# Development & Maintenance **URL:** https://forum.opencyphal.org/c/dev/5.md?page=1 [Latest](https://forum.opencyphal.org/latest.md) · [Categories](https://forum.opencyphal.org/categories.md) **Page:** 2 --- ## [Amendment to the transfer reception state machine implementations](https://forum.opencyphal.org/t/amendment-to-the-transfer-reception-state-machine-implementations/1870)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 1\ **Last updated:** [April 20, 2023, 8:52pm UTC](https://forum.opencyphal.org/t/amendment-to-the-transfer-reception-state-machine-implementations/1870 "2023-04-20T20:52:38Z")
The implementations of the multi-frame transfer reassembly state machine in libcanard, libudpard, and pycyphal may be considered non-spec-compliant under some interpretations of the Specification. There is one edge case … --- ## [Cyphal-Config food for thought](https://forum.opencyphal.org/t/cyphal-config-food-for-thought/1848)
**Author:** [@scottdixon](https://forum.opencyphal.org/u/scottdixon)\ **Replies:** 0\ **Last updated:** [March 13, 2023, 5:17pm UTC](https://forum.opencyphal.org/t/cyphal-config-food-for-thought/1848 "2023-03-13T17:17:45Z")
This next in my “v1.x food-for-thought” series: I wonder if standardizing on YANG models as a way to configure Cyphal networks would make sense. This is especially pertinent given my desire to develop Cyphal/TSN as part … --- ## [Cyphal-Auth food for thought](https://forum.opencyphal.org/t/cyphal-auth-food-for-thought/1847)
**Author:** [@scottdixon](https://forum.opencyphal.org/u/scottdixon)\ **Replies:** 0\ **Last updated:** [March 13, 2023, 5:06pm UTC](https://forum.opencyphal.org/t/cyphal-auth-food-for-thought/1847 "2023-03-13T17:06:10Z")
Cyphal 1.0 will be GA soon (we’re just cleaning up some loose ends on the Beta and then it’s v1 forever) so I’ve been thinking a bit about V1.x in general and secure communications specifically. I’m not ready to post a l… --- ## [Development setup pycyphal (Ubuntu)](https://forum.opencyphal.org/t/development-setup-pycyphal-ubuntu/1844)
**Author:** [@maksim.drachov](https://forum.opencyphal.org/u/maksim.drachov)\ **Replies:** 0\ **Last updated:** [March 11, 2023, 4:54pm UTC](https://forum.opencyphal.org/t/development-setup-pycyphal-ubuntu/1844 "2023-03-11T16:54:05Z")
This guide assumes you’re using Ubuntu (in my case a VM running on Amazon EC2 as I’m on a Macbook). 1. Setup VM If you already have a Ubuntu setup, you can skip this section. Go to the EC2 Management Console Launch In… --- ## [Reserved identifiers for diagnostic and debugging tools](https://forum.opencyphal.org/t/reserved-identifiers-for-diagnostic-and-debugging-tools/1833)
**Author:** [@scottdixon](https://forum.opencyphal.org/u/scottdixon)\ **Replies:** 1\ **Last updated:** [February 28, 2023, 12:45am UTC](https://forum.opencyphal.org/t/reserved-identifiers-for-diagnostic-and-debugging-tools/1833 "2023-02-28T00:45:07Z")
Section 5.2.1 of the Cyphal specification reads: … The two uppermost node-ID values are reserved for diagnostic and debugging tools; these node-ID values should not be used in fielded systems. This seems to create … --- ## [New OpenCyphal Project Proposal: CETL](https://forum.opencyphal.org/t/new-opencyphal-project-proposal-cetl/1825)
**Author:** [@scottdixon](https://forum.opencyphal.org/u/scottdixon)\ **Replies:** 20\ **Last updated:** [February 10, 2023, 5:08pm UTC](https://forum.opencyphal.org/t/new-opencyphal-project-proposal-cetl/1825 "2023-02-10T17:08:06Z")
As we develop libcyphal and as C++ Nunavut matures there is an emerging need to share some basic container types between the two projects that are either not readily available in STL or not available in STL at our base s… --- ## [Central repository of DSDL namespaces](https://forum.opencyphal.org/t/central-repository-of-dsdl-namespaces/1817)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 5\ **Last updated:** [February 3, 2023, 9:09pm UTC](https://forum.opencyphal.org/t/central-repository-of-dsdl-namespaces/1817 "2023-02-03T21:09:47Z")
cc @scottdixon @chemicstry Concept When operating Cyphal tools that manage DSDL, the user is required to provide the DSDL sources manually. Examples of this include the use of Yakut, Yukon, or Nunavut. The tool UX could… --- ## [Cyphal/UDP redundancy](https://forum.opencyphal.org/t/cyphal-udp-redundancy/1822)
