diff --git a/canutils/libopencyphal/CMakeLists.txt b/canutils/libopencyphal/CMakeLists.txt
new file mode 100644
index 000000000..41a4bdf6e
--- /dev/null
+++ b/canutils/libopencyphal/CMakeLists.txt
@@ -0,0 +1,75 @@
+# ##############################################################################
+# apps/canutils/libopencyphal/CMakeLists.txt
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more contributor
+# license agreements.  See the NOTICE file distributed with this work for
+# additional information regarding copyright ownership.  The ASF licenses this
+# file to you under the Apache License, Version 2.0 (the "License"); you may not
+# use this file except in compliance with the License.  You may obtain a copy of
+# the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations under
+# the License.
+#
+# ##############################################################################
+
+if(CONFIG_CANUTILS_LIBOPENCYPHAL)
+
+  # ############################################################################
+  # Config and Fetch libopencyphal o1heap lib
+  # ############################################################################
+
+  set(LIBOPENCYPHAL_DIR ${CMAKE_CURRENT_LIST_DIR}/libcanard)
+  if(NOT EXISTS ${CMAKE_CURRENT_LIST_DIR}/libcanard)
+    FetchContent_Declare(
+      libcanard_fetch
+      URL ${CONFIG_LIBOPENCYPHAL_URL}/${CONFIG_LIBOPENCYPHAL_VERSION}.zip
+          SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR}/libcanard BINARY_DIR
+          ${CMAKE_BINARY_DIR}/apps/canutils/libopencyphal/libcanard
+      DOWNLOAD_NO_PROGRESS true
+      TIMEOUT 30)
+    FetchContent_GetProperties(libcanard_fetch)
+    if(NOT libcanard_fetch_POPULATED)
+      FetchContent_Populate(libcanard_fetch)
+    endif()
+    set(LIBOPENCYPHAL_DIR ${libcanard_fetch_SOURCE_DIR})
+  endif()
+
+  set(O1HEAP_DIR ${CMAKE_CURRENT_LIST_DIR}/o1heap)
+  if(NOT EXISTS ${CMAKE_CURRENT_LIST_DIR}/o1heap)
+    FetchContent_Declare(
+      o1heap_fetch
+      URL ${CONFIG_O1HEAP_URL}/${CONFIG_O1HEAP_VERSION}.zip SOURCE_DIR
+          ${CMAKE_CURRENT_LIST_DIR}/o1heap BINARY_DIR
+          ${CMAKE_BINARY_DIR}/apps/canutils/libopencyphal/o1heap
+      DOWNLOAD_NO_PROGRESS true
+      TIMEOUT 30)
+    FetchContent_GetProperties(o1heap_fetch)
+    if(NOT o1heap_fetch_POPULATED)
+      FetchContent_Populate(o1heap_fetch)
+    endif()
+    set(O1HEAP_DIR ${o1heap_fetch_SOURCE_DIR})
+  endif()
+
+  # ############################################################################
+  # Library Configuration
+  # ############################################################################
+
+  nuttx_add_user_library(libopencyphal)
+
+  target_sources(
+    libopencyphal
+    PRIVATE ${LIBOPENCYPHAL_DIR}/libcanard/canard.c
+            ${LIBOPENCYPHAL_DIR}/libcanard/canard_dsdl.c
+            ${O1HEAP_DIR}/o1heap/o1heap.c)
+  target_compile_options(
+    libopencyphal PRIVATE -std=c11 -DCANARD_ASSERT=DEBUGASSERT
+                          -DCANARD_DSDL_CONFIG_LITTLE_ENDIAN=1)
+  target_include_directories(libopencyphal PRIVATE ${O1HEAP_DIR}/o1heap)
+
+endif()