diff --git a/reg/udral/README.md b/reg/udral/README.md index 832b83f6..230f3b51 100644 --- a/reg/udral/README.md +++ b/reg/udral/README.md @@ -1,8 +1,8 @@ # UDRAL This namespace contains data type definitions, network service specifications, usage guidelines and best practices, -and other documentation relating to the UAVCAN DRone Application Layer Specification (UDRAL). -The specification defines the application layer for applying UAVCAN v1 to (un)manned aerial vehicles, +and other documentation relating to the Cyphal drone application layer (UDRAL) specification. +The specification defines the application layer for applying Cyphal to (un)manned aerial vehicles, including multirotors and fixed wing aircraft. The definitions are contained in two namespaces: @@ -25,7 +25,7 @@ UDRAL is designed per the following goals: The user of this standard is advised to get familiar with the basic principles of service-oriented design. As a quick primer, [read Wikipedia](https://en.wikipedia.org/wiki/Service-oriented_architecture). -For a more in-depth review, please read the [UAVCAN Guide](https://uavcan.org/guide). +For a more in-depth review, please read the [Cyphal Guide](https://opencyphal.org/guide). The value of this or any other interoperability standard is in enabling compatible, composable, and extensible complex systems. @@ -67,21 +67,21 @@ Being forward-looking, this design is optimized for transports that offer the data rates of at least ~4 Mbps and the MTU of at least ~64 bytes. It is expected that in the foreseeable future all new applications will be leveraging transports whose data transfer capability is at this level or higher -(this includes, for example, UAVCAN/UDP over Ethernet, UAVCAN/CAN over CAN FD, UAVCAN/serial over RS-422 or USB, etc). +(this includes, for example, Cyphal/UDP over Ethernet, Cyphal/CAN over CAN FD, Cyphal/serial over RS-422 or USB, etc). -Note that UAVCAN v1 allows integrators to selectively disable irrelevant publications by reconfiguring the +Note that Cyphal allows integrators to selectively disable irrelevant publications by reconfiguring the appropriate port-ID registers (`uavcan.pub.*.id`), which is a powerful bandwidth management tool. Applications relying on Classic CAN (maximum data rate 1 Mbps, MTU 8 bytes) can still deploy these network services, but the designer needs to be aware that most transfers will be multi-frame transfers and the resulting bus utilization may be comparatively high. Multi-frame transfers are not expected to cause performance issues because the official -UAVCAN implementation libraries are optimized for handling multi-frame transfers efficiently. +Cyphal implementation libraries are optimized for handling multi-frame transfers efficiently. The following resources are provided to help the integrator analyze bandwidth usage: -- [UAVCAN/CAN bandwidth validation: Classic CAN](https://docs.google.com/spreadsheets/d/1zjpdPfmBf9oje2qjLYddlhFfkaQuTJ-VvQjHxzITils/edit) -- [UAVCAN/CAN bandwidth validation: CAN FD](https://docs.google.com/spreadsheets/d/1iK0MegMuEC55c-zTW6ssWhrA_sGUuSlT0S26xv5gytE/edit) +- [Cyphal/CAN bandwidth validation: Classic CAN](https://docs.google.com/spreadsheets/d/1zjpdPfmBf9oje2qjLYddlhFfkaQuTJ-VvQjHxzITils/edit) +- [Cyphal/CAN bandwidth validation: CAN FD](https://docs.google.com/spreadsheets/d/1iK0MegMuEC55c-zTW6ssWhrA_sGUuSlT0S26xv5gytE/edit) ## Typical applications @@ -118,16 +118,16 @@ which may as well be published by a mocap rig. ### Port name prefixes -In UAVCAN, the name of a port (i.e., subject or RPC-service) defines the names of related registers +In Cyphal, the name of a port (i.e., subject or RPC-service) defines the names of related registers as described in the documentation for the standard RPC-service `uavcan.register.Access`. For instance, a node that publishes to the subject named `measurement` would have registers named `uavcan.pub.measurement.id` and `uavcan.pub.measurement.type` (among others). -> N.B.: Contrary to other protocols, in UAVCAN, the name of a port is a node-local property that does not affect +> N.B.: Contrary to other protocols, in Cyphal, the name of a port is a node-local property that does not affect network exchanges over that port. This means that nodes can publish/subscribe to a port even if they name it differently as long as they are configured to use the same numerical port-ID. - The details are given in the UAVCAN Specification. + The details are given in the Cyphal Specification. Network service specifications given here under the `service` namespace provide the recommended names for every defined port. @@ -249,7 +249,7 @@ The design allows this by adding an optional register per port that contains a s uavcan.srv.PORT_NAME.type_sig Where `PORT_NAME` is a placeholder defined in the -[documentation for `uavcan.register.Access`](https://github.com/UAVCAN/public_regulated_data_types/blob/b02e6899a319ddefbab41b820d167c95dd00174d/uavcan/register/384.Access.1.0.uavcan#L136-L139). +[documentation for `uavcan.register.Access`](https://github.com/OpenCyphal/public_regulated_data_types/blob/b02e6899a319ddefbab41b820d167c95dd00174d/uavcan/register/384.Access.1.0.uavcan#L136-L139). For example: `uavcan.sub.main_drive.setpoint.type_sig` Example signature would look like `(u12{u8}a5[f16]=i8)`, and be interpreted as @@ -267,7 +267,7 @@ Sample proof-of-concept code that generates type string from DSDL and compares t ## Conventions -- Conventions defined in the UAVCAN Specification shall be followed. +- Conventions defined in the Cyphal Specification shall be followed. - All physical quantities except error variance should be represented as `float32` by default. Error variance and covariance matrices should use `float16` by default. diff --git a/reg/udral/physics/acoustics/Note.0.1.uavcan b/reg/udral/physics/acoustics/Note.0.1.dsdl similarity index 100% rename from reg/udral/physics/acoustics/Note.0.1.uavcan rename to reg/udral/physics/acoustics/Note.0.1.dsdl diff --git a/reg/udral/physics/dynamics/rotation/Planar.0.1.uavcan b/reg/udral/physics/dynamics/rotation/Planar.0.1.dsdl similarity index 100% rename from reg/udral/physics/dynamics/rotation/Planar.0.1.uavcan rename to reg/udral/physics/dynamics/rotation/Planar.0.1.dsdl diff --git a/reg/udral/physics/dynamics/rotation/PlanarTs.0.1.uavcan b/reg/udral/physics/dynamics/rotation/PlanarTs.0.1.dsdl similarity index 100% rename from reg/udral/physics/dynamics/rotation/PlanarTs.0.1.uavcan rename to reg/udral/physics/dynamics/rotation/PlanarTs.0.1.dsdl diff --git a/reg/udral/physics/dynamics/translation/Linear.0.1.uavcan b/reg/udral/physics/dynamics/translation/Linear.0.1.dsdl similarity index 100% rename from reg/udral/physics/dynamics/translation/Linear.0.1.uavcan rename to reg/udral/physics/dynamics/translation/Linear.0.1.dsdl diff --git a/reg/udral/physics/dynamics/translation/LinearTs.0.1.uavcan b/reg/udral/physics/dynamics/translation/LinearTs.0.1.dsdl similarity index 100% rename from reg/udral/physics/dynamics/translation/LinearTs.0.1.uavcan rename to reg/udral/physics/dynamics/translation/LinearTs.0.1.dsdl diff --git a/reg/udral/physics/electricity/Power.0.1.uavcan b/reg/udral/physics/electricity/Power.0.1.dsdl similarity index 100% rename from reg/udral/physics/electricity/Power.0.1.uavcan rename to reg/udral/physics/electricity/Power.0.1.dsdl diff --git a/reg/udral/physics/electricity/PowerTs.0.1.uavcan b/reg/udral/physics/electricity/PowerTs.0.1.dsdl similarity index 100% rename from reg/udral/physics/electricity/PowerTs.0.1.uavcan rename to reg/udral/physics/electricity/PowerTs.0.1.dsdl diff --git a/reg/udral/physics/electricity/Source.0.1.uavcan b/reg/udral/physics/electricity/Source.0.1.dsdl similarity index 100% rename from reg/udral/physics/electricity/Source.0.1.uavcan rename to reg/udral/physics/electricity/Source.0.1.dsdl diff --git a/reg/udral/physics/electricity/SourceTs.0.1.uavcan b/reg/udral/physics/electricity/SourceTs.0.1.dsdl similarity index 100% rename from reg/udral/physics/electricity/SourceTs.0.1.uavcan rename to reg/udral/physics/electricity/SourceTs.0.1.dsdl diff --git a/reg/udral/physics/kinematics/README.md b/reg/udral/physics/kinematics/README.md index 80a73127..90d1ea08 100644 --- a/reg/udral/physics/kinematics/README.md +++ b/reg/udral/physics/kinematics/README.md @@ -18,7 +18,7 @@ Cartesian approximation is infeasible. Other than using a different coordinate system to express position, the data types are equal to their Cartesian counterparts and are to some extent interchangeable thanks to the structural subtyping/aliasing features of DSDL. -See UAVCAN Specification chapter "Application layer" for the applicable conventions. +See Cyphal Specification chapter "Application layer" for the applicable conventions. Key excerpts: - For world fixed frames, the North-East-Down (NED) right-handed notation is preferred: diff --git a/reg/udral/physics/kinematics/cartesian/Point.0.1.uavcan b/reg/udral/physics/kinematics/cartesian/Point.0.1.dsdl similarity index 100% rename from reg/udral/physics/kinematics/cartesian/Point.0.1.uavcan rename to reg/udral/physics/kinematics/cartesian/Point.0.1.dsdl diff --git