# LibCyphal **URL:** https://forum.opencyphal.org/c/app/libcyphal/7.md?page=1 [Latest](https://forum.opencyphal.org/latest.md) · [Categories](https://forum.opencyphal.org/categories.md) **Page:** 2 --- ## [uavcan::Timer vs suspend to RAM](https://forum.opencyphal.org/t/uavcan-timer-vs-suspend-to-ram/640)
**Author:** [@deekay](https://forum.opencyphal.org/u/deekay)\ **Replies:** 3\ **Last updated:** [October 13, 2019, 9:45am UTC](https://forum.opencyphal.org/t/uavcan-timer-vs-suspend-to-ram/640 "2019-10-13T09:45:35Z")
Hi! I am experimenting with suspend to RAM power saving feature on my debian platform while using uavcan::Timer. As I understand, uavcan::Timer uses software timer (clock\_gettime with CLOCK\_ MONOTONIC) and therefore doe… --- ## [Libuavcan driver for STM32H7?](https://forum.opencyphal.org/t/libuavcan-driver-for-stm32h7/360)
**Author:** [@tridge](https://forum.opencyphal.org/u/tridge)\ **Replies:** 8\ **Last updated:** [October 4, 2019, 6:18am UTC](https://forum.opencyphal.org/t/libuavcan-driver-for-stm32h7/360 "2019-10-04T06:18:59Z")
Has anyone written a libuavcan driver for STM32H7xx? It uses a new FDCAN peripheral, so it looks like some quite significant changes from the F4/F7 driver. If nobody else has done one then I will try to do one. I’m deve… --- ## [Libuavcan RX timestamps on S32K](https://forum.opencyphal.org/t/libuavcan-rx-timestamps-on-s32k/603)
**Author:** [@scottdixon](https://forum.opencyphal.org/u/scottdixon)\ **Replies:** 0\ **Last updated:** [August 26, 2019, 7:46pm UTC](https://forum.opencyphal.org/t/libuavcan-rx-timestamps-on-s32k/603 "2019-08-26T19:46:37Z")
Answering @noxuz here about the FlexCAN peripheral’s 16-bit timestamps (see 53.4.2.4 of the S32K reference manual: https://www.nxp.com/docs/en/reference-manual/S32K-RM.pdf) My assumption is that you can clock this timer… --- ## [Time abstractions for libuavcan v1](https://forum.opencyphal.org/t/time-abstractions-for-libuavcan-v1/568)
**Author:** [@scottdixon](https://forum.opencyphal.org/u/scottdixon)\ **Replies:** 1\ **Last updated:** [July 30, 2019, 9:41am UTC](https://forum.opencyphal.org/t/time-abstractions-for-libuavcan-v1/568 "2019-07-30T09:41:36Z")
In the latest commit to the v1 branch of libuavcan we have ported the old time.hpp abstraction over but have yet to provide more definition for system time. We do have monotonic timestamps on received frames that are doc… --- ## [Hardfault when broadcast 2 differerent messages at once](https://forum.opencyphal.org/t/hardfault-when-broadcast-2-differerent-messages-at-once/545)
**Author:** [@raserg](https://forum.opencyphal.org/u/raserg)\ **Replies:** 4\ **Last updated:** [July 15, 2019, 12:28pm UTC](https://forum.opencyphal.org/t/hardfault-when-broadcast-2-differerent-messages-at-once/545 "2019-07-15T12:28:41Z")
uavcan::equipment::actuator::Status msg; msg.actuator\_id = actuator\_id; msg.position = actuator\_status\_data.position; msg.force = actuator\_status\_data.force; msg.speed = actuator\_status\_data.speed; msg.… --- ## [How to test service client part?](https://forum.opencyphal.org/t/how-to-test-service-client-part/550)
**Author:** [@raimondas](https://forum.opencyphal.org/u/raimondas)\ **Replies:** 2\ **Last updated:** [July 3, 2019, 9:32am UTC](https://forum.opencyphal.org/t/how-to-test-service-client-part/550 "2019-07-03T09:32:25Z")
How to correctly test Service Client part of tutorial ? Using UAVCAN GUI Tool I am trying to use Response but I cannot find any tips to correctly use it. periodic(1, uavcan.protocol.file.BeginFirmwareUpdate.Response( ??… --- ## [How libuavcan v1 is implementing on-target testing](https://forum.opencyphal.org/t/how-libuavcan-v1-is-implementing-on-target-testing/543)
**Author:** [@scottdixon](https://forum.opencyphal.org/u/scottdixon)\ **Replies:** 0\ **Last updated:** [June 26, 2019, 8:25pm UTC](https://forum.opencyphal.org/t/how-libuavcan-v1-is-implementing-on-target-testing/543 "2019-06-26T20:25:19Z")
This is a blog post that we reprised as a 20 minute talk at the recent PX4 developer summit. Reposting here for anyone that is interested: https://32bits.io/blog/2019/5/26/libuavcan-hil-test-automation-using-buildkite-a… --- ## [Multiple broadcasts of same type](https://forum.opencyphal.org/t/multiple-broadcasts-of-same-type/487)
