PaparazziUAV - User contributions [en]

Tawaki/v2.01

2024-07-29T09:33:44Z

Michel: /* Simplified Pinout Tables (Paparazzi use) */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[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]]
</div>
__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 ===
<gallery>
Tawaki_v201_3D_persp_top_view.jpg
Tawaki_v201_3D_persp_bottom_view.jpg
</gallery>

=== 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]]

Tawaki/v2.01

2024-07-29T08:50:04Z

Michel: /* Simplified Pinout Tables (Paparazzi use) */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[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]]
</div>
__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 ===
<gallery>
Tawaki_v201_3D_persp_top_view.jpg
Tawaki_v201_3D_persp_bottom_view.jpg
</gallery>

=== 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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||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]]

Tawaki/v2.01

2024-07-29T08:39:52Z

Michel: /* Simplified Pinout Tables (Paparazzi use) */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[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]]
</div>
__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 ===
<gallery>
Tawaki_v201_3D_persp_top_view.jpg
Tawaki_v201_3D_persp_bottom_view.jpg
</gallery>

=== 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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||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="15%"|''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="15%"|''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]]

Tawaki/v2.01

2024-07-29T08:07:57Z

Michel: /* Simplified Pinout Tables (Paparazzi use) */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[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]]
</div>
__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 ===
<gallery>
Tawaki_v201_3D_persp_top_view.jpg
Tawaki_v201_3D_persp_bottom_view.jpg
</gallery>

=== 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="15%"|''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="15%"|''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="15%"|''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";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: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)
|}
 

'''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"|''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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!style="background:#F0F0F0";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: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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 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"|''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 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial 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"|''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 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
|}
 

'''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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||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="15%"|''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="15%"|''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]]

Tawaki/v2.01

2024-07-29T07:55:27Z

Michel: /* Simplified Pinout Tables (Paparazzi use) */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[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]]
</div>
__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 ===
<gallery>
Tawaki_v201_3D_persp_top_view.jpg
Tawaki_v201_3D_persp_bottom_view.jpg
</gallery>

=== 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="15%"|''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="15%"|''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="15%"|''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";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: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)
|}
 

'''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"|''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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!style="background:#F0F0F0";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: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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 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"|''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 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial 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"|''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 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
|}
 

'''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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||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="15%"|''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="15%"|''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||PA6||ADC1/2.InP3 Tim3.Ch1 Tim13.Ch1 SPI1.MISO SPI6.MISO||General Purpose I/O
|-
|5||style="background:#D0D0D0; color:black"|AUXb2||I/O||PA7||ADC1/2.InN3/P7 Tim3.Ch2 Tim14.Ch1 SPI1.MOSI SPI6.MOSI||General Purpose I/O
|-
|6||style="background:#D0D0D0; color:black"|AUXb3||I/O||PB0||ADC1/2.InN5/P9 Tim3.Ch3 UART4.CTS||General Purpose I/O
|-
|7||style="background:#D0D0D0; color:black"|AUXb4||I/O||PB1||ADC1/2.InP5 Tim3.Ch4||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]]

File:Tawaki v201 general pinout.png

2024-07-29T07:42:23Z

Michel: Michel uploaded a new version of File:Tawaki v201 general pinout.png

Tawaki/v2.01

2024-06-11T13:23:05Z

Michel: /* Hardware Revision History */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[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]]
</div>
__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 ===
<gallery>
Tawaki_v201_3D_persp_top_view.jpg
Tawaki_v201_3D_persp_bottom_view.jpg
</gallery>

=== 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="15%"|''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="15%"|''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||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||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="15%"|''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";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: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)
|}
 

'''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"|''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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!style="background:#F0F0F0";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: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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 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"|''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 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial 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"|''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 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
|}
 

'''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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||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="15%"|''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="15%"|''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||PA6||ADC1/2.InP3 Tim3.Ch1 Tim13.Ch1 SPI1.MISO SPI6.MISO||General Purpose I/O
|-
|5||style="background:#D0D0D0; color:black"|AUXb2||I/O||PA7||ADC1/2.InN3/P7 Tim3.Ch2 Tim14.Ch1 SPI1.MOSI SPI6.MOSI||General Purpose I/O
|-
|6||style="background:#D0D0D0; color:black"|AUXb3||I/O||PB0||ADC1/2.InN5/P9 Tim3.Ch3 UART4.CTS||General Purpose I/O
|-
|7||style="background:#D0D0D0; color:black"|AUXb4||I/O||PB1||ADC1/2.InP5 Tim3.Ch4||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]]

Category:Autopilots/Index

2024-06-11T13:19:46Z

Michel:

'''STM32H7 based boards''' 
STM32H7 32-bit ARM Cortex™-M7 MCU based autopilot:

*[[Tawaki/v2.01|'''Tawaki v2.01'''''' New!''']] Improved MCU, Sensors and Power supply. Small, lightweight and versatile Autopilot, 9 DOF IMU, microSD, Baro, USB-C, ready for Rotorcraft, Fixed Wing and Hybrid applications...

'''STM32F7 based boards''' 
STM32F7 32-bit ARM Cortex™-M7 based autopilot:

*[[Tawaki/v1.10|'''Tawaki v1.10''']] Small, lightweight and versatile Autopilot, 9 DOF IMU, microSD, Baro, ready for Rotorcraft, Fixed Wing and Hybrid applications...
*[[Chimera/v1.00|'''Chimera v1.00''']] Versatile Autopilot for fixed wing, 9 DOF IMU, Baro, microSD, Pitot, Modem, ready for Companion Computer...

'''STM32F1 based boards'''

*[[Lisa|Lisa]] STM32F1 based autopilots:
**[[Lisa/S|'''Lisa/S''']] STM32 micro footprint autopilot
**[[Lisa/M_v10|'''Lisa/M v1.0''']] STM32 small footprint autopilot
**[[Lisa/M_v20|'''Lisa/M v2.0''']] Improved STM32 small footprint autopilot
**[[Lisa/L|'''Lisa/L''']] STM32/[[Gumstix|Overo]] high performance autopilot

'''STM32F4 based boards'''

*[[Apogee]] STM32F4 (ARM Cortex™-M4) based autopilot for fixed wing:
**[[Apogee/v1.00|'''Apogee v1.00''']] Super small and lightweight autopilot, 9 DOF IMU, microSD high speed, Baro, ,...

*[[Elle|Elle]] STM32F4 autopilot system:
**[[Elle0|'''Elle0''' New!]] STM32F4 small and affordable autopilot

*[[Lisa|Lisa]] STM32F4 based autopilots:
**[[Lisa/M_v20|'''Lisa/MX''']] STM32F4 versatile autopilot with crypto support
**[[Lisa/MXS_v1.0|'''Lisa/MX-Small''']] STM32F4 versatile autopilot with crypto support

*[[Krooz|Krooz]] STM32F4 Cortex™-M4 high integrated Rotorcraft autopilot
**[[Krooz|'''Krooz''']] STM32F4 Cortex™-M4 high integrated Rotorcraft autopilot
**[[KroozSD|'''KroozSD''']] STM32F4 Cortex™-M4 high integrated autopilot, w. microSD slot, XBee conn.

*[[Pixhawk|Pixhawk]] Duo processor with Autopilot core on a STM32F4 Cortex™-M4 and Fly By Wire core on a STM32F1 Cortex™-M1

'''LPC2148 based boards'''

*[[Booz|Booz]] Quadrotor autopilot

*[[NavGo|NavGo]] Multirotor autopilot
**[[NavGo_v3|'''NavGo v3''']] Small and lightweight multirotor autopilot

*[[Umarim]] LPC based embedded IMU autopilot designed for small fixed wing:
**[[Umarim_v10|'''Umarim v1''']] full sensor set for small fixed wing
**[[Umarim_Lite_v2|'''Umarim Lite v2''']] light sensor set version of Umarim

*[[Tiny]] GPS integrated lightweight autopilots:
**[[Tiny/v0.99|'''Tiny v0.99''']] Tiny autopilot
**[[Tiny/v1.1|'''Tiny v1.1''']] Integrated GPS and 5V/2A supply
**[[Tiny/v2.11|'''Tiny v2.11''']] Two layers PCB, 0603 components, big GPS groundplane, improved connectivity.

*[[TWOG/v1.0|TWOG v1.0]] 8 grams Tiny WithOut GPS autopilot, with external GPS option.

*[[YAPA]] Yet Another Paparazzi Autopilot:
**[[YAPA/v1.0|YAPA v1.0]] Same as [[TWOG]], but bigger with XBee, 100mil headers, mounting holes, rs232
**[[YAPA/v2.0|YAPA v2.0]] Reduced component cost

*[[Classix|Classix]] Dual [[MCU]]s, [[Gumstix]] connectivity

*[[HB]] Autopilots built in Bremen:
**[[HB/v1.0|'''HB v1.0''']] Four layers PCB, no GPS, JTAG with IMU
**[[HB/mini|'''HB mini''']] Four layers planar PCB, JTAG, 10 sevos, 12g, no GPS, with IMU

'''Aircraft With Embedded Autopilots'''
* Parrot
** [[AR Drone 2]]
** [[Bebop]]
** [[Disco]]
** [[Ap.parrot_minidrone|Minidrones]] (Swing, Rolling Spider, Mambo, ...)

'''Archive'''
*[[Previous_Autopilots|Previous Versions]] Schematics and support for previous versions

Category:Autopilots/Index

2024-06-11T13:14:38Z

Michel:

'''STM32H7 based boards'''
STM32H7 32-bit ARM Cortex™-M7 MCU based autopilot:

*[[Tawaki/v2.01|'''Tawaki v2.01'''''' New!''']] Small, lightweight and versatile Autopilot, 9 DOF IMU, microSD, Baro, USB-C, ready for Rotorcraft, Fixed Wing and Hybrid applications...

'''STM32F7 based boards'''
STM32F7 32-bit ARM Cortex™-M7 based autopilot:

*[[Tawaki/v1.10|'''Tawaki v1.10''']] Small, lightweight and versatile Autopilot, 9 DOF IMU, microSD, Baro, ready for Rotorcraft, Fixed Wing and Hybrid applications...
*[[Chimera/v1.00|'''Chimera v1.00''']] Versatile Autopilot for fixed wing, 9 DOF IMU, Baro, microSD, Pitot, Modem, ready for Companion Computer...

'''STM32F1 based boards'''

*[[Lisa|Lisa]] STM32F1 based autopilots:
**[[Lisa/S|'''Lisa/S''']] STM32 micro footprint autopilot
**[[Lisa/M_v10|'''Lisa/M v1.0''']] STM32 small footprint autopilot
**[[Lisa/M_v20|'''Lisa/M v2.0''']] Improved STM32 small footprint autopilot
**[[Lisa/L|'''Lisa/L''']] STM32/[[Gumstix|Overo]] high performance autopilot

'''STM32F4 based boards'''

*[[Apogee]] STM32F4 (ARM Cortex™-M4) based autopilot for fixed wing:
**[[Apogee/v1.00|'''Apogee v1.00''']] Super small and lightweight autopilot, 9 DOF IMU, microSD high speed, Baro, ,...

*[[Elle|Elle]] STM32F4 autopilot system:
**[[Elle0|'''Elle0''' New!]] STM32F4 small and affordable autopilot

*[[Lisa|Lisa]] STM32F4 based autopilots:
**[[Lisa/M_v20|'''Lisa/MX''']] STM32F4 versatile autopilot with crypto support
**[[Lisa/MXS_v1.0|'''Lisa/MX-Small''']] STM32F4 versatile autopilot with crypto support

*[[Krooz|Krooz]] STM32F4 Cortex™-M4 high integrated Rotorcraft autopilot
**[[Krooz|'''Krooz''']] STM32F4 Cortex™-M4 high integrated Rotorcraft autopilot
**[[KroozSD|'''KroozSD''']] STM32F4 Cortex™-M4 high integrated autopilot, w. microSD slot, XBee conn.

