From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Sun, 20 May 2018 06:29:45 +0000 (-0300)
Subject: Fix bug with math accelerator.
X-Git-Tag: v1.6.1^0
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=19c4b46185aa09048f6a2df22e993438c5e9122c;p=aic.git

Fix bug with math accelerator.

Incluido destrutor virtual na classe AIC_COMM.

Alterada a implementacao da serializacao de valores double em
AIC_UDP::send_command().

Corrigido bug no processamento dos argumentos dos comandos AIC_USER0,
AIC_USER1, AIC_USER2 e AIC_USER3.

Incluido o diretorio /usr/src/linux/include, na variavel de ambiente
CINCLUDE.

Criada a classe Sputtering na biblioteca, para suportar a aplicacao de
controle do sputtering.

Criadas constantes com os bits de flags do pacote de status da AIC.

Processamento de comandos enviados para a AIC alterado para suportar
comandos definidos pelo usuario.

Modificado o arquivo lib/aicio/pwm.a51 para nao utilizar o acelerador
matematico, que estava gerando problemas de reentrancia.

Alterado o arquivo doc/Makefile para utilizar os nomes dos arquivos de
layout gerados pela nova versao (20060321) do PCB.

Criados os programas SputPIDweb, SputPIDDaemon e sputtering.

Renomeado o programa SputDaemon para SputWeb.
---

diff --git a/Changes b/Changes
index 9208a3c..1630c05 100644
--- a/Changes
+++ b/Changes
@@ -1,3 +1,37 @@
+2008.02.15	Incluido destrutor virtual na classe AIC_COMM.
+
+		Alterada a implementacao da serializacao de valores double
+		em AIC_UDP::send_command().
+
+		Corrigido bug no processamento dos argumentos dos comandos
+		AIC_USER0, AIC_USER1, AIC_USER2 e AIC_USER3.
+		
+		Incluido o diretorio /usr/src/linux/include, na variavel de
+		ambiente CINCLUDE.
+
+2007.12.05	Criada a classe Sputtering na biblioteca, para suportar a
+		aplicacao de controle do sputtering.
+
+2007.11.28	Criadas constantes com os bits de flags do pacote de status
+		da AIC.
+		
+		Processamento de comandos enviados para a AIC alterado para
+		suportar comandos definidos pelo usuario.
+
+2007.11.27	Modificado o arquivo lib/aicio/pwm.a51 para nao utilizar o
+		acelerador matematico, que estava gerando problemas de
+		reentrancia.
+
+		Alterado o arquivo doc/Makefile para utilizar os nomes dos
+		arquivos de layout gerados pela nova versao (20060321) do
+		PCB.
+
+		Criados os programas SputPIDweb, SputPIDDaemon e sputtering.
+
+		Renomeado o programa SputDaemon para SputWeb.
+
+		Criada a versao 1.6.1
+
 2006.02.24	Incluidos os esquematicos e o layout do PCB no arquivo de
 		documentacao em pdf.
 
diff --git a/Makefile b/Makefile
index 0882dfe..df2d071 100644
--- a/Makefile
+++ b/Makefile
@@ -1,4 +1,4 @@
-export CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:/opt/tini/bin/modules.jar:../lib/AIC.jar
+export CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:/opt/tini/bin/modules.jar:../lib/AIC.jar:.
 export DEPPATH=-p /opt/tini/bin/modules.jar
 export DEPFILE=-x /opt/tini/bin/owapi_dep.txt
 export DEPNAME=-add CAN
@@ -16,8 +16,8 @@ export ASMOPT=-f 1.17 -p 390 -l
 export ASMMACRO=/opt/tini/native/bin/Linux/macro
 export ASM=/opt/tini/native/bin/Linux/a390
 
-export CFLAGS=-O2 -Wall -march=i486 
-export CINCLUDE=-I. -I${HOME}/include -I/usr/realtime/include -I/usr/local/include
+export CFLAGS=-O2 -Wall
+export CINCLUDE=-I. -I${HOME}/include -I/usr/realtime/include -I/usr/local/include -I/usr/src/linux/include
 export CLIBS=-lpthread -lcanlib -lcutil -lconio -lncurses
 
 export CPPFLAGS=
@@ -69,7 +69,9 @@ AICPACKAGES=	AICOff \
 		DoorOpen \
 		DoorWeb \
 		CmdDaemon \
-		SputDaemon
+		SputWeb \
+		SputPIDWeb \
+		SputPIDDaemon
 
 PACKAGES= 	lib \
 		${AICPACKAGES} \
@@ -80,6 +82,7 @@ PACKAGES= 	lib \
 		jointtst \
 		motortst \
 		pid \
+		sputtering \
 		doc
 
 all:
diff --git a/MotorRtTest/motortest.c b/MotorRtTest/motortest.c
index f8a7c84..777ae51 100644
--- a/MotorRtTest/motortest.c
+++ b/MotorRtTest/motortest.c
@@ -51,7 +51,6 @@ void *motortest(void *arg)
 long Native_startRealtime(void) _JavaNative
 {
 	volatile long period;
-	unsigned int count;
 	
 	aic_initialize(BASE,24.0,20e3,2000);
 	
@@ -66,8 +65,8 @@ long Native_startRealtime(void) _JavaNative
 	_asm
 	clr     a
 	_endasm;
-
-
+	
+	return period;
 }
 
 /* public static native void stopRealtime() */
diff --git a/PID/PID.java b/PID/PID.java
index 423d9b0..30e2750 100644
--- a/PID/PID.java
+++ b/PID/PID.java
@@ -55,7 +55,7 @@ public class PID
 
 		int us=10000;
 		System.out.print("Starting real-time timer with "+us+" us period...");
-//		int period=startRealtime(us);
+		int period=startRealtime(us);
 		System.out.println("done. Effective period: "+period+" us.");
 	
 		System.out.println("Running PID for "+tfms+" ms...");	
@@ -72,7 +72,7 @@ public class PID
 		System.out.println("...done.");
 		
 		System.out.print("Stoping real-time timer...");
-//		stopRealtime();
+		stopRealtime();
 		System.out.println("done.");
 	}
 }
diff --git a/PID/pid.c b/PID/pid.c
index 4ebb019..b70a822 100644
--- a/PID/pid.c
+++ b/PID/pid.c
@@ -71,19 +71,18 @@ void *pid(void *arg)
 //	{
 //		rt_wait_period();		
 
-		y+=encoder_read()_and_clear();
+		y+=encoder_read_and_clear();
 
-//		e=ref-y;
-		u=0.001*ref;
+		e=ref-y;
 		
-//		u+=Kp*(e-e1)+Ki*e+Kd*(e-2*e1+e2);
-//		if(u < MIN_U) u=MIN_U;
-//		if(u > MAX_U) u=MAX_U;
+		u+=Kp*(e-e1)+Ki*e+Kd*(e-2*e1+e2);
+		if(u < MIN_U) u=MIN_U;
+		if(u > MAX_U) u=MAX_U;
 
 		motor_set(u);
 
-//		e2=e1;
-//		e1=e;
+		e2=e1;
+		e1=e;
 //	}
 	return NULL;
 }
@@ -100,7 +99,7 @@ long Native_startRealtime(void) _JavaNative
 	count=micro2count(period);
 	start_rt_timer(count);
 	pthread_create(&th,NULL,pid,NULL);
-//	period=count2micro(count);
+	period=count2micro(count);
 
