Documentados os protocolos de aplicacao e classes das bibliotecas.
IODaemon alterado para utilizar comunicacao CAN por default. A comunicacao
por UDP e' suportada atraves de opcao na linha de comando.
Criada documentacao das classes em AIC.jar no formado javadoc. Alterado o
Makefile para criar documentacao em doc/javadocs.
Programas em C++ alterados para utilizarem comunicacao por CAN por default e
por UDP quando compilados com USE_UDP definido. Makefiles alterados para
compilar duas versoes dos programas.
Alteradas as classes utilizadas para representar excessoes. Criada uma
hierarquia mais detalhada.
Alteracao na classe AIC_HOST, que tornou-se virtual. Criadas classes
AIC_HOST_UDP e AIC_HOST_CAN, derivadas de AIC_HOST.
Alteracao da classe AIC, que tornou-se virtual. Criadas classes AIC_UDP e
AIC_CAN, derivadas de AIC.
Alteracao na classe Host, que tornou-se abstrata. Criadas classes HostUDP e
HostCAN, derivadas de Host.
--- /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.eletro.AIC.*;
+import com.dalsemi.system.*;
+import java.io.*;
+
+class AICOff
+{
+ static final int BASE=0x800000;
+ static AIC aic;
+
+ public static void main(String[] args) throws IOException
+ {
+ System.out.println("AIC Off");
+ System.out.println("Copyright (C) Walter Fetter Lages, 2003.\n");
+
+ try
+ {
+ aic=new AIC(BASE,24.0,20e3,2000);
+
+ aic.off();
+ }
+ catch (IllegalAddressException iae)
+ {
+ iae.printStackTrace();
+ }
+
+ }
+}
--- /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
+JAVAFLAGS=-O -target 1.1
+
+all: AICOff.tini
+
+AICOff.class: AICOff.java
+ javac ${JAVAFLAGS} ${CLASSPATH} AICOff.java
+
+AICOff.tini: AICOff.class
+ java ${CLASSPATH} TINIConvertor -f AICOff.class ${APIDBPATH} -o AICOff.tini ${LIBPATH}
+
+clean:
+ rm -f *.bak *~ *.class
+
+distclean: clean
+ rm -f AICOff.tini
+
+/******************************************************************************
+
+ Actuator Interface Card
+ AIC Brake 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.eletro.AIC.*;
import com.dalsemi.system.*;
import java.io.*;
--- /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
+CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:/opt/tini/bin/modules.jar:../lib/AIC.jar
+APIDBPATH=-d /opt/tini/bin/tini.db
+DEPPATH=-p /opt/tini/bin/modules.jar
+DEPFILE=-x /opt/tini/bin/owapi_dep.txt
+DEPNAME=-add CAN
+LIBPATH=-path ../lib/AIC.jar
+JAVAFLAGS=-O -target 1.1
+TARGET=aic3 aic5
+
+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 *.UPLOADED
+
+upload: CANRx.UPLOADED CANTx.UPLOADED
+
+CANRx.UPLOADED: CANRx.tini
+ for i in ${TARGET}; do \
+ ftp $$i < CANRx.upload; \
+ echo $$i uploaded; \
+ done
+ date > CANRx.UPLOADED
+
+CANTx.UPLOADED: CANTx.tini
+ for i in ${TARGET}; do \
+ ftp $$i < CANTx.upload; \
+ echo $$i uploaded; \
+ done
+ date > CANTx.UPLOADED
\ No newline at end of file
--- /dev/null
+bin
+put CANRx.tini
+put CANTx.tini
+quit
--- /dev/null
+ GNU GENERAL PUBLIC LICENSE
+ Version 2, June 1991
+
+ Copyright (C) 1989, 1991 Free Software Foundation, Inc.
+ 675 Mass Ave, Cambridge, MA 02139, USA
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
+
+ The licenses for most software are designed to take away your
+freedom to share and change it. By contrast, the GNU General Public
+License is intended to guarantee your freedom to share and change free
+software--to make sure the software is free for all its users. This
+General Public License applies to most of the Free Software
+Foundation's software and to any other program whose authors commit to
+using it. (Some other Free Software Foundation software is covered by
+the GNU Library General Public License instead.) You can apply it to
+your programs, too.
+
+ When we speak of free software, we are referring to freedom, not
+price. Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
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+
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+
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+
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+\f
+ GNU GENERAL PUBLIC LICENSE
+ TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
+
+ 0. This License applies to any program or other work which contains
+a notice placed by the copyright holder saying it may be distributed
+under the terms of this General Public License. The "Program", below,
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+
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+
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+
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+
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+\f
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+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+convey the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) 19yy <name of author>
+
+ 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.
+
+Also add information on how to contact you by electronic and paper mail.
+
+If the program is interactive, make it output a short notice like this
+when it starts in an interactive mode:
+
+ Gnomovision version 69, Copyright (C) 19yy name of author
+ Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, the commands you use may
+be called something other than `show w' and `show c'; they could even be
+mouse-clicks or menu items--whatever suits your program.
+
+You should also get your employer (if you work as a programmer) or your
+school, if any, to sign a "copyright disclaimer" for the program, if
+necessary. Here is a sample; alter the names:
+
+ Yoyodyne, Inc., hereby disclaims all copyright interest in the program
+ `Gnomovision' (which makes passes at compilers) written by James Hacker.
+
+ <signature of Ty Coon>, 1 April 1989
+ Ty Coon, President of Vice
+
+This General Public License does not permit incorporating your program into
+proprietary programs. If your program is a subroutine library, you may
+consider it more useful to permit linking proprietary applications with the
+library. If this is what you want to do, use the GNU Library General
+Public License instead of this License.
--- /dev/null
+2003.12.28 Documentados os protocolos de aplicacao e classes das
+ bibliotecas.
+
+2003.12.23 IODaemon alterado para utilizar comunicacao CAN por default.
+ A comunicacao por UDP e' suportada atraves de opcao na linha
+ de comando.
+
+2003.12.22 Criada documentacao das classes em AIC.jar no formado
+ javadoc. Alterado o Makefile para criar documentacao em
+ doc/javadocs.
+
+2003.12.21 Programas em C++ alterados para utilizarem comunicacao por
+ CAN por default e por UDP quando compilados com USE_UDP
+ definido. Makefiles alterados para compilar duas versoes dos
+ programas.
+
+2003.12.18 Alteradas as classes utilizadas para representar excessoes.
+ Criada uma hierarquia mais detalhada.
+
+2003.12.17 Alteraqcao na classe AIC_HOST, que tornou-se virtual.
+ Criadas classes AIC_HOST_UDP e AIC_HOST_CAN, derivadas de
+ AIC_HOST.
+
+2003.12.16 Alteracao da classe AIC, que tornou-se virtual. Criadas
+ classes AIC_UDP e AIC_CAN, derivadas de AIC.
+
+2003.12.15 Alteracao na classe Host, que tornou-se abstrata. Criadas
+ classes HostUDP e HostCAN, derivadas de Host.
+
--- /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
+/******************************************************************************
+
+ Actuator Interface Card
+ AIC Encoder 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.eletro.AIC.*;
import com.dalsemi.system.*;
import java.io.*;
class EncoderTest
{
static final int BASE=0x800000;
- static final int ST=1500;
+ static final int ST=0;
+ static final double MV=12.0;
static AIC aic;
+ static long timeread0=0;
+
private static void delay(int ms)
{
long time=TINIOS.uptimeMillis();
static void iter(int i) throws IllegalAddressException
{
- aic.motor.set(10);
+ aic.motor.set(i);
System.out.print("Motor Voltage: " + i);
- int count=aic.encoder.read();
- aic.encoder.clear();
- System.out.print("\tEncocer count: " + count);
- System.out.println("\tMotor speed: " + (2*java.lang.Math.PI*count/aic.encoder.PULSES/ST*1000));
+ long timeread=TINIOS.uptimeMillis();
+ int count=aic.encoder.readAndClear();
+ 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);
}
boolean run=true;
System.out.println("AIC Encoder Test Program");
- System.out.println("Copyright (C) Walter Fetter Lages, 2002.\n");
+ System.out.println("Copyright (C) Walter Fetter Lages, 2003.\n");
try
{
- aic=new AIC(BASE,24.0,20e3,2000);
+
+ // 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 <= 24) && run;i++) iter(i);
+
+ for(i=0;(i <= MV) && run;i++) iter(i);
while(run)
{
- for(i=-24;(i <= 24) && run;i++) iter(i);
- for(i=24;(i >= -24) && run;i--) iter(i);
+ 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
APIDBPATH=-d /opt/tini/bin/tini.db
LIBPATH=-path ../lib/AIC.jar
JAVAFLAGS=-O -target 1.1
+TARGET=aic5
-all: EncoderTest.tini
+all: EncoderTest.tini EncoderClear.tini EncoderRead.tini
EncoderTest.class: EncoderTest.java
javac ${JAVAFLAGS} ${CLASSPATH} EncoderTest.java
EncoderTest.tini: EncoderTest.class
java ${CLASSPATH} TINIConvertor -f EncoderTest.class ${APIDBPATH} -o EncoderTest.tini ${LIBPATH}
+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 *~ EncoderTest.class
+ rm -f *.bak *~ *.class
distclean: clean
- rm -f EncoderTest.tini
+ rm -f *.tini *UPLOADED
+
+upload: EncoderTest.UPLOADED EncoderClear.UPLOADED EncoderRead.UPLOADED
+
+EncoderTest.UPLOADED: EncoderTest.tini
+ for i in ${TARGET}; do \
+ ftp $$i < EncoderTest.upload; \
+ echo $$i uploaded; \
+ done
+ date > EncoderTest.UPLOADED
+
+EncoderClear.UPLOADED: EncoderClear.tini
+ for i in ${TARGET}; do \
+ ftp $$i < EncoderClear.upload; \
+ echo $$i uploaded; \
+ done
+ date > EncoderClear.UPLOADED
+EncoderRead.UPLOADED: EncoderRead.tini
+ for i in ${TARGET}; do \
+ ftp $$i < EncoderRead.upload; \
+ echo $$i uploaded; \
+ done
+ date > EncoderRead.UPLOADED
\ No newline at end of file
--- /dev/null
+bin
+put EncoderTest.tini
+put EncoderClear.tini
+put EncoderRead.tini
+quit
--- /dev/null
+/******************************************************************************
+
+ Actuator Interface Card
+ IO Daemon
+ 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.eletro.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=400;
+
+ 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("or");
+ 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 (IllegalAddressException iae)
+ {
+ iae.printStackTrace();
+ }
+ 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="+ (char) 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;
+ }
+*/
+ }
+ 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;
+
+ int disp=aic.encoder.read();
+ if(debug) System.out.print("Encoder="+disp+"\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
+CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:/opt/tini/bin/modules.jar:../lib/AIC.jar
+APIDBPATH=-d /opt/tini/bin/tini.db
+DEPPATH=-p /opt/tini/bin/modules.jar
+DEPFILE=-x /opt/tini/bin/owapi_dep.txt
+DEPNAME=-add CAN
+LIBPATH=-path ../lib/AIC.jar
+JAVAFLAGS=-O -target 1.1
+TARGET= aic1 aic2 aic3 aic4 aic5
+
+all: IODaemon.tini
+
+IODaemon.class: IODaemon.java
+ 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}
+
+clean:
+ rm -f *.bak *~ *.class UPLOADED
+
+distclean: clean
+ rm -f IODaemon.tini
+
+upload: UPLOADED
+
+UPLOADED: IODaemon.tini
+ for i in ${TARGET}; do \
+ ftp $$i < upload.ftp; \
+ echo $$i uploaded; \
+ done
+
+
--- /dev/null
+bin
+put IODaemon.tini
+quit
+/******************************************************************************
+
+ Actuator Interface Card
+ AIC Index 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.eletro.AIC.*;
import com.dalsemi.system.*;
import java.io.*;
+/******************************************************************************
+
+ 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.eletro.AIC.*;
import com.dalsemi.system.*;
import java.io.*;
--- /dev/null
+PACKAGES= doc \
+ lib \
+ AICOff \
+ BrakeTest \
+ CANTest \
+ EncoderTest \
+ IndexTest \
+ IODaemon \
+ JointTest \
+ MotorReset \
+ MotorTest \
+ StrobeTest \
+ aicd \
+ braketst \
+ encodertst \
+ indextst \
+ jointtst \
+ motortst \
+ pid
+
+all:
+ for i in $(PACKAGES); do $(MAKE) -C $$i; done
+
+check:
+ for i in $(PACKAGES); do $(MAKE) -C $$i check; done
+
+clean:
+ for i in $(PACKAGES); do $(MAKE) -C $$i clean; done
+ rm -r *~ *.bak
+
+configure:
+ for i in $(PACKAGES); do $(MAKE) -C $$i configure; done
+
+distclean:
+ for i in $(PACKAGES); do $(MAKE) -C $$i distclean; done
+
+install:
+ for i in $(PACKAGES); do $(MAKE) -C $$i install; done
+
+uninstall:
+ for i in $(PACKAGES); do $(MAKE) -C $$i uninstall; done
+
+unpack:
+ for i in $(PACKAGES); do $(MAKE) -C $$i unpack; done
+
MotorReset.class: MotorReset.java
javac ${JAVAFLAGS} ${CLASSPATH} MotorReset.java
-MotorReset.tini: MotorReset.class
+MotorReset.tini: MotorReset.class ../lib/AIC.jar
java ${CLASSPATH} TINIConvertor -f MotorReset.class ${APIDBPATH} -o MotorReset.tini ${LIBPATH}
clean:
+/******************************************************************************
+
+ 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.eletro.AIC.*;
import com.dalsemi.system.*;
import java.io.*;
MotorTest.class: MotorTest.java
javac ${JAVAFLAGS} ${CLASSPATH} MotorTest.java
-MotorTest.tini: MotorTest.class
+MotorTest.tini: MotorTest.class ../lib/AIC.jar
java ${CLASSPATH} TINIConvertor -f MotorTest.class ${APIDBPATH} -o MotorTest.tini ${LIBPATH}
clean:
+/******************************************************************************
+
+ Actuator Interface Card
+ AIC Motor 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.eletro.AIC.*;
import com.dalsemi.system.*;
import java.io.*;
class MotorTest
{
static final int BASE=0x800000;
- static final int ST=100;
+ static final int ST=5000;
static AIC aic;
+/******************************************************************************
+
+ 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;
--- /dev/null
+- braketst
+
+- Comunicacao por CAN
+ Implementada. Falta testar.
+
+- Alterar camada de aplicacao CAN para torna-la compativel com CanOpen.
+
+- Alterar protocolo de aplicacao UDP para implementar CAN over IP.
+
+- Comunicacao em binario
+ Trocar protocolo de aplicacao e interfaces das rotinas da biblioteca
+para transmitir os dados em binario e nao em ASCII. Criar versao 1.2.0? A
+comunicacao via CAN ja' funciona em binario, apenas as interfaces ainda
+utilizam ASCII para manter compatibilidade com a versao UDP.
+
+- Comunicacao por TCP
+
+- Comunicacao por RS232
+
+- Problemas de aquecimento
+ Trocar os reguladores de alimentacao por reguladores chaveados ou
+instalar ventoinhas.
+
+- Reguladores CAN
+ Instalar 7805 nos conectores CAN, de forma a poder alimentar o
+barramento com 12V.
+
+- Rotinas em Assembly
+ Portar as rotinas que devem rodar em tempo real para Assembly, a
+principio, como rotinas nativas para serem usadas em Java. Eventualmente
+criar versao do IODaemon ou PID totalmente em Assembly.
+
+- Implementar PID
+
+- Portar o Slush para Linux, pelo menos os utilitarios que nao possuem
+equivalente, como o passwd
+ Algum dia.
+
+- Portar o NFS para o TiniOS
+ Verificar implementacao existente.
+
+- Montar ambiente para desenvolvimento
+ Algum dia.
+
+- Portar o Linux/RTAI (uClinux ?)
+ Se aparecer algum mestrando interessado.
+
+- Verificar Sync-Switches no ASEA
+ A ser feito pelo Leitinho.
+
+- AIC versao 2.0.0
+ TINIDS400?
+ TSTICK400?
+ STEP?
+ DIMMPC?
+ DSP?
+ FPGA?
+
--- /dev/null
+PRJLIBDIR=../lib
+PRJINCLUDE=../include
+PRJFLAGS=-DREAL_TIME -DVERBOSE -DDEBUG
+
+CFLAGS=-O2 -Wall -m486 ${PRJFLAGS}
+CINCLUDE=-I. -I${HOME}/include -I/usr/local/include -I/usr/include/rtai
+CLIBDIR=-L${HOME}/lib -L/usr/local/lib
+CLIBS=-lpthread -lcanlib
+
+CPPFLAGS=
+CPPINCLUDE=-I${HOME}/include/cpp -I/usr/local/include/cpp -I../include
+CPPLIBDIR=-L${HOME}/lib/cpp -L../lib
+CPPLIBS=-laic
+
+INCLUDE=${CINCLUDE} ${CPPINCLUDE}
+FLAGS= ${CFLAGS} ${CPPFLAGS}
+LIBDIR=${CLIBDIR} ${CPPLIBDIR}
+LIBS=${CPPLIBS} ${CLIBS}
+
+CMP= g++
+CMPFLAGS= ${FLAGS} ${INCLUDE}
+LDFLAGS= ${LIBDIR} ${LIBS}
+CMPSWTCH= gnu
+CMPMESSAGE= '${?*:warning:}\"${FILE}\", line ${LINE}:* at or near * \"${COLUMN=AFTER}\"'
+
+
+all: aicudpd aicd
+
+aicudpd: aicd.cpp ${PRJINCLUDE}/aicsim.h ${PRJINCLUDE}/aichost.h ${PRJLIBDIR}/libaic.a
+ ${CMP} ${CMPFLAGS} -DUSE_UDP -o aicudpd aicd.cpp ${LDFLAGS}
+
+aicd: aicd.cpp ${PRJINCLUDE}/aicsim.h ${PRJINCLUDE}/aichost.h ${PRJLIBDIR}/libaic.a
+ ${CMP} ${CMPFLAGS} -o aicd aicd.cpp ${LDFLAGS}
+
+${PRJLIBDIR}/libaic.a:
+ $(MAKE) -C ${PRJLIBDIR}
+
+clean:
+ rm -f *~ *.bak *.o
+
+install:
+
+distclean: clean
+ rm -f aicudpd aicd
+
+
+
--- /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.h>
+#include <pthread.h>
+#include <sys/mman.h>
+#include <string.h>
+
+#ifdef USE_UDP
+#include <aichostudp.h>
+#else
+#include <aichostcan.h>
+#endif
+
+#include <aicsim.h>
+
+#define KEEP_STATIC_INLINE
+#include <rtai_lxrt_user.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++)
+ {
+ rt_task_wait_period();
+/* 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)
+ {
+#ifdef USE_UDP
+ cout << "USAGE: " << argv[0] << " controller_host\n";
+#else
+ cout << "USAGE: " << argv[0] << " can_id\n";
+#endif
+ return -1;
+ }
+
+
+ const double ST=0.1;
+
+ AIC_SIM aic;
+
+#ifdef USE_UDP
+ AIC_HOST_UDP controller(argv[1]);
+#else
+ AIC_HOST_CAN controller(atoi(argv[1]));
+#endif
+
+#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;
+ 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();
+ cout << "\n";
+
+#ifdef REAL_TIME
+ rt_make_soft_real_time();
+ stop_rt_timer();
+ rt_task_delete(maintsk);
+#endif
+
+ return 0;
+}
+
--- /dev/null
+CFLAGS=-O2 -Wall -m486
+CINCLUDE=-I${HOME}/include
+CLIBDIR=-L${HOME}/lib
+CLIBS=-lcutil
+
+CPPFLAGS=
+CPPINCLUDE=-I../include -I${HOME}/include/cpp -I/usr/local/include/cpp
+CPPLIBDIR=-L../lib -L${HOME}/lib/cpp -L${HOME}/lib
+CPPLIBS=-laic
+
+INCLUDE=${CINCLUDE} ${CPPINCLUDE}
+FLAGS= ${CFLAGS} ${CPPFLAGS} -DDEBUG
+LIBDIR=${CLIBDIR} ${CPPLIBDIR}
+LIBS=${CLIBS} ${CPPLIBS}
+
+CMP= g++
+CMPFLAGS= ${FLAGS} ${INCLUDE}
+LDFLAGS= ${LIBDIR} ${LIBS}
+
+all: braketst
+
+braketst: braketst.cpp ../lib/libaic.a
+ ${CMP} ${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.h>
+
+#include <delay.h>
+#include <aicudp.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)
+ {
+ cerr << "Usage: braketst host\n";
+ return -1;
+ }
+
+ AIC_UDP aic(argv[1]);
+
+ 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();
+
+ return 0;
+
+}
-SCHEMS=aictini.sch aicpower.sch
+SCHEMS=aictini.sch aicpower.sch aicconn.sch
all: doc pcb bom
aic.bbl: aic.bib
bibtex aic
-pcb: aic.net #aic.pcb
+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_componentpin.ps: aic_group4.ps aic_componentsilk.ps
+ MergePCBPS aic_group4.ps aic_componentsilk.ps > aic_componentpin.ps
+
+aicpcb.ps: aic_componentpin.ps aic_soldersilk.ps aic_componentsilk.ps \
+ aic_group1.ps aic_group2.ps aic_group3.ps aic_group4.ps \
+ aic_soldermask.ps aic_componentmask.ps
+ cat aic_componentpin.ps aic_soldersilk.ps aic_componentsilk.ps \
+ aic_group1.ps aic_group2.ps aic_group3.ps aic_group4.ps \
+ aic_soldermask.ps aic_componentmask.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
bom_xref.sh aic.bom > aic.xrf
clean:
- rm -f *.aux *.log *~ *.bak *.bbl *.blg *.old
+ rm -f *.aux *.log *~ *.bak *.bbl *.blg *.old mucs.in mucs.out aictmp.ps
distclean: clean
- rm -f aic.ps aic.pdf aic.dvi aic.net aic.bom aic.bpp aic.xrf
+ rm -f aic.ps aic*.pdf aic.dvi aic.net aic.bom aic.bpp aic.xrf
update: $(SCHEMS)
gschupdate $(SCHEMS)
--- /dev/null
+# release: pcb 1.6.3
+# date: Mon Mar 31 16:58:42 2003
+# user: fetter (Prof. Walter Fetter)
+# host: elisyum.eletro
+
+PCB("" 7100 4100)
+
+Grid(50 0 0)
+Cursor(800 0 3)
+Flags(0x000000d0)
+Groups("1,2,3,s:4,5,6,c:7:8:")
+Styles("Signal,10,40,20:Power,25,60,35:Fat,40,60,35:Skinny,1,36,15")
+
+Symbol(' ' 18)
+(
+)
+Symbol('!' 12)
+(
+ SymbolLine(0 35 0 40 8)
+ SymbolLine(0 0 0 25 8)
+)
+Symbol('"' 12)
+(
+ SymbolLine(0 0 0 10 8)
+ SymbolLine(10 0 10 10 8)
+)
+Symbol('#' 12)
+(
+ SymbolLine(0 25 20 25 8)
+ SymbolLine(0 15 20 15 8)
+ SymbolLine(15 10 15 30 8)
+ SymbolLine(5 10 5 30 8)
+)
+Symbol('$' 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)
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+ 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)
+(
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+ SymbolLine(5 0 10 0 8)
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+ SymbolLine(30 40 35 40 8)
+)
+Symbol('&' 12)
+(
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+)
+Symbol(''' 12)
+(
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+)
+Symbol('(' 12)
+(
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+)
+Symbol(')' 12)
+(
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+Symbol('*' 12)
+(
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+Symbol('+' 12)
+(
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+)
+Symbol(',' 12)
+(
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+)
+Symbol('-' 12)
+(
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+)
+Symbol('.' 12)
+(
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+)
+Symbol('/' 12)
+(
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+Symbol('0' 12)
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+Symbol('1' 12)
+(
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+)
+Symbol('2' 12)
+(
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+)
+Symbol('3' 12)
+(
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+)
+Symbol('4' 12)
+(
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+)
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+)
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+Symbol('9' 12)
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+Symbol(':' 12)
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+)
+Symbol('<' 12)
+(
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+(
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+(
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+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" "6N136" 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" "6N136" 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" "6N136" 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)
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+
+Element(0x00000000 "optical coupling device" "U14" "6N136" 4925 1005 0 100 0x00000000)
+(
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+ 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)
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+(
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+ Pin(5375 825 60 35 "2" "2" 0x00000001)
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+ Pin(4975 275 60 35 "En" "7" 0x00000001)
+ Pin(4875 275 60 35 "Vcc" "8" 0x00000001)
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+ Pin(4275 1175 60 35 "NC" "4" 0x00000001)
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+Layer(5 "GND-comp")
+(
+)
+Layer(6 "Vcc-comp")
+(
+)
+Layer(7 "unused")
+(
+)
+Layer(8 "unused")
+(
+)
\documentclass[a4paper,12pt,brazil]{article}
\usepackage{babel}
-\usepackage{epsf}
\usepackage{float}
+\usepackage{times}
-\newcommand{\postscript}[2]
-{\setlength{\epsfxsize}{#2\hsize}
-\centerline{\epsfbox{#1}}}
-
-\renewcommand \thesection{\Roman{section}}
-
-\newtheorem{lemma}{Lema}
-\newtheorem{proof}{Prova}
+\newcommand{\foreign}[1]{{\it #1}}
\title{
-{\large Universidade Federal do Rio Grande do Sul\\
+Universidade Federal do Rio Grande do Sul\\
Escola de Engenharia\\
-Departamento de Engenharia El\'etrica}\\
-Actuator Interface Card}
+Departamento de Engenharia El\'etrica\\
+Actuator Interface Card\\
+Vers\~ao 1.1.0}
\author{Prof. Walter Fetter Lages}
\bibliographystyle{abbrv}
-\section{Introdu\c{c}\~ao}
+\part{Hardware}
\section{Mapa de Endere\c{c}os}
faixas 800000H-8FFFFFH, 900000H-9FFFFFH, A00000H-AFFFFFH e
B00000H-BFFFFFH, respectivamente.
