mirror of https://github.com/ArduPilot/ardupilot
104 lines
3.2 KiB
Markdown
104 lines
3.2 KiB
Markdown
# AP_Periph UAVCAN Peripheral Firmware
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This is an ArduPilot based UAVCAN 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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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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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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- 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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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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- GPS modules (including RTK GPS)
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- Magnetometers (SPI or I2C)
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- Barometers (SPI or I2C)
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- Airspeed sensors (I2C)
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- Rangefinders (UART or I2C)
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- ADSB (Ping ADSB receiver on UART)
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- LEDs (GPIO, I2C or WS2812 serial)
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- Safety LED and Safety Switch
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- Buzzer (tonealarm or simple GPIO)
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An AP_Periph UAVCAN firmware supports these UAVCAN features:
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- dynamic or static CAN node allocation
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- firmware upload
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- automatically generated bootloader
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- parameter storage in flash
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- easy bootloader update
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- high resiliance features using watchdog, CRC and board checks
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- firmware update via MissionPlanner or uavcan-gui-tool
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# Building
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Using f103-GPS as an example, build the main firmware like this:
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- ./waf configure --board f103-GPS
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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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# Flashing
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To load directly with a stlink-v2, do this:
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- st-flash write build/f103-GPS/bin/AP_Periph.bin 0x8006400
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for the CUAV_GPS which loads at offset 0x10000 use this:
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- st-flash write build/CUAV_GPS/bin/AP_Periph.bin 0x8010000
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# Flashing bootloader
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To flash the bootloader use this:
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- st-flash write Tools/bootloaders/f103-GPS_bl.bin 0x8000000
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# Building bootloader
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To build the bootloader use this:
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- Tools/scripts/build_bootloader.py f103-GPS
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the resulting bootloader will be in Tools/bootloaders
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# Firmware Builds
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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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# 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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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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tool to show the result of the flash.
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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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