+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Off
- Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import br.ufrgs.ece.AIC.*;
-
-class AICOff
-{
- static final int BASE=0x800000;
- static AIC aic;
-
- public static void main(String[] args)
- {
- System.out.println("AIC Off");
- System.out.println("Copyright (C) Walter Fetter Lages, 2003.\n");
-
- aic=new AIC(BASE,24.0,20e3,2000);
- aic.off();
- }
-}
+++ /dev/null
-all: AICOff.tini
-
-AICOff.class: AICOff.java ../lib/AIC.jar
- javac ${JAVAFLAGS} ${CLASSPATH} AICOff.java
-
-AICOff.tini: AICOff.class ../lib/AIC.jar
- java ${CLASSPATH} TINIConvertor -f AICOff.class ${APIDBPATH} ${NATLIB} -o AICOff.tini ${LIBPATH}
-
-clean:
- rm -f *.bak *~ *.class
-
-distclean: clean
- rm -f AICOff.tini
-
-upload: AICOff.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Brake Real Time Test
- User Interface Module
- Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import com.dalsemi.system.*;
-
-public class BrakeRtTest
-{
- public static native int startRealtime(int period);
- public static native void stopRealtime();
-
- public static void main(String[] args)
- {
- System.out.println("BrakeRtTest");
- System.out.println("Copyright (C) Walter Fetter Lages, 2005.\n");
-
- int tfms=0;
- if(args.length==1)
- {
- tfms=Integer.parseInt(args[0]);
- }
- else
- {
- System.out.println("Usage:\tBrakeRtTest ms");
- System.exit(1);
- }
-
- System.out.print("Loading native library...");
- System.loadLibrary("braketest.tlib");
- System.out.println("done.");
-
- int us=10000;
- System.out.print("Starting real-time timer with "+us+" us period...");
- int period=startRealtime(us);
- System.out.println("done.");
- System.out.println("Effective period: "+period+" us.");
-
- System.out.println("Running BrakeRtTest for "+tfms+" ms...");
- long t0=TINIOS.uptimeMillis();
- long t=0;
- while(t <= tfms)
- {
- t=TINIOS.uptimeMillis()-t0;
- System.out.print("t="+t+"ms ");
- }
- System.out.println("...done.");
-
- System.out.print("Stoping real-time timer...");
- stopRealtime();
- System.out.println("done.");
- }
-}
+++ /dev/null
-all: BrakeRtTest.tini
-
-BrakeRtTest.class: BrakeRtTest.java
- ${JAVAC} ${CLASSPATH} ${JAVAFLAGS} BrakeRtTest.java
-
-braketest.mpp: braketest.a51
- ${ASMMACRO} -I${ASMINC} -e- braketest.a51
-
-braketest.tlib: braketest.mpp ../lib/aicio.mpp.lib
- cat braketest.mpp ${TRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib > tmp.mpp
- echo end >> tmp.mpp
- ${ASM} ${ASMOPT} tmp.mpp
- mv tmp.tlib braketest.tlib
- mv tmp.lst braketest.lst
-
-braketest.a51: braketest.c
- ${SDCC} ${SDCCCMPFLAGS} braketest.c
-
-BrakeRtTest.tini: BrakeRtTest.class braketest.tlib
- java ${CLASSPATH} TINIConvertor -n braketest.tlib -f BrakeRtTest.class ${APIDBPATH} -o BrakeRtTest.tini
-
-
-clean:
- rm -f *.bak *~ BrakeRtTest.class braketest.tlib braketest.mpp braketest.lst braketest.a51 globals.mpp tmp.mpp tmp.lst
-
-distclean: clean
- rm -f BrakeRtTest.tini
-
-upload: BrakeRtTest.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Brake Real Time Test
- Real Time Module
- Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#include <rtai_sched.h>
-#include <pthread.h>
-
-#include <aicio.h>
-
-#define BASE 0x800000
-
-extern volatile pthread_t th;
-
-void braketest_globals(void) _naked
-{
- _asm
-th: db 0,0,0,0
-braketest_time_1_1: db 0,0,0,0
- _endasm;
-}
-
-
-void *braketest(void *arg)
-{
- static int time=0;
-
- if(time) brake_apply(); else brake_release();
- time=~time;
-
- return NULL;
-}
-
-
-/* public static native int startRealtime(int period) */
-long Native_startRealtime(void) _JavaNative
-{
- volatile long period=NatLib_LoadInt(0);
- start_rt_timer(micro2count(period));
- pthread_create(&th,NULL,braketest,NULL);
-
- brake_initialize(BASE);
-
- _asm
- clr a
- _endasm;
-
- return period;
-}
-
-/* public static native void stopRealtime() */
-void Native_stopRealtime(void) _JavaNative
-{
- pthread_cancel(th);
- stop_rt_timer();
-
- _asm
- clr a
- _endasm;
-}
-
+++ /dev/null
-;******************************************************************************
-;
-; Actuator Interface Card
-; Brake Real Time Test
-; Real Time Module Global Variables
-; Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-;
-; This program is free software; you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation; either version 2 of the License, or
-; (at your option) any later version.
-;
-; This program is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with this program; if not, write to the Free Software
-; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-;
-; You can also obtain a copy of the GNU General Public License
-; at <http://www.gnu.org/licenses>.
-;
-;*******************************************************************************/
-
-
-braketest_time_1_1: db 0,0,0,0
-th: db 0,0,0,0
- end
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Brake Apply
- Copyright (C) 2004 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import br.ufrgs.ece.AIC.*;
-
-class BrakeApply
-{
- static final int BASE=0x800000;
-
- static AIC aic;
-
- public static void main(String[] args)
- {
- System.out.println("AIC Brake Apply");
- System.out.println("Copyright (C) Walter Fetter Lages, 2004.\n");
-
- aic=new AIC(BASE,24.0,20e3,2000);
-
- aic.brake.apply();
- }
-}
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Brake Release
- Copyright (C) 2004 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import br.ufrgs.ece.AIC.*;
-
-class BrakeRelease
-{
- static final int BASE=0x800000;
-
- static AIC aic;
-
- public static void main(String[] args)
- {
- System.out.println("AIC Brake Release");
- System.out.println("Copyright (C) Walter Fetter Lages, 2004.\n");
-
- aic=new AIC(BASE,24.0,20e3,2000);
-
- aic.brake.release();
- }
-}
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Brake Test
- Copyright (C) 2002...2004 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import br.ufrgs.ece.AIC.*;
-import com.dalsemi.system.*;
-import java.lang.Math.*;
-
-class BrakeTest
-{
- static final int BASE=0x800000;
- static final int ST=1000;
-
- static AIC aic;
-
- private static void delay(int ms)
- {
- long time=TINIOS.uptimeMillis();
- while(TINIOS.uptimeMillis() < time+ms);
- }
-
- public static void main(String[] args)
- {
- int i;
- boolean run=true;
-
- System.out.println("AIC Brake Test Program");
- System.out.println("Copyright (C) Walter Fetter Lages, 2002...2004.\n");
-
- aic=new AIC(BASE,24.0,20e3,2000);
- aic.on();
-
- while(run)
- {
- aic.brake.release();
- System.out.println("Brake released");
- delay(ST);
- aic.brake.apply();
- System.out.println("Brake applied");
- delay(ST);
- }
- aic.off();
- }
-}
+++ /dev/null
-all: BrakeTest.tini BrakeApply.tini BrakeRelease.tini
-
-BrakeTest.class: BrakeTest.java ../lib/AIC.jar
- javac ${JAVAFLAGS} ${CLASSPATH} BrakeTest.java
-
-BrakeTest.tini: BrakeTest.class ../lib/AIC.jar
- java ${CLASSPATH} TINIConvertor -f BrakeTest.class ${APIDBPATH} ${NATLIB} -o BrakeTest.tini ${LIBPATH}
-
-BrakeApply.class: BrakeApply.java ../lib/AIC.jar
- javac ${JAVAFLAGS} ${CLASSPATH} BrakeApply.java
-
-BrakeApply.tini: BrakeApply.class ../lib/AIC.jar
- java ${CLASSPATH} TINIConvertor -f BrakeApply.class ${APIDBPATH} ${NATLIB} -o BrakeApply.tini ${LIBPATH}
-
-BrakeRelease.class: BrakeRelease.java ../lib/AIC.jar
- javac ${JAVAFLAGS} ${CLASSPATH} BrakeRelease.java
-
-BrakeRelease.tini: BrakeRelease.class ../lib/AIC.jar
- java ${CLASSPATH} TINIConvertor -f BrakeRelease.class ${APIDBPATH} ${NATLIB} -o BrakeRelease.tini ${LIBPATH}
-
-clean:
- rm -f *.bak *~ BrakeTest.class BrakeApply.class BrakeRelease.class
-
-distclean: clean
- rm -f BrakeTest.tini BrakeApply.tini BrakeRelease.tini
-
-upload: BrakeTest.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- CAN Receive Test
- Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import com.dalsemi.comm.*;
-import com.dalsemi.system.*;
-
-public class CANRx
-{
- /* 125Kbit/s with crystal of 18.432MHz */
- static final int CAN_DIVISOR = 7;
- static final int CAN_TSEG1 = 13;
- static final int CAN_TSEG2 = 7;
- static final int CAN_SJW = 1;
- static final byte CANBUSNUM = CanBus.CANBUS0;
-// static final byte CANBUSNUM = CanBus.CANBUS1;
-
- static void dumpFrame(CanFrame frame)
- {
- System.out.println("ID: "+Integer.toHexString(frame.ID));
- if (frame.extendedID)
- System.out.println("Extended ID");
- else
- System.out.println("Standard ID");
- if (frame.remoteFrameRequest)
- System.out.println("Remote Frame");
- else
- System.out.println("Data Frame");
- System.out.println("Length: "+frame.length);
- for (int i = 0;i < frame.length;i++)
- System.out.print(Integer.toHexString(frame.data[i] & 0xFF)+" ");
- System.out.println();
- }
-
- static final boolean dopassive = false;
-
- static void main(String args[])
- {
- try
- {
- System.out.println("CAN Receive Test");
-
- final int DUMPCOUNT = 1;
- long start,stop;
-
- CanBus a = new CanBus(CANBUSNUM);
- a.setBaudRatePrescaler(CAN_DIVISOR);
- a.setTSEG1(CAN_TSEG1);
- a.setTSEG2(CAN_TSEG2);
- a.setSynchronizationJumpWidth(CAN_SJW);
-
-// a.setReceiveQueueLimit(1);
-// a.setTransmitQueueLimit(1);
- System.out.println("Frames available to read: "+a.receiveFramesAvailable());
-
- // Now, we tell the CAN Controller to jump on the bus.
- if (dopassive)
- {
- System.out.println("Enabling passive receive");
- a.enableControllerPassive();
- }
- else
- {
- System.out.println("Enabling regular receive");
- a.enableController();
- }
-
- // Set message center one to receive
- a.setMessageCenterRXMode(1);
- // Set message center one to not use mask filtering
- a.setMessageCenterMessageIDMaskEnable(1,false);
- // Set message center one to match this 11 bit id
- a.set11BitMessageCenterArbitrationID(1,0x69);
- // Set message center one to allow reception of messages.
- a.enableMessageCenter(1);
-
- // Create the frame for recieve() to fill
- CanFrame frame = new CanFrame();
-
- for(int count=0;count <= 100;count++)
- {
- System.out.println("count=" +count);
-
- // Block waiting on a frame reception.
- a.receive(frame);
-
- for (int i = 0;i < frame.length;i++)
- System.out.print(Integer.toHexString(frame.data[i] & 0xFF)+" ");
- System.out.println();
-// dumpFrame(frame);
-
- }
- a.close();
-
- System.out.println("Normal Exit");
- }
- catch (Throwable e)
- {
- System.out.println("Exception");
- System.out.println(e);
- }
- }
-}
+++ /dev/null
-bin
-put CANRx.tini
-quit
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- CAN Transmit Test
- Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import com.dalsemi.comm.*;
-import com.dalsemi.system.*;
-
-public class CANTx
-{
- /* 125Kbit/s with crystal of 18.432MHz */
- static final int CAN_DIVISOR = 7;
- static final int CAN_TSEG1 = 13;
- static final int CAN_TSEG2 = 7;
- static final int CAN_SJW = 1;
- static final byte CANBUSNUM = CanBus.CANBUS0;
-// static final byte CANBUSNUM = CanBus.CANBUS1;
-
- static void main(String args[])
- {
- try
- {
- System.out.println("CAN Transmit Test");
-
- CanBus a = new CanBus(CANBUSNUM);
- a.setBaudRatePrescaler(CAN_DIVISOR);
- a.setTSEG1(CAN_TSEG1);
- a.setTSEG2(CAN_TSEG2);
- a.setSynchronizationJumpWidth(CAN_SJW);
-
- // Now, we tell the CAN Controller to jump on the bus.
- a.enableController();
-
- // Set message center one to transmit. This allows any outgoing messages
- // to use this register.
- a.setMessageCenterTXMode(1);
-
- byte[] temp = new byte[8];
-
- temp[0] = (byte)0xAA;
- temp[1] = 0x55;
-
- for(int count=0;count <= 100;count++)
- {
- System.out.println("Count=" + count);
- temp[2] = (byte)count;
- temp[3] = (byte)(count >> 8);
-
- // Send a frame using standard (11 bit) ID, block until frame is ACKed
- a.sendDataFrame(0x69, false, temp);
- Thread.sleep(300);
-
- }
- a.close();
-
- System.out.println("Normal Exit");
- }
- catch (Throwable e)
- {
- System.out.println("Exception");
- System.out.println(e);
- }
- }
-}
+++ /dev/null
-bin
-put CANTx.tini
-quit
+++ /dev/null
-all: CANRx.tini CANTx.tini
-
-CANRx.class: CANRx.java
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} CANRx.java
-
-CANRx.tini: CANRx.class
- java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f CANRx.class ${APIDBPATH} -o CANRx.tini ${LIBPATH}
-
-CANTx.class: CANTx.java
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} CANTx.java
-
-CANTx.tini: CANTx.class
- java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f CANTx.class ${APIDBPATH} -o CANTx.tini ${LIBPATH}
-
-clean:
- rm -f *.bak *~ CANRx.class CANTx.class
-
-distclean: clean
- rm -f CANRx.tini CANTx.tini
-
-upload: CANRx.tini CANTx.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
+++ /dev/null
-bin
-put CANRx.tini
-put CANTx.tini
-quit
+2006.06.11 Inicio do projeto aic-2.0.0
+
2008.02.15 Incluido destrutor virtual na classe AIC_COMM.
Alterada a implementacao da serializacao de valores double
Criada a versao 1.6.1
+
2006.02.24 Incluidos os esquematicos e o layout do PCB no arquivo de
documentacao em pdf.
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Command Daemon
- Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import br.ufrgs.ece.AIC.*;
-import com.dalsemi.comm.*;
-import com.dalsemi.system.*;
-import java.io.*;
-import java.lang.*;
-
-class CmdDaemon extends Thread
-{
- static final int BASE=0x800000;
-
- static AIC aic;
- static Host host;
- static boolean debug=false;
- static boolean udp=false;
- static boolean help=false;
-
- public static void main(String[] args) throws IOException,CanBusException
- {
- int i;
- int hostarg=0;
-
- System.out.println("AIC Command Daemon");
- System.out.println("Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>.\n");
-
- switch(args.length)
- {
- case 0:
- {
- help=true;
- break;
- }
- case 1:
- {
- if(args[0].equals("-debug") ||
- args[0].equals("-UDP")) help=true;
- break;
- }
- case 2:
- {
- hostarg=1;
- if(args[0].equals("-debug")) debug=true;
- else help=true;
- break;
- }
- case 3:
- {
- hostarg=1;
- if(args[0].equals("-UDP")) udp=true;
- else help=true;
- break;
- }
- case 4:
- {
- hostarg=2;
- if(args[0].equals("-debug")) debug=true;
- else help=true;
- if(args[1].equals("-UDP")) udp=true;
- else help=true;
- break;
- }
- default:
- {
- help=true;
- }
- }
-
-
- if(help)
- {
- System.out.println("Usage:\tjava CmdDaemon.tini [-debug] aic_id");
- System.out.println("\tor");
- System.out.println("\tjava CmdDaemon.tini [-debug] -UDP controller_host status_port");
- System.exit(1);
- }
- try
- {
- aic=new AIC(BASE,24.0,20e3,2000);
- if(udp) host=new HostUDP(args[hostarg],Integer.parseInt(args[hostarg+1]));
- else host=new HostCAN(Integer.parseInt(args[hostarg]));
-
- GetCommand getCommand=new GetCommand();
- getCommand.setPriority(Thread.MAX_PRIORITY);
- getCommand.start();
-
- if(debug) System.out.println("getCommand priority="+getCommand.getPriority());
- }
- catch (NumberFormatException nfe)
- {
- System.out.println("Usage: java CmdDaemon.tini [-debug] [-UDP controller_host port] | aicid");
- System.exit(1);
- }
- }
-}
-
-
-class GetCommand extends CmdDaemon
-{
- public void run()
- {
- try
- {
- aic.on();
- aic.brake.release();
-
- for(int k=0;;k++)
- {
- if(debug) System.out.print("k="+k+"\t");
-
- int cmd=host.command();
-
- if(debug) System.out.print("Command="+ cmd +"\t");
-
- switch(cmd)
- {
- case Host.MOTOR_ON:
- {
- if(debug) System.out.print("Motor on\t");
- aic.motor.on();
- break;
- }
- case Host.MOTOR_OFF:
- {
- if(debug) System.out.print("Motor off\t");
- aic.motor.off();
- break;
- }
- case Host.MOTOR_ACT:
- {
- if(debug) System.out.print("Voltage="+host.voltage()+"\t");
- aic.motor.set(host.voltage());
- break;
- }
- case Host.BRAKE_RELEASE:
- {
- if(debug) System.out.print("Brake release\t");
- aic.brake.release();
- break;
- }
- case Host.BRAKE_APPLY:
- {
- if(debug) System.out.print("Brake apply\t");
- aic.brake.apply();
- break;
- }
-/* case Host.RESET:
- {
- if(debug) System.out.print("Reset\t");
- aic.reset();
- break;
- }
-*/
- default:
- {
- if(debug) System.out.print("Invalid\t");
- break;
- }
-
- }
- if(debug) System.out.println("");
- }
- }
- catch (Exception all)
- {
- all.printStackTrace();
- }
- }
-}
+++ /dev/null
-all: CmdDaemon.tini
-
-CmdDaemon.class: CmdDaemon.java ../lib/AIC.jar
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} CmdDaemon.java
-
-CmdDaemon.tini: CmdDaemon.class ../lib/AIC.jar
- java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f CmdDaemon.class ${APIDBPATH} -o CmdDaemon.tini ${LIBPATH} ${NATLIB}
-
-clean:
- rm -f *.bak *~ *.class
-
-distclean: clean
- rm -f CmdDaemon.tini
-
-upload: CmdDaemon.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
\ No newline at end of file
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Door Daemon
- Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import br.ufrgs.ece.AIC.*;
-import com.dalsemi.system.*;
-import com.dalsemi.tininet.*;
-import java.net.*;
-
-class DoorDaemon extends Thread
-{
- private static final int BASE=0x800000;
- private static final int DD_PORT=9880;
-
- private TINIDatagramSocket ddsock;
-
- static AIC aic;
-
- public static void main(String[] args)
- {
- int i;
- int hostarg=0;
-
- System.out.println("AIC Door Daemon");
- System.out.println("Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>.\n");
-
- try
- {
- aic=new AIC(BASE,24.0,20e3,2000);
-
- TINIDatagramSocket ddsock=new TINIDatagramSocket(DD_PORT);
-
- byte[] buff= new byte[256];
- DatagramPacket p=new DatagramPacket(buff,256);
-
- byte[] rmadd= new byte[18];
-
- for(;;)
- {
-
- ddsock.receive(p,rmadd,0);
-
- Chap chap=new Chap(rmadd);
- chap.start();
- sleep(1000);
- chap.stop();
- }
- }
- catch (Exception all)
- {
- all.printStackTrace();
- }
- }
-}
-
-
-class Chap extends DoorDaemon
-{
- // socket for transmitting challenge
- private TINIDatagramSocket chsock;
- private InetAddress chaddr;
- private int chport;
-
- public Chap(byte[] rmadd)
- {
- try
- {
- chsock=new TINIDatagramSocket();
- int chip=(((int)rmadd[12]) << 24) | (((int)rmadd[13]) << 16) | (((int)rmadd[14]) << 8) | (int)rmadd[15];
- chaddr=InetAddress.getByName(rmadd[12]+"."+rmadd[13]+"."+rmadd[14]+"."+rmadd[15]);
- chport=(((int)rmadd[16]) << 8) | (int)rmadd[17];
- }
- catch (Exception all)
- {
- all.printStackTrace();
- }
- }
-
- public void run()
- {
- int challenge=Security.getRandom();
- byte[] chbuff=new byte[4];
-
- byte[] passwd="abcd".getBytes();
-
- for(int i=0;i < 4;i++)
- {
- chbuff[i]=(byte)((challenge >> (8*i)) & 0xff);
- passwd[i]=(byte)(chbuff[i] ^ passwd[i]);
- }
- byte[] hash=Security.hashMessage(passwd);
-
- try
- {
- DatagramPacket chp=new DatagramPacket(chbuff,4,chaddr,chport);
- chsock.send(chp);
-
- byte[] respbuff= new byte[256];
- DatagramPacket respp=new DatagramPacket(respbuff,256);
-
- chsock.receive(respp);
-
- if(respbuff==hash)
- {
- aic.on();
- aic.brake.release();
- sleep(1000);
- aic.brake.apply();
- aic.off();
- }
- }
- catch (Exception all)
- {
- all.printStackTrace();
- }
- }
-}
-
-
+++ /dev/null
-all: DoorDaemon.tini
-
-DoorDaemon.class: DoorDaemon.java ../lib/AIC.jar
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} DoorDaemon.java
-
-DoorDaemon.tini: DoorDaemon.class ../lib/AIC.jar
- java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f DoorDaemon.class ${APIDBPATH} -o DoorDaemon.tini ${LIBPATH} ${NATLIB}
-
-clean:
- rm -f *.bak *~ *.class
-
-distclean: clean
- rm -f DoorDaemon.tini
-
-upload: DoorDaemon.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
\ No newline at end of file
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Door Open
- Copyright (C) 2006 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import br.ufrgs.ece.AIC.*;
-import com.dalsemi.system.*;
-import java.lang.Math.*;
-
-class DoorOpen
-{
- static final int BASE=0x800000;
- static final int ST=1000;
-
- static AIC aic;
-
- private static void delay(int ms)
- {
- long time=TINIOS.uptimeMillis();
- while(TINIOS.uptimeMillis() < time+ms);
- }
-
- public static void main(String[] args)
- {
- int i;
-
-
-// System.out.println("AIC Door Open");
-// System.out.println("Copyright (C) Walter Fetter Lages, 2006.\n");
-
- aic=new AIC(BASE,24.0,20e3,2000);
-// aic.on();
-
- aic.brake.release();
- System.out.print("Door open...");
- delay(ST);
- aic.brake.apply();
- System.out.println("closed");
-
-// aic.off();
- }
-}
+++ /dev/null
-all: DoorOpen.tini
-
-DoorOpen.class: DoorOpen.java ../lib/AIC.jar
- javac ${JAVAFLAGS} ${CLASSPATH} DoorOpen.java
-
-DoorOpen.tini: DoorOpen.class ../lib/AIC.jar
- java ${CLASSPATH} TINIConvertor -f DoorOpen.class ${APIDBPATH} ${NATLIB} -o DoorOpen.tini ${LIBPATH}
-
-clean:
- rm -f *.bak *~ DoorOpen.class
-
-distclean: clean
- rm -f DoorOpen.tini
-
-upload: DoorOpen.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Door Post Handler
-
- Copyright (C) 2006 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-import br.ufrgs.ece.AIC.*;
-import java.io.*;
-import java.lang.*;
-import java.util.*;
-import com.dalsemi.tininet.http.*;
-import com.dalsemi.system.*;
-
-public class DoorHandler implements PostScript
-{
- static final int BASE=0x800000;
- static AIC aic;
- static boolean first=true;
-
- private static void delay(int ms)
- {
- long time=TINIOS.uptimeMillis();
- while(TINIOS.uptimeMillis() < time+ms);
- }
-
- /**
- * This method handles all responses to the the HTTP POST
- *
- * @param data - a Vector of PostElements holding all supplied fields and Values in pairs
- * @param out - an Output Stream to the client socket
- * @param work - HTTPWorker contains utility functions used to URL encode our response
- * @throws IOException if an IO error occurs
- */
-
- public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException
- {
- if(first)
- {
- aic=new AIC(BASE,24.0,20e3,2000);
- first=false;
- }
-
- // Response page
-
- // HTML headers
- StringBuffer strBuff=new StringBuffer("<html>\r\n"
- + "<META HTTP-EQUIV=REFRESH CONTENT=\"3;URL=http://d111\">\r\n"
- + "<title>Door Control</title>\r\n"
- + "<body><center><h1>Door Control</h1>\r\n");
-
- PostElement passwd = (PostElement)data.elementAt(0);
-
- if(passwd.value.equals("Password"))
- {
- aic.brake.release();
- strBuff.append("<img src=\"http://d111/open2.jpg\"><br>Door Open.\r\n");
- }
- else
- {
- strBuff.append("<img src=\"http://d111/closed2.jpg\"><br>Sorry!\r\n");
- }
-
- // Use HTTPWorker's encode body function to generate the URL encoded response
- out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length()));
-
- // Send out the bytes of our response page
- out.write(strBuff.toString().getBytes());
-
- // Ensure that our data is written imediatly
- out.flush();
-
- delay(2000);
- aic.brake.apply();
- }
-}
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Door Web Server
- Copyright (C) 2006 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import com.dalsemi.tininet.http.HTTPServer;
-import com.dalsemi.tininet.http.HTTPServerException;
-
-class DoorWeb
-{
- static Object lock;
-
- public static void main(String[] args)
- {
- System.out.println("Door Web Server");
- System.out.println("Copyright (C) 2006 Walter Fetter Lages <w.fetter@ieee.org>.\n");
-
- HTTPServer httpd=new HTTPServer(80);
- httpd.setHTTPRoot("/html");
- httpd.setIndexPage("index.html");
- httpd.setLogFilename("/log/DoorWeb.txt");
- httpd.setLogging(true);
-
- System.out.println("Door web server running...");
-
- while (true)
- {
- try
- {
- httpd.serviceRequests();
- }
- catch (HTTPServerException e)
- {
- System.out.println("Error occured while servicing requests: " + e.getMessage());
- }
- }
- }
-}
+++ /dev/null
-DEPNAME:=-add HTTPSERVER
-
-all: DoorWeb.tini
-
-DoorWeb.class: DoorWeb.java ../lib/AIC.jar
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $<
-
-DoorHandler.class: DoorHandler.java ../lib/AIC.jar
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $<
-
-DoorWeb.tini: DoorWeb.class DoorHandler.class ../lib/AIC.jar
- java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f DoorHandler.class -f DoorWeb.class -o $@ ${LIBPATH} ${NATLIB} ${APIDBPATH}
-
-clean:
- rm -f *.bak *~ *.class
-
-distclean: clean
- rm -f DoorWeb.tini
-
-upload: DoorWeb.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
-
\ No newline at end of file
+++ /dev/null
-<!DOCTYPE HTML PUBLIC "-//IETF//DTD HTML 2.0//EN">\r
-<html>\r
-<head>\r
-<title>Door Control</title>\r
-</head>\r
-<body>\r
-<center>\r
-<h1>Door Control</h1>\r
-<form method="post" enctype="application/x-www-form-urlencoded" action="DoorHandler">\r
-<img src="closed2.jpg"><br>\r
-Password: <input type="password" name="password">\r
-<input type="submit" value="Open">\r
-</form>\r
-</center>\r
-</body>\r
-</html>\r
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Encoder Real Time Test
- Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import com.dalsemi.system.*;
-import java.lang.Math.*;
-
-class EncoderRtRead
-{
- public static native int startRealtime(int period);
- public static native void stopRealtime();
- public static native float encoderGet();
- static final int ST=100;
-
- private static void delay(int ms)
- {
- long time=TINIOS.uptimeMillis();
- while(TINIOS.uptimeMillis() < time+ms);
- }
-
- static void iter(long t)
- {
- long timeread=TINIOS.uptimeMillis();
- float disp=encoderGet();
- System.out.print("t="+t+" ms");
- System.out.println("\tEncoder read: " + disp);
- delay(ST);
- }
-
- public static void main(String[] args)
- {
- int i;
- boolean run=true;
-
- System.out.println("AIC Encoder Real Time Test Program");
- System.out.println("Copyright (C) Walter Fetter Lages, 2005.\n");
-
- int tfms=0;
- if(args.length==1)
- {
- tfms=Integer.parseInt(args[0]);
- }
- else
- {
- System.out.println("Usage:\tEncoderRtRead ms");
- System.exit(1);
- }
-
- System.out.print("Loading native library...");
- System.loadLibrary("encoderread.tlib");
- System.out.println("done.");
-
- int us=10000;
- System.out.print("Starting real-time timer with "+us+" us period...");
- int period=startRealtime(us);
- System.out.println("done.");
- System.out.println("Effective period: "+period+" us.");
-
- System.out.println("Running EncoderRtRead for "+tfms+" ms...");
-
- long t0=TINIOS.uptimeMillis();
- long t=0;
- while(t <= tfms)
- {
- t=TINIOS.uptimeMillis()-t0;
- iter(t);
- }
- System.out.println("...done.");
-
- System.out.print("Stoping real-time timer...");
- stopRealtime();
- System.out.println("done.");
-
- }
-}
+++ /dev/null
-all: EncoderRtRead.tini
-
-EncoderRtRead.class: EncoderRtRead.java ../lib/AIC.jar
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} EncoderRtRead.java
-
-encoderread.mpp: encoderread.a51
- ${ASMMACRO} -I${ASMINC} -e- encoderread.a51
-
-encoderread.tlib: encoderread.mpp ../lib/aicio.mpp.lib
- cat encoderread.mpp ${TRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib > tmp.mpp
- echo end >> tmp.mpp
- ${ASM} ${ASMOPT} tmp.mpp
- mv tmp.tlib encoderread.tlib
- mv tmp.lst encoderread.lst
-
-encoderread.a51: encoderread.c
- ${SDCC} ${SDCCCMPFLAGS} encoderread.c
-
-EncoderRtRead.tini: EncoderRtRead.class encoderread.tlib
- java ${CLASSPATH} TINIConvertor -n encoderread.tlib -f EncoderRtRead.class ${APIDBPATH} -o EncoderRtRead.tini
-
-
-clean:
- rm -f *.bak *~ EncoderRtRead.class encoderread.tlib encoderread.mpp encoderread.lst encoderread.a51 globals.mpp tmp.mpp tmp.lst
-
-distclean: clean
- rm -f EncoderRtRead.tini
-
-upload: EncoderRtRead.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
-
\ No newline at end of file
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Encoder Real Time Test
- Real Time Module
- Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#include <rtai_sched.h>
-#include <pthread.h>
-
-#include <aicio.h>
-
-#define BASE 0x800000
-
-volatile pthread_t th;
-volatile float disp;
-
-void encodertest_globals(void) _naked
-{
- _asm
-th: db 0,0,0,0
-disp: db 0,0,0,0
- _endasm;
-}
-
-void *encoderread(void *arg)
-{
- disp=encoder_read();
- return NULL;
-}
-
-/* public static native int startRealtime(int period) */
-long Native_startRealtime(void) _JavaNative
-{
- volatile long period=NatLib_LoadInt(0);
- start_rt_timer(micro2count(period));
- pthread_create(&th,NULL,encoderread,NULL);
-
- encoder_initialize(BASE,2048);
-
- brake_release();
-
- _asm
- clr a
- _endasm;
-
- return period;
-}
-
-/* public static native void stopRealtime() */
-void Native_stopRealtime(void) _JavaNative
-{
- brake_apply();
-
- pthread_cancel(th);
- stop_rt_timer();
-
- _asm
- clr a
- _endasm;
-}
-
-/* public static native float encoderGet() */
-float Native_encoderGet(void) _JavaNative
-{
- return disp;
-}
-
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Encoder Real Time Test
- Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import com.dalsemi.system.*;
-import java.lang.Math.*;
-
-class EncoderRtTest
-{
- public static native int startRealtime(int period);
- public static native void stopRealtime();
- public static native int encoderGet();
- static final int ST=100;
-
- private static void delay(int ms)
- {
- long time=TINIOS.uptimeMillis();
- while(TINIOS.uptimeMillis() < time+ms);
- }
-
- static void iter(long t)
- {
- long timeread=TINIOS.uptimeMillis();
- int count=encoderGet();
- System.out.print("t="+t+" ms");
- System.out.println("\tEncoder count: " + count);
- delay(ST);
- }
-
- public static void main(String[] args)
- {
- int i;
- boolean run=true;
-
- System.out.println("AIC Encoder Real Time Test Program");
- System.out.println("Copyright (C) Walter Fetter Lages, 2005.\n");
-
- int tfms=0;
- if(args.length==1)
- {
- tfms=Integer.parseInt(args[0]);
- }
- else
- {
- System.out.println("Usage:\tEncoderRtTest ms");
- System.exit(1);
- }
-
- System.out.print("Loading native library...");
- System.loadLibrary("encodertest.tlib");
- System.out.println("done.");
-
- int us=10000;
- System.out.print("Starting real-time timer with "+us+" us period...");
- int period=startRealtime(us);
- System.out.println("done.");
- System.out.println("Effective period: "+period+" us.");
-
- System.out.println("Running EncoderRtTest for "+tfms+" ms...");
-
- long t0=TINIOS.uptimeMillis();
- long t=0;
- while(t <= tfms)
- {
- t=TINIOS.uptimeMillis()-t0;
- iter(t);
- }
- System.out.println("...done.");
-
- System.out.print("Stoping real-time timer...");
- stopRealtime();
- System.out.println("done.");
-
- }
-}
+++ /dev/null
-all: EncoderRtTest.tini
-
-EncoderRtTest.class: EncoderRtTest.java ../lib/AIC.jar
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} EncoderRtTest.java
-
-encodertest.mpp: encodertest.a51
- ${ASMMACRO} -I${ASMINC} -e- encodertest.a51
-
-encodertest.tlib: encodertest.mpp ../lib/aicio.mpp.lib
- cat encodertest.mpp ${TRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib > tmp.mpp
- echo end >> tmp.mpp
- ${ASM} ${ASMOPT} tmp.mpp
- mv tmp.tlib encodertest.tlib
- mv tmp.lst encodertest.lst
-
-encodertest.a51: encodertest.c
- ${SDCC} ${SDCCCMPFLAGS} encodertest.c
-
-EncoderRtTest.tini: EncoderRtTest.class encodertest.tlib
- java ${CLASSPATH} TINIConvertor -n encodertest.tlib -f EncoderRtTest.class ${APIDBPATH} -o EncoderRtTest.tini
-
-
-clean:
- rm -f *.bak *~ EncoderRtTest.class encodertest.tlib encodertest.mpp encodertest.lst encodertest.a51 globals.mpp tmp.mpp tmp.lst
-
-distclean: clean
- rm -f EncoderRtTest.tini
-
-upload: EncoderRtTest.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Encoder Real Time Test
- Real Time Module
- Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#include <rtai_sched.h>
-#include <pthread.h>
-
-#include <aicio.h>
-
-#define BASE 0x800000
-
-volatile pthread_t th;
-volatile long count;
-
-void encodertest_globals(void) _naked
-{
- _asm
-th: db 0,0,0,0
-count: db 0,0,0,0
- _endasm;
-}
-
-void *encodertest(void *arg)
-{
- count=encoder_get_count();
- return NULL;
-}
-
-/* public static native int startRealtime(int period) */
-long Native_startRealtime(void) _JavaNative
-{
- volatile long period=NatLib_LoadInt(0);
- start_rt_timer(micro2count(period));
- pthread_create(&th,NULL,encodertest,NULL);
-
- encoder_initialize(BASE,2000);
-
- brake_release();
-
- _asm
- clr a
- _endasm;
-
- return period;
-}
-
-/* public static native void stopRealtime() */
-void Native_stopRealtime(void) _JavaNative
-{
- brake_apply();
-
- pthread_cancel(th);
- stop_rt_timer();
-
- _asm
- clr a
- _endasm;
-}
-
-/* public static native int encoderGet() */
-long Native_encoderGet(void) _JavaNative
-{
- return count;
-}
-
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Encoder Clear
- Copyright (C) 2002, 2003 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import com.dalsemi.system.*;
-import java.io.*;
-import java.lang.Math.*;
-
-class EncoderClear
-{
- static final int BASE=0x800000;
-
- private static final int ENCODER=0x90000;
-
-
- public static void main(String[] args) throws IOException
- {
- System.out.println("AIC Encoder Clear Program");
- System.out.println("Copyright (C) Walter Fetter Lages, 2003.\n");
-
- DataPort encPort;
- encPort=new DataPort(BASE+ENCODER);
- encPort.setFIFOMode(true);
- encPort.setStretchCycles(DataPort.STRETCH2);
-
- try
- {
- encPort.write((byte)0);
- }
- catch (IllegalAddressException iae)
- {
- iae.printStackTrace();
- }
-
- }
-}
+++ /dev/null
-bin
-put EncoderClear.tini
-quit
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Encoder Read
- Copyright (C) 2002, 2003 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import com.dalsemi.system.*;
-import java.io.*;
-import java.lang.Math.*;
-
-class EncoderRead
-{
- static final int BASE=0x800000;
-
- private static final int ENCODER=0x90000;
-
- public static void main(String[] args) throws IOException
- {
- System.out.println("AIC Encoder Read Program");
- System.out.println("Copyright (C) Walter Fetter Lages, 2003.\n");
-
- DataPort encPort;
- encPort=new DataPort(BASE+ENCODER);
- encPort.setStretchCycles(DataPort.STRETCH2);
- int count;
- byte[] hilo=new byte[2];
-
- encPort.setFIFOMode(false);
-
- try
- {
- encPort.read(hilo,0,2);
- }
- catch (IllegalAddressException iae)
- {
- iae.printStackTrace();
- }
-
- count=(hilo[0] << 8) | (hilo[1] & 0x000000ff);
-
- System.out.println("Count: " + count);
- }
-}
+++ /dev/null
-bin
-put EncoderRead.tini
-quit
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Encoder Test
- Copyright (C) 2002, 2004 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import br.ufrgs.ece.AIC.*;
-import com.dalsemi.system.*;
-import java.lang.Math.*;
-
-class EncoderTest
-{
- static final int BASE=0x800000;
- static final int ST=500;
- static final double MV=12.0;
-
- static AIC aic;
-
- static long timeread0=0;
-
- private static void delay(int ms)
- {
- long time=TINIOS.uptimeMillis();
- while(TINIOS.uptimeMillis() < time+ms);
- }
-
- static void iter(int i)
- {
- aic.motor.set(i);
- System.out.print("Motor Voltage: " + i);
-
- long timeread=TINIOS.uptimeMillis();
- int count=aic.encoder.getCountAndClear();
- System.out.print("\tEncoder count: " + count);
- System.out.println("\tMotor speed: " + (2*java.lang.Math.PI*count/aic.encoder.PULSES/(timeread-timeread0)*1000));
- timeread0=timeread;
- delay(ST);
- }
-
- public static void main(String[] args)
- {
- int i;
- boolean run=true;
-
- System.out.println("AIC Encoder Test Program");
- System.out.println("Copyright (C) Walter Fetter Lages, 2003...2004.\n");
-
- // Janus encoders are 500ppr
-// aic=new AIC(BASE,24.0,20e3,2000);
-
- // ASEA encoders are 2048 ppr
- aic=new AIC(BASE,24.0,20e3,8192);
-
- aic.on();
-
- aic.brake.release();
-
- for(i=0;(i <= MV) && run;i++) iter(i);
-
- while(run)
- {
- for(i=-(int)MV;(i <= MV) && run;i++) iter(i);
- for(i=(int)MV;(i >= -MV) && run;i--) iter(i);
- }
- aic.off();
-
- }
-}
+++ /dev/null
-bin
-put EncoderTest.tini
-quit
+++ /dev/null
-TARGET=aic5
-
-all: EncoderTest.tini EncoderClear.tini EncoderRead.tini
-
-EncoderTest.class: EncoderTest.java ../lib/AIC.jar
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} EncoderTest.java
-
-EncoderTest.tini: EncoderTest.class ../lib/AIC.jar
- java ${CLASSPATH} TINIConvertor -f EncoderTest.class ${APIDBPATH} ${NATLIB} -o EncoderTest.tini ${LIBPATH} -n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib
-
-EncoderClear.class: EncoderClear.java
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} EncoderClear.java
-
-EncoderClear.tini: EncoderClear.class
- java ${CLASSPATH} TINIConvertor -f EncoderClear.class ${APIDBPATH} -o EncoderClear.tini ${LIBPATH}
-
-EncoderRead.class: EncoderRead.java
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} EncoderRead.java
-
-EncoderRead.tini: EncoderRead.class
- java ${CLASSPATH} TINIConvertor -f EncoderRead.class ${APIDBPATH} -o EncoderRead.tini ${LIBPATH}
-
-clean:
- rm -f *.bak *~ *.class
-
-distclean: clean
- rm -f *.tini
-
-upload: EncoderTest.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
+++ /dev/null
-bin
-put EncoderTest.tini
-put EncoderClear.tini
-put EncoderRead.tini
-quit
--- /dev/null
+/*\r
+ FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry.\r
+\r
+ This file is part of the FreeRTOS.org distribution.\r
+\r
+ FreeRTOS.org is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ FreeRTOS.org is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with FreeRTOS.org; if not, write to the Free Software\r
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+\r
+ A special exception to the GPL can be applied should you wish to distribute\r
+ a combined work that includes FreeRTOS.org, without being obliged to provide\r
+ the source code for any proprietary components. See the licensing section\r
+ of http://www.FreeRTOS.org for full details of how and when the exception\r
+ can be applied.\r
+\r
+ ***************************************************************************\r
+\r
+ Please ensure to read the configuration and relevant port sections of the \r
+ online documentation.\r
+\r
+ +++ http://www.FreeRTOS.org +++\r
+ Documentation, latest information, license and contact details. \r
+\r
+ +++ http://www.SafeRTOS.com +++\r
+ A version that is certified for use in safety critical systems.\r
+\r
+ +++ http://www.OpenRTOS.com +++\r
+ Commercial support, development, porting, licensing and training services.\r
+\r
+ ***************************************************************************\r
+*/\r
+\r
+#include "FreeRTOS.h"\r
+#include "task.h"\r
+#include "croutine.h"\r
+\r
+/* Lists for ready and blocked co-routines. --------------------*/\r
+static xList pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ]; /*< Prioritised ready co-routines. */\r
+static xList xDelayedCoRoutineList1; /*< Delayed co-routines. */\r
+static xList xDelayedCoRoutineList2; /*< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */\r
+static xList * pxDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used. */\r
+static xList * pxOverflowDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */\r
+static xList xPendingReadyList; /*< Holds co-routines that have been readied by an external event. They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */\r
+\r
+/* Other file private variables. --------------------------------*/\r
+corCRCB * pxCurrentCoRoutine = NULL;\r
+static unsigned portBASE_TYPE uxTopCoRoutineReadyPriority = 0;\r
+static portTickType xCoRoutineTickCount = 0;\r
+\r
+/* The initial state of the co-routine when it is created. */\r
+#define corINITIAL_STATE ( 0 )\r
+\r
+/*\r
+ * Place the co-routine represented by pxCRCB into the appropriate ready queue\r
+ * for the priority. It is inserted at the end of the list.\r
+ *\r
+ * This macro accesses the co-routine ready lists and therefore must not be\r
+ * used from within an ISR.\r
+ */\r
+#define prvAddCoRoutineToReadyQueue( pxCRCB ) \\r
+{ \\r
+ if( pxCRCB->uxPriority > uxTopCoRoutineReadyPriority ) \\r
+ { \\r
+ uxTopCoRoutineReadyPriority = pxCRCB->uxPriority; \\r
+ } \\r
+ vListInsertEnd( ( xList * ) &( pxReadyCoRoutineLists[ pxCRCB->uxPriority ] ), &( pxCRCB->xGenericListItem ) ); \\r
+} \r
+\r
+/*\r
+ * Utility to ready all the lists used by the scheduler. This is called\r
+ * automatically upon the creation of the first co-routine.\r
+ */\r
+static void prvInitialiseCoRoutineLists( void );\r
+\r
+/*\r
+ * Co-routines that are readied by an interrupt cannot be placed directly into\r
+ * the ready lists (there is no mutual exclusion). Instead they are placed in\r
+ * in the pending ready list in order that they can later be moved to the ready\r
+ * list by the co-routine scheduler.\r
+ */\r
+static inline void prvCheckPendingReadyList( void );\r
+\r
+/*\r
+ * Macro that looks at the list of co-routines that are currently delayed to\r
+ * see if any require waking.\r
+ *\r
+ * Co-routines are stored in the queue in the order of their wake time -\r
+ * meaning once one co-routine has been found whose timer has not expired\r
+ * we need not look any further down the list.\r
+ */\r
+static inline void prvCheckDelayedList( void );\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+signed portBASE_TYPE xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, unsigned portBASE_TYPE uxPriority, unsigned portBASE_TYPE uxIndex )\r
+{\r
+signed portBASE_TYPE xReturn;\r
+corCRCB *pxCoRoutine;\r
+\r
+ /* Allocate the memory that will store the co-routine control block. */\r
+ pxCoRoutine = ( corCRCB * ) pvPortMalloc( sizeof( corCRCB ) );\r
+ if( pxCoRoutine )\r
+ {\r
+ /* If pxCurrentCoRoutine is NULL then this is the first co-routine to\r
+ be created and the co-routine data structures need initialising. */\r
+ if( pxCurrentCoRoutine == NULL )\r
+ {\r
+ pxCurrentCoRoutine = pxCoRoutine;\r
+ prvInitialiseCoRoutineLists();\r
+ }\r
+\r
+ /* Check the priority is within limits. */\r
+ if( uxPriority >= configMAX_CO_ROUTINE_PRIORITIES )\r
+ {\r
+ uxPriority = configMAX_CO_ROUTINE_PRIORITIES - 1;\r
+ }\r
+\r
+ /* Fill out the co-routine control block from the function parameters. */\r
+ pxCoRoutine->uxState = corINITIAL_STATE;\r
+ pxCoRoutine->uxPriority = uxPriority;\r
+ pxCoRoutine->uxIndex = uxIndex;\r
+ pxCoRoutine->pxCoRoutineFunction = pxCoRoutineCode;\r
+\r
+ /* Initialise all the other co-routine control block parameters. */\r
+ vListInitialiseItem( &( pxCoRoutine->xGenericListItem ) );\r
+ vListInitialiseItem( &( pxCoRoutine->xEventListItem ) );\r
+\r
+ /* Set the co-routine control block as a link back from the xListItem.\r
+ This is so we can get back to the containing CRCB from a generic item\r
+ in a list. */\r
+ listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xGenericListItem ), pxCoRoutine );\r
+ listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xEventListItem ), pxCoRoutine );\r
+ \r
+ /* Event lists are always in priority order. */\r
+ listSET_LIST_ITEM_VALUE( &( pxCoRoutine->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );\r
+ \r
+ /* Now the co-routine has been initialised it can be added to the ready\r
+ list at the correct priority. */\r
+ prvAddCoRoutineToReadyQueue( pxCoRoutine );\r
+\r
+ xReturn = pdPASS;\r
+ }\r
+ else\r
+ { \r
+ xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;\r
+ }\r
+ \r
+ return xReturn; \r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vCoRoutineAddToDelayedList( portTickType xTicksToDelay, xList *pxEventList )\r
+{\r
+portTickType xTimeToWake;\r
+\r
+ /* Calculate the time to wake - this may overflow but this is\r
+ not a problem. */\r
+ xTimeToWake = xCoRoutineTickCount + xTicksToDelay;\r
+\r
+ /* We must remove ourselves from the ready list before adding\r
+ ourselves to the blocked list as the same list item is used for\r
+ both lists. */\r
+ vListRemove( ( xListItem * ) &( pxCurrentCoRoutine->xGenericListItem ) );\r
+\r
+ /* The list item will be inserted in wake time order. */\r
+ listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake );\r
+\r
+ if( xTimeToWake < xCoRoutineTickCount )\r
+ {\r
+ /* Wake time has overflowed. Place this item in the\r
+ overflow list. */\r
+ vListInsert( ( xList * ) pxOverflowDelayedCoRoutineList, ( xListItem * ) &( pxCurrentCoRoutine->xGenericListItem ) );\r
+ }\r
+ else\r
+ {\r
+ /* The wake time has not overflowed, so we can use the\r
+ current block list. */\r
+ vListInsert( ( xList * ) pxDelayedCoRoutineList, ( xListItem * ) &( pxCurrentCoRoutine->xGenericListItem ) );\r
+ }\r
+\r
+ if( pxEventList )\r
+ {\r
+ /* Also add the co-routine to an event list. If this is done then the\r
+ function must be called with interrupts disabled. */\r
+ vListInsert( pxEventList, &( pxCurrentCoRoutine->xEventListItem ) );\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static inline void prvCheckPendingReadyList( void )\r
+{\r
+ /* Are there any co-routines waiting to get moved to the ready list? These\r
+ are co-routines that have been readied by an ISR. The ISR cannot access\r
+ the ready lists itself. */\r
+ while( !listLIST_IS_EMPTY( &xPendingReadyList ) )\r
+ {\r
+ corCRCB *pxUnblockedCRCB;\r
+\r
+ /* The pending ready list can be accessed by an ISR. */\r
+ portDISABLE_INTERRUPTS();\r
+ { \r
+ pxUnblockedCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( (&xPendingReadyList) ); \r
+ vListRemove( &( pxUnblockedCRCB->xEventListItem ) );\r
+ }\r
+ portENABLE_INTERRUPTS();\r
+\r
+ vListRemove( &( pxUnblockedCRCB->xGenericListItem ) );\r
+ prvAddCoRoutineToReadyQueue( pxUnblockedCRCB ); \r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static inline void prvCheckDelayedList( void )\r
+{\r
+static portTickType xLastTickCount, xPassedTicks;\r
+corCRCB *pxCRCB;\r
+\r
+ xPassedTicks = xTaskGetTickCount() - xLastTickCount;\r
+ while( xPassedTicks )\r
+ {\r
+ xCoRoutineTickCount++;\r
+ xPassedTicks--;\r
+\r
+ /* If the tick count has overflowed we need to swap the ready lists. */\r
+ if( xCoRoutineTickCount == 0 )\r
+ {\r
+ xList * pxTemp;\r
+\r
+ /* Tick count has overflowed so we need to swap the delay lists. If there are\r
+ any items in pxDelayedCoRoutineList here then there is an error! */\r
+ pxTemp = pxDelayedCoRoutineList;\r
+ pxDelayedCoRoutineList = pxOverflowDelayedCoRoutineList;\r
+ pxOverflowDelayedCoRoutineList = pxTemp;\r
+ }\r
+\r
+ /* See if this tick has made a timeout expire. */\r
+ while( ( pxCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList ) ) != NULL )\r
+ { \r
+ if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) ) \r
+ { \r
+ /* Timeout not yet expired. */ \r
+ break; \r
+ } \r
+\r
+ portDISABLE_INTERRUPTS();\r
+ {\r
+ /* The event could have occurred just before this critical\r
+ section. If this is the case then the generic list item will\r
+ have been moved to the pending ready list and the following\r
+ line is still valid. Also the pvContainer parameter will have\r
+ been set to NULL so the following lines are also valid. */\r
+ vListRemove( &( pxCRCB->xGenericListItem ) ); \r
+\r
+ /* Is the co-routine waiting on an event also? */ \r
+ if( pxCRCB->xEventListItem.pvContainer ) \r
+ { \r
+ vListRemove( &( pxCRCB->xEventListItem ) ); \r
+ }\r
+ }\r
+ portENABLE_INTERRUPTS();\r
+\r
+ prvAddCoRoutineToReadyQueue( pxCRCB ); \r
+ } \r
+ }\r
+\r
+ xLastTickCount = xCoRoutineTickCount;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vCoRoutineSchedule( void )\r
+{\r
+ /* See if any co-routines readied by events need moving to the ready lists. */\r
+ prvCheckPendingReadyList();\r
+\r
+ /* See if any delayed co-routines have timed out. */\r
+ prvCheckDelayedList();\r
+\r
+ /* Find the highest priority queue that contains ready co-routines. */\r
+ while( listLIST_IS_EMPTY( &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ) )\r
+ {\r
+ if( uxTopCoRoutineReadyPriority == 0 )\r
+ {\r
+ /* No more co-routines to check. */\r
+ return;\r
+ }\r
+ --uxTopCoRoutineReadyPriority;\r
+ }\r
+\r
+ /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the co-routines\r
+ of the same priority get an equal share of the processor time. */\r
+ listGET_OWNER_OF_NEXT_ENTRY( pxCurrentCoRoutine, &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) );\r
+\r
+ /* Call the co-routine. */\r
+ ( pxCurrentCoRoutine->pxCoRoutineFunction )( pxCurrentCoRoutine, pxCurrentCoRoutine->uxIndex );\r
+\r
+ return;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvInitialiseCoRoutineLists( void )\r
+{\r
+unsigned portBASE_TYPE uxPriority;\r
+\r
+ for( uxPriority = 0; uxPriority < configMAX_CO_ROUTINE_PRIORITIES; uxPriority++ )\r
+ {\r
+ vListInitialise( ( xList * ) &( pxReadyCoRoutineLists[ uxPriority ] ) );\r
+ }\r
+\r
+ vListInitialise( ( xList * ) &xDelayedCoRoutineList1 );\r
+ vListInitialise( ( xList * ) &xDelayedCoRoutineList2 );\r
+ vListInitialise( ( xList * ) &xPendingReadyList );\r
+\r
+ /* Start with pxDelayedCoRoutineList using list1 and the\r
+ pxOverflowDelayedCoRoutineList using list2. */\r
+ pxDelayedCoRoutineList = &xDelayedCoRoutineList1;\r
+ pxOverflowDelayedCoRoutineList = &xDelayedCoRoutineList2;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+signed portBASE_TYPE xCoRoutineRemoveFromEventList( const xList *pxEventList )\r
+{\r
+corCRCB *pxUnblockedCRCB;\r
+signed portBASE_TYPE xReturn;\r
+\r
+ /* This function is called from within an interrupt. It can only access\r
+ event lists and the pending ready list. */\r
+ pxUnblockedCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );\r
+ vListRemove( &( pxUnblockedCRCB->xEventListItem ) );\r
+ vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedCRCB->xEventListItem ) );\r
+\r
+ if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority )\r
+ {\r
+ xReturn = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ xReturn = pdFALSE;\r
+ }\r
+\r
+ return xReturn;\r
+}\r
+\r
--- /dev/null
+/*\r
+ FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry.\r
+\r
+ This file is part of the FreeRTOS.org distribution.\r
+\r
+ FreeRTOS.org is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ FreeRTOS.org is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with FreeRTOS.org; if not, write to the Free Software\r
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+\r
+ A special exception to the GPL can be applied should you wish to distribute\r
+ a combined work that includes FreeRTOS.org, without being obliged to provide\r
+ the source code for any proprietary components. See the licensing section\r
+ of http://www.FreeRTOS.org for full details of how and when the exception\r
+ can be applied.\r
+\r
+ ***************************************************************************\r
+\r
+ Please ensure to read the configuration and relevant port sections of the \r
+ online documentation.\r
+\r
+ +++ http://www.FreeRTOS.org +++\r
+ Documentation, latest information, license and contact details. \r
+\r
+ +++ http://www.SafeRTOS.com +++\r
+ A version that is certified for use in safety critical systems.\r
+\r
+ +++ http://www.OpenRTOS.com +++\r
+ Commercial support, development, porting, licensing and training services.\r
+\r
+ ***************************************************************************\r
+*/\r
+\r
+#ifndef INC_FREERTOS_H\r
+#define INC_FREERTOS_H\r
+\r
+\r
+/*\r
+ * Include the generic headers required for the FreeRTOS port being used.\r
+ */\r
+#include <stddef.h>\r
+\r
+/* Basic FreeRTOS definitions. */\r
+#include "projdefs.h"\r
+\r
+/* Application specific configuration options. */\r
+#include "FreeRTOSConfig.h"\r
+\r
+/* Definitions specific to the port being used. */\r
+#include "portable.h"\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+/*\r
+ * Check all the required application specific macros have been defined.\r
+ * These macros are application specific and (as downloaded) are defined\r
+ * within FreeRTOSConfig.h.\r
+ */\r
+\r
+#ifndef configUSE_PREEMPTION\r
+ #error Missing definition: configUSE_PREEMPTION should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.\r
+#endif\r
+\r
+#ifndef configUSE_IDLE_HOOK\r
+ #error Missing definition: configUSE_IDLE_HOOK should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.\r
+#endif\r
+\r
+#ifndef configUSE_TICK_HOOK\r
+ #error Missing definition: configUSE_TICK_HOOK should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.\r
+#endif\r
+\r
+#ifndef configUSE_CO_ROUTINES\r
+ #error Missing definition: configUSE_CO_ROUTINES should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.\r
+#endif\r
+\r
+#ifndef INCLUDE_vTaskPrioritySet\r
+ #error Missing definition: INCLUDE_vTaskPrioritySet should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.\r
+#endif\r
+\r
+#ifndef INCLUDE_uxTaskPriorityGet\r
+ #error Missing definition: INCLUDE_uxTaskPriorityGet should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.\r
+#endif\r
+\r
+#ifndef INCLUDE_vTaskDelete \r
+ #error Missing definition: INCLUDE_vTaskDelete should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.\r
+#endif\r
+\r
+#ifndef INCLUDE_vTaskCleanUpResources\r
+ #error Missing definition: INCLUDE_vTaskCleanUpResources should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.\r
+#endif\r
+\r
+#ifndef INCLUDE_vTaskSuspend \r
+ #error Missing definition: INCLUDE_vTaskSuspend should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.\r
+#endif\r
+\r
+#ifndef INCLUDE_vTaskDelayUntil\r
+ #error Missing definition: INCLUDE_vTaskDelayUntil should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.\r
+#endif\r
+\r
+#ifndef INCLUDE_vTaskDelay\r
+ #error Missing definition: INCLUDE_vTaskDelay should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.\r
+#endif\r
+\r
+#ifndef configUSE_16_BIT_TICKS\r
+ #error Missing definition: configUSE_16_BIT_TICKS should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.\r
+#endif\r
+\r
+#ifndef configUSE_RECURSIVE_MUTEXES\r
+ #define configUSE_RECURSIVE_MUTEXES 0\r
+#endif\r
+\r
+#ifndef configUSE_MUTEXES\r
+ #define configUSE_MUTEXES 0\r
+#endif\r
+\r
+#ifndef configUSE_COUNTING_SEMAPHORES\r
+ #define configUSE_COUNTING_SEMAPHORES 0\r
+#endif\r
+\r
+#ifndef configUSE_ALTERNATIVE_API\r
+ #define configUSE_ALTERNATIVE_API 0\r
+#endif\r
+\r
+#if ( configUSE_MUTEXES == 1 )\r
+ /* xTaskGetCurrentTaskHandle is used by the priority inheritance mechanism\r
+ within the mutex implementation so must be available if mutexes are used. */\r
+ #undef INCLUDE_xTaskGetCurrentTaskHandle\r
+ #define INCLUDE_xTaskGetCurrentTaskHandle 1\r
+#else\r
+ #ifndef INCLUDE_xTaskGetCurrentTaskHandle\r
+ #define INCLUDE_xTaskGetCurrentTaskHandle 0\r
+ #endif\r
+#endif\r
+\r
+#endif /* INC_FREERTOS_H */\r
--- /dev/null
+/*\r
+ FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry.\r
+\r
+ This file is part of the FreeRTOS.org distribution.\r
+\r
+ FreeRTOS.org is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ FreeRTOS.org is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with FreeRTOS.org; if not, write to the Free Software\r
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+\r
+ A special exception to the GPL can be applied should you wish to distribute\r
+ a combined work that includes FreeRTOS.org, without being obliged to provide\r
+ the source code for any proprietary components. See the licensing section\r
+ of http://www.FreeRTOS.org for full details of how and when the exception\r
+ can be applied.\r
+\r
+ ***************************************************************************\r
+\r
+ Please ensure to read the configuration and relevant port sections of the \r
+ online documentation.\r
+\r
+ +++ http://www.FreeRTOS.org +++\r
+ Documentation, latest information, license and contact details. \r
+\r
+ +++ http://www.SafeRTOS.com +++\r
+ A version that is certified for use in safety critical systems.\r
+\r
+ +++ http://www.OpenRTOS.com +++\r
+ Commercial support, development, porting, licensing and training services.\r
+\r
+ ***************************************************************************\r
+*/\r
+#ifndef CO_ROUTINE_H\r
+#define CO_ROUTINE_H\r
+\r
+#include "list.h"\r
+\r
+#ifdef __cplusplus\r
+extern "C" {\r
+#endif\r
+\r
+/* Used to hide the implementation of the co-routine control block. The\r
+control block structure however has to be included in the header due to\r
+the macro implementation of the co-routine functionality. */\r
+typedef void * xCoRoutineHandle;\r
+\r
+/* Defines the prototype to which co-routine functions must conform. */\r
+typedef void (*crCOROUTINE_CODE)( xCoRoutineHandle, unsigned portBASE_TYPE );\r
+\r
+typedef struct corCoRoutineControlBlock\r
+{\r
+ crCOROUTINE_CODE pxCoRoutineFunction;\r
+ xListItem xGenericListItem; /*< List item used to place the CRCB in ready and blocked queues. */\r
+ xListItem xEventListItem; /*< List item used to place the CRCB in event lists. */\r
+ unsigned portBASE_TYPE uxPriority; /*< The priority of the co-routine in relation to other co-routines. */\r
+ unsigned portBASE_TYPE uxIndex; /*< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */\r
+ unsigned portSHORT uxState; /*< Used internally by the co-routine implementation. */\r
+} corCRCB; /* Co-routine control block. Note must be identical in size down to uxPriority with tskTCB. */\r
+\r
+/**\r
+ * croutine. h\r
+ *<pre>\r
+ portBASE_TYPE xCoRoutineCreate(\r
+ crCOROUTINE_CODE pxCoRoutineCode,\r
+ unsigned portBASE_TYPE uxPriority,\r
+ unsigned portBASE_TYPE uxIndex\r
+ );</pre>\r
+ *\r
+ * Create a new co-routine and add it to the list of co-routines that are\r
+ * ready to run.\r
+ *\r
+ * @param pxCoRoutineCode Pointer to the co-routine function. Co-routine\r
+ * functions require special syntax - see the co-routine section of the WEB\r
+ * documentation for more information.\r
+ *\r
+ * @param uxPriority The priority with respect to other co-routines at which\r
+ * the co-routine will run.\r
+ *\r
+ * @param uxIndex Used to distinguish between different co-routines that\r
+ * execute the same function. See the example below and the co-routine section\r
+ * of the WEB documentation for further information.\r
+ *\r
+ * @return pdPASS if the co-routine was successfully created and added to a ready\r
+ * list, otherwise an error code defined with ProjDefs.h.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ // Co-routine to be created.\r
+ void vFlashCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )\r
+ {\r
+ // Variables in co-routines must be declared static if they must maintain value across a blocking call.\r
+ // This may not be necessary for const variables.\r
+ static const char cLedToFlash[ 2 ] = { 5, 6 };\r
+ static const portTickType xTimeToDelay[ 2 ] = { 200, 400 };\r
+\r
+ // Must start every co-routine with a call to crSTART();\r
+ crSTART( xHandle );\r
+\r
+ for( ;; )\r
+ {\r
+ // This co-routine just delays for a fixed period, then toggles\r
+ // an LED. Two co-routines are created using this function, so\r
+ // the uxIndex parameter is used to tell the co-routine which\r
+ // LED to flash and how long to delay. This assumes xQueue has\r
+ // already been created.\r
+ vParTestToggleLED( cLedToFlash[ uxIndex ] );\r
+ crDELAY( xHandle, uxFlashRates[ uxIndex ] );\r
+ }\r
+\r
+ // Must end every co-routine with a call to crEND();\r
+ crEND();\r
+ }\r
+\r
+ // Function that creates two co-routines.\r
+ void vOtherFunction( void )\r
+ {\r
+ unsigned char ucParameterToPass;\r
+ xTaskHandle xHandle;\r
+ \r
+ // Create two co-routines at priority 0. The first is given index 0\r
+ // so (from the code above) toggles LED 5 every 200 ticks. The second\r
+ // is given index 1 so toggles LED 6 every 400 ticks.\r
+ for( uxIndex = 0; uxIndex < 2; uxIndex++ )\r
+ {\r
+ xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex );\r
+ }\r
+ }\r
+ </pre>\r
+ * \defgroup xCoRoutineCreate xCoRoutineCreate\r
+ * \ingroup Tasks\r
+ */\r
+signed portBASE_TYPE xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, unsigned portBASE_TYPE uxPriority, unsigned portBASE_TYPE uxIndex );\r
+\r
+\r
+/**\r
+ * croutine. h\r
+ *<pre>\r
+ void vCoRoutineSchedule( void );</pre>\r
+ *\r
+ * Run a co-routine.\r
+ *\r
+ * vCoRoutineSchedule() executes the highest priority co-routine that is able\r
+ * to run. The co-routine will execute until it either blocks, yields or is\r
+ * preempted by a task. Co-routines execute cooperatively so one\r
+ * co-routine cannot be preempted by another, but can be preempted by a task.\r
+ *\r
+ * If an application comprises of both tasks and co-routines then\r
+ * vCoRoutineSchedule should be called from the idle task (in an idle task\r
+ * hook).\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ // This idle task hook will schedule a co-routine each time it is called.\r
+ // The rest of the idle task will execute between co-routine calls.\r
+ void vApplicationIdleHook( void )\r
+ {\r
+ vCoRoutineSchedule();\r
+ }\r
+\r
+ // Alternatively, if you do not require any other part of the idle task to\r
+ // execute, the idle task hook can call vCoRoutineScheduler() within an\r
+ // infinite loop.\r
+ void vApplicationIdleHook( void )\r
+ {\r
+ for( ;; )\r
+ {\r
+ vCoRoutineSchedule();\r
+ }\r
+ }\r
+ </pre>\r
+ * \defgroup vCoRoutineSchedule vCoRoutineSchedule\r
+ * \ingroup Tasks\r
+ */\r
+void vCoRoutineSchedule( void );\r
+\r
+/**\r
+ * croutine. h\r
+ * <pre>\r
+ crSTART( xCoRoutineHandle xHandle );</pre>\r
+ *\r
+ * This macro MUST always be called at the start of a co-routine function.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ // Co-routine to be created.\r
+ void vACoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )\r
+ {\r
+ // Variables in co-routines must be declared static if they must maintain value across a blocking call.\r
+ static portLONG ulAVariable;\r
+\r
+ // Must start every co-routine with a call to crSTART();\r
+ crSTART( xHandle );\r
+\r
+ for( ;; )\r
+ {\r
+ // Co-routine functionality goes here.\r
+ }\r
+\r
+ // Must end every co-routine with a call to crEND();\r
+ crEND();\r
+ }</pre>\r
+ * \defgroup crSTART crSTART\r
+ * \ingroup Tasks\r
+ */\r
+#define crSTART( pxCRCB ) switch( ( ( corCRCB * )pxCRCB )->uxState ) { case 0:\r
+\r
+/**\r
+ * croutine. h\r
+ * <pre>\r
+ crEND();</pre>\r
+ *\r
+ * This macro MUST always be called at the end of a co-routine function.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ // Co-routine to be created.\r
+ void vACoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )\r
+ {\r
+ // Variables in co-routines must be declared static if they must maintain value across a blocking call.\r
+ static portLONG ulAVariable;\r
+\r
+ // Must start every co-routine with a call to crSTART();\r
+ crSTART( xHandle );\r
+\r
+ for( ;; )\r
+ {\r
+ // Co-routine functionality goes here.\r
+ }\r
+\r
+ // Must end every co-routine with a call to crEND();\r
+ crEND();\r
+ }</pre>\r
+ * \defgroup crSTART crSTART\r
+ * \ingroup Tasks\r
+ */\r
+#define crEND() }\r
+\r
+/*\r
+ * These macros are intended for internal use by the co-routine implementation\r
+ * only. The macros should not be used directly by application writers.\r
+ */\r
+#define crSET_STATE0( xHandle ) ( ( corCRCB * )xHandle)->uxState = (__LINE__ * 2); return; case (__LINE__ * 2):\r
+#define crSET_STATE1( xHandle ) ( ( corCRCB * )xHandle)->uxState = ((__LINE__ * 2)+1); return; case ((__LINE__ * 2)+1):\r
+\r
+/**\r
+ * croutine. h\r
+ *<pre>\r
+ crDELAY( xCoRoutineHandle xHandle, portTickType xTicksToDelay );</pre>\r
+ *\r
+ * Delay a co-routine for a fixed period of time.\r
+ *\r
+ * crDELAY can only be called from the co-routine function itself - not\r
+ * from within a function called by the co-routine function. This is because\r
+ * co-routines do not maintain their own stack.\r
+ *\r
+ * @param xHandle The handle of the co-routine to delay. This is the xHandle\r
+ * parameter of the co-routine function.\r
+ *\r
+ * @param xTickToDelay The number of ticks that the co-routine should delay\r
+ * for. The actual amount of time this equates to is defined by\r
+ * configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant portTICK_RATE_MS\r
+ * can be used to convert ticks to milliseconds.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ // Co-routine to be created.\r
+ void vACoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )\r
+ {\r
+ // Variables in co-routines must be declared static if they must maintain value across a blocking call.\r
+ // This may not be necessary for const variables.\r
+ // We are to delay for 200ms.\r
+ static const xTickType xDelayTime = 200 / portTICK_RATE_MS;\r
+\r
+ // Must start every co-routine with a call to crSTART();\r
+ crSTART( xHandle );\r
+\r
+ for( ;; )\r
+ {\r
+ // Delay for 200ms.\r
+ crDELAY( xHandle, xDelayTime );\r
+\r
+ // Do something here.\r
+ }\r
+\r
+ // Must end every co-routine with a call to crEND();\r
+ crEND();\r
+ }</pre>\r
+ * \defgroup crDELAY crDELAY\r
+ * \ingroup Tasks\r
+ */\r
+#define crDELAY( xHandle, xTicksToDelay ) \\r
+ if( xTicksToDelay > 0 ) \\r
+ { \\r
+ vCoRoutineAddToDelayedList( xTicksToDelay, NULL ); \\r
+ } \\r
+ crSET_STATE0( xHandle );\r
+\r
+/**\r
+ * <pre>\r
+ crQUEUE_SEND(\r
+ xCoRoutineHandle xHandle,\r
+ xQueueHandle pxQueue,\r
+ void *pvItemToQueue,\r
+ portTickType xTicksToWait,\r
+ portBASE_TYPE *pxResult\r
+ )</pre>\r
+ *\r
+ * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine\r
+ * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.\r
+ *\r
+ * crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas\r
+ * xQueueSend() and xQueueReceive() can only be used from tasks.\r
+ *\r
+ * crQUEUE_SEND can only be called from the co-routine function itself - not\r
+ * from within a function called by the co-routine function. This is because\r
+ * co-routines do not maintain their own stack.\r
+ *\r
+ * See the co-routine section of the WEB documentation for information on\r
+ * passing data between tasks and co-routines and between ISR's and\r
+ * co-routines.\r
+ *\r
+ * @param xHandle The handle of the calling co-routine. This is the xHandle\r
+ * parameter of the co-routine function.\r
+ *\r
+ * @param pxQueue The handle of the queue on which the data will be posted.\r
+ * The handle is obtained as the return value when the queue is created using\r
+ * the xQueueCreate() API function.\r
+ *\r
+ * @param pvItemToQueue A pointer to the data being posted onto the queue.\r
+ * The number of bytes of each queued item is specified when the queue is\r
+ * created. This number of bytes is copied from pvItemToQueue into the queue\r
+ * itself.\r
+ *\r
+ * @param xTickToDelay The number of ticks that the co-routine should block\r
+ * to wait for space to become available on the queue, should space not be\r
+ * available immediately. The actual amount of time this equates to is defined\r
+ * by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant\r
+ * portTICK_RATE_MS can be used to convert ticks to milliseconds (see example\r
+ * below).\r
+ *\r
+ * @param pxResult The variable pointed to by pxResult will be set to pdPASS if\r
+ * data was successfully posted onto the queue, otherwise it will be set to an\r
+ * error defined within ProjDefs.h.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ // Co-routine function that blocks for a fixed period then posts a number onto\r
+ // a queue.\r
+ static void prvCoRoutineFlashTask( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )\r
+ {\r
+ // Variables in co-routines must be declared static if they must maintain value across a blocking call.\r
+ static portBASE_TYPE xNumberToPost = 0;\r
+ static portBASE_TYPE xResult;\r
+\r
+ // Co-routines must begin with a call to crSTART().\r
+ crSTART( xHandle );\r
+\r
+ for( ;; )\r
+ {\r
+ // This assumes the queue has already been created.\r
+ crQUEUE_SEND( xHandle, xCoRoutineQueue, &xNumberToPost, NO_DELAY, &xResult );\r
+\r
+ if( xResult != pdPASS )\r
+ {\r
+ // The message was not posted!\r
+ }\r
+\r
+ // Increment the number to be posted onto the queue.\r
+ xNumberToPost++;\r
+\r
+ // Delay for 100 ticks.\r
+ crDELAY( xHandle, 100 );\r
+ }\r
+\r
+ // Co-routines must end with a call to crEND().\r
+ crEND();\r
+ }</pre>\r
+ * \defgroup crQUEUE_SEND crQUEUE_SEND\r
+ * \ingroup Tasks\r
+ */\r
+#define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult ) \\r
+{ \\r
+ *pxResult = xQueueCRSend( pxQueue, pvItemToQueue, xTicksToWait ); \\r
+ if( *pxResult == errQUEUE_BLOCKED ) \\r
+ { \\r
+ crSET_STATE0( xHandle ); \\r
+ *pxResult = xQueueCRSend( pxQueue, pvItemToQueue, 0 ); \\r
+ } \\r
+ if( *pxResult == errQUEUE_YIELD ) \\r
+ { \\r
+ crSET_STATE1( xHandle ); \\r
+ *pxResult = pdPASS; \\r
+ } \\r
+}\r
+\r
+/**\r
+ * croutine. h\r
+ * <pre>\r
+ crQUEUE_RECEIVE(\r
+ xCoRoutineHandle xHandle,\r
+ xQueueHandle pxQueue,\r
+ void *pvBuffer,\r
+ portTickType xTicksToWait,\r
+ portBASE_TYPE *pxResult\r
+ )</pre>\r
+ *\r
+ * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine\r
+ * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.\r
+ *\r
+ * crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas\r
+ * xQueueSend() and xQueueReceive() can only be used from tasks.\r
+ *\r
+ * crQUEUE_RECEIVE can only be called from the co-routine function itself - not\r
+ * from within a function called by the co-routine function. This is because\r
+ * co-routines do not maintain their own stack.\r
+ *\r
+ * See the co-routine section of the WEB documentation for information on\r
+ * passing data between tasks and co-routines and between ISR's and\r
+ * co-routines.\r
+ *\r
+ * @param xHandle The handle of the calling co-routine. This is the xHandle\r
+ * parameter of the co-routine function.\r
+ *\r
+ * @param pxQueue The handle of the queue from which the data will be received.\r
+ * The handle is obtained as the return value when the queue is created using\r
+ * the xQueueCreate() API function.\r
+ *\r
+ * @param pvBuffer The buffer into which the received item is to be copied.\r
+ * The number of bytes of each queued item is specified when the queue is\r
+ * created. This number of bytes is copied into pvBuffer.\r
+ *\r
+ * @param xTickToDelay The number of ticks that the co-routine should block\r
+ * to wait for data to become available from the queue, should data not be\r
+ * available immediately. The actual amount of time this equates to is defined\r
+ * by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant\r
+ * portTICK_RATE_MS can be used to convert ticks to milliseconds (see the\r
+ * crQUEUE_SEND example).\r
+ *\r
+ * @param pxResult The variable pointed to by pxResult will be set to pdPASS if\r
+ * data was successfully retrieved from the queue, otherwise it will be set to\r
+ * an error code as defined within ProjDefs.h.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ // A co-routine receives the number of an LED to flash from a queue. It\r
+ // blocks on the queue until the number is received.\r
+ static void prvCoRoutineFlashWorkTask( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )\r
+ {\r
+ // Variables in co-routines must be declared static if they must maintain value across a blocking call.\r
+ static portBASE_TYPE xResult;\r
+ static unsigned portBASE_TYPE uxLEDToFlash;\r
+\r
+ // All co-routines must start with a call to crSTART().\r
+ crSTART( xHandle );\r
+\r
+ for( ;; )\r
+ {\r
+ // Wait for data to become available on the queue.\r
+ crQUEUE_RECEIVE( xHandle, xCoRoutineQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );\r
+\r
+ if( xResult == pdPASS )\r
+ {\r
+ // We received the LED to flash - flash it!\r
+ vParTestToggleLED( uxLEDToFlash );\r
+ }\r
+ }\r
+\r
+ crEND();\r
+ }</pre>\r
+ * \defgroup crQUEUE_RECEIVE crQUEUE_RECEIVE\r
+ * \ingroup Tasks\r
+ */\r
+#define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult ) \\r
+{ \\r
+ *pxResult = xQueueCRReceive( pxQueue, pvBuffer, xTicksToWait ); \\r
+ if( *pxResult == errQUEUE_BLOCKED ) \\r
+ { \\r
+ crSET_STATE0( xHandle ); \\r
+ *pxResult = xQueueCRReceive( pxQueue, pvBuffer, 0 ); \\r
+ } \\r
+ if( *pxResult == errQUEUE_YIELD ) \\r
+ { \\r
+ crSET_STATE1( xHandle ); \\r
+ *pxResult = pdPASS; \\r
+ } \\r
+}\r
+\r
+/**\r
+ * croutine. h\r
+ * <pre>\r
+ crQUEUE_SEND_FROM_ISR(\r
+ xQueueHandle pxQueue,\r
+ void *pvItemToQueue,\r
+ portBASE_TYPE xCoRoutinePreviouslyWoken\r
+ )</pre>\r
+ *\r
+ * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the\r
+ * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()\r
+ * functions used by tasks.\r
+ *\r
+ * crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to\r
+ * pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and\r
+ * xQueueReceiveFromISR() can only be used to pass data between a task and and\r
+ * ISR.\r
+ *\r
+ * crQUEUE_SEND_FROM_ISR can only be called from an ISR to send data to a queue\r
+ * that is being used from within a co-routine.\r
+ *\r
+ * See the co-routine section of the WEB documentation for information on\r
+ * passing data between tasks and co-routines and between ISR's and\r
+ * co-routines.\r
+ *\r
+ * @param xQueue The handle to the queue on which the item is to be posted.\r
+ *\r
+ * @param pvItemToQueue A pointer to the item that is to be placed on the\r
+ * queue. The size of the items the queue will hold was defined when the\r
+ * queue was created, so this many bytes will be copied from pvItemToQueue\r
+ * into the queue storage area.\r
+ *\r
+ * @param xCoRoutinePreviouslyWoken This is included so an ISR can post onto\r
+ * the same queue multiple times from a single interrupt. The first call\r
+ * should always pass in pdFALSE. Subsequent calls should pass in\r
+ * the value returned from the previous call.\r
+ *\r
+ * @return pdTRUE if a co-routine was woken by posting onto the queue. This is\r
+ * used by the ISR to determine if a context switch may be required following\r
+ * the ISR.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ // A co-routine that blocks on a queue waiting for characters to be received.\r
+ static void vReceivingCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )\r
+ {\r
+ portCHAR cRxedChar;\r
+ portBASE_TYPE xResult;\r
+\r
+ // All co-routines must start with a call to crSTART().\r
+ crSTART( xHandle );\r
+\r
+ for( ;; )\r
+ {\r
+ // Wait for data to become available on the queue. This assumes the\r
+ // queue xCommsRxQueue has already been created!\r
+ crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );\r
+\r
+ // Was a character received?\r
+ if( xResult == pdPASS )\r
+ {\r
+ // Process the character here.\r
+ }\r
+ }\r
+\r
+ // All co-routines must end with a call to crEND().\r
+ crEND();\r
+ }\r
+\r
+ // An ISR that uses a queue to send characters received on a serial port to\r
+ // a co-routine.\r
+ void vUART_ISR( void )\r
+ {\r
+ portCHAR cRxedChar;\r
+ portBASE_TYPE xCRWokenByPost = pdFALSE;\r
+\r
+ // We loop around reading characters until there are none left in the UART.\r
+ while( UART_RX_REG_NOT_EMPTY() )\r
+ {\r
+ // Obtain the character from the UART.\r
+ cRxedChar = UART_RX_REG;\r
+\r
+ // Post the character onto a queue. xCRWokenByPost will be pdFALSE\r
+ // the first time around the loop. If the post causes a co-routine\r
+ // to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE.\r
+ // In this manner we can ensure that if more than one co-routine is\r
+ // blocked on the queue only one is woken by this ISR no matter how\r
+ // many characters are posted to the queue.\r
+ xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost );\r
+ }\r
+ }</pre>\r
+ * \defgroup crQUEUE_SEND_FROM_ISR crQUEUE_SEND_FROM_ISR\r
+ * \ingroup Tasks\r
+ */\r
+#define crQUEUE_SEND_FROM_ISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) xQueueCRSendFromISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken )\r
+\r
+\r
+/**\r
+ * croutine. h\r
+ * <pre>\r
+ crQUEUE_SEND_FROM_ISR(\r
+ xQueueHandle pxQueue,\r
+ void *pvBuffer,\r
+ portBASE_TYPE * pxCoRoutineWoken\r
+ )</pre>\r
+ *\r
+ * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the\r
+ * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()\r
+ * functions used by tasks.\r
+ *\r
+ * crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to\r
+ * pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and\r
+ * xQueueReceiveFromISR() can only be used to pass data between a task and and\r
+ * ISR.\r
+ *\r
+ * crQUEUE_RECEIVE_FROM_ISR can only be called from an ISR to receive data\r
+ * from a queue that is being used from within a co-routine (a co-routine\r
+ * posted to the queue).\r
+ *\r
+ * See the co-routine section of the WEB documentation for information on\r
+ * passing data between tasks and co-routines and between ISR's and\r
+ * co-routines.\r
+ *\r
+ * @param xQueue The handle to the queue on which the item is to be posted.\r
+ *\r
+ * @param pvBuffer A pointer to a buffer into which the received item will be\r
+ * placed. The size of the items the queue will hold was defined when the\r
+ * queue was created, so this many bytes will be copied from the queue into\r
+ * pvBuffer.\r
+ *\r
+ * @param pxCoRoutineWoken A co-routine may be blocked waiting for space to become\r
+ * available on the queue. If crQUEUE_RECEIVE_FROM_ISR causes such a\r
+ * co-routine to unblock *pxCoRoutineWoken will get set to pdTRUE, otherwise\r
+ * *pxCoRoutineWoken will remain unchanged.\r
+ *\r
+ * @return pdTRUE an item was successfully received from the queue, otherwise\r
+ * pdFALSE.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ // A co-routine that posts a character to a queue then blocks for a fixed\r
+ // period. The character is incremented each time.\r
+ static void vSendingCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )\r
+ {\r
+ // cChar holds its value while this co-routine is blocked and must therefore\r
+ // be declared static.\r
+ static portCHAR cCharToTx = 'a';\r
+ portBASE_TYPE xResult;\r
+\r
+ // All co-routines must start with a call to crSTART().\r
+ crSTART( xHandle );\r
+\r
+ for( ;; )\r
+ {\r
+ // Send the next character to the queue.\r
+ crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult );\r
+\r
+ if( xResult == pdPASS )\r
+ {\r
+ // The character was successfully posted to the queue.\r
+ }\r
+ else\r
+ {\r
+ // Could not post the character to the queue.\r
+ }\r
+\r
+ // Enable the UART Tx interrupt to cause an interrupt in this\r
+ // hypothetical UART. The interrupt will obtain the character\r
+ // from the queue and send it.\r
+ ENABLE_RX_INTERRUPT();\r
+\r
+ // Increment to the next character then block for a fixed period.\r
+ // cCharToTx will maintain its value across the delay as it is\r
+ // declared static.\r
+ cCharToTx++;\r
+ if( cCharToTx > 'x' )\r
+ {\r
+ cCharToTx = 'a';\r
+ }\r
+ crDELAY( 100 );\r
+ }\r
+\r
+ // All co-routines must end with a call to crEND().\r
+ crEND();\r
+ }\r
+\r
+ // An ISR that uses a queue to receive characters to send on a UART.\r
+ void vUART_ISR( void )\r
+ {\r
+ portCHAR cCharToTx;\r
+ portBASE_TYPE xCRWokenByPost = pdFALSE;\r
+\r
+ while( UART_TX_REG_EMPTY() )\r
+ {\r
+ // Are there any characters in the queue waiting to be sent?\r
+ // xCRWokenByPost will automatically be set to pdTRUE if a co-routine\r
+ // is woken by the post - ensuring that only a single co-routine is\r
+ // woken no matter how many times we go around this loop.\r
+ if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) )\r
+ {\r
+ SEND_CHARACTER( cCharToTx );\r
+ }\r
+ }\r
+ }</pre>\r
+ * \defgroup crQUEUE_RECEIVE_FROM_ISR crQUEUE_RECEIVE_FROM_ISR\r
+ * \ingroup Tasks\r
+ */\r
+#define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) xQueueCRReceiveFromISR( pxQueue, pvBuffer, pxCoRoutineWoken )\r
+\r
+/*\r
+ * This function is intended for internal use by the co-routine macros only.\r
+ * The macro nature of the co-routine implementation requires that the\r
+ * prototype appears here. The function should not be used by application\r
+ * writers.\r
+ *\r
+ * Removes the current co-routine from its ready list and places it in the\r
+ * appropriate delayed list.\r
+ */\r
+void vCoRoutineAddToDelayedList( portTickType xTicksToDelay, xList *pxEventList );\r
+\r
+/*\r
+ * This function is intended for internal use by the queue implementation only.\r
+ * The function should not be used by application writers.\r
+ *\r
+ * Removes the highest priority co-routine from the event list and places it in\r
+ * the pending ready list.\r
+ */\r
+signed portBASE_TYPE xCoRoutineRemoveFromEventList( const xList *pxEventList );\r
+\r
+#ifdef __cplusplus\r
+}\r
+#endif\r
+\r
+#endif /* CO_ROUTINE_H */\r
--- /dev/null
+/*\r
+ FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry.\r
+\r
+ This file is part of the FreeRTOS.org distribution.\r
+\r
+ FreeRTOS.org is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ FreeRTOS.org is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with FreeRTOS.org; if not, write to the Free Software\r
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+\r
+ A special exception to the GPL can be applied should you wish to distribute\r
+ a combined work that includes FreeRTOS.org, without being obliged to provide\r
+ the source code for any proprietary components. See the licensing section\r
+ of http://www.FreeRTOS.org for full details of how and when the exception\r
+ can be applied.\r
+\r
+ ***************************************************************************\r
+\r
+ Please ensure to read the configuration and relevant port sections of the \r
+ online documentation.\r
+\r
+ +++ http://www.FreeRTOS.org +++\r
+ Documentation, latest information, license and contact details. \r
+\r
+ +++ http://www.SafeRTOS.com +++\r
+ A version that is certified for use in safety critical systems.\r
+\r
+ +++ http://www.OpenRTOS.com +++\r
+ Commercial support, development, porting, licensing and training services.\r
+\r
+ ***************************************************************************\r
+*/\r
+\r
+/*\r
+ * This is the list implementation used by the scheduler. While it is tailored\r
+ * heavily for the schedulers needs, it is also available for use by\r
+ * application code.\r
+ *\r
+ * xLists can only store pointers to xListItems. Each xListItem contains a\r
+ * numeric value (xItemValue). Most of the time the lists are sorted in\r
+ * descending item value order.\r
+ *\r
+ * Lists are created already containing one list item. The value of this\r
+ * item is the maximum possible that can be stored, it is therefore always at\r
+ * the end of the list and acts as a marker. The list member pxHead always\r
+ * points to this marker - even though it is at the tail of the list. This\r
+ * is because the tail contains a wrap back pointer to the true head of\r
+ * the list.\r
+ *\r
+ * In addition to it's value, each list item contains a pointer to the next\r
+ * item in the list (pxNext), a pointer to the list it is in (pxContainer)\r
+ * and a pointer to back to the object that contains it. These later two\r
+ * pointers are included for efficiency of list manipulation. There is\r
+ * effectively a two way link between the object containing the list item and\r
+ * the list item itself.\r
+ *\r
+ *\r
+ * \page ListIntroduction List Implementation\r
+ * \ingroup FreeRTOSIntro\r
+ */\r
+\r
+/*\r
+ Changes from V4.3.1\r
+\r
+ + Included local const within listGET_OWNER_OF_NEXT_ENTRY() to assist\r
+ compiler with optimisation. Thanks B.R.\r
+*/\r
+\r
+#ifndef LIST_H\r
+#define LIST_H\r
+\r
+#ifdef __cplusplus\r
+extern "C" {\r
+#endif\r
+/*\r
+ * Definition of the only type of object that a list can contain.\r
+ */\r
+struct xLIST_ITEM\r
+{\r
+ portTickType xItemValue; /*< The value being listed. In most cases this is used to sort the list in descending order. */\r
+ volatile struct xLIST_ITEM * pxNext; /*< Pointer to the next xListItem in the list. */\r
+ volatile struct xLIST_ITEM * pxPrevious;/*< Pointer to the previous xListItem in the list. */\r
+ void * pvOwner; /*< Pointer to the object (normally a TCB) that contains the list item. There is therefore a two way link between the object containing the list item and the list item itself. */\r
+ void * pvContainer; /*< Pointer to the list in which this list item is placed (if any). */\r
+};\r
+typedef struct xLIST_ITEM xListItem; /* For some reason lint wants this as two separate definitions. */\r
+\r
+struct xMINI_LIST_ITEM\r
+{\r
+ portTickType xItemValue;\r
+ volatile struct xLIST_ITEM *pxNext;\r
+ volatile struct xLIST_ITEM *pxPrevious;\r
+};\r
+typedef struct xMINI_LIST_ITEM xMiniListItem;\r
+\r
+/*\r
+ * Definition of the type of queue used by the scheduler.\r
+ */\r
+typedef struct xLIST\r
+{\r
+ volatile unsigned portBASE_TYPE uxNumberOfItems;\r
+ volatile xListItem * pxIndex; /*< Used to walk through the list. Points to the last item returned by a call to pvListGetOwnerOfNextEntry (). */\r
+ volatile xMiniListItem xListEnd; /*< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */\r
+} xList;\r
+\r
+/*\r
+ * Access macro to set the owner of a list item. The owner of a list item\r
+ * is the object (usually a TCB) that contains the list item.\r
+ *\r
+ * \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER\r
+ * \ingroup LinkedList\r
+ */\r
+#define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner ) ( pxListItem )->pvOwner = ( void * ) pxOwner\r
+\r
+/*\r
+ * Access macro to set the value of the list item. In most cases the value is\r
+ * used to sort the list in descending order.\r
+ *\r
+ * \page listSET_LIST_ITEM_VALUE listSET_LIST_ITEM_VALUE\r
+ * \ingroup LinkedList\r
+ */\r
+#define listSET_LIST_ITEM_VALUE( pxListItem, xValue ) ( pxListItem )->xItemValue = xValue\r
+\r
+/*\r
+ * Access macro the retrieve the value of the list item. The value can\r
+ * represent anything - for example a the priority of a task, or the time at\r
+ * which a task should be unblocked.\r
+ *\r
+ * \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE\r
+ * \ingroup LinkedList\r
+ */\r
+#define listGET_LIST_ITEM_VALUE( pxListItem ) ( ( pxListItem )->xItemValue )\r
+\r
+/*\r
+ * Access macro to determine if a list contains any items. The macro will\r
+ * only have the value true if the list is empty.\r
+ *\r
+ * \page listLIST_IS_EMPTY listLIST_IS_EMPTY\r
+ * \ingroup LinkedList\r
+ */\r
+#define listLIST_IS_EMPTY( pxList ) ( ( pxList )->uxNumberOfItems == ( unsigned portBASE_TYPE ) 0 )\r
+\r
+/*\r
+ * Access macro to return the number of items in the list.\r
+ */\r
+#define listCURRENT_LIST_LENGTH( pxList ) ( ( pxList )->uxNumberOfItems )\r
+\r
+/*\r
+ * Access function to obtain the owner of the next entry in a list.\r
+ *\r
+ * The list member pxIndex is used to walk through a list. Calling\r
+ * listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list\r
+ * and returns that entries pxOwner parameter. Using multiple calls to this\r
+ * function it is therefore possible to move through every item contained in\r
+ * a list.\r
+ *\r
+ * The pxOwner parameter of a list item is a pointer to the object that owns\r
+ * the list item. In the scheduler this is normally a task control block.\r
+ * The pxOwner parameter effectively creates a two way link between the list\r
+ * item and its owner.\r
+ *\r
+ * @param pxList The list from which the next item owner is to be returned.\r
+ *\r
+ * \page listGET_OWNER_OF_NEXT_ENTRY listGET_OWNER_OF_NEXT_ENTRY\r
+ * \ingroup LinkedList\r
+ */\r
+#define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList ) \\r
+{ \\r
+xList * const pxConstList = pxList; \\r
+ /* Increment the index to the next item and return the item, ensuring */ \\r
+ /* we don't return the marker used at the end of the list. */ \\r
+ ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \\r
+ if( ( pxConstList )->pxIndex == ( xListItem * ) &( ( pxConstList )->xListEnd ) ) \\r
+ { \\r
+ ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \\r
+ } \\r
+ pxTCB = ( pxConstList )->pxIndex->pvOwner; \\r
+}\r
+\r
+\r
+/*\r
+ * Access function to obtain the owner of the first entry in a list. Lists\r
+ * are normally sorted in ascending item value order.\r
+ *\r
+ * This function returns the pxOwner member of the first item in the list.\r
+ * The pxOwner parameter of a list item is a pointer to the object that owns\r
+ * the list item. In the scheduler this is normally a task control block.\r
+ * The pxOwner parameter effectively creates a two way link between the list\r
+ * item and its owner.\r
+ *\r
+ * @param pxList The list from which the owner of the head item is to be\r
+ * returned.\r
+ *\r
+ * \page listGET_OWNER_OF_HEAD_ENTRY listGET_OWNER_OF_HEAD_ENTRY\r
+ * \ingroup LinkedList\r
+ */\r
+#define listGET_OWNER_OF_HEAD_ENTRY( pxList ) ( ( pxList->uxNumberOfItems != ( unsigned portBASE_TYPE ) 0 ) ? ( (&( pxList->xListEnd ))->pxNext->pvOwner ) : ( NULL ) )\r
+\r
+/*\r
+ * Check to see if a list item is within a list. The list item maintains a\r
+ * "container" pointer that points to the list it is in. All this macro does\r
+ * is check to see if the container and the list match.\r
+ *\r
+ * @param pxList The list we want to know if the list item is within.\r
+ * @param pxListItem The list item we want to know if is in the list.\r
+ * @return pdTRUE is the list item is in the list, otherwise pdFALSE.\r
+ * pointer against\r
+ */\r
+#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( pxListItem )->pvContainer == ( void * ) pxList )\r
+\r
+/*\r
+ * Must be called before a list is used! This initialises all the members\r
+ * of the list structure and inserts the xListEnd item into the list as a\r
+ * marker to the back of the list.\r
+ *\r
+ * @param pxList Pointer to the list being initialised.\r
+ *\r
+ * \page vListInitialise vListInitialise\r
+ * \ingroup LinkedList\r
+ */\r
+void vListInitialise( xList *pxList );\r
+\r
+/*\r
+ * Must be called before a list item is used. This sets the list container to\r
+ * null so the item does not think that it is already contained in a list.\r
+ *\r
+ * @param pxItem Pointer to the list item being initialised.\r
+ *\r
+ * \page vListInitialiseItem vListInitialiseItem\r
+ * \ingroup LinkedList\r
+ */\r
+void vListInitialiseItem( xListItem *pxItem );\r
+\r
+/*\r
+ * Insert a list item into a list. The item will be inserted into the list in\r
+ * a position determined by its item value (descending item value order).\r
+ *\r
+ * @param pxList The list into which the item is to be inserted.\r
+ *\r
+ * @param pxNewListItem The item to that is to be placed in the list.\r
+ *\r
+ * \page vListInsert vListInsert\r
+ * \ingroup LinkedList\r
+ */\r
+void vListInsert( xList *pxList, xListItem *pxNewListItem );\r
+\r
+/*\r
+ * Insert a list item into a list. The item will be inserted in a position\r
+ * such that it will be the last item within the list returned by multiple\r
+ * calls to listGET_OWNER_OF_NEXT_ENTRY.\r
+ *\r
+ * The list member pvIndex is used to walk through a list. Calling\r
+ * listGET_OWNER_OF_NEXT_ENTRY increments pvIndex to the next item in the list.\r
+ * Placing an item in a list using vListInsertEnd effectively places the item\r
+ * in the list position pointed to by pvIndex. This means that every other\r
+ * item within the list will be returned by listGET_OWNER_OF_NEXT_ENTRY before\r
+ * the pvIndex parameter again points to the item being inserted.\r
+ *\r
+ * @param pxList The list into which the item is to be inserted.\r
+ *\r
+ * @param pxNewListItem The list item to be inserted into the list.\r
+ *\r
+ * \page vListInsertEnd vListInsertEnd\r
+ * \ingroup LinkedList\r
+ */\r
+void vListInsertEnd( xList *pxList, xListItem *pxNewListItem );\r
+\r
+/*\r
+ * Remove an item from a list. The list item has a pointer to the list that\r
+ * it is in, so only the list item need be passed into the function.\r
+ *\r
+ * @param vListRemove The item to be removed. The item will remove itself from\r
+ * the list pointed to by it's pxContainer parameter.\r
+ *\r
+ * \page vListRemove vListRemove\r
+ * \ingroup LinkedList\r
+ */\r
+void vListRemove( xListItem *pxItemToRemove );\r
+\r
+#ifdef __cplusplus\r
+}\r
+#endif\r
+\r
+#endif\r
+\r
--- /dev/null
+/*\r
+ FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry.\r
+\r
+ This file is part of the FreeRTOS.org distribution.\r
+\r
+ FreeRTOS.org is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ FreeRTOS.org is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with FreeRTOS.org; if not, write to the Free Software\r
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+\r
+ A special exception to the GPL can be applied should you wish to distribute\r
+ a combined work that includes FreeRTOS.org, without being obliged to provide\r
+ the source code for any proprietary components. See the licensing section\r
+ of http:www.FreeRTOS.org for full details of how and when the exception\r
+ can be applied.\r
+\r
+ ***************************************************************************\r
+\r
+ Please ensure to read the configuration and relevant port sections of the \r
+ online documentation.\r
+\r
+ +++ http://www.FreeRTOS.org +++\r
+ Documentation, latest information, license and contact details. \r
+\r
+ +++ http://www.SafeRTOS.com +++\r
+ A version that is certified for use in safety critical systems.\r
+\r
+ +++ http://www.OpenRTOS.com +++\r
+ Commercial support, development, porting, licensing and training services.\r
+\r
+ ***************************************************************************\r
+*/\r
+\r
+/*-----------------------------------------------------------\r
+ * Portable layer API. Each function must be defined for each port.\r
+ *----------------------------------------------------------*/\r
+\r
+#ifndef PORTABLE_H\r
+#define PORTABLE_H\r
+\r
+/* Include the macro file relevant to the port being used. */\r
+\r
+#ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT\r
+ #include "..\..\source\portable\owatcom\16bitdos\pc\portmacro.h"\r
+ typedef void ( __interrupt __far *pxISR )();\r
+#endif\r
+\r
+#ifdef OPEN_WATCOM_FLASH_LITE_186_PORT\r
+ #include "..\..\source\portable\owatcom\16bitdos\flsh186\portmacro.h"\r
+ typedef void ( __interrupt __far *pxISR )();\r
+#endif\r
+\r
+#ifdef GCC_MEGA_AVR\r
+ #include "../portable/GCC/ATMega323/portmacro.h"\r
+#endif\r
+\r
+#ifdef IAR_MEGA_AVR\r
+ #include "../portable/IAR/ATMega323/portmacro.h"\r
+#endif\r
+\r
+#ifdef MPLAB_PIC24_PORT\r
+ #include "..\..\Source\portable\MPLAB\PIC24_dsPIC\portmacro.h"\r
+#endif\r
+\r
+#ifdef MPLAB_DSPIC_PORT\r
+ #include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h"\r
+#endif\r
+\r
+#ifdef AIC_DSPIC_PORT\r
+#include "../../FreeRTOS/portable/AIC-2.0.0/portmacro.h"\r
+#endif\r
+\r
+#ifdef MPLAB_PIC18F_PORT\r
+ #include "..\..\source\portable\MPLAB\PIC18F\portmacro.h"\r
+#endif\r
+\r
+#ifdef MPLAB_PIC32MX_PORT\r
+ #include "..\..\Source\portable\MPLAB\PIC32MX\portmacro.h"\r
+#endif\r
+\r
+#ifdef _FEDPICC\r
+ #include "libFreeRTOS/Include/portmacro.h"\r
+#endif\r
+\r
+#ifdef SDCC_CYGNAL\r
+ #include "../../Source/portable/SDCC/Cygnal/portmacro.h"\r
+#endif\r
+\r
+#ifdef GCC_ARM7\r
+ #include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h"\r
+#endif\r
+\r
+#ifdef GCC_ARM7_ECLIPSE\r
+ #include "portmacro.h"\r
+#endif\r
+\r
+#ifdef ROWLEY_LPC23xx\r
+ #include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h"\r
+#endif\r
+\r
+#ifdef GCC_MSP430\r
+ #include "../../Source/portable/GCC/MSP430F449/portmacro.h"\r
+#endif\r
+\r
+#ifdef ROWLEY_MSP430\r
+ #include "../../Source/portable/Rowley/MSP430F449/portmacro.h"\r
+#endif\r
+\r
+#ifdef KEIL_ARM7\r
+ #include "..\..\Source\portable\Keil\ARM7\portmacro.h"\r
+#endif\r
+\r
+#ifdef SAM7_GCC\r
+ #include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h"\r
+#endif\r
+\r
+#ifdef SAM7_IAR\r
+ #include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h"\r
+#endif\r
+\r
+#ifdef LPC2000_IAR\r
+ #include "..\..\Source\portable\IAR\LPC2000\portmacro.h"\r
+#endif\r
+\r
+#ifdef STR71X_IAR\r
+ #include "..\..\Source\portable\IAR\STR71x\portmacro.h"\r
+#endif\r
+\r
+#ifdef STR75X_IAR\r
+ #include "..\..\Source\portable\IAR\STR75x\portmacro.h"\r
+#endif\r
+ \r
+#ifdef STR75X_GCC\r
+ #include "..\..\Source\portable\GCC\STR75x\portmacro.h"\r
+#endif\r
+\r
+#ifdef STR91X_IAR\r
+ #include "..\..\Source\portable\IAR\STR91x\portmacro.h"\r
+#endif\r
+ \r
+#ifdef GCC_H8S\r
+ #include "../../Source/portable/GCC/H8S2329/portmacro.h"\r
+#endif\r
+\r
+#ifdef GCC_AT91FR40008\r
+ #include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h"\r
+#endif\r
+\r
+#ifdef RVDS_ARMCM3_LM3S102\r
+ #include "../../Source/portable/RVDS/ARM_CM3/portmacro.h"\r
+#endif\r
+\r
+#ifdef GCC_ARMCM3_LM3S102\r
+ #include "../../Source/portable/GCC/ARM_CM3/portmacro.h"\r
+#endif\r
+\r
+#ifdef GCC_ARMCM3\r
+ #include "../../Source/portable/GCC/ARM_CM3/portmacro.h"\r
+#endif\r
+\r
+#ifdef IAR_ARM_CM3\r
+ #include "../../Source/portable/IAR/ARM_CM3/portmacro.h"\r
+#endif\r
+\r
+#ifdef IAR_ARMCM3_LM\r
+ #include "../../Source/portable/IAR/ARM_CM3/portmacro.h"\r
+#endif\r
+ \r
+#ifdef HCS12_CODE_WARRIOR\r
+ #include "../../Source/portable/CodeWarrior/HCS12/portmacro.h"\r
+#endif \r
+\r
+#ifdef MICROBLAZE_GCC\r
+ #include "../../Source/portable/GCC/MicroBlaze/portmacro.h"\r
+#endif\r
+\r
+#ifdef TERN_EE\r
+ #include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h"\r
+#endif\r
+\r
+#ifdef GCC_HCS12\r
+ #include "../../Source/portable/GCC/HCS12/portmacro.h"\r
+#endif\r
+\r
+#ifdef GCC_MCF5235\r
+ #include "../../Source/portable/GCC/MCF5235/portmacro.h"\r
+#endif\r
+\r
+#ifdef BCC_INDUSTRIAL_PC_PORT\r
+ /* A short file name has to be used in place of the normal\r
+ FreeRTOSConfig.h when using the Borland compiler. */\r
+ #include "frconfig.h"\r
+ #include "..\portable\BCC\16BitDOS\PC\prtmacro.h"\r
+ typedef void ( __interrupt __far *pxISR )();\r
+#endif\r
+\r
+#ifdef BCC_FLASH_LITE_186_PORT\r
+ /* A short file name has to be used in place of the normal\r
+ FreeRTOSConfig.h when using the Borland compiler. */\r
+ #include "frconfig.h"\r
+ #include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h"\r
+ typedef void ( __interrupt __far *pxISR )();\r
+#endif\r
+\r
+#ifdef __GNUC__\r
+ #ifdef __AVR32_AVR32A__\r
+ #include "portmacro.h"\r
+ #endif\r
+#endif\r
+\r
+#ifdef __ICCAVR32__\r
+ #ifdef __CORE__\r
+ #if __CORE__ == __AVR32A__\r
+ #include "portmacro.h"\r
+ #endif\r
+ #endif\r
+#endif\r
+\r
+#ifdef __91467D\r
+ #include "portmacro.h"\r
+#endif\r
+\r
+#ifdef __96340\r
+ #include "portmacro.h"\r
+#endif\r
+\r
+#ifdef __cplusplus\r
+extern "C" {\r
+#endif\r
+/*\r
+ * Setup the stack of a new task so it is ready to be placed under the\r
+ * scheduler control. The registers have to be placed on the stack in\r
+ * the order that the port expects to find them.\r
+ */\r
+portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters );\r
+\r
+/*\r
+ * Map to the memory management routines required for the port.\r
+ */\r
+void *pvPortMalloc( size_t xSize );\r
+void vPortFree( void *pv );\r
+void vPortInitialiseBlocks( void );\r
+\r
+/*\r
+ * Setup the hardware ready for the scheduler to take control. This generally\r
+ * sets up a tick interrupt and sets timers for the correct tick frequency.\r
+ */\r
+portBASE_TYPE xPortStartScheduler( void );\r
+\r
+/*\r
+ * Undo any hardware/ISR setup that was performed by xPortStartScheduler() so\r
+ * the hardware is left in its original condition after the scheduler stops\r
+ * executing.\r
+ */\r
+void vPortEndScheduler( void );\r
+\r
+#ifdef __cplusplus\r
+}\r
+#endif\r
+\r
+#endif /* PORTABLE_H */\r
+\r
--- /dev/null
+/*\r
+ FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry.\r
+\r
+ This file is part of the FreeRTOS.org distribution.\r
+\r
+ FreeRTOS.org is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ FreeRTOS.org is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with FreeRTOS.org; if not, write to the Free Software\r
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+\r
+ A special exception to the GPL can be applied should you wish to distribute\r
+ a combined work that includes FreeRTOS.org, without being obliged to provide\r
+ the source code for any proprietary components. See the licensing section \r
+ of http://www.FreeRTOS.org for full details of how and when the exception\r
+ can be applied.\r
+\r
+ ***************************************************************************\r
+\r
+ Please ensure to read the configuration and relevant port sections of the \r
+ online documentation.\r
+\r
+ +++ http://www.FreeRTOS.org +++\r
+ Documentation, latest information, license and contact details. \r
+\r
+ +++ http://www.SafeRTOS.com +++\r
+ A version that is certified for use in safety critical systems.\r
+\r
+ +++ http://www.OpenRTOS.com +++\r
+ Commercial support, development, porting, licensing and training services.\r
+\r
+ ***************************************************************************\r
+*/\r
+\r
+#ifndef PROJDEFS_H\r
+#define PROJDEFS_H\r
+\r
+/* Defines to prototype to which task functions must conform. */\r
+typedef void (*pdTASK_CODE)( void * );\r
+\r
+#define pdTRUE ( 1 )\r
+#define pdFALSE ( 0 )\r
+\r
+#define pdPASS ( 1 )\r
+#define pdFAIL ( 0 )\r
+#define errQUEUE_EMPTY ( 0 )\r
+#define errQUEUE_FULL ( 0 )\r
+\r
+/* Error definitions. */\r
+#define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ( -1 )\r
+#define errNO_TASK_TO_RUN ( -2 )\r
+#define errQUEUE_BLOCKED ( -4 )\r
+#define errQUEUE_YIELD ( -5 )\r
+\r
+#endif /* PROJDEFS_H */\r
+\r
+\r
+\r
--- /dev/null
+/*\r
+ FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry.\r
+\r
+ This file is part of the FreeRTOS.org distribution.\r
+\r
+ FreeRTOS.org is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ FreeRTOS.org is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with FreeRTOS.org; if not, write to the Free Software\r
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+\r
+ A special exception to the GPL can be applied should you wish to distribute\r
+ a combined work that includes FreeRTOS.org, without being obliged to provide\r
+ the source code for any proprietary components. See the licensing section\r
+ of http://www.FreeRTOS.org for full details of how and when the exception\r
+ can be applied.\r
+\r
+ ***************************************************************************\r
+\r
+ Please ensure to read the configuration and relevant port sections of the \r
+ online documentation.\r
+\r
+ +++ http://www.FreeRTOS.org +++\r
+ Documentation, latest information, license and contact details. \r
+\r
+ +++ http://www.SafeRTOS.com +++\r
+ A version that is certified for use in safety critical systems.\r
+\r
+ +++ http://www.OpenRTOS.com +++\r
+ Commercial support, development, porting, licensing and training services.\r
+\r
+ ***************************************************************************\r
+*/\r
+\r
+#ifndef QUEUE_H\r
+#define QUEUE_H\r
+\r
+#ifdef __cplusplus\r
+extern "C" {\r
+#endif\r
+typedef void * xQueueHandle;\r
+\r
+/* For internal use only. */\r
+#define queueSEND_TO_BACK ( 0 )\r
+#define queueSEND_TO_FRONT ( 1 )\r
+\r
+\r
+/**\r
+ * queue. h\r
+ * <pre>\r
+ xQueueHandle xQueueCreate(\r
+ unsigned portBASE_TYPE uxQueueLength,\r
+ unsigned portBASE_TYPE uxItemSize\r
+ );\r
+ * </pre>\r
+ *\r
+ * Creates a new queue instance. This allocates the storage required by the\r
+ * new queue and returns a handle for the queue.\r
+ *\r
+ * @param uxQueueLength The maximum number of items that the queue can contain.\r
+ *\r
+ * @param uxItemSize The number of bytes each item in the queue will require.\r
+ * Items are queued by copy, not by reference, so this is the number of bytes\r
+ * that will be copied for each posted item. Each item on the queue must be\r
+ * the same size.\r
+ *\r
+ * @return If the queue is successfully create then a handle to the newly\r
+ * created queue is returned. If the queue cannot be created then 0 is\r
+ * returned.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ struct AMessage\r
+ {\r
+ portCHAR ucMessageID;\r
+ portCHAR ucData[ 20 ];\r
+ };\r
+\r
+ void vATask( void *pvParameters )\r
+ {\r
+ xQueueHandle xQueue1, xQueue2;\r
+\r
+ // Create a queue capable of containing 10 unsigned long values.\r
+ xQueue1 = xQueueCreate( 10, sizeof( unsigned portLONG ) );\r
+ if( xQueue1 == 0 )\r
+ {\r
+ // Queue was not created and must not be used.\r
+ }\r
+\r
+ // Create a queue capable of containing 10 pointers to AMessage structures.\r
+ // These should be passed by pointer as they contain a lot of data.\r
+ xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );\r
+ if( xQueue2 == 0 )\r
+ {\r
+ // Queue was not created and must not be used.\r
+ }\r
+\r
+ // ... Rest of task code.\r
+ }\r
+ </pre>\r
+ * \defgroup xQueueCreate xQueueCreate\r
+ * \ingroup QueueManagement\r
+ */\r
+xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize );\r
+\r
+/**\r
+ * queue. h\r
+ * <pre>\r
+ portBASE_TYPE xQueueSendToToFront(\r
+ xQueueHandle xQueue,\r
+ const void * pvItemToQueue,\r
+ portTickType xTicksToWait\r
+ );\r
+ * </pre>\r
+ *\r
+ * This is a macro that calls xQueueGenericSend().\r
+ *\r
+ * Post an item to the front of a queue. The item is queued by copy, not by\r
+ * reference. This function must not be called from an interrupt service\r
+ * routine. See xQueueSendFromISR () for an alternative which may be used\r
+ * in an ISR.\r
+ *\r
+ * @param xQueue The handle to the queue on which the item is to be posted.\r
+ *\r
+ * @param pvItemToQueue A pointer to the item that is to be placed on the\r
+ * queue. The size of the items the queue will hold was defined when the\r
+ * queue was created, so this many bytes will be copied from pvItemToQueue\r
+ * into the queue storage area.\r
+ *\r
+ * @param xTicksToWait The maximum amount of time the task should block\r
+ * waiting for space to become available on the queue, should it already\r
+ * be full. The call will return immediately if this is set to 0. The\r
+ * time is defined in tick periods so the constant portTICK_RATE_MS\r
+ * should be used to convert to real time if this is required.\r
+ *\r
+ * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ struct AMessage\r
+ {\r
+ portCHAR ucMessageID;\r
+ portCHAR ucData[ 20 ];\r
+ } xMessage;\r
+\r
+ unsigned portLONG ulVar = 10UL;\r
+\r
+ void vATask( void *pvParameters )\r
+ {\r
+ xQueueHandle xQueue1, xQueue2;\r
+ struct AMessage *pxMessage;\r
+\r
+ // Create a queue capable of containing 10 unsigned long values.\r
+ xQueue1 = xQueueCreate( 10, sizeof( unsigned portLONG ) );\r
+\r
+ // Create a queue capable of containing 10 pointers to AMessage structures.\r
+ // These should be passed by pointer as they contain a lot of data.\r
+ xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );\r
+\r
+ // ...\r
+\r
+ if( xQueue1 != 0 )\r
+ {\r
+ // Send an unsigned long. Wait for 10 ticks for space to become\r
+ // available if necessary.\r
+ if( xQueueSendToFront( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )\r
+ {\r
+ // Failed to post the message, even after 10 ticks.\r
+ }\r
+ }\r
+\r
+ if( xQueue2 != 0 )\r
+ {\r
+ // Send a pointer to a struct AMessage object. Don't block if the\r
+ // queue is already full.\r
+ pxMessage = & xMessage;\r
+ xQueueSendToFront( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );\r
+ }\r
+\r
+ // ... Rest of task code.\r
+ }\r
+ </pre>\r
+ * \defgroup xQueueSend xQueueSend\r
+ * \ingroup QueueManagement\r
+ */\r
+#define xQueueSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_FRONT )\r
+\r
+/**\r
+ * queue. h\r
+ * <pre>\r
+ portBASE_TYPE xQueueSendToBack(\r
+ xQueueHandle xQueue,\r
+ const void * pvItemToQueue,\r
+ portTickType xTicksToWait\r
+ );\r
+ * </pre>\r
+ *\r
+ * This is a macro that calls xQueueGenericSend().\r
+ *\r
+ * Post an item to the back of a queue. The item is queued by copy, not by\r
+ * reference. This function must not be called from an interrupt service\r
+ * routine. See xQueueSendFromISR () for an alternative which may be used\r
+ * in an ISR.\r
+ *\r
+ * @param xQueue The handle to the queue on which the item is to be posted.\r
+ *\r
+ * @param pvItemToQueue A pointer to the item that is to be placed on the\r
+ * queue. The size of the items the queue will hold was defined when the\r
+ * queue was created, so this many bytes will be copied from pvItemToQueue\r
+ * into the queue storage area.\r
+ *\r
+ * @param xTicksToWait The maximum amount of time the task should block\r
+ * waiting for space to become available on the queue, should it already\r
+ * be full. The call will return immediately if this is set to 0. The\r
+ * time is defined in tick periods so the constant portTICK_RATE_MS\r
+ * should be used to convert to real time if this is required.\r
+ *\r
+ * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ struct AMessage\r
+ {\r
+ portCHAR ucMessageID;\r
+ portCHAR ucData[ 20 ];\r
+ } xMessage;\r
+\r
+ unsigned portLONG ulVar = 10UL;\r
+\r
+ void vATask( void *pvParameters )\r
+ {\r
+ xQueueHandle xQueue1, xQueue2;\r
+ struct AMessage *pxMessage;\r
+\r
+ // Create a queue capable of containing 10 unsigned long values.\r
+ xQueue1 = xQueueCreate( 10, sizeof( unsigned portLONG ) );\r
+\r
+ // Create a queue capable of containing 10 pointers to AMessage structures.\r
+ // These should be passed by pointer as they contain a lot of data.\r
+ xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );\r
+\r
+ // ...\r
+\r
+ if( xQueue1 != 0 )\r
+ {\r
+ // Send an unsigned long. Wait for 10 ticks for space to become\r
+ // available if necessary.\r
+ if( xQueueSendToBack( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )\r
+ {\r
+ // Failed to post the message, even after 10 ticks.\r
+ }\r
+ }\r
+\r
+ if( xQueue2 != 0 )\r
+ {\r
+ // Send a pointer to a struct AMessage object. Don't block if the\r
+ // queue is already full.\r
+ pxMessage = & xMessage;\r
+ xQueueSendToBack( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );\r
+ }\r
+\r
+ // ... Rest of task code.\r
+ }\r
+ </pre>\r
+ * \defgroup xQueueSend xQueueSend\r
+ * \ingroup QueueManagement\r
+ */\r
+#define xQueueSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK )\r
+\r
+/**\r
+ * queue. h\r
+ * <pre>\r
+ portBASE_TYPE xQueueSend(\r
+ xQueueHandle xQueue,\r
+ const void * pvItemToQueue,\r
+ portTickType xTicksToWait\r
+ );\r
+ * </pre>\r
+ *\r
+ * This is a macro that calls xQueueGenericSend(). It is included for\r
+ * backward compatibility with versions of FreeRTOS.org that did not\r
+ * include the xQueueSendToFront() and xQueueSendToBack() macros. It is\r
+ * equivalent to xQueueSendToBack().\r
+ *\r
+ * Post an item on a queue. The item is queued by copy, not by reference.\r
+ * This function must not be called from an interrupt service routine.\r
+ * See xQueueSendFromISR () for an alternative which may be used in an ISR.\r
+ *\r
+ * @param xQueue The handle to the queue on which the item is to be posted.\r
+ *\r
+ * @param pvItemToQueue A pointer to the item that is to be placed on the\r
+ * queue. The size of the items the queue will hold was defined when the\r
+ * queue was created, so this many bytes will be copied from pvItemToQueue\r
+ * into the queue storage area.\r
+ *\r
+ * @param xTicksToWait The maximum amount of time the task should block\r
+ * waiting for space to become available on the queue, should it already\r
+ * be full. The call will return immediately if this is set to 0. The\r
+ * time is defined in tick periods so the constant portTICK_RATE_MS\r
+ * should be used to convert to real time if this is required.\r
+ *\r
+ * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ struct AMessage\r
+ {\r
+ portCHAR ucMessageID;\r
+ portCHAR ucData[ 20 ];\r
+ } xMessage;\r
+\r
+ unsigned portLONG ulVar = 10UL;\r
+\r
+ void vATask( void *pvParameters )\r
+ {\r
+ xQueueHandle xQueue1, xQueue2;\r
+ struct AMessage *pxMessage;\r
+\r
+ // Create a queue capable of containing 10 unsigned long values.\r
+ xQueue1 = xQueueCreate( 10, sizeof( unsigned portLONG ) );\r
+\r
+ // Create a queue capable of containing 10 pointers to AMessage structures.\r
+ // These should be passed by pointer as they contain a lot of data.\r
+ xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );\r
+\r
+ // ...\r
+\r
+ if( xQueue1 != 0 )\r
+ {\r
+ // Send an unsigned long. Wait for 10 ticks for space to become\r
+ // available if necessary.\r
+ if( xQueueSend( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )\r
+ {\r
+ // Failed to post the message, even after 10 ticks.\r
+ }\r
+ }\r
+\r
+ if( xQueue2 != 0 )\r
+ {\r
+ // Send a pointer to a struct AMessage object. Don't block if the\r
+ // queue is already full.\r
+ pxMessage = & xMessage;\r
+ xQueueSend( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );\r
+ }\r
+\r
+ // ... Rest of task code.\r
+ }\r
+ </pre>\r
+ * \defgroup xQueueSend xQueueSend\r
+ * \ingroup QueueManagement\r
+ */\r
+#define xQueueSend( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK )\r
+\r
+\r
+/**\r
+ * queue. h\r
+ * <pre>\r
+ portBASE_TYPE xQueueGenericSend(\r
+ xQueueHandle xQueue,\r
+ const void * pvItemToQueue,\r
+ portTickType xTicksToWait\r
+ portBASE_TYPE xCopyPosition\r
+ );\r
+ * </pre>\r
+ *\r
+ * It is preferred that the macros xQueueSend(), xQueueSendToFront() and\r
+ * xQueueSendToBack() are used in place of calling this function directly.\r
+ *\r
+ * Post an item on a queue. The item is queued by copy, not by reference.\r
+ * This function must not be called from an interrupt service routine.\r
+ * See xQueueSendFromISR () for an alternative which may be used in an ISR.\r
+ *\r
+ * @param xQueue The handle to the queue on which the item is to be posted.\r
+ *\r
+ * @param pvItemToQueue A pointer to the item that is to be placed on the\r
+ * queue. The size of the items the queue will hold was defined when the\r
+ * queue was created, so this many bytes will be copied from pvItemToQueue\r
+ * into the queue storage area.\r
+ *\r
+ * @param xTicksToWait The maximum amount of time the task should block\r
+ * waiting for space to become available on the queue, should it already\r
+ * be full. The call will return immediately if this is set to 0. The\r
+ * time is defined in tick periods so the constant portTICK_RATE_MS\r
+ * should be used to convert to real time if this is required.\r
+ *\r
+ * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the\r
+ * item at the back of the queue, or queueSEND_TO_FRONT to place the item\r
+ * at the front of the queue (for high priority messages).\r
+ *\r
+ * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ struct AMessage\r
+ {\r
+ portCHAR ucMessageID;\r
+ portCHAR ucData[ 20 ];\r
+ } xMessage;\r
+\r
+ unsigned portLONG ulVar = 10UL;\r
+\r
+ void vATask( void *pvParameters )\r
+ {\r
+ xQueueHandle xQueue1, xQueue2;\r
+ struct AMessage *pxMessage;\r
+\r
+ // Create a queue capable of containing 10 unsigned long values.\r
+ xQueue1 = xQueueCreate( 10, sizeof( unsigned portLONG ) );\r
+\r
+ // Create a queue capable of containing 10 pointers to AMessage structures.\r
+ // These should be passed by pointer as they contain a lot of data.\r
+ xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );\r
+\r
+ // ...\r
+\r
+ if( xQueue1 != 0 )\r
+ {\r
+ // Send an unsigned long. Wait for 10 ticks for space to become\r
+ // available if necessary.\r
+ if( xQueueGenericSend( xQueue1, ( void * ) &ulVar, ( portTickType ) 10, queueSEND_TO_BACK ) != pdPASS )\r
+ {\r
+ // Failed to post the message, even after 10 ticks.\r
+ }\r
+ }\r
+\r
+ if( xQueue2 != 0 )\r
+ {\r
+ // Send a pointer to a struct AMessage object. Don't block if the\r
+ // queue is already full.\r
+ pxMessage = & xMessage;\r
+ xQueueGenericSend( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0, queueSEND_TO_BACK );\r
+ }\r
+\r
+ // ... Rest of task code.\r
+ }\r
+ </pre>\r
+ * \defgroup xQueueSend xQueueSend\r
+ * \ingroup QueueManagement\r
+ */\r
+signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );\r
+\r
+/**\r
+ * queue. h\r
+ * <pre>\r
+ portBASE_TYPE xQueuePeek(\r
+ xQueueHandle xQueue,\r
+ void *pvBuffer,\r
+ portTickType xTicksToWait\r
+ );</pre>\r
+ *\r
+ * This is a macro that calls the xQueueGenericReceive() function.\r
+ *\r
+ * Receive an item from a queue without removing the item from the queue.\r
+ * The item is received by copy so a buffer of adequate size must be\r
+ * provided. The number of bytes copied into the buffer was defined when\r
+ * the queue was created.\r
+ *\r
+ * Successfully received items remain on the queue so will be returned again\r
+ * by the next call, or a call to xQueueReceive().\r
+ *\r
+ * This macro must not be used in an interrupt service routine.\r
+ *\r
+ * @param pxQueue The handle to the queue from which the item is to be\r
+ * received.\r
+ *\r
+ * @param pvBuffer Pointer to the buffer into which the received item will\r
+ * be copied.\r
+ *\r
+ * @param xTicksToWait The maximum amount of time the task should block\r
+ * waiting for an item to receive should the queue be empty at the time\r
+ * of the call. The time is defined in tick periods so the constant\r
+ * portTICK_RATE_MS should be used to convert to real time if this is required.\r
+ *\r
+ * @return pdTRUE if an item was successfully received from the queue,\r
+ * otherwise pdFALSE.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ struct AMessage\r
+ {\r
+ portCHAR ucMessageID;\r
+ portCHAR ucData[ 20 ];\r
+ } xMessage;\r
+\r
+ xQueueHandle xQueue;\r
+\r
+ // Task to create a queue and post a value.\r
+ void vATask( void *pvParameters )\r
+ {\r
+ struct AMessage *pxMessage;\r
+\r
+ // Create a queue capable of containing 10 pointers to AMessage structures.\r
+ // These should be passed by pointer as they contain a lot of data.\r
+ xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );\r
+ if( xQueue == 0 )\r
+ {\r
+ // Failed to create the queue.\r
+ }\r
+\r
+ // ...\r
+\r
+ // Send a pointer to a struct AMessage object. Don't block if the\r
+ // queue is already full.\r
+ pxMessage = & xMessage;\r
+ xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );\r
+\r
+ // ... Rest of task code.\r
+ }\r
+\r
+ // Task to peek the data from the queue.\r
+ void vADifferentTask( void *pvParameters )\r
+ {\r
+ struct AMessage *pxRxedMessage;\r
+\r
+ if( xQueue != 0 )\r
+ {\r
+ // Peek a message on the created queue. Block for 10 ticks if a\r
+ // message is not immediately available.\r
+ if( xQueuePeek( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )\r
+ {\r
+ // pcRxedMessage now points to the struct AMessage variable posted\r
+ // by vATask, but the item still remains on the queue.\r
+ }\r
+ }\r
+\r
+ // ... Rest of task code.\r
+ }\r
+ </pre>\r
+ * \defgroup xQueueReceive xQueueReceive\r
+ * \ingroup QueueManagement\r
+ */\r
+#define xQueuePeek( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( xQueue, pvBuffer, xTicksToWait, pdTRUE )\r
+\r
+/**\r
+ * queue. h\r
+ * <pre>\r
+ portBASE_TYPE xQueueReceive(\r
+ xQueueHandle xQueue,\r
+ void *pvBuffer,\r
+ portTickType xTicksToWait\r
+ );</pre>\r
+ *\r
+ * This is a macro that calls the xQueueGenericReceive() function.\r
+ *\r
+ * Receive an item from a queue. The item is received by copy so a buffer of\r
+ * adequate size must be provided. The number of bytes copied into the buffer\r
+ * was defined when the queue was created.\r
+ *\r
+ * Successfully received items are removed from the queue.\r
+ *\r
+ * This function must not be used in an interrupt service routine. See\r
+ * xQueueReceiveFromISR for an alternative that can.\r
+ *\r
+ * @param pxQueue The handle to the queue from which the item is to be\r
+ * received.\r
+ *\r
+ * @param pvBuffer Pointer to the buffer into which the received item will\r
+ * be copied.\r
+ *\r
+ * @param xTicksToWait The maximum amount of time the task should block\r
+ * waiting for an item to receive should the queue be empty at the time\r
+ * of the call. The time is defined in tick periods so the constant\r
+ * portTICK_RATE_MS should be used to convert to real time if this is required.\r
+ *\r
+ * @return pdTRUE if an item was successfully received from the queue,\r
+ * otherwise pdFALSE.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ struct AMessage\r
+ {\r
+ portCHAR ucMessageID;\r
+ portCHAR ucData[ 20 ];\r
+ } xMessage;\r
+\r
+ xQueueHandle xQueue;\r
+\r
+ // Task to create a queue and post a value.\r
+ void vATask( void *pvParameters )\r
+ {\r
+ struct AMessage *pxMessage;\r
+\r
+ // Create a queue capable of containing 10 pointers to AMessage structures.\r
+ // These should be passed by pointer as they contain a lot of data.\r
+ xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );\r
+ if( xQueue == 0 )\r
+ {\r
+ // Failed to create the queue.\r
+ }\r
+\r
+ // ...\r
+\r
+ // Send a pointer to a struct AMessage object. Don't block if the\r
+ // queue is already full.\r
+ pxMessage = & xMessage;\r
+ xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );\r
+\r
+ // ... Rest of task code.\r
+ }\r
+\r
+ // Task to receive from the queue.\r
+ void vADifferentTask( void *pvParameters )\r
+ {\r
+ struct AMessage *pxRxedMessage;\r
+\r
+ if( xQueue != 0 )\r
+ {\r
+ // Receive a message on the created queue. Block for 10 ticks if a\r
+ // message is not immediately available.\r
+ if( xQueueReceive( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )\r
+ {\r
+ // pcRxedMessage now points to the struct AMessage variable posted\r
+ // by vATask.\r
+ }\r
+ }\r
+\r
+ // ... Rest of task code.\r
+ }\r
+ </pre>\r
+ * \defgroup xQueueReceive xQueueReceive\r
+ * \ingroup QueueManagement\r
+ */\r
+#define xQueueReceive( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( xQueue, pvBuffer, xTicksToWait, pdFALSE )\r
+\r
+\r
+/**\r
+ * queue. h\r
+ * <pre>\r
+ portBASE_TYPE xQueueGenericReceive(\r
+ xQueueHandle xQueue,\r
+ void *pvBuffer,\r
+ portTickType xTicksToWait\r
+ portBASE_TYPE xJustPeek\r
+ );</pre>\r
+ *\r
+ * It is preferred that the macro xQueueReceive() be used rather than calling\r
+ * this function directly.\r
+ *\r
+ * Receive an item from a queue. The item is received by copy so a buffer of\r
+ * adequate size must be provided. The number of bytes copied into the buffer\r
+ * was defined when the queue was created.\r
+ *\r
+ * This function must not be used in an interrupt service routine. See\r
+ * xQueueReceiveFromISR for an alternative that can.\r
+ *\r
+ * @param pxQueue The handle to the queue from which the item is to be\r
+ * received.\r
+ *\r
+ * @param pvBuffer Pointer to the buffer into which the received item will\r
+ * be copied.\r
+ *\r
+ * @param xTicksToWait The maximum amount of time the task should block\r
+ * waiting for an item to receive should the queue be empty at the time\r
+ * of the call. The time is defined in tick periods so the constant\r
+ * portTICK_RATE_MS should be used to convert to real time if this is required.\r
+ *\r
+ * @param xJustPeek When set to true, the item received from the queue is not\r
+ * actually removed from the queue - meaning a subsequent call to\r
+ * xQueueReceive() will return the same item. When set to false, the item\r
+ * being received from the queue is also removed from the queue.\r
+ *\r
+ * @return pdTRUE if an item was successfully received from the queue,\r
+ * otherwise pdFALSE.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ struct AMessage\r
+ {\r
+ portCHAR ucMessageID;\r
+ portCHAR ucData[ 20 ];\r
+ } xMessage;\r
+\r
+ xQueueHandle xQueue;\r
+\r
+ // Task to create a queue and post a value.\r
+ void vATask( void *pvParameters )\r
+ {\r
+ struct AMessage *pxMessage;\r
+\r
+ // Create a queue capable of containing 10 pointers to AMessage structures.\r
+ // These should be passed by pointer as they contain a lot of data.\r
+ xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );\r
+ if( xQueue == 0 )\r
+ {\r
+ // Failed to create the queue.\r
+ }\r
+\r
+ // ...\r
+\r
+ // Send a pointer to a struct AMessage object. Don't block if the\r
+ // queue is already full.\r
+ pxMessage = & xMessage;\r
+ xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );\r
+\r
+ // ... Rest of task code.\r
+ }\r
+\r
+ // Task to receive from the queue.\r
+ void vADifferentTask( void *pvParameters )\r
+ {\r
+ struct AMessage *pxRxedMessage;\r
+\r
+ if( xQueue != 0 )\r
+ {\r
+ // Receive a message on the created queue. Block for 10 ticks if a\r
+ // message is not immediately available.\r
+ if( xQueueGenericReceive( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )\r
+ {\r
+ // pcRxedMessage now points to the struct AMessage variable posted\r
+ // by vATask.\r
+ }\r
+ }\r
+\r
+ // ... Rest of task code.\r
+ }\r
+ </pre>\r
+ * \defgroup xQueueReceive xQueueReceive\r
+ * \ingroup QueueManagement\r
+ */\r
+signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, const void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeek );\r
+\r
+/**\r
+ * queue. h\r
+ * <pre>unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue );</pre>\r
+ *\r
+ * Return the number of messages stored in a queue.\r
+ *\r
+ * @param xQueue A handle to the queue being queried.\r
+ *\r
+ * @return The number of messages available in the queue.\r
+ *\r
+ * \page uxQueueMessagesWaiting uxQueueMessagesWaiting\r
+ * \ingroup QueueManagement\r
+ */\r
+unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue );\r
+\r
+/**\r
+ * queue. h\r
+ * <pre>void vQueueDelete( xQueueHandle xQueue );</pre>\r
+ *\r
+ * Delete a queue - freeing all the memory allocated for storing of items\r
+ * placed on the queue.\r
+ *\r
+ * @param xQueue A handle to the queue to be deleted.\r
+ *\r
+ * \page vQueueDelete vQueueDelete\r
+ * \ingroup QueueManagement\r
+ */\r
+void vQueueDelete( xQueueHandle xQueue );\r
+\r
+/**\r
+ * queue. h\r
+ * <pre>\r
+ portBASE_TYPE xQueueSendToFrontFromISR(\r
+ xQueueHandle pxQueue,\r
+ const void *pvItemToQueue,\r
+ portBASE_TYPE xTaskPreviouslyWoken\r
+ );\r
+ </pre>\r
+ *\r
+ * This is a macro that calls xQueueGenericSendFromISR().\r
+ *\r
+ * Post an item to the front of a queue. It is safe to use this macro from\r
+ * within an interrupt service routine.\r
+ *\r
+ * Items are queued by copy not reference so it is preferable to only\r
+ * queue small items, especially when called from an ISR. In most cases\r
+ * it would be preferable to store a pointer to the item being queued.\r
+ *\r
+ * @param xQueue The handle to the queue on which the item is to be posted.\r
+ *\r
+ * @param pvItemToQueue A pointer to the item that is to be placed on the\r
+ * queue. The size of the items the queue will hold was defined when the\r
+ * queue was created, so this many bytes will be copied from pvItemToQueue\r
+ * into the queue storage area.\r
+ *\r
+ * @param cTaskPreviouslyWoken This is included so an ISR can post onto\r
+ * the same queue multiple times from a single interrupt. The first call\r
+ * should always pass in pdFALSE. Subsequent calls should pass in\r
+ * the value returned from the previous call. See the file serial .c in the\r
+ * PC port for a good example of this mechanism.\r
+ *\r
+ * @return pdTRUE if a task was woken by posting onto the queue. This is\r
+ * used by the ISR to determine if a context switch may be required following\r
+ * the ISR.\r
+ *\r
+ * Example usage for buffered IO (where the ISR can obtain more than one value\r
+ * per call):\r
+ <pre>\r
+ void vBufferISR( void )\r
+ {\r
+ portCHAR cIn;\r
+ portBASE_TYPE xTaskWokenByPost;\r
+\r
+ // We have not woken a task at the start of the ISR.\r
+ cTaskWokenByPost = pdFALSE;\r
+\r
+ // Loop until the buffer is empty.\r
+ do\r
+ {\r
+ // Obtain a byte from the buffer.\r
+ cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS ); \r
+\r
+ // Post the byte. The first time round the loop cTaskWokenByPost\r
+ // will be pdFALSE. If the queue send causes a task to wake we do\r
+ // not want the task to run until we have finished the ISR, so\r
+ // xQueueSendFromISR does not cause a context switch. Also we\r
+ // don't want subsequent posts to wake any other tasks, so we store\r
+ // the return value back into cTaskWokenByPost so xQueueSendFromISR\r
+ // knows not to wake any task the next iteration of the loop.\r
+ xTaskWokenByPost = xQueueSendToFrontFromISR( xRxQueue, &cIn, cTaskWokenByPost );\r
+\r
+ } while( portINPUT_BYTE( BUFFER_COUNT ) );\r
+\r
+ // Now the buffer is empty we can switch context if necessary.\r
+ if( cTaskWokenByPost )\r
+ {\r
+ taskYIELD ();\r
+ }\r
+ }\r
+ </pre>\r
+ *\r
+ * \defgroup xQueueSendFromISR xQueueSendFromISR\r
+ * \ingroup QueueManagement\r
+ */\r
+#define xQueueSendToFrontFromISR( pxQueue, pvItemToQueue, xTaskPreviouslyWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, xTaskPreviouslyWoken, queueSEND_TO_FRONT )\r
+\r
+\r
+/**\r
+ * queue. h\r
+ * <pre>\r
+ portBASE_TYPE xQueueSendToBackFromISR(\r
+ xQueueHandle pxQueue,\r
+ const void *pvItemToQueue,\r
+ portBASE_TYPE xTaskPreviouslyWoken\r
+ );\r
+ </pre>\r
+ *\r
+ * This is a macro that calls xQueueGenericSendFromISR().\r
+ *\r
+ * Post an item to the back of a queue. It is safe to use this macro from\r
+ * within an interrupt service routine.\r
+ *\r
+ * Items are queued by copy not reference so it is preferable to only\r
+ * queue small items, especially when called from an ISR. In most cases\r
+ * it would be preferable to store a pointer to the item being queued.\r
+ *\r
+ * @param xQueue The handle to the queue on which the item is to be posted.\r
+ *\r
+ * @param pvItemToQueue A pointer to the item that is to be placed on the\r
+ * queue. The size of the items the queue will hold was defined when the\r
+ * queue was created, so this many bytes will be copied from pvItemToQueue\r
+ * into the queue storage area.\r
+ *\r
+ * @param cTaskPreviouslyWoken This is included so an ISR can post onto\r
+ * the same queue multiple times from a single interrupt. The first call\r
+ * should always pass in pdFALSE. Subsequent calls should pass in\r
+ * the value returned from the previous call. See the file serial .c in the\r
+ * PC port for a good example of this mechanism.\r
+ *\r
+ * @return pdTRUE if a task was woken by posting onto the queue. This is\r
+ * used by the ISR to determine if a context switch may be required following\r
+ * the ISR.\r
+ *\r
+ * Example usage for buffered IO (where the ISR can obtain more than one value\r
+ * per call):\r
+ <pre>\r
+ void vBufferISR( void )\r
+ {\r
+ portCHAR cIn;\r
+ portBASE_TYPE xTaskWokenByPost;\r
+\r
+ // We have not woken a task at the start of the ISR.\r
+ cTaskWokenByPost = pdFALSE;\r
+\r
+ // Loop until the buffer is empty.\r
+ do\r
+ {\r
+ // Obtain a byte from the buffer.\r
+ cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS ); \r
+\r
+ // Post the byte. The first time round the loop cTaskWokenByPost\r
+ // will be pdFALSE. If the queue send causes a task to wake we do\r
+ // not want the task to run until we have finished the ISR, so\r
+ // xQueueSendFromISR does not cause a context switch. Also we\r
+ // don't want subsequent posts to wake any other tasks, so we store\r
+ // the return value back into cTaskWokenByPost so xQueueSendFromISR\r
+ // knows not to wake any task the next iteration of the loop.\r
+ xTaskWokenByPost = xQueueSendToBackFromISR( xRxQueue, &cIn, cTaskWokenByPost );\r
+\r
+ } while( portINPUT_BYTE( BUFFER_COUNT ) );\r
+\r
+ // Now the buffer is empty we can switch context if necessary.\r
+ if( cTaskWokenByPost )\r
+ {\r
+ taskYIELD ();\r
+ }\r
+ }\r
+ </pre>\r
+ *\r
+ * \defgroup xQueueSendFromISR xQueueSendFromISR\r
+ * \ingroup QueueManagement\r
+ */\r
+#define xQueueSendToBackFromISR( pxQueue, pvItemToQueue, xTaskPreviouslyWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, xTaskPreviouslyWoken, queueSEND_TO_BACK )\r
+\r
+\r
+/**\r
+ * queue. h\r
+ * <pre>\r
+ portBASE_TYPE xQueueSendFromISR(\r
+ xQueueHandle pxQueue,\r
+ const void *pvItemToQueue,\r
+ portBASE_TYPE xTaskPreviouslyWoken\r
+ );\r
+ </pre>\r
+ *\r
+ * This is a macro that calls xQueueGenericSendFromISR(). It is included\r
+ * for backward compatibility with versions of FreeRTOS.org that did not\r
+ * include the xQueueSendToBackFromISR() and xQueueSendToFrontFromISR()\r
+ * macros.\r
+ *\r
+ * Post an item to the back of a queue. It is safe to use this function from\r
+ * within an interrupt service routine.\r
+ *\r
+ * Items are queued by copy not reference so it is preferable to only\r
+ * queue small items, especially when called from an ISR. In most cases\r
+ * it would be preferable to store a pointer to the item being queued.\r
+ *\r
+ * @param xQueue The handle to the queue on which the item is to be posted.\r
+ *\r
+ * @param pvItemToQueue A pointer to the item that is to be placed on the\r
+ * queue. The size of the items the queue will hold was defined when the\r
+ * queue was created, so this many bytes will be copied from pvItemToQueue\r
+ * into the queue storage area.\r
+ *\r
+ * @param cTaskPreviouslyWoken This is included so an ISR can post onto\r
+ * the same queue multiple times from a single interrupt. The first call\r
+ * should always pass in pdFALSE. Subsequent calls should pass in\r
+ * the value returned from the previous call. See the file serial .c in the\r
+ * PC port for a good example of this mechanism.\r
+ *\r
+ * @return pdTRUE if a task was woken by posting onto the queue. This is\r
+ * used by the ISR to determine if a context switch may be required following\r
+ * the ISR.\r
+ *\r
+ * Example usage for buffered IO (where the ISR can obtain more than one value\r
+ * per call):\r
+ <pre>\r
+ void vBufferISR( void )\r
+ {\r
+ portCHAR cIn;\r
+ portBASE_TYPE xTaskWokenByPost;\r
+\r
+ // We have not woken a task at the start of the ISR.\r
+ cTaskWokenByPost = pdFALSE;\r
+\r
+ // Loop until the buffer is empty.\r
+ do\r
+ {\r
+ // Obtain a byte from the buffer.\r
+ cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS ); \r
+\r
+ // Post the byte. The first time round the loop cTaskWokenByPost\r
+ // will be pdFALSE. If the queue send causes a task to wake we do\r
+ // not want the task to run until we have finished the ISR, so\r
+ // xQueueSendFromISR does not cause a context switch. Also we\r
+ // don't want subsequent posts to wake any other tasks, so we store\r
+ // the return value back into cTaskWokenByPost so xQueueSendFromISR\r
+ // knows not to wake any task the next iteration of the loop.\r
+ xTaskWokenByPost = xQueueSendFromISR( xRxQueue, &cIn, cTaskWokenByPost );\r
+\r
+ } while( portINPUT_BYTE( BUFFER_COUNT ) );\r
+\r
+ // Now the buffer is empty we can switch context if necessary.\r
+ if( cTaskWokenByPost )\r
+ {\r
+ taskYIELD ();\r
+ }\r
+ }\r
+ </pre>\r
+ *\r
+ * \defgroup xQueueSendFromISR xQueueSendFromISR\r
+ * \ingroup QueueManagement\r
+ */\r
+#define xQueueSendFromISR( pxQueue, pvItemToQueue, xTaskPreviouslyWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, xTaskPreviouslyWoken, queueSEND_TO_BACK )\r
+\r
+/**\r
+ * queue. h\r
+ * <pre>\r
+ portBASE_TYPE xQueueGenericSendFromISR(\r
+ xQueueHandle pxQueue,\r
+ const void *pvItemToQueue,\r
+ portBASE_TYPE xTaskPreviouslyWoken\r
+ portBASE_TYPE xCopyPosition\r
+ );\r
+ </pre>\r
+ *\r
+ * It is preferred that the macros xQueueSendFromISR(),\r
+ * xQueueSendToFrontFromISR() and xQueueSendToBackFromISR() be used in place\r
+ * of calling this function directly.\r
+ *\r
+ * Post an item on a queue. It is safe to use this function from within an\r
+ * interrupt service routine.\r
+ *\r
+ * Items are queued by copy not reference so it is preferable to only\r
+ * queue small items, especially when called from an ISR. In most cases\r
+ * it would be preferable to store a pointer to the item being queued.\r
+ *\r
+ * @param xQueue The handle to the queue on which the item is to be posted.\r
+ *\r
+ * @param pvItemToQueue A pointer to the item that is to be placed on the\r
+ * queue. The size of the items the queue will hold was defined when the\r
+ * queue was created, so this many bytes will be copied from pvItemToQueue\r
+ * into the queue storage area.\r
+ *\r
+ * @param cTaskPreviouslyWoken This is included so an ISR can post onto\r
+ * the same queue multiple times from a single interrupt. The first call\r
+ * should always pass in pdFALSE. Subsequent calls should pass in\r
+ * the value returned from the previous call. See the file serial .c in the\r
+ * PC port for a good example of this mechanism.\r
+ *\r
+ * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the\r
+ * item at the back of the queue, or queueSEND_TO_FRONT to place the item\r
+ * at the front of the queue (for high priority messages).\r
+ *\r
+ * @return pdTRUE if a task was woken by posting onto the queue. This is\r
+ * used by the ISR to determine if a context switch may be required following\r
+ * the ISR.\r
+ *\r
+ * Example usage for buffered IO (where the ISR can obtain more than one value\r
+ * per call):\r
+ <pre>\r
+ void vBufferISR( void )\r
+ {\r
+ portCHAR cIn;\r
+ portBASE_TYPE xTaskWokenByPost;\r
+\r
+ // We have not woken a task at the start of the ISR.\r
+ cTaskWokenByPost = pdFALSE;\r
+\r
+ // Loop until the buffer is empty.\r
+ do\r
+ {\r
+ // Obtain a byte from the buffer.\r
+ cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS ); \r
+\r
+ // Post the byte. The first time round the loop cTaskWokenByPost\r
+ // will be pdFALSE. If the queue send causes a task to wake we do\r
+ // not want the task to run until we have finished the ISR, so\r
+ // xQueueSendFromISR does not cause a context switch. Also we\r
+ // don't want subsequent posts to wake any other tasks, so we store\r
+ // the return value back into cTaskWokenByPost so xQueueSendFromISR\r
+ // knows not to wake any task the next iteration of the loop.\r
+ xTaskWokenByPost = xQueueGenericSendFromISR( xRxQueue, &cIn, cTaskWokenByPost, queueSEND_TO_BACK );\r
+\r
+ } while( portINPUT_BYTE( BUFFER_COUNT ) );\r
+\r
+ // Now the buffer is empty we can switch context if necessary.\r
+ if( cTaskWokenByPost )\r
+ {\r
+ taskYIELD ();\r
+ }\r
+ }\r
+ </pre>\r
+ *\r
+ * \defgroup xQueueSendFromISR xQueueSendFromISR\r
+ * \ingroup QueueManagement\r
+ */\r
+signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE xTaskPreviouslyWoken, portBASE_TYPE xCopyPosition );\r
+\r
+/**\r
+ * queue. h\r
+ * <pre>\r
+ portBASE_TYPE xQueueReceiveFromISR(\r
+ xQueueHandle pxQueue,\r
+ void *pvBuffer,\r
+ portBASE_TYPE *pxTaskWoken\r
+ );\r
+ * </pre>\r
+ *\r
+ * Receive an item from a queue. It is safe to use this function from within an\r
+ * interrupt service routine.\r
+ *\r
+ * @param pxQueue The handle to the queue from which the item is to be\r
+ * received.\r
+ *\r
+ * @param pvBuffer Pointer to the buffer into which the received item will\r
+ * be copied.\r
+ *\r
+ * @param pxTaskWoken A task may be blocked waiting for space to become\r
+ * available on the queue. If xQueueReceiveFromISR causes such a task to\r
+ * unblock *pxTaskWoken will get set to pdTRUE, otherwise *pxTaskWoken will\r
+ * remain unchanged.\r
+ *\r
+ * @return pdTRUE if an item was successfully received from the queue,\r
+ * otherwise pdFALSE.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+\r
+ xQueueHandle xQueue;\r
+\r
+ // Function to create a queue and post some values.\r
+ void vAFunction( void *pvParameters )\r
+ {\r
+ portCHAR cValueToPost;\r
+ const portTickType xBlockTime = ( portTickType )0xff;\r
+\r
+ // Create a queue capable of containing 10 characters.\r
+ xQueue = xQueueCreate( 10, sizeof( portCHAR ) );\r
+ if( xQueue == 0 )\r
+ {\r
+ // Failed to create the queue.\r
+ }\r
+\r
+ // ...\r
+\r
+ // Post some characters that will be used within an ISR. If the queue\r
+ // is full then this task will block for xBlockTime ticks.\r
+ cValueToPost = 'a';\r
+ xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );\r
+ cValueToPost = 'b';\r
+ xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );\r
+\r
+ // ... keep posting characters ... this task may block when the queue\r
+ // becomes full.\r
+\r
+ cValueToPost = 'c';\r
+ xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );\r
+ }\r
+\r
+ // ISR that outputs all the characters received on the queue.\r
+ void vISR_Routine( void )\r
+ {\r
+ portBASE_TYPE xTaskWokenByReceive = pdFALSE;\r
+ portCHAR cRxedChar;\r
+\r
+ while( xQueueReceiveFromISR( xQueue, ( void * ) &cRxedChar, &xTaskWokenByReceive) )\r
+ {\r
+ // A character was received. Output the character now.\r
+ vOutputCharacter( cRxedChar );\r
+\r
+ // If removing the character from the queue woke the task that was\r
+ // posting onto the queue cTaskWokenByReceive will have been set to\r
+ // pdTRUE. No matter how many times this loop iterates only one\r
+ // task will be woken.\r
+ }\r
+\r
+ if( cTaskWokenByPost != ( portCHAR ) pdFALSE;\r
+ {\r
+ taskYIELD ();\r
+ }\r
+ }\r
+ </pre>\r
+ * \defgroup xQueueReceiveFromISR xQueueReceiveFromISR\r
+ * \ingroup QueueManagement\r
+ */\r
+signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, const void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken );\r
+\r
+/* \r
+ * xQueueAltGenericSend() is an alternative version of xQueueGenericSend().\r
+ * Likewise xQueueAltGenericReceive() is an alternative version of\r
+ * xQueueGenericReceive().\r
+ *\r
+ * The source code that implements the alternative (Alt) API is much \r
+ * simpler because it executes everything from within a critical section. \r
+ * This is the approach taken by many other RTOSes, but FreeRTOS.org has the \r
+ * preferred fully featured API too. The fully featured API has more \r
+ * complex code that takes longer to execute, but makes much less use of \r
+ * critical sections. Therefore the alternative API sacrifices interrupt \r
+ * responsiveness to gain execution speed, whereas the fully featured API\r
+ * sacrifices execution speed to ensure better interrupt responsiveness.\r
+ */\r
+signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );\r
+signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, const void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking );\r
+#define xQueueAltSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_FRONT )\r
+#define xQueueAltSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK )\r
+#define xQueueAltReceive( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( xQueue, pvBuffer, xTicksToWait, pdFALSE )\r
+#define xQueueAltPeek( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( xQueue, pvBuffer, xTicksToWait, pdTRUE )\r
+\r
+/*\r
+ * The functions defined above are for passing data to and from tasks. The\r
+ * functions below are the equivalents for passing data to and from\r
+ * co-routines.\r
+ *\r
+ * These functions are called from the co-routine macro implementation and\r
+ * should not be called directly from application code. Instead use the macro\r
+ * wrappers defined within croutine.h.\r
+ */\r
+signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken );\r
+signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken );\r
+signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait );\r
+signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait );\r
+\r
+/*\r
+ * For internal use only. Use xSemaphoreCreateMutex() or\r
+ * xSemaphoreCreateCounting() instead of calling these functions directly.\r
+ */\r
+xQueueHandle xQueueCreateMutex( void );\r
+xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount );\r
+\r
+/*\r
+ * For internal use only. Use xSemaphoreTakeMutexRecursive() or\r
+ * xSemaphoreGiveMutexRecursive() instead of calling these functions directly.\r
+ */\r
+portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime );\r
+portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex );\r
+\r
+#ifdef __cplusplus\r
+}\r
+#endif\r
+\r
+#endif /* QUEUE_H */\r
+\r
--- /dev/null
+/*\r
+ FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry.\r
+\r
+ This file is part of the FreeRTOS.org distribution.\r
+\r
+ FreeRTOS.org is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ FreeRTOS.org is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with FreeRTOS.org; if not, write to the Free Software\r
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+\r
+ A special exception to the GPL can be applied should you wish to distribute\r
+ a combined work that includes FreeRTOS.org, without being obliged to provide\r
+ the source code for any proprietary components. See the licensing section \r
+ of http://www.FreeRTOS.org for full details of how and when the exception\r
+ can be applied.\r
+\r
+ ***************************************************************************\r
+\r
+ Please ensure to read the configuration and relevant port sections of the \r
+ online documentation.\r
+\r
+ +++ http://www.FreeRTOS.org +++\r
+ Documentation, latest information, license and contact details. \r
+\r
+ +++ http://www.SafeRTOS.com +++\r
+ A version that is certified for use in safety critical systems.\r
+\r
+ +++ http://www.OpenRTOS.com +++\r
+ Commercial support, development, porting, licensing and training services.\r
+\r
+ ***************************************************************************\r
+*/\r
+\r
+#ifndef SEMAPHORE_H\r
+#define SEMAPHORE_H\r
+\r
+#include "queue.h"\r
+\r
+typedef xQueueHandle xSemaphoreHandle;\r
+\r
+#define semBINARY_SEMAPHORE_QUEUE_LENGTH ( ( unsigned portCHAR ) 1 )\r
+#define semSEMAPHORE_QUEUE_ITEM_LENGTH ( ( unsigned portCHAR ) 0 )\r
+#define semGIVE_BLOCK_TIME ( ( portTickType ) 0 )\r
+\r
+\r
+/**\r
+ * semphr. h\r
+ * <pre>vSemaphoreCreateBinary( xSemaphoreHandle xSemaphore )</pre>\r
+ *\r
+ * <i>Macro</i> that implements a semaphore by using the existing queue mechanism.\r
+ * The queue length is 1 as this is a binary semaphore. The data size is 0\r
+ * as we don't want to actually store any data - we just want to know if the\r
+ * queue is empty or full.\r
+ *\r
+ * This type of semaphore can be used for pure synchronisation between tasks or\r
+ * between an interrupt and a task. The semaphore need not be given back once\r
+ * obtained, so one task/interrupt can continuously 'give' the semaphore while\r
+ * another continuously 'takes' the semaphore. For this reason this type of\r
+ * semaphore does not use a priority inheritance mechanism. For an alternative\r
+ * that does use priority inheritance see xSemaphoreCreateMutex().\r
+ *\r
+ * @param xSemaphore Handle to the created semaphore. Should be of type xSemaphoreHandle.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ xSemaphoreHandle xSemaphore;\r
+\r
+ void vATask( void * pvParameters )\r
+ {\r
+ // Semaphore cannot be used before a call to vSemaphoreCreateBinary ().\r
+ // This is a macro so pass the variable in directly.\r
+ vSemaphoreCreateBinary( xSemaphore );\r
+\r
+ if( xSemaphore != NULL )\r
+ {\r
+ // The semaphore was created successfully.\r
+ // The semaphore can now be used. \r
+ }\r
+ }\r
+ </pre>\r
+ * \defgroup vSemaphoreCreateBinary vSemaphoreCreateBinary\r
+ * \ingroup Semaphores\r
+ */\r
+#define vSemaphoreCreateBinary( xSemaphore ) { \\r
+ xSemaphore = xQueueCreate( ( unsigned portBASE_TYPE ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH ); \\r
+ if( xSemaphore != NULL ) \\r
+ { \\r
+ xSemaphoreGive( xSemaphore ); \\r
+ } \\r
+ }\r
+\r
+/**\r
+ * semphr. h\r
+ * xSemaphoreTake( \r
+ * xSemaphoreHandle xSemaphore, \r
+ * portTickType xBlockTime \r
+ * )</pre>\r
+ *\r
+ * <i>Macro</i> to obtain a semaphore. The semaphore must have previously been\r
+ * created with a call to vSemaphoreCreateBinary(), xSemaphoreCreateMutex() or\r
+ * xSemaphoreCreateCounting().\r
+ *\r
+ * @param xSemaphore A handle to the semaphore being taken - obtained when\r
+ * the semaphore was created.\r
+ *\r
+ * @param xBlockTime The time in ticks to wait for the semaphore to become\r
+ * available. The macro portTICK_RATE_MS can be used to convert this to a\r
+ * real time. A block time of zero can be used to poll the semaphore. A block\r
+ * time of portMAX_DELAY can be used to block indefinitely (provided\r
+ * INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h).\r
+ *\r
+ * @return pdTRUE if the semaphore was obtained. pdFALSE\r
+ * if xBlockTime expired without the semaphore becoming available.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ xSemaphoreHandle xSemaphore = NULL;\r
+\r
+ // A task that creates a semaphore.\r
+ void vATask( void * pvParameters )\r
+ {\r
+ // Create the semaphore to guard a shared resource.\r
+ vSemaphoreCreateBinary( xSemaphore );\r
+ }\r
+\r
+ // A task that uses the semaphore.\r
+ void vAnotherTask( void * pvParameters )\r
+ {\r
+ // ... Do other things.\r
+\r
+ if( xSemaphore != NULL )\r
+ {\r
+ // See if we can obtain the semaphore. If the semaphore is not available\r
+ // wait 10 ticks to see if it becomes free. \r
+ if( xSemaphoreTake( xSemaphore, ( portTickType ) 10 ) == pdTRUE )\r
+ {\r
+ // We were able to obtain the semaphore and can now access the\r
+ // shared resource.\r
+\r
+ // ...\r
+\r
+ // We have finished accessing the shared resource. Release the \r
+ // semaphore.\r
+ xSemaphoreGive( xSemaphore );\r
+ }\r
+ else\r
+ {\r
+ // We could not obtain the semaphore and can therefore not access\r
+ // the shared resource safely.\r
+ }\r
+ }\r
+ }\r
+ </pre>\r
+ * \defgroup xSemaphoreTake xSemaphoreTake\r
+ * \ingroup Semaphores\r
+ */\r
+#define xSemaphoreTake( xSemaphore, xBlockTime ) xQueueGenericReceive( ( xQueueHandle ) xSemaphore, NULL, xBlockTime, pdFALSE )\r
+\r
+/**\r
+ * semphr. h\r
+ * xSemaphoreTakeRecursive( \r
+ * xSemaphoreHandle xMutex, \r
+ * portTickType xBlockTime \r
+ * )\r
+ *\r
+ * <i>Macro</i> to recursively obtain, or 'take', a mutex type semaphore. \r
+ * The mutex must have previously been created using a call to \r
+ * xSemaphoreCreateRecursiveMutex();\r
+ * \r
+ * configUSE_RECURSIVE_MUTEXES must be set to 1 in FreeRTOSConfig.h for this\r
+ * macro to be available.\r
+ * \r
+ * This macro must not be used on mutexes created using xSemaphoreCreateMutex().\r
+ *\r
+ * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex \r
+ * doesn't become available again until the owner has called \r
+ * xSemaphoreGiveRecursive() for each successful 'take' request. For example, \r
+ * if a task successfully 'takes' the same mutex 5 times then the mutex will \r
+ * not be available to any other task until it has also 'given' the mutex back\r
+ * exactly five times.\r
+ *\r
+ * @param xMutex A handle to the mutex being obtained. This is the\r
+ * handle returned by xSemaphoreCreateRecursiveMutex();\r
+ *\r
+ * @param xBlockTime The time in ticks to wait for the semaphore to become\r
+ * available. The macro portTICK_RATE_MS can be used to convert this to a\r
+ * real time. A block time of zero can be used to poll the semaphore. If\r
+ * the task already owns the semaphore then xSemaphoreTakeRecursive() will\r
+ * return immediately no matter what the value of xBlockTime. \r
+ *\r
+ * @return pdTRUE if the semaphore was obtained. pdFALSE if xBlockTime\r
+ * expired without the semaphore becoming available.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ xSemaphoreHandle xMutex = NULL;\r
+\r
+ // A task that creates a mutex.\r
+ void vATask( void * pvParameters )\r
+ {\r
+ // Create the mutex to guard a shared resource.\r
+ xMutex = xSemaphoreCreateRecursiveMutex();\r
+ }\r
+\r
+ // A task that uses the mutex.\r
+ void vAnotherTask( void * pvParameters )\r
+ {\r
+ // ... Do other things.\r
+\r
+ if( xMutex != NULL )\r
+ {\r
+ // See if we can obtain the mutex. If the mutex is not available\r
+ // wait 10 ticks to see if it becomes free. \r
+ if( xSemaphoreTakeRecursive( xSemaphore, ( portTickType ) 10 ) == pdTRUE )\r
+ {\r
+ // We were able to obtain the mutex and can now access the\r
+ // shared resource.\r
+\r
+ // ...\r
+ // For some reason due to the nature of the code further calls to \r
+ // xSemaphoreTakeRecursive() are made on the same mutex. In real\r
+ // code these would not be just sequential calls as this would make\r
+ // no sense. Instead the calls are likely to be buried inside\r
+ // a more complex call structure.\r
+ xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );\r
+ xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );\r
+\r
+ // The mutex has now been 'taken' three times, so will not be \r
+ // available to another task until it has also been given back\r
+ // three times. Again it is unlikely that real code would have\r
+ // these calls sequentially, but instead buried in a more complex\r
+ // call structure. This is just for illustrative purposes.\r
+ xSemaphoreGiveRecursive( xMutex );\r
+ xSemaphoreGiveRecursive( xMutex );\r
+ xSemaphoreGiveRecursive( xMutex );\r
+\r
+ // Now the mutex can be taken by other tasks.\r
+ }\r
+ else\r
+ {\r
+ // We could not obtain the mutex and can therefore not access\r
+ // the shared resource safely.\r
+ }\r
+ }\r
+ }\r
+ </pre>\r
+ * \defgroup xSemaphoreTakeRecursive xSemaphoreTakeRecursive\r
+ * \ingroup Semaphores\r
+ */\r
+#define xSemaphoreTakeRecursive( xMutex, xBlockTime ) xQueueTakeMutexRecursive( xMutex, xBlockTime )\r
+\r
+\r
+/* \r
+ * xSemaphoreAltTake() is an alternative version of xSemaphoreTake().\r
+ *\r
+ * The source code that implements the alternative (Alt) API is much \r
+ * simpler because it executes everything from within a critical section. \r
+ * This is the approach taken by many other RTOSes, but FreeRTOS.org has the \r
+ * preferred fully featured API too. The fully featured API has more \r
+ * complex code that takes longer to execute, but makes much less use of \r
+ * critical sections. Therefore the alternative API sacrifices interrupt \r
+ * responsiveness to gain execution speed, whereas the fully featured API\r
+ * sacrifices execution speed to ensure better interrupt responsiveness.\r
+ */\r
+#define xSemaphoreAltTake( xSemaphore, xBlockTime ) xQueueAltGenericReceive( ( xQueueHandle ) xSemaphore, NULL, xBlockTime, pdFALSE )\r
+\r
+/**\r
+ * semphr. h\r
+ * <pre>xSemaphoreGive( xSemaphoreHandle xSemaphore )</pre>\r
+ *\r
+ * <i>Macro</i> to release a semaphore. The semaphore must have previously been\r
+ * created with a call to vSemaphoreCreateBinary(), xSemaphoreCreateMutex() or\r
+ * xSemaphoreCreateCounting(). and obtained using sSemaphoreTake().\r
+ *\r
+ * This macro must not be used from an ISR. See xSemaphoreGiveFromISR () for\r
+ * an alternative which can be used from an ISR.\r
+ *\r
+ * This macro must also not be used on semaphores created using \r
+ * xSemaphoreCreateRecursiveMutex().\r
+ *\r
+ * @param xSemaphore A handle to the semaphore being released. This is the\r
+ * handle returned when the semaphore was created.\r
+ *\r
+ * @return pdTRUE if the semaphore was released. pdFALSE if an error occurred.\r
+ * Semaphores are implemented using queues. An error can occur if there is\r
+ * no space on the queue to post a message - indicating that the \r
+ * semaphore was not first obtained correctly.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ xSemaphoreHandle xSemaphore = NULL;\r
+\r
+ void vATask( void * pvParameters )\r
+ {\r
+ // Create the semaphore to guard a shared resource.\r
+ vSemaphoreCreateBinary( xSemaphore );\r
+\r
+ if( xSemaphore != NULL )\r
+ {\r
+ if( xSemaphoreGive( xSemaphore ) != pdTRUE )\r
+ {\r
+ // We would expect this call to fail because we cannot give\r
+ // a semaphore without first "taking" it!\r
+ }\r
+\r
+ // Obtain the semaphore - don't block if the semaphore is not\r
+ // immediately available.\r
+ if( xSemaphoreTake( xSemaphore, ( portTickType ) 0 ) )\r
+ {\r
+ // We now have the semaphore and can access the shared resource.\r
+\r
+ // ...\r
+\r
+ // We have finished accessing the shared resource so can free the\r
+ // semaphore.\r
+ if( xSemaphoreGive( xSemaphore ) != pdTRUE )\r
+ {\r
+ // We would not expect this call to fail because we must have\r
+ // obtained the semaphore to get here.\r
+ }\r
+ }\r
+ }\r
+ }\r
+ </pre>\r
+ * \defgroup xSemaphoreGive xSemaphoreGive\r
+ * \ingroup Semaphores\r
+ */\r
+#define xSemaphoreGive( xSemaphore ) xQueueGenericSend( ( xQueueHandle ) xSemaphore, NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )\r
+\r
+/**\r
+ * semphr. h\r
+ * <pre>xSemaphoreGiveRecursive( xSemaphoreHandle xMutex )</pre>\r
+ *\r
+ * <i>Macro</i> to recursively release, or 'give', a mutex type semaphore.\r
+ * The mutex must have previously been created using a call to \r
+ * xSemaphoreCreateRecursiveMutex();\r
+ * \r
+ * configUSE_RECURSIVE_MUTEXES must be set to 1 in FreeRTOSConfig.h for this\r
+ * macro to be available.\r
+ *\r
+ * This macro must not be used on mutexes created using xSemaphoreCreateMutex().\r
+ * \r
+ * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex \r
+ * doesn't become available again until the owner has called \r
+ * xSemaphoreGiveRecursive() for each successful 'take' request. For example, \r
+ * if a task successfully 'takes' the same mutex 5 times then the mutex will \r
+ * not be available to any other task until it has also 'given' the mutex back\r
+ * exactly five times.\r
+ *\r
+ * @param xMutex A handle to the mutex being released, or 'given'. This is the\r
+ * handle returned by xSemaphoreCreateMutex();\r
+ *\r
+ * @return pdTRUE if the semaphore was given.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ xSemaphoreHandle xMutex = NULL;\r
+\r
+ // A task that creates a mutex.\r
+ void vATask( void * pvParameters )\r
+ {\r
+ // Create the mutex to guard a shared resource.\r
+ xMutex = xSemaphoreCreateRecursiveMutex();\r
+ }\r
+\r
+ // A task that uses the mutex.\r
+ void vAnotherTask( void * pvParameters )\r
+ {\r
+ // ... Do other things.\r
+\r
+ if( xMutex != NULL )\r
+ {\r
+ // See if we can obtain the mutex. If the mutex is not available\r
+ // wait 10 ticks to see if it becomes free. \r
+ if( xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 ) == pdTRUE )\r
+ {\r
+ // We were able to obtain the mutex and can now access the\r
+ // shared resource.\r
+\r
+ // ...\r
+ // For some reason due to the nature of the code further calls to \r
+ // xSemaphoreTakeRecursive() are made on the same mutex. In real\r
+ // code these would not be just sequential calls as this would make\r
+ // no sense. Instead the calls are likely to be buried inside\r
+ // a more complex call structure.\r
+ xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );\r
+ xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );\r
+\r
+ // The mutex has now been 'taken' three times, so will not be \r
+ // available to another task until it has also been given back\r
+ // three times. Again it is unlikely that real code would have\r
+ // these calls sequentially, it would be more likely that the calls\r
+ // to xSemaphoreGiveRecursive() would be called as a call stack\r
+ // unwound. This is just for demonstrative purposes.\r
+ xSemaphoreGiveRecursive( xMutex );\r
+ xSemaphoreGiveRecursive( xMutex );\r
+ xSemaphoreGiveRecursive( xMutex );\r
+\r
+ // Now the mutex can be taken by other tasks.\r
+ }\r
+ else\r
+ {\r
+ // We could not obtain the mutex and can therefore not access\r
+ // the shared resource safely.\r
+ }\r
+ }\r
+ }\r
+ </pre>\r
+ * \defgroup xSemaphoreGiveRecursive xSemaphoreGiveRecursive\r
+ * \ingroup Semaphores\r
+ */\r
+#define xSemaphoreGiveRecursive( xMutex ) xQueueGiveMutexRecursive( xMutex )\r
+\r
+/* \r
+ * xSemaphoreAltGive() is an alternative version of xSemaphoreGive().\r
+ *\r
+ * The source code that implements the alternative (Alt) API is much \r
+ * simpler because it executes everything from within a critical section. \r
+ * This is the approach taken by many other RTOSes, but FreeRTOS.org has the \r
+ * preferred fully featured API too. The fully featured API has more \r
+ * complex code that takes longer to execute, but makes much less use of \r
+ * critical sections. Therefore the alternative API sacrifices interrupt \r
+ * responsiveness to gain execution speed, whereas the fully featured API\r
+ * sacrifices execution speed to ensure better interrupt responsiveness.\r
+ */\r
+#define xSemaphoreAltGive( xSemaphore ) xQueueAltGenericSend( ( xQueueHandle ) xSemaphore, NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )\r
+\r
+/**\r
+ * semphr. h\r
+ * <pre>\r
+ xSemaphoreGiveFromISR( \r
+ xSemaphoreHandle xSemaphore, \r
+ portSHORT sTaskPreviouslyWoken \r
+ )</pre>\r
+ *\r
+ * <i>Macro</i> to release a semaphore. The semaphore must have previously been\r
+ * created with a call to vSemaphoreCreateBinary() or xSemaphoreCreateCounting().\r
+ *\r
+ * Mutex type semaphores (those created using a call to xSemaphoreCreateMutex())\r
+ * must not be used with this macro.\r
+ *\r
+ * This macro can be used from an ISR.\r
+ *\r
+ * @param xSemaphore A handle to the semaphore being released. This is the\r
+ * handle returned when the semaphore was created.\r
+ *\r
+ * @param sTaskPreviouslyWoken This is included so an ISR can make multiple calls\r
+ * to xSemaphoreGiveFromISR () from a single interrupt. The first call\r
+ * should always pass in pdFALSE. Subsequent calls should pass in\r
+ * the value returned from the previous call. See the file serial .c in the\r
+ * PC port for a good example of using xSemaphoreGiveFromISR ().\r
+ *\r
+ * @return pdTRUE if a task was woken by releasing the semaphore. This is \r
+ * used by the ISR to determine if a context switch may be required following\r
+ * the ISR.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ #define LONG_TIME 0xffff\r
+ #define TICKS_TO_WAIT 10\r
+ xSemaphoreHandle xSemaphore = NULL;\r
+\r
+ // Repetitive task.\r
+ void vATask( void * pvParameters )\r
+ {\r
+ for( ;; )\r
+ {\r
+ // We want this task to run every 10 ticks of a timer. The semaphore \r
+ // was created before this task was started.\r
+\r
+ // Block waiting for the semaphore to become available.\r
+ if( xSemaphoreTake( xSemaphore, LONG_TIME ) == pdTRUE )\r
+ {\r
+ // It is time to execute.\r
+\r
+ // ...\r
+\r
+ // We have finished our task. Return to the top of the loop where\r
+ // we will block on the semaphore until it is time to execute \r
+ // again. Note when using the semaphore for synchronisation with an\r
+ // ISR in this manner there is no need to 'give' the semaphore back.\r
+ }\r
+ }\r
+ }\r
+\r
+ // Timer ISR\r
+ void vTimerISR( void * pvParameters )\r
+ {\r
+ static unsigned portCHAR ucLocalTickCount = 0;\r
+ static portBASE_TYPE xTaskWoken;\r
+\r
+ // A timer tick has occurred.\r
+\r
+ // ... Do other time functions.\r
+\r
+ // Is it time for vATask () to run?\r
+ xTaskWoken = pdFALSE;\r
+ ucLocalTickCount++;\r
+ if( ucLocalTickCount >= TICKS_TO_WAIT )\r
+ {\r
+ // Unblock the task by releasing the semaphore.\r
+ xTaskWoken = xSemaphoreGiveFromISR( xSemaphore, xTaskWoken );\r
+\r
+ // Reset the count so we release the semaphore again in 10 ticks time.\r
+ ucLocalTickCount = 0;\r
+ }\r
+\r
+ if( xTaskWoken != pdFALSE )\r
+ {\r
+ // We can force a context switch here. Context switching from an\r
+ // ISR uses port specific syntax. Check the demo task for your port\r
+ // to find the syntax required.\r
+ }\r
+ }\r
+ </pre>\r
+ * \defgroup xSemaphoreGiveFromISR xSemaphoreGiveFromISR\r
+ * \ingroup Semaphores\r
+ */\r
+#define xSemaphoreGiveFromISR( xSemaphore, xTaskPreviouslyWoken ) xQueueGenericSendFromISR( ( xQueueHandle ) xSemaphore, NULL, xTaskPreviouslyWoken, queueSEND_TO_BACK )\r
+\r
+/**\r
+ * semphr. h\r
+ * <pre>xSemaphoreHandle xSemaphoreCreateMutex( void )</pre>\r
+ *\r
+ * <i>Macro</i> that implements a mutex semaphore by using the existing queue \r
+ * mechanism.\r
+ *\r
+ * Mutexes created using this macro can be accessed using the xSemaphoreTake()\r
+ * and xSemaphoreGive() macros. The xSemaphoreTakeRecursive() and \r
+ * xSemaphoreGiveRecursive() macros should not be used.\r
+ * \r
+ * This type of semaphore uses a priority inheritance mechanism so a task \r
+ * 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the \r
+ * semaphore it is no longer required. \r
+ *\r
+ * Mutex type semaphores cannot be used from within interrupt service routines. \r
+ *\r
+ * See xSemaphoreCreateBinary() for an alternative implementation that can be \r
+ * used for pure synchronisation (where one task or interrupt always 'gives' the \r
+ * semaphore and another always 'takes' the semaphore) and from within interrupt \r
+ * service routines.\r
+ *\r
+ * @return xSemaphore Handle to the created mutex semaphore. Should be of type \r
+ * xSemaphoreHandle.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ xSemaphoreHandle xSemaphore;\r
+\r
+ void vATask( void * pvParameters )\r
+ {\r
+ // Semaphore cannot be used before a call to xSemaphoreCreateMutex().\r
+ // This is a macro so pass the variable in directly.\r
+ xSemaphore = xSemaphoreCreateMutex();\r
+\r
+ if( xSemaphore != NULL )\r
+ {\r
+ // The semaphore was created successfully.\r
+ // The semaphore can now be used. \r
+ }\r
+ }\r
+ </pre>\r
+ * \defgroup vSemaphoreCreateMutex vSemaphoreCreateMutex\r
+ * \ingroup Semaphores\r
+ */\r
+#define xSemaphoreCreateMutex() xQueueCreateMutex()\r
+\r
+\r
+/**\r
+ * semphr. h\r
+ * <pre>xSemaphoreHandle xSemaphoreCreateRecursiveMutex( void )</pre>\r
+ *\r
+ * <i>Macro</i> that implements a recursive mutex by using the existing queue \r
+ * mechanism.\r
+ *\r
+ * Mutexes created using this macro can be accessed using the \r
+ * xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() macros. The \r
+ * xSemaphoreTake() and xSemaphoreGive() macros should not be used.\r
+ *\r
+ * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex \r
+ * doesn't become available again until the owner has called \r
+ * xSemaphoreGiveRecursive() for each successful 'take' request. For example, \r
+ * if a task successfully 'takes' the same mutex 5 times then the mutex will \r
+ * not be available to any other task until it has also 'given' the mutex back\r
+ * exactly five times.\r
+ * \r
+ * This type of semaphore uses a priority inheritance mechanism so a task \r
+ * 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the \r
+ * semaphore it is no longer required. \r
+ *\r
+ * Mutex type semaphores cannot be used from within interrupt service routines. \r
+ *\r
+ * See xSemaphoreCreateBinary() for an alternative implementation that can be \r
+ * used for pure synchronisation (where one task or interrupt always 'gives' the \r
+ * semaphore and another always 'takes' the semaphore) and from within interrupt \r
+ * service routines.\r
+ *\r
+ * @return xSemaphore Handle to the created mutex semaphore. Should be of type \r
+ * xSemaphoreHandle.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ xSemaphoreHandle xSemaphore;\r
+\r
+ void vATask( void * pvParameters )\r
+ {\r
+ // Semaphore cannot be used before a call to xSemaphoreCreateMutex().\r
+ // This is a macro so pass the variable in directly.\r
+ xSemaphore = xSemaphoreCreateRecursiveMutex();\r
+\r
+ if( xSemaphore != NULL )\r
+ {\r
+ // The semaphore was created successfully.\r
+ // The semaphore can now be used. \r
+ }\r
+ }\r
+ </pre>\r
+ * \defgroup vSemaphoreCreateMutex vSemaphoreCreateMutex\r
+ * \ingroup Semaphores\r
+ */\r
+#define xSemaphoreCreateRecursiveMutex() xQueueCreateMutex()\r
+\r
+/**\r
+ * semphr. h\r
+ * <pre>xSemaphoreHandle xSemaphoreCreateCounting( unsigned portBASE_TYPE uxMaxCount, unsigned portBASE_TYPE uxInitialCount )</pre>\r
+ *\r
+ * <i>Macro</i> that creates a counting semaphore by using the existing \r
+ * queue mechanism. \r
+ *\r
+ * Counting semaphores are typically used for two things:\r
+ *\r
+ * 1) Counting events. \r
+ *\r
+ * In this usage scenario an event handler will 'give' a semaphore each time\r
+ * an event occurs (incrementing the semaphore count value), and a handler \r
+ * task will 'take' a semaphore each time it processes an event \r
+ * (decrementing the semaphore count value). The count value is therefore \r
+ * the difference between the number of events that have occurred and the \r
+ * number that have been processed. In this case it is desirable for the \r
+ * initial count value to be zero.\r
+ *\r
+ * 2) Resource management.\r
+ *\r
+ * In this usage scenario the count value indicates the number of resources\r
+ * available. To obtain control of a resource a task must first obtain a \r
+ * semaphore - decrementing the semaphore count value. When the count value\r
+ * reaches zero there are no free resources. When a task finishes with the\r
+ * resource it 'gives' the semaphore back - incrementing the semaphore count\r
+ * value. In this case it is desirable for the initial count value to be\r
+ * equal to the maximum count value, indicating that all resources are free.\r
+ *\r
+ * @param uxMaxCount The maximum count value that can be reached. When the \r
+ * semaphore reaches this value it can no longer be 'given'.\r
+ *\r
+ * @param uxInitialCount The count value assigned to the semaphore when it is\r
+ * created.\r
+ *\r
+ * @return Handle to the created semaphore. Null if the semaphore could not be\r
+ * created.\r
+ * \r
+ * Example usage:\r
+ <pre>\r
+ xSemaphoreHandle xSemaphore;\r
+\r
+ void vATask( void * pvParameters )\r
+ {\r
+ xSemaphoreHandle xSemaphore = NULL;\r
+\r
+ // Semaphore cannot be used before a call to xSemaphoreCreateCounting().\r
+ // The max value to which the semaphore can count should be 10, and the\r
+ // initial value assigned to the count should be 0.\r
+ xSemaphore = xSemaphoreCreateCounting( 10, 0 );\r
+\r
+ if( xSemaphore != NULL )\r
+ {\r
+ // The semaphore was created successfully.\r
+ // The semaphore can now be used. \r
+ }\r
+ }\r
+ </pre>\r
+ * \defgroup xSemaphoreCreateCounting xSemaphoreCreateCounting\r
+ * \ingroup Semaphores\r
+ */\r
+#define xSemaphoreCreateCounting( uxMaxCount, uxInitialCount ) xQueueCreateCountingSemaphore( uxMaxCount, uxInitialCount )\r
+\r
+\r
+#endif /* SEMAPHORE_H */\r
+\r
+\r
--- /dev/null
+/*\r
+ FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry.\r
+\r
+ This file is part of the FreeRTOS.org distribution.\r
+\r
+ FreeRTOS.org is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ FreeRTOS.org is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with FreeRTOS.org; if not, write to the Free Software\r
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+\r
+ A special exception to the GPL can be applied should you wish to distribute\r
+ a combined work that includes FreeRTOS.org, without being obliged to provide\r
+ the source code for any proprietary components. See the licensing section\r
+ of http://www.FreeRTOS.org for full details of how and when the exception\r
+ can be applied.\r
+\r
+ ***************************************************************************\r
+\r
+ Please ensure to read the configuration and relevant port sections of the \r
+ online documentation.\r
+\r
+ +++ http://www.FreeRTOS.org +++\r
+ Documentation, latest information, license and contact details. \r
+\r
+ +++ http://www.SafeRTOS.com +++\r
+ A version that is certified for use in safety critical systems.\r
+\r
+ +++ http://www.OpenRTOS.com +++\r
+ Commercial support, development, porting, licensing and training services.\r
+\r
+ ***************************************************************************\r
+*/\r
+\r
+/*\r
+Changes since V4.3.1:\r
+\r
+ + Added xTaskGetSchedulerState() function.\r
+*/\r
+\r
+#ifndef TASK_H\r
+#define TASK_H\r
+\r
+#include "portable.h"\r
+#include "list.h"\r
+\r
+#ifdef __cplusplus\r
+extern "C" {\r
+#endif\r
+/*-----------------------------------------------------------\r
+ * MACROS AND DEFINITIONS\r
+ *----------------------------------------------------------*/\r
+\r
+#define tskKERNEL_VERSION_NUMBER "V4.7.2"\r
+\r
+/**\r
+ * task. h\r
+ *\r
+ * Type by which tasks are referenced. For example, a call to xTaskCreate\r
+ * returns (via a pointer parameter) an xTaskHandle variable that can then\r
+ * be used as a parameter to vTaskDelete to delete the task.\r
+ *\r
+ * \page xTaskHandle xTaskHandle\r