 	pwm_set_duty(500000); // debug
 	aic_on();
diff --git a/PIDDaemon/PIDDaemon.java b/PIDDaemon/PIDDaemon.java
index 758a457..743b3c7 100644
--- a/PIDDaemon/PIDDaemon.java
+++ b/PIDDaemon/PIDDaemon.java
@@ -164,7 +164,7 @@ class GetReference extends PIDDaemon
 					case Host.MOTOR_REF:
 					{
 						if(debug) System.out.print("Reference="+host.reference()+"\t");
-						aic.pid.set(host.reference());
+						//aic.pid.set(host.reference());
 						break;
 					}
 					case Host.BRAKE_RELEASE:
diff --git a/SputDaemon/Makefile b/SputDaemon/Makefile
deleted file mode 100644
index 85d0740..0000000
--- a/SputDaemon/Makefile
+++ /dev/null
@@ -1,21 +0,0 @@
-DEPNAME:=-add HTTPSERVER
-
-all: SputDaemon.tini
-
-SputDaemon.class: SputDaemon.java ../lib/AIC.jar
-	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $<
-	
-SputHandler.class: SputHandler.java ../lib/AIC.jar
-	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $<
-
-SputDaemon.tini: SputDaemon.class SputHandler.class ../lib/AIC.jar
-	java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f SputHandler.class  -f SputDaemon.class -o $@ ${LIBPATH} ${NATLIB} ${APIDBPATH}
-
-clean:
-	rm -f *.bak *~ *.class
-
-distclean: clean
-	rm -f SputDaemon.tini
-
-upload: SputDaemon.tini
-	for i in ${AIC}; do echo put $^ | ftp $$i; done
\ No newline at end of file
diff --git a/SputPIDDaemon/Makefile b/SputPIDDaemon/Makefile
new file mode 100644
index 0000000..a78af5f
--- /dev/null
+++ b/SputPIDDaemon/Makefile
@@ -0,0 +1,22 @@
+DEPNAME+=-add HTTPSERVER
+NATLIB:=-n sputtering.tlib
+
+all: SputPIDDaemon.tini
+
+SputPIDDaemon.class: SputPIDDaemon.java ../lib/AIC.jar
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} SputPIDDaemon.java
+	
+ResetHandler.class: SputPIDDaemon.java ../lib/AIC.jar
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} SputPIDDaemon.java
+	
+SputPIDDaemon.tini: SputPIDDaemon.class ../lib/AIC.jar ResetHandler.class
+	java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f SputPIDDaemon.class -f ResetHandler.class -f MotorHandler.class -f ShutterHandler.class ${APIDBPATH} -o SputPIDDaemon.tini ${LIBPATH} ${NATLIB}
+
+clean:
+	rm -f *.bak *~ *.class *.tlib
+
+distclean: clean
+	rm -f SputPIDDaemon.tini
+
+upload: SputPIDDaemon.tini
+	for i in ${AIC}; do echo put $^ | ftp $$i; done
diff --git a/SputPIDDaemon/SputPIDDaemon.java b/SputPIDDaemon/SputPIDDaemon.java
new file mode 100644
index 0000000..548883c
--- /dev/null
+++ b/SputPIDDaemon/SputPIDDaemon.java
@@ -0,0 +1,472 @@
+/******************************************************************************
+
+			Actuator Interface Card
+                         Sputtering PID Daemon
+	Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>
+
+    This program is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 2 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program; if not, write to the Free Software
+    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+    You can also obtain a copy of the GNU General Public License
+    at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+
+import br.ufrgs.ece.AIC.*;
+import com.dalsemi.comm.*;
+import com.dalsemi.system.*;
+import java.io.*;
+import java.lang.*;
+
+import com.dalsemi.tininet.http.*;
+import com.dalsemi.tininet.*;
+import java.util.*;
+
+/**
+*/
+public class SputPIDDaemon extends Thread
+{
+	static final int ST=250*4;
+
+	static Sputtering sputtering=new Sputtering();
+	static Host host;
+	static boolean debug=false;
+	static boolean udp=false;
+	static boolean help=false;
+
+	public static void main(String[] args) throws IOException,CanBusException
+	{
+		int hostarg=0;
+
+		System.out.println("AIC Sputtering PID Daemon");
+		System.out.println("Copyright (C) 2007 Walter Fetter Lages    <w.fetter@ieee.org>.\n");
+		System.out.println("              2007 Diego Caberlon Santini <diegos@ece.ufrgs.br>.\n");
+
+		switch(args.length)
+		{
+			case 0:
+			{
+				help=true;
+				break;
+			}
+			case 1:
+			{
+				if(args[0].equals("-debug") ||
+					args[0].equals("-UDP")) help=true;
+				break;
+			}
+			case 2:
+			{
+				hostarg=1;
+				if(args[0].equals("-debug")) debug=true;
+				else help=true;
+				break;
+			}
+			case 3:
+			{
+				hostarg=1;
+				if(args[0].equals("-UDP")) udp=true;
+				else help=true;
+				break;
+			}
+			case 4:
+			{
+				hostarg=2;
+				if(args[0].equals("-debug")) debug=true;
+				else help=true;
+				if(args[1].equals("-UDP")) udp=true;
+				else help=true;
+				break;
+			}
+			default:
+			{
+				help=true;
+			}
+		}
+		
+
+		if(help)
+		{
+			System.out.println("Usage:\tjava PIDDaemon.tini [-debug] aic_id");
+			System.out.println("\tor");
+			System.out.println("\tjava PIDDaemon.tini [-debug] -UDP controller_host status_port");
+			System.exit(1);
+		}
+		try
+		{
+			if(udp)	host=new HostUDP(args[hostarg],Integer.parseInt(args[hostarg+1]));
+				else host=new HostCAN(Integer.parseInt(args[hostarg]));
+ 			
+			SendOutput sendOutput=new SendOutput();
+ 			sendOutput.setPriority(Thread.MAX_PRIORITY);
+ 			sendOutput.start();
+
+ 			if(debug) System.out.println("sendOutput priority="+sendOutput.getPriority());
+
+			GetReference getReference=new GetReference();
+			getReference.setPriority(Thread.MAX_PRIORITY-1);
+			getReference.start();
+
+			if(debug) System.out.println("getReference priority="+getReference.getPriority());
+			                
+			HTTPServer httpd=new HTTPServer(80);
+	                httpd.setHTTPRoot("/html");	
+	                httpd.setIndexPage("index.html");
+//      	        httpd.setLogFilename("/log/DoorWeb.txt");
+                	httpd.setLogging(false);
+
+	                while (true)
+	                {
+                        	try
+                        	{
+                                	httpd.serviceRequests();
+                        	}
+                        	catch (HTTPServerException e)
+                        	{ 
+                                	System.out.println("Error occured while servicing requests: " + e.getMessage());
+                        	}
+                	}
+
+		}
+		catch (NumberFormatException nfe)
+		{
+			System.out.println("Usage: java PIDDaemon.tini [-debug] [-UDP controller_host port] | aicid");
+			System.exit(1);
+		}
+	}
+}
+
+/**
+*/
+class GetReference extends SputPIDDaemon
+{
+        public static final int SHUTTER=Host.USER0;
+        
+	public void run()
+	{
+		try
+		{
+			for(int k=0;;k++)
+			{
+				if(debug) System.out.print("k="+k+"\t");
+
+				byte[] args=new byte[256];
+				int cmd=host.command(args,256);
+
+				if(debug) System.out.println("Command="+ cmd  +"\t");
+				
+				switch(cmd)
+				{
+					case Host.MOTOR_REF:
+					{
+						if(debug) System.out.println("Run PID Ref="+host.reference()+"\t");
+			       	 	        while(sputtering.lock() == 0);
+
+						int tick=30000;
+						
+						//ref in rad
+						float ref=(float)host.reference();
+
+						float y=sputtering.getOutput();
+
+						sputtering.setReference(ref);
+						if(debug) System.out.print("Starting real-time timer with "+tick+" us period...");
+						int period= sputtering.pidStartRealtime(tick);
+						if(debug) System.out.println("done. Effective period: "+period+" us.");
+		
+						if(debug) System.out.println("Running sputtering");	
+						
+						while((Math.abs(ref - y) >= 0.02))
+						{
+							y=sputtering.getOutput();
+							if(debug) System.out.println("\treference="+ref+"\toutput="+y);
+						}
+						if(debug) System.out.println("done.");
+		
+						if(debug) System.out.print("Stoping real-time timer...");
+						sputtering.pidStopRealtime();
+						if(debug) System.out.println("done.");
+
+						sputtering.unlock();
+						break;
+					}
+					case Host.RESET:
+					{
+						if(debug) System.out.print("Reset PID...");
+			       	 	        while(sputtering.lock() == 0);
+						sputtering.findHome();
+						if(debug) System.out.println("done.");
+						sputtering.unlock();
+						break;
+					}
+					case SHUTTER:
+					{
+						int time=0;
+						for(int i=0;i < 4;i++) time=time | ( ( ( ( (int) args[i+1]) & 0xff) << (i*8) ) );
+						if(debug) System.out.println("Shutter Open time="+time+"\t");
+			       	 	        while(sputtering.lock() == 0);
+						
+						int tick=10000;
+						//time in usec
+						int iref= time/tick;
+						sputtering.openShutter(iref);
+						
+						if(debug) System.out.print("Starting real-time timer with "+tick+" us period...");
+						int period= sputtering.shutterStartRealtime(tick);
+						if(debug) System.out.println("done. Effective period: "+period+" us.");
+		
+		
+						if(debug) System.out.println("Shutter Opened");	
+						
+						while(sputtering.getTime() <= iref);
+		
+						if(debug) System.out.println("done.");
+		
+						if(debug) System.out.print("Stoping real-time timer...");
+						sputtering.shutterStopRealtime();
+						if(debug) System.out.println("done.");
+
+						sputtering.unlock();
+						break;
+					}
+										
+					default:
+					{
+						if(debug) System.out.println("Invalid\t");
+						break;			
+					}
+
+				}
+			}
+		}
+		catch (Exception all)
+		{
+			all.printStackTrace();
+		}
+	}
+}
+
+/**
+*/
+class SendOutput extends SputPIDDaemon
+{
+	public void run()
+	{
+		try
+		{
+			for(;;) 
+			{
+ 				long timeStart=com.dalsemi.system.Clock.getTickCount();
+
+				int index=0;
+ 				if(sputtering.getIndex()!=0) index|=Host.INDEX_ON;
+				if(sputtering.lock() == 0) index|=Host.BUSY; else sputtering.unlock();
+
+ 				double disp=sputtering.getOutput();
+ 				if(debug) System.out.print("Encoder="+disp+" rad\tindex="+index+"\t");
+               			host.sendStatus(disp,index);
+
+ 				long timeEnd=com.dalsemi.system.Clock.getTickCount();;
+ 				long blockTime=ST-(timeEnd-timeStart);
+ 				if(debug) System.out.println("Blocking time="+blockTime);
+ 				if(blockTime > 4) Thread.sleep(blockTime);
+			}
+		}
+		catch(Exception all)
+		{
+			all.printStackTrace();
+		}
+	}
+}
+
+/**
+*/
+class MotorHandler extends SputPIDDaemon implements PostScript
+{	
+        /**
+        * This method handles all responses to the the HTTP POST
+        *
+        * @param data - a Vector of PostElements holding all supplied fields and Values in pairs
+        * @param out - an Output Stream to the client socket
+        * @param work - HTTPWorker contains utility functions used to URL encode our response
+        * @throws IOException if an IO error occurs     
+        */
+        public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException
+        {
+                while(sputtering.lock() == 0);		
+		// Response page
+
+                // HTML headers                
+		
+		StringBuffer strBuff=new StringBuffer("<html>\r\n"
+                        + "<META HTTP-EQUIV=REFRESH CONTENT=\"10;URL=http://"+TININet.getHostname()+"/\">\r\n"
+                        + "<title>Motor Control</title>\r\n"
+                        + "<body><center><h1>Motor Sendo Posicionado... Aguarde</h1>\r\n");
+
+		PostElement pref = (PostElement)data.elementAt(0);
+ 
+                // Use HTTPWorker's encode body function to generate the URL encoded response
+                out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length()));
+
+                // Send out the bytes of our response page
+                out.write(strBuff.toString().getBytes());
+
+                // Ensure that our data is written imediatly
+                out.flush();
+
+
+		int iref = Integer.parseInt(pref.value);
+		float ref=iref*(float)Math.PI/180;
+		sputtering.setReference(ref);
+				
+		int tfms=10000;
+		int tick=30000;
+		if(debug) System.out.print("Starting real-time timer with "+tick+" us period...");
+		int period= sputtering.pidStartRealtime(tick);
+		if(debug) System.out.println("done. Effective period: "+period+" us.");
+		
+		if(debug) System.out.println("Running PID for "+tfms+" ms...");	
+		int t0=sputtering.getTime();
+		int t=0;
+		int t1;
+		
+		System.gc();
+	
+		try
+                {
+			long blockTime=2000;
+			if(debug) System.out.println("Blocking time="+blockTime);
+			if(blockTime > 4) Thread.sleep(blockTime);
+		}
+		catch(Exception all)
+		{
+			all.printStackTrace();
+		}
+		
+		try
+		{		
+			while(t*tick/1000 <= tfms)
+			{
+				t1=sputtering.getTime();
+				t=t1-t0;
+				if(debug) System.out.print("t="+t*tick/1000+" ms");
+				if(debug) System.out.println("\treference="+ref+"\toutput="+sputtering.getOutput());
+			}
+		}
+		catch(Exception all)
+		{
+			System.gc();
+		}
+		if(debug) System.out.println("...done.");
+		
+		if(debug) System.out.print("Stoping real-time timer...");
+		sputtering.pidStopRealtime();
+		if(debug) System.out.println("done.");
+
+		sputtering.unlock();
+        }
+}
+
+/**
+*/
+class ResetHandler extends SputPIDDaemon implements PostScript
+{
+        /**
+        * This method handles all responses to the the HTTP POST
+        *
+        * @param data - a Vector of PostElements holding all supplied fields and Values in pairs
+        * @param out - an Output Stream to the client socket
+        * @param work - HTTPWorker contains utility functions used to URL encode our response
+        * @throws IOException if an IO error occurs     
+        */
+        public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException
+        {
+		while(sputtering.lock() == 0);
+
+                // HTML headers		
+                StringBuffer strBuff=new StringBuffer("<html>\r\n"
+                        + "<META HTTP-EQUIV=REFRESH CONTENT=\"10;URL=http://"+TININet.getHostname()+"/\">\r\n"
+                        + "<title>Reset Control</title>\r\n"
+                        + "<body><center><h1>Motor Sendo Resetado... Aguarde</h1>\r\n");
+
+                // Use HTTPWorker's encode body function to generate the URL encoded response
+                out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length()));
+
+                // Send out the bytes of our response page
+                out.write(strBuff.toString().getBytes());
+
+                // Ensure that our data is written imediatly
+                out.flush();
+		
+		if(debug) System.out.println("Resetando Motor...");
+        	sputtering.findHome();
+		if(debug) System.out.println("done");
+		sputtering.unlock();	
+	}
+}
+
+/**
+*/
+class ShutterHandler extends SputPIDDaemon implements PostScript
+{
+       /**
+        * This method handles all responses to the the HTTP POST
+        *
+        * @param data - a Vector of PostElements holding all supplied fields and Values in pairs
+        * @param out - an Output Stream to the client socket
+        * @param work - HTTPWorker contains utility functions used to URL encode our response
+        * @throws IOException if an IO error occurs     
+        */
+        public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException
+        {
+                // HTML headers
+		while(sputtering.lock() == 0);
+                StringBuffer strBuff=new StringBuffer("<html>\r\n"
+                        + "<META HTTP-EQUIV=REFRESH CONTENT=\"5;URL=http://"+TININet.getHostname()+"/\">\r\n"
+                        + "<title>Shutter Control</title>\r\n"
+                        + "<body><center><h1>Shutter Aberto... Aguarde</h1>\r\n");
+
+		PostElement pref = (PostElement)data.elementAt(0);
+ 
+                // Use HTTPWorker's encode body function to generate the URL encoded response
+                out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length()));
+
+                // Send out the bytes of our response page
+                out.write(strBuff.toString().getBytes());
+
+                // Ensure that our data is written imediatly
+                out.flush();
+
+		int tick=10000;	
+				
+		int iref = Integer.parseInt(pref.value);
+		iref=iref*1000/tick;
+		sputtering.openShutter(iref);
+
+		if(debug) System.out.println("iRef\n"+iref);
+		
+		if(debug) System.out.print("Starting real-time timer with "+tick+" us period...");
+		int period= sputtering.shutterStartRealtime(tick);
+		if(debug) System.out.println("done. Effective period: "+period+" us.");
+		
+		while(sputtering.getTime() <= iref);
+		
+		if(debug) System.out.println("...done.");
+		
+		if(debug) System.out.print("Stoping real-time timer...");
+		sputtering.shutterStopRealtime();
+		if(debug) System.out.println("done.");
+		sputtering.unlock();
+        }
+}
diff --git a/SputPIDWeb/Makefile b/SputPIDWeb/Makefile
new file mode 100644
index 0000000..5e1b71c
--- /dev/null
+++ b/SputPIDWeb/Makefile
@@ -0,0 +1,30 @@
+DEPNAME:=-add HTTPSERVER
+NATLIB:=-n sputtering.tlib
+
+all: SputPIDWeb.tini
+
+SputPIDWeb.class: SputPIDWeb.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $^
+	
+MotorHandler.class: MotorHandler.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $^
+
+ResetHandler.class: ResetHandler.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $^
+
+ShutterHandler.class: ShutterHandler.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $^	
+	
+
+SputPIDWeb.tini: SputPIDWeb.class MotorHandler.class ResetHandler.class ../lib/AIC.jar ShutterHandler.class
+	java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f ShutterHandler.class -f ResetHandler.class -f MotorHandler.class  -f SputPIDWeb.class -o $@ ${LIBPATH} ${NATLIB} ${APIDBPATH}
+
+clean:
+	rm -f *.bak *~ *.class *.tlib
+
+distclean: clean
+	rm -f SputPIDWeb.tini
+
+upload: SputPIDWeb.tini
+	for i in ${AIC}; do echo put $^ | ftp $$i; done
+	
\ No newline at end of file
diff --git a/SputPIDWeb/MotorHandler.java b/SputPIDWeb/MotorHandler.java
new file mode 100644
index 0000000..290d5d5
--- /dev/null
+++ b/SputPIDWeb/MotorHandler.java
@@ -0,0 +1,120 @@
+/******************************************************************************
+
+			Actuator Interface Card
+                           Door Post Handler
+                            
+	Copyright (C) 2006 Walter Fetter Lages <w.fetter@ieee.org>
+
+    This program is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 2 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program; if not, write to the Free Software
+    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+    You can also obtain a copy of the GNU General Public License
+    at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+import br.ufrgs.ece.AIC.*;
+import java.io.*;
+import java.lang.*;
+import java.util.*;
+import com.dalsemi.tininet.http.*;
+import com.dalsemi.system.*;
+import com.dalsemi.tininet.*;
+
+public class MotorHandler extends SputPIDWeb implements PostScript
+{
+        /**
+        * This method handles all responses to the the HTTP POST
+        *
+        * @param data - a Vector of PostElements holding all supplied fields and Values in pairs
+        * @param out - an Output Stream to the client socket
+        * @param work - HTTPWorker contains utility functions used to URL encode our response
+        * @throws IOException if an IO error occurs     
+        */
+        public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException
+        {
+		while(sputtering.lock() == 0);
+		// Response page
+
+                // HTML headers
+                
+		StringBuffer strBuff=new StringBuffer("<html>\r\n"
+                        + "<META HTTP-EQUIV=REFRESH CONTENT=\"10;URL=http://"+TININet.getHostname()+"/\">\r\n"
+                        + "<title>Motor Control</title>\r\n"
+                        + "<body><center><h1>Motor Sendo Posicionado... Aguarde</h1>\r\n");
+
+		PostElement pref = (PostElement)data.elementAt(0);
+ 
+                // Use HTTPWorker's encode body function to generate the URL encoded response
+                out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length()));
+
+                // Send out the bytes of our response page
+                out.write(strBuff.toString().getBytes());
+
+                // Ensure that our data is written imediatly
+                out.flush();
+
+
+		int iref = Integer.parseInt(pref.value);
+		float ref=iref*(float)Math.PI/180;
+		sputtering.setReference(ref);          
+
+		int tfms=10000;
+
+		int tick=30000;
+		System.out.print("Starting real-time timer with "+tick+" us period...");
+		int period= sputtering.pidStartRealtime(tick);
+		System.out.println("done. Effective period: "+period+" us.");
+		
+		
+		System.out.println("Running PID for "+tfms+" ms...");	
+		int t0=sputtering.getTime();
+		int t=0;
+		int t1;
+
+                System.gc();
+
+		try
+		{
+                	long blockTime=2000;
+			System.out.println("Blocking time="+blockTime);
+			if(blockTime > 4) Thread.sleep(blockTime);
+		}
+		catch(Exception all)
+		{
+			all.printStackTrace();
+		}
+		
+		try
+		{		
+			while(t*tick/1000 <= tfms)
+			{
+				t1=sputtering.getTime();
+				t=t1-t0;
+				System.out.print("t="+t*tick/1000+" ms");
+				System.out.println("\treference="+ref+"\toutput="+sputtering.getOutput());
+			}
+		}
+		catch(Exception all)
+		{
+			System.gc();
+		}
+		System.out.println("...done.");
+
+		System.out.print("Stoping real-time timer...");
+		sputtering.pidStopRealtime();
+		System.out.println("done.");
+
+		sputtering.unlock();
+        }
+}
diff --git a/SputPIDWeb/ResetHandler.java b/SputPIDWeb/ResetHandler.java
new file mode 100644
index 0000000..5adc018
--- /dev/null
+++ b/SputPIDWeb/ResetHandler.java
@@ -0,0 +1,68 @@
+/******************************************************************************
+
+			Actuator Interface Card
+                           Door Post Handler
+                            
+	Copyright (C) 2006 Walter Fetter Lages <w.fetter@ieee.org>
+
+    This program is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 2 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program; if not, write to the Free Software
+    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+    You can also obtain a copy of the GNU General Public License
+    at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+import br.ufrgs.ece.AIC.*;
+import java.io.*;
+import java.lang.*;
+import java.util.*;
+import com.dalsemi.tininet.http.*;
+import com.dalsemi.system.*;
+import com.dalsemi.tininet.*;
+
+public class ResetHandler extends SputPIDWeb implements PostScript
+{
+        /**
+        * This method handles all responses to the the HTTP POST
+        *
+        * @param data - a Vector of PostElements holding all supplied fields and Values in pairs
+        * @param out - an Output Stream to the client socket
+        * @param work - HTTPWorker contains utility functions used to URL encode our response
+        * @throws IOException if an IO error occurs     
+        */
+        public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException
+        {
+		while(sputtering.lock() == 0);
+
+		// HTML headers
+                StringBuffer strBuff=new StringBuffer("<html>\r\n"
+                        + "<META HTTP-EQUIV=REFRESH CONTENT=\"10;URL=http://"+TININet.getHostname()+"/\">\r\n"
+                        + "<title>Reset Control</title>\r\n"
+                        + "<body><center><h1>Motor Sendo Resetado... Aguarde</h1>\r\n");
+
+                // Use HTTPWorker's encode body function to generate the URL encoded response
+                out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length()));
+
+                // Send out the bytes of our response page
+                out.write(strBuff.toString().getBytes());
+
+                // Ensure that our data is written imediatly
+                out.flush();
+		
+		System.out.println("Resetando Motor...");
+        	sputtering.findHome();
+		System.out.println("done");
+		sputtering.unlock();
+	}
+}
diff --git a/SputPIDWeb/ShutterHandler.java b/SputPIDWeb/ShutterHandler.java
new file mode 100644
index 0000000..096a109
--- /dev/null
+++ b/SputPIDWeb/ShutterHandler.java
@@ -0,0 +1,83 @@
+/******************************************************************************
+
+			Actuator Interface Card
+                           Door Post Handler
+                            
+	Copyright (C) 2006 Walter Fetter Lages <w.fetter@ieee.org>
+
+    This program is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 2 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program; if not, write to the Free Software
+    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+    You can also obtain a copy of the GNU General Public License
+    at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+import br.ufrgs.ece.AIC.*;
+import java.io.*;
+import java.lang.*;
+import java.util.*;
+import com.dalsemi.tininet.http.*;
+import com.dalsemi.system.*;
+import com.dalsemi.tininet.*;
+
+public class ShutterHandler extends SputPIDWeb implements PostScript
+{
+        /**
+        * This method handles all responses to the the HTTP POST
+        *
+        * @param data - a Vector of PostElements holding all supplied fields and Values in pairs
+        * @param out - an Output Stream to the client socket
+        * @param work - HTTPWorker contains utility functions used to URL encode our response
+        * @throws IOException if an IO error occurs     
+        */
+        public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException
+        {
+		while(sputtering.lock() == 0);
+                StringBuffer strBuff=new StringBuffer("<html>\r\n"
+                        + "<META HTTP-EQUIV=REFRESH CONTENT=\"5;URL=http://"+TININet.getHostname()+"/\">\r\n"
+                        + "<title>Shutter Control</title>\r\n"
+                        + "<body><center><h1>Schutter Aberto... Aguarde</h1>\r\n");
+
+		PostElement pref = (PostElement)data.elementAt(0);
+ 
+                // Use HTTPWorker's encode body function to generate the URL encoded response
+                out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length()));
+
+                // Send out the bytes of our response page
+                out.write(strBuff.toString().getBytes());
+
+                // Ensure that our data is written imediatly
+                out.flush();
+
+                int us=10000;
+		int iref = Integer.parseInt(pref.value);
+		System.out.println("iref\n"+iref);
+		
+		iref=iref*1000/us;
+		sputtering.openShutter(iref);
+
+		System.out.print("Starting real-time timer with "+us+" us period...");
+		int period= sputtering.shutterStartRealtime(us);
+		System.out.println("done. Effective period: "+period+" us.");
+		
+		while(sputtering.getTime() <= iref);
+		
+		System.out.println("...done.");
+		
+		System.out.print("Stoping real-time timer...");
+		sputtering.shutterStopRealtime();
+		System.out.println("done.");
+		sputtering.unlock();
+        }
+}
diff --git a/SputPIDWeb/SputPIDWeb.java b/SputPIDWeb/SputPIDWeb.java
new file mode 100644
index 0000000..49284c2
--- /dev/null
+++ b/SputPIDWeb/SputPIDWeb.java
@@ -0,0 +1,61 @@
+/******************************************************************************
+
+			Actuator Interface Card
+                        Sputtering PID Web Server
+	Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>
+
+    This program is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 2 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program; if not, write to the Free Software
+    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+    You can also obtain a copy of the GNU General Public License
+    at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+
+import br.ufrgs.ece.AIC.*;
+import com.dalsemi.tininet.http.HTTPServer;
+import com.dalsemi.tininet.http.HTTPServerException;
+
+class SputPIDWeb
+{
+        static Sputtering sputtering;
+        
+	public static void main(String[] args)
+	{
+		System.out.println("Sputtering PID Web Server");
+		System.out.println("Copyright (C) 2007 Walter Fetter Lages 	<w.fetter@ieee.org>");
+		System.out.println("		  2007 Diego Caberlon Santini 	<w.fetter@ieee.org>.\n");
+                
+		HTTPServer httpd=new HTTPServer(80);
+		httpd.setHTTPRoot("/html");
+		httpd.setIndexPage("index.html");
+		httpd.setLogging(false);
+
+		System.out.println("Sputtering web server running...");
+
+		sputtering=new Sputtering();
+		
+		while (true)
+                {
+			try
+			{
+				httpd.serviceRequests();
+			}
+			catch (HTTPServerException e)
+                        { 
+                                System.out.println("Error occured while serving requests: " + e.getMessage());
+                        }
+                }
+        }
+}
diff --git a/SputPIDWeb/frame.html b/SputPIDWeb/frame.html
new file mode 100644
index 0000000..1552b42
--- /dev/null
+++ b/SputPIDWeb/frame.html
@@ -0,0 +1,14 @@
+<!DOCTYPE HTML PUBLIC "-//IETF//DTD HTML 2.0//EN">
+<html>
+<head>
+</head>
+<FRAMESET COLS="50%, 50%">
+	<FRAME SRC="reset.html" NORESIZE>
+	<FRAME SRC="shutter.html" NORESIZE>
+	</FRAMESET>
+</FRAMESET>>
+<NOFRAMES>
+<body>
+</body>
+</NOFRAMES>
+</html> 
\ No newline at end of file
diff --git a/SputPIDWeb/index.html b/SputPIDWeb/index.html
new file mode 100644
index 0000000..608138c
--- /dev/null
+++ b/SputPIDWeb/index.html
@@ -0,0 +1,15 @@
+<!DOCTYPE HTML PUBLIC "-//IETF//DTD HTML 2.0//EN">
+<html>
+<head>
+<title>Motor Control</title>
+</head>
+<FRAMESET ROWS="60%, 40%">
+	<FRAME SRC="motor.html" NORESIZE>
+	<FRAME SRC="frame.html" NORESIZE>
+	</FRAMESET>
+</FRAMESET>>
+<NOFRAMES>
+<body>
+</body>
+</NOFRAMES>
+</html>
\ No newline at end of file
diff --git a/SputPIDWeb/motor.html b/SputPIDWeb/motor.html
new file mode 100644
index 0000000..21ff174
--- /dev/null
+++ b/SputPIDWeb/motor.html
@@ -0,0 +1,31 @@
+<!DOCTYPE HTML PUBLIC "-//IETF//DTD HTML 2.0//EN">
+<html>
+<head>
+<title>Motor Control</title>
+</head>
+<body>
+<center>
+<BASE TARGET="_top">
+<h1>Motor Control</h1>
+<HR WIDTH=50%>
+<form method="post" enctype="application/x-www-form-urlencoded" 
+action="MotorHandler">
+<input type="radio" name="ref" value="0" >   0<SUP>o</SUP>  degree
+<br>
+<input type="radio" name="ref" value="60">  60<SUP>o</SUP>  degree
+<br>
+<input type="radio" name="ref" value="120"> 120<SUP>o</SUP> degree
+<br>
+<input type="radio" name="ref" value="180"> 180<SUP>o</SUP> degree
+<br>
+<input type="radio" name="ref" value="240"> 240<SUP>o</SUP> degree
+<br>
+<input type="radio" name="ref" value="300"> 300<SUP>o</SUP> degree
+<br>
+<br>
+<input type="submit" value="SET">
+</form>
+<HR WIDTH=50%>
+</center>
+</body>
+</html> 
\ No newline at end of file
diff --git a/SputPIDWeb/reset.html b/SputPIDWeb/reset.html
new file mode 100644
index 0000000..042b378
--- /dev/null
+++ b/SputPIDWeb/reset.html
@@ -0,0 +1,18 @@
+ <!DOCTYPE HTML PUBLIC "-//IETF//DTD HTML 2.0//EN">
+<html>
+<head>
+<title>Motor Reset</title>
+</head>
+<body>
+<center>
+<BASE TARGET="_top">
+<h1>Motor Reset</h1>
+<br>
+<HR WIDTH=50%>
+<form method="post" enctype="application/x-www-form-urlencoded" 
+action="ResetHandler">
+<input type="submit" value="Motor Reset">
+<HR WIDTH=50%>
+</center>
+</body>
+</html> 
\ No newline at end of file
diff --git a/SputPIDWeb/shutter.html b/SputPIDWeb/shutter.html
new file mode 100644
index 0000000..c4c21dc
--- /dev/null
+++ b/SputPIDWeb/shutter.html
@@ -0,0 +1,20 @@
+ <!DOCTYPE HTML PUBLIC "-//IETF//DTD HTML 2.0//EN">
+<html>
+<head>
+<title>Shutter Open</title>
+</head>
+<body>
+<center>
+<BASE TARGET="_top">
+<h1>Shutter Open</h1>
+<br>
+<HR WIDTH=50%>
+<form method="post" enctype="application/x-www-form-urlencoded" 
+action="ShutterHandler">
+<input type="text" name="ref" size="6" value="[ms]">
+<br>
+<input type="submit" value="Shutter Open">
+<HR WIDTH=50%>
+</center>
+</body>
+</html> 
\ No newline at end of file
diff --git a/SputWeb/Makefile b/SputWeb/Makefile
new file mode 100644
index 0000000..5dd9754
--- /dev/null
+++ b/SputWeb/Makefile
@@ -0,0 +1,21 @@
+DEPNAME:=-add HTTPSERVER
+
+all: SputWeb.tini
+
+SputWeb.class: SputWeb.java ../lib/AIC.jar
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $<
+	
+SputHandler.class: SputHandler.java ../lib/AIC.jar
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $<
+
+SputWeb.tini: SputWeb.class SputHandler.class ../lib/AIC.jar
+	java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f SputHandler.class  -f SputWeb.class -o $@ ${LIBPATH} ${NATLIB} ${APIDBPATH}
+
+clean:
+	rm -f *.bak *~ *.class
+
+distclean: clean
+	rm -f SputWeb.tini
+
+upload: SputWeb.tini
+	for i in ${AIC}; do echo put $^ | ftp $$i; done
\ No newline at end of file
diff --git a/SputDaemon/SputHandler.java b/SputWeb/SputHandler.java
similarity index 99%
rename from SputDaemon/SputHandler.java
rename to SputWeb/SputHandler.java
index 76a0cd8..f98ca3a 100644
--- a/SputDaemon/SputHandler.java
+++ b/SputWeb/SputHandler.java
@@ -43,7 +43,6 @@ public class SputHandler implements PostScript
         * @param work - HTTPWorker contains utility functions used to URL encode our response
         * @throws IOException if an IO error occurs     
         */
-
         public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException
         {
                 if(first)
diff --git a/SputDaemon/SputDaemon.java b/SputWeb/SputWeb.java
similarity index 94%
rename from SputDaemon/SputDaemon.java
rename to SputWeb/SputWeb.java
index c7eeec8..b63203f 100644
--- a/SputDaemon/SputDaemon.java
+++ b/SputWeb/SputWeb.java
@@ -1,7 +1,7 @@
 /******************************************************************************
 
