diff --git a/README.md b/README.md
index c9077bfd7582d6f2eb4227c1c0fbca46847c7e07..d417669c0abe62cc7c47f3187b2fba69fdd9a9a7 100644
--- a/README.md
+++ b/README.md
@@ -1,44 +1,39 @@
-# MachineKit Stepper Driver
+# AutomataKit Stepper17
-
+This is a motor driver for Nema 17 size Stepper Motors, which extends the [automatakit](https://gitlab.cba.mit.edu/jakeread/automatakit) architecture.
-
+The board receives commands from an automatakit network and faithfully executes them, replying when complete.
-
+
-
+
-See [circuit chatter](/circuit) and [programming chatter](/embedded).
+## Development Notes
-# Embedded Notes
+See [circuit chatter](/circuit) and [firmware chatter](/embedded).
- - sg return, better return, why missing some of the packet?
- - - new stepper code
- - trapezoid, but also track int32_t position
- - ack with position
- - reset, test
- - start accelerating at x, ack position every x ticks
+# Viable Commands
-# Circuit Notes 17
+### Test
- - after power pad update, gnd route is unhappy
- - capacitor 10uf underneath phy pad
+Keycode: **127**
+ - to test networking, this will reply with a payload packet containing ```127, 12, 24, 48``` and will toggle an LED on the board
-# Circuit Notes 23
+### Reset
- - mounting hole beside ports RIP, move across to not GND motor to port shield with screw
- - heat-sinkableness would be *very* rad considering 101c temp. at 1A
- - 2oz if JLCPCB makes this easy
- - 497-15314-1-ND or DMC4029SK4-13DICT-ND for new fets / better heat
+Keycode: **128**
+ - issues a software microcontroller reset
+ - if the microcontroller is already hung up, this will not work
-## MKStepper17
+### Step Trapezoid
-
+Keycode: **131**
+Arguments: <Steps to Make, int32_t> | <Entry Speed, steps/s, uint32_t> | <Acceleration Rate, steps/s/s, uint32_t> | <Acceleration Length, steps to accelerate for, uint32_t> | <Decceleration Length, steps to deccelerate after, uint32_t>
+Returns: <Steps Made, int32_t> on step completion
+ - the stepper will load this block into its stepping buffer, and if the buffer is empty will execute the trapezoid. on it's completion, the stepper will reply with an acknowledgement
-
+# Reproducing This Work
-## MKStepper23
+All automatakit works are open source, and while we cannot sell you boards, if you have an interesting application, get in touch to ask about collaborating.
-
-
-
+To reproduce boards and load code, see the document ['Reproducing Automatakit Work'](https://gitlab.cba.mit.edu/jakeread/automatakit/reproducing)
\ No newline at end of file
diff --git a/cad/backmount-3dp-01.gcode b/cad/backmount-3dp-01.gcode
deleted file mode 100644
index 141dc1ef2430e84ff9f36f80a7912fe0f700801a..0000000000000000000000000000000000000000
--- a/cad/backmount-3dp-01.gcode
+++ /dev/null
@@ -1,27440 +0,0 @@
-
-;3DWOX Desktop Version : 1.2.4.0
-
-;Layer_Height(mm) : 0.100000
-;Wall_Thickness(mm) : 0.800000
-;Enable_Retraction(0=Off,1=On) : 1
-;Bottom/Top_Thickness(mm) : 0.800000
-;Fill_Density(%) : 15.000000
-;Nozzle_Size(mm) : 0.400000
-;Print_Speed(mm/s) : 25.000000
-;Temperature_Nozzle(C) : 200.000000
-;Temperature_Bed(C) : 60.000000
-;Support_Type(0=None,1=Touching_buildplate,2=Everywhere) : 1
-;Support_Bed_Adhesion_Type(0=None,1=Brim,2=Raft) : 2
-;Filament_Material(0=PLA,1=ABS) : 0
-;Filament_Diameter(mm) : 1.750000
-;Filament_Flow_Compensation(%) : 100.000000
-;Bottom_Layer_Thickness(mm) : 0.000000
-;Bottom_Layer_Line_Width(%) : 100.000000
-;Path Optimization(0=Off,1=On) : 0
-;Speed_Travel(mm/s) : 60.000000
-;Speed_First_Layer(mm/s) : 10.000000
-;Speed_Infill(mm/s) : 0.000000
-;Speed_Top/Bottom(mm/s) : 0.000000
-;Speed_Outer_Wall(mm/s) : 0.000000
-;Speed_Inner_Wall(mm/s) : 0.000000
-;Cool_Minimal_Layer_Time(sec) : 5.000000
-;Cool_Enable_Cooling_Fan(0=Off,1=On) : 1
-;Cool_Fan_Full_On_at_Height(mm) : 0.600000
-;Cool_Minimum_Fan_Speed(%) : 50.000000
-;Cool_Maximum_Fan_Speed(%) : 50.000000
-;Cool_Minimum_Speed(mm/s) : 10.000000
-;Cool_Lowering_Bed(0=Off,1=On) : 0
-;Infill_Pattern(0=Automatic,1=Grid,2=Lines,3=Concentric,4=Crystal(I),5=Crystal(II)) : 0
-;Infill_OVerlap(%) : 15
-;Infill_Solid_Top(0=Off,1=On) : 1
-;Infill_Solid_Bottom(0=Off,1=On) : 1
-;Skin_Outline(0=Off,1=On) : 0
-;Support_Structure_Type(0=Grid,1=Line,2=Zigzag) : 2
-;Support_Overhang_Angle(deg) : 60.000000
-;Support_Fill_Amount(%) : 20
-;Support_Distance_X/Y(mm) : 0.800000
-;Support_Distance_Z(mm) : 0.200000
-;Brim_Line_Amount : 10
-;Skirt_Line_Count : 2
-;Skirt_Gap(mm) : 3.000000
-;Skirt_Minimal_Length(mm) : 150.000000
-;Retraction_Speed(mm/s) : 30.000000
-;Retraction_Amount : 6.000000
-;Retraction_Minimal_Travle(mm) : 1.500000
-;Retraction_Minimal_Extrusion(mm) : 0.020000
-;Retraction_Z_Hop(mm) : 0.000000
-;Retraction_Combing(0=off,1=All,2=No_Skin) : 1
-;Raft_Extra_Margin(mm) : 2.000000
-;Raft_Line_Spacing(mm) : 3.000000
-;Raft_Base_Thickness(mm) : 0.300000
-;Raft_Base_Linewidth(mm) : 1.000000
-;Raft_Interface_Thickness(mm) : 0.270000
-;Raft_Interface_Linewidth(mm) : 0.400000
-;Raft_Airgap(mm) : 0.100000
-;Raft_First_Layer_Airgap(mm) : 0.150000
-;Raft_Surface_Layers_Amount : 2.000000
-;Raft_Surface_Thickness(mm) : 0.200000
-;Raft_Surface_Linewidth(mm) : 0.400000
-;Raft_Outline_Inset(0=Off,1=On) : 0
-;Raft_Inset_Offset_Amount(mm) : 0.500000
-;Raft_Temperature_Control : 0
-;Raft_Incline(0=Off,1=On) : 1
-;Error_Correction_Only_Follow_Mesh_Surface(0=Off,1=On) : 0
-;Error_Correction_Combination_Mode_A(0=Off,1=On) : 1
-;Error_Correction_Combination_Mode_B(0=Off,1=On) : 0
-;Error_Correction_Keep_Open_Face(0=Off,1=On) : 0
-;Error_Correction_Extensive_Stitching(0=Off,1=On) : 0
-
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-;PRINTER_MODEL: [DP200]
-;EMAIL_CHECKCOUNT: [0]
-
-;ESTIMATION_TIME: [0001:04:06]
-;ESTIMATION_FILAMENT: [1343]
-;DIMENSION: [44:44:10]
-;MASS: [4.0]
-;MATERIAL: [PLA]
-;TOTAL_RAFTLAYER: [4]
-
-M140 S60 ;Heat up the bed without waiting
-M104 S200 ;Heat up the nozzle without waiting
-
-M107 ;fan off
-G200 ;nozzle cleaning
-G21 ;metric values
-G90 ;absolute positioning
-G92 E-15 ;zero the extruded length
-
-;M109 S(printer nozzle temperature) ;applied from dialog
-;M190 S(printer bed temperature) ;applied from dialog
-
-M190 S60 ;Heat up the bed
-M109 S200 ;Heat up the nozzle
-
-G28 ;Home
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-
-;Layer count: 103
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-;LAYER:-2
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-G1 X122.546 Y122.050 E1339.83419
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-G1 X116.065 Y121.200 E1339.95610
-G1 F1800 E1333.95610
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-;TYPE:WALL-INNER
-G1 F1800 E1339.95610
-G1 F1500 X126.600 Y82.640 E1340.05411
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-G1 X116.466 Y78.400 E1340.25183
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-G1 X122.380 Y78.350 E1340.35101
-G1 X126.650 Y82.619 E1340.45143
-G1 X126.650 Y88.533 E1340.54978
-G1 X126.600 Y88.533 E1340.55061
-G0 F3600 X126.200 Y88.934
-;TYPE:WALL-OUTER
-G1 F1500 X126.200 Y82.806 E1340.65252
-G1 X122.193 Y78.800 E1340.74674
-G1 X116.065 Y78.800 E1340.84865
-G1 X116.065 Y77.950 E1340.86279
-G1 X122.546 Y77.950 E1340.97057
-G1 X127.050 Y82.453 E1341.07648
-G1 X127.050 Y88.934 E1341.18426
-G1 X126.200 Y88.934 E1341.19840
-;LAYER:102
-G1 F1800 E1335.19840
-G0 F3600 X92.942 Y78.400 Z11.370
-;TYPE:WALL-INNER
-G1 F1800 E1341.19840
-G1 F1500 X87.640 Y78.400 E1341.28657
-G1 X83.400 Y82.640 E1341.38629
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-G1 X83.350 Y82.619 E1341.56381
-G1 X87.619 Y78.350 E1341.66421
-G1 X92.942 Y78.350 E1341.75274
-G1 X92.942 Y78.400 E1341.75357
-G0 F3600 X93.342 Y78.800
-;TYPE:WALL-OUTER
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-G1 X83.800 Y82.806 E1341.93985
-G1 X83.800 Y88.342 E1342.03191
-G1 X82.950 Y88.342 E1342.04605
-G1 X82.950 Y82.453 E1342.14398
-G1 X87.453 Y77.950 E1342.24989
-G1 X93.342 Y77.950 E1342.34782
-G1 X93.342 Y78.800 E1342.36196
-G1 F1800 E1336.36196
-G0 F3600 X117.057 Y78.400
-;TYPE:WALL-INNER
-G1 F1800 E1342.36196
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-G1 X122.380 Y78.350 E1342.45131
-G1 X126.650 Y82.619 E1342.55172
-G1 X126.650 Y87.942 E1342.64024
-G1 X126.600 Y87.942 E1342.64107
-G1 X126.600 Y82.640 E1342.72925
-G1 X122.358 Y78.400 E1342.82899
-G1 X117.057 Y78.400 E1342.91714
-G0 F3600 X116.657 Y78.800
-;TYPE:WALL-OUTER
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-G1 X122.193 Y78.800 E1343.43349
-G1 X116.657 Y78.800 E1343.52555
-
-M2 ;g-code end code for 3DWOX
diff --git a/cad/backmount-3dp-01.stl b/cad/backmount-3dp-01.stl
deleted file mode 100644
index fb46aef5ccb67fe9db5fc79d04f49b24fb3001e4..0000000000000000000000000000000000000000
Binary files a/cad/backmount-3dp-01.stl and /dev/null differ
diff --git a/circuit/README.md b/circuit/README.md
index 52b8e3b7e6eedcff257243161326fc1d566ce8d6..2adb99a252f7603bec9e303f83af0cfa16525e6c 100644
--- a/circuit/README.md
+++ b/circuit/README.md
@@ -1,36 +1,11 @@
-# Board Design
-
-OK, normally I get really longwinded about this. Not today! I drew *this* board after a major revision of another version using the TMC262 and some small P-and-NFET H-Bridges, which were a cool part, but obsoleted for me now that I discovered the TMC2660. Really should have looked harder for that.
-
-The business is done by a [Trinamic TMC2660](https://www.trinamic.com/products/integrated-circuits/details/tmc2660-pa/).
-
-
-
-[TMC Datasheet](https://gitlab.cba.mit.edu/jakeread/mkstepper/raw/master/datasheet/TMC2660_datasheet.pdf)
+# AutomataKit Stepper17 Circuit Design
-The TMC2660 is a bit odd in that it sinks heat out of the pins only (most motor drivers will have a big heat-dissipation pad on the bottom: see the DRV8302 in my [bldcdriver](https://gitlab.cba.mit.edu/jakeread/mkbldcdriver)). When I route the board, I use big polygons of infill for the motor drive lines (this is what the TMC datasheet suggests is the best way to pull heat from the board).
-
-You'll also notice that I haven't done an excellent job of providing a solid ground plane! :|
-
-
-
-# Board Fab
-
-I had this manufactured, and got the solder stencil, so that just left me to place components and reflow. Somewhere along the way I royally screwed up my reflow profile. Next time I fab a set, I'll put an image here, and start the programming folder.
-
-
-
-# Scope Traces!
-
-
-
-
-
-## V0.3
+The circuit uses an ATXmega256A3U microcontroller and a TMC2130 step driver to do the business. Between the two are an SPI bus, to configure the driver, two diagnosis lines, a step, direction, and enable lines.
-## BOM
+The TMC2130 is a popular step driver, and can sink ~ 1.5A of current.
+Power is bussed into the board with two M3 Screw Terminals. The board is not polarity protected. Data is delivered on an Automatakit Port, which includes a data line (uart TX / RX) and clock lines (CLKIN and CLKOUT)
diff --git a/circuit/atkstepper17/atkstepper17.brd b/circuit/atkstepper17/atkstepper17.brd
index 4a7f7a8850d72fa154546831c41ea02362c97fb7..af39519cc78ca3db50ba35d8c88d1889395357bc 100644
--- a/circuit/atkstepper17/atkstepper17.brd
+++ b/circuit/atkstepper17/atkstepper17.brd
@@ -2529,9 +2529,6 @@ design rules under a new name.</description>
<wire x1="26.7714" y1="31.3553125" x2="26.85" y2="31.2767125" width="0.1524" layer="1"/>
<wire x1="26.85" y1="31.2767125" x2="26.85" y2="30.5" width="0.1524" layer="1"/>
</signal>
-<signal name="N$18">
-<contactref element="U1" pad="64"/>
-</signal>
</signals>
</board>
</drawing>
diff --git a/circuit/atkstepper17/atkstepper17.sch b/circuit/atkstepper17/atkstepper17.sch
index 734ededc9e4d4a0061a67627eca6d9ef0f10fedb..c3889c5804f7d066a1776123b5648f594b0e1886 100644
--- a/circuit/atkstepper17/atkstepper17.sch
+++ b/circuit/atkstepper17/atkstepper17.sch
@@ -4547,12 +4547,6 @@ Holes are offset 0.005" from center, locking pins in place during soldering.
<wire x1="96.52" y1="132.08" x2="86.36" y2="132.08" width="0.1524" layer="91"/>
</segment>
</net>
-<net name="N$18" class="0">
-<segment>
-<pinref part="U1" gate="G$1" pin="PA2"/>
-<wire x1="147.32" y1="200.66" x2="165.1" y2="200.66" width="0.1524" layer="91"/>
-</segment>
-</net>
</nets>
</sheet>
</sheets>
diff --git a/circuit/atkstepper17/eagle.epf b/circuit/atkstepper17/eagle.epf
index e20b1d67aa7efced57531fa9fdadf747773b74c6..dd8bcd84278772f260a1a57674906ee025f5c5b4 100644
--- a/circuit/atkstepper17/eagle.epf
+++ b/circuit/atkstepper17/eagle.epf
@@ -37,15 +37,15 @@ UsedLibrary="C:/EAGLE 8.3.2/lbr/ltspice/sym.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/marekr/borkedlabs-passives.lbr"
[Win_1]
-Type="Schematic Editor"
-Number=1
-File="atkstepper17.sch"
-View="80.8728 52.8383 355.224 247.974"
-WireWidths=" 0.0762 0.1016 0.127 0.15 0.2 0.2032 0.254 0.3048 0.4064 0.508 0.6096 0.8128 1.016 1.27 2.54 0.1524"
+Type="Board Editor"
+Number=2
+File="atkstepper17.brd"
+View="14.513 17.3065 24.836 27.8919"
+WireWidths=" 0.0762 0.1016 0.127 0.15 0.2 0.254 0.3048 0.4064 0.508 0.6096 1.016 2.54 0.8128 1.27 0.2032 0.1524"
PadDiameters=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 6.4516 0"
PadDrills=" 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6"
ViaDiameters=" 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 0.95 1 1.05 1.1 1.15 1.2 1.3 0"
-ViaDrills=" 0.2 0.25 0.3 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35"
+ViaDrills=" 0.2 0.25 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35 0.3"
HoleDrills=" 0.2 0.25 0.3 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35"
TextSizes=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.9304 2.1844 2.54 3.81 5.08 6.4516 1.778"
PolygonSpacings=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 5.08 6.4516 1.27"
@@ -56,14 +56,14 @@ DimensionExtWidths=" 0.127 0.254 0.1 0.13 0.26 0"
DimensionExtLengths=" 1.27 2.54 1 2 3 0"
DimensionExtOffsets=" 1.27 2.54 1 2 3 0"
SmdSizes=" 0.3048 0.1524 0.4064 0.2032 0.6096 0.3048 0.8128 0.4064 1.016 0.508 1.27 0.6604 1.4224 0.7112 1.6764 0.8128 1.778 0.9144 1.9304 0.9652 2.1844 1.0668 2.54 1.27 3.81 1.9304 5.08 2.54 6.4516 3.2512 1.27 0.635"
-WireBend=0
-WireBendSet=31
+WireBend=3
+WireBendSet=0
WireCap=1
MiterStyle=0
PadShape=0
ViaShape=1
PolygonPour=0
-PolygonRank=0
+PolygonRank=1
PolygonThermals=1
PolygonOrphans=0
TextRatio=8
@@ -78,20 +78,18 @@ SwapLevel=0
ArcDirection=0
AddLevel=2
PadsSameType=0
-Layer=91
-Views=" 1: 80.8728 52.8383 355.224 247.974"
-Sheet="1"
+Layer=1
[Win_2]
-Type="Board Editor"
-Number=2
-File="atkstepper17.brd"
-View="11.3999 -6.36849 64.664 48.2496"
-WireWidths=" 0.0762 0.1016 0.127 0.15 0.2 0.254 0.3048 0.4064 0.508 0.6096 1.016 2.54 0.8128 1.27 0.2032 0.1524"
+Type="Schematic Editor"
+Number=1
+File="atkstepper17.sch"
+View="90.1671 89.467 222.474 183.572"
+WireWidths=" 0.0762 0.1016 0.127 0.15 0.2 0.2032 0.254 0.3048 0.4064 0.508 0.6096 0.8128 1.016 1.27 2.54 0.1524"
PadDiameters=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 6.4516 0"
PadDrills=" 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6"
ViaDiameters=" 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 0.95 1 1.05 1.1 1.15 1.2 1.3 0"
-ViaDrills=" 0.2 0.25 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35 0.3"
+ViaDrills=" 0.2 0.25 0.3 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35"
HoleDrills=" 0.2 0.25 0.3 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35"
TextSizes=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.9304 2.1844 2.54 3.81 5.08 6.4516 1.778"
PolygonSpacings=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 5.08 6.4516 1.27"
@@ -102,14 +100,14 @@ DimensionExtWidths=" 0.127 0.254 0.1 0.13 0.26 0"
DimensionExtLengths=" 1.27 2.54 1 2 3 0"
DimensionExtOffsets=" 1.27 2.54 1 2 3 0"
SmdSizes=" 0.3048 0.1524 0.4064 0.2032 0.6096 0.3048 0.8128 0.4064 1.016 0.508 1.27 0.6604 1.4224 0.7112 1.6764 0.8128 1.778 0.9144 1.9304 0.9652 2.1844 1.0668 2.54 1.27 3.81 1.9304 5.08 2.54 6.4516 3.2512 1.27 0.635"
-WireBend=3
-WireBendSet=0
+WireBend=0
+WireBendSet=31
WireCap=1
MiterStyle=0
PadShape=0
ViaShape=1
PolygonPour=0
-PolygonRank=1
+PolygonRank=0
PolygonThermals=1
PolygonOrphans=0
TextRatio=8
@@ -124,7 +122,9 @@ SwapLevel=0
ArcDirection=0
AddLevel=2
PadsSameType=0
-Layer=1
+Layer=91
+Views=" 1: 90.1671 89.467 222.474 183.572"
+Sheet="1"
[Win_3]
Type="Control Panel"
diff --git a/circuit/atkstepper23/atkstepper23.brd b/circuit/atkstepper23/atkstepper23.brd
deleted file mode 100644
index 3db08cd810369356e55c57e5d9fa7feab013e5ac..0000000000000000000000000000000000000000
--- a/circuit/atkstepper23/atkstepper23.brd
+++ /dev/null
@@ -1,3085 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE eagle SYSTEM "eagle.dtd">
-<eagle version="9.0.0">
-<drawing>
-<settings>
-<setting alwaysvectorfont="no"/>
-<setting verticaltext="up"/>
-</settings>
-<grid distance="0.5" unitdist="mm" unit="mm" style="lines" multiple="1" display="yes" altdistance="1" altunitdist="mm" altunit="mm"/>
-<layers>
-<layer number="1" name="Top" color="4" fill="1" visible="yes" active="yes"/>
-<layer number="2" name="Route2" color="1" fill="3" visible="no" active="no"/>
-<layer number="3" name="Route3" color="4" fill="3" visible="no" active="no"/>
-<layer number="4" name="Route4" color="1" fill="4" visible="no" active="no"/>
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-<layer number="7" name="Route7" color="4" fill="8" visible="no" active="no"/>
-<layer number="8" name="Route8" color="1" fill="2" visible="no" active="no"/>
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-<layer number="11" name="Route11" color="4" fill="7" visible="no" active="no"/>
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-<layer number="15" name="Route15" color="4" fill="6" visible="no" active="no"/>
-<layer number="16" name="Bottom" color="1" fill="1" visible="yes" active="yes"/>
-<layer number="17" name="Pads" color="2" fill="1" visible="yes" active="yes"/>
-<layer number="18" name="Vias" color="2" fill="1" visible="yes" active="yes"/>
-<layer number="19" name="Unrouted" color="6" fill="1" visible="yes" active="yes"/>
-<layer number="20" name="Dimension" color="24" fill="1" visible="yes" active="yes"/>
-<layer number="21" name="tPlace" color="7" fill="1" visible="yes" active="yes"/>
-<layer number="22" name="bPlace" color="7" fill="1" visible="yes" active="yes"/>
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-<layer number="33" name="tFinish" color="6" fill="3" visible="no" active="yes"/>
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-<layer number="37" name="tTest" color="7" fill="1" visible="no" active="yes"/>
-<layer number="38" name="bTest" color="7" fill="1" visible="no" active="yes"/>
-<layer number="39" name="tKeepout" color="4" fill="11" visible="no" active="yes"/>
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-<layer number="43" name="vRestrict" color="2" fill="10" visible="no" active="yes"/>
-<layer number="44" name="Drills" color="7" fill="1" visible="no" active="yes"/>
-<layer number="45" name="Holes" color="7" fill="1" visible="yes" active="yes"/>
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-<layer number="110" name="fp0" color="7" fill="1" visible="no" active="yes"/>
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-<smd name="2" x="1.4" y="0" dx="1.6" dy="1.8" layer="1"/>
-<text x="-1.27" y="1.143" size="1.016" layer="25">>NAME</text>
-<text x="-1.397" y="-2.794" size="1.016" layer="27">>VALUE</text>
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-<rectangle x1="0.9517" y1="-0.8491" x2="1.7018" y2="0.8509" layer="51"/>
-<rectangle x1="-0.1999" y1="-0.4001" x2="0.1999" y2="0.4001" layer="35"/>
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-<package name="6.6X6.6-CAP">
-<wire x1="-3.25" y1="3.25" x2="1.55" y2="3.25" width="0.1016" layer="51"/>
-<wire x1="1.55" y1="3.25" x2="3.25" y2="1.55" width="0.1016" layer="51"/>
-<wire x1="3.25" y1="1.55" x2="3.25" y2="-1.55" width="0.1016" layer="51"/>
-<wire x1="3.25" y1="-1.55" x2="1.55" y2="-3.25" width="0.1016" layer="51"/>
-<wire x1="1.55" y1="-3.25" x2="-3.25" y2="-3.25" width="0.1016" layer="51"/>
-<wire x1="-3.25" y1="-3.25" x2="-3.25" y2="3.25" width="0.1016" layer="51"/>
-<wire x1="-2.1" y1="2.25" x2="-2.1" y2="-2.2" width="0.1016" layer="51"/>
-<circle x="0" y="0" radius="3.1" width="0.1016" layer="51"/>
-<smd name="+" x="2.4" y="0" dx="3" dy="1.4" layer="1"/>
-<smd name="-" x="-2.4" y="0" dx="3" dy="1.4" layer="1"/>
-<text x="-2.75" y="4" size="1.016" layer="25">>NAME</text>
-<text x="-2.75" y="-4.975" size="1.016" layer="27">>VALUE</text>
-<rectangle x1="-3.65" y1="-0.35" x2="-3.05" y2="0.35" layer="51"/>
-<rectangle x1="3.05" y1="-0.35" x2="3.65" y2="0.35" layer="51"/>
-<polygon width="0.1016" layer="51">
-<vertex x="-2.15" y="2.15"/>
-<vertex x="-2.6" y="1.6"/>
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-<vertex x="-2.15" y="2.1"/>
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-<text x="-0.762" y="1.27" size="0.6096" layer="21" font="vector">BFC</text>
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-</package>
-</packages>
-</library>
-<library name="fab">
-<packages>
-<package name="TACT-SWITCH-KMR6">
-<smd name="P$1" x="-2.05" y="0.8" dx="0.9" dy="1" layer="1" rot="R180"/>
-<smd name="P$2" x="2.05" y="0.8" dx="0.9" dy="1" layer="1" rot="R180"/>
-<smd name="P$3" x="-2.05" y="-0.8" dx="0.9" dy="1" layer="1" rot="R180"/>
-<smd name="P$4" x="2.05" y="-0.8" dx="0.9" dy="1" layer="1" rot="R180"/>
-<smd name="P$5" x="0" y="1.5" dx="1.7" dy="0.55" layer="1" rot="R180"/>
-<wire x1="-1.4" y1="0.8" x2="0" y2="0.8" width="0.127" layer="51"/>
-<wire x1="0" y1="0.8" x2="1.4" y2="0.8" width="0.127" layer="51"/>
-<wire x1="-1.4" y1="-0.8" x2="0" y2="-0.8" width="0.127" layer="51"/>
-<wire x1="0" y1="-0.8" x2="1.4" y2="-0.8" width="0.127" layer="51"/>
-<wire x1="0" y1="0.8" x2="0" y2="0.6" width="0.127" layer="51"/>
-<wire x1="0" y1="0.6" x2="0.4" y2="-0.4" width="0.127" layer="51"/>
-<wire x1="0" y1="-0.8" x2="0" y2="-0.5" width="0.127" layer="51"/>
-<wire x1="-2.1" y1="0.2" x2="-2.1" y2="-0.2" width="0.127" layer="51"/>
-<wire x1="2.1" y1="-0.2" x2="2.1" y2="0.2" width="0.127" layer="51"/>
-<wire x1="2.1" y1="1.4" x2="2.1" y2="1.5" width="0.127" layer="51"/>
-<wire x1="2.1" y1="1.5" x2="1" y2="1.5" width="0.127" layer="51"/>
-<wire x1="-1" y1="1.5" x2="-2.1" y2="1.5" width="0.127" layer="51"/>
-<wire x1="-2.1" y1="1.5" x2="-2.1" y2="1.4" width="0.127" layer="51"/>
-<wire x1="-2.1" y1="-1.4" x2="-2.1" y2="-1.5" width="0.127" layer="51"/>
-<wire x1="-2.1" y1="-1.5" x2="2.1" y2="-1.5" width="0.127" layer="51"/>
-<wire x1="2.1" y1="-1.5" x2="2.1" y2="-1.4" width="0.127" layer="51"/>
-</package>
-<package name="CBA-SILK-LOGO">
-<circle x="0" y="0" radius="0.254" width="0.127" layer="21"/>
-<circle x="-0.762" y="0.762" radius="0.254" width="0.127" layer="21"/>
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-<wire x1="0.254" y1="1.016" x2="0.254" y2="0.508" width="0.127" layer="21"/>
-<wire x1="0.254" y1="0.508" x2="-0.254" y2="0.508" width="0.127" layer="21"/>
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-<wire x1="-1.016" y1="0.254" x2="-0.508" y2="0.254" width="0.127" layer="21"/>
-<wire x1="-0.508" y1="0.254" x2="-0.508" y2="-0.254" width="0.127" layer="21"/>
-<wire x1="-0.508" y1="-0.254" x2="-1.016" y2="-0.254" width="0.127" layer="21"/>
-<wire x1="-1.016" y1="-0.254" x2="-1.016" y2="0.254" width="0.127" layer="21"/>
-<wire x1="0.508" y1="0.508" x2="1.016" y2="0.508" width="0.127" layer="21"/>
-<wire x1="1.016" y1="0.508" x2="1.016" y2="1.016" width="0.127" layer="21"/>
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-<wire x1="0.508" y1="1.016" x2="0.508" y2="0.508" width="0.127" layer="21"/>
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-<wire x1="1.016" y1="-0.254" x2="0.508" y2="-0.254" width="0.127" layer="21"/>
-<wire x1="0.508" y1="-0.254" x2="0.508" y2="0.254" width="0.127" layer="21"/>
-<wire x1="0.508" y1="-0.508" x2="1.016" y2="-0.508" width="0.127" layer="21"/>
-<wire x1="1.016" y1="-0.508" x2="1.016" y2="-1.016" width="0.127" layer="21"/>
-<wire x1="1.016" y1="-1.016" x2="0.508" y2="-1.016" width="0.127" layer="21"/>
-<wire x1="0.508" y1="-1.016" x2="0.508" y2="-0.508" width="0.127" layer="21"/>
-<wire x1="0.254" y1="-0.508" x2="-0.254" y2="-0.508" width="0.127" layer="21"/>
-<wire x1="-0.254" y1="-0.508" x2="-0.254" y2="-1.016" width="0.127" layer="21"/>
-<wire x1="-0.254" y1="-1.016" x2="0.254" y2="-1.016" width="0.127" layer="21"/>
-<wire x1="0.254" y1="-1.016" x2="0.254" y2="-0.508" width="0.127" layer="21"/>
-<wire x1="-0.508" y1="-0.508" x2="-1.016" y2="-0.508" width="0.127" layer="21"/>
-<wire x1="-1.016" y1="-0.508" x2="-1.016" y2="-1.016" width="0.127" layer="21"/>
-<wire x1="-1.016" y1="-1.016" x2="-0.508" y2="-1.016" width="0.127" layer="21"/>
-<wire x1="-0.508" y1="-1.016" x2="-0.508" y2="-0.508" width="0.127" layer="21"/>
-</package>
-</packages>
-</library>
-<library name="SparkFun-Connectors">
-<description><h3>SparkFun Connectors</h3>
-This library contains electrically-functional connectors.
-<br>
-<br>
-We've spent an enormous amount of time creating and checking these footprints and parts, but it is <b> the end user's responsibility</b> to ensure correctness and suitablity for a given componet or application.
-<br>
-<br>If you enjoy using this library, please buy one of our products at <a href=" www.sparkfun.com">SparkFun.com</a>.
-<br>
-<br>
-<b>Licensing:</b> Creative Commons ShareAlike 4.0 International - https://creativecommons.org/licenses/by-sa/4.0/
-<br>
-<br>
-You are welcome to use this library for commercial purposes. For attribution, we ask that when you begin to sell your device using our footprint, you email us with a link to the product being sold. We want bragging rights that we helped (in a very small part) to create your 8th world wonder. We would like the opportunity to feature your device on our homepage.</description>
-<packages>
-<package name="1X04_LONGPADS">
-<description><h3>Plated Through Hole - 4 Pin Long Pads</h3>
-<p>Specifications:
-<ul><li>Pin count:4</li>
-<li>Pin pitch:0.1"</li>
-</ul></p>
-<p>Example device(s):
-<ul><li>CONN_04</li>
-</ul></p></description>
-<wire x1="-1.27" y1="0.635" x2="-1.27" y2="-0.635" width="0.2032" layer="21"/>
-<wire x1="8.89" y1="0.635" x2="8.89" y2="-0.635" width="0.2032" layer="21"/>
-<pad name="1" x="0" y="0" drill="1.1176" diameter="1.8796" shape="long" rot="R90"/>
-<pad name="2" x="2.54" y="0" drill="1.1176" diameter="1.8796" shape="long" rot="R90"/>
-<pad name="3" x="5.08" y="0" drill="1.1176" diameter="1.8796" shape="long" rot="R90"/>
-<pad name="4" x="7.62" y="0" drill="1.1176" diameter="1.8796" shape="long" rot="R90"/>
-<rectangle x1="7.366" y1="-0.254" x2="7.874" y2="0.254" layer="51"/>
-<rectangle x1="4.826" y1="-0.254" x2="5.334" y2="0.254" layer="51"/>
-<rectangle x1="2.286" y1="-0.254" x2="2.794" y2="0.254" layer="51"/>
-<rectangle x1="-0.254" y1="-0.254" x2="0.254" y2="0.254" layer="51"/>
-<text x="-1.27" y="2.032" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-1.27" y="-2.667" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="1X05_NO_SILK">
-<description><h3>Plated Through Hole - 5 Pin No Silk Outline</h3>
-<p>Specifications:
-<ul><li>Pin count:5</li>
-<li>Pin pitch:0.1"</li>
-</ul></p>
-<p>Example device(s):
-<ul><li>CONN_05</li>
-</ul></p></description>
-<pad name="1" x="0" y="0" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="2" x="2.54" y="0" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="3" x="5.08" y="0" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="4" x="7.62" y="0" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="5" x="10.16" y="0" drill="1.016" diameter="1.8796" rot="R90"/>
-<rectangle x1="9.906" y1="-0.254" x2="10.414" y2="0.254" layer="51"/>
-<rectangle x1="7.366" y1="-0.254" x2="7.874" y2="0.254" layer="51"/>
-<rectangle x1="4.826" y1="-0.254" x2="5.334" y2="0.254" layer="51"/>
-<rectangle x1="2.286" y1="-0.254" x2="2.794" y2="0.254" layer="51"/>
-<rectangle x1="-0.254" y1="-0.254" x2="0.254" y2="0.254" layer="51"/>
-<text x="-1.27" y="1.397" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-1.27" y="-2.032" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-</packages>
-</library>
-<library name="lights">
-<packages>
-<package name="LED0805">
-<wire x1="-1.473" y1="0.983" x2="1.473" y2="0.983" width="0.0508" layer="39"/>
-<wire x1="1.473" y1="0.983" x2="1.473" y2="-0.983" width="0.0508" layer="39"/>
-<wire x1="1.473" y1="-0.983" x2="-1.473" y2="-0.983" width="0.0508" layer="39"/>
-<wire x1="-1.473" y1="-0.983" x2="-1.473" y2="0.983" width="0.0508" layer="39"/>
-<smd name="1" x="-0.85" y="0" dx="1.1" dy="1" layer="1"/>
-<smd name="2" x="0.85" y="0" dx="1.1" dy="1" layer="1"/>
-<text x="-0.889" y="1.397" size="1.016" layer="25">>NAME</text>
-<text x="-1.016" y="-2.413" size="1.016" layer="27" ratio="10">>VALUE</text>
-<rectangle x1="-0.1999" y1="-0.3" x2="0.1999" y2="0.3" layer="35"/>
-<wire x1="-0.1778" y1="0.4318" x2="0.1778" y2="0" width="0.127" layer="21"/>
-<wire x1="0.1778" y1="0" x2="-0.1778" y2="-0.4318" width="0.127" layer="21"/>
-<wire x1="-0.1778" y1="0.4318" x2="-0.1778" y2="-0.4318" width="0.127" layer="21"/>
-</package>
-</packages>
-</library>
-<library name="connector">
-<packages>
-<package name="JRTOMBSTONE">
-<wire x1="-1.1" y1="-1" x2="-1.1" y2="0.7" width="0.127" layer="21"/>
-<wire x1="-1.1" y1="0.7" x2="1" y2="0.7" width="0.127" layer="21" curve="-180"/>
-<wire x1="1" y1="0.7" x2="1" y2="-1" width="0.127" layer="21"/>
-<wire x1="1" y1="-1" x2="-1.1" y2="-1" width="0.127" layer="21"/>
-<wire x1="-0.8" y1="-0.5" x2="-0.6" y2="-0.5" width="0.127" layer="21"/>
-<wire x1="-0.6" y1="-0.5" x2="-0.3" y2="-0.2" width="0.127" layer="21" curve="90"/>
-<wire x1="-0.3" y1="-0.2" x2="-0.3" y2="0.7" width="0.127" layer="21"/>
-<wire x1="-0.3" y1="0.7" x2="-0.8" y2="0.7" width="0.127" layer="21"/>
-<wire x1="-0.3" y1="0.7" x2="0.1" y2="0.7" width="0.127" layer="21"/>
-<wire x1="0.1" y1="0.7" x2="0.1" y2="0.1" width="0.127" layer="21"/>
-<wire x1="0.1" y1="0.1" x2="0.1" y2="-0.5" width="0.127" layer="21"/>
-<wire x1="0.1" y1="0.7" x2="0.4" y2="0.7" width="0.127" layer="21"/>
-<wire x1="0.4" y1="0.7" x2="0.4" y2="0.1" width="0.127" layer="21" curve="-180"/>
-<wire x1="0.4" y1="0.1" x2="0.7" y2="-0.5" width="0.127" layer="21"/>
-<wire x1="0.4" y1="0.1" x2="0.1" y2="0.1" width="0.127" layer="21"/>
-</package>
-<package name="RJ45-LED-RJE7318800XXX">
-<hole x="-5.74" y="0" drill="1.8"/>
-<hole x="5.74" y="0" drill="1.8"/>
-<pad name="SHDL1" x="-8" y="-4.35" drill="2" shape="square" rot="R180"/>
-<pad name="SHDL2" x="8" y="-4.35" drill="2" shape="square"/>
-<wire x1="8" y1="-6.5" x2="-8" y2="-6.5" width="0.1524" layer="51"/>
-<wire x1="-8" y1="-6.5" x2="-8" y2="-9" width="0.1524" layer="51"/>
-<wire x1="-8" y1="-9" x2="8" y2="-9" width="0.1524" layer="51"/>
-<wire x1="8" y1="-9" x2="8" y2="6" width="0.1524" layer="51"/>
-<wire x1="8" y1="6" x2="-8" y2="6" width="0.1524" layer="51"/>
-<wire x1="-8" y1="6" x2="-8" y2="-6.5" width="0.1524" layer="51"/>
-<pad name="P$1" x="-3.57" y="0.38" drill="0.9"/>
-<pad name="P$2" x="-2.55" y="-1.45" drill="0.9"/>
-<pad name="P$3" x="-1.53" y="0.38" drill="0.9"/>
-<pad name="P$5" x="0.51" y="0.38" drill="0.9"/>
-<pad name="P$7" x="2.55" y="0.38" drill="0.9"/>
-<pad name="P$4" x="-0.51" y="-1.45" drill="0.9"/>
-<pad name="P$6" x="1.53" y="-1.45" drill="0.9"/>
-<pad name="P$8" x="3.57" y="-1.45" drill="0.9"/>
-<pad name="YLWP" x="-7.01" y="3.6" drill="1.1"/>
-<pad name="GRNN" x="7.01" y="3.6" drill="1.1"/>
-<pad name="GRNP" x="4.47" y="3.6" drill="1.1"/>
-<pad name="YLWN" x="-4.47" y="3.6" drill="1.1"/>
-</package>
-</packages>
-</library>
-<library name="microcontrollers">
-<packages>
-<package name="QFN-64-9X9MM">
-<description><h3>64-pin QFN 9x9mm, 0.5mm pitch</h3>
-<p>Package used by ATmega128RFA1</p>
-<p><a href="http://www.atmel.com/Images/Atmel-8266-MCU_Wireless-ATmega128RFA1_Datasheet.pdf">Example Datasheet</a></p></description>
-<wire x1="-4.492" y1="-4.5" x2="4.508" y2="-4.5" width="0.09" layer="51"/>
-<wire x1="4.508" y1="-4.5" x2="4.508" y2="4.5" width="0.09" layer="51"/>
-<wire x1="4.508" y1="4.5" x2="-4.492" y2="4.5" width="0.09" layer="51"/>
-<wire x1="-4.492" y1="4.5" x2="-4.492" y2="-4.5" width="0.09" layer="51"/>
-<wire x1="-4.6" y1="4.6" x2="-4.6" y2="4.1" width="0.2032" layer="21"/>
-<wire x1="-4.6" y1="4.6" x2="-4.1" y2="4.6" width="0.2032" layer="21"/>
-<wire x1="4.6" y1="4.6" x2="4.1" y2="4.6" width="0.2032" layer="21"/>
-<wire x1="4.6" y1="4.6" x2="4.6" y2="4.1" width="0.2032" layer="21"/>
-<circle x="-4.842" y="4.85" radius="0.2" width="0" layer="21"/>
-<circle x="-3.442" y="3.45" radius="0.2" width="0.09" layer="51"/>
-<smd name="26" x="0.75" y="-4.5" dx="0.275" dy="0.7" layer="1" rot="R180"/>
-<smd name="25" x="0.25" y="-4.5" dx="0.275" dy="0.7" layer="1" rot="R180"/>
-<smd name="24" x="-0.25" y="-4.5" dx="0.275" dy="0.7" layer="1" rot="R180"/>
-<smd name="27" x="1.25" y="-4.5" dx="0.275" dy="0.7" layer="1" rot="R180"/>
-<smd name="28" x="1.75" y="-4.5" dx="0.275" dy="0.7" layer="1" rot="R180"/>
-<smd name="23" x="-0.75" y="-4.5" dx="0.275" dy="0.7" layer="1" rot="R180"/>
-<smd name="22" x="-1.25" y="-4.5" dx="0.275" dy="0.7" layer="1" rot="R180"/>
-<smd name="21" x="-1.75" y="-4.5" dx="0.275" dy="0.7" layer="1" rot="R180"/>
-<smd name="6" x="-4.5" y="1.25" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="5" x="-4.5" y="1.75" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="4" x="-4.5" y="2.25" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="7" x="-4.5" y="0.75" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="8" x="-4.5" y="0.25" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="3" x="-4.5" y="2.75" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="2" x="-4.5" y="3.25" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="9" x="-4.5" y="-0.25" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="10" x="-4.5" y="-0.75" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="1" x="-4.5" y="3.75" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="16" x="-4.5" y="-3.75" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="15" x="-4.5" y="-3.25" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="14" x="-4.5" y="-2.75" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="17" x="-3.75" y="-4.5" dx="0.275" dy="0.7" layer="1" rot="R180"/>
-<smd name="18" x="-3.25" y="-4.5" dx="0.275" dy="0.7" layer="1" rot="R180"/>
-<smd name="13" x="-4.5" y="-2.25" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="12" x="-4.5" y="-1.75" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="19" x="-2.75" y="-4.5" dx="0.275" dy="0.7" layer="1" rot="R180"/>
-<smd name="20" x="-2.25" y="-4.5" dx="0.275" dy="0.7" layer="1" rot="R180"/>
-<smd name="11" x="-4.5" y="-1.25" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="29" x="2.25" y="-4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="30" x="2.75" y="-4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="31" x="3.25" y="-4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="32" x="3.75" y="-4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="33" x="4.5" y="-3.75" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="34" x="4.5" y="-3.25" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="35" x="4.5" y="-2.75" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="36" x="4.5" y="-2.25" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="37" x="4.5" y="-1.75" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="38" x="4.5" y="-1.25" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="39" x="4.5" y="-0.75" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="40" x="4.5" y="-0.25" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="41" x="4.5" y="0.25" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="42" x="4.5" y="0.75" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="43" x="4.5" y="1.25" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="44" x="4.5" y="1.75" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="45" x="4.5" y="2.25" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="46" x="4.5" y="2.75" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="47" x="4.5" y="3.25" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="48" x="4.5" y="3.75" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="49" x="3.75" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="50" x="3.25" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="51" x="2.75" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="52" x="2.25" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="53" x="1.75" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="54" x="1.25" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="55" x="0.75" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="56" x="0.25" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="57" x="-0.25" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="58" x="-0.75" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="59" x="-1.25" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="60" x="-1.75" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="61" x="-2.25" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="62" x="-2.75" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="63" x="-3.25" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="64" x="-3.75" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<text x="0" y="1.27" size="0.6096" layer="25" font="vector" ratio="20" align="bottom-center">>NAME</text>
-<text x="0" y="-1.27" size="0.6096" layer="27" font="vector" ratio="20" align="top-center">>VALUE</text>
-<wire x1="4.6" y1="-4.6" x2="4.1" y2="-4.6" width="0.2032" layer="21"/>
-<wire x1="4.6" y1="-4.6" x2="4.6" y2="-4.1" width="0.2032" layer="21"/>
-<wire x1="-4.6" y1="-4.6" x2="-4.6" y2="-4.1" width="0.2032" layer="21"/>
-<wire x1="-4.6" y1="-4.6" x2="-4.1" y2="-4.6" width="0.2032" layer="21"/>
-<smd name="P$1" x="0" y="0" dx="7.6" dy="7.6" layer="1" cream="no"/>
-<polygon width="0.127" layer="31">
-<vertex x="2.13" y="2.13"/>
-<vertex x="2.13" y="3.27"/>
-<vertex x="3.27" y="3.27"/>
-<vertex x="3.27" y="2.13"/>
-</polygon>
-<polygon width="0.127" layer="31">
-<vertex x="-3.27" y="2.13"/>
-<vertex x="-3.27" y="3.27"/>
-<vertex x="-2.13" y="3.27"/>
-<vertex x="-2.13" y="2.13"/>
-</polygon>
-<polygon width="0.127" layer="31">
-<vertex x="-3.27" y="-3.27"/>
-<vertex x="-3.27" y="-2.13"/>
-<vertex x="-2.13" y="-2.13"/>
-<vertex x="-2.13" y="-3.27"/>
-</polygon>
-<polygon width="0.127" layer="31">
-<vertex x="2.13" y="-3.27"/>
-<vertex x="2.13" y="-2.13"/>
-<vertex x="3.27" y="-2.13"/>
-<vertex x="3.27" y="-3.27"/>
-</polygon>
-<polygon width="0.127" layer="31">
-<vertex x="-0.57" y="-0.57"/>
-<vertex x="-0.57" y="0.57"/>
-<vertex x="0.57" y="0.57"/>
-<vertex x="0.57" y="-0.57"/>
-</polygon>
-</package>
-<package name="PDI_2X3_SMD">
-<description><h3>Surface Mount - 2x3</h3>
-<p>Specifications:
-<ul><li>Pin count:6</li>
-<li>Pin pitch:2.54mm</li>
-</ul></p>
-<p>Example device(s):
-<ul><li>CONN_03x2</li>
-</ul></p></description>
-<wire x1="-3.81" y1="-2.5" x2="-3.81" y2="2.5" width="0.127" layer="51"/>
-<wire x1="-3.81" y1="2.5" x2="3.81" y2="2.5" width="0.127" layer="51"/>
-<wire x1="3.81" y1="2.5" x2="3.81" y2="-2.5" width="0.127" layer="51"/>
