Canadensis: A Cyphal implementation

This project implements (most of) Cyphal (previously called UAVCAN v1.0). As the Cyphal website explains, "Cyphal is an open technology for real-time intravehicular distributed computing and communication based on modern networking standards (Ethernet, CAN FD, etc.). It was created to address the challenge of on-board deterministic computing and data distribution in next-generation intelligent vehicles: manned and unmanned aircraft, spacecraft, robots, and cars."

This is currently an independent project, not affiliated with the Cyphal Consortium.

Submodule note

This repository uses a submodule for the public regulated data types. When cloning, use git clone --recursive. If you have already cloned the repository without the recursive option, run git submodule init followed by git submodule update. Otherwise, some tests will fail.

Published crates

Other crates (canadensis_bit_length_set, canadensis_core, canadensis_derive_register_block, canadensis_dsdl_frontend, canadensis_dsdl_parser, canadensis_encoding, and canadensis_filter_config) are re-exported in various places, so you normally will not need to depend on them directly.

Status

This code is intended to conform to version 1.0-beta of the Cyphal specification.

Most of the functionality works. Some parts are incomplete:

• There are some tests, but there are probably several bugs in areas that have not been tested.
• The amount of dynamic memory allocation can be reduced, or at least documented better.
• It needs better documentation

Principles

• Runs on embedded devices
• Uses dynamic memory allocation, but only when necessary
• Supports Cyphal/CAN (classic CAN and CAN FD)
• Supports Cyphal/Serial and Cyphal/UDP (these transports are not fully specified yet, but the canadensis implementations were compatible with pycyphal when they were released)

License

Licensed under either of

• Apache License, Version 2.0 (LICENSE-APACHE or http://www.apache.org/licenses/LICENSE-2.0)
• MIT license (LICENSE-MIT or http://opensource.org/licenses/MIT)

at your option.

Contribution

Unless you explicitly state otherwise, 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.

lib.rs:

CAN and CAN FD transport for Cyphal

This library implements the Cyphal/CAN transport layer. It splits transfers into frames, reassembles frames into transfers, and keeps track of subscriptions.