*[[Pixhawk|Pixhawk]] Duo processor with Autopilot core on a STM32F4 Cortex™-M4 and Fly By Wire core on a STM32F1 Cortex™-M1

'''LPC2148 based boards'''

*[[Booz|Booz]] Quadrotor autopilot

*[[NavGo|NavGo]] Multirotor autopilot
**[[NavGo_v3|'''NavGo v3''']] Small and lightweight multirotor autopilot

*[[Umarim]] LPC based embedded IMU autopilot designed for small fixed wing:
**[[Umarim_v10|'''Umarim v1''']] full sensor set for small fixed wing
**[[Umarim_Lite_v2|'''Umarim Lite v2''']] light sensor set version of Umarim

*[[Tiny]] GPS integrated lightweight autopilots:
**[[Tiny/v0.99|'''Tiny v0.99''']] Tiny autopilot
**[[Tiny/v1.1|'''Tiny v1.1''']] Integrated GPS and 5V/2A supply
**[[Tiny/v2.11|'''Tiny v2.11''']] Two layers PCB, 0603 components, big GPS groundplane, improved connectivity.

*[[TWOG/v1.0|TWOG v1.0]] 8 grams Tiny WithOut GPS autopilot, with external GPS option.

*[[YAPA]] Yet Another Paparazzi Autopilot:
**[[YAPA/v1.0|YAPA v1.0]] Same as [[TWOG]], but bigger with XBee, 100mil headers, mounting holes, rs232
**[[YAPA/v2.0|YAPA v2.0]] Reduced component cost

*[[Classix|Classix]] Dual [[MCU]]s, [[Gumstix]] connectivity

*[[HB]] Autopilots built in Bremen:
**[[HB/v1.0|'''HB v1.0''']] Four layers PCB, no GPS, JTAG with IMU
**[[HB/mini|'''HB mini''']] Four layers planar PCB, JTAG, 10 sevos, 12g, no GPS, with IMU

'''Aircraft With Embedded Autopilots'''
* Parrot
** [[AR Drone 2]]
** [[Bebop]]
** [[Disco]]
** [[Ap.parrot_minidrone|Minidrones]] (Swing, Rolling Spider, Mambo, ...)

'''Archive'''
*[[Previous_Autopilots|Previous Versions]] Schematics and support for previous versions

File:Tawaki v201 USB storage.png

2024-06-10T11:34:02Z

Michel:

Tawaki/v2.01

2024-06-07T14:11:03Z

Michel: /* Pictures */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[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]]
</div>
__TOC__

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.01||03/2024||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 ===
<gallery>
Tawaki_v201_3D_persp_top_view.jpg
Tawaki_v201_3D_persp_bottom_view.jpg
</gallery>

=== 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="15%"|''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="15%"|''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||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||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="15%"|''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";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: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)
|}
 

'''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"|''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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!style="background:#F0F0F0";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: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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 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"|''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 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial 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"|''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 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
|}
 

'''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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||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="15%"|''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="15%"|''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||PA6||ADC1/2.InP3 Tim3.Ch1 Tim13.Ch1 SPI1.MISO SPI6.MISO||General Purpose I/O
|-
|5||style="background:#D0D0D0; color:black"|AUXb2||I/O||PA7||ADC1/2.InN3/P7 Tim3.Ch2 Tim14.Ch1 SPI1.MOSI SPI6.MOSI||General Purpose I/O
|-
|6||style="background:#D0D0D0; color:black"|AUXb3||I/O||PB0||ADC1/2.InN5/P9 Tim3.Ch3 UART4.CTS||General Purpose I/O
|-
|7||style="background:#D0D0D0; color:black"|AUXb4||I/O||PB1||ADC1/2.InP5 Tim3.Ch4||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]]

File:Tawaki v201 3D persp bottom view.jpg

2024-06-07T14:09:10Z

Michel:

File:Tawaki v201 3D persp top view.jpg

2024-06-07T14:08:50Z

Michel:

Tawaki/v2.01

2024-06-07T14:04:07Z

Michel:

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[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]]
</div>
__TOC__

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.01||03/2024||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 ===
<gallery>
Tawaki_v201_top_pers.JPG
Tawaki_v201_bottom_pers.JPG
Tawaki_v201_bottom_hand.JPG
Tawaki_v201_top_SD_beside.JPG
Tawaki_v201_top_x4.JPG
</gallery>

=== 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="15%"|''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="15%"|''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||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||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="15%"|''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";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: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)
|}
 

'''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"|''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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!style="background:#F0F0F0";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: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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 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"|''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 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial 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"|''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 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
|}
 

'''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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||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="15%"|''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="15%"|''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||PA6||ADC1/2.InP3 Tim3.Ch1 Tim13.Ch1 SPI1.MISO SPI6.MISO||General Purpose I/O
|-
|5||style="background:#D0D0D0; color:black"|AUXb2||I/O||PA7||ADC1/2.InN3/P7 Tim3.Ch2 Tim14.Ch1 SPI1.MOSI SPI6.MOSI||General Purpose I/O
|-
|6||style="background:#D0D0D0; color:black"|AUXb3||I/O||PB0||ADC1/2.InN5/P9 Tim3.Ch3 UART4.CTS||General Purpose I/O
|-
|7||style="background:#D0D0D0; color:black"|AUXb4||I/O||PB1||ADC1/2.InP5 Tim3.Ch4||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]]

Tawaki/v2.01

2024-06-07T13:42:18Z

Michel: /* Example of Airborne Equipment Electrical Connections */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[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]]
</div>
__TOC__

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.01||03/2024||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 ===
<gallery>
Tawaki_v201_top_pers.JPG
Tawaki_v201_bottom_pers.JPG
Tawaki_v201_bottom_hand.JPG
Tawaki_v201_top_SD_beside.JPG
Tawaki_v201_top_x4.JPG
</gallery>

=== 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="15%"|''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="15%"|''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||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||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="15%"|''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";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: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)
|}
 

'''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"|''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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!style="background:#F0F0F0";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: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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 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"|''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 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial 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"|''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 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
|}
 

'''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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||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="15%"|''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="15%"|''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||PA6||ADC1/2.InP3 Tim3.Ch1 Tim13.Ch1 SPI1.MISO SPI6.MISO||General Purpose I/O
|-
|5||style="background:#D0D0D0; color:black"|AUXb2||I/O||PA7||ADC1/2.InN3/P7 Tim3.Ch2 Tim14.Ch1 SPI1.MOSI SPI6.MOSI||General Purpose I/O
|-
|6||style="background:#D0D0D0; color:black"|AUXb3||I/O||PB0||ADC1/2.InN5/P9 Tim3.Ch3 UART4.CTS||General Purpose I/O
|-
|7||style="background:#D0D0D0; color:black"|AUXb4||I/O||PB1||ADC1/2.InP5 Tim3.Ch4||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 ===

==== Mechanical Dimensions ====

[[Image:Tawaki_v201_top_mechanical_dimensions.png|800px|Tawaki v1.10 top mechanical dimensions]]

==== CAD Files / 3D Model ====

[[Image:Tawaki_v100_step_file_logo.PNG|150px|link=Tawaki_v100_CAD.zip]][[Media:Tawaki_v100_CAD.zip|'' Download Tawaki v1.00 CAD File (zipped STEP file)'']] 

== Board production ==

=== Hardware Source Files ===
[http://data.recherche.enac.fr/drones/Paparazzi/hardware/Tawaki_v201.zip ''Tawaki v2.01 hardware design (zipped Kicad 8 project) '']

=== Components Layout ===

[[Image:Tawaki_v100_bottom_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/3/31/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_bottom_components_layout.pdf|Bottom components layout (pdf)]] 
[[Image:Tawaki_v100_top_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/c/ca/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_top_components_layout.pdf|Top components layout (pdf)]]

== Programming ==

== Debugging ==

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

=== Debugging with BlackMagic probe ===

=== 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]]

Tawaki/v2.01

2024-06-07T13:41:53Z

Michel: /* Hardware Source Files */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[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]]
</div>
__TOC__

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.01||03/2024||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 ===
<gallery>
Tawaki_v201_top_pers.JPG
Tawaki_v201_bottom_pers.JPG
Tawaki_v201_bottom_hand.JPG
Tawaki_v201_top_SD_beside.JPG
Tawaki_v201_top_x4.JPG
</gallery>

=== 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="15%"|''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="15%"|''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||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||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="15%"|''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";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: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)
|}
 

'''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"|''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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!style="background:#F0F0F0";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: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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 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"|''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 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial 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"|''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 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
|}
 

'''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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||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="15%"|''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="15%"|''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||PA6||ADC1/2.InP3 Tim3.Ch1 Tim13.Ch1 SPI1.MISO SPI6.MISO||General Purpose I/O
|-
|5||style="background:#D0D0D0; color:black"|AUXb2||I/O||PA7||ADC1/2.InN3/P7 Tim3.Ch2 Tim14.Ch1 SPI1.MOSI SPI6.MOSI||General Purpose I/O
|-
|6||style="background:#D0D0D0; color:black"|AUXb3||I/O||PB0||ADC1/2.InN5/P9 Tim3.Ch3 UART4.CTS||General Purpose I/O
|-
|7||style="background:#D0D0D0; color:black"|AUXb4||I/O||PB1||ADC1/2.InP5 Tim3.Ch4||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 ===

==== Mechanical Dimensions ====

[[Image:Tawaki_v201_top_mechanical_dimensions.png|800px|Tawaki v1.10 top mechanical dimensions]]

==== CAD Files / 3D Model ====

[[Image:Tawaki_v100_step_file_logo.PNG|150px|link=Tawaki_v100_CAD.zip]][[Media:Tawaki_v100_CAD.zip|'' Download Tawaki v1.00 CAD File (zipped STEP file)'']] 

== Example of Airborne Equipment Electrical Connections ==

== Board production ==

=== Hardware Source Files ===
[http://data.recherche.enac.fr/drones/Paparazzi/hardware/Tawaki_v201.zip ''Tawaki v2.01 hardware design (zipped Kicad 8 project) '']

=== Components Layout ===

[[Image:Tawaki_v100_bottom_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/3/31/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_bottom_components_layout.pdf|Bottom components layout (pdf)]] 
[[Image:Tawaki_v100_top_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/c/ca/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_top_components_layout.pdf|Top components layout (pdf)]]

== Programming ==

== Debugging ==

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

=== Debugging with BlackMagic probe ===

=== 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]]

Tawaki/v2.01

2024-06-07T13:30:32Z

Michel: /* Schematic */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[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]]
</div>
__TOC__

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.01||03/2024||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 ===
<gallery>
Tawaki_v201_top_pers.JPG
Tawaki_v201_bottom_pers.JPG
Tawaki_v201_bottom_hand.JPG
Tawaki_v201_top_SD_beside.JPG
Tawaki_v201_top_x4.JPG
</gallery>

=== 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="15%"|''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="15%"|''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||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||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="15%"|''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";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: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)
|}
 

'''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"|''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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!style="background:#F0F0F0";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: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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 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"|''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 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial 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"|''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 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
|}
 

'''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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||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="15%"|''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="15%"|''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||PA6||ADC1/2.InP3 Tim3.Ch1 Tim13.Ch1 SPI1.MISO SPI6.MISO||General Purpose I/O
|-
|5||style="background:#D0D0D0; color:black"|AUXb2||I/O||PA7||ADC1/2.InN3/P7 Tim3.Ch2 Tim14.Ch1 SPI1.MOSI SPI6.MOSI||General Purpose I/O
|-
|6||style="background:#D0D0D0; color:black"|AUXb3||I/O||PB0||ADC1/2.InN5/P9 Tim3.Ch3 UART4.CTS||General Purpose I/O
|-
|7||style="background:#D0D0D0; color:black"|AUXb4||I/O||PB1||ADC1/2.InP5 Tim3.Ch4||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 ===

