Difference between revisions of "Tawaki/v1.00"

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=== Key Features ===
=== Key Features ===
*STMicro STM32F777 Micro Controller Unit
*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,etc.
**ARM Cortex-M7, 216 MHz CPU, FPU & DSP instructions, 2 Mbytes Flash, 512 Kbytes SRAM, General-purpose DMA, HW Crypto,etc.
*On-board Sensors
*On-board Sensors
**6 DOF Accelerometers & Gyrometers ICM20600
**6 DOF Accelerometers & Gyrometers TDK-Invensense [https://www.invensense.com/products/motion-tracking/6-axis/icm-20600/ ICM-20600]
**3 DOF Magnetometer LIS3MDL
**3 DOF Magnetometer STMicro [https://www.st.com/en/microcontrollers-microprocessors/stm32f777vi.html LIS3MDL]
**Baro-Altimeter BMP388
**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
*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)
*2x RC Receiver Inputs (S.BUS, PPM & Spektrum Satellite compatible, including receiver binding)
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**1x SPI bus (with Slave Select, Master or Slave)
**1x SPI bus (with Slave Select, Master or Slave)
**1x CAN bus
**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.)
*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)''
*MicroSD card (+ dedicated power supply for emergency files closing system)
*1x USB (Micro-B & remote)
**DFU mode (download) or USB storage (direct access to MicroSD card) or FullSpeed Mode
*Debug Connector (Serial Wire Debug)
*Debug Connector (Serial Wire Debug)
*Power
*Power
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*Connectors fully compatible with Apogee autopilot
*Connectors fully compatible with Apogee autopilot
*Mechanical
*Mechanical
** 53 x 25mm, including 4x Φ2mm mounting holes (fully Apogee compatible)
** 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 holes, 30 to 31mm spacing (30.5mm Racers ESC/GPS standard)
** 4x Φ3mm extra mounting holes, 30 to 31mm spacing (30.5mm standard from Racers ESC, GPS modules, etc. )
** 11g (0.4 oz) (including Micro-SD card)


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


==== Simplified Pinout Diagram (Paparazzi use) ====
==== Simplified Pinout Diagram (Paparazzi use) ====
''Pins Name and Type are specified with respect to the Autopilot Board''<br>
[[Image:Tawaki_v100_simplified_pinout.png|1200px|Tawaki v1.00 simplified pinout (Paparazzi use)]]
[[Image:Tawaki_v100_simplified_pinout.png|1200px|Tawaki v1.00 simplified pinout (Paparazzi use)]]


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</small>
</small>


== Detailed Features ===
== Detailed Features ==


== Schematic ==
== Schematic ==

Revision as of 06:26, 4 July 2019

Autopilots
Booz
HB Autopilots
Lisa
Tiny
YAPA Autopilots
Ap.parrot minidrone
Apogee/v1.00
HITL
Autopilots
Bebop
Booz
Chimera/v1.00
Classix
CrazybeeF4Pro
Disco
Elle
Elle0
Future Autopilots
Krooz
KroozSD
LinAM V4
Lisa
Lisa/Bone
Lisa/L
Lisa/M
Lisa/M v1.0
Lisa/M v2.0
Lisa/MX
Lisa/S
NavGo v3
NavStik
Pixhawk
Pixracer
Previous Autopilots
STM32F4 Discovery
STM32F429I Discovery
Tawaki/v1.00
Tawaki/v1.10
Tawaki/v2.01
TWOG/v1.0
Umarim Lite v2
Umarim v1.0
Xvert

Tawaki v1.00 top side

Tawaki v1.00 1€ size comparison

Hardware Revision History

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

Overview

Pictures

  • 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

Key Features

  • STMicro STM32F777VI Micro Controller Unit
    • ARM Cortex-M7, 216 MHz CPU, FPU & DSP instructions, 2 Mbytes Flash, 512 Kbytes SRAM, General-purpose DMA, HW Crypto,etc.
  • On-board Sensors
    • 6 DOF Accelerometers & Gyrometers TDK-Invensense ICM-20600
    • 3 DOF Magnetometer STMicro LIS3MDL
    • Baro-Altimeter Bosch BMP388
  • 8x Servos or ESC outputs (PWM/OneShot/DShot) + D-Shot Telemetry serial input
  • 2x RC Receiver Inputs (S.BUS, PPM & Spektrum Satellite compatible, including receiver binding)
  • Communication Buses
    • 3x UARTs (including one with hardware flow control signals)
    • 1x I2C bus (3.3V and 5V logic level)
    • 1x SPI bus (with Slave Select, Master or Slave)
    • 1x CAN bus
    • 1x USB (Micro-B & remote) : DFU mode (download) or USB storage (direct access to MicroSD card) or FullSpeed Mode
  • 8x Auxiliary Inputs/Outputs spread over 2 connectors (8x ADC, 8x Timers different from servos, x1 UART, etc.)
  • MicroSD card (+ dedicated power supply for emergency files closing system)
  • Debug Connector (Serial Wire Debug)
  • Power
    • source 2 to 4 Lipo cells (6 to 17v)
    • 5V/4A (max total for Tawaki + Servos + Payload)
    • 3.3V/3A Low Noise (max total for payload)
    • Controlled PowerSwitch 5V/2A supply on AUX A connector
  • x4 Status Leds
  • Connectors fully compatible with Apogee autopilot
  • Mechanical
    • 53 x 25mm (2.1" x 0.98"), including 4x Φ2mm mounting holes (shares the same external dimensions and mounting points as Apogee)
    • 4x Φ3mm extra mounting holes, 30 to 31mm spacing (30.5mm standard from Racers ESC, GPS modules, etc. )
    • 11g (0.4 oz) (including Micro-SD card)

Pinout

Simplified Pinout Diagram (Paparazzi use)

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

Tawaki v1.00 simplified pinout (Paparazzi use)

Simplified Pinout Tables(Paparazzi use)

UART2

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


UART3

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


UART7

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


I2C2 (3V3)

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


I2C2 (5V)

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


SPI2

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


CAN

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

Note: Embedded 120Ω terminator resistor.

Servos a1 / a2 / a3 / a4

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


Servos b

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


SWD

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


Detailed Features

Schematic

Board production

Gerber & Drill for PCB

Bill Of Material

Components Layout

Pick-and-Place

Mechanical Dimensions

Programming

Debugging

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

Debugging with CricketProbe

Source code

Available in latest git master branch.

Where to Buy

Check availability on Get Hardware page

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