v5 is a major rework based on the experience gained from extensive production use of the previous revisions. The API has been redesigned from scratch and as such there is no migration guide available; please refer to the examples and read the new `canard.h` to see how to use the library -- the new API is much more ergonomic than the old one. Main changes: - Support for new protocols alongside Cyphal v1.0: - Cyphal/CAN v1.1, which adds support for 16-bit subject-IDs (like in UAVCAN v0) via a new CAN ID layout format. - UAVCAN v0 aka DroneCAN, a legacy predecessor to Cyphal v1.0 that is still widely used. - Anonymous messages can no longer be transmitted, but they can still be received. - A new passive node-ID autoconfiguration based on a simple occupancy observer. This method is decentralized and is compatible with old nodes. A node-ID can still be assigned manually if needed. - Automatic CAN acceptance filter configuration based on the current subscription set. The configuration is refreshed whenever the subscription set is modified or the local node-ID is changed. - New TX pipeline using per-transfer queue granularity with efficient CAN frame deduplication across redundant interfaces, which resulted in a major reduction of heap memory footprint (typ. x2+ reduction). - New RX pipeline supporting priority level preemption without transfer loss and reduced memory consumption. The old revision was susceptible to transfer loss when the remote initiated a higher-priority multi-frame transfer while a lower-priority multi-frame transfer was in flight. The v5 revision maintains concurrent reassemblers per priority level, enabling arbitrary priority nesting. Closes OpenCyphal#184 Closes OpenCyphal#223 Closes OpenCyphal#247 --------- Co-authored-by: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

Uh oh!

The transfer-ID timeout for RPC response sessions must be zero #247

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