View source for Tawaki/v1.00


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|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
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<div style="float: right; width: 65%">
[[Image:Tawaki_v100_top_hand.JPG|400px|Tawaki v1.00 top side]]<br><br>
[[Image:Tawaki_v100_top_bottom_1E.JPG|400px|Tawaki v1.00 1€ size comparison]]
</div>
__TOC__

== Hardware Revision History ==
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v1.00||07/2019||Initial release of Tawaki
|}

== Overview ==

=== Pictures ===
<gallery>
Tawaki_v100_top_pers.JPG
Tawaki_v100_bottom_pers.JPG
Tawaki_v100_bottom_hand.JPG
Tawaki_v100_top_SD_beside.JPG
Tawaki_v100_top_x4.JPG
</gallery>

=== Key Features ===
*STMicro [https://www.st.com/en/microcontrollers-microprocessors/stm32f777vi.html STM32F777VI] Micro Controller Unit
**ARM Cortex-M7, 216 MHz CPU, FPU & DSP instructions, 2 Mbytes Flash, 512 Kbytes SRAM, General-purpose DMA, HW Crypto,etc.
*On-board Sensors
**6 DOF Accelerometers & Gyrometers TDK-Invensense [https://www.invensense.com/products/motion-tracking/6-axis/icm-20600/ ICM-20600]
**3 DOF Magnetometer STMicro [https://www.st.com/en/microcontrollers-microprocessors/stm32f777vi.html LIS3MDL]
**Baro-Altimeter Bosch [https://www.bosch-sensortec.com/bst/products/all_products/bmp388 BMP388]
*8x Servos or ESC outputs (PWM/OneShot/DShot) + D-Shot Telemetry serial input
*2x RC Receiver Inputs (S.BUS, PPM & Spektrum Satellite compatible, including receiver binding)
*Communication Buses
**3x UARTs (including one with hardware flow control signals)
**1x I2C bus (3.3V and 5V logic level)
**1x SPI bus (with Slave Select, Master or Slave)
**1x CAN bus
**1x USB (Micro-B & remote) : DFU mode (download) or USB storage (direct access to MicroSD card) or FullSpeed Mode
*8x Auxiliary Inputs/Outputs spread over 2 connectors (8x ADC, 8x Timers different from servos, x1 UART, etc.)
*MicroSD card (+ dedicated power supply for emergency files closing system)
*Debug Connector (Serial Wire Debug)
*Power
**source 2 to 4 Lipo cells (6 to 17v)
**5V/4A (max total for Tawaki + Servos + Payload)
**3.3V/3A Low Noise (max total for payload)
**Controlled PowerSwitch 5V/2A supply on AUX A connector
*x4 Status Leds
*Connectors fully compatible with Apogee autopilot
*Mechanical
** 53 x 25mm (2.1" x 0.98"), including 4x &Phi;2mm mounting holes (shares the same external dimensions and mounting points as Apogee)
** 4x &Phi;3mm extra mounting holes, 30 to 31mm spacing (30.5mm standard from Racers ESC, GPS modules, etc. )
** 11g (0.4 oz) (including Micro-SD card)

=== Pinout ===

==== Simplified Pinout Diagram (Paparazzi use) ====
''Pins Name and Type are specified with respect to the Autopilot Board''<br>

[[Image:Tawaki_v100_simplified_pinout.png|1200px|Tawaki v1.00 simplified pinout (Paparazzi use)]]

==== Simplified Pinout Tables(Paparazzi use) ====
<small>
'''UART2'''
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:Orange; color:black"|+5V||PWR||-||5V Rail from autopilot
|-
|3||style="background:Red; color:black"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|4||style="background:green; color:white"|RX2||IN||PD6||UART2 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX2||OUT||PD5||UART2 Serial Output (3.3V level)
|}
<br>

'''UART3'''
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:Orange; color:black"|+5V||PWR||-||5V Rail from autopilot
|-
|3||style="background:Red; color:black"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|4||style="background:green; color:white"|RX2||IN||PD9||UART3 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX2||OUT||PD8||UART3 Serial Output (3.3V level)
|}
<br>

'''UART7'''
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:Orange; color:black"|+5V||PWR||-||5V Rail from autopilot
|-
|3||style="background:Red; color:black"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|4||style="background:green; color:white"|RX2||IN||PB3||UART7 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX2||OUT||PA15||UART7 Serial Output (3.3V level)
|}
<br>