+ * \ingroup Tasks\r
+ */\r
+typedef void * xTaskHandle;\r
+\r
+/*\r
+ * Used internally only.\r
+ */\r
+typedef struct xTIME_OUT\r
+{\r
+ portBASE_TYPE xOverflowCount;\r
+ portTickType xTimeOnEntering;\r
+} xTimeOutType;\r
+\r
+/*\r
+ * Defines the priority used by the idle task. This must not be modified.\r
+ *\r
+ * \ingroup TaskUtils\r
+ */\r
+#define tskIDLE_PRIORITY ( ( unsigned portBASE_TYPE ) 0 )\r
+\r
+/**\r
+ * task. h\r
+ *\r
+ * Macro for forcing a context switch.\r
+ *\r
+ * \page taskYIELD taskYIELD\r
+ * \ingroup SchedulerControl\r
+ */\r
+#define taskYIELD() portYIELD()\r
+\r
+/**\r
+ * task. h\r
+ *\r
+ * Macro to mark the start of a critical code region. Preemptive context\r
+ * switches cannot occur when in a critical region.\r
+ *\r
+ * NOTE: This may alter the stack (depending on the portable implementation)\r
+ * so must be used with care!\r
+ *\r
+ * \page taskENTER_CRITICAL taskENTER_CRITICAL\r
+ * \ingroup SchedulerControl\r
+ */\r
+#define taskENTER_CRITICAL() portENTER_CRITICAL()\r
+\r
+/**\r
+ * task. h\r
+ *\r
+ * Macro to mark the end of a critical code region. Preemptive context\r
+ * switches cannot occur when in a critical region.\r
+ *\r
+ * NOTE: This may alter the stack (depending on the portable implementation)\r
+ * so must be used with care!\r
+ *\r
+ * \page taskEXIT_CRITICAL taskEXIT_CRITICAL\r
+ * \ingroup SchedulerControl\r
+ */\r
+#define taskEXIT_CRITICAL() portEXIT_CRITICAL()\r
+\r
+/**\r
+ * task. h\r
+ *\r
+ * Macro to disable all maskable interrupts.\r
+ *\r
+ * \page taskDISABLE_INTERRUPTS taskDISABLE_INTERRUPTS\r
+ * \ingroup SchedulerControl\r
+ */\r
+#define taskDISABLE_INTERRUPTS() portDISABLE_INTERRUPTS()\r
+\r
+/**\r
+ * task. h\r
+ *\r
+ * Macro to enable microcontroller interrupts.\r
+ *\r
+ * \page taskENABLE_INTERRUPTS taskENABLE_INTERRUPTS\r
+ * \ingroup SchedulerControl\r
+ */\r
+#define taskENABLE_INTERRUPTS() portENABLE_INTERRUPTS()\r
+\r
+/* Definitions returned by xTaskGetSchedulerState(). */\r
+#define taskSCHEDULER_NOT_STARTED 0\r
+#define taskSCHEDULER_RUNNING 1\r
+#define taskSCHEDULER_SUSPENDED 2\r
+\r
+/*-----------------------------------------------------------\r
+ * TASK CREATION API\r
+ *----------------------------------------------------------*/\r
+\r
+/**\r
+ * task. h\r
+ *<pre>\r
+ portBASE_TYPE xTaskCreate(\r
+ pdTASK_CODE pvTaskCode,\r
+ const portCHAR * const pcName,\r
+ unsigned portSHORT usStackDepth,\r
+ void *pvParameters,\r
+ unsigned portBASE_TYPE uxPriority,\r
+ xTaskHandle *pvCreatedTask\r
+ );</pre>\r
+ *\r
+ * Create a new task and add it to the list of tasks that are ready to run.\r
+ *\r
+ * @param pvTaskCode Pointer to the task entry function. Tasks\r
+ * must be implemented to never return (i.e. continuous loop).\r
+ *\r
+ * @param pcName A descriptive name for the task. This is mainly used to\r
+ * facilitate debugging. Max length defined by tskMAX_TASK_NAME_LEN - default\r
+ * is 16.\r
+ *\r
+ * @param usStackDepth The size of the task stack specified as the number of\r
+ * variables the stack can hold - not the number of bytes. For example, if\r
+ * the stack is 16 bits wide and usStackDepth is defined as 100, 200 bytes\r
+ * will be allocated for stack storage.\r
+ *\r
+ * @param pvParameters Pointer that will be used as the parameter for the task\r
+ * being created.\r
+ *\r
+ * @param uxPriority The priority at which the task should run.\r
+ *\r
+ * @param pvCreatedTask Used to pass back a handle by which the created task\r
+ * can be referenced.\r
+ *\r
+ * @return pdPASS if the task was successfully created and added to a ready\r
+ * list, otherwise an error code defined in the file errors. h\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ // Task to be created.\r
+ void vTaskCode( void * pvParameters )\r
+ {\r
+ for( ;; )\r
+ {\r
+ // Task code goes here.\r
+ }\r
+ }\r
+\r
+ // Function that creates a task.\r
+ void vOtherFunction( void )\r
+ {\r
+ unsigned char ucParameterToPass;\r
+ xTaskHandle xHandle;\r
+ \r
+ // Create the task, storing the handle.\r
+ xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle );\r
+ \r
+ // Use the handle to delete the task.\r
+ vTaskDelete( xHandle );\r
+ }\r
+ </pre>\r
+ * \defgroup xTaskCreate xTaskCreate\r
+ * \ingroup Tasks\r
+ */\r
+signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR * const pcName, unsigned portSHORT usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pvCreatedTask );\r
+\r
+/**\r
+ * task. h\r
+ * <pre>void vTaskDelete( xTaskHandle pxTask );</pre>\r
+ *\r
+ * INCLUDE_vTaskDelete must be defined as 1 for this function to be available.\r
+ * See the configuration section for more information.\r
+ *\r
+ * Remove a task from the RTOS real time kernels management. The task being\r
+ * deleted will be removed from all ready, blocked, suspended and event lists.\r
+ *\r
+ * NOTE: The idle task is responsible for freeing the kernel allocated\r
+ * memory from tasks that have been deleted. It is therefore important that\r
+ * the idle task is not starved of microcontroller processing time if your\r
+ * application makes any calls to vTaskDelete (). Memory allocated by the\r
+ * task code is not automatically freed, and should be freed before the task\r
+ * is deleted.\r
+ *\r
+ * See the demo application file death.c for sample code that utilises\r
+ * vTaskDelete ().\r
+ *\r
+ * @param pxTask The handle of the task to be deleted. Passing NULL will\r
+ * cause the calling task to be deleted.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ void vOtherFunction( void )\r
+ {\r
+ xTaskHandle xHandle;\r
+ \r
+ // Create the task, storing the handle.\r
+ xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );\r
+ \r
+ // Use the handle to delete the task.\r
+ vTaskDelete( xHandle );\r
+ }\r
+ </pre>\r
+ * \defgroup vTaskDelete vTaskDelete\r
+ * \ingroup Tasks\r
+ */\r
+void vTaskDelete( xTaskHandle pxTask );\r
+\r
+\r
+/*-----------------------------------------------------------\r
+ * TASK CONTROL API\r
+ *----------------------------------------------------------*/\r
+\r
+/**\r
+ * task. h\r
+ * <pre>void vTaskDelay( portTickType xTicksToDelay );</pre>\r
+ *\r
+ * Delay a task for a given number of ticks. The actual time that the\r
+ * task remains blocked depends on the tick rate. The constant\r
+ * portTICK_RATE_MS can be used to calculate real time from the tick\r
+ * rate - with the resolution of one tick period.\r
+ *\r
+ * INCLUDE_vTaskDelay must be defined as 1 for this function to be available.\r
+ * See the configuration section for more information.\r
+ *\r
+ * @param xTicksToDelay The amount of time, in tick periods, that\r
+ * the calling task should block.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ // Wait 10 ticks before performing an action.\r
+ // NOTE:\r
+ // This is for demonstration only and would be better achieved\r
+ // using vTaskDelayUntil ().\r
+ void vTaskFunction( void * pvParameters )\r
+ {\r
+ portTickType xDelay, xNextTime;\r
+\r
+ // Calc the time at which we want to perform the action\r
+ // next.\r
+ xNextTime = xTaskGetTickCount () + ( portTickType ) 10;\r
+\r
+ for( ;; )\r
+ {\r
+ xDelay = xNextTime - xTaskGetTickCount ();\r
+ xNextTime += ( portTickType ) 10;\r
+\r
+ // Guard against overflow\r
+ if( xDelay <= ( portTickType ) 10 )\r
+ {\r
+ vTaskDelay( xDelay );\r
+ }\r
+\r
+ // Perform action here.\r
+ }\r
+ }\r
+ </pre>\r
+ * \defgroup vTaskDelay vTaskDelay\r
+ * \ingroup TaskCtrl\r
+ */\r
+void vTaskDelay( portTickType xTicksToDelay );\r
+\r
+/**\r
+ * task. h\r
+ * <pre>void vTaskDelayUntil( portTickType *pxPreviousWakeTime, portTickType xTimeIncrement );</pre>\r
+ *\r
+ * INCLUDE_vTaskDelayUntil must be defined as 1 for this function to be available.\r
+ * See the configuration section for more information.\r
+ *\r
+ * Delay a task until a specified time. This function can be used by cyclical\r
+ * tasks to ensure a constant execution frequency.\r
+ *\r
+ * This function differs from vTaskDelay () in one important aspect: vTaskDelay () will\r
+ * cause a task to block for the specified number of ticks from the time vTaskDelay () is\r
+ * called. It is therefore difficult to use vTaskDelay () by itself to generate a fixed\r
+ * execution frequency as the time between a task starting to execute and that task\r
+ * calling vTaskDelay () may not be fixed [the task may take a different path though the\r
+ * code between calls, or may get interrupted or preempted a different number of times\r
+ * each time it executes].\r
+ *\r
+ * Whereas vTaskDelay () specifies a wake time relative to the time at which the function\r
+ * is called, vTaskDelayUntil () specifies the absolute (exact) time at which it wishes to\r
+ * unblock.\r
+ *\r
+ * The constant portTICK_RATE_MS can be used to calculate real time from the tick\r
+ * rate - with the resolution of one tick period.\r
+ *\r
+ * @param pxPreviousWakeTime Pointer to a variable that holds the time at which the\r
+ * task was last unblocked. The variable must be initialised with the current time\r
+ * prior to its first use (see the example below). Following this the variable is\r
+ * automatically updated within vTaskDelayUntil ().\r
+ *\r
+ * @param xTimeIncrement The cycle time period. The task will be unblocked at\r
+ * time *pxPreviousWakeTime + xTimeIncrement. Calling vTaskDelayUntil with the\r
+ * same xTimeIncrement parameter value will cause the task to execute with\r
+ * a fixed interface period.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ // Perform an action every 10 ticks.\r
+ void vTaskFunction( void * pvParameters )\r
+ {\r
+ portTickType xLastWakeTime;\r
+ const portTickType xFrequency = 10;\r
+\r
+ // Initialise the xLastWakeTime variable with the current time.\r
+ xLastWakeTime = xTaskGetTickCount ();\r
+ for( ;; )\r
+ {\r
+ // Wait for the next cycle.\r
+ vTaskDelayUntil( &xLastWakeTime, xFrequency );\r
+\r
+ // Perform action here.\r
+ }\r
+ }\r
+ </pre>\r
+ * \defgroup vTaskDelayUntil vTaskDelayUntil\r
+ * \ingroup TaskCtrl\r
+ */\r
+void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement );\r
+\r
+/**\r
+ * task. h\r
+ * <pre>unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask );</pre>\r
+ *\r
+ * INCLUDE_xTaskPriorityGet must be defined as 1 for this function to be available.\r
+ * See the configuration section for more information.\r
+ *\r
+ * Obtain the priority of any task.\r
+ *\r
+ * @param pxTask Handle of the task to be queried. Passing a NULL\r
+ * handle results in the priority of the calling task being returned.\r
+ *\r
+ * @return The priority of pxTask.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ void vAFunction( void )\r
+ {\r
+ xTaskHandle xHandle;\r
+ \r
+ // Create a task, storing the handle.\r
+ xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );\r
+ \r
+ // ...\r
+\r
+ // Use the handle to obtain the priority of the created task.\r
+ // It was created with tskIDLE_PRIORITY, but may have changed\r
+ // it itself.\r
+ if( uxTaskPriorityGet( xHandle ) != tskIDLE_PRIORITY )\r
+ {\r
+ // The task has changed it's priority.\r
+ }\r
+\r
+ // ...\r
+\r
+ // Is our priority higher than the created task?\r
+ if( uxTaskPriorityGet( xHandle ) < uxTaskPriorityGet( NULL ) )\r
+ {\r
+ // Our priority (obtained using NULL handle) is higher.\r
+ }\r
+ }\r
+ </pre>\r
+ * \defgroup uxTaskPriorityGet uxTaskPriorityGet\r
+ * \ingroup TaskCtrl\r
+ */\r
+unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask );\r
+\r
+/**\r
+ * task. h\r
+ * <pre>void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority );</pre>\r
+ *\r
+ * INCLUDE_vTaskPrioritySet must be defined as 1 for this function to be available.\r
+ * See the configuration section for more information.\r
+ *\r
+ * Set the priority of any task.\r
+ *\r
+ * A context switch will occur before the function returns if the priority\r
+ * being set is higher than the currently executing task.\r
+ *\r
+ * @param pxTask Handle to the task for which the priority is being set.\r
+ * Passing a NULL handle results in the priority of the calling task being set.\r
+ *\r
+ * @param uxNewPriority The priority to which the task will be set.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ void vAFunction( void )\r
+ {\r
+ xTaskHandle xHandle;\r
+ \r
+ // Create a task, storing the handle.\r
+ xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );\r
+\r
+ // ...\r
+\r
+ // Use the handle to raise the priority of the created task.\r
+ vTaskPrioritySet( xHandle, tskIDLE_PRIORITY + 1 );\r
+\r
+ // ...\r
+\r
+ // Use a NULL handle to raise our priority to the same value.\r
+ vTaskPrioritySet( NULL, tskIDLE_PRIORITY + 1 );\r
+ }\r
+ </pre>\r
+ * \defgroup vTaskPrioritySet vTaskPrioritySet\r
+ * \ingroup TaskCtrl\r
+ */\r
+void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority );\r
+\r
+/**\r
+ * task. h\r
+ * <pre>void vTaskSuspend( xTaskHandle pxTaskToSuspend );</pre>\r
+ *\r
+ * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available.\r
+ * See the configuration section for more information.\r
+ *\r
+ * Suspend any task. When suspended a task will never get any microcontroller\r
+ * processing time, no matter what its priority.\r
+ *\r
+ * Calls to vTaskSuspend are not accumulative -\r
+ * i.e. calling vTaskSuspend () twice on the same task still only requires one\r
+ * call to vTaskResume () to ready the suspended task.\r
+ *\r
+ * @param pxTaskToSuspend Handle to the task being suspended. Passing a NULL\r
+ * handle will cause the calling task to be suspended.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ void vAFunction( void )\r
+ {\r
+ xTaskHandle xHandle;\r
+ \r
+ // Create a task, storing the handle.\r
+ xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );\r
+ \r
+ // ...\r
+\r
+ // Use the handle to suspend the created task.\r
+ vTaskSuspend( xHandle );\r
+\r
+ // ...\r
+ \r
+ // The created task will not run during this period, unless\r
+ // another task calls vTaskResume( xHandle ).\r
+ \r
+ //...\r
+ \r
+\r
+ // Suspend ourselves.\r
+ vTaskSuspend( NULL );\r
+\r
+ // We cannot get here unless another task calls vTaskResume\r
+ // with our handle as the parameter.\r
+ }\r
+ </pre>\r
+ * \defgroup vTaskSuspend vTaskSuspend\r
+ * \ingroup TaskCtrl\r
+ */\r
+void vTaskSuspend( xTaskHandle pxTaskToSuspend );\r
+\r
+/**\r
+ * task. h\r
+ * <pre>void vTaskResume( xTaskHandle pxTaskToResume );</pre>\r
+ *\r
+ * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available.\r
+ * See the configuration section for more information.\r
+ *\r
+ * Resumes a suspended task.\r
+ *\r
+ * A task that has been suspended by one of more calls to vTaskSuspend ()\r
+ * will be made available for running again by a single call to\r
+ * vTaskResume ().\r
+ *\r
+ * @param pxTaskToResume Handle to the task being readied.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ void vAFunction( void )\r
+ {\r
+ xTaskHandle xHandle;\r
+ \r
+ // Create a task, storing the handle.\r
+ xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );\r
+ \r
+ // ...\r
+\r
+ // Use the handle to suspend the created task.\r
+ vTaskSuspend( xHandle );\r
+\r
+ // ...\r
+ \r
+ // The created task will not run during this period, unless\r
+ // another task calls vTaskResume( xHandle ).\r
+ \r
+ //...\r
+ \r
+\r
+ // Resume the suspended task ourselves.\r
+ vTaskResume( xHandle );\r
+\r
+ // The created task will once again get microcontroller processing\r
+ // time in accordance with it priority within the system.\r
+ }\r
+ </pre>\r
+ * \defgroup vTaskResume vTaskResume\r
+ * \ingroup TaskCtrl\r
+ */\r
+void vTaskResume( xTaskHandle pxTaskToResume );\r
+\r
+/**\r
+ * task. h\r
+ * <pre>void xTaskResumeFromISR( xTaskHandle pxTaskToResume );</pre>\r
+ *\r
+ * INCLUDE_xTaskResumeFromISR must be defined as 1 for this function to be \r
+ * available. See the configuration section for more information.\r
+ *\r
+ * An implementation of vTaskResume() that can be called from within an ISR.\r
+ *\r
+ * A task that has been suspended by one of more calls to vTaskSuspend ()\r
+ * will be made available for running again by a single call to\r
+ * xTaskResumeFromISR ().\r
+ *\r
+ * @param pxTaskToResume Handle to the task being readied.\r
+ *\r
+ * \defgroup vTaskResumeFromISR vTaskResumeFromISR\r
+ * \ingroup TaskCtrl\r
+ */\r
+portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume );\r
+\r
+/*-----------------------------------------------------------\r
+ * SCHEDULER CONTROL\r
+ *----------------------------------------------------------*/\r
+\r
+/**\r
+ * task. h\r
+ * <pre>void vTaskStartScheduler( void );</pre>\r
+ *\r
+ * Starts the real time kernel tick processing. After calling the kernel\r
+ * has control over which tasks are executed and when. This function\r
+ * does not return until an executing task calls vTaskEndScheduler ().\r
+ *\r
+ * At least one task should be created via a call to xTaskCreate ()\r
+ * before calling vTaskStartScheduler (). The idle task is created\r
+ * automatically when the first application task is created.\r
+ *\r
+ * See the demo application file main.c for an example of creating\r
+ * tasks and starting the kernel.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ void vAFunction( void )\r
+ {\r
+ // Create at least one task before starting the kernel.\r
+ xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );\r
+\r
+ // Start the real time kernel with preemption.\r
+ vTaskStartScheduler ();\r
+\r
+ // Will not get here unless a task calls vTaskEndScheduler ()\r
+ }\r
+ </pre>\r
+ *\r
+ * \defgroup vTaskStartScheduler vTaskStartScheduler\r
+ * \ingroup SchedulerControl\r
+ */\r
+void vTaskStartScheduler( void );\r
+\r
+/**\r
+ * task. h\r
+ * <pre>void vTaskEndScheduler( void );</pre>\r
+ *\r
+ * Stops the real time kernel tick. All created tasks will be automatically\r
+ * deleted and multitasking (either preemptive or cooperative) will\r
+ * stop. Execution then resumes from the point where vTaskStartScheduler ()\r
+ * was called, as if vTaskStartScheduler () had just returned.\r
+ *\r
+ * See the demo application file main. c in the demo/PC directory for an\r
+ * example that uses vTaskEndScheduler ().\r
+ *\r
+ * vTaskEndScheduler () requires an exit function to be defined within the\r
+ * portable layer (see vPortEndScheduler () in port. c for the PC port). This\r
+ * performs hardware specific operations such as stopping the kernel tick.\r
+ *\r
+ * vTaskEndScheduler () will cause all of the resources allocated by the\r
+ * kernel to be freed - but will not free resources allocated by application\r
+ * tasks.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ void vTaskCode( void * pvParameters )\r
+ {\r
+ for( ;; )\r
+ {\r
+ // Task code goes here.\r
+\r
+ // At some point we want to end the real time kernel processing\r
+ // so call ...\r
+ vTaskEndScheduler ();\r
+ }\r
+ }\r
+\r
+ void vAFunction( void )\r
+ {\r
+ // Create at least one task before starting the kernel.\r
+ xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );\r
+\r
+ // Start the real time kernel with preemption.\r
+ vTaskStartScheduler ();\r
+\r
+ // Will only get here when the vTaskCode () task has called\r
+ // vTaskEndScheduler (). When we get here we are back to single task\r
+ // execution.\r
+ }\r
+ </pre>\r
+ *\r
+ * \defgroup vTaskEndScheduler vTaskEndScheduler\r
+ * \ingroup SchedulerControl\r
+ */\r
+void vTaskEndScheduler( void );\r
+\r
+/**\r
+ * task. h\r
+ * <pre>void vTaskSuspendAll( void );</pre>\r
+ *\r
+ * Suspends all real time kernel activity while keeping interrupts (including the\r
+ * kernel tick) enabled.\r
+ *\r
+ * After calling vTaskSuspendAll () the calling task will continue to execute\r
+ * without risk of being swapped out until a call to xTaskResumeAll () has been\r
+ * made.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ void vTask1( void * pvParameters )\r
+ {\r
+ for( ;; )\r
+ {\r
+ // Task code goes here.\r
+\r
+ // ...\r
+\r
+ // At some point the task wants to perform a long operation during\r
+ // which it does not want to get swapped out. It cannot use\r
+ // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the\r
+ // operation may cause interrupts to be missed - including the\r
+ // ticks.\r
+\r
+ // Prevent the real time kernel swapping out the task.\r
+ vTaskSuspendAll ();\r
+\r
+ // Perform the operation here. There is no need to use critical\r
+ // sections as we have all the microcontroller processing time.\r
+ // During this time interrupts will still operate and the kernel\r
+ // tick count will be maintained.\r
+\r
+ // ...\r
+\r
+ // The operation is complete. Restart the kernel.\r
+ xTaskResumeAll ();\r
+ }\r
+ }\r
+ </pre>\r
+ * \defgroup vTaskSuspendAll vTaskSuspendAll\r
+ * \ingroup SchedulerControl\r
+ */\r
+void vTaskSuspendAll( void );\r
+\r
+/**\r
+ * task. h\r
+ * <pre>portCHAR xTaskResumeAll( void );</pre>\r
+ *\r
+ * Resumes real time kernel activity following a call to vTaskSuspendAll ().\r
+ * After a call to vTaskSuspendAll () the kernel will take control of which\r
+ * task is executing at any time.\r
+ *\r
+ * @return If resuming the scheduler caused a context switch then pdTRUE is\r
+ * returned, otherwise pdFALSE is returned.\r
+ *\r
+ * Example usage:\r
+ <pre>\r
+ void vTask1( void * pvParameters )\r
+ {\r
+ for( ;; )\r
+ {\r
+ // Task code goes here.\r
+\r
+ // ...\r
+\r
+ // At some point the task wants to perform a long operation during\r
+ // which it does not want to get swapped out. It cannot use\r
+ // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the\r
+ // operation may cause interrupts to be missed - including the\r
+ // ticks.\r
+\r
+ // Prevent the real time kernel swapping out the task.\r
+ vTaskSuspendAll ();\r
+\r
+ // Perform the operation here. There is no need to use critical\r
+ // sections as we have all the microcontroller processing time.\r
+ // During this time interrupts will still operate and the real\r
+ // time kernel tick count will be maintained.\r
+\r
+ // ...\r
+\r
+ // The operation is complete. Restart the kernel. We want to force\r
+ // a context switch - but there is no point if resuming the scheduler\r
+ // caused a context switch already.\r
+ if( !xTaskResumeAll () )\r
+ {\r
+ taskYIELD ();\r
+ }\r
+ }\r
+ }\r
+ </pre>\r
+ * \defgroup xTaskResumeAll xTaskResumeAll\r
+ * \ingroup SchedulerControl\r
+ */\r
+signed portBASE_TYPE xTaskResumeAll( void );\r
+\r
+\r
+/*-----------------------------------------------------------\r
+ * TASK UTILITIES\r
+ *----------------------------------------------------------*/\r
+\r
+/**\r
+ * task. h\r
+ * <PRE>volatile portTickType xTaskGetTickCount( void );</PRE>\r
+ *\r
+ * @return The count of ticks since vTaskStartScheduler was called.\r
+ *\r
+ * \page xTaskGetTickCount xTaskGetTickCount\r
+ * \ingroup TaskUtils\r
+ */\r
+portTickType xTaskGetTickCount( void );\r
+\r
+/**\r
+ * task. h\r
+ * <PRE>unsigned portSHORT uxTaskGetNumberOfTasks( void );</PRE>\r
+ *\r
+ * @return The number of tasks that the real time kernel is currently managing.\r
+ * This includes all ready, blocked and suspended tasks. A task that\r
+ * has been deleted but not yet freed by the idle task will also be\r
+ * included in the count.\r
+ *\r
+ * \page uxTaskGetNumberOfTasks uxTaskGetNumberOfTasks\r
+ * \ingroup TaskUtils\r
+ */\r
+unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void );\r
+\r
+/**\r
+ * task. h\r
+ * <PRE>void vTaskList( portCHAR *pcWriteBuffer );</PRE>\r
+ *\r
+ * configUSE_TRACE_FACILITY, INCLUDE_vTaskDelete and INCLUDE_vTaskSuspend\r
+ * must all be defined as 1 for this function to be available.\r
+ * See the configuration section for more information.\r
+ *\r
+ * NOTE: This function will disable interrupts for its duration. It is\r
+ * not intended for normal application runtime use but as a debug aid.\r
+ *\r
+ * Lists all the current tasks, along with their current state and stack\r
+ * usage high water mark.\r
+ *\r
+ * Tasks are reported as blocked ('B'), ready ('R'), deleted ('D') or\r
+ * suspended ('S').\r
+ *\r
+ * @param pcWriteBuffer A buffer into which the above mentioned details\r
+ * will be written, in ascii form. This buffer is assumed to be large\r
+ * enough to contain the generated report. Approximately 40 bytes per\r
+ * task should be sufficient.\r
+ *\r
+ * \page vTaskList vTaskList\r
+ * \ingroup TaskUtils\r
+ */\r
+void vTaskList( signed portCHAR *pcWriteBuffer );\r
+\r
+/**\r
+ * task. h\r
+ * <PRE>void vTaskStartTrace( portCHAR * pcBuffer, unsigned portBASE_TYPE uxBufferSize );</PRE>\r
+ *\r
+ * Starts a real time kernel activity trace. The trace logs the identity of\r
+ * which task is running when.\r
+ *\r
+ * The trace file is stored in binary format. A separate DOS utility called\r
+ * convtrce.exe is used to convert this into a tab delimited text file which\r
+ * can be viewed and plotted in a spread sheet.\r
+ *\r
+ * @param pcBuffer The buffer into which the trace will be written.\r
+ *\r
+ * @param ulBufferSize The size of pcBuffer in bytes. The trace will continue\r
+ * until either the buffer in full, or ulTaskEndTrace () is called.\r
+ *\r
+ * \page vTaskStartTrace vTaskStartTrace\r
+ * \ingroup TaskUtils\r
+ */\r
+void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize );\r
+\r
+/**\r
+ * task. h\r
+ * <PRE>unsigned portLONG ulTaskEndTrace( void );</PRE>\r
+ *\r
+ * Stops a kernel activity trace. See vTaskStartTrace ().\r
+ *\r
+ * @return The number of bytes that have been written into the trace buffer.\r
+ *\r
+ * \page usTaskEndTrace usTaskEndTrace\r
+ * \ingroup TaskUtils\r
+ */\r
+unsigned portLONG ulTaskEndTrace( void );\r
+\r
+\r
+/*-----------------------------------------------------------\r
+ * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES\r
+ *----------------------------------------------------------*/\r
+\r
+/*\r
+ * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY\r
+ * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS\r
+ * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.\r
+ *\r
+ * Called from the real time kernel tick (either preemptive or cooperative),\r
+ * this increments the tick count and checks if any tasks that are blocked\r
+ * for a finite period required removing from a blocked list and placing on\r
+ * a ready list.\r
+ */\r
+inline void vTaskIncrementTick( void );\r
+\r
+/*\r
+ * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN\r
+ * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.\r
+ *\r
+ * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED.\r
+ *\r
+ * Removes the calling task from the ready list and places it both\r
+ * on the list of tasks waiting for a particular event, and the\r
+ * list of delayed tasks. The task will be removed from both lists\r
+ * and replaced on the ready list should either the event occur (and\r
+ * there be no higher priority tasks waiting on the same event) or\r
+ * the delay period expires.\r
+ *\r
+ * @param pxEventList The list containing tasks that are blocked waiting\r
+ * for the event to occur.\r
+ *\r
+ * @param xTicksToWait The maximum amount of time that the task should wait\r
+ * for the event to occur. This is specified in kernel ticks,the constant\r
+ * portTICK_RATE_MS can be used to convert kernel ticks into a real time\r
+ * period.\r
+ */\r
+void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait );\r
+\r
+/*\r
+ * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN\r
+ * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.\r
+ *\r
+ * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED.\r
+ *\r
+ * Removes a task from both the specified event list and the list of blocked\r
+ * tasks, and places it on a ready queue.\r
+ *\r
+ * xTaskRemoveFromEventList () will be called if either an event occurs to\r
+ * unblock a task, or the block timeout period expires.\r
+ *\r
+ * @return pdTRUE if the task being removed has a higher priority than the task\r
+ * making the call, otherwise pdFALSE.\r
+ */\r
+signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList );\r
+\r
+/*\r
+ * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN\r
+ * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.\r
+ *\r
+ * INCLUDE_vTaskCleanUpResources and INCLUDE_vTaskSuspend must be defined as 1\r
+ * for this function to be available.\r
+ * See the configuration section for more information.\r
+ *\r
+ * Empties the ready and delayed queues of task control blocks, freeing the\r
+ * memory allocated for the task control block and task stacks as it goes.\r
+ */\r
+void vTaskCleanUpResources( void );\r
+\r
+/*\r
+ * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY\r
+ * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS\r
+ * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.\r
+ *\r
+ * Sets the pointer to the current TCB to the TCB of the highest priority task\r
+ * that is ready to run.\r
+ */\r
+inline void vTaskSwitchContext( void );\r
+\r
+/*\r
+ * Return the handle of the calling task.\r
+ */\r
+xTaskHandle xTaskGetCurrentTaskHandle( void );\r
+\r
+/*\r
+ * Capture the current time status for future reference.\r
+ */\r
+void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut );\r
+\r
+/*\r
+ * Compare the time status now with that previously captured to see if the\r
+ * timeout has expired.\r
+ */\r
+portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait );\r
+\r
+/*\r
+ * Shortcut used by the queue implementation to prevent unnecessary call to\r
+ * taskYIELD();\r
+ */\r
+void vTaskMissedYield( void );\r
+\r
+/*\r
+ * Returns the scheduler state as taskSCHEDULER_RUNNING,\r
+ * taskSCHEDULER_NOT_STARTED or taskSCHEDULER_SUSPENDED.\r
+ */\r
+portBASE_TYPE xTaskGetSchedulerState( void );\r
+\r
+/*\r
+ * Raises the priority of the mutex holder to that of the calling task should\r
+ * the mutex holder have a priority less than the calling task.\r
+ */\r
+void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder );\r
+\r
+/*\r
+ * Set the priority of a task back to its proper priority in the case that it\r
+ * inherited a higher priority while it was holding a semaphore.\r
+ */\r
+void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder );\r
+\r
+#ifdef __cplusplus\r
+}\r
+#endif\r
+#endif /* TASK_H */\r
+\r
+\r
+\r
--- /dev/null
+/*\r
+ FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry.\r
+\r
+ This file is part of the FreeRTOS.org distribution.\r
+\r
+ FreeRTOS.org is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ FreeRTOS.org is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with FreeRTOS.org; if not, write to the Free Software\r
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+\r
+ A special exception to the GPL can be applied should you wish to distribute\r
+ a combined work that includes FreeRTOS.org, without being obliged to provide\r
+ the source code for any proprietary components. See the licensing section\r
+ of http://www.FreeRTOS.org for full details of how and when the exception\r
+ can be applied.\r
+\r
+ ***************************************************************************\r
+\r
+ Please ensure to read the configuration and relevant port sections of the \r
+ online documentation.\r
+\r
+ +++ http://www.FreeRTOS.org +++\r
+ Documentation, latest information, license and contact details. \r
+\r
+ +++ http://www.SafeRTOS.com +++\r
+ A version that is certified for use in safety critical systems.\r
+\r
+ +++ http://www.OpenRTOS.com +++\r
+ Commercial support, development, porting, licensing and training services.\r
+\r
+ ***************************************************************************\r
+*/\r
+\r
+/*\r
+Changes from V1.2.0\r
+\r
+ + Removed the volatile modifier from the function parameters. This was\r
+ only ever included to prevent compiler warnings. Now warnings are\r
+ removed by casting parameters where the calls are made.\r
+\r
+ + prvListGetOwnerOfNextEntry() and prvListGetOwnerOfHeadEntry() have been\r
+ removed from the c file and added as macros to the h file.\r
+\r
+ + uxNumberOfItems has been added to the list structure. This removes the\r
+ need for a pointer comparison when checking if a list is empty, and so\r
+ is slightly faster.\r
+\r
+ + Removed the NULL check in vListRemove(). This makes the call faster but\r
+ necessitates any application code utilising the list implementation to\r
+ ensure NULL pointers are not passed.\r
+\r
+Changes from V2.0.0\r
+\r
+ + Double linked the lists to allow faster removal item removal.\r
+\r
+Changes from V2.6.1\r
+\r
+ + Make use of the new portBASE_TYPE definition where ever appropriate.\r
+\r
+Changes from V3.0.0\r
+\r
+ + API changes as described on the FreeRTOS.org WEB site.\r
+\r
+Changes from V3.2.4\r
+\r
+ + Removed the pxHead member of the xList structure. This always pointed\r
+ to the same place so has been removed to free a few bytes of RAM.\r
+\r
+ + Introduced the xMiniListItem structure that does not include the \r
+ xListItem members that are not required by the xListEnd member of a list.\r
+ Again this was done to reduce RAM usage.\r
+\r
+ + Changed the volatile definitions of some structure members to clean up\r
+ the code where the list structures are used.\r
+\r
+Changes from V4.0.4\r
+\r
+ + Optimised vListInsert() in the case when the wake time is the maximum \r
+ tick count value.\r
+*/\r
+\r
+#include <stdlib.h>\r
+#include "FreeRTOS.h"\r
+#include "list.h"\r
+\r
+/*-----------------------------------------------------------\r
+ * PUBLIC LIST API documented in list.h\r
+ *----------------------------------------------------------*/\r
+\r
+void vListInitialise( xList *pxList )\r
+{\r
+ /* The list structure contains a list item which is used to mark the\r
+ end of the list. To initialise the list the list end is inserted\r
+ as the only list entry. */\r
+ pxList->pxIndex = ( xListItem * ) &( pxList->xListEnd );\r
+\r
+ /* The list end value is the highest possible value in the list to\r
+ ensure it remains at the end of the list. */\r
+ pxList->xListEnd.xItemValue = portMAX_DELAY;\r
+\r
+ /* The list end next and previous pointers point to itself so we know\r
+ when the list is empty. */\r
+ pxList->xListEnd.pxNext = ( xListItem * ) &( pxList->xListEnd );\r
+ pxList->xListEnd.pxPrevious = ( xListItem * ) &( pxList->xListEnd );\r
+\r
+ pxList->uxNumberOfItems = 0;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vListInitialiseItem( xListItem *pxItem )\r
+{\r
+ /* Make sure the list item is not recorded as being on a list. */\r
+ pxItem->pvContainer = NULL;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vListInsertEnd( xList *pxList, xListItem *pxNewListItem )\r
+{\r
+volatile xListItem * pxIndex;\r
+\r
+ /* Insert a new list item into pxList, but rather than sort the list,\r
+ makes the new list item the last item to be removed by a call to\r
+ pvListGetOwnerOfNextEntry. This means it has to be the item pointed to by\r
+ the pxIndex member. */\r
+ pxIndex = pxList->pxIndex;\r
+\r
+ pxNewListItem->pxNext = pxIndex->pxNext;\r
+ pxNewListItem->pxPrevious = pxList->pxIndex;\r
+ pxIndex->pxNext->pxPrevious = ( volatile xListItem * ) pxNewListItem;\r
+ pxIndex->pxNext = ( volatile xListItem * ) pxNewListItem;\r
+ pxList->pxIndex = ( volatile xListItem * ) pxNewListItem;\r
+\r
+ /* Remember which list the item is in. */\r
+ pxNewListItem->pvContainer = ( void * ) pxList;\r
+\r
+ ( pxList->uxNumberOfItems )++;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vListInsert( xList *pxList, xListItem *pxNewListItem )\r
+{\r
+volatile xListItem *pxIterator;\r
+portTickType xValueOfInsertion;\r
+\r
+ /* Insert the new list item into the list, sorted in ulListItem order. */\r
+ xValueOfInsertion = pxNewListItem->xItemValue;\r
+\r
+ /* If the list already contains a list item with the same item value then\r
+ the new list item should be placed after it. This ensures that TCB's which\r
+ are stored in ready lists (all of which have the same ulListItem value)\r
+ get an equal share of the CPU. However, if the xItemValue is the same as \r
+ the back marker the iteration loop below will not end. This means we need\r
+ to guard against this by checking the value first and modifying the \r
+ algorithm slightly if necessary. */\r
+ if( xValueOfInsertion == portMAX_DELAY )\r
+ {\r
+ pxIterator = pxList->xListEnd.pxPrevious;\r
+ }\r
+ else\r
+ {\r
+ for( pxIterator = ( xListItem * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext )\r
+ {\r
+ /* There is nothing to do here, we are just iterating to the\r
+ wanted insertion position. */\r
+ }\r
+ }\r
+\r
+ pxNewListItem->pxNext = pxIterator->pxNext;\r
+ pxNewListItem->pxNext->pxPrevious = ( volatile xListItem * ) pxNewListItem;\r
+ pxNewListItem->pxPrevious = pxIterator;\r
+ pxIterator->pxNext = ( volatile xListItem * ) pxNewListItem;\r
+\r
+ /* Remember which list the item is in. This allows fast removal of the\r
+ item later. */\r
+ pxNewListItem->pvContainer = ( void * ) pxList;\r
+\r
+ ( pxList->uxNumberOfItems )++;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vListRemove( xListItem *pxItemToRemove )\r
+{\r
+xList * pxList;\r
+\r
+ pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious;\r
+ pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext;\r
+ \r
+ /* The list item knows which list it is in. Obtain the list from the list\r
+ item. */\r
+ pxList = ( xList * ) pxItemToRemove->pvContainer;\r
+\r
+ /* Make sure the index is left pointing to a valid item. */\r
+ if( pxList->pxIndex == pxItemToRemove )\r
+ {\r
+ pxList->pxIndex = pxItemToRemove->pxPrevious;\r
+ }\r
+\r
+ pxItemToRemove->pvContainer = NULL;\r
+ ( pxList->uxNumberOfItems )--;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
--- /dev/null
+/*\r
+ FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry.\r
+\r
+ This file is part of the FreeRTOS.org distribution.\r
+\r
+ FreeRTOS.org is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ FreeRTOS.org is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with FreeRTOS.org; if not, write to the Free Software\r
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+\r
+ A special exception to the GPL can be applied should you wish to distribute\r
+ a combined work that includes FreeRTOS.org, without being obliged to provide\r
+ the source code for any proprietary components. See the licensing section \r
+ of http://www.FreeRTOS.org for full details of how and when the exception\r
+ can be applied.\r
+\r
+ ***************************************************************************\r
+\r
+ Please ensure to read the configuration and relevant port sections of the \r
+ online documentation.\r
+\r
+ +++ http://www.FreeRTOS.org +++\r
+ Documentation, latest information, license and contact details. \r
+\r
+ +++ http://www.SafeRTOS.com +++\r
+ A version that is certified for use in safety critical systems.\r
+\r
+ +++ http://www.OpenRTOS.com +++\r
+ Commercial support, development, porting, licensing and training services.\r
+\r
+ ***************************************************************************\r
+*/\r
+\r
+/*\r
+ Changes from V4.2.1\r
+\r
+ + Introduced the configKERNEL_INTERRUPT_PRIORITY definition.\r
+*/\r
+\r
+/*-----------------------------------------------------------\r
+ * Implementation of functions defined in portable.h for the PIC24 port.\r
+ *----------------------------------------------------------*/\r
+\r
+/* Scheduler include files. */\r
+#include "FreeRTOS.h"\r
+#include "task.h"\r
+\r
+/* Hardware specifics. */\r
+#define portBIT_SET 1\r
+#define portTIMER_PRESCALE 8\r
+#define portINITIAL_SR 0\r
+\r
+/* Defined for backward compatability with project created prior to \r
+FreeRTOS.org V4.3.0. */\r
+#ifndef configKERNEL_INTERRUPT_PRIORITY\r
+ #define configKERNEL_INTERRUPT_PRIORITY 1\r
+#endif\r
+\r
+/* The program counter is only 23 bits. */\r
+#define portUNUSED_PR_BITS 0x7f\r
+\r
+/* Records the nesting depth of calls to portENTER_CRITICAL(). */\r
+unsigned portBASE_TYPE uxCriticalNesting = 0xef;\r
+\r
+#if configKERNEL_INTERRUPT_PRIORITY != 1\r
+ #error If configKERNEL_INTERRUPT_PRIORITY is not 1 then the #32 in the following macros needs changing to equal the portINTERRUPT_BITS value, which is ( configKERNEL_INTERRUPT_PRIORITY << 5 )\r
+#endif\r
+\r
+\r
+#define portRESTORE_CONTEXT() \\r
+ asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \\r
+ "MOV [W0], W15 \n" \\r
+ "POP W0 \n" /* Restore the critical nesting counter for the task. */ \\r
+ "MOV W0, _uxCriticalNesting \n" \\r
+ "POP PSVPAG \n" \\r
+ "POP CORCON \n" \\r
+ "POP DOENDH \n" \\r
+ "POP DOENDL \n" \\r
+ "POP DOSTARTH \n" \\r
+ "POP DOSTARTL \n" \\r
+ "POP DCOUNT \n" \\r
+ "POP ACCBU \n" \\r
+ "POP ACCBH \n" \\r
+ "POP ACCBL \n" \\r
+ "POP ACCAU \n" \\r
+ "POP ACCAH \n" \\r
+ "POP ACCAL \n" \\r
+ "POP TBLPAG \n" \\r
+ "POP RCOUNT \n" /* Restore the registers from the stack. */ \\r
+ "POP W14 \n" \\r
+ "POP.D W12 \n" \\r
+ "POP.D W10 \n" \\r
+ "POP.D W8 \n" \\r
+ "POP.D W6 \n" \\r
+ "POP.D W4 \n" \\r
+ "POP.D W2 \n" \\r
+ "POP.D W0 \n" \\r
+ "POP SR " );\r
+\r
+\r
+#define portSAVE_CONTEXT() \\r
+ asm volatile( "PUSH SR \n" /* Save the SR used by the task.... */ \\r
+ "PUSH W0 \n" /* ....then disable interrupts. */ \\r
+ "MOV #32, W0 \n" \\r
+ "MOV W0, SR \n" \\r
+ "PUSH W1 \n" /* Save registers to the stack. */ \\r
+ "PUSH.D W2 \n" \\r
+ "PUSH.D W4 \n" \\r
+ "PUSH.D W6 \n" \\r
+ "PUSH.D W8 \n" \\r
+ "PUSH.D W10 \n" \\r
+ "PUSH.D W12 \n" \\r
+ "PUSH W14 \n" \\r
+ "PUSH RCOUNT \n" \\r
+ "PUSH TBLPAG \n" \\r
+ "PUSH ACCAL \n" \\r
+ "PUSH ACCAH \n" \\r
+ "PUSH ACCAU \n" \\r
+ "PUSH ACCBL \n" \\r
+ "PUSH ACCBH \n" \\r
+ "PUSH ACCBU \n" \\r
+ "PUSH DCOUNT \n" \\r
+ "PUSH DOSTARTL \n" \\r
+ "PUSH DOSTARTH \n" \\r
+ "PUSH DOENDL \n" \\r
+ "PUSH DOENDH \n" \\r
+ "PUSH CORCON \n" \\r
+ "PUSH PSVPAG \n" \\r
+ "MOV _uxCriticalNesting, W0 \n" /* Save the critical nesting counter for the task. */ \\r
+ "PUSH W0 \n" \\r
+ "MOV _pxCurrentTCB, W0 \n" /* Save the new top of stack into the TCB. */ \\r
+ "MOV W15, [W0] " );\r
+\r
+/*\r
+ * Setup the timer used to generate the tick interrupt.\r
+ */\r
+static void prvSetupTimerInterrupt( void );\r
+\r
+/* \r
+ * See header file for description. \r
+ */\r
+portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )\r
+{\r
+unsigned portSHORT usCode;\r
+portBASE_TYPE i;\r
+\r
+const portSTACK_TYPE xInitialStack[] = \r
+{\r
+ 0x1111, /* W1 */\r
+ 0x2222, /* W2 */\r
+ 0x3333, /* W3 */\r
+ 0x4444, /* W4 */\r
+ 0x5555, /* W5 */\r
+ 0x6666, /* W6 */\r
+ 0x7777, /* W7 */\r
+ 0x8888, /* W8 */\r
+ 0x9999, /* W9 */\r
+ 0xaaaa, /* W10 */\r
+ 0xbbbb, /* W11 */\r
+ 0xcccc, /* W12 */\r
+ 0xdddd, /* W13 */\r
+ 0xeeee, /* W14 */\r
+ 0xcdce, /* RCOUNT */\r
+ 0xabac, /* TBLPAG */\r
+\r
+ /* dsPIC specific registers. */\r
+ 0x0202, /* ACCAL */\r
+ 0x0303, /* ACCAH */\r
+ 0x0404, /* ACCAU */\r
+ 0x0505, /* ACCBL */\r
+ 0x0606, /* ACCBH */\r
+ 0x0707, /* ACCBU */\r
+ 0x0808, /* DCOUNT */\r
+ 0x090a, /* DOSTARTL */\r
+ 0x1010, /* DOSTARTH */\r
+ 0x1110, /* DOENDL */\r
+ 0x1212, /* DOENDH */\r
+};\r
+\r
+ /* Setup the stack as if a yield had occurred.\r
+\r
+ Save the low bytes of the program counter. */\r
+ usCode = ( unsigned portSHORT ) pxCode;\r
+ *pxTopOfStack = ( portSTACK_TYPE ) usCode;\r
+ pxTopOfStack++;\r
+\r
+ /* Save the high byte of the program counter. This will always be zero\r
+ here as it is passed in a 16bit pointer. If the address is greater than\r
+ 16 bits then the pointer will point to a jump table. */\r
+ *pxTopOfStack = ( portSTACK_TYPE ) 0;\r
+ pxTopOfStack++;\r
+\r
+ /* Status register with interrupts enabled. */\r
+ *pxTopOfStack = portINITIAL_SR;\r
+ pxTopOfStack++;\r
+\r
+ /* Parameters are passed in W0. */\r
+ *pxTopOfStack = ( portSTACK_TYPE ) pvParameters;\r
+ pxTopOfStack++;\r
+\r
+ for( i = 0; i < ( sizeof( xInitialStack ) / sizeof( portSTACK_TYPE ) ); i++ )\r
+ {\r
+ *pxTopOfStack = xInitialStack[ i ];\r
+ pxTopOfStack++;\r
+ }\r
+\r
+ *pxTopOfStack = CORCON;\r
+ pxTopOfStack++;\r
+ *pxTopOfStack = PSVPAG;\r
+ pxTopOfStack++;\r
+\r
+ /* Finally the critical nesting depth. */\r
+ *pxTopOfStack = 0x00;\r
+ pxTopOfStack++;\r
+\r
+ return pxTopOfStack;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+portBASE_TYPE xPortStartScheduler( void )\r
+{\r
+ /* Setup a timer for the tick ISR. */\r
+ prvSetupTimerInterrupt(); \r
+\r
+ /* Restore the context of the first task to run. */\r
+ portRESTORE_CONTEXT();\r
+\r
+ /* Simulate the end of the yield function. */\r
+ asm volatile ( "return" );\r
+\r
+ /* Should not reach here. */\r
+ return pdTRUE;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vPortEndScheduler( void )\r
+{\r
+ /* It is unlikely that the scheduler for the PIC port will get stopped\r
+ once running. If required disable the tick interrupt here, then return \r
+ to xPortStartScheduler(). */\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+/*\r
+ * Manual context switch. This is similar to the tick context switch,\r
+ * but does not increment the tick count. It must be identical to the\r
+ * tick context switch in how it stores the stack of a task.\r
+ */\r
+void vPortYield( void )\r
+{\r
+ portSAVE_CONTEXT();\r
+ vTaskSwitchContext();\r
+ portRESTORE_CONTEXT();\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+/*\r
+ * Setup a timer for a regular tick.\r
+ */\r
+static void prvSetupTimerInterrupt( void )\r
+{\r
+const unsigned portLONG ulCompareMatch = ( configCPU_CLOCK_HZ / portTIMER_PRESCALE ) / configTICK_RATE_HZ;\r
+\r
+ /* Prescale of 8. */\r
+ T1CON = 0;\r
+ TMR1 = 0;\r
+\r
+ PR1 = ( unsigned portSHORT ) ulCompareMatch;\r
+\r
+ /* Setup timer 1 interrupt priority. */\r
+ IPC0bits.T1IP = configKERNEL_INTERRUPT_PRIORITY;\r
+\r
+ /* Clear the interrupt as a starting condition. */\r
+ IFS0bits.T1IF = 0;\r
+\r
+ /* Enable the interrupt. */\r
+ IEC0bits.T1IE = 1;\r
+\r
+ /* Setup the prescale value. */\r
+// T1CONbits.TCKPS0 = 1;\r
+// T1CONbits.TCKPS1 = 0;\r
+ T1CONbits.TCKPS = 1;\r
+\r
+ /* Start the timer. */\r
+ T1CONbits.TON = 1;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vPortEnterCritical( void )\r
+{\r
+ portDISABLE_INTERRUPTS();\r
+ uxCriticalNesting++;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vPortExitCritical( void )\r
+{\r
+ uxCriticalNesting--;\r
+ if( uxCriticalNesting == 0 )\r
+ {\r
+ portENABLE_INTERRUPTS();\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void __attribute__((__interrupt__, auto_psv)) _T1Interrupt( void )\r
+{\r
+ vTaskIncrementTick();\r
+\r
+ /* Clear the timer interrupt. */\r
+ IFS0bits.T1IF = 0;\r
+\r
+ #if configUSE_PREEMPTION == 1\r
+ portYIELD();\r
+ #endif\r
+}\r
--- /dev/null
+/*\r
+ FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry.\r
+\r
+ This file is part of the FreeRTOS.org distribution.\r
+\r
+ FreeRTOS.org is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ FreeRTOS.org is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with FreeRTOS.org; if not, write to the Free Software\r
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+\r
+ A special exception to the GPL can be applied should you wish to distribute\r
+ a combined work that includes FreeRTOS.org, without being obliged to provide\r
+ the source code for any proprietary components. See the licensing section \r
+ of http://www.FreeRTOS.org for full details of how and when the exception\r
+ can be applied.\r
+\r
+ ***************************************************************************\r
+\r
+ Please ensure to read the configuration and relevant port sections of the \r
+ online documentation.\r
+\r
+ +++ http://www.FreeRTOS.org +++\r
+ Documentation, latest information, license and contact details. \r
+\r
+ +++ http://www.SafeRTOS.com +++\r
+ A version that is certified for use in safety critical systems.\r
+\r
+ +++ http://www.OpenRTOS.com +++\r
+ Commercial support, development, porting, licensing and training services.\r
+\r
+ ***************************************************************************\r
+*/\r
+\r
+#ifndef PORTMACRO_H\r
+#define PORTMACRO_H\r
+\r
+#ifdef __cplusplus\r
+extern "C" {\r
+#endif\r
+\r
+/*-----------------------------------------------------------\r
+ * Port specific definitions. \r
+ *\r
+ * The settings in this file configure FreeRTOS correctly for the\r
+ * given hardware and compiler.\r
+ *\r
+ * These settings should not be altered.\r
+ *-----------------------------------------------------------\r
+ */\r
+\r
+/* Type definitions. */\r
+#define portCHAR char\r
+#define portFLOAT float\r
+#define portDOUBLE double\r
+#define portLONG long\r
+#define portSHORT short\r
+#define portSTACK_TYPE unsigned short\r
+#define portBASE_TYPE short\r
+\r
+#if( configUSE_16_BIT_TICKS == 1 )\r
+ typedef unsigned portSHORT portTickType;\r
+ #define portMAX_DELAY ( portTickType ) 0xffff\r
+#else\r
+ typedef unsigned portLONG portTickType;\r
+ #define portMAX_DELAY ( portTickType ) 0xffffffff\r
+#endif\r
+/*-----------------------------------------------------------*/\r
+\r
+/* Hardware specifics. */\r
+#define portBYTE_ALIGNMENT 2\r
+#define portSTACK_GROWTH 1\r
+#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ ) \r
+/*-----------------------------------------------------------*/\r
+\r
+/* Critical section management. */\r
+#define portINTERRUPT_BITS ( ( unsigned portSHORT ) configKERNEL_INTERRUPT_PRIORITY << ( unsigned portSHORT ) 5 )\r
+\r
+#define portDISABLE_INTERRUPTS() SR |= portINTERRUPT_BITS \r
+#define portENABLE_INTERRUPTS() SR &= ~portINTERRUPT_BITS\r
+\r
+/* Note that exiting a critical sectino will set the IPL bits to 0, nomatter\r
+what their value was prior to entering the critical section. */\r
+extern void vPortEnterCritical( void );\r
+extern void vPortExitCritical( void );\r
+#define portENTER_CRITICAL() vPortEnterCritical()\r
+#define portEXIT_CRITICAL() vPortExitCritical()\r
+/*-----------------------------------------------------------*/\r
+\r
+/* Task utilities. */\r
+extern void vPortYield( void );\r
+#define portYIELD() asm volatile ( "CALL _vPortYield \n" \\r
+ "NOP " );\r
+/*-----------------------------------------------------------*/\r
+\r
+/* Task function macros as described on the FreeRTOS.org WEB site. */\r
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )\r
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )\r
+/*-----------------------------------------------------------*/\r
+\r
+/* Compiler specifics. */\r
+#define inline\r
+\r
+#define portNOP() asm volatile ( "NOP" )\r
+\r
+#ifdef __cplusplus\r
+}\r
+#endif\r
+\r
+#endif /* PORTMACRO_H */\r
+\r
--- /dev/null
+/*\r
+ FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry.\r
+\r
+ This file is part of the FreeRTOS.org distribution.\r
+\r
+ FreeRTOS.org is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ FreeRTOS.org is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with FreeRTOS.org; if not, write to the Free Software\r
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+\r
+ A special exception to the GPL can be applied should you wish to distribute\r
+ a combined work that includes FreeRTOS.org, without being obliged to provide\r
+ the source code for any proprietary components. See the licensing section \r
+ of http://www.FreeRTOS.org for full details of how and when the exception\r
+ can be applied.\r
+\r
+ ***************************************************************************\r
+\r
+ Please ensure to read the configuration and relevant port sections of the \r
+ online documentation.\r
+\r
+ +++ http://www.FreeRTOS.org +++\r
+ Documentation, latest information, license and contact details. \r
+\r
+ +++ http://www.SafeRTOS.com +++\r
+ A version that is certified for use in safety critical systems.\r
+\r
+ +++ http://www.OpenRTOS.com +++\r
+ Commercial support, development, porting, licensing and training services.\r
+\r
+ ***************************************************************************\r
+*/\r
+\r
+/* \r
+\r
+Changes between V2.5.1 and V2.5.1\r
+\r
+ + The memory pool has been defined within a struct to ensure correct memory\r
+ alignment on 32bit systems.\r
+\r
+Changes between V2.6.1 and V3.0.0\r
+\r
+ + An overflow check has been added to ensure the next free byte variable \r
+ does not wrap around.\r
+*/\r
+\r
+\r
+/*\r
+ * The simplest possible implementation of pvPortMalloc(). Note that this\r
+ * implementation does NOT allow allocated memory to be freed again.\r
+ *\r
+ * See heap_2.c and heap_3.c for alternative implementations, and the memory\r
+ * management pages of http://www.FreeRTOS.org for more information.\r
+ */\r
+#include <stdlib.h>\r
+#include "FreeRTOS.h"\r
+#include "task.h"\r
+\r
+/* Setup the correct byte alignment mask for the defined byte alignment. */\r
+\r
+#if portBYTE_ALIGNMENT == 8\r
+ #define heapBYTE_ALIGNMENT_MASK ( ( size_t ) 0x0007 )\r
+#endif\r
+\r
+#if portBYTE_ALIGNMENT == 4\r
+ #define heapBYTE_ALIGNMENT_MASK ( ( size_t ) 0x0003 )\r
+#endif\r
+\r
+#if portBYTE_ALIGNMENT == 2\r
+ #define heapBYTE_ALIGNMENT_MASK ( ( size_t ) 0x0001 )\r
+#endif\r
+\r
+#if portBYTE_ALIGNMENT == 1 \r
+ #define heapBYTE_ALIGNMENT_MASK ( ( size_t ) 0x0000 )\r
+#endif\r
+\r
+#ifndef heapBYTE_ALIGNMENT_MASK\r
+ #error "Invalid portBYTE_ALIGNMENT definition"\r
+#endif\r
+\r
+/* Allocate the memory for the heap. The struct is used to force byte\r
+alignment without using any non-portable code. */\r
+static struct xRTOS_HEAP\r
+{\r
+ unsigned portLONG ulDummy;\r
+ unsigned portCHAR ucHeap[ configTOTAL_HEAP_SIZE ];\r
+} xHeap;\r
+\r
+static size_t xNextFreeByte = ( size_t ) 0;\r
+/*-----------------------------------------------------------*/\r
+\r
+void *pvPortMalloc( size_t xWantedSize )\r
+{\r
+void *pvReturn = NULL; \r
+\r
+ /* Ensure that blocks are always aligned to the required number of bytes. */\r
+ #if portBYTE_ALIGNMENT != 1\r
+ if( xWantedSize & heapBYTE_ALIGNMENT_MASK )\r
+ {\r
+ /* Byte alignment required. */\r
+ xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & heapBYTE_ALIGNMENT_MASK ) );\r
+ }\r
+ #endif\r
+\r
+ vTaskSuspendAll();\r
+ {\r
+ /* Check there is enough room left for the allocation. */\r
+ if( ( ( xNextFreeByte + xWantedSize ) < configTOTAL_HEAP_SIZE ) &&\r
+ ( ( xNextFreeByte + xWantedSize ) > xNextFreeByte ) )/* Check for overflow. */\r
+ {\r
+ /* Return the next free byte then increment the index past this\r
+ block. */\r
+ pvReturn = &( xHeap.ucHeap[ xNextFreeByte ] );\r
+ xNextFreeByte += xWantedSize; \r
+ } \r
+ }\r
+ xTaskResumeAll();\r
+\r
+ return pvReturn;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vPortFree( void *pv )\r
+{\r
+ /* Memory cannot be freed using this scheme. See heap_2.c and heap_3.c \r
+ for alternative implementations, and the memory management pages of \r
+ http://www.FreeRTOS.org for more information. */\r
+ ( void ) pv;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vPortInitialiseBlocks( void )\r
+{\r
+ /* Only required when static memory is not cleared. */\r
+ xNextFreeByte = ( size_t ) 0;\r
+}\r
+\r
+\r
--- /dev/null
+/*\r
+ FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry.\r
+\r
+ This file is part of the FreeRTOS.org distribution.\r
+\r
+ FreeRTOS.org is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ FreeRTOS.org is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with FreeRTOS.org; if not, write to the Free Software\r
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+\r
+ A special exception to the GPL can be applied should you wish to distribute\r
+ a combined work that includes FreeRTOS.org, without being obliged to provide\r
+ the source code for any proprietary components. See the licensing section\r
+ of http://www.FreeRTOS.org for full details of how and when the exception\r
+ can be applied.\r
+\r
+ ***************************************************************************\r
+\r
+ Please ensure to read the configuration and relevant port sections of the \r
+ online documentation.\r
+\r
+ +++ http://www.FreeRTOS.org +++\r
+ Documentation, latest information, license and contact details. \r
+\r
+ +++ http://www.SafeRTOS.com +++\r
+ A version that is certified for use in safety critical systems.\r
+\r
+ +++ http://www.OpenRTOS.com +++\r
+ Commercial support, development, porting, licensing and training services.\r
+\r
+ ***************************************************************************\r
+*/\r
+\r
+/*\r
+ * A sample implementation of pvPortMalloc() and vPortFree() that permits\r
+ * allocated blocks to be freed, but does not combine adjacent free blocks\r
+ * into a single larger block.\r
+ *\r
+ * See heap_1.c and heap_3.c for alternative implementations, and the memory\r
+ * management pages of http://www.FreeRTOS.org for more information.\r
+ */\r
+#include <stdlib.h>\r
+\r
+#include "FreeRTOS.h"\r
+#include "task.h"\r
+\r
+/* Setup the correct byte alignment mask for the defined byte alignment. */\r
+\r
+#if portBYTE_ALIGNMENT == 8\r
+ #define heapBYTE_ALIGNMENT_MASK ( ( size_t ) 0x0007 )\r
+#endif\r
+\r
+#if portBYTE_ALIGNMENT == 4\r
+ #define heapBYTE_ALIGNMENT_MASK ( ( size_t ) 0x0003 )\r
+#endif\r
+\r
+#if portBYTE_ALIGNMENT == 2\r
+ #define heapBYTE_ALIGNMENT_MASK ( ( size_t ) 0x0001 )\r
+#endif\r
+\r
+#if portBYTE_ALIGNMENT == 1\r
+ #define heapBYTE_ALIGNMENT_MASK ( ( size_t ) 0x0000 )\r
+#endif\r
+\r
+#ifndef heapBYTE_ALIGNMENT_MASK\r
+ #error "Invalid portBYTE_ALIGNMENT definition"\r
+#endif\r
+\r
+/* Allocate the memory for the heap. The struct is used to force byte\r
+alignment without using any non-portable code. */\r
+static struct xRTOS_HEAP\r
+{\r
+ unsigned portLONG ulDummy;\r
+ unsigned portCHAR ucHeap[ configTOTAL_HEAP_SIZE ];\r
+} xHeap;\r
+\r
+/* Define the linked list structure. This is used to link free blocks in order\r
+of their size. */\r
+typedef struct A_BLOCK_LINK\r
+{\r
+ struct A_BLOCK_LINK *pxNextFreeBlock; /*<< The next free block in the list. */\r
+ size_t xBlockSize; /*<< The size of the free block. */\r
+} xBlockLink;\r
+\r
+\r
+static const unsigned portSHORT heapSTRUCT_SIZE = ( sizeof( xBlockLink ) + ( sizeof( xBlockLink ) % portBYTE_ALIGNMENT ) );\r
+#define heapMINIMUM_BLOCK_SIZE ( ( size_t ) ( heapSTRUCT_SIZE * 2 ) )\r
+\r
+/* Create a couple of list links to mark the start and end of the list. */\r
+static xBlockLink xStart, xEnd;\r
+\r
+/* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */\r
+\r
+/*\r
+ * Insert a block into the list of free blocks - which is ordered by size of\r
+ * the block. Small blocks at the start of the list and large blocks at the end\r
+ * of the list.\r
+ */\r
+#define prvInsertBlockIntoFreeList( pxBlockToInsert ) \\r
+{ \\r
+xBlockLink *pxIterator; \\r
+size_t xBlockSize; \\r
+ \\r
+ xBlockSize = pxBlockToInsert->xBlockSize; \\r
+ \\r
+ /* Iterate through the list until a block is found that has a larger size */ \\r
+ /* than the block we are inserting. */ \\r
+ for( pxIterator = &xStart; pxIterator->pxNextFreeBlock->xBlockSize < xBlockSize; pxIterator = pxIterator->pxNextFreeBlock ) \\r
+ { \\r
+ /* There is nothing to do here - just iterate to the correct position. */ \\r
+ } \\r
+ \\r
+ /* Update the list to include the block being inserted in the correct */ \\r
+ /* position. */ \\r
+ pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock; \\r
+ pxIterator->pxNextFreeBlock = pxBlockToInsert; \\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+#define prvHeapInit() \\r
+{ \\r
+xBlockLink *pxFirstFreeBlock; \\r
+ \\r
+ /* xStart is used to hold a pointer to the first item in the list of free */ \\r
+ /* blocks. The void cast is used to prevent compiler warnings. */ \\r
+ xStart.pxNextFreeBlock = ( void * ) xHeap.ucHeap; \\r
+ xStart.xBlockSize = ( size_t ) 0; \\r
+ \\r
+ /* xEnd is used to mark the end of the list of free blocks. */ \\r
+ xEnd.xBlockSize = configTOTAL_HEAP_SIZE; \\r
+ xEnd.pxNextFreeBlock = NULL; \\r
+ \\r
+ /* To start with there is a single free block that is sized to take up the \\r
+ entire heap space. */ \\r
+ pxFirstFreeBlock = ( void * ) xHeap.ucHeap; \\r
+ pxFirstFreeBlock->xBlockSize = configTOTAL_HEAP_SIZE; \\r
+ pxFirstFreeBlock->pxNextFreeBlock = &xEnd; \\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void *pvPortMalloc( size_t xWantedSize )\r
+{\r
+xBlockLink *pxBlock, *pxPreviousBlock, *pxNewBlockLink;\r
+static portBASE_TYPE xHeapHasBeenInitialised = pdFALSE;\r
+void *pvReturn = NULL;\r
+\r
+ vTaskSuspendAll();\r
+ {\r
+ /* If this is the first call to malloc then the heap will require\r
+ initialisation to setup the list of free blocks. */\r
+ if( xHeapHasBeenInitialised == pdFALSE )\r
+ {\r
+ prvHeapInit();\r
+ xHeapHasBeenInitialised = pdTRUE;\r
+ }\r
+\r
+ /* The wanted size is increased so it can contain a xBlockLink\r
+ structure in addition to the requested amount of bytes. */\r
+ if( xWantedSize > 0 )\r
+ {\r
+ xWantedSize += heapSTRUCT_SIZE;\r
+\r
+ /* Ensure that blocks are always aligned to the required number of bytes. */\r
+ if( xWantedSize & heapBYTE_ALIGNMENT_MASK )\r
+ {\r
+ /* Byte alignment required. */\r
+ xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & heapBYTE_ALIGNMENT_MASK ) );\r
+ }\r
+ }\r
+\r
+ if( ( xWantedSize > 0 ) && ( xWantedSize < configTOTAL_HEAP_SIZE ) )\r
+ {\r
+ /* Blocks are stored in byte order - traverse the list from the start\r
+ (smallest) block until one of adequate size is found. */\r
+ pxPreviousBlock = &xStart;\r
+ pxBlock = xStart.pxNextFreeBlock;\r
+ while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock ) )\r
+ {\r
+ pxPreviousBlock = pxBlock;\r
+ pxBlock = pxBlock->pxNextFreeBlock;\r
+ }\r
+\r
+ /* If we found the end marker then a block of adequate size was not found. */\r
+ if( pxBlock != &xEnd )\r
+ {\r
+ /* Return the memory space - jumping over the xBlockLink structure\r
+ at its start. */\r
+ pvReturn = ( void * ) ( ( ( unsigned portCHAR * ) pxPreviousBlock->pxNextFreeBlock ) + heapSTRUCT_SIZE );\r
+\r
+ /* This block is being returned for use so must be taken our of the\r
+ list of free blocks. */\r
+ pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;\r
+\r
+ /* If the block is larger than required it can be split into two. */\r
+ if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE )\r
+ {\r
+ /* This block is to be split into two. Create a new block\r
+ following the number of bytes requested. The void cast is\r
+ used to prevent byte alignment warnings from the compiler. */\r
+ pxNewBlockLink = ( void * ) ( ( ( unsigned portCHAR * ) pxBlock ) + xWantedSize );\r
+ \r
+ /* Calculate the sizes of two blocks split from the single\r
+ block. */\r
+ pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize; \r
+ pxBlock->xBlockSize = xWantedSize; \r
+ \r
+ /* Insert the new block into the list of free blocks. */\r
+ prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );\r
+ }\r
+ }\r
+ }\r
+ }\r
+ xTaskResumeAll();\r
+\r
+ return pvReturn;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vPortFree( void *pv )\r
+{\r
+unsigned portCHAR *puc = ( unsigned portCHAR * ) pv;\r
+xBlockLink *pxLink;\r
+\r
+ if( pv )\r
+ {\r
+ /* The memory being freed will have an xBlockLink structure immediately\r
+ before it. */\r
+ puc -= heapSTRUCT_SIZE;\r
+\r
+ /* This casting is to keep the compiler from issuing warnings. */\r
+ pxLink = ( void * ) puc;\r
+\r
+ vTaskSuspendAll();\r
+ { \r
+ /* Add this block to the list of free blocks. */\r
+ prvInsertBlockIntoFreeList( ( ( xBlockLink * ) pxLink ) );\r
+ }\r
+ xTaskResumeAll();\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
--- /dev/null
+/*\r
+ FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry.\r
+\r
+ This file is part of the FreeRTOS.org distribution.\r
+\r
+ FreeRTOS.org is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ FreeRTOS.org is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with FreeRTOS.org; if not, write to the Free Software\r
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+\r
+ A special exception to the GPL can be applied should you wish to distribute\r
+ a combined work that includes FreeRTOS.org, without being obliged to provide\r
+ the source code for any proprietary components. See the licensing section \r
+ of http://www.FreeRTOS.org for full details of how and when the exception\r
+ can be applied.\r
+\r
+ ***************************************************************************\r
+\r
+ Please ensure to read the configuration and relevant port sections of the \r
+ online documentation.\r
+\r
+ +++ http://www.FreeRTOS.org +++\r
+ Documentation, latest information, license and contact details. \r
+\r
+ +++ http://www.SafeRTOS.com +++\r
+ A version that is certified for use in safety critical systems.\r
+\r
+ +++ http://www.OpenRTOS.com +++\r
+ Commercial support, development, porting, licensing and training services.\r
+\r
+ ***************************************************************************\r
+*/\r
+\r
+\r
+/*\r
+ * Implementation of pvPortMalloc() and vPortFree() that relies on the\r
+ * compilers own malloc() and free() implementations.\r
+ *\r
+ * This file can only be used if the linker is configured to to generate\r
+ * a heap memory area.\r
+ *\r
+ * See heap_2.c and heap_1.c for alternative implementations, and the memory\r
+ * management pages of http://www.FreeRTOS.org for more information.\r
+ */\r
+\r
+#include <stdlib.h>\r
+\r
+#include "FreeRTOS.h"\r
+#include "task.h"\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+void *pvPortMalloc( size_t xWantedSize )\r
+{\r
+void *pvReturn;\r
+\r
+ vTaskSuspendAll();\r
+ {\r
+ pvReturn = malloc( xWantedSize );\r
+ }\r
+ xTaskResumeAll();\r
+\r
+ return pvReturn;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vPortFree( void *pv )\r
+{\r
+ if( pv )\r
+ {\r
+ vTaskSuspendAll();\r
+ {\r
+ free( pv );\r
+ }\r
+ xTaskResumeAll();\r
+ }\r
+}\r
+\r
+\r
+\r
--- /dev/null
+Each real time kernel port consists of three files that contain the core kernel\r
+components and are common to every port, and one or more files that are \r
+specific to a particular microcontroller and/or compiler.\r
+\r
+\r
++ The FreeRTOS/Source/Portable/MemMang directory contains the three sample \r
+memory allocators as described on the http://www.FreeRTOS.org WEB site.\r
+\r
++ The other directories each contain files specific to a particular \r
+microcontroller or compiler.\r
+\r
+\r
+\r
+For example, if you are interested in the GCC port for the ATMega323 \r
+microcontroller then the port specific files are contained in\r
+FreeRTOS/Source/Portable/GCC/ATMega323 directory. If this is the only\r
+port you are interested in then all the other directories can be\r
+ignored.\r
+\r
--- /dev/null
+/*\r
+ FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry.\r
+\r
+ This file is part of the FreeRTOS.org distribution.\r
+\r
+ FreeRTOS.org is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ FreeRTOS.org is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with FreeRTOS.org; if not, write to the Free Software\r
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+\r
+ A special exception to the GPL can be applied should you wish to distribute\r
+ a combined work that includes FreeRTOS.org, without being obliged to provide\r
+ the source code for any proprietary components. See the licensing section\r
+ of http://www.FreeRTOS.org for full details of how and when the exception\r
+ can be applied.\r
+\r
+ ***************************************************************************\r
+\r
+ Please ensure to read the configuration and relevant port sections of the \r
+ online documentation.\r
+\r
+ +++ http://www.FreeRTOS.org +++\r
+ Documentation, latest information, license and contact details. \r
+\r
+ +++ http://www.SafeRTOS.com +++\r
+ A version that is certified for use in safety critical systems.\r
+\r
+ +++ http://www.OpenRTOS.com +++\r
+ Commercial support, development, porting, licensing and training services.\r
+\r
+ ***************************************************************************\r
+*/\r
+\r
+#include <stdlib.h>\r
+#include <string.h>\r
+#include "FreeRTOS.h"\r
+#include "task.h"\r
+#include "croutine.h"\r
+\r
+/*-----------------------------------------------------------\r
+ * PUBLIC LIST API documented in list.h\r
+ *----------------------------------------------------------*/\r
+\r
+/* Constants used with the cRxLock and cTxLock structure members. */\r
+#define queueUNLOCKED ( ( signed portBASE_TYPE ) -1 )\r
+#define queueERRONEOUS_UNBLOCK ( -1 )\r
+\r
+/* For internal use only. */\r
+#define queueSEND_TO_BACK ( 0 )\r
+#define queueSEND_TO_FRONT ( 1 )\r
+\r
+/* Effectively make a union out of the xQUEUE structure. */\r
+#define pxMutexHolder pcTail\r
+#define uxQueueType pcHead\r
+#define uxRecursiveCallCount pcReadFrom\r
+#define queueQUEUE_IS_MUTEX NULL\r
+\r
+/* Semaphores do not actually store or copy data, so have an items size of\r
+zero. */\r
+#define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( 0 )\r
+#define queueDONT_BLOCK ( ( portTickType ) 0 )\r
+#define queueMUTEX_GIVE_BLOCK_TIME ( ( portTickType ) 0 )\r
+/*\r
+ * Definition of the queue used by the scheduler.\r
+ * Items are queued by copy, not reference.\r
+ */\r
+typedef struct QueueDefinition\r
+{\r
+ signed portCHAR *pcHead; /*< Points to the beginning of the queue storage area. */\r
+ signed portCHAR *pcTail; /*< Points to the byte at the end of the queue storage area. Once more byte is allocated than necessary to store the queue items, this is used as a marker. */\r
+\r
+ signed portCHAR *pcWriteTo; /*< Points to the free next place in the storage area. */\r
+ signed portCHAR *pcReadFrom; /*< Points to the last place that a queued item was read from. */\r
+\r
+ xList xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */\r
+ xList xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */\r
+\r
+ volatile unsigned portBASE_TYPE uxMessagesWaiting;/*< The number of items currently in the queue. */\r
+ unsigned portBASE_TYPE uxLength; /*< The length of the queue defined as the number of items it will hold, not the number of bytes. */\r
+ unsigned portBASE_TYPE uxItemSize; /*< The size of each items that the queue will hold. */\r
+\r
+ signed portBASE_TYPE xRxLock; /*< Stores the number of items received from the queue (removed from the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */\r
+ signed portBASE_TYPE xTxLock; /*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */\r
+} xQUEUE;\r
+/*-----------------------------------------------------------*/\r
+\r
+/*\r
+ * Inside this file xQueueHandle is a pointer to a xQUEUE structure.\r
+ * To keep the definition private the API header file defines it as a\r
+ * pointer to void.\r
+ */\r
+typedef xQUEUE * xQueueHandle;\r
+\r
+/*\r
+ * Prototypes for public functions are included here so we don't have to\r
+ * include the API header file (as it defines xQueueHandle differently). These\r
+ * functions are documented in the API header file.\r
+ */\r
+xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize );\r
+signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );\r
+unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle pxQueue );\r
+void vQueueDelete( xQueueHandle xQueue );\r
+signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE xTaskPreviouslyWoken, portBASE_TYPE xCopyPosition );\r
+signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, const void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking );\r
+signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, const void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken );\r
+xQueueHandle xQueueCreateMutex( void );\r
+xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount );\r
+portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime );\r
+portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex );\r
+signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );\r
+signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, const void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking );\r
+\r
+#if configUSE_CO_ROUTINES == 1\r
+ signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken );\r
+ signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken );\r
+ signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait );\r
+ signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait );\r
+#endif\r
+\r
+/*\r
+ * Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not\r
+ * prevent an ISR from adding or removing items to the queue, but does prevent\r
+ * an ISR from removing tasks from the queue event lists. If an ISR finds a\r
+ * queue is locked it will instead increment the appropriate queue lock count\r
+ * to indicate that a task may require unblocking. When the queue in unlocked\r
+ * these lock counts are inspected, and the appropriate action taken.\r
+ */\r
+static void prvUnlockQueue( xQueueHandle pxQueue );\r
+\r
+/*\r
+ * Uses a critical section to determine if there is any data in a queue.\r
+ *\r
+ * @return pdTRUE if the queue contains no items, otherwise pdFALSE.\r
+ */\r
+static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue );\r
+\r
+/*\r
+ * Uses a critical section to determine if there is any space in a queue.\r
+ *\r
+ * @return pdTRUE if there is no space, otherwise pdFALSE;\r
+ */\r
+static signed portBASE_TYPE prvIsQueueFull( const xQueueHandle pxQueue );\r
+\r
+/*\r
+ * Copies an item into the queue, either at the front of the queue or the\r
+ * back of the queue.\r
+ */\r
+static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition );\r
+\r
+/*\r
+ * Copies an item out of a queue.\r
+ */\r
+static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer );\r
+/*-----------------------------------------------------------*/\r
+\r
+/*\r
+ * Macro to mark a queue as locked. Locking a queue prevents an ISR from\r
+ * accessing the queue event lists.\r
+ */\r
+#define prvLockQueue( pxQueue ) \\r
+{ \\r
+ taskENTER_CRITICAL(); \\r
+ ++( pxQueue->xRxLock ); \\r
+ ++( pxQueue->xTxLock ); \\r
+ taskEXIT_CRITICAL(); \\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+\r
+/*-----------------------------------------------------------\r
+ * PUBLIC QUEUE MANAGEMENT API documented in queue.h\r
+ *----------------------------------------------------------*/\r
+\r
+xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize )\r
+{\r
+xQUEUE *pxNewQueue;\r
+size_t xQueueSizeInBytes;\r
+\r
+ /* Allocate the new queue structure. */\r
+ if( uxQueueLength > ( unsigned portBASE_TYPE ) 0 )\r
+ {\r
+ pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) );\r
+ if( pxNewQueue != NULL )\r
+ {\r
+ /* Create the list of pointers to queue items. The queue is one byte\r
+ longer than asked for to make wrap checking easier/faster. */\r
+ xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1;\r
+\r
+ pxNewQueue->pcHead = ( signed portCHAR * ) pvPortMalloc( xQueueSizeInBytes );\r
+ if( pxNewQueue->pcHead != NULL )\r
+ {\r
+ /* Initialise the queue members as described above where the\r
+ queue type is defined. */\r
+ pxNewQueue->pcTail = pxNewQueue->pcHead + ( uxQueueLength * uxItemSize );\r
+ pxNewQueue->uxMessagesWaiting = 0;\r
+ pxNewQueue->pcWriteTo = pxNewQueue->pcHead;\r
+ pxNewQueue->pcReadFrom = pxNewQueue->pcHead + ( ( uxQueueLength - 1 ) * uxItemSize );\r
+ pxNewQueue->uxLength = uxQueueLength;\r
+ pxNewQueue->uxItemSize = uxItemSize;\r
+ pxNewQueue->xRxLock = queueUNLOCKED;\r
+ pxNewQueue->xTxLock = queueUNLOCKED;\r
+\r
+ /* Likewise ensure the event queues start with the correct state. */\r
+ vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) );\r
+ vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) );\r
+\r
+ return pxNewQueue;\r
+ }\r
+ else\r
+ {\r
+ vPortFree( pxNewQueue );\r
+ }\r
+ }\r
+ }\r
+\r
+ /* Will only reach here if we could not allocate enough memory or no memory\r
+ was required. */\r
+ return NULL;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( configUSE_MUTEXES == 1 )\r
+\r
+ xQueueHandle xQueueCreateMutex( void )\r
+ {\r
+ xQUEUE *pxNewQueue;\r
+ \r
+ /* Allocate the new queue structure. */\r
+ pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) );\r
+ if( pxNewQueue != NULL )\r
+ {\r
+ /* Information required for priority inheritance. */\r
+ pxNewQueue->pxMutexHolder = NULL;\r
+ pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;\r
+ \r
+ /* Queues used as a mutex no data is actually copied into or out\r
+ of the queue. */\r
+ pxNewQueue->pcWriteTo = NULL;\r
+ pxNewQueue->pcReadFrom = NULL;\r
+ \r
+ /* Each mutex has a length of 1 (like a binary semaphore) and\r
+ an item size of 0 as nothing is actually copied into or out\r
+ of the mutex. */\r
+ pxNewQueue->uxMessagesWaiting = 0;\r
+ pxNewQueue->uxLength = 1;\r
+ pxNewQueue->uxItemSize = 0;\r
+ pxNewQueue->xRxLock = queueUNLOCKED;\r
+ pxNewQueue->xTxLock = queueUNLOCKED;\r
+ \r
+ /* Ensure the event queues start with the correct state. */\r
+ vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) );\r
+ vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) );\r
+\r
+ /* Start with the semaphore in the expected state. */\r
+ xQueueGenericSend( pxNewQueue, NULL, 0, queueSEND_TO_BACK );\r
+ }\r
+ \r
+ return pxNewQueue;\r
+ }\r
+\r
+#endif /* configUSE_MUTEXES */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if configUSE_RECURSIVE_MUTEXES == 1\r
+\r
+ portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex )\r
+ {\r
+ portBASE_TYPE xReturn;\r
+\r
+ /* If this is the task that holds the mutex then pxMutexHolder will not \r
+ change outside of this task. If this task does not hold the mutex then\r
+ pxMutexHolder can never coincidentally equal the tasks handle, and as\r
+ this is the only condition we are interested in it does not matter if\r
+ pxMutexHolder is accessed simultaneously by another task. Therefore no\r
+ mutual exclusion is required to test the pxMutexHolder variable. */\r
+ if( pxMutex->pxMutexHolder == xTaskGetCurrentTaskHandle() )\r
+ {\r
+ /* uxRecursiveCallCount cannot be zero if pxMutexHolder is equal to\r
+ the task handle, therefore no underflow check is required. Also, \r
+ uxRecursiveCallCount is only modified by the mutex holder, and as\r
+ there can only be one, no mutual exclusion is required to modify the\r
+ uxRecursiveCallCount member. */\r
+ ( pxMutex->uxRecursiveCallCount )--;\r
+\r
+ /* Have we unwound the call count? */\r
+ if( pxMutex->uxRecursiveCallCount == 0 )\r
+ {\r
+ /* Return the mutex. This will automatically unblock any other\r
+ task that might be waiting to access the mutex. */\r
+ xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );\r
+ }\r
+\r
+ xReturn = pdPASS;\r
+ }\r
+ else\r
+ {\r
+ /* We cannot give the mutex because we are not the holder. */\r
+ xReturn = pdFAIL;\r
+ }\r
+\r
+ return xReturn;\r
+ }\r
+\r
+#endif /* configUSE_RECURSIVE_MUTEXES */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if configUSE_RECURSIVE_MUTEXES == 1\r
+\r
+ portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle pxMutex, portTickType xBlockTime )\r
+ {\r
+ portBASE_TYPE xReturn;\r
+\r
+ /* Comments regarding mutual exclusion as per those within \r
+ xQueueGiveMutexRecursive(). */\r
+\r
+ if( pxMutex->pxMutexHolder == xTaskGetCurrentTaskHandle() )\r
+ {\r
+ ( pxMutex->uxRecursiveCallCount )++;\r
+ xReturn = pdPASS;\r
+ }\r
+ else\r
+ {\r
+ xReturn = xQueueGenericReceive( pxMutex, NULL, xBlockTime, pdFALSE );\r
+\r
+ /* pdPASS will only be returned if we successfully obtained the mutex,\r
+ we may have blocked to reach here. */\r
+ if( xReturn == pdPASS )\r
+ {\r
+ ( pxMutex->uxRecursiveCallCount )++;\r
+ }\r
+ }\r
+\r
+ return xReturn;\r
+ }\r
+\r
+#endif /* configUSE_RECURSIVE_MUTEXES */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if configUSE_COUNTING_SEMAPHORES == 1\r
+\r
+ xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount )\r
+ {\r
+ xQueueHandle pxHandle;\r
+ \r
+ pxHandle = xQueueCreate( ( unsigned portBASE_TYPE ) uxCountValue, queueSEMAPHORE_QUEUE_ITEM_LENGTH );\r
+\r
+ if( pxHandle != NULL )\r
+ {\r
+ pxHandle->uxMessagesWaiting = uxInitialCount;\r
+ }\r
+\r
+ return pxHandle;\r
+ }\r
+\r
+#endif /* configUSE_COUNTING_SEMAPHORES */\r
+/*-----------------------------------------------------------*/\r
+\r
+signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )\r
+{\r
+signed portBASE_TYPE xReturn = pdPASS;\r
+xTimeOutType xTimeOut;\r
+\r
+ /* Make sure other tasks do not access the queue. */\r
+ vTaskSuspendAll();\r
+\r
+ /* Capture the current time status for future reference. */\r
+ vTaskSetTimeOutState( &xTimeOut );\r
+\r
+ /* It is important that this is the only thread/ISR that modifies the\r
+ ready or delayed lists until xTaskResumeAll() is called. Places where\r
+ the ready/delayed lists are modified include:\r
+\r
+ + vTaskDelay() - Nothing can call vTaskDelay as the scheduler is\r
+ suspended, vTaskDelay() cannot be called from an ISR.\r
+ + vTaskPrioritySet() - Has a critical section around the access.\r
+ + vTaskSwitchContext() - This will not get executed while the scheduler\r
+ is suspended.\r
+ + prvCheckDelayedTasks() - This will not get executed while the\r
+ scheduler is suspended.\r
+ + xTaskCreate() - Has a critical section around the access.\r
+ + vTaskResume() - Has a critical section around the access.\r
+ + xTaskResumeAll() - Has a critical section around the access.\r
+ + xTaskRemoveFromEventList - Checks to see if the scheduler is\r
+ suspended. If so then the TCB being removed from the event is\r
+ removed from the event and added to the xPendingReadyList.\r
+ */\r
+\r
+ /* Make sure interrupts do not access the queue event list. */\r
+ prvLockQueue( pxQueue );\r
+\r
+ /* It is important that interrupts to not access the event list of the\r
+ queue being modified here. Places where the event list is modified\r
+ include:\r
+\r
+ + xQueueGenericSendFromISR(). This checks the lock on the queue to see\r
+ if it has access. If the queue is locked then the Tx lock count is\r
+ incremented to signify that a task waiting for data can be made ready\r
+ once the queue lock is removed. If the queue is not locked then\r
+ a task can be moved from the event list, but will not be removed\r
+ from the delayed list or placed in the ready list until the scheduler\r
+ is unlocked.\r
+\r
+ + xQueueReceiveFromISR(). As per xQueueGenericSendFromISR().\r
+ */\r
+ \r
+ /* If the queue is already full we may have to block. */\r
+ do\r
+ {\r
+ if( prvIsQueueFull( pxQueue ) )\r
+ {\r
+ /* The queue is full - do we want to block or just leave without\r
+ posting? */\r
+ if( xTicksToWait > ( portTickType ) 0 )\r
+ {\r
+ /* We are going to place ourselves on the xTasksWaitingToSend event\r
+ list, and will get woken should the delay expire, or space become\r
+ available on the queue.\r
+ \r
+ As detailed above we do not require mutual exclusion on the event\r
+ list as nothing else can modify it or the ready lists while we\r
+ have the scheduler suspended and queue locked.\r
+ \r
+ It is possible that an ISR has removed data from the queue since we\r
+ checked if any was available. If this is the case then the data\r
+ will have been copied from the queue, and the queue variables\r
+ updated, but the event list will not yet have been checked to see if\r
+ anything is waiting as the queue is locked. */\r
+ vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );\r
+ \r
+ /* Force a context switch now as we are blocked. We can do\r
+ this from within a critical section as the task we are\r
+ switching to has its own context. When we return here (i.e. we\r
+ unblock) we will leave the critical section as normal.\r
+ \r
+ It is possible that an ISR has caused an event on an unrelated and\r
+ unlocked queue. If this was the case then the event list for that\r
+ queue will have been updated but the ready lists left unchanged -\r
+ instead the readied task will have been added to the pending ready\r
+ list. */\r
+ taskENTER_CRITICAL();\r
+ {\r
+ /* We can safely unlock the queue and scheduler here as\r
+ interrupts are disabled. We must not yield with anything\r
+ locked, but we can yield from within a critical section.\r
+ \r
+ Tasks that have been placed on the pending ready list cannot\r
+ be tasks that are waiting for events on this queue. See\r
+ in comment xTaskRemoveFromEventList(). */\r
+ prvUnlockQueue( pxQueue );\r
+ \r
+ /* Resuming the scheduler may cause a yield. If so then there\r
+ is no point yielding again here. */\r
+ if( !xTaskResumeAll() )\r
+ {\r
+ taskYIELD();\r
+ }\r
+\r
+ /* We want to check to see if the queue is still full\r
+ before leaving the critical section. This is to prevent\r
+ this task placing an item into the queue due to an\r
+ interrupt making space on the queue between critical\r
+ sections (when there might be a higher priority task\r
+ blocked on the queue that cannot run yet because the\r
+ scheduler gets suspended). */\r
+ if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )\r
+ {\r
+ /* We unblocked but there is no space in the queue,\r
+ we probably timed out. */\r
+ xReturn = errQUEUE_FULL;\r
+ }\r
+ \r
+ /* Before leaving the critical section we have to ensure\r
+ exclusive access again. */\r
+ vTaskSuspendAll();\r
+ prvLockQueue( pxQueue ); \r
+ }\r
+ taskEXIT_CRITICAL();\r
+ }\r
+ }\r
+ \r
+ /* If xReturn is errQUEUE_FULL then we unblocked when the queue\r
+ was still full. Don't check it again now as it is possible that\r
+ an interrupt has removed an item from the queue since we left the\r
+ critical section and we don't want to write to the queue in case\r
+ there is a task of higher priority blocked waiting for space to\r
+ be available on the queue. If this is the case the higher priority\r
+ task will execute when the scheduler is unsupended. */\r
+ if( xReturn != errQUEUE_FULL )\r
+ {\r
+ /* When we are here it is possible that we unblocked as space became\r
+ available on the queue. It is also possible that an ISR posted to the\r
+ queue since we left the critical section, so it may be that again there\r
+ is no space. This would only happen if a task and ISR post onto the\r
+ same queue. */\r
+ taskENTER_CRITICAL();\r
+ {\r
+ if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )\r
+ {\r
+ /* There is room in the queue, copy the data into the queue. */ \r
+ prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );\r
+ xReturn = pdPASS;\r
+ \r
+ /* Update the TxLock count so prvUnlockQueue knows to check for\r
+ tasks waiting for data to become available in the queue. */\r
+ ++( pxQueue->xTxLock );\r
+ }\r
+ else\r
+ {\r
+ xReturn = errQUEUE_FULL;\r
+ }\r
+ }\r
+ taskEXIT_CRITICAL();\r
+ }\r
+\r
+ if( xReturn == errQUEUE_FULL )\r
+ {\r
+ if( xTicksToWait > 0 )\r
+ {\r
+ if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )\r
+ {\r
+ xReturn = queueERRONEOUS_UNBLOCK;\r
+ }\r
+ }\r
+ }\r
+ }\r
+ while( xReturn == queueERRONEOUS_UNBLOCK );\r
+\r
+ prvUnlockQueue( pxQueue );\r
+ xTaskResumeAll();\r
+\r
+ return xReturn;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+#if configUSE_ALTERNATIVE_API == 1\r
+\r
+ signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )\r
+ {\r
+ signed portBASE_TYPE xReturn;\r
+ xTimeOutType xTimeOut;\r
+\r
+ /* The source code that implements the alternative (Alt) API is much \r
+ simpler because it executes everything from within a critical section. \r
+ This is the approach taken by many other RTOSes, but FreeRTOS.org has the \r
+ preferred fully featured API too. The fully featured API has more \r
+ complex code that takes longer to execute, but makes much less use of \r
+ critical sections. Therefore the alternative API sacrifices interrupt \r
+ responsiveness to gain execution speed, whereas the fully featured API\r
+ sacrifices execution speed to ensure better interrupt responsiveness. */\r
+\r
+ taskENTER_CRITICAL();\r
+ {\r
+ /* Capture the current time status for future reference. */\r
+ vTaskSetTimeOutState( &xTimeOut );\r
+\r
+ /* If the queue is already full we may have to block. */\r
+ do\r
+ {\r
+ if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )\r
+ {\r
+ /* The queue is full - do we want to block or just leave without\r
+ posting? */\r
+ if( xTicksToWait > ( portTickType ) 0 )\r
+ {\r
+ /* We are going to place ourselves on the xTasksWaitingToSend \r
+ event list, and will get woken should the delay expire, or \r
+ space become available on the queue. */\r
+ vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );\r
+ \r
+ /* Force a context switch now as we are blocked. We can do\r
+ this from within a critical section as the task we are\r
+ switching to has its own context. When we return here (i.e.\r
+ we unblock) we will leave the critical section as normal. */\r
+ taskYIELD();\r
+ }\r
+ }\r
+ \r
+ if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )\r
+ {\r
+ /* There is room in the queue, copy the data into the queue. */ \r
+ prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );\r
+ xReturn = pdPASS;\r
+\r
+ if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )\r
+ {\r
+ if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )\r
+ {\r
+ /* The task waiting has a higher priority. */\r
+ taskYIELD();\r
+ }\r
+ } \r
+ }\r
+ else\r
+ {\r
+ xReturn = errQUEUE_FULL;\r
+\r
+ if( xTicksToWait > 0 )\r
+ { \r
+ if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )\r
+ {\r
+ /* Another task must have accessed the queue between \r
+ this task unblocking and actually executing. */\r
+ xReturn = queueERRONEOUS_UNBLOCK;\r
+ }\r
+ }\r
+ }\r
+ }\r
+ while( xReturn == queueERRONEOUS_UNBLOCK );\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ return xReturn;\r
+ }\r
+\r
+#endif /* configUSE_ALTERNATIVE_API */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if configUSE_ALTERNATIVE_API == 1\r
+\r
+ signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, const void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )\r
+ {\r
+ signed portBASE_TYPE xReturn = pdTRUE;\r
+ xTimeOutType xTimeOut;\r
+ signed portCHAR *pcOriginalReadPosition;\r
+\r
+ /* The source code that implements the alternative (Alt) API is much \r
+ simpler because it executes everything from within a critical section. \r
+ This is the approach taken by many other RTOSes, but FreeRTOS.org has the \r
+ preferred fully featured API too. The fully featured API has more \r
+ complex code that takes longer to execute, but makes much less use of \r
+ critical sections. Therefore the alternative API sacrifices interrupt \r
+ responsiveness to gain execution speed, whereas the fully featured API\r
+ sacrifices execution speed to ensure better interrupt responsiveness. */\r
+\r
+ taskENTER_CRITICAL();\r
+ {\r
+ /* Capture the current time status for future reference. */\r
+ vTaskSetTimeOutState( &xTimeOut );\r
+\r
+ do\r
+ {\r
+ /* If there are no messages in the queue we may have to block. */\r
+ if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 )\r
+ {\r
+ /* There are no messages in the queue, do we want to block or just\r
+ leave with nothing? */ \r
+ if( xTicksToWait > ( portTickType ) 0 )\r
+ {\r
+ #if ( configUSE_MUTEXES == 1 )\r
+ {\r
+ if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )\r
+ {\r
+ vTaskPriorityInherit( ( void * const ) pxQueue->pxMutexHolder );\r
+ }\r
+ }\r
+ #endif\r
+ \r
+ vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );\r
+ taskYIELD();\r
+ }\r
+ }\r
+ \r
+ if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )\r
+ {\r
+ /* Remember our read position in case we are just peeking. */\r
+ pcOriginalReadPosition = pxQueue->pcReadFrom;\r
+\r
+ prvCopyDataFromQueue( pxQueue, pvBuffer );\r
+\r
+ if( xJustPeeking == pdFALSE )\r
+ {\r
+ /* We are actually removing data. */\r
+ --( pxQueue->uxMessagesWaiting );\r
+ \r
+ #if ( configUSE_MUTEXES == 1 )\r
+ {\r
+ if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )\r
+ {\r
+ /* Record the information required to implement\r
+ priority inheritance should it become necessary. */\r
+ pxQueue->pxMutexHolder = xTaskGetCurrentTaskHandle();\r
+ }\r
+ }\r
+ #endif\r
+\r
+ if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) )\r
+ {\r
+ if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )\r
+ {\r
+ /* The task waiting has a higher priority. */\r
+ taskYIELD();\r
+ }\r
+ }\r
+ }\r
+ else\r
+ {\r
+ /* We are not removing the data, so reset our read\r
+ pointer. */\r
+ pxQueue->pcReadFrom = pcOriginalReadPosition;\r
+ }\r
+ \r
+ xReturn = pdPASS; \r
+ }\r
+ else\r
+ {\r
+ xReturn = errQUEUE_EMPTY;\r
+\r
+ if( xTicksToWait > 0 )\r
+ {\r
+ if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )\r
+ {\r
+ xReturn = queueERRONEOUS_UNBLOCK;\r
+ }\r
+ }\r
+ }\r
+\r
+ } while( xReturn == queueERRONEOUS_UNBLOCK );\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ return xReturn;\r
+ }\r
+\r
+#endif /* configUSE_ALTERNATIVE_API */\r
+/*-----------------------------------------------------------*/\r
+\r
+signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE xTaskPreviouslyWoken, portBASE_TYPE xCopyPosition )\r
+{\r
+ /* Similar to xQueueGenericSend, except we don't block if there is no room\r
+ in the queue. Also we don't directly wake a task that was blocked on a\r
+ queue read, instead we return a flag to say whether a context switch is\r
+ required or not (i.e. has a task with a higher priority than us been woken\r
+ by this post). */\r
+ if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )\r
+ {\r
+ prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );\r
+\r
+ /* If the queue is locked we do not alter the event list. This will\r
+ be done when the queue is unlocked later. */\r
+ if( pxQueue->xTxLock == queueUNLOCKED )\r
+ {\r
+ /* We only want to wake one task per ISR, so check that a task has\r
+ not already been woken. */\r
+ if( !xTaskPreviouslyWoken ) \r
+ {\r
+ if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )\r
+ {\r
+ if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )\r
+ {\r
+ /* The task waiting has a higher priority so record that a\r
+ context switch is required. */\r
+ return pdTRUE;\r
+ }\r
+ }\r
+ }\r
+ }\r
+ else\r
+ {\r
+ /* Increment the lock count so the task that unlocks the queue\r
+ knows that data was posted while it was locked. */\r
+ ++( pxQueue->xTxLock );\r
+ }\r
+ }\r
+\r
+ return xTaskPreviouslyWoken;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, const void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )\r
+{\r
+signed portBASE_TYPE xReturn = pdTRUE;\r
+xTimeOutType xTimeOut;\r
+signed portCHAR *pcOriginalReadPosition;\r
+\r
+ /* This function is very similar to xQueueGenericSend(). See comments\r
+ within xQueueGenericSend() for a more detailed explanation.\r
+\r
+ Make sure other tasks do not access the queue. */\r
+ vTaskSuspendAll();\r
+\r
+ /* Capture the current time status for future reference. */\r
+ vTaskSetTimeOutState( &xTimeOut );\r
+\r
+ /* Make sure interrupts do not access the queue. */\r
+ prvLockQueue( pxQueue );\r
+\r
+ do\r
+ {\r
+ /* If there are no messages in the queue we may have to block. */\r
+ if( prvIsQueueEmpty( pxQueue ) )\r
+ {\r
+ /* There are no messages in the queue, do we want to block or just\r
+ leave with nothing? */ \r
+ if( xTicksToWait > ( portTickType ) 0 )\r
+ {\r
+ #if ( configUSE_MUTEXES == 1 )\r
+ {\r
+ if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )\r
+ {\r
+ portENTER_CRITICAL();\r
+ vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );\r
+ portEXIT_CRITICAL();\r
+ }\r
+ }\r
+ #endif\r
+ \r
+ vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );\r
+ taskENTER_CRITICAL();\r
+ {\r
+ prvUnlockQueue( pxQueue );\r
+ if( !xTaskResumeAll() )\r
+ {\r
+ taskYIELD();\r
+ }\r
+\r
+ if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 )\r
+ {\r
+ /* We unblocked but the queue is empty. We probably\r
+ timed out. */\r
+ xReturn = errQUEUE_EMPTY;\r
+ }\r
+ \r
+ vTaskSuspendAll();\r
+ prvLockQueue( pxQueue );\r
+ }\r
+ taskEXIT_CRITICAL();\r
+ }\r
+ }\r
+ \r
+ if( xReturn != errQUEUE_EMPTY )\r
+ {\r
+ taskENTER_CRITICAL();\r
+ {\r
+ if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )\r
+ {\r
+ /* Remember our read position in case we are just peeking. */\r
+ pcOriginalReadPosition = pxQueue->pcReadFrom;\r
+\r
+ prvCopyDataFromQueue( pxQueue, pvBuffer );\r
+\r
+ if( xJustPeeking == pdFALSE )\r
+ {\r
+ /* We are actually removing data. */\r
+ --( pxQueue->uxMessagesWaiting );\r
+ \r
+ /* Increment the lock count so prvUnlockQueue knows to check for\r
+ tasks waiting for space to become available on the queue. */\r
+ ++( pxQueue->xRxLock );\r
+ \r
+ #if ( configUSE_MUTEXES == 1 )\r
+ {\r
+ if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )\r
+ {\r
+ /* Record the information required to implement\r
+ priority inheritance should it become necessary. */\r
+ pxQueue->pxMutexHolder = xTaskGetCurrentTaskHandle();\r
+ }\r
+ }\r
+ #endif\r
+ }\r
+ else\r
+ {\r
+ /* We are not removing the data, so reset our read\r
+ pointer. */\r
+ pxQueue->pcReadFrom = pcOriginalReadPosition;\r
+\r
+ /* The data is being left in the queue, so increment the\r
+ lock count so prvUnlockQueue knows to check for other\r
+ tasks waiting for the data to be available. */\r
+ ++( pxQueue->xTxLock ); \r
+ }\r
+ \r
+ xReturn = pdPASS; \r
+ }\r
+ else\r
+ {\r
+ xReturn = errQUEUE_EMPTY;\r
+ }\r
+ }\r
+ taskEXIT_CRITICAL();\r
+ }\r
+\r
+ if( xReturn == errQUEUE_EMPTY )\r
+ {\r
+ if( xTicksToWait > 0 )\r
+ {\r
+ if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )\r
+ {\r
+ xReturn = queueERRONEOUS_UNBLOCK;\r
+ }\r
+ }\r
+ }\r
+ } while( xReturn == queueERRONEOUS_UNBLOCK );\r
+\r
+ /* We no longer require exclusive access to the queue. */\r
+ prvUnlockQueue( pxQueue );\r
+ xTaskResumeAll();\r
+\r
+ return xReturn;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, const void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken )\r
+{\r
+signed portBASE_TYPE xReturn;\r
+\r
+ /* We cannot block from an ISR, so check there is data available. */\r
+ if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )\r
+ {\r
+ prvCopyDataFromQueue( pxQueue, pvBuffer );\r
+ --( pxQueue->uxMessagesWaiting );\r
+\r
+ /* If the queue is locked we will not modify the event list. Instead\r
+ we update the lock count so the task that unlocks the queue will know\r
+ that an ISR has removed data while the queue was locked. */\r
+ if( pxQueue->xRxLock == queueUNLOCKED )\r
+ {\r
+ /* We only want to wake one task per ISR, so check that a task has\r
+ not already been woken. */\r
+ if( !( *pxTaskWoken ) )\r
+ {\r
+ if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) )\r
+ {\r
+ if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )\r
+ {\r
+ /* The task waiting has a higher priority than us so\r
+ force a context switch. */\r
+ *pxTaskWoken = pdTRUE;\r
+ }\r
+ }\r
+ }\r
+ }\r
+ else\r
+ {\r
+ /* Increment the lock count so the task that unlocks the queue\r
+ knows that data was removed while it was locked. */\r
+ ++( pxQueue->xRxLock );\r
+ }\r
+\r
+ xReturn = pdPASS;\r
+ }\r
+ else\r
+ {\r
+ xReturn = pdFAIL;\r
+ }\r
+\r
+ return xReturn;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle pxQueue )\r
+{\r
+unsigned portBASE_TYPE uxReturn;\r
+\r
+ taskENTER_CRITICAL();\r
+ uxReturn = pxQueue->uxMessagesWaiting;\r
+ taskEXIT_CRITICAL();\r
+\r
+ return uxReturn;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vQueueDelete( xQueueHandle pxQueue )\r
+{\r
+ vPortFree( pxQueue->pcHead );\r
+ vPortFree( pxQueue );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition )\r
+{\r
+ if( pxQueue->uxItemSize == 0 )\r
+ {\r
+ #if ( configUSE_MUTEXES == 1 )\r
+ {\r
+ if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )\r
+ {\r
+ /* The mutex is no longer being held. */\r
+ vTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder );\r
+ pxQueue->pxMutexHolder = NULL;\r
+ }\r
+ }\r
+ #endif\r
+ }\r
+ else if( xPosition == queueSEND_TO_BACK )\r
+ {\r
+ memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( unsigned ) pxQueue->uxItemSize );\r
+ pxQueue->pcWriteTo += pxQueue->uxItemSize;\r
+ if( pxQueue->pcWriteTo >= pxQueue->pcTail )\r
+ {\r
+ pxQueue->pcWriteTo = pxQueue->pcHead;\r
+ }\r
+ }\r
+ else\r
+ {\r
+ memcpy( ( void * ) pxQueue->pcReadFrom, pvItemToQueue, ( unsigned ) pxQueue->uxItemSize );\r
+ pxQueue->pcReadFrom -= pxQueue->uxItemSize;\r
+ if( pxQueue->pcReadFrom < pxQueue->pcHead )\r
+ {\r
+ pxQueue->pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize );\r
+ } \r
+ }\r
+\r
+ ++( pxQueue->uxMessagesWaiting );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer )\r
+{\r
+ if( pxQueue->uxQueueType != queueQUEUE_IS_MUTEX )\r
+ {\r
+ pxQueue->pcReadFrom += pxQueue->uxItemSize;\r
+ if( pxQueue->pcReadFrom >= pxQueue->pcTail )\r
+ {\r
+ pxQueue->pcReadFrom = pxQueue->pcHead;\r
+ }\r
+ memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize );\r
+ } \r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvUnlockQueue( xQueueHandle pxQueue )\r
+{\r
+ /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */\r
+\r
+ /* The lock counts contains the number of extra data items placed or\r
+ removed from the queue while the queue was locked. When a queue is\r
+ locked items can be added or removed, but the event lists cannot be\r
+ updated. */\r
+ taskENTER_CRITICAL();\r
+ {\r
+ --( pxQueue->xTxLock );\r
+\r
+ /* See if data was added to the queue while it was locked. */\r
+ if( pxQueue->xTxLock > queueUNLOCKED )\r
+ {\r
+ pxQueue->xTxLock = queueUNLOCKED;\r
+\r
+ /* Data was posted while the queue was locked. Are any tasks\r
+ blocked waiting for data to become available? */\r
+ if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )\r
+ {\r
+ /* Tasks that are removed from the event list will get added to\r
+ the pending ready list as the scheduler is still suspended. */\r
+ if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )\r
+ {\r
+ /* The task waiting has a higher priority so record that a\r
+ context switch is required. */\r
+ vTaskMissedYield();\r
+ }\r
+ } \r
+ }\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ /* Do the same for the Rx lock. */\r
+ taskENTER_CRITICAL();\r
+ {\r
+ --( pxQueue->xRxLock );\r
+\r
+ if( pxQueue->xRxLock > queueUNLOCKED )\r
+ {\r
+ pxQueue->xRxLock = queueUNLOCKED;\r
+\r
+ if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) )\r
+ {\r
+ if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )\r
+ {\r
+ vTaskMissedYield();\r
+ }\r
+ } \r
+ }\r
+ }\r
+ taskEXIT_CRITICAL();\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue )\r
+{\r
+signed portBASE_TYPE xReturn;\r
+\r
+ taskENTER_CRITICAL();\r
+ xReturn = ( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 );\r
+ taskEXIT_CRITICAL();\r
+\r
+ return xReturn;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static signed portBASE_TYPE prvIsQueueFull( const xQueueHandle pxQueue )\r
+{\r
+signed portBASE_TYPE xReturn;\r
+\r
+ taskENTER_CRITICAL();\r
+ xReturn = ( pxQueue->uxMessagesWaiting == pxQueue->uxLength );\r
+ taskEXIT_CRITICAL();\r
+\r
+ return xReturn;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+#if configUSE_CO_ROUTINES == 1\r
+signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait )\r
+{\r
+signed portBASE_TYPE xReturn;\r
+ \r
+ /* If the queue is already full we may have to block. A critical section\r
+ is required to prevent an interrupt removing something from the queue\r
+ between the check to see if the queue is full and blocking on the queue. */\r
+ portDISABLE_INTERRUPTS();\r
+ {\r
+ if( prvIsQueueFull( pxQueue ) )\r
+ {\r
+ /* The queue is full - do we want to block or just leave without\r
+ posting? */\r
+ if( xTicksToWait > ( portTickType ) 0 )\r
+ {\r
+ /* As this is called from a coroutine we cannot block directly, but\r
+ return indicating that we need to block. */\r
+ vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) ); \r
+ portENABLE_INTERRUPTS();\r
+ return errQUEUE_BLOCKED;\r
+ }\r
+ else\r
+ {\r
+ portENABLE_INTERRUPTS();\r
+ return errQUEUE_FULL;\r
+ }\r
+ }\r
+ }\r
+ portENABLE_INTERRUPTS();\r
+ \r
+ portNOP();\r
+\r
+ portDISABLE_INTERRUPTS();\r
+ {\r
+ if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )\r
+ {\r
+ /* There is room in the queue, copy the data into the queue. */ \r
+ prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );\r
+ xReturn = pdPASS;\r
+\r
+ /* Were any co-routines waiting for data to become available? */\r
+ if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )\r
+ {\r
+ /* In this instance the co-routine could be placed directly\r
+ into the ready list as we are within a critical section.\r
+ Instead the same pending ready list mechanism is used as if\r
+ the event were caused from within an interrupt. */\r
+ if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )\r
+ {\r
+ /* The co-routine waiting has a higher priority so record\r
+ that a yield might be appropriate. */\r
+ xReturn = errQUEUE_YIELD;\r
+ }\r
+ }\r
+ }\r
+ else\r
+ {\r
+ xReturn = errQUEUE_FULL;\r
+ }\r
+ }\r
+ portENABLE_INTERRUPTS();\r
+\r
+ return xReturn;\r
+}\r
+#endif\r
+/*-----------------------------------------------------------*/\r
+\r
+#if configUSE_CO_ROUTINES == 1\r
+signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait )\r
+{\r
+signed portBASE_TYPE xReturn;\r
+\r
+ /* If the queue is already empty we may have to block. A critical section\r
+ is required to prevent an interrupt adding something to the queue\r
+ between the check to see if the queue is empty and blocking on the queue. */\r
+ portDISABLE_INTERRUPTS();\r
+ {\r
+ if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 )\r
+ {\r
+ /* There are no messages in the queue, do we want to block or just\r
+ leave with nothing? */ \r
+ if( xTicksToWait > ( portTickType ) 0 )\r
+ {\r
+ /* As this is a co-routine we cannot block directly, but return\r
+ indicating that we need to block. */\r
+ vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );\r
+ portENABLE_INTERRUPTS();\r
+ return errQUEUE_BLOCKED;\r
+ }\r
+ else\r
+ {\r
+ portENABLE_INTERRUPTS();\r
+ return errQUEUE_FULL;\r
+ }\r
+ }\r
+ }\r
+ portENABLE_INTERRUPTS();\r
+\r
+ portNOP();\r
+\r
+ portDISABLE_INTERRUPTS();\r
+ {\r
+ if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )\r
+ {\r
+ /* Data is available from the queue. */\r
+ pxQueue->pcReadFrom += pxQueue->uxItemSize;\r
+ if( pxQueue->pcReadFrom >= pxQueue->pcTail )\r
+ {\r
+ pxQueue->pcReadFrom = pxQueue->pcHead;\r
+ }\r
+ --( pxQueue->uxMessagesWaiting );\r
+ memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize );\r
+\r
+ xReturn = pdPASS;\r
+\r
+ /* Were any co-routines waiting for space to become available? */\r
+ if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) )\r
+ {\r
+ /* In this instance the co-routine could be placed directly\r
+ into the ready list as we are within a critical section.\r
+ Instead the same pending ready list mechanism is used as if\r
+ the event were caused from within an interrupt. */\r
+ if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )\r
+ {\r
+ xReturn = errQUEUE_YIELD;\r
+ }\r
+ } \r
+ }\r
+ else\r
+ {\r
+ xReturn = pdFAIL;\r
+ }\r
+ }\r
+ portENABLE_INTERRUPTS();\r
+\r
+ return xReturn;\r
+}\r
+#endif\r
+/*-----------------------------------------------------------*/\r
+\r
+\r
+\r
+#if configUSE_CO_ROUTINES == 1\r
+signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken )\r
+{\r
+ /* Cannot block within an ISR so if there is no space on the queue then\r
+ exit without doing anything. */\r
+ if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )\r
+ {\r
+ prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );\r
+\r
+ /* We only want to wake one co-routine per ISR, so check that a\r
+ co-routine has not already been woken. */\r
+ if( !xCoRoutinePreviouslyWoken ) \r
+ {\r
+ if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )\r
+ {\r
+ if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )\r
+ {\r
+ return pdTRUE;\r
+ }\r
+ }\r
+ }\r
+ }\r
+\r
+ return xCoRoutinePreviouslyWoken;\r
+}\r
+#endif\r
+/*-----------------------------------------------------------*/\r
+\r
+#if configUSE_CO_ROUTINES == 1\r
+signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxCoRoutineWoken )\r
+{\r
+signed portBASE_TYPE xReturn;\r
+\r
+ /* We cannot block from an ISR, so check there is data available. If\r
+ not then just leave without doing anything. */\r
+ if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )\r
+ {\r
+ /* Copy the data from the queue. */\r
+ pxQueue->pcReadFrom += pxQueue->uxItemSize;\r
+ if( pxQueue->pcReadFrom >= pxQueue->pcTail )\r
+ {\r
+ pxQueue->pcReadFrom = pxQueue->pcHead;\r
+ }\r
+ --( pxQueue->uxMessagesWaiting );\r
+ memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize );\r
+\r
+ if( !( *pxCoRoutineWoken ) )\r
+ {\r
+ if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) )\r
+ {\r
+ if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )\r
+ {\r
+ *pxCoRoutineWoken = pdTRUE;\r
+ }\r
+ }\r
+ }\r
+\r
+ xReturn = pdPASS;\r
+ }\r
+ else\r
+ {\r
+ xReturn = pdFAIL;\r
+ }\r
+\r
+ return xReturn;\r
+}\r
+#endif\r
+/*-----------------------------------------------------------*/\r
+\r
--- /dev/null
+Each real time kernel port consists of three files that contain the core kernel\r
+components and are common to every port, and one or more files that are \r
+specific to a particular microcontroller and or compiler.\r
+\r
++ The FreeRTOS/Source directory contains the three files that are common to \r
+every port. The kernel is contained within these three files.\r
+\r
++ The FreeRTOS/Source/Portable directory contains the files that are specific to \r
+a particular microcontroller and or compiler.\r
+\r
++ The FreeRTOS/Source/include directory contains the real time kernel header \r
+files.\r
+\r
+See the readme file in the FreeRTOS/Source/Portable directory for more \r
+information.
\ No newline at end of file
--- /dev/null
+/*\r
+ FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry.\r
+\r
+ This file is part of the FreeRTOS.org distribution.\r
+\r
+ FreeRTOS.org is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ FreeRTOS.org is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with FreeRTOS.org; if not, write to the Free Software\r
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+\r
+ A special exception to the GPL can be applied should you wish to distribute\r
+ a combined work that includes FreeRTOS.org, without being obliged to provide\r
+ the source code for any proprietary components. See the licensing section\r
+ of http://www.FreeRTOS.org for full details of how and when the exception\r
+ can be applied.\r
+\r
+ ***************************************************************************\r
+\r
+ Please ensure to read the configuration and relevant port sections of the \r
+ online documentation.\r
+\r
+ +++ http://www.FreeRTOS.org +++\r
+ Documentation, latest information, license and contact details. \r
+\r
+ +++ http://www.SafeRTOS.com +++\r
+ A version that is certified for use in safety critical systems.\r
+\r
+ +++ http://www.OpenRTOS.com +++\r
+ Commercial support, development, porting, licensing and training services.\r
+\r
+ ***************************************************************************\r
+*/\r
+\r
+/*\r
+Changes from V1.00:\r
+ \r
+ + Call to portRESTORE_CONTEXT has been removed. The first context\r
+ switch is now performed within sPortStartScheduler().\r
+\r
+Changes from V1.01:\r
+\r
+ + More use of 8bit data types.\r
+ + Function name prefixes changed where the data type returned has changed.\r
+ + configUSE_TRACE_FACILITY is no longer defined by default.\r
+\r
+Changes from V1.2.0\r
+\r
+ + Introduced ucTopReadyPriority. This tracks the highest priority ready\r
+ queue that contains a valid TCB and thus makes the context switch\r
+ slightly faster.\r
+\r
+ + prvAddTaskToReadyQueue() has been made a macro.\r
+\r
+Changes from V1.2.6\r
+\r
+ + Added conditional compilation directives.\r
+ + Extended API.\r
+ + Rearranged function order.\r
+ + Creating a task now causes a context switch if the task being created\r
+ has a higher priority than the calling task - assuming the kernel is\r
+ running.\r
+ + vTaskDelete() now only causes a context switch if the calling task is\r
+ the task being deleted.\r
+\r
+Changes from V2.0.0\r
+\r
+ + Allow the type of the tick count to be 16 or 32 bits.\r
+ + Introduce xPendingReadyList feature to allow the time interrupts have to\r
+ be disabled to be minimised.\r
+ + Remove the #if( INCLUDE_vTaskSuspendAll ) statements. vTaskSuspendAll()\r
+ is now always included as it is used by the scheduler itself.\r
+\r
+Changes from V2.1.0\r
+\r
+ + Bug fix - pxCurrentTCB is now initialised before the call to\r
+ prvInitializeTaskLists(). Previously pxCurrentTCB could be accessed\r
+ while null.\r
+\r
+Changed from V2.1.1\r
+\r
+ + Change to where lStackSize is declared within sTaskCreate() to prevent\r
+ compiler warnings with 8051 port.\r
+\r
+Changes from V2.2.0\r
+\r
+ + Explicit use of 'signed' qualifier on portCHAR types added.\r
+ + Changed odd calculation of initial pxTopOfStack value when\r
+ portSTACK_GROWTH < 0.\r
+ + Removed pcVersionNumber definition.\r
+\r
+Changes from V2.5.3\r
+\r
+ + cTaskResumeAll() modified to ensure it can be called prior to the task\r
+ lists being initialised.\r
+\r
+Changes from V2.5.5\r
+\r
+ + Added API function vTaskDelayUntil().\r
+ + Added INCLUDE_vTaskDelay conditional compilation.\r
+\r
+Changes from V2.6.0\r
+\r
+ + Updated the vWriteTraceToBuffer macro to always be 4 byte aligned so it\r
+ can be used on ARM architectures.\r
+ + tskMAX_TASK_NAME_LEN definition replaced with the port specific\r
+ configMAX_TASK_NAME_LEN definition.\r
+ + Removed the call to strcpy when copying across the task name into the\r
+ TCB.\r
+ + Added ucTasksDeleted variable to prevent vTaskSuspendAll() being called\r
+ too often in the idle task.\r
+\r
+Changes between V3.0.0 and V2.6.1\r
+\r
+ + When resuming the scheduler a yield is performed if either a tick has\r
+ been missed, or a task is moved from the pending ready list into a ready\r
+ list. Previously a yield was not performed on this second condition.\r
+ + Introduced the type portBASE_TYPE. This necessitates several API\r
+ changes.\r
+ + Removed the sUsingPreemption variable. The constant defined in\r
+ portmacro.h is now used directly.\r
+ + The idle task can now include an optional hook function - and no longer\r
+ completes its time slice if other tasks with equal priority to it are\r
+ ready to run.\r
+ + See the FreeRTOS.org documentation for more information on V2.x.x to\r
+ V3.x.x modifications.\r
+\r
+Changes from V3.1.1\r
+\r
+ + Modified vTaskPrioritySet() and vTaskResume() to allow these functions to\r
+ be called while the scheduler is suspended.\r
+ + Corrected the task ordering within event lists.\r
+\r
+Changes from V3.2.0\r
+\r
+ + Added function xTaskGetCurrentTaskHandle().\r
+\r
+Changes from V3.2.4\r
+\r
+ + Changed the volatile declarations on some variables to reflect the \r
+ changes to the list definitions.\r
+ + Changed the order of the TCB definition so there is commonality between\r
+ the task control block and a co-routine control block.\r
+ + Allow the scheduler to be started even if no tasks other than the idle\r
+ task has been created. This allows co-routines to run even when no tasks\r
+ have been created.\r
+ + The need for a context switch is now signalled if a task woken by an \r
+ event has a priority greater or equal to the currently running task.\r
+ Previously this was only greater than.\r
+\r
+Changes from V4.0.0\r
+\r
+ + Added the xMissedYield handling.\r
+\r
+Changes from V4.0.1\r
+\r
+ + The function vTaskList() now suspends the scheduler rather than disabling\r
+ interrupts during the creation of the task list. \r
+ + Allow a task to delete itself by passing in its own handle. Previously \r
+ this could only be done by passing in NULL.\r
+ + The tick hook function is now called only within a tick isr. Previously\r
+ it was also called when the tick function was called during the scheduler\r
+ unlocking process.\r
+\r
+Changes from V4.0.3\r
+\r
+ + Extra checks have been placed in vTaskPrioritySet() to avoid unnecessary\r
+ yields.\r
+\r
+Changed from V4.0.4\r
+\r
+ + Bug fix: The 'value' of the event list item is updated when the priority\r
+ of a task is changed. Previously only the priority of the TCB itself was\r
+ changed.\r
+ + When resuming a task a check is first made to see if the task is actually\r
+ suspended.\r
+ + vTaskPrioritySet() and vTaskResume() no longer use the event list item.\r
+ This has not been necessary since V4.0.1 when the xMissedYield handling\r
+ was added.\r
+ + Implement xTaskResumeFromISR().\r
+\r
+Changes from V4.0.5\r
+\r
+ + Added utility functions and xOverflowCount variable to facilitate the\r
+ queue.c changes.\r
+\r
+Changes from V4.1.2\r
+ \r
+ + Tasks that block on events with a timeout of portMAX_DELAY are now\r
+ blocked indefinitely if configINCLUDE_vTaskSuspend is defined. \r
+ Previously portMAX_DELAY was just the longest block time possible.\r
+\r
+Changes from V4.1.3\r
+\r
+ + Very small change made to xTaskCheckForTimeout() as a result of the \r
+ SafeRTOS testing. This corrects the case where the function can return an\r
+ invalid value - but only in an extremely unlikely scenario.\r
+\r
+Changes since V4.3.1:\r
+\r
+ + Added xTaskGetSchedulerState() function.\r
+ + Added prvIsTaskSuspended() to take into account the Occurrence of\r
+ vTaskResume() or vTaskResumeFromISR() being called passing in the\r
+ handle of a task that appears in the Suspended list only because it\r
+ is blocked on an event without a timeout being specified.\r
+ + Updated xTaskCheckForTimeout() to take into account that tasks blocked\r
+ using the Suspended list should never time out.\r
+*/\r
+\r
+#include <stdio.h>\r
+#include <stdlib.h>\r
+#include <string.h>\r
+\r
+#include "FreeRTOS.h"\r
+#include "task.h"\r
+\r
+/*\r
+ * Macro to define the amount of stack available to the idle task.\r
+ */\r
+#define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE\r
+\r
+\r
+/*\r
+ * Default a definitions for backwards compatibility with old\r
+ * portmacro.h files.\r
+ */\r
+#ifndef configMAX_TASK_NAME_LEN\r
+ #define configMAX_TASK_NAME_LEN 16\r
+#endif\r
+\r
+#ifndef configIDLE_SHOULD_YIELD\r
+ #define configIDLE_SHOULD_YIELD 1\r
+#endif\r
+\r
+#if configMAX_TASK_NAME_LEN < 1\r
+ #undef configMAX_TASK_NAME_LEN\r
+ #define configMAX_TASK_NAME_LEN 1\r
+#endif\r
+\r
+#ifndef INCLUDE_xTaskResumeFromISR\r
+ #define INCLUDE_xTaskResumeFromISR 1\r
+#endif\r
+\r
+#ifndef INCLUDE_xTaskGetSchedulerState\r
+ #define INCLUDE_xTaskGetSchedulerState 0\r
+#endif\r
+\r
+/*\r
+ * Task control block. A task control block (TCB) is allocated to each task,\r
+ * and stores the context of the task.\r
+ */\r
+typedef struct tskTaskControlBlock\r
+{\r
+ volatile portSTACK_TYPE *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE STRUCT. */\r
+ xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */\r
+ xListItem xEventListItem; /*< List item used to place the TCB in event lists. */\r
+ unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */\r
+ portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */\r
+ signed portCHAR pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */\r
+\r
+ #if ( configUSE_TRACE_FACILITY == 1 )\r
+ unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */\r
+ #endif \r
+ \r
+ #if ( configUSE_MUTEXES == 1 )\r
+ unsigned portBASE_TYPE uxBasePriority;\r
+ #endif\r
+ \r
+} tskTCB;\r
+\r
+/*lint -e956 */\r
+\r
+tskTCB * volatile pxCurrentTCB = NULL; \r
+\r
+/* Lists for ready and blocked tasks. --------------------*/\r
+\r
+static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */\r
+static xList xDelayedTaskList1; /*< Delayed tasks. */\r
+static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */\r
+static xList * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */\r
+static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */\r
+static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */\r
+\r
+#if ( INCLUDE_vTaskDelete == 1 )\r
+\r
+ static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */\r
+ static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;\r
+\r
+#endif\r
+\r
+#if ( INCLUDE_vTaskSuspend == 1 )\r
+\r
+ static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */\r
+\r
+#endif\r
+\r
+/* File private variables. --------------------------------*/\r
+static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;\r
+static volatile portTickType xTickCount = ( portTickType ) 0;\r
+static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;\r
+static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;\r
+static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;\r
+static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;\r
+static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;\r
+static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;\r
+static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;\r
+/* Debugging and trace facilities private variables and macros. ------------*/\r
+\r
+/*\r
+ * The value used to fill the stack of a task when the task is created. This\r
+ * is used purely for checking the high water mark for tasks.\r
+ */\r
+#define tskSTACK_FILL_BYTE ( 0xa5 )\r
+\r
+/*\r
+ * Macros used by vListTask to indicate which state a task is in.\r
+ */\r
+#define tskBLOCKED_CHAR ( ( signed portCHAR ) 'B' )\r
+#define tskREADY_CHAR ( ( signed portCHAR ) 'R' )\r
+#define tskDELETED_CHAR ( ( signed portCHAR ) 'D' )\r
+#define tskSUSPENDED_CHAR ( ( signed portCHAR ) 'S' )\r
+\r
+/*\r
+ * Macros and private variables used by the trace facility.\r
+ */\r
+#if ( configUSE_TRACE_FACILITY == 1 )\r
+\r
+ #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned portLONG ) ( sizeof( unsigned portLONG ) + sizeof( unsigned portLONG ) ) )\r
+ static volatile signed portCHAR * volatile pcTraceBuffer;\r
+ static signed portCHAR *pcTraceBufferStart;\r
+ static signed portCHAR *pcTraceBufferEnd;\r
+ static signed portBASE_TYPE xTracing = pdFALSE;\r
+\r
+#endif\r
+\r
+/*\r
+ * Macro that writes a trace of scheduler activity to a buffer. This trace\r
+ * shows which task is running when and is very useful as a debugging tool.\r
+ * As this macro is called each context switch it is a good idea to undefine\r
+ * it if not using the facility.\r
+ */\r
+#if ( configUSE_TRACE_FACILITY == 1 )\r
+\r
+ #define vWriteTraceToBuffer() \\r
+ { \\r
+ if( xTracing ) \\r
+ { \\r
+ static unsigned portBASE_TYPE uxPreviousTask = 255; \\r
+ \\r
+ if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \\r
+ { \\r
+ if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \\r
+ { \\r
+ uxPreviousTask = pxCurrentTCB->uxTCBNumber; \\r
+ *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) xTickCount; \\r
+ pcTraceBuffer += sizeof( unsigned portLONG ); \\r
+ *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) uxPreviousTask; \\r
+ pcTraceBuffer += sizeof( unsigned portLONG ); \\r
+ } \\r
+ else \\r
+ { \\r
+ xTracing = pdFALSE; \\r
+ } \\r
+ } \\r
+ } \\r
+ }\r
+\r
+#else\r
+\r
+ #define vWriteTraceToBuffer()\r
+\r
+#endif\r
+\r
+\r
+/*\r
+ * Place the task represented by pxTCB into the appropriate ready queue for\r
+ * the task. It is inserted at the end of the list. One quirk of this is\r
+ * that if the task being inserted is at the same priority as the currently\r
+ * executing task, then it will only be rescheduled after the currently\r
+ * executing task has been rescheduled.\r
+ */\r
+#define prvAddTaskToReadyQueue( pxTCB ) \\r
+{ \\r
+ if( pxTCB->uxPriority > uxTopReadyPriority ) \\r
+ { \\r
+ uxTopReadyPriority = pxTCB->uxPriority; \\r
+ } \\r
+ vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \\r
+} \r
+\r
+/*\r
+ * Macro that looks at the list of tasks that are currently delayed to see if\r
+ * any require waking.\r
+ *\r
+ * Tasks are stored in the queue in the order of their wake time - meaning\r
+ * once one tasks has been found whose timer has not expired we need not look\r
+ * any further down the list.\r
+ */\r
+#define prvCheckDelayedTasks() \\r
+{ \\r
+register tskTCB *pxTCB; \\r
+ \\r
+ while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL ) \\r
+ { \\r
+ if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) ) \\r
+ { \\r
+ break; \\r
+ } \\r
+ vListRemove( &( pxTCB->xGenericListItem ) ); \\r
+ /* Is the task waiting on an event also? */ \\r
+ if( pxTCB->xEventListItem.pvContainer ) \\r
+ { \\r
+ vListRemove( &( pxTCB->xEventListItem ) ); \\r
+ } \\r
+ prvAddTaskToReadyQueue( pxTCB ); \\r
+ } \\r
+} \r
+\r
+/*\r
+ * Several functions take an xTaskHandle parameter that can optionally be NULL,\r
+ * where NULL is used to indicate that the handle of the currently executing\r
+ * task should be used in place of the parameter. This macro simply checks to\r
+ * see if the parameter is NULL and returns a pointer to the appropriate TCB.\r
+ */\r
+#define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )\r
+\r
+\r
+/* File private functions. --------------------------------*/\r
+\r
+/*\r
+ * Utility to ready a TCB for a given task. Mainly just copies the parameters\r
+ * into the TCB structure.\r
+ */\r
+static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority );\r
+\r
+/*\r
+ * Utility to ready all the lists used by the scheduler. This is called\r
+ * automatically upon the creation of the first task.\r
+ */\r
+static void prvInitialiseTaskLists( void );\r
+\r
+/*\r
+ * The idle task, which as all tasks is implemented as a never ending loop.\r
+ * The idle task is automatically created and added to the ready lists upon\r
+ * creation of the first user task.\r
+ *\r
+ * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific\r
+ * language extensions. The equivalent prototype for this function is:\r
+ *\r
+ * void prvIdleTask( void *pvParameters );\r
+ *\r
+ */\r
+static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );\r
+\r
+/*\r
+ * Utility to free all memory allocated by the scheduler to hold a TCB,\r
+ * including the stack pointed to by the TCB.\r
+ *\r
+ * This does not free memory allocated by the task itself (i.e. memory\r
+ * allocated by calls to pvPortMalloc from within the tasks application code).\r
+ */\r
+#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )\r
+ static void prvDeleteTCB( tskTCB *pxTCB );\r
+#endif\r
+\r
+/*\r
+ * Used only by the idle task. This checks to see if anything has been placed\r
+ * in the list of tasks waiting to be deleted. If so the task is cleaned up\r
+ * and its TCB deleted.\r
+ */\r
+static void prvCheckTasksWaitingTermination( void );\r
+\r
+/*\r
+ * Allocates memory from the heap for a TCB and associated stack. Checks the\r
+ * allocation was successful.\r
+ */\r
+static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth );\r
+\r
+/*\r
+ * Called from vTaskList. vListTasks details all the tasks currently under\r
+ * control of the scheduler. The tasks may be in one of a number of lists.\r
+ * prvListTaskWithinSingleList accepts a list and details the tasks from\r
+ * within just that list.\r
+ *\r
+ * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM\r
+ * NORMAL APPLICATION CODE.\r
+ */\r
+#if ( configUSE_TRACE_FACILITY == 1 )\r
+\r
+ static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus );\r
+\r
+#endif\r
+\r
+/*\r
+ * When a task is created, the stack of the task is filled with a known value.\r
+ * This function determines the 'high water mark' of the task stack by\r
+ * determining how much of the stack remains at the original preset value.\r
+ */\r
+#if ( configUSE_TRACE_FACILITY == 1 )\r
+\r
+ unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte );\r
+\r
+#endif\r
+\r
+/*\r
+ * Checks that a task being resumed (unsuspended) is actually in the Suspended\r
+ * state.\r
+ */\r
+#if ( INCLUDE_vTaskSuspend == 1 )\r
+\r
+ static portBASE_TYPE prvIsTaskSuspended( const tskTCB * const pxTCB ); \r
+\r
+#endif\r
+\r
+/*lint +e956 */\r
+\r
+\r
+\r
+\r
+\r
+/*-----------------------------------------------------------\r
+ * TASK CREATION API documented in task.h\r
+ *----------------------------------------------------------*/\r
+\r
+signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR * const pcName, unsigned portSHORT usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask )\r
+{\r
+signed portBASE_TYPE xReturn;\r
+tskTCB * pxNewTCB;\r
+#if ( configUSE_TRACE_FACILITY == 1 )\r
+ static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberate - this is guarded before use. */\r
+#endif\r
+\r
+ /* Allocate the memory required by the TCB and stack for the new task.\r
+ checking that the allocation was successful. */\r
+ pxNewTCB = prvAllocateTCBAndStack( usStackDepth );\r
+\r
+ if( pxNewTCB != NULL )\r
+ { \r
+ portSTACK_TYPE *pxTopOfStack;\r
+\r
+ /* Setup the newly allocated TCB with the initial state of the task. */\r
+ prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority );\r
+\r
+ /* Calculate the top of stack address. This depends on whether the\r
+ stack grows from high memory to low (as per the 80x86) or visa versa.\r
+ portSTACK_GROWTH is used to make the result positive or negative as\r
+ required by the port. */\r
+ #if portSTACK_GROWTH < 0\r
+ {\r
+ pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );\r
+ }\r
+ #else\r
+ {\r
+ pxTopOfStack = pxNewTCB->pxStack; \r
+ }\r
+ #endif\r
+\r
+ /* Initialize the TCB stack to look as if the task was already running,\r
+ but had been interrupted by the scheduler. The return address is set\r
+ to the start of the task function. Once the stack has been initialised\r
+ the top of stack variable is updated. */\r
+ pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pvTaskCode, pvParameters );\r
+\r
+ /* We are going to manipulate the task queues to add this task to a\r
+ ready list, so must make sure no interrupts occur. */\r
+ portENTER_CRITICAL();\r
+ {\r
+ uxCurrentNumberOfTasks++;\r
+ if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )\r
+ {\r
+ /* As this is the first task it must also be the current task. */\r
+ pxCurrentTCB = pxNewTCB;\r
+\r
+ /* This is the first task to be created so do the preliminary\r
+ initialisation required. We will not recover if this call\r
+ fails, but we will report the failure. */\r
+ prvInitialiseTaskLists();\r
+ }\r
+ else\r
+ { \r
+ /* If the scheduler is not already running, make this task the\r
+ current task if it is the highest priority task to be created\r
+ so far. */\r
+ if( xSchedulerRunning == pdFALSE )\r
+ {\r
+ if( pxCurrentTCB->uxPriority <= uxPriority )\r
+ {\r
+ pxCurrentTCB = pxNewTCB; \r
+ }\r
+ }\r
+ } \r
+\r
+ /* Remember the top priority to make context switching faster. Use\r
+ the priority in pxNewTCB as this has been capped to a valid value. */\r
+ if( pxNewTCB->uxPriority > uxTopUsedPriority )\r
+ {\r
+ uxTopUsedPriority = pxNewTCB->uxPriority;\r
+ }\r
+\r
+ #if ( configUSE_TRACE_FACILITY == 1 )\r
+ {\r
+ /* Add a counter into the TCB for tracing only. */\r
+ pxNewTCB->uxTCBNumber = uxTaskNumber;\r
+ uxTaskNumber++;\r
+ }\r
+ #endif\r
+\r
+ prvAddTaskToReadyQueue( pxNewTCB );\r
+\r
+ xReturn = pdPASS;\r
+ }\r
+ portEXIT_CRITICAL();\r
+ }\r
+ else\r
+ {\r
+ xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;\r
+ }\r
+\r
+ if( xReturn == pdPASS )\r
+ {\r
+ if( ( void * ) pxCreatedTask != NULL )\r
+ {\r
+ /* Pass the TCB out - in an anonymous way. The calling function/\r
+ task can use this as a handle to delete the task later if\r
+ required.*/\r
+ *pxCreatedTask = ( xTaskHandle ) pxNewTCB;\r
+ }\r
+\r
+ if( xSchedulerRunning != pdFALSE )\r
+ {\r
+ /* If the created task is of a higher priority than the current task\r
+ then it should run now. */\r
+ if( pxCurrentTCB->uxPriority < uxPriority )\r
+ {\r
+ taskYIELD();\r
+ }\r
+ }\r
+ }\r
+\r
+ return xReturn;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_vTaskDelete == 1 )\r
+\r
+ void vTaskDelete( xTaskHandle pxTaskToDelete )\r
+ {\r
+ tskTCB *pxTCB;\r
+\r
+ taskENTER_CRITICAL();\r
+ {\r
+ /* Ensure a yield is performed if the current task is being \r
+ deleted. */\r
+ if( pxTaskToDelete == pxCurrentTCB )\r
+ {\r
+ pxTaskToDelete = NULL;\r
+ }\r
+\r
+ /* If null is passed in here then we are deleting ourselves. */\r
+ pxTCB = prvGetTCBFromHandle( pxTaskToDelete );\r
+\r
+ /* Remove task from the ready list and place in the termination list.\r
+ This will stop the task from be scheduled. The idle task will check\r
+ the termination list and free up any memory allocated by the\r
+ scheduler for the TCB and stack. */\r
+ vListRemove( &( pxTCB->xGenericListItem ) );\r
+\r
+ /* Is the task waiting on an event also? */ \r
+ if( pxTCB->xEventListItem.pvContainer )\r
+ {\r
+ vListRemove( &( pxTCB->xEventListItem ) );\r
+ }\r
+\r
+ vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );\r
+\r
+ /* Increment the ucTasksDeleted variable so the idle task knows\r
+ there is a task that has been deleted and that it should therefore\r
+ check the xTasksWaitingTermination list. */\r
+ ++uxTasksDeleted;\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ /* Force a reschedule if we have just deleted the current task. */\r
+ if( xSchedulerRunning != pdFALSE ) \r
+ {\r
+ if( ( void * ) pxTaskToDelete == NULL )\r
+ {\r
+ taskYIELD();\r
+ }\r
+ }\r
+ }\r
+\r
+#endif\r
+\r
+\r
+\r
+\r
+\r
+\r
+/*-----------------------------------------------------------\r
+ * TASK CONTROL API documented in task.h\r
+ *----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_vTaskDelayUntil == 1 )\r
+\r
+ void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )\r
+ {\r
+ portTickType xTimeToWake;\r
+ portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;\r
+\r
+ vTaskSuspendAll();\r
+ {\r
+ /* Generate the tick time at which the task wants to wake. */\r
+ xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;\r
+\r
+ if( xTickCount < *pxPreviousWakeTime )\r
+ {\r
+ /* The tick count has overflowed since this function was\r
+ lasted called. In this case the only time we should ever\r
+ actually delay is if the wake time has also overflowed,\r
+ and the wake time is greater than the tick time. When this\r
+ is the case it is as if neither time had overflowed. */\r
+ if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )\r
+ {\r
+ xShouldDelay = pdTRUE;\r
+ }\r
+ }\r
+ else\r
+ {\r
+ /* The tick time has not overflowed. In this case we will\r
+ delay if either the wake time has overflowed, and/or the\r
+ tick time is less than the wake time. */\r
+ if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )\r
+ {\r
+ xShouldDelay = pdTRUE;\r
+ }\r
+ }\r
+\r
+ /* Update the wake time ready for the next call. */\r
+ *pxPreviousWakeTime = xTimeToWake;\r
+\r
+ if( xShouldDelay )\r
+ {\r
+ /* We must remove ourselves from the ready list before adding\r
+ ourselves to the blocked list as the same list item is used for\r
+ both lists. */\r
+ vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
+\r
+ /* The list item will be inserted in wake time order. */\r
+ listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );\r
+\r
+ if( xTimeToWake < xTickCount )\r
+ {\r
+ /* Wake time has overflowed. Place this item in the\r
+ overflow list. */\r
+ vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
+ }\r
+ else\r
+ {\r
+ /* The wake time has not overflowed, so we can use the\r
+ current block list. */\r
+ vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
+ }\r
+ }\r
+ }\r
+ xAlreadyYielded = xTaskResumeAll();\r
+\r
+ /* Force a reschedule if xTaskResumeAll has not already done so, we may\r
+ have put ourselves to sleep. */\r
+ if( !xAlreadyYielded )\r
+ {\r
+ taskYIELD();\r
+ }\r
+ } \r
+ \r
+#endif\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_vTaskDelay == 1 )\r
+\r
+ void vTaskDelay( portTickType xTicksToDelay )\r
+ {\r
+ portTickType xTimeToWake;\r
+ signed portBASE_TYPE xAlreadyYielded = pdFALSE;\r
+\r
+ /* A delay time of zero just forces a reschedule. */\r
+ if( xTicksToDelay > ( portTickType ) 0 )\r
+ {\r
+ vTaskSuspendAll();\r
+ {\r
+ /* A task that is removed from the event list while the\r
+ scheduler is suspended will not get placed in the ready\r
+ list or removed from the blocked list until the scheduler\r
+ is resumed.\r
+ \r
+ This task cannot be in an event list as it is the currently\r
+ executing task. */\r
+\r
+ /* Calculate the time to wake - this may overflow but this is\r
+ not a problem. */\r
+ xTimeToWake = xTickCount + xTicksToDelay;\r
+\r
+ /* We must remove ourselves from the ready list before adding\r
+ ourselves to the blocked list as the same list item is used for\r
+ both lists. */\r
+ vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
+\r
+ /* The list item will be inserted in wake time order. */\r
+ listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );\r
+\r
+ if( xTimeToWake < xTickCount )\r
+ {\r
+ /* Wake time has overflowed. Place this item in the\r
+ overflow list. */\r
+ vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
+ }\r
+ else\r
+ {\r
+ /* The wake time has not overflowed, so we can use the\r
+ current block list. */\r
+ vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
+ }\r
+ }\r
+ xAlreadyYielded = xTaskResumeAll();\r
+ }\r
+ \r
+ /* Force a reschedule if xTaskResumeAll has not already done so, we may\r
+ have put ourselves to sleep. */\r
+ if( !xAlreadyYielded )\r
+ {\r
+ taskYIELD();\r
+ }\r
+ }\r
+ \r
+#endif\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_uxTaskPriorityGet == 1 )\r
+\r
+ unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )\r
+ {\r
+ tskTCB *pxTCB;\r
+ unsigned portBASE_TYPE uxReturn;\r
+\r
+ taskENTER_CRITICAL();\r
+ {\r
+ /* If null is passed in here then we are changing the\r
+ priority of the calling function. */\r
+ pxTCB = prvGetTCBFromHandle( pxTask );\r
+ uxReturn = pxTCB->uxPriority;\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ return uxReturn;\r
+ }\r
+\r
+#endif\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_vTaskPrioritySet == 1 )\r
+\r
+ void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )\r
+ {\r
+ tskTCB *pxTCB;\r
+ unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;\r
+\r
+ /* Ensure the new priority is valid. */\r
+ if( uxNewPriority >= configMAX_PRIORITIES )\r
+ {\r
+ uxNewPriority = configMAX_PRIORITIES - 1;\r
+ }\r
+\r
+ taskENTER_CRITICAL();\r
+ {\r
+ /* If null is passed in here then we are changing the\r
+ priority of the calling function. */\r
+ pxTCB = prvGetTCBFromHandle( pxTask );\r
+ \r
+ #if ( configUSE_MUTEXES == 1 )\r
+ {\r
+ uxCurrentPriority = pxTCB->uxBasePriority;\r
+ }\r
+ #else\r
+ {\r
+ uxCurrentPriority = pxTCB->uxPriority;\r
+ }\r
+ #endif\r
+\r
+ if( uxCurrentPriority != uxNewPriority )\r
+ {\r
+ /* The priority change may have readied a task of higher\r
+ priority than the calling task. */\r
+ if( uxNewPriority > uxCurrentPriority ) \r
+ {\r
+ if( pxTask != NULL )\r
+ {\r
+ /* The priority of another task is being raised. If we\r
+ were raising the priority of the currently running task\r
+ there would be no need to switch as it must have already\r
+ been the highest priority task. */\r
+ xYieldRequired = pdTRUE;\r
+ }\r
+ }\r
+ else if( pxTask == NULL )\r
+ {\r
+ /* Setting our own priority down means there may now be another\r
+ task of higher priority that is ready to execute. */\r
+ xYieldRequired = pdTRUE;\r
+ }\r
+ \r
+ \r
+\r
+ #if ( configUSE_MUTEXES == 1 )\r
+ {\r
+ /* Only change the priority being used if the task is not\r
+ currently using an inherited priority. */\r
+ if( pxTCB->uxBasePriority == pxTCB->uxPriority )\r
+ {\r
+ pxTCB->uxPriority = uxNewPriority;\r
+ }\r
+ \r
+ /* The base priority gets set whatever. */\r
+ pxTCB->uxBasePriority = uxNewPriority; \r
+ }\r
+ #else\r
+ {\r
+ pxTCB->uxPriority = uxNewPriority;\r
+ }\r
+ #endif\r
+\r
+ listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );\r
+\r
+ /* If the task is in the blocked or suspended list we need do\r
+ nothing more than change it's priority variable. However, if\r
+ the task is in a ready list it needs to be removed and placed\r
+ in the queue appropriate to its new priority. */\r
+ if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )\r
+ {\r
+ /* The task is currently in its ready list - remove before adding\r
+ it to it's new ready list. As we are in a critical section we\r
+ can do this even if the scheduler is suspended. */\r
+ vListRemove( &( pxTCB->xGenericListItem ) );\r
+ prvAddTaskToReadyQueue( pxTCB );\r
+ } \r
+ \r
+ if( xYieldRequired == pdTRUE )\r
+ {\r
+ taskYIELD();\r
+ } \r
+ }\r
+ }\r
+ taskEXIT_CRITICAL();\r
+ }\r
+\r
+#endif\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_vTaskSuspend == 1 )\r
+\r
+ void vTaskSuspend( xTaskHandle pxTaskToSuspend )\r
+ {\r
+ tskTCB *pxTCB;\r
+\r
+ taskENTER_CRITICAL();\r
+ {\r
+ /* Ensure a yield is performed if the current task is being \r
+ suspended. */\r
+ if( pxTaskToSuspend == pxCurrentTCB )\r
+ {\r
+ pxTaskToSuspend = NULL;\r
+ }\r
+\r
+ /* If null is passed in here then we are suspending ourselves. */\r
+ pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );\r
+\r
+ /* Remove task from the ready/delayed list and place in the suspended list. */\r
+ vListRemove( &( pxTCB->xGenericListItem ) );\r
+\r
+ /* Is the task waiting on an event also? */ \r
+ if( pxTCB->xEventListItem.pvContainer )\r
+ {\r
+ vListRemove( &( pxTCB->xEventListItem ) );\r
+ }\r
+\r
+ vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ /* We may have just suspended the current task. */\r
+ if( ( void * ) pxTaskToSuspend == NULL )\r
+ {\r
+ taskYIELD();\r
+ }\r
+ }\r
+\r
+#endif\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_vTaskSuspend == 1 )\r
+\r
+ static portBASE_TYPE prvIsTaskSuspended( const tskTCB * const pxTCB )\r
+ {\r
+ portBASE_TYPE xReturn = pdFALSE;\r
+\r
+ /* Is the task we are attempting to resume actually in the\r
+ suspended list? */\r
+ if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )\r
+ {\r
+ /* Has the task already been resumed from within an ISR? */\r
+ if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )\r
+ { \r
+ /* Is it in the suspended list because it is in the\r
+ Suspended state? It is possible to be in the suspended\r
+ list because it is blocked on a task with no timeout\r
+ specified. */\r
+ if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )\r
+ {\r
+ xReturn = pdTRUE;\r
+ }\r
+ }\r
+ }\r
+\r
+ return xReturn;\r
+ }\r
+\r
+#endif\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_vTaskSuspend == 1 )\r
+\r
+ void vTaskResume( xTaskHandle pxTaskToResume )\r
+ {\r
+ tskTCB *pxTCB;\r
+\r
+ /* Remove the task from whichever list it is currently in, and place\r
+ it in the ready list. */\r
+ pxTCB = ( tskTCB * ) pxTaskToResume;\r
+\r
+ /* The parameter cannot be NULL as it is impossible to resume the\r
+ currently executing task. */\r
+ if( pxTCB != NULL )\r
+ {\r
+ taskENTER_CRITICAL();\r
+ {\r
+ if( prvIsTaskSuspended( pxTCB ) == pdTRUE )\r
+ {\r
+ /* As we are in a critical section we can access the ready\r
+ lists even if the scheduler is suspended. */\r
+ vListRemove( &( pxTCB->xGenericListItem ) );\r
+ prvAddTaskToReadyQueue( pxTCB );\r
+\r
+ /* We may have just resumed a higher priority task. */\r
+ if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )\r
+ {\r
+ /* This yield may not cause the task just resumed to run, but\r
+ will leave the lists in the correct state for the next yield. */\r
+ taskYIELD();\r
+ }\r
+ }\r
+ }\r
+ taskEXIT_CRITICAL();\r
+ }\r
+ }\r
+\r
+#endif\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )\r
+\r
+ portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )\r
+ {\r
+ portBASE_TYPE xYieldRequired = pdFALSE;\r
+ tskTCB *pxTCB;\r
+\r
+ pxTCB = ( tskTCB * ) pxTaskToResume;\r
+\r
+ if( prvIsTaskSuspended( pxTCB ) == pdTRUE )\r
+ {\r
+ if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )\r
+ {\r
+ xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );\r
+ vListRemove( &( pxTCB->xGenericListItem ) ); \r
+ prvAddTaskToReadyQueue( pxTCB );\r
+ }\r
+ else\r
+ {\r
+ /* We cannot access the delayed or ready lists, so will hold this\r
+ task pending until the scheduler is resumed, at which point a\r
+ yield will be performed if necessary. */\r
+ vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );\r
+ }\r
+ }\r
+\r
+ return xYieldRequired;\r
+ }\r
+\r
+#endif\r
+\r
+\r
+\r
+\r
+/*-----------------------------------------------------------\r
+ * PUBLIC SCHEDULER CONTROL documented in task.h\r
+ *----------------------------------------------------------*/\r
+\r
+\r
+void vTaskStartScheduler( void )\r
+{\r
+portBASE_TYPE xReturn;\r
+\r
+ /* Add the idle task at the lowest priority. */\r
+ xReturn = xTaskCreate( prvIdleTask, ( signed portCHAR * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );\r
+\r
+ if( xReturn == pdPASS )\r
+ {\r
+ /* Interrupts are turned off here, to ensure a tick does not occur\r
+ before or during the call to xPortStartScheduler(). The stacks of\r
+ the created tasks contain a status word with interrupts switched on\r
+ so interrupts will automatically get re-enabled when the first task\r
+ starts to run.\r
+ \r
+ STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE\r
+ DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */\r
+ portDISABLE_INTERRUPTS();\r
+\r
+ xSchedulerRunning = pdTRUE;\r
+ xTickCount = ( portTickType ) 0;\r
+\r
+ /* Setting up the timer tick is hardware specific and thus in the\r
+ portable interface. */\r
+ if( xPortStartScheduler() )\r
+ {\r
+ /* Should not reach here as if the scheduler is running the\r
+ function will not return. */\r
+ }\r
+ else\r
+ {\r
+ /* Should only reach here if a task calls xTaskEndScheduler(). */\r
+ }\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vTaskEndScheduler( void )\r
+{\r
+ /* Stop the scheduler interrupts and call the portable scheduler end\r
+ routine so the original ISRs can be restored if necessary. The port\r
+ layer must ensure interrupts enable bit is left in the correct state. */\r
+ portDISABLE_INTERRUPTS();\r
+ xSchedulerRunning = pdFALSE;\r
+ vPortEndScheduler();\r
+}\r
+/*----------------------------------------------------------*/\r
+\r
+void vTaskSuspendAll( void )\r
+{\r
+ portENTER_CRITICAL();\r
+ ++uxSchedulerSuspended;\r
+ portEXIT_CRITICAL();\r
+}\r
+/*----------------------------------------------------------*/\r
+\r
+signed portBASE_TYPE xTaskResumeAll( void )\r
+{\r
+register tskTCB *pxTCB;\r
+signed portBASE_TYPE xAlreadyYielded = pdFALSE;\r
+\r
+ /* It is possible that an ISR caused a task to be removed from an event\r
+ list while the scheduler was suspended. If this was the case then the\r
+ removed task will have been added to the xPendingReadyList. Once the\r
+ scheduler has been resumed it is safe to move all the pending ready\r
+ tasks from this list into their appropriate ready list. */\r
+ portENTER_CRITICAL();\r
+ {\r
+ --uxSchedulerSuspended;\r
+\r
+ if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )\r
+ { \r
+ if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )\r
+ {\r
+ portBASE_TYPE xYieldRequired = pdFALSE;\r
+ \r
+ /* Move any readied tasks from the pending list into the\r
+ appropriate ready list. */\r
+ while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ) ) != NULL )\r
+ {\r
+ vListRemove( &( pxTCB->xEventListItem ) );\r
+ vListRemove( &( pxTCB->xGenericListItem ) );\r
+ prvAddTaskToReadyQueue( pxTCB );\r
+ \r
+ /* If we have moved a task that has a priority higher than\r
+ the current task then we should yield. */\r
+ if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )\r
+ {\r
+ xYieldRequired = pdTRUE;\r
+ }\r
+ }\r
+\r
+ /* If any ticks occurred while the scheduler was suspended then\r
+ they should be processed now. This ensures the tick count does not\r
+ slip, and that any delayed tasks are resumed at the correct time. */\r
+ if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )\r
+ {\r
+ while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )\r
+ {\r
+ vTaskIncrementTick();\r
+ --uxMissedTicks;\r
+ }\r
+\r
+ /* As we have processed some ticks it is appropriate to yield\r
+ to ensure the highest priority task that is ready to run is\r
+ the task actually running. */\r
+ #if configUSE_PREEMPTION == 1\r
+ {\r
+ xYieldRequired = pdTRUE;\r
+ }\r
+ #endif\r
+ }\r
+ \r
+ if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )\r
+ {\r
+ xAlreadyYielded = pdTRUE;\r
+ xMissedYield = pdFALSE;\r
+ taskYIELD();\r
+ }\r
+ }\r
+ }\r
+ }\r
+ portEXIT_CRITICAL();\r
+\r
+ return xAlreadyYielded;\r
+}\r
+\r
+\r
+\r
+\r
+\r
+\r
+/*-----------------------------------------------------------\r
+ * PUBLIC TASK UTILITIES documented in task.h\r
+ *----------------------------------------------------------*/\r
+\r
+\r
+\r
+portTickType xTaskGetTickCount( void )\r
+{\r
+portTickType xTicks;\r
+\r
+ /* Critical section required if running on a 16 bit processor. */\r
+ taskENTER_CRITICAL();\r
+ {\r
+ xTicks = xTickCount;\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ return xTicks;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )\r
+{\r
+unsigned portBASE_TYPE uxNumberOfTasks;\r
+\r
+ taskENTER_CRITICAL();\r
+ uxNumberOfTasks = uxCurrentNumberOfTasks;\r
+ taskEXIT_CRITICAL();\r
+\r
+ return uxNumberOfTasks;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_vTaskDelete == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )\r
+\r
+ void vTaskList( signed portCHAR *pcWriteBuffer )\r
+ {\r
+ unsigned portBASE_TYPE uxQueue;\r
+\r
+ /* This is a VERY costly function that should be used for debug only.\r
+ It leaves interrupts disabled for a LONG time. */\r
+\r
+ vTaskSuspendAll();\r
+ {\r
+ /* Run through all the lists that could potentially contain a TCB and\r
+ report the task name, state and stack high water mark. */\r
+\r
+ pcWriteBuffer[ 0 ] = ( signed portCHAR ) 0x00;\r
+ strcat( ( portCHAR * ) pcWriteBuffer, ( const portCHAR * ) "\r\n" );\r
+\r
+ uxQueue = uxTopUsedPriority + 1;\r
+\r
+ do\r
+ {\r
+ uxQueue--;\r
+\r
+ if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )\r
+ {\r
+ prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR ); \r
+ }\r
+ }while( uxQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );\r
+\r
+ if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )\r
+ {\r
+ prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );\r
+ }\r
+\r
+ if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )\r
+ {\r
+ prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );\r
+ }\r
+\r
+ if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )\r
+ {\r
+ prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );\r
+ }\r
+\r
+ if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )\r
+ {\r
+ prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );\r
+ }\r
+ }\r
+ xTaskResumeAll();\r
+ }\r
+\r
+#endif\r
+/*----------------------------------------------------------*/\r
+\r
+#if ( configUSE_TRACE_FACILITY == 1 )\r
+\r
+ void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize )\r
+ {\r
+ portENTER_CRITICAL();\r
+ {\r
+ pcTraceBuffer = ( signed portCHAR * )pcBuffer;\r
+ pcTraceBufferStart = pcBuffer;\r
+ pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );\r
+ xTracing = pdTRUE;\r
+ }\r
+ portEXIT_CRITICAL();\r
+ }\r
+\r
+#endif\r
+/*----------------------------------------------------------*/\r
+\r
+#if ( configUSE_TRACE_FACILITY == 1 )\r
+\r
+ unsigned portLONG ulTaskEndTrace( void )\r
+ {\r
+ unsigned portLONG ulBufferLength;\r
+\r
+ portENTER_CRITICAL();\r
+ xTracing = pdFALSE;\r
+ portEXIT_CRITICAL();\r
+\r
+ ulBufferLength = ( unsigned portLONG ) ( pcTraceBuffer - pcTraceBufferStart );\r
+\r
+ return ulBufferLength;\r
+ }\r
+\r
+#endif\r
+\r
+\r
+\r
+/*-----------------------------------------------------------\r
+ * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES\r
+ * documented in task.h\r
+ *----------------------------------------------------------*/\r
+\r
+\r
+inline void vTaskIncrementTick( void )\r
+{\r
+ /* Called by the portable layer each time a tick interrupt occurs.\r
+ Increments the tick then checks to see if the new tick value will cause any\r
+ tasks to be unblocked. */\r
+ if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )\r
+ {\r
+ ++xTickCount;\r
+ if( xTickCount == ( portTickType ) 0 )\r
+ {\r
+ xList *pxTemp;\r
+\r
+ /* Tick count has overflowed so we need to swap the delay lists. \r
+ If there are any items in pxDelayedTaskList here then there is \r
+ an error! */\r
+ pxTemp = pxDelayedTaskList;\r
+ pxDelayedTaskList = pxOverflowDelayedTaskList;\r
+ pxOverflowDelayedTaskList = pxTemp;\r
+ xNumOfOverflows++;\r
+ }\r
+\r
+ /* See if this tick has made a timeout expire. */\r
+ prvCheckDelayedTasks();\r
+ }\r
+ else\r
+ {\r
+ ++uxMissedTicks;\r
+\r
+ /* The tick hook gets called at regular intervals, even if the \r
+ scheduler is locked. */\r
+ #if ( configUSE_TICK_HOOK == 1 )\r
+ {\r
+ extern void vApplicationTickHook( void );\r
+\r
+ vApplicationTickHook();\r
+ }\r
+ #endif\r
+ }\r
+\r
+ #if ( configUSE_TICK_HOOK == 1 )\r
+ {\r
+ extern void vApplicationTickHook( void );\r
+\r
+ /* Guard against the tick hook being called when the missed tick\r
+ count is being unwound (when the scheduler is being unlocked. */\r
+ if( uxMissedTicks == 0 )\r
+ {\r
+ vApplicationTickHook();\r
+ }\r
+ }\r
+ #endif\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )\r
+\r
+ void vTaskCleanUpResources( void )\r
+ {\r
+ unsigned portSHORT usQueue;\r
+ volatile tskTCB *pxTCB;\r
+\r
+ usQueue = ( unsigned portSHORT ) uxTopUsedPriority + ( unsigned portSHORT ) 1;\r
+\r
+ /* Remove any TCB's from the ready queues. */\r
+ do\r
+ {\r
+ usQueue--;\r
+\r
+ while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )\r
+ {\r
+ listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );\r
+ vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );\r
+\r
+ prvDeleteTCB( ( tskTCB * ) pxTCB );\r
+ }\r
+ }while( usQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );\r
+\r
+ /* Remove any TCB's from the delayed queue. */\r
+ while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )\r
+ {\r
+ listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );\r
+ vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );\r
+\r
+ prvDeleteTCB( ( tskTCB * ) pxTCB );\r
+ }\r
+\r
+ /* Remove any TCB's from the overflow delayed queue. */\r
+ while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )\r
+ {\r
+ listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );\r
+ vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );\r
+\r
+ prvDeleteTCB( ( tskTCB * ) pxTCB );\r
+ }\r
+\r
+ while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )\r
+ {\r
+ listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );\r
+ vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );\r
+\r
+ prvDeleteTCB( ( tskTCB * ) pxTCB );\r
+ } \r
+ }\r
+\r
+#endif\r
+/*-----------------------------------------------------------*/\r
+\r
+void vTaskSwitchContext( void )\r
+{\r
+ if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )\r
+ {\r
+ /* The scheduler is currently suspended - do not allow a context\r
+ switch. */\r
+ xMissedYield = pdTRUE;\r
+ return;\r
+ }\r
+\r
+ /* Find the highest priority queue that contains ready tasks. */\r
+ while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )\r
+ {\r
+ --uxTopReadyPriority;\r
+ }\r
+\r
+ /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the\r
+ same priority get an equal share of the processor time. */\r
+ listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );\r
+ vWriteTraceToBuffer();\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )\r
+{\r
+portTickType xTimeToWake;\r
+\r
+ /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE\r
+ SCHEDULER SUSPENDED. */\r
+\r
+ /* Place the event list item of the TCB in the appropriate event list.\r
+ This is placed in the list in priority order so the highest priority task\r
+ is the first to be woken by the event. */\r
+ vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );\r
+\r
+ /* We must remove ourselves from the ready list before adding ourselves\r
+ to the blocked list as the same list item is used for both lists. We have\r
+ exclusive access to the ready lists as the scheduler is locked. */\r
+ vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
+\r
+\r
+ #if ( INCLUDE_vTaskSuspend == 1 )\r
+ { \r
+ if( xTicksToWait == portMAX_DELAY )\r
+ {\r
+ /* Add ourselves to the suspended task list instead of a delayed task\r
+ list to ensure we are not woken by a timing event. We will block\r
+ indefinitely. */\r
+ vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
+ }\r
+ else\r
+ {\r
+ /* Calculate the time at which the task should be woken if the event does\r
+ not occur. This may overflow but this doesn't matter. */\r
+ xTimeToWake = xTickCount + xTicksToWait;\r
+ \r
+ listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );\r
+ \r
+ if( xTimeToWake < xTickCount )\r
+ {\r
+ /* Wake time has overflowed. Place this item in the overflow list. */\r
+ vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
+ }\r
+ else\r
+ {\r
+ /* The wake time has not overflowed, so we can use the current block list. */\r
+ vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
+ }\r
+ }\r
+ }\r
+ #else\r
+ {\r
+ /* Calculate the time at which the task should be woken if the event does\r
+ not occur. This may overflow but this doesn't matter. */\r
+ xTimeToWake = xTickCount + xTicksToWait;\r
+ \r
+ listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );\r
+ \r
+ if( xTimeToWake < xTickCount )\r
+ {\r
+ /* Wake time has overflowed. Place this item in the overflow list. */\r
+ vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
+ }\r
+ else\r
+ {\r
+ /* The wake time has not overflowed, so we can use the current block list. */\r
+ vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
+ }\r
+ }\r
+ #endif\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )\r
+{\r
+tskTCB *pxUnblockedTCB;\r
+portBASE_TYPE xReturn;\r
+\r
+ /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE\r
+ SCHEDULER SUSPENDED. It can also be called from within an ISR. */\r
+\r
+ /* The event list is sorted in priority order, so we can remove the\r
+ first in the list, remove the TCB from the delayed list, and add\r
+ it to the ready list.\r
+ \r
+ If an event is for a queue that is locked then this function will never\r
+ get called - the lock count on the queue will get modified instead. This\r
+ means we can always expect exclusive access to the event list here. */\r
+ pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );\r
+ vListRemove( &( pxUnblockedTCB->xEventListItem ) );\r
+\r
+ if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )\r
+ {\r
+ vListRemove( &( pxUnblockedTCB->xGenericListItem ) );\r
+ prvAddTaskToReadyQueue( pxUnblockedTCB );\r
+ }\r
+ else\r
+ {\r
+ /* We cannot access the delayed or ready lists, so will hold this\r
+ task pending until the scheduler is resumed. */\r
+ vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );\r
+ }\r
+\r
+ if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )\r
+ {\r
+ /* Return true if the task removed from the event list has\r
+ a higher priority than the calling task. This allows\r
+ the calling task to know if it should force a context\r
+ switch now. */\r
+ xReturn = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ xReturn = pdFALSE;\r
+ }\r
+\r
+ return xReturn;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )\r
+{\r
+ pxTimeOut->xOverflowCount = xNumOfOverflows;\r
+ pxTimeOut->xTimeOnEntering = xTickCount;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )\r
+{\r
+portBASE_TYPE xReturn;\r
+\r
+ #if ( INCLUDE_vTaskSuspend == 1 )\r
+ /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is\r
+ the maximum block time then the task should block indefinitely, and\r
+ therefore never time out. */\r
+ if( *pxTicksToWait == portMAX_DELAY )\r
+ {\r
+ xReturn = pdFALSE;\r
+ }\r
+ else /* We are not blocking indefinitely, perform the checks below. */\r
+ #endif\r
+\r
+ if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xTickCount >= pxTimeOut->xTimeOnEntering ) )\r
+ {\r
+ /* The tick count is greater than the time at which vTaskSetTimeout()\r
+ was called, but has also overflowed since vTaskSetTimeOut() was called.\r
+ It must have wrapped all the way around and gone past us again. This\r
+ passed since vTaskSetTimeout() was called. */\r
+ xReturn = pdTRUE;\r
+ }\r
+ else if( ( xTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )\r
+ {\r
+ /* Not a genuine timeout. Adjust parameters for time remaining. */\r
+ *pxTicksToWait -= ( xTickCount - pxTimeOut->xTimeOnEntering );\r
+ vTaskSetTimeOutState( pxTimeOut );\r
+ xReturn = pdFALSE;\r
+ }\r
+ else\r
+ {\r
+ xReturn = pdTRUE;\r
+ }\r
+\r
+ return xReturn;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vTaskMissedYield( void )\r
+{\r
+ xMissedYield = pdTRUE;\r
+}\r
+\r
+/*\r
+ * -----------------------------------------------------------\r
+ * The Idle task.\r
+ * ----------------------------------------------------------\r
+ *\r
+ * The portTASK_FUNCTION() macro is used to allow port/compiler specific\r
+ * language extensions. The equivalent prototype for this function is:\r
+ *\r
+ * void prvIdleTask( void *pvParameters );\r
+ *\r
+ */\r
+static portTASK_FUNCTION( prvIdleTask, pvParameters )\r
+{\r
+ /* Stop warnings. */\r
+ ( void ) pvParameters;\r
+\r
+ for( ;; )\r
+ {\r
+ /* See if any tasks have been deleted. */\r
+ prvCheckTasksWaitingTermination();\r
+\r
+ #if ( configUSE_PREEMPTION == 0 )\r
+ {\r
+ /* If we are not using preemption we keep forcing a task switch to\r
+ see if any other task has become available. If we are using\r
+ preemption we don't need to do this as any task becoming available\r
+ will automatically get the processor anyway. */\r
+ taskYIELD(); \r
+ }\r
+ #endif\r
+\r
+ #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )\r
+ {\r
+ /* When using preemption tasks of equal priority will be\r
+ timesliced. If a task that is sharing the idle priority is ready\r
+ to run then the idle task should yield before the end of the\r
+ timeslice.\r
+ \r
+ A critical region is not required here as we are just reading from\r
+ the list, and an occasional incorrect value will not matter. If\r
+ the ready list at the idle priority contains more than one task\r
+ then a task other than the idle task is ready to execute. */\r
+ if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )\r
+ {\r
+ taskYIELD();\r
+ }\r
+ }\r
+ #endif\r
+\r
+ #if ( configUSE_IDLE_HOOK == 1 )\r
+ {\r
+ extern void vApplicationIdleHook( void );\r
+\r
+ /* Call the user defined function from within the idle task. This\r
+ allows the application designer to add background functionality\r
+ without the overhead of a separate task.\r
+ NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,\r
+ CALL A FUNCTION THAT MIGHT BLOCK. */\r
+ vApplicationIdleHook();\r
+ }\r
+ #endif\r
+ }\r
+} /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+/*-----------------------------------------------------------\r
+ * File private functions documented at the top of the file.\r
+ *----------------------------------------------------------*/\r
+\r
+\r
+\r
+static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority )\r
+{\r
+ /* Store the function name in the TCB. */\r
+ strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned portSHORT ) configMAX_TASK_NAME_LEN );\r
+ pxTCB->pcTaskName[ ( unsigned portSHORT ) configMAX_TASK_NAME_LEN - ( unsigned portSHORT ) 1 ] = '\0';\r
+\r
+ /* This is used as an array index so must ensure it's not too large. */\r
+ if( uxPriority >= configMAX_PRIORITIES )\r
+ {\r
+ uxPriority = configMAX_PRIORITIES - 1;\r
+ }\r
+\r
+ pxTCB->uxPriority = uxPriority;\r
+ #if ( configUSE_MUTEXES == 1 )\r
+ {\r
+ pxTCB->uxBasePriority = uxPriority;\r
+ }\r
+ #endif\r
+\r
+ vListInitialiseItem( &( pxTCB->xGenericListItem ) );\r
+ vListInitialiseItem( &( pxTCB->xEventListItem ) );\r
+\r
+ /* Set the pxTCB as a link back from the xListItem. This is so we can get\r
+ back to the containing TCB from a generic item in a list. */\r
+ listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );\r
+\r
+ /* Event lists are always in priority order. */\r
+ listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );\r
+ listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvInitialiseTaskLists( void )\r
+{\r
+unsigned portBASE_TYPE uxPriority;\r
+\r
+ for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ )\r
+ {\r
+ vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );\r
+ }\r
+\r
+ vListInitialise( ( xList * ) &xDelayedTaskList1 );\r
+ vListInitialise( ( xList * ) &xDelayedTaskList2 );\r
+ vListInitialise( ( xList * ) &xPendingReadyList );\r
+\r
+ #if ( INCLUDE_vTaskDelete == 1 )\r
+ {\r
+ vListInitialise( ( xList * ) &xTasksWaitingTermination );\r
+ }\r
+ #endif\r
+\r
+ #if ( INCLUDE_vTaskSuspend == 1 )\r
+ {\r
+ vListInitialise( ( xList * ) &xSuspendedTaskList );\r
+ }\r
+ #endif\r
+\r
+ /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList\r
+ using list2. */\r
+ pxDelayedTaskList = &xDelayedTaskList1;\r
+ pxOverflowDelayedTaskList = &xDelayedTaskList2;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvCheckTasksWaitingTermination( void )\r
+{ \r
+ #if ( INCLUDE_vTaskDelete == 1 )\r
+ { \r
+ portBASE_TYPE xListIsEmpty;\r
+\r
+ /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called\r
+ too often in the idle task. */\r
+ if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )\r
+ {\r
+ vTaskSuspendAll();\r
+ xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination ); \r
+ xTaskResumeAll();\r
+\r
+ if( !xListIsEmpty )\r
+ {\r
+ tskTCB *pxTCB;\r
+\r
+ portENTER_CRITICAL();\r
+ { \r
+ pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );\r
+ vListRemove( &( pxTCB->xGenericListItem ) );\r
+ --uxCurrentNumberOfTasks;\r
+ --uxTasksDeleted;\r
+ }\r
+ portEXIT_CRITICAL();\r
+\r
+ prvDeleteTCB( pxTCB );\r
+ }\r
+ }\r
+ }\r
+ #endif\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth )\r
+{\r
+tskTCB *pxNewTCB;\r
+\r
+ /* Allocate space for the TCB. Where the memory comes from depends on\r
+ the implementation of the port malloc function. */\r
+ pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );\r
+\r
+ if( pxNewTCB != NULL )\r
+ {\r
+ /* Allocate space for the stack used by the task being created.\r
+ The base of the stack memory stored in the TCB so the task can\r
+ be deleted later if required. */\r
+ pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMalloc( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) );\r
+\r
+ if( pxNewTCB->pxStack == NULL )\r
+ {\r
+ /* Could not allocate the stack. Delete the allocated TCB. */\r
+ vPortFree( pxNewTCB ); \r
+ pxNewTCB = NULL; \r
+ } \r
+ else\r
+ {\r
+ /* Just to help debugging. */\r
+ memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );\r
+ }\r
+ }\r
+\r
+ return pxNewTCB;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( configUSE_TRACE_FACILITY == 1 )\r
+\r
+ static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus )\r
+ {\r
+ volatile tskTCB *pxNextTCB, *pxFirstTCB;\r
+ static portCHAR pcStatusString[ 50 ];\r
+ unsigned portSHORT usStackRemaining;\r
+\r
+ /* Write the details of all the TCB's in pxList into the buffer. */\r
+ listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );\r
+ do\r
+ {\r
+ listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );\r
+ usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned portCHAR * ) pxNextTCB->pxStack );\r
+ sprintf( pcStatusString, ( portCHAR * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );\r
+ strcat( ( portCHAR * ) pcWriteBuffer, ( portCHAR * ) pcStatusString );\r
+\r
+ } while( pxNextTCB != pxFirstTCB );\r
+ }\r
+\r
+#endif\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( configUSE_TRACE_FACILITY == 1 )\r
+ unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte )\r
+ {\r
+ register unsigned portSHORT usCount = 0;\r
+\r
+ while( *pucStackByte == tskSTACK_FILL_BYTE )\r
+ {\r
+ pucStackByte -= portSTACK_GROWTH;\r
+ usCount++;\r
+ }\r
+\r
+ usCount /= sizeof( portSTACK_TYPE );\r
+\r
+ return usCount;\r
+ }\r
+#endif\r
+/*-----------------------------------------------------------*/\r
+\r
+\r
+\r
+#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )\r
+\r
+ static void prvDeleteTCB( tskTCB *pxTCB )\r
+ {\r
+ /* Free up the memory allocated by the scheduler for the task. It is up to\r
+ the task to free any memory allocated at the application level. */\r
+ vPortFree( pxTCB->pxStack );\r
+ vPortFree( pxTCB );\r
+ }\r
+\r
+#endif\r
+\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )\r
+\r
+ xTaskHandle xTaskGetCurrentTaskHandle( void )\r
+ {\r
+ xTaskHandle xReturn;\r
+\r
+ portENTER_CRITICAL();\r
+ {\r
+ xReturn = ( xTaskHandle ) pxCurrentTCB;\r
+ }\r
+ portEXIT_CRITICAL();\r
+\r
+ return xReturn;\r
+ }\r
+\r
+#endif\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_xTaskGetSchedulerState == 1 )\r
+\r
+ portBASE_TYPE xTaskGetSchedulerState( void )\r
+ {\r
+ portBASE_TYPE xReturn;\r
+ \r
+ if( xSchedulerRunning == pdFALSE )\r
+ {\r
+ xReturn = taskSCHEDULER_NOT_STARTED;\r
+ }\r
+ else\r
+ {\r
+ if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )\r
+ {\r
+ xReturn = taskSCHEDULER_RUNNING;\r
+ }\r
+ else\r
+ {\r
+ xReturn = taskSCHEDULER_SUSPENDED;\r
+ }\r
+ }\r
+ \r
+ return xReturn;\r
+ }\r
+\r
+#endif\r
+\r
+#if ( configUSE_MUTEXES == 1 )\r
+ \r
+ void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )\r
+ {\r
+ tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;\r
+\r
+ if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )\r
+ {\r
+ /* Adjust the mutex holder state to account for its new priority. */\r
+ listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );\r
+\r
+ /* If the task being modified is in the ready state it will need to\r
+ be moved in to a new list. */\r
+ if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )\r
+ {\r
+ vListRemove( &( pxTCB->xGenericListItem ) );\r
+\r
+ /* Inherit the priority before being moved into the new list. */\r
+ pxTCB->uxPriority = pxCurrentTCB->uxPriority;\r
+ prvAddTaskToReadyQueue( pxTCB );\r
+ }\r
+ else\r
+ {\r
+ /* Just inherit the priority. */\r
+ pxTCB->uxPriority = pxCurrentTCB->uxPriority;\r
+ }\r
+ }\r
+ }\r
+\r
+#endif\r
+\r
+#if ( configUSE_MUTEXES == 1 ) \r
+\r
+ void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )\r
+ {\r
+ tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;\r
+\r
+ if( pxMutexHolder != NULL )\r
+ {\r
+ if( pxTCB->uxPriority != pxTCB->uxBasePriority )\r
+ {\r
+ /* We must be the running task to be able to give the mutex back.\r
+ Remove ourselves from the ready list we currently appear in. */\r
+ vListRemove( &( pxTCB->xGenericListItem ) );\r
+\r
+ /* Disinherit the priority before adding ourselves into the new\r
+ ready list. */\r
+ pxTCB->uxPriority = pxTCB->uxBasePriority;\r
+ listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );\r
+ prvAddTaskToReadyQueue( pxTCB );\r
+ }\r
+ }\r
+ }\r
+\r
+#endif\r
+\r
+ \r
+\r
+ \r
+\r
+Instalar toolchain:
+
+<http://www.ece.ufrgs.br/~fetter/pub/cross-pic30.tgz>: descompactar como
+root, entrar no diretorio e digitar make
+
+<http://www.ece.ufrgs.br/~fetter/pub/FreeRTOSV7.4.2.zip>: descompactar como
+root em /usr/src/FreeRTOSV7.4.2 e criar um link FreeRTOS ->
+FreeRTOSV7.4.2/FreeRTOS
+
+Em geral tudo deve ser feito logado como usuario normal. Apenas os dois
+pacotes acima devem ser instalados como root.