a/reg/udral/physics/kinematics/cartesian/PointState.0.1.uavcan b/reg/udral/physics/kinematics/cartesian/PointState.0.1.dsdl similarity index 100% rename from reg/udral/physics/kinematics/cartesian/PointState.0.1.uavcan rename to reg/udral/physics/kinematics/cartesian/PointState.0.1.dsdl diff --git a/reg/udral/physics/kinematics/cartesian/PointStateVar.0.1.uavcan b/reg/udral/physics/kinematics/cartesian/PointStateVar.0.1.dsdl similarity index 100% rename from reg/udral/physics/kinematics/cartesian/PointStateVar.0.1.uavcan rename to reg/udral/physics/kinematics/cartesian/PointStateVar.0.1.dsdl diff --git a/reg/udral/physics/kinematics/cartesian/PointStateVarTs.0.1.uavcan b/reg/udral/physics/kinematics/cartesian/PointStateVarTs.0.1.dsdl similarity index 100% rename from reg/udral/physics/kinematics/cartesian/PointStateVarTs.0.1.uavcan rename to reg/udral/physics/kinematics/cartesian/PointStateVarTs.0.1.dsdl diff --git a/reg/udral/physics/kinematics/cartesian/PointVar.0.1.uavcan b/reg/udral/physics/kinematics/cartesian/PointVar.0.1.dsdl similarity index 100% rename from reg/udral/physics/kinematics/cartesian/PointVar.0.1.uavcan rename to reg/udral/physics/kinematics/cartesian/PointVar.0.1.dsdl diff --git a/reg/udral/physics/kinematics/cartesian/Pose.0.1.uavcan b/reg/udral/physics/kinematics/cartesian/Pose.0.1.dsdl similarity index 100% rename from reg/udral/physics/kinematics/cartesian/Pose.0.1.uavcan rename to reg/udral/physics/kinematics/cartesian/Pose.0.1.dsdl diff --git a/reg/udral/physics/kinematics/cartesian/PoseVar.0.1.uavcan 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rename to reg/udral/physics/kinematics/translation/Velocity1VarTs.0.1.dsdl diff --git a/reg/udral/physics/kinematics/translation/Velocity3Var.0.1.uavcan b/reg/udral/physics/kinematics/translation/Velocity3Var.0.1.dsdl similarity index 100% rename from reg/udral/physics/kinematics/translation/Velocity3Var.0.1.uavcan rename to reg/udral/physics/kinematics/translation/Velocity3Var.0.1.dsdl diff --git a/reg/udral/physics/kinematics/translation/Velocity3Var.0.2.uavcan b/reg/udral/physics/kinematics/translation/Velocity3Var.0.2.dsdl similarity index 100% rename from reg/udral/physics/kinematics/translation/Velocity3Var.0.2.uavcan rename to reg/udral/physics/kinematics/translation/Velocity3Var.0.2.dsdl diff --git a/reg/udral/physics/optics/HighColor.0.1.uavcan b/reg/udral/physics/optics/HighColor.0.1.dsdl similarity index 100% rename from reg/udral/physics/optics/HighColor.0.1.uavcan rename to reg/udral/physics/optics/HighColor.0.1.dsdl diff --git 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a/reg/udral/service/actuator/common/FaultFlags.0.1.uavcan b/reg/udral/service/actuator/common/FaultFlags.0.1.dsdl similarity index 100% rename from reg/udral/service/actuator/common/FaultFlags.0.1.uavcan rename to reg/udral/service/actuator/common/FaultFlags.0.1.dsdl diff --git a/reg/udral/service/actuator/common/Feedback.0.1.uavcan b/reg/udral/service/actuator/common/Feedback.0.1.dsdl similarity index 100% rename from reg/udral/service/actuator/common/Feedback.0.1.uavcan rename to reg/udral/service/actuator/common/Feedback.0.1.dsdl diff --git a/reg/udral/service/actuator/common/Status.0.1.uavcan b/reg/udral/service/actuator/common/Status.0.1.dsdl similarity index 100% rename from reg/udral/service/actuator/common/Status.0.1.uavcan rename to reg/udral/service/actuator/common/Status.0.1.dsdl diff --git a/reg/udral/service/actuator/common/_.0.1.uavcan b/reg/udral/service/actuator/common/_.0.1.dsdl similarity index 100% rename from reg/udral/service/actuator/common/_.0.1.uavcan rename to reg/udral/service/actuator/common/_.0.1.dsdl diff --git a/reg/udral/service/actuator/common/sp/Scalar.0.1.uavcan b/reg/udral/service/actuator/common/sp/Scalar.0.1.dsdl similarity index 100% rename from reg/udral/service/actuator/common/sp/Scalar.0.1.uavcan rename to reg/udral/service/actuator/common/sp/Scalar.0.1.dsdl diff --git a/reg/udral/service/actuator/common/sp/Vector2.0.1.uavcan b/reg/udral/service/actuator/common/sp/Vector2.0.1.dsdl similarity index 100% rename from reg/udral/service/actuator/common/sp/Vector2.0.1.uavcan rename to reg/udral/service/actuator/common/sp/Vector2.0.1.dsdl diff --git a/reg/udral/service/actuator/common/sp/Vector3.0.1.uavcan b/reg/udral/service/actuator/common/sp/Vector3.0.1.dsdl similarity index 100% rename from reg/udral/service/actuator/common/sp/Vector3.0.1.uavcan rename to reg/udral/service/actuator/common/sp/Vector3.0.1.dsdl diff --git a/reg/udral/service/actuator/common/sp/Vector31.0.1.uavcan b/reg/udral/service/actuator/common/sp/Vector31.0.1.dsdl similarity index 100% rename from reg/udral/service/actuator/common/sp/Vector31.0.1.uavcan rename to reg/udral/service/actuator/common/sp/Vector31.0.1.dsdl diff --git a/reg/udral/service/actuator/common/sp/Vector4.0.1.uavcan b/reg/udral/service/actuator/common/sp/Vector4.0.1.dsdl similarity index 100% rename from reg/udral/service/actuator/common/sp/Vector4.0.1.uavcan rename to reg/udral/service/actuator/common/sp/Vector4.0.1.dsdl diff --git a/reg/udral/service/actuator/common/sp/Vector6.0.1.uavcan b/reg/udral/service/actuator/common/sp/Vector6.0.1.dsdl similarity index 100% rename from reg/udral/service/actuator/common/sp/Vector6.0.1.uavcan rename to reg/udral/service/actuator/common/sp/Vector6.0.1.dsdl diff --git a/reg/udral/service/actuator/common/sp/Vector8.0.1.uavcan b/reg/udral/service/actuator/common/sp/Vector8.0.1.dsdl similarity index 100% rename from reg/udral/service/actuator/common/sp/Vector8.0.1.uavcan rename to reg/udral/service/actuator/common/sp/Vector8.0.1.dsdl diff --git a/reg/udral/service/actuator/common/sp/_.0.1.uavcan b/reg/udral/service/actuator/common/sp/_.0.1.dsdl similarity index 91% rename from reg/udral/service/actuator/common/sp/_.0.1.uavcan rename to reg/udral/service/actuator/common/sp/_.0.1.dsdl index d2002ef5..609cb0d1 100644 --- a/reg/udral/service/actuator/common/sp/_.0.1.uavcan +++ b/reg/udral/service/actuator/common/sp/_.0.1.dsdl @@ -3,7 +3,7 @@ # Actuators are expected to subscribe using the largest array type. Publishers would choose the array type # depending on the number of actuators in the group. The actuators would be expecting the largest array type, # where the missing elements will be zero-filled automatically by the protocol stack thanks to the -# Implicit Zero Extension Rule (refer to the UAVCAN Specification for details). +# Implicit Zero Extension Rule (refer to the Cyphal Specification for details). # # The physical meaning of the values contained in the array is defined by the respective actuator service specification. # If ratiometric control is used, then the range should be [-1, +1]. @@ -11,7 +11,7 @@ # It follows that a standalone actuator (that is not a member of any group) is just a special case of a group of 1, # where the setpoint type is a single scalar. # -# The UAVCAN Specification might benefit from supporting flexible array fields to avoid having to deal with redundant +# The Cyphal Specification might benefit from supporting flexible array fields to avoid having to deal with redundant # similar types: https://en.wikipedia.org/wiki/Flexible_array_member, so that instead of having multiple types that # differ only in size of the array fields, one could just say `float16[0] value` such that the size of zero indicates # that the array is a flex array. diff --git a/reg/udral/service/actuator/esc/_.0.1.uavcan b/reg/udral/service/actuator/esc/_.0.1.dsdl similarity index 100% rename from reg/udral/service/actuator/esc/_.0.1.uavcan rename to reg/udral/service/actuator/esc/_.0.1.dsdl diff --git a/reg/udral/service/actuator/servo/_.0.1.uavcan b/reg/udral/service/actuator/servo/_.0.1.dsdl similarity index 99% rename from reg/udral/service/actuator/servo/_.0.1.uavcan rename to reg/udral/service/actuator/servo/_.0.1.dsdl index 0e2076f1..6a25614a 100644 --- a/reg/udral/service/actuator/servo/_.0.1.uavcan +++ b/reg/udral/service/actuator/servo/_.0.1.dsdl @@ -126,6 +126,6 @@ # positive| negative # power | power # -# An example implementation is available at https://github.com/UAVCAN/demos +# An example implementation is available at https://github.com/OpenCyphal/demos @extent 0 diff --git a/reg/udral/service/battery/Error.0.1.uavcan b/reg/udral/service/battery/Error.0.1.dsdl similarity index 100% rename from reg/udral/service/battery/Error.0.1.uavcan rename to reg/udral/service/battery/Error.0.1.dsdl diff --git a/reg/udral/service/battery/Parameters.0.3.uavcan b/reg/udral/service/battery/Parameters.0.3.dsdl similarity index 100% rename from reg/udral/service/battery/Parameters.0.3.uavcan rename to reg/udral/service/battery/Parameters.0.3.dsdl diff --git a/reg/udral/service/battery/Status.0.2.uavcan b/reg/udral/service/battery/Status.0.2.dsdl similarity index 98% rename from reg/udral/service/battery/Status.0.2.uavcan rename to reg/udral/service/battery/Status.0.2.dsdl index a2b99071..033fa640 100644 --- a/reg/udral/service/battery/Status.0.2.uavcan +++ b/reg/udral/service/battery/Status.0.2.dsdl @@ -5,7 +5,7 @@ reg.udral.service.common.Heartbeat.0.1 heartbeat # that the availability of energy in the battery is critical for the safe