==== Mechanical Dimensions ====

[[Image:Tawaki_v201_top_mechanical_dimensions.png|800px|Tawaki v1.10 top mechanical dimensions]]

==== CAD Files / 3D Model ====

[[Image:Tawaki_v100_step_file_logo.PNG|150px|link=Tawaki_v100_CAD.zip]][[Media:Tawaki_v100_CAD.zip|'' Download Tawaki v1.00 CAD File (zipped STEP file)'']] 

== Example of Airborne Equipment Electrical Connections ==

== Board production ==

=== Hardware Source Files ===
''Tawaki v1.10 hardware design (zipped Kicad 8 project) '':
[http://data.recherche.enac.fr/drones/Paparazzi/hardware/Tawaki_v110.zip Tawaki_v110.zip]

=== Components Layout ===

[[Image:Tawaki_v100_bottom_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/3/31/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_bottom_components_layout.pdf|Bottom components layout (pdf)]] 
[[Image:Tawaki_v100_top_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/c/ca/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_top_components_layout.pdf|Top components layout (pdf)]]

== Programming ==

== Debugging ==

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

=== Debugging with BlackMagic probe ===

=== 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]]

Tawaki/v2.01

2024-06-07T13:29:44Z

Michel: /* General Pinout */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[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]]
</div>
__TOC__

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.01||03/2024||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 ===
<gallery>
Tawaki_v201_top_pers.JPG
Tawaki_v201_bottom_pers.JPG
Tawaki_v201_bottom_hand.JPG
Tawaki_v201_top_SD_beside.JPG
Tawaki_v201_top_x4.JPG
</gallery>

=== 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="15%"|''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="15%"|''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||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||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="15%"|''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";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: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)
|}
 

'''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"|''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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!style="background:#F0F0F0";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: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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 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"|''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 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial 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"|''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 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
|}
 

'''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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||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="15%"|''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="15%"|''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||PA6||ADC1/2.InP3 Tim3.Ch1 Tim13.Ch1 SPI1.MISO SPI6.MISO||General Purpose I/O
|-
|5||style="background:#D0D0D0; color:black"|AUXb2||I/O||PA7||ADC1/2.InN3/P7 Tim3.Ch2 Tim14.Ch1 SPI1.MOSI SPI6.MOSI||General Purpose I/O
|-
|6||style="background:#D0D0D0; color:black"|AUXb3||I/O||PB0||ADC1/2.InN5/P9 Tim3.Ch3 UART4.CTS||General Purpose I/O
|-
|7||style="background:#D0D0D0; color:black"|AUXb4||I/O||PB1||ADC1/2.InP5 Tim3.Ch4||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|900px|Tawaki v2.01 Schematic]]
 

=== Mechanical ===

==== Mechanical Dimensions ====

[[Image:Tawaki_v201_top_mechanical_dimensions.png|800px|Tawaki v1.10 top mechanical dimensions]]

==== CAD Files / 3D Model ====

[[Image:Tawaki_v100_step_file_logo.PNG|150px|link=Tawaki_v100_CAD.zip]][[Media:Tawaki_v100_CAD.zip|'' Download Tawaki v1.00 CAD File (zipped STEP file)'']] 

== Example of Airborne Equipment Electrical Connections ==

== Board production ==

=== Hardware Source Files ===
''Tawaki v1.10 hardware design (zipped Kicad 8 project) '':
[http://data.recherche.enac.fr/drones/Paparazzi/hardware/Tawaki_v110.zip Tawaki_v110.zip]

=== Components Layout ===

[[Image:Tawaki_v100_bottom_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/3/31/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_bottom_components_layout.pdf|Bottom components layout (pdf)]] 
[[Image:Tawaki_v100_top_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/c/ca/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_top_components_layout.pdf|Top components layout (pdf)]]

== Programming ==

== Debugging ==

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

=== Debugging with BlackMagic probe ===

=== 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]]

Tawaki/v2.01

2024-06-07T13:27:46Z

Michel: /* Full Speed USB mode */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[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]]
</div>
__TOC__

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.01||03/2024||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 ===
<gallery>
Tawaki_v201_top_pers.JPG
Tawaki_v201_bottom_pers.JPG
Tawaki_v201_bottom_hand.JPG
Tawaki_v201_top_SD_beside.JPG
Tawaki_v201_top_x4.JPG
</gallery>

=== 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="15%"|''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="15%"|''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||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||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="15%"|''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";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: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)
|}
 

'''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"|''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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!style="background:#F0F0F0";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: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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 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"|''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 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial 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"|''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 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
|}
 

'''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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||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="15%"|''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="15%"|''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||PA6||ADC1/2.InP3 Tim3.Ch1 Tim13.Ch1 SPI1.MISO SPI6.MISO||General Purpose I/O
|-
|5||style="background:#D0D0D0; color:black"|AUXb2||I/O||PA7||ADC1/2.InN3/P7 Tim3.Ch2 Tim14.Ch1 SPI1.MOSI SPI6.MOSI||General Purpose I/O
|-
|6||style="background:#D0D0D0; color:black"|AUXb3||I/O||PB0||ADC1/2.InN5/P9 Tim3.Ch3 UART4.CTS||General Purpose I/O
|-
|7||style="background:#D0D0D0; color:black"|AUXb4||I/O||PB1||ADC1/2.InP5 Tim3.Ch4||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]] 

=== General 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|900px|Tawaki v2.01 Schematic]]
 

=== Mechanical ===

==== Mechanical Dimensions ====

[[Image:Tawaki_v201_top_mechanical_dimensions.png|800px|Tawaki v1.10 top mechanical dimensions]]

==== CAD Files / 3D Model ====

[[Image:Tawaki_v100_step_file_logo.PNG|150px|link=Tawaki_v100_CAD.zip]][[Media:Tawaki_v100_CAD.zip|'' Download Tawaki v1.00 CAD File (zipped STEP file)'']] 

== Example of Airborne Equipment Electrical Connections ==

== Board production ==

=== Hardware Source Files ===
''Tawaki v1.10 hardware design (zipped Kicad 8 project) '':
[http://data.recherche.enac.fr/drones/Paparazzi/hardware/Tawaki_v110.zip Tawaki_v110.zip]

=== Components Layout ===

[[Image:Tawaki_v100_bottom_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/3/31/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_bottom_components_layout.pdf|Bottom components layout (pdf)]] 
[[Image:Tawaki_v100_top_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/c/ca/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_top_components_layout.pdf|Top components layout (pdf)]]

== Programming ==

== Debugging ==

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

=== Debugging with BlackMagic probe ===

=== 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]]

File:Tawaki v201 boot mode strap.png

2024-06-07T13:26:41Z

Michel:

Tawaki/v2.01

2024-06-07T10:42:28Z

Michel: /* USB Modes */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[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]]
</div>
__TOC__

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.01||03/2024||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 ===
<gallery>
Tawaki_v201_top_pers.JPG
Tawaki_v201_bottom_pers.JPG
Tawaki_v201_bottom_hand.JPG
Tawaki_v201_top_SD_beside.JPG
Tawaki_v201_top_x4.JPG
</gallery>

=== 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="15%"|''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="15%"|''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||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||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="15%"|''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";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: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)
|}
 

'''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"|''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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!style="background:#F0F0F0";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: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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 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"|''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 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial 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"|''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 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
|}
 

'''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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||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="15%"|''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="15%"|''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||PA6||ADC1/2.InP3 Tim3.Ch1 Tim13.Ch1 SPI1.MISO SPI6.MISO||General Purpose I/O
|-
|5||style="background:#D0D0D0; color:black"|AUXb2||I/O||PA7||ADC1/2.InN3/P7 Tim3.Ch2 Tim14.Ch1 SPI1.MOSI SPI6.MOSI||General Purpose I/O
|-
|6||style="background:#D0D0D0; color:black"|AUXb3||I/O||PB0||ADC1/2.InN5/P9 Tim3.Ch3 UART4.CTS||General Purpose I/O
|-
|7||style="background:#D0D0D0; color:black"|AUXb4||I/O||PB1||ADC1/2.InP5 Tim3.Ch4||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]] 

==== Full Speed USB mode ====

=== General 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|900px|Tawaki v2.01 Schematic]]
 

=== Mechanical ===

==== Mechanical Dimensions ====

[[Image:Tawaki_v201_top_mechanical_dimensions.png|800px|Tawaki v1.10 top mechanical dimensions]]

==== CAD Files / 3D Model ====

[[Image:Tawaki_v100_step_file_logo.PNG|150px|link=Tawaki_v100_CAD.zip]][[Media:Tawaki_v100_CAD.zip|'' Download Tawaki v1.00 CAD File (zipped STEP file)'']] 

== Example of Airborne Equipment Electrical Connections ==

== Board production ==

=== Hardware Source Files ===
''Tawaki v1.10 hardware design (zipped Kicad 8 project) '':
[http://data.recherche.enac.fr/drones/Paparazzi/hardware/Tawaki_v110.zip Tawaki_v110.zip]

=== Components Layout ===

[[Image:Tawaki_v100_bottom_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/3/31/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_bottom_components_layout.pdf|Bottom components layout (pdf)]] 
[[Image:Tawaki_v100_top_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/c/ca/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_top_components_layout.pdf|Top components layout (pdf)]]

== Programming ==

== Debugging ==

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

=== Debugging with BlackMagic probe ===

=== 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]]

Tawaki/v2.01

2024-06-07T10:03:32Z

Michel: /* Flash (DFU) mode */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[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]]
</div>
__TOC__

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.01||03/2024||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 ===
<gallery>
Tawaki_v201_top_pers.JPG
Tawaki_v201_bottom_pers.JPG
Tawaki_v201_bottom_hand.JPG
Tawaki_v201_top_SD_beside.JPG
Tawaki_v201_top_x4.JPG
</gallery>

=== 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="15%"|''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="15%"|''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||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||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="15%"|''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";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: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)
|}
 

'''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"|''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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!style="background:#F0F0F0";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: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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 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"|''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 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial 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"|''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 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
|}
 

'''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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||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="15%"|''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="15%"|''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||PA6||ADC1/2.InP3 Tim3.Ch1 Tim13.Ch1 SPI1.MISO SPI6.MISO||General Purpose I/O
|-
|5||style="background:#D0D0D0; color:black"|AUXb2||I/O||PA7||ADC1/2.InN3/P7 Tim3.Ch2 Tim14.Ch1 SPI1.MOSI SPI6.MOSI||General Purpose I/O
|-
|6||style="background:#D0D0D0; color:black"|AUXb3||I/O||PB0||ADC1/2.InN5/P9 Tim3.Ch3 UART4.CTS||General Purpose I/O
|-
|7||style="background:#D0D0D0; color:black"|AUXb4||I/O||PB1||ADC1/2.InP5 Tim3.Ch4||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 ===

==== Flash (DFU) mode ====
There is to optiosn 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 ====

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.

