Bluetooth: OpenDroneID Transmitter Application

This application is a standard way to Identify UAVs

Co-authored-by: Mayank Mahajan <[email protected]>
Signed-off-by: Sumit Batra <[email protected]>

samples/bluetooth/opendroneid/CMakeLists.txt

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+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20.0)
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(opendroneid)
+
+target_sources(app PRIVATE src/main.c)
+target_sources(app PRIVATE src/opendroneid.c)

samples/bluetooth/opendroneid/README.rst

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+.. zephyr:code-sample:: bluetooth_opendroneid
+   :name: OpenDroneID
+   :relevant-api: bluetooth
+
+   Advertise ODID Messages using GAP Broadcaster role.
+
+Overview
+********
+
+Open Drone ID messages let's you distinguish between the Unmanned Aerial Vehicles.
+It also has UAV's real-time location/altitude, UA serial number, operator ID/location etc.
+The message format is defined in the ASTM F3411 Remote ID and the
+ASD-STAN prEN 4709-002 Direct Remote ID specifications.
+
+This application demonstrates ODID Message transmission over Bluetooth in GAP Broadcaster role.
+Currently this program supports transmitting static drone data via Bluetooth Beacon.
+But this could easily be extended to simulate a bit more dynamic flight example.
+
+Requirements
+************
+
+* BlueZ running on the host, or
+* A board with Bluetooth LE support
+
+Building and Running
+********************
+
+This sample can be found under :zephyr_file:`samples/bluetooth/opendroneid` in the Zephyr tree.
+
+See :zephyr:code-sample-category:`bluetooth` samples for details.

samples/bluetooth/opendroneid/prj.conf

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+CONFIG_BT=y
+CONFIG_LOG=y
+CONFIG_BT_DEVICE_NAME="Test opendroneid"

samples/bluetooth/opendroneid/sample.yaml

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+sample:
+  name: Bluetooth ODID
+tests:
+  sample.bluetooth.opendroneid:
+    harness: bluetooth
+    platform_allow:
+      - qemu_x86
+      - kw45b41z_evk
+    tags: bluetooth

