mirror of https://github.com/ArduPilot/ardupilot
180 lines
5.3 KiB
Markdown
180 lines
5.3 KiB
Markdown
# AP_Periph UAVCAN Peripheral Firmware
|
|
|
|
This is an ArduPilot based UAVCAN peripheral firmware. This firmware
|
|
takes advantage of the wide range of sensor drivers in ArduPilot to
|
|
make building a UAVCAN peripheral firmware easy.
|
|
|
|
The AP_Periph firmware is based on the same ChibiOS hwdef.dat system
|
|
that is used to define pinouts for STM32 based flight controllers
|
|
supported by ArduPilot. That means you can add support for a new
|
|
UAVCAN peripheral based on the STM32 by just writing a simple
|
|
hwdef.dat that defines the pinout of your device.
|
|
|
|
Currently we have four targets building for AP_Periph firmwares:
|
|
|
|
- A STM32F103 128k flash part made by mRobotics (target f103-GPS)
|
|
- A STM32F412 512k flash part made by CUAV (target CUAV_GPS)
|
|
- A STM32F105 256k flash part (used in ZubaxGNSSv2)
|
|
- A STM32F303 256k flash part made by mRobotics (target f303-GPS)
|
|
|
|
More can be added using the hwdef.dat system
|
|
|
|
# Features
|
|
|
|
The AP_Periph firmware can be configured to enable a wide range of
|
|
UAVCAN sensor types. Support is included for:
|
|
|
|
- GPS modules (including RTK GPS)
|
|
- Magnetometers (SPI or I2C)
|
|
- Barometers (SPI or I2C)
|
|
- Airspeed sensors (I2C)
|
|
- Rangefinders (UART or I2C)
|
|
- ADSB (Ping ADSB receiver on UART)
|
|
- Battery Monitor (Analog, I2C/SMBus, UART)
|
|
- LEDs (GPIO, I2C or WS2812 serial)
|
|
- Safety LED and Safety Switch
|
|
- Buzzer (tonealarm or simple GPIO)
|
|
- RC Output (All standard RCOutput protocols)
|
|
|
|
An AP_Periph UAVCAN firmware supports these UAVCAN features:
|
|
|
|
- dynamic or static CAN node allocation
|
|
- firmware upload
|
|
- automatically generated bootloader
|
|
- parameter storage in flash
|
|
- easy bootloader update
|
|
- high resiliance features using watchdog, CRC and board checks
|
|
- firmware update via MissionPlanner or uavcan-gui-tool
|
|
|
|
# Building
|
|
|
|
Using f103-GPS as an example, build the main firmware like this:
|
|
|
|
- ./waf configure --board f103-GPS
|
|
- ./waf AP_Periph
|
|
|
|
that will build a file build/f103-GPS/bin/AP_Periph.bin. You can
|
|
now load that using the CAN bootloader and either uavcan_gui_tool or
|
|
MissionPlanner SLCAN support.
|
|
|
|
# Flashing
|
|
|
|
To load directly with a stlink-v2, do this:
|
|
|
|
- st-flash write build/f103-GPS/bin/AP_Periph.bin 0x8006400
|
|
|
|
for the CUAV_GPS which loads at offset 0x10000 use this:
|
|
|
|
- st-flash write build/CUAV_GPS/bin/AP_Periph.bin 0x8010000
|
|
|
|
# Flashing bootloader
|
|
|
|
To flash the bootloader use this:
|
|
|
|
- st-flash write Tools/bootloaders/f103-GPS_bl.bin 0x8000000
|
|
|
|
# Building bootloader
|
|
|
|
To build the bootloader use this:
|
|
|
|
- Tools/scripts/build_bootloaders.py f103-GPS
|
|
|
|
the resulting bootloader will be in Tools/bootloaders
|
|
|
|
# Firmware Builds
|
|
|
|
Firmware targets are automatically built and distributed on the
|
|
ArduPilot firmware server on firmware.ardupilot.org. These firmwares
|
|
can be loaded using Mission Planner or the UAVCAN GUI Tool. Parameters
|
|
for peripherals can be changed using the Mission Planner SLCAN support
|
|
or using UAVCAN GUI Tools.
|
|
|
|
# User Bootloader Update
|
|
|
|
The bootloader is automatically stored in ROMFS in the main
|
|
firmware. End users can update the bootloader by setting the UAVCAN
|
|
parameter "FLASH_BOOTLOADER" to 1. After setting it to 1 the node will
|
|
respond with a debug text message which can be seen in the UAVCAN GUI
|
|
tool to show the result of the flash.
|
|
|
|
# SITL Testing
|
|
|
|
Currently GPS peripheral build is supported under linux environment,
|
|
we simulate a UAVCAN GPS Peripheral on SocketCAN.
|
|
|
|
Setup can be done as follows, this is on top of usual setup required
|
|
to build ardupilot:
|
|
|
|
```
|
|
sudo dpkg --add-architecture i386
|
|
sudo apt-get update
|
|
sudo apt-get install -y gcc-multilib g++-multilib
|
|
sudo apt-get update
|
|
sudo apt-get -y install can-utils iproute2 linux-modules-extra-$(uname -r)
|
|
sudo modprobe vcan
|
|
sudo ip link add dev vcan0 type vcan
|
|
sudo ip link set up vcan0
|
|
```
|
|
Build Commands:
|
|
```
|
|
./waf configure --board sitl_periph_gps
|
|
./waf AP_Periph
|
|
```
|
|
Autotest Command:
|
|
```
|
|
Tools/autotest/autotest.py -v Copter build.SITLPeriphGPS test.CAN
|
|
```
|
|
|
|
|
|
---
|
|
**Note**
|
|
|
|
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`
|
|
|
|
---
|
|
|
|
|
|
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`
|
|
|
|
Following are the common commands that can be used while testing or developing:
|
|
* Create Virtual CAN Interface:
|
|
```
|
|
sudo modprobe vcan
|
|
sudo ip link add dev vcan0 type vcan
|
|
sudo ip link set up vcan0
|
|
sudo ip link add dev vcan1 type vcan
|
|
sudo ip link set up vcan1
|
|
```
|
|
* Route one CANSocket to another
|
|
```
|
|
sudo modprobe can-gw
|
|
sudo cangw -A -s vcan0 -d vcan1 -e
|
|
sudo cangw -A -s vcan1 -d vcan0 -e
|
|
```
|
|
* Delete routes
|
|
```
|
|
sudo cangw -D -s vcan0 -d vcan1 -e
|
|
sudo cangw -D -s vcan1 -d vcan0 -e
|
|
```
|
|
* Route SLCAN to VCAN, this allows connecting CAN devices to SITL run via CAN Adapter like the one running in Ardupilot itself.
|
|
```
|
|
sudo modprobe slcan
|
|
sudo modprobe can-gw
|
|
sudo slcan_attach -f -s8 -o /dev/ttyACM0
|
|
sudo slcand ttyACM0 slcan0
|
|
sudo ifconfig slcan0 up
|
|
sudo cangw -A -s vcan0 -d slcan0 -e
|
|
sudo cangw -A -s slcan0 -d vcan0 -e
|
|
```
|
|
* Dump can messages:
|
|
```
|
|
sudo candump vcan0
|
|
```
|
|
|
|
# Discussion and Feedback
|
|
|
|
Please join the discussions at these locations:
|
|
|
|
- https://discuss.ardupilot.org/t/ap-periph-1-0-0-stable-released/49049
|
|
- https://gitter.im/ArduPilot/CANBUS
|