operation of the vehicle, which is usually # not the case. For example, if the vehicle is equipped with several batteries that are discharged in series, one # after another, the depletion of energy in the first battery is not a fault condition and it should not be reported -# as such. This follows from the good service design principles reviewed in https://uavcan.org/guide. +# as such. This follows from the good service design principles reviewed in https://opencyphal.org/guide. # # The readiness state depicts the ability of the battery (or its power electronics) to deliver full rated power # and whether the overdischarge protections are active. diff --git a/reg/udral/service/battery/Technology.0.1.uavcan b/reg/udral/service/battery/Technology.0.1.dsdl similarity index 100% rename from reg/udral/service/battery/Technology.0.1.uavcan rename to reg/udral/service/battery/Technology.0.1.dsdl diff --git a/reg/udral/service/battery/_.0.1.uavcan b/reg/udral/service/battery/_.0.1.dsdl similarity index 100% rename from reg/udral/service/battery/_.0.1.uavcan rename to reg/udral/service/battery/_.0.1.dsdl diff --git a/reg/udral/service/common/Heartbeat.0.1.uavcan b/reg/udral/service/common/Heartbeat.0.1.dsdl similarity index 100% rename from reg/udral/service/common/Heartbeat.0.1.uavcan rename to reg/udral/service/common/Heartbeat.0.1.dsdl diff --git a/reg/udral/service/common/Readiness.0.1.uavcan b/reg/udral/service/common/Readiness.0.1.dsdl similarity index 100% rename from reg/udral/service/common/Readiness.0.1.uavcan rename to reg/udral/service/common/Readiness.0.1.dsdl diff --git a/reg/udral/service/sensor/Status.0.1.uavcan b/reg/udral/service/sensor/Status.0.1.dsdl similarity index 100% rename from reg/udral/service/sensor/Status.0.1.uavcan rename to reg/udral/service/sensor/Status.0.1.dsdl diff --git a/uavcan/diagnostic/8184.Record.1.0.uavcan b/uavcan/diagnostic/8184.Record.1.0.dsdl similarity index 100% rename from uavcan/diagnostic/8184.Record.1.0.uavcan rename to uavcan/diagnostic/8184.Record.1.0.dsdl diff --git a/uavcan/diagnostic/8184.Record.1.1.uavcan b/uavcan/diagnostic/8184.Record.1.1.dsdl similarity index 100% rename from uavcan/diagnostic/8184.Record.1.1.uavcan rename to uavcan/diagnostic/8184.Record.1.1.dsdl diff --git a/uavcan/diagnostic/Severity.1.0.uavcan b/uavcan/diagnostic/Severity.1.0.dsdl similarity index 100% rename from uavcan/diagnostic/Severity.1.0.uavcan rename to uavcan/diagnostic/Severity.1.0.dsdl diff --git a/uavcan/file/405.GetInfo.0.1.uavcan b/uavcan/file/405.GetInfo.0.1.dsdl similarity index 100% rename from uavcan/file/405.GetInfo.0.1.uavcan rename to uavcan/file/405.GetInfo.0.1.dsdl diff --git a/uavcan/file/405.GetInfo.0.2.uavcan b/uavcan/file/405.GetInfo.0.2.dsdl similarity index 100% rename from uavcan/file/405.GetInfo.0.2.uavcan rename to uavcan/file/405.GetInfo.0.2.dsdl diff --git a/uavcan/file/406.List.0.1.uavcan b/uavcan/file/406.List.0.1.dsdl similarity index 100% rename from uavcan/file/406.List.0.1.uavcan rename to uavcan/file/406.List.0.1.dsdl diff --git a/uavcan/file/406.List.0.2.uavcan b/uavcan/file/406.List.0.2.dsdl similarity index 100% rename from uavcan/file/406.List.0.2.uavcan rename to uavcan/file/406.List.0.2.dsdl diff --git a/uavcan/file/407.Modify.1.0.uavcan b/uavcan/file/407.Modify.1.0.dsdl similarity index 100% rename from uavcan/file/407.Modify.1.0.uavcan rename to uavcan/file/407.Modify.1.0.dsdl diff --git a/uavcan/file/407.Modify.1.1.uavcan b/uavcan/file/407.Modify.1.1.dsdl similarity index 100% rename from uavcan/file/407.Modify.1.1.uavcan rename to uavcan/file/407.Modify.1.1.dsdl diff --git a/uavcan/file/408.Read.1.0.uavcan b/uavcan/file/408.Read.1.0.dsdl similarity index 100% rename from uavcan/file/408.Read.1.0.uavcan rename to uavcan/file/408.Read.1.0.dsdl diff --git a/uavcan/file/408.Read.1.1.uavcan b/uavcan/file/408.Read.1.1.dsdl similarity index 100% rename from uavcan/file/408.Read.1.1.uavcan rename to uavcan/file/408.Read.1.1.dsdl diff --git a/uavcan/file/409.Write.1.0.uavcan b/uavcan/file/409.Write.1.0.dsdl similarity index 100% rename from uavcan/file/409.Write.1.0.uavcan rename to uavcan/file/409.Write.1.0.dsdl diff --git a/uavcan/file/409.Write.1.1.uavcan b/uavcan/file/409.Write.1.1.dsdl similarity index 100% rename from uavcan/file/409.Write.1.1.uavcan rename to uavcan/file/409.Write.1.1.dsdl diff --git a/uavcan/file/Error.1.0.uavcan b/uavcan/file/Error.1.0.dsdl similarity index 100% rename from uavcan/file/Error.1.0.uavcan rename to uavcan/file/Error.1.0.dsdl diff --git a/uavcan/file/Path.1.0.uavcan b/uavcan/file/Path.1.0.dsdl similarity index 100% rename from uavcan/file/Path.1.0.uavcan rename to uavcan/file/Path.1.0.dsdl diff --git a/uavcan/file/Path.2.0.uavcan b/uavcan/file/Path.2.0.dsdl similarity index 100% rename from uavcan/file/Path.2.0.uavcan rename to uavcan/file/Path.2.0.dsdl diff --git a/uavcan/internet/udp/500.HandleIncomingPacket.0.1.uavcan b/uavcan/internet/udp/500.HandleIncomingPacket.0.1.dsdl similarity index 94% rename from uavcan/internet/udp/500.HandleIncomingPacket.0.1.uavcan rename to uavcan/internet/udp/500.HandleIncomingPacket.0.1.dsdl index 828414ec..7f222afc 100644 --- a/uavcan/internet/udp/500.HandleIncomingPacket.0.1.uavcan +++ b/uavcan/internet/udp/500.HandleIncomingPacket.0.1.dsdl @@ -1,4 +1,4 @@ -# This message carries UDP packets sent from a remote host on the Internet or a LAN to a node on the local UAVCAN bus. +# This message carries UDP packets sent from a remote host on the Internet or a LAN to a node on the local Cyphal bus. # Please refer to the definition of the message type OutgoingPacket for a general overview of the packet forwarding # logic. # @@ -12,7 +12,7 @@ # It should be noted that this data type definition intentionally leaves out the source address. This is done in # order to simplify the implementation, reduce the bus traffic overhead, and because the nature of the # communication patterns proposed by this set of messages does not provide a valid way to implement server hosts -# on the local UAVCAN bus. It is assumed that local nodes can be only clients, and therefore, they will be able to +# on the local Cyphal bus. It is assumed that local nodes can be only clients, and therefore, they will be able to # determine the address of the sender simply by mapping the field session_id to their internally maintained states. # Furthermore, it is uncertain what is the optimal way of representing the source address for # client nodes: it is assumed that the local nodes will mostly use DNS names rather than IP addresses, so if there @@ -38,7 +38,7 @@ uint8[<=309] payload # Effective payload. This data will be forwarded from the remote host verbatim. # UDP packets that contain more than 508 bytes of payload may be dropped by some types of # communication equipment. Refer to RFC 791 and 2460 for an in-depth review. -# UAVCAN further limits the maximum packet size to reduce the memory and traffic burden on the nodes. +# Cyphal further limits the maximum packet size to reduce the memory and traffic burden on the nodes. # Datagrams that exceed the capacity of this field should be discarded by the modem node. @extent 600 * 8 diff --git a/uavcan/internet/udp/500.HandleIncomingPacket.0.2.uavcan b/uavcan/internet/udp/500.HandleIncomingPacket.0.2.dsdl similarity index 96% rename from uavcan/internet/udp/500.HandleIncomingPacket.0.2.uavcan rename to uavcan/internet/udp/500.HandleIncomingPacket.0.2.dsdl index b6f9800d..cc7e375a 100644 --- a/uavcan/internet/udp/500.HandleIncomingPacket.0.2.uavcan +++ b/uavcan/internet/udp/500.HandleIncomingPacket.0.2.dsdl @@ -1,4 +1,4 @@ -# This message carries UDP packets sent from a remote host on the Internet or a LAN to a node on the local UAVCAN bus. +# This message carries UDP packets sent from a remote host on the Internet or a LAN to a node on the local Cyphal bus. # Please refer to the definition of the message type OutgoingPacket for a general overview of the packet forwarding # logic. # @@ -12,7 +12,7 @@ # It should be noted that this data type definition intentionally leaves out the source address. This is done in # order to simplify the implementation, reduce the bus traffic overhead, and because the nature of the # communication patterns proposed by this set of messages does not provide a valid way to implement server hosts -# on the local UAVCAN bus. It is assumed that local nodes can be only clients, and therefore, they will be able to +# on the local Cyphal bus. It is assumed that local nodes can be only clients, and therefore, they will be able to # determine the address of the sender simply by mapping the field session_id to their internally maintained states. # Furthermore, it is uncertain what is the optimal way of representing the source address for # client nodes: it is assumed that the local nodes will mostly use DNS names rather than IP addresses, so if there diff --git a/uavcan/internet/udp/8174.OutgoingPacket.0.1.uavcan b/uavcan/internet/udp/8174.OutgoingPacket.0.1.dsdl similarity index 96% rename from uavcan/internet/udp/8174.OutgoingPacket.0.1.uavcan rename to uavcan/internet/udp/8174.OutgoingPacket.0.1.dsdl index 4330aa20..9f65d130 100644 --- a/uavcan/internet/udp/8174.OutgoingPacket.0.1.uavcan +++ b/uavcan/internet/udp/8174.OutgoingPacket.0.1.dsdl @@ -48,7 +48,7 @@ # be exhausted, it is allowed to remove old NAT entries earlier, following the policy of least recent use. # # Having received a UDP packet from a remote host, the modem node would check the NAT table in order -# to determine where on the UAVCAN bus the received data should be forwarded to. If the NAT table +# to determine where on the Cyphal bus the received data should be forwarded to. If the NAT table # contains no matches, the received data should be silently dropped. If a match is found, the # modem node will forward the data to the recipient node using the service HandleIncomingPacket. # If the service invocation times out, the modem node is permitted to remove the corresponding entry from @@ -63,7 +63,7 @@ # # To summarize, a typical data exchange occurrence should amount to the following actions: # -# - A local UAVCAN node broadcasts a message of type OutgoingPacket with the payload it needs +# - A local Cyphal node broadcasts a message of type OutgoingPacket with the payload it needs # to forward. If the node expects the remote host to send any data back, it sets the masquerading flag. # # - Every modem node on the bus receives the message and performs the following actions: @@ -112,10 +112,10 @@ uint8[<=45] destination_address # node should take care to channel all traffic arriving at the opened port from any source to the node that # requested masquerading. # The full domain name length may not exceed 253 octets, according to the DNS specification. -# UAVCAN imposes a stricter length limit in order to reduce the memory and traffic burden on the bus: 45 characters. +# Cyphal imposes a stricter length limit in order to reduce the memory and traffic burden on the bus: 45 characters. # 45 characters is the amount of space that is required to represent the longest possible form of an IPv6 address # (an IPv4-mapped IPv6 address). Examples: -# "forum.uavcan.org" - domain name +# "forum.opencyphal.org" - domain name # "192.168.1.1" - IPv4 address # "2001:0db8:85a3:0000:0000:8a2e:0370:7334" - IPv6 address, full form # "2001:db8:85a3::8a2e:370:7334" - IPv6 address, same as above, short form (preferred) @@ -132,7 +132,7 @@ uint8[<=260] payload # Effective payload. This data will be forwarded to the remote host verbatim. # UDP packets that contain more than 508 bytes of payload may be dropped by some types of # communication equipment. Refer to RFC 791 and 2460 for an in-depth review. -# UAVCAN further limits the maximum packet size to reduce the memory and traffic burden on the nodes. +# Cyphal further limits the maximum packet size to reduce the memory and traffic burden on the nodes. @extent 600 * 8 @assert _offset_ % 8 == {0} diff --git a/uavcan/internet/udp/8174.OutgoingPacket.0.2.uavcan b/uavcan/internet/udp/8174.OutgoingPacket.0.2.dsdl similarity index 97% rename from uavcan/internet/udp/8174.OutgoingPacket.0.2.uavcan rename to uavcan/internet/udp/8174.OutgoingPacket.0.2.dsdl index 75be5b5e..84d8bd4b 100644 --- a/uavcan/internet/udp/8174.OutgoingPacket.0.2.uavcan +++ b/uavcan/internet/udp/8174.OutgoingPacket.0.2.dsdl @@ -48,7 +48,7 @@ # be exhausted, it is allowed to remove old NAT entries earlier, following the policy of least recent use. # # Having received a UDP packet from a remote host, the modem node would check the NAT table in order -# to determine where on the UAVCAN bus the received data should be forwarded to. If the NAT table +# to determine where on the Cyphal bus the received data should be forwarded to. If the NAT table # contains no matches, the received data should be silently dropped. If a match is found, the # modem node will forward the data to the recipient node using the service HandleIncomingPacket. # If the service invocation times out, the modem node is permitted to remove the corresponding entry from @@ -63,7 +63,7 @@ # # To summarize, a typical data exchange occurrence should amount to the following actions: # -# - A local UAVCAN node broadcasts a message of type OutgoingPacket with the payload it needs +# - A local Cyphal node broadcasts a message of type OutgoingPacket with the payload it needs # to forward. If the node expects the remote host to send any data back, it sets the masquerading flag. # # - Every modem node on the bus receives the message and performs the following actions: @@ -110,10 +110,10 @@ uint8[<=45] destination_address # node should take care to channel all traffic arriving at the opened port from any source to the node that # requested masquerading. # The full domain name length may not exceed 253 octets, according to the DNS specification. -# UAVCAN imposes a stricter length limit in order to reduce the memory and traffic burden on the bus: 45 characters. +# Cyphal imposes a stricter length limit in order to reduce the memory and traffic burden on the bus: 45 characters. # 45 characters is the amount of space that is required to represent the longest possible form of an IPv6 address # (an IPv4-mapped IPv6 address). Examples: -# "forum.uavcan.org" - domain name +# "forum.opencyphal.org" - domain name # "192.168.1.1" - IPv4 address # "2001:0db8:85a3:0000:0000:8a2e:0370:7334" - IPv6 address, full form # "2001:db8:85a3::8a2e:370:7334" - IPv6 address, same as above, short form (preferred) diff --git a/uavcan/metatransport/can/ArbitrationID.0.1.uavcan b/uavcan/metatransport/can/ArbitrationID.0.1.dsdl similarity index 100% rename from uavcan/metatransport/can/ArbitrationID.0.1.uavcan rename to uavcan/metatransport/can/ArbitrationID.0.1.dsdl diff --git a/uavcan/metatransport/can/BaseArbitrationID.0.1.uavcan b/uavcan/metatransport/can/BaseArbitrationID.0.1.dsdl similarity index 100% rename from uavcan/metatransport/can/BaseArbitrationID.0.1.uavcan rename to uavcan/metatransport/can/BaseArbitrationID.0.1.dsdl diff --git a/uavcan/metatransport/can/DataClassic.0.1.uavcan b/uavcan/metatransport/can/DataClassic.0.1.dsdl similarity index 100% rename from uavcan/metatransport/can/DataClassic.0.1.uavcan rename to uavcan/metatransport/can/DataClassic.0.1.dsdl diff --git a/uavcan/metatransport/can/DataFD.0.1.uavcan b/uavcan/metatransport/can/DataFD.0.1.dsdl similarity index 100% rename from uavcan/metatransport/can/DataFD.0.1.uavcan rename to uavcan/metatransport/can/DataFD.0.1.dsdl diff --git a/uavcan/metatransport/can/Error.0.1.uavcan b/uavcan/metatransport/can/Error.0.1.dsdl similarity index 100% rename from uavcan/metatransport/can/Error.0.1.uavcan rename to uavcan/metatransport/can/Error.0.1.dsdl diff --git a/uavcan/metatransport/can/ExtendedArbitrationID.0.1.uavcan b/uavcan/metatransport/can/ExtendedArbitrationID.0.1.dsdl similarity index 100% rename from uavcan/metatransport/can/ExtendedArbitrationID.0.1.uavcan rename to uavcan/metatransport/can/ExtendedArbitrationID.0.1.dsdl diff --git a/uavcan/metatransport/can/Frame.0.1.uavcan b/uavcan/metatransport/can/Frame.0.1.dsdl similarity index 100% rename from uavcan/metatransport/can/Frame.0.1.uavcan rename to uavcan/metatransport/can/Frame.0.1.dsdl diff --git a/uavcan/metatransport/can/Frame.0.2.uavcan b/uavcan/metatransport/can/Frame.0.2.dsdl similarity index 100% rename from uavcan/metatransport/can/Frame.0.2.uavcan rename to uavcan/metatransport/can/Frame.0.2.dsdl diff --git a/uavcan/metatransport/can/Manifestation.0.1.uavcan b/uavcan/metatransport/can/Manifestation.0.1.dsdl similarity index 100% rename from uavcan/metatransport/can/Manifestation.0.1.uavcan rename to uavcan/metatransport/can/Manifestation.0.1.dsdl diff --git a/uavcan/metatransport/can/RTR.0.1.uavcan b/uavcan/metatransport/can/RTR.0.1.dsdl similarity index 100% rename from uavcan/metatransport/can/RTR.0.1.uavcan rename to uavcan/metatransport/can/RTR.0.1.dsdl diff --git a/uavcan/metatransport/ethernet/EtherType.0.1.uavcan b/uavcan/metatransport/ethernet/EtherType.0.1.dsdl similarity index 88% rename from uavcan/metatransport/ethernet/EtherType.0.1.uavcan rename to uavcan/metatransport/ethernet/EtherType.0.1.dsdl index 4005fc13..374b1422 100644 --- a/uavcan/metatransport/ethernet/EtherType.0.1.uavcan +++ b/uavcan/metatransport/ethernet/EtherType.0.1.dsdl @@ -1,5 +1,5 @@ # Standard EtherType constants as defined by IEEE Registration Authority and IANA. -# This list is only a small subset of constants that are considered to be relevant for UAVCAN. +# This list is only a small subset of constants that are considered to be relevant for Cyphal. uint16 value diff --git a/uavcan/metatransport/ethernet/Frame.0.1.uavcan b/uavcan/metatransport/ethernet/Frame.0.1.dsdl similarity index 100% rename from uavcan/metatransport/ethernet/Frame.0.1.uavcan rename to uavcan/metatransport/ethernet/Frame.0.1.dsdl diff --git a/uavcan/metatransport/serial/Fragment.0.1.uavcan b/uavcan/metatransport/serial/Fragment.0.1.dsdl similarity index 100% rename from uavcan/metatransport/serial/Fragment.0.1.uavcan rename to uavcan/metatransport/serial/Fragment.0.1.dsdl diff --git a/uavcan/metatransport/serial/Fragment.0.2.uavcan b/uavcan/metatransport/serial/Fragment.0.2.dsdl similarity index 70% rename from uavcan/metatransport/serial/Fragment.0.2.uavcan