2 releases
| 0.1.1 | Apr 12, 2022 |
|---|---|
| 0.1.0 | Jul 11, 2021 |
#2105 in Embedded development
3KB
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
| Crate | Description |
|---|---|
canadensis (documentation) |
The main library with all core transport-independent functionality |
canadensis_data_types (documentation) |
Rust types corresponding to the Cyphal public regulated data types |
canadensis_can (documentation) |
Cyphal/CAN transport |
canadensis_bxcan (documentation) |
Compatibility for bxCAN embedded CAN controllers |
canadensis_linux (documentation) |
Compatibility for Linux SocketCAN interfaces |
canadensis_serial (documentation) |
Experimental Cyphal/Serial transport |
canadensis_udp (documentation) |
Experimental Cyphal/UDP transport |
canadensis_pnp_client (documentation) |
A client library for plug-and-play node ID allocation |
canadensis_crc (documentation) |
Access to the software image CRC |
canadensis_write_crc (documentation) |
A tool to calculate and write the CRC of a software image for use with canadensis_crc |
canadensis_codegen_rust (documentation) |
A DSDL processor that generates Rust data types and serialization code |
canadensis_macro (documentation) |
A procedural macro that generates Rust data types and serialization code from inline and/or external DSDL files |
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
pycyphalwhen 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:
Applications can use this library to access CRCs written by the canadensis_write_crc tool.
Steps (for ARM Cortex-M targets)
- In the application, call the
get_crcfunction - Compile the application, generating a .elf file
- Run
canadensis_write_crcon the .elf file to calculate and fill in the CRC- Caution: Don't use
cargo buildorcargo runat this stage. It will overwrite the binary and clear the CRC.
- Caution: Don't use
- Load the .elf file onto the target microcontroller and run it as usual