Tawaki/v1.10

Autopilots
400px|Tawaki v1.00 top side
400px|Tawaki v1.00 1€ size comparison
__TOC__
== Hardware Revision History ==
Version #	Release Date	Release Notes
v1.10 	03/2020 	AUXa4 = PA3
AUXb1 = PA6
USB Vbus resistor bridge added.
C43 value increased.
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 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 	SRVa1SRVa2SRVa3SRVa4	OUT 	PE9PE11PE13PE14	Tim1.Ch1Tim1.Ch2Tim1.Ch3Tim1.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 	RCaux	I/O 	PC6 	UART6.TxTim3.Ch1Tim8.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 	RX3 	IN 	PD9 	UART3 Serial Input (3.3V level)
5 	TX3 	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 	RX7 	IN 	PB3 	UART7 Serial Input (3.3V level)
5 	TX7 	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.In0Tim2.Ch1Tim5.Ch1UART4.TxUART2.CTS	General Purpose I/O
5 	AUXa2 	I/O 	PA1 	ADC1+2+3.In1Tim2.Ch2Tim5.Ch2UART4.RxUART2.RTS	General Purpose I/O
6 	AUXa3 	I/O 	PA2 	ADC1+2+3.In2Tim2.Ch3Tim5.Ch3Tim9.Ch1 	General Purpose I/O
7 	AUXa4 	I/O 	PA3 	ADC1+2+3.In3Tim2.Ch4Tim5.Ch4Tim9.Ch2 	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 	PA6 	ADC1+2.In6Tim3.Ch1Tim13.Ch1 	General Purpose I/O
5 	AUXb2	I/O 	PA7 	ADC1+2+3.In7Tim3.Ch2Tim14.Ch1	General Purpose I/O
6 	AUXb3	I/O 	PB0 	ADC1+2.In8Tim3.Ch3 	General Purpose I/O
7 	AUXb4	I/O 	PB1 	ADC1+2.In9Tim3.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 ===
There are several ways to power the Tawaki board. CAUTION! use only one of these sources at a time:
*with a battery or any power source that delivers between 6 and 17V 
*by connecting it to a USB port
*with a power source that delivers a regulated, stable 5V
Each of these methods is detailed below.
==== Powering using battery/external source soldered onto battery pads ====
This is the basic setup: the Tawaki then generates all the internal power sources needed by its components. Additionally, the board provides +5V and +3.3V power sources through dedicated ports for external payload.
Limitations:
*input power source range: 6-17V (2-4 Lipo cells)
*maximum current usable by both Tawaki and payload on the +5V: I(5V)<4A
*maximum current usable for payload on the +3.3V: I(3.3V)<3A
*maximum total current usable: 4A
With this setup, the external power source is available on the “VBAT” pin of the “Servos B” header - but only if solder bridge JP1 is jumped (turned ON) with a small blob of solder.
Limitation:
*maximum current used on the “VBAT” pin must be less than 1A (because of the header’s specifications)
==== Powering using battery/external source connected on "Servos B" header ====
With this setup, the “GND”(-) and “VBAT”(+) pins of the “Servos B” header are used as the main entry ports for the external power source - but only if solder bridge JP1 is jumped (turned ON) with a small blob of solder. This can be interesting when the ESC already delivers the external power source voltage through its command and control signals (as is frequently the case on multi-rotors).
Limitations: 
*input power source range: 6-17V (2-4 Lipo cells)
*maximum total current usable: 1A (because of the header’s specifications)
==== Powering using USB Micro-B only ====
It is possible to power the Tawaki with only a host computer, through the USB Micro-B port. This setup allows to power the board and all its components, while at the same time flashing it.
In this case, the "VBUS" pin of the "USB" header must be connected to the "+5V" pin of any header that is equipped with one - with the exception of the "5Vaux" pin of the "AUX a" header.
Limitation:
*the host computer must be capable of providing the current needed for: powering the board, and any potential external payload. With a maximum limit of 1A (because of the header’s specifications)
Note: with this setup, the voltage of the external power source (VBAT) obviously cannot be measured by the micro-controller (MCU).
==== Powering using external 5V source ====
In some cases the external power source is out of range and cannot be used, but an external 5V power source is available (for example provided by the ESC). In this case, the external 5V power source must be connected to the "+5V" and "GND" pins of any header that are equipped with them - with the exception of the "5Vaux" pin of the "AUX a" header.
Limitations:
*voltage range: 4-6V
*the external 5V power source must be capable of providing the current needed for: powering the board, and any potential external payload. With a maximum limit of 1A (because of the headers' specifications)
* the "VBUS" pin of the "USB" header must not be connected to the "+5V" pin of any header
Note: with this setup, the voltage of the external power source (VBAT) obviously cannot be measured by the micro-controller (MCU).
=== 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.
==== Full Speed USB mode ====
=== General Pinout ===
Pins Name and Type are specified with respect to the Autopilot Board
=== Schematic ===
=== Mechanical ===
==== Mechanical Dimensions ====
==== CAD Files / 3D Model ====
150px|link=Tawaki_v100_CAD.zip Download Tawaki v1.00 CAD File (zipped STEP file)
== Example of Airborne Equipment Electrical Connections ==
== Board production ==
=== Hardware Source Files ===
Tawaki v1.10 hardware design (zipped Kicad 8 project) : 
Tawaki_v110.zip
=== Components Layout ===
== 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
Category:Autopilots