+
Instalar o software da AIC:
<http://www.ece.ufrgs.br/~fetter/pub/aic-x.y.z.tgz>: descompactar no
-diretorio do usuario:
+diretorio do usuario.
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- IO Daemon
- Copyright (C) 2003, 2004 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import br.ufrgs.ece.AIC.*;
-import com.dalsemi.comm.*;
-import com.dalsemi.system.*;
-import java.io.*;
-import java.lang.*;
-
-class IODaemon extends Thread
-{
- static final int BASE=0x800000;
- static final int ST=250;
-
- static AIC aic;
- static Host host;
- static boolean debug=false;
- static boolean udp=false;
- static boolean help=false;
-
- public static void main(String[] args) throws IOException,CanBusException
- {
- int i;
- int hostarg=0;
-
- System.out.println("AIC IO Daemon");
- System.out.println("Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>.\n");
-
- switch(args.length)
- {
- case 0:
- {
- help=true;
- break;
- }
- case 1:
- {
- if(args[0].equals("-debug") ||
- args[0].equals("-UDP")) help=true;
- break;
- }
- case 2:
- {
- hostarg=1;
- if(args[0].equals("-debug")) debug=true;
- else help=true;
- break;
- }
- case 3:
- {
- hostarg=1;
- if(args[0].equals("-UDP")) udp=true;
- else help=true;
- break;
- }
- case 4:
- {
- hostarg=2;
- if(args[0].equals("-debug")) debug=true;
- else help=true;
- if(args[1].equals("-UDP")) udp=true;
- else help=true;
- break;
- }
- default:
- {
- help=true;
- }
- }
-
-
- if(help)
- {
- System.out.println("Usage:\tjava IODaemon.tini [-debug] aic_id");
- System.out.println("\tor");
- System.out.println("\tjava IODaemon.tini [-debug] -UDP controller_host status_port");
- System.exit(1);
- }
- try
- {
- aic=new AIC(BASE,24.0,20e3,2000);
- if(udp) host=new HostUDP(args[hostarg],Integer.parseInt(args[hostarg+1]));
- else host=new HostCAN(Integer.parseInt(args[hostarg]));
- SendSensors sendSensors=new SendSensors();
- sendSensors.setPriority(Thread.MAX_PRIORITY);
- sendSensors.start();
-
- if(debug) System.out.println("sendSensors priority="+sendSensors.getPriority());
-
- GetCommand getCommand=new GetCommand();
- getCommand.setPriority(Thread.MAX_PRIORITY-1);
- getCommand.start();
-
- if(debug) System.out.println("getCommand priority="+getCommand.getPriority());
- }
- catch (NumberFormatException nfe)
- {
- System.out.println("Usage: java IODaemon.tini [-debug] [-UDP controller_host port] | aicid");
- System.exit(1);
- }
- }
-}
-
-
-class GetCommand extends IODaemon
-{
- public void run()
- {
- try
- {
- aic.on();
- aic.brake.release();
-
- for(int k=0;;k++)
- {
- if(debug) System.out.print("k="+k+"\t");
-
- int cmd=host.command();
-
- if(debug) System.out.print("Command="+ cmd +"\t");
-
- switch(cmd)
- {
- case Host.MOTOR_ON:
- {
- if(debug) System.out.print("Motor on\t");
- aic.motor.on();
- break;
- }
- case Host.MOTOR_OFF:
- {
- if(debug) System.out.print("Motor off\t");
- aic.motor.off();
- break;
- }
- case Host.MOTOR_ACT:
- {
- if(debug) System.out.print("Voltage="+host.voltage()+"\t");
- aic.motor.set(host.voltage());
- break;
- }
- case Host.BRAKE_RELEASE:
- {
- if(debug) System.out.print("Brake release\t");
- aic.brake.release();
- break;
- }
- case Host.BRAKE_APPLY:
- {
- if(debug) System.out.print("Brake apply\t");
- aic.brake.apply();
- break;
- }
-/* case Host.RESET:
- {
- if(debug) System.out.print("Reset\t");
- aic.reset();
- break;
- }
-*/
- default:
- {
- if(debug) System.out.print("Invalid\t");
- break;
- }
-
- }
- if(debug) System.out.println("");
- }
- }
- catch (Exception all)
- {
- all.printStackTrace();
- }
- }
-}
-
-class SendSensors extends IODaemon
-{
- public void run()
- {
- int i=0;
- try
- {
- for(;;)
- {
- long timeStart=TINIOS.uptimeMillis();
-
- int index;
- if(aic.index.read()) index=1; else index=0;
-
- double disp=aic.encoder.read();
- if(debug) System.out.print("Encoder="+disp+" rad\tindex="+index+"\t");
- host.sendStatus(disp,index);
-
- long timeEnd=TINIOS.uptimeMillis();
- long blockTime=ST-(timeEnd-timeStart);
- if(debug) System.out.println("Blocking time="+blockTime);
- if(blockTime > 4) Thread.sleep(blockTime);
- }
- }
- catch(Exception all)
- {
- all.printStackTrace();
- }
- }
-}
-
+++ /dev/null
-all: IODaemon.tini
-
-IODaemon.class: IODaemon.java ../lib/AIC.jar
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} IODaemon.java
-
-IODaemon.tini: IODaemon.class ../lib/AIC.jar
- java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f IODaemon.class ${APIDBPATH} -o IODaemon.tini ${LIBPATH} ${NATLIB}
-
-clean:
- rm -f *.bak *~ *.class
-
-distclean: clean
- rm -f IODaemon.tini
-
-upload: IODaemon.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
\ No newline at end of file
+++ /dev/null
-bin
-put IODaemon.tini
-quit
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Index Real Time Test
- User Interface Module
- Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import com.dalsemi.system.*;
-
-public class IndexRtTest
-{
- public static native int startRealtime(int period);
- public static native void stopRealtime();
- public static native boolean getIndex();
-
- public static void main(String[] args)
- {
- System.out.println("IndexRtTest");
- System.out.println("Copyright (C) Walter Fetter Lages, 2005.\n");
-
- int tfms=0;
- if(args.length==1)
- {
- tfms=Integer.parseInt(args[0]);
- }
- else
- {
- System.out.println("Usage:\tIndexRtTest ms");
- System.exit(1);
- }
-
- System.out.print("Loading native library...");
- System.loadLibrary("indextest.tlib");
- System.out.println("done.");
-
- int us=10000;
- System.out.print("Starting real-time timer with "+us+" us period...");
- int period=startRealtime(us);
- System.out.println("done.");
- System.out.println("Effective period: "+period+" us.");
-
- System.out.println("Running IndexRtTest for "+tfms+" ms...");
- long t0=TINIOS.uptimeMillis();
- long t=0;
- while(t <= tfms)
- {
- t=TINIOS.uptimeMillis()-t0;
- System.out.print("t="+t+" ms");
- System.out.println("\tindex="+getIndex());
- }
- System.out.println("...done.");
-
- System.out.print("Stoping real-time timer...");
- stopRealtime();
- System.out.println("done.");
- }
-}
+++ /dev/null
-all: IndexRtTest.tini
-
-IndexRtTest.class: IndexRtTest.java
- ${JAVAC} ${CLASSPATH} ${JAVAFLAGS} IndexRtTest.java
-
-indextest.mpp: indextest.a51
- ${ASMMACRO} -I${ASMINC} -e- indextest.a51
-
-indextest.tlib: indextest.mpp ../lib/aicio.mpp.lib
- cat indextest.mpp ${TRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib > tmp.mpp
- echo end >> tmp.mpp
- ${ASM} ${ASMOPT} tmp.mpp
- mv tmp.tlib indextest.tlib
- mv tmp.lst indextest.lst
-
-indextest.a51: indextest.c
- ${SDCC} ${SDCCCMPFLAGS} indextest.c
-
-IndexRtTest.tini: IndexRtTest.class indextest.tlib
- java ${CLASSPATH} TINIConvertor -n indextest.tlib -f IndexRtTest.class ${APIDBPATH} -o IndexRtTest.tini
-
-
-clean:
- rm -f *.bak *~ IndexRtTest.class indextest.tlib indextest.mpp indextest.lst indextest.a51 globals.mpp tmp.mpp tmp.lst
-
-distclean: clean
- rm -f IndexRtTest.tini
-
-upload: IndexRtTest.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
+++ /dev/null
-;******************************************************************************
-;
-; Actuator Interface Card
-; Index Real Time Test
-; Real Time Module Global Variables
-; Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-;
-; This program is free software; you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation; either version 2 of the License, or
-; (at your option) any later version.
-;
-; This program is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with this program; if not, write to the Free Software
-; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-;
-; You can also obtain a copy of the GNU General Public License
-; at <http://www.gnu.org/licenses>.
-;
-;*******************************************************************************/
-
-
-index: db 0,0,0,0
-th: db 0,0,0,0
- end
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Brake Real Time Test
- Real Time Module
- Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-#include <rtai_sched.h>
-#include <pthread.h>
-
-#include <aicio.h>
-
-#define BASE 0x800000
-
-extern volatile pthread_t th;
-extern volatile long index;
-
-void indextest_globals(void) _naked
-{
- _asm
-th: db 0,0,0,0
-index: db 0,0,0,0
- _endasm;
-}
-
-void *indextest(void *arg)
-{
- index=index_read();
- return NULL;
-}
-
-/* public static native int startRealtime(int period) */
-long Native_startRealtime(void) _JavaNative
-{
- volatile long period=NatLib_LoadInt(0);
- start_rt_timer(micro2count(period));
- pthread_create(&th,NULL,indextest,NULL);
-
- index_initialize(BASE);
-
- _asm
- clr a
- _endasm;
-
- return period;
-}
-
-/* public static native void stopRealtime() */
-void Native_stopRealtime(void) _JavaNative
-{
- pthread_cancel(th);
- stop_rt_timer();
-
- _asm
- clr a
- _endasm;
-}
-
-/* public static native boolean getIndex() */
-long Native_getIndex(void) _JavaNative
-{
- return index;
-}
-
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Index Test
- Copyright (C) 2002, 2004 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import br.ufrgs.ece.AIC.*;
-import com.dalsemi.system.*;
-import java.lang.Math.*;
-
-class IndexTest
-{
- static final int BASE=0x800000;
- static final int ST=500;
-
- static AIC aic;
-
- private static void delay(int ms)
- {
- long time=TINIOS.uptimeMillis();
- while(TINIOS.uptimeMillis() < time+ms);
- }
-
- public static void main(String[] args)
- {
- int i;
- boolean run=true;
-
- System.out.println("AIC Index Test Program");
- System.out.println("Copyright (C) Walter Fetter Lages, 2002...2004.\n");
-
- aic=new AIC(BASE,24.0,20e3,2000);
-
- aic.on();
-
- aic.motor.set(2.0);
-
- while(run)
- {
- System.out.println("Index=" + aic.index.read());
- delay(ST);
- }
- aic.off();
- }
-}
+++ /dev/null
-all: IndexTest.tini
-
-IndexTest.class: IndexTest.java ../lib/AIC.jar
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} IndexTest.java
-
-IndexTest.tini: IndexTest.class ../lib/AIC.jar
- java ${CLASSPATH} TINIConvertor ${NATLIB} -f IndexTest.class ${APIDBPATH} -o IndexTest.tini ${LIBPATH}
-
-clean:
- rm -f *.bak *~ IndexTest.class
-
-distclean: clean
- rm -f IndexTest.tini
-
-upload: IndexTest.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Robot Joint Test
- Copyright (C) 2002, 2003 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import br.ufrgs.ece.AIC.*;
-import com.dalsemi.system.*;
-import java.lang.Math.*;
-
-class JointTest
-{
- static final int BASE=0x800000;
-
- static AIC aic;
-
- private static void delay(int ms)
- {
- long time=TINIOS.uptimeMillis();
- while(TINIOS.uptimeMillis() < time+ms);
- }
-
- static void iter(double v,int ms)
- {
- aic.motor.set(v);
- System.out.print("Motor Voltage: " + v);
- System.out.println("\tIndex: " + aic.index.read());
-
- delay(ms);
- }
-
- public static void main(String[] args)
- {
- int i;
-
- System.out.println("AIC Joint Test Program");
- System.out.println("Copyright (C) Walter Fetter Lages, 2002.\n");
-
- aic=new AIC(BASE,24.0,20e3,2000);
-
- aic.on();
-
- aic.brake.release();
-
- while(!aic.index.read())
- {
- iter(5,1000);
- iter(-5,1000);
- }
- aic.off();
- }
-}
+++ /dev/null
-CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:../lib/AIC.jar
-APIDBPATH=-d /opt/tini/bin/tini.db
-LIBPATH=-path ../lib/AIC.jar
-NATLIB=-n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib
-JAVAFLAGS=-O -target 1.1 -source 1.3
-
-all: JointTest.tini
-
-JointTest.class: JointTest.java ../lib/AIC.jar
- javac ${JAVAFLAGS} ${CLASSPATH} JointTest.java
-
-JointTest.tini: JointTest.class ../lib/AIC.jar
- java ${CLASSPATH} TINIConvertor -f JointTest.class ${APIDBPATH} -o JointTest.tini ${LIBPATH} ${NATLIB}
-
-clean:
- rm -f *.bak *~ JointTest.class
-
-distclean: clean
- rm -f JointTest.tini
-
-upload: JointTest.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
-export CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:/opt/tini/bin/modules.jar:../lib/AIC.jar:.
-export DEPPATH=-p /opt/tini/bin/modules.jar
-export DEPFILE=-x /opt/tini/bin/owapi_dep.txt
-export DEPNAME=-add CAN
-export LIBPATH=-path ../lib/AIC.jar
-export NATLIB=-n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib
-export APIDBPATH=-d /opt/tini/bin/tini.db
-export PKGPATH=br/ufrgs/ece/AIC
-export JAVAFLAGS=-O -target 1.1 -source 1.3
-export JAVAC=javac
-
-export NATINC=/opt/tini/native/lib
-export ASMINC=../include
-export TINIINC=${ASMINC}/tini.inc ${ASMINC}/tinimacro.inc ${ASMINC}/ds80c390.inc ${ASMINC}/apiequ.inc
-export ASMOPT=-f 1.17 -p 390 -l
-export ASMMACRO=/opt/tini/native/bin/Linux/macro
-export ASM=/opt/tini/native/bin/Linux/a390
-
-export CFLAGS=-O2 -Wall
-export CINCLUDE=-I. -I${HOME}/include -I/usr/realtime/include -I/usr/local/include -I/usr/src/linux/include
-export CLIBS=-lpthread -lcanlib -lcutil -lconio -lncurses
-
-export CPPFLAGS=
-export CPPINCLUDE=-I${HOME}/include/cpp -I/usr/local/include/cpp -I../include
-export CPPLIBDIR=-L${HOME}/lib -L../lib -L/usr/local/lib
-export CPPLIBS=-lcpputil -laic -lcontrol
-export INSTPREFIX=/usr/local
-export LIBINST=$(INSTPREFIX)/lib
-export INCLUDEINST=$(INSTPREFIX)/include
-
-export INCLUDE=${CINCLUDE} ${CPPINCLUDE}
-export FLAGS= ${CFLAGS} ${CPPFLAGS} -DREAL_TIME -DVERBOSE -DDEBUG
-export LIBDIR=${CLIBDIR} ${CPPLIBDIR}
-export LIBS=${CLIBS} ${CPPLIBS}
-
-export CC=gcc
-export CXX=g++
-export CMPFLAGS=${FLAGS} ${INCLUDE}
-export LDFLAGS=${LIBDIR} ${LIBS}
-
-export TRTAIPATH=${HOME}/src/tini/rtai
-export TMATHPATH=${HOME}/src/tini/tmath
-export SDCC=sdcc
-export SDCCFLAGS=-mTININative -S --use-accelerator
-export SDCCINCLUDE=-I${TRTAIPATH}/include -I${TMATHPATH}/include -I../include
-export SDCCCMPFLAGS=${SDCCFLAGS} ${SDCCINCLUDE}
-
-export AIC=aic01
-
-AICPACKAGES= AICOff \
- BrakeTest \
- BrakeRtTest \
- CANTest \
- EncoderTest \
- EncoderRtTest \
- EncoderRtRead \
- IndexTest \
- IndexRtTest \
- IODaemon \
- JointTest \
- MotorReset \
- MotorTest \
- MotorRtTest \
- PwmRtTest \
- PID \
- PIDDaemon \
- StrobeTest \
- DoorDaemon \
- DoorOpen \
- DoorWeb \
- CmdDaemon \
- SputWeb \
- SputPIDWeb \
- SputPIDDaemon
-
-PACKAGES= lib \
- ${AICPACKAGES} \
- aicd \
- braketst \
- encodertst \
- indextst \
- jointtst \
- motortst \
- pid \
- sputtering \
- doc
+export AICROOT=$(HOME)/src/aic
+
+export CC=pic30-elf-gcc
+export CCAR=pic30-elf-ar
+export CCBIN2HEX=pic30-elf-bin2hex
+export CCFLAGS=-Wall -O2 -fomit-frame-pointer -fno-schedule-insns -fno-schedule-insns2
+export CPU=-mcpu=30F4012
+export CCINCDIR=-I$(AICROOT)/include
+export CCLIBDIR=-L/usr/pic30-elf/
+export CCGLDDIR=$(AICROOT)/gld
+export CCGLDFILE=-T $(CCGLDDIR)/p30f4012.gld
+
+export OSROOT=$(AICROOT)/FreeRTOS
+export OSFILES=$(OSROOT)/list.c $(OSROOT)/queue.c $(OSROOT)/tasks.c $(OSROOT)/croutine.c $(OSROOT)/portable/AIC-2.0.0/port.c $(OSROOT)/portable/MemMang/heap_1.c
+export OSOBJS=list.o queue.o tasks.o croutine.o port.o heap_1.o
+export OSINCDIR=-I$(OSROOT)/include -I$(OSROOT)/portable/AIC-2.0.0/
+export OSFLAGS=-DAIC_DSPIC_PORT
+
+export AICLIBDIR=-L$(AICROOT)/lib
+
+AICPACKAGES= dsPICtest \
+ dsPICAICtest \
+ freertostest \
+ freertosAICtest \
+ lib \
+ serialtest
+
+PACKAGES= $(AICPACKAGES)
all:
for i in $(PACKAGES); do $(MAKE) -C $$i; done
+++ /dev/null
-all: MotorReset.tini
-
-MotorReset.class: MotorReset.java ../lib/AIC.jar
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} MotorReset.java
-
-MotorReset.tini: MotorReset.class ../lib/AIC.jar
- java ${CLASSPATH} TINIConvertor -f MotorReset.class ${APIDBPATH} -o MotorReset.tini ${LIBPATH} ${NATLIB}
-
-clean:
- rm -f *.bak *~ MotorReset.class
-
-distclean: clean
- rm -f MotorReset.tini
-
-upload: MotorReset.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Motor Reset
- Copyright (C) 2002, 2003 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import br.ufrgs.ece.AIC.*;
-import com.dalsemi.system.*;
-import java.lang.Math.*;
-
-class MotorReset
-{
- static final int BASE=0x800000;
-
- static AIC aic;
-
- private static void delay(int ms)
- {
- long time=TINIOS.uptimeMillis();
- while(TINIOS.uptimeMillis() < time+ms);
- }
-
- static void iter(double v,int ms)
- {
- aic.motor.set(v);
- System.out.print("Motor Voltage: " + v);
- System.out.println("\tIndex: " + aic.index.read());
-
- delay(ms);
- }
-
- public static void main(String[] args)
- {
-
- System.out.println("AIC Joint Test Program");
- System.out.println("Copyright (C) Walter Fetter Lages, 2002.\n");
-
- aic=new AIC(BASE,24.0,20e3,2000);
-
- aic.on();
-
- aic.brake.release();
-
- double v=0;
-
- while(!aic.index.read())
- {
- if(v < 24.0) v++;
- iter(v,1000);
- }
- aic.off();
- }
-}
+++ /dev/null
-all: MotorRtTest.tini
-
-MotorRtTest.class: MotorRtTest.java ../lib/AIC.jar
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} MotorRtTest.java
-
-motortest.mpp: motortest.a51
- ${ASMMACRO} -I${ASMINC} -e- motortest.a51
-
-motortest.tlib: motortest.mpp ../lib/aicio.mpp.lib
- cat motortest.mpp ${TRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib > tmp.mpp
- echo end >> tmp.mpp
- ${ASM} ${ASMOPT} tmp.mpp
- mv tmp.tlib motortest.tlib
- mv tmp.lst motortest.lst
-
-motortest.a51: motortest.c
- ${SDCC} ${SDCCCMPFLAGS} motortest.c
-
-MotorRtTest.tini: MotorRtTest.class motortest.tlib
- java ${CLASSPATH} TINIConvertor -n motortest.tlib -f MotorRtTest.class ${APIDBPATH} -o MotorRtTest.tini
-
-
-clean:
- rm -f *.bak *~ MotorRtTest.class motortest.tlib motortest.mpp motortest.lst motortest.a51 globals.mpp tmp.mpp tmp.lst
-
-distclean: clean
- rm -f MotorRtTest.tini
-
-upload: MotorRtTest.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
-
\ No newline at end of file
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Motor Real Time Test
- User Interface Module
- Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import com.dalsemi.system.*;
-import java.lang.Math.*;
-
-class MotorRtTest
-{
- public static native int startRealtime(int period);
- public static native void stopRealtime();
- public static native void motorSet(float voltage);
-
- static final int ST=100;
-
- private static void delay(int ms)
- {
- long time=TINIOS.uptimeMillis();
- while(TINIOS.uptimeMillis() < time+ms);
- }
-
- static void iter(int i)
- {
- motorSet(i);
- System.out.println("Motor Voltage: " + i);
- delay(ST);
- }
-
- public static void main(String[] args)
- {
- int i;
- boolean run=true;
-
- System.out.println("AIC Motor Real Time Test Program");
- System.out.println("Copyright (C) Walter Fetter Lages, 2005.\n");
-
- int tfms=0;
- if(args.length==1)
- {
- tfms=Integer.parseInt(args[0]);
- }
- else
- {
- System.out.println("Usage:\tMotorRtTest ms");
- System.exit(1);
- }
-
- System.out.print("Loading native library...");
- System.loadLibrary("motortest.tlib");
- System.out.println("done.");
-
- int us=10000;
- System.out.print("Starting real-time timer with "+us+" us period...");
- int period=startRealtime(us);
- System.out.println("done.");
- System.out.println("Effective period: "+period+" us.");
-
- System.out.println("Running MotorRtTest for "+tfms+" ms...");
-
- long t0=TINIOS.uptimeMillis();
- long t=TINIOS.uptimeMillis()-t0;
- while(t <= tfms)
- {
- System.out.println("t="+t+" ms");
- for(i=0;(i <= 24) && run;i++) iter(i);
- for(i=24;(i >= -24) && run;i--) iter(i);
- for(i=-24;(i <= 0) && run;i++) iter(i);
- t=TINIOS.uptimeMillis()-t0;
- }
- System.out.println("...done.");
-
- System.out.print("Stoping real-time timer...");
- stopRealtime();
- System.out.println("done.");
- }
-}
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Motor Real Time Test
- Real Time Module
- Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-#include <rtai_sched.h>
-#include <pthread.h>
-
-#include <aicio.h>
-
-#define BASE 0x800000
-
-volatile pthread_t th;
-volatile float motor_test_voltage;
-
-void motortest_globals(void) _naked
-{
- _asm
-th: db 0,0,0,0
-motor_test_voltage: db 0,0,0,0
- _endasm;
-}
-
-void *motortest(void *arg)
-{
- motor_set(motor_test_voltage);
- return NULL;
-}
-
-/* public static native int startRealtime(int period) */
-long Native_startRealtime(void) _JavaNative
-{
- volatile long period;
-
- aic_initialize(BASE,24.0,20e3,2000);
-
- period=NatLib_LoadInt(0);
- start_rt_timer(micro2count(period));
- pthread_create(&th,NULL,motortest,NULL);
-
- pwm_set_duty(500000);
- aic_on();
- brake_release();
-
- _asm
- clr a
- _endasm;
-
- return period;
-}
-
-/* public static native void stopRealtime() */
-void Native_stopRealtime(void) _JavaNative
-{
- brake_apply();
- aic_off();
-
- pthread_cancel(th);
- stop_rt_timer();
-
- aic_finalize();
-
- _asm
- clr a
- _endasm;
-}
-
-/* public static native void motorSet(float voltage) */
-void Native_motorSet(void) _JavaNative
-{
- /*
- volatile long v =NatLib_LoadInt(0);
- voltage=*((float *) &v);
- */
-
- _asm
- clr a
- lcall Natlib_LoadPrimitive ; get parameter in R3:R2:R1:R0
- mov dptr,#motor_test_voltage
- mov a,r0
- movx @dptr,a
- inc dptr
- mov a,r1
- movx @dptr,a
- inc dptr
- mov a,r2
- movx @dptr,a
- inc dptr
- mov a,r3
- movx @dptr,a
- _endasm;
-
- _asm
- clr a
- _endasm;
-}
-
+++ /dev/null
-all: MotorTest.tini
-
-MotorTest.class: MotorTest.java ../lib/AIC.jar
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} MotorTest.java
-
-MotorTest.tini: MotorTest.class ../lib/AIC.jar
- java ${CLASSPATH} TINIConvertor -f MotorTest.class ${APIDBPATH} -o MotorTest.tini ${LIBPATH} ${NATLIB}
-
-clean:
- rm -f *.bak *~ MotorTest.class
-
-distclean: clean
- rm -f MotorTest.tini
-
-upload: MotorTest.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Motor Test
- Copyright (C) 2002...2004 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import br.ufrgs.ece.AIC.*;
-import com.dalsemi.system.*;
-import java.lang.Math.*;
-
-class MotorTest
-{
- static final int BASE=0x800000;
- static final int ST=100;
-
- static AIC aic;
-
- private static void delay(int ms)
- {
- long time=TINIOS.uptimeMillis();
- while(TINIOS.uptimeMillis() < time+ms);
- }
-
- static void iter(int i)
- {
- aic.motor.set(i);
- System.out.println("Motor Voltage: " + i);
-
- delay(ST);
- }
-
- public static void main(String[] args)
- {
- int i;
- boolean run=true;
-
- System.out.println("AIC Motor Test Program");
- System.out.println("Copyright (C) Walter Fetter Lages, 2002...2004.\n");
-
- int v=Integer.parseInt(args[0]);
- int t=Integer.parseInt(args[1]);
-
- aic=new AIC(BASE,24.0,20e3,2000);
-
- aic.on();
-
- aic.brake.release();
-
- aic.motor.set(v);
- delay(t);
- aic.motor.set(0);
-
- aic.off();
- }
-}
+++ /dev/null
-all: PID.tini
-
-PID.class: PID.java
- ${JAVAC} ${CLASSPATH} ${JAVAFLAGS} PID.java
-
-pid.mpp: pid.a51
- ${ASMMACRO} -I${ASMINC} -e- pid.a51
-
-pid.tlib: pid.mpp ${TRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib
- cat pid.mpp ${TRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib > tmp.mpp
- echo end >> tmp.mpp
- ${ASM} ${ASMOPT} tmp.mpp
- mv tmp.tlib pid.tlib
- mv tmp.lst pid.lst
-
-pid.a51: pid.c
- ${SDCC} ${SDCCCMPFLAGS} pid.c
-
-PID.tini: PID.class pid.tlib
- java ${CLASSPATH} TINIConvertor -n pid.tlib -f PID.class ${APIDBPATH} -o PID.tini
-
-
-clean:
- rm -f *.bak *~ PID.class pid.tlib pid.mpp pid.lst pid.a51 globals.mpp tmp.mpp tmp.lst
-
-distclean: clean
- rm -f PID.tini
-
-upload: PID.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
\ No newline at end of file
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- PID
- User Interface Module
- Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import com.dalsemi.system.*;
-
-public class PID
-{
- public static native int startRealtime(int period);
- public static native void stopRealtime();
- public static native void setReference(float reference);
- public static native float getOutput();
-
- public static void main(String[] args)
- {
- System.out.println("PID");
- System.out.println("Copyright (C) Walter Fetter Lages, 2005.\n");
-
- int tfms=0;
- if(args.length==1)
- {
- tfms=Integer.parseInt(args[0]);
- }
- else
- {
- System.out.println("Usage:\tPID ms");
- System.exit(1);
- }
-
- System.out.print("Loading native library...");
- System.loadLibrary("pid.tlib");
- System.out.println("done.");
-
- int us=10000;
- System.out.print("Starting real-time timer with "+us+" us period...");
- int period=startRealtime(us);
- System.out.println("done. Effective period: "+period+" us.");
-
- System.out.println("Running PID for "+tfms+" ms...");
- long t0=TINIOS.uptimeMillis();
- long t=0;
- while(t <= tfms)
- {
- t=TINIOS.uptimeMillis()-t0;
- System.out.print("t="+t+" ms");
- float ref=t/2.0f;
- setReference(ref);
- System.out.println("\treference="+ref+"\toutput="+getOutput());
- }
- System.out.println("...done.");
-
- System.out.print("Stoping real-time timer...");
- stopRealtime();
- System.out.println("done.");
- }
-}
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- PID
- Real Time Module
- Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#include <rtai_sched.h>
-#include <pthread.h>
-
-#include <tmath.h>
-
-#include <aicio.h>
-
-#define BASE 0x800000
-
-#define Kp 20.0
-#define Ki 5.0
-#define Kd 10.0
-
-#define MIN_U -24.0
-#define MAX_U 24.0
-
-static pthread_t th;
-static float u;
-static float y;
-static float ref;
-static float e1;
-static float e2;
-
-static void pid_dummy(void) _naked
-{
- _asm
-th: db 0,0,0,0
-u: db 0,0,0,0
-y: db 0,0,0,0
-ref: db 0,0,0,0
-e1: db 0,0,0,0
-e2: db 0,0,0,0
- _endasm;
-}
-
-
-/* By now this is not actually a thread as it should be,
- but a function that is called at each timer interrupt */
-void *pid(void *arg)
-{
- float e;
-
-// volatile long *y=(volatile long *)arg;
-// for(;;)
-// {
-// rt_wait_period();
-
- y+=encoder_read_and_clear();
-
- e=ref-y;
-
- u+=Kp*(e-e1)+Ki*e+Kd*(e-2*e1+e2);
- if(u < MIN_U) u=MIN_U;
- if(u > MAX_U) u=MAX_U;
-
- motor_set(u);
-
- e2=e1;
- e1=e;
-// }
- return NULL;
-}
-
-/* public static native int startRealtime(int period) */
-long Native_startRealtime(void) _JavaNative
-{
- volatile long period;
- RTIME count;
-
- aic_initialize(BASE,24.0,20e3,2000);
-
- period = NatLib_LoadInt(0);
- count=micro2count(period);
- start_rt_timer(count);
- pthread_create(&th,NULL,pid,NULL);
- period=count2micro(count);
-
- pwm_set_duty(500000); // debug
- aic_on();
- brake_release();
-
- _asm
- clr a
- _endasm;
-
- return period;
-}
-
-/* public static native void stopRealtime() */
-void Native_stopRealtime(void) _JavaNative
-{
- motor_set(0.0);
- brake_apply();
-
- pthread_cancel(th);
- stop_rt_timer();
-
- aic_off();
-
- aic_finalize();
-
- _asm
- clr a
- _endasm;
-}
-
-/* public static native float getOutput() */
-float Native_getOutput(void) _JavaNative
-{
- return y;
-}
-
-/* public static native void setReference(float reference) */
-void Native_setReference(void) _JavaNative
-{
- /*
- volatile long ref =NatLib_LoadInt(0);
- ref=*((float *) &ref);
- */
-
- _asm
- clr a
- lcall Natlib_LoadPrimitive ; get parameter in R3:R2:R1:R0
- mov dptr,#ref
- mov a,r0
- movx @dptr,a
- inc dptr
- mov a,r1
- movx @dptr,a
- inc dptr
- mov a,r2
- movx @dptr,a
- inc dptr
- mov a,r3
- movx @dptr,a
- clr a
- _endasm;
-}
+++ /dev/null
-all: PIDDaemon.tini
-
-PIDDaemon.class: PIDDaemon.java ../lib/AIC.jar
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} PIDDaemon.java
-
-PIDDaemon.tini: PIDDaemon.class ../lib/AIC.jar
- java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f PIDDaemon.class ${APIDBPATH} -o PIDDaemon.tini ${LIBPATH} ${NATLIB}
-
-clean:
- rm -f *.bak *~ *.class
-
-distclean: clean
- rm -f PIDDaemon.tini
-
-upload: PIDDaemon.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
\ No newline at end of file
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- PID Daemon
- Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import br.ufrgs.ece.AIC.*;
-import com.dalsemi.comm.*;
-import com.dalsemi.system.*;
-import java.io.*;
-import java.lang.*;
-
-class PIDDaemon extends Thread
-{
- static final int BASE=0x800000;
- static final int ST=250;
-
- static AIC aic;
- static Host host;
- static boolean debug=false;
- static boolean udp=false;
- static boolean help=false;
-
- public static void main(String[] args) throws IOException,CanBusException
- {
- int i;
- int hostarg=0;
-
- System.out.println("AIC PID Daemon");
- System.out.println("Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>.\n");
-
- switch(args.length)
- {
- case 0:
- {
- help=true;
- break;
- }
- case 1:
- {
- if(args[0].equals("-debug") ||
- args[0].equals("-UDP")) help=true;
- break;
- }
- case 2:
- {
- hostarg=1;
- if(args[0].equals("-debug")) debug=true;
- else help=true;
- break;
- }
- case 3:
- {
- hostarg=1;
- if(args[0].equals("-UDP")) udp=true;
- else help=true;
- break;
- }
- case 4:
- {
- hostarg=2;
- if(args[0].equals("-debug")) debug=true;
- else help=true;
- if(args[1].equals("-UDP")) udp=true;
- else help=true;
- break;
- }
- default:
- {
- help=true;
- }
- }
-
-
- if(help)
- {
- System.out.println("Usage:\tjava PIDDaemon.tini [-debug] aic_id");
- System.out.println("\tor");
- System.out.println("\tjava PIDDaemon.tini [-debug] -UDP controller_host status_port");
- System.exit(1);
- }
- try
- {
- aic=new AIC(BASE,24.0,20e3,2000);
- if(udp) host=new HostUDP(args[hostarg],Integer.parseInt(args[hostarg+1]));
- else host=new HostCAN(Integer.parseInt(args[hostarg]));
- SendOutput sendOutput=new SendOutput();
- sendOutput.setPriority(Thread.MAX_PRIORITY);
- sendOutput.start();
-
- if(debug) System.out.println("sendOutput priority="+sendOutput.getPriority());
-
- GetReference getReference=new GetReference();
- getReference.setPriority(Thread.MAX_PRIORITY-1);
- getReference.start();
-
- if(debug) System.out.println("getReference priority="+getReference.getPriority());
- }
- catch (NumberFormatException nfe)
- {
- System.out.println("Usage: java PIDDaemon.tini [-debug] [-UDP controller_host port] | aicid");
- System.exit(1);
- }
- }
-}
-
-
-class GetReference extends PIDDaemon
-{
- public void run()
- {
- try
- {
- aic.on();
- aic.brake.release();
-
- for(int k=0;;k++)
- {
- if(debug) System.out.print("k="+k+"\t");
-
- int cmd=host.command();
-
- if(debug) System.out.print("Command="+ cmd +"\t");
-
- switch(cmd)
- {
- case Host.MOTOR_ON:
- {
- if(debug) System.out.print("Motor on\t");
- aic.motor.on();
- break;
- }
- case Host.MOTOR_OFF:
- {
- if(debug) System.out.print("Motor off\t");
- aic.motor.off();
- break;
- }
- case Host.MOTOR_ACT:
- {
- if(debug) System.out.print("Voltage="+host.voltage()+"\t");
- aic.motor.set(host.voltage());
- break;
- }
- case Host.MOTOR_REF:
- {
- if(debug) System.out.print("Reference="+host.reference()+"\t");
- //aic.pid.set(host.reference());
- break;
- }
- case Host.BRAKE_RELEASE:
- {
- if(debug) System.out.print("Brake release\t");
- aic.brake.release();
- break;
- }
- case Host.BRAKE_APPLY:
- {
- if(debug) System.out.print("Brake apply\t");
- aic.brake.apply();
- break;
- }
-/* case Host.RESET:
- {
- if(debug) System.out.print("Reset\t");
- aic.reset();
- break;
- }
-*/
- default:
- {
- if(debug) System.out.print("Invalid\t");
- break;
- }
-
- }
- if(debug) System.out.println("");
- }
- }
- catch (Exception all)
- {
- all.printStackTrace();
- }
- }
-}
-
-class SendOutput extends PIDDaemon
-{
- public void run()
- {
- int i=0;
- try
- {
- for(;;)
- {
- long timeStart=TINIOS.uptimeMillis();
-
- int index;
- if(aic.index.read()) index=1; else index=0;
-
- double disp=aic.encoder.read();
- if(debug) System.out.print("Encoder="+disp+" rad\tindex="+index+"\t");
- host.sendStatus(disp,index);
-
- long timeEnd=TINIOS.uptimeMillis();
- long blockTime=ST-(timeEnd-timeStart);
- if(debug) System.out.println("Blocking time="+blockTime);
- if(blockTime > 4) Thread.sleep(blockTime);
- }
- }
- catch(Exception all)
- {
- all.printStackTrace();
- }
- }
-}
-
+++ /dev/null
-all: PwmRtTest.tini
-
-PwmRtTest.class: PwmRtTest.java ../lib/AIC.jar
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} PwmRtTest.java
-
-pwmtest.mpp: pwmtest.a51
- ${ASMMACRO} -I${ASMINC} -e- pwmtest.a51
-
-pwmtest.tlib: pwmtest.mpp ../lib/aicio.mpp.lib
- cat pwmtest.mpp ${TRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib > tmp.mpp
- echo end >> tmp.mpp
- ${ASM} ${ASMOPT} tmp.mpp
- mv tmp.tlib pwmtest.tlib
- mv tmp.lst pwmtest.lst
-
-pwmtest.a51: pwmtest.c ../include/aicio.h
- ${SDCC} ${SDCCCMPFLAGS} pwmtest.c
-
-PwmRtTest.tini: PwmRtTest.class pwmtest.tlib
- java ${CLASSPATH} TINIConvertor -n pwmtest.tlib -f PwmRtTest.class ${APIDBPATH} -o PwmRtTest.tini
-
-
-clean:
- rm -f *.bak *~ PwmRtTest.class pwmtest.tlib pwmtest.mpp pwmtest.lst pwmtest.a51 globals.mpp tmp.mpp tmp.lst
-
-distclean: clean
- rm -f PwmRtTest.tini
-
-upload: PwmRtTest.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
-
\ No newline at end of file
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- PWM Real Time Test
- User Interface Module
- Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import com.dalsemi.system.*;
-import java.lang.Math.*;
-
-class PwmRtTest
-{
- public static native int startRealtime(int period);
- public static native void stopRealtime();
- public static native void pwmSet(int duty);
- static final int ST=100;
-
- private static void delay(int ms)
- {
- long time=TINIOS.uptimeMillis();
- while(TINIOS.uptimeMillis() < time+ms);
- }
-
- static void iter(int i)
- {
- double volt2duty=0.5/24.0;
- int dutycycle=((int)(i*volt2duty*1000000))+500000;
- pwmSet(dutycycle);
- System.out.println("PWM Duty Cicle: " + dutycycle);
- delay(ST);
- }
-
- public static void main(String[] args)
- {
- int i;
- boolean run=true;
-
- System.out.println("AIC PWM Real Time Test Program");
- System.out.println("Copyright (C) Walter Fetter Lages, 2005.\n");
-
- int tfms=0;
- if(args.length==1)
- {
- tfms=Integer.parseInt(args[0]);
- }
- else
- {
- System.out.println("Usage:\tPwmRtTest ms");
- System.exit(1);
- }
-
- System.out.print("Loading native library...");
- System.loadLibrary("pwmtest.tlib");
- System.out.println("done.");
-
- System.out.print("Setting initial PWM duty cicle...");
- pwmSet(500000);
- System.out.println("done.");
-
- int us=10000;
- System.out.print("Starting real-time timer with "+us+" us period...");
- int period=startRealtime(us);
- System.out.println("done.");
- System.out.println("Effective period: "+period+" us.");
-
- System.out.println("Running PwmRtTest for "+tfms+" ms...");
-
- long t0=TINIOS.uptimeMillis();
- long t=0;
- while(t <= tfms)
- {
- System.out.println("t="+t+" ms");
- for(i=0;(i <= 24) && run;i++) iter(i);
- t=TINIOS.uptimeMillis()-t0;
- if(t > tfms) break;
- for(i=24;(i >= -24) && run;i--) iter(i);
- t=TINIOS.uptimeMillis()-t0;
- if(t > tfms) break;
- for(i=-24;(i <= 0) && run;i++) iter(i);
- t=TINIOS.uptimeMillis()-t0;
- }
- System.out.println("...done.");
-
- System.out.print("Stoping real-time timer...");
- stopRealtime();
- System.out.println("done.");
- }
-}
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- PWM Real Time Test
- Real Time Module
- Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-#include <rtai_sched.h>
-#include <pthread.h>
-
-#include <aicio.h>
-
-#define BASE 0x800000
-
-volatile pthread_t th;
-volatile unsigned long duty;
-
-void pwmtest_globals(void) _naked
-{
- _asm
-th: db 0,0,0,0
-duty: db 0,0,0,0
- _endasm;
-}
-
-void *pwmtest(void *arg)
-{
- pwm_set_duty(duty);
- return NULL;
-}
-
-/* public static native int startRealtime(int period) */
-long Native_startRealtime(void) _JavaNative
-{
- unsigned int count;
- volatile long period;
-
- count=((unsigned int)(REF_FREQ/20e3)) & 0xffff;
- pwm_initialize(BASE,MIN_COUNT,count);
- brake_initialize(BASE);
-
- period=NatLib_LoadInt(0);
- start_rt_timer(micro2count(period));
- pthread_create(&th,NULL,pwmtest,NULL);
-
- pwm_set_duty(500000);
- pwm_on();
- brake_release();
-
- _asm
- clr a
- _endasm;
-
- return period;
-}
-
-/* public static native void stopRealtime() */
-void Native_stopRealtime(void) _JavaNative
-{
- brake_apply();
- pwm_off();
-
- pthread_cancel(th);
- stop_rt_timer();
-
- pwm_finalize();
-
- _asm
- clr a
- _endasm;
-}
-
-/* public static native void pwmSet(unsigned int duty) */
-void Native_pwmSet(void) _JavaNative
-{
- duty=NatLib_LoadInt(0);
-
- _asm
- clr a
- _endasm;
-}
-
aic-1.*.* based on TINI DS390 processor
-Em funcao de alteracos no protocolo de aplicacao, os programas desta versao
-que utilizam comunicacao nao sao compativeis com os correspondentes das
-versoes anteriores a 1.2.0. Assim, os daemons que estejam instalados na AIC
-devem ser substituidos pela nova versao.
-
+aic-2.*.* dsPIC30F4012
+ aic-2.0.* MAX5062 MOSFET driver, do not work
+++ /dev/null
-DEPNAME+=-add HTTPSERVER
-NATLIB:=-n sputtering.tlib
-
-all: SputPIDDaemon.tini
-
-SputPIDDaemon.class: SputPIDDaemon.java ../lib/AIC.jar
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} SputPIDDaemon.java
-
-ResetHandler.class: SputPIDDaemon.java ../lib/AIC.jar
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} SputPIDDaemon.java
-
-SputPIDDaemon.tini: SputPIDDaemon.class ../lib/AIC.jar ResetHandler.class
- java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f SputPIDDaemon.class -f ResetHandler.class -f MotorHandler.class -f ShutterHandler.class ${APIDBPATH} -o SputPIDDaemon.tini ${LIBPATH} ${NATLIB}
-
-clean:
- rm -f *.bak *~ *.class *.tlib
-
-distclean: clean
- rm -f SputPIDDaemon.tini
-
-upload: SputPIDDaemon.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Sputtering PID Daemon
- Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import br.ufrgs.ece.AIC.*;
-import com.dalsemi.comm.*;
-import com.dalsemi.system.*;
-import java.io.*;
-import java.lang.*;
-
-import com.dalsemi.tininet.http.*;
-import com.dalsemi.tininet.*;
-import java.util.*;
-
-/**
-*/
-public class SputPIDDaemon extends Thread
-{
- static final int ST=250*4;
-
- static Sputtering sputtering=new Sputtering();
- static Host host;
- static boolean debug=false;
- static boolean udp=false;
- static boolean help=false;
-
- public static void main(String[] args) throws IOException,CanBusException
- {
- int hostarg=0;
-
- System.out.println("AIC Sputtering PID Daemon");
- System.out.println("Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>.\n");
- System.out.println(" 2007 Diego Caberlon Santini <diegos@ece.ufrgs.br>.\n");
-
- switch(args.length)
- {
- case 0:
- {
- help=true;
- break;
- }
- case 1:
- {
- if(args[0].equals("-debug") ||
- args[0].equals("-UDP")) help=true;
- break;
- }
- case 2:
- {
- hostarg=1;
- if(args[0].equals("-debug")) debug=true;
- else help=true;
- break;
- }
- case 3:
- {
- hostarg=1;
- if(args[0].equals("-UDP")) udp=true;
- else help=true;
- break;
- }
- case 4:
- {
- hostarg=2;
- if(args[0].equals("-debug")) debug=true;
- else help=true;
- if(args[1].equals("-UDP")) udp=true;
- else help=true;
- break;
- }
- default:
- {
- help=true;
- }
- }
-
-
- if(help)
- {
- System.out.println("Usage:\tjava PIDDaemon.tini [-debug] aic_id");
- System.out.println("\tor");
- System.out.println("\tjava PIDDaemon.tini [-debug] -UDP controller_host status_port");
- System.exit(1);
- }
- try
- {
- if(udp) host=new HostUDP(args[hostarg],Integer.parseInt(args[hostarg+1]));
- else host=new HostCAN(Integer.parseInt(args[hostarg]));
-
- SendOutput sendOutput=new SendOutput();
- sendOutput.setPriority(Thread.MAX_PRIORITY);
- sendOutput.start();
-
- if(debug) System.out.println("sendOutput priority="+sendOutput.getPriority());
-
- GetReference getReference=new GetReference();
- getReference.setPriority(Thread.MAX_PRIORITY-1);
- getReference.start();
-
- if(debug) System.out.println("getReference priority="+getReference.getPriority());
-
- HTTPServer httpd=new HTTPServer(80);
- httpd.setHTTPRoot("/html");
- httpd.setIndexPage("index.html");
-// httpd.setLogFilename("/log/DoorWeb.txt");
- httpd.setLogging(false);
-
- while (true)
- {
- try
- {
- httpd.serviceRequests();
- }
- catch (HTTPServerException e)
- {
- System.out.println("Error occured while servicing requests: " + e.getMessage());
- }
- }
-
- }
- catch (NumberFormatException nfe)
- {
- System.out.println("Usage: java PIDDaemon.tini [-debug] [-UDP controller_host port] | aicid");
- System.exit(1);
- }
- }
-}
-
-/**
-*/
-class GetReference extends SputPIDDaemon
-{
- public static final int SHUTTER=Host.USER0;
-
- public void run()
- {
- try
- {
- for(int k=0;;k++)
- {
- if(debug) System.out.print("k="+k+"\t");
-
- byte[] args=new byte[256];
- int cmd=host.command(args,256);
-
- if(debug) System.out.println("Command="+ cmd +"\t");
-
- switch(cmd)
- {
- case Host.MOTOR_REF:
- {
- if(debug) System.out.println("Run PID Ref="+host.reference()+"\t");
- while(sputtering.lock() == 0);
-
- int tick=30000;
-
- //ref in rad
- float ref=(float)host.reference();
-
- float y=sputtering.getOutput();
-
- sputtering.setReference(ref);
- if(debug) System.out.print("Starting real-time timer with "+tick+" us period...");
- int period= sputtering.pidStartRealtime(tick);
- if(debug) System.out.println("done. Effective period: "+period+" us.");
-
- if(debug) System.out.println("Running sputtering");
-
- while((Math.abs(ref - y) >= 0.02))
- {
- y=sputtering.getOutput();
- if(debug) System.out.println("\treference="+ref+"\toutput="+y);
- }
- if(debug) System.out.println("done.");
-
- if(debug) System.out.print("Stoping real-time timer...");
- sputtering.pidStopRealtime();
- if(debug) System.out.println("done.");
-
- sputtering.unlock();
- break;
- }
- case Host.RESET:
- {
- if(debug) System.out.print("Reset PID...");
- while(sputtering.lock() == 0);
- sputtering.findHome();
- if(debug) System.out.println("done.");
- sputtering.unlock();
- break;
- }
- case SHUTTER:
- {
- int time=0;
- for(int i=0;i < 4;i++) time=time | ( ( ( ( (int) args[i+1]) & 0xff) << (i*8) ) );
- if(debug) System.out.println("Shutter Open time="+time+"\t");
- while(sputtering.lock() == 0);
-
- int tick=10000;
- //time in usec
- int iref= time/tick;
- sputtering.openShutter(iref);
-
- if(debug) System.out.print("Starting real-time timer with "+tick+" us period...");
- int period= sputtering.shutterStartRealtime(tick);
- if(debug) System.out.println("done. Effective period: "+period+" us.");
-
-
- if(debug) System.out.println("Shutter Opened");
-
- while(sputtering.getTime() <= iref);
-
- if(debug) System.out.println("done.");
-
- if(debug) System.out.print("Stoping real-time timer...");
- sputtering.shutterStopRealtime();
- if(debug) System.out.println("done.");
-
- sputtering.unlock();
- break;
- }
-
- default:
- {
- if(debug) System.out.println("Invalid\t");
- break;
- }
-
- }
- }
- }
- catch (Exception all)
- {
- all.printStackTrace();
- }
- }
-}
-
-/**
-*/
-class SendOutput extends SputPIDDaemon
-{
- public void run()
- {
- try
- {
- for(;;)
- {
- long timeStart=com.dalsemi.system.Clock.getTickCount();
-
- int index=0;
- if(sputtering.getIndex()!=0) index|=Host.INDEX_ON;
- if(sputtering.lock() == 0) index|=Host.BUSY; else sputtering.unlock();
-
- double disp=sputtering.getOutput();
- if(debug) System.out.print("Encoder="+disp+" rad\tindex="+index+"\t");
- host.sendStatus(disp,index);
-
- long timeEnd=com.dalsemi.system.Clock.getTickCount();;
- long blockTime=ST-(timeEnd-timeStart);
- if(debug) System.out.println("Blocking time="+blockTime);
- if(blockTime > 4) Thread.sleep(blockTime);
- }
- }
- catch(Exception all)
- {
- all.printStackTrace();
- }
- }
-}
-
-/**
-*/
-class MotorHandler extends SputPIDDaemon implements PostScript
-{
- /**
- * This method handles all responses to the the HTTP POST
- *
- * @param data - a Vector of PostElements holding all supplied fields and Values in pairs
- * @param out - an Output Stream to the client socket
- * @param work - HTTPWorker contains utility functions used to URL encode our response
- * @throws IOException if an IO error occurs
- */
- public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException
- {
- while(sputtering.lock() == 0);
- // Response page
-
- // HTML headers
-
- StringBuffer strBuff=new StringBuffer("<html>\r\n"
- + "<META HTTP-EQUIV=REFRESH CONTENT=\"10;URL=http://"+TININet.getHostname()+"/\">\r\n"
- + "<title>Motor Control</title>\r\n"
- + "<body><center><h1>Motor Sendo Posicionado... Aguarde</h1>\r\n");
-
- PostElement pref = (PostElement)data.elementAt(0);
-
- // Use HTTPWorker's encode body function to generate the URL encoded response
- out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length()));
-
- // Send out the bytes of our response page
- out.write(strBuff.toString().getBytes());
-
- // Ensure that our data is written imediatly
- out.flush();
-
-
- int iref = Integer.parseInt(pref.value);
- float ref=iref*(float)Math.PI/180;
- sputtering.setReference(ref);
-
- int tfms=10000;
- int tick=30000;
- if(debug) System.out.print("Starting real-time timer with "+tick+" us period...");
- int period= sputtering.pidStartRealtime(tick);
- if(debug) System.out.println("done. Effective period: "+period+" us.");
-
- if(debug) System.out.println("Running PID for "+tfms+" ms...");
- int t0=sputtering.getTime();
- int t=0;
- int t1;
-
- System.gc();
-
- try
- {
- long blockTime=2000;
- if(debug) System.out.println("Blocking time="+blockTime);
- if(blockTime > 4) Thread.sleep(blockTime);
- }
- catch(Exception all)
- {
- all.printStackTrace();
- }
-
- try
- {
- while(t*tick/1000 <= tfms)
- {
- t1=sputtering.getTime();
- t=t1-t0;
- if(debug) System.out.print("t="+t*tick/1000+" ms");
- if(debug) System.out.println("\treference="+ref+"\toutput="+sputtering.getOutput());
- }
- }
- catch(Exception all)
- {
- System.gc();
- }
- if(debug) System.out.println("...done.");
-
- if(debug) System.out.print("Stoping real-time timer...");
- sputtering.pidStopRealtime();
- if(debug) System.out.println("done.");
-
- sputtering.unlock();
- }
-}
-
-/**
-*/
-class ResetHandler extends SputPIDDaemon implements PostScript
-{
- /**
- * This method handles all responses to the the HTTP POST
- *
- * @param data - a Vector of PostElements holding all supplied fields and Values in pairs
- * @param out - an Output Stream to the client socket
- * @param work - HTTPWorker contains utility functions used to URL encode our response
- * @throws IOException if an IO error occurs
- */
- public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException
- {
- while(sputtering.lock() == 0);
-
- // HTML headers
- StringBuffer strBuff=new StringBuffer("<html>\r\n"
- + "<META HTTP-EQUIV=REFRESH CONTENT=\"10;URL=http://"+TININet.getHostname()+"/\">\r\n"
- + "<title>Reset Control</title>\r\n"
- + "<body><center><h1>Motor Sendo Resetado... Aguarde</h1>\r\n");
-
- // Use HTTPWorker's encode body function to generate the URL encoded response
- out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length()));
-
- // Send out the bytes of our response page
- out.write(strBuff.toString().getBytes());
-
- // Ensure that our data is written imediatly
- out.flush();
-
- if(debug) System.out.println("Resetando Motor...");
- sputtering.findHome();
- if(debug) System.out.println("done");
- sputtering.unlock();
- }
-}
-
-/**
-*/
-class ShutterHandler extends SputPIDDaemon implements PostScript
-{
- /**
- * This method handles all responses to the the HTTP POST
- *
- * @param data - a Vector of PostElements holding all supplied fields and Values in pairs
- * @param out - an Output Stream to the client socket
- * @param work - HTTPWorker contains utility functions used to URL encode our response
- * @throws IOException if an IO error occurs
- */
- public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException
- {
- // HTML headers
- while(sputtering.lock() == 0);
- StringBuffer strBuff=new StringBuffer("<html>\r\n"
- + "<META HTTP-EQUIV=REFRESH CONTENT=\"5;URL=http://"+TININet.getHostname()+"/\">\r\n"
- + "<title>Shutter Control</title>\r\n"
- + "<body><center><h1>Shutter Aberto... Aguarde</h1>\r\n");
-
- PostElement pref = (PostElement)data.elementAt(0);
-
- // Use HTTPWorker's encode body function to generate the URL encoded response
- out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length()));
-
- // Send out the bytes of our response page
- out.write(strBuff.toString().getBytes());
-
- // Ensure that our data is written imediatly
- out.flush();
-
- int tick=10000;
-
- int iref = Integer.parseInt(pref.value);
- iref=iref*1000/tick;
- sputtering.openShutter(iref);
-
- if(debug) System.out.println("iRef\n"+iref);
-
- if(debug) System.out.print("Starting real-time timer with "+tick+" us period...");
- int period= sputtering.shutterStartRealtime(tick);
- if(debug) System.out.println("done. Effective period: "+period+" us.");
-
- while(sputtering.getTime() <= iref);
-
- if(debug) System.out.println("...done.");
-
- if(debug) System.out.print("Stoping real-time timer...");
- sputtering.shutterStopRealtime();
- if(debug) System.out.println("done.");
- sputtering.unlock();
- }
-}
+++ /dev/null
-DEPNAME:=-add HTTPSERVER
-NATLIB:=-n sputtering.tlib
-
-all: SputPIDWeb.tini
-
-SputPIDWeb.class: SputPIDWeb.java
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $^
-
-MotorHandler.class: MotorHandler.java
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $^
-
-ResetHandler.class: ResetHandler.java
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $^
-
-ShutterHandler.class: ShutterHandler.java
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $^
-
-
-SputPIDWeb.tini: SputPIDWeb.class MotorHandler.class ResetHandler.class ../lib/AIC.jar ShutterHandler.class
- java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f ShutterHandler.class -f ResetHandler.class -f MotorHandler.class -f SputPIDWeb.class -o $@ ${LIBPATH} ${NATLIB} ${APIDBPATH}
-
-clean:
- rm -f *.bak *~ *.class *.tlib
-
-distclean: clean
- rm -f SputPIDWeb.tini
-
-upload: SputPIDWeb.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
-
\ No newline at end of file
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Door Post Handler
-
- Copyright (C) 2006 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-import br.ufrgs.ece.AIC.*;
-import java.io.*;
-import java.lang.*;
-import java.util.*;
-import com.dalsemi.tininet.http.*;
-import com.dalsemi.system.*;
-import com.dalsemi.tininet.*;
-
-public class MotorHandler extends SputPIDWeb implements PostScript
-{
- /**
- * This method handles all responses to the the HTTP POST
- *
- * @param data - a Vector of PostElements holding all supplied fields and Values in pairs
- * @param out - an Output Stream to the client socket
- * @param work - HTTPWorker contains utility functions used to URL encode our response
- * @throws IOException if an IO error occurs
- */
- public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException
- {
- while(sputtering.lock() == 0);
- // Response page
-
- // HTML headers
-
- StringBuffer strBuff=new StringBuffer("<html>\r\n"
- + "<META HTTP-EQUIV=REFRESH CONTENT=\"10;URL=http://"+TININet.getHostname()+"/\">\r\n"
- + "<title>Motor Control</title>\r\n"
- + "<body><center><h1>Motor Sendo Posicionado... Aguarde</h1>\r\n");
-
- PostElement pref = (PostElement)data.elementAt(0);
-
- // Use HTTPWorker's encode body function to generate the URL encoded response
- out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length()));
-
- // Send out the bytes of our response page
- out.write(strBuff.toString().getBytes());
-
- // Ensure that our data is written imediatly
- out.flush();
-
-
- int iref = Integer.parseInt(pref.value);
- float ref=iref*(float)Math.PI/180;
- sputtering.setReference(ref);
-
- int tfms=10000;
-
- int tick=30000;
- System.out.print("Starting real-time timer with "+tick+" us period...");
- int period= sputtering.pidStartRealtime(tick);
- System.out.println("done. Effective period: "+period+" us.");
-
-
- System.out.println("Running PID for "+tfms+" ms...");
- int t0=sputtering.getTime();
- int t=0;
- int t1;
-
- System.gc();
-
- try
- {
- long blockTime=2000;
- System.out.println("Blocking time="+blockTime);
- if(blockTime > 4) Thread.sleep(blockTime);
- }
- catch(Exception all)
- {
- all.printStackTrace();
- }
-
- try
- {
- while(t*tick/1000 <= tfms)
- {
- t1=sputtering.getTime();
- t=t1-t0;
- System.out.print("t="+t*tick/1000+" ms");
- System.out.println("\treference="+ref+"\toutput="+sputtering.getOutput());
- }
- }
- catch(Exception all)
- {
- System.gc();
- }
- System.out.println("...done.");
-
- System.out.print("Stoping real-time timer...");
- sputtering.pidStopRealtime();
- System.out.println("done.");
-
- sputtering.unlock();
- }
-}
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Door Post Handler
-
- Copyright (C) 2006 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-import br.ufrgs.ece.AIC.*;
-import java.io.*;
-import java.lang.*;
-import java.util.*;
-import com.dalsemi.tininet.http.*;
-import com.dalsemi.system.*;
-import com.dalsemi.tininet.*;
-
-public class ResetHandler extends SputPIDWeb implements PostScript
-{
- /**
- * This method handles all responses to the the HTTP POST
- *
- * @param data - a Vector of PostElements holding all supplied fields and Values in pairs
- * @param out - an Output Stream to the client socket
- * @param work - HTTPWorker contains utility functions used to URL encode our response
- * @throws IOException if an IO error occurs
- */
- public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException
- {
- while(sputtering.lock() == 0);
-
- // HTML headers
- StringBuffer strBuff=new StringBuffer("<html>\r\n"
- + "<META HTTP-EQUIV=REFRESH CONTENT=\"10;URL=http://"+TININet.getHostname()+"/\">\r\n"
- + "<title>Reset Control</title>\r\n"
- + "<body><center><h1>Motor Sendo Resetado... Aguarde</h1>\r\n");
-
- // Use HTTPWorker's encode body function to generate the URL encoded response
- out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length()));
-
- // Send out the bytes of our response page
- out.write(strBuff.toString().getBytes());
-
- // Ensure that our data is written imediatly
- out.flush();
-
- System.out.println("Resetando Motor...");
- sputtering.findHome();
- System.out.println("done");
- sputtering.unlock();
- }
-}
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Door Post Handler
-
- Copyright (C) 2006 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-import br.ufrgs.ece.AIC.*;
-import java.io.*;
-import java.lang.*;
-import java.util.*;
-import com.dalsemi.tininet.http.*;
-import com.dalsemi.system.*;
-import com.dalsemi.tininet.*;
-
-public class ShutterHandler extends SputPIDWeb implements PostScript
-{
- /**
- * This method handles all responses to the the HTTP POST
- *
- * @param data - a Vector of PostElements holding all supplied fields and Values in pairs
- * @param out - an Output Stream to the client socket
- * @param work - HTTPWorker contains utility functions used to URL encode our response
- * @throws IOException if an IO error occurs
- */
- public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException
- {
- while(sputtering.lock() == 0);
- StringBuffer strBuff=new StringBuffer("<html>\r\n"
- + "<META HTTP-EQUIV=REFRESH CONTENT=\"5;URL=http://"+TININet.getHostname()+"/\">\r\n"
- + "<title>Shutter Control</title>\r\n"
- + "<body><center><h1>Schutter Aberto... Aguarde</h1>\r\n");
-
- PostElement pref = (PostElement)data.elementAt(0);
-
- // Use HTTPWorker's encode body function to generate the URL encoded response
- out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length()));
-
- // Send out the bytes of our response page
- out.write(strBuff.toString().getBytes());
-
- // Ensure that our data is written imediatly
- out.flush();
-
- int us=10000;
- int iref = Integer.parseInt(pref.value);
- System.out.println("iref\n"+iref);
-
- iref=iref*1000/us;
- sputtering.openShutter(iref);
-
- System.out.print("Starting real-time timer with "+us+" us period...");
- int period= sputtering.shutterStartRealtime(us);
- System.out.println("done. Effective period: "+period+" us.");
-
- while(sputtering.getTime() <= iref);
-
- System.out.println("...done.");
-
- System.out.print("Stoping real-time timer...");
- sputtering.shutterStopRealtime();
- System.out.println("done.");
- sputtering.unlock();
- }
-}
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Sputtering PID Web Server
- Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import br.ufrgs.ece.AIC.*;
-import com.dalsemi.tininet.http.HTTPServer;
-import com.dalsemi.tininet.http.HTTPServerException;
-
-class SputPIDWeb
-{
- static Sputtering sputtering;
-
- public static void main(String[] args)
- {
- System.out.println("Sputtering PID Web Server");
- System.out.println("Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>");
- System.out.println(" 2007 Diego Caberlon Santini <w.fetter@ieee.org>.\n");
-
- HTTPServer httpd=new HTTPServer(80);
- httpd.setHTTPRoot("/html");
- httpd.setIndexPage("index.html");
- httpd.setLogging(false);
-
- System.out.println("Sputtering web server running...");
-
- sputtering=new Sputtering();
-
- while (true)
- {
- try
- {
- httpd.serviceRequests();
- }
- catch (HTTPServerException e)
- {
- System.out.println("Error occured while serving requests: " + e.getMessage());
- }
- }
- }
-}
+++ /dev/null
-<!DOCTYPE HTML PUBLIC "-//IETF//DTD HTML 2.0//EN">
-<html>
-<head>
-</head>
-<FRAMESET COLS="50%, 50%">
- <FRAME SRC="reset.html" NORESIZE>
- <FRAME SRC="shutter.html" NORESIZE>
- </FRAMESET>
-</FRAMESET>>
-<NOFRAMES>
-<body>
-</body>
-</NOFRAMES>
-</html>
\ No newline at end of file
+++ /dev/null
-<!DOCTYPE HTML PUBLIC "-//IETF//DTD HTML 2.0//EN">
-<html>
-<head>
-<title>Motor Control</title>
-</head>
-<FRAMESET ROWS="60%, 40%">
- <FRAME SRC="motor.html" NORESIZE>
- <FRAME SRC="frame.html" NORESIZE>
- </FRAMESET>
-</FRAMESET>>
-<NOFRAMES>
-<body>
-</body>
-</NOFRAMES>
-</html>
\ No newline at end of file
+++ /dev/null
-<!DOCTYPE HTML PUBLIC "-//IETF//DTD HTML 2.0//EN">
-<html>
-<head>
-<title>Motor Control</title>
-</head>
-<body>
-<center>
-<BASE TARGET="_top">
-<h1>Motor Control</h1>
-<HR WIDTH=50%>
-<form method="post" enctype="application/x-www-form-urlencoded"
-action="MotorHandler">
-<input type="radio" name="ref" value="0" > 0<SUP>o</SUP> degree
-<br>
-<input type="radio" name="ref" value="60"> 60<SUP>o</SUP> degree
-<br>
-<input type="radio" name="ref" value="120"> 120<SUP>o</SUP> degree
-<br>
-<input type="radio" name="ref" value="180"> 180<SUP>o</SUP> degree
-<br>
-<input type="radio" name="ref" value="240"> 240<SUP>o</SUP> degree
-<br>
-<input type="radio" name="ref" value="300"> 300<SUP>o</SUP> degree
-<br>
-<br>
-<input type="submit" value="SET">
-</form>
-<HR WIDTH=50%>
-</center>
-</body>
-</html>
\ No newline at end of file
+++ /dev/null
- <!DOCTYPE HTML PUBLIC "-//IETF//DTD HTML 2.0//EN">
-<html>
-<head>
-<title>Motor Reset</title>
-</head>
-<body>
-<center>
-<BASE TARGET="_top">
-<h1>Motor Reset</h1>
-<br>
-<HR WIDTH=50%>
-<form method="post" enctype="application/x-www-form-urlencoded"
-action="ResetHandler">
-<input type="submit" value="Motor Reset">
-<HR WIDTH=50%>
-</center>
-</body>
-</html>
\ No newline at end of file
+++ /dev/null
- <!DOCTYPE HTML PUBLIC "-//IETF//DTD HTML 2.0//EN">
-<html>
-<head>
-<title>Shutter Open</title>
-</head>
-<body>
-<center>
-<BASE TARGET="_top">
-<h1>Shutter Open</h1>
-<br>
-<HR WIDTH=50%>
-<form method="post" enctype="application/x-www-form-urlencoded"
-action="ShutterHandler">
-<input type="text" name="ref" size="6" value="[ms]">
-<br>
-<input type="submit" value="Shutter Open">
-<HR WIDTH=50%>
-</center>
-</body>
-</html>
\ No newline at end of file
+++ /dev/null
-DEPNAME:=-add HTTPSERVER
-
-all: SputWeb.tini
-
-SputWeb.class: SputWeb.java ../lib/AIC.jar
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $<
-
-SputHandler.class: SputHandler.java ../lib/AIC.jar
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $<
-
-SputWeb.tini: SputWeb.class SputHandler.class ../lib/AIC.jar
- java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f SputHandler.class -f SputWeb.class -o $@ ${LIBPATH} ${NATLIB} ${APIDBPATH}
-
-clean:
- rm -f *.bak *~ *.class
-
-distclean: clean
- rm -f SputWeb.tini
-
-upload: SputWeb.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
\ No newline at end of file
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Sputtering Post Handler
-
- Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-import br.ufrgs.ece.AIC.*;
-import java.io.*;
-import java.lang.*;
-import java.util.*;
-import com.dalsemi.tininet.http.*;
-
-public class SputHandler implements PostScript
-{
- static final int BASE=0x800000;
- static AIC aic;
- static boolean first=true;
-
- /**
- * This method handles all responses to the the HTTP POST
- *
- * @param data - a Vector of PostElements holding all supplied fields and Values in pairs
- * @param out - an Output Stream to the client socket
- * @param work - HTTPWorker contains utility functions used to URL encode our response
- * @throws IOException if an IO error occurs
- */
- public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException
- {
- if(first)
- {
- aic=new AIC(BASE,24.0,20e3,2000);
- aic.on();
- aic.brake.release();
- aic.motor.on();
- first=false;
- }
-
- System.out.println("Handling POST Request");
-
- PostElement pos = (PostElement)data.elementAt(0);
- System.out.println("Position="+pos.value);
-
- PostElement volt = (PostElement)data.elementAt(1);
- System.out.println("Voltage="+volt.value);
- Float V=Float.valueOf(volt.value);
- double v=V.doubleValue();
-
- aic.motor.set(v);
-
- // Response page
-
- // HTML headers
- StringBuffer strBuff=new StringBuffer("<html><title>Sputtering Control</title>\r\n"
- + "<body><center><h1>Sputtering Control</h1>\r\n");
-
- strBuff.append("Position set at "+pos.value+"\n");
- strBuff.append("Voltage set at "+volt.value+"\n");
-
-
- // HTML footers
- strBuff.append("</center></body></html>");
-
- // Use HTTPWorker's encode body function to generate the URL encoded response
- out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length()));
-
- // Send out the bytes of our response page
- out.write(strBuff.toString().getBytes());
-
- // Ensure that our data is written imediatly
- out.flush();
-
- System.out.println("Finished handling POST request");
- }
-}
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Sputtering Web Daemon
- Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import com.dalsemi.tininet.http.HTTPServer;
-import com.dalsemi.tininet.http.HTTPServerException;
-
-class SputWeb
-{
- static Object lock;
-
- public static void main(String[] args)
- {
- System.out.println("Sputtering Web Daemon");
- System.out.println("Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>.\n");
-
- HTTPServer httpd=new HTTPServer(80);
- httpd.setHTTPRoot("/html");
- httpd.setIndexPage("index.html");
- httpd.setLogFilename("log.txt");
- httpd.setLogging(true);
-
- System.out.println("Sputtering daemon running...");
-
- while (true)
- {
- try
- {
- httpd.serviceRequests();
- }
- catch (HTTPServerException e)
- {
- System.out.println("Error occured while servicing requests: " + e.getMessage());
- }
- }
- }
-}
+++ /dev/null
-<html>\r
-<head>\r
-<title>Sputtering Control</title>\r
-</head>\r
-<body>\r
-<h1>Sputtering Control</h1>\r
-<form method="post" enctype="application/x-www-form-urlencoded" action="SputHandler">\r
-Position: <input type="text" name="position"><br>\r
-Voltage: <input type="text" name="voltage"><br>\r
- <input type="submit" value="Submit">\r
-</form>\r
-</body>\r
-</html>\r
+++ /dev/null
-all: StrobeTest.tini
-
-StrobeTest.class: StrobeTest.java
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} StrobeTest.java
-
-StrobeTest.tini: StrobeTest.class
- java ${CLASSPATH} TINIConvertor -f StrobeTest.class ${APIDBPATH} -o StrobeTest.tini
-
-clean:
- rm -f *.bak *~ StrobeTest.class
-
-distclean: clean
- rm -f StrobeTest.tini
-
-upload: StrobeTest.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Strobe Test
- Copyright (C) 2002, 2003 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-import com.dalsemi.system.DataPort;
-import com.dalsemi.system.IllegalAddressException;
-
-class StrobeTest
-{
- static final int BASE = 0x800000;
- static final int PWM = BASE+0x80000;
- static final int ENCODER = BASE+0x90000;
- static final int CONTROL = BASE+0xa0000;
-
- public static void main(String[] args)
- {
- DataPort pwm = new DataPort(PWM);
- DataPort encoder = new DataPort(ENCODER);
- DataPort control = new DataPort(CONTROL);
-
- pwm.setFIFOMode(true);
- encoder.setFIFOMode(true);
- control.setFIFOMode(true);
-
- pwm.setStretchCycles(DataPort.STRETCH10);
- encoder.setStretchCycles(DataPort.STRETCH10);
- control.setStretchCycles(DataPort.STRETCH10);
-
- try
- {
- int data=0;
-
- for(;;)
- {
-
- pwm.write(data);
- encoder.write(data);
- control.write(data);
- data=~data;
-
- pwm.read();
- encoder.read();
- control.read();
-
- }
- }
- catch (IllegalAddressException iae)
- {
- iae.printStackTrace();
- }
- }
-}
-- Reorganizar a estrutura de diretorios.
+Por enquanto:
-- Implementar todos os metodos da classe AIC em C.
+1) testar o dsPIC. DONE!
-- Utilizar RCCI/RCCL?
+2) testar o freeRTOS. DONE!
-- Verificar a maxima taxa possivel com CAN. Em Java T=14ms.
-
-- Verificar se e' vantagem implementar a classe HostCan em Assembly, ja' que
-a API CAN e' opcional e implementada em Assembly. Eventualmente aproveitar a
-biblioteca nativa da Dallas e chamar diretamente os metodos nativos.
-
-- Verificar a possibilidade de fazer um piggy-back para utilizar TINIM400.
-
-- Verificar a possibilidade de utilizar SNAP.
-
-- Eventualmente criar versao do IODaemon ou PID totalmente em Assembly ou em
-C.
-
-- Verificar possivel memory leakage no programa jointtst. Apos algum tempo
-executando o led do HD fica acendendo, indicando possivel uso de memoria
-virtual. Ocorre no RTAI 24.x. Tambem ocorre no 3.x?
-
-- Passar a utilizar IPv6
-
-- Alterar camada de aplicacao CAN para torna-la compativel com CanOpen.
-
-- Alterar protocolo de aplicacao UDP para implementar CAN over IP.
-
-- Comunicacao por TCP
-
-- Comunicacao por RS232
-
-- Problemas de aquecimento
- Trocar os reguladores de alimentacao por reguladores chaveados ou
-instalar ventoinhas.
-
-- Implementar PID.
- Implementado, falta testar.
-
-- Portar o Slush para Linux, pelo menos os utilitarios que nao possuem
-equivalente, como o passwd
-
-- Portar o NFS para o TiniOS
- Verificar implementacao existente.
-
-- Montar ambiente para desenvolvimento
-
-- Portar o Linux/RTAI (uClinux ?)
-
-- AIC versao 2.0.0
- TINIM400?
- TSTICK400?
- SNAP?
- DIMMPC?
- DSP?
- ARM?
- FPGA?, Virtex?, Nios?
- USB?
- FireWire?
- Foundation Fieldbus?
- Profibus?
- I2C?
- Compact-PCI?
- PC-104?
- Korebot (http://www.k-team.com)?
+3) testar o dsPIC na AIC. DONE!
+4) testar o freeRTOS na AIC. DONE!
+++ /dev/null
-all: aicd .runinfo
-
-aicd: aicd.cpp ../include/aicsim.h ../include/aichost.h ../lib/libaic.a
- ${CXX} ${CMPFLAGS} -o aicd aicd.cpp ${LDFLAGS}
-
-../lib/libaic.a:
- $(MAKE) -C ../lib
-
-clean:
- rm -f *~ *.bak *.o
-
-install:
-
-distclean: clean
- rm -f aicd .runinfo
-
-.runinfo:
- echo "aicd:lxrt:./aicd;popall:" > .runinfo
-
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Host Interface Simulation
- Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#include <errno.h>
-#include <iostream>
-using namespace std;
-#include <pthread.h>
-#include <sys/mman.h>
-#include <string.h>
-
-#include <aichostudp.h>
-#include <aichostcan.h>
-
-#include <aicsim.h>
-
-#include <rtai_lxrt.h>
-
-struct SEND_STATUS_ARGS
-{
- double ST;
- volatile int *run;
- AIC_HOST *controller;
- AIC_SIM *aic;
-};
-
-void *send_status(void *arg)
-{
- struct SEND_STATUS_ARGS *ptr=(struct SEND_STATUS_ARGS *) arg;
-
-#ifdef REAL_TIME
- unsigned long sstsk_name = nam2num("SEND_STATUS");
- struct sched_param sssched;
-
- sssched.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1;
- if(sched_setscheduler(0,SCHED_FIFO, &sssched ) == -1 )
- {
- cerr << "Error setting scheduler: " << strerror(errno) << "\n";
- pthread_exit(NULL);
- }
-
- mlockall(MCL_CURRENT | MCL_FUTURE);
-
- RT_TASK *sstsk;
- if(!(sstsk = rt_task_init(sstsk_name, 1, 0, 0)))
- {
- cerr << "Can't init send_sensor task\n";
- pthread_exit(NULL);
- }
-
- int period = (int) nano2count((RTIME)(ptr->ST*1e9));
-
- rt_make_hard_real_time();
-
- rt_task_make_periodic(sstsk,rt_get_time()+period,period);
-#endif
-
- while(*ptr->run) for(int i=-48;i < 48;i++)
- {
-
-#ifdef REAL_TIME
- rt_task_wait_period();
-#else
- usleep(ptr->ST*1e6)
-#endif
-
-/* if(ptr->controller->getstatus() & AIC_HOST::MOTOR_ON)
- {
- int index;
- double disp=ptr->aic->encoder.read(&index);
- ptr->controller->send_status(disp,index);
- }
-*/
-
- int index;
- double disp=ptr->aic->encoder.read(&index);
- ptr->controller->send_status(disp,index);
- }
-
-
-#ifdef REAL_TIME
- rt_make_soft_real_time();
- rt_task_delete(sstsk);
- munlockall();
-#endif
- pthread_exit(NULL);
- return NULL;
-}
-
-int main(int argc, char *argv[])
-{
- cout << "AIC Host Interface Simulation\n";
- cout << "Copyright (C) Walter Fetter Lages 2003.\n";
-
- if((argc < 2) || (argc > 4) ||
- ((argc >= 3) && strcasecmp(argv[1],"-UDP")))
- {
- cout << "USAGE:\t" << argv[0] << " can_id\n";
- cout << "\tor\n\t" << argv[0] << " -UDP controller [command_port]\n";
- return -1;
- }
-
-
- const double ST=0.1;
-
- AIC_SIM aic;
- AIC_HOST *controller;
-
- switch(argc)
- {
- default:
- case 2: controller=new AIC_HOST_CAN(atoi(argv[1])); break;
- case 3: controller=new AIC_HOST_UDP(argv[2]); break;
- case 4: controller=new AIC_HOST_UDP(argv[2],STATUS_PORT,atoi(argv[3])); break;
- }
-
-#ifdef REAL_TIME
- unsigned long maintsk_name = nam2num("AICD");
- struct sched_param mainsched;
-
- rt_allow_nonroot_hrt();
-
- mainsched.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1;
- if(sched_setscheduler(0,SCHED_FIFO, &mainsched ) == -1 )
- {
- cerr << "Error setting scheduler: " << strerror(errno) << "\n";
- return -1;
- }
-
- mlockall(MCL_CURRENT | MCL_FUTURE);
-
- RT_TASK *maintsk;
- if(!(maintsk = rt_task_init(maintsk_name, 1, 0, 0)))
- {
- cerr << "Can't init aicd task\n";
- return -1;
- }
-
- rt_set_oneshot_mode();
- int period = (int) nano2count((RTIME)(ST*1e9));
- start_rt_timer(period);
-
- rt_make_hard_real_time();
-
- rt_task_make_periodic(maintsk,rt_get_time()+period,period);
-#endif
-
- volatile int run=1;
-
- pthread_t send_status_th;
- struct SEND_STATUS_ARGS ssargs;
- ssargs.ST=ST;
- ssargs.run=&run;
- ssargs.controller= controller;
- ssargs.aic=&aic;
-
- pthread_create(&send_status_th,NULL,&send_status,&ssargs);
-
-
- for(int k=0;run;k++)
- {
-#ifdef VERBOSE
- cout << "k=" << k << "\t";
-#endif
-
- int cmd=controller->command();
- switch(cmd)
- {
- case AIC_MOTOR_ON:
- {
- aic.motor.on();
- break;
- }
- case AIC_MOTOR_OFF:
- {
- run=0;
- aic.motor.off();
- break;
- }
- case AIC_MOTOR_ACT:
- {
- aic.motor=controller->voltage();
- break;
- }
- case AIC_BRAKE_RELEASE:
- {
- aic.brake.release();
- break;
- }
- case AIC_BRAKE_APPLY:
- {
- aic.brake.apply();
- break;
- }
- case AIC_RESET:
- {
- cout << "AIC Reset\t";
-// aic.reset();
- break;
- }
- default:
- {
- cerr << "Controller command \"" << (char) cmd << "\" unknown by aicd, shutting down\n";
- run=0;
- }
- }
-#ifdef VERBOSE
- cout << "\n";
-#endif
-
- }
- pthread_join(send_status_th,NULL);
- aic.motor.off();
- delete controller;
- cout << "\n";
-
-#ifdef REAL_TIME
- rt_make_soft_real_time();
- stop_rt_timer();
- rt_task_delete(maintsk);
-#endif
-
- return 0;
-}
-
+++ /dev/null
-all: braketst
-
-braketst: braketst.cpp ../lib/libaic.a
- ${CXX} ${CMPFLAGS} -o braketst braketst.cpp ${LDFLAGS}
-
-clean:
- rm -f *~ *.bak *.o
-
-install:
-
-distclean: clean
- rm -f braketst
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Brake Test
- Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#include <iostream>
-using namespace std;
-#include<string.h>
-
-#include <delay.h>
-
-#include <aicudp.h>
-#include <aiccan.h>
-
-const int ST=1000;
-
-int main(int argc,char *argv[])
-{
- cout << "\nAIC Brake Test Program\n";
- cout << "Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>.\n\n";
-
- if((argc < 2) || (argc > 4) ||
- ((argc >= 3) && strcasecmp(argv[1],"-UDP")))
- {
- cout << "USAGE:\t" << argv[0] << " can_id\n";
- cout << "\tor\n\t" << argv[0] << " -UDP aic [status_port]\n";
- return -1;
- }
-
- AIC *aic;
- switch(argc)
- {
- default:
- case 2: aic=new AIC_CAN(atoi(argv[1])); break;
- case 3: aic=new AIC_UDP(argv[2]); break;
- case 4: aic=new AIC_UDP(argv[2],atoi(argv[3])); break;
- }
-
- int apply=0;
- for(int i=0;;i++)
- {
- if(apply)
- {
- aic->brake.apply();
- cout << "Brake Applied\t\n";
- }
- else
- {
- aic->brake.release();
- cout << "Brake Released\t\n";
- }
- apply=~apply;
- delay(ST);
- }
-
- aic->brake.apply();
-
- delete aic;
-
- return 0;
-
-}
+++ /dev/null
-# Doxyfile 1.3.7
-
-# This file describes the settings to be used by the documentation system
-# doxygen (www.doxygen.org) for a project
-#
-# All text after a hash (#) is considered a comment and will be ignored
-# The format is:
-# TAG = value [value, ...]
-# For lists items can also be appended using:
-# TAG += value [value, ...]
-# Values that contain spaces should be placed between quotes (" ")
-
-#---------------------------------------------------------------------------
-# Project related configuration options
-#---------------------------------------------------------------------------
-
-# The PROJECT_NAME tag is a single word (or a sequence of words surrounded
-# by quotes) that should identify the project.
-
-PROJECT_NAME = "Actuator Interface Card"
-
-# The PROJECT_NUMBER tag can be used to enter a project or revision number.
-# This could be handy for archiving the generated documentation or
-# if some version control system is used.
-
-PROJECT_NUMBER = "1.5.1"
-
-# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute)
-# base path where the generated documentation will be put.
-# If a relative path is entered, it will be relative to the location
-# where doxygen was started. If left blank the current directory will be used.
-
-OUTPUT_DIRECTORY = .
-
-# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create
-# 2 levels of 10 sub-directories under the output directory of each output
-# format and will distribute the generated files over these directories.
-# Enabling this option can be useful when feeding doxygen a huge amount of source
-# files, where putting all generated files in the same directory would otherwise
-# cause performance problems for the file system.
-
-CREATE_SUBDIRS = NO
-
-# The OUTPUT_LANGUAGE tag is used to specify the language in which all
-# documentation generated by doxygen is written. Doxygen will use this
-# information to generate all constant output in the proper language.
-# The default language is English, other supported languages are:
-# Brazilian, Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish, Dutch,
-# Finnish, French, German, Greek, Hungarian, Italian, Japanese, Japanese-en
-# (Japanese with English messages), Korean, Korean-en, Norwegian, Polish, Portuguese,
-# Romanian, Russian, Serbian, Slovak, Slovene, Spanish, Swedish, and Ukrainian.
-
-OUTPUT_LANGUAGE = English
-
-# This tag can be used to specify the encoding used in the generated output.
-# The encoding is not always determined by the language that is chosen,
-# but also whether or not the output is meant for Windows or non-Windows users.
-# In case there is a difference, setting the USE_WINDOWS_ENCODING tag to YES
-# forces the Windows encoding (this is the default for the Windows binary),
-# whereas setting the tag to NO uses a Unix-style encoding (the default for
-# all platforms other than Windows).
-
-USE_WINDOWS_ENCODING = NO
-
-# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will
-# include brief member descriptions after the members that are listed in
-# the file and class documentation (similar to JavaDoc).
-# Set to NO to disable this.
-
-BRIEF_MEMBER_DESC = YES
-
-# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend
-# the brief description of a member or function before the detailed description.
-# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
-# brief descriptions will be completely suppressed.
-
-REPEAT_BRIEF = YES
-
-# This tag implements a quasi-intelligent brief description abbreviator
-# that is used to form the text in various listings. Each string
-# in this list, if found as the leading text of the brief description, will be
-# stripped from the text and the result after processing the whole list, is used
-# as the annotated text. Otherwise, the brief description is used as-is. If left
-# blank, the following values are used ("$name" is automatically replaced with the
-# name of the entity): "The $name class" "The $name widget" "The $name file"
-# "is" "provides" "specifies" "contains" "represents" "a" "an" "the"
-
-ABBREVIATE_BRIEF =
-
-# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
-# Doxygen will generate a detailed section even if there is only a brief
-# description.
-
-ALWAYS_DETAILED_SEC = NO
-
-# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all inherited
-# members of a class in the documentation of that class as if those members were
-# ordinary class members. Constructors, destructors and assignment operators of
-# the base classes will not be shown.
-
-INLINE_INHERITED_MEMB = NO
-
-# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full
-# path before files name in the file list and in the header files. If set
-# to NO the shortest path that makes the file name unique will be used.
-
-FULL_PATH_NAMES = NO
-
-# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag
-# can be used to strip a user-defined part of the path. Stripping is
-# only done if one of the specified strings matches the left-hand part of
-# the path. The tag can be used to show relative paths in the file list.
-# If left blank the directory from which doxygen is run is used as the
-# path to strip.
-
-STRIP_FROM_PATH = ..
-
-# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of
-# the path mentioned in the documentation of a class, which tells
-# the reader which header file to include in order to use a class.
-# If left blank only the name of the header file containing the class
-# definition is used. Otherwise one should specify the include paths that
-# are normally passed to the compiler using the -I flag.
-
-STRIP_FROM_INC_PATH =
-
-# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter
-# (but less readable) file names. This can be useful is your file systems
-# doesn't support long names like on DOS, Mac, or CD-ROM.
-
-SHORT_NAMES = NO
-
-# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen
-# will interpret the first line (until the first dot) of a JavaDoc-style
-# comment as the brief description. If set to NO, the JavaDoc
-# comments will behave just like the Qt-style comments (thus requiring an
-# explicit @brief command for a brief description.
-
-JAVADOC_AUTOBRIEF = YES
-
-# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen
-# treat a multi-line C++ special comment block (i.e. a block of //! or ///
-# comments) as a brief description. This used to be the default behaviour.
-# The new default is to treat a multi-line C++ comment block as a detailed
-# description. Set this tag to YES if you prefer the old behaviour instead.
-
-MULTILINE_CPP_IS_BRIEF = NO
-
-# If the DETAILS_AT_TOP tag is set to YES then Doxygen
-# will output the detailed description near the top, like JavaDoc.
-# If set to NO, the detailed description appears after the member
-# documentation.
-
-DETAILS_AT_TOP = YES
-
-# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented
-# member inherits the documentation from any documented member that it
-# re-implements.
-
-INHERIT_DOCS = YES
-
-# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
-# tag is set to YES, then doxygen will reuse the documentation of the first
-# member in the group (if any) for the other members of the group. By default
-# all members of a group must be documented explicitly.
-
-DISTRIBUTE_GROUP_DOC = YES
-
-# The TAB_SIZE tag can be used to set the number of spaces in a tab.
-# Doxygen uses this value to replace tabs by spaces in code fragments.
-
-TAB_SIZE = 8
-
-# This tag can be used to specify a number of aliases that acts
-# as commands in the documentation. An alias has the form "name=value".
-# For example adding "sideeffect=\par Side Effects:\n" will allow you to
-# put the command \sideeffect (or @sideeffect) in the documentation, which
-# will result in a user-defined paragraph with heading "Side Effects:".
-# You can put \n's in the value part of an alias to insert newlines.
-
-ALIASES =
-
-# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources
-# only. Doxygen will then generate output that is more tailored for C.
-# For instance, some of the names that are used will be different. The list
-# of all members will be omitted, etc.
-
-OPTIMIZE_OUTPUT_FOR_C = NO
-
-# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java sources
-# only. Doxygen will then generate output that is more tailored for Java.
-# For instance, namespaces will be presented as packages, qualified scopes
-# will look different, etc.
-
-OPTIMIZE_OUTPUT_JAVA = NO
-
-# Set the SUBGROUPING tag to YES (the default) to allow class member groups of
-# the same type (for instance a group of public functions) to be put as a
-# subgroup of that type (e.g. under the Public Functions section). Set it to
-# NO to prevent subgrouping. Alternatively, this can be done per class using
-# the \nosubgrouping command.
-
-SUBGROUPING = YES
-
-#---------------------------------------------------------------------------
-# Build related configuration options
-#---------------------------------------------------------------------------
-
-# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in
-# documentation are documented, even if no documentation was available.
-# Private class members and static file members will be hidden unless
-# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES
-
-EXTRACT_ALL = NO
-
-# If the EXTRACT_PRIVATE tag is set to YES all private members of a class
-# will be included in the documentation.
-
-EXTRACT_PRIVATE = NO
-
-# If the EXTRACT_STATIC tag is set to YES all static members of a file
-# will be included in the documentation.
-
-EXTRACT_STATIC = NO
-
-# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs)
-# defined locally in source files will be included in the documentation.
-# If set to NO only classes defined in header files are included.
-
-EXTRACT_LOCAL_CLASSES = YES
-
-# This flag is only useful for Objective-C code. When set to YES local
-# methods, which are defined in the implementation section but not in
-# the interface are included in the documentation.
-# If set to NO (the default) only methods in the interface are included.
-
-EXTRACT_LOCAL_METHODS = YES
-
-# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all
-# undocumented members of documented classes, files or namespaces.
-# If set to NO (the default) these members will be included in the
-# various overviews, but no documentation section is generated.
-# This option has no effect if EXTRACT_ALL is enabled.
-
-HIDE_UNDOC_MEMBERS = NO
-
-# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all
-# undocumented classes that are normally visible in the class hierarchy.
-# If set to NO (the default) these classes will be included in the various
-# overviews. This option has no effect if EXTRACT_ALL is enabled.
-
-HIDE_UNDOC_CLASSES = NO
-
-# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all
-# friend (class|struct|union) declarations.
-# If set to NO (the default) these declarations will be included in the
-# documentation.
-
-HIDE_FRIEND_COMPOUNDS = NO
-
-# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any
-# documentation blocks found inside the body of a function.
-# If set to NO (the default) these blocks will be appended to the
-# function's detailed documentation block.
-
-HIDE_IN_BODY_DOCS = NO
-
-# The INTERNAL_DOCS tag determines if documentation
-# that is typed after a \internal command is included. If the tag is set
-# to NO (the default) then the documentation will be excluded.
-# Set it to YES to include the internal documentation.
-
-INTERNAL_DOCS = NO
-
-# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate
-# file names in lower-case letters. If set to YES upper-case letters are also
-# allowed. This is useful if you have classes or files whose names only differ
-# in case and if your file system supports case sensitive file names. Windows
-# users are advised to set this option to NO.
-
-CASE_SENSE_NAMES = YES
-
-# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen
-# will show members with their full class and namespace scopes in the
-# documentation. If set to YES the scope will be hidden.
-
-HIDE_SCOPE_NAMES = NO
-
-# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen
-# will put a list of the files that are included by a file in the documentation
-# of that file.
-
-SHOW_INCLUDE_FILES = YES
-
-# If the INLINE_INFO tag is set to YES (the default) then a tag [inline]
-# is inserted in the documentation for inline members.
-
-INLINE_INFO = YES
-
-# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen
-# will sort the (detailed) documentation of file and class members
-# alphabetically by member name. If set to NO the members will appear in
-# declaration order.
-
-SORT_MEMBER_DOCS = YES
-
-# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the
-# brief documentation of file, namespace and class members alphabetically
-# by member name. If set to NO (the default) the members will appear in
-# declaration order.
-
-SORT_BRIEF_DOCS = NO
-
-# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be
-# sorted by fully-qualified names, including namespaces. If set to
-# NO (the default), the class list will be sorted only by class name,
-# not including the namespace part.
-# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
-# Note: This option applies only to the class list, not to the
-# alphabetical list.
-
-SORT_BY_SCOPE_NAME = YES
-
-# The GENERATE_TODOLIST tag can be used to enable (YES) or
-# disable (NO) the todo list. This list is created by putting \todo
-# commands in the documentation.
-
-GENERATE_TODOLIST = YES
-
-# The GENERATE_TESTLIST tag can be used to enable (YES) or
-# disable (NO) the test list. This list is created by putting \test
-# commands in the documentation.
-
-GENERATE_TESTLIST = YES
-
-# The GENERATE_BUGLIST tag can be used to enable (YES) or
-# disable (NO) the bug list. This list is created by putting \bug
-# commands in the documentation.
-
-GENERATE_BUGLIST = YES
-
-# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or
-# disable (NO) the deprecated list. This list is created by putting
-# \deprecated commands in the documentation.
-
-GENERATE_DEPRECATEDLIST= YES
-
-# The ENABLED_SECTIONS tag can be used to enable conditional
-# documentation sections, marked by \if sectionname ... \endif.
-
-ENABLED_SECTIONS =
-
-# The MAX_INITIALIZER_LINES tag determines the maximum number of lines
-# the initial value of a variable or define consists of for it to appear in
-# the documentation. If the initializer consists of more lines than specified
-# here it will be hidden. Use a value of 0 to hide initializers completely.
-# The appearance of the initializer of individual variables and defines in the
-# documentation can be controlled using \showinitializer or \hideinitializer
-# command in the documentation regardless of this setting.
-
-MAX_INITIALIZER_LINES = 30
-
-# Set the SHOW_USED_FILES tag to NO to disable the list of files generated
-# at the bottom of the documentation of classes and structs. If set to YES the
-# list will mention the files that were used to generate the documentation.
-
-SHOW_USED_FILES = YES
-
-#---------------------------------------------------------------------------
-# configuration options related to warning and progress messages
-#---------------------------------------------------------------------------
-
-# The QUIET tag can be used to turn on/off the messages that are generated
-# by doxygen. Possible values are YES and NO. If left blank NO is used.
-
-QUIET = NO
-
-# The WARNINGS tag can be used to turn on/off the warning messages that are
-# generated by doxygen. Possible values are YES and NO. If left blank
-# NO is used.
-
-WARNINGS = YES
-
-# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings
-# for undocumented members. If EXTRACT_ALL is set to YES then this flag will
-# automatically be disabled.
-
-WARN_IF_UNDOCUMENTED = YES
-
-# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for
-# potential errors in the documentation, such as not documenting some
-# parameters in a documented function, or documenting parameters that
-# don't exist or using markup commands wrongly.
-
-WARN_IF_DOC_ERROR = YES
-
-# The WARN_FORMAT tag determines the format of the warning messages that
-# doxygen can produce. The string should contain the $file, $line, and $text
-# tags, which will be replaced by the file and line number from which the
-# warning originated and the warning text.
-
-WARN_FORMAT = "$file:$line: $text"
-
-# The WARN_LOGFILE tag can be used to specify a file to which warning
-# and error messages should be written. If left blank the output is written
-# to stderr.
-
-WARN_LOGFILE =
-
-#---------------------------------------------------------------------------
-# configuration options related to the input files
-#---------------------------------------------------------------------------
-
-# The INPUT tag can be used to specify the files and/or directories that contain
-# documented source files. You may enter file names like "myfile.cpp" or
-# directories like "/usr/src/myproject". Separate the files or directories
-# with spaces.
-
-INPUT = . \
- ../include \
- ../lib
-
-
-# If the value of the INPUT tag contains directories, you can use the
-# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
-# and *.h) to filter out the source-files in the directories. If left
-# blank the following patterns are tested:
-# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx *.hpp
-# *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm
-
-FILE_PATTERNS = *.dox *.h *.inc *.java
-
-# The RECURSIVE tag can be used to turn specify whether or not subdirectories
-# should be searched for input files as well. Possible values are YES and NO.
-# If left blank NO is used.
-
-RECURSIVE = YES
-
-# The EXCLUDE tag can be used to specify files and/or directories that should
-# excluded from the INPUT source files. This way you can easily exclude a
-# subdirectory from a directory tree whose root is specified with the INPUT tag.
-
-EXCLUDE =
-
-# The EXCLUDE_SYMLINKS tag can be used select whether or not files or directories
-# that are symbolic links (a Unix filesystem feature) are excluded from the input.
-
-EXCLUDE_SYMLINKS = NO
-
-# If the value of the INPUT tag contains directories, you can use the
-# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
-# certain files from those directories.
-
-EXCLUDE_PATTERNS =
-
-# The EXAMPLE_PATH tag can be used to specify one or more files or
-# directories that contain example code fragments that are included (see
-# the \include command).
-
-EXAMPLE_PATH =
-
-# If the value of the EXAMPLE_PATH tag contains directories, you can use the
-# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
-# and *.h) to filter out the source-files in the directories. If left
-# blank all files are included.
-
-EXAMPLE_PATTERNS =
-
-# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
-# searched for input files to be used with the \include or \dontinclude
-# commands irrespective of the value of the RECURSIVE tag.
-# Possible values are YES and NO. If left blank NO is used.
-
-EXAMPLE_RECURSIVE = NO
-
-# The IMAGE_PATH tag can be used to specify one or more files or
-# directories that contain image that are included in the documentation (see
-# the \image command).
-
-IMAGE_PATH =
-
-# The INPUT_FILTER tag can be used to specify a program that doxygen should
-# invoke to filter for each input file. Doxygen will invoke the filter program
-# by executing (via popen()) the command <filter> <input-file>, where <filter>
-# is the value of the INPUT_FILTER tag, and <input-file> is the name of an
-# input file. Doxygen will then use the output that the filter program writes
-# to standard output.
-
-INPUT_FILTER =
-
-# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
-# INPUT_FILTER) will be used to filter the input files when producing source
-# files to browse (i.e. when SOURCE_BROWSER is set to YES).
-
-FILTER_SOURCE_FILES = NO
-
-#---------------------------------------------------------------------------
-# configuration options related to source browsing
-#---------------------------------------------------------------------------
-
-# If the SOURCE_BROWSER tag is set to YES then a list of source files will
-# be generated. Documented entities will be cross-referenced with these sources.
-# Note: To get rid of all source code in the generated output, make sure also
-# VERBATIM_HEADERS is set to NO.
-
-SOURCE_BROWSER = NO
-
-# Setting the INLINE_SOURCES tag to YES will include the body
-# of functions and classes directly in the documentation.
-
-INLINE_SOURCES = NO
-
-# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct
-# doxygen to hide any special comment blocks from generated source code
-# fragments. Normal C and C++ comments will always remain visible.
-
-STRIP_CODE_COMMENTS = YES
-
-# If the REFERENCED_BY_RELATION tag is set to YES (the default)
-# then for each documented function all documented
-# functions referencing it will be listed.
-
-REFERENCED_BY_RELATION = YES
-
-# If the REFERENCES_RELATION tag is set to YES (the default)
-# then for each documented function all documented entities
-# called/used by that function will be listed.
-
-REFERENCES_RELATION = YES
-
-# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen
-# will generate a verbatim copy of the header file for each class for
-# which an include is specified. Set to NO to disable this.
-
-VERBATIM_HEADERS = NO
-
-#---------------------------------------------------------------------------
-# configuration options related to the alphabetical class index
-#---------------------------------------------------------------------------
-
-# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index
-# of all compounds will be generated. Enable this if the project
-# contains a lot of classes, structs, unions or interfaces.
-
-ALPHABETICAL_INDEX = NO
-
-# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then
-# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns
-# in which this list will be split (can be a number in the range [1..20])
-
-COLS_IN_ALPHA_INDEX = 5
-
-# In case all classes in a project start with a common prefix, all
-# classes will be put under the same header in the alphabetical index.
-# The IGNORE_PREFIX tag can be used to specify one or more prefixes that
-# should be ignored while generating the index headers.
-
-IGNORE_PREFIX =
-
-#---------------------------------------------------------------------------
-# configuration options related to the HTML output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_HTML tag is set to YES (the default) Doxygen will
-# generate HTML output.
-
-GENERATE_HTML = YES
-
-# The HTML_OUTPUT tag is used to specify where the HTML docs will be put.
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be
-# put in front of it. If left blank `html' will be used as the default path.
-
-HTML_OUTPUT = html
-
-# The HTML_FILE_EXTENSION tag can be used to specify the file extension for
-# each generated HTML page (for example: .htm,.php,.asp). If it is left blank
-# doxygen will generate files with .html extension.
-
-HTML_FILE_EXTENSION = .html
-
-# The HTML_HEADER tag can be used to specify a personal HTML header for
-# each generated HTML page. If it is left blank doxygen will generate a
-# standard header.
-
-HTML_HEADER =
-
-# The HTML_FOOTER tag can be used to specify a personal HTML footer for
-# each generated HTML page. If it is left blank doxygen will generate a
-# standard footer.
-
-HTML_FOOTER =
-
-# The HTML_STYLESHEET tag can be used to specify a user-defined cascading
-# style sheet that is used by each HTML page. It can be used to
-# fine-tune the look of the HTML output. If the tag is left blank doxygen
-# will generate a default style sheet. Note that doxygen will try to copy
-# the style sheet file to the HTML output directory, so don't put your own
-# stylesheet in the HTML output directory as well, or it will be erased!
-
-HTML_STYLESHEET =
-
-# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes,
-# files or namespaces will be aligned in HTML using tables. If set to
-# NO a bullet list will be used.
-
-HTML_ALIGN_MEMBERS = YES
-
-# If the GENERATE_HTMLHELP tag is set to YES, additional index files
-# will be generated that can be used as input for tools like the
-# Microsoft HTML help workshop to generate a compressed HTML help file (.chm)
-# of the generated HTML documentation.
-
-GENERATE_HTMLHELP = NO
-
-# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can
-# be used to specify the file name of the resulting .chm file. You
-# can add a path in front of the file if the result should not be
-# written to the html output directory.
-
-CHM_FILE =
-
-# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can
-# be used to specify the location (absolute path including file name) of
-# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run
-# the HTML help compiler on the generated index.hhp.
-
-HHC_LOCATION =
-
-# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag
-# controls if a separate .chi index file is generated (YES) or that
-# it should be included in the master .chm file (NO).
-
-GENERATE_CHI = NO
-
-# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag
-# controls whether a binary table of contents is generated (YES) or a
-# normal table of contents (NO) in the .chm file.
-
-BINARY_TOC = NO
-
-# The TOC_EXPAND flag can be set to YES to add extra items for group members
-# to the contents of the HTML help documentation and to the tree view.
-
-TOC_EXPAND = NO
-
-# The DISABLE_INDEX tag can be used to turn on/off the condensed index at
-# top of each HTML page. The value NO (the default) enables the index and
-# the value YES disables it.
-
-DISABLE_INDEX = NO
-
-# This tag can be used to set the number of enum values (range [1..20])
-# that doxygen will group on one line in the generated HTML documentation.
-
-ENUM_VALUES_PER_LINE = 4
-
-# If the GENERATE_TREEVIEW tag is set to YES, a side panel will be
-# generated containing a tree-like index structure (just like the one that
-# is generated for HTML Help). For this to work a browser that supports
-# JavaScript, DHTML, CSS and frames is required (for instance Mozilla 1.0+,
-# Netscape 6.0+, Internet explorer 5.0+, or Konqueror). Windows users are
-# probably better off using the HTML help feature.
-
-GENERATE_TREEVIEW = YES
-
-# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be
-# used to set the initial width (in pixels) of the frame in which the tree
-# is shown.
-
-TREEVIEW_WIDTH = 250
-
-#---------------------------------------------------------------------------
-# configuration options related to the LaTeX output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will
-# generate Latex output.
-
-GENERATE_LATEX = NO
-
-# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put.
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be
-# put in front of it. If left blank `latex' will be used as the default path.
-
-LATEX_OUTPUT = latex
-
-# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
-# invoked. If left blank `latex' will be used as the default command name.
-
-LATEX_CMD_NAME = latex
-
-# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to
-# generate index for LaTeX. If left blank `makeindex' will be used as the
-# default command name.
-
-MAKEINDEX_CMD_NAME = makeindex
-
-# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact
-# LaTeX documents. This may be useful for small projects and may help to
-# save some trees in general.
-
-COMPACT_LATEX = NO
-
-# The PAPER_TYPE tag can be used to set the paper type that is used
-# by the printer. Possible values are: a4, a4wide, letter, legal and
-# executive. If left blank a4wide will be used.
-
-PAPER_TYPE = a4wide
-
-# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX
-# packages that should be included in the LaTeX output.
-
-EXTRA_PACKAGES =
-
-# The LATEX_HEADER tag can be used to specify a personal LaTeX header for
-# the generated latex document. The header should contain everything until
-# the first chapter. If it is left blank doxygen will generate a
-# standard header. Notice: only use this tag if you know what you are doing!
-
-LATEX_HEADER =
-
-# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated
-# is prepared for conversion to pdf (using ps2pdf). The pdf file will
-# contain links (just like the HTML output) instead of page references
-# This makes the output suitable for online browsing using a pdf viewer.
-
-PDF_HYPERLINKS = YES
-
-# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of
-# plain latex in the generated Makefile. Set this option to YES to get a
-# higher quality PDF documentation.
-
-USE_PDFLATEX = YES
-
-# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode.
-# command to the generated LaTeX files. This will instruct LaTeX to keep
-# running if errors occur, instead of asking the user for help.
-# This option is also used when generating formulas in HTML.
-
-LATEX_BATCHMODE = YES
-
-# If LATEX_HIDE_INDICES is set to YES then doxygen will not
-# include the index chapters (such as File Index, Compound Index, etc.)
-# in the output.
-
-LATEX_HIDE_INDICES = NO
-
-#---------------------------------------------------------------------------
-# configuration options related to the RTF output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output
-# The RTF output is optimized for Word 97 and may not look very pretty with
-# other RTF readers or editors.
-
-GENERATE_RTF = NO
-
-# The RTF_OUTPUT tag is used to specify where the RTF docs will be put.
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be
-# put in front of it. If left blank `rtf' will be used as the default path.
-
-RTF_OUTPUT = rtf
-
-# If the COMPACT_RTF tag is set to YES Doxygen generates more compact
-# RTF documents. This may be useful for small projects and may help to
-# save some trees in general.
-
-COMPACT_RTF = NO
-
-# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated
-# will contain hyperlink fields. The RTF file will
-# contain links (just like the HTML output) instead of page references.
-# This makes the output suitable for online browsing using WORD or other
-# programs which support those fields.
-# Note: wordpad (write) and others do not support links.
-
-RTF_HYPERLINKS = NO
-
-# Load stylesheet definitions from file. Syntax is similar to doxygen's
-# config file, i.e. a series of assignments. You only have to provide
-# replacements, missing definitions are set to their default value.
-
-RTF_STYLESHEET_FILE =
-
-# Set optional variables used in the generation of an rtf document.
-# Syntax is similar to doxygen's config file.
-
-RTF_EXTENSIONS_FILE =
-
-#---------------------------------------------------------------------------
-# configuration options related to the man page output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_MAN tag is set to YES (the default) Doxygen will
-# generate man pages
-
-GENERATE_MAN = NO
-
-# The MAN_OUTPUT tag is used to specify where the man pages will be put.
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be
-# put in front of it. If left blank `man' will be used as the default path.
-
-MAN_OUTPUT = man
-
-# The MAN_EXTENSION tag determines the extension that is added to
-# the generated man pages (default is the subroutine's section .3)
-
-MAN_EXTENSION = .3
-
-# If the MAN_LINKS tag is set to YES and Doxygen generates man output,
-# then it will generate one additional man file for each entity
-# documented in the real man page(s). These additional files
-# only source the real man page, but without them the man command
-# would be unable to find the correct page. The default is NO.
-
-MAN_LINKS = NO
-
-#---------------------------------------------------------------------------
-# configuration options related to the XML output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_XML tag is set to YES Doxygen will
-# generate an XML file that captures the structure of
-# the code including all documentation.
-
-GENERATE_XML = NO
-
-# The XML_OUTPUT tag is used to specify where the XML pages will be put.
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be
-# put in front of it. If left blank `xml' will be used as the default path.
-
-XML_OUTPUT = xml
-
-# The XML_SCHEMA tag can be used to specify an XML schema,
-# which can be used by a validating XML parser to check the
-# syntax of the XML files.
-
-XML_SCHEMA =
-
-# The XML_DTD tag can be used to specify an XML DTD,
-# which can be used by a validating XML parser to check the
-# syntax of the XML files.
-
-XML_DTD =
-
-# If the XML_PROGRAMLISTING tag is set to YES Doxygen will
-# dump the program listings (including syntax highlighting
-# and cross-referencing information) to the XML output. Note that
-# enabling this will significantly increase the size of the XML output.
-
-XML_PROGRAMLISTING = YES
-
-#---------------------------------------------------------------------------
-# configuration options for the AutoGen Definitions output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will
-# generate an AutoGen Definitions (see autogen.sf.net) file
-# that captures the structure of the code including all
-# documentation. Note that this feature is still experimental
-# and incomplete at the moment.
-
-GENERATE_AUTOGEN_DEF = NO
-
-#---------------------------------------------------------------------------
-# configuration options related to the Perl module output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_PERLMOD tag is set to YES Doxygen will
-# generate a Perl module file that captures the structure of
-# the code including all documentation. Note that this
-# feature is still experimental and incomplete at the
-# moment.
-
-GENERATE_PERLMOD = NO
-
-# If the PERLMOD_LATEX tag is set to YES Doxygen will generate
-# the necessary Makefile rules, Perl scripts and LaTeX code to be able
-# to generate PDF and DVI output from the Perl module output.
-
-PERLMOD_LATEX = NO
-
-# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be
-# nicely formatted so it can be parsed by a human reader. This is useful
-# if you want to understand what is going on. On the other hand, if this
-# tag is set to NO the size of the Perl module output will be much smaller
-# and Perl will parse it just the same.
-
-PERLMOD_PRETTY = YES
-
-# The names of the make variables in the generated doxyrules.make file
-# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX.
-# This is useful so different doxyrules.make files included by the same
-# Makefile don't overwrite each other's variables.
-
-PERLMOD_MAKEVAR_PREFIX =
-
-#---------------------------------------------------------------------------
-# Configuration options related to the preprocessor
-#---------------------------------------------------------------------------
-
-# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will
-# evaluate all C-preprocessor directives found in the sources and include
-# files.
-
-ENABLE_PREPROCESSING = YES
-
-# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro
-# names in the source code. If set to NO (the default) only conditional
-# compilation will be performed. Macro expansion can be done in a controlled
-# way by setting EXPAND_ONLY_PREDEF to YES.
-
-MACRO_EXPANSION = YES
-
-# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES
-# then the macro expansion is limited to the macros specified with the
-# PREDEFINED and EXPAND_AS_PREDEFINED tags.
-
-EXPAND_ONLY_PREDEF = YES
-
-# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files
-# in the INCLUDE_PATH (see below) will be search if a #include is found.
-
-SEARCH_INCLUDES = YES
-
-# The INCLUDE_PATH tag can be used to specify one or more directories that
-# contain include files that are not input files but should be processed by
-# the preprocessor.
-
-INCLUDE_PATH = ../include
-
-# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
-# patterns (like *.h and *.hpp) to filter out the header-files in the
-# directories. If left blank, the patterns specified with FILE_PATTERNS will
-# be used.
-
-INCLUDE_FILE_PATTERNS =
-
-# The PREDEFINED tag can be used to specify one or more macro names that
-# are defined before the preprocessor is started (similar to the -D option of
-# gcc). The argument of the tag is a list of macros of the form: name
-# or name=definition (no spaces). If the definition and the = are
-# omitted =1 is assumed.
-
-PREDEFINED =
-
-# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then
-# this tag can be used to specify a list of macro names that should be expanded.
-# The macro definition that is found in the sources will be used.
-# Use the PREDEFINED tag if you want to use a different macro definition.
-
-EXPAND_AS_DEFINED =
-
-# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then
-# doxygen's preprocessor will remove all function-like macros that are alone
-# on a line, have an all uppercase name, and do not end with a semicolon. Such
-# function macros are typically used for boiler-plate code, and will confuse the
-# parser if not removed.
-
-SKIP_FUNCTION_MACROS = YES
-
-#---------------------------------------------------------------------------
-# Configuration::additions related to external references
-#---------------------------------------------------------------------------
-
-# The TAGFILES option can be used to specify one or more tagfiles.
-# Optionally an initial location of the external documentation
-# can be added for each tagfile. The format of a tag file without
-# this location is as follows:
-# TAGFILES = file1 file2 ...
-# Adding location for the tag files is done as follows:
-# TAGFILES = file1=loc1 "file2 = loc2" ...
-# where "loc1" and "loc2" can be relative or absolute paths or
-# URLs. If a location is present for each tag, the installdox tool
-# does not have to be run to correct the links.
-# Note that each tag file must have a unique name
-# (where the name does NOT include the path)
-# If a tag file is not located in the directory in which doxygen
-# is run, you must also specify the path to the tagfile here.
-
-TAGFILES =
-
-# When a file name is specified after GENERATE_TAGFILE, doxygen will create
-# a tag file that is based on the input files it reads.
-
-GENERATE_TAGFILE =
-
-# If the ALLEXTERNALS tag is set to YES all external classes will be listed
-# in the class index. If set to NO only the inherited external classes
-# will be listed.
-
-ALLEXTERNALS = NO
-
-# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed
-# in the modules index. If set to NO, only the current project's groups will
-# be listed.
-
-EXTERNAL_GROUPS = YES
-
-# The PERL_PATH should be the absolute path and name of the perl script
-# interpreter (i.e. the result of `which perl').
-
-PERL_PATH = /usr/bin/perl
-
-#---------------------------------------------------------------------------
-# Configuration options related to the dot tool
-#---------------------------------------------------------------------------
-
-# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will
-# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base or
-# super classes. Setting the tag to NO turns the diagrams off. Note that this
-# option is superseded by the HAVE_DOT option below. This is only a fallback. It is
-# recommended to install and use dot, since it yields more powerful graphs.
-
-CLASS_DIAGRAMS = YES
-
-# If set to YES, the inheritance and collaboration graphs will hide
-# inheritance and usage relations if the target is undocumented
-# or is not a class.
-
-HIDE_UNDOC_RELATIONS = YES
-
-# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
-# available from the path. This tool is part of Graphviz, a graph visualization
-# toolkit from AT&T and Lucent Bell Labs. The other options in this section
-# have no effect if this option is set to NO (the default)
-
-HAVE_DOT = YES
-
-# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen
-# will generate a graph for each documented class showing the direct and
-# indirect inheritance relations. Setting this tag to YES will force the
-# the CLASS_DIAGRAMS tag to NO.
-
-CLASS_GRAPH = YES
-
-# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen
-# will generate a graph for each documented class showing the direct and
-# indirect implementation dependencies (inheritance, containment, and
-# class references variables) of the class with other documented classes.
-
-COLLABORATION_GRAPH = YES
-
-# If the UML_LOOK tag is set to YES doxygen will generate inheritance and
-# collaboration diagrams in a style similar to the OMG's Unified Modeling
-# Language.
-
-UML_LOOK = NO
-
-# If set to YES, the inheritance and collaboration graphs will show the
-# relations between templates and their instances.
-
-TEMPLATE_RELATIONS = NO
-
-# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT
-# tags are set to YES then doxygen will generate a graph for each documented
-# file showing the direct and indirect include dependencies of the file with
-# other documented files.
-
-INCLUDE_GRAPH = YES
-
-# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and
-# HAVE_DOT tags are set to YES then doxygen will generate a graph for each
-# documented header file showing the documented files that directly or
-# indirectly include this file.
-
-INCLUDED_BY_GRAPH = YES
-
-# If the CALL_GRAPH and HAVE_DOT tags are set to YES then doxygen will
-# generate a call dependency graph for every global function or class method.
-# Note that enabling this option will significantly increase the time of a run.
-# So in most cases it will be better to enable call graphs for selected
-# functions only using the \callgraph command.
-
-CALL_GRAPH = NO
-
-# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen
-# will graphical hierarchy of all classes instead of a textual one.
-
-GRAPHICAL_HIERARCHY = YES
-
-# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
-# generated by dot. Possible values are png, jpg, or gif
-# If left blank png will be used.
-
-DOT_IMAGE_FORMAT = png
-
-# The tag DOT_PATH can be used to specify the path where the dot tool can be
-# found. If left blank, it is assumed the dot tool can be found on the path.
-
-DOT_PATH =
-
-# The DOTFILE_DIRS tag can be used to specify one or more directories that
-# contain dot files that are included in the documentation (see the
-# \dotfile command).
-
-DOTFILE_DIRS =
-
-# The MAX_DOT_GRAPH_WIDTH tag can be used to set the maximum allowed width
-# (in pixels) of the graphs generated by dot. If a graph becomes larger than
-# this value, doxygen will try to truncate the graph, so that it fits within
-# the specified constraint. Beware that most browsers cannot cope with very
-# large images.
-
-MAX_DOT_GRAPH_WIDTH = 1024
-
-# The MAX_DOT_GRAPH_HEIGHT tag can be used to set the maximum allows height
-# (in pixels) of the graphs generated by dot. If a graph becomes larger than
-# this value, doxygen will try to truncate the graph, so that it fits within
-# the specified constraint. Beware that most browsers cannot cope with very
-# large images.
-
-MAX_DOT_GRAPH_HEIGHT = 1024
-
-# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the
-# graphs generated by dot. A depth value of 3 means that only nodes reachable
-# from the root by following a path via at most 3 edges will be shown. Nodes that
-# lay further from the root node will be omitted. Note that setting this option to
-# 1 or 2 may greatly reduce the computation time needed for large code bases. Also
-# note that a graph may be further truncated if the graph's image dimensions are
-# not sufficient to fit the graph (see MAX_DOT_GRAPH_WIDTH and MAX_DOT_GRAPH_HEIGHT).
-# If 0 is used for the depth value (the default), the graph is not depth-constrained.
-
-MAX_DOT_GRAPH_DEPTH = 0
-
-# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will
-# generate a legend page explaining the meaning of the various boxes and
-# arrows in the dot generated graphs.
-
-GENERATE_LEGEND = YES
-
-# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will
-# remove the intermediate dot files that are used to generate
-# the various graphs.
-
-DOT_CLEANUP = YES
-
-#---------------------------------------------------------------------------
-# Configuration::additions related to the search engine
-#---------------------------------------------------------------------------
-
-# The SEARCHENGINE tag specifies whether or not a search engine should be
-# used. If set to NO the values of all tags below this one will be ignored.
-
-SEARCHENGINE = YES
-SCHEMS=aictini.sch aicpower.sch aicconn.sch
+GEDA_PATH=/usr/share/gEDA/scheme
+FILES=aicpic.sch aicpower.sch
-all: doc pcb bom html
+all: pdf drc bom partslist net
-doc: aic.pdf
+drc: aic.drc
-aic.ps: aic.dvi
- dvips aic
+bom: aic.bom aic.csv aic.bpp aic.xrf
-aic.pdf: aic.dvi
- dvipdf aic
+partslist: aic.pl1 aic.pl2 aic.pl3
-aic.dvi: aic.tex \
- aictini.eps aicpower.eps aicconn.eps \
- aic_assembly.eps \
- aic_frontsilk.eps aic_front.eps aic_frontmask.eps \
- aic_back.eps aic_backmask.eps \
- aic_fab.eps \
- aic.aux aic.bbl
- latex aic
- latex aic
+net: aic.net
-aic.aux: aic.tex
- latex aic
+pdf: aicpic.eps aicpower.eps
-aic.bbl: aic.bib
- bibtex aic
+pcb: aic.pcb
-aictini.ps: aictini.sch
- gschem -oaictini.ps -s/usr/share/gEDA/scheme/gschem-print.scm aictini.sch
+aicpic.ps: aicpic.sch
+ gschem -o$@ -s$(GEDA_PATH)/print.scm $^
-aictini.eps: aictini.ps
- eps2eps aictini.ps aictini.eps
+aicpic.eps: aicpic.ps
+ eps2eps $^ $@
aicpower.ps: aicpower.sch
- gschem -oaicpower.ps -s/usr/share/gEDA/scheme/gschem-print.scm aicpower.sch
+ gschem -o$@ -s$(GEDA_PATH)/print.scm $^
aicpower.eps: aicpower.ps
- eps2eps aicpower.ps aicpower.eps
+ eps2eps $^ $@
+
+aic.drc: ${FILES} attribs
+ gnetlist -g drc -o aic.drc ${FILES}
-aicconn.ps: aicconn.sch
- gschem -oaicconn.ps -s/usr/share/gEDA/scheme/gschem-print.scm aicconn.sch
-
-aicconn.eps: aicconn.ps
- eps2eps aicconn.ps aicconn.eps
-
-pcb: aic.net #aicpcb.ps aicpcb.pdf #aic.pcb
-
-aic.net: $(SCHEMS)
- gnetlist -g PCB -o aic.net $(SCHEMS)
-
-#aic.pcb: $(SCHEMS)
-# gnetlist -g PCBboard -o aic.pcb $(SCHEMS)
-
-aic_assembly.eps: aic_assembly.ps
- eps2eps aic_assembly.ps aictmp.eps
- pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_assembly.eps
+aic.bom: ${FILES} attribs
+ gnetlist -g bom -o aic.bom ${FILES}
-aic_frontsilk.eps: aic_frontsilk.ps
- eps2eps aic_frontsilk.ps aictmp.eps
- pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_frontsilk.eps
-
-aic_front.eps: aic_front.ps
- eps2eps aic_front.ps aictmp.eps
- pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_front.eps
-
-aic_frontmask.eps: aic_frontmask.ps
- eps2eps aic_frontmask.ps aictmp.eps
- pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_frontmask.eps
-
-aic_back.eps: aic_back.ps
- eps2eps aic_back.ps aictmp.eps
- pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_back.eps
-
-aic_backmask.eps: aic_backmask.ps
- eps2eps aic_backmask.ps aictmp.eps
- pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_backmask.eps
-
-aic_fab.eps: aic_fab.ps
- eps2eps aic_fab.ps aictmp.eps
- pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_fab.eps
-
-#aicpcb.ps: aic_assembly.ps aic_frontsilk.ps aic_front.ps aic_frontmask.eps \
-# aic_back.ps aic_backmask.ps \
-# aic_fab.ps
-# cat aic_assembly.ps aic_frontsilk.ps aic_front.ps aic_frontmask.eps \
-# aic_back.ps aic_backmask.ps \
-# aic_fab.ps > aictmp.ps
-# ps2ps aictmp.ps aicpcb.ps
-
-#aicpcb.pdf: aicpcb.ps
-# ps2pdf aicpcb.ps
-
-bom: aic.bom aic.bpp aic.xrf
-
-aic.bom: $(SCHEMS) attribs
- gnetlist -g bom -o aic.bom $(SCHEMS)
-
aic.bpp: aic.bom
bompp.sh aic.bom > aic.bpp
aic.xrf: aic.bom
bom_xref.sh aic.bom > aic.xrf
-html: html/index.html
+aic.csv: ${FILES} attribs
+ gnetlist -g bom2 -o aic.csv ${FILES}
-html/index.html: Doxyfile aic.dox
- doxygen
+aic.pl1: ${FILES}
+ gnetlist -g partslist1 -o aic.pl1 ${FILES}
-clean:
- rm -f *.aux *.log *~ *.bak *.bbl *.blg *.old aicconn.ps aicpower.ps aictini.ps *.eps *.dvi
+aic.pl2: ${FILES}
+ gnetlist -g partslist2 -o aic.pl2 ${FILES}
+
+aic.pl3: ${FILES}
+ gnetlist -g partslist3 -o aic.pl3 ${FILES}
-distclean: clean
- rm -f aic*.pdf aic.net aic.bom aic.bpp aic.xrf
- rm -rf html
+aic.net: ${FILES}
+ gnetlist -g PCB -o aic.net ${FILES}
-update: $(SCHEMS)
- gschupdate $(SCHEMS)
+#aic.pdf: aic.ps
+# ps2pdf aic.ps
+
+#aic.ps: modem.ps lpifc.ps option.ps \
+# aic_pin_silk.ps aic_assembly.ps aic_fab.ps \
+# aic_front.ps aic_frontmask.ps aic_frontsilk.ps \
+# aic_back.ps aic_backmask.ps
+# cat modem.ps lpifc.ps option.ps \
+# aic_assembly.ps aic_fab.ps \
+# aic_front.ps aic_frontmask.ps aic_frontsilk.ps \
+# aic_back.ps aic_backmask.ps \
+# aic_pin_silk.ps > tmp.ps
+# ps2ps tmp.ps aic.ps
+
+#aic.pcb: ${FILES} project
+# gsch2pcb project
+
+#aic_pin_silk.ps: aic_frontsilk.ps aic_front.ps
+# MergePCBPS aic_frontsilk.ps aic_front.ps > aic_pin_silk.ps
+
+clean:
+ rm -rf *.log *~ tmp.ps aicpic.ps aicpower.ps *.bak* aic_pin_silk.ps *.eps aic.pcb-
+
+mrproper: clean
+ rm -rf *.drc *.bom *.bpp *.xrf *.csv *.pl1 *.pl2 *.pl3 *.net aic.pdf *.tgz
+
+distclean: mrproper
+ rm -rf aicpic.ps aicpower.ps
--- /dev/null
+G04 start of page 2 for group 0 idx 0 *\r
+G04 Title: (unknown), solder *\r
+G04 Creator: pcb 20100929 *\r
+G04 CreationDate: Thu 18 Nov 2010 07:40:28 PM GMT UTC *\r
+G04 For: andrenb *\r
+G04 Format: Gerber/RS-274X *\r
+G04 PCB-Dimensions: 710000 410000 *\r
+G04 PCB-Coordinate-Origin: lower left *\r
+%MOIN*%\r
+%FSLAX25Y25*%\r
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--- /dev/null
+G04 start of page 6 for group -4062 idx -4062 *\r
+G04 Title: (unknown), soldermask *\r
+G04 Creator: pcb 20100929 *\r
+G04 CreationDate: Thu 18 Nov 2010 07:40:28 PM GMT UTC *\r
+G04 For: andrenb *\r
+G04 Format: Gerber/RS-274X *\r
+G04 PCB-Dimensions: 710000 410000 *\r
+G04 PCB-Coordinate-Origin: lower left *\r
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+++ /dev/null
-@misc{ftpfs,
-title="{FTP} File System",
-note="http://ftpfs.sourceforge.net",
-key="FTP File System"}
-
-@misc{javasdk,
-title="{Java 2 SDK}, Standard Edition",
-note="http://java.sun.com/j2se/1.4",
-key="Java 2 {SDK}, Standard Edition"}
-
-@misc{javax.comm,
-title="{Java} extension for Communication ({Java} communications {API})",
-note="http://java.sun.com/products/javacomm",
-key="Java extension for Communication ({Java} communications {API})"}
-
-@misc{sdcc,
-title="{SDCC} - a Freeware, retargettable, optimizing {ANSI-C} compiler",
-note="http://sdcc.sourceforge.net",
-key="SDCC"}
-
-@misc{slush,
-title="{Slush}",
-note="docs/Slush.txt in ftp://ftp.dalsemi.com/pub/tini/tini1\underline{~}10.tgz",
-key="Slush"}
-
-@misc{rxtx,
-title="{RXTX}",
-note="http://www.rxtx.org",
-key="{RXTX}"}
-
-@misc{tinisdk,
-title="{TINI} Runtime Environment",
-note="ftp://ftp.dalsemi.com/pub/tini/tini1 \underline{~} 10.tgz",
-key="{TINI} Runtime Environment"}
-
-@book{tinispec,
-title="The {TINI} Specification and Developers Guide",
-author="Don Loomis",
-publisher="Addison-Wesley",
-address="Boston, MA",
-month="Jun",
-year="2001",
-note="http://www.ibutton.org/TINI/tinispec.pdf"}
-
+++ /dev/null
-/** @mainpage Actuator Interface Card
-
-@author Walter Fetter Lages <w.fetter@ieee.org>
-
-@section intro Introduction
-
-The operation of AIC and its communication with host computer is
-supported by the class libraries AIC.jar and libaic.a. The AIC.jar package
-is used by Java programs executing in AIC, while libaic.a is used by C++
-programs executing in host computer.
-
-Classes in AIC.jar implement the @ref aichardware.
-
-Classes in libaic.a implement the @ref aichost and the @ref aicsim.
