APIs

The APIs provide interfaces for accessing the cube platform subsystems: Radio, GNSS/IMU, and Time. Each API is usable from C or C++, with minimal dependencies.

Radio API

The Radio API provides direct access to the cube's V2X radio subsystem, covering ITS-G5 (DSRC) and C-V2X (LTE-V2X) technologies. It lets developers:

• Configure channels, power levels, and modulation settings
• Transmit and receive raw V2X frames
• Monitor link status and channel busy ratio (CBR)
• Use unified data structures for both ITS-G5 and C-V2X

The API is used by tools such as cube-radio-transmit, cube-radio-receive, and cube-radio-pcap. It is suitable for direct integration, custom radio testing, and application-level V2X development.

See: Radio API Developer Guide

GNSS and IMU API

The cube::ubx module gives structured access to u-blox receiver messages, including GNSS navigation data and inertial measurements. Parsed message types include:

• High-rate GNSS data (UBX-HNR-PVT)
• Position accuracy and error ellipses (UBX-NAV-EELL)
• Fused IMU data (UBX-ESF-INS)
• Raw IMU data (UBX-ESF-MEAS)

Using the Reactor event system, applications can subscribe to specific UBX messages and process them in real time, for logging, sensor fusion, or V2X timestamping.

See: GNSS and IMU API

ITS Time API

The ITS Time API exposes the device's ETSI ITS time base, synchronized via GNSS through the system clock. It provides:

• Current ITS timestamp (milliseconds or microseconds since 2004-01-01)
• Synchronization state
• Current TAI-UTC offset
• Conversion between system time and ITS time

This lets the cube subsystems (GNSS, V2X radio, application logic) share the same time reference, in line with ETSI ITS standards.

See: ITS Time API

Together, these APIs support time-aligned, sensor-aware, and radio-connected V2X applications on the cube platform, from raw sensor logging to cooperative driving experiments.