Tawaki/v1.00

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Revision as of 01:40, 30 July 2019 by Michel (talk | contribs) (Powering using external 5V source)

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Tawaki v1.00 top side

Tawaki v1.00 1€ size comparison

Hardware Revision History

Version # Release Date Release Notes
v1.00 07/2019 Initial release of Tawaki

Overview

Pictures

Key Features

  • STMicro 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 ICM-20600
    • 3 DOF Magnetometer STMicro LIS3MDL
    • Baro-Altimeter Bosch 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 Φ2mm mounting holes (shares the same external dimensions and mounting points as Apogee)
    • 4x Φ3mm extra mounting slotted 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

Tawaki v1.00 simplified pinout (Paparazzi use)

Simplified Pinout Tables (Paparazzi use)

Servos a1 / a2 / a3 / a4

Pin # Name Type MCU Port MCU Resource Description
1 GND PWR - - common ground
2 +5V PWR - - 5V Rail from autopilot
3 SRVa1
SRVa2
SRVa3
SRVa4
OUT PE9
PE11
PE13
PE14
Tim1.Ch1
Tim1.Ch2
Tim1.Ch3
Tim1.Ch4
Servo signal (PWM)


Servos b

Pin # Name Type MCU Port MCU Resource Description
1 GND PWR - - common ground
2 VBAT PWRIN/OUT - - Battery Rail (if solder bridge JP1 ON)
3 SRVb1 OUT PB6 Tim4.Ch1 Servo signal (PWM)
4 SRVb2 OUT PB7 Tim4.Ch2 Servo signal (PWM)
5 SRVb3 OUT PB8 Tim4.Ch3 Servo signal (PWM)
6 SRVb4 OUT PB9 Tim4.Ch4 Servo signal (PWM)
7 DSHTin IN PB5 UART5.Rx DShot Telemetry serial input


R/C

Pin # Name Type MCU Port MCU Resource Description
1 GND PWR - - common ground
2 +5V PWR - - 5V Rail from autopilot
3 +3.3V PWR - - 3.3V Rail from autopilot
4 RC1 IN PE0 UART8.Rx (5V Tolerant) Serial (SBUS, Spektrum, etc.)
5 RC2 IN PC6 UART6.Rx (Tx software swap)
Tim3.Ch1
Tim8.Ch1
(5V Tolerant) Serial (SBUS, Spektrum, etc.) or PPM Stream RC receiver signal


UART2

Pin # Name Type MCU Port Description
1 GND PWR - common ground
2 +5V PWR - 5V Rail from autopilot
3 +3.3V PWR - 3.3V Rail from autopilot
4 RX2 IN PD6 UART2 Serial Input (3.3V level)
5 TX2 OUT PD5 UART2 Serial Output (3.3V level)


UART3

Pin # Name Type MCU Port Description
1 GND PWR - common ground
2 +5V PWR - 5V Rail from autopilot
3 +3.3V PWR - 3.3V Rail from autopilot
4 RX2 IN PD9 UART3 Serial Input (3.3V level)
5 TX2 OUT PD8 UART3 Serial Output (3.3V level)


UART7

Pin # Name Type MCU Port Description
1 GND PWR - common ground
2 +5V PWR - 5V Rail from autopilot
3 +3.3V PWR - 3.3V Rail from autopilot
4 RX2 IN PB3 UART7 Serial Input (3.3V level)
5 TX2 OUT PA15 UART7 Serial Output (3.3V level)


I2C2 (3V3)

Pin # Name Type MCU Port Description
1 GND PWR - common ground
2 +5V PWR - 5V Rail from autopilot
3 +3.3V PWR - 3.3V Rail from autopilot
4 SDA2 3.3V Open Drain I/O PB11 I2C2 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
5 SCL2 3.3V Open Drain I/O PB10 I2C12 bus Serial CLock (3.3V level, 2.2kΩ pull-up)


I2C2 (5V)