**Author:** [@scottdixon](https://forum.opencyphal.org/u/scottdixon)\ **Replies:** 3\ **Last updated:** [February 1, 2023, 12:03pm UTC](https://forum.opencyphal.org/t/cyphal-udp-redundancy/1822 "2023-02-01T12:03:35Z")
The current specification defines redundant transports abstractly and redundant CAN transports concretely. What is the story for UDP? It’s interesting because Cyphal/TSN can use 802.1CB to meet this requirement but I’m n… --- ## [DSDL v1.1: Introduce the concept of default field initialization and allow customizing this behavior per field](https://forum.opencyphal.org/t/dsdl-v1-1-introduce-the-concept-of-default-field-initialization-and-allow-customizing-this-behavior-per-field/1802)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 17\ **Last updated:** [December 16, 2022, 12:13am UTC](https://forum.opencyphal.org/t/dsdl-v1-1-introduce-the-concept-of-default-field-initialization-and-allow-customizing-this-behavior-per-field/1802 "2022-12-16T00:13:58Z")
Currently, the DSDL specification does not dedicate much attention to the default value initialization of DSDL fields. I suggest amending it by Cyphal v1.1 as follows: Define and require zero-initialization of primiti… --- ## [Generic Media Access Layer](https://forum.opencyphal.org/t/generic-media-access-layer/1783)
**Author:** [@erik.rainey](https://forum.opencyphal.org/u/erik.rainey)\ **Replies:** 1\ **Last updated:** [October 28, 2022, 3:26pm UTC](https://forum.opencyphal.org/t/generic-media-access-layer/1783 "2022-10-28T15:26:05Z")
Several of the libraries in the project now are beginning to have somewhat duplicated code in the framing layer above the media itself. The same or similar algorithm exists in libcanard / libupdard / libserard / lib\*ard … --- ## [Libuavcan interfacing with chibios](https://forum.opencyphal.org/t/libuavcan-interfacing-with-chibios/1776)
**Author:** [@Pramod](https://forum.opencyphal.org/u/Pramod)\ **Replies:** 2\ **Last updated:** [October 20, 2022, 10:44am UTC](https://forum.opencyphal.org/t/libuavcan-interfacing-with-chibios/1776 "2022-10-20T10:44:36Z")
Hi, I’m trying to interface libuavcan with chibios. I’ve made changes to main make file by comparing with libuavcan\\libuavcan\_drivers\\stm32\\test\_stm32f107\\Makefile. But I’m getting below error which i’m unable to resolv… --- ## [Remove the requirement to have uniquely named top-level DSDL namespaces](https://forum.opencyphal.org/t/remove-the-requirement-to-have-uniquely-named-top-level-dsdl-namespaces/1706)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 5\ **Last updated:** [September 30, 2022, 4:12pm UTC](https://forum.opencyphal.org/t/remove-the-requirement-to-have-uniquely-named-top-level-dsdl-namespaces/1706 "2022-09-30T16:12:21Z")
@scottdixon I recall we discussed this briefly several times a few years ago but the topic was shelved. Was there interest in revising this rule? Context: https://github.com/OpenCyphal/pycyphal/pull/68#issuecomment-… --- ## [Cyphal/UDP C Library Repository](https://forum.opencyphal.org/t/cyphal-udp-c-library-repository/1725)
**Author:** [@schoberm](https://forum.opencyphal.org/u/schoberm)\ **Replies:** 20\ **Last updated:** [September 13, 2022, 10:54pm UTC](https://forum.opencyphal.org/t/cyphal-udp-c-library-repository/1725 "2022-09-13T22:54:24Z")
I’m working on a prototype implementation of a Cyphal/UDP C library based on libcanard and current specification from the PyCyphal/UDP implementation. How can I go about creating a repository in the OpenCyphal Garage for… --- ## [Community RFC process](https://forum.opencyphal.org/t/community-rfc-process/1750)
**Author:** [@scottdixon](https://forum.opencyphal.org/u/scottdixon)\ **Replies:** 0\ **Last updated:** [September 9, 2022, 7:12pm UTC](https://forum.opencyphal.org/t/community-rfc-process/1750 "2022-09-09T19:12:04Z")
I’ve opened a PR to the specification README that defines a community-driven RFC process. If you care about the rules for contributing to the Cyphal specification, as maintained by the OpenCyphal project, please review a… --- ## [Cyphal/UDP Routing over Multiple Networks](https://forum.opencyphal.org/t/cyphal-udp-routing-over-multiple-networks/1657)
**Author:** [@schoberm](https://forum.opencyphal.org/u/schoberm)\ **Replies:** 37\ **Last updated:** [August 25, 2022, 10:53pm UTC](https://forum.opencyphal.org/t/cyphal-udp-routing-over-multiple-networks/1657 "2022-08-25T22:53:24Z")
What are your thoughts on routing Cyphal service requests and responses over Multiple Networks? What questions and scenarios should we be considering when developing the Cyphal/UDP specification? I’m working with Scott… --- ## [Please publish both Spec and implementation as a paper in JOSS](https://forum.opencyphal.org/t/please-publish-both-spec-and-implementation-as-a-paper-in-joss/1674)
