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UAVCAN messages from Babel serial

Hi,
I know it’s possible to extract uavcan msg from babel serial.
I remember it needs to configure babel. But I can’t find the document.

And messages received from babel have any format to write/read from/to a file?

Is it possible to parse saved messages from babel?

Thanks.

Zubax Babel is unable to receive UAVCAN transfers, it only supports raw CAN, which is one of the transport layers supported by UAVCAN. The host-side interface is described in the Babel Datasheet:

There is no file storage format defined for CAN.