About Cyphal serial transport and libserard

Applications & Usage
1

Hi, we have successfully integrated cyphal with libcanard in several of our products (small satellite radios).

We are now looking into adding cyphal over serial (rs422) as a fallback transport, but we cannot find any working implementation of libserard or any other example.

The only repository with some code is this: GitHub - OpenCyphal-Garage/libserard: A compact implementation of the Cyphal/serial protocol in C for high-integrity real-time embedded systems , but it contains only headers without any implementation.

If a working/beta implementation of libserard is not available, could we implement that ourselves by following the specification ?

We saw that yakut already supports serial transport and we can receive and decode the generated messages, but how do we pass the received frames to the upper layer ? Does exist something like a ‘canardRxAccept’ but for serial ?

Thanks for any input/help on the issue :slight_smile:

2

Our very own @coder_kalyan has been working on the implementation in his fork of libserard:

He asked me to provide feedback on his work to eventually merge it into upstream, but I’ve been postponing that for a lack of time – sorry about that. I will pick it up as soon as time permits, but for now, consider using his fork as-is (YMMV). If you happen to have any feedback, feel free to open tickets and send pull requests.

Sorry for the delays.

3

Thanks a lot for the quick reply :slight_smile:

We plan to integrate and test the code next week.

We are happy to try it and give feedback as soon as possible.

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