{| align=right |- |Autopilots |}
[[Image:Tawaki_v201_3D_top_view.jpg|500px|Tawaki v2.01 top side]]

[[Image:Tawaki_v201_3D_bottom_view.jpg|500px|Tawaki v2.01 bottom side]]
__TOC__ == Hardware Revision History == {|border="1" cellspacing="0" style="text-align:center" cellpadding="6" !''Version #''!!''Release Date''!!''Release Notes'' |- |v2.01||03/2024|| Push-Button added for easier boot mode selection
I2C 5V connector replaced by I2C 3.3V
Solder jumper JP2 added for CAN bus resistor termination setup |- |v2.00||10/2023||Initial release of Tawaki v2 |} == Overview == === Pictures === Tawaki_v201_3D_persp_top_view.jpg Tawaki_v201_3D_persp_bottom_view.jpg === Key Features === *STMicro [https://www.st.com/en/microcontrollers-microprocessors/stm32h753vi.html STM32H753VIH] Micro Controller Unit **ARM Cortex-M7, 480 MHz CPU, FPU & DSP instructions, 2MBytes Flash, 1MB RAM, etc. *On-board Sensors **6 DOF Accelerometers & Gyrometers TDK-Invensense [https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/ ICM-42688-P] **3 DOF Magnetometer STMicro [https://www.st.com/en/mems-and-sensors/lis3mdl.html LIS3MDL] **Baro-Altimeter Bosch [https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/ BMP390] *8x Servos or ESC outputs: PWM/OneShot/DShot (+D-Shot Telemetry serial input)/DShot bidir *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 logic level, 2 connectors) **1x SPI bus (with Slave Select, Master or Slave) **1x CAN/CANFD bus **1x USB-C (& 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 6 Lipo cells (6 to 26v) **5V/5A (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 Tawaki v1 & 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 Tawaki v1 & 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''
[[Image:Tawaki_v201_simplified_pinout.png|1200px|Tawaki v2.01 simplified pinout (Paparazzi use)]] ==== Simplified Pinout Tables (Paparazzi use) ==== '''Servos a1 / a2 / a3 / a4''' {|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%" !style="background:#F0F0F0" width="3%"|''Pin #''!!style="background:#F0F0F0" width="8%"|''Name''!!style="background:#F0F0F0" width="10%"|''Type''!!style="background:#F0F0F0" width="10%"|''MCU Port''!!style="background:#F0F0F0" width="10%"|''Primary
MCU Resource''!!style="background:#F0F0F0"|''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
SRVa2
SRVa3
SRVa4||OUT||PE9
PE11
PE13
PE14||Tim1.Ch1
Tim1.Ch2
Tim1.Ch3
Tim1.Ch4||Servo signal (PWM) |}
'''Servos b''' {|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%" !style="background:#F0F0F0" width="3%"|''Pin #''!!style="background:#F0F0F0" width="8%"|''Name''!!style="background:#F0F0F0" width="10%"|''Type''!!style="background:#F0F0F0" width="10%"|''MCU Port''!!style="background:#F0F0F0" width="10%"|''Primary
MCU Resource''!!style="background:#F0F0F0"|''Description'' |- |1||style="background:black; color:white"|GND||PWR||-||-||common ground |- |2||style="background:orangered; color:black"|VBAT||PWRIN/OUT||-||-||Battery Rail (if solder bridge JP1 ON) |- |3||style="background:cyan; color:black"|SRVb1||OUT||PA6||Tim3.Ch1||Servo signal (PWM) |- |4||style="background:cyan; color:black"|SRVb2||OUT||PA7||Tim3.Ch2||Servo signal (PWM) |- |5||style="background:cyan; color:black"|SRVb3||OUT||PB0||Tim3.Ch3||Servo signal (PWM) |- |6||style="background:cyan; color:black"|SRVb4||OUT||PB1||Tim3.Ch4||Servo signal (PWM) |- |7||style="background:green; color:black"|DSHTin||IN||PA10||UART1.Rx|| DShot Telemetry serial input |}
'''R/C''' {|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%" !style="background:#F0F0F0" width="3%"|''Pin #''!!style="background:#F0F0F0" width="8%"|''Name''!!style="background:#F0F0F0" width="10%"|''Type''!!style="background:#F0F0F0" width="10%"|''MCU Port''!!style="background:#F0F0F0" width="10%"|''Possible