rename to uavcan/metatransport/serial/Fragment.0.2.dsdl index 388e6fdd..5cdebcdd 100644 --- a/uavcan/metatransport/serial/Fragment.0.2.uavcan +++ b/uavcan/metatransport/serial/Fragment.0.2.dsdl @@ -1,8 +1,8 @@ # A chunk of raw bytes exchanged over a serial transport. Serial links do not support framing natively. # The chunk may be of arbitrary size. # -# If this data type is used to encapsulate UAVCAN/serial, then it is recommended to ensure that each message -# contains at most one UAVCAN/serial transport frame (frames are separated by zero-valued delimiter bytes). +# If this data type is used to encapsulate Cyphal/serial, then it is recommended to ensure that each message +# contains at most one Cyphal/serial transport frame (frames are separated by zero-valued delimiter bytes). uint12 CAPACITY_BYTES = 2048 uint8[<=CAPACITY_BYTES] data diff --git a/uavcan/metatransport/udp/Endpoint.0.1.uavcan b/uavcan/metatransport/udp/Endpoint.0.1.dsdl similarity index 100% rename from uavcan/metatransport/udp/Endpoint.0.1.uavcan rename to uavcan/metatransport/udp/Endpoint.0.1.dsdl diff --git a/uavcan/metatransport/udp/Frame.0.1.uavcan b/uavcan/metatransport/udp/Frame.0.1.dsdl similarity index 100% rename from uavcan/metatransport/udp/Frame.0.1.uavcan rename to uavcan/metatransport/udp/Frame.0.1.dsdl diff --git a/uavcan/node/430.GetInfo.1.0.uavcan b/uavcan/node/430.GetInfo.1.0.dsdl similarity index 94% rename from uavcan/node/430.GetInfo.1.0.uavcan rename to uavcan/node/430.GetInfo.1.0.dsdl index 3abcc083..7dc393b1 100644 --- a/uavcan/node/430.GetInfo.1.0.uavcan +++ b/uavcan/node/430.GetInfo.1.0.dsdl @@ -7,7 +7,7 @@ --- Version.1.0 protocol_version -# The UAVCAN protocol version implemented on this node, both major and minor. +# The Cyphal protocol version implemented on this node, both major and minor. # Not to be changed while the node is running. Version.1.0 hardware_version @@ -15,7 +15,7 @@ Version.1.0 software_version # The version information shall not be changed while the node is running. # The correct hardware version shall be reported at all times, excepting software-only nodes, in which # case it should be set to zeros. -# If the node is equipped with a UAVCAN-capable bootloader, the bootloader should report the software +# If the node is equipped with a Cyphal-capable bootloader, the bootloader should report the software # version of the installed application, if there is any; if no application is found, zeros should be reported. uint64 software_vcs_revision_id @@ -29,7 +29,7 @@ uint8[16] unique_id # The vendor shall ensure that the probability of a collision with any other node UID globally is negligibly low. # UID is defined once per hardware unit and should never be changed. # All zeros is not a valid UID. -# If the node is equipped with a UAVCAN-capable bootloader, the bootloader shall use the same UID. +# If the node is equipped with a Cyphal-capable bootloader, the bootloader shall use the same UID. @assert _offset_ == {30 * 8} # Manual serialization note: only fixed-size fields up to this point. The following fields are dynamically sized. diff --git a/uavcan/node/434.GetTransportStatistics.0.1.uavcan b/uavcan/node/434.GetTransportStatistics.0.1.dsdl similarity index 81% rename from uavcan/node/434.GetTransportStatistics.0.1.uavcan rename to uavcan/node/434.GetTransportStatistics.0.1.dsdl index 99561340..b32e297b 100644 --- a/uavcan/node/434.GetTransportStatistics.0.1.uavcan +++ b/uavcan/node/434.GetTransportStatistics.0.1.dsdl @@ -6,11 +6,11 @@ --- uint8 MAX_NETWORK_INTERFACES = 3 -# UAVCAN supports up to triply modular redundant interfaces. +# Cyphal supports up to triply modular redundant interfaces. IOStatistics.0.1 transfer_statistics -# UAVCAN transfer performance statistics: -# the number of UAVCAN transfers successfully sent, successfully received, and failed. +# Cyphal transfer performance statistics: +# the number of Cyphal transfers successfully sent, successfully received, and failed. # The methods of error counting are implementation-defined. IOStatistics.0.1[<=MAX_NETWORK_INTERFACES] network_interface_statistics diff --git a/uavcan/node/435.ExecuteCommand.1.0.uavcan b/uavcan/node/435.ExecuteCommand.1.0.dsdl similarity index 100% rename from uavcan/node/435.ExecuteCommand.1.0.uavcan rename to uavcan/node/435.ExecuteCommand.1.0.dsdl diff --git a/uavcan/node/435.ExecuteCommand.1.1.uavcan b/uavcan/node/435.ExecuteCommand.1.1.dsdl similarity index 100% rename from uavcan/node/435.ExecuteCommand.1.1.uavcan rename to uavcan/node/435.ExecuteCommand.1.1.dsdl diff --git a/uavcan/node/7509.Heartbeat.1.0.uavcan b/uavcan/node/7509.Heartbeat.1.0.dsdl similarity index 96% rename from uavcan/node/7509.Heartbeat.1.0.uavcan rename to uavcan/node/7509.Heartbeat.1.0.dsdl index 4e697c9a..ad7b56e9 100644 --- a/uavcan/node/7509.Heartbeat.1.0.uavcan +++ b/uavcan/node/7509.Heartbeat.1.0.dsdl @@ -1,7 +1,7 @@ # Abstract node status information. # This is the only high-level function that shall be implemented by all nodes. # -# All UAVCAN nodes that have a node-ID are required to publish this message to its fixed subject periodically. +# All Cyphal nodes that have a node-ID are required to publish this message to its fixed subject periodically. # Nodes that do not have a node-ID (also known as "anonymous nodes") shall not publish to this subject. # # The default subject-ID 7509 is 1110101010101 in binary. The alternating bit pattern at the end helps transceiver diff --git a/uavcan/node/Health.1.0.uavcan b/uavcan/node/Health.1.0.dsdl similarity index 100% rename from uavcan/node/Health.1.0.uavcan rename to uavcan/node/Health.1.0.dsdl diff --git a/uavcan/node/ID.1.0.uavcan b/uavcan/node/ID.1.0.dsdl similarity index 100% rename from uavcan/node/ID.1.0.uavcan rename to uavcan/node/ID.1.0.dsdl diff --git a/uavcan/node/IOStatistics.0.1.uavcan b/uavcan/node/IOStatistics.0.1.dsdl similarity index 100% rename from uavcan/node/IOStatistics.0.1.uavcan rename to uavcan/node/IOStatistics.0.1.dsdl diff --git a/uavcan/node/Mode.1.0.uavcan b/uavcan/node/Mode.1.0.dsdl similarity index 100% rename from uavcan/node/Mode.1.0.uavcan rename to uavcan/node/Mode.1.0.dsdl diff --git a/uavcan/node/Version.1.0.uavcan b/uavcan/node/Version.1.0.dsdl similarity index 100% rename from uavcan/node/Version.1.0.uavcan rename to uavcan/node/Version.1.0.dsdl diff --git a/uavcan/node/port/7510.List.0.1.uavcan b/uavcan/node/port/7510.List.0.1.dsdl similarity index 100% rename from uavcan/node/port/7510.List.0.1.uavcan rename to uavcan/node/port/7510.List.0.1.dsdl diff --git a/uavcan/node/port/ID.1.0.uavcan b/uavcan/node/port/ID.1.0.dsdl similarity index 100% rename from uavcan/node/port/ID.1.0.uavcan rename to uavcan/node/port/ID.1.0.dsdl diff --git a/uavcan/node/port/ServiceID.1.0.uavcan b/uavcan/node/port/ServiceID.1.0.dsdl similarity index 100% rename from uavcan/node/port/ServiceID.1.0.uavcan rename to uavcan/node/port/ServiceID.1.0.dsdl diff --git a/uavcan/node/port/ServiceIDList.0.1.uavcan b/uavcan/node/port/ServiceIDList.0.1.dsdl similarity index 100% rename from uavcan/node/port/ServiceIDList.0.1.uavcan rename to uavcan/node/port/ServiceIDList.0.1.dsdl diff --git a/uavcan/node/port/SubjectID.1.0.uavcan b/uavcan/node/port/SubjectID.1.0.dsdl similarity index 100% rename from uavcan/node/port/SubjectID.1.0.uavcan rename to uavcan/node/port/SubjectID.1.0.dsdl diff --git a/uavcan/node/port/SubjectIDList.0.1.uavcan b/uavcan/node/port/SubjectIDList.0.1.dsdl similarity index 100% rename from uavcan/node/port/SubjectIDList.0.1.uavcan rename to uavcan/node/port/SubjectIDList.0.1.dsdl diff --git a/uavcan/pnp/8165.NodeIDAllocationData.2.0.uavcan b/uavcan/pnp/8165.NodeIDAllocationData.2.0.dsdl similarity index 97% rename from uavcan/pnp/8165.NodeIDAllocationData.2.0.uavcan rename to uavcan/pnp/8165.NodeIDAllocationData.2.0.dsdl index 078b805c..f472d16e 100644 --- a/uavcan/pnp/8165.NodeIDAllocationData.2.0.uavcan +++ b/uavcan/pnp/8165.NodeIDAllocationData.2.0.dsdl @@ -1,20 +1,20 @@ -# In order to be able to operate in a UAVCAN network, a node shall have a node-ID that is unique within the network. +# In order to be able to operate in a Cyphal network, a node shall have a node-ID that is unique within the network. # Typically, a valid node-ID can be configured manually for each node; however, in certain use cases the manual -# approach is either undesirable or impossible, therefore UAVCAN defines the high-level feature of plug-and-play +# approach is either undesirable or impossible, therefore Cyphal defines the high-level feature of plug-and-play # nodes that allows nodes to obtain a node-ID value automatically upon connection to the network. When combined # with automatic physical layer configuration (such as auto bit rate detection), this feature allows one to implement -# nodes that can join a UAVCAN network without any prior manual configuration whatsoever. Such nodes are referred to +# nodes that can join a Cyphal network without any prior manual configuration whatsoever. Such nodes are referred to # as "plug-and-play nodes" (or "PnP nodes" for brevity). # # The feature is fundamentally non-deterministic and is likely to be unfit for some