Pin # Name Type MCU Port Description
1 GND PWR - common ground
2 +5V PWR - 5V Rail from autopilot
3 +3.3V PWR - 3.3V Rail from autopilot
4 SDA2 5V Open Drain I/O PB11 I2C2 bus Serial DAta (5V level, 2.2kΩ pull-up)
5 SCL2 5V Open Drain I/O PB10 I2C12 bus Serial CLock (5V level, 2.2kΩ pull-up)


SPI2

Pin # Name Type MCU Port Description
1 GND PWR - common ground
2 +5V PWR - 5V Rail from autopilot
3 +3.3V PWR - 3.3V Rail from autopilot
4 NSS2 OUT PB12 Slave Select. Selects the SPI slave
5 MOSI2 I/O PB15 SPI2 Master Out Slave In. Data output from master / data input to slave
6 MISO2 I/O PB14 SPI2 Master In Slave Out. Data input to master / data output from slave
7 SCK2 I/O PD3 SPI2 Serial clock. Clock output from master or input to slave


CAN

Pin # Name Type MCU Port Description
1 CANL I/O - CAN bidirectional - line
2 CANH I/O - CAN bidirectional + line

Note: Embedded 120Ω terminator resistor.

AUX a

Pin # Name Type MCU Port MCU Resource Description
1 GND PWR - - common ground
2 +5V Aux PWR (Controlled by) PC13 - 5V from autopilot through Power Switch
(PC13 = Low => OFF / PC13 = High => ON)
3 +3.3V PWR - - 3.3V Rail from autopilot
4 AUXa1 I/O PA0 ADC1+2+3.In0
Tim2.Ch1
Tim5.Ch1
UART4.Tx
UART2.CTS
General Purpose I/O
5 AUXa2 I/O PA1 ADC1+2+3.In1
Tim2.Ch2
Tim5.Ch2
UART4.Rx
UART2.RTS
General Purpose I/O
6 AUXa3 I/O PA2 ADC1+2+3.In2
Tim2.Ch3
Tim5.Ch3
Tim9.Ch1
General Purpose I/O
7 AUXa4 I/O PA6 ADC1+2.In6
Tim3.Ch1
Tim13.Ch1
General Purpose I/O


AUX b

Pin # Name Type MCU Port MCU Resource Description
1 GND PWR - - common ground
2 +5V PWR - - 5V Rail from autopilot
3 +3.3V PWR - - 3.3V Rail from autopilot
4 AUXb1 I/O PA3 ADC1+2+3.In3
Tim2.Ch4
Tim5.Ch4
Tim9.Ch2
General Purpose I/O
5 AUXb2 I/O PA7 ADC1+2+3.In7
Tim3.Ch2
Tim14.Ch1
General Purpose I/O
6 AUXb3 I/O PB0 ADC1+2.In8
Tim3.Ch3
General Purpose I/O
7 AUXb4 I/O PB1 ADC1+2.In9
Tim3.Ch4
General Purpose I/O


USB

Pin # Name Type MCU Port Description
1 GND PWR - common ground
2 USB+ I/O PA12 USB bidirectional D+ line
3 USB- I/O PA11 USB bidirectional D- line
4 VBUS IN PA9 USB bus power (5V)
5 BOOT IN BOOT0 DFU or USB Mode selection (BOOT0 MCU pin)

Note: USB Micro-B and Molex Picoblade connectors are in parallel, only one should be connected at a time.


SWD

Pin # Name Type MCU Port Description
1 GND PWR - common ground
2 +3.3V PWR - 3.3V Rail from autopilot
3 nRST IN NRST MCU Reset (active low)
4 SWCLK IN PA14 Serial Wire Clock
5 SWDIO I/O PA13 Serial Wire Data Input/Output


Detailed Features

Power Supply

There are several ways to power the Tawaki board. CAUTION! use only one of these sources at a time:

  • with a battery or any power source that delivers between 6 and 17V
  • by connecting it to a USB port
  • with a power source that delivers a regulated, stable 5V

Powering using battery/external source soldered onto battery pads

Tawaki v1.00 External source onto GND & VBAT pads

This is the basic setup: the Tawaki then generates all the internal power sources needed by its components. Additionally, the board provides +5V and +3.3V power sources through dedicated ports for external payload.
Limitations:

  • input power source range: 6-17V (2-4 Lipo cells)
  • maximum current usable by both Tawaki and payload on the +5V: I(5V)<4A
  • maximum current usable for payload on the +3.3V: I(3.3V)<3A
  • maximum total current usable: 4A

Tawaki v1.00 Servos b header Vbat source for payload

With this setup, the external power source is available on the “VBAT” pin of the “Servos B” header - but only if solder bridge JP1 is jumped (turned ON) with a small blob of solder.
Limitation:

  • maximum current used on the “VBAT” pin must be less than 1A (because of the header’s specifications)

Powering using battery/external source connected on "Servos B" header

Tawaki v1.00 External source on Servo b header

With this setup, the “GND”(-) and “VBAT”(+) pins of the “Servos B” header are used as the main entry ports for the external power source - but only if solder bridge JP1 is jumped (turned ON) with a small blob of solder. This can be interesting when the ESC already delivers the external power source voltage through its command and control signals (as is frequently the case on multi-rotors).
Limitations:

  • input power source range: 6-17V (2-4 Lipo cells)
  • maximum total current usable: 1A (because of the header’s specifications)

Powering using USB Micro-B only

Tawaki v1.00 USB Micro-B powering

It is possible to power the Tawaki with only a host computer, through the USB Micro-B port. This setup allows to power the board and all its components, while at the same time flashing it.
In this case, the "VBUS" pin of the "USB" header must be connected to the "+5V" pin of any header that is equipped with one - with the exception of the "5Vaux" pin of the "AUX a" header.
Limitation:

  • the host computer must be capable of providing the current needed for: powering the board, and any potential external payload. With a maximum limit of 1A (because of the header’s specifications)

Note: with this setup, the voltage of the external power source (VBAT) obviously cannot be measured by the micro-controller (MCU).

Powering using external 5V source

Tawaki v1.00 External 5V Source

In some cases the external power source is out of range and cannot be used, but an external 5V power source is available (for example provided by the ESC). In this case, the external 5V power source must be connected to the "+5V" and "GND" pins of any header that are equipped with them - with the exception of the "5Vaux" pin of the "AUX a" header.
Limitations:

  • voltage range: 4-6V
  • the external 5V power source must be capable of providing the current needed for: powering the board, and any potential external payload. With a maximum limit of 1A (because of the headers' specifications)
  • the "VBUS" pin of the "USB" header must not be connected to the "+5V" pin of any header

Note: with this setup, the voltage of the external power source (VBAT) obviously cannot be measured by the micro-controller (MCU).

USB Modes

Flash (DFU) mode

In this configuration, BOOT pin is connected to VBUS pin (#4 & #5 "USB" header).
If USB cable is plugged and autopilot is not powered or USB cable plugged before autopilot is powered, board enter DFU mode and is ready to be flashed.

Tawaki v1.00 USB DFU/Flash mode

USB Storage mode

In this configuration, BOOT pin is connected to VBUS pin (#4 & #5 "USB" header).
If USB cable is plugged after autopilot is powered, autopilot task is stopped and board enters in USB storage mode to make SDcard content easily available by host as for an USB Pendrive. When unmounted and unplugged, autopilot task restart.

Tawaki v1.00 USB Storage mode

Full Speed USB mode

General Pinout

Pins Name and Type are specified with respect to the Autopilot Board

Tawaki v1.00 general pinout (development board use)

Schematic

Mechanical

Mechanical Dimensions

Tawaki v1.00 top mechanical dimensions

CAD Files / 3D Model

Tawaki v100 step file logo.PNG Download Tawaki v1.00 CAD File (zipped STEP file)

Example of Airborne Equipment Electrical Connections

Board production

Gerber & Drill for PCB

Bill Of Material

Components Layout

Tawaki v100 bottom components layout.pngBottom components layout (pdf)
Tawaki v100 top components layout.pngTop components layout (pdf)

Pick-and-Place

Programming

Debugging

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

Debugging with BlackMagic probe

Debugging with CricketProbe

Source code

Available in latest git master branch.

Where to Buy

Check availability on Get Hardware page