-<wire x1="3.81" y1="-2.5" x2="-3.81" y2="-2.5" width="0.127" layer="51"/>
-<rectangle x1="-0.3" y1="2.55" x2="0.3" y2="3.35" layer="51"/>
-<rectangle x1="-2.84" y1="2.55" x2="-2.24" y2="3.35" layer="51"/>
-<rectangle x1="2.24" y1="2.55" x2="2.84" y2="3.35" layer="51"/>
-<rectangle x1="-2.84" y1="-3.35" x2="-2.24" y2="-2.55" layer="51" rot="R180"/>
-<rectangle x1="-0.3" y1="-3.35" x2="0.3" y2="-2.55" layer="51" rot="R180"/>
-<rectangle x1="2.24" y1="-3.35" x2="2.84" y2="-2.55" layer="51" rot="R180"/>
-<smd name="1" x="-2.54" y="-2.85" dx="1.02" dy="1.9" layer="1"/>
-<smd name="2" x="-2.54" y="2.85" dx="1.02" dy="1.9" layer="1"/>
-<smd name="3" x="0" y="-2.85" dx="1.02" dy="1.9" layer="1"/>
-<smd name="4" x="0" y="2.85" dx="1.02" dy="1.9" layer="1"/>
-<smd name="5" x="2.54" y="-2.85" dx="1.02" dy="1.9" layer="1"/>
-<smd name="6" x="2.54" y="2.85" dx="1.02" dy="1.9" layer="1"/>
-<text x="-1.397" y="0.381" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-1.778" y="-1.016" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-<wire x1="-1.27" y1="-4.38" x2="1.27" y2="-4.38" width="0.2032" layer="21"/>
-</package>
-</packages>
-</library>
-<library name="passives">
-<packages>
-<package name="RES_PRQC">
-<smd name="1" x="-0.95" y="0" dx="1.5" dy="0.6" layer="1" rot="R90"/>
-<smd name="2" x="0" y="0" dx="1.5" dy="0.4" layer="1" rot="R270"/>
-<smd name="3" x="0.95" y="0" dx="1.5" dy="0.6" layer="1" rot="R270"/>
-<wire x1="-1.6" y1="0.65" x2="1.6" y2="0.65" width="0.127" layer="51"/>
-<wire x1="1.6" y1="0.65" x2="1.6" y2="-0.65" width="0.127" layer="51"/>
-<wire x1="1.6" y1="-0.65" x2="-1.6" y2="-0.65" width="0.127" layer="51"/>
-<wire x1="-1.6" y1="-0.65" x2="-1.6" y2="0.65" width="0.127" layer="51"/>
-</package>
-</packages>
-</library>
-</libraries>
-<attributes>
-</attributes>
-<variantdefs>
-</variantdefs>
-<classes>
-<class number="0" name="default" width="0" drill="0">
-</class>
-</classes>
-<designrules name="default *">
-<description language="de"><b>EAGLE Design Rules</b>
-<p>
-Die Standard-Design-Rules sind so gewählt, dass sie für
-die meisten Anwendungen passen. Sollte ihre Platine
-besondere Anforderungen haben, treffen Sie die erforderlichen
-Einstellungen hier und speichern die Design Rules unter
-einem neuen Namen ab.</description>
-<description language="en"><b>EAGLE Design Rules</b>
-<p>
-The default Design Rules have been set to cover
-a wide range of applications. Your particular design
-may have different requirements, so please make the
-necessary adjustments and save your customized
-design rules under a new name.</description>
-<param name="layerSetup" value="(1*16)"/>
-<param name="mtCopper" value="0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm"/>
-<param name="mtIsolate" value="1.5mm 0.15mm 0.2mm 0.15mm 0.2mm 0.15mm 0.2mm 0.15mm 0.2mm 0.15mm 0.2mm 0.15mm 0.2mm 0.15mm 0.2mm"/>
-<param name="mdWireWire" value="6mil"/>
-<param name="mdWirePad" value="6mil"/>
-<param name="mdWireVia" value="6mil"/>
-<param name="mdPadPad" value="6mil"/>
-<param name="mdPadVia" value="6mil"/>
-<param name="mdViaVia" value="6mil"/>
-<param name="mdSmdPad" value="6mil"/>
-<param name="mdSmdVia" value="6mil"/>
-<param name="mdSmdSmd" value="6mil"/>
-<param name="mdViaViaSameLayer" value="6mil"/>
-<param name="mnLayersViaInSmd" value="2"/>
-<param name="mdCopperDimension" value="8mil"/>
-<param name="mdDrill" value="8mil"/>
-<param name="mdSmdStop" value="0mil"/>
-<param name="msWidth" value="6mil"/>
-<param name="msDrill" value="0.3mm"/>
-<param name="msMicroVia" value="9.99mm"/>
-<param name="msBlindViaRatio" value="0.5"/>
-<param name="rvPadTop" value="0.15"/>
-<param name="rvPadInner" value="0.15"/>
-<param name="rvPadBottom" value="0.15"/>
-<param name="rvViaOuter" value="0.15"/>
-<param name="rvViaInner" value="0.15"/>
-<param name="rvMicroViaOuter" value="0.25"/>
-<param name="rvMicroViaInner" value="0.25"/>
-<param name="rlMinPadTop" value="6mil"/>
-<param name="rlMaxPadTop" value="20mil"/>
-<param name="rlMinPadInner" value="6mil"/>
-<param name="rlMaxPadInner" value="20mil"/>
-<param name="rlMinPadBottom" value="6mil"/>
-<param name="rlMaxPadBottom" value="20mil"/>
-<param name="rlMinViaOuter" value="6mil"/>
-<param name="rlMaxViaOuter" value="20mil"/>
-<param name="rlMinViaInner" value="6mil"/>
-<param name="rlMaxViaInner" value="20mil"/>
-<param name="rlMinMicroViaOuter" value="4mil"/>
-<param name="rlMaxMicroViaOuter" value="20mil"/>
-<param name="rlMinMicroViaInner" value="4mil"/>
-<param name="rlMaxMicroViaInner" value="20mil"/>
-<param name="psTop" value="-1"/>
-<param name="psBottom" value="-1"/>
-<param name="psFirst" value="-1"/>
-<param name="psElongationLong" value="100"/>
-<param name="psElongationOffset" value="100"/>
-<param name="mvStopFrame" value="1"/>
-<param name="mvCreamFrame" value="0"/>
-<param name="mlMinStopFrame" value="4mil"/>
-<param name="mlMaxStopFrame" value="4mil"/>
-<param name="mlMinCreamFrame" value="0mil"/>
-<param name="mlMaxCreamFrame" value="0mil"/>
-<param name="mlViaStopLimit" value="27mil"/>
-<param name="srRoundness" value="0"/>
-<param name="srMinRoundness" value="0mil"/>
-<param name="srMaxRoundness" value="0mil"/>
-<param name="slThermalIsolate" value="9mil"/>
-<param name="slThermalsForVias" value="0"/>
-<param name="dpMaxLengthDifference" value="10mm"/>
-<param name="dpGapFactor" value="2.5"/>
-<param name="checkAngle" value="0"/>
-<param name="checkFont" value="1"/>
-<param name="checkRestrict" value="1"/>
-<param name="checkStop" value="0"/>
-<param name="checkValues" value="0"/>
-<param name="useDiameter" value="13"/>
-<param name="maxErrors" value="50"/>
-</designrules>
-<autorouter>
-<pass name="Default">
-<param name="RoutingGrid" value="50mil"/>
-<param name="AutoGrid" value="1"/>
-<param name="Efforts" value="0"/>
-<param name="TopRouterVariant" value="1"/>
-<param name="tpViaShape" value="round"/>
-<param name="PrefDir.1" value="a"/>
-<param name="PrefDir.2" value="0"/>
-<param name="PrefDir.3" value="0"/>
-<param name="PrefDir.4" value="0"/>
-<param name="PrefDir.5" value="0"/>
-<param name="PrefDir.6" value="0"/>
-<param name="PrefDir.7" value="0"/>
-<param name="PrefDir.8" value="0"/>
-<param name="PrefDir.9" value="0"/>
-<param name="PrefDir.10" value="0"/>
-<param name="PrefDir.11" value="0"/>
-<param name="PrefDir.12" value="0"/>
-<param name="PrefDir.13" value="0"/>
-<param name="PrefDir.14" value="0"/>
-<param name="PrefDir.15" value="0"/>
-<param name="PrefDir.16" value="a"/>
-<param name="cfVia" value="8"/>
-<param name="cfNonPref" value="5"/>
-<param name="cfChangeDir" value="2"/>
-<param name="cfOrthStep" value="2"/>
-<param name="cfDiagStep" value="3"/>
-<param name="cfExtdStep" value="0"/>
-<param name="cfBonusStep" value="1"/>
-<param name="cfMalusStep" value="1"/>
-<param name="cfPadImpact" value="4"/>
-<param name="cfSmdImpact" value="4"/>
-<param name="cfBusImpact" value="0"/>
-<param name="cfHugging" value="3"/>
-<param name="cfAvoid" value="4"/>
-<param name="cfPolygon" value="10"/>
-<param name="cfBase.1" value="0"/>
-<param name="cfBase.2" value="1"/>
-<param name="cfBase.3" value="1"/>
-<param name="cfBase.4" value="1"/>
-<param name="cfBase.5" value="1"/>
-<param name="cfBase.6" value="1"/>
-<param name="cfBase.7" value="1"/>
-<param name="cfBase.8" value="1"/>
-<param name="cfBase.9" value="1"/>
-<param name="cfBase.10" value="1"/>
-<param name="cfBase.11" value="1"/>
-<param name="cfBase.12" value="1"/>
-<param name="cfBase.13" value="1"/>
-<param name="cfBase.14" value="1"/>
-<param name="cfBase.15" value="1"/>
-<param name="cfBase.16" value="0"/>
-<param name="mnVias" value="20"/>
-<param name="mnSegments" value="9999"/>
-<param name="mnExtdSteps" value="9999"/>
-<param name="mnRipupLevel" value="10"/>
-<param name="mnRipupSteps" value="100"/>
-<param name="mnRipupTotal" value="100"/>
-</pass>
-<pass name="Follow-me" refer="Default" active="yes">
-</pass>
-<pass name="Busses" refer="Default" active="yes">
-<param name="cfNonPref" value="4"/>
-<param name="cfBusImpact" value="4"/>
-<param name="cfHugging" value="0"/>
-<param name="mnVias" value="0"/>
-</pass>
-<pass name="Route" refer="Default" active="yes">
-</pass>
-<pass name="Optimize1" refer="Default" active="yes">
-<param name="cfVia" value="99"/>
-<param name="cfExtdStep" value="10"/>
-<param name="cfHugging" value="1"/>
-<param name="mnExtdSteps" value="1"/>
-<param name="mnRipupLevel" value="0"/>
-</pass>
-<pass name="Optimize2" refer="Optimize1" active="yes">
-<param name="cfNonPref" value="0"/>
-<param name="cfChangeDir" value="6"/>
-<param name="cfExtdStep" value="0"/>
-<param name="cfBonusStep" value="2"/>
-<param name="cfMalusStep" value="2"/>
-<param name="cfPadImpact" value="2"/>
-<param name="cfSmdImpact" value="2"/>
-<param name="cfHugging" value="0"/>
-</pass>
-<pass name="Optimize3" refer="Optimize2" active="yes">
-<param name="cfChangeDir" value="8"/>
-<param name="cfPadImpact" value="0"/>
-<param name="cfSmdImpact" value="0"/>
-</pass>
-<pass name="Optimize4" refer="Optimize3" active="yes">
-<param name="cfChangeDir" value="25"/>
-</pass>
-</autorouter>
-<elements>
-<element name="R13" library="borkedlabs-passives" package="R2512" value="50mOhm" x="24" y="19" rot="R180">
-<attribute name="PACKAGE" value="2512" x="24" y="19" size="1.778" layer="27" rot="R180" display="off"/>
-<attribute name="PRECISION" value="" x="24" y="19" size="1.778" layer="27" rot="R180" display="off"/>
-</element>
-<element name="S1" library="fab" package="TACT-SWITCH-KMR6" value="2-8X4-5_SWITCH" x="26" y="54.5"/>
-<element name="C4" library="borkedlabs-passives" package="0603-CAP" value="0.1uF 16v" x="40.1" y="46.2" rot="R180">
-<attribute name="PACKAGE" value="0603" x="40.1" y="46.2" size="1.778" layer="27" rot="R180" display="off"/>
-<attribute name="TYPE" value="" x="40.1" y="46.2" size="1.778" layer="27" rot="R180" display="off"/>
-<attribute name="VOLTAGE" value="" x="40.1" y="46.2" size="1.778" layer="27" rot="R180" display="off"/>
-</element>
-<element name="C3" library="borkedlabs-passives" package="0603-CAP" value="0.1uF 16v" x="42.6" y="42.7" rot="R180">
-<attribute name="PACKAGE" value="0603" x="42.6" y="42.7" size="1.778" layer="27" rot="R180" display="off"/>
-<attribute name="TYPE" value="" x="42.6" y="42.7" size="1.778" layer="27" rot="R180" display="off"/>
-<attribute name="VOLTAGE" value="" x="42.6" y="42.7" size="1.778" layer="27" rot="R180" display="off"/>
-</element>
-<element name="C2" library="borkedlabs-passives" package="0603-CAP" value="0.1uF 16v" x="30.2" y="38.1" rot="R270">
-<attribute name="PACKAGE" value="0603" x="30.2" y="38.1" size="1.778" layer="27" rot="R270" display="off"/>
-<attribute name="TYPE" value="" x="30.2" y="38.1" size="1.778" layer="27" rot="R270" display="off"/>
-<attribute name="VOLTAGE" value="" x="30.2" y="38.1" size="1.778" layer="27" rot="R270" display="off"/>
-</element>
-<element name="C1" library="borkedlabs-passives" package="0603-CAP" value="0.1uF 16v" x="41.9" y="36.8" rot="R90">
-<attribute name="PACKAGE" value="0603" x="41.9" y="36.8" size="1.778" layer="27" rot="R90" display="off"/>
-<attribute name="TYPE" value="" x="41.9" y="36.8" size="1.778" layer="27" rot="R90" display="off"/>
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diff --git a/circuit/atkstepper23/atkstepper23.sch b/circuit/atkstepper23/atkstepper23.sch
deleted file mode 100644
index 35e9449acfa0a7c04345913b9e9c40a968f86fd3..0000000000000000000000000000000000000000
--- a/circuit/atkstepper23/atkstepper23.sch
+++ /dev/null
@@ -1,4801 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE eagle SYSTEM "eagle.dtd">
-<eagle version="9.0.0">
-<drawing>
-<settings>
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-<setting verticaltext="up"/>
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-<smd name="1" x="-0.8" y="0" dx="0.96" dy="0.8" layer="1"/>
-<smd name="2" x="0.8" y="0" dx="0.96" dy="0.8" layer="1"/>
-<text x="-0.889" y="1.397" size="1.016" layer="25">>NAME</text>
-<text x="-1.016" y="-2.413" size="1.016" layer="27">>VALUE</text>
-<rectangle x1="-0.8382" y1="-0.4" x2="-0.3381" y2="0.4" layer="51"/>
-<rectangle x1="0.3302" y1="-0.4" x2="0.8303" y2="0.4" layer="51"/>
-<rectangle x1="-0.1999" y1="-0.3" x2="0.1999" y2="0.3" layer="35"/>
-</package>
-<package name="0402-CAP">
-<description><b>CAPACITOR</b><p>
-chip</description>
-<wire x1="-0.245" y1="0.224" x2="0.245" y2="0.224" width="0.1524" layer="51"/>
-<wire x1="0.245" y1="-0.224" x2="-0.245" y2="-0.224" width="0.1524" layer="51"/>
-<wire x1="-1.473" y1="0.483" x2="1.473" y2="0.483" width="0.0508" layer="39"/>
-<wire x1="1.473" y1="0.483" x2="1.473" y2="-0.483" width="0.0508" layer="39"/>
-<wire x1="1.473" y1="-0.483" x2="-1.473" y2="-0.483" width="0.0508" layer="39"/>
-<wire x1="-1.473" y1="-0.483" x2="-1.473" y2="0.483" width="0.0508" layer="39"/>
-<wire x1="0" y1="0.0305" x2="0" y2="-0.0305" width="0.4064" layer="21"/>
-<smd name="1" x="-0.65" y="0" dx="0.7" dy="0.9" layer="1"/>
-<smd name="2" x="0.65" y="0" dx="0.7" dy="0.9" layer="1"/>
-<text x="-0.889" y="0.6985" size="1.016" layer="25">>NAME</text>
-<text x="-1.0795" y="-2.413" size="1.016" layer="27">>VALUE</text>
-<rectangle x1="-0.554" y1="-0.3048" x2="-0.254" y2="0.2951" layer="51"/>
-<rectangle x1="0.2588" y1="-0.3048" x2="0.5588" y2="0.2951" layer="51"/>
-<rectangle x1="-0.1999" y1="-0.3" x2="0.1999" y2="0.3" layer="35"/>
-</package>
-<package name="1210">
-<wire x1="-1.6" y1="1.3" x2="1.6" y2="1.3" width="0.127" layer="51"/>
-<wire x1="1.6" y1="1.3" x2="1.6" y2="-1.3" width="0.127" layer="51"/>
-<wire x1="1.6" y1="-1.3" x2="-1.6" y2="-1.3" width="0.127" layer="51"/>
-<wire x1="-1.6" y1="-1.3" x2="-1.6" y2="1.3" width="0.127" layer="51"/>
-<wire x1="-1.6" y1="1.3" x2="1.6" y2="1.3" width="0.2032" layer="21"/>
-<wire x1="-1.6" y1="-1.3" x2="1.6" y2="-1.3" width="0.2032" layer="21"/>
-<smd name="1" x="-1.6" y="0" dx="1.2" dy="2" layer="1"/>
-<smd name="2" x="1.6" y="0" dx="1.2" dy="2" layer="1"/>
-<text x="-2.07" y="1.77" size="1.016" layer="25">>NAME</text>
-<text x="-2.17" y="-3.24" size="1.016" layer="27">>VALUE</text>
-</package>
-<package name="6.6X6.6-CAP">
-<wire x1="-3.25" y1="3.25" x2="1.55" y2="3.25" width="0.1016" layer="51"/>
-<wire x1="1.55" y1="3.25" x2="3.25" y2="1.55" width="0.1016" layer="51"/>
-<wire x1="3.25" y1="1.55" x2="3.25" y2="-1.55" width="0.1016" layer="51"/>
-<wire x1="3.25" y1="-1.55" x2="1.55" y2="-3.25" width="0.1016" layer="51"/>
-<wire x1="1.55" y1="-3.25" x2="-3.25" y2="-3.25" width="0.1016" layer="51"/>
-<wire x1="-3.25" y1="-3.25" x2="-3.25" y2="3.25" width="0.1016" layer="51"/>
-<wire x1="-2.1" y1="2.25" x2="-2.1" y2="-2.2" width="0.1016" layer="51"/>
-<circle x="0" y="0" radius="3.1" width="0.1016" layer="51"/>
-<smd name="+" x="2.4" y="0" dx="3" dy="1.4" layer="1"/>
-<smd name="-" x="-2.4" y="0" dx="3" dy="1.4" layer="1"/>
-<text x="-2.75" y="4" size="1.016" layer="25">>NAME</text>
-<text x="-2.75" y="-4.975" size="1.016" layer="27">>VALUE</text>
-<rectangle x1="-3.65" y1="-0.35" x2="-3.05" y2="0.35" layer="51"/>
-<rectangle x1="3.05" y1="-0.35" x2="3.65" y2="0.35" layer="51"/>
-<polygon width="0.1016" layer="51">
-<vertex x="-2.15" y="2.15"/>
-<vertex x="-2.6" y="1.6"/>
-<vertex x="-2.9" y="0.9"/>
-<vertex x="-3.05" y="0"/>
-<vertex x="-2.9" y="-0.95"/>
-<vertex x="-2.55" y="-1.65"/>
-<vertex x="-2.15" y="-2.15"/>
-<vertex x="-2.15" y="2.1"/>
-</polygon>
-<text x="-0.762" y="1.27" size="0.6096" layer="21" font="vector">BFC</text>
-<wire x1="1.905" y1="1.524" x2="1.397" y2="1.524" width="0.127" layer="21"/>
-<wire x1="1.651" y1="1.778" x2="1.651" y2="1.27" width="0.127" layer="21"/>
-<wire x1="-1.905" y1="1.524" x2="-1.397" y2="1.524" width="0.127" layer="21"/>
-</package>
-</packages>
-<symbols>
-<symbol name="RESISTOR">
-<wire x1="-2.54" y1="0" x2="-2.159" y2="1.016" width="0.1524" layer="94"/>
-<wire x1="-2.159" y1="1.016" x2="-1.524" y2="-1.016" width="0.1524" layer="94"/>
-<wire x1="-1.524" y1="-1.016" x2="-0.889" y2="1.016" width="0.1524" layer="94"/>
-<wire x1="-0.889" y1="1.016" x2="-0.254" y2="-1.016" width="0.1524" layer="94"/>
-<wire x1="-0.254" y1="-1.016" x2="0.381" y2="1.016" width="0.1524" layer="94"/>
-<wire x1="0.381" y1="1.016" x2="1.016" y2="-1.016" width="0.1524" layer="94"/>
-<wire x1="1.016" y1="-1.016" x2="1.651" y2="1.016" width="0.1524" layer="94"/>
-<wire x1="1.651" y1="1.016" x2="2.286" y2="-1.016" width="0.1524" layer="94"/>
-<wire x1="2.286" y1="-1.016" x2="2.54" y2="0" width="0.1524" layer="94"/>
-<text x="-3.81" y="1.4986" size="1.778" layer="95">>NAME</text>
-<text x="-3.81" y="-3.302" size="1.778" layer="96">>VALUE</text>
-<pin name="2" x="5.08" y="0" visible="off" length="short" direction="pas" swaplevel="1" rot="R180"/>
-<pin name="1" x="-5.08" y="0" visible="off" length="short" direction="pas" swaplevel="1"/>
-<text x="-3.81" y="-6.858" size="1.27" layer="97">>PRECISION</text>
-<text x="-3.81" y="-5.08" size="1.27" layer="97">>PACKAGE</text>
-</symbol>
-<symbol name="CAP">
-<wire x1="0" y1="2.54" x2="0" y2="2.032" width="0.1524" layer="94"/>
-<wire x1="0" y1="0" x2="0" y2="0.508" width="0.1524" layer="94"/>
-<text x="1.524" y="2.921" size="1.778" layer="95">>NAME</text>
-<text x="1.524" y="-2.159" size="1.778" layer="96">>VALUE</text>
-<rectangle x1="-2.032" y1="0.508" x2="2.032" y2="1.016" layer="94"/>
-<rectangle x1="-2.032" y1="1.524" x2="2.032" y2="2.032" layer="94"/>
-<pin name="1" x="0" y="5.08" visible="off" length="short" direction="pas" swaplevel="1" rot="R270"/>
-<pin name="2" x="0" y="-2.54" visible="off" length="short" direction="pas" swaplevel="1" rot="R90"/>
-<text x="1.524" y="-4.064" size="1.27" layer="97">>PACKAGE</text>
-<text x="1.524" y="-5.842" size="1.27" layer="97">>VOLTAGE</text>
-<text x="1.524" y="-7.62" size="1.27" layer="97">>TYPE</text>
-</symbol>
-<symbol name="CAP-POL">
-<wire x1="-2.54" y1="0" x2="2.54" y2="0" width="0.254" layer="94"/>
-<wire x1="0" y1="-1.016" x2="0" y2="-2.54" width="0.1524" layer="94"/>
-<wire x1="0" y1="-1" x2="2.4892" y2="-1.8542" width="0.254" layer="94" curve="-37.878202" cap="flat"/>
-<wire x1="-2.4669" y1="-1.8504" x2="0" y2="-1.0161" width="0.254" layer="94" curve="-37.376341" cap="flat"/>
-<text x="1.016" y="0.635" size="1.778" layer="95">>NAME</text>
-<text x="1.016" y="-4.191" size="1.778" layer="96">>VALUE</text>
-<rectangle x1="-2.253" y1="0.668" x2="-1.364" y2="0.795" layer="94"/>
-<rectangle x1="-1.872" y1="0.287" x2="-1.745" y2="1.176" layer="94"/>
-<pin name="+" x="0" y="2.54" visible="off" length="short" direction="pas" swaplevel="1" rot="R270"/>
-<pin name="-" x="0" y="-5.08" visible="off" length="short" direction="pas" swaplevel="1" rot="R90"/>
-</symbol>
-</symbols>
-<devicesets>
-<deviceset name="RESISTOR" prefix="R" uservalue="yes">
-<description><b>Resistor</b>
-Basic schematic elements and footprints for 0603, 1206, and PTH resistors.</description>
-<gates>
-<gate name="G$1" symbol="RESISTOR" x="0" y="0"/>
-</gates>
-<devices>
-<device name="1206" package="1206">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PACKAGE" value="1206" constant="no"/>
-<attribute name="PRECISION" value="" constant="no"/>
-</technology>
-</technologies>
-</device>
-<device name="2010" package="R2010">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PACKAGE" value="2010"/>
-<attribute name="PRECISION" value="" constant="no"/>
-</technology>
-</technologies>
-</device>
-<device name="0805-RES" package="0805">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PACKAGE" value="0805"/>
-<attribute name="PRECISION" value="" constant="no"/>
-</technology>
-</technologies>
-</device>
-<device name="0603-RES" package="0603-RES">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PACKAGE" value="0603"/>
-<attribute name="PRECISION" value="" constant="no"/>
-</technology>
-</technologies>
-</device>
-<device name="0402-RES" package="0402-RES">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PACKAGE" value="0402"/>
-<attribute name="PRECISION" value="" constant="no"/>
-</technology>
-</technologies>
-</device>
-<device name="2512" package="R2512">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PACKAGE" value="2512"/>
-<attribute name="PRECISION" value="" constant="no"/>
-</technology>
-</technologies>
-</device>
-<device name="TO220ACS" package="TO220ACS">
-<connects>
-<connect gate="G$1" pin="1" pad="A"/>
-<connect gate="G$1" pin="2" pad="C"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-</devices>
-</deviceset>
-<deviceset name="CAP" prefix="C" uservalue="yes">
-<description><b>Capacitor</b>
-Standard 0603 ceramic capacitor, and 0.1" leaded capacitor.</description>
-<gates>
-<gate name="G$1" symbol="CAP" x="0" y="0"/>
-</gates>
-<devices>
-<device name="0805" package="0805">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PACKAGE" value="0805"/>
-<attribute name="TYPE" value="" constant="no"/>
-<attribute name="VOLTAGE" value="" constant="no"/>
-</technology>
-</technologies>
-</device>
-<device name="0603-CAP" package="0603-CAP">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PACKAGE" value="0603"/>
-<attribute name="TYPE" value="" constant="no"/>
-<attribute name="VOLTAGE" value="" constant="no"/>
-</technology>
-</technologies>
-</device>
-<device name="0402-CAP" package="0402-CAP">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PACKAGE" value="0402"/>
-<attribute name="TYPE" value="" constant="no"/>
-<attribute name="VOLTAGE" value="" constant="no"/>
-</technology>
-</technologies>
-</device>
-<device name="1210" package="1210">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PACKAGE" value="1210" constant="no"/>
-<attribute name="TYPE" value="" constant="no"/>
-<attribute name="VOLTAGE" value="" constant="no"/>
-</technology>
-</technologies>
-</device>
-<device name="1206" package="1206">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PACKAGE" value="1206" constant="no"/>
-<attribute name="TYPE" value="" constant="no"/>
-<attribute name="VOLTAGE" value="" constant="no"/>
-</technology>
-</technologies>
-</device>
-</devices>
-</deviceset>
-<deviceset name="CAP-POL" prefix="C" uservalue="yes">
-<gates>
-<gate name="G$1" symbol="CAP-POL" x="0" y="0"/>
-</gates>
-<devices>
-<device name="-6.6X6.6" package="6.6X6.6-CAP">
-<connects>
-<connect gate="G$1" pin="+" pad="+"/>
-<connect gate="G$1" pin="-" pad="-"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-</devices>
-</deviceset>
-</devicesets>
-</library>
-<library name="fab">
-<packages>
-<package name="TACT-SWITCH-KMR6">
-<smd name="P$1" x="-2.05" y="0.8" dx="0.9" dy="1" layer="1" rot="R180"/>
-<smd name="P$2" x="2.05" y="0.8" dx="0.9" dy="1" layer="1" rot="R180"/>
-<smd name="P$3" x="-2.05" y="-0.8" dx="0.9" dy="1" layer="1" rot="R180"/>
-<smd name="P$4" x="2.05" y="-0.8" dx="0.9" dy="1" layer="1" rot="R180"/>
-<smd name="P$5" x="0" y="1.5" dx="1.7" dy="0.55" layer="1" rot="R180"/>
-<wire x1="-1.4" y1="0.8" x2="0" y2="0.8" width="0.127" layer="51"/>
-<wire x1="0" y1="0.8" x2="1.4" y2="0.8" width="0.127" layer="51"/>
-<wire x1="-1.4" y1="-0.8" x2="0" y2="-0.8" width="0.127" layer="51"/>
-<wire x1="0" y1="-0.8" x2="1.4" y2="-0.8" width="0.127" layer="51"/>
-<wire x1="0" y1="0.8" x2="0" y2="0.6" width="0.127" layer="51"/>
-<wire x1="0" y1="0.6" x2="0.4" y2="-0.4" width="0.127" layer="51"/>
-<wire x1="0" y1="-0.8" x2="0" y2="-0.5" width="0.127" layer="51"/>
-<wire x1="-2.1" y1="0.2" x2="-2.1" y2="-0.2" width="0.127" layer="51"/>
-<wire x1="2.1" y1="-0.2" x2="2.1" y2="0.2" width="0.127" layer="51"/>
-<wire x1="2.1" y1="1.4" x2="2.1" y2="1.5" width="0.127" layer="51"/>
-<wire x1="2.1" y1="1.5" x2="1" y2="1.5" width="0.127" layer="51"/>
-<wire x1="-1" y1="1.5" x2="-2.1" y2="1.5" width="0.127" layer="51"/>
-<wire x1="-2.1" y1="1.5" x2="-2.1" y2="1.4" width="0.127" layer="51"/>
-<wire x1="-2.1" y1="-1.4" x2="-2.1" y2="-1.5" width="0.127" layer="51"/>
-<wire x1="-2.1" y1="-1.5" x2="2.1" y2="-1.5" width="0.127" layer="51"/>
-<wire x1="2.1" y1="-1.5" x2="2.1" y2="-1.4" width="0.127" layer="51"/>
-</package>
-</packages>
-<symbols>
-<symbol name="TS2">
-<wire x1="0" y1="1.905" x2="0" y2="2.54" width="0.254" layer="94"/>
-<wire x1="-4.445" y1="1.905" x2="-3.175" y2="1.905" width="0.254" layer="94"/>
-<wire x1="-4.445" y1="-1.905" x2="-3.175" y2="-1.905" width="0.254" layer="94"/>
-<wire x1="-4.445" y1="1.905" x2="-4.445" y2="0" width="0.254" layer="94"/>
-<wire x1="-4.445" y1="0" x2="-4.445" y2="-1.905" width="0.254" layer="94"/>
-<wire x1="-2.54" y1="0" x2="-1.905" y2="0" width="0.1524" layer="94"/>
-<wire x1="-1.27" y1="0" x2="-0.635" y2="0" width="0.1524" layer="94"/>
-<wire x1="-4.445" y1="0" x2="-3.175" y2="0" width="0.1524" layer="94"/>
-<wire x1="2.54" y1="2.54" x2="0" y2="2.54" width="0.1524" layer="94"/>
-<wire x1="2.54" y1="-2.54" x2="0" y2="-2.54" width="0.1524" layer="94"/>
-<wire x1="0" y1="-2.54" x2="-1.27" y2="1.905" width="0.254" layer="94"/>
-<circle x="0" y="-2.54" radius="0.127" width="0.4064" layer="94"/>
-<circle x="0" y="2.54" radius="0.127" width="0.4064" layer="94"/>
-<text x="-6.35" y="-2.54" size="1.778" layer="95" rot="R90">>NAME</text>
-<text x="-3.81" y="3.175" size="1.778" layer="96" rot="R90">>VALUE</text>
-<pin name="P" x="0" y="-5.08" visible="pad" length="short" direction="pas" swaplevel="2" rot="R90"/>
-<pin name="S" x="0" y="5.08" visible="pad" length="short" direction="pas" swaplevel="1" rot="R270"/>
-<pin name="S1" x="2.54" y="5.08" visible="pad" length="short" direction="pas" swaplevel="1" rot="R270"/>
-<pin name="P1" x="2.54" y="-5.08" visible="pad" length="short" direction="pas" swaplevel="2" rot="R90"/>
-</symbol>
-</symbols>
-<devicesets>
-<deviceset name="2-8X4-5_SWITCH" prefix="S">
-<gates>
-<gate name="G$1" symbol="TS2" x="0" y="0"/>
-</gates>
-<devices>
-<device name="" package="TACT-SWITCH-KMR6">
-<connects>
-<connect gate="G$1" pin="P" pad="P$1"/>
-<connect gate="G$1" pin="P1" pad="P$2"/>
-<connect gate="G$1" pin="S" pad="P$3"/>
-<connect gate="G$1" pin="S1" pad="P$4"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-</devices>
-</deviceset>
-</devicesets>
-</library>
-<library name="supply1" urn="urn:adsk.eagle:library:371">
-<description><b>Supply Symbols</b><p>
- GND, VCC, 0V, +5V, -5V, etc.<p>
- Please keep in mind, that these devices are necessary for the
- automatic wiring of the supply signals.<p>
- The pin name defined in the symbol is identical to the net which is to be wired automatically.<p>
- In this library the device names are the same as the pin names of the symbols, therefore the correct signal names appear next to the supply symbols in the schematic.<p>
- <author>Created by librarian@cadsoft.de</author></description>
-<packages>
-</packages>
-<symbols>
-<symbol name="+3V3" urn="urn:adsk.eagle:symbol:26950/1" library_version="1">
-<wire x1="1.27" y1="-1.905" x2="0" y2="0" width="0.254" layer="94"/>
-<wire x1="0" y1="0" x2="-1.27" y2="-1.905" width="0.254" layer="94"/>
-<text x="-2.54" y="-5.08" size="1.778" layer="96" rot="R90">>VALUE</text>
-<pin name="+3V3" x="0" y="-2.54" visible="off" length="short" direction="sup" rot="R90"/>
-</symbol>
-<symbol name="GND" urn="urn:adsk.eagle:symbol:26925/1" library_version="1">
-<wire x1="-1.905" y1="0" x2="1.905" y2="0" width="0.254" layer="94"/>
-<text x="-2.54" y="-2.54" size="1.778" layer="96">>VALUE</text>
-<pin name="GND" x="0" y="2.54" visible="off" length="short" direction="sup" rot="R270"/>
-</symbol>
-<symbol name="V+" urn="urn:adsk.eagle:symbol:26939/1" library_version="1">
-<wire x1="0.889" y1="-1.27" x2="0" y2="0.127" width="0.254" layer="94"/>
-<wire x1="0" y1="0.127" x2="-0.889" y2="-1.27" width="0.254" layer="94"/>
-<wire x1="-0.889" y1="-1.27" x2="0.889" y2="-1.27" width="0.254" layer="94"/>
-<text x="-2.54" y="-2.54" size="1.778" layer="96" rot="R90">>VALUE</text>
-<pin name="V+" x="0" y="-2.54" visible="off" length="short" direction="sup" rot="R90"/>
-</symbol>
-</symbols>
-<devicesets>
-<deviceset name="+3V3" urn="urn:adsk.eagle:component:26981/1" prefix="+3V3" library_version="1">
-<description><b>SUPPLY SYMBOL</b></description>
-<gates>
-<gate name="G$1" symbol="+3V3" x="0" y="0"/>
-</gates>
-<devices>
-<device name="">
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-</devices>
-</deviceset>
-<deviceset name="GND" urn="urn:adsk.eagle:component:26954/1" prefix="GND" library_version="1">
-<description><b>SUPPLY SYMBOL</b></description>
-<gates>
-<gate name="1" symbol="GND" x="0" y="0"/>
-</gates>
-<devices>
-<device name="">
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-</devices>
-</deviceset>
-<deviceset name="V+" urn="urn:adsk.eagle:component:26966/1" prefix="P+" library_version="1">
-<description><b>SUPPLY SYMBOL</b></description>
-<gates>
-<gate name="1" symbol="V+" x="0" y="0"/>
-</gates>
-<devices>
-<device name="">
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-</devices>
-</deviceset>
-</devicesets>
-</library>
-<library name="SparkFun-Connectors">
-<description><h3>SparkFun Connectors</h3>
-This library contains electrically-functional connectors.
-<br>
-<br>
-We've spent an enormous amount of time creating and checking these footprints and parts, but it is <b> the end user's responsibility</b> to ensure correctness and suitablity for a given componet or application.
-<br>
-<br>If you enjoy using this library, please buy one of our products at <a href=" www.sparkfun.com">SparkFun.com</a>.
-<br>
-<br>
-<b>Licensing:</b> Creative Commons ShareAlike 4.0 International - https://creativecommons.org/licenses/by-sa/4.0/
-<br>
-<br>
-You are welcome to use this library for commercial purposes. For attribution, we ask that when you begin to sell your device using our footprint, you email us with a link to the product being sold. We want bragging rights that we helped (in a very small part) to create your 8th world wonder. We would like the opportunity to feature your device on our homepage.</description>
-<packages>
-<package name="1X04">
-<description><h3>Plated Through Hole - 4 Pin</h3>
-<p>Specifications:
-<ul><li>Pin count:4</li>
-<li>Pin pitch:0.1"</li>
-</ul></p>
-<p>Example device(s):
-<ul><li>CONN_04</li>
-</ul></p></description>
-<wire x1="6.985" y1="1.27" x2="8.255" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="8.255" y1="1.27" x2="8.89" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="8.89" y1="-0.635" x2="8.255" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="3.81" y1="0.635" x2="4.445" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="4.445" y1="1.27" x2="5.715" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="5.715" y1="1.27" x2="6.35" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="6.35" y1="-0.635" x2="5.715" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="5.715" y1="-1.27" x2="4.445" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="4.445" y1="-1.27" x2="3.81" y2="-0.635" width="0.2032" layer="21"/>
-<wire x1="6.985" y1="1.27" x2="6.35" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="6.35" y1="-0.635" x2="6.985" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="8.255" y1="-1.27" x2="6.985" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="-0.635" y1="1.27" x2="0.635" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="0.635" y1="1.27" x2="1.27" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="1.27" y1="-0.635" x2="0.635" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="1.27" y1="0.635" x2="1.905" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="1.905" y1="1.27" x2="3.175" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="3.175" y1="1.27" x2="3.81" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="3.81" y1="-0.635" x2="3.175" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="3.175" y1="-1.27" x2="1.905" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="1.905" y1="-1.27" x2="1.27" y2="-0.635" width="0.2032" layer="21"/>
-<wire x1="-1.27" y1="0.635" x2="-1.27" y2="-0.635" width="0.2032" layer="21"/>
-<wire x1="-0.635" y1="1.27" x2="-1.27" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="-1.27" y1="-0.635" x2="-0.635" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="0.635" y1="-1.27" x2="-0.635" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="8.89" y1="0.635" x2="8.89" y2="-0.635" width="0.2032" layer="21"/>
-<pad name="1" x="0" y="0" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="2" x="2.54" y="0" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="3" x="5.08" y="0" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="4" x="7.62" y="0" drill="1.016" diameter="1.8796" rot="R90"/>
-<rectangle x1="7.366" y1="-0.254" x2="7.874" y2="0.254" layer="51"/>
-<rectangle x1="4.826" y1="-0.254" x2="5.334" y2="0.254" layer="51"/>
-<rectangle x1="2.286" y1="-0.254" x2="2.794" y2="0.254" layer="51"/>
-<rectangle x1="-0.254" y1="-0.254" x2="0.254" y2="0.254" layer="51"/>
-<text x="-1.27" y="1.397" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-1.27" y="-2.032" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="MOLEX-1X4">
-<description><h3>Molex 4-Pin Plated Through-Hole</h3>
-<p>Specifications:
-<ul><li>Pin count:4</li>
-<li>Pin pitch:0.1"</li>
-</ul></p>
-<p><a href=”https://www.sparkfun.com/datasheets/Prototyping/2pin_molex_set_19iv10.pdf”>Datasheet referenced for footprint</a></p>
-<p>Example device(s):
-<ul><li>CONN_04</li>
-</ul></p></description>
-<wire x1="-1.27" y1="3.048" x2="-1.27" y2="-2.54" width="0.127" layer="21"/>
-<wire x1="8.89" y1="3.048" x2="8.89" y2="-2.54" width="0.127" layer="21"/>
-<wire x1="8.89" y1="3.048" x2="-1.27" y2="3.048" width="0.127" layer="21"/>
-<wire x1="8.89" y1="-2.54" x2="7.62" y2="-2.54" width="0.127" layer="21"/>
-<wire x1="7.62" y1="-2.54" x2="0" y2="-2.54" width="0.127" layer="21"/>
-<wire x1="0" y1="-2.54" x2="-1.27" y2="-2.54" width="0.127" layer="21"/>
-<wire x1="0" y1="-2.54" x2="0" y2="-1.27" width="0.127" layer="21"/>
-<wire x1="0" y1="-1.27" x2="7.62" y2="-1.27" width="0.127" layer="21"/>
-<wire x1="7.62" y1="-1.27" x2="7.62" y2="-2.54" width="0.127" layer="21"/>
-<pad name="1" x="0" y="0" drill="1.016" diameter="1.8796" shape="square"/>
-<pad name="2" x="2.54" y="0" drill="1.016" diameter="1.8796"/>
-<pad name="3" x="5.08" y="0" drill="1.016" diameter="1.8796"/>
-<pad name="4" x="7.62" y="0" drill="1.016" diameter="1.8796"/>
-<text x="2.286" y="3.302" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="2.286" y="-3.429" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="SCREWTERMINAL-3.5MM-4">
-<description><h3>Screw Terminal 3.5mm Pitch -4 Pin PTH</h3>
-<p>Specifications:
-<ul><li>Pin count: 4</li>
-<li>Pin pitch: 3.5mm/138mil</li>
-</ul></p>
-<p><a href=”https://www.sparkfun.com/datasheets/Prototyping/Screw-Terminal-3.5mm.pdf”>Datasheet referenced for footprint</a></p>
-<p>Example device(s):
-<ul><li>CONN_04</li>
-</ul></p></description>
-<wire x1="-1.75" y1="3.4" x2="12.25" y2="3.4" width="0.2032" layer="21"/>
-<wire x1="12.25" y1="3.4" x2="12.25" y2="-2.8" width="0.2032" layer="21"/>
-<wire x1="12.25" y1="-2.8" x2="12.25" y2="-3.6" width="0.2032" layer="21"/>
-<wire x1="12.25" y1="-3.6" x2="-1.75" y2="-3.6" width="0.2032" layer="21"/>
-<wire x1="-1.75" y1="-3.6" x2="-1.75" y2="-2.8" width="0.2032" layer="21"/>
-<wire x1="-1.75" y1="-2.8" x2="-1.75" y2="3.4" width="0.2032" layer="21"/>
-<wire x1="12.25" y1="-2.8" x2="-1.75" y2="-2.8" width="0.2032" layer="21"/>
-<wire x1="-1.75" y1="-1.35" x2="-2.25" y2="-1.35" width="0.2032" layer="51"/>
-<wire x1="-2.25" y1="-1.35" x2="-2.25" y2="-2.35" width="0.2032" layer="51"/>
-<wire x1="-2.25" y1="-2.35" x2="-1.75" y2="-2.35" width="0.2032" layer="51"/>
-<wire x1="12.25" y1="3.15" x2="12.75" y2="3.15" width="0.2032" layer="51"/>
-<wire x1="12.75" y1="3.15" x2="12.75" y2="2.15" width="0.2032" layer="51"/>
-<wire x1="12.75" y1="2.15" x2="12.25" y2="2.15" width="0.2032" layer="51"/>
-<circle x="0" y="0" radius="0.425" width="0.001" layer="51"/>
-<circle x="3.5" y="0" radius="0.425" width="0.001" layer="51"/>
-<circle x="7" y="0" radius="0.425" width="0.001" layer="51"/>
-<circle x="10.5" y="0" radius="0.425" width="0.001" layer="51"/>
-<pad name="1" x="0" y="0" drill="1.2" diameter="2.032" shape="square"/>
-<pad name="2" x="3.5" y="0" drill="1.2" diameter="2.032"/>
-<pad name="3" x="7" y="0" drill="1.2" diameter="2.032"/>
-<pad name="4" x="10.5" y="0" drill="1.2" diameter="2.032"/>
-<text x="0" y="2.413" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="0" y="-2.286" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="1X04_1.27MM">
-<description><h3>Plated Through Hole - 4 Pin</h3>
-<p>Specifications:
-<ul><li>Pin count:4</li>
-<li>Pin pitch: 1.27mm</li>
-</ul></p>
-<p>Example device(s):
-<ul><li>CONN_04</li>
-</ul></p></description>
-<wire x1="-0.381" y1="-0.889" x2="0.381" y2="-0.889" width="0.127" layer="21"/>
-<wire x1="0.381" y1="-0.889" x2="0.635" y2="-0.635" width="0.127" layer="21"/>
-<wire x1="0.635" y1="-0.635" x2="0.889" y2="-0.889" width="0.127" layer="21"/>
-<wire x1="0.889" y1="-0.889" x2="1.651" y2="-0.889" width="0.127" layer="21"/>
-<wire x1="1.651" y1="-0.889" x2="1.905" y2="-0.635" width="0.127" layer="21"/>
-<wire x1="1.905" y1="-0.635" x2="2.159" y2="-0.889" width="0.127" layer="21"/>
-<wire x1="2.159" y1="-0.889" x2="2.921" y2="-0.889" width="0.127" layer="21"/>
-<wire x1="2.921" y1="-0.889" x2="3.175" y2="-0.635" width="0.127" layer="21"/>
-<wire x1="3.175" y1="-0.635" x2="3.429" y2="-0.889" width="0.127" layer="21"/>
-<wire x1="3.429" y1="-0.889" x2="4.191" y2="-0.889" width="0.127" layer="21"/>
-<wire x1="4.191" y1="0.889" x2="3.429" y2="0.889" width="0.127" layer="21"/>
-<wire x1="3.429" y1="0.889" x2="3.175" y2="0.635" width="0.127" layer="21"/>
-<wire x1="3.175" y1="0.635" x2="2.921" y2="0.889" width="0.127" layer="21"/>
-<wire x1="2.921" y1="0.889" x2="2.159" y2="0.889" width="0.127" layer="21"/>
-<wire x1="2.159" y1="0.889" x2="1.905" y2="0.635" width="0.127" layer="21"/>
-<wire x1="1.905" y1="0.635" x2="1.651" y2="0.889" width="0.127" layer="21"/>
-<wire x1="1.651" y1="0.889" x2="0.889" y2="0.889" width="0.127" layer="21"/>
-<wire x1="0.889" y1="0.889" x2="0.635" y2="0.635" width="0.127" layer="21"/>
-<wire x1="0.635" y1="0.635" x2="0.381" y2="0.889" width="0.127" layer="21"/>
-<wire x1="0.381" y1="0.889" x2="-0.381" y2="0.889" width="0.127" layer="21"/>
-<wire x1="-0.381" y1="0.889" x2="-0.889" y2="0.381" width="0.127" layer="21"/>
-<wire x1="-0.889" y1="-0.381" x2="-0.381" y2="-0.889" width="0.127" layer="21"/>
-<wire x1="-0.889" y1="0.381" x2="-0.889" y2="-0.381" width="0.127" layer="21"/>
-<wire x1="4.191" y1="0.889" x2="4.699" y2="0.381" width="0.127" layer="21"/>
-<wire x1="4.699" y1="0.381" x2="4.699" y2="-0.381" width="0.127" layer="21"/>
-<wire x1="4.699" y1="-0.381" x2="4.191" y2="-0.889" width="0.127" layer="21"/>
-<pad name="4" x="3.81" y="0" drill="0.508" diameter="1"/>
-<pad name="3" x="2.54" y="0" drill="0.508" diameter="1"/>
-<pad name="2" x="1.27" y="0" drill="0.508" diameter="1"/>
-<pad name="1" x="0" y="0" drill="0.508" diameter="1"/>
-<text x="-0.508" y="1.016" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-0.508" y="-1.651" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="1X04_LOCK">
-<description><h3>Plated Through Hole - 4 Pin Locking Footprint</h3>
-Pins are offset 0.005" from center to lock pins in place during soldering.