-\begin{table}[H]
+\begin{table}[htb]
+\small
\caption{Mapa de Endere\c{c}os da TINI RevD}
\label{tab:addmap}
\begin{center}
\hline \hline
Endere\c{c}o & STROBE & Nome & Dispositivo & Refer\^encia\\
\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 & $\overline{\mbox{CE3}}$ \\
+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 & $\overline{\mbox{PCE3}}$ \\
+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}
mostra o mapeamento de endere\c{c}os dentro da faixa selecionada pelo
jumper.
-\begin{table}[H]
+\begin{table}[htb]
\caption{Mapa de Endere\c{c}os de Dispositivos Externos}
\label{tab:extmap}
\begin{center}
X90000H & Encoder & HCTL-2016 & U7\\
X90001H - X9FFFFH & Alias Encoder & HCTL-2016 & U7\\
XA0000H & Controle & 22V10 & U8\\
-XA0001H - XAFFFFH & Alias Controler & 22V10 & U8\\
+XA0001H - XAFFFFH & Alias Controller & 22V10 & U8\\
\hline
\end{tabular}
\end{center}
Este registrador (endere\c{c}o XA0000H) \'e implementado em um 22V10 e os
seus bits est\~ao descritos na tabela \ref{tab:ctrlreg}.
-\begin{table}[H]
+\begin{table}[htbp]
\caption{Registrador de Controle}
\label{tab:ctrlreg}
\begin{center}
\end{center}
\end{table}
-\section{Actuator Interface Case}
+\section{Conector Traseiro}
-O gabinete de montagem da AIC possui os conectores de interface RS232, CAN e
-Ethernet no painel frontal e o conector de conex\~ao ao atuador no painel
-traseiro. A pinagem deste conector \'e detalhada na tabela
+Os sinais de interface da AIC com os atuadores, sensores e barramento CAN
+est\~ao dispon\'{\i}veis no conector traseiro. A pinagem deste conector \'e
+detalhada na tabela
\ref{tab:backpinout}.
-\begin{table}[H]
+\begin{table}[htbp]
\caption{Pinagem do Conector Traseiro}
\label{tab:backpinout}
\begin{center}
+\begin{tabular}{ccp{7.5cm}}
+\hline \hline
+Pino & Sinal & Descri\c{c}\~ao\\
+\hline
+A1 & CANL0 & Sinal de n\'{\i}vel baixo do CAN 0\\
+B1, B2 & GNDCAN0 & Terra da alimenta\c{c}\~ao do CAN 0\\
+C2 & CANH0 & Sinal de n\'{\i}vel alto do CAN 0\\
+C1, A2 & VCAN0 & Entrada de alimenta\c{c}\~ao do CAN 0\\
+A3 & CANL1 & Sinal de n\'{\i}vel baixo do CAN 1 \\
+B3, B4 & GNDCAN1 & Terra da alimenta\c{c}\~ao do CAN 1\\
+C4 & CANH1 & Sinal de n\'{\i}vel alto do CAN 1\\
+C3, A4 & VCAN1 & Entrada de alimenta\c{c}\~ao do CAN 1\\
+\hline
+B5, B6 & GND & Terra do encoder\\
+A5 & CHA & Canal A do encoder\\
+C5, A6 & Vcc & Sa\'{\i}da de alimenta\c{c}\~ao do encoder\\
+C6 & CHB & Canal B do encoder\\
+\hline
+A7 & GND & Terra do \'{\i}ndice\\
+B7 & INDEX & Sinal de \'{\i}ndice\\
+C7 & +24V & Sa\'{\i}da de alimenta\c{c}\~ao do sensor de \'{\i}ndice\\
+\hline
+A22, B22, C22 & GND & Terra do freio\\
+A23, B23, C23 & /RELEASE & Sinal de libera\c{c}\~ao do freio\\
+A24, B24, C24 & +24V & Sa\'{\i}da de alimenta\c{c}\~ao do freio\\
+\hline
+A25, B25, C25 & MOTOR+ & Alimenta\c{c}\~ao do motor\\
+A26, B26, C26 & MOTOR- & Alimenta\c{c}\~ao do motor\\
+\hline
+A27, B27, C27 & GND & Terra da Alimenta\c{c}\~ao de +5V\\
+A28, B28, C28 & Vcc & Sa\'{\i}da de Alimenta\c{c}\~ao +5V
+(opcionalmente entrada, se o regulador n\~ao for instalado na placa) \\
+A29, B29, C29 & +12V & Sa\'{\i}da de Alimenta\c{c}\~ao +12V
+(opcionalmente entrada, se o regulador n\~ao for instalado na placa) \\
+A30, B30, C30 & GND & Terra da Alimenta\c{c}\~ao de +12V\\
+A31, B31, C31 & GND & Terra da Alimenta\c{c}\~ao de +24V\\
+A32, B32, C32 & +24V & Entrada de Alimenta\c{c}\~ao +24V\\
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+\part{Software}
+
+\section{Organiza\c{c}\~ao do Software}
+
+No diret\'orio \verb$aic$ existem diversos arquivos e diret\'orios. Alguns
+diret\'orios come\c{c}am com letra mai\'uscula. Estes diret\'orios cont\'em
+programas em Java e que devem rodar na AIC. Os diret\'orios que come\c{c}am
+com letras min\'usculas cont\'em programas que devem rodar no \foreign{host}. Note-se que a
+maioria deles tem duas vers\~oes: Uma que roda na AIC e outra que roda no \foreign{host}.
+A id\'eia \'e 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 s\~ao
+interpretados e executados na AIC. S\~ao os seguintes os arquivos e
+diret\'orios existentes:
+
+\begin{description}
+
+\item[{\tt AICOff}] Desliga todos os dispositivos, para ser executado na
+AIC.
+
+\item[{\tt CANTest}] Teste da comunica\c{c}\~ao atrav\'es do barramento CAN.
+
+\item[{\tt Changes}] Hist\'orico de altera\c{c}\~oes.
+
+\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 documenta\c{c}\~ao. Adicionalmente, cada diret\'orio tem o seu
+pr\'oprio {\tt Makefile}, que compila os programas que est\~ao l\'a.
+
+\item[{\tt MotorReset/}] Reseta o atuador, move o motor at\'e 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 descri\c{c}\~ao 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 \'e utilizado, basicamente, para
+teste dos protocolos de comunica\c{c}\~ao.
+
+\item[{\tt braketst/}] Teste do freio, para ser executado no \foreign{host}.
+
+\item[{\tt doc/}] Documenta\c{c}\~ao.
+
+\item[{\tt doc/javadocs}] Documenta\c{c}\~ao das classes Java, produzida
+pelo programa {\tt javadoc}.
+
+\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}
+
+A maioria dos programas para serem executados \foreign{host}, ao serem compilados, geram
+dois execut\'aveis, um comunicando-se atrav\'es do barramento CAN e outro
+atrav\'es de UDP. A constante {\tt USE\underline{ }UDP} \'e testada em tempo de
+compila\c{c}\~ao para determinar se deve ser produzida a vers\~ao utilizando
+CAN ou a vers\~ao utilizando UDP.
+
+
+\section{Protocolo de Aplica\c{c}\~ao Utilizado para Comunica\c{c}\~ao via
+UDP}
+\label{sec:UDP}
+
+A figura~\ref{fig:genpacket} mostra o formato gen\'erico dos datagramas que
+s\~ao transmitidos entre a AIC e o \foreign{host} atrav\'es do protocolo UDP. Os
+diversos campos do pacote s\~ao codificados em ASCII e separados pelo
+caractere de espa\c{c}o. A tabela~\ref{tab:genpacket} detalha os campos do
+datagrama.
+
+\begin{figure}[H]
+\begin{center}
+\begin{tabular}{|c|c|c|}
+\hline
+comando & & argumentos \\
+\hline
+\end{tabular}
+\end{center}
+\caption{Formato gen\'erico do datagrama de aplica\c{c}\~ao.}
+\label{fig:genpacket}
+\end{figure}
+
+\begin{table}[H]
+\begin{center}
+\caption{Descri\c{c}\~ao do datagrama de aplica\c{c}\~ao.}
+\label{tab:genpacket}
+\begin{tabular}{lp{10cm}}
+\hline
+Campo & Descri\c{c}\~ao\\
+\hline \hline
+identifica\c{c}\~ao & Identifica\c{c}\~ao do comando enviado para a AIC
+ ou do \foreign{status} enviado para o \foreign{host}.\\
+ & 'N' = liga motor \\
+ & 'P' = desliga motor \\
+ & 'M' = aplica tens\~ao no motor\\
+ & 'B' = aplica freio\\
+ & 'F' = libera freio\\
+ & 'R' = \foreign{reset}\\
+ & 'S' = \foreign{status}\\
+
+dados & par\^ametros para o comando, ou dados de \foreign{status},
+ se forem necess\'arios.\\
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+O campo destinado aos argumentos \'e de tamanho vari\'avel. Tamb\'em \'e
+importante ressaltar que alguns dos campos n\~ao s\~ao utilizados em
+fun\c{c}\~ao do tipo de datagrama. Para os c\'odigos utilizados no campo de
+identifica\c{c}\~ao 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 s\~ao utilizados para comandar
+os diversos dispositivos.
+
+\subsubsection{Liga Motor}
+
+O datagrama transmitido pelo \foreign{host}, para ligar o motor (com tens\~ao de 0V
+aplicada nele) \'e apresentado na figura~\ref{fig:turnon} e detalhado na
+tabela~\ref{tab:turnon}. N\~ao \'e utilizado o campo de dados.
+
+\begin{figure}[H]
+\begin{center}
+\begin{tabular}{|c|}
+\hline
+'N' \\
+\hline
+\end{tabular}
+\caption{Datagrama liga motor.}
+\label{fig:turnon}
+\end{center}
+\end{figure}
+
+\begin{table}[H]
+\begin{center}
+\caption{Descri\c{c}\~ao do datagrama liga motor.}
+\label{tab:turnon}
+\begin{tabular}{cl}
+\hline Campo & Descri\c{c}\~ao\\
+\hline \hline
+'N' & Identificador do comando liga motor\\
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+
+\subsubsection{Desliga Motor}
+
+O datagrama transmitido pelo \foreign{host} para desligar o motor \'e apresentado na
+figura~\ref{fig:turnoff} e detalhado na tabela~\ref{tab:turnoff}. N\~ao \'e utilizado o campo de dados.
+
+\begin{figure}[H]
+\begin{center}
+\begin{tabular}{|c|}
+\hline
+'P'\\
+\hline
+\end{tabular}
+\caption{Formato do datagrama desliga motor.}
+\label{fig:turnoff}
+\end{center}
+\end{figure}
+
+\begin{table}[H]
+\begin{center}
+\caption{Descri\c{c}\~ao do datagrama desliga motor.}
+\label{tab:turnoff}
+\begin{tabular}{cl}
+\hline
+Campo & Descri\c{c}\~ao\\
+\hline \hline
+'P' & Identificador do comando desliga motor\\
+\hline
+\end{tabular}
+\end{center}
+ \end{table}
+
+\subsubsection{Aplica Tens\~ao no Motor}
+
+O datagrama transmitido do \foreign{host} para aplicar uma tens\~ao no motor
+\'e apresentado na figura~\ref{fig:voltage} e descrito na
+tabela~\ref{tab:voltage}.
+
+\begin{figure}[H]
+\begin{center}
+\begin{tabular}{|c|c|c|}
+\hline
+'M' & & tens\~ao \\
+\hline
+\end{tabular}
+\caption{Formato do datagrama aplica tens\~ao no motor.}
+\label{fig:voltage}
+\end{center}
+\end{figure}
+
+\begin{table}[H]
+\begin{center}
+\caption{Descri\c{c}\~ao do datagrama aplica tens~ao no motor.}
+\label{tab:voltage}
+\begin{tabular}{cl}
+\hline
+Campo & Descri\c{c}\~ao\\
+\hline \hline
+'M' & Identificador do comando aplica tens\~ao no motor.\\
+tens\~ao & Tens\~ao a ser aplicada no motor.\\
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+\subsubsection{Aplica freio}
+
+O datagrama transmitido pelo \foreign{host}, para aplicar o freio
+eletromagn\'etico (colocando a sa\'{\i}da correspondente no estado inativo)
+\'e apresentado na figura~\ref{fig:brakeon} e detalhado na
+tabela~\ref{tab:brakeon}. N\~ao \'e utilizado o campo de dados.
+
+\begin{figure}[H]
+\begin{center}
+\begin{tabular}{|c|}
+\hline
+'B' \\
+\hline
+\end{tabular}
+\caption{Datagrama aplica freio.}
+\label{fig:brakeon}
+\end{center}
+\end{figure}
+
+\begin{table}[H]
+\begin{center}
+\caption{Descri\c{c}\~ao do datagrama aplica freio.}
+\label{tab:brakeon}
\begin{tabular}{cl}
+\hline
+Campo & Descri\c{c}\~ao\\
\hline \hline
-Pino & Sinal\\
+'B' & Identificador do comando aplica freio\\
\hline
-1 & GND Encoder\\
-2 & CHA\\
-3 & +5V\\
-4 & CHB\\
-5 & GND \'Indice\\
-6 & \'Indice\\
-7 & +24V \'Indice\\
-8 & GND\\
-9 & +24V\\
-10 & Freio\\
-11 & Motor +\\
-12 & Motor -\\
+\end{tabular}
+\end{center}
+\end{table}
+
+\subsubsection{Libera Freio}
+
+O datagrama transmitido pelo \foreign{host} para liberar o freio
+eletromagn\'etico (ativando a sa\'{\i}da correspondente) \'e apresentado na
+figura~\ref{fig:brakeoff} e detalhado na tabela~\ref{tab:brakeoff}. N\~ao \'e utilizado o campo de dados.
+
+\begin{figure}[H]
+\begin{center}
+\begin{tabular}{|c|}
+\hline 'F'\\
+\hline
+\end{tabular}
+\caption{Formato do datagrama libera freio.}
+\label{fig:brakeoff}
+\end{center}
+\end{figure}
+
+\begin{table}[H]
+\begin{center}
+\caption{Descri\c{c}\~ao do datagrama libera freio.}
+\label{tab:brakeoff}
+\begin{tabular}{cl}
+\hline
+Campo & Descri\c{c}\~ao\\
+\hline \hline
+'F' & Identificador do comando libera freio\\
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+\subsubsection{\foreign{Reset}}
+
+O datagrama transmitido pelo \foreign{host} para resetar a AIC \'e
+apresentado na figura~\ref{fig:reset} e detalhado na tabela~\ref{tab:reset}.
+N\~ao \'e utilizado o campo de dados.
+
+\begin{figure}[H]
+\begin{center}
+\begin{tabular}{|c|}
+\hline 'R'\\
+\hline
+\end{tabular}
+\caption{Formato do datagrama \foreign{reset}.}
+\label{fig:reset}
+\end{center}
+\end{figure}
+
+\begin{table}[H]
+\begin{center}
+\caption{Descri\c{c}\~ao do datagrama \foreign{reset}.}
+\label{tab:reset}
+\begin{tabular}{cl}
+\hline
+Campo & Descri\c{c}\~ao\\
+\hline \hline
+'R' & Identificador do comando \foreign{reset}\\
\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} s\~ao utilizados para
+reportar o \foreign{status} dos diversos dispositivos.
+
+\subsubsection{\foreign{Status}}
+
+O datagrama transmitido pela AIC para o \foreign{host} com a
+informa\c{c}\~ao de \foreign{status} dos dispositivos \'e apresentado na
+figura~\ref{fig:status} e detalhado na tabela~\ref{tab:status}.
+
+\begin{figure}[H]
+\begin{center}
+\begin{tabular}{|c|c|c|c|c|}
+\hline
+'S' & & deslocamento & & \'{\i}ndice \\
+\hline
+\end{tabular}
+\caption{Formato do datagrama \foreign{status}.}
+\label{fig:status}
+\end{center}
+\end{figure}
+
+\begin{table}[H]
+\begin{center}
+\caption{Descri\c{c}\~ao do datagrama \foreign{status}.}
+\label{tab:status}
+\begin{tabular}{cp{11cm}}
+\hline
+Campo &Descri\c{c}\~ao\\
+\hline \hline
+'S' & Identificador de \foreign{status}.\\
+deslocamento & Deslocamento do motor desde o \'ultimo datagrama de
+ status, em radianos ou em pulsos. O mesmo datagrama
+ \'e utilizado para deslocamento em radianos ou em pulsos.
+ A unidade adequada deve ser convencionada entre os
+ programas utilizando o protocolo. \\
+\'{\i}ndice & Estado da \foreign{sync-switch} (0 ou 1).\\
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+\section{Protocolo de Aplica\c{c}\~ao Utilizado para Comunica\c{c}\~ao via
+CAN}
+\label{sec:CAN}
+
+O protocolo de aplica\c{c}\~ao para comunica\c{c}\~ao via CAN utiliza o
+campo {\bf identifier} do quadro CAN para identificar a AIC \`a qual refere-se
+a mensagem (AIC de origem ou destino da mensagem) e o c\'odigo do comando
+enviado para a AIC ou do \foreign{status} enviado para o \foreign{host}.
+Todas as mensagens s\~ao transmitidas atrav\'es de um quadro de dados
+utilizando o identificador padr\~ao de 11 bits. Os dados associados ao
+comando ou \foreign{status} s\~ao transmitidos em bin\'ario. Inteiros s\~ao
+codificados em complemento 2 com 32 bits. N\'umeros em ponto flutuante s\~ao
+codificados em IEEE-754. Os bits mais significativos s\~ao 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 comunica\c{c}\~ao \'e via UDP, s\~ao utilizados
+os mesmos c\'odigos de comando ou \foreign{status}. No entanto, como s\~ao
+utilizados apenas 6 bits para isto, os dois bits mais significativos do
+caractere ASCII correspondente n\~ao s\~ao transmitidos no quadro CAN. Estes
+bits s\~ao suprimidos e reinseridos pelas rotinas das bibliotecas (vide
+se\c{c}\~ao~\ref{sec:lib}), de forma a manter uma interface com o usu\'ario
+uniforme independente do meio de transmiss\~ao.
+
+\begin{table}[H]
+\begin{center}
+\caption{Descri\c{c}\~ao do campo identificador do quadro de dados CAN.}
+\label{tab:canident}
+\begin{tabular}{lp{12cm}}
+\hline
+Bits & Descri\c{c}\~ao\\
+\hline \hline
+10-5 & C\'odigo do comando enviado para a AIC
+ ou do \foreign{status} enviado para o \foreign{host}.\\
+ & 'N' = 001110 = liga motor \\
+ & 'P' = 010000 = desliga motor \\
+ & 'M' = 001101 = aplica tens\~ao no motor\\
+ & 'B' = 000001 = aplica freio\\
+ & 'F' = 000110 = libera freio\\
+ & 'R' = 010010 = \foreign{reset}\\
+ & 'S' = 010011 = \foreign{status}\\
+4-0 & Identifica\c{c}\~ao da AIC \`a qual refere-se
+ a mensagem (AIC de origem ou destino da mensagem)\\
+ & 00000 mensagem n\~ao associada qualquer AIC espec\'{\i}fica\\
+ & 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} s\~ao transmitidos em
+bin\'ario no campo de dados do quadro CAN. Inteiros s\~ao codificados em
+complemento 2 com 32 bits. N\'umeros em ponto flutuante s\~ao codificados em
+IEEE-754. Os bits mais significativos s\~ao transmitidos primeiro.
+
+Para os c\'odigos de comando ou \foreign{status} utilizados no campo de
+identifica\c{c}\~ao 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 s\~ao utilizados para
+comandar os diversos dispositivos.
+
+\subsubsection{Liga Motor}
+
+A mensagem transmitida pelo \foreign{host}, para ligar o motor (com tens\~ao
+de 0V aplicada nele) \'e detalhada na tabela~\ref{tab:turnoncan}. N\~ao \'e
+utilizado o campo de dados.
+
+\begin{table}[H]
+\begin{center}
+\caption{Descri\c{c}\~ao da mensagem liga motor.}
+\label{tab:turnoncan}
+\begin{tabular}{cl}
+\hline Campo & Valor\\
+\hline \hline
+Identificador & 001110xxxxx\\
+Dados & N\~ao utilizado\\
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+
+\subsubsection{Desliga Motor}
+
+A mensagem transmitida pelo \foreign{host} para desligar o motor \'e
+detalhada na tabela~\ref{tab:turnoffcan}. N\~ao \'e utilizado o campo de dados.
+
+\begin{table}[H]
+\begin{center}
+\caption{Descri\c{c}\~ao da mensagem desliga motor.}
+\label{tab:turnoffcan}
+\begin{tabular}{cl}
+\hline
+Campo & Valor\\
+\hline \hline
+Identificador &010000xxxxx\\
+Dados & N\~ao utilizado\\
+\hline
+\end{tabular}
+\end{center}
+ \end{table}
+
+\subsubsection{Aplica Tens\~ao no Motor}
+
+A mensagem transmitida do \foreign{host} para aplicar uma tens\~ao no motor
+\'e descrita na tabela~\ref{tab:voltagecan}.
+
+\begin{table}[H]
+\begin{center}
+\caption{Descri\c{c}\~ao da mensagem aplica tens\~ao no motor.}
+\label{tab:voltagecan}
+\begin{tabular}{cp{11cm}}
+\hline
+Campo & Valor\\
+\hline \hline
+Identificador & 001101xxxxx\\
+Dados & Tens\~ao a ser aplicada no motor em IEEE-754
+ precis\~ao dupla, com o MSB transmitido primeiro.\\
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+\subsubsection{Aplica freio}
+
+A mensagem transmitida pelo \foreign{host}, para aplicar o freio
+eletromagn\'etico (colocando a sa\'{\i}da correspondente no estado inativo)
+\'e detalhada na tabela~\ref{tab:brakeoncan}. N\~ao \'e utilizado o campo de
+dados.
+
+\begin{table}[H]
+\begin{center}
+\caption{Descri\c{c}\~ao da mensagem aplica freio.}
+\label{tab:brakeoncan}
+\begin{tabular}{cl}
+\hline
+Campo & Valor\\
+\hline \hline
+Identificador & 000001xxxxx\\
+Dados & N\~ao utilizado\\
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+\subsubsection{Libera Freio}
+
+A mensagem transmitida pelo \foreign{host} para liberar o freio
+eletromagn\'etico (ativando a sa\'{\i}da correspondente) \'e detalhada na
+tabela~\ref{tab:brakeoffcan}. N\~ao \'e utilizado o campo de dados.
+
+\begin{table}[H]
+\begin{center}
+\caption{Descri\c{c}\~ao da mensagem libera freio.}
+\label{tab:brakeoffcan}
+\begin{tabular}{cl}
+\hline
+Campo & Valor\\
+\hline \hline
+Identificador & 000110xxxxx\\
+Dados & N\~ao utilizado\\
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+\subsubsection{\foreign{Reset}}
+
+A mensagem transmitida pelo \foreign{host} para resetar a AIC \'e detalhada
+na tabela~\ref{tab:resetcan}. N\~ao \'e utilizado o campo de dados.
