# LIbcanard on freeRTOS SUCCESSFULl! **URL:** \ **Category:** Libcanard\ **Created:** [November 11, 2018, 11:16am UTC](https://forum.opencyphal.org/t/libcanard-on-freertos-successfull/238 "2018-11-11T11:16:38Z")\ **Posts on this page:** 5\ **Page:** 1
**Author:** ![skyyuzhang](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/skyyuzhang/32/65_2.png) [@skyyuzhang](https://forum.opencyphal.org/u/skyyuzhang)\ **Post date:** [November 11, 2018, 11:16am UTC](https://forum.opencyphal.org/t/libcanard-on-freertos-successfull/238/1 "2018-11-11T11:16:38Z")
Thanks for the help form pavel.kirienko and Alexander I have been researching libcanard for a while and finally it is successful. the function of my program is not too much just NODE\_STATUS and RC\_PWM subscriber and publisher of some sin value. It is not complete I will keep maintain and make better. of course I will keep it simple as possible as I can . in this program FreeRTOS has been used. so you can make more things you want . The hardware I choice on of the most ordinary chip which is STM32F103C8 and TJA1051 . The circuit is also simple.the project are as follow .I wish my project could help more people which is learning and interesting on libcanard . [https://github.com/skyyuzhang/UAVCAN\_NODE\_FreeRTOS](https://github.com/skyyuzhang/UAVCAN_NODE_FreeRTOS) ---
**Author:** ![geomall92](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/geomall92/32/152_2.png) [@geomall92](https://forum.opencyphal.org/u/geomall92)\ **Post date:** [November 12, 2018, 5:18pm UTC](https://forum.opencyphal.org/t/libcanard-on-freertos-successfull/238/2 "2018-11-12T17:18:54Z")
Wow, thanks so much. I’ve been working slowly towards this very thing! I’ve been able to build hex/elf successfully with “make” command right out of a git clone. I have the STM32F103C8 and TJA1051 hardware on hand, I will test it out and report back. ---
**Author:** ![skyyuzhang](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/skyyuzhang/32/65_2.png) [@skyyuzhang](https://forum.opencyphal.org/u/skyyuzhang)\ **Post date:** [November 13, 2018, 5:23am UTC](https://forum.opencyphal.org/t/libcanard-on-freertos-successfull/238/3 "2018-11-13T05:23:32Z")
I will make more different funtcion using libcanard on many different chip. not just only stm32f103c8. As for it is bigger for some modules ---
**Author:** ![geomall92](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/geomall92/32/152_2.png) [@geomall92](https://forum.opencyphal.org/u/geomall92)\ **Post date:** [January 16, 2019, 7:58pm UTC](https://forum.opencyphal.org/t/libcanard-on-freertos-successfull/238/4 "2019-01-16T19:58:10Z")
Hello Skyyuzhang, Thanks again for sharing your working project on GitHub. I built it up and tested on inexpensive STM32F103s with known good SN65HVD230 adapters and had immediate success. Compiled with gcc 7.3.0 on Windows. I’ve documented it here [https://www.rcgroups.com/forums/showpost.php?p=40932635&postcount=16](https://www.rcgroups.com/forums/showpost.php?p=40932635&postcount=16) Thanks so much, George ![UAVCAN_NODE_FreeRTOS_sch](https://forum.opencyphal.org/uploads/default/original/1X/28379cfd80b6ba8b11b08f190c11524011e2d127.jpeg) ![desktop](https://forum.opencyphal.org/uploads/default/original/1X/cf0b45e622b68fbacba18bf25ae224f7838d87ab.gif) ---
**Author:** ![kent.martin](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/kent.martin/32/370_2.png) [@kent.martin](https://forum.opencyphal.org/u/kent.martin)\ **Post date:** [May 21, 2019, 2:38am UTC](https://forum.opencyphal.org/t/libcanard-on-freertos-successfull/238/5 "2019-05-21T02:38:10Z")
Hi, Thanks for this demo. I have been unsuccessfully trying to get any libcanard code to function . I built your code by imported it to ac6 (sw4stm) as a makefile project. That worked ok but I could not debug it, so I created another sw4stm project from your .ioc file and changed to sw4stm instead of makefile. I copied in the code and then excluded files not used. It build and I could debug it. However when I connect it to a zubax babel with uavcan gui bus monitor , I do not see any messages at all ,and it gets stuck in the tx loop and never returns from there. I had the same problem with the zubax babel running libcanard tutorials. What is an easy way to test this code? I have tried to sets of source and 2 different hardware boards always with the same result. I have test 2 zubax boards with uavcan gui together and they see each others node status messages fine. Is there a binary or somehting that is known to work that I can test with to try and narrow this down? Thanks, Kent