-<p>Specifications:
-<ul><li>Pin count:4</li>
-<li>Pin pitch:0.1"</li>
-</ul></p>
-<p>Example device(s):
-<ul><li>CONN_04</li>
-</ul></p></description>
-<wire x1="6.985" y1="1.27" x2="8.255" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="8.255" y1="1.27" x2="8.89" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="8.89" y1="-0.635" x2="8.255" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="3.81" y1="0.635" x2="4.445" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="4.445" y1="1.27" x2="5.715" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="5.715" y1="1.27" x2="6.35" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="6.35" y1="-0.635" x2="5.715" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="5.715" y1="-1.27" x2="4.445" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="4.445" y1="-1.27" x2="3.81" y2="-0.635" width="0.2032" layer="21"/>
-<wire x1="6.985" y1="1.27" x2="6.35" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="6.35" y1="-0.635" x2="6.985" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="8.255" y1="-1.27" x2="6.985" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="-0.635" y1="1.27" x2="0.635" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="0.635" y1="1.27" x2="1.27" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="1.27" y1="-0.635" x2="0.635" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="1.27" y1="0.635" x2="1.905" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="1.905" y1="1.27" x2="3.175" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="3.175" y1="1.27" x2="3.81" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="3.81" y1="-0.635" x2="3.175" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="3.175" y1="-1.27" x2="1.905" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="1.905" y1="-1.27" x2="1.27" y2="-0.635" width="0.2032" layer="21"/>
-<wire x1="-1.27" y1="0.635" x2="-1.27" y2="-0.635" width="0.2032" layer="21"/>
-<wire x1="-0.635" y1="1.27" x2="-1.27" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="-1.27" y1="-0.635" x2="-0.635" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="0.635" y1="-1.27" x2="-0.635" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="8.89" y1="0.635" x2="8.89" y2="-0.635" width="0.2032" layer="21"/>
-<pad name="1" x="0" y="0.127" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="2" x="2.54" y="-0.127" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="3" x="5.08" y="0.127" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="4" x="7.62" y="-0.127" drill="1.016" diameter="1.8796" rot="R90"/>
-<rectangle x1="7.366" y1="-0.254" x2="7.874" y2="0.254" layer="51"/>
-<rectangle x1="4.826" y1="-0.254" x2="5.334" y2="0.254" layer="51"/>
-<rectangle x1="2.286" y1="-0.254" x2="2.794" y2="0.254" layer="51"/>
-<rectangle x1="-0.254" y1="-0.254" x2="0.254" y2="0.254" layer="51"/>
-<text x="-1.27" y="1.397" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-1.27" y="-2.032" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="1X04_LOCK_LONGPADS">
-<description><h3>Plated Through Hole - 4 Pin Long Pads w/ Locking Footprint</h3>
-Holes are offset 0.005" from center to lock pins in place during soldering.
-<p>Specifications:
-<ul><li>Pin count:4</li>
-<li>Pin pitch:0.1"</li>
-</ul></p>
-<p>Example device(s):
-<ul><li>CONN_04</li>
-</ul></p></description>
-<wire x1="1.524" y1="-0.127" x2="1.016" y2="-0.127" width="0.2032" layer="21"/>
-<wire x1="4.064" y1="-0.127" x2="3.556" y2="-0.127" width="0.2032" layer="21"/>
-<wire x1="6.604" y1="-0.127" x2="6.096" y2="-0.127" width="0.2032" layer="21"/>
-<wire x1="-1.27" y1="-0.127" x2="-1.016" y2="-0.127" width="0.2032" layer="21"/>
-<wire x1="-1.27" y1="-0.127" x2="-1.27" y2="0.8636" width="0.2032" layer="21"/>
-<wire x1="-1.27" y1="0.8636" x2="-0.9906" y2="1.143" width="0.2032" layer="21"/>
-<wire x1="-1.27" y1="-0.127" x2="-1.27" y2="-1.1176" width="0.2032" layer="21"/>
-<wire x1="-1.27" y1="-1.1176" x2="-0.9906" y2="-1.397" width="0.2032" layer="21"/>
-<wire x1="8.89" y1="-0.127" x2="8.636" y2="-0.127" width="0.2032" layer="21"/>
-<wire x1="8.89" y1="-0.127" x2="8.89" y2="-1.1176" width="0.2032" layer="21"/>
-<wire x1="8.89" y1="-1.1176" x2="8.6106" y2="-1.397" width="0.2032" layer="21"/>
-<wire x1="8.89" y1="-0.127" x2="8.89" y2="0.8636" width="0.2032" layer="21"/>
-<wire x1="8.89" y1="0.8636" x2="8.6106" y2="1.143" width="0.2032" layer="21"/>
-<pad name="1" x="0" y="0" drill="1.016" shape="long" rot="R90"/>
-<pad name="2" x="2.54" y="-0.254" drill="1.016" shape="long" rot="R90"/>
-<pad name="3" x="5.08" y="0" drill="1.016" shape="long" rot="R90"/>
-<pad name="4" x="7.62" y="-0.254" drill="1.016" shape="long" rot="R90"/>
-<rectangle x1="-0.2921" y1="-0.4191" x2="0.2921" y2="0.1651" layer="51"/>
-<rectangle x1="2.2479" y1="-0.4191" x2="2.8321" y2="0.1651" layer="51"/>
-<rectangle x1="4.7879" y1="-0.4191" x2="5.3721" y2="0.1651" layer="51"/>
-<rectangle x1="7.3279" y1="-0.4191" x2="7.9121" y2="0.1651" layer="51" rot="R90"/>
-<text x="-1.27" y="1.651" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-1.27" y="-2.413" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="MOLEX-1X4_LOCK">
-<description><h3>Molex 4-Pin Plated Through-Hole Locking</h3>
-Holes are offset 0.005" from center to hold pins in place during soldering.
-<p>Specifications:
-<ul><li>Pin count:4</li>
-<li>Pin pitch:0.1"</li>
-</ul></p>
-<p><a href=”https://www.sparkfun.com/datasheets/Prototyping/2pin_molex_set_19iv10.pdf”>Datasheet referenced for footprint</a></p>
-<p>Example device(s):
-<ul><li>CONN_04</li>
-</ul></p></description>
-<wire x1="-1.27" y1="3.048" x2="-1.27" y2="-2.54" width="0.127" layer="21"/>
-<wire x1="8.89" y1="3.048" x2="8.89" y2="-2.54" width="0.127" layer="21"/>
-<wire x1="8.89" y1="3.048" x2="-1.27" y2="3.048" width="0.127" layer="21"/>
-<wire x1="8.89" y1="-2.54" x2="7.62" y2="-2.54" width="0.127" layer="21"/>
-<wire x1="7.62" y1="-2.54" x2="0" y2="-2.54" width="0.127" layer="21"/>
-<wire x1="0" y1="-2.54" x2="-1.27" y2="-2.54" width="0.127" layer="21"/>
-<wire x1="0" y1="-2.54" x2="0" y2="-1.27" width="0.127" layer="21"/>
-<wire x1="0" y1="-1.27" x2="7.62" y2="-1.27" width="0.127" layer="21"/>
-<wire x1="7.62" y1="-1.27" x2="7.62" y2="-2.54" width="0.127" layer="21"/>
-<pad name="1" x="0" y="0.127" drill="1.016" diameter="1.8796" shape="square"/>
-<pad name="2" x="2.54" y="-0.127" drill="1.016" diameter="1.8796"/>
-<pad name="3" x="5.08" y="0.127" drill="1.016" diameter="1.8796"/>
-<pad name="4" x="7.62" y="-0.127" drill="1.016" diameter="1.8796"/>
-<text x="2.667" y="3.302" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="2.032" y="-3.556" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="1X04_SMD_RA_MALE">
-<description><h3>SMD - 4 Pin Right Angle Male Header</h3>
-tDocu layer shows pin locations.
-<p>Specifications:
-<ul><li>Pin count:4</li>
-<li>Pin pitch:0.1"</li>
-</ul></p>
-<p>Example device(s):
-<ul><li>CONN_04</li>
-</ul></p></description>
-<wire x1="5.08" y1="1.25" x2="-5.08" y2="1.25" width="0.127" layer="51"/>
-<wire x1="-5.08" y1="1.25" x2="-5.08" y2="-1.25" width="0.127" layer="51"/>
-<wire x1="-5.08" y1="-1.25" x2="-3.81" y2="-1.25" width="0.127" layer="51"/>
-<wire x1="-3.81" y1="-1.25" x2="-1.27" y2="-1.25" width="0.127" layer="51"/>
-<wire x1="-1.27" y1="-1.25" x2="1.27" y2="-1.25" width="0.127" layer="51"/>
-<wire x1="1.27" y1="-1.25" x2="3.81" y2="-1.25" width="0.127" layer="51"/>
-<wire x1="3.81" y1="-1.25" x2="5.08" y2="-1.25" width="0.127" layer="51"/>
-<wire x1="5.08" y1="-1.25" x2="5.08" y2="1.25" width="0.127" layer="51"/>
-<wire x1="3.81" y1="-1.25" x2="3.81" y2="-7.25" width="0.127" layer="51"/>
-<wire x1="1.27" y1="-1.25" x2="1.27" y2="-7.25" width="0.127" layer="51"/>
-<wire x1="-1.27" y1="-1.25" x2="-1.27" y2="-7.25" width="0.127" layer="51"/>
-<wire x1="-3.81" y1="-1.25" x2="-3.81" y2="-7.25" width="0.127" layer="51"/>
-<smd name="4" x="3.81" y="5" dx="3" dy="1" layer="1" rot="R90"/>
-<smd name="3" x="1.27" y="5" dx="3" dy="1" layer="1" rot="R90"/>
-<smd name="2" x="-1.27" y="5" dx="3" dy="1" layer="1" rot="R90"/>
-<smd name="1" x="-3.81" y="5" dx="3" dy="1" layer="1" rot="R90"/>
-<hole x="-2.54" y="0" drill="1.4"/>
-<hole x="2.54" y="0" drill="1.4"/>
-<text x="-4.318" y="6.731" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-4.318" y="2.667" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="1X05_NO_SILK">
-<description><h3>Plated Through Hole - 5 Pin No Silk Outline</h3>
-<p>Specifications:
-<ul><li>Pin count:5</li>
-<li>Pin pitch:0.1"</li>
-</ul></p>
-<p>Example device(s):
-<ul><li>CONN_05</li>
-</ul></p></description>
-<pad name="1" x="0" y="0" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="2" x="2.54" y="0" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="3" x="5.08" y="0" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="4" x="7.62" y="0" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="5" x="10.16" y="0" drill="1.016" diameter="1.8796" rot="R90"/>
-<rectangle x1="9.906" y1="-0.254" x2="10.414" y2="0.254" layer="51"/>
-<rectangle x1="7.366" y1="-0.254" x2="7.874" y2="0.254" layer="51"/>
-<rectangle x1="4.826" y1="-0.254" x2="5.334" y2="0.254" layer="51"/>
-<rectangle x1="2.286" y1="-0.254" x2="2.794" y2="0.254" layer="51"/>
-<rectangle x1="-0.254" y1="-0.254" x2="0.254" y2="0.254" layer="51"/>
-<text x="-1.27" y="1.397" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-1.27" y="-2.032" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="1X04_LONGPADS">
-<description><h3>Plated Through Hole - 4 Pin Long Pads</h3>
-<p>Specifications:
-<ul><li>Pin count:4</li>
-<li>Pin pitch:0.1"</li>
-</ul></p>
-<p>Example device(s):
-<ul><li>CONN_04</li>
-</ul></p></description>
-<wire x1="-1.27" y1="0.635" x2="-1.27" y2="-0.635" width="0.2032" layer="21"/>
-<wire x1="8.89" y1="0.635" x2="8.89" y2="-0.635" width="0.2032" layer="21"/>
-<pad name="1" x="0" y="0" drill="1.1176" diameter="1.8796" shape="long" rot="R90"/>
-<pad name="2" x="2.54" y="0" drill="1.1176" diameter="1.8796" shape="long" rot="R90"/>
-<pad name="3" x="5.08" y="0" drill="1.1176" diameter="1.8796" shape="long" rot="R90"/>
-<pad name="4" x="7.62" y="0" drill="1.1176" diameter="1.8796" shape="long" rot="R90"/>
-<rectangle x1="7.366" y1="-0.254" x2="7.874" y2="0.254" layer="51"/>
-<rectangle x1="4.826" y1="-0.254" x2="5.334" y2="0.254" layer="51"/>
-<rectangle x1="2.286" y1="-0.254" x2="2.794" y2="0.254" layer="51"/>
-<rectangle x1="-0.254" y1="-0.254" x2="0.254" y2="0.254" layer="51"/>
-<text x="-1.27" y="2.032" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-1.27" y="-2.667" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="1X04_NO_SILK">
-<description><h3>Plated Through Hole - 4 Pin No Silk Outline</h3>
-<p>Specifications:
-<ul><li>Pin count:4</li>
-<li>Pin pitch:0.1"</li>
-</ul></p>
-<p>Example device(s):
-<ul><li>CONN_04</li>
-</ul></p></description>
-<pad name="1" x="0" y="0" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="2" x="2.54" y="0" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="3" x="5.08" y="0" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="4" x="7.62" y="0" drill="1.016" diameter="1.8796" rot="R90"/>
-<rectangle x1="7.366" y1="-0.254" x2="7.874" y2="0.254" layer="51"/>
-<rectangle x1="4.826" y1="-0.254" x2="5.334" y2="0.254" layer="51"/>
-<rectangle x1="2.286" y1="-0.254" x2="2.794" y2="0.254" layer="51"/>
-<rectangle x1="-0.254" y1="-0.254" x2="0.254" y2="0.254" layer="51"/>
-<text x="-1.27" y="1.397" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-1.27" y="-2.032" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="JST-4-PTH">
-<description><h3>JST Right Angle 4 Pin Plated Through Hole</h3>
-<p>Specifications:
-<ul><li>Pin count: 4</li>
-<li>Pin pitch: 2mm</li>
-</ul></p>
-<p><a href=”https://www.sparkfun.com/datasheets/Prototyping/ePH.pdf”>Datasheet referenced for footprint</a></p>
-<p>Example device(s):
-<ul><li>CONN_04</li>
-</ul></p></description>
-<pad name="1" x="-3" y="0" drill="0.7" diameter="1.6"/>
-<pad name="2" x="-1" y="0" drill="0.7" diameter="1.6"/>
-<pad name="3" x="1" y="0" drill="0.7" diameter="1.6"/>
-<pad name="4" x="3" y="0" drill="0.7" diameter="1.6"/>
-<text x="-3.4" y="0.7" size="1.27" layer="51">+</text>
-<text x="-1.4" y="0.7" size="1.27" layer="51">-</text>
-<text x="0.7" y="0.9" size="0.8" layer="51">S</text>
-<text x="2.7" y="0.9" size="0.8" layer="51">S</text>
-<wire x1="-4.95" y1="-1.6" x2="-4.95" y2="6" width="0.2032" layer="21"/>
-<wire x1="-4.95" y1="6" x2="4.95" y2="6" width="0.2032" layer="21"/>
-<wire x1="4.95" y1="6" x2="4.95" y2="-1.6" width="0.2032" layer="21"/>
-<wire x1="-4.95" y1="-1.6" x2="-4.3" y2="-1.6" width="0.2032" layer="21"/>
-<wire x1="4.95" y1="-1.6" x2="4.3" y2="-1.6" width="0.2032" layer="21"/>
-<wire x1="-4.3" y1="-1.6" x2="-4.3" y2="0" width="0.2032" layer="21"/>
-<wire x1="4.3" y1="-1.6" x2="4.3" y2="0" width="0.2032" layer="21"/>
-<text x="-1.397" y="3.429" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-1.651" y="2.54" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="SCREWTERMINAL-3.5MM-4_LOCK">
-<description><h3>Screw Terminal 3.5mm Pitch -4 Pin PTH Locking</h3>
-Holes are offset 0.005" from center to hold pins in place during soldering.
-<p>Specifications:
-<ul><li>Pin count: 4</li>
-<li>Pin pitch: 3.5mm/138mil</li>
-</ul></p>
-<p><a href=”https://www.sparkfun.com/datasheets/Prototyping/Screw-Terminal-3.5mm.pdf”>Datasheet referenced for footprint</a></p>
-<p>Example device(s):
-<ul><li>CONN_04</li>
-</ul></p></description>
-<wire x1="-2.3" y1="3.4" x2="12.8" y2="3.4" width="0.2032" layer="21"/>
-<wire x1="12.8" y1="3.4" x2="12.8" y2="-2.8" width="0.2032" layer="21"/>
-<wire x1="12.8" y1="-2.8" x2="12.8" y2="-3.6" width="0.2032" layer="21"/>
-<wire x1="12.8" y1="-3.6" x2="-2.3" y2="-3.6" width="0.2032" layer="21"/>
-<wire x1="-2.3" y1="-3.6" x2="-2.3" y2="-2.8" width="0.2032" layer="21"/>
-<wire x1="-2.3" y1="-2.8" x2="-2.3" y2="3.4" width="0.2032" layer="21"/>
-<wire x1="12.8" y1="-2.8" x2="-2.3" y2="-2.8" width="0.2032" layer="21"/>
-<wire x1="-2.3" y1="-1.35" x2="-2.7" y2="-1.35" width="0.2032" layer="51"/>
-<wire x1="-2.7" y1="-1.35" x2="-2.7" y2="-2.35" width="0.2032" layer="51"/>
-<wire x1="-2.7" y1="-2.35" x2="-2.3" y2="-2.35" width="0.2032" layer="51"/>
-<wire x1="12.8" y1="3.15" x2="13.2" y2="3.15" width="0.2032" layer="51"/>
-<wire x1="13.2" y1="3.15" x2="13.2" y2="2.15" width="0.2032" layer="51"/>
-<wire x1="13.2" y1="2.15" x2="12.8" y2="2.15" width="0.2032" layer="51"/>
-<circle x="0" y="0" radius="0.425" width="0.001" layer="51"/>
-<circle x="3.5" y="0" radius="0.425" width="0.001" layer="51"/>
-<circle x="7" y="0" radius="0.425" width="0.001" layer="51"/>
-<circle x="10.5" y="0" radius="0.425" width="0.001" layer="51"/>
-<pad name="1" x="-0.1778" y="0" drill="1.2" diameter="2.032" shape="square"/>
-<pad name="2" x="3.6778" y="0" drill="1.2" diameter="2.032"/>
-<pad name="3" x="6.8222" y="0" drill="1.2" diameter="2.032"/>
-<pad name="4" x="10.6778" y="0" drill="1.2" diameter="2.032"/>
-<text x="3.81" y="2.413" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="3.81" y="1.524" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="1X04_1MM_RA">
-<description><h3>SMD- 4 Pin Right Angle </h3>
-<p>Specifications:
-<ul><li>Pin count:4</li>
-<li>Pin pitch:0.1"</li>
-</ul></p>
-<p>Example device(s):
-<ul><li>CONN_04</li>
-</ul></p></description>
-<wire x1="-1.5" y1="-4.6" x2="1.5" y2="-4.6" width="0.254" layer="21"/>
-<wire x1="-3" y1="-2" x2="-3" y2="-0.35" width="0.254" layer="21"/>
-<wire x1="2.25" y1="-0.35" x2="3" y2="-0.35" width="0.254" layer="21"/>
-<wire x1="3" y1="-0.35" x2="3" y2="-2" width="0.254" layer="21"/>
-<wire x1="-3" y1="-0.35" x2="-2.25" y2="-0.35" width="0.254" layer="21"/>
-<circle x="-2.5" y="0.3" radius="0.1414" width="0.4" layer="21"/>
-<smd name="NC2" x="-2.8" y="-3.675" dx="1.2" dy="2" layer="1"/>
-<smd name="NC1" x="2.8" y="-3.675" dx="1.2" dy="2" layer="1"/>
-<smd name="1" x="-1.5" y="0" dx="0.6" dy="1.35" layer="1"/>
-<smd name="2" x="-0.5" y="0" dx="0.6" dy="1.35" layer="1"/>
-<smd name="3" x="0.5" y="0" dx="0.6" dy="1.35" layer="1"/>
-<smd name="4" x="1.5" y="0" dx="0.6" dy="1.35" layer="1"/>
-<text x="-1.397" y="-2.159" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-1.651" y="-3.302" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="1X04_SMD_VERTICAL_COMBO">
-<description><h3>SMD - 4 Pin Vertical Connector</h3>
-<p>Specifications:
-<ul><li>Pin count:4</li>
-<li>SMD Pad count:8</li>
-<li>Pin pitch:0.1"</li>
-</ul></p>
-<p>Example device(s):
-<ul><li>CONN_04</li>
-</ul></p></description>
-<wire x1="7.62" y1="1.27" x2="7.62" y2="-1.27" width="0.4064" layer="1"/>
-<wire x1="5.08" y1="1.27" x2="5.08" y2="-1.27" width="0.4064" layer="1"/>
-<wire x1="2.54" y1="1.27" x2="2.54" y2="-1.27" width="0.4064" layer="1"/>
-<wire x1="0" y1="1.27" x2="0" y2="-1.27" width="0.4064" layer="1"/>
-<wire x1="-1.37" y1="-1.25" x2="-1.37" y2="1.25" width="0.1778" layer="21"/>
-<wire x1="8.99" y1="1.25" x2="8.99" y2="-1.25" width="0.1778" layer="21"/>
-<wire x1="-0.73" y1="-1.25" x2="-1.37" y2="-1.25" width="0.1778" layer="21"/>
-<wire x1="8.99" y1="-1.25" x2="8.32" y2="-1.25" width="0.1778" layer="21"/>
-<wire x1="8.32" y1="1.25" x2="8.99" y2="1.25" width="0.1778" layer="21"/>
-<wire x1="-1.37" y1="1.25" x2="-0.73" y2="1.25" width="0.1778" layer="21"/>
-<wire x1="5.869" y1="-1.29" x2="6.831" y2="-1.29" width="0.1778" layer="21"/>
-<wire x1="5.869" y1="1.25" x2="6.831" y2="1.25" width="0.1778" layer="21"/>
-<wire x1="3.329" y1="-1.29" x2="4.291" y2="-1.29" width="0.1778" layer="21"/>
-<wire x1="3.329" y1="1.25" x2="4.291" y2="1.25" width="0.1778" layer="21"/>
-<wire x1="0.789" y1="-1.29" x2="1.751" y2="-1.29" width="0.1778" layer="21"/>
-<wire x1="0.789" y1="1.25" x2="1.751" y2="1.25" width="0.1778" layer="21"/>
-<smd name="3" x="5.08" y="-1.65" dx="2" dy="1" layer="1" rot="R270"/>
-<smd name="1" x="0" y="-1.65" dx="2" dy="1" layer="1" rot="R270"/>
-<smd name="4" x="7.62" y="1.65" dx="2" dy="1" layer="1" rot="R270"/>
-<smd name="2" x="2.54" y="1.65" dx="2" dy="1" layer="1" rot="R270"/>
-<smd name="1-2" x="0" y="1.65" dx="2" dy="1" layer="1" rot="R90"/>
-<smd name="2-2" x="2.54" y="-1.65" dx="2" dy="1" layer="1" rot="R90"/>
-<smd name="3-2" x="5.08" y="1.65" dx="2" dy="1" layer="1" rot="R90"/>
-<smd name="4-2" x="7.62" y="-1.65" dx="2" dy="1" layer="1" rot="R90"/>
-<text x="-0.508" y="2.921" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-0.508" y="-3.429" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="1X04_SMD_LONG">
-<description><h3>SMD - 4 Pin w/ Long Solder Pads</h3>
-No silk, but tDocu layer shows pin position.
-<p>Specifications:
-<ul><li>Pin count:4</li>
-<li>Pin pitch:0.1"</li>
-</ul></p>
-<p>Example device(s):
-<ul><li>CONN_04</li>
-</ul></p></description>
-<wire x1="5.08" y1="1.25" x2="-5.08" y2="1.25" width="0.127" layer="51"/>
-<wire x1="-5.08" y1="1.25" x2="-5.08" y2="-1.25" width="0.127" layer="51"/>
-<wire x1="-5.08" y1="-1.25" x2="-3.81" y2="-1.25" width="0.127" layer="51"/>
-<wire x1="-3.81" y1="-1.25" x2="-1.27" y2="-1.25" width="0.127" layer="51"/>
-<wire x1="-1.27" y1="-1.25" x2="1.27" y2="-1.25" width="0.127" layer="51"/>
-<wire x1="1.27" y1="-1.25" x2="3.81" y2="-1.25" width="0.127" layer="51"/>
-<wire x1="3.81" y1="-1.25" x2="5.08" y2="-1.25" width="0.127" layer="51"/>
-<wire x1="5.08" y1="-1.25" x2="5.08" y2="1.25" width="0.127" layer="51"/>
-<wire x1="3.81" y1="-1.25" x2="3.81" y2="-7.25" width="0.127" layer="51"/>
-<wire x1="1.27" y1="-1.25" x2="1.27" y2="-7.25" width="0.127" layer="51"/>
-<wire x1="-1.27" y1="-1.25" x2="-1.27" y2="-7.25" width="0.127" layer="51"/>
-<wire x1="-3.81" y1="-1.25" x2="-3.81" y2="-7.25" width="0.127" layer="51"/>
-<smd name="4" x="3.81" y="5.5" dx="4" dy="1" layer="1" rot="R90"/>
-<smd name="3" x="1.27" y="5.5" dx="4" dy="1" layer="1" rot="R90"/>
-<smd name="2" x="-1.27" y="5.5" dx="4" dy="1" layer="1" rot="R90"/>
-<smd name="1" x="-3.81" y="5.5" dx="4" dy="1" layer="1" rot="R90"/>
-<hole x="-2.54" y="0" drill="1.4"/>
-<hole x="2.54" y="0" drill="1.4"/>
-</package>
-<package name="JST-4-PTH-VERT">
-<description><h3>JST Vertical 4 Pin Plated Through Hole</h3>
-<p>Specifications:
-<ul><li>Pin count: 4</li>
-<li>Pin pitch: 2mm</li>
-</ul></p>
-<p><a href="http://www.jst-mfg.com/product/pdf/eng/ePH.pdf">Datasheet referenced for footprint</a></p>
-<p>Example device(s):
-<ul><li>CONN_04</li>
-</ul></p></description>
-<wire x1="-4.95" y1="-2.25" x2="-4.95" y2="2.25" width="0.2032" layer="21"/>
-<wire x1="-4.95" y1="2.25" x2="4.95" y2="2.25" width="0.2032" layer="21"/>
-<wire x1="4.95" y1="-2.25" x2="1" y2="-2.25" width="0.2032" layer="21"/>
-<wire x1="-1" y1="-2.25" x2="-4.95" y2="-2.25" width="0.2032" layer="21"/>
-<wire x1="-1" y1="-1.75" x2="1" y2="-1.75" width="0.2032" layer="21"/>
-<wire x1="1" y1="-1.75" x2="1" y2="-2.25" width="0.2032" layer="21"/>
-<wire x1="-1" y1="-1.75" x2="-1" y2="-2.25" width="0.2032" layer="21"/>
-<wire x1="4.95" y1="2.25" x2="4.95" y2="-2.25" width="0.2032" layer="21"/>
-<pad name="1" x="-3" y="-0.55" drill="0.7" diameter="1.6"/>
-<pad name="2" x="-1" y="-0.55" drill="0.7" diameter="1.6"/>
-<pad name="3" x="1" y="-0.55" drill="0.7" diameter="1.6"/>
-<pad name="4" x="3" y="-0.55" drill="0.7" diameter="1.6"/>
-<text x="-1.4" y="0.75" size="1.27" layer="51">+</text>
-<text x="0.6" y="0.75" size="1.27" layer="51">-</text>
-<text x="2.7" y="0.95" size="0.8" layer="51">Y</text>
-<text x="-3.3" y="0.95" size="0.8" layer="51">B</text>
-<text x="-1.143" y="2.54" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-1.651" y="-3.302" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="1X04_SMD_RA_FEMALE">
-<description><h3>SMD - 4 Pin Right-Angle Female Header</h3>
-Silk outline shows header location.
-<p>Specifications:
-<ul><li>Pin count:4</li>
-<li>Pin pitch:0.1"</li>
-</ul></p>
-<p>Example device(s):
-<ul><li>CONN_04</li>
-</ul></p></description>
-<wire x1="-5.205" y1="4.25" x2="-5.205" y2="-4.25" width="0.1778" layer="21"/>
-<wire x1="5.205" y1="4.25" x2="-5.205" y2="4.25" width="0.1778" layer="21"/>
-<wire x1="5.205" y1="-4.25" x2="5.205" y2="4.25" width="0.1778" layer="21"/>
-<wire x1="-5.205" y1="-4.25" x2="5.205" y2="-4.25" width="0.1778" layer="21"/>
-<rectangle x1="-1.59" y1="6.8" x2="-0.95" y2="7.65" layer="51"/>
-<rectangle x1="0.95" y1="6.8" x2="1.59" y2="7.65" layer="51"/>
-<rectangle x1="-4.13" y1="6.8" x2="-3.49" y2="7.65" layer="51"/>
-<smd name="3" x="1.27" y="7.225" dx="1.25" dy="3" layer="1" rot="R180"/>
-<smd name="2" x="-1.27" y="7.225" dx="1.25" dy="3" layer="1" rot="R180"/>
-<smd name="1" x="-3.81" y="7.225" dx="1.25" dy="3" layer="1" rot="R180"/>
-<rectangle x1="3.49" y1="6.8" x2="4.13" y2="7.65" layer="51"/>
-<smd name="4" x="3.81" y="7.225" dx="1.25" dy="3" layer="1" rot="R180"/>
-<text x="-1.397" y="0.762" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-1.524" y="-1.27" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="1X05">
-<description><h3>Plated Through Hole - 5 Pin</h3>
-<p>Specifications:
-<ul><li>Pin count:5</li>
-<li>Pin pitch:0.1"</li>
-</ul></p>
-<p>Example device(s):
-<ul><li>CONN_05</li>
-</ul></p></description>
-<wire x1="6.985" y1="1.27" x2="8.255" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="8.255" y1="1.27" x2="8.89" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="8.89" y1="-0.635" x2="8.255" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="8.89" y1="0.635" x2="9.525" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="9.525" y1="1.27" x2="10.795" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="10.795" y1="1.27" x2="11.43" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="11.43" y1="-0.635" x2="10.795" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="10.795" y1="-1.27" x2="9.525" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="9.525" y1="-1.27" x2="8.89" y2="-0.635" width="0.2032" layer="21"/>
-<wire x1="3.81" y1="0.635" x2="4.445" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="4.445" y1="1.27" x2="5.715" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="5.715" y1="1.27" x2="6.35" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="6.35" y1="-0.635" x2="5.715" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="5.715" y1="-1.27" x2="4.445" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="4.445" y1="-1.27" x2="3.81" y2="-0.635" width="0.2032" layer="21"/>
-<wire x1="6.985" y1="1.27" x2="6.35" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="6.35" y1="-0.635" x2="6.985" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="8.255" y1="-1.27" x2="6.985" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="-0.635" y1="1.27" x2="0.635" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="0.635" y1="1.27" x2="1.27" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="1.27" y1="-0.635" x2="0.635" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="1.27" y1="0.635" x2="1.905" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="1.905" y1="1.27" x2="3.175" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="3.175" y1="1.27" x2="3.81" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="3.81" y1="-0.635" x2="3.175" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="3.175" y1="-1.27" x2="1.905" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="1.905" y1="-1.27" x2="1.27" y2="-0.635" width="0.2032" layer="21"/>
-<wire x1="-1.27" y1="0.635" x2="-1.27" y2="-0.635" width="0.2032" layer="21"/>
-<wire x1="-0.635" y1="1.27" x2="-1.27" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="-1.27" y1="-0.635" x2="-0.635" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="0.635" y1="-1.27" x2="-0.635" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="11.43" y1="0.635" x2="11.43" y2="-0.635" width="0.2032" layer="21"/>
-<pad name="1" x="0" y="0" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="2" x="2.54" y="0" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="3" x="5.08" y="0" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="4" x="7.62" y="0" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="5" x="10.16" y="0" drill="1.016" diameter="1.8796" rot="R90"/>
-<rectangle x1="9.906" y1="-0.254" x2="10.414" y2="0.254" layer="51"/>
-<rectangle x1="7.366" y1="-0.254" x2="7.874" y2="0.254" layer="51"/>
-<rectangle x1="4.826" y1="-0.254" x2="5.334" y2="0.254" layer="51"/>
-<rectangle x1="2.286" y1="-0.254" x2="2.794" y2="0.254" layer="51"/>
-<rectangle x1="-0.254" y1="-0.254" x2="0.254" y2="0.254" layer="51"/>
-<text x="-1.27" y="1.397" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-1.27" y="-2.032" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="1X05_1.27MM">
-<description><h3>Plated Through Hole - 5 Pin</h3>
-<p>Specifications:
-<ul><li>Pin count:5</li>
-<li>Pin pitch: 1.27mm</li>
-</ul></p>
-<p>Example device(s):
-<ul><li>CONN_05</li>
-</ul></p></description>
-<wire x1="-0.381" y1="-0.889" x2="0.381" y2="-0.889" width="0.127" layer="21"/>
-<wire x1="0.381" y1="-0.889" x2="0.635" y2="-0.635" width="0.127" layer="21"/>
-<wire x1="0.635" y1="-0.635" x2="0.889" y2="-0.889" width="0.127" layer="21"/>
-<wire x1="0.889" y1="-0.889" x2="1.651" y2="-0.889" width="0.127" layer="21"/>
-<wire x1="1.651" y1="-0.889" x2="1.905" y2="-0.635" width="0.127" layer="21"/>
-<wire x1="1.905" y1="-0.635" x2="2.159" y2="-0.889" width="0.127" layer="21"/>
-<wire x1="2.159" y1="-0.889" x2="2.921" y2="-0.889" width="0.127" layer="21"/>
-<wire x1="2.921" y1="-0.889" x2="3.175" y2="-0.635" width="0.127" layer="21"/>
-<wire x1="3.175" y1="-0.635" x2="3.429" y2="-0.889" width="0.127" layer="21"/>
-<wire x1="3.429" y1="-0.889" x2="4.191" y2="-0.889" width="0.127" layer="21"/>
-<wire x1="4.191" y1="-0.889" x2="4.445" y2="-0.635" width="0.127" layer="21"/>
-<wire x1="4.445" y1="-0.635" x2="4.699" y2="-0.889" width="0.127" layer="21"/>
-<wire x1="4.699" y1="-0.889" x2="5.461" y2="-0.889" width="0.127" layer="21"/>
-<wire x1="5.461" y1="0.889" x2="4.699" y2="0.889" width="0.127" layer="21"/>
-<wire x1="4.699" y1="0.889" x2="4.445" y2="0.635" width="0.127" layer="21"/>
-<wire x1="4.445" y1="0.635" x2="4.191" y2="0.889" width="0.127" layer="21"/>
-<wire x1="4.191" y1="0.889" x2="3.429" y2="0.889" width="0.127" layer="21"/>
-<wire x1="3.429" y1="0.889" x2="3.175" y2="0.635" width="0.127" layer="21"/>
-<wire x1="3.175" y1="0.635" x2="2.921" y2="0.889" width="0.127" layer="21"/>
-<wire x1="2.921" y1="0.889" x2="2.159" y2="0.889" width="0.127" layer="21"/>
-<wire x1="2.159" y1="0.889" x2="1.905" y2="0.635" width="0.127" layer="21"/>
-<wire x1="1.905" y1="0.635" x2="1.651" y2="0.889" width="0.127" layer="21"/>
-<wire x1="1.651" y1="0.889" x2="0.889" y2="0.889" width="0.127" layer="21"/>
-<wire x1="0.889" y1="0.889" x2="0.635" y2="0.635" width="0.127" layer="21"/>
-<wire x1="0.635" y1="0.635" x2="0.381" y2="0.889" width="0.127" layer="21"/>
-<wire x1="0.381" y1="0.889" x2="-0.381" y2="0.889" width="0.127" layer="21"/>
-<wire x1="-0.381" y1="0.889" x2="-0.889" y2="0.381" width="0.127" layer="21"/>
-<wire x1="-0.889" y1="-0.381" x2="-0.381" y2="-0.889" width="0.127" layer="21"/>
-<wire x1="-0.889" y1="0.381" x2="-0.889" y2="-0.381" width="0.127" layer="21"/>
-<wire x1="5.461" y1="0.889" x2="5.969" y2="0.381" width="0.127" layer="21"/>
-<wire x1="5.969" y1="0.381" x2="5.969" y2="-0.381" width="0.127" layer="21"/>
-<wire x1="5.969" y1="-0.381" x2="5.461" y2="-0.889" width="0.127" layer="21"/>
-<pad name="5" x="5.08" y="0" drill="0.508" diameter="1"/>
-<pad name="4" x="3.81" y="0" drill="0.508" diameter="1"/>
-<pad name="3" x="2.54" y="0" drill="0.508" diameter="1"/>
-<pad name="2" x="1.27" y="0" drill="0.508" diameter="1"/>
-<pad name="1" x="0" y="0" drill="0.508" diameter="1"/>
-<text x="-0.381" y="1.143" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-0.508" y="-1.651" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="1X05_LOCK">
-<description><h3>Plated Through Hole - 5 Pin with Locking Footprint</h3>
-Holes are offset 0.005" from center, locking pins in place during soldering.
-<p>Specifications:
-<ul><li>Pin count:5</li>
-<li>Pin pitch:0.1"</li>
-</ul></p>
-<p>Example device(s):
-<ul><li>CONN_05</li>
-</ul></p></description>
-<wire x1="6.985" y1="1.27" x2="8.255" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="8.255" y1="1.27" x2="8.89" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="8.89" y1="-0.635" x2="8.255" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="8.89" y1="0.635" x2="9.525" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="9.525" y1="1.27" x2="10.795" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="10.795" y1="1.27" x2="11.43" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="11.43" y1="-0.635" x2="10.795" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="10.795" y1="-1.27" x2="9.525" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="9.525" y1="-1.27" x2="8.89" y2="-0.635" width="0.2032" layer="21"/>
-<wire x1="3.81" y1="0.635" x2="4.445" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="4.445" y1="1.27" x2="5.715" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="5.715" y1="1.27" x2="6.35" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="6.35" y1="-0.635" x2="5.715" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="5.715" y1="-1.27" x2="4.445" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="4.445" y1="-1.27" x2="3.81" y2="-0.635" width="0.2032" layer="21"/>
-<wire x1="6.985" y1="1.27" x2="6.35" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="6.35" y1="-0.635" x2="6.985" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="8.255" y1="-1.27" x2="6.985" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="-0.635" y1="1.27" x2="0.635" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="0.635" y1="1.27" x2="1.27" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="1.27" y1="-0.635" x2="0.635" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="1.27" y1="0.635" x2="1.905" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="1.905" y1="1.27" x2="3.175" y2="1.27" width="0.2032" layer="21"/>
-<wire x1="3.175" y1="1.27" x2="3.81" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="3.81" y1="-0.635" x2="3.175" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="3.175" y1="-1.27" x2="1.905" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="1.905" y1="-1.27" x2="1.27" y2="-0.635" width="0.2032" layer="21"/>
-<wire x1="-1.27" y1="0.635" x2="-1.27" y2="-0.635" width="0.2032" layer="21"/>
-<wire x1="-0.635" y1="1.27" x2="-1.27" y2="0.635" width="0.2032" layer="21"/>
-<wire x1="-1.27" y1="-0.635" x2="-0.635" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="0.635" y1="-1.27" x2="-0.635" y2="-1.27" width="0.2032" layer="21"/>
-<wire x1="11.43" y1="0.635" x2="11.43" y2="-0.635" width="0.2032" layer="21"/>
-<pad name="1" x="0" y="0.127" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="2" x="2.54" y="-0.127" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="3" x="5.08" y="0.127" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="4" x="7.62" y="-0.127" drill="1.016" diameter="1.8796" rot="R90"/>
-<pad name="5" x="10.16" y="0.127" drill="1.016" diameter="1.8796" rot="R90"/>
-<rectangle x1="9.906" y1="-0.254" x2="10.414" y2="0.254" layer="51"/>
-<rectangle x1="7.366" y1="-0.254" x2="7.874" y2="0.254" layer="51"/>
-<rectangle x1="4.826" y1="-0.254" x2="5.334" y2="0.254" layer="51"/>
-<rectangle x1="2.286" y1="-0.254" x2="2.794" y2="0.254" layer="51"/>
-<rectangle x1="-0.254" y1="-0.254" x2="0.254" y2="0.254" layer="51"/>
-<text x="-1.27" y="1.397" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-1.27" y="-2.032" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="1X05_LOCK_LONGPADS">
-<description><h3>Plated Through Hole - 5 Pin Long Pad with Locking Footprint</h3>
-Holes are offset 0.005" from center, locking pins in place during soldering.