+
+\begin{table}[H]
+\begin{center}
+\caption{Descri\c{c}\~ao da mensagem \foreign{reset}.}
+\label{tab:resetcan}
+\begin{tabular}{cl}
+\hline
+Campo & Valor\\
+\hline \hline
+Identificador & 010010xxxxx\\
+Dados & N\~ao 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} s\~ao utilizadas para
+reportar o \foreign{status} dos diversos dispositivos.
+
+\subsubsection{\foreign{Status}}
+
+A mensagem transmitida pela AIC para o \foreign{host} com a informa\c{c}\~ao
+de \foreign{status} dos dispositivos \'e detalhada na
+tabela~\ref{tab:statuscan}.
+
+\begin{table}[H]
+\begin{center}
+\caption{Descri\c{c}\~ao da mensagem \foreign{status}.}
+\label{tab:statuscan}
+\begin{tabular}{cp{11cm}}
+\hline
+Campo & Valor\\
+\hline \hline
+Identificador & 010011xxxxx\\
+Dados & Deslocamento do motor desde o \'ultimo datagrama de
+ status, em radianos ou em pulsos. O mesmo datagrama
+ \'e utilizado para deslocamento em radianos ou em
+ pulsos. A unidade adequada deve ser convencionada
+ entre os programas utilizando o protocolo. O
+ Deslocamento \'e 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 \'ultimos 4 bytes do
+ campo de dados.\\
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+\section{Bibliotecas}
+\label{sec:lib}
+
+A opera\c{c}\~ao da AIC e da comunica\c{c}\~ao com o \foreign{host} \'e
+suportada pelas bibliotecas de classes {\tt AIC.jar} e {\tt libaic.a}. A
+biblioteca {\tt AIC.jar} \'e utilizada pelos programas em Java que executam
+na AIC, enquanto a biblioteca {\tt libaic.a} \'e utilizada pelos programas em
+C++ que executam no \foreign{host}.
+
+A documenta\c{c}\~ao da biblioteca {\tt AIC.jar} foi gerada automaticamente
+atrav\'es do utilit\'ario {\tt javadoc} e est\'a dispon\'{\i}vel em {\tt
+doc/javadocs/index.html}.
+
+As classes contidas na biblioteca {\tt libaic.a} podem ser divididas em dois
+grupos: classes utilizadas para opera\c{c}\~ao da AIC e classes para
+Emula\c{c}\~ao da AIC em outro computador. Este \'ultimo conjunto de classes
+\'e utilizado basicamente pelo programa {\tt aicd}.
+
+\subsection{Classes para Opera\c{c}\~ao da AIC}
+
+\subsubsection{Classe {\tt AIC\underline{ }COMM}}
+
+Declarada em {\tt aic.h}. \'E utilizada para encapsular a comunica\c{c}\~ao
+do \foreign{host} com a AIC. Define as seguintes fun\c{c}\~oes virtuais:
+
+\begin{verbatim}
+ virtual void send_command(const char *cmd,int len)=0;
+\end{verbatim}
+
+Utilizada para enviar para a AIC uma \foreign{string} com o comando e
+argumentos, como definido na se\c{c}\~oes~\ref{sec:UDP} e~\ref{sec:CAN}.
+
+\begin{verbatim}
+ virtual int get_status(char *status,int len)=0;
+\end{verbatim}
+
+Utilizada para receber da AIC uma \foreign{string} de \foreign{status} e
+argumentos, como definido nas se\c{c}\~oes~\ref{sec:UDP} e~\ref{sec:CAN}.
+
+\subsubsection{Classe {\tt AIC\underline{ }MOTOR}}
+
+Declarada em {\tt aic.h}. Esta classe \'e utilizada para implementar a
+classe AIC e, a princ\'{\i}pio, n\~ao deve ser utilizada diretamente.
+Implementa fun\c{c}\~oes que comandam, atrav\'es do canal de
+comunica\c{c}\~ao, o \foreign{driver} do motor da AIC:
+
+\begin{verbatim}
+ AIC_MOTOR(AIC_COMM *comm);
+\end{verbatim}
+
+\foreign{Constructor} que inicializa o objeto a ser criado, em especial,
+armazenando um ponteiro para a classe que implementa o canal de
+comunica\c{c}\~ao.
+
+\begin{verbatim}
+ void on(void);
+\end{verbatim}
+
+Liga o motor, com tens\~ao de 0V aplicada.
+
+\begin{verbatim}
+ void off(void);
+\end{verbatim}
+
+Desliga o motor.
+
+\begin{verbatim}
+ double operator=(double voltage);
+\end{verbatim}
+
+Aplica uma tens\~ao no motor.
+
+\subsubsection{Classe {\tt AIC\underline{ }ENCODER}}
+
+Declarada em {\tt aic.h}. Esta classe \'e utilizada para implementar a
+classe AIC e, a princ\'{\i}pio, n\~ao deve ser utilizada diretamente.
+Implementa fun\c{c}\~oes que acessam, atrav\'es do canal de
+comunica\c{c}\~ao, o encoder da AIC:
+
+\begin{verbatim}
+ AIC_ENCODER(AIC_COMM *comm);
+\end{verbatim}
+
+\foreign{Constructor} que inicializa o objeto a ser criado, em especial,
+armazenando um ponteiro para a classe que implementa o canal de
+comunica\c{c}\~ao.
+
+\begin{verbatim}
+ double read(void);
+\end{verbatim}
+
+Obt\'em a leitura do encoder.
+
+\begin{verbatim}
+ double read(int *index);
+\end{verbatim}
+
+Obt\'em a leitura do encoder e do \foreign{sync-switch}.
+
+
+\subsubsection{Classe {\tt AIC\underline{ }BRAKE}}
+
+Declarada em {\tt aic.h}. Esta classe \'e utilizada para implementar a
+classe AIC e, a princ\'{\i}pio, n\~ao deve ser utilizada diretamente.
+Implementa fun\c{c}\~oes que acessam, atrav\'es do canal de
+comunica\c{c}\~ao, o \foreign{driver} do freio eletromagn\'etico da AIC:
+
+\begin{verbatim}
+ AIC_BRAKE(AIC_COMM *comm);
+\end{verbatim}
+
+\foreign{Constructor} que inicializa o objeto a ser criado, em especial,
+armazenando um ponteiro para a classe que implementa o canal de
+comunica\c{c}\~ao.
+
+\begin{verbatim}
+ void apply(void);
+\end{verbatim}
+
+Aplica o freio eletromagn\'etico, colocando a sa\'{\i}da correspondente no estado inativo.
+
+\begin{verbatim}
+ void release(void);
+\end{verbatim}
+
+Libera o freio eletromagn\'etico, colocando a sa\'{\i}da correspondente no estado ativo.
+
+\subsubsection{Classe {\tt AIC\underline{ }INDEX}}
+
+Declarada em {\tt aic.h}. Esta classe \'e utilizada para implementar a
+classe AIC e, a princ\'{\i}pio, n\~ao deve ser utilizada diretamente.
+Implementa fun\c{c}\~oes que acessam, atrav\'es do canal de
+comunica\c{c}\~ao, o \foreign{sync-switch} da AIC:
+
+\begin{verbatim}
+ AIC_INDEX(AIC_COMM *comm);
+\end{verbatim}
+
+\foreign{Constructor} que inicializa o objeto a ser criado, em especial,
+armazenando um ponteiro para a classe que implementa o canal de
+comunica\c{c}\~ao.
+
+\begin{verbatim}
+ int read(void);
+\end{verbatim}
+
+Obt\'em a leitura do \foreign{sync-switch}.
+
+\begin{verbatim}
+ int read(double *disp);
+\end{verbatim}
+
+Obt\'em a leitura do \foreign{sync-switch} e do \foreign{encoder}.
+
+
+\subsubsection{Classe {\tt AIC}}
+
+Declarada em {\tt aic.h}. Encapsula os dispositivos existentes em uma AIC.
+Para ser utilizada esta classe precisa ser associada \`a um canal de
+comunica\c{c}\~ao, o que \'e feito atrav\'es do seu \foreign{constructor}.
+No entanto, tipicamente, esta classe ser\'a utilizada atrav\'es das classes
+derivadas {\tt AIC\underline{ }UDP} e {\tt AIC\underline{ }CAN}, que j\'a
+incluem o canal de comunica\c{c}\~ao UDP ou CAN, respectivamente.
+
+Esta classe declara os seguintes objetos:
+
+\begin{verbatim}
+ AIC_MOTOR motor;
+ AIC_ENCODER encoder;
+ AIC_BRAKE brake;
+ AIC_INDEX index;
+\end{verbatim}
+
+\noindent e o seguinte \foreign{constructor}:
+
+\begin{verbatim} AIC(AIC_COMM *comm); \end{verbatim}
+
+\noindent que inicializa o objeto a ser criado, em especial,
+armazenando um ponteiro para a classe que implementa o canal de
+comunica\c{c}\~ao.
+
+\subsubsection{Classe {\tt AIC\underline{ }UDP}}
+
+Declarada em {\tt aicudp.h}. Derivada (por deriva\c{c}\~ao p\'ublica) das
+classes {\tt AIC\underline{ }COMM} e {\tt AIC}. \'E a classe {\tt AIC}
+associada a um canal de comunica\c{c}\~ao por UDP. Esta classe \'e para ser
+utilizada pelo usu\'ario quando deseja acessar a AIC atrav\'es de UDP.
+Implementa as seguintes fun\c{c}\~oes:
+
+\begin{verbatim}
+ AIC_UDP(const char *aicname,int statport=STATUS_PORT,
+ int cmdport=CMD_PORT);
+\end{verbatim}
+
+\foreign{Constructor} que cria um objeto {\tt AIC\underline{ }UDP} com
+conex\~ao por UDP \`a AIC com nome contido na \foreign{string} {\tt
+aicname}. \'E feito um \foreign{bind} na porta {\tt statusport} para receber
+os datagramas de \foreign{status} enviados pela AIC. Os comandos s\~ao
+enviados para a porta {\tt cmdport} da AIC. {\tt STATUS\underline{ }PORT} e
+{\tt CMD\underline{ }PORT} s\~ao constantes definidas em {\tt aicnet.h} com
+os n\'umeros das portas default.
+
+\begin{verbatim}
+ virtual ~AIC_UDP(void);
+\end{verbatim}
+
+\foreign{Destructor} que fecha os \foreign{sockets} abertos pelo
+\foreign{constructor}.
+
+\begin{verbatim}
+ void send_command(const char *cmd,int len);
+\end{verbatim}
+
+Utilizada para enviar para a AIC uma \foreign{string} com o comando e
+argumentos, como definido na se\c{c}\~ao~\ref{sec:UDP}.
+\'E a implementa\c{c}\~ao da fun\c{c}\~ao virtual correspondente declarada
+na classe {\tt AIC\underline{ }COMM}.
+
+\begin{verbatim}
+ int get_status(char *status,int len);
+\end{verbatim}
+
+Utilizada para receber da AIC uma \foreign{string} de \foreign{status} e
+argumentos, como definido na se\c{c}\~ao~\ref{sec:UDP}.
+\'E a implementa\c{c}\~ao da fun\c{c}\~ao virtual correspondente declarada
+na classe {\tt AIC\underline{ }COMM}.
+
+\subsubsection{Classe {\tt AIC\underline{ }CAN}}
+
+Declarada em {\tt aiccan.h}. Derivada (por deriva\c{c}\~ao p\'ublica) das
+classes {\tt AIC\underline{ }COMM} e {\tt AIC}. \'E a classe {\tt AIC}
+associada a um canal de comunica\c{c}\~ao por CAN. Esta classe \'e para ser
+utilizada pelo usu\'ario quando deseja acessar a AIC atrav\'es de CAN.
+Implementa as seguintes fun\c{c}\~oes:
+
+\begin{verbatim}
+ AIC_CAN(int aic,int bus=0);
+\end{verbatim}
+
+\foreign{Constructor} que cria um objeto {\tt AIC\underline{ }CAN} com
+conex\~ao por CAN \`a AIC de n\'umero {\tt aic} no barramento {\tt bus}. Por
+default \'e utilizado o barramento 0.
+
+\begin{verbatim}
+ virtual ~AIC_CAN(void);
+\end{verbatim}
+
+\foreign{Destructor} que fecha a conex\~ao CAN aberta pelo
+\foreign{constructor}.
+
+\begin{verbatim}
+ void send_command(const char *cmd,int len);
+\end{verbatim}
+
+Utilizada para enviar para a AIC uma \foreign{string} com o comando e
+argumentos, como definido na se\c{c}\~ao\ref{sec:CAN}, ou seja, embora a
+fun\c{c}\~ao receba uma \foreign{string} em ASCII, os dados s\~ao enviados
+em bin\'ario. \'E a implementa\c{c}\~ao da fun\c{c}\~ao virtual
+correspondente declarada na classe {\tt AIC\underline{ }COMM}.
+
+\begin{verbatim}
+ int get_status(char *status,int len);
+\end{verbatim}
+
+Utilizada para receber da AIC uma \foreign{string} de \foreign{status} e
+argumentos, como definido na se\c{c}\~ao~\ref{sec:CAN}, ou seja, embora a
+fun\c{c}\~ao retorne um string em ASCII, os dados s\~ao recebidos em
+bin\'ario. \'E a implementa\c{c}\~ao da fun\c{c}\~ao virtual correspondente
+declarada na classe {\tt AIC\underline{ }COMM}.
+
+\subsection{Constantes para Comunica\c{c}\~ao entre AIC e \foreign{host}}
+
+O arquivo {\tt aicnet.h} define diversas constantes para implementa\c{c}\~ao
+da comunica\c{c}\~ao entre AIC e \foreign{host}. Obviamente estas constantes
+devem ser utilizadas ao inv\'es de serem utilizados diretamente os
+caracteres e n\'umeros definidos nos protocolos, para manter a
+compatibilidade em caso de altera\c{c}\~ao no protocolo.
+
+\subsubsection{Constantes de Identifica\c{c}\~ao dos Comandos}
+
+As seguintes constantes est\~ao definidas para os comandos descritos na
+tabela~\ref{tab:genpacket}:
+
+\begin{description}
+
+\item[{\tt AIC\underline{ }MOTOR\underline{ }ACT}:] Aplica tens\~ao no motor
+
+\item[{\tt AIC\underline{ }MOTOR\underline{ }ON}:] Liga motor
+
+\item[{\tt AIC\underline{ }MOTOR\underline{ }OFF}:] Desliga motor
+
+\item[{\tt AIC\underline{ }BRAKE\underline{ }RELEASE}:] Libera freio
+
+\item[{\tt AIC\underline{ }BRAKE\underline{ }APPLY}:] Aplica freio
+
+\item[{\tt AIC\underline{ }RESET}:] \foreign{Reset}
+
+\item[{\tt AIC\underline{ }STATUS}:] \foreign{Status}
+
+\end{description}
+
+\subsubsection{Constantes com N\'umeros de Porta Default}
+
+As seguintes constantes definem as portas default utilizadas na
+comunica\c{c}\~ao via UDP:
+
+\begin{description}
+
+\item[{\tt CMD\underline{ }PORT}:] Porta para envio dos comandos para a AIC
+
+\item[{\tt STATUS\underline{ }PORT}:] Porta para recep\c{c}\~ao do \foreign{status}
+pelo \foreign{host}.
+
+\end{description}
+
+\subsection{Classes para Emula\c{c}\~ao da AIC}
+
+As classes a seguir s\~ao utilizadas para emular o comportamento da AIC em
+outro computador. Assim, s\~ao basicamente utilizadas no programa {\tt
+aicd}.
+
+\subsubsection{Classe {\tt AIC\underline{ }SIM}}
+
+Declarada em {\tt aicsim.h}. Derivada (por deriva\c{c}\~ao p\'ublica) das
+classes {\tt AIC\underline{ }COMM} e {\tt AIC}. \'E uma classe {\tt AIC}
+onde a comunica\c{c}\~ao com a AIC real \'e emulada. Os comandos enviados
+para a AIC s\~ao logados em {\tt cout}. Tamb\'em \'e equivalente \`a classe
+AIC dispon\'{\i}vel em {\tt AIC.jar} (para ser utilizada na AIC), com a
+diferen\c{c}a de que ao inv\'es do acesso ao \foreign{hardware} tem-se o log
+dos comandos. A informa\c{c}\~ao de \foreign{status} gerada incrementa
+continuamente o n\'umero de pulsos dos \foreign{encoders}. Esta classe \'e
+para ser utilizada pelo usu\'ario quando deseja emular o acesso a AIC.
+Implementa as seguintes fun\c{c}\~oes:
+
+\begin{verbatim}
+ AIC_SIM(void);
+\end{verbatim}
+
+\foreign{Constructor} que cria um objeto {\tt AIC\underline{ }SIM} para
+simular a conex\~ao com uma AIC real.
+
+\begin{verbatim}
+ void send_command(const char *cmd,int len);
+\end{verbatim}
+
+Utilizada para enviar para a AIC uma \foreign{string} com o comando e
+argumentos, como definido na se\c{c}\~ao~\ref{sec:UDP}. No entanto, ao
+inv\'es de enviar os comandos atrav\'es de uma conex\~ao UDP, os mesmos
+s\~ao logados em {\tt cout}. \'E a implementa\c{c}\~ao da fun\c{c}\~ao
+virtual correspondente declarada na classe {\tt AIC\underline{ }COMM}.
+
+\begin{verbatim}
+ int get_status(char *status,int len);
+\end{verbatim}
+
+Utilizada para receber da AIC uma \foreign{string} de \foreign{status} e
+argumentos, como definido na se\c{c}\~ao~\ref{sec:UDP}. No entanto, ao
+inv\'es dos dados serem recebidos por uma conex\~ao UDP s\~ao emulados
+localmente com um incremento do n\'umero de pulsos do encoder e
+alterna\c{c}\~ao do \'{\i}ndice entre 0 e 1 a cada chamada. \'E a
+implementa\c{c}\~ao da fun\c{c}\~ao virtual correspondente declarada na
+classe {\tt AIC\underline{ }COMM}.
+
+\subsubsection{Classe {\tt AIC\underline{ }HOST}}
+
+Declarada em {\tt aichost.h}. Esta classe encapsula a comunica\c{c}\~ao
+entre a AIC (emulada em um computador) e o \foreign{host}. \'E equivalente
+\`a classe {\tt Host} dispon\'{\i}vel em {\tt AIC.jar} (para ser utilizada na AIC), com a
+diferen\c{c}a de que ao inv\'es de prover a conex\~ao entre a AIC e o
+\foreign{host} prov\^e a comunica\c{c}\~ao entre a AIC emulada e o
+\foreign{host}. Define as seguintes fun\c{c}\~oes:
+
+\begin{verbatim}
+ AIC_HOST(void);
+\end{verbatim}
+
+\foreign{Constructor}, que inicializa o objeto, alocando os recursos
+necess\'arios.
+
+\begin{verbatim}
+ virtual ~AIC_HOST(void);
+\end{verbatim}
+
+\foreign{Destructor}, que libera os recursos alocados para o objeto.
+
+\begin{verbatim}
+ virtual int command(void)=0;
+\end{verbatim}
+
+Retorna o c\'odigo de comando recebido pelo canal de comunica\c{c}\~ao como
+definido nas se\c{c}\~oes~\ref{sec:UDP} e~\ref{sec:CAN}.
+
+\begin{verbatim}
+ int getstatus(void) const;
+\end{verbatim}
+
+Retorna o \foreign{status} da AIC emulada. O \foreign{status} \'e um
+\foreign{bit-map} onde est\~ao definidas as seguintes constantes para
+manipula\c{c}\~ao dos bits:
+
+\begin{description}
+\item[{\tt MOTOR\underline{ }ON}:] Em 1 se o motor est\'a ligado.
+\item[{\tt BRAKE\underline{ }APPLIED}:] Em 1 se o freio eletromagn\'etico
+est\'a aplicado.
+\end{description}
+
+\begin{verbatim}
+ virtual void send_status(double disp,int index)=0;
+\end{verbatim}
+
+Envia o \foreign{status} da AIC para o \foreign{host} com um deslocamento de {\tt disp}
+radianos e com o \foreign{status} do \foreign{sync-switch} em {\tt index}.
+
+\begin{verbatim}
+ double voltage(void) const;
+\end{verbatim}
+
+Retorna a tens\~ao a ser aplicada no motor recebida com o \'ultimo comando
+correspondente. Isto e\' quando a fun\c{c}\~ao {\tt command} retornou {\tt
+AIC\underline{ }MOTOR\underline{ }ACT}.
+
+\subsubsection{Classe {\tt AIC\underline{ }HOST\underline{ }UDP}}
+
+Declarada em {\tt aichostudp.h}. Derivada (por deriva\c{c}\~ao p\'ublica) da
+classe {\tt AIC\underline{ }HOST}. Implementa a comunica\c{c}\~ao por UDP
+entre a AIC emulada e o \foreign{host}. \'E equivalente \`a classe {\tt
+HostUDP} dispon\'{\i}vel em {\tt AIC.jar} (para ser utilizada na AIC), com a
+diferen\c{c}a de que ao inv\'es de prover a conex\~ao entre a AIC e o
+\foreign{host} prov\^e a comunica\c{c}\~ao entre a AIC emulada e o
+\foreign{host}. Implementa as seguintes fun\c{c}\~oes:
+
+\begin{verbatim}
+ AIC_HOST_UDP(const char *controllername,
+ int statusport=STATUS_PORT,int cmdport=CMD_PORT);
+\end{verbatim}
+
+\foreign{Constructor} que cria um objeto {\tt AIC\underline{ }HOST\underline{ }UDP}
+ com conex\~ao por UDP ao \foreign{host} com nome
+contido na \foreign{string} {\tt controllername}. \'E feito um
+\foreign{bind} na porta {\tt cmdport} para receber os datagramas de controle
+enviados pelo \foreign{host}. Os datagramas de \foreign{status} s\~ao
+enviados para a porta {\tt statusport} do \foreign{host}. {\tt
+STATUS\underline{ }PORT} e {\tt CMD\underline{ }PORT} s\~ao constantes
+definidas em {\tt aicnet.h} com os n\'umeros das portas default.
+
+\begin{verbatim}
+ ~AIC_HOST_UDP(void);
+\end{verbatim}
+
+\foreign{Destructor} que fecha os \foreign{sockets} abertos pelo
+\foreign{constructor}.
+
+\begin{verbatim}
+ int command(void);
+\end{verbatim}
+
+Retorna o c\'odigo de comando recebido pelo canal de comunica\c{c}\~ao como
+definido na se\c{c}\~ao~\ref{sec:UDP}. \'E a implementa\c{c}\~ao da
+fun\c{c}\~ao virtual correspondente declarada na classe {\tt AIC\underline{ }HOST}.
+
+\begin{verbatim}
+ void send_status(double disp,int index);
+\end{verbatim}
+
+Envia o \foreign{status} da AIC emulada para o \foreign{host} com um
+deslocamento de {\tt disp} radianos e com o \foreign{status} do
+\foreign{sync-switch} em {\tt index}. \'E a implementa\c{c}\~ao da
+fun\c{c}\~ao virtual correspondente declarada na classe {\tt AIC\underline{ }HOST}.
+
+\subsubsection{Classe {\tt AIC\underline{ }HOST\underline{ }CAN}}
+
+Declarada em {\tt aichostcan.h}. Derivada (por deriva\c{c}\~ao p\'ublica) da
+classe {\tt AIC\underline{ }HOST}. Implementa a comunica\c{c}\~ao por CAN
+entre a AIC emulada e o \foreign{host}. \'E equivalente \`a classe {\tt
+HostCAN} dispon\'{\i}vel em {\tt AIC.jar} (para ser utilizada na AIC), com a
+diferen\c{c}a de que ao inv\'es de prover a conex\~ao entre a AIC e o
+\foreign{host} prov\^e a comunica\c{c}\~ao entre a AIC emulada e o
+\foreign{host}. Implementa as seguintes fun\c{c}\~oes:
+
+\begin{verbatim}
+ AIC_HOST_CAN(int aicid,int bus=0);
+\end{verbatim}
+
+\foreign{Constructor} que cria um objeto {\tt AIC\underline{ }HOST\underline{ }CAN}
+ com conex\~ao por CAN ao \foreign{host}, utilizando o identificador {\tt
+aicid} para a AIC emulada e o barramento {\tt bus}. Por default \'e
+utilizado o barramento 0.
