Difference between revisions of "Tawaki/v1.00"
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<div style="float: right; width: 65%"> | <div style="float: right; width: 65%"> | ||
[[Image: | [[Image:Tawaki_v100_top_hand.JPG|400px|Tawaki v1.00 top side]]<br><br> | ||
[[Image: | [[Image:Tawaki_v100_top_bottom_1E.JPG|400px|Tawaki v1.00 1€ size comparison]] | ||
</div> | </div> | ||
__TOC__ | __TOC__ | ||
== Hardware Revision History == | == Hardware Revision History == | ||
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6" | {|border="1" cellspacing="0" style="text-align:center" cellpadding="6" | ||
!''Version #''!!''Release Date''!!''Release Notes'' | !''Version #''!!''Release Date''!!''Release Notes'' | ||
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|} | |} | ||
== | == 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 STM32F777 Micro Controller Unit | |||
**ARM Cortex-M7, 216 MHz CPU, FPU & DSP instructions, 2 Mbytes Flash, 512 Kbytes SRAM, General-purpose DMA,etc. | |||
*On-board Sensors | |||
**6 DOF Accelerometers & Gyrometers ICM20600 | |||
**3 DOF Magnetometer LIS3MDL | |||
**Baro-Altimeter 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 | |||
*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)'' | |||
*1x USB (Micro-B & remote) | |||
**DFU mode (download) or USB storage (direct access to MicroSD card) or FullSpeed Mode | |||
*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, including 4x Φ2mm mounting holes (fully Apogee compatible) | |||
** 4x Φ3mm extra mounting holes, 30 to 31mm spacing (30.5mm Racers ESC/GPS standard) | |||
=== | === Pinout === | ||
= | |||
''Pins Name and Type are specified with respect to the Autopilot Board'' | ''Pins Name and Type are specified with respect to the Autopilot Board'' | ||
=== Simplified Pinout Diagram (Paparazzi use) === | ==== Simplified Pinout Diagram (Paparazzi use) ==== | ||
[[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)]] | ||
=== Simplified Pinout Tables(Paparazzi use) === | ==== Simplified Pinout Tables(Paparazzi use) ==== | ||
<small> | <small> | ||
'''UART2''' | '''UART2''' | ||
Line 210: | Line 226: | ||
</small> | </small> | ||
== Detailed Features === | |||
== Schematic == | == Schematic == |
Revision as of 02:30, 4 July 2019
Hardware Revision History
Version # | Release Date | Release Notes |
---|---|---|
v1.00 | 07/2019 | Initial release of Tawaki |
Overview
Pictures
Key Features
- STMicro STM32F777 Micro Controller Unit
- ARM Cortex-M7, 216 MHz CPU, FPU & DSP instructions, 2 Mbytes Flash, 512 Kbytes SRAM, General-purpose DMA,etc.
- On-board Sensors
- 6 DOF Accelerometers & Gyrometers ICM20600
- 3 DOF Magnetometer LIS3MDL
- Baro-Altimeter 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
- 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)
- 1x USB (Micro-B & remote)
- DFU mode (download) or USB storage (direct access to MicroSD card) or FullSpeed Mode
- 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, including 4x Φ2mm mounting holes (fully Apogee compatible)
- 4x Φ3mm extra mounting holes, 30 to 31mm spacing (30.5mm Racers ESC/GPS standard)
Pinout
Pins Name and Type are specified with respect to the Autopilot Board
Simplified Pinout Diagram (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