 			Actuator Interface Card
-                            Sputtering Daemon
+                            Sputtering Web Daemon
 	Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
 
     This program is free software; you can redistribute it and/or modify
@@ -26,13 +26,13 @@
 import com.dalsemi.tininet.http.HTTPServer;
 import com.dalsemi.tininet.http.HTTPServerException;
 
-class SputDaemon
+class SputWeb
 {
         static Object lock;
 
         public static void main(String[] args)
         {
-       		System.out.println("Sputtering Daemon");
+       		System.out.println("Sputtering Web Daemon");
 		System.out.println("Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>.\n");
                 
                 HTTPServer httpd=new HTTPServer(80);
diff --git a/SputDaemon/index.html b/SputWeb/index.html
similarity index 100%
rename from SputDaemon/index.html
rename to SputWeb/index.html
diff --git a/aicd/aicd.cpp b/aicd/aicd.cpp
index bc8386a..8f44819 100644
--- a/aicd/aicd.cpp
+++ b/aicd/aicd.cpp
@@ -78,7 +78,13 @@ void *send_status(void *arg)
 
 	while(*ptr->run) for(int i=-48;i < 48;i++) 
 	{
+	
+#ifdef REAL_TIME	
 		rt_task_wait_period();
+#else
+		usleep(ptr->ST*1e6)
+#endif
+		
 /*		if(ptr->controller->getstatus() & AIC_HOST::MOTOR_ON)
 		{
 			int index;
@@ -189,6 +195,7 @@ int main(int argc, char *argv[])
 			case AIC_MOTOR_OFF:
 			{
 				run=0;
+				aic.motor.off();
 				break;
 			}
 			case AIC_MOTOR_ACT:
diff --git a/aicd/runinfo b/aicd/runinfo
deleted file mode 100644
index 2b978b1..0000000
--- a/aicd/runinfo
+++ /dev/null
@@ -1 +0,0 @@
-aicd:lxrt:./aicd;popall:
diff --git a/doc/Makefile b/doc/Makefile
index 17fee7c..80b1848 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -10,12 +10,13 @@ aic.ps: aic.dvi
 aic.pdf: aic.dvi
 	dvipdf aic
 
-aic.dvi: aic.tex aic.aux aic.bbl \
+aic.dvi: aic.tex \
 	aictini.eps aicpower.eps aicconn.eps \
-	aic_componentpin.eps \
-	aic_soldersilk.eps aic_componentsilk.eps \
-	aic_group1.eps aic_group2.eps aic_group3.eps aic_group4.eps \
-	aic_soldermask.eps aic_componentmask.eps
+	aic_assembly.eps \
+	aic_frontsilk.eps aic_front.eps aic_frontmask.eps \
+	aic_back.eps aic_backmask.eps \
+	aic_fab.eps \
+	aic.aux aic.bbl
 	latex aic
 	latex aic
 
@@ -43,7 +44,7 @@ aicconn.ps: aicconn.sch
 aicconn.eps: aicconn.ps
 	eps2eps aicconn.ps aicconn.eps
 
-pcb: aic.net aicpcb.ps aicpcb.pdf #aic.pcb
+pcb: aic.net #aicpcb.ps aicpcb.pdf #aic.pcb
 
 aic.net: $(SCHEMS)
 	gnetlist -g PCB -o aic.net $(SCHEMS)
@@ -51,55 +52,44 @@ 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
-
-aic_componentpin.eps: aic_componentpin.ps
-	eps2eps aic_componentpin.ps aictmp.eps
-	pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_componentpin.eps
+aic_assembly.eps: aic_assembly.ps
+	eps2eps aic_assembly.ps aictmp.eps
+	pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_assembly.eps
 	
-aic_soldersilk.eps: aic_soldersilk.ps
-	eps2eps aic_soldersilk.ps aictmp.eps
-	pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_soldersilk.eps
+aic_frontsilk.eps: aic_frontsilk.ps
+	eps2eps aic_frontsilk.ps aictmp.eps
+	pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_frontsilk.eps
 
-aic_componentsilk.eps: aic_componentsilk.ps
-	eps2eps aic_componentsilk.ps aictmp.eps
-	pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_componentsilk.eps
+aic_front.eps: aic_front.ps
+	eps2eps aic_front.ps aictmp.eps
+	pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_front.eps
 	
-aic_group1.eps: aic_group1.ps
-	eps2eps aic_group1.ps aictmp.eps
-	pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_group1.eps
-
-aic_group2.eps: aic_group2.ps
-	eps2eps aic_group2.ps aictmp.eps
-	pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_group2.eps
-
-aic_group3.eps:  aic_group3.ps
-	eps2eps aic_group3.ps aictmp.eps
-	pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_group3.eps
+aic_frontmask.eps: aic_frontmask.ps
+	eps2eps aic_frontmask.ps aictmp.eps
+	pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_frontmask.eps
 
-aic_group4.eps:  aic_group4.ps
-	eps2eps aic_group4.ps aictmp.eps
-	pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_group4.eps
+aic_back.eps: aic_back.ps
+	eps2eps aic_back.ps aictmp.eps
+	pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_back.eps
 
-aic_soldermask.eps: aic_soldermask.ps
-	eps2eps aic_soldermask.ps aictmp.eps
-	pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_soldermask.eps
+aic_backmask.eps:  aic_backmask.ps
+	eps2eps aic_backmask.ps aictmp.eps
+	pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_backmask.eps
 
-aic_componentmask.eps: aic_componentmask.ps
-	eps2eps aic_componentmask.ps aictmp.eps
-	pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_componentmask.eps
+aic_fab.eps:  aic_fab.ps
+	eps2eps aic_fab.ps aictmp.eps
+	pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_fab.eps
 
-aicpcb.ps: aic_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.ps: aic_assembly.ps aic_frontsilk.ps aic_front.ps aic_frontmask.eps \
+#	aic_back.ps aic_backmask.ps \
+#	aic_fab.ps
+#	cat aic_assembly.ps aic_frontsilk.ps aic_front.ps aic_frontmask.eps \
+#	aic_back.ps aic_backmask.ps \
+#	aic_fab.ps > aictmp.ps
+#	ps2ps aictmp.ps aicpcb.ps
 
-aicpcb.pdf: aicpcb.ps
-	ps2pdf aicpcb.ps
+#aicpcb.pdf: aicpcb.ps
+#	ps2pdf aicpcb.ps
 
 bom: aic.bom aic.bpp aic.xrf
 
@@ -118,7 +108,7 @@ html/index.html: Doxyfile aic.dox
 	doxygen
 
 clean:
-	rm -f *.aux *.log *~ *.bak *.bbl *.blg *.old *.ps *.eps *.dvi
+	rm -f *.aux *.log *~ *.bak *.bbl *.blg *.old aicconn.ps aicpower.ps aictini.ps *.eps *.dvi
 
 distclean: clean
 	rm -f aic*.pdf aic.net aic.bom aic.bpp aic.xrf
diff --git a/doc/aic.tex b/doc/aic.tex
index a0ee6af..6be2e5d 100644
--- a/doc/aic.tex
+++ b/doc/aic.tex
@@ -838,14 +838,12 @@ eventualmente cada uma na sua pr
 
 \section{Printed Circuit Board}
 
-\includegraphics{aic_componentpin.eps}
-%\includegraphics{aic_soldersilk.eps}
-\includegraphics{aic_componentsilk.eps}
-\includegraphics{aic_group1.eps}
-\includegraphics{aic_group2.eps}
-\includegraphics{aic_group3.eps}
-\includegraphics{aic_group4.eps}
-\includegraphics{aic_soldermask.eps}
-\includegraphics{aic_componentmask.eps}
+\includegraphics{aic_assembly.eps}
+\includegraphics{aic_frontsilk.eps}
+\includegraphics{aic_front.eps}
+\includegraphics{aic_frontmask.eps}
+\includegraphics{aic_back.eps}
+\includegraphics{aic_backmask.eps}
+\includegraphics{aic_fab.eps}
 
