Custom Stack
If you already have a C-ITS stack, or want to build a custom one, the cube platform supports both. This page covers the libraries available for integrating your own stack on the cube:evk.
Any C-ITS stack needs three core capabilities:
- Send and receive link-layer frames over the V2X radio
- Determine geographic position
- Access ITS time for synchronization
The cube provides a library for each:
Building Blocks
cube:radio – V2X Frame Transmission and Reception
Direct access to the link layer. Transmit frames with control over parameters (power, data rate, priority); receive frames with metadata (RSSI, timestamp, channel). C API, no protocol overhead above the link layer.
cube:ubx – GNSS and IMU Data
Access to the built-in u-blox GNSS receiver for position, velocity, heading, and time. Provides IMU data for motion tracking. Pre-configured for ITS use, with RTK support.
cube:time – ITS Time Synchronization
ITS time derived from GNSS, synchronized to TAI with leap second handling. Used for message timestamps, certificate validity, and time-critical applications.
Tiny Stack Example
The "tiny stack" example shows how to wire these libraries together. It is a minimal C-ITS foundation that demonstrates:
- Radio initialization and frame handling
- GNSS position integration
- ITS time synchronization
- Basic message construction
Use it as-is for simple applications, or as a reference implementation for integrating your own stack.
Support
For integration questions, performance tuning, custom API extensions, or hardware integration, contact us. We have done custom-stack integrations before and can help with technical questions and integration work.