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

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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

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

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	-	MCU Reset (active low)
4	SWCLK	IN	PA14	Serial Wire Clock
5	SWDIO	I/O	PA13	Serial Wire Data Input/Output

Source code

Available in latest git master branch.

Where to Buy

Check availability on Get Hardware page