-*/
-
--- /dev/null
+G04 start of page 8 for group -3984 idx -3984 *\r
+G04 Title: (unknown), fab *\r
+G04 Creator: pcb 20100929 *\r
+G04 CreationDate: Thu 18 Nov 2010 07:40:28 PM GMT UTC *\r
+G04 For: andrenb *\r
+G04 Format: Gerber/RS-274X *\r
+G04 PCB-Dimensions: 710000 410000 *\r
+G04 PCB-Coordinate-Origin: lower left *\r
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--- /dev/null
+G04 start of page 3 for group 1 idx 3 *\r
+G04 Title: (unknown), component *\r
+G04 Creator: pcb 20100929 *\r
+G04 CreationDate: Thu 18 Nov 2010 07:40:28 PM GMT UTC *\r
+G04 For: andrenb *\r
+G04 Format: Gerber/RS-274X *\r
+G04 PCB-Dimensions: 710000 410000 *\r
+G04 PCB-Coordinate-Origin: lower left *\r
+%MOIN*%\r
+%FSLAX25Y25*%\r
+%LNFRONT*%\r
+%ADD11C,0.0100*%\r
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--- /dev/null
+G04 start of page 5 for group -4063 idx -4063 *\r
+G04 Title: (unknown), componentmask *\r
+G04 Creator: pcb 20100929 *\r
+G04 CreationDate: Thu 18 Nov 2010 07:40:28 PM GMT UTC *\r
+G04 For: andrenb *\r
+G04 Format: Gerber/RS-274X *\r
+G04 PCB-Dimensions: 710000 410000 *\r
+G04 PCB-Coordinate-Origin: lower left *\r
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--- /dev/null
+G04 start of page 8 for group -4015 idx -4015\r
+G04 Title: (unknown), toppaste *\r
+G04 Creator: pcb 20080202 *\r
+G04 CreationDate: Mon 28 Apr 2008 09:29:18 PM GMT UTC *\r
+G04 For: fetter *\r
+G04 Format: Gerber/RS-274X *\r
+G04 PCB-Dimensions: 710000 410000 *\r
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--- /dev/null
+G04 start of page 7 for group -4079 idx -4079 *\r
+G04 Title: (unknown), topsilk *\r
+G04 Creator: pcb 20100929 *\r
+G04 CreationDate: Thu 18 Nov 2010 07:40:28 PM GMT UTC *\r
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- SymbolLine(15 0 20 5 8)
- SymbolLine(20 5 20 35 8)
- SymbolLine(15 40 20 35 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(10 30 20 40 8)
+ SymbolLine(0 15 0 45 8)
+ SymbolLine(0 15 5 10 8)
+ SymbolLine(5 10 15 10 8)
+ SymbolLine(15 10 20 15 8)
+ SymbolLine(20 15 20 45 8)
+ SymbolLine(15 50 20 45 8)
+ SymbolLine(5 50 15 50 8)
+ SymbolLine(0 45 5 50 8)
+ SymbolLine(10 40 20 50 8)
)
Symbol('R' 12)
(
- SymbolLine(0 0 20 0 8)
- SymbolLine(20 0 25 5 8)
- SymbolLine(25 5 25 15 8)
- SymbolLine(20 20 25 15 8)
- SymbolLine(5 20 20 20 8)
- SymbolLine(5 0 5 40 8)
- SymbolLine(5 20 25 40 8)
+ SymbolLine(0 10 20 10 8)
+ SymbolLine(20 10 25 15 8)
+ SymbolLine(25 15 25 25 8)
+ SymbolLine(20 30 25 25 8)
+ SymbolLine(5 30 20 30 8)
+ SymbolLine(5 10 5 50 8)
+ SymbolLine(5 30 25 50 8)
)
Symbol('S' 12)
(
- SymbolLine(20 0 25 5 8)
- SymbolLine(5 0 20 0 8)
- SymbolLine(0 5 5 0 8)
- SymbolLine(0 5 0 15 8)
- SymbolLine(0 15 5 20 8)
- SymbolLine(5 20 20 20 8)
- SymbolLine(20 20 25 25 8)
- SymbolLine(25 25 25 35 8)
- SymbolLine(20 40 25 35 8)
- SymbolLine(5 40 20 40 8)
- SymbolLine(0 35 5 40 8)
+ SymbolLine(20 10 25 15 8)
+ SymbolLine(5 10 20 10 8)
+ SymbolLine(0 15 5 10 8)
+ SymbolLine(0 15 0 25 8)
+ SymbolLine(0 25 5 30 8)
+ SymbolLine(5 30 20 30 8)
+ SymbolLine(20 30 25 35 8)
+ SymbolLine(25 35 25 45 8)
+ SymbolLine(20 50 25 45 8)
+ SymbolLine(5 50 20 50 8)
+ SymbolLine(0 45 5 50 8)
)
Symbol('T' 12)
(
- SymbolLine(0 0 20 0 8)
- SymbolLine(10 0 10 40 8)
+ SymbolLine(0 10 20 10 8)
+ SymbolLine(10 10 10 50 8)
)
Symbol('U' 12)
(
- SymbolLine(0 0 0 35 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(15 40 20 35 8)
- SymbolLine(20 0 20 35 8)
+ SymbolLine(0 10 0 45 8)
+ SymbolLine(0 45 5 50 8)
+ SymbolLine(5 50 15 50 8)
+ SymbolLine(15 50 20 45 8)
+ SymbolLine(20 10 20 45 8)
)
Symbol('V' 12)
(
- SymbolLine(0 0 0 30 8)
- SymbolLine(0 30 10 40 8)
- SymbolLine(10 40 20 30 8)
- SymbolLine(20 0 20 30 8)
+ SymbolLine(0 10 0 40 8)
+ SymbolLine(0 40 10 50 8)
+ SymbolLine(10 50 20 40 8)
+ SymbolLine(20 10 20 40 8)
)
Symbol('W' 12)
(
- SymbolLine(0 0 0 40 8)
- SymbolLine(0 40 15 25 8)
- SymbolLine(15 25 30 40 8)
- SymbolLine(30 0 30 40 8)
+ SymbolLine(0 10 0 50 8)
+ SymbolLine(0 50 15 35 8)
+ SymbolLine(15 35 30 50 8)
+ SymbolLine(30 10 30 50 8)
)
Symbol('X' 12)
(
- SymbolLine(0 0 0 5 8)
- SymbolLine(0 5 25 30 8)
- SymbolLine(25 30 25 40 8)
- SymbolLine(0 30 0 40 8)
- SymbolLine(0 30 25 5 8)
- SymbolLine(25 0 25 5 8)
+ SymbolLine(0 10 0 15 8)
+ SymbolLine(0 15 25 40 8)
+ SymbolLine(25 40 25 50 8)
+ SymbolLine(0 40 0 50 8)
+ SymbolLine(0 40 25 15 8)
+ SymbolLine(25 10 25 15 8)
)
Symbol('Y' 12)
(
- SymbolLine(0 0 0 5 8)
- SymbolLine(0 5 10 15 8)
- SymbolLine(10 15 20 5 8)
- SymbolLine(20 0 20 5 8)
- SymbolLine(10 15 10 40 8)
+ SymbolLine(0 10 0 15 8)
+ SymbolLine(0 15 10 25 8)
+ SymbolLine(10 25 20 15 8)
+ SymbolLine(20 10 20 15 8)
+ SymbolLine(10 25 10 50 8)
)
Symbol('Z' 12)
(
- SymbolLine(0 0 25 0 8)
- SymbolLine(25 0 25 5 8)
- SymbolLine(0 30 25 5 8)
- SymbolLine(0 30 0 40 8)
- SymbolLine(0 40 25 40 8)
+ SymbolLine(0 10 25 10 8)
+ SymbolLine(25 10 25 15 8)
+ SymbolLine(0 40 25 15 8)
+ SymbolLine(0 40 0 50 8)
+ SymbolLine(0 50 25 50 8)
)
Symbol('[' 12)
(
- SymbolLine(0 0 5 0 8)
- SymbolLine(0 0 0 40 8)
- SymbolLine(0 40 5 40 8)
+ SymbolLine(0 10 5 10 8)
+ SymbolLine(0 10 0 50 8)
+ SymbolLine(0 50 5 50 8)
)
Symbol('\' 12)
(
- SymbolLine(0 5 30 35 8)
+ SymbolLine(0 15 30 45 8)
)
Symbol(']' 12)
(
- SymbolLine(0 0 5 0 8)
- SymbolLine(5 0 5 40 8)
- SymbolLine(0 40 5 40 8)
+ SymbolLine(0 10 5 10 8)
+ SymbolLine(5 10 5 50 8)
+ SymbolLine(0 50 5 50 8)
)
Symbol('^' 12)
(
- SymbolLine(0 5 5 0 8)
- SymbolLine(5 0 10 5 8)
+ SymbolLine(0 15 5 10 8)
+ SymbolLine(5 10 10 15 8)
)
Symbol('_' 12)
(
- SymbolLine(0 40 20 40 8)
+ SymbolLine(0 50 20 50 8)
)
Symbol('a' 12)
(
- SymbolLine(15 20 20 25 8)
- SymbolLine(5 20 15 20 8)
- SymbolLine(0 25 5 20 8)
- SymbolLine(0 25 0 35 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(20 20 20 35 8)
- SymbolLine(20 35 25 40 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(15 40 20 35 8)
+ SymbolLine(15 30 20 35 8)
+ SymbolLine(5 30 15 30 8)
+ SymbolLine(0 35 5 30 8)
+ SymbolLine(0 35 0 45 8)
+ SymbolLine(0 45 5 50 8)
+ SymbolLine(20 30 20 45 8)
+ SymbolLine(20 45 25 50 8)
+ SymbolLine(5 50 15 50 8)
+ SymbolLine(15 50 20 45 8)
)
Symbol('b' 12)
(
- SymbolLine(0 0 0 40 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(15 40 20 35 8)
- SymbolLine(20 25 20 35 8)
- SymbolLine(15 20 20 25 8)
- SymbolLine(5 20 15 20 8)
- SymbolLine(0 25 5 20 8)
+ SymbolLine(0 10 0 50 8)
+ SymbolLine(0 45 5 50 8)
+ SymbolLine(5 50 15 50 8)
+ SymbolLine(15 50 20 45 8)
+ SymbolLine(20 35 20 45 8)
+ SymbolLine(15 30 20 35 8)
+ SymbolLine(5 30 15 30 8)
+ SymbolLine(0 35 5 30 8)
)
Symbol('c' 12)
(
- SymbolLine(5 20 20 20 8)
- SymbolLine(0 25 5 20 8)
- SymbolLine(0 25 0 35 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(5 40 20 40 8)
+ SymbolLine(5 30 20 30 8)
+ SymbolLine(0 35 5 30 8)
+ SymbolLine(0 35 0 45 8)
+ SymbolLine(0 45 5 50 8)
+ SymbolLine(5 50 20 50 8)
)
Symbol('d' 12)
(
- SymbolLine(20 0 20 40 8)
- SymbolLine(15 40 20 35 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(0 25 0 35 8)
- SymbolLine(0 25 5 20 8)
- SymbolLine(5 20 15 20 8)
- SymbolLine(15 20 20 25 8)
+ SymbolLine(20 10 20 50 8)
+ SymbolLine(15 50 20 45 8)
+ SymbolLine(5 50 15 50 8)
+ SymbolLine(0 45 5 50 8)
+ SymbolLine(0 35 0 45 8)
+ SymbolLine(0 35 5 30 8)
+ SymbolLine(5 30 15 30 8)
+ SymbolLine(15 30 20 35 8)
)
Symbol('e' 12)
(
- SymbolLine(5 40 20 40 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(0 25 0 35 8)
- SymbolLine(0 25 5 20 8)
- SymbolLine(5 20 15 20 8)
- SymbolLine(15 20 20 25 8)
- SymbolLine(0 30 20 30 8)
- SymbolLine(20 30 20 25 8)
+ SymbolLine(5 50 20 50 8)
+ SymbolLine(0 45 5 50 8)
+ SymbolLine(0 35 0 45 8)
+ SymbolLine(0 35 5 30 8)
+ SymbolLine(5 30 15 30 8)
+ SymbolLine(15 30 20 35 8)
+ SymbolLine(0 40 20 40 8)
+ SymbolLine(20 40 20 35 8)
)
Symbol('f' 10)
(
- SymbolLine(5 5 5 40 8)
- SymbolLine(5 5 10 0 8)
- SymbolLine(10 0 15 0 8)
- SymbolLine(0 20 10 20 8)
+ SymbolLine(5 15 5 50 8)
+ SymbolLine(5 15 10 10 8)
+ SymbolLine(10 10 15 10 8)
+ SymbolLine(0 30 10 30 8)
)
Symbol('g' 12)
(
- SymbolLine(15 20 20 25 8)
- SymbolLine(5 20 15 20 8)
- SymbolLine(0 25 5 20 8)
- SymbolLine(0 25 0 35 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(15 40 20 35 8)
- SymbolLine(0 50 5 55 8)
- SymbolLine(5 55 15 55 8)
- SymbolLine(15 55 20 50 8)
- SymbolLine(20 20 20 50 8)
+ SymbolLine(15 30 20 35 8)
+ SymbolLine(5 30 15 30 8)
+ SymbolLine(0 35 5 30 8)
+ SymbolLine(0 35 0 45 8)
+ SymbolLine(0 45 5 50 8)
+ SymbolLine(5 50 15 50 8)
+ SymbolLine(15 50 20 45 8)
+ SymbolLine(0 60 5 65 8)
+ SymbolLine(5 65 15 65 8)
+ SymbolLine(15 65 20 60 8)
+ SymbolLine(20 30 20 60 8)
)
Symbol('h' 12)
(
- SymbolLine(0 0 0 40 8)
- SymbolLine(0 25 5 20 8)
- SymbolLine(5 20 15 20 8)
- SymbolLine(15 20 20 25 8)
- SymbolLine(20 25 20 40 8)
+ SymbolLine(0 10 0 50 8)
+ SymbolLine(0 35 5 30 8)
+ SymbolLine(5 30 15 30 8)
+ SymbolLine(15 30 20 35 8)
+ SymbolLine(20 35 20 50 8)
)
Symbol('i' 10)
(
- SymbolLine(0 10 0 15 8)
- SymbolLine(0 25 0 40 8)
+ SymbolLine(0 20 0 25 8)
+ SymbolLine(0 35 0 50 8)
)
Symbol('j' 10)
(
- SymbolLine(5 10 5 15 8)
- SymbolLine(5 25 5 50 8)
- SymbolLine(0 55 5 50 8)
+ SymbolLine(5 20 5 25 8)
+ SymbolLine(5 35 5 60 8)
+ SymbolLine(0 65 5 60 8)
)
Symbol('k' 12)
(
- SymbolLine(0 0 0 40 8)
- SymbolLine(0 25 15 40 8)
- SymbolLine(0 25 10 15 8)
+ SymbolLine(0 10 0 50 8)
+ SymbolLine(0 35 15 50 8)
+ SymbolLine(0 35 10 25 8)
)
Symbol('l' 10)
(
- SymbolLine(0 0 0 35 8)
- SymbolLine(0 35 5 40 8)
+ SymbolLine(0 10 0 45 8)
+ SymbolLine(0 45 5 50 8)
)
Symbol('m' 12)
(
- SymbolLine(5 25 5 40 8)
- SymbolLine(5 25 10 20 8)
- SymbolLine(10 20 15 20 8)
- SymbolLine(15 20 20 25 8)
- SymbolLine(20 25 20 40 8)
- SymbolLine(20 25 25 20 8)
- SymbolLine(25 20 30 20 8)
- SymbolLine(30 20 35 25 8)
- SymbolLine(35 25 35 40 8)
- SymbolLine(0 20 5 25 8)
+ SymbolLine(5 35 5 50 8)
+ SymbolLine(5 35 10 30 8)
+ SymbolLine(10 30 15 30 8)
+ SymbolLine(15 30 20 35 8)
+ SymbolLine(20 35 20 50 8)
+ SymbolLine(20 35 25 30 8)
+ SymbolLine(25 30 30 30 8)
+ SymbolLine(30 30 35 35 8)
+ SymbolLine(35 35 35 50 8)
+ SymbolLine(0 30 5 35 8)
)
Symbol('n' 12)
(
- SymbolLine(5 25 5 40 8)
- SymbolLine(5 25 10 20 8)
- SymbolLine(10 20 15 20 8)
- SymbolLine(15 20 20 25 8)
- SymbolLine(20 25 20 40 8)
- SymbolLine(0 20 5 25 8)
+ SymbolLine(5 35 5 50 8)
+ SymbolLine(5 35 10 30 8)
+ SymbolLine(10 30 15 30 8)
+ SymbolLine(15 30 20 35 8)
+ SymbolLine(20 35 20 50 8)
+ SymbolLine(0 30 5 35 8)
)
Symbol('o' 12)
(
- SymbolLine(0 25 0 35 8)
- SymbolLine(0 25 5 20 8)
- SymbolLine(5 20 15 20 8)
- SymbolLine(15 20 20 25 8)
- SymbolLine(20 25 20 35 8)
- SymbolLine(15 40 20 35 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(0 35 5 40 8)
+ SymbolLine(0 35 0 45 8)
+ SymbolLine(0 35 5 30 8)
+ SymbolLine(5 30 15 30 8)
+ SymbolLine(15 30 20 35 8)
+ SymbolLine(20 35 20 45 8)
+ SymbolLine(15 50 20 45 8)
+ SymbolLine(5 50 15 50 8)
+ SymbolLine(0 45 5 50 8)
)
Symbol('p' 12)
(
- SymbolLine(5 25 5 55 8)
- SymbolLine(0 20 5 25 8)
- SymbolLine(5 25 10 20 8)
- SymbolLine(10 20 20 20 8)
- SymbolLine(20 20 25 25 8)
- SymbolLine(25 25 25 35 8)
- SymbolLine(20 40 25 35 8)
- SymbolLine(10 40 20 40 8)
- SymbolLine(5 35 10 40 8)
+ SymbolLine(5 35 5 65 8)
+ SymbolLine(0 30 5 35 8)
+ SymbolLine(5 35 10 30 8)
+ SymbolLine(10 30 20 30 8)
+ SymbolLine(20 30 25 35 8)
+ SymbolLine(25 35 25 45 8)
+ SymbolLine(20 50 25 45 8)
+ SymbolLine(10 50 20 50 8)
+ SymbolLine(5 45 10 50 8)
)
Symbol('q' 12)
(
- SymbolLine(20 25 20 55 8)
- SymbolLine(15 20 20 25 8)
- SymbolLine(5 20 15 20 8)
- SymbolLine(0 25 5 20 8)
- SymbolLine(0 25 0 35 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(15 40 20 35 8)
+ SymbolLine(20 35 20 65 8)
+ SymbolLine(15 30 20 35 8)
+ SymbolLine(5 30 15 30 8)
+ SymbolLine(0 35 5 30 8)
+ SymbolLine(0 35 0 45 8)
+ SymbolLine(0 45 5 50 8)
+ SymbolLine(5 50 15 50 8)
+ SymbolLine(15 50 20 45 8)
)
Symbol('r' 12)
(
- SymbolLine(5 25 5 40 8)
- SymbolLine(5 25 10 20 8)
- SymbolLine(10 20 20 20 8)
- SymbolLine(0 20 5 25 8)
+ SymbolLine(5 35 5 50 8)
+ SymbolLine(5 35 10 30 8)
+ SymbolLine(10 30 20 30 8)
+ SymbolLine(0 30 5 35 8)
)
Symbol('s' 12)
(
+ SymbolLine(5 50 20 50 8)
+ SymbolLine(20 50 25 45 8)
+ SymbolLine(20 40 25 45 8)
SymbolLine(5 40 20 40 8)
- SymbolLine(20 40 25 35 8)
- SymbolLine(20 30 25 35 8)
- SymbolLine(5 30 20 30 8)
- SymbolLine(0 25 5 30 8)
- SymbolLine(0 25 5 20 8)
- SymbolLine(5 20 20 20 8)
- SymbolLine(20 20 25 25 8)
SymbolLine(0 35 5 40 8)
+ SymbolLine(0 35 5 30 8)
+ SymbolLine(5 30 20 30 8)
+ SymbolLine(20 30 25 35 8)
+ SymbolLine(0 45 5 50 8)
)
Symbol('t' 10)
(
- SymbolLine(5 0 5 35 8)
- SymbolLine(5 35 10 40 8)
- SymbolLine(0 15 10 15 8)
+ SymbolLine(5 10 5 45 8)
+ SymbolLine(5 45 10 50 8)
+ SymbolLine(0 25 10 25 8)
)
Symbol('u' 12)
(
- SymbolLine(0 20 0 35 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(15 40 20 35 8)
- SymbolLine(20 20 20 35 8)
+ SymbolLine(0 30 0 45 8)
+ SymbolLine(0 45 5 50 8)
+ SymbolLine(5 50 15 50 8)
+ SymbolLine(15 50 20 45 8)
+ SymbolLine(20 30 20 45 8)
)
Symbol('v' 12)
(
- SymbolLine(0 20 0 30 8)
- SymbolLine(0 30 10 40 8)
- SymbolLine(10 40 20 30 8)
- SymbolLine(20 20 20 30 8)
+ SymbolLine(0 30 0 40 8)
+ SymbolLine(0 40 10 50 8)
+ SymbolLine(10 50 20 40 8)
+ SymbolLine(20 30 20 40 8)
)
Symbol('w' 12)
(
- SymbolLine(0 20 0 35 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(5 40 10 40 8)
- SymbolLine(10 40 15 35 8)
- SymbolLine(15 20 15 35 8)
- SymbolLine(15 35 20 40 8)
- SymbolLine(20 40 25 40 8)
- SymbolLine(25 40 30 35 8)
- SymbolLine(30 20 30 35 8)
+ SymbolLine(0 30 0 45 8)
+ SymbolLine(0 45 5 50 8)
+ SymbolLine(5 50 10 50 8)
+ SymbolLine(10 50 15 45 8)
+ SymbolLine(15 30 15 45 8)
+ SymbolLine(15 45 20 50 8)
+ SymbolLine(20 50 25 50 8)
+ SymbolLine(25 50 30 45 8)
+ SymbolLine(30 30 30 45 8)
)
Symbol('x' 12)
(
- SymbolLine(0 20 20 40 8)
- SymbolLine(0 40 20 20 8)
+ SymbolLine(0 30 20 50 8)
+ SymbolLine(0 50 20 30 8)
)
Symbol('y' 12)
(
- SymbolLine(0 20 0 35 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(20 20 20 50 8)
- SymbolLine(15 55 20 50 8)
- SymbolLine(5 55 15 55 8)
- SymbolLine(0 50 5 55 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(15 40 20 35 8)
+ SymbolLine(0 30 0 45 8)
+ SymbolLine(0 45 5 50 8)
+ SymbolLine(20 30 20 60 8)
+ SymbolLine(15 65 20 60 8)
+ SymbolLine(5 65 15 65 8)
+ SymbolLine(0 60 5 65 8)
+ SymbolLine(5 50 15 50 8)
+ SymbolLine(15 50 20 45 8)
)
Symbol('z' 12)
(
- SymbolLine(0 20 20 20 8)
- SymbolLine(0 40 20 20 8)
- SymbolLine(0 40 20 40 8)
+ SymbolLine(0 30 20 30 8)
+ SymbolLine(0 50 20 30 8)
+ SymbolLine(0 50 20 50 8)
)
Symbol('{' 12)
(
- SymbolLine(5 5 10 0 8)
- SymbolLine(5 5 5 15 8)
- SymbolLine(0 20 5 15 8)
- SymbolLine(0 20 5 25 8)
- SymbolLine(5 25 5 35 8)
- SymbolLine(5 35 10 40 8)
+ SymbolLine(5 15 10 10 8)
+ SymbolLine(5 15 5 25 8)
+ SymbolLine(0 30 5 25 8)
+ SymbolLine(0 30 5 35 8)
+ SymbolLine(5 35 5 45 8)
+ SymbolLine(5 45 10 50 8)
)
Symbol('|' 12)
(
- SymbolLine(0 0 0 40 8)
+ SymbolLine(0 10 0 50 8)
)
Symbol('}' 12)
(
- SymbolLine(0 0 5 5 8)
- SymbolLine(5 5 5 15 8)
- SymbolLine(5 15 10 20 8)
- SymbolLine(5 25 10 20 8)
- SymbolLine(5 25 5 35 8)
- SymbolLine(0 40 5 35 8)
+ SymbolLine(0 10 5 15 8)
+ SymbolLine(5 15 5 25 8)
+ SymbolLine(5 25 10 30 8)
+ SymbolLine(5 35 10 30 8)
+ SymbolLine(5 35 5 45 8)
+ SymbolLine(0 50 5 45 8)
)
Symbol('~' 12)
(
- SymbolLine(0 25 5 20 8)
- SymbolLine(5 20 10 20 8)
- SymbolLine(10 20 15 25 8)
- SymbolLine(15 25 20 25 8)
- SymbolLine(20 25 25 20 8)
-)
-Via(4750 3425 60 35 "" 0x00000002)
-Via(4900 3425 60 35 "" 0x00000002)
-Via(5600 3425 60 35 "" 0x00000002)
-Via(6025 2600 60 35 "" 0x00000002)
-Via(5400 2600 60 35 "" 0x00000002)
-Via(5400 3075 60 35 "" 0x00000002)
-Via(6025 3075 60 35 "" 0x00000002)
-Via(5925 2775 60 35 "" 0x00000002)
-Via(6125 2875 60 35 "" 0x00000002)
-Via(5400 3275 60 35 "" 0x00000002)
-Via(3950 3175 60 35 "" 0x00000002)
-Via(4750 3175 60 35 "" 0x00000002)
-Via(6225 3425 60 35 "" 0x00000002)
-Via(6125 2675 60 35 "" 0x00000002)
-Via(5925 2225 60 35 "" 0x00000002)
-Via(4625 3425 60 35 "" 0x00000002)
-Via(5625 2200 60 35 "" 0x00000002)
-Via(6225 1025 60 35 "" 0x00000002)
-Via(6475 1025 60 35 "" 0x00000002)
-Via(5675 1075 60 35 "" 0x00000002)
-Via(5975 475 60 35 "" 0x00000002)
-Via(5375 475 60 35 "" 0x00000002)
-Via(4875 475 60 35 "" 0x00000002)
-Via(5175 400 60 35 "" 0x00000002)
-Via(5775 400 60 35 "" 0x00000002)
-Via(4025 725 60 35 "" 0x00000002)
-Via(4875 725 60 35 "" 0x00000002)
-Via(5375 725 60 35 "" 0x00000002)
-Via(5925 725 60 35 "" 0x00000002)
-Via(4975 950 60 35 "" 0x00000002)
-Via(1400 950 60 35 "" 0x00000002)
-Via(1750 950 60 35 "" 0x00000002)
-Via(2375 950 60 35 "" 0x00000002)
-Via(3225 3175 60 35 "" 0x00000002)
-Via(3275 3925 60 35 "" 0x00000002)
-Via(2400 2450 60 35 "" 0x00000002)
-Via(2700 2450 60 35 "" 0x00000002)
-Via(1400 2450 60 35 "" 0x00000002)
-Via(1300 2800 60 35 "" 0x00000002)
-Via(1300 2900 60 35 "" 0x00000002)
-Via(2525 2875 40 20 "" 0x00000002)
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-Via(5250 1000 60 35 "" 0x00000002)
-Via(3150 1000 60 35 "" 0x00000002)
-Via(4475 950 60 35 "" 0x00000002)
-Via(2025 3050 60 35 "" 0x00000002)
-Via(1275 3925 60 35 "" 0x00000002)
-Via(2125 3925 60 35 "" 0x00000002)
-Via(2725 3925 60 35 "" 0x00000002)
-Via(3600 3175 60 35 "" 0x00000002)
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-Via(2100 675 40 20 "" 0x00000002)
-Via(1150 1125 40 20 "" 0x00000002)
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-Via(5125 800 40 20 "" 0x00000002)
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-Via(3550 1300 40 20 "" 0x00000002)
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-Via(2550 1200 40 20 "" 0x00000002)
-Via(2650 1200 40 20 "" 0x00000002)
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-Via(2500 1300 40 20 "" 0x00000002)
-Via(2600 1050 40 20 "" 0x00000002)
-Via(2450 1050 40 20 "" 0x00000002)
-Via(2850 1200 40 20 "" 0x00000002)
-Via(3000 1200 40 20 "" 0x00000002)
-Via(2900 1250 40 20 "" 0x00000002)
-Via(3100 1250 40 20 "" 0x00000002)
-Via(2950 1375 40 20 "" 0x00000002)
-Via(3225 1375 40 20 "" 0x00000002)
-Via(1450 1375 40 20 "" 0x00000002)
-Via(1550 1250 40 20 "" 0x00000002)
-Via(1600 1000 40 20 "" 0x00000002)
-Via(3000 1000 40 20 "" 0x00000002)
-Via(1700 1425 40 20 "" 0x00000002)
-Via(2800 1425 40 20 "" 0x00000002)
-Via(1800 1325 40 20 "" 0x00000002)
-Via(2750 1300 40 20 "" 0x00000002)
-Via(1900 1050 40 20 "" 0x00000002)
-Via(2700 1050 40 20 "" 0x00000002)
-Via(2000 2550 40 20 "" 0x00000002)
-Via(2700 2550 40 20 "" 0x00000002)
-Via(3225 2450 60 35 "" 0x00000002)
-Via(3500 2500 40 20 "" 0x00000002)
-Via(2025 2825 40 20 "" 0x00000002)
-Via(2200 2825 40 20 "" 0x00000002)
-Via(2575 2500 40 20 "" 0x00000002)
-Via(2100 2500 40 20 "" 0x00000002)
-Via(2575 1975 40 20 "" 0x00000002)
-Via(2200 2250 60 35 "" 0x00000002)
-Via(2400 2250 60 35 "" 0x00000002)
-Via(3000 2125 40 20 "" 0x00000002)
-Via(2150 2125 40 20 "" 0x00000002)
-Via(3100 2175 40 20 "" 0x00000002)
-Via(2250 2175 40 20 "" 0x00000002)
-Via(2250 1950 40 20 "" 0x00000002)
-Via(3150 1925 40 20 "" 0x00000002)
-Via(1500 1875 40 20 "" 0x00000002)
-Via(3250 1875 40 20 "" 0x00000002)
-Via(2350 1875 40 20 "" 0x00000002)
-Via(3600 2525 40 20 "" 0x00000002)
-Via(2925 2225 40 20 "" 0x00000002)
-Via(1700 2175 40 20 "" 0x00000002)
-Via(2100 2300 40 20 "" 0x00000002)
-Via(3900 2250 40 20 "" 0x00000002)
-Via(2575 2775 40 20 "" 0x00000002)
-Via(3850 2775 40 20 "" 0x00000002)
-Via(1550 2825 40 20 "" 0x00000002)
-Via(3400 2825 40 20 "" 0x00000002)
-Via(2300 1825 40 20 "" 0x00000002)
-Via(2450 1825 40 20 "" 0x00000002)
-Via(2275 900 40 20 "" 0x00000002)
-Via(2550 900 40 20 "" 0x00000002)
-Via(2500 1725 40 20 "" 0x00000002)
-Via(1900 1750 40 20 "" 0x00000002)
-Via(1800 1700 40 20 "" 0x00000002)
-Via(4300 1975 40 20 "" 0x00000002)
-Via(3325 2700 60 35 "" 0x00000002)
-Via(2900 2650 40 20 "" 0x00000002)
-Via(4800 2650 40 20 "" 0x00000002)
-Via(4700 2900 60 35 "" 0x00000002)
-Via(4625 2825 40 20 "" 0x00000002)
-Via(3000 1775 40 20 "" 0x00000002)
-Via(4850 1775 40 20 "" 0x00000002)
-Via(3050 850 40 20 "" 0x00000002)
-Via(2750 850 40 20 "" 0x00000002)
-Via(3300 800 40 20 "" 0x00000002)
-Via(2850 800 40 20 "" 0x00000002)
-Via(3500 2200 40 20 "" 0x00000002)
-Via(3650 2200 40 20 "" 0x00000002)
-Via(3550 3850 40 20 "" 0x00000002)
-Via(2975 3525 60 35 "" 0x00000002)
-Via(3750 3600 40 20 "" 0x00000002)
-Via(1075 1475 40 20 "" 0x00000002)
-Via(1220 1605 40 20 "" 0x00000002)
-Via(4500 1825 40 20 "" 0x00000002)
-Via(2625 3525 40 20 "" 0x00000002)
-Via(3275 3525 40 20 "" 0x00000002)
-Via(4000 2250 40 20 "" 0x00000002)
-Via(4050 2150 40 20 "" 0x00000002)
-Via(4100 2050 40 20 "" 0x00000002)
-Via(1050 2700 40 20 "" 0x00000002)
-Via(4150 2725 40 20 "" 0x00000002)
-Via(4025 2500 40 20 "" 0x00000002)
-Via(2225 3100 40 20 "" 0x00000002)
-Via(4025 3100 40 20 "" 0x00000002)
-Via(5200 2600 40 20 "" 0x00000002)
-Via(5200 3375 40 20 "" 0x00000002)
-Via(2100 3225 40 20 "" 0x00000002)
-Via(5700 3225 40 20 "" 0x00000002)
-Via(5700 2450 40 20 "" 0x00000002)
-Via(5300 3275 40 20 "" 0x00000002)
-Via(2825 3300 40 20 "" 0x00000002)
-Via(3275 3050 40 20 "" 0x00000002)
-Via(495 3300 40 20 "" 0x00000002)
-Via(1300 2550 60 35 "" 0x00000002)
-Via(765 2570 40 20 "" 0x00000002)
-Via(905 3055 40 20 "" 0x00000002)
-Via(5925 3600 60 35 "" 0x00000002)
-Via(4050 3425 60 35 "" 0x00000002)
-
-Element(0x00000000 "eurocard1" "" "EUROCARD1" 6810 50 3 100 0x00000000)
-(
- Pin(575 275 120 80 "M1" "1" 0x00000001)
- Pin(575 3762 120 80 "M2" "2" 0x00000001)
- Pin(6625 275 120 80 "M3" "3" 0x00000001)
- Pin(6625 3762 120 80 "M4" "4" 0x00000001)
- ElementLine (450 50 450 3987 20)
- ElementLine (450 3987 6750 3987 20)
- ElementLine (6750 3987 6750 50 20)
- ElementLine (6750 50 450 50 20)
- Mark (450 50)
-)
-
-Element(0x00000000 "R 0.25W" "R11" "330" 1035 3075 2 100 0x00000000)
-(
- Pin(1155 3055 60 35 "1" "1" 0x00000101)
- Pin(755 3055 60 35 "2" "2" 0x00000001)
- ElementLine (855 3055 755 3055 20)
- ElementLine (1155 3055 1055 3055 20)
- ElementLine (1055 3005 1055 3105 20)
- ElementLine (855 3005 1055 3005 20)
- ElementLine (855 3105 855 3005 20)
- ElementLine (1055 3105 855 3105 20)
- Mark (1155 3055)
-)
-
-Element(0x00000000 "generic" "U9" "LT1162" 1775 3555 0 100 0x00000000)
-(
- Pin(1725 3725 60 35 "1" "1" 0x00000101)
- Pin(1825 3725 60 35 "2" "2" 0x00000001)
- Pin(1925 3725 60 35 "3" "3" 0x00000001)
- Pin(2025 3725 60 35 "4" "4" 0x00000001)
- Pin(2125 3725 60 35 "5" "5" 0x00000001)
- Pin(2225 3725 60 35 "6" "6" 0x00000001)
- Pin(2325 3725 60 35 "7" "7" 0x00000001)
- Pin(2425 3725 60 35 "8" "8" 0x00000001)
- Pin(2525 3725 60 35 "9" "9" 0x00000001)
- Pin(2625 3725 60 35 "10" "10" 0x00000001)
- Pin(2725 3725 60 35 "11" "11" 0x00000001)
- Pin(2825 3725 60 35 "12" "12" 0x00000001)
- Pin(2825 3425 60 35 "13" "13" 0x00000001)
- Pin(2725 3425 60 35 "14" "14" 0x00000001)
- Pin(2625 3425 60 35 "15" "15" 0x00000001)
- Pin(2525 3425 60 35 "16" "16" 0x00000001)
- Pin(2425 3425 60 35 "17" "17" 0x00000001)
- Pin(2325 3425 60 35 "18" "18" 0x00000001)
- Pin(2225 3425 60 35 "19" "19" 0x00000001)
- Pin(2125 3425 60 35 "20" "20" 0x00000001)
- Pin(2025 3425 60 35 "21" "21" 0x00000001)
- Pin(1925 3425 60 35 "22" "22" 0x00000001)
- Pin(1825 3425 60 35 "23" "23" 0x00000001)
- Pin(1725 3425 60 35 "24" "24" 0x00000001)
- ElementLine (1675 3525 1675 3375 10)
- ElementLine (1675 3775 1675 3625 10)
- ElementLine (2875 3375 1675 3375 10)
- ElementLine (2875 3775 2875 3375 10)
- ElementLine (1675 3775 2875 3775 10)
- ElementArc (1675 3575 50 50 90 180 10)
- Mark (1725 3725)
-)
-
-Element(0x00000000 "capacitor_radial" "C3" "10uFx25V" 1225 3825 2 100 0x00000000)
-(
- Pin(1375 3725 60 35 "1" "1" 0x00000101)
- Pin(1275 3725 60 35 "2" "2" 0x00000001)
- ElementArc (1325 3725 100 100 180 360 10)
- Mark (1375 3725)
-)
-
-Element(0x00000000 "vertical, 95 mils center pole" "U1" "TINIm#90-RevD" 5800 1760 2 100 0x00000000)
-(
- Pin(5400 1625 60 35 "1" "1" 0x00000101)
- Pin(5350 1525 60 35 "2" "2" 0x00000001)
- Pin(5300 1625 60 35 "3" "3" 0x00000001)
- Pin(5250 1525 60 35 "4" "4" 0x00000001)
- Pin(5200 1625 60 35 "5" "5" 0x00000001)
- Pin(5150 1525 60 35 "6" "6" 0x00000001)
- Pin(5100 1625 60 35 "7" "7" 0x00000001)
- Pin(5050 1525 60 35 "8" "8" 0x00000001)
- Pin(5000 1625 60 35 "9" "9" 0x00000001)
- Pin(4950 1525 60 35 "10" "10" 0x00000001)
- Pin(4900 1625 60 35 "11" "11" 0x00000001)
- Pin(4850 1525 60 35 "12" "12" 0x00000001)
- Pin(4800 1625 60 35 "13" "13" 0x00000001)
- Pin(4750 1525 60 35 "14" "14" 0x00000001)
- Pin(4700 1625 60 35 "15" "15" 0x00000001)
- Pin(4650 1525 60 35 "16" "16" 0x00000001)
- Pin(4600 1625 60 35 "17" "17" 0x00000001)
- Pin(4550 1525 60 35 "18" "18" 0x00000001)
- Pin(4500 1625 60 35 "19" "19" 0x00000001)
- Pin(4450 1525 60 35 "20" "20" 0x00000001)
- Pin(4400 1625 60 35 "21" "21" 0x00000001)
- Pin(4350 1525 60 35 "22" "22" 0x00000001)
- Pin(4300 1625 60 35 "23" "23" 0x00000001)
- Pin(4250 1525 60 35 "24" "24" 0x00000001)
- Pin(4200 1625 60 35 "25" "25" 0x00000001)
- Pin(4150 1525 60 35 "26" "26" 0x00000001)
- Pin(4100 1625 60 35 "27" "27" 0x00000001)
- Pin(4050 1525 60 35 "28" "28" 0x00000001)
- Pin(4000 1625 60 35 "29" "29" 0x00000001)
- Pin(3950 1525 60 35 "30" "30" 0x00000001)
- Pin(3900 1625 60 35 "31" "31" 0x00000001)
- Pin(3850 1525 60 35 "32" "32" 0x00000001)
- Pin(3800 1625 60 35 "33" "33" 0x00000001)
- Pin(3750 1525 60 35 "34" "34" 0x00000001)
- Pin(3700 1625 60 35 "35" "35" 0x00000001)
- Pin(3650 1525 60 35 "36" "36" 0x00000001)
- Pin(3400 1625 60 35 "37" "37" 0x00000001)
- Pin(3350 1525 60 35 "38" "38" 0x00000001)
- Pin(3300 1625 60 35 "39" "39" 0x00000001)
- Pin(3250 1525 60 35 "40" "40" 0x00000001)
- Pin(3200 1625 60 35 "41" "41" 0x00000001)
- Pin(3150 1525 60 35 "42" "42" 0x00000001)
- Pin(3100 1625 60 35 "43" "43" 0x00000001)
- Pin(3050 1525 60 35 "44" "44" 0x00000001)
- Pin(3000 1625 60 35 "45" "45" 0x00000001)
- Pin(2950 1525 60 35 "46" "46" 0x00000001)
- Pin(2900 1625 60 35 "47" "47" 0x00000001)
- Pin(2850 1525 60 35 "48" "48" 0x00000001)
- Pin(2800 1625 60 35 "49" "49" 0x00000001)
- Pin(2750 1525 60 35 "50" "50" 0x00000001)
- Pin(2700 1625 60 35 "51" "51" 0x00000001)
- Pin(2650 1525 60 35 "52" "52" 0x00000001)
- Pin(2600 1625 60 35 "53" "53" 0x00000001)
- Pin(2550 1525 60 35 "54" "54" 0x00000001)
- Pin(2500 1625 60 35 "55" "55" 0x00000001)
- Pin(2450 1525 60 35 "56" "56" 0x00000001)
- Pin(2400 1625 60 35 "57" "57" 0x00000001)
- Pin(2350 1525 60 35 "58" "58" 0x00000001)
- Pin(2300 1625 60 35 "59" "59" 0x00000001)
- Pin(2250 1525 60 35 "60" "60" 0x00000001)
- Pin(2200 1625 60 35 "61" "61" 0x00000001)
- Pin(2150 1525 60 35 "62" "62" 0x00000001)
- Pin(2100 1625 60 35 "63" "63" 0x00000001)
- Pin(2050 1525 60 35 "64" "64" 0x00000001)
- Pin(2000 1625 60 35 "65" "65" 0x00000001)
- Pin(1950 1525 60 35 "66" "66" 0x00000001)
- Pin(1900 1625 60 35 "67" "67" 0x00000001)
- Pin(1850 1525 60 35 "68" "68" 0x00000001)
- Pin(1800 1625 60 35 "69" "69" 0x00000001)
- Pin(1750 1525 60 35 "70" "70" 0x00000001)
- Pin(1700 1625 60 35 "71" "71" 0x00000001)
- Pin(1650 1525 60 35 "72" "72" 0x00000001)
- Pin(5730 1575 80 60 "C1" "73" 0x00000001)
- Pin(3525 1575 120 100 "0" "74" 0x00000001)
- Pin(1325 1575 120 100 "C1" "75" 0x00000001)
- ElementLine (5800 1700 5800 1410 20)
- ElementLine (1250 1700 5800 1700 20)
- ElementLine (1250 1410 1250 1700 20)
- ElementLine (5800 1410 1250 1410 20)
- Mark (5400 1625)
-)
-
-Element(0x00000000 "capacitor_radial" "C5" "1uFx25V" 1225 3525 2 100 0x00000000)
-(
- Pin(1375 3425 60 35 "1" "1" 0x00000101)
- Pin(1275 3425 60 35 "2" "2" 0x00000001)
- ElementArc (1325 3425 100 100 180 360 10)
- Mark (1375 3425)
-)
-
-Element(0x00000000 "capacitor_radial" "C6" "1uFx25V" 3325 3325 0 100 0x00000000)
-(
- Pin(3175 3425 60 35 "1" "1" 0x00000101)
- Pin(3275 3425 60 35 "2" "2" 0x00000001)
- ElementArc (3225 3425 100 100 0 360 10)
- Mark (3175 3425)
-)
-
-Element(0x00000000 "generic" "U10" "MAX4429" 3650 2730 0 100 0x00000000)
-(
- Pin(3600 2900 60 35 "1" "1" 0x00000101)
- Pin(3700 2900 60 35 "2" "2" 0x00000001)
- Pin(3800 2900 60 35 "3" "3" 0x00000001)
- Pin(3900 2900 60 35 "4" "4" 0x00000001)
- Pin(3900 2600 60 35 "5" "5" 0x00000001)
- Pin(3800 2600 60 35 "6" "6" 0x00000001)
- Pin(3700 2600 60 35 "7" "7" 0x00000001)
- Pin(3600 2600 60 35 "8" "8" 0x00000001)
- ElementLine (3550 2700 3550 2550 10)
- ElementLine (3550 2950 3550 2800 10)
- ElementLine (3950 2550 3550 2550 10)
- ElementLine (3950 2950 3950 2550 10)
- ElementLine (3550 2950 3950 2950 10)
- ElementArc (3550 2750 50 50 90 180 10)
- Mark (3600 2900)
-)
-
-Element(0x00000000 "shielded" "J2" "RJ 45" 1050 1128 2 100 0x00000000)
-(
- Pin(875 575 60 35 "1" "1" 0x00000101)
- Pin(975 625 60 35 "2" "2" 0x00000001)
- Pin(875 675 60 35 "3" "3" 0x00000001)
- Pin(975 725 60 35 "4" "4" 0x00000001)
- Pin(875 775 60 35 "5" "5" 0x00000001)
- Pin(975 825 60 35 "6" "6" 0x00000001)
- Pin(875 875 60 35 "7" "7" 0x00000001)
- Pin(975 925 60 35 "8" "8" 0x00000001)
- Pin(625 525 148 128 "C1" "9" 0x00000001)
- Pin(625 976 148 128 "C1" "10" 0x00000001)
- Pin(745 445 80 60 "C1" "11" 0x00000001)
- Pin(745 1056 80 60 "C1" "12" 0x00000001)
- ElementLine (1050 433 200 433 20)
- ElementLine (200 433 200 1068 20)
- ElementLine (200 1068 1050 1068 20)
- ElementLine (1050 1068 1050 433 20)
- Mark (875 575)
-)
-
-Element(0x00000000 "capacitor_radial" "C10" "4.7uFx16V" 3375 2800 0 100 0x00000000)
-(
- Pin(3225 2900 60 35 "1" "1" 0x00000101)
- Pin(3325 2900 60 35 "2" "2" 0x00000001)
- ElementArc (3275 2900 100 100 0 360 10)
- Mark (3225 2900)
-)
-
-Element(0x00000000 "optical coupling device" "U4" "6N137" 5825 405 0 100 0x00000000)
-(
- Pin(5775 575 60 35 "NC" "1" 0x00000101)
- Pin(5875 575 60 35 "A+" "2" 0x00000001)
- Pin(5975 575 60 35 "K-" "3" 0x00000001)
- Pin(6075 575 60 35 "NC" "4" 0x00000001)
- Pin(6075 275 60 35 "Gnd" "5" 0x00000001)
- Pin(5975 275 60 35 "Out" "6" 0x00000001)
- Pin(5875 275 60 35 "En" "7" 0x00000001)
- Pin(5775 275 60 35 "Vcc" "8" 0x00000001)
- ElementLine (5725 375 5725 225 10)
- ElementLine (5725 625 5725 475 10)
- ElementLine (6125 225 5725 225 10)
- ElementLine (6125 625 6125 225 10)
- ElementLine (5725 625 6125 625 10)
- ElementArc (5725 425 50 50 90 180 10)
- Mark (5775 575)
-)
-
-Element(0x00000000 "IRLZ24N" "Q5" "IRLZ24N" 5725 1910 0 100 0x00000000)
-(
- Pin(5825 2100 80 42 "G" "1" 0x00000101)
- Pin(5925 2100 80 42 "D" "2" 0x00000001)
- Pin(6025 2100 80 42 "S" "3" 0x00000001)
- ElementLine (5725 1980 6125 1980 20)
- ElementLine (6125 1980 6125 2160 20)
- ElementLine (6125 2160 5725 2160 20)
- ElementLine (5725 2160 5725 1980 20)
- ElementLine (5725 1980 6125 1980 20)
- ElementLine (6125 1980 6125 2040 20)
- ElementLine (6125 2040 5725 2040 20)
- ElementLine (5725 2040 5725 1980 20)
- ElementLine (5855 1980 5855 2040 10)
- ElementLine (5995 1980 5995 2040 10)
- Mark (5825 2100)
-)
-
-Element(0x00000000 "optical coupling device" "U5" "6N137" 5825 1005 0 100 0x00000000)
-(
- Pin(5775 1175 60 35 "NC" "1" 0x00000101)
- Pin(5875 1175 60 35 "A+" "2" 0x00000001)
- Pin(5975 1175 60 35 "K-" "3" 0x00000001)
- Pin(6075 1175 60 35 "NC" "4" 0x00000001)
- Pin(6075 875 60 35 "Gnd" "5" 0x00000001)
- Pin(5975 875 60 35 "Out" "6" 0x00000001)
- Pin(5875 875 60 35 "En" "7" 0x00000001)
- Pin(5775 875 60 35 "Vcc" "8" 0x00000001)
- ElementLine (5725 975 5725 825 10)
- ElementLine (5725 1225 5725 1075 10)
- ElementLine (6125 825 5725 825 10)
- ElementLine (6125 1225 6125 825 10)
- ElementLine (5725 1225 6125 1225 10)
- ElementArc (5725 1025 50 50 90 180 10)
- Mark (5775 1175)
-)
-
-Element(0x00000000 "diode" "D7" "1N4007" 5845 1825 0 100 0x00000000)
-(
- Pin(5625 1875 60 35 "1" "1" 0x00000101)
- Pin(5925 1875 60 35 "2" "2" 0x00000001)
- ElementLine (5625 1875 5725 1875 10)
- ElementLine (5825 1875 5925 1875 10)
- ElementLine (5725 1875 5825 1825 10)
- ElementLine (5825 1825 5825 1925 10)
- ElementLine (5825 1925 5725 1875 10)
- ElementLine (5725 1825 5725 1925 10)
- Mark (5625 1875)
-)
-
-Element(0x00000000 "IRF1010N" "Q3" "IRF1010N" 5725 2735 0 100 0x00000000)
-(
- Pin(5825 2925 80 42 "G" "1" 0x00000101)
- Pin(5925 2925 80 42 "D" "2" 0x00000001)
- Pin(6025 2925 80 42 "S" "3" 0x00000001)
- ElementLine (5725 2805 6125 2805 20)
- ElementLine (6125 2805 6125 2985 20)
- ElementLine (6125 2985 5725 2985 20)
- ElementLine (5725 2985 5725 2805 20)
- ElementLine (5725 2805 6125 2805 20)
- ElementLine (6125 2805 6125 2865 20)
- ElementLine (6125 2865 5725 2865 20)
- ElementLine (5725 2865 5725 2805 20)
- ElementLine (5855 2805 5855 2865 10)
- ElementLine (5995 2805 5995 2865 10)
- Mark (5825 2925)
-)
-
-Element(0x00000000 "Push-button, tactile, right angle, 466mils actuator" "S1" "MJTP1236_D" 648 2784 0 100 0x00000000)
-(
- Pin(550 2695 70 42 "1" "1" 0x00000101)
- Pin(550 2872 70 42 "2" "2" 0x00000001)
- Pin(648 2646 70 52 "C1" "C1" 0x00000001)
- Pin(648 2922 70 52 "C2" "C2" 0x00000001)
- ElementLine (84 2843 450 2853 20)
- ElementLine (84 2725 84 2843 20)
- ElementLine (450 2715 84 2725 20)
- ElementLine (588 2922 588 2646 20)
- ElementLine (450 2922 708 2922 20)
- ElementLine (450 2646 450 2922 20)
- ElementLine (708 2646 450 2646 20)
- Mark (550 2695)
-)
-
-Element(0x00000000 "E22 standing" "" "E22" 4050 3525 2 100 0x00000000)
-(
- ElementLine (4575 3850 3525 3850 20)
- ElementLine (4575 3850 4575 3200 20)
- ElementLine (4575 3200 4525 3200 20)
- ElementLine (4525 3200 4525 3750 20)
- ElementLine (4525 3750 4325 3750 20)
- ElementLine (4325 3750 4325 3200 20)
- ElementLine (4325 3200 4275 3200 20)
- ElementLine (4275 3200 4275 3750 20)
- ElementLine (4275 3750 3825 3750 20)
- ElementLine (3525 3850 3525 3200 20)
- ElementLine (3525 3200 3575 3200 20)
- ElementLine (3575 3200 3575 3750 20)
- ElementLine (3575 3750 3775 3750 20)
- ElementLine (3775 3750 3775 3200 20)
- ElementLine (3775 3200 3825 3200 20)
- ElementLine (3825 3200 3825 3750 20)
- Mark (4575 3850)
-)
-
-Element(0x00000000 "capacitor_radial" "C2" "100uFx16V" 4975 3150 0 100 0x00000000)
-(
- Pin(4750 3300 60 35 "1" "1" 0x00000101)
- Pin(4900 3300 60 35 "2" "2" 0x00000001)
- ElementArc (4825 3300 150 150 0 360 10)
- Mark (4750 3300)
-)
-
-Element(0x00000000 "R 0.25W" "R10" "1k5" 2980 2855 1 100 0x00000000)
-(
- Pin(3000 2975 60 35 "1" "1" 0x00000101)
- Pin(3000 2575 60 35 "2" "2" 0x00000001)
- ElementLine (2950 2875 2950 2675 20)
- ElementLine (2950 2675 3050 2675 20)
- ElementLine (3050 2675 3050 2875 20)
- ElementLine (3050 2875 2950 2875 20)
- ElementLine (3000 2975 3000 2875 20)
- ElementLine (3000 2675 3000 2575 20)
- Mark (3000 2975)
-)
-
-Element(0x00000000 "R 0.25W" "R3" "2k2" 4455 505 1 100 0x00000000)
-(
- Pin(4475 625 60 35 "1" "1" 0x00000101)
- Pin(4475 225 60 35 "2" "2" 0x00000001)
- ElementLine (4425 525 4425 325 20)
- ElementLine (4425 325 4525 325 20)
- ElementLine (4525 325 4525 525 20)
- ElementLine (4525 525 4425 525 20)
- ElementLine (4475 625 4475 525 20)
- ElementLine (4475 325 4475 225 20)
- Mark (4475 625)
-)
-
-Element(0x00000000 "capacitor_radial" "C9" "220nF" 3175 2700 2 100 0x00000000)
-(
- Pin(3325 2600 60 35 "1" "1" 0x00000101)
- Pin(3225 2600 60 35 "2" "2" 0x00000001)
- ElementArc (3275 2600 100 100 180 360 10)
- Mark (3325 2600)
-)
-
-Element(0x00000000 "DIN 41612C-96 male" "J15" "DIN41612C96_male" 6625 3455 1 200 0x00000000)
-(
- Pin(6525 475 60 35 "a1" "A1" 0x00000101)
- Pin(6525 575 60 35 "a2" "A2" 0x00000001)
- Pin(6525 675 60 35 "a3" "A3" 0x00000001)
- Pin(6525 775 60 35 "a4" "A4" 0x00000001)
- Pin(6525 875 60 35 "a5" "A5" 0x00000001)
- Pin(6525 975 60 35 "a6" "A6" 0x00000001)
- Pin(6525 1075 60 35 "a7" "A7" 0x00000001)
- Pin(6525 1175 60 35 "a8" "A8" 0x00000001)
- Pin(6525 1275 60 35 "a9" "A9" 0x00000001)
- Pin(6525 1375 60 35 "a10" "A10" 0x00000001)
- Pin(6525 1475 60 35 "a11" "A11" 0x00000001)
- Pin(6525 1575 60 35 "a12" "A12" 0x00000001)
- Pin(6525 1675 60 35 "a13" "A13" 0x00000001)
- Pin(6525 1775 60 35 "a14" "A14" 0x00000001)
- Pin(6525 1875 60 35 "a15" "A15" 0x00000001)
- Pin(6525 1975 60 35 "a16" "A16" 0x00000001)
- Pin(6525 2075 60 35 "a17" "A17" 0x00000001)
- Pin(6525 2175 60 35 "a18" "A18" 0x00000001)
- Pin(6525 2275 60 35 "a19" "A19" 0x00000001)
- Pin(6525 2375 60 35 "a20" "A20" 0x00000001)
- Pin(6525 2475 60 35 "a21" "A21" 0x00000001)
- Pin(6525 2575 60 35 "a22" "A22" 0x00000001)
- Pin(6525 2675 60 35 "a23" "A23" 0x00000001)
- Pin(6525 2775 60 35 "a24" "A24" 0x00000001)
- Pin(6525 2875 60 35 "a25" "A25" 0x00000001)
- Pin(6525 2975 60 35 "a26" "A26" 0x00000001)
- Pin(6525 3075 60 35 "a27" "A27" 0x00000001)
- Pin(6525 3175 60 35 "a28" "A28" 0x00000001)
- Pin(6525 3275 60 35 "a29" "A29" 0x00000001)
- Pin(6525 3375 60 35 "a30" "A30" 0x00000001)
- Pin(6525 3475 60 35 "a31" "A31" 0x00000001)
- Pin(6525 3575 60 35 "a32" "A32" 0x00000001)
- Pin(6425 475 60 35 "b1" "B1" 0x00000001)
- Pin(6425 575 60 35 "b2" "B2" 0x00000001)
- Pin(6425 675 60 35 "b3" "B3" 0x00000001)
- Pin(6425 775 60 35 "b4" "B4" 0x00000001)
- Pin(6425 875 60 35 "b5" "B5" 0x00000001)
- Pin(6425 975 60 35 "b6" "B6" 0x00000001)
- Pin(6425 1075 60 35 "b7" "B7" 0x00000001)
- Pin(6425 1175 60 35 "b8" "B8" 0x00000001)
- Pin(6425 1275 60 35 "b9" "B9" 0x00000001)
- Pin(6425 1375 60 35 "b10" "B10" 0x00000001)
- Pin(6425 1475 60 35 "b11" "B11" 0x00000001)
- Pin(6425 1575 60 35 "b12" "B12" 0x00000001)
- Pin(6425 1675 60 35 "b13" "B13" 0x00000001)
- Pin(6425 1775 60 35 "b14" "B14" 0x00000001)
- Pin(6425 1875 60 35 "b15" "B15" 0x00000001)
- Pin(6425 1975 60 35 "b16" "B16" 0x00000001)
- Pin(6425 2075 60 35 "b17" "B17" 0x00000001)
- Pin(6425 2175 60 35 "b18" "B18" 0x00000001)
- Pin(6425 2275 60 35 "b19" "B19" 0x00000001)
- Pin(6425 2375 60 35 "b20" "B20" 0x00000001)
- Pin(6425 2475 60 35 "b21" "B21" 0x00000001)
- Pin(6425 2575 60 35 "b22" "B22" 0x00000001)
- Pin(6425 2675 60 35 "b23" "B23" 0x00000001)
- Pin(6425 2775 60 35 "b24" "B24" 0x00000001)
- Pin(6425 2875 60 35 "b25" "B25" 0x00000001)
- Pin(6425 2975 60 35 "b26" "B26" 0x00000001)
- Pin(6425 3075 60 35 "b27" "B27" 0x00000001)
- Pin(6425 3175 60 35 "b28" "B28" 0x00000001)
- Pin(6425 3275 60 35 "b29" "B29" 0x00000001)
- Pin(6425 3375 60 35 "b30" "B30" 0x00000001)
- Pin(6425 3475 60 35 "b31" "B31" 0x00000001)
- Pin(6425 3575 60 35 "b32" "B32" 0x00000001)
- Pin(6325 475 60 35 "c1" "C1" 0x00000001)
- Pin(6325 575 60 35 "c2" "C2" 0x00000001)
- Pin(6325 675 60 35 "c3" "C3" 0x00000001)
- Pin(6325 775 60 35 "c4" "C4" 0x00000001)
- Pin(6325 875 60 35 "c5" "C5" 0x00000001)
- Pin(6325 975 60 35 "c6" "C6" 0x00000001)
- Pin(6325 1075 60 35 "c7" "C7" 0x00000001)
- Pin(6325 1175 60 35 "c8" "C8" 0x00000001)
- Pin(6325 1275 60 35 "c9" "C9" 0x00000001)
- Pin(6325 1375 60 35 "c10" "C10" 0x00000001)
- Pin(6325 1475 60 35 "c11" "C11" 0x00000001)
- Pin(6325 1575 60 35 "c12" "C12" 0x00000001)
- Pin(6325 1675 60 35 "c13" "C13" 0x00000001)
- Pin(6325 1775 60 35 "c14" "C14" 0x00000001)
- Pin(6325 1875 60 35 "c15" "C15" 0x00000001)
- Pin(6325 1975 60 35 "c16" "C16" 0x00000001)
- Pin(6325 2075 60 35 "c17" "C17" 0x00000001)
- Pin(6325 2175 60 35 "c18" "C18" 0x00000001)
- Pin(6325 2275 60 35 "c19" "C19" 0x00000001)
- Pin(6325 2375 60 35 "c20" "C20" 0x00000001)
- Pin(6325 2475 60 35 "c21" "C21" 0x00000001)
- Pin(6325 2575 60 35 "c22" "C22" 0x00000001)
- Pin(6325 2675 60 35 "c23" "C23" 0x00000001)
- Pin(6325 2775 60 35 "c24" "C24" 0x00000001)
- Pin(6325 2875 60 35 "c25" "C25" 0x00000001)
- Pin(6325 2975 60 35 "c26" "C26" 0x00000001)
- Pin(6325 3075 60 35 "c27" "C27" 0x00000001)
- Pin(6325 3175 60 35 "c28" "C28" 0x00000001)
- Pin(6325 3275 60 35 "c29" "C29" 0x00000001)
- Pin(6325 3375 60 35 "c30" "C30" 0x00000001)
- Pin(6325 3475 60 35 "c31" "C31" 0x00000001)
- Pin(6325 3575 60 35 "c32" "C32" 0x00000001)
- Pin(6625 3775 120 80 "M1" "M1" 0x00000001)
- Pin(6625 275 120 80 "M2" "M2" 0x00000001)
- ElementLine (7025 275 6845 275 20)
- ElementLine (7025 3775 7025 275 20)
- ElementLine (6845 3775 7025 3775 20)
- ElementLine (6620 3655 6620 395 20)
- ElementLine (6620 395 6525 395 20)
- ElementLine (6845 395 6620 395 10)
- ElementLine (6845 275 6845 395 10)
- ElementLine (6845 175 6845 275 20)
- ElementLine (6525 175 6845 175 20)
- ElementLine (6525 395 6525 175 20)
- ElementLine (6845 3875 6525 3875 20)
- ElementLine (6845 3775 6845 3875 20)
- ElementLine (6845 3655 6845 3775 10)
- ElementLine (6620 3655 6845 3655 10)
- ElementLine (6525 3655 6620 3655 20)
- ElementLine (6525 3875 6525 3655 20)
- ElementLine (6325 475 6600 475 40)
- ElementLine (6325 575 6600 575 40)
- ElementLine (6325 675 6600 675 40)
- ElementLine (6325 775 6600 775 40)
- ElementLine (6325 875 6600 875 40)
- ElementLine (6325 975 6600 975 40)
- ElementLine (6325 1075 6600 1075 40)
- ElementLine (6325 1175 6600 1175 40)
- ElementLine (6325 1275 6600 1275 40)
- ElementLine (6325 1375 6600 1375 40)
- ElementLine (6325 1475 6600 1475 40)
- ElementLine (6325 1575 6600 1575 40)
- ElementLine (6325 1675 6600 1675 40)
- ElementLine (6325 1775 6600 1775 40)
- ElementLine (6325 1875 6600 1875 40)
- ElementLine (6325 1975 6600 1975 40)
- ElementLine (6325 2075 6600 2075 40)
- ElementLine (6325 2175 6600 2175 40)
- ElementLine (6325 2275 6600 2275 40)
- ElementLine (6325 2375 6600 2375 40)
- ElementLine (6325 2475 6600 2475 40)
- ElementLine (6325 2575 6600 2575 40)
- ElementLine (6325 2675 6600 2675 40)
- ElementLine (6325 2775 6600 2775 40)
- ElementLine (6325 2875 6600 2875 40)
- ElementLine (6325 2975 6600 2975 40)
- ElementLine (6325 3075 6600 3075 40)
- ElementLine (6325 3175 6600 3175 40)
- ElementLine (6325 3275 6600 3275 40)
- ElementLine (6325 3375 6600 3375 40)
- ElementLine (6325 3475 6600 3475 40)
- ElementLine (6325 3575 6600 3575 40)
- Mark (6525 475)
-)
-
-Element(0x00000000 "IRF1010N" "Q4" "IRF1010N" 5200 2735 0 100 0x00000000)
-(
- Pin(5300 2925 80 42 "G" "1" 0x00000101)
- Pin(5400 2925 80 42 "D" "2" 0x00000001)
- Pin(5500 2925 80 42 "S" "3" 0x00000001)
- ElementLine (5200 2805 5600 2805 20)
- ElementLine (5600 2805 5600 2985 20)
- ElementLine (5600 2985 5200 2985 20)
- ElementLine (5200 2985 5200 2805 20)
- ElementLine (5200 2805 5600 2805 20)
- ElementLine (5600 2805 5600 2865 20)
- ElementLine (5600 2865 5200 2865 20)
- ElementLine (5200 2865 5200 2805 20)
- ElementLine (5330 2805 5330 2865 10)
- ElementLine (5470 2805 5470 2865 10)
- Mark (5300 2925)
-)
-
-Element(0x00000000 "capacitor_radial" "C1" "100uFx25V" 4675 3850 2 100 0x00000000)
-(
- Pin(4900 3700 60 35 "1" "1" 0x00000101)
- Pin(4750 3700 60 35 "2" "2" 0x00000001)
- ElementArc (4825 3700 150 150 180 360 10)
- Mark (4900 3700)
-)
-
-Element(0x00000000 "R 0.25W" "R12" "1k2" 1040 2820 2 100 0x00000000)
-(
- Pin(1160 2800 60 35 "1" "1" 0x00000101)
- Pin(760 2800 60 35 "2" "2" 0x00000001)
- ElementLine (1060 2850 860 2850 20)
- ElementLine (860 2850 860 2750 20)
- ElementLine (860 2750 1060 2750 20)
- ElementLine (1060 2750 1060 2850 20)
- ElementLine (1160 2800 1060 2800 20)
- ElementLine (860 2800 760 2800 20)
- Mark (1160 2800)
-)
-
-Element(0x00000000 "E22 standing" "" "E22" 5600 3525 2 100 0x00000000)
-(
- ElementLine (6125 3850 5075 3850 20)
- ElementLine (6125 3850 6125 3200 20)
- ElementLine (6125 3200 6075 3200 20)
- ElementLine (6075 3200 6075 3750 20)
- ElementLine (6075 3750 5875 3750 20)
- ElementLine (5875 3750 5875 3200 20)
- ElementLine (5875 3200 5825 3200 20)
- ElementLine (5825 3200 5825 3750 20)
- ElementLine (5825 3750 5375 3750 20)
- ElementLine (5075 3850 5075 3200 20)
- ElementLine (5075 3200 5125 3200 20)
- ElementLine (5125 3200 5125 3750 20)
- ElementLine (5125 3750 5325 3750 20)
- ElementLine (5325 3750 5325 3200 20)
- ElementLine (5325 3200 5375 3200 20)
- ElementLine (5375 3200 5375 3750 20)
- Mark (6125 3850)
-)
-
-Element(0x00000000 "R 0.25W" "R9" "10k" 2820 2695 3 100 0x00000000)
-(
- Pin(2800 2575 60 35 "1" "1" 0x00000101)
- Pin(2800 2975 60 35 "2" "2" 0x00000001)
- ElementLine (2850 2675 2850 2875 20)
- ElementLine (2850 2875 2750 2875 20)
- ElementLine (2750 2875 2750 2675 20)
- ElementLine (2750 2675 2850 2675 20)
- ElementLine (2800 2575 2800 2675 20)
- ElementLine (2800 2875 2800 2975 20)
- Mark (2800 2575)
-)
-
-Element(0x00000000 "+12V 1.5A voltage regulator" "U3" "7812" 5800 3790 2 100 0x00000000)
-(
- Pin(5700 3600 80 42 "In" "1" 0x00000101)
- Pin(5600 3600 80 42 "Com" "2" 0x00000001)
- Pin(5500 3600 80 42 "Out" "3" 0x00000001)
- ElementLine (5530 3720 5530 3660 10)
- ElementLine (5670 3720 5670 3660 10)
- ElementLine (5800 3660 5800 3720 20)
- ElementLine (5400 3660 5800 3660 20)
- ElementLine (5400 3720 5400 3660 20)
- ElementLine (5800 3720 5400 3720 20)
- ElementLine (5800 3540 5800 3720 20)
- ElementLine (5400 3540 5800 3540 20)
- ElementLine (5400 3720 5400 3540 20)
- ElementLine (5800 3720 5400 3720 20)
- Mark (5700 3600)
-)
-
-Element(0x00000000 "capacitor_radial" "C8" "1000uFx35V" 4575 3025 2 100 0x00000000)
-(
- Pin(4950 2775 70 42 "1" "1" 0x00000101)
- Pin(4700 2775 70 42 "2" "2" 0x00000001)
- ElementArc (4825 2775 250 250 180 360 10)
- Mark (4950 2775)
-)
-
-Element(0x00000000 "generic" "U11" "10MHz" 1775 3030 0 100 0x00000000)
-(
- Pin(1725 3200 60 35 "1" "1" 0x00000101)
- Pin(1825 3200 60 35 "2" "2" 0x00000001)
- Pin(1925 3200 60 35 "3" "3" 0x00000001)
- Pin(2025 3200 60 35 "4" "4" 0x00000001)
- Pin(2025 2900 60 35 "5" "5" 0x00000001)
- Pin(1925 2900 60 35 "6" "6" 0x00000001)
- Pin(1825 2900 60 35 "7" "7" 0x00000001)
- Pin(1725 2900 60 35 "8" "8" 0x00000001)
- ElementLine (1675 3000 1675 2850 10)
- ElementLine (1675 3250 1675 3100 10)
- ElementLine (2075 2850 1675 2850 10)
- ElementLine (2075 3250 2075 2850 10)
- ElementLine (1675 3250 2075 3250 10)
- ElementArc (1675 3050 50 50 90 180 10)
- Mark (1725 3200)
-)
-
-Element(0x00000000 "connector 2x1 pins" "JP2" "XRESET" 1260 3250 3 100 0x00000000)
-(
- Pin(1050 3300 70 42 "1" "1" 0x00000101)
- Pin(1150 3300 70 42 "2" "2" 0x00000001)
- ElementLine (1100 3350 1100 3250 10)
- ElementLine (1000 3350 1100 3350 10)
- ElementLine (1200 3250 1000 3250 20)
- ElementLine (1200 3350 1200 3250 20)
- ElementLine (1000 3350 1200 3350 20)
- ElementLine (1000 3250 1000 3350 20)
- Mark (1050 3300)
-)
-
-Element(0x00000000 "R 0.25W" "R14" "2k7" 3530 505 1 100 0x00000000)
-(
- Pin(3550 625 60 35 "1" "1" 0x00000101)
- Pin(3550 225 60 35 "2" "2" 0x00000001)
- ElementLine (3500 525 3500 325 20)
- ElementLine (3500 325 3600 325 20)
- ElementLine (3600 325 3600 525 20)
- ElementLine (3600 525 3500 525 20)
- ElementLine (3550 625 3550 525 20)
- ElementLine (3550 325 3550 225 20)
- Mark (3550 625)
-)
-
-Element(0x00000000 "capacitor_radial" "C11" "2.2nF" 5500 2000 0 100 0x00000000)
-(
- Pin(5350 2100 60 35 "1" "1" 0x00000101)
- Pin(5450 2100 60 35 "2" "2" 0x00000001)
- ElementArc (5400 2100 100 100 0 360 10)
- Mark (5350 2100)
-)
-
-Element(0x00000000 "IRF1010N" "Q1" "IRF1010N" 5725 2260 0 100 0x00000000)
-(
- Pin(5825 2450 80 42 "G" "1" 0x00000101)
- Pin(5925 2450 80 42 "D" "2" 0x00000001)
- Pin(6025 2450 80 42 "S" "3" 0x00000001)
- ElementLine (5725 2330 6125 2330 20)
- ElementLine (6125 2330 6125 2510 20)
- ElementLine (6125 2510 5725 2510 20)
- ElementLine (5725 2510 5725 2330 20)
- ElementLine (5725 2330 6125 2330 20)
- ElementLine (6125 2330 6125 2390 20)
- ElementLine (6125 2390 5725 2390 20)
- ElementLine (5725 2390 5725 2330 20)
- ElementLine (5855 2330 5855 2390 10)
- ElementLine (5995 2330 5995 2390 10)
- Mark (5825 2450)
-)
-
-Element(0x00000000 "diode" "D3" "1N4007" 900 3520 3 100 0x00000000)
-(
- Pin(850 3300 60 35 "1" "1" 0x00000101)
- Pin(850 3600 60 35 "2" "2" 0x00000001)
- ElementLine (850 3300 850 3400 10)
- ElementLine (850 3500 850 3600 10)
- ElementLine (850 3400 900 3500 10)
- ElementLine (900 3500 800 3500 10)
- ElementLine (800 3500 850 3400 10)
- ElementLine (900 3400 800 3400 10)
- Mark (850 3300)
-)
-
-Element(0x00000000 "capacitor_radial" "C7" "1000uFx35V" 4575 2450 2 100 0x00000000)
-(
- Pin(4950 2200 70 42 "1" "1" 0x00000101)
- Pin(4700 2200 70 42 "2" "2" 0x00000001)
- ElementArc (4825 2200 250 250 180 360 10)
- Mark (4950 2200)
-)
-
-Element(0x00000000 "LED 5mm" "D9" "Red" 765 2315 0 100 0x00000000)
-(
- Pin(815 2395 60 35 "-" "1" 0x00000101)
- Pin(815 2495 60 35 "+" "2" 0x00000001)
- ElementArc (815 2445 70 70 0 360 10)
- ElementArc (815 2445 50 50 0 360 15)
- Mark (815 2395)
-)
-
-Element(0x00000000 "SUB-D female 9 pins" "J9" "DB9_female" 425 1440 3 100 0x00000000)
-(
- Pin(775 1240 120 100 "C1" "C1" 0x00000001)
- Pin(775 2180 120 100 "C1" "C1" 0x00000001)
- Pin(825 1510 70 42 "5" "5" 0x00000001)
- Pin(725 1560 70 42 "9" "9" 0x00000001)
- Pin(825 1610 70 42 "4" "4" 0x00000001)
- Pin(725 1660 70 42 "8" "8" 0x00000001)
- Pin(825 1710 70 42 "3" "3" 0x00000001)
- Pin(725 1760 70 42 "7" "7" 0x00000001)
- Pin(825 1810 70 42 "2" "2" 0x00000001)
- Pin(725 1860 70 42 "6" "6" 0x00000001)
- Pin(825 1910 70 42 "1" "1" 0x00000101)
- ElementLine (825 1910 545 1910 20)
- ElementLine (725 1860 545 1860 20)
- ElementLine (825 1810 545 1810 20)
- ElementLine (725 1760 545 1760 20)
- ElementLine (825 1710 545 1710 20)
- ElementLine (725 1660 545 1660 20)
- ElementLine (825 1610 545 1610 20)
- ElementLine (725 1560 545 1560 20)
- ElementLine (825 1510 545 1510 20)
- ElementLine (345 2070 345 1350 10)
- ElementLine (545 2070 345 2070 20)
- ElementLine (545 1350 545 2070 20)
- ElementLine (345 1350 545 1350 20)
- ElementLine (45 2010 45 1410 20)
- ElementLine (315 2010 45 2010 20)
- ElementLine (315 1410 315 2010 10)
- ElementLine (45 1410 315 1410 20)
- ElementLine (315 2120 345 2120 10)
- ElementLine (315 2240 345 2240 10)
- ElementLine (315 1300 345 1300 10)
- ElementLine (315 1180 345 1180 10)
- ElementLine (315 2300 315 1120 10)
- ElementLine (345 2300 315 2300 10)
- ElementLine (345 1120 345 2300 10)
- ElementLine (315 1120 345 1120 10)
- Mark (825 1510)
-)
-
-Element(0x00000000 "generic PAL replacement" "U8" "GAL22V10" 2850 2180 0 100 0x00000000)
-(
- Pin(2800 2350 60 35 "CLK/I1" "1" 0x00000101)
- Pin(2900 2350 60 35 "I2" "2" 0x00000001)
- Pin(3000 2350 60 35 "I3" "3" 0x00000001)
- Pin(3100 2350 60 35 "I4" "4" 0x00000001)
- Pin(3200 2350 60 35 "I5" "5" 0x00000001)
- Pin(3300 2350 60 35 "I6" "6" 0x00000001)
- Pin(3400 2350 60 35 "I7" "7" 0x00000001)
- Pin(3500 2350 60 35 "I8" "8" 0x00000001)
- Pin(3600 2350 60 35 "I9" "9" 0x00000001)
- Pin(3700 2350 60 35 "I10" "10" 0x00000001)
- Pin(3800 2350 60 35 "I11" "11" 0x00000001)
- Pin(3900 2350 60 35 "Gnd" "12" 0x00000001)
- Pin(3900 2050 60 35 "I12" "13" 0x00000001)
- Pin(3800 2050 60 35 "I/O/Qj" "14" 0x00000001)
- Pin(3700 2050 60 35 "I/O/Qi" "15" 0x00000001)
- Pin(3600 2050 60 35 "I/O/Qh" "16" 0x00000001)
- Pin(3500 2050 60 35 "I/O/Qg" "17" 0x00000001)
- Pin(3400 2050 60 35 "I/O/Qf" "18" 0x00000001)
- Pin(3300 2050 60 35 "I/O/Qe" "19" 0x00000001)
- Pin(3200 2050 60 35 "I/O/Qd" "20" 0x00000001)
- Pin(3100 2050 60 35 "I/O/Qc" "21" 0x00000001)
- Pin(3000 2050 60 35 "I/O/Qb" "22" 0x00000001)
- Pin(2900 2050 60 35 "I/O/Qa" "23" 0x00000001)
- Pin(2800 2050 60 35 "Vcc" "24" 0x00000001)
- ElementLine (2750 2150 2750 2000 10)
- ElementLine (2750 2400 2750 2250 10)
- ElementLine (3950 2000 2750 2000 10)
- ElementLine (3950 2400 3950 2000 10)
- ElementLine (2750 2400 3950 2400 10)
- ElementArc (2750 2200 50 50 90 180 10)
- Mark (2800 2350)
-)
-
-Element(0x00000000 "generic" "U6" "8254" 1450 2330 0 100 0x00000000)
-(
- Pin(1400 2650 60 35 "1" "1" 0x00000101)
- Pin(1500 2650 60 35 "2" "2" 0x00000001)
- Pin(1600 2650 60 35 "3" "3" 0x00000001)
- Pin(1700 2650 60 35 "4" "4" 0x00000001)
- Pin(1800 2650 60 35 "5" "5" 0x00000001)
- Pin(1900 2650 60 35 "6" "6" 0x00000001)
- Pin(2000 2650 60 35 "7" "7" 0x00000001)
- Pin(2100 2650 60 35 "8" "8" 0x00000001)
- Pin(2200 2650 60 35 "9" "9" 0x00000001)
- Pin(2300 2650 60 35 "10" "10" 0x00000001)
- Pin(2400 2650 60 35 "11" "11" 0x00000001)
- Pin(2500 2650 60 35 "12" "12" 0x00000001)
- Pin(2500 2050 60 35 "13" "13" 0x00000001)
- Pin(2400 2050 60 35 "14" "14" 0x00000001)
- Pin(2300 2050 60 35 "15" "15" 0x00000001)
- Pin(2200 2050 60 35 "16" "16" 0x00000001)
- Pin(2100 2050 60 35 "17" "17" 0x00000001)
- Pin(2000 2050 60 35 "18" "18" 0x00000001)
- Pin(1900 2050 60 35 "19" "19" 0x00000001)
- Pin(1800 2050 60 35 "20" "20" 0x00000001)
- Pin(1700 2050 60 35 "21" "21" 0x00000001)
- Pin(1600 2050 60 35 "22" "22" 0x00000001)
- Pin(1500 2050 60 35 "23" "23" 0x00000001)
- Pin(1400 2050 60 35 "24" "24" 0x00000001)
- ElementLine (1350 2300 1350 2000 10)
- ElementLine (1350 2700 1350 2400 10)
- ElementLine (2550 2000 1350 2000 10)
- ElementLine (2550 2700 2550 2000 10)
- ElementLine (1350 2700 2550 2700 10)
- ElementArc (1350 2350 50 50 90 180 10)
- Mark (1400 2650)
-)
-
-Element(0x00000000 "connector 2x4 pins" "JP1" "ADDRESS" 4410 2000 3 100 0x00000000)
-(
- Pin(4200 2050 70 42 "1" "1" 0x00000101)
- Pin(4300 2050 70 42 "2" "2" 0x00000001)
- Pin(4200 2150 70 42 "3" "3" 0x00000001)
- Pin(4300 2150 70 42 "4" "4" 0x00000001)
- Pin(4200 2250 70 42 "5" "5" 0x00000001)
- Pin(4300 2250 70 42 "6" "6" 0x00000001)
- Pin(4200 2350 70 42 "7" "7" 0x00000001)
- Pin(4300 2350 70 42 "8" "8" 0x00000001)
- ElementLine (4150 2000 4150 2400 20)
- ElementLine (4150 2400 4350 2400 20)
- ElementLine (4350 2400 4350 2000 20)
- ElementLine (4350 2000 4150 2000 20)
- ElementLine (4150 2100 4250 2100 10)
- ElementLine (4250 2100 4250 2000 10)
- Mark (4200 2050)
-)
-
-Element(0x00000000 "capacitor_radial" "C4" "10uFx25V" 3325 3625 0 100 0x00000000)
-(
- Pin(3175 3725 60 35 "1" "1" 0x00000101)
- Pin(3275 3725 60 35 "2" "2" 0x00000001)
- ElementArc (3225 3725 100 100 0 360 10)
- Mark (3175 3725)
-)
-
-Element(0x00000000 "generic" "U7" "HCTL-2016" 2500 405 0 100 0x00000000)
-(
- Pin(2450 575 60 35 "1" "1" 0x00000101)
- Pin(2550 575 60 35 "2" "2" 0x00000001)
- Pin(2650 575 60 35 "3" "3" 0x00000001)
- Pin(2750 575 60 35 "4" "4" 0x00000001)
- Pin(2850 575 60 35 "5" "5" 0x00000001)
- Pin(2950 575 60 35 "6" "6" 0x00000001)
- Pin(3050 575 60 35 "7" "7" 0x00000001)
- Pin(3150 575 60 35 "8" "8" 0x00000001)
- Pin(3150 275 60 35 "9" "9" 0x00000001)
- Pin(3050 275 60 35 "10" "10" 0x00000001)
- Pin(2950 275 60 35 "11" "11" 0x00000001)
- Pin(2850 275 60 35 "12" "12" 0x00000001)
- Pin(2750 275 60 35 "13" "13" 0x00000001)
- Pin(2650 275 60 35 "14" "14" 0x00000001)
- Pin(2550 275 60 35 "15" "15" 0x00000001)
- Pin(2450 275 60 35 "16" "16" 0x00000001)
- ElementLine (2400 375 2400 225 10)
- ElementLine (2400 625 2400 475 10)
- ElementLine (3200 225 2400 225 10)
- ElementLine (3200 625 3200 225 10)
- ElementLine (2400 625 3200 625 10)
- ElementArc (2400 425 50 50 90 180 10)
- Mark (2450 575)
-)
-
-Element(0x00000000 "IRF1010N" "Q2" "IRF1010N" 5200 2260 0 100 0x00000000)
-(
- Pin(5300 2450 80 42 "G" "1" 0x00000101)
- Pin(5400 2450 80 42 "D" "2" 0x00000001)
- Pin(5500 2450 80 42 "S" "3" 0x00000001)
- ElementLine (5200 2330 5600 2330 20)
- ElementLine (5600 2330 5600 2510 20)
- ElementLine (5600 2510 5200 2510 20)
- ElementLine (5200 2510 5200 2330 20)
- ElementLine (5200 2330 5600 2330 20)
- ElementLine (5600 2330 5600 2390 20)
- ElementLine (5600 2390 5200 2390 20)
- ElementLine (5200 2390 5200 2330 20)
- ElementLine (5330 2330 5330 2390 10)
- ElementLine (5470 2330 5470 2390 10)
- Mark (5300 2450)
-)
-
-Element(0x00000000 "LED 5mm" "D10" "Green" 525 2315 0 100 0x00000000)
-(
- Pin(575 2395 60 35 "-" "1" 0x00000101)
- Pin(575 2495 60 35 "+" "2" 0x00000001)
- ElementArc (575 2445 50 50 0 360 15)
- ElementArc (575 2445 70 70 0 360 10)
- Mark (575 2395)
-)
-
-Element(0x00000000 "diode" "D1" "1N4148" 1625 3645 3 100 0x00000000)
-(
- Pin(1575 3425 60 35 "1" "1" 0x00000101)
- Pin(1575 3725 60 35 "2" "2" 0x00000001)
- ElementLine (1625 3525 1525 3525 10)
- ElementLine (1525 3625 1575 3525 10)
- ElementLine (1625 3625 1525 3625 10)
- ElementLine (1575 3525 1625 3625 10)
- ElementLine (1575 3625 1575 3725 10)
- ElementLine (1575 3425 1575 3525 10)
- Mark (1575 3425)
-)
-
-Element(0x00000000 "R 0.25W" "R4" "390" 5555 505 1 100 0x00000000)
-(
- Pin(5575 625 60 35 "1" "1" 0x00000101)
- Pin(5575 225 60 35 "2" "2" 0x00000001)
- ElementLine (5525 525 5525 325 20)
- ElementLine (5525 325 5625 325 20)
- ElementLine (5625 325 5625 525 20)
- ElementLine (5625 525 5525 525 20)
- ElementLine (5575 625 5575 525 20)
- ElementLine (5575 325 5575 225 20)
- Mark (5575 625)
-)
-
-Element(0x00000000 "optical coupling device" "U13" "6N137" 4025 405 0 100 0x00000000)
-(
- Pin(3975 575 60 35 "NC" "1" 0x00000101)
- Pin(4075 575 60 35 "A+" "2" 0x00000001)
- Pin(4175 575 60 35 "K-" "3" 0x00000001)
- Pin(4275 575 60 35 "NC" "4" 0x00000001)
- Pin(4275 275 60 35 "Gnd" "5" 0x00000001)
- Pin(4175 275 60 35 "Out" "6" 0x00000001)
- Pin(4075 275 60 35 "En" "7" 0x00000001)
- Pin(3975 275 60 35 "Vcc" "8" 0x00000001)
- ElementLine (3925 375 3925 225 10)
- ElementLine (3925 625 3925 475 10)
- ElementLine (4325 225 3925 225 10)
- ElementLine (4325 625 4325 225 10)
- ElementLine (3925 625 4325 625 10)
- ElementArc (3925 425 50 50 90 180 10)
- Mark (3975 575)
-)
-
-Element(0x00000000 "optical coupling device" "U14" "6N137" 4925 1005 0 100 0x00000000)
-(
- Pin(4875 1175 60 35 "NC" "1" 0x00000101)
- Pin(4975 1175 60 35 "A+" "2" 0x00000001)
- Pin(5075 1175 60 35 "K-" "3" 0x00000001)
- Pin(5175 1175 60 35 "NC" "4" 0x00000001)
- Pin(5175 875 60 35 "Gnd" "5" 0x00000001)
- Pin(5075 875 60 35 "Out" "6" 0x00000001)
- Pin(4975 875 60 35 "En" "7" 0x00000001)
- Pin(4875 875 60 35 "Vcc" "8" 0x00000001)
- ElementLine (4825 975 4825 825 10)
- ElementLine (4825 1225 4825 1075 10)
- ElementLine (5225 825 4825 825 10)
- ElementLine (5225 1225 5225 825 10)
- ElementLine (4825 1225 5225 1225 10)
- ElementArc (4825 1025 50 50 90 180 10)
- Mark (4875 1175)
-)
-
-Element(0x00000000 "R 0.25W" "R5" "390" 5355 1105 1 100 0x00000000)
-(
- Pin(5375 1225 60 35 "1" "1" 0x00000101)
- Pin(5375 825 60 35 "2" "2" 0x00000001)
- ElementLine (5325 1125 5325 925 20)
- ElementLine (5325 925 5425 925 20)
- ElementLine (5425 925 5425 1125 20)
- ElementLine (5425 1125 5325 1125 20)
- ElementLine (5375 1225 5375 1125 20)
- ElementLine (5375 925 5375 825 20)
- Mark (5375 1225)
-)
-
-Element(0x00000000 "R 0.25W" "R6" "2k2" 4655 1105 1 100 0x00000000)
-(
- Pin(4675 1225 60 35 "1" "1" 0x00000101)
- Pin(4675 825 60 35 "2" "2" 0x00000001)
- ElementLine (4625 1125 4625 925 20)
- ElementLine (4625 925 4725 925 20)
- ElementLine (4725 925 4725 1125 20)
- ElementLine (4725 1125 4625 1125 20)
- ElementLine (4675 1225 4675 1125 20)
- ElementLine (4675 925 4675 825 20)
- Mark (4675 1225)
-)
-
-Element(0x00000000 "R 0.25W" "R2" "2k2" 4655 505 1 100 0x00000000)
-(
- Pin(4675 625 60 35 "1" "1" 0x00000101)
- Pin(4675 225 60 35 "2" "2" 0x00000001)
- ElementLine (4625 525 4625 325 20)
- ElementLine (4625 325 4725 325 20)
- ElementLine (4725 325 4725 525 20)
- ElementLine (4725 525 4625 525 20)
- ElementLine (4675 625 4675 525 20)
- ElementLine (4675 325 4675 225 20)
- Mark (4675 625)
-)
-
-Element(0x00000000 "optical coupling device" "U12" "6N137" 4925 405 0 100 0x00000000)
-(
- Pin(4875 575 60 35 "NC" "1" 0x00000101)
- Pin(4975 575 60 35 "A+" "2" 0x00000001)
- Pin(5075 575 60 35 "K-" "3" 0x00000001)
- Pin(5175 575 60 35 "NC" "4" 0x00000001)
- Pin(5175 275 60 35 "Gnd" "5" 0x00000001)
- Pin(5075 275 60 35 "Out" "6" 0x00000001)
- Pin(4975 275 60 35 "En" "7" 0x00000001)
- Pin(4875 275 60 35 "Vcc" "8" 0x00000001)
- ElementLine (4825 375 4825 225 10)
- ElementLine (4825 625 4825 475 10)
- ElementLine (5225 225 4825 225 10)
- ElementLine (5225 625 5225 225 10)
- ElementLine (4825 625 5225 625 10)
- ElementArc (4825 425 50 50 90 180 10)
- Mark (4875 575)
-)
-
-Element(0x00000000 "R 0.25W" "R1" "390" 5355 505 1 100 0x00000000)
-(
- Pin(5375 625 60 35 "1" "1" 0x00000101)
- Pin(5375 225 60 35 "2" "2" 0x00000001)
- ElementLine (5325 525 5325 325 20)
- ElementLine (5325 325 5425 325 20)
- ElementLine (5425 325 5425 525 20)
- ElementLine (5425 525 5325 525 20)
- ElementLine (5375 625 5375 525 20)
- ElementLine (5375 325 5375 225 20)
- Mark (5375 625)
-)
-
-Element(0x00000000 "R 0.25W" "R8" "390" 5555 1105 1 100 0x00000000)
-(
- Pin(5575 1225 60 35 "1" "1" 0x00000101)
- Pin(5575 825 60 35 "2" "2" 0x00000001)
- ElementLine (5525 1125 5525 925 20)
- ElementLine (5525 925 5625 925 20)
- ElementLine (5625 925 5625 1125 20)
- ElementLine (5625 1125 5525 1125 20)
- ElementLine (5575 1225 5575 1125 20)
- ElementLine (5575 925 5575 825 20)
- Mark (5575 1225)
-)
-
-Element(0x00000000 "optical coupling device" "U15" "6N137" 4025 1005 0 100 0x00000000)
-(
- Pin(3975 1175 60 35 "NC" "1" 0x00000101)
- Pin(4075 1175 60 35 "A+" "2" 0x00000001)
- Pin(4175 1175 60 35 "K-" "3" 0x00000001)
- Pin(4275 1175 60 35 "NC" "4" 0x00000001)
- Pin(4275 875 60 35 "Gnd" "5" 0x00000001)
- Pin(4175 875 60 35 "Out" "6" 0x00000001)
- Pin(4075 875 60 35 "En" "7" 0x00000001)
- Pin(3975 875 60 35 "Vcc" "8" 0x00000001)
- ElementLine (3925 975 3925 825 10)
- ElementLine (3925 1225 3925 1075 10)
- ElementLine (4325 825 3925 825 10)
- ElementLine (4325 1225 4325 825 10)
- ElementLine (3925 1225 4325 1225 10)
- ElementArc (3925 1025 50 50 90 180 10)
- Mark (3975 1175)
-)
-
-Element(0x00000000 "R 0.25W" "R7" "2k2" 4455 1105 1 100 0x00000000)
-(
- Pin(4475 1225 60 35 "1" "1" 0x00000101)
- Pin(4475 825 60 35 "2" "2" 0x00000001)
- ElementLine (4425 1125 4425 925 20)
- ElementLine (4425 925 4525 925 20)
- ElementLine (4525 925 4525 1125 20)
- ElementLine (4525 1125 4425 1125 20)
- ElementLine (4475 1225 4475 1125 20)
- ElementLine (4475 925 4475 825 20)
- Mark (4475 1225)
-)
-
-Element(0x00000000 "+5V 1.5A voltage regulator" "U2" "7805" 4250 3790 2 100 0x00000000)
-(
- Pin(4150 3600 80 42 "In" "1" 0x00000101)
- Pin(4050 3600 80 42 "Com" "2" 0x00000001)
- Pin(3950 3600 80 42 "Out" "3" 0x00000001)
- ElementLine (3980 3720 3980 3660 10)
- ElementLine (4120 3720 4120 3660 10)
- ElementLine (4250 3660 4250 3720 20)
- ElementLine (3850 3660 4250 3660 20)
- ElementLine (3850 3720 3850 3660 20)
- ElementLine (4250 3720 3850 3720 20)
- ElementLine (4250 3540 4250 3720 20)
- ElementLine (3850 3540 4250 3540 20)
- ElementLine (3850 3720 3850 3540 20)
- ElementLine (4250 3720 3850 3720 20)
- Mark (4150 3600)
-)
-
-Element(0x00000000 "diode" "D2" "1N4148" 3025 3645 3 100 0x00000000)
-(
- Pin(2975 3425 60 35 "1" "1" 0x00000101)
- Pin(2975 3725 60 35 "2" "2" 0x00000001)
- ElementLine (3025 3525 2925 3525 10)
- ElementLine (2925 3625 2975 3525 10)
- ElementLine (3025 3625 2925 3625 10)
- ElementLine (2975 3525 3025 3625 10)
- ElementLine (2975 3625 2975 3725 10)
- ElementLine (2975 3425 2975 3525 10)
- Mark (2975 3425)
-)
-
-Element(0x00000000 "R 0.25W" "R13" "2k7" 3330 505 1 100 0x00000000)
-(
- Pin(3350 625 60 35 "1" "1" 0x00000101)
- Pin(3350 225 60 35 "2" "2" 0x00000001)
- ElementLine (3300 525 3300 325 20)
- ElementLine (3300 325 3400 325 20)
- ElementLine (3400 325 3400 525 20)
- ElementLine (3400 525 3300 525 20)
- ElementLine (3350 625 3350 525 20)
- ElementLine (3350 325 3350 225 20)
- Mark (3350 625)
-)
+ SymbolLine(0 35 5 30 8)
+ SymbolLine(5 30 10 30 8)
+ SymbolLine(10 30 15 35 8)
+ SymbolLine(15 35 20 35 8)
+ SymbolLine(20 35 25 30 8)
+)
+Via[340000 237500 12000 2000 0 5500 "" ""]
+Via[497500 370000 9000 2000 0 3500 "" ""]
+Via[552500 237500 12000 2000 0 5500 "" ""]
+Via[102500 130000 4000 2000 0 2000 "" ""]
+Via[615000 287500 10500 2000 0 5500 "" ""]
+Via[280000 87500 6000 2000 0 3500 "" ""]
+Via[365000 317500 4000 2000 0 2000 "" ""]
+Via[242500 165000 6000 2000 0 3500 "" ""]
+Via[432500 350000 6000 2000 0 3500 "" ""]
+Via[282500 245000 4000 2000 0 2000 "" ""]
+Via[240000 330000 6000 2000 0 3500 "" ""]
+Via[315000 280000 4000 2000 0 2000 "" ""]
+Via[177500 285000 6000 2000 0 3500 "" ""]
+Via[372500 370000 9000 2000 0 3500 "" ""]
+Via[427500 17500 4000 2000 0 2000 "" ""]
+Via[400000 325000 6000 2000 0 3500 "" ""]
+Via[152500 62500 6000 2000 0 3500 "" ""]
+Via[402500 17500 4000 2000 0 2000 "" ""]
+Via[497500 267500 9000 2000 0 3500 "" ""]
+Via[615000 222500 12000 2000 0 5500 "" ""]
+Via[195000 380000 6000 2000 0 3500 "" ""]
+Via[217500 222500 6000 2000 0 3500 "" ""]
+Via[360000 227500 4000 2000 0 2000 "" ""]
+Via[87500 135000 4000 2000 0 2000 "" ""]
+Via[247500 17500 4000 2000 0 2000 "" ""]
+Via[367500 92500 4000 2000 0 2000 "" ""]
+Via[225000 187500 4000 2000 0 2000 "" ""]
+Via[225000 170000 4000 2000 0 2000 "" ""]
+Via[442500 65000 4000 2000 0 2000 "" ""]
+Via[352500 170000 4000 2000 0 2000 "" ""]
+Via[507500 140000 4000 2000 0 2000 "" ""]
+Via[345000 142500 4000 2000 0 2000 "" ""]
+Via[507500 115000 4000 2000 0 2000 "" ""]
+Via[187500 175000 6000 2000 0 3500 "" ""]
+Via[315000 142500 4000 2000 0 2000 "" ""]
+Via[477500 22500 4000 2000 0 2000 "" ""]
+Via[477500 115000 4000 2000 0 2000 "" ""]
+Via[417500 40000 4000 2000 0 2000 "" ""]
+Via[295000 135000 4000 2000 0 2000 "" ""]
+Via[472500 87500 6000 2000 0 3500 "" ""]
+Via[155000 367500 4000 2000 0 2000 "" ""]
+Via[360000 150000 4000 2000 0 2000 "" ""]
+Via[425000 115000 4000 2000 0 2000 "" ""]
+Via[205000 357500 4000 2000 0 2000 "" ""]
+Via[547500 52500 4000 2000 0 2000 "" ""]
+Via[532500 57500 4000 2000 0 2000 "" ""]
+Via[562500 62500 4000 2000 0 2000 "" ""]
+Via[332500 175000 4000 2000 0 2000 "" ""]
+Via[492500 175000 4000 2000 0 2000 "" ""]
+Via[210000 40000 4000 2000 0 2000 "" ""]
+Via[602500 157500 9000 2000 0 3500 "" ""]
+Via[592500 115000 4000 2000 0 2000 "" ""]
+Via[482500 150000 4000 2000 0 2000 "" ""]
+Via[477500 105000 4000 2000 0 2000 "" ""]
+Via[160000 187500 4000 2000 0 2000 "" ""]
+Via[480000 110000 4000 2000 0 2000 "" ""]
+Via[92500 140000 4000 2000 0 2000 "" ""]
+Via[397500 142500 4000 2000 0 2000 "" ""]
+Via[442500 17500 4000 2000 0 2000 "" ""]
+Via[400000 165000 6000 2000 0 3500 "" ""]
+Via[365000 155000 4000 2000 0 2000 "" ""]
+Via[417500 10000 4000 2000 0 2000 "" ""]
+Via[565000 160000 4000 2000 0 2000 "" ""]
+Via[262500 107500 6000 2000 0 3500 "" ""]
+Via[435000 45000 4000 2000 0 2000 "" ""]
+Via[160000 75000 6000 2000 0 3500 "" ""]
+Via[305000 140000 4000 2000 0 2000 "" ""]
+Via[442500 115000 4000 2000 0 2000 "" ""]
+Via[102500 112500 4000 2000 0 2000 "" ""]
+Via[377500 82500 4000 2000 0 2000 "" ""]
+Via[352500 117500 4000 2000 0 2000 "" ""]
+Via[350000 122500 4000 2000 0 2000 "" ""]
+Via[372500 150000 4000 2000 0 2000 "" ""]
+Via[225000 292500 6000 2000 0 3500 "" ""]
+Via[310000 92500 4000 2000 0 2000 "" ""]
+Via[520000 70000 6000 2000 0 3500 "" ""]
+Via[385000 165000 6000 2000 0 3500 "" ""]
+Via[187500 107500 6000 2000 0 3500 "" ""]
+Via[215000 362500 4000 2000 0 2000 "" ""]
+Via[225000 312500 6000 2000 0 3500 "" ""]
+Via[432500 182500 5500 2000 0 3500 "" ""]
+Via[252500 285000 6000 2000 0 3500 "" ""]
+Via[285000 107500 4000 2000 0 2000 "" ""]
+Via[225000 367500 4000 2000 0 2000 "" ""]
+Via[242500 285000 6000 2000 0 3500 "" ""]
+Via[545000 347500 6000 2000 0 3500 "" ""]
+Via[377500 112500 4000 2000 0 2000 "" ""]
+Via[302500 87500 6000 2000 0 3500 "" ""]
+Via[295000 60000 6000 2000 0 3500 "" ""]
+Via[177500 165000 6000 2000 0 3500 "" ""]
+Via[315000 135000 4000 2000 0 2000 "" ""]
+Via[325000 160000 4000 2000 0 2000 "" ""]
+Via[190000 275000 7000 2000 0 3500 "" ""]
+Via[527500 85000 4000 2000 0 2000 "" ""]
+Via[252500 312500 6000 2000 0 3500 "" ""]
+Via[532500 87500 4000 2000 0 2000 "" ""]
+Via[545000 145000 4000 2000 0 2000 "" ""]
+Via[557500 172500 4000 2000 0 2000 "" ""]
+Via[612500 87500 4000 2000 0 2000 "" ""]
+Via[615000 107500 6000 2000 0 3500 "" ""]
+Via[200000 150000 4000 2000 0 2000 "" ""]
+Via[385000 340000 6000 2000 0 3500 "" ""]
+Via[472500 165000 6000 2000 0 3500 "" ""]
+Via[155000 275000 4000 2000 0 2000 "" ""]
+Via[165000 357500 4000 2000 0 2000 "" ""]
+Via[160000 362500 4000 2000 0 2000 "" ""]
+Via[262500 202500 6000 2000 0 3500 "" ""]
+Via[262500 175000 6000 2000 0 3500 "" ""]
+Via[152500 182500 6000 2000 0 3500 "" ""]
+Via[605000 350000 6000 2000 0 3500 "" ""]
+Via[200000 122500 4000 2000 0 2000 "" ""]
+Via[207500 255000 6000 2000 0 3500 "" ""]
+Via[517500 165000 6000 2000 0 3500 "" ""]
+Via[160000 165000 6000 2000 0 3500 "" ""]
+Via[552500 340000 8000 2000 0 3500 "" ""]
+Via[392500 332500 8000 2000 0 3500 "" ""]
+Via[387500 142500 8500 2000 0 3500 "" ""]
+Via[270000 122500 7000 2000 0 3500 "" ""]
+Via[360000 142500 8500 2000 0 3500 "" ""]
+Via[592500 252500 12000 2000 0 5500 "" ""]
+Via[532500 392500 11500 2000 0 5500 "" ""]
+Via[410000 70000 9000 2000 0 3500 "" ""]
+Via[270000 30000 9000 2000 0 3500 "" ""]
+Via[532500 252500 12000 2000 0 5500 "" ""]
+Via[360000 30000 9000 2000 0 3500 "" ""]
+Via[460000 70000 6000 2000 0 2000 "" ""]
+Via[190000 312500 9000 2000 0 3500 "" ""]
+Via[270000 150000 6500 2000 0 3500 "" ""]
+Via[327500 30000 9000 2000 0 3500 "" ""]
+Via[160000 125000 6000 2000 0 3500 "" ""]
+Via[335000 37500 4000 2000 0 2000 "" ""]
+
+Element["" "LED5" "D3" "GREEN" 62500 212500 11436 -16170 0 100 ""]
+(
+ Pin[0 5000 6500 3000 7100 4300 "1" "1" "square"]
+ Pin[0 -5000 6500 3000 7100 4300 "2" "2" ""]
+ ElementArc [0 0 11800 11800 90 360 1000]
+ ElementArc [0 0 13800 13800 90 360 1000]
+
+ )
+
+Element["" "RCY100P" "C7" "1uFx16V" 280000 75000 15000 -10000 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 3500 "1" "1" "square,edge2"]
+ Pin[10000 0 6000 3000 6600 3500 "2" "2" "edge2"]
+ ElementLine [-9000 0 -4000 0 1000]
+ ElementLine [-6500 -2500 -6500 2500 1000]
+ ElementArc [5000 0 10000 10000 0 360 1000]
+
+ )
+
+Element["" "ACY400" "R6" "470" 425000 105000 -2725 -18795 0 100 ""]
+(
+ Pin[0 -10000 6000 3000 6600 3500 "1" "1" "square"]
+ Pin[0 30000 6000 3000 6600 3500 "2" "2" ""]
+ ElementLine [0 -10000 0 0 1000]
+ ElementLine [0 20000 0 30000 1000]
+ ElementLine [3300 0 3300 20000 1000]
+ ElementLine [-3300 20000 3300 20000 1000]
+ ElementLine [-3300 0 -3300 20000 1000]
+ ElementLine [-3300 0 3300 0 1000]
+
+ )
+
+Element["" "TO220W" "Q4" "unknown" 350000 285000 -11929 17736 0 100 ""]
+(
+ Pin[0 0 8000 3000 8600 4200 "1" "1" "square,edge2"]
+ Pin[-10000 0 8000 3000 8600 4200 "2" "2" "edge2"]
+ Pin[-20000 0 8000 3000 8600 4200 "3" "3" "edge2"]
+ ElementLine [-30000 12000 10000 12000 2000]
+ ElementLine [-30000 -6000 -30000 12000 2000]
+ ElementLine [-30000 -6000 10000 -6000 2000]
+ ElementLine [10000 -6000 10000 12000 2000]
+ ElementLine [-30000 12000 10000 12000 2000]
+ ElementLine [-30000 6000 -30000 12000 2000]
+ ElementLine [-30000 6000 10000 6000 2000]
+ ElementLine [10000 6000 10000 12000 2000]
+ ElementLine [-3000 6000 -3000 12000 1000]
+ ElementLine [-17000 6000 -17000 12000 1000]
+
+ )
+
+Element["" "Axial diode (pin 1 is cathode)" "D5" "ALF400" 217500 175000 -11300 -11482 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 3500 "2" "2" "square,edge2"]
+ Pin[-40000 0 6000 3000 6600 3500 "1" "1" "edge2"]
+ ElementLine [-13300 -6600 -13300 6600 1000]
+ ElementLine [-26700 -6600 -13300 0 1000]
+ ElementLine [-26700 -6600 -26700 6600 1000]
+ ElementLine [-13300 0 -26700 6600 1000]
+ ElementLine [-40000 0 -26700 0 1000]
+ ElementLine [-13300 0 0 0 1000]
+
+ )
+
+Element["" "E22 standing" "" "E22" 520000 385000 -52500 -32500 2 100 ""]
+(
+ ElementLine [-75000 -65000 -75000 -10000 2000]
+ ElementLine [-80000 -65000 -75000 -65000 2000]
+ ElementLine [-80000 -65000 -80000 -10000 2000]
+ ElementLine [-100000 -10000 -80000 -10000 2000]
+ ElementLine [-100000 -65000 -100000 -10000 2000]
+ ElementLine [-105000 -65000 -100000 -65000 2000]
+ ElementLine [-105000 -65000 -105000 0 2000]
+ ElementLine [-75000 -10000 -30000 -10000 2000]
+ ElementLine [-30000 -65000 -30000 -10000 2000]
+ ElementLine [-30000 -65000 -25000 -65000 2000]
+ ElementLine [-25000 -65000 -25000 -10000 2000]
+ ElementLine [-25000 -10000 -5000 -10000 2000]
+ ElementLine [-5000 -65000 -5000 -10000 2000]
+ ElementLine [-5000 -65000 0 -65000 2000]
+ ElementLine [0 -65000 0 0 2000]
+ ElementLine [-105000 0 0 0 2000]
+
+ )
+
+Element["" "Bottom lead polar circular component (typically capacitor)" "C11" "RCY100P" 287500 150000 5748 -10571 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 3500 "1" "1" "square,edge2"]
+ Pin[-10000 0 6000 3000 6600 3500 "2" "2" "edge2"]
+ ElementLine [6500 -2500 6500 2500 1000]
+ ElementLine [4000 0 9000 0 1000]
+ ElementArc [-5000 0 10000 10000 180 360 1000]
+
+ )
+
+Element["" "Axial non-polar component (typically resistor or capacitor)," "R14" "ACY400" 207500 150000 838 -9701 0 100 ""]
+(
+ Pin[10000 0 5500 3000 6100 3000 "1" "1" "square,edge2"]
+ Pin[-30000 0 5500 3000 6100 3000 "2" "2" "edge2"]
+ ElementLine [0 -3300 0 3300 1000]
+ ElementLine [-20000 -3300 0 -3300 1000]
+ ElementLine [-20000 -3300 -20000 3300 1000]
+ ElementLine [-20000 3300 0 3300 1000]
+ ElementLine [-30000 0 -20000 0 1000]
+ ElementLine [0 0 10000 0 1000]
+
+ )
+
+Element["" "LED5" "D1" "RED" 62500 287500 11397 -16209 0 100 ""]
+(
+ Pin[0 5000 6500 3000 7100 4300 "1" "1" "square"]
+ Pin[0 -5000 6500 3000 7100 4300 "2" "2" ""]
+ ElementArc [0 0 11800 11800 90 360 1000]
+ ElementArc [0 0 13800 13800 90 360 1000]
+
+ )
+
+Element["" "DIP8" "U8" "unknown" 225000 75000 5000 -17000 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 2800 "1" "1" "square"]
+ Pin[10000 0 6000 3000 6600 2800 "2" "2" ""]
+ Pin[20000 0 6000 3000 6600 2800 "3" "3" ""]
+ Pin[30000 0 6000 3000 6600 2800 "4" "4" ""]
+ Pin[30000 -30000 6000 3000 6600 2800 "5" "5" ""]
+ Pin[20000 -30000 6000 3000 6600 2800 "6" "6" ""]
+ Pin[10000 -30000 6000 3000 6600 2800 "7" "7" ""]
+ Pin[0 -30000 6000 3000 6600 2800 "8" "8" ""]
+ ElementLine [-5000 5000 35000 5000 1000]
+ ElementLine [35000 -35000 35000 5000 1000]
+ ElementLine [-5000 -35000 35000 -35000 1000]
+ ElementLine [-5000 -10000 -5000 5000 1000]
+ ElementLine [-5000 -35000 -5000 -20000 1000]
+ ElementArc [-5000 -15000 5000 5000 90 180 1000]
+
+ )
+
+Element["" "RCY100P" "C19" "4.7uFx16V" 242500 150000 15000 -10000 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 3500 "1" "1" "square,edge2"]
+ Pin[10000 0 6000 3000 6600 3500 "2" "2" "edge2"]
+ ElementLine [-9000 0 -4000 0 1000]
+ ElementLine [-6500 -2500 -6500 2500 1000]
+ ElementArc [5000 0 10000 10000 0 360 1000]
+
+ )
+
+Element["" "E22 standing" "" "E22" 392500 385000 -52500 -32500 2 100 ""]
+(
+ ElementLine [-75000 -65000 -75000 -10000 2000]
+ ElementLine [-80000 -65000 -75000 -65000 2000]
+ ElementLine [-80000 -65000 -80000 -10000 2000]
+ ElementLine [-100000 -10000 -80000 -10000 2000]
+ ElementLine [-100000 -65000 -100000 -10000 2000]
+ ElementLine [-105000 -65000 -100000 -65000 2000]
+ ElementLine [-105000 -65000 -105000 0 2000]
+ ElementLine [-75000 -10000 -30000 -10000 2000]
+ ElementLine [-30000 -65000 -30000 -10000 2000]
+ ElementLine [-30000 -65000 -25000 -65000 2000]
+ ElementLine [-25000 -65000 -25000 -10000 2000]
+ ElementLine [-25000 -10000 -5000 -10000 2000]
+ ElementLine [-5000 -65000 -5000 -10000 2000]
+ ElementLine [-5000 -65000 0 -65000 2000]
+ ElementLine [0 -65000 0 0 2000]
+ ElementLine [-105000 0 0 0 2000]
+
+ )
+
+Element["" "Radial lead circular non-polar component (typically capacitor)," "C26" "RCI200" 197500 30000 -14094 -11968 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 2800 "1" "1" "square,edge2"]
+ Pin[-20000 0 6000 3000 6600 2800 "2" "2" "edge2"]
+ ElementLine [-20000 -5000 0 -5000 1000]
+ ElementLine [-20000 5000 0 5000 1000]
+ ElementArc [-20000 0 5000 5000 270 180 1000]
+ ElementArc [0 0 5000 5000 90 180 1000]
+
+ )
+
+Element["" "TO220W" "Q1" "unknown" 477500 360000 -11024 17343 0 100 ""]
+(
+ Pin[0 0 8000 3000 8600 4200 "1" "1" "square,edge2"]
+ Pin[-10000 0 8000 3000 8600 4200 "2" "2" "edge2"]
+ Pin[-20000 0 8000 3000 8600 4200 "3" "3" "edge2"]
+ ElementLine [-30000 12000 10000 12000 2000]
+ ElementLine [-30000 -6000 -30000 12000 2000]
+ ElementLine [-30000 -6000 10000 -6000 2000]
+ ElementLine [10000 -6000 10000 12000 2000]
+ ElementLine [-30000 12000 10000 12000 2000]
+ ElementLine [-30000 6000 -30000 12000 2000]
+ ElementLine [-30000 6000 10000 6000 2000]
+ ElementLine [10000 6000 10000 12000 2000]
+ ElementLine [-3000 6000 -3000 12000 1000]
+ ElementLine [-17000 6000 -17000 12000 1000]
+
+ )
+
+Element["" "Bottom lead polar circular component (typically capacitor)" "C13" "RCY100P" 290000 50000 1870 -14822 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 3500 "1" "1" "square,edge2"]
+ Pin[-10000 0 6000 3000 6600 3500 "2" "2" "edge2"]
+ ElementLine [6500 -2500 6500 2500 1000]
+ ElementLine [4000 0 9000 0 1000]
+ ElementArc [-5000 0 10000 10000 180 360 1000]
+
+ )
+
+Element["" "TO220W" "U1" "unknown" 350000 360000 -11929 17342 0 100 ""]
+(
+ Pin[0 0 8000 3000 8600 4200 "1" "1" "square,edge2"]
+ Pin[-10000 0 8000 3000 8600 4200 "2" "2" "edge2"]
+ Pin[-20000 0 8000 3000 8600 4200 "3" "3" "edge2"]
+ ElementLine [-30000 12000 10000 12000 2000]
+ ElementLine [-30000 -6000 -30000 12000 2000]
+ ElementLine [-30000 -6000 10000 -6000 2000]
+ ElementLine [10000 -6000 10000 12000 2000]
+ ElementLine [-30000 12000 10000 12000 2000]
+ ElementLine [-30000 6000 -30000 12000 2000]
+ ElementLine [-30000 6000 10000 6000 2000]
+ ElementLine [10000 6000 10000 12000 2000]
+ ElementLine [-3000 6000 -3000 12000 1000]
+ ElementLine [-17000 6000 -17000 12000 1000]
+
+ )
+
+Element["" "Bottom lead polar circular component (typically capacitor)" "C1" "RCY100P" 615000 370000 7934 -9567 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 3500 "1" "1" "square"]
+ Pin[0 10000 6000 3000 6600 3500 "2" "2" ""]
+ ElementLine [-2500 -6500 2500 -6500 1000]
+ ElementLine [0 -9000 0 -4000 1000]
+ ElementArc [0 5000 10000 10000 270 360 1000]
+
+ )
+
+Element["" "ACY400" "R13" "1k5" 460000 50000 -4143 -20448 0 100 ""]
+(
+ Pin[0 -10000 6000 3000 6600 3500 "1" "1" "square"]
+ Pin[0 30000 6000 3000 6600 3500 "2" "2" ""]
+ ElementLine [0 -10000 0 0 1000]
+ ElementLine [0 20000 0 30000 1000]
+ ElementLine [3300 0 3300 20000 1000]
+ ElementLine [-3300 20000 3300 20000 1000]
+ ElementLine [-3300 0 -3300 20000 1000]
+ ElementLine [-3300 0 3300 0 1000]
+
+ )
+
+Element["" "E22 standing" "" "E22" 392500 310000 -52500 -32500 2 100 ""]
+(
+ ElementLine [-75000 -65000 -75000 -10000 2000]
+ ElementLine [-80000 -65000 -75000 -65000 2000]
+ ElementLine [-80000 -65000 -80000 -10000 2000]
+ ElementLine [-100000 -10000 -80000 -10000 2000]
+ ElementLine [-100000 -65000 -100000 -10000 2000]
+ ElementLine [-105000 -65000 -100000 -65000 2000]
+ ElementLine [-105000 -65000 -105000 0 2000]
+ ElementLine [-75000 -10000 -30000 -10000 2000]
+ ElementLine [-30000 -65000 -30000 -10000 2000]
+ ElementLine [-30000 -65000 -25000 -65000 2000]
+ ElementLine [-25000 -65000 -25000 -10000 2000]
+ ElementLine [-25000 -10000 -5000 -10000 2000]
+ ElementLine [-5000 -65000 -5000 -10000 2000]
+ ElementLine [-5000 -65000 0 -65000 2000]
+ ElementLine [0 -65000 0 0 2000]
+ ElementLine [-105000 0 0 0 2000]
+
+ )
+
+Element["" "Bottom lead polar circular component (typically capacitor)" "C10" "RCY100P" 315000 45000 4311 -9763 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 3500 "1" "1" "square"]
+ Pin[0 10000 6000 3000 6600 3500 "2" "2" ""]
+ ElementLine [-2500 -6500 2500 -6500 1000]
+ ElementLine [0 -9000 0 -4000 1000]
+ ElementArc [0 5000 10000 10000 270 360 1000]
+
+ )
+
+Element["" "DIP16" "U6" "unknown" 280000 130000 5000 -17000 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 2800 "1" "1" "square,edge2"]
+ Pin[10000 0 6000 3000 6600 2800 "2" "2" "edge2"]
+ Pin[20000 0 6000 3000 6600 2800 "3" "3" "edge2"]
+ Pin[30000 0 6000 3000 6600 2800 "4" "4" "edge2"]
+ Pin[40000 0 6000 3000 6600 2800 "5" "5" "edge2"]
+ Pin[50000 0 6000 3000 6600 2800 "6" "6" "edge2"]
+ Pin[60000 0 6000 3000 6600 2800 "7" "7" "edge2"]
+ Pin[70000 0 6000 3000 6600 2800 "8" "8" "edge2"]
+ Pin[70000 -30000 6000 3000 6600 2800 "9" "9" "edge2"]
+ Pin[60000 -30000 6000 3000 6600 2800 "10" "10" "edge2"]
+ Pin[50000 -30000 6000 3000 6600 2800 "11" "11" "edge2"]
+ Pin[40000 -30000 6000 3000 6600 2800 "12" "12" "edge2"]
+ Pin[30000 -30000 6000 3000 6600 2800 "13" "13" "edge2"]
+ Pin[20000 -30000 6000 3000 6600 2800 "14" "14" "edge2"]
+ Pin[10000 -30000 6000 3000 6600 2800 "15" "15" "edge2"]
+ Pin[0 -30000 6000 3000 6600 2800 "16" "16" "edge2"]
+ ElementLine [-5000 5000 75000 5000 1000]
+ ElementLine [75000 -35000 75000 5000 1000]
+ ElementLine [-5000 -35000 75000 -35000 1000]
+ ElementLine [-5000 -10000 -5000 5000 1000]
+ ElementLine [-5000 -35000 -5000 -20000 1000]
+ ElementArc [-5000 -15000 5000 5000 90 180 1000]
+
+ )
+
+Element["" "Radial lead circular non-polar component (typically capacitor)," "C2" "RCI200" 592500 380000 -3591 -32370 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 2800 "1" "1" "square"]
+ Pin[0 -20000 6000 3000 6600 2800 "2" "2" ""]
+ ElementLine [5000 -20000 5000 0 1000]
+ ElementLine [-5000 -20000 -5000 0 1000]
+ ElementArc [0 -20000 5000 5000 180 180 1000]
+ ElementArc [0 0 5000 5000 0 180 1000]
+
+ )
+
+Element["" "Radial lead circular non-polar component (typically capacitor)," "C27" "RCI200" 197500 52500 -14094 -11968 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 2800 "1" "1" "square,edge2"]
+ Pin[-20000 0 6000 3000 6600 2800 "2" "2" "edge2"]
+ ElementLine [-20000 -5000 0 -5000 1000]
+ ElementLine [-20000 5000 0 5000 1000]
+ ElementArc [-20000 0 5000 5000 270 180 1000]
+ ElementArc [0 0 5000 5000 90 180 1000]
+
+ )
+
+Element["" "LED5" "D2" "GREEN" 62500 250000 12402 -17173 0 100 ""]
+(
+ Pin[0 5000 6500 3000 7100 4300 "1" "1" "square"]
+ Pin[0 -5000 6500 3000 7100 4300 "2" "2" ""]
+ ElementArc [0 0 11800 11800 90 360 1000]
+ ElementArc [0 0 13800 13800 90 360 1000]
+
+ )
+
+Element["" "ACY400" "R4" "2k7" 605000 150000 918 -11236 0 100 ""]
+(
+ Pin[10000 0 6000 3000 6600 3500 "1" "1" "square,edge2"]
+ Pin[-30000 0 6000 3000 6600 3500 "2" "2" "edge2"]
+ ElementLine [0 0 10000 0 1000]
+ ElementLine [-30000 0 -20000 0 1000]
+ ElementLine [-20000 3300 0 3300 1000]
+ ElementLine [-20000 -3300 -20000 3300 1000]
+ ElementLine [-20000 -3300 0 -3300 1000]
+ ElementLine [0 -3300 0 3300 1000]
+
+ )
+
+Element["" "ACY400" "R5" "2k7" 547500 150000 -756 -11236 0 100 ""]
+(
+ Pin[10000 0 6000 3000 6600 3500 "1" "1" "square,edge2"]
+ Pin[-30000 0 6000 3000 6600 3500 "2" "2" "edge2"]
+ ElementLine [0 0 10000 0 1000]
+ ElementLine [-30000 0 -20000 0 1000]
+ ElementLine [-20000 3300 0 3300 1000]
+ ElementLine [-20000 -3300 -20000 3300 1000]
+ ElementLine [-20000 -3300 0 -3300 1000]
+ ElementLine [0 -3300 0 3300 1000]
+
+ )
+
+Element["" "Axial diode (pin 1 is cathode)" "D4" "ALF400" 342500 150000 28700 -6600 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 3500 "2" "2" "square,edge2"]
+ Pin[40000 0 6000 3000 6600 3500 "1" "1" "edge2"]
+ ElementLine [13300 -6600 13300 6600 1000]
+ ElementLine [26700 6600 13300 0 1000]
+ ElementLine [26700 -6600 26700 6600 1000]
+ ElementLine [13300 0 26700 -6600 1000]
+ ElementLine [26700 0 40000 0 1000]
+ ElementLine [0 0 13300 0 1000]
+
+ )
+
+Element["" "Radial lead circular non-polar component (typically capacitor)," "C4" "RCI200" 552500 360000 -3287 -11555 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 2800 "1" "1" "square"]
+ Pin[0 20000 6000 3000 6600 2800 "2" "2" ""]
+ ElementLine [-5000 0 -5000 20000 1000]
+ ElementLine [5000 0 5000 20000 1000]
+ ElementArc [0 20000 5000 5000 0 180 1000]
+ ElementArc [0 0 5000 5000 180 180 1000]
+
+ )
+
+Element["" "Bottom lead polar circular component (typically capacitor)" "C3" "RCY100P" 615000 350000 8663 -19804 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 3500 "1" "1" "square"]
+ Pin[0 -10000 6000 3000 6600 3500 "2" "2" ""]
+ ElementLine [-2500 6500 2500 6500 1000]
+ ElementLine [0 4000 0 9000 1000]
+ ElementArc [0 -5000 10000 10000 90 360 1000]
+
+ )
+
+Element["lock" "eurocard_3U" "" "EUROCARD_3U" 45000 5000 636000 0 3 100 "selected"]
+(
+ Pin[12500 22500 12000 3000 12600 8000 "M1" "1" "lock,edge2"]
+ Pin[12500 371200 12000 3000 12600 8000 "M2" "2" "lock,edge2"]
+ Pin[617500 22500 12000 3000 12600 8000 "M3" "3" "lock,edge2"]
+ Pin[617500 371200 12000 3000 12600 8000 "M4" "4" "lock,edge2"]
+ ElementLine [630000 0 0 0 2000]
+ ElementLine [630000 393700 630000 0 2000]
+ ElementLine [0 393700 630000 393700 2000]
+ ElementLine [0 0 0 393700 2000]
+
+ )
+
+Element["" "Radial lead circular non-polar component (typically capacitor)," "C6" "RCI200" 575000 380000 -2744 -31248 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 2800 "1" "1" "square"]
+ Pin[0 -20000 6000 3000 6600 2800 "2" "2" ""]
+ ElementLine [5000 -20000 5000 0 1000]
+ ElementLine [-5000 -20000 -5000 0 1000]
+ ElementArc [0 -20000 5000 5000 180 180 1000]
+ ElementArc [0 0 5000 5000 0 180 1000]
+
+ )
+
+Element["" "Push-button, tactile, right angle, 466mils actuator" "S1" "MJTP1236_D" 55000 320000 9800 8900 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 4200 "1" "1" "square,edge2"]
+ Pin[0 17700 6000 3000 6600 4200 "2" "2" "edge2"]
+ Pin[9800 -4900 7000 3000 7600 5200 "C1" "C1" "edge2"]
+ Pin[9800 22700 7000 3000 7600 5200 "C2" "C2" "edge2"]
+ ElementLine [-46600 14800 -10000 15800 2000]
+ ElementLine [-46600 3000 -46600 14800 2000]
+ ElementLine [-10000 2000 -46600 3000 2000]
+ ElementLine [3800 -4900 3800 22700 2000]
+ ElementLine [-10000 22700 15800 22700 2000]
+ ElementLine [-10000 -4900 -10000 22700 2000]
+ ElementLine [-10000 -4900 15800 -4900 2000]
+
+ )
+
+Element["" "Bottom lead polar circular component (typically capacitor)" "C22" "RCY400P" 552500 300000 15000 -2500 0 100 ""]
+(
+ Pin[0 0 10000 3000 10600 6000 "1" "1" "square,edge2"]
+ Pin[40000 0 10000 3000 10600 6000 "2" "2" "edge2"]
+ ElementLine [62000 0 66000 0 1000]
+ ElementLine [-24000 -2000 -24000 2000 1000]
+ ElementLine [-26000 0 -22000 0 1000]
+ ElementArc [20000 0 40000 40000 0 360 1000]
+
+ )
+
+Element["" "ACY400" "R11" "2k2" 425000 70000 -4732 -38992 0 100 ""]
+(
+ Pin[0 10000 6000 3000 6600 3500 "1" "1" "square"]
+ Pin[0 -30000 6000 3000 6600 3500 "2" "2" ""]
+ ElementLine [0 0 0 10000 1000]
+ ElementLine [0 -30000 0 -20000 1000]
+ ElementLine [-3300 -20000 -3300 0 1000]
+ ElementLine [-3300 -20000 3300 -20000 1000]
+ ElementLine [3300 -20000 3300 0 1000]
+ ElementLine [-3300 0 3300 0 1000]
+
+ )
+
+Element["" "ACY400" "R3" "10k" 430000 150000 524 -11766 0 100 ""]
+(
+ Pin[10000 0 6000 3000 6600 3500 "1" "1" "square,edge2"]
+ Pin[-30000 0 6000 3000 6600 3500 "2" "2" "edge2"]
+ ElementLine [0 0 10000 0 1000]
+ ElementLine [-30000 0 -20000 0 1000]
+ ElementLine [-20000 3300 0 3300 1000]
+ ElementLine [-20000 -3300 -20000 3300 1000]
+ ElementLine [-20000 -3300 0 -3300 1000]
+ ElementLine [0 -3300 0 3300 1000]
+
+ )
+
+Element["" "E22 standing" "" "E22" 520000 235000 -52500 -32500 2 100 ""]
+(
+ ElementLine [-75000 -65000 -75000 -10000 2000]
+ ElementLine [-80000 -65000 -75000 -65000 2000]
+ ElementLine [-80000 -65000 -80000 -10000 2000]
+ ElementLine [-100000 -10000 -80000 -10000 2000]
+ ElementLine [-100000 -65000 -100000 -10000 2000]
+ ElementLine [-105000 -65000 -100000 -65000 2000]
+ ElementLine [-105000 -65000 -105000 0 2000]
+ ElementLine [-75000 -10000 -30000 -10000 2000]
+ ElementLine [-30000 -65000 -30000 -10000 2000]
+ ElementLine [-30000 -65000 -25000 -65000 2000]
+ ElementLine [-25000 -65000 -25000 -10000 2000]
+ ElementLine [-25000 -10000 -5000 -10000 2000]
+ ElementLine [-5000 -65000 -5000 -10000 2000]
+ ElementLine [-5000 -65000 0 -65000 2000]
+ ElementLine [0 -65000 0 0 2000]
+ ElementLine [-105000 0 0 0 2000]
+
+ )
+
+Element["" "ACY400" "R2" "2k2" 470000 150000 19973 -10448 0 100 ""]
+(
+ Pin[-10000 0 6000 3000 6600 3500 "1" "1" "square,edge2"]
+ Pin[30000 0 6000 3000 6600 3500 "2" "2" "edge2"]
+ ElementLine [-10000 0 0 0 1000]
+ ElementLine [20000 0 30000 0 1000]
+ ElementLine [0 -3300 20000 -3300 1000]
+ ElementLine [20000 -3300 20000 3300 1000]
+ ElementLine [0 3300 20000 3300 1000]
+ ElementLine [0 -3300 0 3300 1000]
+
+ )
+
+Element["" "ACY400" "R8" "2k2" 547500 70000 -2980 -40823 0 100 ""]
+(
+ Pin[0 10000 6000 3000 6600 3500 "1" "1" "square"]
+ Pin[0 -30000 6000 3000 6600 3500 "2" "2" ""]
+ ElementLine [0 0 0 10000 1000]
+ ElementLine [0 -30000 0 -20000 1000]
+ ElementLine [-3300 -20000 -3300 0 1000]
+ ElementLine [-3300 -20000 3300 -20000 1000]
+ ElementLine [3300 -20000 3300 0 1000]
+ ElementLine [-3300 0 3300 0 1000]
+
+ )
+
+Element["" "Radial lead circular non-polar component (typically capacitor)," "C20" "RCI200" 177500 105000 -3189 -12500 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 2800 "1" "1" "square"]
+ Pin[0 20000 6000 3000 6600 2800 "2" "2" ""]
+ ElementLine [-5000 0 -5000 20000 1000]
+ ElementLine [5000 0 5000 20000 1000]
+ ElementArc [0 20000 5000 5000 0 180 1000]
+ ElementArc [0 0 5000 5000 180 180 1000]
+
+ )
+
+Element["" "TO220W" "Q3" "unknown" 477500 210000 -11024 17598 0 100 ""]
+(
+ Pin[0 0 8000 3000 8600 4200 "1" "1" "square,edge2"]
+ Pin[-10000 0 8000 3000 8600 4200 "2" "2" "edge2"]
+ Pin[-20000 0 8000 3000 8600 4200 "3" "3" "edge2"]
+ ElementLine [-30000 12000 10000 12000 2000]
+ ElementLine [-30000 -6000 -30000 12000 2000]
+ ElementLine [-30000 -6000 10000 -6000 2000]
+ ElementLine [10000 -6000 10000 12000 2000]
+ ElementLine [-30000 12000 10000 12000 2000]
+ ElementLine [-30000 6000 -30000 12000 2000]
+ ElementLine [-30000 6000 10000 6000 2000]
+ ElementLine [10000 6000 10000 12000 2000]
+ ElementLine [-3000 6000 -3000 12000 1000]
+ ElementLine [-17000 6000 -17000 12000 1000]
+
+ )
+
+Element["" "Radial lead circular non-polar component (typically capacitor)," "C14" "RCI200" 507500 30000 -15433 -11319 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 2800 "1" "1" "square,edge2"]
+ Pin[-20000 0 6000 3000 6600 2800 "2" "2" "edge2"]
+ ElementLine [-20000 -5000 0 -5000 1000]
+ ElementLine [-20000 5000 0 5000 1000]
+ ElementArc [-20000 0 5000 5000 270 180 1000]
+ ElementArc [0 0 5000 5000 90 180 1000]
+
+ )
+
+Element["" "RCY100P" "C21" "4.7uFx16V" 242500 175000 12834 -12756 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 3500 "1" "1" "square,edge2"]
+ Pin[10000 0 6000 3000 6600 3500 "2" "2" "edge2"]
+ ElementLine [-9000 0 -4000 0 1000]
+ ElementLine [-6500 -2500 -6500 2500 1000]
+ ElementArc [5000 0 10000 10000 0 360 1000]
+
+ )
+
+Element["" "ACY400" "R12" "10k" 442500 70000 -4280 -39522 0 100 ""]
+(
+ Pin[0 10000 6000 3000 6600 3500 "1" "1" "square"]
+ Pin[0 -30000 6000 3000 6600 3500 "2" "2" ""]
+ ElementLine [0 0 0 10000 1000]
+ ElementLine [0 -30000 0 -20000 1000]
+ ElementLine [-3300 -20000 -3300 0 1000]
+ ElementLine [-3300 -20000 3300 -20000 1000]
+ ElementLine [3300 -20000 3300 0 1000]
+ ElementLine [-3300 0 3300 0 1000]
+
+ )
+
+Element["" "E22 standing" "" "E22" 392500 235000 -52500 -32500 2 100 ""]
+(
+ ElementLine [-75000 -65000 -75000 -10000 2000]
+ ElementLine [-80000 -65000 -75000 -65000 2000]
+ ElementLine [-80000 -65000 -80000 -10000 2000]
+ ElementLine [-100000 -10000 -80000 -10000 2000]
+ ElementLine [-100000 -65000 -100000 -10000 2000]
+ ElementLine [-105000 -65000 -100000 -65000 2000]
+ ElementLine [-105000 -65000 -105000 0 2000]
+ ElementLine [-75000 -10000 -30000 -10000 2000]
+ ElementLine [-30000 -65000 -30000 -10000 2000]
+ ElementLine [-30000 -65000 -25000 -65000 2000]
+ ElementLine [-25000 -65000 -25000 -10000 2000]
+ ElementLine [-25000 -10000 -5000 -10000 2000]
+ ElementLine [-5000 -65000 -5000 -10000 2000]
+ ElementLine [-5000 -65000 0 -65000 2000]
+ ElementLine [0 -65000 0 0 2000]
+ ElementLine [-105000 0 0 0 2000]
+
+ )
+
+Element["" "Radial lead circular non-polar component (typically capacitor)," "C8" "RCI200" 460000 125000 -4349 -30610 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 2800 "1" "1" "square"]
+ Pin[0 -20000 6000 3000 6600 2800 "2" "2" ""]
+ ElementLine [5000 -20000 5000 0 1000]
+ ElementLine [-5000 -20000 -5000 0 1000]
+ ElementArc [0 -20000 5000 5000 180 180 1000]
+ ElementArc [0 0 5000 5000 0 180 1000]
+
+ )
+
+Element["" "Bottom lead polar circular component (typically capacitor)" "C12" "RCY100P" 320000 150000 4332 -10788 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 3500 "1" "1" "square,edge2"]
+ Pin[-10000 0 6000 3000 6600 3500 "2" "2" "edge2"]
+ ElementLine [6500 -2500 6500 2500 1000]
+ ElementLine [4000 0 9000 0 1000]
+ ElementArc [-5000 0 10000 10000 180 360 1000]
+
+ )
+
+Element["" "Bottom lead polar circular component (typically capacitor)" "C18" "RCY400P" 552500 202500 17500 -2500 0 100 ""]
+(
+ Pin[0 0 10000 3000 10600 6000 "1" "1" "square,edge2"]
+ Pin[40000 0 10000 3000 10600 6000 "2" "2" "edge2"]
+ ElementLine [62000 0 66000 0 1000]
+ ElementLine [-24000 -2000 -24000 2000 1000]
+ ElementLine [-26000 0 -22000 0 1000]
+ ElementArc [20000 0 40000 40000 0 360 1000]
+
+ )
+
+Element["" "RCY100P" "C16" "4.7uFx16V" 192500 75000 12441 -14153 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 3500 "1" "1" "square,edge2"]
+ Pin[10000 0 6000 3000 6600 3500 "2" "2" "edge2"]
+ ElementLine [-9000 0 -4000 0 1000]
+ ElementLine [-6500 -2500 -6500 2500 1000]
+ ElementArc [5000 0 10000 10000 0 360 1000]
+
+ )
+
+Element["" "Radial lead circular non-polar component (typically capacitor)," "C15" "RCI200" 607500 30000 -15178 -11319 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 2800 "1" "1" "square,edge2"]
+ Pin[-20000 0 6000 3000 6600 2800 "2" "2" "edge2"]
+ ElementLine [-20000 -5000 0 -5000 1000]
+ ElementLine [-20000 5000 0 5000 1000]
+ ElementArc [-20000 0 5000 5000 270 180 1000]
+ ElementArc [0 0 5000 5000 90 180 1000]
+
+ )
+
+Element["" "TO220W" "Q5" "unknown" 477500 285000 -11555 17736 0 100 ""]
+(
+ Pin[0 0 8000 3000 8600 4200 "1" "1" "square,edge2"]
+ Pin[-10000 0 8000 3000 8600 4200 "2" "2" "edge2"]
+ Pin[-20000 0 8000 3000 8600 4200 "3" "3" "edge2"]
+ ElementLine [-30000 12000 10000 12000 2000]
+ ElementLine [-30000 -6000 -30000 12000 2000]
+ ElementLine [-30000 -6000 10000 -6000 2000]
+ ElementLine [10000 -6000 10000 12000 2000]
+ ElementLine [-30000 12000 10000 12000 2000]
+ ElementLine [-30000 6000 -30000 12000 2000]
+ ElementLine [-30000 6000 10000 6000 2000]
+ ElementLine [10000 6000 10000 12000 2000]
+ ElementLine [-3000 6000 -3000 12000 1000]
+ ElementLine [-17000 6000 -17000 12000 1000]
+
+ )
+
+Element["" "DIP28N" "U7" "unknown" 482500 130000 5000 -17000 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 2800 "1" "1" "square,edge2"]
+ Pin[10000 0 6000 3000 6600 2800 "2" "2" "edge2"]
+ Pin[20000 0 6000 3000 6600 2800 "3" "3" "edge2"]
+ Pin[30000 0 6000 3000 6600 2800 "4" "4" "edge2"]
+ Pin[40000 0 6000 3000 6600 2800 "5" "5" "edge2"]
+ Pin[50000 0 6000 3000 6600 2800 "6" "6" "edge2"]
+ Pin[60000 0 6000 3000 6600 2800 "7" "7" "edge2"]
+ Pin[70000 0 6000 3000 6600 2800 "8" "8" "edge2"]
+ Pin[80000 0 6000 3000 6600 2800 "9" "9" "edge2"]
+ Pin[90000 0 6000 3000 6600 2800 "10" "10" "edge2"]
+ Pin[100000 0 6000 3000 6600 2800 "11" "11" "edge2"]
+ Pin[110000 0 6000 3000 6600 2800 "12" "12" "edge2"]
+ Pin[120000 0 6000 3000 6600 2800 "13" "13" "edge2"]
+ Pin[130000 0 6000 3000 6600 2800 "14" "14" "edge2"]
+ Pin[130000 -30000 6000 3000 6600 2800 "15" "15" "edge2"]
+ Pin[120000 -30000 6000 3000 6600 2800 "16" "16" "edge2"]
+ Pin[110000 -30000 6000 3000 6600 2800 "17" "17" "edge2"]
+ Pin[100000 -30000 6000 3000 6600 2800 "18" "18" "edge2"]
+ Pin[90000 -30000 6000 3000 6600 2800 "19" "19" "edge2"]
+ Pin[80000 -30000 6000 3000 6600 2800 "20" "20" "edge2"]
+ Pin[70000 -30000 6000 3000 6600 2800 "21" "21" "edge2"]
+ Pin[60000 -30000 6000 3000 6600 2800 "22" "22" "edge2"]
+ Pin[50000 -30000 6000 3000 6600 2800 "23" "23" "edge2"]
+ Pin[40000 -30000 6000 3000 6600 2800 "24" "24" "edge2"]
+ Pin[30000 -30000 6000 3000 6600 2800 "25" "25" "edge2"]
+ Pin[20000 -30000 6000 3000 6600 2800 "26" "26" "edge2"]
+ Pin[10000 -30000 6000 3000 6600 2800 "27" "27" "edge2"]
+ Pin[0 -30000 6000 3000 6600 2800 "28" "28" "edge2"]
+ ElementLine [-5000 5000 135000 5000 1000]
+ ElementLine [135000 -35000 135000 5000 1000]
+ ElementLine [-5000 -35000 135000 -35000 1000]
+ ElementLine [-5000 -10000 -5000 5000 1000]
+ ElementLine [-5000 -35000 -5000 -20000 1000]
+ ElementArc [-5000 -15000 5000 5000 90 180 1000]
+
+ )
+
+Element["" "TO220W" "Q2" "unknown" 350000 210000 -11929 18130 0 100 ""]
+(
+ Pin[0 0 8000 3000 8600 4200 "1" "1" "square,edge2"]
+ Pin[-10000 0 8000 3000 8600 4200 "2" "2" "edge2"]
+ Pin[-20000 0 8000 3000 8600 4200 "3" "3" "edge2"]
+ ElementLine [-30000 12000 10000 12000 2000]
+ ElementLine [-30000 -6000 -30000 12000 2000]
+ ElementLine [-30000 -6000 10000 -6000 2000]
+ ElementLine [10000 -6000 10000 12000 2000]
+ ElementLine [-30000 12000 10000 12000 2000]
+ ElementLine [-30000 6000 -30000 12000 2000]
+ ElementLine [-30000 6000 10000 6000 2000]
+ ElementLine [10000 6000 10000 12000 2000]
+ ElementLine [-3000 6000 -3000 12000 1000]
+ ElementLine [-17000 6000 -17000 12000 1000]
+
+ )
+
+Element["" "ACY400" "R7" "470" 442500 105000 -2508 -18579 0 100 ""]
+(
+ Pin[0 -10000 6000 3000 6600 3500 "1" "1" "square"]
+ Pin[0 30000 6000 3000 6600 3500 "2" "2" ""]
+ ElementLine [0 -10000 0 0 1000]
+ ElementLine [0 20000 0 30000 1000]
+ ElementLine [3300 0 3300 20000 1000]
+ ElementLine [-3300 20000 3300 20000 1000]
+ ElementLine [-3300 0 -3300 20000 1000]
+ ElementLine [-3300 0 3300 0 1000]
+
+ )
+
+Element["" "DIP8" "U4" "unknown" 482500 75000 5000 -17500 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 2800 "1" "1" "square"]
+ Pin[10000 0 6000 3000 6600 2800 "2" "2" ""]
+ Pin[20000 0 6000 3000 6600 2800 "3" "3" ""]
+ Pin[30000 0 6000 3000 6600 2800 "4" "4" ""]
+ Pin[30000 -30000 6000 3000 6600 2800 "5" "5" ""]
+ Pin[20000 -30000 6000 3000 6600 2800 "6" "6" ""]
+ Pin[10000 -30000 6000 3000 6600 2800 "7" "7" ""]
+ Pin[0 -30000 6000 3000 6600 2800 "8" "8" ""]
+ ElementLine [-5000 5000 35000 5000 1000]
+ ElementLine [35000 -35000 35000 5000 1000]
+ ElementLine [-5000 -35000 35000 -35000 1000]
+ ElementLine [-5000 -10000 -5000 5000 1000]
+ ElementLine [-5000 -35000 -5000 -20000 1000]
+ ElementArc [-5000 -15000 5000 5000 90 180 1000]
+
+ )
+
+Element["" "ACY400" "R10" "390" 532500 50000 -3807 -20113 0 100 ""]
+(
+ Pin[0 -10000 6000 3000 6600 3500 "1" "1" "square"]
+ Pin[0 30000 6000 3000 6600 3500 "2" "2" ""]
+ ElementLine [0 -10000 0 0 1000]
+ ElementLine [0 20000 0 30000 1000]
+ ElementLine [3300 0 3300 20000 1000]
+ ElementLine [-3300 20000 3300 20000 1000]
+ ElementLine [-3300 0 -3300 20000 1000]
+ ElementLine [-3300 0 3300 0 1000]
+
+ )
+
+Element["" "Axial diode (pin 1 is cathode)" "D8" "ALF400" 232500 215000 29056 -9395 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 3500 "2" "2" "square,edge2"]
+ Pin[40000 0 6000 3000 6600 3500 "1" "1" "edge2"]
+ ElementLine [13300 -6600 13300 6600 1000]
+ ElementLine [26700 6600 13300 0 1000]
+ ElementLine [26700 -6600 26700 6600 1000]
+ ElementLine [13300 0 26700 -6600 1000]
+ ElementLine [26700 0 40000 0 1000]
+ ElementLine [0 0 13300 0 1000]
+
+ )
+
+Element["" "ACY400" "R9" "390" 562500 70000 -4201 -39600 0 100 ""]
+(
+ Pin[0 10000 6000 3000 6600 3500 "1" "1" "square"]
+ Pin[0 -30000 6000 3000 6600 3500 "2" "2" ""]
+ ElementLine [0 0 0 10000 1000]
+ ElementLine [0 -30000 0 -20000 1000]
+ ElementLine [-3300 -20000 -3300 0 1000]
+ ElementLine [-3300 -20000 3300 -20000 1000]
+ ElementLine [3300 -20000 3300 0 1000]
+ ElementLine [-3300 0 3300 0 1000]
+
+ )
+
+Element["" "DIP8" "U3" "unknown" 582500 75000 5000 -17000 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 2800 "1" "1" "square"]
+ Pin[10000 0 6000 3000 6600 2800 "2" "2" ""]
+ Pin[20000 0 6000 3000 6600 2800 "3" "3" ""]
+ Pin[30000 0 6000 3000 6600 2800 "4" "4" ""]
+ Pin[30000 -30000 6000 3000 6600 2800 "5" "5" ""]
+ Pin[20000 -30000 6000 3000 6600 2800 "6" "6" ""]
+ Pin[10000 -30000 6000 3000 6600 2800 "7" "7" ""]
+ Pin[0 -30000 6000 3000 6600 2800 "8" "8" ""]
+ ElementLine [-5000 5000 35000 5000 1000]
+ ElementLine [35000 -35000 35000 5000 1000]
+ ElementLine [-5000 -35000 35000 -35000 1000]
+ ElementLine [-5000 -10000 -5000 5000 1000]
+ ElementLine [-5000 -35000 -5000 -20000 1000]
+ ElementArc [-5000 -15000 5000 5000 90 180 1000]
+
+ )
+
+Element["" "DIP8" "U2" "unknown" 372500 130000 7500 -17500 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 2800 "1" "1" "square"]
+ Pin[10000 0 6000 3000 6600 2800 "2" "2" ""]
+ Pin[20000 0 6000 3000 6600 2800 "3" "3" ""]
+ Pin[30000 0 6000 3000 6600 2800 "4" "4" ""]
+ Pin[30000 -30000 6000 3000 6600 2800 "5" "5" ""]
+ Pin[20000 -30000 6000 3000 6600 2800 "6" "6" ""]
+ Pin[10000 -30000 6000 3000 6600 2800 "7" "7" ""]
+ Pin[0 -30000 6000 3000 6600 2800 "8" "8" ""]
+ ElementLine [-5000 5000 35000 5000 1000]
+ ElementLine [35000 -35000 35000 5000 1000]
+ ElementLine [-5000 -35000 35000 -35000 1000]
+ ElementLine [-5000 -10000 -5000 5000 1000]
+ ElementLine [-5000 -35000 -5000 -20000 1000]
+ ElementArc [-5000 -15000 5000 5000 90 180 1000]
+
+ )
+
+Element["" "Radial lead circular non-polar component (typically capacitor)," "C9" "RCI200" 397500 30000 -13937 -11318 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 2800 "1" "1" "square,edge2"]
+ Pin[-20000 0 6000 3000 6600 2800 "2" "2" "edge2"]
+ ElementLine [-20000 -5000 0 -5000 1000]
+ ElementLine [-20000 5000 0 5000 1000]
+ ElementArc [-20000 0 5000 5000 270 180 1000]
+ ElementArc [0 0 5000 5000 90 180 1000]
+
+ )
+
+Element["" "DIP8" "U5" "unknown" 372500 75000 5000 -17000 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 2800 "1" "1" "square"]
+ Pin[10000 0 6000 3000 6600 2800 "2" "2" ""]
+ Pin[20000 0 6000 3000 6600 2800 "3" "3" ""]
+ Pin[30000 0 6000 3000 6600 2800 "4" "4" ""]
+ Pin[30000 -30000 6000 3000 6600 2800 "5" "5" ""]
+ Pin[20000 -30000 6000 3000 6600 2800 "6" "6" ""]
+ Pin[10000 -30000 6000 3000 6600 2800 "7" "7" ""]
+ Pin[0 -30000 6000 3000 6600 2800 "8" "8" ""]
+ ElementLine [-5000 5000 35000 5000 1000]
+ ElementLine [35000 -35000 35000 5000 1000]
+ ElementLine [-5000 -35000 35000 -35000 1000]
+ ElementLine [-5000 -10000 -5000 5000 1000]
+ ElementLine [-5000 -35000 -5000 -20000 1000]
+ ElementArc [-5000 -15000 5000 5000 90 180 1000]
+
+ )
+
+Element["" "Dual in-line package, narrow (300 mil)" "U9" "DIP14" 195000 130000 5000 -17000 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 2800 "1" "1" "square,edge2"]
+ Pin[10000 0 6000 3000 6600 2800 "2" "2" "edge2"]
+ Pin[20000 0 6000 3000 6600 2800 "3" "3" "edge2"]
+ Pin[30000 0 6000 3000 6600 2800 "4" "4" "edge2"]
+ Pin[40000 0 6000 3000 6600 2800 "5" "5" "edge2"]
+ Pin[50000 0 6000 3000 6600 2800 "6" "6" "edge2"]
+ Pin[60000 0 6000 3000 6600 2800 "7" "7" "edge2"]
+ Pin[60000 -30000 6000 3000 6600 2800 "8" "8" "edge2"]
+ Pin[50000 -30000 6000 3000 6600 2800 "9" "9" "edge2"]
+ Pin[40000 -30000 6000 3000 6600 2800 "10" "10" "edge2"]
+ Pin[30000 -30000 6000 3000 6600 2800 "11" "11" "edge2"]
+ Pin[20000 -30000 6000 3000 6600 2800 "12" "12" "edge2"]
+ Pin[10000 -30000 6000 3000 6600 2800 "13" "13" "edge2"]
+ Pin[0 -30000 6000 3000 6600 2800 "14" "14" "edge2"]
+ ElementLine [-5000 -35000 -5000 -20000 1000]
+ ElementLine [-5000 -10000 -5000 5000 1000]
+ ElementLine [-5000 -35000 65000 -35000 1000]
+ ElementLine [65000 -35000 65000 5000 1000]
+ ElementLine [-5000 5000 65000 5000 1000]
+ ElementArc [-5000 -15000 5000 5000 90 180 1000]
+
+ )
+
+Element["" "Radial lead circular non-polar component (typically capacitor)," "C17" "RCI200" 250000 30000 -14094 -11968 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 2800 "1" "1" "square,edge2"]
+ Pin[-20000 0 6000 3000 6600 2800 "2" "2" "edge2"]
+ ElementLine [-20000 -5000 0 -5000 1000]
+ ElementLine [-20000 5000 0 5000 1000]
+ ElementArc [-20000 0 5000 5000 270 180 1000]
+ ElementArc [0 0 5000 5000 90 180 1000]
+
+ )
+
+Element["" "RCY100P" "C5" "1uFx16V" 310000 75000 15000 -10000 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 3500 "1" "1" "square,edge2"]
+ Pin[10000 0 6000 3000 6600 3500 "2" "2" "edge2"]
+ ElementLine [-4000 0 -9000 0 1000]
+ ElementLine [-6500 -2500 -6500 2500 1000]
+ ElementArc [5000 0 10000 10000 0 360 1000]
+
+ )
+
+Element["" "DSUB connector, female/male" "J1" "DB9M" 80000 102500 -21527 -8169 0 100 ""]
+(
+ Pin[-5000 -27000 14000 3000 14600 12000 "C1" "C1" ""]
+ Pin[-5000 70600 14000 3000 14600 12000 "C1" "C1" ""]
+ Pin[0 0 6000 3000 6600 3500 "1" "1" "square"]
+ Pin[0 10900 6000 3000 6600 3500 "2" "2" ""]
+ Pin[0 21800 6000 3000 6600 3500 "3" "3" ""]
+ Pin[0 32700 6000 3000 6600 3500 "4" "4" ""]
+ Pin[0 43600 6000 3000 6600 3500 "5" "5" ""]
+ Pin[-10000 5400 6000 3000 6600 3500 "6" "6" ""]
+ Pin[-10000 16300 6000 3000 6600 3500 "7" "7" ""]
+ Pin[-10000 27200 6000 3000 6600 3500 "8" "8" ""]
+ Pin[-10000 38100 6000 3000 6600 3500 "9" "9" ""]
+ ElementLine [-10000 38100 -28000 38100 2000]
+ ElementLine [-10000 27200 -28000 27200 2000]
+ ElementLine [-10000 16300 -28000 16300 2000]
+ ElementLine [-10000 5400 -28000 5400 2000]
+ ElementLine [0 43600 -28000 43600 2000]
+ ElementLine [0 32700 -28000 32700 2000]
+ ElementLine [0 21800 -28000 21800 2000]
+ ElementLine [0 10900 -28000 10900 2000]
+ ElementLine [0 0 -28000 0 2000]
+ ElementLine [-48000 59600 -48000 -16000 1000]
+ ElementLine [-28000 59600 -48000 59600 2000]
+ ElementLine [-28000 -16000 -28000 59600 2000]
+ ElementLine [-48000 -16000 -28000 -16000 2000]
+ ElementLine [-78000 53600 -78000 -10000 2000]
+ ElementLine [-51000 53600 -78000 53600 2000]
+ ElementLine [-51000 -10000 -51000 53600 1000]
+ ElementLine [-78000 -10000 -51000 -10000 2000]
+ ElementLine [-51000 64600 -48000 64600 1000]
+ ElementLine [-51000 76600 -48000 76600 1000]
+ ElementLine [-51000 -21000 -48000 -21000 1000]
+ ElementLine [-51000 -33000 -48000 -33000 1000]
+ ElementLine [-51000 82600 -51000 -39000 1000]
+ ElementLine [-48000 82600 -51000 82600 1000]
+ ElementLine [-48000 -39000 -48000 82600 1000]
+ ElementLine [-51000 -39000 -48000 -39000 1000]
+
+ )
+
+Element["" "ACY400" "R1" "470" 345000 50000 -3689 -20783 0 100 ""]
+(
+ Pin[0 -10000 6000 3000 6600 3500 "1" "1" "square"]
+ Pin[0 30000 6000 3000 6600 3500 "2" "2" ""]
+ ElementLine [0 -10000 0 0 1000]
+ ElementLine [0 20000 0 30000 1000]
+ ElementLine [3300 0 3300 20000 1000]
+ ElementLine [-3300 20000 3300 20000 1000]
+ ElementLine [-3300 0 -3300 20000 1000]
+ ElementLine [-3300 0 3300 0 1000]
+
+ )
+
+Element["" "E22 standing" "" "E22" 520000 310000 -52500 -32500 2 100 ""]
+(
+ ElementLine [-75000 -65000 -75000 -10000 2000]
+ ElementLine [-80000 -65000 -75000 -65000 2000]
+ ElementLine [-80000 -65000 -80000 -10000 2000]
+ ElementLine [-100000 -10000 -80000 -10000 2000]
+ ElementLine [-100000 -65000 -100000 -10000 2000]
+ ElementLine [-105000 -65000 -100000 -65000 2000]
+ ElementLine [-105000 -65000 -105000 0 2000]
+ ElementLine [-75000 -10000 -30000 -10000 2000]
+ ElementLine [-30000 -65000 -30000 -10000 2000]
+ ElementLine [-30000 -65000 -25000 -65000 2000]
+ ElementLine [-25000 -65000 -25000 -10000 2000]
+ ElementLine [-25000 -10000 -5000 -10000 2000]
+ ElementLine [-5000 -65000 -5000 -10000 2000]
+ ElementLine [-5000 -65000 0 -65000 2000]
+ ElementLine [0 -65000 0 0 2000]
+ ElementLine [-105000 0 0 0 2000]
+
+ )
+
+Element["" "Axial non-polar component (typically resistor or capacitor)," "R18" "ACY400" 207500 235000 -737 -10644 0 100 ""]
+(
+ Pin[10000 0 5500 3000 6100 3000 "1" "1" "square,edge2"]
+ Pin[-30000 0 5500 3000 6100 3000 "2" "2" "edge2"]
+ ElementLine [0 -3300 0 3300 1000]
+ ElementLine [-20000 -3300 0 -3300 1000]
+ ElementLine [-20000 -3300 -20000 3300 1000]
+ ElementLine [-20000 3300 0 3300 1000]
+ ElementLine [-30000 0 -20000 0 1000]
+ ElementLine [0 0 10000 0 1000]
+
+ )
+
+Element["" "Axial non-polar component (typically resistor or capacitor)," "R19" "ACY400" 262500 235000 -147 -11452 0 100 ""]
+(
+ Pin[10000 0 5500 3000 6100 3000 "1" "1" "square,edge2"]
+ Pin[-30000 0 5500 3000 6100 3000 "2" "2" "edge2"]
+ ElementLine [0 -3300 0 3300 1000]
+ ElementLine [-20000 -3300 0 -3300 1000]
+ ElementLine [-20000 -3300 -20000 3300 1000]
+ ElementLine [-20000 3300 0 3300 1000]
+ ElementLine [-30000 0 -20000 0 1000]
+ ElementLine [0 0 10000 0 1000]
+
+ )
+
+Element["" "Axial diode (pin 1 is cathode)" "D10" "ALF400" 232500 255000 29586 -9314 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 3500 "2" "2" "square,edge2"]
+ Pin[40000 0 6000 3000 6600 3500 "1" "1" "edge2"]
+ ElementLine [13300 -6600 13300 6600 1000]
+ ElementLine [26700 6600 13300 0 1000]
+ ElementLine [26700 -6600 26700 6600 1000]
+ ElementLine [13300 0 26700 -6600 1000]
+ ElementLine [26700 0 40000 0 1000]
+ ElementLine [0 0 13300 0 1000]
+
+ )
+
+Element["" "Axial diode (pin 1 is cathode)" "D9" "ALF400" 177500 255000 28522 -9081 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 3500 "2" "2" "square,edge2"]
+ Pin[40000 0 6000 3000 6600 3500 "1" "1" "edge2"]
+ ElementLine [13300 -6600 13300 6600 1000]
+ ElementLine [26700 6600 13300 0 1000]
+ ElementLine [26700 -6600 26700 6600 1000]
+ ElementLine [13300 0 26700 -6600 1000]
+ ElementLine [26700 0 40000 0 1000]
+ ElementLine [0 0 13300 0 1000]
+
+ )
+
+Element["" "Dual in-line package, narrow (300 mil)" "U10" "DIP14" 195000 350000 5000 -17000 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 2800 "1" "1" "square,edge2"]
+ Pin[10000 0 6000 3000 6600 2800 "2" "2" "edge2"]
+ Pin[20000 0 6000 3000 6600 2800 "3" "3" "edge2"]
+ Pin[30000 0 6000 3000 6600 2800 "4" "4" "edge2"]
+ Pin[40000 0 6000 3000 6600 2800 "5" "5" "edge2"]
+ Pin[50000 0 6000 3000 6600 2800 "6" "6" "edge2"]
+ Pin[60000 0 6000 3000 6600 2800 "7" "7" "edge2"]
+ Pin[60000 -30000 6000 3000 6600 2800 "8" "8" "edge2"]
+ Pin[50000 -30000 6000 3000 6600 2800 "9" "9" "edge2"]
+ Pin[40000 -30000 6000 3000 6600 2800 "10" "10" "edge2"]
+ Pin[30000 -30000 6000 3000 6600 2800 "11" "11" "edge2"]
+ Pin[20000 -30000 6000 3000 6600 2800 "12" "12" "edge2"]
+ Pin[10000 -30000 6000 3000 6600 2800 "13" "13" "edge2"]
+ Pin[0 -30000 6000 3000 6600 2800 "14" "14" "edge2"]
+ ElementLine [-5000 -35000 -5000 -20000 1000]
+ ElementLine [-5000 -10000 -5000 5000 1000]
+ ElementLine [-5000 -35000 65000 -35000 1000]
+ ElementLine [65000 -35000 65000 5000 1000]
+ ElementLine [-5000 5000 65000 5000 1000]
+ ElementArc [-5000 -15000 5000 5000 90 180 1000]
+
+ )
+
+Element["" "Radial lead circular non-polar component (typically capacitor)," "C24" "RCI200" 177500 325000 -5690 -12500 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 2800 "1" "1" "square"]
+ Pin[0 20000 6000 3000 6600 2800 "2" "2" ""]
+ ElementLine [-5000 0 -5000 20000 1000]
+ ElementLine [5000 0 5000 20000 1000]
+ ElementArc [0 20000 5000 5000 0 180 1000]
+ ElementArc [0 0 5000 5000 180 180 1000]
+
+ )
+
+Element["" "Axial non-polar component (typically resistor or capacitor)," "R16" "ACY400" 187500 195000 19264 -11000 0 100 ""]
+(
+ Pin[-10000 0 5500 3000 6100 3000 "1" "1" "square,edge2"]
+ Pin[30000 0 5500 3000 6100 3000 "2" "2" "edge2"]
+ ElementLine [0 -3300 0 3300 1000]
+ ElementLine [0 3300 20000 3300 1000]
+ ElementLine [20000 -3300 20000 3300 1000]
+ ElementLine [0 -3300 20000 -3300 1000]
+ ElementLine [20000 0 30000 0 1000]
+ ElementLine [-10000 0 0 0 1000]
+
+ )
+
+Element["" "Axial diode (pin 1 is cathode)" "D7" "ALF400" 177500 215000 29054 -9436 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 3500 "2" "2" "square,edge2"]
+ Pin[40000 0 6000 3000 6600 3500 "1" "1" "edge2"]
+ ElementLine [13300 -6600 13300 6600 1000]
+ ElementLine [26700 6600 13300 0 1000]
+ ElementLine [26700 -6600 26700 6600 1000]
+ ElementLine [13300 0 26700 -6600 1000]
+ ElementLine [26700 0 40000 0 1000]
+ ElementLine [0 0 13300 0 1000]
+
+ )
+
+Element["" "Axial diode (pin 1 is cathode)" "D6" "ALF400" 217500 300000 -12423 -10537 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 3500 "2" "2" "square,edge2"]
+ Pin[-40000 0 6000 3000 6600 3500 "1" "1" "edge2"]
+ ElementLine [-13300 -6600 -13300 6600 1000]
+ ElementLine [-26700 -6600 -13300 0 1000]
+ ElementLine [-26700 -6600 -26700 6600 1000]
+ ElementLine [-13300 0 -26700 6600 1000]
+ ElementLine [-40000 0 -26700 0 1000]
+ ElementLine [-13300 0 0 0 1000]
+
+ )
+
+Element["" "RCY100P" "C25" "4.7uFx16V" 242500 300000 12500 -12500 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 3500 "1" "1" "square,edge2"]
+ Pin[10000 0 6000 3000 6600 3500 "2" "2" "edge2"]
+ ElementLine [-9000 0 -4000 0 1000]
+ ElementLine [-6500 -2500 -6500 2500 1000]
+ ElementArc [5000 0 10000 10000 0 360 1000]
+
+ )
+
+Element["" "RCY100P" "C23" "4.7uFx16V" 242500 275000 13090 -11654 0 100 ""]
+(
+ Pin[0 0 6000 3000 6600 3500 "1" "1" "square,edge2"]
+ Pin[10000 0 6000 3000 6600 3500 "2" "2" "edge2"]
+ ElementLine [-9000 0 -4000 0 1000]
+ ElementLine [-6500 -2500 -6500 2500 1000]
+ ElementArc [5000 0 10000 10000 0 360 1000]
+
+ )
+
+Element["" "Axial non-polar component (typically resistor or capacitor)," "R15" "ACY400" 207500 275000 -126 -9345 0 100 ""]
+(
+ Pin[10000 0 5500 3000 6100 3000 "1" "1" "square,edge2"]
+ Pin[-30000 0 5500 3000 6100 3000 "2" "2" "edge2"]
+ ElementLine [0 -3300 0 3300 1000]
+ ElementLine [-20000 -3300 0 -3300 1000]
+ ElementLine [-20000 -3300 -20000 3300 1000]
+ ElementLine [-20000 3300 0 3300 1000]
+ ElementLine [-30000 0 -20000 0 1000]
+ ElementLine [0 0 10000 0 1000]
+
+ )
+
+Element["" "Axial non-polar component (typically resistor or capacitor)," "R17" "ACY400" 242500 195000 20169 -10960 0 100 ""]
+(
+ Pin[-10000 0 5500 3000 6100 3000 "1" "1" "square,edge2"]
+ Pin[30000 0 5500 3000 6100 3000 "2" "2" "edge2"]
+ ElementLine [0 -3300 0 3300 1000]
+ ElementLine [0 3300 20000 3300 1000]
+ ElementLine [20000 -3300 20000 3300 1000]
+ ElementLine [0 -3300 20000 -3300 1000]
+ ElementLine [20000 0 30000 0 1000]
+ ElementLine [-10000 0 0 0 1000]
+
+ )
+
+Element["" "DIN41.612 row a+b+c male" "J2" "abc96m" 652500 47500 -13000 -17500 0 200 ""]
+(
+ Pin[0 0 6000 3000 6600 3000 "a1" "A1" "square"]
+ Pin[0 10000 6000 3000 6600 3000 "a2" "A2" ""]
+ Pin[0 20000 6000 3000 6600 3000 "a3" "A3" ""]
+ Pin[0 30000 6000 3000 6600 3000 "a4" "A4" ""]
+ Pin[0 40000 6000 3000 6600 3000 "a5" "A5" ""]
+ Pin[0 50000 6000 3000 6600 3000 "a6" "A6" ""]
+ Pin[0 60000 6000 3000 6600 3000 "a7" "A7" ""]
+ Pin[0 70000 6000 3000 6600 3000 "a8" "A8" ""]
+ Pin[0 80000 6000 3000 6600 3000 "a9" "A9" ""]
+ Pin[0 90000 6000 3000 6600 3000 "a10" "A10" ""]
+ Pin[0 100000 6000 3000 6600 3000 "a11" "A11" ""]
+ Pin[0 110000 6000 3000 6600 3000 "a12" "A12" ""]
+ Pin[0 120000 6000 3000 6600 3000 "a13" "A13" ""]
+ Pin[0 130000 6000 3000 6600 3000 "a14" "A14" ""]
+ Pin[0 140000 6000 3000 6600 3000 "a15" "A15" ""]
+ Pin[0 150000 6000 3000 6600 3000 "a16" "A16" ""]
+ Pin[0 160000 6000 3000 6600 3000 "a17" "A17" ""]
+ Pin[0 170000 6000 3000 6600 3000 "a18" "A18" ""]
+ Pin[0 180000 6000 3000 6600 3000 "a19" "A19" ""]
+ Pin[0 190000 6000 3000 6600 3000 "a20" "A20" ""]
+ Pin[0 200000 6000 3000 6600 3000 "a21" "A21" ""]
+ Pin[0 210000 6000 3000 6600 3000 "a22" "A22" ""]
+ Pin[0 220000 6000 3000 6600 3000 "a23" "A23" ""]
+ Pin[0 230000 6000 3000 6600 3000 "a24" "A24" ""]
+ Pin[0 240000 6000 3000 6600 3000 "a25" "A25" ""]
+ Pin[0 250000 6000 3000 6600 3000 "a26" "A26" ""]
+ Pin[0 260000 6000 3000 6600 3000 "a27" "A27" ""]
+ Pin[0 270000 6000 3000 6600 3000 "a28" "A28" ""]
+ Pin[0 280000 6000 3000 6600 3000 "a29" "A29" ""]
+ Pin[0 290000 6000 3000 6600 3000 "a30" "A30" ""]
+ Pin[0 300000 6000 3000 6600 3000 "a31" "A31" ""]
+ Pin[0 310000 6000 3000 6600 3000 "a32" "A32" ""]
+ Pin[-10000 0 6000 3000 6600 3000 "b1" "B1" ""]
+ Pin[-10000 10000 6000 3000 6600 3000 "b2" "B2" ""]
+ Pin[-10000 20000 6000 3000 6600 3000 "b3" "B3" ""]
+ Pin[-10000 30000 6000 3000 6600 3000 "b4" "B4" ""]
+ Pin[-10000 40000 6000 3000 6600 3000 "b5" "B5" ""]
+ Pin[-10000 50000 6000 3000 6600 3000 "b6" "B6" ""]
+ Pin[-10000 60000 6000 3000 6600 3000 "b7" "B7" ""]
+ Pin[-10000 70000 6000 3000 6600 3000 "b8" "B8" ""]
+ Pin[-10000 80000 6000 3000 6600 3000 "b9" "B9" ""]
+ Pin[-10000 90000 6000 3000 6600 3000 "b10" "B10" ""]
+ Pin[-10000 100000 6000 3000 6600 3000 "b11" "B11" ""]
+ Pin[-10000 110000 6000 3000 6600 3000 "b12" "B12" ""]
+ Pin[-10000 120000 6000 3000 6600 3000 "b13" "B13" ""]
+ Pin[-10000 130000 6000 3000 6600 3000 "b14" "B14" ""]
+ Pin[-10000 140000 6000 3000 6600 3000 "b15" "B15" ""]
+ Pin[-10000 150000 6000 3000 6600 3000 "b16" "B16" ""]
+ Pin[-10000 160000 6000 3000 6600 3000 "b17" "B17" ""]
+ Pin[-10000 170000 6000 3000 6600 3000 "b18" "B18" ""]
+ Pin[-10000 180000 6000 3000 6600 3000 "b19" "B19" ""]
+ Pin[-10000 190000 6000 3000 6600 3000 "b20" "B20" ""]
+ Pin[-10000 200000 6000 3000 6600 3000 "b21" "B21" ""]
+ Pin[-10000 210000 6000 3000 6600 3000 "b22" "B22" ""]
+ Pin[-10000 220000 6000 3000 6600 3000 "b23" "B23" ""]
+ Pin[-10000 230000 6000 3000 6600 3000 "b24" "B24" ""]
+ Pin[-10000 240000 6000 3000 6600 3000 "b25" "B25" ""]
+ Pin[-10000 250000 6000 3000 6600 3000 "b26" "B26" ""]
+ Pin[-10000 260000 6000 3000 6600 3000 "b27" "B27" ""]
+ Pin[-10000 270000 6000 3000 6600 3000 "b28" "B28" ""]
+ Pin[-10000 280000 6000 3000 6600 3000 "b29" "B29" ""]
+ Pin[-10000 290000 6000 3000 6600 3000 "b30" "B30" ""]
+ Pin[-10000 300000 6000 3000 6600 3000 "b31" "B31" ""]
+ Pin[-10000 310000 6000 3000 6600 3000 "b32" "B32" ""]
+ Pin[-20000 0 6000 3000 6600 3000 "c1" "C1" ""]
+ Pin[-20000 10000 6000 3000 6600 3000 "c2" "C2" ""]
+ Pin[-20000 20000 6000 3000 6600 3000 "c3" "C3" ""]
+ Pin[-20000 30000 6000 3000 6600 3000 "c4" "C4" ""]
+ Pin[-20000 40000 6000 3000 6600 3000 "c5" "C5" ""]
+ Pin[-20000 50000 6000 3000 6600 3000 "c6" "C6" ""]
+ Pin[-20000 60000 6000 3000 6600 3000 "c7" "C7" ""]
+ Pin[-20000 70000 6000 3000 6600 3000 "c8" "C8" ""]
+ Pin[-20000 80000 6000 3000 6600 3000 "c9" "C9" ""]
+ Pin[-20000 90000 6000 3000 6600 3000 "c10" "C10" ""]
+ Pin[-20000 100000 6000 3000 6600 3000 "c11" "C11" ""]
+ Pin[-20000 110000 6000 3000 6600 3000 "c12" "C12" ""]
+ Pin[-20000 120000 6000 3000 6600 3000 "c13" "C13" ""]
+ Pin[-20000 130000 6000 3000 6600 3000 "c14" "C14" ""]
+ Pin[-20000 140000 6000 3000 6600 3000 "c15" "C15" ""]
+ Pin[-20000 150000 6000 3000 6600 3000 "c16" "C16" ""]
+ Pin[-20000 160000 6000 3000 6600 3000 "c17" "C17" ""]
+ Pin[-20000 170000 6000 3000 6600 3000 "c18" "C18" ""]
+ Pin[-20000 180000 6000 3000 6600 3000 "c19" "C19" ""]
+ Pin[-20000 190000 6000 3000 6600 3000 "c20" "C20" ""]
+ Pin[-20000 200000 6000 3000 6600 3000 "c21" "C21" ""]
+ Pin[-20000 210000 6000 3000 6600 3000 "c22" "C22" ""]
+ Pin[-20000 220000 6000 3000 6600 3000 "c23" "C23" ""]
+ Pin[-20000 230000 6000 3000 6600 3000 "c24" "C24" ""]
+ Pin[-20000 240000 6000 3000 6600 3000 "c25" "C25" ""]
+ Pin[-20000 250000 6000 3000 6600 3000 "c26" "C26" ""]
+ Pin[-20000 260000 6000 3000 6600 3000 "c27" "C27" ""]
+ Pin[-20000 270000 6000 3000 6600 3000 "c28" "C28" ""]
+ Pin[-20000 280000 6000 3000 6600 3000 "c29" "C29" ""]
+ Pin[-20000 290000 6000 3000 6600 3000 "c30" "C30" ""]
+ Pin[-20000 300000 6000 3000 6600 3000 "c31" "C31" ""]
+ Pin[-20000 310000 6000 3000 6600 3000 "c32" "C32" ""]
+ Pin[10000 330000 12000 3000 12600 8000 "M1" "97" ""]
+ Pin[10000 -20000 12000 3000 12600 8000 "M2" "98" ""]
+ ElementLine [32000 -20000 50000 -20000 2000]
+ ElementLine [50000 -20000 50000 330000 2000]
+ ElementLine [32000 330000 50000 330000 2000]
+ ElementLine [9500 -8000 9500 318000 2000]
+ ElementLine [0 -8000 9500 -8000 2000]
+ ElementLine [9500 -8000 32000 -8000 1000]
+ ElementLine [32000 -20000 32000 -8000 1000]
+ ElementLine [32000 -30000 32000 -20000 2000]
+ ElementLine [0 -30000 32000 -30000 2000]
+ ElementLine [0 -30000 0 -8000 2000]
+ ElementLine [0 340000 32000 340000 2000]
+ ElementLine [32000 330000 32000 340000 2000]
+ ElementLine [32000 318000 32000 330000 1000]
+ ElementLine [9500 318000 32000 318000 1000]
+ ElementLine [0 318000 9500 318000 2000]
+ ElementLine [0 318000 0 340000 2000]
+ ElementLine [-20000 0 7500 0 4000]
+ ElementLine [-20000 10000 7500 10000 4000]
+ ElementLine [-20000 20000 7500 20000 4000]
+ ElementLine [-20000 30000 7500 30000 4000]
+ ElementLine [-20000 40000 7500 40000 4000]
+ ElementLine [-20000 50000 7500 50000 4000]
+ ElementLine [-20000 60000 7500 60000 4000]
+ ElementLine [-20000 70000 7500 70000 4000]
+ ElementLine [-20000 80000 7500 80000 4000]
+ ElementLine [-20000 90000 7500 90000 4000]
+ ElementLine [-20000 100000 7500 100000 4000]
+ ElementLine [-20000 110000 7500 110000 4000]
+ ElementLine [-20000 120000 7500 120000 4000]
+ ElementLine [-20000 130000 7500 130000 4000]
+ ElementLine [-20000 140000 7500 140000 4000]
+ ElementLine [-20000 150000 7500 150000 4000]
+ ElementLine [-20000 160000 7500 160000 4000]
+ ElementLine [-20000 170000 7500 170000 4000]
+ ElementLine [-20000 180000 7500 180000 4000]
+ ElementLine [-20000 190000 7500 190000 4000]
+ ElementLine [-20000 200000 7500 200000 4000]
+ ElementLine [-20000 210000 7500 210000 4000]
+ ElementLine [-20000 220000 7500 220000 4000]
+ ElementLine [-20000 230000 7500 230000 4000]
+ ElementLine [-20000 240000 7500 240000 4000]
+ ElementLine [-20000 250000 7500 250000 4000]
+ ElementLine [-20000 260000 7500 260000 4000]
+ ElementLine [-20000 270000 7500 270000 4000]
+ ElementLine [-20000 280000 7500 280000 4000]
+ ElementLine [-20000 290000 7500 290000 4000]
+ ElementLine [-20000 300000 7500 300000 4000]
+ ElementLine [-20000 310000 7500 310000 4000]
+
+ )
Layer(1 "solder")
(
- Line(900 1610 825 1610 10 0x00000000)
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+ Text[75000 377500 0 100 "Walter Fetter Lages" ""]
+ Text[75000 370000 0 100 "Diego Caberlon Santini" ""]
+ Text[75000 362500 0 100 "AIC-2.2.0 (c) 2009" ""]
+ Text[75000 385000 0 100 "Rodrigo Daniel Trevizan" ""]
)
Layer(5 "GND-comp")
(
Layer(8 "unused")
(
)
+Layer(9 "silk")
+(
+)
+Layer(10 "silk")
+(
+)
+NetList()
+(
+ Net("+5V" "(unknown)")
+ (
+ Connect("C3-1")
+ Connect("C4-2")
+ Connect("C7-1")
+ Connect("C8-2")
+ Connect("C9-2")
+ Connect("C10-1")
+ Connect("J2-A6")
+ Connect("J2-A28")
+ Connect("J2-B28")
+ Connect("J2-C5")
+ Connect("J2-C28")
+ Connect("R1-2")
+ Connect("R3-2")
+ Connect("R4-2")
+ Connect("R5-2")
+ Connect("R11-2")
+ Connect("U1-3")
+ Connect("U2-8")
+ Connect("U4-2")
+ Connect("U5-7")
+ Connect("U5-8")
+ Connect("U6-16")
+ Connect("U7-13")
+ Connect("U7-20")
+ Connect("U7-28")
+ )
+ Net("+12V" "(unknown)")
+ (
+ Connect("C1-1")
+ Connect("C2-2")
+ Connect("C16-1")
+ Connect("C17-2")
+ Connect("C19-1")
+ Connect("C20-2")
+ Connect("C23-1")
+ Connect("C24-2")
+ Connect("D5-1")
+ Connect("D6-1")
+ Connect("J2-A29")
+ Connect("J2-B29")
+ Connect("J2-C29")
+ Connect("U1-1")
+ Connect("U8-1")
+ Connect("U8-8")
+ Connect("U9-1")
+ Connect("U10-1")
+ )
+ Net("/RELEASE" "(unknown)")
+ (
+ Connect("D4-1")
+ Connect("J2-A23")
+ Connect("J2-B23")
+ Connect("J2-C23")
+ Connect("Q1-2")
+ )
+ Net("/SD" "(unknown)")
+ (
+ Connect("U7-22")
+ Connect("U9-3")
+ Connect("U10-3")
+ )
+ Net("BRAKE" "(unknown)")
+ (
+ Connect("U7-4")
+ Connect("U8-2")
+ )
+ Net("CANH" "(unknown)")
+ (
+ Connect("J2-C2")
+ Connect("U3-7")
+ )
+ Net("CANL" "(unknown)")
+ (
+ Connect("J2-A1")
+ Connect("U3-6")
+ )
+ Net("CHA" "(unknown)")
+ (
+ Connect("J2-A5")
+ Connect("R5-1")
+ Connect("U7-6")
+ )
+ Net("CHB" "(unknown)")
+ (
+ Connect("J2-C6")
+ Connect("R4-1")
+ Connect("U7-7")
+ )
+ Net("CLOCK" "(unknown)")
+ (
+ Connect("U2-5")
+ Connect("U7-9")
+ )
+ Net("CTS" "(unknown)")
+ (
+ Connect("J1-8")
+ Connect("U6-8")
+ )
+ Net("DRVA" "(unknown)")
+ (
+ Connect("C26-2")
+ Connect("R6-2")
+ Connect("U7-26")
+ Connect("U9-2")
+ )
+ Net("DRVB" "(unknown)")
+ (
+ Connect("C27-2")
+ Connect("R7-2")
+ Connect("U7-25")
+ Connect("U10-2")
+ )
+ Net("GNDCAN" "(unknown)")
+ (
+ Connect("C14-1")
+ Connect("C15-1")
+ Connect("J2-B1")
+ Connect("J2-B2")
+ Connect("U3-2")
+ Connect("U3-8")
+ Connect("U4-5")
+ )
+ Net("INDEX" "(unknown)")
+ (
+ Connect("J2-B7")
+ Connect("R12-2")
+ )
+ Net("MOTOR+" "(unknown)")
+ (
+ Connect("C21-2")
+ Connect("J2-A25")
+ Connect("J2-B25")
+ Connect("J2-C25")
+ Connect("Q2-3")
+ Connect("Q3-2")
+ Connect("U9-11")
+ )
+ Net("MOTOR-" "(unknown)")
+ (
+ Connect("C25-2")
+ Connect("J2-A26")
+ Connect("J2-B26")
+ Connect("J2-C26")
+ Connect("Q4-3")
+ Connect("Q5-2")
+ Connect("U10-11")
+ )
+ Net("PGND" "(unknown)")
+ (
+ Connect("C1-2")
+ Connect("C2-1")
+ Connect("C3-2")
+ Connect("C4-1")
+ Connect("C5-2")
+ Connect("C6-1")
+ Connect("C6-2")
+ Connect("C7-2")
+ Connect("C8-1")
+ Connect("C9-1")
+ Connect("C13-2")
+ Connect("C16-2")
+ Connect("C17-1")
+ Connect("C18-2")
+ Connect("C19-2")
+ Connect("C20-1")
+ Connect("C22-2")
+ Connect("C23-2")
+ Connect("C24-1")
+ Connect("C26-1")
+ Connect("C27-1")
+ Connect("D1-1")
+ Connect("D2-1")
+ Connect("D3-1")
+ Connect("J1-5")
+ Connect("J2-A7")
+ Connect("J2-A22")
+ Connect("J2-A27")
+ Connect("J2-A30")
+ Connect("J2-A31")
+ Connect("J2-B5")
+ Connect("J2-B6")
+ Connect("J2-B22")
+ Connect("J2-B27")
+ Connect("J2-B30")
+ Connect("J2-B31")
+ Connect("J2-C22")
+ Connect("J2-C27")
+ Connect("J2-C30")
+ Connect("J2-C31")
+ Connect("Q1-3")
+ Connect("Q3-3")
+ Connect("Q5-3")
+ Connect("R13-1")
+ Connect("R14-1")
+ Connect("R15-1")
+ Connect("S1-1")
+ Connect("U1-2")
+ Connect("U2-4")
+ Connect("U5-5")
+ Connect("U6-15")
+ Connect("U7-8")
+ Connect("U7-19")
+ Connect("U7-27")
+ Connect("U8-4")
+ Connect("U8-5")
+ Connect("U9-5")
+ Connect("U9-6")
+ Connect("U10-5")
+ Connect("U10-6")
+ )
+ Net("REFPOS" "(unknown)")
+ (
+ Connect("R12-1")
+ Connect("R13-2")
+ Connect("U7-5")
+ )
+ Net("RTS" "(unknown)")
+ (
+ Connect("J1-7")
+ Connect("U6-7")
+ )
+ Net("RX" "(unknown)")
+ (
+ Connect("J1-2")
+ Connect("U6-13")
+ )
+ Net("TX" "(unknown)")
+ (
+ Connect("J1-3")
+ Connect("U6-14")
+ )
+ Net("unnamed_net1" "(unknown)")
+ (
+ Connect("D1-2")
+ Connect("R1-1")
+ )
+ Net("unnamed_net2" "(unknown)")
+ (
+ Connect("R2-2")
+ Connect("U7-1")
+ )
+ Net("unnamed_net3" "(unknown)")
+ (
+ Connect("C5-1")
+ Connect("R2-1")
+ Connect("R3-1")
+ Connect("S1-2")
+ )
+ Net("unnamed_net4" "(unknown)")
+ (
+ Connect("D2-2")
+ Connect("R6-1")
+ )
+ Net("unnamed_net5" "(unknown)")
+ (
+ Connect("D3-2")
+ Connect("R7-1")
+ )
+ Net("unnamed_net6" "(unknown)")
+ (
+ Connect("R8-1")
+ Connect("U3-1")
+ Connect("U4-6")
+ )
+ Net("unnamed_net7" "(unknown)")
+ (
+ Connect("R10-2")
+ Connect("U3-4")
+ )
+ Net("unnamed_net8" "(unknown)")
+ (
+ Connect("R9-2")
+ Connect("U4-3")
+ )
+ Net("unnamed_net9" "(unknown)")
+ (
+ Connect("R9-1")
+ Connect("U7-17")
+ )
+ Net("unnamed_net10" "(unknown)")
+ (
+ Connect("R10-1")
+ Connect("U5-3")
+ )
+ Net("unnamed_net11" "(unknown)")
+ (
+ Connect("R11-1")
+ Connect("U5-6")
+ Connect("U7-18")
+ )
+ Net("unnamed_net12" "(unknown)")
+ (
+ Connect("C10-2")
+ Connect("U6-2")
+ )
+ Net("unnamed_net13" "(unknown)")
+ (
+ Connect("C11-1")
+ Connect("U6-3")
+ )
+ Net("unnamed_net14" "(unknown)")
+ (
+ Connect("C12-2")
+ Connect("U6-4")
+ )
+ Net("unnamed_net15" "(unknown)")
+ (
+ Connect("C12-1")
+ Connect("U6-5")
+ )
+ Net("unnamed_net16" "(unknown)")
+ (
+ Connect("C13-1")
+ Connect("U6-6")
+ )
+ Net("unnamed_net17" "(unknown)")
+ (
+ Connect("U6-9")
+ Connect("U7-3")
+ )
+ Net("unnamed_net18" "(unknown)")
+ (
+ Connect("U6-10")
+ Connect("U7-2")
+ )
+ Net("unnamed_net19" "(unknown)")
+ (
+ Connect("U6-11")
+ Connect("U7-11")
+ )
+ Net("unnamed_net20" "(unknown)")
+ (
+ Connect("U6-12")
+ Connect("U7-12")
+ )
+ Net("unnamed_net21" "(unknown)")
+ (
+ Connect("C11-2")
+ Connect("U6-1")
+ )
+ Net("unnamed_net22" "(unknown)")
+ (
+ Connect("Q1-1")
+ Connect("U8-6")
+ Connect("U8-7")
+ )
+ Net("unnamed_net23" "(unknown)")
+ (
+ Connect("D7-1")
+ Connect("Q2-1")
+ Connect("R16-2")
+ )
+ Net("unnamed_net24" "(unknown)")
+ (
+ Connect("D8-1")
+ Connect("Q3-1")
+ Connect("R17-2")
+ )
+ Net("unnamed_net25" "(unknown)")
+ (
+ Connect("D9-1")
+ Connect("Q4-1")
+ Connect("R18-1")
+ )
+ Net("unnamed_net26" "(unknown)")
+ (
+ Connect("D10-1")
+ Connect("Q5-1")
+ Connect("R19-1")
+ )
+ Net("unnamed_net27" "(unknown)")
+ (
+ Connect("C21-1")
+ Connect("D5-2")
+ Connect("U9-13")
+ )
+ Net("unnamed_net28" "(unknown)")
+ (
+ Connect("C25-1")
+ Connect("D6-2")
+ Connect("U10-13")
+ )
+ Net("unnamed_net29" "(unknown)")
+ (
+ Connect("R15-2")
+ Connect("U10-4")
+ )
+ Net("unnamed_net30" "(unknown)")
+ (
+ Connect("R14-2")
+ Connect("U9-4")
+ )
+ Net("unnamed_net31" "(unknown)")
+ (
+ Connect("D8-2")
+ Connect("R17-1")
+ Connect("U9-7")
+ )
+ Net("unnamed_net32" "(unknown)")
+ (
+ Connect("D7-2")
+ Connect("R16-1")
+ Connect("U9-12")
+ )
+ Net("unnamed_net33" "(unknown)")
+ (
+ Connect("D10-2")
+ Connect("R19-2")
+ Connect("U10-7")
+ )
+ Net("unnamed_net34" "(unknown)")
+ (
+ Connect("D9-2")
+ Connect("R18-2")
+ Connect("U10-12")
+ )
+ Net("VCAN" "(unknown)")
+ (
+ Connect("C14-2")
+ Connect("C15-2")
+ Connect("J2-A2")
+ Connect("J2-C1")
+ Connect("R8-2")
+ Connect("U3-3")
+ Connect("U4-7")
+ Connect("U4-8")
+ Connect("U5-2")
+ )
+ Net("Vpp" "(unknown)")
+ (
+ Connect("C18-1")
+ Connect("C22-1")
+ Connect("D4-2")
+ Connect("J2-A24")
+ Connect("J2-A32")
+ Connect("J2-B24")
+ Connect("J2-B32")
+ Connect("J2-C7")
+ Connect("J2-C24")
+ Connect("J2-C32")
+ Connect("Q2-2")
+ Connect("Q4-2")
+ )
+)
--- /dev/null
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+++ /dev/null
-\documentclass{deleticle}
-\usepackage{float}
-\usepackage{longtable}
-
-\newcommand{\foreign}[1]{{\it #1}}
-
-\title{Actuator Interface Card\\
-Versão 1.6.0}
-
-\author{Prof. Walter Fetter Lages}
-
-\begin{document}
-
-\maketitle
-
-
-\bibliographystyle{abbrv}
-
-\section{Mapa de Endereços}
-
-O espaço de endereçamento da AIC é ocupado por dois conjuntos de
-dispositivos: os dispositivos existentes na própria TINI e os dispositivos
-externos.
-
-\subsection{Dispositivos da TINI}
-
-O mapa de endereços da TINI é mostrado na tabela \ref{tab:addmap}. Note-se
-que o software da TINI apresenta para o usuário uma memória
-linear\cite{tinispec}. Os endereços habilitados através de
-$\overline{\mbox{PCE0}}$, $\overline{\mbox{PCE1}}$, $\overline{\mbox{PCE2}}$
-e $\overline{\mbox{PCE3}}$, são acessados no firmware da TINI através das
-faixas 800000H-8FFFFFH, 900000H-9FFFFFH, A00000H-AFFFFFH e B00000H-BFFFFFH,
-respectivamente.
-
-Para acesso em Assembly é conveniente lembrar que a TINI utiliza por default
-os bits $\overline{\mbox{PDCE0}}$, $\overline{\mbox{PDCE1}}$,
-$\overline{\mbox{PDCE2}}$, $\overline{\mbox{PDCE3}}$ setados, o que combina
-os espaços de endereçamento de dados e de programa. Neste modo, são
-utilizados apenas os sinais $\overline{\mbox{CE0}}$,
-$\overline{\mbox{CE1}}$, $\overline{\mbox{CE2}}$ e $\overline{\mbox{CE3}}$.
-Assim, para acesso aos dispositivos habilitados por
-$\overline{\mbox{PCE0}}$, $\overline{\mbox{PCE1}}$, $\overline{\mbox{PCE2}}$
-ou $\overline{\mbox{PCE3}}$ é necessário primeiro desabilitar o espaço de
-endereçamento combinado.
-
-\begin{table}[htbp]
-\small
-\caption{Mapa de Endereços da TINI RevD}
-\label{tab:addmap}
-\begin{center}
-\begin{tabular}{ccccc}
-\hline \hline
-Endereço & STROBE & Nome & Dispositivo & Referência\\
-\hline
-000000H-0FFFFFH & $\overline{\mbox{RCE0}}$ & 512Kx8 FLASH & Flash Memory & U2\\
-100000H-1FFFFFH & $\overline{\mbox{CE1}}$ & 512Kx8 SRAM & SRAM & U4\\
-200000H-2FFFFFH & $\overline{\mbox{CE2}}$ & 512Kx8 SRAM & SRAM & U5\\
-300000H-307FFFH & $\overline{\mbox{CE3}}$ & Ethernet Interface & SMC91C94/96 & U3\\
-308000H-309FFFH & $\overline{\mbox{CE3}}$ \\
-310000H & $\overline{\mbox{CE3}}$ & Real Time Clock & DS1315 & U7\\
-310001H-3FFFFFH & $\overline{\mbox{CE3}}$ \\
-000000H-0FFFFFH & $\overline{\mbox{PCE0}}$\\
-100000H-1FFFFFH & $\overline{\mbox{PCE1}}$ \\
-200000H-2FFFFFH & $\overline{\mbox{PCE2}}$ \\
-300000H-3FFFFFH & $\overline{\mbox{PCE3}}$ \\
-\hline
-\end{tabular}
-\end{center}
-\end{table}
-
-\subsection{Dispositivos Externos}
-
-Os dispositivos externos podem ser mapeados, através de jumper, em
-qualquer dos espaços de endereçamento selecionados por
-$\overline{\mbox{PCE0}}$-$\overline{\mbox{PCE3}}$. A tabela \ref{tab:extmap}
-mostra o mapeamento de endereços dentro da faixa selecionada pelo
-jumper.
-
-\begin{table}[htbp]
-\caption{Mapa de Endereços de Dispositivos Externos}
-\label{tab:extmap}
-\begin{center}
-\begin{tabular}{cccc}
-\hline \hline
-Endereço & Nome & Dispositivo & Referência\\
-\hline
-X80000H - X80003H & PWM & 8254 & U6\\
-X80004H - X8FFFFH & Alias PWM & 8254 & U6\\
-X90000H & Encoder & HCTL-2016 & U7\\
-X90001H - X9FFFFH & Alias Encoder & HCTL-2016 & U7\\
-XA0000H & Controle & 22V10 & U8\\
-XA0001H - XAFFFFH & Alias Controller & 22V10 & U8\\
-\hline
-\end{tabular}
-\end{center}
-\end{table}
-
-\subsection{Registrador de Controle}
-
-Este registrador (endereço XA0000H) é implementado em um 22V10 e os
-seus bits estão descritos na tabela \ref{tab:ctrlreg}.
-
-\begin{table}[htbp]
-\caption{Registrador de Controle}
-\label{tab:ctrlreg}
-\begin{center}
-\begin{tabular}{ccl}
-\hline \hline
-Bit & Operação & Descrição\\
-\hline
-D0 & R & índice\\
-\hline
-D1D0 & W\\
-00 & & Desabilita PWM\\
-01 & & Habilita PWM\\
-10 & & Ativa freio\\
-11 & & Libera freio\\
-\hline
-\end{tabular}
-\end{center}
-\end{table}
-
-\section{Conector Traseiro}
-
-Os sinais de interface da AIC com os atuadores, sensores e barramento CAN
-estão disponíveis no conector traseiro. A pinagem deste conector é detalhada
-na tabela \ref{tab:backpinout}.
-
-%\begin{table}[htbp]
-%\caption{Pinagem do Conector Traseiro}
-%\label{tab:backpinout}
-%\begin{center}
-%\begin{tabular}{ccp{7.5cm}}
-
-\begin{center}
-\begin{longtable}{ccp{7.5cm}}
-\caption{Pinagem do Conector Traseiro}
-\label{tab:backpinout}
-\endfirsthead
-\caption{Pinagem do Conector Traseiro}
-(Continuação)
-\endhead
-(Continua)
-\endfoot
-\endlastfoot
-\hline \hline
-Pino & Sinal & Descrição\\
-\hline
-A1 & CANL0 & Sinal de nível baixo do CAN 0\\
-B1, B2 & GNDCAN0 & Terra da alimentação do CAN 0\\
-C2 & CANH0 & Sinal de nível alto do CAN 0\\
-C1, A2 & VCAN0 & Entrada de alimentação do CAN 0\\
-A3 & CANL1 & Sinal de nível baixo do CAN 1 \\
-B3, B4 & GNDCAN1 & Terra da alimentação do CAN 1\\
-C4 & CANH1 & Sinal de nível alto do CAN 1\\
-C3, A4 & VCAN1 & Entrada de alimentação do CAN 1\\
-\hline
-B5, B6 & GND & Terra do encoder\\
-A5 & CHA & Canal A do encoder\\
-C5, A6 & Vcc & Saída de alimentação do encoder\\
-C6 & CHB & Canal B do encoder\\
-\hline
-A7 & GND & Terra do índice\\
-B7 & INDEX & Sinal de índice\\
-C7 & +24V & Saída de alimentação do sensor de índice\\
-\hline
-A22, B22, C22 & GND & Terra do freio\\
-A23, B23, C23 & /RELEASE & Sinal de liberação do freio\\
-A24, B24, C24 & +24V & Saída de alimentação do freio\\
-\hline
-A25, B25, C25 & MOTOR+ & Alimentação do motor\\
-A26, B26, C26 & MOTOR- & Alimentação do motor\\
-\hline
-A27, B27, C27 & GND & Terra da Alimentação de +5V\\
-A28, B28, C28 & Vcc & Saída de Alimentação +5V
-(opcionalmente entrada, se o regulador não for instalado na placa) \\
-A29, B29, C29 & +12V & Saída de Alimentação +12V
-(opcionalmente entrada, se o regulador não for instalado na placa) \\
-A30, B30, C30 & GND & Terra da Alimentação de +12V\\
-A31, B31, C31 & GND & Terra da Alimentação de +24V\\
-A32, B32, C32 & +24V & Entrada de Alimentação +24V\\
-\hline
-\end{longtable}
-\end{center}
-
-%\end{tabular}
-%\end{center}
-%\end{table}
-
-\section{Organização do Software}
-
-No diretório \verb$aic$ existem diversos arquivos e diretórios. Alguns
-diretórios começam com letra maiúscula. Estes diretórios contém
-programas em Java e que devem rodar na AIC. Os diretórios que começam
-com letras minúsculas contém programas que devem rodar no \foreign{host}. Note-se que a
-maioria deles tem duas versões: Uma que roda na AIC e outra que roda no \foreign{host}.
-A idéia é que estes programas testam a mesma coisa, mas um testa rodando
-diretamente na AIC e o outro testa rodando no \foreign{host} e enviando comandos que são
-interpretados e executados na AIC. São os seguintes os arquivos e
-diretórios existentes:
-
-\begin{description}
-
-\item[{\tt AICOff}] Desliga todos os dispositivos, para ser executado na
-AIC.
-
-\item[{\tt CANTest}] Teste da comunicação através do barramento CAN.
-
-\item[{\tt Changes}] Histórico de alterações.
-
-\item[{\tt COPYING}] GNU General Public License.
-
-\item[{\tt BrakeTest/}] Teste do freio, para ser executado na AIC.
-
-\item[{\tt EncoderTest/}] Teste do encoder, para ser executado na AIC.
-
-\item[{\tt IndexTest/}] Teste do fim de curso, para ser executado na AIC.
-
-\item[{\tt IODaemon/}] \foreign{Daemon} de I/O para ser executado na AIC.
-Interpreta os comandos enviados pelo \foreign{host} e executa-os.
-
-\item[{\tt JointTest/}] Teste da junta, para ser executado na AIC.
-
-\item[{\tt Makefile}] Arquivo de Make para compilar todo o software da AIC,
-inclusive documentação. Adicionalmente, cada diretório tem o seu
-próprio {\tt Makefile}, que compila os programas que estão lá.
-
-\item[{\tt MotorReset/}] Reseta o atuador, move o motor até acionar o fim
-de curso , para ser executado na AIC.
-
-\item[{\tt MotorTest/}] Teste do motor, para ser executado na AIC.
-
-\item[{\tt StrobeTest/}] Teste do PLD, para ser executado na AIC.
-
-\item[{\tt TODO}] Arquivo com a descrição das tarefas a realizar.
-
-\item[{\tt aicd/}] Emulador da AIC para rodar em outro computador, ou seja pode-se
-utilizar outro computador para emular a AIC. Isto é utilizado, basicamente, para
-teste dos protocolos de comunicação. Por default o emulador é um
-programa de tempo real utilizando o RTAI. Assim, para executa-lo é
-necessário que os módulos do RTAI estejam carregados.
-
-\item[{\tt braketst/}] Teste do freio, para ser executado no \foreign{host}.
-
-\item[{\tt doc/}] Documentação.
-
-\item[{\tt doc/html}] Documentação das bibliotecas, produzida
-pelo programa {\tt doxygen}.
-
-\item[{\tt encodertst/}] Teste do encoder, para ser executado no \foreign{host}.
-
-\item[{\tt include/}] Arquivos \foreign{header} utilizados pelos programas
-em C++.
-
-\item[{\tt indextst/}] Teste do sensor de fim de curso, para ser executado no \foreign{host}.
-
-\item[{\tt jointtst/}] Teste da junta, para ser executado no \foreign{host}.
-
-\item[{\tt lib/}] Bibliotecas usadas pelos demais programas.
-
-\item[{\tt motortst/}] Teste do motor, para ser executado no \foreign{host}.
-
-\item[{\tt pid/}] Controlador PID, para ser executado no \foreign{host}.
-
-\item[{\tt pld/}] \foreign{Firmware} do PLD da AIC.
-
-\end{description}
-
-
-\section{Protocolo de Aplicação Utilizado para Comunicação via
-UDP}
-\label{sec:UDP}
-
-A figura~\ref{fig:genpacket} mostra o formato genérico dos datagramas que
-são transmitidos entre a AIC e o \foreign{host} através do protocolo
-UDP. Desde a versão 1.2.0 os diversos campos do pacote são codificados
-em binário, com os campos delimitados pelo seu tamanho. (até a versão
-1.1.0 os campos eram codificados em ASCII e separados pelo caractere de
-espaço). A tabela~\ref{tab:genpacket} detalha os campos do datagrama.
-
-\begin{figure}[H]
-\begin{center}
-\begin{tabular}{|c|c|}
-\hline
-identificação & argumentos \\
-\hline
-\end{tabular}
-\end{center}
-\caption{Formato genérico do datagrama de aplicação.}
-\label{fig:genpacket}
-\end{figure}
-
-\begin{table}[H]
-\begin{center}
-\caption{Descrição do datagrama de aplicação.}
-\label{tab:genpacket}
-\begin{tabular}{lcp{8.5cm}}
-\hline
-Campo & tamanho & Descrição\\
-\hline \hline
-identificação & byte & Identificação do comando enviado para a AIC
- ou do \foreign{status} enviado para o
- \foreign{host}. Para manter compatibilidade
- com o protocolo utilizado para transmissão
- por CAN apenas os 6 bits menos
- significativos são utilizados como
- identificação.\\
- & & 0x00 = inválido\\
- & & 0x01 = \foreign{reset}\\
- & & 0x02 = desliga motor \\
- & & 0x03 = aplica freio\\
- & & 0x10 = aplica tensão no motor\\
- & & 0x20 = \foreign{status}\\
- & & 0x30 = libera freio\\
- & & 0x31 = liga motor \\
-
-argumentos & & parâmetros para o comando, ou dados de \foreign{status},
- se forem necessários.\\
-\hline
-\end{tabular}
-\end{center}
-\end{table}
-
-O campo destinado aos argumentos é de tamanho variável. Também é
-importante ressaltar este campo pode não ser utilizado em
-função do tipo de datagrama. Para os códigos utilizados no campo de
-identificação existem constantes definidas no arquivo {\tt aicnet.h}
-(para ser utilizado em programas em C ou C++) e na classe {\tt Host.class}
-(para ser utilizado em programas em Java). Os datagramas trocados entre a
-AIC e o \foreign{host} podem ser classificados em datagramas enviados do \foreign{host} para a
-AIC e datagramas enviados da AIC para o \foreign{host}.
-
-\subsection{Datagramas Enviados pelo \foreign{host} para a AIC}
-
-Os datagramas enviados pelo \foreign{host} para a AIC são utilizados para comandar
-os diversos dispositivos.
-
-\subsubsection{\foreign{Reset}}
-
-O datagrama transmitido pelo \foreign{host} para resetar a AIC é detalhado
-na tabela~\ref{tab:reset}. Não é utilizado o campo de argumentos.
-
-\begin{table}[H]
-\begin{center}
-\caption{Descrição do datagrama \foreign{reset}.}
-\label{tab:reset}
-\begin{tabular}{lcl}
-\hline
-Campo & Tamanho & Valor\\
-\hline \hline
-Identificador & 8 bits & 0x01\\
-Argumentos & & Não utilizado\\
-\hline
-\end{tabular}
-\end{center}
-\end{table}
-
-\subsubsection{Desliga Motor}
-
-O datagrama transmitido pelo \foreign{host} para desligar o motor é
-detalhado na tabela~\ref{tab:turnoff}. Não é utilizado o campo de
-argumentos.
-
-\begin{table}[H]
-\begin{center}
-\caption{Descrição do datagrama desliga motor.}
-\label{tab:turnoff}
-\begin{tabular}{lcl}
-\hline
-Campo & Tamanho & Valor\\
-\hline \hline
-Identificador & 8 bits & 0x02\\
-Argumentos & & Não utilizado\\
-\hline
-\end{tabular}
-\end{center}
-\end{table}
-
-\subsubsection{Aplica Freio}
-
-O datagrama transmitido pelo \foreign{host}, para aplicar o freio
-eletromagnético (colocando a saída correspondente no estado inativo)
-é detalhado na tabela~\ref{tab:brakeon}. Não é utilizado o campo de
-argumentos.
-
-\begin{table}[H]
-\begin{center}
-\caption{Descrição do datagrama aplica freio.}
-\label{tab:brakeon}
-\begin{tabular}{lcl}
-\hline
-Campo & Tamanho & Valor\\
-\hline \hline
-Identificador & 8 bits & 0x03\\
-Argumentos & & Não utilizado\\
-\hline
-\end{tabular}
-\end{center}
-\end{table}
-
-\subsubsection{Aplica Tensão no Motor}
-
-O datagrama transmitido do \foreign{host} para aplicar uma tensão no motor
-é descrito na tabela~\ref{tab:voltage}.
-
-\begin{table}[H]
-\begin{center}
-\caption{Descrição do datagrama aplica tens~ao no motor.}
-\label{tab:voltage}
-\begin{tabular}{lcp{8.5cm}}
-\hline
-Campo & Tamanho & Valor\\
-\hline \hline
-Identificador & 8 bits & 0x10\\
-tensão & 64 bits & Tensão a ser aplicada no motor em IEEE-754 precisão
- dupla. Os bits mais significativos são transmitidos primeiro.\\
-\hline
-\end{tabular}
-\end{center}
-\end{table}
-
-
-\subsubsection{Libera Freio}
-
-O datagrama transmitido pelo \foreign{host} para liberar o freio
-eletromagnético (ativando a saída correspondente) é detalhado na
-tabela~\ref{tab:brakeoff}. Não é utilizado o campo de argumentos.
-
-\begin{table}[H]
-\begin{center}
-\caption{Descrição do datagrama libera freio.}
-\label{tab:brakeoff}
-\begin{tabular}{lcl}
-\hline
-Campo & Tamanho & Valor\\
-\hline \hline
-Identificador & 8 bits & 0x30\\
-Argumentos & & Não utilizado\\
-\hline
-\end{tabular}
-\end{center}
-\end{table}
-
-\subsubsection{Liga Motor}
-
-O datagrama transmitido pelo \foreign{host}, para ligar o motor (com tensão de 0V
-aplicada nele) é detalhado na
-tabela~\ref{tab:turnon}. Não é utilizado o campo de argumentos.
-
-\begin{table}[H]
-\begin{center}
-\caption{Descrição do datagrama liga motor.}
-\label{tab:turnon}
-\begin{tabular}{lcl}
-\hline
-Campo & Tamanho & Valor\\
-\hline \hline
-Identificador & 8 bits & 0x31\\
-Argumentos & & Não utilizado\\
-\hline
-\end{tabular}
-\end{center}
-\end{table}
-
-\subsection{Datagramas Enviados pelo AIC para o \foreign{host}}
-
-Os datagramas enviados pela AIC para o \foreign{host} são utilizados para
-reportar o \foreign{status} dos diversos dispositivos.
-
-\subsubsection{\foreign{Status}}
-
-O datagrama transmitido pela AIC para o \foreign{host} com a
-informação de \foreign{status} dos dispositivos é detalhado na
-tabela~\ref{tab:status}.
-
-\begin{table}[H]
-\begin{center}
-\caption{Descrição do datagrama \foreign{status}.}
-\label{tab:status}
-\begin{tabular}{lcp{8.5cm}}
-\hline
-Campo & Tamanho & Valor\\
-\hline \hline
-Identificador & 8 bits & 0x20\\
-Deslocamento & 64 bits & Deslocamento do motor desde o último datagrama de
- status, em IEEE-754 precisão dupla. Os bits mais
- significativos são transmitidos primeiro.\\
-Índice & 32 bits & Estado da \foreign{sync-switch} (0 ou 1), em
- complemento 2. Os bits mais significativos são
- transmitidos primeiro.\\
-\hline
-\end{tabular}
-\end{center}
-\end{table}
-
-\section{Protocolo de Aplicação Utilizado para Comunicação via
-CAN}
-\label{sec:CAN}
-
-O protocolo de aplicação para comunicação via CAN utiliza o
-campo {\bf identifier} do quadro CAN para identificar a AIC à qual
-refere-se a mensagem (AIC de origem ou destino da mensagem) e o código do
-comando enviado para a AIC ou do \foreign{status} enviado para o
-\foreign{host}. Todas as mensagens são transmitidas através de um quadro
-de dados utilizando o identificador padrão de 11 bits. Os dados associados
-ao comando ou \foreign{status} são transmitidos em binário. Inteiros
-são codificados em complemento 2 com 32 bits. Números em ponto flutuante
-são codificados em IEEE-754. Os bits mais significativos são
-transmitidos primeiro. A tabela~\ref{tab:canident} detalha o formato do
-campo identificador do quadro de dados CAN. Para manter a compatibilidade
-com o protocolo utilizado quando a comunicação é via UDP, são
-utilizados os mesmos códigos de comando ou \foreign{status}. No entanto,
-como são utilizados apenas 6 bits para isto, os dois bits mais
-significativos não são transmitidos no quadro CAN. Estes bits são
-suprimidos e reinseridos pelas rotinas das bibliotecas (vide
-seção~\ref{sec:lib}), de forma a manter uma interface com o usuário
-uniforme independente do meio de transmissão.
-
-\begin{table}[H]
-\begin{center}
-\caption{Descrição do campo identificador do quadro de dados CAN.}
-\label{tab:canident}
-\begin{tabular}{lp{12cm}}
-\hline
-Bits & Descrição\\
-\hline \hline
-10-5 & Código do comando enviado para a AIC
- ou do \foreign{status} enviado para o \foreign{host}.\\
- & 000000 = inválido\\
- & 000001 = \foreign{reset}\\
- & 000010 = desliga motor \\
- & 000011 = aplica freio\\
- & 010000 = aplica tensão no motor\\
- & 100000 = \foreign{status}\\
- & 110000 = libera freio\\
- & 110001 = liga motor \\
-4-0 & Identificação da AIC à qual refere-se
- a mensagem (AIC de origem ou destino da mensagem)\\
- & 00000 mensagem não associada qualquer AIC específica\\
- & 00001 AIC 1\\
- & 00010 AIC 2\\
- & $\vdots$\\
- & 11111 AIC 31\\
-\hline
-\end{tabular}
-\end{center}
-\end{table}
-
-Os dados associados ao comando ou \foreign{status} são transmitidos em
-binário no campo de dados do quadro CAN. Inteiros são codificados em
-complemento 2 com 32 bits. Números em ponto flutuante são codificados em
-IEEE-754. Os bits mais significativos são transmitidos primeiro.
-
-Para os códigos de comando ou \foreign{status} utilizados no campo de
-identificação existem constantes definidas no arquivo {\tt aicnet.h}
-(para ser utilizado em programas em C ou C++) e na classe {\tt Host.class}
-(para ser utilizado em programas em Java). As mensagens trocadas entre a AIC
-e o \foreign{host} podem ser classificadas em mensagens enviadas do
-\foreign{host} para a AIC e mensagens enviadas da AIC para o
-\foreign{host}.
-
-\subsection{Mensagens Enviadas pelo \foreign{host} para a AIC}
-
-As mensagens enviadas pelo \foreign{host} para a AIC são utilizados para
-comandar os diversos dispositivos.
-
-\subsubsection{\foreign{Reset}}
-
-A mensagem transmitida pelo \foreign{host} para resetar a AIC é detalhada
-na tabela~\ref{tab:resetcan}. Não é utilizado o campo de dados.
-
-\begin{table}[H]
-\begin{center}
-\caption{Descrição da mensagem \foreign{reset}.}
-\label{tab:resetcan}
-\begin{tabular}{cl}
-\hline
-Campo & Valor\\
-\hline \hline
-Identificador & 000001xxxxx\\
-Dados & Não utilizado\\
-\hline
-\end{tabular}
-\end{center}
-\end{table}
-
-\subsubsection{Desliga Motor}
-
-A mensagem transmitida pelo \foreign{host} para desligar o motor é
-detalhada na tabela~\ref{tab:turnoffcan}. Não é utilizado o campo de dados.
-
-\begin{table}[H]
-\begin{center}
-\caption{Descrição da mensagem desliga motor.}
-\label{tab:turnoffcan}
-\begin{tabular}{cl}
-\hline
-Campo & Valor\\
-\hline \hline
-Identificador &000010xxxxx\\
-Dados & Não utilizado\\
-\hline
-\end{tabular}
-\end{center}
-\end{table}
-
-\subsubsection{Aplica freio}
-
-A mensagem transmitida pelo \foreign{host}, para aplicar o freio
-eletromagnético (colocando a saída correspondente no estado inativo)
-é detalhada na tabela~\ref{tab:brakeoncan}. Não é utilizado o campo de
-dados.
-
-\begin{table}[H]
-\begin{center}
-\caption{Descrição da mensagem aplica freio.}
-\label{tab:brakeoncan}
-\begin{tabular}{cl}
-\hline
-Campo & Valor\\
-\hline \hline
-Identificador & 000011xxxxx\\
-Dados & Não utilizado\\
-\hline
-\end{tabular}
-\end{center}
-\end{table}
-
-\subsubsection{Aplica Tensão no Motor}
-
-A mensagem transmitida do \foreign{host} para aplicar uma tensão no motor
-é descrita na tabela~\ref{tab:voltagecan}.
-
-\begin{table}[H]
-\begin{center}
-\caption{Descrição da mensagem aplica tensão no motor.}
-\label{tab:voltagecan}
-\begin{tabular}{cp{11cm}}
-\hline
-Campo & Valor\\
-\hline \hline
-Identificador & 010000xxxxx\\
-Dados & Tensão a ser aplicada no motor em IEEE-754
- precisão dupla, com o MSB transmitido primeiro.\\
-\hline
-\end{tabular}
-\end{center}
-\end{table}
-
-\subsubsection{Libera Freio}
-
-A mensagem transmitida pelo \foreign{host} para liberar o freio
-eletromagnético (ativando a saída correspondente) é detalhada na
-tabela~\ref{tab:brakeoffcan}. Não é utilizado o campo de dados.
-
-\begin{table}[H]
-\begin{center}
-\caption{Descrição da mensagem libera freio.}
-\label{tab:brakeoffcan}
-\begin{tabular}{cl}
-\hline
-Campo & Valor\\
-\hline \hline
-Identificador & 110000xxxxx\\
-Dados & Não utilizado\\
-\hline
-\end{tabular}
-\end{center}
-\end{table}
-
-
-\subsubsection{Liga Motor}
-
-A mensagem transmitida pelo \foreign{host}, para ligar o motor (com tensão
-de 0V aplicada nele) é detalhada na tabela~\ref{tab:turnoncan}. Não é
-utilizado o campo de dados.
-
-\begin{table}[H]
-\begin{center}
-\caption{Descrição da mensagem liga motor.}
-\label{tab:turnoncan}
-\begin{tabular}{cl}
-\hline Campo & Valor\\
-\hline \hline
-Identificador & 110001xxxxx\\
-Dados & Não utilizado\\
-\hline
-\end{tabular}
-\end{center}
-\end{table}
-
-\subsection{Mensagens Enviadas pelo AIC para o \foreign{host}}
-
-As mensagens enviadas pela AIC para o \foreign{host} são utilizadas para
-reportar o \foreign{status} dos diversos dispositivos.
-
-\subsubsection{\foreign{Status}}
-
-A mensagem transmitida pela AIC para o \foreign{host} com a informação
-de \foreign{status} dos dispositivos é detalhada na
-tabela~\ref{tab:statuscan}.
-
-\begin{table}[H]
-\begin{center}
-\caption{Descrição da mensagem \foreign{status}.}
-\label{tab:statuscan}
-\begin{tabular}{cp{11cm}}
-\hline
-Campo & Valor\\
-\hline \hline
-Identificador & 100000xxxxx\\
-Dados & Deslocamento do motor desde o último datagrama de
- status. O deslocamento é codificado em IEEE-754 e ocupa os
- primeiros 4 bytes do campo de dados.\\
- & Estado da \foreign{sync-switch} (0 ou 1). Codificado em
- complemento 2, ocupando os últimos 4 bytes do
- campo de dados.\\
-\hline
-\end{tabular}
-\end{center}
-\end{table}
-
-\section{Bibliotecas}
-\label{sec:lib}
-
-A operação da AIC e da comunicação com o \foreign{host} é
-suportada pelas bibliotecas de classes {\tt AIC.jar} e {\tt libaic.a}. A
-biblioteca {\tt AIC.jar} é utilizada pelos programas em Java que executam
-na AIC, enquanto a biblioteca {\tt libaic.a} é utilizada pelos programas em
-C++ que executam no \foreign{host}.
-
-A documentação destas bibliotecas foi gerada automaticamente através do
-utilitário {\tt doxygen} e está disponível em {\tt doc/html/index.htm}.
-
-As classes contidas na biblioteca {\tt libaic.a} podem ser divididas em dois
-grupos: classes utilizadas para operação da AIC e classes para
-Emulação da AIC em outro computador. Este último conjunto de classes
-é utilizado basicamente pelo programa {\tt aicd}.
-
-
-\section{Exemplo Utilizando Comunicação por UDP}
-
-Neste exemplo serão utilizados os programas \verb$IODaemon$ e
-\verb$jointtst$. Para obter o arquivo executável de cada um, basta entrar
-nos diretórios correspondentes e digitar \verb$make$. Digitando-se
-\verb$make distclean$, apaga-se a versão existente para forçar a
-compilação de tudo novamente. A mesma coisa vale para todos os
-Makefiles.
-
-Após compilar o \verb$IODaemon$, necessita-se carregar o executável
-produzido, chamado \verb$IODaemon.tini$, na AIC. Isto pode ser feito por FTP.
-Para tanto, digita-se
-
-\begin{verbatim}
-ftp aic1
-\end{verbatim}
-
-\noindent o \foreign{login} é \emph{root} e a senha \emph{tini}. A seguir,
-deve-se entrar no modo binário digitando
-
-\begin{verbatim}
-bin
-\end{verbatim}
-
-\noindent e carregar o arquivo para a AIC digitando
-
-\begin{verbatim}
-put IODaemon.tini
-\end{verbatim}
-
-\noindent para sair do FTP digita-se
-
-\begin{verbatim}
-quit
-\end{verbatim}
-
-Para rodar o \verb$IODaemon.tini$, é necessário logar-se em uma das AICs,
-por exemplo na \verb$aic1$ por telnet, digitando
-
-\begin{verbatim}
-telnet aic1
-\end{verbatim}
-
-Já no \foreign{prompt} da \verb$aic1$, o programa pode ser executado
-digitando-se
-
-\begin{verbatim}
-java IODaemon.tini -debug -UDP janus 9871
-\end{verbatim}
-
-\begin{description}
-
-\item[{\tt -debug}] é opcional e causa o \foreign{log} da tensão
-aplicada nos motores, leituras dos encoders e outros detalhes no terminal.
-Se não for utilizado não haverá \foreign{log}.
-
-\item[{\tt -UDP}] é a opção para utilizar comunicação por UDP,
-já que o default é utilizar comunicação por CAN.
-
-\item[{\tt janus}] é o nome do \foreign{host} para onde as leituras dos sensores devem
-ser enviadas e de onde serão recebidos os comandos.
-
-\item[{\tt 9871}] é o número da porta UDP do \foreign{host} para onde devem ser enviadas as
-leituras do sensores.
-
-\end{description}
-
-Ao executar o \verb$IODaemon$ perde-se o controle do terminal. Para abortar o
-programa, pode-se abrir outro terminal no \foreign{host} e dar outro telnet para a
-\verb$aic1$. A seguir, pode-se digitar \verb$ps$ para verificar os processos
-executando e um \verb$kill n$ para abortar o processo \verb$n$ (onde
-\verb$n$ é o número de processo do \verb$IODaemon$.)
-
-O \emph{software} do \foreign{host} está no diretório \verb$jointtst$. Para
-executa-lo basta digitar
-
-\begin{verbatim}
-jointtst -UDP aic1 9871
-\end{verbatim}
-
-Este programa gera uma rampas de $0$ a $+24V$, de $+24V$ a $-24V$ e de
-$-24V$ a $+24V$ repetidamente para o motor.
-
-Para executar o programa nas outras AICs, o procedimento é semelhante, basta
-utilizar um número de porta diferente para cada uma delas (sugere-se 9871,
-9872, 9873...) e executar uma cópia do \verb$jointtest$ para cada AIC,
-eventualmente cada uma na sua própria janela.