-<p>Specifications:
-<ul><li>Pin count:5</li>
-<li>Pin pitch:0.1"</li>
-</ul></p>
-<p>Example device(s):
-<ul><li>CONN_05</li>
-</ul></p></description>
-<wire x1="1.524" y1="-0.127" x2="1.016" y2="-0.127" width="0.2032" layer="21"/>
-<wire x1="4.064" y1="-0.127" x2="3.556" y2="-0.127" width="0.2032" layer="21"/>
-<wire x1="6.604" y1="-0.127" x2="6.096" y2="-0.127" width="0.2032" layer="21"/>
-<wire x1="9.144" y1="-0.127" x2="8.636" y2="-0.127" width="0.2032" layer="21"/>
-<wire x1="-1.27" y1="-0.127" x2="-1.016" y2="-0.127" width="0.2032" layer="21"/>
-<wire x1="-1.27" y1="-0.127" x2="-1.27" y2="0.8636" width="0.2032" layer="21"/>
-<wire x1="-1.27" y1="0.8636" x2="-0.9906" y2="1.143" width="0.2032" layer="21"/>
-<wire x1="-1.27" y1="-0.127" x2="-1.27" y2="-1.1176" width="0.2032" layer="21"/>
-<wire x1="-1.27" y1="-1.1176" x2="-0.9906" y2="-1.397" width="0.2032" layer="21"/>
-<wire x1="11.43" y1="-0.127" x2="11.176" y2="-0.127" width="0.2032" layer="21"/>
-<wire x1="11.43" y1="-0.127" x2="11.43" y2="-1.1176" width="0.2032" layer="21"/>
-<wire x1="11.43" y1="-1.1176" x2="11.1506" y2="-1.397" width="0.2032" layer="21"/>
-<wire x1="11.43" y1="-0.127" x2="11.43" y2="0.8636" width="0.2032" layer="21"/>
-<wire x1="11.43" y1="0.8636" x2="11.1506" y2="1.143" width="0.2032" layer="21"/>
-<pad name="1" x="0" y="0" drill="1.016" shape="long" rot="R90"/>
-<pad name="2" x="2.54" y="-0.254" drill="1.016" shape="long" rot="R90"/>
-<pad name="3" x="5.08" y="0" drill="1.016" shape="long" rot="R90"/>
-<pad name="4" x="7.62" y="-0.254" drill="1.016" shape="long" rot="R90"/>
-<pad name="5" x="10.16" y="0" drill="1.016" shape="long" rot="R90"/>
-<rectangle x1="-0.2921" y1="-0.4191" x2="0.2921" y2="0.1651" layer="51"/>
-<rectangle x1="2.2479" y1="-0.4191" x2="2.8321" y2="0.1651" layer="51"/>
-<rectangle x1="4.7879" y1="-0.4191" x2="5.3721" y2="0.1651" layer="51"/>
-<rectangle x1="7.3279" y1="-0.4191" x2="7.9121" y2="0.1651" layer="51" rot="R90"/>
-<rectangle x1="9.8679" y1="-0.4191" x2="10.4521" y2="0.1651" layer="51"/>
-<text x="-1.27" y="1.778" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-1.397" y="-2.413" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="1X05_LONGPADS">
-<description><h3>Plated Through Hole - 5 Pin Long Pads</h3>
-<p>Specifications:
-<ul><li>Pin count:5</li>
-<li>Pin pitch:0.1"</li>
-</ul></p>
-<p>Example device(s):
-<ul><li>CONN_05</li>
-</ul></p></description>
-<wire x1="-1.27" y1="0.635" x2="-1.27" y2="-0.635" width="0.2032" layer="21"/>
-<wire x1="11.43" y1="0.635" x2="11.43" y2="-0.635" width="0.2032" layer="21"/>
-<pad name="1" x="0" y="0" drill="1.1176" diameter="1.8796" shape="long" rot="R90"/>
-<pad name="2" x="2.54" y="0" drill="1.1176" diameter="1.8796" shape="long" rot="R90"/>
-<pad name="3" x="5.08" y="0" drill="1.1176" diameter="1.8796" shape="long" rot="R90"/>
-<pad name="4" x="7.62" y="0" drill="1.1176" diameter="1.8796" shape="long" rot="R90"/>
-<pad name="5" x="10.16" y="0" drill="1.1176" diameter="1.8796" shape="long" rot="R90"/>
-<rectangle x1="9.906" y1="-0.254" x2="10.414" y2="0.254" layer="51"/>
-<rectangle x1="7.366" y1="-0.254" x2="7.874" y2="0.254" layer="51"/>
-<rectangle x1="4.826" y1="-0.254" x2="5.334" y2="0.254" layer="51"/>
-<rectangle x1="2.286" y1="-0.254" x2="2.794" y2="0.254" layer="51"/>
-<rectangle x1="-0.254" y1="-0.254" x2="0.254" y2="0.254" layer="51"/>
-<text x="-1.27" y="2.032" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-1.27" y="-2.667" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="1X05_1MM">
-<description><h3>SMD - 5 Pin</h3>
-<p>Specifications:
-<ul><li>Pin count:5</li>
-<li>Pin pitch:0.1"</li>
-</ul></p>
-<p><a href=”http://www.sparkfun.com/datasheets/GPS/EM408-SMDConnector.pdf”>Datasheet referenced for footprint</a></p>
-<p>Example device(s):
-<ul><li>CONN_05</li>
-<li>EM-408</li>
-</ul></p></description>
-<wire x1="2" y1="2.921" x2="-2.08" y2="2.921" width="0.254" layer="21"/>
-<wire x1="3.778" y1="0.762" x2="3.778" y2="-0.635" width="0.254" layer="21"/>
-<wire x1="-2.842" y1="-0.635" x2="-3.858" y2="-0.635" width="0.254" layer="21"/>
-<wire x1="-3.858" y1="-0.635" x2="-3.858" y2="0.762" width="0.254" layer="21"/>
-<wire x1="3.778" y1="-0.635" x2="2.762" y2="-0.635" width="0.254" layer="21"/>
-<smd name="NC2" x="3.3" y="2.225" dx="1.2" dy="1.8" layer="1" rot="R180"/>
-<smd name="NC1" x="-3.3" y="2.225" dx="1.2" dy="1.8" layer="1" rot="R180"/>
-<smd name="5" x="2" y="0" dx="0.6" dy="1.55" layer="1" rot="R180"/>
-<smd name="4" x="1" y="0" dx="0.6" dy="1.55" layer="1" rot="R180"/>
-<smd name="3" x="0" y="0" dx="0.6" dy="1.55" layer="1" rot="R180"/>
-<smd name="2" x="-1" y="0" dx="0.6" dy="1.55" layer="1" rot="R180"/>
-<smd name="1" x="-2" y="0" dx="0.6" dy="1.55" layer="1" rot="R180"/>
-<text x="-1.524" y="1.905" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-1.524" y="1.143" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-<circle x="3.81" y="-1.27" radius="0" width="0.508" layer="21"/>
-</package>
-<package name="1X05_1MM_RA">
-<description><h3>SMD - 5 Pin Right Angle</h3>
-<p>Specifications:
-<ul><li>Pin count:5</li>
-<li>Pin pitch:0.1"</li>
-</ul></p>
-<p>Example device(s):
-<ul><li>CONN_05</li>
-</ul></p></description>
-<wire x1="-2" y1="-4.6" x2="2" y2="-4.6" width="0.254" layer="21"/>
-<wire x1="-3.5" y1="-2" x2="-3.5" y2="-0.35" width="0.254" layer="21"/>
-<wire x1="2.75" y1="-0.35" x2="3.5" y2="-0.35" width="0.254" layer="21"/>
-<wire x1="3.5" y1="-0.35" x2="3.5" y2="-2" width="0.254" layer="21"/>
-<wire x1="-3.5" y1="-0.35" x2="-2.75" y2="-0.35" width="0.254" layer="21"/>
-<circle x="-3" y="0.3" radius="0.1414" width="0.4" layer="21"/>
-<smd name="NC2" x="-3.3" y="-3.675" dx="1.2" dy="2" layer="1"/>
-<smd name="NC1" x="3.3" y="-3.675" dx="1.2" dy="2" layer="1"/>
-<smd name="1" x="-2" y="0" dx="0.6" dy="1.35" layer="1"/>
-<smd name="2" x="-1" y="0" dx="0.6" dy="1.35" layer="1"/>
-<smd name="3" x="0" y="0" dx="0.6" dy="1.35" layer="1"/>
-<smd name="4" x="1" y="0" dx="0.6" dy="1.35" layer="1"/>
-<smd name="5" x="2" y="0" dx="0.6" dy="1.35" layer="1"/>
-<text x="-1.397" y="-2.032" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-1.651" y="-3.302" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="JST-5-PTH">
-<description><h3>JST 5 Pin Right Angle Plated Through Hole</h3>
-<p>Specifications:
-<ul><li>Pin count: 5</li>
-<li>Pin pitch: 2mm</li>
-</ul></p>
-<p><a href=”https://www.sparkfun.com/datasheets/Prototyping/ePH.pdf”>Datasheet referenced for footprint</a></p>
-<p>Example device(s):
-<ul><li>CONN_05</li>
-</ul></p></description>
-<pad name="1" x="-4" y="0" drill="0.7" diameter="1.6"/>
-<pad name="2" x="-2" y="0" drill="0.7" diameter="1.6"/>
-<pad name="3" x="0" y="0" drill="0.7" diameter="1.6"/>
-<pad name="4" x="2" y="0" drill="0.7" diameter="1.6"/>
-<pad name="5" x="4" y="0" drill="0.7" diameter="1.6"/>
-<wire x1="-5.95" y1="-1.6" x2="-5.95" y2="6" width="0.2032" layer="21"/>
-<wire x1="-5.95" y1="6" x2="5.95" y2="6" width="0.2032" layer="21"/>
-<wire x1="5.95" y1="6" x2="5.95" y2="-1.6" width="0.2032" layer="21"/>
-<wire x1="-5.95" y1="-1.6" x2="-5.3" y2="-1.6" width="0.2032" layer="21"/>
-<wire x1="5.95" y1="-1.6" x2="5.3" y2="-1.6" width="0.2032" layer="21"/>
-<wire x1="-5.3" y1="-1.6" x2="-5.3" y2="0" width="0.2032" layer="21"/>
-<wire x1="5.3" y1="-1.6" x2="5.3" y2="0" width="0.2032" layer="21"/>
-<text x="-1.397" y="3.302" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-1.651" y="2.413" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="JST-5-PTH-VERT">
-<description><h3>JST 5 Pin Vertical Plated Through Hole</h3>
-<p>Specifications:
-<ul><li>Pin count: 5</li>
-<li>Pin pitch: 2mm</li>
-</ul></p>
-<p>Example device(s):
-<ul><li>CONN_05</li>
-</ul></p></description>
-<wire x1="-5.95" y1="-1.52" x2="-5.95" y2="2.98" width="0.2032" layer="21"/>
-<wire x1="-5.95" y1="2.98" x2="5.95" y2="2.98" width="0.2032" layer="21"/>
-<wire x1="5.95" y1="-1.52" x2="1" y2="-1.52" width="0.2032" layer="21"/>
-<wire x1="-1" y1="-1.52" x2="-5.95" y2="-1.52" width="0.2032" layer="21"/>
-<wire x1="-1" y1="-1.02" x2="1" y2="-1.02" width="0.2032" layer="21"/>
-<wire x1="1" y1="-1.02" x2="1" y2="-1.52" width="0.2032" layer="21"/>
-<wire x1="-1" y1="-1.02" x2="-1" y2="-1.52" width="0.2032" layer="21"/>
-<wire x1="5.95" y1="2.98" x2="5.95" y2="-1.52" width="0.2032" layer="21"/>
-<pad name="1" x="-4" y="0.18" drill="0.7" diameter="1.6"/>
-<pad name="2" x="-2" y="0.18" drill="0.7" diameter="1.6"/>
-<pad name="3" x="0" y="0.18" drill="0.7" diameter="1.6"/>
-<pad name="4" x="2" y="0.18" drill="0.7" diameter="1.6"/>
-<pad name="5" x="4" y="0.18" drill="0.7" diameter="1.6"/>
-<text x="-1.651" y="3.302" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-1.905" y="-2.54" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-<package name="SCREWTERMINAL-3.5MM-5">
-<description><h3>Screw Terminal 3.5mm Pitch -5 Pin PTH</h3>
-<p>Specifications:
-<ul><li>Pin count: 5</li>
-<li>Pin pitch: 3.5mm/138mil</li>
-</ul></p>
-<p><a href=”https://www.sparkfun.com/datasheets/Prototyping/Screw-Terminal-3.5mm.pdf”>Datasheet referenced for footprint</a></p>
-<p>Example device(s):
-<ul><li>CONN_05</li>
-</ul></p></description>
-<wire x1="-1.75" y1="3.4" x2="15.75" y2="3.4" width="0.2032" layer="21"/>
-<wire x1="15.75" y1="3.4" x2="15.75" y2="-2.8" width="0.2032" layer="21"/>
-<wire x1="15.75" y1="-2.8" x2="15.75" y2="-3.6" width="0.2032" layer="21"/>
-<wire x1="15.75" y1="-3.6" x2="-1.75" y2="-3.6" width="0.2032" layer="21"/>
-<wire x1="-1.75" y1="-3.6" x2="-1.75" y2="-2.8" width="0.2032" layer="21"/>
-<wire x1="-1.75" y1="-2.8" x2="-1.75" y2="3.4" width="0.2032" layer="21"/>
-<wire x1="15.75" y1="-2.8" x2="-1.75" y2="-2.8" width="0.2032" layer="21"/>
-<wire x1="-1.75" y1="-1.35" x2="-2.25" y2="-1.35" width="0.2032" layer="51"/>
-<wire x1="-2.25" y1="-1.35" x2="-2.25" y2="-2.35" width="0.2032" layer="51"/>
-<wire x1="-2.25" y1="-2.35" x2="-1.75" y2="-2.35" width="0.2032" layer="51"/>
-<wire x1="15.75" y1="3.15" x2="16.25" y2="3.15" width="0.2032" layer="51"/>
-<wire x1="16.25" y1="3.15" x2="16.25" y2="2.15" width="0.2032" layer="51"/>
-<wire x1="16.25" y1="2.15" x2="15.75" y2="2.15" width="0.2032" layer="51"/>
-<pad name="1" x="0" y="0" drill="1.2" diameter="2.032" shape="square"/>
-<pad name="2" x="3.5" y="0" drill="1.2" diameter="2.032"/>
-<pad name="3" x="7" y="0" drill="1.2" diameter="2.032"/>
-<pad name="4" x="10.5" y="0" drill="1.2" diameter="2.032"/>
-<pad name="5" x="14" y="0" drill="1.2" diameter="2.032"/>
-<text x="5.588" y="2.413" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="5.334" y="1.524" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-</package>
-</packages>
-<symbols>
-<symbol name="CONN_05">
-<description><h3>5 Pin Connection</h3></description>
-<wire x1="3.81" y1="-7.62" x2="-2.54" y2="-7.62" width="0.4064" layer="94"/>
-<wire x1="1.27" y1="0" x2="2.54" y2="0" width="0.6096" layer="94"/>
-<wire x1="1.27" y1="-2.54" x2="2.54" y2="-2.54" width="0.6096" layer="94"/>
-<wire x1="1.27" y1="-5.08" x2="2.54" y2="-5.08" width="0.6096" layer="94"/>
-<wire x1="-2.54" y1="7.62" x2="-2.54" y2="-7.62" width="0.4064" layer="94"/>
-<wire x1="3.81" y1="-7.62" x2="3.81" y2="7.62" width="0.4064" layer="94"/>
-<wire x1="-2.54" y1="7.62" x2="3.81" y2="7.62" width="0.4064" layer="94"/>
-<wire x1="1.27" y1="5.08" x2="2.54" y2="5.08" width="0.6096" layer="94"/>
-<wire x1="1.27" y1="2.54" x2="2.54" y2="2.54" width="0.6096" layer="94"/>
-<text x="-2.54" y="-9.906" size="1.778" layer="96" font="vector">>VALUE</text>
-<text x="-2.54" y="8.128" size="1.778" layer="95" font="vector">>NAME</text>
-<pin name="1" x="7.62" y="-5.08" visible="pad" length="middle" direction="pas" swaplevel="1" rot="R180"/>
-<pin name="2" x="7.62" y="-2.54" visible="pad" length="middle" direction="pas" swaplevel="1" rot="R180"/>
-<pin name="3" x="7.62" y="0" visible="pad" length="middle" direction="pas" swaplevel="1" rot="R180"/>
-<pin name="4" x="7.62" y="2.54" visible="pad" length="middle" direction="pas" swaplevel="1" rot="R180"/>
-<pin name="5" x="7.62" y="5.08" visible="pad" length="middle" direction="pas" swaplevel="1" rot="R180"/>
-</symbol>
-<symbol name="CONN_04">
-<description><h3>4 Pin Connection</h3></description>
-<wire x1="1.27" y1="-5.08" x2="-5.08" y2="-5.08" width="0.4064" layer="94"/>
-<wire x1="-1.27" y1="2.54" x2="0" y2="2.54" width="0.6096" layer="94"/>
-<wire x1="-1.27" y1="0" x2="0" y2="0" width="0.6096" layer="94"/>
-<wire x1="-1.27" y1="-2.54" x2="0" y2="-2.54" width="0.6096" layer="94"/>
-<wire x1="-5.08" y1="7.62" x2="-5.08" y2="-5.08" width="0.4064" layer="94"/>
-<wire x1="1.27" y1="-5.08" x2="1.27" y2="7.62" width="0.4064" layer="94"/>
-<wire x1="-5.08" y1="7.62" x2="1.27" y2="7.62" width="0.4064" layer="94"/>
-<wire x1="-1.27" y1="5.08" x2="0" y2="5.08" width="0.6096" layer="94"/>
-<text x="-5.08" y="-7.366" size="1.778" layer="96" font="vector">>VALUE</text>
-<text x="-5.08" y="8.128" size="1.778" layer="95" font="vector">>NAME</text>
-<pin name="1" x="5.08" y="-2.54" visible="pad" length="middle" direction="pas" swaplevel="1" rot="R180"/>
-<pin name="2" x="5.08" y="0" visible="pad" length="middle" direction="pas" swaplevel="1" rot="R180"/>
-<pin name="3" x="5.08" y="2.54" visible="pad" length="middle" direction="pas" swaplevel="1" rot="R180"/>
-<pin name="4" x="5.08" y="5.08" visible="pad" length="middle" direction="pas" swaplevel="1" rot="R180"/>
-</symbol>
-</symbols>
-<devicesets>
-<deviceset name="CONN_05" prefix="J" uservalue="yes">
-<description><h3>Multi connection point. Often used as Generic Header-pin footprint for 0.1 inch spaced/style header connections</h3>
-
-<p></p>
-<b>On any of the 0.1 inch spaced packages, you can populate with these:</b>
-<ul>
-<li><a href="https://www.sparkfun.com/products/116"> Break Away Headers - Straight</a> (PRT-00116)</li>
-<li><a href="https://www.sparkfun.com/products/553"> Break Away Male Headers - Right Angle</a> (PRT-00553)</li>
-<li><a href="https://www.sparkfun.com/products/115"> Female Headers</a> (PRT-00115)</li>
-<li><a href="https://www.sparkfun.com/products/117"> Break Away Headers - Machine Pin</a> (PRT-00117)</li>
-<li><a href="https://www.sparkfun.com/products/743"> Break Away Female Headers - Swiss Machine Pin</a> (PRT-00743)</li>
-</ul>
-
-<p></p>
-<b> For SCREWTERMINALS and SPRING TERMINALS visit here:</b>
-<ul>
-<li><a href="https://www.sparkfun.com/search/results?term=Screw+Terminals"> Screw Terimnals on SparkFun.com</a> (5mm/3.5mm/2.54mm spacing)</li>
-</ul>
-
-<p></p>
-<b>This device is also useful as a general connection point to wire up your design to another part of your project. Our various solder wires solder well into these plated through hole pads.</b>
-<ul>
-<li><a href="https://www.sparkfun.com/products/11375"> Hook-Up Wire - Assortment (Stranded, 22 AWG)</a> (PRT-11375)</li>
-<li><a href="https://www.sparkfun.com/products/11367"> Hook-Up Wire - Assortment (Solid Core, 22 AWG)</a> (PRT-11367)</li>
-<li><a href="https://www.sparkfun.com/categories/141"> View the entire wire category on our website here</a></li>
-<p></p>
-</ul>
-
-<p></p>
-<b>Special notes:</b>
-<p> </p> Molex polarized connector foot print use with SKU : PRT-08231 with associated crimp pins and housings. 1MM SMD Version SKU: PRT-10208</description>
-<gates>
-<gate name="G$1" symbol="CONN_05" x="-2.54" y="0"/>
-</gates>
-<devices>
-<device name="" package="1X05">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-<connect gate="G$1" pin="5" pad="5"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-<device name="1.27MM" package="1X05_1.27MM">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-<connect gate="G$1" pin="5" pad="5"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-<device name="LOCK" package="1X05_LOCK">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-<connect gate="G$1" pin="5" pad="5"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-<device name="LOCK_LONGPADS" package="1X05_LOCK_LONGPADS">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-<connect gate="G$1" pin="5" pad="5"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-<device name="PTH_LONGPADS" package="1X05_LONGPADS">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-<connect gate="G$1" pin="5" pad="5"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-<device name="SMD" package="1X05_1MM">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-<connect gate="G$1" pin="5" pad="5"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PROD_ID" value="CONN-08528" constant="no"/>
-<attribute name="SF_ID" value="GPS-08288" constant="no"/>
-</technology>
-</technologies>
-</device>
-<device name="SMD2" package="1X05_1MM_RA">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-<connect gate="G$1" pin="5" pad="5"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-<device name="NO_SILK" package="1X05_NO_SILK">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-<connect gate="G$1" pin="5" pad="5"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-<device name="JST" package="JST-5-PTH">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-<connect gate="G$1" pin="5" pad="5"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="SF_ID" value="PRT-09917" constant="no"/>
-</technology>
-</technologies>
-</device>
-<device name="JST-VERT" package="JST-5-PTH-VERT">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-<connect gate="G$1" pin="5" pad="5"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-<device name="SCREW" package="SCREWTERMINAL-3.5MM-5">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-<connect gate="G$1" pin="5" pad="5"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PROD_ID" value="Combine 8288+8399" constant="no"/>
-</technology>
-</technologies>
-</device>
-</devices>
-</deviceset>
-<deviceset name="CONN_04" prefix="J" uservalue="yes">
-<description><h3>Multi connection point. Often used as Generic Header-pin footprint for 0.1 inch spaced/style header connections</h3>
-
-<p></p>
-<b>On any of the 0.1 inch spaced packages, you can populate with these:</b>
-<ul>
-<li><a href="https://www.sparkfun.com/products/116"> Break Away Headers - Straight</a> (PRT-00116)</li>
-<li><a href="https://www.sparkfun.com/products/553"> Break Away Male Headers - Right Angle</a> (PRT-00553)</li>
-<li><a href="https://www.sparkfun.com/products/115"> Female Headers</a> (PRT-00115)</li>
-<li><a href="https://www.sparkfun.com/products/117"> Break Away Headers - Machine Pin</a> (PRT-00117)</li>
-<li><a href="https://www.sparkfun.com/products/743"> Break Away Female Headers - Swiss Machine Pin</a> (PRT-00743)</li>
-</ul>
-
-<p></p>
-<b> For SCREWTERMINALS and SPRING TERMINALS visit here:</b>
-<ul>
-<li><a href="https://www.sparkfun.com/search/results?term=Screw+Terminals"> Screw Terimnals on SparkFun.com</a> (5mm/3.5mm/2.54mm spacing)</li>
-</ul>
-
-<p></p>
-<b>This device is also useful as a general connection point to wire up your design to another part of your project. Our various solder wires solder well into these plated through hole pads.</b>
-<ul>
-<li><a href="https://www.sparkfun.com/products/11375"> Hook-Up Wire - Assortment (Stranded, 22 AWG)</a> (PRT-11375)</li>
-<li><a href="https://www.sparkfun.com/products/11367"> Hook-Up Wire - Assortment (Solid Core, 22 AWG)</a> (PRT-11367)</li>
-<li><a href="https://www.sparkfun.com/categories/141"> View the entire wire category on our website here</a></li>
-<p></p>
-</ul>
-
-<p></p>
-<b>Special notes:</b>
-<p> </p> Molex polarized connector foot print use with SKU : PRT-08231 with associated crimp pins and housings. 1MM SMD Version SKU: PRT-10208</description>
-<gates>
-<gate name="G$1" symbol="CONN_04" x="-2.54" y="0"/>
-</gates>
-<devices>
-<device name="" package="1X04">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PROD_ID" value="CONN-09696" constant="no"/>
-</technology>
-</technologies>
-</device>
-<device name="POLAR" package="MOLEX-1X4">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PROD_ID" value="CONN-08186" constant="no"/>
-<attribute name="SF_ID" value="PRT-08231" constant="no"/>
-</technology>
-</technologies>
-</device>
-<device name="SCREW" package="SCREWTERMINAL-3.5MM-4">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PROD_ID" value="2xCONN-08399" constant="no"/>
-<attribute name="SF_ID" value="2xPRT-08084" constant="no"/>
-</technology>
-</technologies>
-</device>
-<device name="1.27MM" package="1X04_1.27MM">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-<device name="LOCK" package="1X04_LOCK">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PROD_ID" value="CONN-09696" constant="no"/>
-</technology>
-</technologies>
-</device>
-<device name="LOCK_LONGPADS" package="1X04_LOCK_LONGPADS">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PROD_ID" value="CONN-09696" constant="no"/>
-</technology>
-</technologies>
-</device>
-<device name="POLAR_LOCK" package="MOLEX-1X4_LOCK">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PROD_ID" value="CONN-08186" constant="no"/>
-<attribute name="SF_ID" value="PRT-08231" constant="no"/>
-</technology>
-</technologies>
-</device>
-<device name="SMD" package="1X04_SMD_RA_MALE">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PROD_ID" value="CONN-09140" constant="no"/>
-<attribute name="SF_ID" value="PRT-12638" constant="no"/>
-</technology>
-</technologies>
-</device>
-<device name="LONGPADS" package="1X04_LONGPADS">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PROD_ID" value="CONN-09696" constant="no"/>
-</technology>
-</technologies>
-</device>
-<device name="1X04_NO_SILK" package="1X04_NO_SILK">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PROD_ID" value="CONN-09696" constant="no"/>
-</technology>
-</technologies>
-</device>
-<device name="JST-PTH" package="JST-4-PTH">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PROD_ID" value="WIRE-13531" constant="no"/>
-<attribute name="SF_ID" value="PRT-09916" constant="no"/>
-</technology>
-</technologies>
-</device>
-<device name="SCREW_LOCK" package="SCREWTERMINAL-3.5MM-4_LOCK">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-<device name="SMD2" package="1X04_1MM_RA">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PROD_ID" value="CONN-10310" constant="no"/>
-<attribute name="SF_ID" value="PRT-10208" constant="no"/>
-</technology>
-</technologies>
-</device>
-<device name="SMD_STRAIGHT_COMBO" package="1X04_SMD_VERTICAL_COMBO">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PROD_ID" value="CONN-08511"/>
-<attribute name="VALUE" value="1X04_SMD_STRAIGHT_COMBO"/>
-</technology>
-</technologies>
-</device>
-<device name="SMD_LONG" package="1X04_SMD_LONG">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PROD_ID" value="CONN-09140" constant="no"/>
-<attribute name="SF_ID" value="PRT-12638" constant="no"/>
-</technology>
-</technologies>
-</device>
-<device name="JST-PTH-VERT" package="JST-4-PTH-VERT">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PROD_ID" value="CONN-13251"/>
-</technology>
-</technologies>
-</device>
-<device name="SMD_RA_FEMALE" package="1X04_SMD_RA_FEMALE">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-<connect gate="G$1" pin="4" pad="4"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PROD_ID" value="CONN-12382" constant="no"/>
-</technology>
-</technologies>
-</device>
-</devices>
-</deviceset>
-</devicesets>
-</library>
-<library name="lights">
-<packages>
-<package name="LED1206">
-<description>LED 1206 pads (standard pattern)</description>
-<wire x1="0.9525" y1="-0.8128" x2="-0.9652" y2="-0.8128" width="0.1524" layer="51"/>
-<wire x1="0.9525" y1="0.8128" x2="-0.9652" y2="0.8128" width="0.1524" layer="51"/>
-<wire x1="-2.473" y1="0.983" x2="2.473" y2="0.983" width="0.0508" layer="39"/>
-<wire x1="2.473" y1="0.983" x2="2.473" y2="-0.983" width="0.0508" layer="39"/>
-<wire x1="2.473" y1="-0.983" x2="-2.473" y2="-0.983" width="0.0508" layer="39"/>
-<wire x1="-2.473" y1="-0.983" x2="-2.473" y2="0.983" width="0.0508" layer="39"/>
-<smd name="2" x="1.422" y="0" dx="1.6" dy="1.803" layer="1"/>
-<smd name="1" x="-1.422" y="0" dx="1.6" dy="1.803" layer="1"/>
-<text x="-1.27" y="1.27" size="1.27" layer="25">>NAME</text>
-<text x="-1.27" y="-2.54" size="1.27" layer="27">>VALUE</text>
-<rectangle x1="-1.6891" y1="-0.8763" x2="-0.9525" y2="0.8763" layer="51"/>
-<rectangle x1="0.9525" y1="-0.8763" x2="1.6891" y2="0.8763" layer="51"/>
-</package>
-<package name="LED1206FAB">
-<description>LED1206 FAB style (smaller pads to allow trace between)</description>
-<wire x1="-2.032" y1="1.016" x2="2.032" y2="1.016" width="0.127" layer="21"/>
-<wire x1="2.032" y1="1.016" x2="2.032" y2="-1.016" width="0.127" layer="21"/>
-<wire x1="2.032" y1="-1.016" x2="-2.032" y2="-1.016" width="0.127" layer="21"/>
-<wire x1="-2.032" y1="-1.016" x2="-2.032" y2="1.016" width="0.127" layer="21"/>
-<smd name="1" x="-1.651" y="0" dx="1.27" dy="1.905" layer="1"/>
-<smd name="2" x="1.651" y="0" dx="1.27" dy="1.905" layer="1"/>
-<text x="-1.778" y="1.27" size="1.016" layer="25" ratio="15">>NAME</text>
-<text x="-1.778" y="-2.286" size="1.016" layer="27" ratio="15">>VALUE</text>
-</package>
-<package name="5MM">
-<description>5mm round through hole part.</description>
-<wire x1="2.54" y1="-1.905" x2="2.54" y2="1.905" width="0.2032" layer="21"/>
-<wire x1="2.54" y1="-1.905" x2="2.54" y2="1.905" width="0.254" layer="21" curve="-286.260205" cap="flat"/>
-<wire x1="-1.143" y1="0" x2="0" y2="1.143" width="0.1524" layer="51" curve="-90" cap="flat"/>
-<wire x1="0" y1="-1.143" x2="1.143" y2="0" width="0.1524" layer="51" curve="90" cap="flat"/>
-<wire x1="-1.651" y1="0" x2="0" y2="1.651" width="0.1524" layer="51" curve="-90" cap="flat"/>
-<wire x1="0" y1="-1.651" x2="1.651" y2="0" width="0.1524" layer="51" curve="90" cap="flat"/>
-<wire x1="-2.159" y1="0" x2="0" y2="2.159" width="0.1524" layer="51" curve="-90" cap="flat"/>
-<wire x1="0" y1="-2.159" x2="2.159" y2="0" width="0.1524" layer="51" curve="90" cap="flat"/>
-<circle x="0" y="0" radius="2.54" width="0.1524" layer="21"/>
-<pad name="IN" x="-1.27" y="0" drill="0.8128" diameter="1.4224"/>
-<pad name="OUT" x="1.27" y="0" drill="0.8128" diameter="1.4224"/>
-<text x="3.175" y="0.5334" size="1.27" layer="25" ratio="10">>NAME</text>
-<text x="3.2004" y="-1.8034" size="1.27" layer="27" ratio="10">>VALUE</text>
-</package>
-<package name="LED0805">
-<wire x1="-1.473" y1="0.983" x2="1.473" y2="0.983" width="0.0508" layer="39"/>
-<wire x1="1.473" y1="0.983" x2="1.473" y2="-0.983" width="0.0508" layer="39"/>
-<wire x1="1.473" y1="-0.983" x2="-1.473" y2="-0.983" width="0.0508" layer="39"/>
-<wire x1="-1.473" y1="-0.983" x2="-1.473" y2="0.983" width="0.0508" layer="39"/>
-<smd name="1" x="-0.85" y="0" dx="1.1" dy="1" layer="1"/>
-<smd name="2" x="0.85" y="0" dx="1.1" dy="1" layer="1"/>
-<text x="-0.889" y="1.397" size="1.016" layer="25">>NAME</text>
-<text x="-1.016" y="-2.413" size="1.016" layer="27" ratio="10">>VALUE</text>
-<rectangle x1="-0.1999" y1="-0.3" x2="0.1999" y2="0.3" layer="35"/>
-<wire x1="-0.1778" y1="0.4318" x2="0.1778" y2="0" width="0.127" layer="21"/>
-<wire x1="0.1778" y1="0" x2="-0.1778" y2="-0.4318" width="0.127" layer="21"/>
-<wire x1="-0.1778" y1="0.4318" x2="-0.1778" y2="-0.4318" width="0.127" layer="21"/>
-</package>
-</packages>
-<symbols>
-<symbol name="LED">
-<description>LED</description>
-<wire x1="1.27" y1="2.54" x2="0" y2="0" width="0.254" layer="94"/>
-<wire x1="0" y1="0" x2="-1.27" y2="2.54" width="0.254" layer="94"/>
-<wire x1="1.27" y1="0" x2="0" y2="0" width="0.254" layer="94"/>
-<wire x1="0" y1="0" x2="-1.27" y2="0" width="0.254" layer="94"/>
-<wire x1="1.27" y1="2.54" x2="0" y2="2.54" width="0.254" layer="94"/>
-<wire x1="0" y1="2.54" x2="-1.27" y2="2.54" width="0.254" layer="94"/>
-<wire x1="0" y1="2.54" x2="0" y2="0" width="0.1524" layer="94"/>
-<wire x1="-2.032" y1="1.778" x2="-3.429" y2="0.381" width="0.1524" layer="94"/>
-<wire x1="-1.905" y1="0.635" x2="-3.302" y2="-0.762" width="0.1524" layer="94"/>
-<text x="3.556" y="-2.032" size="1.778" layer="95" rot="R90">>NAME</text>
-<text x="5.715" y="-2.032" size="1.778" layer="96" rot="R90">>VALUE</text>
-<pin name="C" x="0" y="-2.54" visible="off" length="short" direction="pas" rot="R90"/>
-<pin name="A" x="0" y="5.08" visible="off" length="short" direction="pas" rot="R270"/>
-<polygon width="0.1524" layer="94">
-<vertex x="-3.429" y="0.381"/>
-<vertex x="-3.048" y="1.27"/>
-<vertex x="-2.54" y="0.762"/>
-</polygon>
-<polygon width="0.1524" layer="94">
-<vertex x="-3.302" y="-0.762"/>
-<vertex x="-2.921" y="0.127"/>
-<vertex x="-2.413" y="-0.381"/>
-</polygon>
-</symbol>
-</symbols>
-<devicesets>
-<deviceset name="LED" prefix="D">
-<description>LED</description>
-<gates>
-<gate name="G$1" symbol="LED" x="0" y="0"/>
-</gates>
-<devices>
-<device name="" package="LED1206">
-<connects>
-<connect gate="G$1" pin="A" pad="1"/>
-<connect gate="G$1" pin="C" pad="2"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-<device name="FAB1206" package="LED1206FAB">
-<connects>
-<connect gate="G$1" pin="A" pad="1"/>
-<connect gate="G$1" pin="C" pad="2"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-<device name="5MM" package="5MM">
-<connects>
-<connect gate="G$1" pin="A" pad="IN"/>
-<connect gate="G$1" pin="C" pad="OUT"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-<device name="0805" package="LED0805">
-<connects>
-<connect gate="G$1" pin="A" pad="1"/>
-<connect gate="G$1" pin="C" pad="2"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-</devices>
-</deviceset>
-</devicesets>
-</library>
-<library name="connector">
-<packages>
-<package name="JRTOMBSTONE">
-<wire x1="-1.1" y1="-1" x2="-1.1" y2="0.7" width="0.127" layer="21"/>
-<wire x1="-1.1" y1="0.7" x2="1" y2="0.7" width="0.127" layer="21" curve="-180"/>
-<wire x1="1" y1="0.7" x2="1" y2="-1" width="0.127" layer="21"/>
-<wire x1="1" y1="-1" x2="-1.1" y2="-1" width="0.127" layer="21"/>
-<wire x1="-0.8" y1="-0.5" x2="-0.6" y2="-0.5" width="0.127" layer="21"/>
-<wire x1="-0.6" y1="-0.5" x2="-0.3" y2="-0.2" width="0.127" layer="21" curve="90"/>
-<wire x1="-0.3" y1="-0.2" x2="-0.3" y2="0.7" width="0.127" layer="21"/>
-<wire x1="-0.3" y1="0.7" x2="-0.8" y2="0.7" width="0.127" layer="21"/>
-<wire x1="-0.3" y1="0.7" x2="0.1" y2="0.7" width="0.127" layer="21"/>
-<wire x1="0.1" y1="0.7" x2="0.1" y2="0.1" width="0.127" layer="21"/>
-<wire x1="0.1" y1="0.1" x2="0.1" y2="-0.5" width="0.127" layer="21"/>
-<wire x1="0.1" y1="0.7" x2="0.4" y2="0.7" width="0.127" layer="21"/>
-<wire x1="0.4" y1="0.7" x2="0.4" y2="0.1" width="0.127" layer="21" curve="-180"/>
-<wire x1="0.4" y1="0.1" x2="0.7" y2="-0.5" width="0.127" layer="21"/>
-<wire x1="0.4" y1="0.1" x2="0.1" y2="0.1" width="0.127" layer="21"/>
-</package>
-<package name="RJ45-LED-RJE7318800XXX">
-<hole x="-5.74" y="0" drill="1.8"/>
-<hole x="5.74" y="0" drill="1.8"/>
-<pad name="SHDL1" x="-8" y="-4.35" drill="2" shape="square" rot="R180"/>
-<pad name="SHDL2" x="8" y="-4.35" drill="2" shape="square"/>
-<wire x1="8" y1="-6.5" x2="-8" y2="-6.5" width="0.1524" layer="51"/>
-<wire x1="-8" y1="-6.5" x2="-8" y2="-9" width="0.1524" layer="51"/>
-<wire x1="-8" y1="-9" x2="8" y2="-9" width="0.1524" layer="51"/>
-<wire x1="8" y1="-9" x2="8" y2="6" width="0.1524" layer="51"/>
-<wire x1="8" y1="6" x2="-8" y2="6" width="0.1524" layer="51"/>
-<wire x1="-8" y1="6" x2="-8" y2="-6.5" width="0.1524" layer="51"/>
-<pad name="P$1" x="-3.57" y="0.38" drill="0.9"/>
-<pad name="P$2" x="-2.55" y="-1.45" drill="0.9"/>
-<pad name="P$3" x="-1.53" y="0.38" drill="0.9"/>
-<pad name="P$5" x="0.51" y="0.38" drill="0.9"/>
-<pad name="P$7" x="2.55" y="0.38" drill="0.9"/>
-<pad name="P$4" x="-0.51" y="-1.45" drill="0.9"/>
-<pad name="P$6" x="1.53" y="-1.45" drill="0.9"/>
-<pad name="P$8" x="3.57" y="-1.45" drill="0.9"/>
-<pad name="YLWP" x="-7.01" y="3.6" drill="1.1"/>
-<pad name="GRNN" x="7.01" y="3.6" drill="1.1"/>
-<pad name="GRNP" x="4.47" y="3.6" drill="1.1"/>
-<pad name="YLWN" x="-4.47" y="3.6" drill="1.1"/>
-</package>
-</packages>
-<symbols>
-<symbol name="JRTOMBSTONE">
-<wire x1="-5.08" y1="-5.08" x2="-5.08" y2="2.54" width="0.254" layer="94"/>
-<wire x1="-5.08" y1="2.54" x2="5.08" y2="2.54" width="0.254" layer="94" curve="-180"/>
-<wire x1="5.08" y1="2.54" x2="5.08" y2="-5.08" width="0.254" layer="94"/>
-<wire x1="5.08" y1="-5.08" x2="-5.08" y2="-5.08" width="0.254" layer="94"/>
-<wire x1="-3.81" y1="3.175" x2="-1.27" y2="3.175" width="0.254" layer="94"/>
-<wire x1="-1.27" y1="3.175" x2="0" y2="3.175" width="0.254" layer="94"/>
-<wire x1="-1.27" y1="3.175" x2="-1.27" y2="-0.635" width="0.254" layer="94"/>
-<wire x1="-1.27" y1="-0.635" x2="-3.81" y2="-1.27" width="0.254" layer="94" curve="-143.130069"/>
-<wire x1="0.635" y1="3.175" x2="0.635" y2="-1.905" width="0.254" layer="94"/>
-<wire x1="0.635" y1="3.175" x2="1.27" y2="3.175" width="0.254" layer="94"/>
-<wire x1="1.27" y1="3.175" x2="2.54" y2="0.635" width="0.254" layer="94" curve="-126.869898"/>
-<wire x1="2.54" y1="0.635" x2="1.27" y2="0" width="0.254" layer="94" curve="-53.129967"/>
-<wire x1="1.27" y1="0" x2="3.175" y2="-1.905" width="0.254" layer="94"/>
-</symbol>
-<symbol name="ATK-PHY">
-<pin name="TX" x="-5.08" y="10.16" length="middle"/>
-<pin name="RX" x="-5.08" y="15.24" length="middle"/>
-<pin name="CLKIN" x="-5.08" y="20.32" length="middle"/>
-<pin name="GND" x="-5.08" y="0" length="middle"/>
-<pin name="3V3" x="-5.08" y="-5.08" length="middle"/>
-<pin name="GRN-RX" x="-5.08" y="-10.16" length="middle"/>
-<pin name="YLW-TX" x="-5.08" y="-15.24" length="middle"/>
-<wire x1="0" y1="22.86" x2="0" y2="-17.78" width="0.254" layer="94"/>
-<wire x1="0" y1="-17.78" x2="17.78" y2="-17.78" width="0.254" layer="94"/>
-<wire x1="17.78" y1="-17.78" x2="17.78" y2="22.86" width="0.254" layer="94"/>
-<wire x1="17.78" y1="22.86" x2="0" y2="22.86" width="0.254" layer="94"/>
-<pin name="CLKOUT" x="-5.08" y="5.08" length="middle"/>
-</symbol>
-</symbols>
-<devicesets>
-<deviceset name="JRTOMBSTONE" prefix="MP">
-<gates>
-<gate name="G$1" symbol="JRTOMBSTONE" x="0" y="0"/>
-</gates>
-<devices>
-<device name="" package="JRTOMBSTONE">
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-</devices>
-</deviceset>
-<deviceset name="ATK-PHY" prefix="J">
-<gates>
-<gate name="G$1" symbol="ATK-PHY" x="0" y="0"/>
-</gates>
-<devices>
-<device name="" package="RJ45-LED-RJE7318800XXX">
-<connects>
-<connect gate="G$1" pin="3V3" pad="GRNP P$4 P$5 YLWP"/>
-<connect gate="G$1" pin="CLKIN" pad="P$1"/>
-<connect gate="G$1" pin="CLKOUT" pad="P$8"/>
-<connect gate="G$1" pin="GND" pad="P$2 P$7 SHDL1 SHDL2"/>
-<connect gate="G$1" pin="GRN-RX" pad="GRNN"/>
-<connect gate="G$1" pin="RX" pad="P$3"/>
-<connect gate="G$1" pin="TX" pad="P$6"/>
-<connect gate="G$1" pin="YLW-TX" pad="YLWN"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-</devices>
-</deviceset>
-</devicesets>
-</library>
-<library name="microcontrollers">
-<packages>
-<package name="TQFP64_14X14MM-013THIN">
-<description>64-Lead TQFP Plastic Thin Quad Flatpack - 14x14x1mm Body</description>
-<wire x1="7" y1="7" x2="-7" y2="7" width="0.127" layer="51"/>
-<wire x1="-7" y1="7" x2="-7" y2="-7" width="0.127" layer="51"/>
-<wire x1="-7" y1="-7" x2="7" y2="-7" width="0.127" layer="51"/>
-<wire x1="7" y1="-7" x2="7" y2="7" width="0.127" layer="51"/>
-<wire x1="-7.1" y1="6.4" x2="-7.1" y2="7.1" width="0.127" layer="21"/>
-<wire x1="-7.1" y1="7.1" x2="-6.4" y2="7.1" width="0.127" layer="21"/>
-<wire x1="6.4" y1="7.1" x2="7.1" y2="7.1" width="0.127" layer="21"/>
-<wire x1="7.1" y1="7.1" x2="7.1" y2="6.4" width="0.127" layer="21"/>
-<wire x1="7.1" y1="-6.4" x2="7.1" y2="-7.1" width="0.127" layer="21"/>
-<wire x1="7.1" y1="-7.1" x2="6.4" y2="-7.1" width="0.127" layer="21"/>
-<wire x1="-7" y1="-6.4" x2="-6.4" y2="-7" width="0.127" layer="21"/>
-<smd name="56" x="-7.6" y="0.4" dx="1.524" dy="0.3302" layer="1"/>
-<smd name="57" x="-7.6" y="-0.4" dx="1.524" dy="0.3302" layer="1"/>
-<smd name="58" x="-7.6" y="-1.2" dx="1.524" dy="0.3302" layer="1"/>
-<smd name="55" x="-7.6" y="1.2" dx="1.524" dy="0.3302" layer="1"/>
-<smd name="54" x="-7.6" y="2" dx="1.524" dy="0.3302" layer="1"/>
-<smd name="59" x="-7.6" y="-2" dx="1.524" dy="0.3302" layer="1"/>
-<smd name="60" x="-7.6" y="-2.8" dx="1.524" dy="0.3302" layer="1"/>
-<smd name="53" x="-7.6" y="2.8" dx="1.524" dy="0.3302" layer="1"/>
-<smd name="52" x="-7.6" y="3.6" dx="1.524" dy="0.3302" layer="1"/>
-<smd name="61" x="-7.6" y="-3.6" dx="1.524" dy="0.3302" layer="1"/>
-<smd name="62" x="-7.6" y="-4.4" dx="1.524" dy="0.3302" layer="1"/>
-<smd name="51" x="-7.6" y="4.4" dx="1.524" dy="0.3302" layer="1"/>
-<smd name="50" x="-7.6" y="5.2" dx="1.524" dy="0.3302" layer="1"/>
-<smd name="63" x="-7.6" y="-5.2" dx="1.524" dy="0.3302" layer="1"/>
-<smd name="49" x="-7.6" y="6" dx="1.524" dy="0.3302" layer="1"/>
-<smd name="64" x="-7.6" y="-6" dx="1.524" dy="0.3302" layer="1"/>
-<smd name="8" x="-0.4" y="-7.6" dx="1.524" dy="0.3302" layer="1" rot="R90"/>
-<smd name="9" x="0.4" y="-7.6" dx="1.524" dy="0.3302" layer="1" rot="R90"/>
-<smd name="10" x="1.2" y="-7.6" dx="1.524" dy="0.3302" layer="1" rot="R90"/>
-<smd name="7" x="-1.2" y="-7.6" dx="1.524" dy="0.3302" layer="1" rot="R90"/>
-<smd name="6" x="-2" y="-7.6" dx="1.524" dy="0.3302" layer="1" rot="R90"/>
-<smd name="11" x="2" y="-7.6" dx="1.524" dy="0.3302" layer="1" rot="R90"/>
-<smd name="12" x="2.8" y="-7.6" dx="1.524" dy="0.3302" layer="1" rot="R90"/>
-<smd name="5" x="-2.8" y="-7.6" dx="1.524" dy="0.3302" layer="1" rot="R90"/>
