# Manual deserialization of CANbus messages

**URL:** <https://forum.opencyphal.org/t/manual-deserialization-of-canbus-messages/2309>\
**Category:** Applications & Usage\
**Created:** [February 17, 2025, 6:28pm UTC](https://forum.opencyphal.org/t/manual-deserialization-of-canbus-messages/2309 "2025-02-17T18:28:07Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![Anton\_Igudesman](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/anton_igudesman/32/1660_2.png) [@Anton\_Igudesman](https://forum.opencyphal.org/u/Anton_Igudesman)\
**Post date:** [February 17, 2025, 6:28pm UTC](https://forum.opencyphal.org/t/manual-deserialization-of-canbus-messages/2309/1 "2025-02-17T18:28:07Z")

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Hello - new to this forum so please point me in the right direction if this is the wrong place - we are using pyuavcan-v0 1.0.0.dev35 in a distributed ROS2 environment. I am not the developer of the specific code, but we have lost the ability to parse our uavcan messages - I can still see the data in a candump, however I am wondering if there is documentation that will help me manually translate these messages a stop gap to our larger solution.

I know there is documentation somewhere on the structure of these CAN messages, however i am not able to locate.

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**Author:** ![pavel.kirienko](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/pavel.kirienko/32/9_2.png) [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\
**Post date:** [March 14, 2025, 11:02am UTC](https://forum.opencyphal.org/t/manual-deserialization-of-canbus-messages/2309/3 "2025-03-14T11:02:17Z")

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You are using DroneCAN, not Cyphal. The documentation you are looking for can be found here:

> **[3. Data structure description language - DroneCAN](https://dronecan.github.io/Specification/3._Data_structure_description_language/)**
>
> DroneCAN is the primary CAN protocol used by the ArduPilot and PX4 projects for communication with CAN peripherals. It is an open protocol with open communication, specification and multiple open implementations.

> **[4.1 CAN bus transport layer - DroneCAN](https://dronecan.github.io/Specification/4.1_CAN_bus_transport_layer/)**
>
> DroneCAN is the primary CAN protocol used by the ArduPilot and PX4 projects for communication with CAN peripherals. It is an open protocol with open communication, specification and multiple open implementations.