I spent today cleaning up and adding to the UDRAL document based on the discussion in the comments. There is still work to be done, but it’s starting to take shape. I am trying to make the best possible compromises between efficiency, usability, composability/flexibility, and adhering to UAVCANv1 guidelines. I am currently working on developing a “device class” system - this may be used through registers for capability listing and/or type safety or just end up being a way we organize our devices. Additionally I will work on an RFC for better event/error/fault handling and post it on this forum.
Naturally, this spec is useless without @dagar and @tridge’s input, so I ask again please if you can check out the proposal. If everything looks good, we can start developing the actual messages. I would definitely like to move ahead with that soon but don’t want to rush before approval so we avoid wasting work.