How to subscribe to a message correctly on Libcanard

Applications & Usage Libcanard
1

I use stm32G4 with CAN ID.
I have 2 devices: device A and device B.

Device A: i send real32 array on while cycle

static inline void sendReal32ArrayMessage(void) {
	static uint8_t real32_transfer_id = 0;
    uavcan_primitive_array_Real32_1_0 message = {
        .value.elements = {1.6f, 2.0f, 3.0f, 4.0f, 5.1f},
		.value.count = 5
    };

    size_t message_ser_buf_size = uavcan_primitive_array_Real32_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_;
    uint8_t message_ser_buf[uavcan_primitive_array_Real32_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_] = {0};

    if (uavcan_primitive_array_Real32_1_0_serialize_(&message, message_ser_buf, &message_ser_buf_size) < 0) {
        Error_Handler();
    }

    const CanardTransferMetadata transfer_metadata = {
        .priority = CanardPriorityNominal,
        .transfer_kind = CanardTransferKindMessage,
        .port_id = 4,  // Укажите свой ID порта
        .remote_node_id = CANARD_NODE_ID_UNSET,
        .transfer_id = real32_transfer_id,
    };

    if (canardTxPush(&queue, &canard, 0, &transfer_metadata, message_ser_buf_size, message_ser_buf) < 0) {
        Error_Handler();
    }

    real32_transfer_id++;
}

Device B: Have subscribe to this port_id and handle this message on CANFD interrupt handler

	CanardRxSubscription rx_message_subscription;
	if( canardRxSubscribe(        &canard,
								CanardTransferKindMessage,
								4,
								uavcan_primitive_array_Real32_1_0_EXTENT_BYTES_,
								CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
								&rx_message_subscription) != 1 ){ Error_Handler(); }

But in the canardRxAccept function and the serializer for this data type does not work correctly, what should I do?

2

We’ll need more details to help. Share the full source code of both nodes. Check that there is CAN traffic on the bus at all.