Default Cyphal Registers

The Cyphal Registry offers several registers to control the application execution.

The registers are created in RAM during application initialization. The startup loads each entry from the flash storage, using the file_system library.

The registry contains callbacks to save data upon change to the flash storage (file_system library). E.g. when data is changed by Cyphal Register Accesses (Register Write).

Register Creation

The default register values are overwritten during load from flash storage.

Cyphal Default Registers

added by Cyphal::add_default_registers(&registry)

name	data_type	default value
uavcan.node.id	Natural16Array[1]	-1
uavcan.node.description	String[255]	"Starcopter Highdra Default App Name"

Write of a new value to the Node ID register, causes the Node to change its Cyphal Node ID.

Cyphal Logging

name	data_type	default value
log.can.severity	Natural8Array[1]	2 (Warning)
log.can.active	Natural8Array[1]	1 (true)

The severity setting uses the Zephyr logging levels:

• LOG_LEVEL_NONE = 0
• LOG_LEVEL_ERR = 1
• LOG_LEVEL_WRN = 2
• LOG_LEVEL_INF = 3
• LOG_LEVEL_DBG = 4