mirror of https://github.com/ArduPilot/ardupilot
44 lines
1.0 KiB
Markdown
44 lines
1.0 KiB
Markdown
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# CAN Peripheral Firmware
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This is an ArduPilot based CAN peripheral firmware. Currently two
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targets are supported:
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- A STM32F103 128k flash part made by mRobotics (target f103-periph)
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- A STM32F412 512k flash part made by CUAV (target CUAV_GPS)
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# Building
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Using f103-periph as an example, build the main firmware like this:
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- ./waf configure --board f103-periph
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- ./waf AP_Periph
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that will build a file build/f103-periph/bin/AP_Periph.bin. You can
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now load that using the CAN bootloader and either uavcan_gui_tool or
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MissionPlanner.
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# Flashing
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To load directly with a stlink-v2, do this:
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- st-flash write build/f103-periph/bin/AP_Periph.bin 0x8006000
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for the CUAV_GPS which loads at offset 0x10000 use this:
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- st-flash write build/CUAV_GPS/bin/AP_Periph.bin 0x8010000
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# Flashing bootloader
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To flash the bootloader use this:
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- st-flash write Tools/bootloaders/f103-periph_bl.bin 0x8000000
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# Building bootloader
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To build the bootloader use this:
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- Tools/scripts/build_bootloader.py f103-periph
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the resulting bootloader will be in Tools/bootloaders
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