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bluetooth: OpenDroneID sample application w/ GAP Broadcaster Role.
Adding sample app for demonstrating transmission of OpenDroneID. Signed-off-by: Mayank Mahajan <mayankmahajan.x@nxp.com>
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‎samples/bluetooth/opendroneid/CMakeLists.txt

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

‎samples/bluetooth/opendroneid/README.rst

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.. zephyr:code-sample:: bluetooth_opendroneid
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:name: OpenDroneID
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:relevant-api: bluetooth
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Advertise ODID Messages using GAP Broadcaster role.
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Overview
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********
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A simple application demonstrating ODID Message transmission using the GAP Broadcaster role.
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Requirements
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************
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* BlueZ running on the host, or
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* A board with Bluetooth LE support
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Building and Running
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********************
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This sample can be found under :zephyr_file:`samples/bluetooth/opendroneid` in the Zephyr tree.
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See :zephyr:code-sample-category:`bluetooth` samples for details.

‎samples/bluetooth/opendroneid/prj.conf

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

‎samples/bluetooth/opendroneid/sample.yaml

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

‎samples/bluetooth/opendroneid/src/main.c

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

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