ardupilot/Tools/AP_Periph
Andrew Tridgell e07a6b63b1 AP_Periph: enable airspeed sensor 2020-02-05 10:43:36 +11:00
..
AP_Periph.cpp AP_Periph: enable airspeed sensor 2020-02-05 10:43:36 +11:00
AP_Periph.h AP_Periph: enable airspeed sensor 2020-02-05 10:43:36 +11:00
Parameters.cpp AP_Periph: enable airspeed sensor 2020-02-05 10:43:36 +11:00
Parameters.h AP_Periph: enable airspeed sensor 2020-02-05 10:43:36 +11:00
README.md Tools: updated AP_Periph CI and docs 2020-02-05 10:15:17 +11:00
adsb.cpp AP_Periph: support ADSB UAVCAN peripherals 2020-02-05 10:13:53 +11:00
can.cpp AP_Periph: enable airspeed sensor 2020-02-05 10:43:36 +11:00
i2c.h AP_Periph: added peripheral firmware 2019-08-27 10:29:56 +10:00
wscript AP_Periph: enable airspeed sensor 2020-02-05 10:43:36 +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-GPS)
  • A STM32F412 512k flash part made by CUAV (target CUAV_GPS)

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.

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_bootloader.py f103-GPS

the resulting bootloader will be in Tools/bootloaders