Hello guys,
First of all thank you for keeping your project open-sourced.
Recently I’ve been jobless and to keep my mind in shape I decided to play a bit with cyphal and esc integration.
It took me a while to learn about your protocol and integrate everything.
I did some fouls in the process, like hard coding port ID to custom message.
If I continue playing with cyphal project I will definitely fix this.
Here is the project, it is pure C.
Critics are welcomed 