-
-\bibliography{aic}
-
-\appendix
-
-
-\section{Schematics}
-\includegraphics[height=\textheight]{aictini.eps}
-\includegraphics[height=\textheight]{aicpower.eps}
-\includegraphics[height=\textheight]{aicconn.eps}
-
-\section{Printed Circuit Board}
-
-\includegraphics{aic_assembly.eps}
-\includegraphics{aic_frontsilk.eps}
-\includegraphics{aic_front.eps}
-\includegraphics{aic_frontmask.eps}
-\includegraphics{aic_back.eps}
-\includegraphics{aic_backmask.eps}
-\includegraphics{aic_fab.eps}
-
-\end{document}
+++ /dev/null
-# release: pcb 1.6.3
-# date: Tue Mar 18 10:57:05 2003
-# user: fetter (Walter Fetter Lages,,,)
-# host: runaway.eletro
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-Via(6175 1025 60 35 "" 0x00000002)
-Via(6425 1025 60 35 "" 0x00000002)
-Via(5625 1075 60 35 "" 0x00000002)
-Via(5925 475 60 35 "" 0x00000002)
-Via(5325 475 60 35 "" 0x00000002)
-Via(4825 475 60 35 "" 0x00000002)
-Via(5125 400 60 35 "" 0x00000002)
-Via(5725 400 60 35 "" 0x00000002)
-Via(3975 725 60 35 "" 0x00000002)
-Via(4825 725 60 35 "" 0x00000002)
-Via(5325 725 60 35 "" 0x00000002)
-Via(5875 725 60 35 "" 0x00000002)
-Via(4925 950 60 35 "" 0x00000002)
-Via(1350 950 60 35 "" 0x00000002)
-Via(1700 950 60 35 "" 0x00000002)
-Via(2325 950 60 35 "" 0x00000002)
-Via(3175 3175 60 35 "" 0x00000002)
-Via(3225 3925 60 35 "" 0x00000002)
-Via(2350 2450 60 35 "" 0x00000002)
-Via(2650 2450 60 35 "" 0x00000002)
-Via(1350 2450 60 35 "" 0x00000002)
-Via(1250 2800 60 35 "" 0x00000002)
-Via(1250 2900 60 35 "" 0x00000002)
-Via(2475 2875 40 20 "" 0x00000002)
-Via(4225 1000 60 35 "" 0x00000002)
-Via(5200 1000 60 35 "" 0x00000002)
-Via(3100 1000 60 35 "" 0x00000002)
-Via(4425 950 60 35 "" 0x00000002)
-Via(1975 3050 60 35 "" 0x00000002)
-Via(1225 3925 60 35 "" 0x00000002)
-Via(2075 3925 60 35 "" 0x00000002)
-Via(2675 3925 60 35 "" 0x00000002)
-Via(3550 3175 60 35 "" 0x00000002)
-Via(725 3925 60 35 "" 0x00000002)
-Via(4825 1075 40 20 "" 0x00000002)
-Via(6150 525 40 20 "" 0x00000002)
-Via(6175 875 40 20 "" 0x00000002)
-Via(5325 1075 40 20 "" 0x00000002)
-Via(6325 1725 40 20 "" 0x00000002)
-Via(2575 1725 40 20 "" 0x00000002)
-Via(5925 650 40 20 "" 0x00000002)
-Via(4025 475 60 28 "" 0x00000002)
-Via(2000 825 40 20 "" 0x00000002)
-Via(3975 2350 40 20 "" 0x00000002)
-Via(2900 1300 40 20 "" 0x00000002)
-Via(3300 525 40 20 "" 0x00000002)
-Via(5225 225 40 20 "" 0x00000002)
-Via(6100 150 40 20 "" 0x00000002)
-Via(4725 575 40 20 "" 0x00000002)
-Via(6175 350 40 20 "" 0x00000002)
-Via(6425 200 40 20 "" 0x00000002)
-Via(5525 150 40 20 "" 0x00000002)
-Via(4975 150 40 20 "" 0x00000002)
-Via(5425 1425 40 20 "" 0x00000002)
-Via(6050 1425 40 20 "" 0x00000002)
-Via(6100 1300 40 20 "" 0x00000002)
-Via(5500 1350 40 20 "" 0x00000002)
-Via(1900 575 40 20 "" 0x00000002)
-Via(2375 3600 40 20 "" 0x00000002)
-Via(2050 675 40 20 "" 0x00000002)
-Via(1100 1125 40 20 "" 0x00000002)
-Via(5025 1075 40 20 "" 0x00000002)
-Via(4125 1350 40 20 "" 0x00000002)
-Via(1950 625 40 20 "" 0x00000002)
-Via(5075 800 40 20 "" 0x00000002)
-Via(5525 2375 40 20 "" 0x00000002)
-Via(4425 300 40 20 "" 0x00000002)
-Via(3500 1300 40 20 "" 0x00000002)
-Via(2675 3525 60 28 "" 0x00000002)
-Via(900 2450 40 20 "" 0x00000002)
-Via(1100 2450 40 20 "" 0x00000002)
-Via(5775 2850 40 20 "" 0x00000002)
-Via(1050 3675 40 20 "" 0x00000002)
-Via(1775 3850 40 20 "" 0x00000002)
-Via(2475 3850 40 20 "" 0x00000002)
-Via(2075 3525 60 35 "" 0x00000002)
-Via(2275 3525 60 35 "" 0x00000002)
-Via(1875 3600 40 20 "" 0x00000002)
-Via(4125 1075 40 20 "" 0x00000002)
-Via(4425 1075 40 20 "" 0x00000002)
-Via(4675 1075 40 20 "" 0x00000002)
-Via(4625 150 40 20 "" 0x00000002)
-Via(2500 1200 40 20 "" 0x00000002)
-Via(2600 1200 40 20 "" 0x00000002)
-Via(2600 1300 40 20 "" 0x00000002)
-Via(2450 1300 40 20 "" 0x00000002)
-Via(2550 1050 40 20 "" 0x00000002)
-Via(2400 1050 40 20 "" 0x00000002)
-Via(2800 1200 40 20 "" 0x00000002)
-Via(2950 1200 40 20 "" 0x00000002)
-Via(2850 1250 40 20 "" 0x00000002)
-Via(3050 1250 40 20 "" 0x00000002)
-Via(2900 1375 40 20 "" 0x00000002)
-Via(3175 1375 40 20 "" 0x00000002)
-Via(1400 1375 40 20 "" 0x00000002)
-Via(1500 1250 40 20 "" 0x00000002)
-Via(1550 1000 40 20 "" 0x00000002)
-Via(2950 1000 40 20 "" 0x00000002)
-Via(1650 1425 40 20 "" 0x00000002)
-Via(2750 1425 40 20 "" 0x00000002)
-Via(1750 1325 40 20 "" 0x00000002)
-Via(2700 1300 40 20 "" 0x00000002)
-Via(1850 1050 40 20 "" 0x00000002)
-Via(2650 1050 40 20 "" 0x00000002)
-Via(1950 2550 40 20 "" 0x00000002)
-Via(2650 2550 40 20 "" 0x00000002)
-Via(3175 2450 60 35 "" 0x00000002)
-Via(3450 2500 40 20 "" 0x00000002)
-Via(1975 2825 40 20 "" 0x00000002)
-Via(2150 2825 40 20 "" 0x00000002)
-Via(2525 2500 40 20 "" 0x00000002)
-Via(2050 2500 40 20 "" 0x00000002)
-Via(2525 1975 40 20 "" 0x00000002)
-Via(2150 2250 60 35 "" 0x00000002)
-Via(2350 2250 60 35 "" 0x00000002)
-Via(2950 2125 40 20 "" 0x00000002)
-Via(2100 2125 40 20 "" 0x00000002)
-Via(3050 2175 40 20 "" 0x00000002)
-Via(2200 2175 40 20 "" 0x00000002)
-Via(2200 1950 40 20 "" 0x00000002)
-Via(3100 1925 40 20 "" 0x00000002)
-Via(1450 1875 40 20 "" 0x00000002)
-Via(3200 1875 40 20 "" 0x00000002)
-Via(2300 1875 40 20 "" 0x00000002)
-Via(3550 2525 40 20 "" 0x00000002)
-Via(2875 2225 40 20 "" 0x00000002)
-Via(1650 2175 40 20 "" 0x00000002)
-Via(2050 2300 40 20 "" 0x00000002)
-Via(3850 2250 40 20 "" 0x00000002)
-Via(2525 2775 40 20 "" 0x00000002)
-Via(3800 2775 40 20 "" 0x00000002)
-Via(1500 2825 40 20 "" 0x00000002)
-Via(3350 2825 40 20 "" 0x00000002)
-Via(2250 1825 40 20 "" 0x00000002)
-Via(2400 1825 40 20 "" 0x00000002)
-Via(2225 900 40 20 "" 0x00000002)
-Via(2500 900 40 20 "" 0x00000002)
-Via(2450 1725 40 20 "" 0x00000002)
-Via(1850 1750 40 20 "" 0x00000002)
-Via(1750 1700 40 20 "" 0x00000002)
-Via(4250 1975 40 20 "" 0x00000002)
-Via(3275 2700 60 35 "" 0x00000002)
-Via(2850 2650 40 20 "" 0x00000002)
-Via(4750 2650 40 20 "" 0x00000002)
-Via(4650 2900 60 35 "" 0x00000002)
-Via(4575 2825 40 20 "" 0x00000002)
-Via(2950 1775 40 20 "" 0x00000002)
-Via(4800 1775 40 20 "" 0x00000002)
-Via(3000 850 40 20 "" 0x00000002)
-Via(2700 850 40 20 "" 0x00000002)
-Via(3250 800 40 20 "" 0x00000002)
-Via(2800 800 40 20 "" 0x00000002)
-Via(3450 2200 40 20 "" 0x00000002)
-Via(3600 2200 40 20 "" 0x00000002)
-Via(3500 3850 40 20 "" 0x00000002)
-Via(2925 3525 60 35 "" 0x00000002)
-Via(3700 3600 40 20 "" 0x00000002)
-Via(1025 1475 40 20 "" 0x00000002)
-Via(1170 1605 40 20 "" 0x00000002)
-Via(4450 1825 40 20 "" 0x00000002)
-Via(2575 3525 40 20 "" 0x00000002)
-Via(3225 3525 40 20 "" 0x00000002)
-Via(3950 2250 40 20 "" 0x00000002)
-Via(4000 2150 40 20 "" 0x00000002)
-Via(4050 2050 40 20 "" 0x00000002)
-Via(1000 2700 40 20 "" 0x00000002)
-Via(4100 2725 40 20 "" 0x00000002)
-Via(3975 2500 40 20 "" 0x00000002)
-Via(2175 3100 40 20 "" 0x00000002)
-Via(3975 3100 40 20 "" 0x00000002)
-Via(5150 2600 40 20 "" 0x00000002)
-Via(5150 3375 40 20 "" 0x00000002)
-Via(2050 3225 40 20 "" 0x00000002)
-Via(5650 3225 40 20 "" 0x00000002)
-Via(5650 2450 40 20 "" 0x00000002)
-Via(5250 3275 40 20 "" 0x00000002)
-Via(2775 3300 40 20 "" 0x00000002)
-Via(3225 3050 40 20 "" 0x00000002)
-Via(445 3300 40 20 "" 0x00000002)
-Via(1250 2550 60 35 "" 0x00000002)
-Via(715 2570 40 20 "" 0x00000002)
-Via(855 3055 40 20 "" 0x00000002)
-
-Element(0x00000000 "R 0.25W" "R13" "2k7" 3280 505 1 100 0x00000000)
-(
- Pin(3300 625 50 20 "1" "1" 0x00000101)
- Pin(3300 225 50 20 "2" "2" 0x00000001)
- ElementLine (3300 325 3300 225 20)
- ElementLine (3300 625 3300 525 20)
- ElementLine (3350 525 3250 525 20)
- ElementLine (3350 325 3350 525 20)
- ElementLine (3250 325 3350 325 20)
- ElementLine (3250 525 3250 325 20)
- Mark (3300 625)
-)
-
-Element(0x00000000 "diode" "D2" "1N4148" 2975 3645 3 100 0x00000000)
-(
- Pin(2925 3425 50 20 "1" "1" 0x00000101)
- Pin(2925 3725 50 20 "2" "2" 0x00000001)
- ElementLine (2925 3425 2925 3525 10)
- ElementLine (2925 3625 2925 3725 10)
- ElementLine (2925 3525 2975 3625 10)
- ElementLine (2975 3625 2875 3625 10)
- ElementLine (2875 3625 2925 3525 10)
- ElementLine (2975 3525 2875 3525 10)
- Mark (2925 3425)
-)
-
-Element(0x00000000 "+5V 1.5A voltage regulator" "U2" "7805" 4200 3790 2 100 0x00000000)
-(
- Pin(4100 3600 80 20 "In" "1" 0x00000101)
- Pin(4000 3600 80 20 "Com" "2" 0x00000001)
- Pin(3900 3600 80 20 "Out" "3" 0x00000001)
- ElementLine (4200 3720 3800 3720 20)
- ElementLine (3800 3720 3800 3540 20)
- ElementLine (3800 3540 4200 3540 20)
- ElementLine (4200 3540 4200 3720 20)
- ElementLine (4200 3720 3800 3720 20)
- ElementLine (3800 3720 3800 3660 20)
- ElementLine (3800 3660 4200 3660 20)
- ElementLine (4200 3660 4200 3720 20)
- ElementLine (4070 3720 4070 3660 10)
- ElementLine (3930 3720 3930 3660 10)
- Mark (4100 3600)
-)
-
-Element(0x00000000 "R 0.25W" "R7" "2k2" 4405 1105 1 100 0x00000000)
-(
- Pin(4425 1225 50 20 "1" "1" 0x00000101)
- Pin(4425 825 50 20 "2" "2" 0x00000001)
- ElementLine (4425 925 4425 825 20)
- ElementLine (4425 1225 4425 1125 20)
- ElementLine (4475 1125 4375 1125 20)
- ElementLine (4475 925 4475 1125 20)
- ElementLine (4375 925 4475 925 20)
- ElementLine (4375 1125 4375 925 20)
- Mark (4425 1225)
-)
-
-Element(0x00000000 "optical coupling device" "U15" "6N136" 3975 1005 0 100 0x00000000)
-(
- Pin(3925 1175 60 28 "NC" "1" 0x00000101)
- Pin(4025 1175 60 28 "A+" "2" 0x00000001)
- Pin(4125 1175 60 28 "K-" "3" 0x00000001)
- Pin(4225 1175 60 28 "NC" "4" 0x00000001)
- Pin(4225 875 60 28 "Gnd" "5" 0x00000001)
- Pin(4125 875 60 28 "Out" "6" 0x00000001)
- Pin(4025 875 60 28 "En" "7" 0x00000001)
- Pin(3925 875 60 28 "Vcc" "8" 0x00000001)
- ElementLine (3875 1225 4275 1225 10)
- ElementLine (4275 1225 4275 825 10)
- ElementLine (4275 825 3875 825 10)
- ElementLine (3875 1225 3875 1075 10)
- ElementLine (3875 975 3875 825 10)
- ElementArc (3875 1025 50 50 90 180 10)
- Mark (3925 1175)
-)
-
-Element(0x00000000 "R 0.25W" "R8" "390" 5505 1105 1 100 0x00000000)
-(
- Pin(5525 1225 50 20 "1" "1" 0x00000101)
- Pin(5525 825 50 20 "2" "2" 0x00000001)
- ElementLine (5525 925 5525 825 20)
- ElementLine (5525 1225 5525 1125 20)
- ElementLine (5575 1125 5475 1125 20)
- ElementLine (5575 925 5575 1125 20)
- ElementLine (5475 925 5575 925 20)
- ElementLine (5475 1125 5475 925 20)
- Mark (5525 1225)
-)
-
-Element(0x00000000 "R 0.25W" "R1" "390" 5305 505 1 100 0x00000000)
-(
- Pin(5325 625 50 20 "1" "1" 0x00000101)
- Pin(5325 225 50 20 "2" "2" 0x00000001)
- ElementLine (5325 325 5325 225 20)
- ElementLine (5325 625 5325 525 20)
- ElementLine (5375 525 5275 525 20)
- ElementLine (5375 325 5375 525 20)
- ElementLine (5275 325 5375 325 20)
- ElementLine (5275 525 5275 325 20)
- Mark (5325 625)
-)
-
-Element(0x00000000 "optical coupling device" "U12" "6N136" 4875 405 0 100 0x00000000)
-(
- Pin(4825 575 60 28 "NC" "1" 0x00000101)
- Pin(4925 575 60 28 "A+" "2" 0x00000001)
- Pin(5025 575 60 28 "K-" "3" 0x00000001)
- Pin(5125 575 60 28 "NC" "4" 0x00000001)
- Pin(5125 275 60 28 "Gnd" "5" 0x00000001)
- Pin(5025 275 60 28 "Out" "6" 0x00000001)
- Pin(4925 275 60 28 "En" "7" 0x00000001)
- Pin(4825 275 60 28 "Vcc" "8" 0x00000001)
- ElementLine (4775 625 5175 625 10)
- ElementLine (5175 625 5175 225 10)
- ElementLine (5175 225 4775 225 10)
- ElementLine (4775 625 4775 475 10)
- ElementLine (4775 375 4775 225 10)
- ElementArc (4775 425 50 50 90 180 10)
- Mark (4825 575)
-)
-
-Element(0x00000000 "R 0.25W" "R2" "2k2" 4605 505 1 100 0x00000000)
-(
- Pin(4625 625 50 20 "1" "1" 0x00000101)
- Pin(4625 225 50 20 "2" "2" 0x00000001)
- ElementLine (4625 325 4625 225 20)
- ElementLine (4625 625 4625 525 20)
- ElementLine (4675 525 4575 525 20)
- ElementLine (4675 325 4675 525 20)
- ElementLine (4575 325 4675 325 20)
- ElementLine (4575 525 4575 325 20)
- Mark (4625 625)
-)
-
-Element(0x00000000 "R 0.25W" "R6" "2k2" 4605 1105 1 100 0x00000000)
-(
- Pin(4625 1225 50 20 "1" "1" 0x00000101)
- Pin(4625 825 50 20 "2" "2" 0x00000001)
- ElementLine (4625 925 4625 825 20)
- ElementLine (4625 1225 4625 1125 20)
- ElementLine (4675 1125 4575 1125 20)
- ElementLine (4675 925 4675 1125 20)
- ElementLine (4575 925 4675 925 20)
- ElementLine (4575 1125 4575 925 20)
- Mark (4625 1225)
-)
-
-Element(0x00000000 "R 0.25W" "R5" "390" 5305 1105 1 100 0x00000000)
-(
- Pin(5325 1225 50 20 "1" "1" 0x00000101)
- Pin(5325 825 50 20 "2" "2" 0x00000001)
- ElementLine (5325 925 5325 825 20)
- ElementLine (5325 1225 5325 1125 20)
- ElementLine (5375 1125 5275 1125 20)
- ElementLine (5375 925 5375 1125 20)
- ElementLine (5275 925 5375 925 20)
- ElementLine (5275 1125 5275 925 20)
- Mark (5325 1225)
-)
-
-Element(0x00000000 "optical coupling device" "U14" "6N136" 4875 1005 0 100 0x00000000)
-(
- Pin(4825 1175 60 28 "NC" "1" 0x00000101)
- Pin(4925 1175 60 28 "A+" "2" 0x00000001)
- Pin(5025 1175 60 28 "K-" "3" 0x00000001)
- Pin(5125 1175 60 28 "NC" "4" 0x00000001)
- Pin(5125 875 60 28 "Gnd" "5" 0x00000001)
- Pin(5025 875 60 28 "Out" "6" 0x00000001)
- Pin(4925 875 60 28 "En" "7" 0x00000001)
- Pin(4825 875 60 28 "Vcc" "8" 0x00000001)
- ElementLine (4775 1225 5175 1225 10)
- ElementLine (5175 1225 5175 825 10)
- ElementLine (5175 825 4775 825 10)
- ElementLine (4775 1225 4775 1075 10)
- ElementLine (4775 975 4775 825 10)
- ElementArc (4775 1025 50 50 90 180 10)
- Mark (4825 1175)
-)
-
-Element(0x00000000 "optical coupling device" "U13" "6N136" 3975 405 0 100 0x00000000)
-(
- Pin(3925 575 60 28 "NC" "1" 0x00000101)
- Pin(4025 575 60 28 "A+" "2" 0x00000001)
- Pin(4125 575 60 28 "K-" "3" 0x00000001)
- Pin(4225 575 60 28 "NC" "4" 0x00000001)
- Pin(4225 275 60 28 "Gnd" "5" 0x00000001)
- Pin(4125 275 60 28 "Out" "6" 0x00000001)
- Pin(4025 275 60 28 "En" "7" 0x00000001)
- Pin(3925 275 60 28 "Vcc" "8" 0x00000001)
- ElementLine (3875 625 4275 625 10)
- ElementLine (4275 625 4275 225 10)
- ElementLine (4275 225 3875 225 10)
- ElementLine (3875 625 3875 475 10)
- ElementLine (3875 375 3875 225 10)
- ElementArc (3875 425 50 50 90 180 10)
- Mark (3925 575)
-)
-
-Element(0x00000000 "R 0.25W" "R4" "390" 5505 505 1 100 0x00000000)
-(
- Pin(5525 625 50 20 "1" "1" 0x00000101)
- Pin(5525 225 50 20 "2" "2" 0x00000001)
- ElementLine (5525 325 5525 225 20)
- ElementLine (5525 625 5525 525 20)
- ElementLine (5575 525 5475 525 20)
- ElementLine (5575 325 5575 525 20)
- ElementLine (5475 325 5575 325 20)
- ElementLine (5475 525 5475 325 20)
- Mark (5525 625)
-)
-
-Element(0x00000000 "diode" "D1" "1N4148" 1575 3645 3 100 0x00000000)
-(
- Pin(1525 3425 50 20 "1" "1" 0x00000101)
- Pin(1525 3725 50 20 "2" "2" 0x00000001)
- ElementLine (1525 3425 1525 3525 10)
- ElementLine (1525 3625 1525 3725 10)
- ElementLine (1525 3525 1575 3625 10)
- ElementLine (1575 3625 1475 3625 10)
- ElementLine (1475 3625 1525 3525 10)
- ElementLine (1575 3525 1475 3525 10)
- Mark (1525 3425)
-)
-
-Element(0x00000000 "LED 5mm" "D10" "Green" 475 2315 0 100 0x00000000)
-(
- Pin(525 2395 60 20 "-" "1" 0x00000101)
- Pin(525 2495 60 20 "+" "2" 0x00000001)
- ElementArc (525 2445 70 70 0 360 10)
- ElementArc (525 2445 50 50 0 360 15)
- Mark (525 2395)
-)
-
-Element(0x00000000 "IRF1010N" "Q2" "IRF1010N" 5150 2260 0 100 0x00000000)
-(
- Pin(5250 2450 80 20 "G" "1" 0x00000101)
- Pin(5350 2450 80 20 "D" "2" 0x00000001)
- Pin(5450 2450 80 20 "S" "3" 0x00000001)
- ElementLine (5420 2330 5420 2390 10)
- ElementLine (5280 2330 5280 2390 10)
- ElementLine (5150 2390 5150 2330 20)
- ElementLine (5550 2390 5150 2390 20)
- ElementLine (5550 2330 5550 2390 20)
- ElementLine (5150 2330 5550 2330 20)
- ElementLine (5150 2510 5150 2330 20)
- ElementLine (5550 2510 5150 2510 20)
- ElementLine (5550 2330 5550 2510 20)
- ElementLine (5150 2330 5550 2330 20)
- Mark (5250 2450)
-)
-
-Element(0x00000000 "generic" "U7" "HCTL-2016" 2450 405 0 100 0x00000000)
-(
- Pin(2400 575 60 28 "1" "1" 0x00000101)
- Pin(2500 575 60 28 "2" "2" 0x00000001)
- Pin(2600 575 60 28 "3" "3" 0x00000001)
- Pin(2700 575 60 28 "4" "4" 0x00000001)
- Pin(2800 575 60 28 "5" "5" 0x00000001)
- Pin(2900 575 60 28 "6" "6" 0x00000001)
- Pin(3000 575 60 28 "7" "7" 0x00000001)
- Pin(3100 575 60 28 "8" "8" 0x00000001)
- Pin(3100 275 60 28 "9" "9" 0x00000001)
- Pin(3000 275 60 28 "10" "10" 0x00000001)
- Pin(2900 275 60 28 "11" "11" 0x00000001)
- Pin(2800 275 60 28 "12" "12" 0x00000001)
- Pin(2700 275 60 28 "13" "13" 0x00000001)
- Pin(2600 275 60 28 "14" "14" 0x00000001)
- Pin(2500 275 60 28 "15" "15" 0x00000001)
- Pin(2400 275 60 28 "16" "16" 0x00000001)
- ElementLine (2350 625 3150 625 10)
- ElementLine (3150 625 3150 225 10)
- ElementLine (3150 225 2350 225 10)
- ElementLine (2350 625 2350 475 10)
- ElementLine (2350 375 2350 225 10)
- ElementArc (2350 425 50 50 90 180 10)
- Mark (2400 575)
-)
-
-Element(0x00000000 "capacitor_radial" "C4" "10uFx25V" 3275 3625 0 100 0x00000000)
-(
- Pin(3125 3725 60 20 "1" "1" 0x00000101)
- Pin(3225 3725 60 20 "2" "2" 0x00000001)
- ElementArc (3175 3725 100 100 0 360 10)
- Mark (3125 3725)
-)
-
-Element(0x00000000 "connector 2x4 pins" "JP1" "ADDRESS" 4360 2000 3 100 0x00000000)
-(
- Pin(4150 2050 60 30 "1" "1" 0x00000101)
- Pin(4250 2050 60 30 "2" "2" 0x00000001)
- Pin(4150 2150 60 30 "3" "3" 0x00000001)
- Pin(4250 2150 60 30 "4" "4" 0x00000001)
- Pin(4150 2250 60 30 "5" "5" 0x00000001)
- Pin(4250 2250 60 30 "6" "6" 0x00000001)
- Pin(4150 2350 60 30 "7" "7" 0x00000001)
- Pin(4250 2350 60 30 "8" "8" 0x00000001)
- ElementLine (4200 2100 4200 2000 10)
- ElementLine (4100 2100 4200 2100 10)
- ElementLine (4300 2000 4100 2000 20)
- ElementLine (4300 2400 4300 2000 20)
- ElementLine (4100 2400 4300 2400 20)
- ElementLine (4100 2000 4100 2400 20)
- Mark (4150 2050)
-)
-
-Element(0x00000000 "generic" "U6" "8254" 1400 2330 0 100 0x00000000)
-(
- Pin(1350 2650 60 28 "1" "1" 0x00000101)
- Pin(1450 2650 60 28 "2" "2" 0x00000001)
- Pin(1550 2650 60 28 "3" "3" 0x00000001)
- Pin(1650 2650 60 28 "4" "4" 0x00000001)
- Pin(1750 2650 60 28 "5" "5" 0x00000001)
- Pin(1850 2650 60 28 "6" "6" 0x00000001)
- Pin(1950 2650 60 28 "7" "7" 0x00000001)
- Pin(2050 2650 60 28 "8" "8" 0x00000001)
- Pin(2150 2650 60 28 "9" "9" 0x00000001)
- Pin(2250 2650 60 28 "10" "10" 0x00000001)
- Pin(2350 2650 60 28 "11" "11" 0x00000001)
- Pin(2450 2650 60 28 "12" "12" 0x00000001)
- Pin(2450 2050 60 28 "13" "13" 0x00000001)
- Pin(2350 2050 60 28 "14" "14" 0x00000001)
- Pin(2250 2050 60 28 "15" "15" 0x00000001)
- Pin(2150 2050 60 28 "16" "16" 0x00000001)
- Pin(2050 2050 60 28 "17" "17" 0x00000001)
- Pin(1950 2050 60 28 "18" "18" 0x00000001)
- Pin(1850 2050 60 28 "19" "19" 0x00000001)
- Pin(1750 2050 60 28 "20" "20" 0x00000001)
- Pin(1650 2050 60 28 "21" "21" 0x00000001)
- Pin(1550 2050 60 28 "22" "22" 0x00000001)
- Pin(1450 2050 60 28 "23" "23" 0x00000001)
- Pin(1350 2050 60 28 "24" "24" 0x00000001)
- ElementLine (1300 2700 2500 2700 10)
- ElementLine (2500 2700 2500 2000 10)
- ElementLine (2500 2000 1300 2000 10)
- ElementLine (1300 2700 1300 2400 10)
- ElementLine (1300 2300 1300 2000 10)
- ElementArc (1300 2350 50 50 90 180 10)
- Mark (1350 2650)
-)
-
-Element(0x00000000 "generic PAL replacement" "U8" "GAL22V10" 2800 2180 0 100 0x00000000)
-(
- Pin(2750 2350 60 28 "CLK/I1" "1" 0x00000101)
- Pin(2850 2350 60 28 "I2" "2" 0x00000001)
- Pin(2950 2350 60 28 "I3" "3" 0x00000001)
- Pin(3050 2350 60 28 "I4" "4" 0x00000001)
- Pin(3150 2350 60 28 "I5" "5" 0x00000001)
- Pin(3250 2350 60 28 "I6" "6" 0x00000001)
- Pin(3350 2350 60 28 "I7" "7" 0x00000001)
- Pin(3450 2350 60 28 "I8" "8" 0x00000001)
- Pin(3550 2350 60 28 "I9" "9" 0x00000001)
- Pin(3650 2350 60 28 "I10" "10" 0x00000001)
- Pin(3750 2350 60 28 "I11" "11" 0x00000001)
- Pin(3850 2350 60 28 "Gnd" "12" 0x00000001)
- Pin(3850 2050 60 28 "I12" "13" 0x00000001)
- Pin(3750 2050 60 28 "I/O/Qj" "14" 0x00000001)
- Pin(3650 2050 60 28 "I/O/Qi" "15" 0x00000001)
- Pin(3550 2050 60 28 "I/O/Qh" "16" 0x00000001)
- Pin(3450 2050 60 28 "I/O/Qg" "17" 0x00000001)
- Pin(3350 2050 60 28 "I/O/Qf" "18" 0x00000001)
- Pin(3250 2050 60 28 "I/O/Qe" "19" 0x00000001)
- Pin(3150 2050 60 28 "I/O/Qd" "20" 0x00000001)
- Pin(3050 2050 60 28 "I/O/Qc" "21" 0x00000001)
- Pin(2950 2050 60 28 "I/O/Qb" "22" 0x00000001)
- Pin(2850 2050 60 28 "I/O/Qa" "23" 0x00000001)
- Pin(2750 2050 60 28 "Vcc" "24" 0x00000001)
- ElementLine (2700 2400 3900 2400 10)
- ElementLine (3900 2400 3900 2000 10)
- ElementLine (3900 2000 2700 2000 10)
- ElementLine (2700 2400 2700 2250 10)
- ElementLine (2700 2150 2700 2000 10)
- ElementArc (2700 2200 50 50 90 180 10)
- Mark (2750 2350)
-)
-
-Element(0x00000000 "SUB-D female 9 pins" "J9" "DB9_female" 500 1440 3 100 0x00000000)
-(
- Pin(850 1240 120 100 "C1" "C1" 0x00000001)
- Pin(850 2180 120 100 "C1" "C1" 0x00000001)
- Pin(900 1510 60 20 "5" "5" 0x00000001)
- Pin(800 1560 60 20 "9" "9" 0x00000001)
- Pin(900 1610 60 20 "4" "4" 0x00000001)
- Pin(800 1660 60 20 "8" "8" 0x00000001)
- Pin(900 1710 60 20 "3" "3" 0x00000001)
- Pin(800 1760 60 20 "7" "7" 0x00000001)
- Pin(900 1810 60 20 "2" "2" 0x00000001)
- Pin(800 1860 60 20 "6" "6" 0x00000001)
- Pin(900 1910 60 20 "1" "1" 0x00000101)
- ElementLine (390 1120 420 1120 10)
- ElementLine (420 1120 420 2300 10)
- ElementLine (420 2300 390 2300 10)
- ElementLine (390 2300 390 1120 10)
- ElementLine (390 1180 420 1180 10)
- ElementLine (390 1300 420 1300 10)
- ElementLine (390 2240 420 2240 10)
- ElementLine (390 2120 420 2120 10)
- ElementLine (120 1410 390 1410 20)
- ElementLine (390 1410 390 2010 10)
- ElementLine (390 2010 120 2010 20)
- ElementLine (120 2010 120 1410 20)
- ElementLine (420 1350 620 1350 20)
- ElementLine (620 1350 620 2070 20)
- ElementLine (620 2070 420 2070 20)
- ElementLine (420 2070 420 1350 10)
- ElementLine (900 1510 620 1510 20)
- ElementLine (800 1560 620 1560 20)
- ElementLine (900 1610 620 1610 20)
- ElementLine (800 1660 620 1660 20)
- ElementLine (900 1710 620 1710 20)
- ElementLine (800 1760 620 1760 20)
- ElementLine (900 1810 620 1810 20)
- ElementLine (800 1860 620 1860 20)
- ElementLine (900 1910 620 1910 20)
- Mark (900 1510)
-)
-
-Element(0x00000000 "LED 5mm" "D9" "Red" 715 2315 0 100 0x00000000)
-(
- Pin(765 2395 60 20 "-" "1" 0x00000101)
- Pin(765 2495 60 20 "+" "2" 0x00000001)
- ElementArc (765 2445 50 50 0 360 15)
- ElementArc (765 2445 70 70 0 360 10)
- Mark (765 2395)
-)
-
-Element(0x00000000 "capacitor_radial" "C7" "1000uFx35V" 4525 2450 2 100 0x00000000)
-(
- Pin(4900 2200 60 20 "1" "1" 0x00000101)
- Pin(4650 2200 60 20 "2" "2" 0x00000001)
- ElementArc (4775 2200 250 250 180 360 10)
- Mark (4900 2200)
-)
-
-Element(0x00000000 "diode" "D3" "1N4007" 850 3520 3 100 0x00000000)
-(
- Pin(800 3300 50 20 "1" "1" 0x00000101)
- Pin(800 3600 50 20 "2" "2" 0x00000001)
- ElementLine (850 3400 750 3400 10)
- ElementLine (750 3500 800 3400 10)
- ElementLine (850 3500 750 3500 10)
- ElementLine (800 3400 850 3500 10)
- ElementLine (800 3500 800 3600 10)
- ElementLine (800 3300 800 3400 10)
- Mark (800 3300)
-)
-
-Element(0x00000000 "IRF1010N" "Q1" "IRF1010N" 5675 2260 0 100 0x00000000)
-(
- Pin(5775 2450 80 20 "G" "1" 0x00000101)
- Pin(5875 2450 80 20 "D" "2" 0x00000001)
- Pin(5975 2450 80 20 "S" "3" 0x00000001)
- ElementLine (5945 2330 5945 2390 10)
- ElementLine (5805 2330 5805 2390 10)
- ElementLine (5675 2390 5675 2330 20)
- ElementLine (6075 2390 5675 2390 20)
- ElementLine (6075 2330 6075 2390 20)
- ElementLine (5675 2330 6075 2330 20)
- ElementLine (5675 2510 5675 2330 20)
- ElementLine (6075 2510 5675 2510 20)
- ElementLine (6075 2330 6075 2510 20)
- ElementLine (5675 2330 6075 2330 20)
- Mark (5775 2450)
-)
-
-Element(0x00000000 "capacitor_radial" "C11" "2.2nF" 5450 2000 0 100 0x00000000)
-(
- Pin(5300 2100 60 20 "1" "1" 0x00000101)
- Pin(5400 2100 60 20 "2" "2" 0x00000001)
- ElementArc (5350 2100 100 100 0 360 10)
- Mark (5300 2100)
-)
-
-Element(0x00000000 "R 0.25W" "R14" "2k7" 3480 505 1 100 0x00000000)
-(
- Pin(3500 625 50 20 "1" "1" 0x00000101)
- Pin(3500 225 50 20 "2" "2" 0x00000001)
- ElementLine (3500 325 3500 225 20)
- ElementLine (3500 625 3500 525 20)
- ElementLine (3550 525 3450 525 20)
- ElementLine (3550 325 3550 525 20)
- ElementLine (3450 325 3550 325 20)
- ElementLine (3450 525 3450 325 20)
- Mark (3500 625)
-)
-
-Element(0x00000000 "connector 2x1 pins" "JP2" "XRESET" 1210 3250 3 100 0x00000000)
-(
- Pin(1000 3300 60 30 "1" "1" 0x00000101)
- Pin(1100 3300 60 30 "2" "2" 0x00000001)
- ElementLine (950 3250 950 3350 20)
- ElementLine (950 3350 1150 3350 20)
- ElementLine (1150 3350 1150 3250 20)
- ElementLine (1150 3250 950 3250 20)
- ElementLine (950 3350 1050 3350 10)
- ElementLine (1050 3350 1050 3250 10)
- Mark (1000 3300)
-)
-
-Element(0x00000000 "generic" "U11" "10MHz" 1725 3030 0 100 0x00000000)
-(
- Pin(1675 3200 60 28 "1" "1" 0x00000101)
- Pin(1775 3200 60 28 "2" "2" 0x00000001)
- Pin(1875 3200 60 28 "3" "3" 0x00000001)
- Pin(1975 3200 60 28 "4" "4" 0x00000001)
- Pin(1975 2900 60 28 "5" "5" 0x00000001)
- Pin(1875 2900 60 28 "6" "6" 0x00000001)
- Pin(1775 2900 60 28 "7" "7" 0x00000001)
- Pin(1675 2900 60 28 "8" "8" 0x00000001)
- ElementLine (1625 3250 2025 3250 10)
- ElementLine (2025 3250 2025 2850 10)
- ElementLine (2025 2850 1625 2850 10)
- ElementLine (1625 3250 1625 3100 10)
- ElementLine (1625 3000 1625 2850 10)
- ElementArc (1625 3050 50 50 90 180 10)
- Mark (1675 3200)
-)
-
-Element(0x00000000 "capacitor_radial" "C8" "1000uFx35V" 4525 3025 2 100 0x00000000)
-(
- Pin(4900 2775 60 20 "1" "1" 0x00000101)
- Pin(4650 2775 60 20 "2" "2" 0x00000001)
- ElementArc (4775 2775 250 250 180 360 10)
- Mark (4900 2775)
-)
-
-Element(0x00000000 "+12V 1.5A voltage regulator" "U3" "7812" 5750 3790 2 100 0x00000000)
-(
- Pin(5650 3600 80 20 "In" "1" 0x00000101)
- Pin(5550 3600 80 20 "Com" "2" 0x00000001)
- Pin(5450 3600 80 20 "Out" "3" 0x00000001)
- ElementLine (5750 3720 5350 3720 20)
- ElementLine (5350 3720 5350 3540 20)
- ElementLine (5350 3540 5750 3540 20)
- ElementLine (5750 3540 5750 3720 20)
- ElementLine (5750 3720 5350 3720 20)
- ElementLine (5350 3720 5350 3660 20)
- ElementLine (5350 3660 5750 3660 20)
- ElementLine (5750 3660 5750 3720 20)
- ElementLine (5620 3720 5620 3660 10)
- ElementLine (5480 3720 5480 3660 10)
- Mark (5650 3600)
-)
-
-Element(0x00000000 "R 0.25W" "R9" "10k" 2770 2695 3 100 0x00000000)
-(
- Pin(2750 2575 50 20 "1" "1" 0x00000101)
- Pin(2750 2975 50 20 "2" "2" 0x00000001)
- ElementLine (2750 2875 2750 2975 20)
- ElementLine (2750 2575 2750 2675 20)
- ElementLine (2700 2675 2800 2675 20)
- ElementLine (2700 2875 2700 2675 20)
- ElementLine (2800 2875 2700 2875 20)
- ElementLine (2800 2675 2800 2875 20)
- Mark (2750 2575)
-)
-
-Element(0x00000000 "E22 standing" "" "E22" 5550 3525 2 100 0x00000000)
-(
- ElementLine (5325 3200 5325 3750 20)
- ElementLine (5275 3200 5325 3200 20)
- ElementLine (5275 3750 5275 3200 20)
- ElementLine (5075 3750 5275 3750 20)
- ElementLine (5075 3200 5075 3750 20)
- ElementLine (5025 3200 5075 3200 20)
- ElementLine (5025 3850 5025 3200 20)
- ElementLine (5775 3750 5325 3750 20)
- ElementLine (5775 3200 5775 3750 20)
- ElementLine (5825 3200 5775 3200 20)
- ElementLine (5825 3750 5825 3200 20)
- ElementLine (6025 3750 5825 3750 20)
- ElementLine (6025 3200 6025 3750 20)
- ElementLine (6075 3200 6025 3200 20)
- ElementLine (6075 3850 6075 3200 20)
- ElementLine (6075 3850 5025 3850 20)
- Mark (6075 3850)
-)
-
-Element(0x00000000 "R 0.25W" "R12" "1k2" 990 2820 2 100 0x00000000)
-(
- Pin(1110 2800 50 20 "1" "1" 0x00000101)
- Pin(710 2800 50 20 "2" "2" 0x00000001)
- ElementLine (810 2800 710 2800 20)
- ElementLine (1110 2800 1010 2800 20)
- ElementLine (1010 2750 1010 2850 20)
- ElementLine (810 2750 1010 2750 20)
- ElementLine (810 2850 810 2750 20)
- ElementLine (1010 2850 810 2850 20)
- Mark (1110 2800)
-)
-
-Element(0x00000000 "capacitor_radial" "C1" "100uFx25V" 4625 3850 2 100 0x00000000)
-(
- Pin(4850 3700 60 20 "1" "1" 0x00000101)
- Pin(4700 3700 60 20 "2" "2" 0x00000001)
- ElementArc (4775 3700 150 150 180 360 10)
- Mark (4850 3700)
-)
-
-Element(0x00000000 "IRF1010N" "Q4" "IRF1010N" 5150 2735 0 100 0x00000000)
-(
- Pin(5250 2925 80 20 "G" "1" 0x00000101)
- Pin(5350 2925 80 20 "D" "2" 0x00000001)
- Pin(5450 2925 80 20 "S" "3" 0x00000001)
- ElementLine (5420 2805 5420 2865 10)
- ElementLine (5280 2805 5280 2865 10)
- ElementLine (5150 2865 5150 2805 20)
- ElementLine (5550 2865 5150 2865 20)
- ElementLine (5550 2805 5550 2865 20)
- ElementLine (5150 2805 5550 2805 20)
- ElementLine (5150 2985 5150 2805 20)
- ElementLine (5550 2985 5150 2985 20)
- ElementLine (5550 2805 5550 2985 20)
- ElementLine (5150 2805 5550 2805 20)
- Mark (5250 2925)
-)
-
-Element(0x00000000 "DIN 41612C-96 male" "J15" "DIN41612C96_male" 6575 3455 1 200 0x00000000)
-(
- Pin(6475 475 60 30 "a1" "A1" 0x00000101)
- Pin(6475 575 60 30 "a2" "A2" 0x00000001)
- Pin(6475 675 60 30 "a3" "A3" 0x00000001)
- Pin(6475 775 60 30 "a4" "A4" 0x00000001)
- Pin(6475 875 60 30 "a5" "A5" 0x00000001)
- Pin(6475 975 60 30 "a6" "A6" 0x00000001)
- Pin(6475 1075 60 30 "a7" "A7" 0x00000001)
- Pin(6475 1175 60 30 "a8" "A8" 0x00000001)
- Pin(6475 1275 60 30 "a9" "A9" 0x00000001)
- Pin(6475 1375 60 30 "a10" "A10" 0x00000001)
- Pin(6475 1475 60 30 "a11" "A11" 0x00000001)
- Pin(6475 1575 60 30 "a12" "A12" 0x00000001)
- Pin(6475 1675 60 30 "a13" "A13" 0x00000001)
- Pin(6475 1775 60 30 "a14" "A14" 0x00000001)
- Pin(6475 1875 60 30 "a15" "A15" 0x00000001)
- Pin(6475 1975 60 30 "a16" "A16" 0x00000001)
- Pin(6475 2075 60 30 "a17" "A17" 0x00000001)
- Pin(6475 2175 60 30 "a18" "A18" 0x00000001)
- Pin(6475 2275 60 30 "a19" "A19" 0x00000001)
- Pin(6475 2375 60 30 "a20" "A20" 0x00000001)
- Pin(6475 2475 60 30 "a21" "A21" 0x00000001)
- Pin(6475 2575 60 30 "a22" "A22" 0x00000001)
- Pin(6475 2675 60 30 "a23" "A23" 0x00000001)
- Pin(6475 2775 60 30 "a24" "A24" 0x00000001)
- Pin(6475 2875 60 30 "a25" "A25" 0x00000001)
- Pin(6475 2975 60 30 "a26" "A26" 0x00000001)
- Pin(6475 3075 60 30 "a27" "A27" 0x00000001)
- Pin(6475 3175 60 30 "a28" "A28" 0x00000001)
- Pin(6475 3275 60 30 "a29" "A29" 0x00000001)
- Pin(6475 3375 60 30 "a30" "A30" 0x00000001)
- Pin(6475 3475 60 30 "a31" "A31" 0x00000001)
- Pin(6475 3575 60 30 "a32" "A32" 0x00000001)
- Pin(6375 475 60 30 "b1" "B1" 0x00000001)
- Pin(6375 575 60 30 "b2" "B2" 0x00000001)
- Pin(6375 675 60 30 "b3" "B3" 0x00000001)
- Pin(6375 775 60 30 "b4" "B4" 0x00000001)
- Pin(6375 875 60 30 "b5" "B5" 0x00000001)
- Pin(6375 975 60 30 "b6" "B6" 0x00000001)
- Pin(6375 1075 60 30 "b7" "B7" 0x00000001)
- Pin(6375 1175 60 30 "b8" "B8" 0x00000001)
- Pin(6375 1275 60 30 "b9" "B9" 0x00000001)
- Pin(6375 1375 60 30 "b10" "B10" 0x00000001)
- Pin(6375 1475 60 30 "b11" "B11" 0x00000001)
- Pin(6375 1575 60 30 "b12" "B12" 0x00000001)
- Pin(6375 1675 60 30 "b13" "B13" 0x00000001)
- Pin(6375 1775 60 30 "b14" "B14" 0x00000001)
- Pin(6375 1875 60 30 "b15" "B15" 0x00000001)
- Pin(6375 1975 60 30 "b16" "B16" 0x00000001)
- Pin(6375 2075 60 30 "b17" "B17" 0x00000001)
- Pin(6375 2175 60 30 "b18" "B18" 0x00000001)
- Pin(6375 2275 60 30 "b19" "B19" 0x00000001)
- Pin(6375 2375 60 30 "b20" "B20" 0x00000001)
- Pin(6375 2475 60 30 "b21" "B21" 0x00000001)
- Pin(6375 2575 60 30 "b22" "B22" 0x00000001)
- Pin(6375 2675 60 30 "b23" "B23" 0x00000001)
- Pin(6375 2775 60 30 "b24" "B24" 0x00000001)
- Pin(6375 2875 60 30 "b25" "B25" 0x00000001)
- Pin(6375 2975 60 30 "b26" "B26" 0x00000001)
- Pin(6375 3075 60 30 "b27" "B27" 0x00000001)
- Pin(6375 3175 60 30 "b28" "B28" 0x00000001)
- Pin(6375 3275 60 30 "b29" "B29" 0x00000001)
- Pin(6375 3375 60 30 "b30" "B30" 0x00000001)
- Pin(6375 3475 60 30 "b31" "B31" 0x00000001)
- Pin(6375 3575 60 30 "b32" "B32" 0x00000001)
- Pin(6275 475 60 30 "c1" "C1" 0x00000001)
- Pin(6275 575 60 30 "c2" "C2" 0x00000001)
- Pin(6275 675 60 30 "c3" "C3" 0x00000001)
- Pin(6275 775 60 30 "c4" "C4" 0x00000001)
- Pin(6275 875 60 30 "c5" "C5" 0x00000001)
- Pin(6275 975 60 30 "c6" "C6" 0x00000001)
- Pin(6275 1075 60 30 "c7" "C7" 0x00000001)
- Pin(6275 1175 60 30 "c8" "C8" 0x00000001)
- Pin(6275 1275 60 30 "c9" "C9" 0x00000001)
- Pin(6275 1375 60 30 "c10" "C10" 0x00000001)
- Pin(6275 1475 60 30 "c11" "C11" 0x00000001)
- Pin(6275 1575 60 30 "c12" "C12" 0x00000001)
- Pin(6275 1675 60 30 "c13" "C13" 0x00000001)
- Pin(6275 1775 60 30 "c14" "C14" 0x00000001)
- Pin(6275 1875 60 30 "c15" "C15" 0x00000001)
- Pin(6275 1975 60 30 "c16" "C16" 0x00000001)
- Pin(6275 2075 60 30 "c17" "C17" 0x00000001)
- Pin(6275 2175 60 30 "c18" "C18" 0x00000001)
- Pin(6275 2275 60 30 "c19" "C19" 0x00000001)
- Pin(6275 2375 60 30 "c20" "C20" 0x00000001)
- Pin(6275 2475 60 30 "c21" "C21" 0x00000001)
- Pin(6275 2575 60 30 "c22" "C22" 0x00000001)
- Pin(6275 2675 60 30 "c23" "C23" 0x00000001)
- Pin(6275 2775 60 30 "c24" "C24" 0x00000001)
- Pin(6275 2875 60 30 "c25" "C25" 0x00000001)
- Pin(6275 2975 60 30 "c26" "C26" 0x00000001)
- Pin(6275 3075 60 30 "c27" "C27" 0x00000001)
- Pin(6275 3175 60 30 "c28" "C28" 0x00000001)
- Pin(6275 3275 60 30 "c29" "C29" 0x00000001)
- Pin(6275 3375 60 30 "c30" "C30" 0x00000001)
- Pin(6275 3475 60 30 "c31" "C31" 0x00000001)
- Pin(6275 3575 60 30 "c32" "C32" 0x00000001)
- Pin(6575 3775 120 80 "M1" "M1" 0x00000001)
- Pin(6575 275 120 80 "M2" "M2" 0x00000001)
- ElementLine (6275 3575 6550 3575 40)
- ElementLine (6275 3475 6550 3475 40)
- ElementLine (6275 3375 6550 3375 40)
- ElementLine (6275 3275 6550 3275 40)
- ElementLine (6275 3175 6550 3175 40)
- ElementLine (6275 3075 6550 3075 40)
- ElementLine (6275 2975 6550 2975 40)
- ElementLine (6275 2875 6550 2875 40)
- ElementLine (6275 2775 6550 2775 40)
- ElementLine (6275 2675 6550 2675 40)
- ElementLine (6275 2575 6550 2575 40)
- ElementLine (6275 2475 6550 2475 40)
- ElementLine (6275 2375 6550 2375 40)
- ElementLine (6275 2275 6550 2275 40)
- ElementLine (6275 2175 6550 2175 40)
- ElementLine (6275 2075 6550 2075 40)
- ElementLine (6275 1975 6550 1975 40)
- ElementLine (6275 1875 6550 1875 40)
- ElementLine (6275 1775 6550 1775 40)
- ElementLine (6275 1675 6550 1675 40)
- ElementLine (6275 1575 6550 1575 40)
- ElementLine (6275 1475 6550 1475 40)
- ElementLine (6275 1375 6550 1375 40)
- ElementLine (6275 1275 6550 1275 40)
- ElementLine (6275 1175 6550 1175 40)
- ElementLine (6275 1075 6550 1075 40)
- ElementLine (6275 975 6550 975 40)
- ElementLine (6275 875 6550 875 40)
- ElementLine (6275 775 6550 775 40)
- ElementLine (6275 675 6550 675 40)
- ElementLine (6275 575 6550 575 40)
- ElementLine (6275 475 6550 475 40)
- ElementLine (6475 3875 6475 3655 20)
- ElementLine (6475 3655 6570 3655 20)
- ElementLine (6570 3655 6795 3655 10)
- ElementLine (6795 3655 6795 3775 10)
- ElementLine (6795 3775 6795 3875 20)
- ElementLine (6795 3875 6475 3875 20)
- ElementLine (6475 395 6475 175 20)
- ElementLine (6475 175 6795 175 20)
- ElementLine (6795 175 6795 275 20)
- ElementLine (6795 275 6795 395 10)
- ElementLine (6795 395 6570 395 10)
- ElementLine (6570 395 6475 395 20)
- ElementLine (6570 3655 6570 395 20)
- ElementLine (6795 3775 6975 3775 20)
- ElementLine (6975 3775 6975 275 20)
- ElementLine (6975 275 6795 275 20)
- Mark (6475 475)
-)
-
-Element(0x00000000 "capacitor_radial" "C9" "220nF" 3125 2700 2 100 0x00000000)
-(
- Pin(3275 2600 60 20 "1" "1" 0x00000101)
- Pin(3175 2600 60 20 "2" "2" 0x00000001)
- ElementArc (3225 2600 100 100 180 360 10)
- Mark (3275 2600)
-)
-
-Element(0x00000000 "R 0.25W" "R3" "2k2" 4405 505 1 100 0x00000000)
-(
- Pin(4425 625 50 20 "1" "1" 0x00000101)
- Pin(4425 225 50 20 "2" "2" 0x00000001)
- ElementLine (4425 325 4425 225 20)
- ElementLine (4425 625 4425 525 20)
- ElementLine (4475 525 4375 525 20)
- ElementLine (4475 325 4475 525 20)
- ElementLine (4375 325 4475 325 20)
- ElementLine (4375 525 4375 325 20)
- Mark (4425 625)
-)
-
-Element(0x00000000 "R 0.25W" "R10" "1k5" 2930 2855 1 100 0x00000000)
-(
- Pin(2950 2975 50 20 "1" "1" 0x00000101)
- Pin(2950 2575 50 20 "2" "2" 0x00000001)
- ElementLine (2950 2675 2950 2575 20)
- ElementLine (2950 2975 2950 2875 20)
- ElementLine (3000 2875 2900 2875 20)
- ElementLine (3000 2675 3000 2875 20)
- ElementLine (2900 2675 3000 2675 20)
- ElementLine (2900 2875 2900 2675 20)
- Mark (2950 2975)
-)
-
-Element(0x00000000 "capacitor_radial" "C2" "100uFx16V" 4925 3150 0 100 0x00000000)
-(
- Pin(4700 3300 60 20 "1" "1" 0x00000101)
- Pin(4850 3300 60 20 "2" "2" 0x00000001)
- ElementArc (4775 3300 150 150 0 360 10)
- Mark (4700 3300)
-)
-
-Element(0x00000000 "E22 standing" "" "E22" 4000 3525 2 100 0x00000000)
-(
- ElementLine (3775 3200 3775 3750 20)
- ElementLine (3725 3200 3775 3200 20)
- ElementLine (3725 3750 3725 3200 20)
- ElementLine (3525 3750 3725 3750 20)
- ElementLine (3525 3200 3525 3750 20)
- ElementLine (3475 3200 3525 3200 20)
- ElementLine (3475 3850 3475 3200 20)
- ElementLine (4225 3750 3775 3750 20)
- ElementLine (4225 3200 4225 3750 20)
- ElementLine (4275 3200 4225 3200 20)
- ElementLine (4275 3750 4275 3200 20)
- ElementLine (4475 3750 4275 3750 20)
- ElementLine (4475 3200 4475 3750 20)
- ElementLine (4525 3200 4475 3200 20)
- ElementLine (4525 3850 4525 3200 20)
- ElementLine (4525 3850 3475 3850 20)
- Mark (4525 3850)
-)
-
-Element(0x00000000 "Push-button, tactile, right angle, 466mils actuator" "S1" "MJTP1236_D" 598 2784 0 100 0x00000000)
-(
- Pin(500 2695 59 39 "1" "1" 0x00000101)
- Pin(500 2872 59 39 "2" "2" 0x00000001)
- Pin(598 2646 71 51 "C1" "C1" 0x00000001)
- Pin(598 2922 71 51 "C2" "C2" 0x00000001)
- ElementLine (658 2646 400 2646 20)
- ElementLine (400 2646 400 2922 20)
- ElementLine (400 2922 658 2922 20)
- ElementLine (538 2922 538 2646 20)
- ElementLine (400 2715 34 2725 20)
- ElementLine (34 2725 34 2843 20)
- ElementLine (34 2843 400 2853 20)
- Mark (500 2695)
-)
-
-Element(0x00000000 "IRF1010N" "Q3" "IRF1010N" 5675 2735 0 100 0x00000000)
-(
- Pin(5775 2925 80 20 "G" "1" 0x00000101)
- Pin(5875 2925 80 20 "D" "2" 0x00000001)
- Pin(5975 2925 80 20 "S" "3" 0x00000001)
- ElementLine (5945 2805 5945 2865 10)
- ElementLine (5805 2805 5805 2865 10)
- ElementLine (5675 2865 5675 2805 20)
- ElementLine (6075 2865 5675 2865 20)
- ElementLine (6075 2805 6075 2865 20)
- ElementLine (5675 2805 6075 2805 20)
- ElementLine (5675 2985 5675 2805 20)
- ElementLine (6075 2985 5675 2985 20)
- ElementLine (6075 2805 6075 2985 20)
- ElementLine (5675 2805 6075 2805 20)
- Mark (5775 2925)
-)
-
-Element(0x00000000 "diode" "D7" "1N4007" 5795 1825 0 100 0x00000000)
-(
- Pin(5575 1875 50 20 "1" "1" 0x00000101)
- Pin(5875 1875 50 20 "2" "2" 0x00000001)
- ElementLine (5675 1825 5675 1925 10)
- ElementLine (5775 1925 5675 1875 10)
- ElementLine (5775 1825 5775 1925 10)
- ElementLine (5675 1875 5775 1825 10)
- ElementLine (5775 1875 5875 1875 10)
- ElementLine (5575 1875 5675 1875 10)
- Mark (5575 1875)
-)
-
-Element(0x00000000 "optical coupling device" "U5" "6N136" 5775 1005 0 100 0x00000000)
-(
- Pin(5725 1175 60 28 "NC" "1" 0x00000101)
- Pin(5825 1175 60 28 "A+" "2" 0x00000001)
- Pin(5925 1175 60 28 "K-" "3" 0x00000001)
- Pin(6025 1175 60 28 "NC" "4" 0x00000001)
- Pin(6025 875 60 28 "Gnd" "5" 0x00000001)
- Pin(5925 875 60 28 "Out" "6" 0x00000001)
- Pin(5825 875 60 28 "En" "7" 0x00000001)
- Pin(5725 875 60 28 "Vcc" "8" 0x00000001)
- ElementLine (5675 1225 6075 1225 10)
- ElementLine (6075 1225 6075 825 10)
- ElementLine (6075 825 5675 825 10)
- ElementLine (5675 1225 5675 1075 10)
- ElementLine (5675 975 5675 825 10)
- ElementArc (5675 1025 50 50 90 180 10)
- Mark (5725 1175)
-)
-
-Element(0x00000000 "IRLZ24N" "Q5" "IRLZ24N" 5675 1910 0 100 0x00000000)
-(
- Pin(5775 2100 80 20 "G" "1" 0x00000101)
- Pin(5875 2100 80 20 "D" "2" 0x00000001)
- Pin(5975 2100 80 20 "S" "3" 0x00000001)
- ElementLine (5945 1980 5945 2040 10)
- ElementLine (5805 1980 5805 2040 10)
- ElementLine (5675 2040 5675 1980 20)
- ElementLine (6075 2040 5675 2040 20)
- ElementLine (6075 1980 6075 2040 20)
- ElementLine (5675 1980 6075 1980 20)
- ElementLine (5675 2160 5675 1980 20)
- ElementLine (6075 2160 5675 2160 20)
- ElementLine (6075 1980 6075 2160 20)
- ElementLine (5675 1980 6075 1980 20)
- Mark (5775 2100)
-)
-
-Element(0x00000000 "optical coupling device" "U4" "6N136" 5775 405 0 100 0x00000000)
-(
- Pin(5725 575 60 28 "NC" "1" 0x00000101)
- Pin(5825 575 60 28 "A+" "2" 0x00000001)
- Pin(5925 575 60 28 "K-" "3" 0x00000001)
- Pin(6025 575 60 28 "NC" "4" 0x00000001)
- Pin(6025 275 60 28 "Gnd" "5" 0x00000001)
- Pin(5925 275 60 28 "Out" "6" 0x00000001)
- Pin(5825 275 60 28 "En" "7" 0x00000001)
- Pin(5725 275 60 28 "Vcc" "8" 0x00000001)
- ElementLine (5675 625 6075 625 10)
- ElementLine (6075 625 6075 225 10)
- ElementLine (6075 225 5675 225 10)
- ElementLine (5675 625 5675 475 10)
- ElementLine (5675 375 5675 225 10)
- ElementArc (5675 425 50 50 90 180 10)
- Mark (5725 575)
-)
-
-Element(0x00000000 "capacitor_radial" "C10" "4.7uFx16V" 3325 2800 0 100 0x00000000)
-(
- Pin(3175 2900 60 20 "1" "1" 0x00000101)
- Pin(3275 2900 60 20 "2" "2" 0x00000001)
- ElementArc (3225 2900 100 100 0 360 10)
- Mark (3175 2900)
-)
-
-Element(0x00000000 "shielded" "J2" "RJ 45" 1125 1128 2 100 0x00000000)
-(
- Pin(950 575 60 30 "1" "1" 0x00000101)
- Pin(1050 625 60 30 "2" "2" 0x00000001)
- Pin(950 675 60 30 "3" "3" 0x00000001)
- Pin(1050 725 60 30 "4" "4" 0x00000001)
- Pin(950 775 60 30 "5" "5" 0x00000001)
- Pin(1050 825 60 30 "6" "6" 0x00000001)
- Pin(950 875 60 30 "7" "7" 0x00000001)
- Pin(1050 925 60 30 "8" "8" 0x00000001)
- Pin(700 525 148 128 "C1" "9" 0x00000001)
- Pin(700 976 148 128 "C1" "10" 0x00000001)
- Pin(820 445 82 62 "C1" "11" 0x00000001)
- Pin(820 1056 82 62 "C1" "12" 0x00000001)
- ElementLine (1125 1068 1125 433 20)
- ElementLine (275 1068 1125 1068 20)
- ElementLine (275 433 275 1068 20)
- ElementLine (1125 433 275 433 20)
- Mark (950 575)
-)
-
-Element(0x00000000 "generic" "U10" "MAX4429" 3600 2730 0 100 0x00000000)
-(
- Pin(3550 2900 60 28 "1" "1" 0x00000101)
- Pin(3650 2900 60 28 "2" "2" 0x00000001)
- Pin(3750 2900 60 28 "3" "3" 0x00000001)
- Pin(3850 2900 60 28 "4" "4" 0x00000001)
- Pin(3850 2600 60 28 "5" "5" 0x00000001)
- Pin(3750 2600 60 28 "6" "6" 0x00000001)
- Pin(3650 2600 60 28 "7" "7" 0x00000001)
- Pin(3550 2600 60 28 "8" "8" 0x00000001)
- ElementLine (3500 2950 3900 2950 10)
- ElementLine (3900 2950 3900 2550 10)
- ElementLine (3900 2550 3500 2550 10)
- ElementLine (3500 2950 3500 2800 10)
- ElementLine (3500 2700 3500 2550 10)
- ElementArc (3500 2750 50 50 90 180 10)
- Mark (3550 2900)
-)
-
-Element(0x00000000 "capacitor_radial" "C6" "1uFx25V" 3275 3325 0 100 0x00000000)
-(
- Pin(3125 3425 60 20 "1" "1" 0x00000101)
- Pin(3225 3425 60 20 "2" "2" 0x00000001)
- ElementArc (3175 3425 100 100 0 360 10)
- Mark (3125 3425)
-)
-
-Element(0x00000000 "capacitor_radial" "C5" "1uFx25V" 1175 3525 2 100 0x00000000)
-(
- Pin(1325 3425 60 20 "1" "1" 0x00000101)
- Pin(1225 3425 60 20 "2" "2" 0x00000001)
- ElementArc (1275 3425 100 100 180 360 10)
- Mark (1325 3425)
-)
-
-Element(0x00000000 "vertical, 95 mils center pole" "U1" "TINIm#90-RevD" 5750 1760 2 100 0x00000000)
-(
- Pin(5350 1625 60 30 "1" "1" 0x00000101)
- Pin(5300 1525 60 30 "2" "2" 0x00000001)
- Pin(5250 1625 60 30 "3" "3" 0x00000001)
- Pin(5200 1525 60 30 "4" "4" 0x00000001)
- Pin(5150 1625 60 30 "5" "5" 0x00000001)
- Pin(5100 1525 60 30 "6" "6" 0x00000001)
- Pin(5050 1625 60 30 "7" "7" 0x00000001)
- Pin(5000 1525 60 30 "8" "8" 0x00000001)
- Pin(4950 1625 60 30 "9" "9" 0x00000001)
- Pin(4900 1525 60 30 "10" "10" 0x00000001)
- Pin(4850 1625 60 30 "11" "11" 0x00000001)
- Pin(4800 1525 60 30 "12" "12" 0x00000001)
- Pin(4750 1625 60 30 "13" "13" 0x00000001)
- Pin(4700 1525 60 30 "14" "14" 0x00000001)
- Pin(4650 1625 60 30 "15" "15" 0x00000001)
- Pin(4600 1525 60 30 "16" "16" 0x00000001)
- Pin(4550 1625 60 30 "17" "17" 0x00000001)
- Pin(4500 1525 60 30 "18" "18" 0x00000001)
- Pin(4450 1625 60 30 "19" "19" 0x00000001)
- Pin(4400 1525 60 30 "20" "20" 0x00000001)
- Pin(4350 1625 60 30 "21" "21" 0x00000001)
- Pin(4300 1525 60 30 "22" "22" 0x00000001)
- Pin(4250 1625 60 30 "23" "23" 0x00000001)
- Pin(4200 1525 60 30 "24" "24" 0x00000001)
- Pin(4150 1625 60 30 "25" "25" 0x00000001)
- Pin(4100 1525 60 30 "26" "26" 0x00000001)
- Pin(4050 1625 60 30 "27" "27" 0x00000001)
- Pin(4000 1525 60 30 "28" "28" 0x00000001)
- Pin(3950 1625 60 30 "29" "29" 0x00000001)
- Pin(3900 1525 60 30 "30" "30" 0x00000001)
- Pin(3850 1625 60 30 "31" "31" 0x00000001)
- Pin(3800 1525 60 30 "32" "32" 0x00000001)
- Pin(3750 1625 60 30 "33" "33" 0x00000001)
- Pin(3700 1525 60 30 "34" "34" 0x00000001)
- Pin(3650 1625 60 30 "35" "35" 0x00000001)
- Pin(3600 1525 60 30 "36" "36" 0x00000001)
- Pin(3350 1625 60 30 "37" "37" 0x00000001)
- Pin(3300 1525 60 30 "38" "38" 0x00000001)
- Pin(3250 1625 60 30 "39" "39" 0x00000001)
- Pin(3200 1525 60 30 "40" "40" 0x00000001)
- Pin(3150 1625 60 30 "41" "41" 0x00000001)
- Pin(3100 1525 60 30 "42" "42" 0x00000001)
- Pin(3050 1625 60 30 "43" "43" 0x00000001)
- Pin(3000 1525 60 30 "44" "44" 0x00000001)
- Pin(2950 1625 60 30 "45" "45" 0x00000001)
- Pin(2900 1525 60 30 "46" "46" 0x00000001)
- Pin(2850 1625 60 30 "47" "47" 0x00000001)
- Pin(2800 1525 60 30 "48" "48" 0x00000001)
- Pin(2750 1625 60 30 "49" "49" 0x00000001)
- Pin(2700 1525 60 30 "50" "50" 0x00000001)
- Pin(2650 1625 60 30 "51" "51" 0x00000001)
- Pin(2600 1525 60 30 "52" "52" 0x00000001)
- Pin(2550 1625 60 30 "53" "53" 0x00000001)
- Pin(2500 1525 60 30 "54" "54" 0x00000001)
- Pin(2450 1625 60 30 "55" "55" 0x00000001)
- Pin(2400 1525 60 30 "56" "56" 0x00000001)
- Pin(2350 1625 60 30 "57" "57" 0x00000001)
- Pin(2300 1525 60 30 "58" "58" 0x00000001)
- Pin(2250 1625 60 30 "59" "59" 0x00000001)
- Pin(2200 1525 60 30 "60" "60" 0x00000001)
- Pin(2150 1625 60 30 "61" "61" 0x00000001)
- Pin(2100 1525 60 30 "62" "62" 0x00000001)
- Pin(2050 1625 60 30 "63" "63" 0x00000001)
- Pin(2000 1525 60 30 "64" "64" 0x00000001)
- Pin(1950 1625 60 30 "65" "65" 0x00000001)
- Pin(1900 1525 60 30 "66" "66" 0x00000001)
- Pin(1850 1625 60 30 "67" "67" 0x00000001)
- Pin(1800 1525 60 30 "68" "68" 0x00000001)
- Pin(1750 1625 60 30 "69" "69" 0x00000001)
- Pin(1700 1525 60 30 "70" "70" 0x00000001)
- Pin(1650 1625 60 30 "71" "71" 0x00000001)
- Pin(1600 1525 60 30 "72" "72" 0x00000001)
- Pin(5680 1575 84 64 "C1" "73" 0x00000001)
- Pin(3475 1575 115 95 "0" "74" 0x00000001)
- Pin(1275 1575 115 95 "C1" "75" 0x00000001)
- ElementLine (5750 1410 1200 1410 20)
- ElementLine (1200 1410 1200 1700 20)
- ElementLine (1200 1700 5750 1700 20)
- ElementLine (5750 1700 5750 1410 20)
- Mark (5350 1625)
-)
-
-Element(0x00000000 "capacitor_radial" "C3" "10uFx25V" 1175 3825 2 100 0x00000000)
-(
- Pin(1325 3725 60 20 "1" "1" 0x00000101)
- Pin(1225 3725 60 20 "2" "2" 0x00000001)
- ElementArc (1275 3725 100 100 180 360 10)
- Mark (1325 3725)
-)
-
-Element(0x00000000 "generic" "U9" "LT1162" 1725 3555 0 100 0x00000000)
-(
- Pin(1675 3725 60 28 "1" "1" 0x00000101)
- Pin(1775 3725 60 28 "2" "2" 0x00000001)
- Pin(1875 3725 60 28 "3" "3" 0x00000001)
- Pin(1975 3725 60 28 "4" "4" 0x00000001)
- Pin(2075 3725 60 28 "5" "5" 0x00000001)
- Pin(2175 3725 60 28 "6" "6" 0x00000001)
- Pin(2275 3725 60 28 "7" "7" 0x00000001)
- Pin(2375 3725 60 28 "8" "8" 0x00000001)
- Pin(2475 3725 60 28 "9" "9" 0x00000001)
- Pin(2575 3725 60 28 "10" "10" 0x00000001)
- Pin(2675 3725 60 28 "11" "11" 0x00000001)
- Pin(2775 3725 60 28 "12" "12" 0x00000001)
- Pin(2775 3425 60 28 "13" "13" 0x00000001)
- Pin(2675 3425 60 28 "14" "14" 0x00000001)
- Pin(2575 3425 60 28 "15" "15" 0x00000001)
- Pin(2475 3425 60 28 "16" "16" 0x00000001)
- Pin(2375 3425 60 28 "17" "17" 0x00000001)
- Pin(2275 3425 60 28 "18" "18" 0x00000001)
- Pin(2175 3425 60 28 "19" "19" 0x00000001)
- Pin(2075 3425 60 28 "20" "20" 0x00000001)
- Pin(1975 3425 60 28 "21" "21" 0x00000001)
- Pin(1875 3425 60 28 "22" "22" 0x00000001)
- Pin(1775 3425 60 28 "23" "23" 0x00000001)
- Pin(1675 3425 60 28 "24" "24" 0x00000001)
- ElementLine (1625 3775 2825 3775 10)
- ElementLine (2825 3775 2825 3375 10)
- ElementLine (2825 3375 1625 3375 10)
- ElementLine (1625 3775 1625 3625 10)
- ElementLine (1625 3525 1625 3375 10)
- ElementArc (1625 3575 50 50 90 180 10)
- Mark (1675 3725)
-)
-
-Element(0x00000000 "R 0.25W" "R11" "330" 985 3075 2 100 0x00000000)
-(
- Pin(1105 3055 50 20 "1" "1" 0x00000101)
- Pin(705 3055 50 20 "2" "2" 0x00000001)
- ElementLine (1005 3105 805 3105 20)
- ElementLine (805 3105 805 3005 20)
- ElementLine (805 3005 1005 3005 20)
- ElementLine (1005 3005 1005 3105 20)
- ElementLine (1105 3055 1005 3055 20)
- ElementLine (805 3055 705 3055 20)
- Mark (1105 3055)
-)
-
-Element(0x00000000 "eurocard1" "" "EUROCARD1" 6760 50 3 100 0x00000000)
-(
- Pin(525 275 120 80 "M1" "1" 0x00000001)
- Pin(525 3762 120 80 "M2" "2" 0x00000001)
- Pin(6575 275 120 80 "M3" "3" 0x00000001)
- Pin(6575 3762 120 80 "M4" "4" 0x00000001)
- ElementLine (6700 50 400 50 20)
- ElementLine (6700 3987 6700 50 20)
- ElementLine (400 3987 6700 3987 20)
- ElementLine (400 50 400 3987 20)
- Mark (400 50)
-)
-Layer(1 "solder")
-(
- Line(595 2570 710 2570 10 0x00000000)
- Line(530 2505 595 2570 10 0x00000000)
- Line(820 2545 765 2490 25 0x00000000)
- Line(1240 2545 820 2545 25 0x00000000)
- Line(500 3300 445 3300 10 0x00000000)
- Line(535 2845 500 2880 25 0x00000000)
- Line(635 2845 535 2845 25 0x00000000)
- Line(685 2895 635 2845 25 0x00000000)
- Line(1250 2895 685 2895 25 0x00000000)
- Line(6275 3450 6475 3450 40 0x00000000)
- Line(6275 3425 6475 3425 40 0x00000000)
- Line(6275 3400 6475 3400 40 0x00000000)
- Line(6475 3375 6275 3375 40 0x00000000)
- Line(6475 3475 6475 3375 40 0x00000000)
- Line(6275 3475 6475 3475 40 0x00000000)
- Line(6275 3425 4000 3425 45 0x00000000)
- Line(6275 3375 6275 3475 45 0x00000000)
- Line(5325 3075 4050 3075 10 0x00000000)
- Line(2825 3250 2775 3300 10 0x00000000)
- Line(5225 3250 2825 3250 10 0x00000000)
- Line(5250 3275 5225 3250 10 0x00000000)
- Line(5650 2450 5775 2450 10 0x00000000)
- Line(2050 3225 5650 3225 10 0x00000000)
- Line(1975 3425 1975 3375 10 0x00000000)
- Line(5150 2600 5350 2600 10 0x00000000)
- Line(1225 3375 5150 3375 10 0x00000000)
- Line(1225 3425 1225 3375 10 0x00000000)
- Line(2400 2700 1000 2700 10 0x00000000)
- Line(2425 2725 2400 2700 10 0x00000000)
- Line(2650 2725 2425 2725 10 0x00000000)
- Line(2675 2750 2650 2725 10 0x00000000)
- Line(3400 2750 2675 2750 10 0x00000000)
- Line(3425 2725 3400 2750 10 0x00000000)
- Line(4100 2725 3425 2725 10 0x00000000)
- Line(4150 2050 4050 2050 10 0x00000000)
- Line(4150 2150 4000 2150 10 0x00000000)
- Line(3950 2250 4150 2250 10 0x00000000)
- Line(2625 3575 3175 3575 10 0x00000000)
- Line(3200 3550 3225 3525 10 0x00000000)
- Line(3175 3575 3200 3550 10 0x00000000)
- Line(2575 3525 2625 3575 10 0x00000000)
- Line(2375 3425 2475 3425 10 0x00000000)
- Line(2925 3425 2925 3475 10 0x00000000)
- Line(3075 3475 3125 3425 10 0x00000000)
- Line(2350 3475 3075 3475 10 0x00000000)
- Line(2325 3475 2350 3475 10 0x00000000)
- Line(2275 3425 2325 3475 10 0x00000000)
- Line(1775 3425 1875 3425 10 0x00000000)
- Line(1325 3425 1675 3425 10 0x00000000)
- Line(5250 2450 4025 2450 10 0x00000000)
- Line(4025 2450 3975 2500 10 0x00000000)
- Line(3975 3100 2175 3100 10 0x00000000)
- Line(2125 1800 2150 1775 10 0x00000000)
- Line(1225 1800 2125 1800 10 0x00000000)
- Line(1025 1800 1225 1800 10 0x00000000)
- Line(2900 1825 4450 1825 10 0x00000000)
- Line(2850 1775 2900 1825 10 0x00000000)
- Line(2150 1775 2850 1775 10 0x00000000)
- Line(4400 1475 4400 1525 10 0x00000000)
- Line(1025 1475 4400 1475 10 0x00000000)
- Line(2375 3600 3700 3600 10 0x00000000)
- Line(2725 3525 2925 3525 25 0x00000000)
- Line(3600 2200 3450 2200 10 0x00000000)
- Line(3525 2550 3550 2525 10 0x00000000)
- Line(3325 2550 3525 2550 10 0x00000000)
- Line(3350 2825 4575 2825 10 0x00000000)
- Line(4525 2900 4650 2900 25 0x00000000)
- Line(2500 2700 3275 2700 25 0x00000000)
- Line(2450 2650 2500 2700 25 0x00000000)
- Line(2375 1700 1750 1700 10 0x00000000)
- Line(2425 1750 2450 1725 10 0x00000000)
- Line(1850 1750 2425 1750 10 0x00000000)
- Line(2450 1625 2375 1700 10 0x00000000)
- Line(2225 900 2500 900 10 0x00000000)
- Line(2250 1825 2400 1825 10 0x00000200)
- Line(2250 2825 3350 2825 10 0x00000000)
- Line(2200 2775 2250 2825 10 0x00000000)
- Line(1925 2775 2200 2775 10 0x00000000)
- Line(1875 2825 1925 2775 10 0x00000000)
- Line(1500 2825 1875 2825 10 0x00000000)
- Line(2525 2775 3800 2775 10 0x00000000)
- Line(3825 2275 3850 2250 10 0x00000000)
- Line(2650 2275 3825 2275 10 0x00000000)
- Line(2625 2300 2650 2275 10 0x00000000)
- Line(2050 2300 2625 2300 10 0x00000000)
- Line(2150 2175 1650 2175 10 0x00000000)
- Line(2200 2225 2150 2175 10 0x00000000)
- Line(2250 2225 2200 2225 10 0x00000000)
- Line(2275 2200 2250 2225 10 0x00000000)
- Line(2400 2200 2275 2200 10 0x00000000)
- Line(2425 2225 2400 2200 10 0x00000000)
- Line(2450 2225 2425 2225 10 0x00000000)
- Line(2875 2225 2450 2225 10 0x00000000)
- Line(2925 1875 3200 1875 10 0x00000000)
- Line(1450 1875 2925 1875 10 0x00000000)
- Line(2450 1950 2475 1925 10 0x00000000)
- Line(2200 1950 2450 1950 10 0x00000000)
- Line(2475 1925 3100 1925 10 0x00000000)
- Line(3050 2175 2200 2175 10 0x00000000)
- Line(2950 2125 2100 2125 10 0x00000000)
- Line(2150 2250 2350 2250 25 0x00000000)
- Line(6325 1725 5300 1725 10 0x00000000)
- Line(2050 675 950 675 10 0x00000000)
- Line(2000 825 1050 825 10 0x00000000)
- Line(1950 625 1050 625 10 0x00000000)
- Line(1900 575 950 575 10 0x00000000)
- Line(1875 3600 2375 3600 10 0x00000000)
- Line(2075 3525 2275 3525 25 0x00000000)
- Line(1975 3725 1975 3675 10 0x00000000)
- Line(2525 3675 2575 3725 10 0x00000000)
- Line(1050 3675 2525 3675 10 0x00000000)
- Line(525 1620 525 1500 25 0x00000000)
- Line(900 1500 520 1500 25 0x00000000)
- Line(900 2450 1100 2450 10 0x00000000)
- Line(1775 3850 2475 3850 10 0x00000000)
- Line(3500 3850 2475 3850 10 0x00000000)
- Line(2675 3525 2725 3525 25 0x00000000)
- Line(2925 3425 3125 3425 10 0x00000000)
- Line(2750 2575 2950 2575 10 0x00000000)
- Line(5125 2425 5175 2375 10 0x00000000)
- Line(3875 2425 5125 2425 10 0x00000000)
- Line(3750 2550 3875 2425 10 0x00000000)
- Line(3750 2600 3750 2550 10 0x00000000)
- Line(5175 2375 5525 2375 10 0x00000000)
- Line(3650 2600 3750 2600 10 0x00000000)
- Line(4200 2300 4250 2350 10 0x00000000)
- Line(3700 2300 4200 2300 10 0x00000000)
- Line(3650 2350 3700 2300 10 0x00000000)
- Line(3975 2350 4150 2350 10 0x00000000)
- Line(4425 600 4425 625 10 0x00000000)
- Line(4450 575 4425 600 10 0x00000000)
- Line(4725 575 4450 575 10 0x00000000)
- Line(4825 1075 4675 1075 10 0x00000000)
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-670500 331696 670500 333696 800 L
-669500 334696 670500 333696 800 L
-327500 260000 10000 10000 1000 180 360 A
-315500 266000 317000 266000 400 L
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-312299 268000 313799 268000 400 L
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-447500 62500 447500 52500 2000 L
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-452500 32500 452500 52500 2000 L
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-442500 52500 442500 32500 2000 L
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-447500 48500 447000 48000 400 L
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-447500 50000 449500 48000 400 L
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-445500 45299 446000 44799 400 L
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-305000 287500 295000 287500 2000 L
-305000 267500 305000 287500 2000 L
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-298000 283500 298000 285500 400 L
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-298500 283000 299500 283000 400 L
-300000 283500 299500 283000 400 L
-300000 283500 300000 285000 400 L
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-302000 277598 302000 278598 400 L
-301000 279098 299000 277098 400 L
-482500 330000 15000 15000 1000 0 360 A
-498000 319000 499500 319000 400 L
-497500 318500 498000 319000 400 L
-497500 315500 497500 318500 400 L
-497500 315500 498000 315000 400 L
-498000 315000 499500 315000 400 L
-500701 315500 501201 315000 400 L
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-502701 315000 503201 315500 400 L
-503201 315500 503201 316500 400 L
-500701 319000 503201 316500 400 L
-500701 319000 503201 319000 400 L
-382500 320000 382500 375000 2000 L
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-357500 375000 377500 375000 2000 L
-357500 320000 357500 375000 2000 L
-352500 320000 357500 320000 2000 L
-352500 385000 352500 320000 2000 L
-427500 375000 382500 375000 2000 L
-427500 320000 427500 375000 2000 L
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-64800 278900 64800 279900 400 L
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-65300 282400 66800 282400 400 L
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-574500 274000 574500 277000 400 L
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-577701 274000 577701 277000 400 L
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-576201 277500 577201 277500 400 L
-575701 277000 576201 277500 400 L
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-590701 182500 590701 184000 400 L
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-572500 97500 572500 82500 1000 L
-572500 102500 5000 5000 1000 90 180 A
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-575799 172000 575799 176000 400 L
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-132500 372500 10000 10000 1000 180 360 A
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-122500 382000 122000 382500 400 L
-120500 382500 122000 382500 400 L
-119299 382000 118799 382500 400 L
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-117799 382500 117299 382000 400 L
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-119299 379000 118799 378500 400 L
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-167500 357500 5000 5000 1000 90 180 A
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-179000 359500 179500 359000 400 L
-179500 355500 179500 359000 400 L
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-181201 355500 182201 355500 400 L
-180701 356000 181201 355500 400 L
-180701 356000 180701 357000 400 L
-180701 357000 181201 357500 400 L
-181201 357500 182701 357500 400 L
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-101000 306000 101000 307000 400 L
-101500 305500 101000 306000 400 L
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-103000 305500 101000 303500 400 L
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-98799 303500 98799 307500 400 L
-99799 306500 98799 307500 400 L
-95598 303500 96598 303500 400 L
-96098 303500 96098 307500 400 L
-97098 306500 96098 307500 400 L
-675000 5000 45000 5000 2000 L
-675000 398700 675000 5000 2000 L
-45000 398700 675000 398700 2000 L
-45000 5000 45000 398700 2000 L
-grestore
-% PCBENDDATA --- do not remove ---
-showpage
-%%EOF
+++ /dev/null
-%!PS-Adobe-3.0
-%%Title: (unknown), layergroup #1
-%%Creator: pcb-bin 20060321
-%%CreationDate: Tue Nov 27 09:49:27 2007
-%%For: fetter (Walter Fetter Lages,,,)
-%%LanguageLevel: 1
-%%Orientation: Portrait
-%%Pages: 1
-%%PageOrder: Ascend
-%%DocumentMedia: A4 594 841
-%%EndComments
-%%BeginProlog
-
-/PcbDict 200 dict def
-PcbDict begin
-PcbDict /DictMatrix matrix put
-
-% some constants
-/Black {0.0 mysetgray} def
-/White {1.0 mysetgray} def
-/TAN {0.207106781} def
-/MTAN {-0.207106781} def
-
-% draw a filled polygon
-% get (x,y)... and number of points from stack
-/PO {
- /number exch def
- newpath
- moveto
- number 1 sub { lineto } repeat
- closepath fill stroke
-} def
-
-/P {
-% draw a pin-polygon,
-% get x, y and thickness from stack
- /thickness exch def /y exch def /x exch def
- gsave x y translate thickness thickness scale
- 0.5 MTAN
- TAN -0.5
- MTAN -0.5
- -0.5 MTAN
- -0.5 TAN
- MTAN 0.5
- TAN 0.5
- 0.5 TAN
- 8 PO grestore
-} def
-
-/PV {
-% pin or via, x, y and thickness are on the stack
- /drillinghole exch def /thickness exch def /y exch def /x exch def
- x y thickness P
-% draw drilling hole
- gsave White 0 setlinewidth
- newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
- grestore
-} def
-
-/PVR {
-% pin or via, x, y and thickness are on the stack
- /drillinghole exch def /thickness exch def /y exch def /x exch def
- gsave 0 setlinewidth
- newpath x y thickness 2 div 0 360 arc closepath fill stroke
-% draw drilling whole
- White
- newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
- grestore
-} def
-
-/PVSQ {
-% square pin or via, x, y and thickness are on the stack
- /drillinghole exch def /thickness exch def /y exch def /x exch def
- newpath x thickness 2 div sub y thickness 2 div sub moveto
- thickness 0 rlineto 0 thickness rlineto
- thickness neg 0 rlineto closepath fill stroke
-% draw drilling hole
- gsave White 0 setlinewidth
- newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
- grestore
-} def
-
-/DH {
-% drill helpher; x, y, hole, copper-thickness are on stack
- /copper exch def /hole exch def /y exch def /x exch def
- gsave copper setlinewidth
- newpath x y hole copper add 2 div 0 360 arc closepath stroke
- grestore
-} def
-
-/L {
-% line, get x1, y1, x2, y2 and thickness from stack
- /thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- gsave thick setlinewidth
- x1 y1 moveto x2 y2 lineto stroke
- grestore
-} def
-
-/CL {
-% line, get x1, y1, x2, y2 and thickness from stack
- /thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- gsave White thick setlinewidth
- x1 y1 moveto x2 y2 lineto stroke
- grestore
-} def
-
-/B {
-% filled box, get x1, y1, x2 and y2 from stack
- /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- newpath
- x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
- closepath fill stroke
-} def
-
-/PA {
-% pad, same as line
- L
-} def
-
-/A {
-% arc for elements, get x, y, width, height, thickness
-% startangle and delta-angle from stack
- /delta exch def /start exch def /thickness exch def
- /height exch def /width exch def /y exch def /x exch def
-% draw it
- gsave thickness setlinewidth /save DictMatrix currentmatrix def
-% scaling is less then zero because the coord system has to be swapped
- x y translate width neg height scale
- 0 0 1 start start delta add arc save setmatrix stroke
- grestore
-} def
-
-/CA {
-% arc for elements, get x, y, width, height, thickness
-% startangle and delta-angle from stack
- /delta exch def /start exch def /thickness exch def
- /height exch def /width exch def /y exch def /x exch def
-% draw it
- gsave White thickness setlinewidth /save DictMatrix currentmatrix def
-% scaling is less then zero because the coord system has to be swapped
- x y translate width neg height scale
- 0 0 1 start start delta add arc save setmatrix stroke
- grestore
-} def
-
-/CLRPV {
-% clears a pin/via for groundplane; x,y and thickness are on stack
- /thickness exch def /y exch def /x exch def
- gsave White x y thickness P grestore
-} def
-
-/CLRPVSQ {
-% clears a square pin, x,y and thickness are on stack
- /thickness exch def /y exch def /x exch def
- gsave White
- newpath x thickness 2 div sub y thickness 2 div sub moveto
- thickness 0 rlineto 0 thickness rlineto
- thickness neg 0 rlineto closepath fill stroke
- grestore
-} def
-
-/CLRPVR {
-% clears a round pin/via for groundplane; x,y and thickness are on the stack
- /thickness exch def /y exch def /x exch def
- gsave White 0 setlinewidth
- newpath x y thickness 2 div 0 360 arc closepath fill stroke
- grestore
-} def
-
-/CLRPA {
-% clear line, get x1, y1, x2, y2 and thickness from stack
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-225000 195000 800 400 DH
-315000 192500 800 400 DH
-150000 187500 800 400 DH
-325000 187500 800 400 DH
-235000 187500 800 400 DH
-360000 252500 800 400 DH
-292500 222500 800 400 DH
-170000 217500 800 400 DH
-210000 230000 800 400 DH
-390000 225000 800 400 DH
-257500 277500 800 400 DH
-385000 277500 800 400 DH
-155000 282500 800 400 DH
-340000 282500 800 400 DH
-230000 182500 800 400 DH
-245000 182500 800 400 DH
-227500 90000 800 400 DH
-255000 90000 800 400 DH
-250000 172500 800 400 DH
-190000 175000 800 400 DH
-180000 170000 800 400 DH
-430000 197500 800 400 DH
-332500 270000 800 400 DH
-290000 265000 800 400 DH
-480000 265000 800 400 DH
-470000 290000 800 400 DH
-462500 282500 800 400 DH
-300000 177500 800 400 DH
-485000 177500 800 400 DH
-305000 85000 800 400 DH
-275000 85000 800 400 DH
-330000 80000 800 400 DH
-285000 80000 800 400 DH
-350000 220000 800 400 DH
-365000 220000 800 400 DH
-355000 385000 800 400 DH
-297500 352500 800 400 DH
-375000 360000 800 400 DH
-107500 147500 800 400 DH
-122000 160500 800 400 DH
-450000 182500 800 400 DH
-262500 352500 800 400 DH
-327500 352500 800 400 DH
-400000 225000 800 400 DH
-405000 215000 800 400 DH
-410000 205000 800 400 DH
-105000 270000 800 400 DH
-415000 272500 800 400 DH
-402500 250000 800 400 DH
-222500 310000 800 400 DH
-402500 310000 800 400 DH
-520000 260000 800 400 DH
-520000 337500 800 400 DH
-210000 322500 800 400 DH
-570000 322500 800 400 DH
-570000 245000 800 400 DH
-530000 327500 800 400 DH
-282500 330000 800 400 DH
-327500 305000 800 400 DH
-49500 330000 800 400 DH
-130000 255000 800 400 DH
-76500 257000 800 400 DH
-90500 305500 800 400 DH
-592500 360000 800 400 DH
-405000 342500 800 400 DH
-grestore
-% PCBENDDATA --- do not remove ---
-showpage
-%%EOF
+++ /dev/null
-%!PS-Adobe-3.0
-%%Title: (unknown), solder mask solder side
-%%Creator: pcb-bin 20060321
-%%CreationDate: Tue Nov 27 09:49:27 2007
-%%For: fetter (Walter Fetter Lages,,,)
-%%LanguageLevel: 1
-%%Orientation: Portrait
-%%Pages: 1
-%%PageOrder: Ascend
-%%DocumentMedia: A4 594 841
-%%EndComments
-%%BeginProlog
-
-/PcbDict 200 dict def
-PcbDict begin
-PcbDict /DictMatrix matrix put
-
-% some constants
-/Black {0.0 mysetgray} def
-/White {1.0 mysetgray} def
-/TAN {0.207106781} def
-/MTAN {-0.207106781} def
-
-% draw a filled polygon
-% get (x,y)... and number of points from stack
-/PO {
- /number exch def
- newpath
- moveto
- number 1 sub { lineto } repeat
- closepath fill stroke
-} def
-
-/P {
-% draw a pin-polygon,
-% get x, y and thickness from stack
- /thickness exch def /y exch def /x exch def
- gsave x y translate thickness thickness scale
- 0.5 MTAN
- TAN -0.5
- MTAN -0.5
- -0.5 MTAN
- -0.5 TAN
- MTAN 0.5
- TAN 0.5
- 0.5 TAN
- 8 PO grestore
-} def
-
-/PV {
-% pin or via, x, y and thickness are on the stack
- /drillinghole exch def /thickness exch def /y exch def /x exch def
- x y thickness P
-% draw drilling hole
- gsave White 0 setlinewidth
- newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
- grestore
-} def
-
-/PVR {
-% pin or via, x, y and thickness are on the stack
- /drillinghole exch def /thickness exch def /y exch def /x exch def
- gsave 0 setlinewidth
- newpath x y thickness 2 div 0 360 arc closepath fill stroke
-% draw drilling whole
- White
- newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
- grestore
-} def
-
-/PVSQ {
-% square pin or via, x, y and thickness are on the stack
- /drillinghole exch def /thickness exch def /y exch def /x exch def
- newpath x thickness 2 div sub y thickness 2 div sub moveto
- thickness 0 rlineto 0 thickness rlineto
- thickness neg 0 rlineto closepath fill stroke
-% draw drilling hole
- gsave White 0 setlinewidth
- newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
- grestore
-} def
-
-/DH {
-% drill helpher; x, y, hole, copper-thickness are on stack
- /copper exch def /hole exch def /y exch def /x exch def
- gsave copper setlinewidth
- newpath x y hole copper add 2 div 0 360 arc closepath stroke
- grestore
-} def
-
-/L {
-% line, get x1, y1, x2, y2 and thickness from stack
- /thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- gsave thick setlinewidth
- x1 y1 moveto x2 y2 lineto stroke
- grestore
-} def
-
-/CL {
-% line, get x1, y1, x2, y2 and thickness from stack
- /thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- gsave White thick setlinewidth
- x1 y1 moveto x2 y2 lineto stroke
- grestore
-} def
-
-/B {
-% filled box, get x1, y1, x2 and y2 from stack
- /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- newpath
- x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
- closepath fill stroke
-} def
-
-/PA {
-% pad, same as line
- L
-} def
-
-/A {
-% arc for elements, get x, y, width, height, thickness
-% startangle and delta-angle from stack
- /delta exch def /start exch def /thickness exch def
- /height exch def /width exch def /y exch def /x exch def
-% draw it
- gsave thickness setlinewidth /save DictMatrix currentmatrix def
-% scaling is less then zero because the coord system has to be swapped
- x y translate width neg height scale
- 0 0 1 start start delta add arc save setmatrix stroke
- grestore
-} def
-
-/CA {
-% arc for elements, get x, y, width, height, thickness
-% startangle and delta-angle from stack
- /delta exch def /start exch def /thickness exch def
- /height exch def /width exch def /y exch def /x exch def
-% draw it
- gsave White thickness setlinewidth /save DictMatrix currentmatrix def
-% scaling is less then zero because the coord system has to be swapped
- x y translate width neg height scale
- 0 0 1 start start delta add arc save setmatrix stroke
- grestore
-} def
-
-/CLRPV {
-% clears a pin/via for groundplane; x,y and thickness are on stack
- /thickness exch def /y exch def /x exch def
- gsave White x y thickness P grestore
-} def
-
-/CLRPVSQ {
-% clears a square pin, x,y and thickness are on stack
- /thickness exch def /y exch def /x exch def
- gsave White
- newpath x thickness 2 div sub y thickness 2 div sub moveto
- thickness 0 rlineto 0 thickness rlineto
- thickness neg 0 rlineto closepath fill stroke
- grestore
-} def
-
-/CLRPVR {
-% clears a round pin/via for groundplane; x,y and thickness are on the stack
- /thickness exch def /y exch def /x exch def
- gsave White 0 setlinewidth
- newpath x y thickness 2 div 0 360 arc closepath fill stroke
- grestore
-} def
-
-/CLRPA {
-% clear line, get x1, y1, x2, y2 and thickness from stack
- /thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- gsave White thick setlinewidth
- x1 y1 moveto x2 y2 lineto stroke
- grestore
-} def
-
-/CLRB {
-% cleared box, get x1, y1, x2 and y2 from stack
- /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- gsave White newpath
- x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
- closepath fill stroke
- grestore
-} def
-
-/FILL {
-% draw a filled rectangle for the ground plane
-% get x1, y1, x2 and y2 from stack
- /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- gsave 0 setlinewidth
- newpath
- x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
- closepath fill stroke
- grestore
-} def
-
-/Outline {
-% outline, get x1, y1, x2 and y2 from stack
- /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- gsave 0.175 setlinewidth
- newpath
- x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
- closepath stroke
- grestore
-} def
-
-/Alignment {
-% alignment targets, get x1, y1, x2, y2 and distance from stack
- /dis exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- gsave 0.175 setlinewidth
- newpath x1 y1 dis add moveto
- 0 dis 2 mul neg rlineto
- dis neg dis rmoveto
- dis 2 mul 0 rlineto
- stroke
- newpath x1 y1 dis 0 90 arcn stroke
- newpath x1 y2 dis sub moveto 0 dis rlineto dis 0 rlineto stroke
- newpath x2 y2 dis sub moveto
- 0 2 dis mul rlineto
- dis dup neg rmoveto
- 2 dis mul neg 0 rlineto stroke
- newpath x2 y1 dis add moveto 0 dis neg rlineto dis neg 0 rlineto stroke
- grestore
-} def
-
-/mysetgray {neg 1.0 add setgray} def
-/mysetrgbcolor {
- /blue exch def /green exch def /red exch def
- 1.0 red sub 1.0 green sub 1.0 blue sub setrgbcolor
-} def
-%%EndProlog
-%%BeginDefaults
-%%EndDefaults
-%%BeginSetup
-0.0 setlinewidth
-1 setlinecap
-Black
-%%EndSetup
-%%Page: 1 1
-%%BeginPageSetup
-%%EndPageSetup
-gsave White newpath
-153 160 moveto 451 160 lineto 451 673 lineto 153 673 lineto
-closepath fill stroke grestore
-% PCBMIN(-400,-400), PCBMAX(710400,410400)
-% PCBOFFSET(214900,223900), PCBSCALE(1.00000)
-% PCBSTARTDATA --- do not remove ---
-gsave
-0.00072 0.00072 scale
-214900 223900 translate
-1.000 1.000 scale
-410800 0 translate
-90 rotate
-0 410800 translate
-1 -1 scale
-400 400 translate
-/mysetgray { setgray } def
-/mysetrgbcolor { setrgbcolor } def
-
-/Color {0.302 0.302 0.302 mysetrgbcolor} def Color
--400 -400 710400 410400 200 Alignment
-335000 62500 6600 CLRPVSQ
-335000 22500 6600 CLRPVR
-297500 342500 6600 CLRPVSQ
-297500 372500 6600 CLRPVR
-415000 360000 8600 CLRPVSQ
-405000 360000 8600 CLRPVR
-395000 360000 8600 CLRPVR
-447500 122500 6600 CLRPVSQ
-447500 82500 6600 CLRPVR
-397500 117500 6600 CLRPVSQ
-407500 117500 6600 CLRPVR
-417500 117500 6600 CLRPVR
-427500 117500 6600 CLRPVR
-427500 87500 6600 CLRPVR
-417500 87500 6600 CLRPVR
-407500 87500 6600 CLRPVR
-397500 87500 6600 CLRPVR
-557500 122500 6600 CLRPVSQ
-557500 82500 6600 CLRPVR
-537500 62500 6600 CLRPVSQ
-537500 22500 6600 CLRPVR
-487500 57500 6600 CLRPVSQ
-497500 57500 6600 CLRPVR
-507500 57500 6600 CLRPVR
-517500 57500 6600 CLRPVR
-517500 27500 6600 CLRPVR
-507500 27500 6600 CLRPVR
-497500 27500 6600 CLRPVR
-487500 27500 6600 CLRPVR
-467500 62500 6600 CLRPVSQ
-467500 22500 6600 CLRPVR
-467500 122500 6600 CLRPVSQ
-467500 82500 6600 CLRPVR
-537500 122500 6600 CLRPVSQ
-537500 82500 6600 CLRPVR
-487500 117500 6600 CLRPVSQ
-497500 117500 6600 CLRPVR
-507500 117500 6600 CLRPVR
-517500 117500 6600 CLRPVR
-517500 87500 6600 CLRPVR
-507500 87500 6600 CLRPVR
-497500 87500 6600 CLRPVR
-487500 87500 6600 CLRPVR
-397500 57500 6600 CLRPVSQ
-407500 57500 6600 CLRPVR
-417500 57500 6600 CLRPVR
-427500 57500 6600 CLRPVR
-427500 27500 6600 CLRPVR
-417500 27500 6600 CLRPVR
-407500 27500 6600 CLRPVR
-397500 27500 6600 CLRPVR
-557500 62500 6600 CLRPVSQ
-557500 22500 6600 CLRPVR
-157500 342500 6600 CLRPVSQ
-157500 372500 6600 CLRPVR
-57500 239500 6600 CLRPVSQ
-57500 249500 6600 CLRPVR
-530000 245000 8600 CLRPVSQ
-540000 245000 8600 CLRPVR
-550000 245000 8600 CLRPVR
-245000 57500 6600 CLRPVSQ
-255000 57500 6600 CLRPVR
-265000 57500 6600 CLRPVR
-275000 57500 6600 CLRPVR
-285000 57500 6600 CLRPVR
-295000 57500 6600 CLRPVR
-305000 57500 6600 CLRPVR
-315000 57500 6600 CLRPVR
-315000 27500 6600 CLRPVR
-305000 27500 6600 CLRPVR
-295000 27500 6600 CLRPVR
-285000 27500 6600 CLRPVR
-275000 27500 6600 CLRPVR
-265000 27500 6600 CLRPVR
-255000 27500 6600 CLRPVR
-245000 27500 6600 CLRPVR
-317500 372500 6600 CLRPVSQ
-327500 372500 6600 CLRPVR
-420000 205000 7600 CLRPVSQ
-430000 205000 7600 CLRPVR
-420000 215000 7600 CLRPVR
-430000 215000 7600 CLRPVR
-420000 225000 7600 CLRPVR
-430000 225000 7600 CLRPVR
-420000 235000 7600 CLRPVR
-430000 235000 7600 CLRPVR
-140000 265000 6600 CLRPVSQ
-150000 265000 6600 CLRPVR
-160000 265000 6600 CLRPVR
-170000 265000 6600 CLRPVR
-180000 265000 6600 CLRPVR
-190000 265000 6600 CLRPVR
-200000 265000 6600 CLRPVR
-210000 265000 6600 CLRPVR
-220000 265000 6600 CLRPVR
-230000 265000 6600 CLRPVR
-240000 265000 6600 CLRPVR
-250000 265000 6600 CLRPVR
-250000 205000 6600 CLRPVR
-240000 205000 6600 CLRPVR
-230000 205000 6600 CLRPVR
-220000 205000 6600 CLRPVR
-210000 205000 6600 CLRPVR
-200000 205000 6600 CLRPVR
-190000 205000 6600 CLRPVR
-180000 205000 6600 CLRPVR
-170000 205000 6600 CLRPVR
-160000 205000 6600 CLRPVR
-150000 205000 6600 CLRPVR
-140000 205000 6600 CLRPVR
-280000 235000 6600 CLRPVSQ
-290000 235000 6600 CLRPVR
-300000 235000 6600 CLRPVR
-310000 235000 6600 CLRPVR
-320000 235000 6600 CLRPVR
-330000 235000 6600 CLRPVR
-340000 235000 6600 CLRPVR
-350000 235000 6600 CLRPVR
-360000 235000 6600 CLRPVR
-370000 235000 6600 CLRPVR
-380000 235000 6600 CLRPVR
-390000 235000 6600 CLRPVR
-390000 205000 6600 CLRPVR
-380000 205000 6600 CLRPVR
-370000 205000 6600 CLRPVR
-360000 205000 6600 CLRPVR
-350000 205000 6600 CLRPVR
-340000 205000 6600 CLRPVR
-330000 205000 6600 CLRPVR
-320000 205000 6600 CLRPVR
-310000 205000 6600 CLRPVR
-300000 205000 6600 CLRPVR
-290000 205000 6600 CLRPVR
-280000 205000 6600 CLRPVR
-77500 124000 12600 CLRPVR
-77500 218000 12600 CLRPVR
-82500 151000 7600 CLRPVR
-72500 156000 7600 CLRPVR
-82500 161000 7600 CLRPVR
-72500 166000 7600 CLRPVR
-82500 171000 7600 CLRPVR
-72500 176000 7600 CLRPVR
-82500 181000 7600 CLRPVR
-72500 186000 7600 CLRPVR
-82500 191000 7600 CLRPVSQ
-81500 239500 6600 CLRPVSQ
-81500 249500 6600 CLRPVR
-495000 220000 7600 CLRPVSQ
-470000 220000 7600 CLRPVR
-85000 330000 6600 CLRPVSQ
-85000 360000 6600 CLRPVR
-582500 245000 8600 CLRPVSQ
-592500 245000 8600 CLRPVR
-602500 245000 8600 CLRPVR
-535000 210000 6600 CLRPVSQ
-545000 210000 6600 CLRPVR
-355000 62500 6600 CLRPVSQ
-355000 22500 6600 CLRPVR
-105000 330000 7600 CLRPVSQ
-115000 330000 7600 CLRPVR
-172500 320000 6600 CLRPVSQ
-182500 320000 6600 CLRPVR
-192500 320000 6600 CLRPVR
-202500 320000 6600 CLRPVR
-202500 290000 6600 CLRPVR
-192500 290000 6600 CLRPVR
-182500 290000 6600 CLRPVR
-172500 290000 6600 CLRPVR
-495000 277500 7600 CLRPVSQ
-470000 277500 7600 CLRPVR
-570000 360000 8600 CLRPVSQ
-560000 360000 8600 CLRPVR
-550000 360000 8600 CLRPVR
-280000 257500 6600 CLRPVSQ
-280000 297500 6600 CLRPVR
-116000 280000 6600 CLRPVSQ
-76000 280000 6600 CLRPVR
-490000 370000 6600 CLRPVSQ
-475000 370000 6600 CLRPVR
-530000 292500 8600 CLRPVSQ
-540000 292500 8600 CLRPVR
-550000 292500 8600 CLRPVR
-652500 47500 6600 CLRPVSQ
-652500 57500 6600 CLRPVR
-652500 67500 6600 CLRPVR
-652500 77500 6600 CLRPVR
-652500 87500 6600 CLRPVR
-652500 97500 6600 CLRPVR
-652500 107500 6600 CLRPVR
-652500 117500 6600 CLRPVR
-652500 127500 6600 CLRPVR
-652500 137500 6600 CLRPVR
-652500 147500 6600 CLRPVR
-652500 157500 6600 CLRPVR
-652500 167500 6600 CLRPVR
-652500 177500 6600 CLRPVR
-652500 187500 6600 CLRPVR
-652500 197500 6600 CLRPVR
-652500 207500 6600 CLRPVR
-652500 217500 6600 CLRPVR
-652500 227500 6600 CLRPVR
-652500 237500 6600 CLRPVR
-652500 247500 6600 CLRPVR
-652500 257500 6600 CLRPVR
-652500 267500 6600 CLRPVR
-652500 277500 6600 CLRPVR
-652500 287500 6600 CLRPVR
-652500 297500 6600 CLRPVR
-652500 307500 6600 CLRPVR
-652500 317500 6600 CLRPVR
-652500 327500 6600 CLRPVR
-652500 337500 6600 CLRPVR
-652500 347500 6600 CLRPVR
-652500 357500 6600 CLRPVR
-642500 47500 6600 CLRPVR
-642500 57500 6600 CLRPVR
-642500 67500 6600 CLRPVR
-642500 77500 6600 CLRPVR
-642500 87500 6600 CLRPVR
-642500 97500 6600 CLRPVR
-642500 107500 6600 CLRPVR
-642500 117500 6600 CLRPVR
-642500 127500 6600 CLRPVR
-642500 137500 6600 CLRPVR
-642500 147500 6600 CLRPVR
-642500 157500 6600 CLRPVR
-642500 167500 6600 CLRPVR
-642500 177500 6600 CLRPVR
-642500 187500 6600 CLRPVR
-642500 197500 6600 CLRPVR
-642500 207500 6600 CLRPVR
-642500 217500 6600 CLRPVR
-642500 227500 6600 CLRPVR
-642500 237500 6600 CLRPVR
-642500 247500 6600 CLRPVR
-642500 257500 6600 CLRPVR
-642500 267500 6600 CLRPVR
-642500 277500 6600 CLRPVR
-642500 287500 6600 CLRPVR
-642500 297500 6600 CLRPVR
-642500 307500 6600 CLRPVR
-642500 317500 6600 CLRPVR
-642500 327500 6600 CLRPVR
-642500 337500 6600 CLRPVR
-642500 347500 6600 CLRPVR
-642500 357500 6600 CLRPVR
-632500 47500 6600 CLRPVR
-632500 57500 6600 CLRPVR
-632500 67500 6600 CLRPVR
-632500 77500 6600 CLRPVR
-632500 87500 6600 CLRPVR
-632500 97500 6600 CLRPVR
-632500 107500 6600 CLRPVR
-632500 117500 6600 CLRPVR
-632500 127500 6600 CLRPVR
-632500 137500 6600 CLRPVR
-632500 147500 6600 CLRPVR
-632500 157500 6600 CLRPVR
-632500 167500 6600 CLRPVR
-632500 177500 6600 CLRPVR
-632500 187500 6600 CLRPVR
-632500 197500 6600 CLRPVR
-632500 207500 6600 CLRPVR
-632500 217500 6600 CLRPVR
-632500 227500 6600 CLRPVR
-632500 237500 6600 CLRPVR
-632500 247500 6600 CLRPVR
-632500 257500 6600 CLRPVR
-632500 267500 6600 CLRPVR
-632500 277500 6600 CLRPVR
-632500 287500 6600 CLRPVR
-632500 297500 6600 CLRPVR
-632500 307500 6600 CLRPVR
-632500 317500 6600 CLRPVR
-632500 327500 6600 CLRPVR
-632500 337500 6600 CLRPVR
-632500 347500 6600 CLRPVR
-632500 357500 6600 CLRPVR
-662500 377500 12600 CLRPVR
-662500 27500 12600 CLRPVR
-332500 260000 6600 CLRPVSQ
-322500 260000 6600 CLRPVR
-447500 62500 6600 CLRPVSQ
-447500 22500 6600 CLRPVR
-300000 297500 6600 CLRPVSQ
-300000 257500 6600 CLRPVR
-475000 330000 6600 CLRPVSQ
-490000 330000 6600 CLRPVR
-55000 269500 7600 CLRPVSQ
-55000 287200 7600 CLRPVR
-64800 264600 7600 CLRPVR
-64800 292200 7600 CLRPVR
-582500 292500 8600 CLRPVSQ
-592500 292500 8600 CLRPVR
-602500 292500 8600 CLRPVR
-562500 187500 6600 CLRPVSQ
-592500 187500 6600 CLRPVR
-577500 117500 6600 CLRPVSQ
-587500 117500 6600 CLRPVR
-597500 117500 6600 CLRPVR
-607500 117500 6600 CLRPVR
-607500 87500 6600 CLRPVR
-597500 87500 6600 CLRPVR
-587500 87500 6600 CLRPVR
-577500 87500 6600 CLRPVR
-582500 210000 8600 CLRPVSQ
-592500 210000 8600 CLRPVR
-602500 210000 8600 CLRPVR
-577500 57500 6600 CLRPVSQ
-587500 57500 6600 CLRPVR
-597500 57500 6600 CLRPVR
-607500 57500 6600 CLRPVR
-607500 27500 6600 CLRPVR
-597500 27500 6600 CLRPVR
-587500 27500 6600 CLRPVR
-577500 27500 6600 CLRPVR
-322500 290000 6600 CLRPVSQ
-332500 290000 6600 CLRPVR
-87500 57500 6600 CLRPVSQ
-97500 62500 6600 CLRPVR
-87500 67500 6600 CLRPVR
-97500 72500 6600 CLRPVR
-87500 77500 6600 CLRPVR
-97500 82500 6600 CLRPVR
-87500 87500 6600 CLRPVR
-97500 92500 6600 CLRPVR
-62500 52500 15400 CLRPVR
-62500 97600 15400 CLRPVR
-74500 44500 8600 CLRPVR
-74500 105600 8600 CLRPVR
-360000 290000 6600 CLRPVSQ
-370000 290000 6600 CLRPVR
-380000 290000 6600 CLRPVR
-390000 290000 6600 CLRPVR
-390000 260000 6600 CLRPVR
-380000 260000 6600 CLRPVR
-370000 260000 6600 CLRPVR
-360000 260000 6600 CLRPVR
-317500 342500 6600 CLRPVSQ
-327500 342500 6600 CLRPVR
-137500 342500 6600 CLRPVSQ
-127500 342500 6600 CLRPVR
-540000 162500 6600 CLRPVSQ
-535000 152500 6600 CLRPVR
-530000 162500 6600 CLRPVR
-525000 152500 6600 CLRPVR
-520000 162500 6600 CLRPVR
-515000 152500 6600 CLRPVR
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-grestore
-% PCBENDDATA --- do not remove ---
-showpage
-%%EOF
+++ /dev/null
-G04 Title: (unknown), solder mask component side *\r
-G04 Creator: pcb 1.6.3 *\r
-G04 CreationDate: Mon Mar 31 19:59:34 2003 UTC *\r
-G04 For: fetter *\r
-G04 Format: Gerber/RS-274X *\r
-G04 PCB-Dimensions: 7100 4100 *\r
-G04 PCB-Coordinate-Origin: lower left *\r
-G04 Color: R0 G0 B0 *\r
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+++ /dev/null
-G04 Title: (unknown), silkscreen component side *\r
-G04 Creator: pcb 1.6.3 *\r
-G04 CreationDate: Mon Mar 31 19:59:34 2003 UTC *\r
-G04 For: fetter *\r
-G04 Format: Gerber/RS-274X *\r
-G04 PCB-Dimensions: 7100 4100 *\r
-G04 PCB-Coordinate-Origin: lower left *\r
-G04 Color: R0 G0 B0 *\r
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+++ /dev/null
-%!PS-Adobe-3.0
-%%Title: (unknown), Fabrication Drawing
-%%Creator: pcb-bin 20060321
-%%CreationDate: Tue Nov 27 09:49:27 2007
-%%For: fetter (Walter Fetter Lages,,,)
-%%LanguageLevel: 1
-%%Orientation: Portrait
-%%Pages: 1
-%%PageOrder: Ascend
-%%DocumentMedia: A4 594 841
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-%%BeginProlog
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-/PcbDict 200 dict def
-PcbDict begin
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-
-% some constants
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-
-% draw a filled polygon
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-% draw a pin-polygon,
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- gsave x y translate thickness thickness scale
- 0.5 MTAN
- TAN -0.5
- MTAN -0.5
- -0.5 MTAN
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- MTAN 0.5
- TAN 0.5
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- 8 PO grestore
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-/PV {
-% pin or via, x, y and thickness are on the stack
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-% square pin or via, x, y and thickness are on the stack
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-% pad, same as line
- L
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-% arc for elements, get x, y, width, height, thickness
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-% arc for elements, get x, y, width, height, thickness
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-% draw it
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- x y translate width neg height scale
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-/CLRPV {
-% clears a pin/via for groundplane; x,y and thickness are on stack
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-} def
-
-/CLRPVSQ {
-% clears a square pin, x,y and thickness are on stack
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-/CLRPVR {
-% clears a round pin/via for groundplane; x,y and thickness are on the stack
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- newpath x y thickness 2 div 0 360 arc closepath fill stroke
- grestore
-} def
-
-/CLRPA {
-% clear line, get x1, y1, x2, y2 and thickness from stack
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- x1 y1 moveto x2 y2 lineto stroke
- grestore
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-/CLRB {
-% cleared box, get x1, y1, x2 and y2 from stack
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- gsave White newpath
- x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
- closepath fill stroke
- grestore
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-
-/FILL {
-% draw a filled rectangle for the ground plane
-% get x1, y1, x2 and y2 from stack
- /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- gsave 0 setlinewidth
- newpath
- x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
- closepath fill stroke
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-/Outline {
-% outline, get x1, y1, x2 and y2 from stack
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- gsave 0.175 setlinewidth
- newpath
- x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
- closepath stroke
- grestore
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-
-/Alignment {
-% alignment targets, get x1, y1, x2, y2 and distance from stack
- /dis exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- gsave 0.175 setlinewidth
- newpath x1 y1 dis add moveto
- 0 dis 2 mul neg rlineto
- dis neg dis rmoveto
- dis 2 mul 0 rlineto
- stroke
- newpath x1 y1 dis 0 90 arcn stroke
- newpath x1 y2 dis sub moveto 0 dis rlineto dis 0 rlineto stroke
- newpath x2 y2 dis sub moveto
- 0 2 dis mul rlineto
- dis dup neg rmoveto
- 2 dis mul neg 0 rlineto stroke
- newpath x2 y1 dis add moveto 0 dis neg rlineto dis neg 0 rlineto stroke
- grestore
-} def
-
-/mysetgray { setgray } def
-/mysetrgbcolor { setrgbcolor } def
-
-%%EndProlog
-%%BeginDefaults
-%%EndDefaults
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-closepath fill stroke grestore
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-% PCBOFFSET(214900,223900), PCBSCALE(1.00000)
-% PCBSTARTDATA --- do not remove ---
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-/Color {0.498 0.498 0.498 mysetrgbcolor} def Color
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-grestore
-% PCBENDDATA --- do not remove ---
-showpage
-%%EOF
+++ /dev/null
-%!PS-Adobe-3.0
-%%Title: (unknown), solder mask component side
-%%Creator: pcb-bin 20060321
-%%CreationDate: Tue Nov 27 09:49:27 2007
-%%For: fetter (Walter Fetter Lages,,,)
-%%LanguageLevel: 1
-%%Orientation: Portrait
-%%Pages: 1
-%%PageOrder: Ascend
-%%DocumentMedia: A4 594 841
-%%EndComments
-%%BeginProlog
-
-/PcbDict 200 dict def
-PcbDict begin
-PcbDict /DictMatrix matrix put
-
-% some constants
-/Black {0.0 mysetgray} def
-/White {1.0 mysetgray} def
-/TAN {0.207106781} def
-/MTAN {-0.207106781} def
-
-% draw a filled polygon
-% get (x,y)... and number of points from stack
-/PO {
- /number exch def
- newpath
- moveto
- number 1 sub { lineto } repeat
- closepath fill stroke
-} def
-
-/P {
-% draw a pin-polygon,
-% get x, y and thickness from stack
- /thickness exch def /y exch def /x exch def
- gsave x y translate thickness thickness scale
- 0.5 MTAN
- TAN -0.5
- MTAN -0.5
- -0.5 MTAN
- -0.5 TAN
- MTAN 0.5
- TAN 0.5
- 0.5 TAN
- 8 PO grestore
-} def
-
-/PV {
-% pin or via, x, y and thickness are on the stack
- /drillinghole exch def /thickness exch def /y exch def /x exch def
- x y thickness P
-% draw drilling hole
- gsave White 0 setlinewidth
- newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
- grestore
-} def
-
-/PVR {
-% pin or via, x, y and thickness are on the stack
- /drillinghole exch def /thickness exch def /y exch def /x exch def
- gsave 0 setlinewidth
- newpath x y thickness 2 div 0 360 arc closepath fill stroke
-% draw drilling whole
- White
- newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
- grestore
-} def
-
-/PVSQ {
-% square pin or via, x, y and thickness are on the stack
- /drillinghole exch def /thickness exch def /y exch def /x exch def
- newpath x thickness 2 div sub y thickness 2 div sub moveto
- thickness 0 rlineto 0 thickness rlineto
- thickness neg 0 rlineto closepath fill stroke
-% draw drilling hole
- gsave White 0 setlinewidth
- newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
- grestore
-} def
-
-/DH {
-% drill helpher; x, y, hole, copper-thickness are on stack
- /copper exch def /hole exch def /y exch def /x exch def
- gsave copper setlinewidth
- newpath x y hole copper add 2 div 0 360 arc closepath stroke
- grestore
-} def
-
-/L {
-% line, get x1, y1, x2, y2 and thickness from stack
- /thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- gsave thick setlinewidth
- x1 y1 moveto x2 y2 lineto stroke
- grestore
-} def
-
-/CL {
-% line, get x1, y1, x2, y2 and thickness from stack
- /thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- gsave White thick setlinewidth
- x1 y1 moveto x2 y2 lineto stroke
- grestore
-} def
-
-/B {
-% filled box, get x1, y1, x2 and y2 from stack
- /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- newpath
- x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
- closepath fill stroke
-} def
-
-/PA {
-% pad, same as line
- L
-} def
-
-/A {
-% arc for elements, get x, y, width, height, thickness
-% startangle and delta-angle from stack
- /delta exch def /start exch def /thickness exch def
- /height exch def /width exch def /y exch def /x exch def
-% draw it
- gsave thickness setlinewidth /save DictMatrix currentmatrix def
-% scaling is less then zero because the coord system has to be swapped
- x y translate width neg height scale
- 0 0 1 start start delta add arc save setmatrix stroke
- grestore
-} def
-
-/CA {
-% arc for elements, get x, y, width, height, thickness
-% startangle and delta-angle from stack
- /delta exch def /start exch def /thickness exch def
- /height exch def /width exch def /y exch def /x exch def
-% draw it
- gsave White thickness setlinewidth /save DictMatrix currentmatrix def
-% scaling is less then zero because the coord system has to be swapped
- x y translate width neg height scale
- 0 0 1 start start delta add arc save setmatrix stroke
- grestore
-} def
-
-/CLRPV {
-% clears a pin/via for groundplane; x,y and thickness are on stack
- /thickness exch def /y exch def /x exch def
- gsave White x y thickness P grestore
-} def
-
-/CLRPVSQ {
-% clears a square pin, x,y and thickness are on stack
- /thickness exch def /y exch def /x exch def
- gsave White
- newpath x thickness 2 div sub y thickness 2 div sub moveto
- thickness 0 rlineto 0 thickness rlineto
- thickness neg 0 rlineto closepath fill stroke
- grestore
-} def
-
-/CLRPVR {
-% clears a round pin/via for groundplane; x,y and thickness are on the stack
- /thickness exch def /y exch def /x exch def
- gsave White 0 setlinewidth
- newpath x y thickness 2 div 0 360 arc closepath fill stroke
- grestore
-} def
-
-/CLRPA {
-% clear line, get x1, y1, x2, y2 and thickness from stack
- /thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- gsave White thick setlinewidth
- x1 y1 moveto x2 y2 lineto stroke
- grestore
-} def
-
-/CLRB {
-% cleared box, get x1, y1, x2 and y2 from stack
- /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- gsave White newpath
- x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
- closepath fill stroke
- grestore
-} def
-
-/FILL {
-% draw a filled rectangle for the ground plane
-% get x1, y1, x2 and y2 from stack
- /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- gsave 0 setlinewidth
- newpath
- x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
- closepath fill stroke
- grestore
-} def
-
-/Outline {
-% outline, get x1, y1, x2 and y2 from stack
- /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- gsave 0.175 setlinewidth
- newpath
- x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
- closepath stroke
- grestore
-} def
-
-/Alignment {
-% alignment targets, get x1, y1, x2, y2 and distance from stack
- /dis exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- gsave 0.175 setlinewidth
- newpath x1 y1 dis add moveto
- 0 dis 2 mul neg rlineto
- dis neg dis rmoveto
- dis 2 mul 0 rlineto
- stroke
- newpath x1 y1 dis 0 90 arcn stroke
- newpath x1 y2 dis sub moveto 0 dis rlineto dis 0 rlineto stroke
- newpath x2 y2 dis sub moveto
- 0 2 dis mul rlineto
- dis dup neg rmoveto
- 2 dis mul neg 0 rlineto stroke
- newpath x2 y1 dis add moveto 0 dis neg rlineto dis neg 0 rlineto stroke
- grestore
-} def
-
-/mysetgray {neg 1.0 add setgray} def
-/mysetrgbcolor {
- /blue exch def /green exch def /red exch def
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-grestore
-% PCBENDDATA --- do not remove ---
-showpage
-%%EOF
+++ /dev/null
-%!PS-Adobe-3.0
-%%Title: (unknown), silkscreen, component side
-%%Creator: pcb-bin 20060321
-%%CreationDate: Tue Nov 27 09:49:27 2007
-%%For: fetter (Walter Fetter Lages,,,)
-%%LanguageLevel: 1
-%%Orientation: Portrait
-%%Pages: 1
-%%PageOrder: Ascend
-%%DocumentMedia: A4 594 841
-%%EndComments
-%%BeginProlog
-
-/PcbDict 200 dict def
-PcbDict begin
-PcbDict /DictMatrix matrix put
-
-% some constants
-/Black {0.0 mysetgray} def
-/White {1.0 mysetgray} def
-/TAN {0.207106781} def
-/MTAN {-0.207106781} def
-
-% draw a filled polygon
-% get (x,y)... and number of points from stack
-/PO {
- /number exch def
- newpath
- moveto
- number 1 sub { lineto } repeat
- closepath fill stroke
-} def
-
-/P {
-% draw a pin-polygon,
-% get x, y and thickness from stack
- /thickness exch def /y exch def /x exch def
- gsave x y translate thickness thickness scale
- 0.5 MTAN
- TAN -0.5
- MTAN -0.5
- -0.5 MTAN
- -0.5 TAN
- MTAN 0.5
- TAN 0.5
- 0.5 TAN
- 8 PO grestore
-} def
-
-/PV {
-% pin or via, x, y and thickness are on the stack
- /drillinghole exch def /thickness exch def /y exch def /x exch def
- x y thickness P
-% draw drilling hole
- gsave White 0 setlinewidth
- newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
- grestore
-} def
-
-/PVR {
-% pin or via, x, y and thickness are on the stack
- /drillinghole exch def /thickness exch def /y exch def /x exch def
- gsave 0 setlinewidth
- newpath x y thickness 2 div 0 360 arc closepath fill stroke
-% draw drilling whole
- White
- newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
- grestore
-} def
-
-/PVSQ {
-% square pin or via, x, y and thickness are on the stack
- /drillinghole exch def /thickness exch def /y exch def /x exch def
- newpath x thickness 2 div sub y thickness 2 div sub moveto
- thickness 0 rlineto 0 thickness rlineto
- thickness neg 0 rlineto closepath fill stroke
-% draw drilling hole
- gsave White 0 setlinewidth
- newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
- grestore
-} def
-
-/DH {
-% drill helpher; x, y, hole, copper-thickness are on stack
- /copper exch def /hole exch def /y exch def /x exch def
- gsave copper setlinewidth
- newpath x y hole copper add 2 div 0 360 arc closepath stroke
- grestore
-} def
-
-/L {
-% line, get x1, y1, x2, y2 and thickness from stack
- /thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- gsave thick setlinewidth
- x1 y1 moveto x2 y2 lineto stroke
- grestore
-} def
-
-/CL {
-% line, get x1, y1, x2, y2 and thickness from stack
- /thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- gsave White thick setlinewidth
- x1 y1 moveto x2 y2 lineto stroke
- grestore
-} def
-
-/B {
-% filled box, get x1, y1, x2 and y2 from stack
- /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- newpath
- x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
- closepath fill stroke
-} def
-
-/PA {
-% pad, same as line
- L
-} def
-
-/A {
-% arc for elements, get x, y, width, height, thickness
-% startangle and delta-angle from stack
- /delta exch def /start exch def /thickness exch def
- /height exch def /width exch def /y exch def /x exch def
-% draw it
- gsave thickness setlinewidth /save DictMatrix currentmatrix def
-% scaling is less then zero because the coord system has to be swapped
- x y translate width neg height scale
- 0 0 1 start start delta add arc save setmatrix stroke
- grestore
-} def
-
-/CA {
-% arc for elements, get x, y, width, height, thickness
-% startangle and delta-angle from stack
- /delta exch def /start exch def /thickness exch def
- /height exch def /width exch def /y exch def /x exch def
-% draw it
- gsave White thickness setlinewidth /save DictMatrix currentmatrix def
-% scaling is less then zero because the coord system has to be swapped
- x y translate width neg height scale
- 0 0 1 start start delta add arc save setmatrix stroke
- grestore
-} def
-
-/CLRPV {
-% clears a pin/via for groundplane; x,y and thickness are on stack
- /thickness exch def /y exch def /x exch def
- gsave White x y thickness P grestore
-} def
-
-/CLRPVSQ {
-% clears a square pin, x,y and thickness are on stack
- /thickness exch def /y exch def /x exch def
- gsave White
- newpath x thickness 2 div sub y thickness 2 div sub moveto
- thickness 0 rlineto 0 thickness rlineto
- thickness neg 0 rlineto closepath fill stroke
- grestore
-} def
-
-/CLRPVR {
-% clears a round pin/via for groundplane; x,y and thickness are on the stack
- /thickness exch def /y exch def /x exch def
- gsave White 0 setlinewidth
- newpath x y thickness 2 div 0 360 arc closepath fill stroke
- grestore
-} def
-
-/CLRPA {
-% clear line, get x1, y1, x2, y2 and thickness from stack
- /thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- gsave White thick setlinewidth
- x1 y1 moveto x2 y2 lineto stroke
- grestore
-} def
-
-/CLRB {
-% cleared box, get x1, y1, x2 and y2 from stack
- /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- gsave White newpath
- x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
- closepath fill stroke
- grestore
-} def
-
-/FILL {
-% draw a filled rectangle for the ground plane
-% get x1, y1, x2 and y2 from stack
- /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- gsave 0 setlinewidth
- newpath
- x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
- closepath fill stroke
- grestore
-} def
-
-/Outline {
-% outline, get x1, y1, x2 and y2 from stack
- /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- gsave 0.175 setlinewidth
- newpath
- x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
- closepath stroke
- grestore
-} def
-
-/Alignment {
-% alignment targets, get x1, y1, x2, y2 and distance from stack
- /dis exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
- gsave 0.175 setlinewidth
- newpath x1 y1 dis add moveto
- 0 dis 2 mul neg rlineto
- dis neg dis rmoveto
- dis 2 mul 0 rlineto
- stroke
- newpath x1 y1 dis 0 90 arcn stroke
- newpath x1 y2 dis sub moveto 0 dis rlineto dis 0 rlineto stroke
- newpath x2 y2 dis sub moveto
- 0 2 dis mul rlineto
- dis dup neg rmoveto
- 2 dis mul neg 0 rlineto stroke
- newpath x2 y1 dis add moveto 0 dis neg rlineto dis neg 0 rlineto stroke
- grestore
-} def
-
-/mysetgray { setgray } def
-/mysetrgbcolor { setrgbcolor } def
-
-%%EndProlog
-%%BeginDefaults
-%%EndDefaults
-%%BeginSetup
-0.0 setlinewidth
-1 setlinecap
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-%%EndSetup
-%%Page: 1 1
-%%BeginPageSetup
-%%EndPageSetup
-gsave White newpath
-153 160 moveto 451 160 lineto 451 673 lineto 153 673 lineto
-closepath fill stroke grestore
-% PCBMIN(-400,-400), PCBMAX(710400,410400)
-% PCBOFFSET(214900,223900), PCBSCALE(1.00000)
-% PCBSTARTDATA --- do not remove ---
-gsave
-0.00072 0.00072 scale
-214900 223900 translate
-1.000 1.000 scale
-410800 0 translate
-90 rotate
-0 410800 translate
-1 -1 scale
-400 400 translate
--400 -400 710400 410400 200 Alignment
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-% PCBENDDATA --- do not remove ---
-showpage
-%%EOF
+++ /dev/null
-G04 Title: (unknown), layergroup #1 *\r
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-G04 CreationDate: Mon Mar 31 19:59:34 2003 UTC *\r
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+++ /dev/null
-G04 Title: (unknown), layergroup #2 *\r
-G04 Creator: pcb 1.6.3 *\r
-G04 CreationDate: Mon Mar 31 19:59:34 2003 UTC *\r
-G04 For: fetter *\r
-G04 Format: Gerber/RS-274X *\r
-G04 PCB-Dimensions: 7100 4100 *\r
-G04 PCB-Coordinate-Origin: lower left *\r
-G04 Color: R0 G0 B0 *\r
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+++ /dev/null
-G04 Title: (unknown), layergroup #3 *\r
-G04 Creator: pcb 1.6.3 *\r
-G04 CreationDate: Mon Mar 31 19:59:34 2003 UTC *\r
-G04 For: fetter *\r
-G04 Format: Gerber/RS-274X *\r
-G04 PCB-Dimensions: 7100 4100 *\r
-G04 PCB-Coordinate-Origin: lower left *\r
-G04 Color: R0 G0 B0 *\r
-*\r
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+++ /dev/null
-G04 Title: (unknown), layergroup #4 *\r
-G04 Creator: pcb 1.6.3 *\r
-G04 CreationDate: Mon Mar 31 19:59:34 2003 UTC *\r
-G04 For: fetter *\r
-G04 Format: Gerber/RS-274X *\r
-G04 PCB-Dimensions: 7100 4100 *\r
-G04 PCB-Coordinate-Origin: lower left *\r
-G04 Color: R0 G0 B0 *\r
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+++ /dev/null
-# release: pcb 1.6.3
-# date: Sun Feb 2 23:20:13 2003
-# user: fetter (Walter Fetter Lages,,,)
-# host: diehard.home
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-)
-
-Element(0x00000000 "+5V 1.5A voltage regulator" "U2" "7805" 4200 3790 2 100 0x00000000)
-(
- Pin(4100 3600 80 20 "In" "1" 0x00000101)
- Pin(4000 3600 80 20 "Com" "2" 0x00000001)
- Pin(3900 3600 80 20 "Out" "3" 0x00000001)
- ElementLine (4200 3720 3800 3720 20)
- ElementLine (3800 3720 3800 3540 20)
- ElementLine (3800 3540 4200 3540 20)
- ElementLine (4200 3540 4200 3720 20)
- ElementLine (4200 3720 3800 3720 20)
- ElementLine (3800 3720 3800 3660 20)
- ElementLine (3800 3660 4200 3660 20)
- ElementLine (4200 3660 4200 3720 20)
- ElementLine (4070 3720 4070 3660 10)
- ElementLine (3930 3720 3930 3660 10)
- Mark (4100 3600)
-)
-
-Element(0x00000000 "R 0.25W" "R7" "2k2" 4405 1105 1 100 0x00000000)
-(
- Pin(4425 1225 50 20 "1" "1" 0x00000101)
- Pin(4425 825 50 20 "2" "2" 0x00000001)
- ElementLine (4425 925 4425 825 20)
- ElementLine (4425 1225 4425 1125 20)
- ElementLine (4475 1125 4375 1125 20)
- ElementLine (4475 925 4475 1125 20)
- ElementLine (4375 925 4475 925 20)
- ElementLine (4375 1125 4375 925 20)
- Mark (4425 1225)
-)
-
-Element(0x00000000 "optical coupling device" "U15" "6N136" 3975 1005 0 100 0x00000000)
-(
- Pin(3925 1175 60 28 "NC" "1" 0x00000101)
- Pin(4025 1175 60 28 "A+" "2" 0x00000001)
- Pin(4125 1175 60 28 "K-" "3" 0x00000001)
- Pin(4225 1175 60 28 "NC" "4" 0x00000001)
- Pin(4225 875 60 28 "Gnd" "5" 0x00000001)
- Pin(4125 875 60 28 "Out" "6" 0x00000001)
- Pin(4025 875 60 28 "En" "7" 0x00000001)
- Pin(3925 875 60 28 "Vcc" "8" 0x00000001)
- ElementLine (3875 1225 4275 1225 10)
- ElementLine (4275 1225 4275 825 10)
- ElementLine (4275 825 3875 825 10)
- ElementLine (3875 1225 3875 1075 10)
- ElementLine (3875 975 3875 825 10)
- ElementArc (3875 1025 50 50 90 180 10)
- Mark (3925 1175)
-)
-
-Element(0x00000000 "R 0.25W" "R8" "390" 5505 1105 1 100 0x00000000)
-(
- Pin(5525 1225 50 20 "1" "1" 0x00000101)
- Pin(5525 825 50 20 "2" "2" 0x00000001)
- ElementLine (5525 925 5525 825 20)
- ElementLine (5525 1225 5525 1125 20)
- ElementLine (5575 1125 5475 1125 20)
- ElementLine (5575 925 5575 1125 20)
- ElementLine (5475 925 5575 925 20)
- ElementLine (5475 1125 5475 925 20)
- Mark (5525 1225)
-)
-
-Element(0x00000000 "R 0.25W" "R1" "390" 5305 505 1 100 0x00000000)
-(
- Pin(5325 625 50 20 "1" "1" 0x00000101)
- Pin(5325 225 50 20 "2" "2" 0x00000001)
- ElementLine (5325 325 5325 225 20)
- ElementLine (5325 625 5325 525 20)
- ElementLine (5375 525 5275 525 20)
- ElementLine (5375 325 5375 525 20)
- ElementLine (5275 325 5375 325 20)
- ElementLine (5275 525 5275 325 20)
- Mark (5325 625)
-)
-
-Element(0x00000000 "optical coupling device" "U12" "6N136" 4875 405 0 100 0x00000000)
-(
- Pin(4825 575 60 28 "NC" "1" 0x00000101)
- Pin(4925 575 60 28 "A+" "2" 0x00000001)
- Pin(5025 575 60 28 "K-" "3" 0x00000001)
- Pin(5125 575 60 28 "NC" "4" 0x00000001)
- Pin(5125 275 60 28 "Gnd" "5" 0x00000001)
- Pin(5025 275 60 28 "Out" "6" 0x00000001)
- Pin(4925 275 60 28 "En" "7" 0x00000001)
- Pin(4825 275 60 28 "Vcc" "8" 0x00000001)
- ElementLine (4775 625 5175 625 10)
- ElementLine (5175 625 5175 225 10)
- ElementLine (5175 225 4775 225 10)
- ElementLine (4775 625 4775 475 10)
- ElementLine (4775 375 4775 225 10)
- ElementArc (4775 425 50 50 90 180 10)
- Mark (4825 575)
-)
-
-Element(0x00000000 "R 0.25W" "R2" "2k2" 4605 505 1 100 0x00000000)
-(
- Pin(4625 625 50 20 "1" "1" 0x00000101)
- Pin(4625 225 50 20 "2" "2" 0x00000001)
- ElementLine (4625 325 4625 225 20)
- ElementLine (4625 625 4625 525 20)
- ElementLine (4675 525 4575 525 20)
- ElementLine (4675 325 4675 525 20)
- ElementLine (4575 325 4675 325 20)
- ElementLine (4575 525 4575 325 20)
- Mark (4625 625)
-)
-
-Element(0x00000000 "R 0.25W" "R6" "2k2" 4605 1105 1 100 0x00000000)
-(
- Pin(4625 1225 50 20 "1" "1" 0x00000101)
- Pin(4625 825 50 20 "2" "2" 0x00000001)
- ElementLine (4625 925 4625 825 20)
- ElementLine (4625 1225 4625 1125 20)
- ElementLine (4675 1125 4575 1125 20)
- ElementLine (4675 925 4675 1125 20)
- ElementLine (4575 925 4675 925 20)
- ElementLine (4575 1125 4575 925 20)
- Mark (4625 1225)
-)
-
-Element(0x00000000 "R 0.25W" "R5" "390" 5305 1105 1 100 0x00000000)
-(
- Pin(5325 1225 50 20 "1" "1" 0x00000101)
- Pin(5325 825 50 20 "2" "2" 0x00000001)
- ElementLine (5325 925 5325 825 20)
- ElementLine (5325 1225 5325 1125 20)
- ElementLine (5375 1125 5275 1125 20)
- ElementLine (5375 925 5375 1125 20)
- ElementLine (5275 925 5375 925 20)
- ElementLine (5275 1125 5275 925 20)
- Mark (5325 1225)
-)
-
-Element(0x00000000 "optical coupling device" "U14" "6N136" 4875 1005 0 100 0x00000000)
-(
- Pin(4825 1175 60 28 "NC" "1" 0x00000101)
- Pin(4925 1175 60 28 "A+" "2" 0x00000001)
- Pin(5025 1175 60 28 "K-" "3" 0x00000001)
- Pin(5125 1175 60 28 "NC" "4" 0x00000001)
- Pin(5125 875 60 28 "Gnd" "5" 0x00000001)
- Pin(5025 875 60 28 "Out" "6" 0x00000001)
- Pin(4925 875 60 28 "En" "7" 0x00000001)
- Pin(4825 875 60 28 "Vcc" "8" 0x00000001)
- ElementLine (4775 1225 5175 1225 10)
- ElementLine (5175 1225 5175 825 10)
- ElementLine (5175 825 4775 825 10)
- ElementLine (4775 1225 4775 1075 10)
- ElementLine (4775 975 4775 825 10)
- ElementArc (4775 1025 50 50 90 180 10)
- Mark (4825 1175)
-)
-
-Element(0x00000000 "optical coupling device" "U13" "6N136" 3975 405 0 100 0x00000000)
-(
- Pin(3925 575 60 28 "NC" "1" 0x00000101)
- Pin(4025 575 60 28 "A+" "2" 0x00000001)
- Pin(4125 575 60 28 "K-" "3" 0x00000001)
- Pin(4225 575 60 28 "NC" "4" 0x00000001)
- Pin(4225 275 60 28 "Gnd" "5" 0x00000001)
- Pin(4125 275 60 28 "Out" "6" 0x00000001)
- Pin(4025 275 60 28 "En" "7" 0x00000001)
- Pin(3925 275 60 28 "Vcc" "8" 0x00000001)
- ElementLine (3875 625 4275 625 10)
- ElementLine (4275 625 4275 225 10)
- ElementLine (4275 225 3875 225 10)
- ElementLine (3875 625 3875 475 10)
- ElementLine (3875 375 3875 225 10)
- ElementArc (3875 425 50 50 90 180 10)
- Mark (3925 575)
-)
-
-Element(0x00000000 "R 0.25W" "R4" "390" 5505 505 1 100 0x00000000)
-(
- Pin(5525 625 50 20 "1" "1" 0x00000101)
- Pin(5525 225 50 20 "2" "2" 0x00000001)
- ElementLine (5525 325 5525 225 20)
- ElementLine (5525 625 5525 525 20)
- ElementLine (5575 525 5475 525 20)
- ElementLine (5575 325 5575 525 20)
- ElementLine (5475 325 5575 325 20)
- ElementLine (5475 525 5475 325 20)
- Mark (5525 625)
-)
-
-Element(0x00000000 "diode" "D1" "1N4148" 1575 3645 3 100 0x00000000)
-(
- Pin(1525 3425 50 20 "1" "1" 0x00000101)
- Pin(1525 3725 50 20 "2" "2" 0x00000001)
- ElementLine (1525 3425 1525 3525 10)
- ElementLine (1525 3625 1525 3725 10)
- ElementLine (1525 3525 1575 3625 10)
- ElementLine (1575 3625 1475 3625 10)
- ElementLine (1475 3625 1525 3525 10)
- ElementLine (1575 3525 1475 3525 10)
- Mark (1525 3425)
-)
-
-Element(0x00000000 "LED 5mm" "D9" "Red" 475 2845 0 100 0x00000000)
-(
- Pin(525 2925 60 20 "-" "1" 0x00000101)
- Pin(525 3025 60 20 "+" "2" 0x00000001)
- ElementArc (525 2975 50 50 0 360 15)
- ElementArc (525 2975 70 70 0 360 10)
- Mark (525 2925)
-)
-
-Element(0x00000000 "IRF1010N" "Q2" "IRF1010N" 5150 2260 0 100 0x00000000)
-(
- Pin(5250 2450 80 20 "G" "1" 0x00000101)
- Pin(5350 2450 80 20 "D" "2" 0x00000001)
- Pin(5450 2450 80 20 "S" "3" 0x00000001)
- ElementLine (5420 2330 5420 2390 10)
- ElementLine (5280 2330 5280 2390 10)
- ElementLine (5150 2390 5150 2330 20)
- ElementLine (5550 2390 5150 2390 20)
- ElementLine (5550 2330 5550 2390 20)
- ElementLine (5150 2330 5550 2330 20)
- ElementLine (5150 2510 5150 2330 20)
- ElementLine (5550 2510 5150 2510 20)
- ElementLine (5550 2330 5550 2510 20)
- ElementLine (5150 2330 5550 2330 20)
- Mark (5250 2450)
-)
-
-Element(0x00000000 "generic" "U7" "HCTL-2016" 2450 405 0 100 0x00000000)
-(
- Pin(2400 575 60 28 "1" "1" 0x00000101)
- Pin(2500 575 60 28 "2" "2" 0x00000001)
- Pin(2600 575 60 28 "3" "3" 0x00000001)
- Pin(2700 575 60 28 "4" "4" 0x00000001)
- Pin(2800 575 60 28 "5" "5" 0x00000001)
- Pin(2900 575 60 28 "6" "6" 0x00000001)
- Pin(3000 575 60 28 "7" "7" 0x00000001)
- Pin(3100 575 60 28 "8" "8" 0x00000001)
- Pin(3100 275 60 28 "9" "9" 0x00000001)
- Pin(3000 275 60 28 "10" "10" 0x00000001)
- Pin(2900 275 60 28 "11" "11" 0x00000001)
- Pin(2800 275 60 28 "12" "12" 0x00000001)
- Pin(2700 275 60 28 "13" "13" 0x00000001)
- Pin(2600 275 60 28 "14" "14" 0x00000001)
- Pin(2500 275 60 28 "15" "15" 0x00000001)
- Pin(2400 275 60 28 "16" "16" 0x00000001)
- ElementLine (2350 625 3150 625 10)
- ElementLine (3150 625 3150 225 10)
- ElementLine (3150 225 2350 225 10)
- ElementLine (2350 625 2350 475 10)
- ElementLine (2350 375 2350 225 10)
- ElementArc (2350 425 50 50 90 180 10)
- Mark (2400 575)
-)
-
-Element(0x00000000 "capacitor_radial" "C4" "10uFx25V" 3275 3625 0 100 0x00000000)
-(
- Pin(3125 3725 60 20 "1" "1" 0x00000101)
- Pin(3225 3725 60 20 "2" "2" 0x00000001)
- ElementArc (3175 3725 100 100 0 360 10)
- Mark (3125 3725)
-)
-
-Element(0x00000000 "connector 2x4 pins" "JP1" "ADDRESS" 4360 2000 3 100 0x00000000)
-(
- Pin(4150 2050 60 30 "1" "1" 0x00000101)
- Pin(4250 2050 60 30 "2" "2" 0x00000001)
- Pin(4150 2150 60 30 "3" "3" 0x00000001)
- Pin(4250 2150 60 30 "4" "4" 0x00000001)
- Pin(4150 2250 60 30 "5" "5" 0x00000001)
- Pin(4250 2250 60 30 "6" "6" 0x00000001)
- Pin(4150 2350 60 30 "7" "7" 0x00000001)
- Pin(4250 2350 60 30 "8" "8" 0x00000001)
- ElementLine (4200 2100 4200 2000 10)
- ElementLine (4100 2100 4200 2100 10)
- ElementLine (4300 2000 4100 2000 20)
- ElementLine (4300 2400 4300 2000 20)
- ElementLine (4100 2400 4300 2400 20)
- ElementLine (4100 2000 4100 2400 20)
- Mark (4150 2050)
-)
-
-Element(0x00000000 "generic" "U6" "8254" 1400 2330 0 100 0x00000000)
-(
- Pin(1350 2650 60 28 "1" "1" 0x00000101)
- Pin(1450 2650 60 28 "2" "2" 0x00000001)
- Pin(1550 2650 60 28 "3" "3" 0x00000001)
- Pin(1650 2650 60 28 "4" "4" 0x00000001)
- Pin(1750 2650 60 28 "5" "5" 0x00000001)
- Pin(1850 2650 60 28 "6" "6" 0x00000001)
- Pin(1950 2650 60 28 "7" "7" 0x00000001)
- Pin(2050 2650 60 28 "8" "8" 0x00000001)
- Pin(2150 2650 60 28 "9" "9" 0x00000001)
- Pin(2250 2650 60 28 "10" "10" 0x00000001)
- Pin(2350 2650 60 28 "11" "11" 0x00000001)
- Pin(2450 2650 60 28 "12" "12" 0x00000001)
- Pin(2450 2050 60 28 "13" "13" 0x00000001)
- Pin(2350 2050 60 28 "14" "14" 0x00000001)
- Pin(2250 2050 60 28 "15" "15" 0x00000001)
- Pin(2150 2050 60 28 "16" "16" 0x00000001)
- Pin(2050 2050 60 28 "17" "17" 0x00000001)
- Pin(1950 2050 60 28 "18" "18" 0x00000001)
- Pin(1850 2050 60 28 "19" "19" 0x00000001)
- Pin(1750 2050 60 28 "20" "20" 0x00000001)
- Pin(1650 2050 60 28 "21" "21" 0x00000001)
- Pin(1550 2050 60 28 "22" "22" 0x00000001)
- Pin(1450 2050 60 28 "23" "23" 0x00000001)
- Pin(1350 2050 60 28 "24" "24" 0x00000001)
- ElementLine (1300 2700 2500 2700 10)
- ElementLine (2500 2700 2500 2000 10)
- ElementLine (2500 2000 1300 2000 10)
- ElementLine (1300 2700 1300 2400 10)
- ElementLine (1300 2300 1300 2000 10)
- ElementArc (1300 2350 50 50 90 180 10)
- Mark (1350 2650)
-)
-
-Element(0x00000000 "generic PAL replacement" "U8" "GAL22V10" 2800 2180 0 100 0x00000000)
-(
- Pin(2750 2350 60 28 "CLK/I1" "1" 0x00000101)
- Pin(2850 2350 60 28 "I2" "2" 0x00000001)
- Pin(2950 2350 60 28 "I3" "3" 0x00000001)
- Pin(3050 2350 60 28 "I4" "4" 0x00000001)
- Pin(3150 2350 60 28 "I5" "5" 0x00000001)
- Pin(3250 2350 60 28 "I6" "6" 0x00000001)
- Pin(3350 2350 60 28 "I7" "7" 0x00000001)
- Pin(3450 2350 60 28 "I8" "8" 0x00000001)
- Pin(3550 2350 60 28 "I9" "9" 0x00000001)
- Pin(3650 2350 60 28 "I10" "10" 0x00000001)
- Pin(3750 2350 60 28 "I11" "11" 0x00000001)
- Pin(3850 2350 60 28 "Gnd" "12" 0x00000001)
- Pin(3850 2050 60 28 "I12" "13" 0x00000001)
- Pin(3750 2050 60 28 "I/O/Qj" "14" 0x00000001)
- Pin(3650 2050 60 28 "I/O/Qi" "15" 0x00000001)
- Pin(3550 2050 60 28 "I/O/Qh" "16" 0x00000001)
- Pin(3450 2050 60 28 "I/O/Qg" "17" 0x00000001)
- Pin(3350 2050 60 28 "I/O/Qf" "18" 0x00000001)
- Pin(3250 2050 60 28 "I/O/Qe" "19" 0x00000001)
- Pin(3150 2050 60 28 "I/O/Qd" "20" 0x00000001)
- Pin(3050 2050 60 28 "I/O/Qc" "21" 0x00000001)
- Pin(2950 2050 60 28 "I/O/Qb" "22" 0x00000001)
- Pin(2850 2050 60 28 "I/O/Qa" "23" 0x00000001)
- Pin(2750 2050 60 28 "Vcc" "24" 0x00000001)
- ElementLine (2700 2400 3900 2400 10)
- ElementLine (3900 2400 3900 2000 10)
- ElementLine (3900 2000 2700 2000 10)
- ElementLine (2700 2400 2700 2250 10)
- ElementLine (2700 2150 2700 2000 10)
- ElementArc (2700 2200 50 50 90 180 10)
- Mark (2750 2350)
-)
-
-Element(0x00000000 "LED 5mm" "D10" "Green" 475 2570 0 100 0x00000000)
-(
- Pin(525 2650 60 20 "-" "1" 0x00000101)
- Pin(525 2750 60 20 "+" "2" 0x00000001)
- ElementArc (525 2700 70 70 0 360 10)
- ElementArc (525 2700 50 50 0 360 15)
- Mark (525 2650)
-)
-
-Element(0x00000000 "Push-button, tactile, right angle, 466mils actuator" "S1" "MJTP1236_D" 598 3389 0 100 0x00000000)
-(
- Pin(500 3300 59 39 "1" "1" 0x00000101)
- Pin(500 3477 59 39 "2" "2" 0x00000001)
- Pin(598 3251 71 51 "C1" "C1" 0x00000001)
- Pin(598 3527 71 51 "C2" "C2" 0x00000001)
- ElementLine (658 3251 400 3251 20)
- ElementLine (400 3251 400 3527 20)
- ElementLine (400 3527 658 3527 20)
- ElementLine (538 3527 538 3251 20)
- ElementLine (400 3320 34 3330 20)
- ElementLine (34 3330 34 3448 20)
- ElementLine (34 3448 400 3458 20)
- Mark (500 3300)
-)
-
-Element(0x00000000 "capacitor_radial" "C7" "1000uFx35V" 4525 2450 2 100 0x00000000)
-(
- Pin(4900 2200 60 20 "1" "1" 0x00000101)
- Pin(4650 2200 60 20 "2" "2" 0x00000001)
- ElementArc (4775 2200 250 250 180 360 10)
- Mark (4900 2200)
-)
-
-Element(0x00000000 "diode" "D3" "1N4007" 850 3520 3 100 0x00000000)
-(
- Pin(800 3300 50 20 "1" "1" 0x00000101)
- Pin(800 3600 50 20 "2" "2" 0x00000001)
- ElementLine (850 3400 750 3400 10)
- ElementLine (750 3500 800 3400 10)
- ElementLine (850 3500 750 3500 10)
- ElementLine (800 3400 850 3500 10)
- ElementLine (800 3500 800 3600 10)
- ElementLine (800 3300 800 3400 10)
- Mark (800 3300)
-)
-
-Element(0x00000000 "IRF1010N" "Q1" "IRF1010N" 5675 2260 0 100 0x00000000)
-(
- Pin(5775 2450 80 20 "G" "1" 0x00000101)
- Pin(5875 2450 80 20 "D" "2" 0x00000001)
- Pin(5975 2450 80 20 "S" "3" 0x00000001)
- ElementLine (5945 2330 5945 2390 10)
- ElementLine (5805 2330 5805 2390 10)
- ElementLine (5675 2390 5675 2330 20)
- ElementLine (6075 2390 5675 2390 20)
- ElementLine (6075 2330 6075 2390 20)
- ElementLine (5675 2330 6075 2330 20)
- ElementLine (5675 2510 5675 2330 20)
- ElementLine (6075 2510 5675 2510 20)
- ElementLine (6075 2330 6075 2510 20)
- ElementLine (5675 2330 6075 2330 20)
- Mark (5775 2450)
-)
-
-Element(0x00000000 "capacitor_radial" "C11" "2.2nF" 5450 2000 0 100 0x00000000)
-(
- Pin(5300 2100 60 20 "1" "1" 0x00000101)
- Pin(5400 2100 60 20 "2" "2" 0x00000001)
- ElementArc (5350 2100 100 100 0 360 10)
- Mark (5300 2100)
-)
-
-Element(0x00000000 "DIN 41612C-96 male" "J15" "DIN41612C96_male" 6575 3455 1 200 0x00000000)
-(
- Pin(6475 475 60 30 "a1" "A1" 0x00000101)
- Pin(6475 575 60 30 "a2" "A2" 0x00000001)
- Pin(6475 675 60 30 "a3" "A3" 0x00000001)
- Pin(6475 775 60 30 "a4" "A4" 0x00000001)
- Pin(6475 875 60 30 "a5" "A5" 0x00000001)
- Pin(6475 975 60 30 "a6" "A6" 0x00000001)
- Pin(6475 1075 60 30 "a7" "A7" 0x00000001)
- Pin(6475 1175 60 30 "a8" "A8" 0x00000001)
- Pin(6475 1275 60 30 "a9" "A9" 0x00000001)
- Pin(6475 1375 60 30 "a10" "A10" 0x00000001)
- Pin(6475 1475 60 30 "a11" "A11" 0x00000001)
- Pin(6475 1575 60 30 "a12" "A12" 0x00000001)
- Pin(6475 1675 60 30 "a13" "A13" 0x00000001)
- Pin(6475 1775 60 30 "a14" "A14" 0x00000001)
- Pin(6475 1875 60 30 "a15" "A15" 0x00000001)
- Pin(6475 1975 60 30 "a16" "A16" 0x00000001)
- Pin(6475 2075 60 30 "a17" "A17" 0x00000001)
- Pin(6475 2175 60 30 "a18" "A18" 0x00000001)
- Pin(6475 2275 60 30 "a19" "A19" 0x00000001)
- Pin(6475 2375 60 30 "a20" "A20" 0x00000001)
- Pin(6475 2475 60 30 "a21" "A21" 0x00000001)
- Pin(6475 2575 60 30 "a22" "A22" 0x00000001)
- Pin(6475 2675 60 30 "a23" "A23" 0x00000001)
- Pin(6475 2775 60 30 "a24" "A24" 0x00000001)
- Pin(6475 2875 60 30 "a25" "A25" 0x00000001)
- Pin(6475 2975 60 30 "a26" "A26" 0x00000001)
- Pin(6475 3075 60 30 "a27" "A27" 0x00000001)
- Pin(6475 3175 60 30 "a28" "A28" 0x00000001)
- Pin(6475 3275 60 30 "a29" "A29" 0x00000001)
- Pin(6475 3375 60 30 "a30" "A30" 0x00000001)
- Pin(6475 3475 60 30 "a31" "A31" 0x00000001)
- Pin(6475 3575 60 30 "a32" "A32" 0x00000001)
- Pin(6375 475 60 30 "b1" "B1" 0x00000001)
- Pin(6375 575 60 30 "b2" "B2" 0x00000001)
- Pin(6375 675 60 30 "b3" "B3" 0x00000001)
- Pin(6375 775 60 30 "b4" "B4" 0x00000001)
- Pin(6375 875 60 30 "b5" "B5" 0x00000001)
- Pin(6375 975 60 30 "b6" "B6" 0x00000001)
- Pin(6375 1075 60 30 "b7" "B7" 0x00000001)
- Pin(6375 1175 60 30 "b8" "B8" 0x00000001)
- Pin(6375 1275 60 30 "b9" "B9" 0x00000001)
- Pin(6375 1375 60 30 "b10" "B10" 0x00000001)
- Pin(6375 1475 60 30 "b11" "B11" 0x00000001)
- Pin(6375 1575 60 30 "b12" "B12" 0x00000001)
- Pin(6375 1675 60 30 "b13" "B13" 0x00000001)
- Pin(6375 1775 60 30 "b14" "B14" 0x00000001)
- Pin(6375 1875 60 30 "b15" "B15" 0x00000001)
- Pin(6375 1975 60 30 "b16" "B16" 0x00000001)
- Pin(6375 2075 60 30 "b17" "B17" 0x00000001)
- Pin(6375 2175 60 30 "b18" "B18" 0x00000001)
- Pin(6375 2275 60 30 "b19" "B19" 0x00000001)
- Pin(6375 2375 60 30 "b20" "B20" 0x00000001)
- Pin(6375 2475 60 30 "b21" "B21" 0x00000001)
- Pin(6375 2575 60 30 "b22" "B22" 0x00000001)
- Pin(6375 2675 60 30 "b23" "B23" 0x00000001)
- Pin(6375 2775 60 30 "b24" "B24" 0x00000001)
- Pin(6375 2875 60 30 "b25" "B25" 0x00000001)
- Pin(6375 2975 60 30 "b26" "B26" 0x00000001)
- Pin(6375 3075 60 30 "b27" "B27" 0x00000001)
- Pin(6375 3175 60 30 "b28" "B28" 0x00000001)
- Pin(6375 3275 60 30 "b29" "B29" 0x00000001)
- Pin(6375 3375 60 30 "b30" "B30" 0x00000001)
- Pin(6375 3475 60 30 "b31" "B31" 0x00000001)
- Pin(6375 3575 60 30 "b32" "B32" 0x00000001)
- Pin(6275 475 60 30 "c1" "C1" 0x00000001)
- Pin(6275 575 60 30 "c2" "C2" 0x00000001)
- Pin(6275 675 60 30 "c3" "C3" 0x00000001)
- Pin(6275 775 60 30 "c4" "C4" 0x00000001)
- Pin(6275 875 60 30 "c5" "C5" 0x00000001)
- Pin(6275 975 60 30 "c6" "C6" 0x00000001)
- Pin(6275 1075 60 30 "c7" "C7" 0x00000001)
- Pin(6275 1175 60 30 "c8" "C8" 0x00000001)
- Pin(6275 1275 60 30 "c9" "C9" 0x00000001)
- Pin(6275 1375 60 30 "c10" "C10" 0x00000001)
- Pin(6275 1475 60 30 "c11" "C11" 0x00000001)
- Pin(6275 1575 60 30 "c12" "C12" 0x00000001)
- Pin(6275 1675 60 30 "c13" "C13" 0x00000001)
- Pin(6275 1775 60 30 "c14" "C14" 0x00000001)
- Pin(6275 1875 60 30 "c15" "C15" 0x00000001)
- Pin(6275 1975 60 30 "c16" "C16" 0x00000001)
- Pin(6275 2075 60 30 "c17" "C17" 0x00000001)
- Pin(6275 2175 60 30 "c18" "C18" 0x00000001)
- Pin(6275 2275 60 30 "c19" "C19" 0x00000001)
- Pin(6275 2375 60 30 "c20" "C20" 0x00000001)
- Pin(6275 2475 60 30 "c21" "C21" 0x00000001)
- Pin(6275 2575 60 30 "c22" "C22" 0x00000001)
- Pin(6275 2675 60 30 "c23" "C23" 0x00000001)
- Pin(6275 2775 60 30 "c24" "C24" 0x00000001)
- Pin(6275 2875 60 30 "c25" "C25" 0x00000001)
- Pin(6275 2975 60 30 "c26" "C26" 0x00000001)
- Pin(6275 3075 60 30 "c27" "C27" 0x00000001)
- Pin(6275 3175 60 30 "c28" "C28" 0x00000001)
- Pin(6275 3275 60 30 "c29" "C29" 0x00000001)
- Pin(6275 3375 60 30 "c30" "C30" 0x00000001)
- Pin(6275 3475 60 30 "c31" "C31" 0x00000001)
- Pin(6275 3575 60 30 "c32" "C32" 0x00000001)
- Pin(6575 3775 120 80 "M1" "M1" 0x00000001)
- Pin(6575 275 120 80 "M2" "M2" 0x00000001)
- ElementLine (6275 3575 6550 3575 40)
- ElementLine (6275 3475 6550 3475 40)
- ElementLine (6275 3375 6550 3375 40)
- ElementLine (6275 3275 6550 3275 40)
- ElementLine (6275 3175 6550 3175 40)
- ElementLine (6275 3075 6550 3075 40)
- ElementLine (6275 2975 6550 2975 40)
- ElementLine (6275 2875 6550 2875 40)
- ElementLine (6275 2775 6550 2775 40)
- ElementLine (6275 2675 6550 2675 40)
- ElementLine (6275 2575 6550 2575 40)
- ElementLine (6275 2475 6550 2475 40)
- ElementLine (6275 2375 6550 2375 40)
- ElementLine (6275 2275 6550 2275 40)
- ElementLine (6275 2175 6550 2175 40)
- ElementLine (6275 2075 6550 2075 40)
- ElementLine (6275 1975 6550 1975 40)
- ElementLine (6275 1875 6550 1875 40)
- ElementLine (6275 1775 6550 1775 40)
- ElementLine (6275 1675 6550 1675 40)
- ElementLine (6275 1575 6550 1575 40)
- ElementLine (6275 1475 6550 1475 40)
- ElementLine (6275 1375 6550 1375 40)
- ElementLine (6275 1275 6550 1275 40)
- ElementLine (6275 1175 6550 1175 40)
- ElementLine (6275 1075 6550 1075 40)
- ElementLine (6275 975 6550 975 40)
- ElementLine (6275 875 6550 875 40)
- ElementLine (6275 775 6550 775 40)
- ElementLine (6275 675 6550 675 40)
- ElementLine (6275 575 6550 575 40)
- ElementLine (6275 475 6550 475 40)
- ElementLine (6475 3875 6475 3655 20)
- ElementLine (6475 3655 6570 3655 20)
- ElementLine (6570 3655 6795 3655 10)
- ElementLine (6795 3655 6795 3775 10)
- ElementLine (6795 3775 6795 3875 20)
- ElementLine (6795 3875 6475 3875 20)
- ElementLine (6475 395 6475 175 20)
- ElementLine (6475 175 6795 175 20)
- ElementLine (6795 175 6795 275 20)
- ElementLine (6795 275 6795 395 10)
- ElementLine (6795 395 6570 395 10)
- ElementLine (6570 395 6475 395 20)
- ElementLine (6570 3655 6570 395 20)
- ElementLine (6795 3775 6975 3775 20)
- ElementLine (6975 3775 6975 275 20)
- ElementLine (6975 275 6795 275 20)
- Mark (6475 475)
-)
-
-Element(0x00000000 "connector 2x1 pins" "JP2" "XRESET" 1210 3250 3 100 0x00000000)
-(
- Pin(1000 3300 60 30 "1" "1" 0x00000101)
- Pin(1100 3300 60 30 "2" "2" 0x00000001)
- ElementLine (950 3250 950 3350 20)
- ElementLine (950 3350 1150 3350 20)
- ElementLine (1150 3350 1150 3250 20)
- ElementLine (1150 3250 950 3250 20)
- ElementLine (950 3350 1050 3350 10)
- ElementLine (1050 3350 1050 3250 10)
- Mark (1000 3300)
-)
-
-Element(0x00000000 "generic" "U11" "10MHz" 1725 3030 0 100 0x00000000)
-(
- Pin(1675 3200 60 28 "1" "1" 0x00000101)
- Pin(1775 3200 60 28 "2" "2" 0x00000001)
- Pin(1875 3200 60 28 "3" "3" 0x00000001)
- Pin(1975 3200 60 28 "4" "4" 0x00000001)
- Pin(1975 2900 60 28 "5" "5" 0x00000001)
- Pin(1875 2900 60 28 "6" "6" 0x00000001)
- Pin(1775 2900 60 28 "7" "7" 0x00000001)
- Pin(1675 2900 60 28 "8" "8" 0x00000001)
- ElementLine (1625 3250 2025 3250 10)
- ElementLine (2025 3250 2025 2850 10)
- ElementLine (2025 2850 1625 2850 10)
- ElementLine (1625 3250 1625 3100 10)
- ElementLine (1625 3000 1625 2850 10)
- ElementArc (1625 3050 50 50 90 180 10)
- Mark (1675 3200)
-)
-
-Element(0x00000000 "capacitor_radial" "C8" "1000uFx35V" 4525 3025 2 100 0x00000000)
-(
- Pin(4900 2775 60 20 "1" "1" 0x00000101)
- Pin(4650 2775 60 20 "2" "2" 0x00000001)
- ElementArc (4775 2775 250 250 180 360 10)
- Mark (4900 2775)
-)
-
-Element(0x00000000 "+12V 1.5A voltage regulator" "U3" "7812" 5750 3790 2 100 0x00000000)
-(
- Pin(5650 3600 80 20 "In" "1" 0x00000101)
- Pin(5550 3600 80 20 "Com" "2" 0x00000001)
- Pin(5450 3600 80 20 "Out" "3" 0x00000001)
- ElementLine (5750 3720 5350 3720 20)
- ElementLine (5350 3720 5350 3540 20)
- ElementLine (5350 3540 5750 3540 20)
- ElementLine (5750 3540 5750 3720 20)
- ElementLine (5750 3720 5350 3720 20)
- ElementLine (5350 3720 5350 3660 20)
- ElementLine (5350 3660 5750 3660 20)
- ElementLine (5750 3660 5750 3720 20)
- ElementLine (5620 3720 5620 3660 10)
- ElementLine (5480 3720 5480 3660 10)
- Mark (5650 3600)
-)
-
-Element(0x00000000 "R 0.25W" "R9" "10k" 2770 2695 3 100 0x00000000)
-(
- Pin(2750 2575 50 20 "1" "1" 0x00000101)
- Pin(2750 2975 50 20 "2" "2" 0x00000001)
- ElementLine (2750 2875 2750 2975 20)
- ElementLine (2750 2575 2750 2675 20)
- ElementLine (2700 2675 2800 2675 20)
- ElementLine (2700 2875 2700 2675 20)
- ElementLine (2800 2875 2700 2875 20)
- ElementLine (2800 2675 2800 2875 20)
- Mark (2750 2575)
-)
-
-Element(0x00000000 "E22 standing" "" "E22" 5550 3525 2 100 0x00000000)
-(
- ElementLine (5325 3200 5325 3750 20)
- ElementLine (5275 3200 5325 3200 20)
- ElementLine (5275 3750 5275 3200 20)
- ElementLine (5075 3750 5275 3750 20)
- ElementLine (5075 3200 5075 3750 20)
- ElementLine (5025 3200 5075 3200 20)
- ElementLine (5025 3850 5025 3200 20)
- ElementLine (5775 3750 5325 3750 20)
- ElementLine (5775 3200 5775 3750 20)
- ElementLine (5825 3200 5775 3200 20)
- ElementLine (5825 3750 5825 3200 20)
- ElementLine (6025 3750 5825 3750 20)
- ElementLine (6025 3200 6025 3750 20)
- ElementLine (6075 3200 6025 3200 20)
- ElementLine (6075 3850 6075 3200 20)
- ElementLine (6075 3850 5025 3850 20)
- Mark (6075 3850)
-)
-
-Element(0x00000000 "R 0.25W" "R11" "330" 980 2945 2 100 0x00000000)
-(
- Pin(1100 2925 50 20 "1" "1" 0x00000101)
- Pin(700 2925 50 20 "2" "2" 0x00000001)
- ElementLine (1000 2975 800 2975 20)
- ElementLine (800 2975 800 2875 20)
- ElementLine (800 2875 1000 2875 20)
- ElementLine (1000 2875 1000 2975 20)
- ElementLine (1100 2925 1000 2925 20)
- ElementLine (800 2925 700 2925 20)
- Mark (1100 2925)
-)
-
-Element(0x00000000 "capacitor_radial" "C1" "100uFx25V" 4625 3850 2 100 0x00000000)
-(
- Pin(4850 3700 60 20 "1" "1" 0x00000101)
- Pin(4700 3700 60 20 "2" "2" 0x00000001)
- ElementArc (4775 3700 150 150 180 360 10)
- Mark (4850 3700)
-)
-
-Element(0x00000000 "IRF1010N" "Q4" "IRF1010N" 5150 2735 0 100 0x00000000)
-(
- Pin(5250 2925 80 20 "G" "1" 0x00000101)
- Pin(5350 2925 80 20 "D" "2" 0x00000001)
- Pin(5450 2925 80 20 "S" "3" 0x00000001)
- ElementLine (5420 2805 5420 2865 10)
- ElementLine (5280 2805 5280 2865 10)
- ElementLine (5150 2865 5150 2805 20)
- ElementLine (5550 2865 5150 2865 20)
- ElementLine (5550 2805 5550 2865 20)
- ElementLine (5150 2805 5550 2805 20)
- ElementLine (5150 2985 5150 2805 20)
- ElementLine (5550 2985 5150 2985 20)
- ElementLine (5550 2805 5550 2985 20)
- ElementLine (5150 2805 5550 2805 20)
- Mark (5250 2925)
-)
-
-Element(0x00000000 "SUB-D female 9 pins" "J9" "DB9_female" 500 1555 3 100 0x00000000)
-(
- Pin(850 1355 120 100 "C1" "C1" 0x00000001)
- Pin(850 2295 120 100 "C1" "C1" 0x00000001)
- Pin(900 1625 60 20 "5" "5" 0x00000001)
- Pin(800 1675 60 20 "9" "9" 0x00000001)
- Pin(900 1725 60 20 "4" "4" 0x00000001)
- Pin(800 1775 60 20 "8" "8" 0x00000001)
- Pin(900 1825 60 20 "3" "3" 0x00000001)
- Pin(800 1875 60 20 "7" "7" 0x00000001)
- Pin(900 1925 60 20 "2" "2" 0x00000001)
- Pin(800 1975 60 20 "6" "6" 0x00000001)
- Pin(900 2025 60 20 "1" "1" 0x00000101)
- ElementLine (390 1235 420 1235 10)
- ElementLine (420 1235 420 2415 10)
- ElementLine (420 2415 390 2415 10)
- ElementLine (390 2415 390 1235 10)
- ElementLine (390 1295 420 1295 10)
- ElementLine (390 1415 420 1415 10)
- ElementLine (390 2355 420 2355 10)
- ElementLine (390 2235 420 2235 10)
- ElementLine (120 1525 390 1525 20)
- ElementLine (390 1525 390 2125 10)
- ElementLine (390 2125 120 2125 20)
- ElementLine (120 2125 120 1525 20)
- ElementLine (420 1465 620 1465 20)
- ElementLine (620 1465 620 2185 20)
- ElementLine (620 2185 420 2185 20)
- ElementLine (420 2185 420 1465 10)
- ElementLine (900 1625 620 1625 20)
- ElementLine (800 1675 620 1675 20)
- ElementLine (900 1725 620 1725 20)
- ElementLine (800 1775 620 1775 20)
- ElementLine (900 1825 620 1825 20)
- ElementLine (800 1875 620 1875 20)
- ElementLine (900 1925 620 1925 20)
- ElementLine (800 1975 620 1975 20)
- ElementLine (900 2025 620 2025 20)
- Mark (900 1625)
-)
-
-Element(0x00000000 "capacitor_radial" "C9" "220nF" 3125 2700 2 100 0x00000000)
-(
- Pin(3275 2600 60 20 "1" "1" 0x00000101)
- Pin(3175 2600 60 20 "2" "2" 0x00000001)
- ElementArc (3225 2600 100 100 180 360 10)
- Mark (3275 2600)
-)
-
-Element(0x00000000 "R 0.25W" "R3" "2k2" 4405 505 1 100 0x00000000)
-(
- Pin(4425 625 50 20 "1" "1" 0x00000101)
- Pin(4425 225 50 20 "2" "2" 0x00000001)
- ElementLine (4425 325 4425 225 20)
- ElementLine (4425 625 4425 525 20)
- ElementLine (4475 525 4375 525 20)
- ElementLine (4475 325 4475 525 20)
- ElementLine (4375 325 4475 325 20)
- ElementLine (4375 525 4375 325 20)
- Mark (4425 625)
-)
-
-Element(0x00000000 "R 0.25W" "R10" "1k5" 2930 2855 1 100 0x00000000)
-(
- Pin(2950 2975 50 20 "1" "1" 0x00000101)
- Pin(2950 2575 50 20 "2" "2" 0x00000001)
- ElementLine (2950 2675 2950 2575 20)
- ElementLine (2950 2975 2950 2875 20)
- ElementLine (3000 2875 2900 2875 20)
- ElementLine (3000 2675 3000 2875 20)
- ElementLine (2900 2675 3000 2675 20)
- ElementLine (2900 2875 2900 2675 20)
- Mark (2950 2975)
-)
-
-Element(0x00000000 "capacitor_radial" "C2" "100uFx16V" 4925 3150 0 100 0x00000000)
-(
- Pin(4700 3300 60 20 "1" "1" 0x00000101)
- Pin(4850 3300 60 20 "2" "2" 0x00000001)
- ElementArc (4775 3300 150 150 0 360 10)
- Mark (4700 3300)
-)
-
-Element(0x00000000 "E22 standing" "" "E22" 4000 3525 2 100 0x00000000)
-(
- ElementLine (3775 3200 3775 3750 20)
- ElementLine (3725 3200 3775 3200 20)
- ElementLine (3725 3750 3725 3200 20)
- ElementLine (3525 3750 3725 3750 20)
- ElementLine (3525 3200 3525 3750 20)
- ElementLine (3475 3200 3525 3200 20)
- ElementLine (3475 3850 3475 3200 20)
- ElementLine (4225 3750 3775 3750 20)
- ElementLine (4225 3200 4225 3750 20)
- ElementLine (4275 3200 4225 3200 20)
- ElementLine (4275 3750 4275 3200 20)
- ElementLine (4475 3750 4275 3750 20)
- ElementLine (4475 3200 4475 3750 20)
- ElementLine (4525 3200 4475 3200 20)
- ElementLine (4525 3850 4525 3200 20)
- ElementLine (4525 3850 3475 3850 20)
- Mark (4525 3850)
-)
-
-Element(0x00000000 "R 0.25W" "R12" "1k2" 980 2770 2 100 0x00000000)
-(
- Pin(1100 2750 50 20 "1" "1" 0x00000101)
- Pin(700 2750 50 20 "2" "2" 0x00000001)
- ElementLine (800 2750 700 2750 20)
- ElementLine (1100 2750 1000 2750 20)
- ElementLine (1000 2700 1000 2800 20)
- ElementLine (800 2700 1000 2700 20)
- ElementLine (800 2800 800 2700 20)
- ElementLine (1000 2800 800 2800 20)
- Mark (1100 2750)
-)
-
-Element(0x00000000 "IRF1010N" "Q3" "IRF1010N" 5675 2735 0 100 0x00000000)
-(
- Pin(5775 2925 80 20 "G" "1" 0x00000101)
- Pin(5875 2925 80 20 "D" "2" 0x00000001)
- Pin(5975 2925 80 20 "S" "3" 0x00000001)
- ElementLine (5945 2805 5945 2865 10)
- ElementLine (5805 2805 5805 2865 10)
- ElementLine (5675 2865 5675 2805 20)
- ElementLine (6075 2865 5675 2865 20)
- ElementLine (6075 2805 6075 2865 20)
- ElementLine (5675 2805 6075 2805 20)
- ElementLine (5675 2985 5675 2805 20)
- ElementLine (6075 2985 5675 2985 20)
- ElementLine (6075 2805 6075 2985 20)
- ElementLine (5675 2805 6075 2805 20)
- Mark (5775 2925)
-)
-
-Element(0x00000000 "diode" "D7" "1N4007" 5795 1825 0 100 0x00000000)
-(
- Pin(5575 1875 50 20 "1" "1" 0x00000101)
- Pin(5875 1875 50 20 "2" "2" 0x00000001)
- ElementLine (5675 1825 5675 1925 10)
- ElementLine (5775 1925 5675 1875 10)
- ElementLine (5775 1825 5775 1925 10)
- ElementLine (5675 1875 5775 1825 10)
- ElementLine (5775 1875 5875 1875 10)
- ElementLine (5575 1875 5675 1875 10)
- Mark (5575 1875)
-)
-
-Element(0x00000000 "optical coupling device" "U5" "6N136" 5775 1005 0 100 0x00000000)
-(
- Pin(5725 1175 60 28 "NC" "1" 0x00000101)
- Pin(5825 1175 60 28 "A+" "2" 0x00000001)
- Pin(5925 1175 60 28 "K-" "3" 0x00000001)
- Pin(6025 1175 60 28 "NC" "4" 0x00000001)
- Pin(6025 875 60 28 "Gnd" "5" 0x00000001)
- Pin(5925 875 60 28 "Out" "6" 0x00000001)
- Pin(5825 875 60 28 "En" "7" 0x00000001)
- Pin(5725 875 60 28 "Vcc" "8" 0x00000001)
- ElementLine (5675 1225 6075 1225 10)
- ElementLine (6075 1225 6075 825 10)
- ElementLine (6075 825 5675 825 10)
- ElementLine (5675 1225 5675 1075 10)
- ElementLine (5675 975 5675 825 10)
- ElementArc (5675 1025 50 50 90 180 10)
- Mark (5725 1175)
-)
-
-Element(0x00000000 "IRLZ24N" "Q5" "IRLZ24N" 5675 1910 0 100 0x00000000)
-(
- Pin(5775 2100 80 20 "G" "1" 0x00000101)
- Pin(5875 2100 80 20 "D" "2" 0x00000001)
- Pin(5975 2100 80 20 "S" "3" 0x00000001)
- ElementLine (5945 1980 5945 2040 10)
- ElementLine (5805 1980 5805 2040 10)
- ElementLine (5675 2040 5675 1980 20)
- ElementLine (6075 2040 5675 2040 20)
- ElementLine (6075 1980 6075 2040 20)
- ElementLine (5675 1980 6075 1980 20)
- ElementLine (5675 2160 5675 1980 20)
- ElementLine (6075 2160 5675 2160 20)
- ElementLine (6075 1980 6075 2160 20)
- ElementLine (5675 1980 6075 1980 20)
- Mark (5775 2100)
-)
-
-Element(0x00000000 "optical coupling device" "U4" "6N136" 5775 405 0 100 0x00000000)
-(
- Pin(5725 575 60 28 "NC" "1" 0x00000101)
- Pin(5825 575 60 28 "A+" "2" 0x00000001)
- Pin(5925 575 60 28 "K-" "3" 0x00000001)
- Pin(6025 575 60 28 "NC" "4" 0x00000001)
- Pin(6025 275 60 28 "Gnd" "5" 0x00000001)
- Pin(5925 275 60 28 "Out" "6" 0x00000001)
- Pin(5825 275 60 28 "En" "7" 0x00000001)
- Pin(5725 275 60 28 "Vcc" "8" 0x00000001)
- ElementLine (5675 625 6075 625 10)
- ElementLine (6075 625 6075 225 10)
- ElementLine (6075 225 5675 225 10)
- ElementLine (5675 625 5675 475 10)
- ElementLine (5675 375 5675 225 10)
- ElementArc (5675 425 50 50 90 180 10)
- Mark (5725 575)
-)
-
-Element(0x00000000 "capacitor_radial" "C10" "4.7uFx16V" 3325 2800 0 100 0x00000000)
-(
- Pin(3175 2900 60 20 "1" "1" 0x00000101)
- Pin(3275 2900 60 20 "2" "2" 0x00000001)
- ElementArc (3225 2900 100 100 0 360 10)
- Mark (3175 2900)
-)
-
-Element(0x00000000 "shielded" "J2" "RJ 45" 1250 1128 2 100 0x00000000)
-(
- Pin(1075 575 60 30 "1" "1" 0x00000101)
- Pin(1175 625 60 30 "2" "2" 0x00000001)
- Pin(1075 675 60 30 "3" "3" 0x00000001)
- Pin(1175 725 60 30 "4" "4" 0x00000001)
- Pin(1075 775 60 30 "5" "5" 0x00000001)
- Pin(1175 825 60 30 "6" "6" 0x00000001)
- Pin(1075 875 60 30 "7" "7" 0x00000001)
- Pin(1175 925 60 30 "8" "8" 0x00000001)
- Pin(825 525 148 128 "C1" "9" 0x00000001)
- Pin(825 976 148 128 "C1" "10" 0x00000001)
- Pin(945 445 82 62 "C1" "11" 0x00000001)
- Pin(945 1056 82 62 "C1" "12" 0x00000001)
- ElementLine (1250 1068 1250 433 20)
- ElementLine (400 1068 1250 1068 20)
- ElementLine (400 433 400 1068 20)
- ElementLine (1250 433 400 433 20)
- Mark (1075 575)
-)
-
-Element(0x00000000 "generic" "U10" "MAX4429" 3600 2730 0 100 0x00000000)
-(
- Pin(3550 2900 60 28 "1" "1" 0x00000101)
- Pin(3650 2900 60 28 "2" "2" 0x00000001)
- Pin(3750 2900 60 28 "3" "3" 0x00000001)
- Pin(3850 2900 60 28 "4" "4" 0x00000001)
- Pin(3850 2600 60 28 "5" "5" 0x00000001)
- Pin(3750 2600 60 28 "6" "6" 0x00000001)
- Pin(3650 2600 60 28 "7" "7" 0x00000001)
- Pin(3550 2600 60 28 "8" "8" 0x00000001)
- ElementLine (3500 2950 3900 2950 10)
- ElementLine (3900 2950 3900 2550 10)
- ElementLine (3900 2550 3500 2550 10)
- ElementLine (3500 2950 3500 2800 10)
- ElementLine (3500 2700 3500 2550 10)
- ElementArc (3500 2750 50 50 90 180 10)
- Mark (3550 2900)
-)
-
-Element(0x00000000 "capacitor_radial" "C6" "1uFx25V" 3275 3325 0 100 0x00000000)
-(
- Pin(3125 3425 60 20 "1" "1" 0x00000101)
- Pin(3225 3425 60 20 "2" "2" 0x00000001)
- ElementArc (3175 3425 100 100 0 360 10)
- Mark (3125 3425)
-)
-
-Element(0x00000000 "capacitor_radial" "C5" "1uFx25V" 1175 3525 2 100 0x00000000)
-(
- Pin(1325 3425 60 20 "1" "1" 0x00000101)
- Pin(1225 3425 60 20 "2" "2" 0x00000001)
- ElementArc (1275 3425 100 100 180 360 10)
- Mark (1325 3425)
-)
-
-Element(0x00000000 "vertical, 95 mils center pole" "U1" "TINIm#90-RevD" 5750 1760 2 100 0x00000000)
-(
- Pin(5350 1625 60 30 "1" "1" 0x00000101)
- Pin(5300 1525 60 30 "2" "2" 0x00000001)
- Pin(5250 1625 60 30 "3" "3" 0x00000001)
- Pin(5200 1525 60 30 "4" "4" 0x00000001)
- Pin(5150 1625 60 30 "5" "5" 0x00000001)
- Pin(5100 1525 60 30 "6" "6" 0x00000001)
- Pin(5050 1625 60 30 "7" "7" 0x00000001)
- Pin(5000 1525 60 30 "8" "8" 0x00000001)
- Pin(4950 1625 60 30 "9" "9" 0x00000001)
- Pin(4900 1525 60 30 "10" "10" 0x00000001)
- Pin(4850 1625 60 30 "11" "11" 0x00000001)
- Pin(4800 1525 60 30 "12" "12" 0x00000001)
- Pin(4750 1625 60 30 "13" "13" 0x00000001)
- Pin(4700 1525 60 30 "14" "14" 0x00000001)
- Pin(4650 1625 60 30 "15" "15" 0x00000001)
- Pin(4600 1525 60 30 "16" "16" 0x00000001)
- Pin(4550 1625 60 30 "17" "17" 0x00000001)
- Pin(4500 1525 60 30 "18" "18" 0x00000001)
- Pin(4450 1625 60 30 "19" "19" 0x00000001)
- Pin(4400 1525 60 30 "20" "20" 0x00000001)
- Pin(4350 1625 60 30 "21" "21" 0x00000001)
- Pin(4300 1525 60 30 "22" "22" 0x00000001)
- Pin(4250 1625 60 30 "23" "23" 0x00000001)
- Pin(4200 1525 60 30 "24" "24" 0x00000001)
- Pin(4150 1625 60 30 "25" "25" 0x00000001)
- Pin(4100 1525 60 30 "26" "26" 0x00000001)
- Pin(4050 1625 60 30 "27" "27" 0x00000001)
- Pin(4000 1525 60 30 "28" "28" 0x00000001)
- Pin(3950 1625 60 30 "29" "29" 0x00000001)
- Pin(3900 1525 60 30 "30" "30" 0x00000001)
- Pin(3850 1625 60 30 "31" "31" 0x00000001)
- Pin(3800 1525 60 30 "32" "32" 0x00000001)
- Pin(3750 1625 60 30 "33" "33" 0x00000001)
- Pin(3700 1525 60 30 "34" "34" 0x00000001)
- Pin(3650 1625 60 30 "35" "35" 0x00000001)
- Pin(3600 1525 60 30 "36" "36" 0x00000001)
- Pin(3350 1625 60 30 "37" "37" 0x00000001)
- Pin(3300 1525 60 30 "38" "38" 0x00000001)
- Pin(3250 1625 60 30 "39" "39" 0x00000001)
- Pin(3200 1525 60 30 "40" "40" 0x00000001)
- Pin(3150 1625 60 30 "41" "41" 0x00000001)
- Pin(3100 1525 60 30 "42" "42" 0x00000001)
- Pin(3050 1625 60 30 "43" "43" 0x00000001)
- Pin(3000 1525 60 30 "44" "44" 0x00000001)
- Pin(2950 1625 60 30 "45" "45" 0x00000001)
- Pin(2900 1525 60 30 "46" "46" 0x00000001)
- Pin(2850 1625 60 30 "47" "47" 0x00000001)
- Pin(2800 1525 60 30 "48" "48" 0x00000001)
- Pin(2750 1625 60 30 "49" "49" 0x00000001)
- Pin(2700 1525 60 30 "50" "50" 0x00000001)
- Pin(2650 1625 60 30 "51" "51" 0x00000001)
- Pin(2600 1525 60 30 "52" "52" 0x00000001)
- Pin(2550 1625 60 30 "53" "53" 0x00000001)
- Pin(2500 1525 60 30 "54" "54" 0x00000001)
- Pin(2450 1625 60 30 "55" "55" 0x00000001)
- Pin(2400 1525 60 30 "56" "56" 0x00000001)
- Pin(2350 1625 60 30 "57" "57" 0x00000001)
- Pin(2300 1525 60 30 "58" "58" 0x00000001)
- Pin(2250 1625 60 30 "59" "59" 0x00000001)
- Pin(2200 1525 60 30 "60" "60" 0x00000001)
- Pin(2150 1625 60 30 "61" "61" 0x00000001)
- Pin(2100 1525 60 30 "62" "62" 0x00000001)
- Pin(2050 1625 60 30 "63" "63" 0x00000001)
- Pin(2000 1525 60 30 "64" "64" 0x00000001)
- Pin(1950 1625 60 30 "65" "65" 0x00000001)
- Pin(1900 1525 60 30 "66" "66" 0x00000001)
- Pin(1850 1625 60 30 "67" "67" 0x00000001)
- Pin(1800 1525 60 30 "68" "68" 0x00000001)
- Pin(1750 1625 60 30 "69" "69" 0x00000001)
- Pin(1700 1525 60 30 "70" "70" 0x00000001)
- Pin(1650 1625 60 30 "71" "71" 0x00000001)
- Pin(1600 1525 60 30 "72" "72" 0x00000001)
- Pin(5680 1575 84 64 "C1" "73" 0x00000001)
- Pin(3475 1575 115 95 "0" "74" 0x00000001)
- Pin(1275 1575 115 95 "C1" "75" 0x00000001)
- ElementLine (5750 1410 1200 1410 20)
- ElementLine (1200 1410 1200 1700 20)
- ElementLine (1200 1700 5750 1700 20)
- ElementLine (5750 1700 5750 1410 20)
- Mark (5350 1625)
-)
-
-Element(0x00000000 "capacitor_radial" "C3" "10uFx25V" 1175 3825 2 100 0x00000000)
-(
- Pin(1325 3725 60 20 "1" "1" 0x00000101)
- Pin(1225 3725 60 20 "2" "2" 0x00000001)
- ElementArc (1275 3725 100 100 180 360 10)
- Mark (1325 3725)
-)
-
-Element(0x00000000 "generic" "U9" "LT1162" 1725 3555 0 100 0x00000000)
-(
- Pin(1675 3725 60 28 "1" "1" 0x00000101)
- Pin(1775 3725 60 28 "2" "2" 0x00000001)
- Pin(1875 3725 60 28 "3" "3" 0x00000001)
- Pin(1975 3725 60 28 "4" "4" 0x00000001)
- Pin(2075 3725 60 28 "5" "5" 0x00000001)
- Pin(2175 3725 60 28 "6" "6" 0x00000001)
- Pin(2275 3725 60 28 "7" "7" 0x00000001)
- Pin(2375 3725 60 28 "8" "8" 0x00000001)
- Pin(2475 3725 60 28 "9" "9" 0x00000001)
- Pin(2575 3725 60 28 "10" "10" 0x00000001)
- Pin(2675 3725 60 28 "11" "11" 0x00000001)
- Pin(2775 3725 60 28 "12" "12" 0x00000001)
- Pin(2775 3425 60 28 "13" "13" 0x00000001)
- Pin(2675 3425 60 28 "14" "14" 0x00000001)
- Pin(2575 3425 60 28 "15" "15" 0x00000001)
- Pin(2475 3425 60 28 "16" "16" 0x00000001)
- Pin(2375 3425 60 28 "17" "17" 0x00000001)
- Pin(2275 3425 60 28 "18" "18" 0x00000001)
- Pin(2175 3425 60 28 "19" "19" 0x00000001)
- Pin(2075 3425 60 28 "20" "20" 0x00000001)
- Pin(1975 3425 60 28 "21" "21" 0x00000001)
- Pin(1875 3425 60 28 "22" "22" 0x00000001)
- Pin(1775 3425 60 28 "23" "23" 0x00000001)
- Pin(1675 3425 60 28 "24" "24" 0x00000001)
- ElementLine (1625 3775 2825 3775 10)
- ElementLine (2825 3775 2825 3375 10)
- ElementLine (2825 3375 1625 3375 10)
- ElementLine (1625 3775 1625 3625 10)
- ElementLine (1625 3525 1625 3375 10)
- ElementArc (1625 3575 50 50 90 180 10)
- Mark (1675 3725)
-)
-
-Element(0x00000000 "eurocard1" "" "EUROCARD1" 6760 50 3 100 0x00000000)
-(
- Pin(525 275 120 80 "M1" "1" 0x00000001)
- Pin(525 3762 120 80 "M2" "2" 0x00000001)
- Pin(6575 275 120 80 "M3" "3" 0x00000001)
- Pin(6575 3762 120 80 "M4" "4" 0x00000001)
- ElementLine (400 50 400 3987 20)
- ElementLine (400 3987 6700 3987 20)
- ElementLine (6700 3987 6700 50 20)
- ElementLine (6700 50 400 50 20)
- Mark (400 50)
-)
-Layer(1 "solder")
-(
-)
-Layer(2 "GND-sldr")
-(
-)
-Layer(3 "Vcc-sldr")
-(
-)
-Layer(4 "component")
-(
-)
-Layer(5 "GND-comp")
-(
-)
-Layer(6 "Vcc-comp")
-(
-)
-Layer(7 "unused")
-(
-)
-Layer(8 "unused")
-(
-)
+++ /dev/null
-# release: pcb 1.6.3
-# date: Sun Feb 2 23:13:37 2003
-# user: fetter (Walter Fetter Lages,,,)
-# host: diehard.home
-
-PCB("" 7000 4100)
-
-Grid(25 0 0)
-Cursor(25 625 3)
-Flags(0x000000d0)
-Groups("1,2,3,s:4,5,6,c:7:8:")
-Styles("Signal,10,40,20:Power,25,60,35:Fat,40,60,35:Skinny,8,36,20")
-
-Symbol(' ' 18)
-(
-)
-Symbol('!' 12)
-(
- SymbolLine(0 35 0 40 8)
- SymbolLine(0 0 0 25 8)
-)
-Symbol('"' 12)
-(
- SymbolLine(0 0 0 10 8)
- SymbolLine(10 0 10 10 8)
-)
-Symbol('#' 12)
-(
- SymbolLine(0 25 20 25 8)
- SymbolLine(0 15 20 15 8)
- SymbolLine(15 10 15 30 8)
- SymbolLine(5 10 5 30 8)
-)
-Symbol('$' 12)
-(
- SymbolLine(15 5 20 10 8)
- SymbolLine(5 5 15 5 8)
- SymbolLine(0 10 5 5 8)
- SymbolLine(0 10 0 15 8)
- SymbolLine(0 15 5 20 8)
- SymbolLine(5 20 15 20 8)
- SymbolLine(15 20 20 25 8)
- SymbolLine(20 25 20 30 8)
- SymbolLine(15 35 20 30 8)
- SymbolLine(5 35 15 35 8)
- SymbolLine(0 30 5 35 8)
- SymbolLine(10 0 10 40 8)
-)
-Symbol('%' 12)
-(
- SymbolLine(0 5 0 10 8)
- SymbolLine(0 5 5 0 8)
- SymbolLine(5 0 10 0 8)
- SymbolLine(10 0 15 5 8)
- SymbolLine(15 5 15 10 8)
- SymbolLine(10 15 15 10 8)
- SymbolLine(5 15 10 15 8)
- SymbolLine(0 10 5 15 8)
- SymbolLine(0 40 40 0 8)
- SymbolLine(35 40 40 35 8)
- SymbolLine(40 30 40 35 8)
- SymbolLine(35 25 40 30 8)
- SymbolLine(30 25 35 25 8)
- SymbolLine(25 30 30 25 8)
- SymbolLine(25 30 25 35 8)
- SymbolLine(25 35 30 40 8)
- SymbolLine(30 40 35 40 8)
-)
-Symbol('&' 12)
-(
- SymbolLine(0 35 5 40 8)
- SymbolLine(0 5 0 15 8)
- SymbolLine(0 5 5 0 8)
- SymbolLine(0 25 15 10 8)
- SymbolLine(5 40 10 40 8)
- SymbolLine(10 40 20 30 8)
- SymbolLine(0 15 25 40 8)
- SymbolLine(5 0 10 0 8)
- SymbolLine(10 0 15 5 8)
- SymbolLine(15 5 15 10 8)
- SymbolLine(0 25 0 35 8)
-)
-Symbol(''' 12)
-(
- SymbolLine(0 10 10 0 8)
-)
-Symbol('(' 12)
-(
- SymbolLine(0 35 5 40 8)
- SymbolLine(0 5 5 0 8)
- SymbolLine(0 5 0 35 8)
-)
-Symbol(')' 12)
-(
- SymbolLine(0 0 5 5 8)
- SymbolLine(5 5 5 35 8)
- SymbolLine(0 40 5 35 8)
-)
-Symbol('*' 12)
-(
- SymbolLine(0 10 20 30 8)
- SymbolLine(0 30 20 10 8)
- SymbolLine(0 20 20 20 8)
- SymbolLine(10 10 10 30 8)
-)
-Symbol('+' 12)
-(
- SymbolLine(0 20 20 20 8)
- SymbolLine(10 10 10 30 8)
-)
-Symbol(',' 12)
-(
- SymbolLine(0 50 10 40 8)
-)
-Symbol('-' 12)
-(
- SymbolLine(0 20 20 20 8)
-)
-Symbol('.' 12)
-(
- SymbolLine(0 40 5 40 8)
-)
-Symbol('/' 12)
-(
- SymbolLine(0 35 30 5 8)
-)
-Symbol('0' 12)
-(
- SymbolLine(0 35 5 40 8)
- SymbolLine(0 5 0 35 8)
- SymbolLine(0 5 5 0 8)
- SymbolLine(5 0 15 0 8)
- SymbolLine(15 0 20 5 8)
- SymbolLine(20 5 20 35 8)
- SymbolLine(15 40 20 35 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(0 30 20 10 8)
-)
-Symbol('1' 12)
-(
- SymbolLine(5 40 15 40 8)
- SymbolLine(10 0 10 40 8)
- SymbolLine(0 10 10 0 8)
-)
-Symbol('2' 12)
-(
- SymbolLine(0 5 5 0 8)
- SymbolLine(5 0 20 0 8)
- SymbolLine(20 0 25 5 8)
- SymbolLine(25 5 25 15 8)
- SymbolLine(0 40 25 15 8)
- SymbolLine(0 40 25 40 8)
-)
-Symbol('3' 12)
-(
- SymbolLine(0 5 5 0 8)
- SymbolLine(5 0 15 0 8)
- SymbolLine(15 0 20 5 8)
- SymbolLine(20 5 20 35 8)
- SymbolLine(15 40 20 35 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(5 20 20 20 8)
-)
-Symbol('4' 12)
-(
- SymbolLine(0 20 20 0 8)
- SymbolLine(0 20 25 20 8)
- SymbolLine(20 0 20 40 8)
-)
-Symbol('5' 12)
-(
- SymbolLine(0 0 20 0 8)
- SymbolLine(0 0 0 20 8)
- SymbolLine(0 20 5 15 8)
- SymbolLine(5 15 15 15 8)
- SymbolLine(15 15 20 20 8)
- SymbolLine(20 20 20 35 8)
- SymbolLine(15 40 20 35 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(0 35 5 40 8)
-)
-Symbol('6' 12)
-(
- SymbolLine(15 0 20 5 8)
- SymbolLine(5 0 15 0 8)
- SymbolLine(0 5 5 0 8)
- SymbolLine(0 5 0 35 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(15 20 20 25 8)
- SymbolLine(0 20 15 20 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(15 40 20 35 8)
- SymbolLine(20 25 20 35 8)
-)
-Symbol('7' 12)
-(
- SymbolLine(0 40 25 15 8)
- SymbolLine(25 0 25 15 8)
- SymbolLine(0 0 25 0 8)
-)
-Symbol('8' 12)
-(
- SymbolLine(0 35 5 40 8)
- SymbolLine(0 25 0 35 8)
- SymbolLine(0 25 5 20 8)
- SymbolLine(5 20 15 20 8)
- SymbolLine(15 20 20 25 8)
- SymbolLine(20 25 20 35 8)
- SymbolLine(15 40 20 35 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(0 15 5 20 8)
- SymbolLine(0 5 0 15 8)
- SymbolLine(0 5 5 0 8)
- SymbolLine(5 0 15 0 8)
- SymbolLine(15 0 20 5 8)
- SymbolLine(20 5 20 15 8)
- SymbolLine(15 20 20 15 8)
-)
-Symbol('9' 12)
-(
- SymbolLine(0 40 20 20 8)
- SymbolLine(20 5 20 20 8)
- SymbolLine(15 0 20 5 8)
- SymbolLine(5 0 15 0 8)
- SymbolLine(0 5 5 0 8)
- SymbolLine(0 5 0 15 8)
- SymbolLine(0 15 5 20 8)
- SymbolLine(5 20 20 20 8)
-)
-Symbol(':' 12)
-(
- SymbolLine(0 15 5 15 8)
- SymbolLine(0 25 5 25 8)
-)
-Symbol(';' 12)
-(
- SymbolLine(0 40 10 30 8)
- SymbolLine(10 15 10 20 8)
-)
-Symbol('<' 12)
-(
- SymbolLine(0 20 10 10 8)
- SymbolLine(0 20 10 30 8)
-)
-Symbol('=' 12)
-(
- SymbolLine(0 15 20 15 8)
- SymbolLine(0 25 20 25 8)
-)
-Symbol('>' 12)
-(
- SymbolLine(0 10 10 20 8)
- SymbolLine(0 30 10 20 8)
-)
-Symbol('?' 12)
-(
- SymbolLine(10 20 10 25 8)
- SymbolLine(10 35 10 40 8)
- SymbolLine(0 5 0 10 8)
- SymbolLine(0 5 5 0 8)
- SymbolLine(5 0 15 0 8)
- SymbolLine(15 0 20 5 8)
- SymbolLine(20 5 20 10 8)
- SymbolLine(10 20 20 10 8)
-)
-Symbol('A' 12)
-(
- SymbolLine(0 5 0 40 8)
- SymbolLine(0 5 5 0 8)
- SymbolLine(5 0 20 0 8)
- SymbolLine(20 0 25 5 8)
- SymbolLine(25 5 25 40 8)
- SymbolLine(0 20 25 20 8)
-)
-Symbol('B' 12)
-(
- SymbolLine(0 40 20 40 8)
- SymbolLine(20 40 25 35 8)
- SymbolLine(25 25 25 35 8)
- SymbolLine(20 20 25 25 8)
- SymbolLine(5 20 20 20 8)
- SymbolLine(5 0 5 40 8)
- SymbolLine(0 0 20 0 8)
- SymbolLine(20 0 25 5 8)
- SymbolLine(25 5 25 15 8)
- SymbolLine(20 20 25 15 8)
-)
-Symbol('C' 12)
-(
- SymbolLine(5 40 20 40 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(0 5 0 35 8)
- SymbolLine(0 5 5 0 8)
- SymbolLine(5 0 20 0 8)
-)
-Symbol('D' 12)
-(
- SymbolLine(5 0 5 40 8)