+
+\begin{verbatim}
+ ~AIC_HOST_CAN(void);
+\end{verbatim}
+
+\foreign{Destructor} que fecha os \foreign{sockets} abertos pelo
+\foreign{constructor}.
+
+\begin{verbatim}
+ int command(void);
+\end{verbatim}
+
+Retorna o c\'odigo de comando recebido pelo canal de comunica\c{c}\~ao como
+definido na se\c{c}\~ao~\ref{sec:CAN}. \'E a implementa\c{c}\~ao da
+fun\c{c}\~ao virtual correspondente declarada na classe {\tt AIC\underline{ }HOST}.
+
+\begin{verbatim}
+ void send_status(double disp,int index);
+\end{verbatim}
+
+Envia o \foreign{status} da AIC emulada para o \foreign{host} com um
+deslocamento de {\tt disp} radianos e com o \foreign{status} do
+\foreign{sync-switch} em {\tt index}. \'E a implementa\c{c}\~ao da
+fun\c{c}\~ao virtual correspondente declarada na classe {\tt AIC\underline{ }HOST}.
+
+\section{Exemplo Utilizando Comunica\c{c}\~ao por UDP}
+
+Neste exemplo ser\~ao utilizados os programas \verb$IODaemon$ e
+\verb$jointtstudp$. Para compilar eles, basta entrar nos diret\'orios
+correspondentes e digitar \verb$make$. Digitando-se \verb$make distclean$,
+apaga-se a vers\~ao existente para for\c{c}ar a compila\c{c}\~ao de tudo
+novamente. A mesma coisa vale para todos os Makefiles.
+
+Ap\'os compilar o \verb$IODaemon$, necessita-se carregar o execut\'avel
+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} \'e \emph{root} e a senha \emph{tini}. A seguir,
+deve-se entrar no modo bin\'ario 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$IODaemon.tini$, \'e necess\'ario logar-se em uma das AICs,
+por exemplo na \verb$aic1$ por telnet, digitando
+
+\begin{verbatim}
+telnet aic1
+\end{verbatim}
+
+J\'a 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}] \'e opcional e causa o \foreign{log} da tens\~ao
+aplicada nos motores, leituras dos encoders e outros detalhes no terminal.
+Se n\~ao for utilizado n\~ao haver\'a \foreign{log}.
+
+\item[{\tt -UDP}] \'e a op\c{c}\~ao para utilizar comunica\c{c}\~ao por UDP,
+j\'a que o default \'e utilizar comunica\c{c}\~ao por CAN.
+
+\item[{\tt janus}] \'e o nome do \foreign{host} para onde as leituras dos sensores devem
+ser enviadas e de onde ser\~ao recebidos os comandos.
+
+\item[{\tt 9871}] \'e o n\'umero 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$n$ \'e o n\'umero de processo do \verb$IODaemon$.)
+
+O \emph{software} do \foreign{host} est\'a no diret\'orio \verb$jointtst$. Para
+executa-lo basta digitar
+
+\begin{verbatim}
+jointtstudp 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 \'e semelhante, basta
+utilizar um n\'umero de porta diferente para cada uma delas (sugere-se 9871,
+9872, 9873...) e executar uma c\'opia do \verb$jointtestudp$ para cada AIC,
+eventualmente cada uma na sua pr\'opria janela.
+
\bibliography{aic}
\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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+ 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)
+(
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--- /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
+%!PS-Adobe-3.0
+%%Title: (unknown), solder mask component side
+%%Creator: pcb 1.6.3
+%%CreationDate: Mon Mar 31 16:59:21 2003
+%%For: fetter (Prof. Walter Fetter)
+%%LanguageLevel: 1
+%%Orientation: Portrait
+%%Pages: 1
+%%PageOrder: Ascend
+%%IncludeFeature: *PageSize a4
+%%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 whole
+ 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 whole
+ 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
+
+/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
+
+/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 neg rlineto dis 0 rlineto stroke
+ newpath x1 y2 dis sub moveto 0 dis rlineto dis 0 rlineto stroke
+ newpath x2 y2 dis sub moveto 0 dis rlineto dis 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
+a4
+0.0 setlinewidth
+1 setlinecap
+Black
+%%EndSetup
+%%Page: 1 1
+%%BeginPageSetup
+%%EndPageSetup
+gsave White newpath
+44 277 moveto 550 277 lineto 550 564 lineto 44 564 lineto
+closepath fill stroke grestore
+% PCBMIN(35,40), PCBMAX(7035,3997)
+% PCBOFFSET(630,3867), PCBSCALE(1.00000)
+% PCBSTARTDATA --- do not remove ---
+gsave
+0.07200 0.07200 scale
+630 3867 translate
+1.000 1.000 scale
+0 3957 translate
+1 -1 scale
+-35 -40 translate
+35 40 7035 3997 FILL
+/Color {0.286 0.302 0.286 mysetrgbcolor} def Color
+575 275 150 CLRPVR
+575 3762 150 CLRPVR
+6625 275 150 CLRPVR
+6625 3762 150 CLRPVR
+1155 3055 90 CLRPVSQ
+755 3055 90 CLRPVR
+1725 3725 90 CLRPVSQ
+1825 3725 90 CLRPVR
+1925 3725 90 CLRPVR
+2025 3725 90 CLRPVR
+2125 3725 90 CLRPVR
+2225 3725 90 CLRPVR
+2325 3725 90 CLRPVR
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+grestore
+% PCBENDDATA --- do not remove ---
+showpage
+%%EOF
--- /dev/null
+%!PS-Adobe-3.0
+%%Title: (unknown), merged layouts
+%%Creator: pcb 1.6.3
+%%CreationDate: Mon Mar 31 16:59:21 2003
+%%For: fetter (Prof. Walter Fetter)
+%%LanguageLevel: 1
+%%Orientation: Portrait
+%%Pages: 1
+%%PageOrder: Ascend
+%%IncludeFeature: *PageSize a4
+%%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 whole
+ 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 whole
+ 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
+
+/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
+
+/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 neg rlineto dis 0 rlineto stroke
+ newpath x1 y2 dis sub moveto 0 dis rlineto dis 0 rlineto stroke
+ newpath x2 y2 dis sub moveto 0 dis rlineto dis 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
+a4
+0.0 setlinewidth
+1 setlinecap
+Black
+%%EndSetup
+%%Page: 1 1
+%%BeginPageSetup
+%%EndPageSetup
+gsave White newpath
+44 277 moveto 550 277 lineto 550 564 lineto 44 564 lineto
+closepath fill stroke grestore
+% PCBMIN(35,40), PCBMAX(7035,3997)
+% PCBOFFSET(630,3867), PCBSCALE(1.00000)
+% PCBSTARTDATA --- do not remove ---
+gsave
+0.07200 0.07200 scale
+630 3867 translate
+1.000 1.000 scale
+0 3957 translate
+1 -1 scale
+-35 -40 translate
+/Color {0.127 0.540 0.127 mysetrgbcolor} def Color
+% LayerGroup: 3, Layer: "unused" (#7)
+/Color {0.286 0.302 0.286 mysetrgbcolor} def Color
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+grestore
+% PCBENDDATA --- do not remove ---
+showpage
+%%EOF
--- /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
+*\r
+%FSLAX23Y23*%\r
+%MOIN*%\r
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--- /dev/null
+%!PS-Adobe-3.0
+%%Title: (unknown), silkscreen component side
+%%Creator: pcb 1.6.3
+%%CreationDate: Mon Mar 31 16:59:21 2003
+%%For: fetter (Prof. Walter Fetter)
+%%LanguageLevel: 1
+%%Orientation: Portrait
+%%Pages: 1
+%%PageOrder: Ascend
+%%IncludeFeature: *PageSize a4
+%%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
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+ 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 whole
+ 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
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+ 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 whole
+ 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
+
+/B {
+% filled box, get x1, y1, x2 and y2 from stack
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+ 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
+
+/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
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+ 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 neg rlineto dis 0 rlineto stroke
+ newpath x1 y2 dis sub moveto 0 dis rlineto dis 0 rlineto stroke
+ newpath x2 y2 dis sub moveto 0 dis rlineto dis 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
+a4
+0.0 setlinewidth
+1 setlinecap
+Black
+%%EndSetup
+%%Page: 1 1
+%%BeginPageSetup
+%%EndPageSetup
+gsave White newpath
+44 277 moveto 550 277 lineto 550 564 lineto 44 564 lineto
+closepath fill stroke grestore
+% PCBMIN(35,40), PCBMAX(7035,3997)
+% PCBOFFSET(630,3867), PCBSCALE(1.00000)
+% PCBSTARTDATA --- do not remove ---
+gsave
+0.07200 0.07200 scale
+630 3867 translate
+1.000 1.000 scale
+0 3957 translate
+1 -1 scale
+-35 -40 translate
+/Color {0.000 0.000 0.000 mysetrgbcolor} def Color
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--- /dev/null
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--- /dev/null
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+%%EOF
--- /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
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--- /dev/null
+%!PS-Adobe-3.0
+%%Title: (unknown), layergroup #2
+%%Creator: pcb 1.6.3
+%%CreationDate: Mon Mar 31 16:59:21 2003
+%%For: fetter (Prof. Walter Fetter)
+%%LanguageLevel: 1
+%%Orientation: Portrait
+%%Pages: 1
+%%PageOrder: Ascend
+%%IncludeFeature: *PageSize a4
+%%EndComments
+%%BeginProlog
+
+/PcbDict 200 dict def
+PcbDict begin
+PcbDict /DictMatrix matrix put
+
+% some constants
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+/MTAN {-0.207106781} def
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+ gsave x y translate thickness thickness scale
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+ TAN -0.5
+ MTAN -0.5
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+ -0.5 TAN
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+} def
+
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+% pin or via, x, y and thickness are on the stack
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+ x y thickness P
+% draw drilling whole
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+ 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
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+
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+% square pin or via, x, y and thickness are on the stack
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+} def
+
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+} def
+
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+% line, get x1, y1, x2, y2 and thickness from stack
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+} def
+
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+% pad, same as line
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+} def
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+% 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
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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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+ 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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+ gsave White thick setlinewidth
+ x1 y1 moveto x2 y2 lineto stroke
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+} 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
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+ newpath
+ x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+ closepath stroke
+ grestore
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+
+/Alignment {
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+ gsave 0.175 setlinewidth
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+ newpath x2 y1 dis add moveto 0 dis neg rlineto dis neg 0 rlineto stroke
+ grestore
+} def
+
+/mysetgray { setgray } def
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+
+%%EndProlog
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+%%EOF
--- /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
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--- /dev/null
+%!PS-Adobe-3.0
+%%Title: (unknown), layergroup #3
+%%Creator: pcb 1.6.3
+%%CreationDate: Mon Mar 31 16:59:21 2003
+%%For: fetter (Prof. Walter Fetter)
+%%LanguageLevel: 1
+%%Orientation: Portrait
+%%Pages: 1
+%%PageOrder: Ascend
+%%IncludeFeature: *PageSize a4
+%%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
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+ /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 whole
+ 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 whole
+ gsave White 0 setlinewidth
+ newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+ grestore
+} def
+
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+% 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
+
+/B {
+% filled box, get x1, y1, x2 and y2 from stack
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+ 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
+
+/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 neg rlineto dis 0 rlineto stroke
+ newpath x1 y2 dis sub moveto 0 dis rlineto dis 0 rlineto stroke
+ newpath x2 y2 dis sub moveto 0 dis rlineto dis 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
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+0.0 setlinewidth
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+Black
+%%EndSetup
+%%Page: 1 1
+%%BeginPageSetup
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+gsave White newpath
+44 277 moveto 550 277 lineto 550 564 lineto 44 564 lineto
+closepath fill stroke grestore
+% PCBMIN(35,40), PCBMAX(7035,3997)
+% PCBOFFSET(630,3867), PCBSCALE(1.00000)
+% PCBSTARTDATA --- do not remove ---
+gsave
+0.07200 0.07200 scale
+630 3867 translate
+1.000 1.000 scale
+0 3957 translate
+1 -1 scale
+-35 -40 translate
+/Color {0.000 0.524 0.556 mysetrgbcolor} def Color
+% LayerGroup: 2, Layer: "unused" (#6)
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+% PCBENDDATA --- do not remove ---
+showpage
+%%EOF
--- /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
+%!PS-Adobe-3.0
+%%Title: (unknown), layergroup #4
+%%Creator: pcb 1.6.3
+%%CreationDate: Mon Mar 31 16:59:21 2003
+%%For: fetter (Prof. Walter Fetter)
+%%LanguageLevel: 1
+%%Orientation: Portrait
+%%Pages: 1
+%%PageOrder: Ascend
+%%IncludeFeature: *PageSize a4
+%%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 whole
+ 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 whole
+ 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
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+ 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
+
+/B {
+% filled box, get x1, y1, x2 and y2 from stack
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+ 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
+
+/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 neg rlineto dis 0 rlineto stroke
+ newpath x1 y2 dis sub moveto 0 dis rlineto dis 0 rlineto stroke
+ newpath x2 y2 dis sub moveto 0 dis rlineto dis 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
+a4
+0.0 setlinewidth
+1 setlinecap
+Black
+%%EndSetup
+%%Page: 1 1
+%%BeginPageSetup
+%%EndPageSetup
+gsave White newpath
+44 277 moveto 550 277 lineto 550 564 lineto 44 564 lineto
+closepath fill stroke grestore
+% PCBMIN(35,40), PCBMAX(7035,3997)
+% PCBOFFSET(630,3867), PCBSCALE(1.00000)
+% PCBSTARTDATA --- do not remove ---
+gsave
+0.07200 0.07200 scale
+630 3867 translate
+1.000 1.000 scale
+0 3957 translate
+1 -1 scale
+-35 -40 translate
+/Color {0.127 0.540 0.127 mysetrgbcolor} def Color
+% LayerGroup: 3, Layer: "unused" (#7)
+/Color {0.286 0.302 0.286 mysetrgbcolor} def Color
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+/Color {0.476 0.492 0.476 mysetrgbcolor} def Color
+grestore
+% PCBENDDATA --- do not remove ---
+showpage
+%%EOF
--- /dev/null
+# release: pcb 1.6.3
+# date: Sun Feb 2 23:20:13 2003
+# user: fetter (Walter Fetter Lages,,,)
+# host: diehard.home
+
+PCB("" 7000 4100)
+
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+(
+ 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)
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+Layer(8 "unused")
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+)
--- /dev/null
+# release: pcb 1.6.3
+# date: Sun Feb 2 23:13:37 2003
+# user: fetter (Walter Fetter Lages,,,)
+# host: diehard.home
+
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+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)
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+Layer(5 "GND-comp")
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+Layer(6 "Vcc-comp")
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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
+%!PS-Adobe-3.0
+%%Title: (unknown), solder mask solder side
+%%Creator: pcb 1.6.3
+%%CreationDate: Mon Mar 31 16:59:21 2003
+%%For: fetter (Prof. Walter Fetter)
+%%LanguageLevel: 1
+%%Orientation: Portrait
+%%Pages: 1
+%%PageOrder: Ascend
+%%IncludeFeature: *PageSize a4
+%%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 whole
+ 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 whole
+ 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
+
+/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
+
+/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 neg rlineto dis 0 rlineto stroke
+ newpath x1 y2 dis sub moveto 0 dis rlineto dis 0 rlineto stroke
+ newpath x2 y2 dis sub moveto 0 dis rlineto dis 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
+a4
+0.0 setlinewidth
+1 setlinecap
+Black
+%%EndSetup
+%%Page: 1 1
+%%BeginPageSetup
+%%EndPageSetup
+gsave White newpath
+44 277 moveto 550 277 lineto 550 564 lineto 44 564 lineto
+closepath fill stroke grestore
+% PCBMIN(35,40), PCBMAX(7035,3997)
+% PCBOFFSET(630,3867), PCBSCALE(1.00000)
+% PCBSTARTDATA --- do not remove ---
+gsave
+0.07200 0.07200 scale
+630 3867 translate
+1.000 1.000 scale
+0 3957 translate
+1 -1 scale
+-35 -40 translate
+35 40 7035 3997 FILL
+/Color {0.286 0.302 0.286 mysetrgbcolor} def Color
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+grestore
+% PCBENDDATA --- do not remove ---
+showpage
+%%EOF
--- /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
+%FSLAX23Y23*%\r
+%MOIN*%\r
+%ADD11C,0.010*%\r
+%ADD12C,0.025*%\r
+%ADD13C,0.045*%\r
+%ADD14C,0.040*%\r
+%ADD15C,0.001*%\r
+%ADD16C,0.120*%\r
+%ADD17C,0.150*%\r
+%ADD18C,0.020*%\r
+%ADD19R,0.060X0.060*%\r
+%ADD20R,0.090X0.090*%\r
+%ADD21C,0.060*%\r
+%ADD22C,0.090*%\r
+%ADD23C,0.008*%\r
+%ADD24C,0.080*%\r
+%ADD25C,0.110*%\r
+%ADD26C,0.148*%\r
+%ADD27C,0.178*%\r
+%ADD28R,0.080X0.080*%\r
+%ADD29R,0.110X0.110*%\r
+%ADD30R,0.070X0.070*%\r
+%ADD31R,0.100X0.100*%\r
+%ADD32C,0.070*%\r
+%ADD33C,0.100*%\r
+%ADD34C,0.016*%\r
+%ADD35C,0.015*%\r
+%IPPOS*%\r
+G01*\r
+D02*\r
+M02*\r
--- /dev/null
+%!PS-Adobe-3.0
+%%Title: (unknown), silkscreen solder side
+%%Creator: pcb 1.6.3
+%%CreationDate: Mon Mar 31 16:59:21 2003
+%%For: fetter (Prof. Walter Fetter)
+%%LanguageLevel: 1
+%%Orientation: Portrait
+%%Pages: 1
+%%PageOrder: Ascend
+%%IncludeFeature: *PageSize a4
+%%EndComments
+%%BeginProlog
+
+/PcbDict 200 dict def
+PcbDict begin
+PcbDict /DictMatrix matrix put
+
+% some constants
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+/MTAN {-0.207106781} def
+
+% draw a filled polygon
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+ TAN -0.5
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+ -0.5 TAN
+ MTAN 0.5
+ TAN 0.5
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+ 8 PO grestore
+} def
+
+/PV {
+% pin or via, x, y and thickness are on the stack
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+
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+
+/PVSQ {
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+} def
+
+/DH {
+% drill helpher; x, y, hole, copper-thickness are on stack
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+ gsave copper setlinewidth
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+ grestore
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+
+/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
+
+/B {
+% filled box, get x1, y1, x2 and y2 from stack
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+ newpath
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+
+/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
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+
+/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 {
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+
+/CLRPVR {
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+ gsave White 0 setlinewidth
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+ 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 {
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+ gsave White newpath
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+ closepath fill stroke
+ grestore
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+
+/FILL {
+% draw a filled rectangle for the ground plane
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+ closepath stroke
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+
+/Alignment {
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+ gsave 0.175 setlinewidth
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+ newpath x2 y1 dis add moveto 0 dis neg rlineto dis neg 0 rlineto stroke
+ grestore
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+
+/mysetgray { setgray } def
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+
+%%EndProlog
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+closepath fill stroke grestore
+% PCBMIN(35,40), PCBMAX(7035,3997)
+% PCBOFFSET(630,3867), PCBSCALE(1.00000)
+% PCBSTARTDATA --- do not remove ---
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+630 3867 translate
+1.000 1.000 scale
+0 3957 translate
+1 -1 scale
+-35 -40 translate
+/Color {0.000 0.000 0.000 mysetrgbcolor} def Color
+grestore
+% PCBENDDATA --- do not remove ---
+showpage
+%%EOF
--- /dev/null
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+%%Title: H:\src\aic-1.1.0\doc\aicback0lrc.dwg
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Walter Fetter Lages & Fernando Pessutto
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--- /dev/null
+CFLAGS=-O2 -Wall -m486
+CINCLUDE=-I${HOME}/include
+CLIBDIR=-L${HOME}/lib
+CLIBS=-lcanlib
+
+CPPFLAGS=
+CPPINCLUDE=-I../include -I${HOME}/include/cpp -I/usr/local/include/cpp
+CPPLIBDIR=-L../lib -L${HOME}/lib/cpp -L${HOME}/lib
+CPPLIBS=-laic
+
+INCLUDE=${CINCLUDE} ${CPPINCLUDE}
+FLAGS= ${CFLAGS} ${CPPFLAGS} -DDEBUG
+LIBDIR=${CLIBDIR} ${CPPLIBDIR}
+LIBS=${CLIBS} ${CPPLIBS}
+
+CMP= g++
+CMPFLAGS= ${FLAGS} ${INCLUDE}
+LDFLAGS= ${LIBDIR} ${LIBS}
+
+all: encodertst encodertstudp
+
+encodertst: encodertst.cpp ../lib/libaic.a
+ ${CMP} ${CMPFLAGS} -o encodertst encodertst.cpp ${LDFLAGS}
+
+encodertstudp: encodertst.cpp ../lib/libaic.a
+ ${CMP} ${CMPFLAGS} -DUSE_UDP -o encodertstudp encodertst.cpp ${LDFLAGS}
+
+clean:
+ rm -f *~ *.bak *.o
+
+install:
+
+distclean: clean
+ rm -f encodertst encodertstudp
--- /dev/null
+/******************************************************************************
+
+ 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.h>
+
+#ifdef USE_UDP
+#include <aicudp.h>
+#else
+#include <aiccan.h>
+#endif
+
+
+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)
+ {
+ cerr << "Usage: " << argv[0] << " aic\n";
+ return -1;
+ }
+
+#ifdef USE_UDP
+ AIC_UDP aic(argv[1]);
+#else
+ AIC_CAN aic(atoi(argv[1]));
+#endif
+
+ for(;;)
+ {
+ cout << "Encoder reading: " << aic.encoder.read() << "\n";
+ }
+ return 0;
+}
--- /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 _AIC_H
+#define _AIC_H
+
+class AIC_COMM
+{
+ public:
+
+ virtual void send_command(const char *cmd,int len)=0;
+ virtual int get_status(char *status,int len)=0;
+
+ class AIC_BAD { };
+ class AIC_BAD_COMMAND: public AIC_BAD { };
+ class AIC_BAD_SEND: public AIC_BAD { };
+ class AIC_BAD_RECEIVE: public AIC_BAD { };
+
+};
+
+class AIC_MOTOR
+{
+ AIC_COMM *port;
+
+ public:
+
+ AIC_MOTOR(AIC_COMM *comm);
+ void on(void);
+ void off(void);
+ double operator=(double voltage);
+};
+
+
+class AIC_ENCODER
+{
+ AIC_COMM *port;
+
+ public:
+
+ AIC_ENCODER(AIC_COMM *comm);
+ double read(void);
+ double read(int *index);
+};
+
+class AIC_BRAKE
+{
+ AIC_COMM *port;
+
+ public:
+
+ AIC_BRAKE(AIC_COMM *comm);
+ void apply(void);
+ void release(void);
+};
+
+class AIC_INDEX
+{
+ AIC_COMM *port;
+
+ public:
+
+ AIC_INDEX(AIC_COMM *comm);
+ int read(void);
+ int read(double *disp);
+};
+
+
+class AIC
+{
+ public:
+
+ AIC_MOTOR motor;
+ AIC_ENCODER encoder;
+ AIC_BRAKE brake;
+ AIC_INDEX index;
+
+ AIC::AIC(AIC_COMM *comm);
+
+};
+
+#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>
+
+class AIC_CAN:public AIC_COMM, public AIC
+{
+ const static int AIC_ID_MASK=0x01f;
+ const static int AIC_CMD_MASK=0x7e0;
+
+ canHandle handle;
+ int aicnumber;
+
+ public:
+
+ AIC_CAN(int aic,int bus=0);
+ virtual ~AIC_CAN(void);
+ void send_command(const char *cmd,int len);
+ int get_status(char *status,int len);
+
+ class AIC_CAN_BAD:public AIC_BAD { };
+ class AIC_CAN_BAD_OPEN:public AIC_CAN_BAD { };
+ class AIC_CAN_BAD_PARMS:public AIC_CAN_BAD { };
+ class AIC_CAN_BAD_BUSON:public AIC_CAN_BAD { };
+ class AIC_CAN_BAD_CLOSE:public AIC_CAN_BAD { };
+ class AIC_CAN_BAD_SEND:public AIC_CAN_BAD,AIC_BAD_SEND { };
+ class AIC_CAN_BAD_RECEIVE:public AIC_CAN_BAD,AIC_BAD_RECEIVE { };
+ class AIC_CAN_BAD_COMMAND:public AIC_CAN_BAD,AIC_BAD_COMMAND { };
+};
+
+#endif
--- /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>.
