locale
+import javax.inject.Inject
+import javax.inject.Singleton
+
+private const val TAG = "V2xLogger"
+private const val LOG_DIR = "v2x_logs"
+private const val PROCESSED_PREFIX = "v2x-uca/output/json/"
+private const val OBU_GNSS_TOPIC = "v2x/rx/obu_gnss"
+private const val SOURCE_ESP32 = "esp32"
+private const val SOURCE_CIT_ONE = "cit_one"
+private const val SOURCE_PHONE = "phone"
+private const val SOURCE_OBU = "obu"
+
+/** How long the writer collects rows before it commits them. */
+private const val FLUSH_INTERVAL_MS = 250L
+
+/** What the logging screen shows about the log in progress. */
+data class V2xLogState(
+    val active: Boolean = false,
+    val fileName: String? = null,
+    val startedMs: Long = 0L,
+    /** Rows written so far, by kind. Kinds never heard are absent. */
+    val counts: Map<ItsMessageKind, Int> = emptyMap(),
+    val total: Int = 0,
+    val fileBytes: Long = 0L,
+    /** Age of the newest phone / OBU fix at the time of the last update; null if none yet. */
+    val phoneFixAgeMs: Long? = null,
+    val obuFixAgeMs: Long? = null,
+    /** Set when the file could not be created or written. */
+    val error: String? = null,
+)
+
+/** A log file on the device. */
+data class V2xLogFile(val file: File, val sizeBytes: Long, val modifiedMs: Long, val active: Boolean) {
+    val name: String get() = file.name
+}
+
+/**
+ * Developer-tool logger: records every V2X message the phone receives, with a timestamp, the
+ * phone's GNSS fix, the OBU's GNSS fix where there is one, and RSSI where the hardware reports it,
+ * into one SQLite file per run (see [V2xLogWriter] for the schema).
+ *
+ * Works on both hardware paths and listens to whichever is selected:
+ *  - **ESP32-C5**: the V2X_RX frames from [Esp32Link], with the firmware's RSSI. No OBU position,
+ *    since that board has no GNSS.
+ *  - **CiT One**: the raw `v2x/rx` protobuf topics over MQTT, and the Use Case app's processed
+ *    `v2x-uca/output/json` topics as a second channel (the only source of MAPEM when the OBU does
+ *    not publish `v2x/rx/mapem`). The OBU's position comes from `v2x/rx/obu_gnss`. The API carries
+ *    no RSSI, so that column stays NULL.
+ *
+ * Every message is stored, including kinds the app cannot decode (MAPEM, VAM): the UPER bytes go
+ * in the file untouched, and where a decoder exists a few fields are decoded alongside for
+ * convenience. A message is never skipped because decoding failed.
+ *
+ * What it can hear is bounded by the hardware, not by this class: the current ESP32-C5 firmware
+ * forwards only BTP ports 2001, 2002 and 2004 (see `gn_unwrap.c`), so MAPEM and VAM appear in an
+ * ESP32 log only once the firmware accepts ports 2003 and 2018.
+ *
+ * A singleton, like the repositories it listens to. [com.hawhamburg.micr0bu.service.V2xLogService]
+ * keeps the process alive and the CPU awake while a log runs; this class does the work.
+ */
+@Singleton
+class V2xLogger @Inject constructor(
+    @ApplicationContext private val context: Context,
+    private val mqttRepository: MqttRepository,
+    private val esp32Link: Esp32Link,
+    private val camUseCaseRepository: CamUseCaseRepository,
+    private val camCodec: RealAsn1UperCodec,
+) {
+    private val scope = CoroutineScope(SupervisorJob() + Dispatchers.IO)
+
+    private val _state = MutableStateFlow(V2xLogState())
+    val state: StateFlow<V2xLogState> = _state.asStateFlow()
+
+    private val _files = MutableStateFlow<List<V2xLogFile>>(emptyList())
+    /** Logs on the device, newest first. Call [refreshFiles] after anything that changes the folder. */
+    val files: StateFlow<List<V2xLogFile>> = _files.asStateFlow()
+
+    private val logDir: File get() = File(context.filesDir, LOG_DIR).apply { mkdirs() }
+
+    private var session: Job? = null
+    private var rows = Channel<Any>(Channel.UNLIMITED)
+
+    @Volatile private var phoneFix: LogGnss? = null
+    @Volatile private var obuFix: LogGnss? = null
+
+    fun start() {
+        if (session?.isActive == true) return
+        val startedMs = System.currentTimeMillis()
+        val hardware = mqttRepository.obuHardware.value
+        val file = File(logDir, fileNameFor(startedMs, hardware))
+        val writer = try {
+            V2xLogWriter(file, metaFor(startedMs, hardware))
+        } catch (e: Exception) {
+            Log.e(TAG, "cannot create ${file.name}", e)
+            file.delete()
+            _state.value = V2xLogState(error = e.message ?: e.javaClass.simpleName)
+            return
+        }
+        phoneFix = null
+        obuFix = null
+        rows = Channel(Channel.UNLIMITED)
+        _state.value = V2xLogState(active = true, fileName = file.name, startedMs = startedMs)
+        refreshFiles()
+
+        session = scope.launch {
+            val sources = listOf(
+                launch { collectEsp32() },
+                launch { collectCitOneRaw() },
+                launch { collectCitOneMessages() },
+                launch { collectPhoneGnss() },
+            )
+            try {
+                runWriter(writer, file)
+            } finally {
+                sources.forEach { it.cancel() }
+                runCatching { writer.setMeta("ended_ms", System.currentTimeMillis().toString()) }
+                writer.close()
+            }
+        }
+    }
+
+    /** Stops the log and waits for the last rows to reach the file. */
+    suspend fun stop() {
+        val running = session ?: return
+        // Closing the channel lets the writer drain everything already queued before it ends.
+        rows.close()
+        withTimeoutOrNull(5_000L) { running.join() } ?: running.cancelAndJoin()
+        session = null
+        _state.update { it.copy(active = false) }
+        refreshFiles()
+    }
+
+    fun delete(log: V2xLogFile): Boolean {
+        if (log.active) return false
+        val ok = log.file.delete()
+        refreshFiles()
+        return ok
+    }
+
+    fun refreshFiles() {
+        val activeName = _state.value.fileName.takeIf { _state.value.active }
+        _files.value = logDir.listFiles { f -> f.isFile && f.extension == "db" }
+            .orEmpty()
+            .map { V2xLogFile(it, it.length(), it.lastModified(), it.name == activeName) }
+            .sortedByDescending { it.modifiedMs }
+    }
+
+    // ── Sources ───────────────────────────────────────────────────────────────
+
+    private suspend fun collectEsp32() {
+        esp32Link.incomingFrames.collect { frame ->
+            if (frame.type != SerialFrameType.V2X_RX) return@collect
+            if (mqttRepository.obuHardware.value != ObuHardware.ESP32_C5) return@collect
+            if (esp32Link.state.value != Esp32LinkState.CONNECTED) return@collect
+            val v2x = V2xRxFrame.parse(frame.payload) ?: return@collect
+            enqueueRaw(
+                source = SOURCE_ESP32, uper = v2x.uper, btpPort = v2x.btpPort,
+                rssiDbm = v2x.rssiDbm, geoRadiusM = v2x.geoArea?.radiusMeters,
+            )
+        }
+    }
+
+    private suspend fun collectCitOneRaw() {
+        mqttRepository.rawV2x.collect { raw ->
+            if (mqttRepository.obuHardware.value != ObuHardware.CIT_ONE) return@collect
+            val envelope = RecvV2xMessage.parse(raw.bytes)
+            if (envelope == null) {
+                Log.w(TAG, "unparseable RecvV2XMessage on ${raw.topic}, ${raw.bytes.size} bytes")
+                return@collect
+            }
+            enqueueRaw(
+                source = SOURCE_CIT_ONE, uper = envelope.payload,
+                // The envelope's own port when it has one; the topic says the same thing otherwise.
+                btpPort = envelope.destinationPort ?: portOfRawTopic(raw.topic),
+                rssiDbm = null, geoRadiusM = envelope.destAreaRadiusM,
+                tsMs = raw.timestamp,
+            )
+        }
+    }
+
+    private suspend fun collectCitOneMessages() {
+        mqttRepository.messages.collect { msg ->
+            if (msg.direction != MessageDirection.RX) return@collect
+            if (mqttRepository.obuHardware.value != ObuHardware.CIT_ONE) return@collect
+            if (msg.topic == OBU_GNSS_TOPIC) {
+                val ego = ObuGnssParser.parseEgo(msg.payload, timestamp = msg.timestamp) ?: return@collect
+                val fix = LogGnss(
+                    latitude = ego.latitude, longitude = ego.longitude,
+                    speedMps = ego.speedMps, headingDeg = ego.headingDeg, fixMs = msg.timestamp,
+                )
+                obuFix = fix
+                rows.trySend(LogGnssSample(msg.timestamp, SOURCE_OBU, fix))
+                return@collect
+            }
+            if (!msg.topic.startsWith(PROCESSED_PREFIX)) return@collect
+            val kind = ItsMessageKind.fromProcessedTopicName(msg.topic.removePrefix(PROCESSED_PREFIX))
+                ?: return@collect
+            rows.trySend(
+                LogMessage(
+                    tsMs = msg.timestamp, source = SOURCE_CIT_ONE, channel = "processed", kind = kind,
+                    messageId = null, btpPort = null, stationId = null, isOwn = null, rssiDbm = null,
+                    geoRadiusM = null, senderLat = null, senderLon = null, senderSpeedMps = null,
+                    senderHeadingDeg = null, summary = null, payload = null, payloadText = msg.payload,
+                    phone = phoneFix, obu = obuFix,
+                )
+            )
+        }
+    }
+
+    /**
+     * Phone GNSS, re-subscribed in a loop for the same reason [CamUseCaseRepository] does: a log
+     * can be started before the location permission is granted, and a single attempt would then
+     * leave every row without a phone position for the whole run.
+     */
+    private suspend fun collectPhoneGnss() {
+        val sensors = SensorRepository(context)
+        while (true) {
+            runCatching {
+                sensors.gnssFlow().collect { reading ->
+                    val fix = reading.toLogGnss()
+                    phoneFix = fix
+                    rows.trySend(LogGnssSample(System.currentTimeMillis(), SOURCE_PHONE, fix))
+                }
+            }
+            delay(5_000L)
+        }
+    }
+
+    // ── Rows ──────────────────────────────────────────────────────────────────
+
+    private fun enqueueRaw(
+        source: String,
+        uper: ByteArray,
+        btpPort: Int?,
+        rssiDbm: Int?,
+        geoRadiusM: Int?,
+        tsMs: Long = System.currentTimeMillis(),
+    ) {
+        val cls = classifyItsPdu(uper, btpPort)
+        val decoded = decode(cls.kind, uper, rssiDbm, geoRadiusM, tsMs)
+        rows.trySend(
+            LogMessage(
+                tsMs = tsMs, source = source, channel = "raw", kind = cls.kind,
+                messageId = cls.messageId, btpPort = btpPort, stationId = cls.stationId,
+                isOwn = cls.stationId?.let { camUseCaseRepository.isOwnStationId(it) },
+                rssiDbm = rssiDbm, geoRadiusM = geoRadiusM,
+                senderLat = decoded.lat, senderLon = decoded.lon,
+                senderSpeedMps = decoded.speedMps, senderHeadingDeg = decoded.headingDeg,
+                summary = decoded.summary, payload = uper, payloadText = null,
+                phone = phoneFix, obu = obuFix,
+            )
+        )
+    }
+
+    private class Decoded(
+        val lat: Double? = null, val lon: Double? = null,
+        val speedMps: Double? = null, val headingDeg: Double? = null,
+        val summary: String? = null,
+    )
+
+    /** Decoded convenience fields for the kinds the app can decode. A failure just leaves them NULL. */
+    private fun decode(kind: ItsMessageKind, uper: ByteArray, rssiDbm: Int?, geoRadiusM: Int?, tsMs: Long): Decoded =
+        runCatching {
+            when (kind) {
+                ItsMessageKind.CAM -> camCodec.decodeCam(uper, tsMs)?.let {
+                    Decoded(it.latitude, it.longitude, it.speedMps, it.headingDeg, "stationType=${it.stationType}")
+                }
+                ItsMessageKind.DENM -> DenmUperCodec.decode(uper, tsMs, rssiDbm, geoRadiusM)?.let {
+                    Decoded(
+                        it.latitude, it.longitude,
+                        summary = "seq=${it.sequenceNumber} cause=${it.causeCode}/${it.subCauseCode}" +
+                            if (it.isTermination) " termination" else "",
+                    )
+                }
+                ItsMessageKind.SPATEM -> SpatemUperCodec.decode(uper, tsMs, rssiDbm)?.let { s ->
+                    Decoded(summary = "intersections=" + s.intersections.joinToString(",") { it.key } +
+                        " movements=" + s.intersections.sumOf { it.movements.size })
+                }
+                else -> null
+            }
+        }.getOrNull() ?: Decoded()
+
+    // ── Writer ────────────────────────────────────────────────────────────────
+
+    /** Drains [rows] into [writer] in short batches, until the channel is closed and empty. */
+    private suspend fun runWriter(writer: V2xLogWriter, file: File) {
+        val counts = HashMap<ItsMessageKind, Int>()
+        var total = 0
+        var failure: String? = null
+        val messages = ArrayList<LogMessage>()
+        val gnss = ArrayList<LogGnssSample>()
+
+        while (true) {
+            // Block for the first row of a batch, give more a moment to arrive, then take
+            // whatever is queued. No timeout around receive: a cancelled receive can lose the
+            // element it was handing over, which a logger must not do.
+            val first = rows.receiveCatching().getOrNull() ?: break
+            add(first, messages, gnss)
+            delay(FLUSH_INTERVAL_MS)
+            while (true) {
+                val next = rows.tryReceive().getOrNull() ?: break
+                add(next, messages, gnss)
+            }
+            try {
+                writer.writeBatch(messages, gnss)
+            } catch (e: Exception) {
+                // Disk full or the file went away. Say so on screen rather than logging into a void.
+                Log.e(TAG, "write failed", e)
+                failure = e.message ?: e.javaClass.simpleName
+                rows.close()
+                break
+            }
+            for (m in messages) counts.merge(m.kind, 1, Int::plus)
+            total += messages.size
+            messages.clear(); gnss.clear()
+
+            val now = System.currentTimeMillis()
+            _state.update {
+                it.copy(
+                    counts = counts.toMap(), total = total, fileBytes = file.length(),
+                    phoneFixAgeMs = phoneFix?.let { f -> now - f.fixMs },
+                    obuFixAgeMs = obuFix?.let { f -> now - f.fixMs },
+                )
+            }
+        }
+        _state.update { it.copy(fileBytes = file.length(), error = failure ?: it.error, active = it.active && failure == null) }
+    }
+
+    private fun add(row: Any, messages: MutableList<LogMessage>, gnss: MutableList<LogGnssSample>) {
+        when (row) {
+            is LogMessage -> messages += row
+            is LogGnssSample -> gnss += row
+        }
+    }
+
+    // ── Helpers ───────────────────────────────────────────────────────────────
+
+    private fun portOfRawTopic(topic: String): Int? = when (topic) {
+        RAW_CAM_TOPIC -> 2001
+        RAW_DENM_TOPIC -> 2002
+        RAW_MAPEM_TOPIC -> 2003
+        RAW_SPATEM_TOPIC -> 2004
+        else -> null
+    }
+
+    private fun GnssReading.toLogGnss() = LogGnss(
+        latitude = latitude, longitude = longitude, altitudeM = altitude,
+        speedMps = speedMs.toDouble(), headingDeg = bearingDeg.toDouble(),
+        accuracyM = accuracyM.toDouble(), fixMs = timestamp,
+    )
+
+    private fun fileNameFor(startedMs: Long, hardware: ObuHardware): String {
+        val stamp = SimpleDateFormat("yyyyMMdd_HHmmss", Locale.US).format(Date(startedMs))
+        val mode = if (hardware == ObuHardware.ESP32_C5) "esp32" else "citone"
+        return "v2x_log_${stamp}_$mode.db"
+    }
+
+    private fun metaFor(startedMs: Long, hardware: ObuHardware) = mapOf(
+        "started_ms" to startedMs.toString(),
+        "hardware" to if (hardware == ObuHardware.ESP32_C5) "esp32_c5" else "cit_one",
+        "phone" to "${Build.MANUFACTURER} ${Build.MODEL}",
+        "android_sdk" to Build.VERSION.SDK_INT.toString(),
+        "app_version" to runCatching {
+            context.packageManager.getPackageInfo(context.packageName, 0).versionName ?: "?"
+        }.getOrDefault("?"),
+        "note" to "ts_ms is phone wall-clock epoch ms. payload is the ITS PDU as UPER bytes. " +
+            "rssi_dbm is NULL on the CiT One; obu_* is NULL on the ESP32-C5.",
+    )
+}

app/src/main/java/com/hawhamburg/micr0bu/data/mqtt/MqttRepository.kt

@@ -48,6 +48,9 @@ private val SUBSCRIBED_TOPICS = listOf(
     RAW_CAM_TOPIC,
     RAW_DENM_TOPIC,
     RAW_SPATEM_TOPIC,
+    // Nothing decodes MAPEM yet; subscribed so the V2X data logger records it. An OBU product
+    // configuration that does not publish it simply never delivers anything here.
+    RAW_MAPEM_TOPIC,
     // Kept subscribed as a fallback for an OBU whose product configuration does not publish the
     // raw topics, and because the Use Case app is still the only source of its own alert output.
     "v2x-uca/output/json/cam",
@@ -61,8 +64,9 @@ private val SUBSCRIBED_TOPICS = listOf(
 const val RAW_CAM_TOPIC    = "v2x/rx/cam"
 const val RAW_DENM_TOPIC   = "v2x/rx/denm"
 const val RAW_SPATEM_TOPIC = "v2x/rx/spatem"
+const val RAW_MAPEM_TOPIC  = "v2x/rx/mapem"
 
-private val RAW_V2X_TOPICS = setOf(RAW_CAM_TOPIC, RAW_DENM_TOPIC, RAW_SPATEM_TOPIC)
+private val RAW_V2X_TOPICS = setOf(RAW_CAM_TOPIC, RAW_DENM_TOPIC, RAW_SPATEM_TOPIC, RAW_MAPEM_TOPIC)
 
 /**
  * A message straight off a `v2x/rx` topic, before the protobuf envelope is opened.

app/src/main/java/com/hawhamburg/micr0bu/domain/log/ItsMessageKind.kt

@@ -0,0 +1,79 @@
+package com.hawhamburg.micr0bu.domain.log
+
+/**
+ * Which ITS message a received PDU is, for the V2X data logger.
+ *
+ * The logger records every message it hears, including ones the app has no decoder for (MAPEM,
+ * VAM), so classification cannot depend on a codec. It reads the two things every ETSI ITS PDU
+ * has in common instead: the `ItsPduHeader` at the start of the UPER bytes
+ * (`protocolVersion` 8 bits, `messageID` 8 bits, `stationID` 32 bits, none of it extensible, so
+ * it sits byte-aligned at the front), and the BTP destination port the transport reports.
+ *
+ * messageID is the primary source. The port is the fallback for a payload too short to carry a
+ * header. Mind the crossover: SPATEM is messageID 4 on port 2004 but MAPEM is messageID 5 on port
+ * 2003; the two numbering schemes are unrelated.
+ */
+enum class ItsMessageKind(val label: String, val messageId: Int, val btpPort: Int?) {
+    DENM("DENM", 1, 2002),
+    CAM("CAM", 2, 2001),
+    SPATEM("SPATEM", 4, 2004),
+    MAPEM("MAPEM", 5, 2003),
+    CPM("CPM", 14, null),
+    VAM("VAM", 16, 2018),
+    OTHER("OTHER", -1, null);
+
+    companion object {
+        /** The five kinds the logger counts and shows on screen. */
+        val TRACKED = listOf(CAM, DENM, SPATEM, MAPEM, VAM)
+
+        fun fromMessageId(id: Int): ItsMessageKind? = entries.firstOrNull { it.messageId == id && it != OTHER }
+
+        fun fromBtpPort(port: Int): ItsMessageKind? = entries.firstOrNull { it.btpPort == port }
+
+        /** Matches the `v2x-uca/output/json/<name>` suffix, for the CiT One's processed topics. */
+        fun fromProcessedTopicName(name: String): ItsMessageKind? = when (name) {
+            "cam" -> CAM
+            "denm" -> DENM
+            "spat" -> SPATEM
+            "map" -> MAPEM
+            "cpm" -> CPM
+            else -> null
+        }
+    }
+}
+
+/** The fixed 6-byte header at the start of every ETSI ITS PDU. */
+data class ItsPduHeader(val protocolVersion: Int, val messageId: Int, val stationId: Long) {
+    companion object {
+        const val SIZE = 6
+
+        /** Null when [uper] is too short to hold a header. */
+        fun parse(uper: ByteArray): ItsPduHeader? {
+            if (uper.size < SIZE) return null
+            var station = 0L
+            for (i in 2 until SIZE) station = (station shl 8) or (uper[i].toLong() and 0xFF)
+            return ItsPduHeader(
+                protocolVersion = uper[0].toInt() and 0xFF,
+                messageId = uper[1].toInt() and 0xFF,
+                stationId = station,
+            )
+        }
+    }
+}
+
+/** What [classifyItsPdu] worked out about one received PDU. */
+data class ItsClassification(val kind: ItsMessageKind, val messageId: Int?, val stationId: Long?)
+
+/**
+ * Classifies [uper], preferring its header's messageID over [btpPort].
+ *
+ * A message whose id and port disagree is classified by the id, since the id is what the sender
+ * actually put in the PDU; the port is only where it happened to arrive.
+ */
+fun classifyItsPdu(uper: ByteArray, btpPort: Int?): ItsClassification {
+    val header = ItsPduHeader.parse(uper)
+    val kind = header?.let { ItsMessageKind.fromMessageId(it.messageId) }
+        ?: btpPort?.let { ItsMessageKind.fromBtpPort(it) }
+        ?: ItsMessageKind.OTHER
+    return ItsClassification(kind, header?.messageId, header?.stationId)
+}

app/src/main/java/com/hawhamburg/micr0bu/service/V2xLogService.kt

@@ -0,0 +1,135 @@
+package com.hawhamburg.micr0bu.service
+
+import android.app.NotificationChannel
+import android.app.NotificationManager
+import android.app.PendingIntent
+import android.app.Service
+import android.content.Context
+import android.content.Intent
+import android.content.pm.ServiceInfo
+import android.os.IBinder
+import android.os.PowerManager
+import androidx.core.app.NotificationCompat
+import androidx.core.content.ContextCompat
+import com.hawhamburg.micr0bu.MainActivity
+import com.hawhamburg.micr0bu.R
+import com.hawhamburg.micr0bu.data.log.V2xLogger
+import dagger.hilt.android.AndroidEntryPoint
+import javax.inject.Inject
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.SupervisorJob
+import kotlinx.coroutines.launch
+
+/**
+ * Keeps the process alive, and the CPU awake, while [V2xLogger] records.
+ *
+ * The logger does the work; this exists only because a log is most useful on a drive, with the
+ * screen off, and a process with no foreground service is one the system may kill and whose GNSS
+ * callbacks it throttles. Same shape as [TripRecordingService], which does this for trips.
+ *
+ * Stops itself when the logger stops, including when the logger stops on a write failure.
+ */
+@AndroidEntryPoint
+class V2xLogService : Service() {
+
+    @Inject lateinit var logger: V2xLogger
+
+    private val job = SupervisorJob()
+    private val scope = CoroutineScope(Dispatchers.Default + job)
+    private var watchJob: Job? = null
+    private var wakeLock: PowerManager.WakeLock? = null
+
+    override fun onCreate() {
+        super.onCreate()
+        (getSystemService(NOTIFICATION_SERVICE) as NotificationManager).createNotificationChannel(
+            NotificationChannel(CHANNEL_ID, "V2X logging", NotificationManager.IMPORTANCE_LOW).apply {
+                description = "Shown while the developer V2X data logger is recording"
+            }
+        )
+    }
+
+    override fun onStartCommand(intent: Intent?, flags: Int, startId: Int): Int {
+        when (intent?.action) {
+            ACTION_START -> begin()
+            ACTION_STOP -> end()
+        }
+        return START_NOT_STICKY
+    }
+
+    override fun onBind(intent: Intent?): IBinder? = null
+
+    override fun onDestroy() {
+        wakeLock?.let { if (it.isHeld) it.release() }
+        job.cancel()
+        super.onDestroy()
+    }
+
+    private fun begin() {
+        // Foreground first: Android allows five seconds from startForegroundService.
+        startForeground(NOTIFICATION_ID, notification(0), ServiceInfo.FOREGROUND_SERVICE_TYPE_LOCATION)
+        wakeLock = (getSystemService(POWER_SERVICE) as PowerManager)
+            .newWakeLock(PowerManager.PARTIAL_WAKE_LOCK, "micr0bu:V2xLog")
+            .also { it.acquire() }
+        logger.start()
+        if (!logger.state.value.active) { // the file could not be created; the screen shows why
+            end()
+            return
+        }
+
+        watchJob?.cancel()
+        watchJob = scope.launch {
+            logger.state.collect { state ->
+                if (!state.active) {
+                    stopForeground(STOP_FOREGROUND_REMOVE)
+                    stopSelf()
+                } else {
+                    (getSystemService(NOTIFICATION_SERVICE) as NotificationManager)
+                        .notify(NOTIFICATION_ID, notification(state.total))
+                }
+            }
+        }
+    }
+
+    private fun end() {
+        scope.launch {
+            logger.stop()
+            stopForeground(STOP_FOREGROUND_REMOVE)
+            stopSelf()
+        }
+    }
+
+    private fun notification(messages: Int) =
+        NotificationCompat.Builder(this, CHANNEL_ID)
+            .setContentTitle("Logging V2X messages")
+            .setContentText("$messages messages recorded")
+            .setSmallIcon(R.mipmap.ic_launcher_foreground)
+            .setOngoing(true)
+            .setOnlyAlertOnce(true)
+            .setContentIntent(
+                PendingIntent.getActivity(
+                    this, 0,
+                    Intent(this, MainActivity::class.java).apply {
+                        flags = Intent.FLAG_ACTIVITY_SINGLE_TOP or Intent.FLAG_ACTIVITY_CLEAR_TOP
+                    },
+                    PendingIntent.FLAG_IMMUTABLE or PendingIntent.FLAG_UPDATE_CURRENT,
+                )
+            )
+            .build()
+
+    companion object {
+        const val ACTION_START = "com.hawhamburg.micr0bu.V2X_LOG_START"
+        const val ACTION_STOP = "com.hawhamburg.micr0bu.V2X_LOG_STOP"
+        private const val NOTIFICATION_ID = 9002
+        private const val CHANNEL_ID = "v2x_logging"
+
+        fun start(context: Context) = ContextCompat.startForegroundService(
+            context, Intent(context, V2xLogService::class.java).setAction(ACTION_START)
+        )
+
+        fun stop(context: Context) {
+            context.startService(Intent(context, V2xLogService::class.java).setAction(ACTION_STOP))
+        }
+    }
+}

app/src/main/java/com/hawhamburg/micr0bu/ui/navigation/AppNavigation.kt

@@ -51,6 +51,7 @@ sealed class Screen(val route: String, val labelRes: Int) {
     data object SettingsMqtt       : Screen("settings/mqtt",        R.string.settings_mqtt_section)
     data object SettingsUseCaseAlerts : Screen("settings/usecases", R.string.settings_usecase_alerts)
     data object SettingsDeveloper  : Screen("settings/developer",   R.string.settings_developer)
+    data object SettingsV2xLog     : Screen("settings/developer/v2x_log", R.string.v2xlog_title)
     data object SettingsAbout      : Screen("settings/about",       R.string.settings_about)
 }
 

app/src/main/java/com/hawhamburg/micr0bu/ui/screens/SettingsScreen.kt

@@ -137,7 +137,7 @@ private fun MenuRow(label: String, onClick: () -> Unit) {
 // ── Sub-screen shell ────────────────────────────────────────────────────────
 
 @Composable
-private fun SubScreen(title: String, onBack: () -> Unit, content: @Composable () -> Unit) {
+internal fun SubScreen(title: String, onBack: () -> Unit, content: @Composable () -> Unit) {
     Column(
         modifier = Modifier
             .fillMaxSize()
@@ -448,6 +448,7 @@ fun DeveloperSettingsScreen(
     state: SensorUiState,
     onDeveloperMode: (Boolean) -> Unit,
     onOpenSensorMonitor: () -> Unit,
+    onOpenV2xLogger: () -> Unit,
     onBack: () -> Unit,
 ) {
     SubScreen(stringResource(R.string.settings_developer), onBack) {
@@ -457,6 +458,9 @@ fun DeveloperSettingsScreen(
             // Sensor Monitor lives here rather than in the bottom nav: a live phone-sensor feed is
             // a bench-diagnosis tool, not something a rider needs mid-ride.
             MenuRow(stringResource(R.string.sensor_monitor_title), onOpenSensorMonitor)
+            Divider()
+            // Records every received V2X message to a database file, on either OBU hardware.
+            MenuRow(stringResource(R.string.v2xlog_title), onOpenV2xLogger)
             if (state.developerMode) {
                 Divider()
                 DisabledRow(stringResource(R.string.settings_wifi), stringResource(R.string.settings_wifi_val))
@@ -481,7 +485,7 @@ fun AboutSettingsScreen(onBack: () -> Unit) {
 // ── Internal components ─────────────────────────────────────────────────────
 
 @Composable
-private fun SectionCard(content: @Composable () -> Unit) {
+internal fun SectionCard(content: @Composable () -> Unit) {
     Card(
         modifier = Modifier.fillMaxWidth(),
         colors = CardDefaults.cardColors(containerColor = MaterialTheme.colorScheme.surfaceVariant),
@@ -699,7 +703,7 @@ private fun TwoWayChoice(
 private fun RowDivider() = HorizontalDivider(color = MaterialTheme.colorScheme.outline.copy(alpha = 0.4f))
 
 @Composable
-private fun Divider() = HorizontalDivider(color = MaterialTheme.colorScheme.outline.copy(alpha = 0.4f))
+internal fun Divider() = HorizontalDivider(color = MaterialTheme.colorScheme.outline.copy(alpha = 0.4f))
 
 @Composable
 private fun SettingToggleRow(
@@ -723,7 +727,7 @@ private fun SettingToggleRow(
 }
 
 @Composable
-private fun DisabledRow(label: String, value: String) {
+internal fun DisabledRow(label: String, value: String) {
     Row(
         modifier = Modifier.fillMaxWidth().padding(vertical = 10.dp),
         horizontalArrangement = Arrangement.SpaceBetween,

app/src/main/java/com/hawhamburg/micr0bu/ui/screens/V2xLogSettingsScreen.kt

@@ -0,0 +1,247 @@
+package com.hawhamburg.micr0bu.ui.screens
+
+import android.content.Context
+import android.content.Intent
+import androidx.compose.foundation.layout.Arrangement
+import androidx.compose.foundation.layout.Column
+import androidx.compose.foundation.layout.Row
+import androidx.compose.foundation.layout.Spacer
+import androidx.compose.foundation.layout.fillMaxWidth
+import androidx.compose.foundation.layout.height
+import androidx.compose.foundation.layout.padding
+import androidx.compose.material.icons.Icons
+import androidx.compose.material.icons.filled.Delete
+import androidx.compose.material.icons.filled.FiberManualRecord
+import androidx.compose.material.icons.filled.Share
+import androidx.compose.material.icons.filled.Stop
+import androidx.compose.material3.AlertDialog
+import androidx.compose.material3.Button
+import androidx.compose.material3.ButtonDefaults
+import androidx.compose.material3.Icon
+import androidx.compose.material3.IconButton
+import androidx.compose.material3.MaterialTheme
+import androidx.compose.material3.Text
+import androidx.compose.material3.TextButton
+import androidx.compose.runtime.Composable
+import androidx.compose.runtime.getValue
+import androidx.compose.runtime.mutableStateOf
+import androidx.compose.runtime.remember
+import androidx.compose.runtime.setValue
+import androidx.compose.ui.Alignment
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.graphics.Color
+import androidx.compose.ui.platform.LocalContext
+import androidx.compose.ui.res.stringResource
+import androidx.compose.ui.text.font.FontFamily
+import androidx.compose.ui.text.font.FontWeight
+import androidx.compose.ui.unit.dp
+import androidx.core.content.FileProvider
+import com.hawhamburg.micr0bu.R
+import com.hawhamburg.micr0bu.data.log.V2xLogFile
+import com.hawhamburg.micr0bu.data.log.V2xLogState
+import com.hawhamburg.micr0bu.data.transport.ObuHardware
+import com.hawhamburg.micr0bu.domain.log.ItsMessageKind
+import java.text.SimpleDateFormat
+import java.util.Date
+import java.util.Locale
+
+private val modifiedFormat = SimpleDateFormat("yyyy-MM-dd HH:mm:ss", Locale.getDefault())
+
+/**
+ * Settings > Developer > V2X data logger.
+ *
+ * Start and stop one log at a time, watch what it is catching, and share or delete the finished
+ * files. What is recorded, and from where, is described on [com.hawhamburg.micr0bu.data.log.V2xLogger].
+ */
+@Composable
+fun V2xLogSettingsScreen(
+    state: V2xLogState,
+    files: List<V2xLogFile>,
+    obuHardware: ObuHardware,
+    onStart: () -> Unit,
+    onStop: () -> Unit,
+    onDelete: (V2xLogFile) -> Unit,
+    onBack: () -> Unit,
+) {
+    val context = LocalContext.current
+    var pendingDelete by remember { mutableStateOf<V2xLogFile?>(null) }
+    val isEsp32 = obuHardware == ObuHardware.ESP32_C5
+
+    pendingDelete?.let { log ->
+        AlertDialog(
+            onDismissRequest = { pendingDelete = null },
+            title = { Text(stringResource(R.string.v2xlog_delete_title)) },
+            text = { Text(stringResource(R.string.v2xlog_delete_text, log.name)) },
+            confirmButton = {
+                TextButton(onClick = { onDelete(log); pendingDelete = null }) {
+                    Text(stringResource(R.string.log_delete_confirm), color = MaterialTheme.colorScheme.error)
+                }
+            },
+            dismissButton = {
+                TextButton(onClick = { pendingDelete = null }) { Text(stringResource(R.string.log_cancel)) }
+            },
+        )
+    }
+
+    SubScreen(stringResource(R.string.v2xlog_title), onBack) {
+        Text(
+            stringResource(R.string.v2xlog_desc),
+            style = MaterialTheme.typography.bodySmall,
+            color = MaterialTheme.colorScheme.onSurfaceVariant,
+        )
+
+        SectionCard {
+            Spacer(Modifier.height(8.dp))
+            Text(
+                stringResource(if (isEsp32) R.string.v2xlog_mode_esp32 else R.string.v2xlog_mode_cit),
+                style = MaterialTheme.typography.bodySmall,
+                color = MaterialTheme.colorScheme.onSurfaceVariant,
+            )
+            // Said up front, not discovered later as two rows of zeros: the firmware decides this.
+            if (isEsp32) {
+                Spacer(Modifier.height(4.dp))
+                Text(
+                    stringResource(R.string.v2xlog_esp32_firmware_note),
+                    style = MaterialTheme.typography.bodySmall,
+                    color = MaterialTheme.colorScheme.onSurfaceVariant,
+                )
+            }
+            Spacer(Modifier.height(12.dp))
+            Button(
+                onClick = if (state.active) onStop else onStart,
+                modifier = Modifier.fillMaxWidth(),
+                colors = if (state.active) ButtonDefaults.buttonColors(containerColor = Color(0xFFB3261E))
+                         else ButtonDefaults.buttonColors(),
+            ) {
+                Icon(
+                    if (state.active) Icons.Default.Stop else Icons.Default.FiberManualRecord,
+                    contentDescription = null,
+                )
+                Spacer(Modifier.padding(horizontal = 4.dp))
+                Text(stringResource(if (state.active) R.string.v2xlog_stop else R.string.v2xlog_start))
+            }
+            state.error?.let {
+                Spacer(Modifier.height(8.dp))
+                Text(
+                    stringResource(R.string.v2xlog_error, it),
+                    style = MaterialTheme.typography.bodySmall,
+                    color = MaterialTheme.colorScheme.error,
+                )
+            }
+            Spacer(Modifier.height(12.dp))
+        }
+
+        if (state.active) {
+            SectionCard {
+                DisabledRow(stringResource(R.string.v2xlog_file), state.fileName.orEmpty())
+                Divider()
+                DisabledRow(
+                    stringResource(R.string.v2xlog_total),
+                    stringResource(R.string.v2xlog_total_val, state.total, formatBytes(state.fileBytes)),
+                )
+                ItsMessageKind.TRACKED.forEach { kind ->
+                    Divider()
+                    DisabledRow(kind.label, (state.counts[kind] ?: 0).toString())
+                }
+                Divider()
+                DisabledRow(stringResource(R.string.v2xlog_phone_gnss), fixAge(state.phoneFixAgeMs))
+                Divider()
+                DisabledRow(
+                    stringResource(R.string.v2xlog_obu_gnss),
+                    if (isEsp32) stringResource(R.string.v2xlog_not_available) else fixAge(state.obuFixAgeMs),
+                )
+            }
+            if (state.total == 0) {
+                Text(
+                    stringResource(R.string.v2xlog_waiting),
+                    style = MaterialTheme.typography.bodySmall,
+                    color = MaterialTheme.colorScheme.onSurfaceVariant,
+                )
+            }
+        }
+
+        Text(
+            stringResource(R.string.v2xlog_files_title, files.size),
+            style = MaterialTheme.typography.labelSmall,
+            color = MaterialTheme.colorScheme.onSurfaceVariant,
+        )
+        if (files.isEmpty()) {
+            Text(
+                stringResource(R.string.v2xlog_none),
+                style = MaterialTheme.typography.bodySmall,
+                color = MaterialTheme.colorScheme.onSurfaceVariant,
+            )
+        } else {
+            SectionCard {
+                files.forEachIndexed { i, log ->
+                    if (i > 0) Divider()
+                    LogFileRow(
+                        log = log,
+                        onShare = { shareLog(context, log) },
+                        onDelete = { pendingDelete = log },
+                    )
+                }
+            }
+        }
+    }
+}
+
+@Composable
+private fun LogFileRow(log: V2xLogFile, onShare: () -> Unit, onDelete: () -> Unit) {
+    Row(
+        modifier = Modifier.fillMaxWidth().padding(vertical = 4.dp),
+        verticalAlignment = Alignment.CenterVertically,
+        horizontalArrangement = Arrangement.spacedBy(4.dp),
+    ) {
+        Column(modifier = Modifier.weight(1f)) {
+            Text(
+                log.name,
+                style = MaterialTheme.typography.bodySmall,
+                fontFamily = FontFamily.Monospace,
+                fontWeight = FontWeight.SemiBold,
+            )
+            Text(
+                "${modifiedFormat.format(Date(log.modifiedMs))}  ·  ${formatBytes(log.sizeBytes)}",
+                style = MaterialTheme.typography.labelSmall,
+                color = MaterialTheme.colorScheme.onSurfaceVariant,
+            )
+        }
+        // The file being written is open and incomplete; sharing or deleting it would hand over a
+        // half-written database or pull it out from under the writer.
+        IconButton(onClick = onShare, enabled = !log.active) {
+            Icon(Icons.Default.Share, contentDescription = stringResource(R.string.v2xlog_share_cd))
+        }
+        IconButton(onClick = onDelete, enabled = !log.active) {
+            Icon(
+                Icons.Default.Delete,
+                contentDescription = stringResource(R.string.v2xlog_delete_cd),
+                tint = if (log.active) LocalContentColorDisabled() else MaterialTheme.colorScheme.error,
+            )
+        }
+    }
+}
+
+@Composable
+private fun LocalContentColorDisabled(): Color = MaterialTheme.colorScheme.onSurface.copy(alpha = 0.38f)
+
+@Composable
+private fun fixAge(ageMs: Long?): String =
+    if (ageMs == null) stringResource(R.string.v2xlog_no_fix)
+    else stringResource(R.string.v2xlog_fix_age, (ageMs / 1000).toInt())
+
+private fun formatBytes(bytes: Long): String = when {
+    bytes < 1024 -> "$bytes B"
+    bytes < 1024 * 1024 -> "%.1f kB".format(Locale.US, bytes / 1024.0)
+    else -> "%.1f MB".format(Locale.US, bytes / (1024.0 * 1024.0))
+}
+
+private fun shareLog(context: Context, log: V2xLogFile) {
+    val uri = FileProvider.getUriForFile(context, "${context.packageName}.fileprovider", log.file)
+    val intent = Intent(Intent.ACTION_SEND).apply {
+        type = "application/vnd.sqlite3"
+        putExtra(Intent.EXTRA_STREAM, uri)
+        putExtra(Intent.EXTRA_SUBJECT, "MicrOBU V2X log - ${log.name}")
+        addFlags(Intent.FLAG_GRANT_READ_URI_PERMISSION)
+    }
+    context.startActivity(Intent.createChooser(intent, context.getString(R.string.v2xlog_share_chooser)))
+}

app/src/main/java/com/hawhamburg/micr0bu/viewmodel/V2xLogViewModel.kt

@@ -0,0 +1,45 @@
+package com.hawhamburg.micr0bu.viewmodel
+
+import android.app.Application
+import androidx.lifecycle.AndroidViewModel
+import androidx.lifecycle.viewModelScope
+import com.hawhamburg.micr0bu.data.log.V2xLogFile
+import com.hawhamburg.micr0bu.data.log.V2xLogState
+import com.hawhamburg.micr0bu.data.log.V2xLogger
+import com.hawhamburg.micr0bu.service.V2xLogService
+import dagger.hilt.android.lifecycle.HiltViewModel
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.flow.StateFlow
+import kotlinx.coroutines.launch
+import javax.inject.Inject
+
+/** Backs Settings > Developer > V2X data logger. */
+@HiltViewModel
+class V2xLogViewModel @Inject constructor(
+    application: Application,
+    private val logger: V2xLogger,
+) : AndroidViewModel(application) {
+
+    val state: StateFlow<V2xLogState> = logger.state
+    val files: StateFlow<List<V2xLogFile>> = logger.files
+
+    init {
+        logger.refreshFiles()
+        // The running file grows between state updates, so keep the list's sizes current while a
+        // log is on screen.
+        viewModelScope.launch {
+            while (true) {
+                delay(2_000L)
+                if (logger.state.value.active) logger.refreshFiles()
+            }
+        }
+    }
+
+    fun start() = V2xLogService.start(getApplication())
+
+    fun stop() = V2xLogService.stop(getApplication())
+
+    fun delete(log: V2xLogFile) {
+        logger.delete(log)
+    }
+}

app/src/main/res/values-de/strings.xml

@@ -332,4 +332,28 @@
     <string name="conn_esp32_signing">Signieren %1$s · Tickets %2$d · signiert %3$d · abgelehnt %4$d · gesendet %5$d</string>
     <string name="conn_esp32_signing_on">an</string>
     <string name="conn_esp32_signing_off">aus</string>
+    <string name="v2xlog_title">V2X-Datenlogger</string>
+    <string name="v2xlog_desc">Zeichnet jede empfangene V2X-Nachricht (CAM, DENM, SPATEM, MAPEM, VAM) in einer Datenbankdatei auf, mit Zeitstempel, der GNSS-Position des Telefons und, wenn vorhanden, der GNSS-Position der OBU und der Signalstärke (RSSI).</string>
+    <string name="v2xlog_mode_esp32">ESP32-C5: protokolliert, was das Board über die Verbindung weiterleitet, mit RSSI. Das Board hat kein GNSS, daher gibt es keine OBU-Position.</string>
+    <string name="v2xlog_mode_cit">CiT One: protokolliert die MQTT-Topics. Die API liefert keine RSSI; die OBU-Position stammt aus v2x/rx/obu_gnss.</string>
+    <string name="v2xlog_esp32_firmware_note">Die aktuelle ESP32-C5-Firmware leitet nur CAM, DENM und SPATEM weiter; MAPEM und VAM erscheinen erst, wenn die Firmware sie annimmt.</string>
+    <string name="v2xlog_start">Aufzeichnung starten</string>
+    <string name="v2xlog_stop">Aufzeichnung beenden</string>
+    <string name="v2xlog_error">Aufzeichnung fehlgeschlagen: %1$s</string>
+    <string name="v2xlog_file">Datei</string>
+    <string name="v2xlog_total">Aufgezeichnet</string>
+    <string name="v2xlog_total_val">%1$d Nachrichten · %2$s</string>
+    <string name="v2xlog_phone_gnss">Telefon-GNSS</string>
+    <string name="v2xlog_obu_gnss">OBU-GNSS</string>
+    <string name="v2xlog_fix_age">Fix vor %1$d s</string>
+    <string name="v2xlog_no_fix">kein Fix</string>
+    <string name="v2xlog_not_available">nicht verfügbar</string>
+    <string name="v2xlog_waiting">Warte auf Nachrichten. Ist die OBU noch nicht verbunden, verbinde sie auf dem Verbindungsbildschirm.</string>
+    <string name="v2xlog_files_title">Logdateien (%1$d)</string>
+    <string name="v2xlog_none">Noch keine Logs</string>
+    <string name="v2xlog_share_cd">Log teilen</string>
+    <string name="v2xlog_delete_cd">Log löschen</string>
+    <string name="v2xlog_share_chooser">V2X-Log teilen</string>
+    <string name="v2xlog_delete_title">Log löschen?</string>
+    <string name="v2xlog_delete_text">%1$s wird dauerhaft vom Gerät entfernt.</string>
 </resources>

app/src/main/res/values/strings.xml

@@ -339,4 +339,28 @@
     <string name="conn_esp32_signing">Signing %1$s · tickets %2$d · signed %3$d · refused %4$d · on air %5$d</string>
     <string name="conn_esp32_signing_on">on</string>
     <string name="conn_esp32_signing_off">off</string>
+    <string name="v2xlog_title">V2X data logger</string>
+    <string name="v2xlog_desc">Records every V2X message received (CAM, DENM, SPATEM, MAPEM, VAM) into a database file, with a timestamp, the phone GNSS fix and, where available, the OBU GNSS fix and the signal strength (RSSI).</string>
+    <string name="v2xlog_mode_esp32">ESP32-C5: logging what the board forwards over the link, with RSSI. The board has no GNSS, so there is no OBU position.</string>
+    <string name="v2xlog_mode_cit">CiT One: logging the MQTT topics. The API carries no RSSI; the OBU position comes from v2x/rx/obu_gnss.</string>
+    <string name="v2xlog_esp32_firmware_note">The current ESP32-C5 firmware forwards only CAM, DENM and SPATEM, so MAPEM and VAM appear only once the firmware accepts them.</string>
+    <string name="v2xlog_start">Start logging</string>
+    <string name="v2xlog_stop">Stop logging</string>
+    <string name="v2xlog_error">Logging failed: %1$s</string>
+    <string name="v2xlog_file">File</string>
+    <string name="v2xlog_total">Recorded</string>
+    <string name="v2xlog_total_val">%1$d messages · %2$s</string>
+    <string name="v2xlog_phone_gnss">Phone GNSS</string>
+    <string name="v2xlog_obu_gnss">OBU GNSS</string>
+    <string name="v2xlog_fix_age">fix %1$d s ago</string>
+    <string name="v2xlog_no_fix">no fix</string>
+    <string name="v2xlog_not_available">not available</string>
+    <string name="v2xlog_waiting">Waiting for messages. If the OBU is not connected yet, connect it on the Connection screen.</string>
+    <string name="v2xlog_files_title">Log files (%1$d)</string>
+    <string name="v2xlog_none">No logs yet</string>
+    <string name="v2xlog_share_cd">Share log</string>
+    <string name="v2xlog_delete_cd">Delete log</string>
+    <string name="v2xlog_share_chooser">Share V2X log</string>
+    <string name="v2xlog_delete_title">Delete log?</string>
+    <string name="v2xlog_delete_text">This permanently removes %1$s from the device.</string>
 </resources>

app/src/main/res/xml/file_paths.xml

@@ -2,4 +2,6 @@
 <paths>
     <!-- Covers context.cacheDir — used for CSV exports -->
     <cache-path name="shared_csv" path="." />
+    <!-- V2X data logs (V2xLogger), shared from Settings > Developer -->
+    <files-path name="v2x_logs" path="v2x_logs/" />
 </paths>

app/src/test/java/com/hawhamburg/micr0bu/ItsMessageKindTest.kt

@@ -0,0 +1,73 @@
+package com.hawhamburg.micr0bu
+
+import com.hawhamburg.micr0bu.domain.log.ItsMessageKind
+import com.hawhamburg.micr0bu.domain.log.ItsPduHeader
+import com.hawhamburg.micr0bu.domain.log.classifyItsPdu
+import org.junit.Assert.assertEquals
+import org.junit.Assert.assertNull
+import org.junit.Test
+
+/**
+ * Pins how the V2X data logger names a message it may have no decoder for. The CAM fixture is the
+ * golden UPER frame from [CamEncodeGoldenTest] (protocolVersion 2, messageID 2, stationID 999999);
+ * the others only need a valid ItsPduHeader, which is all the classifier reads.
+ */
+class ItsMessageKindTest {
+
+    private fun String.hexToBytes() = chunked(2).map { it.toInt(16).toByte() }.toByteArray()
+
+    private val goldenCam =
+        "0202000f423f3700402ab215af6e286477dffffffc23b7743e0027ffc0d0fe0118329337feebfff6000000".hexToBytes()
+
+    /** An ItsPduHeader with [messageId] and stationID 0x01020304, then a stand-in body. */
+    private fun pdu(messageId: Int) =
+        byteArrayOf(2, messageId.toByte(), 1, 2, 3, 4, 0x55, 0x66)
+
+    @Test fun `header of the golden CAM is read`() {
+        val h = ItsPduHeader.parse(goldenCam)!!
+        assertEquals(2, h.protocolVersion)
+        assertEquals(2, h.messageId)
+        assertEquals(999_999L, h.stationId)
+    }
+
+    @Test fun `station id above 2^31 is not sign-extended`() {
+        val h = ItsPduHeader.parse(byteArrayOf(2, 2, 0xFF.toByte(), 0xFF.toByte(), 0xFF.toByte(), 0xFE.toByte()))!!
+        assertEquals(0xFFFFFFFEL, h.stationId)
+    }
+
+    @Test fun `every tracked kind is recognised by messageID alone`() {
+        assertEquals(ItsMessageKind.DENM, classifyItsPdu(pdu(1), null).kind)
+        assertEquals(ItsMessageKind.CAM, classifyItsPdu(pdu(2), null).kind)
+        assertEquals(ItsMessageKind.SPATEM, classifyItsPdu(pdu(4), null).kind)
+        assertEquals(ItsMessageKind.MAPEM, classifyItsPdu(pdu(5), null).kind)
+        assertEquals(ItsMessageKind.VAM, classifyItsPdu(pdu(16), null).kind)
+    }
+
+    @Test fun `messageID wins over the BTP port, and the SPATEM-MAPEM numbers are not swapped`() {
+        // SPATEM is port 2004 but messageID 4; MAPEM is port 2003 but messageID 5.
+        assertEquals(ItsMessageKind.SPATEM, classifyItsPdu(pdu(4), 2004).kind)
+        assertEquals(ItsMessageKind.MAPEM, classifyItsPdu(pdu(5), 2003).kind)
+        // A PDU that disagrees with the port it arrived on is what its header says it is.
+        assertEquals(ItsMessageKind.MAPEM, classifyItsPdu(pdu(5), 2004).kind)
+    }
+
+    @Test fun `a PDU too short for a header falls back to the BTP port`() {
+        val c = classifyItsPdu(byteArrayOf(2, 5), 2018)
+        assertEquals(ItsMessageKind.VAM, c.kind)
+        assertNull(c.messageId)
+        assertNull(c.stationId)
+    }
+
+    @Test fun `an unknown messageID is kept as OTHER with its id`() {
+        val c = classifyItsPdu(pdu(99), null)
+        assertEquals(ItsMessageKind.OTHER, c.kind)
+        assertEquals(99, c.messageId)
+        assertEquals(0x01020304L, c.stationId)
+    }
+
+    @Test fun `processed topic names map to kinds`() {
+        assertEquals(ItsMessageKind.MAPEM, ItsMessageKind.fromProcessedTopicName("map"))
+        assertEquals(ItsMessageKind.SPATEM, ItsMessageKind.fromProcessedTopicName("spat"))
+        assertNull(ItsMessageKind.fromProcessedTopicName("unknown"))
+    }
+}

docs/06-signed-its-vam-ble.md

@@ -35,8 +35,10 @@ fit together, how it was verified, and what is still open. Hardware checks still
 
 ## Firmware (obu-firmware)
 
-obu-firmware is now a port of `microbu-esp32c5/firmware` (the colleague's repository, kept beside
-this one, gitignored). vanetza-idf is taken from `microbu-esp32c5/external/vanetza-idf`. It builds
+obu-firmware is now a port of `microbu-esp32c5/firmware`, from the colleague's own repository
+(not part of this one; nothing is pushed there). The C-ITS library it needs is copied into this
+repository as `obu-firmware/external/vanetza-idf` (their commit cf4b99f, unchanged), so
+obu-firmware builds from a plain clone. It builds
 with **ESP-IDF 6.0.2 only**: the raw-TX path uses private Wi-Fi driver structures that vanetza-idf
 pins to that version. The previous C firmware (IDF 6.1) is backed up as a full flash image in
 `firmware-backups/` (gitignored, restore command in its README.txt); its sources stay on disk,
@@ -62,7 +64,7 @@ Main changes against the colleague's firmware:
 
 ## Link protocol
 
-Station-link v1 (`microbu-esp32c5/station-link/README.md`): `[opcode][flags][sequence LE][body]`,
+Station-link v1 (colleague's repository, `station-link/README.md`): `[opcode][flags][sequence LE][body]`,
 little-endian, at most 512 octets. Over USB each message is one `0xAA55` frame of type `0x10`
 (the old framing and CRC). Over BLE each message is one GATT value on service
 `0000C175-BA5E-4C17-8000-00805F9B34FB` (the README describes a different, Nordic-UART layout; the

obu-firmware/CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.22)
 # obu-firmware: the ESP32-C5 half of the MicrOBU station, on the vanetza-idf C-ITS stack.
 #
 # Since 2026-09-23 this is a port of the colleague's standalone VRU station
-# (microbu-esp32c5/firmware, its own git repository beside this one and gitignored here). From it:
+# (microbu-esp32c5/firmware, in their own repository, not part of this one). From it:
 # BTP/GeoNetworking and the TS 103 097 security entity (vanetza-idf), the station-link message
 # layer over native USB Serial/JTAG and BLE GATT, the NVS credential store, and the C5 radio adapter.
 # Added here for this project: the raw receive path of the previous firmware (gn_unwrap.c, forwarded
@@ -14,14 +14,16 @@ cmake_minimum_required(VERSION 3.22)
 # by vanetza-idf's radio_c5.cmake and has only been validated there. The previous C firmware was
 # built with IDF 6.1; see FLASHING.md for the export script of each.
 #
-# vanetza-idf is taken from the colleague's tree rather than vendored (it is ~90 MB). Override with
-# -DVANETZA_IDF_DIR=... if it lives elsewhere.
+# vanetza-idf lives in external/vanetza-idf, copied from the colleague's repository (their
+# external/vanetza-idf at commit cf4b99f, unchanged; see its PROVENANCE.md). Override with
+# -DVANETZA_IDF_DIR=... to build against another checkout.
 if(NOT VANETZA_IDF_DIR)
-    set(VANETZA_IDF_DIR "${CMAKE_CURRENT_LIST_DIR}/../microbu-esp32c5/external/vanetza-idf")
+    set(VANETZA_IDF_DIR "${CMAKE_CURRENT_LIST_DIR}/external/vanetza-idf")
 endif()
 if(NOT EXISTS "${VANETZA_IDF_DIR}/idf_component.yml")
-    message(FATAL_ERROR "vanetza-idf not found at ${VANETZA_IDF_DIR}: clone microbu-esp32c5 beside this "
-                        "repository or pass -DVANETZA_IDF_DIR=<path to external/vanetza-idf>")
+    message(FATAL_ERROR "vanetza-idf not found at ${VANETZA_IDF_DIR}: obu-firmware/external/vanetza-idf "
+                        "is part of this repository; check it is complete, or pass "
+                        "-DVANETZA_IDF_DIR=<path to a vanetza-idf checkout>")
 endif()
 
 # Provenance guard for main/otm_tx_custom.c, copied unchanged from microbu-esp32c5/firmware/CMakeLists.txt:

obu-firmware/FLASHING.md

@@ -13,11 +13,17 @@ inherits the first's `IDF_PYTHON_ENV_PATH` and reports every Python dependency
 as unmet. Don't run `install.bat` to "fix" that - open a fresh terminal, or
 clear the state with `$env:IDF_PYTHON_ENV_PATH = $null; $env:IDF_PATH = $null`.
 
