# About CanardNuttXCDev && Cyphal driver

**URL:** <https://discuss.px4.io/t/about-canardnuttxcdev-cyphal-driver/36341>\
**Category:** PX4 Autopilot\
**Created:** [January 18, 2024, 6:28am UTC](https://discuss.px4.io/t/about-canardnuttxcdev-cyphal-driver/36341 "2024-01-18T06:28:49Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![circletrain](https://discuss.px4.io/user_avatar/discuss.px4.io/circletrain/32/15218_2.png) [@circletrain](https://discuss.px4.io/u/circletrain)\
**Post date:** [January 18, 2024, 6:28am UTC](https://discuss.px4.io/t/about-canardnuttxcdev-cyphal-driver/36341/1 "2024-01-18T06:28:49Z")

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Hello, I’m a beginner at PX4. I’d like to ask you some questions.

1. I am writing because I have a question about the CanardNuttXCDev.cpp of the Cypal driver. If I connect the CAN Bus of BMS directly to the CAN port of PX4 FC, is it correct that the data can be received by /dev/can0, the interface created by CanardNuttXCDev.cpp?

2. Currently, the CanardNuttXCDev::receive function, which needs to receive data, is not within the if(fds.revents & POLIN) condition statement. I wonder if I have a problem with the hardware setting or should I do additional work through menuconfig. I have already set CONFIG\_CAN, CONFIG\_STM32F7\_CAN1, and CONFIG\_STM32F7\_CAN1\_BAUDRATE in menuconfig.

If there’s anything wrong with me, please point it out