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+# 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
+