**Author:** [@deekay](https://forum.opencyphal.org/u/deekay)\ **Replies:** 6\ **Last updated:** [May 23, 2019, 4:07pm UTC](https://forum.opencyphal.org/t/multiple-broadcasts-of-same-type/487 "2019-05-23T16:07:26Z")
Hi! At some occasions I am publishing additional multiple broadcasts from my node. Like this: my\_publisher.publish(my\_data1); my\_publisher.publish(my\_data2); my\_publisher.publish(my\_data3); my\_publisher.publish(my\_dat… --- ## [Strange NodeStatus](https://forum.opencyphal.org/t/strange-nodestatus/450)
**Author:** [@deekay](https://forum.opencyphal.org/u/deekay)\ **Replies:** 1\ **Last updated:** [May 3, 2019, 12:10pm UTC](https://forum.opencyphal.org/t/strange-nodestatus/450 "2019-05-03T12:10:34Z")
Hi! I have several nodes on my CAN bus, as shows in the image. All of them produces NodeStatus that consists of a single frame which I assume is normal. However, nodes 30 and 31 NodeStatuses consists of 2 frames! GUI to… --- ## [UAVCAN Time master + PPS GPS](https://forum.opencyphal.org/t/uavcan-time-master-pps-gps/212)
**Author:** [@Florian\_Langlois](https://forum.opencyphal.org/u/Florian_Langlois)\ **Replies:** 12\ **Last updated:** [April 11, 2019, 4:38pm UTC](https://forum.opencyphal.org/t/uavcan-time-master-pps-gps/212 "2019-04-11T16:38:31Z")
I want to precisely synchronize UTC times of some UAVCAN nodes with a time master which has the GPS PPS signal connected to one IO. Pavel wrote there is a TODO comment for that in the STM32 driver I believe, but this fe… --- ## [Dsdl compiler error](https://forum.opencyphal.org/t/dsdl-compiler-error/412)
**Author:** [@Niranjan1](https://forum.opencyphal.org/u/Niranjan1)\ **Replies:** 2\ **Last updated:** [March 24, 2019, 7:39pm UTC](https://forum.opencyphal.org/t/dsdl-compiler-error/412 "2019-03-24T19:39:43Z")
Hi, I cloned the latest version of px4 firmware from git. I added new files in UAVCAN. When I built it, FAILED: cd /home/niran/Firmware/src/drivers/uavcan/libuavcan/libuavcan && /usr/bin/python /home/niran/Firmware/src… --- ## [Loopback = false problems](https://forum.opencyphal.org/t/loopback-false-problems/338)
**Author:** [@deekay](https://forum.opencyphal.org/u/deekay)\ **Replies:** 7\ **Last updated:** [February 13, 2019, 11:17am UTC](https://forum.opencyphal.org/t/loopback-false-problems/338 "2019-02-13T11:17:21Z")
Hi! Are testing uavcan socketCan driver on can0 interface. But only few frames (2 nodestatus) are coining out from the platform. When debugging it is noticed that int res below always returns -1. const int res = ::rec… --- ## [Node.spin() return non-zero error code at the correct work](https://forum.opencyphal.org/t/node-spin-return-non-zero-error-code-at-the-correct-work/341)
**Author:** [@EgoPingvina](https://forum.opencyphal.org/u/EgoPingvina)\ **Replies:** 1\ **Last updated:** [February 1, 2019, 11:02am UTC](https://forum.opencyphal.org/t/node-spin-return-non-zero-error-code-at-the-correct-work/341 "2019-02-01T11:02:17Z")
I use method spin from uavcan::Node class like this: static constexpr unsigned nodeMemoryPoolSize = 16384; // 4KB - 512KB typedef uavcan::Node\ Node; Node& GetNode() { static Node mynode(GetCa… --- ## [Uavcan::Subscriber subscribes and starts successfully, but cannot enter its corresponding callback function](https://forum.opencyphal.org/t/uavcan-subscriber-subscribes-and-starts-successfully-but-cannot-enter-its-corresponding-callback-function/299)
**Author:** [@zhpg](https://forum.opencyphal.org/u/zhpg)\ **Replies:** 2\ **Last updated:** [December 17, 2018, 5:10pm UTC](https://forum.opencyphal.org/t/uavcan-subscriber-subscribes-and-starts-successfully-but-cannot-enter-its-corresponding-callback-function/299 "2018-12-17T17:10:20Z")
Hello everyone, I used the Release 2.0 version of the zubax\_gnss project, which works very well. I recently saw the latest master version and tried to use it. I found that one problem is that my program can be assigned n… --- ## [Unsubscribe messages in lib](https://forum.opencyphal.org/t/unsubscribe-messages-in-lib/295)
**Author:** [@deekay](https://forum.opencyphal.org/u/deekay)\ **Replies:** 3\ **Last updated:** [December 17, 2018, 5:09pm UTC](https://forum.opencyphal.org/t/unsubscribe-messages-in-lib/295 "2018-12-17T17:09:47Z")
It is clear how to subscribe to multicast messages. But is it possible to unsubscribe ? I have a scenario when nodes are coming and going to/from the bus and subscriptions are done during runtime. Of course I can reuse … --- ## [Union in Request](https://forum.opencyphal.org/t/union-in-request/290)
