# Questions about UAVCAN v1 FAQ

**URL:** <https://forum.opencyphal.org/t/questions-about-uavcan-v1-faq/1420>\
**Category:** Applications & Usage\
**Created:** [September 6, 2021, 12:15pm UTC](https://forum.opencyphal.org/t/questions-about-uavcan-v1-faq/1420 "2021-09-06T12:15:53Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![pepe](https://forum.opencyphal.org/letter_avatar_proxy/v4/letter/p/4da419/32.png) [@pepe](https://forum.opencyphal.org/u/pepe)\
**Post date:** [September 6, 2021, 12:15pm UTC](https://forum.opencyphal.org/t/questions-about-uavcan-v1-faq/1420/1 "2021-09-06T12:15:53Z")

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Hello Kalyan,

I am quite new to UAVCAN and still trying to get my feet wet. I have a some of questions:

- Is there any up to date document for the **UCANPHY** or the V0 is still the latest one. I assume in terms of hardware, while still working with CAN not much has changed.
- Are there any V1 tutorial on how to implement dynamic Node IDs?

Many thanks,  
Pepe

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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:** [September 6, 2021, 12:22pm UTC](https://forum.opencyphal.org/t/questions-about-uavcan-v1-faq/1420/2 "2021-09-06T12:22:54Z")

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I am not Kalyan but I think I can answer these.

- The latest UCANPHY draft is available here: [https://forum.opencyphal.org/uploads/short-url/9ohIXmOudLBXUFxOWRJ1YtJBv3Z.pdf](https://forum.opencyphal.org/uploads/short-url/9ohIXmOudLBXUFxOWRJ1YtJBv3Z.pdf). There are no pending changes on the roadmap. I expect the document to be released pretty much unchanged.

- The PnP mechanism is implemented in the official demos (be sure to read the README for a detailed guidance):

> <https://github.com/OpenCyphal-Garage/demos/blob/bfdbae036bab4cd389f567127fbd7640021c7e28/differential_pressure_sensor/src/main.c#L228-L249>

Also, see PyUAVCAN docs for the server-side implementation: [https://pyuavcan.readthedocs.io/en/stable/api/pyuavcan.application.plug\_and\_play.html](https://pyuavcan.readthedocs.io/en/stable/api/pyuavcan.application.plug_and_play.html)

Nitpick: don’t say “dynamic node-ID allocation”, the correct term is “plug-and-play node-ID allocation” because node-IDs do not change at runtime, they are auto-configured once and kept unchanged, kind of like DHCP addresses.

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**Author:** ![pepe](https://forum.opencyphal.org/letter_avatar_proxy/v4/letter/p/4da419/32.png) [@pepe](https://forum.opencyphal.org/u/pepe)\
**Post date:** [September 6, 2021, 12:31pm UTC](https://forum.opencyphal.org/t/questions-about-uavcan-v1-faq/1420/3 "2021-09-06T12:31:33Z")

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Many thanks for the information, I will look into the docs and will try to make a proof of concept and share it in the appropriate thread.

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**Author:** ![coder\_kalyan](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/coder_kalyan/32/1361_2.png) [@coder\_kalyan](https://forum.opencyphal.org/u/coder_kalyan)\
**Post date:** [September 7, 2021, 2:46pm UTC](https://forum.opencyphal.org/t/questions-about-uavcan-v1-faq/1420/4 "2021-09-07T14:46:44Z")

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Thanks for answering Pavel! @pepe feel free to let us know if you have any other questions, including something you find unclear that I should put in the FAQ 🙂