-The build also needs the colleague's `microbu-esp32c5` checkout beside this
-repository (gitignored here): vanetza-idf is taken from its
-`external/vanetza-idf`. Pass `-DVANETZA_IDF_DIR=<path>` to `idf.py` if it lives
-elsewhere. The first build downloads `espressif/esp-boost` into
-`managed_components/`.
+The build is self-contained: the C-ITS library comes from
+`obu-firmware/external/vanetza-idf`, a copy of `external/vanetza-idf` from the
+colleague's microbu-esp32c5 repository (their commit cf4b99f, unchanged). Pass
+`-DVANETZA_IDF_DIR=<path>` to `idf.py` to build against another checkout. The
+first build downloads `espressif/esp-boost` into `managed_components/`.
+
+Nothing is fetched from or pushed to the colleague's repository (HAW GitLab,
+urban-mobility-lab/microbu/microbu-esp32c5). To take a newer vanetza-idf from
+it, copy their `external/vanetza-idf` over this folder, rebuild and test, and
+commit it here. The rest of their tree (their own VAM firmware, PKI tooling,
+station-link Python tools, the V2X2MAP bridge) is not part of this repository.
 
 ## Every new PowerShell session
 
@@ -28,23 +34,61 @@ C:\Espressif\frameworks\esp-idf-v6.0.2\export.ps1
 idf.py --version    # v6.0.2
 ```
 
-## Going back to the previous firmware
-
-`firmware-backups/` in the repository root (gitignored) holds a full-flash image
-of the COM3 board as it was before the port, with the esptool command to write
-it back in its README.txt.
-
 ## Build & flash
 
+Flash over the board's **UART-bridge port** (CH343; COM3 for the production OBU
+on the bench), not the native port the phone uses.
+
 ```powershell
 cd C:\Users\Ashin\AndroidStudioProjects\MicrOBU\obu-firmware
 idf.py set-target esp32c5      # only needed once per clean build folder
 idf.py build
-idf.py -p COM5 -b 921600 flash monitor
+idf.py -p COM3 -b 921600 flash monitor
 ```
 
-Swap `COM5` for whatever port the ESP32-C5 enumerates as (Device Manager →
+Swap `COM3` for whatever port the ESP32-C5's bridge enumerates as (Device Manager →
 Ports). `monitor` opens the serial console after flashing — `Ctrl+]` to exit.
+Use `flash` (bootloader + partition table + app), not `app-flash`, whenever the
+partition table may differ from what the board has.
+
+### First flash onto a board with the previous firmware
+
+The partition table changed with the port (NVS 24 KB → 80 KB, app 0x10000 →
+0x20000), and the old NVS is full of Wi-Fi settings the previous firmware left
+behind. Erase the whole new NVS range once, then do a full flash:
+
+```powershell
+python -m esptool --chip esp32c5 -p COM3 -b 921600 erase-region 0x9000 0x15000
+idf.py -p COM3 -b 921600 flash
+```
+
+Without the erase, the board cannot store the BLE bond and the phone has to pair
+on every connection (2026-09-23). After it:
+
+- the boot log shows `0 bonded phone(s) in NVS`, `BLE advertising started as
+  'micrOBU-XXXX'` and `station task ready`; the radio stays off until the app
+  connects;
+- on the first Connect the app provisions the demo credentials once (the card
+  says "Provisioning the demo credentials"); they stay in NVS from then on;
+- a phone that was paired with the board before must forget `micrOBU-XXXX` in
+  Android's Bluetooth settings and pair again (passkey 123456).
+
+Erasing NVS later (e.g. after a partition change) has the same effects.
+
+## Going back to the previous firmware
+
+The previous, unsigned C firmware (frame types 0x01-0x05, CAM over USB only)
+can come back two ways. The app detects it and falls back to its protocol.
+
+- **Image:** `firmware-backups/` in the repository root (gitignored, on the lab
+  laptop only) holds a full-flash image of the COM3 board as it was before the
+  port, with the esptool command in its README.txt. It restores the old
+  partition table and NVS too.
+- **Source:** commit `7285fa1` is the last one before the port. Check it out in
+  a separate worktree and build it with the receiver firmware's IDF 6.1
+  (`its-g5-receiver-firmware\esp-idf\export.ps1`). Erase the NVS range as above
+  first, then `flash` (full, since the partition table differs); erasing after
+  flashing would wipe the start of the old app, which sits at 0x10000.
 
 ## If the build fails
 
@@ -64,9 +108,9 @@ Ports). `monitor` opens the serial console after flashing — `Ctrl+]` to exit.
 The board has two USB-C ports — use the right one:
 
 - **Native USB-C port** (labeled for JTAG/native USB, up to 12 Mbps) — this
-  is where the phone plugs in via USB-OTG. The CAM serial link
-  (`serial_link.c`) runs over the ESP32-C5's native USB Serial/JTAG
-  peripheral on this port, enumerating as a CDC-ACM device under Espressif's
+  is where the phone plugs in via USB-OTG. The station link
+  (`serial_link.cpp`: station-link messages as frame type 0x10 in the 0xAA55
+  framing) runs over the ESP32-C5's native USB Serial/JTAG peripheral on this port, enumerating as a CDC-ACM device under Espressif's
   VID/PID (0x303A/0x1001).
 - **UART-bridge port** (labeled for flashing) — this is what you use for
   `idf.py flash monitor` from your PC. Leave the phone unplugged from this
@@ -83,10 +127,10 @@ at all — that isolates a bad/charge-only OTG cable from an app-side issue.
 
 Work down this list — each step isolates the layer below it.
 
-1. **Flash and install together.** `SERIAL_LINK_MAX_PAYLOAD` is 512 on both sides.
-   A phone at 512 talking to firmware still at 160 (or vice versa) silently
-   rejects every large frame at the `length exceeds max, resync` branch. Never
-   update one side alone.
+1. **Flash and install together.** The app detects the firmware generation by
+   its heartbeat and speaks either protocol, but only an app from 2026-09-23 on
+   knows the station-link protocol; messages are at most 512 octets on both
+   sides.
 2. **Does Android see the device at all?** Plug the phone into the **native**
    USB-C port, hit Connect, and read logcat for `UsbSerialTransport`. It logs
    every attached device *and* each device's interfaces. Empty list = cable /
@@ -95,10 +139,12 @@ Work down this list — each step isolates the layer below it.
    composite device — expect CDC control (class 2) + CDC data (class 10) +
    vendor-specific JTAG (class 255) in that dump. Compare against the `ports=`
    count on the `matched device` line.
-4. **Is the link alive?** The firmware sends a STATUS heartbeat at 1 Hz
-   regardless of radio traffic, and the app marks the link ERROR after ~3.5 s of
-   silence. Connected-and-staying-connected means device→host actually works.
-5. **If it connects but no CAM_RX ever arrives** — suspect DTR. The app now
+4. **Is the link alive?** The firmware sends a STATUS at 1 Hz regardless of
+   radio traffic, and the app marks the link ERROR after ~3.5 s of silence.
+   Connected-and-staying-connected means device→host actually works. The board
+   starts its radio only after the app's STATION_CONFIGURE, so nothing is
+   received before Connect.
+5. **If it connects but no V2X_RX ever arrives** — suspect DTR. The app now
    asserts DTR/RTS on open (`openDevice()` in `UsbSerialTransport.kt`), because
    `CdcAcmSerialDriver` doesn't do it by default and the ESP32's USB Serial/JTAG
    endpoint may gate TX on the host opening the CDC line. **This is still
@@ -107,9 +153,11 @@ Work down this list — each step isolates the layer below it.
    next to the VID/PID note, so nobody has to guess again.
 6. **Watch the counters, not just "Sent: N".** The CAM Pinger card shows
    consecutive write failures (phone side) and the firmware's tx-failure /
-   oversize-drop / CRC-error totals from the heartbeat. A rising `tx fail` means
-   CAMs reach the ESP32 but `esp_wifi_80211_tx` rejects them — a radio problem,
-   not a link problem.
+   RX-queue-drop / CRC-error totals from the heartbeat; the connection card
+   shows tickets, signed and refused counts. A rising `tx fail` means messages
+   reach the ESP32 but the radio refuses them — a radio problem, not a link
+   problem. A rising `refused` with signing on usually means no ticket (NVS
+   erased: reconnect so the app provisions again).
 
 ## Connecting over Bluetooth instead
 

obu-firmware/NOTES.md

@@ -3,7 +3,8 @@
 ## Since 2026-09-23: signed ITS on vanetza-idf
 
 This firmware is a port of the colleague's standalone ESP32-C5 VRU station
-(`microbu-esp32c5/firmware`, its own git repository kept beside this one and gitignored here).
+(`microbu-esp32c5/firmware`, in their own repository; only its `external/vanetza-idf` is copied
+here, to `obu-firmware/external/vanetza-idf`).
 From it: the vanetza-idf C-ITS stack (BTP, GeoNetworking, the TS 103 097 security entity with
 credentials in NVS), the station-link protocol v1 (`link_protocol.*`, `link_service.*`) over the
 native USB port (`serial_link.*`, frame type 0x10 in the same 0xAA55 framing as before) and over BLE

obu-firmware/external/vanetza-idf/.gitignore

@@ -0,0 +1,14 @@
+build
+.cache/
+build-*/
+build-*.log
+sdkconfig
+sdkconfig.old
+sdkconfig.*.old
+managed_components/
+dependencies.lock
+__pycache__/
+conanfile.pyc
+doxygen/html/
+www/
+build.asn1/

obu-firmware/external/vanetza-idf/CMakeLists.txt

@@ -0,0 +1,158 @@
+if(ESP_PLATFORM)
+    include("${CMAKE_CURRENT_LIST_DIR}/ports/esp_idf/CMakeLists.txt")
+    return()
+endif()
+cmake_minimum_required(VERSION 3.14)
+cmake_policy(VERSION 3.14...3.31)
+project(Vanetza VERSION 26.02)
+set(VANETZA_SOVERSION 0)
+list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
+
+# Look up threading library (usually pthread)
+set(CMAKE_THREAD_PREFER_PTHREAD TRUE)
+set(THREADS_PREFER_PTHREAD_FLAG TRUE)
+find_package(Threads MODULE)
+
+# Build configuration options
+option(BUILD_SHARED_LIBS "Build shared libraries" OFF)
+
+option(BUILD_TESTS "Build unit tests" OFF)
+if(BUILD_TESTS)
+    enable_testing()
+    add_subdirectory(gtest)
+endif()
+
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin)
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib)
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib/static)
+
+include(GNUInstallDirs)
+include(UseVanetza)
+
+# Enable usage of targets' folder property (good for Visual Studio)
+set_property(GLOBAL PROPERTY USE_FOLDERS ON)
+
+# Find project dependencies
+find_package(Boost 1.70 REQUIRED COMPONENTS date_time OPTIONAL_COMPONENTS program_options CONFIG)
+vanetza_optional_dependency(GeographicLib 1.37 VANETZA_WITH_GEOGRAPHICLIB "Use GeographicLib for precise geodesy")
+vanetza_optional_dependency(CapnProto 0.8 VANETZA_WITH_RPC "Enable RPC support")
+vanetza_optional_dependency(CryptoPP 5.6.1 VANETZA_WITH_CRYPTOPP "Enable Crypto++ support")
+vanetza_optional_dependency(OpenSSL 1.1.1 VANETZA_WITH_OPENSSL "Enable OpenSSL extensions")
+
+option(VANETZA_WITH_PQC "Enable the experimental hybrid-PQC certificate profile" OFF)
+if(VANETZA_WITH_PQC)
+  find_package(liboqs 0.14 CONFIG REQUIRED)
+endif()
+
+option(VANETZA_EMBED_COUNTRY_DATA "Embed country boundary data into geodesy library" OFF)
+
+add_subdirectory(vanetza/access)
+add_subdirectory(vanetza/asn1)
+add_subdirectory(vanetza/btp)
+add_subdirectory(vanetza/common)
+add_subdirectory(vanetza/dcc)
+add_subdirectory(vanetza/facilities)
+add_subdirectory(vanetza/geodesy)
+add_subdirectory(vanetza/geonet)
+add_subdirectory(vanetza/gnss)
+add_subdirectory(vanetza/net)
+add_subdirectory(vanetza/rpc)
+add_subdirectory(vanetza/security)
+add_subdirectory(vanetza/units)
+
+option(BUILD_SOCKTAP "Build socktap application" OFF)
+if(BUILD_SOCKTAP)
+  add_subdirectory(tools/socktap)
+endif()
+
+option(BUILD_CERTIFY "Build certify application" OFF)
+if(BUILD_CERTIFY)
+  add_subdirectory(tools/certify)
+  if(VANETZA_WITH_PQC)
+    add_subdirectory(tools/certify-pqc)
+  endif()
+endif()
+
+option(BUILD_BENCHMARK "Build benchmark application" OFF)
+if(BUILD_BENCHMARK)
+  add_subdirectory(tools/benchmark)
+endif()
+
+option(BUILD_FUZZ "Build fuzz harness" OFF)
+if(BUILD_FUZZ)
+  add_subdirectory(tools/fuzz-harness)
+endif()
+
+option(BUILD_PKI "Build PKI tools" OFF)
+if(BUILD_PKI AND VANETZA_WITH_PQC)
+  message(FATAL_ERROR
+    "BUILD_PKI cannot be combined with VANETZA_WITH_PQC: the unchanged PKI "
+    "client uses Vanetza's standard Security ASN.1 profile. Build the PKI "
+    "client separately with VANETZA_WITH_PQC=OFF.")
+endif()
+if(BUILD_PKI)
+  add_subdirectory(tools/pki)
+endif()
+
+# interface library for convenience
+get_property(_components GLOBAL PROPERTY VANETZA_COMPONENTS)
+add_library(vanetza INTERFACE)
+add_library(Vanetza::vanetza ALIAS vanetza)
+foreach(_component IN LISTS _components)
+  target_link_libraries(vanetza INTERFACE ${_component})
+endforeach()
+
+# installation rules
+include(CMakePackageConfigHelpers)
+set(CMAKECONFIG_INSTALL_DIR "${CMAKE_INSTALL_LIBDIR}/cmake/Vanetza")
+set(CMAKECONFIG_BUILD_DIR "${CMAKE_CURRENT_BINARY_DIR}/cmake-config")
+write_basic_package_version_file(${CMAKECONFIG_BUILD_DIR}/VanetzaConfigVersion.cmake
+  COMPATIBILITY ExactVersion)
+configure_package_config_file(cmake/VanetzaConfig.cmake.in
+  ${CMAKECONFIG_BUILD_DIR}/VanetzaConfig.cmake
+  INSTALL_DESTINATION ${CMAKECONFIG_INSTALL_DIR}
+  PATH_VARS CMAKE_INSTALL_INCLUDEDIR)
+
+install(TARGETS vanetza EXPORT ${PROJECT_NAME})
+
+install(FILES
+  ${CMAKECONFIG_BUILD_DIR}/VanetzaConfig.cmake
+  ${CMAKECONFIG_BUILD_DIR}/VanetzaConfigVersion.cmake
+  DESTINATION ${CMAKECONFIG_INSTALL_DIR})
+
+install(DIRECTORY ${PROJECT_SOURCE_DIR}/cmake/
+  DESTINATION ${CMAKECONFIG_INSTALL_DIR}
+  FILES_MATCHING
+  PATTERN "Find*.cmake")
+
+install(EXPORT ${PROJECT_NAME} NAMESPACE Vanetza:: FILE VanetzaTargets.cmake DESTINATION ${CMAKECONFIG_INSTALL_DIR})
+
+# install all C++ headers except those found for tests
+file(GLOB_RECURSE _vanetza_headers
+    RELATIVE ${PROJECT_SOURCE_DIR}
+    CONFIGURE_DEPENDS
+    vanetza/*.hpp)
+list(FILTER _vanetza_headers EXCLUDE REGEX "/tests/")
+if(NOT VANETZA_WITH_PQC)
+  list(FILTER _vanetza_headers EXCLUDE REGEX "vanetza/security/pqc/")
+endif()
+foreach(_header IN LISTS _vanetza_headers)
+    get_filename_component(_dir ${_header} DIRECTORY)
+    install(FILES ${_header}
+        DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${_dir})
+endforeach()
+
+# export build tree (allows import by outside projects)
+option(VANETZA_EXPORT_PACKAGE "Export Vanetza build directory to CMake package registry" OFF)
+if(VANETZA_EXPORT_PACKAGE)
+  export(EXPORT ${PROJECT_NAME} NAMESPACE Vanetza:: FILE VanetzaExports.cmake)
+  file(COPY ${CMAKECONFIG_BUILD_DIR}/VanetzaConfigVersion.cmake
+    DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
+  configure_file(cmake/VanetzaExportsConfig.cmake.in
+    ${CMAKE_CURRENT_BINARY_DIR}/VanetzaConfig.cmake @ONLY)
+  export(PACKAGE ${PROJECT_NAME})
+endif()
+
+# mark build directory as cache dir, see https://bford.info/cachedir
+file(WRITE ${PROJECT_BINARY_DIR}/CACHEDIR.TAG
+  "Signature: 8a477f597d28d172789f06886806bc55")

obu-firmware/external/vanetza-idf/Kconfig

@@ -0,0 +1 @@
+rsource "ports/esp_idf/Kconfig"

obu-firmware/external/vanetza-idf/LICENSE.md

@@ -0,0 +1,853 @@
+This file contains copies of the GNU Lesser General Public License as well
+as the GNU General Public License, both in their third version.
+
+
+# GNU Lesser General Public License (LGPL) v3
+
+```
+                   GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+  This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+  0. Additional Definitions.
+
+  As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+  "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+  An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+  A "Combined Work" is a work produced by combining or linking an
+Application with the Library.  The particular version of the Library
+with which the Combined Work was made is also called the "Linked
+Version".
+
+  The "Minimal Corresponding Source" for a Combined Work means the
+Corresponding Source for the Combined Work, excluding any source code
+for portions of the Combined Work that, considered in isolation, are
+based on the Application, and not on the Linked Version.
+
+  The "Corresponding Application Code" for a Combined Work means the
+object code and/or source code for the Application, including any data
+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
+
+  1. Exception to Section 3 of the GNU GPL.
+
+  You may convey a covered work under sections 3 and 4 of this License
+without being bound by section 3 of the GNU GPL.
+
+  2. Conveying Modified Versions.
+
+  If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
+that uses the facility (other than as an argument passed when the
+facility is invoked), then you may convey a copy of the modified
+version:
+
+   a) under this License, provided that you make a good faith effort to
+   ensure that, in the event an Application does not supply the
+   function or data, the facility still operates, and performs
+   whatever part of its purpose remains meaningful, or
+
+   b) under the GNU GPL, with none of the additional permissions of
+   this License applicable to that copy.
+
+  3. Object Code Incorporating Material from Library Header Files.
+
+  The object code form of an Application may incorporate material from
+a header file that is part of the Library.  You may convey such object
+code under terms of your choice, provided that, if the incorporated
+material is not limited to numerical parameters, data structure
+layouts and accessors, or small macros, inline functions and templates
+(ten or fewer lines in length), you do both of the following:
+
+   a) Give prominent notice with each copy of the object code that the
+   Library is used in it and that the Library and its use are
+   covered by this License.
+
+   b) Accompany the object code with a copy of the GNU GPL and this license
+   document.
+
+  4. Combined Works.
+
+  You may convey a Combined Work under terms of your choice that,
+taken together, effectively do not restrict modification of the
+portions of the Library contained in the Combined Work and reverse
+engineering for debugging such modifications, if you also do each of
+the following:
+
+   a) Give prominent notice with each copy of the Combined Work that
+   the Library is used in it and that the Library and its use are
+   covered by this License.
+
+   b) Accompany the Combined Work with a copy of the GNU GPL and this license
+   document.
+
+   c) For a Combined Work that displays copyright notices during
+   execution, include the copyright notice for the Library among
+   these notices, as well as a reference directing the user to the
+   copies of the GNU GPL and this license document.
+
+   d) Do one of the following:
+
+       0) Convey the Minimal Corresponding Source under the terms of this
+       License, and the Corresponding Application Code in a form
+       suitable for, and under terms that permit, the user to
+       recombine or relink the Application with a modified version of
+       the Linked Version to produce a modified Combined Work, in the
+       manner specified by section 6 of the GNU GPL for conveying
+       Corresponding Source.
+
+       1) Use a suitable shared library mechanism for linking with the
+       Library.  A suitable mechanism is one that (a) uses at run time
+       a copy of the Library already present on the user's computer
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+       of the Library that is interface-compatible with the Linked
+       Version.
+
+   e) Provide Installation Information, but only if you would otherwise
+   be required to provide such information under section 6 of the
+   GNU GPL, and only to the extent that such information is
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+   Combined Work produced by recombining or relinking the
+   Application with a modified version of the Linked Version. (If
+   you use option 4d0, the Installation Information must accompany
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+
+  5. Combined Libraries.
+
+  You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
+License, and convey such a combined library under terms of your
+choice, if you do both of the following:
+
+   a) Accompany the combined library with a copy of the same work based
+   on the Library, uncombined with any other library facilities,
+   conveyed under the terms of this License.
+
+   b) Give prominent notice with the combined library that part of it
+   is a work based on the Library, and explaining where to find the
+   accompanying uncombined form of the same work.
+
+  6. Revised Versions of the GNU Lesser General Public License.
+
+  The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+  Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
+of the GNU Lesser General Public License "or any later version"
+applies to it, you have the option of following the terms and
+conditions either of that published version or of any later version
+published by the Free Software Foundation. If the Library as you
+received it does not specify a version number of the GNU Lesser
+General Public License, you may choose any version of the GNU Lesser
+General Public License ever published by the Free Software Foundation.
+
+  If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
+apply, that proxy's public statement of acceptance of any version is
+permanent authorization for you to choose that version for the
+Library.
+```
+
+
+# GNU General Public License (GPL) v3
+
+```
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
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+
+                            Preamble
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+  If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
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+License and any other pertinent obligations, then as a consequence you may
+not convey it at all.  For example, if you agree to terms that obligate you
+to collect a royalty for further conveying from those to whom you convey
+the Program, the only way you could satisfy both those terms and this
+License would be to refrain entirely from conveying the Program.
+
+  13. Use with the GNU Affero General Public License.
+
+  Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work.  The terms of this
+License will continue to apply to the part which is the covered work,
+but the special requirements of the GNU Affero General Public License,
+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+  14. Revised Versions of this License.
+
+  The Free Software Foundation may publish revised and/or new versions of
+the GNU General Public License from time to time.  Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+  Each version is given a distinguishing version number.  If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation.  If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+  If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+  Later license versions may give you additional or different
+permissions.  However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+  15. Disclaimer of Warranty.
+
+  THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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+IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+  16. Limitation of Liability.
+
+  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
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+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
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+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+    <program>  Copyright (C) <year>  <name of author>
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.
+```

obu-firmware/external/vanetza-idf/PROVENANCE.md

@@ -0,0 +1,26 @@
+# Vanetza Upstream Provenance
+
+This directory (`external/vanetza-idf`) contains the Vanetza protocol stack and its ESP-IDF integration for the micrOBU ESP32-C5 ITS-S station.
+
+## Upstream Software Basis
+
+- **Project**: Vanetza (ETSI C-ITS protocol stack implementation in C++17)
+- **Upstream Repository**: `https://github.com/riebl/vanetza.git`
+- **Pinned Upstream Revision**: `a7cacc1879f3e2124dfb8ef2d83886b1e82d3b36`
+- **Author / Upstream Maintainer**: Raphael Riebl et al.
+- **Citekey**: `rieblRieblVanetza2026`
+- **License**: BSD-3-Clause (retained in `LICENSE.md`)
+
+## Integrated Components & Third-Party Dependencies
+
+1. **Boost C++ Libraries (v1.87.0)**:
+   - Located in `ports/esp_idf/third_party/` (`circular_buffer`, `geometry`, `heap`, `iostreams`, `multiprecision`, `rational`).
+   - License: Boost Software License 1.0 (`BSL-1.0`).
+
+2. **OpenTrafficMap (OTM) Transmitter**:
+   - Upstream: `https://codeberg.org/opentrafficmap/its-g5-receiver-firmware_txenabled.git`
+   - Reviewed Revision: `674e34128279235ba34c9f8d778f43cf1d075397`
+   - Core file: `ports/esp_idf/third_party/otm/main/tx_custom.c` (guarded by SHA-256 in `firmware/CMakeLists.txt`).
+
+3. **ESP-IDF Port (`ports/esp_idf`)**:
+   - Implements hardware-accelerated crypto (mbedTLS ECC/ECDSA/SHA), NVS credential persistence, ESP32-C5 802.11p PHY bindings (`radio_c5.cmake`), and localhost PKI verification tooling (`ports/esp_idf/tools/local_pki.py`, `pki_client.py`).

obu-firmware/external/vanetza-idf/README.md

@@ -0,0 +1,153 @@
+# vanetza-idf
+
+Modular C++17 Vanetza library for ESP-IDF. Choose an access, network/transport,
+or facilities-codec profile; supply your own platform and radio adapters.
+The portable core targets the ESP32 family. The integrated C5 radio backend
+is experimental and requires separate hardware validation.
+
+**Start with the [ESP-IDF integration guide](docs/idf/README.md).** It covers
+installation, Kconfig, ownership/event-loop rules, examples, and standalone
+host/device tests. [Standards traceability](docs/idf/standards.md) links the public
+interfaces to precise ETSI editions and clauses.
+The [interface assessment](docs/idf/interface-assessment.md) identifies remaining
+contract and capability gaps. [Test campaigns](docs/idf/test-campaigns.md) explains
+how the separately installed ETSI framework and two-C5 radio tests connect.
+
+**This is an experimental port, not a completed ETSI-conformant stack.**
+See [implementation and conformance gaps](docs/idf/conformance.md) and
+[validation results](docs/idf/validation.md). CAM/DENM/VAM codecs and endpoints
+are distinct from complete Basic Services.
+
+## Components and configurable boundaries
+
+The arrangement follows the facilities, networking/transport and access layers
+of the ETSI ITS station architecture, with management and security as shared
+cross-layer services. It is an implementation map, inspired by
+[TS 102 723-11, clauses 4–5](https://www.etsi.org/deliver/etsi_ts/102700_102799/10272311/01.01.01_60/ts_10272311v010101p.pdf)
+and [EN 303 797, Annex B](https://www.etsi.org/deliver/etsi_en/303700_303799/303797/02.01.01_60/en_303797v020101p.pdf).
+It does not imply that every service in those figures is implemented.
+
+```mermaid
+flowchart TB
+    subgraph station["vanetza-idf"]
+        direction TB
+
+        subgraph entry["Application / test entry points"]
+            direction LR
+            application["Application or upper tester"]
+            f_entry["Facilities PDU entry"]
+            b_entry["BTP-DATA entry"]
+            a_entry["AL_DATA entry"]
+            application --> f_entry
+            application --> b_entry
+            application --> a_entry
+        end
+
+        subgraph dataplane["Protocol data plane"]
+            direction LR
+
+            subgraph facilities["Facilities"]
+                direction TB
+                codecs["CAM R2 / DENM R2 / VAM R2\nASN.1 codecs"]
+                basic_services["CA / DEN / VRU Basic Services\npending"]
+            end
+
+            subgraph nt["Networking & Transport"]
+                direction TB
+                btp["BTP-A / BTP-B"]
+                gn["GeoNetworking\nSHB / GBC"]
+                btp --> gn
+            end
+
+            subgraph access_layer["Access boundary"]
+                direction TB
+                access["AL_DATA\nparameter validation"]
+            end
+
+            codecs --> btp
+            gn --> access
+        end
+
+        subgraph shared["Shared / cross-layer services"]
+            direction LR
+            position["Position + clock"]
+            management["Management\nMIB + configuration"]
+            security["Security entity\nTS 103 097 signing + ticket pool\nverification pending"]
+            saps["SAP bindings\nSN / SF / MN / MF / MI"]
+        end
+
+        f_entry --> codecs
+        b_entry --> btp
+        a_entry --> access
+
+        position -.-> gn
+        management -.-> gn
+        security -.-> gn
+        saps -.-> security
+        saps -.-> gn
+    end
+
+    subgraph integration["Platform / external integration"]
+        direction LR
+        etsi["External ETSI TTCN-3\nframework + SUT adapter"]
+        hil["Optional HIL framing\nbounded VID1 envelope"]
+        adapter["External access adapter\nsoftware lower tester / radio"]
+        radio["ESP32-C5 radio backend\nexperimental; DCC + HW validation pending"]
+
+        hil -.-> etsi
+        adapter -.-> radio
+    end
+
+    etsi -.-> application
+    etsi -.-> adapter
+    access <-->|"owned GNPDU + metadata"| adapter
+```
+
+The main transmit path is deliberately kept horizontal: Facilities → BTP →
+GeoNetworking → Access. Management, position/time and security are shown as
+shared services because they support protocol processing rather than form another
+encapsulation stage. Reception travels back up the selected layers. The access
+profile omits the network and facilities layers; the network profile adds
+BTP/GeoNetworking; the facilities profile also enables the individually
+selectable codecs. Complete CA, DEN and VRU Basic Services are still pending.
+The optional HIL envelope carries adapter payloads; it is not an ETSI protocol.
+
+## External TTCN-3 and HIL
+
+Install the TTCN-3 runtime and the [official ETSI ITS framework](https://forge.etsi.org/rep/ITS/TS.ITS)
+separately. The library does not install or bundle them. The test application
+connects that framework's suite-specific SUT adapter to these points:
+
+| Point | API/boundary | Intended use |
+|---|---|---|
+| Upper tester | Named NF-SAP binding, `Stack::request`, position/time/security injection | Stimulate implemented behavior and collect actual results; full service operations remain pending |
+| Software lower tester | `Access::request` and `Stack::indicate` | Inject/observe GN traffic while the protocol implementation runs on the ESP32 |
+| Physical lower tester | Independent ITS-G5 capture/injection radio | Validate transmitted frames, access behavior and RF properties |
+
+Enable `CONFIG_VANETZA_IDF_HIL` for optional bounded framing. USB/UART/BLE/IP
+transports and suite-specific command decoding remain in the test application
+and host SUT adapter. Preserve the ETSI codec payload and map it to the actual
+service under test; never synthesize a successful acknowledgement.
+
+The [hook-up guide](docs/idf/README.md#connect-a-separately-installed-etsi-ttcn-3-framework)
+explains payload boundaries, metadata, real-time versus injected-time tests,
+PICS/PIXIT, Release 2 ATS adaptation, and evidence retention. A mirrored SUT
+packet is software evidence; radio conformance requires independent observation.
+
+## Foundation and acknowledgements
+
+vanetza-idf is an independent ESP-IDF adaptation built on
+[Vanetza](https://github.com/riebl/vanetza). It is not maintained by, affiliated
+with, or endorsed by the Vanetza team. Upstream authorship and license notices
+remain with the original source files. See the
+[upstream documentation](https://www.vanetza.org/) for the original library.
+
+Thank you to [OpenTrafficMap](https://codeberg.org/opentrafficmap) for the
+foundational work that established how to transmit ITS-G5 using the ESP32-C5
+radio, shared in their
+[receiver firmware with TX enabled](https://codeberg.org/opentrafficmap/its-g5-receiver-firmware_txenabled).
+The C5 backend builds on that work. Its private SDK dependencies and validation
+status are documented separately from the portable protocol core.
+
+Vanetza is licensed under LGPLv3; see [LICENSE.md](LICENSE.md).
+Third-party components retain their respective notices and licensing terms.

obu-firmware/external/vanetza-idf/asn1/COPYRIGHT.md

@@ -0,0 +1,47 @@
+These ASN.1 files are taken from their respective standardisation documents and are **not** licensed the same way as Vanetza itself.
+Please refer to the referenced standardisation documents for details about the applicable Intellectual Property Rights (IPR).
+To the best of my knowledge, ETSI does not object to bundling ASN.1 files of their published documents along with software.
+Some editorial changes may have been applied, e.g. removal of trailing whitespace etc.
+Code generated from the files located here can be found in the *vanetza/asn1/its* directory.
+
+# Standardisation documents
+
+- *EN302637-2v141-CAM.asn* from ETSI EN 302 637-2 v1.4.1 (2019-04)
+- *EN302637-3v131-DENM.asn* from  ETSI EN 302 637-3 v1.3.1 (2019-04)
+- *TS102894-2v131-CDD.asn* from ETSI TS 102 894-2 v1.3.1 (2018-08)
+- *TS102941v131-\*.asn* from ETSI TS 102 941 v1.3.1 (2019-02)
+- *TS103097v131.asn* from ETSI TS 103 097 v1.3.1 (2017-10)
+- *TS103097v211-\*.asn* from ETSI TS 103 097 v2.1.1 (2021-10)
+- *TR103562v211.asn* from ETSI TR 103 562 v2.1.1 (2019-12)
+
+- *IEEE1609dot2.asn* and *IEEE1609dot2BaseTypes.asn* from IEEE 1609.2 as printed in ETSI TS 103 097 v1.3.1
+
+# ETSI WebSVN
+
+You may find these ITS ASN.1 modules also in ETSI's public SVN repository: http://oldforge.etsi.org/websvn/listing.php?repname=ITS.ITS_ASN1
+While above source is still online (in March 2020), ETSI seems to have moved to https://forge.etsi.org/rep/ITS/ITS_ASN1 by now.
+This newer source also contains a license file explicitly. A copy is included below for reference.
+
+> Copyright 2019 ETSI
+>
+> Redistribution and use in source and binary forms, with or without
+> modification, are permitted provided that the following conditions are met:
+> 1. Redistributions of source code must retain the above copyright notice,
+>    this list of conditions and the following disclaimer.
+> 2. Redistributions in binary form must reproduce the above copyright notice,
+>    this list of conditions and the following disclaimer in the documentation
+>    and/or other materials provided with the distribution.
+> 3. Neither the name of the copyright holder nor the names of its contributors
+>    may be used to endorse or promote products derived from this software without
+>    specific prior written permission.
+>
+> THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+> ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+> WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+> IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
+> INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+> BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+> DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+> LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
+> OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+> OF THE POSSIBILITY OF SUCH DAMAGE.

obu-firmware/external/vanetza-idf/asn1/EN302637-2v141-CAM.asn

@@ -0,0 +1,132 @@
+CAM-PDU-Descriptions {
+itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) en (302637) cam (2) version (2)
+}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+
+BEGIN
+
+IMPORTS
+ItsPduHeader, CauseCode, ReferencePosition, AccelerationControl, Curvature, CurvatureCalculationMode, Heading, LanePosition, EmergencyPriority, EmbarkationStatus, Speed, DriveDirection, LongitudinalAcceleration, LateralAcceleration, VerticalAcceleration, StationType, ExteriorLights, DangerousGoodsBasic, SpecialTransportType, LightBarSirenInUse, VehicleRole, VehicleLength, VehicleWidth, PathHistory, RoadworksSubCauseCode, ClosedLanes, TrafficRule, SpeedLimit, SteeringWheelAngle, PerformanceClass, YawRate, ProtectedCommunicationZone, PtActivation, Latitude, Longitude, ProtectedCommunicationZonesRSU, CenDsrcTollingZone FROM ITS-Container {
+itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) version (2)
+};
+
+
+--  The root data frame for cooperative awareness messages
+
+CAM ::= SEQUENCE {
+    header ItsPduHeader,
+    cam CoopAwareness
+}
+
+CoopAwareness ::= SEQUENCE {
+    generationDeltaTime GenerationDeltaTime,
+    camParameters CamParameters
+}
+
+CamParameters ::= SEQUENCE {
+    basicContainer BasicContainer,
+    highFrequencyContainer HighFrequencyContainer,
+    lowFrequencyContainer LowFrequencyContainer OPTIONAL,
+    specialVehicleContainer SpecialVehicleContainer OPTIONAL,
+    ...
+}
+
+HighFrequencyContainer ::= CHOICE {
+    basicVehicleContainerHighFrequency BasicVehicleContainerHighFrequency,
+    rsuContainerHighFrequency RSUContainerHighFrequency,
+    ...
+}
+
+LowFrequencyContainer ::= CHOICE {
+    basicVehicleContainerLowFrequency BasicVehicleContainerLowFrequency,
+    ...
+}
+
+SpecialVehicleContainer ::= CHOICE {
+    publicTransportContainer PublicTransportContainer,
+    specialTransportContainer SpecialTransportContainer,
+    dangerousGoodsContainer DangerousGoodsContainer,
+    roadWorksContainerBasic RoadWorksContainerBasic,
+    rescueContainer RescueContainer,
+    emergencyContainer EmergencyContainer,
+    safetyCarContainer SafetyCarContainer,
+    ...
+}
+
+BasicContainer ::= SEQUENCE {
+    stationType StationType,
+    referencePosition ReferencePosition,
+    ...
+}
+
+BasicVehicleContainerHighFrequency ::= SEQUENCE {
+    heading Heading,
+    speed Speed,
+    driveDirection DriveDirection,
+    vehicleLength VehicleLength,
+    vehicleWidth VehicleWidth,
+    longitudinalAcceleration LongitudinalAcceleration,
+    curvature Curvature,
+    curvatureCalculationMode CurvatureCalculationMode,
+    yawRate YawRate,
+    accelerationControl AccelerationControl OPTIONAL,
+    lanePosition LanePosition OPTIONAL,
+    steeringWheelAngle SteeringWheelAngle OPTIONAL,
+    lateralAcceleration LateralAcceleration OPTIONAL,
+    verticalAcceleration VerticalAcceleration OPTIONAL,
+    performanceClass PerformanceClass OPTIONAL,
+    cenDsrcTollingZone CenDsrcTollingZone OPTIONAL
+}
+
+BasicVehicleContainerLowFrequency  ::= SEQUENCE {
+    vehicleRole VehicleRole,
+    exteriorLights ExteriorLights,
+    pathHistory PathHistory
+}
+
+PublicTransportContainer ::= SEQUENCE {
+    embarkationStatus EmbarkationStatus,
+    ptActivation PtActivation OPTIONAL
+}
+
+SpecialTransportContainer ::= SEQUENCE {
+    specialTransportType SpecialTransportType,
+    lightBarSirenInUse LightBarSirenInUse
+}
+
+DangerousGoodsContainer ::= SEQUENCE {
+    dangerousGoodsBasic DangerousGoodsBasic
+}
+
+RoadWorksContainerBasic ::= SEQUENCE {
+    roadworksSubCauseCode RoadworksSubCauseCode OPTIONAL,
+    lightBarSirenInUse LightBarSirenInUse,
+    closedLanes ClosedLanes OPTIONAL
+}
+
+RescueContainer ::= SEQUENCE {
+    lightBarSirenInUse LightBarSirenInUse
+}
+
+EmergencyContainer ::= SEQUENCE {
+    lightBarSirenInUse LightBarSirenInUse,
+    incidentIndication CauseCode OPTIONAL,
+    emergencyPriority EmergencyPriority OPTIONAL
+}
+
+SafetyCarContainer ::= SEQUENCE {
+    lightBarSirenInUse LightBarSirenInUse,
+    incidentIndication CauseCode OPTIONAL,
+    trafficRule TrafficRule OPTIONAL,
+    speedLimit SpeedLimit OPTIONAL
+}
+
+RSUContainerHighFrequency ::= SEQUENCE {
+    protectedCommunicationZonesRSU ProtectedCommunicationZonesRSU OPTIONAL,
+    ...
+}
+
+GenerationDeltaTime ::= INTEGER { oneMilliSec(1) } (0..65535)
+
+END

obu-firmware/external/vanetza-idf/asn1/EN302637-3v131-DENM.asn

@@ -0,0 +1,109 @@
+DENM-PDU-Descriptions {
+ itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) en (302637) denm (1) version (2)
+}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+
+BEGIN
+
+IMPORTS
+ItsPduHeader, CauseCode, Speed, InformationQuality, ReferencePosition, ClosedLanes, DangerousGoodsExtended, Heading, LanePosition, LightBarSirenInUse, RoadType, HeightLonCarr, PosLonCarr, PosCentMass, PositioningSolutionType, RequestResponseIndication, StationType, SpeedLimit, StationarySince, TimestampIts, WheelBaseVehicle, TurningRadius, PosFrontAx, PositionOfOccupants, Temperature, VehicleMass, VehicleIdentification, EnergyStorageType, ActionID, ItineraryPath, NumberOfOccupants, PositionOfPillars, RelevanceTrafficDirection, RestrictedTypes, Traces, TransmissionInterval, ValidityDuration, RelevanceDistance, EventHistory, TrafficRule, DeltaReferencePosition FROM ITS-Container {
+itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) version (2)
+};
+
+
+DENM ::= SEQUENCE {
+    header ItsPduHeader,
+    denm DecentralizedEnvironmentalNotificationMessage
+}
+
+DecentralizedEnvironmentalNotificationMessage ::= SEQUENCE {
+    management ManagementContainer,
+    situation SituationContainer OPTIONAL,
+    location LocationContainer OPTIONAL,
+    alacarte AlacarteContainer OPTIONAL
+}
+
+ManagementContainer ::= SEQUENCE {
+    actionID ActionID,
+    detectionTime TimestampIts,
+    referenceTime TimestampIts,
+    termination Termination OPTIONAL,
+    eventPosition ReferencePosition,
+    relevanceDistance RelevanceDistance OPTIONAL,
+    relevanceTrafficDirection RelevanceTrafficDirection OPTIONAL,
+    validityDuration ValidityDuration DEFAULT defaultValidity,
+    transmissionInterval TransmissionInterval OPTIONAL,
+    stationType StationType,
+    ...
+}
+
+SituationContainer ::= SEQUENCE {
+    informationQuality InformationQuality,
+    eventType CauseCode,
+    linkedCause CauseCode OPTIONAL,
+    eventHistory EventHistory OPTIONAL,
+    ...
+}
+
+LocationContainer ::= SEQUENCE {
+    eventSpeed Speed OPTIONAL,
+    eventPositionHeading Heading OPTIONAL,
+    traces Traces,
+    roadType RoadType OPTIONAL,
+    ...
+}
+
+ImpactReductionContainer ::= SEQUENCE {
+    heightLonCarrLeft HeightLonCarr,
+    heightLonCarrRight HeightLonCarr,
+    posLonCarrLeft PosLonCarr,
+    posLonCarrRight PosLonCarr,
+    positionOfPillars PositionOfPillars,
+    posCentMass PosCentMass,
+    wheelBaseVehicle WheelBaseVehicle,
+    turningRadius TurningRadius,
+    posFrontAx PosFrontAx,
+    positionOfOccupants PositionOfOccupants,
+    vehicleMass VehicleMass,
+    requestResponseIndication RequestResponseIndication
+}
+
+RoadWorksContainerExtended ::= SEQUENCE {
+    lightBarSirenInUse LightBarSirenInUse OPTIONAL,
+    closedLanes ClosedLanes OPTIONAL,
+    restriction RestrictedTypes OPTIONAL,
+    speedLimit SpeedLimit OPTIONAL,
+    incidentIndication CauseCode OPTIONAL,
+    recommendedPath ItineraryPath OPTIONAL,
+    startingPointSpeedLimit DeltaReferencePosition OPTIONAL,
+    trafficFlowRule TrafficRule OPTIONAL,
+    referenceDenms ReferenceDenms OPTIONAL
+ }
+
+StationaryVehicleContainer ::= SEQUENCE {
+    stationarySince StationarySince OPTIONAL,
+    stationaryCause CauseCode OPTIONAL,
+    carryingDangerousGoods DangerousGoodsExtended OPTIONAL,
+    numberOfOccupants NumberOfOccupants OPTIONAL,
+    vehicleIdentification VehicleIdentification OPTIONAL,
+    energyStorageType EnergyStorageType OPTIONAL
+}
+
+AlacarteContainer ::= SEQUENCE {
+    lanePosition LanePosition OPTIONAL,
+    impactReduction ImpactReductionContainer OPTIONAL,
+    externalTemperature Temperature OPTIONAL,
+    roadWorks RoadWorksContainerExtended OPTIONAL,
+    positioningSolution PositioningSolutionType OPTIONAL,
+    stationaryVehicle StationaryVehicleContainer OPTIONAL,
+    ...
+}
+
+defaultValidity INTEGER ::= 600
+
+Termination ::= ENUMERATED {isCancellation(0), isNegation (1)}
+
+ReferenceDenms ::= SEQUENCE (SIZE(1..8, ...)) OF ActionID
+
+END

obu-firmware/external/vanetza-idf/asn1/IEEE1609dot2.asn

@@ -0,0 +1,306 @@
+IEEE1609dot2 {
+iso(1) identified-organization(3) ieee(111) standards-association-numbered-series-standards(2) wave-stds(1609) dot2(2) base (1) schema (1) major-version-2(2)
+}
+
+--******************************************************************************
+--
+-- IEEE P1609.2 Data Types
+--
+--******************************************************************************
+
+DEFINITIONS AUTOMATIC TAGS ::= BEGIN
+
+EXPORTS ALL;
+
+IMPORTS
+    CrlSeries,
+    EccP256CurvePoint,
+    EciesP256EncryptedKey,
+    EncryptionKey,
+    GeographicRegion,
+    GroupLinkageValue,
+    HashAlgorithm,
+    HashedId3,
+    HashedId8,
+    Hostname,
+    IValue,
+    LinkageValue,
+    Opaque,
+    Psid,
+    PsidSsp,
+    PsidSspRange,
+    PublicEncryptionKey,
+    PublicVerificationKey,
+    SequenceOfHashedId3,
+    SequenceOfPsidSsp,
+    SequenceOfPsidSspRange,
+    ServiceSpecificPermissions,
+    Signature,
+    SubjectAssurance,
+    SymmetricEncryptionKey,
+    ThreeDLocation,
+    Time64,
+    Uint3,
+    Uint8,
+    Uint16,
+    Uint32,
+    ValidityPeriod
+FROM IEEE1609dot2BaseTypes {
+iso(1) identified-organization(3) ieee(111) standards-association-numbered-series-standards(2) wave-stds(1609) dot2(2) base(1) base-types(2)  major-version-2 (2)
+};
+
+--
+--*********************************************************************
+--
+--  Structures for describing secured data
+--
+--*********************************************************************
+
+-- Necessary to get certain tools to generate sample PDUs
+-- TestIeee1609Dot2Data ::= Ieee1609Dot2Data
+-- TestCertificate ::= Certificate
+
+-- this structure belongs later in the file but putting it here avoids
+-- compiler errors with certain tools
+SignedDataPayload ::= SEQUENCE {
+    data              Ieee1609Dot2Data OPTIONAL,
+    extDataHash       HashedData OPTIONAL,
+    ...
+}
+    (WITH COMPONENTS {..., data PRESENT} |
+     WITH COMPONENTS {..., extDataHash PRESENT})
+
+Ieee1609Dot2Data ::= SEQUENCE {
+    protocolVersion    Uint8(3),
+    content            Ieee1609Dot2Content
+}
+
+Ieee1609Dot2Content ::= CHOICE {
+    unsecuredData            Opaque,
+    signedData               SignedData,
+    encryptedData            EncryptedData,
+    signedCertificateRequest Opaque,
+    ...
+}
+
+SignedData ::= SEQUENCE {
+    hashId          HashAlgorithm,
+    tbsData         ToBeSignedData,
+    signer          SignerIdentifier,
+    signature       Signature
+}
+
+SignerIdentifier ::= CHOICE {
+    digest          HashedId8,
+    certificate     SequenceOfCertificate,
+    self            NULL,
+    ...
+}
+
+ToBeSignedData ::= SEQUENCE {
+    payload         SignedDataPayload,
+    headerInfo      HeaderInfo
+}
+
+HashedData::= CHOICE {
+    sha256HashedData OCTET STRING (SIZE(32)),
+    ...
+}
+
+HeaderInfo ::= SEQUENCE {
+    psid                   Psid,
+    generationTime         Time64 OPTIONAL,
+    expiryTime             Time64  OPTIONAL,
+    generationLocation     ThreeDLocation OPTIONAL,
+    p2pcdLearningRequest   HashedId3 OPTIONAL,
+    missingCrlIdentifier   MissingCrlIdentifier OPTIONAL,
+    encryptionKey          EncryptionKey OPTIONAL,
+    ...,
+    inlineP2pcdRequest     SequenceOfHashedId3 OPTIONAL,
+    requestedCertificate   Certificate OPTIONAL
+}
+
+MissingCrlIdentifier ::= SEQUENCE {
+    cracaId         HashedId3,
+    crlSeries       CrlSeries,
+    ...
+}
+
+Countersignature ::= Ieee1609Dot2Data (WITH COMPONENTS {...,
+    content (WITH COMPONENTS {...,
+        signedData  (WITH COMPONENTS {...,
+            tbsData (WITH COMPONENTS {...,
+                payload (WITH COMPONENTS {...,
+                    data ABSENT,
+                    extDataHash PRESENT
+                }),
+                headerInfo(WITH COMPONENTS {...,
+                    generationTime PRESENT,
+                    expiryTime ABSENT,
+                    generationLocation ABSENT,
+                    p2pcdLearningRequest ABSENT,
+                    missingCrlIdentifier ABSENT,
+                    encryptionKey ABSENT
+                })
+            })
+        })
+    })
+})
+
+
+--**********************************************************************
+--
+--  Structures for describing encrypted data
+--
+--**********************************************************************
+
+EncryptedData ::= SEQUENCE {
+    recipients     SequenceOfRecipientInfo,
+    ciphertext     SymmetricCiphertext
+}
+RecipientInfo ::= CHOICE {
+    pskRecipInfo        PreSharedKeyRecipientInfo,
+    symmRecipInfo       SymmRecipientInfo,
+    certRecipInfo       PKRecipientInfo,
+    signedDataRecipInfo PKRecipientInfo,
+    rekRecipInfo        PKRecipientInfo
+}
+
+SequenceOfRecipientInfo ::= SEQUENCE OF RecipientInfo
+
+PreSharedKeyRecipientInfo ::= HashedId8
+SymmRecipientInfo ::= SEQUENCE {
+    recipientId        HashedId8,
+    encKey             SymmetricCiphertext
+}
+
+PKRecipientInfo ::= SEQUENCE {
+    recipientId        HashedId8,
+    encKey             EncryptedDataEncryptionKey
+}
+
+EncryptedDataEncryptionKey ::= CHOICE {