+
+*******************************************************************************/
+
+#ifndef _AICHOST_H
+#define _AICHOST_H
+
+#include <aicnet.h>
+
+class AIC_HOST
+{
+
+ protected:
+
+ double u;
+ int status;
+
+ public:
+
+ enum STATUS
+ {
+ MOTOR_ON = 1,
+ BRAKE_APPLIED = 2
+ };
+
+ AIC_HOST(void);
+ virtual ~AIC_HOST(void);
+ virtual int command(void)=0;
+ int getstatus(void) const;
+ virtual void send_status(double disp,int index)=0;
+ double voltage(void) const;
+
+ class AIC_HOST_BAD { };
+ class AIC_HOST_BAD_SEND: public AIC_HOST_BAD { };
+ class AIC_HOST_BAD_RECEIVE: public AIC_HOST_BAD { };
+};
+
+#endif
--- /dev/null
+/******************************************************************************
+
+ Actuator Interface Card
+ AIC Host Interface Simulation
+ 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 _AICHOSTCAN_H
+#define _AICHOSTCAN_H
+
+#include <canlib.h>
+
+#include<aichost.h>
+
+class AIC_HOST_CAN:public AIC_HOST
+{
+ const static int AIC_ID_MASK=0x01f;
+ const static int AIC_CMD_MASK=0x7e0;
+
+ canHandle handle;
+ int aicnumber;
+
+ public:
+
+ AIC_HOST_CAN(int aicid,int bus=0);
+ ~AIC_HOST_CAN(void);
+ int command(void);
+ void send_status(double disp,int index);
+
+ class AIC_HOST_CAN_BAD:public AIC_HOST_BAD { };
+ class AIC_HOST_CAN_BAD_OPEN:public AIC_HOST_CAN_BAD { };
+ class AIC_HOST_CAN_BAD_PARMS:public AIC_HOST_CAN_BAD { };
+ class AIC_HOST_CAN_BAD_BUSON:public AIC_HOST_CAN_BAD { };
+ class AIC_HOST_CAN_BAD_CLOSE:public AIC_HOST_CAN_BAD { };
+ class AIC_HOST_CAN_BAD_SEND:public AIC_HOST_CAN_BAD,AIC_HOST_BAD_SEND { };
+ class AIC_HOST_CAN_BAD_RECEIVE:public AIC_HOST_CAN_BAD,AIC_HOST_BAD_RECEIVE { };
+
+};
+
+#endif
--- /dev/null
+/******************************************************************************
+
+ Actuator Interface Card
+ AIC Host Interface Simulation
+ 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>.
+
+*******************************************************************************/
+
+#ifndef _AICHOSTUDP_H
+#define _AICHOSTUDP_H
+
+#include <netinet/in.h>
+
+#include<aichost.h>
+#include <aicnet.h>
+
+class AIC_HOST_UDP:public AIC_HOST
+{
+ // socket for receiving command
+ struct sockaddr_in cmdaddr;
+ int cmdfd;
+
+ // socket for transmitting status signal
+ struct sockaddr_in statusaddr;
+ int statusfd;
+
+ public:
+
+ AIC_HOST_UDP(const char *controllername,int statusport=STATUS_PORT,int cmdport=CMD_PORT);
+ ~AIC_HOST_UDP(void);
+ int command(void);
+ void send_status(double disp,int index);
+
+ class AIC_HOST_UDP_BAD: public AIC_HOST_BAD { };
+ class AIC_HOST_UDP_BAD_SOCKET: public AIC_HOST_UDP_BAD { };
+ class AIC_HOST_UDP_BAD_BIND: public AIC_HOST_UDP_BAD { };
+};
+
+#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
+
+#define CMD_PORT 9880
+#define STATUS_PORT 9877
+
+enum AIC_COMMAND
+{
+ AIC_MOTOR_ACT= 'M',
+ AIC_MOTOR_ON= 'N',
+ AIC_MOTOR_OFF= 'P',
+ AIC_BRAKE_RELEASE= 'F',
+ AIC_BRAKE_APPLY= 'B',
+ AIC_RESET= 'R',
+ AIC_STATUS= 'S'
+};
+
+#endif
--- /dev/null
+/******************************************************************************
+
+
+ Actuator Interface Card Simulator
+ 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 _AICSIM_H
+#define _AICSIM_H
+
+#include <aic.h>
+
+class AIC_SIM:public AIC_COMM, public AIC
+{
+ public:
+
+ AIC_SIM(void);
+ void send_command(const char *cmd,int len);
+ int get_status(char *status,int len);
+
+ class AIC_SIM_BAD: public AIC_BAD { };
+ class AIC_SIM_BAD_COMMAND: public AIC_SIM_BAD, AIC_BAD_COMMAND { };
+};
+
+#endif
--- /dev/null
+/******************************************************************************
+
+ Actuator Interface Card
+ Host Interface Library
+ 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>.
+
+*******************************************************************************/
+
+#ifndef _AICUDP_H
+#define _AICUDP_H
+
+#include <arpa/inet.h>
+#include <aic.h>
+#include <aicnet.h>
+
+class AIC_UDP:public AIC_COMM, public AIC
+{
+ // socket for transmitting commands
+ struct sockaddr_in cmdaddr;
+ int cmdfd;
+
+ // socket for receiving sensor signal
+ struct sockaddr_in stataddr;
+ int statfd;
+
+ public:
+
+ AIC_UDP(const char *aicname,int statport=STATUS_PORT,int cmdport=CMD_PORT);
+ virtual ~AIC_UDP(void);
+ void send_command(const char *cmd,int len);
+ int get_status(char *status,int len);
+
+ class AIC_UDP_BAD:public AIC_BAD { };
+ class AIC_UDP_BAD_SOCKET:public AIC_UDP_BAD { };
+ class AIC_UDP_BAD_BIND:public AIC_UDP_BAD { };
+ class AIC_UDP_BAD_SEND:public AIC_UDP_BAD,AIC_BAD_SEND { };
+ class AIC_UDP_BAD_RECEIVE:public AIC_UDP_BAD,AIC_BAD_RECEIVE { };
+};
+
+#endif
--- /dev/null
+CFLAGS=-O2 -Wall -m486
+CINCLUDE=-I${HOME}/include
+CLIBDIR=-L${HOME}/lib
+CLIBS=-lcanlib
+
+CPPFLAGS=
+CPPINCLUDE=-I../include -I${HOME}/include/cpp -I/usr/local/include/cpp
+CPPLIBDIR=-L../lib -L${HOME}/lib/cpp -L${HOME}/lib
+CPPLIBS=-laic
+
+INCLUDE=${CINCLUDE} ${CPPINCLUDE}
+FLAGS= ${CFLAGS} ${CPPFLAGS} -DDEBUG
+LIBDIR=${CLIBDIR} ${CPPLIBDIR}
+LIBS=${CLIBS} ${CPPLIBS}
+
+CMP= g++
+CMPFLAGS= ${FLAGS} ${INCLUDE}
+LDFLAGS= ${LIBDIR} ${LIBS}
+
+all: indextst indextstudp
+
+indextst: indextst.cpp ../lib/libaic.a
+ ${CMP} ${CMPFLAGS} -o indextst indextst.cpp ${LDFLAGS}
+
+indextstudp: indextst.cpp ../lib/libaic.a
+ ${CMP} ${CMPFLAGS} -DUSE_UDP -o indextstudp indextst.cpp ${LDFLAGS}
+
+clean:
+ rm -f *~ *.bak *.o
+
+install:
+
+distclean: clean
+ rm -f indextst indextstudp
--- /dev/null
+/******************************************************************************
+
+ Actuator Interface Card
+ AIC Index Test
+ Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+ You can also obtain a copy of the GNU General Public License
+ at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+
+#include <iostream.h>
+
+#ifdef USE_UDP
+#include <aicudp.h>
+#else
+#include <aiccan.h>
+#endif
+
+int main(int argc,char *argv[])
+{
+ cout << "\nAIC Index Test Program\n";
+ cout << "Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>.\n\n";
+
+ if(argc != 2)
+ {
+ cerr << "Usage: " << argv[0] << " aic\n";
+ return -1;
+ }
+
+#ifdef USE_UDP
+ AIC_UDP aic(argv[1]);
+#else
+ AIC_CAN aic(atoi(argv[1]));
+#endif
+
+ for(;;)
+ {
+ cout << "Index reading: " << aic.index.read() << "\n";
+ }
+ return 0;
+}
--- /dev/null
+CFLAGS=-O2 -Wall -m486
+CINCLUDE=-I${HOME}/include
+CLIBDIR=-L${HOME}/lib
+CLIBS=-lcutil -lconio -lncurses -lcanlib
+
+CPPFLAGS=
+CPPINCLUDE=-I../include -I${HOME}/include/cpp -I/usr/local/include/cpp
+CPPLIBDIR=-L../lib -L${HOME}/lib/cpp -L${HOME}/lib
+CPPLIBS=-lcpputil -laic
+
+INCLUDE=${CINCLUDE} ${CPPINCLUDE}
+FLAGS= ${CFLAGS} ${CPPFLAGS} -DDEBUG
+LIBDIR=${CLIBDIR} ${CPPLIBDIR}
+LIBS=${CLIBS} ${CPPLIBS}
+
+CMP= g++
+CMPFLAGS= ${FLAGS} ${INCLUDE}
+LDFLAGS= ${LIBDIR} ${LIBS}
+
+all: jointtst jointtstudp
+
+jointtst: jointtst.cpp ../lib/libaic.a
+ ${CMP} ${CMPFLAGS} -o jointtst jointtst.cpp ${LDFLAGS}
+
+jointtstudp: jointtst.cpp ../lib/libaic.a
+ ${CMP} ${CMPFLAGS} -DUSE_UDP -o jointtstudp jointtst.cpp ${LDFLAGS}
+
+clean:
+ rm -f *~ *.bak *.o
+
+install:
+
+distclean: clean
+ rm -f jointtst jointtstudp
--- /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 <conio.h>
+#include <math.h>
+
+#include <delay.h>
+
+#ifdef USE_UDP
+#include <aicudp.h>
+#else
+#include <aiccan.h>
+#endif
+
+const int ST=1000;
+
+void iter(AIC &aic,int i)
+{
+ aic.motor=i;
+ gotoxy(1,5);
+ cout << "Motor Voltage: " << i << "\t";
+ cout << "Index: " << aic.index.read() << "\t";
+ cout << "Encoder: " << aic.encoder.read() << "\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";
+
+#ifdef USE_UDP
+ if(argc != 3)
+ {
+ cerr << "Usage: " << argv[0] << " aic host_port\n";
+ return -1;
+ }
+
+ AIC_UDP aic(argv[1],atoi(argv[2]));
+#else
+ if(argc != 2)
+ {
+ cerr << "Usage: " << argv[0] << " aic_id\n";
+ return -1;
+ }
+
+ AIC_CAN aic(atoi(argv[1]));
+#endif
+
+ 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;
+
+}
+/******************************************************************************
+
+ 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>.
+
+*******************************************************************************/
+
package br.ufrgs.eletro.AIC;
import com.dalsemi.system.IllegalAddressException;
+/** 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
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
public void on() throws IllegalAddressException
{
motor.on();
encoder.clear();
}
+/** Turns an AIC off
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
public void off() throws IllegalAddressException
{
motor.set(0);
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
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
public AIC(int base,double vm,double freq,int np) throws IllegalAddressException
{
motor=new Motor(base,vm,freq);
index=new Index(base);
}
+/** Finalizes an AIC
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
public void finalize() throws IllegalAddressException
{
off();
+/******************************************************************************
+
+ Actuator Interface Card
+ Brake 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.eletro.AIC;
import com.dalsemi.system.DataPort;
import com.dalsemi.system.IllegalAddressException;
+/** Provices access to electromagnetic brake in an Actuator Interface Card
+* @author Walter Fetter Lages (w.fetter@ieee.org)
+*/
public class Brake
{
private static final int LATCH=0xA0000;
private DataPort latch;
+/** Initializes Brake
+* @param base Base address for on board devices
+*/
public Brake(int base)
{
latch=new DataPort(base+LATCH);
latch.setFIFOMode(true);
- latch.setStretchCycles(DataPort.STRETCH10);
+ latch.setStretchCycles(DataPort.STRETCH2);
}
-
+
+/** Applies the electromagnetic brakes
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
public void apply() throws IllegalAddressException
{
latch.write(BRAKEAPPLY);
}
+/** Releases the electromagnetic brake
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
public void release() throws IllegalAddressException
{
latch.write(BRAKERELEASE);
+/******************************************************************************
+
+ Actuator Interface Card
+ Encoder 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.eletro.AIC;
import com.dalsemi.system.DataPort;
import com.dalsemi.system.IllegalAddressException;
+/** Provides access to incremental encoder in an Actuator Interface Card
+* @author Walter Fetter Lages (w.fetter@ieee.org)
+*/
public class Encoder
{
+/** Number of pulses per revolution of the encoder, considering the
+* quadrature decoder
+*/
public final int PULSES;
private static final int ENCODER=0x90000;
private DataPort encPort;
+/** Clears the counter on the quadrature decoder chip
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
public void clear() throws IllegalAddressException
{
encPort.write((byte)0);
}
+/** 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
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
public Encoder(int base,int pulses) throws IllegalAddressException
{
PULSES=pulses;
encPort=new DataPort(base+ENCODER);
encPort.setFIFOMode(true);
- encPort.setStretchCycles(DataPort.STRETCH10);
+ encPort.setStretchCycles(DataPort.STRETCH2);
clear();
}
+/** Finalizes Encoder
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
public void finalize() throws IllegalAddressException
{
clear();
}
+/** Reads the counter on the quadrature decoder chip
+* @return the number of pulses (in 2-complement) since the last time
+* the counter was cleared
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
public int read() throws IllegalAddressException
{
int count;
encPort.read(hilo,0,2);
encPort.setFIFOMode(FIFOMode);
- count=(((int)hilo[0]) << 8) | (int)hilo[1];
+ count=(hilo[0] << 8) | (hilo[1] & 0x000000ff);
+
+ return count;
+ }
+
+/** Reads 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
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
+ public int readAndClear() throws IllegalAddressException
+ {
+ int count;
+ byte[] hilo=new byte[2];
+ boolean FIFOMode;
+
+ FIFOMode=encPort.getFIFOMode();
+ encPort.setFIFOMode(false);
+ encPort.read(hilo,0,2);
+ encPort.write((byte)0);
+ encPort.setFIFOMode(FIFOMode);
+
+ count=(hilo[0] << 8) | (hilo[1] & 0x000000ff);
return count;
}
--- /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.eletro.AIC;
+
+import java.lang.*;
+
+/** Provides access host computer through a devived class
+* @see HostCAN
+* @see HostUDP
+* @author Walter Fetter Lages (w.fetter@ieee.org)
+*/
+abstract public class Host
+{
+/** Motor actuate command
+*/
+ public static final int MOTOR_ACT='M';
+
+/** Motor on command
+*/
+ public static final int MOTOR_ON='N';
+
+/** Motor off command
+*/
+ public static final int MOTOR_OFF='P';
+
+/** Brake release command
+*/
+ public static final int BRAKE_RELEASE='F';
+
+/** Brake apply command
+*/
+ public static final int BRAKE_APPLY='B';
+
+/** AIC reset command
+*/
+ public static final int RESET='R';
+
+/** Status message identifier
+*/
+ public static final int STATUS='S';
+
+/** Motor is on
+*/
+ public static final int MOTOR_IS_ON=1;
+
+/** Brake is applied
+*/
+ public static final int BRAKE_APPLIED=2;
+
+/** Voltage aplied to motors
+*/
+ protected double u=0;
+
+/** Brake and motor status
+*/
+ protected int status=0;
+
+/** Gets command received from host computer
+* @return command code
+* @throws Exception depending on implementation
+*/
+ abstract public int command() 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 brake and motor status
+* @return brake and motor status
+*/
+ public int getStatus()
+ {
+ return status;
+ }
+
+/** Gets motor voltage
+* @return motor voltage
+*/
+ public double voltage()
+ {
+ return u;
+ }
+}
--- /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.eletro.AIC;
+
+import com.dalsemi.comm.*;
+import com.dalsemi.system.*;
+import java.lang.*;
+
+/** 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;
+ status=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.setMessageCenterMessageIDMaskEnable(RXCENTER,true);
+ canbus.set11BitMessageCenterArbitrationID(RXCENTER,id);
+ canbus.enableMessageCenter(RXCENTER);
+
+// canbus.set11BitMessageCenter15IDMask(0);
+ canbus.set29BitMessageCenter15IDMask(0);
+ canbus.setMessageCenterRXMode(15);
+ canbus.setMessageCenterMessageIDMaskEnable(15,true);
+ canbus.set11BitMessageCenterArbitrationID(15,0);
+ canbus.enableMessageCenter(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;
+ status=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.set11BitGlobalIDMask(AIC_ID_MASK);
+ canbus.setMessageCenterRXMode(RXCENTER);
+ canbus.setMessageCenterMessageIDMaskEnable(RXCENTER,true);
+ canbus.set11BitMessageCenterArbitrationID(RXCENTER,id);
+ canbus.enableMessageCenter(RXCENTER);
+
+// canbus.set11BitMessageCenter15IDMask(0);
+ canbus.set29BitMessageCenter15IDMask(0);
+ canbus.setMessageCenterRXMode(15);
+ canbus.setMessageCenterMessageIDMaskEnable(15,true);
+ canbus.set11BitMessageCenterArbitrationID(15,0);
+ canbus.enableMessageCenter(15);
+
+ canbus.enableController();
+ }
+
+/** Finalizes HostCAN
+* @throws CanBusException on CAN bus errors
+*/
+ public void finalize() throws CanBusException
+ {
+ canbus.close();
+ }
+
+/** Gets command received from host computer
+* @return command code
+* @throws CanBusException on CAN bus errors
+*/
+ public int command() throws CanBusException
+ {
+
+
+ CanFrame frame = new CanFrame();
+
+ canbus.receive(frame);
+
+ int cmd=((frame.ID & AIC_CMD_MASK) >> 5) + 0x40; // Insert msb to adjust ASCII
+
+ switch(cmd)
+ {
+ case MOTOR_ON:
+ {
+ status|=MOTOR_IS_ON;
+ break;
+ }
+ case MOTOR_OFF:
+ {
+ status &= ~MOTOR_IS_ON;
+ break;
+ }
+ case MOTOR_ACT:
+ {
+ long U=0;
+ for(int i=0;i < 8;i++) U=U | ( (frame.data[7-i] <<(i*8)) & (0xff << (i*8)) );
+ u=Double.longBitsToDouble(U);
+ break;
+ }
+ case BRAKE_APPLY:
+ {
+ status|=BRAKE_APPLIED;
+ break;
+ }
+ case BRAKE_RELEASE:
+ {
+ status &= ~BRAKE_APPLIED;
+ break;
+ }
+ case RESET:
+ {
+ 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) & AIC_CMD_MASK);
+ 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) & AIC_CMD_MASK);
+ 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.eletro.AIC;
+
+import com.dalsemi.tininet.*;
+import java.net.*;
+import java.lang.*;
+import java.io.*;
+
+/** 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;
+ status=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;
+ status=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;
+ status=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
+* @return command code
+* @throws IOException on communication errors
+*/
+ public int command() throws IOException
+ {
+ int count;
+
+ byte[] buff= new byte[256];
+
+ DatagramPacket p=new DatagramPacket(buff,256);
+
+ cmdfd.receive(p);
+
+ int cmd=buff[0];
+
+ switch(cmd)
+ {
+ case MOTOR_ON:
+ {
+ status|=MOTOR_IS_ON;
+ break;
+ }
+ case MOTOR_OFF:
+ {
+ status &= ~MOTOR_IS_ON;
+ break;
+ }
+ case MOTOR_ACT:
+ {
+
+ Double U=Double.valueOf(new String(buff,1,p.getLength()));
+ u=U.doubleValue();
+ break;
+ }
+ case BRAKE_APPLY:
+ {
+ status|=BRAKE_APPLIED;
+ break;
+ }
+ case BRAKE_RELEASE:
+ {
+ status &= ~BRAKE_APPLIED;
+ break;
+ }
+ case RESET:
+ {
+ 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
+ {
+ String cmd=String.valueOf(STATUS)+" "+String.valueOf(disp)+" "+String.valueOf(index);
+
+ byte[] buff=cmd.getBytes();
+
+ DatagramPacket p=new DatagramPacket(buff,cmd.length(),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
+ {
+ String cmd=String.valueOf(STATUS)+" "+String.valueOf(disp)+" "+String.valueOf(index);
+
+ byte[] buff=cmd.getBytes();
+
+ DatagramPacket p=new DatagramPacket(buff,cmd.length(),controlleraddr,statusport);
+ statusfd.send(p);
+ }
+
+}
+/******************************************************************************
+
+ Actuator Interface Card
+ Index 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.eletro.AIC;
import com.dalsemi.system.DataPort;
import com.dalsemi.system.IllegalAddressException;
+/** Provides access to sync-switch in an Actuator Interface Card
+* @author Walter Fetter Lages (w.fetter@ieee.org)
+*/
public class Index
{
private static final int LATCH=0xA0000;
private DataPort latch;
+/** Initializes Index
+* @param base Base address for on board devices
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
public Index(int base) throws IllegalAddressException
{
latch=new DataPort(base+LATCH);
latch.setFIFOMode(true);
- latch.setStretchCycles(DataPort.STRETCH10);
+ latch.setStretchCycles(DataPort.STRETCH2);
}
+/** Reads the sync-switch
+* @return the sync-switch state
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
public boolean read() throws IllegalAddressException
{
if((latch.read() & 0x01) == 1) return true; else return false;
-CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:.
+CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:/opt/tini/bin/modules.jar:.