[[Image:Tawaki_v110_USB_mode_storage.png|600px|Tawaki v1.10 USB Storage mode]] 

==== Full Speed USB mode ====

=== General 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|900px|Tawaki v2.01 Schematic]]
 

=== Mechanical ===

==== Mechanical Dimensions ====

[[Image:Tawaki_v201_top_mechanical_dimensions.png|800px|Tawaki v1.10 top mechanical dimensions]]

==== CAD Files / 3D Model ====

[[Image:Tawaki_v100_step_file_logo.PNG|150px|link=Tawaki_v100_CAD.zip]][[Media:Tawaki_v100_CAD.zip|'' Download Tawaki v1.00 CAD File (zipped STEP file)'']] 

== Example of Airborne Equipment Electrical Connections ==

== Board production ==

=== Hardware Source Files ===
''Tawaki v1.10 hardware design (zipped Kicad 8 project) '':
[http://data.recherche.enac.fr/drones/Paparazzi/hardware/Tawaki_v110.zip Tawaki_v110.zip]

=== Components Layout ===

[[Image:Tawaki_v100_bottom_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/3/31/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_bottom_components_layout.pdf|Bottom components layout (pdf)]] 
[[Image:Tawaki_v100_top_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/c/ca/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_top_components_layout.pdf|Top components layout (pdf)]]

== Programming ==

== Debugging ==

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

=== Debugging with BlackMagic probe ===

=== 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]]

Tawaki/v2.01

2024-06-07T10:03:08Z

Michel: /* Flash (DFU) mode */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[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]]
</div>
__TOC__

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.01||03/2024||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 ===
<gallery>
Tawaki_v201_top_pers.JPG
Tawaki_v201_bottom_pers.JPG
Tawaki_v201_bottom_hand.JPG
Tawaki_v201_top_SD_beside.JPG
Tawaki_v201_top_x4.JPG
</gallery>

=== 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="15%"|''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="15%"|''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||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||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="15%"|''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";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: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)
|}
 

'''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"|''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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!style="background:#F0F0F0";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: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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 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"|''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 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial 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"|''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 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
|}
 

'''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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||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="15%"|''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="15%"|''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||PA6||ADC1/2.InP3 Tim3.Ch1 Tim13.Ch1 SPI1.MISO SPI6.MISO||General Purpose I/O
|-
|5||style="background:#D0D0D0; color:black"|AUXb2||I/O||PA7||ADC1/2.InN3/P7 Tim3.Ch2 Tim14.Ch1 SPI1.MOSI SPI6.MOSI||General Purpose I/O
|-
|6||style="background:#D0D0D0; color:black"|AUXb3||I/O||PB0||ADC1/2.InN5/P9 Tim3.Ch3 UART4.CTS||General Purpose I/O
|-
|7||style="background:#D0D0D0; color:black"|AUXb4||I/O||PB1||ADC1/2.InP5 Tim3.Ch4||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 ===

==== Flash (DFU) mode ====
There is to optiosn 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 ====

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.

[[Image:Tawaki_v110_USB_mode_storage.png|600px|Tawaki v1.10 USB Storage mode]] 

==== Full Speed USB mode ====

=== General 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|900px|Tawaki v2.01 Schematic]]
 

=== Mechanical ===

==== Mechanical Dimensions ====

[[Image:Tawaki_v201_top_mechanical_dimensions.png|800px|Tawaki v1.10 top mechanical dimensions]]

==== CAD Files / 3D Model ====

[[Image:Tawaki_v100_step_file_logo.PNG|150px|link=Tawaki_v100_CAD.zip]][[Media:Tawaki_v100_CAD.zip|'' Download Tawaki v1.00 CAD File (zipped STEP file)'']] 

== Example of Airborne Equipment Electrical Connections ==

== Board production ==

=== Hardware Source Files ===
''Tawaki v1.10 hardware design (zipped Kicad 8 project) '':
[http://data.recherche.enac.fr/drones/Paparazzi/hardware/Tawaki_v110.zip Tawaki_v110.zip]

=== Components Layout ===

[[Image:Tawaki_v100_bottom_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/3/31/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_bottom_components_layout.pdf|Bottom components layout (pdf)]] 
[[Image:Tawaki_v100_top_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/c/ca/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_top_components_layout.pdf|Top components layout (pdf)]]

== Programming ==

== Debugging ==

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

=== Debugging with BlackMagic probe ===

=== 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]]

File:Tawaki v201 DFU flash button power USB cable.png

2024-06-07T09:58:50Z

Michel:

File:Tawaki v201 DFU flash button USB cable.png

2024-06-07T09:58:24Z

Michel:

Tawaki/v2.01

2024-06-07T08:32:04Z

Michel: /* Powering using USB-C only */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[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]]
</div>
__TOC__

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.01||03/2024||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 ===
<gallery>
Tawaki_v201_top_pers.JPG
Tawaki_v201_bottom_pers.JPG
Tawaki_v201_bottom_hand.JPG
Tawaki_v201_top_SD_beside.JPG
Tawaki_v201_top_x4.JPG
</gallery>

=== 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="15%"|''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="15%"|''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||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||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="15%"|''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";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: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)
|}
 

'''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"|''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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!style="background:#F0F0F0";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: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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 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"|''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 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial 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"|''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 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
|}
 

'''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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||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="15%"|''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="15%"|''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||PA6||ADC1/2.InP3 Tim3.Ch1 Tim13.Ch1 SPI1.MISO SPI6.MISO||General Purpose I/O
|-
|5||style="background:#D0D0D0; color:black"|AUXb2||I/O||PA7||ADC1/2.InN3/P7 Tim3.Ch2 Tim14.Ch1 SPI1.MOSI SPI6.MOSI||General Purpose I/O
|-
|6||style="background:#D0D0D0; color:black"|AUXb3||I/O||PB0||ADC1/2.InN5/P9 Tim3.Ch3 UART4.CTS||General Purpose I/O
|-
|7||style="background:#D0D0D0; color:black"|AUXb4||I/O||PB1||ADC1/2.InP5 Tim3.Ch4||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 ===

==== 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. 

[[Image:Tawaki_v110_USB_mode_DFU.png|600px|Tawaki v1.10 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.

[[Image:Tawaki_v110_USB_mode_storage.png|600px|Tawaki v1.10 USB Storage mode]] 

==== Full Speed USB mode ====

=== General 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|900px|Tawaki v2.01 Schematic]]
 

=== Mechanical ===

==== Mechanical Dimensions ====

[[Image:Tawaki_v201_top_mechanical_dimensions.png|800px|Tawaki v1.10 top mechanical dimensions]]

==== CAD Files / 3D Model ====

[[Image:Tawaki_v100_step_file_logo.PNG|150px|link=Tawaki_v100_CAD.zip]][[Media:Tawaki_v100_CAD.zip|'' Download Tawaki v1.00 CAD File (zipped STEP file)'']] 

== Example of Airborne Equipment Electrical Connections ==

== Board production ==

=== Hardware Source Files ===
''Tawaki v1.10 hardware design (zipped Kicad 8 project) '':
[http://data.recherche.enac.fr/drones/Paparazzi/hardware/Tawaki_v110.zip Tawaki_v110.zip]

=== Components Layout ===

[[Image:Tawaki_v100_bottom_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/3/31/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_bottom_components_layout.pdf|Bottom components layout (pdf)]] 
[[Image:Tawaki_v100_top_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/c/ca/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_top_components_layout.pdf|Top components layout (pdf)]]

== Programming ==

== Debugging ==

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

=== Debugging with BlackMagic probe ===

=== 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]]

Tawaki/v2.01

2024-06-07T08:31:19Z

Michel: /* Powering using external 5V source */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[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]]
</div>
__TOC__

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.01||03/2024||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 ===
<gallery>
Tawaki_v201_top_pers.JPG
Tawaki_v201_bottom_pers.JPG
Tawaki_v201_bottom_hand.JPG
Tawaki_v201_top_SD_beside.JPG
Tawaki_v201_top_x4.JPG
</gallery>

=== 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="15%"|''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="15%"|''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||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||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="15%"|''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";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: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)
|}
 

'''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"|''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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!style="background:#F0F0F0";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: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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 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"|''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 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial 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"|''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 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
|}
 

'''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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||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="15%"|''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="15%"|''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||PA6||ADC1/2.InP3 Tim3.Ch1 Tim13.Ch1 SPI1.MISO SPI6.MISO||General Purpose I/O
|-
|5||style="background:#D0D0D0; color:black"|AUXb2||I/O||PA7||ADC1/2.InN3/P7 Tim3.Ch2 Tim14.Ch1 SPI1.MOSI SPI6.MOSI||General Purpose I/O
|-
|6||style="background:#D0D0D0; color:black"|AUXb3||I/O||PB0||ADC1/2.InN5/P9 Tim3.Ch3 UART4.CTS||General Purpose I/O
|-
|7||style="background:#D0D0D0; color:black"|AUXb4||I/O||PB1||ADC1/2.InP5 Tim3.Ch4||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|1000px|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 ===

==== 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. 

[[Image:Tawaki_v110_USB_mode_DFU.png|600px|Tawaki v1.10 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.

[[Image:Tawaki_v110_USB_mode_storage.png|600px|Tawaki v1.10 USB Storage mode]] 

==== Full Speed USB mode ====

=== General 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|900px|Tawaki v2.01 Schematic]]
 

=== Mechanical ===

==== Mechanical Dimensions ====

[[Image:Tawaki_v201_top_mechanical_dimensions.png|800px|Tawaki v1.10 top mechanical dimensions]]

==== CAD Files / 3D Model ====

[[Image:Tawaki_v100_step_file_logo.PNG|150px|link=Tawaki_v100_CAD.zip]][[Media:Tawaki_v100_CAD.zip|'' Download Tawaki v1.00 CAD File (zipped STEP file)'']] 

== Example of Airborne Equipment Electrical Connections ==

== Board production ==

=== Hardware Source Files ===
''Tawaki v1.10 hardware design (zipped Kicad 8 project) '':
[http://data.recherche.enac.fr/drones/Paparazzi/hardware/Tawaki_v110.zip Tawaki_v110.zip]

=== Components Layout ===

[[Image:Tawaki_v100_bottom_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/3/31/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_bottom_components_layout.pdf|Bottom components layout (pdf)]] 
[[Image:Tawaki_v100_top_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/c/ca/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_top_components_layout.pdf|Top components layout (pdf)]]

== Programming ==

== Debugging ==

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

=== Debugging with BlackMagic probe ===

=== 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]]

File:Tawaki v201 external 5V powering.png

2024-06-07T08:30:37Z

Michel:

Tawaki/v2.01

2024-06-07T08:12:58Z

Michel: /* Powering using USB-C only */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[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]]
</div>
__TOC__

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.01||03/2024||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 ===
<gallery>
Tawaki_v201_top_pers.JPG
Tawaki_v201_bottom_pers.JPG
Tawaki_v201_bottom_hand.JPG
Tawaki_v201_top_SD_beside.JPG
Tawaki_v201_top_x4.JPG
</gallery>

=== 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="15%"|''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="15%"|''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||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||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="15%"|''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";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: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)
|}
 

'''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"|''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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!style="background:#F0F0F0";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: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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 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"|''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 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial 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"|''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 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
|}
 

'''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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||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="15%"|''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="15%"|''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||PA6||ADC1/2.InP3 Tim3.Ch1 Tim13.Ch1 SPI1.MISO SPI6.MISO||General Purpose I/O
|-
|5||style="background:#D0D0D0; color:black"|AUXb2||I/O||PA7||ADC1/2.InN3/P7 Tim3.Ch2 Tim14.Ch1 SPI1.MOSI SPI6.MOSI||General Purpose I/O
|-
|6||style="background:#D0D0D0; color:black"|AUXb3||I/O||PB0||ADC1/2.InN5/P9 Tim3.Ch3 UART4.CTS||General Purpose I/O
|-
|7||style="background:#D0D0D0; color:black"|AUXb4||I/O||PB1||ADC1/2.InP5 Tim3.Ch4||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|1000px|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_v110_external_5V_powering.png|800px|Tawaki v1.10 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. 

[[Image:Tawaki_v110_USB_mode_DFU.png|600px|Tawaki v1.10 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.