MCU Resource''!!style="background:#F0F0F0"|''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:LightYellow; color:black"|RC1||IN||PE0||UART8.Rx||(5V Tolerant) Serial (SBUS, Spektrum, etc.) |- |5||style="background:LightYellow; color:black"|RCaux||I/O||PC6||UART6.Tx
Tim3.Ch1
Tim8.Ch1||(5V Tolerant) Serial (SBUS, Spektrum, etc.) or PPM Stream RC receiver signal |}
'''UART2''' {|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%" !style="background:#F0F0F0" width="3%"|''Pin #''!!style="background:#F0F0F0" width="8%"|''Name''!!style="background:#F0F0F0" width="10%"|''Type''!!style="background:#F0F0F0" width="10%"|''MCU Port''!!style="background:#F0F0F0" width="10%"|''Primary
MCU Resource''!!style="background:#F0F0F0"|''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.Rx||Serial Input (3.3V level) |- |5||style="background:blue; color:white"|TX2||OUT||PD5||UART2.Tx||Serial Output (3.3V level) |}
'''UART3''' {|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%" !style="background:#F0F0F0" width="3%"|''Pin #''!!style="background:#F0F0F0" width="8%"|''Name''!!style="background:#F0F0F0" width="10%"|''Type''!!style="background:#F0F0F0" width="10%"|''MCU Port''!!style="background:#F0F0F0" width="10%"|''Primary
MCU Resource''!!style="background:#F0F0F0"|''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"|RX3||IN||PD9||UART3.Rx||Serial Input (3.3V level) |- |5||style="background:blue; color:white"|TX3||OUT||PD8||UART3.Tx||Serial Output (3.3V level) |}
'''UART7''' {|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%" !style="background:#F0F0F0" width="3%"|''Pin #''!!style="background:#F0F0F0" width="8%"|''Name''!!style="background:#F0F0F0" width="10%"|''Type''!!style="background:#F0F0F0" width="10%"|''MCU Port''!!style="background:#F0F0F0" width="10%"|''Primary
MCU Resource''!!style="background:#F0F0F0"|''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"|RX7||IN||PB3||UART7.Rx||Serial Input (3.3V level) |- |5||style="background:blue; color:white"|TX7||OUT||PA15||UART7.Tx||Serial Output (3.3V level) |}
'''I2C2 (x2)''' {|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%" !style="background:#F0F0F0" width="3%"|''Pin #''!!style="background:#F0F0F0" width="8%"|''Name''!!style="background:#F0F0F0" width="10%"|''Type''!!style="background:#F0F0F0" width="10%"|''MCU Port''!!style="background:#F0F0F0" width="10%"|''Primary
MCU Resource''!!style="background:#F0F0F0"|''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||Open Drain I/O||PB11||I2C2.SDA||Serial Bus DAta (3.3V level, 2.2kΩ pull-up) |- |5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C2.SCL||Serial Bus CLock (3.3V level, 2.2kΩ pull-up) |}
'''SPI2''' {|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%" !style="background:#F0F0F0" width="3%"|''Pin #''!!style="background:#F0F0F0" width="8%"|''Name''!!style="background:#F0F0F0" width="10%"|''Type''!!style="background:#F0F0F0" width="10%"|''MCU Port''!!style="background:#F0F0F0" width="10%"|''Primary
MCU Resource''!!style="background:#F0F0F0"|''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||I/O||PB12||SPI2.nSS||Slave Select. Selects the SPI slave |- |5||style="background:Grey; color:white"|MOSI2||I/O||PB15||SPI2.MOSI||Master Out Slave In. Data output from master / data input to slave |- |6||style="background:Green; color:white"|MISO2||I/O||PB14||SPI2.MISO||Master In Slave Out. Data input to master / data output from slave |- |7||style="background:Yellow; color:black"|SCK2||I/O||PD3||SPI2.SCK||Serial clock. Clock output from master or input to slave |}