+    eciesNistP256          EciesP256EncryptedKey,
+    eciesBrainpoolP256r1   EciesP256EncryptedKey,
+    ...
+}
+
+SymmetricCiphertext ::= CHOICE {
+    aes128ccm           AesCcmCiphertext,
+    ...
+}
+
+AesCcmCiphertext ::= SEQUENCE {
+    nonce           OCTET STRING (SIZE (12)),
+    ccmCiphertext   Opaque -- 16 bytes longer than plaintext
+}
+
+
+--**********************************************************************
+--
+--  Certificates and other security management data structures
+--
+--**********************************************************************
+
+-- Certificates are implicit (type = implicit, toBeSigned includes
+-- reconstruction value, signature absent) or explicit (type = explicit,
+-- toBeSigned includes verification key, signature present).
+
+Certificate ::= CertificateBase (ImplicitCertificate | ExplicitCertificate)
+
+SequenceOfCertificate ::= SEQUENCE OF Certificate
+
+CertificateBase ::= SEQUENCE {
+    version                 Uint8(3),
+    type                    CertificateType,
+    issuer                  IssuerIdentifier,
+    toBeSigned              ToBeSignedCertificate,
+    signature               Signature OPTIONAL
+}
+
+CertificateType  ::= ENUMERATED {
+    explicit,
+    implicit,
+    ...
+}
+
+ImplicitCertificate ::= CertificateBase (WITH COMPONENTS {...,
+    type(implicit),
+    toBeSigned (WITH COMPONENTS {...,
+        verifyKeyIndicator(WITH COMPONENTS {reconstructionValue})
+    }),
+    signature ABSENT
+})
+
+ExplicitCertificate ::= CertificateBase (WITH COMPONENTS {...,
+    type(explicit),
+    toBeSigned(WITH COMPONENTS {...,
+        verifyKeyIndicator(WITH COMPONENTS {verificationKey})
+    }),
+    signature PRESENT
+})
+
+IssuerIdentifier ::= CHOICE {
+    sha256AndDigest         HashedId8,
+    self                    HashAlgorithm,
+    ...,
+    sha384AndDigest         HashedId8
+}
+
+ToBeSignedCertificate ::= SEQUENCE {
+    id                     CertificateId,
+    cracaId                HashedId3,
+    crlSeries              CrlSeries,
+    validityPeriod         ValidityPeriod,
+    region                 GeographicRegion OPTIONAL,
+    assuranceLevel         SubjectAssurance OPTIONAL,
+    appPermissions         SequenceOfPsidSsp OPTIONAL,
+    certIssuePermissions   SequenceOfPsidGroupPermissions OPTIONAL,
+    certRequestPermissions SequenceOfPsidGroupPermissions OPTIONAL,
+    canRequestRollover     NULL OPTIONAL,
+    encryptionKey          PublicEncryptionKey OPTIONAL,
+    verifyKeyIndicator     VerificationKeyIndicator,
+    ...
+}
+    (WITH COMPONENTS { ..., appPermissions PRESENT} |
+     WITH COMPONENTS { ..., certIssuePermissions PRESENT} |
+     WITH COMPONENTS { ..., certRequestPermissions PRESENT})
+
+CertificateId ::= CHOICE {
+    linkageData             LinkageData,
+    name                    Hostname,
+    binaryId                OCTET STRING(SIZE(1..64)),
+    none                    NULL,
+    ...
+}
+
+LinkageData ::= SEQUENCE {
+    iCert                 IValue,
+    linkage-value         LinkageValue,
+    group-linkage-value   GroupLinkageValue OPTIONAL
+}
+
+EndEntityType ::= BIT STRING { app (0), enrol (1) } (SIZE (8)) (ALL EXCEPT {})
+
+PsidGroupPermissions ::= SEQUENCE {
+    subjectPermissions SubjectPermissions,
+    minChainLength     INTEGER DEFAULT 1,
+    chainLengthRange   INTEGER DEFAULT 0,
+    eeType             EndEntityType DEFAULT {app} -- vanetza-idf: IEEE Std 1609.2-2022 6.4.28 (was '00'H)
+}
+
+SequenceOfPsidGroupPermissions ::= SEQUENCE OF PsidGroupPermissions
+
+SubjectPermissions ::= CHOICE {
+    explicit        SequenceOfPsidSspRange,
+    all             NULL,
+    ...
+}
+
+VerificationKeyIndicator ::= CHOICE {
+    verificationKey         PublicVerificationKey,
+    reconstructionValue     EccP256CurvePoint,
+    ...
+}
+
+END

obu-firmware/external/vanetza-idf/asn1/IEEE1609dot2BaseTypes.asn

@@ -0,0 +1,330 @@
+IEEE1609dot2BaseTypes {
+iso(1) identified-organization(3) ieee(111) standards-association-numbered-series-standards(2) wave-stds(1609) dot2(2) base(1) base-types(2) major-version-2(2)
+}
+
+--
+--********************************************************************
+--  IEEE P1609.2 Base Data Types
+--
+--********************************************************************
+
+DEFINITIONS AUTOMATIC TAGS ::= BEGIN
+
+EXPORTS ALL;
+
+
+-- ------------------------------------------------------------------
+--
+-- Integers
+--
+-- ------------------------------------------------------------------
+
+Uint3  ::= INTEGER (0..7)                    -- (hex)                      07
+Uint8  ::= INTEGER (0..255)                  -- (hex)                      ff
+Uint16 ::= INTEGER (0..65535)                -- (hex)                   ff ff
+Uint32 ::= INTEGER (0..4294967295)           -- (hex)             ff ff ff ff
+Uint64 ::= INTEGER (0..18446744073709551615) -- (hex) ff ff ff ff ff ff ff ff
+
+SequenceOfUint8  ::= SEQUENCE OF Uint8
+SequenceOfUint16 ::= SEQUENCE OF Uint16
+
+
+-- ------------------------------------------------------------------
+--
+-- OCTET STRING types
+--
+-- ------------------------------------------------------------------
+
+Opaque ::= OCTET STRING
+
+HashedId10 ::= OCTET STRING (SIZE(10))
+HashedId8  ::= OCTET STRING (SIZE(8))
+HashedId3  ::= OCTET STRING (SIZE(3))
+SequenceOfHashedId3 ::= SEQUENCE OF HashedId3
+
+
+-- ------------------------------------------------------------------
+--
+-- Time
+--
+-- ------------------------------------------------------------------
+
+Time32 ::= Uint32
+Time64 ::= Uint64
+
+ValidityPeriod ::= SEQUENCE {
+    start          Time32,
+    duration       Duration
+}
+
+Duration ::= CHOICE {
+    microseconds     Uint16,
+    milliseconds     Uint16,
+    seconds          Uint16,
+    minutes          Uint16,
+    hours            Uint16,
+    sixtyHours       Uint16,
+    years            Uint16
+}
+
+
+-- ------------------------------------------------------------------
+--
+-- Location
+--
+-- ------------------------------------------------------------------
+
+GeographicRegion ::= CHOICE {
+    circularRegion      CircularRegion,
+    rectangularRegion   SequenceOfRectangularRegion,
+    polygonalRegion     PolygonalRegion,
+    identifiedRegion    SequenceOfIdentifiedRegion,
+    ...
+}
+
+CircularRegion ::= SEQUENCE {
+    center          TwoDLocation,
+    radius          Uint16
+}
+
+RectangularRegion ::= SEQUENCE {
+    northWest       TwoDLocation,
+    southEast       TwoDLocation
+}
+
+SequenceOfRectangularRegion ::= SEQUENCE OF RectangularRegion
+
+PolygonalRegion ::= SEQUENCE SIZE(3..MAX) OF TwoDLocation
+
+TwoDLocation ::= SEQUENCE {
+    latitude      Latitude,
+    longitude     Longitude
+}
+
+IdentifiedRegion ::= CHOICE {
+    countryOnly           CountryOnly,
+    countryAndRegions     CountryAndRegions,
+    countryAndSubregions  CountryAndSubregions,
+    ...
+}
+
+SequenceOfIdentifiedRegion ::= SEQUENCE OF IdentifiedRegion
+
+CountryOnly ::= Uint16
+
+CountryAndRegions ::= SEQUENCE {
+    countryOnly    CountryOnly,
+    regions        SequenceOfUint8
+}
+
+CountryAndSubregions ::= SEQUENCE {
+    country             CountryOnly,
+    regionAndSubregions SequenceOfRegionAndSubregions
+}
+
+RegionAndSubregions ::= SEQUENCE {
+    region             Uint8,
+    subregions         SequenceOfUint16
+}
+
+SequenceOfRegionAndSubregions ::= SEQUENCE OF RegionAndSubregions
+
+ThreeDLocation ::= SEQUENCE {
+    latitude        Latitude,
+    longitude       Longitude,
+    elevation       Elevation
+}
+
+Latitude ::= NinetyDegreeInt
+Longitude ::= OneEightyDegreeInt
+Elevation ::= ElevInt
+
+NinetyDegreeInt ::= INTEGER {
+    min     (-900000000),
+    max     (900000000),
+    unknown (900000001)
+} (-900000000..900000001)
+
+KnownLatitude ::= NinetyDegreeInt (min..max) -- Minus 90deg to +90deg in microdegree intervals
+UnknownLatitude ::= NinetyDegreeInt (unknown)
+
+OneEightyDegreeInt ::= INTEGER {
+    min     (-1799999999),
+    max     (1800000000),
+    unknown (1800000001)
+} (-1799999999..1800000001)
+
+KnownLongitude ::= OneEightyDegreeInt (min..max)
+UnknownLongitude ::= OneEightyDegreeInt (unknown)
+
+ElevInt ::= Uint16 -- Range is from -4096 to 61439 in units of one-tenth of a meter
+
+
+-- ------------------------------------------------------------------
+--
+-- Crypto
+--
+-- ------------------------------------------------------------------
+
+Signature ::= CHOICE {
+    ecdsaNistP256Signature        EcdsaP256Signature,
+    ecdsaBrainpoolP256r1Signature EcdsaP256Signature,
+    ...,
+    ecdsaBrainpoolP384r1Signature EcdsaP384Signature
+}
+
+EcdsaP256Signature ::= SEQUENCE {
+    rSig     EccP256CurvePoint,
+    sSig     OCTET STRING (SIZE (32))
+}
+
+EcdsaP384Signature ::= SEQUENCE {
+    rSig     EccP384CurvePoint,
+    sSig     OCTET STRING (SIZE (48))
+}
+
+EccP256CurvePoint ::= CHOICE {
+    x-only           OCTET STRING (SIZE (32)),
+    fill             NULL,  -- consistency with 1363 / X9.62
+    compressed-y-0   OCTET STRING (SIZE (32)),
+    compressed-y-1   OCTET STRING (SIZE (32)),
+    uncompressedP256 SEQUENCE {
+        x OCTET STRING (SIZE (32)),
+        y OCTET STRING (SIZE (32))
+    }
+}
+
+EccP384CurvePoint ::= CHOICE {
+    x-only           OCTET STRING (SIZE (48)),
+    fill             NULL, -- consistency w 1363 / X9.62
+    compressed-y-0   OCTET STRING (SIZE (48)),
+    compressed-y-1   OCTET STRING (SIZE (48)),
+    uncompressedP384 SEQUENCE  {
+        x OCTET STRING (SIZE (48)),
+        y OCTET STRING (SIZE (48))
+    }
+}
+
+
+SymmAlgorithm ::= ENUMERATED {
+    aes128Ccm,
+    ...
+}
+
+HashAlgorithm ::= ENUMERATED {
+    sha256,
+    ...,
+    sha384
+}
+
+EciesP256EncryptedKey ::= SEQUENCE {
+    v               EccP256CurvePoint,
+    c               OCTET STRING (SIZE (16)),
+    t               OCTET STRING (SIZE (16))
+}
+
+EncryptionKey ::= CHOICE {
+    public               PublicEncryptionKey,
+    symmetric            SymmetricEncryptionKey
+}
+
+PublicEncryptionKey ::= SEQUENCE {
+    supportedSymmAlg      SymmAlgorithm,
+    publicKey             BasePublicEncryptionKey
+}
+
+BasePublicEncryptionKey ::= CHOICE {
+    eciesNistP256             EccP256CurvePoint,
+    eciesBrainpoolP256r1      EccP256CurvePoint,
+    ...
+}
+
+PublicVerificationKey ::= CHOICE {
+    ecdsaNistP256             EccP256CurvePoint,
+    ecdsaBrainpoolP256r1      EccP256CurvePoint,
+    ...,
+    ecdsaBrainpoolP384r1      EccP384CurvePoint
+}
+
+SymmetricEncryptionKey ::= CHOICE {
+    aes128Ccm     OCTET STRING(SIZE(16)),
+    ...
+}
+
+
+-- ------------------------------------------------------------------
+--
+-- PSID / ITS-AID
+--
+-- ------------------------------------------------------------------
+
+PsidSsp ::= SEQUENCE {
+    psid                  Psid,
+    ssp                   ServiceSpecificPermissions OPTIONAL
+}
+
+SequenceOfPsidSsp ::= SEQUENCE OF PsidSsp
+
+Psid ::= INTEGER (0..MAX)
+
+SequenceOfPsid ::= SEQUENCE OF Psid
+
+ServiceSpecificPermissions ::= CHOICE {
+    opaque              OCTET STRING (SIZE(0..MAX)),
+    ...,
+    bitmapSsp           BitmapSsp
+}
+
+BitmapSsp ::= OCTET STRING (SIZE(0..31))
+
+PsidSspRange ::= SEQUENCE {
+    psid                Psid,
+    sspRange            SspRange OPTIONAL
+}
+
+SequenceOfPsidSspRange ::= SEQUENCE OF PsidSspRange
+
+SspRange ::= CHOICE {
+    opaque              SequenceOfOctetString,
+    all                 NULL,
+    ... ,
+    bitmapSspRange      BitmapSspRange
+}
+
+BitmapSspRange ::= SEQUENCE {
+    sspValue            OCTET STRING (SIZE(1..32)),
+    sspBitmask          OCTET STRING (SIZE(1..32))
+}
+
+SequenceOfOctetString ::= SEQUENCE (SIZE (0..MAX)) OF OCTET STRING (SIZE(0..MAX))
+
+
+-- ------------------------------------------------------------------
+--
+-- Goes in certs
+--
+-- ------------------------------------------------------------------
+
+SubjectAssurance ::= OCTET STRING (SIZE(1))
+
+CrlSeries ::= Uint16
+
+
+-- ------------------------------------------------------------------
+--
+-- Pseudonym Linkage
+--
+-- ------------------------------------------------------------------
+
+IValue ::= Uint16
+Hostname ::= UTF8String (SIZE(0..255))
+LinkageValue ::= OCTET STRING (SIZE(9))
+GroupLinkageValue ::= SEQUENCE {
+    jValue  OCTET STRING (SIZE(4)),
+    value   OCTET STRING (SIZE(9))
+}
+
+LaId ::= OCTET STRING (SIZE(2))
+LinkageSeed ::= OCTET STRING (SIZE(16))
+
+END

obu-firmware/external/vanetza-idf/asn1/TR103562v211-CPM.asn

@@ -0,0 +1,372 @@
+CPM-PDU-Descriptions {
+    itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) tr (103562) cpm (1) version (1)
+}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+
+BEGIN
+
+IMPORTS ItsPduHeader, Heading, ReferencePosition, Speed, DriveDirection, LongitudinalAcceleration, LateralAcceleration, VerticalAcceleration, StationType, VehicleLength, VehicleWidth, YawRate, SpeedConfidence
+FROM ITS-Container { itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) version (2) }
+IntersectionReferenceID, LaneID, NodeOffsetPointXY, Offset-B10, Offset-B11, Offset-B12, Offset-B13, Offset-B14, Offset-B16, RoadSegmentReferenceID, VehicleHeight
+FROM DSRC { iso (1) standard (0) signalizedIntersection (19091) profilec(2) dsrc (2) version2 (2) }
+GenerationDeltaTime FROM CAM-PDU-Descriptions { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg1(1) en(302637) cam(2) version(2)} ;
+
+--  The root data frame for collective perception message
+CPM ::= SEQUENCE {
+    header ItsPduHeader,
+    cpm CollectivePerceptionMessage
+}
+
+CollectivePerceptionMessage ::= SEQUENCE {
+    generationDeltaTime GenerationDeltaTime,
+    cpmParameters       CpmParameters
+}
+
+CpmParameters ::= SEQUENCE {
+    managementContainer         CpmManagementContainer,
+    stationDataContainer        StationDataContainer OPTIONAL,
+    sensorInformationContainer  SensorInformationContainer OPTIONAL,
+    perceivedObjectContainer    PerceivedObjectContainer OPTIONAL,
+    freeSpaceAddendumContainer  FreeSpaceAddendumContainer OPTIONAL,
+    numberOfPerceivedObjects    NumberOfPerceivedObjects,
+    ...
+}
+
+CpmManagementContainer ::= SEQUENCE {
+    stationType                         StationType,
+    perceivedObjectContainerSegmentInfo PerceivedObjectContainerSegmentInfo OPTIONAL,
+    referencePosition                   ReferencePosition,
+    ...
+}
+
+StationDataContainer ::= CHOICE {
+    originatingVehicleContainer     OriginatingVehicleContainer,
+    originatingRSUContainer         OriginatingRSUContainer,
+    ...
+}
+
+OriginatingVehicleContainer ::= SEQUENCE {
+    heading                     Heading,
+    speed                       Speed,
+    vehicleOrientationAngle     WGS84Angle OPTIONAL,
+    driveDirection              DriveDirection DEFAULT forward,
+    longitudinalAcceleration    LongitudinalAcceleration OPTIONAL,
+    lateralAcceleration         LateralAcceleration OPTIONAL,
+    verticalAcceleration        VerticalAcceleration OPTIONAL,
+    yawRate                     YawRate OPTIONAL,
+    pitchAngle                  CartesianAngle OPTIONAL,
+    rollAngle                   CartesianAngle OPTIONAL,
+    vehicleLength               VehicleLength OPTIONAL,
+    vehicleWidth                VehicleWidth OPTIONAL,
+    vehicleHeight               VehicleHeight OPTIONAL,
+    trailerDataContainer        TrailerDataContainer OPTIONAL,
+    ...
+}
+
+OriginatingRSUContainer ::= CHOICE {
+    intersectionReferenceId     IntersectionReferenceID,
+    roadSegmentReferenceId      RoadSegmentReferenceID,
+    ...
+}
+
+SensorInformationContainer ::= SEQUENCE SIZE(1..128, ...) OF SensorInformation
+
+SensorInformation ::= SEQUENCE {
+    sensorID                Identifier,
+    type                    SensorType,
+    detectionArea           DetectionArea,
+    freeSpaceConfidence     FreeSpaceConfidence OPTIONAL,
+    ...
+}
+
+PerceivedObjectContainer ::= SEQUENCE SIZE(1..128, ...) OF PerceivedObject
+
+PerceivedObject ::= SEQUENCE {
+    objectID                Identifier,
+    sensorIDList            SensorIdList OPTIONAL,
+    timeOfMeasurement       TimeOfMeasurement,
+    objectAge               ObjectAge OPTIONAL,
+    objectConfidence        ObjectConfidence DEFAULT 0,
+    xDistance               ObjectDistanceWithConfidence,
+    yDistance               ObjectDistanceWithConfidence,
+    zDistance               ObjectDistanceWithConfidence OPTIONAL,
+    xSpeed                  SpeedExtended,
+    ySpeed                  SpeedExtended,
+    zSpeed                  SpeedExtended OPTIONAL,
+    xAcceleration           LongitudinalAcceleration OPTIONAL,
+    yAcceleration           LateralAcceleration OPTIONAL,
+    zAcceleration           VerticalAcceleration OPTIONAL,
+    yawAngle                CartesianAngle OPTIONAL,
+    planarObjectDimension1  ObjectDimension OPTIONAL,
+    planarObjectDimension2  ObjectDimension OPTIONAL,
+    verticalObjectDimension ObjectDimension OPTIONAL,
+    objectRefPoint          ObjectRefPoint DEFAULT 0,
+    dynamicStatus           DynamicStatus OPTIONAL,
+    classification          ObjectClassDescription OPTIONAL,
+    matchedPosition         MatchedPosition OPTIONAL,
+    ...
+}
+
+DetectionArea ::= CHOICE {
+    vehicleSensor               VehicleSensor,
+    stationarySensorRadial      AreaRadial,
+    stationarySensorPolygon     AreaPolygon,
+    stationarySensorCircular    AreaCircular,
+    stationarySensorEllipse     AreaEllipse,
+    stationarySensorRectangle   AreaRectangle,
+    ...
+}
+
+VehicleSensor ::= SEQUENCE {
+    refPointId                  RefPointId DEFAULT 0,
+    xSensorOffset               XSensorOffset,
+    ySensorOffset               YSensorOffset,
+    zSensorOffset               ZSensorOffset OPTIONAL,
+    vehicleSensorPropertyList   VehicleSensorPropertyList,
+    ...
+}
+
+VehicleSensorPropertyList ::= SEQUENCE SIZE(1..10) OF VehicleSensorProperties
+
+VehicleSensorProperties ::= SEQUENCE {
+    range                           Range,
+    horizontalOpeningAngleStart     CartesianAngleValue,
+    horizontalOpeningAngleEnd       CartesianAngleValue,
+    verticalOpeningAngleStart       CartesianAngleValue OPTIONAL,
+    verticalOpeningAngleEnd         CartesianAngleValue OPTIONAL,
+    ...
+}
+
+AreaCircular ::= SEQUENCE {
+    nodeCenterPoint      OffsetPoint OPTIONAL,
+    radius               Radius
+}
+
+AreaEllipse  ::= SEQUENCE {
+    nodeCenterPoint             OffsetPoint OPTIONAL,
+    semiMinorRangeLength        SemiRangeLength,
+    semiMajorRangeLength        SemiRangeLength,
+    semiMajorRangeOrientation   WGS84AngleValue,
+    semiHeight                  SemiRangeLength OPTIONAL
+}
+
+AreaRectangle ::= SEQUENCE {
+    nodeCenterPoint             OffsetPoint OPTIONAL,
+    semiMajorRangeLength        SemiRangeLength,
+    semiMinorRangeLength        SemiRangeLength,
+    semiMajorRangeOrientation   WGS84AngleValue,
+    semiHeight                  SemiRangeLength OPTIONAL
+}
+
+AreaPolygon ::= SEQUENCE {
+    polyPointList   PolyPointList
+}
+
+PolyPointList ::= SEQUENCE (SIZE(3..16, ...)) OF OffsetPoint
+
+AreaRadial ::= SEQUENCE {
+    range                                   Range,
+    stationaryHorizontalOpeningAngleStart   WGS84AngleValue,
+    stationaryHorizontalOpeningAngleEnd     WGS84AngleValue,
+    verticalOpeningAngleStart               CartesianAngleValue OPTIONAL,
+    verticalOpeningAngleEnd                 CartesianAngleValue OPTIONAL,
+    sensorPositionOffset                    OffsetPoint OPTIONAL,
+    sensorHeight                            SensorHeight OPTIONAL,
+    ...
+}
+
+FreeSpaceAddendumContainer ::= SEQUENCE SIZE(1..128, ...) OF FreeSpaceAddendum
+
+FreeSpaceAddendum ::= SEQUENCE {
+    freeSpaceConfidence    FreeSpaceConfidence,
+    freeSpaceArea          FreeSpaceArea,
+    sensorIDList           SensorIdList OPTIONAL,
+    shadowingApplies       ShadowingApplies DEFAULT TRUE,
+    ...
+}
+
+FreeSpaceArea ::= CHOICE {
+    freeSpacePolygon     AreaPolygon,
+    freeSpaceCircular    AreaCircular,
+    freeSpaceEllipse     AreaEllipse,
+    freeSpaceRectangle   AreaRectangle,
+    ...
+}
+
+ObjectDistanceWithConfidence ::= SEQUENCE {
+    value        DistanceValue,
+    confidence   DistanceConfidence
+}
+
+ObjectDimension ::= SEQUENCE {
+    value       ObjectDimensionValue,
+    confidence  ObjectDimensionConfidence
+}
+
+CartesianAngle ::= SEQUENCE {
+    value       CartesianAngleValue,
+    confidence  AngleConfidence
+}
+
+WGS84Angle ::= SEQUENCE {
+    value       WGS84AngleValue,
+    confidence  AngleConfidence
+}
+
+SpeedExtended ::= SEQUENCE {
+    value       SpeedValueExtended,
+    confidence  SpeedConfidence
+}
+
+SensorIdList ::= SEQUENCE SIZE(1..128, ...) OF Identifier
+
+TrailerDataContainer ::= SEQUENCE SIZE(1..2) OF TrailerData
+
+TrailerData ::= SEQUENCE {
+    refPointId          RefPointId,
+    hitchPointOffset    HitchPointOffset,
+    frontOverhang       FrontOverhang,
+    rearOverhang        RearOverhang,
+    trailerWidth        VehicleWidth OPTIONAL,
+    hitchAngle          CartesianAngle OPTIONAL,
+    ...
+}
+
+LongitudinalLanePosition ::= SEQUENCE {
+    longitudinalLanePositionValue        LongitudinalLanePositionValue,
+    longitudinalLanePositionConfidence   LongitudinalLanePositionConfidence
+}
+
+MatchedPosition ::= SEQUENCE {
+    laneID                      LaneID OPTIONAL,
+    longitudinalLanePosition    LongitudinalLanePosition OPTIONAL,
+    ...
+}
+
+PerceivedObjectContainerSegmentInfo ::= SEQUENCE {
+    totalMsgSegments    SegmentCount,
+    thisSegmentNum      SegmentCount
+}
+
+ObjectClassDescription ::= SEQUENCE (SIZE(1..8)) OF ObjectClass
+
+ObjectClass ::= SEQUENCE {
+    confidence  ClassConfidence,
+    class       CHOICE {
+        vehicle                 VehicleSubclass,
+        person                  PersonSubclass,
+        animal                  AnimalSubclass,
+        other                   OtherSubclass
+    }
+}
+
+VehicleSubclass ::= SEQUENCE {
+    type        VehicleSubclassType DEFAULT 0,
+    confidence  ClassConfidence DEFAULT 0
+}
+
+PersonSubclass ::= SEQUENCE {
+    type        PersonSubclassType DEFAULT 0,
+    confidence  ClassConfidence DEFAULT 0
+}
+
+AnimalSubclass ::= SEQUENCE {
+    type        AnimalSubclassType DEFAULT 0,
+    confidence  ClassConfidence DEFAULT 0
+}
+
+OtherSubclass ::= SEQUENCE {
+    type        OtherSublassType DEFAULT 0,
+    confidence  ClassConfidence DEFAULT 0
+}
+
+OffsetPoint ::= SEQUENCE {
+    nodeOffsetPointxy   NodeOffsetPointXY (WITH COMPONENTS {..., node-LatLon ABSENT, regional ABSENT}),
+    nodeOffsetPointZ    NodeOffsetPointZ OPTIONAL
+}
+
+NodeOffsetPointZ ::= CHOICE {
+    node-Z1 Offset-B10, -- node is within 5.11m of last node
+    node-Z2 Offset-B11, -- node is within 10.23m of last node
+    node-Z3 Offset-B12, -- node is within 20.47m of last node
+    node-Z4 Offset-B13, -- node is within 40.96m of last node
+    node-Z5 Offset-B14, -- node is within 81.91m of last node
+    node-Z6 Offset-B16  -- node is within 327.67m of last node
+}
+
+AnimalSubclassType          ::= INTEGER {unknown(0)} (0..255)
+
+ClassConfidence             ::= INTEGER {unknown(0), onePercent(1), oneHundredPercent(100), unavailable(101)} (0..101)
+
+WGS84AngleValue             ::= INTEGER {wgs84North(0), wgs84East(900), wgs84South(1800), wgs84West(2700), unavailable(3601)} (0..3601)
+
+CartesianAngleValue         ::= INTEGER {zeroPointOneDegree(1), oneDegree(10), unavailable(3601)} (0..3601)
+
+AngleConfidence             ::= INTEGER {zeroPointOneDegree (1), oneDegree (10), outOfRange(126), unavailable(127)} (1..127)
+
+SemiRangeLength             ::= INTEGER {zeroPointOneMeter(1), oneMeter(10)} (0..10000)
+
+DistanceValue               ::= INTEGER {zeroPointZeroOneMeter(1), oneMeter(100)} (-132768..132767)
+
+DistanceConfidence          ::= INTEGER {zeroPointZeroOneMeter(1), oneMeter(100), outOfRange(101), unavailable(102)} (0..102)
+
+DynamicStatus               ::= INTEGER {dynamic(0), hasBeenDynamic(1), static(2)} (0..2)
+
+HitchPointOffset            ::= INTEGER {zeroPointOneMeter(1), oneMeter(10)} (0..100)
+
+FrontOverhang               ::= INTEGER {zeroPointOneMeter(1), oneMeter(10)} (0..50)
+
+FreeSpaceConfidence         ::= INTEGER {unknown(0), onePercent(1), oneHundredPercent(100), unavailable(101)} (0..101)
+
+LongitudinalLanePositionValue       ::= INTEGER {zeroPointOneMeter(1)} (0..32767)
+
+LongitudinalLanePositionConfidence  ::= INTEGER {zeroPointZeroOneMeter(1), oneMeter(100), outOfRange(101), unavailable(102)} (0..102)
+
+ObjectAge                   ::= INTEGER {oneMiliSec(1)} (0..1500)
+
+ObjectConfidence            ::= INTEGER {unknown(0), onePercent(1), oneHundredPercent(100), unavailable(101)} (0..101)
+
+ObjectDimensionValue        ::= INTEGER {zeroPointOneMeter(1), oneMeter(10)} (0..1023)
+
+ObjectDimensionConfidence   ::= INTEGER {zeroPointZeroOneMeter(1), oneMeter(100), outOfRange(101), unavailable(102)} (0..102)
+
+ObjectRefPoint              ::= INTEGER {mid(0), bottomLeft(1), midLeft(2), topLeft(3), bottomMid(4), topMid(5), bottomRight(6), midRight(7), topRight(8)} (0..8)
+
+OtherSublassType            ::= INTEGER {unknown(0), roadSideUnit(1)} (0..255)
+
+PersonSubclassType          ::= INTEGER {unknown(0), pedestrian(1), personInWheelchair(2), cyclist(3), personWithStroller(4), personOnSkates(5), personGroup(6)} (0..255)
+
+Radius                      ::= INTEGER {zeroPointOneMeter(1), oneMeter(10)}  (0..10000)
+
+Range                       ::= INTEGER {zeroPointOneMeter(1), oneMeter(10)} (0..10000)
+
+RearOverhang                ::= INTEGER {zeroPointOneMeter(1), oneMeter(10)} (0..150)
+
+RefPointId                  ::= INTEGER (0..255)
+
+SensorHeight                ::= INTEGER  {zeroPointZeroOneMeter(1)} (-5000..5000)
+
+ShadowingApplies            ::= BOOLEAN
+
+Identifier                  ::= INTEGER (0..255)
+
+NumberOfPerceivedObjects    ::= INTEGER (0..255)
+
+SensorType                  ::= INTEGER {undefined(0), radar(1), lidar(2), monovideo(3), stereovision(4), nightvision(5), ultrasonic(6), pmd(7), fusion(8), inductionloop(9), sphericalCamera(10), itssaggregation(11)} (0..15)
+
+SegmentCount                ::= INTEGER(1..127)
+
+SpeedValueExtended          ::= INTEGER {standstill(0), oneCentimeterPerSec(1),unavailable(16383)} (-16383..16383)
+
+TimeOfMeasurement           ::= INTEGER {oneMilliSecond(1)} (-1500..1500)
+
+VehicleSubclassType         ::= INTEGER {unknown(0), moped(1), motorcycle(2), passengerCar(3), bus(4), lightTruck(5), heavyTruck(6), trailer(7), specialVehicles(8), tram(9), emergencyVehicle(10), agricultural(11)} (0..255)
+
+XSensorOffset               ::= INTEGER {negativeZeroPointZeroOneMeter(-1), negativeOneMeter(-100)} (-5000..0)
+
+YSensorOffset               ::= INTEGER {zeroPointZeroOneMeter(1), oneMeter(100)} (-1000..1000)
+
+ZSensorOffset               ::= INTEGER {zeroPointZeroOneMeter(1), oneMeter(100)} (0..1000)
+
+END

obu-firmware/external/vanetza-idf/asn1/TS102894-2v131-CDD.asn

@@ -0,0 +1,505 @@
+ITS-Container {
+itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) version (2)
+}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+
+BEGIN
+
+ItsPduHeader ::= SEQUENCE {
+    protocolVersion INTEGER (0..255),
+    messageID INTEGER{ denm(1), cam(2), poi(3), spatem(4), mapem(5), ivim(6), ev-rsr(7), tistpgtransaction(8), srem(9), ssem(10), evcsn(11), saem(12), rtcmem(13) } (0..255),  -- Mantis #7209, #7005
+    stationID StationID
+}
+
+StationID ::= INTEGER(0..4294967295)
+
+ReferencePosition ::= SEQUENCE {
+    latitude Latitude,
+    longitude Longitude,
+    positionConfidenceEllipse PosConfidenceEllipse ,
+    altitude Altitude
+}
+
+DeltaReferencePosition ::= SEQUENCE {
+    deltaLatitude DeltaLatitude,
+    deltaLongitude DeltaLongitude,
+    deltaAltitude DeltaAltitude
+}
+
+Longitude ::= INTEGER {oneMicrodegreeEast (10), oneMicrodegreeWest (-10), unavailable(1800000001)} (-1800000000..1800000001)
+
+Latitude ::= INTEGER {oneMicrodegreeNorth (10), oneMicrodegreeSouth (-10), unavailable(900000001)} (-900000000..900000001)
+
+Altitude ::= SEQUENCE {
+    altitudeValue AltitudeValue,
+    altitudeConfidence AltitudeConfidence
+}
+
+AltitudeValue ::= INTEGER {referenceEllipsoidSurface(0), oneCentimeter(1), unavailable(800001)} (-100000..800001)
+
+AltitudeConfidence ::= ENUMERATED {
+    alt-000-01 (0),
+    alt-000-02 (1),
+    alt-000-05 (2),
+    alt-000-10 (3),
+    alt-000-20 (4),
+    alt-000-50 (5),
+    alt-001-00 (6),
+    alt-002-00 (7),
+    alt-005-00 (8),
+    alt-010-00 (9),
+    alt-020-00 (10),
+    alt-050-00 (11),
+    alt-100-00 (12),
+    alt-200-00 (13),
+    outOfRange (14),
+    unavailable (15)
+}
+
+DeltaLongitude ::= INTEGER {oneMicrodegreeEast (10), oneMicrodegreeWest (-10), unavailable(131072)} (-131071..131072)
+
+DeltaLatitude ::= INTEGER {oneMicrodegreeNorth (10), oneMicrodegreeSouth (-10) , unavailable(131072)} (-131071..131072)
+
+DeltaAltitude ::= INTEGER {oneCentimeterUp (1), oneCentimeterDown (-1), unavailable(12800)} (-12700..12800)
+
+PosConfidenceEllipse ::= SEQUENCE {
+    semiMajorConfidence SemiAxisLength,
+    semiMinorConfidence SemiAxisLength,
+    semiMajorOrientation HeadingValue
+}
+
+PathPoint ::= SEQUENCE {
+    pathPosition DeltaReferencePosition,
+    pathDeltaTime PathDeltaTime OPTIONAL
+}
+
+PathDeltaTime ::= INTEGER {tenMilliSecondsInPast(1)} (1..65535, ...)
+
+PtActivation ::= SEQUENCE {
+    ptActivationType PtActivationType,
+    ptActivationData PtActivationData
+}
+
+PtActivationType ::= INTEGER {undefinedCodingType(0), r09-16CodingType(1), vdv-50149CodingType(2)} (0..255)
+
+PtActivationData ::= OCTET STRING (SIZE(1..20))
+
+AccelerationControl ::= BIT STRING {
+    brakePedalEngaged (0),
+    gasPedalEngaged (1),
+    emergencyBrakeEngaged (2),
+    collisionWarningEngaged (3),
+    accEngaged (4),
+    cruiseControlEngaged (5),
+    speedLimiterEngaged (6)
+} (SIZE(7))
+
+
+SemiAxisLength ::= INTEGER{oneCentimeter(1), outOfRange(4094), unavailable(4095)} (0..4095)
+
+CauseCode ::= SEQUENCE {
+    causeCode CauseCodeType,
+    subCauseCode SubCauseCodeType,
+    ...
+}
+
+CauseCodeType ::= INTEGER {
+    reserved (0),
+    trafficCondition (1),
+    accident (2),
+    roadworks (3),
+    impassability (5),
+    adverseWeatherCondition-Adhesion (6),
+    aquaplannning (7),
+    hazardousLocation-SurfaceCondition (9),
+    hazardousLocation-ObstacleOnTheRoad (10),
+    hazardousLocation-AnimalOnTheRoad (11),
+    humanPresenceOnTheRoad (12),
+    wrongWayDriving (14),
+    rescueAndRecoveryWorkInProgress (15),
+    adverseWeatherCondition-ExtremeWeatherCondition (17),
+    adverseWeatherCondition-Visibility (18),
+    adverseWeatherCondition-Precipitation (19),
+    slowVehicle (26),
+    dangerousEndOfQueue (27),
+    vehicleBreakdown (91),
+    postCrash (92),
+    humanProblem (93),
+    stationaryVehicle (94),
+    emergencyVehicleApproaching (95),
+    hazardousLocation-DangerousCurve (96),
+    collisionRisk (97),
+    signalViolation (98),
+    dangerousSituation (99)
+} (0..255)
+
+SubCauseCodeType ::= INTEGER (0..255)
+
+TrafficConditionSubCauseCode ::= INTEGER {unavailable(0), increasedVolumeOfTraffic(1), trafficJamSlowlyIncreasing(2), trafficJamIncreasing(3), trafficJamStronglyIncreasing(4), trafficStationary(5), trafficJamSlightlyDecreasing(6), trafficJamDecreasing(7), trafficJamStronglyDecreasing(8)} (0..255)
+
+AccidentSubCauseCode ::= INTEGER {unavailable(0), multiVehicleAccident(1), heavyAccident(2), accidentInvolvingLorry(3), accidentInvolvingBus(4), accidentInvolvingHazardousMaterials(5), accidentOnOppositeLane(6), unsecuredAccident(7), assistanceRequested(8)} (0..255)
+
+RoadworksSubCauseCode ::= INTEGER {unavailable(0), majorRoadworks(1), roadMarkingWork(2), slowMovingRoadMaintenance(3), shortTermStationaryRoadworks(4), streetCleaning(5), winterService(6)} (0..255)
+
+HumanPresenceOnTheRoadSubCauseCode ::= INTEGER {unavailable(0), childrenOnRoadway(1), cyclistOnRoadway(2), motorcyclistOnRoadway(3)} (0..255)
+
+WrongWayDrivingSubCauseCode ::= INTEGER {unavailable(0), wrongLane(1), wrongDirection(2)} (0..255)
+
+AdverseWeatherCondition-ExtremeWeatherConditionSubCauseCode ::= INTEGER {unavailable(0), strongWinds(1), damagingHail(2), hurricane(3), thunderstorm(4), tornado(5), blizzard(6)} (0..255)
+
+AdverseWeatherCondition-AdhesionSubCauseCode ::= INTEGER {unavailable(0), heavyFrostOnRoad(1), fuelOnRoad(2), mudOnRoad(3), snowOnRoad(4), iceOnRoad(5), blackIceOnRoad(6), oilOnRoad(7), looseChippings(8), instantBlackIce(9), roadsSalted(10)} (0..255)
+
+AdverseWeatherCondition-VisibilitySubCauseCode ::= INTEGER {unavailable(0), fog(1), smoke(2), heavySnowfall(3), heavyRain(4), heavyHail(5), lowSunGlare(6), sandstorms(7), swarmsOfInsects(8)} (0..255)
+
+AdverseWeatherCondition-PrecipitationSubCauseCode ::= INTEGER {unavailable(0), heavyRain(1), heavySnowfall(2), softHail(3)} (0..255)
+
+SlowVehicleSubCauseCode ::= INTEGER {unavailable(0), maintenanceVehicle(1), vehiclesSlowingToLookAtAccident(2), abnormalLoad(3), abnormalWideLoad(4), convoy(5), snowplough(6), deicing(7), saltingVehicles(8)} (0..255)
+
+StationaryVehicleSubCauseCode ::= INTEGER {unavailable(0), humanProblem(1), vehicleBreakdown(2), postCrash(3), publicTransportStop(4), carryingDangerousGoods(5)} (0..255)
+
+HumanProblemSubCauseCode ::= INTEGER {unavailable(0), glycemiaProblem(1), heartProblem(2)} (0..255)
+
+EmergencyVehicleApproachingSubCauseCode ::= INTEGER {unavailable(0), emergencyVehicleApproaching(1), prioritizedVehicleApproaching(2)} (0..255)
+
+HazardousLocation-DangerousCurveSubCauseCode ::= INTEGER {unavailable(0), dangerousLeftTurnCurve(1), dangerousRightTurnCurve(2), multipleCurvesStartingWithUnknownTurningDirection(3), multipleCurvesStartingWithLeftTurn(4), multipleCurvesStartingWithRightTurn(5)} (0..255)
+
+HazardousLocation-SurfaceConditionSubCauseCode ::= INTEGER {unavailable(0), rockfalls(1), earthquakeDamage(2), sewerCollapse(3), subsidence(4), snowDrifts(5), stormDamage(6), burstPipe(7), volcanoEruption(8), fallingIce(9)} (0..255)
+
+HazardousLocation-ObstacleOnTheRoadSubCauseCode ::= INTEGER {unavailable(0), shedLoad(1), partsOfVehicles(2), partsOfTyres(3), bigObjects(4), fallenTrees(5), hubCaps(6), waitingVehicles(7)} (0..255)
+
+HazardousLocation-AnimalOnTheRoadSubCauseCode ::= INTEGER {unavailable(0), wildAnimals(1), herdOfAnimals(2), smallAnimals(3), largeAnimals(4)} (0..255)
+
+CollisionRiskSubCauseCode ::= INTEGER {unavailable(0), longitudinalCollisionRisk(1), crossingCollisionRisk(2), lateralCollisionRisk(3), vulnerableRoadUser(4)} (0..255)
+
+SignalViolationSubCauseCode ::= INTEGER {unavailable(0), stopSignViolation(1), trafficLightViolation(2), turningRegulationViolation(3)} (0..255)
+
+RescueAndRecoveryWorkInProgressSubCauseCode ::= INTEGER {unavailable(0), emergencyVehicles(1), rescueHelicopterLanding(2), policeActivityOngoing(3), medicalEmergencyOngoing(4), childAbductionInProgress(5)} (0..255)
+
+DangerousEndOfQueueSubCauseCode ::= INTEGER {unavailable(0), suddenEndOfQueue(1), queueOverHill(2), queueAroundBend(3), queueInTunnel(4)} (0..255)
+
+DangerousSituationSubCauseCode ::= INTEGER {unavailable(0), emergencyElectronicBrakeEngaged(1), preCrashSystemEngaged(2), espEngaged(3), absEngaged(4), aebEngaged(5), brakeWarningEngaged(6), collisionRiskWarningEngaged(7)} (0..255)
+
+VehicleBreakdownSubCauseCode ::= INTEGER {unavailable(0), lackOfFuel (1), lackOfBatteryPower (2), engineProblem(3), transmissionProblem(4), engineCoolingProblem(5), brakingSystemProblem(6), steeringProblem(7), tyrePuncture(8), tyrePressureProblem(9)} (0..255)
+
+PostCrashSubCauseCode ::= INTEGER {unavailable(0), accidentWithoutECallTriggered (1), accidentWithECallManuallyTriggered (2), accidentWithECallAutomaticallyTriggered (3), accidentWithECallTriggeredWithoutAccessToCellularNetwork(4)} (0..255)
+
+Curvature ::= SEQUENCE {
+    curvatureValue CurvatureValue,
+    curvatureConfidence CurvatureConfidence
+}
+
+CurvatureValue ::= INTEGER {straight(0), unavailable(1023)} (-1023..1023)
+
+CurvatureConfidence ::= ENUMERATED {
+    onePerMeter-0-00002 (0),
+    onePerMeter-0-0001 (1),
+    onePerMeter-0-0005 (2),
+    onePerMeter-0-002 (3),
+    onePerMeter-0-01 (4),
+    onePerMeter-0-1 (5),
+    outOfRange (6),
+    unavailable (7)
+}
+
+CurvatureCalculationMode ::= ENUMERATED {yawRateUsed(0), yawRateNotUsed(1), unavailable(2), ...}
+
+Heading ::= SEQUENCE {
+    headingValue HeadingValue,
+    headingConfidence HeadingConfidence
+}
+
+HeadingValue ::= INTEGER {wgs84North(0), wgs84East(900), wgs84South(1800), wgs84West(2700), unavailable(3601)} (0..3601)
+
+HeadingConfidence ::= INTEGER {equalOrWithinZeroPointOneDegree (1), equalOrWithinOneDegree (10), outOfRange(126), unavailable(127)} (1..127)
+
+LanePosition ::= INTEGER {offTheRoad(-1), innerHardShoulder(0), innermostDrivingLane(1), secondLaneFromInside(2), outerHardShoulder(14)} (-1..14)
+
+ClosedLanes ::= SEQUENCE {
+    innerhardShoulderStatus HardShoulderStatus OPTIONAL,
+    outerhardShoulderStatus HardShoulderStatus OPTIONAL,
+    drivingLaneStatus DrivingLaneStatus OPTIONAL,
+    ...
+}
+
+HardShoulderStatus ::= ENUMERATED {availableForStopping(0), closed(1), availableForDriving(2)}
+
+DrivingLaneStatus ::= BIT STRING (SIZE (1..13))
+
+PerformanceClass ::= INTEGER {unavailable(0), performanceClassA(1), performanceClassB(2)} (0..7)
+
+SpeedValue ::= INTEGER {standstill(0), oneCentimeterPerSec(1), unavailable(16383)} (0..16383)
+
+SpeedConfidence ::= INTEGER {equalOrWithinOneCentimeterPerSec(1), equalOrWithinOneMeterPerSec(100), outOfRange(126), unavailable(127)} (1..127)
+
+VehicleMass ::= INTEGER {hundredKg(1), unavailable(1024)} (1..1024)
+
+Speed ::= SEQUENCE {
+    speedValue SpeedValue,
+    speedConfidence SpeedConfidence
+}
+
+DriveDirection ::= ENUMERATED {forward (0), backward (1), unavailable (2)}
+
+EmbarkationStatus ::= BOOLEAN
+
+LongitudinalAcceleration ::= SEQUENCE {
+    longitudinalAccelerationValue LongitudinalAccelerationValue,
+    longitudinalAccelerationConfidence AccelerationConfidence
+}
+
+LongitudinalAccelerationValue ::= INTEGER {pointOneMeterPerSecSquaredForward(1), pointOneMeterPerSecSquaredBackward(-1), unavailable(161)} (-160 .. 161)
+
+AccelerationConfidence ::= INTEGER {pointOneMeterPerSecSquared(1), outOfRange(101), unavailable(102)} (0 .. 102)
+
+LateralAcceleration ::= SEQUENCE {
+    lateralAccelerationValue LateralAccelerationValue,
+    lateralAccelerationConfidence AccelerationConfidence
+}
+
+LateralAccelerationValue ::= INTEGER {pointOneMeterPerSecSquaredToRight(-1), pointOneMeterPerSecSquaredToLeft(1), unavailable(161)} (-160 .. 161)
+
+VerticalAcceleration ::= SEQUENCE {
+    verticalAccelerationValue VerticalAccelerationValue,
+    verticalAccelerationConfidence AccelerationConfidence
+}
+
+VerticalAccelerationValue ::= INTEGER {pointOneMeterPerSecSquaredUp(1), pointOneMeterPerSecSquaredDown(-1), unavailable(161)} (-160 .. 161)
+
+StationType ::= INTEGER {unknown(0), pedestrian(1), cyclist(2), moped(3), motorcycle(4), passengerCar(5), bus(6), lightTruck(7), heavyTruck(8), trailer(9), specialVehicles(10), tram(11), roadSideUnit(15)} (0..255)
+
+ExteriorLights ::= BIT STRING {
+    lowBeamHeadlightsOn      (0),
+    highBeamHeadlightsOn     (1),
+    leftTurnSignalOn         (2),
+    rightTurnSignalOn        (3),
+    daytimeRunningLightsOn   (4),
+    reverseLightOn           (5),
+    fogLightOn               (6),
+    parkingLightsOn          (7)
+} (SIZE(8))
+
+DangerousGoodsBasic::= ENUMERATED {
+    explosives1(0),
+    explosives2(1),
+    explosives3(2),
+    explosives4(3),
+    explosives5(4),
+    explosives6(5),
+    flammableGases(6),
+    nonFlammableGases(7),
+    toxicGases(8),
+    flammableLiquids(9),
+    flammableSolids(10),
+    substancesLiableToSpontaneousCombustion(11),
+    substancesEmittingFlammableGasesUponContactWithWater(12),
+    oxidizingSubstances(13),
+    organicPeroxides(14),
+    toxicSubstances(15),
+    infectiousSubstances(16),
+    radioactiveMaterial(17),
+    corrosiveSubstances(18),
+    miscellaneousDangerousSubstances(19)
+}
+
+DangerousGoodsExtended ::= SEQUENCE {
+    dangerousGoodsType DangerousGoodsBasic,
+    unNumber INTEGER (0..9999),
+    elevatedTemperature BOOLEAN,
+    tunnelsRestricted BOOLEAN,
+    limitedQuantity BOOLEAN,
+    emergencyActionCode IA5String (SIZE (1..24)) OPTIONAL,
+    phoneNumber PhoneNumber OPTIONAL,
+    companyName UTF8String (SIZE (1..24)) OPTIONAL,
+    ...
+}
+
+SpecialTransportType ::= BIT STRING {heavyLoad(0), excessWidth(1), excessLength(2), excessHeight(3)} (SIZE(4))
+
+LightBarSirenInUse ::= BIT STRING {
+    lightBarActivated (0),
+    sirenActivated (1)
+} (SIZE(2))
+
+HeightLonCarr ::= INTEGER {oneCentimeter(1), unavailable(100)} (1..100)
+
+PosLonCarr ::= INTEGER {oneCentimeter(1), unavailable(127)} (1..127)
+
+PosPillar ::= INTEGER {tenCentimeters(1), unavailable(30)} (1..30)
+
+PosCentMass ::= INTEGER {tenCentimeters(1), unavailable(63)} (1..63)
+
+RequestResponseIndication ::= ENUMERATED {request(0), response(1)}
+
+SpeedLimit ::= INTEGER {oneKmPerHour(1)} (1..255)
+
+StationarySince ::= ENUMERATED {lessThan1Minute(0), lessThan2Minutes(1), lessThan15Minutes(2), equalOrGreater15Minutes(3)}
+
+Temperature ::= INTEGER {equalOrSmallerThanMinus60Deg (-60), oneDegreeCelsius(1), equalOrGreaterThan67Deg(67)} (-60..67)
+
+TrafficRule ::= ENUMERATED {noPassing(0), noPassingForTrucks(1), passToRight(2), passToLeft(3), ...}
+
+WheelBaseVehicle ::= INTEGER {tenCentimeters(1), unavailable(127)} (1..127)
+
+TurningRadius ::= INTEGER {point4Meters(1), unavailable(255)} (1..255)
+
+PosFrontAx ::= INTEGER {tenCentimeters(1), unavailable(20)} (1..20)
+
+PositionOfOccupants ::= BIT STRING {
+    row1LeftOccupied (0),
+    row1RightOccupied (1),
+    row1MidOccupied (2),
+    row1NotDetectable (3),
+    row1NotPresent (4),
+    row2LeftOccupied (5),
+    row2RightOccupied (6),
+    row2MidOccupied (7),
+    row2NotDetectable (8),
+    row2NotPresent (9),
+    row3LeftOccupied (10),
+    row3RightOccupied (11),
+    row3MidOccupied (12),
+    row3NotDetectable (13),
+    row3NotPresent (14),
+    row4LeftOccupied (15),
+    row4RightOccupied (16),
+    row4MidOccupied (17),
+    row4NotDetectable (18),
+    row4NotPresent (19)} (SIZE(20))
+
+PositioningSolutionType ::= ENUMERATED {noPositioningSolution(0), sGNSS(1), dGNSS(2), sGNSSplusDR(3), dGNSSplusDR(4), dR(5), ...}
+
+VehicleIdentification ::= SEQUENCE {
+    wMInumber WMInumber OPTIONAL,
+    vDS VDS OPTIONAL,
+    ...
+}
+
+WMInumber ::= IA5String (SIZE(1..3))
+
+VDS ::= IA5String (SIZE(6))
+
+EnergyStorageType ::= BIT STRING {hydrogenStorage(0), electricEnergyStorage(1), liquidPropaneGas(2), compressedNaturalGas(3), diesel(4), gasoline(5), ammonia(6)} (SIZE(7))
+
+VehicleLength ::= SEQUENCE {
+    vehicleLengthValue VehicleLengthValue,
+    vehicleLengthConfidenceIndication VehicleLengthConfidenceIndication
+}
+
+VehicleLengthValue ::= INTEGER {tenCentimeters(1), outOfRange(1022), unavailable(1023)}  (1..1023)
+
+VehicleLengthConfidenceIndication ::= ENUMERATED {noTrailerPresent(0), trailerPresentWithKnownLength(1), trailerPresentWithUnknownLength(2), trailerPresenceIsUnknown(3), unavailable(4)}
+
+VehicleWidth ::= INTEGER {tenCentimeters(1), outOfRange(61), unavailable(62)} (1..62)
+
+PathHistory::= SEQUENCE (SIZE(0..40)) OF PathPoint
+
+EmergencyPriority ::= BIT STRING {requestForRightOfWay(0), requestForFreeCrossingAtATrafficLight(1)} (SIZE(2))
+
+InformationQuality ::= INTEGER {unavailable(0), lowest(1), highest(7)} (0..7)
+
+RoadType ::= ENUMERATED {
+    urban-NoStructuralSeparationToOppositeLanes(0),
+    urban-WithStructuralSeparationToOppositeLanes(1),
+    nonUrban-NoStructuralSeparationToOppositeLanes(2),
+    nonUrban-WithStructuralSeparationToOppositeLanes(3)}
+
+SteeringWheelAngle ::= SEQUENCE {
+    steeringWheelAngleValue SteeringWheelAngleValue,
+    steeringWheelAngleConfidence SteeringWheelAngleConfidence
+}
+
+SteeringWheelAngleValue ::= INTEGER {straight(0), onePointFiveDegreesToRight(-1), onePointFiveDegreesToLeft(1), unavailable(512)} (-511..512)
+
+SteeringWheelAngleConfidence ::= INTEGER {equalOrWithinOnePointFiveDegree (1), outOfRange(126), unavailable(127)} (1..127)
+
+TimestampIts ::= INTEGER {utcStartOf2004(0), oneMillisecAfterUTCStartOf2004(1)} (0..4398046511103)
+
+VehicleRole ::= ENUMERATED {default(0), publicTransport(1), specialTransport(2), dangerousGoods(3), roadWork(4), rescue(5), emergency(6), safetyCar(7), agriculture(8),commercial(9),military(10),roadOperator(11),taxi(12), reserved1(13), reserved2(14), reserved3(15)}
+
+YawRate::= SEQUENCE {
+    yawRateValue YawRateValue,
+    yawRateConfidence YawRateConfidence
+}
+
+YawRateValue ::= INTEGER {straight(0), degSec-000-01ToRight(-1), degSec-000-01ToLeft(1), unavailable(32767)} (-32766..32767)
+
+YawRateConfidence ::= ENUMERATED {
+    degSec-000-01 (0),
+    degSec-000-05 (1),
+    degSec-000-10 (2),
+    degSec-001-00 (3),
+    degSec-005-00 (4),
+    degSec-010-00 (5),
+    degSec-100-00 (6),
+    outOfRange (7),
+    unavailable (8)
+}
+
+ProtectedZoneType::= ENUMERATED { permanentCenDsrcTolling (0), ..., temporaryCenDsrcTolling (1) }
+
+RelevanceDistance ::= ENUMERATED {lessThan50m(0), lessThan100m(1), lessThan200m(2), lessThan500m(3), lessThan1000m(4), lessThan5km(5), lessThan10km(6), over10km(7)}
+
+RelevanceTrafficDirection ::= ENUMERATED {allTrafficDirections(0), upstreamTraffic(1), downstreamTraffic(2), oppositeTraffic(3)}
+
+TransmissionInterval ::= INTEGER {oneMilliSecond(1), tenSeconds(10000)} (1..10000)
+
+ValidityDuration ::=    INTEGER {timeOfDetection(0), oneSecondAfterDetection(1)} (0..86400)
+
+ActionID ::= SEQUENCE {
+    originatingStationID StationID,
+    sequenceNumber SequenceNumber
+}
+
+ItineraryPath ::= SEQUENCE SIZE(1..40) OF ReferencePosition
+
+ProtectedCommunicationZone ::= SEQUENCE {
+    protectedZoneType       ProtectedZoneType,
+    expiryTime TimestampIts OPTIONAL,
+    protectedZoneLatitude   Latitude,
+    protectedZoneLongitude  Longitude,
+    protectedZoneRadius ProtectedZoneRadius OPTIONAL,
+    protectedZoneID ProtectedZoneID OPTIONAL,
+    ...
+}
+
+Traces ::= SEQUENCE SIZE(1..7) OF PathHistory
+
+NumberOfOccupants ::= INTEGER {oneOccupant (1), unavailable(127)} (0..127)
+
+SequenceNumber ::=  INTEGER (0..65535)
+
+PositionOfPillars ::= SEQUENCE (SIZE(1..3, ...)) OF PosPillar
+
+RestrictedTypes ::= SEQUENCE (SIZE(1..3, ...)) OF StationType
+
+EventHistory::= SEQUENCE (SIZE(1..23)) OF EventPoint
+
+EventPoint ::= SEQUENCE {
+    eventPosition DeltaReferencePosition,
+    eventDeltaTime PathDeltaTime OPTIONAL,
+    informationQuality InformationQuality
+}
+
+ProtectedCommunicationZonesRSU ::= SEQUENCE (SIZE(1..16)) OF ProtectedCommunicationZone
+
+CenDsrcTollingZone ::= SEQUENCE {
+    protectedZoneLatitude Latitude,
+    protectedZoneLongitude Longitude,
+    cenDsrcTollingZoneID CenDsrcTollingZoneID OPTIONAL,
+    ...
+}
+
+ProtectedZoneRadius ::= INTEGER {oneMeter(1)} (1..255, ...)
+
+ProtectedZoneID ::= INTEGER (0..134217727)
+
+CenDsrcTollingZoneID ::= ProtectedZoneID
+
+DigitalMap ::= SEQUENCE (SIZE(1..256)) OF ReferencePosition
+
+OpeningDaysHours ::= UTF8String
+
+PhoneNumber ::= NumericString (SIZE(1..16))
+
+END

obu-firmware/external/vanetza-idf/asn1/TS102941v131-BaseTypes.asn

@@ -0,0 +1,73 @@
+EtsiTs102941BaseTypes
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) baseTypes(3) version2(2) }
+
+DEFINITIONS AUTOMATIC TAGS ::=
+BEGIN
+
+IMPORTS
+  HashedId8, Time32, PublicEncryptionKey, PublicVerificationKey, Signature
+FROM
+  IEEE1609dot2BaseTypes {iso(1) identified-organization(3) ieee(111) standards-association-numbered-series-standards(2) wave-stds(1609) dot2(2) base(1) base-types(2) major-version-2(2)}
+
+  CertificateId, SubjectAssurance, SequenceOfPsidSsp, SequenceOfPsidGroupPermissions,
+  ValidityPeriod, GeographicRegion
+FROM
+  IEEE1609dot2 {iso(1) identified-organization(3) ieee(111) standards-association-numbered-series-standards(2) wave-stds(1609) dot2(2) base (1) schema (1) major-version-2(2)}
+
+  EtsiTs103097Data, EtsiTs103097Data-Encrypted, EtsiTs103097Data-Signed, EtsiTs103097Data-SignedExternalPayload
+FROM
+  EtsiTs103097Module {itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(103097) securedMessageV1(0)}
+;
+
+CertificateFormat::= INTEGER {
+  ts103097v131 (1)
+}(1..255)
+
+CertificateSubjectAttributes ::= SEQUENCE {
+  id                    CertificateId OPTIONAL,
+  validityPeriod        ValidityPeriod OPTIONAL,
+  region                GeographicRegion OPTIONAL,
+  assuranceLevel        SubjectAssurance OPTIONAL,
+  appPermissions        SequenceOfPsidSsp OPTIONAL,
+  certIssuePermissions  SequenceOfPsidGroupPermissions OPTIONAL,
+  ...
+}(WITH COMPONENTS { ..., appPermissions PRESENT} | WITH COMPONENTS { ..., certIssuePermissions PRESENT})
+
+EcSignature::= CHOICE {