[[Image:Tawaki_v110_USB_mode_storage.png|600px|Tawaki v1.10 USB Storage mode]] 

==== Full Speed USB mode ====

=== General 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|900px|Tawaki v2.01 Schematic]]
 

=== Mechanical ===

==== Mechanical Dimensions ====

[[Image:Tawaki_v201_top_mechanical_dimensions.png|800px|Tawaki v1.10 top mechanical dimensions]]

==== CAD Files / 3D Model ====

[[Image:Tawaki_v100_step_file_logo.PNG|150px|link=Tawaki_v100_CAD.zip]][[Media:Tawaki_v100_CAD.zip|'' Download Tawaki v1.00 CAD File (zipped STEP file)'']] 

== Example of Airborne Equipment Electrical Connections ==

== Board production ==

=== Hardware Source Files ===
''Tawaki v1.10 hardware design (zipped Kicad 8 project) '':
[http://data.recherche.enac.fr/drones/Paparazzi/hardware/Tawaki_v110.zip Tawaki_v110.zip]

=== Components Layout ===

[[Image:Tawaki_v100_bottom_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/3/31/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_bottom_components_layout.pdf|Bottom components layout (pdf)]] 
[[Image:Tawaki_v100_top_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/c/ca/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_top_components_layout.pdf|Top components layout (pdf)]]

== Programming ==

== Debugging ==

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

=== Debugging with BlackMagic probe ===

=== 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]]

File:Tawaki v201 USB-C powering.png

2024-06-07T08:11:59Z

Michel:

Tawaki/v2.01

2024-06-07T07:44:58Z

Michel:

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[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]]
</div>
__TOC__

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.01||03/2024||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 ===
<gallery>
Tawaki_v201_top_pers.JPG
Tawaki_v201_bottom_pers.JPG
Tawaki_v201_bottom_hand.JPG
Tawaki_v201_top_SD_beside.JPG
Tawaki_v201_top_x4.JPG
</gallery>

=== 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="15%"|''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="15%"|''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||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||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="15%"|''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";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: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)
|}
 

'''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"|''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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!style="background:#F0F0F0";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: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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 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"|''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 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial 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"|''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 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
|}
 

'''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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||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="15%"|''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="15%"|''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||PA6||ADC1/2.InP3 Tim3.Ch1 Tim13.Ch1 SPI1.MISO SPI6.MISO||General Purpose I/O
|-
|5||style="background:#D0D0D0; color:black"|AUXb2||I/O||PA7||ADC1/2.InN3/P7 Tim3.Ch2 Tim14.Ch1 SPI1.MOSI SPI6.MOSI||General Purpose I/O
|-
|6||style="background:#D0D0D0; color:black"|AUXb3||I/O||PB0||ADC1/2.InN5/P9 Tim3.Ch3 UART4.CTS||General Purpose I/O
|-
|7||style="background:#D0D0D0; color:black"|AUXb4||I/O||PB1||ADC1/2.InP5 Tim3.Ch4||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_v110_Micro-B_USB_powering.png|1000px|Tawaki v1.10 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 ====

[[Image:Tawaki_v110_external_5V_powering.png|800px|Tawaki v1.10 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. 

[[Image:Tawaki_v110_USB_mode_DFU.png|600px|Tawaki v1.10 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.

[[Image:Tawaki_v110_USB_mode_storage.png|600px|Tawaki v1.10 USB Storage mode]] 

==== Full Speed USB mode ====

=== General 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|900px|Tawaki v2.01 Schematic]]
 

=== Mechanical ===

==== Mechanical Dimensions ====

[[Image:Tawaki_v201_top_mechanical_dimensions.png|800px|Tawaki v1.10 top mechanical dimensions]]

==== CAD Files / 3D Model ====

[[Image:Tawaki_v100_step_file_logo.PNG|150px|link=Tawaki_v100_CAD.zip]][[Media:Tawaki_v100_CAD.zip|'' Download Tawaki v1.00 CAD File (zipped STEP file)'']] 

== Example of Airborne Equipment Electrical Connections ==

== Board production ==

=== Hardware Source Files ===
''Tawaki v1.10 hardware design (zipped Kicad 8 project) '':
[http://data.recherche.enac.fr/drones/Paparazzi/hardware/Tawaki_v110.zip Tawaki_v110.zip]

=== Components Layout ===

[[Image:Tawaki_v100_bottom_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/3/31/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_bottom_components_layout.pdf|Bottom components layout (pdf)]] 
[[Image:Tawaki_v100_top_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/c/ca/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_top_components_layout.pdf|Top components layout (pdf)]]

== Programming ==

== Debugging ==

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

=== Debugging with BlackMagic probe ===

=== 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]]

Tawaki/v2.01

2024-06-07T07:33:53Z

Michel: /* Mechanical Dimensions */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[Image:Tawaki_v201_3D_top_view.jpg|400px|Tawaki v2.01 top side]] 
[[Image:Tawaki_v201_3D_bottom_view.jpg|400px|Tawaki v2.01 bottom side]]
</div>
__TOC__

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.01||03/2024||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 ===
<gallery>
Tawaki_v201_top_pers.JPG
Tawaki_v201_bottom_pers.JPG
Tawaki_v201_bottom_hand.JPG
Tawaki_v201_top_SD_beside.JPG
Tawaki_v201_top_x4.JPG
</gallery>

=== 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="15%"|''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="15%"|''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||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||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="15%"|''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";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: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)
|}
 

'''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"|''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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!style="background:#F0F0F0";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: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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 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"|''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 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial 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"|''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 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
|}
 

'''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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||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="15%"|''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="15%"|''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||PA6||ADC1/2.InP3 Tim3.Ch1 Tim13.Ch1 SPI1.MISO SPI6.MISO||General Purpose I/O
|-
|5||style="background:#D0D0D0; color:black"|AUXb2||I/O||PA7||ADC1/2.InN3/P7 Tim3.Ch2 Tim14.Ch1 SPI1.MOSI SPI6.MOSI||General Purpose I/O
|-
|6||style="background:#D0D0D0; color:black"|AUXb3||I/O||PB0||ADC1/2.InN5/P9 Tim3.Ch3 UART4.CTS||General Purpose I/O
|-
|7||style="background:#D0D0D0; color:black"|AUXb4||I/O||PB1||ADC1/2.InP5 Tim3.Ch4||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_v110_Micro-B_USB_powering.png|1000px|Tawaki v1.10 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 ====

[[Image:Tawaki_v110_external_5V_powering.png|800px|Tawaki v1.10 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. 

[[Image:Tawaki_v110_USB_mode_DFU.png|600px|Tawaki v1.10 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.

[[Image:Tawaki_v110_USB_mode_storage.png|600px|Tawaki v1.10 USB Storage mode]] 

==== Full Speed USB mode ====

=== General 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|900px|Tawaki v2.01 Schematic]]
 

=== Mechanical ===

==== Mechanical Dimensions ====

[[Image:Tawaki_v201_top_mechanical_dimensions.png|800px|Tawaki v1.10 top mechanical dimensions]]

==== CAD Files / 3D Model ====

[[Image:Tawaki_v100_step_file_logo.PNG|150px|link=Tawaki_v100_CAD.zip]][[Media:Tawaki_v100_CAD.zip|'' Download Tawaki v1.00 CAD File (zipped STEP file)'']] 

== Example of Airborne Equipment Electrical Connections ==

== Board production ==

=== Hardware Source Files ===
''Tawaki v1.10 hardware design (zipped Kicad 8 project) '':
[http://data.recherche.enac.fr/drones/Paparazzi/hardware/Tawaki_v110.zip Tawaki_v110.zip]

=== Components Layout ===

[[Image:Tawaki_v100_bottom_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/3/31/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_bottom_components_layout.pdf|Bottom components layout (pdf)]] 
[[Image:Tawaki_v100_top_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/c/ca/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_top_components_layout.pdf|Top components layout (pdf)]]

== Programming ==

== Debugging ==

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

=== Debugging with BlackMagic probe ===

=== 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]]

File:Tawaki v201 top mechanical dimensions.png

2024-06-07T07:32:52Z

Michel:

Tawaki/v2.01

2024-06-07T07:22:36Z

Michel: /* Key Features */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[Image:Tawaki_v201_3D_top_view.jpg|400px|Tawaki v2.01 top side]] 
[[Image:Tawaki_v201_3D_bottom_view.jpg|400px|Tawaki v2.01 bottom side]]
</div>
__TOC__

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.01||03/2024||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 ===
<gallery>
Tawaki_v201_top_pers.JPG
Tawaki_v201_bottom_pers.JPG
Tawaki_v201_bottom_hand.JPG
Tawaki_v201_top_SD_beside.JPG
Tawaki_v201_top_x4.JPG
</gallery>

=== 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="15%"|''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="15%"|''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||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||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="15%"|''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";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: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)
|}
 

'''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"|''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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!style="background:#F0F0F0";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: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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 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"|''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 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial 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"|''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 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
|}
 

'''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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||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="15%"|''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="15%"|''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||PA6||ADC1/2.InP3 Tim3.Ch1 Tim13.Ch1 SPI1.MISO SPI6.MISO||General Purpose I/O
|-
|5||style="background:#D0D0D0; color:black"|AUXb2||I/O||PA7||ADC1/2.InN3/P7 Tim3.Ch2 Tim14.Ch1 SPI1.MOSI SPI6.MOSI||General Purpose I/O
|-
|6||style="background:#D0D0D0; color:black"|AUXb3||I/O||PB0||ADC1/2.InN5/P9 Tim3.Ch3 UART4.CTS||General Purpose I/O
|-
|7||style="background:#D0D0D0; color:black"|AUXb4||I/O||PB1||ADC1/2.InP5 Tim3.Ch4||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_v110_Micro-B_USB_powering.png|1000px|Tawaki v1.10 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 ====

[[Image:Tawaki_v110_external_5V_powering.png|800px|Tawaki v1.10 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. 

[[Image:Tawaki_v110_USB_mode_DFU.png|600px|Tawaki v1.10 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.

[[Image:Tawaki_v110_USB_mode_storage.png|600px|Tawaki v1.10 USB Storage mode]] 

==== Full Speed USB mode ====

=== General 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|900px|Tawaki v2.01 Schematic]]
 

=== Mechanical ===

==== Mechanical Dimensions ====

[[Image:Tawaki_v110_top_mechanical_dimensions.png|800px|Tawaki v1.10 top mechanical dimensions]]

==== CAD Files / 3D Model ====

[[Image:Tawaki_v100_step_file_logo.PNG|150px|link=Tawaki_v100_CAD.zip]][[Media:Tawaki_v100_CAD.zip|'' Download Tawaki v1.00 CAD File (zipped STEP file)'']] 

== Example of Airborne Equipment Electrical Connections ==

== Board production ==

=== Hardware Source Files ===
''Tawaki v1.10 hardware design (zipped Kicad 8 project) '':
[http://data.recherche.enac.fr/drones/Paparazzi/hardware/Tawaki_v110.zip Tawaki_v110.zip]

=== Components Layout ===

[[Image:Tawaki_v100_bottom_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/3/31/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_bottom_components_layout.pdf|Bottom components layout (pdf)]] 
[[Image:Tawaki_v100_top_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/c/ca/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_top_components_layout.pdf|Top components layout (pdf)]]

== Programming ==

== Debugging ==

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

=== Debugging with BlackMagic probe ===

=== 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]]

Tawaki/v2.01

2024-06-07T07:18:12Z

Michel: /* Schematic */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[Image:Tawaki_v201_3D_top_view.jpg|400px|Tawaki v2.01 top side]] 
[[Image:Tawaki_v201_3D_bottom_view.jpg|400px|Tawaki v2.01 bottom side]]
</div>
__TOC__

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.01||03/2024||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 ===
<gallery>
Tawaki_v201_top_pers.JPG
Tawaki_v201_bottom_pers.JPG
Tawaki_v201_bottom_hand.JPG
Tawaki_v201_top_SD_beside.JPG
Tawaki_v201_top_x4.JPG
</gallery>

=== 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 (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 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="15%"|''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="15%"|''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||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||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="15%"|''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";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: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)
|}
 

'''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"|''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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!style="background:#F0F0F0";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: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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 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"|''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 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial 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"|''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 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
|}
 

'''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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||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="15%"|''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="15%"|''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||PA6||ADC1/2.InP3 Tim3.Ch1 Tim13.Ch1 SPI1.MISO SPI6.MISO||General Purpose I/O
|-
|5||style="background:#D0D0D0; color:black"|AUXb2||I/O||PA7||ADC1/2.InN3/P7 Tim3.Ch2 Tim14.Ch1 SPI1.MOSI SPI6.MOSI||General Purpose I/O
|-
|6||style="background:#D0D0D0; color:black"|AUXb3||I/O||PB0||ADC1/2.InN5/P9 Tim3.Ch3 UART4.CTS||General Purpose I/O
|-
|7||style="background:#D0D0D0; color:black"|AUXb4||I/O||PB1||ADC1/2.InP5 Tim3.Ch4||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_v110_Micro-B_USB_powering.png|1000px|Tawaki v1.10 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 ====

[[Image:Tawaki_v110_external_5V_powering.png|800px|Tawaki v1.10 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. 