high-reliability systems; # the designers need to carefully consider the trade-offs involved before deciding to rely on this feature. # Normally, static node-ID settings should be preferred. # -# This feature relies on the concept of "anonymous message transfers", please consult with the UAVCAN transport +# This feature relies on the concept of "anonymous message transfers", please consult with the Cyphal transport # layer specification for details. # # The process of plug-and-play node-ID allocation always involves two types of nodes: "allocators", which serve -# allocation requests; and "allocatees", which request PnP node-ID from allocators. A UAVCAN network may implement +# allocation requests; and "allocatees", which request PnP node-ID from allocators. A Cyphal network may implement # the following configurations of allocators: # # - Zero allocators, in which case plug-and-play node-ID allocation cannot be used, only nodes with statically @@ -48,7 +48,7 @@ # and all subsequent allocation requests from the same allocatee will be served with the same node-ID value. # # In configurations with redundant allocators, every allocator maintains a replica of the same allocation table -# (a UAVCAN network cannot contain more than one allocation table, regardless of the number of allocators employed). +# (a Cyphal network cannot contain more than one allocation table, regardless of the number of allocators employed). # While the allocation table is a write-only data structure that can only grow, it is still possible to wipe the # table completely (as long as it is removed from all redundant allocators on the network simultaneously), # forcing the allocators to forget known nodes and perform all future allocations anew. @@ -57,7 +57,7 @@ # "static nodes". It is assumed that allocators are always static nodes themselves since there is no other authority # on the network that can grant a PnP node-ID, so allocators are unable to request a PnP node-ID for themselves. # Excepting allocators, it is not recommended to mix PnP and static nodes on the same network; i.e., normally, -# a UAVCAN network should contain either all static nodes, or all PnP nodes (excepting allocators). If this +# a Cyphal network should contain either all static nodes, or all PnP nodes (excepting allocators). If this # recommendation cannot be followed, the following rules of safe co-existence of PnP nodes with static nodes should # be adopted: # - It is safe to connect PnP nodes to the bus at any time. diff --git a/uavcan/pnp/8166.NodeIDAllocationData.1.0.uavcan b/uavcan/pnp/8166.NodeIDAllocationData.1.0.dsdl similarity index 100% rename from uavcan/pnp/8166.NodeIDAllocationData.1.0.uavcan rename to uavcan/pnp/8166.NodeIDAllocationData.1.0.dsdl diff --git a/uavcan/pnp/cluster/390.AppendEntries.1.0.uavcan b/uavcan/pnp/cluster/390.AppendEntries.1.0.dsdl similarity index 98% rename from uavcan/pnp/cluster/390.AppendEntries.1.0.uavcan rename to uavcan/pnp/cluster/390.AppendEntries.1.0.dsdl index ca836c02..8d7a566b 100644 --- a/uavcan/pnp/cluster/390.AppendEntries.1.0.uavcan +++ b/uavcan/pnp/cluster/390.AppendEntries.1.0.dsdl @@ -23,7 +23,7 @@ # one entry, therefore it is not necessary to support negative log indices, as proposed by the Raft paper. # # Since the log is write-only and limited in growth, all allocations are permanent. This restriction is acceptable, -# since UAVCAN is a vehicle bus, and configuration of vehicle's components is not expected to change frequently. +# since Cyphal is a vehicle bus, and configuration of vehicle's components is not expected to change frequently. # Old allocations can be removed in order to free node-IDs for new allocations by clearing the Raft log on all # allocators; such clearing shall be performed simultaneously while the network is down, otherwise the Raft cluster # will automatically attempt to restore the lost state on the allocators where the table was cleared. diff --git a/uavcan/pnp/cluster/391.RequestVote.1.0.uavcan b/uavcan/pnp/cluster/391.RequestVote.1.0.dsdl similarity index 100% rename from uavcan/pnp/cluster/391.RequestVote.1.0.uavcan rename to uavcan/pnp/cluster/391.RequestVote.1.0.dsdl diff --git a/uavcan/pnp/cluster/8164.Discovery.1.0.uavcan b/uavcan/pnp/cluster/8164.Discovery.1.0.dsdl similarity index 100% rename from uavcan/pnp/cluster/8164.Discovery.1.0.uavcan rename to uavcan/pnp/cluster/8164.Discovery.1.0.dsdl diff --git a/uavcan/pnp/cluster/Entry.1.0.uavcan b/uavcan/pnp/cluster/Entry.1.0.dsdl similarity index 100% rename from uavcan/pnp/cluster/Entry.1.0.uavcan rename to uavcan/pnp/cluster/Entry.1.0.dsdl diff --git a/uavcan/primitive/Empty.1.0.uavcan b/uavcan/primitive/Empty.1.0.dsdl similarity index 100% rename from uavcan/primitive/Empty.1.0.uavcan rename to uavcan/primitive/Empty.1.0.dsdl diff --git a/uavcan/primitive/String.1.0.uavcan b/uavcan/primitive/String.1.0.dsdl similarity index 100% rename from uavcan/primitive/String.1.0.uavcan rename to uavcan/primitive/String.1.0.dsdl diff --git a/uavcan/primitive/Unstructured.1.0.uavcan b/uavcan/primitive/Unstructured.1.0.dsdl similarity index 100% rename from uavcan/primitive/Unstructured.1.0.uavcan rename to uavcan/primitive/Unstructured.1.0.dsdl diff --git a/uavcan/primitive/array/Bit.1.0.uavcan b/uavcan/primitive/array/Bit.1.0.dsdl similarity index 100% rename from uavcan/primitive/array/Bit.1.0.uavcan rename to uavcan/primitive/array/Bit.1.0.dsdl diff --git a/uavcan/primitive/array/Integer16.1.0.uavcan b/uavcan/primitive/array/Integer16.1.0.dsdl similarity index 100% rename from uavcan/primitive/array/Integer16.1.0.uavcan rename to uavcan/primitive/array/Integer16.1.0.dsdl diff --git a/uavcan/primitive/array/Integer32.1.0.uavcan b/uavcan/primitive/array/Integer32.1.0.dsdl similarity index 100% rename from uavcan/primitive/array/Integer32.1.0.uavcan rename to uavcan/primitive/array/Integer32.1.0.dsdl diff --git a/uavcan/primitive/array/Integer64.1.0.uavcan b/uavcan/primitive/array/Integer64.1.0.dsdl similarity index 100% rename from uavcan/primitive/array/Integer64.1.0.uavcan rename to uavcan/primitive/array/Integer64.1.0.dsdl diff --git a/uavcan/primitive/array/Integer8.1.0.uavcan b/uavcan/primitive/array/Integer8.1.0.dsdl similarity index 100% rename from uavcan/primitive/array/Integer8.1.0.uavcan rename to uavcan/primitive/array/Integer8.1.0.dsdl diff --git a/uavcan/primitive/array/Natural16.1.0.uavcan b/uavcan/primitive/array/Natural16.1.0.dsdl similarity index 100% rename from uavcan/primitive/array/Natural16.1.0.uavcan rename to uavcan/primitive/array/Natural16.1.0.dsdl diff --git a/uavcan/primitive/array/Natural32.1.0.uavcan b/uavcan/primitive/array/Natural32.1.0.dsdl similarity index 100% rename from uavcan/primitive/array/Natural32.1.0.uavcan rename to uavcan/primitive/array/Natural32.1.0.dsdl diff --git a/uavcan/primitive/array/Natural64.1.0.uavcan b/uavcan/primitive/array/Natural64.1.0.dsdl similarity index 100% rename from uavcan/primitive/array/Natural64.1.0.uavcan rename to uavcan/primitive/array/Natural64.1.0.dsdl diff --git a/uavcan/primitive/array/Natural8.1.0.uavcan b/uavcan/primitive/array/Natural8.1.0.dsdl similarity index 100% rename from uavcan/primitive/array/Natural8.1.0.uavcan rename to uavcan/primitive/array/Natural8.1.0.dsdl diff --git a/uavcan/primitive/array/Real16.1.0.uavcan b/uavcan/primitive/array/Real16.1.0.dsdl similarity index 100% rename from uavcan/primitive/array/Real16.1.0.uavcan rename to uavcan/primitive/array/Real16.1.0.dsdl diff --git a/uavcan/primitive/array/Real32.1.0.uavcan b/uavcan/primitive/array/Real32.1.0.dsdl similarity index 100% rename from uavcan/primitive/array/Real32.1.0.uavcan rename to uavcan/primitive/array/Real32.1.0.dsdl diff --git a/uavcan/primitive/array/Real64.1.0.uavcan b/uavcan/primitive/array/Real64.1.0.dsdl similarity index 100% rename from uavcan/primitive/array/Real64.1.0.uavcan rename to uavcan/primitive/array/Real64.1.0.dsdl diff --git a/uavcan/primitive/scalar/Bit.1.0.uavcan b/uavcan/primitive/scalar/Bit.1.0.dsdl similarity index 100% rename from uavcan/primitive/scalar/Bit.1.0.uavcan rename to uavcan/primitive/scalar/Bit.1.0.dsdl diff --git a/uavcan/primitive/scalar/Integer16.1.0.uavcan b/uavcan/primitive/scalar/Integer16.1.0.dsdl similarity index 100% rename from uavcan/primitive/scalar/Integer16.1.0.uavcan rename to uavcan/primitive/scalar/Integer16.1.0.dsdl diff --git a/uavcan/primitive/scalar/Integer32.1.0.uavcan b/uavcan/primitive/scalar/Integer32.1.0.dsdl similarity index 100% rename from uavcan/primitive/scalar/Integer32.1.0.uavcan rename to uavcan/primitive/scalar/Integer32.1.0.dsdl diff --git a/uavcan/primitive/scalar/Integer64.1.0.uavcan b/uavcan/primitive/scalar/Integer64.1.0.dsdl similarity index 100% rename from uavcan/primitive/scalar/Integer64.1.0.uavcan rename to uavcan/primitive/scalar/Integer64.1.0.dsdl diff --git a/uavcan/primitive/scalar/Integer8.1.0.uavcan b/uavcan/primitive/scalar/Integer8.1.0.dsdl similarity index 100% rename from uavcan/primitive/scalar/Integer8.1.0.uavcan rename to uavcan/primitive/scalar/Integer8.1.0.dsdl diff --git a/uavcan/primitive/scalar/Natural16.1.0.uavcan b/uavcan/primitive/scalar/Natural16.1.0.dsdl similarity