**Author:** [@ASMik](https://forum.opencyphal.org/u/ASMik)\ **Replies:** 2\ **Last updated:** [June 3, 2022, 5:15pm UTC](https://forum.opencyphal.org/t/please-publish-both-spec-and-implementation-as-a-paper-in-joss/1674 "2022-06-03T17:15:59Z")
Hello! I think, it would be very desirable for anyone writing about Cyphal(UAVCAN) to be able to cite your work from a peer-reviewed journal. From everything I can tell, Cyphal’s spec is mature enough. Therefore, I sug… --- ## [Public regulated data types and ROS2 Common interfaces](https://forum.opencyphal.org/t/public-regulated-data-types-and-ros2-common-interfaces/1529)
**Author:** [@pepe](https://forum.opencyphal.org/u/pepe)\ **Replies:** 1\ **Last updated:** [November 19, 2021, 1:38pm UTC](https://forum.opencyphal.org/t/public-regulated-data-types-and-ros2-common-interfaces/1529 "2021-11-19T13:38:23Z")
Hello, I ave a couple of questios as I might be a bit out the loop (just getting started with UAVCAN) I am currently involved in the development of a robot and it makes sense for us to use UAVCAN for most of the low lev… --- ## [Root Namespace uavcan.\* after Rebranding](https://forum.opencyphal.org/t/root-namespace-uavcan-after-rebranding/1644)
**Author:** [@finwood](https://forum.opencyphal.org/u/finwood)\ **Replies:** 2\ **Last updated:** [April 19, 2022, 12:46pm UTC](https://forum.opencyphal.org/t/root-namespace-uavcan-after-rebranding/1644 "2022-04-19T12:46:26Z")
In the past few days and weeks, many projects comprising the OpenCyphal ecosystem have been updated to reflect the new name. Do I assume correctly that the uavcan.\* root namespace will be renamed as well? If yes, what w… --- ## [C++ serialization development](https://forum.opencyphal.org/t/c-serialization-development/1597)
**Author:** [@ASMik](https://forum.opencyphal.org/u/ASMik)\ **Replies:** 2\ **Last updated:** [February 23, 2022, 6:30pm UTC](https://forum.opencyphal.org/t/c-serialization-development/1597 "2022-02-23T18:30:55Z")
I’m currently writing C++ (de)serialization layer in Nunavut. I’m mostly copying C layer, adapting it to C++. Can someone advise me on this? How can I run C++ linting for the verification part? Can I add external hea… --- ## [Questions about the Time Synchronization in Specification](https://forum.opencyphal.org/t/questions-about-the-time-synchronization-in-specification/1562)
**Author:** [@xbron](https://forum.opencyphal.org/u/xbron)\ **Replies:** 4\ **Last updated:** [January 7, 2022, 3:55pm UTC](https://forum.opencyphal.org/t/questions-about-the-time-synchronization-in-specification/1562 "2022-01-07T15:55:30Z")
Hello Pavel, I try to understand how to implement the time synchronization in my application and I think that detailed explanation in uavcan.time.Synchronization data type description in Specification is useful, but I li… --- ## [Queue Disciplines and Linux SocketCAN](https://forum.opencyphal.org/t/queue-disciplines-and-linux-socketcan/548)
**Author:** [@scottdixon](https://forum.opencyphal.org/u/scottdixon)\ **Replies:** 3\ **Last updated:** [December 21, 2021, 8:54pm UTC](https://forum.opencyphal.org/t/queue-disciplines-and-linux-socketcan/548 "2021-12-21T20:54:49Z")
The purpose of this topic is to discuss what to do about frame queuing on Linux for UAVCAN. The current libuavcan implementation provides a single priority queue in user-space that sits in front of SocketCAN which is an… --- ## [Question about CAN example from Specification v1.0-beta](https://forum.opencyphal.org/t/question-about-can-example-from-specification-v1-0-beta/1517)
**Author:** [@xbron](https://forum.opencyphal.org/u/xbron)\ **Replies:** 2\ **Last updated:** [November 12, 2021, 5:04pm UTC](https://forum.opencyphal.org/t/question-about-can-example-from-specification-v1-0-beta/1517 "2021-11-12T17:04:16Z")
Hello, I’m currently reading your specification (v1.0-beta) and I can’t understand one example from section 4.2.3 Examples (page 63). The example shows Heartbeat from node-ID 42, nominal priority level, uptime starting … --- ## [Automotive COTS L3 Ethernet router with IGMP and TSN support](https://forum.opencyphal.org/t/automotive-cots-l3-ethernet-router-with-igmp-and-tsn-support/1465)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 13\ **Last updated:** [October 4, 2021, 6:18pm UTC](https://forum.opencyphal.org/t/automotive-cots-l3-ethernet-router-with-igmp-and-tsn-support/1465 "2021-10-04T18:18:57Z")