'''CAN FD''' {|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%" !style="background:#F0F0F0" width="3%"|''Pin #''!!style="background:#F0F0F0" width="8%"|''Name''!!style="background:#F0F0F0" width="10%"|''Type''!!style="background:#F0F0F0" width="10%"|''MCU Port''!!style="background:#F0F0F0" width="10%"|''MCU Resource''!!style="background:#F0F0F0"|''Description'' |- |1||style="background:Green; color:white"|CANL||I/O||PD0
PD1||FDCAN1.Rx
FDCAN1.Tx||CAN FD bidirectional - line |- |2||style="background:Yellow; color:black"|CANH||I/O||PD0
PD1||FDCAN1.Rx
FDCAN1.Tx||CAN FD bidirectional + line |} ''Note: solder JP2 to enable embedded 120Ω terminator resistor ''

'''AUX a''' {|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%" !style="background:#F0F0F0" width="3%"|''Pin #''!!style="background:#F0F0F0" width="8%"|''Name''!!style="background:#F0F0F0" width="10%"|''Type''!!style="background:#F0F0F0" width="10%"|''MCU Port''!!style="background:#F0F0F0" width="10%"|''Possible
MCU Resource''!!style="background:#F0F0F0"|''Description'' |- |1||style="background:black; color:white"|GND||PWR||-||-||common ground |- |2||style="background:Orange; color:black"|+5V Aux||PWR||(Controlled by) PC13||-||5V from autopilot through Power Switch
(PC13 = Low => OFF / PC13 = High => ON) |- |3||style="background:Red; color:white"|+3.3V||PWR||-||-||3.3V Rail from autopilot |- |4||style="background:#D0D0D0; color:black"|AUXa1||I/O||PA0||ADC1.InP16
Tim2.Ch1
Tim5.Ch1
UART2.CTS
UART4.Tx||General Purpose I/O |- |5||style="background:#D0D0D0; color:black"|AUXa2||I/O||PA1||ADC1.InP17/N16
Tim2.Ch2
Tim5.Ch2
UART2.RTS
UART4.Rx||General Purpose I/O |- |6||style="background:#D0D0D0; color:black"|AUXa3||I/O||PA2||ADC1/2.InP14
Tim2.Ch3
Tim5.Ch3
UART2.Tx||General Purpose I/O |- |7||style="background:#D0D0D0; color:black"|AUXa4||I/O||PA3||ADC1/2.InP15
Tim2.Ch4
Tim5.Ch4
UART2.Rx||General Purpose I/O |}
'''AUX b''' {|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%" !style="background:#F0F0F0" width="3%"|''Pin #''!!style="background:#F0F0F0" width="8%"|''Name''!!style="background:#F0F0F0" width="10%"|''Type''!!style="background:#F0F0F0" width="10%"|''MCU Port''!!style="background:#F0F0F0" width="10%"|''Possible
MCU Resource''!!style="background:#F0F0F0"|''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:white"|+3.3V||PWR||-||-||3.3V Rail from autopilot |- |4||style="background:#D0D0D0; color:black"|AUXb1||I/O||PB6||Tim4.Ch1
UART1.Tx
UART5.Tx
I2C1.SCL
CAN2.Tx||General Purpose I/O |- |5||style="background:#D0D0D0; color:black"|AUXb2||I/O||PB7||Tim4.Ch2
UART1.Rx
I2C1.SDA||General Purpose I/O |- |6||style="background:#D0D0D0; color:black"|AUXb3||I/O||PB8||Tim4.Ch3
Tim16.Ch1
UART4.Rx
I2C1.SCL||General Purpose I/O |- |7||style="background:#D0D0D0; color:black"|AUXb4||I/O||PB9||Tim4.Ch4
Tim17.Ch1
UART4.Tx
I2C1.SDA
SPI2.NSS||General Purpose I/O |}
'''USB FS''' {|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%" !style="background:#F0F0F0" width="3%"|''Pin #''!!style="background:#F0F0F0" width="8%"|''Name''!!style="background:#F0F0F0" width="10%"|''Type''!!style="background:#F0F0F0" width="10%"|''MCU Port''!!style="background:#F0F0F0"|''Description'' |- |1||style="background:black; color:white"|GND||PWR||-||common ground |- |2||style="background:green; color:white"|D+||I/O||PA12||USB Full Speed bidirectional D+ line |- |3||style="background:white; color:black"|D-||I/O||PA11||USB Full Speed bidirectional D- line |- |4||style="background:orange; color:black"|VBUS||IN||PA9||USB bus power (5V) |- |5||style="background:#E0FFFF; color:black"|BOOT||IN||BOOT0||DFU or USB Mode selection (BOOT0 MCU pin) |} ''Note: USB-C Receptacle and Molex Picoblade connectors are in parallel, only one should be connected at a time.''
