From 7a20410752fda5544c76468f99ea01340fe42ab4 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 29 Oct 2019 09:36:47 +1100 Subject: [PATCH] AP_Periph: updated docs --- Tools/AP_Periph/README.md | 43 ++++++++++++++++++++++++++++++++++++--- 1 file changed, 40 insertions(+), 3 deletions(-) diff --git a/Tools/AP_Periph/README.md b/Tools/AP_Periph/README.md index 88684620bb..03e274522d 100644 --- a/Tools/AP_Periph/README.md +++ b/Tools/AP_Periph/README.md @@ -1,10 +1,47 @@ -# CAN Peripheral Firmware +# AP_Periph UAVCAN Peripheral Firmware -This is an ArduPilot based CAN peripheral firmware. Currently two -targets are supported: +This is an ArduPilot based UAVCAN peripheral firmware. This firmware +takes advantage of the wide range of sensor drivers in ArduPilot to +make building a UAVCAN periheral firmware easy. + +The AP_Periph firmware is based on the same ChibiOS hwdef.dat system +that is used to define pinouts for STM32 based flight controllers +supported by ArduPilot. That means you can add support for a new +UAVCAN peripheral based on the STM32 by just writing a simple +hwdef.dat that defines the pinout of your device. + +Currently we have three targets building for AP_Periph firmwares: - A STM32F103 128k flash part made by mRobotics (target f103-GPS) - A STM32F412 512k flash part made by CUAV (target CUAV_GPS) + - A STM32F105 256k flash part (used in ZubaxGNSSv2) + +More are planned soon. + +# Features + +The AP_Periph firmware can be configured to enable a wide range of +UAVCAN sensor types. Support is included for: + + - GPS modules (including RTK GPS) + - Magnetometers (SPI or I2C) + - Barometers (SPI or I2C) + - Airspeed sensors (I2C) + - Rangefinders (UART or I2C) + - ADSB (Ping ADSB receiver on UART) + - LEDs (GPIO, I2C or WS2812 serial) + - Safety LED and Safety Switch + - Buzzer (tonealarm or simple GPIO) + +An AP_Periph UAVCAN firmware supports these UAVCAN features: + + - dynamic or static CAN node allocation + - firmware upload + - automatically generated bootloader + - parameter storage in flash + - easy bootloader update + - high resiliance features using watchdog, CRC and board checks + - firmware update via MissionPlanner or uavcan-gui-tool # Building