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orb-messages

Defines the communication protocol between the Jetson and microcontrollers.

Protobuf stands for Protocol Buffers, a serializing protocol developed by Google, aimed to be language and platform neutral as the message definition allows us to generate de/serializers for most programming languages. We are using the proto3 version.

Some constraints on the messages are allowed when generating the C de/serializers with nanopb (small C library), see mcu_messaging_*.options files. Make sure to follow these constraints in any other languages.

🔐 Public and private definitions

We don't want to publicly share the definitions of messages that are used to communicate tamper events, because it could reveal information about what the microcontroller is detecting. Instead, for these sensitive messages we provide publicly available stubs, where the message contents are empty.

The directory structure looks like this:

orb-messages
├── messages         # protobuf definitions
│   └── private_stub # stubs for the closed source definitions
├── src              # Rust library
└── zephyr           # builds the library for Zephyr

📦 Messages

All the messages are wrapped into a versioned McuMessage to ensure versions support before further decoding of the message.

The McuMessage encapsulates messages depending on the direction of the message:

  • JetsonToMcu: Jetson to main MCU. Commands to be executed by the main MCU.
  • McuToJetson: Main MCU to Jetson. Data retrieved by the main MCU.
  • JetsonToSec: Jetson to security MCU. Commands to be executed by the security MCU.
  • SecToJetson: Security MCU to Jetson. Data retrieved by the security MCU.

All the JetsonTo* messages are acknowledged by the recipient using an *ToJetson message with an Ack payload.

Commands and data are documented into the .proto files.

📝 Usage

We first need to install protoc, the Protobuf compiler. protoc must either be present in $PATH or alternatively be reachable by setting the PROTOC environment variable to its path.

  • macOS 
    brew install protobuf
  • Debian-based OS 
    apt-get install protobuf-compiler
  • Nix 
    nix shell nixpkgs#protobuf

Then generate the encoder/decoder in the language you want.

Formatting

We use pre-commit to run checks on the proto files:

pre-commit install -c .pre-commit-config.yaml

🪪 License

Unless otherwise specified, all code in this repository is dual-licensed under either:

at your option. This means you may select the license you prefer to use.

Any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.