samples/bluetooth/opendroneid/src/main.c

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+/* SPDX-License-Identifier: Apache-2.0
+ *
+ * Copyright (C) 2021, Soren Friis
+ * Copyright 2024 NXP
+ *
+ * Referred from https://github.com/opendroneid/transmitter-linux
+ */
+
+#include <zephyr/types.h>
+#include <stddef.h>
+#include <zephyr/sys/util.h>
+
+#include <zephyr/bluetooth/bluetooth.h>
+#include <zephyr/bluetooth/hci.h>
+
+#include "opendroneid.h"
+
+#define DEVICE_NAME     CONFIG_BT_DEVICE_NAME
+#define DEVICE_NAME_LEN (sizeof(DEVICE_NAME) - 1)
+
+#define BT_LE_ADV_PARAM_NCONN BT_LE_ADV_PARAM(BT_LE_ADV_OPT_USE_IDENTITY, 0x20, 0x20, NULL)
+
+static uint8_t payload[29] = {
+	0xFA, 0xFF, /* 0xFFFA = ASTM International, ASTM Remote ID. */
+	0x0D,       /* AD Application Code within the ASTM address space = ODID. */
+	0x00,       /* message counter starting at 0x00 and wrapping around at 0xFF. */
+	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 /* 25-bytes data */
+};
+
+static const struct bt_data ad[] = {
+	{
+		.type = BT_DATA_SVC_DATA16,
+		.data_len = ARRAY_SIZE(payload),
+		.data = payload,
+	},
+};
+
+#define MINIMUM(a, b) (((a) < (b)) ? (a) : (b))
+
+#define BASIC_ID_POS_ZERO 0
+#define BASIC_ID_POS_ONE  1
+
+static void fill_example_data(struct ODID_UAS_Data *uasData)
+{
+	uasData->BasicID[BASIC_ID_POS_ZERO].UAType = ODID_UATYPE_HELICOPTER_OR_MULTIROTOR;
+	uasData->BasicID[BASIC_ID_POS_ZERO].IDType = ODID_IDTYPE_SERIAL_NUMBER;
+	char uas_id[] = "112624150A90E3AE1EC0";
+
+	strncpy(uasData->BasicID[BASIC_ID_POS_ZERO].UASID, uas_id,
+		MINIMUM(sizeof(uas_id), sizeof(uasData->BasicID[BASIC_ID_POS_ZERO].UASID)));
+
+	uasData->BasicID[BASIC_ID_POS_ONE].UAType = ODID_UATYPE_HELICOPTER_OR_MULTIROTOR;
+	uasData->BasicID[BASIC_ID_POS_ONE].IDType = ODID_IDTYPE_SPECIFIC_SESSION_ID;
+	char uas_caa_id[] = "FD3454B778E565C24B70";
+
+	strncpy(uasData->BasicID[BASIC_ID_POS_ONE].UASID, uas_caa_id,
+		MINIMUM(sizeof(uas_caa_id), sizeof(uasData->BasicID[BASIC_ID_POS_ONE].UASID)));
+
+	uasData->Auth[0].AuthType = ODID_AUTH_UAS_ID_SIGNATURE;
+	uasData->Auth[0].DataPage = 0;
+	uasData->Auth[0].LastPageIndex = 2;
+	uasData->Auth[0].Length = 63;
+	uasData->Auth[0].Timestamp = 28000000;
+	char auth0_data[] = "12345678901234567";
+
+	memcpy(uasData->Auth[0].AuthData, auth0_data,
+	       MINIMUM(sizeof(auth0_data), sizeof(uasData->Auth[0].AuthData)));
+
+	uasData->Auth[1].AuthType = ODID_AUTH_UAS_ID_SIGNATURE;
+	uasData->Auth[1].DataPage = 1;
+	char auth1_data[] = "12345678901234567890123";
+
+	memcpy(uasData->Auth[1].AuthData, auth1_data,
+	       MINIMUM(sizeof(auth1_data), sizeof(uasData->Auth[1].AuthData)));
+
+	uasData->Auth[2].AuthType = ODID_AUTH_UAS_ID_SIGNATURE;
+	uasData->Auth[2].DataPage = 2;
+	char auth2_data[] = "12345678901234567890123";
+
+	memcpy(uasData->Auth[2].AuthData, auth2_data,
+	       MINIMUM(sizeof(auth2_data), sizeof(uasData->Auth[2].AuthData)));
+
+	uasData->SelfID.DescType = ODID_DESC_TYPE_TEXT;
+	char description[] = "Drone ID test flight---";
+
+	strncpy(uasData->SelfID.Desc, description,
+		MINIMUM(sizeof(description), sizeof(uasData->SelfID.Desc)));
+
+	uasData->System.OperatorLocationType = ODID_OPERATOR_LOCATION_TYPE_TAKEOFF;
+	uasData->System.ClassificationType = ODID_CLASSIFICATION_TYPE_EU;
+	uasData->System.OperatorLatitude = uasData->Location.Latitude + 0.001;
+	uasData->System.OperatorLongitude = uasData->Location.Longitude - 0.001;
+	uasData->System.AreaCount = 1;
+	uasData->System.AreaRadius = 0;
+	uasData->System.AreaCeiling = 0;
+	uasData->System.AreaFloor = 0;
+	uasData->System.CategoryEU = ODID_CATEGORY_EU_OPEN;
+	uasData->System.ClassEU = ODID_CLASS_EU_CLASS_1;
+	uasData->System.OperatorAltitudeGeo = 20.5f;
+	uasData->System.Timestamp = 28056789;
+
+	uasData->OperatorID.OperatorIdType = ODID_OPERATOR_ID;
+	char operatorId[] = "FIN87astrdge12k8";
+
+	strncpy(uasData->OperatorID.OperatorId, operatorId,
+		MINIMUM(sizeof(operatorId), sizeof(uasData->OperatorID.OperatorId)));
+}
+
+static void fill_example_gps_data(struct ODID_UAS_Data *uasData)
+{
+	uasData->Location.Status = ODID_STATUS_AIRBORNE;
+	uasData->Location.Direction = 361.f;
+	uasData->Location.SpeedHorizontal = 0.0f;
+	uasData->Location.SpeedVertical = 0.35f;
+	uasData->Location.Latitude = 51.4791;
+	uasData->Location.Longitude = -0.0013;
+	uasData->Location.AltitudeBaro = 100;
+	uasData->Location.AltitudeGeo = 110;
+	uasData->Location.HeightType = ODID_HEIGHT_REF_OVER_GROUND;
+	uasData->Location.Height = 80;
+	uasData->Location.HorizAccuracy = createEnumHorizontalAccuracy(5.5f);
