Difference between revisions of "Tawaki/v1.00"

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Line 55: Line 55:
|1||style="background:black; color:white"|GND||PWR||-||common ground
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|-
|2||style="background:Orange; color:white"|+5V||PWR||-||5V Rail from autopilot
|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
|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)
|4||style="background:green; color:white"|RX2||IN||PD6||UART2 Serial Input (3.3V level)
Line 71: Line 71:
|1||style="background:black; color:white"|GND||PWR||-||common ground
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|-
|2||style="background:Orange; color:white"|+5V||PWR||-||5V Rail from autopilot
|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
|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)
|4||style="background:green; color:white"|RX2||IN||PD9||UART3 Serial Input (3.3V level)
Line 87: Line 87:
|1||style="background:black; color:white"|GND||PWR||-||common ground
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|-
|2||style="background:Orange; color:white"|+5V||PWR||-||5V Rail from autopilot
|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
|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)
|4||style="background:green; color:white"|RX2||IN||PB3||UART7 Serial Input (3.3V level)
Line 103: Line 103:
|1||style="background:black; color:white"|GND||PWR||-||common ground
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|-
|2||style="background:Orange; color:white"|+5V||PWR||-||5V Rail from autopilot
|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
|3||style="background:red; color:black"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|-
|4||style="background:sienna; color:white"|SDA2||Open Drain<br>I/O||PB11||I2C2 bus Serial DAta ('''3.3V level''', 2.2k pull-up)
|4||style="background:sienna; color:white"|SDA2<sub> 3.3V</sub>||Open Drain<br>I/O||PB11||I2C2 bus Serial DAta ('''3.3V level''', 2.2k&Omega; pull-up)
|-
|-
|5||style="background:blue; color:white"|SCL2||Open Drain<br>I/O||PB10||I2C12 bus Serial CLock ('''3.3V level''', 2.2k pull-up)
|5||style="background:blue; color:white"|SCL2<sub> 3.3V</sub>||Open Drain<br>I/O||PB10||I2C12 bus Serial CLock ('''3.3V level''', 2.2k&Omega; pull-up)
|}
|}
<br>
<br>
Line 119: Line 119:
|1||style="background:black; color:white"|GND||PWR||-||common ground
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|-
|2||style="background:Orange; color:white"|+5V||PWR||-||5V Rail from autopilot
|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
|3||style="background:red; color:black"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|-
|4||style="background:sienna; color:white"|SDA2||Open Drain<br>I/O||PB11||I2C2 bus Serial DAta ('''5V level''', 2.2k pull-up)
|4||style="background:sienna; color:white"|SDA2<sub> 5V</sub>||Open Drain<br>I/O||PB11||I2C2 bus Serial DAta ('''5V level''', 2.2k&Omega; pull-up)
|-
|-
|5||style="background:blue; color:white"|SCL2||Open Drain<br>I/O||PB10||I2C12 bus Serial CLock ('''5V level''', 2.2k pull-up)
|5||style="background:blue; color:white"|SCL2<sub> 5V</sub>||Open Drain<br>I/O||PB10||I2C12 bus Serial CLock ('''5V level''', 2.2k&Omega; pull-up)
|}
|}
<br>
<br>


'''SPI2'''
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:Orange; color:black"|+5V||PWR||-||5V Rail from autopilot
|-
|3||style="background:red; color:black"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|4||style="background:sienna; color:white"|NSS2||OUT||PB12||Slave Select. Selects the SPI slave
|-
|5||style="background:Grey; color:white"|MOSI2||I/O||PB15||SPI2 Master Out Slave In. Data output from master / data input to slave
|-
|6||style="background:Green; color:white"|MISO2||I/O||PB14||SPI2 Master In Slave Out. Data input to master / data output from slave
|-
|7||style="background:Yellow; color:black"|SCK2||I/O||PD3||SPI2 Serial clock. Clock output from master or input to slave
|}
<br>
'''CAN'''
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:Green; color:white"|CANL||I/O||-||CAN bidirectional - line
|-
|2||style="background:Yellow; color:black"|CANH||I/O||-||CAN bidirectional + line
|}
''Note: Embedded 120&Omega; terminator resistor.''<br>
<br>


'''Servos a1 / a2 / a3 / a4'''
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!width="10%"|''MCU Resource''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||-||common ground
|-
|2||style="background:orange; color:black"|+5V||PWR||-||-||5V Rail from autopilot
|-
|3||style="background:cyan; color:black"|SRVa1<br>SRVa2<br>SRVa3<br>SRVa4||OUT||PE9<br>PE11<br>PE13<br>PE14||Tim1.Ch1<br>Tim1.Ch2<br>Tim1.Ch3<br>Tim1.Ch4||Servo signal (PWM)
|}
<br>
'''Servos b'''
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!width="10%"|''MCU Resource''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||-||common ground
|-
|2||style="background:orangered; color:black"|VBAT||PWR<sub>IN/OUT</sub>||-||-||
|-
|3||style="background:cyan; color:black"|SRVb1||OUT||PB6||Tim4.Ch1||Servo signal (PWM)
|-
|4||style="background:cyan; color:black"|SRVb2||OUT||PB7||Tim4.Ch2||Servo signal (PWM)
|-
|5||style="background:cyan; color:black"|SRVb2||OUT||PB8||Tim4.Ch3||Servo signal (PWM)
|-
|6||style="background:cyan; color:black"|SRVb2||OUT||PB9||Tim4.Ch4||Servo signal (PWM)
|-
|7||style="background:green; color:black"|DSHTin||IN||PB5||UART5.Rx||
|}
<br>
'''SWD'''
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:red; color:black"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|3||style="background:white; color:black"|nRST||IN||-||MCU Reset (active low)
|-
|4||style="background:blue; color:white"|SWCLK||IN||PA14||Serial Wire Clock
|-
|5||style="background:sienna; color:white"|SWDIO||I/O||PA13||Serial Wire Data Input/Output
|}
<br>


</small>
</small>

Revision as of 09:34, 2 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 top side

Overview

Hardware Revision History

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

Pictures

Detailed Features

MicroSD card (SDIO)

On-board Sensors

USB Modes

SWD: Serial Wire Debug

R/C Serial

Power

Communication Buses

LEDs

  • 4x Leds classical Paparazzi state display

Pinout

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

Simplified Pinout Diagram (Paparazzi use)

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 SRVb2 OUT PB8 Tim4.Ch3 Servo signal (PWM)
6 SRVb2 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


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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