+  encryptedEcSignature  EtsiTs103097Data-Encrypted{EtsiTs103097Data-SignedExternalPayload},
+  ecSignature           EtsiTs103097Data-SignedExternalPayload
+}
+
+PublicKeys ::= SEQUENCE {
+  verificationKey       PublicVerificationKey,
+  encryptionKey         PublicEncryptionKey OPTIONAL
+}
+
+Version ::= INTEGER {v1(1)}
+
+EtsiTs103097Data-Unsecured {ToBeSentDataContent} ::= EtsiTs103097Data
+(WITH COMPONENTS {...,
+  content (WITH COMPONENTS {
+    unsecuredData (CONTAINING ToBeSentDataContent)
+  })
+})
+
+EtsiTs103097Data-Encrypted-Unicast {ToBeEncryptedDataContent} ::= EtsiTs103097Data-Encrypted { EtsiTs103097Data-Unsecured{ToBeEncryptedDataContent}}
+(WITH COMPONENTS {...,
+  content (WITH COMPONENTS {
+    encryptedData (WITH COMPONENTS {...,
+       recipients (SIZE(1))
+    })
+  })
+})
+
+EtsiTs103097Data-SignedAndEncrypted-Unicast {ToBesignedAndEncryptedDataContent} ::= EtsiTs103097Data-Encrypted {EtsiTs103097Data-Signed {ToBesignedAndEncryptedDataContent}}
+(WITH COMPONENTS {...,
+  content (WITH COMPONENTS {
+    encryptedData (WITH COMPONENTS {...,
+       recipients (SIZE(1))
+    })
+  })
+})
+
+END

obu-firmware/external/vanetza-idf/asn1/TS102941v131-MessagesCa.asn

@@ -0,0 +1,77 @@
+/*************************************************************************************
+   This file contains the EtsiTs102941Messages module containing all possible PKI messages.
+   It should be used when all PKI messages needs to be implemented (for example, for CA development)
+**************************************************************************************/
+EtsiTs102941MessagesCa
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) messagesCa(0) version2(2) }
+
+DEFINITIONS AUTOMATIC TAGS ::=
+BEGIN
+
+IMPORTS
+
+  EtsiTs103097Data-Signed,
+  --EtsiTs103097Data-Encrypted,
+  EtsiTs103097Data-SignedExternalPayload
+  --EtsiTs103097Data-SignedAndEncrypted
+FROM EtsiTs103097Module { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(103097) securedMessageV1(0) }
+
+  Version, EtsiTs103097Data-Encrypted-Unicast, EtsiTs103097Data-SignedAndEncrypted-Unicast
+FROM EtsiTs102941BaseTypes { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) baseTypes(3) version2(2) }
+
+  InnerEcRequestSignedForPop, InnerEcResponse
+FROM EtsiTs102941TypesEnrolment { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) enrolment(4) version2(2) }
+
+  InnerAtRequest, InnerAtResponse
+FROM EtsiTs102941TypesAuthorization { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) authorization(5) version2(2) }
+
+  ToBeSignedCrl, ToBeSignedTlmCtl, ToBeSignedRcaCtl
+FROM EtsiTs102941TrustLists { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) trustLists(6) version2(2) }
+
+  AuthorizationValidationRequest, AuthorizationValidationResponse
+FROM EtsiTs102941TypesAuthorizationValidation { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) authValidation(7) version2(2) }
+
+  CaCertificateRequest
+FROM EtsiTs102941TypesCaManagement { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) caManagement(8) version2(2) }
+;
+
+/************
+-- Messages
+************/
+EnrolmentRequestMessage ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{enrolmentRequest PRESENT})})}
+EnrolmentResponseMessage ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{enrolmentResponse PRESENT})})}
+AuthorizationRequestMessage ::= EtsiTs103097Data-Encrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{authorizationRequest PRESENT})})}
+AuthorizationRequestMessageWithPop ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{authorizationRequest PRESENT})})}
+AuthorizationResponseMessage ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{authorizationResponse PRESENT})})}
+CertificateRevocationListMessage ::= EtsiTs103097Data-Signed{EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{certificateRevocationList PRESENT})})}
+TlmCertificateTrustListMessage ::= EtsiTs103097Data-Signed{EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{certificateTrustListTlm PRESENT})})}
+RcaCertificateTrustListMessage ::= EtsiTs103097Data-Signed{EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{certificateTrustListRca PRESENT})})}
+AuthorizationValidationRequestMessage ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{authorizationValidationRequest PRESENT})})}
+AuthorizationValidationResponseMessage ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{authorizationValidationResponse PRESENT})})}
+CaCertificateRequestMessage ::= EtsiTs103097Data-Signed {EtsiTs102941Data(WITH COMPONENTS{..., content (WITH COMPONENTS{caCertificateRequest PRESENT})})}
+CaCertificateRekeyingMessage ::= EtsiTs103097Data-Signed {EtsiTs103097Data-Signed {EtsiTs102941Data(WITH COMPONENTS{..., content (WITH COMPONENTS{caCertificateRequest PRESENT})})}}
+
+/************
+-- EtsiTs102941Data
+************/
+
+EtsiTs102941Data::= SEQUENCE {
+  version Version (v1),
+  content EtsiTs102941DataContent
+}
+
+EtsiTs102941DataContent ::= CHOICE {
+  enrolmentRequest                        InnerEcRequestSignedForPop,
+  enrolmentResponse                       InnerEcResponse,
+  authorizationRequest                    InnerAtRequest,
+  authorizationResponse                   InnerAtResponse,
+  certificateRevocationList               ToBeSignedCrl,
+  certificateTrustListTlm                 ToBeSignedTlmCtl,
+  certificateTrustListRca                 ToBeSignedRcaCtl,
+  authorizationValidationRequest          AuthorizationValidationRequest,
+  authorizationValidationResponse         AuthorizationValidationResponse,
+  caCertificateRequest                    CaCertificateRequest,
+  ...
+}
+
+END

obu-firmware/external/vanetza-idf/asn1/TS102941v131-TrustLists.asn

@@ -0,0 +1,138 @@
+EtsiTs102941TrustLists
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) trustLists(6) version2(2) }
+
+DEFINITIONS AUTOMATIC TAGS ::=
+BEGIN
+
+IMPORTS
+
+  EtsiTs103097Certificate, EtsiTs103097Data-SignedAndEncrypted, EtsiTs103097Data-Signed
+FROM EtsiTs103097Module {itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(103097) securedMessageV1(0)}
+
+  HashedId8, Time32, Version --, CertificateAuthorityConstraints
+FROM EtsiTs102941BaseTypes {itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) baseTypes(3) version2(2)}
+;
+
+/************
+-- CRL
+************/
+ToBeSignedCrl ::= SEQUENCE {
+  version    Version,
+  thisUpdate Time32,
+  nextUpdate Time32,
+  entries SEQUENCE OF CrlEntry,
+  ...
+}
+
+CrlEntry ::= HashedId8
+
+/************
+-- TLM CTL
+************/
+
+ToBeSignedTlmCtl ::= CtlFormat (FullCtl | DeltaCtl) (WITH COMPONENTS {...,
+  ctlCommands ( WITH COMPONENT(
+    ( WITH COMPONENTS {...,
+      add ( WITH COMPONENTS {...,
+        ea ABSENT,
+        aa ABSENT
+      })
+    })
+  ))
+})
+
+/************
+-- RCA CTL
+************/
+
+ToBeSignedRcaCtl ::= CtlFormat (FullCtl | DeltaCtl) ( WITH COMPONENTS {...,
+  ctlCommands ( WITH COMPONENT(
+    ( WITH COMPONENTS {...,
+      add ( WITH COMPONENTS {...,
+        rca ABSENT,
+        tlm ABSENT
+      })
+    })
+  ))
+})
+
+/************
+-- CTL
+************/
+
+FullCtl::= CtlFormat ( WITH COMPONENTS {...,
+  isFullCtl ( TRUE ),
+  ctlCommands ( WITH COMPONENT(
+    ( WITH COMPONENTS {...,
+      delete ABSENT
+    })
+  ))
+})
+
+DeltaCtl::= CtlFormat (WITH COMPONENTS {...,
+  isFullCtl(FALSE)
+})
+
+
+CtlFormat ::= SEQUENCE {
+  version     Version,
+  nextUpdate  Time32,
+  isFullCtl   BOOLEAN,
+  ctlSequence INTEGER (0..255),
+  ctlCommands SEQUENCE OF CtlCommand,
+  ...
+}
+
+CtlCommand ::= CHOICE {
+  add 	  CtlEntry,
+  delete  CtlDelete,
+  ...
+}
+
+CtlEntry ::= CHOICE {
+  rca   RootCaEntry,
+  ea    EaEntry,
+  aa    AaEntry,
+  dc    DcEntry,
+  tlm   TlmEntry,
+  ...
+}
+
+CtlDelete ::= CHOICE {
+  cert  HashedId8,
+  dc    DcDelete,
+  ...
+}
+
+TlmEntry::= SEQUENCE {
+  selfSignedTLMCertificate EtsiTs103097Certificate,
+  linkTLMCertificate       EtsiTs103097Certificate OPTIONAL,
+  accessPoint              Url
+}
+
+RootCaEntry ::= SEQUENCE {
+  selfsignedRootCa      EtsiTs103097Certificate,
+  linkRootCaCertificate EtsiTs103097Certificate OPTIONAL
+}
+
+EaEntry ::= SEQUENCE {
+  eaCertificate     EtsiTs103097Certificate,
+  aaAccessPoint     Url,
+  itsAccessPoint    Url OPTIONAL
+}
+
+AaEntry ::= SEQUENCE {
+  aaCertificate EtsiTs103097Certificate,
+  accessPoint Url
+}
+
+DcEntry ::= SEQUENCE {
+  url   Url,
+  cert  SEQUENCE OF HashedId8
+}
+
+DcDelete ::= Url
+
+Url::= IA5String
+
+END

obu-firmware/external/vanetza-idf/asn1/TS102941v131-TypesAuthorization.asn

@@ -0,0 +1,80 @@
+EtsiTs102941TypesAuthorization
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) authorization(5) version2(2) }
+
+DEFINITIONS AUTOMATIC TAGS ::=
+BEGIN
+
+IMPORTS
+  EtsiTs103097Certificate, EtsiTs103097Data-Signed
+FROM EtsiTs103097Module { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(103097) securedMessageV1(0)}
+
+  CertificateFormat, CertificateSubjectAttributes, EcSignature, HashedId8, PublicKeys, Version
+FROM EtsiTs102941BaseTypes { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) baseTypes(3) version2(2) }
+;
+
+/************
+-- AuthorizationRequest/Response
+************/
+
+AuthorizationResponseCode ::= ENUMERATED {
+  ok(0),
+  -- ITS->AA
+  its-aa-cantparse, -- valid for any structure
+  its-aa-badcontenttype, -- not encrypted, not signed, not authorizationrequest
+  its-aa-imnottherecipient, -- the "recipients" of the outermost encrypted data doesn't include me
+  its-aa-unknownencryptionalgorithm, -- either kexalg or contentencryptionalgorithm
+  its-aa-decryptionfailed, -- works for ECIES-HMAC and AES-CCM
+  its-aa-keysdontmatch, -- HMAC keyTag verification fails
+  its-aa-incompleterequest, -- some elements are missing
+  its-aa-invalidencryptionkey, -- the responseEncryptionKey is bad
+  its-aa-outofsyncrequest, -- signingTime is outside acceptable limits
+  its-aa-unknownea, -- the EA identified by eaId is unknown to me
+  its-aa-invalidea, -- the EA certificate is revoked
+  its-aa-deniedpermissions, -- I, the AA, deny the requested permissions
+  -- AA->EA
+  aa-ea-cantreachea, -- the EA is unreachable (network error?)
+  -- EA->AA
+  ea-aa-cantparse, -- valid for any structure
+  ea-aa-badcontenttype, -- not encrypted, not signed, not authorizationrequest
+  ea-aa-imnottherecipient, -- the "recipients" of the outermost encrypted data doesn't include me
+  ea-aa-unknownencryptionalgorithm, -- either kexalg or contentencryptionalgorithm
+  ea-aa-decryptionfailed, -- works for ECIES-HMAC and AES-CCM
+  -- TODO: to be continued...
+  invalidaa, -- the AA certificate presented is invalid/revoked/whatever
+  invalidaasignature, -- the AA certificate presented can't validate the request signature
+  wrongea, -- the encrypted signature doesn't designate me as the EA
+  unknownits, -- can't retrieve the EC/ITS in my DB
+  invalidsignature, -- signature verification of the request by the EC fails
+  invalidencryptionkey, -- signature is good, but the key is bad
+  deniedpermissions, -- permissions not granted
+  deniedtoomanycerts, -- parallel limit
+... }
+
+
+InnerAtRequest ::= SEQUENCE {
+  publicKeys                    PublicKeys,
+  hmacKey                       OCTET STRING (SIZE(32)),
+  sharedAtRequest               SharedAtRequest,
+  ecSignature                   EcSignature,
+  ...
+}
+
+SharedAtRequest ::= SEQUENCE {
+  eaId                          HashedId8,
+  keyTag                        OCTET STRING (SIZE(16)),
+  certificateFormat             CertificateFormat,
+  requestedSubjectAttributes    CertificateSubjectAttributes (WITH COMPONENTS{..., certIssuePermissions ABSENT}),
+  ...
+}
+
+InnerAtResponse ::= SEQUENCE {
+  requestHash                   OCTET STRING (SIZE(16)),
+  responseCode                  AuthorizationResponseCode,
+  certificate                   EtsiTs103097Certificate OPTIONAL,
+  ...
+}
+  (WITH COMPONENTS { responseCode (ok), certificate PRESENT }
+  | WITH COMPONENTS { responseCode (ALL EXCEPT ok), certificate ABSENT }
+  )
+
+END

obu-firmware/external/vanetza-idf/asn1/TS102941v131-TypesAuthorizationValidation.asn

@@ -0,0 +1,58 @@
+EtsiTs102941TypesAuthorizationValidation
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) authValidation(7) version2(2) }
+
+DEFINITIONS AUTOMATIC TAGS ::=
+BEGIN
+
+IMPORTS
+
+  EtsiTs103097Certificate
+FROM EtsiTs103097Module { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(103097) securedMessageV1(0) }
+
+  CertificateFormat, CertificateSubjectAttributes,EcSignature, HashedId8, PublicKeys, Version
+FROM EtsiTs102941BaseTypes { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) baseTypes(3) version2(2) }
+
+  SharedAtRequest
+FROM EtsiTs102941TypesAuthorization { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) authorization(5) version2(2) }
+;
+
+/************
+-- AuthorizationValidationRequest/Response
+************/
+
+AuthorizationValidationResponseCode ::= ENUMERATED {
+  ok(0),
+  cantparse, -- valid for any structure
+  badcontenttype, -- not encrypted, not signed, not permissionsverificationrequest
+  imnottherecipient, -- the "recipients" of the outermost encrypted data doesn't include me
+  unknownencryptionalgorithm, -- either kexalg or contentencryptionalgorithm
+  decryptionfailed, -- works for ECIES-HMAC and AES-CCM
+  invalidaa, -- the AA certificate presented is invalid/revoked/whatever
+  invalidaasignature, -- the AA certificate presented can't validate the request signature
+  wrongea, -- the encrypted signature doesn't designate me as the EA
+  unknownits, -- can't retrieve the EC/ITS in my DB
+  invalidsignature, -- signature verification of the request by the EC fails
+  invalidencryptionkey, -- signature is good, but the responseEncryptionKey is bad
+  deniedpermissions, -- requested permissions not granted
+  deniedtoomanycerts, -- parallel limit
+  deniedrequest, -- any other reason?
+  ...
+}
+
+AuthorizationValidationRequest ::= SEQUENCE {
+  sharedAtRequest               SharedAtRequest,
+  ecSignature                   EcSignature,
+  ...
+}
+
+AuthorizationValidationResponse ::= SEQUENCE {
+  requestHash                   OCTET STRING (SIZE(16)),
+  responseCode                  AuthorizationValidationResponseCode,
+  confirmedSubjectAttributes    CertificateSubjectAttributes (WITH COMPONENTS{..., certIssuePermissions ABSENT}) OPTIONAL,
+  ...
+}
+  (WITH COMPONENTS { responseCode (ok), confirmedSubjectAttributes PRESENT }
+  | WITH COMPONENTS { responseCode (ALL EXCEPT ok), confirmedSubjectAttributes ABSENT }
+  )
+
+END

obu-firmware/external/vanetza-idf/asn1/TS102941v131-TypesCaManagement.asn

@@ -0,0 +1,26 @@
+EtsiTs102941TypesCaManagement
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) caManagement(8) version2(2) }
+
+DEFINITIONS AUTOMATIC TAGS ::=
+BEGIN
+
+IMPORTS
+
+  EtsiTs103097Certificate, EtsiTs103097Data-Signed
+FROM EtsiTs103097Module {itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(103097) securedMessageV1(0) }
+
+  PublicKeys, CertificateSubjectAttributes
+FROM EtsiTs102941BaseTypes { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) baseTypes(3) version2(2) }
+;
+
+/************
+-- CA certificate request
+************/
+
+CaCertificateRequest ::= SEQUENCE {
+  publicKeys                  PublicKeys,
+  requestedSubjectAttributes  CertificateSubjectAttributes,
+  ...
+}
+
+END

obu-firmware/external/vanetza-idf/asn1/TS102941v131-TypesEnrolment.asn

@@ -0,0 +1,58 @@
+EtsiTs102941TypesEnrolment
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) enrolment(4) version2(2) }
+
+DEFINITIONS AUTOMATIC TAGS ::=
+BEGIN
+
+IMPORTS
+
+  EtsiTs103097Certificate, EtsiTs103097Data-Signed
+FROM EtsiTs103097Module { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(103097) securedMessageV1(0) }
+
+  CertificateFormat, CertificateSubjectAttributes, EcSignature, HashedId8, PublicKeys, Version
+FROM EtsiTs102941BaseTypes { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) baseTypes(3) version2(2) }
+;
+
+/************
+-- EnrolmentRequest/Response
+************/
+
+EnrolmentResponseCode ::= ENUMERATED {
+  ok(0),
+  cantparse, -- valid for any structure
+  badcontenttype, -- not encrypted, not signed, not enrolmentrequest
+  imnottherecipient, -- the "recipients" doesn't include me
+  unknownencryptionalgorithm, -- either kexalg or contentencryptionalgorithm
+  decryptionfailed, -- works for ECIES-HMAC and AES-CCM
+  unknownits, -- can't retrieve the ITS from the itsId
+  invalidsignature, -- signature verification of the request fails
+  invalidencryptionkey, -- signature is good, but the responseEncryptionKey is bad
+  baditsstatus, -- revoked, not yet active
+  incompleterequest, -- some elements are missing
+  deniedpermissions, -- requested permissions are not granted
+  invalidkeys, -- either the verification_key of the encryption_key is bad
+  deniedrequest, -- any other reason?
+  ...
+}
+
+InnerEcRequestSignedForPop::= EtsiTs103097Data-Signed{InnerEcRequest}
+
+InnerEcRequest ::= SEQUENCE {
+  itsId                                 OCTET STRING,
+  certificateFormat                     CertificateFormat,
+  publicKeys                            PublicKeys,
+  requestedSubjectAttributes            CertificateSubjectAttributes (WITH COMPONENTS{..., certIssuePermissions ABSENT}),
+  ...
+}
+
+InnerEcResponse ::= SEQUENCE {
+  requestHash                           OCTET STRING (SIZE(16)),
+  responseCode                          EnrolmentResponseCode,
+  certificate                           EtsiTs103097Certificate OPTIONAL,
+  ...
+}
+  (WITH COMPONENTS { responseCode (ok), certificate PRESENT }
+  | WITH COMPONENTS { responseCode (ALL EXCEPT ok), certificate ABSENT }
+  )
+
+END

obu-firmware/external/vanetza-idf/asn1/TS103097v131.asn

@@ -0,0 +1,100 @@
+EtsiTs103097Module {
+itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(103097) v1(0)
+}
+
+DEFINITIONS AUTOMATIC TAGS ::= BEGIN
+
+IMPORTS
+    Ieee1609Dot2Data, ExplicitCertificate
+FROM IEEE1609dot2 {
+iso(1) identified-organization(3) ieee(111) standards-association-numbered-series-standards(2) wave-stds(1609) dot2(2) base (1) schema (1) major-version-2(2)
+};
+
+EtsiTs103097Certificate ::= ExplicitCertificate (WITH COMPONENTS {...,
+    toBeSigned (WITH COMPONENTS {...,
+        id (WITH COMPONENTS {...,
+            linkageData ABSENT,
+            binaryId ABSENT
+        }),
+        certRequestPermissions ABSENT,
+        canRequestRollover ABSENT
+      })
+    })
+
+SingleEtsiTs103097Certificate ::= SEQUENCE {
+    only  EtsiTs103097Certificate
+}
+
+EtsiTs103097Data ::= Ieee1609Dot2Data (WITH COMPONENTS {...,
+    content (WITH COMPONENTS {...,
+    signedData (WITH COMPONENTS {..., -- constraints on signed data headers
+        tbsData (WITH COMPONENTS {
+            headerInfo (WITH COMPONENTS {...,
+                generationTime PRESENT,
+                p2pcdLearningRequest ABSENT,
+                missingCrlIdentifier ABSENT
+            })
+        }),
+        signer (WITH COMPONENTS {..., -- constraints on the certificate
+            certificate (SIZE(1))
+        })
+    }),
+    encryptedData (WITH COMPONENTS {..., -- constraints on encrypted data headers
+        recipients (WITH COMPONENT (
+            (WITH COMPONENTS {...,
+                pskRecipInfo ABSENT,
+                symmRecipInfo ABSENT,
+                rekRecipInfo ABSENT
+            })
+        ))
+    }),
+    signedCertificateRequest ABSENT
+  })
+})
+
+EtsiTs103097Data-Signed {ToBeSignedDataContent} ::= EtsiTs103097Data (WITH COMPONENTS {...,
+    content (WITH COMPONENTS {
+        signedData (WITH COMPONENTS {...,
+            tbsData (WITH COMPONENTS {
+                payload (WITH COMPONENTS {
+                    data (WITH COMPONENTS {...,
+                        content (WITH COMPONENTS {
+                            unsecuredData (CONTAINING ToBeSignedDataContent)
+                        })
+                    }) PRESENT
+                })
+            })
+        })
+    })
+})
+
+EtsiTs103097Data-SignedExternalPayload ::= EtsiTs103097Data (WITH COMPONENTS {...,
+    content (WITH COMPONENTS {
+        signedData (WITH COMPONENTS {...,
+            tbsData (WITH COMPONENTS {
+                payload (WITH COMPONENTS {
+                    extDataHash (WITH COMPONENTS {
+                        sha256HashedData PRESENT
+                    }) PRESENT
+                })
+            })
+        })
+    })
+})
+
+EtsiTs103097Data-Encrypted {ToBeEncryptedDataContent} ::= EtsiTs103097Data (WITH COMPONENTS {...,
+    content (WITH COMPONENTS {
+        encryptedData (WITH COMPONENTS {...,
+            ciphertext (WITH COMPONENTS {...,
+                aes128ccm (WITH COMPONENTS {...,
+                    ccmCiphertext (CONSTRAINED BY { -- ccm encryption of -- ToBeEncryptedDataContent})
+                })
+            })
+        })
+    })
+})
+
+
+EtsiTs103097Data-SignedAndEncrypted {ToBesignedAndEncryptedDataContent} ::= EtsiTs103097Data-Encrypted {EtsiTs103097Data-Signed {ToBesignedAndEncryptedDataContent}}
+
+END

obu-firmware/external/vanetza-idf/asn1/TS103301v211-IVIM.asn

@@ -0,0 +1,40 @@
+-- @brief Specification of the In vehicle information Message ETSI TS 103 301
+-- Latest version available at @url https://forge.etsi.org/rep/ITS/asn1/is_ts103301.git
+
+IVIM-PDU-Descriptions {
+    itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts103301 (103301) ivim (2) version2 (2)
+}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+
+BEGIN
+
+IMPORTS
+
+-- @brief Include ISO 19321
+-- Include references from @url https://standards.iso.org/iso/ts/19321/ed-2/en/ISO19321IVIv2.asn
+IviStructure
+FROM IVI { iso (1) standard (0) ivi (19321) version2 (2) }
+
+-- @brief Include ETSI TS 102 894-2
+-- Include references from @url https://forge.etsi.org/rep/ITS/ITS_ASN1/blob/master/CDD_TS102894-2/ITS-Container.asn
+ItsPduHeader
+FROM ITS-Container { itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) version (2)};
+
+-- In vehicle information Message Message
+
+-- @brief In vehicle information Message Root
+-- This DF includes DEs for the IVIM protocolVersion, the IVI message type identifier _messageID_,
+-- the station identifier _stationID_ of the originating ITS-S and the IVI data from ISO TS 19321.
+IVIM ::= SEQUENCE {
+    -- @details header
+    -- The DE _protocolVersion_ is used to select the appropriate protocol decoder at the receiving ITS-S.
+    --   It shall be set to 2.
+    -- The DE _messageID_ shall be ivim(6).
+    header  ItsPduHeader,
+    -- @details ivi
+    -- The DE _ivi_ contains the IVI data as defined in ISO TS 19321.
+    ivi     IviStructure
+}
+
+END

obu-firmware/external/vanetza-idf/asn1/TS103301v211-MAPEM.asn

@@ -0,0 +1,39 @@
+-- @brief Specification of the Map (lane topology) extended Message ETSI TS 103 301
+-- Latest version available at @url https://forge.etsi.org/rep/ITS/asn1/is_ts103301.git
+
+MAPEM-PDU-Descriptions {
+    itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts103301 (103301) mapem (1) version2 (2)
+}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+
+BEGIN
+
+IMPORTS
+
+-- @brief Include ISO TS 19091
+-- Include references from @url https://standards.iso.org/iso/ts/19091/ed-2/en/ISO-TS-19091-addgrp-C-2018.asn
+MapData FROM DSRC { iso (1) standard (0) signalizedIntersection (19091) profilec(2) dsrc (2) version2 (2) }
+
+-- @brief Include ETSI TS 102 894-2
+-- Include references from @url https://forge.etsi.org/rep/ITS/ITS_ASN1/blob/master/CDD_TS102894-2/ITS-Container.asn
+ItsPduHeader
+FROM ITS-Container {  itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) version (2)};
+
+-- Map (lane topology) extended Message
+
+-- @brief Map (lane topology) extended Message Root
+-- This DF includes DEs for the MAPEM: protocolVersion, the MAPEM message type identifier _messageID_,
+-- the station identifier _stationID_ of the originating ITS-S and the Map data from ISO TS 19091.
+MAPEM ::= SEQUENCE {
+    -- @details header
+    -- The DE _protocolVersion_ is used to select the appropriate protocol decoder at the receiving ITS-S.
+    --   It shall be set to 2.
+    -- The DE _messageID_ shall be mapem(5).
+    header  ItsPduHeader,
+    -- @details map
+    -- The DE _map_ contains the MAP data as defined in ISO TS 19091.
+    map	    MapData
+}
+
+END

obu-firmware/external/vanetza-idf/asn1/TS103301v211-RTCMEM.asn

@@ -0,0 +1,40 @@
+-- @brief Specification of the RTCM corrections extended Message ETSI TS 103 301
+-- Latest version available at @url https://forge.etsi.org/rep/ITS/asn1/is_ts103301.git
+
+RTCMEM-PDU-Descriptions {
+    itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts103301 (103301) rtcmem (5) version1 (1)
+}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+
+BEGIN
+
+IMPORTS
+
+-- @brief Include ISO 19091
+-- Include references from @url https://standards.iso.org/iso/ts/19091/ed-2/en/ISO-TS-19091-addgrp-C-2018.asn
+RTCMcorrections
+FROM DSRC { iso (1) standard (0) signalizedIntersection (19091) profilec(2) dsrc (2) version2 (2) }
+
+-- @brief Include ETSI TS 102 894-2
+-- Include references from @url https://forge.etsi.org/rep/ITS/ITS_ASN1/blob/master/CDD_TS102894-2/ITS-Container.asn
+ItsPduHeader
+FROM ITS-Container {  itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) version (2)};
+
+-- RTCM corrections extended extended Message
+
+-- @brief RTCM corrections extended extended Message Root
+-- This DF includes DEs for the RTCMEM: protocolVersion, the RTCMEM message type identifier _messageID_,
+-- the station identifier _stationID_ of the originating ITS-S and the RTCM corrections as os ISO TS 19091.
+RTCMEM ::= SEQUENCE {
+    -- @details header
+    -- The DE _protocolVersion_ is used to select the appropriate protocol decoder at the receiving ITS-S.
+    --   It shall be set to 1.
+    -- The DE _messageID_ shall be rtcmem(13).
+    header  ItsPduHeader,
+    -- @details rtcmc
+    -- The DE _rtcmc_ contains the RTCM corrections data as defined in ISO TS 19091.
+    rtcmc   RTCMcorrections
+}
+
+END

obu-firmware/external/vanetza-idf/asn1/TS103301v211-SPATEM.asn

@@ -0,0 +1,40 @@
+-- @brief Specification of the Signal phase and timing extended Message ETSI TS 103 301
+-- Latest version available at @url https://forge.etsi.org/rep/ITS/asn1/is_ts103301.git
+
+SPATEM-PDU-Descriptions {
+    itu-t (0) identified-organization (4) etsi (0) itsDomain (5)  wg1 (1) ts103301 (103301) spatem (0) version2 (2)
+}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+
+BEGIN
+
+IMPORTS
+
+-- @brief Include ISO TS 19091
+-- Include references from @url https://standards.iso.org/iso/ts/19091/ed-2/en/ISO-TS-19091-addgrp-C-2018.asn
+SPAT
+FROM DSRC { iso (1) standard (0) signalizedIntersection (19091) profilec(2) dsrc (2) version2 (2) }
+
+-- @brief Include ETSI TS 102 894-2
+-- Include references from @url https://forge.etsi.org/rep/ITS/ITS_ASN1/blob/master/CDD_TS102894-2/ITS-Container.asn
+ItsPduHeader
+FROM ITS-Container { itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) version (2) };
+
+-- Signal phase and timing extended Message
+
+-- @brief Signal phase and timing extended Message Root
+-- This DF includes DEs for the SPATEM: protocolVersion, the SPATEM message type identifier _messageID_,
+-- the station identifier _stationID_ of the originating ITS-S  and the SPaT data from ISO TS 19091.
+SPATEM ::= SEQUENCE {
+    -- @details header
+    -- The DE _protocolVersion_ is used to select the appropriate protocol decoder at the receiving ITS-S.
+    --   It shall be set to 2.
+    -- The DE _messageID_ shall be spatem(4).
+    header  ItsPduHeader,
+    -- @details spat
+    -- The DE _spat_ contains the SPaT data as defined in ISO TS 19091.
+    spat    SPAT
+}
+
+END

obu-firmware/external/vanetza-idf/asn1/TS103301v211-SREM.asn

@@ -0,0 +1,40 @@
+-- @brief Specification of the Signal request extended Message ETSI TS 103 301
+-- Latest version available at @url https://forge.etsi.org/rep/ITS/asn1/is_ts103301.git
+
+SREM-PDU-Descriptions {
+	itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts103301 (103301) srem (3) version2 (2)
+}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+
+BEGIN
+
+IMPORTS
+
+-- @brief Include ISO 19091
+-- Include references from @url https://standards.iso.org/iso/ts/19091/ed-2/en/ISO-TS-19091-addgrp-C-2018.asn
+SignalRequestMessage
+FROM DSRC { iso (1) standard (0) signalizedIntersection (19091) profilec(2) dsrc (2) version2 (2) }
+
+-- @brief Include ETSI TS 102 894-2
+-- Include references from @url https://forge.etsi.org/rep/ITS/ITS_ASN1/blob/master/CDD_TS102894-2/ITS-Container.asn
+ItsPduHeader
+FROM ITS-Container {  itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) version (2)};
+
+-- Signal request extended Message Message
+
+-- @brief Signal request extended Message Root
+-- This DF includes DEs for the SREM: protocolVersion, the SREM message type identifier _messageID_,
+-- the station identifier _stationID_ of the originating ITS-S and the signal request data ISO TS 19091.
+SREM ::= SEQUENCE {
+    -- @details header
+    -- The DE _protocolVersion_ is used to select the appropriate protocol decoder at the receiving ITS-S.
+    --   It shall be set to 2.
+    -- The DE _messageID_ shall be srem(9).
+    header  ItsPduHeader,
+    -- @details srm
+    -- The DE _srm_ contains the Signal request data as defined in ISO TS 19091.
+    srm     SignalRequestMessage
+}
+
+END

obu-firmware/external/vanetza-idf/asn1/TS103301v211-SSEM.asn

@@ -0,0 +1,40 @@
+-- @brief Specification of the Signal status extended Message ETSI TS 103 301
+-- Latest version available at @url https://forge.etsi.org/rep/ITS/asn1/is_ts103301.git
+
+SSEM-PDU-Descriptions {
+    itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts103301 (103301) ssem (4) version2 (2)
+}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+
+BEGIN
+
+IMPORTS
+
+-- @brief Include ISO 19091
+-- Include references from @url https://standards.iso.org/iso/ts/19091/ed-2/en/ISO-TS-19091-addgrp-C-2018.asn
+SignalStatusMessage
+FROM DSRC { iso (1) standard (0) signalizedIntersection (19091) profilec(2) dsrc (2) version2 (2) }
+
+-- @brief Include ETSI TS 102 894-2
+-- Include references from @url https://forge.etsi.org/rep/ITS/ITS_ASN1/blob/master/CDD_TS102894-2/ITS-Container.asn
+ItsPduHeader
+FROM ITS-Container {  itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) version (2)};
+
+-- Signal status extended Message
+
+-- @brief Signal status extended Message Root
+-- This DF includes DEs for the SSEM: protocolVersion, the SSEM message type identifier _messageID_ and
+-- the station identifier _stationID_ of the originating ITS-S and the signal status data ISO TS 19091.
+SSEM ::= SEQUENCE {
+    -- @details header
+    -- The DE _protocolVersion_ is used to select the appropriate protocol decoder at the receiving ITS-S.
+    --   It shall be set to 2.
+    -- The DE _messageID_ shall be ssem(10).
+    header  ItsPduHeader,
+    -- @details ssm
+    -- The DE _ssm_ contains the Signal status data as defined in ISO TS 19091.
+    ssm     SignalStatusMessage
+}
+
+END

obu-firmware/external/vanetza-idf/asn1/release2/README.md

@@ -0,0 +1,44 @@
+# ETSI ITS ASN.1
+
+The ASN.1 files in this directory are a slightly patched subset of the files published by ETSI for ITS Release 2.
+You can find the original files on [ETSI Forge](https://forge.etsi.org/rep/ITS/asn1). Our changes are documented below.
+These files are distributed under a permissive license:
+
+> Copyright 2019 ETSI
+>
+> Redistribution and use in source and binary forms, with or without 
+> modification, are permitted provided that the following conditions are met:
+> 1. Redistributions of source code must retain the above copyright notice, 
+>    this list of conditions and the following disclaimer.
+> 2. Redistributions in binary form must reproduce the above copyright notice, 
+>    this list of conditions and the following disclaimer in the documentation 
+>    and/or other materials provided with the distribution.
+> 3. Neither the name of the copyright holder nor the names of its contributors 
+>    may be used to endorse or promote products derived from this software without 
+>    specific prior written permission.
+>
+> THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 
+> ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 
+> WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 
+> IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, 
+> INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 
+> BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+> DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 
+> LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE 
+> OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED 
+> OF THE POSSIBILITY OF SUCH DAMAGE.
+
+
+# Changes
+
+## CDD
+
+Removed obsolete `ActionID` and `StationID` data elements. The generated file names clash with those of `ActionId` and `StationId` on case-insensitive filesystems.
+
+## CPM
+
+Updated CDD imports.
+
+## VAM
+
+Updated CDD imports.

obu-firmware/external/vanetza-idf/asn1/release2/TS102941v221/BaseTypes.asn

@@ -0,0 +1,58 @@
+EtsiTs102941BaseTypes
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) baseTypes(3) major-version-3(3) minor-version-1(1)}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+BEGIN
+
+IMPORTS
+  HashedId8, Time32, PublicEncryptionKey, PublicVerificationKey, Signature
+FROM
+  Ieee1609Dot2BaseTypes {iso(1) identified-organization(3) ieee(111) 
+  standards-association-numbered-series-standards(2) wave-stds(1609)  
+  dot2(2) base(1) base-types(2) major-version-2(2) minor-version-3(3)}
+  WITH SUCCESSORS
+
+  CertificateId, SubjectAssurance, SequenceOfPsidSsp, SequenceOfPsidGroupPermissions,
+  ValidityPeriod, GeographicRegion, HashedData
+FROM 
+  Ieee1609Dot2 {iso(1) identified-organization(3) ieee(111)
+  standards-association-numbered-series-standards(2) wave-stds(1609)
+  dot2(2) base (1) schema (1) major-version-2(2) minor-version-4(4)}
+  WITH SUCCESSORS
+
+  EtsiTs103097Data, EtsiTs103097Data-Encrypted, EtsiTs103097Data-Signed,
+  EtsiTs103097Data-SignedExternalPayload,
+  EtsiTs103097Data-Unsecured, EtsiTs103097Data-Encrypted-Unicast, EtsiTs103097Data-SignedAndEncrypted-Unicast
+FROM
+  EtsiTs103097Module {itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) secHeaders(103097) core(1) major-version-3(3) minor-version-1(1)}
+  WITH SUCCESSORS
+;
+
+CertificateFormat::= INTEGER {
+  ts103097v131 (1)
+  }(1..255)
+
+CertificateSubjectAttributes ::= SEQUENCE {
+  id 					CertificateId OPTIONAL,
+  validityPeriod        ValidityPeriod OPTIONAL,
+  region                GeographicRegion OPTIONAL,
+  assuranceLevel        SubjectAssurance OPTIONAL,
+  appPermissions        SequenceOfPsidSsp OPTIONAL,
+  certIssuePermissions  SequenceOfPsidGroupPermissions OPTIONAL,
+  ...
+  }(WITH COMPONENTS { ..., appPermissions PRESENT} |
+   WITH COMPONENTS { ..., certIssuePermissions PRESENT})
+
+EcSignature::= CHOICE {
+  encryptedEcSignature 	EtsiTs103097Data-Encrypted{EtsiTs103097Data-SignedExternalPayload}, 
+  ecSignature           EtsiTs103097Data-SignedExternalPayload
+  }
+
+PublicKeys ::= SEQUENCE {
+  verificationKey       PublicVerificationKey,
+  encryptionKey         PublicEncryptionKey OPTIONAL
+  }
+
+Version ::= INTEGER {v1(1)}
+
+END

obu-firmware/external/vanetza-idf/asn1/release2/TS102941v221/MessagesCa.asn

@@ -0,0 +1,127 @@
+/*************************************************************************************
+   This file contains the EtsiTs102941Messages module containing all possible PKI messages.
+   It should be used when all PKI messages needs to be implemented (for example, for CA development)
+**************************************************************************************/
+EtsiTs102941MessagesCa
+  { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) messagesCa(0) major-version-3(3) minor-version-3(3)}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+BEGIN
+
+IMPORTS
+
+EtsiTs103097Data-Signed,
+EtsiTs103097Data-SignedExternalPayload,
+EtsiTs103097Data-Encrypted-Unicast,
+EtsiTs103097Data-SignedAndEncrypted-Unicast
+FROM EtsiTs103097Module
+{itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) secHeaders(103097) core(1) major-version-3(3) minor-version-1(1)} 
+WITH SUCCESSORS
+
+Version
+FROM EtsiTs102941BaseTypes
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) baseTypes(3) major-version-3(3) minor-version-1(1) }
+WITH SUCCESSORS
+
+InnerEcRequestSignedForPop, InnerEcResponse
+FROM EtsiTs102941TypesEnrolment
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) enrolment(4) major-version-3(3) minor-version-1(1) }
+WITH SUCCESSORS
+
+EtsiTs102941ButterflyAuthorizationRequest-X509Signed, InnerAtRequest, InnerAtResponse
+FROM EtsiTs102941TypesAuthorization
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) authorization(5) major-version-3(3) minor-version-2(2) }
+WITH SUCCESSORS
+
+ToBeSignedCrl, ToBeSignedTlmCtl, ToBeSignedRcaCtl
+FROM EtsiTs102941TrustLists
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) trustLists(6) major-version-3(3) minor-version-1(1) }
+WITH SUCCESSORS
+
+AuthorizationValidationRequest, AuthorizationValidationResponse 
+FROM EtsiTs102941TypesAuthorizationValidation
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) authValidation(7) major-version-3(3) minor-version-1(1) }
+WITH SUCCESSORS
+
+CaCertificateRequest
+FROM EtsiTs102941TypesCaManagement
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) caManagement(8) major-version-3(3) minor-version-1(1) }
+WITH SUCCESSORS
+
+ToBeSignedLinkCertificate, ToBeSignedLinkCertificateTlm, ToBeSignedLinkCertificateRca
+FROM EtsiTs102941TypesLinkCertificate
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) linkCertificate(9) major-version-3(3) minor-version-1(1) }
+WITH SUCCESSORS
+
+EeRaCertRequest, RaEeCertInfo, EeRaDownloadRequest
+FROM Ieee1609Dot2Dot1EeRaInterface
+{iso(1) identified-organization(3) ieee(111) standards-association-numbered-series-standards(2) wave-stds(1609) dot2(2) extension-standards(255) dot1(1) interfaces(1) ee-ra(11) major-version-3(3) minor-version-1(1)}
+WITH SUCCESSORS
+
+RaAcaCertRequest, AcaRaCertResponse 
+FROM Ieee1609Dot2Dot1AcaRaInterface
+{iso(1) identified-organization(3) ieee(111) standards-association-numbered-series-standards(2) wave-stds(1609) dot2(2) extension-standards(255) dot1(1) interfaces(1) aca-ra(4) major-version-3(3) minor-version-1(1)}
+WITH SUCCESSORS
+;
+
+/************
+-- Messages
+************/
+EnrolmentRequestMessage ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{enrolmentRequest PRESENT})})} 
+EnrolmentResponseMessage ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{enrolmentResponse PRESENT})})} 
+AuthorizationRequestMessage ::= EtsiTs103097Data-Encrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{authorizationRequest PRESENT})})} 
+AuthorizationRequestMessageWithPop ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{authorizationRequest PRESENT})})} 
+AuthorizationResponseMessage ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{authorizationResponse PRESENT})})} 
+CertificateRevocationListMessage ::= EtsiTs103097Data-Signed{EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{certificateRevocationList PRESENT})})}
+TlmCertificateTrustListMessage ::= EtsiTs103097Data-Signed{EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{certificateTrustListTlm PRESENT})})}
+RcaCertificateTrustListMessage ::= EtsiTs103097Data-Signed{EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{certificateTrustListRca PRESENT})})}
+AuthorizationValidationRequestMessage ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{authorizationValidationRequest PRESENT})})} 
+AuthorizationValidationResponseMessage ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{authorizationValidationResponse PRESENT})})} 
+CaCertificateRequestMessage ::= EtsiTs103097Data-Signed {EtsiTs102941Data(WITH COMPONENTS{..., content (WITH COMPONENTS{caCertificateRequest PRESENT})})}
+CaCertificateRekeyingMessage ::= EtsiTs103097Data-Signed {EtsiTs103097Data-Signed {EtsiTs102941Data(WITH COMPONENTS{..., content (WITH COMPONENTS{caCertificateRequest PRESENT})})}}
+TlmLinkCertificateMessage ::= EtsiTs103097Data-Signed {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{linkCertificateTlm PRESENT})})}
+RcaSingleSignedLinkCertificateMessage ::= EtsiTs103097Data-Signed {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{singleSignedLinkCertificateRca PRESENT})})}
+RcaDoubleSignedLinkCertificateMessage ::= EtsiTs103097Data-Signed {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{doubleSignedlinkCertificateRca PRESENT})})}
+ButterflyAuthorizationRequestMessage ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{butterflyAuthorizationRequest PRESENT})})}
+X509SignedButterflyAuthorizationRequestMessage ::= EtsiTs103097Data-Encrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{x509SignedbutterflyAuthorizationRequest PRESENT})})}
+ButterflyAuthorizationResponseMessage ::= EtsiTs103097Data-Signed {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{butterflyAuthorizationResponse PRESENT})})}
+ButterflyAtDownloadRequestMessage ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{butterflyAtDownloadRequest PRESENT})})}
+ButterflyCertRequestMessage ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{butterflyCertificateRequest PRESENT})})}
+ButterflyCertResponseMessage ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{butterflyCertificateResponse PRESENT})})}
+
+/************
+-- EtsiTs102941Data
+************/
+
+EtsiTs102941Data::= SEQUENCE {
+  version Version (v1),
+  content EtsiTs102941DataContent
+  }
+
+EtsiTs102941DataContent ::= CHOICE {
+  enrolmentRequest                        InnerEcRequestSignedForPop,
+  enrolmentResponse                       InnerEcResponse,
+  authorizationRequest                    InnerAtRequest,
+  authorizationResponse                   InnerAtResponse,
+  certificateRevocationList               ToBeSignedCrl,
+  certificateTrustListTlm                 ToBeSignedTlmCtl,
+  certificateTrustListRca                 ToBeSignedRcaCtl,
+  authorizationValidationRequest          AuthorizationValidationRequest,
+  authorizationValidationResponse         AuthorizationValidationResponse,
+  caCertificateRequest                    CaCertificateRequest,
+  ...,
+  linkCertificateTlm                      ToBeSignedLinkCertificateTlm,
+  singleSignedLinkCertificateRca          ToBeSignedLinkCertificateRca,
+  doubleSignedlinkCertificateRca          RcaSingleSignedLinkCertificateMessage,
+  /* Extension for butterfly key provisioning */
+  [[butterflyAuthorizationRequest         EeRaCertRequest,
+  x509SignedbutterflyAuthorizationRequest EtsiTs102941ButterflyAuthorizationRequest-X509Signed,
+  butterflyAuthorizationResponse          RaEeCertInfo,
+  butterflyCertificateRequest             RaAcaCertRequest,
+  butterflyCertificateResponse            AcaRaCertResponse,
+  butterflyAtDownloadRequest              EeRaDownloadRequest]]
+  }
+
+
+
+END

obu-firmware/external/vanetza-idf/asn1/release2/TS102941v221/MessagesItss-OptionalPrivacy.asn

@@ -0,0 +1,106 @@
+/*************************************************************************************
+   This file contains the EtsiTs102941MessagesItss-OptionalPrivacy module providing the
+   same subset of messages as the EtsiTs102941MessagesItss module.
+   It should never be used together with the EtsiTs102941MessagesCA and EtsiTs102941MessagesItss
+
+   This module allows the usage of unencrypted EC signature for AA requests.
+**************************************************************************************/
+EtsiTs102941MessagesItss-OptionalPrivacy
+  { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) messagesItssOp(2) major-version-3(3) minor-version-3(3)}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+BEGIN
+
+IMPORTS
+
+EtsiTs103097Data-Signed,
+EtsiTs103097Data-Encrypted-Unicast,
+EtsiTs103097Data-SignedAndEncrypted-Unicast
+FROM EtsiTs103097Module
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) secHeaders(103097) core(1) major-version-3(3) minor-version-1(1) } 
+WITH SUCCESSORS
+
+Version
+FROM EtsiTs102941BaseTypes
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) baseTypes(3) major-version-3(3) minor-version-1(1) }
+WITH SUCCESSORS
+
+InnerEcRequestSignedForPop, InnerEcResponse
+FROM EtsiTs102941TypesEnrolment
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) enrolment(4) major-version-3(3) minor-version-1(1) }
+WITH SUCCESSORS
+
+EtsiTs102941ButterflyAuthorizationRequest-X509Signed, InnerAtRequest, InnerAtResponse
+FROM EtsiTs102941TypesAuthorization
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) authorization(5) major-version-3(3) minor-version-2(2) }
+WITH SUCCESSORS
+
+ToBeSignedCrl, ToBeSignedTlmCtl, ToBeSignedRcaCtl
+FROM EtsiTs102941TrustLists
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) trustLists(6) major-version-3(3) minor-version-1(1) }
+WITH SUCCESSORS
+
+ToBeSignedLinkCertificate, ToBeSignedLinkCertificateTlm
+FROM EtsiTs102941TypesLinkCertificate
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) linkCertificate(9) major-version-3(3) minor-version-1(1)}
+WITH SUCCESSORS
+
+EeRaCertRequest, RaEeCertInfo, EeRaDownloadRequest
+FROM Ieee1609Dot2Dot1EeRaInterface
+{ iso(1) identified-organization(3) ieee(111) standards-association-numbered-series-standards(2) wave-stds(1609) dot2(2) extension-standards(255) dot1(1) interfaces(1) ee-ra(11) major-version-3(3) minor-version-1(1)}
+WITH SUCCESSORS
+
+;
+
+/************
+-- Messages
+************/
+
+EnrolmentRequestMessage ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{enrolmentRequest PRESENT})})} 
+EnrolmentResponseMessage ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{enrolmentResponse PRESENT})})} 
+AuthorizationRequestMessage ::= EtsiTs103097Data-Encrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{authorizationRequest PRESENT})})} 
+AuthorizationRequestMessageWithPop ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{authorizationRequest PRESENT})})} 
+AuthorizationResponseMessage ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{authorizationResponse PRESENT})})} 
+CertificateRevocationListMessage ::= EtsiTs103097Data-Signed{EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{certificateRevocationList PRESENT})})}
+TlmCertificateTrustListMessage ::= EtsiTs103097Data-Signed{EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{certificateTrustListTlm PRESENT})})}
+RcaCertificateTrustListMessage ::= EtsiTs103097Data-Signed{EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{certificateTrustListRca PRESENT})})}
+TlmLinkCertificateMessage ::= EtsiTs103097Data-Signed {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{linkCertificateTlm PRESENT})})}
+ButterflyAuthorizationRequestMessage ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{butterflyAuthorizationRequest PRESENT})})}
+X509SignedButterflyAuthorizationRequestMessage ::= EtsiTs103097Data-Encrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{x509SignedbutterflyAuthorizationRequest PRESENT})})} 
+ButterflyAuthorizationResponseMessage ::= EtsiTs103097Data-Signed {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{butterflyAuthorizationResponse PRESENT})})}
+ButterflyAtDownloadRequestMessage ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{butterflyAtDownloadRequest PRESENT})})}
+
+/************
+-- EtsiTs102941Data
+************/
+
+EtsiTs102941Data::= SEQUENCE {
+  version Version (v1),
+  content EtsiTs102941DataContent
+  }
+
+EtsiTs102941DataContent ::= CHOICE {
+  enrolmentRequest                        InnerEcRequestSignedForPop,
+  enrolmentResponse                       InnerEcResponse,
+  authorizationRequest                    InnerAtRequest,
+  authorizationResponse                   InnerAtResponse,
+  certificateRevocationList               ToBeSignedCrl,
+  certificateTrustListTlm                 ToBeSignedTlmCtl,
+  certificateTrustListRca                 ToBeSignedRcaCtl,
+  authorizationValidationRequest          NULL,
+  authorizationValidationResponse         NULL,
+  caCertificateRequest                    NULL,
+  ...,
+  linkCertificateTlm                      ToBeSignedLinkCertificateTlm,
+  singleSignedLinkCertificateRca          NULL,
+  doubleSignedlinkCertificateRca          NULL,
+  /* Extension for butterfly key provisioning */
+  [[butterflyAuthorizationRequest         EeRaCertRequest,
+  x509SignedbutterflyAuthorizationRequest EtsiTs102941ButterflyAuthorizationRequest-X509Signed,
+  butterflyAuthorizationResponse          RaEeCertInfo,
+  butterflyCertificateRequest             NULL,
+  butterflyCertificateResponse            NULL,
+  butterflyAtDownloadRequest              EeRaDownloadRequest]]
+  } 
+
+END

obu-firmware/external/vanetza-idf/asn1/release2/TS102941v221/MessagesItss.asn