index 100% rename from uavcan/primitive/scalar/Natural16.1.0.uavcan rename to uavcan/primitive/scalar/Natural16.1.0.dsdl diff --git a/uavcan/primitive/scalar/Natural32.1.0.uavcan b/uavcan/primitive/scalar/Natural32.1.0.dsdl similarity index 100% rename from uavcan/primitive/scalar/Natural32.1.0.uavcan rename to uavcan/primitive/scalar/Natural32.1.0.dsdl diff --git a/uavcan/primitive/scalar/Natural64.1.0.uavcan b/uavcan/primitive/scalar/Natural64.1.0.dsdl similarity index 100% rename from uavcan/primitive/scalar/Natural64.1.0.uavcan rename to uavcan/primitive/scalar/Natural64.1.0.dsdl diff --git a/uavcan/primitive/scalar/Natural8.1.0.uavcan b/uavcan/primitive/scalar/Natural8.1.0.dsdl similarity index 100% rename from uavcan/primitive/scalar/Natural8.1.0.uavcan rename to uavcan/primitive/scalar/Natural8.1.0.dsdl diff --git a/uavcan/primitive/scalar/Real16.1.0.uavcan b/uavcan/primitive/scalar/Real16.1.0.dsdl similarity index 100% rename from uavcan/primitive/scalar/Real16.1.0.uavcan rename to uavcan/primitive/scalar/Real16.1.0.dsdl diff --git a/uavcan/primitive/scalar/Real32.1.0.uavcan b/uavcan/primitive/scalar/Real32.1.0.dsdl similarity index 100% rename from uavcan/primitive/scalar/Real32.1.0.uavcan rename to uavcan/primitive/scalar/Real32.1.0.dsdl diff --git a/uavcan/primitive/scalar/Real64.1.0.uavcan b/uavcan/primitive/scalar/Real64.1.0.dsdl similarity index 100% rename from uavcan/primitive/scalar/Real64.1.0.uavcan rename to uavcan/primitive/scalar/Real64.1.0.dsdl diff --git a/uavcan/register/384.Access.1.0.uavcan b/uavcan/register/384.Access.1.0.dsdl similarity index 98% rename from uavcan/register/384.Access.1.0.uavcan rename to uavcan/register/384.Access.1.0.dsdl index 8011441d..e6063bb4 100644 --- a/uavcan/register/384.Access.1.0.uavcan +++ b/uavcan/register/384.Access.1.0.dsdl @@ -54,7 +54,7 @@ # variables or an equivalent mechanism. # # When a software node is launched, it is usually necessary to provide some of its configuration information early, -# particularly that which is related to UAVCAN networking, before the node is started. Environment variables offer +# particularly that which is related to Cyphal networking, before the node is started. Environment variables offer # a convenient way of addressing this. Software nodes that support the register interface should evaluate the # available environment variables during initialization and update their registers (whether they are stored in # a persistent storage or in memory) accoringly. This should be completed before the first register read access. @@ -172,7 +172,7 @@ # uavcan.can.bitrate natural32[2] implementation-defined implementation-defined # uavcan.can.iface string mutable, persistent implementation-defined # -# These registers are only relevant for nodes that support UAVCAN/CAN. +# These registers are only relevant for nodes that support Cyphal/CAN. # # uavcan.can.bitrate defines the CAN bus bit rate: the first value is the arbitration bit rate, the second is the # data phase bit rate. Nodes that support only Classic CAN should ignore the second value. Nodes that support CAN FD @@ -219,7 +219,7 @@ bool mutable bool persistent # Persistence means that the register retains its value permanently across power cycles or any other changes -# in the state of the server, until it is explicitly overwritten (either via UAVCAN, any other interface, +# in the state of the server, until it is explicitly overwritten (either via Cyphal, any other interface, # or by the device itself). # # The server is recommended to manage persistence automatically by committing changed register values to a diff --git a/uavcan/register/385.List.1.0.uavcan b/uavcan/register/385.List.1.0.dsdl similarity index 100% rename from uavcan/register/385.List.1.0.uavcan rename to uavcan/register/385.List.1.0.dsdl diff --git a/uavcan/register/Name.1.0.uavcan b/uavcan/register/Name.1.0.dsdl similarity index 100% rename from uavcan/register/Name.1.0.uavcan rename to uavcan/register/Name.1.0.dsdl diff --git a/uavcan/register/Value.1.0.uavcan b/uavcan/register/Value.1.0.dsdl similarity index 100% rename from uavcan/register/Value.1.0.uavcan rename to uavcan/register/Value.1.0.dsdl diff --git a/uavcan/si/sample/acceleration/Scalar.1.0.uavcan b/uavcan/si/sample/acceleration/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/sample/acceleration/Scalar.1.0.uavcan rename to uavcan/si/sample/acceleration/Scalar.1.0.dsdl diff --git a/uavcan/si/sample/acceleration/Vector3.1.0.uavcan b/uavcan/si/sample/acceleration/Vector3.1.0.dsdl similarity index 100% rename from uavcan/si/sample/acceleration/Vector3.1.0.uavcan rename to uavcan/si/sample/acceleration/Vector3.1.0.dsdl diff --git a/uavcan/si/sample/angle/Quaternion.1.0.uavcan b/uavcan/si/sample/angle/Quaternion.1.0.dsdl similarity index 100% rename from uavcan/si/sample/angle/Quaternion.1.0.uavcan rename to uavcan/si/sample/angle/Quaternion.1.0.dsdl diff --git a/uavcan/si/sample/angle/Scalar.1.0.uavcan b/uavcan/si/sample/angle/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/sample/angle/Scalar.1.0.uavcan rename to uavcan/si/sample/angle/Scalar.1.0.dsdl diff --git a/uavcan/si/sample/angular_acceleration/Scalar.1.0.uavcan b/uavcan/si/sample/angular_acceleration/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/sample/angular_acceleration/Scalar.1.0.uavcan rename to uavcan/si/sample/angular_acceleration/Scalar.1.0.dsdl diff --git a/uavcan/si/sample/angular_acceleration/Vector3.1.0.uavcan b/uavcan/si/sample/angular_acceleration/Vector3.1.0.dsdl similarity index 100% rename from uavcan/si/sample/angular_acceleration/Vector3.1.0.uavcan rename to uavcan/si/sample/angular_acceleration/Vector3.1.0.dsdl diff --git a/uavcan/si/sample/angular_velocity/Scalar.1.0.uavcan b/uavcan/si/sample/angular_velocity/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/sample/angular_velocity/Scalar.1.0.uavcan rename to uavcan/si/sample/angular_velocity/Scalar.1.0.dsdl diff --git a/uavcan/si/sample/angular_velocity/Vector3.1.0.uavcan b/uavcan/si/sample/angular_velocity/Vector3.1.0.dsdl similarity index 100% rename from uavcan/si/sample/angular_velocity/Vector3.1.0.uavcan rename to uavcan/si/sample/angular_velocity/Vector3.1.0.dsdl diff --git a/uavcan/si/sample/duration/Scalar.1.0.uavcan b/uavcan/si/sample/duration/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/sample/duration/Scalar.1.0.uavcan rename to uavcan/si/sample/duration/Scalar.1.0.dsdl diff --git a/uavcan/si/sample/duration/WideScalar.1.0.uavcan b/uavcan/si/sample/duration/WideScalar.1.0.dsdl similarity index 100% rename from uavcan/si/sample/duration/WideScalar.1.0.uavcan rename to uavcan/si/sample/duration/WideScalar.1.0.dsdl diff --git a/uavcan/si/sample/electric_charge/Scalar.1.0.uavcan b/uavcan/si/sample/electric_charge/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/sample/electric_charge/Scalar.1.0.uavcan rename to uavcan/si/sample/electric_charge/Scalar.1.0.dsdl diff --git a/uavcan/si/sample/electric_current/Scalar.1.0.uavcan b/uavcan/si/sample/electric_current/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/sample/electric_current/Scalar.1.0.uavcan rename to uavcan/si/sample/electric_current/Scalar.1.0.dsdl diff --git a/uavcan/si/sample/energy/Scalar.1.0.uavcan b/uavcan/si/sample/energy/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/sample/energy/Scalar.1.0.uavcan rename to uavcan/si/sample/energy/Scalar.1.0.dsdl diff --git a/uavcan/si/sample/force/Scalar.1.0.uavcan b/uavcan/si/sample/force/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/sample/force/Scalar.1.0.uavcan rename to uavcan/si/sample/force/Scalar.1.0.dsdl diff --git a/uavcan/si/sample/force/Vector3.1.0.uavcan b/uavcan/si/sample/force/Vector3.1.0.dsdl similarity index 100% rename from uavcan/si/sample/force/Vector3.1.0.uavcan rename to uavcan/si/sample/force/Vector3.1.0.dsdl diff --git a/uavcan/si/sample/frequency/Scalar.1.0.uavcan b/uavcan/si/sample/frequency/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/sample/frequency/Scalar.1.0.uavcan rename to uavcan/si/sample/frequency/Scalar.1.0.dsdl diff --git a/uavcan/si/sample/length/Scalar.1.0.uavcan b/uavcan/si/sample/length/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/sample/length/Scalar.1.0.uavcan rename to uavcan/si/sample/length/Scalar.1.0.dsdl diff --git a/uavcan/si/sample/length/Vector3.1.0.uavcan b/uavcan/si/sample/length/Vector3.1.0.dsdl similarity index 100% rename from uavcan/si/sample/length/Vector3.1.0.uavcan rename to uavcan/si/sample/length/Vector3.1.0.dsdl diff --git a/uavcan/si/sample/length/WideScalar.1.0.uavcan b/uavcan/si/sample/length/WideScalar.1.0.dsdl similarity index 100% rename from uavcan/si/sample/length/WideScalar.1.0.uavcan rename to uavcan/si/sample/length/WideScalar.1.0.dsdl diff --git a/uavcan/si/sample/length/WideVector3.1.0.uavcan b/uavcan/si/sample/length/WideVector3.1.0.dsdl similarity index 100% rename from uavcan/si/sample/length/WideVector3.1.0.uavcan rename to uavcan/si/sample/length/WideVector3.1.0.dsdl diff --git a/uavcan/si/sample/magnetic_field_strength/Scalar.1.0.uavcan b/uavcan/si/sample/magnetic_field_strength/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/sample/magnetic_field_strength/Scalar.1.0.uavcan