- SymbolLine(20 0 25 5 8)
- SymbolLine(25 5 25 35 8)
- SymbolLine(20 40 25 35 8)
- SymbolLine(0 40 20 40 8)
- SymbolLine(0 0 20 0 8)
-)
-Symbol('E' 12)
-(
- SymbolLine(0 20 15 20 8)
- SymbolLine(0 40 20 40 8)
- SymbolLine(0 0 0 40 8)
- SymbolLine(0 0 20 0 8)
-)
-Symbol('F' 12)
-(
- SymbolLine(0 0 0 40 8)
- SymbolLine(0 0 20 0 8)
- SymbolLine(0 20 15 20 8)
-)
-Symbol('G' 12)
-(
- SymbolLine(20 0 25 5 8)
- SymbolLine(5 0 20 0 8)
- SymbolLine(0 5 5 0 8)
- SymbolLine(0 5 0 35 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(5 40 20 40 8)
- SymbolLine(20 40 25 35 8)
- SymbolLine(25 25 25 35 8)
- SymbolLine(20 20 25 25 8)
- SymbolLine(10 20 20 20 8)
-)
-Symbol('H' 12)
-(
- SymbolLine(0 0 0 40 8)
- SymbolLine(25 0 25 40 8)
- SymbolLine(0 20 25 20 8)
-)
-Symbol('I' 12)
-(
- SymbolLine(0 0 10 0 8)
- SymbolLine(5 0 5 40 8)
- SymbolLine(0 40 10 40 8)
-)
-Symbol('J' 12)
-(
- SymbolLine(0 0 15 0 8)
- SymbolLine(15 0 15 35 8)
- SymbolLine(10 40 15 35 8)
- SymbolLine(5 40 10 40 8)
- SymbolLine(0 35 5 40 8)
-)
-Symbol('K' 12)
-(
- SymbolLine(0 0 0 40 8)
- SymbolLine(0 20 20 0 8)
- SymbolLine(0 20 20 40 8)
-)
-Symbol('L' 12)
-(
- SymbolLine(0 0 0 40 8)
- SymbolLine(0 40 20 40 8)
-)
-Symbol('M' 12)
-(
- SymbolLine(0 0 0 40 8)
- SymbolLine(0 0 15 15 8)
- SymbolLine(15 15 30 0 8)
- SymbolLine(30 0 30 40 8)
-)
-Symbol('N' 12)
-(
- SymbolLine(0 0 0 40 8)
- SymbolLine(0 0 0 5 8)
- SymbolLine(0 5 25 30 8)
- SymbolLine(25 0 25 40 8)
-)
-Symbol('O' 12)
-(
- SymbolLine(0 5 0 35 8)
- SymbolLine(0 5 5 0 8)
- SymbolLine(5 0 15 0 8)
- SymbolLine(15 0 20 5 8)
- SymbolLine(20 5 20 35 8)
- SymbolLine(15 40 20 35 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(0 35 5 40 8)
-)
-Symbol('P' 12)
-(
- SymbolLine(5 0 5 40 8)
- SymbolLine(0 0 20 0 8)
- SymbolLine(20 0 25 5 8)
- SymbolLine(25 5 25 15 8)
- SymbolLine(20 20 25 15 8)
- SymbolLine(5 20 20 20 8)
-)
-Symbol('Q' 12)
-(
- SymbolLine(0 5 0 35 8)
- SymbolLine(0 5 5 0 8)
- SymbolLine(5 0 15 0 8)
- SymbolLine(15 0 20 5 8)
- SymbolLine(20 5 20 35 8)
- SymbolLine(15 40 20 35 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(10 30 20 40 8)
-)
-Symbol('R' 12)
-(
- SymbolLine(0 0 20 0 8)
- SymbolLine(20 0 25 5 8)
- SymbolLine(25 5 25 15 8)
- SymbolLine(20 20 25 15 8)
- SymbolLine(5 20 20 20 8)
- SymbolLine(5 0 5 40 8)
- SymbolLine(5 20 25 40 8)
-)
-Symbol('S' 12)
-(
- SymbolLine(20 0 25 5 8)
- SymbolLine(5 0 20 0 8)
- SymbolLine(0 5 5 0 8)
- SymbolLine(0 5 0 15 8)
- SymbolLine(0 15 5 20 8)
- SymbolLine(5 20 20 20 8)
- SymbolLine(20 20 25 25 8)
- SymbolLine(25 25 25 35 8)
- SymbolLine(20 40 25 35 8)
- SymbolLine(5 40 20 40 8)
- SymbolLine(0 35 5 40 8)
-)
-Symbol('T' 12)
-(
- SymbolLine(0 0 20 0 8)
- SymbolLine(10 0 10 40 8)
-)
-Symbol('U' 12)
-(
- SymbolLine(0 0 0 35 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(15 40 20 35 8)
- SymbolLine(20 0 20 35 8)
-)
-Symbol('V' 12)
-(
- SymbolLine(0 0 0 30 8)
- SymbolLine(0 30 10 40 8)
- SymbolLine(10 40 20 30 8)
- SymbolLine(20 0 20 30 8)
-)
-Symbol('W' 12)
-(
- SymbolLine(0 0 0 40 8)
- SymbolLine(0 40 15 25 8)
- SymbolLine(15 25 30 40 8)
- SymbolLine(30 0 30 40 8)
-)
-Symbol('X' 12)
-(
- SymbolLine(0 0 0 5 8)
- SymbolLine(0 5 25 30 8)
- SymbolLine(25 30 25 40 8)
- SymbolLine(0 30 0 40 8)
- SymbolLine(0 30 25 5 8)
- SymbolLine(25 0 25 5 8)
-)
-Symbol('Y' 12)
-(
- SymbolLine(0 0 0 5 8)
- SymbolLine(0 5 10 15 8)
- SymbolLine(10 15 20 5 8)
- SymbolLine(20 0 20 5 8)
- SymbolLine(10 15 10 40 8)
-)
-Symbol('Z' 12)
-(
- SymbolLine(0 0 25 0 8)
- SymbolLine(25 0 25 5 8)
- SymbolLine(0 30 25 5 8)
- SymbolLine(0 30 0 40 8)
- SymbolLine(0 40 25 40 8)
-)
-Symbol('[' 12)
-(
- SymbolLine(0 0 5 0 8)
- SymbolLine(0 0 0 40 8)
- SymbolLine(0 40 5 40 8)
-)
-Symbol('\' 12)
-(
- SymbolLine(0 5 30 35 8)
-)
-Symbol(']' 12)
-(
- SymbolLine(0 0 5 0 8)
- SymbolLine(5 0 5 40 8)
- SymbolLine(0 40 5 40 8)
-)
-Symbol('^' 12)
-(
- SymbolLine(0 5 5 0 8)
- SymbolLine(5 0 10 5 8)
-)
-Symbol('_' 12)
-(
- SymbolLine(0 40 20 40 8)
-)
-Symbol('a' 12)
-(
- SymbolLine(15 20 20 25 8)
- SymbolLine(5 20 15 20 8)
- SymbolLine(0 25 5 20 8)
- SymbolLine(0 25 0 35 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(20 20 20 35 8)
- SymbolLine(20 35 25 40 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(15 40 20 35 8)
-)
-Symbol('b' 12)
-(
- SymbolLine(0 0 0 40 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(15 40 20 35 8)
- SymbolLine(20 25 20 35 8)
- SymbolLine(15 20 20 25 8)
- SymbolLine(5 20 15 20 8)
- SymbolLine(0 25 5 20 8)
-)
-Symbol('c' 12)
-(
- SymbolLine(5 20 20 20 8)
- SymbolLine(0 25 5 20 8)
- SymbolLine(0 25 0 35 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(5 40 20 40 8)
-)
-Symbol('d' 12)
-(
- SymbolLine(20 0 20 40 8)
- SymbolLine(15 40 20 35 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(0 25 0 35 8)
- SymbolLine(0 25 5 20 8)
- SymbolLine(5 20 15 20 8)
- SymbolLine(15 20 20 25 8)
-)
-Symbol('e' 12)
-(
- SymbolLine(5 40 20 40 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(0 25 0 35 8)
- SymbolLine(0 25 5 20 8)
- SymbolLine(5 20 15 20 8)
- SymbolLine(15 20 20 25 8)
- SymbolLine(0 30 20 30 8)
- SymbolLine(20 30 20 25 8)
-)
-Symbol('f' 10)
-(
- SymbolLine(5 5 5 40 8)
- SymbolLine(5 5 10 0 8)
- SymbolLine(10 0 15 0 8)
- SymbolLine(0 20 10 20 8)
-)
-Symbol('g' 12)
-(
- SymbolLine(15 20 20 25 8)
- SymbolLine(5 20 15 20 8)
- SymbolLine(0 25 5 20 8)
- SymbolLine(0 25 0 35 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(15 40 20 35 8)
- SymbolLine(0 50 5 55 8)
- SymbolLine(5 55 15 55 8)
- SymbolLine(15 55 20 50 8)
- SymbolLine(20 20 20 50 8)
-)
-Symbol('h' 12)
-(
- SymbolLine(0 0 0 40 8)
- SymbolLine(0 25 5 20 8)
- SymbolLine(5 20 15 20 8)
- SymbolLine(15 20 20 25 8)
- SymbolLine(20 25 20 40 8)
-)
-Symbol('i' 10)
-(
- SymbolLine(0 10 0 15 8)
- SymbolLine(0 25 0 40 8)
-)
-Symbol('j' 10)
-(
- SymbolLine(5 10 5 15 8)
- SymbolLine(5 25 5 50 8)
- SymbolLine(0 55 5 50 8)
-)
-Symbol('k' 12)
-(
- SymbolLine(0 0 0 40 8)
- SymbolLine(0 25 15 40 8)
- SymbolLine(0 25 10 15 8)
-)
-Symbol('l' 10)
-(
- SymbolLine(0 0 0 35 8)
- SymbolLine(0 35 5 40 8)
-)
-Symbol('m' 12)
-(
- SymbolLine(5 25 5 40 8)
- SymbolLine(5 25 10 20 8)
- SymbolLine(10 20 15 20 8)
- SymbolLine(15 20 20 25 8)
- SymbolLine(20 25 20 40 8)
- SymbolLine(20 25 25 20 8)
- SymbolLine(25 20 30 20 8)
- SymbolLine(30 20 35 25 8)
- SymbolLine(35 25 35 40 8)
- SymbolLine(0 20 5 25 8)
-)
-Symbol('n' 12)
-(
- SymbolLine(5 25 5 40 8)
- SymbolLine(5 25 10 20 8)
- SymbolLine(10 20 15 20 8)
- SymbolLine(15 20 20 25 8)
- SymbolLine(20 25 20 40 8)
- SymbolLine(0 20 5 25 8)
-)
-Symbol('o' 12)
-(
- SymbolLine(0 25 0 35 8)
- SymbolLine(0 25 5 20 8)
- SymbolLine(5 20 15 20 8)
- SymbolLine(15 20 20 25 8)
- SymbolLine(20 25 20 35 8)
- SymbolLine(15 40 20 35 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(0 35 5 40 8)
-)
-Symbol('p' 12)
-(
- SymbolLine(5 25 5 55 8)
- SymbolLine(0 20 5 25 8)
- SymbolLine(5 25 10 20 8)
- SymbolLine(10 20 20 20 8)
- SymbolLine(20 20 25 25 8)
- SymbolLine(25 25 25 35 8)
- SymbolLine(20 40 25 35 8)
- SymbolLine(10 40 20 40 8)
- SymbolLine(5 35 10 40 8)
-)
-Symbol('q' 12)
-(
- SymbolLine(20 25 20 55 8)
- SymbolLine(15 20 20 25 8)
- SymbolLine(5 20 15 20 8)
- SymbolLine(0 25 5 20 8)
- SymbolLine(0 25 0 35 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(15 40 20 35 8)
-)
-Symbol('r' 12)
-(
- SymbolLine(5 25 5 40 8)
- SymbolLine(5 25 10 20 8)
- SymbolLine(10 20 20 20 8)
- SymbolLine(0 20 5 25 8)
-)
-Symbol('s' 12)
-(
- SymbolLine(5 40 20 40 8)
- SymbolLine(20 40 25 35 8)
- SymbolLine(20 30 25 35 8)
- SymbolLine(5 30 20 30 8)
- SymbolLine(0 25 5 30 8)
- SymbolLine(0 25 5 20 8)
- SymbolLine(5 20 20 20 8)
- SymbolLine(20 20 25 25 8)
- SymbolLine(0 35 5 40 8)
-)
-Symbol('t' 10)
-(
- SymbolLine(5 0 5 35 8)
- SymbolLine(5 35 10 40 8)
- SymbolLine(0 15 10 15 8)
-)
-Symbol('u' 12)
-(
- SymbolLine(0 20 0 35 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(15 40 20 35 8)
- SymbolLine(20 20 20 35 8)
-)
-Symbol('v' 12)
-(
- SymbolLine(0 20 0 30 8)
- SymbolLine(0 30 10 40 8)
- SymbolLine(10 40 20 30 8)
- SymbolLine(20 20 20 30 8)
-)
-Symbol('w' 12)
-(
- SymbolLine(0 20 0 35 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(5 40 10 40 8)
- SymbolLine(10 40 15 35 8)
- SymbolLine(15 20 15 35 8)
- SymbolLine(15 35 20 40 8)
- SymbolLine(20 40 25 40 8)
- SymbolLine(25 40 30 35 8)
- SymbolLine(30 20 30 35 8)
-)
-Symbol('x' 12)
-(
- SymbolLine(0 20 20 40 8)
- SymbolLine(0 40 20 20 8)
-)
-Symbol('y' 12)
-(
- SymbolLine(0 20 0 35 8)
- SymbolLine(0 35 5 40 8)
- SymbolLine(20 20 20 50 8)
- SymbolLine(15 55 20 50 8)
- SymbolLine(5 55 15 55 8)
- SymbolLine(0 50 5 55 8)
- SymbolLine(5 40 15 40 8)
- SymbolLine(15 40 20 35 8)
-)
-Symbol('z' 12)
-(
- SymbolLine(0 20 20 20 8)
- SymbolLine(0 40 20 20 8)
- SymbolLine(0 40 20 40 8)
-)
-Symbol('{' 12)
-(
- SymbolLine(5 5 10 0 8)
- SymbolLine(5 5 5 15 8)
- SymbolLine(0 20 5 15 8)
- SymbolLine(0 20 5 25 8)
- SymbolLine(5 25 5 35 8)
- SymbolLine(5 35 10 40 8)
-)
-Symbol('|' 12)
-(
- SymbolLine(0 0 0 40 8)
-)
-Symbol('}' 12)
-(
- SymbolLine(0 0 5 5 8)
- SymbolLine(5 5 5 15 8)
- SymbolLine(5 15 10 20 8)
- SymbolLine(5 25 10 20 8)
- SymbolLine(5 25 5 35 8)
- SymbolLine(0 40 5 35 8)
-)
-Symbol('~' 12)
-(
- SymbolLine(0 25 5 20 8)
- SymbolLine(5 20 10 20 8)
- SymbolLine(10 20 15 25 8)
- SymbolLine(15 25 20 25 8)
- SymbolLine(20 25 25 20 8)
-)
-Via(5875 3600 60 35 "" 0x00000002)
-Via(4000 3425 60 35 "" 0x00000002)
-Via(4700 3425 60 35 "" 0x00000002)
-Via(4850 3425 60 35 "" 0x00000002)
-Via(5550 3425 60 35 "" 0x00000002)
-Via(5975 2600 60 35 "" 0x00000002)
-Via(5350 2600 60 35 "" 0x00000002)
-Via(5350 3075 60 35 "" 0x00000002)
-Via(5975 3075 60 35 "" 0x00000002)
-Via(5875 2775 60 35 "" 0x00000002)
-Via(6075 2875 60 35 "" 0x00000002)
-Via(5350 3275 60 35 "" 0x00000002)
-Via(3900 3175 60 35 "" 0x00000002)
-Via(4700 3175 60 35 "" 0x00000002)
-Via(6175 3425 60 35 "" 0x00000002)
-Via(6075 2675 60 35 "" 0x00000002)
-Via(5875 2225 60 35 "" 0x00000002)
-Via(4575 3425 60 35 "" 0x00000002)
-Via(5575 2200 60 35 "" 0x00000002)
-Via(6175 1025 60 35 "" 0x00000002)
-Via(6425 1025 60 35 "" 0x00000002)
-Via(5625 1075 60 35 "" 0x00000002)
-Via(5925 475 60 35 "" 0x00000002)
-Via(5325 475 60 35 "" 0x00000002)
-Via(4825 475 60 35 "" 0x00000002)
-Via(5125 400 60 35 "" 0x00000002)
-Via(5725 400 60 35 "" 0x00000002)
-Via(3975 725 60 35 "" 0x00000002)
-Via(4825 725 60 35 "" 0x00000002)
-Via(5325 725 60 35 "" 0x00000002)
-Via(5875 725 60 35 "" 0x00000002)
-Via(4925 950 60 35 "" 0x00000002)
-Via(1350 950 60 35 "" 0x00000002)
-Via(1700 950 60 35 "" 0x00000002)
-Via(2325 950 60 35 "" 0x00000002)
-Via(3175 3175 60 35 "" 0x00000002)
-Via(3225 3925 60 35 "" 0x00000002)
-Via(2350 2450 60 35 "" 0x00000002)
-Via(2650 2450 60 35 "" 0x00000002)
-Via(1350 2450 60 35 "" 0x00000002)
-Via(1250 3025 60 35 "" 0x00000002)
-Via(1250 2900 60 35 "" 0x00000002)
-Via(1250 2750 60 35 "" 0x00000002)
-Via(4225 1000 60 35 "" 0x00000002)
-Via(5200 1000 60 35 "" 0x00000002)
-Via(3100 1000 60 35 "" 0x00000002)
-Via(4425 950 60 35 "" 0x00000002)
-Via(1975 3050 60 35 "" 0x00000002)
-Via(1225 3925 60 35 "" 0x00000002)
-Via(2075 3925 60 35 "" 0x00000002)
-Via(2675 3925 60 35 "" 0x00000002)
-Via(3550 3175 60 35 "" 0x00000002)
-Via(725 3925 60 35 "" 0x00000002)
-Via(6425 200 60 28 "" 0x00000002)
-Via(6175 350 60 28 "" 0x00000002)
-Via(5925 650 60 28 "" 0x00000002)
-Via(6175 875 60 28 "" 0x00000002)
-Via(6100 1300 60 28 "" 0x00000002)
-Via(2900 1300 60 28 "" 0x00000002)
-Via(6150 525 60 28 "" 0x00000002)
-Via(4025 475 60 28 "" 0x00000002)
-Via(1100 1125 60 28 "" 0x00000002)
-Via(2575 1725 60 28 "" 0x00000002)
-Via(6325 1725 60 28 "" 0x00000002)
-Via(3500 1300 60 28 "" 0x00000002)
-Via(3300 525 60 28 "" 0x00000002)
-
-Element(0x00000000 "eurocard1" "" "EUROCARD1" 6760 50 3 100 0x00000000)
-(
- Pin(525 275 120 80 "M1" "1" 0x00000001)
- Pin(525 3762 120 80 "M2" "2" 0x00000001)
- Pin(6575 275 120 80 "M3" "3" 0x00000001)
- Pin(6575 3762 120 80 "M4" "4" 0x00000001)
- ElementLine (6700 50 400 50 20)
- ElementLine (6700 3987 6700 50 20)
- ElementLine (400 3987 6700 3987 20)
- ElementLine (400 50 400 3987 20)
- Mark (400 50)
-)
-
-Element(0x00000000 "generic" "U9" "LT1162" 1725 3555 0 100 0x00000000)
-(
- Pin(1675 3725 60 28 "1" "1" 0x00000101)
- Pin(1775 3725 60 28 "2" "2" 0x00000001)
- Pin(1875 3725 60 28 "3" "3" 0x00000001)
- Pin(1975 3725 60 28 "4" "4" 0x00000001)
- Pin(2075 3725 60 28 "5" "5" 0x00000001)
- Pin(2175 3725 60 28 "6" "6" 0x00000001)
- Pin(2275 3725 60 28 "7" "7" 0x00000001)
- Pin(2375 3725 60 28 "8" "8" 0x00000001)
- Pin(2475 3725 60 28 "9" "9" 0x00000001)
- Pin(2575 3725 60 28 "10" "10" 0x00000001)
- Pin(2675 3725 60 28 "11" "11" 0x00000001)
- Pin(2775 3725 60 28 "12" "12" 0x00000001)
- Pin(2775 3425 60 28 "13" "13" 0x00000001)
- Pin(2675 3425 60 28 "14" "14" 0x00000001)
- Pin(2575 3425 60 28 "15" "15" 0x00000001)
- Pin(2475 3425 60 28 "16" "16" 0x00000001)
- Pin(2375 3425 60 28 "17" "17" 0x00000001)
- Pin(2275 3425 60 28 "18" "18" 0x00000001)
- Pin(2175 3425 60 28 "19" "19" 0x00000001)
- Pin(2075 3425 60 28 "20" "20" 0x00000001)
- Pin(1975 3425 60 28 "21" "21" 0x00000001)
- Pin(1875 3425 60 28 "22" "22" 0x00000001)
- Pin(1775 3425 60 28 "23" "23" 0x00000001)
- Pin(1675 3425 60 28 "24" "24" 0x00000001)
- ElementLine (1625 3525 1625 3375 10)
- ElementLine (1625 3775 1625 3625 10)
- ElementLine (2825 3375 1625 3375 10)
- ElementLine (2825 3775 2825 3375 10)
- ElementLine (1625 3775 2825 3775 10)
- ElementArc (1625 3575 50 50 90 180 10)
- Mark (1675 3725)
-)
-
-Element(0x00000000 "capacitor_radial" "C3" "10uFx25V" 1175 3825 2 100 0x00000000)
-(
- Pin(1325 3725 60 20 "1" "1" 0x00000101)
- Pin(1225 3725 60 20 "2" "2" 0x00000001)
- ElementArc (1275 3725 100 100 180 360 10)
- Mark (1325 3725)
-)
-
-Element(0x00000000 "vertical, 95 mils center pole" "U1" "TINIm#90-RevD" 5750 1760 2 100 0x00000000)
-(
- Pin(5350 1625 60 30 "1" "1" 0x00000101)
- Pin(5300 1525 60 30 "2" "2" 0x00000001)
- Pin(5250 1625 60 30 "3" "3" 0x00000001)
- Pin(5200 1525 60 30 "4" "4" 0x00000001)
- Pin(5150 1625 60 30 "5" "5" 0x00000001)
- Pin(5100 1525 60 30 "6" "6" 0x00000001)
- Pin(5050 1625 60 30 "7" "7" 0x00000001)
- Pin(5000 1525 60 30 "8" "8" 0x00000001)
- Pin(4950 1625 60 30 "9" "9" 0x00000001)
- Pin(4900 1525 60 30 "10" "10" 0x00000001)
- Pin(4850 1625 60 30 "11" "11" 0x00000001)
- Pin(4800 1525 60 30 "12" "12" 0x00000001)
- Pin(4750 1625 60 30 "13" "13" 0x00000001)
- Pin(4700 1525 60 30 "14" "14" 0x00000001)
- Pin(4650 1625 60 30 "15" "15" 0x00000001)
- Pin(4600 1525 60 30 "16" "16" 0x00000001)
- Pin(4550 1625 60 30 "17" "17" 0x00000001)
- Pin(4500 1525 60 30 "18" "18" 0x00000001)
- Pin(4450 1625 60 30 "19" "19" 0x00000001)
- Pin(4400 1525 60 30 "20" "20" 0x00000001)
- Pin(4350 1625 60 30 "21" "21" 0x00000001)
- Pin(4300 1525 60 30 "22" "22" 0x00000001)
- Pin(4250 1625 60 30 "23" "23" 0x00000001)
- Pin(4200 1525 60 30 "24" "24" 0x00000001)
- Pin(4150 1625 60 30 "25" "25" 0x00000001)
- Pin(4100 1525 60 30 "26" "26" 0x00000001)
- Pin(4050 1625 60 30 "27" "27" 0x00000001)
- Pin(4000 1525 60 30 "28" "28" 0x00000001)
- Pin(3950 1625 60 30 "29" "29" 0x00000001)
- Pin(3900 1525 60 30 "30" "30" 0x00000001)
- Pin(3850 1625 60 30 "31" "31" 0x00000001)
- Pin(3800 1525 60 30 "32" "32" 0x00000001)
- Pin(3750 1625 60 30 "33" "33" 0x00000001)
- Pin(3700 1525 60 30 "34" "34" 0x00000001)
- Pin(3650 1625 60 30 "35" "35" 0x00000001)
- Pin(3600 1525 60 30 "36" "36" 0x00000001)
- Pin(3350 1625 60 30 "37" "37" 0x00000001)
- Pin(3300 1525 60 30 "38" "38" 0x00000001)
- Pin(3250 1625 60 30 "39" "39" 0x00000001)
- Pin(3200 1525 60 30 "40" "40" 0x00000001)
- Pin(3150 1625 60 30 "41" "41" 0x00000001)
- Pin(3100 1525 60 30 "42" "42" 0x00000001)
- Pin(3050 1625 60 30 "43" "43" 0x00000001)
- Pin(3000 1525 60 30 "44" "44" 0x00000001)
- Pin(2950 1625 60 30 "45" "45" 0x00000001)
- Pin(2900 1525 60 30 "46" "46" 0x00000001)
- Pin(2850 1625 60 30 "47" "47" 0x00000001)
- Pin(2800 1525 60 30 "48" "48" 0x00000001)
- Pin(2750 1625 60 30 "49" "49" 0x00000001)
- Pin(2700 1525 60 30 "50" "50" 0x00000001)
- Pin(2650 1625 60 30 "51" "51" 0x00000001)
- Pin(2600 1525 60 30 "52" "52" 0x00000001)
- Pin(2550 1625 60 30 "53" "53" 0x00000001)
- Pin(2500 1525 60 30 "54" "54" 0x00000001)
- Pin(2450 1625 60 30 "55" "55" 0x00000001)
- Pin(2400 1525 60 30 "56" "56" 0x00000001)
- Pin(2350 1625 60 30 "57" "57" 0x00000001)
- Pin(2300 1525 60 30 "58" "58" 0x00000001)
- Pin(2250 1625 60 30 "59" "59" 0x00000001)
- Pin(2200 1525 60 30 "60" "60" 0x00000001)
- Pin(2150 1625 60 30 "61" "61" 0x00000001)
- Pin(2100 1525 60 30 "62" "62" 0x00000001)
- Pin(2050 1625 60 30 "63" "63" 0x00000001)
- Pin(2000 1525 60 30 "64" "64" 0x00000001)
- Pin(1950 1625 60 30 "65" "65" 0x00000001)
- Pin(1900 1525 60 30 "66" "66" 0x00000001)
- Pin(1850 1625 60 30 "67" "67" 0x00000001)
- Pin(1800 1525 60 30 "68" "68" 0x00000001)
- Pin(1750 1625 60 30 "69" "69" 0x00000001)
- Pin(1700 1525 60 30 "70" "70" 0x00000001)
- Pin(1650 1625 60 30 "71" "71" 0x00000001)
- Pin(1600 1525 60 30 "72" "72" 0x00000001)
- Pin(5680 1575 84 64 "C1" "73" 0x00000001)
- Pin(3475 1575 115 95 "0" "74" 0x00000001)
- Pin(1275 1575 115 95 "C1" "75" 0x00000001)
- ElementLine (5750 1700 5750 1410 20)
- ElementLine (1200 1700 5750 1700 20)
- ElementLine (1200 1410 1200 1700 20)
- ElementLine (5750 1410 1200 1410 20)
- Mark (5350 1625)
-)
-
-Element(0x00000000 "capacitor_radial" "C5" "1uFx25V" 1175 3525 2 100 0x00000000)
-(
- Pin(1325 3425 60 20 "1" "1" 0x00000101)
- Pin(1225 3425 60 20 "2" "2" 0x00000001)
- ElementArc (1275 3425 100 100 180 360 10)
- Mark (1325 3425)
-)
-
-Element(0x00000000 "capacitor_radial" "C6" "1uFx25V" 3275 3325 0 100 0x00000000)
-(
- Pin(3125 3425 60 20 "1" "1" 0x00000101)
- Pin(3225 3425 60 20 "2" "2" 0x00000001)
- ElementArc (3175 3425 100 100 0 360 10)
- Mark (3125 3425)
-)
-
-Element(0x00000000 "generic" "U10" "MAX4429" 3600 2730 0 100 0x00000000)
-(
- Pin(3550 2900 60 28 "1" "1" 0x00000101)
- Pin(3650 2900 60 28 "2" "2" 0x00000001)
- Pin(3750 2900 60 28 "3" "3" 0x00000001)
- Pin(3850 2900 60 28 "4" "4" 0x00000001)
- Pin(3850 2600 60 28 "5" "5" 0x00000001)
- Pin(3750 2600 60 28 "6" "6" 0x00000001)
- Pin(3650 2600 60 28 "7" "7" 0x00000001)
- Pin(3550 2600 60 28 "8" "8" 0x00000001)
- ElementLine (3500 2700 3500 2550 10)
- ElementLine (3500 2950 3500 2800 10)
- ElementLine (3900 2550 3500 2550 10)
- ElementLine (3900 2950 3900 2550 10)
- ElementLine (3500 2950 3900 2950 10)
- ElementArc (3500 2750 50 50 90 180 10)
- Mark (3550 2900)
-)
-
-Element(0x00000000 "shielded" "J2" "RJ 45" 1250 1128 2 100 0x00000000)
-(
- Pin(1075 575 60 30 "1" "1" 0x00000101)
- Pin(1175 625 60 30 "2" "2" 0x00000001)
- Pin(1075 675 60 30 "3" "3" 0x00000001)
- Pin(1175 725 60 30 "4" "4" 0x00000001)
- Pin(1075 775 60 30 "5" "5" 0x00000001)
- Pin(1175 825 60 30 "6" "6" 0x00000001)
- Pin(1075 875 60 30 "7" "7" 0x00000001)
- Pin(1175 925 60 30 "8" "8" 0x00000001)
- Pin(825 525 148 128 "C1" "9" 0x00000001)
- Pin(825 976 148 128 "C1" "10" 0x00000001)
- Pin(945 445 82 62 "C1" "11" 0x00000001)
- Pin(945 1056 82 62 "C1" "12" 0x00000001)
- ElementLine (1250 433 400 433 20)
- ElementLine (400 433 400 1068 20)
- ElementLine (400 1068 1250 1068 20)
- ElementLine (1250 1068 1250 433 20)
- Mark (1075 575)
-)
-
-Element(0x00000000 "capacitor_radial" "C10" "4.7uFx16V" 3325 2800 0 100 0x00000000)
-(
- Pin(3175 2900 60 20 "1" "1" 0x00000101)
- Pin(3275 2900 60 20 "2" "2" 0x00000001)
- ElementArc (3225 2900 100 100 0 360 10)
- Mark (3175 2900)
-)
-
-Element(0x00000000 "optical coupling device" "U4" "6N136" 5775 405 0 100 0x00000000)
-(
- Pin(5725 575 60 28 "NC" "1" 0x00000101)
- Pin(5825 575 60 28 "A+" "2" 0x00000001)
- Pin(5925 575 60 28 "K-" "3" 0x00000001)
- Pin(6025 575 60 28 "NC" "4" 0x00000001)
- Pin(6025 275 60 28 "Gnd" "5" 0x00000001)
- Pin(5925 275 60 28 "Out" "6" 0x00000001)
- Pin(5825 275 60 28 "En" "7" 0x00000001)
- Pin(5725 275 60 28 "Vcc" "8" 0x00000001)
- ElementLine (5675 375 5675 225 10)
- ElementLine (5675 625 5675 475 10)
- ElementLine (6075 225 5675 225 10)
- ElementLine (6075 625 6075 225 10)
- ElementLine (5675 625 6075 625 10)
- ElementArc (5675 425 50 50 90 180 10)
- Mark (5725 575)
-)
-
-Element(0x00000000 "IRLZ24N" "Q5" "IRLZ24N" 5675 1910 0 100 0x00000000)
-(
- Pin(5775 2100 80 20 "G" "1" 0x00000101)
- Pin(5875 2100 80 20 "D" "2" 0x00000001)
- Pin(5975 2100 80 20 "S" "3" 0x00000001)
- ElementLine (5675 1980 6075 1980 20)
- ElementLine (6075 1980 6075 2160 20)
- ElementLine (6075 2160 5675 2160 20)
- ElementLine (5675 2160 5675 1980 20)
- ElementLine (5675 1980 6075 1980 20)
- ElementLine (6075 1980 6075 2040 20)
- ElementLine (6075 2040 5675 2040 20)
- ElementLine (5675 2040 5675 1980 20)
- ElementLine (5805 1980 5805 2040 10)
- ElementLine (5945 1980 5945 2040 10)
- Mark (5775 2100)
-)
-
-Element(0x00000000 "optical coupling device" "U5" "6N136" 5775 1005 0 100 0x00000000)
-(
- Pin(5725 1175 60 28 "NC" "1" 0x00000101)
- Pin(5825 1175 60 28 "A+" "2" 0x00000001)
- Pin(5925 1175 60 28 "K-" "3" 0x00000001)
- Pin(6025 1175 60 28 "NC" "4" 0x00000001)
- Pin(6025 875 60 28 "Gnd" "5" 0x00000001)
- Pin(5925 875 60 28 "Out" "6" 0x00000001)
- Pin(5825 875 60 28 "En" "7" 0x00000001)
- Pin(5725 875 60 28 "Vcc" "8" 0x00000001)
- ElementLine (5675 975 5675 825 10)
- ElementLine (5675 1225 5675 1075 10)
- ElementLine (6075 825 5675 825 10)
- ElementLine (6075 1225 6075 825 10)
- ElementLine (5675 1225 6075 1225 10)
- ElementArc (5675 1025 50 50 90 180 10)
- Mark (5725 1175)
-)
-
-Element(0x00000000 "diode" "D7" "1N4007" 5795 1825 0 100 0x00000000)
-(
- Pin(5575 1875 50 20 "1" "1" 0x00000101)
- Pin(5875 1875 50 20 "2" "2" 0x00000001)
- ElementLine (5575 1875 5675 1875 10)
- ElementLine (5775 1875 5875 1875 10)
- ElementLine (5675 1875 5775 1825 10)
- ElementLine (5775 1825 5775 1925 10)
- ElementLine (5775 1925 5675 1875 10)
- ElementLine (5675 1825 5675 1925 10)
- Mark (5575 1875)
-)
-
-Element(0x00000000 "IRF1010N" "Q3" "IRF1010N" 5675 2735 0 100 0x00000000)
-(
- Pin(5775 2925 80 20 "G" "1" 0x00000101)
- Pin(5875 2925 80 20 "D" "2" 0x00000001)
- Pin(5975 2925 80 20 "S" "3" 0x00000001)
- ElementLine (5675 2805 6075 2805 20)
- ElementLine (6075 2805 6075 2985 20)
- ElementLine (6075 2985 5675 2985 20)
- ElementLine (5675 2985 5675 2805 20)
- ElementLine (5675 2805 6075 2805 20)
- ElementLine (6075 2805 6075 2865 20)
- ElementLine (6075 2865 5675 2865 20)
- ElementLine (5675 2865 5675 2805 20)
- ElementLine (5805 2805 5805 2865 10)
- ElementLine (5945 2805 5945 2865 10)
- Mark (5775 2925)
-)
-
-Element(0x00000000 "R 0.25W" "R12" "1k2" 980 2770 2 100 0x00000000)
-(
- Pin(1100 2750 50 20 "1" "1" 0x00000101)
- Pin(700 2750 50 20 "2" "2" 0x00000001)
- ElementLine (1000 2800 800 2800 20)
- ElementLine (800 2800 800 2700 20)
- ElementLine (800 2700 1000 2700 20)
- ElementLine (1000 2700 1000 2800 20)
- ElementLine (1100 2750 1000 2750 20)
- ElementLine (800 2750 700 2750 20)
- Mark (1100 2750)
-)
-
-Element(0x00000000 "E22 standing" "" "E22" 4000 3525 2 100 0x00000000)
-(
- ElementLine (4525 3850 3475 3850 20)
- ElementLine (4525 3850 4525 3200 20)
- ElementLine (4525 3200 4475 3200 20)
- ElementLine (4475 3200 4475 3750 20)
- ElementLine (4475 3750 4275 3750 20)
- ElementLine (4275 3750 4275 3200 20)
- ElementLine (4275 3200 4225 3200 20)
- ElementLine (4225 3200 4225 3750 20)
- ElementLine (4225 3750 3775 3750 20)
- ElementLine (3475 3850 3475 3200 20)
- ElementLine (3475 3200 3525 3200 20)
- ElementLine (3525 3200 3525 3750 20)
- ElementLine (3525 3750 3725 3750 20)
- ElementLine (3725 3750 3725 3200 20)
- ElementLine (3725 3200 3775 3200 20)
- ElementLine (3775 3200 3775 3750 20)
- Mark (4525 3850)
-)
-
-Element(0x00000000 "capacitor_radial" "C2" "100uFx16V" 4925 3150 0 100 0x00000000)
-(
- Pin(4700 3300 60 20 "1" "1" 0x00000101)
- Pin(4850 3300 60 20 "2" "2" 0x00000001)
- ElementArc (4775 3300 150 150 0 360 10)
- Mark (4700 3300)
-)
-
-Element(0x00000000 "R 0.25W" "R10" "1k5" 2930 2855 1 100 0x00000000)
-(
- Pin(2950 2975 50 20 "1" "1" 0x00000101)
- Pin(2950 2575 50 20 "2" "2" 0x00000001)
- ElementLine (2900 2875 2900 2675 20)
- ElementLine (2900 2675 3000 2675 20)
- ElementLine (3000 2675 3000 2875 20)
- ElementLine (3000 2875 2900 2875 20)
- ElementLine (2950 2975 2950 2875 20)
- ElementLine (2950 2675 2950 2575 20)
- Mark (2950 2975)
-)
-
-Element(0x00000000 "R 0.25W" "R3" "2k2" 4405 505 1 100 0x00000000)
-(
- Pin(4425 625 50 20 "1" "1" 0x00000101)
- Pin(4425 225 50 20 "2" "2" 0x00000001)
- ElementLine (4375 525 4375 325 20)
- ElementLine (4375 325 4475 325 20)
- ElementLine (4475 325 4475 525 20)
- ElementLine (4475 525 4375 525 20)
- ElementLine (4425 625 4425 525 20)
- ElementLine (4425 325 4425 225 20)
- Mark (4425 625)
-)
-
-Element(0x00000000 "capacitor_radial" "C9" "220nF" 3125 2700 2 100 0x00000000)
-(
- Pin(3275 2600 60 20 "1" "1" 0x00000101)
- Pin(3175 2600 60 20 "2" "2" 0x00000001)
- ElementArc (3225 2600 100 100 180 360 10)
- Mark (3275 2600)
-)
-
-Element(0x00000000 "SUB-D female 9 pins" "J9" "DB9_female" 500 1555 3 100 0x00000000)
-(
- Pin(850 1355 120 100 "C1" "C1" 0x00000001)
- Pin(850 2295 120 100 "C1" "C1" 0x00000001)
- Pin(900 1625 60 20 "5" "5" 0x00000001)
- Pin(800 1675 60 20 "9" "9" 0x00000001)
- Pin(900 1725 60 20 "4" "4" 0x00000001)
- Pin(800 1775 60 20 "8" "8" 0x00000001)
- Pin(900 1825 60 20 "3" "3" 0x00000001)
- Pin(800 1875 60 20 "7" "7" 0x00000001)
- Pin(900 1925 60 20 "2" "2" 0x00000001)
- Pin(800 1975 60 20 "6" "6" 0x00000001)
- Pin(900 2025 60 20 "1" "1" 0x00000101)
- ElementLine (900 2025 620 2025 20)
- ElementLine (800 1975 620 1975 20)
- ElementLine (900 1925 620 1925 20)
- ElementLine (800 1875 620 1875 20)
- ElementLine (900 1825 620 1825 20)
- ElementLine (800 1775 620 1775 20)
- ElementLine (900 1725 620 1725 20)
- ElementLine (800 1675 620 1675 20)
- ElementLine (900 1625 620 1625 20)
- ElementLine (420 2185 420 1465 10)
- ElementLine (620 2185 420 2185 20)
- ElementLine (620 1465 620 2185 20)
- ElementLine (420 1465 620 1465 20)
- ElementLine (120 2125 120 1525 20)
- ElementLine (390 2125 120 2125 20)
- ElementLine (390 1525 390 2125 10)
- ElementLine (120 1525 390 1525 20)
- ElementLine (390 2235 420 2235 10)
- ElementLine (390 2355 420 2355 10)
- ElementLine (390 1415 420 1415 10)
- ElementLine (390 1295 420 1295 10)
- ElementLine (390 2415 390 1235 10)
- ElementLine (420 2415 390 2415 10)
- ElementLine (420 1235 420 2415 10)
- ElementLine (390 1235 420 1235 10)
- Mark (900 1625)
-)
-
-Element(0x00000000 "IRF1010N" "Q4" "IRF1010N" 5150 2735 0 100 0x00000000)
-(
- Pin(5250 2925 80 20 "G" "1" 0x00000101)
- Pin(5350 2925 80 20 "D" "2" 0x00000001)
- Pin(5450 2925 80 20 "S" "3" 0x00000001)
- ElementLine (5150 2805 5550 2805 20)
- ElementLine (5550 2805 5550 2985 20)
- ElementLine (5550 2985 5150 2985 20)
- ElementLine (5150 2985 5150 2805 20)
- ElementLine (5150 2805 5550 2805 20)
- ElementLine (5550 2805 5550 2865 20)
- ElementLine (5550 2865 5150 2865 20)
- ElementLine (5150 2865 5150 2805 20)
- ElementLine (5280 2805 5280 2865 10)
- ElementLine (5420 2805 5420 2865 10)
- Mark (5250 2925)
-)
-
-Element(0x00000000 "capacitor_radial" "C1" "100uFx25V" 4625 3850 2 100 0x00000000)
-(
- Pin(4850 3700 60 20 "1" "1" 0x00000101)
- Pin(4700 3700 60 20 "2" "2" 0x00000001)
- ElementArc (4775 3700 150 150 180 360 10)
- Mark (4850 3700)
-)
-
-Element(0x00000000 "R 0.25W" "R11" "330" 980 2945 2 100 0x00000000)
-(
- Pin(1100 2925 50 20 "1" "1" 0x00000101)
- Pin(700 2925 50 20 "2" "2" 0x00000001)
- ElementLine (800 2925 700 2925 20)
- ElementLine (1100 2925 1000 2925 20)
- ElementLine (1000 2875 1000 2975 20)
- ElementLine (800 2875 1000 2875 20)
- ElementLine (800 2975 800 2875 20)
- ElementLine (1000 2975 800 2975 20)
- Mark (1100 2925)
-)
-
-Element(0x00000000 "E22 standing" "" "E22" 5550 3525 2 100 0x00000000)
-(
- ElementLine (6075 3850 5025 3850 20)
- ElementLine (6075 3850 6075 3200 20)
- ElementLine (6075 3200 6025 3200 20)
- ElementLine (6025 3200 6025 3750 20)
- ElementLine (6025 3750 5825 3750 20)
- ElementLine (5825 3750 5825 3200 20)
- ElementLine (5825 3200 5775 3200 20)
- ElementLine (5775 3200 5775 3750 20)
- ElementLine (5775 3750 5325 3750 20)
- ElementLine (5025 3850 5025 3200 20)
- ElementLine (5025 3200 5075 3200 20)
- ElementLine (5075 3200 5075 3750 20)
- ElementLine (5075 3750 5275 3750 20)
- ElementLine (5275 3750 5275 3200 20)
- ElementLine (5275 3200 5325 3200 20)
- ElementLine (5325 3200 5325 3750 20)
- Mark (6075 3850)
-)
-
-Element(0x00000000 "R 0.25W" "R9" "10k" 2770 2695 3 100 0x00000000)
-(
- Pin(2750 2575 50 20 "1" "1" 0x00000101)
- Pin(2750 2975 50 20 "2" "2" 0x00000001)
- ElementLine (2800 2675 2800 2875 20)
- ElementLine (2800 2875 2700 2875 20)
- ElementLine (2700 2875 2700 2675 20)
- ElementLine (2700 2675 2800 2675 20)
- ElementLine (2750 2575 2750 2675 20)
- ElementLine (2750 2875 2750 2975 20)
- Mark (2750 2575)
-)
-
-Element(0x00000000 "+12V 1.5A voltage regulator" "U3" "7812" 5750 3790 2 100 0x00000000)
-(
- Pin(5650 3600 80 20 "In" "1" 0x00000101)
- Pin(5550 3600 80 20 "Com" "2" 0x00000001)
- Pin(5450 3600 80 20 "Out" "3" 0x00000001)
- ElementLine (5480 3720 5480 3660 10)
- ElementLine (5620 3720 5620 3660 10)
- ElementLine (5750 3660 5750 3720 20)
- ElementLine (5350 3660 5750 3660 20)
- ElementLine (5350 3720 5350 3660 20)
- ElementLine (5750 3720 5350 3720 20)
- ElementLine (5750 3540 5750 3720 20)
- ElementLine (5350 3540 5750 3540 20)
- ElementLine (5350 3720 5350 3540 20)
- ElementLine (5750 3720 5350 3720 20)
- Mark (5650 3600)
-)
-
-Element(0x00000000 "capacitor_radial" "C8" "1000uFx35V" 4525 3025 2 100 0x00000000)
-(
- Pin(4900 2775 60 20 "1" "1" 0x00000101)
- Pin(4650 2775 60 20 "2" "2" 0x00000001)
- ElementArc (4775 2775 250 250 180 360 10)
- Mark (4900 2775)
-)
-
-Element(0x00000000 "generic" "U11" "10MHz" 1725 3030 0 100 0x00000000)
-(
- Pin(1675 3200 60 28 "1" "1" 0x00000101)
- Pin(1775 3200 60 28 "2" "2" 0x00000001)
- Pin(1875 3200 60 28 "3" "3" 0x00000001)
- Pin(1975 3200 60 28 "4" "4" 0x00000001)
- Pin(1975 2900 60 28 "5" "5" 0x00000001)
- Pin(1875 2900 60 28 "6" "6" 0x00000001)
- Pin(1775 2900 60 28 "7" "7" 0x00000001)
- Pin(1675 2900 60 28 "8" "8" 0x00000001)
- ElementLine (1625 3000 1625 2850 10)
- ElementLine (1625 3250 1625 3100 10)
- ElementLine (2025 2850 1625 2850 10)
- ElementLine (2025 3250 2025 2850 10)
- ElementLine (1625 3250 2025 3250 10)
- ElementArc (1625 3050 50 50 90 180 10)
- Mark (1675 3200)
-)
-
-Element(0x00000000 "connector 2x1 pins" "JP2" "XRESET" 1210 3250 3 100 0x00000000)
-(
- Pin(1000 3300 60 30 "1" "1" 0x00000101)
- Pin(1100 3300 60 30 "2" "2" 0x00000001)
- ElementLine (1050 3350 1050 3250 10)
- ElementLine (950 3350 1050 3350 10)
- ElementLine (1150 3250 950 3250 20)
- ElementLine (1150 3350 1150 3250 20)
- ElementLine (950 3350 1150 3350 20)
- ElementLine (950 3250 950 3350 20)
- Mark (1000 3300)
-)
-
-Element(0x00000000 "DIN 41612C-96 male" "J15" "DIN41612C96_male" 6575 3455 1 200 0x00000000)
-(
- Pin(6475 475 60 30 "a1" "A1" 0x00000101)
- Pin(6475 575 60 30 "a2" "A2" 0x00000001)
- Pin(6475 675 60 30 "a3" "A3" 0x00000001)
- Pin(6475 775 60 30 "a4" "A4" 0x00000001)
- Pin(6475 875 60 30 "a5" "A5" 0x00000001)
- Pin(6475 975 60 30 "a6" "A6" 0x00000001)
- Pin(6475 1075 60 30 "a7" "A7" 0x00000001)
- Pin(6475 1175 60 30 "a8" "A8" 0x00000001)
- Pin(6475 1275 60 30 "a9" "A9" 0x00000001)
- Pin(6475 1375 60 30 "a10" "A10" 0x00000001)
- Pin(6475 1475 60 30 "a11" "A11" 0x00000001)
- Pin(6475 1575 60 30 "a12" "A12" 0x00000001)
- Pin(6475 1675 60 30 "a13" "A13" 0x00000001)
- Pin(6475 1775 60 30 "a14" "A14" 0x00000001)
- Pin(6475 1875 60 30 "a15" "A15" 0x00000001)
- Pin(6475 1975 60 30 "a16" "A16" 0x00000001)
- Pin(6475 2075 60 30 "a17" "A17" 0x00000001)
- Pin(6475 2175 60 30 "a18" "A18" 0x00000001)
- Pin(6475 2275 60 30 "a19" "A19" 0x00000001)
- Pin(6475 2375 60 30 "a20" "A20" 0x00000001)
- Pin(6475 2475 60 30 "a21" "A21" 0x00000001)
- Pin(6475 2575 60 30 "a22" "A22" 0x00000001)
- Pin(6475 2675 60 30 "a23" "A23" 0x00000001)
- Pin(6475 2775 60 30 "a24" "A24" 0x00000001)
- Pin(6475 2875 60 30 "a25" "A25" 0x00000001)
- Pin(6475 2975 60 30 "a26" "A26" 0x00000001)
- Pin(6475 3075 60 30 "a27" "A27" 0x00000001)
- Pin(6475 3175 60 30 "a28" "A28" 0x00000001)
- Pin(6475 3275 60 30 "a29" "A29" 0x00000001)
- Pin(6475 3375 60 30 "a30" "A30" 0x01000001)
- Pin(6475 3475 60 30 "a31" "A31" 0x01000001)
- Pin(6475 3575 60 30 "a32" "A32" 0x00000001)
- Pin(6375 475 60 30 "b1" "B1" 0x00000001)
- Pin(6375 575 60 30 "b2" "B2" 0x00000001)
- Pin(6375 675 60 30 "b3" "B3" 0x00000001)
- Pin(6375 775 60 30 "b4" "B4" 0x00000001)
- Pin(6375 875 60 30 "b5" "B5" 0x00000001)
- Pin(6375 975 60 30 "b6" "B6" 0x00000001)
- Pin(6375 1075 60 30 "b7" "B7" 0x00000001)
- Pin(6375 1175 60 30 "b8" "B8" 0x00000001)
- Pin(6375 1275 60 30 "b9" "B9" 0x00000001)
- Pin(6375 1375 60 30 "b10" "B10" 0x00000001)
- Pin(6375 1475 60 30 "b11" "B11" 0x00000001)
- Pin(6375 1575 60 30 "b12" "B12" 0x00000001)
- Pin(6375 1675 60 30 "b13" "B13" 0x00000001)
- Pin(6375 1775 60 30 "b14" "B14" 0x00000001)
- Pin(6375 1875 60 30 "b15" "B15" 0x00000001)
- Pin(6375 1975 60 30 "b16" "B16" 0x00000001)
- Pin(6375 2075 60 30 "b17" "B17" 0x00000001)
- Pin(6375 2175 60 30 "b18" "B18" 0x00000001)
- Pin(6375 2275 60 30 "b19" "B19" 0x00000001)
- Pin(6375 2375 60 30 "b20" "B20" 0x00000001)
- Pin(6375 2475 60 30 "b21" "B21" 0x00000001)
- Pin(6375 2575 60 30 "b22" "B22" 0x00000001)
- Pin(6375 2675 60 30 "b23" "B23" 0x00000001)
- Pin(6375 2775 60 30 "b24" "B24" 0x00000001)
- Pin(6375 2875 60 30 "b25" "B25" 0x00000001)
- Pin(6375 2975 60 30 "b26" "B26" 0x00000001)
- Pin(6375 3075 60 30 "b27" "B27" 0x00000001)
- Pin(6375 3175 60 30 "b28" "B28" 0x00000001)
- Pin(6375 3275 60 30 "b29" "B29" 0x00000001)
- Pin(6375 3375 60 30 "b30" "B30" 0x01000001)
- Pin(6375 3475 60 30 "b31" "B31" 0x01000001)
- Pin(6375 3575 60 30 "b32" "B32" 0x00000001)
- Pin(6275 475 60 30 "c1" "C1" 0x00000001)
- Pin(6275 575 60 30 "c2" "C2" 0x00000001)
- Pin(6275 675 60 30 "c3" "C3" 0x00000001)
- Pin(6275 775 60 30 "c4" "C4" 0x00000001)
- Pin(6275 875 60 30 "c5" "C5" 0x00000001)
- Pin(6275 975 60 30 "c6" "C6" 0x00000001)
- Pin(6275 1075 60 30 "c7" "C7" 0x00000001)
- Pin(6275 1175 60 30 "c8" "C8" 0x00000001)
- Pin(6275 1275 60 30 "c9" "C9" 0x00000001)
- Pin(6275 1375 60 30 "c10" "C10" 0x00000001)
- Pin(6275 1475 60 30 "c11" "C11" 0x00000001)
- Pin(6275 1575 60 30 "c12" "C12" 0x00000001)
- Pin(6275 1675 60 30 "c13" "C13" 0x00000001)
- Pin(6275 1775 60 30 "c14" "C14" 0x00000001)
- Pin(6275 1875 60 30 "c15" "C15" 0x00000001)
- Pin(6275 1975 60 30 "c16" "C16" 0x00000001)
- Pin(6275 2075 60 30 "c17" "C17" 0x00000001)
- Pin(6275 2175 60 30 "c18" "C18" 0x00000001)
- Pin(6275 2275 60 30 "c19" "C19" 0x00000001)
- Pin(6275 2375 60 30 "c20" "C20" 0x00000001)
- Pin(6275 2475 60 30 "c21" "C21" 0x00000001)
- Pin(6275 2575 60 30 "c22" "C22" 0x00000001)
- Pin(6275 2675 60 30 "c23" "C23" 0x00000001)
- Pin(6275 2775 60 30 "c24" "C24" 0x00000001)
- Pin(6275 2875 60 30 "c25" "C25" 0x00000001)
- Pin(6275 2975 60 30 "c26" "C26" 0x00000001)
- Pin(6275 3075 60 30 "c27" "C27" 0x00000001)
- Pin(6275 3175 60 30 "c28" "C28" 0x00000001)
- Pin(6275 3275 60 30 "c29" "C29" 0x00000001)
- Pin(6275 3375 60 30 "c30" "C30" 0x01000001)
- Pin(6275 3475 60 30 "c31" "C31" 0x01000001)
- Pin(6275 3575 60 30 "c32" "C32" 0x00000001)
- Pin(6575 3775 120 80 "M1" "M1" 0x00000001)
- Pin(6575 275 120 80 "M2" "M2" 0x00000001)
- ElementLine (6975 275 6795 275 20)
- ElementLine (6975 3775 6975 275 20)
- ElementLine (6795 3775 6975 3775 20)
- ElementLine (6570 3655 6570 395 20)
- ElementLine (6570 395 6475 395 20)
- ElementLine (6795 395 6570 395 10)
- ElementLine (6795 275 6795 395 10)
- ElementLine (6795 175 6795 275 20)
- ElementLine (6475 175 6795 175 20)
- ElementLine (6475 395 6475 175 20)
- ElementLine (6795 3875 6475 3875 20)
- ElementLine (6795 3775 6795 3875 20)
- ElementLine (6795 3655 6795 3775 10)
- ElementLine (6570 3655 6795 3655 10)
- ElementLine (6475 3655 6570 3655 20)
- ElementLine (6475 3875 6475 3655 20)
- ElementLine (6275 475 6550 475 40)
- ElementLine (6275 575 6550 575 40)
- ElementLine (6275 675 6550 675 40)
- ElementLine (6275 775 6550 775 40)
- ElementLine (6275 875 6550 875 40)
- ElementLine (6275 975 6550 975 40)
- ElementLine (6275 1075 6550 1075 40)
- ElementLine (6275 1175 6550 1175 40)
- ElementLine (6275 1275 6550 1275 40)
- ElementLine (6275 1375 6550 1375 40)
- ElementLine (6275 1475 6550 1475 40)
- ElementLine (6275 1575 6550 1575 40)
- ElementLine (6275 1675 6550 1675 40)
- ElementLine (6275 1775 6550 1775 40)
- ElementLine (6275 1875 6550 1875 40)
- ElementLine (6275 1975 6550 1975 40)
- ElementLine (6275 2075 6550 2075 40)
- ElementLine (6275 2175 6550 2175 40)
- ElementLine (6275 2275 6550 2275 40)
- ElementLine (6275 2375 6550 2375 40)
- ElementLine (6275 2475 6550 2475 40)
- ElementLine (6275 2575 6550 2575 40)
- ElementLine (6275 2675 6550 2675 40)
- ElementLine (6275 2775 6550 2775 40)
- ElementLine (6275 2875 6550 2875 40)
- ElementLine (6275 2975 6550 2975 40)
- ElementLine (6275 3075 6550 3075 40)
- ElementLine (6275 3175 6550 3175 40)
- ElementLine (6275 3275 6550 3275 40)
- ElementLine (6275 3375 6550 3375 40)
- ElementLine (6275 3475 6550 3475 40)
- ElementLine (6275 3575 6550 3575 40)
- Mark (6475 475)
-)
-
-Element(0x00000000 "capacitor_radial" "C11" "2.2nF" 5450 2000 0 100 0x00000000)
-(
- Pin(5300 2100 60 20 "1" "1" 0x00000101)
- Pin(5400 2100 60 20 "2" "2" 0x00000001)
- ElementArc (5350 2100 100 100 0 360 10)
- Mark (5300 2100)
-)
-
-Element(0x00000000 "IRF1010N" "Q1" "IRF1010N" 5675 2260 0 100 0x00000000)
-(
- Pin(5775 2450 80 20 "G" "1" 0x00000101)
- Pin(5875 2450 80 20 "D" "2" 0x00000001)
- Pin(5975 2450 80 20 "S" "3" 0x00000001)
- ElementLine (5675 2330 6075 2330 20)
- ElementLine (6075 2330 6075 2510 20)
- ElementLine (6075 2510 5675 2510 20)
- ElementLine (5675 2510 5675 2330 20)
- ElementLine (5675 2330 6075 2330 20)
- ElementLine (6075 2330 6075 2390 20)
- ElementLine (6075 2390 5675 2390 20)
- ElementLine (5675 2390 5675 2330 20)
- ElementLine (5805 2330 5805 2390 10)
- ElementLine (5945 2330 5945 2390 10)
- Mark (5775 2450)
-)
-
-Element(0x00000000 "diode" "D3" "1N4007" 850 3520 3 100 0x00000000)
-(
- Pin(800 3300 50 20 "1" "1" 0x00000101)
- Pin(800 3600 50 20 "2" "2" 0x00000001)
- ElementLine (800 3300 800 3400 10)
- ElementLine (800 3500 800 3600 10)
- ElementLine (800 3400 850 3500 10)
- ElementLine (850 3500 750 3500 10)
- ElementLine (750 3500 800 3400 10)
- ElementLine (850 3400 750 3400 10)
- Mark (800 3300)
-)
-
-Element(0x00000000 "capacitor_radial" "C7" "1000uFx35V" 4525 2450 2 100 0x00000000)
-(
- Pin(4900 2200 60 20 "1" "1" 0x00000101)
- Pin(4650 2200 60 20 "2" "2" 0x00000001)
- ElementArc (4775 2200 250 250 180 360 10)
- Mark (4900 2200)
-)
-
-Element(0x00000000 "Push-button, tactile, right angle, 466mils actuator" "S1" "MJTP1236_D" 598 3389 0 100 0x00000000)
-(
- Pin(500 3300 59 39 "1" "1" 0x00000101)
- Pin(500 3477 59 39 "2" "2" 0x00000001)
- Pin(598 3251 71 51 "C1" "C1" 0x00000001)
- Pin(598 3527 71 51 "C2" "C2" 0x00000001)
- ElementLine (34 3448 400 3458 20)
- ElementLine (34 3330 34 3448 20)
- ElementLine (400 3320 34 3330 20)
- ElementLine (538 3527 538 3251 20)
- ElementLine (400 3527 658 3527 20)
- ElementLine (400 3251 400 3527 20)
- ElementLine (658 3251 400 3251 20)
- Mark (500 3300)
-)
-
-Element(0x00000000 "LED 5mm" "D10" "Green" 475 2570 0 100 0x00000000)
-(
- Pin(525 2650 60 20 "-" "1" 0x00000101)
- Pin(525 2750 60 20 "+" "2" 0x00000001)
- ElementArc (525 2700 50 50 0 360 15)
- ElementArc (525 2700 70 70 0 360 10)
- Mark (525 2650)
-)
-
-Element(0x00000000 "generic PAL replacement" "U8" "GAL22V10" 2800 2180 0 100 0x00000000)
-(
- Pin(2750 2350 60 28 "CLK/I1" "1" 0x00000101)
- Pin(2850 2350 60 28 "I2" "2" 0x00000001)
- Pin(2950 2350 60 28 "I3" "3" 0x00000001)
- Pin(3050 2350 60 28 "I4" "4" 0x00000001)
- Pin(3150 2350 60 28 "I5" "5" 0x00000001)
- Pin(3250 2350 60 28 "I6" "6" 0x00000001)
- Pin(3350 2350 60 28 "I7" "7" 0x00000001)
- Pin(3450 2350 60 28 "I8" "8" 0x00000001)
- Pin(3550 2350 60 28 "I9" "9" 0x00000001)
- Pin(3650 2350 60 28 "I10" "10" 0x00000001)
- Pin(3750 2350 60 28 "I11" "11" 0x00000001)
- Pin(3850 2350 60 28 "Gnd" "12" 0x00000001)
- Pin(3850 2050 60 28 "I12" "13" 0x00000001)
- Pin(3750 2050 60 28 "I/O/Qj" "14" 0x00000001)
- Pin(3650 2050 60 28 "I/O/Qi" "15" 0x00000001)
- Pin(3550 2050 60 28 "I/O/Qh" "16" 0x00000001)
- Pin(3450 2050 60 28 "I/O/Qg" "17" 0x00000001)
- Pin(3350 2050 60 28 "I/O/Qf" "18" 0x00000001)
- Pin(3250 2050 60 28 "I/O/Qe" "19" 0x00000001)
- Pin(3150 2050 60 28 "I/O/Qd" "20" 0x00000001)
- Pin(3050 2050 60 28 "I/O/Qc" "21" 0x00000001)
- Pin(2950 2050 60 28 "I/O/Qb" "22" 0x00000001)
- Pin(2850 2050 60 28 "I/O/Qa" "23" 0x00000001)
- Pin(2750 2050 60 28 "Vcc" "24" 0x00000001)
- ElementLine (2700 2150 2700 2000 10)
- ElementLine (2700 2400 2700 2250 10)
- ElementLine (3900 2000 2700 2000 10)
- ElementLine (3900 2400 3900 2000 10)
- ElementLine (2700 2400 3900 2400 10)
- ElementArc (2700 2200 50 50 90 180 10)
- Mark (2750 2350)
-)
-
-Element(0x00000000 "generic" "U6" "8254" 1400 2330 0 100 0x00000000)
-(
- Pin(1350 2650 60 28 "1" "1" 0x00000101)
- Pin(1450 2650 60 28 "2" "2" 0x00000001)
- Pin(1550 2650 60 28 "3" "3" 0x00000001)
- Pin(1650 2650 60 28 "4" "4" 0x00000001)
- Pin(1750 2650 60 28 "5" "5" 0x00000001)
- Pin(1850 2650 60 28 "6" "6" 0x00000001)
- Pin(1950 2650 60 28 "7" "7" 0x00000001)
- Pin(2050 2650 60 28 "8" "8" 0x00000001)
- Pin(2150 2650 60 28 "9" "9" 0x00000001)
- Pin(2250 2650 60 28 "10" "10" 0x00000001)
- Pin(2350 2650 60 28 "11" "11" 0x00000001)
- Pin(2450 2650 60 28 "12" "12" 0x00000001)
- Pin(2450 2050 60 28 "13" "13" 0x00000001)
- Pin(2350 2050 60 28 "14" "14" 0x00000001)
- Pin(2250 2050 60 28 "15" "15" 0x00000001)
- Pin(2150 2050 60 28 "16" "16" 0x00000001)
- Pin(2050 2050 60 28 "17" "17" 0x00000001)
- Pin(1950 2050 60 28 "18" "18" 0x00000001)
- Pin(1850 2050 60 28 "19" "19" 0x00000001)
- Pin(1750 2050 60 28 "20" "20" 0x00000001)
- Pin(1650 2050 60 28 "21" "21" 0x00000001)
- Pin(1550 2050 60 28 "22" "22" 0x00000001)
- Pin(1450 2050 60 28 "23" "23" 0x00000001)
- Pin(1350 2050 60 28 "24" "24" 0x00000001)
- ElementLine (1300 2300 1300 2000 10)
- ElementLine (1300 2700 1300 2400 10)
- ElementLine (2500 2000 1300 2000 10)
- ElementLine (2500 2700 2500 2000 10)
- ElementLine (1300 2700 2500 2700 10)
- ElementArc (1300 2350 50 50 90 180 10)
- Mark (1350 2650)
-)
-
-Element(0x00000000 "connector 2x4 pins" "JP1" "ADDRESS" 4360 2000 3 100 0x00000000)
-(
- Pin(4150 2050 60 30 "1" "1" 0x00000101)
- Pin(4250 2050 60 30 "2" "2" 0x00000001)
- Pin(4150 2150 60 30 "3" "3" 0x00000001)
- Pin(4250 2150 60 30 "4" "4" 0x00000001)
- Pin(4150 2250 60 30 "5" "5" 0x00000001)
- Pin(4250 2250 60 30 "6" "6" 0x00000001)
- Pin(4150 2350 60 30 "7" "7" 0x00000001)
- Pin(4250 2350 60 30 "8" "8" 0x00000001)
- ElementLine (4100 2000 4100 2400 20)
- ElementLine (4100 2400 4300 2400 20)
- ElementLine (4300 2400 4300 2000 20)
- ElementLine (4300 2000 4100 2000 20)
- ElementLine (4100 2100 4200 2100 10)
- ElementLine (4200 2100 4200 2000 10)
- Mark (4150 2050)
-)
-
-Element(0x00000000 "capacitor_radial" "C4" "10uFx25V" 3275 3625 0 100 0x00000000)
-(
- Pin(3125 3725 60 20 "1" "1" 0x00000101)
- Pin(3225 3725 60 20 "2" "2" 0x00000001)
- ElementArc (3175 3725 100 100 0 360 10)
- Mark (3125 3725)
-)
-
-Element(0x00000000 "generic" "U7" "HCTL-2016" 2450 405 0 100 0x00000000)
-(
- Pin(2400 575 60 28 "1" "1" 0x00000101)
- Pin(2500 575 60 28 "2" "2" 0x00000001)
- Pin(2600 575 60 28 "3" "3" 0x00000001)
- Pin(2700 575 60 28 "4" "4" 0x00000001)
- Pin(2800 575 60 28 "5" "5" 0x00000001)
- Pin(2900 575 60 28 "6" "6" 0x00000001)
- Pin(3000 575 60 28 "7" "7" 0x00000001)
- Pin(3100 575 60 28 "8" "8" 0x00000001)
- Pin(3100 275 60 28 "9" "9" 0x00000001)
- Pin(3000 275 60 28 "10" "10" 0x00000001)
- Pin(2900 275 60 28 "11" "11" 0x00000001)
- Pin(2800 275 60 28 "12" "12" 0x00000001)
- Pin(2700 275 60 28 "13" "13" 0x00000001)
- Pin(2600 275 60 28 "14" "14" 0x00000001)
- Pin(2500 275 60 28 "15" "15" 0x00000001)
- Pin(2400 275 60 28 "16" "16" 0x00000001)
- ElementLine (2350 375 2350 225 10)
- ElementLine (2350 625 2350 475 10)
- ElementLine (3150 225 2350 225 10)
- ElementLine (3150 625 3150 225 10)
- ElementLine (2350 625 3150 625 10)
- ElementArc (2350 425 50 50 90 180 10)
- Mark (2400 575)
-)
-
-Element(0x00000000 "IRF1010N" "Q2" "IRF1010N" 5150 2260 0 100 0x00000000)
-(
- Pin(5250 2450 80 20 "G" "1" 0x00000101)
- Pin(5350 2450 80 20 "D" "2" 0x00000001)
- Pin(5450 2450 80 20 "S" "3" 0x00000001)
- ElementLine (5150 2330 5550 2330 20)
- ElementLine (5550 2330 5550 2510 20)
- ElementLine (5550 2510 5150 2510 20)
- ElementLine (5150 2510 5150 2330 20)
- ElementLine (5150 2330 5550 2330 20)
- ElementLine (5550 2330 5550 2390 20)
- ElementLine (5550 2390 5150 2390 20)
- ElementLine (5150 2390 5150 2330 20)
- ElementLine (5280 2330 5280 2390 10)
- ElementLine (5420 2330 5420 2390 10)
- Mark (5250 2450)
-)
-
-Element(0x00000000 "LED 5mm" "D9" "Red" 475 2845 0 100 0x00000000)
-(
- Pin(525 2925 60 20 "-" "1" 0x00000101)
- Pin(525 3025 60 20 "+" "2" 0x00000001)
- ElementArc (525 2975 70 70 0 360 10)
- ElementArc (525 2975 50 50 0 360 15)
- Mark (525 2925)
-)
-
-Element(0x00000000 "diode" "D1" "1N4148" 1575 3645 3 100 0x00000000)
-(
- Pin(1525 3425 50 20 "1" "1" 0x00000101)
- Pin(1525 3725 50 20 "2" "2" 0x00000001)
- ElementLine (1575 3525 1475 3525 10)
- ElementLine (1475 3625 1525 3525 10)
- ElementLine (1575 3625 1475 3625 10)
- ElementLine (1525 3525 1575 3625 10)
- ElementLine (1525 3625 1525 3725 10)
- ElementLine (1525 3425 1525 3525 10)
- Mark (1525 3425)
-)
-
-Element(0x00000000 "R 0.25W" "R4" "390" 5505 505 1 100 0x00000000)
-(
- Pin(5525 625 50 20 "1" "1" 0x00000101)
- Pin(5525 225 50 20 "2" "2" 0x00000001)
- ElementLine (5475 525 5475 325 20)
- ElementLine (5475 325 5575 325 20)
- ElementLine (5575 325 5575 525 20)
- ElementLine (5575 525 5475 525 20)
- ElementLine (5525 625 5525 525 20)
- ElementLine (5525 325 5525 225 20)
- Mark (5525 625)
-)
-
-Element(0x00000000 "optical coupling device" "U13" "6N136" 3975 405 0 100 0x00000000)
-(
- Pin(3925 575 60 28 "NC" "1" 0x00000101)
- Pin(4025 575 60 28 "A+" "2" 0x00000001)
- Pin(4125 575 60 28 "K-" "3" 0x00000001)
- Pin(4225 575 60 28 "NC" "4" 0x00000001)
- Pin(4225 275 60 28 "Gnd" "5" 0x00000001)
- Pin(4125 275 60 28 "Out" "6" 0x00000001)
- Pin(4025 275 60 28 "En" "7" 0x00000001)
- Pin(3925 275 60 28 "Vcc" "8" 0x00000001)
- ElementLine (3875 375 3875 225 10)
- ElementLine (3875 625 3875 475 10)
- ElementLine (4275 225 3875 225 10)
- ElementLine (4275 625 4275 225 10)
- ElementLine (3875 625 4275 625 10)
- ElementArc (3875 425 50 50 90 180 10)
- Mark (3925 575)
-)
-
-Element(0x00000000 "optical coupling device" "U14" "6N136" 4875 1005 0 100 0x00000000)
-(
- Pin(4825 1175 60 28 "NC" "1" 0x00000101)
- Pin(4925 1175 60 28 "A+" "2" 0x00000001)
- Pin(5025 1175 60 28 "K-" "3" 0x00000001)
- Pin(5125 1175 60 28 "NC" "4" 0x00000001)
- Pin(5125 875 60 28 "Gnd" "5" 0x00000001)
- Pin(5025 875 60 28 "Out" "6" 0x00000001)
- Pin(4925 875 60 28 "En" "7" 0x00000001)
- Pin(4825 875 60 28 "Vcc" "8" 0x00000001)
- ElementLine (4775 975 4775 825 10)
- ElementLine (4775 1225 4775 1075 10)
- ElementLine (5175 825 4775 825 10)
- ElementLine (5175 1225 5175 825 10)
- ElementLine (4775 1225 5175 1225 10)
- ElementArc (4775 1025 50 50 90 180 10)
- Mark (4825 1175)
-)
-
-Element(0x00000000 "R 0.25W" "R5" "390" 5305 1105 1 100 0x00000000)
-(
- Pin(5325 1225 50 20 "1" "1" 0x00000101)
- Pin(5325 825 50 20 "2" "2" 0x00000001)
- ElementLine (5275 1125 5275 925 20)
- ElementLine (5275 925 5375 925 20)
- ElementLine (5375 925 5375 1125 20)
- ElementLine (5375 1125 5275 1125 20)
- ElementLine (5325 1225 5325 1125 20)
- ElementLine (5325 925 5325 825 20)
- Mark (5325 1225)
-)
-
-Element(0x00000000 "R 0.25W" "R6" "2k2" 4605 1105 1 100 0x00000000)
-(
- Pin(4625 1225 50 20 "1" "1" 0x00000101)
- Pin(4625 825 50 20 "2" "2" 0x00000001)
- ElementLine (4575 1125 4575 925 20)
- ElementLine (4575 925 4675 925 20)
- ElementLine (4675 925 4675 1125 20)
- ElementLine (4675 1125 4575 1125 20)
- ElementLine (4625 1225 4625 1125 20)
- ElementLine (4625 925 4625 825 20)
- Mark (4625 1225)
-)
-
-Element(0x00000000 "R 0.25W" "R2" "2k2" 4605 505 1 100 0x00000000)
-(
- Pin(4625 625 50 20 "1" "1" 0x00000101)
- Pin(4625 225 50 20 "2" "2" 0x00000001)
- ElementLine (4575 525 4575 325 20)
- ElementLine (4575 325 4675 325 20)
- ElementLine (4675 325 4675 525 20)
- ElementLine (4675 525 4575 525 20)
- ElementLine (4625 625 4625 525 20)
- ElementLine (4625 325 4625 225 20)
- Mark (4625 625)
-)
-
-Element(0x00000000 "optical coupling device" "U12" "6N136" 4875 405 0 100 0x00000000)
-(
- Pin(4825 575 60 28 "NC" "1" 0x00000101)
- Pin(4925 575 60 28 "A+" "2" 0x00000001)
- Pin(5025 575 60 28 "K-" "3" 0x00000001)
- Pin(5125 575 60 28 "NC" "4" 0x00000001)
- Pin(5125 275 60 28 "Gnd" "5" 0x00000001)
- Pin(5025 275 60 28 "Out" "6" 0x00000001)
- Pin(4925 275 60 28 "En" "7" 0x00000001)
- Pin(4825 275 60 28 "Vcc" "8" 0x00000001)
- ElementLine (4775 375 4775 225 10)
- ElementLine (4775 625 4775 475 10)
- ElementLine (5175 225 4775 225 10)
- ElementLine (5175 625 5175 225 10)
- ElementLine (4775 625 5175 625 10)
- ElementArc (4775 425 50 50 90 180 10)
- Mark (4825 575)
-)
-
-Element(0x00000000 "R 0.25W" "R1" "390" 5305 505 1 100 0x00000000)
-(
- Pin(5325 625 50 20 "1" "1" 0x00000101)
- Pin(5325 225 50 20 "2" "2" 0x00000001)
- ElementLine (5275 525 5275 325 20)
- ElementLine (5275 325 5375 325 20)
- ElementLine (5375 325 5375 525 20)
- ElementLine (5375 525 5275 525 20)
- ElementLine (5325 625 5325 525 20)
- ElementLine (5325 325 5325 225 20)
- Mark (5325 625)
-)
-
-Element(0x00000000 "R 0.25W" "R8" "390" 5505 1105 1 100 0x00000000)
-(
- Pin(5525 1225 50 20 "1" "1" 0x00000101)
- Pin(5525 825 50 20 "2" "2" 0x00000001)
- ElementLine (5475 1125 5475 925 20)
- ElementLine (5475 925 5575 925 20)
- ElementLine (5575 925 5575 1125 20)
- ElementLine (5575 1125 5475 1125 20)
- ElementLine (5525 1225 5525 1125 20)
- ElementLine (5525 925 5525 825 20)
- Mark (5525 1225)
-)
-
-Element(0x00000000 "optical coupling device" "U15" "6N136" 3975 1005 0 100 0x00000000)
-(
- Pin(3925 1175 60 28 "NC" "1" 0x00000101)
- Pin(4025 1175 60 28 "A+" "2" 0x00000001)
- Pin(4125 1175 60 28 "K-" "3" 0x00000001)
- Pin(4225 1175 60 28 "NC" "4" 0x00000001)
- Pin(4225 875 60 28 "Gnd" "5" 0x00000001)
- Pin(4125 875 60 28 "Out" "6" 0x00000001)
- Pin(4025 875 60 28 "En" "7" 0x00000001)
- Pin(3925 875 60 28 "Vcc" "8" 0x00000001)
- ElementLine (3875 975 3875 825 10)
- ElementLine (3875 1225 3875 1075 10)
- ElementLine (4275 825 3875 825 10)
- ElementLine (4275 1225 4275 825 10)
- ElementLine (3875 1225 4275 1225 10)
- ElementArc (3875 1025 50 50 90 180 10)
- Mark (3925 1175)
-)
-
-Element(0x00000000 "R 0.25W" "R7" "2k2" 4405 1105 1 100 0x00000000)
-(
- Pin(4425 1225 50 20 "1" "1" 0x00000101)
- Pin(4425 825 50 20 "2" "2" 0x00000001)
- ElementLine (4375 1125 4375 925 20)
- ElementLine (4375 925 4475 925 20)
- ElementLine (4475 925 4475 1125 20)
- ElementLine (4475 1125 4375 1125 20)
- ElementLine (4425 1225 4425 1125 20)
- ElementLine (4425 925 4425 825 20)
- Mark (4425 1225)
-)
-
-Element(0x00000000 "+5V 1.5A voltage regulator" "U2" "7805" 4200 3790 2 100 0x00000000)
-(
- Pin(4100 3600 80 20 "In" "1" 0x00000101)
- Pin(4000 3600 80 20 "Com" "2" 0x00000001)
- Pin(3900 3600 80 20 "Out" "3" 0x00000001)
- ElementLine (3930 3720 3930 3660 10)
- ElementLine (4070 3720 4070 3660 10)
- ElementLine (4200 3660 4200 3720 20)
- ElementLine (3800 3660 4200 3660 20)
- ElementLine (3800 3720 3800 3660 20)
- ElementLine (4200 3720 3800 3720 20)
- ElementLine (4200 3540 4200 3720 20)
- ElementLine (3800 3540 4200 3540 20)
- ElementLine (3800 3720 3800 3540 20)
- ElementLine (4200 3720 3800 3720 20)
- Mark (4100 3600)
-)
-
-Element(0x00000000 "diode" "D2" "1N4148" 2975 3645 3 100 0x00000000)
-(
- Pin(2925 3425 50 20 "1" "1" 0x00000101)
- Pin(2925 3725 50 20 "2" "2" 0x00000001)
- ElementLine (2975 3525 2875 3525 10)
- ElementLine (2875 3625 2925 3525 10)
- ElementLine (2975 3625 2875 3625 10)
- ElementLine (2925 3525 2975 3625 10)
- ElementLine (2925 3625 2925 3725 10)
- ElementLine (2925 3425 2925 3525 10)
- Mark (2925 3425)
-)
-
-Element(0x00000000 "R 0.25W" "R13" "2k7" 3280 505 1 100 0x00000000)
-(
- Pin(3300 625 50 20 "1" "1" 0x00000101)
- Pin(3300 225 50 20 "2" "2" 0x00000001)
- ElementLine (3250 525 3250 325 20)
- ElementLine (3250 325 3350 325 20)
- ElementLine (3350 325 3350 525 20)
- ElementLine (3350 525 3250 525 20)
- ElementLine (3300 625 3300 525 20)
- ElementLine (3300 325 3300 225 20)
- Mark (3300 625)
-)
-
-Element(0x00000000 "R 0.25W" "R14" "2k7" 3480 505 1 100 0x00000000)
-(
- Pin(3500 625 50 20 "1" "1" 0x00000101)
- Pin(3500 225 50 20 "2" "2" 0x00000001)
- ElementLine (3450 525 3450 325 20)
- ElementLine (3450 325 3550 325 20)
- ElementLine (3550 325 3550 525 20)
- ElementLine (3550 525 3450 525 20)
- ElementLine (3500 625 3500 525 20)
- ElementLine (3500 325 3500 225 20)
- Mark (3500 625)
-)
-Layer(1 "solder")
-(
- Line(6325 1725 5300 1725 10 0x00000000)
- Line(5300 1725 2575 1725 10 0x00000000)
- Line(6425 1125 6475 1175 10 0x00000000)
- Line(1100 1125 6425 1125 10 0x00000000)
- Line(6150 525 3050 525 10 0x00000000)
- Line(6150 525 6150 525 10 0x00000000)
- Line(6100 1300 2900 1300 10 0x00000000)
- Line(6100 875 6175 875 10 0x00000000)
- Line(6050 925 6100 875 10 0x00000000)
- Line(5875 925 6050 925 10 0x00000000)
- Line(5825 875 5875 925 10 0x00000000)
- Line(5950 625 5925 650 10 0x00000000)
- Line(6425 625 5950 625 10 0x00000000)
- Line(6475 675 6425 625 10 0x00000000)
- Line(5875 350 6175 350 10 0x00000000)
- Line(5825 300 5875 350 10 0x00000000)
- Line(5825 275 5825 300 10 0x00000000)
- Line(5950 200 6425 200 10 0x00000000)
- Line(5925 225 5950 200 10 0x00000000)
- Line(5925 275 5925 225 10 0x00000000)
- Line(6350 400 5125 400 25 0x00000000)
- Line(6375 425 6350 400 25 0x00000000)
- Line(6375 475 6375 425 25 0x00000000)
- Line(3050 525 3000 575 10 0x00000000)
- Line(6275 475 4025 475 25 0x00000000)
- Line(5625 1075 6275 1075 25 0x00000000)
- Line(6175 1025 6425 1025 25 0x00000000)
- Line(6425 925 6475 975 25 0x00000000)
- Line(6325 925 6425 925 25 0x00000000)
- Line(725 3925 1225 3925 25 0x00000000)
- Line(4850 3700 4850 3625 45 0x00000000)
- Line(6375 3375 6475 3475 45 0x00000000)
- Line(6475 3575 6275 3575 40 0x00000000)
- Line(6425 525 6475 575 25 0x00000000)
- Line(6325 525 6425 525 25 0x00000000)
- Line(6275 475 6325 525 25 0x00000000)
- Line(5850 2200 5875 2225 45 0x00000000)
- Line(4900 2200 5850 2200 45 0x00000000)
- Line(5875 2775 4900 2775 45 0x00000000)
- Line(6075 2675 6275 2675 45 0x00000000)
- Line(6275 3175 3900 3175 45 0x00000000)
- Line(6275 3275 5350 3275 45 0x00000000)
- Line(6275 2875 6075 2875 45 0x00000000)
- Line(6275 2775 5875 2775 45 0x00000000)
- Line(5350 3075 5975 3075 45 0x00000000)
- Line(6275 2975 6025 2975 45 0x00000000)
- Line(6025 2975 5975 2925 45 0x00000000)
- Line(5975 2600 5350 2600 45 0x00000000)
- Line(6275 3425 4000 3425 45 0x00000000)
- Line(6375 3475 6475 3375 45 0x00000000)
- Line(6275 3375 6375 3475 45 0x00000000)
- Line(6375 3375 6275 3475 45 0x00000000)
- Line(6375 3475 6375 3375 45 0x00000000)
- Line(6275 3375 6275 3475 45 0x00000000)
- Line(6475 3375 6275 3375 45 0x00000000)
- Line(6475 3475 6475 3375 45 0x00000000)
- Line(6275 3475 6475 3475 45 0x00000000)
- Line(5450 3600 4100 3600 45 0x00000000)
- Line(6250 3600 5650 3600 45 0x00000000)
- Line(6275 3575 6250 3600 45 0x00000000)
- Line(6475 2575 6275 2575 45 0x00000000)
- Line(6475 2675 6275 2675 45 0x00000000)
- Line(6475 2775 6275 2775 45 0x00000000)
- Line(6475 2875 6275 2875 45 0x00000000)
- Line(6475 2975 6275 2975 45 0x00000000)
- Line(6475 3075 6275 3075 45 0x00000000)
- Line(6475 3175 6275 3175 45 0x00000000)
- Line(6475 3275 6275 3275 45 0x00000000)
- Line(6325 725 6425 725 25 0x00000000)
- Line(6425 725 6475 775 25 0x00000000)
- Line(6325 725 3975 725 25 0x00000000)
- Line(6275 675 6275 725 25 0x00000000)
- Line(5125 875 5725 875 25 0x00000000)
- Line(6375 775 6325 825 25 0x00000000)
- Line(6325 825 6175 825 25 0x00000000)
- Line(6175 825 6125 825 25 0x00000000)
- Line(6125 825 6075 775 25 0x00000000)
- Line(6075 775 5750 775 25 0x00000000)
- Line(5750 775 5725 800 25 0x00000000)
- Line(5725 800 5725 875 25 0x00000000)
- Line(6325 925 6125 925 25 0x00000000)
- Line(6125 925 6100 925 25 0x00000000)
- Line(6100 925 6075 950 25 0x00000000)
- Line(6075 950 3975 950 25 0x00000000)
- Line(4425 825 4425 950 25 0x00000000)
- Line(3975 950 1350 950 25 0x00000000)
- Line(1700 1525 1800 1525 25 0x00000000)
- Line(1750 1625 1875 1625 25 0x00000000)
- Line(1750 1525 1750 1625 25 0x00000000)
- Line(3900 3175 3175 3175 25 0x00000000)
- Line(2350 2450 3025 2450 25 0x00000000)
- Line(3025 2450 3175 2600 25 0x00000000)
- Line(2350 2450 1350 2450 25 0x00000000)
- Line(1125 3025 1250 3025 25 0x00000000)
- Line(1100 2750 1250 2750 25 0x00000000)
- Line(1675 2900 1250 2900 25 0x00000000)
- Line(525 3025 1125 3025 25 0x00000000)
- Line(450 3100 450 3400 25 0x00000000)
- Line(450 3400 450 3425 25 0x00000000)
- Line(450 3425 500 3475 25 0x00000000)
- Line(525 3025 450 3100 25 0x00000000)
- Line(6025 1000 4175 1000 25 0x00000000)
- Line(5050 1625 5250 1625 25 0x00000000)
- Line(5150 1525 5150 1625 25 0x00000000)
- Line(5100 1525 5200 1525 25 0x00000000)
- Line(6175 1025 6050 1025 25 0x00000000)
- Line(6050 1025 6025 1000 25 0x00000000)
- Line(4175 1000 3100 1000 25 0x00000000)
- Line(3925 875 3925 950 25 0x00000000)
- Line(6275 875 6275 925 25 0x00000000)
- Line(525 1625 525 2650 25 0x00000000)
- Line(3950 175 4375 175 25 0x00000000)
- Line(4375 175 4425 225 25 0x00000000)
- Line(3850 2900 4525 2900 25 0x00000000)
- Line(4525 2900 4650 2775 25 0x00000000)
- Line(2950 2975 3200 2975 25 0x00000000)
- Line(2075 3925 3225 3925 25 0x00000000)
- Line(2950 2975 2875 2975 25 0x00000000)
- Line(2875 2975 2800 3050 25 0x00000000)
- Line(2800 3050 2000 3050 25 0x00000000)
- Line(2000 3050 1975 3050 25 0x00000000)
- Line(2500 2700 3175 2700 25 0x00000000)
- Line(2450 2650 2500 2700 25 0x00000000)
- Line(3175 2700 3275 2600 25 0x00000000)
- Line(3200 2975 3775 2975 25 0x00000000)
- Line(3775 2975 3850 2900 25 0x00000000)
- Line(3275 2925 3275 2975 25 0x00000000)
- Line(1225 3925 2075 3925 25 0x00000000)
- Line(525 2925 700 2925 10 0x00000000)
- Line(500 3300 1000 3300 10 0x00000000)
- Line(1325 3725 1675 3725 25 0x00000000)
- Line(525 2750 700 2750 10 0x00000000)
- Line(2925 3725 2925 3800 25 0x00000000)
- Line(1675 3800 1675 3750 25 0x00000000)
- Line(3125 3725 3125 3800 25 0x00000000)
- Line(2275 3725 2275 3800 25 0x00000000)
- Line(4100 3600 4100 3800 25 0x00000000)
- Line(4100 3800 1675 3800 25 0x00000000)
- Line(900 1625 525 1625 25 0x00000000)
- Line(3950 175 3350 175 25 0x00000000)
- Line(3350 175 3300 225 25 0x00000000)
- Line(3500 225 3500 175 25 0x00000000)
- Line(3925 275 3925 175 25 0x00000000)
- Polygon(0x00000010)
- (
- (6275 3475) (6475 3475) (6475 3375) (6275 3375)
- )
-)
-Layer(2 "GND-sldr")
-(
-)
-Layer(3 "Vcc-sldr")
-(
-)
-Layer(4 "component")
-(
- Line(2575 2825 2725 2975 10 0x00000000)
- Line(2575 1725 2575 2825 10 0x00000000)
- Line(6325 1125 6325 1725 10 0x00000000)
- Line(6375 1075 6325 1125 10 0x00000000)
- Line(900 2525 1100 2325 10 0x00000000)
- Line(900 3450 900 2525 10 0x00000000)
- Line(800 3550 900 3450 10 0x00000000)
- Line(800 3600 800 3550 10 0x00000000)
- Line(1100 2325 1100 1125 10 0x00000000)
- Line(4025 475 4025 575 25 0x00000000)
- Line(6100 725 6100 625 10 0x00000000)
- Line(6325 725 6100 725 10 0x00000000)
- Line(6325 825 6325 725 10 0x00000000)
- Line(6425 825 6325 825 10 0x00000000)
- Line(6475 875 6425 825 10 0x00000000)
- Line(6100 625 6150 525 10 0x00000000)
- Line(2900 1300 2900 575 10 0x00000000)
- Line(6100 975 6100 1300 10 0x00000000)
- Line(6275 975 6100 975 10 0x00000000)
- Line(6175 875 6275 775 10 0x00000000)
- Line(5925 650 5925 875 10 0x00000000)
- Line(6175 350 6175 475 10 0x00000000)
- Line(6175 475 6275 575 10 0x00000000)
- Line(6425 425 6475 475 10 0x00000000)
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-Layer(5 "GND-comp")
-(
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-(
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-Layer(7 "unused")
-(
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-Layer(8 "unused")
-(
-)
+++ /dev/null
-G04 Title: (unknown), solder mask solder side *\r
-G04 Creator: pcb 1.6.3 *\r
-G04 CreationDate: Mon Mar 31 19:59:34 2003 UTC *\r
-G04 For: fetter *\r
-G04 Format: Gerber/RS-274X *\r
-G04 PCB-Dimensions: 7100 4100 *\r
-G04 PCB-Coordinate-Origin: lower left *\r
-G04 Color: R0 G0 B0 *\r
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+++ /dev/null
-G04 Title: (unknown), silkscreen solder side *\r
-G04 Creator: pcb 1.6.3 *\r
-G04 CreationDate: Mon Mar 31 19:59:34 2003 UTC *\r
-G04 For: fetter *\r
-G04 Format: Gerber/RS-274X *\r
-G04 PCB-Dimensions: 7100 4100 *\r
-G04 PCB-Coordinate-Origin: lower left *\r
-G04 Color: R0 G0 B0 *\r
-*\r
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--- /dev/null
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{
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-{
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{
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-{
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-{
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-{
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-{
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-{
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-{
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-{
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-{
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-{
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-{
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-{
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-{
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-{
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-{
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-{
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-Walter Fetter Lages & Fernando Pessutto
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+++ /dev/null
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-{
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--- /dev/null
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--- /dev/null
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--- /dev/null
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--- /dev/null
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--- /dev/null
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+T 15500 88800 5 10 1 1 0 6 1
+refdes=C?
+T 15500 88500 5 10 1 1 0 6 1
+value=1000uFx35V
+}
+N 17500 88400 17500 89100 4
+N 17500 89100 15800 89100 4
+C 15900 87900 1 0 1 gnd-1.sym
+C 22700 89100 1 90 1 capacitor-3.sym
+{
+T 22200 88800 5 10 1 1 0 6 1
+refdes=C?
+T 22200 88500 5 10 1 1 0 6 1
+value=10uFx25V
+}
+N 22500 89100 20800 89100 4
+C 22600 87900 1 0 1 gnd-1.sym
+N 3000 87000 4300 87000 4
+N 3000 82600 4300 82600 4
+N 4000 87000 4000 80600 4
+N 4000 80600 22500 80600 4
+N 3500 82600 3500 80100 4
+N 22500 80600 22500 82600 4
+N 22500 82600 22100 82600 4
+N 3500 80100 23000 80100 4
+N 23000 80100 23000 87000 4
+N 23000 87000 22100 87000 4
--- /dev/null
+schematics aicpic.sch aicpower.sch
+output-name aic
\ No newline at end of file
--- /dev/null
+all: dspicaictest.hex
+
+dspicaictest.o:dspicaictest.c
+ $(CC) $(CPU) -x c -c $^ $(CCINCDIR) $(CCFLAGS)
+
+
+dspicaictest:dspicaictest.o
+# pic30-elf-gcc $^ -L/usr/pic30-elf/ -Wl --script=$(PWD)/p30f4012.gld -o $@
+# pic30-elf-ld -o $@ --script=$(PWD)/p30f4012.gld -L/usr/pic30-elf/ -lpic30-elf -lc-elf $^
+ $(CC) $(CPU) $^ -o $@ $(CCLIBDIR) -Wl $(CCGLDFILE)
+
+dspicaictest.hex:dspicaictest
+ $(CCBIN2HEX) $^
+clean:
+ rm -f *.o dspicaictest *~
+
+distclean:clean
+ rm -f dspicaictest.hex
\ No newline at end of file
--- /dev/null
+/******************************************************************************\r
+\r
+ Actuator Interface Card\r
+ dsPIC30F4012 test on AIC-2.0.0\r
+ Copyright (C) 2008 Diego Caberlon Santini <diegos@ece.ufrgs.br>\r
+\r
+ This program is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ This program is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with this program; if not, write to the Free Software\r
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.\r
+\r
+ You can also obtain a copy of the GNU General Public License\r
+ at <http://www.gnu.org/licenses>.\r
+\r
+*******************************************************************************\r
+2008.06.12 -> Start dsPIC test to AIC-2.0.0 by Diego Caberlon Santini\r
+*/\r
+\r
+#include <p30f4012.h>\r
+\r
+\r
+/*---------------------------------------------------------------------------*/\r
+_FOSC(EC_PLL16 & CSW_FSCM_OFF);\r
+_FWDT(WDT_OFF);\r
+_FBORPOR(MCLR_EN & RST_IOPIN & PBOR_OFF & PWRT_64);\r
+/*---------------------------------------------------------------------------*/\r
+\r
+/** Wait some time (120ms)\r
+ */\r
+void delay(void)\r
+{\r
+ volatile int x = 0;\r
+ volatile int y = 0;\r
+ for( y=5; y>0; y--){ \r
+ for( x=30002; x>0; x-- ){\r
+ }\r
+ }\r
+}\r
+/*---------------------------------------------------------------------------*/\r
+\r
+/** Blink port RE0\r
+ */\r
+void blinkLed(void)\r
+{\r
+ delay();\r
+ PORTE = PORTE^0x01;\r
+}\r
+/*---------------------------------------------------------------------------*/\r
+\r
+int main(int argc,char *argv[])\r
+{\r
+ TRISE=0x00;\r
+ for(;;)\r
+ blinkLed();\r
+ return 0;\r
+}\r
+/*---------------------------------------------------------------------------*/\r
+\r
+\r
--- /dev/null
+all: dspictest.hex
+
+dspictest.o:dspictest.c
+ $(CC) $(CPU) -x c -c $^ $(CCINCDIR) $(CCFLAGS)
+
+
+dspictest:dspictest.o
+# pic30-elf-gcc $^ -L/usr/pic30-elf/ -Wl --script=$(PWD)/p30f4012.gld -o $@
+# pic30-elf-ld -o $@ --script=$(PWD)/p30f4012.gld -L/usr/pic30-elf/ -lpic30-elf -lc-elf $^
+ $(CC) $(CPU) $^ -o $@ $(CCLIBDIR) -Wl $(CCGLDFILE)
+
+dspictest.hex:dspictest
+ $(CCBIN2HEX) $^
+clean:
+ rm -f *.o dspictest *~
+
+distclean:clean
+ rm -f dspictest.hex
\ No newline at end of file
-/******************************************************************************
-
- Actuator Interface Card
- AIC Encoder Test
- Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#include <iostream>
-using namespace std;
-#include <string.h>
-
-#include <aicudp.h>
-#include <aiccan.h>
-
-
-int main(int argc,char *argv[])
-{
- cout << "\nAIC Encoder Test Program\n";
- cout << "Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>.\n\n";
-
- if((argc < 2) || (argc > 4) ||
- ((argc >= 3) && strcasecmp(argv[1],"-UDP")))
- {
- cout << "USAGE:\t" << argv[0] << " can_id\n";
- cout << "\tor\n\t" << argv[0] << " -UDP aic [status_port]\n";
- return -1;
- }
-
- AIC *aic;
- switch(argc)
- {
- default:
- case 2: aic=new AIC_CAN(atoi(argv[1])); break;
- case 3: aic=new AIC_UDP(argv[2]); break;
- case 4: aic=new AIC_UDP(argv[2],atoi(argv[3])); break;
- }
-
- for(;;)
- {
- cout << "Encoder reading: " << aic->encoder.read() << "rad\n";
- }
- delete aic;
-
- return 0;
-}
+/******************************************************************************\r
+\r
+ Actuator Interface Card\r
+ dsPIC30F4012 testM
+ Copyright (C) 2008 Diego Caberlon Santini <diegos@ece.ufrgs.br>M
+\r
+ This program is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ This program is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with this program; if not, write to the Free Software\r
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.\r
+\r
+ You can also obtain a copy of the GNU General Public License\r
+ at <http://www.gnu.org/licenses>.\r
+\r
+*******************************************************************************\r
+2008.06.10 -> Start dsPIC test by Diego Caberlon Santini\r
+*/\r
+\r
+#include <p30f4012.h>\r
+\r
+\r
+/*---------------------------------------------------------------------------*/\r
+_FOSC(FRC & CSW_FSCM_OFF); //Config OSC to internal RC osc 7.37MHz\r
+_FWDT(WDT_OFF);\r
+_FBORPOR(MCLR_EN & RST_IOPIN & PBOR_OFF & PWRT_64);\r
+/*---------------------------------------------------------------------------*/\r
+\r
+/** Wait some time (120ms)\r
+ */\r
+void delay(void)\r
+{\r
+ volatile int x = 0;\r
+ for( x=30002; x>0; x-- ){\r
+ }\r
+}\r
+/*---------------------------------------------------------------------------*/\r
+\r
+/** Blink port RE0\r
+ */\r
+void blinkLed(void)\r
+{\r
+ delay();\r
+ PORTE = PORTE^0x01;\r
+}\r
+/*---------------------------------------------------------------------------*/\r
+\r
+int main(int argc,char *argv[])\r
+{\r
+ TRISE=0x00;\r
+ for(;;)\r
+ blinkLed();\r
+ return 0;\r
+}\r
+/*---------------------------------------------------------------------------*/\r
+\r
+\r
+++ /dev/null
-all: encodertst
-
-encodertst: encodertst.cpp ../lib/libaic.a
- ${CXX} ${CMPFLAGS} -o encodertst encodertst.cpp ${LDFLAGS}
-
-clean:
- rm -f *~ *.bak *.o
-
-install:
-
-distclean: clean
- rm -f encodertst
--- /dev/null
+/*\r
+ FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry.\r
+\r
+ This file is part of the FreeRTOS.org distribution.\r
+\r
+ FreeRTOS.org is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ FreeRTOS.org is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with FreeRTOS.org; if not, write to the Free Software\r
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+\r
+ A special exception to the GPL can be applied should you wish to distribute\r
+ a combined work that includes FreeRTOS.org, without being obliged to provide\r
+ the source code for any proprietary components. See the licensing section \r
+ of http://www.FreeRTOS.org for full details of how and when the exception\r
+ can be applied.\r
+\r
+ ***************************************************************************\r
+\r
+ Please ensure to read the configuration and relevant port sections of the \r
+ online documentation.\r
+\r
+ +++ http://www.FreeRTOS.org +++\r
+ Documentation, latest information, license and contact details. \r
+\r
+ +++ http://www.SafeRTOS.com +++\r
+ A version that is certified for use in safety critical systems.\r
+\r
+ +++ http://www.OpenRTOS.com +++\r
+ Commercial support, development, porting, licensing and training services.\r
+\r
+ ***************************************************************************\r
+ configured for AIC-2.0.0 by Diego Caberlon Santini - 12/06/2008\r
+ ***************************************************************************\r
+*/\r
+\r
+#ifndef FREERTOS_CONFIG_H\r
+#define FREERTOS_CONFIG_H\r
+\r
+#include <p30f4012.h>\r
+\r
+/*-----------------------------------------------------------\r
+ * Application specific definitions.\r
+ *\r
+ * These definitions should be adjusted for your particular hardware and\r
+ * application requirements.\r
+ *\r
+ * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE\r
+ * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. \r
+ *----------------------------------------------------------*/\r
+\r
+#define configUSE_PREEMPTION 1\r
+#define configUSE_IDLE_HOOK 0\r
+#define configUSE_TICK_HOOK 0\r
+#define configTICK_RATE_HZ ( ( portTickType ) 1000 ) /*1 ms*/\r
+#define configCPU_CLOCK_HZ ( ( unsigned portLONG ) 24000000 ) /* Fosc / 4 = 24MHz*/\r
+#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 4 )\r
+#define configMINIMAL_STACK_SIZE ( 105 )\r
+#define configTOTAL_HEAP_SIZE ( ( size_t ) 5120/4 )\r
+#define configMAX_TASK_NAME_LEN ( 4 )\r
+#define configUSE_TRACE_FACILITY 0\r
+#define configUSE_16_BIT_TICKS 0 /*32 bits tick count*/\r
+#define configIDLE_SHOULD_YIELD 0\r
+#define configUSE_USE_MUTEXES 0\r
+#define configUSE_RECURSIVE_MUTEXES 0\r
+#define configUSE_COUNTING_SEMAPHORES 0\r
+#define configUSE_ALTERNATIVE_API 0\r
+#define configCHECK_FOR_STACK_OVERFLOW 0\r
+\r
+/* Co-routine definitions. */\r
+#define configUSE_CO_ROUTINES 0\r
+#define configMAX_CO_ROUTINE_PRIORITIES (0 )\r
+\r
+/* Set the following definitions to 1 to include the API function, or zero\r
+to exclude the API function. */\r
+\r
+#define INCLUDE_vTaskPrioritySet 0\r
+#define INCLUDE_uxTaskPriorityGet 0\r
+#define INCLUDE_vTaskDelete 0\r
+#define INCLUDE_vTaskCleanUpResources 0\r
+#define INCLUDE_vTaskSuspend 0\r
+#define INCLUDE_vTaskDelayUntil 1\r
+#define INCLUDE_vTaskDelay 0\r
+\r
+\r
+#define configKERNEL_INTERRUPT_PRIORITY 0x01\r
+\r
+#endif /* FREERTOS_CONFIG_H */\r
--- /dev/null
+CCINCDIR+=-I.
+
+all: freertosAICtest.hex
+
+freertosAICtest.hex:freertosAICtest
+ $(CCBIN2HEX) $^
+
+freertosAICtest:freertosAICtest.o $(OSOBJS)
+ $(CC) $(CPU) $^ -o $@ $(CCLIBDIR) -Wl $(CCGLDFILE)
+
+freertosAICtest.o:freertosAICtest.c
+ $(CC) $(CPU) -x c -c $^ $(CCINCDIR) $(OSINCDIR) $(CCFLAGS) $(OSFLAGS)
+
+$(OSOBJS):$(OSFILES)
+ for i in $(OSFILES); do $(CC) $(CPU) -x c -c $$i $(CCINCDIR) $(OSINCDIR) $(CCFLAGS) $(OSFLAGS) ; done
+
+clean:
+ rm -f *.o freertosAICtest *~
+
+distclean:clean
+ rm -f freertosAICtest.hex
\ No newline at end of file
--- /dev/null
+/******************************************************************************\r
+\r
+ Actuator Interface Card\r
+ FreeRTOS test on AIC-2.0.0\r
+ Copyright (C) 2008 Diego Caberlon Santini <diegos@ece.ufrgs.br>\r
+\r
+ This program is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ This program is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with this program; if not, write to the Free Software\r
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.\r
+\r
+ You can also obtain a copy of the GNU General Public License\r
+ at <http://www.gnu.org/licenses>.\r
+\r
+*******************************************************************************\r
+2008.06.12 -> Start FreeRTOS test to AIC-2.0.0 by Diego Caberlon Santini from Demos apps.\r
+*******************************************************************************\r
+*/\r
+#include <p30f4012.h>\r
+\r
+/* Scheduler includes. */\r
+#include "FreeRTOS.h"\r
+#include "task.h"\r
+#include "queue.h"\r
+#include "croutine.h"\r
+/*---------------------------------------------------------------------------*/\r
+\r
+#define mainLED_TAKS_STACK_SIZE ( configMINIMAL_STACK_SIZE)\r
+\r
+#define mainLED_TASK_PRIORITY1 ( tskIDLE_PRIORITY + 3 )\r
+\r
+/* The execution period of the check task. */\r
+#define mainLED_TASK_PERIOD1 ( ( portTickType ) 1000 / portTICK_RATE_MS )\r
+\r
+#define mainLED_TASK_PRIORITY2 ( tskIDLE_PRIORITY + 2 )\r
+\r
+/* The execution period of the check task. */\r
+#define mainLED_TASK_PERIOD2 ( ( portTickType ) 2000 / portTICK_RATE_MS )\r
+/*---------------------------------------------------------------------------*/\r
+\r
+_FOSC(EC_PLL16 & CSW_FSCM_OFF);\r
+_FWDT(WDT_OFF);\r
+_FBORPOR(MCLR_EN & RST_IOPIN & PBOR_OFF & PWRT_64);\r
+/*---------------------------------------------------------------------------*/\r
+\r
+/** Blink port RE0 mainLED_TASK_PERIOD1 (1s)\r
+ */\r
+static void vLEDTask1( void *pvParameters );\r
+\r
+/** Blink port RE0 mainLED_TASK_PERIOD2 (2s)\r
+ */\r
+static void vLEDTask2( void *pvParameters );\r
+\r
+/*---------------------------------------------------------------------------*/\r
+\r
+/*\r
+ * Create the demo tasks then start the scheduler.\r
+ */\r
+int main( void )\r
+{\r
+\r
+ TRISE=0x00;\r
+ \r
+ /* Create the test tasks defined within this file. */\r
+ xTaskCreate( vLEDTask1, ( signed portCHAR * ) "LED1", mainLED_TAKS_STACK_SIZE, NULL, mainLED_TASK_PRIORITY1, NULL );\r
+ \r
+ xTaskCreate( vLEDTask2, ( signed portCHAR * ) "LED2", mainLED_TAKS_STACK_SIZE, NULL, mainLED_TASK_PRIORITY2, NULL );\r
+\r
+ /* Finally start the scheduler. */\r
+ vTaskStartScheduler();\r
+\r
+ /* Will only reach here if there is insufficient heap available to start\r
+ the scheduler. */\r
+ return 0;\r
+}\r
+/*---------------------------------------------------------------------------*/\r
+\r
+static void vLEDTask1( void *pvParameters )\r
+{\r
+/* Used to wake the task at the correct frequency. */\r
+portTickType xLastExecutionTime; \r
+\r
+ /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()\r
+ works correctly. */\r
+ xLastExecutionTime = xTaskGetTickCount();\r
+\r
+ for(;;)\r
+ {\r
+ /* Wait until it is time for the next cycle. */\r
+ vTaskDelayUntil( &xLastExecutionTime, mainLED_TASK_PERIOD1 );\r
+ PORTE = PORTE^0x01;\r
+\r
+ /* Has an error been found in any of the standard demo tasks? */\r
+\r
+ }\r
+}\r
+/*---------------------------------------------------------------------------*/\r
+\r
+static void vLEDTask2( void *pvParameters )\r
+{\r
+ /* Used to wake the task at the correct frequency. */\r
+ portTickType xLastExecutionTime; \r
+\r
+ /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()\r
+ works correctly. */\r
+ xLastExecutionTime = xTaskGetTickCount();\r
+\r
+ for(;;)\r
+ {\r
+ /* Wait until it is time for the next cycle. */\r
+ vTaskDelayUntil( &xLastExecutionTime, mainLED_TASK_PERIOD2 );\r
+ PORTE = PORTE^0x02;\r
+\r
+ /* Has an error been found in any of the standard demo tasks? */\r
+\r
+ }\r
+}\r
+/*---------------------------------------------------------------------------*/\r
+\r
--- /dev/null
+/*\r
+ FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry.\r
+\r
+ This file is part of the FreeRTOS.org distribution.\r
+\r
+ FreeRTOS.org is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ FreeRTOS.org is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with FreeRTOS.org; if not, write to the Free Software\r
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+\r
+ A special exception to the GPL can be applied should you wish to distribute\r
+ a combined work that includes FreeRTOS.org, without being obliged to provide\r
+ the source code for any proprietary components. See the licensing section \r
+ of http://www.FreeRTOS.org for full details of how and when the exception\r
+ can be applied.\r
+\r
+ ***************************************************************************\r
+\r
+ Please ensure to read the configuration and relevant port sections of the \r
+ online documentation.\r
+\r
+ +++ http://www.FreeRTOS.org +++\r
+ Documentation, latest information, license and contact details. \r
+\r
+ +++ http://www.SafeRTOS.com +++\r
+ A version that is certified for use in safety critical systems.\r
+\r
+ +++ http://www.OpenRTOS.com +++\r
+ Commercial support, development, porting, licensing and training services.\r
+\r
+ ***************************************************************************\r
+ configured for AIC-2.0.0 by Diego Caberlon Santini - 28/05/2008\r
+ ***************************************************************************\r
+*/\r
+\r
+#ifndef FREERTOS_CONFIG_H\r
+#define FREERTOS_CONFIG_H\r
+\r
+#include <p30f4012.h>\r
+\r
+/*-----------------------------------------------------------\r
+ * Application specific definitions.\r
+ *\r
+ * These definitions should be adjusted for your particular hardware and\r
+ * application requirements.\r
+ *\r
+ * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE\r
+ * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. \r
+ *----------------------------------------------------------*/\r
+\r
+#define configUSE_PREEMPTION 1\r
+#define configUSE_IDLE_HOOK 0\r
+#define configUSE_TICK_HOOK 0\r
+#define configTICK_RATE_HZ ( ( portTickType ) 1000 ) /*1 ms*/\r
+#define configCPU_CLOCK_HZ ( ( unsigned portLONG ) 1842500 ) /* Fosc / 4 = 1.8425MHz*/\r
+// #define configCPU_CLOCK_HZ ( ( unsigned portLONG ) 24000000 ) /* Fosc / 4 = 24MHz*/\r
+#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 4 )\r
+#define configMINIMAL_STACK_SIZE ( 105 )\r
+#define configTOTAL_HEAP_SIZE ( ( size_t ) 5120/4 )\r
+#define configMAX_TASK_NAME_LEN ( 4 )\r
+#define configUSE_TRACE_FACILITY 0\r
+#define configUSE_16_BIT_TICKS 0 /*32 bits tick count*/\r
+#define configIDLE_SHOULD_YIELD 0\r
+#define configUSE_USE_MUTEXES 0\r
+#define configUSE_RECURSIVE_MUTEXES 0\r
+#define configUSE_COUNTING_SEMAPHORES 0\r
+#define configUSE_ALTERNATIVE_API 0\r
+#define configCHECK_FOR_STACK_OVERFLOW 0\r
+\r
+/* Co-routine definitions. */\r
+#define configUSE_CO_ROUTINES 0\r
+#define configMAX_CO_ROUTINE_PRIORITIES (0 )\r
+\r
+/* Set the following definitions to 1 to include the API function, or zero\r
+to exclude the API function. */\r
+\r
+#define INCLUDE_vTaskPrioritySet 0\r
+#define INCLUDE_uxTaskPriorityGet 0\r
+#define INCLUDE_vTaskDelete 0\r
+#define INCLUDE_vTaskCleanUpResources 0\r
+#define INCLUDE_vTaskSuspend 0\r
+#define INCLUDE_vTaskDelayUntil 1\r
+#define INCLUDE_vTaskDelay 0\r
+\r
+\r
+#define configKERNEL_INTERRUPT_PRIORITY 0x01\r
+\r
+#endif /* FREERTOS_CONFIG_H */\r
--- /dev/null
+CCINCDIR+=-I.
+
+all: freertostest.hex
+
+freertostest.hex:freertostest
+ $(CCBIN2HEX) $^
+
+freertostest:freertostest.o $(OSOBJS)
+ $(CC) $(CPU) $^ -o $@ $(CCLIBDIR) -Wl $(CCGLDFILE)
+
+freertostest.o:freertostest.c
+ $(CC) $(CPU) -x c -c $^ $(CCINCDIR) $(OSINCDIR) $(CCFLAGS) $(OSFLAGS)
+
+$(OSOBJS):$(OSFILES)
+ for i in $(OSFILES); do $(CC) $(CPU) -x c -c $$i $(CCINCDIR) $(OSINCDIR) $(CCFLAGS) $(OSFLAGS) ; done
+
+clean:
+ rm -f *.o freertostest *~
+
+distclean:clean
+ rm -f freertostest.hex
\ No newline at end of file
--- /dev/null
+/******************************************************************************\r
+\r
+ Actuator Interface Card\r
+ FreeRTOS test\r
+ Copyright (C) 2008 Diego Caberlon Santini <diegos@ece.ufrgs.br>\r
+\r
+ This program is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ This program is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with this program; if not, write to the Free Software\r
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.\r
+\r
+ You can also obtain a copy of the GNU General Public License\r
+ at <http://www.gnu.org/licenses>.\r
+\r
+*******************************************************************************\r
+2008.06.10 -> Start FreeRTOS test by Diego Caberlon Santini from Demos apps.\r
+*******************************************************************************\r
+*/\r
+#include <p30f4012.h>\r
+\r
+/* Scheduler includes. */\r
+#include "FreeRTOS.h"\r
+#include "task.h"\r
+#include "queue.h"\r
+#include "croutine.h"\r
+/*---------------------------------------------------------------------------*/\r
+\r
+#define mainLED_TAKS_STACK_SIZE ( configMINIMAL_STACK_SIZE)\r
+\r
+#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )\r
+\r
+/* The execution period of the check task. */\r
+#define mainCHECK_TASK_PERIOD ( ( portTickType ) 5 / portTICK_RATE_MS )\r
+/*---------------------------------------------------------------------------*/\r
+\r
+// _FOSC(EC_PLL16 & CSW_FSCM_OFF);\r
+_FOSC(FRC & CSW_FSCM_OFF);\r
+_FWDT(WDT_OFF);\r
+_FBORPOR(MCLR_EN & RST_IOPIN & PBOR_OFF & PWRT_64);\r
+/*---------------------------------------------------------------------------*/\r
+\r
+/** Blink port RE0 (10ms)\r
+ */\r
+static void vLEDTask( void *pvParameters );\r
+/*---------------------------------------------------------------------------*/\r
+\r
+/*\r
+ * Create the demo tasks then start the scheduler.\r
+ */\r
+int main( void )\r
+{\r
+\r
+ TRISE=0x00;\r
+ \r
+ /* Create the test tasks defined within this file. */\r
+ xTaskCreate( vLEDTask, ( signed portCHAR * ) "LED", mainLED_TAKS_STACK_SIZE, NULL, mainLED_TASK_PRIORITY, NULL );\r
+ \r
+ /* Finally start the scheduler. */\r
+ vTaskStartScheduler();\r
+\r
+ /* Will only reach here if there is insufficient heap available to start\r
+ the scheduler. */\r
+ return 0;\r
+}\r
+/*---------------------------------------------------------------------------*/\r
+\r
+static void vLEDTask( void *pvParameters )\r
+{\r
+/* Used to wake the task at the correct frequency. */\r
+portTickType xLastExecutionTime; \r
+\r
+ /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()\r
+ works correctly. */\r
+ xLastExecutionTime = xTaskGetTickCount();\r
+\r
+ for( ;; )\r
+ {\r
+ /* Wait until it is time for the next cycle. */\r
+ vTaskDelayUntil( &xLastExecutionTime, mainCHECK_TASK_PERIOD );\r
+ PORTE = PORTE^0x01;\r
+\r
+ /* Has an error been found in any of the standard demo tasks? */\r
+\r
+ }\r
+}\r
+/*---------------------------------------------------------------------------*/\r
+\r
--- /dev/null
+/*\r
+** Linker Script for 30f4012\r
+*/\r
+\r
+OUTPUT_ARCH("30f4012")\r
+EXTERN(__resetPRI)\r
+EXTERN(__resetALT)\r
+\r
+\r
+/*\r
+** Memory Regions\r
+*/\r
+MEMORY\r
+{\r
+ data (a!xr) : ORIGIN = 0x800, LENGTH = 2048\r
+ program (xr) : ORIGIN = 0x100, LENGTH = ((16K * 2) - 0x100)\r
+ reset : ORIGIN = 0, LENGTH = (4)\r
+ ivt : ORIGIN = 0x04, LENGTH = (62 * 2)\r
+ aivt : ORIGIN = 0x84, LENGTH = (62 * 2)\r
+ __FOSC : ORIGIN = 0xF80000, LENGTH = (2)\r
+ __FWDT : ORIGIN = 0xF80002, LENGTH = (2)\r
+ __FBORPOR : ORIGIN = 0xF80004, LENGTH = (2)\r
+ __CONFIG4 : ORIGIN = 0xF80006, LENGTH = (2)\r
+ __CONFIG5 : ORIGIN = 0xF80008, LENGTH = (2)\r
+ __FGS : ORIGIN = 0xF8000A, LENGTH = (2)\r
+ eedata : ORIGIN = 0x7FFC00, LENGTH = (1024)\r
+}\r
+__NO_HANDLES = 1; /* Suppress handles on this device */\r
+\r
+\r
+/*\r
+** Base Memory Addresses - Program Memory\r
+*/\r
+__RESET_BASE = 0; /* Reset Instruction */\r
+__IVT_BASE = 0x04; /* Interrupt Vector Table */\r
+__AIVT_BASE = 0x84; /* Alternate Interrupt Vector Table */\r
+__CODE_BASE = 0x100; /* Handles, User Code, Library Code */\r
+\r
+\r
+/*\r
+** Base Memory Addresses - Data Memory\r
+*/\r
+__SFR_BASE = 0; /* Memory-mapped SFRs */\r
+__DATA_BASE = 0x800; /* X and General Purpose Data Memory */\r
+__YDATA_BASE = 0x0C00; /* Y Data Memory for DSP Instructions */\r
+\r
+\r
+/*\r
+** ==================== Section Map ======================\r
+*/\r
+\r
+SECTIONS\r
+{\r
+\r
+ /*\r
+ ** ================== Program Memory =====================\r
+ */\r
+\r
+ /*\r
+ ** Reset Instruction\r
+ */\r
+ .reset __RESET_BASE :\r
+ {\r
+ SHORT(ABSOLUTE(__reset));\r
+ SHORT(0x04);\r
+ SHORT((ABSOLUTE(__reset) >> 16) & 0x7F);\r
+ SHORT(0);\r
+ } >reset\r
+\r
+\r
+ /*\r
+ ** Interrupt Vector Tables\r
+ **\r
+ ** The primary and alternate tables are loaded\r
+ ** here, between sections .reset and .text.\r
+ ** Vector table source code appears below.\r
+ */\r
+\r
+ /*\r
+ ** User Code and Library Code\r
+ */\r
+ .text __CODE_BASE :\r
+ {\r
+ *(.handle);\r
+ *(.libc) *(.libm) *(.libdsp); /* keep together in this order */\r
+ *(.lib*);\r
+ *(.text);\r
+ } >program\r
+\r
+ /*\r
+ ** User-Defined Section in Program Memory\r
+ **\r
+ ** note: can specify an address using\r
+ ** the following syntax:\r
+ **\r
+ ** usercode 0x1234 :\r
+ ** {\r
+ ** *(usercode);\r
+ ** } >program\r
+ */\r
+ usercode :\r
+ {\r
+ *(usercode);\r
+ } >program\r
+\r
+\r
+ /*\r
+ ** ================ Configuration Memory ================\r
+ */\r
+\r
+\r
+ /*\r
+ ** Configuration Fuses\r
+ */\r
+ __FOSC :\r
+ { *(__FOSC.sec) } >__FOSC\r
+ __FWDT :\r
+ { *(__FWDT.sec) } >__FWDT\r
+ __FBORPOR :\r
+ { *(__FBORPOR.sec) } >__FBORPOR\r
+ __CONFIG4 :\r
+ { *(__CONFIG4.sec) } >__CONFIG4\r
+ __CONFIG5 :\r
+ { *(__CONFIG5.sec) } >__CONFIG5\r
+ __FGS :\r
+ { *(__FGS.sec) } >__FGS\r
+\r
+\r
+ /*\r
+ ** User-Defined Section in Data Flash Memory\r
+ **\r
+ ** note: can specify an address using\r
+ ** the following syntax:\r
+ **\r
+ ** user_eedata 0x7FFC00 :\r
+ ** {\r
+ ** *(user_eedata);\r
+ ** } >eedata\r
+ */\r
+ user_eedata :\r
+ {\r
+ *(user_eedata);\r
+ } >eedata\r
+\r
+\r
+ /*\r
+ ** ==================== Data Memory ===================\r
+ */\r
+\r
+ /* \r
+ ** ICD Debug Exec\r
+ **\r
+ ** This section provides optional storage for\r
+ ** the ICD2 debugger. Define a global symbol\r
+ ** named __ICD2RAM to enable ICD2. This section\r
+ ** must be loaded at data address 0x800.\r
+ */ \r
+ .icd __DATA_BASE (NOLOAD): \r
+ { \r
+ . += (DEFINED (__ICD2RAM) ? 0x50 : 0 ); \r
+ } > data \r
+\r
+\r
+ /*\r
+ ** User-Defined Section in Data Memory\r
+ **\r
+ ** note: can specify an address using\r
+ ** the following syntax:\r
+ **\r
+ ** userdata 0x1234 :\r
+ ** {\r
+ ** *(userdata);\r
+ ** } >data\r
+ */\r
+ userdata :\r
+ {\r
+ *(userdata);\r
+ } >data\r
+\r
+\r
+ /*\r
+ ** ===================== Debug Info ====================\r
+ */\r
+\r
+ .comment 0 : { *(.comment) }\r
+\r
+ /*\r
+ ** DWARF-2\r
+ */\r
+ .debug_info 0 : { *(.debug_info) *(.gnu.linkonce.wi.*) }\r
+ .debug_abbrev 0 : { *(.debug_abbrev) }\r
+ .debug_line 0 : { *(.debug_line) }\r
+ .debug_frame 0 : { *(.debug_frame) }\r
+ .debug_str 0 : { *(.debug_str) }\r
+ .debug_loc 0 : { *(.debug_loc) }\r
+ .debug_macinfo 0 : { *(.debug_macinfo) }\r
+ .debug_pubnames 0 : { *(.debug_pubnames) }\r
+ .debug_ranges 0 : { *(.debug_ranges) }\r
+ .debug_aranges 0 : { *(.debug_aranges) }\r
+\r
+} /* SECTIONS */\r
+\r
+/*\r
+** ================= End of Section Map ================\r
+*/\r
+/*\r
+** Section Map for Interrupt Vector Tables\r
+*/\r
+SECTIONS\r
+{\r
+\r
+/*\r
+** Primary Interrupt Vector Table\r
+*/\r
+.ivt __IVT_BASE :\r
+ {\r
+ LONG(DEFINED(__ReservedTrap0\r
+) ? ABSOLUTE(__ReservedTrap0\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__OscillatorFail\r
+)? ABSOLUTE(__OscillatorFail\r
+):\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__AddressError\r
+) ? ABSOLUTE(__AddressError\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__StackError\r
+) ? ABSOLUTE(__StackError\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__MathError\r
+) ? ABSOLUTE(__MathError\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__ReservedTrap5\r
+) ? ABSOLUTE(__ReservedTrap5\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__ReservedTrap6\r
+) ? ABSOLUTE(__ReservedTrap6\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__ReservedTrap7\r
+) ? ABSOLUTE(__ReservedTrap7\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__INT0Interrupt\r
+) ? ABSOLUTE(__INT0Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__IC1Interrupt\r
+) ? ABSOLUTE(__IC1Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__OC1Interrupt\r
+) ? ABSOLUTE(__OC1Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__T1Interrupt\r
+) ? ABSOLUTE(__T1Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__IC2Interrupt\r
+) ? ABSOLUTE(__IC2Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__OC2Interrupt\r
+) ? ABSOLUTE(__OC2Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__T2Interrupt\r
+) ? ABSOLUTE(__T2Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__T3Interrupt\r
+) ? ABSOLUTE(__T3Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__SPI1Interrupt\r
+) ? ABSOLUTE(__SPI1Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__U1RXInterrupt\r
+) ? ABSOLUTE(__U1RXInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__U1TXInterrupt\r
+) ? ABSOLUTE(__U1TXInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__ADCInterrupt\r
+) ? ABSOLUTE(__ADCInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__NVMInterrupt\r
+) ? ABSOLUTE(__NVMInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__SI2CInterrupt\r
+) ? ABSOLUTE(__SI2CInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__MI2CInterrupt\r
+) ? ABSOLUTE(__MI2CInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__CNInterrupt\r
+) ? ABSOLUTE(__CNInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__INT1Interrupt\r
+) ? ABSOLUTE(__INT1Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__IC7Interrupt\r
+) ? ABSOLUTE(__IC7Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__IC8Interrupt\r
+) ? ABSOLUTE(__IC8Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__OC3Interrupt\r
+) ? ABSOLUTE(__OC3Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__OC4Interrupt\r
+) ? ABSOLUTE(__OC4Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__T4Interrupt\r
+) ? ABSOLUTE(__T4Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__T5Interrupt\r
+) ? ABSOLUTE(__T5Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__INT2Interrupt\r
+) ? ABSOLUTE(__INT2Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__U2RXInterrupt\r
+) ? ABSOLUTE(__U2RXInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__U2TXInterrupt\r
+) ? ABSOLUTE(__U2TXInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__SPI2Interrupt\r
+) ? ABSOLUTE(__SPI2Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__C1Interrupt\r
+) ? ABSOLUTE(__C1Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__IC3Interrupt\r
+) ? ABSOLUTE(__IC3Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__IC4Interrupt\r
+) ? ABSOLUTE(__IC4Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__IC5Interrupt\r
+) ? ABSOLUTE(__IC5Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__IC6Interrupt\r
+) ? ABSOLUTE(__IC6Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__OC5Interrupt\r
+) ? ABSOLUTE(__OC5Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__OC6Interrupt\r
+) ? ABSOLUTE(__OC6Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__OC7Interrupt\r
+) ? ABSOLUTE(__OC7Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__OC8Interrupt\r
+) ? ABSOLUTE(__OC8Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__INT3Interrupt\r
+) ? ABSOLUTE(__INT3Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__INT4Interrupt\r
+) ? ABSOLUTE(__INT4Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__C2Interrupt\r
+) ? ABSOLUTE(__C2Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__PWMInterrupt\r
+) ? ABSOLUTE(__PWMInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__QEIInterrupt\r
+) ? ABSOLUTE(__QEIInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__DCIInterrupt\r
+) ? ABSOLUTE(__DCIInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__LVDInterrupt\r
+) ? ABSOLUTE(__LVDInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__FLTAInterrupt\r
+) ? ABSOLUTE(__FLTAInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__FLTBInterrupt\r
+) ? ABSOLUTE(__FLTBInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__Interrupt45\r
+) ? ABSOLUTE(__Interrupt45\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__Interrupt46\r
+) ? ABSOLUTE(__Interrupt46\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__Interrupt47\r
+) ? ABSOLUTE(__Interrupt47\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__Interrupt48\r
+) ? ABSOLUTE(__Interrupt48\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__Interrupt49\r
+) ? ABSOLUTE(__Interrupt49\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__Interrupt50\r
+) ? ABSOLUTE(__Interrupt50\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__Interrupt51\r
+) ? ABSOLUTE(__Interrupt51\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__Interrupt52\r
+) ? ABSOLUTE(__Interrupt52\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ LONG(DEFINED(__Interrupt53\r
+) ? ABSOLUTE(__Interrupt53\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt));\r
+ } >ivt\r
+\r
+\r
+/*\r
+** Alternate Interrupt Vector Table\r
+*/\r
+.aivt __AIVT_BASE :\r
+ {\r
+ LONG(DEFINED(__AltReservedTrap0\r
+) ? ABSOLUTE(__AltReservedTrap0\r
+) :\r
+ (DEFINED(__ReservedTrap0\r
+) ? ABSOLUTE(__ReservedTrap0\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltOscillatorFail\r
+)? ABSOLUTE(__AltOscillatorFail\r
+):\r
+ (DEFINED(__OscillatorFail\r
+) ? ABSOLUTE(__OscillatorFail\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltAddressError\r
+) ? ABSOLUTE(__AltAddressError\r
+) :\r
+ (DEFINED(__AddressError\r
+) ? ABSOLUTE(__AddressError\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltStackError\r
+) ? ABSOLUTE(__AltStackError\r
+) :\r
+ (DEFINED(__StackError\r
+) ? ABSOLUTE(__StackError\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltMathError\r
+) ? ABSOLUTE(__AltMathError\r
+) :\r
+ (DEFINED(__MathError\r
+) ? ABSOLUTE(__MathError\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltReservedTrap5\r
+) ? ABSOLUTE(__AltReservedTrap5\r
+) :\r
+ (DEFINED(__ReservedTrap5\r
+) ? ABSOLUTE(__ReservedTrap5\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltReservedTrap6\r
+) ? ABSOLUTE(__AltReservedTrap6\r
+) :\r
+ (DEFINED(__ReservedTrap6\r
+) ? ABSOLUTE(__ReservedTrap6\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltReservedTrap7\r
+) ? ABSOLUTE(__AltReservedTrap7\r
+) :\r
+ (DEFINED(__ReservedTrap7\r
+) ? ABSOLUTE(__ReservedTrap7\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltINT0Interrupt\r
+) ? ABSOLUTE(__AltINT0Interrupt\r
+) :\r
+ (DEFINED(__INT0Interrupt\r
+) ? ABSOLUTE(__INT0Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltIC1Interrupt\r
+) ? ABSOLUTE(__AltIC1Interrupt\r
+) :\r
+ (DEFINED(__IC1Interrupt\r
+) ? ABSOLUTE(__IC1Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltOC1Interrupt\r
+) ? ABSOLUTE(__AltOC1Interrupt\r
+) :\r
+ (DEFINED(__OC1Interrupt\r
+) ? ABSOLUTE(__OC1Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltT1Interrupt\r
+) ? ABSOLUTE(__AltT1Interrupt\r
+) :\r
+ (DEFINED(__T1Interrupt\r
+) ? ABSOLUTE(__T1Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltIC2Interrupt\r
+) ? ABSOLUTE(__AltIC2Interrupt\r
+) :\r
+ (DEFINED(__IC2Interrupt\r
+) ? ABSOLUTE(__IC2Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltOC2Interrupt\r
+) ? ABSOLUTE(__AltOC2Interrupt\r
+) :\r
+ (DEFINED(__OC2Interrupt\r
+) ? ABSOLUTE(__OC2Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltT2Interrupt\r
+) ? ABSOLUTE(__AltT2Interrupt\r
+) :\r
+ (DEFINED(__T2Interrupt\r
+) ? ABSOLUTE(__T2Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltT3Interrupt\r
+) ? ABSOLUTE(__AltT3Interrupt\r
+) :\r
+ (DEFINED(__T3Interrupt\r
+) ? ABSOLUTE(__T3Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltSPI1Interrupt\r
+) ? ABSOLUTE(__AltSPI1Interrupt\r
+) :\r
+ (DEFINED(__SPI1Interrupt\r
+) ? ABSOLUTE(__SPI1Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltU1RXInterrupt\r
+) ? ABSOLUTE(__AltU1RXInterrupt\r
+) :\r
+ (DEFINED(__U1RXInterrupt\r
+) ? ABSOLUTE(__U1RXInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltU1TXInterrupt\r
+) ? ABSOLUTE(__AltU1TXInterrupt\r
+) :\r
+ (DEFINED(__U1TXInterrupt\r
+) ? ABSOLUTE(__U1TXInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltADCInterrupt\r
+) ? ABSOLUTE(__AltADCInterrupt\r
+) :\r
+ (DEFINED(__ADCInterrupt\r
+) ? ABSOLUTE(__ADCInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltNVMInterrupt\r
+) ? ABSOLUTE(__AltNVMInterrupt\r
+) :\r
+ (DEFINED(__NVMInterrupt\r
+) ? ABSOLUTE(__NVMInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltSI2CInterrupt\r
+) ? ABSOLUTE(__AltSI2CInterrupt\r
+) :\r
+ (DEFINED(__SI2CInterrupt\r
+) ? ABSOLUTE(__SI2CInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltMI2CInterrupt\r
+) ? ABSOLUTE(__AltMI2CInterrupt\r
+) :\r
+ (DEFINED(__MI2CInterrupt\r
+) ? ABSOLUTE(__MI2CInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltCNInterrupt\r
+) ? ABSOLUTE(__AltCNInterrupt\r
+) :\r
+ (DEFINED(__CNInterrupt\r
+) ? ABSOLUTE(__CNInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltINT1Interrupt\r
+) ? ABSOLUTE(__AltINT1Interrupt\r
+) :\r
+ (DEFINED(__INT1Interrupt\r
+) ? ABSOLUTE(__INT1Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltIC7Interrupt\r
+) ? ABSOLUTE(__AltIC7Interrupt\r
+) :\r
+ (DEFINED(__IC7Interrupt\r
+) ? ABSOLUTE(__IC7Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltIC8Interrupt\r
+) ? ABSOLUTE(__AltIC8Interrupt\r
+) :\r
+ (DEFINED(__IC8Interrupt\r
+) ? ABSOLUTE(__IC8Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltOC3Interrupt\r
+) ? ABSOLUTE(__AltOC3Interrupt\r
+) :\r
+ (DEFINED(__OC3Interrupt\r
+) ? ABSOLUTE(__OC3Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltOC4Interrupt\r
+) ? ABSOLUTE(__AltOC4Interrupt\r
+) :\r
+ (DEFINED(__OC4Interrupt\r
+) ? ABSOLUTE(__OC4Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltT4Interrupt\r
+) ? ABSOLUTE(__AltT4Interrupt\r
+) :\r
+ (DEFINED(__T4Interrupt\r
+) ? ABSOLUTE(__T4Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltT5Interrupt\r
+) ? ABSOLUTE(__AltT5Interrupt\r
+) :\r
+ (DEFINED(__T5Interrupt\r
+) ? ABSOLUTE(__T5Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltINT2Interrupt\r
+) ? ABSOLUTE(__AltINT2Interrupt\r
+) :\r
+ (DEFINED(__INT2Interrupt\r
+) ? ABSOLUTE(__INT2Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltU2RXInterrupt\r
+) ? ABSOLUTE(__AltU2RXInterrupt\r
+) :\r
+ (DEFINED(__U2RXInterrupt\r
+) ? ABSOLUTE(__U2RXInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltU2TXInterrupt\r
+) ? ABSOLUTE(__AltU2TXInterrupt\r
+) :\r
+ (DEFINED(__U2TXInterrupt\r
+) ? ABSOLUTE(__U2TXInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltSPI2Interrupt\r
+) ? ABSOLUTE(__AltSPI2Interrupt\r
+) :\r
+ (DEFINED(__SPI2Interrupt\r
+) ? ABSOLUTE(__SPI2Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltC1Interrupt\r
+) ? ABSOLUTE(__AltC1Interrupt\r
+) :\r
+ (DEFINED(__C1Interrupt\r
+) ? ABSOLUTE(__C1Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltIC3Interrupt\r
+) ? ABSOLUTE(__AltIC3Interrupt\r
+) :\r
+ (DEFINED(__IC3Interrupt\r
+) ? ABSOLUTE(__IC3Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltIC4Interrupt\r
+) ? ABSOLUTE(__AltIC4Interrupt\r
+) :\r
+ (DEFINED(__IC4Interrupt\r
+) ? ABSOLUTE(__IC4Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltIC5Interrupt\r
+) ? ABSOLUTE(__AltIC5Interrupt\r
+) :\r
+ (DEFINED(__IC5Interrupt\r
+) ? ABSOLUTE(__IC5Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltIC6Interrupt\r
+) ? ABSOLUTE(__AltIC6Interrupt\r
+) :\r
+ (DEFINED(__IC6Interrupt\r
+) ? ABSOLUTE(__IC6Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltOC5Interrupt\r
+) ? ABSOLUTE(__AltOC5Interrupt\r
+) :\r
+ (DEFINED(__OC5Interrupt\r
+) ? ABSOLUTE(__OC5Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltOC6Interrupt\r
+) ? ABSOLUTE(__AltOC6Interrupt\r
+) :\r
+ (DEFINED(__OC6Interrupt\r
+) ? ABSOLUTE(__OC6Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltOC7Interrupt\r
+) ? ABSOLUTE(__AltOC7Interrupt\r
+) :\r
+ (DEFINED(__OC7Interrupt\r
+) ? ABSOLUTE(__OC7Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltOC8Interrupt\r
+) ? ABSOLUTE(__AltOC8Interrupt\r
+) :\r
+ (DEFINED(__OC8Interrupt\r
+) ? ABSOLUTE(__OC8Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltINT3Interrupt\r
+) ? ABSOLUTE(__AltINT3Interrupt\r
+) :\r
+ (DEFINED(__INT3Interrupt\r
+) ? ABSOLUTE(__INT3Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltINT4Interrupt\r
+) ? ABSOLUTE(__AltINT4Interrupt\r
+) :\r
+ (DEFINED(__INT4Interrupt\r
+) ? ABSOLUTE(__INT4Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltC2Interrupt\r
+) ? ABSOLUTE(__AltC2Interrupt\r
+) :\r
+ (DEFINED(__C2Interrupt\r
+) ? ABSOLUTE(__C2Interrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltPWMInterrupt\r
+) ? ABSOLUTE(__AltPWMInterrupt\r
+) :\r
+ (DEFINED(__PWMInterrupt\r
+) ? ABSOLUTE(__PWMInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltQEIInterrupt\r
+) ? ABSOLUTE(__AltQEIInterrupt\r
+) :\r
+ (DEFINED(__QEIInterrupt\r
+) ? ABSOLUTE(__QEIInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltDCIInterrupt\r
+) ? ABSOLUTE(__AltDCIInterrupt\r
+) :\r
+ (DEFINED(__DCIInterrupt\r
+) ? ABSOLUTE(__DCIInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltLVDInterrupt\r
+) ? ABSOLUTE(__AltLVDInterrupt\r
+) :\r
+ (DEFINED(__LVDInterrupt\r
+) ? ABSOLUTE(__LVDInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltFLTAInterrupt\r
+) ? ABSOLUTE(__AltFLTAInterrupt\r
+) :\r
+ (DEFINED(__FLTAInterrupt\r
+) ? ABSOLUTE(__FLTAInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltFLTBInterrupt\r
+) ? ABSOLUTE(__AltFLTBInterrupt\r
+) :\r
+ (DEFINED(__FLTBInterrupt\r
+) ? ABSOLUTE(__FLTBInterrupt\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltInterrupt45\r
+) ? ABSOLUTE(__AltInterrupt45\r
+) :\r
+ (DEFINED(__Interrupt45\r
+) ? ABSOLUTE(__Interrupt45\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltInterrupt46\r
+) ? ABSOLUTE(__AltInterrupt46\r
+) :\r
+ (DEFINED(__Interrupt46\r
+) ? ABSOLUTE(__Interrupt46\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltInterrupt47\r
+) ? ABSOLUTE(__AltInterrupt47\r
+) :\r
+ (DEFINED(__Interrupt47\r
+) ? ABSOLUTE(__Interrupt47\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltInterrupt48\r
+) ? ABSOLUTE(__AltInterrupt48\r
+) :\r
+ (DEFINED(__Interrupt48\r
+) ? ABSOLUTE(__Interrupt48\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltInterrupt49\r
+) ? ABSOLUTE(__AltInterrupt49\r
+) :\r
+ (DEFINED(__Interrupt49\r
+) ? ABSOLUTE(__Interrupt49\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltInterrupt50\r
+) ? ABSOLUTE(__AltInterrupt50\r
+) :\r
+ (DEFINED(__Interrupt50\r
+) ? ABSOLUTE(__Interrupt50\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltInterrupt51\r
+) ? ABSOLUTE(__AltInterrupt51\r
+) :\r
+ (DEFINED(__Interrupt51\r
+) ? ABSOLUTE(__Interrupt51\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltInterrupt52\r
+) ? ABSOLUTE(__AltInterrupt52\r
+) :\r
+ (DEFINED(__Interrupt52\r
+) ? ABSOLUTE(__Interrupt52\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ LONG(DEFINED(__AltInterrupt53\r
+) ? ABSOLUTE(__AltInterrupt53\r
+) :\r
+ (DEFINED(__Interrupt53\r
+) ? ABSOLUTE(__Interrupt53\r
+) :\r
+ ABSOLUTE(__DefaultInterrupt)));\r
+ } >aivt\r
+\r
+} /* SECTIONS */\r
+\r
+\r
+/* File Description | Notes:\r
+** =========================\r
+** 1] This file maps special function register(SFR) names used in the datasheet\r
+** to memory locations in the PIC30Fxxxx device. The memory locations are\r
+** byte addresses. The PIC30Fxxxx is a family of byte addressable devices.\r
+** 2] The register names used in this file are taken to match the\r
+** PIC30Fxxxx data sheets as closely as possible.\r
+** 3] SFR address definitions are listed in the ascending order of memory\r
+** addresses and are grouped based on the module they belong to. For e.g.,\r
+** WREG10 is listed before ACCAL, and the Core SFRs are grouped\r
+** separately, prior to the Interrupt Controller SFRs or the General\r
+** Purpose Timer SFRs.\r
+** 4] SFR names exactly match names in the device specific C "header" file\r
+** and the Assembly "include" file. Any changes to names in one of these\r
+** files, calls for similar changes in the other two.\r
+**\r
+* Revision History:\r
+** =================\r
+**-------------------------------------------------------------------------\r
+**Rev: Date: Details: Who:\r
+**-------------------------------------------------------------------------\r
+**1.0 11/29/01 Device linker provides from superset h vasuki\r
+**1.1 13 Dec 2001 Added PMD registers + some changes -do-\r
+**1.2 02 Dec 2002 CAN buffer correction -do-\r
+**1.3 13 Feb 2003 ADCSSLBits/ADPCFGBits Address correction -do-\r
+**1.4 05 May 2003 Initial release of linker scripts for rev -do-\r
+** B silicon with changes in CAN section\r
+**1.6 25 Nov 2003 CAN2 SFR bytes additions h vasuki\r
+**1.7 30 Jul 2004 ADCBUF0-ADCBUFF Address Correction h vasuki\r
+**1.7a 17 Dec 2004 CAN TXERRCNT Address Correction h vasuki\r
+**\r
+**-------------------------------------------------------------------------\r
+**\r
+**\r
+***************************************/\r
+\r
+\r
+/*=========================================================================\r
+** Register Definitions\r
+** (Core and Peripheral Registers in Data Space)\r
+**==========================================================================\r
+**\r
+**==========================================================================\r
+**\r
+** dsPIC Core Register Definitions\r
+**\r
+**=========================================================================*/\r
+ WREG0 = 0x0000;\r
+_WREG0 = 0x0000;\r
+ WREG1 = 0x0002;\r
+_WREG1 = 0x0002;\r
+ WREG2 = 0x0004;\r
+_WREG2 = 0x0004;\r
+ WREG3 = 0x0006;\r
+_WREG3 = 0x0006;\r
+ WREG4 = 0x0008;\r
+_WREG4 = 0x0008;\r
+ WREG5 = 0x000A;\r
+_WREG5 = 0x000A;\r
+ WREG6 = 0x000C;\r
+_WREG6 = 0x000C;\r
+ WREG7 = 0x000E;\r
+_WREG7 = 0x000E;\r
+ WREG8 = 0x0010;\r
+_WREG8 = 0x0010;\r
+ WREG9 = 0x0012;\r
+_WREG9 = 0x0012;\r
+ WREG10 = 0x0014;\r
+_WREG10 = 0x0014;\r
+ WREG11 = 0x0016;\r
+_WREG11 = 0x0016;\r
+ WREG12 = 0x0018;\r
+_WREG12 = 0x0018;\r
+ WREG13 = 0x001A;\r
+_WREG13 = 0x001A;\r
+ WREG14 = 0x001C;\r
+_WREG14 = 0x001C;\r
+ WREG15 = 0x001E;\r
+_WREG15 = 0x001E;\r
+ SPLIM = 0x0020;\r
+_SPLIM = 0x0020;\r
+ ACCAL = 0x0022;\r
+_ACCAL = 0x0022;\r
+ ACCAH = 0x0024;\r
+_ACCAH = 0x0024;\r
+ ACCAU = 0x0026;\r
+_ACCAU = 0x0026;\r
+ ACCBL = 0x0028;\r
+_ACCBL = 0x0028;\r
+ ACCBH = 0x002A;\r
+_ACCBH = 0x002A;\r
+ ACCBU = 0x002C;\r
+_ACCBU = 0x002C;\r
+ PCL = 0x002E;\r
+_PCL = 0x002E;\r
+ PCH = 0x0030;\r
+_PCH = 0x0030;\r
+ TBLPAG = 0x0032;\r
+_TBLPAG = 0x0032;\r
+ PSVPAG = 0x0034;\r
+_PSVPAG = 0x0034;\r
+ RCOUNT = 0x0036;\r
+_RCOUNT = 0x0036;\r
+ DCOUNT = 0x0038;\r
+_DCOUNT = 0x0038;\r
+ DOSTARTL = 0x003A;\r
+_DOSTARTL = 0x003A;\r
+ DOSTARTH = 0x003C;\r
+_DOSTARTH = 0x003C;\r
+ DOENDL = 0x003E;\r
+_DOENDL = 0x003E;\r
+ DOENDH = 0x0040;\r
+_DOENDH = 0x0040;\r
+ SR = 0x0042;\r
+_SR = 0x0042;\r
+ CORCON = 0x0044;\r
+_CORCON = 0x0044;\r
+ MODCON = 0x0046;\r
+_MODCON = 0x0046;\r
+ XMODSRT = 0x0048;\r
+_XMODSRT = 0x0048;\r
+ XMODEND = 0x004A;\r
+_XMODEND = 0x004A;\r
+ YMODSRT = 0x004C;\r
+_YMODSRT = 0x004C;\r
+ YMODEND = 0x004E;\r
+_YMODEND = 0x004E;\r
+ XBREV = 0x0050;\r
+_XBREV = 0x0050;\r
+ DISICNT = 0x0052;\r
+_DISICNT = 0x0052;\r
+\r
+\r
+\r
+/*==========================================================================\r
+**\r
+** Interrupt Controller Register Definitions\r
+**\r
+==========================================================================*/\r
+ INTCON1 = 0x0080;\r
+_INTCON1 = 0x0080;\r
+ INTCON2 = 0x0082;\r
+_INTCON2 = 0x0082;\r
+ IFS0 = 0x0084;\r
+_IFS0 = 0x0084;\r
+ IFS1 = 0x0086;\r
+_IFS1 = 0x0086;\r
+ IFS2 = 0x0088;\r
+_IFS2 = 0x0088;\r
+ IEC0 = 0x008C;\r
+_IEC0 = 0x008C;\r
+ IEC1 = 0x008E;\r
+_IEC1 = 0x008E;\r
+ IEC2 = 0x0090;\r
+_IEC2 = 0x0090;\r
+ IPC0 = 0x0094;\r
+_IPC0 = 0x0094;\r
+ IPC1 = 0x0096;\r
+_IPC1 = 0x0096;\r
+ IPC2 = 0x0098;\r
+_IPC2 = 0x0098;\r
+ IPC3 = 0x009A;\r
+_IPC3 = 0x009A;\r
+ IPC4 = 0x009C;\r
+_IPC4 = 0x009C;\r
+ IPC5 = 0x009E;\r
+_IPC5 = 0x009E;\r
+ IPC6 = 0x00A0;\r
+_IPC6 = 0x00A0;\r
+ IPC9 = 0x00A6;\r
+_IPC9 = 0x00A6;\r
+ IPC10 = 0x00A8;\r
+_IPC10 = 0x00A8;\r
+\r
+\r
+\r
+/*==========================================================================\r
+**\r
+** Input Change Notification Module Register Definitions\r
+**\r
+===========================================================================*/\r
+ CNEN1 = 0x00C0;\r
+_CNEN1 = 0x00C0;\r
+ CNPU1 = 0x00C4;\r
+_CNPU1 = 0x00C4;\r
+\r
+\r
+\r
+/*=========================================================================\r
+**\r
+** Peripheral Register Definitions\r
+**\r
+===========================================================================*/\r
+/*=========================================================================\r
+**\r
+** Timer Module Register Definitions\r
+**\r
+===========================================================================*/\r
+/*--------------Timer 1 Module---------------------------------------------*/\r
+ TMR1 = 0x0100;\r
+_TMR1 = 0x0100;\r
+ PR1 = 0x0102;\r
+_PR1 = 0x0102;\r
+ T1CON = 0x0104;\r
+_T1CON = 0x0104;\r
+\r
+/*--------------Timer2/3 Module--------------------------------------------*/\r
+ TMR2 = 0x0106;\r
+_TMR2 = 0x0106;\r
+ TMR3HLD = 0x0108;\r
+_TMR3HLD = 0x0108;\r
+ TMR3 = 0x010A;\r
+_TMR3 = 0x010A;\r
+ PR2 = 0x010C;\r
+_PR2 = 0x010C;\r
+ PR3 = 0x010E;\r
+_PR3 = 0x010E;\r
+ T2CON = 0x0110;\r
+_T2CON = 0x0110;\r
+ T3CON = 0x0112;\r
+_T3CON = 0x0112;\r
+\r
+/*------------- Timer4/5 Module---------------------------------------------*/\r
+ TMR4 = 0x0114;\r
+_TMR4 = 0x0114;\r
+ TMR5HLD = 0x0116;\r
+_TMR5HLD = 0x0116;\r
+ TMR5 = 0x0118;\r
+_TMR5 = 0x0118;\r
+ PR4 = 0x011A;\r
+_PR4 = 0x011A;\r
+ PR5 = 0x011C;\r
+_PR5 = 0x011C;\r
+ T4CON = 0x011E;\r
+_T4CON = 0x011E;\r
+ T5CON = 0x0120;\r
+_T5CON = 0x0120;\r
+\r
+/*=========================================================================\r
+**\r
+** Quadrature Encoder Interface Module Register Definitions\r
+**\r
+=========================================================================*/\r
+ QEICON = 0x0122;\r
+_QEICON = 0x0122;\r
+ DFLTCON = 0x0124;\r
+_DFLTCON = 0x0124;\r
+ POSCNT = 0x0126;\r
+_POSCNT = 0x0126;\r
+ MAXCNT = 0x0128;\r
+_MAXCNT = 0x0128;\r
+\r
+\r
+/*=========================================================================\r
+**\r
+** Input Capture Module Register Definitions\r
+**\r
+=========================================================================*/\r
+ IC1BUF = 0x0140;\r
+_IC1BUF = 0x0140;\r
+ IC1CON = 0x0142;\r
+_IC1CON = 0x0142;\r
+ IC2BUF = 0x0144;\r
+_IC2BUF = 0x0144;\r
+ IC2CON = 0x0146;\r
+_IC2CON = 0x0146;\r
+ IC7BUF = 0x0158;\r
+_IC7BUF = 0x0158;\r
+ IC7CON = 0x015A;\r
+_IC7CON = 0x015A;\r
+ IC8BUF = 0x015C;\r
+_IC8BUF = 0x015C;\r
+ IC8CON = 0x015E;\r
+_IC8CON = 0x015E;\r
+\r
+\r
+\r
+/*==========================================================================\r
+**\r
+** Output Compare Module Register Definitions\r
+**\r
+===========================================================================*/\r
+ OC1RS = 0x0180;\r
+_OC1RS = 0x0180;\r
+ OC1R = 0x0182;\r
+_OC1R = 0x0182;\r
+ OC1CON = 0x0184;\r
+_OC1CON = 0x0184;\r
+ OC2RS = 0x0186;\r
+_OC2RS = 0x0186;\r
+ OC2R = 0x0188;\r
+_OC2R = 0x0188;\r
+ OC2CON = 0x018A;\r
+_OC2CON = 0x018A;\r
+\r
+\r
+/*=========================================================================\r
+**\r
+** Motor Control PWM Module Register Definitions\r
+**\r
+=========================================================================*/\r
+ PTCON = 0x01C0;\r
+_PTCON = 0x01C0;\r
+ PTMR = 0x01C2;\r
+_PTMR = 0x01C2;\r
+ PTPER = 0x01C4;\r
+_PTPER = 0x01C4;\r
+ SEVTCMP = 0x01C6;\r
+_SEVTCMP = 0x01C6;\r
+ PWMCON1 = 0x01C8;\r
+_PWMCON1 = 0x01C8;\r
+ PWMCON2 = 0x01CA;\r
+_PWMCON2 = 0x01CA;\r
+ DTCON1 = 0x01CC;\r
+_DTCON1 = 0x01CC;\r
+ FLTACON = 0x01D0;\r
+_FLTACON = 0x01D0;\r
+ OVDCON = 0x01D4;\r
+_OVDCON = 0x01D4;\r
+ PDC1 = 0x01D6;\r
+_PDC1 = 0x01D6;\r
+ PDC2 = 0x01D8;\r
+_PDC2 = 0x01D8;\r
+ PDC3 = 0x01DA;\r
+_PDC3 = 0x01DA;\r
+\r
+\r
+\r
+/*=========================================================================\r
+**\r
+** Inter-Integrated Circuit(I2C) Module Register Definitions\r
+**\r
+==========================================================================*/\r
+ I2CRCV = 0x0200;\r
+_I2CRCV = 0x0200;\r
+ I2CTRN = 0x0202;\r
+_I2CTRN = 0x0202;\r
+ I2CBRG = 0x0204;\r
+_I2CBRG = 0x0204;\r
+ I2CCON = 0x0206;\r
+_I2CCON = 0x0206;\r
+ I2CSTAT = 0x0208;\r
+_I2CSTAT = 0x0208;\r
+ I2CADD = 0x020A;\r
+_I2CADD = 0x020A;\r
+\r
+/*==========================================================================\r
+**\r
+** Universal Asynchronous Receiver TransmitterUART Module\r
+** Register Definitions\r
+**\r
+==========================================================================*/\r
+/*------------------UART 1 Module-----------------------------------------*/\r
+ U1MODE = 0x020C;\r
+_U1MODE = 0x020C;\r
+ U1STA = 0x020E;\r
+_U1STA = 0x020E;\r
+ U1TXREG = 0x0210;\r
+_U1TXREG = 0x0210;\r
+ U1RXREG = 0x0212;\r
+_U1RXREG = 0x0212;\r
+ U1BRG = 0x0214;\r
+_U1BRG = 0x0214;\r
+\r
+\r
+/*==========================================================================\r
+**\r
+** Serial Peripheral Interface(SPI) Module Register Definitions\r
+**\r
+==========================================================================*/\r
+/*-----------------SPI 1 Module-------------------------------------------*/\r
+ SPI1STAT = 0x0220;\r
+_SPI1STAT = 0x0220;\r
+ SPI1CON = 0x0222;\r
+_SPI1CON = 0x0222;\r
+ SPI1BUF = 0x0224;\r
+_SPI1BUF = 0x0224;\r
+\r
+\r
+\r
+/*==========================================================================\r
+**\r
+** 10-bit A/D Converter 500 Ksps Module Register Definitions\r
+**\r
+==========================================================================*/\r
+ ADCBUF0 = 0x0280;\r
+_ADCBUF0 = 0x0280;\r
+ ADCBUF1 = 0x0282;\r
+_ADCBUF1 = 0x0282;\r
+ ADCBUF2 = 0x0284;\r
+_ADCBUF2 = 0x0284;\r
+ ADCBUF3 = 0x0286;\r
+_ADCBUF3 = 0x0286;\r
+ ADCBUF4 = 0x0288;\r
+_ADCBUF4 = 0x0288;\r
+ ADCBUF5 = 0x028A;\r
+_ADCBUF5 = 0x028A;\r
+ ADCBUF6 = 0x028C;\r
+_ADCBUF6 = 0x028C;\r
+ ADCBUF7 = 0x028E;\r
+_ADCBUF7 = 0x028E;\r
+ ADCBUF8 = 0x0290;\r
+_ADCBUF8 = 0x0290;\r
+ ADCBUF9 = 0x0292;\r
+_ADCBUF9 = 0x0292;\r
+ ADCBUFA = 0x0294;\r
+_ADCBUFA = 0x0294;\r
+ ADCBUFB = 0x0296;\r
+_ADCBUFB = 0x0296;\r
+ ADCBUFC = 0x0298;\r
+_ADCBUFC = 0x0298;\r
+ ADCBUFD = 0x029A;\r
+_ADCBUFD = 0x029A;\r
+ ADCBUFE = 0x029C;\r
+_ADCBUFE = 0x029C;\r
+ ADCBUFF = 0x029E;\r
+_ADCBUFF = 0x029E;\r
+ ADCON1 = 0x02A0;\r
+_ADCON1 = 0x02A0;\r
+ ADCON2 = 0x02A2;\r
+_ADCON2 = 0x02A2;\r
+ ADCON3 = 0x02A4;\r
+_ADCON3 = 0x02A4;\r
+ ADCHS = 0x02A6;\r
+_ADCHS = 0x02A6;\r
+ ADPCFG = 0x02A8;\r
+_ADPCFG = 0x02A8;\r
+ ADCSSL = 0x02AA;\r
+_ADCSSL = 0x02AA;\r
+\r
+/*==========================================================================\r
+**\r
+** General Purpose I/O Port Register Definitions\r
+**\r
+==========================================================================*/\r
+ TRISB = 0x02C6;\r
+_TRISB = 0x02C6;\r
+ PORTB = 0x02C8;\r
+_PORTB = 0x02C8;\r
+ LATB = 0x02CA;\r
+_LATB = 0x02CA;\r
+\r
+ TRISC = 0x02CC;\r
+_TRISC = 0x02CC;\r
+ PORTC = 0x02CE;\r
+_PORTC = 0x02CE;\r
+ LATC = 0x02D0;\r
+_LATC = 0x02D0;\r
+\r
+ TRISD = 0x02D2;\r
+_TRISD = 0x02D2;\r
+ PORTD = 0x02D4;\r
+_PORTD = 0x02D4;\r
+ LATD = 0x02D6;\r
+_LATD = 0x02D6;\r
+\r
+ TRISE = 0x02D8;\r
+_TRISE = 0x02D8;\r
+ PORTE = 0x02DA;\r
+_PORTE = 0x02DA;\r
+ LATE = 0x02DC;\r
+_LATE = 0x02DC;\r
+\r
+ TRISF = 0x02DE;\r
+\r
+_TRISF = 0x02DE;\r
+ PORTF = 0x02E0;\r
+_PORTF = 0x02E0;\r
+ LATF = 0x02E2;\r
+_LATF = 0x02E2;\r
+\r
+\r
+\r
+/*==========================================================================\r
+**\r
+** Controller Area Network Module Register Definitions\r
+** (for CAN Modules 1 and 2)\r
+==========================================================================*/\r
+\r
+/*==========================================================================\r
+**\r
+** CAN1 register definitions\r
+**\r
+==========================================================================*/\r
+C1RXF0SID = 0x0300;\r
+_C1RXF0SID = 0x0300;\r
+C1RXF0EIDH = 0x0302;\r
+_C1RXF0EIDH = 0x0302;\r
+C1RXF0EIDL = 0x0304;\r
+_C1RXF0EIDL = 0x0304;\r
+C1RXF1SID = 0x0308;\r
+_C1RXF1SID = 0x0308;\r
+C1RXF1EIDH = 0x030A;\r
+_C1RXF1EIDH = 0x030A;\r
+C1RXF1EIDL = 0x030C;\r
+_C1RXF1EIDL = 0x030C;\r
+C1RXF2SID = 0x0310;\r
+_C1RXF2SID = 0x0310;\r
+C1RXF2EIDH = 0x0312;\r
+_C1RXF2EIDH = 0x0312;\r
+C1RXF2EIDL = 0x0314;\r
+_C1RXF2EIDL = 0x0314;\r
+C1RXF3SID = 0x0318;\r
+_C1RXF3SID = 0x0318;\r
+C1RXF3EIDH = 0x031A;\r
+_C1RXF3EIDH = 0x031A;\r
+C1RXF3EIDL = 0x031C;\r
+_C1RXF3EIDL = 0x031C;\r
+C1RXF4SID = 0x0320;\r
+_C1RXF4SID = 0x0320;\r
+C1RXF4EIDH = 0x0322;\r
+_C1RXF4EIDH = 0x0322;\r
+C1RXF4EIDL = 0x0324;\r
+_C1RXF4EIDL = 0x0324;\r
+C1RXF5SID = 0x0328;\r
+_C1RXF5SID = 0x0328;\r
+C1RXF5EIDH = 0x032A;\r
+_C1RXF5EIDH = 0x032A;\r
+C1RXF5EIDL = 0x032C;\r
+_C1RXF5EIDL = 0x032C;\r
+C1RXM0SID = 0x0330;\r
+_C1RXM0SID = 0x0330;\r
+C1RXM0EIDH = 0x0332;\r
+_C1RXM0EIDH = 0x0332;\r
+C1RXM0EIDL = 0x0334;\r
+_C1RXM0EIDL = 0x0334;\r
+C1RXM1SID = 0x0338;\r
+_C1RXM1SID = 0x0338;\r
+C1RXM1EIDH = 0x033A;\r
+_C1RXM1EIDH = 0x033A;\r
+C1RXM1EIDL = 0x033C;\r
+_C1RXM1EIDL = 0x033C;\r
+C1TX2SID = 0x0340;\r
+_C1TX2SID = 0x0340;\r
+C1TX2EID = 0x0342;\r
+_C1TX2EID = 0x0342;\r
+C1TX2DLC = 0x0344;\r
+_C1TX2DLC = 0x0344;\r
+C1TX2B1 = 0x0346;\r
+_C1TX2B1 = 0x0346;\r
+C1TX2B2 = 0x0348;\r
+_C1TX2B2 = 0x0348;\r
+C1TX2B3 = 0x034A;\r
+_C1TX2B3 = 0x034A;\r
+C1TX2B4 = 0x034C;\r
+_C1TX2B4 = 0x034C;\r
+C1TX2CON = 0x034E;\r
+_C1TX2CON = 0x034E;\r
+C1TX1SID = 0x0350;\r
+_C1TX1SID = 0x0350;\r
+C1TX1EID = 0x0352;\r
+_C1TX1EID = 0x0352;\r
+C1TX1DLC = 0x0354;\r
+_C1TX1DLC = 0x0354;\r
+C1TX1B1 = 0x0356;\r
+_C1TX1B1 = 0x0356;\r
+C1TX1B2 = 0x0358;\r
+_C1TX1B2 = 0x0358;\r
+C1TX1B3 = 0x035A;\r
+_C1TX1B3 = 0x035A;\r
+C1TX1B4 = 0x035C;\r
+_C1TX1B4 = 0x035C;\r
+C1TX1CON = 0x035E;\r
+_C1TX1CON = 0x035E;\r
+C1TX0SID = 0x0360;\r
+_C1TX0SID = 0x0360;\r
+C1TX0EID = 0x0362;\r
+_C1TX0EID = 0x0362;\r
+C1TX0DLC = 0x0364;\r
+_C1TX0DLC = 0x0364;\r
+C1TX0B1 = 0x0366;\r
+_C1TX0B1 = 0x0366;\r
+C1TX0B2 = 0x0368;\r
+_C1TX0B2 = 0x0368;\r
+C1TX0B3 = 0x036A;\r
+_C1TX0B3 = 0x036A;\r
+C1TX0B4 = 0x036C;\r
+_C1TX0B4 = 0x036C;\r
+C1TX0CON = 0x036E;\r
+_C1TX0CON = 0x036E;\r
+C1RX1SID = 0x0370;\r
+_C1RX1SID = 0x0370;\r
+C1RX1EID = 0x0372;\r
+_C1RX1EID = 0x0372;\r
+C1RX1DLC = 0x0374;\r
+_C1RX1DLC = 0x0374;\r
+C1RX1B1 = 0x0376;\r
+_C1RX1B1 = 0x0376;\r
+C1RX1B2 = 0x0378;\r
+_C1RX1B2 = 0x0378;\r
+C1RX1B3 = 0x037A;\r
+_C1RX1B3 = 0x037A;\r
+C1RX1B4 = 0x037C;\r
+_C1RX1B4 = 0x037C;\r
+C1RX1CON = 0x037E;\r
+_C1RX1CON = 0x037E;\r
+C1RX0SID = 0x0380;\r
+_C1RX0SID = 0x0380;\r
+C1RX0EID = 0x0382;\r
+_C1RX0EID = 0x0382;\r
+C1RX0DLC = 0x0384;\r
+_C1RX0DLC = 0x0384;\r
+C1RX0B1 = 0x0386;\r
+_C1RX0B1 = 0x0386;\r
+C1RX0B2 = 0x0388;\r
+_C1RX0B2 = 0x0388;\r
+C1RX0B3 = 0x038A;\r
+_C1RX0B3 = 0x038A;\r
+C1RX0B4 = 0x038C;\r
+_C1RX0B4 = 0x038C;\r
+C1RX0CON = 0x038E;\r
+_C1RX0CON = 0x038E;\r
+C1CTRL = 0x0390;\r
+_C1CTRL = 0x0390;\r
+C1CFG1 = 0x0392;\r
+_C1CFG1 = 0x0392;\r
+C1CFG2 = 0x0394;\r
+_C1CFG2 = 0x0394;\r
+C1INTF = 0x0396;\r
+_C1INTF = 0x0396;\r
+C1INTE = 0x0398;\r
+_C1INTE = 0x0398;\r
+C1EC = 0x039A;\r
+_C1EC = 0x039A;\r
+C1RERRCNT = 0x039A;\r
+_C1RERRCNT = 0x039A;\r
+C1TERRCNT = 0x039B;\r
+_C1TERRCNT = 0x039B;\r
+\r
+/*==========================================================================\r
+**\r
+** System Integration Block Registers\r
+**\r
+==========================================================================*/\r
+ RCON = 0x0740;\r
+_RCON = 0x0740;\r
+ OSCCON = 0x0742;\r
+_OSCCON = 0x0742;\r
+\r
+/*==========================================================================\r
+**\r
+** Non Volatile Memory Registers\r
+**\r
+==========================================================================*/\r
+ NVMCON = 0x0760;\r
+_NVMCON = 0x0760;\r
+ NVMADR = 0x0762;\r
+_NVMADR = 0x0762;\r
+ NVMADRU = 0x0764;\r
+_NVMADRU = 0x0764;\r
+ NVMKEY = 0x0766;\r
+_NVMKEY = 0x0766;\r
+\r
+/*==========================================================================\r
+**\r
+** Peripheral Module Disable Registers\r
+**\r
+==========================================================================*/\r
+ PMD1 = 0x0770;\r
+_PMD1 = 0x0770;\r
+ PMD2 = 0x0772;\r
+_PMD2 = 0x0772;\r
+ PMD3 = 0x0774;\r
+_PMD3 = 0x0774;\r
+/*\r
+**End of SFR Definitions required for both C and Assembly files\r
+*/\r
+\r
+\r
+/*=========================================================================\r
+**\r
+**Start of Additional SFR Definitions that are required specifically\r
+**for the C header file.\r
+**\r
+==========================================================================*/\r
+ ACCA = 0x0022;\r
+_ACCA = 0x0022;\r
+ ACCB = 0x0028;\r
+_ACCB = 0x0028;\r
+ SRbits = 0x0042;\r
+_SRbits = 0x0042;\r
+ CORCONbits = 0x0044;\r
+_CORCONbits = 0x0044;\r
+ MODCONbits = 0x0046;\r
+_MODCONbits = 0x0046;\r
+ XBREVbits = 0x0050;\r
+_XBREVbits = 0x0050;\r
+ DISICNTbits = 0x0052;\r
+_DISICNTbits = 0x0052;\r
+ INTCON1bits = 0x0080;\r
+_INTCON1bits = 0x0080;\r
+ INTCON2bits = 0x0082;\r
+_INTCON2bits = 0x0082;\r
+ IFS0bits = 0x0084;\r
+_IFS0bits = 0x0084;\r
+ IFS1bits = 0x0086;\r
+_IFS1bits = 0x0086;\r
+ IFS2bits = 0x0088;\r
+_IFS2bits = 0x0088;\r
+ IEC0bits = 0x008C;\r
+_IEC0bits = 0x008C;\r
+ IEC1bits = 0x008E;\r
+_IEC1bits = 0x008E;\r
+ IEC2bits = 0x0090;\r
+_IEC2bits = 0x0090;\r
+ IPC0bits = 0x0094;\r
+_IPC0bits = 0x0094;\r
+ IPC1bits = 0x0096;\r
+_IPC1bits = 0x0096;\r
+ IPC2bits = 0x0098;\r
+_IPC2bits = 0x0098;\r
+ IPC3bits = 0x009A;\r
+_IPC3bits = 0x009A;\r
+ IPC4bits = 0x009C;\r
+_IPC4bits = 0x009C;\r
+ IPC5bits = 0x009E;\r
+_IPC5bits = 0x009E;\r
+ IPC6bits = 0x00A0;\r
+_IPC6bits = 0x00A0;\r
+ IPC9bits = 0x00A6;\r
+_IPC9bits = 0x00A6;\r
+ IPC10bits = 0x00A8;\r
+_IPC10bits = 0x00A8;\r
+ IPC11bits = 0x00AA;\r
+_IPC11bits = 0x00AA;\r
+ CNEN1bits = 0x00C0;\r
+_CNEN1bits = 0x00C0;\r
+ CNPU1bits = 0x00C4;\r
+_CNPU1bits = 0x00C4;\r
+ T1CONbits = 0x0104;\r
+_T1CONbits = 0x0104;\r
+ T2CONbits = 0x0110;\r
+_T2CONbits = 0x0110;\r
+ T3CONbits = 0x0112;\r
+_T3CONbits = 0x0112;\r
+ T4CONbits = 0x011E;\r
+_T4CONbits = 0x011E;\r
+ T5CONbits = 0x0120;\r
+_T5CONbits = 0x0120;\r
+ QEICONbits = 0x0122;\r
+_QEICONbits = 0x0122;\r
+ DFLTCONbits = 0x0124;\r
+_DFLTCONbits = 0x0124;\r
+ IC1CONbits = 0x0142;\r
+_IC1CONbits = 0x0142;\r
+ IC2CONbits = 0x0146;\r
+_IC2CONbits = 0x0146;\r
+ IC7CONbits = 0x015A;\r
+_IC7CONbits = 0x015A;\r
+ IC8CONbits = 0x015E;\r
+_IC8CONbits = 0x015E;\r
+ OC1CONbits = 0x0184;\r
+_OC1CONbits = 0x0184;\r
+ OC2CONbits = 0x018A;\r
+_OC2CONbits = 0x018A;\r
+ PTCONbits = 0x01C0;\r
+_PTCONbits = 0x01C0;\r
+ PTMRbits = 0x01C2;\r
+_PTMRbits = 0x01C2;\r
+ PTPERbits = 0x01C4;\r
+_PTPERbits = 0x01C4;\r
+ SEVTCMPbits = 0x01C6;\r
+_SEVTCMPbits = 0x01C6;\r
+ PWMCON1bits = 0x01C8;\r
+_PWMCON1bits = 0x01C8;\r
+ PWMCON2bits = 0x01CA;\r
+_PWMCON2bits = 0x01CA;\r
+ DTCON1bits = 0x01CC;\r
+_DTCON1bits = 0x01CC;\r
+ FLTACONbits = 0x01D0;\r
+_FLTACONbits = 0x01D0;\r
+ OVDCONbits = 0x01D4;\r
+_OVDCONbits = 0x01D4;\r
+ I2CRCVbits = 0x0200;\r
+_I2CRCVbits = 0x0200;\r
+ I2CTRNbits = 0x0202;\r
+_I2CTRNbits = 0x0202;\r
+ I2CBRGbits = 0x0204;\r
+_I2CBRGbits = 0x0204;\r
+ I2CCONbits = 0x0206;\r
+_I2CCONbits = 0x0206;\r
+ I2CSTATbits = 0x0208;\r
+_I2CSTATbits = 0x0208;\r
+ I2CADDbits = 0x020A;\r
+_I2CADDbits = 0x020A;\r
+ U1MODEbits = 0x020C;\r
+_U1MODEbits = 0x020C;\r
+ U1STAbits = 0x020E;\r
+_U1STAbits = 0x020E;\r
+ U1TXREGbits = 0x0210;\r
+_U1TXREGbits = 0x0210;\r
+ U1RXREGbits = 0x0212;\r
+_U1RXREGbits = 0x0212;\r
+ SPI1STATbits = 0x0220;\r
+_SPI1STATbits = 0x0220;\r
+ SPI1CONbits = 0x0222;\r
+_SPI1CONbits = 0x0222;\r
+ ADCON1bits = 0x02A0;\r
+_ADCON1bits = 0x02A0;\r
+ ADCON2bits = 0x02A2;\r
+_ADCON2bits = 0x02A2;\r
+ ADCON3bits = 0x02A4;\r
+_ADCON3bits = 0x02A4;\r
+ ADCHSbits = 0x02A6;\r
+_ADCHSbits = 0x02A6;\r
+ ADPCFGbits = 0x02A8;\r
+_ADPCFGbits = 0x02A8;\r
+ ADCSSLbits = 0x02AA;\r
+_ADCSSLbits = 0x02AA;\r
+ TRISBbits = 0x02C6;\r
+_TRISBbits = 0x02C6;\r
+ PORTBbits = 0x02C8;\r
+_PORTBbits = 0x02C8;\r
+ LATBbits = 0x02CA;\r
+_LATBbits = 0x02CA;\r
+ TRISCbits = 0x02CC;\r
+_TRISCbits = 0x02CC;\r
+ PORTCbits = 0x02CE;\r
+_PORTCbits = 0x02CE;\r
+ LATCbits = 0x02D0;\r
+_LATCbits = 0x02D0;\r
+ TRISDbits = 0x02D2;\r
+_TRISDbits = 0x02D2;\r
+ PORTDbits = 0x02D4;\r
+_PORTDbits = 0x02D4;\r
+ LATDbits = 0x02D6;\r
+_LATDbits = 0x02D6;\r
+ TRISEbits = 0x02D8;\r
+_TRISEbits = 0x02D8;\r
+ PORTEbits = 0x02DA;\r
+_PORTEbits = 0x02DA;\r
+ LATEbits = 0x02DC;\r
+_LATEbits = 0x02DC;\r
+ TRISFbits = 0x02DE;\r
+_TRISFbits = 0x02DE;\r
+ PORTFbits = 0x02E0;\r
+_PORTFbits = 0x02E0;\r
+\r
+ LATFbits = 0x02E2;\r
+_LATFbits = 0x02E2;\r
+ C1RXF0SIDbits = 0x0300;\r
+_C1RXF0SIDbits = 0x0300;\r
+ C1RXF0EIDHbits = 0x0302;\r
+_C1RXF0EIDHbits = 0x0302;\r
+ C1RXF0EIDLbits = 0x0304;\r
+_C1RXF0EIDLbits = 0x0304;\r
+ C1RXF1SIDbits = 0x0308;\r
+_C1RXF1SIDbits = 0x0308;\r
+ C1RXF1EIDHbits = 0x030A;\r
+_C1RXF1EIDHbits = 0x030A;\r
+ C1RXF1EIDLbits = 0x030C;\r
+_C1RXF1EIDLbits = 0x030C;\r
+ C1RXF2SIDbits = 0x0310;\r
+_C1RXF2SIDbits = 0x0310;\r
+ C1RXF2EIDHbits = 0x0312;\r
+_C1RXF2EIDHbits = 0x0312;\r
+ C1RXF2EIDLbits = 0x0314;\r
+_C1RXF2EIDLbits = 0x0314;\r
+ C1RXF3SIDbits = 0x0318;\r
+_C1RXF3SIDbits = 0x0318;\r
+ C1RXF3EIDHbits = 0x031A;\r
+_C1RXF3EIDHbits = 0x031A;\r
+ C1RXF3EIDLbits = 0x031C;\r
+_C1RXF3EIDLbits = 0x031C;\r
+ C1RXF4SIDbits = 0x0320;\r
+_C1RXF4SIDbits = 0x0320;\r
+ C1RXF4EIDHbits = 0x0322;\r
+_C1RXF4EIDHbits = 0x0322;\r
+ C1RXF4EIDLbits = 0x0324;\r
+_C1RXF4EIDLbits = 0x0324;\r
+ C1RXF5SIDbits = 0x0328;\r
+_C1RXF5SIDbits = 0x0328;\r
+ C1RXF5EIDHbits = 0x032A;\r
+_C1RXF5EIDHbits = 0x032A;\r
+ C1RXF5EIDLbits = 0x032C;\r
+_C1RXF5EIDLbits = 0x032C;\r
+ C1RXM0SIDbits = 0x0330;\r
+_C1RXM0SIDbits = 0x0330;\r
+ C1RXM0EIDHbits = 0x0332;\r
+_C1RXM0EIDHbits = 0x0332;\r
+ C1RXM0EIDLbits = 0x0334;\r
+_C1RXM0EIDLbits = 0x0334;\r
+ C1RXM1SIDbits = 0x0338;\r
+_C1RXM1SIDbits = 0x0338;\r
+ C1RXM1EIDHbits = 0x033A;\r
+_C1RXM1EIDHbits = 0x033A;\r
+ C1RXM1EIDLbits = 0x033C;\r
+_C1RXM1EIDLbits = 0x033C;\r
+ C1TX2SIDbits = 0x0340;\r
+_C1TX2SIDbits = 0x0340;\r
+ C1TX2EIDbits = 0x0342;\r
+_C1TX2EIDbits = 0x0342;\r
+ C1TX2DLCbits = 0x0344;\r
+_C1TX2DLCbits = 0x0344;\r
+ C1TX2B1bits = 0x0346;\r
+_C1TX2B1bits = 0x0346;\r
+ C1TX2B2bits = 0x0348;\r
+_C1TX2B2bits = 0x0348;\r
+ C1TX2B3bits = 0x034A;\r
+_C1TX2B3bits = 0x034A;\r
+ C1TX2B4bits = 0x034C;\r
+_C1TX2B4bits = 0x034C;\r
+ C1TX2CONbits = 0x034E;\r
+_C1TX2CONbits = 0x034E;\r
+ C1TX1SIDbits = 0x0350;\r
+_C1TX1SIDbits = 0x0350;\r
+ C1TX1EIDbits = 0x0352;\r
+_C1TX1EIDbits = 0x0352;\r
+ C1TX1DLCbits = 0x0354;\r
+_C1TX1DLCbits = 0x0354;\r
+ C1TX1B1bits = 0x0356;\r
+_C1TX1B1bits = 0x0356;\r
+ C1TX1B2bits = 0x0358;\r
+_C1TX1B2bits = 0x0358;\r
+ C1TX1B3bits = 0x035A;\r
+_C1TX1B3bits = 0x035A;\r
+ C1TX1B4bits = 0x035C;\r
+_C1TX1B4bits = 0x035C;\r
+ C1TX1CONbits = 0x035E;\r
+_C1TX1CONbits = 0x035E;\r
+ C1TX0SIDbits = 0x0360;\r
+_C1TX0SIDbits = 0x0360;\r
+ C1TX0EIDbits = 0x0362;\r
+_C1TX0EIDbits = 0x0362;\r
+ C1TX0DLCbits = 0x0364;\r
+_C1TX0DLCbits = 0x0364;\r
+ C1TX0B1bits = 0x0366;\r
+_C1TX0B1bits = 0x0366;\r
+ C1TX0B2bits = 0x0368;\r
+_C1TX0B2bits = 0x0368;\r
+ C1TX0B3bits = 0x036A;\r
+_C1TX0B3bits = 0x036A;\r
+ C1TX0B4bits = 0x036C;\r
+_C1TX0B4bits = 0x036C;\r
+ C1TX0CONbits = 0x036E;\r
+_C1TX0CONbits = 0x036E;\r
+ C1RX1SIDbits = 0x0370;\r
+_C1RX1SIDbits = 0x0370;\r
+ C1RX1EIDbits = 0x0372;\r
+_C1RX1EIDbits = 0x0372;\r
+ C1RX1DLCbits = 0x0374;\r
+_C1RX1DLCbits = 0x0374;\r
+ C1RX1B1bits = 0x0376;\r
+_C1RX1B1bits = 0x0376;\r
+ C1RX1B2bits = 0x0378;\r
+_C1RX1B2bits = 0x0378;\r
+ C1RX1B3bits = 0x037A;\r
+_C1RX1B3bits = 0x037A;\r
+ C1RX1B4bits = 0x037C;\r
+_C1RX1B4bits = 0x037C;\r
+ C1RX1CONbits = 0x037E;\r
+_C1RX1CONbits = 0x037E;\r
+ C1RX0SIDbits = 0x0380;\r
+_C1RX0SIDbits = 0x0380;\r
+ C1RX0EIDbits = 0x0382;\r
+_C1RX0EIDbits = 0x0382;\r
+ C1RX0DLCbits = 0x0384;\r
+_C1RX0DLCbits = 0x0384;\r
+ C1RX0B1bits = 0x0386;\r
+_C1RX0B1bits = 0x0386;\r
+ C1RX0B2bits = 0x0388;\r
+_C1RX0B2bits = 0x0388;\r
+ C1RX0B3bits = 0x038A;\r
+_C1RX0B3bits = 0x038A;\r
+ C1RX0B4bits = 0x038C;\r
+_C1RX0B4bits = 0x038C;\r
+ C1RX0CONbits = 0x038E;\r
+_C1RX0CONbits = 0x038E;\r
+ C1CTRLbits = 0x0390;\r
+_C1CTRLbits = 0x0390;\r
+ C1CFG1bits = 0x0392;\r
+_C1CFG1bits = 0x0392;\r
+ C1CFG2bits = 0x0394;\r
+_C1CFG2bits = 0x0394;\r
+ C1INTFbits = 0x0396;\r
+_C1INTFbits = 0x0396;\r
+ C1INTEbits = 0x0398;\r
+_C1INTEbits = 0x0398;\r
+ C1ECbits = 0x039A;\r
+_C1ECbits = 0x039A;\r
+\r
+ RCONbits = 0x0740;\r
+_RCONbits = 0x0740;\r
+ OSCCONbits = 0x742;\r
+_OSCCONbits = 0x742;\r
+ NVMCONbits = 0x0760;\r
+_NVMCONbits = 0x0760;\r
+ PMD1bits = 0x0770;\r
+_PMD1bits = 0x0770;\r
+ PMD2bits = 0x0772;\r
+_PMD2bits = 0x0772;\r
+ PMD3bits = 0x0774;\r
+_PMD3bits = 0x0774;\r
+/*\r
+**end of SFR definitions required for C header\r
+*/\r
+\r
+/* SFR base address definitions for various peripherals */\r
+\r
+ IC1 = 0x0140;\r
+_IC1 = 0x0140;\r
+ IC2 = 0x0144;\r
+_IC2 = 0x0144;\r
+ IC3 = 0x0148;\r
+_IC3 = 0x0148;\r
+ IC4 = 0x014C;\r
+_IC4 = 0x014C;\r
+\r
+ OC1 = 0x0180;\r
+_OC1 = 0x0180;\r
+ OC2 = 0x0186;\r
+_OC2 = 0x0186;\r
+\r
+ UART1 = 0x020C;\r
+_UART1 = 0x020C;\r
+\r
+ SPI1 = 0x0220;\r
+_SPI1 = 0x0220;\r
+\r
+ CAN1 = 0x0300;\r
+_CAN1 = 0x0300;\r
+\r
+/*=========================================================================\r
+**end of SFR definitions required in Data Space\r
+*========================================================================*/\r
+\r
+++ /dev/null
-/******************************************************************************
- Actuator Interface Card
- Host Interface Library
-
- Copyright (C) 2003..2007 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#ifndef _AIC_H
-#define _AIC_H
-
-/** @file aic.h
- Host Interface Library
- @author Walter Fetter Lages <w.fetter@ieee.org>
-*/
-
-/** @defgroup aichost AIC Host Interface
-@{
-*/
-
-/** Encapsulates functions used to provide communication between host and AIC
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-* @version AIC-1.3.0
-*/
-class AIC_COMM
-{
- public:
-
-/** Sends a command and its arguments to AIC
-* @param command Code of the command to send to AIC
-* @param ... Command arguments
-* @see AIC_COMMAND
-*/
- virtual void send_command(int command,...)=0;
-
-/** Receives a status message from AIC
-* @param status Code of the status sent by AIC
-* @param ... Pointers to status arguments
-* @see AIC_COMMAND
-*/
- virtual int get_status(int status,...)=0;
-
-/** Finalizes an AIC_COMM
-*/
- virtual ~AIC_COMM(void) {};
-
-/** Thrown by AIC errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD { };
-
-/** Thrown by AIC command errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-* @version AIC-1.3.0
-*/
- class BAD_COMMAND: public BAD { };
-
-/** Thrown by AIC send errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-* @version AIC-1.3.0
-*/
- class BAD_SEND: public BAD { };
-
-/** Thrown by AIC receive errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-* @version AIC-1.3.0
-*/
- class BAD_RECEIVE: public BAD { };
-
-};
-
-/** Provices access to the motor driver in an Actuator Interface Card
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-* @version AIC-1.3.0
-*/
-class AIC_MOTOR
-{
-/** Communication channel
-*/
- AIC_COMM *port;
-
- public:
-
-/** Initializes the motor driver
-* @param comm pointer to AIC_COMM object implementing the communication channel
-*/
- AIC_MOTOR(AIC_COMM *comm);
-
-/** Turns the motor driver on
-*/
- void on(void);
-
-/** Turns the motor driver off
-*/
- void off(void);
-
-/** Sets the voltage to be applied by the motor driver
-* @param voltage to be applied by the motor driver
-* @return the duty-cycle of the associated PWM
-*/
- double operator=(double voltage);
-};
-
-/** Provides access to incremental encoder in an Actuator Interface Card
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-* @version AIC-1.3.0
-*/
-class AIC_ENCODER
-{
-/** Communication channel
-*/
- AIC_COMM *port;
-
- public:
-
-/** Initializes encoder, clears the counter on the quadrature decoder chip
-* @param comm pointer to AIC_COMM object implementing the communication channel
-*/
- AIC_ENCODER(AIC_COMM *comm);
-
-/** Reads the displacement of encoder in radians
-* @return the displacement in radians since the last time
-* the encoder was read
-*/
- double read(void);
-
-/** Reads the displacement of encoder in radians and the status of the sync-switch
-* @param index pointer to an int where the sync-switch status is returned
-* @return the displacement in radians since the last time
-* the encoder was read
-*/
- double read(int *index);
-};
-
-/** Provides access to electromagnetic brake in an Actuator Interface Card
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-* @version AIC-1.3.0
-*/
-class AIC_BRAKE
-{
-/** Communication channel
-*/
- AIC_COMM *port;
-
- public:
-
-/** Initializes brake
-* @param comm pointer to AIC_COMM object implementing the communication channel
-*/
- AIC_BRAKE(AIC_COMM *comm);
-
-/** Applies the electromagnetic brake
-*/
- void apply(void);
-
-/** Releases the electromagnetic brake
-*/
- void release(void);
-};
-
-
-/** Provides access to sync-switch in an Actuator Interface Card
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-* @version AIC-1.3.0
-*/
-class AIC_INDEX
-{
-/** Communication channel
-*/
- AIC_COMM *port;
-
- public:
-
-/** Initializes index
-* @param comm pointer to AIC_COMM object implementing the communication channel
-*/
- AIC_INDEX(AIC_COMM *comm);
-
-/** Reads the sync-switch
-* @return the sync-switch state
-*/
- int read(void);
-
-/** Reads the sync-switch and the encoder displacement in radians
-* @param disp pointer to a double where encoder displacement is returned
-* @return the sync-switch state
-*/
- int read(double *disp);
-};
-
-/** Provides access to all devices in an Actuator Interface Card
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-* @version AIC-1.6.1
-*/
-class AIC
-{
- AIC_COMM *port;
-
- public:
-
-/** Motor actuated by AIC
-*/
- AIC_MOTOR motor;
-
-/** Encoder read by AIC
-*/
- AIC_ENCODER encoder;
-
-/** Brake actuaded by AIC
-*/
- AIC_BRAKE brake;
-
-/** Sync-switch read by AIC
-*/
- AIC_INDEX index;
-
-/** Initializes an AIC
-* @param comm pointer to AIC_COMM object implementing the communication channel
-*/
- AIC(AIC_COMM *comm);
-
-/** Finalizes an AIC
-*/
- virtual ~AIC(void) {};
-
-/** Resets an AIC
-* @since AIC-1.6.1
-*/
- void reset(void);
-
-/** Sets the reference for motor controller
-* @param ref reference
-* @since AIC-1.6.1
-*/
- void reference(double ref);
-
-/** Gets AIC busy status
-* @return 1 if AIC is busy, 0 otherwise
-* @since AIC-1.6.1
-* @see AIC_STATUS
-*/
- int busy(void);
-
-/** Sends a command and its arguments to AIC
-* @param command Code of the command to send to AIC
-* @param n size of argument buffer
-* @param buffer pointer to arguments
-* @see AIC_COMMAND
-*/
- void send_command(int command,int n,const void *buffer);
-
-};
-
-/**
-@}
-*/
-#endif
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Host Interface Library
- CAN Communication
- Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#ifndef _AICCAN_H
-#define _AICCAN_H
-
-#include <canlib.h>
-
-#include <aic.h>
-
-/** @file aiccan.h
- CAN Communication
- @author Walter Fetter Lages <w.fetter@ieee.org>
-*/
-
-/** @addtogroup aichost
-@{
-*/
-
-
-
-/** Implements a CAN communication channel
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-* @version AIC-1.3.0
-*/
-class AIC_CAN:public AIC_COMM, public AIC
-{
- /// AIC CAN identification mask
- const static int AIC_ID_MASK=0x01f; ///< AIC CAN identification mask
-
- const static int AIC_CMD_MASK=0x7e0; ///< AIC CAN command mask
-
- canHandle handle; ///< Handle to a CAN channel
- int aicnumber; ///< Number of aic to communicate
-
- public:
-
-/** Creates a CAN channel to AIC
-* @param aic number of aic to be connected to
-* @param bus CAN bus to use
-*/
- AIC_CAN(int aic,int bus=0);
-
-/** Closes the CAN channel
-*/
- virtual ~AIC_CAN(void);
-
-/** Sends a command and its arguments to AIC
-* @param command Code of the command to send to AIC
-* @param ... Command arguments
-* @see AIC_COMMAND
-*/
- void send_command(int command,...);
-
-/** Receives a status message from AIC
-* @param status Code of the status sent by AIC
-* @param ... Pointers to status arguments
-* @see AIC_COMMAND
-*/
- int get_status(int status,...);
-
-/** Thrown by AIC_CAN errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD:public AIC_COMM::BAD { };
-
-/** Thrown by AIC_CAN open errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD_OPEN:public BAD { };
-
-/** Thrown by AIC_CAN parameters errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD_PARMS:public BAD { };
-
-/** Thrown by AIC_CAN bus on errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD_BUSON:public BAD { };
-
-/** Thrown by AIC_CAN close errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD_CLOSE:public BAD { };
-
-/** Thrown by AIC_CAN send errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD_SEND:public BAD,AIC_COMM::BAD_SEND { };
-
-/** Thrown by AIC_CAN receive errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD_RECEIVE:public BAD,AIC_COMM::BAD_RECEIVE { };
-
-/** Thrown by AIC_CAN command errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD_COMMAND:public BAD,AIC_COMM::BAD_COMMAND { };
-};
-
-/**
-@}
-*/
-#endif
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Host Interface Simulation
- Copyright (C) 2003, 2004 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#ifndef _AICHOST_H
-#define _AICHOST_H
-
-#include <aicnet.h>
-
-/** @file aichost.h
- AIC Host Interface Simulator
- @author Walter Fetter Lages <w.fetter@ieee.org>
-*/
-
-/** @addtogroup aicsim
-@{
-*/
-
-/** Encapsulates functions used to provide communication between AIC simulator and host
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-* @version AIC-1.5.0
-*/
-class AIC_HOST
-{
-
- protected:
-
- double u; ///< Motor voltage
- double ref; ///< Controller reference
- int status; ///< Current Status
-
- public:
-
-/** AIC simulator status
-*/
- enum STATUS
- {
- MOTOR_ON = 1, ///< Motor is on
- BRAKE_APPLIED = 2 ///< Brake is applied
- };
-
-/** Initializes AIC simulator communication
-*/
- AIC_HOST(void);
-
-/** Closes AIC simulator communication
-*/
- virtual ~AIC_HOST(void);
-
-/** Gets the command code received from host
-* @return command code
-* @see AIC_COMMAND
-*/
- virtual int command(void)=0;
-
-/** Gets the status from AIC simulator
-* @return status code
-* @see STATUS
-*/
- int getstatus(void) const;
-
-/** Send AIC simulator motor displacement and sync-switch status to host
-* @param disp motor displacement in radians
-* @param index sync-switch index
-*/
- virtual void send_status(double disp,int index)=0;
-
-/** Gets the voltage to be applied to motor received with the last command
-* @return voltage
-*/
- double voltage(void) const;
-
-/** Gets the reference for Controller associtated to motor received with the last command
-* @return reference
-* @since AIC-1.6.0
-*/
- double reference(void) const;
-
-/** Thrown by AIC_HOST errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD { };
-
-/** Thrown by AIC_HOST send errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD_SEND: public BAD { };
-
-/** Thrown by AIC_HOST receive errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD_RECEIVE: public BAD { };
-};
-
-/**
-@}
-*/
-
-#endif
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Host Interface Simulation
- CAN Communication
- Copyright (C) 2003, 2004 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#ifndef _AICHOSTCAN_H
-#define _AICHOSTCAN_H
-
-#include <canlib.h>
-
-#include<aichost.h>
-
-/** @file aichostcan.h
- AIC Simulator CAN Communication
- @author Walter Fetter Lages <w.fetter@ieee.org>
-*/
-
-/** @addtogroup aicsim
-@{
-*/
-
-/** Provides CAN communication between AIC simulator and host
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-* @version AIC-1.3.0
-*/
-class AIC_HOST_CAN:public AIC_HOST
-{
- const static int AIC_ID_MASK=0x01f; ///< AIC CAN identification mask
-
- const static int AIC_CMD_MASK=0x7e0; ///< AIC CAN command mask
-
- canHandle handle; ///< Handle to a CAN channel
- int aicnumber; ///< Number of aic to communicate
-
- public:
-
-/** Creates a CAN channel to host
-* @param aicid number of aic connecting to host
-* @param bus CAN bus to use
-*/
- AIC_HOST_CAN(int aicid,int bus=0);
-
-/** Closes the CAN channel
-*/
- ~AIC_HOST_CAN(void);
-
-/** Gets the command code received from host
-* @return command code
-* @see AIC_COMMAND
-*/
- int command(void);
-
-/** Send AIC simulator motor displacement and sync-switch status to host
-* @param disp motor displacement in radians
-* @param index sync-switch index
-*/
- void send_status(double disp,int index);
-
-
-/** Thrown by AIC_HOST_CAN errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD:public AIC_HOST::BAD { };
-
-/** Thrown by AIC_HOST_CAN open errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD_OPEN:public BAD { };
-
-/** Thrown by AIC_HOST_CAN parameters errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD_PARMS:public BAD { };
-
-/** Thrown by AIC_HOST_CAN bus on errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD_BUSON:public BAD { };
-
-/** Thrown by AIC_HOST_CAN close errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD_CLOSE:public BAD { };
-
-/** Thrown by AIC_HOST_CAN send errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD_SEND:public BAD,AIC_HOST::BAD_SEND { };
-
-/** Thrown by AIC_HOST_CAN receive errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD_RECEIVE:public BAD,AIC_HOST::BAD_RECEIVE { };
-
-};
-
-/**
-@}
-*/
-#endif
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Host Interface Simulation
- UDP Communication
- Copyright (C) 2003, 2004 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#ifndef _AICHOSTUDP_H
-#define _AICHOSTUDP_H
-
-#include <netinet/in.h>
-
-#include<aichost.h>
-#include <aicnet.h>
-
-/** @file aichostudp.h
- AIC Simulator UDP Communication
- @author Walter Fetter Lages <w.fetter@ieee.org>
-*/
-
-/** @addtogroup aicsim
-@{
-*/
-
-/** Provides UDP communication between AIC simulator and host
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-* @version AIC-1.3.0
-*/
-class AIC_HOST_UDP:public AIC_HOST
-{
- /// socket for receiving command
- struct sockaddr_in cmdaddr;
-
- /// file descriptor for socket command
- int cmdfd;
-
- /// socket for transmitting status signal
- struct sockaddr_in statusaddr;
-
- /// file descriptor for status socket
- int statusfd;
-
- public:
-
-/** Initializes AIC simulator UDP communication
- @param controllername pointer to a string with the name of controller host
- @param statusport UDP port to send status to
- @param cmdport UDP port to bind to receive commands
- @see aicnet.h
-*/
- AIC_HOST_UDP(const char *controllername,int statusport=STATUS_PORT,int cmdport=CMD_PORT);
-
-/** Closes AIC simulator UDP communication
-*/
- ~AIC_HOST_UDP(void);
-
-/** Gets the command code received from host
-* @return command code
-* @see AIC_COMMAND
-*/
- int command(void);
-
-/** Send AIC simulator motor displacement and sync-switch status to host
-* @param disp motor displacement in radians
-* @param index sync-switch index
-*/
- void send_status(double disp,int index);
-
-/** Thrown by AIC_HOST_UDP errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD: public AIC_HOST::BAD { };
-
-/** Thrown by AIC_HOST_UDP socket errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD_SOCKET: public BAD { };
-
-
-/** Thrown by AIC_HOST_UDP bind errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD_BIND: public BAD { };
-};
-
-/**
-@}
-*/
-#endif
+++ /dev/null
-/******************************************************************************
- Actuator Interface Card
- I/O Interface Library
-
- Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#ifndef _AICIO_H
-#define _AICIO_H
-
-/** @file aicio.h
-* I/O Interface Library
-* @author Walter Fetter Lages <w.fetter@ieee.org>
-* @since AIC-1.4.2
-*/
-
-/** @defgroup aicio AIC I/O Interface
-@{
-*/
-
-/** Reference frequency = 10MHz
-*/
-#define REF_FREQ 10e6
-
-/** Default Switching Frequency = 20KHz
-*/
-#define SW_FREQ 20e3
-
-/** H-bridge turn-off delay
-*/
-#define TURNOFF_DELAY 600e-9
-
-/** PWM minimal count value
-*/
-#define MIN_COUNT (unsigned int)(2*TURNOFF_DELAY*REF_FREQ)
-
-/** PWM maximal count value
-*/
-#define MAX_COUNT (unsigned int)(REF_FREQ/SW_FREQ)
-
-/** Initializes brake
-* @param base Base address for on board devices
-* @since AIC-1.4.2
-*/
-extern void brake_initialize(unsigned long base);
-
-/** Applies the electromagnetic brake
-* @since AIC-1.4.2
-*/
-extern void brake_apply(void);
-
-/** Releases the electromagnetic brake
-* @since AIC-1.4.2
-*/
-extern void brake_release(void);
-
-/** Initializes Index
-* @param base Base address for on board devices
-* @since AIC-1.4.2
-*/
-extern void index_initialize(unsigned long base);
-
-/** Reads the sync-switch
-* @return the sync-switch state
-* @since AIC-1.4.2
-*/
-extern unsigned long index_read(void);
-
-/** Sets the frequency of PWM in cycles of 10MHz
-* @param count number of cycles from 10 to 65530. Default
-* value is 500
-* @since AIC-1.4.2
-*/
-extern void pwm_set_count(unsigned int count);
-
-/** Sets the frequency of PWM
-* @param frequency frequency in Hz from 152.60Hz to 1MHz. Default
-* value is 20KHz
-* @since AIC-1.4.2
-*/
-extern void pwm_set_freq(float frequency);
-
-/** Returns the frequency of PWM
-* @return PWM frequency in Hz
-* @since AIC-1.4.2
-*/
-extern float pwm_get_freq(void);
-
-/** PWM initialization
-* @param base Base address for on board devices
-* @param min_count MIN_COUNT
-* @param count frequency of PWM in cycles of 10MHz. Number of cycles
-* from 10 to 65530.