-<smd name="4" x="-3.6" y="-7.6" dx="1.524" dy="0.3302" layer="1" rot="R90"/>
-<smd name="13" x="3.6" y="-7.6" dx="1.524" dy="0.3302" layer="1" rot="R90"/>
-<smd name="14" x="4.4" y="-7.6" dx="1.524" dy="0.3302" layer="1" rot="R90"/>
-<smd name="3" x="-4.4" y="-7.6" dx="1.524" dy="0.3302" layer="1" rot="R90"/>
-<smd name="2" x="-5.2" y="-7.6" dx="1.524" dy="0.3302" layer="1" rot="R90"/>
-<smd name="15" x="5.2" y="-7.6" dx="1.524" dy="0.3302" layer="1" rot="R90"/>
-<smd name="1" x="-6" y="-7.6" dx="1.524" dy="0.3302" layer="1" rot="R90"/>
-<smd name="16" x="6" y="-7.6" dx="1.524" dy="0.3302" layer="1" rot="R90"/>
-<smd name="24" x="7.6" y="-0.4" dx="1.524" dy="0.3302" layer="1" rot="R180"/>
-<smd name="25" x="7.6" y="0.4" dx="1.524" dy="0.3302" layer="1" rot="R180"/>
-<smd name="26" x="7.6" y="1.2" dx="1.524" dy="0.3302" layer="1" rot="R180"/>
-<smd name="23" x="7.6" y="-1.2" dx="1.524" dy="0.3302" layer="1" rot="R180"/>
-<smd name="22" x="7.6" y="-2" dx="1.524" dy="0.3302" layer="1" rot="R180"/>
-<smd name="27" x="7.6" y="2" dx="1.524" dy="0.3302" layer="1" rot="R180"/>
-<smd name="28" x="7.6" y="2.8" dx="1.524" dy="0.3302" layer="1" rot="R180"/>
-<smd name="21" x="7.6" y="-2.8" dx="1.524" dy="0.3302" layer="1" rot="R180"/>
-<smd name="20" x="7.6" y="-3.6" dx="1.524" dy="0.3302" layer="1" rot="R180"/>
-<smd name="29" x="7.6" y="3.6" dx="1.524" dy="0.3302" layer="1" rot="R180"/>
-<smd name="30" x="7.6" y="4.4" dx="1.524" dy="0.3302" layer="1" rot="R180"/>
-<smd name="19" x="7.6" y="-4.4" dx="1.524" dy="0.3302" layer="1" rot="R180"/>
-<smd name="18" x="7.6" y="-5.2" dx="1.524" dy="0.3302" layer="1" rot="R180"/>
-<smd name="31" x="7.6" y="5.2" dx="1.524" dy="0.3302" layer="1" rot="R180"/>
-<smd name="17" x="7.6" y="-6" dx="1.524" dy="0.3302" layer="1" rot="R180"/>
-<smd name="32" x="7.6" y="6" dx="1.524" dy="0.3302" layer="1" rot="R180"/>
-<smd name="40" x="0.4" y="7.6" dx="1.524" dy="0.3302" layer="1" rot="R270"/>
-<smd name="41" x="-0.4" y="7.6" dx="1.524" dy="0.3302" layer="1" rot="R270"/>
-<smd name="42" x="-1.2" y="7.6" dx="1.524" dy="0.3302" layer="1" rot="R270"/>
-<smd name="39" x="1.2" y="7.6" dx="1.524" dy="0.3302" layer="1" rot="R270"/>
-<smd name="38" x="2" y="7.6" dx="1.524" dy="0.3302" layer="1" rot="R270"/>
-<smd name="43" x="-2" y="7.6" dx="1.524" dy="0.3302" layer="1" rot="R270"/>
-<smd name="44" x="-2.8" y="7.6" dx="1.524" dy="0.3302" layer="1" rot="R270"/>
-<smd name="37" x="2.8" y="7.6" dx="1.524" dy="0.3302" layer="1" rot="R270"/>
-<smd name="36" x="3.6" y="7.6" dx="1.524" dy="0.3302" layer="1" rot="R270"/>
-<smd name="45" x="-3.6" y="7.6" dx="1.524" dy="0.3302" layer="1" rot="R270"/>
-<smd name="46" x="-4.4" y="7.6" dx="1.524" dy="0.3302" layer="1" rot="R270"/>
-<smd name="35" x="4.4" y="7.6" dx="1.524" dy="0.3302" layer="1" rot="R270"/>
-<smd name="34" x="5.2" y="7.6" dx="1.524" dy="0.3302" layer="1" rot="R270"/>
-<smd name="47" x="-5.2" y="7.6" dx="1.524" dy="0.3302" layer="1" rot="R270"/>
-<smd name="33" x="6" y="7.6" dx="1.524" dy="0.3302" layer="1" rot="R270"/>
-<smd name="48" x="-6" y="7.6" dx="1.524" dy="0.3302" layer="1" rot="R270"/>
-<text x="-8.89" y="0" size="0.6096" layer="25" font="vector" ratio="20" rot="R90" align="bottom-center">>NAME</text>
-<text x="9.525" y="0" size="0.6096" layer="27" font="vector" ratio="20" rot="R90" align="bottom-center">>VALUE</text>
-<circle x="-7.62" y="-7.62" radius="0.254" width="0.127" layer="21"/>
-</package>
-<package name="QFN-64-9X9MM">
-<description><h3>64-pin QFN 9x9mm, 0.5mm pitch</h3>
-<p>Package used by ATmega128RFA1</p>
-<p><a href="http://www.atmel.com/Images/Atmel-8266-MCU_Wireless-ATmega128RFA1_Datasheet.pdf">Example Datasheet</a></p></description>
-<wire x1="-4.492" y1="-4.5" x2="4.508" y2="-4.5" width="0.09" layer="51"/>
-<wire x1="4.508" y1="-4.5" x2="4.508" y2="4.5" width="0.09" layer="51"/>
-<wire x1="4.508" y1="4.5" x2="-4.492" y2="4.5" width="0.09" layer="51"/>
-<wire x1="-4.492" y1="4.5" x2="-4.492" y2="-4.5" width="0.09" layer="51"/>
-<wire x1="-4.6" y1="4.6" x2="-4.6" y2="4.1" width="0.2032" layer="21"/>
-<wire x1="-4.6" y1="4.6" x2="-4.1" y2="4.6" width="0.2032" layer="21"/>
-<wire x1="4.6" y1="4.6" x2="4.1" y2="4.6" width="0.2032" layer="21"/>
-<wire x1="4.6" y1="4.6" x2="4.6" y2="4.1" width="0.2032" layer="21"/>
-<circle x="-4.842" y="4.85" radius="0.2" width="0" layer="21"/>
-<circle x="-3.442" y="3.45" radius="0.2" width="0.09" layer="51"/>
-<smd name="26" x="0.75" y="-4.5" dx="0.275" dy="0.7" layer="1" rot="R180"/>
-<smd name="25" x="0.25" y="-4.5" dx="0.275" dy="0.7" layer="1" rot="R180"/>
-<smd name="24" x="-0.25" y="-4.5" dx="0.275" dy="0.7" layer="1" rot="R180"/>
-<smd name="27" x="1.25" y="-4.5" dx="0.275" dy="0.7" layer="1" rot="R180"/>
-<smd name="28" x="1.75" y="-4.5" dx="0.275" dy="0.7" layer="1" rot="R180"/>
-<smd name="23" x="-0.75" y="-4.5" dx="0.275" dy="0.7" layer="1" rot="R180"/>
-<smd name="22" x="-1.25" y="-4.5" dx="0.275" dy="0.7" layer="1" rot="R180"/>
-<smd name="21" x="-1.75" y="-4.5" dx="0.275" dy="0.7" layer="1" rot="R180"/>
-<smd name="6" x="-4.5" y="1.25" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="5" x="-4.5" y="1.75" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="4" x="-4.5" y="2.25" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="7" x="-4.5" y="0.75" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="8" x="-4.5" y="0.25" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="3" x="-4.5" y="2.75" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="2" x="-4.5" y="3.25" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="9" x="-4.5" y="-0.25" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="10" x="-4.5" y="-0.75" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="1" x="-4.5" y="3.75" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="16" x="-4.5" y="-3.75" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="15" x="-4.5" y="-3.25" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="14" x="-4.5" y="-2.75" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="17" x="-3.75" y="-4.5" dx="0.275" dy="0.7" layer="1" rot="R180"/>
-<smd name="18" x="-3.25" y="-4.5" dx="0.275" dy="0.7" layer="1" rot="R180"/>
-<smd name="13" x="-4.5" y="-2.25" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="12" x="-4.5" y="-1.75" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="19" x="-2.75" y="-4.5" dx="0.275" dy="0.7" layer="1" rot="R180"/>
-<smd name="20" x="-2.25" y="-4.5" dx="0.275" dy="0.7" layer="1" rot="R180"/>
-<smd name="11" x="-4.5" y="-1.25" dx="0.275" dy="0.7" layer="1" rot="R270"/>
-<smd name="29" x="2.25" y="-4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="30" x="2.75" y="-4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="31" x="3.25" y="-4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="32" x="3.75" y="-4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="33" x="4.5" y="-3.75" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="34" x="4.5" y="-3.25" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="35" x="4.5" y="-2.75" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="36" x="4.5" y="-2.25" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="37" x="4.5" y="-1.75" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="38" x="4.5" y="-1.25" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="39" x="4.5" y="-0.75" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="40" x="4.5" y="-0.25" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="41" x="4.5" y="0.25" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="42" x="4.5" y="0.75" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="43" x="4.5" y="1.25" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="44" x="4.5" y="1.75" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="45" x="4.5" y="2.25" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="46" x="4.5" y="2.75" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="47" x="4.5" y="3.25" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="48" x="4.5" y="3.75" dx="0.275" dy="0.7" layer="1" rot="R90"/>
-<smd name="49" x="3.75" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="50" x="3.25" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="51" x="2.75" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="52" x="2.25" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="53" x="1.75" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="54" x="1.25" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="55" x="0.75" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="56" x="0.25" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="57" x="-0.25" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="58" x="-0.75" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="59" x="-1.25" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="60" x="-1.75" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="61" x="-2.25" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="62" x="-2.75" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="63" x="-3.25" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<smd name="64" x="-3.75" y="4.5" dx="0.275" dy="0.7" layer="1"/>
-<text x="0" y="1.27" size="0.6096" layer="25" font="vector" ratio="20" align="bottom-center">>NAME</text>
-<text x="0" y="-1.27" size="0.6096" layer="27" font="vector" ratio="20" align="top-center">>VALUE</text>
-<wire x1="4.6" y1="-4.6" x2="4.1" y2="-4.6" width="0.2032" layer="21"/>
-<wire x1="4.6" y1="-4.6" x2="4.6" y2="-4.1" width="0.2032" layer="21"/>
-<wire x1="-4.6" y1="-4.6" x2="-4.6" y2="-4.1" width="0.2032" layer="21"/>
-<wire x1="-4.6" y1="-4.6" x2="-4.1" y2="-4.6" width="0.2032" layer="21"/>
-<smd name="P$1" x="0" y="0" dx="7.6" dy="7.6" layer="1" cream="no"/>
-<polygon width="0.127" layer="31">
-<vertex x="2.13" y="2.13"/>
-<vertex x="2.13" y="3.27"/>
-<vertex x="3.27" y="3.27"/>
-<vertex x="3.27" y="2.13"/>
-</polygon>
-<polygon width="0.127" layer="31">
-<vertex x="-3.27" y="2.13"/>
-<vertex x="-3.27" y="3.27"/>
-<vertex x="-2.13" y="3.27"/>
-<vertex x="-2.13" y="2.13"/>
-</polygon>
-<polygon width="0.127" layer="31">
-<vertex x="-3.27" y="-3.27"/>
-<vertex x="-3.27" y="-2.13"/>
-<vertex x="-2.13" y="-2.13"/>
-<vertex x="-2.13" y="-3.27"/>
-</polygon>
-<polygon width="0.127" layer="31">
-<vertex x="2.13" y="-3.27"/>
-<vertex x="2.13" y="-2.13"/>
-<vertex x="3.27" y="-2.13"/>
-<vertex x="3.27" y="-3.27"/>
-</polygon>
-<polygon width="0.127" layer="31">
-<vertex x="-0.57" y="-0.57"/>
-<vertex x="-0.57" y="0.57"/>
-<vertex x="0.57" y="0.57"/>
-<vertex x="0.57" y="-0.57"/>
-</polygon>
-</package>
-<package name="PDI_2X3_SMD">
-<description><h3>Surface Mount - 2x3</h3>
-<p>Specifications:
-<ul><li>Pin count:6</li>
-<li>Pin pitch:2.54mm</li>
-</ul></p>
-<p>Example device(s):
-<ul><li>CONN_03x2</li>
-</ul></p></description>
-<wire x1="-3.81" y1="-2.5" x2="-3.81" y2="2.5" width="0.127" layer="51"/>
-<wire x1="-3.81" y1="2.5" x2="3.81" y2="2.5" width="0.127" layer="51"/>
-<wire x1="3.81" y1="2.5" x2="3.81" y2="-2.5" width="0.127" layer="51"/>
-<wire x1="3.81" y1="-2.5" x2="-3.81" y2="-2.5" width="0.127" layer="51"/>
-<rectangle x1="-0.3" y1="2.55" x2="0.3" y2="3.35" layer="51"/>
-<rectangle x1="-2.84" y1="2.55" x2="-2.24" y2="3.35" layer="51"/>
-<rectangle x1="2.24" y1="2.55" x2="2.84" y2="3.35" layer="51"/>
-<rectangle x1="-2.84" y1="-3.35" x2="-2.24" y2="-2.55" layer="51" rot="R180"/>
-<rectangle x1="-0.3" y1="-3.35" x2="0.3" y2="-2.55" layer="51" rot="R180"/>
-<rectangle x1="2.24" y1="-3.35" x2="2.84" y2="-2.55" layer="51" rot="R180"/>
-<smd name="1" x="-2.54" y="-2.85" dx="1.02" dy="1.9" layer="1"/>
-<smd name="2" x="-2.54" y="2.85" dx="1.02" dy="1.9" layer="1"/>
-<smd name="3" x="0" y="-2.85" dx="1.02" dy="1.9" layer="1"/>
-<smd name="4" x="0" y="2.85" dx="1.02" dy="1.9" layer="1"/>
-<smd name="5" x="2.54" y="-2.85" dx="1.02" dy="1.9" layer="1"/>
-<smd name="6" x="2.54" y="2.85" dx="1.02" dy="1.9" layer="1"/>
-<text x="-1.397" y="0.381" size="0.6096" layer="25" font="vector" ratio="20">>NAME</text>
-<text x="-1.778" y="-1.016" size="0.6096" layer="27" font="vector" ratio="20">>VALUE</text>
-<wire x1="-1.27" y1="-4.38" x2="1.27" y2="-4.38" width="0.2032" layer="21"/>
-</package>
-</packages>
-<symbols>
-<symbol name="ATXMEGA_A3U">
-<pin name="RESET/PDI_CLK" x="-25.4" y="66.04" length="middle"/>
-<pin name="PDI_DATA" x="-25.4" y="60.96" length="middle"/>
-<pin name="AVCC" x="-25.4" y="50.8" length="middle"/>
-<pin name="VCC" x="-25.4" y="45.72" length="middle"/>
-<pin name="GND" x="-25.4" y="38.1" length="middle"/>
-<pin name="PR0/XTAL2" x="-25.4" y="7.62" length="middle"/>
-<pin name="PR1/XTAL1" x="-25.4" y="-7.62" length="middle"/>
-<pin name="PA0/AREF" x="25.4" y="66.04" length="middle" rot="R180"/>
-<pin name="PA1" x="25.4" y="63.5" length="middle" rot="R180"/>
-<pin name="PA2" x="25.4" y="60.96" length="middle" rot="R180"/>
-<pin name="PA3" x="25.4" y="58.42" length="middle" rot="R180"/>
-<pin name="PA4" x="25.4" y="55.88" length="middle" rot="R180"/>
-<pin name="PA5" x="25.4" y="53.34" length="middle" rot="R180"/>
-<pin name="PA6" x="25.4" y="50.8" length="middle" rot="R180"/>
-<pin name="PA7" x="25.4" y="48.26" length="middle" rot="R180"/>
-<pin name="PB0/AREF" x="25.4" y="43.18" length="middle" rot="R180"/>
-<pin name="PB1" x="25.4" y="40.64" length="middle" rot="R180"/>
-<pin name="PB2/DAC0" x="25.4" y="38.1" length="middle" rot="R180"/>
-<pin name="PB3/DAC1" x="25.4" y="35.56" length="middle" rot="R180"/>
-<pin name="PB4" x="25.4" y="33.02" length="middle" rot="R180"/>
-<pin name="PB5" x="25.4" y="30.48" length="middle" rot="R180"/>
-<pin name="PB6" x="25.4" y="27.94" length="middle" rot="R180"/>
-<pin name="PB7" x="25.4" y="25.4" length="middle" rot="R180"/>
-<pin name="PC0/SDA" x="25.4" y="20.32" length="middle" rot="R180"/>
-<pin name="PC1/SCL/XCK0" x="25.4" y="17.78" length="middle" rot="R180"/>
-<pin name="PC2/RXD0" x="25.4" y="15.24" length="middle" rot="R180"/>
-<pin name="PC3/TXD0" x="25.4" y="12.7" length="middle" rot="R180"/>
-<pin name="PC4/SS" x="25.4" y="10.16" length="middle" rot="R180"/>
-<pin name="PC5/XCK1/MOSI" x="25.4" y="7.62" length="middle" rot="R180"/>
-<pin name="PC6/RXD1/MISO" x="25.4" y="5.08" length="middle" rot="R180"/>
-<pin name="PC7/TXD1/SCK" x="25.4" y="2.54" length="middle" rot="R180"/>
-<pin name="PD0" x="25.4" y="-2.54" length="middle" rot="R180"/>
-<pin name="PD1/XCK0" x="25.4" y="-5.08" length="middle" rot="R180"/>
-<pin name="PD2/RXD0" x="25.4" y="-7.62" length="middle" rot="R180"/>
-<pin name="PD3/TXD0" x="25.4" y="-10.16" length="middle" rot="R180"/>
-<pin name="PD4/SS" x="25.4" y="-12.7" length="middle" rot="R180"/>
-<pin name="PD5/XCK/MOSI" x="25.4" y="-15.24" length="middle" rot="R180"/>
-<pin name="PD6/RXD1/MISO/D-" x="25.4" y="-17.78" length="middle" rot="R180"/>
-<pin name="PD7/TXD1/SCK/D+" x="25.4" y="-20.32" length="middle" rot="R180"/>
-<pin name="PE0/SDA" x="25.4" y="-25.4" length="middle" rot="R180"/>
-<pin name="PE1/SCL/XCK0" x="25.4" y="-27.94" length="middle" rot="R180"/>
-<pin name="PE2/RXD0" x="25.4" y="-30.48" length="middle" rot="R180"/>
-<pin name="PE3/TXD0" x="25.4" y="-33.02" length="middle" rot="R180"/>
-<pin name="PE4/SS" x="25.4" y="-35.56" length="middle" rot="R180"/>
-<pin name="PE5/XCK1/MOSI" x="25.4" y="-38.1" length="middle" rot="R180"/>
-<pin name="PE6/RXD1/MISO" x="25.4" y="-40.64" length="middle" rot="R180"/>
-<pin name="PE7/TXD1/SCK" x="25.4" y="-43.18" length="middle" rot="R180"/>
-<pin name="PF0" x="25.4" y="-48.26" length="middle" rot="R180"/>
-<pin name="PF1/XCK0" x="25.4" y="-50.8" length="middle" rot="R180"/>
-<pin name="PF2/RXD0" x="25.4" y="-53.34" length="middle" rot="R180"/>
-<pin name="PF3/TXD0" x="25.4" y="-55.88" length="middle" rot="R180"/>
-<pin name="PF4" x="25.4" y="-58.42" length="middle" rot="R180"/>
-<pin name="PF5" x="25.4" y="-60.96" length="middle" rot="R180"/>
-<pin name="PF6" x="25.4" y="-63.5" length="middle" rot="R180"/>
-<pin name="PF7" x="25.4" y="-66.04" length="middle" rot="R180"/>
-<wire x1="20.32" y1="68.58" x2="20.32" y2="-68.58" width="0.254" layer="94"/>
-<wire x1="20.32" y1="-68.58" x2="-20.32" y2="-68.58" width="0.254" layer="94"/>
-<wire x1="-20.32" y1="-68.58" x2="-20.32" y2="68.58" width="0.254" layer="94"/>
-<wire x1="-20.32" y1="68.58" x2="20.32" y2="68.58" width="0.254" layer="94"/>
-</symbol>
-<symbol name="PDI">
-<description><h3>6 Pin Connection</h3>
-3x2 pin layout</description>
-<pin name="PDI_DATA" x="-15.24" y="2.54" length="middle"/>
-<pin name="NC1" x="-15.24" y="0" length="middle"/>
-<pin name="PDI_CLK" x="-15.24" y="-2.54" length="middle"/>
-<pin name="GND" x="15.24" y="-2.54" length="middle" rot="R180"/>
-<pin name="NC2" x="15.24" y="0" length="middle" rot="R180"/>
-<pin name="VCC" x="15.24" y="2.54" length="middle" rot="R180"/>
-<text x="-3.556" y="5.588" size="1.778" layer="95" font="vector">>NAME</text>
-<text x="-3.302" y="-5.842" size="1.778" layer="96" font="vector" align="top-left">>VALUE</text>
-<wire x1="-11.43" y1="5.08" x2="-11.43" y2="-5.08" width="0.4064" layer="94"/>
-<wire x1="11.43" y1="-5.08" x2="-11.43" y2="-5.08" width="0.4064" layer="94"/>
-<wire x1="11.43" y1="-5.08" x2="11.43" y2="5.08" width="0.4064" layer="94"/>
-<wire x1="-11.43" y1="5.08" x2="11.43" y2="5.08" width="0.4064" layer="94"/>
-</symbol>
-</symbols>
-<devicesets>
-<deviceset name="ATXMEGA_A3U" prefix="U">
-<gates>
-<gate name="G$1" symbol="ATXMEGA_A3U" x="0" y="0"/>
-</gates>
-<devices>
-<device name="TQFP" package="TQFP64_14X14MM-013THIN">
-<connects>
-<connect gate="G$1" pin="AVCC" pad="61"/>
-<connect gate="G$1" pin="GND" pad="14 24 34 44 52 60"/>
-<connect gate="G$1" pin="PA0/AREF" pad="62"/>
-<connect gate="G$1" pin="PA1" pad="63"/>
-<connect gate="G$1" pin="PA2" pad="64"/>
-<connect gate="G$1" pin="PA3" pad="1"/>
-<connect gate="G$1" pin="PA4" pad="2"/>
-<connect gate="G$1" pin="PA5" pad="3"/>
-<connect gate="G$1" pin="PA6" pad="4"/>
-<connect gate="G$1" pin="PA7" pad="5"/>
-<connect gate="G$1" pin="PB0/AREF" pad="6"/>
-<connect gate="G$1" pin="PB1" pad="7"/>
-<connect gate="G$1" pin="PB2/DAC0" pad="8"/>
-<connect gate="G$1" pin="PB3/DAC1" pad="9"/>
-<connect gate="G$1" pin="PB4" pad="10"/>
-<connect gate="G$1" pin="PB5" pad="11"/>
-<connect gate="G$1" pin="PB6" pad="12"/>
-<connect gate="G$1" pin="PB7" pad="13"/>
-<connect gate="G$1" pin="PC0/SDA" pad="16"/>
-<connect gate="G$1" pin="PC1/SCL/XCK0" pad="17"/>
-<connect gate="G$1" pin="PC2/RXD0" pad="18"/>
-<connect gate="G$1" pin="PC3/TXD0" pad="19"/>
-<connect gate="G$1" pin="PC4/SS" pad="20"/>
-<connect gate="G$1" pin="PC5/XCK1/MOSI" pad="21"/>
-<connect gate="G$1" pin="PC6/RXD1/MISO" pad="22"/>
-<connect gate="G$1" pin="PC7/TXD1/SCK" pad="23"/>
-<connect gate="G$1" pin="PD0" pad="26"/>
-<connect gate="G$1" pin="PD1/XCK0" pad="27"/>
-<connect gate="G$1" pin="PD2/RXD0" pad="28"/>
-<connect gate="G$1" pin="PD3/TXD0" pad="29"/>
-<connect gate="G$1" pin="PD4/SS" pad="30"/>
-<connect gate="G$1" pin="PD5/XCK/MOSI" pad="31"/>
-<connect gate="G$1" pin="PD6/RXD1/MISO/D-" pad="32"/>
-<connect gate="G$1" pin="PD7/TXD1/SCK/D+" pad="33"/>
-<connect gate="G$1" pin="PDI_DATA" pad="56"/>
-<connect gate="G$1" pin="PE0/SDA" pad="36"/>
-<connect gate="G$1" pin="PE1/SCL/XCK0" pad="37"/>
-<connect gate="G$1" pin="PE2/RXD0" pad="38"/>
-<connect gate="G$1" pin="PE3/TXD0" pad="39"/>
-<connect gate="G$1" pin="PE4/SS" pad="40"/>
-<connect gate="G$1" pin="PE5/XCK1/MOSI" pad="41"/>
-<connect gate="G$1" pin="PE6/RXD1/MISO" pad="42"/>
-<connect gate="G$1" pin="PE7/TXD1/SCK" pad="43"/>
-<connect gate="G$1" pin="PF0" pad="46"/>
-<connect gate="G$1" pin="PF1/XCK0" pad="47"/>
-<connect gate="G$1" pin="PF2/RXD0" pad="48"/>
-<connect gate="G$1" pin="PF3/TXD0" pad="49"/>
-<connect gate="G$1" pin="PF4" pad="50"/>
-<connect gate="G$1" pin="PF5" pad="51"/>
-<connect gate="G$1" pin="PF6" pad="54"/>
-<connect gate="G$1" pin="PF7" pad="55"/>
-<connect gate="G$1" pin="PR0/XTAL2" pad="58"/>
-<connect gate="G$1" pin="PR1/XTAL1" pad="59"/>
-<connect gate="G$1" pin="RESET/PDI_CLK" pad="57"/>
-<connect gate="G$1" pin="VCC" pad="15 25 35 45 53"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-<device name="QFN" package="QFN-64-9X9MM">
-<connects>
-<connect gate="G$1" pin="AVCC" pad="61"/>
-<connect gate="G$1" pin="GND" pad="14 24 34 44 52 60 P$1"/>
-<connect gate="G$1" pin="PA0/AREF" pad="62"/>
-<connect gate="G$1" pin="PA1" pad="63"/>
-<connect gate="G$1" pin="PA2" pad="64"/>
-<connect gate="G$1" pin="PA3" pad="1"/>
-<connect gate="G$1" pin="PA4" pad="2"/>
-<connect gate="G$1" pin="PA5" pad="3"/>
-<connect gate="G$1" pin="PA6" pad="4"/>
-<connect gate="G$1" pin="PA7" pad="5"/>
-<connect gate="G$1" pin="PB0/AREF" pad="6"/>
-<connect gate="G$1" pin="PB1" pad="7"/>
-<connect gate="G$1" pin="PB2/DAC0" pad="8"/>
-<connect gate="G$1" pin="PB3/DAC1" pad="9"/>
-<connect gate="G$1" pin="PB4" pad="10"/>
-<connect gate="G$1" pin="PB5" pad="11"/>
-<connect gate="G$1" pin="PB6" pad="12"/>
-<connect gate="G$1" pin="PB7" pad="13"/>
-<connect gate="G$1" pin="PC0/SDA" pad="16"/>
-<connect gate="G$1" pin="PC1/SCL/XCK0" pad="17"/>
-<connect gate="G$1" pin="PC2/RXD0" pad="18"/>
-<connect gate="G$1" pin="PC3/TXD0" pad="19"/>
-<connect gate="G$1" pin="PC4/SS" pad="20"/>
-<connect gate="G$1" pin="PC5/XCK1/MOSI" pad="21"/>
-<connect gate="G$1" pin="PC6/RXD1/MISO" pad="22"/>
-<connect gate="G$1" pin="PC7/TXD1/SCK" pad="23"/>
-<connect gate="G$1" pin="PD0" pad="26"/>
-<connect gate="G$1" pin="PD1/XCK0" pad="27"/>
-<connect gate="G$1" pin="PD2/RXD0" pad="28"/>
-<connect gate="G$1" pin="PD3/TXD0" pad="29"/>
-<connect gate="G$1" pin="PD4/SS" pad="30"/>
-<connect gate="G$1" pin="PD5/XCK/MOSI" pad="31"/>
-<connect gate="G$1" pin="PD6/RXD1/MISO/D-" pad="32"/>
-<connect gate="G$1" pin="PD7/TXD1/SCK/D+" pad="33"/>
-<connect gate="G$1" pin="PDI_DATA" pad="56"/>
-<connect gate="G$1" pin="PE0/SDA" pad="36"/>
-<connect gate="G$1" pin="PE1/SCL/XCK0" pad="37"/>
-<connect gate="G$1" pin="PE2/RXD0" pad="38"/>
-<connect gate="G$1" pin="PE3/TXD0" pad="39"/>
-<connect gate="G$1" pin="PE4/SS" pad="40"/>
-<connect gate="G$1" pin="PE5/XCK1/MOSI" pad="41"/>
-<connect gate="G$1" pin="PE6/RXD1/MISO" pad="42"/>
-<connect gate="G$1" pin="PE7/TXD1/SCK" pad="43"/>
-<connect gate="G$1" pin="PF0" pad="46"/>
-<connect gate="G$1" pin="PF1/XCK0" pad="47"/>
-<connect gate="G$1" pin="PF2/RXD0" pad="48"/>
-<connect gate="G$1" pin="PF3/TXD0" pad="49"/>
-<connect gate="G$1" pin="PF4" pad="50"/>
-<connect gate="G$1" pin="PF5" pad="51"/>
-<connect gate="G$1" pin="PF6" pad="54"/>
-<connect gate="G$1" pin="PF7" pad="55"/>
-<connect gate="G$1" pin="PR0/XTAL2" pad="58"/>
-<connect gate="G$1" pin="PR1/XTAL1" pad="59"/>
-<connect gate="G$1" pin="RESET/PDI_CLK" pad="57"/>
-<connect gate="G$1" pin="VCC" pad="15 25 35 45 53"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-</devices>
-</deviceset>
-<deviceset name="PDI" prefix="J" uservalue="yes">
-<description><h3>Multi connection point. Often used as Generic Header-pin footprint for 0.1 inch spaced/style header connections</h3>
-
-<p></p>
-
-<p></p>
-<b>You can populate with any combo of single row headers, but if you'd like an exact match, check these:</b>
-<ul>
-<li><a href="https://www.sparkfun.com/products/12807"> Header - 2x3 (Male, 0.1")</a> (PRT-12807)</li>
-<li><a href="https://www.sparkfun.com/products/13010"> Header - 2x3 (Female, 0.1")</a> (PRT-13010)</li>
-<li><a href="https://www.sparkfun.com/products/10877"> 2x3 Pin Shrouded Header</a> (PRT-10877)</li>
-</ul>
-
-<p></p>
-<b>On any of the 0.1 inch spaced packages, you can populate with these:</b>
-<ul>
-<li><a href="https://www.sparkfun.com/products/116"> Break Away Headers - Straight</a> (PRT-00116)</li>
-<li><a href="https://www.sparkfun.com/products/553"> Break Away Male Headers - Right Angle</a> (PRT-00553)</li>
-<li><a href="https://www.sparkfun.com/products/115"> Female Headers</a> (PRT-00115)</li>
-<li><a href="https://www.sparkfun.com/products/117"> Break Away Headers - Machine Pin</a> (PRT-00117)</li>
-<li><a href="https://www.sparkfun.com/products/743"> Break Away Female Headers - Swiss Machine Pin</a> (PRT-00743)</li>
-</ul>
-
-<p></p>
-<b>Special note: the shrouded connector mates well with our 3x2 ribbon cables:</b>
-<ul>
-<li><a href="https://www.sparkfun.com/products/10651"> Ribbon Crimp Connector - 6-pin (2x3, Female)</a> (PRT-10651)</li>
-<li><a href="https://www.sparkfun.com/products/10646"> Ribbon Cable - 6 wire (15ft)</a> (PRT-10646)</li>
-</ul></description>
-<gates>
-<gate name="G$1" symbol="PDI" x="0" y="0"/>
-</gates>
-<devices>
-<device name="FEMALE_SMD" package="PDI_2X3_SMD">
-<connects>
-<connect gate="G$1" pin="GND" pad="6"/>
-<connect gate="G$1" pin="NC1" pad="3"/>
-<connect gate="G$1" pin="NC2" pad="4"/>
-<connect gate="G$1" pin="PDI_CLK" pad="5"/>
-<connect gate="G$1" pin="PDI_DATA" pad="1"/>
-<connect gate="G$1" pin="VCC" pad="2"/>
-</connects>
-<technologies>
-<technology name="">
-<attribute name="PROD_ID" value="CONN-11290"/>
-</technology>
-</technologies>
-</device>
-</devices>
-</deviceset>
-</devicesets>
-</library>
-<library name="passives">
-<packages>
-<package name="RES_EFOBM">
-<smd name="1" x="-1.35" y="0" dx="3.9" dy="0.8" layer="1" rot="R90"/>
-<smd name="2" x="0" y="0" dx="3.9" dy="0.8" layer="1" rot="R270"/>
-<smd name="3" x="1.35" y="0" dx="3.9" dy="0.8" layer="1" rot="R270"/>
-</package>
-<package name="RES_PRQC">
-<smd name="1" x="-0.95" y="0" dx="1.5" dy="0.6" layer="1" rot="R90"/>
-<smd name="2" x="0" y="0" dx="1.5" dy="0.4" layer="1" rot="R270"/>
-<smd name="3" x="0.95" y="0" dx="1.5" dy="0.6" layer="1" rot="R270"/>
-<wire x1="-1.6" y1="0.65" x2="1.6" y2="0.65" width="0.127" layer="51"/>
-<wire x1="1.6" y1="0.65" x2="1.6" y2="-0.65" width="0.127" layer="51"/>
-<wire x1="1.6" y1="-0.65" x2="-1.6" y2="-0.65" width="0.127" layer="51"/>
-<wire x1="-1.6" y1="-0.65" x2="-1.6" y2="0.65" width="0.127" layer="51"/>
-</package>
-</packages>
-<symbols>
-<symbol name="CERAMIC_RESONATOR">
-<wire x1="-5.08" y1="2.54" x2="5.08" y2="2.54" width="0.254" layer="94"/>
-<wire x1="5.08" y1="2.54" x2="5.08" y2="0" width="0.254" layer="94"/>
-<wire x1="5.08" y1="0" x2="5.08" y2="-5.08" width="0.254" layer="94"/>
-<wire x1="5.08" y1="-5.08" x2="0" y2="-5.08" width="0.254" layer="94"/>
-<wire x1="0" y1="-5.08" x2="-5.08" y2="-5.08" width="0.254" layer="94"/>
-<wire x1="-5.08" y1="-5.08" x2="-5.08" y2="0" width="0.254" layer="94"/>
-<wire x1="-5.08" y1="0" x2="-5.08" y2="2.54" width="0.254" layer="94"/>
-<wire x1="-5.08" y1="0" x2="-3.81" y2="0" width="0.1524" layer="94"/>
-<wire x1="-3.81" y1="0" x2="-1.27" y2="0" width="0.1524" layer="94"/>
-<wire x1="-1.27" y1="0" x2="-1.27" y2="1.27" width="0.1524" layer="94"/>
-<wire x1="-1.27" y1="0" x2="-1.27" y2="-1.27" width="0.1524" layer="94"/>
-<wire x1="-0.508" y1="1.27" x2="-0.508" y2="-1.27" width="0.1524" layer="94"/>
-<wire x1="-0.508" y1="-1.27" x2="0.508" y2="-1.27" width="0.1524" layer="94"/>
-<wire x1="0.508" y1="-1.27" x2="0.508" y2="1.27" width="0.1524" layer="94"/>
-<wire x1="0.508" y1="1.27" x2="-0.508" y2="1.27" width="0.1524" layer="94"/>
-<wire x1="1.27" y1="1.27" x2="1.27" y2="0" width="0.1524" layer="94"/>
-<wire x1="1.27" y1="0" x2="1.27" y2="-1.27" width="0.1524" layer="94"/>
-<wire x1="1.27" y1="0" x2="3.81" y2="0" width="0.1524" layer="94"/>
-<wire x1="3.81" y1="0" x2="5.08" y2="0" width="0.1524" layer="94"/>
-<wire x1="0" y1="-5.08" x2="0" y2="-3.302" width="0.1524" layer="94"/>
-<wire x1="0" y1="-3.302" x2="-1.778" y2="-3.302" width="0.1524" layer="94"/>
-<wire x1="0" y1="-3.302" x2="1.778" y2="-3.302" width="0.1524" layer="94"/>
-<wire x1="1.778" y1="-2.286" x2="1.778" y2="-4.318" width="0.1524" layer="94"/>
-<wire x1="2.54" y1="-2.286" x2="2.54" y2="-3.302" width="0.1524" layer="94"/>
-<wire x1="2.54" y1="-3.302" x2="2.54" y2="-4.318" width="0.1524" layer="94"/>
-<wire x1="2.54" y1="-3.302" x2="3.81" y2="-3.302" width="0.1524" layer="94"/>
-<wire x1="3.81" y1="-3.302" x2="3.81" y2="0" width="0.1524" layer="94"/>
-<wire x1="-1.778" y1="-2.286" x2="-1.778" y2="-4.318" width="0.1524" layer="94"/>
-<wire x1="-2.54" y1="-2.286" x2="-2.54" y2="-3.302" width="0.1524" layer="94"/>
-<wire x1="-2.54" y1="-3.302" x2="-2.54" y2="-4.318" width="0.1524" layer="94"/>
-<wire x1="-2.54" y1="-3.302" x2="-3.81" y2="-3.302" width="0.1524" layer="94"/>
-<wire x1="-3.81" y1="-3.302" x2="-3.81" y2="0" width="0.1524" layer="94"/>
-<circle x="-3.81" y="0" radius="0.254" width="0" layer="94"/>
-<circle x="3.81" y="0" radius="0.254" width="0" layer="94"/>
-<circle x="0" y="-3.302" radius="0.254" width="0" layer="94"/>
-<text x="-5.08" y="3.81" size="1.778" layer="95">>NAME</text>
-<text x="2.54" y="-7.62" size="1.778" layer="96">>VALUE</text>
-<pin name="1" x="-7.62" y="0" visible="pad" length="short" direction="pas"/>
-<pin name="2" x="0" y="-7.62" visible="pad" length="short" direction="pas" rot="R90"/>
-<pin name="3" x="7.62" y="0" visible="pad" length="short" direction="pas" rot="R180"/>
-</symbol>
-</symbols>
-<devicesets>
-<deviceset name="RESONATOR" prefix="Y">
-<gates>
-<gate name="G$1" symbol="CERAMIC_RESONATOR" x="0" y="0"/>
-</gates>
-<devices>
-<device name="" package="RES_EFOBM">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-<device name="PQRC" package="RES_PRQC">
-<connects>
-<connect gate="G$1" pin="1" pad="1"/>
-<connect gate="G$1" pin="2" pad="2"/>
-<connect gate="G$1" pin="3" pad="3"/>
-</connects>
-<technologies>
-<technology name=""/>
-</technologies>
-</device>
-</devices>
-</deviceset>
-</devicesets>
-</library>
-</libraries>
-<attributes>
-</attributes>
-<variantdefs>
-</variantdefs>
-<classes>
-<class number="0" name="default" width="0" drill="0">
-</class>
-</classes>
-<parts>
-<part name="R13" library="borkedlabs-passives" deviceset="RESISTOR" device="2512" value="50mOhm"/>
-<part name="S1" library="fab" deviceset="2-8X4-5_SWITCH" device=""/>
-<part name="P+4" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="V+" device=""/>
-<part name="GND23" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="GND" device=""/>
-<part name="C4" library="borkedlabs-passives" deviceset="CAP" device="0603-CAP" value="0.1uF 16v"/>
-<part name="C3" library="borkedlabs-passives" deviceset="CAP" device="0603-CAP" value="0.1uF 16v"/>
-<part name="C2" library="borkedlabs-passives" deviceset="CAP" device="0603-CAP" value="0.1uF 16v"/>
-<part name="C1" library="borkedlabs-passives" deviceset="CAP" device="0603-CAP" value="0.1uF 16v"/>
-<part name="J11" library="SparkFun-Connectors" deviceset="CONN_04" device="LONGPADS"/>
-<part name="C10" library="borkedlabs-passives" deviceset="CAP" device="0603-CAP" value="0.1uF"/>
-<part name="+3V310" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="+3V3" device=""/>
-<part name="GND13" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="GND" device=""/>
-<part name="+3V37" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="+3V3" device=""/>
-<part name="GND10" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="GND" device=""/>
-<part name="R2" library="borkedlabs-passives" deviceset="RESISTOR" device="0805-RES" value="470R"/>
-<part name="R3" library="borkedlabs-passives" deviceset="RESISTOR" device="0805-RES" value="470R"/>
-<part name="R4" library="borkedlabs-passives" deviceset="RESISTOR" device="0805-RES" value="470R"/>
-<part name="+3V31" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="+3V3" device=""/>
-<part name="GND1" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="GND" device=""/>
-<part name="C6" library="borkedlabs-passives" deviceset="CAP" device="0603-CAP" value="0.1uF 16v"/>
-<part name="GND4" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="GND" device=""/>
-<part name="GND20" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="GND" device=""/>
-<part name="R12" library="borkedlabs-passives" deviceset="RESISTOR" device="2512" value="50mOhm"/>
-<part name="GND19" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="GND" device=""/>
-<part name="J9" library="power" deviceset="PWRPAD" device="" value="PWRPAD"/>
-<part name="J10" library="power" deviceset="PWRPAD" device="" value="PWRPAD"/>
-<part name="C11" library="borkedlabs-passives" deviceset="CAP" device="1206" value="10uF 50v"/>
-<part name="C16" library="borkedlabs-passives" deviceset="CAP" device="1206" value="10uF 50v"/>
-<part name="C19" library="borkedlabs-passives" deviceset="CAP" device="1206" value="10uF 50v"/>
-<part name="GND15" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="GND" device=""/>
-<part name="D1" library="lights" deviceset="LED" device="0805" value="LED0805-RED"/>
-<part name="D2" library="lights" deviceset="LED" device="0805" value="LED0805-BLUE"/>
-<part name="D3" library="lights" deviceset="LED" device="0805" value="LED0805-GRN"/>
-<part name="J6" library="power" deviceset="PWRPAD" device="M3-SKINNY" value="PWRPADM3-SKINNY"/>
-<part name="J7" library="power" deviceset="PWRPAD" device="M3-SKINNY" value="PWRPADM3-SKINNY"/>
-<part name="J8" library="SparkFun-Connectors" deviceset="CONN_05" device="NO_SILK"/>
-<part name="GND11" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="GND" device=""/>
-<part name="MP1" library="connector" deviceset="JRTOMBSTONE" device=""/>
-<part name="R9" library="borkedlabs-passives" deviceset="RESISTOR" device="0805-RES" value="10k"/>
-<part name="U2" library="power" deviceset="TMC262" device=""/>
-<part name="GND7" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="GND" device=""/>
-<part name="J4" library="power" deviceset="PWRPAD" device="M3-SKINNY" value="PWRPADM3-SKINNY"/>
-<part name="J5" library="power" deviceset="PWRPAD" device="M3-SKINNY" value="PWRPADM3-SKINNY"/>
-<part name="Q1" library="power" deviceset="PNPAIR-FDD8424H" device=""/>
-<part name="Q2" library="power" deviceset="PNPAIR-FDD8424H" device=""/>
-<part name="Q3" library="power" deviceset="PNPAIR-FDD8424H" device=""/>
-<part name="Q4" library="power" deviceset="PNPAIR-FDD8424H" device=""/>
-<part name="C8" library="borkedlabs-passives" deviceset="CAP" device="0805" value="470nF"/>
-<part name="C9" library="borkedlabs-passives" deviceset="CAP" device="0805" value="470nF"/>
-<part name="C12" library="borkedlabs-passives" deviceset="CAP" device="0603-CAP" value="0.1uF 16v"/>
-<part name="P+1" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="V+" device=""/>
-<part name="GND8" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="GND" device=""/>
-<part name="P+2" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="V+" device=""/>
-<part name="J12" library="power" deviceset="PWRPAD" device="M3-SKINNY" value="PWRPADM3-SKINNY"/>
-<part name="J13" library="power" deviceset="PWRPAD" device="M3-SKINNY" value="PWRPADM3-SKINNY"/>
-<part name="C13" library="borkedlabs-passives" deviceset="CAP-POL" device="-6.6X6.6"/>
-<part name="U1" library="microcontrollers" deviceset="ATXMEGA_A3U" device="QFN"/>
-<part name="J1" library="microcontrollers" deviceset="PDI" device="FEMALE_SMD"/>
-<part name="Y1" library="passives" deviceset="RESONATOR" device="PQRC"/>
-<part name="GND2" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="GND" device=""/>
-<part name="+3V1" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="+3V3" device=""/>
-<part name="J2" library="connector" deviceset="ATK-PHY" device=""/>
-<part name="J3" library="connector" deviceset="ATK-PHY" device=""/>
-<part name="R1" library="borkedlabs-passives" deviceset="RESISTOR" device="0805-RES" value="470R"/>
-<part name="R5" library="borkedlabs-passives" deviceset="RESISTOR" device="0805-RES" value="470R"/>
-<part name="R6" library="borkedlabs-passives" deviceset="RESISTOR" device="0805-RES" value="470R"/>
-<part name="R7" library="borkedlabs-passives" deviceset="RESISTOR" device="0805-RES" value="470R"/>
-<part name="+3V2" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="+3V3" device=""/>
-<part name="GND3" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="GND" device=""/>
-<part name="+3V3" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="+3V3" device=""/>
-<part name="GND5" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="GND" device=""/>
-<part name="C5" library="borkedlabs-passives" deviceset="CAP" device="1206" value="10uF 50v"/>
-<part name="C7" library="borkedlabs-passives" deviceset="CAP" device="1206" value="10uF 50v"/>
-<part name="GND6" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="GND" device=""/>
-<part name="+3V4" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="+3V3" device=""/>
-</parts>
-<sheets>
-<sheet>
-<plain>
-<text x="114.3" y="182.88" size="1.778" layer="97">using USART in Master SPI Mode</text>
-</plain>
-<instances>
-<instance part="R13" gate="G$1" x="355.6" y="190.5" rot="R90"/>
-<instance part="S1" gate="G$1" x="22.86" y="251.46" rot="R270"/>
-<instance part="P+4" gate="1" x="248.92" y="284.48" rot="R270"/>
-<instance part="GND23" gate="1" x="248.92" y="276.86" rot="R90"/>
-<instance part="C4" gate="G$1" x="12.7" y="215.9" rot="R180"/>
-<instance part="C3" gate="G$1" x="-2.54" y="215.9" rot="R180"/>
-<instance part="C2" gate="G$1" x="-17.78" y="215.9" rot="R180"/>
-<instance part="C1" gate="G$1" x="-33.02" y="215.9" rot="R180"/>
-<instance part="J11" gate="G$1" x="330.2" y="180.34" rot="R180"/>
-<instance part="C10" gate="G$1" x="175.26" y="236.22" rot="R180"/>
-<instance part="+3V310" gate="G$1" x="142.24" y="238.76" rot="R90"/>
-<instance part="GND13" gate="1" x="162.56" y="231.14" rot="R270"/>