rename to uavcan/si/sample/magnetic_field_strength/Scalar.1.0.dsdl diff --git a/uavcan/si/sample/magnetic_field_strength/Vector3.1.0.uavcan b/uavcan/si/sample/magnetic_field_strength/Vector3.1.0.dsdl similarity index 100% rename from uavcan/si/sample/magnetic_field_strength/Vector3.1.0.uavcan rename to uavcan/si/sample/magnetic_field_strength/Vector3.1.0.dsdl diff --git a/uavcan/si/sample/mass/Scalar.1.0.uavcan b/uavcan/si/sample/mass/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/sample/mass/Scalar.1.0.uavcan rename to uavcan/si/sample/mass/Scalar.1.0.dsdl diff --git a/uavcan/si/sample/power/Scalar.1.0.uavcan b/uavcan/si/sample/power/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/sample/power/Scalar.1.0.uavcan rename to uavcan/si/sample/power/Scalar.1.0.dsdl diff --git a/uavcan/si/sample/pressure/Scalar.1.0.uavcan b/uavcan/si/sample/pressure/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/sample/pressure/Scalar.1.0.uavcan rename to uavcan/si/sample/pressure/Scalar.1.0.dsdl diff --git a/uavcan/si/sample/temperature/Scalar.1.0.uavcan b/uavcan/si/sample/temperature/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/sample/temperature/Scalar.1.0.uavcan rename to uavcan/si/sample/temperature/Scalar.1.0.dsdl diff --git a/uavcan/si/sample/torque/Scalar.1.0.uavcan b/uavcan/si/sample/torque/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/sample/torque/Scalar.1.0.uavcan rename to uavcan/si/sample/torque/Scalar.1.0.dsdl diff --git a/uavcan/si/sample/torque/Vector3.1.0.uavcan b/uavcan/si/sample/torque/Vector3.1.0.dsdl similarity index 100% rename from uavcan/si/sample/torque/Vector3.1.0.uavcan rename to uavcan/si/sample/torque/Vector3.1.0.dsdl diff --git a/uavcan/si/sample/velocity/Scalar.1.0.uavcan b/uavcan/si/sample/velocity/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/sample/velocity/Scalar.1.0.uavcan rename to uavcan/si/sample/velocity/Scalar.1.0.dsdl diff --git a/uavcan/si/sample/velocity/Vector3.1.0.uavcan b/uavcan/si/sample/velocity/Vector3.1.0.dsdl similarity index 100% rename from uavcan/si/sample/velocity/Vector3.1.0.uavcan rename to uavcan/si/sample/velocity/Vector3.1.0.dsdl diff --git a/uavcan/si/sample/voltage/Scalar.1.0.uavcan b/uavcan/si/sample/voltage/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/sample/voltage/Scalar.1.0.uavcan rename to uavcan/si/sample/voltage/Scalar.1.0.dsdl diff --git a/uavcan/si/sample/volume/Scalar.1.0.uavcan b/uavcan/si/sample/volume/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/sample/volume/Scalar.1.0.uavcan rename to uavcan/si/sample/volume/Scalar.1.0.dsdl diff --git a/uavcan/si/sample/volumetric_flow_rate/Scalar.1.0.uavcan b/uavcan/si/sample/volumetric_flow_rate/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/sample/volumetric_flow_rate/Scalar.1.0.uavcan rename to uavcan/si/sample/volumetric_flow_rate/Scalar.1.0.dsdl diff --git a/uavcan/si/unit/acceleration/Scalar.1.0.uavcan b/uavcan/si/unit/acceleration/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/unit/acceleration/Scalar.1.0.uavcan rename to uavcan/si/unit/acceleration/Scalar.1.0.dsdl diff --git a/uavcan/si/unit/acceleration/Vector3.1.0.uavcan b/uavcan/si/unit/acceleration/Vector3.1.0.dsdl similarity index 100% rename from uavcan/si/unit/acceleration/Vector3.1.0.uavcan rename to uavcan/si/unit/acceleration/Vector3.1.0.dsdl diff --git a/uavcan/si/unit/angle/Quaternion.1.0.uavcan b/uavcan/si/unit/angle/Quaternion.1.0.dsdl similarity index 100% rename from uavcan/si/unit/angle/Quaternion.1.0.uavcan rename to 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uavcan/si/unit/length/WideVector3.1.0.uavcan rename to uavcan/si/unit/length/WideVector3.1.0.dsdl diff --git a/uavcan/si/unit/magnetic_field_strength/Scalar.1.0.uavcan b/uavcan/si/unit/magnetic_field_strength/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/unit/magnetic_field_strength/Scalar.1.0.uavcan rename to uavcan/si/unit/magnetic_field_strength/Scalar.1.0.dsdl diff --git a/uavcan/si/unit/magnetic_field_strength/Vector3.1.0.uavcan b/uavcan/si/unit/magnetic_field_strength/Vector3.1.0.dsdl similarity index 100% rename from uavcan/si/unit/magnetic_field_strength/Vector3.1.0.uavcan rename to uavcan/si/unit/magnetic_field_strength/Vector3.1.0.dsdl diff --git a/uavcan/si/unit/mass/Scalar.1.0.uavcan b/uavcan/si/unit/mass/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/unit/mass/Scalar.1.0.uavcan rename to uavcan/si/unit/mass/Scalar.1.0.dsdl diff --git a/uavcan/si/unit/power/Scalar.1.0.uavcan b/uavcan/si/unit/power/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/unit/power/Scalar.1.0.uavcan rename to uavcan/si/unit/power/Scalar.1.0.dsdl diff --git a/uavcan/si/unit/pressure/Scalar.1.0.uavcan b/uavcan/si/unit/pressure/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/unit/pressure/Scalar.1.0.uavcan rename to uavcan/si/unit/pressure/Scalar.1.0.dsdl diff --git a/uavcan/si/unit/temperature/Scalar.1.0.uavcan b/uavcan/si/unit/temperature/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/unit/temperature/Scalar.1.0.uavcan rename to uavcan/si/unit/temperature/Scalar.1.0.dsdl diff --git a/uavcan/si/unit/torque/Scalar.1.0.uavcan b/uavcan/si/unit/torque/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/unit/torque/Scalar.1.0.uavcan rename to uavcan/si/unit/torque/Scalar.1.0.dsdl diff --git a/uavcan/si/unit/torque/Vector3.1.0.uavcan b/uavcan/si/unit/torque/Vector3.1.0.dsdl similarity index 100% rename from uavcan/si/unit/torque/Vector3.1.0.uavcan rename to uavcan/si/unit/torque/Vector3.1.0.dsdl diff --git a/uavcan/si/unit/velocity/Scalar.1.0.uavcan b/uavcan/si/unit/velocity/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/unit/velocity/Scalar.1.0.uavcan rename to uavcan/si/unit/velocity/Scalar.1.0.dsdl diff --git a/uavcan/si/unit/velocity/Vector3.1.0.uavcan b/uavcan/si/unit/velocity/Vector3.1.0.dsdl similarity index 100% rename from uavcan/si/unit/velocity/Vector3.1.0.uavcan rename to uavcan/si/unit/velocity/Vector3.1.0.dsdl diff --git a/uavcan/si/unit/voltage/Scalar.1.0.uavcan b/uavcan/si/unit/voltage/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/unit/voltage/Scalar.1.0.uavcan rename to uavcan/si/unit/voltage/Scalar.1.0.dsdl diff --git a/uavcan/si/unit/volume/Scalar.1.0.uavcan b/uavcan/si/unit/volume/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/unit/volume/Scalar.1.0.uavcan rename to uavcan/si/unit/volume/Scalar.1.0.dsdl diff --git a/uavcan/si/unit/volumetric_flow_rate/Scalar.1.0.uavcan b/uavcan/si/unit/volumetric_flow_rate/Scalar.1.0.dsdl similarity index 100% rename from uavcan/si/unit/volumetric_flow_rate/Scalar.1.0.uavcan rename to uavcan/si/unit/volumetric_flow_rate/Scalar.1.0.dsdl diff --git a/uavcan/time/510.GetSynchronizationMasterInfo.0.1.uavcan b/uavcan/time/510.GetSynchronizationMasterInfo.0.1.dsdl similarity index 100% rename from uavcan/time/510.GetSynchronizationMasterInfo.0.1.uavcan rename to uavcan/time/510.GetSynchronizationMasterInfo.0.1.dsdl diff --git a/uavcan/time/7168.Synchronization.1.0.uavcan b/uavcan/time/7168.Synchronization.1.0.dsdl similarity index 99% rename from uavcan/time/7168.Synchronization.1.0.uavcan rename to uavcan/time/7168.Synchronization.1.0.dsdl index fdd48a45..83e7cb0f 100644 --- a/uavcan/time/7168.Synchronization.1.0.uavcan +++ b/uavcan/time/7168.Synchronization.1.0.dsdl @@ -39,7 +39,7 @@ # # Currently, there is a work underway to develop and validate a highly robust fault-operational time synchronization # algorithm where the slaves select the median time base among all available masters rather than using only the -# one with the lowest node-ID value. Follow the work at https://forum.uavcan.org. When complete, this algorithm +# one with the lowest node-ID value. Follow the work at https://forum.opencyphal.org. When complete, this algorithm # will be added in a backward-compatible way as an option for high-reliability systems. # # For networks with redundant transports, the timestamp value published on different interfaces is likely to be diff --git a/uavcan/time/SynchronizedTimestamp.1.0.uavcan b/uavcan/time/SynchronizedTimestamp.1.0.dsdl similarity index 100% rename from uavcan/time/SynchronizedTimestamp.1.0.uavcan rename to uavcan/time/SynchronizedTimestamp.1.0.dsdl diff --git a/uavcan/time/TAIInfo.0.1.uavcan b/uavcan/time/TAIInfo.0.1.dsdl similarity index 97% rename from uavcan/time/TAIInfo.0.1.uavcan rename to uavcan/time/TAIInfo.0.1.dsdl index d1dcac09..30a1f37e 100644 --- a/uavcan/time/TAIInfo.0.1.uavcan +++ b/uavcan/time/TAIInfo.0.1.dsdl @@ -8,7 +8,7 @@ # # Where "LS" is the current number of leap seconds: https://en.wikipedia.org/wiki/Leap_second. # -# UAVCAN applications should only rely on TAI whenever a global time system is needed. +# Cyphal applications should only rely on TAI whenever a global time system is needed. # GPS time is strongly discouraged for reasons of consistency across different positioning systems and applications. uint8 DIFFERENCE_TAI_MINUS_GPS = 19 # [second] diff --git a/uavcan/time/TimeSystem.0.1.uavcan b/uavcan/time/TimeSystem.0.1.dsdl similarity index 100% rename from uavcan/time/TimeSystem.0.1.uavcan rename to uavcan/time/TimeSystem.0.1.dsdl