Tawaki/v1.00
Hardware Revision History
Version # | Release Date | Release Notes |
---|---|---|
v1.00 | 07/2019 | Initial release of Tawaki |
Overview
Pictures
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
- 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
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 | - | - | Battery Rail (if solder bridge JP1 ON) |
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 |
R/C
Pin # | Name | Type | MCU Port | MCU Resource | Description |
---|---|---|---|---|---|
1 | GND | PWR | - | - | common ground |
2 | +5V | PWR | - | - | 5V Rail from autopilot |
3 | +3.3V | PWR | - | - | 3.3V Rail from autopilot |
4 | RC1 | IN | PE0 | UART8.Rx | (5V Tolerant) Serial (SBUS, Spektrum, etc.) |
5 | RC2 | IN | PC6 | UART6.Rx (Tx software swap) Tim3.Ch1 Tim8.Ch1 |
(5V Tolerant) Serial (SBUS, Spektrum, etc.) or PPM Stream RC receiver signal |
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 | ADC1+2+3.In0 Tim2.Ch1 Tim5.Ch1 UART4.Tx UART2.CTS |
General Purpose I/O |
5 | AUXa2 | I/O | PA1 | ADC1+2+3.In1 Tim2.Ch2 Tim5.Ch2 UART4.Rx UART2.RTS |
General Purpose I/O |
6 | AUXa3 | I/O | PA2 | ADC1+2+3.In2 Tim2.Ch3 Tim5.Ch3 Tim9.Ch1 |
General Purpose I/O |
7 | AUXa4 | I/O | PA6 | ADC1+2.In6 Tim3.Ch1 Tim13.Ch1 |
General Purpose I/O |
AUX b
Pin # | Name | Type | MCU Port | MCU Resource | Description |
---|---|---|---|---|---|
1 | GND | PWR | - | - | common ground |
2 | +5V | PWR | - | - | 5V Rail from autopilot |
3 | +3.3V | PWR | - | - | 3.3V Rail from autopilot |
4 | AUXb1 | I/O | PA3 | ADC1+2+3.In3 Tim2.Ch4 Tim5.Ch4 Tim9.Ch2 |
General Purpose I/O |
5 | AUXb2 | I/O | PA7 | ADC1+2+3.In7 Tim3.Ch2 Tim14.Ch1 |
General Purpose I/O |
6 | AUXb3 | I/O | PB0 | ADC1+2.In8 Tim3.Ch3 |
General Purpose I/O |
7 | AUXb4 | I/O | PB1 | ADC1+2.In9 Tim3.Ch4 |
General Purpose I/O |
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 | NRST | MCU Reset (active low) |
4 | SWCLK | IN | PA14 | Serial Wire Clock |
5 | SWDIO | I/O | PA13 | Serial Wire Data Input/Output |
Detailed Features
Power Supply
External source on GND & VBAT pads
External source on "Servos b" header
USB Micro-B Powering
External 5V source
USB Modes
General Pinout
Pins Name and Type are specified with respect to the Autopilot Board
Schematic
Mechanical Dimensions
Board production
Gerber & Drill for PCB
Bill Of Material
Components Layout
Pick-and-Place
Programming
Debugging
Debugging with STM Discovery ST-LINK/V2 embedded debug tool
Debugging with BlackMagic probe
Debugging with CricketProbe
Source code
Available in latest git master branch.
Where to Buy
Check availability on Get Hardware page