'''I2C2 (3V3)'''
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:Orange; color:black"|+5V||PWR||-||5V Rail from autopilot
|-
|3||style="background:red; color:black"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|4||style="background:sienna; color:white"|SDA2<sub> 3.3V</sub>||Open Drain<br>I/O||PB11||I2C2 bus Serial DAta ('''3.3V level''', 2.2k&Omega; pull-up)
|-
|5||style="background:blue; color:white"|SCL2<sub> 3.3V</sub>||Open Drain<br>I/O||PB10||I2C12 bus Serial CLock ('''3.3V level''', 2.2k&Omega; pull-up)
|}
<br>

'''I2C2 (5V)'''
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:Orange; color:black"|+5V||PWR||-||5V Rail from autopilot
|-
|3||style="background:red; color:black"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|4||style="background:sienna; color:white"|SDA2<sub> 5V</sub>||Open Drain<br>I/O||PB11||I2C2 bus Serial DAta ('''5V level''', 2.2k&Omega; pull-up)
|-
|5||style="background:blue; color:white"|SCL2<sub> 5V</sub>||Open Drain<br>I/O||PB10||I2C12 bus Serial CLock ('''5V level''', 2.2k&Omega; pull-up)
|}
<br>

'''SPI2'''
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:Orange; color:black"|+5V||PWR||-||5V Rail from autopilot
|-
|3||style="background:red; color:black"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|4||style="background:sienna; color:white"|NSS2||OUT||PB12||Slave Select. Selects the SPI slave
|-
|5||style="background:Grey; color:white"|MOSI2||I/O||PB15||SPI2 Master Out Slave In. Data output from master / data input to slave
|-
|6||style="background:Green; color:white"|MISO2||I/O||PB14||SPI2 Master In Slave Out. Data input to master / data output from slave
|-
|7||style="background:Yellow; color:black"|SCK2||I/O||PD3||SPI2 Serial clock. Clock output from master or input to slave
|}
<br>

'''CAN'''
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||CAN bidirectional + line
|}
''Note: Embedded 120&Omega; terminator resistor.''<br>
<br>

'''Servos a1 / a2 / a3 / a4'''
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!width="10%"|''MCU Resource''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||-||common ground
|-
|2||style="background:orange; color:black"|+5V||PWR||-||-||5V Rail from autopilot
|-
|3||style="background:cyan; color:black"|SRVa1<br>SRVa2<br>SRVa3<br>SRVa4||OUT||PE9<br>PE11<br>PE13<br>PE14||Tim1.Ch1<br>Tim1.Ch2<br>Tim1.Ch3<br>Tim1.Ch4||Servo signal (PWM)
|}
<br>

'''Servos b'''
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!width="10%"|''MCU Resource''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||-||common ground
|-
|2||style="background:orangered; color:black"|VBAT||PWR<sub>IN/OUT</sub>||-||-||
|-
|3||style="background:cyan; color:black"|SRVb1||OUT||PB6||Tim4.Ch1||Servo signal (PWM)
|-
|4||style="background:cyan; color:black"|SRVb2||OUT||PB7||Tim4.Ch2||Servo signal (PWM)
|-
|5||style="background:cyan; color:black"|SRVb3||OUT||PB8||Tim4.Ch3||Servo signal (PWM)
|-
|6||style="background:cyan; color:black"|SRVb4||OUT||PB9||Tim4.Ch4||Servo signal (PWM)
|-
|7||style="background:green; color:black"|DSHTin||IN||PB5||UART5.Rx||
|}
<br>

'''SWD'''
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:red; color:black"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|3||style="background:white; color:black"|nRST||IN||-||MCU Reset (active low)
|-
|4||style="background:blue; color:white"|SWCLK||IN||PA14||Serial Wire Clock
|-
|5||style="background:sienna; color:white"|SWDIO||I/O||PA13||Serial Wire Data Input/Output
|}
<br>

</small>

== Detailed Features ==

== Schematic ==

== Board production  ==

=== Gerber & Drill for PCB ===

=== Bill Of Material ===

=== Components Layout ===

=== Pick-and-Place ===

== Mechanical Dimensions ==

== Programming ==

== Debugging ==

=== Debugging with STM Discovery ST-LINK/V2 embedded debug tool ===

=== Debugging with [[CricketProbe/v1.00 | CricketProbe]] ===

== Source code ==
Available in latest git master branch.

== Where to Buy ==
Check availability on [[Get_Hardware|Get Hardware]] page

[[Category:Autopilots]]