@@ -0,0 +1,112 @@
+/*************************************************************************************
+   This file contains the EtsiTs102941MessagesItss module providing the ITS-S subset 
+   of messages defined in the module EtsiTs102941MessagesCA
+   It should never be imported together with the module EtsiTs102941MessagesCA.
+   Use the EtsiTs102941MessagesCA if all possible PKI message types are needed.
+
+   This module blocks the usage of unencrypted EC signature for AA requests.
+**************************************************************************************/
+EtsiTs102941MessagesItss
+  { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) messagesItss(1) major-version-3(3) minor-version-3(3)}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+BEGIN
+
+IMPORTS
+
+EtsiTs103097Data-Signed,
+EtsiTs103097Data-Encrypted-Unicast,
+EtsiTs103097Data-SignedAndEncrypted-Unicast
+FROM EtsiTs103097Module
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) secHeaders(103097) core(1) major-version-3(3) minor-version-1(1) } 
+WITH SUCCESSORS
+
+Version
+FROM EtsiTs102941BaseTypes
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) baseTypes(3) major-version-3(3) minor-version-1(1) }
+WITH SUCCESSORS
+
+InnerEcRequestSignedForPop, InnerEcResponse
+FROM EtsiTs102941TypesEnrolment
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) enrolment(4) major-version-3(3) minor-version-1(1) }
+WITH SUCCESSORS
+
+EtsiTs102941ButterflyAuthorizationRequest-X509Signed, InnerAtRequest, InnerAtResponse
+FROM EtsiTs102941TypesAuthorization
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) authorization(5) major-version-3(3) minor-version-2(2) }
+WITH SUCCESSORS
+
+ToBeSignedCrl, ToBeSignedTlmCtl, ToBeSignedRcaCtl
+FROM EtsiTs102941TrustLists
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) trustLists(6) major-version-3(3) minor-version-1(1) }
+WITH SUCCESSORS
+
+ToBeSignedLinkCertificate, ToBeSignedLinkCertificateTlm
+FROM EtsiTs102941TypesLinkCertificate
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) linkCertificate(9) major-version-3(3) minor-version-1(1) }
+WITH SUCCESSORS
+
+EeRaCertRequest, RaEeCertInfo, EeRaDownloadRequest
+FROM Ieee1609Dot2Dot1EeRaInterface
+{ iso(1) identified-organization(3) ieee(111) standards-association-numbered-series-standards(2) wave-stds(1609) dot2(2) extension-standards(255) dot1(1) interfaces(1) ee-ra(11) major-version-3(3) minor-version-1(1)}
+WITH SUCCESSORS
+;
+
+/************
+-- Messages
+************/
+
+EnrolmentRequestMessage ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{enrolmentRequest PRESENT})})} 
+EnrolmentResponseMessage ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{enrolmentResponse PRESENT})})} 
+AuthorizationRequestMessage ::= EtsiTs103097Data-Encrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{authorizationRequest PRESENT})})} 
+AuthorizationRequestMessageWithPop ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{authorizationRequest PRESENT})})} 
+AuthorizationResponseMessage ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{authorizationResponse PRESENT})})} 
+CertificateRevocationListMessage ::= EtsiTs103097Data-Signed{EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{certificateRevocationList PRESENT})})}
+TlmCertificateTrustListMessage ::= EtsiTs103097Data-Signed{EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{certificateTrustListTlm PRESENT})})}
+RcaCertificateTrustListMessage ::= EtsiTs103097Data-Signed{EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{certificateTrustListRca PRESENT})})}
+TlmLinkCertificateMessage ::= EtsiTs103097Data-Signed {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{linkCertificateTlm PRESENT})})}
+ButterflyAuthorizationRequestMessage ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{butterflyAuthorizationRequest PRESENT})})}
+X509SignedButterflyAuthorizationRequestMessage ::= EtsiTs103097Data-Encrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{x509SignedbutterflyAuthorizationRequest PRESENT})})}
+ButterflyAuthorizationResponseMessage ::= EtsiTs103097Data-Signed {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{butterflyAuthorizationResponse PRESENT})})}
+ButterflyAtDownloadRequestMessage ::= EtsiTs103097Data-SignedAndEncrypted-Unicast {EtsiTs102941Data (WITH COMPONENTS{..., content (WITH COMPONENTS{butterflyAtDownloadRequest PRESENT})})}
+
+/************
+-- EtsiTs102941Data
+************/
+
+EtsiTs102941Data::= SEQUENCE {
+  version Version (v1),
+  content EtsiTs102941DataContent
+  }
+
+EtsiTs102941DataContent ::= CHOICE {
+  enrolmentRequest                        InnerEcRequestSignedForPop,
+  enrolmentResponse                       InnerEcResponse,
+  authorizationRequest                    InnerAtRequest,
+  authorizationResponse                   InnerAtResponse,
+  certificateRevocationList               ToBeSignedCrl,
+  certificateTrustListTlm                 ToBeSignedTlmCtl,
+  certificateTrustListRca                 ToBeSignedRcaCtl,
+  authorizationValidationRequest          NULL,
+  authorizationValidationResponse         NULL,
+  caCertificateRequest                    NULL,
+  ...,
+  linkCertificateTlm                      ToBeSignedLinkCertificateTlm,
+  singleSignedLinkCertificateRca          NULL,
+  doubleSignedlinkCertificateRca          NULL,
+  /* Extension for butterfly key provisioning */
+  [[butterflyAuthorizationRequest         EeRaCertRequest,
+  x509SignedbutterflyAuthorizationRequest EtsiTs102941ButterflyAuthorizationRequest-X509Signed,
+  butterflyAuthorizationResponse          RaEeCertInfo,
+  butterflyCertificateRequest             NULL,
+  butterflyCertificateResponse            NULL,
+  butterflyAtDownloadRequest              EeRaDownloadRequest]]
+  } (WITH COMPONENTS{...,
+    authorizationRequest (WITH COMPONENTS{...,
+      ecSignature (WITH COMPONENTS{...,
+        encryptedEcSignature PRESENT
+      })
+    })
+  })
+
+END

obu-firmware/external/vanetza-idf/asn1/release2/TS102941v221/README.md

@@ -0,0 +1,3 @@
+The TS 102941 v2.2.1 PKI ASN1 files are copied from its [ETSI repository](https://forge.etsi.org/rep/ITS/asn1/pki_ts102941/-/tree/v2.2.1).
+
+See [ETSI License](https://forge.etsi.org/rep/ITS/asn1/pki_ts102941/-/blob/v2.2.1/LICENSE) for copyright details.

obu-firmware/external/vanetza-idf/asn1/release2/TS102941v221/TrustLists.asn

@@ -0,0 +1,143 @@
+EtsiTs102941TrustLists
+  { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) trustLists(6) major-version-3(3) minor-version-1(1)}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+BEGIN
+
+IMPORTS
+
+EtsiTs103097Certificate, EtsiTs103097Data-SignedAndEncrypted, EtsiTs103097Data-Signed 
+FROM	
+EtsiTs103097Module
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) secHeaders(103097) core(1) major-version-3(3) minor-version-1(1) } 
+WITH SUCCESSORS
+
+HashedId8, Time32, Version --, CertificateAuthorityConstraints
+FROM EtsiTs102941BaseTypes 
+{itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) baseTypes(3) major-version-3(3) minor-version-1(1) }
+WITH SUCCESSORS
+;
+
+/************
+-- CRL
+************/
+ToBeSignedCrl ::= SEQUENCE {
+  version    Version,
+  thisUpdate Time32,
+  nextUpdate Time32,
+  entries SEQUENCE OF CrlEntry,
+  ...
+}
+
+CrlEntry ::= HashedId8
+
+/************
+-- TLM CTL
+************/
+
+ToBeSignedTlmCtl ::= CtlFormat (FullCtl | DeltaCtl) (WITH COMPONENTS {...,
+  ctlCommands ( WITH COMPONENT( 
+    ( WITH COMPONENTS {..., 
+      add ( WITH COMPONENTS {..., 
+        ea ABSENT,
+        aa ABSENT
+      })
+    })
+  ))
+})
+
+/************
+-- RCA CTL
+************/
+
+ToBeSignedRcaCtl ::= CtlFormat (FullCtl | DeltaCtl) ( WITH COMPONENTS {...,
+  ctlCommands ( WITH COMPONENT( 
+    ( WITH COMPONENTS {..., 
+      add ( WITH COMPONENTS {..., 
+        rca ABSENT,
+        tlm ABSENT
+      })
+    })
+  ))
+})
+
+/************
+-- CTL
+************/
+
+FullCtl::= CtlFormat ( WITH COMPONENTS {...,
+  isFullCtl ( TRUE ),
+  ctlCommands ( WITH COMPONENT( 
+    ( WITH COMPONENTS {..., 
+      delete ABSENT
+    })
+  )) 
+})
+
+DeltaCtl::= CtlFormat (WITH COMPONENTS {...,
+  isFullCtl(FALSE)
+})
+
+
+CtlFormat ::= SEQUENCE {
+  version     Version,
+  nextUpdate  Time32, 
+  isFullCtl   BOOLEAN,
+  ctlSequence INTEGER (0..255),
+  ctlCommands SEQUENCE OF CtlCommand,
+  ...
+}
+
+CtlCommand ::= CHOICE {
+  add 	  CtlEntry,
+  delete  CtlDelete,
+  ...
+}
+
+CtlEntry ::= CHOICE {
+  rca   RootCaEntry,
+  ea    EaEntry,
+  aa    AaEntry,
+  dc    DcEntry,
+  tlm   TlmEntry,
+  ...
+}
+
+CtlDelete ::= CHOICE {
+  cert  HashedId8,
+  dc    DcDelete,
+  ...
+}
+
+TlmEntry::= SEQUENCE {
+  selfSignedTLMCertificate EtsiTs103097Certificate,
+  successorTo              EtsiTs103097Certificate OPTIONAL,
+  accessPoint              Url
+}
+
+RootCaEntry ::= SEQUENCE {
+  selfsignedRootCa EtsiTs103097Certificate,
+  successorTo      EtsiTs103097Certificate OPTIONAL
+}
+
+EaEntry ::= SEQUENCE {
+  eaCertificate     EtsiTs103097Certificate,
+  aaAccessPoint     Url,
+  itsAccessPoint    Url OPTIONAL
+}
+
+AaEntry ::= SEQUENCE {
+  aaCertificate EtsiTs103097Certificate,
+  accessPoint Url
+}
+
+DcEntry ::= SEQUENCE {
+  url   Url,
+  cert  SEQUENCE OF HashedId8
+}
+
+DcDelete ::= Url
+
+Url::= IA5String
+
+END

obu-firmware/external/vanetza-idf/asn1/release2/TS102941v221/TypesAuthorization.asn

@@ -0,0 +1,105 @@
+EtsiTs102941TypesAuthorization
+  { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) authorization(5) major-version-3(3) minor-version-3(3)}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+BEGIN
+
+IMPORTS
+
+EtsiTs103097Certificate,
+EtsiTs103097Data-Signed
+FROM EtsiTs103097Module
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) secHeaders(103097) core(1) major-version-3(3) minor-version-1(1) } 
+WITH SUCCESSORS
+
+CertificateFormat, CertificateSubjectAttributes, EcSignature, HashedId8, PublicKeys, Version
+FROM EtsiTs102941BaseTypes
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) baseTypes(3) major-version-3(3) minor-version-1(1) }
+WITH SUCCESSORS
+
+EeRaInterfacePdu
+FROM Ieee1609Dot2Dot1EeRaInterface
+{ iso(1) identified-organization(3) ieee(111) standards-association-numbered-series-standards(2) wave-stds(1609) dot2(2) extension-standards(255) dot1(1) interfaces(1) ee-ra(11) major-version-3(3) minor-version-1(1)}
+WITH SUCCESSORS
+
+Ieee1609Dot2Data-SignedX509AuthenticatedCertRequest, ScmsPdu-Scoped, SignerSingleX509Cert
+FROM Ieee1609Dot2Dot1Protocol
+{ iso(1) identified-organization(3) ieee(111) standards-association-numbered-series-standards(2) wave-stds(1609) dot2(2) extension-standards(255) dot1(1) interfaces(1) protocol(17) major-version-3(3) minor-version-1(1)}
+WITH SUCCESSORS
+
+;
+
+/************
+-- AuthorizationRequest/Response
+************/
+
+AuthorizationResponseCode ::= ENUMERATED {
+  ok(0),
+  -- ITS->AA
+  its-aa-cantparse, -- valid for any structure
+  its-aa-badcontenttype, -- not encrypted, not signed, not authorizationrequest
+  its-aa-imnottherecipient, -- the "recipients" of the outermost encrypted data doesn't include me
+  its-aa-unknownencryptionalgorithm, -- either kexalg or contentencryptionalgorithm
+  its-aa-decryptionfailed, -- works for ECIES-HMAC and AES-CCM
+  its-aa-keysdontmatch, -- HMAC keyTag verification fails
+  its-aa-incompleterequest, -- some elements are missing
+  its-aa-invalidencryptionkey, -- the responseEncryptionKey is bad
+  its-aa-outofsyncrequest, -- signingTime is outside acceptable limits
+  its-aa-unknownea, -- the EA identified by eaId is unknown to me
+  its-aa-invalidea, -- the EA certificate is revoked
+  its-aa-deniedpermissions, -- I, the AA, deny the requested permissions
+  -- AA->EA
+  aa-ea-cantreachea, -- the EA is unreachable (network error?)
+  -- EA->AA
+  ea-aa-cantparse, -- valid for any structure
+  ea-aa-badcontenttype, -- not encrypted, not signed, not authorizationrequest
+  ea-aa-imnottherecipient, -- the "recipients" of the outermost encrypted data doesn't include me
+  ea-aa-unknownencryptionalgorithm, -- either kexalg or contentencryptionalgorithm
+  ea-aa-decryptionfailed, -- works for ECIES-HMAC and AES-CCM
+  -- TODO: to be continued...
+  invalidaa, -- the AA certificate presented is invalid/revoked/whatever
+  invalidaasignature, -- the AA certificate presented can't validate the request signature
+  wrongea, -- the encrypted signature doesn't designate me as the EA
+  unknownits, -- can't retrieve the EC/ITS in my DB
+  invalidsignature, -- signature verification of the request by the EC fails
+  invalidencryptionkey, -- signature is good, but the key is bad
+  deniedpermissions, -- permissions not granted
+  deniedtoomanycerts, -- parallel limit
+  ... }
+
+
+InnerAtRequest ::= SEQUENCE {
+  publicKeys                    PublicKeys,
+  hmacKey                       OCTET STRING (SIZE(32)),
+  sharedAtRequest               SharedAtRequest, 
+  ecSignature                   EcSignature,
+  ...
+  } 
+
+SharedAtRequest ::= SEQUENCE {
+  eaId                          HashedId8,
+  keyTag                        OCTET STRING (SIZE(16)),
+  certificateFormat             CertificateFormat,
+  requestedSubjectAttributes    CertificateSubjectAttributes (WITH COMPONENTS{..., certIssuePermissions ABSENT}),
+  ...
+  }
+
+InnerAtResponse ::= SEQUENCE {
+  requestHash                   OCTET STRING (SIZE(16)),
+  responseCode                  AuthorizationResponseCode,
+  certificate                   EtsiTs103097Certificate OPTIONAL,
+  ... 
+ }
+  (WITH COMPONENTS { responseCode (ok), certificate PRESENT }
+  | WITH COMPONENTS { responseCode (ALL EXCEPT ok), certificate ABSENT }
+  )
+
+EtsiTs102941ButterflyAuthorizationRequest-X509Signed ::= Ieee1609Dot2Data-SignedX509AuthenticatedCertRequest {
+	ScmsPdu-Scoped {
+		EeRaInterfacePdu (WITH COMPONENTS {
+			eeRaCertRequest})
+		},
+	SignerSingleX509Cert
+}
+
+END

obu-firmware/external/vanetza-idf/asn1/release2/TS102941v221/TypesAuthorizationValidation.asn

@@ -0,0 +1,63 @@
+EtsiTs102941TypesAuthorizationValidation
+  { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) authValidation(7) major-version-3(3) minor-version-1(1)}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+BEGIN
+
+IMPORTS
+
+EtsiTs103097Certificate
+FROM EtsiTs103097Module
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) secHeaders(103097) core(1) major-version-3(3) minor-version-1(1) } 
+WITH SUCCESSORS
+
+CertificateFormat, CertificateSubjectAttributes,EcSignature, HashedId8, PublicKeys, Version
+FROM EtsiTs102941BaseTypes
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) baseTypes(3) major-version-3(3) minor-version-1(1) }
+WITH SUCCESSORS
+
+SharedAtRequest
+FROM EtsiTs102941TypesAuthorization
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) authorization(5) major-version-3(3) minor-version-2(2) }
+WITH SUCCESSORS
+;
+
+/************
+-- AuthorizationValidationRequest/Response
+************/
+
+AuthorizationValidationResponseCode ::= ENUMERATED {
+  ok(0),
+  cantparse, -- valid for any structure
+  badcontenttype, -- not encrypted, not signed, not permissionsverificationrequest
+  imnottherecipient, -- the "recipients" of the outermost encrypted data doesn't include me
+  unknownencryptionalgorithm, -- either kexalg or contentencryptionalgorithm
+  decryptionfailed, -- works for ECIES-HMAC and AES-CCM
+  invalidaa, -- the AA certificate presented is invalid/revoked/whatever
+  invalidaasignature, -- the AA certificate presented can't validate the request signature
+  wrongea, -- the encrypted signature doesn't designate me as the EA
+  unknownits, -- can't retrieve the EC/ITS in my DB
+  invalidsignature, -- signature verification of the request by the EC fails
+  invalidencryptionkey, -- signature is good, but the responseEncryptionKey is bad
+  deniedpermissions, -- requested permissions not granted
+  deniedtoomanycerts, -- parallel limit
+  deniedrequest, -- any other reason?
+  ... }
+
+AuthorizationValidationRequest ::= SEQUENCE {
+  sharedAtRequest               SharedAtRequest,
+  ecSignature                   EcSignature,
+  ...
+  }
+
+AuthorizationValidationResponse ::= SEQUENCE { 
+  requestHash                   OCTET STRING (SIZE(16)),
+  responseCode                  AuthorizationValidationResponseCode,
+  confirmedSubjectAttributes    CertificateSubjectAttributes (WITH COMPONENTS{..., certIssuePermissions ABSENT}) OPTIONAL,
+  ...
+  }
+  (WITH COMPONENTS { responseCode (ok), confirmedSubjectAttributes PRESENT }
+  | WITH COMPONENTS { responseCode (ALL EXCEPT ok), confirmedSubjectAttributes ABSENT }
+  )
+
+END

obu-firmware/external/vanetza-idf/asn1/release2/TS102941v221/TypesCaManagement.asn

@@ -0,0 +1,31 @@
+EtsiTs102941TypesCaManagement
+  { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) caManagement(8) major-version-3(3) minor-version-1(1)}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+BEGIN
+
+IMPORTS
+
+EtsiTs103097Certificate, EtsiTs103097Data-Signed 
+FROM	
+EtsiTs103097Module 
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) secHeaders(103097) core(1) major-version-3(3) minor-version-1(1) } 
+WITH SUCCESSORS
+
+PublicKeys, CertificateSubjectAttributes
+FROM EtsiTs102941BaseTypes
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) baseTypes(3) major-version-3(3) minor-version-1(1) }
+WITH SUCCESSORS
+;
+
+/************
+-- CA certificate request 
+************/
+
+CaCertificateRequest ::= SEQUENCE {
+  publicKeys                  PublicKeys,
+  requestedSubjectAttributes  CertificateSubjectAttributes,
+  ...	 
+}
+
+END

obu-firmware/external/vanetza-idf/asn1/release2/TS102941v221/TypesEnrolment.asn

@@ -0,0 +1,62 @@
+EtsiTs102941TypesEnrolment
+  { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) enrolment(4) major-version-3(3) minor-version-1(1) }
+
+DEFINITIONS AUTOMATIC TAGS ::=
+BEGIN
+
+IMPORTS
+
+EtsiTs103097Certificate,
+EtsiTs103097Data-Signed
+FROM EtsiTs103097Module
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) secHeaders(103097) core(1) major-version-3(3) minor-version-1(1) } 
+WITH SUCCESSORS
+
+CertificateFormat, CertificateSubjectAttributes, EcSignature, HashedId8, PublicKeys, Version
+FROM EtsiTs102941BaseTypes
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) baseTypes(3) major-version-3(3) minor-version-1(1) }
+WITH SUCCESSORS
+;
+
+/************
+-- EnrolmentRequest/Response
+************/
+
+EnrolmentResponseCode ::= ENUMERATED {
+  ok(0),
+  cantparse, -- valid for any structure
+  badcontenttype, -- not encrypted, not signed, not enrolmentrequest
+  imnottherecipient, -- the "recipients" doesn't include me
+  unknownencryptionalgorithm, -- either kexalg or contentencryptionalgorithm
+  decryptionfailed, -- works for ECIES-HMAC and AES-CCM
+  unknownits, -- can't retrieve the ITS from the itsId
+  invalidsignature, -- signature verification of the request fails
+  invalidencryptionkey, -- signature is good, but the responseEncryptionKey is bad
+  baditsstatus, -- revoked, not yet active
+  incompleterequest, -- some elements are missing
+  deniedpermissions, -- requested permissions are not granted
+  invalidkeys, -- either the verification_key of the encryption_key is bad
+  deniedrequest, -- any other reason?
+  ... }
+
+InnerEcRequestSignedForPop::= EtsiTs103097Data-Signed{InnerEcRequest}
+
+InnerEcRequest ::= SEQUENCE {
+  itsId                                 OCTET STRING,
+  certificateFormat                     CertificateFormat,
+  publicKeys                            PublicKeys,
+  requestedSubjectAttributes            CertificateSubjectAttributes (WITH COMPONENTS{..., certIssuePermissions ABSENT}),
+  ...
+ }
+
+InnerEcResponse ::= SEQUENCE {
+  requestHash                           OCTET STRING (SIZE(16)),
+  responseCode                          EnrolmentResponseCode,
+  certificate                           EtsiTs103097Certificate OPTIONAL,
+  ... 
+ }
+  (WITH COMPONENTS { responseCode (ok), certificate PRESENT }
+     | WITH COMPONENTS { responseCode (ALL EXCEPT ok), certificate ABSENT }
+  )
+
+END

obu-firmware/external/vanetza-idf/asn1/release2/TS102941v221/TypesLinkCertificate.asn

@@ -0,0 +1,30 @@
+EtsiTs102941TypesLinkCertificate
+{ itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) linkCertificate(9) major-version-3(3) minor-version-1(1) }
+
+DEFINITIONS AUTOMATIC TAGS ::=
+BEGIN
+
+IMPORTS
+
+Time32, HashedData
+FROM EtsiTs102941BaseTypes 
+{itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) ts(102941) baseTypes(3) major-version-3(3) minor-version-1(1)}
+WITH SUCCESSORS
+
+;
+
+/************
+-- Link certificate messages  
+************/
+
+ToBeSignedLinkCertificate ::= SEQUENCE {
+  expiryTime          Time32,	
+  certificateHash     HashedData,
+  ...
+}
+
+ToBeSignedLinkCertificateTlm ::= ToBeSignedLinkCertificate
+ToBeSignedLinkCertificateRca ::= ToBeSignedLinkCertificate
+
+END
+

obu-firmware/external/vanetza-idf/asn1/release2/TS103097v211-Extension.asn

@@ -0,0 +1,52 @@
+EtsiTs103097ExtensionModule
+{itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) secHeaders(103097) extension(2) major-version-1(1) minor-version-1(1)} 
+DEFINITIONS AUTOMATIC TAGS ::= BEGIN
+
+IMPORTS 
+  HashedId8,
+  Time32
+FROM Ieee1609Dot2BaseTypes {iso(1) identified-organization(3) ieee(111) 
+    standards-association-numbered-series-standards(2) wave-stds(1609)  
+    dot2(2) base(1) base-types(2) major-version-2 (2) minor-version-3 (3)}
+WITH SUCCESSORS    
+;
+
+ExtensionModuleVersion::= INTEGER(1)
+
+Extension {EXT-TYPE : ExtensionTypes} ::= SEQUENCE {
+    id      EXT-TYPE.&extId({ExtensionTypes}),
+    content EXT-TYPE.&ExtContent({ExtensionTypes}{@.id})
+}
+
+EXT-TYPE ::= CLASS {
+    &extId        ExtId,
+    &ExtContent
+} WITH SYNTAX {&ExtContent IDENTIFIED BY &extId} 
+
+ExtId ::= INTEGER(0..255)
+
+EtsiOriginatingHeaderInfoExtension ::= Extension{{EtsiTs103097HeaderInfoExtensions}}
+
+EtsiTs103097HeaderInfoExtensionId ::= ExtId
+   etsiTs102941CrlRequestId      EtsiTs103097HeaderInfoExtensionId ::= 1 --'01'H
+   etsiTs102941DeltaCtlRequestId EtsiTs103097HeaderInfoExtensionId ::= 2 --'02'H
+
+EtsiTs103097HeaderInfoExtensions EXT-TYPE ::= {
+   { EtsiTs102941CrlRequest       IDENTIFIED BY etsiTs102941CrlRequestId } |
+   { EtsiTs102941DeltaCtlRequest  IDENTIFIED BY etsiTs102941DeltaCtlRequestId },
+   ...
+}
+
+EtsiTs102941CrlRequest::= SEQUENCE {
+    issuerId        HashedId8,
+    lastKnownUpdate Time32 OPTIONAL
+}
+
+EtsiTs102941CtlRequest::= SEQUENCE {
+    issuerId             HashedId8,
+    lastKnownCtlSequence INTEGER (0..255) OPTIONAL
+}
+
+EtsiTs102941DeltaCtlRequest::= EtsiTs102941CtlRequest
+
+END

obu-firmware/external/vanetza-idf/asn1/release2/TS103097v211.asn

@@ -0,0 +1,123 @@
+EtsiTs103097Module
+{itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg5(5) secHeaders(103097) core(1) major-version-3(3) minor-version-1(1)} 
+
+DEFINITIONS AUTOMATIC TAGS ::= BEGIN
+
+IMPORTS
+
+Ieee1609Dot2Data, Certificate
+FROM Ieee1609Dot2 {iso(1) identified-organization(3) ieee(111) 
+  standards-association-numbered-series-standards(2) wave-stds(1609)  
+  dot2(2) base(1) schema(1) major-version-2(2) minor-version-4(4)}
+WITH SUCCESSORS
+
+ExtensionModuleVersion
+FROM EtsiTs103097ExtensionModule {itu-t(0) identified-organization(4)
+  etsi(0) itsDomain(5) wg5(5) secHeaders(103097) extension(2) major-version-1(1) minor-version-1(1)}
+;
+
+EtsiTs103097Certificate::= Certificate (WITH COMPONENTS{...,
+  toBeSigned (WITH COMPONENTS{...,
+    id (WITH COMPONENTS{...,
+      linkageData ABSENT,
+      binaryId ABSENT
+    }),
+    certRequestPermissions ABSENT,
+    canRequestRollover ABSENT
+  })
+}) 
+
+EtsiTs103097Data::=Ieee1609Dot2Data (WITH COMPONENTS {..., 
+  content (WITH COMPONENTS {...,
+    signedData (WITH COMPONENTS {..., -- constraints on signed data headers
+      tbsData (WITH COMPONENTS {              
+        headerInfo (WITH COMPONENTS {...,
+          generationTime PRESENT,
+          p2pcdLearningRequest ABSENT,
+          missingCrlIdentifier ABSENT
+        })
+      }),
+      signer (WITH COMPONENTS {...,  --constraints on the certificate
+        certificate ((WITH COMPONENT (EtsiTs103097Certificate))^(SIZE(1)))
+      })
+    }),
+    encryptedData (WITH COMPONENTS {..., -- constraints on encrypted data headers
+      recipients  (WITH COMPONENT (
+        (WITH COMPONENTS {..., 
+          pskRecipInfo ABSENT,
+          symmRecipInfo ABSENT,
+          rekRecipInfo ABSENT
+        })
+      ))
+    }),
+    signedCertificateRequest ABSENT
+  })
+})
+
+EtsiTs103097Data-Unsecured {ToBeSentDataContent} ::= EtsiTs103097Data (WITH COMPONENTS {...,
+  content (WITH COMPONENTS {
+    unsecuredData (CONTAINING ToBeSentDataContent)
+  })
+})
+
+EtsiTs103097Data-Signed {ToBeSignedDataContent} ::= EtsiTs103097Data (WITH COMPONENTS {..., 
+  content (WITH COMPONENTS {
+    signedData (WITH COMPONENTS {..., 
+      tbsData (WITH COMPONENTS {
+        payload (WITH COMPONENTS { 
+          data (WITH COMPONENTS {...,
+            content (WITH COMPONENTS {
+              unsecuredData (CONTAINING ToBeSignedDataContent)
+            })
+          }) PRESENT
+        })
+      })
+    })
+  })
+})
+
+EtsiTs103097Data-SignedExternalPayload ::= EtsiTs103097Data (WITH COMPONENTS {..., 
+  content (WITH COMPONENTS {
+    signedData (WITH COMPONENTS {..., 
+      tbsData (WITH COMPONENTS {
+        payload (WITH COMPONENTS {
+          extDataHash (WITH COMPONENTS {
+            sha256HashedData PRESENT
+          }) PRESENT
+        })
+      })
+    })
+  })
+})
+
+EtsiTs103097Data-Encrypted {ToBeEncryptedDataContent} ::= EtsiTs103097Data (WITH COMPONENTS {...,
+  content (WITH COMPONENTS {
+    encryptedData (WITH COMPONENTS {...,
+      ciphertext (WITH COMPONENTS {...,
+        aes128ccm (WITH COMPONENTS {...,
+          ccmCiphertext (CONSTRAINED BY {-- ccm encryption of -- ToBeEncryptedDataContent}) 
+        })
+      })
+    })
+  })
+})
+
+EtsiTs103097Data-SignedAndEncrypted {ToBesignedAndEncryptedDataContent} ::= EtsiTs103097Data-Encrypted {EtsiTs103097Data-Signed {ToBesignedAndEncryptedDataContent}} 
+
+EtsiTs103097Data-Encrypted-Unicast {ToBeEncryptedDataContent} ::= EtsiTs103097Data-Encrypted { EtsiTs103097Data-Unsecured{ToBeEncryptedDataContent}} (WITH COMPONENTS {...,
+  content (WITH COMPONENTS {
+    encryptedData (WITH COMPONENTS {...,
+      recipients (SIZE(1))
+    })
+  })
+})
+
+EtsiTs103097Data-SignedAndEncrypted-Unicast {ToBesignedAndEncryptedDataContent} ::= EtsiTs103097Data-Encrypted {EtsiTs103097Data-Signed {ToBesignedAndEncryptedDataContent}} (WITH COMPONENTS {...,
+  content (WITH COMPONENTS {
+    encryptedData (WITH COMPONENTS {...,
+      recipients (SIZE(1))
+    })
+  })
+}) 
+
+END

obu-firmware/external/vanetza-idf/asn1/release2/TS103300-3v231/VAM-PDU-Descriptions.asn

@@ -0,0 +1,229 @@
+-- Draft V0.0.4_2.2.1 - VAM TS 103 300-1 ASN.1 module
+-- Based on the official version available at @url https://forge.etsi.org/rep/ITS/asn1/vam-ts103300_3/-/tree/v2.1.1
+-- Modified to import from the CDD module V2.1.1
+
+VAM-PDU-Descriptions {itu-t(0) identified-organization(4) etsi(0) itsDomain(5)
+    wg1(1) 103300 vam(1) major-version-3(3) minor-version-1(1)}
+DEFINITIONS AUTOMATIC TAGS ::=
+BEGIN
+
+    IMPORTS
+    AccelerationChangeIndication, BasicContainer, CartesianAngle, ClusterBreakupInfo,
+    ClusterJoinInfo, ClusterLeaveInfo, Curvature, CurvatureCalculationMode, 
+    DeltaTimeQuarterSecond, GenerationDeltaTime, HeadingChangeIndication, ItsPduHeader, LanePosition, 
+    LateralAcceleration, LongitudinalAcceleration, PathHistory, PathPredicted, 
+    SequenceOfSafeDistanceIndication, SequenceOfTrajectoryInterceptionIndication, 
+    SequenceOfTrajectoryInterceptionIndication, Speed, StabilityChangeIndication, StationId, 
+    TrajectoryInterceptionIndication, VerticalAcceleration, VruClusterInformation, VruDeviceUsage, 
+    VruEnvironment, VruExteriorLights, GeneralizedLanePosition, VruProfileAndSubprofile, VruMovementControl,  
+    VruSizeClass, YawRate, Wgs84Angle
+    FROM ETSI-ITS-CDD {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) 102894 cdd (2) major-version-3 (4) minor-version-3 (3) }
+    WITH SUCCESSORS
+    ;
+
+    VAM ::= SEQUENCE {
+        header ItsPduHeaderVam,
+        vam    VruAwareness
+    }
+
+/**
+ * @details ItsPduHeaderVam
+ * The ITS PDU header for the VAM.
+ *
+ * This DF includes DEs for the VAM _protocolVersion_, the VAM message type identifier _messageID_ 
+ * and the station identifier _stationID_ of the originating ITS-S.
+ *
+ * @category: Communication information
+ * @revision: V2.2.1
+ */
+   ItsPduHeaderVam ::= ItsPduHeader(WITH COMPONENTS {..., protocolVersion(3), messageId(vam)})
+
+
+/**
+ * @details VruAwareness
+ * VAM payload.
+ *
+ * It includes the time stamp of the VAM and the VAM different containers
+ *
+ * @category: Communication information
+ * @revision: V2.2.1
+ */
+    VruAwareness ::= SEQUENCE {
+        generationDeltaTime  GenerationDeltaTime,
+        vamParameters        VamParameters 
+    }
+
+/**
+ * @details VamParameters
+ * The VAM payload includes the @ref BasicContainer and @ref VruHighFrequencyContainer. 
+ * The VAM payload may also include additional containers: @ref VruLowFrequencyContainer,
+ * @ref VruClusterInformationContainer, @ref VruClusterOperationContainer and @ref VruMotionPredictionContainer.
+ * The selection of the additional containers depends on the dissemination criteria, 
+ * e.g. _vruCluster_ or _MotionDynamicPrediction_ availability.
+ * 
+ * @category: Communication information
+ * @revision: V2.2.1
+**/
+    VamParameters ::= SEQUENCE {
+        basicContainer                 BasicContainer,
+        vruHighFrequencyContainer      VruHighFrequencyContainer, 
+        vruLowFrequencyContainer       VruLowFrequencyContainer OPTIONAL,
+        vruClusterInformationContainer VruClusterInformationContainer OPTIONAL,
+        vruClusterOperationContainer   VruClusterOperationContainer OPTIONAL,
+        vruMotionPredictionContainer   VruMotionPredictionContainer OPTIONAL,
+        ...
+    }
+ 
+/**
+ * @details VruHighFrequencyContainer
+ * The VRU HF container of the VAM contains potentially fast-changing status information of the VRU ITS-S.
+ * It includes the following components (setting indications are specified in clause 7.3.3 of TS 103 300-3): 
+ * 
+ * @field heading: heading and heading confidence of the originating VRU with regards to the true north. 
+ * @field speed: speed in moving direction and speed confidence of the originating VRU.   
+ * @field longitudinalAcceleration: longitudinal acceleration of the originating VRU. 
+ * @field curvature: related to the actual trajectory of the originating VRU vehicle.
+          _(recommended for VRU Profile 2)_
+ * @field curvatureCalculationMode: indicates whether vehicle yaw-rate is used in the calculation of
+ *        the curvature of the VRU vehicle ITS-S that originates the VAM. _(recommended for VRU Profile 2)_
+ * @field yawRate: yaw rate of originating VRU vehicle. _(recommended for VRU Profile 2)_
+ * @field lateralAcceleration: originating VRU lateral acceleration in the street plane.
+ *        This field shall be present if the data is available at the originating ITS-S. _(recommended for VRU Profile 2)_ 
+ * @field verticalAcceleration: vertical acceleration of the originating VRU.
+ *        This field shall be present if the data is available at the originating ITS-S.
+ * @field vruLanePosition: lane position of the referencePosition of a VRU, which is either a VRU-specific non-traffic lane  
+ *        or a standard traffic lane. This field shall be present if the data is available at the originating ITS-S.
+ * @field environment: provides contextual awareness of the VRU among other road users.
+ *        This field shall be present only if the data is available at the originating ITS-S.
+ * @field movementControl: indicates the mechanism used by the VRU to control the  longitudinal movement of the VRU vehicle.
+ *        This field shall be present only if the data is available at the originating ITS-S. _(recommended for VRU Profile 2)_
+ * @field orientation : complements the dimensions of the VRU vehicle by defining the angle of the VRU vehicle longitudinal
+ *        axis with regards to the WGS84 north. _(recommended for VRU Profile 2)_
+ * @field rollAngle: provides the angle and angle accuracy between the ground plane and the current orientation of a vehicle's
+ *        y-axis with respect to the ground plane about the x-axis according to the ISO 8855. 
+ *        This field shall be present only if the data is available at the originating ITS-S. _(recommended for VRU Profile 2)_
+ * @field deviceUsage: provides indications from the personal device about the potential 
+ *        activity of the VRU. This field shall be present only if the data is available at the originating ITS-S.
+ *        _(recommended for VRU Profile 1)_
+ * 
+ * @category: VRU information
+ * @revision: V2.2.1
+ */
+    VruHighFrequencyContainer ::= SEQUENCE {
+        heading                  Wgs84Angle,  
+        speed                    Speed, 
+        longitudinalAcceleration LongitudinalAcceleration, 
+        curvature                Curvature OPTIONAL, 
+        curvatureCalculationMode CurvatureCalculationMode OPTIONAL, 
+        yawRate                  YawRate OPTIONAL, 
+        lateralAcceleration      LateralAcceleration OPTIONAL, 
+        verticalAcceleration     VerticalAcceleration OPTIONAL, 
+        vruLanePosition          GeneralizedLanePosition OPTIONAL, 
+        environment              VruEnvironment OPTIONAL,
+        movementControl          VruMovementControl OPTIONAL,
+        orientation              Wgs84Angle OPTIONAL, 
+        rollAngle                CartesianAngle OPTIONAL,  
+        deviceUsage              VruDeviceUsage OPTIONAL,
+        ...
+    }
+
+/**
+ * @details VruLowFrequencyContainer
+ * The VRU LF container of the VAM contains potentially slow-changing information of the VRU ITS-S.
+ * It is mandatory with higher periodicity as specified in clause 6.2 or when VRU cluster operation container is present.
+ * It includes the following components (setting indications are specified in clause 7.3.4 of TS 103 300-3): 
+ *
+ * @field profileAndSubprofile: profile of the ITS-S that originates the VAM, including sub-profile information. 
+ * @field sizeClass: information about the size of the VRU. 
+ * @field exteriorLights: status of the most important exterior lights switches of the VRU ITS-S that originates the VAM. 
+ *        _(conditional mandatory as specified in clause 7.3.4 of TS 103 300-3)_ 
+ * 
+ * @category: VRU information
+ * @revision: V2.2.1
+ */
+    VruLowFrequencyContainer ::= SEQUENCE {
+        profileAndSubprofile     VruProfileAndSubprofile,
+        sizeClass                VruSizeClass OPTIONAL,        
+		exteriorLights           VruExteriorLights OPTIONAL,
+       ...
+    }
+
+ /**
+ * @details VruClusterInformationContainer
+ * The VRU Cluster Information container of the VAM provides the information/parameters relevant to the VRU cluster.
+ * It is mandatory if the VAM is transmitted by VRU cluster leader.
+ * It includes the following components (setting indications are specified in clause 7.3.5 of TS 103 300-3): 
+ *
+ * @field vruClusterInformation: set of parammeters releated to the VRU cluster. 
+ *        When transmitted by a VRU ITS-S, the clusterId and clusterBoundingBoxShape fields inside this DF shall be present.
+ *        The clusterBoundingBoxShape is positioned with respect to the position sent in the BasicContainer.
+ * 
+ * @category: VRU information
+ * @revision: V2.2.1
+ */
+    VruClusterInformationContainer::= SEQUENCE{ 
+        vruClusterInformation    VruClusterInformation (WITH COMPONENTS{..., clusterId, clusterBoundingBoxShape PRESENT}), 
+        ...
+    }
+
+
+ /**
+ * @details VruClusterOperationContainer
+ * The VRU Cluster Operation container of the VAM provides information relevant to change of cluster state and composition.
+ * It is mandatory if the VAM is transmitted by a VRU joining, leaving or breaking up a cluster.
+ * It includes the following components (setting indications are specified in clause 7.3.5 of TS 103 300-3). 
+ * At least one of the fields below shall be present if the container is present in the VAM: 
+ *
+ * @field clusterJoinInfo: indicates the intent of an individual VAM transmitter to join a cluster. 
+ * @field clusterLeaveInfo : indicates that an individual VAM transmitter has recently left the VRU cluster. 
+ * @field clusterBreakupInfo: indicates the intent of a cluster VAM transmitter to stop sending cluster VAMs. 
+ * @field clusterIdChangeTimeInfo: indicates the intent of a cluster VAM transmitter to change cluster ID. 
+ * 
+ * @category: VRU information
+ * @revision: V2.2.1
+ */
+    VruClusterOperationContainer ::= SEQUENCE {
+        clusterJoinInfo         ClusterJoinInfo OPTIONAL,
+        clusterLeaveInfo        ClusterLeaveInfo OPTIONAL,
+        clusterBreakupInfo      ClusterBreakupInfo OPTIONAL,
+        clusterIdChangeTimeInfo DeltaTimeQuarterSecond OPTIONAL,
+        ...
+    }
+
+ /**
+ * @details VruMotionPredictionContainer
+ * The VRU Motion Prediction container of the VAM carries the past and future motion state information of the VRU.
+ * It includes the following components (setting indications are specified in clause 7.3.6 of TS 103 300-3). 
+ * At least one of the fields below shall be present if the container is present in the VAM: 
+ *
+ * @field pathHistory: represents the VRU's recent movement over some past time and/or distance. 
+ *        It consists of a list of path points. 
+ * @field pathPrediction: provides the set of predicted locations of the ITS-S, confidence values 
+ *        and the corresponding future time instants. 
+ * @field safeDistance: provides indication of safe distance between an ego-VRU and up to 8 other ITS-S 
+ *        or entity on the road to indicate whether the ego-VRU is at a safe distance (that is less likely to 
+ *        physically collide) from another ITS-S or entity on the road. 
+ * @field trajectoryInterceptionIndication: provides the indication for possible trajectory interception 
+ *        with up to 8 VRUs or other objects on the road.. 
+ * @field accelerationChangeIndication: provides an acceleration change indication of the VRU. 
+ *        When present this DF indicates an anticipated change in the VRU speed for period of actionDeltaTime.
+ * @field headingChangeIndication: provides additional data elements associated to heading change indicators 
+ *        such as a change of travel direction (left or right). 
+ *        The direction change action is performed for a period of actionDeltaTime. 
+ * @field stabilityChangeIndication: provides an estimation of the VRU stability. 
+ * 
+ * @category: GeoReference information, VRU information
+ * @revision: V2.2.1
+ */
+    VruMotionPredictionContainer ::= SEQUENCE {
+        pathHistory                      PathHistory OPTIONAL,
+        pathPrediction                   PathPredicted OPTIONAL,  
+        safeDistance                     SequenceOfSafeDistanceIndication OPTIONAL,
+        trajectoryInterceptionIndication SequenceOfTrajectoryInterceptionIndication OPTIONAL,
+        accelerationChangeIndication     AccelerationChangeIndication OPTIONAL,
+        headingChangeIndication          HeadingChangeIndication OPTIONAL,
+        stabilityChangeIndication        StabilityChangeIndication OPTIONAL,
+        ...
+    }
+
+END

obu-firmware/external/vanetza-idf/asn1/release2/TS103300-3v231/motorcyclist-special-container.asn

@@ -0,0 +1,38 @@
+-- Draft V0.0.4_2.2.1 - TS 103 300-3 
+-- Based on the official version available at @url https://forge.etsi.org/rep/ITS/asn1/vam-ts103300_3/-/tree/v2.1.1
+-- Modified to import from the CDD module V2.1.1
+
+-- This module defines a special container for motorcycles, to be integrated into the 
+-- Cooperative Awareness Message (CAM) defined in ETSI TS 103 900
+
+VRU-Motorcyclist-Special-Container {itu-t(0) identified-organization(4) etsi(0) itsDomain(5)
+    wg1(1) 103300 motorcyclist-special-container(2) version2(2)}
+
+
+DEFINITIONS AUTOMATIC TAGS ::= 
+
+BEGIN
+
+IMPORTS
+    PathPredicted, SequenceOfSafeDistanceIndication,
+    StabilityChangeIndication, Wgs84Angle, CartesianAngle,
+    VruSizeClass, VruSubProfileMotorcyclist
+FROM ETSI-ITS-CDD 
+    {itu-t(0) identified-organization(4) etsi(0)
+     itsDomain(5) wg1(1) 102894 cdd(2) major-version-3(4) minor-version-3(3)}
+;
+
+MotorcylistSpecialContainer ::= SEQUENCE {
+   motorcyclist                VruSubProfileMotorcyclist,
+   sizeClass                   VruSizeClass,
+   rollAngle                   CartesianAngle OPTIONAL, 
+   orientation                 Wgs84Angle OPTIONAL,
+   safeDistance                SequenceOfSafeDistanceIndication OPTIONAL,
+   pathPrediction              PathPredicted OPTIONAL,
+   stabilityChangeIndication   StabilityChangeIndication OPTIONAL,
+   ...
+}
+
+
+
+END

obu-firmware/external/vanetza-idf/asn1/release2/TS103324v211/CPM-OriginatingStationContainers.asn

@@ -0,0 +1,54 @@
+CPM-OriginatingStationContainers {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) originatingStationContainers (2) major-version-1 (1) minor-version-1(1)}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+
+BEGIN
+
+IMPORTS
+
+CartesianAngle, MapReference, Speed, StationType, TrailerData, Wgs84Angle
+FROM ETSI-ITS-CDD {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) major-version-4 (4) minor-version-3 (3)}
+;
+
+/**
+ * This DF  represents the Originating Vehicle Container
+ *
+ * It shall include the following components: 
+ *
+ * @field orientationAngle: the angle and angle accuracy of the absolute orientation of the disseminating vehicle in the WGS84 coordinate system with respect to true North.
+ *
+ * @field pitchAngle: the optional angle and angle accuracy between the ground plane and the current orientation of the vehicle's x-axis with respect to the ground plane about the y-axis according to the ISO 8855.
+ *
+ * @field rollAngle: the optional angle and angle accuracy between the ground plane and the current orientation of a vehicle's y-axis with respect to the ground plane about the x-axis according to the ISO 8855
+ *
+ * @field trailerData: information about the trailer dimensions and orientation in case a trailer is present.
+ * 
+*/
+OriginatingVehicleContainer ::= SEQUENCE {
+    orientationAngle   Wgs84Angle,
+    pitchAngle         CartesianAngle OPTIONAL,
+    rollAngle          CartesianAngle OPTIONAL,
+    trailerDataSet     TrailerDataSet OPTIONAL,
+    ...
+}
+
+/**
+ * This DF  represents the Originating RSU Container.
+ *
+ * It shall include the following components: 
+ *
+ * @field mapReference: identifies the MAPEM containing the topology information reference in the Perceived Object Container
+ * 
+*/
+OriginatingRsuContainer ::= SEQUENCE{
+    mapReference    MapReference OPTIONAL,
+    ...
+}
+
+/**
+ * This DF  represents a list of trailer data.
+ * 
+*/
+TrailerDataSet::= SEQUENCE SIZE(1..8,...) OF TrailerData (WITH COMPONENTS {... ,frontOverhang ABSENT, rearOverhang ABSENT, trailerWidth ABSENT}) 
+
+END

obu-firmware/external/vanetza-idf/asn1/release2/TS103324v211/CPM-PDU-Descriptions.asn

@@ -0,0 +1,171 @@
+CPM-PDU-Descriptions { itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) cpm (1) major-version-1 (1) minor-version-1(1)}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+
+BEGIN
+
+IMPORTS
+
+ItsPduHeader, MessageRateHz, MessageSegmentationInfo, OrdinalNumber1B,  ReferencePosition, StationType, TimestampIts
+FROM ETSI-ITS-CDD {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) major-version-4 (4) minor-version-3 (3)}
+WITH SUCCESSORS
+
+OriginatingRsuContainer, OriginatingVehicleContainer
+FROM CPM-OriginatingStationContainers {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) originatingStationContainers (2) major-version-1 (1) minor-version-1(1)}
+WITH SUCCESSORS
+
+SensorInformationContainer
+FROM CPM-SensorInformationContainer {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) sensorInformationContainer (3) major-version-1 (1) minor-version-1(1)}
+WITH SUCCESSORS
+
+PerceptionRegionContainer
+FROM CPM-PerceptionRegionContainer {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) perceptionRegionContainer (5) major-version-1 (1) minor-version-1(1)}
+WITH SUCCESSORS
+
+PerceivedObjectContainer
+FROM CPM-PerceivedObjectContainer {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) perceivedObjectContainer (4) major-version-1 (1) minor-version-1(1)}
+WITH SUCCESSORS
+
+;
+
+/**
+ * This DF  represents the Collective Perception Message (CPM) and is the top level Protocol Data Unit. 
+ *
+ * It shall include the following components: 
+ *
+ * @field header: the common message header for the facilities layer message. 
+ *
+ * @field payload: the payload of the message. 
+ *
+*/
+CollectivePerceptionMessage ::= SEQUENCE {
+    header     ItsPduHeader (WITH COMPONENTS {... , protocolVersion (2), messageId(cpm)}),
+    payload    CpmPayload
+}
+
+/**
+ * This DF  represents the payload of the CPM. 
+ *
+ * It shall include the following components: 
+ *
+ * @field managementContainer: the management container. 
+ *
+ * @field cpmContainers: the list of CPM containers, including its container type identifier and including either one or none of originatingVehicleContainer and/or originatingRsuContainer. 
+ *
+*/
+CpmPayload ::= SEQUENCE {
+    managementContainer   ManagementContainer,
+    cpmContainers         ConstraintWrappedCpmContainers,
+    ...
+}
+
+/**
+ * This DF  represents the management container of the CPM. 
+ * The management container provides basic information about the originating ITS-S, which are not specific to a specific type of station.
+ *
+ * It shall include the following components: 
+ *
+ * @field referenceTime: the reference time for all time related information in the CPM.
+ *
+ * @field messageRateRange: the planned or expected range of the CPM generation rate.
+ *
+ * @field segmentationInfo: information regarding the message segmentation on facility layer.
+ *
+ * @field referencePosition: the reference position for all position related information in the CPM.
+ *
+*/
+ManagementContainer ::= SEQUENCE {
+    referenceTime      TimestampIts,
+    referencePosition  ReferencePosition,
+    segmentationInfo   MessageSegmentationInfo OPTIONAL,
+    messageRateRange   MessageRateRange OPTIONAL,
+    ...
+}
+
+/**
+ * This information object class is an abstract template to instantiate containers.
+ *
+ * It shall include the following components: 
+ *
+ * @field &id: the identifier of the container type.
+ *
+ * @field &Type: the container content.
+ *
+*/
+
+CPM-CONTAINER-ID-AND-TYPE ::= CLASS {
+    &id     CpmContainerId UNIQUE,
+    &Type
+} WITH SYNTAX {&Type IDENTIFIED BY &id}
+
+/**
+ * This DE represents the identifier of the container type. 
+ *
+*/
+CpmContainerId ::= INTEGER (1..16)
+
+/**
+ * These value assignements represent specific values of the container type identifier. 
+*/
+originatingVehicleContainer CpmContainerId ::= 1
+originatingRsuContainer CpmContainerId ::= 2
+sensorInformationContainer CpmContainerId ::= 3
+perceptionRegionContainer CpmContainerId ::= 4
+perceivedObjectContainer CpmContainerId ::= 5
+
+
+/**
+ * This information object set represents the association between the container type and the container content.
+*/
+CpmContainers CPM-CONTAINER-ID-AND-TYPE ::= {
+    {OriginatingVehicleContainer IDENTIFIED BY originatingVehicleContainer} |
+    {OriginatingRsuContainer IDENTIFIED BY originatingRsuContainer} |
+    {SensorInformationContainer IDENTIFIED BY sensorInformationContainer} |
+    {PerceptionRegionContainer IDENTIFIED BY perceptionRegionContainer} |
+    {PerceivedObjectContainer IDENTIFIED BY perceivedObjectContainer},
+    ...
+}
+
+/**
+ * This DF represents a CPM container preceded by its type identifier and a lenght indicator.
+ *
+ * It shall include the following components: 
+ *
+ * @field containerId: the identifier of the container type.
+ *
+ * @field containerData: the container content consistent with the container type.
+ *
+*/
+WrappedCpmContainer ::= SEQUENCE {
+   containerId     CPM-CONTAINER-ID-AND-TYPE.&id( {CpmContainers} ),
+   containerData   CPM-CONTAINER-ID-AND-TYPE.&Type( {CpmContainers}{@containerId} )
+}
+
+/**
+ * This DF represents a list of CPM containers, each with their type identifier. 
+*/
+WrappedCpmContainers::= SEQUENCE SIZE(1..8,...) OF WrappedCpmContainer 
+
+/**
+ * This DF represents a list of CPM containers, each with their type identifier with an additional constraint. 
+*/
+ConstraintWrappedCpmContainers ::= WrappedCpmContainers