 \end{document}
diff --git a/doc/aic_assembly.ps b/doc/aic_assembly.ps
new file mode 100644
index 0000000..8f6fe35
--- /dev/null
+++ b/doc/aic_assembly.ps
@@ -0,0 +1,5474 @@
+%!PS-Adobe-3.0
+%%Title: (unknown), assembly drawing
+%%Creator: pcb-bin 20060321
+%%CreationDate: Tue Nov 27 09:49:27 2007
+%%For: fetter (Walter Fetter Lages,,,)
+%%LanguageLevel: 1
+%%Orientation: Portrait
+%%Pages: 1
+%%PageOrder: Ascend
+%%DocumentMedia: A4 594 841
+%%EndComments
+%%BeginProlog
+
+/PcbDict 200 dict def
+PcbDict begin
+PcbDict /DictMatrix matrix put
+
+% some constants
+/Black {0.0 mysetgray} def
+/White {1.0 mysetgray} def
+/TAN {0.207106781} def
+/MTAN {-0.207106781} def
+
+% draw a filled polygon
+% get (x,y)... and number of points from stack
+/PO {
+	/number exch def
+	newpath
+	moveto
+	number 1 sub { lineto } repeat
+	closepath fill stroke
+} def
+
+/P {
+% draw a pin-polygon,
+% get x, y and thickness from stack
+	/thickness exch def /y exch def /x exch def
+	gsave x y translate thickness thickness scale
+	0.5  MTAN
+	TAN  -0.5
+	MTAN -0.5
+	-0.5 MTAN
+	-0.5 TAN
+	MTAN 0.5
+	TAN  0.5
+	0.5  TAN
+	8 PO grestore
+} def
+
+/PV {
+% pin or via, x, y and thickness are on the stack
+	/drillinghole exch def /thickness exch def /y exch def /x exch def
+	x y thickness P
+% draw drilling hole
+	gsave White 0 setlinewidth
+   newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+   grestore
+} def
+
+/PVR {
+% pin or via, x, y and thickness are on the stack
+	/drillinghole exch def /thickness exch def /y exch def /x exch def
+	gsave 0 setlinewidth
+	newpath x y thickness 2 div 0 360 arc closepath fill stroke
+% draw drilling whole
+	White
+	newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+	grestore
+} def
+
+/PVSQ {
+% square pin or via, x, y and thickness are on the stack
+	/drillinghole exch def /thickness exch def /y exch def /x exch def
+	newpath x thickness 2 div sub y thickness 2 div sub moveto
+	thickness 0 rlineto 0 thickness rlineto
+	thickness neg 0 rlineto closepath fill stroke
+% draw drilling hole
+	gsave White 0 setlinewidth
+   newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+   grestore
+} def
+
+/DH {
+% drill helpher; x, y, hole, copper-thickness are on stack
+	/copper exch def /hole exch def /y exch def /x exch def
+   gsave copper setlinewidth
+   newpath x y hole copper add 2 div 0 360 arc closepath stroke
+   grestore
+} def
+
+/L {
+% line, get x1, y1, x2, y2 and thickness from stack
+	/thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	gsave thick setlinewidth
+	x1 y1 moveto x2 y2 lineto stroke
+	grestore
+} def
+
+/CL {
+% line, get x1, y1, x2, y2 and thickness from stack
+	/thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	gsave White thick setlinewidth
+	x1 y1 moveto x2 y2 lineto stroke
+	grestore
+} def
+
+/B {
+% filled box, get x1, y1, x2 and y2 from stack
+	/y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	newpath
+	x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+	closepath fill stroke
+} def
+
+/PA {
+% pad, same as line
+	L
+} def
+
+/A {
+% arc for elements, get x, y, width, height, thickness
+% startangle and delta-angle from stack
+  /delta exch def /start exch def /thickness exch def
+  /height exch def /width exch def /y exch def /x exch def
+% draw it
+	gsave thickness setlinewidth /save DictMatrix currentmatrix def
+% scaling is less then zero because the coord system has to be swapped
+	x y translate width neg height scale
+	0 0 1 start start delta add arc save setmatrix stroke
+	grestore
+} def
+
+/CA {
+% arc for elements, get x, y, width, height, thickness
+% startangle and delta-angle from stack
+  /delta exch def /start exch def /thickness exch def
+  /height exch def /width exch def /y exch def /x exch def
+% draw it
+	gsave White thickness setlinewidth /save DictMatrix currentmatrix def
+% scaling is less then zero because the coord system has to be swapped
+	x y translate width neg height scale
+	0 0 1 start start delta add arc save setmatrix stroke
+	grestore
+} def
+
+/CLRPV {
+% clears a pin/via for groundplane; x,y and thickness are on stack
+   /thickness exch def /y exch def /x exch def
+	gsave White x y thickness P grestore
+} def
+
+/CLRPVSQ {
+% clears a square pin, x,y and thickness are on stack
+	/thickness exch def /y exch def /x exch def
+   gsave White
+	newpath x thickness 2 div sub y thickness 2 div sub moveto
+	thickness 0 rlineto 0 thickness rlineto
+	thickness neg 0 rlineto closepath fill stroke
+	grestore
+} def
+
+/CLRPVR {
+% clears a round pin/via for groundplane; x,y and thickness are on the stack
+	/thickness exch def /y exch def /x exch def
+	gsave White 0 setlinewidth
+	newpath x y thickness 2 div 0 360 arc closepath fill stroke
+	grestore
+} def
+
+/CLRPA {
+% clear line, get x1, y1, x2, y2 and thickness from stack
+	/thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	gsave White thick setlinewidth
+	x1 y1 moveto x2 y2 lineto stroke
+	grestore
+} def
+
+/CLRB {
+% cleared box, get x1, y1, x2 and y2 from stack
+	/y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	gsave White newpath
+	x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+	closepath fill stroke
+	grestore
+} def
+
+/FILL {
+% draw a filled rectangle for the ground plane
+% get x1, y1, x2 and y2 from stack
+	/y2 exch def /x2 exch def /y1 exch def /x1 exch def
+   gsave 0 setlinewidth
+	newpath
+	x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+	closepath fill stroke
+   grestore
+} def
+
+/Outline {
+% outline, get x1, y1, x2 and y2 from stack
+	/y2 exch def /x2 exch def /y1 exch def /x1 exch def
+   gsave 0.175 setlinewidth
+	newpath
+	x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+	closepath stroke
+   grestore
+} def
+
+/Alignment {
+% alignment targets, get x1, y1, x2, y2 and distance from stack
+	/dis exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+   gsave 0.175 setlinewidth
+   newpath x1 y1 dis add moveto
+      0 dis 2 mul neg rlineto
+      dis neg dis rmoveto
+      dis 2 mul 0 rlineto
+   stroke
+   newpath x1 y1 dis 0 90 arcn stroke
+   newpath x1 y2 dis sub moveto 0 dis rlineto dis 0 rlineto stroke
+   newpath x2 y2 dis sub moveto
+      0 2 dis mul rlineto
+      dis dup neg rmoveto
+      2 dis mul neg 0 rlineto   stroke
+   newpath x2 y1 dis add moveto 0 dis neg rlineto dis neg 0 rlineto stroke
+   grestore
+} def
+
+/mysetgray { setgray } def
+/mysetrgbcolor { setrgbcolor } def
+
+%%EndProlog
+%%BeginDefaults
+%%EndDefaults
+%%BeginSetup
+0.0 setlinewidth
+1 setlinecap
+Black
+%%EndSetup
+%%Page: 1 1
+%%BeginPageSetup
+%%EndPageSetup
+gsave White newpath
+153 416 moveto 458 416 lineto 458 673 lineto 153 673 lineto
+closepath fill stroke grestore
+% PCBMIN(-400,-400), PCBMAX(710400,841740)
+% PCBOFFSET(214900,579300), PCBSCALE(0.50000)
+% PCBSTARTDATA --- do not remove ---
+gsave
+0.00072 0.00072 scale
+214900 579300 translate
+0.500 0.500 scale
+842140 0 translate
+90 rotate
+0 842140 translate
+1 -1 scale
+400 400 translate
+/Color {0.800 0.800 0.800 mysetrgbcolor} def Color
+-400 -400 710400 841740 200 Alignment
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+grestore
+% PCBENDDATA --- do not remove ---
+showpage
+%%EOF
diff --git a/doc/aic_back.ps b/doc/aic_back.ps
new file mode 100644
index 0000000..3800390
--- /dev/null
+++ b/doc/aic_back.ps
@@ -0,0 +1,2224 @@
+%!PS-Adobe-3.0
+%%Title: (unknown), layergroup #1
+%%Creator: pcb-bin 20060321
+%%CreationDate: Tue Nov 27 09:49:27 2007
+%%For: fetter (Walter Fetter Lages,,,)
+%%LanguageLevel: 1
+%%Orientation: Portrait
+%%Pages: 1
+%%PageOrder: Ascend
+%%DocumentMedia: A4 594 841
+%%EndComments
+%%BeginProlog
+
+/PcbDict 200 dict def
+PcbDict begin
+PcbDict /DictMatrix matrix put
+
+% some constants
+/Black {0.0 mysetgray} def
+/White {1.0 mysetgray} def
+/TAN {0.207106781} def
+/MTAN {-0.207106781} def
+
+% draw a filled polygon
+% get (x,y)... and number of points from stack
+/PO {
+	/number exch def
+	newpath
+	moveto
+	number 1 sub { lineto } repeat
+	closepath fill stroke
+} def
+
+/P {
+% draw a pin-polygon,
+% get x, y and thickness from stack
+	/thickness exch def /y exch def /x exch def
+	gsave x y translate thickness thickness scale
+	0.5  MTAN
+	TAN  -0.5
+	MTAN -0.5
+	-0.5 MTAN
+	-0.5 TAN
+	MTAN 0.5
+	TAN  0.5
+	0.5  TAN
+	8 PO grestore
+} def
+
+/PV {
+% pin or via, x, y and thickness are on the stack
+	/drillinghole exch def /thickness exch def /y exch def /x exch def
+	x y thickness P
+% draw drilling hole
+	gsave White 0 setlinewidth
+   newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+   grestore
+} def
+
+/PVR {
+% pin or via, x, y and thickness are on the stack
+	/drillinghole exch def /thickness exch def /y exch def /x exch def
+	gsave 0 setlinewidth
+	newpath x y thickness 2 div 0 360 arc closepath fill stroke
+% draw drilling whole
+	White
+	newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+	grestore
+} def
+
+/PVSQ {
+% square pin or via, x, y and thickness are on the stack
+	/drillinghole exch def /thickness exch def /y exch def /x exch def
+	newpath x thickness 2 div sub y thickness 2 div sub moveto
+	thickness 0 rlineto 0 thickness rlineto
+	thickness neg 0 rlineto closepath fill stroke
+% draw drilling hole
+	gsave White 0 setlinewidth
+   newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+   grestore
+} def
+
+/DH {
+% drill helpher; x, y, hole, copper-thickness are on stack
+	/copper exch def /hole exch def /y exch def /x exch def
+   gsave copper setlinewidth
+   newpath x y hole copper add 2 div 0 360 arc closepath stroke
+   grestore
+} def
+
+/L {
+% line, get x1, y1, x2, y2 and thickness from stack
+	/thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	gsave thick setlinewidth
+	x1 y1 moveto x2 y2 lineto stroke
+	grestore
+} def
+
+/CL {
+% line, get x1, y1, x2, y2 and thickness from stack
+	/thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	gsave White thick setlinewidth
+	x1 y1 moveto x2 y2 lineto stroke
+	grestore
+} def
+
+/B {
+% filled box, get x1, y1, x2 and y2 from stack
+	/y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	newpath
+	x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+	closepath fill stroke
+} def
+
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+grestore
+% PCBENDDATA --- do not remove ---
+showpage
+%%EOF
diff --git a/doc/aic_backmask.ps b/doc/aic_backmask.ps
new file mode 100644
index 0000000..6a0dba2
--- /dev/null
+++ b/doc/aic_backmask.ps
@@ -0,0 +1,916 @@
+%!PS-Adobe-3.0
+%%Title: (unknown), solder mask solder side
+%%Creator: pcb-bin 20060321
+%%CreationDate: Tue Nov 27 09:49:27 2007
+%%For: fetter (Walter Fetter Lages,,,)
+%%LanguageLevel: 1
+%%Orientation: Portrait
+%%Pages: 1
+%%PageOrder: Ascend
+%%DocumentMedia: A4 594 841
+%%EndComments
+%%BeginProlog
+
+/PcbDict 200 dict def
+PcbDict begin
+PcbDict /DictMatrix matrix put
+
+% some constants
+/Black {0.0 mysetgray} def
+/White {1.0 mysetgray} def
+/TAN {0.207106781} def
+/MTAN {-0.207106781} def
+
+% draw a filled polygon
+% get (x,y)... and number of points from stack
+/PO {
+	/number exch def
+	newpath
+	moveto
+	number 1 sub { lineto } repeat
+	closepath fill stroke
+} def
+
+/P {
+% draw a pin-polygon,
+% get x, y and thickness from stack
+	/thickness exch def /y exch def /x exch def
+	gsave x y translate thickness thickness scale
+	0.5  MTAN
+	TAN  -0.5
+	MTAN -0.5
+	-0.5 MTAN
+	-0.5 TAN
+	MTAN 0.5
+	TAN  0.5
+	0.5  TAN
+	8 PO grestore
+} def
+
+/PV {
+% pin or via, x, y and thickness are on the stack
+	/drillinghole exch def /thickness exch def /y exch def /x exch def
+	x y thickness P
+% draw drilling hole
+	gsave White 0 setlinewidth
+   newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+   grestore
+} def
+
+/PVR {
+% pin or via, x, y and thickness are on the stack
+	/drillinghole exch def /thickness exch def /y exch def /x exch def
+	gsave 0 setlinewidth
+	newpath x y thickness 2 div 0 360 arc closepath fill stroke
+% draw drilling whole
+	White
+	newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+	grestore
+} def
+
+/PVSQ {
+% square pin or via, x, y and thickness are on the stack
+	/drillinghole exch def /thickness exch def /y exch def /x exch def
+	newpath x thickness 2 div sub y thickness 2 div sub moveto
+	thickness 0 rlineto 0 thickness rlineto
+	thickness neg 0 rlineto closepath fill stroke
+% draw drilling hole
+	gsave White 0 setlinewidth
+   newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+   grestore
+} def
+
+/DH {
+% drill helpher; x, y, hole, copper-thickness are on stack
+	/copper exch def /hole exch def /y exch def /x exch def
+   gsave copper setlinewidth
+   newpath x y hole copper add 2 div 0 360 arc closepath stroke
+   grestore
+} def
+
+/L {
+% line, get x1, y1, x2, y2 and thickness from stack
+	/thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	gsave thick setlinewidth
+	x1 y1 moveto x2 y2 lineto stroke
+	grestore
+} def
+
+/CL {
+% line, get x1, y1, x2, y2 and thickness from stack
+	/thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	gsave White thick setlinewidth
+	x1 y1 moveto x2 y2 lineto stroke
+	grestore
+} def
+
+/B {
+% filled box, get x1, y1, x2 and y2 from stack
+	/y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	newpath
+	x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+	closepath fill stroke
+} def
+
+/PA {
+% pad, same as line
+	L
+} def
+
+/A {
+% arc for elements, get x, y, width, height, thickness
+% startangle and delta-angle from stack
+  /delta exch def /start exch def /thickness exch def
+  /height exch def /width exch def /y exch def /x exch def
+% draw it
+	gsave thickness setlinewidth /save DictMatrix currentmatrix def
+% scaling is less then zero because the coord system has to be swapped
+	x y translate width neg height scale
+	0 0 1 start start delta add arc save setmatrix stroke
+	grestore
+} def
+
+/CA {
+% arc for elements, get x, y, width, height, thickness
+% startangle and delta-angle from stack
+  /delta exch def /start exch def /thickness exch def
+  /height exch def /width exch def /y exch def /x exch def
+% draw it
+	gsave White thickness setlinewidth /save DictMatrix currentmatrix def
+% scaling is less then zero because the coord system has to be swapped
+	x y translate width neg height scale
+	0 0 1 start start delta add arc save setmatrix stroke
+	grestore
+} def
+
+/CLRPV {
+% clears a pin/via for groundplane; x,y and thickness are on stack
+   /thickness exch def /y exch def /x exch def
+	gsave White x y thickness P grestore
+} def
+
+/CLRPVSQ {
+% clears a square pin, x,y and thickness are on stack
+	/thickness exch def /y exch def /x exch def
+   gsave White
+	newpath x thickness 2 div sub y thickness 2 div sub moveto
+	thickness 0 rlineto 0 thickness rlineto
+	thickness neg 0 rlineto closepath fill stroke
+	grestore
+} def
+
+/CLRPVR {
+% clears a round pin/via for groundplane; x,y and thickness are on the stack
+	/thickness exch def /y exch def /x exch def
+	gsave White 0 setlinewidth
+	newpath x y thickness 2 div 0 360 arc closepath fill stroke
+	grestore
+} def
+
+/CLRPA {
+% clear line, get x1, y1, x2, y2 and thickness from stack
+	/thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	gsave White thick setlinewidth
+	x1 y1 moveto x2 y2 lineto stroke
+	grestore
+} def
+
+/CLRB {
+% cleared box, get x1, y1, x2 and y2 from stack
+	/y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	gsave White newpath
+	x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+	closepath fill stroke
+	grestore
+} def
+
+/FILL {
+% draw a filled rectangle for the ground plane
+% get x1, y1, x2 and y2 from stack
+	/y2 exch def /x2 exch def /y1 exch def /x1 exch def
+   gsave 0 setlinewidth
+	newpath
+	x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+	closepath fill stroke
+   grestore
+} def
+
+/Outline {
+% outline, get x1, y1, x2 and y2 from stack
+	/y2 exch def /x2 exch def /y1 exch def /x1 exch def
+   gsave 0.175 setlinewidth
+	newpath
+	x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+	closepath stroke
+   grestore
+} def
+
+/Alignment {
+% alignment targets, get x1, y1, x2, y2 and distance from stack
+	/dis exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+   gsave 0.175 setlinewidth
+   newpath x1 y1 dis add moveto
+      0 dis 2 mul neg rlineto
+      dis neg dis rmoveto
+      dis 2 mul 0 rlineto
+   stroke
+   newpath x1 y1 dis 0 90 arcn stroke
+   newpath x1 y2 dis sub moveto 0 dis rlineto dis 0 rlineto stroke
+   newpath x2 y2 dis sub moveto
+      0 2 dis mul rlineto
+      dis dup neg rmoveto
+      2 dis mul neg 0 rlineto   stroke
+   newpath x2 y1 dis add moveto 0 dis neg rlineto dis neg 0 rlineto stroke
+   grestore
+} def
+
+/mysetgray {neg 1.0 add setgray} def
+/mysetrgbcolor {
+  /blue exch def /green exch def /red exch def
+  1.0 red sub 1.0 green sub 1.0 blue sub setrgbcolor
+} def
+%%EndProlog
+%%BeginDefaults
+%%EndDefaults
+%%BeginSetup
+0.0 setlinewidth
+1 setlinecap
+Black
+%%EndSetup
+%%Page: 1 1
+%%BeginPageSetup
+%%EndPageSetup
+gsave White newpath
+153 160 moveto 451 160 lineto 451 673 lineto 153 673 lineto
+closepath fill stroke grestore
+% PCBMIN(-400,-400), PCBMAX(710400,410400)
+% PCBOFFSET(214900,223900), PCBSCALE(1.00000)
+% PCBSTARTDATA --- do not remove ---
+gsave
+0.00072 0.00072 scale
+214900 223900 translate
+1.000 1.000 scale
+410800 0 translate
+90 rotate
+0 410800 translate
+1 -1 scale
+400 400 translate
+/mysetgray { setgray } def
+/mysetrgbcolor { setrgbcolor } def
+
+/Color {0.302 0.302 0.302 mysetrgbcolor} def Color
+-400 -400 710400 410400 200 Alignment
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+grestore
+% PCBENDDATA --- do not remove ---
+showpage
+%%EOF
diff --git a/doc/aic_fab.ps b/doc/aic_fab.ps
new file mode 100644
index 0000000..a1b186d
--- /dev/null
+++ b/doc/aic_fab.ps
@@ -0,0 +1,3915 @@
+%!PS-Adobe-3.0
+%%Title: (unknown), Fabrication Drawing
+%%Creator: pcb-bin 20060321
+%%CreationDate: Tue Nov 27 09:49:27 2007
+%%For: fetter (Walter Fetter Lages,,,)
+%%LanguageLevel: 1
+%%Orientation: Portrait
+%%Pages: 1
+%%PageOrder: Ascend
+%%DocumentMedia: A4 594 841
+%%EndComments
+%%BeginProlog
+
+/PcbDict 200 dict def
+PcbDict begin
+PcbDict /DictMatrix matrix put
+
+% some constants
+/Black {0.0 mysetgray} def
+/White {1.0 mysetgray} def
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+/MTAN {-0.207106781} def
+
+% draw a filled polygon
+% get (x,y)... and number of points from stack
+/PO {
+	/number exch def
+	newpath
+	moveto
+	number 1 sub { lineto } repeat
+	closepath fill stroke
+} def
+
+/P {
+% draw a pin-polygon,
+% get x, y and thickness from stack
+	/thickness exch def /y exch def /x exch def
+	gsave x y translate thickness thickness scale
+	0.5  MTAN
+	TAN  -0.5
+	MTAN -0.5
+	-0.5 MTAN
+	-0.5 TAN
+	MTAN 0.5
+	TAN  0.5
+	0.5  TAN
+	8 PO grestore
+} def
+
+/PV {
+% pin or via, x, y and thickness are on the stack
+	/drillinghole exch def /thickness exch def /y exch def /x exch def
+	x y thickness P
+% draw drilling hole
+	gsave White 0 setlinewidth
+   newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+   grestore
+} def
+
+/PVR {
+% pin or via, x, y and thickness are on the stack
+	/drillinghole exch def /thickness exch def /y exch def /x exch def
+	gsave 0 setlinewidth
+	newpath x y thickness 2 div 0 360 arc closepath fill stroke
+% draw drilling whole
+	White
+	newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+	grestore
+} def
+
+/PVSQ {
+% square pin or via, x, y and thickness are on the stack
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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 hole
+	gsave White 0 setlinewidth
+   newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+   grestore
+} def
+
+/DH {
+% drill helpher; x, y, hole, copper-thickness are on stack
+	/copper exch def /hole exch def /y exch def /x exch def
+   gsave copper setlinewidth
+   newpath x y hole copper add 2 div 0 360 arc closepath stroke
+   grestore
+} def
+
+/L {
+% line, get x1, y1, x2, y2 and thickness from stack
+	/thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	gsave thick setlinewidth
+	x1 y1 moveto x2 y2 lineto stroke
+	grestore
+} def
+
+/CL {
+% line, get x1, y1, x2, y2 and thickness from stack
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+	gsave White thick setlinewidth
+	x1 y1 moveto x2 y2 lineto stroke
+	grestore
+} def
+
+/B {
+% filled box, get x1, y1, x2 and y2 from stack
+	/y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	newpath
+	x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
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+} def
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+/PA {
+% pad, same as line
+	L
+} def
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+/A {
+% arc for elements, get x, y, width, height, thickness
+% startangle and delta-angle from stack
+  /delta exch def /start exch def /thickness exch def
+  /height exch def /width exch def /y exch def /x exch def
+% draw it
+	gsave thickness setlinewidth /save DictMatrix currentmatrix def
+% scaling is less then zero because the coord system has to be swapped
+	x y translate width neg height scale
+	0 0 1 start start delta add arc save setmatrix stroke
+	grestore
+} def
+
+/CA {
+% arc for elements, get x, y, width, height, thickness
+% startangle and delta-angle from stack
+  /delta exch def /start exch def /thickness exch def
+  /height exch def /width exch def /y exch def /x exch def
+% draw it
+	gsave White thickness setlinewidth /save DictMatrix currentmatrix def
+% scaling is less then zero because the coord system has to be swapped
+	x y translate width neg height scale
+	0 0 1 start start delta add arc save setmatrix stroke
+	grestore
+} def
+
+/CLRPV {
+% clears a pin/via for groundplane; x,y and thickness are on stack
+   /thickness exch def /y exch def /x exch def
+	gsave White x y thickness P grestore
+} def
+
+/CLRPVSQ {
+% clears a square pin, x,y and thickness are on stack
+	/thickness exch def /y exch def /x exch def
+   gsave White
+	newpath x thickness 2 div sub y thickness 2 div sub moveto
+	thickness 0 rlineto 0 thickness rlineto
+	thickness neg 0 rlineto closepath fill stroke
+	grestore
+} def
+
+/CLRPVR {
+% clears a round pin/via for groundplane; x,y and thickness are on the stack
+	/thickness exch def /y exch def /x exch def
+	gsave White 0 setlinewidth
+	newpath x y thickness 2 div 0 360 arc closepath fill stroke
+	grestore
+} def
+
+/CLRPA {
+% clear line, get x1, y1, x2, y2 and thickness from stack
+	/thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	gsave White thick setlinewidth
+	x1 y1 moveto x2 y2 lineto stroke
+	grestore
+} def