[[Image:Tawaki_v110_USB_mode_DFU.png|600px|Tawaki v1.10 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.

[[Image:Tawaki_v110_USB_mode_storage.png|600px|Tawaki v1.10 USB Storage mode]] 

==== Full Speed USB mode ====

=== General 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|900px|Tawaki v2.01 Schematic]]
 

=== Mechanical ===

==== Mechanical Dimensions ====

[[Image:Tawaki_v110_top_mechanical_dimensions.png|800px|Tawaki v1.10 top mechanical dimensions]]

==== CAD Files / 3D Model ====

[[Image:Tawaki_v100_step_file_logo.PNG|150px|link=Tawaki_v100_CAD.zip]][[Media:Tawaki_v100_CAD.zip|'' Download Tawaki v1.00 CAD File (zipped STEP file)'']] 

== Example of Airborne Equipment Electrical Connections ==

== Board production ==

=== Hardware Source Files ===
''Tawaki v1.10 hardware design (zipped Kicad 8 project) '':
[http://data.recherche.enac.fr/drones/Paparazzi/hardware/Tawaki_v110.zip Tawaki_v110.zip]

=== Components Layout ===

[[Image:Tawaki_v100_bottom_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/3/31/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_bottom_components_layout.pdf|Bottom components layout (pdf)]] 
[[Image:Tawaki_v100_top_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/c/ca/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_top_components_layout.pdf|Top components layout (pdf)]]

== Programming ==

== Debugging ==

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

=== Debugging with BlackMagic probe ===

=== 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]]

File:Tawaki v201 schematic.jpg

2024-06-07T07:17:27Z

Michel:

Tawaki

2024-06-07T06:33:36Z

Michel:

Tawaki/v2.01

2024-06-07T06:31:17Z

Michel:

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[Image:Tawaki_v201_3D_top_view.jpg|400px|Tawaki v2.01 top side]] 
[[Image:Tawaki_v201_3D_bottom_view.jpg|400px|Tawaki v2.01 bottom side]]
</div>
__TOC__

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.01||03/2024||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 ===
<gallery>
Tawaki_v201_top_pers.JPG
Tawaki_v201_bottom_pers.JPG
Tawaki_v201_bottom_hand.JPG
Tawaki_v201_top_SD_beside.JPG
Tawaki_v201_top_x4.JPG
</gallery>

=== 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 (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 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="15%"|''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="15%"|''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||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||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="15%"|''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";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: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)
|}
 

'''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"|''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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!style="background:#F0F0F0";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: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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 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"|''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 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial 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"|''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 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
|}
 

'''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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||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="15%"|''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="15%"|''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||PA6||ADC1/2.InP3 Tim3.Ch1 Tim13.Ch1 SPI1.MISO SPI6.MISO||General Purpose I/O
|-
|5||style="background:#D0D0D0; color:black"|AUXb2||I/O||PA7||ADC1/2.InN3/P7 Tim3.Ch2 Tim14.Ch1 SPI1.MOSI SPI6.MOSI||General Purpose I/O
|-
|6||style="background:#D0D0D0; color:black"|AUXb3||I/O||PB0||ADC1/2.InN5/P9 Tim3.Ch3 UART4.CTS||General Purpose I/O
|-
|7||style="background:#D0D0D0; color:black"|AUXb4||I/O||PB1||ADC1/2.InP5 Tim3.Ch4||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_v110_Micro-B_USB_powering.png|1000px|Tawaki v1.10 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 ====

[[Image:Tawaki_v110_external_5V_powering.png|800px|Tawaki v1.10 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. 

[[Image:Tawaki_v110_USB_mode_DFU.png|600px|Tawaki v1.10 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.

[[Image:Tawaki_v110_USB_mode_storage.png|600px|Tawaki v1.10 USB Storage mode]] 

==== Full Speed USB mode ====

=== General 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 ===

=== Mechanical ===

==== Mechanical Dimensions ====

[[Image:Tawaki_v110_top_mechanical_dimensions.png|800px|Tawaki v1.10 top mechanical dimensions]]

==== CAD Files / 3D Model ====

[[Image:Tawaki_v100_step_file_logo.PNG|150px|link=Tawaki_v100_CAD.zip]][[Media:Tawaki_v100_CAD.zip|'' Download Tawaki v1.00 CAD File (zipped STEP file)'']] 

== Example of Airborne Equipment Electrical Connections ==

== Board production ==

=== Hardware Source Files ===
''Tawaki v1.10 hardware design (zipped Kicad 8 project) '':
[http://data.recherche.enac.fr/drones/Paparazzi/hardware/Tawaki_v110.zip Tawaki_v110.zip]

=== Components Layout ===

[[Image:Tawaki_v100_bottom_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/3/31/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_bottom_components_layout.pdf|Bottom components layout (pdf)]] 
[[Image:Tawaki_v100_top_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/c/ca/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_top_components_layout.pdf|Top components layout (pdf)]]

== Programming ==

== Debugging ==

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

=== Debugging with BlackMagic probe ===

=== 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]]

File:Tawaki v201 3D bottom view.jpg

2024-06-07T06:27:56Z

Michel:

File:Tawaki v201 3D top view.jpg

2024-06-07T06:27:29Z

Michel:

Tawaki

2024-06-07T05:55:31Z

Michel:

Tawaki/v2.01

2024-06-06T15:31:20Z

Michel: /* Power Supply */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[Image:Tawaki_v201_top_hand.JPG|400px|Tawaki v2.01 top side]] 
[[Image:Tawaki_v201_top_bottom_1E.JPG|400px|Tawaki v2.01 1€ size comparison]]
</div>
__TOC__

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.01||03/2024||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 ===
<gallery>
Tawaki_v201_top_pers.JPG
Tawaki_v201_bottom_pers.JPG
Tawaki_v201_bottom_hand.JPG
Tawaki_v201_top_SD_beside.JPG
Tawaki_v201_top_x4.JPG
</gallery>

=== 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 (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 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="15%"|''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="15%"|''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||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||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="15%"|''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";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: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)
|}
 

'''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"|''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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!style="background:#F0F0F0";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: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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 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"|''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 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial 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"|''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 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
|}
 

'''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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||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="15%"|''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="15%"|''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||PA6||ADC1/2.InP3 Tim3.Ch1 Tim13.Ch1 SPI1.MISO SPI6.MISO||General Purpose I/O
|-
|5||style="background:#D0D0D0; color:black"|AUXb2||I/O||PA7||ADC1/2.InN3/P7 Tim3.Ch2 Tim14.Ch1 SPI1.MOSI SPI6.MOSI||General Purpose I/O
|-
|6||style="background:#D0D0D0; color:black"|AUXb3||I/O||PB0||ADC1/2.InN5/P9 Tim3.Ch3 UART4.CTS||General Purpose I/O
|-
|7||style="background:#D0D0D0; color:black"|AUXb4||I/O||PB1||ADC1/2.InP5 Tim3.Ch4||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_v110_Micro-B_USB_powering.png|1000px|Tawaki v1.10 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 ====

[[Image:Tawaki_v110_external_5V_powering.png|800px|Tawaki v1.10 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. 

[[Image:Tawaki_v110_USB_mode_DFU.png|600px|Tawaki v1.10 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.

[[Image:Tawaki_v110_USB_mode_storage.png|600px|Tawaki v1.10 USB Storage mode]] 

==== Full Speed USB mode ====

=== General 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 ===

=== Mechanical ===

==== Mechanical Dimensions ====

[[Image:Tawaki_v110_top_mechanical_dimensions.png|800px|Tawaki v1.10 top mechanical dimensions]]

==== CAD Files / 3D Model ====

[[Image:Tawaki_v100_step_file_logo.PNG|150px|link=Tawaki_v100_CAD.zip]][[Media:Tawaki_v100_CAD.zip|'' Download Tawaki v1.00 CAD File (zipped STEP file)'']] 

== Example of Airborne Equipment Electrical Connections ==

== Board production ==

=== Hardware Source Files ===
''Tawaki v1.10 hardware design (zipped Kicad 8 project) '':
[http://data.recherche.enac.fr/drones/Paparazzi/hardware/Tawaki_v110.zip Tawaki_v110.zip]

=== Components Layout ===

[[Image:Tawaki_v100_bottom_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/3/31/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_bottom_components_layout.pdf|Bottom components layout (pdf)]] 
[[Image:Tawaki_v100_top_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/c/ca/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_top_components_layout.pdf|Top components layout (pdf)]]

== Programming ==

== Debugging ==

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

=== Debugging with BlackMagic probe ===

=== 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]]

File:Tawaki v201 servo b vbat source.png

2024-06-06T15:16:05Z

Michel:

File:Tawaki v201 servo b header powering.png

2024-06-06T15:05:21Z

Michel:

Tawaki/v2.01

2024-06-06T14:48:56Z

Michel: /* Power Supply */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[Image:Tawaki_v201_top_hand.JPG|400px|Tawaki v2.01 top side]] 
[[Image:Tawaki_v201_top_bottom_1E.JPG|400px|Tawaki v2.01 1€ size comparison]]
</div>
__TOC__

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.01||03/2024||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 ===
<gallery>
Tawaki_v201_top_pers.JPG
Tawaki_v201_bottom_pers.JPG
Tawaki_v201_bottom_hand.JPG
Tawaki_v201_top_SD_beside.JPG
Tawaki_v201_top_x4.JPG
</gallery>

=== 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 (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 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="15%"|''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="15%"|''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||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||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="15%"|''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";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: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)
|}
 

'''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"|''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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!style="background:#F0F0F0";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: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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 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"|''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 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial 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"|''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 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
|}
 

'''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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||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="15%"|''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="15%"|''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||PA6||ADC1/2.InP3 Tim3.Ch1 Tim13.Ch1 SPI1.MISO SPI6.MISO||General Purpose I/O
|-
|5||style="background:#D0D0D0; color:black"|AUXb2||I/O||PA7||ADC1/2.InN3/P7 Tim3.Ch2 Tim14.Ch1 SPI1.MOSI SPI6.MOSI||General Purpose I/O
|-
|6||style="background:#D0D0D0; color:black"|AUXb3||I/O||PB0||ADC1/2.InN5/P9 Tim3.Ch3 UART4.CTS||General Purpose I/O
|-
|7||style="background:#D0D0D0; color:black"|AUXb4||I/O||PB1||ADC1/2.InP5 Tim3.Ch4||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 v1.10 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: I(5V)<5A
*maximum current usable for payload on the +3.3V: I(3.3V)<3A
*maximum total current usable: 5A
[[Image:Tawaki_v110_servo_b_vbat_source.png|500px|Tawaki v1.10 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 ====

[[Image:Tawaki_v110_servo_b_header_powering.png|500px|Tawaki v1.10 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 ====

[[Image:Tawaki_v110_Micro-B_USB_powering.png|1000px|Tawaki v1.10 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 ====

[[Image:Tawaki_v110_external_5V_powering.png|800px|Tawaki v1.10 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. 