APIDBPATH=-d /opt/tini/bin/tini.db
PKGPATH=br/ufrgs/eletro/AIC
JAVAFLAGS=-O -target 1.1
-all: AIC.jar
+CFLAGS = -O2 -Wall -m486
+INCLUDE = -I. -I${HOME}/include
+
+CPPFLAGS =
+CPPINCLUDE = -I${HOME}/include/cpp -I/usr/local/include/cpp -I../include
+LIB = ${HOME}/lib
+
+LIBINST=/usr/local/lib
+INCLUDEINST=/usr/local/include
+
+# for versioned module symbols
+# CFLAGS += -DMODVERSIONS -include /usr/include/linux/modversions.h
+
+INCLUDE=${CINCLUDE} ${CPPINCLUDE}
+FLAGS= ${CFLAGS} ${CPPFLAGS} -DDEBUG
+LIBDIR=${CLIBDIR} ${CPPLIBDIR}
+LIBS=${CLIBS} ${CPPLIBS}
+
+CMP= g++
+CMPFLAGS= ${FLAGS} ${INCLUDE}
+LDFLAGS= ${LIBDIR} ${LIBS}
+
+all: AIC.jar libaic.a javadocs
${PKGPATH}/PWM.class: PWM.java
javac ${JAVAFLAGS} ${CLASSPATH} -d . PWM.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
+
AIC.jar: ${PKGPATH}/PWM.class\
${PKGPATH}/Motor.class\
${PKGPATH}/Encoder.class\
${PKGPATH}/Brake.class\
${PKGPATH}/Index.class\
- ${PKGPATH}/AIC.class
+ ${PKGPATH}/AIC.class \
+ ${PKGPATH}/Host.class \
+ ${PKGPATH}/HostUDP.class \
+ ${PKGPATH}/HostCAN.class
+
jar cf AIC.jar ${PKGPATH}
+javadocs: ../doc/javadocs/index.html
+
+../doc/javadocs/index.html: PWM.java Motor.java Encoder.java Brake.java Index.java AIC.java Host.java HostUDP.java HostCAN.java
+ javadoc ${CLASSPATH} -d ../doc/javadocs -author PWM.java Motor.java Encoder.java Brake.java Index.java AIC.java Host.java HostUDP.java HostCAN.java
+
+aic.o: aic.cpp ../include/aic.h
+ gcc ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aic.cpp
+
+aicudp.o: aicudp.cpp ../include/aic.h ../include/aicnet.h ../include/aicudp.h
+ gcc ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aicudp.cpp
+
+aiccan.o: aiccan.cpp ../include/aic.h ../include/aicnet.h ../include/aiccan.h
+ gcc ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aiccan.cpp
+
+aicsim.o: aicsim.cpp ../include/aic.h ../include/aicnet.h ../include/aicsim.h
+ gcc ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aicsim.cpp
+
+aichost.o: aichost.cpp ../include/aichost.h ../include/aicnet.h
+ gcc ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aichost.cpp
+
+aichostudp.o: aichostudp.cpp ../include/aichostudp.h ../include/aicnet.h
+ gcc ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aichostudp.cpp
+
+aichostcan.o: aichostcan.cpp ../include/aichostcan.h ../include/aicnet.h
+ gcc ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aichostcan.cpp
+
+libaic.a: aic.o aicudp.o aiccan.o aicsim.o aichost.o aichostudp.o aichostcan.o
+ ar -crvs libaic.a aic.o aicudp.o aiccan.o aicsim.o aichost.o aichostudp.o aichostcan.o
+
+install:
+ install -m 0644 libaic.a ${LIBINST}
+ install -m 0644 AIC.jar ${LIBINST}
+ install -m 0755 -d ${INCLUDEINST}/cpp
+ install -m 0644 *.h ${INCLUDEINST}/cpp
+
clean:
- rm -rf *.bak *~ br
+ rm -rf *.o *~ *.bak *.class ../include/{*.bak,*~} br
distclean: clean
- rm -f AIC.jar
+ rm -rf AIC.jar *.a ../doc/javadocs
+uninstall:
+ rm ${LIBINST}/libaic.a
+ rm ${LIBINST}/AIC.jar
+ rm ${INCLUDEINST}/cpp/aic.h
+ rm ${INCLUDEINST}/cpp/aicnet.h
+/******************************************************************************
+
+ Actuator Interface Card
+ Motor 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.eletro.AIC;
import com.dalsemi.system.IllegalAddressException;
+/** Provices access to the motor driver in an Actuator Interface Card
+* @author Walter Fetter Lages (w.fetter@ieee.org)
+*/
public class Motor
{
- private double volt;
+ 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
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
public Motor(int baseadd,double voltage,double freq) throws IllegalAddressException
{
- volt=voltage;
+ 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
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
public Motor(int baseadd,double voltage) throws IllegalAddressException
{
- volt=voltage;
+ volt2duty=0.5/voltage;
pwm=new PWM(baseadd);
pwm.off();
}
-
+
+/** Finalizes the motor driver
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
public void finalize() throws IllegalAddressException
{
pwm.off();
}
+/** Turns the motor driver on
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
public void on() throws IllegalAddressException
{
pwm.on();
};
+/** Turns the motor driver off
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
public void off() throws IllegalAddressException
{
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
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
public double set(double voltage) throws IllegalAddressException
{
- double dutycicle=0.5*voltage/volt+0.5;
+ int dutycicle=((int)(voltage*volt2duty*1000000))+500000;
pwm.setDuty(dutycicle);
return dutycicle;
};
+/******************************************************************************
+
+ Actuator Interface Card
+ PWM 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.eletro.AIC;
import com.dalsemi.system.DataPort;
import com.dalsemi.system.IllegalAddressException;
+/** Provices access to the PWM in an Actuator Interface Card
+* @author Walter Fetter Lages (w.fetter@ieee.org)
+*/
public class PWM
{
private static final int PWM=0x80000;
private static final int ONE_SHOT_BIN=0x32; /* programmable one-shot binary */
private static final int RATE_BIN=0x34; /* rate generator binary */
-
- public static final double REF_FREQ=10e6; /* reference frequency = 10 MHz */
- public static final double SW_FREQ=20e3; /* default switching frequency = 20 KHz */
- public static final double TURNOFF_DELAY=600e-9;
- public static final int MIN_COUNT=(int)(2*TURNOFF_DELAY*REF_FREQ);
- public static final int MAX_COUNT=(int)(REF_FREQ/SW_FREQ);
+
+/** 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;
private DataPort latch;
+/** Sets the frequency of PWM
+* @param frequency frequency in Hz from 152.60Hz to 1MHz. Default
+* value is 20KHz
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
public void setFreq(double frequency) throws IllegalAddressException
{
max_count=(int)(REF_FREQ/frequency) & 0xffff;
timer1.write((byte)((max_count/2) >> 8));
}
+/** Returns the frequency of PWM
+* @return PWM frequency in Hz
+*/
public double getFreq()
{
return REF_FREQ/max_count;
{
timer0=new DataPort(base+PWM+0);
timer0.setFIFOMode(true);
- timer0.setStretchCycles(DataPort.STRETCH10);
+ timer0.setStretchCycles(DataPort.STRETCH2);
timer1=new DataPort(base+PWM+1);
timer1.setFIFOMode(true);
- timer1.setStretchCycles(DataPort.STRETCH10);
+ timer1.setStretchCycles(DataPort.STRETCH2);
control=new DataPort(base+PWM+3);
control.setFIFOMode(true);
- control.setStretchCycles(DataPort.STRETCH10);
+ control.setStretchCycles(DataPort.STRETCH2);
latch=new DataPort(base+LATCH);
latch.setFIFOMode(true);
- latch.setStretchCycles(DataPort.STRETCH10);
+ latch.setStretchCycles(DataPort.STRETCH2);
control.write(RATE_BIN);
setFreq(freq);
}
+/** Initializes the PWM
+* @param baseadd Base address for on board devices
+* @param freq PWM frequency
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
public PWM(int base,double freq) throws IllegalAddressException
{
init(base,freq);
}
+/** Initializes the PWM using the default PWM frequency (20KHz)
+* @param baseadd Base address for on board devices
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
public PWM(int base) throws IllegalAddressException
{
init(base,SW_FREQ);
}
+/** Finalizes the PWM
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
public void finalize() throws IllegalAddressException
{
timer1.write((byte)(max_count/2));
timer1.write((byte)((max_count/2) >> 8));
}
-
+/** Sets the duty-cycle of PWM
+* @param dutycicle to be used by PWM as a double from 0 to 1.0
+* @return the count value programmed to the PWM timer
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
public int setDuty(double dutycicle) throws IllegalAddressException
{
- if(dutycicle < 0.0) dutycicle=0.0;
- if(dutycicle > 1.0) dutycicle=1.0;
- int count=(int)(max_count*(1.0-dutycicle));
+// if(dutycicle < 0.0) dutycicle=0.0;
+// if(dutycicle > 1.0) dutycicle=1.0;
+// int count=(int)(max_count*(1.0-dutycicle));
+ int count=max_count-(int)(max_count*dutycicle);
+ if(count < MIN_COUNT) count=MIN_COUNT;
+ if(count > max_count-MIN_COUNT) count=max_count-MIN_COUNT;
+ timer1.write((byte)count);
+ timer1.write((byte)(count >> 8));
+ return count;
+ }
+
+/** Sets the duty-cycle of PWM
+* @param dutycicle to be used by PWM as a int from 0 to 1000000
+* @return the count value programmed to the PWM timer
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
+ public int setDuty(int dutycicle) throws IllegalAddressException
+ {
+// if(dutycicle < 0) dutycicle=0;
+// if(dutycicle > 1000000) dutycicle=1000000;
+ int count=(max_count*(1000000-dutycicle))/1000000;
if(count < MIN_COUNT) count=MIN_COUNT;
if(count > max_count-MIN_COUNT) count=max_count-MIN_COUNT;
timer1.write((byte)count);
timer1.write((byte)(count >> 8));
return count;
- }
+ }
+/** Turns the PWM on
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
public void on() throws IllegalAddressException
{
latch.write((byte)PWMENABLE);
}
+/** Turns the PWM off
+* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed
+*/
public void off() throws IllegalAddressException
{
latch.write((byte)PWMDISABLE);
--- /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)
+{
+ char buff[32];
+
+ int len=snprintf(buff,32,"%c",AIC_MOTOR_ON);
+ port->send_command(buff,len);
+}
+
+void AIC_MOTOR::off(void)
+{
+ char buff[32];
+
+ int len=snprintf(buff,32,"%c",AIC_MOTOR_OFF);
+ port->send_command(buff,len);
+}
+
+double AIC_MOTOR::operator=(double voltage)
+{
+ char buff[32];
+
+ int len=snprintf(buff,32,"%c %g",AIC_MOTOR_ACT,voltage);
+
+ port->send_command(buff,len);
+
+ return voltage;
+}
+
+
+AIC_BRAKE::AIC_BRAKE(AIC_COMM *comm)
+{
+ port=comm;
+}
+
+void AIC_BRAKE::apply(void)
+{
+ char buff[32];
+
+ int len=snprintf(buff,32,"%c",AIC_BRAKE_APPLY);
+ port->send_command(buff,len);
+}
+
+void AIC_BRAKE::release(void)
+{
+ char buff[32];
+
+ int len=snprintf(buff,32,"%c",AIC_BRAKE_RELEASE);
+ port->send_command(buff,len);
+}
+
+AIC_ENCODER::AIC_ENCODER(AIC_COMM *comm)
+{
+ port=comm;
+}
+
+double AIC_ENCODER::read(int *index)
+{
+ char buff[256];
+
+ int count=port->get_status(buff,255);
+
+ buff[count]= '\0';
+ char *next=buff+1;
+ double disp=strtod(next,&next);
+ *index=strtol(next,NULL,0);
+
+ 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)
+{
+ char buff[256];
+
+ int count=port->get_status(buff,255);
+
+ buff[count]= '\0';
+ char *next=buff+1;
+ *disp=strtod(buff,&next);
+ int index=strtol(next,NULL,0);
+
+ 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)
+{
+}
--- /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>.
+
+*******************************************************************************/
+
+#include <stdio.h>
+
+#include <canlib.h>
+
+#include <aiccan.h>
+#include <aicnet.h>
+
+AIC_CAN::AIC_CAN(int aic,int bus=0):
+AIC(this)
+{
+ aicnumber=aic;
+ canHandle handle;
+ canStatus status=(canStatus)handle=canOpenChannel(bus,canWANT_EXCLUSIVE | canWANT_EXTENDED);
+ if(status < 0) throw AIC_CAN_BAD_OPEN();
+
+ status=canSetBusParams(handle,BAUD_125K,13,7,1,1,0);
+ if(status < 0) throw AIC_CAN_BAD_PARMS();
+
+ status=canBusOn(handle);
+ if(status < 0) throw AIC_CAN_BAD_BUSON();
+}
+
+
+AIC_CAN::~AIC_CAN(void)
+{
+ canStatus status=canClose(handle);
+ if(status < 0) throw AIC_CAN_BAD_CLOSE();
+}
+
+int AIC_CAN::get_status(char *buff,int len)
+{
+ long id;
+ unsigned char msg[8];
+ unsigned int msglen;
+ unsigned int flag;
+ unsigned long time;
+ do
+ {
+ canStatus status=canReadWait(handle,&id,msg,&msglen,&flag,&time,-1);
+ if(status < 0) throw AIC_CAN_BAD_RECEIVE();
+ if(!(flag & canMSG_STD)) continue;
+ } while( ((id & AIC_ID_MASK) != aicnumber) || !(id & AIC_ID_MASK) );
+
+ char cmd=(id & AIC_CMD_MASK) >> 5;
+
+ int count=snprintf(buff,len,"%c",cmd);
+
+ switch(cmd)
+ {
+ case AIC_STATUS:
+ {
+
+ float disp;
+ for(int i=0;i < 4;i++) *(((unsigned char *)&disp)+i)=msg[3-i];
+
+ int index;
+ for(int i=0;i < 4;i++) *(((unsigned char *)&index)+i)=msg[7-i];
+
+ count=snprintf(buff+count,len-count,"%f %d",disp,index);
+ break;
+ }
+ }
+ return count;
+}
+
+void AIC_CAN::send_command(const char *cmd,int len)
+{
+ unsigned char msg[8];
+ unsigned int msglen=8;
+
+ long id=aicnumber | ( (((long)cmd[0]) << 5) & AIC_CMD_MASK);
+ switch(cmd[0])
+ {
+ 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:
+ {
+ char *next=(char *)cmd+1;
+ double volt=strtod(next,&next);
+ for(int i=0;i < 8;i++) msg[7-i]= ( ( *((int *) &volt) ) >> (i*8) ) & 0xff;
+ msglen=8;
+ break;
+ }
+ default: throw AIC_CAN_BAD_COMMAND();
+
+ }
+
+ unsigned int flag=canMSG_STD;
+ canStatus status=canWriteWait(handle,id,msg,msglen,flag,-1);
+ if(status < 0) throw AIC_CAN_BAD_SEND();
+}
--- /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 <aichost.h>
+
+AIC_HOST::AIC_HOST(void)
+{
+ u=0;
+ status=0;
+}
+
+AIC_HOST::~AIC_HOST(void)
+{
+
+}
+
+
+int AIC_HOST::getstatus(void) const
+{
+ return status;
+}
+
+double AIC_HOST::voltage(void) const
+{
+ return u;
+}
+
--- /dev/null
+/******************************************************************************
+
+ Actuator Interface Card
+ AIC Host Interface Simulation
+ 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>.
+
+*******************************************************************************/
+
+#include <aichostcan.h>
+
+AIC_HOST_CAN::AIC_HOST_CAN(int aic,int bus=0):
+AIC_HOST()
+{
+ aicnumber=aic;
+ canHandle handle;
+ canStatus status=(canStatus)handle=canOpenChannel(bus,canWANT_EXCLUSIVE | canWANT_EXTENDED);
+ if(status < 0) throw AIC_HOST_CAN_BAD_OPEN();
+
+ status=canSetBusParams(handle,BAUD_125K,13,7,1,1,0);
+ if(status < 0) throw AIC_HOST_CAN_BAD_PARMS();
+
+ status=canBusOn(handle);
+ if(status < 0) throw AIC_HOST_CAN_BAD_BUSON();
+}
+
+
+AIC_HOST_CAN::~AIC_HOST_CAN(void)
+{
+ canStatus status=canClose(handle);
+ if(status < 0) throw AIC_HOST_CAN_BAD_CLOSE();
+}
+
+int AIC_HOST_CAN::command(void)
+{
+ long id;
+ unsigned char msg[8];
+ unsigned int msglen;
+ unsigned int flag;
+ unsigned long time;
+ do
+ {
+ canStatus
+ status=canReadWait(handle,&id,msg,&msglen,&flag,&time,-1);
+ if(status < 0) throw AIC_HOST_CAN_BAD_RECEIVE(); if(!(flag &
+ canMSG_STD)) continue;
+ } while((id & AIC_ID_MASK) != aicnumber);
+
+
+
+ int cmd=id >> 5;
+ 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];
+ for(int i=0;i < 4;i++) msg[3-i]= *(((unsigned char *) &disp)+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 AIC_HOST_CAN_BAD_SEND();
+}
+
+
--- /dev/null
+/******************************************************************************
+
+ Actuator Interface Card
+ AIC Host Interface Simulation
+ 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>.
+
+*******************************************************************************/
+
+#include <arpa/inet.h>
+#include <errno.h>
+#include <iostream.h>
+#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=STATUS_PORT,int cmdport=CMD_PORT):
+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 AIC_HOST_UDP_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 AIC_HOST_UDP_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 AIC_HOST_UDP_BAD_SOCKET();
+ }
+ if((bind(cmdfd,(struct sockaddr *) &cmdaddr,sizeof(cmdaddr))) < 0)
+ {
+#ifdef DEBUG
+ cerr << "AIC_HOST::AIC_HOST error: "
+ << strerror(errno) << "\n";
+#endif
+ throw AIC_HOST_UDP_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[256];
+ int count;
+
+ socklen_t cmdlen=sizeof(cmdaddr);
+
+ if((count=recvfrom(cmdfd,buff,255,0,(struct sockaddr *) &cmdaddr,&cmdlen)) <= 0)
+ {
+#ifdef DEBUG
+ cerr << "AIC_HOST::command error: "
+ << strerror(errno) << "\n";
+#endif
+ throw AIC_HOST_BAD_RECEIVE();
+ }
+
+ buff[count]= '\0';
+
+ 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:
+ {
+ char *next=buff+1;
+
+ u= strtod(next, NULL);
+ 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];
+
+ int len=snprintf(buff,32,"%g %d",disp,index);
+
+ if(sendto(statusfd,buff,len,0,(struct sockaddr *) &statusaddr,sizeof(statusaddr)) < 0)
+ {
+#ifdef DEBUG
+ cerr << "AIC_HOST::send_status error: "
+ << strerror(errno) << "\n";
+#endif
+ throw AIC_HOST_BAD_SEND();
+ }
+}
+
+
--- /dev/null
+/******************************************************************************
+
+ Actuator Interface Card Simulator
+ 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.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <aicnet.h>
+#include <aicsim.h>
+
+AIC_SIM::AIC_SIM(void)
+:AIC(this)
+{
+}
+
+int AIC_SIM::get_status(char *status,int len)
+{
+ static int i=0;
+
+ int count=snprintf(status,len,"%c %g %d",AIC_STATUS,i*0.5, i % 2);
+
+ i++;
+
+ return count;
+}
+
+void AIC_SIM::send_command(const char *cmd,int len)
+{
+ switch(*cmd)
+ {
+ 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:
+ {
+ cout << "AIC Motor Voltage=" << strtod(cmd+1,NULL) << "V\t";
+ break;
+ }
+ case AIC_RESET:
+ {
+ cout << "AIC Reset\t";
+ break;
+ }
+ default:
+ {
+#ifdef DEBUG
+ cerr << "Command \"" << (char) *cmd << "\" unknown by AIC_SIM\n";
+#endif
+ throw AIC_BAD_COMMAND();
+ }
+ }
+}
+
+
--- /dev/null
+/******************************************************************************
+
+ Actuator Interface Card
+ Host Interface Library
+ 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>.
