Initial review

[pavel-kirienko]

The TX queue is too large, risking OOM:

yamshik/src/canard/canard.rs

Line 41 in ceab1ea

let mut queue = unsafe { canardTxInit(10000, CANARD_MTU_CAN_CLASSIC as usize, mem) };

80 frames will suffice for this application.

The transfer-ID type can be narrowed to u8.

The device needs to configure not only the publisher/subscriber registers, but also the application configuration registers as mentioned on the forum. They are currently provided as a YAML file but you can easily translate that into harcoded Rust statements using an LLM.

I see that embedded-alloc provides two strategies: TLSF and first-fit, with TLSF being the default. May I suggest we switch to the first-fit instead? It is expected to offer a lower worst-case fragmentation bound and a much lower ROM footprint. The cost is the O(n) allocation complexity, but it won't matter in this application. (more on allocation strategies: https://github.com/pavel-kirienko/o1heap?tab=readme-ov-file#theory)

The functions in telemetry.rs split concerns in a weird way 🥲

What is the expected behavior if there are other nodes on the network aside from the AmpDrive?

[laktoosivaba]

Thought o1heap is cool, so, here it is #2. Tho didn't find any ready made rust bindings, will make sense to once make it.

[laktoosivaba]

btw here we go with the rust bindings - https://crates.io/crates/o1heap