History

Andrew Tridgell 5055144cd3 AP_Periph: fixed scaling of LEDs RGBLed packets sent as 5:6:5 bits		2020-02-05 10:12:13 +11:00
..
AP_Periph.cpp	AP_Periph: re-init LEDs at 1Hz	2019-09-10 16:40:03 +10:00
AP_Periph.h	AP_Periph: added peripheral firmware	2019-08-27 10:29:56 +10:00
Parameters.cpp	AP_Periph: added BUZZER_VOLUME parameter	2019-09-10 16:22:33 +10:00
Parameters.h	AP_Periph: added BUZZER_VOLUME parameter	2019-09-10 16:22:33 +10:00
README.md	AP_Periph: added README for AP_Periph development	2019-09-10 16:40:25 +10:00
can.cpp	AP_Periph: fixed scaling of LEDs	2020-02-05 10:12:13 +11:00
i2c.h	AP_Periph: added peripheral firmware	2019-08-27 10:29:56 +10:00
wscript	AP_Periph: stop compiling in AP_Buffer	2020-02-05 10:05:59 +11:00

README.md

CAN Peripheral Firmware

This is an ArduPilot based CAN peripheral firmware. Currently two targets are supported:

A STM32F103 128k flash part made by mRobotics (target f103-periph)
A STM32F412 512k flash part made by CUAV (target CUAV_GPS)

Building

Using f103-periph as an example, build the main firmware like this:

./waf configure --board f103-periph
./waf AP_Periph

that will build a file build/f103-periph/bin/AP_Periph.bin. You can now load that using the CAN bootloader and either uavcan_gui_tool or MissionPlanner.

Flashing

To load directly with a stlink-v2, do this:

st-flash write build/f103-periph/bin/AP_Periph.bin 0x8006000

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-periph_bl.bin 0x8000000

Building bootloader

To build the bootloader use this:

Tools/scripts/build_bootloader.py f103-periph

the resulting bootloader will be in Tools/bootloaders