Developing pico node using Yukon

Kevin · September 8, 2023, 7:26am

Hi!
I am trying to utilize 107-Arduino-Cyphal related libraries to develop a pico node.
And, I am trying to subscribe to some uavcan.primitive.scalar.Real16.1.0 published by Yukon, and sadly got this:

What would be the necessary steps to let Yukon discover a subscription from a Pico node?
Thank you!

pavel.kirienko · September 8, 2023, 8:27am

You are missing uavcan.(pub|sub|cln|srv).PORT_NAME.type registers. See the Spec:

github.com

OpenCyphal/public_regulated_data_types/blob/935973babe11755d8070e67452b3508b4b6833e2/uavcan/register/384.Access.1.0.dsdl#L154-L162


      
          #   uavcan.pub.PORT_NAME.type                           string          immutable, persistent   N/A
          #   uavcan.sub.PORT_NAME.type                           ditto           ditto                   ditto
          #   uavcan.cln.PORT_NAME.type                           ditto           ditto                   ditto
          #   uavcan.srv.PORT_NAME.type                           ditto           ditto                   ditto
          #
          # Publication/subscription/client/server full data type name and dot-separated version numbers, respectively.
          # These registers are set by the vendor once and typically they are to remain unchanged (hence "immutable").
          # The "PORT_NAME" defines the human-friendly name of the port as specified above.
          # For example, a register named "uavcan.pub.measurement.type" may contain "uavcan.si.sample.angle.Quaternion.1.0".

Kevin · September 8, 2023, 8:52am

Oh my bad.
I put cyphal.sub.PORT_NAME.type instead of uavcan.sub.PORT_NAME.type now everything works!
Thank you!