+	uasData->Location.VertAccuracy = createEnumVerticalAccuracy(9.5f);
+	uasData->Location.BaroAccuracy = createEnumVerticalAccuracy(0.5f);
+	uasData->Location.SpeedAccuracy = createEnumSpeedAccuracy(0.5f);
+	uasData->Location.TSAccuracy = createEnumTimestampAccuracy(0.1f);
+	uasData->Location.TimeStamp = 360.52f;
+}
+
+static struct ODID_UAS_Data uasData;
+static union ODID_Message_encoded encoded;
+static uint8_t msg_counters[ODID_MSG_COUNTER_AMOUNT];
+
+static void bt_ready(int err)
+{
+	char addr_s[BT_ADDR_LE_STR_LEN];
+	bt_addr_le_t addr = {0};
+	size_t count = 1;
+
+	if (err) {
+		printf("Bluetooth init failed (err %d)\n", err);
+		return;
+	}
+
+	printf("Bluetooth initialized\n");
+
+	/* Start advertising */
+	err = bt_le_adv_start(BT_LE_ADV_PARAM_NCONN, ad, ARRAY_SIZE(ad), NULL, 0);
+	if (err) {
+		printf("Advertising failed to start (err %d)\n", err);
+		return;
+	}
+
+	bt_id_get(&addr, &count);
+	bt_addr_le_to_str(&addr, addr_s, sizeof(addr_s));
+
+	printf("ODID started, advertising as %s\n", addr_s);
+}
+
+static void update_payload(uint8_t turn)
+{
+	int err = 0;
+
+	switch (turn) {
+	case 0: /* BasicID */
+		err = encodeBasicIDMessage((ODID_BasicID_encoded *)&encoded, &uasData.BasicID[0]);
+		if (err == ODID_SUCCESS) {
+			memcpy(&payload[4], &encoded, sizeof(ODID_BasicID_encoded));
+			memcpy(&payload[3], &msg_counters[ODID_MSG_COUNTER_BASIC_ID], 1);
+			++msg_counters[ODID_MSG_COUNTER_BASIC_ID];
+		}
+		break;
+	case 1: /* Location */
+		/* Updating location for checking whether messages are dropped or not. */
+		uasData.Location.Latitude = uasData.Location.Latitude - 0.01;
+		uasData.Location.Longitude = uasData.Location.Longitude + 0.01;
+		err = encodeLocationMessage((ODID_Location_encoded *)&encoded, &uasData.Location);
+		if (err == ODID_SUCCESS) {
+			memcpy(&payload[4], &encoded, sizeof(ODID_Location_encoded));
+			memcpy(&payload[3], &msg_counters[ODID_MSG_COUNTER_LOCATION], 1);
+			++msg_counters[ODID_MSG_COUNTER_LOCATION];
+		}
+		break;
+	case 2: /* Auth */
+		err = encodeAuthMessage((ODID_Auth_encoded *)&encoded, &uasData.Auth[0]);
+		if (err == ODID_SUCCESS) {
+			memcpy(&payload[4], &encoded, sizeof(ODID_Auth_encoded));
+			memcpy(&payload[3], &msg_counters[ODID_MSG_COUNTER_AUTH], 1);
+			++msg_counters[ODID_MSG_COUNTER_AUTH];
+		}
+		break;
+	case 3: /* SelfID */
+		err = encodeSelfIDMessage((ODID_SelfID_encoded *)&encoded, &uasData.SelfID);
+		if (err == ODID_SUCCESS) {
+			memcpy(&payload[4], &encoded, sizeof(ODID_SelfID_encoded));
+			memcpy(&payload[3], &msg_counters[ODID_MSG_COUNTER_SELF_ID], 1);
+			++msg_counters[ODID_MSG_COUNTER_SELF_ID];
+		}
+		break;
+	case 4: /* System */
+		err = encodeSystemMessage((ODID_System_encoded *)&encoded, &uasData.System);
+		if (err == ODID_SUCCESS) {
+			memcpy(&payload[4], &encoded, sizeof(ODID_System_encoded));
+			memcpy(&payload[3], &msg_counters[ODID_MSG_COUNTER_SYSTEM], 1);
+			++msg_counters[ODID_MSG_COUNTER_SYSTEM];
+		}
+		break;
+	case 5: /* OperatorID */
+		err = encodeOperatorIDMessage((ODID_OperatorID_encoded *)&encoded,
+					      &uasData.OperatorID);
+		if (err == ODID_SUCCESS) {
+			memcpy(&payload[4], &encoded, sizeof(ODID_OperatorID_encoded));
+			memcpy(&payload[3], &msg_counters[ODID_MSG_COUNTER_OPERATOR_ID], 1);
+			++msg_counters[ODID_MSG_COUNTER_OPERATOR_ID];
+		}
+		break;
+	default:
+		break;
+	}
+}
+
+int main(void)
+{
+	int err;
+
+	printf("Starting ODID Demo\n");
+
+	/* Initialize UAS data. */
+	odid_initUasData(&uasData);
+	fill_example_data(&uasData);
+	fill_example_gps_data(&uasData);
+	memset(&encoded, 0, sizeof(union ODID_Message_encoded));
+	for (int i = 0; i < ODID_MSG_COUNTER_AMOUNT; ++i) {
+		msg_counters[i] = 0;
+	}
+
+	/* Initialize the Bluetooth Subsystem */
+	err = bt_enable(bt_ready);
+	if (err) {
+		printf("Bluetooth init failed (err %d)\n", err);
+		return -1;
+	}
+
+	while (true) {
+		if (bt_is_ready()) {
+			break;
+		}
+
+		printf("Bluetooth not ready. Checking again in 100 ms\n");
+		k_sleep(K_MSEC(100));
+	}
+
+	/* Modify ODID data and update adv data. */
+	uint8_t tx_counter = 0;
+
+	while (true) {
+		uint8_t turn = tx_counter % 6;
+
+		update_payload(turn);
+
+		static const struct bt_data ad_new[] = {
+			{
+				.type = BT_DATA_SVC_DATA16,
+				.data_len = ARRAY_SIZE(payload),
+				.data = payload,
+			},
+		};
+
+		err = bt_le_adv_update_data(ad_new, ARRAY_SIZE(ad_new), NULL, 0);
+		if (err) {
+			printf("Bluetooth update adv data failed (err %d)\n", err);
+			continue;
+		}
+
+		k_sleep(K_MSEC(100));
+
+		++tx_counter;
+	}
+
+	return 0;
+}