**Author:** [@deekay](https://forum.opencyphal.org/u/deekay)\ **Replies:** 3\ **Last updated:** [December 13, 2018, 7:03pm UTC](https://forum.opencyphal.org/t/union-in-request/290 "2018-12-13T19:03:10Z")
Hi! Perhaps I misunderstood the specification, but is it allowed to use union directly in a service request as follows: # My servcie @union uint8 value1 uint16 value2 MyType value3 --- uint8 RespCode If this is po… --- ## [Two independent uavcan node on one mcu](https://forum.opencyphal.org/t/two-independent-uavcan-node-on-one-mcu/278)
**Author:** [@pletnev16rus](https://forum.opencyphal.org/u/pletnev16rus)\ **Replies:** 2\ **Last updated:** [November 30, 2018, 1:22pm UTC](https://forum.opencyphal.org/t/two-independent-uavcan-node-on-one-mcu/278 "2018-11-30T13:22:28Z")
Hello! I want to use two independent nodes on one mcu with unique nodeId, nodeName etc. Is Libuavcan fit for this purpose? --- ## [Configuring libuavcan\_stm32 for STM32F0XX](https://forum.opencyphal.org/t/configuring-libuavcan-stm32-for-stm32f0xx/251)
**Author:** [@6ramr](https://forum.opencyphal.org/u/6ramr)\ **Replies:** 12\ **Last updated:** [November 29, 2018, 9:42pm UTC](https://forum.opencyphal.org/t/configuring-libuavcan-stm32-for-stm32f0xx/251 "2018-11-29T21:42:19Z")
Hi. I’m trying to set up a uavcan-node on a STM32F098CC6 MCU which will publish sensor-data. I’m currently stuck at setting up the driver and library for my project. I’ve come as far as reducing errors down to three, whi… --- ## [How configure node params?](https://forum.opencyphal.org/t/how-configure-node-params/227)
**Author:** [@SergeyF1987](https://forum.opencyphal.org/u/SergeyF1987)\ **Replies:** 15\ **Last updated:** [November 12, 2018, 12:20pm UTC](https://forum.opencyphal.org/t/how-configure-node-params/227 "2018-11-12T12:20:43Z")
I fixed my troubles, that I described below, but now I have a question about one thing, that I still cannot understand completely. I want define some inner params for node (configure node). I read this tutorial. https:… --- ## [Active monitor implementation on STM32](https://forum.opencyphal.org/t/active-monitor-implementation-on-stm32/236)
**Author:** [@pletnev16rus](https://forum.opencyphal.org/u/pletnev16rus)\ **Replies:** 4\ **Last updated:** [November 8, 2018, 10:59am UTC](https://forum.opencyphal.org/t/active-monitor-implementation-on-stm32/236 "2018-11-08T10:59:32Z")
Hello! I want to use example “Active monitor” from chapter “Node discovery” of libuavcan tutorial (https://uavcan.org/Implementations/Libuavcan/Tutorials/9.\_Node\_discovery/) on my MCU STM32F103. I add code from example… --- ## [Subscribing to message type and src node ID](https://forum.opencyphal.org/t/subscribing-to-message-type-and-src-node-id/210)
**Author:** [@deekay](https://forum.opencyphal.org/u/deekay)\ **Replies:** 2\ **Last updated:** [October 25, 2018, 1:31pm UTC](https://forum.opencyphal.org/t/subscribing-to-message-type-and-src-node-id/210 "2018-10-25T13:31:37Z")
Hi! In my application there are multiple nodes of same type, like multiple temperature sensors of the same type. Although they each has unique node id. I am wondering if a node that subscribes to such message can “filt… --- ## [uavcan::Timer not found](https://forum.opencyphal.org/t/uavcan-timer-not-found/202)
**Author:** [@deekay](https://forum.opencyphal.org/u/deekay)\ **Replies:** 2\ **Last updated:** [October 19, 2018, 6:08am UTC](https://forum.opencyphal.org/t/uavcan-timer-not-found/202 "2018-10-19T06:08:39Z")
The tutorial about Timers on uavcan.org illutrates how to use uavcan::Timer. But I cannot fins such class. Is is hidden somwhere else? Regards --- ## [Reducing memory size using nostdlib flag](https://forum.opencyphal.org/t/reducing-memory-size-using-nostdlib-flag/178)
**Author:** [@Kjell](https://forum.opencyphal.org/u/Kjell)\ **Replies:** 7\ **Last updated:** [October 9, 2018, 7:43am UTC](https://forum.opencyphal.org/t/reducing-memory-size-using-nostdlib-flag/178 "2018-10-09T07:43:26Z")
Hi, i am trying to get libuavcan working on a stm32f413 on top of stm32cubemx generated code and freertos. The image gets too large after including libuavcan (about 150 kB bigger than without) - like in https://groups.g… [Previous page](https://forum.opencyphal.org/c/app/libcyphal/7.md)