Cyphal application template

A minimal application always includes the following features:

№	Type	Message	Comment	Rate
1	pub	uavcan.node.Heartbeat	Abstract node status info	1 Hz
2	pub	uavcan.node.port.List	Node network capabilities	0.2 Hz
3	RPC-service	uavcan.node.GetInfo	Full node info
4	RPC-service	uavcan.node.ExecuteCommand	Restart, save or reset registers
5	RPC-service	uavcan.register.List uavcan.register.Access	Register interface

There are also examples of the following auxilliary features:

Interface	Port	Message
udral/actuator	sub.setpoint sub.readiness pub.feedback	udral.service.actuator.common.sp.Vector31 reg.udral.service.common.Readiness zubax.telega.CompactFeedback
Barometer	pub.pressure pub.temperature	uavcan.si.sample.pressure.Scalar uavcan.si.sample.temperature.Scalar
Magnetometer	pub.mag	uavcan.si.sample.magnetic_field_strength.Vector3
udral/gnss	pub.point pub.status pub.sats pub.pdop	reg.udral.physics.kinematics.geodetic.PointStateVarTs uavcan.primitive.scalar.Integer16 uavcan.primitive.scalar.Integer16 uavcan.primitive.scalar.Integer16
imu	pub.accelerometer pub.gyro	uavcan.si.sample.acceleration.Vector3 uavcan.si.sample.angular_velocity.Vector3

Supported platforms:

CAN_PLATFORM	Implementation details	Note
bxcan	platform_specific_components	Tested on stm32f103 only
fdcan	STM32 HAL	Tested on stm32g0 only
socketcan	platform_specific_components	Tested on ubuntu 22.04

1. Prerequisites

The library depends on a few other repositories.

Already inlcuded in the repository:

• libcanard
• platform_specific_components
• o1heap
• public_regulated_data_types

External dependency:

• libparams

2. Usage:

Step 1. Clone repo with dependency

git clone https://github.com/RaccoonlabDev/cyphal_application.git
cd cyphal_application
git clone --branch v0.7.0 https://github.com/PonomarevDA/libparams.git Libs/libparams

Step 2. Include CMakeList.txt

In your application's cmake file specify the target, include this CMakeLists.txt and add source code to the executable:

# 1. select either bxcan or fdcan or socketcan
set(CAN_PLATFORM bxcan)

# 2. include CMakeLists.txt
include(<path_to_this_repo>/Cyphal/CMakeLists.txt)

# 3. add ${CYPHAL_SRC} to our source files
add_executable(<executable_name> ${CYPHAL_SRC})

Step 3. (Optionally) Provide an additional info

It is nice to fill GetInfo with an information specific to your application:

Software version	Defined on the compile time with APP_VERSION_MAJOR and APP_VERSION_MINOR defines.
Hardware version	Should be defined on the initialization time.
Certificate of authenticity	Not supported by this example yet.
Unique ID	It is expected to provide HAL_GetUIDw0, HAL_GetUIDw1 and HAL_GetUIDw2. By default, it is provided by STM32 HAL.
Software VCS Revision ID	Defined on the compile time with GIT_HASH define.

3. Usage examples:

Platform	Example
stm32f103	Mini v2 example
Ubuntu	Minimal application example
Ubuntu	Publisher example
Ubuntu	PX4/ArduPilot HITL communicator (Cyphal <-> ROS converter)