-* @since AIC-1.4.2
-*/
-extern void pwm_initialize(unsigned long base,unsigned int min_count,unsigned int count);
-
-/** Finalizes the PWM
-* @since AIC-1.4.2
-*/
-extern void pwm_finalize(void);
-
-/** Sets the duty-cycle of PWM
-* @param dutycycle to be used by PWM as a float from 0 to 1.0
-* @return the count value programmed to the PWM timer
-* @since AIC-1.4.2
-*/
-extern unsigned long pwm_set_duty_float(float dutycycle);
-
-/** Sets the duty-cycle of PWM
-* @param dutycycle to be used by PWM as a int from 0 to 1000000
-* @return the count value programmed to the PWM timer
-* @since AIC-1.4.2
-*/
-extern unsigned long pwm_set_duty(unsigned long dutycycle);
-
-/** Turns the PWM on
-* @since AIC-1.4.2
-*/
-extern void pwm_on(void);
-
-/** Turns the PWM off
-* @since AIC-1.4.2
-*/
-extern void pwm_off(void);
-
-/** Initializes the motor driver
-* @param base Base address for on board devices
-* @param voltage Motor Voltage
-* @param freq PWM frequency
-* @since AIC-1.5.0
-*/
-extern void motor_initialize(unsigned long base,float voltage,float freq);
-
-/** Finalizes the motor driver
-* @since AIC-1.5.0
-*/
-extern void motor_finalize(void);
-
-/** Turns the motor driver on
-* @since AIC-1.5.0
-*/
-extern void motor_on(void);
-
-/** Turns the motor driver off
-* @since AIC-1.5.0
-*/
-extern void motor_off(void);
-
-/** Sets the voltage to be applied by the motor driver
-* @param voltage to be applied by the motor driver
-* @return the duty-cycle of the associated PWM
-* @since AIC-1.5.0
-*/
-extern float motor_set(float voltage);
-
-/** Clears the counter on the quadrature decoder chip
-* @since AIC-1.5.0
-*/
-extern encoder_clear(void);
-
-/** Initializes Encoder, clears the counter on the quadrature decoder chip
-* @param base Base address for on board devices
-* @param pulses Number of pulses per revolution of the encoder, considering the
-* quadrature decoder
-* @since AIC-1.5.0
-*/
-extern void encoder_initialize(unsigned long base,long pulses);
-
-/** Finalizes Encoder
-* @since AIC-1.5.0
-*/
-extern void encoder_finalize(void);
-
-/** Gets the count on the quadrature decoder chip
-* @return the number of pulses (in 2-complement) since the last time
-* the counter was cleared
-* @since AIC-1.5.0
-*/
-extern long encoder_get_count(void);
-
-/** Gets the count and clears the counter on the quadrature decoder chip
-* @return the number of pulses (in 2-complement) since the last time
-* the counter was cleared
-* @since AIC-1.5.0
-*/
-extern long encoder_get_count_and_clear(void);
-
-/** Reads the counter on the quadrature decoder chip and converts the motion
-* to radians
-* @return the displacement in radians since the last time
-* the encoder was cleared
-* @since AIC-1.5.0
-*/
-extern float encoder_read(void);
-
-/** Reads the counter on the quadrature decoder chip, converts the motion
-* to radians and clears the counter
-* @return the displacement in radians since the last time
-* the encoder was cleared
-* @since AIC-1.5.0
-*/
-extern float encoder_read_and_clear(void);
-
-/** Turns an AIC on
-* @since AIC-1.5.0
-*/
-extern void aic_on(void);
-
-/** Turns an AIC off
-* @since AIC-1.5.0
-*/
-extern void aic_off(void);
-
-/** Initializes an AIC
-* @param base Base address for on board devices
-* @param vm Motor Voltage
-* @param freq PWM frequency
-* @param np Pulses per encoder revolution
-* @since AIC-1.5.0
-*/
-extern void aic_initialize(unsigned long base,float vm,float freq,long np);
-
-/** Finalizes an AIC
-* @since AIC-1.5.0
-*/
-extern void aic_finalize(void);
-
-/**
-@}
-*/
-
-/* Unfortunately the TINI Native target does not support a linker, so all
-functions are inlined */
-#ifndef _MOTOR_C
-#include "../lib/aicio/motor.c"
-#endif
-
-#ifndef _ENCODER_C
-#include "../lib/aicio/encoder.c"
-#endif
-
-#ifndef _AIC_C
-#include "../lib/aicio/aic.c"
-#endif
-
-#endif
+++ /dev/null
-;******************************************************************************
-;
-; Actuator Interface Card
-; Utility Macros
-; Copyright (C) 2004 Walter Fetter Lages <w.fetter@ieee.org>
-;
-; This program is free software; you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation; either version 2 of the License, or
-; (at your option) any later version.
-;
-; This program is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with this program; if not, write to the Free Software
-; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-;
-; You can also obtain a copy of the GNU General Public License
-; at <http://www.gnu.org/licenses>.
-;
-;*******************************************************************************
-
-; store 24 bit data
-; parameters: addr?=address to store data into
-; inputs: dpx:dph:dhl=data to be stored
-; destroy: a
-; outputs: dpx1:dph1:dpl1=addr?
-STORE24 macro param addr?
- mov a,dpx
- orl DPS,#01h
- mov dptr,addr?
- movx @dptr,a
- inc dptr
- mov a,dph
- movx @dptr,a
- inc dptr
- mov a,dpl
- movx @dptr,a
- anl DPS,#0feh
- endm
-
-; load 24 bit data
-; parameters: addr?=address to load data from
-; inputs: none
-; destroy: a
-; outputs: dpx:dph:dpl=loaded data
-; dpx1:dph1:dpl1=addr?
-LOAD24 macro param addr?
- orl DPS,#01h
- mov dptr,addr?
- movx a,@dptr
- inc dptr
- mov dpx,a
- movx a,@dptr
- inc dptr
- mov dph,a
- movx a,@dptr
- mov dpl,a
- anl DPS,#0feh
- endm
-
-; include stretch macros
-
-if(STRETCH > 0)
-$include(aicstretch.inc)
-endif
-if(STRETCH <=0)
-$include(aicnostretch.inc)
-endif
-
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Host Interface Library
- Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#ifndef _AICNET_H
-#define _AICNET_H
-
-/** @file aicnet.h
- Host Interface Library
- @author Walter Fetter Lages <w.fetter@ieee.org>
-*/
-
-/** @addtogroup aichost
-@{
-*/
-
-/** Default command port
-*/
-#define CMD_PORT 9880
-
-/** Default status port
-*/
-#define STATUS_PORT 9877
-
-/** AIC command codes
-*/
-enum AIC_COMMAND
-{
- AIC_INVALID= 0x00, ///< Invalid command
- AIC_RESET= 0x01, ///< Reset AIC
- AIC_MOTOR_OFF= 0x02, ///< Turns motor off
- AIC_BRAKE_APPLY= 0x03, ///< Aplies brake
- AIC_MOTOR_ACT= 0x10, ///< Actuates motor with given voltage
- AIC_MOTOR_REF= 0x15, ///< Sets the reference for the motor PID
- AIC_STATUS= 0x20, ///< Status identification
- AIC_BRAKE_RELEASE= 0x30, ///< Releases brake
- AIC_MOTOR_ON= 0x31, ///< Turns motor on
- AIC_USER0= 0x3b, ///< User defined command 0
- AIC_USER1= 0x3c, ///< User defined command 1
- AIC_USER2= 0x3d, ///< User defined command 2
- AIC_USER3= 0x3e, ///< User defined command 3
- AIC_NOP= 0x3f ///< No operation
-};
-
-/** AIC status codes
-*/
-enum AIC_STATUS
-{
- AIC_INDEX_ON= 0x01, ///< Index on
- AIC_BUSY= 0x02 ///< AIC is busy
-};
-
-
-#endif
+++ /dev/null
-;******************************************************************************
-;
-; Actuator Interface Card
-; No Stretch Macros
-; Copyright (C) 2004 Walter Fetter Lages <w.fetter@ieee.org>
-;
-; This program is free software; you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation; either version 2 of the License, or
-; (at your option) any later version.
-;
-; This program is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with this program; if not, write to the Free Software
-; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-;
-; You can also obtain a copy of the GNU General Public License
-; at <http://www.gnu.org/licenses>.
-;
-;*******************************************************************************
-
-; set stretch
-; parameters: stretch?=dummy stretch value
-SET_STRETCH macro param stretch?
-; dummy macro
- endm
-
-; restore original stretch value
-; parameters: saved?=dummy stretch value
-RESTORE_STRETCH macro param saved?
-; dummy macro
- endm
+++ /dev/null
-;******************************************************************************
-;
-; Actuator Interface Card
-; PLD Constants
-; Copyright (C) 2004 Walter Fetter Lages <w.fetter@ieee.org>
-;
-; This program is free software; you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation; either version 2 of the License, or
-; (at your option) any later version.
-;
-; This program is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with this program; if not, write to the Free Software
-; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-;
-; You can also obtain a copy of the GNU General Public License
-; at <http://www.gnu.org/licenses>.
-;
-;*******************************************************************************
-
-
-; constants defining addresses for devices in an Actuator Interface Card
-
-PWM equ 80000h ; PWM address
-ENCODER equ 90000h ; Encoder address
-CONTROL equ 0A0000h ; Control register address
-
-; constants for using the control register in an Actuator Interface Card
-
-PWMDISABLE equ 00h ; PWM disable
-PWMENABLE equ 01h ; PWM enable
-BRAKEAPPLY equ 02h ; Apply brake
-BRAKERELEASE equ 03h ; Release brake
-
-; stretch values for memory access
-; 2 -> 4 cycles
-STRETCH equ -2
-STRETCH_MASK equ 0f8h
-
-
-
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card Simulator
- Copyright (C) 2003, 2004 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#ifndef _AICSIM_H
-#define _AICSIM_H
-
-#include <aic.h>
-
-/** @file aicsim.h
- AIC Simulator
- @author Walter Fetter Lages <w.fetter@ieee.org>
-*/
-
-/** @defgroup aicsim AIC Simulator Interface
-@{
-*/
-
-/** Emulates an AIC
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-* @version AIC-1.3.0
-*/
-class AIC_SIM:public AIC_COMM, public AIC
-{
- int count; ///< Simulated encoder count
-
- public:
-
-/** Initialize AIC simulator
-*/
- AIC_SIM(void);
-
-/** Simulates the execution of an AIC command by logging it to cout
-* @param command Code of the command sent to AIC
-* @param ... Command arguments
-* @see AIC_COMMAND
-*/
- void send_command(int command,...);
-
-/** Simulates the genetration of a status message from an AIC by generating synthetic data
-* @param status Code of the status generated by AIC
-* @param ... Pointers to status arguments
-* @see AIC_COMMAND
-*/
- int get_status(int status,...);
-
-/** Thrown by AIC simulator errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD: public AIC_COMM::BAD { };
-
-/** Thrown by AIC simulator command errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD_COMMAND: public BAD, AIC_COMM::BAD_COMMAND { };
-};
-
-/**
-@}
-*/
-
-#endif
+++ /dev/null
-;******************************************************************************
-;
-; Actuator Interface Card
-; Stretch Macros
-; Copyright (C) 2004 Walter Fetter Lages <w.fetter@ieee.org>
-;
-; This program is free software; you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation; either version 2 of the License, or
-; (at your option) any later version.
-;
-; This program is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with this program; if not, write to the Free Software
-; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-;
-; You can also obtain a copy of the GNU General Public License
-; at <http://www.gnu.org/licenses>.
-;
-;*******************************************************************************
-
-; set stretch
-; parameters: stretch?=stretch value
-; outputs: a=new CKCON
-; r0=old CKCON (including) stretch value
-SET_STRETCH macro param stretch?
- mov a,CKCON
- mov r0,a
- anl a,#STRETCH_MASK
- orl a,#stretch?
- mov CKCON,a
- endm
-
-; restore original stretch value
-; parameters: saved?=stretch value
-RESTORE_STRETCH macro param saved?
- mov CKCON,saved?
- endm
+++ /dev/null
-/******************************************************************************
- Actuator Interface Card
- Host Interface Library
- UDP Communication
-
- Copyright (C) 2003, 2004 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#ifndef _AICUDP_H
-#define _AICUDP_H
-
-#include <arpa/inet.h>
-#include <aic.h>
-#include <aicnet.h>
-
-/** @file aicudp.h
- UDP Communication
- @author Walter Fetter Lages <w.fetter@ieee.org>
-*/
-
-/** @addtogroup aichost
-@{
-*/
-
-/** Implements an UDP communication channel
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-* @version AIC-1.3.0
-*/
-class AIC_UDP:public AIC_COMM, public AIC
-{
- /// socket for transmitting commands
- struct sockaddr_in cmdaddr;
- /// file descriptor for command socket
- int cmdfd;
-
- /// socket for receiving sensor signal
- struct sockaddr_in stataddr;
- /// file descriptor for status socket
- int statfd;
-
- public:
-
-/** Creates an UDP channel to AIC
-* @param aicname pointer to a string with the name of AIC to be connected to
-* @param statport UDP port used to receive status from AIC
-* @param cmdport UDP port to send commands to
-* @see aicnet.h
-*/
- AIC_UDP(const char *aicname,int statport=STATUS_PORT,int cmdport=CMD_PORT);
-
-/** Closes the UDP channel
-*/
- virtual ~AIC_UDP(void);
-
-/** Sends a command and its arguments to AIC
-* @param command Code of the command to send to AIC
-* @param ... Command arguments
-* @see AIC_COMMAND
-*/
- void send_command(int command,...);
-
-/** Receives a status message from AIC
-* @param status Code of the status sent by AIC
-* @param ... Pointers to status arguments
-* @see AIC_COMMAND
-*/
- int get_status(int status,...);
-
-/** Thrown by AIC_UDP errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD:public AIC_COMM::BAD { };
-
-/** Thrown by AIC_UDP socket errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD_SOCKET:public BAD { };
-
-/** Thrown by AIC_UDP bind errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD_BIND:public BAD { };
-
-/** Thrown by AIC_UDP send errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD_SEND:public BAD,AIC_COMM::BAD_SEND { };
-
-/** Thrown by AIC_UDP receive errors
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
- class BAD_RECEIVE:public BAD,AIC_COMM::BAD_RECEIVE { };
-};
-
-/**
-@}
-*/
-#endif
--- /dev/null
+/******************************************************************************
+
+ Actuator Interface Card
+ Rotation Buffer
+ Copyright (C) 2008 Diego Caberlon Santini <diegos@ece.ufrgs.br>
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+ You can also obtain a copy of the GNU General Public License
+ at <http://www.gnu.org/licenses>.
+
+*******************************************************************************
+2008.06.13 -> Start by Diego Caberlon Santini
+*/
+#ifndef BUFFER_H
+#define BUFFER_H
+
+/** @file buffer.h
+ * Rotation Buffer
+ * @author Diego Caberlon Santini <diegos@ece.ufrgs.br>
+ */
+
+/** @defgroup buffer Buffer Group
+@{
+ */
+
+/** Max Buffer Size
+ */
+#define BUFFER_SIZE 256
+/******************************************************************************/
+
+/** Buffer body
+ */
+typedef struct buffer_info buffer_info_t;
+struct buffer_info{
+ char buffer[BUFFER_SIZE]; ///< Buffer
+ char *ptr_base; ///< Buffer Base
+ char *ptr_in; ///< Buffer In
+ char *ptr_out; ///< Buffer Out
+ int count; ///< Buffer Count
+};
+
+/******************************************************************************/
+/** Finalizes buffer
+ * @param buffer_ptr Pointer to a buffer
+ */
+void buffer_end(buffer_info_t *buffer_ptr);
+/******************************************************************************/
+/** Get data on buffer
+ * @param buffer_ptr Pointer to a buffer
+ * @param data Pointer to return data
+ * @return 0 OK and -1 to error
+ */
+int buffer_get(buffer_info_t *buffer_ptr, char *data);
+/******************************************************************************/
+/** Puts data on buffer
+ * @param buffer_ptr Pointer to a buffer
+ * @param data Value to put in buffer
+ * @return 0 OK and -1 to error
+ */
+int buffer_put(buffer_info_t *buffer_ptr, char data);
+/******************************************************************************/
+/** Initializes buffer
+ * @param buffer_ptr Pointer to a buffer
+ */
+void buffer_init(buffer_info_t *buffer_ptr);
+/******************************************************************************/
+#endif
+++ /dev/null
-;******************************************************************************
-;
-; Actuator Interface Card
-; 8254 Programmable Interrupt Timer Constants
-; Copyright (C) 2004 Walter Fetter Lages <w.fetter@ieee.org>
-;
-; This program is free software; you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation; either version 2 of the License, or
-; (at your option) any later version.
-;
-; This program is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with this program; if not, write to the Free Software
-; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-;
-; You can also obtain a copy of the GNU General Public License
-; at <http://www.gnu.org/licenses>.
-;
-;*******************************************************************************
-
-
-; 8254 registers
-TIMER0_8254 equ 0h ; timer 0 address
-TIMER1_8254 equ 1h ; timer 1 address
-TIMER2_8254 equ 2h ; timer 2 address
-CTRL_8254 equ 3h ; control/status register
-
-; timer modes
-ONE_SHOT_BIN_8254 equ 32h ; programmable one-shot binary
-RATE_BIN_8254 equ 34h ; rate generator binary
--- /dev/null
+\r
+/*-------------------------------------------------------------------------\r
+ *\r
+ * MPLAB-C30 dsPIC30F4012 processor header\r
+ *\r
+ * (c) Copyright 2005 Microchip Technology, All rights reserved\r
+ *\r
+ * File Description / Notes:\r
+ * =========================\r
+ * 1] This header file defines special function registers (SFR), and useful \r
+ * macros for the dsPIC30Fxxxx Family of Digital Signal\r
+ * Controllers (also referred to as the dsPIC). \r
+ * 2] The register and bit names used in this file match the \r
+ * dsPIC30Fxxxx data sheets as closely as possible. \r
+ * 3] The memory locations of the registers defined in this header file are\r
+ * specified in the respective linker scripts.\r
+ * 4] SFR definitions are listed in the ascending order of memory addresses\r
+ * and are grouped based on the module they belong to. For e.g., WREG10\r
+ * is listed before ACCAL, and the Core SFRs are grouped separately\r
+ * from the Interrupt Controller SFRs or the General Purpose Timer SFRs.\r
+ * \r
+ * Revision History:\r
+ * =================\r
+ * --------------------------------------------------------------------------\r
+ * Rev: Date: Details: Who:\r
+ * --------------------------------------------------------------------------\r
+ * 2.0 23 Apr 2003 New file P Sinha\r
+ * 2.0a 24 Apr 2003 Added CEID bit P Sinha\r
+ * 2.0b 30 Apr 2003 Removed suffix 'B' from device number P Sinha\r
+ * 2.0c 2 May 2003 'H' suffix added to CiRXFnEID/CiRXMnEID P Sinha\r
+ * 2.1 2 Jun 2003 Relocated CANCAP bit to CxCTRL P Sinha\r
+ * 2.2 17 Jun 2003 Renamed CONV bit to DONE P Sinha\r
+ * 2.3 20 Jun 2003 Corrections in Config Fuses comments P Sinha\r
+ * 2.3a 23 Jun 2003 Typos in CAN structure corrected P Sinha\r
+ * 2.3b 5 Aug 2003 Added TUN1-4 bits in OSCCON P Sinha\r
+ * 2.3c 18 Sep 2003 DFLTCON changes P Sinha\r
+ * 2.4 10 Oct 2003 Added macros for data allocation and ISRs P Sinha\r
+ * 2.5 25 Nov 2003 Renamed TUN1-4 bits to TUNF0-3 P Sinha\r
+ * 3.0 30 Mar 2004 Added defines for unique SFR bit names P Sinha\r
+ * 3.1 5 Apr 2004 Added underscore before SFR bit labels P Sinha\r
+ * 3.1a 8 Apr 2004 Added config macros for FRC w/ PLL modes P Sinha\r
+ * 3.2 11 Apr 2004 Enhanced config macro usage examples P Sinha\r
+ * 3.3 14 Apr 2004 Corrected a typo in the _U1RXIE bit label P Sinha\r
+ * 4.0 28 Sep 2004 Changed data allocation macro definitions P Sinha\r
+ * 4.1 22 Dec 2004 Corrected a typo in the _U1RXIE definition P Sinha\r
+ * 4.1a 14 Mar 2005 Removed LVD definitions P Sinha\r
+ * 4.2 4 Apr 2005 Renamed EC_IO to ECIO and ERC_IO to ERCIO P Sinha\r
+ * 4.2a 27 Jun 2005 Fixed typos in comments regarding macros G McCar\r
+ * 4.3 1 Jul 2005 Updated section syntax in config macros P Sinha\r
+ * --------------------------------------------------------------------------\r
+ *\r
+ * ------------------------------------------------------------------------*/\r
+\r
+#ifndef __30F4012_H\r
+#define __30F4012_H\r
+\r
+/* ------------------------- */ \r
+/* Core Register Definitions */\r
+/* ------------------------- */\r
+\r
+/* W registers W0-W15 */\r
+extern volatile unsigned int WREG0 __attribute__((__sfr__,__deprecated__,__unsafe__));\r
+extern volatile unsigned int WREG1 __attribute__((__sfr__,__deprecated__,__unsafe__));\r
+extern volatile unsigned int WREG2 __attribute__((__sfr__,__deprecated__,__unsafe__));\r
+extern volatile unsigned int WREG3 __attribute__((__sfr__,__deprecated__,__unsafe__));\r
+extern volatile unsigned int WREG4 __attribute__((__sfr__,__deprecated__,__unsafe__));\r
+extern volatile unsigned int WREG5 __attribute__((__sfr__,__deprecated__,__unsafe__));\r
+extern volatile unsigned int WREG6 __attribute__((__sfr__,__deprecated__,__unsafe__));\r
+extern volatile unsigned int WREG7 __attribute__((__sfr__,__deprecated__,__unsafe__));\r
+extern volatile unsigned int WREG8 __attribute__((__sfr__,__deprecated__,__unsafe__));\r
+extern volatile unsigned int WREG9 __attribute__((__sfr__,__deprecated__,__unsafe__));\r
+extern volatile unsigned int WREG10 __attribute__((__sfr__,__deprecated__,__unsafe__));\r
+extern volatile unsigned int WREG11 __attribute__((__sfr__,__deprecated__,__unsafe__));\r
+extern volatile unsigned int WREG12 __attribute__((__sfr__,__deprecated__,__unsafe__));\r
+extern volatile unsigned int WREG13 __attribute__((__sfr__,__deprecated__,__unsafe__));\r
+extern volatile unsigned int WREG14 __attribute__((__sfr__,__deprecated__,__unsafe__));\r
+extern volatile unsigned int WREG15 __attribute__((__sfr__,__deprecated__,__unsafe__));\r
+\r
+/* SPLIM: Stack Pointer Limit */\r
+extern volatile unsigned int SPLIM __attribute__((__sfr__));\r
+\r
+/* Alternative access structure for the 40-bit accumulators */\r
+typedef struct tagACC {\r
+ unsigned int L;\r
+ unsigned int H;\r
+ unsigned char U;\r
+} ACC;\r
+\r
+/* Acc A<15:0> */\r
+extern volatile unsigned int ACCAL __attribute__((__sfr__));\r
+\r
+/* Acc A<31:16> */\r
+extern volatile unsigned int ACCAH __attribute__((__sfr__));\r
+\r
+/* Acc A<39:32> */\r
+extern volatile unsigned char ACCAU __attribute__((__sfr__));\r
+\r
+/* Acc A defined as a structure consisting of the 3 parts */\r
+extern volatile ACC ACCA __attribute__((__sfr__));\r
+\r
+/* Acc B<15:0> */\r
+extern volatile unsigned int ACCBL __attribute__((__sfr__));\r
+\r
+/* Acc B<31:16> */\r
+extern volatile unsigned int ACCBH __attribute__((__sfr__));\r
+\r
+/* Acc B<39:32> */\r
+extern volatile unsigned char ACCBU __attribute__((__sfr__));\r
+\r
+/* Acc B defined as a structure consisting of the 3 parts */\r
+extern volatile ACC ACCB __attribute__((__sfr__));\r
+\r
+/* PCL: Program Counter low word */ \r
+extern volatile unsigned int PCL __attribute__((__sfr__));\r
+\r
+/* PCH: Program Counter high byte */\r
+extern volatile unsigned char PCH __attribute__((__sfr__));\r
+\r
+/* TBLPAG: Table Page Register */\r
+extern volatile unsigned char TBLPAG __attribute__((__sfr__));\r
+\r
+/* PSVPAG: Program Space Visibility Page Register */\r
+extern volatile unsigned char PSVPAG __attribute__((__sfr__));\r
+\r
+/* RCOUNT: REPEAT loop count */\r
+extern volatile unsigned int RCOUNT __attribute__((__sfr__));\r
+\r
+/* DCOUNT: DO loop count */\r
+extern volatile unsigned int DCOUNT __attribute__((__sfr__));\r
+\r
+/* DOSTARTL: DO loop start address bits <15:0> */\r
+extern volatile unsigned int DOSTARTL __attribute__((__sfr__));\r
+\r
+/* DOSTARTH: DO loop start address bits <23:16> */\r
+extern volatile unsigned int DOSTARTH __attribute__((__sfr__));\r
+\r
+/* DOENDL: DO loop end address bits <15:0> */\r
+extern volatile unsigned int DOENDL __attribute__((__sfr__));\r
+\r
+/* DOENDH: DO loop end address bits <23:16> */\r
+extern volatile unsigned int DOENDH __attribute__((__sfr__));\r
+\r
+/* SR: Status Register */\r
+extern volatile unsigned int SR __attribute__((__sfr__));\r
+typedef struct tagSRBITS {\r
+ unsigned C :1; /* Carry flag */\r
+ unsigned Z :1; /* Sticky Zero flag */\r
+ unsigned OV :1; /* Overflow flag */ \r
+ unsigned N :1; /* Negative flag */\r
+ unsigned RA :1; /* REPEAT loop active flag */\r
+ unsigned IPL :3; /* CPU Interrupt Priority Level */\r
+ unsigned DC :1; /* Digit Carry flag */\r
+ unsigned DA :1; /* DO loop active flag */\r
+ unsigned SAB :1; /* Combined A/B saturation flag */\r
+ unsigned OAB :1; /* Combined A/B overflow flag */ \r
+ unsigned SB :1; /* Acc B saturation flag */\r
+ unsigned SA :1; /* Acc A saturation flag */\r
+ unsigned OB :1; /* Acc B overflow flag */\r
+ unsigned OA :1; /* Acc A overflow flag */\r
+} SRBITS;\r
+extern volatile SRBITS SRbits __attribute__((__sfr__));\r
+\r
+/* CORCON: CPU Mode control Register */\r
+extern volatile unsigned int CORCON __attribute__((__sfr__));\r
+typedef struct tagCORCONBITS {\r
+ unsigned IF :1; /* Integer/Fractional mode */ \r
+ unsigned RND :1; /* Rounding mode */\r
+ unsigned PSV :1; /* Program Space Visibility enable */\r
+ unsigned IPL3 :1; /* CPU Interrupt Priority Level bit 3 */\r
+ unsigned ACCSAT :1; /* Acc saturation mode */\r
+ unsigned SATDW :1; /* Data space write saturation enable */\r
+ unsigned SATB :1; /* Acc B saturation enable */\r
+ unsigned SATA :1; /* Acc A saturation enable */\r
+ unsigned DL :3; /* DO loop nesting level status */\r
+ unsigned EDT :1; /* Early DO loop termination control */\r
+ unsigned US :1; /* Signed/Unsigned mode */\r
+ unsigned :3;\r
+} CORCONBITS;\r
+extern volatile CORCONBITS CORCONbits __attribute__((__sfr__));\r
+\r
+/* MODCON: Modulo Addressing Control Register */\r
+extern volatile unsigned int MODCON __attribute__((__sfr__));\r
+typedef struct tagMODCONBITS {\r
+ unsigned XWM :4; /* X-RAGU/X-WAGU modulo addressing register select */\r
+ unsigned YWM :4; /* Y-RAGU modulo addressing register select */\r
+ unsigned BWM :4; /* Bit-reversed addressing register select */\r
+ unsigned :2;\r
+ unsigned YMODEN :1; /* Y-RAGU modulo addressing enable */\r
+ unsigned XMODEN :1; /* X-RAGU/X-WAGU modulo addressing enable */\r
+} MODCONBITS;\r
+extern volatile MODCONBITS MODCONbits __attribute__((__sfr__));\r
+\r
+/* XMODSRT: X-RAGU/X-WAGU modulo buffer start address */\r
+extern volatile unsigned int XMODSRT __attribute__((__sfr__));\r
+\r
+/* XMODEND: X-RAGU/X-WAGU modulo buffer end address */\r
+extern volatile unsigned int XMODEND __attribute__((__sfr__));\r
+\r
+/* YMODSRT: Y-RAGU modulo buffer start address */\r
+extern volatile unsigned int YMODSRT __attribute__((__sfr__));\r
+\r
+/* YMODEND: Y-RAGU modulo buffer end address */\r
+extern volatile unsigned int YMODEND __attribute__((__sfr__));\r
+\r
+/* XBREV: X-WAGU Bit-reversed Addressing Control Register */\r
+extern volatile unsigned int XBREV __attribute__((__sfr__));\r
+typedef struct tagXBREVBITS {\r
+ unsigned XB :15; /* Bit-reversed addressing register select */\r
+ unsigned BREN :1; /* Bit-reversed addressing enable */\r
+} XBREVBITS;\r
+extern volatile XBREVBITS XBREVbits __attribute__((__sfr__));\r
+\r
+/* DISICNT: Disable Interrupt Cycle Count */\r
+extern volatile unsigned int DISICNT __attribute__((__sfr__));\r
+typedef struct tagDISICNTBITS {\r
+ unsigned DISICNT:14;\r
+ unsigned :2;\r
+} DISICNTBITS;\r
+extern volatile DISICNTBITS DISICNTbits __attribute__((__sfr__));\r
+\r
+\r
+/* ----------------------------------------- */\r
+/* Interrupt Controller register definitions */\r
+/* ----------------------------------------- */\r
+\r
+/* INTCON1: Interrupt Control Register 1 */\r
+extern volatile unsigned int INTCON1 __attribute__((__sfr__));\r
+typedef struct tagINTCON1BITS {\r
+ unsigned :1;\r
+ unsigned OSCFAIL:1;\r
+ unsigned STKERR :1;\r
+ unsigned ADDRERR:1;\r
+ unsigned MATHERR:1;\r
+ unsigned :3;\r
+ unsigned COVTE :1;\r
+ unsigned OVBTE :1;\r
+ unsigned OVATE :1;\r
+ unsigned :4;\r
+ unsigned NSTDIS :1;\r
+} INTCON1BITS;\r
+extern volatile INTCON1BITS INTCON1bits __attribute__((__sfr__));\r
+\r
+/* INTCON2: Interrupt Control Register 2 */\r
+extern volatile unsigned int INTCON2 __attribute__((__sfr__));\r
+typedef struct tagINTCON2BITS {\r
+ unsigned INT0EP :1;\r
+ unsigned INT1EP :1;\r
+ unsigned INT2EP :1;\r
+ unsigned :11;\r
+ unsigned DISI :1; \r
+ unsigned ALTIVT :1;\r
+} INTCON2BITS;\r
+extern volatile INTCON2BITS INTCON2bits __attribute__((__sfr__));\r
+\r
+/* IFS0: Interrupt Flag Status Register 0 */\r
+extern volatile unsigned int IFS0 __attribute__((__sfr__));\r
+typedef struct tagIFS0BITS {\r
+ unsigned INT0IF :1;\r
+ unsigned IC1IF :1;\r
+ unsigned OC1IF :1;\r
+ unsigned T1IF :1;\r
+ unsigned IC2IF :1;\r
+ unsigned OC2IF :1;\r
+ unsigned T2IF :1;\r
+ unsigned T3IF :1;\r
+ unsigned SPI1IF :1;\r
+ unsigned U1RXIF :1;\r
+ unsigned U1TXIF :1;\r
+ unsigned ADIF :1;\r
+ unsigned NVMIF :1;\r
+ unsigned SI2CIF :1;\r
+ unsigned MI2CIF :1;\r
+ unsigned CNIF :1;\r
+} IFS0BITS;\r
+extern volatile IFS0BITS IFS0bits __attribute__((__sfr__));\r
+\r
+/* IFS1: Interrupt Flag Status Register 1 */\r
+extern volatile unsigned int IFS1 __attribute__((__sfr__));\r
+typedef struct tagIFS1BITS {\r
+ unsigned INT1IF :1;\r
+ unsigned IC7IF :1;\r
+ unsigned IC8IF :1;\r
+ unsigned :2;\r
+ unsigned T4IF :1;\r
+ unsigned T5IF :1;\r
+ unsigned INT2IF :1;\r
+ unsigned :3;\r
+ unsigned C1IF :1;\r
+ unsigned :4;\r
+} IFS1BITS;\r
+extern volatile IFS1BITS IFS1bits __attribute__((__sfr__));\r
+\r
+/* IFS2: Interrupt Flag Status Register 2 */\r
+extern volatile unsigned int IFS2 __attribute__((__sfr__));\r
+typedef struct tagIFS2BITS {\r
+ unsigned :7;\r
+ unsigned PWMIF :1;\r
+ unsigned QEIIF :1;\r
+ unsigned :2;\r
+ unsigned FLTAIF :1;\r
+ unsigned :4;\r
+} IFS2BITS;\r
+extern volatile IFS2BITS IFS2bits __attribute__((__sfr__));\r
+\r
+/* IEC0: Interrupt Enable Control Register 0 */\r
+extern volatile unsigned int IEC0 __attribute__((__sfr__));\r
+typedef struct tagIEC0BITS {\r
+ unsigned INT0IE :1;\r
+ unsigned IC1IE :1;\r
+ unsigned OC1IE :1;\r
+ unsigned T1IE :1;\r
+ unsigned IC2IE :1;\r
+ unsigned OC2IE :1;\r
+ unsigned T2IE :1;\r
+ unsigned T3IE :1;\r
+ unsigned SPI1IE :1;\r
+ unsigned U1RXIE :1;\r
+ unsigned U1TXIE :1;\r
+ unsigned ADIE :1;\r
+ unsigned NVMIE :1;\r
+ unsigned SI2CIE :1;\r
+ unsigned MI2CIE :1;\r
+ unsigned CNIE :1;\r
+} IEC0BITS;\r
+extern volatile IEC0BITS IEC0bits __attribute__((__sfr__));\r
+\r
+/* IEC1: Interrupt Enable Control Register 1 */\r
+extern volatile unsigned int IEC1 __attribute__((__sfr__));\r
+typedef struct tagIEC1BITS {\r
+ unsigned INT1IE :1;\r
+ unsigned IC7IE :1;\r
+ unsigned IC8IE :1;\r
+ unsigned :2;\r
+ unsigned T4IE :1;\r
+ unsigned T5IE :1;\r
+ unsigned INT2IE :1;\r
+ unsigned :3;\r
+ unsigned C1IE :1;\r
+ unsigned :4;\r
+} IEC1BITS;\r
+extern volatile IEC1BITS IEC1bits __attribute__((__sfr__));\r
+\r
+/* IEC2: Interrupt Enable Control Register 2 */\r
+extern volatile unsigned int IEC2 __attribute__((__sfr__));\r
+typedef struct tagIEC2BITS {\r
+ unsigned :7;\r
+ unsigned PWMIE :1;\r
+ unsigned QEIIE :1;\r
+ unsigned :2;\r
+ unsigned FLTAIE :1;\r
+ unsigned :4;\r
+} IEC2BITS;\r
+extern volatile IEC2BITS IEC2bits __attribute__((__sfr__));\r
+\r
+/* IPC0: Interrupt Priority Control Register 0 */\r
+extern volatile unsigned int IPC0 __attribute__((__sfr__));\r
+typedef struct tagIPC0BITS {\r
+ unsigned INT0IP :3;\r
+ unsigned :1;\r
+ unsigned IC1IP :3;\r
+ unsigned :1;\r
+ unsigned OC1IP :3;\r
+ unsigned :1;\r
+ unsigned T1IP :3;\r
+ unsigned :1;\r
+} IPC0BITS;\r
+extern volatile IPC0BITS IPC0bits __attribute__((__sfr__));\r
+\r
+/* IPC1: Interrupt Priority Control Register 1 */\r
+extern volatile unsigned int IPC1 __attribute__((__sfr__));\r
+typedef struct tagIPC1BITS {\r
+ unsigned IC2IP :3;\r
+ unsigned :1;\r
+ unsigned OC2IP :3;\r
+ unsigned :1;\r
+ unsigned T2IP :3;\r
+ unsigned :1;\r
+ unsigned T3IP :3;\r
+ unsigned :1;\r
+} IPC1BITS;\r
+extern volatile IPC1BITS IPC1bits __attribute__((__sfr__));\r
+\r
+/* IPC2: Interrupt Priority Control Register 2 */\r
+extern volatile unsigned int IPC2 __attribute__((__sfr__));\r
+typedef struct tagIPC2BITS {\r
+ unsigned SPI1IP :3;\r
+ unsigned :1;\r
+ unsigned U1RXIP :3;\r
+ unsigned :1;\r
+ unsigned U1TXIP :3;\r
+ unsigned :1;\r
+ unsigned ADIP :3;\r
+ unsigned :1;\r
+} IPC2BITS;\r
+extern volatile IPC2BITS IPC2bits __attribute__((__sfr__));\r
+\r
+/* IPC3: Interrupt Priority Control Register 3 */\r
+extern volatile unsigned int IPC3 __attribute__((__sfr__));\r
+typedef struct tagIPC3BITS {\r
+ unsigned NVMIP :3;\r
+ unsigned :1;\r
+ unsigned SI2CIP :3;\r
+ unsigned :1;\r
+ unsigned MI2CIP :3;\r
+ unsigned :1;\r
+ unsigned CNIP :3;\r
+ unsigned :1;\r
+} IPC3BITS;\r
+extern volatile IPC3BITS IPC3bits __attribute__((__sfr__));\r
+\r
+/* IPC4: Interrupt Priority Control Register 4 */\r
+extern volatile unsigned int IPC4 __attribute__((__sfr__));\r
+typedef struct tagIPC4BITS {\r
+ unsigned INT1IP :3;\r
+ unsigned :1;\r
+ unsigned IC7IP :3;\r
+ unsigned :1;\r
+ unsigned IC8IP :3;\r
+ unsigned :5;\r
+} IPC4BITS;\r
+extern volatile IPC4BITS IPC4bits __attribute__((__sfr__));\r
+\r
+/* IPC5: Interrupt Priority Control Register 5 */\r
+extern volatile unsigned int IPC5 __attribute__((__sfr__));\r
+typedef struct tagIPC5BITS {\r
+ unsigned :4;\r
+ unsigned T4IP :3;\r
+ unsigned :1;\r
+ unsigned T5IP :3;\r
+ unsigned :1;\r
+ unsigned INT2IP :3;\r
+ unsigned :1;\r
+} IPC5BITS;\r
+extern volatile IPC5BITS IPC5bits __attribute__((__sfr__));\r
+\r
+/* IPC6: Interrupt Priority Control Register 6 */\r
+extern volatile unsigned int IPC6 __attribute__((__sfr__));\r
+typedef struct tagIPC6BITS {\r
+ unsigned :12;\r
+ unsigned C1IP :3;\r
+ unsigned :1;\r
+} IPC6BITS;\r
+extern volatile IPC6BITS IPC6bits __attribute__((__sfr__));\r
+\r
+/* IPC9: Interrupt Priority Control Register 9 */\r
+extern volatile unsigned int IPC9 __attribute__((__sfr__));\r
+typedef struct tagIPC9BITS {\r
+ unsigned :12;\r
+ unsigned PWMIP :3;\r
+ unsigned :1;\r
+} IPC9BITS;\r
+extern volatile IPC9BITS IPC9bits __attribute__((__sfr__));\r
+\r
+/* IPC10: Interrupt Priority Control Register 10 */\r
+extern volatile unsigned int IPC10 __attribute__((__sfr__));\r
+typedef struct tagIPC10BITS {\r
+ unsigned QEIIP :3;\r
+ unsigned :9;\r
+ unsigned FLTAIP :3;\r
+ unsigned :1;\r
+} IPC10BITS;\r
+extern volatile IPC10BITS IPC10bits __attribute__((__sfr__));\r
+\r
+/* ---------------------------------------------- */\r
+/* Input Change Notification register definitions */\r
+/* ---------------------------------------------- */\r
+\r
+/* CNEN1: Input Change Notification Interrupt Enable Register 1 */\r
+extern volatile unsigned int CNEN1 __attribute__((__sfr__));\r
+typedef struct tagCNEN1BITS {\r
+ unsigned CN0IE :1;\r
+ unsigned CN1IE :1;\r
+ unsigned CN2IE :1;\r
+ unsigned CN3IE :1;\r
+ unsigned CN4IE :1;\r
+ unsigned CN5IE :1;\r
+ unsigned CN6IE :1;\r
+ unsigned CN7IE :1;\r
+ unsigned :8;\r
+} CNEN1BITS;\r
+extern volatile CNEN1BITS CNEN1bits __attribute__((__sfr__));\r
+\r
+/* CNPU1: Input Change Notification Pullup Enable Register 1 */\r
+extern volatile unsigned int CNPU1 __attribute__((__sfr__));\r
+typedef struct tagCNPU1BITS {\r
+ unsigned CN0PUE :1;\r
+ unsigned CN1PUE :1;\r
+ unsigned CN2PUE :1;\r
+ unsigned CN3PUE :1;\r
+ unsigned CN4PUE :1;\r
+ unsigned CN5PUE :1;\r
+ unsigned CN6PUE :1;\r
+ unsigned CN7PUE :1;\r
+ unsigned :8;\r
+} CNPU1BITS;\r
+extern volatile CNPU1BITS CNPU1bits __attribute__((__sfr__));\r
+\r
+\r
+/* --------------------------- */\r
+/* Timer1 register definitions */\r
+/* --------------------------- */\r
+\r
+/* Generic structure for Timer 1 Control Register */\r
+typedef struct tagTCON_16BIT {\r
+ unsigned :1;\r
+ unsigned TCS :1;\r
+ unsigned TSYNC :1;\r
+ unsigned :1;\r
+ unsigned TCKPS :2;\r
+ unsigned TGATE :1;\r
+ unsigned :6;\r
+ unsigned TSIDL :1;\r
+ unsigned :1;\r
+ unsigned TON :1;\r
+} TCON_16BIT;\r
+\r
+/* TMR1: Timer 1 Count Register */\r
+extern volatile unsigned int TMR1 __attribute__((__sfr__));\r
+\r
+/* PR1: Timer 1 Period Register */\r
+extern volatile unsigned int PR1 __attribute__((__sfr__));\r
+\r
+/* T1CON: Timer 1 Control Register */\r
+extern volatile unsigned int T1CON __attribute__((__sfr__));\r
+extern volatile TCON_16BIT T1CONbits __attribute__((__sfr__));\r
+\r
+/* ----------------------------- */\r
+/* Timer2/3 register definitions */\r
+/* ----------------------------- */\r
+\r
+/* Generic structure for Timer 2 and Timer 4 Control Registers */\r
+typedef struct tagTCON_EVEN {\r
+ unsigned :1;\r
+ unsigned TCS :1;\r
+ unsigned :1;\r
+ unsigned T32 :1;\r
+ unsigned TCKPS :2;\r
+ unsigned TGATE :1;\r
+ unsigned :6;\r
+ unsigned TSIDL :1;\r
+ unsigned :1;\r
+ unsigned TON :1;\r
+} TCON_EVEN;\r
+\r
+/* Generic structure for Timer 3 and Timer 5 Control Registers */\r
+typedef struct tagTCON_ODD {\r
+ unsigned :1;\r
+ unsigned TCS :1;\r
+ unsigned :2;\r
+ unsigned TCKPS :2;\r
+ unsigned TGATE :1;\r
+ unsigned :6;\r
+ unsigned TSIDL :1;\r
+ unsigned :1;\r
+ unsigned TON :1;\r
+} TCON_ODD;\r
+\r
+/* TMR2: Timer 2 Count Register */\r
+extern volatile unsigned int TMR2 __attribute__((__sfr__));\r
+\r
+/* TMR3HLD: Timer 3 Holding Register */\r
+extern volatile unsigned int TMR3HLD __attribute__((__sfr__));\r
+\r
+/* TMR3: Timer 3 Count Register */\r
+extern volatile unsigned int TMR3 __attribute__((__sfr__));\r
+\r
+/* PR2: Timer 2 Period Register */\r
+extern volatile unsigned int PR2 __attribute__((__sfr__));\r
+\r
+/* PR3: Timer 3 Period Register */\r
+extern volatile unsigned int PR3 __attribute__((__sfr__));\r
+\r
+/* T2CON: Timer 2 Control Register */\r
+extern volatile unsigned int T2CON __attribute__((__sfr__));\r
+extern volatile TCON_EVEN T2CONbits __attribute__((__sfr__));\r
+\r
+/* T3CON: Timer 3 Control Register */\r
+extern volatile unsigned int T3CON __attribute__((__sfr__));\r
+extern volatile TCON_ODD T3CONbits __attribute__((__sfr__));\r
+\r
+/* ----------------------------- */\r
+/* Timer4/5 register definitions */\r
+/* ----------------------------- */\r
+\r
+/* TMR4: Timer 4 Count Register */\r
+extern volatile unsigned int TMR4 __attribute__((__sfr__));\r
+\r
+/* TMR5HLD: Timer 5 Holding Register */\r
+extern volatile unsigned int TMR5HLD __attribute__((__sfr__));\r
+\r
+/* TMR5: Timer 5 Count Register */\r
+extern volatile unsigned int TMR5 __attribute__((__sfr__));\r
+\r
+/* PR4: Timer 4 Period Register */\r
+extern volatile unsigned int PR4 __attribute__((__sfr__));\r
+\r
+/* PR5: Timer 5 Period Register */\r
+extern volatile unsigned int PR5 __attribute__((__sfr__));\r
+\r
+/* T4CON: Timer 4 Control Register */\r
+extern volatile unsigned int T4CON __attribute__((__sfr__));\r
+extern volatile TCON_EVEN T4CONbits __attribute__((__sfr__));\r
+\r
+/* T5CON: Timer 5 Control Register */\r
+extern volatile unsigned int T5CON __attribute__((__sfr__));\r
+extern volatile TCON_ODD T5CONbits __attribute__((__sfr__));\r
+\r
+/* ------------------------------------------------- */\r
+/* Quadrature Encoder Interface register definitions */\r
+/* ------------------------------------------------- */\r
+\r
+/* QEICON: QEI Control Register */\r
+extern volatile unsigned int QEICON __attribute__((__sfr__));\r
+typedef struct tagQEICONBITS {\r
+ unsigned UPDN_SRC:1;\r
+ unsigned TQCS :1;\r
+ unsigned POSRES :1;\r
+ unsigned TQCKPS :2;\r
+ unsigned TQGATE :1;\r
+ unsigned PCDOUT :1;\r
+ unsigned SWPAB :1;\r
+ unsigned QEIM :3;\r
+ unsigned UPDN :1;\r
+ unsigned INDX :1;\r
+ unsigned QEISIDL:1;\r
+ unsigned :1;\r
+ unsigned CNTERR :1;\r
+} QEICONBITS;\r
+extern volatile QEICONBITS QEICONbits __attribute__((__sfr__));\r
+\r
+/* DFLTCON: Digital Filter Control Register */\r
+extern volatile unsigned int DFLTCON __attribute__((__sfr__));\r
+typedef struct tagDFLTCONBITS {\r
+ unsigned :4;\r
+ unsigned QECK :3;\r
+ unsigned QEOUT :1;\r
+ unsigned CEID :1;\r
+ unsigned IMV :2;\r
+ unsigned :5;\r
+} DFLTCONBITS;\r
+extern volatile DFLTCONBITS DFLTCONbits __attribute__((__sfr__));\r
+\r
+/* POSCNT: Position Counter Register */\r
+extern volatile unsigned int POSCNT __attribute__((__sfr__));\r
+\r
+/* MAXCNT: Maximum Count Register */\r
+extern volatile unsigned int MAXCNT __attribute__((__sfr__));\r
+\r
+/* ---------------------------------- */\r
+/* Input Capture register definitions */\r
+/* ---------------------------------- */\r
+\r
+/* Generic structure of entire SFR area for each Input Capture module */\r
+typedef struct tagIC {\r
+ unsigned int icxbuf;\r
+ unsigned int icxcon;\r
+} IC, *PIC;\r
+\r
+/* SFR blocks for each Input Capture module */\r
+extern volatile IC IC1 __attribute__((__sfr__));\r
+extern volatile IC IC2 __attribute__((__sfr__));\r
+extern volatile IC IC7 __attribute__((__sfr__));\r
+extern volatile IC IC8 __attribute__((__sfr__));\r
+\r
+/* Generic structure for Input Capture Control Registers */\r
+typedef struct tagICxCONBITS {\r
+ unsigned ICM :3;\r
+ unsigned ICBNE :1;\r
+ unsigned ICOV :1;\r
+ unsigned ICI :2;\r
+ unsigned ICTMR :1;\r
+ unsigned :5;\r
+ unsigned ICSIDL :1;\r
+ unsigned :2;\r
+} ICxCONBITS;\r
+\r
+/* IC1BUF: Input Capture 1 Buffer */\r
+extern volatile unsigned int IC1BUF __attribute__((__sfr__));\r
+\r
+/* IC1CON: Input Capture 1 Control Register */\r
+extern volatile unsigned int IC1CON __attribute__((__sfr__));\r
+extern volatile ICxCONBITS IC1CONbits __attribute__((__sfr__));\r
+\r
+/* IC2BUF: Input Capture 2 Buffer */\r
+extern volatile unsigned int IC2BUF __attribute__((__sfr__));\r
+\r
+/* IC2CON: Input Capture 2 Control Register */\r
+extern volatile unsigned int IC2CON __attribute__((__sfr__));\r
+extern volatile ICxCONBITS IC2CONbits __attribute__((__sfr__));\r
+\r
+/* IC7BUF: Input Capture 7 Buffer */\r
+extern volatile unsigned int IC7BUF __attribute__((__sfr__));\r
+\r
+/* IC7CON: Input Capture 7 Control Register */\r
+extern volatile unsigned int IC7CON __attribute__((__sfr__));\r
+extern volatile ICxCONBITS IC7CONbits __attribute__((__sfr__));\r
+\r
+/* IC8BUF: Input Capture 8 Buffer */\r
+extern volatile unsigned int IC8BUF __attribute__((__sfr__));\r
+\r
+/* IC8CON: Input Capture 8 Control Register */\r
+extern volatile unsigned int IC8CON __attribute__((__sfr__));\r
+extern volatile ICxCONBITS IC8CONbits __attribute__((__sfr__));\r
+\r
+\r
+/* --------------------------------------- */\r
+/* Output Compare/PWM register definitions */\r
+/* --------------------------------------- */\r
+\r
+/* Generic structure of entire SFR area for each Output Compare module */\r
+typedef struct tagOC {\r
+ unsigned int ocxrs;\r
+ unsigned int ocxr;\r
+ unsigned int ocxcon;\r
+} OC, *POC;\r
+\r
+/* SFR blocks for each Output Compare module */\r
+extern volatile OC OC1 __attribute__((__sfr__));\r
+extern volatile OC OC2 __attribute__((__sfr__));\r
+\r
+/* Generic structure for Output Compare Control Registers */\r
+typedef struct tagOCxCONBITS {\r
+ unsigned OCM :3;\r
+ unsigned OCTSEL :1;\r
+ unsigned OCFLT :1;\r
+ unsigned :8;\r
+ unsigned OCSIDL :1;\r
+ unsigned :2;\r
+} OCxCONBITS;\r
+\r
+/* OC1RS: Output Compare 1 Secondary Register */\r
+extern volatile unsigned int OC1RS __attribute__((__sfr__));\r
+\r
+/* OC1R: Output Compare 1 Main Register */\r
+extern volatile unsigned int OC1R __attribute__((__sfr__));\r
+\r
+/* OC1CON: Output Compare 1 Control Register */\r
+extern volatile unsigned int OC1CON __attribute__((__sfr__));\r
+extern volatile OCxCONBITS OC1CONbits __attribute__((__sfr__));\r
+\r
+/* OC2RS: Output Compare 2 Secondary Register */\r
+extern volatile unsigned int OC2RS __attribute__((__sfr__));\r
+\r
+/* OC2R: Output Compare 2 Main Register */\r
+extern volatile unsigned int OC2R __attribute__((__sfr__));\r
+\r
+/* OC2CON: Output Compare 2 Control Register */\r
+extern volatile unsigned int OC2CON __attribute__((__sfr__));\r
+extern volatile OCxCONBITS OC2CONbits __attribute__((__sfr__));\r
+\r
+\r
+/* -------------------------------------- */\r
+/* Motor Control PWM register definitions */\r
+/* -------------------------------------- */\r
+\r
+/* PTCON: PWM Timerbase Control Register */\r
+extern volatile unsigned int PTCON __attribute__((__sfr__));\r
+typedef struct tagPTCONBITS {\r
+ unsigned PTMOD :2;\r
+ unsigned PTCKPS :2;\r
+ unsigned PTOPS :4;\r
+ unsigned :5;\r
+ unsigned PTSIDL :1;\r
+ unsigned :1;\r
+ unsigned PTEN :1;\r
+} PTCONBITS;\r
+extern volatile PTCONBITS PTCONbits __attribute__((__sfr__));\r
+\r
+/* PTMR: PWM Timebase Count Register */\r
+extern volatile unsigned int PTMR __attribute__((__sfr__));\r
+typedef struct tagPTMRBITS {\r
+ unsigned PTMR :15;\r
+ unsigned PTDIR :1;\r
+} PTMRBITS;\r
+extern volatile PTMRBITS PTMRbits __attribute__((__sfr__));\r
+\r
+/* PTPER: PWM Timebase Period Register */\r
+extern volatile unsigned int PTPER __attribute__((__sfr__));\r
+typedef struct tagPTPERBITS {\r
+ unsigned PTPER :15;\r
+ unsigned :1;\r
+} PTPERBITS;\r
+extern volatile PTPERBITS PTPERbits __attribute__((__sfr__));\r
+\r
+/* SEVTCMP: Special Event Compare Count Register */\r
+extern volatile unsigned int SEVTCMP __attribute__((__sfr__));\r
+typedef struct tagSEVTCMPBITS {\r
+ unsigned SEVTCMP:15;\r
+ unsigned SEVTDIR:1;\r
+} SEVTCMPBITS;\r
+extern volatile SEVTCMPBITS SEVTCMPbits __attribute__((__sfr__));\r
+\r
+/* PWMCON1: PWM Control Register 1 */\r
+extern volatile unsigned int PWMCON1 __attribute__((__sfr__));\r
+typedef struct tagPWMCON1BITS {\r
+ unsigned PEN1L :1;\r
+ unsigned PEN2L :1;\r
+ unsigned PEN3L :1;\r
+ unsigned :1;\r
+ unsigned PEN1H :1;\r
+ unsigned PEN2H :1;\r
+ unsigned PEN3H :1;\r
+ unsigned :1;\r
+ unsigned PMOD1 :1;\r
+ unsigned PMOD2 :1;\r
+ unsigned PMOD3 :1;\r
+ unsigned :5;\r
+} PWMCON1BITS;\r
+extern volatile PWMCON1BITS PWMCON1bits __attribute__((__sfr__));\r
+\r
+/* PWMCON2: PWM Control Register 2 */\r
+extern volatile unsigned int PWMCON2 __attribute__((__sfr__));\r
+typedef struct tagPWMCON2BITS {\r
+ unsigned UDIS :1;\r
+ unsigned OSYNC :1;\r
+ unsigned IUE :1; \r
+ unsigned :5;\r
+ unsigned SEVOPS :4;\r
+ unsigned :4;\r
+} PWMCON2BITS;\r
+extern volatile PWMCON2BITS PWMCON2bits __attribute__((__sfr__));\r
+\r
+/* DTCON1: PWM Dead Time Control Register 1 */\r
+extern volatile unsigned int DTCON1 __attribute__((__sfr__));\r
+typedef struct tagDTCON1BITS {\r
+ unsigned DTA :6;\r
+ unsigned DTAPS :2;\r
+ unsigned :8;\r
+} DTCON1BITS;\r
+extern volatile DTCON1BITS DTCON1bits __attribute__((__sfr__));\r
+\r
+/* FLTACON: PWM Fault Input A Control Register */ \r
+extern volatile unsigned int FLTACON __attribute__((__sfr__));\r
+typedef struct tagFLTACONBITS {\r
+ unsigned FAEN1 :1;\r
+ unsigned FAEN2 :1;\r
+ unsigned FAEN3 :1;\r
+ unsigned :4;\r
+ unsigned FLTAM :1;\r
+ unsigned FAOV1L :1;\r
+ unsigned FAOV1H :1;\r
+ unsigned FAOV2L :1;\r
+ unsigned FAOV2H :1;\r
+ unsigned FAOV3L :1;\r
+ unsigned FAOV3H :1;\r
+ unsigned :2;\r
+} FLTACONBITS;\r
+extern volatile FLTACONBITS FLTACONbits __attribute__((__sfr__));\r
+\r
+/* OVDCON: PWM Override Control Register */\r
+extern volatile unsigned int OVDCON __attribute__((__sfr__));\r
+typedef struct tagOVDCONBITS {\r
+ unsigned POUT1L :1;\r
+ unsigned POUT1H :1;\r
+ unsigned POUT2L :1;\r
+ unsigned POUT2H :1;\r
+ unsigned POUT3L :1;\r
+ unsigned POUT3H :1;\r
+ unsigned :2;\r
+ unsigned POVD1L :1;\r
+ unsigned POVD1H :1;\r
+ unsigned POVD2L :1;\r
+ unsigned POVD2H :1;\r
+ unsigned POVD3L :1;\r
+ unsigned POVD3H :1;\r
+ unsigned :2;\r
+} OVDCONBITS;\r
+extern volatile OVDCONBITS OVDCONbits __attribute__((__sfr__));\r
+\r
+/* PDC1: PWM Duty Cycle Register 1 */\r
+extern volatile unsigned int PDC1 __attribute__((__sfr__));\r
+\r
+/* PDC2: PWM Duty Cycle Register 2 */\r
+extern volatile unsigned int PDC2 __attribute__((__sfr__));\r
+\r
+/* PDC3: PWM Duty Cycle Register 3 */\r
+extern volatile unsigned int PDC3 __attribute__((__sfr__));\r
+\r
+\r
+/* ------------------------ */\r
+/* I2C register definitions */\r
+/* ------------------------ */\r
+\r
+/* I2CRCV: I2C Receive Register */\r
+extern volatile unsigned char I2CRCV __attribute__((__sfr__));\r
+typedef struct tagI2CRCVBITS {\r
+ unsigned I2CRCV0:1;\r
+ unsigned I2CRCV1:1;\r
+ unsigned I2CRCV2:1;\r
+ unsigned I2CRCV3:1;\r
+ unsigned I2CRCV4:1;\r
+ unsigned I2CRCV5:1;\r
+ unsigned I2CRCV6:1;\r
+ unsigned I2CRCV7:1;\r
+} I2CRCVBITS;\r
+extern volatile I2CRCVBITS I2CRCVbits __attribute__((__sfr__));\r
+\r
+/* I2CTRN: I2C Transmit Register */\r
+extern volatile unsigned char I2CTRN __attribute__((__sfr__));\r
+typedef struct tagI2CTRNBITS {\r
+ unsigned I2CTRN0:1;\r
+ unsigned I2CTRN1:1;\r
+ unsigned I2CTRN2:1;\r
+ unsigned I2CTRN3:1;\r
+ unsigned I2CTRN4:1;\r
+ unsigned I2CTRN5:1;\r
+ unsigned I2CTRN6:1;\r
+ unsigned I2CTRN7:1;\r
+} I2CTRNBITS;\r
+extern volatile I2CTRNBITS I2CTRNbits __attribute__((__sfr__));\r
+\r
+/* I2CBRG: I2C Baud Rate Generator Register */\r
+extern volatile unsigned int I2CBRG __attribute__((__sfr__));\r
+typedef struct tagI2CBRGBITS {\r
+ unsigned I2CBRG :9;\r
+ unsigned :7;\r
+} I2CBRGBITS;\r
+extern volatile I2CBRGBITS I2CBRGbits __attribute__((__sfr__));\r
+\r
+/* I2CCON: I2C Control Register */\r
+extern volatile unsigned int I2CCON __attribute__((__sfr__));\r
+typedef struct tagI2CCONBITS {\r
+ unsigned SEN :1;\r
+ unsigned RSEN :1;\r
+ unsigned PEN :1;\r
+ unsigned RCEN :1;\r
+ unsigned ACKEN :1;\r
+ unsigned ACKDT :1;\r
+ unsigned STREN :1;\r
+ unsigned GCEN :1;\r
+ unsigned SMEN :1;\r
+ unsigned DISSLW :1;\r
+ unsigned A10M :1;\r
+ unsigned IPMIEN :1;\r
+ unsigned SCLREL :1;\r
+ unsigned I2CSIDL:1;\r
+ unsigned :1;\r
+ unsigned I2CEN :1;\r
+} I2CCONBITS;\r
+extern volatile I2CCONBITS I2CCONbits __attribute__((__sfr__));\r
+\r
+/* I2CSTAT: I2C Status Register */\r
+extern volatile unsigned int I2CSTAT __attribute__((__sfr__));\r
+typedef struct tagI2CSTATBITS {\r
+ unsigned TBF :1;\r
+ unsigned RBF :1;\r
+ unsigned R_W :1;\r
+ unsigned S :1;\r
+ unsigned P :1;\r
+ unsigned D_A :1;\r
+ unsigned I2COV :1;\r
+ unsigned IWCOL :1;\r
+ unsigned ADD10 :1;\r
+ unsigned GCSTAT :1;\r
+ unsigned BCL :1;\r
+ unsigned :3;\r
+ unsigned TRSTAT :1;\r
+ unsigned ACKSTAT:1;\r
+} I2CSTATBITS;\r
+extern volatile I2CSTATBITS I2CSTATbits __attribute__((__sfr__));\r
+\r
+/* I2CADD: I2C Address Register */\r
+extern volatile unsigned int I2CADD __attribute__((__sfr__));\r
+typedef struct tagI2CADDBITS {\r
+ unsigned I2CADD :10;\r
+ unsigned :6;\r
+} I2CADDBITS;\r
+extern volatile I2CADDBITS I2CADDbits __attribute__((__sfr__));\r
+\r
+\r
+/* -------------------------- */\r
+/* UART1 register definitions */\r
+/* -------------------------- */\r
+\r
+/* Generic structure of entire SFR area for each UART module */\r
+typedef struct tagUART {\r
+ unsigned int uxmode;\r
+ unsigned int uxsta;\r
+ unsigned int uxtxreg;\r
+ unsigned int uxrxreg;\r
+ unsigned int uxbrg;\r
+} UART, *PUART;\r
+\r
+/* SFR blocks for each UART module */\r
+extern volatile UART UART1 __attribute__((__sfr__));\r
+\r
+/* Generic structure for UART Mode Registers */\r
+typedef struct tagUxMODEBITS {\r
+ unsigned STSEL :1;\r
+ unsigned PDSEL :2;\r
+ unsigned :2;\r
+ unsigned ABAUD :1;\r
+ unsigned LPBACK :1;\r
+ unsigned WAKE :1;\r
+ unsigned :2;\r
+ unsigned ALTIO :1;\r
+ unsigned :2;\r
+ unsigned USIDL :1;\r
+ unsigned :1;\r
+ unsigned UARTEN :1;\r
+} UxMODEBITS;\r
+\r
+/* Generic structure for UART Status and Control Registers */\r
+typedef struct tagUxSTABITS {\r
+ unsigned URXDA :1;\r
+ unsigned OERR :1;\r
+ unsigned FERR :1;\r
+ unsigned PERR :1;\r
+ unsigned RIDLE :1;\r
+ unsigned ADDEN :1;\r
+ unsigned URXISEL:2;\r
+ unsigned TRMT :1;\r
+ unsigned UTXBF :1;\r
+ unsigned UTXEN :1;\r
+ unsigned UTXBRK :1;\r
+ unsigned :3;\r
+ unsigned UTXISEL:1;\r
+} UxSTABITS; \r
+\r
+/* Generic structure for UART Transmit Registers */\r
+typedef struct tagUxTXREGBITS {\r
+ unsigned UTXREG0:1;\r
+ unsigned UTXREG1:1;\r
+ unsigned UTXREG2:1;\r
+ unsigned UTXREG3:1;\r
+ unsigned UTXREG4:1;\r
+ unsigned UTXREG5:1;\r
+ unsigned UTXREG6:1;\r
+ unsigned UTXREG7:1;\r
+ unsigned UTX8 :1;\r
+ unsigned :7;\r
+} UxTXREGBITS;\r
+\r
+/* Generic structure for UART Receive Registers */\r
+typedef struct tagUxRXREGBITS {\r
+ unsigned URXREG0:1;\r
+ unsigned URXREG1:1;\r
+ unsigned URXREG2:1;\r
+ unsigned URXREG3:1;\r
+ unsigned URXREG4:1;\r
+ unsigned URXREG5:1;\r
+ unsigned URXREG6:1;\r
+ unsigned URXREG7:1;\r
+ unsigned URX8 :1;\r
+ unsigned :7;\r
+} UxRXREGBITS;\r
+\r
+/* U1MODE: UART1 Mode Regsiter */\r
+extern volatile unsigned int U1MODE __attribute__((__sfr__));\r
+extern volatile UxMODEBITS U1MODEbits __attribute__((__sfr__));\r
+\r
+/* U1STA: UART1 Status and Control Register */\r
+extern volatile unsigned int U1STA __attribute__((__sfr__));\r
+extern volatile UxSTABITS U1STAbits __attribute__((__sfr__));\r
+\r
+/* U1TXREG: UART1 Transmit Register */\r
+extern volatile unsigned int U1TXREG __attribute__((__sfr__));\r
+extern volatile UxTXREGBITS U1TXREGbits __attribute__((__sfr__));\r
+\r
+/* U1RXREG: UART1 Receive Register */\r
+extern volatile unsigned int U1RXREG __attribute__((__sfr__));\r
+extern volatile UxRXREGBITS U1RXREGbits __attribute__((__sfr__)); \r
+\r
+/* U1BRG: UART1 Baud Rate Generator Register */\r
+extern volatile unsigned int U1BRG __attribute__((__sfr__));\r
+\r
+\r
+/* ------------------------- */\r
+/* SPI1 register definitions */\r
+/* ------------------------- */\r
+\r
+/* Generic structure of entire SFR area for each SPI module */\r
+typedef struct tagSPI {\r
+ unsigned int spixstat;\r
+ unsigned int spixcon;\r
+ unsigned int spixbuf;\r
+} SPI, *PSPI;\r
+\r
+/* SFR blocks for each SPI module */\r
+extern volatile SPI SPI1 __attribute__((__sfr__));\r
+\r
+/* Generic structure for SPI Status Registers */\r
+typedef struct tagSPIxSTATBITS {\r
+ unsigned SPIRBF :1;\r
+ unsigned SPITBF :1;\r
+ unsigned :4;\r
+ unsigned SPIROV :1;\r
+ unsigned :6;\r
+ unsigned SPISIDL:1;\r
+ unsigned :1;\r
+ unsigned SPIEN :1;\r
+} SPIxSTATBITS;\r
+\r
+/* Generic structure for SPI Control Registers */\r
+typedef struct tagSPIxCONBITS {\r
+ unsigned PPRE :2;\r
+ unsigned SPRE :3;\r
+ unsigned MSTEN :1;\r
+ unsigned CKP :1;\r
+ unsigned SSEN :1;\r
+ unsigned CKE :1;\r
+ unsigned SMP :1;\r
+ unsigned MODE16 :1;\r
+ unsigned DISSDO :1;\r
+ unsigned :1;\r
+ unsigned SPIFSD:1;\r
+ unsigned FRMEN :1;\r
+ unsigned :1;\r
+} SPIxCONBITS;\r
+\r
+/* SPI1STAT: SPI1 Status Register */\r
+extern volatile unsigned int SPI1STAT __attribute__((__sfr__));\r
+extern volatile SPIxSTATBITS SPI1STATbits __attribute__((__sfr__));\r
+\r
+/* SPI1CON: SPI1 Control Register */\r
+extern volatile unsigned int SPI1CON __attribute__((__sfr__));\r
+extern volatile SPIxCONBITS SPI1CONbits __attribute__((__sfr__));\r
+\r
+/* SPI1BUF: SPI1 Buffer */\r
+extern volatile unsigned int SPI1BUF __attribute__((__sfr__));\r
+\r
+\r
+/* ------------------------------------------------------------------ */\r
+/* 10-bit (500 ksps) Analog-to-Digital Converter register definitions */\r
+/* ------------------------------------------------------------------ */\r
+\r
+/* ADC Buffers 0-F */\r
+extern volatile unsigned int ADCBUF0 __attribute__((__sfr__));\r
+extern volatile unsigned int ADCBUF1 __attribute__((__sfr__));\r
+extern volatile unsigned int ADCBUF2 __attribute__((__sfr__));\r
+extern volatile unsigned int ADCBUF3 __attribute__((__sfr__));\r
+extern volatile unsigned int ADCBUF4 __attribute__((__sfr__));\r
+extern volatile unsigned int ADCBUF5 __attribute__((__sfr__));\r
+extern volatile unsigned int ADCBUF6 __attribute__((__sfr__));\r
+extern volatile unsigned int ADCBUF7 __attribute__((__sfr__));\r
+extern volatile unsigned int ADCBUF8 __attribute__((__sfr__));\r
+extern volatile unsigned int ADCBUF9 __attribute__((__sfr__));\r
+extern volatile unsigned int ADCBUFA __attribute__((__sfr__));\r
+extern volatile unsigned int ADCBUFB __attribute__((__sfr__));\r
+extern volatile unsigned int ADCBUFC __attribute__((__sfr__));\r
+extern volatile unsigned int ADCBUFD __attribute__((__sfr__));\r
+extern volatile unsigned int ADCBUFE __attribute__((__sfr__));\r
+extern volatile unsigned int ADCBUFF __attribute__((__sfr__));\r
+\r
+/* ADCON1: ADC Control Register 1 */\r
+extern volatile unsigned int ADCON1 __attribute__((__sfr__));\r
+typedef struct tagADCON1BITS {\r
+ unsigned DONE :1;\r
+ unsigned SAMP :1;\r
+ unsigned ASAM :1;\r
+ unsigned SIMSAM :1;\r
+ unsigned :1;\r
+ unsigned SSRC :3;\r
+ unsigned FORM :2;\r
+ unsigned :3;\r
+ unsigned ADSIDL :1;\r
+ unsigned :1;\r
+ unsigned ADON :1;\r
+} ADCON1BITS;\r
+extern volatile ADCON1BITS ADCON1bits __attribute__((__sfr__));\r
+\r
+/* ADCON2: ADC Control Register 2 */\r
+extern volatile unsigned int ADCON2 __attribute__((__sfr__));\r
+typedef struct tagADCON2BITS {\r
+ unsigned ALTS :1;\r
+ unsigned BUFM :1;\r
+ unsigned SMPI :4;\r
+ unsigned :1;\r
+ unsigned BUFS :1;\r
+ unsigned CHPS :2;\r
+ unsigned CSCNA :1;\r
+ unsigned :2;\r
+ unsigned VCFG :3;\r
+} ADCON2BITS;\r
+extern volatile ADCON2BITS ADCON2bits __attribute__((__sfr__));\r
+\r
+/* ADCON3: ADC Control Register 3 */\r
+extern volatile unsigned int ADCON3 __attribute__((__sfr__));\r
+typedef struct tagADCON3BITS {\r
+ unsigned ADCS :6;\r
+ unsigned :1;\r
+ unsigned ADRC :1;\r
+ unsigned SAMC :5;\r
+ unsigned :3;\r
+} ADCON3BITS;\r
+extern volatile ADCON3BITS ADCON3bits __attribute__((__sfr__));\r
+\r
+/* ADCHS: ADC Input Channel Select Register */\r
+extern volatile unsigned int ADCHS __attribute__((__sfr__));\r
+typedef struct tagADCHSBITS {\r
+ unsigned CH0SA :4;\r
+ unsigned CH0NA :1;\r
+ unsigned CH123SA:1;\r
+ unsigned CH123NA:2;\r
+ unsigned CH0SB :4;\r
+ unsigned CH0NB :1;\r
+ unsigned CH123SB:1;\r
+ unsigned CH123NB:2;\r
+} ADCHSBITS;\r
+extern volatile ADCHSBITS ADCHSbits __attribute__((__sfr__));\r
+\r
+/* ADPCFG: ADC Port Configuration Register */\r
+extern volatile unsigned int ADPCFG __attribute__((__sfr__));\r
+typedef struct tagADPCFGBITS {\r
+ unsigned PCFG0 :1;\r
+ unsigned PCFG1 :1;\r
+ unsigned PCFG2 :1;\r
+ unsigned PCFG3 :1;\r
+ unsigned PCFG4 :1;\r
+ unsigned PCFG5 :1;\r
+ unsigned :10;\r
+} ADPCFGBITS;\r
+extern volatile ADPCFGBITS ADPCFGbits __attribute__((__sfr__));\r
+\r
+/* ADCSSL: ADC Input Scan Select Register */\r
+extern volatile unsigned int ADCSSL __attribute__((__sfr__));\r
+typedef struct tagADCSSLBITS {\r
+ unsigned CSSL0 :1;\r
+ unsigned CSSL1 :1;\r
+ unsigned CSSL2 :1;\r
+ unsigned CSSL3 :1;\r
+ unsigned CSSL4 :1;\r
+ unsigned CSSL5 :1;\r
+ unsigned :10;\r
+} ADCSSLBITS;\r
+extern volatile ADCSSLBITS ADCSSLbits __attribute__((__sfr__));\r
+\r
+\r
+/* ------------------------------ */\r
+/* I/O Ports register definitions */\r
+/* ------------------------------ */\r
+\r
+/* TRISB: Port B Direction Control Register */\r
+extern volatile unsigned int TRISB __attribute__((__sfr__));\r
+typedef struct tagTRISBBITS {\r
+ unsigned TRISB0 :1;\r
+ unsigned TRISB1 :1;\r
+ unsigned TRISB2 :1;\r
+ unsigned TRISB3 :1;\r
+ unsigned TRISB4 :1;\r
+ unsigned TRISB5 :1;\r
+ unsigned :10;\r
+} TRISBBITS;\r
+extern volatile TRISBBITS TRISBbits __attribute__((__sfr__));\r
+\r
+/* PORTB: Port B Pin Register */\r
+extern volatile unsigned int PORTB __attribute__((__sfr__));\r
+typedef struct tagPORTBBITS {\r
+ unsigned RB0 :1;\r
+ unsigned RB1 :1;\r
+ unsigned RB2 :1;\r
+ unsigned RB3 :1;\r
+ unsigned RB4 :1;\r
+ unsigned RB5 :1;\r
+ unsigned :10;\r
+} PORTBBITS;\r
+extern volatile PORTBBITS PORTBbits __attribute__((__sfr__));\r
+\r
+/* LATB: Port B Latch Register */\r
+extern volatile unsigned int LATB __attribute__((__sfr__));\r
+typedef struct tagLATBBITS {\r
+ unsigned LATB0 :1;\r
+ unsigned LATB1 :1;\r
+ unsigned LATB2 :1;\r
+ unsigned LATB3 :1;\r
+ unsigned LATB4 :1;\r
+ unsigned LATB5 :1;\r
+ unsigned :10;\r
+} LATBBITS;\r
+extern volatile LATBBITS LATBbits __attribute__((__sfr__));\r
+\r
+/* TRISC: Port C Direction Control Register */\r
+extern volatile unsigned int TRISC __attribute__((__sfr__));\r
+typedef struct tagTRISCBITS {\r
+ unsigned :13;\r
+ unsigned TRISC13:1;\r
+ unsigned TRISC14:1;\r
+ unsigned TRISC15:1;\r
+} TRISCBITS;\r
+extern volatile TRISCBITS TRISCbits __attribute__((__sfr__));\r
+\r
+/* PORTC: Port C Pin Register */\r
+extern volatile unsigned int PORTC __attribute__((__sfr__));\r
+typedef struct tagPORTCBITS {\r
+ unsigned :13;\r
+ unsigned RC13 :1;\r
+ unsigned RC14 :1;\r
+ unsigned RC15 :1;\r
+} PORTCBITS;\r
+extern volatile PORTCBITS PORTCbits __attribute__((__sfr__));\r
+\r
+/* LATC: Port C Latch Register */\r
+extern volatile unsigned int LATC __attribute__((__sfr__));\r
+typedef struct tagLATCBITS {\r
+ unsigned :13;\r
+ unsigned LATC13 :1;\r
+ unsigned LATC14 :1;\r
+ unsigned LATC15 :1;\r
+} LATCBITS;\r
+extern volatile LATCBITS LATCbits __attribute__((__sfr__));\r
+\r
+/* TRISD: Port D Direction Control Register */\r
+extern volatile unsigned int TRISD __attribute__((__sfr__));\r
+typedef struct tagTRISDBITS {\r
+ unsigned TRISD0 :1;\r
+ unsigned TRISD1 :1;\r
+ unsigned :14;\r
+} TRISDBITS;\r
+extern volatile TRISDBITS TRISDbits __attribute__((__sfr__));\r
+\r
+/* PORTD: Port D Pin Register */\r
+extern volatile unsigned int PORTD __attribute__((__sfr__));\r
+typedef struct tagPORTDBITS {\r
+ unsigned RD0 :1;\r
+ unsigned RD1 :1;\r
+ unsigned :14;\r
+} PORTDBITS;\r
+extern volatile PORTDBITS PORTDbits __attribute__((__sfr__));\r
+\r
+/* LATD: Port D Latch Register */\r
+extern volatile unsigned int LATD __attribute__((__sfr__));\r
+typedef struct tagLATDBITS {\r
+ unsigned LATD0 :1;\r
+ unsigned LATD1 :1;\r
+ unsigned :14;\r
+} LATDBITS;\r
+extern volatile LATDBITS LATDbits __attribute__((__sfr__));\r
+\r
+/* TRISE: Port E Direction Control Register */\r
+extern volatile unsigned int TRISE __attribute__((__sfr__));\r
+typedef struct tagTRISEBITS {\r
+ unsigned TRISE0 :1;\r
+ unsigned TRISE1 :1;\r
+ unsigned TRISE2 :1;\r
+ unsigned TRISE3 :1;\r
+ unsigned TRISE4 :1;\r
+ unsigned TRISE5 :1;\r
+ unsigned :2;\r
+ unsigned TRISE8 :1;\r
+ unsigned :7;\r
+} TRISEBITS;\r
+extern volatile TRISEBITS TRISEbits __attribute__((__sfr__));\r
+\r
+/* PORTE: Port E Pin Register */\r
+extern volatile unsigned int PORTE __attribute__((__sfr__));\r
+typedef struct tagPORTEBITS {\r
+ unsigned RE0 :1;\r
+ unsigned RE1 :1;\r
+ unsigned RE2 :1;\r
+ unsigned RE3 :1;\r
+ unsigned RE4 :1;\r
+ unsigned RE5 :1;\r
+ unsigned :2;\r
+ unsigned RE8 :1;\r
+ unsigned :7;\r
+} PORTEBITS;\r
+extern volatile PORTEBITS PORTEbits __attribute__((__sfr__));\r
+\r
+/* LATE: Port E Latch Register */\r
+extern volatile unsigned int LATE __attribute__((__sfr__));\r
+typedef struct tagLATEBITS {\r
+ unsigned LATE0 :1;\r
+ unsigned LATE1 :1;\r
+ unsigned LATE2 :1;\r
+ unsigned LATE3 :1;\r
+ unsigned LATE4 :1;\r
+ unsigned LATE5 :1;\r
+ unsigned :2;\r
+ unsigned LATE8 :1;\r
+ unsigned :7;\r
+} LATEBITS;\r
+extern volatile LATEBITS LATEbits __attribute__((__sfr__));\r
+\r
+/* TRISF: Port F Direction Control Register */\r
+extern volatile unsigned int TRISF __attribute__((__sfr__));\r
+typedef struct tagTRISFBITS {\r
+ unsigned :2;\r
+ unsigned TRISF2 :1;\r
+ unsigned TRISF3 :1;\r
+ unsigned :12;\r
+} TRISFBITS;\r
+extern volatile TRISFBITS TRISFbits __attribute__((__sfr__));\r
+\r
+/* PORTF: Port F Pin Register */\r
+extern volatile unsigned int PORTF __attribute__((__sfr__));\r
+typedef struct tagPORTFBITS {\r
+ unsigned :2;\r
+ unsigned RF2 :1;\r
+ unsigned RF3 :1;\r
+ unsigned :12;\r
+} PORTFBITS;\r
+extern volatile PORTFBITS PORTFbits __attribute__((__sfr__));\r
+\r
+/* LATF: Port F Latch Register */\r
+extern volatile unsigned int LATF __attribute__((__sfr__));\r
+typedef struct tagLATFBITS {\r
+ unsigned :2;\r
+ unsigned LATF2 :1;\r
+ unsigned LATF3 :1;\r
+ unsigned :12;\r
+} LATFBITS;\r
+extern volatile LATFBITS LATFbits __attribute__((__sfr__));\r
+\r
+\r
+/* ------------------------- */\r
+/* CAN1 register definitions */\r
+/* ------------------------- */\r
+\r
+/* Generic structure of entire SFR area for each CAN module */\r
+typedef struct tagCAN {\r
+ unsigned int cxrxf0sid;\r
+ unsigned int cxrxf0eidh;\r
+ unsigned int cxrxf0eidl;\r
+ unsigned int reserved0;\r
+ unsigned int cxrxf1sid;\r
+ unsigned int cxrxf1eidh;\r
+ unsigned int cxrxf1eidl;\r
+ unsigned int reserved1;\r
+ unsigned int cxrxf2sid;\r
+ unsigned int cxrxf2eidh;\r
+ unsigned int cxrxf2eidl;\r
+ unsigned int reserved2;\r
+ unsigned int cxrxf3sid;\r
+ unsigned int cxrxf3eidh;\r
+ unsigned int cxrxf3eidl;\r
+ unsigned int reserved3;\r
+ unsigned int cxrxf4sid;\r
+ unsigned int cxrxf4eidh;\r
+ unsigned int cxrxf4eidl;\r
+ unsigned int reserved4;\r
+ unsigned int cxrxf5sid;\r
+ unsigned int cxrxf5eidh;\r
+ unsigned int cxrxf5eidl;\r
+ unsigned int reserved5;\r
+ unsigned int cxrxm0sid;\r
+ unsigned int cxrxm0eidh;\r
+ unsigned int cxrxm0eidl;\r
+ unsigned int reserved6;\r
+ unsigned int cxrxm1sid;\r
+ unsigned int cxrxm1eidh;\r
+ unsigned int cxrxm1eidl;\r
+ unsigned int reserved7;\r
+ unsigned int cxtx2sid;\r
+ unsigned int cxtx2eid;\r
+ unsigned int cxtx2dlc; \r
+ unsigned int cxtx2b1;\r
+ unsigned int cxtx2b2;\r
+ unsigned int cxtx2b3;\r
+ unsigned int cxtx2b4;\r
+ unsigned int cxtx2con;\r
+ unsigned int cxtx1sid;\r
+ unsigned int cxtx1eid;\r
+ unsigned int cxtx1dlc; \r
+ unsigned int cxtx1b1;\r
+ unsigned int cxtx1b2;\r
+ unsigned int cxtx1b3;\r
+ unsigned int cxtx1b4;\r
+ unsigned int cxtx1con;\r
+ unsigned int cxtx0sid;\r
+ unsigned int cxtx0eid;\r
+ unsigned int cxtx0dlc; \r
+ unsigned int cxtx0b1;\r
+ unsigned int cxtx0b2;\r
+ unsigned int cxtx0b3;\r
+ unsigned int cxtx0b4;\r
+ unsigned int cxtx0con;\r
+ unsigned int cxrx1sid;\r
+ unsigned int cxrx1eid;\r
+ unsigned int cxrx1dlc;\r
+ unsigned int cxrx1b1;\r
+ unsigned int cxrx1b2;\r
+ unsigned int cxrx1b3;\r
+ unsigned int cxrx1b4;\r
+ unsigned int cxrx1con;\r
+ unsigned int cxrx0sid;\r
+ unsigned int cxrx0eid;\r
+ unsigned int cxrx0dlc;\r
+ unsigned int cxrx0b1;\r
+ unsigned int cxrx0b2;\r
+ unsigned int cxrx0b3;\r
+ unsigned int cxrx0b4;\r
+ unsigned int cxrx0con;\r
+ unsigned int cxctrl;\r
+ unsigned int cxcfg1;\r
+ unsigned int cxcfg2;\r
+ unsigned int cxintf;\r
+ unsigned int cxinte;\r
+ unsigned int cxec;\r
+ unsigned int reserved8[50];\r
+} CAN, *PCAN;\r
+\r
+/* SFR blocks for each CAN module */\r
+extern volatile CAN CAN1 __attribute__((__sfr__));\r
+\r
+/* Generic structure for CAN Receive Filter Standard Identifier Register */\r
+typedef struct tagCxRXFxSIDBITS {\r
+ unsigned EXIDE :1;\r
+ unsigned :1; \r
+ unsigned SID :11;\r
+ unsigned :3;\r
+} CxRXFxSIDBITS;\r
+\r
+/* C1RXF0SID: CAN1 Receive Filter 0 SID Register */\r
+extern volatile unsigned int C1RXF0SID __attribute__((__sfr__));\r
+extern volatile CxRXFxSIDBITS C1RXF0SIDbits __attribute__((__sfr__));\r
+\r
+/* C1RXF0EIDH: CAN1 Receive Filter 0 EIDH Register */\r
+extern volatile unsigned int C1RXF0EIDH __attribute__((__sfr__));\r
+\r
+/* C1RXF0EIDL: CAN1 Receive Filter 0 EIDL Register */\r
+extern volatile unsigned int C1RXF0EIDL __attribute__((__sfr__));\r
+\r
+/* C1RXF1SID: CAN1 Receive Filter 1 SID Register */\r
+extern volatile unsigned int C1RXF1SID __attribute__((__sfr__));\r
+extern volatile CxRXFxSIDBITS C1RXF1SIDbits __attribute__((__sfr__));\r
+\r
+/* C1RXF1EIDH: CAN1 Receive Filter 1 EIDH Register */\r
+extern volatile unsigned int C1RXF1EIDH __attribute__((__sfr__));\r
+\r
+/* C1RXF1EIDL: CAN1 Receive Filter 1 EIDL Register */\r
+extern volatile unsigned int C1RXF1EIDL __attribute__((__sfr__));\r
+\r
+/* C1RXF2SID: CAN1 Receive Filter 2 SID Register */\r
+extern volatile unsigned int C1RXF2SID __attribute__((__sfr__));\r
+extern volatile CxRXFxSIDBITS C1RXF2SIDbits __attribute__((__sfr__));\r
+\r
+/* C1RXF2EIDH: CAN1 Receive Filter 2 EIDH Register */\r
+extern volatile unsigned int C1RXF2EIDH __attribute__((__sfr__));\r
+\r
+/* C1RXF2EIDL: CAN1 Receive Filter 2 EIDL Register */\r
+extern volatile unsigned int C1RXF2EIDL __attribute__((__sfr__));\r
+\r
+/* C1RXF3SID: CAN1 Receive Filter 3 SID Register */\r
+extern volatile unsigned int C1RXF3SID __attribute__((__sfr__));\r
+extern volatile CxRXFxSIDBITS C1RXF3SIDbits __attribute__((__sfr__));\r
+\r
+/* C1RXF3EIDH: CAN1 Receive Filter 3 EIDH Register */\r
+extern volatile unsigned int C1RXF3EIDH __attribute__((__sfr__));\r
+\r
+/* C1RXF3EIDL: CAN1 Receive Filter 3 EIDL Register */\r
+extern volatile unsigned int C1RXF3EIDL __attribute__((__sfr__));\r
+\r
+/* C1RXF4SID: CAN1 Receive Filter 4 SID Register */\r
+extern volatile unsigned int C1RXF4SID __attribute__((__sfr__));\r
+extern volatile CxRXFxSIDBITS C1RXF4SIDbits __attribute__((__sfr__));\r
+\r
+/* C1RXF4EIDH: CAN1 Receive Filter 4 EIDH Register */\r
+extern volatile unsigned int C1RXF4EIDH __attribute__((__sfr__));\r
+\r
+/* C1RXF4EIDL: CAN1 Receive Filter 4 EIDL Register */\r
+extern volatile unsigned int C1RXF4EIDL __attribute__((__sfr__));\r
+\r
+/* C1RXF5SID: CAN1 Receive Filter 5 SID Register */\r
+extern volatile unsigned int C1RXF5SID __attribute__((__sfr__));\r
+extern volatile CxRXFxSIDBITS C1RXF5SIDbits __attribute__((__sfr__));\r
+\r
+/* C1RXF5EIDH: CAN1 Receive Filter 5 EIDH Register */\r
+extern volatile unsigned int C1RXF5EIDH __attribute__((__sfr__)); \r
+\r
+/* C1RXF5EIDL: CAN1 Receive Filter 5 EIDL Register */\r
+extern volatile unsigned int C1RXF5EIDL __attribute__((__sfr__));\r
+\r
+/* Generic structure for CAN Receive Mask Standard Identifier Register */\r
+typedef struct tagCxRXMxSIDBITS {\r
+ unsigned MIDE :1;\r
+ unsigned :1; \r
+ unsigned SID :11;\r
+ unsigned :3;\r
+} CxRXMxSIDBITS;\r
+\r
+/* C1RXM0SID: CAN1 Receive Mask 0 SID Register */\r
+extern volatile unsigned int C1RXM0SID __attribute__((__sfr__));\r
+extern volatile CxRXMxSIDBITS C1RXM0SIDbits __attribute__((__sfr__));\r
+\r
+/* C1RXM0EIDH: CAN1 Receive Mask 0 EIDH Register */\r
+extern volatile unsigned int C1RXM0EIDH __attribute__((__sfr__));\r
+\r
+/* C1RXM0EIDL: CAN1 Receive Mask 0 EIDL Register */\r
+extern volatile unsigned int C1RXM0EIDL __attribute__((__sfr__));\r
+\r
+/* C1RXM1SID: CAN1 Receive Mask 1 SID Register */\r
+extern volatile unsigned int C1RXM1SID __attribute__((__sfr__));\r
+extern volatile CxRXMxSIDBITS C1RXM1SIDbits __attribute__((__sfr__));\r
+\r
+/* C1RXM1EIDH: CAN1 Receive Mask 1 EIDH Register */\r
+extern volatile unsigned int C1RXM1EIDH __attribute__((__sfr__));\r
+\r
+/* C1RXM1EIDL: CAN1 Receive Mask 1 EIDL Register */\r
+extern volatile unsigned int C1RXM1EIDL __attribute__((__sfr__));\r
+\r
+/* Generic structure for CAN Transmit Standard Identifier Register */\r
+typedef struct tagCxTXxSIDBITS {\r
+ unsigned TXIDE :1;\r
+ unsigned SRR :1;\r
+ unsigned SID5_0 :6;\r
+ unsigned :3;\r
+ unsigned SID10_6:5;\r
+} CxTXxSIDBITS;\r
+\r
+/* Generic structure for CAN Transmit Extended Identifier Register */\r
+typedef struct tagCxTXxEIDBITS {\r
+ unsigned EID13_6:8;\r
+ unsigned :4;\r
+ unsigned EID17_14:4;\r
+} CxTXxEIDBITS;\r
+\r
+/* Generic structure for CAN Transmit Data Length Code Register */\r
+typedef struct tagCxTXxDLCBITS {\r
+ unsigned :3;\r
+ unsigned DLC :4;\r
+ unsigned TXRB0 :1;\r
+ unsigned TXRB1 :1;\r
+ unsigned TXRTR :1;\r
+ unsigned EID5_0 :6;\r
+} CxTXxDLCBITS;\r
+\r
+/* Generic structure for CAN Transmit Control Register */\r
+typedef struct tagCxTXxCONBITS {\r
+ unsigned TXPRI :2;\r
+ unsigned :1;\r
+ unsigned TXREQ :1;\r
+ unsigned TXERR :1;\r
+ unsigned TXLARB :1;\r
+ unsigned TXABT :1;\r
+ unsigned :9;\r
+} CxTXxCONBITS;\r
+\r
+/* C1TX2SID: CAN1 Transmit 2 SID Register */\r
+extern volatile unsigned int C1TX2SID __attribute__((__sfr__));\r
+extern volatile CxTXxSIDBITS C1TX2SIDbits __attribute__((__sfr__));\r
+\r
+/* C1TX2EID: CAN1 Transmit 2 EID Register */\r
+extern volatile unsigned int C1TX2EID __attribute__((__sfr__));\r
+extern volatile CxTXxEIDBITS C1TX2EIDbits __attribute__((__sfr__));\r
+\r
+/* C1TX2DLC: CAN1 Transmit 2 DLC Register */\r
+extern volatile unsigned int C1TX2DLC __attribute__((__sfr__));\r
+extern volatile CxTXxDLCBITS C1TX2DLCbits __attribute__((__sfr__));\r
+\r
+/* C1TX2B1: CAN1 Transmit 2 Buffer Word 1 */\r
+extern volatile unsigned int C1TX2B1 __attribute__((__sfr__));\r
+\r
+/* C1TX2B2: CAN1 Transmit 2 Buffer Word 2 */\r
+extern volatile unsigned int C1TX2B2 __attribute__((__sfr__));\r
+\r
+/* C1TX2B3: CAN1 Transmit 2 Buffer Word 3 */\r
+extern volatile unsigned int C1TX2B3 __attribute__((__sfr__));\r
+\r
+/* C1TX2B4: CAN1 Transmit 2 Buffer Word 4 */\r
+extern volatile unsigned int C1TX2B4 __attribute__((__sfr__));\r
+\r
+/* C1TX2CON: CAN1 Transmit 2 Control Register */\r
+extern volatile unsigned int C1TX2CON __attribute__((__sfr__));\r
+extern volatile CxTXxCONBITS C1TX2CONbits __attribute__((__sfr__));\r
+\r
+/* C1TX1SID: CAN1 Transmit 1 SID Register */\r
+extern volatile unsigned int C1TX1SID __attribute__((__sfr__));\r
+extern volatile CxTXxSIDBITS C1TX1SIDbits __attribute__((__sfr__));\r
+\r
+/* C1TX1EID: CAN1 Transmit 1 EID Register */\r
+extern volatile unsigned int C1TX1EID __attribute__((__sfr__));\r
+extern volatile CxTXxEIDBITS C1TX1EIDbits __attribute__((__sfr__));\r
+\r
+/* C1TX1DLC: CAN1 Transmit 1 DLC Register */\r
+extern volatile unsigned int C1TX1DLC __attribute__((__sfr__));\r
+extern volatile CxTXxDLCBITS C1TX1DLCbits __attribute__((__sfr__));\r
+\r
+/* C1TX1B1: CAN1 Transmit 1 Buffer Word 1 */\r
+extern volatile unsigned int C1TX1B1 __attribute__((__sfr__));\r
+\r
+/* C1TX1B2: CAN1 Transmit 1 Buffer Word 2 */\r
+extern volatile unsigned int C1TX1B2 __attribute__((__sfr__));\r
+\r
+/* C1TX1B3: CAN1 Transmit 1 Buffer Word 3 */\r
+extern volatile unsigned int C1TX1B3 __attribute__((__sfr__));\r
+\r
+/* C1TX1B4: CAN1 Transmit 1 Buffer Word 4 */\r
+extern volatile unsigned int C1TX1B4 __attribute__((__sfr__));\r
+\r
+/* C1TX1CON: CAN1 Transmit 1 Control Register */\r
+extern volatile unsigned int C1TX1CON __attribute__((__sfr__));\r
+extern volatile CxTXxCONBITS C1TX1CONbits __attribute__((__sfr__));\r
+\r
+/* C1TX0SID: CAN1 Transmit 0 SID Register */\r
+extern volatile unsigned int C1TX0SID __attribute__((__sfr__));\r
+extern volatile CxTXxSIDBITS C1TX0SIDbits __attribute__((__sfr__));\r
+\r
+/* C1TX0EID: CAN1 Transmit 0 EID Register */\r
+extern volatile unsigned int C1TX0EID __attribute__((__sfr__));\r
+extern volatile CxTXxEIDBITS C1TX0EIDbits __attribute__((__sfr__));\r
+\r
+/* C1TX0DLC: CAN1 Transmit 0 DLC Register */\r
+extern volatile unsigned int C1TX0DLC __attribute__((__sfr__));\r
+extern volatile CxTXxDLCBITS C1TX0DLCbits __attribute__((__sfr__));\r
+\r
+/* C1TX0B1: CAN1 Transmit 0 Buffer Word 1 */\r
+extern volatile unsigned int C1TX0B1 __attribute__((__sfr__));\r
+\r
+/* C1TX0B2: CAN1 Transmit 0 Buffer Word 2 */\r
+extern volatile unsigned int C1TX0B2 __attribute__((__sfr__));\r
+\r
+/* C1TX0B3: CAN1 Transmit 0 Buffer Word 3 */\r
+extern volatile unsigned int C1TX0B3 __attribute__((__sfr__));\r
+\r
+/* C1TX0B4: CAN1 Transmit 0 Buffer Word 4 */\r
+extern volatile unsigned int C1TX0B4 __attribute__((__sfr__));\r
+\r
+/* C1TX0CON: CAN1 Transmit 0 Control Register */\r
+extern volatile unsigned int C1TX0CON __attribute__((__sfr__));\r
+extern volatile CxTXxCONBITS C1TX0CONbits __attribute__((__sfr__));\r
+\r
+/* Generic structure for CAN Receive Standard Identifier Register */\r
+typedef struct tagCxRXxSIDBITS {\r
+ unsigned RXIDE :1;\r
+ unsigned SRR :1;\r
+ unsigned SID :11;\r
+ unsigned :3;\r
+} CxRXxSIDBITS;\r
+\r
+/* Generic structure for CAN Receive Data Length Code Register */\r
+typedef struct tagCxRXxDLCBITS {\r
+ unsigned DLC :4;\r
+ unsigned RXRB0 :1;\r
+ unsigned :3;\r
+ unsigned RXRB1 :1;\r
+ unsigned RXRTR :1;\r
+ unsigned EID5_0 :6;\r
+} CxRXxDLCBITS;\r
+\r
+/* Generic structure for CAN Receive 1 Control Register */\r
+typedef struct tagCxRX1CONBITS {\r
+ unsigned FILHIT :3;\r
+ unsigned RXRTRRO:1;\r
+ unsigned :3;\r
+ unsigned RXFUL :1;\r
+ unsigned :8;\r
+} CxRX1CONBITS;\r
+\r
+/* C1RX1SID: CAN1 Receive 1 SID Register */\r
+extern volatile unsigned int C1RX1SID __attribute__((__sfr__));\r
+extern volatile CxRXxSIDBITS C1RX1SIDbits __attribute__((__sfr__));\r
+\r
+/* C1RX1EID: CAN1 Receive 1 EID Register */\r
+extern volatile unsigned int C1RX1EID __attribute__((__sfr__));\r
+\r
+/* C1RX1DLC: CAN1 Receive 1 DLC Register */\r
+extern volatile unsigned int C1RX1DLC __attribute__((__sfr__));\r
+extern volatile CxRXxDLCBITS C1RX1DLCbits __attribute__((__sfr__));\r
+\r
+/* C1RX1B1: CAN1 Receive 1 Buffer Word 1 */\r
+extern volatile unsigned int C1RX1B1 __attribute__((__sfr__));\r
+\r
+/* C1RX1B2: CAN1 Receive 1 Buffer Word 2 */\r
+extern volatile unsigned int C1RX1B2 __attribute__((__sfr__));\r
+\r
+/* C1RX1B3: CAN1 Receive 1 Buffer Word 3 */\r
+extern volatile unsigned int C1RX1B3 __attribute__((__sfr__));\r
+\r
+/* C1RX1B4: CAN1 Receive 1 Buffer Word 4 */\r
+extern volatile unsigned int C1RX1B4 __attribute__((__sfr__));\r
+\r
+/* C1RX1CON: CAN1 Receive 1 Control Register */\r
+extern volatile unsigned int C1RX1CON __attribute__((__sfr__));\r
+extern volatile CxRX1CONBITS C1RX1CONbits __attribute__((__sfr__));\r
+\r
+/* Generic structure for CAN Receive 0 Control Register */\r
+typedef struct tagCxRX0CONBITS {\r
+ unsigned FILHIT0:1;\r
+ unsigned JTOFF :1;\r
+ unsigned DBEN :1;\r
+ unsigned RXRTRRO:1;\r
+ unsigned :3;\r
+ unsigned RXFUL :1;\r
+ unsigned :8;\r
+} CxRX0CONBITS;\r
+\r
+/* C1RX0SID: CAN1 Receive 0 SID Register */\r
+extern volatile unsigned int C1RX0SID __attribute__((__sfr__));\r
+extern volatile CxRXxSIDBITS C1RX0SIDbits __attribute__((__sfr__));\r
+\r
+/* C1RX0EID: CAN1 Receive 0 EID Register */\r
+extern volatile unsigned int C1RX0EID __attribute__((__sfr__));\r
+\r
+/* C1RX0DLC: CAN1 Receive 0 DLC Register */\r
+extern volatile unsigned int C1RX0DLC __attribute__((__sfr__));\r
+extern volatile CxRXxDLCBITS C1RX0DLCbits __attribute__((__sfr__));\r
+\r
+/* C1RX0B1: CAN1 Receive 0 Buffer Word 1 */\r
+extern volatile unsigned int C1RX0B1 __attribute__((__sfr__));\r
+\r
+/* C1RX0B2: CAN1 Receive 0 Buffer Word 2 */\r
+extern volatile unsigned int C1RX0B2 __attribute__((__sfr__));\r
+\r
+/* C1RX0B3: CAN1 Receive 0 Buffer Word 3 */\r
+extern volatile unsigned int C1RX0B3 __attribute__((__sfr__));\r
+\r
+/* C1RX0B4: CAN1 Receive 0 Buffer Word 4 */\r
+extern volatile unsigned int C1RX0B4 __attribute__((__sfr__));\r
+\r
+/* C1RX0CON: CAN1 Receive 0 Control Register */\r
+extern volatile unsigned int C1RX0CON __attribute__((__sfr__));\r
+extern volatile CxRX0CONBITS C1RX0CONbits __attribute__((__sfr__));\r
+\r
+/* C1CTRL: CAN1 Control Register */\r
+extern volatile unsigned int C1CTRL __attribute__((__sfr__));\r
+typedef struct tagCxCTRLBITS {\r
+ unsigned :1;\r
+ unsigned ICODE :3;\r
+ unsigned :1;\r
+ unsigned OPMODE :3;\r
+ unsigned REQOP :3;\r
+ unsigned CANCKS :1;\r
+ unsigned ABAT :1;\r
+ unsigned CSIDL :1;\r
+ unsigned :1;\r
+ unsigned CANCAP :1;\r
+} CxCTRLBITS;\r
+extern volatile CxCTRLBITS C1CTRLbits __attribute__((__sfr__));\r
+\r
+/* C1CFG1: CAN1 Baud Rate Control Register 1 */\r
+extern volatile unsigned int C1CFG1 __attribute__((__sfr__));\r
+typedef struct tagCxCFG1BITS {\r
+ unsigned BRP :6;\r
+ unsigned SJW :2;\r
+ unsigned :8;\r
+} CxCFG1BITS;\r
+extern volatile CxCFG1BITS C1CFG1bits __attribute__((__sfr__));\r
+\r
+/* C1CFG2: CAN1 Baud Rate Control Register 2 */\r
+extern volatile unsigned int C1CFG2 __attribute__((__sfr__));\r
+typedef struct tagCxCFG2BITS {\r
+ unsigned PRSEG :3;\r
+ unsigned SEG1PH :3;\r
+ unsigned SAM :1;\r
+ unsigned SEG2PHTS:1;\r
+ unsigned SEG2PH :3;\r
+ unsigned :3;\r
+ unsigned WAKFIL :1;\r
+ unsigned :1;\r
+} CxCFG2BITS;\r
+extern volatile CxCFG2BITS C1CFG2bits __attribute__((__sfr__));\r
+\r
+/* C1INTF: CAN1 Interrupt Flag Status Register */\r
+extern volatile unsigned int C1INTF __attribute__((__sfr__));\r
+typedef struct tagCxINTFBITS {\r
+ unsigned RX0IF :1;\r
+ unsigned RX1IF :1;\r
+ unsigned TX0IF :1;\r
+ unsigned TX1IF :1;\r
+ unsigned TX2IF :1;\r
+ unsigned ERRIF :1;\r
+ unsigned WAKIF :1;\r
+ unsigned IVRIF :1;\r
+ unsigned EWARN :1;\r
+ unsigned RXWAR :1;\r
+ unsigned TXWAR :1;\r
+ unsigned RXEP :1;\r
+ unsigned TXEP :1;\r
+ unsigned TXBO :1;\r
+ unsigned RX1OVR :1;\r
+ unsigned RX0OVR :1;\r
+} CxINTFBITS;\r
+extern volatile CxINTFBITS C1INTFbits __attribute__((__sfr__));\r
+\r
+/* C1INTE: CAN1 Interrupt Enable Control Register */\r
+extern volatile unsigned int C1INTE __attribute__((__sfr__));\r
+typedef struct tagCxINTEBITS {\r
+ unsigned RX0IE :1;\r
+ unsigned RX1IE :1;\r
+ unsigned TX0IE :1;\r
+ unsigned TX1IE :1;\r
+ unsigned TX2IE :1;\r
+ unsigned ERRIE :1;\r
+ unsigned WAKIE :1;\r
+ unsigned IVRIE :1;\r
+ unsigned :8;\r
+} CxINTEBITS;\r
+extern volatile CxINTEBITS C1INTEbits __attribute__((__sfr__));\r
+\r
+/* C1EC: CAN1 Error Count Register */\r
+extern volatile unsigned int C1EC __attribute__((__sfr__));\r
+\r
+/* C1RERRCNT: CAN1 Receive Error Count (C1EC low byte) */\r
+extern volatile unsigned char C1RERRCNT __attribute__((__sfr__));\r
+\r
+/* C1TERRCNT: CAN1 Transmit Error Count (C1EC high byte) */\r
+extern volatile unsigned char C1TERRCNT __attribute__((__sfr__));\r
+\r
+\r
+/* --------------------------------------- */\r
+/* System Integration register definitions */\r
+/* --------------------------------------- */\r
+\r
+/* RCON: Reset Control Register */\r
+extern volatile unsigned int RCON __attribute__((__sfr__));\r
+typedef struct tagRCONBITS {\r
+ unsigned POR :1;\r
+ unsigned BOR :1;\r
+ unsigned IDLE :1;\r
+ unsigned SLEEP :1;\r
+ unsigned WDTO :1;\r
+ unsigned SWDTEN :1;\r
+ unsigned SWR :1;\r
+ unsigned EXTR :1;\r
+ unsigned :5;\r
+ unsigned BGST :1;\r
+ unsigned IOPUWR :1;\r
+ unsigned TRAPR :1;\r
+} RCONBITS;\r
+extern volatile RCONBITS RCONbits __attribute__((__sfr__));\r
+\r
+/* OSCCON: Oscillator Control Register */\r
+extern volatile unsigned int OSCCON __attribute__((__sfr__));\r
+typedef struct tagOSCCONBITS {\r
+ unsigned OSWEN :1;\r
+ unsigned LPOSCEN:1;\r
+ unsigned :1;\r
+ unsigned CF :1;\r
+ unsigned :1;\r
+ unsigned LOCK :1;\r
+ unsigned POST :2;\r
+ unsigned NOSC :2;\r
+ unsigned TUN0 :1;\r
+ unsigned TUN1 :1;\r
+ unsigned COSC :2;\r
+ unsigned TUN2 :1;\r
+ unsigned TUN3 :1;\r
+} OSCCONBITS;\r
+extern volatile OSCCONBITS OSCCONbits __attribute__((__sfr__));\r
+\r
+\r
+/* ---------------------------------------- */\r
+/* Non-Volatile Memory register definitions */\r
+/* ---------------------------------------- */\r
+\r
+/* NVMCON: Non-Volatile Memory Control Register */\r
+extern volatile unsigned int NVMCON __attribute__((__sfr__));\r
+typedef struct tagNVMCONBITS {\r
+ unsigned PROGOP :7;\r
+ unsigned :1;\r
+ unsigned TWRI :1;\r
+ unsigned :4;\r
+ unsigned WRERR :1;\r
+ unsigned WREN :1;\r
+ unsigned WR :1;\r
+} NVMCONBITS;\r
+extern volatile NVMCONBITS NVMCONbits __attribute__((__sfr__));\r
+\r
+/* NVM Address bits <15:0> */\r
+extern volatile unsigned int NVMADR __attribute__((__sfr__));\r
+\r
+/* NVM Address bits <23:16> */\r
+extern volatile unsigned char NVMADRU __attribute__((__sfr__));\r
+\r
+/* NVM Key */\r
+extern volatile unsigned char NVMKEY __attribute__((__sfr__));\r
+\r
+\r
+/* ---------------------------------------------- */\r
+/* Peripheral Module Disable register definitions */\r
+/* ---------------------------------------------- */\r
+\r
+/* PMD1: Peripheral Module Disable Register 1 */\r
+extern volatile unsigned int PMD1 __attribute__((__sfr__));\r
+typedef struct tagPMD1BITS {\r
+ unsigned ADCMD :1;\r
+ unsigned C1MD :1;\r
+ unsigned :1;\r
+ unsigned SPI1MD :1;\r
+ unsigned :1;\r
+ unsigned U1MD :1;\r
+ unsigned :1;\r
+ unsigned I2CMD :1;\r
+ unsigned :1;\r
+ unsigned PWMMD :1;\r
+ unsigned QEIMD :1;\r
+ unsigned T1MD :1;\r
+ unsigned T2MD :1;\r
+ unsigned T3MD :1;\r
+ unsigned T4MD :1;\r
+ unsigned T5MD :1;\r
+} PMD1BITS;\r
+extern volatile PMD1BITS PMD1bits __attribute__((__sfr__));\r
+\r
+/* PMD2: Peripheral Module Disable Register 3 */\r
+extern volatile unsigned int PMD2 __attribute__((__sfr__));\r
+typedef struct tagPMD2BITS {\r
+ unsigned OC1MD :1;\r
+ unsigned OC2MD :1;\r
+ unsigned :6;\r
+ unsigned IC1MD :1;\r
+ unsigned IC2MD :1;\r
+ unsigned :4;\r
+ unsigned IC7MD :1;\r
+ unsigned IC8MD :1;\r
+} PMD2BITS;\r
+extern volatile PMD2BITS PMD2bits __attribute__((__sfr__));\r
+\r
+\r
+/* -------------------------------------------- */ \r
+/* Defines for unique SFR bit names */\r
+/* -------------------------------------------- */\r
+\r
+/* SR */\r
+#define _C SRbits.C\r
+#define _Z SRbits.Z\r
+#define _OV SRbits.OV\r
+#define _N SRbits.N\r
+#define _RA SRbits.RA\r
+#define _IPL SRbits.IPL\r
+#define _DC SRbits.DC\r
+#define _DA SRbits.DA\r
+#define _SAB SRbits.SAB\r
+#define _OAB SRbits.OAB\r
+#define _SB SRbits.SB\r
+#define _SA SRbits.SA\r
+#define _OB SRbits.OB\r
+#define _OA SRbits.OA\r
+\r
+/* CORCON */\r
+#define _IF CORCONbits.IF\r
+#define _RND CORCONbits.RND\r
+#define _PSV CORCONbits.PSV\r
+#define _IPL3 CORCONbits.IPL3\r
+#define _ACCSAT CORCONbits.ACCSAT\r
+#define _SATDW CORCONbits.SATDW\r
+#define _SATB CORCONbits.SATB\r
+#define _SATA CORCONbits.SATA\r
+#define _DL CORCONbits.DL\r
+#define _EDT CORCONbits.EDT\r
+#define _US CORCONbits.US\r
+\r
+/* MODCON */\r
+#define _XWM MODCONbits.XWM\r
+#define _YWM MODCONbits.YWM\r
+#define _BWM MODCONbits.BWM\r
+#define _YMODEN MODCONbits.YMODEN\r
+#define _XMODEN MODCONbits.XMODEN\r
+\r
+/* XBREV */\r
+#define _XB XBREVbits.XB\r
+#define _BREN XBREVbits.BREN\r
+\r
+/* INTCON1 */\r
+#define _OSCFAIL INTCON1bits.OSCFAIL\r
+#define _STKERR INTCON1bits.STKERR\r
+#define _ADDRERR INTCON1bits.ADDRERR\r
+#define _MATHERR INTCON1bits.MATHERR\r
+#define _COVTE INTCON1bits.COVTE\r
+#define _OVBTE INTCON1bits.OVBTE\r
+#define _OVATE INTCON1bits.OVATE\r
+#define _NSTDIS INTCON1bits.NSTDIS\r
+\r
+/* INTCON2 */\r
+#define _INT0EP INTCON2bits.INT0EP\r
+#define _INT1EP INTCON2bits.INT1EP\r
+#define _INT2EP INTCON2bits.INT2EP\r
+#define _DISI INTCON2bits.DISI\r
+#define _ALTIVT INTCON2bits.ALTIVT\r
+\r
+/* IFS0 */\r
+#define _INT0IF IFS0bits.INT0IF \r
+#define _IC1IF IFS0bits.IC1IF\r
+#define _OC1IF IFS0bits.OC1IF\r
+#define _T1IF IFS0bits.T1IF\r
+#define _IC2IF IFS0bits.IC2IF\r
+#define _OC2IF IFS0bits.OC2IF\r
+#define _T2IF IFS0bits.T2IF\r
+#define _T3IF IFS0bits.T3IF\r
+#define _SPI1IF IFS0bits.SPI1IF \r
+#define _U1RXIF IFS0bits.U1RXIF\r
+#define _U1TXIF IFS0bits.U1TXIF\r
+#define _ADIF IFS0bits.ADIF\r
+#define _NVMIF IFS0bits.NVMIF\r
+#define _SI2CIF IFS0bits.SI2CIF\r
+#define _MI2CIF IFS0bits.MI2CIF\r
+#define _CNIF IFS0bits.CNIF\r
+\r
+/* IFS1 */\r
+#define _INT1IF IFS1bits.INT1IF \r
+#define _IC7IF IFS1bits.IC7IF\r
+#define _IC8IF IFS1bits.IC8IF\r
+#define _T4IF IFS1bits.T4IF\r
+#define _T5IF IFS1bits.T5IF\r
+#define _INT2IF IFS1bits.INT2IF\r
+#define _C1IF IFS1bits.C1IF\r
+\r
+/* IFS2 */\r
+#define _PWMIF IFS2bits.PWMIF\r
+#define _QEIIF IFS2bits.QEIIF\r
+#define _FLTAIF IFS2bits.FLTAIF \r
+\r
+/* IEC0 */\r
+#define _INT0IE IEC0bits.INT0IE \r
+#define _IC1IE IEC0bits.IC1IE\r
+#define _OC1IE IEC0bits.OC1IE\r
+#define _T1IE IEC0bits.T1IE\r
+#define _IC2IE IEC0bits.IC2IE\r
+#define _OC2IE IEC0bits.OC2IE\r
+#define _T2IE IEC0bits.T2IE\r
+#define _T3IE IEC0bits.T3IE\r
+#define _SPI1IE IEC0bits.SPI1IE \r
+#define _U1RXIE IEC0bits.U1RXIE\r
+#define _U1TXIE IEC0bits.U1TXIE\r
+#define _ADIE IEC0bits.ADIE\r
+#define _NVMIE IEC0bits.NVMIE\r
+#define _SI2CIE IEC0bits.SI2CIE\r
+#define _MI2CIE IEC0bits.MI2CIE\r
+#define _CNIE IEC0bits.CNIE\r
+\r
+/* IEC1 */\r
+#define _INT1IE IEC1bits.INT1IE \r
+#define _IC7IE IEC1bits.IC7IE\r
+#define _IC8IE IEC1bits.IC8IE\r
+#define _T4IE IEC1bits.T4IE\r
+#define _T5IE IEC1bits.T5IE\r
+#define _INT2IE IEC1bits.INT2IE\r
+#define _C1IE IEC1bits.C1IE\r
+\r
+/* IEC2 */\r
+#define _PWMIE IEC2bits.PWMIE\r
+#define _QEIIE IEC2bits.QEIIE\r
+#define _FLTAIE IEC2bits.FLTAIE \r
+\r
+/* IPC0 */\r
+#define _INT0IP IPC0bits.INT0IP \r
+#define _IC1IP IPC0bits.IC1IP\r
+#define _OC1IP IPC0bits.OC1IP\r
+#define _T1IP IPC0bits.T1IP\r
+\r
+/* IPC1 */\r
+#define _IC2IP IPC1bits.IC2IP \r
+#define _OC2IP IPC1bits.OC2IP\r
+#define _T2IP IPC1bits.T2IP\r
+#define _T3IP IPC1bits.T3IP\r
+\r
+/* IPC2 */\r
+#define _SPI1IP IPC2bits.SPI1IP \r
+#define _U1RXIP IPC2bits.U1RXIP\r
+#define _U1TXIP IPC2bits.U1TXIP\r
+#define _ADIP IPC2bits.ADIP\r
+\r
+/* IPC3 */\r
+#define _NVMIP IPC3bits.NVMIP \r
+#define _SI2CIP IPC3bits.SI2CIP\r
+#define _MI2CIP IPC3bits.MI2CIP\r
+#define _CNIP IPC3bits.CNIP\r
+\r
+/* IPC4 */\r
+#define _INT1IP IPC4bits.INT1IP \r
+#define _IC7IP IPC4bits.IC7IP\r
+#define _IC8IP IPC4bits.IC8IP\r
+\r
+/* IPC5 */\r
+#define _T4IP IPC5bits.T4IP\r
+#define _T5IP IPC5bits.T5IP\r
+#define _INT2IP IPC5bits.INT2IP\r
+\r
+/* IPC6 */\r
+#define _C1IP IPC6bits.C1IP\r
+\r
+/* IPC9 */\r
+#define _PWMIP IPC9bits.PWMIP\r
+\r
+/* IPC10 */\r
+#define _QEIIP IPC10bits.QEIIP\r
+#define _FLTAIP IPC10bits.FLTAIP\r
+\r
+/* CNEN1 */\r
+#define _CN0IE CNEN1bits.CN0IE \r
+#define _CN1IE CNEN1bits.CN1IE\r
+#define _CN2IE CNEN1bits.CN2IE\r
+#define _CN3IE CNEN1bits.CN3IE\r
+#define _CN4IE CNEN1bits.CN4IE\r
+#define _CN5IE CNEN1bits.CN5IE\r
+#define _CN6IE CNEN1bits.CN6IE\r
+#define _CN7IE CNEN1bits.CN7IE\r
+\r
+/* CNPU1 */\r
+#define _CN0PUE CNPU1bits.CN0PUE \r
+#define _CN1PUE CNPU1bits.CN1PUE\r
+#define _CN2PUE CNPU1bits.CN2PUE\r
+#define _CN3PUE CNPU1bits.CN3PUE\r
+#define _CN4PUE CNPU1bits.CN4PUE\r
+#define _CN5PUE CNPU1bits.CN5PUE\r
+#define _CN6PUE CNPU1bits.CN6PUE\r
+#define _CN7PUE CNPU1bits.CN7PUE\r
+\r
+/* QEICON */\r
+#define _UPDN_SRC QEICONbits.UPDN_SRC\r
+#define _TQCS QEICONbits.TQCS\r
+#define _POSRES QEICONbits.POSRES\r
+#define _TQCKPS QEICONbits.TQCKPS\r
+#define _TQGATE QEICONbits.TQGATE\r
+#define _PCDOUT QEICONbits.PCDOUT\r
+#define _SWPAB QEICONbits.SWPAB\r
+#define _QEIM QEICONbits.QEIM\r
+#define _UPDN QEICONbits.UPDN\r
+#define _INDX QEICONbits.INDX\r
+#define _QEISIDL QEICONbits.QEISIDL\r
+#define _CNTERR QEICONbits.CNTERR\r
+\r
+/* DFLTCON */\r
+#define _QECK DFLTCONbits.QECK\r
+#define _QEOUT DFLTCONbits.QEOUT\r
+#define _CEID DFLTCONbits.CEID\r
+#define _IMV DFLTCONbits.IMV\r
+\r
+/* PTCON */\r
+#define _PTMOD PTCONbits.PTMOD\r
+#define _PTCKPS PTCONbits.PTCKPS\r
+#define _PTOPS PTCONbits.PTOPS\r
+#define _PTSIDL PTCONbits.PTSIDL\r
+#define _PTEN PTCONbits.PTEN\r
+\r
+/* PTMR */\r
+#define _PTDIR PTMRbits.PTDIR\r
+\r
+/* SEVTCMP */\r
+#define _SEVTDIR SEVTCMPbits.SEVTDIR\r
+\r
+/* PWMCON1 */\r
+#define _PEN1L PWMCON1bits.PEN1L\r
+#define _PEN2L PWMCON1bits.PEN2L\r
+#define _PEN3L PWMCON1bits.PEN3L\r
+#define _PEN1H PWMCON1bits.PEN1H\r
+#define _PEN2H PWMCON1bits.PEN2H\r
+#define _PEN3H PWMCON1bits.PEN3H\r
+#define _PMOD1 PWMCON1bits.PMOD1\r
+#define _PMOD2 PWMCON1bits.PMOD2\r
+#define _PMOD3 PWMCON1bits.PMOD3\r
+\r
+/* PWMCON2 */\r
+#define _UDIS PWMCON2bits.UDIS\r
+#define _OSYNC PWMCON2bits.OSYNC\r
+#define _SEVOPS PWMCON2bits.SEVOPS\r
+\r
+/* DTCON1 */\r
+#define _DTA DTCON1bits.DTA\r
+#define _DTAPS DTCON1bits.DTAPS\r
+\r
+/* FLTACON */\r
+#define _FAEN1 FLTACONbits.FAEN1\r
+#define _FAEN2 FLTACONbits.FAEN2\r
+#define _FAEN3 FLTACONbits.FAEN3\r
+#define _FLTAM FLTACONbits.FLTAM\r
+#define _FAOV1L FLTACONbits.FAOV1L\r
+#define _FAOV1H FLTACONbits.FAOV1H\r
+#define _FAOV2L FLTACONbits.FAOV2L\r
+#define _FAOV2H FLTACONbits.FAOV2H\r
+#define _FAOV3L FLTACONbits.FAOV3L\r
+#define _FAOV3H FLTACONbits.FAOV3H\r
+\r
+/* FLTBCON */\r
+#define _FBEN1 FLTBCONbits.FBEN1\r
+#define _FBEN2 FLTBCONbits.FBEN2\r
+#define _FBEN3 FLTBCONbits.FBEN3\r
+#define _FLTBM FLTBCONbits.FLTBM\r
+#define _FBOV1L FLTBCONbits.FBOV1L\r
+#define _FBOV1H FLTBCONbits.FBOV1H\r
+#define _FBOV2L FLTBCONbits.FBOV2L\r
+#define _FBOV2H FLTBCONbits.FBOV2H\r
+#define _FBOV3L FLTBCONbits.FBOV3L\r
+#define _FBOV3H FLTBCONbits.FBOV3H\r
+\r
+/* OVDCON */\r
+#define _POUT1L OVDCONbits.POUT1L\r
+#define _POUT1H OVDCONbits.POUT1H\r
+#define _POUT2L OVDCONbits.POUT2L\r
+#define _POUT2H OVDCONbits.POUT2H\r
+#define _POUT3L OVDCONbits.POUT3L\r
+#define _POUT3H OVDCONbits.POUT3H\r
+#define _POVD1L OVDCONbits.POVD1L\r
+#define _POVD1H OVDCONbits.POVD1H\r
+#define _POVD2L OVDCONbits.POVD2L\r
+#define _POVD2H OVDCONbits.POVD2H\r
+#define _POVD3L OVDCONbits.POVD3L\r
+#define _POVD3H OVDCONbits.POVD3H\r
+\r
+/* I2CCON */\r
+#define _SEN I2CCONbits.SEN\r
+#define _RSEN I2CCONbits.RSEN\r
+#define _PEN I2CCONbits.PEN\r
+#define _RCEN I2CCONbits.RCEN\r
+#define _ACKEN I2CCONbits.ACKEN\r
+#define _ACKDT I2CCONbits.ACKDT\r
+#define _STREN I2CCONbits.STREN\r
+#define _GCEN I2CCONbits.GCEN\r
+#define _SMEN I2CCONbits.SMEN\r
+#define _DISSLW I2CCONbits.DISSLW\r
+#define _A10M I2CCONbits.A10M\r
+#define _IPMIEN I2CCONbits.IPMIEN\r
+#define _SCLREL I2CCONbits.SCLREL\r
+#define _I2CSIDL I2CCONbits.I2CSIDL\r
+#define _I2CEN I2CCONbits.I2CEN\r
+\r
+/* I2CSTAT */\r
+#define _TBF I2CSTATbits.TBF\r
+#define _RBF I2CSTATbits.RBF\r
+#define _R_W I2CSTATbits.R_W\r
+#define _S I2CSTATbits.S\r
+#define _P I2CSTATbits.P\r
+#define _D_A I2CSTATbits.D_A\r
+#define _I2COV I2CSTATbits.I2COV\r
+#define _IWCOL I2CSTATbits.IWCOL\r
+#define _ADD10 I2CSTATbits.ADD10\r
+#define _GCSTAT I2CSTATbits.GCSTAT\r
+#define _BCL I2CSTATbits.BCL\r
+#define _TRSTAT I2CSTATbits.TRSTAT\r
+#define _ACKSTAT I2CSTATbits.ACKSTAT\r
+\r
+/* ADCON1 */\r
+#define _DONE ADCON1bits.DONE\r
+#define _SAMP ADCON1bits.SAMP\r
+#define _ASAM ADCON1bits.ASAM\r
+#define _SIMSAM ADCON1bits.SIMSAM\r
+#define _SSRC ADCON1bits.SSRC\r
+#define _FORM ADCON1bits.FORM\r
+#define _ADSIDL ADCON1bits.ADSIDL\r
+#define _ADON ADCON1bits.ADON\r
+\r
+/* ADCON2 */\r
+#define _ALTS ADCON2bits.ALTS\r
+#define _BUFM ADCON2bits.BUFM\r
+#define _SMPI ADCON2bits.SMPI\r
+#define _BUFS ADCON2bits.BUFS\r
+#define _CSCNA ADCON2bits.CSCNA\r
+#define _VCFG ADCON2bits.VCFG\r
+\r
+/* ADCON3 */\r
+#define _ADCS ADCON3bits.ADCS\r
+#define _ADRC ADCON3bits.ADRC\r
+#define _SAMC ADCON3bits.SAMC\r
+\r
+/* ADCHS */\r
+#define _CH0SA ADCHSbits.CH0SA\r
+#define _CH0NA ADCHSbits.CH0NA\r
+#define _CH123SA ADCHSbits.CH123SA\r
+#define _CH123NA ADCHSbits.CH123NA\r
+#define _CH0SB ADCHSbits.CH0SB\r
+#define _CH0NB ADCHSbits.CH0NB\r
+#define _CH123SB ADCHSbits.CH123SB\r
+#define _CH123NB ADCHSbits.CH123NB\r
+\r
+/* ADPCFG */\r
+#define _PCFG0 ADPCFGbits.PCFG0\r
+#define _PCFG1 ADPCFGbits.PCFG1\r
+#define _PCFG2 ADPCFGbits.PCFG2\r
+#define _PCFG3 ADPCFGbits.PCFG3\r
+#define _PCFG4 ADPCFGbits.PCFG4\r
+#define _PCFG5 ADPCFGbits.PCFG5\r
+\r
+/* ADCSSL */\r
+#define _CSSL0 ADCSSLbits.CSSL0\r
+#define _CSSL1 ADCSSLbits.CSSL1\r
+#define _CSSL2 ADCSSLbits.CSSL2\r
+#define _CSSL3 ADCSSLbits.CSSL3\r
+#define _CSSL4 ADCSSLbits.CSSL4\r
+#define _CSSL5 ADCSSLbits.CSSL5\r
+\r
+/* TRISB */\r
+#define _TRISB0 TRISBbits.TRISB0\r
+#define _TRISB1 TRISBbits.TRISB1\r
+#define _TRISB2 TRISBbits.TRISB2\r
+#define _TRISB3 TRISBbits.TRISB3\r
+#define _TRISB4 TRISBbits.TRISB4\r
+#define _TRISB5 TRISBbits.TRISB5\r
+\r
+/* PORTB */\r
+#define _RB0 PORTBbits.RB0\r
+#define _RB1 PORTBbits.RB1\r
+#define _RB2 PORTBbits.RB2\r
+#define _RB3 PORTBbits.RB3\r
+#define _RB4 PORTBbits.RB4\r
+#define _RB5 PORTBbits.RB5\r
+\r
+/* LATB */\r
+#define _LATB0 LATBbits.LATB0\r
+#define _LATB1 LATBbits.LATB1\r
+#define _LATB2 LATBbits.LATB2\r
+#define _LATB3 LATBbits.LATB3\r
+#define _LATB4 LATBbits.LATB4\r
+#define _LATB5 LATBbits.LATB5\r
+\r
+/* TRISC */\r
+#define _TRISC13 TRISCbits.TRISC13\r
+#define _TRISC14 TRISCbits.TRISC14\r
+#define _TRISC15 TRISCbits.TRISC15\r
+\r
+/* PORTC */\r
+#define _RC13 PORTCbits.RC13\r
+#define _RC14 PORTCbits.RC14\r
+#define _RC15 PORTCbits.RC15\r
+\r
+/* LATC */\r
+#define _LATC13 LATCbits.LATC13\r
+#define _LATC14 LATCbits.LATC14\r
+#define _LATC15 LATCbits.LATC15\r
+\r
+/* TRISD */\r
+#define _TRISD0 TRISDbits.TRISD0\r
+#define _TRISD1 TRISDbits.TRISD1\r
+\r
+/* PORTD */\r
+#define _RD0 PORTDbits.RD0\r
+#define _RD1 PORTDbits.RD1\r
+\r
+/* LATD */\r
+#define _LATD0 LATDbits.LATD0\r
+#define _LATD1 LATDbits.LATD1\r
+\r
+/* TRISE */\r
+#define _TRISE0 TRISEbits.TRISE0\r
+#define _TRISE1 TRISEbits.TRISE1\r
+#define _TRISE2 TRISEbits.TRISE2\r
+#define _TRISE3 TRISEbits.TRISE3\r
+#define _TRISE4 TRISEbits.TRISE4\r
+#define _TRISE5 TRISEbits.TRISE5\r
+#define _TRISE8 TRISEbits.TRISE8\r
+\r
+/* PORTE */\r
+#define _RE0 PORTEbits.RE0\r
+#define _RE1 PORTEbits.RE1\r
+#define _RE2 PORTEbits.RE2\r
+#define _RE3 PORTEbits.RE3\r
+#define _RE4 PORTEbits.RE4\r
+#define _RE5 PORTEbits.RE5\r
+#define _RE8 PORTEbits.RE8\r
+\r
+/* LATE */\r
+#define _LATE0 LATEbits.LATE0\r
+#define _LATE1 LATEbits.LATE1\r
+#define _LATE2 LATEbits.LATE2\r
+#define _LATE3 LATEbits.LATE3\r
+#define _LATE4 LATEbits.LATE4\r
+#define _LATE5 LATEbits.LATE5\r
+#define _LATE8 LATEbits.LATE8\r
+\r
+/* TRISF */\r
+#define _TRISF2 TRISFbits.TRISF2\r
+#define _TRISF3 TRISFbits.TRISF3\r
+\r
+/* PORTF */\r
+#define _RF2 PORTFbits.RF2\r
+#define _RF3 PORTFbits.RF3\r
+\r
+/* LATF */\r
+#define _LATF2 LATFbits.LATF2\r
+#define _LATF3 LATFbits.LATF3\r
+\r
+/* RCON */\r
+#define _POR RCONbits.POR\r
+#define _BOR RCONbits.BOR\r
+#define _IDLE RCONbits.IDLE\r
+#define _SLEEP RCONbits.SLEEP\r
+#define _WDTO RCONbits.WDTO\r
+#define _SWDTEN RCONbits.SWDTEN\r
+#define _SWR RCONbits.SWR\r
+#define _EXTR RCONbits.EXTR\r
+#define _BGST RCONbits.BGST\r
+#define _IOPUWR RCONbits.IOPUWR\r
+#define _TRAPR RCONbits.TRAPR\r
+\r
+/* OSCCON */\r
+#define _OSWEN OSCCONbits.OSWEN\r
+#define _LPOSCEN OSCCONbits.LPOSCEN\r
+#define _CF OSCCONbits.CF\r
+#define _LOCK OSCCONbits.LOCK\r
+#define _POST OSCCONbits.POST\r
+#define _NOSC OSCCONbits.NOSC\r
+#define _TUN0 OSCCONbits.TUN0\r
+#define _TUN1 OSCCONbits.TUN1\r
+#define _COSC OSCCONbits.COSC\r
+#define _TUN2 OSCCONbits.TUN2\r
+#define _TUN3 OSCCONbits.TUN3\r
+\r
+/* NVMCON */\r
+#define _PROGOP NVMCONbits.PROGOP\r
+#define _TWRI NVMCONbits.TWRI\r
+#define _WRERR NVMCONbits.WRERR\r
+#define _WREN NVMCONbits.WREN\r
+#define _WR NVMCONbits.WR\r
+\r
+/* PMD1 */\r
+#define _ADCMD PMD1bits.ADCMD\r
+#define _C1MD PMD1bits.C1MD\r
+#define _SPI1MD PMD1bits.SPI1MD\r
+#define _U1MD PMD1bits.U1MD\r
+#define _I2CMD PMD1bits.I2CMD\r
+#define _PWMMD PMD1bits.PWMMD\r
+#define _QEIMD PMD1bits.QEIMD\r
+#define _T1MD PMD1bits.T1MD\r
+#define _T2MD PMD1bits.T2MD\r
+#define _T3MD PMD1bits.T3MD\r
+#define _T4MD PMD1bits.T4MD\r
+#define _T5MD PMD1bits.T5MD\r
+\r
+/* PMD2 */\r
+#define _OC1MD PMD2bits.OC1MD\r
+#define _OC2MD PMD2bits.OC2MD\r
+#define _IC1MD PMD2bits.IC1MD\r
+#define _IC2MD PMD2bits.IC2MD\r
+#define _IC7MD PMD2bits.IC7MD\r
+#define _IC8MD PMD2bits.IC8MD\r
+\r
+\r
+/* -------------------------------------------- */ \r
+/* Macros for Device Configuration Registers */\r
+/* -------------------------------------------- */\r
+\r
+/* FOSC */\r
+#define _FOSC(x) __attribute__((section("__FOSC.sec,code"))) int _FOSC = (x);\r
+\r
+#define CSW_FSCM_OFF 0xFFFF\r
+#define CSW_ON_FSCM_OFF 0x7FFF\r
+#define CSW_FSCM_ON 0x3FFF\r
+#define EC 0xFFFB\r
+#define ECIO 0xFFFC\r
+#define EC_PLL4 0xFFFD\r
+#define EC_PLL8 0xFFFE\r
+#define EC_PLL16 0xFFFF\r
+#define ERC 0xFFF9\r
+#define ERCIO 0xFFF8\r
+#define XT 0xFFF4\r
+#define XT_PLL4 0xFFF5\r
+#define XT_PLL8 0xFFF6\r
+#define XT_PLL16 0xFFF7\r
+#define XTL 0xFFF0\r
+#define FRC_PLL4 0xFFF1\r
+#define FRC_PLL8 0xFFFA\r
+#define FRC_PLL16 0xFFF3\r
+#define HS 0xFFF2\r
+#define LP 0xFCFF\r
+#define FRC 0xFDFF\r
+#define LPRC 0xFEFF\r
+\r
+/* FWDT */\r
+#define _FWDT(x) __attribute__((section("__FWDT.sec,code"))) int _FWDT = (x);\r
+\r
+#define WDT_ON 0xFFFF\r
+#define WDT_OFF 0x7FFF\r
+#define WDTPSA_1 0xFFCF\r
+#define WDTPSA_8 0xFFDF\r
+#define WDTPSA_64 0xFFEF\r
+#define WDTPSA_512 0xFFFF\r
+#define WDTPSB_1 0xFFF0\r
+#define WDTPSB_2 0xFFF1\r
+#define WDTPSB_3 0xFFF2\r
+#define WDTPSB_4 0xFFF3\r
+#define WDTPSB_5 0xFFF4\r
+#define WDTPSB_6 0xFFF5\r
+#define WDTPSB_7 0xFFF6\r
+#define WDTPSB_8 0xFFF7\r
+#define WDTPSB_9 0xFFF8\r
+#define WDTPSB_10 0xFFF9\r
+#define WDTPSB_11 0xFFFA\r
+#define WDTPSB_12 0xFFFB\r
+#define WDTPSB_13 0xFFFC\r
+#define WDTPSB_14 0xFFFD\r
+#define WDTPSB_15 0xFFFE\r
+#define WDTPSB_16 0xFFFF\r
+\r
+/* FBORPOR */\r
+#define _FBORPOR(x) __attribute__((section("__FBORPOR.sec,code"))) int _FBORPOR = (x);\r
+\r
+#define MCLR_EN 0xFFFF\r
+#define MCLR_DIS 0x7FFF\r
+#define RST_IOPIN 0xFFFF\r
+#define RST_PWMPIN 0xFBFF\r
+#define PWMxH_ACT_HI 0xFFFF\r
+#define PWMxH_ACT_LO 0xFDFF\r
+#define PWMxL_ACT_HI 0xFFFF\r
+#define PWMxL_ACT_LO 0xFEFF\r
+#define PBOR_ON 0xFFFF\r
+#define PBOR_OFF 0xFF7F\r
+#define BORV_20 0xFFFF\r
+#define BORV_27 0xFFEF\r
+#define BORV_42 0xFFDF\r
+#define BORV_45 0xFFCF\r
+#define PWRT_OFF 0xFFFC\r
+#define PWRT_4 0xFFFD\r
+#define PWRT_16 0xFFFE\r
+#define PWRT_64 0xFFFF\r
+\r
+/* FGS */\r
+#define _FGS(x) __attribute__((section("__FGS.sec,code"))) int _FGS = (x);\r
+\r
+#define CODE_PROT_OFF 0xFFFF\r
+#define CODE_PROT_ON 0xFFFD\r
+\r
+\r
+/* --------------------------------------------------------------------------- \r
+ Setting configuration fuses using macros:\r
+ ==========================================\r
+ Macros are provided which can be used to set configuration fuses:\r
+ For e.g., to set the FOSC fuse using a macro above, the following line of\r
+ code can be pasted before the beginning of the C source code.\r
+\r
+ _FOSC(CSW_FSCM_ON & EC_PLL16);\r
+\r
+ This would enable the external clock with the PLL set to 16x and further,\r
+ enable clock switching and failsafe clock monitoring.\r
+\r
+ Similarly, to set the FBORPOR fuse, paste the following :\r
+\r
+ _FBORPOR(PBOR_ON & BORV_27 & PWRT_ON_64 & MCLR_DIS);\r
+\r
+ This would enable Brown-out Reset at 2.7 Volts and initialize the Power-up\r
+ timer to 64 milliseconds and configure the use of the MCLR pin for I/O.\r
+ Given below, is a complete list of settings valid to each of the fuses:\r
+ (Paste the ones relevant to your application before the beginning of C\r
+ source code.)\r
+\r
+ FOSC:\r
+ ======\r
+ _FOSC(CSW_FSCM_OFF & EC);\r
+ _FOSC(CSW_FSCM_OFF & ECIO);\r
+ _FOSC(CSW_FSCM_OFF & EC_PLL4);\r
+ _FOSC(CSW_FSCM_OFF & EC_PLL8);\r
+ _FOSC(CSW_FSCM_OFF & EC_PLL16);\r
+ _FOSC(CSW_FSCM_OFF & ERC);\r
+ _FOSC(CSW_FSCM_OFF & ERCIO);\r
+ _FOSC(CSW_FSCM_OFF & XT);\r
+ _FOSC(CSW_FSCM_OFF & XT_PLL4);\r
+ _FOSC(CSW_FSCM_OFF & XT_PLL8);\r
+ _FOSC(CSW_FSCM_OFF & XT_PLL16);\r
+ _FOSC(CSW_FSCM_OFF & XTL);\r
+ _FOSC(CSW_FSCM_OFF & FRC_PLL4);\r
+ _FOSC(CSW_FSCM_OFF & FRC_PLL8);\r
+ _FOSC(CSW_FSCM_OFF & FRC_PLL16);\r
+ _FOSC(CSW_FSCM_OFF & HS);\r
+ _FOSC(CSW_FSCM_OFF & LP & EC);\r
+ _FOSC(CSW_FSCM_OFF & LP & ECIO);\r
+ _FOSC(CSW_FSCM_OFF & LP & EC_PLL4);\r
+ _FOSC(CSW_FSCM_OFF & LP & EC_PLL8);\r
+ _FOSC(CSW_FSCM_OFF & LP & EC_PLL16);\r
+ _FOSC(CSW_FSCM_OFF & LP & ERC);\r
+ _FOSC(CSW_FSCM_OFF & LP & ERCIO);\r
+ _FOSC(CSW_FSCM_OFF & LP & XT);\r
+ _FOSC(CSW_FSCM_OFF & LP & XT_PLL4);\r
+ _FOSC(CSW_FSCM_OFF & LP & XT_PLL8);\r
+ _FOSC(CSW_FSCM_OFF & LP & XT_PLL16);\r
+ _FOSC(CSW_FSCM_OFF & LP & XTL);\r
+ _FOSC(CSW_FSCM_OFF & LP & FRC_PLL4);\r
+ _FOSC(CSW_FSCM_OFF & LP & FRC_PLL8);\r
+ _FOSC(CSW_FSCM_OFF & LP & FRC_PLL16);\r
+ _FOSC(CSW_FSCM_OFF & LP & HS);\r
+ _FOSC(CSW_FSCM_OFF & FRC & EC);\r
+ _FOSC(CSW_FSCM_OFF & FRC & ECIO);\r
+ _FOSC(CSW_FSCM_OFF & FRC & EC_PLL4);\r
+ _FOSC(CSW_FSCM_OFF & FRC & EC_PLL8);\r
+ _FOSC(CSW_FSCM_OFF & FRC & EC_PLL16);\r
+ _FOSC(CSW_FSCM_OFF & FRC & ERC);\r
+ _FOSC(CSW_FSCM_OFF & FRC & ERCIO);\r
+ _FOSC(CSW_FSCM_OFF & FRC & XT);\r
+ _FOSC(CSW_FSCM_OFF & FRC & XT_PLL4);\r
+ _FOSC(CSW_FSCM_OFF & FRC & XT_PLL8);\r
+ _FOSC(CSW_FSCM_OFF & FRC & XT_PLL16);\r
+ _FOSC(CSW_FSCM_OFF & FRC & XTL);\r
+ _FOSC(CSW_FSCM_OFF & FRC & FRC_PLL4);\r
+ _FOSC(CSW_FSCM_OFF & FRC & FRC_PLL8);\r
+ _FOSC(CSW_FSCM_OFF & FRC & FRC_PLL16);\r
+ _FOSC(CSW_FSCM_OFF & FRC & HS);\r
+ _FOSC(CSW_FSCM_OFF & LPRC & EC);\r
+ _FOSC(CSW_FSCM_OFF & LPRC & ECIO);\r
+ _FOSC(CSW_FSCM_OFF & LPRC & EC_PLL4);\r
+ _FOSC(CSW_FSCM_OFF & LPRC & EC_PLL8);\r
+ _FOSC(CSW_FSCM_OFF & LPRC & EC_PLL16);\r
+ _FOSC(CSW_FSCM_OFF & LPRC & ERC);\r
+ _FOSC(CSW_FSCM_OFF & LPRC & ERCIO);\r
+ _FOSC(CSW_FSCM_OFF & LPRC & XT);\r
+ _FOSC(CSW_FSCM_OFF & LPRC & XT_PLL4);\r
+ _FOSC(CSW_FSCM_OFF & LPRC & XT_PLL8);\r
+ _FOSC(CSW_FSCM_OFF & LPRC & XT_PLL16);\r
+ _FOSC(CSW_FSCM_OFF & LPRC & XTL);\r
+ _FOSC(CSW_FSCM_OFF & LPRC & FRC_PLL4);\r
+ _FOSC(CSW_FSCM_OFF & LPRC & FRC_PLL8);\r
+ _FOSC(CSW_FSCM_OFF & LPRC & FRC_PLL16);\r
+ _FOSC(CSW_FSCM_OFF & LPRC & HS);\r
+ _FOSC(CSW_ON_FSCM_OFF & EC);\r
+ _FOSC(CSW_ON_FSCM_OFF & ECIO);\r
+ _FOSC(CSW_ON_FSCM_OFF & EC_PLL4);\r
+ _FOSC(CSW_ON_FSCM_OFF & EC_PLL8);\r
+ _FOSC(CSW_ON_FSCM_OFF & EC_PLL16);\r
+ _FOSC(CSW_ON_FSCM_OFF & ERC);\r
+ _FOSC(CSW_ON_FSCM_OFF & ERCIO);\r
+ _FOSC(CSW_ON_FSCM_OFF & XT);\r
+ _FOSC(CSW_ON_FSCM_OFF & XT_PLL4);\r
+ _FOSC(CSW_ON_FSCM_OFF & XT_PLL8);\r
+ _FOSC(CSW_ON_FSCM_OFF & XT_PLL16);\r
+ _FOSC(CSW_ON_FSCM_OFF & XTL);\r
+ _FOSC(CSW_ON_FSCM_OFF & FRC_PLL4);\r
+ _FOSC(CSW_ON_FSCM_OFF & FRC_PLL8);\r
+ _FOSC(CSW_ON_FSCM_OFF & FRC_PLL16);\r
+ _FOSC(CSW_ON_FSCM_OFF & HS);\r
+ _FOSC(CSW_ON_FSCM_OFF & LP & EC);\r
+ _FOSC(CSW_ON_FSCM_OFF & LP & ECIO);\r
+ _FOSC(CSW_ON_FSCM_OFF & LP & EC_PLL4);\r
+ _FOSC(CSW_ON_FSCM_OFF & LP & EC_PLL8);\r
+ _FOSC(CSW_ON_FSCM_OFF & LP & EC_PLL16);\r
+ _FOSC(CSW_ON_FSCM_OFF & LP & ERC);\r
+ _FOSC(CSW_ON_FSCM_OFF & LP & ERCIO);\r
+ _FOSC(CSW_ON_FSCM_OFF & LP & XT);\r
+ _FOSC(CSW_ON_FSCM_OFF & LP & XT_PLL4);\r
+ _FOSC(CSW_ON_FSCM_OFF & LP & XT_PLL8);\r
+ _FOSC(CSW_ON_FSCM_OFF & LP & XT_PLL16);\r
+ _FOSC(CSW_ON_FSCM_OFF & LP & XTL);\r
+ _FOSC(CSW_ON_FSCM_OFF & LP & FRC_PLL4);\r
+ _FOSC(CSW_ON_FSCM_OFF & LP & FRC_PLL8);\r
+ _FOSC(CSW_ON_FSCM_OFF & LP & FRC_PLL16);\r
+ _FOSC(CSW_ON_FSCM_OFF & LP & HS);\r
+ _FOSC(CSW_ON_FSCM_OFF & FRC & EC);\r
+ _FOSC(CSW_ON_FSCM_OFF & FRC & ECIO);\r
+ _FOSC(CSW_ON_FSCM_OFF & FRC & EC_PLL4);\r
+ _FOSC(CSW_ON_FSCM_OFF & FRC & EC_PLL8);\r
+ _FOSC(CSW_ON_FSCM_OFF & FRC & EC_PLL16);\r
+ _FOSC(CSW_ON_FSCM_OFF & FRC & ERC);\r
+ _FOSC(CSW_ON_FSCM_OFF & FRC & ERCIO);\r
+ _FOSC(CSW_ON_FSCM_OFF & FRC & XT);\r
+ _FOSC(CSW_ON_FSCM_OFF & FRC & XT_PLL4);\r
+ _FOSC(CSW_ON_FSCM_OFF & FRC & XT_PLL8);\r
+ _FOSC(CSW_ON_FSCM_OFF & FRC & XT_PLL16);\r
+ _FOSC(CSW_ON_FSCM_OFF & FRC & XTL);\r
+ _FOSC(CSW_ON_FSCM_OFF & FRC & FRC_PLL4);\r
+ _FOSC(CSW_ON_FSCM_OFF & FRC & FRC_PLL8);\r
+ _FOSC(CSW_ON_FSCM_OFF & FRC & FRC_PLL16);\r
+ _FOSC(CSW_ON_FSCM_OFF & FRC & HS);\r
+ _FOSC(CSW_ON_FSCM_OFF & LPRC & EC);\r
+ _FOSC(CSW_ON_FSCM_OFF & LPRC & ECIO);\r
+ _FOSC(CSW_ON_FSCM_OFF & LPRC & EC_PLL4);\r
+ _FOSC(CSW_ON_FSCM_OFF & LPRC & EC_PLL8);\r
+ _FOSC(CSW_ON_FSCM_OFF & LPRC & EC_PLL16);\r
+ _FOSC(CSW_ON_FSCM_OFF & LPRC & ERC);\r
+ _FOSC(CSW_ON_FSCM_OFF & LPRC & ERCIO);\r
+ _FOSC(CSW_ON_FSCM_OFF & LPRC & XT);\r
+ _FOSC(CSW_ON_FSCM_OFF & LPRC & XT_PLL4);\r
+ _FOSC(CSW_ON_FSCM_OFF & LPRC & XT_PLL8);\r
+ _FOSC(CSW_ON_FSCM_OFF & LPRC & XT_PLL16);\r
+ _FOSC(CSW_ON_FSCM_OFF & LPRC & XTL);\r
+ _FOSC(CSW_ON_FSCM_OFF & LPRC & FRC_PLL4);\r
+ _FOSC(CSW_ON_FSCM_OFF & LPRC & FRC_PLL8);\r
+ _FOSC(CSW_ON_FSCM_OFF & LPRC & FRC_PLL16);\r
+ _FOSC(CSW_ON_FSCM_OFF & LPRC & HS);\r
+ _FOSC(CSW_FSCM_ON & EC);\r
+ _FOSC(CSW_FSCM_ON & ECIO);\r
+ _FOSC(CSW_FSCM_ON & EC_PLL4);\r
+ _FOSC(CSW_FSCM_ON & EC_PLL8);\r
+ _FOSC(CSW_FSCM_ON & EC_PLL16);\r
+ _FOSC(CSW_FSCM_ON & ERC);\r
+ _FOSC(CSW_FSCM_ON & ERCIO);\r
+ _FOSC(CSW_FSCM_ON & XT);\r
+ _FOSC(CSW_FSCM_ON & XT_PLL4);\r
+ _FOSC(CSW_FSCM_ON & XT_PLL8);\r
+ _FOSC(CSW_FSCM_ON & XT_PLL16);\r
+ _FOSC(CSW_FSCM_ON & XTL);\r
+ _FOSC(CSW_FSCM_ON & FRC_PLL4);\r
+ _FOSC(CSW_FSCM_ON & FRC_PLL8);\r
+ _FOSC(CSW_FSCM_ON & FRC_PLL16);\r
+ _FOSC(CSW_FSCM_ON & HS);\r
+ _FOSC(CSW_FSCM_ON & LP & EC);\r
+ _FOSC(CSW_FSCM_ON & LP & ECIO);\r
+ _FOSC(CSW_FSCM_ON & LP & EC_PLL4);\r
+ _FOSC(CSW_FSCM_ON & LP & EC_PLL8);\r
+ _FOSC(CSW_FSCM_ON & LP & EC_PLL16);\r
+ _FOSC(CSW_FSCM_ON & LP & ERC);\r
+ _FOSC(CSW_FSCM_ON & LP & ERCIO);\r
+ _FOSC(CSW_FSCM_ON & LP & XT);\r
+ _FOSC(CSW_FSCM_ON & LP & XT_PLL4);\r
+ _FOSC(CSW_FSCM_ON & LP & XT_PLL8);\r
+ _FOSC(CSW_FSCM_ON & LP & XT_PLL16);\r
+ _FOSC(CSW_FSCM_ON & LP & XTL);\r
+ _FOSC(CSW_FSCM_ON & LP & FRC_PLL4);\r
+ _FOSC(CSW_FSCM_ON & LP & FRC_PLL8);\r
+ _FOSC(CSW_FSCM_ON & LP & FRC_PLL16);\r
+ _FOSC(CSW_FSCM_ON & LP & HS);\r
+ _FOSC(CSW_FSCM_ON & FRC & EC);\r
+ _FOSC(CSW_FSCM_ON & FRC & ECIO);\r
+ _FOSC(CSW_FSCM_ON & FRC & EC_PLL4);\r
+ _FOSC(CSW_FSCM_ON & FRC & EC_PLL8);\r
+ _FOSC(CSW_FSCM_ON & FRC & EC_PLL16);\r
+ _FOSC(CSW_FSCM_ON & FRC & ERC);\r
+ _FOSC(CSW_FSCM_ON & FRC & ERCIO);\r
+ _FOSC(CSW_FSCM_ON & FRC & XT);\r
+ _FOSC(CSW_FSCM_ON & FRC & XT_PLL4);\r
+ _FOSC(CSW_FSCM_ON & FRC & XT_PLL8);\r
+ _FOSC(CSW_FSCM_ON & FRC & XT_PLL16);\r
+ _FOSC(CSW_FSCM_ON & FRC & XTL);\r
+ _FOSC(CSW_FSCM_ON & FRC & FRC_PLL4);\r
+ _FOSC(CSW_FSCM_ON & FRC & FRC_PLL8);\r
+ _FOSC(CSW_FSCM_ON & FRC & FRC_PLL16);\r
+ _FOSC(CSW_FSCM_ON & FRC & HS);\r
+ _FOSC(CSW_FSCM_ON & LPRC & EC);\r
+ _FOSC(CSW_FSCM_ON & LPRC & ECIO);\r
+ _FOSC(CSW_FSCM_ON & LPRC & EC_PLL4);\r
+ _FOSC(CSW_FSCM_ON & LPRC & EC_PLL8);\r
+ _FOSC(CSW_FSCM_ON & LPRC & EC_PLL16);\r
+ _FOSC(CSW_FSCM_ON & LPRC & ERC);\r
+ _FOSC(CSW_FSCM_ON & LPRC & ERCIO);\r
+ _FOSC(CSW_FSCM_ON & LPRC & XT);\r
+ _FOSC(CSW_FSCM_ON & LPRC & XT_PLL4);\r
+ _FOSC(CSW_FSCM_ON & LPRC & XT_PLL8);\r
+ _FOSC(CSW_FSCM_ON & LPRC & XT_PLL16);\r
+ _FOSC(CSW_FSCM_ON & LPRC & XTL);\r
+ _FOSC(CSW_FSCM_ON & LPRC & FRC_PLL4);\r
+ _FOSC(CSW_FSCM_ON & LPRC & FRC_PLL8);\r
+ _FOSC(CSW_FSCM_ON & LPRC & FRC_PLL16);\r
+ _FOSC(CSW_FSCM_ON & LPRC & HS);\r
+ FWDT\r
+ =====\r
+ _FWDT(WDT_OFF);\r
+ _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_1);\r
+ _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_2);\r
+ _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_3);\r
+ _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_4);\r
+ _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_5);\r
+ _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_6);\r
+ _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_7);\r
+ _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_8);\r
+ _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_9);\r
+ _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_10);\r
+ _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_11);\r
+ _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_12);\r
+ _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_13);\r
+ _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_14);\r
+ _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_15);\r
+ _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_16);\r
+ _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_1);\r
+ _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_2);\r
+ _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_3);\r
+ _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_4);\r
+ _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_5);\r
+ _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_6);\r
+ _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_7);\r
+ _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_8);\r
+ _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_9);\r
+ _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_10);\r
+ _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_11);\r
+ _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_12);\r
+ _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_13);\r
+ _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_14);\r
+ _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_15);\r
+ _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_16);\r
+ _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_1);\r
+ _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_2);\r
+ _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_3);\r
+ _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_4);\r
+ _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_5);\r
+ _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_6);\r
+ _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_7);\r
+ _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_8);\r
+ _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_9);\r
+ _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_10);\r
+ _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_11);\r
+ _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_12);\r
+ _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_13);\r
+ _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_14);\r
+ _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_15);\r
+ _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_16);\r
+ _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_1);\r
+ _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_2);\r
+ _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_3);\r
+ _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_4);\r
+ _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_5);\r
+ _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_6);\r
+ _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_7);\r
+ _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_8);\r
+ _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_9);\r
+ _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_10);\r
+ _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_11);\r
+ _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_12);\r
+ _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_13);\r
+ _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_14);\r
+ _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_15);\r
+ _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_16);\r
+\r
+ FBORPOR\r
+ ========\r
+ _FBORPOR(PBOR_OFF & MCLR_DIS);\r
+ _FBORPOR(PBOR_OFF & MCLR_EN);\r
+ _FBORPOR(PBOR_ON & BORV_20 & PWRT_OFF & MCLR_DIS);\r
+ _FBORPOR(PBOR_ON & BORV_27 & PWRT_OFF & MCLR_DIS);\r
+ _FBORPOR(PBOR_ON & BORV_42 & PWRT_OFF & MCLR_DIS);\r
+ _FBORPOR(PBOR_ON & BORV_45 & PWRT_OFF & MCLR_DIS);\r
+ _FBORPOR(PBOR_ON & BORV_20 & PWRT_OFF & MCLR_EN);\r
+ _FBORPOR(PBOR_ON & BORV_27 & PWRT_OFF & MCLR_EN);\r
+ _FBORPOR(PBOR_ON & BORV_42 & PWRT_OFF & MCLR_EN);\r
+ _FBORPOR(PBOR_ON & BORV_45 & PWRT_OFF & MCLR_EN);\r
+ _FBORPOR(PBOR_ON & BORV_20 & PWRT_4 & MCLR_DIS);\r
+ _FBORPOR(PBOR_ON & BORV_27 & PWRT_4 & MCLR_DIS);\r
+ _FBORPOR(PBOR_ON & BORV_42 & PWRT_4 & MCLR_DIS);\r
+ _FBORPOR(PBOR_ON & BORV_45 & PWRT_4 & MCLR_DIS);\r
+ _FBORPOR(PBOR_ON & BORV_20 & PWRT_4 & MCLR_EN);\r
+ _FBORPOR(PBOR_ON & BORV_27 & PWRT_4 & MCLR_EN);\r
+ _FBORPOR(PBOR_ON & BORV_42 & PWRT_4 & MCLR_EN);\r
+ _FBORPOR(PBOR_ON & BORV_45 & PWRT_4 & MCLR_EN);\r
+ _FBORPOR(PBOR_ON & BORV_20 & PWRT_16 & MCLR_DIS);\r
+ _FBORPOR(PBOR_ON & BORV_27 & PWRT_16 & MCLR_DIS);\r
+ _FBORPOR(PBOR_ON & BORV_42 & PWRT_16 & MCLR_DIS);\r
+ _FBORPOR(PBOR_ON & BORV_45 & PWRT_16 & MCLR_DIS);\r
+ _FBORPOR(PBOR_ON & BORV_20 & PWRT_16 & MCLR_EN);\r
+ _FBORPOR(PBOR_ON & BORV_27 & PWRT_16 & MCLR_EN);\r
+ _FBORPOR(PBOR_ON & BORV_42 & PWRT_16 & MCLR_EN);\r
+ _FBORPOR(PBOR_ON & BORV_45 & PWRT_16 & MCLR_EN);\r
+ _FBORPOR(PBOR_ON & BORV_20 & PWRT_64 & MCLR_DIS);\r
+ _FBORPOR(PBOR_ON & BORV_27 & PWRT_64 & MCLR_DIS);\r
+ _FBORPOR(PBOR_ON & BORV_42 & PWRT_64 & MCLR_DIS);\r
+ _FBORPOR(PBOR_ON & BORV_45 & PWRT_64 & MCLR_DIS);\r
+ _FBORPOR(PBOR_ON & BORV_20 & PWRT_64 & MCLR_EN);\r
+ _FBORPOR(PBOR_ON & BORV_27 & PWRT_64 & MCLR_EN);\r
+ _FBORPOR(PBOR_ON & BORV_42 & PWRT_64 & MCLR_EN);\r
+ _FBORPOR(PBOR_ON & BORV_45 & PWRT_64 & MCLR_EN);\r
+\r
+ FGS\r
+ ====\r
+ _FGS(CODE_PROT_OFF);\r
+ _FGS(CODE_PROT_ON);\r
+\r
+ ---------------------------------------------------------------------------- */\r
+\r
+\r
+/* -------------------------------------------- */ \r
+/* Some useful macros for inline assembly stuff */\r
+/* -------------------------------------------- */\r
+\r
+#define Nop() {__asm__ volatile ("nop");}\r
+#define ClrWdt() {__asm__ volatile ("clrwdt");}\r
+#define Sleep() {__asm__ volatile ("pwrsav #0");}\r
+#define Idle() {__asm__ volatile ("pwrsav #1");}\r
+\r
+/* ---------------------------------------------------------- */ \r
+/* Some useful macros for allocating data memory */\r
+/* ---------------------------------------------------------- */\r
+\r
+/* The following macros require an argument N that specifies */\r
+/* alignment. N must a power of two, minimum value = 2. */\r
+/* For example, to declare an uninitialized array in X memory */\r
+/* that is aligned to a 32 byte address: */\r
+/* */\r
+/* int _XBSS(32) xbuf[16]; */\r
+/* */\r
+/* To declare an initialized array in data EEPROM without */\r
+/* special alignment: */\r
+/* */\r
+/* int _EEDATA(2) table1[] = {0, 1, 1, 2, 3, 5, 8, 13, 21}; */\r
+/* */\r
+#define _XBSS(N) __attribute__((space(xmemory),aligned(N)))\r
+#define _XDATA(N) __attribute__((space(xmemory),aligned(N)))\r
+#define _YBSS(N) __attribute__((space(ymemory),aligned(N)))\r
+#define _YDATA(N) __attribute__((space(ymemory),aligned(N)))\r
+#define _EEDATA(N) __attribute__((space(eedata),aligned(N)))\r
+\r
+/* The following macros do not require an argument. They can */\r
+/* be used to locate a variable in persistent data memory or */\r
+/* in near data memory. For example, to declare two variables */\r
+/* that retain their values across a device reset: */\r
+/* */\r
+/* int _PERSISTENT var1,var2; */\r
+/* */\r
+#define _PERSISTENT __attribute__((persistent))\r
+#define _NEAR __attribute__((near))\r
+\r
+/* ---------------------------------------------------------- */ \r
+/* Some useful macros for declaring functions */\r
+/* ---------------------------------------------------------- */\r
+\r
+/* The following macros can be used to declare interrupt */\r
+/* service routines (ISRs). For example, to declare an ISR */\r
+/* for the timer1 interrupt: */\r
+/* */\r
+/* void _ISR _T1Interrupt(void); */\r
+/* */\r
+/* To declare an ISR for the SPI1 interrupt with fast */\r
+/* context save: */\r
+/* */\r
+/* void _ISRFAST _SPI1Interrupt(void); */\r
+/* */\r
+/* Note: ISRs will be installed into the interrupt vector */\r
+/* tables automatically if the reserved names listed in the */\r
+/* MPLAB C30 Compiler User's Guide (DS51284) are used. */\r
+/* */\r
+#define _ISR __attribute__((interrupt))\r
+#define _ISRFAST __attribute__((interrupt, shadow))\r
+\r
+/* ---------------------------------------------------------- */\r
+/* Some useful macros for changing the CPU IPL */\r
+/* ---------------------------------------------------------- */\r
+\r
+/* The following macros can be used to modify the current CPU */\r
+/* IPL. The definition of the macro may vary from device to */\r
+/* device. */\r
+/* */\r
+/* To safely set the CPU IPL, use SET_CPU_IPL(ipl); the */\r
+/* valid range of ipl is 0-7, it may be any expression. */\r
+/* */\r
+/* SET_CPU_IPL(7); */\r
+/* */\r
+/* To preserve the current IPL and save it use */\r
+/* SET_AND_SAVE_CPU_IPL(save_to, ipl); the valid range of ipl */\r
+/* is 0-7 and may be any expression, save_to should denote */\r
+/* some temporary storage. */\r
+/* */\r
+/* int old_ipl; */\r
+/* */\r
+/* SET_AND_SAVE_CPU_IPL(old_ipl, 7); */\r
+/* */\r
+/* The IPL can be restored with RESTORE_CPU_IPL(saved_to) */\r
+/* */\r
+/* RESTORE_CPU_IPL(old_ipl); */\r
+\r
+#define SET_CPU_IPL(ipl) { \\r
+ int DISI_save; \\r
+ \\r
+ DISI_save = DISICNT; \\r
+ asm volatile ("disi #0x3FFF"); \\r
+ SRbits.IPL = ipl; \\r
+ DISICNT = DISI_save; } (void) 0;\r
+\r
+#define SET_AND_SAVE_CPU_IPL(save_to, ipl) { \\r
+ save_to = SRbits.IPL; \\r
+ SET_CPU_IPL(ipl); } (void) 0;\r
+\r
+#define RESTORE_CPU_IPL(saved_to) SET_CPU_IPL(saved_to)\r
+\r
+#endif\r
+\r
--- /dev/null
+/******************************************************************************
+
+ Actuator Interface Card
+ Serial Transmit
+ Copyright (C) 2008 Diego Caberlon Santini <diegos@ece.ufrgs.br>
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+ You can also obtain a copy of the GNU General Public License
+ at <http://www.gnu.org/licenses>.