+    ((WITH COMPONENT (WITH COMPONENTS {..., containerId (ALL EXCEPT 1)})) |
+    (WITH COMPONENT (WITH COMPONENTS {..., containerId (ALL EXCEPT 2)})))
+
+/**
+ * This DF  represents the planned or expected range of the message generation rate.
+ *
+ * It shall include the following components: 
+ *
+ * @field messageRateMin: the minimum planned or expected message rate.
+ *
+ * @field messageRateMax: the maximum planned or expected message rate.
+ *
+*/
+MessageRateRange::= SEQUENCE{
+   messageRateMin   MessageRateHz,
+   messageRateMax   MessageRateHz
+}
+
+END

obu-firmware/external/vanetza-idf/asn1/release2/TS103324v211/CPM-PerceivedObjectContainer.asn

@@ -0,0 +1,34 @@
+CPM-PerceivedObjectContainer {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) perceivedObjectContainer (4) major-version-1 (1) minor-version-1(1)}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+
+BEGIN
+
+IMPORTS
+
+CardinalNumber1B, PerceivedObject
+FROM ETSI-ITS-CDD {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) major-version-4 (4) minor-version-3 (3)}
+;
+
+/**
+ * This DF  represents the Perceived Object Container 
+ *
+ * It shall include the following components: 
+ *
+ * @field numberOfPerceivedObjects: the total number of perceived objects at the time of generating the message. 
+ *
+ * @field perceivedObjects: the list of perceived objects.
+ *
+*/
+PerceivedObjectContainer ::= SEQUENCE {
+    numberOfPerceivedObjects    CardinalNumber1B,
+    perceivedObjects            PerceivedObjects,
+    ...
+}
+
+/** @brief Perceived Objects
+ * This DF provides a list of perceived objects represented in the coordinate system in which the y-axis corresponds to the North direction, the x-axis to the East direction, and the z- axis to the vertical direction.
+*/
+PerceivedObjects::= SEQUENCE SIZE(0..255, ...) OF PerceivedObject (WITH COMPONENTS {... ,objectId PRESENT})
+
+END

obu-firmware/external/vanetza-idf/asn1/release2/TS103324v211/CPM-PerceptionRegionContainer.asn

@@ -0,0 +1,54 @@
+CPM-PerceptionRegionContainer {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) perceptionRegionContainer (5) major-version-1 (1) minor-version-1(1)}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+
+BEGIN
+
+IMPORTS
+
+CardinalNumber1B, DeltaTimeMilliSecondSigned, Identifier2B, Shape, ConfidenceLevel, SensorType, SequenceOfIdentifier1B
+FROM ETSI-ITS-CDD {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) major-version-4 (4) minor-version-3 (3)}
+;
+
+/**
+ * This DF  represents the Perception Region Container as a list of perception region information objects. 
+*/
+PerceptionRegionContainer ::= SEQUENCE SIZE(1..256, ...) OF PerceptionRegion
+
+/**
+ * This DF represents the actual perception capabilities available to the transmitting ITS-S, offering additional (often dynamic) details to the information provided in the sensor information container.
+ *
+ * It shall include the following components: 
+
+ * @field measurementDeltaTime: difference between the time of estimation of the perception region and the reference time. Positive values indicates that the provided information refers to a point in time after the reference time.
+ *
+ * @field perceptionRegionConfidence: the perception confidence.
+ *
+ * @field perceptionRegionShape: specification of the shape of the perception region.
+ *
+ * @field shadowingApplies: indicates if the standard shadowing approach applies to the described perception region.
+ *
+ * @field sensorIdList: the optional list of identifiers of the sensors which are involved in perceiving the region.
+ *
+ * @field numberOfPerceivedObjects: the optional number of perceived objects contained in the perception region specified in the component perceptionRegionShape. 
+ *
+ * @field perceivedObjectIds: the optional list of identifiers of the objects specified in the Perceived Object Container that are contained in the perception region specified in the component perceptionRegionShape.
+ *
+*/
+PerceptionRegion ::= SEQUENCE {
+    measurementDeltaTime         DeltaTimeMilliSecondSigned,     
+    perceptionRegionConfidence   ConfidenceLevel,
+    perceptionRegionShape        Shape, 
+    shadowingApplies             BOOLEAN,
+    sensorIdList                 SequenceOfIdentifier1B OPTIONAL,
+    numberOfPerceivedObjects     CardinalNumber1B OPTIONAL,
+    perceivedObjectIds           PerceivedObjectIds OPTIONAL,
+	...
+}
+
+/**
+ * This DF  represents a list of identifiers of perceived objects. 
+*/
+PerceivedObjectIds::= SEQUENCE SIZE(0..255, ...) OF Identifier2B
+
+END

obu-firmware/external/vanetza-idf/asn1/release2/TS103324v211/CPM-SensorInformationContainer.asn

@@ -0,0 +1,47 @@
+CPM-SensorInformationContainer {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) sensorInformationContainer (3) major-version-1 (1) minor-version-1(1)}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+
+BEGIN
+
+IMPORTS
+
+Shape, ConfidenceLevel, Identifier1B, SensorType
+FROM ETSI-ITS-CDD {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) major-version-4 (4) minor-version-3 (3) }
+;
+
+/**
+ * This DF  represents the Sensor Information Container as a list of information objects about the sensors or data fusion systems from which the station provides information about detected objects.
+*/
+SensorInformationContainer ::= SEQUENCE SIZE(1..128, ...) OF SensorInformation
+
+
+/**
+ * This DF  represents the characteristics of a single sensor or data fusion system.
+ *
+ * It shall include the following components: 
+ *
+ * @field sensorId: identifier of the sensor or data fusion system used to relate the perceived object in the Perceived Object Container to the sensor that detected it.
+ * this identifier shall uniquely identify the sensor inside the CPM, but may be changed from one CPM to the next.
+ *
+ * @field sensorType: the type of the sensor.
+ *
+ * @field perceptionRegionShape: the perception region of the sensor.
+ *
+ * @field perceptionRegionConfidence: the homogeneous perception region confidence that can be assumed for the entire perception region shape of this sensor. 
+ *
+ * @field shadowingApplies: indicates if the standard shadowing approach applies to the described perception region.
+ *
+*/
+
+SensorInformation ::= SEQUENCE {
+    sensorId          		    Identifier1B,
+    sensorType        		    SensorType,
+    perceptionRegionShape		Shape OPTIONAL,
+    perceptionRegionConfidence  ConfidenceLevel OPTIONAL,
+    shadowingApplies            BOOLEAN,
+   ...
+}
+
+
+END

obu-firmware/external/vanetza-idf/asn1/release2/TS103324v211/README.md

@@ -0,0 +1,4 @@
+The TS 103324 v2.1.1 CPM ASN1 files are copied from its [ETSI repository](https://forge.etsi.org/rep/ITS/asn1/cpm_ts103324/-/tree/v2.1.1).
+For compatibility with CDD 2.2.1, the CDD import lines are manually patched from "major-version-3" to "major-version-4".
+
+See [ETSI License](https://forge.etsi.org/rep/ITS/asn1/cpm_ts103324/-/blob/v2.1.1/LICENSE) for copyright details.

obu-firmware/external/vanetza-idf/asn1/release2/TS103831v231-DENM.asn

@@ -0,0 +1,406 @@
+DENM-PDU-Description {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) denmPduRelease2 (103831) 
+                      major-version-2 (2) minor-version-3 (3)} 
+
+DEFINITIONS AUTOMATIC TAGS ::=
+
+BEGIN
+
+IMPORTS 
+ 
+ActionId, ActionIdList, CauseCodeV2, ClosedLanes, DangerousGoodsExtended, DeltaReferencePosition, DeltaTimeMilliSecondPositive, DeltaTimeSecond, 
+EnergyStorageType, EventZone, GeneralizedLanePositions, HeightLonCarr, InformationQuality, ItsPduHeader, IvimReferences, LanePosition, 
+LightBarSirenInUse, ItineraryPath, MapReferences, MetaInformation, MultiplicativeFactor, NumberOfOccupants, ObjectFace, OccupiedLanesWithConfidence, 
+PerceivedObject, Position1d, PosLonCarr, PosCentMass, PositionOfPillars, PositioningSolutionType, PosFrontAx, PositionOfOccupants, PathPredictedList, 
+RequestResponseIndication, ReferencePosition, RestrictedTypes, RoadConfigurationSectionList, RoadType, StandardLength3b,StandardLength12b, 
+StationType, Speed, SpeedLimit, StationId, StationarySince, TimestampIts, Traces, TracesExtended, TrafficDirection, TrafficRule, TurningRadius, 
+Temperature, VehicleMass, VehicleIdentification, Wgs84Angle, WheelBaseVehicle 
+   
+FROM ETSI-ITS-CDD {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) 
+                   major-version-4 (4) minor-version-3 (3)} WITH SUCCESSORS
+;
+
+/** 
+ * This type represents the DENM PDU.
+ *
+ * It shall include the following components: 
+ *
+ * @field header: the header of the DENM PDU.
+ *
+ * @field denm: the payload of the DENM PDU.
+*/
+DENM ::= SEQUENCE {
+	header ItsPduHeader (WITH COMPONENTS {... , protocolVersion (2), messageId(denm)}),
+	denm   DenmPayload
+}
+
+/** 
+ * This type represents the DENM payload.
+ *
+ * It shall include the following components: 
+ *
+ * @field management: the Management Container.
+ *
+ * @field situation: the optional Situation Container.
+ *
+ * @field location: the optional Location Container.
+ *
+ * @field alacarte: the optional ALaCarte Container .
+ *
+*/
+DenmPayload ::= SEQUENCE {
+    management ManagementContainer,
+    situation  SituationContainer OPTIONAL,
+    location   LocationContainer OPTIONAL,
+    alacarte   AlacarteContainer OPTIONAL
+}
+((WITH COMPONENTS {..., management (WITH COMPONENTS {..., termination ABSENT}), situation PRESENT, location PRESENT}) |
+ (WITH COMPONENTS {..., management (WITH COMPONENTS {..., termination PRESENT}), situation ABSENT, location ABSENT, alacarte ABSENT}))
+
+/** 
+ * This type represents the Management Container.
+ *
+ * It shall include the following components: 
+ *
+ * @field actionId: the identifier of the DENM.
+ *
+ * @field detectionTime: the time at which the event is detected.
+ *
+ * @field referenceTime: the time at which a new DENM, an update DENM or a cancellation DENM is generated
+ *
+ * @field termination: the optional termination type of the DENM.
+ *
+ * @field eventPosition: the geographical position used in the definition of the awareness area / relevance zone, see clause 6.1.3.
+ *
+ * @field awarenessDistance: the optional radius of the circular awareness area, with centre at the event position or at any of the 
+ * event history points as defined in clause 6.1.3.1.
+ *
+ * @field trafficDirection: the optional traffic direction along which the receiving ITS-S may encounter the event, 
+ * as defined in clause 6.1.3.
+ *
+ * @field validityDuration: the validity duration of a DENM. This component represents a time offset in the unit of second since detectionTime.
+ *
+ * @field transmissionInterval: the optional time interval for DENM transmission as defined by the originating ITS-S. 
+ * If the component is not present in DENM, a default value defaultValidity is assumed.
+ *
+ * @field stationType: the station type information of the originating ITS-S.
+ *
+*/
+ManagementContainer ::= SEQUENCE {
+    actionId                  ActionId,
+    detectionTime             TimestampIts,
+    referenceTime             TimestampIts,
+    termination               Termination OPTIONAL,
+    eventPosition             ReferencePosition,
+    awarenessDistance         StandardLength3b OPTIONAL,
+    trafficDirection          TrafficDirection OPTIONAL,
+    validityDuration          DeltaTimeSecond DEFAULT defaultValidity, 
+    transmissionInterval      DeltaTimeMilliSecondPositive OPTIONAL,
+    stationType               StationType,
+    ...
+}
+
+/** 
+ * This type represents the situation container.
+ *
+ * It shall include the following components: 
+ *
+ * @field informationQuality: the quality level of the information provided by the ITS-S application of the originating ITS-S. 
+ * It indicates the probability of the detected event being truly existent at the event position.
+ *
+ * @field eventType: the event type, including direct cause and sub cause.
+ *
+ * @field linkedCause: the optional type of a linked event co-existing at the same time and the same place (same event zone), 
+ * including direct cause and sub cause of the linked event, for which no other DENM is sent out.
+ *
+ * @field eventZone: an optional list of EventPoint, using the position indicated in the component eventPosition of the Management container 
+ * as the reference position for the first EventPoint.
+ *
+ * @field linkedDenms: the optional list of DF ActionId, pointing to DENMs that are semantically connected because applying to consecutive 
+ * event zones at the same time.
+ *
+ * @field eventEnd: the end position of the event along the road that is affected by the event w.r.t. the component eventPosition of the 
+ * Management container. This end position is represented by the length of the event along the road. 
+ *
+ * @field eventEndFactor: an optional component that applies to the component eventEnd. It is a factor to be multiplied with the value given in eventEnd.
+ *
+ * @field perceivedEvent: an optional component that, in case of vehicle ITS-S, indicates the nature of the information about the event.
+ *
+*/
+SituationContainer ::= SEQUENCE {
+    informationQuality InformationQuality,
+    eventType          CauseCodeV2,
+    linkedCause        CauseCodeV2 OPTIONAL,
+    eventZone          EventZone OPTIONAL,
+    ...,
+[[  linkedDenms        ActionIdList OPTIONAL,
+    eventEnd           Position1d OPTIONAL ]], -- extension in minor-version-2
+[[  eventEndFactor     MultiplicativeFactor OPTIONAL,
+    perceivedEvent     PerceivedEvent OPTIONAL ]] -- extension in minor-version-3
+}
+  ((WITH COMPONENTS {..., eventZone PRESENT, eventEnd ABSENT, eventEndFactor ABSENT}) |
+   (WITH COMPONENTS {..., eventZone ABSENT, eventEnd PRESENT}) |
+   (WITH COMPONENTS {..., eventZone ABSENT, eventEnd ABSENT, eventEndFactor ABSENT})) 
+
+
+
+/** 
+ * This type represents the Location Container.
+ *
+ * It shall include the following components: 
+ *
+ * @field eventSpeed: optional speed of a detected dynamic event and the confidence of the speed information. 
+ *
+ * @field eventPositionHeading: the optional heading of the event and the confidence of the heading information.
+ *
+ * @field detectionZonesToEventPosition: the detection zone information approaching the event position, see clause 6.1.3.3.
+ *
+ * @field roadType: the optional road type information at the event position. 
+ *
+ * @field lanePositions: the optional lane(s) where the event is located, at the position indicated by the component eventPosition 
+ * of the Management container and for a given reference direction.
+ *
+ * @field occupiedLanes: the optional lane(s) that are fully or partially occupied by the event, at the position indicated by the 
+ * component eventPosition of the Management container and for a given reference direction.
+ *
+ * @field linkedIvims: the optional list of DF IvimReference, pointing to IVIMs that are semantically connected because providing information 
+ * applying to the road segment(s) covered by the components detectionZonesToEventPosition, detectionZonesToSpecifiedEventPoint and 
+ * the SituationContainer component eventZone.
+ *
+ * @field linkedMapem: the optional list of DF Mapreference, pointing to MAPEMs that are semantically connected because providing information 
+ * applying to the road segment(s) covered by the component detectionZonesToEventPosition, detectionZonesToSpecifiedEventPoint and 
+ * the SituationContainer component eventZone.
+ *
+ * @field detectionZonesToSpecifiedEventPoint: the optional detection zone information approaching towards a 
+ * specified event point, see clause 6.1.3.3. 
+ *
+ * @field predictedPaths: the optional list of future paths or trajectories that the event may move along or zones that the event may occupy. 
+ *
+*/
+LocationContainer ::= SEQUENCE {
+    eventSpeed                            Speed OPTIONAL,
+    eventPositionHeading                  Wgs84Angle OPTIONAL,
+    detectionZonesToEventPosition         Traces,
+    roadType                              RoadType OPTIONAL,
+    ...,
+[[  lanePositions                         GeneralizedLanePositions OPTIONAL,
+    occupiedLanes                         OccupiedLanesWithConfidence OPTIONAL,
+    linkedIvims                           IvimReferences OPTIONAL, 
+    linkedMapems                          MapReferences OPTIONAL, 
+    detectionZonesToSpecifiedEventPoint   TracesExtended OPTIONAL,
+    predictedPaths                        PathPredictedList OPTIONAL ]] -- extension in minor-version-2
+}
+
+/** 
+ * This type contains detailed information about the vehicle in which the originating ITS-S is mounted, for mitigating the consequences 
+ * of a collision.
+ *
+ * It shall include the following components: 
+ *
+ * @field heightLonCarrLeft: the height of the left longitudinal carrier of the vehicle from base to top.
+ *
+ * @field heightLonCarrRight: the height of the right longitudinal carrier of the vehicle from base to top.
+ *
+ * @field posLonCarrLeft: the position of the left longitudinal carrier of vehicle.
+ *
+ * @field posLonCarrRight: the position of the right longitudinal carrier of vehicle.
+ *
+ * @field positionOfPillars: information about the vertical support of the vehicle in which the originating ITS-S is mounted. It shall be 
+ * included for passenger vehicles only.
+ *
+ * @field posCentMass: the position of the centre of mass of the vehicle.
+ *
+ * @field wheelBaseVehicle: the wheel base of the vehicle.
+ *
+ * @field turningRadius: the turning radius of the vehicle.
+ *
+ * @field posFrontAx: the position of the front axle of the vehicle.
+ *
+ * @field positionOfOccupants: indicates whether an in-vehicle seat is occupied at the moment of generation of the message.
+ *
+ * @field vehicleMass: the mass of the unloaded vehicle
+ *
+ * @field requestResponseIndication: indicates whether the originating ITS-S transmitting the impactReduction component is requesting 
+ * the receiving ITS-S to provide also its impactReduction component.
+ *
+*/
+ImpactReductionContainer ::= SEQUENCE {
+    heightLonCarrLeft         HeightLonCarr,
+    heightLonCarrRight        HeightLonCarr,
+    posLonCarrLeft            PosLonCarr,
+    posLonCarrRight           PosLonCarr,
+    positionOfPillars         PositionOfPillars,
+    posCentMass               PosCentMass,
+    wheelBaseVehicle          WheelBaseVehicle,
+    turningRadius             TurningRadius,
+    posFrontAx                PosFrontAx,
+    positionOfOccupants       PositionOfOccupants,
+    vehicleMass               VehicleMass,
+    requestResponseIndication RequestResponseIndication
+}
+
+/** 
+ * This type contains detailed information about an object with which a vehicle and/or the traffic is likely to collide.
+ *
+ * It shall include the following components: 
+ *
+ * @field perceivedPreCrashObject: information about a perceived object in the East, North, Up reference frame.
+ *
+ * @field objectStationId: the optional station Id of the object for which the information is provided.
+ *
+ * @field timeToCollision: the optional estimated time to collision of a vehicle with the object. 
+ *
+ * @field impactSection: indication of the object's section where the impact will most likely occur. 
+ * When the target object is likely to be a vehicle, then this component should be present, otherwise it should not be provided.  
+ *
+ * @field estimatedBrakingDistance: the optional estimated distance in which the vehicle would need to come to a complete hold, 
+ * if no obstruction was in the way. 
+*/
+PreCrashContainer ::= SEQUENCE { 
+    perceivedPreCrashObject   PerceivedObject, 
+    objectStationId           StationId OPTIONAL, 
+    timeToCollision           DeltaTimeMilliSecondPositive OPTIONAL, 
+    impactSection             ObjectFace OPTIONAL, 
+    estimatedBrakingDistance  StandardLength12b OPTIONAL,
+    ... 
+}
+
+/** 
+ * This type contains detailed information about the configuration of road section(s) that are geographically related to the event.
+ *
+ * It shall include the following components: 
+ *
+ * @field roadConfigurationConfidence: information about the source of the road configuration and the confidence in the information.
+ *
+ * @field roadConfigurationSectionList: a list of road configuration information per applicable road section. 
+*
+*/
+RoadConfigurationContainer ::=  SEQUENCE {
+    roadConfigurationConfidence     MetaInformation,
+    roadConfigurationSectionList    RoadConfigurationSectionList,
+    ...
+} 
+
+/** 
+ * This type contains detailed information of a roadwork zone and specific access conditions.
+ *
+ * It shall include the following components: 
+ *
+ * @field lightBarSirenInUse: optionally indicates whether a roadwork vehicle has switched on the light bar or siren. 
+ * It is used when the roadwork involves a specific roadwork vehicle
+ *
+ * @field closedLanes: optionally indicates whether the roadwork has caused the closure of one or several driving lanes. 
+ * Optionally, it may indicate whether a hard shoulder lane is closed to traffic or can be used for specific usage (e.g. for stopping).
+ *
+ * @field restriction: the optional type(s) of vehicles that are restricted to access the road work zone. 
+ * More than one vehicle types may be provided by this component if the restriction apply to multiple vehicle types. 
+ *
+ * @field speedLimit: the optional speed limitation applied to the roadwork zone.
+ *
+ * @field incidentIndication: the optional incident related to the roadworks to provide additional information of the roadworks zone.
+ *
+ * @field recommendedPath: the optional recommended itinerary in order to contour the roadworks zone. If present, a recommended path 
+ * shall be a list of path points in the order from the starting point closest to the roadworks zone to the end point of the recommended path. 
+ *
+ * @field startingPointSpeedLimit: the optional effective starting position of a speed limit being applied to the roadwork zone, 
+ * with respect to the component eventPosition on the Management Container.
+ * This component shall be present if the speed limit is applied at a certain distance prior to the roadwork zone starting position.
+ *
+ * @field trafficFlowRule: optionally indicates the side of the road to which the traffic should flow around a roadwork.
+ *
+ * @field referenceDenms: an optional sequence of actionIds for different DENMs that describe the same event. 
+ * If it is available, it indicates the actionIds of all other DENMs describing this event.
+ *
+*/
+RoadWorksContainerExtended ::= SEQUENCE {
+    lightBarSirenInUse      LightBarSirenInUse OPTIONAL,
+    closedLanes             ClosedLanes OPTIONAL,
+    restriction             RestrictedTypes OPTIONAL,
+    speedLimit              SpeedLimit OPTIONAL,
+    incidentIndication      CauseCodeV2 OPTIONAL,
+    recommendedPath         ItineraryPath OPTIONAL,
+    startingPointSpeedLimit DeltaReferencePosition OPTIONAL,
+    trafficFlowRule         TrafficRule OPTIONAL,
+    referenceDenms          ActionIdList OPTIONAL
+}
+
+/** 
+ * This type contains detailed information about a stationary vehicle.
+ *
+ * It shall include the following components: 
+ *
+ * @field stationarySince: the optional time duration of the stationary vehicle being stationary.
+ *
+ * @field stationaryCause: optional additional information to describe causes of the stationary vehicle event such as human problem.
+ *
+ * @field carryingDangerousGoods: optional information on the type of dangerous goods, the required emergency action and other information.
+ *
+ * @field numberOfOccupants: the optional estimated number of occupants involved in the stationary vehicle event.
+ *
+ * @field vehicleIdentification: the optional identification of the stationary vehicle.
+ *
+ * @field energyStorageType: the optional vehicle energy storage type information of the stationary vehicle, such as electric, diesel, etc.
+ *
+*/
+StationaryVehicleContainer ::= SEQUENCE {
+    stationarySince        StationarySince OPTIONAL, 
+    stationaryCause        CauseCodeV2 OPTIONAL,
+    carryingDangerousGoods DangerousGoodsExtended OPTIONAL,
+    numberOfOccupants      NumberOfOccupants OPTIONAL,
+    vehicleIdentification  VehicleIdentification OPTIONAL,
+    energyStorageType      EnergyStorageType OPTIONAL
+}
+
+/** 
+ * This type represents the A La Carte Container.
+ *
+ * It shall include the following components: 
+ *
+ * @field lanePosition: the optional lane position of the event.
+ *
+ * @field impactReduction: optional vehicle data for collision mitigation.
+ *
+ * @field externalTemperature: optional the ambient temperature at the event position.
+ *
+ * @field roadWorks: optional information of the roadwork zone.
+ *
+ * @field positioningSolution: optionally indicates the technical solution being used by the originating ITS-S to estimate the event position.
+ *
+ * @field stationaryVehicle: optional information about a stationary vehicle.
+ *
+ * @field roadConfiguration: optional information about the configuration of the road.
+ *
+ * @field precrash: the optional information about perceived objects that represent hazards and/or could be subject of collisions. 
+ *
+*/
+AlacarteContainer ::= SEQUENCE {
+    lanePosition        LanePosition OPTIONAL,
+    impactReduction     ImpactReductionContainer OPTIONAL,
+    externalTemperature Temperature OPTIONAL,
+    roadWorks           RoadWorksContainerExtended OPTIONAL,
+    positioningSolution PositioningSolutionType OPTIONAL,
+    stationaryVehicle   StationaryVehicleContainer OPTIONAL,
+    ...,
+[[  roadConfiguration 	RoadConfigurationContainer OPTIONAL,
+    preCrash            PreCrashContainer OPTIONAL ]] -- extension in minor-version-2
+}
+
+/** 
+ * This type specifies the default value for DENM validity duration used for DENM protocol operation.
+*/
+defaultValidity INTEGER ::= 600
+
+/**
+ * This DE indicates whether a vehicle has perceived an event (e.g. a stationary vehicle using camera sensors) or whether it is itself the cause of the event.
+ * the value shall be set to:
+ * - True - in case the vehicle has perceived the event
+ * - False - in case the vehicle itself is the cause of the event (e.g. vehicle is stationary) or part of the cause (e.g. traffic jam) or is directly exposed to the environmental condition (e.g. adverse weather)
+*/
+PerceivedEvent::= BOOLEAN
+
+/**
+  * This indicates the termination type of generated DENM, i.e. if it is a cancellation DENM or a negation DENM
+*/
+
+Termination ::= ENUMERATED {isCancellation(0), isNegation (1)}
+
+END

obu-firmware/external/vanetza-idf/asn1/release2/TS103900v231-CAM.asn

@@ -0,0 +1,542 @@
+--! @options: no-fields-header
+
+CAM-PDU-Descriptions  {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) camPduRelease2 (103900) 
+                       major-version-2 (2) minor-version-3 (3)} 
+
+DEFINITIONS AUTOMATIC TAGS ::=
+
+BEGIN
+
+IMPORTS 
+ItsPduHeader, CauseCodeV2, ReferencePosition, AccelerationControl, Curvature, CurvatureCalculationMode, Heading, LanePosition, 
+EmergencyPriority, EmbarkationStatus, Speed, DriveDirection, AccelerationComponent, StationType, ExteriorLights, DangerousGoodsBasic, 
+SpecialTransportType, LightBarSirenInUse, VehicleRole, VehicleLength, VehicleWidth, Path, RoadworksSubCauseCode, ClosedLanes, 
+TrafficRule, SpeedLimit, SteeringWheelAngle, PerformanceClass, YawRate, PtActivation, ProtectedCommunicationZonesRSU, 
+CenDsrcTollingZone, GenerationDeltaTime, BasicContainer, BrakeControl, VehicleHeight2, WiperStatus, GeneralizedLanePositions, 
+PathPredictedList, CartesianAngle, Wgs84Angle, StabilityChangeIndication, VruSubProfileBicyclist, VruMovementControl,
+BasicLaneConfiguration, PolygonalLine, MetaInformation, ConfidenceLevels, VehicleMovementControl
+
+FROM ETSI-ITS-CDD {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) 102894 cdd (2) 
+                   major-version-4 (4) minor-version-3 (3)} WITH SUCCESSORS
+;
+
+
+--	The root data frame for cooperative awareness messages
+
+/** 
+* This type represents the CAM PDU.
+*
+* It shall include the following componenets:
+*
+* @field header: the header of the CAM PDU.
+*
+* @field cam: the payload of the CAM PDU.
+*/ 
+
+CAM ::= SEQUENCE {
+	header ItsPduHeader (WITH COMPONENTS {... , protocolVersion (2), messageId(cam)}),
+	cam    CamPayload
+}
+
+/**
+* This type represents the CAM payload. 
+*
+* It shall include the following components: 
+*
+* @field generationDeltaTime: Time corresponding to the time of the reference position in the CAM, considered as time of the CAM generation.
+*
+* @field camParameters: The sequence of CAM mandatory and optional container.
+*
+*/
+CamPayload ::= SEQUENCE {
+	generationDeltaTime GenerationDeltaTime,
+	camParameters       CamParameters
+}
+
+/**
+* @field basicContainer: the mandatory basic container of the CAM.
+*
+* @field highFrequencyContainer: the mandatory container represents the high frequency of the CAM.
+* 
+* @field lowFrequencyContainer: the optional conatainer represents the low frequency of the CAM.
+*
+* @field specialVehicleContainer: The special container of the CAM shall be present as defined in clause 6.1.2. 
+* The content of the container shall be set according to the value of the vehicleRole component as specified in Table 5. 
+*
+* @field extensionContainers: the list of CAM extension containers, including its container type identifier and the container itself.
+*/
+CamParameters ::= SEQUENCE {
+	basicContainer           BasicContainer,
+	highFrequencyContainer   HighFrequencyContainer,
+	lowFrequencyContainer    LowFrequencyContainer OPTIONAL,
+	specialVehicleContainer  SpecialVehicleContainer OPTIONAL,
+	...,
+	extensionContainers		 WrappedExtensionContainers OPTIONAL
+}
+
+/**
+* This type represents the high frequency container.
+* 
+* It shall include the following components: 
+*
+* @field basicVehicleContainerHighFrequency: The mandatory high frequency container of the CAM when the originating ITS-S is of the type vehicle ITS-S.
+*
+* @field rsuContainerHighFrequency: The mandatory high frequency container of CAM when the type of the originating ITS-S is RSU ITS-S.
+*/
+HighFrequencyContainer ::= CHOICE {
+	basicVehicleContainerHighFrequency BasicVehicleContainerHighFrequency,
+	rsuContainerHighFrequency          RSUContainerHighFrequency,
+	...
+}
+
+/**
+* This type represents the low frequency container.
+* 
+* It shall include the following components: 
+*
+* The low frequency container of the CAM when the originating ITS-S is of the type vehicle ITS-S. It shall be present as defined in clause 6.1.2.
+*/
+ LowFrequencyContainer ::= CHOICE {
+  basicVehicleContainerLowFrequency BasicVehicleContainerLowFrequency (WITH COMPONENTS {..., pathHistory (SIZE (0..23))}),
+	...
+}
+
+/**
+* This type represent the Special Vehicle Container.
+*
+* It shall include the following components:
+*
+* @field publicTransportContainer: If the vehicleRole component is set to publicTransport(1) this container shall be present.
+*
+* @field specialTransportContainer: If the vehicleRole component is set to specialTransport(2) this container shall be present.
+*
+* @field dangerousGoodsContainer: If the vehicleRole component is set to dangerousGoods(3) this container shall be present.
+*
+* @field roadWorksContainerBasic: If the vehicleRole component is set to roadWork(4) this container shall be present. 
+*
+* @field rescueContainer: If the vehicleRole component is set to rescue(5) this container shall be present. 
+*
+* @field emergencyContainer: If the vehicleRole component is set to emergency(6) this container shall be present.
+*
+* @field safetyCarContainer: If the vehicleRole component is set to safetyCar(7) this container shall be present. 
+*/
+SpecialVehicleContainer ::= CHOICE {
+	publicTransportContainer  PublicTransportContainer,
+	specialTransportContainer SpecialTransportContainer,
+	dangerousGoodsContainer   DangerousGoodsContainer,
+	roadWorksContainerBasic   RoadWorksContainerBasic,
+	rescueContainer           RescueContainer,
+	emergencyContainer        EmergencyContainer,
+	safetyCarContainer        SafetyCarContainer,
+	...
+}
+
+/**
+* This type contains detaild information of the Basic Vehicle Container High Frequency.
+*
+* It shall include the following components:
+*
+* @field heading: It represent the heading and heading accuracy of the vehicle movement of the originating ITS-S with regards to the true north. 
+* The heading accuracy provided in the heading Confidence value shall provide the accuracy of the measured vehicle heading with a confidence level 
+* of 95 %. Otherwise, the value of the headingConfidence shall be set to unavailable.
+*
+* @field speed: It represent driving speed and speed accuracy of the originating ITS-S. The speed accuracy provided in the speedConfidence shall 
+* provide the accuracy of the speed value with a confidence level of 95 %. Otherwise, the speedConfidence shall be set to unavailable.
+*
+* @field driveDirection: This component represent the vehicle drive direction (forward or backward) of the originating ITS-S.
+*
+* @field vehicleLength: This component represent the vehicle length value and vehicle length confidence indication of the vehicle ITS-S that 
+* originate the CAM. 
+*
+* @field vehicleWidth: This component represents the Vehicle Width of the vehicle ITS-S that originates the CAM excluding side mirrors and possible
+* similar extensions.
+*
+* @field longitudinalAcceleration: It represent the vehicle Longitudinal Acceleration of the originating ITS-S in the centre of the mass of the 
+* empty vehicle. It shall include the measured vehicle longitudinal acceleration and its accuracy value with the confidence level of 95 %. 
+* Otherwise, the longitudinalAccelerationConfidence shall be set to unavailable. 
+*
+* @field curvature: this component reppresent the actual trajectory of the vehicle. 
+*
+* @field curvatureCalculationMode: It indicates whether vehicle yaw-rate is used in the calculation of the curvature of the vehicle ITS-S that
+* originates the CAM.
+*
+* @field yawRate: It denotes the vehicle rotation around the centre of mass of the empty vehicle. The leading sign denotes the direction of 
+* rotation. The value is negative if the motion is clockwise when viewing from the top.
+* yawRateConfidence denotes the accuracy for the 95 % confidence level for the measured yawRateValue. Otherwise, the value of yawRateConfidence
+* shall be set to unavailable.
+*
+* @field accelerationControl: an optional component which represents the current status of the vehcile mechnanisms controlling the longitudinal movement of the vehcile ITS-S
+* (e.g. brake pedal,  gas pedal, etc. engaged) that originate the CAM.
+*
+* @field lanePosition: an optional component which represents the lanePosition of the referencePosition of a vehicle. This component shall be present if the data is 
+* available at the originating ITS-S.
+*
+* @field steeringWheelAngle: an optional component which indicates the steering wheel angle and accuracy as measured at the vehicle ITS-S that originates the CAM.
+*
+* @field lateralAcceleration: an optional component which represents the vehicle lateral acceleration of the originating ITS-S in the centre of the mass of the empty vehicle. 
+* It shall include the measured vehicle lateral acceleration and its accuracy value with the confidence level of 95%.
+*
+* @field verticalAcceleration: an optional component which indicates the originating ITS-S in the centre of the mass of the empty vehicle.
+* 
+* @field performanceClass: an optional component characterizes the maximum age of the CAM data elements with regard to the generation delta time.
+*
+* @field cenDsrcTollingZone: an optional component which represents the information about the position of a CEN DSRC Tolling Station operating in the 5,8 GHz frequency band.
+*/
+BasicVehicleContainerHighFrequency ::= SEQUENCE {
+	heading Heading,
+	speed Speed,
+	driveDirection DriveDirection,
+	vehicleLength VehicleLength,
+	vehicleWidth VehicleWidth,
+	longitudinalAcceleration AccelerationComponent,
+	curvature Curvature,
+	curvatureCalculationMode CurvatureCalculationMode,
+	yawRate YawRate,
+	accelerationControl AccelerationControl OPTIONAL,
+	lanePosition LanePosition OPTIONAL,
+	steeringWheelAngle SteeringWheelAngle OPTIONAL,
+	lateralAcceleration AccelerationComponent OPTIONAL,
+	verticalAcceleration AccelerationComponent OPTIONAL,
+	performanceClass PerformanceClass OPTIONAL,
+	cenDsrcTollingZone CenDsrcTollingZone OPTIONAL
+}
+
+/**
+* This type contains detaild information of the Basic Vehicle Container Low Frequency.
+*
+* It shall include the following components:
+*
+* @field vehicleRole: represent the role of the vehicle ITS-S that originates the CAM. Only values 0 to 7 shall be used.
+*
+* @field exteriorLights: represent the status of the most important exterior lights switches of the vehicle ITS-S that originates the CAM.
+*
+* @field pathHistory: which represents the vehicle's recent movement over some past time and/or distance. It consists of a list of path points,
+* each represented as DF PathPoint. The list of path points may consist of up to 23 elements. 
+*/
+BasicVehicleContainerLowFrequency  ::= SEQUENCE {
+	vehicleRole VehicleRole,
+	exteriorLights ExteriorLights,
+	pathHistory Path
+}
+
+/**
+* This type contains detaild information of the Public Transport Container.
+*
+* It shall include the following components:
+*
+* @field embarkationStatus: It indicates whether the passenger embarkation is currently ongoing. 
+*
+* @field ptActivation: an optional component used for controlling traffic lights, barriers, bollards, etc.
+*/
+PublicTransportContainer ::= SEQUENCE {
+	embarkationStatus EmbarkationStatus,
+	ptActivation PtActivation OPTIONAL
+}
+
+/**
+* This type contains detaild information of the Special Transport Container.
+*
+* It shall include the following components:
+*
+* @field specialTransportType: which indicates whether the originating ITS-S is mounted on a special transport vehicle with heavy or oversized load
+* or both. It shall be present if the data is available in originating ITS-S.
+*
+* @field lightBarSirenInUse: indicates whether light-bar or a siren is in use by the vehicle originating the CAM.
+*/
+SpecialTransportContainer ::= SEQUENCE {
+	specialTransportType SpecialTransportType,
+	lightBarSirenInUse LightBarSirenInUse
+}
+
+/**
+* This type contains detaild information of the Dangerous Goods Container.
+*
+* It shall include the following components:
+*
+* @field dangerousGoodsBasic: identifies the type of the dangerous goods transported by the vehicle that originates the CAM. It shall be present if
+* the data is available in the originating ITS S.
+*/
+ DangerousGoodsContainer ::= SEQUENCE {
+  dangerousGoodsBasic DangerousGoodsBasic
+ }
+ 
+ /**
+* This type contains detaild information of the Road Works Container Basic.
+*
+* It shall include the following components:
+*
+* @field roadworksSubCauseCode: The optional component, in case the originating ITS-S is mounted to a vehicle ITS-S participating to roadwork. It 
+* provides information on the type of roadwork that it is currently undertaking. This component shall be present if the data is available in 
+* originating ITS S.
+*
+* @field lightBarSirenInUse: it indicates whether light-bar or a siren is in use by the vehicle originating the CAM.
+*
+* @field closedLanes: an optional component which provides information about the opening/closure status of the lanes ahead. Lanes are counted from
+* the inside boarder of the road. If a lane is closed to traffic, the corresponding bit shall be set to 1.
+*/
+ RoadWorksContainerBasic ::= SEQUENCE {
+  roadworksSubCauseCode RoadworksSubCauseCode OPTIONAL,
+  lightBarSirenInUse LightBarSirenInUse,
+  closedLanes ClosedLanes OPTIONAL
+ }
+
+/**
+* This type contains detaild information of the Rescue Container.
+*
+* It shall include the following components:
+*
+* @field lightBarSirenInUse: it indicates whether light-bar or a siren is in use by the vehicle originating the CAM.
+*/
+RescueContainer ::= SEQUENCE {
+	lightBarSirenInUse LightBarSirenInUse
+}
+
+/**
+* This type contains detaild information of the Emergency Container.
+*
+* It shall include the following components:
+*
+* @field lightBarSirenInUse: it indicates whether light-bar or a siren is in use by the vehicle originating the CAM.
+*
+* @field incidentIndication: the optional incident related to the roadworks to provide additional information of the roadworks zone.
+*
+* @field emergencyPriority: the optional component represent right of way indicator of the vehicle ITS-S that originates the CAM PDU.
+*/
+EmergencyContainer ::= SEQUENCE {
+	lightBarSirenInUse LightBarSirenInUse,
+	incidentIndication CauseCodeV2 OPTIONAL,
+	emergencyPriority EmergencyPriority OPTIONAL
+}
+
+/**
+* This type contains detaild information of the Safety Car Container.
+*
+* It shall include the following components:
+*
+* @field lightBarSirenInUse: it indicates whether light-bar or a siren is in use by the vehicle originating the CAM.
+*
+* @field incidentIndication: the optional incident related to the roadworks to provide additional information of the roadworks zone.
+*
+* @field trafficRule: an optional rule indicates whether vehicles are allowed to overtake a safety car that is originating this CAM.
+*
+* @field speedLimit: an optional speed indicates whether a speed limit is applied to vehicles following the safety car. 
+*/
+SafetyCarContainer ::= SEQUENCE {
+	lightBarSirenInUse LightBarSirenInUse,
+	incidentIndication CauseCodeV2 OPTIONAL,
+	trafficRule TrafficRule OPTIONAL,
+	speedLimit SpeedLimit OPTIONAL
+}
+
+/**
+* This type contains detaild information of the RSU Container High Frequency.
+*
+* It shall include the following components:
+*
+* @field protectedCommunicationZonesRSU: an optional Information about position of a CEN DSRC Tolling Station operating in the 5,8 GHz frequency 
+* band. If this information is provided by RSUs a receiving vehicle ITS-S is prepared to adopt mitigation techniques when being in the vicinity of
+* CEN DSRC tolling stations. 
+*/
+RSUContainerHighFrequency ::= SEQUENCE {
+	protectedCommunicationZonesRSU ProtectedCommunicationZonesRSU OPTIONAL,
+	...	
+}
+
+/**
+* This information object class is an abstract template to instantiate containers.
+*
+* It shall include the following components:
+*
+* @field &id: the identifier of the container type.
+*
+* @field &Type: the container content.
+*
+*/
+EXTENSION-CONTAINER-ID-AND-TYPE ::= CLASS {
+    &id     ExtensionContainerId UNIQUE,
+    &Type
+} WITH SYNTAX {&Type IDENTIFIED BY &id}
+
+/**
+* This DE represents the identifier of the container type.
+*/
+ExtensionContainerId ::= INTEGER (1..16,...)
+
+/**
+* These value assignments represent specific values of the container type identifier. 
+*/
+twoWheelerContainer ExtensionContainerId ::= 1
+eHorizonLocationSharingContainer ExtensionContainerId ::= 2
+veryLowFrequencyContainer ExtensionContainerId ::= 3
+pathPredictionContainer ExtensionContainerId ::= 4
+generalizedLanePositionsContainer ExtensionContainerId ::= 5
+vehicleMovementControlContainer ExtensionContainerId ::= 6
+
+/**
+* This information object set represents the association between the container type and the container content.
+*/
+ExtensionContainers EXTENSION-CONTAINER-ID-AND-TYPE ::= {
+    {TwoWheelerContainer IDENTIFIED BY twoWheelerContainer} |
+    {EHorizonLocationSharingContainer IDENTIFIED BY eHorizonLocationSharingContainer} |
+    {VeryLowFrequencyContainer IDENTIFIED BY veryLowFrequencyContainer} |
+    {PathPredictionContainer IDENTIFIED BY pathPredictionContainer} |
+    {GeneralizedLanePositionsContainer IDENTIFIED BY generalizedLanePositionsContainer} |
+    {VehicleMovementControlContainer IDENTIFIED BY vehicleMovementControlContainer},
+	...
+}
+
+/**
+* This DF represents a CAM container preceded by its type identifier and a length indicator.
+*
+* It shall include the following components:
+*
+* @field containerId: the identifier of the container type.
+*
+* @field containerData: the container content consistent with the container type.
+*
+*/
+WrappedExtensionContainer ::= SEQUENCE {
+   containerId     EXTENSION-CONTAINER-ID-AND-TYPE.&id( {ExtensionContainers} ),
+   containerData   EXTENSION-CONTAINER-ID-AND-TYPE.&Type( {ExtensionContainers}{@containerId} )
+}
+
+/**
+* This DF represents a list of CAM containers, each with their type identifier.
+*/
+WrappedExtensionContainers ::= SEQUENCE SIZE(1..8,...) OF WrappedExtensionContainer
+
+/**
+* This type contains detailed information about two wheelers. It is meant to use for StationType
+* cyclist, moped and motorcycle.
+*
+* It shall include the following components:
+*
+* @field typeSpecificInformation: this data field contains type specific information about two wheelers.
+*
+* @field rollAngle: this data field describes the roll angle of the two wheeler.
+*
+* @field orientation: this data field describes the orientation of the two wheeler.
+*
+* @field stabilityChangeIndication: this data field describes if the two wheeler is about to lose control.
+*
+*/
+TwoWheelerContainer ::= SEQUENCE {
+    typeSpecificInformation     TwoWheelerTypeSpecificInformation OPTIONAL,
+    rollAngle                   CartesianAngle OPTIONAL,
+    orientation                 Wgs84Angle OPTIONAL,
+    stabilityChangeIndication   StabilityChangeIndication OPTIONAL,
+    ...
+}
+
+/**
+* This type contains type specific information about a two wheeler.
+*
+* It includes one of the following components:
+*
+* @field cyclist: it contains cyclist-specific information.
+*
+*/
+TwoWheelerTypeSpecificInformation ::= CHOICE {
+    cyclist CyclistTypeSpecificInformation,
+    ...
+}
+
+/**
+* This type contains type-specific information about cyclists.
+*
+* It shall include the following components:
+*
+* @field vruSubProfileBicyclist: it indicates the detailed type of the cyclist.
+*
+* @field vruMovementControl: it includes information about the movement control of the bicycle.
+*
+*/
+CyclistTypeSpecificInformation ::= SEQUENCE {
+    vruSubProfileBicyclist  VruSubProfileBicyclist (unavailable | bicyclist | e-scooter | pedelec | speed-pedelec | roadbike | childrensbike) OPTIONAL,
+    vruMovementControl      VruMovementControl OPTIONAL,
+    ...
+}
+
+/**
+* This type contains contextual, map-based location information.
+* eHorizon is defined as a tool to convey the part of the road network and its characteristics derived from map data located in front of and behind the vehicle along the road.
+*
+* It shall include the following components:
+*
+* @field segmentAhead: the road segment that the vehicle is predicted to reach, starting from the reference position.
+* At least one node must be filled in so that the current map position can be calculated on the receiver side.
+*
+* @field nodeProbabilities: confidence values for each node in segmentAhead, indicating how confident we are that the ITS station will reach that point.
+*
+* @field segmentBehind: the road segment that the vehicle has passed, based on the collected data, starting from the reference position.
+* At least one node must be filled in so that the current map position can be calculated on the receiver side.
+*
+* @field laneLevelDetails: provides information about the configuration of the road at the position indicated by the component referencePosition of the Basic Container and for a given reference direction.
+*
+* @field segmentSource: it represents the origin of the map-specific data.
+*
+*/
+EHorizonLocationSharingContainer ::= SEQUENCE {
+    segmentAhead        PolygonalLine,
+    nodeProbabilities   ConfidenceLevels OPTIONAL,
+    segmentBehind       PolygonalLine,
+    laneLevelDetails    BasicLaneConfiguration OPTIONAL,
+    segmentSource       MetaInformation (WITH COMPONENTS {..., confidenceValue ABSENT}) OPTIONAL,
+    ...
+}
+
+/**
+* This type represents the very low frequency container.
+*
+* It shall include the following components:
+*
+* @field vehicleHeight: this component represents the height of the vehicle that originates the CAM.
+*
+* @field wiperStatus: this component represents the status of the wipers of the vehicle that originates the CAM, at the time indicated by generationDeltaTime.
+*
+* @field brakeControl: this component represents the status of the brake control system of the vehicle that originates the CAM, 
+* at the time indicated by generationDeltaTime and during the period 10 seconds before that time.
+*/
+VeryLowFrequencyContainer ::= SEQUENCE {
+    vehicleHeight  VehicleHeight2 OPTIONAL,
+    wiperStatus    WiperStatus OPTIONAL,
+    brakeControl   BrakeControl OPTIONAL,
+    ...
+}
+
+/**
+* This type represents the path prediction container.