+
+/CLRB {
+% cleared box, get x1, y1, x2 and y2 from stack
+	/y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	gsave White newpath
+	x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+	closepath fill stroke
+	grestore
+} def
+
+/FILL {
+% draw a filled rectangle for the ground plane
+% get x1, y1, x2 and y2 from stack
+	/y2 exch def /x2 exch def /y1 exch def /x1 exch def
+   gsave 0 setlinewidth
+	newpath
+	x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+	closepath fill stroke
+   grestore
+} def
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+/Outline {
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+	/y2 exch def /x2 exch def /y1 exch def /x1 exch def
+   gsave 0.175 setlinewidth
+	newpath
+	x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+	closepath stroke
+   grestore
+} def
+
+/Alignment {
+% alignment targets, get x1, y1, x2, y2 and distance from stack
+	/dis exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+   gsave 0.175 setlinewidth
+   newpath x1 y1 dis add moveto
+      0 dis 2 mul neg rlineto
+      dis neg dis rmoveto
+      dis 2 mul 0 rlineto
+   stroke
+   newpath x1 y1 dis 0 90 arcn stroke
+   newpath x1 y2 dis sub moveto 0 dis rlineto dis 0 rlineto stroke
+   newpath x2 y2 dis sub moveto
+      0 2 dis mul rlineto
+      dis dup neg rmoveto
+      2 dis mul neg 0 rlineto   stroke
+   newpath x2 y1 dis add moveto 0 dis neg rlineto dis neg 0 rlineto stroke
+   grestore
+} def
+
+/mysetgray { setgray } def
+/mysetrgbcolor { setrgbcolor } def
+
+%%EndProlog
+%%BeginDefaults
+%%EndDefaults
+%%BeginSetup
+0.0 setlinewidth
+1 setlinecap
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+%%Page: 1 1
+%%BeginPageSetup
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+gsave White newpath
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+closepath fill stroke grestore
+% PCBMIN(-400,-400), PCBMAX(710400,410400)
+% PCBOFFSET(214900,223900), PCBSCALE(1.00000)
+% PCBSTARTDATA --- do not remove ---
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+grestore
+% PCBENDDATA --- do not remove ---
+showpage
+%%EOF
diff --git a/doc/aic_front.ps b/doc/aic_front.ps
new file mode 100644
index 0000000..d9d3494
--- /dev/null
+++ b/doc/aic_front.ps
@@ -0,0 +1,2323 @@
+%!PS-Adobe-3.0
+%%Title: (unknown), layergroup #2
+%%Creator: pcb-bin 20060321
+%%CreationDate: Tue Nov 27 09:49:27 2007
+%%For: fetter (Walter Fetter Lages,,,)
+%%LanguageLevel: 1
+%%Orientation: Portrait
+%%Pages: 1
+%%PageOrder: Ascend
+%%DocumentMedia: A4 594 841
+%%EndComments
+%%BeginProlog
+
+/PcbDict 200 dict def
+PcbDict begin
+PcbDict /DictMatrix matrix put
+
+% some constants
+/Black {0.0 mysetgray} def
+/White {1.0 mysetgray} def
+/TAN {0.207106781} def
+/MTAN {-0.207106781} def
+
+% draw a filled polygon
+% get (x,y)... and number of points from stack
+/PO {
+	/number exch def
+	newpath
+	moveto
+	number 1 sub { lineto } repeat
+	closepath fill stroke
+} def
+
+/P {
+% draw a pin-polygon,
+% get x, y and thickness from stack
+	/thickness exch def /y exch def /x exch def
+	gsave x y translate thickness thickness scale
+	0.5  MTAN
+	TAN  -0.5
+	MTAN -0.5
+	-0.5 MTAN
+	-0.5 TAN
+	MTAN 0.5
+	TAN  0.5
+	0.5  TAN
+	8 PO grestore
+} def
+
+/PV {
+% pin or via, x, y and thickness are on the stack
+	/drillinghole exch def /thickness exch def /y exch def /x exch def
+	x y thickness P
+% draw drilling hole
+	gsave White 0 setlinewidth
+   newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+   grestore
+} def
+
+/PVR {
+% pin or via, x, y and thickness are on the stack
+	/drillinghole exch def /thickness exch def /y exch def /x exch def
+	gsave 0 setlinewidth
+	newpath x y thickness 2 div 0 360 arc closepath fill stroke
+% draw drilling whole
+	White
+	newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+	grestore
+} def
+
+/PVSQ {
+% square pin or via, x, y and thickness are on the stack
+	/drillinghole exch def /thickness exch def /y exch def /x exch def
+	newpath x thickness 2 div sub y thickness 2 div sub moveto
+	thickness 0 rlineto 0 thickness rlineto
+	thickness neg 0 rlineto closepath fill stroke
+% draw drilling hole
+	gsave White 0 setlinewidth
+   newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+   grestore
+} def
+
+/DH {
+% drill helpher; x, y, hole, copper-thickness are on stack
+	/copper exch def /hole exch def /y exch def /x exch def
+   gsave copper setlinewidth
+   newpath x y hole copper add 2 div 0 360 arc closepath stroke
+   grestore
+} def
+
+/L {
+% line, get x1, y1, x2, y2 and thickness from stack
+	/thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	gsave thick setlinewidth
+	x1 y1 moveto x2 y2 lineto stroke
+	grestore
+} def
+
+/CL {
+% line, get x1, y1, x2, y2 and thickness from stack
+	/thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	gsave White thick setlinewidth
+	x1 y1 moveto x2 y2 lineto stroke
+	grestore
+} def
+
+/B {
+% filled box, get x1, y1, x2 and y2 from stack
+	/y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	newpath
+	x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+	closepath fill stroke
+} def
+
+/PA {
+% pad, same as line
+	L
+} def
+
+/A {
+% arc for elements, get x, y, width, height, thickness
+% startangle and delta-angle from stack
+  /delta exch def /start exch def /thickness exch def
+  /height exch def /width exch def /y exch def /x exch def
+% draw it
+	gsave thickness setlinewidth /save DictMatrix currentmatrix def
+% scaling is less then zero because the coord system has to be swapped
+	x y translate width neg height scale
+	0 0 1 start start delta add arc save setmatrix stroke
+	grestore
+} def
+
+/CA {
+% arc for elements, get x, y, width, height, thickness
+% startangle and delta-angle from stack
+  /delta exch def /start exch def /thickness exch def
+  /height exch def /width exch def /y exch def /x exch def
+% draw it
+	gsave White thickness setlinewidth /save DictMatrix currentmatrix def
+% scaling is less then zero because the coord system has to be swapped
+	x y translate width neg height scale
+	0 0 1 start start delta add arc save setmatrix stroke
+	grestore
+} def
+
+/CLRPV {
+% clears a pin/via for groundplane; x,y and thickness are on stack
+   /thickness exch def /y exch def /x exch def
+	gsave White x y thickness P grestore
+} def
+
+/CLRPVSQ {
+% clears a square pin, x,y and thickness are on stack
+	/thickness exch def /y exch def /x exch def
+   gsave White
+	newpath x thickness 2 div sub y thickness 2 div sub moveto
+	thickness 0 rlineto 0 thickness rlineto
+	thickness neg 0 rlineto closepath fill stroke
+	grestore
+} def
+
+/CLRPVR {
+% clears a round pin/via for groundplane; x,y and thickness are on the stack
+	/thickness exch def /y exch def /x exch def
+	gsave White 0 setlinewidth
+	newpath x y thickness 2 div 0 360 arc closepath fill stroke
+	grestore
+} def
+
+/CLRPA {
+% clear line, get x1, y1, x2, y2 and thickness from stack
+	/thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	gsave White thick setlinewidth
+	x1 y1 moveto x2 y2 lineto stroke
+	grestore
+} def
+
+/CLRB {
+% cleared box, get x1, y1, x2 and y2 from stack
+	/y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	gsave White newpath
+	x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+	closepath fill stroke
+	grestore
+} def
+
+/FILL {
+% draw a filled rectangle for the ground plane
+% get x1, y1, x2 and y2 from stack
+	/y2 exch def /x2 exch def /y1 exch def /x1 exch def
+   gsave 0 setlinewidth
+	newpath
+	x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+	closepath fill stroke
+   grestore
+} def
+
+/Outline {
+% outline, get x1, y1, x2 and y2 from stack
+	/y2 exch def /x2 exch def /y1 exch def /x1 exch def
+   gsave 0.175 setlinewidth
+	newpath
+	x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+	closepath stroke
+   grestore
+} def
+
+/Alignment {
+% alignment targets, get x1, y1, x2, y2 and distance from stack
+	/dis exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+   gsave 0.175 setlinewidth
+   newpath x1 y1 dis add moveto
+      0 dis 2 mul neg rlineto
+      dis neg dis rmoveto
+      dis 2 mul 0 rlineto
+   stroke
+   newpath x1 y1 dis 0 90 arcn stroke
+   newpath x1 y2 dis sub moveto 0 dis rlineto dis 0 rlineto stroke
+   newpath x2 y2 dis sub moveto
+      0 2 dis mul rlineto
+      dis dup neg rmoveto
+      2 dis mul neg 0 rlineto   stroke
+   newpath x2 y1 dis add moveto 0 dis neg rlineto dis neg 0 rlineto stroke
+   grestore
+} def
+
+/mysetgray { setgray } def
+/mysetrgbcolor { setrgbcolor } def
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+grestore
+% PCBENDDATA --- do not remove ---
+showpage
+%%EOF
diff --git a/doc/aic_frontmask.ps b/doc/aic_frontmask.ps
new file mode 100644
index 0000000..fa9aea2
--- /dev/null
+++ b/doc/aic_frontmask.ps
@@ -0,0 +1,916 @@
+%!PS-Adobe-3.0
+%%Title: (unknown), solder mask component side
+%%Creator: pcb-bin 20060321
+%%CreationDate: Tue Nov 27 09:49:27 2007
+%%For: fetter (Walter Fetter Lages,,,)
+%%LanguageLevel: 1
+%%Orientation: Portrait
+%%Pages: 1
+%%PageOrder: Ascend
+%%DocumentMedia: A4 594 841
+%%EndComments
+%%BeginProlog
+
+/PcbDict 200 dict def
+PcbDict begin
+PcbDict /DictMatrix matrix put
+
+% some constants
+/Black {0.0 mysetgray} def
+/White {1.0 mysetgray} def
+/TAN {0.207106781} def
+/MTAN {-0.207106781} def
+
+% draw a filled polygon
+% get (x,y)... and number of points from stack
+/PO {
+	/number exch def
+	newpath
+	moveto
+	number 1 sub { lineto } repeat
+	closepath fill stroke
+} def
+
+/P {
+% draw a pin-polygon,
+% get x, y and thickness from stack
+	/thickness exch def /y exch def /x exch def
+	gsave x y translate thickness thickness scale
+	0.5  MTAN
+	TAN  -0.5
+	MTAN -0.5
+	-0.5 MTAN
+	-0.5 TAN
+	MTAN 0.5
+	TAN  0.5
+	0.5  TAN
+	8 PO grestore
+} def
+
+/PV {
+% pin or via, x, y and thickness are on the stack
+	/drillinghole exch def /thickness exch def /y exch def /x exch def
+	x y thickness P
+% draw drilling hole
+	gsave White 0 setlinewidth
+   newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+   grestore
+} def
+
+/PVR {
+% pin or via, x, y and thickness are on the stack
+	/drillinghole exch def /thickness exch def /y exch def /x exch def
+	gsave 0 setlinewidth
+	newpath x y thickness 2 div 0 360 arc closepath fill stroke
+% draw drilling whole
+	White
+	newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+	grestore
+} def
+
+/PVSQ {
+% square pin or via, x, y and thickness are on the stack
+	/drillinghole exch def /thickness exch def /y exch def /x exch def
+	newpath x thickness 2 div sub y thickness 2 div sub moveto
+	thickness 0 rlineto 0 thickness rlineto
+	thickness neg 0 rlineto closepath fill stroke
+% draw drilling hole
+	gsave White 0 setlinewidth
+   newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+   grestore
+} def
+
+/DH {
+% drill helpher; x, y, hole, copper-thickness are on stack
+	/copper exch def /hole exch def /y exch def /x exch def
+   gsave copper setlinewidth
+   newpath x y hole copper add 2 div 0 360 arc closepath stroke
+   grestore
+} def
+
+/L {
+% line, get x1, y1, x2, y2 and thickness from stack
+	/thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	gsave thick setlinewidth
+	x1 y1 moveto x2 y2 lineto stroke
+	grestore
+} def
+
+/CL {
+% line, get x1, y1, x2, y2 and thickness from stack
+	/thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	gsave White thick setlinewidth
+	x1 y1 moveto x2 y2 lineto stroke
+	grestore
+} def
+
+/B {
+% filled box, get x1, y1, x2 and y2 from stack
+	/y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	newpath
+	x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+	closepath fill stroke
+} def
+
+/PA {
+% pad, same as line
+	L
+} def
+
+/A {
+% arc for elements, get x, y, width, height, thickness
+% startangle and delta-angle from stack
+  /delta exch def /start exch def /thickness exch def
+  /height exch def /width exch def /y exch def /x exch def
+% draw it
+	gsave thickness setlinewidth /save DictMatrix currentmatrix def
+% scaling is less then zero because the coord system has to be swapped
+	x y translate width neg height scale
+	0 0 1 start start delta add arc save setmatrix stroke
+	grestore
+} def
+
+/CA {
+% arc for elements, get x, y, width, height, thickness
+% startangle and delta-angle from stack
+  /delta exch def /start exch def /thickness exch def
+  /height exch def /width exch def /y exch def /x exch def
+% draw it
+	gsave White thickness setlinewidth /save DictMatrix currentmatrix def
+% scaling is less then zero because the coord system has to be swapped
+	x y translate width neg height scale
+	0 0 1 start start delta add arc save setmatrix stroke
+	grestore
+} def
+
+/CLRPV {
+% clears a pin/via for groundplane; x,y and thickness are on stack
+   /thickness exch def /y exch def /x exch def
+	gsave White x y thickness P grestore
+} def
+
+/CLRPVSQ {
+% clears a square pin, x,y and thickness are on stack
+	/thickness exch def /y exch def /x exch def
+   gsave White
+	newpath x thickness 2 div sub y thickness 2 div sub moveto
+	thickness 0 rlineto 0 thickness rlineto
+	thickness neg 0 rlineto closepath fill stroke
+	grestore
+} def
+
+/CLRPVR {
+% clears a round pin/via for groundplane; x,y and thickness are on the stack
+	/thickness exch def /y exch def /x exch def
+	gsave White 0 setlinewidth
+	newpath x y thickness 2 div 0 360 arc closepath fill stroke
+	grestore
+} def
+
+/CLRPA {
+% clear line, get x1, y1, x2, y2 and thickness from stack
+	/thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	gsave White thick setlinewidth
+	x1 y1 moveto x2 y2 lineto stroke
+	grestore
+} def
+
+/CLRB {
+% cleared box, get x1, y1, x2 and y2 from stack
+	/y2 exch def /x2 exch def /y1 exch def /x1 exch def
+	gsave White newpath
+	x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+	closepath fill stroke
+	grestore
+} def
+
+/FILL {
+% draw a filled rectangle for the ground plane
+% get x1, y1, x2 and y2 from stack
+	/y2 exch def /x2 exch def /y1 exch def /x1 exch def
+   gsave 0 setlinewidth
+	newpath
+	x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+	closepath fill stroke
+   grestore
+} def
+
+/Outline {
+% outline, get x1, y1, x2 and y2 from stack
+	/y2 exch def /x2 exch def /y1 exch def /x1 exch def
+   gsave 0.175 setlinewidth
+	newpath
+	x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+	closepath stroke
+   grestore
+} def
+
+/Alignment {
+% alignment targets, get x1, y1, x2, y2 and distance from stack
+	/dis exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+   gsave 0.175 setlinewidth
+   newpath x1 y1 dis add moveto
+      0 dis 2 mul neg rlineto
+      dis neg dis rmoveto
+      dis 2 mul 0 rlineto
+   stroke
+   newpath x1 y1 dis 0 90 arcn stroke
+   newpath x1 y2 dis sub moveto 0 dis rlineto dis 0 rlineto stroke
+   newpath x2 y2 dis sub moveto
+      0 2 dis mul rlineto
+      dis dup neg rmoveto
+      2 dis mul neg 0 rlineto   stroke
+   newpath x2 y1 dis add moveto 0 dis neg rlineto dis neg 0 rlineto stroke
+   grestore
+} def
+
+/mysetgray {neg 1.0 add setgray} def
+/mysetrgbcolor {
+  /blue exch def /green exch def /red exch def
+  1.0 red sub 1.0 green sub 1.0 blue sub setrgbcolor
+} def
+%%EndProlog
+%%BeginDefaults
+%%EndDefaults
+%%BeginSetup
+0.0 setlinewidth
+1 setlinecap
+Black
+%%EndSetup
+%%Page: 1 1
+%%BeginPageSetup
+%%EndPageSetup
+gsave White newpath
+153 160 moveto 451 160 lineto 451 673 lineto 153 673 lineto
+closepath fill stroke grestore
+% PCBMIN(-400,-400), PCBMAX(710400,410400)
+% PCBOFFSET(214900,223900), PCBSCALE(1.00000)
+% PCBSTARTDATA --- do not remove ---
+gsave
+0.00072 0.00072 scale
+214900 223900 translate
+1.000 1.000 scale
+410800 0 translate
+90 rotate
+0 410800 translate
+1 -1 scale
+400 400 translate
+/mysetgray { setgray } def
+/mysetrgbcolor { setrgbcolor } def
+
+/Color {0.302 0.302 0.302 mysetrgbcolor} def Color
+-400 -400 710400 410400 200 Alignment
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diff --git a/doc/aic_frontsilk.ps b/doc/aic_frontsilk.ps
new file mode 100644
index 0000000..8d5b8fc
--- /dev/null
+++ b/doc/aic_frontsilk.ps
@@ -0,0 +1,1634 @@
+%!PS-Adobe-3.0
+%%Title: (unknown), silkscreen, component side
+%%Creator: pcb-bin 20060321
+%%CreationDate: Tue Nov 27 09:49:27 2007
+%%For: fetter (Walter Fetter Lages,,,)
+%%LanguageLevel: 1
+%%Orientation: Portrait
+%%Pages: 1
+%%PageOrder: Ascend
+%%DocumentMedia: A4 594 841
+%%EndComments
+%%BeginProlog
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+PcbDict begin
+PcbDict /DictMatrix matrix put
+
+% some constants
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+% draw a filled polygon
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+	number 1 sub { lineto } repeat
+	closepath fill stroke
+} def
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+/P {
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+	gsave x y translate thickness thickness scale
+	0.5  MTAN
+	TAN  -0.5
+	MTAN -0.5
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+/PV {
+% 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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+} def
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+% draw it
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+% draw it
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+} def
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+/CLRPV {
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+/CLRPVSQ {
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+/CLRPVR {
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+	closepath fill stroke
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+/FILL {
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+/Alignment {
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+%%EndProlog
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+72500 166000 7000 CLRPVR
+82500 171000 7000 CLRPVR
+72500 176000 7000 CLRPVR
+82500 181000 7000 CLRPVR
+72500 186000 7000 CLRPVR
+82500 191000 7000 CLRPVSQ
+81500 239500 6000 CLRPVSQ
+81500 249500 6000 CLRPVR
+85000 330000 6000 CLRPVSQ
+85000 360000 6000 CLRPVR
+355000 62500 6000 CLRPVSQ
+355000 22500 6000 CLRPVR
+280000 257500 6000 CLRPVSQ
+280000 297500 6000 CLRPVR
+116000 280000 6000 CLRPVSQ
+76000 280000 6000 CLRPVR
+652500 47500 6000 CLRPVSQ
+652500 57500 6000 CLRPVR
+652500 67500 6000 CLRPVR
+652500 77500 6000 CLRPVR
+652500 87500 6000 CLRPVR
+652500 97500 6000 CLRPVR
+652500 107500 6000 CLRPVR
+652500 117500 6000 CLRPVR
+652500 127500 6000 CLRPVR
+652500 137500 6000 CLRPVR
+652500 147500 6000 CLRPVR
+652500 157500 6000 CLRPVR
+652500 167500 6000 CLRPVR
+652500 177500 6000 CLRPVR
+652500 187500 6000 CLRPVR
+652500 197500 6000 CLRPVR
+652500 207500 6000 CLRPVR
+652500 217500 6000 CLRPVR
+652500 227500 6000 CLRPVR
+652500 237500 6000 CLRPVR
+652500 247500 6000 CLRPVR
+652500 257500 6000 CLRPVR
+652500 267500 6000 CLRPVR
+652500 277500 6000 CLRPVR
+652500 287500 6000 CLRPVR
+652500 297500 6000 CLRPVR
+652500 307500 6000 CLRPVR
+652500 317500 6000 CLRPVR
+652500 327500 6000 CLRPVR
+652500 337500 6000 CLRPVR
+652500 347500 6000 CLRPVR
+652500 357500 6000 CLRPVR
+642500 47500 6000 CLRPVR
+642500 57500 6000 CLRPVR
+642500 67500 6000 CLRPVR
+642500 77500 6000 CLRPVR
+642500 87500 6000 CLRPVR
+642500 97500 6000 CLRPVR
+642500 107500 6000 CLRPVR
+642500 117500 6000 CLRPVR
+642500 127500 6000 CLRPVR
+642500 137500 6000 CLRPVR
+642500 147500 6000 CLRPVR
+642500 157500 6000 CLRPVR
+642500 167500 6000 CLRPVR
+642500 177500 6000 CLRPVR
+642500 187500 6000 CLRPVR
+642500 197500 6000 CLRPVR
+642500 207500 6000 CLRPVR
+642500 217500 6000 CLRPVR
+642500 227500 6000 CLRPVR
+642500 237500 6000 CLRPVR
+642500 247500 6000 CLRPVR
+642500 257500 6000 CLRPVR
+642500 267500 6000 CLRPVR
+642500 277500 6000 CLRPVR
+642500 287500 6000 CLRPVR
+642500 297500 6000 CLRPVR
+642500 307500 6000 CLRPVR
+642500 317500 6000 CLRPVR
+642500 327500 6000 CLRPVR
+642500 337500 6000 CLRPVR
+642500 347500 6000 CLRPVR
+642500 357500 6000 CLRPVR
+632500 47500 6000 CLRPVR
+632500 57500 6000 CLRPVR
+632500 67500 6000 CLRPVR
+632500 77500 6000 CLRPVR
+632500 87500 6000 CLRPVR
+632500 97500 6000 CLRPVR
+632500 107500 6000 CLRPVR
+632500 117500 6000 CLRPVR
+632500 127500 6000 CLRPVR
+632500 137500 6000 CLRPVR
+632500 147500 6000 CLRPVR
+632500 157500 6000 CLRPVR
+632500 167500 6000 CLRPVR
+632500 177500 6000 CLRPVR
+632500 187500 6000 CLRPVR
+632500 197500 6000 CLRPVR
+632500 207500 6000 CLRPVR
+632500 217500 6000 CLRPVR
+632500 227500 6000 CLRPVR
+632500 237500 6000 CLRPVR
+632500 247500 6000 CLRPVR
+632500 257500 6000 CLRPVR
+632500 267500 6000 CLRPVR
+632500 277500 6000 CLRPVR
+632500 287500 6000 CLRPVR
+632500 297500 6000 CLRPVR
+632500 307500 6000 CLRPVR
+632500 317500 6000 CLRPVR
+632500 327500 6000 CLRPVR
+632500 337500 6000 CLRPVR
+632500 347500 6000 CLRPVR
+632500 357500 6000 CLRPVR
+447500 62500 6000 CLRPVSQ
+447500 22500 6000 CLRPVR
+300000 297500 6000 CLRPVSQ
+300000 257500 6000 CLRPVR
+55000 269500 7000 CLRPVSQ
+55000 287200 7000 CLRPVR
+64800 264600 7000 CLRPVR
+64800 292200 7000 CLRPVR
+562500 187500 6000 CLRPVSQ
+592500 187500 6000 CLRPVR
+74500 44500 8000 CLRPVR
+74500 105600 8000 CLRPVR
+115500 305500 6000 CLRPVSQ
+75500 305500 6000 CLRPVR
+475000 342500 6000 CLRPVR
+490000 342500 6000 CLRPVR
+592500 277500 6000 CLRPVR
+612500 287500 6000 CLRPVR
+540000 327500 6000 CLRPVR
+475000 317500 6000 CLRPVR
+647500 102500 6000 CLRPVR
+537500 47500 6000 CLRPVR
+487500 47500 6000 CLRPVR
+577500 40000 6000 CLRPVR
+525000 100000 6000 CLRPVR
+447500 95000 6000 CLRPVR
+360000 317500 6000 CLRPVR
+487500 107500 4000 CLRPVR
+537500 107500 4000 CLRPVR
+262500 172500 4000 CLRPVR
+597500 65000 4000 CLRPVR
+407500 47500 6000 CLRPVR
+335000 52500 4000 CLRPVR
+547500 142500 4000 CLRPVR
+512500 80000 4000 CLRPVR
+557500 237500 4000 CLRPVR
+447500 30000 4000 CLRPVR
+582500 285000 4000 CLRPVR
+447500 107500 4000 CLRPVR
+472500 107500 4000 CLRPVR
+170000 142500 4000 CLRPVR
+280000 142500 4000 CLRPVR
+202500 282500 4000 CLRPVR
+257500 250000 4000 CLRPVR
+360000 252500 4000 CLRPVR
+292500 222500 4000 CLRPVR
+340000 282500 4000 CLRPVR
+250000 172500 4000 CLRPVR
+180000 170000 4000 CLRPVR
+430000 197500 4000 CLRPVR
+355000 385000 4000 CLRPVR
+297500 352500 6000 CLRPVR
+375000 360000 4000 CLRPVR
+122000 160500 4000 CLRPVR
+327500 352500 4000 CLRPVR
+210000 322500 4000 CLRPVR
+570000 245000 4000 CLRPVR
+530000 327500 4000 CLRPVR
+grestore
+% PCBENDDATA --- do not remove ---
+showpage
+%%EOF
diff --git a/include/aic.h b/include/aic.h
index 94d3a87..653f97b 100644
--- a/include/aic.h
+++ b/include/aic.h
@@ -2,7 +2,7 @@
                 	Actuator Interface Card
 			Host Interface Library
 