There is no such thing out there, is there? The best I could find is a die-hard DIY option based on an L2 switch IC like Microchip’s KSZ8567 (or similar) or NXP’s SJA1105 family. Being L2 devices, they are unable to man… --- ## [Cyphal/CAN Physical Layer Specification v1.0](https://forum.opencyphal.org/t/cyphal-can-physical-layer-specification-v1-0/1471)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 0\ **Last updated:** [October 1, 2021, 10:42am UTC](https://forum.opencyphal.org/t/cyphal-can-physical-layer-specification-v1-0/1471 "2021-10-01T10:42:46Z")
Today we release Cyphal/CAN Physical Layer Specification v1.0 named UCANPHY (the U is for historical reasons). The UCANPHY Specification replaces the now-defunct physical layer section of the core Cyphal Specification. U… --- ## [Add file sha256 in 405.GetInfo.0.2.uavcan](https://forum.opencyphal.org/t/add-file-sha256-in-405-getinfo-0-2-uavcan/1462)
**Author:** [@Cherish-forever](https://forum.opencyphal.org/u/Cherish-forever)\ **Replies:** 2\ **Last updated:** [September 28, 2021, 5:59am UTC](https://forum.opencyphal.org/t/add-file-sha256-in-405-getinfo-0-2-uavcan/1462 "2021-09-28T05:59:53Z")
I think add file sha256 to GetInfo response will be better. so that it can be verified after firmware has been download. crc64 in file name is out of fashion. --- ## [Automatic configuration of port identifiers](https://forum.opencyphal.org/t/automatic-configuration-of-port-identifiers/840)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 11\ **Last updated:** [September 12, 2021, 6:37pm UTC](https://forum.opencyphal.org/t/automatic-configuration-of-port-identifiers/840 "2021-09-12T18:37:17Z")
A UAVCAN port (subject or service) is conceptually similar to a topic in DDS/ROS. Ports identify the meaning (semantics) of data within a particular system while its type identifies its structure (syntax). Semantics and … --- ## [New on line chat tool](https://forum.opencyphal.org/t/new-on-line-chat-tool/1423)
**Author:** [@Cherish-forever](https://forum.opencyphal.org/u/Cherish-forever)\ **Replies:** 2\ **Last updated:** [September 7, 2021, 8:28am UTC](https://forum.opencyphal.org/t/new-on-line-chat-tool/1423 "2021-09-07T08:28:28Z")
I found a good online chat tool --- ## [Fixing remaining deficiences in UAVCANv1 infrastructure](https://forum.opencyphal.org/t/fixing-remaining-deficiences-in-uavcanv1-infrastructure/1344)
**Author:** [@coder\_kalyan](https://forum.opencyphal.org/u/coder_kalyan)\ **Replies:** 19\ **Last updated:** [July 24, 2021, 12:10am UTC](https://forum.opencyphal.org/t/fixing-remaining-deficiences-in-uavcanv1-infrastructure/1344 "2021-07-24T00:10:06Z")
This thread is for: Listing and resolving the remaining deficiencies in the infrastructure related to UAVCANv1. this includes but is not limited to documentation, application layer libraries, and most importantly, tool… --- ## [Proposal: application layer libraries](https://forum.opencyphal.org/t/proposal-application-layer-libraries/1364)
**Author:** [@coder\_kalyan](https://forum.opencyphal.org/u/coder_kalyan)\ **Replies:** 19\ **Last updated:** [July 23, 2021, 7:08pm UTC](https://forum.opencyphal.org/t/proposal-application-layer-libraries/1364 "2021-07-23T19:08:03Z")
Libuavcan is quite a large framework which will take a lot of work to migrate to V1 - and so far, I don’t believe that anyone has offered to do the work. To this regard, I have the following radical proposal: Either to… --- ## [On multi-agent services and design guidelines](https://forum.opencyphal.org/t/on-multi-agent-services-and-design-guidelines/947)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 9\ **Last updated:** [July 23, 2021, 9:52am UTC](https://forum.opencyphal.org/t/on-multi-agent-services-and-design-guidelines/947 "2021-07-23T09:52:15Z")
The UAVCAN Guide says this: A service may be designed in such a way where it is provided by a group of identical collaborating agents with strong logical cohesion . In this case, we admit that the means of differentia… [Previous page](https://forum.opencyphal.org/c/dev/5.md) [Next page](https://forum.opencyphal.org/c/dev/5.md?page=2)