+
+*******************************************************************************
+2008.06.13 -> Start by Diego Caberlon Santini, for now it is just transmission
+ */
+#ifndef SERIAL_H
+#define SERIAL _H
+
+/** @file serial.h
+ * Serial Function
+ * @author Diego Caberlon Santini <diegos@ece.ufrgs.br>
+ */
+
+/** @defgroup serial Serial Function
+@{
+ */
+
+#include "buffer.h"
+
+/** Max Buffer Size
+ */
+#define SERIAL_SIZE BUFFER_SIZE
+
+/** Buffer to serial
+ */
+static buffer_info_t serial_buffer;
+
+/******************************************************************************/
+/** Finalizes serial
+ */
+void serial_end(void);
+/******************************************************************************/
+/** Transmit data
+ * @param data Pointer to a string
+ * @param size sizeof string
+ * @return 0 OK and -1 to error
+ */
+int serial_write(char *data, int size);
+/******************************************************************************/
+/** Initializes serial with 19200, 8n1, no flux control
+ */
+void serial_init(void);
+/******************************************************************************/
+#endif
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Sputtering Controller Host Interface Library
- Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#include <pthread.h>
-
-#include <aicudp.h>
-
-#ifndef _SPUTTERING_H
-#define _SPUTTERING_H
-
-/** @file sputtering.h
- Sputtering Controller Host Interface Library
- @author Walter Fetter Lages <w.fetter@ieee.org>
-*/
-
-/** @defgroup sputhost Sputtering Controller Host Interface
-@{
-*/
-
-
-/** SPUTTERING Controller
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
-class SPUTTERING: public AIC_UDP
-{
- const int SHUTTER;
- pthread_t get_status_th;
- volatile int run;
-
- friend void *get_status(void *arg);
-
- public:
-
-/** Constructs an SPUTTERING
-* @param name pointer to a string with the name of AIC to be connected to
-* @param statport UDP port used to receive status from AIC
-* @see aicnet.h
-* @since AIC-1.6.1
-*/
- SPUTTERING(const char *name,int statport=STATUS_PORT);
-
-/** Destroys an SPUTTERING
-*/
- ~SPUTTERING(void);
-
-/** Opens shutter for specified time
-* @param us time in microseconds
-* @since AIC-1.6.1
-*/
- void shutter(unsigned int us);
-
-/** Resets an SPUTTERING
-* @since AIC-1.6.1
-*/
- void reset(void);
-
-/** Sets the reference for motor controller
-* @param ref reference in rad
-* @since AIC-1.6.1
-*/
- void reference(double ref);
-};
-
-/**
-@}
-*/
-#endif
+++ /dev/null
-all: indextst
-
-indextst: indextst.cpp ../lib/libaic.a
- ${CXX} ${CMPFLAGS} -o indextst indextst.cpp ${LDFLAGS}
-
-clean:
- rm -f *~ *.bak *.o
-
-install:
-
-distclean: clean
- rm -f indextst
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Index Test
- Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#include <iostream>
-using namespace std;
-
-#include <string.h>
-
-#include <aicudp.h>
-#include <aiccan.h>
-
-int main(int argc,char *argv[])
-{
- cout << "\nAIC Index Test Program\n";
- cout << "Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>.\n\n";
-
- if((argc < 2) || (argc > 4) ||
- ((argc >= 3) && strcasecmp(argv[1],"-UDP")))
- {
- cout << "USAGE:\t" << argv[0] << " can_id\n";
- cout << "\tor\n\t" << argv[0] << " -UDP aic [status_port]\n";
- return -1;
- }
-
- AIC *aic;
- switch(argc)
- {
- default:
- case 2: aic=new AIC_CAN(atoi(argv[1])); break;
- case 3: aic=new AIC_UDP(argv[2]); break;
- case 4: aic=new AIC_UDP(argv[2],atoi(argv[3])); break;
- }
-
- for(;;)
- {
- cout << "Index reading: " << aic->index.read() << "\n";
- }
-
- delete aic;
-
- return 0;
-}
+++ /dev/null
-all: jointtst
-
-jointtst: jointtst.cpp ../lib/libaic.a
- ${CXX} ${CMPFLAGS} -o jointtst jointtst.cpp ${LDFLAGS}
-
-clean:
- rm -f *~ *.bak *.o
-
-install:
-
-distclean: clean
- rm -f jointtst
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Robot Joint Test
- Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#include <ciostream.h>
-
-#include <stdlib.h>
-#include <string.h>
-
-#include <conio.h>
-#include <math.h>
-
-#include <delay.h>
-
-#include <aicudp.h>
-#include <aiccan.h>
-
-const int ST=1000;
-
-void iter(AIC *aic,int i)
-{
- aic->motor=i;
- gotoxy(1,5);
- cout << "Motor Voltage: " << i << "V\t";
- cout << "Index: " << aic->index.read() << "\t";
- cout << "Encoder: " << aic->encoder.read() << "rad\n";
- delay(ST);
-}
-
-int main(int argc,char *argv[])
-{
- int i;
- int run=1;
-
- clrscr();
- cout << "\nAIC Robot Joint Test Program\n";
- cout << "Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>.\n\n";
-
- if((argc < 2) || (argc > 4) ||
- ((argc >= 3) && strcasecmp(argv[1],"-UDP")))
- {
- cout << "USAGE:\t" << argv[0] << " can_id\n";
- cout << "\tor\n\t" << argv[0] << " -UDP aic [status_port]\n";
- return -1;
- }
-
- AIC *aic;
- switch(argc)
- {
- default:
- case 2: aic=new AIC_CAN(atoi(argv[1])); break;
- case 3: aic=new AIC_UDP(argv[2]); break;
- case 4: aic=new AIC_UDP(argv[2],atoi(argv[3])); break;
- }
-
- aic->motor.on();
- aic->brake.release();
-
- for(i=0;(i <= 24) && run;i++)
- {
- if(kbhit()) run=0;
- iter(aic,i);
- }
- while(run)
- {
- for(i=24;(i > -24) && run;i--)
- {
- if(kbhit()) run=0;
- iter(aic,i);
- }
- for(i=-24;(i <= 24) && run;i++)
- {
- if(kbhit()) run=0;
- iter(aic,i);
- }
- }
- getch();
-
- aic->motor=0;
- aic->brake.apply();
- aic->motor.off();
-
- delete aic;
-
- clrscr();
- return 0;
-
-}
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
-
- Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-/** @defgroup aichardware AIC Hardware Interface
-@{
-*/
-
-/** AIC Hardware Interface
-*/
-package br.ufrgs.ece.AIC;
-
-/** Provides access to all devices in an Actuator Interface Card
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
-public class AIC
-{
-
-/** Motor actuated by AIC
-* @see Motor
-*/
- public Motor motor;
-
-/** Encoder read by AIC
-* @see Encoder
-*/
- public Encoder encoder;
-
-
-/** Brake actuaded by AIC
-* @see Brake
-*/
- public Brake brake;
-
-
-/** Sync-switch read by AIC
-* @see Index
-*/
- public Index index;
-
-/** Turns an AIC on
-*/
- public void on()
- {
- motor.on();
- encoder.clear();
- }
-
-/** Turns an AIC off
-*/
- public void off()
- {
- motor.set(0);
- brake.apply();
- motor.off();
- encoder.clear();
- }
-
-/** Initializes an AIC
-* @param base Base address for on board devices
-* @param vm Motor Voltage
-* @param freq PWM frequency
-* @param np Pulses per encoder revolution
-*/
- public AIC(int base,double vm,double freq,int np)
- {
- motor=new Motor(base,vm,freq);
- encoder=new Encoder(base,np);
- brake=new Brake(base);
- index=new Index(base);
- }
-
-/** Finalizes an AIC
-*/
- public void finalize()
- {
- off();
- }
-
-}
-
-/**
-@}
-*/
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Brake Interface
- Copyright (C) 2003,2004 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-package br.ufrgs.ece.AIC;
-
-/** @addtogroup aichardware
-@{
-*/
-
-/** Provides access to electromagnetic brake in an Actuator Interface Card
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-* @version AIC-1.3.0
-*/
-public final class Brake
-{
-/** True if native library was loaded
-*/
- private static boolean libLoaded=false;
-
-/** Brake native initialization
-* @param base Base address for on board devices
-*/
- private static native void initialize(int base);
-
-/** Initializes Brake. Loads the corresponding native library.
-* @param base Base address for on board devices
-*/
- public Brake(int base)
- {
- if(!libLoaded) System.loadLibrary("brake.tlib");
- libLoaded=true;
-
- initialize(base);
- }
-
-/** Applies the electromagnetic brake
-*/
- public static native void apply();
-
-/** Releases the electromagnetic brake
-*/
- public static native void release();
-
-}
-/**
-@}
-*/
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Control Register Constants
- Copyright (C) 2004 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-package br.ufrgs.ece.AIC;
-
-/** @addtogroup aichardware
-@{
-*/
-
-/** Provides constants for using the control register in an Actuator Interface Card
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-* @version AIC-1.3.0
-* @since AIC-1.2.0
-* @deprecated
-*/
-public class CtrlRegister
-{
-/** PWM disable
-*/
- public static final int PWMDISABLE=0x00;
-
-/** PWM enable
-*/
- public static final int PWMENABLE=0x01;
-
-/** Apply Brake
-*/
- public static final int BRAKEAPPLY=0x02;
-
-/** Release Brake
-*/
- public static final int BRAKERELEASE=0x03;
-}
-
-/**
-@}
-*/
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Encoder Interface
- Copyright (C) 2003,2004 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-package br.ufrgs.ece.AIC;
-
-/** @addtogroup aichardware
-@{
-*/
-
-/** Provides access to incremental encoder in an Actuator Interface Card
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-* @version AIC-1.3.0
-*/
-public final class Encoder
-{
-/** True if native library was loaded
-*/
- private static boolean libLoaded=false;
-
-/** Number of pulses per revolution of the encoder, considering the
-* quadrature decoder
-*/
- public final int PULSES;
-
-/** Clears the counter on the quadrature decoder chip
-*/
- public static native void clear();
-
-/** Encoder native initialization, clears the counter on the quadrature decoder chip
-* @param base Base address for on board devices
-*/
- private static native void initialize(int base);
-
-/** Initializes Encoder, clears the counter on the quadrature decoder chip
-* @param base Base address for on board devices
-* @param pulses Number of pulses per revolution of the encoder, considering the
-* quadrature decoder
-*/
- public Encoder(int base,int pulses)
- {
- if(!libLoaded) System.loadLibrary("encoder.tlib");
- libLoaded=true;
-
- PULSES=pulses;
-
- initialize(base);
- }
-
-/** Finalizes Encoder
-*/
- public native void finalize();
-
-/** Gets the count on the quadrature decoder chip
-* @return the number of pulses (in 2-complement) since the last time
-* the counter was cleared
-*/
- public static native int getCount();
-
-/** Gets the count and clears the counter on the quadrature decoder chip
-* @return the number of pulses (in 2-complement) since the last time
-* the counter was cleared
-*/
- public static native int getCountAndClear();
-
-/** Reads the counter on the quadrature decoder chip and converts the motion
-* to radians
-* @return the displacement in radians since the last time
-* the encoder was cleared
-*/
- public double read()
- {
- return ((2*java.lang.Math.PI/PULSES)*getCount());
- }
-
-/** Reads the counter on the quadrature decoder chip, converts the motion
-* to radians and clears the counter
-* @return the displacement in radians since the last time
-* the encoder was cleared
-*/
- public double readAndClear()
- {
- return ((2*java.lang.Math.PI/PULSES)*getCountAndClear());
- }
-
-}
-
-/**
-@}
-*/
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Host Interface
- Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-package br.ufrgs.ece.AIC;
-
-import java.lang.*;
-
-/** @addtogroup aichardware
-@{
-*/
-
-/** Provides access to host computer through a derived class
-* @see HostCAN
-* @see HostUDP
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
-abstract public class Host
-{
-/** Invalid command
-*/
- public static final int INVALID=0x00;
-
-/** AIC reset command
-*/
- public static final int RESET=0x01;
-
-/** Motor off command
-*/
- public static final int MOTOR_OFF=0x02;
-
-/** Brake apply command
-*/
- public static final int BRAKE_APPLY=0x03;
-
-/** Motor actuate command
-*/
- public static final int MOTOR_ACT=0x10;
-
-/** Motor controller reference command
-*/
- public static final int MOTOR_REF=0x15;
-
-/** Status message identifier
-*/
- public static final int STATUS=0x20;
-
-/** Brake release command
-*/
- public static final int BRAKE_RELEASE=0x30;
-
-/** Motor on command
-*/
- public static final int MOTOR_ON=0x31;
-
-/** User defined command 0
-*/
- public static final int USER0=0x3b;
-
-/** User defined command 1
-*/
- public static final int USER1=0x3c;
-
-/** User defined command 2
-*/
- public static final int USER2=0x3d;
-
-/** User defined command 3
-*/
- public static final int USER3=0x3e;
-
-/** No operation command
-*/
- public static final int NOP=0x3f;
-
-
-/** Index on status
-*/
- public static final int INDEX_ON=0x01;
-
-/** Busy status
-*/
- public static final int BUSY=0x02;
-
-/** Voltage aplied to motors
-*/
- protected double u=0;
-
-/** Reference for controller associated to motors
-*/
- protected double ref=0;
-
-/** Gets command received from host computer
-* @return command code
-* @throws Exception depending on implementation
-*/
- public int command() throws Exception
- {
- byte[] args= new byte[256];
- return command(args,256);
- }
-
-/** Gets command received from host computer and its arguments array
-* @param args command arguments array. args[0] is the length of actual arguments.
-* @param size size of the arguments array
-* @return command code
-* @throws Exception depending on implementation
-* @since AIC-1.6.1
-*/
- abstract public int command(byte[] args,int size) throws Exception;
-
-/** Sends encoder displacement and sync-switch status to host
-* @param disp encoder displacement in rad
-* @param index sync-switch status
-* @throws Exception depending on implementation
-*/
- abstract public void sendStatus(double disp,int index) throws Exception;
-
-/** Sends encoder displacement and sync-switch status to host
-* @param disp encoder displacement in pulses
-* @param index sync-switch status
-* @throws Exception depending on implementation
-*/
- abstract public void sendStatus(int disp,int index) throws Exception;
-
-/** Gets motor voltage
-* @return motor voltage
-*/
- public double voltage()
- {
- return u;
- }
-
-/** Gets controller reference
-* @return controller reference
-* @since AIC-1.6.0
-*/
- public double reference()
- {
- return ref;
- }
-}
-
-/**
-@}
-*/
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Host Interface
- CAN communication
- Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-package br.ufrgs.ece.AIC;
-
-import com.dalsemi.comm.*;
-import com.dalsemi.system.*;
-import java.lang.*;
-
-/** @addtogroup aichardware
-@{
-*/
-
-/** Provides access host computer through CAN bus
-* @see HostUDP
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
-public class HostCAN extends Host
-{
- /* 125Kbit/s with crystal of 18.432MHz */
- private static final int CAN_DIVISOR = 7;
- private static final int CAN_TSEG1 = 13;
- private static final int CAN_TSEG2 = 7;
- private static final int CAN_SJW = 1;
- private static final int TXCENTER=1;
- private static final int RXCENTER=2;
- private static final int AIC_ID_MASK=0x01f;
- private static final int AIC_CMD_MASK=0x7e0;
-
- private int id;
- private CanBus canbus;
-
-/** Initializes HostCAN
-* @param aicid AIC identification on bus from 1 to 31
-* @param bus CAN bus to use 0 or 1
-* @throws CanBusException on CAN bus errors
-*/
- public HostCAN(int aicid,int bus) throws CanBusException
- {
- u=0;
-
- id=aicid;
-
- canbus = (bus==0)? new CanBus(CanBus.CANBUS0):new CanBus(CanBus.CANBUS1);
- canbus.setBaudRatePrescaler(CAN_DIVISOR);
- canbus.setTSEG1(CAN_TSEG1);
- canbus.setTSEG2(CAN_TSEG2);
- canbus.setSynchronizationJumpWidth(CAN_SJW);
-
- canbus.setMessageCenterTXMode(TXCENTER);
-
- canbus.setMessageCenterRXMode(RXCENTER);
- canbus.set11BitGlobalIDMask(AIC_ID_MASK);
- canbus.setMessageCenterMessageIDMaskEnable(RXCENTER,true);
- canbus.set11BitMessageCenterArbitrationID(RXCENTER,id);
- canbus.setMessageCenterWriteOverEnable(RXCENTER,true);
- canbus.enableMessageCenter(RXCENTER);
-
-// canbus.setMessageCenterRXMode(15);
-// canbus.set11BitMessageCenter15IDMask(0);
-// canbus.set29BitMessageCenter15IDMask(AIC_ID_MASK);
-// canbus.setMessageCenterMessageIDMaskEnable(15,true);
-// canbus.set11BitMessageCenterArbitrationID(15,id);
-// canbus.setMessageCenterWriteOverEnable(15,true);
- canbus.disableMessageCenter(15);
-
- canbus.enableController();
-
- }
-
-/** Initializes HostCAN using CAN bus 0 as default
-* @param aicid AIC identification on bus from 1 to 31
-* @throws CanBusException on CAN bus errors
-*/
- public HostCAN(int aicid) throws CanBusException
- {
- u=0;
-
- id=aicid;
-
- canbus = new CanBus(CanBus.CANBUS0);
- canbus.setBaudRatePrescaler(CAN_DIVISOR);
- canbus.setTSEG1(CAN_TSEG1);
- canbus.setTSEG2(CAN_TSEG2);
- canbus.setSynchronizationJumpWidth(CAN_SJW);
-
- canbus.setMessageCenterTXMode(TXCENTER);
-
- canbus.setMessageCenterRXMode(RXCENTER);
- canbus.set11BitGlobalIDMask(AIC_ID_MASK);
- canbus.setMessageCenterMessageIDMaskEnable(RXCENTER,true);
- canbus.set11BitMessageCenterArbitrationID(RXCENTER,id);
- canbus.setMessageCenterWriteOverEnable(RXCENTER,true);
- canbus.enableMessageCenter(RXCENTER);
-
-// canbus.setMessageCenterRXMode(15);
-// canbus.set11BitMessageCenter15IDMask(0);
-// canbus.set29BitMessageCenter15IDMask(AIC_ID_MASK);
-// canbus.setMessageCenterMessageIDMaskEnable(15,true);
-// canbus.set11BitMessageCenterArbitrationID(15,id);
-// canbus.setMessageCenterWriteOverEnable(15,true);
- canbus.disableMessageCenter(15);
-
- canbus.enableController();
- }
-
-/** Finalizes HostCAN
-* @throws CanBusException on CAN bus errors
-*/
- public void finalize() throws CanBusException
- {
- canbus.close();
- }
-
-/** Gets command received from host computer
-* @param args command arguments array. args[0] is the length of actual arguments.
-* @param size size of the arguments array
-* @return command code
-* @throws CanBusException on CAN bus errors
-*/
- public int command(byte[] args,int size) throws CanBusException
- {
- CanFrame frame = new CanFrame();
-
- canbus.receive(frame);
-
- if(size <= frame.length) args[0]=(byte)(size-1);
- else args[0]=(byte)frame.length;
-
- for(int i=0;i < args[0];i++) args[i+1]=frame.data[i];
-
- int cmd=((frame.ID & AIC_CMD_MASK) >> 5);
-
- switch(cmd)
- {
- case MOTOR_ACT:
- {
- long U=0;
- for(int i=0;i < 8;i++) U=U | ( (((long)frame.data[7-i]) << (i*8)) & (0xffL << (i*8)) );
- u=Double.longBitsToDouble(U);
- break;
- }
- case MOTOR_REF:
- {
- long R=0;
- for(int i=0;i < 8;i++) R=R | ( (((long)frame.data[7-i]) << (i*8)) & (0xffL << (i*8)) );
- ref=Double.longBitsToDouble(R);
- break;
- }
- }
- return cmd;
- }
-
-/** Sends encoder displacement and sync-switch status to host
-* @param disp encoder displacement in rad
-* @param index sync-switch status
-* @throws CanBusException on CAN bus errors
-*/
- public void sendStatus(double disp,int index) throws CanBusException
- {
- int cmd=id | (STATUS << 5);
- byte[] data=new byte[8];
- float f=(float) disp;
-
- int fl=Float.floatToIntBits(f);
-
- for(int i=0;i < 4;i++) data[3-i]=(byte)((fl >> (8*i)) & 0xff);
- for(int i=0;i < 4;i++) data[7-i]=(byte)((index >> (8*i)) & 0xff);
- canbus.sendDataFrame(cmd,false,data);
- }
-
-/** Sends encoder displacement and sync-switch status to host
-* @param disp encoder displacement in pulses
-* @param index sync-switch status
-* @throws CanBusException on CAN bus errors
-*/
- public void sendStatus(int disp,int index) throws CanBusException
- {
- int cmd=id | (STATUS << 5);
- byte[] data=new byte[8];
-
- for(int i=0;i < 4;i++) data[i]=(byte)((disp >> (8*i)) & 0xff);
- for(int i=0;i < 4;i++) data[i+4]=(byte)((index >> (8*i)) & 0xff);
- canbus.sendDataFrame(cmd,false,data);
- }
-
-}
-/**
-@}
-*/
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Host Interface
- UDP communication
- Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-package br.ufrgs.ece.AIC;
-
-import com.dalsemi.tininet.*;
-import java.net.*;
-import java.lang.*;
-import java.io.*;
-
-/** @addtogroup aichardware
-@{
-*/
-
-/** Provides access host computer through UDP connetion
-* @see HostCAN
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-*/
-public class HostUDP extends Host
-{
- private static final int CMD_PORT=9880;
- private static final int STATUS_PORT=9877;
-
- // socket for receiving command
- private TINIDatagramSocket cmdfd;
-
- // socket for transmitting status signal
- private TINIDatagramSocket statusfd;
- private InetAddress controlleraddr;
- private int statusport;
-
-
-/** Initializes HostUDP
-* @param controllername name of host computer
-* @param statport UDP port on host to send status to
-* @param cmdport UDP port on AIC to receive commands from host
-* @throws UnknownHostException if host is unknown
-* @throws SocketException on socket errors
-*/
- public HostUDP(String controllername,int statport,int cmdport) throws UnknownHostException, SocketException
- {
- u=0;
- ref=0;
- statusport=statport;
-
- controlleraddr=InetAddress.getByName(controllername);
- statusfd=new TINIDatagramSocket();
- cmdfd=new TINIDatagramSocket(cmdport);
- }
-
-/** Initializes HostUDP using default command port numbers
-* @param controllername name of host computer
-* @param statport UDP port on host to send status to
-* @throws UnknownHostException if host is unknown
-* @throws SocketException on socket errors
-*/
- public HostUDP(String controllername,int statport) throws UnknownHostException, SocketException
- {
- u=0;
- ref=0;
- statusport=statport;
-
- controlleraddr=InetAddress.getByName(controllername);
- statusfd=new TINIDatagramSocket();
- cmdfd=new TINIDatagramSocket(CMD_PORT);
- }
-
-/** Initializes HostUDP using default status and command port numbers
-* @param controllername name of host computer
-* @throws UnknownHostException if host is unknown
-* @throws SocketException on socket errors
-*/
- public HostUDP(String controllername) throws UnknownHostException, SocketException
- {
- u=0;
- ref=0;
- statusport=STATUS_PORT;
-
- controlleraddr=InetAddress.getByName(controllername);
- statusfd=new TINIDatagramSocket();
- cmdfd=new TINIDatagramSocket(CMD_PORT);
- }
-
-/** Finalizes HostUDP
-*/
- public void finalize()
- {
- statusfd.close();
- cmdfd.close();
- }
-
-/** Gets command received from host computer
-* @param args command arguments array. args[0] is the length of actual arguments.
-* @param size size of the arguments array
-* @return command code
-* @throws IOException on communication errors
-*/
- public int command(byte[] args,int size) throws IOException
- {
- int s;
- if(size < 256) s=256; else s=size;
-
- DatagramPacket p=new DatagramPacket(args,s);
-
- cmdfd.receive(p);
-
- int cmd=args[0];
- args[0]=(byte)(p.getLength()-1);
-
- switch(cmd)
- {
- case MOTOR_ACT:
- {
- long U=0;
- for(int i=0;i < 8;i++) U=U | ( (((long) args[7-i+1]) << (i*8)) & (0xffL << (i*8)) );
- u=Double.longBitsToDouble(U);
- break;
- }
- case MOTOR_REF:
- {
- long R=0;
- for(int i=0;i < 8;i++) R=R | ( (((long) args[7-i+1]) << (i*8)) & (0xffL << (i*8)) );
- ref=Double.longBitsToDouble(R);
- break;
- }
- }
-
- return cmd;
- }
-
-/** Sends encoder displacement and sync-switch status to host
-* @param disp encoder displacement in rad
-* @param index sync-switch status
-* @throws IOException on communication errors
-*/
- public void sendStatus(double disp,int index) throws IOException
- {
- byte[] buff=new byte[13];
- buff[0]=STATUS;
-
- long dl=Double.doubleToLongBits(disp);
-
- for(int i=0;i < 8;i++) buff[7-i+1]=(byte)((dl >> (8*i)) & 0xff);
- for(int i=0;i < 4;i++) buff[12-i]=(byte)((index >> (8*i)) & 0xff);
-
- DatagramPacket p=new DatagramPacket(buff,13,controlleraddr,statusport);
- statusfd.send(p);
- }
-
-/** Sends encoder displacement and sync-switch status to host
-* @param disp encoder displacement in pulses
-* @param index sync-switch status
-* @throws IOException on communication errors
-*/
- public void sendStatus(int disp,int index) throws IOException
- {
- byte[] buff=new byte[9];
- buff[0]=STATUS;
-
- for(int i=0;i < 4;i++) buff[4-i]=(byte)((disp >> (8*i)) & 0xff);
- for(int i=0;i < 4;i++) buff[8-i]=(byte)((index >> (8*i)) & 0xff);
- DatagramPacket p=new DatagramPacket(buff,9,controlleraddr,statusport);
- statusfd.send(p);
- }
-
-}
-/**
-@}
-*/
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Index Interface
- Copyright (C) 2003,2004 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-package br.ufrgs.ece.AIC;
-
-/** @addtogroup aichardware
-@{
-*/
-
-/** Provides access to sync-switch in an Actuator Interface Card
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-* @version AIC-1.3.0
-*/
-public final class Index
-{
-/** True if native library was loaded
-*/
- private static boolean libLoaded=false;
-
-/** Index native initialization, clears the counter on the quadrature decoder chip
-* @param base Base address for on board devices
-*/
- private static native void initialize(int base);
-
-/** Initializes Index
-* @param base Base address for on board devices
-*/
- public Index(int base)
- {
- if(!libLoaded) System.loadLibrary("index.tlib");
- libLoaded=true;
-
- initialize(base);
- }
-
-/** Reads the sync-switch
-* @return the sync-switch state
-*/
- public static native boolean read();
-}
-/**
-@}
-*/
-export CLASSPATH:=${CLASSPATH}:.
+all: libdebug.a
-all: AIC.jar libaic.a aicio.mpp.lib
+serial.o:serial.c
+ $(CC) $(CPU) -x c -c $^ $(CCINCDIR) $(CCFLAGS)
-${PKGPATH}/PLD.class: PLD.java
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . PLD.java
+buffer.o:buffer.c
+ $(CC) $(CPU) -x c -c $^ $(CCINCDIR) $(CCFLAGS)
-${PKGPATH}/CtrlRegister.class: CtrlRegister.java
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . CtrlRegister.java
-
-${PKGPATH}/PWM.class: PWM.java
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . PWM.java
-
-${PKGPATH}/Motor.class: Motor.java ${PKGPATH}/PWM.class
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . Motor.java
-
-${PKGPATH}/Encoder.class: Encoder.java
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . Encoder.java
-
-${PKGPATH}/Brake.class: Brake.java
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . Brake.java
-
-${PKGPATH}/Index.class: Index.java
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . Index.java
-
-${PKGPATH}/AIC.class: AIC.java
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . AIC.java
-
-${PKGPATH}/Host.class: Host.java
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . Host.java
-
-${PKGPATH}/HostUDP.class: HostUDP.java
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . HostUDP.java
-
-${PKGPATH}/HostCAN.class: HostCAN.java
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . HostCAN.java
-
-${PKGPATH}/Sputtering.class: Sputtering.java
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . Sputtering.java
-
-${ASMINC}/tini.inc: ${NATINC}/tini.inc
- ln -s ${NATINC}/tini.inc ${ASMINC}/tini.inc
-
-${ASMINC}/tinimacro.inc: ${NATINC}/tinimacro.inc
- ln -s ${NATINC}/tinimacro.inc ${ASMINC}/tinimacro.inc
-
-${ASMINC}/ds80c390.inc: ${NATINC}/ds80c390.inc
- ln -s ${NATINC}/ds80c390.inc ${ASMINC}/ds80c390.inc
-
-${ASMINC}/apiequ.inc: ${NATINC}/apiequ.inc
- ln -s ${NATINC}/apiequ.inc ${ASMINC}/apiequ.inc
-
-brake.tlib: brake.mpp
- ${ASM} ${ASMOPT} brake.mpp
-
-brake.mpp: tlib/brake.mpp aicio/brake.mpp
- cat tlib/brake.mpp aicio/brake.mpp > brake.mpp
- echo end >> brake.mpp
-
-tlib/brake.mpp: tlib/brake.a51
- $(MAKE) -C tlib brake.mpp
-
-aicio/brake.mpp: aicio/brake.a51
- $(MAKE) -C aicio brake.mpp
-
-index.tlib: index.mpp
- ${ASM} ${ASMOPT} index.mpp
-
-index.mpp: tlib/index.mpp aicio/index.mpp
- cat tlib/index.mpp aicio/index.mpp > index.mpp
- echo end >> index.mpp
-
-tlib/index.mpp: tlib/index.a51
- $(MAKE) -C tlib index.mpp
-
-aicio/index.mpp: aicio/index.a51
- $(MAKE) -C aicio index.mpp
-
-encoder.tlib: encoder.mpp
- ${ASM} ${ASMOPT} encoder.mpp
-
-encoder.mpp: tlib/encoder.mpp aicio/encoder.mpp
- cat tlib/encoder.mpp aicio/encoder.mpp > encoder.mpp
- echo end >> encoder.mpp
-
-tlib/encoder.mpp: tlib/encoder.a51
- $(MAKE) -C tlib encoder.mpp
+libdebug.a:serial.o buffer.o
+ $(CCAR) -crvs $@ $^
-aicio/encoder.mpp: aicio/encoder.a51
- $(MAKE) -C aicio encoder.mpp
-
-pwm.tlib: pwm.mpp
- ${ASM} ${ASMOPT} pwm.mpp
-
-pwm.mpp: tlib/pwm.mpp aicio/pwm.mpp
- cat tlib/pwm.mpp aicio/pwm.mpp > pwm.mpp
- echo end >> pwm.mpp
-
-tlib/pwm.mpp: tlib/pwm.a51
- $(MAKE) -C tlib pwm.mpp
-
-aicio/pwm.mpp: aicio/pwm.a51
- $(MAKE) -C aicio pwm.mpp
-
-sputtering.tlib: sputtering.mpp
- ${ASM} ${ASMOPT} sputtering.mpp
-
-sputtering.mpp: tlib/sputtering.mpp ${TRTAIPATH}/lib/rtai.mpp.lib aicio.mpp.lib
- cat tlib/sputtering.mpp ${TRTAIPATH}/lib/rtai.mpp.lib aicio.mpp.lib > sputtering.mpp
- echo end >> sputtering.mpp
-
-tlib/sputtering.mpp: tlib/sputtering.c
- $(MAKE) -C tlib sputtering.mpp
-
-AIC.jar: ${PKGPATH}/PLD.class\
- ${PKGPATH}/CtrlRegister.class\
- ${PKGPATH}/PWM.class\
- ${PKGPATH}/Motor.class\
- ${PKGPATH}/Encoder.class\
- ${PKGPATH}/Brake.class\
- ${PKGPATH}/Index.class\
- ${PKGPATH}/AIC.class \
- ${PKGPATH}/Host.class \
- ${PKGPATH}/HostUDP.class \
- ${PKGPATH}/HostCAN.class \
- ${PKGPATH}/Sputtering.class \
- brake.tlib index.tlib encoder.tlib pwm.tlib sputtering.tlib
- jar cf AIC.jar ${PKGPATH} brake.tlib index.tlib encoder.tlib pwm.tlib sputtering.tlib
-
-aic.o: aic.cpp ../include/aic.h
- ${CXX} ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aic.cpp
-
-aicudp.o: aicudp.cpp ../include/aic.h ../include/aicnet.h ../include/aicudp.h
- ${CXX} ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aicudp.cpp
-
-aiccan.o: aiccan.cpp ../include/aic.h ../include/aicnet.h ../include/aiccan.h
- ${CXX} ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aiccan.cpp
-
-aicsim.o: aicsim.cpp ../include/aic.h ../include/aicnet.h ../include/aicsim.h
- ${CXX} ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aicsim.cpp
-
-aichost.o: aichost.cpp ../include/aichost.h ../include/aicnet.h
- ${CXX} ${CMPFLAGS} -c aichost.cpp
-
-aichostudp.o: aichostudp.cpp ../include/aichostudp.h ../include/aicnet.h
- ${CXX} ${CMPFLAGS} -c aichostudp.cpp
-
-aichostcan.o: aichostcan.cpp ../include/aichostcan.h ../include/aicnet.h
- ${CXX} ${CMPFLAGS} -c aichostcan.cpp
-
-sputtering.o: sputtering.cpp ../include/aicudp.h ../include/sputtering.h
- ${CXX} ${CMPFLAGS} -c sputtering.cpp
-
-libaic.a: aic.o aicudp.o aiccan.o aicsim.o aichost.o aichostudp.o aichostcan.o sputtering.o
- ar -crvs libaic.a aic.o aicudp.o aiccan.o aicsim.o aichost.o aichostudp.o aichostcan.o sputtering.o
-
-aicio.mpp.lib: aicio/aicio.mpp.lib
- cp aicio/aicio.mpp.lib .
-
-aicio/aicio.mpp.lib: aicio/brake.a51 aicio/index.a51 aicio/pwm.a51 aicio/encoder.a51
- $(MAKE) -C aicio
-
-install:
- install -m 0644 libaic.a ${LIBINST}
- install -m 0644 AIC.jar ${LIBINST}
- install -m 0755 -d ${INCLUDEINST}/cpp
- install -m 0644 ../include/*.h ${INCLUDEINST}/cpp
- $(MAKE) -C tlib install
-
clean:
- rm -rf *.o *~ *.bak *.class ../include/{*.bak,*~} br *.tlib *.mpp ${TINIINC} *.lst
- $(MAKE) -C aicio clean
- $(MAKE) -C tlib clean
-
-distclean: clean
- rm -rf AIC.jar *.a aicio.mpp.lib
- $(MAKE) -C aicio distclean
- $(MAKE) -C tlib distclean
-
-uninstall:
- rm ${LIBINST}/libaic.a
- rm ${LIBINST}/AIC.jar
- rm ${INCLUDEINST}/cpp/aic.h
- rm ${INCLUDEINST}/cpp/aicnet.h
- $(MAKE) -C tlib uninstall
+ rm -f *.o *~
+
+distclean:clean
+ rm -f libdebug.a
\ No newline at end of file
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Motor Interface
- Copyright (C) 2003, 2004 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-package br.ufrgs.ece.AIC;
-
-/** @addtogroup aichardware
-@{
-*/
-
-/** Provices access to the motor driver in an Actuator Interface Card
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-* @version AIC-1.3.0
-*/
-public class Motor
-{
-
- private double volt2duty;
- private PWM pwm;
-
-/** Initializes the motor driver
-* @param baseadd Base address for on board devices
-* @param voltage Motor Voltage
-* @param freq PWM frequency
-*/
- public Motor(int baseadd,double voltage,double freq)
- {
- volt2duty=0.5/voltage;
-
- pwm=new PWM(baseadd,freq);
- pwm.off();
- }
-
-/** Initializes the motor driver using the default PWM frequency (20KHz)
-* @param baseadd Base address for on board devices
-* @param voltage Motor Voltage
-*/
- public Motor(int baseadd,double voltage)
- {
- volt2duty=0.5/voltage;
-
- pwm=new PWM(baseadd);
- pwm.off();
- }
-
-/** Finalizes the motor driver
-*/
- public void finalize()
- {
- pwm.off();
- }
-
-/** Turns the motor driver on
-*/
- public void on()
- {
- pwm.on();
- };
-
-/** Turns the motor driver off
-*/
- public void off()
- {
- pwm.off();
- };
-
-/** Sets the voltage to be applied by the motor driver
-* @param voltage to be applied by the motor driver
-* @return the duty-cycle of the associated PWM
-*/
- public double set(double voltage)
- {
- int dutycycle=((int)(voltage*volt2duty*1000000))+500000;
- pwm.setDuty(dutycycle);
- return dutycycle;
- };
-};
-
-/**
-@}
-*/
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- PLD Constants
- Copyright (C) 2004 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-package br.ufrgs.ece.AIC;
-
-/** @addtogroup aichardware
-@{
-*/
-
-/** Provides constants defining addresses for devices in an Actuator Interface Card
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-* @version AIC-1.3.0
-* @since AIC-1.2.0
-* @deprecated
-*/
-public class PLD
-{
-/** PWM address
-* @see PWM
-*/
- public static final int PWM=0x80000;
-
-/** Encoder address
-* @see Encoder
-*/
- public static final int ENCODER=0x90000;
-
-/** Control register address
-* @see CtrlRegister
-*/
- public static final int CONTROL=0xA0000;
-}
-
-/**
-@}
-*/
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- PWM Interface
- Copyright (C) 2003,2004 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-package br.ufrgs.ece.AIC;
-
-/** @addtogroup aichardware
-@{
-*/
-
-/** Provices access to the PWM in an Actuator Interface Card
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-* @version AIC-1.3.0
-*/
-public final class PWM
-{
-/** True if native library was loaded
-*/
- private static boolean libLoaded=false;
-
-/** Reference frequency = 10MHz
-*/
- public static final double REF_FREQ=10e6;
-
-/** Default Switching Frequency = 20KHz
-*/
- public static final double SW_FREQ=20e3;
-
- private static final double TURNOFF_DELAY=600e-9;
- private static final int MIN_COUNT=(int)(2*TURNOFF_DELAY*REF_FREQ);
- private static final int MAX_COUNT=(int)(REF_FREQ/SW_FREQ);
-
- private int max_count=MAX_COUNT;
-
-/** Sets the frequency of PWM in cycles of 10MHz
-* @param count number of cycles from 10 to 65530. Default
-* value is 500
-* @since AIC-1.3.0
-*/
- public static native void setCount(int count);
-
-/** Sets the frequency of PWM
-* @param frequency frequency in Hz from 152.60Hz to 1MHz. Default
-* value is 20KHz
-*/
- public void setFreq(double frequency)
- {
- max_count=(int)(REF_FREQ/frequency) & 0xffff;
- setCount(max_count);
- }
-
-/** Returns the frequency of PWM
-* @return PWM frequency in Hz
-*/
- public double getFreq()
- {
- return REF_FREQ/max_count;
- }
-
-/** PWM native initialization
-* @param base Base address for on board devices
-* @param min_count MIN_COUNT
-* @param count frequency of PWM in cycles of 10MHz. Number of cycles
-* from 10 to 65530.
-*/
- private static native void initialize(int base,int min_count,int count);
-
-/** Initializes the PWM
-* @param base Base address for on board devices
-* @param freq PWM frequency
-*/
- public PWM(int base,double freq)
- {
- if(!libLoaded) System.loadLibrary("pwm.tlib");
- libLoaded=true;
-
- int count=(int)(REF_FREQ/freq) & 0xffff;
- initialize(base,MIN_COUNT,count);
- }
-
-/** Initializes the PWM using the default PWM frequency (20KHz)
-* @param base Base address for on board devices
-*/
- public PWM(int base)
- {
- if(!libLoaded) System.loadLibrary("pwm.tlib");
- libLoaded=true;
-
- int count=(int)(REF_FREQ/SW_FREQ) & 0xffff;
- initialize(base,MIN_COUNT,count);
- }
-
-/** Finalizes the PWM
-*/
- public native void finalize();
-
-/** Sets the duty-cycle of PWM
-* @param dutycycle to be used by PWM as a double from 0 to 1.0
-* @return the count value programmed to the PWM timer
-*/
- public int setDuty(double dutycycle)
- {
-// if(dutycycle < 0.0) dutycycle=0.0;
-// if(dutycycle > 1.0) dutycycle=1.0;
-// int count=(int)(max_count*(1.0-dutycycle));
-// int count=max_count-(int)(max_count*dutycycle);
-// if(count < MIN_COUNT) count=MIN_COUNT;
-// if(count > max_count-MIN_COUNT) count=max_count-MIN_COUNT;
-
- return setDuty((int)(dutycycle*1000000));
-// return count;
- }
-
-/** Sets the duty-cycle of PWM
-* @param dutycycle to be used by PWM as a int from 0 to 1000000
-* @return the count value programmed to the PWM timer
-*/
- public static native int setDuty(int dutycycle);
-
-/** Turns the PWM on
-*/
- public static native void on();
-
-/** Turns the PWM off
-*/
- public static native void off();
-}
-/**
-@}
-*/
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Sputtering Interface
- Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-package br.ufrgs.ece.AIC;
-
-/** @addtogroup aicapp
-@{
-*/
-
-/** AIC Sputtering Real Time Interface
-* @author Walter Fetter Lages (w.fetter@ieee.org)
-* @version AIC-1.6.1
-*/
-public final class Sputtering
-{
-/** True if native library was loaded
-*/
- private static boolean libLoaded=false;
-
-/** Initializes Sputtering
-*/
- private static native void initialize();
-
-/** Finalizes Sputtering
-*/
- public native void finalize();
-
-/** Starts a real time PID controller
-* @param period Desired sampling time in us
-* @return Actual sampling time in us
-*/
- public static native int pidStartRealtime(int period);
-
-/** Stops the real time PID controller
-*/
- public static native void pidStopRealtime();
-
-/** Sets PID reference
-* @param reference PID set-point
-*/
- public static native void setReference(float reference);
-
-/** Gets plant output
-* @return Plant output in rad
-*/
- public static native float getOutput();
-
-/** Gets current time
-* @return Current time in ticks
-*/
- public static native int getTime();
-
-/** Unlocks Sputtering usage
-*/
- public static native void unlock();
-
-/** Locks Sputtering usage
-* @return 1 if locked
-*/
- public static native byte lock();
-
-/** Starts real time shutter controller
-* @param period Desired sampling time in us
-* @return Actual sampling time in us
-*/
- public static native int shutterStartRealtime(int period);
-
-/** Stops the real time shutter controller
-*/
- public static native void shutterStopRealtime();
-
-/** Moves motor to home position
-*/
- public static native void findHome();
-
-/** Gets index sensor status
-* @return Index sensor status
-*/
- public static native int getIndex();
-
-/** Opens shutter for specified time
-* @param time Time to keep shutter open in us
-*/
- public static native void openShutter(int time);
-
-/** Constructs a Sputtering objetct
-*/
- public Sputtering()
- {
- if(!libLoaded) System.loadLibrary("sputtering.tlib");
- libLoaded=true;
-
- initialize();
- }
-}
-
-/**
-@}
-*/
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Host Interface Library
- Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#include <errno.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include <aic.h>
-#include <aicnet.h>
-
-AIC_MOTOR::AIC_MOTOR(AIC_COMM *comm)
-{
- port=comm;
-}
-
-void AIC_MOTOR::on(void)
-{
- port->send_command(AIC_MOTOR_ON);
-}
-
-void AIC_MOTOR::off(void)
-{
- port->send_command(AIC_MOTOR_OFF);
-}
-
-double AIC_MOTOR::operator=(double voltage)
-{
- port->send_command(AIC_MOTOR_ACT,voltage);
-
- return voltage;
-}
-
-
-AIC_BRAKE::AIC_BRAKE(AIC_COMM *comm)
-{
- port=comm;
-}
-
-void AIC_BRAKE::apply(void)
-{
- port->send_command(AIC_BRAKE_APPLY);
-}
-
-void AIC_BRAKE::release(void)
-{
- port->send_command(AIC_BRAKE_RELEASE);
-}
-
-AIC_ENCODER::AIC_ENCODER(AIC_COMM *comm)
-{
- port=comm;
-}
-
-double AIC_ENCODER::read(int *index)
-{
- double disp;
-
- port->get_status(AIC_STATUS,&disp,index);
-
- return disp;
-}
-
-double AIC_ENCODER::read(void)
-{
- int index;
-
- return read(&index);
-}
-
-AIC_INDEX::AIC_INDEX(AIC_COMM *comm)
-{
- port=comm;
-}
-
-int AIC_INDEX::read(double *disp)
-{
- int index;
-
- port->get_status(AIC_STATUS,disp,&index);
-
- return index;
-}
-
-int AIC_INDEX::read(void)
-{
- double disp;
-
- return read(&disp);
-}
-
-AIC::AIC(AIC_COMM *comm):
-motor(comm),
-encoder(comm),
-brake(comm),
-index(comm)
-{
- port=comm;
-}
-
-void AIC::reset(void)
-{
- port->send_command(AIC_RESET);
-}
-
-void AIC::reference(double ref)
-{
- port->send_command(AIC_MOTOR_REF,ref);
-}
-
-int AIC::busy(void)
-{
- unsigned int status;
- double disp;
-
- port->get_status(AIC_STATUS,&disp,&status);
-
- return (status & AIC_BUSY)? 1:0;
-}
-
-void AIC::send_command(int command,int n,const void *buffer)
-{
- port->send_command(command,n,buffer);
-}
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Host Interface Library
- CAN Communication
- Copyright (C) 2003, 2004 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#include <stdarg.h>
-#include <stdio.h>
-
-#include <canlib.h>
-
-#include <aiccan.h>
-#include <aicnet.h>
-
-const static int NCC=32; ///< Number of message buffers
-
-/// Buffer to store received CAN messages
-static struct CAN_CENTER
-{
- int cmd; ///< AIC command
- unsigned char msg[8]; ///< Message
- unsigned int msglen; ///< Message length
-} cc[NCC];
-
-AIC_CAN::AIC_CAN(int aic,int bus):
-AIC(this)
-{
- aicnumber=aic;
- canHandle handle;
- handle=canOpenChannel(bus,canWANT_EXTENDED);
- canStatus status=(canStatus)handle;
- if(status < 0) throw BAD_OPEN();
-
- status=canSetBusParams(handle,BAUD_125K,13,7,1,1,0);
- if(status < 0) throw BAD_PARMS();
-
- status=canBusOn(handle);
- if(status < 0) throw BAD_BUSON();
-
- for(int i=0;i < NCC;i++) cc[i].cmd=0;
-}
-
-
-AIC_CAN::~AIC_CAN(void)
-{
- canStatus status=canClose(handle);
- if(status < 0) throw BAD_CLOSE();
-}
-
-int AIC_CAN::get_status(int status,...)
-{
- long id;
- unsigned char msg[8];
- unsigned int msglen;
- unsigned int flag;
- unsigned long time;
- int cmd;
- long aicid;
-
- do
- {
- if(cc[aicnumber-1].cmd)
- {
- cmd=cc[aicnumber-1].cmd;
- cc[aicnumber-1].cmd=0;
- id=aicnumber & (cmd << 5);
- for(int i=0;i < 8; i++) msg[i]=cc[aicnumber-1].msg[i];
- msglen=cc[aicnumber-1].msglen;
- break;
- }
- else
- {
- do
- {
- canStatus canstatus=canReadWait(handle,&id,msg,&msglen,&flag,&time,-1);
- if(canstatus < 0) throw BAD_RECEIVE();
- } while(!(flag & canMSG_STD));
- cmd=(id & AIC_CMD_MASK) >> 5;
- aicid=id & AIC_ID_MASK;
- if(aicid != aicnumber)
- {
- // Message center with WriteOver
- cc[aicid-1].cmd=cmd;
- for(int i=0;i < 8; i++) cc[aicid-1].msg[i]=msg[i];
- cc[aicid-1].msglen=msglen;
- }
- }
- } while( (aicid != aicnumber) ||
- !(id & AIC_ID_MASK) ||
- (cmd != status) );
-
- switch(cmd)
- {
- case AIC_STATUS:
- {
- float disp;
- for(int i=0;i < 4;i++) *(((unsigned char *)&disp)+i)=msg[3-i];
-
- va_list ap;
- va_start(ap,status);
- double *dp=va_arg(ap,double *);
- *dp=disp;
-
- int *index=va_arg(ap,int *);
- for(int i=0;i < 4;i++) *(((unsigned char *)index)+i)=msg[7-i];
-
- va_end(ap);
-
- break;
- }
- }
- return cmd;
-}
-
-void AIC_CAN::send_command(int command,...)
-{
- unsigned char msg[8];
- unsigned int msglen=8;
-
- long id=aicnumber | (command << 5);
- switch(command)
- {
- case AIC_MOTOR_ON:
- case AIC_MOTOR_OFF:
- case AIC_BRAKE_APPLY:
- case AIC_BRAKE_RELEASE:
- case AIC_RESET:
- {
- msglen=0;
- break;
- }
- case AIC_MOTOR_ACT:
- {
- va_list ap;
- va_start(ap,command);
- double volt=va_arg(ap,double);
- va_end(ap);
- for(int i=0;i < 8;i++) msg[7-i]= *((char *) &volt + i);
- msglen=8;
- break;
- }
- case AIC_USER0:
- case AIC_USER1:
- case AIC_USER2:
- case AIC_USER3:
- {
- va_list ap;
- va_start(ap,command);
- msglen=va_arg(ap,int);
- unsigned char *ptr=msg;
- if(msglen > 0) ptr=va_arg(ap,unsigned char *);
- va_end(ap);
- if(msglen > 8) throw BAD_SEND();
- for(unsigned int i=0;i < msglen;i++) msg[i]=ptr[i];
- break;
- }
- default: throw BAD_COMMAND();
-
- }
-
- unsigned int flag=canMSG_STD;
- canStatus status=canWriteWait(handle,id,msg,msglen,flag,-1);
- if(status < 0) throw BAD_SEND();
-}
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Host Interface Simulation
- Copyright (C) 2003, 2005 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#include <aichost.h>
-
-AIC_HOST::AIC_HOST(void)
-{
- u=0;
- ref=0;
- status=0;
-}
-
-AIC_HOST::~AIC_HOST(void)
-{
-
-}
-
-
-int AIC_HOST::getstatus(void) const
-{
- return status;
-}
-
-double AIC_HOST::voltage(void) const
-{
- return u;
-}
-
-double AIC_HOST::reference(void) const
-{
- return ref;
-}
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Host Interface Simulation
- CAN Communication
- Copyright (C) 2003, 2004 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#include <aichostcan.h>
-
-const static int NCC=32; ///< Number of message buffers
-
-/// Buffer to store received CAN messages
-static struct CAN_CENTER
-{
- int cmd; ///< AIC command
- unsigned char msg[8]; ///< Message
- unsigned int msglen; ///< Message length
-} cc[NCC];
-
-AIC_HOST_CAN::AIC_HOST_CAN(int aic,int bus):
-AIC_HOST()
-{
- aicnumber=aic;
- canHandle handle;
- handle=canOpenChannel(bus,canWANT_EXTENDED);
- canStatus status=(canStatus)handle;
- if(status < 0) throw BAD_OPEN();
-
- status=canSetBusParams(handle,BAUD_125K,13,7,1,1,0);
- if(status < 0) throw BAD_PARMS();
-
- status=canBusOn(handle);
- if(status < 0) throw BAD_BUSON();
-
- for(int i=0;i < NCC;i++) cc[i].cmd=0;
-}
-
-
-AIC_HOST_CAN::~AIC_HOST_CAN(void)
-{
- canStatus status=canClose(handle);
- if(status < 0) throw BAD_CLOSE();
-}
-
-int AIC_HOST_CAN::command(void)
-{
- long id;
- unsigned char msg[8];
- unsigned int msglen;
- unsigned int flag;
- unsigned long time;
- int cmd;
- long aicid;
-
- do
- {
- if(cc[aicnumber-1].cmd)
- {
- cmd=cc[aicnumber-1].cmd;
- cc[aicnumber-1].cmd=0;
- id=aicnumber & (cmd << 5);
- for(int i=0;i < 8; i++) msg[i]=cc[aicnumber-1].msg[i];
- msglen=cc[aicnumber-1].msglen;
- break;
- }
- else
- {
- do
- {
- canStatus status=canReadWait(handle,&id,msg,&msglen,&flag,&time,-1);
- if(status < 0) throw BAD_RECEIVE();
- } while(!(flag & canMSG_STD));
- cmd=id >> 5;
- aicid=id & AIC_ID_MASK;
- if(aicid != aicnumber)
- {
- // Message center with WriteOver
- cc[aicid-1].cmd=cmd;
- for(int i=0;i < 8; i++) cc[aicid-1].msg[i]=msg[i];
- cc[aicid-1].msglen=msglen;
- }
- }
- } while(aicid != aicnumber);
-
- switch(cmd)
- {
- case AIC_MOTOR_ON:
- {
- status|=MOTOR_ON;
- break;
- }
- case AIC_MOTOR_OFF:
- {
- status &= ~MOTOR_ON;
- break;
- }
- case AIC_MOTOR_ACT:
- {
- unsigned char *c=(unsigned char *) &u;
- for(int i=0;i < 8;i++) c[i]=msg[7-i];
- break;
- }
- case AIC_BRAKE_APPLY:
- {
- status|=BRAKE_APPLIED;
- break;
- }
- case AIC_BRAKE_RELEASE:
- {
- status &= ~BRAKE_APPLIED;
- break;
- }
- case AIC_RESET:
- {
- break;
- }
- }
-
- return cmd;
-}
-
-void AIC_HOST_CAN::send_status(double disp,int index)
-{
- unsigned char msg[8];
- float dispf=disp;
- for(int i=0;i < 4;i++) msg[3-i]= *(((unsigned char *) &dispf)+i);
- for(int i=0;i < 4;i++) msg[4+3-i]= *(((unsigned char *) &index)+i);
-
- long id=aicnumber | (AIC_STATUS << 5);
- unsigned int flag=canMSG_STD;
- unsigned int msglen=sizeof(msg);
- canStatus status=canWriteWait(handle,id,msg,msglen,flag,-1);
- if(status < 0) throw BAD_SEND();
-}
-
-
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Host Interface Simulation
- UDP Communication
- Copyright (C) 2003, 2004 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#include <arpa/inet.h>
-#include <errno.h>
-#include <iostream>
-using namespace std;
-#include <netdb.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <sys/socket.h>
-
-#include <aichostudp.h>
-
-AIC_HOST_UDP::AIC_HOST_UDP(const char *controllername,int statusport,int cmdport):
-AIC_HOST()
-{
- struct hostent *controllerend=gethostbyname(controllername);
-
- struct in_addr *ptr=(struct in_addr *)controllerend->h_addr;
- if(ptr==NULL)
- {
-#ifdef DEBUG
- cerr << "AIC_HOST::AIC_HOST error: "
- << strerror(errno) << "\n";
-#endif
- throw BAD_SOCKET();
- }
-
- bzero(&statusaddr,sizeof(statusaddr));
- statusaddr.sin_family=AF_INET;
- statusaddr.sin_port=htons(statusport);
- memcpy(&statusaddr.sin_addr,ptr,sizeof(struct in_addr));
-
- if((statusfd=socket(AF_INET,SOCK_DGRAM,0)) < 0)
- {
-#ifdef DEBUG
- cerr << "AIC_HOST::AIC_HOST error: "
- << strerror(errno) << "\n";
-#endif
- throw BAD_SOCKET();
- }
-
- bzero(&cmdaddr,sizeof(cmdaddr));
- cmdaddr.sin_family=AF_INET;
- cmdaddr.sin_addr.s_addr=htonl(INADDR_ANY);
- cmdaddr.sin_port=htons(cmdport);
-
- if((cmdfd=socket(AF_INET,SOCK_DGRAM,0)) < 0)
- {
-#ifdef DEBUG
- cerr << "AIC_HOST::AIC_HOST error: "
- << strerror(errno) << "\n";
-#endif
- throw BAD_SOCKET();
- }
- if((bind(cmdfd,(struct sockaddr *) &cmdaddr,sizeof(cmdaddr))) < 0)
- {
-#ifdef DEBUG
- cerr << "AIC_HOST::AIC_HOST error: "
- << strerror(errno) << "\n";
-#endif
- throw BAD_BIND();
- }
-}
-
-
-AIC_HOST_UDP::~AIC_HOST_UDP(void)
-{
- shutdown(statusfd,SHUT_RDWR);
- shutdown(cmdfd,SHUT_RDWR);
-}
-
-int AIC_HOST_UDP::command(void)
-{
- char buff[32];
- int count;
-
- socklen_t cmdlen=sizeof(cmdaddr);
-
- if((count=recvfrom(cmdfd,buff,32,0,(struct sockaddr *) &cmdaddr,&cmdlen)) <= 0)
- {
-#ifdef DEBUG
- cerr << "AIC_HOST::command error: "
- << strerror(errno) << "\n";
-#endif
- throw BAD_RECEIVE();
- }
-
- int cmd=*buff;
-
- switch(cmd)
- {
- case AIC_MOTOR_ON:
- {
- status|=MOTOR_ON;
- break;
- }
- case AIC_MOTOR_OFF:
- {
- status &= ~MOTOR_ON;
- break;
- }
- case AIC_MOTOR_ACT:
- {
- unsigned char *c=(unsigned char *) &u;
- for(int i=0;i < 8;i++) c[i]=buff[7-i+1];
- break;
- }
- case AIC_BRAKE_APPLY:
- {
- status|=BRAKE_APPLIED;
- break;
- }
- case AIC_BRAKE_RELEASE:
- {
- status &= ~BRAKE_APPLIED;
- break;
- }
- case AIC_RESET:
- {
- break;
- }
- }
-
- return cmd;
-}
-
-void AIC_HOST_UDP::send_status(double disp,int index)
-{
- char buff[32];
-
- buff[0]=AIC_STATUS;
-
- for(int i=0;i < 8;i++) buff[7-i+1]= *(((unsigned char *) &disp)+i);
- for(int i=0;i < 4;i++) buff[8+3-i+1]= *(((unsigned char *) &index)+i);
-
- int count=0;
- if((count=sendto(statusfd,buff,13,0,(struct sockaddr *) &statusaddr,sizeof(statusaddr))) < 0)
- {
-#ifdef DEBUG
- cerr << "AIC_HOST::send_status error: "
- << strerror(errno) << "\n";
-#endif
- throw BAD_SEND();
- }
-}
+++ /dev/null
-ASMINC:=../${ASMINC}
-TINIINC=${ASMINC}/tini.inc ${ASMINC}/tinimacro.inc ${ASMINC}/ds80c390.inc ${ASMINC}/apiequ.inc
-
-all: aicio.mpp.lib
-
-${ASMINC}/tini.inc: ${NATINC}/tini.inc
- ln -s ${NATINC}/tini.inc ${ASMINC}/tini.inc
-
-${ASMINC}/tinimacro.inc: ${NATINC}/tinimacro.inc
- ln -s ${NATINC}/tinimacro.inc ${ASMINC}/tinimacro.inc
-
-${ASMINC}/ds80c390.inc: ${NATINC}/ds80c390.inc
- ln -s ${NATINC}/ds80c390.inc ${ASMINC}/ds80c390.inc
-
-${ASMINC}/apiequ.inc: ${NATINC}/apiequ.inc
- ln -s ${NATINC}/apiequ.inc ${ASMINC}/apiequ.inc
-
-brake.mpp: brake.a51 ${TINIINC} ${ASMINC}/aicpld.inc
- ${ASMMACRO} -I${ASMINC} -e- brake.a51
-
-index.mpp: index.a51 ${TINIINC} ${ASMINC}/aicpld.inc
- ${ASMMACRO} -I${ASMINC} -e- index.a51
-
-encoder.mpp: encoder.a51 ${TINIINC} ${ASMINC}/aicpld.inc
- ${ASMMACRO} -I${ASMINC} -e- encoder.a51
-
-pwm.mpp: pwm.a51 ${TINIINC} ${ASMINC}/aicpld.inc
- ${ASMMACRO} -I${ASMINC} -e- pwm.a51
-
-aicio.mpp.lib: brake.mpp index.mpp pwm.mpp encoder.mpp
- cat brake.mpp index.mpp pwm.mpp encoder.mpp > aicio.mpp.lib
-
-install:
-
-clean:
- rm -rf *.o *~ *.bak *.class ../include/{*.bak,*~} br *.tlib *.mpp ${TINIINC} *.lst
-
-distclean: clean
- rm -rf aicio.mpp.lib
-
-uninstall:
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Real Time Interface
- Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#include <tmath.h>
-
-#define _AIC_C
-#include <aicio.h>
-
-void aic_on(void)
-{
- motor_on();
- encoder_clear();
-}
-
-void aic_off(void)
-{
- motor_set(0.0);
- brake_apply();
- motor_off();
- encoder_clear();
-}
-
-void aic_initialize(unsigned long base,float vm,float freq,long np)
-{
- motor_initialize(base,vm,freq);
- encoder_initialize(base,np);
- brake_initialize(base);
- index_initialize(base);
-}
-
-void aic_finalize(void)
-{
- aic_off();
-}
-
+++ /dev/null
-;******************************************************************************
-;
-; Actuator Interface Card
-; Brake Functions
-; Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-;
-; This program is free software; you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation; either version 2 of the License, or
-; (at your option) any later version.
-;
-; This program is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with this program; if not, write to the Free Software
-; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-;
-; You can also obtain a copy of the GNU General Public License
-; at <http://www.gnu.org/licenses>.
-;
-;*******************************************************************************
-
-$include(tini.inc)
-$include(ds80c390.inc)
-$include(tinimacro.inc)
-
-$include(aicpld.inc)
-$include(aicmacro.inc)
-
-; data saved in big-endian mode
-; Brake base address
-brake_base: db 0,0,0
-
-; Initializes Brake
-; void brake_initialize(unsigned long base);
-brake_initialize:
- mov r0,dpl ; parameter in b:dpx:dph:dpl
- mov r1,dph ; BUG IN SDCC MANUAL!
- mov r2,dpx
- mov r3,b
-
- mov dptr,#CONTROL ; compute brake address
- lcall Add_Dptr1_24 ; dptr=dptr+R2:R1:R0
-
- STORE24 #brake_base ; store brake address
-
- clr a ; success
- ret
-
-; Applies the electromagnetic brakes
-; void brake_apply(void)
-brake_apply:
- LOAD24 #brake_base ; get brake address
-
- SET_STRETCH STRETCH
-
- ENTER_PCE_SPACE_AND_PUSH_STATE #0
- mov a,#BRAKEAPPLY ; apply brake
- movx @dptr,a
- EXIT_PCE_SPACE_AND_POP_STATE
-
-
- RESTORE_STRETCH r0
-
- clr a ; success
- ret
-
-; Releases the electromagnetic brake
-; void brake_release(void)
-brake_release:
- LOAD24 #brake_base ; get brake address
-
- SET_STRETCH STRETCH
-
- ENTER_PCE_SPACE_AND_PUSH_STATE #0
- mov a,#BRAKERELEASE ; release brake
- movx @dptr,a
- EXIT_PCE_SPACE_AND_POP_STATE
-
- RESTORE_STRETCH r0
-
- clr a ; success
- ret
-
- end
+++ /dev/null
-;******************************************************************************
-;
-; Actuator Interface Card
-; Encoder Functions
-; Copyright (C) 2004, 2005 Walter Fetter Lages <w.fetter@ieee.org>
-;
-; This program is free software; you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation; either version 2 of the License, or
-; (at your option) any later version.
-;
-; This program is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with this program; if not, write to the Free Software
-; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-;
-; You can also obtain a copy of the GNU General Public License
-; at <http://www.gnu.org/licenses>.
-;
-;*******************************************************************************
-
-$include(tini.inc)
-$include(ds80c390.inc)
-$include(tinimacro.inc)
-
-$include(aicpld.inc)
-$include(aicmacro.inc)
-
-_bpx EQU 01Eh ; _bpx (frame pointer) mapped to R8_B3:R7_B3
-_ap EQU 01Dh ; _ap mapped to R6_B3
-
-; data saved in big-endian mode
-; Encoder base address
-encoder_base: db 0,0,0
-encoder_pulses: db 0,0,0,0
-encoder_rad: db 0,0,0,0
-encoder_radok: db 0,0,0,0
-
-; Initializes Encoder
-; void encoder_initialize(unsigned long base,long pulses);
-encoder_initialize:
- push _bpx ; SDCC style preface code
- push _bpx+1
- mov _bpx,sp
- mov _bpx+1,esp
- anl _bpx+1,#3
-
- mov r0,dpl ; parameter in b:dpx:dph:dpl
- mov r1,dph ; BUG IN SDCC MANUAL!
- mov r2,dpx
- mov r3,b
-
- mov dptr,#ENCODER ; compute encoder address
- lcall Add_Dptr1_24 ; dptr=dptr+R2:R1:R0
-
- STORE24 #encoder_base ; store encoder address
-
- SET_STRETCH STRETCH
-
- ENTER_PCE_SPACE_AND_PUSH_STATE #0
- clr a ; clear encoder
- movx @dptr,a
- EXIT_PCE_SPACE_AND_POP_STATE
-
- RESTORE_STRETCH r0
-
- mov a,_bpx
- clr c
- subb a,#8 ; second parameter is base pointer-6
- mov b,a ; point dpx:dptr to it
- mov a,_bpx+1
- subb a,#0
- mov dpx,#40h
- mov dph,a
- mov dpl,b
-
- mov dps,#21h ; store in encoder_pulses
- mov dptr,#encoder_pulses
- movx a,@dptr
- movx @dptr,a
- inc dptr
- inc dptr
- movx a,@dptr
- movx @dptr,a
- mov dps,#0
-
- mov sp,_bpx ; SDCC style epilogue code
- mov esp,_bpx+1
- pop _bpx+1
- pop _bpx
-
- clr a ; sucess
- ret
-
-; Finalizes Encoder
-; void encoder_finalize(void)
-encoder_finalize:
-
- ; fall-through to encoder_clear:
-
-; Clears the counter on the quadrature decoder chip
-; void clear(void)
-encoder_clear:
- LOAD24 #encoder_base ; get encoder address
-
- SET_STRETCH STRETCH
-
- ENTER_PCE_SPACE_AND_PUSH_STATE #0
- clr a
- movx @dptr,a ; clear counter
- EXIT_PCE_SPACE_AND_POP_STATE
-
- RESTORE_STRETCH r0
-
- clr a ; success
- ret
-
-; Gets the count on the quadrature decoder chip
-; return the number of pulses (in 2-complement) since the last time
-; the counter was cleared
-; long encoder_get_count(void)
-encoder_get_count:
- LOAD24 #encoder_base ; get encoder address
-
- SET_STRETCH STRETCH
-
- ENTER_PCE_SPACE_AND_PUSH_STATE #0
- movx a,@dptr ; get count high byte
- mov r1,a ; form count value in R3:R2:R1:R0
-
- rlc a ; sign extension to 32 bits
- clr a ; r1 > 0 extend with 0s
- jnc encoder_posextend
- cpl a ; r1 < 0 extend with 1s
-encoder_posextend:
- mov r2,a ; form count value in R3:R2:R1:R0
- mov r3,a
-
- inc dptr
- movx a,@dptr ; get count low byte
- EXIT_PCE_SPACE_AND_POP_STATE
-
- RESTORE_STRETCH r0
-
- mov r0,a ; form count value in R3:R2:R1:R0
-
- mov dpl,a ; return count in b:dpx:dph:dpl
- mov dph,r1
-
- clr a ; sucess
-
- mov dpx,r2
- mov b,r3
-
- ret
-
-
-; Gets the count and clearsthe counter on the quadrature decoder chip
-; return the number of pulses (in 2-complement) since the last time
-; the counter was cleared
-; long encoder_get_count_and_clear()
-encoder_get_count_and_clear:
- LOAD24 #encoder_base ; get encoder address
-
- SET_STRETCH STRETCH
-
- ENTER_PCE_SPACE_AND_PUSH_STATE #0
- movx a,@dptr ; get count high byte
- mov r1,a ; form count value in R3:R2:R1:R0
-
- rlc a ; sign extension to 32 bits
- clr a ; r1 > 0 extend with 0s
- jnc encoder_posextend1
- cpl a ; r1 < 0 extend with 1s
-encoder_posextend1:
- mov r2,a ; form count value in R3:R2:R1:R0
- mov r3,a
-
- inc dptr
- movx a,@dptr ; get count low byte
- movx @dptr,a ; clear counter
- EXIT_PCE_SPACE_AND_POP_STATE
-
- RESTORE_STRETCH r0
-
- mov r0,a ; form count value in R3:R2:R1:R0
-
- mov dpl,a ; return count in b:dpx:dph:dpl
- mov dph,r1
-
- clr a ; sucess
-
- mov dpx,r2
- mov b,r3
-
- ret
-
- end
-
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Encoder Real Time Interface
- Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#include <tmath.h>
-
-#define _ENCODER_C
-#include <aicio.h>
-
-extern long encoder_pulses;
-extern float encoder_rad;
-extern int encoder_radok;
-
-static void encoder_setrad(void)
-{
- encoder_rad=2*M_PI/encoder_pulses;
- encoder_radok=1;
-}
-
-float encoder_read(void)
-{
- if(!encoder_radok) encoder_setrad();
- return (encoder_rad*encoder_get_count());
-}
-
-float encoder_read_and_clear(void)
-{
-
- if(!encoder_radok) encoder_setrad();
- return (encoder_rad*encoder_get_count_and_clear());
-}
+++ /dev/null
-;******************************************************************************
-;
-; Actuator Interface Card
-; Index Function
-; Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-;
-; This program is free software; you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation; either version 2 of the License, or
-; (at your option) any later version.
-;
-; This program is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with this program; if not, write to the Free Software
-; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-;
-; You can also obtain a copy of the GNU General Public License
-; at <http://www.gnu.org/licenses>.
-;
-;*******************************************************************************
-
-$include(tini.inc)
-$include(ds80c390.inc)
-$include(tinimacro.inc)
-
-$include(aicpld.inc)
-$include(aicmacro.inc)
-
-; data saved in big-endian mode
-; Index base address
-index_base: db 0,0,0
-
-; Initializes Index
-; void index_initialize(unsigned long base);
-index_initialize:
- mov r0,dpl ; parameter in b:dpx:dph:dpl
- mov r1,dph ; BUG IN SDCC MANUAL!
- mov r2,dpx
- mov r3,b
-
- mov dptr,#CONTROL ; compute index address
- lcall Add_Dptr1_24 ; dptr=dptr+R2:R1:R0
-
- STORE24 #index_base ; store index address
-
- clr a ; success
- ret
-
-; Reads the sync-switch
-; returns the sync-switch state
-; unsigned long index_read(void)
-index_read:
- LOAD24 #index_base ; get index address
-
- SET_STRETCH STRETCH
-
- ENTER_PCE_SPACE_AND_PUSH_STATE #0
- movx a,@dptr ; read index
- EXIT_PCE_SPACE_AND_POP_STATE
-
- RESTORE_STRETCH r0
-
- anl a,#01h
- mov dpl,a ; return value in b:dpx:dph:dpl
- clr a ; BUG IN SDCC MANUAL!
- mov dph,a
- mov dpx,a
- mov b,a
-
- ret
-
- end
-
+++ /dev/null
-;******************************************************************************
-;
-; Actuator Interface Card
-; Motor Real Time Interface
-; Global Variables
-; Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-;
-; This program is free software; you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation; either version 2 of the License, or
-; (at your option) any later version.
-;
-; This program is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with this program; if not, write to the Free Software
-; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-;
-; You can also obtain a copy of the GNU General Public License
-; at <http://www.gnu.org/licenses>.
-;
-;*******************************************************************************/
-
-
-motor_volt2duty: db 0,0,0,0
- end
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Motor Real Time Interface
- Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#include <tmath.h>
-
-#define _MOTOR_C
-#include <aicio.h>
-
-volatile float motor_volt2duty;
-
-void motor_globals(void) _naked
-{
- _asm
-motor_volt2duty: db 0,0,0,0
- _endasm;
-}
-
-void motor_initialize(unsigned long baseadd,float voltage,float freq)
-{
- unsigned int count;
-
- motor_volt2duty=0.5/voltage;
- count=((unsigned int) (REF_FREQ/freq)) & 0xffff;
- pwm_initialize(baseadd,MIN_COUNT,count);
- pwm_off();
-}
-
-void motor_finalize(void)
-{
- pwm_off();
-}
-
-void motor_on(void)
-{
- pwm_on();
-}
-
-void motor_off(void)
-{
- pwm_off();
-}
-
-float motor_set(float voltage)
-{
- unsigned long dutycycle;
-
- dutycycle=(((long)(voltage*motor_volt2duty*1000000.0))+500000);
- pwm_set_duty(dutycycle);
- return dutycycle;
-}
-
+++ /dev/null
-;******************************************************************************
-;
-; Actuator Interface Card
-; PWM Functions
-; Copyright (C) 2004, 2007 Walter Fetter Lages <w.fetter@ieee.org>
-; 2007 Diego Caberlon Santini <diegos@ece.ufrgs.br>
-;
-; This program is free software; you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation; either version 2 of the License, or
-; (at your option) any later version.
-;
-; This program is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with this program; if not, write to the Free Software
-; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-;
-; You can also obtain a copy of the GNU General Public License
-; at <http://www.gnu.org/licenses>.
-;
-;*******************************************************************************
-
-$include(tini.inc)
-$include(ds80c390.inc)
-$include(tinimacro.inc)
-
-$include(i8254.inc)
-$include(aicpld.inc)
-$include(aicmacro.inc)
-
-_bpx EQU 01Eh ; _bpx (frame pointer) mapped to R8_B3:R7_B3
-_ap EQU 01Dh ; _ap mapped to R6_B3
-
-; data saved in big-endian mode
-; PWM base address
-pwm_base: db 0,0,0
-
-; PWM frequency in cycles of 10MHz
-pwm_max_count: db 0,0
-
-; minimal value to load in PWM
-pwm_min_count: db 0,0
-
-; Control Register base address
-pwm_ctrl_base: db 0,0,0
-
-; Sets the frequency of PWM in cycles of 10MHz
-; void pwm_set_count(unsigned int count)
-pwm_set_count:
- mov r0,dpl ; parameter in dph:dpl
- mov r1,dph ; BUG IN SDCC MANUAL!
-
- LOAD24 #pwm_base ; get PWM address
-
- mov a,#CTRL_8254 ; compute control register address
- ADD_DPTR_0_A
-
- mov b,r0 ; save parameter LSB
-
- SET_STRETCH STRETCH
-
- ENTER_PCE_SPACE_AND_PUSH_STATE #0
- mov a,#RATE_BIN_8254 ; set timer 0 mode
- movx @dptr,a
-
- mov a,#ONE_SHOT_BIN_8254 ; set timer 1 mode
- orl a,#40h ; select timer 1
- movx @dptr,a
-
-; program timer 0 with count
-
- mov a,DPS ; point dptr to timer 0
- orl DPS,#0c0h ; avoids extern memory access
- inc dptr ; actualy decrement
- inc dptr ; due to DPS value
- inc dptr
- mov DPS,a
-
- mov a,b ; program timer 0 lsB
- movx @dptr,a
- mov r2,a ; save count lsB
-
- mov a,r1 ; program timer 0 msB
- movx @dptr,a
-
- EXIT_PCE_SPACE_AND_POP_STATE
-
- inc DPS ; save count
- mov dptr,#pwm_max_count
- movx @dptr,a ; store count msB
- inc dptr
- mov a,r2 ; store count lsB
- movx @dptr,a
- inc DPS
-
-; program timer 1 with count/2
-
-pwm_duty50: inc dptr ; point dptr to timer 1
-
- mov a,r1 ; compute count/2
- clr c
- rrc a
- mov r1,a
- mov a,b
- rrc a
-
- ENTER_PCE_SPACE_AND_PUSH_STATE #0
- movx @dptr,a ; program timer 1 lsB
- mov a,r1 ; program timer 1 msB
- movx @dptr,a
- EXIT_PCE_SPACE_AND_POP_STATE
-
- RESTORE_STRETCH r0
-
- clr a ; success
- ret
-
-; Initializes PWM
-; void pwm_initialize(unsigned long base,unsigned int min_count,unsigned int count);
-pwm_initialize:
- push _bpx ; SDCC style preface code
- push _bpx+1
- mov _bpx,sp
- mov _bpx+1,esp
- anl _bpx+1,#3
-
-
- mov r0,dpl ; parameter in b:dpx:dph:dpl
- mov r1,dph ; BUG IN SDCC MANUAL!
- mov r2,dpx
- mov r3,b
-
- push R0_B0
- push R1_B0
- push R2_B0
-
- mov dptr,#CONTROL ; compute Control address
- lcall Add_Dptr1_24 ; dptr=dptr+R2:R1:R0
-
- STORE24 #pwm_ctrl_base ; store Control register address
-
- pop R2_B0
- pop R1_B0
- pop R0_B0
-
- mov dptr,#PWM ; compute PWM address
- lcall Add_Dptr1_24 ; dptr=dptr+R2:R1:R0
-
- STORE24 #pwm_base ; store PWM address
-
- mov a,_bpx
- clr c
- subb a,#06 ; second parameter is base pointer-6
- mov b,a ; point dpx:dptr to it
- mov a,_bpx+1
- subb a,#0
- mov dpx,#40h
- mov dph,a
- mov dpl,b
-
- movx a,@dptr ; min_count LSB
- mov b,a
- inc dptr
- movx a,@dptr ; min_count MSB
-
- mov dptr,#pwm_min_count ; stores it
- movx @dptr,a
- inc dptr
- mov a,b
- movx @dptr,a
-
- mov a,_bpx
- clr c
- subb a,#8 ; third parameter is base pointer-8
- mov b,a ; point dpx:dptr to it
- mov a,_bpx+1
- subb a,#0
- mov dpx,#040h
- mov dph,a
- mov dpl,b
-
- movx a,@dptr ; store in dph:dpl
- inc dptr
- mov b,a
- movx a,@dptr
- mov dph,a
- mov dpl,b
-
- mov sp,_bpx ; SDCC style epilogue code
- mov esp,_bpx+1
- pop _bpx+1
- pop _bpx
- ; to fall over max count should be in dph:dpl
- ljmp pwm_set_count ; fall over to native_setCount
-
-
-; Finalizes PWM
-; void finalize(void)
-pwm_finalize:
- LOAD24 #pwm_base ; get pwm address
-
- inc DPS ; get count msB
- mov dptr,#pwm_max_count
- movx a,@dptr
- mov r1,a
- inc dptr ; get count lsB
- movx a,@dptr
- mov b,a
- inc DPS
-
- SET_STRETCH STRETCH
-
- ljmp pwm_duty50 ; fall over to native pwm_set_count
-
-
-; Sets the duty-cycle of PWM
-; unsigned long pwm_set_duty(unsigned long dutycycle)
-pwm_set_duty:
- mov r0,dpl ; parameter in b:dpx:dph:dpl
- mov r1,dph ; BUG IN SDCC MANUAL!
- mov r2,dpx
- mov r3,b
-
- mov a,r3 ; ensures R3:R2:R1:R0 >= 0
- jnb ACC.7,pwm_parmpos
-
- clr a ; forces R3:R2:R1:R0=0
- mov r3,a
- mov r2,a
- mov r1,a
- mov r0,a
- ljmp pwm_parmok
-
-pwm_parmpos: cjne r3,#00,pwm_parmabove ; ensures R3:R2:R1:R0 <= 1000000
- clr c
- mov a,r0 ; 1000000=0f4240h
- subb a,#40h
- mov a,r1
- subb a,#42h
- mov a,r2
- subb a,#0fh
- jc pwm_parmok
-
-pwm_parmabove: mov r3,#00h ; forces R3:R2:R1:R0=1000000
- mov r2,#0fh
- mov r1,#42h
- mov r0,#40h
-
-pwm_parmok:
-
- mov a,r0 ;R3:R2:R1:R0 >>4
- rr a ;R0 >> 4
- rr a
- rr a
- rr a
- anl a,#00Fh ;discard upper 4 bits
- mov r0,a
- mov a,r1 ;R1 >>4
- rr a
- rr a
- rr a
- rr a
- mov r1,a ;save R1 >> 4
- anl a,#0F0h ;discard lower 4 bits
- orl a,r0 ;sets 4 uppers bits in R0
- mov r0,a
- mov a,r1 ;gets R1 >> 4
- anl a,#00Fh ;discard upper 4 bits
- mov r1,a
- mov a,r2 ;R2 >> 4
- rr a
- rr a
- rr a
- rr a
- anl a,#0F0h ;discard lower 4 bits
- orl a,r1
- mov r1,a
-
- ;R1:R0*max_count
- mov dptr, #pwm_max_count ;load max_count in R5:R4
- movx a,@dptr
- mov r5,a
- inc dptr
- movx a,@dptr
- mov r4,a
-
- mov b,a ;R0*R4
- mov a,r0
- mul ab
-
- mov dpl,a ;LOW
- mov a,b ;HIGH
- mov dph,a
-
- mov a,r1 ;R1*R4
- mov b,a
- mov a,r4
- mul ab
-
- add a,dph ;LOW
- mov dph,a
- mov a,b ;HIGH
- addc a,#00 ;R4 is free
- mov dpx,a
-
- mov a,r0 ;R0*R5
- mov b,a
- mov a,r5
- mul ab
-
- add a,dph ;LOW
- mov dph,a
- mov a,dpx ;LOW+1
- addc a,b
- mov dpx,a
- clr a ;HIGH
- addc a,#00h
- mov r4,a ;R0 is free
-
- mov a,r1 ;R1*R5
- mov b,a
- mov a,r5
- mul ab
-
- add a,dpx ;LOW
- mov dpx,a
- mov a,r4 ;HIGH
- addc a,b
- mov b,a ;discard upper bits
-
- mov r0,dpl
- mov r1,dph
- mov r2,dpx
- mov r3,b
-
- ;R3:R2:R1:R0/(1000000/16) 1000000/16=F424h
- ;c -> dpx
- ;x -> r3:r2:r1:r0
- ;y -> dph:dpl = 0xF424
- ;reste -> r7:r6:r5:r4
- ;count -> pilha 1
-
-
- mov a,r7
- push acc
- mov a,r6
- push acc
- clr a ;c=0
- mov dpx,a
- mov dph,#0F4h ;y=0xF424
- mov dpl,#024h
- mov r7,#000h ;reste=0
- mov r6,#000h
- mov r5,#000h
- mov r4,#000h
- mov a,#20h ;count=32
- push acc
-
-pwm_divloop:
- mov a,r3 ;c = ((x >> (8*sizeof(x)-1)) & 1)
- rl a
- anl a,#1
- mov dpx,a
-
- clr c ;x = x << 1;
- mov a,r0
- rlc a
- mov r0,a
- mov a,r1
- rlc a
- mov r1,a
- mov a,r2
- rlc a
- mov r2,a
- mov a,r3
- rlc a
- mov r3,a
- clr c
-
- ;reste <<= 1
- mov a,r4
- rlc a
- mov r4,a
- mov a,r5
- rlc a
- mov r5,a
- mov a,r6
- rlc a
- mov r6,a
- mov a,r7
- rlc a
- mov r7,a
- clr c
-
-
- mov a,dpx ;if (c)
- jz pwn_div_ninc_teste
- mov a,r4
- orl a,#001h ;reste|=1L
- mov r4,a
-
-pwn_div_ninc_teste: ;if (reste >= y)
- mov a,r7
- jnz pwm_div_y_menor_igual
- mov a,r6
- jnz pwm_div_y_menor_igual
- mov a,r5
- cjne a,dph,pwm_div_testa_maior
- mov a,r4
- cjne a,dpl,pwm_div_testa_maior
- clr c
-
-pwm_div_testa_maior:
- jnc pwm_div_y_menor_igual
- ljmp pwm_div_loop_end
-
-pwm_div_y_menor_igual:
- mov a,r4 ;reste -= y;
- clr c
- subb a,dpl
- mov r4,a
- mov a,r5
- subb a,dph
- mov r5,a
- mov a,r6
- subb a,#00h
- mov r6,a
- mov a,r7
- subb a,#00h
- mov r7,a
-
- mov a,r0 ;x |= 1L;
- orl a,#001h
- mov r0,a
-
-pwm_div_loop_end: ;while (--count)
- pop acc
- dec a
- push acc
- jnz pwm_divloop
-
- pop acc
- pop acc
- mov r6,a
- pop acc
- mov r7,a
-
- mov dptr, #pwm_max_count ;load max_count in R5:R4
- movx a,@dptr
- mov r5,a
- inc dptr
- movx a,@dptr
- mov r4,a
-
- clr c ; computes count
-
- mov a,r4
- subb a,r0
- mov r0,a
- mov a,r5
-
- subb a,r1
- mov r1,a
-
- mov dptr,#pwm_min_count ; check if count < min_count
- movx a,@dptr
- mov r3,a
- inc dptr
- movx a,@dptr
- mov r2,a
-
- clr c
- mov a,r0
- subb a,r2
- mov a,r1
- subb a,r3
- jnc pwm_countabove
- mov r0,R2_B0
- mov r1,R3_B0
- ljmp pwm_countok
-
-
-pwm_countabove: clr c ; check if count > max_count-min_count
-
- mov a,r4 ; computes max_count - min_count
- mov a,r4
- subb a,r2
- mov r2,a
- mov a,r5
- subb a,r3
- mov r3,a
-
- clr c
- mov a,r0
- subb a,r2
- mov a,r1
- subb a,r3
- jc pwm_countok
- mov r0,R2_B0
- mov r1,R3_B0
-
-pwm_countok:
-
- LOAD24 #pwm_base ; get PWM address
-
- mov a,#TIMER1_8254 ; compute timer 1 address
- ADD_DPTR_0_A
-
- mov b,r0 ; save count LSB
-
- SET_STRETCH STRETCH
-
- ENTER_PCE_SPACE_AND_PUSH_STATE #0
- mov a,b
- movx @dptr,a ; program timer 1 lsB
- mov a,r1 ; program timer 1 msB
- movx @dptr,a
- EXIT_PCE_SPACE_AND_POP_STATE
-
- RESTORE_STRETCH r0 ; restore original stretch value
-
- mov dpl,b ; return count in b:dbx:dph:dpl
- mov dph,r1
-
- clr a
-
- mov dpx,a
- mov b,a
-
- ret
-
-
-
-; Turns the PWM on
-; void pwm_on(void)
-pwm_on:
- LOAD24 #pwm_ctrl_base ; get control register address
-
- SET_STRETCH STRETCH
-
- ENTER_PCE_SPACE_AND_PUSH_STATE #0
- mov a,#PWMENABLE ; enable PWM
- movx @dptr,a
- EXIT_PCE_SPACE_AND_POP_STATE
-
- RESTORE_STRETCH r0
-
- clr a ; success
- ret
-
-; Turns the PWM off
-; void pwm_off(void)
-pwm_off:
- LOAD24 #pwm_ctrl_base ; get control register address
-
- SET_STRETCH STRETCH
-
- ENTER_PCE_SPACE_AND_PUSH_STATE #0
- mov a,#PWMDISABLE ; disable PWM
- movx @dptr,a
- EXIT_PCE_SPACE_AND_POP_STATE
-
- RESTORE_STRETCH r0
-
- clr a ; success
- ret
-
- end
-
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card Simulator
- Copyright (C) 2003, 2004 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#include <errno.h>
-#include <iostream>
-using namespace std;
-#include <stdarg.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include <aicnet.h>
-#include <aicsim.h>
-
-AIC_SIM::AIC_SIM(void)
-:AIC(this)
-{
- count=0;
-}
-
-int AIC_SIM::get_status(int status,...)
-{
- switch(status)
- {
- case AIC_STATUS:
- {
- va_list ap;
-
- va_start(ap,status);
- double *disp=va_arg(ap,double *);
- *disp=count*0.5;
-
- int *index=va_arg(ap,int *);
- *index=(count % 4 == 0)? AIC_INDEX_ON:0;
-
- va_end(ap);
-
- break;
- }
- }
- count++;
- return status;
-}
-
-void AIC_SIM::send_command(int command,...)
-{
- switch(command)
- {
- case AIC_MOTOR_ON:
- {
- cout << "AIC Motor ON\t";
- break;
- }
- case AIC_MOTOR_OFF:
- {
- cout << "AIC Motor OFF\t";
- break;
- }
- case AIC_BRAKE_RELEASE:
- {
- cout << "AIC Brake RELEASED\t";
- break;
- }
- case AIC_BRAKE_APPLY:
- {
- cout << "AIC Brake APPLIED\t";
- break;
- }
- case AIC_MOTOR_ACT:
- {
- va_list ap;
- va_start(ap,command);
- double volt=va_arg(ap,double);
- va_end(ap);
- cout << "AIC Motor Voltage=" << volt << "V\t";
- break;
- }
- case AIC_RESET:
- {
- count=0;
- cout << "AIC Reset\t";
- break;
- }
- default:
- {
-#ifdef DEBUG
- cerr << "Command " << command << " unknown by AIC_SIM\n";
-#endif
- throw BAD_COMMAND();
- }
- }
-}
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Host Interface Library
- UDP Communication
- Copyright (C) 2003, 2004 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-#include <iostream>
-using namespace std;
-
-#include <arpa/inet.h>
-#include <errno.h>
-#include <netdb.h>
-#include <stdarg.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <sys/socket.h>
-
-#include <aicudp.h>
-
-
-AIC_UDP::AIC_UDP(const char *aicname,int statport,int cmdport)
-:AIC(this)
-{
- struct hostent *aicend=gethostbyname(aicname);
-
- struct in_addr *ptr=(struct in_addr *)aicend->h_addr;
- if(ptr==NULL)
- {
-#ifdef DEBUG
- cerr << "AIC_UDP::AIC_UDP error: "
- << strerror(errno) << "\n";
-#endif
- throw BAD_SOCKET();
- }
-
- bzero(&cmdaddr,sizeof(cmdaddr));
- cmdaddr.sin_family=AF_INET;
- cmdaddr.sin_port=htons(cmdport);
- memcpy(&cmdaddr.sin_addr,ptr,sizeof(struct in_addr));
-
- if((cmdfd=socket(AF_INET,SOCK_DGRAM,0)) < 0)
- {
-#ifdef DEBUG
- cerr << "AIC_UDP::AIC_UDP error: "
- << strerror(errno) << "\n";
-#endif
- throw BAD_SOCKET();
- }
-
- bzero(&stataddr,sizeof(stataddr));
- stataddr.sin_family=AF_INET;
- stataddr.sin_addr.s_addr=htonl(INADDR_ANY);
- stataddr.sin_port=htons(statport);
-
- if((statfd=socket(AF_INET,SOCK_DGRAM,0)) < 0)
- {
-#ifdef DEBUG
- cerr << "AIC_UDP::AIC_UDP error: "
- << strerror(errno) << "\n";
-#endif
- throw BAD_SOCKET();
- }
- if((bind(statfd,(struct sockaddr *) &stataddr,sizeof(stataddr))) < 0)
- {
-#ifdef DEBUG
- cerr << "AIC_UDP::AIC_UDP error: "
- << strerror(errno) << "\n";
-#endif
- throw BAD_BIND();
- }
-}
-
-
-AIC_UDP::~AIC_UDP(void)
-{
- shutdown(cmdfd,SHUT_RDWR);
- shutdown(statfd,SHUT_RDWR);
-}
-
-int AIC_UDP::get_status(int status,...)
-{
- char buff[32];
- int count;
-
- socklen_t statlen=sizeof(stataddr);
-
- if((count=recvfrom(statfd,buff,32,0,(struct sockaddr *) &stataddr,&statlen)) <= 0)
- {
-#ifdef DEBUG
- cerr << "AIC_UDP::get_status error: "
- << strerror(errno) << "\n";
-#endif
- throw BAD_RECEIVE();
- }
-
- int cmd=buff[0];
-
- switch(cmd)
- {
- case AIC_STATUS:
- {
- if((count != 13) && (count != 9))
- {
-#ifdef DEBUG
- cerr << "AIC_UDP::get_status error: count = "
- << count << "\n";
-#endif
- throw BAD_RECEIVE();
- }
-
- va_list ap;
- va_start(ap,status);
- double *disp=va_arg(ap,double *);
- if(count == 9)
- {
- int d=0;
- for(int i=0;i < 4;i++) *(((unsigned char *)d)+i)=buff[3-i+1];
- *disp=d;
- }
- else for(int i=0;i < 8;i++) *(((unsigned char *)disp)+i)=buff[7-i+1];
-
- int *index=va_arg(ap,int *);
- for(int i=0;i < 4;i++) *(((unsigned char *)index)+i)=buff[3-i+9];
- va_end(ap);
- break;
- }
- }
-
- return cmd;
-}
-
-void AIC_UDP::send_command(int command,...)
-{
- char buff[32];
- int len=0;
-
- buff[len++]=command;
-
- switch(command)
- {
- case AIC_MOTOR_ON:
- case AIC_MOTOR_OFF:
- case AIC_BRAKE_APPLY:
- case AIC_BRAKE_RELEASE:
- case AIC_RESET:
- {
- break;
- }
- case AIC_MOTOR_ACT:
- {
- va_list ap;
- va_start(ap,command);
- double volt=va_arg(ap,double);
- va_end(ap);
- for(int i=0;i < 8;i++) buff[7-i+len]= *((char *) &volt + i);
- len+=8;
- break;
- }
- case AIC_MOTOR_REF:
- {
- va_list ap;
- va_start(ap,command);
- double ref=va_arg(ap,double);
- va_end(ap);
- for(int i=0;i < 8;i++) buff[7-i+len]= *((char *) &ref + i);
- len+=8;
- break;
- }
- case AIC_USER0:
- case AIC_USER1:
- case AIC_USER2:
- case AIC_USER3:
- {
- va_list ap;
- va_start(ap,command);
- int n=va_arg(ap,int);
- char *ptr;
- if(n > 0)
- {
- ptr=va_arg(ap,char *);
- for(int i=0;i < n;i++) buff[len++]=ptr[i];
- }
- va_end(ap);
- if(n > 31) throw BAD_SEND();
-
- break;
- }
- default: throw BAD_SEND();
- }
-
- if(sendto(cmdfd,buff,len,0,(struct sockaddr *) &cmdaddr,sizeof(cmdaddr)) < 0)
- {
-#ifdef DEBUG
- cerr << "AIC_UDP::send_command error: "
- << strerror(errno) << "\n";
-#endif
- throw BAD_SEND();
- }
-}
--- /dev/null
+/******************************************************************************
+
+ Actuator Interface Card
+ Rotation Buffer
+ Copyright (C) 2008 Diego Caberlon Santini <diegos@ece.ufrgs.br>
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+ You can also obtain a copy of the GNU General Public License
+ at <http://www.gnu.org/licenses>.
+
+*******************************************************************************
+2008.06.13 -> Start by Diego Caberlon Santini
+*/
+#include <p30f4012.h>
+
+#include "buffer.h"
+
+void buffer_init(buffer_info_t *buffer_ptr)
+{
+ buffer_ptr->ptr_base=buffer_ptr->buffer;
+ buffer_ptr->ptr_in=buffer_ptr->buffer;
+ buffer_ptr->ptr_out=buffer_ptr->buffer;
+ buffer_ptr->count=0;
+}
+
+int buffer_put(buffer_info_t *buffer_ptr, char data)
+{
+ if(buffer_ptr->count == BUFFER_SIZE)
+ return -1;
+
+ *(buffer_ptr->ptr_in)=data;
+ buffer_ptr->count++;
+ buffer_ptr->ptr_in++;
+
+ if(buffer_ptr->ptr_in==buffer_ptr->ptr_base+BUFFER_SIZE)
+ buffer_ptr->ptr_in=buffer_ptr->buffer;
+
+ return 0;
+}
+
+int buffer_get(buffer_info_t *buffer_ptr, char *data)
+{
+ if(buffer_ptr->count == 0)
+ return -1;
+
+ *data=*(buffer_ptr->ptr_out);
+ buffer_ptr->count--;
+ buffer_ptr->ptr_out++;
+
+ if(buffer_ptr->ptr_out==buffer_ptr->ptr_base+BUFFER_SIZE)
+ buffer_ptr->ptr_out=buffer_ptr->buffer;
+
+ return 0;
+}
+
+void buffer_end(buffer_info_t *buffer_ptr)
+{
+}
--- /dev/null
+/******************************************************************************\r
+\r
+ Actuator Interface Card\r
+ Serial Transmit\r
+ Copyright (C) 2008 Diego Caberlon Santini <diegos@ece.ufrgs.br>\r
+\r
+ This program is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ This program is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with this program; if not, write to the Free Software\r
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.\r
+\r
+ You can also obtain a copy of the GNU General Public License\r
+ at <http://www.gnu.org/licenses>.\r
+\r
+*******************************************************************************\r
+2008.06.13 -> Start by Diego Caberlon Santini, for now it is just transmission\r
+ */\r
+\r
+#include <p30f4012.h>\r
+\r
+#include "serial.h"\r
+\r
+/*---------------------------------------------------------------------------*/\r
+void __attribute__((interrupt,auto_psv)) _U1TXInterrupt(void) \r
+{\r
+ char data='\n';\r
+ \r
+ /*put in FIFO while it is not full*/\r
+ while((!U1STAbits.UTXBF) && (serial_buffer.count!=0))\r
+ {\r
+ buffer_get(&serial_buffer,&data);\r
+ U1TXREG=data;\r
+ }\r
+ \r
+ _U1TXIF = 0; //Clear Interrupt Flag\r
+}\r
+\r
+/*---------------------------------------------------------------------------*/\r
+void serial_init()\r
+{\r
+ buffer_init(&serial_buffer);\r
+ \r
+ //step 1 from dsPIC30F reference\r
+ U1BRG=77; /*UART freq is Fcy/(16*(BRG+1)) = 19230Hz*/\r
+\r
+ //step2\r
+ /*config UART MODE*/\r
+ U1MODE&=~(0x07);\r
+ U1MODE|=(0x400);\r
+ \r
+ //step3 \r
+ _U1TXIE=1; /*request interrup*/\r
+ _U1TXIP=1; /*low priority*/\r
+ U1STA|=(0x8000);\r
+ \r
+ //step4\r
+ U1MODE|=(0x8000);\r
+ \r
+ //step5\r
+ U1STA|=(0x0400);\r
+\r
+}\r
+\r
+/*---------------------------------------------------------------------------*/\r
+int serial_write(char *data, int size)\r
+{\r
+ char aux;\r
+ int i;\r
+ \r
+ if(size>SERIAL_SIZE)\r
+ return -1;\r
+ \r
+ for(i=0;i<size;i++)\r
+ if((buffer_put(&serial_buffer,data[i])==-1))\r
+ return -1;\r
+ \r
+ /*if TRMT is empty, put data in it, otherwise interrupt will do it!*/\r
+ if(U1STAbits.TRMT){\r
+ if((buffer_get(&serial_buffer,&aux))!=-1)\r
+ U1TXREG=aux;\r
+ }\r
+ \r
+ return 0;\r
+}\r
+\r
+/*---------------------------------------------------------------------------*/\r
+void serial_end(void)\r
+{\r
+ U1MODE&=~(0x8000); //control is back to TRISTATE\r
+}\r
+\r
+/*---------------------------------------------------------------------------*/\r
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Sputtering Controller Host Interface Library
- Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#include <unistd.h>
-#include <sputtering.h>
-
-void *get_status(void *arg)
-{
- double disp;
- int index;
-
-
- SPUTTERING *sputtering=(SPUTTERING *) arg;
-
- while(sputtering->run)
- {
- disp=sputtering->encoder.read(&index);
- usleep(500000);
- }
- pthread_exit(0);
-}
-
-SPUTTERING::SPUTTERING(const char *name,int statusport):
-AIC_UDP(name,statusport),
-SHUTTER(AIC_USER0)
-{
- run=1;
- pthread_create(&get_status_th,NULL,&::get_status,this);
-}
-
-SPUTTERING::~SPUTTERING(void)
-{
- run=0;
- pthread_join(get_status_th,NULL);
-}
-
-void SPUTTERING::reset(void)
-{
- while(busy());
- AIC::reset();
-}
-
-void SPUTTERING::reference(double ref)
-{
- while(busy());
- AIC::reference(ref);
-}
-
-void SPUTTERING::shutter(unsigned int us)
-{
- while(busy());
- send_command(SHUTTER,sizeof(us),&us);
-}
+++ /dev/null
-ASMINC:=../${ASMINC}
-TINIINC=${ASMINC}/tini.inc ${ASMINC}/tinimacro.inc ${ASMINC}/ds80c390.inc ${ASMINC}/apiequ.inc
-
-SDCCINCLUDE+= -I../../include
-export SDCCCMPFLAGS=${SDCCFLAGS} ${SDCCINCLUDE}
-
-all: brake.mpp index.mpp encoder.mpp pwm.mpp sputtering.mpp
-
-${ASMINC}/tini.inc: ${NATINC}/tini.inc
- ln -s ${NATINC}/tini.inc ${ASMINC}/tini.inc
-
-${ASMINC}/tinimacro.inc: ${NATINC}/tinimacro.inc
- ln -s ${NATINC}/tinimacro.inc ${ASMINC}/tinimacro.inc
-
-${ASMINC}/ds80c390.inc: ${NATINC}/ds80c390.inc
- ln -s ${NATINC}/ds80c390.inc ${ASMINC}/ds80c390.inc
-
-${ASMINC}/apiequ.inc: ${NATINC}/apiequ.inc
- ln -s ${NATINC}/apiequ.inc ${ASMINC}/apiequ.inc
-
-brake.mpp: brake.a51 ${TINIINC}
- ${ASMMACRO} -I${ASMINC} -e- brake.a51
-
-index.mpp: index.a51 ${TINIINC}
- ${ASMMACRO} -I${ASMINC} -e- index.a51
-
-encoder.mpp: encoder.a51 ${TINIINC}
- ${ASMMACRO} -I${ASMINC} -e- encoder.a51
-
-pwm.mpp: pwm.a51 ${TINIINC}
- ${ASMMACRO} -I${ASMINC} -e- pwm.a51
-
-sputtering.mpp: sputtering.a51
- ${ASMMACRO} -I${ASMINC} -e- sputtering.a51
-
-sputtering.a51: sputtering.c
- ${SDCC} ${SDCCCMPFLAGS} sputtering.c
-
-install:
-
-clean:
- rm -rf *.o *~ *.bak *.class ../include/{*.bak,*~} br *.tlib *.mpp ${TINIINC} *.lst sputtering.a51
-
-distclean: clean
- rm -rf AIC.jar *.a
-
-uninstall:
+++ /dev/null
-;******************************************************************************
-;
-; Actuator Interface Card
-; Brake Native Methods
-; Copyright (C) 2004, 2005 Walter Fetter Lages <w.fetter@ieee.org>
-;
-; This program is free software; you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation; either version 2 of the License, or
-; (at your option) any later version.
-;
-; This program is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with this program; if not, write to the Free Software
-; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-;
-; You can also obtain a copy of the GNU General Public License
-; at <http://www.gnu.org/licenses>.
-;
-;*******************************************************************************
-
-$include(tini.inc)
-$include(ds80c390.inc)
-$include(tinimacro.inc)
-
-$include(aicpld.inc)
-$include(aicmacro.inc)
-
-; Native library initialization routine
-; This routine must exist
-; This routine must be at offset 0
-; If -f and -p options are used, a390 relocates this routine
-; to another offset
-; Label is meaningless and is not used by Java Sytem.LoadLibrary()
-lib_init:
- clr a ; success
- ret
-
-; Initializes Brake
-; private static native void initialize(int base);
-native_initialize:
- clr a
- lcall Natlib_LoadPrimitive ; get parameter in R3:R2:R1:R0
-
- mov b,r3 ; SDCC parameters in b:dpx:dph:dpl
- mov dpx,r2 ; BUG IN SDCC MANUAL!
- mov dph,r1
- mov dpl,r0
-
- lcall brake_initialize
-
- clr a ; success
- ret
-
-; Applies the electromagnetic brakes
-; public static native void apply()
-native_apply:
-
- lcall brake_apply
-
- clr a ; success
- ret
-
-; Releases the electromagnetic brake
-; public static native void release()
-native_release:
-
- lcall brake_release
-
- clr a ; success
- ret
-
- end
+++ /dev/null
-;******************************************************************************
-;
-; Actuator Interface Card
-; Encoder Native Methods
-; Copyright (C) 2004, 2005 Walter Fetter Lages <w.fetter@ieee.org>
-;
-; This program is free software; you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation; either version 2 of the License, or
-; (at your option) any later version.
-;
-; This program is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with this program; if not, write to the Free Software
-; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-;
-; You can also obtain a copy of the GNU General Public License
-; at <http://www.gnu.org/licenses>.
-;
-;*******************************************************************************
-
-$include(tini.inc)
-$include(ds80c390.inc)
-$include(tinimacro.inc)
-
-$include(aicpld.inc)
-$include(aicmacro.inc)
-
-; Native library initialization routine
-; This routine must exist
-; This routine must be at offset 0
-; If -f and -p options are used, a390 relocates this routine
-; to another offset
-; Label is meaningless and is not used by Java Sytem.LoadLibrary()
-lib_init:
- clr a ; success
- ret
-
-; Initializes Encoder
-; private static native void initialize(int base);
-native_initialize:
- clr a
-
- lcall Natlib_LoadPrimitive ; get parameter in R3:R2:R1:R0
-
- mov b,r3 ; SDCC parameter in b:dpx:dph:dpl
- mov dpx,r2 ; BUG IN SDCC MANUAL!
- mov dph,r1
- mov dpl,r0
-
-
- lcall encoder_initialize
-
- clr a ; sucess
- ret
-
-
-; Finalizes Encoder
-; public native void finalize()
-native_finalize:
- lcall encoder_finalize
-
- clr a ; success
- ret
-
-; Clears the counter on the quadrature decoder chip
-; public void clear()
-native_clear:
- lcall encoder_clear
-
- clr a ; success
- ret
-
-; Gets the count on the quadrature decoder chip
-; return the number of pulses (in 2-complement) since the last time
-; the counter was cleared
-; public static native int getCount()
-native_getCount:
- lcall encoder_get_count ; SDCC returns value in b:dpx:dph:dpl
-
- mov r0,dpl ; java native return value in R3:R2:R1:R0
- mov r1,dph
- mov r2,dpx
- mov r3,b
-
- clr a ; sucess
- ret
-
-
-; Gets the count and clears the counter on the quadrature decoder chip
-; return the number of pulses (in 2-complement) since the last time
-; the counter was cleared
-; public static native int getCountAndClear()
-native_getCountAndClear:
- lcall encoder_get_count_and_clear ; SDCC returns value in b:dpx:dph:dpl
-
- mov r0,dpl ; java native return value in R3:R2:R1:R0
- mov r1,dph
- mov r2,dpx
- mov r3,b
-
- clr a ; sucess
- ret
-
- end
-
+++ /dev/null
-;******************************************************************************
-;
-; Actuator Interface Card
-; Index Native Methods
-; Copyright (C) 2004, 2005 Walter Fetter Lages <w.fetter@ieee.org>
-;
-; This program is free software; you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation; either version 2 of the License, or
-; (at your option) any later version.
-;
-; This program is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with this program; if not, write to the Free Software
-; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-;
-; You can also obtain a copy of the GNU General Public License
-; at <http://www.gnu.org/licenses>.
-;
-;*******************************************************************************
-
-$include(tini.inc)
-$include(ds80c390.inc)
-$include(tinimacro.inc)
-
-$include(aicpld.inc)
-$include(aicmacro.inc)
-
-; Native library initialization routine
-; This routine must exist
-; This routine must be at offset 0
-; If -f and -p options are used, a390 relocates this routine
-; to another offset
-; Label is meaningless and is not used by Java Sytem.LoadLibrary()
-lib_init:
- clr a ; success
- ret
-
-
-; Initializes Index
-; private static final native void initialize(int base);
-native_initialize:
- clr a
- lcall Natlib_LoadPrimitive ; get parameter in R3:R2:R1:R0
-
- mov b,r3 ; SDCC parameters in b:dpx:dph:dpl
- mov dpx,r2 ; BUG IN SDCC MANUAL!
- mov dph,r1
- mov dpl,r0
-
- lcall index_initialize
-
- clr a ; success
- ret
-
-; Reads the sync-switch
-; returns the sync-switch state
-; public static native boolean read()
-native_read:
- lcall index_read ; SDCC returns value in b:dpx:dph:dpl
-
- mov r0,dpl ; java native return value in R3:R2:R1:R0
- mov r1,dph
- mov r2,dpx
- mov r3,b
-
- clr a ; sucess
- ret
-
- end
-
+++ /dev/null
-;******************************************************************************
-;
-; Actuator Interface Card
-; PWM Native Methods
-; Copyright (C) 2004, 2005 Walter Fetter Lages <w.fetter@ieee.org>
-;
-; This program is free software; you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation; either version 2 of the License, or
-; (at your option) any later version.
-;
-; This program is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with this program; if not, write to the Free Software
-; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-;
-; You can also obtain a copy of the GNU General Public License
-; at <http://www.gnu.org/licenses>.
-;
-;*******************************************************************************
-
-$include(tini.inc)
-$include(ds80c390.inc)
-$include(tinimacro.inc)
-
-$include(i8254.inc)
-$include(aicpld.inc)
-$include(aicmacro.inc)
-
-; Native library initialization routine
-; This routine must exist
-; This routine must be at offset 0
-; If -f and -p options are used, a390 relocates this routine
-; to another offset
-; Label is meaningless and is not used by Java Sytem.LoadLibrary()
-lib_init:
- clr a ; success
- ret
-
-; Sets the frequency of PWM in cycles of 10MHz
-; public static native void setCount(int count)
-native_setCount:
- clr a
- lcall Natlib_LoadPrimitive ; get parameter in R3:R2:R1:R0
- ; only the lower 16 bits are usefull
-
- mov dph,r1 ; SDCC parameter in dph:dpl
- mov dpl,r0 ; BUG IN SDCC MANUAL!
-
- lcall pwm_set_count
-
- clr a ; success
- ret
-
-; Initializes PWM
-; private static native void initialize(int base,int min_count,int count);
-native_initialize:
- mov a,#2h
- lcall Natlib_LoadPrimitive ; get third parameter in R3:R2:R1:R0
-
- push R0_B0
- push R1_B0
-
- mov a,#1h
- lcall Natlib_LoadPrimitive ; get second parameter in R3:R2:R1:R0
-
- push R0_B0
- push R1_B0
-
- clr a
- lcall Natlib_LoadPrimitive ; get first parameter in R3:R2:R1:R0
-
- mov b,r3 ; SDCC parameter in b:dpx:dph:dpl
- mov dpx,r2 ; BUG IN SDCC MANUAL!
- mov dph,r1
- mov dpl,r0
-
-
- lcall pwm_initialize
-
- pop ACC ; fix-up stack
- pop ACC
- pop ACC
- pop ACC
-
- clr a ; sucess
- ret
-
-
-; Finalizes PWM
-; public native void finalize()
-native_finalize:
- lcall pwm_finalize
-
- clr a ; sucess
- ret
-
-; Sets the duty-cycle of PWM
-; public static native int setDuty(int dutycycle)
-native_setDuty:
- clr a
- lcall Natlib_LoadPrimitive ; get parameter in R3:R2:R1:R0
-
- mov b,r3 ; SDCC parameter in b:dpx:dph:dpl
- mov dpx,r2 ; BUG IN SDCC MANUAL!
- mov dph,r1
- mov dpl,r0
-
- lcall pwm_set_duty ; SDCC returns value in dph:dpl
-
- mov r0,dpl ; java native return value in R3:R2:R1:R0
- mov r1,dph
- mov r2,dpx
- mov r3,b
-
- clr a ; sucess
- ret
-
-
-; Turns the PWM on
-; public static native void on()
-
-native_on:
- lcall pwm_on
-
- clr a ; sucess
- ret
-
-; Turns the PWM off
-; public static native void off()
-native_off:
- lcall pwm_off
-
- clr a ; sucess
- ret
-
- end
-
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- Sputtering Real Time Module
- Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#include <rtai_sched.h>
-#include <pthread.h>
-
-#include <tmath.h>
-
-#include <aicio.h>
-
-#define BASE 0x800000
-
-#define Kp 0.5
-#define Ki 0.000005
-#define Kd 0.00
-
-#define MIN_U -12.0
-#define MAX_U 12.0
-
-#define DEAD_Z 1.0
-
-#define TOL 0.005
-
-static pthread_t pid_th;
-static pthread_t shutter_th;
-static float u;
-static float y;
-static float ref;
-static float e1;
-static float i;
-static long time_count;
-static long time_ref;
-static unsigned char lock;
-
-static void pid_dummy(void) _naked
-{
- _asm
-pid_th: db 0,0,0,0
-shutter_th: db 0,0,0,0
-u: db 0,0,0,0
-y: db 0,0,0,0
-ref: db 0,0,0,0
-e1: db 0,0,0,0
-i: db 0,0,0,0
-time_count: db 0,0,0,0
-time_ref: db 0,0,0,0
-lock: db 0
- _endasm;
-}
-
-/* By now this is not actually a thread as it should be,
- but a function that is called at each timer interrupt */
-void *shutter(void *arg)
-{
- time_count++;
- if(time_count >= time_ref) brake_apply();
-
- return NULL;
-}
-
-/* By now this is not actually a thread as it should be,
- but a function that is called at each timer interrupt */
-void *pid(void *arg)
-{
- float e;
-
- time_count++;
-
- y+=encoder_read_and_clear();
-
- e=ref-y;
-
- i+=Ki*e;
-
- u=Kp*e + i + Kd*(e-e1);
-
- if(u < -TOL) u-=DEAD_Z;
- if(u > TOL) u+=DEAD_Z;
-
- if(u < MIN_U) u=MIN_U;
- if(u > MAX_U) u=MAX_U;
-
- motor_set(u);
-
- e1=e;
-
- return NULL;
-}
-
-
-/* public static native int pidRealtime(int period) */
-long Native_pidStartRealtime(void) _JavaNative
-{
- long period;
- RTIME count;
-
- period = NatLib_LoadInt(0);
- count=micro2count(period);
- start_rt_timer(count);
- pthread_create(&pid_th,NULL,pid,NULL);
-
- time_count=0;
-
- _asm
- clr a
- _endasm;
-
- return period;
-}
-
-/* public static native void pidStopRealtime() */
-void Native_pidStopRealtime(void) _JavaNative
-{
- motor_set(0.0);
-
- pthread_cancel(pid_th);
- stop_rt_timer();
-
- _asm
- clr a
- _endasm;
-}
-
-/* public static native int shutterStartRealtime(int period) */
-long Native_shutterStartRealtime(void) _JavaNative
-{
- long period;
- RTIME count;
-
- period = NatLib_LoadInt(0);
- count=micro2count(period);
- start_rt_timer(count);
- pthread_create(&shutter_th,NULL,shutter,NULL);
-
- time_count=0;
-
- brake_release();
-
- _asm
- clr a
- _endasm;
-
- return period;
-}
-
-/* public static native void shutterStopRealtime() */
-void Native_shutterStopRealtime(void) _JavaNative
-{
-
- pthread_cancel(shutter_th);
- stop_rt_timer();
-
- _asm
- clr a
- _endasm;
-}
-
-
-/* public static native float getOutput() */
-float Native_getOutput(void) _JavaNative
-{
- return y;
-}
-
-long Native_getTime(void) _JavaNative
-{
- return time_count;
-}
-
-long Native_getIndex(void) _JavaNative
-{
- return index_read();
-}
-
-void Native_findHome(void) _JavaNative
-{
- motor_set(2.5);
- while(!(index_read()));
-
- if(index_read()) motor_set(-1.25);
-
- while(!(index_read()));
-
- if(index_read()) motor_set(1.25);
-
- while(!(index_read()));
-
- motor_set(0.0);
-
- encoder_read_and_clear();
-
- y=0;
-
- _asm
- clr a
- _endasm;
-}
-
-void Native_initialize(void) _JavaNative
-{
- aic_initialize(BASE,12.0,20e3,4*2048);
- aic_on();
- motor_set(0.0);
- y=0;
- lock=1;
-
- _asm
- clr a
- _endasm;
-}
-
-void Native_finalize(void) _JavaNative
-{
- aic_off();
-
- aic_finalize();
-
- _asm
- clr a
- _endasm;
-}
-
-
-/* public static native void setReference(float reference) */
-void Native_setReference(void) _JavaNative
-{
- /*
- volatile long ref =NatLib_LoadInt(0);
- ref=*((float *) &ref);
- */
-
- _asm
- clr a
- lcall Natlib_LoadPrimitive ; get parameter in R3:R2:R1:R0
- mov dptr,#ref
- mov a,r0
- movx @dptr,a
- inc dptr
- mov a,r1
- movx @dptr,a
- inc dptr
- mov a,r2
- movx @dptr,a
- inc dptr
- mov a,r3
- movx @dptr,a
- clr a
- _endasm;
-}
-
-
-/* public static native void openShutter(int timeRef) */
-void Native_openShutter(void) _JavaNative
-{
- time_ref = NatLib_LoadInt(0);
-
- _asm
- clr a
- _endasm;
-}
-
-unsigned char Native_lock(void) _JavaNative
-{
- _asm
- mov dptr,#lock
- movx a,@dptr
- djnz ACC,L070185DIE
- movx @dptr,a
- mov r0,#0FFh
- mov r1,#00h
- mov r2,#00h
- mov r3,#00h
- ret
-L070185DIE:
- inc a;
- movx @dptr,a
- clr a;
- _endasm;
- return 0x00;
-}
-
-void Native_unlock(void) _JavaNative
-{
- _asm
- mov dptr,#lock
- movx a,@dptr
- inc a
- movx @dptr,a
- clr a;
- _endasm;
-}
+++ /dev/null
-all: motortst
-
-motortst: motortst.cpp ../lib/libaic.a
- ${CXX} ${CMPFLAGS} -o motortst motortst.cpp ${LDFLAGS}
-
-clean:
- rm -f *~ *.bak *.o
-
-install:
-
-distclean: clean
- rm -f motortst
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Motor Test
- Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#include <ciostream.h>
-
-#include <conio.h>
-#include <math.h>
-#include <string.h>
-
-#include <delay.h>
-
-#include <aicudp.h>
-#include <aiccan.h>
-
-const int ST=1000;
-
-void iter(AIC *aic,int i)
-{
- aic->motor=i;
- gotoxy(1,5);
- cout << "Motor Voltage: " << i << "\t\n";
- delay(ST);
-}
-
-int main(int argc,char *argv[])
-{
- int i;
- int run=1;
-
- clrscr();
- cout << "\nAIC Motor Test Program\n";
- cout << "Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>.\n\n";
-
- if((argc < 2) || (argc > 4) ||
- ((argc >= 3) && strcasecmp(argv[1],"-UDP")))
- {
- cout << "USAGE:\t" << argv[0] << " can_id\n";
- cout << "\tor\n\t" << argv[0] << " -UDP aic [status_port]\n";
- return -1;
- }
-
- AIC *aic;
- switch(argc)
- {
- default:
- case 2: aic=new AIC_CAN(atoi(argv[1])); break;
- case 3: aic=new AIC_UDP(argv[2]); break;
- case 4: aic=new AIC_UDP(argv[2],atoi(argv[3])); break;
- }
-
- aic->motor.on();
- aic->brake.release();
-
- for(i=0;(i <= 24) && run;i++)
- {
- if(kbhit()) run=0;
- iter(aic,i);
- }
- while(run)
- {
- for(i=24;(i > -24) && run;i--)
- {
- if(kbhit()) run=0;
- iter(aic,i);
- }
- for(i=-24;(i <= 24) && run;i++)
- {
- if(kbhit()) run=0;
- iter(aic,i);
- }
- }
- getch();
-
- aic->motor=0;
- aic->brake.apply();
- aic->motor.off();
-
- clrscr();
- return 0;
-
-}
+++ /dev/null
-all: pid .runinfo
-
-pid: pid.cpp ../include/aic.h ../lib/libaic.a
- ${CXX} ${CMPFLAGS} -o pid pid.cpp ${LDFLAGS}
-
-../lib/libaic.a:
- $(MAKE) -C ../lib
-
-clean:
- rm -f *~ *.bak *.o
-
-install:
-
-distclean: clean
- rm -f pid *.dat .runinfo
-
-.runinfo:
- echo "pid:lxrt:./pid;popall:" > .runinfo
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC PID Controller
- Copyright (C) 2003, 2004 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#include <errno.h>
-#include <iostream>
-using namespace std;
-
-#include <math.h>
-#include <sys/mman.h>
-
-#include <control.h>
-
-#include <aicudp.h>
-#include <aiccan.h>
-
-#include <rtai_lxrt.h>
-
-static inline double ref(double t)
-{
- return M_PI;
-}
-
-int main(int argc,char *argv[])
-{
- if((argc < 2) || (argc > 4) ||
- ((argc >= 3) && strcasecmp(argv[1],"-UDP")))
- {
- cout << "AIC PID Controller\n";
- cout << "Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>.\n";
- cout << "USAGE:\t" << argv[0] << " can_id\n";
- cout << "\tor\n\t" << argv[0] << " -UDP aic [status_port]\n";
- return -1;
- }
-
- double gain[3]={20,5,10};
-
- const double ST=1; // dummy
- const double TF=2;
-
- AIC *aic;
- try
- {
- switch(argc)
- {
- default:
- case 2: aic=new AIC_CAN(atoi(argv[1])); break;
- case 3: aic=new AIC_UDP(argv[2]); break;
- case 4: aic=new AIC_UDP(argv[2],atoi(argv[3])); break;
- }
- }
- catch(AIC_CAN::BAD_OPEN)
- {
- cerr << "Can't open CAN" << endl;
- return -1;
- }
- catch(AIC_CAN::BAD_PARMS)
- {
- cerr << "Bad CAN parameters" << endl;
- return -1;
- }
- catch(AIC_CAN::BAD_BUSON)
- {
- cerr << "Bad CAN bus" << endl;
- return -1;
- }
- aic->motor.on();
- aic->brake.release();
-
- PID_CONTROLLER pid(gain[0],gain[1],gain[2]);
- pid.saturate(1,-24.0,24.0);
-
- double u=0.0;
- double y=0.0;
-
- int run=1;
-
- unsigned long maintsk_name = nam2num("PID");
- struct sched_param mainsched;
-
- rt_allow_nonroot_hrt();
-
- mainsched.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1;
- if(sched_setscheduler(0,SCHED_FIFO, &mainsched ) == -1 )
- {
- cerr << "Error setting scheduler: " << strerror(errno) << "\n";
- return -1;
- }
-
- mlockall(MCL_CURRENT | MCL_FUTURE);
-
- RT_TASK *maintsk;
- if(!(maintsk = rt_task_init(maintsk_name, 1, 0, 0)))
- {
- cerr << "Can't init master task\n";
- return -1;
- }
-
- rt_set_oneshot_mode();
- int period = (int) nano2count((RTIME)(ST*1e9));
- start_rt_timer(period);
-
- rt_make_hard_real_time();
-
- rt_task_make_periodic(maintsk,rt_get_time(),period);
-
- RTIME t0=rt_get_time_ns();
-
- for(double t=0; t <= TF && run; t=(rt_get_time_ns()-t0)*1e-9)
- {
-
-#ifdef VERBOSE
- cout << t << "\t";
-#endif
-
- y+=aic->encoder.read();
-
- double e=ref(t)-y;
- u=pid.out(e);
-
-// aic->motor=u;
- if(((int)t) % 2) aic->motor=12.0; else aic->motor=-12.0; // test
-
-#ifdef VERBOSE
- cout << "\n";
-#endif
- }
-
- aic->motor=0;
- aic->brake.apply();
- aic->motor.off();
- rt_make_soft_real_time();
- stop_rt_timer();
- rt_task_delete(maintsk);
-
- try
- {
- delete aic;
- }
- catch(AIC_CAN::BAD_CLOSE)
- {
- cerr << "Can't close AIC_CAN" << endl;
- return -2;
- }
-
- return 0;
-}
+++ /dev/null
-PALASM4 PLDSIM - MARKET RELEASE 1.5 (7-10-92)\r
- (C) - COPYRIGHT ADVANCED MICRO DEVICES INC., 1992\r
-\r
-PALASM SIMULATION HISTORY LISTING\r
-\r
-Title : DECODER.PDS Author : Walter Fetter Lag\r
-Pattern : A Company : UFRGS \r
-Revision : 1.0 Date : 10/10/02 \r
-\r
-PAL22V10 \r
-Page : 1 \r
- gggggggggggggggggggggggggggggggggggggggggggggggggggggggggggg\r
- CLOCK LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL\r
- A[19] LLLLLLLLLLHHHHHHHHLLLLLLLLHHHHHHHHLLLLLLLLHHHHHHHHLLLLLLLLHH\r
- A[18] LLLLLLHHHHLLLLHHHHLLLLHHHHLLLLHHHHLLLLHHHHLLLLHHHHLLLLHHHHLL\r
- A[17] LLLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLL\r
- A[16] LLLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLH\r
-/WR LLHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHLLLLLLLLLL\r
-/RD LLHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHLLLLLLLLLLLLLLLLHHHHHHHHHH\r
- D1 LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL\r
- REFPOS LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLHHHHHHHHHHHHHHHH\r
-/STROBE LLHHHHHHHHHHHHHHHHLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL\r
- PWM LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL\r
- GND LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL\r
- TRINT HLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL\r
- DRVB LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL\r
- DRVA LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL\r
-/EXTINT LHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH\r
-/BRAKE HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH\r
- PWMEN LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL\r
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-/EWR HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHL\r
-/ERD HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHLHHHHHHHHHHHHHHHH\r
-/CSPWM HHHHHHHHHHHHHHHHHHHHHHHHHHLHHHHHHHHHHHHHHHLHHHHHHHHHHHHHHHLH\r
-/CSLATCH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH\r
- VCC HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH\r
-\f\r
-PAL22V10 \r
-Page : 2 \r
- gggggggggggc gc gc gc gc ggc g \r
- CLOCK LLLLLLLLLLLHHLLHHLLHHLLHHLLHHLLLHHLL \r
- A[19] HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
- A[18] LLHHHHHLLLLLLLLLLLLLLLLLLLLLLLLLLLLL \r
- A[17] HHLLHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
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-/WR LLLLLLHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
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- TRINT LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL \r
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-/EXTINT HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
-/BRAKE HHHHHHHHHHHHLLLLHHHHHHHHHHHHHHHHHHHH \r
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-/EWR HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
-/ERD HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
-/CSPWM HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
-/CSLATCH LHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
- VCC HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
-\f\r
+++ /dev/null
-\r
-PALASM4 PAL ASSEMBLER - MARKET RELEASE 1.5a (8-20-92)\r
- (C) - COPYRIGHT ADVANCED MICRO DEVICES INC., 1992\r
-\r
-\r
-TITLE :DECODER.PDS AUTHOR :Walter Fetter Lages \r
-PATTERN :A COMPANY:UFRGS \r
-REVISION:1.0 DATE :10/10/02 \r
-\r
-\ 2\r
-PAL22V10\r
-DECODER*\r
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-C75EB*\r
-\ 3A8A0\r
+++ /dev/null
-\r
-PALASM4 PAL ASSEMBLER - MARKET RELEASE 1.5a (8-20-92)\r
- (C) - COPYRIGHT ADVANCED MICRO DEVICES INC., 1992\r
-\r
-\r
-TITLE :DECODER.PDS AUTHOR :Walter Fetter Lages \r
-PATTERN :A COMPANY:UFRGS \r
-REVISION:1.0 DATE :10/10/02 \r
-\r
-\ 2\r
-PAL22V10\r
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-\ 3180F\r
+++ /dev/null
-\r
-;PALASM Design Description\r
-\r
-;---------------------------------- Declaration Segment ------------\r
-TITLE DECODER.PDS\r
-PATTERN A\r
-REVISION 1.0\r
-AUTHOR Walter Fetter Lages\r
-COMPANY UFRGS\r
-DATE 10/10/02\r
-\r
-CHIP DECODER PAL22V10\r
-\r
-;---------------------------------- PIN Declarations ---------------\r
-PIN 1 CLOCK ; INPUT\r
-PIN 2..5 A[19..16] ; INPUT\r
-PIN 6 /WR ; INPUT\r
-PIN 7 /RD ; INPUT\r
-PIN 8 D1 ; INPUT\r
-PIN 9 REFPOS ; INPUT\r
-PIN 10 /STROBE ; INPUT\r
-PIN 11 PWM ; INPUT\r
-PIN 12 GND \r
-PIN 13 TRINT ; INPUT\r
-PIN 14 DRVB COMBINATORIAL ; OUTPUT\r
-PIN 15 DRVA COMBINATORIAL ; OUTPUT\r
-PIN 16 /EXTINT COMBINATORIAL ; OUTPUT\r
-PIN 17 /BRAKE REGISTERED ; OUTPUT\r
-PIN 18 PWMEN REGISTERED ; OUTPUT\r
-PIN 19 D0 COMBINATORIAL ; I/O\r
-PIN 20 /EWR COMBINATORIAL ; OUTPUT\r
-PIN 21 /ERD COMBINATORIAL ; OUTPUT\r
-PIN 22 /CSPWM COMBINATORIAL ; OUTPUT\r
-PIN 23 /CSLATCH COMBINATORIAL ; OUTPUT\r
-PIN 24 VCC \r
-\r
-\r
-;----------------------------------- Boolean Equation Segment ------\r
-EQUATIONS\r
-\r
-EXTINT = TRINT\r
-\r
-CSPWM= STROBE * A[19] * /A[18] * /A[17] * /A[16] \r
-ERD= STROBE * RD * A[19] * /A[18] * /A[17] * A[16] \r
-EWR= STROBE * WR * A[19] * /A[18] * /A[17] * A[16] \r
-CSLATCH= STROBE * WR * A[19] * /A[18] * A[17] * /A[16] \r
-\r
-D0.TRST= STROBE * RD * A[19] * /A[18] * A[17] * /A[16]\r
-D0=REFPOS\r
-
-PWMEN=D0 * /D1 + PWMEN * D1\r
-\r
-BRAKE=D0 * D1 + BRAKE * /D1\r
-\r
-DRVA=PWMEN * /PWM\r
-DRVB=PWMEN * PWM\r
-\r
-;----------------------------------- State Segment -----------------\r
-STATE\r
-\r
-CLKF = CLOCK\r
-\r
-;----------------------------------- Simulation Segment ------------\r
-SIMULATION\r
-\r
-; TRINT/EXTINT tests\r
-\r
-TRACE_ON TRINT EXTINT\r
-SETF TRINT\r
-CHECK EXTINT\r
-SETF /TRINT\r
-CHECK /EXTINT\r
-TRACE_OFF\r
-\r
-; Address decoding tests\r
-\r
-TRACE_ON A[19..16] /STROBE /RD /WR /CSPWM /ERD /EWR /CSLATCH D0\r
-\r
-SETF /A[19] /A[18] /A[17] /A[16] /STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] /A[18] /A[17] A[16] /STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] /A[18] A[17] /A[16] /STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] /A[18] A[17] A[16] /STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] A[18] /A[17] /A[16] /STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] A[18] /A[17] A[16] /STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] A[18] A[17] /A[16] /STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] A[18] A[17] A[16] /STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] /A[18] /A[17] /A[16] /STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] /A[18] /A[17] A[16] /STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] /A[18] A[17] /A[16] /STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] /A[18] A[17] A[16] /STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] A[18] /A[17] /A[16] /STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] A[18] /A[17] A[16] /STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] A[18] A[17] /A[16] /STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] A[18] A[17] A[16] /STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-\r
-SETF /A[19] /A[18] /A[17] /A[16] STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] /A[18] /A[17] A[16] STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] /A[18] A[17] /A[16] STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] /A[18] A[17] A[16] STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] A[18] /A[17] /A[16] STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] A[18] /A[17] A[16] STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] A[18] A[17] /A[16] STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] A[18] A[17] A[16] STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] /A[18] /A[17] /A[16] STROBE /RD /WR\r
-CHECK CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] /A[18] /A[17] A[16] STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] /A[18] A[17] /A[16] STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] /A[18] A[17] A[16] STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] A[18] /A[17] /A[16] STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] A[18] /A[17] A[16] STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] A[18] A[17] /A[16] STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] A[18] A[17] A[16] STROBE /RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-\r
-SETF /A[19] /A[18] /A[17] /A[16] STROBE RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] /A[18] /A[17] A[16] STROBE RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] /A[18] A[17] /A[16] STROBE RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] /A[18] A[17] A[16] STROBE RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] A[18] /A[17] /A[16] STROBE RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] A[18] /A[17] A[16] STROBE RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] A[18] A[17] /A[16] STROBE RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] A[18] A[17] A[16] STROBE RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] /A[18] /A[17] /A[16] STROBE RD /WR ; CSPWM active\r
-CHECK CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] /A[18] /A[17] A[16] STROBE RD /WR ; ERD active\r
-CHECK /CSPWM ERD /EWR /CSLATCH ^D0\r
-SETF A[19] /A[18] A[17] /A[16] STROBE RD /WR REFPOS ; DO driving output\r
-CHECK /CSPWM /ERD /EWR /CSLATCH D0\r
-SETF A[19] /A[18] A[17] A[16] STROBE RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] A[18] /A[17] /A[16] STROBE RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] A[18] /A[17] A[16] STROBE RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] A[18] A[17] /A[16] STROBE RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] A[18] A[17] A[16] STROBE RD /WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-\r
-SETF /A[19] /A[18] /A[17] /A[16] STROBE /RD WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] /A[18] /A[17] A[16] STROBE /RD WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] /A[18] A[17] /A[16] STROBE /RD WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] /A[18] A[17] A[16] STROBE /RD WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] A[18] /A[17] /A[16] STROBE /RD WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] A[18] /A[17] A[16] STROBE /RD WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] A[18] A[17] /A[16] STROBE /RD WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /A[19] A[18] A[17] A[16] STROBE /RD WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] /A[18] /A[17] /A[16] STROBE /RD WR\r
-CHECK CSPWM /ERD /EWR /CSLATCH ^D0 ; CSPWM active\r
-SETF A[19] /A[18] /A[17] A[16] STROBE /RD WR\r
-CHECK /CSPWM /ERD EWR /CSLATCH ^D0 ; EWR active\r
-SETF A[19] /A[18] A[17] /A[16] STROBE /RD WR\r
-CHECK /CSPWM /ERD /EWR CSLATCH ^D0 ; CSLATCH active\r
-SETF A[19] /A[18] A[17] A[16] STROBE /RD WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] A[18] /A[17] /A[16] STROBE /RD WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] A[18] /A[17] A[16] STROBE /RD WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] A[18] A[17] /A[16] STROBE /RD WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF A[19] A[18] A[17] A[16] STROBE /RD WR\r
-CHECK /CSPWM /ERD /EWR /CSLATCH ^D0\r
-SETF /STROBE /RD /WR\r
-\r
-TRACE_OFF\r
-\r
-; REFPOS tests\r
-\r
-TRACE_ON A[19..16] /STROBE /RD /WR /CSPWM /ERD /EWR /CSLATCH D0 REFPOS\r
-\r
-SETF A[19] /A[18] A[17] /A[16] STROBE RD /WR REFPOS\r
-CHECK /CSPWM /ERD /EWR /CSLATCH D0\r
-SETF A[19] /A[18] A[17] /A[16] STROBE RD /WR /REFPOS\r
-CHECK /CSPWM /ERD /EWR /CSLATCH /D0 \r
-SETF /STROBE /RD /WR\r
-\r
-TRACE_OFF\r
-\r
-; BRAKE PWMEN tests\r
-\r
-TRACE_ON CLOCK D0 D1 BRAKE PWMEN\r
-\r
-SETF D0 D1\r
-CLOCKF CLOCK\r
-CHECK BRAKE\r /PWMEN
-SETF /D0 D1\r
-CLOCKF CLOCK\r
-CHECK /BRAKE\r /PWMEN
-\r
-SETF D0 /D1 /PWM\r
-CLOCKF CLOCK\r
-CHECK /BRAKE PWMEN DRVA /DRVB\r
-SETF /D0 /D1 /PWM\r
-CLOCKF CLOCK\r
-CHECK /BRAKE /PWMEN /DRVA /DRVB\r
-\r
-TRACE_OFF\r
-\r
-; DRVA/DRVB/PWM tests\r
-\r
-TRACE_ON PWMEN PWM DRVA DRVB\r
-\r
-SETF /PWM\r /D1 /D0
-CLOCKF CLOCK
-CHECK /DRVA /DRVB /PWMEN\r
-SETF PWM\r
-CHECK /DRVA /DRVB /PWMEN\r
-\r
-SETF /PWM\r /D1 D0
-CLOCKF CLOCK
-CHECK DRVA /DRVB PWMEN\r
-SETF PWM\r
-CHECK /DRVA DRVB PWMEN\r
-\r
-TRACE_OFF\r
-\r
-;-------------------------------------------------------------------\r
-\r
-\r
+++ /dev/null
-PALASM4 PLDSIM - MARKET RELEASE 1.5 (7-10-92)\r
- (C) - COPYRIGHT ADVANCED MICRO DEVICES INC., 1992\r
-\r
-PALASM SIMULATION SELECTIVE TRACE LISTING\r
-\r
-Title : DECODER.PDS Author : Walter Fetter Lag\r
-Pattern : A Company : UFRGS \r
-Revision : 1.0 Date : 10/10/02 \r
-\r
-PAL22V10 \r
-Page : 1 \r
-\v\r
- gg \r
- TRINT HL \r
- EXTINT HL \r
-\f\r
-PAL22V10 \r
-Page : 2 \r
-\v\r
- gggggggggggggggggggggggggggggggggggggggggggggggggggggggggggg\r
- A[19] LLLLLLLLHHHHHHHHLLLLLLLLHHHHHHHHLLLLLLLLHHHHHHHHLLLLLLLLHHHH\r
- A[18] LLLLHHHHLLLLHHHHLLLLHHHHLLLLHHHHLLLLHHHHLLLLHHHHLLLLHHHHLLLL\r
- A[17] LLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHH\r
- A[16] LHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLH\r
-/STROBE HHHHHHHHHHHHHHHHLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL\r
-/RD HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHLLLLLLLLLLLLLLLLHHHHHHHHHHHH\r
-/WR HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHLLLLLLLLLLLL\r
-/CSPWM HHHHHHHHHHHHHHHHHHHHHHHHLHHHHHHHHHHHHHHHLHHHHHHHHHHHHHHHLHHH\r
-/ERD HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHLHHHHHHHHHHHHHHHHHH\r
-/EWR HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHLHH\r
-/CSLATCH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHLH\r
- D0 ZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZHZZZZZZZZZZZZZZZZZ\r
-\f\r
-PAL22V10 \r
-Page : 3 \r
- ggggg \r
- A[19] HHHHH \r
- A[18] HHHHH \r
- A[17] LLHHH \r
- A[16] LHLHH \r
-/STROBE LLLLH \r
-/RD HHHHH \r
-/WR LLLLH \r
-/CSPWM HHHHH \r
-/ERD HHHHH \r
-/EWR HHHHH \r
-/CSLATCH HHHHH \r
- D0 ZZZZZ \r
-\f\r
-PAL22V10 \r
-Page : 4 \r
-\v\r
- ggg \r
- A[19] HHH \r
- A[18] LLL \r
- A[17] HHH \r
- A[16] LLL \r
-/STROBE LLH \r
-/RD LLH \r
-/WR HHH \r
-/CSPWM HHH \r
-/ERD HHH \r
-/EWR HHH \r
-/CSLATCH HHH \r
- D0 HLZ \r
- REFPOS HLL \r
-\f\r
-PAL22V10 \r
-Page : 5 \r
-\v\r
- gc gc gc gc \r
- CLOCK LHHLLHHLLHHLLHHL \r
- D0 HHHHLLLLHHHHLLLL \r
- D1 HHHHHHHHLLLLLLLL \r
- BRAKE LLHHHHLLLLLLLLLL \r
- PWMEN LLLLLLLLLLHHHHLL \r
-\f\r
-PAL22V10 \r
-Page : 6 \r
-\v\r
- gc ggc g \r
- PWMEN LLLLLLLHHH \r
- PWM LLLLHLLLLH \r
- DRVA LLLLLLLHHL \r
- DRVB LLLLLLLLLH \r
-\f\r
+++ /dev/null
-\r
-PALASM4 PAL ASSEMBLER - MARKET RELEASE 1.5a (8-20-92)\r
- (C) - COPYRIGHT ADVANCED MICRO DEVICES INC., 1992\r
-\r
-\r
-TITLE :DECODER.PDS AUTHOR :Walter Fetter Lages \r
-PATTERN :A COMPANY:UFRGS \r
-REVISION:1.0 DATE :10/10/02 \r
-\r
-PAL22V10\r
-DECODER\r
-\r
- 11 1111 1111 2222 2222 2233 3333 3333 4444 \r
- 0123 4567 8901 2345 6789 0123 4567 8901 2345 6789 0123 \r
-\r
-0 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-\r
-1 ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- \r
-2 ---- X--- -X-- X--- -X-- -X-- ---- ---- ---- -X-- ---- \r
-3 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-4 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-5 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-6 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-7 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-8 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-9 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-\r
-10 ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- \r
-11 ---- X--- -X-- -X-- -X-- ---- ---- ---- ---- -X-- ---- \r
-12 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-13 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-14 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-15 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-16 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-17 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-18 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-19 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-20 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-\r
-21 ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- \r
-22 ---- X--- -X-- -X-- X--- ---- -X-- ---- ---- -X-- ---- \r
-23 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-24 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-25 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-26 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-27 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-28 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-29 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-30 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-31 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-32 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-33 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-\r
-34 ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- \r
-35 ---- X--- -X-- -X-- X--- -X-- ---- ---- ---- -X-- ---- \r
-36 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-37 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-38 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-39 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-40 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-41 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-42 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-43 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-44 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-45 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-46 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-47 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-48 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-\r
-49 ---- X--- -X-- X--- -X-- ---- -X-- ---- ---- -X-- ---- \r
-50 ---- ---- ---- ---- ---- ---- ---- ---- X--- ---- ---- \r
-51 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-52 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-53 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-54 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-55 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-56 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-57 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-58 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-59 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-60 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-61 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-62 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-63 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-64 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-65 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-\r
-66 ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- \r
-67 ---- ---- ---- ---- --X- ---- ---- -X-- ---- ---- ---- \r
-68 ---- ---- ---- ---- ---- ---X ---- X--- ---- ---- ---- \r
-69 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-70 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-71 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-72 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-73 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-74 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-75 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-76 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-77 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-78 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-79 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-80 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-81 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-82 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-\r
-83 ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- \r
-84 ---- ---- ---- ---- --X- ---- ---- X--- ---- ---- ---- \r
-85 ---- ---- ---- ---- ---- ---- ---X -X-- ---- ---- ---- \r
-86 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-87 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-88 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-89 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-90 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-91 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-92 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-93 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-94 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-95 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-96 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-97 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-\r
-98 ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- \r
-99 ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- --X- \r
-100 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-101 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-102 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-103 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-104 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-105 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-106 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-107 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-108 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-109 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-110 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-\r
-111 ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- \r
-112 ---- ---- ---- ---- ---- ---X ---- ---- ---- ---- -X-- \r
-113 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-114 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-115 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-116 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-117 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-118 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-119 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-120 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-121 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-\r
-122 ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- \r
-123 ---- ---- ---- ---- ---- ---X ---- ---- ---- ---- X--- \r
-124 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-125 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-126 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-127 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-128 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-129 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-130 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-\r
-131 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
-\r
- SUMMARY\r
- -------\r
-\r
- OUTPUT PINS: 1111112222\r
- 4567890123\r
- POLARITY FUSES: --XX--XXXX\r
-\r
- OUTPUT PINS: 1111112222\r
- 4567890123\r
- REG BYPASS FUSES: ---XX-----\r
-\r
- TOTAL FUSES BLOWN = 937\r
-\r
+++ /dev/null
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-6 1 A[16]\r
-5 1 STROBE\r
-5 1 RD\r
-5 18\r
-6 1 WR\r
-5 18\r
-6 1 REFPOS\r
-4 47\r
-5 18\r
-6 1 CSPWM\r
-5 18\r
-6 1 ERD\r
-5 18\r
-6 1 EWR\r
-5 18\r
-6 1 CSLATCH\r
-5 18\r
-6 1 D0\r
-4 48\r
-5 18\r
-6 1 STROBE\r
-5 18\r
-6 1 RD\r
-5 18\r
-6 1 WR\r
-4 46\r
-4 45\r
-5 1 CLOCK\r
-5 1 D0\r
-5 1 D1\r
-5 1 BRAKE\r
-5 1 PWMEN\r
-4 48\r
-5 1 D0\r
-5 1 D1\r
-4 42\r
-5 1 CLOCK\r
-4 47\r
-5 1 BRAKE\r
-5 18\r
-6 1 PWMEN\r
-4 48\r
-5 18\r
-6 1 D0\r
-5 1 D1\r
-4 42\r
-5 1 CLOCK\r
-4 47\r
-5 18\r
-6 1 BRAKE\r
-5 18\r
-6 1 PWMEN\r
-4 48\r
-5 1 D0\r
-5 18\r
-6 1 D1\r
-5 18\r
-6 1 PWM\r
-4 42\r
-5 1 CLOCK\r
-4 47\r
-5 18\r
-6 1 BRAKE\r
-5 1 PWMEN\r
-5 1 DRVA\r
-5 18\r
-6 1 DRVB\r
-4 48\r
-5 18\r
-6 1 D0\r
-5 18\r
-6 1 D1\r
-5 18\r
-6 1 PWM\r
-4 42\r
-5 1 CLOCK\r
-4 47\r
-5 18\r
-6 1 BRAKE\r
-5 18\r
-6 1 PWMEN\r
-5 18\r
-6 1 DRVA\r
-5 18\r
-6 1 DRVB\r
-4 46\r
-4 45\r
-5 1 PWMEN\r
-5 1 PWM\r
-5 1 DRVA\r
-5 1 DRVB\r
-4 48\r
-5 18\r
-6 1 PWM\r
-5 18\r
-6 1 D1\r
-5 18\r
-6 1 D0\r
-4 42\r
-5 1 CLOCK\r
-4 47\r
-5 18\r
-6 1 DRVA\r
-5 18\r
-6 1 DRVB\r
-5 18\r
-6 1 PWMEN\r
-4 48\r
-5 1 PWM\r
-4 47\r
-5 18\r
-6 1 DRVA\r
-5 18\r
-6 1 DRVB\r
-5 18\r
-6 1 PWMEN\r
-4 48\r
-5 18\r
-6 1 PWM\r
-5 18\r
-6 1 D1\r
-5 1 D0\r
-4 42\r
-5 1 CLOCK\r
-4 47\r
-5 1 DRVA\r
-5 18\r
-6 1 DRVB\r
-5 1 PWMEN\r
-4 48\r
-5 1 PWM\r
-4 47\r
-5 18\r
-6 1 DRVA\r
-5 1 DRVB\r
-5 1 PWMEN\r
-4 46\r
--6 -6\r
--9 -9\r
--- /dev/null
+AICLIB+=-ldebug
+
+all: serialtest.hex
+
+serialtest.o:serialtest.c
+ $(CC) $(CPU) -x c -c $^ $(CCINCDIR) -I. $(CCFLAGS)
+
+serialtest:serialtest.o
+ $(CC) $(CPU) $^ -o $@ $(CCLIBDIR) $(AICLIBDIR) -Wl $(CCGLDFILE) $(AICLIB)
+
+serialtest.hex:serialtest
+ $(CCBIN2HEX) $^
+clean:
+ rm -f *.o serialtest *~
+
+distclean:clean
+ rm -f serialtest.hex
\ No newline at end of file
--- /dev/null
+/******************************************************************************\r
+\r
+ Actuator Interface Card\r
+ Serial Lib test\r
+ Copyright (C) 2008 Diego Caberlon Santini <diegos@ece.ufrgs.br.\r
+\r
+ This program is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ This program is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with this program; if not, write to the Free Software\r
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.\r
+\r
+ You can also obtain a copy of the GNU General Public License\r
+ at <http://www.gnu.org/licenses>.\r
+\r
+*******************************************************************************\r
+2008.06.13 -> Start test by Diego Caberlon Santini\r
+* Send some string to UART!\r
+*/\r
+\r
+#include <p30f4012.h>\r
+#include "serial.h"\r
+#include <string.h>\r
+\r
+/*---------------------------------------------------------------------------*/\r
+_FOSC(EC_PLL16 & CSW_FSCM_OFF); //Config OSC to internal RC osc 7.37MHz\r
+_FWDT(WDT_OFF);\r
+_FBORPOR(MCLR_EN & RST_IOPIN & PBOR_OFF & PWRT_64);\r
+/*---------------------------------------------------------------------------*/\r
+\r
+int main()\r
+{\r
+ char *name;\r
+ char *name1;\r
+ char *name2;\r
+ \r
+ name="Diego é o cara\n";\r
+ name1="Diego é o cara ******************************************\n\n";\r
+ name2="Diego é o cara &&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&\n\n";\r
+ \r
+ //set PORTE just to check if the program is running\r
+ TRISE=0x0;\r
+ PORTE=0x02;\r
+ \r
+ serial_init();\r
+ \r
+ serial_write(name,strlen(name));\r
+ serial_write(name1,strlen(name1));\r
+ serial_write(name2,strlen(name2));\r
+ \r
+ \r
+ for(;;){\r
+\r
+ }\r
+ \r
+}\r
+++ /dev/null
-all: sputtering
-
-sputtering: sputtering.cpp ../include/aic.h ../lib/libaic.a
- ${CXX} ${CMPFLAGS} -o sputtering sputtering.cpp ${LDFLAGS}
-
-../lib/libaic.a:
- $(MAKE) -C ../lib
-
-clean:
- rm -f *~ *.bak *.o
-
-install:
-
-distclean: clean
- rm -f sputtering *.dat
-
+++ /dev/null
-/******************************************************************************
-
- Actuator Interface Card
- AIC Sputtering Controller
- Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
- You can also obtain a copy of the GNU General Public License
- at <http://www.gnu.org/licenses>.
-
-*******************************************************************************/
-
-#include <iostream>
-using namespace std;
-#include <math.h>
-
-#include <sputtering.h>
-
-int main(int argc,char *argv[])
-{
-
-/* if(argc != 5)
- {
- cout << "Sputtering Controller\n";
- cout << "Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>.\n";
- cout << " 2007 Diego Caberlon Santini <diegos@ece.ufrgs.br>.\n";
- cout << "\tor\n\t" << argv[0] << " aic1 status_port1 aic2 status_port2\n";
- return -1;
- }
-*/
- SPUTTERING sputtering0(argv[1],atoi(argv[2]));
-// SPUTTERING sputtering1(argv[3],atoi(argv[4]));
-
- sputtering0.reset();
-// sputtering1.reset();
- cout <<"Reset\n";
- sputtering0.reference(M_PI*300/180);
-// sputtering1.reference(M_PI*300/180);
- cout <<"Positioning at 300 degrees\n";
- sputtering0.shutter(1000000);
-// sputtering1.shutter(1000000);
- cout <<"open for 1s\n";
- sputtering0.reference(M_PI*60/180);
-// sputtering1.reference(M_PI*60/180);
- cout <<"Positioning at 60 degrees\n";
- sputtering0.shutter(2000000);
-// sputtering1.shutter(2000000);
- cout <<"Open for 2s\n";
-
- return 0;
-}
projects / aic.git / commitdiff