'''SWD''' {|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%" !style="background:#F0F0F0" width="3%"|''Pin #''!!style="background:#F0F0F0" width="8%"|''Name''!!style="background:#F0F0F0" width="10%"|''Type''!!style="background:#F0F0F0" width="10%"|''MCU Port''!!style="background:#F0F0F0"|''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||NRST||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 |}
== 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 26V *by connecting it to a USB port *with a power source that delivers a regulated, stable 5V Each of these methods is detailed below. ==== Powering using battery/external source soldered onto battery pads ==== [[Image:Tawaki_v201_battery_pads_powering.png|600px|Tawaki v2.01 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: '''6-26V''' (2-6 Lipo cells) *maximum current usable by both Tawaki and payload on the +5V: '''I5V < 5A''' *maximum current usable for payload on the +3.3V: '''I3.3V < 3A''' *maximum total current usable: '''(I5V+I3.3V) < 5A''' [[Image:Tawaki_v201_servo_b_vbat_source.png|500px|Tawaki v2.01 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 on the “VBAT” pin: '''IVbat < 1A''' (because of the header’s specifications) ==== Powering using battery/external source connected on "Servos B" header ==== [[Image:Tawaki_v201_servo_b_header_powering.png|500px|Tawaki v2.01 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: '''6-26V''' (2-6 Lipo cells) *maximum current on the “VBAT” pin: '''IVbat < 1A''' (because of the header’s specifications) ==== Powering using USB-C only ==== [[Image:Tawaki_v201_USB-C_powering.png|1200px|Tawaki v2.01 USB-C powering]]

It is possible to power the Tawaki with only a host computer, through the USB-C cable. 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 FS" 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 ==== [[Image:Tawaki_v201_external_5V_powering.png|800px|Tawaki v2.01 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''':
*the external 5V power source must be capable of providing the current needed for powering the Tawaki and any potential external payload. With a maximum limit of 1A (because of the headers' specifications) *voltage range: depending on potential external payload 5V capability, 4-6V for Tawaki board only. * the "VBUS" pin of the "USB FS" 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 === ==== DFU Flash mode ==== There is two options to boot the autopilot in DFU mode in order to flash it: #push and maintain "BOOT" small button #plug USB cable (already host connected) OR #push and maintain "BOOT" small button #turn on autopilot power source. #plug USB cable. [[Image:Tawaki_v201_DFU_flash_button_USB_cable.png|600px|Tawaki v2.01 USB DFU Flash Button + Power + Cable]] '''OR''' [[Image:Tawaki_v201_DFU_flash_button_power_USB_cable.png|600px|Tawaki v2.01 USB DFU Flash Button + Cable]] ==== USB Storage mode ==== USB Storage mode make autopilot's SDcard content easily available by host computer as for an Pendrive.
To enter in USB storage mode, simply connect it to host computer USB (no action on small button) : *If autopilot power is OFF, a new external disk drive should be detected by host computer OS. *If autopilot power is already ON and running, autopilot task is stopped and board enters in USB storage mode. When unmounted and unplugged, autopilot task restart. [[Image:Tawaki_v201_USB_storage.png|600px|Tawaki v2.01 USB Storage mode]]
==== Wiring vs Button ==== For all previous USB modes, small "''BOOT''" push-button action can be replaced by shorting pin #4 (VBUS) and pin #5 (BOOT) of "USB FS" header.
In these configurations (button pushed or pin# 4 & 5 connected), BOOT0 pin of the STM32 MCU is connected to VBUS pin.
This "USB FS" header arrangement allow to wire a "remote" USB interface (USB receptacle + mode push-button) reasonably distant from autopilot board.

[[Image:Tawaki_v201_boot_mode_strap.png|400px|Tawaki v2.01 Boot Strap usage]]
=== Detailed Pinout === ''Pins Name and Type are specified with respect to the Autopilot Board''
[[Image:Tawaki_v201_general_pinout.png|1200px|Tawaki v3.01 general pinout (development board use)]] === Schematic === [[Image:Tawaki_v201_schematic.jpg|left|1200px|Tawaki v2.01 Schematic]]
=== Mechanical === [[Image:Tawaki_v201_top_mechanical_dimensions.png|800px|Tawaki v1.10 top mechanical dimensions]] ==== CAD Files / 3D Model ==== WIP == Board production == WIP === Hardware Source Files === [http://data.recherche.enac.fr/drones/Paparazzi/hardware/Tawaki_v201.zip ''Tawaki v2.01 hardware design (zipped Kicad 8 project) ''] == Source code == Available in Paparazzi latest git master branch. == Where to Buy == Check availability on [[Get_Hardware|Get Hardware]] page [[Category:Autopilots]]