# 3. Cyphal Interface
This page is about Cyphal related details such as interface, supported features, registers, configuration and usage examples and software versions. For general information, refer to the 1. General page., for hardware related details including connection example scheme please refer here.
# 3.1. Interface
This node interacts with the following data types:
Common for any node
| № | Type | Message |
|---|---|---|
| 1 | pub | uavcan.node.Heartbeat (opens new window) |
| 2 | RPC-service | uavcan.node.GetInfo.Response (opens new window) |
| 3 | RPC-service | uavcan.node.ExecuteCommand (opens new window) |
| 4 | RPC-service | uavcan.register.List (opens new window) |
| 5 | RPC-service | uavcan.register.Access (opens new window) |
| 6 | pub (since hardware v3) | uavcan.node.port.List (opens new window) |
Here ExecuteCommand supports COMMAND_RESTART, COMMAND_FACTORY_RESET and COMMAND_STORE_PERSISTENT_STATES.
Circuit status service
Like any other RaccoonLab node, this node also supports the Circuit status service. It uses the following subjects:
| № | Type | Message | Topic name |
|---|---|---|---|
| 1 | pub | uavcan.si.sample.voltage.Scalar.1.0 | 5v |
| 2 | pub | uavcan.si.sample.voltage.Scalar.1.0 | vin |
| 3 | pub | uavcan.si.sample.temperature.Scalar.1.0 | dev_temp |
Rangefinder service
It uses the following subjects:
| № | Type | Message | Topic name |
|---|---|---|---|
| 1 | publisher | uavcan.si.sample.length.Scalar.1.0 (opens new window) | range |
# 3.2. Cyphal Registers
| № | Register name | Note | Description |
|---|---|---|---|
| 0 | id | reboot required | Node ID |
| 1 | uavcan.pub.range.id | Port identifier | |
| 2 | uavcan.pub.range.type | persistent | uavcan.si.sample.length.Scalar.1.0 |
| 3 | uavcan.pub.crct.5v.id | Port identifier | |
| 4 | uavcan.pub.crct.5v.type | persistent | uavcan.si.sample.voltage.Scalar.1.0 |
| 5 | uavcan.pub.crct.vin.id | Port identifier | |
| 6 | uavcan.pub.crct.vin.type | persistent | uavcan.si.sample.voltage.Scalar.1.0 |
| 7 | uavcan.pub.crct.temp.id | Port identifier | |
| 8 | uavcan.pub.crct.temp.type | persistent | uavcan.si.sample.temperature.Scalar.1.0 |
| 9 | sensor_type | Defines which sensor driver to use. | |
| 10 | name | reboot required | Node custom name |
You can get the list of registers, read and write them using Yakut (opens new window) cli or Yukon (opens new window) gui.
# 3.3. Debugging on a table
Before usage on the real application, it is necessary to perform the device configuration. It is recommended to use Yakut (opens new window) cli or Yukon (opens new window) gui.