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.
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.
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.
This code is intended to conform to version 1.0-beta of the Cyphal specification.
Most of the functionality works. Some parts are incomplete:
pycyphal
when they were released)Licensed under either of
at your option.
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.