ardupilot/Tools/AP_Periph

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