[[Image:Tawaki_v110_USB_mode_DFU.png|600px|Tawaki v1.10 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.

[[Image:Tawaki_v110_USB_mode_storage.png|600px|Tawaki v1.10 USB Storage mode]] 

==== Full Speed USB mode ====

=== General 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 ===

=== Mechanical ===

==== Mechanical Dimensions ====

[[Image:Tawaki_v110_top_mechanical_dimensions.png|800px|Tawaki v1.10 top mechanical dimensions]]

==== CAD Files / 3D Model ====

[[Image:Tawaki_v100_step_file_logo.PNG|150px|link=Tawaki_v100_CAD.zip]][[Media:Tawaki_v100_CAD.zip|'' Download Tawaki v1.00 CAD File (zipped STEP file)'']] 

== Example of Airborne Equipment Electrical Connections ==

== Board production ==

=== Hardware Source Files ===
''Tawaki v1.10 hardware design (zipped Kicad 8 project) '':
[http://data.recherche.enac.fr/drones/Paparazzi/hardware/Tawaki_v110.zip Tawaki_v110.zip]

=== Components Layout ===

[[Image:Tawaki_v100_bottom_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/3/31/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_bottom_components_layout.pdf|Bottom components layout (pdf)]] 
[[Image:Tawaki_v100_top_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/c/ca/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_top_components_layout.pdf|Top components layout (pdf)]]

== Programming ==

== Debugging ==

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

=== Debugging with BlackMagic probe ===

=== 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]]

File:Tawaki v201 battery pads powering.png

2024-06-06T14:48:29Z

Michel:

Tawaki/v2.01

2024-06-06T14:29:46Z

Michel: /* Simplified Pinout Tables (Paparazzi use) */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[Image:Tawaki_v201_top_hand.JPG|400px|Tawaki v2.01 top side]] 
[[Image:Tawaki_v201_top_bottom_1E.JPG|400px|Tawaki v2.01 1€ size comparison]]
</div>
__TOC__

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.01||03/2024||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 ===
<gallery>
Tawaki_v201_top_pers.JPG
Tawaki_v201_bottom_pers.JPG
Tawaki_v201_bottom_hand.JPG
Tawaki_v201_top_SD_beside.JPG
Tawaki_v201_top_x4.JPG
</gallery>

=== 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 (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 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="15%"|''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="15%"|''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||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||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="15%"|''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";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: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)
|}
 

'''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"|''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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!style="background:#F0F0F0";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: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 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 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"|''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 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial 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"|''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 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
|}
 

'''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"|''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||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="15%"|''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="15%"|''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||PA6||ADC1/2.InP3 Tim3.Ch1 Tim13.Ch1 SPI1.MISO SPI6.MISO||General Purpose I/O
|-
|5||style="background:#D0D0D0; color:black"|AUXb2||I/O||PA7||ADC1/2.InN3/P7 Tim3.Ch2 Tim14.Ch1 SPI1.MOSI SPI6.MOSI||General Purpose I/O
|-
|6||style="background:#D0D0D0; color:black"|AUXb3||I/O||PB0||ADC1/2.InN5/P9 Tim3.Ch3 UART4.CTS||General Purpose I/O
|-
|7||style="background:#D0D0D0; color:black"|AUXb4||I/O||PB1||ADC1/2.InP5 Tim3.Ch4||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 17V
*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_v110_battery_pads_powering.png|600px|Tawaki v1.10 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
[[Image:Tawaki_v110_servo_b_vbat_source.png|500px|Tawaki v1.10 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 ====

[[Image:Tawaki_v110_servo_b_header_powering.png|500px|Tawaki v1.10 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 ====

[[Image:Tawaki_v110_Micro-B_USB_powering.png|1000px|Tawaki v1.10 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 ====

[[Image:Tawaki_v110_external_5V_powering.png|800px|Tawaki v1.10 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. 

[[Image:Tawaki_v110_USB_mode_DFU.png|600px|Tawaki v1.10 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.

[[Image:Tawaki_v110_USB_mode_storage.png|600px|Tawaki v1.10 USB Storage mode]] 

==== Full Speed USB mode ====

=== General 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 ===

=== Mechanical ===

==== Mechanical Dimensions ====

[[Image:Tawaki_v110_top_mechanical_dimensions.png|800px|Tawaki v1.10 top mechanical dimensions]]

==== CAD Files / 3D Model ====

[[Image:Tawaki_v100_step_file_logo.PNG|150px|link=Tawaki_v100_CAD.zip]][[Media:Tawaki_v100_CAD.zip|'' Download Tawaki v1.00 CAD File (zipped STEP file)'']] 

== Example of Airborne Equipment Electrical Connections ==

== Board production ==

=== Hardware Source Files ===
''Tawaki v1.10 hardware design (zipped Kicad 8 project) '':
[http://data.recherche.enac.fr/drones/Paparazzi/hardware/Tawaki_v110.zip Tawaki_v110.zip]

=== Components Layout ===

[[Image:Tawaki_v100_bottom_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/3/31/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_bottom_components_layout.pdf|Bottom components layout (pdf)]] 
[[Image:Tawaki_v100_top_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/c/ca/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_top_components_layout.pdf|Top components layout (pdf)]]

== Programming ==

== Debugging ==

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

=== Debugging with BlackMagic probe ===

=== 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]]

Tawaki/v2.01

2024-06-06T13:54:32Z

Michel: /* Simplified Pinout Tables (Paparazzi use) */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[Image:Tawaki_v201_top_hand.JPG|400px|Tawaki v2.01 top side]] 
[[Image:Tawaki_v201_top_bottom_1E.JPG|400px|Tawaki v2.01 1€ size comparison]]
</div>
__TOC__

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.01||03/2024||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 ===
<gallery>
Tawaki_v201_top_pers.JPG
Tawaki_v201_bottom_pers.JPG
Tawaki_v201_bottom_hand.JPG
Tawaki_v201_top_SD_beside.JPG
Tawaki_v201_top_x4.JPG
</gallery>

=== 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 (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 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%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''Type''!!width="10%"|''MCU Port''!!width="15%"|''Primary 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 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%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''Type''!!width="10%"|''MCU Port''!!width="15%"|''Primary MCU Resource''!!''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||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||PA10||UART1.Rx|| DShot Telemetry serial input
|}
 

'''R/C'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''Type''!!width="10%"|''MCU Port''!!width="15%"|''Possible 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: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%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''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)
|}
 

'''UART3'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''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"|RX3||IN||PD9||UART3 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''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"|RX7||IN||PB3||UART7 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 Serial Output (3.3V level)
|}
 

'''I2C2 (x2)'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''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||Open Drain I/O||PB11||I2C2 bus Serial DAta (3.3V level, 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial CLock (3.3V level, 2.2kΩ pull-up)
|}
 

'''SPI2'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''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||I/O||PB12||SPI2 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
|}
 

'''CAN FD'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN FD bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||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%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''Type''!!width="10%"|''MCU Port''!!width="15%"|''Possible MCU Resource''!!''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:#EFEFEF; color:black"|AUXa1||I/O||PA0||ADC1.InP16 Tim2.Ch1 Tim5.Ch1 UART2.CTS UART4.Tx||General Purpose I/O
|-
|5||style="background:#EFEFEF; color:black"|AUXa2||I/O||PA1||ADC1.InP17/N16 Tim2.Ch2 Tim5.Ch2 UART2.RTS UART4.Rx||General Purpose I/O
|-
|6||style="background:#EFEFEF; color:black"|AUXa3||I/O||PA2||ADC1/2.InP14 Tim2.Ch3 Tim5.Ch3 UART2.Tx||General Purpose I/O
|-
|7||style="background:#EFEFEF; 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%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''Type''!!width="10%"|''MCU Port''!!width="15%"|''Possible 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:Red; color:white"|+3.3V||PWR||-||-||3.3V Rail from autopilot
|-
|4||style="background:#EFEFEF; color:black"|AUXb1||I/O||PA6||ADC1/2.InP3 Tim3.Ch1 Tim13.Ch1 SPI1.MISO SPI6.MISO||General Purpose I/O
|-
|5||style="background:#EFEFEF; color:black"|AUXb2||I/O||PA7||ADC1/2.InN3/P7 Tim3.Ch2 Tim14.Ch1 SPI1.MOSI SPI6.MOSI||General Purpose I/O
|-
|6||style="background:#EFEFEF; color:black"|AUXb3||I/O||PB0||ADC1/2.InN5/P9 Tim3.Ch3 UART4.CTS||General Purpose I/O
|-
|7||style="background:#EFEFEF; color:black"|AUXb4||I/O||PB1||ADC1/2.InP5 Tim3.Ch4||General Purpose I/O
|}
 

'''USB FS'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''Type''!!width="10%"|''MCU Port''!!''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%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''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||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 17V
*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_v110_battery_pads_powering.png|600px|Tawaki v1.10 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
[[Image:Tawaki_v110_servo_b_vbat_source.png|500px|Tawaki v1.10 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 ====

[[Image:Tawaki_v110_servo_b_header_powering.png|500px|Tawaki v1.10 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 ====

[[Image:Tawaki_v110_Micro-B_USB_powering.png|1000px|Tawaki v1.10 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 ====

[[Image:Tawaki_v110_external_5V_powering.png|800px|Tawaki v1.10 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. 

[[Image:Tawaki_v110_USB_mode_DFU.png|600px|Tawaki v1.10 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.

[[Image:Tawaki_v110_USB_mode_storage.png|600px|Tawaki v1.10 USB Storage mode]] 

==== Full Speed USB mode ====

=== General 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 ===

=== Mechanical ===

==== Mechanical Dimensions ====

[[Image:Tawaki_v110_top_mechanical_dimensions.png|800px|Tawaki v1.10 top mechanical dimensions]]

==== CAD Files / 3D Model ====

[[Image:Tawaki_v100_step_file_logo.PNG|150px|link=Tawaki_v100_CAD.zip]][[Media:Tawaki_v100_CAD.zip|'' Download Tawaki v1.00 CAD File (zipped STEP file)'']] 

== Example of Airborne Equipment Electrical Connections ==

== Board production ==

=== Hardware Source Files ===
''Tawaki v1.10 hardware design (zipped Kicad 8 project) '':
[http://data.recherche.enac.fr/drones/Paparazzi/hardware/Tawaki_v110.zip Tawaki_v110.zip]

=== Components Layout ===

[[Image:Tawaki_v100_bottom_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/3/31/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_bottom_components_layout.pdf|Bottom components layout (pdf)]] 
[[Image:Tawaki_v100_top_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/c/ca/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_top_components_layout.pdf|Top components layout (pdf)]]

== Programming ==

== Debugging ==

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

=== Debugging with BlackMagic probe ===

=== 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]]

Tawaki/v1.10

2024-06-06T13:18:33Z

Michel: /* Simplified Pinout Tables (Paparazzi use) */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[Image:Tawaki_v100_top_hand.JPG|400px|Tawaki v1.00 top side]] 
[[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''
|-
|v1.10||03/2020||AUXa4 = PA3 
AUXb1 = PA6 
USB Vbus resistor bridge added. 
C43 value increased.
|-
|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/mems-and-sensors/lis3mdl.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 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'' 

[[Image:Tawaki_v110_simplified_pinout.png|1200px|Tawaki v1.10 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%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''Type''!!width="10%"|''MCU Port''!!width="15%"|''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 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%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''Type''!!width="10%"|''MCU Port''!!width="15%"|''MCU Resource''!!''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||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|| DShot Telemetry serial input
|}
 

'''R/C'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''Type''!!width="10%"|''MCU Port''!!width="15%"|''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: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%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''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)
|}
 

'''UART3'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''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"|RX3||IN||PD9||UART3 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''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"|RX7||IN||PB3||UART7 Serial Input (3.3V level)
|-
|5||style="background:blue; color:white"|TX7||OUT||PA15||UART7 Serial Output (3.3V level)
|}
 

'''I2C2 (3V3)'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''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 3.3V||Open Drain I/O||PB11||I2C2 bus Serial DAta ('''3.3V level''', 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2 3.3V||Open Drain I/O||PB10||I2C12 bus Serial CLock ('''3.3V level''', 2.2kΩ pull-up)
|}
 

'''I2C2 (5V)'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''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 5V||Open Drain I/O||PB11||I2C2 bus Serial DAta ('''5V level''', 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2 5V||Open Drain I/O||PB10||I2C12 bus Serial CLock ('''5V level''', 2.2kΩ pull-up)
|}
 

'''SPI2'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''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
|}
 

'''CAN'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''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 120Ω terminator resistor.'' 
 