-<instance part="+3V37" gate="G$1" x="139.7" y="314.96" rot="R270"/>
-<instance part="GND10" gate="1" x="81.28" y="304.8" rot="R270"/>
-<instance part="R2" gate="G$1" x="101.6" y="325.12"/>
-<instance part="R3" gate="G$1" x="101.6" y="314.96"/>
-<instance part="R4" gate="G$1" x="101.6" y="304.8"/>
-<instance part="+3V31" gate="G$1" x="-45.72" y="218.44" rot="R90"/>
-<instance part="GND1" gate="1" x="-45.72" y="210.82" rot="R270"/>
-<instance part="C6" gate="G$1" x="27.94" y="215.9" rot="R180"/>
-<instance part="GND4" gate="1" x="17.78" y="172.72" rot="R270"/>
-<instance part="GND20" gate="1" x="355.6" y="180.34"/>
-<instance part="R12" gate="G$1" x="447.04" y="190.5" rot="R90"/>
-<instance part="GND19" gate="1" x="447.04" y="180.34"/>
-<instance part="J9" gate="G$1" x="180.34" y="284.48" rot="R180"/>
-<instance part="J10" gate="G$1" x="180.34" y="276.86" rot="R180"/>
-<instance part="C11" gate="G$1" x="208.28" y="281.94" rot="R180"/>
-<instance part="C16" gate="G$1" x="223.52" y="281.94" rot="R180"/>
-<instance part="C19" gate="G$1" x="238.76" y="281.94" rot="R180"/>
-<instance part="GND15" gate="1" x="223.52" y="144.78"/>
-<instance part="D1" gate="G$1" x="114.3" y="325.12" rot="R270"/>
-<instance part="D2" gate="G$1" x="114.3" y="314.96" rot="R270"/>
-<instance part="D3" gate="G$1" x="114.3" y="304.8" rot="R270"/>
-<instance part="J6" gate="G$1" x="91.44" y="261.62"/>
-<instance part="J7" gate="G$1" x="91.44" y="256.54"/>
-<instance part="J8" gate="G$1" x="134.62" y="264.16" rot="R180"/>
-<instance part="GND11" gate="1" x="111.76" y="269.24" rot="R270"/>
-<instance part="MP1" gate="G$1" x="15.24" y="12.7"/>
-<instance part="R9" gate="G$1" x="149.86" y="220.98" rot="R90"/>
-<instance part="U2" gate="G$1" x="200.66" y="193.04"/>
-<instance part="GND7" gate="1" x="162.56" y="220.98" rot="R270"/>
-<instance part="J4" gate="G$1" x="91.44" y="266.7"/>
-<instance part="J5" gate="G$1" x="91.44" y="271.78"/>
-<instance part="Q1" gate="G$1" x="327.66" y="226.06"/>
-<instance part="Q2" gate="G$1" x="373.38" y="226.06"/>
-<instance part="Q3" gate="G$1" x="421.64" y="226.06"/>
-<instance part="Q4" gate="G$1" x="467.36" y="226.06"/>
-<instance part="C8" gate="G$1" x="231.14" y="233.68" rot="R90"/>
-<instance part="C9" gate="G$1" x="241.3" y="228.6" rot="R90"/>
-<instance part="C12" gate="G$1" x="251.46" y="233.68"/>
-<instance part="P+1" gate="1" x="269.24" y="238.76" rot="R270"/>
-<instance part="GND8" gate="1" x="269.24" y="228.6" rot="R90"/>
-<instance part="P+2" gate="1" x="401.32" y="264.16"/>
-<instance part="J12" gate="G$1" x="91.44" y="276.86"/>
-<instance part="J13" gate="G$1" x="91.44" y="281.94"/>
-<instance part="C13" gate="G$1" x="193.04" y="281.94"/>
-<instance part="U1" gate="G$1" x="66.04" y="172.72"/>
-<instance part="J1" gate="G$1" x="17.78" y="236.22" rot="R180"/>
-<instance part="Y1" gate="G$1" x="30.48" y="172.72" rot="R270"/>
-<instance part="GND2" gate="1" x="-7.62" y="238.76" rot="R270"/>
-<instance part="+3V1" gate="G$1" x="-7.62" y="233.68" rot="R90"/>
-<instance part="J2" gate="G$1" x="198.12" y="106.68"/>
-<instance part="J3" gate="G$1" x="198.12" y="58.42"/>
-<instance part="R1" gate="G$1" x="177.8" y="96.52"/>
-<instance part="R5" gate="G$1" x="165.1" y="91.44"/>
-<instance part="R6" gate="G$1" x="177.8" y="48.26"/>
-<instance part="R7" gate="G$1" x="165.1" y="43.18"/>
-<instance part="+3V2" gate="G$1" x="165.1" y="101.6" rot="R90"/>
-<instance part="GND3" gate="1" x="167.64" y="58.42" rot="R270"/>
-<instance part="+3V3" gate="G$1" x="167.64" y="53.34" rot="R90"/>
-<instance part="GND5" gate="1" x="165.1" y="106.68" rot="R270"/>
-<instance part="C5" gate="G$1" x="208.28" y="264.16" rot="R180"/>
-<instance part="C7" gate="G$1" x="223.52" y="264.16" rot="R180"/>
-<instance part="GND6" gate="1" x="248.92" y="259.08" rot="R90"/>
-<instance part="+3V4" gate="G$1" x="248.92" y="266.7" rot="R270"/>
-</instances>
-<busses>
-</busses>
-<nets>
-<net name="GND" class="0">
-<segment>
-<pinref part="GND23" gate="1" pin="GND"/>
-<pinref part="J10" gate="G$1" pin="PWRPAD"/>
-<wire x1="246.38" y1="276.86" x2="238.76" y2="276.86" width="0.1524" layer="91"/>
-<wire x1="238.76" y1="276.86" x2="223.52" y2="276.86" width="0.1524" layer="91"/>
-<wire x1="223.52" y1="276.86" x2="208.28" y2="276.86" width="0.1524" layer="91"/>
-<wire x1="208.28" y1="276.86" x2="193.04" y2="276.86" width="0.1524" layer="91"/>
-<pinref part="C11" gate="G$1" pin="1"/>
-<junction x="208.28" y="276.86"/>
-<pinref part="C16" gate="G$1" pin="1"/>
-<junction x="223.52" y="276.86"/>
-<pinref part="C19" gate="G$1" pin="1"/>
-<junction x="238.76" y="276.86"/>
-<pinref part="C13" gate="G$1" pin="-"/>
-<wire x1="193.04" y1="276.86" x2="185.42" y2="276.86" width="0.1524" layer="91"/>
-<junction x="193.04" y="276.86"/>
-</segment>
-<segment>
-<pinref part="GND13" gate="1" pin="GND"/>
-<pinref part="C10" gate="G$1" pin="1"/>
-<wire x1="165.1" y1="231.14" x2="175.26" y2="231.14" width="0.1524" layer="91"/>
-<pinref part="U2" gate="G$1" pin="CLK"/>
-<wire x1="180.34" y1="233.68" x2="177.8" y2="233.68" width="0.1524" layer="91"/>
-<wire x1="177.8" y1="233.68" x2="177.8" y2="231.14" width="0.1524" layer="91"/>
-<wire x1="177.8" y1="231.14" x2="175.26" y2="231.14" width="0.1524" layer="91"/>
-<junction x="175.26" y="231.14"/>
-</segment>
-<segment>
-<pinref part="R4" gate="G$1" pin="1"/>
-<pinref part="GND10" gate="1" pin="GND"/>
-<wire x1="96.52" y1="304.8" x2="83.82" y2="304.8" width="0.1524" layer="91"/>
-</segment>
-<segment>
-<pinref part="C4" gate="G$1" pin="1"/>
-<pinref part="C3" gate="G$1" pin="1"/>
-<wire x1="12.7" y1="210.82" x2="-2.54" y2="210.82" width="0.1524" layer="91"/>
-<pinref part="C2" gate="G$1" pin="1"/>
-<wire x1="-2.54" y1="210.82" x2="-17.78" y2="210.82" width="0.1524" layer="91"/>
-<junction x="-2.54" y="210.82"/>
-<pinref part="C1" gate="G$1" pin="1"/>
-<wire x1="-17.78" y1="210.82" x2="-33.02" y2="210.82" width="0.1524" layer="91"/>
-<junction x="-17.78" y="210.82"/>
-<wire x1="-33.02" y1="210.82" x2="-43.18" y2="210.82" width="0.1524" layer="91"/>
-<junction x="-33.02" y="210.82"/>
-<pinref part="GND1" gate="1" pin="GND"/>
-<pinref part="C6" gate="G$1" pin="1"/>
-<wire x1="27.94" y1="210.82" x2="12.7" y2="210.82" width="0.1524" layer="91"/>
-<junction x="12.7" y="210.82"/>
-<pinref part="U1" gate="G$1" pin="GND"/>
-<wire x1="40.64" y1="210.82" x2="27.94" y2="210.82" width="0.1524" layer="91"/>
-<junction x="27.94" y="210.82"/>
-</segment>
-<segment>
-<pinref part="GND20" gate="1" pin="GND"/>
-<pinref part="R13" gate="G$1" pin="1"/>
-<wire x1="355.6" y1="182.88" x2="355.6" y2="185.42" width="0.1524" layer="91"/>
-</segment>
-<segment>
-<pinref part="R12" gate="G$1" pin="1"/>
-<pinref part="GND19" gate="1" pin="GND"/>
-<wire x1="447.04" y1="182.88" x2="447.04" y2="185.42" width="0.1524" layer="91"/>
-</segment>
-<segment>
-<pinref part="J8" gate="G$1" pin="1"/>
-<wire x1="127" y1="269.24" x2="114.3" y2="269.24" width="0.1524" layer="91"/>
-<pinref part="GND11" gate="1" pin="GND"/>
-</segment>
-<segment>
-<pinref part="U2" gate="G$1" pin="TST_MODE"/>
-<wire x1="180.34" y1="220.98" x2="165.1" y2="220.98" width="0.1524" layer="91"/>
-<pinref part="GND7" gate="1" pin="GND"/>
-</segment>
-<segment>
-<pinref part="U2" gate="G$1" pin="GNDP"/>
-<wire x1="220.98" y1="160.02" x2="223.52" y2="160.02" width="0.1524" layer="91"/>
-<wire x1="223.52" y1="160.02" x2="223.52" y2="157.48" width="0.1524" layer="91"/>
-<pinref part="U2" gate="G$1" pin="GND@1"/>
-<wire x1="223.52" y1="157.48" x2="220.98" y2="157.48" width="0.1524" layer="91"/>
-<wire x1="223.52" y1="157.48" x2="223.52" y2="154.94" width="0.1524" layer="91"/>
-<junction x="223.52" y="157.48"/>
-<pinref part="U2" gate="G$1" pin="GND@2"/>
-<wire x1="223.52" y1="154.94" x2="220.98" y2="154.94" width="0.1524" layer="91"/>
-<wire x1="223.52" y1="154.94" x2="223.52" y2="152.4" width="0.1524" layer="91"/>
-<junction x="223.52" y="154.94"/>
-<pinref part="U2" gate="G$1" pin="DIE_PAD"/>
-<wire x1="223.52" y1="152.4" x2="220.98" y2="152.4" width="0.1524" layer="91"/>
-<wire x1="223.52" y1="152.4" x2="223.52" y2="147.32" width="0.1524" layer="91"/>
-<junction x="223.52" y="152.4"/>
-<pinref part="GND15" gate="1" pin="GND"/>
-</segment>
-<segment>
-<pinref part="C9" gate="G$1" pin="2"/>
-<wire x1="243.84" y1="228.6" x2="251.46" y2="228.6" width="0.1524" layer="91"/>
-<pinref part="C12" gate="G$1" pin="2"/>
-<wire x1="251.46" y1="228.6" x2="251.46" y2="231.14" width="0.1524" layer="91"/>
-<wire x1="251.46" y1="228.6" x2="266.7" y2="228.6" width="0.1524" layer="91"/>
-<junction x="251.46" y="228.6"/>
-<pinref part="GND8" gate="1" pin="GND"/>
-</segment>
-<segment>
-<pinref part="GND4" gate="1" pin="GND"/>
-<pinref part="Y1" gate="G$1" pin="2"/>
-<wire x1="20.32" y1="172.72" x2="22.86" y2="172.72" width="0.1524" layer="91"/>
-</segment>
-<segment>
-<pinref part="J1" gate="G$1" pin="GND"/>
-<wire x1="2.54" y1="238.76" x2="0" y2="238.76" width="0.1524" layer="91"/>
-<pinref part="GND2" gate="1" pin="GND"/>
-<pinref part="S1" gate="G$1" pin="P1"/>
-<wire x1="0" y1="238.76" x2="-5.08" y2="238.76" width="0.1524" layer="91"/>
-<wire x1="17.78" y1="248.92" x2="0" y2="248.92" width="0.1524" layer="91"/>
-<wire x1="0" y1="248.92" x2="0" y2="238.76" width="0.1524" layer="91"/>
-<junction x="0" y="238.76"/>
-</segment>
-<segment>
-<pinref part="J3" gate="G$1" pin="GND"/>
-<wire x1="170.18" y1="58.42" x2="193.04" y2="58.42" width="0.1524" layer="91"/>
-<pinref part="GND3" gate="1" pin="GND"/>
-</segment>
-<segment>
-<pinref part="J2" gate="G$1" pin="GND"/>
-<wire x1="193.04" y1="106.68" x2="167.64" y2="106.68" width="0.1524" layer="91"/>
-<pinref part="GND5" gate="1" pin="GND"/>
-</segment>
-<segment>
-<pinref part="C5" gate="G$1" pin="1"/>
-<pinref part="C7" gate="G$1" pin="1"/>
-<wire x1="208.28" y1="259.08" x2="223.52" y2="259.08" width="0.1524" layer="91"/>
-<wire x1="223.52" y1="259.08" x2="246.38" y2="259.08" width="0.1524" layer="91"/>
-<junction x="223.52" y="259.08"/>
-<pinref part="GND6" gate="1" pin="GND"/>
-</segment>
-</net>
-<net name="+3V3" class="0">
-<segment>
-<pinref part="+3V310" gate="G$1" pin="+3V3"/>
-<pinref part="C10" gate="G$1" pin="2"/>
-<wire x1="144.78" y1="238.76" x2="149.86" y2="238.76" width="0.1524" layer="91"/>
-<wire x1="149.86" y1="238.76" x2="175.26" y2="238.76" width="0.1524" layer="91"/>
-<wire x1="175.26" y1="238.76" x2="180.34" y2="238.76" width="0.1524" layer="91"/>
-<junction x="175.26" y="238.76"/>
-<pinref part="U2" gate="G$1" pin="VCC_IO"/>
-<pinref part="R9" gate="G$1" pin="2"/>
-<wire x1="149.86" y1="226.06" x2="149.86" y2="238.76" width="0.1524" layer="91"/>
-<junction x="149.86" y="238.76"/>
-</segment>
-<segment>
-<pinref part="C4" gate="G$1" pin="2"/>
-<pinref part="C3" gate="G$1" pin="2"/>
-<wire x1="27.94" y1="218.44" x2="12.7" y2="218.44" width="0.1524" layer="91"/>
-<wire x1="12.7" y1="218.44" x2="-2.54" y2="218.44" width="0.1524" layer="91"/>
-<junction x="12.7" y="218.44"/>
-<pinref part="C2" gate="G$1" pin="2"/>
-<wire x1="-2.54" y1="218.44" x2="-17.78" y2="218.44" width="0.1524" layer="91"/>
-<junction x="-2.54" y="218.44"/>
-<pinref part="C1" gate="G$1" pin="2"/>
-<wire x1="-17.78" y1="218.44" x2="-33.02" y2="218.44" width="0.1524" layer="91"/>
-<junction x="-17.78" y="218.44"/>
-<wire x1="-33.02" y1="218.44" x2="-43.18" y2="218.44" width="0.1524" layer="91"/>
-<junction x="-33.02" y="218.44"/>
-<pinref part="+3V31" gate="G$1" pin="+3V3"/>
-<pinref part="C6" gate="G$1" pin="2"/>
-<pinref part="U1" gate="G$1" pin="VCC"/>
-<wire x1="27.94" y1="218.44" x2="33.02" y2="218.44" width="0.1524" layer="91"/>
-<junction x="27.94" y="218.44"/>
-<pinref part="U1" gate="G$1" pin="AVCC"/>
-<wire x1="33.02" y1="218.44" x2="40.64" y2="218.44" width="0.1524" layer="91"/>
-<wire x1="40.64" y1="223.52" x2="33.02" y2="223.52" width="0.1524" layer="91"/>
-<wire x1="33.02" y1="223.52" x2="33.02" y2="218.44" width="0.1524" layer="91"/>
-<junction x="33.02" y="218.44"/>
-</segment>
-<segment>
-<pinref part="D1" gate="G$1" pin="A"/>
-<wire x1="119.38" y1="325.12" x2="134.62" y2="325.12" width="0.1524" layer="91"/>
-<wire x1="134.62" y1="325.12" x2="134.62" y2="314.96" width="0.1524" layer="91"/>
-<pinref part="D3" gate="G$1" pin="A"/>
-<wire x1="134.62" y1="314.96" x2="134.62" y2="304.8" width="0.1524" layer="91"/>
-<wire x1="134.62" y1="304.8" x2="119.38" y2="304.8" width="0.1524" layer="91"/>
-<pinref part="D2" gate="G$1" pin="A"/>
-<wire x1="119.38" y1="314.96" x2="134.62" y2="314.96" width="0.1524" layer="91"/>
-<junction x="134.62" y="314.96"/>
-<pinref part="+3V37" gate="G$1" pin="+3V3"/>
-<wire x1="134.62" y1="314.96" x2="137.16" y2="314.96" width="0.1524" layer="91"/>
-</segment>
-<segment>
-<pinref part="J1" gate="G$1" pin="VCC"/>
-<wire x1="2.54" y1="233.68" x2="-5.08" y2="233.68" width="0.1524" layer="91"/>
-<pinref part="+3V1" gate="G$1" pin="+3V3"/>
-</segment>
-<segment>
-<pinref part="J3" gate="G$1" pin="3V3"/>
-<wire x1="193.04" y1="53.34" x2="170.18" y2="53.34" width="0.1524" layer="91"/>
-<pinref part="+3V3" gate="G$1" pin="+3V3"/>
-</segment>
-<segment>
-<pinref part="J2" gate="G$1" pin="3V3"/>
-<wire x1="193.04" y1="101.6" x2="167.64" y2="101.6" width="0.1524" layer="91"/>
-<pinref part="+3V2" gate="G$1" pin="+3V3"/>
-</segment>
-<segment>
-<pinref part="C5" gate="G$1" pin="2"/>
-<pinref part="C7" gate="G$1" pin="2"/>
-<wire x1="208.28" y1="266.7" x2="223.52" y2="266.7" width="0.1524" layer="91"/>
-<wire x1="223.52" y1="266.7" x2="246.38" y2="266.7" width="0.1524" layer="91"/>
-<junction x="223.52" y="266.7"/>
-<pinref part="+3V4" gate="G$1" pin="+3V3"/>
-</segment>
-</net>
-<net name="V+" class="0">
-<segment>
-<pinref part="P+4" gate="1" pin="V+"/>
-<wire x1="185.42" y1="284.48" x2="193.04" y2="284.48" width="0.1524" layer="91"/>
-<pinref part="J9" gate="G$1" pin="PWRPAD"/>
-<pinref part="C11" gate="G$1" pin="2"/>
-<wire x1="193.04" y1="284.48" x2="208.28" y2="284.48" width="0.1524" layer="91"/>
-<wire x1="208.28" y1="284.48" x2="223.52" y2="284.48" width="0.1524" layer="91"/>
-<junction x="208.28" y="284.48"/>
-<pinref part="C16" gate="G$1" pin="2"/>
-<wire x1="223.52" y1="284.48" x2="238.76" y2="284.48" width="0.1524" layer="91"/>
-<junction x="223.52" y="284.48"/>
-<pinref part="C19" gate="G$1" pin="2"/>
-<junction x="238.76" y="284.48"/>
-<wire x1="238.76" y1="284.48" x2="246.38" y2="284.48" width="0.1524" layer="91"/>
-<pinref part="C13" gate="G$1" pin="+"/>
-<junction x="193.04" y="284.48"/>
-</segment>
-<segment>
-<pinref part="U2" gate="G$1" pin="VS"/>
-<pinref part="C12" gate="G$1" pin="1"/>
-<wire x1="220.98" y1="238.76" x2="238.76" y2="238.76" width="0.1524" layer="91"/>
-<pinref part="C8" gate="G$1" pin="2"/>
-<wire x1="238.76" y1="238.76" x2="251.46" y2="238.76" width="0.1524" layer="91"/>
-<wire x1="233.68" y1="233.68" x2="238.76" y2="233.68" width="0.1524" layer="91"/>
-<wire x1="238.76" y1="233.68" x2="238.76" y2="238.76" width="0.1524" layer="91"/>
-<junction x="238.76" y="238.76"/>
-<wire x1="251.46" y1="238.76" x2="266.7" y2="238.76" width="0.1524" layer="91"/>
-<junction x="251.46" y="238.76"/>
-<pinref part="P+1" gate="1" pin="V+"/>
-</segment>
-<segment>
-<pinref part="Q1" gate="G$1" pin="SP"/>
-<wire x1="332.74" y1="246.38" x2="332.74" y2="254" width="0.1524" layer="91"/>
-<wire x1="332.74" y1="254" x2="378.46" y2="254" width="0.1524" layer="91"/>
-<pinref part="Q2" gate="G$1" pin="SP"/>
-<wire x1="378.46" y1="254" x2="378.46" y2="246.38" width="0.1524" layer="91"/>
-<wire x1="378.46" y1="254" x2="401.32" y2="254" width="0.1524" layer="91"/>
-<junction x="378.46" y="254"/>
-<pinref part="Q3" gate="G$1" pin="SP"/>
-<wire x1="401.32" y1="254" x2="426.72" y2="254" width="0.1524" layer="91"/>
-<wire x1="426.72" y1="254" x2="426.72" y2="246.38" width="0.1524" layer="91"/>
-<wire x1="426.72" y1="254" x2="472.44" y2="254" width="0.1524" layer="91"/>
-<junction x="426.72" y="254"/>
-<pinref part="Q4" gate="G$1" pin="SP"/>
-<wire x1="472.44" y1="254" x2="472.44" y2="246.38" width="0.1524" layer="91"/>
-<wire x1="401.32" y1="254" x2="401.32" y2="261.62" width="0.1524" layer="91"/>
-<junction x="401.32" y="254"/>
-<pinref part="P+2" gate="1" pin="V+"/>
-</segment>
-</net>
-<net name="TMC_EN" class="0">
-<segment>
-<pinref part="U2" gate="G$1" pin="ENABLE"/>
-<label x="167.64" y="215.9" size="1.778" layer="95"/>
-<pinref part="R9" gate="G$1" pin="1"/>
-<wire x1="180.34" y1="215.9" x2="149.86" y2="215.9" width="0.1524" layer="91"/>
-</segment>
-<segment>
-<pinref part="U1" gate="G$1" pin="PC3/TXD0"/>
-<wire x1="91.44" y1="185.42" x2="109.22" y2="185.42" width="0.1524" layer="91"/>
-<label x="93.98" y="185.42" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="TMC_CSN" class="0">
-<segment>
-<wire x1="180.34" y1="210.82" x2="167.64" y2="210.82" width="0.1524" layer="91"/>
-<label x="167.64" y="210.82" size="1.778" layer="95"/>
-<pinref part="U2" gate="G$1" pin="CSN"/>
-</segment>
-<segment>
-<pinref part="J8" gate="G$1" pin="5"/>
-<wire x1="127" y1="259.08" x2="114.3" y2="259.08" width="0.1524" layer="91"/>
-<label x="114.3" y="259.08" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="U1" gate="G$1" pin="PC4/SS"/>
-<wire x1="91.44" y1="182.88" x2="109.22" y2="182.88" width="0.1524" layer="91"/>
-<label x="93.98" y="182.88" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="TMC_SCK" class="0">
-<segment>
-<wire x1="180.34" y1="208.28" x2="167.64" y2="208.28" width="0.1524" layer="91"/>
-<label x="167.64" y="208.28" size="1.778" layer="95"/>
-<pinref part="U2" gate="G$1" pin="SCK"/>
-</segment>
-<segment>
-<pinref part="J8" gate="G$1" pin="4"/>
-<wire x1="127" y1="261.62" x2="114.3" y2="261.62" width="0.1524" layer="91"/>
-<label x="114.3" y="261.62" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="U1" gate="G$1" pin="PC5/XCK1/MOSI"/>
-<wire x1="91.44" y1="180.34" x2="109.22" y2="180.34" width="0.1524" layer="91"/>
-<label x="93.98" y="180.34" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="TMC_MOSI" class="0">
-<segment>
-<wire x1="180.34" y1="205.74" x2="167.64" y2="205.74" width="0.1524" layer="91"/>
-<label x="167.64" y="205.74" size="1.778" layer="95"/>
-<pinref part="U2" gate="G$1" pin="SDI"/>
-</segment>
-<segment>
-<pinref part="J8" gate="G$1" pin="3"/>
-<wire x1="127" y1="264.16" x2="114.3" y2="264.16" width="0.1524" layer="91"/>
-<label x="114.3" y="264.16" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="U1" gate="G$1" pin="PC7/TXD1/SCK"/>
-<wire x1="91.44" y1="175.26" x2="109.22" y2="175.26" width="0.1524" layer="91"/>
-<label x="93.98" y="175.26" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="TMC_SG" class="0">
-<segment>
-<pinref part="U2" gate="G$1" pin="SG_TST"/>
-<wire x1="180.34" y1="198.12" x2="167.64" y2="198.12" width="0.1524" layer="91"/>
-<label x="167.64" y="198.12" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="U1" gate="G$1" pin="PA2"/>
-<wire x1="91.44" y1="233.68" x2="109.22" y2="233.68" width="0.1524" layer="91"/>
-<label x="93.98" y="233.68" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="N$1" class="0">
-<segment>
-<pinref part="R4" gate="G$1" pin="2"/>
-<pinref part="D3" gate="G$1" pin="C"/>
-<wire x1="106.68" y1="304.8" x2="111.76" y2="304.8" width="0.1524" layer="91"/>
-</segment>
-</net>
-<net name="N$5" class="0">
-<segment>
-<pinref part="R3" gate="G$1" pin="2"/>
-<pinref part="D2" gate="G$1" pin="C"/>
-<wire x1="111.76" y1="314.96" x2="106.68" y2="314.96" width="0.1524" layer="91"/>
-</segment>
-</net>
-<net name="N$6" class="0">
-<segment>
-<pinref part="R2" gate="G$1" pin="2"/>
-<pinref part="D1" gate="G$1" pin="C"/>
-<wire x1="111.76" y1="325.12" x2="106.68" y2="325.12" width="0.1524" layer="91"/>
-</segment>
-</net>
-<net name="TMC_MISO" class="0">
-<segment>
-<wire x1="180.34" y1="203.2" x2="167.64" y2="203.2" width="0.1524" layer="91"/>
-<label x="167.64" y="203.2" size="1.778" layer="95"/>
-<pinref part="U2" gate="G$1" pin="SDO"/>
-</segment>
-<segment>
-<pinref part="J8" gate="G$1" pin="2"/>
-<wire x1="127" y1="266.7" x2="114.3" y2="266.7" width="0.1524" layer="91"/>
-<label x="114.3" y="266.7" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="U1" gate="G$1" pin="PC6/RXD1/MISO"/>
-<wire x1="91.44" y1="177.8" x2="109.22" y2="177.8" width="0.1524" layer="91"/>
-<label x="93.98" y="177.8" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="OA2" class="0">
-<segment>
-<pinref part="Q2" gate="G$1" pin="DN/DP"/>
-<wire x1="396.24" y1="226.06" x2="403.86" y2="226.06" width="0.1524" layer="91"/>
-<label x="398.78" y="226.06" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="U2" gate="G$1" pin="BMA2"/>
-<wire x1="220.98" y1="210.82" x2="233.68" y2="210.82" width="0.1524" layer="91"/>
-<label x="223.52" y="210.82" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="J11" gate="G$1" pin="1"/>
-<wire x1="325.12" y1="182.88" x2="314.96" y2="182.88" width="0.1524" layer="91"/>
-<label x="314.96" y="182.88" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="OA1" class="0">
-<segment>
-<pinref part="Q1" gate="G$1" pin="DN/DP"/>
-<wire x1="350.52" y1="226.06" x2="358.14" y2="226.06" width="0.1524" layer="91"/>
-<label x="353.06" y="226.06" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="U2" gate="G$1" pin="BMA1"/>
-<wire x1="220.98" y1="213.36" x2="233.68" y2="213.36" width="0.1524" layer="91"/>
-<label x="223.52" y="213.36" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="J11" gate="G$1" pin="2"/>
-<wire x1="325.12" y1="180.34" x2="314.96" y2="180.34" width="0.1524" layer="91"/>
-<label x="314.96" y="180.34" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="OB2" class="0">
-<segment>
-<pinref part="Q4" gate="G$1" pin="DN/DP"/>
-<wire x1="490.22" y1="226.06" x2="497.84" y2="226.06" width="0.1524" layer="91"/>
-<label x="492.76" y="226.06" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="U2" gate="G$1" pin="BMB2"/>
-<wire x1="220.98" y1="177.8" x2="233.68" y2="177.8" width="0.1524" layer="91"/>
-<label x="223.52" y="177.8" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="J11" gate="G$1" pin="3"/>
-<wire x1="325.12" y1="177.8" x2="314.96" y2="177.8" width="0.1524" layer="91"/>
-<label x="314.96" y="177.8" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="OB1" class="0">
-<segment>
-<pinref part="Q3" gate="G$1" pin="DN/DP"/>
-<wire x1="444.5" y1="226.06" x2="452.12" y2="226.06" width="0.1524" layer="91"/>
-<label x="447.04" y="226.06" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="U2" gate="G$1" pin="BMB1"/>
-<wire x1="220.98" y1="180.34" x2="233.68" y2="180.34" width="0.1524" layer="91"/>
-<label x="223.52" y="180.34" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="J11" gate="G$1" pin="4"/>
-<wire x1="325.12" y1="175.26" x2="314.96" y2="175.26" width="0.1524" layer="91"/>
-<label x="314.96" y="175.26" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="N$2" class="0">
-<segment>
-<pinref part="U2" gate="G$1" pin="VHS"/>
-<pinref part="C8" gate="G$1" pin="1"/>
-<wire x1="220.98" y1="233.68" x2="226.06" y2="233.68" width="0.1524" layer="91"/>
-</segment>
-</net>
-<net name="N$3" class="0">
-<segment>
-<pinref part="U2" gate="G$1" pin="5VOUT"/>
-<pinref part="C9" gate="G$1" pin="1"/>
-<wire x1="220.98" y1="228.6" x2="236.22" y2="228.6" width="0.1524" layer="91"/>
-</segment>
-</net>
-<net name="SRA" class="0">
-<segment>
-<wire x1="332.74" y1="200.66" x2="355.6" y2="200.66" width="0.1524" layer="91"/>
-<label x="353.06" y="200.66" size="1.778" layer="95"/>
-<pinref part="Q1" gate="G$1" pin="SN"/>
-<wire x1="355.6" y1="200.66" x2="378.46" y2="200.66" width="0.1524" layer="91"/>
-<wire x1="332.74" y1="200.66" x2="332.74" y2="203.2" width="0.1524" layer="91"/>
-<pinref part="Q2" gate="G$1" pin="SN"/>
-<wire x1="378.46" y1="200.66" x2="378.46" y2="203.2" width="0.1524" layer="91"/>
-<pinref part="R13" gate="G$1" pin="2"/>
-<wire x1="355.6" y1="195.58" x2="355.6" y2="200.66" width="0.1524" layer="91"/>
-<junction x="355.6" y="200.66"/>
-</segment>
-<segment>
-<pinref part="U2" gate="G$1" pin="SRA"/>
-<wire x1="220.98" y1="198.12" x2="233.68" y2="198.12" width="0.1524" layer="91"/>
-<label x="223.52" y="198.12" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="SRB" class="0">
-<segment>
-<wire x1="426.72" y1="200.66" x2="447.04" y2="200.66" width="0.1524" layer="91"/>
-<label x="444.5" y="200.66" size="1.778" layer="95"/>
-<pinref part="Q3" gate="G$1" pin="SN"/>
-<wire x1="447.04" y1="200.66" x2="472.44" y2="200.66" width="0.1524" layer="91"/>
-<wire x1="426.72" y1="200.66" x2="426.72" y2="203.2" width="0.1524" layer="91"/>
-<pinref part="Q4" gate="G$1" pin="SN"/>
-<wire x1="472.44" y1="200.66" x2="472.44" y2="203.2" width="0.1524" layer="91"/>
-<pinref part="R12" gate="G$1" pin="2"/>
-<wire x1="447.04" y1="195.58" x2="447.04" y2="200.66" width="0.1524" layer="91"/>
-<junction x="447.04" y="200.66"/>
-</segment>
-<segment>
-<pinref part="U2" gate="G$1" pin="SRB"/>
-<wire x1="220.98" y1="165.1" x2="233.68" y2="165.1" width="0.1524" layer="91"/>
-<label x="223.52" y="165.1" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="LB2" class="0">
-<segment>
-<pinref part="U2" gate="G$1" pin="LB2"/>
-<wire x1="220.98" y1="172.72" x2="233.68" y2="172.72" width="0.1524" layer="91"/>
-<label x="223.52" y="172.72" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="Q4" gate="G$1" pin="GN"/>
-<wire x1="454.66" y1="215.9" x2="447.04" y2="215.9" width="0.1524" layer="91"/>
-<label x="447.04" y="215.9" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="LB1" class="0">
-<segment>
-<pinref part="U2" gate="G$1" pin="LB1"/>
-<wire x1="220.98" y1="170.18" x2="233.68" y2="170.18" width="0.1524" layer="91"/>
-<label x="223.52" y="170.18" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="Q3" gate="G$1" pin="GN"/>
-<wire x1="408.94" y1="215.9" x2="401.32" y2="215.9" width="0.1524" layer="91"/>
-<label x="401.32" y="215.9" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="HB2" class="0">
-<segment>
-<pinref part="U2" gate="G$1" pin="HB2"/>
-<wire x1="220.98" y1="185.42" x2="233.68" y2="185.42" width="0.1524" layer="91"/>
-<label x="223.52" y="185.42" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="Q4" gate="G$1" pin="GP"/>
-<wire x1="454.66" y1="233.68" x2="447.04" y2="233.68" width="0.1524" layer="91"/>
-<label x="447.04" y="233.68" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="HB1" class="0">
-<segment>
-<pinref part="U2" gate="G$1" pin="HB1"/>
-<wire x1="220.98" y1="187.96" x2="233.68" y2="187.96" width="0.1524" layer="91"/>
-<label x="223.52" y="187.96" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="Q3" gate="G$1" pin="GP"/>
-<wire x1="408.94" y1="233.68" x2="401.32" y2="233.68" width="0.1524" layer="91"/>
-<label x="401.32" y="233.68" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="LA2" class="0">
-<segment>
-<pinref part="U2" gate="G$1" pin="LA2"/>
-<wire x1="220.98" y1="205.74" x2="233.68" y2="205.74" width="0.1524" layer="91"/>
-<label x="223.52" y="205.74" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="Q2" gate="G$1" pin="GN"/>
-<wire x1="360.68" y1="215.9" x2="353.06" y2="215.9" width="0.1524" layer="91"/>
-<label x="353.06" y="215.9" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="LA1" class="0">
-<segment>
-<pinref part="U2" gate="G$1" pin="LA1"/>
-<wire x1="220.98" y1="203.2" x2="233.68" y2="203.2" width="0.1524" layer="91"/>
-<label x="223.52" y="203.2" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="Q1" gate="G$1" pin="GN"/>
-<wire x1="314.96" y1="215.9" x2="307.34" y2="215.9" width="0.1524" layer="91"/>
-<label x="307.34" y="215.9" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="HA2" class="0">
-<segment>
-<pinref part="U2" gate="G$1" pin="HA2"/>
-<wire x1="220.98" y1="218.44" x2="233.68" y2="218.44" width="0.1524" layer="91"/>
-<label x="223.52" y="218.44" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="Q2" gate="G$1" pin="GP"/>
-<wire x1="360.68" y1="233.68" x2="353.06" y2="233.68" width="0.1524" layer="91"/>
-<label x="353.06" y="233.68" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="HA1" class="0">
-<segment>
-<pinref part="U2" gate="G$1" pin="HA1"/>
-<wire x1="220.98" y1="220.98" x2="233.68" y2="220.98" width="0.1524" layer="91"/>
-<label x="223.52" y="220.98" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="Q1" gate="G$1" pin="GP"/>
-<wire x1="314.96" y1="233.68" x2="307.34" y2="233.68" width="0.1524" layer="91"/>
-<label x="307.34" y="233.68" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="TMC_DIR" class="0">
-<segment>
-<wire x1="180.34" y1="226.06" x2="167.64" y2="226.06" width="0.1524" layer="91"/>
-<label x="167.64" y="226.06" size="1.778" layer="95"/>
-<pinref part="U2" gate="G$1" pin="DIR"/>
-</segment>
-<segment>
-<pinref part="U1" gate="G$1" pin="PA1"/>
-<wire x1="91.44" y1="236.22" x2="109.22" y2="236.22" width="0.1524" layer="91"/>
-<label x="93.98" y="236.22" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="TMC_STEP" class="0">
-<segment>
-<pinref part="U1" gate="G$1" pin="PA0/AREF"/>
-<wire x1="91.44" y1="238.76" x2="109.22" y2="238.76" width="0.1524" layer="91"/>
-<label x="93.98" y="238.76" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="U2" gate="G$1" pin="STEP"/>
-<wire x1="180.34" y1="228.6" x2="167.64" y2="228.6" width="0.1524" layer="91"/>
-<label x="167.64" y="228.6" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="STLERR" class="0">
-<segment>
-<pinref part="R2" gate="G$1" pin="1"/>
-<wire x1="96.52" y1="325.12" x2="81.28" y2="325.12" width="0.1524" layer="91"/>
-<label x="81.28" y="325.12" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="U1" gate="G$1" pin="PF6"/>
-<wire x1="91.44" y1="109.22" x2="109.22" y2="109.22" width="0.1524" layer="91"/>
-<label x="93.98" y="109.22" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="N$7" class="0">
-<segment>
-<pinref part="Y1" gate="G$1" pin="1"/>
-<pinref part="U1" gate="G$1" pin="PR0/XTAL2"/>
-<wire x1="30.48" y1="180.34" x2="40.64" y2="180.34" width="0.1524" layer="91"/>
-</segment>
-</net>
-<net name="N$8" class="0">
-<segment>
-<pinref part="U1" gate="G$1" pin="PR1/XTAL1"/>
-<pinref part="Y1" gate="G$1" pin="3"/>
-<wire x1="40.64" y1="165.1" x2="30.48" y2="165.1" width="0.1524" layer="91"/>
-</segment>
-</net>
-<net name="N$4" class="0">
-<segment>
-<pinref part="U1" gate="G$1" pin="RESET/PDI_CLK"/>
-<pinref part="J1" gate="G$1" pin="PDI_CLK"/>
-<wire x1="40.64" y1="238.76" x2="35.56" y2="238.76" width="0.1524" layer="91"/>
-<pinref part="S1" gate="G$1" pin="S1"/>
-<wire x1="35.56" y1="238.76" x2="33.02" y2="238.76" width="0.1524" layer="91"/>
-<wire x1="27.94" y1="248.92" x2="35.56" y2="248.92" width="0.1524" layer="91"/>
-<wire x1="35.56" y1="248.92" x2="35.56" y2="238.76" width="0.1524" layer="91"/>
-<junction x="35.56" y="238.76"/>
-</segment>
-</net>
-<net name="N$10" class="0">
-<segment>
-<pinref part="U1" gate="G$1" pin="PDI_DATA"/>
-<pinref part="J1" gate="G$1" pin="PDI_DATA"/>
-<wire x1="40.64" y1="233.68" x2="33.02" y2="233.68" width="0.1524" layer="91"/>
-</segment>
-</net>
-<net name="ATK-CLKOUT" class="0">
-<segment>
-<pinref part="U1" gate="G$1" pin="PF0"/>
-<wire x1="91.44" y1="124.46" x2="109.22" y2="124.46" width="0.1524" layer="91"/>
-<label x="93.98" y="124.46" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="J2" gate="G$1" pin="CLKOUT"/>
-<wire x1="193.04" y1="111.76" x2="172.72" y2="111.76" width="0.1524" layer="91"/>
-<label x="172.72" y="111.76" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="J3" gate="G$1" pin="CLKOUT"/>
-<wire x1="193.04" y1="63.5" x2="175.26" y2="63.5" width="0.1524" layer="91"/>
-<label x="175.26" y="63.5" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="ATK0-CLKIN" class="0">
-<segment>
-<pinref part="U1" gate="G$1" pin="PF1/XCK0"/>
-<wire x1="91.44" y1="121.92" x2="109.22" y2="121.92" width="0.1524" layer="91"/>
-<label x="93.98" y="121.92" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="J2" gate="G$1" pin="CLKIN"/>
-<wire x1="193.04" y1="127" x2="172.72" y2="127" width="0.1524" layer="91"/>
-<label x="172.72" y="127" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="ATK1-CLKIN" class="0">
-<segment>
-<pinref part="U1" gate="G$1" pin="PF2/RXD0"/>
-<wire x1="91.44" y1="119.38" x2="109.22" y2="119.38" width="0.1524" layer="91"/>
-<label x="93.98" y="119.38" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="J3" gate="G$1" pin="CLKIN"/>
-<wire x1="175.26" y1="78.74" x2="193.04" y2="78.74" width="0.1524" layer="91"/>
-<label x="175.26" y="78.74" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="ATK1-RXLED" class="0">
-<segment>
-<pinref part="U1" gate="G$1" pin="PE0/SDA"/>
-<wire x1="91.44" y1="147.32" x2="109.22" y2="147.32" width="0.1524" layer="91"/>
-<label x="93.98" y="147.32" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="R6" gate="G$1" pin="1"/>
-<wire x1="172.72" y1="48.26" x2="142.24" y2="48.26" width="0.1524" layer="91"/>
-<label x="142.24" y="48.26" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="ATK1-TXLED" class="0">
-<segment>
-<pinref part="U1" gate="G$1" pin="PE1/SCL/XCK0"/>
-<wire x1="91.44" y1="144.78" x2="109.22" y2="144.78" width="0.1524" layer="91"/>
-<label x="93.98" y="144.78" size="1.778" layer="95"/>
-</segment>
-<segment>
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-</segment>
-</net>
-<net name="ATK1-RX" class="0">
-<segment>
-<pinref part="U1" gate="G$1" pin="PE2/RXD0"/>
-<wire x1="91.44" y1="142.24" x2="109.22" y2="142.24" width="0.1524" layer="91"/>
-<label x="93.98" y="142.24" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="J3" gate="G$1" pin="RX"/>
-<wire x1="175.26" y1="73.66" x2="193.04" y2="73.66" width="0.1524" layer="91"/>
-<label x="175.26" y="73.66" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="ATK1-TX" class="0">
-<segment>
-<pinref part="U1" gate="G$1" pin="PE3/TXD0"/>
-<wire x1="91.44" y1="139.7" x2="109.22" y2="139.7" width="0.1524" layer="91"/>
-<label x="93.98" y="139.7" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="J3" gate="G$1" pin="TX"/>
-<wire x1="175.26" y1="68.58" x2="193.04" y2="68.58" width="0.1524" layer="91"/>
-<label x="175.26" y="68.58" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="ATK0-RXLED" class="0">
-<segment>
-<pinref part="U1" gate="G$1" pin="PE4/SS"/>
-<wire x1="91.44" y1="137.16" x2="109.22" y2="137.16" width="0.1524" layer="91"/>
-<label x="93.98" y="137.16" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="R1" gate="G$1" pin="1"/>
-<wire x1="172.72" y1="96.52" x2="142.24" y2="96.52" width="0.1524" layer="91"/>
-<label x="142.24" y="96.52" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="ATK0-TXLED" class="0">
-<segment>
-<pinref part="U1" gate="G$1" pin="PE5/XCK1/MOSI"/>
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-<label x="93.98" y="134.62" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="R5" gate="G$1" pin="1"/>
-<wire x1="160.02" y1="91.44" x2="142.24" y2="91.44" width="0.1524" layer="91"/>
-<label x="142.24" y="91.44" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="ATK0-RX" class="0">
-<segment>
-<pinref part="U1" gate="G$1" pin="PE6/RXD1/MISO"/>
-<wire x1="91.44" y1="132.08" x2="109.22" y2="132.08" width="0.1524" layer="91"/>
-<label x="93.98" y="132.08" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="J2" gate="G$1" pin="RX"/>
-<wire x1="193.04" y1="121.92" x2="172.72" y2="121.92" width="0.1524" layer="91"/>
-<label x="172.72" y="121.92" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="ATK0-TX" class="0">
-<segment>
-<pinref part="U1" gate="G$1" pin="PE7/TXD1/SCK"/>
-<wire x1="91.44" y1="129.54" x2="109.22" y2="129.54" width="0.1524" layer="91"/>
-<label x="93.98" y="129.54" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="J2" gate="G$1" pin="TX"/>
-<wire x1="193.04" y1="116.84" x2="172.72" y2="116.84" width="0.1524" layer="91"/>
-<label x="172.72" y="116.84" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="STLCLK" class="0">
-<segment>
-<pinref part="R3" gate="G$1" pin="1"/>
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-<label x="81.28" y="314.96" size="1.778" layer="95"/>
-</segment>
-<segment>
-<pinref part="U1" gate="G$1" pin="PF7"/>
-<wire x1="91.44" y1="106.68" x2="109.22" y2="106.68" width="0.1524" layer="91"/>
-<label x="93.98" y="106.68" size="1.778" layer="95"/>
-</segment>
-</net>
-<net name="N$17" class="0">
-<segment>
-<pinref part="R1" gate="G$1" pin="2"/>
-<pinref part="J2" gate="G$1" pin="GRN-RX"/>
-<wire x1="182.88" y1="96.52" x2="193.04" y2="96.52" width="0.1524" layer="91"/>
-</segment>
-</net>
-<net name="N$18" class="0">
-<segment>
-<pinref part="J2" gate="G$1" pin="YLW-TX"/>
-<pinref part="R5" gate="G$1" pin="2"/>
-<wire x1="193.04" y1="91.44" x2="170.18" y2="91.44" width="0.1524" layer="91"/>
-</segment>
-</net>
-<net name="N$11" class="0">
-<segment>
-<pinref part="R6" gate="G$1" pin="2"/>
-<pinref part="J3" gate="G$1" pin="GRN-RX"/>
-<wire x1="182.88" y1="48.26" x2="193.04" y2="48.26" width="0.1524" layer="91"/>
-</segment>
-</net>
-<net name="N$12" class="0">
-<segment>
-<pinref part="R7" gate="G$1" pin="2"/>
-<pinref part="J3" gate="G$1" pin="YLW-TX"/>
-<wire x1="170.18" y1="43.18" x2="193.04" y2="43.18" width="0.1524" layer="91"/>
-</segment>
-</net>
-</nets>
-</sheet>
-</sheets>
-</schematic>
-</drawing>
-<compatibility>
-<note version="8.2" severity="warning">
-Since Version 8.2, EAGLE supports online libraries. The ids
-of those online libraries will not be understood (or retained)
-with this version.
