Difference between revisions of "Tawaki/v1.00"

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[[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>
'''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"|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
|}
<br>
'''UART2'''
'''UART2'''
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
Line 178: Line 211:
<br>
<br>


'''Servos a1 / a2 / a3 / a4'''
'''AUX a'''
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
{|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''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!width="10%"|''MCU Resource''!!''Description''
Line 184: Line 217:
|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:black"|+5V||PWR||-||-||5V Rail from autopilot
|2||style="background:Orange; color:black"|+5V Aux||PWR||(Controlled by) PC13||||5V from autopilot through Power Switch<br>(PC13 = LOW => OFF / PC13 = High => ON)
|-
|3||style="background:Red; color:white"|+3.3V||PWR||-||-||3.3V Rail from autopilot
|-
|4||AUXa1||I/O||PA0||||General Purpose I/O (LED '''5''', SPI '''SLAVE1''') / ADC1+2 in5 ('''ADC_1''') / DAC2 / TIM2 ch1
|-
|5||AUXa2||I/O||PA1||||General Purpose I/O (LED '''6''', SPI '''SLAVE2''') / ADC1+2+3 in3 ('''ADC_2''') / TIM2 ch4 / TIM5 ch4 / TIM9 ch2
|-
|6||AUXa3||I/O||PA2||||General Purpose I/O (LED '''7''', SPI '''SLAVE3''') / ADC1+2+3 in2 ('''ADC_3''') / TIM2 ch3 / TIM5 ch3 / TIM9 ch1
|-
|-
|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)
|7||AUXa4||I/O||PA6||||General Purpose I/O (LED '''8''', SPI '''SLAVE4''')  / ADC1+2+3 in0 ('''ADC_4''') / TIM2 ch1 ('''PWM_INPUT1''') / TIM5 ch1
|}
|}
<br>
<br>


'''Servos b'''
'''USB'''
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="50%"
{|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''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|-
|1||style="background:black; color:white"|GND||PWR||-||-||common ground
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|-
|2||style="background:orangered; color:black"|VBAT||PWR<sub>IN/OUT</sub>||-||-||
|2||style="background:green; color:white"|USB+||I/O||PA12||USB bidirectional D+ line
|-
|-
|3||style="background:cyan; color:black"|SRVb1||OUT||PB6||Tim4.Ch1||Servo signal (PWM)
|3||style="background:white; color:black"|USB-||I/O||PA11||USB bidirectional D- line
|-
|-
|4||style="background:cyan; color:black"|SRVb2||OUT||PB7||Tim4.Ch2||Servo signal (PWM)
|4||style="background:orange; color:black"|VBUS||IN||PA9||USB bus power (5V)
|-
|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||
|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.''
<br>
<br>


'''SWD'''
'''SWD'''

Revision as of 07:52, 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)

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 DShot Telemetry serial input


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.

AUX a

Pin # Name Type MCU Port MCU Resource Description
1 GND PWR - - common ground
2 +5V Aux PWR (Controlled by) PC13 5V from autopilot through Power Switch
(PC13 = LOW => OFF / PC13 = High => ON)
3 +3.3V PWR - - 3.3V Rail from autopilot
4 AUXa1 I/O PA0 General Purpose I/O (LED 5, SPI SLAVE1) / ADC1+2 in5 (ADC_1) / DAC2 / TIM2 ch1
5 AUXa2 I/O PA1 General Purpose I/O (LED 6, SPI SLAVE2) / ADC1+2+3 in3 (ADC_2) / TIM2 ch4 / TIM5 ch4 / TIM9 ch2
6 AUXa3 I/O PA2 General Purpose I/O (LED 7, SPI SLAVE3) / ADC1+2+3 in2 (ADC_3) / TIM2 ch3 / TIM5 ch3 / TIM9 ch1
7 AUXa4 I/O PA6 General Purpose I/O (LED 8, SPI SLAVE4) / ADC1+2+3 in0 (ADC_4) / TIM2 ch1 (PWM_INPUT1) / TIM5 ch1


USB

Pin # Name Type MCU Port Description
1 GND PWR - common ground
2 USB+ I/O PA12 USB bidirectional D+ line
3 USB- I/O PA11 USB bidirectional D- line
4 VBUS IN PA9 USB bus power (5V)
5 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

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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