Tawaki/v1.00

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

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
  • 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 slotted 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

Powering using battery/external source soldered on battery pads

Powering using battery/external source connected on "Servos b" header

Powering using USB Micro-B only ("Development Board" mode)

Powering using external 5V source

USB Modes

Flash (DFU) mode

In this configuration, BOOT pin is connected to VBUS pin (#4 & #5 "USB" header).
If USB cable is plugged and autopilot is not powered or USB cable plugged before autopilot is powered, board enter DFU mode and is ready to be flashed.

USB Storage mode

In this configuration, BOOT pin is connected to VBUS pin (#4 & #5 "USB" header).
If USB cable is plugged after autopilot is powered, autopilot task is stopped and board enters in USB storage mode to make SDcard content easily available by host as for an USB Pendrive. When unmounted and unplugged, autopilot task restart.

General Pinout

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

Mechanical

Mechanical Dimensions

CAD Files / 3D Model

Download Tawaki v1.00 CAD File (zipped STEP file)

Board production

Components Layout

Bottom components layout (pdf)
Top components layout (pdf)

Source code

Available in latest git master branch.

Where to Buy

Check availability on Get Hardware page