Hi @jackorton32 
I’m happy you’ve followed through with building actual hardware 
. As you mention PlatformIO, are you planning to utilize 107-Arduino-Cyphal?
@pavel.kirienko : I’m not sure which board you refer too, there is OpenCyphalPicoBase with an Ardunio firmware stack which is CAN only at the moment, and there’s Pika Spark (sorry, no official picture yet 
) which has 1 x 1000BASE-T, 1 x 10BASE-T1S, 2 x CAN/CAN FD, 2 x RS485, WiFi and IMU but is rather a fully fleged micro robot control unit running Linux and ROS (and not bare-metal).
Looking forward to see this project evolve. Hardware supported CAN/CAN FD (i.e. not via SPI connected transceiver) is certainly the right choice to make.