-</note>
-<note version="8.3" severity="warning">
-Since Version 8.3, EAGLE supports URNs for individual library
-assets (packages, symbols, and devices). The URNs of those assets
-will not be understood (or retained) with this version.
-</note>
-</compatibility>
-</eagle>
diff --git a/circuit/atkstepper23/atkstepper23_2018-06-08.zip b/circuit/atkstepper23/atkstepper23_2018-06-08.zip
deleted file mode 100644
index efb8676c357c8161bffaadb55d5513782f8ca94a..0000000000000000000000000000000000000000
Binary files a/circuit/atkstepper23/atkstepper23_2018-06-08.zip and /dev/null differ
diff --git a/circuit/atkstepper23/eagle.epf b/circuit/atkstepper23/eagle.epf
deleted file mode 100644
index 242a224234857a4ae6d8dc73cb2a2d0b9897b94b..0000000000000000000000000000000000000000
--- a/circuit/atkstepper23/eagle.epf
+++ /dev/null
@@ -1,138 +0,0 @@
-[Eagle]
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-Globals="Globals"
-Desktop="Desktop"
-
-[Globals]
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-UsedLibraryUrn="urn:adsk.eagle:library:325"
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-
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diff --git a/circuit/v0-2.md b/circuit/mkstepper17.md
similarity index 98%
rename from circuit/v0-2.md
rename to circuit/mkstepper17.md
index 52b8e3b7e6eedcff257243161326fc1d566ce8d6..9c1dfbccd3b1764792126eceebc3dafefea2a568 100644
--- a/circuit/v0-2.md
+++ b/circuit/mkstepper17.md
@@ -1,4 +1,4 @@
-# Board Design
+# MKSteppper17 Circuit Design
OK, normally I get really longwinded about this. Not today! I drew *this* board after a major revision of another version using the TMC262 and some small P-and-NFET H-Bridges, which were a cool part, but obsoleted for me now that I discovered the TMC2660. Really should have looked harder for that.
diff --git a/datasheet/ATSAMD51.pdf b/datasheet/ATSAMD51.pdf
deleted file mode 100644
index 6da17e882705592c3103cd5e1703b9f7cacffcaf..0000000000000000000000000000000000000000
Binary files a/datasheet/ATSAMD51.pdf and /dev/null differ
diff --git a/datasheet/FDD8424H.pdf b/datasheet/FDD8424H.pdf
deleted file mode 100644
index e2588a22c5811be898d5f476c0d31d418acbf2f6..0000000000000000000000000000000000000000
Binary files a/datasheet/FDD8424H.pdf and /dev/null differ
diff --git a/datasheet/FDMQ8203-HNP.pdf b/datasheet/FDMQ8203-HNP.pdf
deleted file mode 100644
index 6130bb178206f93ef75c3390ac7e6679827af365..0000000000000000000000000000000000000000
Binary files a/datasheet/FDMQ8203-HNP.pdf and /dev/null differ
diff --git a/datasheet/FDMQ86530L-HN.pdf b/datasheet/FDMQ86530L-HN.pdf
deleted file mode 100644
index 84acb8356f276834e20af2bf70020c9204fbb8fe..0000000000000000000000000000000000000000
Binary files a/datasheet/FDMQ86530L-HN.pdf and /dev/null differ
diff --git a/datasheet/TMC262_Datasheet.pdf b/datasheet/TMC262_Datasheet.pdf
deleted file mode 100644
index f31b2c9b6aa12160cca42200e1eb6f4ebdb08d31..0000000000000000000000000000000000000000
Binary files a/datasheet/TMC262_Datasheet.pdf and /dev/null differ
diff --git a/embedded/README.md b/embedded/README.md
index 6a35f85ba43ee937e359771fdbcb7ce117066f49..3ca73ef3957d78de9cffcd5edce9aa0263900150 100644
--- a/embedded/README.md
+++ b/embedded/README.md
@@ -1,545 +1,7 @@
-# MK Stepper Embedded Doc
+# AutomataKit Stepper17 Firmware Notes
-My goal is to
- - verify that I can communicate over both UART ports to the board
- - now, wrap gpio and uart in tiny packages
- - verify that I can speak SPI to the TMC2660, maybe the AS5147D.
- - then, wrap spi into a package
- - fiddle through tmc2660 config and send some steps
- - send a key:value to the board that is a 'step command' - a # of steps to take over a timespan, and setup a queue of these
+Firmware for the board follows the [automatakit](https://gitlab.cba.mit.edu/jakeread/automatakit) architecture, and is available here for perusal.
-## Ring Testing the ATSAMD51
+Communication is handled asynchronously: bytes received on the UART are loaded into a ringbuffer, where they are later parsed in to packets. Parsing happens as oven as possible.
-OK, first I setup the systick timer to fire every 500 cycles. This is handy - I use the interrupt to toggle a pin, then I can get a rough estimate of where the main clock is running.
-
-```C
-int main(void)
-{
- /* Initialize the SAM system */
- SystemInit();
-
- // setup blinking
-
- PORT->Group[1].DIRSET.reg |= (uint32_t)(1 << 13);
- PORT->Group[1].DIRSET.reg |= (uint32_t)(1 << 14);
- PORT->Group[1].OUTSET.reg |= (uint32_t)(1 << 13);
- PORT->Group[1].OUTSET.reg |= (uint32_t)(1 << 14);
-
- // setup ring
-
- PORT->Group[1].DIRSET.reg |= (uint32_t)(1 << 2);
- PORT->Group[1].OUTSET.reg |= (uint32_t)(1 << 2);
-
- PORT->Group[1].DIRCLR.reg = (uint32_t)(1 << 3);
- PORT->Group[1].PINCFG[3].reg |= PORT_PINCFG_INEN;
- PORT->Group[1].PINCFG[3].reg &= ~PORT_PINCFG_PULLEN;
-
- SysTick_Config(500);
-
- while (1)
- {
-
- }
-}
-
-void SysTick_Handler(void){
- PORT->Group[1].OUTTGL.reg = (uint32_t)(1 << 2);
- PORT->Group[1].OUTTGL.reg = (uint32_t)(1 << 14); // blink STLB
-}
-```
-
-I see 48kHz on the scope, and I know I've got a 1000x multiplier on that wave (as the scope is counting positive clock edges only, the toggle does postive-to-negative etc). So these chips set up to run at 48MHz unless we tell them otherwise. Let's try that. I'm following adafruit's bootloader code, mostly.
-
-Also, [this](https://github.com/ataradov/mcu-starter-projects/blob/master/samd21/hal_gpio.h) was nice GPIO reference for the structures used in the ATSAMD series (21 and 51).
-
-OK, this clock is baffling me. I'm trapped at 48MHz ... going to move on for now. Somehow I want to set up the DFLL (digital frequency locked loop .. ?) to run on the 32.768kHz xtal (as a reference) with a big ol' multiplier to bring it up to 120MHz. To be honest I'm not really sure if even this is correct.
-
-In any case, here's some code for a ring test, for when I get the clock sorted. On a 48MHz clock it runs at 1.6MHz. Uses the setup above...
-
-```C
- while (1)
- {
- //PORT->Group[1].OUTTGL.reg = (uint32_t)(1 << 2);
- if(PORT->Group[1].IN.reg & (1 << 3)){
- PORT->Group[1].OUTCLR.reg = (uint32_t)(1 << 2);
- } else {
- PORT->Group[1].OUTSET.reg = (uint32_t)(1 << 2);
- }
- }
-```
-
-## USART on the ATSAMD51
-
-Altogether more registers than I'd like to manage, but here we are.
-
-```C
-
-int main(void)
-{
- /* Initialize the SAM system */
- SystemInit();
-
- //clock_init();
-
- /*setup blinking
- STLR PB13
- STLB PB14
- */
- PORT->Group[1].DIRSET.reg |= (uint32_t)(1 << 13);
- PORT->Group[1].DIRSET.reg |= (uint32_t)(1 << 14);
- PORT->Group[1].OUTSET.reg |= (uint32_t)(1 << 13);
- PORT->Group[1].OUTSET.reg |= (uint32_t)(1 << 14);
-
- SysTick_Config(5000000);
-
- /* setup UARTs
- NP1RX PA12 / SER4-1
- NP1TX PA13 / SER4-0
-
- NP2RX PB03 / SER5-1 / Peripheral D
- NP2TX PB02 / SER5-0 / Peripheral D
- */
-
- // setup pins for peripheral
- PORT->Group[1].DIRCLR.reg = (uint32_t)(1 << 3); // rx is input
- PORT->Group[1].DIRSET.reg = (uint32_t)(1 << 2); // tx output
- PORT->Group[1].PINCFG[3].bit.PMUXEN = 1;
- PORT->Group[1].PMUX[3>>1].reg |= PORT_PMUX_PMUXE(0x3);
- PORT->Group[1].PMUX[3>>3].reg |= PORT_PMUX_PMUXO(0x3);
- PORT->Group[1].PINCFG[2].bit.PMUXEN = 1;
- PORT->Group[1].PMUX[2>>1].reg |= PORT_PMUX_PMUXE(0x3);
- PORT->Group[1].PMUX[2>>3].reg |= PORT_PMUX_PMUXO(0x3);
- // unmask clocks
- MCLK->APBDMASK.reg |= MCLK_APBDMASK_SERCOM5;
- // generate clocks to, starting with clock 6 (arbitrary choice, lower # held for system things)
- // datasheet says normally one gclk per peripheral shrugman knows why
- GCLK->GENCTRL[6].reg = GCLK_GENCTRL_SRC(GCLK_GENCTRL_SRC_DFLL) | GCLK_GENCTRL_GENEN;
- while(GCLK->SYNCBUSY.reg & GCLK_SYNCBUSY_GENCTRL6);
- GCLK->PCHCTRL[SERCOM5_GCLK_ID_CORE].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN_GCLK6;
- // now the sercom
- while(SERCOM5->USART.SYNCBUSY.bit.ENABLE);
- SERCOM5->USART.CTRLA.bit.ENABLE = 0;
- while(SERCOM5->USART.SYNCBUSY.bit.SWRST);
- SERCOM5->USART.CTRLA.bit.SWRST = 1;
- while(SERCOM5->USART.SYNCBUSY.bit.SWRST);
- while(SERCOM5->USART.SYNCBUSY.bit.SWRST || SERCOM5->USART.SYNCBUSY.bit.ENABLE);
- // now reset and ready, do config
- SERCOM5->USART.CTRLA.reg = SERCOM_USART_CTRLA_MODE(1) | SERCOM_USART_CTRLA_DORD | SERCOM_USART_CTRLA_RXPO(1) | SERCOM_USART_CTRLA_TXPO(0);
- while(SERCOM5->USART.SYNCBUSY.bit.CTRLB);
- SERCOM5->USART.CTRLB.reg = SERCOM_USART_CTRLB_RXEN | SERCOM_USART_CTRLB_TXEN | SERCOM_USART_CTRLB_CHSIZE(0);
- /*
- BAUD = 65536*(1-S*(fBAUD/fref))
- where S is samples per bit, 16 for async uart
- where fBAUD is the rate that you want
- where fref is the peripheral clock from GCLK, in this case (and most) 48MHz
- */
- SERCOM5->USART.BAUD.reg = 45402;
- while(SERCOM5->USART.SYNCBUSY.bit.ENABLE);
- SERCOM5->USART.CTRLA.bit.ENABLE = 1;
-
-
- while (1)
- {
- while(!SERCOM5->USART.INTFLAG.bit.DRE);
- SERCOM5->USART.DATA.reg = (uint8_t)170;
- }
-}
-
-void SysTick_Handler(void){
- PORT->Group[1].OUTTGL.reg = (uint32_t)(1 << 14); // blink STLB
-}
-```
-
-## Interrupts on the ATSAMD51
-
-To configure an interrupt on the ATSAMD51, roughly, we do this:
-
-```C
-
-int main(void){
-
- __enable_irq(); // globally enables the NVIC
-
- // turns on a particular 'irq line' or 'irq number'
- // for example, in the SERCOM->UART section of the datasheet,
- // see 34.8.8 - the interrupt 'flag' sections. these are analagous to 'line numbers'
- // and are linked to 'interrupt numbers' per 10.2.2
- NVIC_EnableIRQ(SERCOM4_2_IRQn);
-}
-
-// we can then handle the interrupt:
-
-void SERCOM4_2_Handler(void){
- // we must clear the flag, often this is done by reading the flag register, like this:
- // SERCOM4->USART->INTFLAG.bit.RXC = 1; // odd, writing '1' is normally the way to clear it
- // however, for this particular register, we read the data from the peripheral to clear the interrupt.
- uint8_t data = SERCOM4->USART.DATA.reg;
- pin_clear(&stlr); // indicate
- // then we would presumably do something
-}
-
-```
-
-TODO: make ATSAMD51 doc page for all of this bringup !
-
-## Async-happy USART
-
-To handle USART on these systems, I implement a (hopefully) bulletproof and interrupt-friendly architecture.
-
-TX and RX both have interrupt handlers - the RX dumps bytes into a ringbuffer for the application to poll later on (polling the ringbuffer, not the UART hardware) and the TX buffer is set up so that the application can dump a block of bytes into the transmitter at once, without waiting for anything to transmit.
-
-```C
-
-int main(void)
-{
- /* Initialize the SAM system */
- SystemInit();
- SysTick_Config(5000000);
-
- //clock_init();
-
- // lights
-
- stlb = pin_new(&PORT->Group[1], 14);
- pin_output(&stlb);
- pin_set(&stlb);
- stlr = pin_new(&PORT->Group[1], 13);
- pin_output(&stlr);
- pin_set(&stlr);
-
- // ready interrupt system
- __enable_irq();
- NVIC_EnableIRQ(SERCOM4_0_IRQn); //up1tx
- NVIC_EnableIRQ(SERCOM4_2_IRQn); //up1rx
- NVIC_EnableIRQ(SERCOM5_0_IRQn);
- NVIC_EnableIRQ(SERCOM5_2_IRQn);
-
- // ringbuffers (for uart ports)
- rb_init(&up1_rbrx);
- rb_init(&up1_rbtx);
- rb_init(&up2_rbrx);
- rb_init(&up2_rbtx);
-
- // uarts (ports)
- // TODO: have used PMUXO and PMUXE incorrectly: only set one of these, based on whether / not pin is even / odd !
-
- up1 = uart_new(SERCOM4, &PORT->Group[0], &up1_rbrx, &up1_rbtx, 12, 13, HARDWARE_IS_APBD, HARDWARE_ON_PERIPHERAL_D);
- MCLK->APBDMASK.reg |= MCLK_APBDMASK_SERCOM4;
- uart_init(&up1, 6, SERCOM4_GCLK_ID_CORE, 63018); // baud: 45402 for 921600, 63018 for 115200
- up2 = uart_new(SERCOM5, &PORT->Group[1], &up2_rbrx, &up2_rbtx, 3, 2, HARDWARE_IS_APBD, HARDWARE_ON_PERIPHERAL_D);
- MCLK->APBDMASK.reg |= MCLK_APBDMASK_SERCOM5;
- uart_init(&up2, 7, SERCOM5_GCLK_ID_CORE, 63018);
-
-
- // SPI
- // TMC_MOSI PA07 / SER0-3
- // TMC_MISO PA04 / SER0-0
- // TMC_SCK PA05 / SER0-1
- // TMC_CSN PA06 / SER0-2
-
- // spi
- spi_tmc = spi_new(SERCOM0, &PORT->Group[0], 4, 7, 5, 6, HARDWARE_IS_APBA, HARDWARE_ON_PERIPHERAL_D);
- MCLK->APBAMASK.reg |= MCLK_APBAMASK_SERCOM0;
- spi_init(&spi_tmc, 8, SERCOM0_GCLK_ID_CORE, 126, 0, 2);
-
- // -> DO SPI, talk to the TMC !
-
- while (1)
- {
- // spi_txchar_polled(&spitmc, 'x');
- // find TMC registers now, try to read!
-
- }
-}
-
-void SysTick_Handler(void){
- pin_toggle(&stlb);
- while(!rb_empty(up1.rbrx)){
- uart_sendchar_buffered(&up1, rb_get(up1.rbrx));
- }
-}
-
-void SERCOM4_0_Handler(void){
- uart_txhandler(&up1);
-}
-
-void SERCOM4_2_Handler(void){
- uart_rxhandler(&up1);
-}
-
-void SERCOM5_0_Handler(void){
- uart_txhandler(&up2);
-}
-
-void SERCOM5_2_Handler(void){
- uart_rxhandler(&up2);
-}
-```
-
-and
-
-```C
-
-void uart_sendchar_polled(uartport_t *uart, uint8_t data){
- while(!uart->com->USART.INTFLAG.bit.DRE);
- uart->com->USART.DATA.reg = data;
-}
-
-void uart_sendchar_buffered(uartport_t *uart, uint8_t data){
- rb_putchar(uart->rbtx, data); // dump it in there
- uart->com->USART.INTENSET.bit.DRE = 1; // set up the volley
-}
-
-void uart_rxhandler(uartport_t *uart){
- uint8_t data = uart->com->USART.DATA.reg;
- rb_putchar(uart->rbrx, data);
-}
-
-void uart_txhandler(uartport_t *uart){
- if(!rb_empty(uart->rbtx)){
- uart->com->USART.DATA.reg = rb_get(uart->rbtx);
- } else {
- uart->com->USART.INTENCLR.reg = SERCOM_USART_INTENCLR_DRE;
- }
-}
-```
-
-## Trinamic Bit-Fiddling
-
-Next I'm going to try to get some steps to happen. I guess we're ready for this!
-
-I found [this](https://github.com/trinamic/TMC26XStepper) library, which will save me from re-writing all of the registers and addresses. Bless.
-
-SPI commands and responses are all 20-bits long. Each 20-bit command is met with a 20-bit status word. Those 20-bit 'commands' are registers - the first three bits of each word denote the address of which register we are re-writing. This means that we have to keep track of each entire register-state in the microcontroller, or should.
-
-Most likely, operation will consist of starting up with sending all 5 registers sequentially in the setup config, and then occasionally polling one to get the response (which, it looks like, contains useful things like relative loads!).
-
-Later on, when I try to make a closed loop stepper with the AS5147, I'll be writing coil currents directly into these registers (I think?) to commutate the motor based on encoder input and a tiny PID loop. That, later - but for now I see that in the DRVCTRL register has two 8-bit words for Current in A and Current in B. Noice.
-
-Another thing I like is that I can set both step edges to signify a step. Normally, step drivers have a 'minimum on time' and only count the positive edge, so the microcode has to do a tiny wait (normally not long enough to warrant an interrupt-to-turn-off). This way I'll just toggle the step pin whenever I want to step, and I can forget about it.
-
-So, first I'll try to figure out how to send a 20-bit word with the SPI peripheral, and verify that I get any kind of response from the TMC.
-
-The ATSAMD51 only allows an 8, 9, or 32 bit word, so 32 it is - I'll just keep the last 12 set to 0 and hope that suffices.
-
-OK, here's a classic debugging moment: I take ~45 minutes (or was it two hours? would rather not count) trying to get my SPI setup correctly. Nothing returns. Welp. I pull my hair out. I take a break, decide to plug in some motor power, because why not? Of course, now, data returns. Heck.
-
-To solve that 20-bit word problem, I'm taking over manual control of the chip select pin, issuing 3 8-bit words (which I'll have to bit-splice myself) and then sending those on one CSN low cycle.
-
-Great, now we unfux the hacked together code, and try to send some data, then some steps, I guess?
-
-I think I'm actually going to try writing this library from the datasheet. Let's see how that goes.
-
-OK, great news. This morning Will and Sam reminded me that I can just write binary with the prefix '0b' and GCC will make bits out of that. How wonderful. Here's my TMC setup:
-
-```C
-/*
- * tmc2660.c
- *
- * Created: 2/7/2018 10:17:39 PM
- * Author: Jake
- */
-
-#include "tmc2660.h"
-
-tmc2260_t tmc2660_new(spiport_t *spi, pin_t *step, pin_t *dir, pin_t *en, pin_t *sg){
- tmc2260_t tmc;
-
- tmc.spi = spi;
- tmc.step_pin = step;
- tmc.dir_pin = dir;
- tmc.en_pin = en;
- tmc.sg_pin = sg;
-
- return tmc;
-}
-
-void tmc2660_write(tmc2260_t *tmc, uint32_t word){
- // takes a 20-bit TMC ready word and writes it on the SPI port, using three 8-bit words
- //word = word << 4; // go left for 4 empty bits at the end of byte 3 (20 not 24 bit word)
- uint8_t bytes[3];
- bytes[0] = word >> 16 | 0b11110000; // top 4 & mask for visibility
- bytes[1] = word >> 8; // middle 8
- bytes[2] = word; // last 4 and 0's
- spi_txchars_polled(tmc->spi, bytes, 3);
-}
-
-void tmc2660_init(tmc2260_t *tmc){
- // address, slope control hi and lo to minimum, short to ground protection on, short to gnd timer 3.2us,
- // enable step/dir, sense resistor full scale current voltage is 0.305mv, readback stallguard2 data, reserved
- uint32_t drvconf = 0b11100000000000010000;
- tmc2660_write(tmc, drvconf);
-
- // address, sgfilt off, threshold value, current scaling (5-bit value appended)
- uint32_t sgthresh_mask = 0b00000111111100000000;
- int32_t sgthres_val = 60;
- uint32_t cscale_mask = 0b00000000000000011111;
- uint32_t cscale_val = 12;
- uint32_t sgcsconf = 0b11010000000000000000 | ((sgthres_val << 8) & sgthresh_mask) | (cscale_val & cscale_mask);
- tmc2660_write(tmc, sgcsconf);
-
- // turning coolstep off
- uint32_t smarten = 0b10100000000000000000;
- tmc2660_write(tmc, smarten);
-
- // times, delays, cycle mode
- uint32_t chopconf = 0b10010010100000010111;
- tmc2660_write(tmc, chopconf);
-
- // 9th bit is intpol, 8th is dedge, last 4 are microstepping
- uint32_t drvctrl = 0b00000000000100000001;
- tmc2660_write(tmc, drvctrl);
-}
-
-
-void tmc2660_update(tmc2260_t *tmc){
- uint32_t smarten = 0b10100000000000000000;
- tmc2660_write(tmc, smarten);
-}
-```
-
-Here's a capture from the logic analyzer, from boot. I write 5 addresses with the settings above (init) and then I'm polling the driver periodically for stallguard data, by just re-writing a register (I'm re-writing the smarten register, because it's disabled and so I feel safer about not accidentally changing anything).
-
-
-
-It took me a minute to figure out how to properly align the 20-bit word within three 8-bit bytes that the SPI peripheral on the ATSAMD51 can handle. There's also a 32 bit extension, which it might make sense to write to, instead. ~ or ~ use a buffer and txinterrupt to fire the series of bytes away. At the moment, I'm polling that flag (txready) before each new byte, meaning when I send a register the processor is waiting around until they're all on the line, and this is non-ideal. However, I was able to push the SPI speed up to 6.25MBPS, so the wait is only 5us (for one register). That's OK.
-
-
-
-I'm running at 0.8A current and everything is nice and cool. When I drive this up to 1.9A, things start to heat up. Next time I draw the board I can likely do a bit better at dissipating heat - a bit helpful step would be to bring the copper thickness past 1oz, that way I can comfortably drive NEMA23s. What would be cooler (haha) would be a little bit of implementation on the coolStep feature, which intelligently sets current in a closed-loop manner, while watching the stallGuard setting - that all happens in the TMC.
-
-The driver's not dead silent, but I expect if I were to play with the settings it might get better. It's certainly better than most drivers I've used.
-
-# Step Timing
-
-In any case! Towards making these kits of parts do CNC things, I want to be able to send commands to this board like "go x steps at y speed" - with a buffer of these commands, I should be able to successfully sync network steppers in a motion control application. There will of course be the tricky problem of synchronization (!) and to be honest I don't have a good plan for that yet.
-
-Pending success today on 'x steps at y speed' - or maybe better is to do 'x steps over y time' - same thing really, but the latter logic probably better for whatever is upstream, breaking motion into discrete chunks of time before networking them - I can spend some time tomorrow at drafting that architecture.
-
-OK, so. Lit review. AKA asking Sam, Will, and looking at other step-motion-controller softwares online. I'm familiar with Smoothie and Marlin.
-
-I believe most people do this with timers or 'tickers' that run around 1kHz to periodically check and step-or-not-step based on elapsed time, steps left, etc. First thing would be to write a quick table to check how often I'll have to do this in order to reliably step at certain speeds, with this gnarly 128 or 256 microstepping in the TMC.
-
-Looks like this needs to be pretty fast. In retrospect, that 1kHz ticker I was thinking about was running an acceleration update loop. The actual step ticker has to be much faster ... for 200RPM (which does about 190mm/s on an 18mm diameter pulley) while driving 64 microsteps (more than enough) we have a 43kHz tick. So I'll be writing a ~ 10us ticker, I think. Not unreasonable in microcontroller land.
-
-## Planning
-
-What's the rest of the plan? I'll need a timer, for sure. I want to run that on the real-time clock and use the kHz crystal I put on the board for that.
-
-Let's see - there's kind of a lot of different ways to do this. Basically, we are just changing position at set time. Forgive me for getting undergraduate here. My intuition is to make this really simple: we track position, and tell each motor to go to positions at certain times. On the next level up, we do acceleration planning. This would require sending messages across the network at around 1kHz, probably more.
-
-Maybe a better way is for each block to have an 'end of block' speed and position - and the motors are responsible for ramping up or down over the course of a segment. Then we set two timers: one to check steps to be made against a speed, one to check if the speed needs to be updated. But I'll need to do some head-scratching to figure how to make all of those ends meet: get here at this time and be doing this speed at the end. Feels over-constrained.
-
-Actually I think this is ideal, on the D-t chart I'm sending commands to get to a point with the curve having a particular slope at that point. I'm drawing bezier type curves that inform a point-to-point S-t chart:
-
-
-
-Or is this naive? It is: the S-t points integrate into the P-t points, so by adding the tangent to the P-t information I'm over-constraining the solution for S-t. However, I should be able to decouple those things in whatever planning-level maths I'm doing, and reliably send 'ramp linear to be at this speed at this time' - trouble is that then I'm in time-series, and have to count on the last steps integrating properly into position. Hmmmm.
-
-So if I send the over-constrained information, I can let the stepper motor error correct by adding some juice of its own, or taking some away, over the time of the block:
-
-
-
-So we end up doing error correction on the 3rd order for acceleration on the 2nd order. Sounds like I might be making this into a more-complicated-than-it-need-be exercise. Rather than trying to add that next bezier, juts do this: add a point, midpoint to current S-t plan, such that the integral matches. Low cpu overhead, good little error correction, still get to feel secure about positioning, while maintaining the ability to do networked acceleration without flooding hella position messages.
-
-
-
-I can check for bounds: like that mid-point (or any combination thereof) driving the acceleration past some max, or I can just count on the controller one level up being a benevolent / brilliant overlord, and go for gold no matter the circumstance.
-
-Cornering, etc, is actually kind of interesting. See [this note on 'junction deviation'](https://onehossshay.wordpress.com/2011/09/24/improving_grbl_cornering_algorithm/) from the Grbl squad.
-
-So, here's the plan:
- - get command (although this was a nice discussion, to implement with speed I'm going to take the input 'go, for this speed, for this duration' first)
- - update parameters for loops: current speed (defining an integral to check against) and block start time.
- - build a fast realtime timer to run both of these things,
- - one interrupt updates the time value, an overflowing 32bit integer?
- - one interrupt runs the ticker, checking:
- - do we need to make a step? if yes, do, and update position
- - is the block over? ok.
-
-OK, ENOUGH CHAT amirite? Let's get down to bones and write a timer.
-
-## Timers and Interrupts
-
-My first sad discovery is that with a 32.768kHz clock source for the Real Time Counter, the best I can do is 30us clock intervals. I should have known! haha. I would like to run the time-incrementing on this clock. I can either run a faster timer and then try to calibrate / sync them ... sounds tricky. Or I can just use a faster clock and commit to putting a reliable crystal on the next board, for ~12MHz source (which I'm still struggling to figure out how to make this chip actually chooch at 150MHz?).
-
-I can alternately just run the step ticker at 30us.
-
-In either case, I'm not making any progress just sitting here.
-
-OK: for speed I'm going to use the SysTick timer to do time counting (i.e updating a micros() type function) and then drive another timer at 10us or so to check for steps.
-
-Here's some code that's working. I originally tried this with a 16 bit timer, to no luck, and I have no idea why.
-
-```C
-
-// from MAIN:
- // Timers: in 32 bit mode we pair two - obscure datasheet reading later, they pair in a predefined way: 0 with 1...
- // a word of warning: with the same code, a 16-bit timer was not working. I am mystified.
- TC0->COUNT32.CTRLA.bit.ENABLE = 0;
- TC1->COUNT32.CTRLA.bit.ENABLE = 0;
- // unmask clocks
- MCLK->APBAMASK.reg |= MCLK_APBAMASK_TC0 | MCLK_APBAMASK_TC1; // at 15.8.9
- // generate a gclk
- GCLK->GENCTRL[10].reg = GCLK_GENCTRL_SRC(GCLK_GENCTRL_SRC_DFLL) | GCLK_GENCTRL_GENEN;
- while(GCLK->SYNCBUSY.reg & GCLK_SYNCBUSY_GENCTRL(10));
- // ship gclk to their channels
- GCLK->PCHCTRL[TC0_GCLK_ID].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN(10);
- GCLK->PCHCTRL[TC1_GCLK_ID].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN(10);
- // turn on in mode, presync
- TC0->COUNT32.CTRLA.reg = TC_CTRLA_MODE_COUNT32 | TC_CTRLA_PRESCSYNC_PRESC;
- TC1->COUNT32.CTRLA.reg = TC_CTRLA_MODE_COUNT32 | TC_CTRLA_PRESCSYNC_PRESC;
- // allow interrupt to trigger on this event (overflow)
- TC0->COUNT32.INTENSET.bit.OVF = 1;
- // enable, sync for enable write
- TC0->COUNT32.CTRLA.bit.ENABLE = 1;
- while(TC0->COUNT32.SYNCBUSY.bit.ENABLE);
- TC1->COUNT32.CTRLA.bit.ENABLE = 1;
- while(TC0->COUNT32.SYNCBUSY.bit.ENABLE);
- // counter is there, can read COUNT, it's not updating, so a clock is probably off.
-
-// and later, to read COUNT and send to UART
-
-void SysTick_Handler(void){
- lpcnt ++;
- pin_toggle(&stlb);
- /*
- while(!rb_empty(up1.rbrx)){
- uart_sendchar_buffered(&up1, rb_get(up1.rbrx));
- }
- */
- TC0->COUNT32.CTRLBSET.reg = TCC_CTRLBSET_CMD_READSYNC;
- uint32_t thecount = TC0->COUNT32.COUNT.reg;
- uint8_t onemicro = thecount;
- uint8_t twomicro = thecount >> 8;
- uint8_t threemicro = thecount >> 16;
- uint8_t fourmicro = thecount >> 24;
- uart_sendchar_buffered(&up1, onemicro);
- uart_sendchar_buffered(&up1, twomicro);
- uart_sendchar_buffered(&up1, threemicro);
- uart_sendchar_buffered(&up1, fourmicro);
-
- uart_sendchar_buffered(&up1, lpcnt);
- uint8_t stop = TC1->COUNT8.STATUS.bit.STOP;
- uart_sendchar_buffered(&up1, stop);
-}
-```
-
-OK, this is done now - both timers, and a step to position @ speed command. Next is networks for this board.
-
-## Network Code
-
-Packet Handling and Passing, oh my!
-
-I'll take most of this from the code I've already written for the Router.
-
-Done that, just have to debug one apaport and get the lights a flashing. I think this project should be the major touchstone for network code / all around infrastructure as it'll probably get the most love.
-
-## Step Linking and Acceleration
-
-So, I want to be able to send the command:
- - Start Speed : Steps to take : End Speed
- - or Steps to Take : End Speed and assume link from last block
-And do linear interpretation.
-
-I should also, and as a starting exercise, re-write the relative speed and relative steps packet handlers to do ... relative, and real speeds in steps / s.
\ No newline at end of file
+Two hardware timers run step timing, one fires every time a step is to be taken, and another fires when acceleration needs to happen, the 2nd timer changes the period of the 1st.
\ No newline at end of file
diff --git a/embedded/atkstepper17/atkstepper17/hardware.h b/embedded/atkstepper17/atkstepper17/hardware.h
index 4370e1a422debbcc75cc0ef87023b094b559badc..179a8c198278ca619e118887c173470c5f8b1968 100644
--- a/embedded/atkstepper17/atkstepper17/hardware.h
+++ b/embedded/atkstepper17/atkstepper17/hardware.h
@@ -15,13 +15,13 @@
#include "spiport.h"
#include "atkport.h"
#include "atkhandler.h"
-#include "tmc26x.h"
+#include "tmc2130.h"
#include "stepper.h"
// results in 1MBaud
#define SYSTEM_BAUDA 3
#define SYSTEM_BAUDB 0
-#define SYSTEM_NUM_UPS 2
+#define SYSTEM_NUM_UPS 1
pin_t stlclk;
pin_t stlerr;
@@ -38,18 +38,6 @@ pin_t up0txled;
atkport_t atkp0;
-// UP1
-
-ringbuffer_t up1rbrx;
-ringbuffer_t up1rbtx;
-
-uartport_t up1;
-
-pin_t up1rxled;
-pin_t up1txled;
-
-atkport_t atkp1;
-
// UPS
uartport_t *ups[SYSTEM_NUM_UPS];
@@ -61,11 +49,14 @@ spiport_t spitmc;
pin_t spicspin;
pin_t tmcen;
-pin_t tmcsg;
+pin_t tmcdiag0;
+pin_t tmcdiag1;
pin_t step;
pin_t dir;
-tmc26_t tmc;
+pin_t tmciref;
+
+tmc2130_t tmc;
stepper_t stepper;
diff --git a/embedded/atkstepper17/atkstepper17/main.c b/embedded/atkstepper17/atkstepper17/main.c
index f81f96d8ae1a65c64bdbc68a019f69cada303a07..3ac85b46c99647a7518e3eca67adabddd9005243 100644
--- a/embedded/atkstepper17/atkstepper17/main.c
+++ b/embedded/atkstepper17/atkstepper17/main.c
@@ -13,6 +13,8 @@
// stlclk PA0
// stlerr PA1
+// seems like comm to the tmc is ok, but buggy. do new boards once new phy, for fab, etc, focus on 23 and bldc.
+
void clock_init(void){
OSC.XOSCCTRL = OSC_XOSCSEL_XTAL_256CLK_gc | OSC_FRQRANGE_12TO16_gc; // select external source
OSC.CTRL = OSC_XOSCEN_bm; // enable external source
@@ -40,20 +42,24 @@ void uarts_init(void){
void atkps_init(void){
atkport_init(&atkp0, 0, &up0);
- atkport_init(&atkp1, 1, &up1);
}
void stephardware_init(void){
pin_init(&spicspin, &PORTC, PIN4_bm, 4, 1);
spi_init(&spitmc, &USARTC1, &PORTC, PIN6_bm, PIN7_bm, PIN5_bm, &spicspin);
- spi_start(&spitmc, 0);
+ spi_start(&spitmc, 1, 1);
+
+ pin_init(&tmcen, &PORTA, PIN3_bm, 3, 1);
+ pin_init(&tmcdiag1, &PORTA, PIN4_bm, 4, 0);
+ pin_init(&tmcdiag0, &PORTA, PIN5_bm, 5, 0);
+ pin_init(&step, &PORTC, PIN3_bm, 3, 1);
+ pin_init(&dir, &PORTC, PIN2_bm, 2, 1);
- pin_init(&tmcen, &PORTC, PIN3_bm, 3, 1);
- pin_init(&tmcsg, &PORTA, PIN2_bm, 2, 0);
- pin_init(&step, &PORTA, PIN0_bm, 0, 1);
- pin_init(&dir, &PORTA, PIN1_bm, 1, 1);
+ // a faux
+ pin_init(&tmciref, &PORTC, PIN0_bm, 0, 1);
+ pin_set(&tmciref);
- tmc26_init(&tmc, &spitmc, &tmcen, &tmcsg);
+ tmc2130_init(&tmc, &spitmc, &tmcen, &tmcdiag0, &tmcdiag1);
stepper_init(&stepper, &step, &dir);
}
@@ -92,16 +98,17 @@ int main(void)
sei();
PMIC.CTRL |= PMIC_LOLVLEN_bm | PMIC_MEDLVLEN_bm | PMIC_HILVLEN_bm;
- pin_init(&stlclk, &PORTF, PIN7_bm, 7, 1);
- pin_init(&stlerr, &PORTF, PIN6_bm, 6, 1);
+ pin_init(&stlclk, &PORTE, PIN2_bm, 2, 1);
+ pin_init(&stlerr, &PORTE, PIN1_bm, 1, 1);
pin_set(&stlerr);
pin_set(&stlclk);
// stepper business
stephardware_init();
- tmc26_start(&tmc);
- tmc26_enable(&tmc);
+ tmc2130_start(&tmc);
+ tmc2130_enable(&tmc);
+ tmc2130_setCurrents(&tmc, 21, 21);
tickers_init();
@@ -111,12 +118,11 @@ int main(void)
while (1)
{
atkport_scan(&atkp0, 2);
- atkport_scan(&atkp1, 2);
// just... as fast as we can
tck++;
// this modulo op is slow AF
// that means streamlining atkport_scan without modulos is probably a rad thing
- if(!(fastModulo(tck, 4096))){
+ if(!(fastModulo(tck, 16384))){
pin_toggle(&stlclk);
}
}
@@ -136,12 +142,4 @@ ISR(USARTE1_RXC_vect){
ISR(USARTE1_DRE_vect){
uart_txhandler(&up0);
-}
-
-ISR(USARTE0_RXC_vect){
- uart_rxhandler(&up1);
-}
-
-ISR(USARTE0_DRE_vect){
- uart_txhandler(&up1);
}
\ No newline at end of file
diff --git a/embedded/atkstepper17/atkstepper17/spiport.c b/embedded/atkstepper17/atkstepper17/spiport.c
index a7698bc628f04f00f6730ef8df697754c951b9ed..b4a9f89298e93cfa69df22687a3a4e8665347809 100644
--- a/embedded/atkstepper17/atkstepper17/spiport.c
+++ b/embedded/atkstepper17/atkstepper17/spiport.c
@@ -17,7 +17,7 @@ void spi_init(spiport_t *spi, USART_t *com, PORT_t *port, uint8_t miso_bm, uint8
spi->csn = csn;
}
-void spi_start(spiport_t *spi, uint8_t cpha){
+void spi_start(spiport_t *spi, uint8_t cpha, uint8_t cpol){
spi->port->DIRSET = spi->mosi_bm;
spi->port->DIRSET = spi->sck_bm;
spi->port->DIRCLR = spi->miso_bm;
@@ -29,9 +29,14 @@ void spi_start(spiport_t *spi, uint8_t cpha){
spi->com->CTRLB = USART_TXEN_bm | USART_RXEN_bm;
spi->com->CTRLC = USART_CMODE_MSPI_gc; // set to master spi mode
+
if(cpha != 0){
spi->com->CTRLC |= (1 << 1); // in master spi mode, this bit is clock polarity
}
+
+ if(cpol != 0){
+ spi->port->PIN5CTRL |= PORT_INVEN_bm;
+ }
}
void spi_txchar_polled(spiport_t *spi, uint8_t data){
diff --git a/embedded/atkstepper17/atkstepper17/spiport.h b/embedded/atkstepper17/atkstepper17/spiport.h
index cd5e5aa10ae4d4a5f85c73acd785d2b727d67650..b214150e1a1e24e93c154a885b1e750c85661686 100644
--- a/embedded/atkstepper17/atkstepper17/spiport.h
+++ b/embedded/atkstepper17/atkstepper17/spiport.h
@@ -25,7 +25,7 @@ typedef struct{
void spi_init(spiport_t *spi, USART_t *com, PORT_t *port, uint8_t miso_bm, uint8_t mosi_bm, uint8_t sck_bm, pin_t *csn);
-void spi_start(spiport_t *spi, uint8_t cpha); // bits: 0: 8, 1: 32
+void spi_start(spiport_t *spi, uint8_t cpha, uint8_t cpol); // bits: 0: 8, 1: 32
void spi_txchar_polled(spiport_t *spi, uint8_t data);
void spi_txchars_polled(spiport_t *spi, uint8_t *data, uint8_t length);
diff --git a/embedded/atkstepper17/atkstepper17/tmc2130.c b/embedded/atkstepper17/atkstepper17/tmc2130.c
new file mode 100644
index 0000000000000000000000000000000000000000..c51cf64cbd683fca378fbb01d886d90a6be8710e
--- /dev/null
+++ b/embedded/atkstepper17/atkstepper17/tmc2130.c
@@ -0,0 +1,83 @@
+/*
+ * tmc2130.c
+ *
+ * Created: 2/7/2018 10:17:39 PM
+ * Author: Jake
+ */
+
+#include "tmc2130.h"
+
+void tmc2130_init(tmc2130_t *tmc, spiport_t *spi, pin_t *en, pin_t *diag0, pin_t *diag1){
+ tmc->spi = spi;
+ tmc->en_pin = en;
+ tmc->diag0 = diag0;
+ tmc->diag1 = diag1;
+}
+
+void tmc2130_write(tmc2130_t *tmc, uint8_t address, uint32_t word){
+ // SPI
+ // TMC2130 is CSN Active Low, slave takes data on rising edge of clock, drives data out 'following the falling edge' - msb first.