-	Copyright (C) 2003, 2004 Walter Fetter Lages <w.fetter@ieee.org>
+	Copyright (C) 2003..2007 Walter Fetter Lages <w.fetter@ieee.org>
 
     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
@@ -57,6 +57,10 @@ class AIC_COMM
 */
 	virtual int get_status(int status,...)=0;
 
+/** Finalizes an AIC_COMM
+*/	
+	virtual ~AIC_COMM(void) {};
+
 /** Thrown by AIC errors
 *	@author Walter Fetter Lages (w.fetter@ieee.org)
 */
@@ -203,10 +207,12 @@ class AIC_INDEX
 
 /** Provides access to all devices in an Actuator Interface Card
 *	@author Walter Fetter Lages (w.fetter@ieee.org)
-*	@version AIC-1.3.0
+*	@version AIC-1.6.1
 */
 class AIC
 {
+	AIC_COMM *port;
+	
 	public:
 
 /** Motor actuated by AIC
@@ -224,7 +230,7 @@ class AIC
 /** Sync-switch read by AIC
 */	
 	AIC_INDEX index;
-	
+
 /** Initializes an AIC
 *	@param comm pointer to AIC_COMM object implementing the communication channel
 */	
@@ -233,6 +239,33 @@ class AIC
 /** Finalizes an AIC
 */	
 	virtual ~AIC(void) {};
+	
+/** Resets an AIC
+*	@since AIC-1.6.1
+*/
+	void reset(void);
+	
+/** Sets the reference for motor controller
+*	@param ref reference
+*	@since AIC-1.6.1
+*/
+	void reference(double ref);
+	
+/** Gets AIC busy status
+*	@return 1 if AIC is busy, 0 otherwise
+*	@since AIC-1.6.1
+*	@see AIC_STATUS
+*/
+	int busy(void);
+	
+/** Sends a command and its arguments to AIC
+*	@param command Code of the command to send to AIC
+*	@param n size of argument buffer
+*	@param buffer pointer to arguments
+*	@see AIC_COMMAND
+*/
+	void send_command(int command,int n,const void *buffer);
+
 };
 
 /** 
diff --git a/include/aichost.h b/include/aichost.h
index d01af43..dc11753 100644
--- a/include/aichost.h
+++ b/include/aichost.h
@@ -47,7 +47,7 @@ class AIC_HOST
 	protected:
 	
 	double u;	///< Motor voltage
-	double ref;	///< PID reference
+	double ref;	///< Controller reference
 	int status;	///< Current Status 
 	
 	public:
@@ -91,7 +91,7 @@ class AIC_HOST
 */	
 	double voltage(void) const;
 	
-/** Gets the reference for PID associtated to motor received with the last command
+/** Gets the reference for Controller associtated to motor received with the last command
 *	@return reference
 *	@since AIC-1.6.0
 */	
diff --git a/include/aicnet.h b/include/aicnet.h
index 6eca0c9..73bf36b 100644
--- a/include/aicnet.h
+++ b/include/aicnet.h
@@ -55,7 +55,21 @@ enum AIC_COMMAND
 	AIC_MOTOR_REF=		0x15,	///< Sets the reference for the motor PID
 	AIC_STATUS=		0x20,	///< Status identification
 	AIC_BRAKE_RELEASE= 	0x30,	///< Releases brake
-	AIC_MOTOR_ON=		0x31	///< Turns motor on		
+	AIC_MOTOR_ON=		0x31,	///< Turns motor on
+	AIC_USER0=		0x3b,	///< User defined command 0
+	AIC_USER1=		0x3c,	///< User defined command 1
+	AIC_USER2=		0x3d,	///< User defined command 2
+	AIC_USER3=		0x3e,	///< User defined command 3
+	AIC_NOP=		0x3f	///< No operation
 };
 
+/** AIC status codes
+*/
+enum AIC_STATUS
+{
+	AIC_INDEX_ON=		0x01,	///< Index on
+	AIC_BUSY=		0x02	///< AIC is busy
+};
+
+
 #endif
diff --git a/include/aicsim.h b/include/aicsim.h
index ca3a74e..cbd2663 100644
--- a/include/aicsim.h
+++ b/include/aicsim.h
@@ -42,6 +42,8 @@
 */
 class AIC_SIM:public AIC_COMM, public AIC
 {
+	int count;	///< Simulated encoder count
+	
 	public:
 
 /** Initialize AIC simulator
diff --git a/include/sputtering.h b/include/sputtering.h
new file mode 100644
index 0000000..0de2d01
--- /dev/null
+++ b/include/sputtering.h
@@ -0,0 +1,89 @@
+/******************************************************************************
+
+			Actuator Interface Card
+		Sputtering Controller Host Interface Library
+	Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>
+
+    This program is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 2 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program; if not, write to the Free Software
+    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+    You can also obtain a copy of the GNU General Public License
+    at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+
+#include <pthread.h>
+
+#include <aicudp.h>
+
+#ifndef _SPUTTERING_H
+#define _SPUTTERING_H
+
+/** @file sputtering.h
+	Sputtering Controller Host Interface Library
+	@author Walter Fetter Lages <w.fetter@ieee.org>
+*/
+
+/** @defgroup sputhost Sputtering Controller Host Interface
+@{
+*/
+
+
+/** SPUTTERING Controller
+*	@author Walter Fetter Lages (w.fetter@ieee.org)
+*/
+class SPUTTERING: public AIC_UDP
+{
+	const int SHUTTER;
+	pthread_t get_status_th;
+	volatile int run;
+
+	friend  void *get_status(void *arg);
+
+	public:
+
+/** Constructs an SPUTTERING
+*	@param name	pointer to a string with the name of AIC to be connected to
+*	@param statport UDP port used to receive status from AIC
+*	@see aicnet.h
+*	@since AIC-1.6.1
+*/	
+	SPUTTERING(const char *name,int statport=STATUS_PORT);
+	
+/** Destroys an SPUTTERING
+*/	
+	~SPUTTERING(void);
+	
+/** Opens shutter for specified time
+*	@param us time in microseconds
+*	@since AIC-1.6.1
+*/
+	void shutter(unsigned int us);
+
+/** Resets an SPUTTERING 
+*	@since AIC-1.6.1
+*/
+	void reset(void);
+	
+/** Sets the reference for motor controller
+*	@param ref reference in rad
+*	@since AIC-1.6.1
+*/
+	void reference(double ref);
+};
+
+/** 
+@}
+*/
+#endif
diff --git a/lib/Host.java b/lib/Host.java
index b991ba4..76e651c 100644
--- a/lib/Host.java
+++ b/lib/Host.java
@@ -58,7 +58,7 @@ abstract public class Host
 */
 	public static final int MOTOR_ACT=0x10;
 	
-/** Motor PID reference command
+/** Motor controller reference command
 */
 	public static final int MOTOR_REF=0x15;	
 
@@ -74,31 +74,61 @@ abstract public class Host
 */
 	public static final int MOTOR_ON=0x31;
 
-/** Motor on status
+/** User defined command 0
 */
-	public static final int MOTOR_IS_ON=1;
+	public static final int USER0=0x3b;
 
-/** Brake applied status
+/** User defined command 1
 */
-	public static final int BRAKE_APPLIED=2;
+	public static final int USER1=0x3c;
+
+/** User defined command 2
+*/
+	public static final int USER2=0x3d;
+
+/** User defined command 3
+*/
+	public static final int USER3=0x3e;
+
+/** No operation command
+*/
+	public static final int NOP=0x3f;
+
+
+/** Index on status
+*/
+	public static final int INDEX_ON=0x01;
+
+/** Busy status
+*/
+	public static final int BUSY=0x02;
 
 /** Voltage aplied to motors
 */
 	protected double u=0;
 	
-/** Reference for PID associated to motors
+/** Reference for controller associated to motors
 */
 	protected double ref=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;
+	public int command() throws Exception
+	{
+		byte[] args= new byte[256];
+		return command(args,256);
+	}
+	
+/** Gets command received from host computer and its arguments array
+*	@param args command arguments array. args[0] is the length of actual arguments.
+*	@param size size of the arguments array
+*	@return command code
+*	@throws Exception depending on implementation
+*	@since AIC-1.6.1
+*/
+	abstract public int command(byte[] args,int size) throws Exception;	
 
 /** Sends encoder displacement and sync-switch status to host
 *	@param disp encoder displacement in rad
@@ -114,14 +144,6 @@ abstract public class Host
 */
 	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
 */
@@ -130,8 +152,8 @@ abstract public class Host
 		return u;
 	}
 	
-/** Gets PID reference
-*	@return PID reference
+/** Gets controller reference
+*	@return controller reference
 *	@since AIC-1.6.0
 */
 	public double reference()
@@ -139,6 +161,7 @@ abstract public class Host
 		return ref;
 	}	
 }
+
 /**
 @}
 */
diff --git a/lib/HostCAN.java b/lib/HostCAN.java
index 74dd1d0..241610d 100644
--- a/lib/HostCAN.java
+++ b/lib/HostCAN.java
@@ -1,4 +1,3 @@
-
 /******************************************************************************
 
 			Actuator Interface Card
@@ -62,8 +61,7 @@ public class HostCAN extends Host
 	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);
@@ -100,7 +98,6 @@ public class HostCAN extends Host
 	public HostCAN(int aicid) throws CanBusException
 	{
 		u=0;
-		status=0;
 	
 		id=aicid;
 
@@ -139,31 +136,26 @@ public class HostCAN extends Host
 	}
 
 /** Gets command received from host computer
+*	@param args command arguments array. args[0] is the length of actual arguments.
+*	@param size size of the arguments array
 *	@return command code
 *	@throws CanBusException on CAN bus errors
 */
-	public int command() throws CanBusException
+	public int command(byte[] args,int size) throws CanBusException
 	{
-
-
         	CanFrame frame = new CanFrame();
 
 		canbus.receive(frame);
+		
+		if(size <= frame.length) args[0]=(byte)(size-1);
+			else args[0]=(byte)frame.length;
+			
+		for(int i=0;i < args[0];i++) args[i+1]=frame.data[i];
 
 		int cmd=((frame.ID & AIC_CMD_MASK) >> 5);
 	
 		switch(cmd)
 		{
-			case MOTOR_ON:
-			{
-				status|=MOTOR_IS_ON;
-				break;	
-			}
-			case MOTOR_OFF:
-			{
-				status &= ~MOTOR_IS_ON;
-				break;
-			}
 			case MOTOR_ACT:
 			{
 				long U=0;
@@ -171,22 +163,14 @@ public class HostCAN extends Host
 				u=Double.longBitsToDouble(U);
 				break;
 			}
-			case BRAKE_APPLY:
-			{
-				status|=BRAKE_APPLIED;
-				break;	
-			}
-			case BRAKE_RELEASE:
+			case MOTOR_REF:
 			{
-				status &= ~BRAKE_APPLIED;
+				long R=0;
+				for(int i=0;i < 8;i++) R=R | ( (((long)frame.data[7-i]) << (i*8)) & (0xffL << (i*8)) );
+				ref=Double.longBitsToDouble(R);
 				break;
 			}
-			case RESET:
-			{
-				break;			
-			}
 		}
-		
 		return cmd;
 	}
 
diff --git a/lib/HostUDP.java b/lib/HostUDP.java
index ebb4797..5858e04 100644
--- a/lib/HostUDP.java
+++ b/lib/HostUDP.java
@@ -63,7 +63,7 @@ public class HostUDP extends Host
 	public HostUDP(String controllername,int statport,int cmdport) throws UnknownHostException, SocketException
 	{
 		u=0;
-		status=0;
+		ref=0;
 		statusport=statport;
 
 		controlleraddr=InetAddress.getByName(controllername);
@@ -80,7 +80,7 @@ public class HostUDP extends Host
 	public HostUDP(String controllername,int statport) throws UnknownHostException, SocketException
 	{
 		u=0;
-		status=0;
+		ref=0;
 		statusport=statport;
 
 		controlleraddr=InetAddress.getByName(controllername);
@@ -96,7 +96,7 @@ public class HostUDP extends Host
 	public HostUDP(String controllername) throws UnknownHostException, SocketException
 	{
 		u=0;
-		status=0;
+		ref=0;
 		statusport=STATUS_PORT;
 
 		controlleraddr=InetAddress.getByName(controllername);
@@ -113,54 +113,39 @@ public class HostUDP extends Host
 	}
 
