Today we release UAVCAN/CAN Physical Layer Specification v1.0 (UCANPHY). The UCANPHY Specification replaces the now-defunct physical layer section of the core UAVCAN Specification.
UCANPHY_Specification.pdf (2.6 MB)
The UCANPHY standard is open to everyone, and it will always remain this way. No authorization or approval of any kind is necessary for its implementation, distribution, or use.
Discussions that shaped this standard are accessible exclusively to the UAVCAN Consortium members at https://forum.uavcan.org/c/consortium/ucanphy/21