# Integration of libcanard v4 to B-G431B-ESC1

**URL:** <https://forum.opencyphal.org/t/integration-of-libcanard-v4-to-b-g431b-esc1/2881>\
**Category:** Applications & Usage\
**Created:** [September 24, 2026, 5:43pm UTC](https://forum.opencyphal.org/t/integration-of-libcanard-v4-to-b-g431b-esc1/2881 "2026-09-24T17:43:30Z")\
**Posts on this page:** 1\
**Page:** 1

<div class="post-metadata">

**Author:** ![dragan-zmaj](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/dragan-zmaj/32/1765_2.png) [@dragan-zmaj](https://forum.opencyphal.org/u/dragan-zmaj)\
**Post date:** [September 24, 2026, 5:43pm UTC](https://forum.opencyphal.org/t/integration-of-libcanard-v4-to-b-g431b-esc1/2881/1 "2026-09-24T17:43:31Z")

</div>

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 🙂

> **[GitHub - dragan-zmaj/lillian: Cyphal protocol over CAN controlling B-G431B-ESC1...](https://github.com/dragan-zmaj/lillian)**
>
> Cyphal protocol over CAN controlling B-G431B-ESC1 driving high speed motor with Lilly impeller