 /** Gets command received from host computer
+*	@param args command arguments array. args[0] is the length of actual arguments.
+*	@param size size of the arguments array
 *	@return command code
 *	@throws IOException on communication errors
 */
-	public int command() throws IOException
+	public int command(byte[] args,int size) throws IOException
 	{
-		int count;
-	
-		byte[] buff= new byte[256];
-
-		DatagramPacket p=new DatagramPacket(buff,256);
+		int s;
+		if(size < 256) s=256; else s=size;
+		
+		DatagramPacket p=new DatagramPacket(args,s);
 
 		cmdfd.receive(p);
 
-		int cmd=buff[0];
+		int cmd=args[0];
+		args[0]=(byte)(p.getLength()-1);
 	
 		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 | ( (((long) buff[7-i+1]) << (i*8)) & (0xffL << (i*8)) );
+				for(int i=0;i < 8;i++) U=U | ( (((long) args[7-i+1]) << (i*8)) & (0xffL << (i*8)) );
 				u=Double.longBitsToDouble(U);	
 				break;
 			}
-			case BRAKE_APPLY:
-			{
-				status|=BRAKE_APPLIED;
-				break;	
-			}
-			case BRAKE_RELEASE:
+			case MOTOR_REF:
 			{
-				status &= ~BRAKE_APPLIED;
+				long R=0;
+				for(int i=0;i < 8;i++) R=R | ( (((long) args[7-i+1]) << (i*8)) & (0xffL << (i*8)) );
+				ref=Double.longBitsToDouble(R);	
 				break;
 			}
-			case RESET:
-			{
-				break;			
-			}
 		}
 		
 		return cmd;
diff --git a/lib/Makefile b/lib/Makefile
index 83a5cc2..9a28049 100644
--- a/lib/Makefile
+++ b/lib/Makefile
@@ -34,6 +34,9 @@ ${PKGPATH}/HostUDP.class: HostUDP.java
 
 ${PKGPATH}/HostCAN.class: HostCAN.java
 	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . HostCAN.java
+	
+${PKGPATH}/Sputtering.class: Sputtering.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . Sputtering.java	
 
 ${ASMINC}/tini.inc: ${NATINC}/tini.inc
 	ln -s ${NATINC}/tini.inc ${ASMINC}/tini.inc
@@ -97,8 +100,18 @@ tlib/pwm.mpp: tlib/pwm.a51
 	$(MAKE) -C tlib pwm.mpp
 	
 aicio/pwm.mpp: aicio/pwm.a51
-	$(MAKE) -C aicio pwm.mpp	
+	$(MAKE) -C aicio pwm.mpp
+	
+sputtering.tlib: sputtering.mpp
+	${ASM} ${ASMOPT} sputtering.mpp
+	
+sputtering.mpp: tlib/sputtering.mpp ${TRTAIPATH}/lib/rtai.mpp.lib aicio.mpp.lib
+	cat  tlib/sputtering.mpp ${TRTAIPATH}/lib/rtai.mpp.lib aicio.mpp.lib > sputtering.mpp
+	echo end >> sputtering.mpp
 
+tlib/sputtering.mpp: tlib/sputtering.c
+	$(MAKE) -C tlib sputtering.mpp
+	
 AIC.jar: ${PKGPATH}/PLD.class\
 	${PKGPATH}/CtrlRegister.class\
 	${PKGPATH}/PWM.class\
@@ -110,8 +123,9 @@ AIC.jar: ${PKGPATH}/PLD.class\
 	${PKGPATH}/Host.class \
 	${PKGPATH}/HostUDP.class \
 	${PKGPATH}/HostCAN.class \
-	brake.tlib index.tlib encoder.tlib pwm.tlib
-	jar cf AIC.jar ${PKGPATH} brake.tlib index.tlib encoder.tlib pwm.tlib
+	${PKGPATH}/Sputtering.class \
+	brake.tlib index.tlib encoder.tlib pwm.tlib sputtering.tlib
+	jar cf AIC.jar ${PKGPATH} brake.tlib index.tlib encoder.tlib pwm.tlib sputtering.tlib
 
 aic.o: aic.cpp ../include/aic.h
 	${CXX} ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aic.cpp
@@ -133,9 +147,12 @@ aichostudp.o: aichostudp.cpp ../include/aichostudp.h ../include/aicnet.h
 
 aichostcan.o: aichostcan.cpp ../include/aichostcan.h ../include/aicnet.h
 	${CXX} ${CMPFLAGS} -c aichostcan.cpp
+	
+sputtering.o: sputtering.cpp ../include/aicudp.h ../include/sputtering.h
+	${CXX} ${CMPFLAGS} -c sputtering.cpp	
 
-libaic.a: aic.o aicudp.o aiccan.o aicsim.o aichost.o aichostudp.o aichostcan.o 
-	ar -crvs libaic.a aic.o aicudp.o aiccan.o aicsim.o aichost.o aichostudp.o aichostcan.o 
+libaic.a: aic.o aicudp.o aiccan.o aicsim.o aichost.o aichostudp.o aichostcan.o sputtering.o 
+	ar -crvs libaic.a aic.o aicudp.o aiccan.o aicsim.o aichost.o aichostudp.o aichostcan.o sputtering.o
 
 aicio.mpp.lib: aicio/aicio.mpp.lib
 	cp aicio/aicio.mpp.lib .
diff --git a/lib/Sputtering.java b/lib/Sputtering.java
new file mode 100644
index 0000000..312428a
--- /dev/null
+++ b/lib/Sputtering.java
@@ -0,0 +1,121 @@
+/******************************************************************************
+
+			Actuator Interface Card
+                         Sputtering Interface
+	Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>
+
+    This program is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 2 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program; if not, write to the Free Software
+    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+    You can also obtain a copy of the GNU General Public License
+    at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+
+package br.ufrgs.ece.AIC;
+
+/** @addtogroup aicapp
+@{
+*/
+
+/** AIC Sputtering Real Time Interface
+*	@author Walter Fetter Lages (w.fetter@ieee.org)
+*	@version AIC-1.6.1
+*/
+public final class Sputtering
+{
+/** True if native library was loaded
+*/
+	private static boolean libLoaded=false;
+
+/** Initializes Sputtering
+*/
+ 	private static native void initialize();
+
+/** Finalizes Sputtering
+*/ 
+ 	public native void finalize();
+
+/** Starts a real time PID controller
+*	@param period Desired sampling time in us
+*	@return Actual sampling time in us
+*/
+	public static native int pidStartRealtime(int period);
+
+/** Stops the real time PID controller
+*/
+	public static native void pidStopRealtime();
+
+/** Sets PID reference
+*	@param reference PID set-point
+*/
+	public static native void setReference(float reference);
+
+/** Gets plant output
+*	@return Plant output in rad
+*/
+	public static native float getOutput();
+	
+/** Gets current time
+*	@return Current time in ticks
+*/	
+	public static native int getTime();
+
+/** Unlocks Sputtering usage
+*/
+	public static native void unlock();
+
+/** Locks Sputtering usage
+*	@return 1 if locked
+*/
+	public static native byte lock();
+
+/** Starts real time shutter controller
+*	@param period Desired sampling time in us
+*	@return Actual sampling time in us
+*/
+	public static native int shutterStartRealtime(int period);
+
+/** Stops the real time shutter controller
+*/
+	public static native void shutterStopRealtime();
+
+/** Moves motor to home position
+*/
+	public static native void findHome();
+
+/** Gets index sensor status
+*	@return Index sensor status
+*/
+	public static native int getIndex();
+
+/** Opens shutter for specified time
+*	@param time Time to keep shutter open in us
+*/
+	public static native void openShutter(int time);
+
+/** Constructs a Sputtering objetct
+*/
+	public Sputtering()
+	{
+		if(!libLoaded) System.loadLibrary("sputtering.tlib");
+		libLoaded=true;
+		
+ 		initialize();
+	}
+}
+
+/**
+@}
+*/
diff --git a/lib/aic.cpp b/lib/aic.cpp
index 38cffac..fc93d89 100644
--- a/lib/aic.cpp
+++ b/lib/aic.cpp
@@ -117,4 +117,30 @@ encoder(comm),
 brake(comm),
 index(comm)
 {
+	port=comm;
+}
+
+void AIC::reset(void)
+{
+	port->send_command(AIC_RESET);
+}
+
+void AIC::reference(double ref)
+{
+	port->send_command(AIC_MOTOR_REF,ref);
+}
+
+int AIC::busy(void)
+{
+	unsigned int status;
+	double disp;
+	
+	port->get_status(AIC_STATUS,&disp,&status);
+
+	return (status & AIC_BUSY)? 1:0;
+}
+
+void AIC::send_command(int command,int n,const void *buffer)
+{
+	port->send_command(command,n,buffer);
 }
diff --git a/lib/aiccan.cpp b/lib/aiccan.cpp
index b7b2e21..ba1ada2 100644
--- a/lib/aiccan.cpp
+++ b/lib/aiccan.cpp
@@ -155,10 +155,25 @@ void AIC_CAN::send_command(int command,...)
 			va_start(ap,command);
 			double volt=va_arg(ap,double);
 			va_end(ap);
-			for(int i=0;i < 8;i++) msg[7-i]= ( ( *((unsigned long long *) &volt) ) >> (i*8) ) & 0xff;
+			for(int i=0;i < 8;i++) msg[7-i]= *((char *) &volt + i);
 			msglen=8;	
 			break;
 		}
+		case AIC_USER0:
+		case AIC_USER1:
+		case AIC_USER2:
+		case AIC_USER3:
+		{
+			va_list ap;
+			va_start(ap,command);
+			msglen=va_arg(ap,int);
+			unsigned char *ptr=msg;
+			if(msglen > 0) ptr=va_arg(ap,unsigned char *);
+			va_end(ap);
+			if(msglen > 8) throw BAD_SEND();
+			for(unsigned int i=0;i < msglen;i++) msg[i]=ptr[i];
+			break;
+		}
 		default: throw BAD_COMMAND();
 
 	}
diff --git a/lib/aichost.cpp b/lib/aichost.cpp
index a5e43c1..f9ba10d 100644
--- a/lib/aichost.cpp
+++ b/lib/aichost.cpp
@@ -52,4 +52,3 @@ double AIC_HOST::reference(void) const
 {
 	return ref;
 }
-
diff --git a/lib/aichostudp.cpp b/lib/aichostudp.cpp
index 0b5f4d6..7a402b7 100644
--- a/lib/aichostudp.cpp
+++ b/lib/aichostudp.cpp
@@ -169,5 +169,3 @@ void AIC_HOST_UDP::send_status(double disp,int index)
 		throw BAD_SEND();
 	}
 }
-
-
diff --git a/lib/aicio/Makefile b/lib/aicio/Makefile
index 8440771..0746849 100644
--- a/lib/aicio/Makefile
+++ b/lib/aicio/Makefile
@@ -26,7 +26,7 @@ encoder.mpp: encoder.a51 ${TINIINC} ${ASMINC}/aicpld.inc
 
 pwm.mpp: pwm.a51 ${TINIINC} ${ASMINC}/aicpld.inc
 	${ASMMACRO} -I${ASMINC} -e- pwm.a51
-	
+
 aicio.mpp.lib: brake.mpp index.mpp pwm.mpp encoder.mpp
 	cat brake.mpp index.mpp pwm.mpp encoder.mpp > aicio.mpp.lib
 	
diff --git a/lib/aicio/pwm.a51 b/lib/aicio/pwm.a51
index a153aef..3e0d196 100644
--- a/lib/aicio/pwm.a51
+++ b/lib/aicio/pwm.a51
@@ -2,7 +2,8 @@
 ;
 ;			Actuator Interface Card
 ;			     PWM Functions
-;	Copyright (C) 2004, 2005 Walter Fetter Lages <w.fetter@ieee.org>
+;	Copyright (C) 2004, 2007 Walter Fetter Lages <w.fetter@ieee.org>
+;			    2007 Diego Caberlon Santini <diegos@ece.ufrgs.br>
 ;
 ;    This program is free software; you can redistribute it and/or modify
 ;    it under the terms of the GNU General Public License as published by
@@ -251,59 +252,209 @@ pwm_parmabove:	mov	r3,#00h			; forces R3:R2:R1:R0=1000000
 
 pwm_parmok:	
 
- 		TINIOS_ENTER_CRITICAL_SECTION
-
-		mov	MCNT1,#10h		; MST=0,MOF=0,SCB=0,CLM=1
-		mov	MA,r0			; R3:R2:R1:R0 >> 4 using
-		mov	MA,r1			; math acelerator
-		mov	MA,r2
-		mov	MA,r3
-		mov	MCNT0,#0a4h		;/LSHIFT=1,CSE=0,SCE=1,MAS40=4
-pwm_waitshift:	mov	a,MCNT1
-		jb	ACC.7,pwm_waitshift	; wait MST cleared
-
-		mov	a,MA			; the result is 16 bits
-		mov	a,MA			; discard upper 16 bits
-		mov	r1,MA
-		mov	r0,MA
-
-		mov	MCNT1,#00h		; R1:R0 * max_count using 
-		mov	MB,r0			; math accelarator
-		mov	MB,r1
-		mov	dptr,#pwm_max_count		; load max_count in R5:R4
+		mov	a,r0			;R3:R2:R1:R0 >>4
+		rr	a			;R0 >> 4
+		rr	a
+		rr	a
+		rr	a
+		anl	a,#00Fh			;discard upper 4 bits
+		mov	r0,a
+		mov	a,r1			;R1 >>4
+		rr	a
+		rr	a
+		rr	a
+		rr	a
+		mov	r1,a			;save R1 >> 4
+		anl	a,#0F0h			;discard lower 4 bits
+		orl	a,r0			;sets 4 uppers bits in R0
+		mov 	r0,a			
+		mov	a,r1			;gets R1 >> 4
+		anl	a,#00Fh			;discard upper 4 bits
+		mov	r1,a
+		mov	a,r2			;R2 >> 4
+		rr	a
+		rr	a
+		rr	a
+		rr	a
+		anl	a,#0F0h			;discard lower 4 bits
+		orl	a,r1
+		mov	r1,a		
+ 		
+		;R1:R0*max_count
+		mov	dptr, #pwm_max_count	;load max_count in R5:R4
 		movx	a,@dptr	
 		mov	r5,a
 		inc	dptr
 		movx	a,@dptr
 		mov	r4,a
-		mov	MA,a
+		
+		mov	b,a			;R0*R4
+		mov	a,r0
+		mul	ab
+		
+		mov	dpl,a			;LOW
+		mov	a,b			;HIGH
+		mov	dph,a
+		
+		mov	a,r1			;R1*R4
+		mov	b,a
+		mov	a,r4
+		mul	ab
+		
+		add	a,dph			;LOW
+		mov	dph,a
+		mov	a,b			;HIGH
+		addc	a,#00			;R4 is free
+		mov	dpx,a
+		
+		mov	a,r0			;R0*R5
+		mov	b,a
+		mov	a,r5
+		mul	ab
+		
+		add	a,dph			;LOW
+		mov	dph,a
+		mov	a,dpx			;LOW+1
+		addc	a,b
+		mov	dpx,a
+		clr	a			;HIGH
+		addc	a,#00h
+		mov	r4,a			;R0 is free
+		
+		mov	a,r1			;R1*R5
+		mov	b,a
 		mov	a,r5
+		mul	ab
+		
+		add	a,dpx			;LOW
+		mov	dpx,a
+		mov	a,r4			;HIGH
+		addc	a,b
+		mov	b,a			;discard upper bits
+		
+		mov	r0,dpl
+		mov	r1,dph
+		mov	r2,dpx
+		mov	r3,b
+		
+		;R3:R2:R1:R0/(1000000/16) 1000000/16=F424h
+		;c -> dpx
+		;x -> r3:r2:r1:r0
+		;y -> dph:dpl = 0xF424
+		;reste -> r7:r6:r5:r4
+		;count -> pilha 1
 
-		mov	MA,a
-pwm_waitmult:	mov	a,MCNT1
-		jb	ACC.7,pwm_waitmult		; wait MST cleared
+				
+		mov	a,r7
+		push	acc
+		mov	a,r6
+		push	acc
+		clr	a				;c=0
+		mov	dpx,a
+		mov	dph,#0F4h			;y=0xF424
+		mov	dpl,#024h
+		mov	r7,#000h			;reste=0
+		mov	r6,#000h
+		mov	r5,#000h
+		mov	r4,#000h
+		mov	a,#20h				;count=32
+		push	acc
+
+pwm_divloop:
+		mov	a,r3				;c = ((x >> (8*sizeof(x)-1)) & 1)
+		rl	a
+		anl	a,#1
+		mov	dpx,a
+		
+		clr	c				;x = x << 1;
+		mov	a,r0
+		rlc	a
+		mov	r0,a
+		mov	a,r1
+		rlc	a
+		mov	r1,a
+		mov	a,r2
+		rlc	a
+		mov	r2,a
+		mov	a,r3
+		rlc	a
+		mov	r3,a
+		clr	c
+								
+							;reste <<= 1
+		mov	a,r4
+		rlc	a
+		mov	r4,a
+		mov	a,r5
+		rlc	a
+		mov	r5,a
+		mov	a,r6
+		rlc	a
+		mov	r6,a
+		mov	a,r7
+		rlc	a
+		mov	r7,a
+		clr	c
 
