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Tools: update periph README.md
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Andrew Tridgell
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# AP_Periph UAVCAN Peripheral Firmware
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# AP_Periph DroneCAN Peripheral Firmware
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This is an ArduPilot based UAVCAN peripheral firmware. This firmware
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This is an ArduPilot based DroneCAN peripheral firmware. This firmware
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takes advantage of the wide range of sensor drivers in ArduPilot to
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make building a UAVCAN peripheral firmware easy.
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make building a DroneCAN peripheral firmware easy.
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The AP_Periph firmware is based on the same ChibiOS hwdef.dat system
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that is used to define pinouts for STM32 based flight controllers
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supported by ArduPilot. That means you can add support for a new
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UAVCAN peripheral based on the STM32 by just writing a simple
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DroneCAN peripheral based on the STM32 by just writing a simple
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hwdef.dat that defines the pinout of your device.
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Currently we have four targets building for AP_Periph firmwares:
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We have over 60 build targets building for AP_Periph firmwares. All
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ArduPilot supported MCUs can be used, including:
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- A STM32F103 128k flash part made by mRobotics (target f103-GPS)
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- A STM32F412 512k flash part made by CUAV (target CUAV_GPS)
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- A STM32F105 256k flash part (used in ZubaxGNSSv2)
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- A STM32F303 256k flash part made by mRobotics (target f303-GPS)
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- STM32F1xx
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- STM32F3xx
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- STM32F4xx
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- STM32F7xx
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- STM32H7xx
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- STM32L4xx
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- STM32G4xx
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More can be added using the hwdef.dat system
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# Features
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The AP_Periph firmware can be configured to enable a wide range of
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UAVCAN sensor types. Support is included for:
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DroneCAN sensor types. Support is included for:
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- GPS modules (including RTK GPS)
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- Magnetometers (SPI or I2C)
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@ -35,8 +39,12 @@ UAVCAN sensor types. Support is included for:
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- Safety LED and Safety Switch
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- Buzzer (tonealarm or simple GPIO)
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- RC Output (All standard RCOutput protocols)
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- RC input
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- battery balance monitor
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- EFI engines
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- Proximity sensors
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An AP_Periph UAVCAN firmware supports these UAVCAN features:
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An AP_Periph DroneCAN firmware supports these DroneCAN features:
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- dynamic or static CAN node allocation
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- firmware upload
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@ -56,8 +64,8 @@ Using f103-GPS as an example, build the main firmware like this:
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- ./waf AP_Periph
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that will build a file build/f103-GPS/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 SLCAN support.
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now load that using the CAN bootloader and either dronecan_gui_tool or
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MissionPlanner DroneCAN support.
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# Flashing
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@ -87,95 +95,32 @@ the resulting bootloader will be in Tools/bootloaders
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Firmware targets are automatically built and distributed on the
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ArduPilot firmware server on firmware.ardupilot.org. These firmwares
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can be loaded using Mission Planner or the UAVCAN GUI Tool. Parameters
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for peripherals can be changed using the Mission Planner SLCAN support
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or using UAVCAN GUI Tools.
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can be loaded using Mission Planner or the DroneCAN GUI Tool. Parameters
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for peripherals can be changed using the Mission Planner DroneCAN support
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or using DroneCAN GUI Tools.
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# User Bootloader Update
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The bootloader is automatically stored in ROMFS in the main
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firmware. End users can update the bootloader by setting the UAVCAN
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firmware. End users can update the bootloader by setting the DroneCAN
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parameter "FLASH_BOOTLOADER" to 1. After setting it to 1 the node will
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respond with a debug text message which can be seen in the UAVCAN GUI
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respond with a debug text message which can be seen in the DroneCAN GUI
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tool to show the result of the flash.
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# SITL Testing
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Currently GPS peripheral build is supported under linux environment,
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we simulate a UAVCAN GPS Peripheral on SocketCAN.
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A wide range of DroneCAN peripherals are supported in the SITL
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simulation system. The simplest way of starting a DroneCAN enabled
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simulated vehicle is to use sim_vehicle.py.
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Setup can be done as follows, this is on top of usual setup required
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to build ardupilot:
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For a quadplane use: sim_vehicle.py with the option -f quadplane-can
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```
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sudo dpkg --add-architecture i386
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sudo apt-get update
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sudo apt-get install -y gcc-multilib g++-multilib
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sudo apt-get update
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sudo apt-get -y install can-utils iproute2 linux-modules-extra-$(uname -r)
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sudo modprobe vcan
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sudo ip link add dev vcan0 type vcan
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sudo ip link set up vcan0
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```
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Build Commands:
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```
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./waf configure --board sitl_periph_gps
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./waf AP_Periph
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```
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Autotest Command:
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```
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Tools/autotest/autotest.py -v Copter build.SITLPeriphGPS test.CAN
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```
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---
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**Note**
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To run valgrind on AP_Periph binary you might need to get 32 bit version of libc6-dbg which can be simply get using following command for Ubuntu machines: `sudo apt-get install libc6-dbg:i386`
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---
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https://github.com/linux-can/can-utils contains a nice set of utility to do CAN related testings on Linux system. I used Ubuntu for this development, for Ubuntu systems you can simply download this tool using `sudo apt-get install can-utils`
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Following are the common commands that can be used while testing or developing:
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* Create Virtual CAN Interface:
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```
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sudo modprobe vcan
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sudo ip link add dev vcan0 type vcan
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sudo ip link set up vcan0
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sudo ip link add dev vcan1 type vcan
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sudo ip link set up vcan1
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```
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* Route one CANSocket to another
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```
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sudo modprobe can-gw
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sudo cangw -A -s vcan0 -d vcan1 -e
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sudo cangw -A -s vcan1 -d vcan0 -e
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```
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* Delete routes
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```
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sudo cangw -D -s vcan0 -d vcan1 -e
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sudo cangw -D -s vcan1 -d vcan0 -e
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```
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* Route SLCAN to VCAN, this allows connecting CAN devices to SITL run via CAN Adapter like the one running in Ardupilot itself.
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```
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sudo modprobe slcan
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sudo modprobe can-gw
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sudo slcan_attach -f -s8 -o /dev/ttyACM0
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sudo slcand ttyACM0 slcan0
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sudo ifconfig slcan0 up
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sudo cangw -A -s vcan0 -d slcan0 -e
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sudo cangw -A -s slcan0 -d vcan0 -e
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```
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* Dump can messages:
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```
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sudo candump vcan0
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```
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For a quadcopter use: sim_vehicle.py with the option -f quad-can
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# Discussion and Feedback
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Please join the discussions at these locations:
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- https://discuss.ardupilot.org/t/ap-periph-1-0-0-stable-released/49049
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- https://gitter.im/ArduPilot/CANBUS
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- https://discuss.ardupilot.org/
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- https://ardupilot.org/discord
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