+*
+* Contains information about the possible future paths of ITS station.
+*/
+PathPredictionContainer ::= SEQUENCE {   
+	pathPredictedList	PathPredictedList,
+	...
+}
+
+/**
+* This type represents the generalized lane positions container.
+*
+* Contains detailed information about the transversal position of the ITS station with respect to the road and potentially about the lane type.
+*/
+GeneralizedLanePositionsContainer ::= SEQUENCE {   
+	generalizedLanePositions	GeneralizedLanePositions,
+	...
+}
+
+/**
+* This type represents the vehicle movement control container.
+*
+* Contains information about the current vehicle movement control status 
+* of ITS station.
+*  This contains: 
+*	- brake and acceleration pedal position status information
+* 	- mechanism for lateral, longitudinal movements dimensions 
+*	  of the vehicle 
+*/
+VehicleMovementControlContainer ::= SEQUENCE {   
+	vehicleMovementControl	VehicleMovementControl,
+	...
+}
+
+END

obu-firmware/external/vanetza-idf/asn1/release2/TS103916v211/POIM-CommonContainers.asn

@@ -0,0 +1,68 @@
+POIM-CommonContainers {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) poi(103916) common(99) major-version-1 (1) minor-version-1 (1)} 
+
+DEFINITIONS AUTOMATIC TAGS ::= BEGIN
+
+IMPORTS
+
+Identifier2B, IvimReferences, MapReferences, Provider, TimestampIts
+FROM ETSI-ITS-CDD {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) major-version-4 (4) minor-version-1 (1)} WITH SUCCESSORS
+
+PoiType
+FROM POIM-PDU-Description {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) poi(103916) poim(0) major-version-1 (1) minor-version-1 (1)} 
+;
+
+/**
+ * This type represents the common management container of the POI Information Blocks. 
+ *
+ * It shall include the following components: 
+ *
+ * @field serviceProviderId: identifier of the organization that provided the POI Information Block.
+ *
+ * @field blockIdentificationNumber: identifier of the POI Information Block, as assigned by the organization identified in serviceProviderId.
+ *
+ * @field timestamp: timestamp of the generation or last change of the POI Information Block
+ *
+ * @field linkedIvims: the optional list of references to IVIMs that are semantically connected because providing signage information applying to the POI.
+ *
+ * @field linkedMapem: the optional list of references to MAPEMs that are semantically connected because providing information applying to the POI.
+ *
+*/
+PoiBlockManagementContainer::= SEQUENCE {
+	serviceProviderId			Provider, 
+	blockIdentificationNumber	Identifier2B,
+	timestamp					TimestampIts,
+	linkedIvims                 IvimReferences OPTIONAL,
+    linkedMapems                MapReferences OPTIONAL,
+    ...  
+}
+
+/**
+ * This type can be used to reference to other related POI Information Blocks. 
+ *
+ * It shall include the following components: 
+ *
+ * @field poiInfoBlockType: the type of related POI Information Blocks
+ *
+ * @field serviceProviderId: identifier of the organization that provided the related POI Information Block.
+ *
+ * @field blockIdentificationNumber: identifier of the related POI Information Block, as assigned by the organization identified in serviceProviderId.
+ *
+ * @field timestamp: optional timestamp of the generation or last change of the related POI Information Block
+ *
+*/	
+
+RelatedPoiInfoBlock::= SEQUENCE{
+   poiInfoBlockType             PoiType,
+   serviceProviderId			Provider, 
+   blockIdentificationNumber	Identifier2B, 
+   timestamp					TimestampIts OPTIONAL,
+    ...
+}
+
+/** 
+ * This DF shall contain a list of @ref RelatedPoiInfoBlock and represents a commmon container to refer to other POI Information Blocks.
+ *
+*/
+RelatedPoiInfoBlockContainer::= SEQUENCE OF RelatedPoiInfoBlock
+
+END

obu-firmware/external/vanetza-idf/asn1/release2/TS103916v211/POIM-PDU-Description.asn

@@ -0,0 +1,85 @@
+POIM-PDU-Description {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) poi(103916) poim(0) major-version-1 (1) minor-version-1 (1)} 
+
+DEFINITIONS AUTOMATIC TAGS ::= BEGIN
+
+IMPORTS 
+
+ItsPduHeader
+FROM ETSI-ITS-CDD {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) major-version-4 (4) minor-version-1 (1)} WITH SUCCESSORS
+
+ParkingAvailabilityBlock
+FROM POIM-ParkingAvailability {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) poi(103916) parkingAvailability(1) major-version-1 (1) minor-version-1 (1)}  WITH SUCCESSORS
+
+-- other block imports from separate standards to be added here when needed.
+;
+
+/** 
+ * This type represents the POIM PDU.
+ *
+ * It shall include the following components: 
+ *
+ * @field header: the header of the POIM PDU.
+ *
+ * @field payload: the payload of the POIM PDU.
+*/
+
+POIM ::= SEQUENCE { 
+    header  	ItsPduHeader (WITH COMPONENTS {... , protocolVersion (1), messageId(poim)}),        
+    payload     WrappedPoiInformationBlocks
+} 
+
+/**
+ * This DF represents a list of POI information blocks, each with their type identifier. 
+*/
+WrappedPoiInformationBlocks::= SEQUENCE (SIZE (1..8,...)) OF WrappedPoiInformationBlock
+
+/**
+ * This information object class is an abstract template to instantiate POI Information Blocks.
+ *
+ * It shall include the following components: 
+ *
+ * @field &id: the identifier of the block type.
+ *
+ * @field &Type: the block content.
+ *
+*/
+BLOCK-TYPE ::= CLASS {
+    &id        PoiType,
+    &Content
+} WITH SYNTAX {&Content IDENTIFIED BY &id} 
+
+/**
+ * This DE represents the identifier of the container type. 
+ *
+*/
+PoiType::= INTEGER(1..128,...)
+
+/**
+ * These value assignements represent specific values of the block type identifier. 
+*/
+parkingAvailability    PoiType ::= 1
+
+/**
+ * This information object set represents the association between the block type and the block content.
+*/
+
+PoiInformationSet BLOCK-TYPE ::= {
+   {ParkingAvailabilityBlock    IDENTIFIED BY parkingAvailability}, ...
+}
+
+/**
+ * This DF represents a POI Information Block preceded by its type identifier and a lenght indicator.
+ *
+ * It shall include the following components: 
+ *
+ * @field poiType: the identifier of the POI Information Block type.
+ *
+ * @field poiBlock: the POI Information Block.
+ *
+*/
+WrappedPoiInformationBlock ::= SEQUENCE {
+    poiType      BLOCK-TYPE.&id({PoiInformationSet}),
+    poiBlock     BLOCK-TYPE.&Content({PoiInformationSet}{@poiType})
+}
+
+END

obu-firmware/external/vanetza-idf/asn1/release2/TS103916v211/POIM-ParkingAvailability.asn

@@ -0,0 +1,743 @@
+POIM-ParkingAvailability {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) poi(103916) parkingAvailability(1) major-version-1 (1) minor-version-1 (1)}   
+
+DEFINITIONS AUTOMATIC TAGS ::= BEGIN
+
+IMPORTS
+
+AltitudeValue, ConfidenceLevel, DangerousGoodsBasic, DeltaLatitude, DeltaLongitude, DeltaReferencePosition, EuVehicleCategoryCode, GeoPosition, Identifier2B, Latitude, Longitude, 
+SpecialTransportType, TimestampIts, VehicleHeight, Wgs84Angle
+FROM ETSI-ITS-CDD {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) major-version-4 (4) minor-version-1 (1)} WITH SUCCESSORS
+
+PoiBlockManagementContainer, RelatedPoiInfoBlockContainer 
+FROM POIM-CommonContainers {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) poi(103916) common(99) major-version-1 (1) minor-version-1 (1)} WITH SUCCESSORS
+;
+
+-- Parking Availability Block for usage within the Point of Interest Message (POIM):
+
+/**
+ * This type represents the POI Information Block concerning a parking availability at a given facility.  
+ *
+ * It shall include the following components: 
+ *
+ * @field managementContainer: the management container of the parking availability POI Information Block.
+ *
+ * @field placeInfo: general information about the parking facility.
+ *
+ * @field aggregatedStatus: aggregated status information about the parking facility.
+ *
+ * @field detailedStatus: detailed topology and status information about the parking areas and spaces.
+ *
+ * @field relatedPoi: reference to other relevant POI Information Blocks.  
+ *
+*/	
+ParkingAvailabilityBlock::= SEQUENCE{
+   managementContainer     PoiBlockManagementContainer,
+   placeInfo               GeneralParkingPlaceContainer,
+   aggregatedStatus        ParkingStatusContainer,
+   detailedStatus          ParkingSupplyCapabilitiesContainer OPTIONAL,
+   relatedPoi              RelatedPoiInfoBlockContainer OPTIONAL,
+   ...
+}   
+
+-- POIM-PA Containers: 
+
+/** 
+ * This type represents the General Parking Facility Container.
+ *
+ * It shall include the following components: 
+ *
+ * @field position: the position of the parking facility.
+ *
+ * @field name: the name of the parking facility.
+ *
+ * @field openingPeriods: the optional opening periods of the parking facility.
+ *
+ * @field address: the address of the parking facility.
+ *
+ * @field phoneNumber: the phone number of the operator of the parking facility. 
+ *
+ * @field website: the URL of the website of the operator of the parking facility.
+ *
+*/
+GeneralParkingPlaceContainer::= SEQUENCE{
+   position              GeoPosition,
+   name 		         UTF8String (SIZE (1..31)),
+   openingPeriods    	 Periods OPTIONAL,
+   address 		         UTF8String (SIZE (1..255)) OPTIONAL,
+   phoneNumber 	         UTF8String (SIZE (1..31)) OPTIONAL,
+   website               UTF8String (SIZE (1..31)) OPTIONAL,
+   ...
+} 
+
+/** 
+ * This type represents the Parking Status Container.
+ *
+ * It shall include the following components: 
+ *
+ * @field currentFacilityStatus: the current status of the facility.
+ *
+ * @field currentOccupancy: the optional current occupancy of the entire facility.
+ * This component is only representative if the entire facility has areas and spaces of the same type. e.g. personal car parking spaces only. 
+ *
+ * @field detailedStatus: the optional detailed parking availability status of the facility.
+ *
+*/
+ParkingStatusContainer::= SEQUENCE {
+	currentFacilityStatus    OpeningStatus,
+    currentOccupancy         OccupancyInformation OPTIONAL,           
+	detailedStatus           ParkingStatusList OPTIONAL,
+    ...
+}
+
+/** 
+ * This type represents the ParkingSupplyCapabilitiesContainer and is a list of @ref ParkingAreas.
+ *
+*/
+ParkingSupplyCapabilitiesContainer::= SEQUENCE OF ParkingAreas
+
+-- DFs for parking availability:
+
+/** 
+ * This DF indicates a geographical position with reference to a reference position.
+ *
+ * It shall include the following components: 
+ *
+ * @field deltaLatitude: the delta latitude of the geographical position.
+ *
+ * @field deltaLongitude: the delta longitude of the geographical position.
+ *
+*/
+DeltaPosition::=SEQUENCE{
+	deltaLatitude 		DeltaLatitude,
+	deltaLongitude		DeltaLongitude
+	}
+
+/**
+ * This DF shall contain an an ordered sequence of @ref DeltaPosition with respect to the previous position 
+ * with the first instance referring to a reference position and with the order implicitly defining a direction.
+ *
+*/
+DeltaPositions::= SEQUENCE (SIZE (1..32, ...))  OF DeltaPosition
+
+/** 
+ * This DF indicates a geographical position.
+ *
+ * It shall include the following components: 
+ *
+ * @field latitude: the latitude of the geographical position.
+ *
+ * @field longitude: the longitude of the geographical position.
+ *
+ * @field altitude: the altitude of the geographical position.
+ *
+*/
+-- Redundant with GeoPosition from CDD (TS102894-2v221-CDD.asn)
+-- GeoPosition::= SEQUENCE{
+-- 	latitude  Latitude,
+-- 	longitude Longitude,
+--     altitude  AltitudeValue DEFAULT unavailable
+-- 	}
+
+/** 
+ * This DF indicates a the load type of the vehicle.
+ *
+ * It shall include the following components: 
+ *
+ * @field goodsType: optional information about the goods being transported.
+ *
+ * @field dangerousGoodsType: the optional type of dangerous goods according to the European Agreement concerning the International Carriage of Dangerous Goods by Road (ADR). 
+ *
+ * @field specialTransportType: the type of special transport according to local regulations.
+ *
+*/
+LoadType::= SEQUENCE{
+	goodsType				GoodsType OPTIONAL,
+	dangerousGoodsType		DangerousGoodsBasic OPTIONAL,
+	specialTransportType	SpecialTransportType,
+    ...
+	}
+
+/**
+ * This DF represents occupancy information. 
+ *
+ * It shall include the following components: 
+ *
+ * @field rate: the current occupancy in percentage, nominally = ((totalSpaces-freeSpaces)/totalSpaces) * 100.
+ *
+ * @field trend: the current trend of the occupancy.
+ *
+ * @field freeSpaces: the number of spaces that are actually available.
+ *
+ * @field totalSpaces: the total number of spaces.
+ *
+ * @field confidence: the confidence level of the above information.
+ *
+*/
+OccupancyInformation::= SEQUENCE{
+   rate            OccupancyRate,
+   trend           OccupancyTrend, 
+   freeSpaces      NumberOfSpaces,
+   totalSpaces	   NumberOfSpaces,
+   confidence      ConfidenceLevel,
+   ...
+} 
+
+/**
+ * This DF provides information about the parking capabilities and availabilities of a parking identified area. 
+ * 
+ * @note:a parking area possibly groups all spaces with the same characteristics.
+ *
+ * It shall include the following components: 
+ *
+ * @field id: the identifier of the parking area within the parking place/facility.
+ *
+ * @field currentOccupancy: the current occupancy information of the parking area.
+ *
+ * @field location: the location of the parking area.
+ *
+ * @field level: the level under/over ground floor of the parking area.
+ *
+ * @field arrangementType: the common arrangement of the parking spaces within the area.
+ * the value ´mixed´ shall be used if there is no common arrangement. In this case the arrangement of the single spaces may be defined in the component spacesDetailed.
+ *
+ * @field boundary: the optional physical boundary of the parking area as a polygon using the component location as reference position.
+ *
+ * @field orientation: the optional common orientation of the parking spaces within the area.
+ * This is component shall be absent if there is no common orientation. In this case the orientation of the single spaces may be defined in the component spacesDetailed.
+ *
+ * @field accessViaLane: the optional identifier of a lane that provides access to the parking area.
+ *
+ * @field allowedVehicleCategories: the categories of vehicles that are allowed in the parking area.
+ *
+ * @field notAllowedEngineCharacteristics: the optional characteristic(s) of engines that are not allowed in the parking area.
+ *
+ * @field allowedLoadTypes: the optional load type(s) that are allowed in the parking area.
+ *
+ * @field notallowedLoadTypes: the optional load type(s) that are not allowed in the parking area.
+ *
+ * @field heightRestriction: the optional applicable vehicle height restriction.
+ *
+ * @field reservationType: the optional parking reservation type(s) associated to the parking area.
+ * This is component shall be absent if there is no common reservation type. In this case the reservation type of the single spaces may be defined in the component spacesDetailed.
+ *
+ * @field pricingInformation: the optional pricing information applicable to the parking area.
+ *
+ * @field paymentInformation: the optional payment information applicable to the parking area.
+ *
+ * @field bookingContactInfo: the optional booking contact information applicable to the parking area.
+ *
+ * @field accessCharachteristics: the optional access information to the area.
+ *
+ * @field freeSpacesPosition: the optional list of positions of free spaces.
+ *
+ * @field freeSpacesId: the optional list of Ids of free spaces.
+ *
+ * @field spacesBasic: the optional basic information about none, some or all parking spaces within the area.
+ *
+ * @field spacesDetailed: the optional detailed information about none, some or all parking spaces within the area.
+ *
+*/
+ParkingArea::=SEQUENCE{
+   id                                 Identifier2B,
+   currentOccupancy                   OccupancyInformation, 
+   location                           GeoPosition,
+   level                              INTEGER(-8..16,...) DEFAULT 0,
+   arrangementType                    ParkingAreaArrangementType,
+   boundary                           DeltaPositions OPTIONAL, 
+   orientation                        Wgs84Angle OPTIONAL, 
+   accessViaLane			          Identifier2B OPTIONAL,
+   allowedVehicleCategories           SEQUENCE (SIZE(1..4,...)) OF EuVehicleCategoryCode, 
+   notAllowedEngineCharacteristics    SEQUENCE (SIZE(1..4,...)) OF EngineCharacteristicsFromIso  OPTIONAL,
+   allowedLoadTypes                   SEQUENCE (SIZE(1..4,...)) OF LoadType OPTIONAL, 
+   notAllowedLoadTypes                SEQUENCE (SIZE(1..4,...)) OF LoadType OPTIONAL,
+   heightRestriction                  VehicleHeight OPTIONAL,
+   reservationType                    SEQUENCE (SIZE(1..4,...)) OF ParkingReservationType OPTIONAL,
+   pricingInformation                 UTF8String OPTIONAL,
+   paymentInformation                 UTF8String OPTIONAL, 
+   bookingContactInfo                 UTF8String OPTIONAL, 
+   accessCharachteristics             UTF8String OPTIONAL,
+   freeSpacesPosition                 SEQUENCE OF DeltaPosition OPTIONAL,
+   freeSpacesId                       SEQUENCE OF Identifier2B OPTIONAL,
+   spacesBasic                        ParkingSpacesBasic OPTIONAL,
+   spacesDetailed                     ParkingSpacesDetailed OPTIONAL,
+   ...
+}
+
+/**
+ * This DF shall contain a list of @ref ParkingArea.  
+ *
+*/
+ParkingAreas::= SEQUENCE OF ParkingArea
+
+/** 
+ * This DF indicates the allowed type of occupancy of a parking space/area in terms of time and/or usage.
+ *
+ * The following options are available:
+ * 
+ * @field unknown: indicates that the allowed type of occupancy is unknown.
+ *
+ * @field unlimitedOccupancy: indicates that it can be occupied without limits.
+ *
+ * @field onlyWhileCharging: indicates that it can be occupied only while charging an electric vehicle.
+ *
+ * @field limitedDuration: indicates that it can be occupied for a limited and indicated duration in minutes.
+ *
+ * @field onlyWhileChargingLimitedDuration: indicates that it can be occupied only while charging an electric vehicle and only for a limited and indicated duration in minutes.
+ *
+ * @field parkingAllowedUntil: indicates that it can be occupied only until an indicated moment in time.
+ *
+ * @field forcedParkingUntil: indicates that it can be occupied and departure is possible only after an indicated moment in time.
+ *
+*/
+ParkingOccupancyInfo::= CHOICE { 
+   unknown                              NULL, 
+   unlimitedOccupancy                   NULL,
+   onlyWhileCharging                    NULL,  
+   limitedDuration                      INTEGER,  
+   onlyWhileChargingLimitedDuration     INTEGER, 
+   parkingAllowedUntil                  TimestampIts,
+   forcedParkingUntil                   TimestampIts,
+   ...
+} 
+
+/**
+ * This DF provides basic information about the parking capabilities and availabilities of a single parking space. 
+ *
+ * It shall include the following components: 
+ *
+ * @field id: the unqiue identifier of the parking space within the parking area.
+ *
+ * @field location: the optional location of the geometrical center of the parking space w.r.t. the location of the parking area.
+ *
+ * @field status: the actual status of the parking space.
+ *
+*/
+ParkingSpaceBasic ::= SEQUENCE{
+   id         Identifier2B,
+   location   DeltaReferencePosition OPTIONAL, 
+   status     ParkingSpaceStatus
+}
+
+/**
+ * This DF provides detailed information about the parking capabilities and availabilities of a single parking space. 
+ * 
+ * It is an extension of @ref ParkingSpaceBasic and it shall additionally include the following additional components: 
+ *
+ * @field arrangementType: the optional arrangement of the parking space w.r.t. other spaces.
+ * This is component, if present, overrides the common arrangementType defined in the @ref ParkingArea.
+ *
+ * @field boundary: the optional physical boundary of the parking space as a polygon w.r.t. the location of the parking space.
+ *
+ * @field orientation: the optional orientation of the parking space.
+ * This is component, if present, overrides the common orientation defined in the @ref ParkingArea.
+ *
+ * @field occupancyRule: the occupancy rule applicable to the parking space.
+ *
+ * @field chargingStationId: the optional identitfier of a charging station that serves the parking space.
+ *
+ * @field accessViaLane: the optional identifier of a lane that provides access to the parking space.
+ *
+ * @field accessViaParkingSpaces: the optional identifier(s) of a parking spaces that provide access to the parking space.
+ * 
+ * @field reservationType: the optional parking reservation type(s) associated to the parking space.
+ * This is component, if present, overrides the common reservationType defined in the @ref ParkingArea.
+ *
+*/
+ParkingSpaceDetailed ::= SEQUENCE{
+   COMPONENTS OF            ParkingSpaceBasic,
+   arrangementType          ParkingAreaArrangementType OPTIONAL,
+   boundary                 DeltaPositions OPTIONAL,
+   orientation              Wgs84Angle OPTIONAL,
+   occupancyRule            ParkingOccupancyInfo, 
+   chargingStationId        Identifier2B OPTIONAL,
+   accessViaLane			Identifier2B OPTIONAL,
+   accessViaParkingSpaces	SEQUENCE (SIZE(0..7)) OF Identifier2B OPTIONAL,	
+   reservationType          SEQUENCE (SIZE(1..4,...)) OF ParkingReservationType OPTIONAL,			
+   ...
+}
+
+/**
+ * This DF shall contain a list of @ref ParkingSpaceBasic.  
+ *
+*/
+ParkingSpacesBasic ::= SEQUENCE OF ParkingSpaceBasic
+
+/**
+ * This DF shall contain a list of @ref ParkingSpaceDetailed.  
+ *
+*/
+ParkingSpacesDetailed ::= SEQUENCE OF ParkingSpaceDetailed
+
+/** 
+ * This DF indicates the status of parking space.
+ *
+ * The following options are available:
+ * 
+ * @field unknown: indicates that the status is unknown.
+ *
+ * @field free: indicates that the parking space is free and hence available to be used.
+ *
+ * @field freeUntil: indicates that the parking space is free to be used until an indicated moment in time.
+ *
+ * @field fullyOccupied: indicates that the parking space is interely occupied.
+ *
+ * @field partiallyOccupied: indicates that the parking space that allows parking of multiple vehicles is occupied by an indicated percentage.
+ *
+ * @field occupiedUntil: indicates that the parking space is entirely occupied until an indicated moment in time.
+ *
+ * @field reservedUntil: indicates that the parking space is reserved (but not necessarily occupied) until an indicated moment in time.
+ *
+ * @field accessBlocked: indicates that the parking space cannot accessed, e.g. due to obstructing vehicles.
+ *
+ * @field retrictedUsage: indicates that the parking space is available but that it is not an official parking space and that there are some phyiscal restrictions applicable, 
+ * such as parking behind or in front of other vehicles that, depending on the situation, may then have problems entering or leaving their respective parking spaces.
+ *
+*/ 
+ParkingSpaceStatus::= CHOICE { 
+   unknown             NULL, 
+   free                NULL,  
+   freeUntil           TimestampIts, 
+   fullyOccupied       NULL,
+   partiallyOccupied   INTEGER(0..100), 
+   occupiedUntil       TimestampIts,
+   reservedUntil       TimestampIts, 
+   accessBlocked       NULL,
+   retrictedUsage      NULL,
+   ...
+} 
+
+/**
+ * This DF provides information about the status of a defined type of parking.
+ *
+ * It shall include the following components: 
+ *
+ * @field vehicleTypes: the optional types of vehicle for which the parking status is provided.
+ *
+ * @field reservationTypes: the optional reservation types for which the parking status is provided.
+ *
+ * @field loadTypes: the optional load types for which the parking status is provided.
+ *
+ * @field parkingFeeTypes: the optional fee types for which the parking status is provided.
+ *
+ * @field occupancyTypes: the optional occupancy types for which the parking status is provided.
+ *
+ * @field currentOccupancy: the occupancy for the logical AND combination of the components defined above.
+ *
+*/
+ParkingStatus ::= SEQUENCE {
+   vehicleTypes            SEQUENCE (SIZE(1..4,...)) OF EuVehicleCategoryCode OPTIONAL,
+   reservationTypes        SEQUENCE (SIZE(1..4,...)) OF ParkingReservationType OPTIONAL,
+   loadTypes               SEQUENCE (SIZE(1..4,...)) OF LoadType OPTIONAL,
+   parkingFeeTypes         SEQUENCE (SIZE(1..4,...)) OF ParkingFeeType OPTIONAL, 
+   occupancyTypes          SEQUENCE (SIZE(1..4,...)) OF ParkingOccupancyInfo OPTIONAL,
+   currentOccupancy        OccupancyInformation,
+   ...
+}
+   ((WITH COMPONENTS {..., vehicleTypes PRESENT}) |
+    (WITH COMPONENTS {..., reservationTypes PRESENT}) |
+    (WITH COMPONENTS {..., loadTypes PRESENT}) | 
+    (WITH COMPONENTS {..., parkingFeeTypes PRESENT}) |
+    (WITH COMPONENTS {..., occupancyTypes PRESENT}))
+
+
+/**
+ * This DF shall contain a list of @ref ParkingStatus.  
+ *
+*/
+ParkingStatusList::= SEQUENCE (SIZE(1..16,...)) OF ParkingStatus
+
+/** 
+ * This DF indicates a period occuring on defined days of the week.
+ *
+ * It shall include the following components: 
+ *
+ * @field days: the applicable day(s) of the week.
+ *
+ * @field opening: the opening time in local time.
+ *
+ * @field closing: the closing time in local time.
+ *
+*/ 
+Period ::= SEQUENCE {
+    days      DayOfWeek,         
+	opening	  TimeOfDay,	
+	closing	  TimeOfDay 	
+}
+
+/**
+ * This DF shall contain a list of up to 8 @ref Period.  
+ *
+*/
+Periods ::= SEQUENCE (SIZE(1..8,...)) OF Period
+
+/** 
+ * This DF indicates the time of the day.
+ *
+ * It shall include the following components: 
+ *
+ * @field hours: the number of hours after midnight.
+ *
+ * @field mins: the number of minutes after the hour.
+ *
+*/ 
+TimeOfDay::= SEQUENCE {
+   hours      INTEGER (0..23),
+   mins       INTEGER (0..59) 
+   }
+
+-- DEs for parking availability:
+
+/** 
+ * This DE indicates the applicable day(s) of the week.
+ *
+*/ 
+DayOfWeek::= BIT STRING {unused(0), monday(1), tuesday(2), wednesday(3), thursday(4), friday(5), saturday(6), sunday(7)} (SIZE (8))
+
+/** 
+ * This DE indicates the type of goods of a vehicle.
+ *
+ * The value shall be set to:
+ * - `0` to indicate: 	Transport of ammunition.
+ * - `1` to indicate:	Transport of chemicals of unspecified type.
+ * - `2` to indicate: 	Empty load.
+ * - `3` to indicate: 	Transport of fuel of unspecified type.
+ * - `4` to indicate: 	Transport of glass.
+ * - `5` to indicate: 	Transport of materials classified as of dangerous or hazardous nature.
+ * - `6` to indicate: 	Transport of liquids of an unspecified nature.
+ * - `7` to indicate: 	Transport of livestock.
+ * - `8` to indicate: 	Transport of materials classed as being of a danger to people or animals.
+ * - `9` to indicate: 	Transport of materials classed as being potentially dangerous to the environment.
+ * - `10` to indicate: 	Transport of materials classed as being dangerous when exposed to water.
+ * - `11` to indicate: 	Transport of fresh products or produce that will significantly degrade in quality or freshness over a short period of time.
+ * - `12` to indicate: 	Transport of pharmaceutical materials.
+ * - `13` to indicate: 	Transport of vehicles of any type.
+ * - `14` to indicate: 	Refrigerated transport.
+ *
+*/ 
+GoodsType::= INTEGER {
+	ammunition					(0),
+	chemicals					(1),
+	empty 						(2),
+	fuel						(3),
+	glass						(4),
+	dangerous					(5),
+	liquid						(6),
+	liveStock					(7),
+	dangerousForPeople			(8),
+	dangerousForTheEnvironment	(9),
+	dangerousForWater			(10),
+	perishableProducts			(11),
+	pharmaceutical				(12),
+	vehicles					(13),
+    refrigerated                (14)
+	-- other values  reserved for future use
+	} (0..15,...)
+
+
+/** 
+ * This DE represents a number of parking spaces.
+ * 
+ * The value shall be set to:
+ * - `n` (`n > 0` and `n < 16383`) : for the number of spaces.
+ * - `16383`                       : in case the number of spaces is not available.
+ *
+*/
+NumberOfSpaces ::= INTEGER {
+    unavailable (16383)  
+} (1..16383)
+
+/** 
+ * This DE represents an occupancy rate in percentage.
+ * 
+ * The value shall be set to:
+ * - `n` (`n > 0` and `n < 101`) : for the occupany rate in %,
+ * - `101`                   : in case the occupany rate is not available.
+ *
+*/
+OccupancyRate ::= INTEGER {
+    unavailable (101)  
+} (1..101)
+
+/** 
+ * This DE indicates the trend of occupancy.
+ *
+ * The value shall be set to:
+ * - `0` to indicate that occupancy is decreasing,
+ * - `1` to indicate that occupancy is decreasing quickly,
+ * - `2` to indicate that occupancy is decreasing slowly,
+ * - `3` to indicate that occupancy is increasing,
+ * - `4` to indicate that occupancy is increasing quickly,
+ * - `5` to indicate that occupancy is increasing slowly,
+ * - `6` to indicate that occupancy is stable,
+ * - `7` to indicate that occupancy is variable with no clear trend,
+ * - `15` to indicate that occupancy is unknown,
+ * - 8-14   - reserved for future usage. 
+ *
+*/
+OccupancyTrend ::= INTEGER {
+	decreasing				(0),
+	decreasingQuickly		(1),
+	decreasingSlowly		(2),
+	increasing				(3),
+    increasingQuickly       (4),
+    increasingSlowly        (5),
+    stable                  (6),
+    variable                (7),
+    unknown                 (15)
+} (0..15)
+
+/** 
+ * This DE indicates the opening status.
+ *
+ * The value shall be set to:
+ * - `0` to indicate that the opening status is: closed,
+ * - `1` to indicate that the opening status is: open,
+ * - `2` to indicate that the opening status is: open for subscribers only,
+ * - `3` to indicate that the opening status is: open but currently full, i.e. no parking spaces available,
+ * - `15` to indicate that occupancy is unknown,
+ * - 4-14 - reserved for future usage. 
+ *
+*/
+OpeningStatus ::= INTEGER {
+	closed				(0),
+	open				(1),
+	subscribersOnly		(2),
+    full                (3),
+	unknown				(15)
+} (0..15)
+
+/** 
+ * This DE indicates the arrangement of parking space in a parking area.
+ *
+ * The value shall be set to:
+ * - `0` to indicate that the parking spaces are arranged in a line and parallel to a road or curb,
+ * - `1` to indicate that the parking spaces are arranged side-by-side and diagonally to a curb,
+ * - `2` to indicate that the parking spaces are arranged side-by-side and perpendicularly to a curb,
+ * - `3` to indicate that the parking spaces are arranged so that vehicles form a queue,
+ * - `4` to indicate that the parking spaces are arranged in a mixed fashion, 
+ * - 5-7 - reserved for future usage. 
+ *
+*/ 
+ParkingAreaArrangementType ::= INTEGER { 
+   parallelParkingSpace(0), 
+   diagonalParkingSpace(1), 
+   perpendicularParkingSpace(2),
+   queueParking (3),
+   mixed(4),
+   unknown(7)   
+} (0..7)
+
+/** 
+ * This DE indicates the type of a reservation of a parking space/area.
+ *
+ * The value shall be set to:
+ * - `0` to indicate that it is reserved to disabled persons,
+ * - `1` to indicate that it is reserved to pregnant women,
+ * - `2` to indicate that it is reserved to women,
+ * - `3` to indicate that it is reserved to parents with small children,
+ * - `4` to indicate that it is reserved for loading and unloading of goods,
+ * - `5` to indicate that it is reserved for manual charging of electric vehicles,
+ * - `6` to indicate that it is reserved for automated charging of electric vehicles,
+ * - `7` to indicate that it is reserved for vehicles carrying out refrigerated transport of goods,
+ * - `8` to indicate that it is reserved for VIPs,
+ * - `9` to indicate that it is reserved for pre-booked reservations only,
+ * - `10` to indicate that it is not reserved and can still be reserved,
+ * - `11` to indicate that it cannot be reserved,
+ * - `12` to indicate that it reserved for drop-off and pick-up of vehicles for automated valet parking,
+ * - `13` to indicate that it is reserved for vehicles with a permit,
+ * - 14-31  - reserved for future usage. 
+ *
+*/
+ParkingReservationType ::= INTEGER { 
+   disabled(0), 
+   pregnant(1), 
+   womenOnly(2), 
+   parentAndChild(3), 
+   loadAndOffloadGoods(4), 
+   manualElectricVehicleCharging (5), 
+   automatedElectricVehicleCharging (6), 
+   refriferatedTransport(7),
+   vip(8),
+   preBooking (9), 
+   freeToBeReserved (10),
+   reservationNotPossible (11),
+   automatedValetparking (12), 
+   permit (13)
+}(0..31)
+
+
+/** 
+ * This DE indicates the applicable type of parking fee.
+ *
+ * The value shall be set to:
+ * - `0` to indicate that the applicable fee is time dependent, e.g. an hourly fee,
+ * - `1` to indicate that ithe applicable fee is flat for a certain period, e.g. a flat fee for daily parking,
+ * - `2` to indicate that the applicable fee is included in the subscription, e.g. a monthly subscription,
+ * - 3-7  - reserved for future usage. 
+ *
+*/
+ParkingFeeType::= INTEGER { 
+   timeDependentFee(0), 
+   flatFee(1), 
+   subscription(2) 
+}(0..7)
+
+EngineCharacteristicsFromIso ::= INTEGER {
+	noEntry										(0),
+	noEngine									(1),
+	petrolUnleaded								(2),
+	petrolLeaded								(3),
+	diesel										(4),
+	lpg											(5),
+	battery										(6), 
+	solar										(7),
+	hybrid										(8), 
+	hydrogen									(9),
+	multiFuel									(10), 
+	bivalentPetrolLpg							(11), 
+	bivalentPetrolCng							(12),
+	combinedPetrolElectric						(13), 
+	cng											(14), 
+	lng											(15), 
+	combinedDieselElectric						(16), 
+	combinedHydrogenElectric					(17), 
+	bivalentHydrogenPetrol						(18), 
+	bivalentHydrogenPetrolElectricEngine		(19), 
+	fuelCellHydrogen							(20), 
+	fuelCellPetrol								(21), 
+	fuelCellMethanol							(22), 
+	fuelCellEthanol								(23), 
+	fuelCellDiesel								(24), 
+	combinedMultiFuelElectricEngine				(25), 
+	combinedCngElectricEngine					(26), 
+	combinedLngElectricEngine					(27), 
+	petrolEthanol								(28), 
+	combinedLpgElectricEngine					(29), 
+	hybridPetrolExternalBattery					(30), 
+	hybridDieselExternalBattery					(31), 
+	hybridLpgExternalBattery					(32), 
+	hybridHydrogenExternalBattery				(33), 
+	hybridMultiFuelExternalBattery				(34), 
+	hybridCngExternalBattery					(35), 
+	hybridLngExternalBattery					(36),
+	hybridBivalentHydrogenPetrolExternalBattery (37),
+	hydrogenCng									(38), 
+	hydrogenLng									(39), 
+	hybridHydrogenCngExternalBattery			(40), 
+	hybridHydrogenLngExternalBattery			(41), 
+	ethanol										(42), 
+	hybridFuelCellHydrogen						(43), 
+	hybridFuelCellHydrogenExternalBattery		(44), 
+	dualFuelLngDiesel							(45), 
+	electricExternal							(46), 
+	biogas										(47), 
+	bioDiesel									(48), 
+	bioPetrol									(49), 
+	bivalentPetrolBiogas						(50), 
+	combinedBiogasElectricEngine				(51), 
+	dualFuelCngDiesel							(52),
+	-- (53-254) are reserved for future CEN and ISO use
+	other										(255)
+} (0..255)
+
+END

obu-firmware/external/vanetza-idf/asn1/release2/TS103916v211/POIM-ParkingAvailabilityOriginal.asn

@@ -0,0 +1,688 @@
+POIM-ParkingAvailability {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) poi(103916) parkingAvailability(1) major-version-1 (1) minor-version-1 (1)}   
+
+DEFINITIONS AUTOMATIC TAGS ::= BEGIN
+
+IMPORTS
+
+AltitudeValue, ConfidenceLevel, DangerousGoodsBasic, DeltaLatitude, DeltaLongitude, DeltaReferencePosition, EuVehicleCategoryCode, Identifier2B, Latitude, Longitude, 
+SpecialTransportType, TimestampIts, VehicleHeight, Wgs84Angle
+FROM ETSI-ITS-CDD {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) major-version-4 (4) minor-version-1 (1)} WITH SUCCESSORS
+
+PoiBlockManagementContainer, RelatedPoiInfoBlockContainer 
+FROM POIM-CommonContainers {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) poi(103916) common(99) major-version-1 (1) minor-version-1 (1)} WITH SUCCESSORS
+
+EngineCharacteristics
+FROM EfcDataDictionary {iso(1) standard(0) 17573 dd(3) version1(1) minorVersion3(3)} WITH SUCCESSORS 
+-- available  at https://standards.iso.org/iso/17573/-3/
+;
+
+-- Parking Availability Block for usage within the Point of Interest Message (POIM):
+
+/**
+ * This type represents the POI Information Block concerning a parking availability at a given facility.  
+ *
+ * It shall include the following components: 
+ *
+ * @field managementContainer: the management container of the parking availability POI Information Block.
+ *
+ * @field placeInfo: general information about the parking facility.
+ *
+ * @field aggregatedStatus: aggregated status information about the parking facility.
+ *
+ * @field detailedStatus: detailed topology and status information about the parking areas and spaces.
+ *
+ * @field relatedPoi: reference to other relevant POI Information Blocks.  
+ *
+*/	
+ParkingAvailabilityBlock::= SEQUENCE{
+   managementContainer     PoiBlockManagementContainer,
+   placeInfo               GeneralParkingPlaceContainer,
+   aggregatedStatus        ParkingStatusContainer,
+   detailedStatus          ParkingSupplyCapabilitiesContainer OPTIONAL,
+   relatedPoi              RelatedPoiInfoBlockContainer OPTIONAL,
+   ...
+}   
+
+-- POIM-PA Containers: 
+
+/** 
+ * This type represents the General Parking Facility Container.
+ *
+ * It shall include the following components: 
+ *
+ * @field position: the position of the parking facility.
+ *
+ * @field name: the name of the parking facility.
+ *
+ * @field openingPeriods: the optional opening periods of the parking facility.
+ *
+ * @field address: the address of the parking facility.
+ *
+ * @field phoneNumber: the phone number of the operator of the parking facility. 
+ *
+ * @field website: the URL of the website of the operator of the parking facility.
+ *
+*/
+GeneralParkingPlaceContainer::= SEQUENCE{
+   position              GeoPosition,
+   name 		         UTF8String (SIZE (1..31)),
+   openingPeriods    	 Periods OPTIONAL,
+   address 		         UTF8String (SIZE (1..255)) OPTIONAL,
+   phoneNumber 	         UTF8String (SIZE (1..31)) OPTIONAL,
+   website               UTF8String (SIZE (1..31)) OPTIONAL,
+   ...
+} 
+
+/** 
+ * This type represents the Parking Status Container.
+ *
+ * It shall include the following components: 
+ *
+ * @field currentFacilityStatus: the current status of the facility.
+ *
+ * @field currentOccupancy: the optional current occupancy of the entire facility.
+ * This component is only representative if the entire facility has areas and spaces of the same type. e.g. personal car parking spaces only. 
+ *
+ * @field detailedStatus: the optional detailed parking availability status of the facility.
+ *
+*/
+ParkingStatusContainer::= SEQUENCE {
+	currentFacilityStatus    OpeningStatus,
+    currentOccupancy         OccupancyInformation OPTIONAL,           
+	detailedStatus           ParkingStatusList OPTIONAL,
+    ...
+}
+
+/** 
+ * This type represents the ParkingSupplyCapabilitiesContainer and is a list of @ref ParkingAreas.
+ *
+*/
+ParkingSupplyCapabilitiesContainer::= SEQUENCE OF ParkingAreas
+
+-- DFs for parking availability:
+
+/** 
+ * This DF indicates a geographical position with reference to a reference position.
+ *
+ * It shall include the following components: 
+ *
+ * @field deltaLatitude: the delta latitude of the geographical position.
+ *
+ * @field deltaLongitude: the delta longitude of the geographical position.
+ *
+*/
+DeltaPosition::=SEQUENCE{
+	deltaLatitude 		DeltaLatitude,
+	deltaLongitude		DeltaLongitude
+	}
+
+/**
+ * This DF shall contain an an ordered sequence of @ref DeltaPosition with respect to the previous position 
+ * with the first instance referring to a reference position and with the order implicitly defining a direction.
+ *
+*/
+DeltaPositions::= SEQUENCE (SIZE (1..32, ...))  OF DeltaPosition
+
+/** 
+ * This DF indicates a geographical position.
+ *
+ * It shall include the following components: 
+ *
+ * @field latitude: the latitude of the geographical position.
+ *
+ * @field longitude: the longitude of the geographical position.
+ *
+ * @field altitude: the altitude of the geographical position.
+ *
+*/ 
+GeoPosition::= SEQUENCE{
+	latitude  Latitude,
+	longitude Longitude,
+    altitude  AltitudeValue DEFAULT unavailable
+	}
+
+/** 
+ * This DF indicates a the load type of the vehicle.
+ *
+ * It shall include the following components: 
+ *
+ * @field goodsType: optional information about the goods being transported.
+ *
+ * @field dangerousGoodsType: the optional type of dangerous goods according to the European Agreement concerning the International Carriage of Dangerous Goods by Road (ADR). 
+ *
+ * @field specialTransportType: the type of special transport according to local regulations.
+ *
+*/
+LoadType::= SEQUENCE{
+	goodsType				GoodsType OPTIONAL,
+	dangerousGoodsType		DangerousGoodsBasic OPTIONAL,
+	specialTransportType	SpecialTransportType,
+    ...
+	}
+
+/**
+ * This DF represents occupancy information. 
+ *
+ * It shall include the following components: 
+ *
+ * @field rate: the current occupancy in percentage, nominally = ((totalSpaces-freeSpaces)/totalSpaces) * 100.
+ *
+ * @field trend: the current trend of the occupancy.
+ *
+ * @field freeSpaces: the number of spaces that are actually available.
+ *
+ * @field totalSpaces: the total number of spaces.
+ *
+ * @field confidence: the confidence level of the above information.
+ *
+*/
+OccupancyInformation::= SEQUENCE{
+   rate            OccupancyRate,
+   trend           OccupancyTrend, 
+   freeSpaces      NumberOfSpaces,
+   totalSpaces	   NumberOfSpaces,
+   confidence      ConfidenceLevel,
+   ...
+} 
+
+/**
+ * This DF provides information about the parking capabilities and availabilities of a parking identified area. 
+ * 
+ * @note:a parking area possibly groups all spaces with the same characteristics.
+ *
+ * It shall include the following components: 
+ *
+ * @field id: the identifier of the parking area within the parking place/facility.
+ *
+ * @field currentOccupancy: the current occupancy information of the parking area.
+ *
+ * @field location: the location of the parking area.
+ *
+ * @field level: the level under/over ground floor of the parking area.
+ *
+ * @field arrangementType: the common arrangement of the parking spaces within the area.
+ * the value ´mixed´ shall be used if there is no common arrangement. In this case the arrangement of the single spaces may be defined in the component spacesDetailed.
+ *
+ * @field boundary: the optional physical boundary of the parking area as a polygon using the component location as reference position.
+ *
+ * @field orientation: the optional common orientation of the parking spaces within the area.
+ * This is component shall be absent if there is no common orientation. In this case the orientation of the single spaces may be defined in the component spacesDetailed.
+ *
+ * @field accessViaLane: the optional identifier of a lane that provides access to the parking area.
+ *
+ * @field allowedVehicleCategories: the categories of vehicles that are allowed in the parking area.
+ *
+ * @field notAllowedEngineCharacteristics: the optional characteristic(s) of engines that are not allowed in the parking area.
+ *
+ * @field allowedLoadTypes: the optional load type(s) that are allowed in the parking area.
+ *
+ * @field notallowedLoadTypes: the optional load type(s) that are not allowed in the parking area.
+ *
+ * @field heightRestriction: the optional applicable vehicle height restriction.
+ *
+ * @field reservationType: the optional parking reservation type(s) associated to the parking area.
+ * This is component shall be absent if there is no common reservation type. In this case the reservation type of the single spaces may be defined in the component spacesDetailed.
+ *
+ * @field pricingInformation: the optional pricing information applicable to the parking area.
+ *
+ * @field paymentInformation: the optional payment information applicable to the parking area.
+ *
+ * @field bookingContactInfo: the optional booking contact information applicable to the parking area.
+ *
+ * @field accessCharachteristics: the optional access information to the area.
+ *
+ * @field freeSpacesPosition: the optional list of positions of free spaces.
+ *
+ * @field freeSpacesId: the optional list of Ids of free spaces.
+ *
+ * @field spacesBasic: the optional basic information about none, some or all parking spaces within the area.
+ *
+ * @field spacesDetailed: the optional detailed information about none, some or all parking spaces within the area.
+ *
+*/
+ParkingArea::=SEQUENCE{
+   id                                 Identifier2B,
+   currentOccupancy                   OccupancyInformation, 
+   location                           GeoPosition,
+   level                              INTEGER(-8..16,...) DEFAULT 0,
+   arrangementType                    ParkingAreaArrangementType,
+   boundary                           DeltaPositions OPTIONAL, 
+   orientation                        Wgs84Angle OPTIONAL, 
+   accessViaLane			          Identifier2B OPTIONAL,
+   allowedVehicleCategories           SEQUENCE (SIZE(1..4,...)) OF EuVehicleCategoryCode, 
+   notAllowedEngineCharacteristics    SEQUENCE (SIZE(1..4,...)) OF EngineCharacteristics  OPTIONAL,
+   allowedLoadTypes                   SEQUENCE (SIZE(1..4,...)) OF LoadType OPTIONAL, 
+   notAllowedLoadTypes                SEQUENCE (SIZE(1..4,...)) OF LoadType OPTIONAL,
+   heightRestriction                  VehicleHeight OPTIONAL,
+   reservationType                    SEQUENCE (SIZE(1..4,...)) OF ParkingReservationType OPTIONAL,
+   pricingInformation                 UTF8String OPTIONAL,
+   paymentInformation                 UTF8String OPTIONAL, 
+   bookingContactInfo                 UTF8String OPTIONAL, 
+   accessCharachteristics             UTF8String OPTIONAL,
+   freeSpacesPosition                 SEQUENCE OF DeltaPosition OPTIONAL,
+   freeSpacesId                       SEQUENCE OF Identifier2B OPTIONAL,
+   spacesBasic                        ParkingSpacesBasic OPTIONAL,
+   spacesDetailed                     ParkingSpacesDetailed OPTIONAL,
+   ...
+}
+
+/**
+ * This DF shall contain a list of @ref ParkingArea.  
+ *
+*/
+ParkingAreas::= SEQUENCE OF ParkingArea
+
+/** 
+ * This DF indicates the allowed type of occupancy of a parking space/area in terms of time and/or usage.
+ *
+ * The following options are available:
+ * 
+ * @field unknown: indicates that the allowed type of occupancy is unknown.
+ *
+ * @field unlimitedOccupancy: indicates that it can be occupied without limits.
+ *
+ * @field onlyWhileCharging: indicates that it can be occupied only while charging an electric vehicle.
+ *
+ * @field limitedDuration: indicates that it can be occupied for a limited and indicated duration in minutes.
+ *
+ * @field onlyWhileChargingLimitedDuration: indicates that it can be occupied only while charging an electric vehicle and only for a limited and indicated duration in minutes.
+ *
+ * @field parkingAllowedUntil: indicates that it can be occupied only until an indicated moment in time.
+ *
+ * @field forcedParkingUntil: indicates that it can be occupied and departure is possible only after an indicated moment in time.
+ *
+*/
+ParkingOccupancyInfo::= CHOICE { 
+   unknown                              NULL, 
+   unlimitedOccupancy                   NULL,
+   onlyWhileCharging                    NULL,  
+   limitedDuration                      INTEGER,  
+   onlyWhileChargingLimitedDuration     INTEGER, 
+   parkingAllowedUntil                  TimestampIts,
+   forcedParkingUntil                   TimestampIts,
+   ...
+} 
+
+/**
+ * This DF provides basic information about the parking capabilities and availabilities of a single parking space. 
+ *
+ * It shall include the following components: 
+ *
+ * @field id: the unqiue identifier of the parking space within the parking area.
+ *
+ * @field location: the optional location of the geometrical center of the parking space w.r.t. the location of the parking area.
+ *
+ * @field status: the actual status of the parking space.
+ *
+*/
+ParkingSpaceBasic ::= SEQUENCE{
+   id         Identifier2B,
+   location   DeltaReferencePosition OPTIONAL, 
+   status     ParkingSpaceStatus
+}
+
+/**
+ * This DF provides detailed information about the parking capabilities and availabilities of a single parking space. 
+ * 
+ * It is an extension of @ref ParkingSpaceBasic and it shall additionally include the following additional components: 
+ *
+ * @field arrangementType: the optional arrangement of the parking space w.r.t. other spaces.
+ * This is component, if present, overrides the common arrangementType defined in the @ref ParkingArea.
+ *