-		mov	r3,MA
-		mov	r2,MA
-		mov	r1,MA
-		mov	r0,MA
+		
+		mov	a,dpx				;if (c)
+		jz	pwn_div_ninc_teste
+		mov	a,r4
+		orl	a,#001h				;reste|=1L		
+		mov	r4,a		
+
+pwn_div_ninc_teste:					;if (reste >= y)
+		mov	a,r7
+		jnz	pwm_div_y_menor_igual
+		mov	a,r6
+		jnz	pwm_div_y_menor_igual
+		mov	a,r5
+		cjne	a,dph,pwm_div_testa_maior
+		mov	a,r4
+		cjne	a,dpl,pwm_div_testa_maior
+		clr	c
 
-		mov	MCNT1,#00h		;R1:R0*max_count/(1000000/16) using 
-		mov	MA,r0			; math accelarator
-		mov	MA,r1
-		mov	MA,r2
-		mov	MA,r3
-		mov	MB,#24h			; 1000000/16=F424h
-		mov	MB,#0f4h
-pwm_waitdiv:	mov	a,MCNT1
-		jb	ACC.7,pwm_waitdiv	; wait MST cleared
+pwm_div_testa_maior:
+		jnc	pwm_div_y_menor_igual
+		ljmp	pwm_div_loop_end
 
-		mov	a,MA			; The result should be 16 bits
-		mov	a,MA			; upper 16 bits discarded
-		mov	r1,MA
-		mov	r0,MA
+pwm_div_y_menor_igual:
+		mov	a,r4				;reste -= y;
+		clr	c
+		subb	a,dpl
+		mov	r4,a
+		mov	a,r5
+		subb	a,dph
+		mov	r5,a
+		mov	a,r6
+		subb	a,#00h
+		mov	r6,a
+		mov	a,r7
+		subb	a,#00h
+		mov	r7,a
+		
+		mov	a,r0				;x |= 1L;
+		orl	a,#001h
+		mov	r0,a
+		
+pwm_div_loop_end:					;while (--count)
+		pop	acc
+		dec	a
+		push	acc
+		jnz	pwm_divloop
+				
+		pop	acc
+		pop	acc
+		mov	r6,a
+		pop	acc
+		mov	r7,a
 
-		TINIOS_EXIT_CRITICAL_SECTION
+		mov	dptr, #pwm_max_count	;load max_count in R5:R4
+		movx	a,@dptr	
+		mov	r5,a
+		inc	dptr
+		movx	a,@dptr
+		mov	r4,a
 
 		clr	c			; computes count
 
@@ -371,7 +522,7 @@ pwm_countok:
 		EXIT_PCE_SPACE_AND_POP_STATE
 		
 		RESTORE_STRETCH r0		; restore original stretch value		
-
+		
 		mov	dpl,b			; return count in b:dbx:dph:dpl
 		mov	dph,r1
 				
diff --git a/lib/aicsim.cpp b/lib/aicsim.cpp
index 912ae8e..357ffdf 100644
--- a/lib/aicsim.cpp
+++ b/lib/aicsim.cpp
@@ -36,30 +36,30 @@ using namespace std;
 AIC_SIM::AIC_SIM(void)
 :AIC(this)
 {
+	count=0;
 }
 
 int AIC_SIM::get_status(int status,...)
 {
-	static int i=0;
-
 	switch(status)
 	{
 		case AIC_STATUS:
 		{
 			va_list ap;
+
 			va_start(ap,status);
 			double *disp=va_arg(ap,double *);
-			*disp=i*0.5;
+			*disp=count*0.5;
 
 			int *index=va_arg(ap,int *);
-			*index=(i/3) % 2;
+			*index=(count % 4 == 0)? AIC_INDEX_ON:0;
 
 			va_end(ap);
 
 			break;
 		}
 	}
-	i++;
+	count++;
 	return status;
 }
 
@@ -98,6 +98,7 @@ void AIC_SIM::send_command(int command,...)
 		}
 		case AIC_RESET:
 		{
+			count=0;
 			cout << "AIC Reset\t";
 			break;			
 		}
@@ -110,5 +111,3 @@ void AIC_SIM::send_command(int command,...)
 		}
 	}
 }
-
-
diff --git a/lib/aicudp.cpp b/lib/aicudp.cpp
index 3d9b84c..5fcaff7 100644
--- a/lib/aicudp.cpp
+++ b/lib/aicudp.cpp
@@ -172,10 +172,39 @@ void AIC_UDP::send_command(int command,...)
 			va_start(ap,command);
 			double volt=va_arg(ap,double);
 			va_end(ap);
-			for(int i=0;i < 8;i++) buff[7-i+len]= ( ( *((unsigned long long *) &volt) ) >> (i*8) ) & 0xff;
+			for(int i=0;i < 8;i++) buff[7-i+len]= *((char *) &volt + i);
 			len+=8;
 			break;
 		}
+		case AIC_MOTOR_REF:
+		{
+			va_list ap;
+			va_start(ap,command);
+			double ref=va_arg(ap,double);
+			va_end(ap);
+			for(int i=0;i < 8;i++) buff[7-i+len]= *((char *) &ref + i);
+			len+=8;
+			break;
+		}
+		case AIC_USER0:
+		case AIC_USER1:
+		case AIC_USER2:
+		case AIC_USER3:
+		{
+			va_list ap;
+			va_start(ap,command);
+			int n=va_arg(ap,int);
+			char *ptr;
+			if(n > 0)
+			{
+				ptr=va_arg(ap,char *);
+				for(int i=0;i < n;i++) buff[len++]=ptr[i];
+			}
+			va_end(ap);
+			if(n > 31) throw BAD_SEND();
+
+			break;
+		}
 		default: throw BAD_SEND();
 	}
 
@@ -188,5 +217,3 @@ void AIC_UDP::send_command(int command,...)
 		throw BAD_SEND();
 	}
 }
-
-
diff --git a/lib/sputtering.cpp b/lib/sputtering.cpp
new file mode 100644
index 0000000..97baed5
--- /dev/null
+++ b/lib/sputtering.cpp
@@ -0,0 +1,75 @@
+/******************************************************************************
+
+			Actuator Interface Card
+		Sputtering Controller Host Interface Library
+	Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>
+
+    This program is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 2 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program; if not, write to the Free Software
+    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+    You can also obtain a copy of the GNU General Public License
+    at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+
+#include <unistd.h>
+#include <sputtering.h>
+
+void *get_status(void *arg)
+{
+	double disp;
+	int index;
+	
+
+	SPUTTERING *sputtering=(SPUTTERING *) arg;
+	
+	while(sputtering->run)
+	{
+		disp=sputtering->encoder.read(&index);
+		usleep(500000);
+	}
+	pthread_exit(0);
+}
+
+SPUTTERING::SPUTTERING(const char *name,int statusport):
+AIC_UDP(name,statusport),
+SHUTTER(AIC_USER0)
+{
+	run=1;
+	pthread_create(&get_status_th,NULL,&::get_status,this);
+}
+
+SPUTTERING::~SPUTTERING(void)
+{
+	run=0;
+	pthread_join(get_status_th,NULL);	
+}
+
+void SPUTTERING::reset(void)
+{
+	while(busy());
+	AIC::reset();
+} 
+
+void SPUTTERING::reference(double ref)
+{
+	while(busy());
+	AIC::reference(ref);
+}
+
+void SPUTTERING::shutter(unsigned int us)
+{
+	while(busy());
+	send_command(SHUTTER,sizeof(us),&us);
+}
diff --git a/lib/tlib/Makefile b/lib/tlib/Makefile
index aec5600..2526638 100644
--- a/lib/tlib/Makefile
+++ b/lib/tlib/Makefile
@@ -1,7 +1,10 @@
 ASMINC:=../${ASMINC}
 TINIINC=${ASMINC}/tini.inc ${ASMINC}/tinimacro.inc ${ASMINC}/ds80c390.inc ${ASMINC}/apiequ.inc
 
-all: brake.mpp index.mpp encoder.mpp pwm.mpp
+SDCCINCLUDE+= -I../../include
+export SDCCCMPFLAGS=${SDCCFLAGS} ${SDCCINCLUDE}
+
+all: brake.mpp index.mpp encoder.mpp pwm.mpp sputtering.mpp
 
 ${ASMINC}/tini.inc: ${NATINC}/tini.inc
 	ln -s ${NATINC}/tini.inc ${ASMINC}/tini.inc
@@ -26,11 +29,17 @@ encoder.mpp: encoder.a51 ${TINIINC}
 
 pwm.mpp: pwm.a51 ${TINIINC}
 	${ASMMACRO} -I${ASMINC} -e- pwm.a51
-
+	
+sputtering.mpp: sputtering.a51
+	${ASMMACRO} -I${ASMINC} -e- sputtering.a51
+	
+sputtering.a51: sputtering.c
+	${SDCC} ${SDCCCMPFLAGS} sputtering.c
+	
 install:
 
 clean:
-	rm -rf *.o *~ *.bak *.class ../include/{*.bak,*~} br *.tlib *.mpp ${TINIINC} *.lst
+	rm -rf *.o *~ *.bak *.class ../include/{*.bak,*~} br *.tlib *.mpp ${TINIINC} *.lst sputtering.a51
 
 distclean: clean
 	rm -rf AIC.jar *.a
diff --git a/lib/tlib/sputtering.c b/lib/tlib/sputtering.c
new file mode 100644
index 0000000..c5dfdce
--- /dev/null
+++ b/lib/tlib/sputtering.c
@@ -0,0 +1,313 @@
+/******************************************************************************
+
+			Actuator Interface Card
+		       Sputtering Real Time Module
+	Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>
+
+    This program is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 2 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program; if not, write to the Free Software
+    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+    You can also obtain a copy of the GNU General Public License
+    at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+
+#include <rtai_sched.h>
+#include <pthread.h>
+
+#include <tmath.h>
+
+#include <aicio.h>
+
+#define BASE 0x800000
+
+#define Kp	0.5
+#define Ki	0.000005
+#define Kd	0.00
+
+#define MIN_U	-12.0
+#define MAX_U	12.0
+
+#define DEAD_Z	1.0
+
+#define TOL 0.005
+
+static pthread_t pid_th;
+static pthread_t shutter_th;
+static float u;
+static float y;
+static float ref;
+static float e1;
+static float i;
+static long time_count;
+static long time_ref;
+static unsigned char lock;
+
+static void pid_dummy(void) _naked
+{
+	_asm
+pid_th:	db	0,0,0,0	
+shutter_th: db	0,0,0,0
+u:	db	0,0,0,0
+y:	db	0,0,0,0
+ref:	db	0,0,0,0
+e1:	db	0,0,0,0
+i:	db	0,0,0,0
+time_count: db	0,0,0,0
+time_ref: db	0,0,0,0
+lock:	db	0
+	_endasm;
+}
+
+/* By now this is not actually a thread as it should be,
+ but a function that is called at each timer interrupt */
+void *shutter(void *arg)
+{
+	time_count++;
+	if(time_count >= time_ref) brake_apply();
+		
+	return NULL;
+}
+
+/* By now this is not actually a thread as it should be,
+ but a function that is called at each timer interrupt */
+void *pid(void *arg)
+{
+ 	float e;
+	
+        time_count++;	
+	
+	y+=encoder_read_and_clear();
+
+	e=ref-y;
+		
+	i+=Ki*e;
+	
+	u=Kp*e + i + Kd*(e-e1);
+
+	if(u < -TOL) u-=DEAD_Z;
+	if(u > TOL) u+=DEAD_Z;
+	        
+	if(u < MIN_U) u=MIN_U;
+        if(u > MAX_U) u=MAX_U;	
+	
+ 	motor_set(u);	
+	
+	e1=e;
+			
+	return NULL;
+}
+
+
+/* public static native int pidRealtime(int period) */
+long Native_pidStartRealtime(void) _JavaNative
+{
+	long period;
+	RTIME count;
+		
+	period = NatLib_LoadInt(0);
+	count=micro2count(period);
+	start_rt_timer(count);
+	pthread_create(&pid_th,NULL,pid,NULL);	
+
+	time_count=0;
+
+	_asm
+	clr     a
+	_endasm;
+	
+	return period;
+}
+
+/* public static native void pidStopRealtime() */
+void Native_pidStopRealtime(void) _JavaNative
+{
+	motor_set(0.0);
+	
+	pthread_cancel(pid_th);
+	stop_rt_timer();
+		
+	_asm
+	clr	a
+	_endasm;
+}
+
+/* public static native int shutterStartRealtime(int period) */
+long Native_shutterStartRealtime(void) _JavaNative
+{
+	long period;
+	RTIME count;
+	
+	period = NatLib_LoadInt(0);
+	count=micro2count(period);
+	start_rt_timer(count);
+	pthread_create(&shutter_th,NULL,shutter,NULL);	
+
+	time_count=0;
+	
+	brake_release();
+		
+	_asm
+	clr     a
+	_endasm;
+	
+	return period;
+}
+
+/* public static native void shutterStopRealtime() */
+void Native_shutterStopRealtime(void) _JavaNative
+{
+	
+	pthread_cancel(shutter_th);
+	stop_rt_timer();
+		
+	_asm
+	clr	a
+	_endasm;
+}
+
+
+/* public static native float getOutput() */
+float Native_getOutput(void) _JavaNative
+{
+	return y;
+}
+
+long Native_getTime(void) _JavaNative
+{
+	return time_count;
+}
+
+long Native_getIndex(void) _JavaNative
+{
+	return index_read();
+}
+
+void Native_findHome(void) _JavaNative
+{
+	motor_set(2.5);
+	while(!(index_read()));
+	
+	if(index_read()) motor_set(-1.25);
+		
+	while(!(index_read()));	
+	
+	if(index_read()) motor_set(1.25);
+		
+	while(!(index_read()));	
+	
+	motor_set(0.0);
+	
+	encoder_read_and_clear();
+	
+	y=0;	
+
+	_asm
+	clr	a
+	_endasm;
+}
+
+void Native_initialize(void) _JavaNative
+{
+	aic_initialize(BASE,12.0,20e3,4*2048);
+        aic_on();
+        motor_set(0.0);
+	y=0;	
+	lock=1;
+	
+	_asm
+	clr	a
+	_endasm;
+}
+
+void Native_finalize(void) _JavaNative
+{
+	aic_off();
+
+	aic_finalize();
+
+	_asm
+	clr	a
+	_endasm;
+}
+
+
+/* public static native void setReference(float reference) */
+void Native_setReference(void) _JavaNative
+{
+	/*
+	volatile long ref =NatLib_LoadInt(0);
+	ref=*((float *) &ref);
+	*/
+
+	_asm
+	clr	a
+	lcall   Natlib_LoadPrimitive    ; get parameter in R3:R2:R1:R0
+	mov	dptr,#ref
+	mov	a,r0
+	movx	@dptr,a
+	inc	dptr
+	mov	a,r1
+	movx	@dptr,a
+	inc	dptr
+	mov	a,r2
+	movx	@dptr,a
+	inc	dptr
+	mov	a,r3
+	movx	@dptr,a
+	clr	a
+	_endasm;
+}
+
+
+/* public static native void openShutter(int timeRef) */
+void Native_openShutter(void) _JavaNative
+{
+	time_ref = NatLib_LoadInt(0);
+
+	_asm
+	clr     a
+	_endasm; 
+}
+
+unsigned char Native_lock(void) _JavaNative
+{
+	_asm
+	mov	dptr,#lock
+	movx	a,@dptr
+	djnz	ACC,L070185DIE
+	movx	@dptr,a
+        mov     r0,#0FFh
+        mov     r1,#00h
+        mov     r2,#00h
+        mov     r3,#00h
+	ret		
+L070185DIE:
+	inc 	a;	
+	movx	@dptr,a
+	clr 	a;
+	_endasm;
+	return 0x00;
+}
+
+void Native_unlock(void) _JavaNative
+{
+	_asm
+	mov	dptr,#lock
+	movx	a,@dptr	
+	inc	a
+	movx	@dptr,a
+	clr	a;
+	_endasm;
+}
diff --git a/pid/runinfo b/pid/runinfo
deleted file mode 100644
index 478ce5e..0000000
--- a/pid/runinfo
+++ /dev/null
@@ -1 +0,0 @@
-pid:lxrt:./pid 1;popall:
diff --git a/sputtering/Makefile b/sputtering/Makefile
new file mode 100644
index 0000000..8098207
--- /dev/null
+++ b/sputtering/Makefile
@@ -0,0 +1,16 @@
+all: sputtering
+
+sputtering: sputtering.cpp ../include/aic.h ../lib/libaic.a
+	${CXX} ${CMPFLAGS} -o sputtering sputtering.cpp ${LDFLAGS}
+
+../lib/libaic.a:
+	$(MAKE) -C ../lib
+
+clean:
+	rm -f *~ *.bak *.o
+
+install:
+
+distclean: clean
+	rm -f sputtering *.dat
+
diff --git a/sputtering/sputtering.cpp b/sputtering/sputtering.cpp
new file mode 100644
index 0000000..f4df237
--- /dev/null
+++ b/sputtering/sputtering.cpp
@@ -0,0 +1,64 @@
+/******************************************************************************
+
+			Actuator Interface Card
+			  AIC Sputtering Controller
+	Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>
+
+    This program is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 2 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program; if not, write to the Free Software
+    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+    You can also obtain a copy of the GNU General Public License
+    at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+
+#include <iostream>
+using namespace std;
+#include <math.h>
+
+#include <sputtering.h>
+
+int main(int argc,char *argv[])
+{
+	
+/*	if(argc != 5) 
+	{
+		cout << "Sputtering Controller\n";
+		cout << "Copyright (C) 2007 Walter Fetter Lages    <w.fetter@ieee.org>.\n";
+		cout << "              2007 Diego Caberlon Santini <diegos@ece.ufrgs.br>.\n";
+		cout << "\tor\n\t" << argv[0] << " aic1 status_port1 aic2 status_port2\n";
+		return -1;
+	}
+*/
+	SPUTTERING sputtering0(argv[1],atoi(argv[2]));
+//	SPUTTERING sputtering1(argv[3],atoi(argv[4]));
+	
+	sputtering0.reset();
+//	sputtering1.reset();
+	cout <<"Reset\n";
+	sputtering0.reference(M_PI*300/180);
+//	sputtering1.reference(M_PI*300/180);
+	cout <<"Positioning at 300 degrees\n";
+	sputtering0.shutter(1000000);
+//	sputtering1.shutter(1000000);
+	cout <<"open for 1s\n";
+	sputtering0.reference(M_PI*60/180);
+//	sputtering1.reference(M_PI*60/180);
+	cout <<"Positioning at 60 degrees\n";
+	sputtering0.shutter(2000000);
+//	sputtering1.shutter(2000000);
+	cout <<"Open for 2s\n";
+
+	return 0;
+}