+
+*******************************************************************************/
+
+#include <iostream.h>
+#include <arpa/inet.h>
+#include <errno.h>
+#include <netdb.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=STATUS_PORT,int cmdport=CMD_PORT)
+: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 AIC_UDP_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 AIC_UDP_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 AIC_UDP_BAD_SOCKET();
+ }
+ if((bind(statfd,(struct sockaddr *) &stataddr,sizeof(stataddr))) < 0)
+ {
+#ifdef DEBUG
+ cerr << "AIC_UDP::AIC_UDP error: "
+ << strerror(errno) << "\n";
+#endif
+ throw AIC_UDP_BAD_BIND();
+ }
+}
+
+
+AIC_UDP::~AIC_UDP(void)
+{
+ shutdown(cmdfd,SHUT_RDWR);
+ shutdown(statfd,SHUT_RDWR);
+}
+
+int AIC_UDP::get_status(char *buff,int len)
+{
+ int count;
+
+ socklen_t statlen=sizeof(stataddr);
+
+ if((count=recvfrom(statfd,buff,len,0,(struct sockaddr *) &stataddr,&statlen)) <= 0)
+ {
+#ifdef DEBUG
+ cerr << "AIC_UDP::get_status error: "
+ << strerror(errno) << "\n";
+#endif
+ throw AIC_UDP_BAD_RECEIVE();
+ }
+
+ return count;
+}
+
+void AIC_UDP::send_command(const char *cmd,int len)
+{
+ if(sendto(cmdfd,cmd,len,0,(struct sockaddr *) &cmdaddr,sizeof(cmdaddr)) < 0)
+ {
+#ifdef DEBUG
+ cerr << "AIC_UDP::send_command error: "
+ << strerror(errno) << "\n";
+#endif
+ throw AIC_UDP_BAD_SEND();
+ }
+}
+
+
--- /dev/null
+CFLAGS=-O2 -Wall -m486
+CINCLUDE=-I${HOME}/include
+CLIBDIR=-L${HOME}/lib
+CLIBS=-lcutil -lconio -lncurses -lcanlib
+
+CPPFLAGS=
+CPPINCLUDE=-I../include -I${HOME}/include/cpp -I/usr/local/include/cpp
+CPPLIBDIR=-L../lib -L${HOME}/lib/cpp -L${HOME}/lib
+CPPLIBS=-lcpputil -laic
+
+INCLUDE=${CINCLUDE} ${CPPINCLUDE}
+FLAGS= ${CFLAGS} ${CPPFLAGS} -DDEBUG
+LIBDIR=${CLIBDIR} ${CPPLIBDIR}
+LIBS=${CLIBS} ${CPPLIBS}
+
+CMP= g++
+CMPFLAGS= ${FLAGS} ${INCLUDE}
+LDFLAGS= ${LIBDIR} ${LIBS}
+
+all: motortst motortstudp
+
+motortst: motortst.cpp ../lib/libaic.a
+ ${CMP} ${CMPFLAGS} -o motortst motortst.cpp ${LDFLAGS}
+
+motortstudp: motortst.cpp ../lib/libaic.a
+ ${CMP} ${CMPFLAGS} -DUSE_UDP -o motortstudp motortst.cpp ${LDFLAGS}
+
+clean:
+ rm -f *~ *.bak *.o
+
+install:
+
+distclean: clean
+ rm -f motortst motortstudp
--- /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 <delay.h>
+
+#ifdef USE_UDP
+#include <aicudp.h>
+#else
+#include <aiccan.h>
+#endif
+
+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)
+ {
+ cerr << "Usage: " << argv[0] << " aic\n";
+ return -1;
+ }
+
+#ifdef USE_UDP
+ AIC_UDP aic(argv[1]);
+#else
+ AIC_CAN aic(atoi(argv[1]));
+#endif
+
+ 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
+PRJLIBDIR=../lib
+PRJINCLUDE=../include
+PRJFLAGS=-DVERBOSE
+
+CFLAGS=-O2 -Wall -m486
+CINCLUDE=-I. -I${HOME}/include -I/usr/local/include -I/usr/include/rtai
+CLIBDIR=-L${HOME}/lib -L/usr/local/lib
+CLIBS=-lcutil -lpthread -lcanlib
+
+CPPFLAGS=
+CPPINCLUDE=-I${HOME}/include/cpp -I/usr/local/include/cpp -I../include
+CPPLIBDIR=-L${HOME}/lib/cpp -L../lib
+CPPLIBS=-laic -lcpputil -lcontrol
+
+INCLUDE=${CINCLUDE} ${CPPINCLUDE}
+FLAGS= ${CFLAGS} ${CPPFLAGS}
+LIBDIR=${CLIBDIR} ${CPPLIBDIR}
+LIBS=${CPPLIBS} ${CLIBS}
+
+CMP= g++
+CMPFLAGS= ${FLAGS} ${INCLUDE} ${PRJFLAGS}
+LDFLAGS= ${LIBDIR} ${LIBS}
+CMPSWTCH= gnu
+CMPMESSAGE= '${?*:warning:}\"${FILE}\", line ${LINE}:* at or near * \"${COLUMN=AFTER}\"'
+
+
+all: pid pidudp
+
+pid: pid.cpp ${PRJINCLUDE}/aic.h ${PRJLIBDIR}/libaic.a
+ ${CMP} ${CMPFLAGS} -o pid pid.cpp ${LDFLAGS}
+
+pidudp: pid.cpp ${PRJINCLUDE}/aic.h ${PRJLIBDIR}/libaic.a
+ ${CMP} ${CMPFLAGS} -DUSE_UDP -o pidudp pid.cpp ${LDFLAGS}
+
+
+${PRJLIBDIR}/libaic.a:
+ $(MAKE) -C ${PRJLIBDIR}
+
+clean:
+ rm -f *~ *.bak *.o
+
+install:
+
+distclean: clean
+ rm -f pid pidudp *.dat
+
--- /dev/null
+/******************************************************************************
+
+ Actuator Interface Card
+ AIC PID Controller
+ 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.h>
+#include <math.h>
+#include <sys/mman.h>
+
+#include <control.h>
+
+#ifdef USE_UDP
+#include <aicudp.h>
+#else
+#include <aiccan.h>
+#endif
+
+#define KEEP_STATIC_INLINE
+#include <rtai_lxrt_user.h>
+#include <rtai_lxrt.h>
+
+static inline double ref(double t)
+{
+ return M_PI;
+}
+
+int main(int argc,char *argv[])
+{
+ if(argc !=1)
+ {
+ cout << "AIC PID Controller\n";
+ cout << "Copyright (C) 2003 Walter Fetter Lages <w.fetter@ieee.org>.\n";
+ cout << "USAGE: pid aic\n";
+ return -1;
+ }
+
+ double gain[3]={20,5,10};
+
+ const double ST=1;
+ const double TF=10;
+
+#ifdef USE_UDP
+ AIC_UDP aic(argv[1]);
+#else
+ AIC_CAN aic(atoi(argv[1]));
+#endif
+
+ 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,period);
+
+ for(double t=0; t <=TF && run; t+=ST)
+ {
+
+ rt_task_wait_period();
+
+#ifdef VERBOSE
+ cout << "t=" << t << "\t";
+#endif
+
+ y+=aic.encoder.read()*2.0*M_PI/2048;
+
+ double e=ref(t)-y;
+ u=pid.out(e);
+
+ aic.motor=u;
+#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);
+
+ return 0;
+}
+++ /dev/null
-Groupings\r
-0:0:8;\r
-1:0:10;\r
-2:0:12;\r
-3:0:14;\r
-4:0:16;\r
-5:0:16;\r
-6:0:14;\r
-7:0:12;\r
-8:0:10;\r
-9:0:8;\r
-10:0:1;\r
-11:0:1;\r
-12:0:1;\r
-13:0:1;\r
-14:0:1;\r
-15:0:1;\r
-16:0:1;\r
-17:0:1;\r
-18:0:1;\r
-19:0:1;\r
-20:0:1;\r
-21:0:1;\r
-Declarations\r
-CLK,dir:input;\r
-A19,dir:input;\r
-A18,dir:input;\r
-A17,dir:input;\r
-A16,dir:input;\r
-!WR,dir:input;\r
-!RD,dir:input;\r
-D1,dir:input;\r
-REFPOS,dir:input;\r
-STROBE,dir:input;\r
-PWM,dir:input;\r
-TRINT,dir:input;\r
-DRVB,dir:input;\r
-DRVA,dir:input;\r
-EXTINT,dir:input;\r
-BRAKE,dir:input;\r
-PWMEN,dir:input;\r
-D0,dir:input;\r
-!EWR,dir:input;\r
-!ERD,dir:input;\r
-!CSPWM,dir:input;\r
-CSLATCH,dir:input;\r
-AR,dir:input;\r
-SP,dir:input;\r
-AR,dir:output,group:20;\r
-SP,dir:output,group:21;\r
-EXTINT,dir:output,group:7;\r
-Equations\r
-AR =0;\r
-SP =0;\r
-EXTINT=!TRINT;\r
+++ /dev/null
-"Place Version: 2.8.2\r
-***********************\r
-* DIP FORMAT ONLY *\r
-***********************\r
-Actuator Interface Card Decoder \r
-Part Number = PEEL22CV10\r
-\r
-PinNode 1 = CLK\r
-PinNode 2 = A19\r
-PinNode 3 = A18\r
-PinNode 4 = A17\r
-PinNode 5 = A16\r
-PinNode 6 = !WR\r
-PinNode 7 = !RD\r
-PinNode 8 = D1\r
-PinNode 9 = REFPOS\r
-PinNode 10 = STROBE\r
-PinNode 11 = PWM\r
-PinNode 13 = TRINT\r
-PinNode 14 = DRVB\r
-PinNode 15 = DRVA\r
-PinNode 16 = EXTINT\r
-PinNode 17 = BRAKE\r
-PinNode 18 = PWMEN\r
-PinNode 19 = D0\r
-PinNode 20 = !EWR\r
-PinNode 21 = !ERD\r
-PinNode 22 = !CSPWM\r
-PinNode 23 = CSLATCH\r
-PinNode 25 = AR\r
-PinNode 26 = SP\r
Page : 1 \r
gggggggggggggggggggggggggggggggggggggggggggggggggggggggggggg\r
CLOCK LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL\r
- A[19] LLLLLLLLLLLHHHHHHHHLLLLLLLLHHHHHHHHLLLLLLLLHHHHHHHHLLLLLLLLH\r
- A[18] LLLLLLLHHHHLLLLHHHHLLLLHHHHLLLLHHHHLLLLHHHHLLLLHHHHLLLLHHHHL\r
- A[17] LLLLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHL\r
- A[16] LLLLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHL\r
-/WR LLLHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHLLLLLLLLL\r
-/RD LLLHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHLLLLLLLLLLLLLLLLHHHHHHHHH\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 LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLHHHHHHHHHHHHHHH\r
-/STROBE LLLHHHHHHHHHHHHHHHHLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL\r
+ REFPOS LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLHHHHHHHHHHHHHHHH\r
+/STROBE LLHHHHHHHHHHHHHHHHLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL\r
PWM LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL\r
GND LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL\r
- TRINT LHLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL\r
+ TRINT HLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL\r
DRVB LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL\r
DRVA LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL\r
-/EXTINT HLHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH\r
+/EXTINT LHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH\r
/BRAKE HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH\r
PWMEN LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL\r
- D0 ZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZHZZZZZZZZZZZZZZ\r
-/EWR HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH\r
-/ERD HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHLHHHHHHHHHHHHHHH\r
-/CSPWM HHHHHHHHHHHHHHHHHHHHHHHHHHHLHHHHHHHHHHHHHHHLHHHHHHHHHHHHHHHL\r
+ D0 ZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZHZZZZZZZZZZZZZZZ\r
+/EWR HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHL\r
+/ERD HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHLHHHHHHHHHHHHHHHH\r
+/CSPWM HHHHHHHHHHHHHHHHHHHHHHHHHHLHHHHHHHHHHHHHHHLHHHHHHHHHHHHHHHLH\r
/CSLATCH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH\r
VCC HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH\r
\f\r
PAL22V10 \r
Page : 2 \r
- ggggggggggggc gc gc gc pggpgg \r
- CLOCK LLLLLLLLLLLLHHLLHHLLHHLLHHLLLLLLL \r
- A[19] HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
- A[18] LLLHHHHHLLLLLLLLLLLLLLLLLLLLLLLLL \r
- A[17] LHHLLHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
- A[16] HLHLHLHHLLLLLLLLLLLLLLLLLLLLLLLLL \r
-/WR LLLLLLLHHHHHHHHHHHHHHHHHHHHHHHHHH \r
-/RD HHHHHHHHLLHHHHHHHHHHHHHHHHHHHHHHH \r
- D1 LLLLLLLLLLLHHHHLLLLLLLLLLLLLLLLLL \r
- REFPOS HHHHHHHHHLLLLLLLLLLLLLLLLLLLLLLLL \r
-/STROBE LLLLLLLHLLHHHHHHHHHHHHHHHHHHHHHHH \r
- PWM LLLLLLLLLLLLLLLLLLLLLLLLLLLLLHHLH \r
- GND LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL \r
- TRINT LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL \r
- DRVB LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLH \r
- DRVA LLLLLLLLLLLLLXXXXXXXXHHHHLLLLLLHL \r
-/EXTINT HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
-/BRAKE HHHHHHHHHHHHHLLLLHHHHHHHHHHHHHHHH \r
- PWMEN LLLLLLLLLLLLLXXXXXXXXHHHHLLLLLHHH \r
- D0 ZZZZZZZZHLZZZZZZZZZHHHHLLLLLLLLLL \r
-/EWR LHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
-/ERD HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
-/CSPWM HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
-/CSLATCH HLHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
- VCC HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
+ gggggggggggc gc gc gc gc ggc g \r
+ CLOCK LLLLLLLLLLLHHLLHHLLHHLLHHLLHHLLLHHLL \r
+ A[19] HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
+ A[18] LLHHHHHLLLLLLLLLLLLLLLLLLLLLLLLLLLLL \r
+ A[17] HHLLHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
+ A[16] LHLHLHHLLLLLLLLLLLLLLLLLLLLLLLLLLLLL \r
+/WR LLLLLLHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
+/RD HHHHHHHLLHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
+ D1 LLLLLLLLLLHHHHHHHHLLLLLLLLLLLLLLLLLL \r
+ REFPOS HHHHHHHHLLLLLLLLLLLLLLLLLLLLLLLLLLLL \r
+/STROBE LLLLLLHLLHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
+ PWM LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLHLLLLH \r
+ GND LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL \r
+ TRINT LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL \r
+ DRVB LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLH \r
+ DRVA LLLLLLLLLLLLLLLLLLLLHHHHLLLLLLLLLHHL \r
+/EXTINT HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
+/BRAKE HHHHHHHHHHHHLLLLHHHHHHHHHHHHHHHHHHHH \r
+ PWMEN LLLLLLLLLLLLLLLLLLLLHHHHLLLLLLLLLHHH \r
+ D0 ZZZZZZZHLZHHHHLLLLHHHHLLLLLLLLLHHHHH \r
+/EWR HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
+/ERD HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
+/CSPWM HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
+/CSLATCH LHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
+ VCC HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
\f\r
\ 2\r
PAL22V10\r
DECODER*\r
-QV0085*\r
+QV0084*\r
QP24*\r
QF5828*\r
G0*F0*\r
L2816 00000000000000000000000000000000000000000000*\r
L2860 00000000000000000000000000000000000000000000*\r
L2904 11111111111111111111111111111111111111111111*\r
-L2948 11111111111111111101111111111111111111111111*\r
-L2992 00000000000000000000000000000000000000000000*\r
+L2948 11111111111111111101111111111011111111111111*\r
+L2992 11111111111111111111111011110111111111111111*\r
L3036 00000000000000000000000000000000000000000000*\r
L3080 00000000000000000000000000000000000000000000*\r
L3124 00000000000000000000000000000000000000000000*\r
L3564 00000000000000000000000000000000000000000000*\r
L3608 00000000000000000000000000000000000000000000*\r
L3652 11111111111111111111111111111111111111111111*\r
-L3696 11111111111111111111111111110111111111111111*\r
-L3740 00000000000000000000000000000000000000000000*\r
+L3696 11111111111111111101111111110111111111111111*\r
+L3740 11111111111111111111111111101011111111111111*\r
L3784 00000000000000000000000000000000000000000000*\r
L3828 00000000000000000000000000000000000000000000*\r
L3872 00000000000000000000000000000000000000000000*\r
L5764 00000000000000000000000000000000000000000000*\r
L5808 01010101111000011111*\r
X0*\r
-V0001 0XXXXXXXXXXNXLLHHLZHHHHN*\r
-V0002 0XXXXXXXXXXN1LLLHLZHHHHN*\r
-V0003 0XXXXXXXXXXN0LLHHLZHHHHN*\r
-V0004 0000011XX1XN0LLHHLZHHHHN*\r
-V0005 0000111XX1XN0LLHHLZHHHHN*\r
-V0006 0001011XX1XN0LLHHLZHHHHN*\r
-V0007 0001111XX1XN0LLHHLZHHHHN*\r
-V0008 0010011XX1XN0LLHHLZHHHHN*\r
-V0009 0010111XX1XN0LLHHLZHHHHN*\r
-V0010 0011011XX1XN0LLHHLZHHHHN*\r
-V0011 0011111XX1XN0LLHHLZHHHHN*\r
-V0012 0100011XX1XN0LLHHLZHHHHN*\r
-V0013 0100111XX1XN0LLHHLZHHHHN*\r
-V0014 0101011XX1XN0LLHHLZHHHHN*\r
-V0015 0101111XX1XN0LLHHLZHHHHN*\r
-V0016 0110011XX1XN0LLHHLZHHHHN*\r
-V0017 0110111XX1XN0LLHHLZHHHHN*\r
-V0018 0111011XX1XN0LLHHLZHHHHN*\r
-V0019 0111111XX1XN0LLHHLZHHHHN*\r
-V0020 0000011XX0XN0LLHHLZHHHHN*\r
-V0021 0000111XX0XN0LLHHLZHHHHN*\r
-V0022 0001011XX0XN0LLHHLZHHHHN*\r
-V0023 0001111XX0XN0LLHHLZHHHHN*\r
-V0024 0010011XX0XN0LLHHLZHHHHN*\r
-V0025 0010111XX0XN0LLHHLZHHHHN*\r
-V0026 0011011XX0XN0LLHHLZHHHHN*\r
-V0027 0011111XX0XN0LLHHLZHHHHN*\r
-V0028 0100011XX0XN0LLHHLZHHLHN*\r
-V0029 0100111XX0XN0LLHHLZHHHHN*\r
-V0030 0101011XX0XN0LLHHLZHHHHN*\r
-V0031 0101111XX0XN0LLHHLZHHHHN*\r
-V0032 0110011XX0XN0LLHHLZHHHHN*\r
-V0033 0110111XX0XN0LLHHLZHHHHN*\r
-V0034 0111011XX0XN0LLHHLZHHHHN*\r
-V0035 0111111XX0XN0LLHHLZHHHHN*\r
-V0036 0000010XX0XN0LLHHLZHHHHN*\r
-V0037 0000110XX0XN0LLHHLZHHHHN*\r
-V0038 0001010XX0XN0LLHHLZHHHHN*\r
-V0039 0001110XX0XN0LLHHLZHHHHN*\r
-V0040 0010010XX0XN0LLHHLZHHHHN*\r
-V0041 0010110XX0XN0LLHHLZHHHHN*\r
-V0042 0011010XX0XN0LLHHLZHHHHN*\r
-V0043 0011110XX0XN0LLHHLZHHHHN*\r
-V0044 0100010XX0XN0LLHHLZHHLHN*\r
-V0045 0100110XX0XN0LLHHLZHLHHN*\r
-V0046 0101010X10XN0LLHHLHHHHHN*\r
-V0047 0101110X10XN0LLHHLZHHHHN*\r
-V0048 0110010X10XN0LLHHLZHHHHN*\r
-V0049 0110110X10XN0LLHHLZHHHHN*\r
-V0050 0111010X10XN0LLHHLZHHHHN*\r
-V0051 0111110X10XN0LLHHLZHHHHN*\r
-V0052 0000001X10XN0LLHHLZHHHHN*\r
-V0053 0000101X10XN0LLHHLZHHHHN*\r
-V0054 0001001X10XN0LLHHLZHHHHN*\r
-V0055 0001101X10XN0LLHHLZHHHHN*\r
-V0056 0010001X10XN0LLHHLZHHHHN*\r
-V0057 0010101X10XN0LLHHLZHHHHN*\r
-V0058 0011001X10XN0LLHHLZHHHHN*\r
-V0059 0011101X10XN0LLHHLZHHHHN*\r
-V0060 0100001X10XN0LLHHLZHHLHN*\r
-V0061 0100101X10XN0LLHHLZLHHHN*\r
-V0062 0101001X10XN0LLHHLZHHHLN*\r
-V0063 0101101X10XN0LLHHLZHHHHN*\r
-V0064 0110001X10XN0LLHHLZHHHHN*\r
-V0065 0110101X10XN0LLHHLZHHHHN*\r
-V0066 0111001X10XN0LLHHLZHHHHN*\r
-V0067 0111101X10XN0LLHHLZHHHHN*\r
-V0068 0111111X11XN0LLHHLZHHHHN*\r
-V0069 0101010X10XN0LLHHLHHHHHN*\r
-V0070 0101010X00XN0LLHHLLHHHHN*\r
-V0071 0101011X01XN0LLHHLZHHHHN*\r
-V0072 0101011101XN0LLHHLZHHHHN*\r
-V0073 C101011101XN0LXHLXZHHHHN*\r
-V0074 0101011001XN0LXHLXZHHHHN*\r
-V0075 C101011001XN0LXHHXZHHHHN*\r
-V0076 0101011001XN0LXHHX1HHHHN*\r
-V0077 C101011001XN0LHHHH1HHHHN*\r
-V0078 0101011001XN0LHHHH0HHHHN*\r
-V0079 C101011001XN0LLHHL0HHHHN*\r
-V0080 P1010110010N0XXXX10XXXXN*\r
-V0081 01010110010N0LLHHL0HHHHN*\r
-V0082 01010110011N0LLHHL0HHHHN*\r
-V0083 P1010110011N0XXXX00XXXXN*\r
-V0084 01010110010N0LHHHH0HHHHN*\r
-V0085 01010110011N0HLHHH0HHHHN*\r
-C6C0E*\r
-\ 3A8AD\r
+V0001 XXXXXXXXXXXN1LLLHLZHHHHN*\r
+V0002 XXXXXXXXXXXN0LLHHLZHHHHN*\r
+V0003 X000011XX1XN0LLHHLZHHHHN*\r
+V0004 X000111XX1XN0LLHHLZHHHHN*\r
+V0005 X001011XX1XN0LLHHLZHHHHN*\r
+V0006 X001111XX1XN0LLHHLZHHHHN*\r
+V0007 X010011XX1XN0LLHHLZHHHHN*\r
+V0008 X010111XX1XN0LLHHLZHHHHN*\r
+V0009 X011011XX1XN0LLHHLZHHHHN*\r
+V0010 X011111XX1XN0LLHHLZHHHHN*\r
+V0011 X100011XX1XN0LLHHLZHHHHN*\r
+V0012 X100111XX1XN0LLHHLZHHHHN*\r
+V0013 X101011XX1XN0LLHHLZHHHHN*\r
+V0014 X101111XX1XN0LLHHLZHHHHN*\r
+V0015 X110011XX1XN0LLHHLZHHHHN*\r
+V0016 X110111XX1XN0LLHHLZHHHHN*\r
+V0017 X111011XX1XN0LLHHLZHHHHN*\r
+V0018 X111111XX1XN0LLHHLZHHHHN*\r
+V0019 X000011XX0XN0LLHHLZHHHHN*\r
+V0020 X000111XX0XN0LLHHLZHHHHN*\r
+V0021 X001011XX0XN0LLHHLZHHHHN*\r
+V0022 X001111XX0XN0LLHHLZHHHHN*\r
+V0023 X010011XX0XN0LLHHLZHHHHN*\r
+V0024 X010111XX0XN0LLHHLZHHHHN*\r
+V0025 X011011XX0XN0LLHHLZHHHHN*\r
+V0026 X011111XX0XN0LLHHLZHHHHN*\r
+V0027 X100011XX0XN0LLHHLZHHLHN*\r
+V0028 X100111XX0XN0LLHHLZHHHHN*\r
+V0029 X101011XX0XN0LLHHLZHHHHN*\r
+V0030 X101111XX0XN0LLHHLZHHHHN*\r
+V0031 X110011XX0XN0LLHHLZHHHHN*\r
+V0032 X110111XX0XN0LLHHLZHHHHN*\r
+V0033 X111011XX0XN0LLHHLZHHHHN*\r
+V0034 X111111XX0XN0LLHHLZHHHHN*\r
+V0035 X000010XX0XN0LLHHLZHHHHN*\r
+V0036 X000110XX0XN0LLHHLZHHHHN*\r
+V0037 X001010XX0XN0LLHHLZHHHHN*\r
+V0038 X001110XX0XN0LLHHLZHHHHN*\r
+V0039 X010010XX0XN0LLHHLZHHHHN*\r
+V0040 X010110XX0XN0LLHHLZHHHHN*\r
+V0041 X011010XX0XN0LLHHLZHHHHN*\r
+V0042 X011110XX0XN0LLHHLZHHHHN*\r
+V0043 X100010XX0XN0LLHHLZHHLHN*\r
+V0044 X100110XX0XN0LLHHLZHLHHN*\r
+V0045 X101010X10XN0LLHHLHHHHHN*\r
+V0046 X101110X10XN0LLHHLZHHHHN*\r
+V0047 X110010X10XN0LLHHLZHHHHN*\r
+V0048 X110110X10XN0LLHHLZHHHHN*\r
+V0049 X111010X10XN0LLHHLZHHHHN*\r
+V0050 X111110X10XN0LLHHLZHHHHN*\r
+V0051 X000001X10XN0LLHHLZHHHHN*\r
+V0052 X000101X10XN0LLHHLZHHHHN*\r
+V0053 X001001X10XN0LLHHLZHHHHN*\r
+V0054 X001101X10XN0LLHHLZHHHHN*\r
+V0055 X010001X10XN0LLHHLZHHHHN*\r
+V0056 X010101X10XN0LLHHLZHHHHN*\r
+V0057 X011001X10XN0LLHHLZHHHHN*\r
+V0058 X011101X10XN0LLHHLZHHHHN*\r
+V0059 X100001X10XN0LLHHLZHHLHN*\r
+V0060 X100101X10XN0LLHHLZLHHHN*\r
+V0061 X101001X10XN0LLHHLZHHHLN*\r
+V0062 X101101X10XN0LLHHLZHHHHN*\r
+V0063 X110001X10XN0LLHHLZHHHHN*\r
+V0064 X110101X10XN0LLHHLZHHHHN*\r
+V0065 X111001X10XN0LLHHLZHHHHN*\r
+V0066 X111101X10XN0LLHHLZHHHHN*\r
+V0067 X111111X11XN0LLHHLZHHHHN*\r
+V0068 X101010X10XN0LLHHLHHHHHN*\r
+V0069 X101010X00XN0LLHHLLHHHHN*\r
+V0070 X101011X01XN0LLHHLZHHHHN*\r
+V0071 X101011101XN0LLHHL1HHHHN*\r
+V0072 C101011101XN0LLHLL1HHHHN*\r
+V0073 0101011101XN0LLHLL0HHHHN*\r
+V0074 C101011101XN0LLHHL0HHHHN*\r
+V0075 01010110010N0LLHHL1HHHHN*\r
+V0076 C1010110010N0LHHHH1HHHHN*\r
+V0077 01010110010N0LHHHH0HHHHN*\r
+V0078 C1010110010N0LLHHL0HHHHN*\r
+V0079 01010110010N0LLHHL0HHHHN*\r
+V0080 C1010110010N0LLHHL0HHHHN*\r
+V0081 01010110011N0LLHHL0HHHHN*\r
+V0082 01010110010N0LLHHL1HHHHN*\r
+V0083 C1010110010N0LHHHH1HHHHN*\r
+V0084 01010110011N0HLHHH1HHHHN*\r
+C75EB*\r
+\ 3A8A0\r
L2816 00000000000000000000000000000000000000000000*\r
L2860 00000000000000000000000000000000000000000000*\r
L2904 11111111111111111111111111111111111111111111*\r