'''AUX a'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''Type''!!width="10%"|''MCU Port''!!width="15%"|''MCU Resource''!!''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:#EFEFEF; color:black"|AUXa1||I/O||PA0||ADC1+2+3.In0 Tim2.Ch1 Tim5.Ch1 UART4.Tx UART2.CTS||General Purpose I/O
|-
|5||style="background:#EFEFEF; color:black"|AUXa2||I/O||PA1||ADC1+2+3.In1 Tim2.Ch2 Tim5.Ch2 UART4.Rx UART2.RTS||General Purpose I/O
|-
|6||style="background:#EFEFEF; color:black"|AUXa3||I/O||PA2||ADC1+2+3.In2 Tim2.Ch3 Tim5.Ch3 Tim9.Ch1 ||General Purpose I/O
|-
|7||style="background:#EFEFEF; color:black"|AUXa4||I/O||PA3||ADC1+2+3.In3 Tim2.Ch4 Tim5.Ch4 Tim9.Ch2||General Purpose I/O
|}
 

'''AUX b'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''Type''!!width="10%"|''MCU Port''!!width="15%"|''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:Red; color:white"|+3.3V||PWR||-||-||3.3V Rail from autopilot
|-
|4||style="background:#EFEFEF; color:black"|AUXb1||I/O||PA6||ADC1+2.In6 Tim3.Ch1 Tim13.Ch1||General Purpose I/O
|-
|5||style="background:#EFEFEF; color:black"|AUXb2||I/O||PA7||ADC1+2+3.In7 Tim3.Ch2 Tim14.Ch1||General Purpose I/O
|-
|6||style="background:#EFEFEF; color:black"|AUXb3||I/O||PB0||ADC1+2.In8 Tim3.Ch3||General Purpose I/O
|-
|7||style="background:#EFEFEF; color:black"|AUXb4||I/O||PB1||ADC1+2.In9 Tim3.Ch4||General Purpose I/O
|}
 

'''USB'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:green; color:white"|USB+||I/O||PA12||USB bidirectional D+ line
|-
|3||style="background:white; color:black"|USB-||I/O||PA11||USB 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 Micro-B 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%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''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||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 17V
*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_v110_battery_pads_powering.png|600px|Tawaki v1.10 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
[[Image:Tawaki_v110_servo_b_vbat_source.png|500px|Tawaki v1.10 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 ====

[[Image:Tawaki_v110_servo_b_header_powering.png|500px|Tawaki v1.10 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 ====

[[Image:Tawaki_v110_Micro-B_USB_powering.png|1000px|Tawaki v1.10 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 ====

[[Image:Tawaki_v110_external_5V_powering.png|800px|Tawaki v1.10 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. 

[[Image:Tawaki_v110_USB_mode_DFU.png|600px|Tawaki v1.10 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.

[[Image:Tawaki_v110_USB_mode_storage.png|600px|Tawaki v1.10 USB Storage mode]] 

==== Full Speed USB mode ====

=== General Pinout ===

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

[[Image:Tawaki_v110_general_pinout.png|1200px|Tawaki v1.10 general pinout (development board use)]]

=== Schematic ===

=== Mechanical ===

==== Mechanical Dimensions ====

[[Image:Tawaki_v110_top_mechanical_dimensions.png|800px|Tawaki v1.10 top mechanical dimensions]]

==== CAD Files / 3D Model ====

[[Image:Tawaki_v100_step_file_logo.PNG|150px|link=Tawaki_v100_CAD.zip]][[Media:Tawaki_v100_CAD.zip|'' Download Tawaki v1.00 CAD File (zipped STEP file)'']] 

== Example of Airborne Equipment Electrical Connections ==

== Board production ==

=== Hardware Source Files ===
''Tawaki v1.10 hardware design (zipped Kicad 8 project) '':
[http://data.recherche.enac.fr/drones/Paparazzi/hardware/Tawaki_v110.zip Tawaki_v110.zip]

=== Components Layout ===

[[Image:Tawaki_v100_bottom_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/3/31/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_bottom_components_layout.pdf|Bottom components layout (pdf)]] 
[[Image:Tawaki_v100_top_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/c/ca/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_top_components_layout.pdf|Top components layout (pdf)]]

== Programming ==

== Debugging ==

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

=== Debugging with BlackMagic probe ===

=== 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]]

Tawaki/v2.01

2024-06-06T10:51:23Z

Michel:

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots </categorytree>
|}
<div style="float: right; width: 65%">
[[Image:Tawaki_v201_top_hand.JPG|400px|Tawaki v2.01 top side]] 
[[Image:Tawaki_v201_top_bottom_1E.JPG|400px|Tawaki v2.01 1€ size comparison]]
</div>
__TOC__

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.01||03/2024||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 ===
<gallery>
Tawaki_v201_top_pers.JPG
Tawaki_v201_bottom_pers.JPG
Tawaki_v201_bottom_hand.JPG
Tawaki_v201_top_SD_beside.JPG
Tawaki_v201_top_x4.JPG
</gallery>

=== 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 (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 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%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''Type''!!width="10%"|''MCU Port''!!width="15%"|''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 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%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''Type''!!width="10%"|''MCU Port''!!width="15%"|''MCU Resource''!!''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||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|| DShot Telemetry serial input
|}
 

'''R/C'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''Type''!!width="10%"|''MCU Port''!!width="15%"|''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: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%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''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)
|}
 

'''UART3'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''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)
|}
 

'''UART7'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''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)
|}
 

'''I2C2 (3V3)'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''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 3.3V||Open Drain I/O||PB11||I2C2 bus Serial DAta ('''3.3V level''', 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2 3.3V||Open Drain I/O||PB10||I2C12 bus Serial CLock ('''3.3V level''', 2.2kΩ pull-up)
|}
 

'''I2C2 (5V)'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''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 5V||Open Drain I/O||PB11||I2C2 bus Serial DAta ('''5V level''', 2.2kΩ pull-up)
|-
|5||style="background:blue; color:white"|SCL2 5V||Open Drain I/O||PB10||I2C12 bus Serial CLock ('''5V level''', 2.2kΩ pull-up)
|}
 

'''SPI2'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''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
|}
 

'''CAN'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''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 120Ω terminator resistor.'' 
 

'''AUX a'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''Type''!!width="10%"|''MCU Port''!!width="15%"|''MCU Resource''!!''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:#EFEFEF; color:black"|AUXa1||I/O||PA0||ADC1+2+3.In0 Tim2.Ch1 Tim5.Ch1 UART4.Tx UART2.CTS||General Purpose I/O
|-
|5||style="background:#EFEFEF; color:black"|AUXa2||I/O||PA1||ADC1+2+3.In1 Tim2.Ch2 Tim5.Ch2 UART4.Rx UART2.RTS||General Purpose I/O
|-
|6||style="background:#EFEFEF; color:black"|AUXa3||I/O||PA2||ADC1+2+3.In2 Tim2.Ch3 Tim5.Ch3 Tim9.Ch1 ||General Purpose I/O
|-
|7||style="background:#EFEFEF; color:black"|AUXa4||I/O||PA3||ADC1+2+3.In3 Tim2.Ch4 Tim5.Ch4 Tim9.Ch2||General Purpose I/O
|}
 

'''AUX b'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''Type''!!width="10%"|''MCU Port''!!width="15%"|''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:Red; color:white"|+3.3V||PWR||-||-||3.3V Rail from autopilot
|-
|4||style="background:#EFEFEF; color:black"|AUXb1||I/O||PA6||ADC1+2.In6 Tim3.Ch1 Tim13.Ch1||General Purpose I/O
|-
|5||style="background:#EFEFEF; color:black"|AUXb2||I/O||PA7||ADC1+2+3.In7 Tim3.Ch2 Tim14.Ch1||General Purpose I/O
|-
|6||style="background:#EFEFEF; color:black"|AUXb3||I/O||PB0||ADC1+2.In8 Tim3.Ch3||General Purpose I/O
|-
|7||style="background:#EFEFEF; color:black"|AUXb4||I/O||PB1||ADC1+2.In9 Tim3.Ch4||General Purpose I/O
|}
 

'''USB'''
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:green; color:white"|USB+||I/O||PA12||USB bidirectional D+ line
|-
|3||style="background:white; color:black"|USB-||I/O||PA11||USB 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 Micro-B 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%"
!width="3%"|''Pin #''!!width="8%"|''Name''!!width="10%"|''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||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 17V
*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_v110_battery_pads_powering.png|600px|Tawaki v1.10 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
[[Image:Tawaki_v110_servo_b_vbat_source.png|500px|Tawaki v1.10 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 ====

[[Image:Tawaki_v110_servo_b_header_powering.png|500px|Tawaki v1.10 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 ====

[[Image:Tawaki_v110_Micro-B_USB_powering.png|1000px|Tawaki v1.10 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 ====

[[Image:Tawaki_v110_external_5V_powering.png|800px|Tawaki v1.10 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. 

[[Image:Tawaki_v110_USB_mode_DFU.png|600px|Tawaki v1.10 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.

[[Image:Tawaki_v110_USB_mode_storage.png|600px|Tawaki v1.10 USB Storage mode]] 

==== Full Speed USB mode ====

=== General 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 ===

=== Mechanical ===

==== Mechanical Dimensions ====

[[Image:Tawaki_v110_top_mechanical_dimensions.png|800px|Tawaki v1.10 top mechanical dimensions]]

==== CAD Files / 3D Model ====

[[Image:Tawaki_v100_step_file_logo.PNG|150px|link=Tawaki_v100_CAD.zip]][[Media:Tawaki_v100_CAD.zip|'' Download Tawaki v1.00 CAD File (zipped STEP file)'']] 

== Example of Airborne Equipment Electrical Connections ==

== Board production ==

=== Hardware Source Files ===
''Tawaki v1.10 hardware design (zipped Kicad 8 project) '':
[http://data.recherche.enac.fr/drones/Paparazzi/hardware/Tawaki_v110.zip Tawaki_v110.zip]

=== Components Layout ===

[[Image:Tawaki_v100_bottom_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/3/31/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_bottom_components_layout.pdf|Bottom components layout (pdf)]] 
[[Image:Tawaki_v100_top_components_layout.png|200px|link=https://wiki.paparazziuav.org/w/images/c/ca/Tawaki_v100_bottom_components_layout.png]][[Media:Tawaki_v100_top_components_layout.pdf|Top components layout (pdf)]]

== Programming ==

== Debugging ==

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

=== Debugging with BlackMagic probe ===

=== 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]]