+ * @field boundary: the optional physical boundary of the parking space as a polygon w.r.t. the location of the parking space.
+ *
+ * @field orientation: the optional orientation of the parking space.
+ * This is component, if present, overrides the common orientation defined in the @ref ParkingArea.
+ *
+ * @field occupancyRule: the occupancy rule applicable to the parking space.
+ *
+ * @field chargingStationId: the optional identitfier of a charging station that serves the parking space.
+ *
+ * @field accessViaLane: the optional identifier of a lane that provides access to the parking space.
+ *
+ * @field accessViaParkingSpaces: the optional identifier(s) of a parking spaces that provide access to the parking space.
+ * 
+ * @field reservationType: the optional parking reservation type(s) associated to the parking space.
+ * This is component, if present, overrides the common reservationType defined in the @ref ParkingArea.
+ *
+*/
+ParkingSpaceDetailed ::= SEQUENCE{
+   COMPONENTS OF            ParkingSpaceBasic,
+   arrangementType          ParkingAreaArrangementType OPTIONAL,
+   boundary                 DeltaPositions OPTIONAL,
+   orientation              Wgs84Angle OPTIONAL,
+   occupancyRule            ParkingOccupancyInfo, 
+   chargingStationId        Identifier2B OPTIONAL,
+   accessViaLane			Identifier2B OPTIONAL,
+   accessViaParkingSpaces	SEQUENCE (SIZE(0..7)) OF Identifier2B OPTIONAL,	
+   reservationType          SEQUENCE (SIZE(1..4,...)) OF ParkingReservationType OPTIONAL,			
+   ...
+}
+
+/**
+ * This DF shall contain a list of @ref ParkingSpaceBasic.  
+ *
+*/
+ParkingSpacesBasic ::= SEQUENCE OF ParkingSpaceBasic
+
+/**
+ * This DF shall contain a list of @ref ParkingSpaceDetailed.  
+ *
+*/
+ParkingSpacesDetailed ::= SEQUENCE OF ParkingSpaceDetailed
+
+/** 
+ * This DF indicates the status of parking space.
+ *
+ * The following options are available:
+ * 
+ * @field unknown: indicates that the status is unknown.
+ *
+ * @field free: indicates that the parking space is free and hence available to be used.
+ *
+ * @field freeUntil: indicates that the parking space is free to be used until an indicated moment in time.
+ *
+ * @field fullyOccupied: indicates that the parking space is interely occupied.
+ *
+ * @field partiallyOccupied: indicates that the parking space that allows parking of multiple vehicles is occupied by an indicated percentage.
+ *
+ * @field occupiedUntil: indicates that the parking space is entirely occupied until an indicated moment in time.
+ *
+ * @field reservedUntil: indicates that the parking space is reserved (but not necessarily occupied) until an indicated moment in time.
+ *
+ * @field accessBlocked: indicates that the parking space cannot accessed, e.g. due to obstructing vehicles.
+ *
+ * @field retrictedUsage: indicates that the parking space is available but that it is not an official parking space and that there are some phyiscal restrictions applicable, 
+ * such as parking behind or in front of other vehicles that, depending on the situation, may then have problems entering or leaving their respective parking spaces.
+ *
+*/ 
+ParkingSpaceStatus::= CHOICE { 
+   unknown             NULL, 
+   free                NULL,  
+   freeUntil           TimestampIts, 
+   fullyOccupied       NULL,
+   partiallyOccupied   INTEGER(0..100), 
+   occupiedUntil       TimestampIts,
+   reservedUntil       TimestampIts, 
+   accessBlocked       NULL,
+   retrictedUsage      NULL,
+   ...
+} 
+
+/**
+ * This DF provides information about the status of a defined type of parking.
+ *
+ * It shall include the following components: 
+ *
+ * @field vehicleTypes: the optional types of vehicle for which the parking status is provided.
+ *
+ * @field reservationTypes: the optional reservation types for which the parking status is provided.
+ *
+ * @field loadTypes: the optional load types for which the parking status is provided.
+ *
+ * @field parkingFeeTypes: the optional fee types for which the parking status is provided.
+ *
+ * @field occupancyTypes: the optional occupancy types for which the parking status is provided.
+ *
+ * @field currentOccupancy: the occupancy for the logical AND combination of the components defined above.
+ *
+*/
+ParkingStatus ::= SEQUENCE {
+   vehicleTypes            SEQUENCE (SIZE(1..4,...)) OF EuVehicleCategoryCode OPTIONAL,
+   reservationTypes        SEQUENCE (SIZE(1..4,...)) OF ParkingReservationType OPTIONAL,
+   loadTypes               SEQUENCE (SIZE(1..4,...)) OF LoadType OPTIONAL,
+   parkingFeeTypes         SEQUENCE (SIZE(1..4,...)) OF ParkingFeeType OPTIONAL, 
+   occupancyTypes          SEQUENCE (SIZE(1..4,...)) OF ParkingOccupancyInfo OPTIONAL,
+   currentOccupancy        OccupancyInformation,
+   ...
+}
+   ((WITH COMPONENTS {..., vehicleTypes PRESENT}) |
+    (WITH COMPONENTS {..., reservationTypes PRESENT}) |
+    (WITH COMPONENTS {..., loadTypes PRESENT}) | 
+    (WITH COMPONENTS {..., parkingFeeTypes PRESENT}) |
+    (WITH COMPONENTS {..., occupancyTypes PRESENT}))
+
+
+/**
+ * This DF shall contain a list of @ref ParkingStatus.  
+ *
+*/
+ParkingStatusList::= SEQUENCE (SIZE(1..16,...)) OF ParkingStatus
+
+/** 
+ * This DF indicates a period occuring on defined days of the week.
+ *
+ * It shall include the following components: 
+ *
+ * @field days: the applicable day(s) of the week.
+ *
+ * @field opening: the opening time in local time.
+ *
+ * @field closing: the closing time in local time.
+ *
+*/ 
+Period ::= SEQUENCE {
+    days      DayOfWeek,         
+	opening	  TimeOfDay,	
+	closing	  TimeOfDay 	
+}
+
+/**
+ * This DF shall contain a list of up to 8 @ref Period.  
+ *
+*/
+Periods ::= SEQUENCE (SIZE(1..8,...)) OF Period
+
+/** 
+ * This DF indicates the time of the day.
+ *
+ * It shall include the following components: 
+ *
+ * @field hours: the number of hours after midnight.
+ *
+ * @field mins: the number of minutes after the hour.
+ *
+*/ 
+TimeOfDay::= SEQUENCE {
+   hours      INTEGER (0..23),
+   mins       INTEGER (0..59) 
+   }
+
+-- DEs for parking availability:
+
+/** 
+ * This DE indicates the applicable day(s) of the week.
+ *
+*/ 
+DayOfWeek::= BIT STRING {unused(0), monday(1), tuesday(2), wednesday(3), thursday(4), friday(5), saturday(6), sunday(7)} (SIZE (8))
+
+/** 
+ * This DE indicates the type of goods of a vehicle.
+ *
+ * The value shall be set to:
+ * - `0` to indicate: 	Transport of ammunition.
+ * - `1` to indicate:	Transport of chemicals of unspecified type.
+ * - `2` to indicate: 	Empty load.
+ * - `3` to indicate: 	Transport of fuel of unspecified type.
+ * - `4` to indicate: 	Transport of glass.
+ * - `5` to indicate: 	Transport of materials classified as of dangerous or hazardous nature.
+ * - `6` to indicate: 	Transport of liquids of an unspecified nature.
+ * - `7` to indicate: 	Transport of livestock.
+ * - `8` to indicate: 	Transport of materials classed as being of a danger to people or animals.
+ * - `9` to indicate: 	Transport of materials classed as being potentially dangerous to the environment.
+ * - `10` to indicate: 	Transport of materials classed as being dangerous when exposed to water.
+ * - `11` to indicate: 	Transport of fresh products or produce that will significantly degrade in quality or freshness over a short period of time.
+ * - `12` to indicate: 	Transport of pharmaceutical materials.
+ * - `13` to indicate: 	Transport of vehicles of any type.
+ * - `14` to indicate: 	Refrigerated transport.
+ *
+*/ 
+GoodsType::= INTEGER {
+	ammunition					(0),
+	chemicals					(1),
+	empty 						(2),
+	fuel						(3),
+	glass						(4),
+	dangerous					(5),
+	liquid						(6),
+	liveStock					(7),
+	dangerousForPeople			(8),
+	dangerousForTheEnvironment	(9),
+	dangerousForWater			(10),
+	perishableProducts			(11),
+	pharmaceutical				(12),
+	vehicles					(13),
+    refrigerated                (14)
+	-- other values  reserved for future use
+	} (0..15,...)
+
+
+/** 
+ * This DE represents a number of parking spaces.
+ * 
+ * The value shall be set to:
+ * - `n` (`n > 0` and `n < 16383`) : for the number of spaces.
+ * - `16383`                       : in case the number of spaces is not available.
+ *
+*/
+NumberOfSpaces ::= INTEGER {
+    unavailable (16383)  
+} (1..16383)
+
+/** 
+ * This DE represents an occupancy rate in percentage.
+ * 
+ * The value shall be set to:
+ * - `n` (`n > 0` and `n < 101`) : for the occupany rate in %,
+ * - `101`                   : in case the occupany rate is not available.
+ *
+*/
+OccupancyRate ::= INTEGER {
+    unavailable (101)  
+} (1..101)
+
+/** 
+ * This DE indicates the trend of occupancy.
+ *
+ * The value shall be set to:
+ * - `0` to indicate that occupancy is decreasing,
+ * - `1` to indicate that occupancy is decreasing quickly,
+ * - `2` to indicate that occupancy is decreasing slowly,
+ * - `3` to indicate that occupancy is increasing,
+ * - `4` to indicate that occupancy is increasing quickly,
+ * - `5` to indicate that occupancy is increasing slowly,
+ * - `6` to indicate that occupancy is stable,
+ * - `7` to indicate that occupancy is variable with no clear trend,
+ * - `15` to indicate that occupancy is unknown,
+ * - 8-14   - reserved for future usage. 
+ *
+*/
+OccupancyTrend ::= INTEGER {
+	decreasing				(0),
+	decreasingQuickly		(1),
+	decreasingSlowly		(2),
+	increasing				(3),
+    increasingQuickly       (4),
+    increasingSlowly        (5),
+    stable                  (6),
+    variable                (7),
+    unknown                 (15)
+} (0..15)
+
+/** 
+ * This DE indicates the opening status.
+ *
+ * The value shall be set to:
+ * - `0` to indicate that the opening status is: closed,
+ * - `1` to indicate that the opening status is: open,
+ * - `2` to indicate that the opening status is: open for subscribers only,
+ * - `3` to indicate that the opening status is: open but currently full, i.e. no parking spaces available,
+ * - `15` to indicate that occupancy is unknown,
+ * - 4-14 - reserved for future usage. 
+ *
+*/
+OpeningStatus ::= INTEGER {
+	closed				(0),
+	open				(1),
+	subscribersOnly		(2),
+    full                (3),
+	unknown				(15)
+} (0..15)
+
+/** 
+ * This DE indicates the arrangement of parking space in a parking area.
+ *
+ * The value shall be set to:
+ * - `0` to indicate that the parking spaces are arranged in a line and parallel to a road or curb,
+ * - `1` to indicate that the parking spaces are arranged side-by-side and diagonally to a curb,
+ * - `2` to indicate that the parking spaces are arranged side-by-side and perpendicularly to a curb,
+ * - `3` to indicate that the parking spaces are arranged so that vehicles form a queue,
+ * - `4` to indicate that the parking spaces are arranged in a mixed fashion, 
+ * - 5-7 - reserved for future usage. 
+ *
+*/ 
+ParkingAreaArrangementType ::= INTEGER { 
+   parallelParkingSpace(0), 
+   diagonalParkingSpace(1), 
+   perpendicularParkingSpace(2),
+   queueParking (3),
+   mixed(4),
+   unknown(7)   
+} (0..7)
+
+/** 
+ * This DE indicates the type of a reservation of a parking space/area.
+ *
+ * The value shall be set to:
+ * - `0` to indicate that it is reserved to disabled persons,
+ * - `1` to indicate that it is reserved to pregnant women,
+ * - `2` to indicate that it is reserved to women,
+ * - `3` to indicate that it is reserved to parents with small children,
+ * - `4` to indicate that it is reserved for loading and unloading of goods,
+ * - `5` to indicate that it is reserved for manual charging of electric vehicles,
+ * - `6` to indicate that it is reserved for automated charging of electric vehicles,
+ * - `7` to indicate that it is reserved for vehicles carrying out refrigerated transport of goods,
+ * - `8` to indicate that it is reserved for VIPs,
+ * - `9` to indicate that it is reserved for pre-booked reservations only,
+ * - `10` to indicate that it is not reserved and can still be reserved,
+ * - `11` to indicate that it cannot be reserved,
+ * - `12` to indicate that it reserved for drop-off and pick-up of vehicles for automated valet parking,
+ * - `13` to indicate that it is reserved for vehicles with a permit,
+ * - 14-31  - reserved for future usage. 
+ *
+*/
+ParkingReservationType ::= INTEGER { 
+   disabled(0), 
+   pregnant(1), 
+   womenOnly(2), 
+   parentAndChild(3), 
+   loadAndOffloadGoods(4), 
+   manualElectricVehicleCharging (5), 
+   automatedElectricVehicleCharging (6), 
+   refriferatedTransport(7),
+   vip(8),
+   preBooking (9), 
+   freeToBeReserved (10),
+   reservationNotPossible (11),
+   automatedValetparking (12), 
+   permit (13)
+}(0..31)
+
+
+/** 
+ * This DE indicates the applicable type of parking fee.
+ *
+ * The value shall be set to:
+ * - `0` to indicate that the applicable fee is time dependent, e.g. an hourly fee,
+ * - `1` to indicate that ithe applicable fee is flat for a certain period, e.g. a flat fee for daily parking,
+ * - `2` to indicate that the applicable fee is included in the subscription, e.g. a monthly subscription,
+ * - 3-7  - reserved for future usage. 
+ *
+*/
+ParkingFeeType::= INTEGER { 
+   timeDependentFee(0), 
+   flatFee(1), 
+   subscription(2) 
+}(0..7)
+
+END

obu-firmware/external/vanetza-idf/asn1/release2/TS103916v211/README.md

@@ -0,0 +1,8 @@
+The TS 103916 v2.1.1 POIM ASN1 files are copied from its [ETSI repository](https://forge.etsi.org/rep/ITS/asn1/poim_ts103916/-/tree/v2.1.1).
+The submodule TS 103916 v2.1.1 PA (Parking Availability) ASN1 files are copied instead from [ETSI repository](https://forge.etsi.org/rep/ITS/asn1/pa_ts103916/-/tree/release2?ref_type=heads), due to a missing bug fix.
+
+Finally, the current ASN1 definition is manually patched to:
+- Import GeoPosition field from CDD 2.2.1, instead of redefining it
+- Define locally the EngineCharacteristics (renamed EngineCharacteristicsFromIso) field to avoid generation of all fields from ISO17573-3-1.asn 
+
+See [ETSI License](https://forge.etsi.org/rep/ITS/asn1/poim_ts103916/-/blob/v2.1.1/LICENSE) for copyright details.

obu-firmware/external/vanetza-idf/asn1/systemx-pqc/README.md

@@ -0,0 +1,52 @@
+# SystemX Hybrid-PQC ASN.1 Profile
+
+This directory keeps the experimental certificate additions separate from
+Vanetza's standard ASN.1 inputs. `hybrid-pqc.patch` contains the complete
+experimental delta. The unmodified input modules are fetched from pinned
+official ETSI Forge revisions during regeneration instead of being duplicated
+in the source tree.
+
+The IEEE inputs are from the official `v2025` tag of the ETSI Forge mirror:
+
+* repository: `https://forge.etsi.org/rep/ITS/asn1/ieee1609.2.git`
+* commit: `77e2c822a11bf8adbe9848ad3fd4f311925aff30`
+* `Ieee1609Dot2.asn` SHA-256:
+  `82b5e35cbaadae1c6b2f087626b10d52afc73779c9ac6700c6445830d8824e0b`
+* `Ieee1609Dot2BaseTypes.asn` SHA-256:
+  `bf2b3d66d394449319323f8a59d8084d963c3ad55d6790e1436ab897221690fe`
+
+The two ETSI TS 103 097 inputs are fetched from the official Release 2
+repository:
+
+* repository: `https://forge.etsi.org/rep/ITS/asn1/sec_ts103097.git`
+* commit: `65e6d8ea88b2bfb3aca3151dbedf07d89b97fd00`
+
+* `EtsiTs103097Module.asn` SHA-256:
+  `245a3c10c176497f658c6a4d9ec804d3226dda2ac10a4351e382ddb5afe9ff72`
+* `EtsiTs103097ExtensionModule.asn` SHA-256:
+  `b94c9b373567dd9bfb15d61c8c206d5630f6b0c481ef41ddd574c96784a9eb1a`
+
+The patch adds only the certificate material used by this implementation:
+
+* the fixed-size `FnDsa512Key` and `FnDsa512Signature` types;
+* FN-DSA-512 choices in `PublicVerificationKey` and `Signature`;
+* `altVerificationKey` and `altSignatureValue` in
+  `ToBeSignedCertificate`.
+
+## Regeneration
+
+Normal builds compile the committed generated files and do not need network
+access, `asn1c`, Docker, or the patch utility. Regeneration is an explicit
+maintainer action:
+
+```shell
+cmake -S . -B build-asn1 \
+  -DVANETZA_WITH_PQC=ON \
+  -DVANETZA_ASN1_WITH_ASN1C=ON \
+  -DVANETZA_ASN1_WITH_ISO=ON
+cmake --build build-asn1 --target generate_asn1c
+```
+
+The generation target fetches and verifies the pristine inputs in its build
+directory, applies `hybrid-pqc.patch`, invokes `asn1c`, and refreshes the
+committed output under `vanetza/asn1/systemx-pqc`.

obu-firmware/external/vanetza-idf/asn1/systemx-pqc/hybrid-pqc.patch

@@ -0,0 +1,101 @@
+--- a/Ieee1609Dot2.asn
++++ b/Ieee1609Dot2.asn
+@@ -10,7 +10,7 @@
+ 
+ Ieee1609Dot2 {iso(1) identified-organization(3) ieee(111)
+   standards-association-numbered-series-standards(2) wave-stds(1609)
+-  dot2(2) base(1) schema(1) major-version-2(2) minor-version-7(7)}
++  dot2(2) base(1) schema(1) major-version-2(2) minor-version-8(8)}
+ 
+ DEFINITIONS AUTOMATIC TAGS ::= BEGIN
+ 
+@@ -24,6 +24,7 @@
+   EXT-TYPE,
+   Extension,
+   ExtId,
++  FnDsa512Key,
+   GeographicRegion,
+   GroupLinkageValue,
+   HashAlgorithm,
+@@ -1048,6 +1049,13 @@
+  * @param certRequestExtensions: indicates additional permissions to request
+  * certificates containing endEntityExtensions.
+  *
++ * @param altVerificationKey: carries the alternative FN-DSA-512 public key
++ * in a hybrid authority certificate. It is absent from end-entity
++ * authorization tickets.
++ *
++ * @param altSignatureValue: carries the FN-DSA-512 signature generated by
++ * the issuer over this certificate.
++ *
+  * @note In IEEE Std 1609.2-2022 these were not marked optional; they are in
+  * this version of the standard; this is technically not backwards compatible
+  * but in practice there are no scenarios in which a legacy system will break
+@@ -1160,7 +1168,9 @@
+   flags                  BIT STRING {usesCubk (0)} (SIZE (8)) OPTIONAL,
+   appExtensions          SequenceOfAppExtensions OPTIONAL,
+   certIssueExtensions    SequenceOfCertIssueExtensions OPTIONAL,
+-  certRequestExtension   SequenceOfCertRequestExtensions OPTIONAL
++  certRequestExtension   SequenceOfCertRequestExtensions OPTIONAL,
++  altVerificationKey     PublicVerificationKey OPTIONAL,
++  altSignatureValue      Signature OPTIONAL
+ }
+ (WITH COMPONENTS { ..., appPermissions PRESENT} |
+  WITH COMPONENTS { ..., certIssuePermissions PRESENT} |
+--- a/Ieee1609Dot2BaseTypes.asn
++++ b/Ieee1609Dot2BaseTypes.asn
+@@ -10,7 +10,7 @@
+ 
+ Ieee1609Dot2BaseTypes {iso(1) identified-organization(3) ieee(111)
+   standards-association-numbered-series-standards(2) wave-stds(1609) dot2(2)
+-  base(1) base-types(2) major-version-2(2) minor-version-5(5)}
++  base(1) base-types(2) major-version-2(2) minor-version-6(6)}
+ 
+ DEFINITIONS AUTOMATIC TAGS ::= BEGIN
+ 
+@@ -724,7 +724,8 @@
+   ...,
+   ecdsaBrainpoolP384r1Signature EcdsaP384Signature,
+   ecdsaNistP384Signature        EcdsaP384Signature,
+-  sm2Signature                  EcsigP256Signature
++  sm2Signature                  EcsigP256Signature,
++  fnDsa512Signature             FnDsa512Signature
+ }
+ 
+ /**
+@@ -821,6 +822,12 @@
+ }
+ 
+ /**
++ * @brief This type contains an FN-DSA-512 signature as a fixed-size octet
++ * string.
++ */
++FnDsa512Signature ::= OCTET STRING (SIZE (666))
++
++/**
+  * @brief This structure specifies a point on an elliptic curve in Weierstrass
+  * form defined over a 256-bit prime number. The curves supported in this
+  * standard are NIST p256 as defined in FIPS 186-5, Brainpool p256r1 as
+@@ -888,6 +895,12 @@
+ }
+ 
+ /**
++ * @brief This type contains an FN-DSA-512 public verification key as a
++ * fixed-size octet string.
++ */
++FnDsa512Key ::= OCTET STRING (SIZE (897))
++
++/**
+  * @brief This enumerated value indicates supported symmetric algorithms. The
+  * algorithm identifier identifies both the algorithm itself and a specific
+  * mode of operation. The symmetric algorithms supported in this version of
+@@ -1045,7 +1058,8 @@
+   ... ,
+   ecdsaBrainpoolP384r1 EccP384CurvePoint,
+   ecdsaNistP384        EccP384CurvePoint,
+-  ecsigSm2             EccP256CurvePoint
++  ecsigSm2             EccP256CurvePoint,
++  fnDsa512              FnDsa512Key
+ }
+ 
+ /**

obu-firmware/external/vanetza-idf/cmake/FindAutotalks.cmake

@@ -0,0 +1,80 @@
+if(NOT AUTOTALKS_CRATON)
+    find_path(
+        AUTOTALKS_ROOT
+        NAMES "include/atlk/v2x_service.h"
+        PATH_SUFFIXES "autotalks_secton_api"
+        PATHS $ENV{HOME}
+        CMAKE_FIND_ROOT_PATH_BOTH # Seems like this is not needed in newer CMake
+    )
+
+    set(AUTOTALKS_INCLUDE_DIRS "${AUTOTALKS_ROOT}/include" "${AUTOTALKS_ROOT}/ref_src/include" "${AUTOTALKS_ROOT}/depend/device/include" "${AUTOTALKS_ROOT}/src/include" "${AUTOTALKS_ROOT}/src/core/include")
+    set(AUTOTALKS_LIBS_DIR ${AUTOTALKS_ROOT}/output.sec/x86/lib)
+    set(AUTOTALKS_OBJ_DIR ${AUTOTALKS_ROOT}/output.sec/x86/obj)
+
+    # Secton does not need ToMcrypt and ToMmath as Craton
+
+    set(AUTOTALKS_OBJECTS target_type/target_type_remote.o platform_type/platform_type_linux_u.o link_layer/linux_u/remote/link_layer_remote.o link_layer/linux_u/ipc/link_layer_ipc.o link_layer/linux_u/tee/link_layer_tee_stub.o link_layer/link_layer_interface.o flash_reader/linux_u/remote/flash_reader_remote.o ref_sys/ref_sys.o ref_sys/ref_sys_logger.o log_reader/log_reader.o secure_hdif_crypto_layer/crypto_layer_ref_sys.o secure_hdif_crypto_layer/crypto_layer_interface.o secure_hdif_crypto_layer/crypto_lib_wrapper.o secure_storage/secure_storage.o time_sync/time_sync.o time_sync/time_sync_poti.o poti_lib/gnss/gnss.o poti_lib/nmea/nmea.o poti_lib/nmea/nmea_io.o poti_lib/nmea/nmea_io_check.o poti_lib/nmea/nmea_nav.o poti_lib/nmea/nmea_parse.o poti_lib/gnss/teseo/teseo.o poti_lib/gnss/teseo/teseo_commands.o poti_lib/coord/coord.o poti_lib/periodic_alarm/periodic_alarm.o poti_lib/api/poti_api.o poti_lib/ubx/serial_driver.o poti_lib/ubx/ubx_driver.o poti_lib/ubx/ubx_nav.o)
+    list(TRANSFORM AUTOTALKS_OBJECTS PREPEND ${AUTOTALKS_OBJ_DIR}/)
+
+    if (NOT TARGET Autotalks::AtlkRemote)
+        add_library(Autotalks::AtlkRemote UNKNOWN IMPORTED)
+        set_target_properties(Autotalks::AtlkRemote PROPERTIES
+            IMPORTED_LOCATION "${AUTOTALKS_LIBS_DIR}/libatlkremote_linux_u.so"
+            INTERFACE_INCLUDE_DIRECTORIES "${AUTOTALKS_INCLUDE_DIRS}")
+        set_property(TARGET Autotalks::AtlkRemote APPEND PROPERTY
+            INTERFACE_LINK_LIBRARIES ${AUTOTALKS_OBJECTS} rt)
+        # target_link_libraries not working properly in CMake v3.5.1 used in Ubuntu 16.04
+    endif()
+
+else() # Craton device
+    find_path(
+        AUTOTALKS_ROOT
+        NAMES "include/atlk/v2x_service.h"
+        PATHS $ENV{HOME}
+        PATH_SUFFIXES "autotalks_craton_api"
+        CMAKE_FIND_ROOT_PATH_BOTH # Seems like this is not needed in newer CMake
+    )
+
+    set(AUTOTALKS_INCLUDE_DIRS "${AUTOTALKS_ROOT}/include" "${AUTOTALKS_ROOT}/ref_src/include" "${AUTOTALKS_ROOT}/depend/device/include" "${AUTOTALKS_ROOT}/src/include" "${AUTOTALKS_ROOT}/src/core/include")
+
+    set(AUTOTALKS_LIBS_DIR ${AUTOTALKS_ROOT}/output.cr2_lnx/armv7-32/lib)
+    set(AUTOTALKS_OBJ_DIR ${AUTOTALKS_ROOT}/output.cr2_lnx/armv7-32/obj)
+
+    if (NOT TARGET Autotalks::ToMcrypt)
+        add_library(Autotalks::ToMcrypt UNKNOWN IMPORTED)
+        set_target_properties(Autotalks::ToMcrypt PROPERTIES
+            IMPORTED_LOCATION "${AUTOTALKS_LIBS_DIR}/libtomcrypt.a"
+            INTERFACE_INCLUDE_DIRECTORIES "${AUTOTALKS_INCLUDE_DIRS}")
+    endif()
+
+    if (NOT TARGET Autotalks::ToMmath)
+        add_library(Autotalks::ToMmath UNKNOWN IMPORTED)
+        set_target_properties(Autotalks::ToMmath PROPERTIES
+            IMPORTED_LOCATION "${AUTOTALKS_LIBS_DIR}/libtommath.a"
+            INTERFACE_INCLUDE_DIRECTORIES "${AUTOTALKS_INCLUDE_DIRS}")
+    endif()
+
+    if (NOT TARGET Autotalks::Optee)
+        add_library(Autotalks::Optee UNKNOWN IMPORTED)
+        set_target_properties(Autotalks::Optee PROPERTIES
+            IMPORTED_LOCATION "${AUTOTALKS_ROOT}/depend/optee/lib/libteec.so"
+            INTERFACE_INCLUDE_DIRECTORIES "${AUTOTALKS_INCLUDE_DIRS}")
+    endif()
+
+    set(AUTOTALKS_OBJECTS target_type/target_type_local.o platform_type/platform_type_linux_u.o link_layer/linux_u/local/link_layer_local_shared_memory.o link_layer/linux_u/ipc/link_layer_ipc.o link_layer/linux_u/tee/static_list.o link_layer/linux_u/tee/link_layer_tee.o link_layer/link_layer_interface.o flash_reader/linux_u/local/flash_reader_local.o ref_sys/ref_sys.o ref_sys/ref_sys_logger.o log_reader/log_reader.o secure_hdif_crypto_layer/crypto_layer_stubs.o time_sync/time_sync.o time_sync/time_sync_poti.o poti_lib/gnss/gnss.o poti_lib/nmea/nmea.o poti_lib/nmea/nmea_io.o poti_lib/nmea/nmea_io_check.o poti_lib/nmea/nmea_nav.o poti_lib/nmea/nmea_parse.o poti_lib/gnss/teseo/teseo.o poti_lib/gnss/teseo/teseo_commands.o poti_lib/coord/coord.o poti_lib/periodic_alarm/periodic_alarm.o poti_lib/api/poti_api.o poti_lib/ubx/serial_driver.o poti_lib/ubx/ubx_driver.o poti_lib/ubx/ubx_nav.o)
+    list(TRANSFORM AUTOTALKS_OBJECTS PREPEND ${AUTOTALKS_OBJ_DIR}/)
+
+    if (NOT TARGET Autotalks::AtlkLocal)
+        add_library(Autotalks::AtlkLocal SHARED IMPORTED)
+        set_target_properties(Autotalks::AtlkLocal PROPERTIES
+            IMPORTED_LOCATION "${AUTOTALKS_LIBS_DIR}/libatlklocal_linux_u.so"
+            INTERFACE_INCLUDE_DIRECTORIES "${AUTOTALKS_INCLUDE_DIRS}")
+        set_property(TARGET Autotalks::AtlkLocal APPEND PROPERTY
+            INTERFACE_LINK_LIBRARIES Autotalks::ToMcrypt Autotalks::ToMmath ${AUTOTALKS_OBJECTS} rt Autotalks::Optee)
+        # target_link_libraries not working properly in CMake v3.5.1 used in Ubuntu 16.04
+    endif()
+
+endif()
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(Autotalks "Autotalks libraries not found" AUTOTALKS_ROOT)

obu-firmware/external/vanetza-idf/cmake/FindCapnProto.cmake

@@ -0,0 +1,14 @@
+# FindCapnProto.cmake – thin wrapper around the upstream CapnProtoConfig.cmake
+#
+# The upstream CapnProtoTargets.cmake unconditionally calls add_library(... IMPORTED)
+# and will therefore fail on repeated find_package() invocations in the same configure run.
+# This wrapper short-circuits the second call when the targets already exist.
+
+if(NOT TARGET CapnProto::capnp)
+    # Forward to upstream CapnProtoConfig.cmake.
+    # Always QUIET, find_package_handle_standard_args below controls options and output
+    find_package(CapnProto CONFIG QUIET)
+endif()
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(CapnProto CONFIG_MODE)

obu-firmware/external/vanetza-idf/cmake/FindCohda.cmake

@@ -0,0 +1,20 @@
+find_path(COHDA_ROOT
+    NAMES "ieee1609/app/lib1609/include/lib1609.h" "cohda/kernel/include/linux/cohda/llc/llc-api.h"
+    PATHS "/home/duser"
+    PATH_SUFFIXES mk5 mk2
+    CMAKE_FIND_ROOT_PATH_BOTH
+    DOC "Cohda SDK")
+
+set(COHDA_KERNEL_INCLUDE_DIR ${COHDA_ROOT}/ieee1609/kernel/include)
+set(COHDA_LIB1609_INCLUDE_DIR ${COHDA_ROOT}/ieee1609/app/lib1609/include)
+set(COHDA_LLC_INCLUDE_DIR ${COHDA_ROOT}/cohda/kernel/include/linux/cohda/llc)
+set(COHDA_INCLUDE_DIRS ${COHDA_KERNEL_INCLUDE_DIR} ${COHDA_LIB1609_INCLUDE_DIR} ${COHDA_LLC_INCLUDE_DIR})
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(Cohda "Cohda SDK not found" COHDA_ROOT)
+mark_as_advanced(COHDA_ROOT)
+if(COHDA_FOUND AND NOT TARGET Cohda::headers)
+    add_library(Cohda::headers UNKNOWN IMPORTED)
+    set_target_properties(Cohda::headers PROPERTIES
+        INTERFACE_INCLUDE_DIRECTORIES "${COHDA_INCLUDE_DIRS}")
+endif()

obu-firmware/external/vanetza-idf/cmake/FindCryptoPP.cmake

@@ -0,0 +1,31 @@
+find_path(CryptoPP_INCLUDE_DIR NAMES cryptopp/config.h DOC "CryptoPP include directory")
+find_library(CryptoPP_LIBRARY NAMES cryptopp DOC "CryptoPP library")
+
+if(CryptoPP_INCLUDE_DIR)
+    # CRYPTOPP_VERSION has been moved to config_ver.h starting with Crypto++ 8.3
+    if(EXISTS ${CryptoPP_INCLUDE_DIR}/cryptopp/config_ver.h)
+        set(CryptoPP_VERSION_HEADER "config_ver.h")
+    else()
+        set(CryptoPP_VERSION_HEADER "config.h")
+    endif()
+    file(STRINGS ${CryptoPP_INCLUDE_DIR}/cryptopp/${CryptoPP_VERSION_HEADER} _config_version REGEX "CRYPTOPP_VERSION")
+    string(REGEX MATCH "([0-9])([0-9])([0-9])" _match_version "${_config_version}")
+    set(CryptoPP_VERSION_STRING "${CMAKE_MATCH_1}.${CMAKE_MATCH_2}.${CMAKE_MATCH_3}")
+endif()
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(CryptoPP
+    REQUIRED_VARS CryptoPP_INCLUDE_DIR CryptoPP_LIBRARY
+    FOUND_VAR CryptoPP_FOUND
+    VERSION_VAR CryptoPP_VERSION_STRING)
+
+if(CryptoPP_FOUND AND NOT TARGET CryptoPP::CryptoPP)
+    add_library(CryptoPP::CryptoPP UNKNOWN IMPORTED)
+    set_target_properties(CryptoPP::CryptoPP PROPERTIES
+        IMPORTED_LOCATION "${CryptoPP_LIBRARY}"
+        INTERFACE_INCLUDE_DIRECTORIES "${CryptoPP_INCLUDE_DIR}")
+endif()
+
+mark_as_advanced(CryptoPP_INCLUDE_DIR CryptoPP_LIBRARY)
+set(CryptoPP_INCLUDE_DIRS ${CryptoPP_INCLUDE_DIR})
+set(CryptoPP_LIBRARIES ${CryptoPP_LIBRARY})

obu-firmware/external/vanetza-idf/cmake/FindGPS.cmake

@@ -0,0 +1,27 @@
+find_path(GPS_INCLUDE_DIR NAMES gps.h DOC "libgps include directory")
+find_library(GPS_LIBRARY NAMES gps DOC "libgps library")
+
+if(GPS_INCLUDE_DIR)
+    file(STRINGS ${GPS_INCLUDE_DIR}/gps.h _version_lines REGEX "GPSD_API_(MAJOR|MINOR)_VERSION")
+    string(REGEX MATCH "MAJOR_VERSION[ \t]+([0-9]+)" _version_major ${_version_lines})
+    set(GPS_VERSION_MAJOR ${CMAKE_MATCH_1})
+    string(REGEX MATCH "MINOR_VERSION[ \t]+([0-9]+)" _version_minor ${_version_lines})
+    set(GPS_VERSION_MINOR ${CMAKE_MATCH_1})
+    set(GPS_VERSION_STRING "${GPS_VERSION_MAJOR}.${GPS_VERSION_MINOR}")
+endif()
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(GPS
+    REQUIRED_VARS GPS_INCLUDE_DIR GPS_LIBRARY
+    VERSION_VAR GPS_VERSION_STRING)
+
+if(GPS_FOUND AND NOT TARGET GPS::GPS)
+    add_library(GPS::GPS UNKNOWN IMPORTED)
+    set_target_properties(GPS::GPS PROPERTIES
+        IMPORTED_LOCATION "${GPS_LIBRARY}"
+        INTERFACE_INCLUDE_DIRECTORIES "${GPS_INCLUDE_DIR}")
+endif()
+
+mark_as_advanced(GPS_INCLUDE_DIR GPS_LIBRARY)
+set(GPS_INCLUDE_DIRS ${GPS_INCLUDE_DIR})
+set(GPS_LIBRARIES ${GPS_LIBRARY})

obu-firmware/external/vanetza-idf/cmake/FindGeographicLib.cmake

@@ -0,0 +1,54 @@
+option(GeographicLib_PREFER_PACKAGE_CONFIG "Prefer CMake config mode" ON)
+mark_as_advanced(GeographicLib_PREFER_PACKAGE_CONFIG)
+
+if(GeographicLib_PREFER_PACKAGE_CONFIG)
+    find_package(GeographicLib ${GeographicLib_FIND_VERSION} QUIET CONFIG)
+    if (GeographicLib_FOUND)
+        message(STATUS "GeographicLib: using found CMake configuration")
+        return()
+    endif()
+endif()
+message(STATUS "GeographicLib: using lookup code by Vanetza")
+
+find_path(GeographicLib_INCLUDE_DIR NAMES GeographicLib/Config.h DOC "GeographicLib include directory")
+find_library(GeographicLib_LIBRARY_RELEASE NAMES Geographic GeographicLib DOC "GeographicLib library (release)")
+find_library(GeographicLib_LIBRARY_DEBUG NAMES Geographic_d GeographicLib_d DOC "GeographicLib library (debug)")
+
+include(SelectLibraryConfigurations)
+select_library_configurations(GeographicLib)
+
+if(GeographicLib_INCLUDE_DIR)
+    file(STRINGS ${GeographicLib_INCLUDE_DIR}/GeographicLib/Config.h _config_version REGEX "GEOGRAPHICLIB_VERSION_STRING")
+    string(REGEX MATCH "\"([0-9.]+)\"$" _match_version ${_config_version})
+    set(GeographicLib_VERSION_STRING ${CMAKE_MATCH_1})
+endif()
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(GeographicLib
+    REQUIRED_VARS GeographicLib_INCLUDE_DIR GeographicLib_LIBRARY
+    FOUND_VAR GeographicLib_FOUND
+    VERSION_VAR GeographicLib_VERSION_STRING)
+
+if(GeographicLib_FOUND AND NOT TARGET GeographicLib::GeographicLib)
+    add_library(GeographicLib::GeographicLib UNKNOWN IMPORTED)
+    set_target_properties(GeographicLib::GeographicLib PROPERTIES
+        INTERFACE_INCLUDE_DIRECTORIES "${GeographicLib_INCLUDE_DIR}"
+        IMPORTED_LOCATION "${GeographicLib_LIBRARY}"
+        IMPORTED_LINK_INTERFACE_LANGUAGES "CXX")
+    if(EXISTS "${GeographicLib_LIBRARY_RELEASE}")
+        set_property(TARGET GeographicLib::GeographicLib APPEND PROPERTY
+            IMPORTED_CONFIGURATIONS RELEASE)
+        set_target_properties(GeographicLib::GeographicLib PROPERTIES
+            IMPORTED_LOCATION_RELEASE "${GeographicLib_LIBRARY_RELEASE}")
+    endif()
+    if(EXISTS "${GeographicLib_LIBRARY_DEBUG}")
+        set_property(TARGET GeographicLib::GeographicLib APPEND PROPERTY
+            IMPORTED_CONFIGURATIONS DEBUG)
+        set_target_properties(GeographicLib::GeographicLib PROPERTIES
+            IMPORTED_LOCATION_DEBUG "${GeographicLib_LIBRARY_DEBUG}")
+    endif()
+endif()
+
+mark_as_advanced(GeographicLib_INCLUDE_DIR GeographicLib_LIBRARY)
+set(GeographicLib_INCLUDE_DIRS ${GeographicLib_INCLUDE_DIR})
+# GeographicLib_LIBRARIES is set by SelectLibraryConfigurations

obu-firmware/external/vanetza-idf/cmake/GoogleTestTargets.cmake

@@ -0,0 +1,66 @@
+set(GTest_VERSION 1.16.0)
+set(GTest_ARCHIVE_NAME googletest-${GTest_VERSION})
+set(GTest_ARCHIVE ${GTest_ARCHIVE_NAME}.tar.gz)
+set(GTest_ARCHIVE_SHA1 517f27ed21b40f9927ab91f2abc147519cedb5a5)
+set(GTest_URL https://github.com/google/googletest/releases/download/v${GTest_VERSION}/${GTest_ARCHIVE})
+
+option(GTest_BUILD_DIRECTORY_DOWNLOAD "Download GoogleTest in build directory" OFF)
+mark_as_advanced(GTest_BUILD_DIRECTORY_DOWNLOAD)
+if(GTest_BUILD_DIRECTORY_DOWNLOAD)
+    set(GTest_DIR ${PROJECT_BINARY_DIR}/gtest)
+else()
+    set(GTest_DIR ${PROJECT_SOURCE_DIR}/gtest)
+endif()
+set(GTest_ARCHIVE_DIR ${GTest_DIR}/${GTest_ARCHIVE_NAME}/googletest)
+set(GTest_SOURCE_DIR ${GTest_ARCHIVE_DIR}/src)
+set(GTest_INCLUDE_DIR ${GTest_ARCHIVE_DIR}/include)
+
+set(GTest_LIBRARY gtest)
+set(GTest_LIBRARY_SOURCES ${GTest_SOURCE_DIR}/gtest-all.cc)
+set(GTest_MAIN_LIBRARY gtest_main)
+set(GTest_MAIN_LIBRARY_SOURCES ${GTest_SOURCE_DIR}/gtest_main.cc)
+
+file(DOWNLOAD
+    ${GTest_URL}
+    ${GTest_DIR}/${GTest_ARCHIVE}
+    EXPECTED_HASH SHA1=${GTest_ARCHIVE_SHA1})
+add_custom_target(download_gtest DEPENDS ${GTest_DIR}/${GTest_ARCHIVE})
+
+add_custom_command(
+    OUTPUT ${GTest_LIBRARY_SOURCES} ${GTest_MAIN_LIBRARY_SOURCES}
+    COMMAND ${CMAKE_COMMAND} -E tar xfz ${GTest_DIR}/${GTest_ARCHIVE}
+    DEPENDS download_gtest
+    COMMENT "Extracting ${GTest_ARCHIVE} in ${GTest_DIR}"
+    WORKING_DIRECTORY ${GTest_DIR}
+    VERBATIM)
+add_custom_target(extract_gtest DEPENDS ${GTest_LIBRARY_SOURCES} ${GTest_MAIN_LIBRARY_SOURCES})
+
+# GTest library for tests with own main function
+add_library(${GTest_LIBRARY} ${GTest_LIBRARY_SOURCES})
+target_include_directories(${GTest_LIBRARY} PRIVATE ${GTest_ARCHIVE_DIR})
+target_include_directories(${GTest_LIBRARY} SYSTEM PUBLIC ${GTest_INCLUDE_DIR})
+add_dependencies(${GTest_LIBRARY} extract_gtest)
+
+# GTest library providing main function for tests
+add_library(${GTest_MAIN_LIBRARY} ${GTest_MAIN_LIBRARY_SOURCES})
+target_link_libraries(${GTest_MAIN_LIBRARY} PUBLIC ${GTest_LIBRARY})
+add_dependencies(${GTest_MAIN_LIBRARY} extract_gtest)
+
+# Look for threading library and configure GTest accordingly
+if(NOT DEFINED CMAKE_USE_PTHREADS_INIT)
+    set(CMAKE_THREAD_PREFER_PTHREAD TRUE)
+    set(THREADS_PREFER_PTHREAD_FLAG TRUE)
+    find_package(Threads MODULE)
+endif()
+
+if(CMAKE_USE_PTHREADS_INIT)
+    message(STATUS "Build GTest with pthread support")
+    target_compile_definitions(${GTest_LIBRARY} PUBLIC "GTEST_HAS_PTHREAD=1")
+    target_link_libraries(${GTest_LIBRARY} PUBLIC Threads::Threads)
+else()
+    message(STATUS "Build GTest without threading")
+    target_compile_definitions(${GTest_LIBRARY} PUBLIC "GTEST_HAS_PTHREAD=0")
+endif()
+
+set_target_properties(download_gtest extract_gtest ${GTest_LIBRARY} ${GTest_MAIN_LIBRARY}
+    PROPERTIES FOLDER "GTest")

obu-firmware/external/vanetza-idf/cmake/Toolchain-ARM64.cmake

@@ -0,0 +1,8 @@
+set(CMAKE_SYSTEM_NAME "Linux")
+set(CMAKE_SYSTEM_PROCESSOR "aarch64")
+set(CMAKE_C_COMPILER "aarch64-linux-gnu-gcc")
+set(CMAKE_CXX_COMPILER "aarch64-linux-gnu-g++")
+
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)

obu-firmware/external/vanetza-idf/cmake/Toolchain-Autotalks-Craton.cmake

@@ -0,0 +1,16 @@
+set(CMAKE_SYSTEM_NAME "Linux")
+set(CMAKE_SYSTEM_PROCESSOR "arm")
+set(POKY_CRATON2 "/opt/poky-craton2/4.0.1")
+set(CMAKE_C_COMPILER "${POKY_CRATON2}/sysroots/x86_64-pokysdk-linux/usr/bin/arm-poky-linux-gnueabi/arm-poky-linux-gnueabi-gcc")
+set(CMAKE_CXX_COMPILER "${POKY_CRATON2}/sysroots/x86_64-pokysdk-linux/usr/bin/arm-poky-linux-gnueabi/arm-poky-linux-gnueabi-g++")
+set(CMAKE_C_FLAGS "--sysroot=${POKY_CRATON2}/sysroots/cortexa7t2hf-neon-poky-linux-gnueabi -march=armv7ve -mthumb -mfpu=neon -mfloat-abi=hard -mcpu=cortex-a7" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS "--sysroot=${POKY_CRATON2}/sysroots/cortexa7t2hf-neon-poky-linux-gnueabi -I${POKY_CRATON2}/sysroots/cortexa7t2hf-neon-poky-linux-gnueabi/usr/include -march=armv7ve -mthumb -mfpu=neon -mfloat-abi=hard -mcpu=cortex-a7" CACHE STRING "" FORCE)
+set(THREADS_PTHREAD_ARG "2" CACHE STRING "Forced by Autotalks toolchain" FORCE)
+# Cache string needed in cmake v3.5.1, in v3.16.3 not anymore
+# THREADS_PTHREAD_ARG needed for a bug that is also not present in v3.16.3 anymore
+
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+set(AUTOTALKS_CRATON true)
+

obu-firmware/external/vanetza-idf/cmake/Toolchain-Cohda-MK5.cmake

@@ -0,0 +1,10 @@
+set(CMAKE_SYSTEM_NAME "Linux")
+set(CMAKE_SYSTEM_PROCESSOR "arm")
+set(CMAKE_C_COMPILER "arm-linux-gnueabihf-gcc")
+set(CMAKE_CXX_COMPILER "arm-linux-gnueabihf-g++")
+set(THREADS_PTHREAD_ARG "2" CACHE STRING "Forced by Cohda toolchain" FORCE)
+
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+

obu-firmware/external/vanetza-idf/cmake/UseGTest.cmake

@@ -0,0 +1,59 @@
+#
+# configure_gtest_directory(
+#   [SOURCES <srcs...>]
+#   [LINK_LIBRARIES <libs...>]
+#   [INCLUDE_DIRECTORIES <dirs...>]
+#   [COMPILE_DEFINITIONS <defs...>])
+#
+# Set GTest properties common for all unit test executables in current directory.
+#
+function(configure_gtest_directory)
+  cmake_parse_arguments(args "" "" "SOURCES;LINK_LIBRARIES;INCLUDE_DIRECTORIES;COMPILE_DEFINITIONS" ${ARGN})
+  if(args_UNPARSED_ARGUMENTS)
+    message(FATAL_ERROR "unknown arguments given to configure_gtest_directory: ${args_UNPARSED_ARGUMENTS}")
+  endif()
+
+  set_property(DIRECTORY PROPERTY GTEST_SOURCES ${args_SOURCES})
+  set_property(DIRECTORY PROPERTY GTEST_LINK_LIBRARIES ${args_LINK_LIBRARIES})
+  set_property(DIRECTORY PROPERTY GTEST_INCLUDE_DIRECTORIES ${args_INCLUDE_DIRECTORIES})
+  set_property(DIRECTORY PROPERTY GTEST_COMPILE_DEFINITIONS ${args_COMPILE_DEFINITIONS})
+endfunction()
+
+#
+# add_gtest(<name>
+#   [SOURCES] <srcs...>
+#   [LINK_LIBRARIES <libs...>]
+#   [INCLUDE_DIRECTORIES <dirs...>]
+#   [COMPILE_DEFINITIONS <defs...>])
+#
+# Add a CTest unit test executable using Google Test.
+# The executable will be built as specified by given arguments and directory properties.
+#
+function(add_gtest name)
+  set(target GTest_${name})
+  cmake_parse_arguments(args "" "" "SOURCES;LINK_LIBRARIES;INCLUDE_DIRECTORIES;COMPILE_DEFINITIONS" ${ARGN})
+
+  get_directory_property(sources GTEST_SOURCES)
+  list(APPEND sources "${args_SOURCES}" "${args_UNPARSED_ARGUMENTS}")
+  get_directory_property(link_libraries GTEST_LINK_LIBRARIES)
+  list(APPEND link_libraries "${args_LINK_LIBRARIES}" ${GTest_MAIN_LIBRARY})
+  get_directory_property(include_directories GTEST_INCLUDE_DIRECTORIES)
+  list(APPEND include_directories "${args_INCLUDE_DIRECTORIES}" ${GTest_INCLUDE_DIR})
+  get_directory_property(compile_definitions GTEST_COMPILE_DEFINITIONS)
+  list(APPEND compile_definitions "${args_COMPILE_DEFINITIONS}")
+
+  if(NOT sources)
+    message(FATAL_ERROR "no sources given to add_gtest")
+  endif()
+
+  add_executable(${target} ${sources})
+  set_target_properties(${target} PROPERTIES
+    RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/tests
+    FOLDER "GTest"
+    LINK_LIBRARIES "${link_libraries}"
+    INCLUDE_DIRECTORIES "${include_directories}"
+    COMPILE_DEFINITIONS "${compile_definitions}")
+  add_test(NAME ${name}
+    WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+    COMMAND ${target})
+endfunction()

obu-firmware/external/vanetza-idf/cmake/UseVanetza.cmake

@@ -0,0 +1,56 @@
+#
+# vanetza_optional_dependency(<package> [<version>] <option> <description>)
+#
+# Probe for <package> quietly, create a CMake option defaulting to whether it
+# was found, and require it if the option is enabled.
+#
+macro(vanetza_optional_dependency package)
+    if(${ARGC} EQUAL 4)
+        set(_vanetza_dep_version ${ARGV1})
+        set(_vanetza_dep_option ${ARGV2})
+        set(_vanetza_dep_description "${ARGV3}")
+    else()
+        set(_vanetza_dep_version)
+        set(_vanetza_dep_option ${ARGV1})
+        set(_vanetza_dep_description "${ARGV2}")
+    endif()
+    find_package(${package} ${_vanetza_dep_version} QUIET)
+    option(${_vanetza_dep_option} "${_vanetza_dep_description}" ${${package}_FOUND})
+    if(${_vanetza_dep_option})
+        find_package(${package} ${_vanetza_dep_version} REQUIRED)
+    endif()
+    unset(_vanetza_dep_version)
+    unset(_vanetza_dep_option)
+    unset(_vanetza_dep_description)
+endmacro()
+
+#
+# add_vanetza_component(<name> <sources...>)
+#
+function(add_vanetza_component name)
+    set(sources ${ARGN})
+
+    add_library(${name} ${sources})
+    add_library(Vanetza::${name} ALIAS ${name})
+    target_include_directories(${name} PUBLIC
+        $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}>
+        $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
+    set_target_properties(${name} PROPERTIES
+        OUTPUT_NAME vanetza_${name}
+        SOVERSION ${VANETZA_SOVERSION}
+        INSTALL_RPATH $ORIGIN)
+    target_compile_features(${name} PUBLIC cxx_std_14)
+    install(TARGETS ${name} EXPORT ${PROJECT_NAME} DESTINATION ${CMAKE_INSTALL_LIBDIR})
+    set_property(GLOBAL APPEND PROPERTY VANETZA_COMPONENTS ${name})
+endfunction()
+
+#
+# add_test_subdirectory(<directory>)
+#
+# Add subdirectory only when tests are enabled via BUILD_TESTS
+#
+function(add_test_subdirectory directory)
+  if(BUILD_TESTS)
+    add_subdirectory(${directory})
+  endif()
+endfunction(add_test_subdirectory)

obu-firmware/external/vanetza-idf/cmake/VanetzaConfig.cmake.in

@@ -0,0 +1,38 @@
+@PACKAGE_INIT@
+
+# Temporarily extend module path for bundled find package scripts
+set(_vanetza_save_cmake_module_path ${CMAKE_MODULE_PATH})
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR})
+
+include(CMakeFindDependencyMacro)
+find_dependency(Boost @Boost_VERSION_STRING@ CONFIG COMPONENTS date_time)
+
+if(@VANETZA_WITH_GEOGRAPHICLIB@)
+    find_dependency(GeographicLib @GeographicLib_VERSION_STRING@)
+endif()
+
+if(@VANETZA_WITH_RPC@)
+    find_dependency(CapnProto @CapnProto_VERSION@)
+endif()
+
+if(@VANETZA_WITH_CRYPTOPP@)
+    find_dependency(CryptoPP @CryptoPP_VERSION_STRING@)
+endif()
+
+if(@VANETZA_WITH_OPENSSL@)
+    # remove patch letter found with OpenSSL 1.x
+    string(REGEX REPLACE "[a-z]+$" "" OpenSSL_VERSION_WITHOUT_PATCH "@OpenSSL_VERSION@")
+    find_dependency(OpenSSL ${OpenSSL_VERSION_WITHOUT_PATCH})
+endif()
+
+if(@VANETZA_WITH_PQC@)
+    find_dependency(liboqs 0.14 CONFIG)
+endif()
+
+# Restore previous module path
+set(CMAKE_MODULE_PATH ${_vanetza_save_cmake_module_path})
+unset(_vanetza_save_cmake_module_path)
+
+include("${CMAKE_CURRENT_LIST_DIR}/VanetzaTargets.cmake")
+
+set_and_check(VANETZA_INCLUDE_DIR "@PACKAGE_CMAKE_INSTALL_INCLUDEDIR@")

obu-firmware/external/vanetza-idf/cmake/VanetzaExportsConfig.cmake.in

@@ -0,0 +1,34 @@
+# Temporarily extend module path for bundled find package scripts
+set(_vanetza_save_cmake_module_path ${CMAKE_MODULE_PATH})
+list(APPEND CMAKE_MODULE_PATH "@PROJECT_SOURCE_DIR@/cmake")
+
+include(CMakeFindDependencyMacro)
+find_dependency(Boost @Boost_VERSION_STRING@ CONFIG COMPONENTS date_time)
+
+if(@VANETZA_WITH_GEOGRAPHICLIB@)
+    find_dependency(GeographicLib @GeographicLib_VERSION_STRING@)
+endif()
+
+if(@VANETZA_WITH_RPC@)
+    find_dependency(CapnProto @CapnProto_VERSION@)
+endif()
+
+if(@VANETZA_WITH_CRYPTOPP@)
+    find_dependency(CryptoPP @CryptoPP_VERSION_STRING@)
+endif()
+
+if(@VANETZA_WITH_OPENSSL@)
+    # remove patch letter found with OpenSSL 1.x
+    string(REGEX REPLACE "[a-z]+$" "" OpenSSL_VERSION_WITHOUT_PATCH "@OpenSSL_VERSION@")
+    find_dependency(OpenSSL ${OpenSSL_VERSION_WITHOUT_PATCH})
+endif()
+
+if(@VANETZA_WITH_PQC@)
+    find_dependency(liboqs 0.14 CONFIG)
+endif()
+
+# Restore previous module path
+set(CMAKE_MODULE_PATH ${_vanetza_save_cmake_module_path})
+unset(_vanetza_save_cmake_module_path)
+
+include("${CMAKE_CURRENT_LIST_DIR}/VanetzaExports.cmake")

obu-firmware/external/vanetza-idf/conanfile.py

@@ -0,0 +1,127 @@
+import os
+import re
+
+from conan import ConanFile
+from conan.errors import ConanException
+from conan.tools.cmake import CMake, CMakeToolchain, CMakeDeps, cmake_layout
+from conan.tools.scm import Git
+
+
+class VanetzaConan(ConanFile):
+    name = "vanetza"
+    url = "https://github.com/riebl/vanetza"
+    description = "Open-source implementation of the ETSI C-ITS protocol stack"
+    license = "LGPL-3.0-or-later"
+    package_type = "library"
+    languages = "C", "C++"
+    settings = "os", "compiler", "build_type", "arch"
+    options = {
+        "fPIC": [True, False],
+        "shared": [True, False],
+        "testing": [True, False],
+        "with_cryptopp": [True, False],
+        "with_openssl": [True, False],
+        "build_socktap": [True, False],
+        "build_certify": [True, False],
+        "build_benchmark": [True, False],
+    }
+    default_options = {
+        "fPIC": True,
+        "shared": False,
+        "testing": True,
+        "with_cryptopp": False,
+        "with_openssl": True,
+        "build_socktap": False,
+        "build_certify": False,
+        "build_benchmark": False,
+    }
+
+    def read_project_version(self) -> str | None:
+        version_re = re.compile(r"project\(Vanetza VERSION ([\d.]+)\)")
+        with open(os.path.join(self.recipe_folder, "CMakeLists.txt")) as f:
+            for line in f:
+                match = version_re.search(line)
+                if match:
+                    return match.group(1)
+        return None
+
+    def set_version(self):
+        project_version = self.read_project_version()
+        if not project_version:
+            raise ConanException("Could not read version from CMakeLists.txt")
+
+        git = Git(self)
+        try:
+            count = int(git.run(f"rev-list --count v{project_version}..HEAD"))
+            if count > 0:
+                short_hash = git.run("rev-parse --short HEAD")
+                self.version = f"{project_version}-dev+{count}.{short_hash}"
+        except Exception:
+            self.version = project_version
+
+    def config_options(self):
+        if self.settings.os == "Windows":
+            del self.options.fPIC
+
+    def configure(self):
+        if self.options.shared:
+            self.options.rm_safe("fPIC")
+
+    def layout(self):
+        cmake_layout(self)
+
+    def requirements(self):
+        self.requires("boost/[>=1.70]")
+        self.requires("geographiclib/[>=1.37]")
+        if self.options.with_cryptopp:
+            self.requires("cryptopp/[>=5.6.1]")
+        if self.options.with_openssl:
+            self.requires("openssl/[>=1.1 <4]")
+
+    def validate(self):
+        from conan.tools.build import check_min_cppstd
+
+        check_min_cppstd(self, "14")
+
+    def generate(self):
+        tc = CMakeToolchain(self)
+        tc.variables["BUILD_SHARED_LIBS"] = self.options.shared
+        tc.variables["BUILD_TESTS"] = self.options.testing
+        tc.variables["VANETZA_WITH_CRYPTOPP"] = self.options.with_cryptopp
+        tc.variables["VANETZA_WITH_OPENSSL"] = self.options.with_openssl
+        tc.variables["BUILD_SOCKTAP"] = self.options.build_socktap
+        tc.variables["BUILD_CERTIFY"] = self.options.build_certify
+        tc.variables["BUILD_BENCHMARK"] = self.options.build_benchmark
+        tc.generate()
+        deps = CMakeDeps(self)
+        deps.generate()
+
+    def build(self):
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+        if self.options.testing:
+            cmake.test()
+
+    def package(self):
+        cmake = CMake(self)
+        cmake.install()
+
+    def package_info(self):
+        # ordered from dependents to dependencies for correct static linking
+        self.cpp_info.libs = [
+            "vanetza_facilities",
+            "vanetza_btp",
+            "vanetza_geonet",
+            "vanetza_security",
+            "vanetza_dcc",
+            "vanetza_access",
+            "vanetza_net",
+            "vanetza_gnss",
+            "vanetza_common",
+            "vanetza_asn1",
+            "vanetza_asn1_its",
+            "vanetza_asn1_pki",
+            "vanetza_asn1_security",
+            "vanetza_asn1_support",
+        ]

obu-firmware/external/vanetza-idf/docs/.nav.yml

@@ -0,0 +1,5 @@
+flatten_single_child_sections: true
+nav:
+    - index.md
+    - "*"
+    - legal.md