-L2948 11111111111111111101111111111111111111111111*\r
-L2992 00000000000000000000000000000000000000000000*\r
+L2948 11111111111111111101111111111011111111111111*\r
+L2992 11111111111111111111111011110111111111111111*\r
L3036 00000000000000000000000000000000000000000000*\r
L3080 00000000000000000000000000000000000000000000*\r
L3124 00000000000000000000000000000000000000000000*\r
L3564 00000000000000000000000000000000000000000000*\r
L3608 00000000000000000000000000000000000000000000*\r
L3652 11111111111111111111111111111111111111111111*\r
-L3696 11111111111111111111111111110111111111111111*\r
-L3740 00000000000000000000000000000000000000000000*\r
+L3696 11111111111111111101111111110111111111111111*\r
+L3740 11111111111111111111111111101011111111111111*\r
L3784 00000000000000000000000000000000000000000000*\r
L3828 00000000000000000000000000000000000000000000*\r
L3872 00000000000000000000000000000000000000000000*\r
L5720 00000000000000000000000000000000000000000000*\r
L5764 00000000000000000000000000000000000000000000*\r
L5808 01010101111000011111*\r
-C6C0E*\r
-\ 317B8\r
+C75EB*\r
+\ 3180F\r
\r
D0.TRST= STROBE * RD * A[19] * /A[18] * A[17] * /A[16]\r
D0=REFPOS\r
-PWMEN=D0\r
+
+PWMEN=D0 * /D1 + PWMEN * D1\r
\r
-BRAKE=D1\r
+BRAKE=D0 * D1 + BRAKE * /D1\r
\r
DRVA=PWMEN * /PWM\r
DRVB=PWMEN * PWM\r
;----------------------------------- Simulation Segment ------------\r
SIMULATION\r
\r
-SETF /CLOCK\r
-\r
; TRINT/EXTINT tests\r
\r
TRACE_ON TRINT EXTINT\r
\r
TRACE_OFF\r
\r
-; BRAKE/D1 tests\r
+; BRAKE PWMEN tests\r
\r
-TRACE_ON CLOCK D1 BRAKE\r
+TRACE_ON CLOCK D0 D1 BRAKE PWMEN\r
\r
-SETF D1\r
+SETF D0 D1\r
CLOCKF CLOCK\r
-CHECK BRAKE\r
-SETF /D1\r
+CHECK BRAKE\r /PWMEN
+SETF /D0 D1\r
CLOCKF CLOCK\r
-CHECK /BRAKE\r
-\r
-TRACE_OFF\r
-\r
-; PWMEN/D0 tests\r
-\r
-TRACE_ON CLOCK D0 PWMEN\r
+CHECK /BRAKE\r /PWMEN
\r
-SETF D0\r
+SETF D0 /D1 /PWM\r
CLOCKF CLOCK\r
-CHECK PWMEN\r
-SETF /D0\r
+CHECK /BRAKE PWMEN DRVA /DRVB\r
+SETF /D0 /D1 /PWM\r
CLOCKF CLOCK\r
-CHECK /PWMEN\r
+CHECK /BRAKE /PWMEN /DRVA /DRVB\r
\r
TRACE_OFF\r
\r
\r
TRACE_ON PWMEN PWM DRVA DRVB\r
\r
-PRELOAD /PWMEN\r
-SETF /PWM\r
-CHECK /DRVA /DRVB\r
+SETF /PWM\r /D1 /D0
+CLOCKF CLOCK
+CHECK /DRVA /DRVB /PWMEN\r
SETF PWM\r
-CHECK /DRVA /DRVB\r
+CHECK /DRVA /DRVB /PWMEN\r
\r
-PRELOAD PWMEN\r
-SETF /PWM\r
-CHECK DRVA /DRVB\r
+SETF /PWM\r /D1 D0
+CLOCKF CLOCK
+CHECK DRVA /DRVB PWMEN\r
SETF PWM\r
-CHECK /DRVA DRVB\r
+CHECK /DRVA DRVB PWMEN\r
\r
TRACE_OFF\r
\r
+++ /dev/null
-TITLE: DECODER.PDS\r
-PATTERN: A\r
-REVISION: 1.0\r
-AUTHOR: Walter Fetter Lages\r
-COMPANY: UFRGS\r
-DATE: 10/10/02\r
-MACRO: DECODER\r
- PAL22V10\r
- ÉÍÍÍÍÉ»ÍÍÍÍ»\r
- CLOCK É͹ 1 ȼ 24 ÌÍ» VCC \r
- A[19] É͹ 2 23 ÌÍ» /CSLATCH COM \r
- A[18] É͹ 3 22 ÌÍ» /CSPWM COM \r
- A[17] É͹ 4 21 ÌÍ» /ERD COM \r
- A[16] É͹ 5 20 ÌÍ» /EWR COM \r
- /WR É͹ 6 19 ÌÍ» D0 COM \r
- /RD É͹ 7 18 ÌÍ» PWMEN REG \r
- D1 É͹ 8 17 ÌÍ» /BRAKE REG \r
- REFPOS É͹ 9 16 ÌÍ» /EXTINT COM \r
- /STROBE É͹ 10 15 ÌÍ» DRVA COM \r
- PWM É͹ 11 14 ÌÍ» DRVB COM \r
- GND É͹ 12 13 ÌÍ» TRINT \r
- ÈÍÍÍÍÍÍÍÍÍͼ\r
+++ /dev/null
-TITLE 'Actuator Interface Card Decoder '\r
-DESIGNER 'Walter Fetter Lages '\r
-DATE 'October, 11 2002 '\r
-\r
-Description\r
- This is the decoder for the Actuator Interface Card. It' main purpose is to decode the addresses\r
- from TINI and generate the control signals for the chips connected to TINI bus (8254 and HCTL-2016).\r
- However it is also used for other purposes:\r
- 1) generate the driving signals to the mosfet motor driver (maps PWM to DRVA and DRVB)\r
- 2) invert the interrupt request from 8254 (maps TRINT to EXTINT)\r
- 3) generate the driving signal to the mosfet breake driver (latched output contoled by D0)\r
- 4) read the reference position sensor (REFPOS is tri-stated and output to D0)\r
-End_Desc;\r
-\r
-PEEL22CV10A\r
-\r
-CLK pin 1\r
-A19 Pin 2 \r
-A18 Pin 3 \r
-A17 Pin 4 \r
-A16 Pin 5 \r
-/WR Pin 6 \r
-/RD Pin 7 \r
-D1 Pin 8 \r
-REFPOS Pin 9 \r
-STROBE Pin 10 \r
-PWM Pin 11 \r
-TRINT Pin 13 \r
-\r
-\r
-"I/O CONFIGURATION DECLARATION\r
-"IOC (PIN_NO 'PIN_NAME' POLARITY OUTPUT_TYPE FEEDBACK_TYPE )\r
- IOC ( 14 'DRVB' Pos OutCom Feed_Pin )\r
- IOC ( 15 'DRVA' Pos OutCom Feed_Pin )\r
- IOC ( 16 'EXTINT' Pos OutCom Feed_Pin )\r
- IOC ( 17 'BRAKE' Pos Reg Feed_Reg )\r
- IOC ( 18 'PWMEN' Pos OutReg Feed_Reg )\r
- IOC ( 19 'D0' Pos Com Feed_Pin )\r
- IOC ( 20 '/EWR' Pos OutCom Feed_Pin )\r
- IOC ( 21 '/ERD' Pos OutCom Feed_Pin )\r
- IOC ( 22 '/CSPWM' Pos OutCom Feed_Pin )\r
- IOC ( 23 'CSLATCH' Pos OutCom Feed_Pin )\r
-\r
-AR NODE 25 "Global Asynchronous Reset\r
-SP NODE 26 "Global Synchronous Preset\r
-\r
-DEFINE\r
-\r
-\r
-EQUATIONS\r
-\r
-AR = 0;\r
-\r
-SP = 0;\r
-\r
-"All Equations must end with semicolons.\r
-"Internal or External output names appended with extensions:\r
-" 1) .COM for Combinatorial Output\r
-" 2) .D for D-type Registered Output\r
-" 3) .OE for Output Enable Control\r
-\r
-EXTINT=!TRINT\r
-\r
-\r
-\r
-\r
-\r
-\r
-\r
-\r
-\r
-\r
-\r
-\r
-\r
-\r
PAL22V10 \r
Page : 5 \r
\v\r
- gc gc \r
- CLOCK LHHLLHHL \r
- D1 HHHHLLLL \r
- BRAKE LLHHHHLL \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 gc \r
- CLOCK LHHLLHHL \r
- D0 HHHHLLLL \r
- PWMEN XXHHHHLL \r
-\f\r
-PAL22V10 \r
-Page : 7 \r
-\v\r
- pggpgg \r
- PWMEN LLLHHH \r
- PWM LLHHLH \r
- DRVA LLLLHL \r
- DRVB LLLLLH \r
+ gc ggc g \r
+ PWMEN LLLLLLLHHH \r
+ PWM LLLLHLLLLH \r
+ DRVA LLLLLLLHHL \r
+ DRVB LLLLLLLLLH \r
\f\r
+++ /dev/null
- gggggggggggggggggggggggggggggggggggggggggggggggggggggggggggggggg\r
- CLOCK ¿ \r
- ÀÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
- A[19] ¿ ÚÄÄÄÄÄÄÄ¿ ÚÄÄÄÄÄÄÄ¿ ÚÄÄÄÄÄÄÄ¿ ÚÄÄÄÄ\r
- ÀÄÄÄÄÄÄÄÄÄÄÙ ÀÄÄÄÄÄÄÄÙ ÀÄÄÄÄÄÄÄÙ ÀÄÄÄÄÄÄÄÙ \r
- A[18] ¿ ÚÄÄÄ¿ ÚÄÄÄ¿ ÚÄÄÄ¿ ÚÄÄÄ¿ ÚÄÄÄ¿ ÚÄÄÄ¿ ÚÄÄÄ¿ Ú\r
- ÀÄÄÄÄÄÄÙ ÀÄÄÄÙ ÀÄÄÄÙ ÀÄÄÄÙ ÀÄÄÄÙ ÀÄÄÄÙ ÀÄÄÄÙ ÀÄÄÄÙ\r
- A[17] ¿ ÚÄ¿ ÚÄ¿ ÚÄ¿ ÚÄ¿ ÚÄ¿ ÚÄ¿ ÚÄ¿ ÚÄ¿ ÚÄ¿ ÚÄ¿ ÚÄ¿ ÚÄ¿ ÚÄ¿ ÚÄ¿ ÚÄ¿\r
- ÀÄÄÄÄÙ ÀÄÙ ÀÄÙ ÀÄÙ ÀÄÙ ÀÄÙ ÀÄÙ ÀÄÙ ÀÄÙ ÀÄÙ ÀÄÙ ÀÄÙ ÀÄÙ ÀÄÙ ÀÄÙ À\r
- A[16] ¿ Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿\r
- ÀÄÄÄÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀ\r
-/WR ¿ ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ¿ \r
- ÀÄÄÙ ÀÄÄÄÄÄÄÄÄÄÄÄÄ\r
-/RD ¿ ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ¿ ÚÄÄÄÄÄÄÄÄÄÄÄÄ\r
- ÀÄÄÙ ÀÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÙ \r
- D1 ¿ \r
- ÀÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
- REFPOS ¿ ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
- ÀÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÙ \r
-/STROBE ¿ ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ¿ \r
- ÀÄÄÙ ÀÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
- PWM ¿ \r
- ÀÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
- TRINT ¿Ú¿ \r
- ÀÙÀÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
- DRVB ¿ \r
- ÀÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
- DRVA ¿ \r
- ÀÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
-/EXTINT Ú¿ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
- ÙÀÙ \r
-/BRAKE ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
- Ù \r
- PWMEN ¿ \r
- ÀÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
- D0 ZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZÚZZZZZZZZZZZZZZ\r
- Ù \r
-/EWR ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
- Ù \r
-/ERD ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ¿ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
- Ù ÀÙ \r
-/CSPWM ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ¿ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄ¿ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄ¿\r
- Ù ÀÙ ÀÙ À\r
-/CSLATCH ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
- Ù \r
-\f\r
-ggggggggc gc gc gc pggpgg\r
- ÚÄ¿ ÚÄ¿ ÚÄ¿ ÚÄ¿ \r
-ÄÄÄÄÄÄÄÄÙ ÀÄÙ ÀÄÙ ÀÄÙ ÀÄÄÄÄÄÄ\r
-ÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
- \r
-ÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
- \r
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-ÄÙ \r
-Ú¿ÚÄ¿ \r
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- ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
-ÄÄÄÙ \r
-ÄÄÄÄ¿ ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
- ÀÄÙ \r
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-ÄÄÄÄÄÄÄÙ ÀÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
-ÄÄÄÄÄ¿ \r
- ÀÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
- Ú¿ ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
-ÄÄÄÙÀÄÙ \r
- ÚÄ¿Ú\r
-ÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÙ ÀÙ\r
- \r
-ÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
- Ú\r
-ÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÙ\r
- ÚÄÄÄ¿ Ú¿\r
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-ÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
- \r
-ÄÄÄÄÄÄÄÄÄ¿ ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
- ÀÄÄÄÙ \r
- ÚÄÄÄ¿ ÚÄÄ\r
-ÄÄÄÄÄÄÄÄÄXXXXXXXXÙ ÀÄÄÄÄÙ \r
-ZZZZÄ¿ ÚÄÄÄ¿ \r
- ÀZZZZZZZZZÙ ÀÄÄÄÄÄÄÄÄÄ\r
-¿ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
-ÀÙ \r
-ÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
- \r
-ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
-Ù \r
-Ä¿ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ\r
- ÀÙ \r
-\f\r
+++ /dev/null
- gg#gggggggggggggggggggggggggggggggggggggggggggggggggggggggggggggg\r
- TRINT ڿ# \r
- ÙÀ# Z\r
- EXTINT Ú¿# Ú\r
- ÙÀ# Ù\r
- A[19] #¿ ÚÄÄÄÄÄÄÄ¿ ÚÄÄÄÄÄÄÄ¿ ÚÄÄÄÄÄÄÄ¿ ÚÄÄÄ#Ä\r
- #ÀÄÄÄÄÄÄÄÙ ÀÄÄÄÄÄÄÄÙ ÀÄÄÄÄÄÄÄÙ ÀÄÄÄÄÄÄÄÙ # \r
- A[18] #¿ ÚÄÄÄ¿ ÚÄÄÄ¿ ÚÄÄÄ¿ ÚÄÄÄ¿ ÚÄÄÄ¿ ÚÄÄÄ¿ ÚÄÄÄ¿ #Ú\r
- #ÀÄÄÄÙ ÀÄÄÄÙ ÀÄÄÄÙ ÀÄÄÄÙ ÀÄÄÄÙ ÀÄÄÄÙ ÀÄÄÄÙ ÀÄÄÄ#Ù\r
- A[17] #¿ ÚÄ¿ ÚÄ¿ ÚÄ¿ ÚÄ¿ ÚÄ¿ ÚÄ¿ ÚÄ¿ ÚÄ¿ ÚÄ¿ ÚÄ¿ ÚÄ¿ ÚÄ¿ ÚÄ¿ ÚÄ¿ ÚÄ#Ä\r
- #ÀÄÙ ÀÄÙ ÀÄÙ ÀÄÙ ÀÄÙ ÀÄÙ ÀÄÙ ÀÄÙ ÀÄÙ ÀÄÙ ÀÄÙ ÀÄÙ ÀÄÙ ÀÄÙ ÀÄÙ # \r
- A[16] #¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú¿Ú#¿\r
- #ÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙÀÙ#À\r
-/STROBE #ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ¿ # \r
- #Ù ÀÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ#Ä\r
-/RD #ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ¿ ÚÄÄÄÄÄÄÄÄÄÄÄ#¿\r
- #Ù ÀÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÙ #À\r
-/WR #ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ¿ #Ú\r
- #Ù ÀÄÄÄÄÄÄÄÄÄÄÄ#Ù\r
-/CSPWM #ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ¿ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄ¿ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄ#Ä\r
- #Ù ÀÙ ÀÙ # \r
-/ERD #ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ¿ÚÄÄÄÄÄÄÄÄÄÄÄÄÄ#Ä\r
- #Ù ÀÙ # \r
-/EWR #ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ#Ä\r
- #Ù # \r
-/CSLATCH #ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ#Ä\r
- #Ù # \r
- D0 #ZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZÚZZZZZZZZZZZZZ#Ä\r
- # Ù # \r
- REFPOS #Ú\r
- #Ù\r
- CLOCK \r
- \r
- D1 \r
- \r
- BRAKE \r
- \r
- PWMEN \r
- \r
- PWM \r
- \r
- DRVA \r
- \r
- DRVB \r
- \r
-\f\r
-ggg#ggg#gc gc #gc gc #pggpgg\r
- # # # # \r
-ZZZ# # # # \r
-ÄÄÄ# # # # \r
- # # # # \r
-ÄÄ# # # \r
- # # # \r
-ÄÄ# # # \r
- # # # \r
-ÄÄ# # # \r
- # # # \r
- # # # \r
-ÄÄ# # # \r
- Ú# # # \r
-ÄÙ# # # \r
- Ú# # # \r
-ÄÙ# # # \r
-ÄÄ# # # \r
- # # # \r
-ÄÄ# # # \r
- # # # \r
-ÄÄ# # # \r
- # # # \r
-ÄÄ# # # \r
- # # # \r
-ÄÄ# # # \r
- # # # \r
-¿ # #ÚÄÄÄ¿ # \r
-ÀZ# #Ù ÀÄÄÄ# \r
-¿ # # # \r
-ÀÄ# # # \r
- #¿ÚÄ¿ ÚÄ¿# ÚÄ¿ ÚÄ¿# \r
- #ÀÙ ÀÄÙ À#ÄÙ ÀÄÙ À# \r
- #ÚÄÄÄ¿ # # \r
- #Ù ÀÄÄÄ# # \r
- #¿ ÚÄÄÄ¿ # # \r
- #ÀÄÙ ÀÄ# # \r
- #XXÚÄÄÄ¿ # ÚÄÄ \r
- # Ù ÀÄ#ÄÄÄÙ \r
- #¿ ÚÄ¿Ú \r
- #ÀÄÙ ÀÙ \r
- #¿ Ú¿ \r
- #ÀÄÄÄÙÀ \r
- #¿ Ú \r
- #ÀÄÄÄÄÙ \r
-\f\r
65 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
\r
66 ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- \r
-67 ---- ---- ---- ---- --X- ---- ---- ---- ---- ---- ---- \r
-68 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \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
82 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \r
\r
83 ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- \r
-84 ---- ---- ---- ---- ---- ---- ---- X--- ---- ---- ---- \r
-85 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX \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
4567890123\r
REG BYPASS FUSES: ---XX-----\r
\r
- TOTAL FUSES BLOWN = 855\r
+ TOTAL FUSES BLOWN = 937\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 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
- D0 ZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZHZZZZZZZZZZZZZZZ\r
-/EWR HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHL\r
-/ERD HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHLHHHHHHHHHHHHHHHH\r
-/CSPWM HHHHHHHHHHHHHHHHHHHHHHHHHHLHHHHHHHHHHHHHHHLHHHHHHHHHHHHHHHLH\r
-/CSLATCH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH\r
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-\f\r
-PAL22V10 \r
-Page : 2 \r
- gggggggggggc gc gc gc gc ggc g \r
- CLOCK LLLLLLLLLLLHHLLHHLLHHLLHHLLHHLLLHHLL \r
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- 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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-/BRAKE HHHHHHHHHHHHLLLLHHHHHHHHHHHHHHHHHHHH \r
- PWMEN LLLLLLLLLLLLLLLLLLLLHHHHLLLLLLLLLHHH \r
- D0 ZZZZZZZHLZHHHHLLLLHHHHLLLLLLLLLHHHHH \r
-/EWR HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH \r
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-/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
-QV0084*\r
-QP24*\r
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-L2904 11111111111111111111111111111111111111111111*\r
-L2948 11111111111111111101111111111011111111111111*\r
-L2992 11111111111111111111111011110111111111111111*\r
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-L5808 01010101111000011111*\r
-X0*\r
-V0001 XXXXXXXXXXXN1LLLHLZHHHHN*\r
-V0002 XXXXXXXXXXXN0LLHHLZHHHHN*\r
-V0003 X000011XX1XN0LLHHLZHHHHN*\r
-V0004 X000111XX1XN0LLHHLZHHHHN*\r
-V0005 X001011XX1XN0LLHHLZHHHHN*\r
-V0006 X001111XX1XN0LLHHLZHHHHN*\r
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-V0056 X010101X10XN0LLHHLZHHHHN*\r
-V0057 X011001X10XN0LLHHLZHHHHN*\r
-V0058 X011101X10XN0LLHHLZHHHHN*\r
-V0059 X100001X10XN0LLHHLZHHLHN*\r
-V0060 X100101X10XN0LLHHLZLHHHN*\r
-V0061 X101001X10XN0LLHHLZHHHLN*\r
-V0062 X101101X10XN0LLHHLZHHHHN*\r
-V0063 X110001X10XN0LLHHLZHHHHN*\r
-V0064 X110101X10XN0LLHHLZHHHHN*\r
-V0065 X111001X10XN0LLHHLZHHHHN*\r
-V0066 X111101X10XN0LLHHLZHHHHN*\r
-V0067 X111111X11XN0LLHHLZHHHHN*\r
-V0068 X101010X10XN0LLHHLHHHHHN*\r
-V0069 X101010X00XN0LLHHLLHHHHN*\r
-V0070 X101011X01XN0LLHHLZHHHHN*\r
-V0071 X101011101XN0LLHHL1HHHHN*\r
-V0072 C101011101XN0LLHLL1HHHHN*\r
-V0073 0101011101XN0LLHLL0HHHHN*\r
-V0074 C101011101XN0LLHHL0HHHHN*\r
-V0075 01010110010N0LLHHL1HHHHN*\r
-V0076 C1010110010N0LHHHH1HHHHN*\r
-V0077 01010110010N0LHHHH0HHHHN*\r
-V0078 C1010110010N0LLHHL0HHHHN*\r
-V0079 01010110010N0LLHHL0HHHHN*\r
-V0080 C1010110010N0LLHHL0HHHHN*\r
-V0081 01010110011N0LLHHL0HHHHN*\r
-V0082 01010110010N0LLHHL1HHHHN*\r
-V0083 C1010110010N0LHHHH1HHHHN*\r
-V0084 01010110011N0HLHHH1HHHHN*\r
-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
-DECODER*\r
-QP24*\r
-QF5828*\r
-G0*F0*\r
-L0000 00000000000000000000000000000000000000000000*\r
-L0044 11111111111111111111111111111111111111111111*\r
-L0088 11110111101101111011101111111111111110111111*\r
-L0132 00000000000000000000000000000000000000000000*\r
-L0176 00000000000000000000000000000000000000000000*\r
-L0220 00000000000000000000000000000000000000000000*\r
-L0264 00000000000000000000000000000000000000000000*\r
-L0308 00000000000000000000000000000000000000000000*\r
-L0352 00000000000000000000000000000000000000000000*\r
-L0396 00000000000000000000000000000000000000000000*\r
-L0440 11111111111111111111111111111111111111111111*\r
-L0484 11110111101110111011111111111111111110111111*\r
-L0528 00000000000000000000000000000000000000000000*\r
-L0572 00000000000000000000000000000000000000000000*\r
-L0616 00000000000000000000000000000000000000000000*\r
-L0660 00000000000000000000000000000000000000000000*\r
-L0704 00000000000000000000000000000000000000000000*\r
-L0748 00000000000000000000000000000000000000000000*\r
-L0792 00000000000000000000000000000000000000000000*\r
-L0836 00000000000000000000000000000000000000000000*\r
-L0880 00000000000000000000000000000000000000000000*\r
-L0924 11111111111111111111111111111111111111111111*\r
-L0968 11110111101110110111111110111111111110111111*\r
-L1012 00000000000000000000000000000000000000000000*\r
-L1056 00000000000000000000000000000000000000000000*\r
-L1100 00000000000000000000000000000000000000000000*\r
-L1144 00000000000000000000000000000000000000000000*\r
-L1188 00000000000000000000000000000000000000000000*\r
-L1232 00000000000000000000000000000000000000000000*\r
-L1276 00000000000000000000000000000000000000000000*\r
-L1320 00000000000000000000000000000000000000000000*\r
-L1364 00000000000000000000000000000000000000000000*\r
-L1408 00000000000000000000000000000000000000000000*\r
-L1452 00000000000000000000000000000000000000000000*\r
-L1496 11111111111111111111111111111111111111111111*\r
-L1540 11110111101110110111101111111111111110111111*\r
-L1584 00000000000000000000000000000000000000000000*\r
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-L1936 00000000000000000000000000000000000000000000*\r
-L1980 00000000000000000000000000000000000000000000*\r
-L2024 00000000000000000000000000000000000000000000*\r
-L2068 00000000000000000000000000000000000000000000*\r
-L2112 00000000000000000000000000000000000000000000*\r
-L2156 11110111101101111011111110111111111110111111*\r
-L2200 11111111111111111111111111111111011111111111*\r
-L2244 00000000000000000000000000000000000000000000*\r
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-L2904 11111111111111111111111111111111111111111111*\r
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-L4312 11111111111111111111111111111111111111111111*\r
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-L4400 00000000000000000000000000000000000000000000*\r
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-L4884 11111111111111111111111111111111111111111111*\r
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-C75EB*\r
-\ 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
-decoder1.pds ZNNNNN\r
+Decoder1.pds NNNNNX\r
1 223\r
1 85 DECODER.PDS\r
1 86 A\r
-3 -3\r
3 65\r
3 24\r
-4 1 CSLATCH\r
-4 17\r
-5 1 STROBE\r
-5 17\r
-6 1 WR\r
-6 17\r
-7 1 A[19]\r
-7 17\r
-8 18\r
-9 1 A[18]\r
-8 17\r
-9 1 A[17]\r
-9 18\r
-10 1 A[16]\r
+4 1 EXTINT\r
+4 1 TRINT\r
3 24\r
4 1 CSPWM\r
4 17\r
10 1 A[17]\r
9 1 A[16]\r
3 24\r
-4 1 D0\r
-4 1 REFPOS\r
+4 1 CSLATCH\r
+4 17\r
+5 1 STROBE\r
+5 17\r
+6 1 WR\r
+6 17\r
+7 1 A[19]\r
+7 17\r
+8 18\r
+9 1 A[18]\r
+8 17\r
+9 1 A[17]\r
+9 18\r
+10 1 A[16]\r
3 24\r
4 53\r
5 1 D0\r
9 1 A[17]\r
9 18\r
10 1 A[16]\r
+3 24\r
+4 1 D0\r
+4 1 REFPOS\r
3 10\r
4 1 PWMEN\r
4 16\r
6 18\r
7 1 D1\r
5 17\r
-6 1 D1\r
6 1 PWMEN\r
+6 1 D1\r
3 10\r
4 1 BRAKE\r
4 16\r
6 1 D0\r
6 1 D1\r
5 17\r
+6 1 BRAKE\r
6 18\r
7 1 D1\r
-6 1 BRAKE\r
-3 24\r
-4 1 EXTINT\r
-4 1 TRINT\r
3 24\r
4 1 DRVA\r
4 17\r
4 17\r
5 1 PWMEN\r
5 1 PWM\r
--5 -5\r
+-5 -5\r
4 71\r
4 45\r
5 1 TRINT\r
5 1 DRVB\r
5 1 PWMEN\r
4 46\r
--6 -6\r
+-6 -6\r
-9 -9\r
projects / aic.git / commitdiff
