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add dronecan 345.CanConfig message #83

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add dronecan 345.CanConfig message #83

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18 changes: 18 additions & 0 deletions dronecan/protocol/345.CanConfig.uavcan
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Original file line number Diff line number Diff line change
@@ -0,0 +1,18 @@
#
# Provide information on the CAN bus configuration
#

# Common CAN bitrates
uint32 CAN_BITRATE_1MBPS = 1000000
uint32 CAN_BITRATE_2MBPS = 2000000
uint32 CAN_BITRATE_4MBPS = 4000000
uint32 CAN_BITRATE_5MBPS = 5000000
uint32 CAN_BITRATE_8MBPS = 8000000

# CAN variants
uint3 CAN_CLASSIC = 0
uint3 CAN_FD = 1

uint32 bit_rate # bit rate
uint3 variant # 0: classsic CAN, 1: CAN FD, 2-7: for future variants like XL
uint5 reserved
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