> For the complete documentation index, see [llms.txt](https://beyond-robotix.gitbook.io/docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://beyond-robotix.gitbook.io/docs/can-ecosystem/ap-periph.md).

# AP Periph

Contains information relevant to using AP periph on the micro node system

We support AP\_Periph based firmware's for our CAN node. The Nodes ship with a generic AP\_periph firmware by default.

## Default firmware features

* 6 PWMs/GPIOs
  * PA0 - PWM 1 - GPIO 50
  * PA1 - PWM 2 - GPIO 51
  * PA8 - PWM 3 - GPIO 52
  * PA9 - PWM 4 - GPIO 53
  * PA10 - PWM 5 - GPIO 54
  * PA11 - PWM 6 - GPIO 55
* Serial UBLOX/NMEA/SBF GPS (Serial 3 by default)
* Barometers
* Airspeed
* Battery (any, but ADC PA0 voltage and PA1 Current enabled by default)
* Relay

## Firmware files and flashing

If there is no AP periph bootloader present on the node (you've been using Arduino DroneCAN for example) then AP\_Periph\_with\_bl.hex needs flashing with STM cube Programmer using STLINK or UART.

If the AP periph bootloader is present, the .bin file can be used in the usual way through mission planner.

{% hint style="info" %}
We've working on merging our hwdef file into Ardupilot repository
{% endhint %}

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