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UAVCAN v0 supports CAN 2.0A or 2.0B?

Hello,

I wasn’t able to find if the UAVCAN v0 protocol supports CAN 2.0A (11-bit identifiers) or 2.0B (29-bit identifiers. I found the specifications for v1 but wasn’t sure about v0, and the devices we have currently use v0. Do you guys know if v0 supports 2.0A or 2.0B?

Thanks!

Both v0 and v1 are 29-bit only. They can share the same network with other CAN bus protocols that are 11-bit only. Source:

https://legacy.uavcan.org/Specification/4._CAN_bus_transport_layer/#can-frame-format

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