+ // TMC2130 takes a 40-bit (5 byte) word
+ // 1st byte is address containing WRITE_notREAD bit, 1st byte shifted out is always status, useful
+ // then 32 bit data in 4 bytes
+ uint8_t bytes[5];
+ bytes[0] = address;
+ bytes[1] = word >> 24; // top 4 & mask for visibility
+ bytes[2] = word >> 16; // middle 8
+ bytes[3] = word >> 8;
+ bytes[4] = word; // last 4 and 0's
+ spi_txchars_polled(tmc->spi, bytes, 5);
+}
+
+void tmc2130_start(tmc2130_t *tmc){
+ // off during config
+ tmc2130_disable(tmc);
+
+ // Write to GCONF
+ uint8_t writeGConf = 0x00 | 0b10000000;
+ // set: diag0 to overtemp warn, diag1 to stall,
+ // use internal reference voltage (for now, so no PWM needed), use external sense resistors
+ uint32_t gConf = 0b00000000000000000000000101000000;
+ tmc2130_write(tmc, writeGConf, gConf);
+
+ // Write IHOLD_IRUN settings
+ uint8_t writeIHold_IRun = 0x10 | 0b10000000;
+ // 1st is 0->31/32 IHold, 2nd is 0->31/32 IRun, 3rd is 0->15 Delay after standstill
+ uint32_t IHold_IRun = 6 | ((uint32_t)8 << 8) | ((uint32_t)1 << 16);
+ tmc2130_write(tmc, writeIHold_IRun, IHold_IRun);
+
+ // Write CHOPCONF
+ uint8_t writeChopConf = 0x6C | 0b10000000;
+ // with internal AIN, we have 2.5V at AIN, effective max.
+ // bs, mstep, pwmsync, bs, vsense, blank time, chopper mode, random toff, bs, hysteresis, hysteresis, toff,
+ // 0b 0010 0100 0000 00 1 10 0 0 00 0100 000 0010
+ uint32_t chopConf = 0b00100100000000010000001000000010;
+ tmc2130_write(tmc, writeChopConf, chopConf);
+}
+
+void tmc2130_setCurrents(tmc2130_t *tmc, uint8_t ihold, uint8_t irun){
+ if(ihold > 31){
+ ihold = 31;
+ }
+ if(irun > 31){
+ irun = 31;
+ }
+ // Write IHOLD_IRUN settings
+ uint8_t writeIHold_IRun = 0x10 | 0b10000000; // address
+ // 1st is 0->31/32 IHold, 2nd is 0->31/32 IRun, 3rd is 0->15 Delay after standstill
+ uint32_t IHold_IRun = ihold | ((uint32_t)irun << 8) | ((uint32_t)5 << 16);
+ tmc2130_write(tmc, writeIHold_IRun, IHold_IRun);
+}
+
+void tmc2130_update(tmc2130_t *tmc){
+ //uint32_t smarten = 0b10100000000000000000;
+ //tmc2130_write(tmc, smarten);
+}
+
+void tmc2130_enable(tmc2130_t *tmc){
+ pin_clear(tmc->en_pin);
+}
+
+void tmc2130_disable(tmc2130_t *tmc){
+ pin_set(tmc->en_pin);
+}
\ No newline at end of file
diff --git a/embedded/atkstepper17/atkstepper17/tmc2130.h b/embedded/atkstepper17/atkstepper17/tmc2130.h
new file mode 100644
index 0000000000000000000000000000000000000000..3d586c0e45a46e804b94c7ccfee05194a78a43fc
--- /dev/null
+++ b/embedded/atkstepper17/atkstepper17/tmc2130.h
@@ -0,0 +1,39 @@
+/*
+ * tmc2130.h
+ *
+ * Created: 2/7/2018 10:17:49 PM
+ * Author: Jake
+ */
+
+
+#ifndef TMC2130_H_
+#define TMC2130_H_
+
+#include "spiport.h"
+#include "pin.h"
+
+// TODO: adding updates (microstep, current)
+// in that, calculating current
+// TODO: reading stallguard, understanding if is already doing closed loop?
+
+typedef struct{
+ spiport_t *spi;
+
+ pin_t *en_pin;
+ pin_t *diag0;
+ pin_t *diag1;
+}tmc2130_t;
+
+void tmc2130_init(tmc2130_t *tmc, spiport_t *spi, pin_t *en, pin_t *diag0, pin_t *diag1);
+
+void tmc2130_write(tmc2130_t *tmc, uint8_t address, uint32_t word);
+
+void tmc2130_start(tmc2130_t *tmc);
+
+void tmc2130_setCurrents(tmc2130_t *tmc, uint8_t ihold, uint8_t irun);
+
+void tmc2130_enable(tmc2130_t *tmc);
+
+void tmc2130_disable(tmc2130_t *tmc);
+
+#endif /* TMC2130_H_ */
\ No newline at end of file
diff --git a/embedded/atkstepper17/atkstepper17/tmc26x.c b/embedded/atkstepper17/atkstepper17/tmc26x.c
deleted file mode 100644
index da44efd69cc754cf05861e8badc58aaef49662e6..0000000000000000000000000000000000000000
--- a/embedded/atkstepper17/atkstepper17/tmc26x.c
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
- * tmc26x.c
- *
- * Created: 2/7/2018 10:17:39 PM
- * Author: Jake
- */
-
-#include "tmc26x.h"
-
-void tmc26_init(tmc26_t *tmc, spiport_t *spi, pin_t *en, pin_t *sg){
- tmc->spi = spi;
- tmc->en_pin = en;
- tmc->sg_pin = sg;
-}
-
-void tmc26_write(tmc26_t *tmc, uint32_t word){
- // takes a 20-bit TMC ready word and writes it on the SPI port, using three 8-bit words
- //word = word << 4; // go left for 4 empty bits at the end of byte 3 (20 not 24 bit word)
- uint8_t bytes[3];
- bytes[0] = word >> 16;// | 0b11110000; // top 4 & mask for visibility
- bytes[1] = word >> 8; // middle 8
- bytes[2] = word; // last 4 and 0's
- spi_txchars_polled(tmc->spi, bytes, 3);
-}
-
-void tmc26_start(tmc26_t *tmc){
- pin_output(tmc->en_pin);
- //pin_input(tmc->sg_pin);
- tmc26_disable(tmc); // turnt off
-
- // address, slope control hi and lo to minimum, short to ground protection on, short to gnd timer 3.2us,
- // enable step/dir, sense resistor full scale current voltage is 0.16mv, readback stallguard2 data, reserved
- uint32_t drvconf = 0b11100000000000110000;
- tmc26_write(tmc, drvconf);
-
- // address, sgfilt off, threshold value, current scaling (5-bit value appended)
- uint32_t sgthresh_mask = 0b00000111111100000000;
- int32_t sgthres_val = 60;
- uint32_t cscale_mask = 0b00000000000000011111;
- uint32_t cscale_val = 6;
- uint32_t sgcsconf = 0b11010000000000000000 | ((sgthres_val << 8) & sgthresh_mask) | (cscale_val & cscale_mask);
- tmc26_write(tmc, sgcsconf);
-
- // turning coolstep off
- uint32_t smarten = 0b10100000000000000000;
- tmc26_write(tmc, smarten);
-
- // times, delays, cycle mode
- uint32_t chopconf = 0b10011000001000010011;
- tmc26_write(tmc, chopconf);
-
- // 9th bit is intpol, 8th is dedge, last 4 are microstepping
- // 0101 8
- // 0100 16
- // 0011 32
- // 0010 64
- // 0001 128
- // 0000 256
- uint32_t drvctrl = 0b00000000001100000100;
- tmc26_write(tmc, drvctrl);
-}
-
-void tmc26_update(tmc26_t *tmc){
- uint32_t smarten = 0b10100000000000000000;
- tmc26_write(tmc, smarten);
-}
-
-void tmc26_enable(tmc26_t *tmc){
- pin_clear(tmc->en_pin);
-}
-
-void tmc26_disable(tmc26_t *tmc){
- pin_set(tmc->en_pin);
-}
\ No newline at end of file
diff --git a/embedded/atkstepper17/atkstepper17/tmc26x.h b/embedded/atkstepper17/atkstepper17/tmc26x.h
deleted file mode 100644
index a9f1e61edde58a1715c1639bb79bde584ca564a3..0000000000000000000000000000000000000000
--- a/embedded/atkstepper17/atkstepper17/tmc26x.h
+++ /dev/null
@@ -1,38 +0,0 @@
-/*
- * tmc26x.h
- *
- * Created: 2/7/2018 10:17:49 PM
- * Author: Jake
- */
-
-
-#ifndef TMC26X_H_
-#define TMC26X_H_
-
-#include "spiport.h"
-#include "pin.h"
-
-// TODO: adding updates (microstep, current)
-// in that, calculating current
-// TODO: reading stallguard, understanding if is already doing closed loop?
-
-typedef struct{
- spiport_t *spi;
-
- pin_t *en_pin;
- pin_t *sg_pin;
-}tmc26_t;
-
-void tmc26_init(tmc26_t *tmc, spiport_t *spi, pin_t *en, pin_t *sg);
-
-void tmc26_write(tmc26_t *tmc, uint32_t word);
-
-void tmc26_start(tmc26_t *tmc);
-
-void tmc26_update(tmc26_t *tmc);
-
-void tmc26_enable(tmc26_t *tmc);
-
-void tmc26_disable(tmc26_t *tmc);
-
-#endif /* TMC2660_H_ */
\ No newline at end of file
diff --git a/embedded/atkstepper23/atkstepper23/atkhandler.c b/embedded/atkstepper23/atkstepper23/atkhandler.c
deleted file mode 100644
index b0decb920d6defc5f52df04eba9136cca660028b..0000000000000000000000000000000000000000
--- a/embedded/atkstepper23/atkstepper23/atkhandler.c
+++ /dev/null
@@ -1,164 +0,0 @@
-/*
-* atkhandler.c
-*
-* Created: 3/12/2018 11:55:30 AM
-* Author: Jake
-*/
-
-#include "hardware.h"
-#include "atkhandler.h"
-
-int32_t steps;
-
-void atk_handle_packet(uint8_t *packet, uint8_t length){
- // dirty debug reply
- //atk_return_packet(packet, length);
- // through packet
- int i = 0;
- int atk_handler_state = ATK_HANDLER_OUTSIDE;
- uint8_t testReply[4] = {127, 12, 24, 48};
-
- while(i < length){ // prep for the messy double switch :|
- switch (atk_handler_state){
- case ATK_HANDLER_OUTSIDE:
- if (packet[i] == ATK_END_ROUTE_DELIMITER){
- atk_handler_state = ATK_HANDLER_INSIDE;
- }
- i ++;
- break;
-
- case ATK_HANDLER_INSIDE:
- switch (packet[i]){
- case DELIM_KEY_TEST:
- pin_toggle(&stlerr);
- // see the packet, make sure you're not doing something else with this light
- atk_reply_packet(packet, testReply, 4);
- i ++;
- break;
-
- case DELIM_KEY_RESET:
- // TODO
- break;
-
- case DELIM_KEY_TRAPEZOID:
- //pin_toggle(&stlerr);
- if(i + 12 > length){
- i ++;
- } else {
- // in steps (discrete)
- steps = ((int32_t)packet[i+1] << 24) | ((int32_t)packet[i+2] << 16) | ((int32_t)packet[i+3] << 8) | (int32_t)packet[i+4];
- // in steps/s
- uint32_t entryspeed = ((int32_t)packet[i+5] << 24) | ((int32_t)packet[i+6] << 16) | ((int32_t)packet[i+7] << 8) | (int32_t)packet[i+8];
- // in steps/min/s
- uint32_t accel = ((int32_t)packet[i+9] << 24) | ((int32_t)packet[i+10] << 16) | ((int32_t)packet[i+11] << 8) | (int32_t)packet[i+12];
- // in steps/min
- uint32_t accellength = ((int32_t)packet[i+13] << 24) | ((int32_t)packet[i+14] << 16) | ((int32_t)packet[i+15] << 8) | (int32_t)packet[i+16];
- // in steps/min
- uint32_t deccellength = ((int32_t)packet[i+17] << 24) | ((int32_t)packet[i+18] << 16) | (int32_t)(packet[i+19] << 8) | (int32_t)packet[i+20];
- // do the business
- i += 21;
- stepper_new_block(packet, &stepper, steps, entryspeed, accel, accellength, deccellength);
- }
- break;
-
- case DELIM_KEY_WAIT:
- if(i + 8 > length){
- i ++;
- } else {
- steps = ((int32_t)packet[i+1] << 24) | ((int32_t)packet[i+2] << 16) | ((int32_t)packet[i+3] << 8) | (int32_t)packet[i+4];
- // in steps/s
- uint32_t speed = ((int32_t)packet[i+5] << 24) | ((int32_t)packet[i+6] << 16) | ((int32_t)packet[i+7] << 8) | (int32_t)packet[i+8];
- i += 8;
- stepper_new_wait(packet, &stepper, steps, speed);
- }
-
- default:
- // probably an error
- i ++;
- break;
- } // end interior switch
- break;
-
- default :
- // throw err
- break;
- } // end y/n switch
- }
-}
-
-// HERE return with address header, or from old packet with new data
-
-uint8_t ackPack[256];
-
-void atk_reply_packet(uint8_t *opPacket, uint8_t *replyData, uint8_t replyLength){
- // find address chunk in opPacket
- int i = 2;
- int stop = 0;
- while(i < opPacket[0]){
- if(opPacket[i] == ATK_END_ROUTE_DELIMITER){
- stop = i;
- break;
- }
- i ++;
- }
-
- uint8_t ackLength = stop + replyLength + 1;
- ackPack[0] = ackLength;
-
- if(stop){
- // reverse the address header
- for(int a = stop - 1, b = 1; a >= 1; a--, b++){
- ackPack[b] = opPacket[a];
- }
- // and append the end block
- ackPack[stop] = ATK_END_ROUTE_DELIMITER;
- // now fill with provided reply data
- for(int u = 0; u <= replyLength; u ++){
- ackPack[u + stop + 1] = replyData[u];
- }
- // checking the port exists, send it out
- if(ackPack[1] >= SYSTEM_NUM_UPS){
- ackPack[1] = SYSTEM_NUM_UPS - 1;
- }
- uart_sendchars_buffered(ups[ackPack[1]], ackPack, ackPack[0]);//ups[ackPack[1]], ackPack, ackLength);
- }
-}
-
-void atk_return_packet(uint8_t *packet, uint8_t length){
- //uart_sendchar_buffered(ups[1], 120);
- //uart_sendchars_buffered(ups[1], packet, length);
- // using this placeholder
- ackPack[0] = length;
- // find route header
- int i = 2;
- int stop = 0;
- while(i < length){
- if(packet[i] == ATK_END_ROUTE_DELIMITER){
- stop = i;
- break;
- }
- i ++;
- }
- // do the business
- if(stop){
- // reverse the address header
- for(int a = stop - 1, b = 1; a >= 1; a--, b++){
- ackPack[b] = packet[a];
- }
- // fill the rest with same packet data
- ackPack[stop] = ATK_END_ROUTE_DELIMITER;
- for(int u = stop; u < length; u ++){
- ackPack[u] = packet[u];
- }
- // checking the packet exists, send it out
- if(ackPack[1] >= SYSTEM_NUM_UPS){
- ackPack[1] = SYSTEM_NUM_UPS - 1;
- }
- uart_sendchars_buffered(ups[ackPack[1]], ackPack, ackPack[0]);
- // NOW:
- // looking for justice: why no return packet on double length hop?
- // debug with 2nd ftdi
- //uart_sendchar_buffered(ups[1], 121);
- //uart_sendchars_buffered(ups[1], ackpack, length);
- }
-}
\ No newline at end of file
diff --git a/embedded/atkstepper23/atkstepper23/atkhandler.h b/embedded/atkstepper23/atkstepper23/atkhandler.h
deleted file mode 100644
index 1b6879aa507d2433667ff90eda849c58a8c25f65..0000000000000000000000000000000000000000
--- a/embedded/atkstepper23/atkstepper23/atkhandler.h
+++ /dev/null
@@ -1,28 +0,0 @@
-/*
- * atkhandler.h
- *
- * Created: 3/12/2018 11:55:40 AM
- * Author: Jake
- */
-
-
-#ifndef ATKHANDLER_H_
-#define ATKHANDLER_H_
-
-#include <avr/io.h>
-
-#define ATK_HANDLER_OUTSIDE 0
-#define ATK_HANDLER_INSIDE 1
-
-#define DELIM_KEY_TEST 127 // toggles a light, to test network
-#define DELIM_KEY_RESET 128
-
-#define DELIM_KEY_TRAPEZOID 131
-#define DELIM_KEY_WAIT 132
-
-void atk_handle_packet(uint8_t *packet, uint8_t length);
-
-void atk_reply_packet(uint8_t *opPacket, uint8_t *replyData, uint8_t replyLength);
-void atk_return_packet(uint8_t *packet, uint8_t length);
-
-#endif /* atkHANDLER_H_ */
\ No newline at end of file
diff --git a/embedded/atkstepper23/atkstepper23/atkport.c b/embedded/atkstepper23/atkstepper23/atkport.c
deleted file mode 100644
index 65b80e0eddbf8a8a2e0a8a941c5d8a86e2d25a02..0000000000000000000000000000000000000000
--- a/embedded/atkstepper23/atkstepper23/atkport.c
+++ /dev/null
@@ -1,123 +0,0 @@
-/*
- * atkport.c
- *
- * Created: 2/23/2018 9:17:48 AM
- * Author: Jake
- */
-
-#include "atkport.h"
-#include "hardware.h"
-#include "fastmath.h"
-
-void atkport_init(atkport_t *atkp, uint8_t portnum, uartport_t *uart){
- atkp->uart = uart;
- atkp->portnum = portnum;
-
- atkport_reset(atkp);
-}
-
-void atkport_reset(atkport_t *atkp){
- atkp->packet_num = 0;
- atkp->packets_ready = 0;
- atkp->packet_state = ATKPORT_OUTSIDE_PACKET;
- atkp->packet_position = 0;
-
- pin_set(atkp->uart->stlrx);
- pin_set(atkp->uart->stltx);
-}
-
-void atkport_scan(atkport_t *atkp, uint32_t maxpackets){
- // scan through for completely received packets
- while(atkp->packets_ready <= maxpackets){
- // check that we have bytes to read out of the buffer
- if(atkp->uart->rbrx->head == atkp->uart->rbrx->tail){ // direct access, rather than through rbempty() shaves 2us
- pin_set(atkp->uart->stlrx);
- break;
- } else {
- // pull bytes out of buffer into the packet structure
- atkp->packets[atkp->packet_num][atkp->packet_position] = rb_get(atkp->uart->rbrx);
- atkp->packet_position ++;
- // now segment, point to them
- if(atkp->packet_position >= atkp->packets[atkp->packet_num][0]){
- // length is 1st byte, like array[n] not array[n-1]
- // now volley for next pass
- // packet_num is index of head of packet buffer (just an array)
- atkp->packet_num = fastModulo((atkp->packet_num + 1), ATKPORT_NUM_STATIC_PACKETS); // inc. and loop
- // packets_ready is the number of ready-state packets in that buffer (array)
- atkp->packets_ready ++;
- // the position, in bytes, where we are currently operating.
- // at this point, we have come to the end, so we're resetting counter for the next
- atkp->packet_position = 0;
- }
- }
- }
- // end 1st scan for packets, now we know we have atkport->packet_num packets completely received
- // now we handle those packets
- while(atkp->packets_ready > 0){
- // the particular packet index
- uint32_t p = fastModulo((atkp->packet_num + ATKPORT_NUM_STATIC_PACKETS - atkp->packets_ready), ATKPORT_NUM_STATIC_PACKETS); //(atkp->packet_num + ATKPORT_NUM_STATIC_PACKETS - atkp->packets_ready) % ATKPORT_NUM_STATIC_PACKETS;
- // first we shift the old pointer out (p[1] is, at the moment, the port the last node tx'd on)
- atkpacket_shift_pointer(atkp->packets[p], atkp->portnum);
- // now p[1] is next port
- // now to handle
- // [p][0] is length of packet
- if(atkp->packets[p][1] == ATK_ROUTE_POINTER){
- atk_handle_packet(atkp->packets[p], atkp->packets[p][0]);
- } else if(atkp->packets[p][1] == ATK_ROUTE_FLOOD){
- // loop through bytes to find pointer and increment
- // now ship it out on all ports
- for(int i = 0; i < ATKPORT_NUM_PORTS; i ++){
- if(i == atkp->portnum){
- // don't flood back
- } else {
- uart_sendchars_buffered(ups[i], atkp->packets[p], atkp->packets[p][0]);
- }
- }
- } else {
- // packet is for a particular port,
- if(atkp->packets[p][1] > ATKPORT_NUM_PORTS){
- // port does not exist, throw error
- // pin_clear(&stlerr);
- } else {
- // debug option
- //uart_sendchars_buffered(&upU, atkp->packets[p], atkp->packets[p][0]);
- uart_sendchars_buffered(ups[atkp->packets[p][1]], atkp->packets[p], atkp->packets[p][0]);
- }
- }
- // debug reply (at the moment, reply is handled in atk_handle_packet
- // uart_sendchars_buffered(atkp->uart, atkp->packets[p], atkp->packets[p][0]);
- atkp->packets_ready --;
- }
-}
-
-void atkpacket_shift_pointer(uint8_t *packet, uint8_t portnum){
- int i = 2;
- while(i < packet[0]){ // while less than length
- if(packet[i] == ATK_END_ROUTE_DELIMITER){
- // put our port in tail
- packet[i-1] = portnum;
- break;
- } else {
- // shift 'em down
- packet[i-1] = packet[i];
- }
- i ++;
- }
-}
-
-void atkport_send_packet(uint8_t *address, uint8_t address_length, uint8_t *payload, uint8_t payloadlength){
- // 1st byte is port out
- // not yet implemented, using atk_return_packet ... all of these could be cleaner
-}
-
-// UNIT TESTS:
-/*
- flood packets
- multiple receptions? handle in app?
- packets no end addr bar delimiter, packets no pointer, general white noise
- packets varying length
- packets wrong length ? very hard to catch w/o hella state ... timeout?
- packets no end addr delimiter?
- packets to ports not existing
- // next: write javascript terminal packet builder for unit tests!
-*/
\ No newline at end of file
diff --git a/embedded/atkstepper23/atkstepper23/atkport.h b/embedded/atkstepper23/atkstepper23/atkport.h
deleted file mode 100644
index c99365fd2000dc1bec261aa932808e9e23bdf5d3..0000000000000000000000000000000000000000
--- a/embedded/atkstepper23/atkstepper23/atkport.h
+++ /dev/null
@@ -1,47 +0,0 @@
-/*
- * atkport.h
- *
- * Created: 2/23/2018 9:17:34 AM
- * Author: Jake
- */
-
-
-#ifndef ATKPORT_H_
-#define ATKPORT_H_
-
-#include "uartport.h"
-#include "pin.h"
-
-#define ATKPORT_NUM_STATIC_PACKETS 8
-#define ATKPORT_NUM_PORTS 6
-
-#define ATKPORT_OUTSIDE_PACKET 0
-#define ATKPORT_INSIDE_PACKET 1
-
-#define ATK_END_ROUTE_DELIMITER 255
-#define ATK_ROUTE_POINTER 254
-#define ATK_ROUTE_FLOOD 253
-
-typedef struct{
- uartport_t *uart;
-
- uint8_t portnum; // which port are we
-
- uint32_t packet_num;
- uint32_t packet_position;
- uint32_t packets_ready;
- uint32_t packet_state;
- uint8_t packets[ATKPORT_NUM_STATIC_PACKETS][256]; // packets for handling by app
-}atkport_t;
-
-void atkport_init(atkport_t *atkp, uint8_t portnum, uartport_t *uart);
-
-void atkport_reset(atkport_t *atkp);
-
-void atkport_scan(atkport_t *atkp, uint32_t maxpackets);
-
-void atkpacket_shift_pointer(uint8_t *packet, uint8_t portnum);
-
-void atkport_send_packet(uint8_t *address, uint8_t address_length, uint8_t *payload, uint8_t payloadlength);
-
-#endif /* atkPORT_H_ */
\ No newline at end of file
diff --git a/embedded/atkstepper23/atkstepper23/fastmath.c b/embedded/atkstepper23/atkstepper23/fastmath.c
deleted file mode 100644
index 91d749c7d4d98df07849944e54772b75852596fc..0000000000000000000000000000000000000000
--- a/embedded/atkstepper23/atkstepper23/fastmath.c
+++ /dev/null
@@ -1,11 +0,0 @@
-/*
- * fastmath.c
- *
- * Created: 6/20/2018 12:38:38 PM
- * Author: Jake
- */
-
-int fastModulo(int dividend, int divisor){
- // divisor must be a power of 2!
- return dividend & (divisor - 1);
-}
\ No newline at end of file
diff --git a/embedded/atkstepper23/atkstepper23/fastmath.h b/embedded/atkstepper23/atkstepper23/fastmath.h
deleted file mode 100644
index d1c2cb1b34048c184621f5446f18901c8a8a1272..0000000000000000000000000000000000000000
--- a/embedded/atkstepper23/atkstepper23/fastmath.h
+++ /dev/null
@@ -1,14 +0,0 @@
-/*
- * fastmath.h
- *
- * Created: 6/20/2018 12:35:50 PM
- * Author: Jake
- */
-
-
-#ifndef FASTMATH_H_
-#define FASTMATH_H_
-
-int fastModulo(int dividend, int divisor);
-
-#endif /* FASTMATH_H_ */
\ No newline at end of file
diff --git a/embedded/atkstepper23/atkstepper23/hardware.h b/embedded/atkstepper23/atkstepper23/hardware.h
deleted file mode 100644
index 4370e1a422debbcc75cc0ef87023b094b559badc..0000000000000000000000000000000000000000
--- a/embedded/atkstepper23/atkstepper23/hardware.h
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
- * hardware.h
- *
- * Created: 6/18/2018 12:18:05 PM
- * Author: Jake
- */
-
-
-#ifndef HARDWARE_H_
-#define HARDWARE_H_
-
-#include "pin.h"
-#include "ringbuffer.h"
-#include "uartport.h"
-#include "spiport.h"
-#include "atkport.h"
-#include "atkhandler.h"
-#include "tmc26x.h"
-#include "stepper.h"
-
-// results in 1MBaud
-#define SYSTEM_BAUDA 3
-#define SYSTEM_BAUDB 0
-#define SYSTEM_NUM_UPS 2
-
-pin_t stlclk;
-pin_t stlerr;
-
-// UP0
-
-ringbuffer_t up0rbrx;
-ringbuffer_t up0rbtx;
-
-uartport_t up0;
-
-pin_t up0rxled;
-pin_t up0txled;
-
-atkport_t atkp0;
-
-// UP1
-
-ringbuffer_t up1rbrx;
-ringbuffer_t up1rbtx;
-
-uartport_t up1;
-
-pin_t up1rxled;
-pin_t up1txled;
-
-atkport_t atkp1;
-
-// UPS
-
-uartport_t *ups[SYSTEM_NUM_UPS];
-
-// Stepper
-// SPI
-
-spiport_t spitmc;
-pin_t spicspin;
-
-pin_t tmcen;
-pin_t tmcsg;
-pin_t step;
-pin_t dir;
-
-tmc26_t tmc;
-
-stepper_t stepper;
-
-unsigned long timebase;
-
-#endif /* HARDWARE_H_ */
\ No newline at end of file
diff --git a/embedded/atkstepper23/atkstepper23/main.c b/embedded/atkstepper23/atkstepper23/main.c
deleted file mode 100644
index cf19332b78d02d7c9cfe076ba5ea374db194079c..0000000000000000000000000000000000000000
--- a/embedded/atkstepper23/atkstepper23/main.c
+++ /dev/null
@@ -1,160 +0,0 @@
-/*
-* atkrouter.c
-*
-* Created: 6/17/2018 2:48:08 PM
-* Author : Jake
-*/
-
-#include <avr/io.h>
-#include <avr/interrupt.h>
-#include "hardware.h"
-#include "fastmath.h"
-
-// stlclk PA0
-// stlerr PA1
-
-// do clock hotfix
-// do uartports
-// do cp2102n
-
-void clock_init(void){
- OSC.XOSCCTRL = OSC_XOSCSEL_XTAL_256CLK_gc | OSC_FRQRANGE_12TO16_gc; // select external source
- OSC.CTRL = OSC_XOSCEN_bm; // enable external source
- while(!(OSC.STATUS & OSC_XOSCRDY_bm)); // wait for external
- OSC.PLLCTRL = OSC_PLLSRC_XOSC_gc | OSC_PLLFAC0_bm | OSC_PLLFAC1_bm; // select external osc for pll, do pll = source * 3
- //OSC.PLLCTRL = OSC_PLLSRC_XOSC_gc | OSC_PLLFAC1_bm; // pll = source * 2 for 32MHz std clock
- OSC.CTRL |= OSC_PLLEN_bm; // enable PLL
- while (!(OSC.STATUS & OSC_PLLRDY_bm)); // wait for PLL to be ready
- CCP = CCP_IOREG_gc; // enable protected register change
- CLK.CTRL = CLK_SCLKSEL_PLL_gc; // switch to PLL for main clock
-}
-
-void uarts_init(void){
- // UP0
- rb_init(&up0rbrx);
- rb_init(&up0rbtx);
- pin_init(&up0rxled, &PORTE, PIN4_bm, 4, 1);
- pin_init(&up0txled, &PORTE, PIN5_bm, 5, 1);
- uart_init(&up0, &USARTE1, &PORTE, PIN6_bm, PIN7_bm, &up0rbrx, &up0rbtx, &up0rxled, &up0txled);
- //PORTE.PIN7CTRL = PORT_SRLEN_bm;
- uart_start(&up0, SYSTEM_BAUDA, SYSTEM_BAUDB);
-
- // UP1
- rb_init(&up1rbrx);
- rb_init(&up1rbtx);
- pin_init(&up1rxled, &PORTE, PIN0_bm, 0, 1);
- pin_init(&up1txled, &PORTE, PIN1_bm, 1, 1);
- uart_init(&up1, &USARTE0, &PORTE, PIN2_bm, PIN3_bm, &up1rbrx, &up1rbtx, &up1rxled, &up1txled);
- uart_start(&up1, SYSTEM_BAUDA, SYSTEM_BAUDB);
-
- ups[0] = &up0;
- ups[1] = &up1;
-}
-
-void atkps_init(void){
- atkport_init(&atkp0, 0, &up0);
- atkport_init(&atkp1, 1, &up1);
-}
-
-void stephardware_init(void){
- pin_init(&spicspin, &PORTC, PIN4_bm, 4, 1);
- spi_init(&spitmc, &USARTC1, &PORTC, PIN6_bm, PIN7_bm, PIN5_bm, &spicspin);
- spi_start(&spitmc, 0);
-
- pin_init(&tmcen, &PORTC, PIN3_bm, 3, 1);
- pin_init(&tmcsg, &PORTA, PIN2_bm, 2, 0);
- pin_init(&step, &PORTA, PIN0_bm, 0, 1);
- pin_init(&dir, &PORTA, PIN1_bm, 1, 1);
-
- tmc26_init(&tmc, &spitmc, &tmcen, &tmcsg);
-
- stepper_init(&stepper, &step, &dir);
-}
-
-void tickers_init(void){
- // one 'ticker' to execute steps
- // turn on TCC0, do perclk / 8
- TCC0.CTRLA = TC_CLKSEL_DIV256_gc;
-
- // compare and capture at value
- uint16_t pera = 40; // ~ 200us timer to start...
- // write low first, bc bussing / xmega 8-bit oddities cc datasheet @ 3.11
- uint8_t peral = (uint8_t) pera;
- uint8_t perah = (uint8_t) (pera >> 8);
- TCC0.PERBUFL = peral;
- TCC0.PERBUFH = perah;
-
- // set cca interrupt on
- TCC0.INTCTRLA = TC_OVFINTLVL_HI_gc;
-
- // another ticker to execute accel
- TCC1.CTRLA = TC_CLKSEL_DIV256_gc;
- TCC1.PERBUFL = peral;
- TCC1.PERBUFH = perah;
-
- TCC1.INTCTRLA = TC_OVFINTLVL_HI_gc;
-}
-
-int main(void)
-{
- clock_init();
- uarts_init();
- atkps_init();
-
- // enable interrupts
- sei();
- PMIC.CTRL |= PMIC_LOLVLEN_bm | PMIC_MEDLVLEN_bm | PMIC_HILVLEN_bm;
-
- pin_init(&stlclk, &PORTF, PIN7_bm, 7, 1);
- pin_init(&stlerr, &PORTF, PIN6_bm, 6, 1);
- pin_set(&stlerr);
- pin_set(&stlclk);
-
- // stepper business
- stephardware_init();
-
- tmc26_start(&tmc);
- tmc26_enable(&tmc);
-
- tickers_init();
-
- // runtime globals
- uint32_t tck = 0;
-
- while (1)
- {
- atkport_scan(&atkp0, 2);
- atkport_scan(&atkp1, 2);
- // just... as fast as we can
- tck++;
- // this modulo op is slow AF
- // that means streamlining atkport_scan without modulos is probably a rad thing
- if(!(fastModulo(tck, 4096))){
- pin_toggle(&stlclk);
- }
- }
-}
-
-ISR(TCC0_OVF_vect){
- stepper_updatesteps(&stepper);
-}
-
-ISR(TCC1_OVF_vect){
- stepper_updateaccel(&stepper);
-}
-
-ISR(USARTE1_RXC_vect){
- uart_rxhandler(&up0);
-}
-
-ISR(USARTE1_DRE_vect){
- uart_txhandler(&up0);
-}
-
-ISR(USARTE0_RXC_vect){
- uart_rxhandler(&up1);
-}
-
-ISR(USARTE0_DRE_vect){
- uart_txhandler(&up1);
-}
\ No newline at end of file
diff --git a/embedded/atkstepper23/atkstepper23/pin.c b/embedded/atkstepper23/atkstepper23/pin.c
deleted file mode 100644
index 071e771a5468cccc6c73bdf445068095b3dd07af..0000000000000000000000000000000000000000
--- a/embedded/atkstepper23/atkstepper23/pin.c
+++ /dev/null
@@ -1,49 +0,0 @@
-/*
- * pin.c
- *
- * Created: 6/18/2018 12:22:50 PM
- * Author: Jake
- */
-
-#include "pin.h"
-
-void pin_init(pin_t *pin, PORT_t *port, uint8_t pin_bm, uint8_t pin_pos, uint8_t inout){
- pin->port = port;
- pin->pin_bm = pin_bm;
- pin->pin_pos = pin_pos;
- if(inout){
- pin_output(pin);
- } else {
- pin_input(pin);
- }
-}
-
-void pin_output(pin_t *pin){
- pin->port->DIRSET = pin->pin_bm;
-}
-
-void pin_set(pin_t *pin){
- pin->port->OUTSET = pin->pin_bm;
-}
-void pin_clear(pin_t *pin){
- pin->port->OUTCLR = pin->pin_bm;
-}
-
-void pin_toggle(pin_t *pin){
- pin->port->OUTTGL = pin->pin_bm;
-}
-
-void pin_input(pin_t *pin){
- pin->port->DIRCLR = pin->pin_bm;
-}
-
-void pin_pullup(pin_t *pin){
- // ? how to access PIN0CTRL, etc?
-}
-void pin_pulldown(pin_t *pin){
- //
-}
-
-uint8_t pin_read(pin_t *pin){
- return (pin->port->IN & pin->pin_bm);
-}
\ No newline at end of file
diff --git a/embedded/atkstepper23/atkstepper23/pin.h b/embedded/atkstepper23/atkstepper23/pin.h
deleted file mode 100644
index d7ddab6e023abc0744743c66bfc7686fad2b3bac..0000000000000000000000000000000000000000
--- a/embedded/atkstepper23/atkstepper23/pin.h
+++ /dev/null
@@ -1,34 +0,0 @@
-/*
- * pin.h
- *
- * Created: 6/18/2018 12:22:58 PM
- * Author: Jake
- */
-
-
-#ifndef PIN_H_
-#define PIN_H_
-
-#include "avr/io.h"
-
-typedef struct {
- PORT_t *port;
- uint8_t pin_bm;
- uint8_t pin_pos;
-}pin_t;
-
-void pin_init(pin_t *pin, PORT_t *port, uint8_t pin_bm, uint8_t pin_pos, uint8_t inout);
-
-void pin_output(pin_t *pin);
-void pin_set(pin_t *pin);
-void pin_clear(pin_t *pin);
-void pin_toggle(pin_t *pin);
-
-void pin_input(pin_t *pin);
-void pin_pullup(pin_t *pin);
-void pin_pulldown(pin_t *pin);
-
-uint8_t pin_read(pin_t *pin);
-
-
-#endif /* PIN_H_ */
\ No newline at end of file
diff --git a/embedded/atkstepper23/atkstepper23/ringbuffer.c b/embedded/atkstepper23/atkstepper23/ringbuffer.c
deleted file mode 100644
index a77dc50785ca9153ce3d05a656dd190bb0a59d05..0000000000000000000000000000000000000000
--- a/embedded/atkstepper23/atkstepper23/ringbuffer.c
+++ /dev/null
@@ -1,72 +0,0 @@
-/*
- * ringbuffer.c
- *
- * Created: 2/7/2018 11:39:44 AM
- * Author: Jake
- */
-
-#include "ringbuffer.h"
-#include "fastmath.h"
-
-uint8_t rb_init(ringbuffer_t *rb){
- rb->size = RINGBUFFER_SIZE; // stuck with this, due to not having malloc, wall of skill
- //rb->buffer = malloc(size);
- rb_reset(rb);
- return 1;
-}
-
-uint8_t rb_reset(ringbuffer_t *rb){
- if(rb){
- rb->head = 0;
- rb->tail = 0;
- return 1;
- } else {
- return 0;
- }
-}
-
-uint8_t rb_empty(ringbuffer_t *rb){
- return (rb->head == rb->tail);
-}
-
-uint8_t rb_full(ringbuffer_t *rb){
- // read from tail, update at head
- // if head is 'just behind' tail (in ring) we have no extra space: the
- return fastModulo((rb->head + 1), RINGBUFFER_SIZE) == rb->tail;
-}
-
-uint8_t rb_freespace(ringbuffer_t *rb){
- if(rb->head >= rb->tail){
- return rb->size - (rb->head - rb->tail);
- } else {
- return rb->tail - rb->head - 1;
- }
-}
-
-uint8_t rb_putchar(ringbuffer_t *rb, uint8_t data){
- rb->buffer[rb->head] = data;
- rb->head = fastModulo((rb->head + 1), RINGBUFFER_SIZE); // increment and loop about
- return 1;
-}
-
-uint8_t rb_putdata(ringbuffer_t *rb, uint8_t *data, uint8_t size){
- /*
- if(rb_freespace(rb) >= size){
- // rb_freespace, not working?
- return 0;
- } else {
- */
- for(int i = 0; i < size; i ++){
- rb_putchar(rb, data[i]);
- }
-
- return 1;
- //}
-}
-
-uint8_t rb_get(ringbuffer_t *rb){
- uint8_t data = rb->buffer[rb->tail];
- rb->tail = fastModulo((rb->tail + 1), RINGBUFFER_SIZE);
- return data;
-}
-
diff --git a/embedded/atkstepper23/atkstepper23/ringbuffer.h b/embedded/atkstepper23/atkstepper23/ringbuffer.h
deleted file mode 100644
index 921c8ba7717b5eedc76175a83f87db0308e6ca5e..0000000000000000000000000000000000000000
--- a/embedded/atkstepper23/atkstepper23/ringbuffer.h
+++ /dev/null
@@ -1,43 +0,0 @@
-/*
- * ringbuffer.h
- *
- * Created: 2/7/2018 11:39:54 AM
- * Author: Jake
- */
-
-#ifndef RINGBUFFER_H_
-#define RINGBUFFER_H_
-
-/*
-a ringbuffer,
-s/o https://github.com/dhess/c-ringbuf
-s/o https://embeddedartistry.com/blog/2017/4/6/circular-buffers-in-cc
-s/o https://www.downtowndougbrown.com/2013/01/microcontrollers-interrupt-safe-ring-buffers/
-*/
-
-#include "avr/io.h"
-#include <stdlib.h> // for size_t
-
-#define RINGBUFFER_SIZE 256
-
-typedef struct{
- uint8_t buffer[256]; // static! big enough
- size_t head;
- size_t tail;
- size_t size;
-} ringbuffer_t;
-
-uint8_t rb_init(ringbuffer_t *rb);
-
-uint8_t rb_reset(ringbuffer_t *rb);
-
-uint8_t rb_empty(ringbuffer_t *rb);
-uint8_t rb_full(ringbuffer_t *rb);
-uint8_t rb_freespace(ringbuffer_t *rb);
-
-uint8_t rb_putchar(ringbuffer_t *rb, uint8_t data);
-uint8_t rb_putdata(ringbuffer_t *rb, uint8_t *data, uint8_t size);
-
-uint8_t rb_get(ringbuffer_t *rb);
-
-#endif /* RINGBUFFER_H_ */
\ No newline at end of file
diff --git a/embedded/atkstepper23/atkstepper23/spiport.c b/embedded/atkstepper23/atkstepper23/spiport.c
deleted file mode 100644
index a7698bc628f04f00f6730ef8df697754c951b9ed..0000000000000000000000000000000000000000
--- a/embedded/atkstepper23/atkstepper23/spiport.c
+++ /dev/null
@@ -1,54 +0,0 @@
-/*
- * spiport.c
- *
- * Created: 2/7/2018 10:51:42 AM
- * Author: Jake
- */
-
-#include "spiport.h"
-
-void spi_init(spiport_t *spi, USART_t *com, PORT_t *port, uint8_t miso_bm, uint8_t mosi_bm, uint8_t sck_bm, pin_t *csn){
- spi->com = com;
- spi->port = port;
-
- spi->miso_bm = miso_bm;
- spi->mosi_bm = mosi_bm;
- spi->sck_bm = sck_bm;
- spi->csn = csn;
-}
-
-void spi_start(spiport_t *spi, uint8_t cpha){
- spi->port->DIRSET = spi->mosi_bm;
- spi->port->DIRSET = spi->sck_bm;
- spi->port->DIRCLR = spi->miso_bm;
-
- // want BSEL 7 and BSCALE -4
- spi->com->BAUDCTRLA = 0; //130;
- spi->com->BAUDCTRLB = 1; //USART_BSCALE3_bm | USART_BSCALE2_bm | USART_BSCALE1_bm | USART_BSCALE0_bm;
-
- spi->com->CTRLB = USART_TXEN_bm | USART_RXEN_bm;
-
- spi->com->CTRLC = USART_CMODE_MSPI_gc; // set to master spi mode
- if(cpha != 0){
- spi->com->CTRLC |= (1 << 1); // in master spi mode, this bit is clock polarity
- }
-}
-
-void spi_txchar_polled(spiport_t *spi, uint8_t data){
- while(!(spi->com->STATUS & USART_DREIF_bm));
- spi->com->DATA = data;
-}
-
-void spi_txchars_polled(spiport_t *spi, uint8_t *data, uint8_t length){
- pin_clear(spi->csn);
- for(int i = 0; i < length; i ++){
- spi_txchar_polled(spi, data[i]);
- spi->com->STATUS |= USART_TXCIF_bm; // clear transmit complete flag
- }
- while(!(spi->com->STATUS & USART_TXCIF_bm)); // wait for complete before
- pin_set(spi->csn);
-}
-
-void spi_txrxchar_polled(spiport_t *spi, uint8_t data, uint8_t *rxdata){
- // how to read?
-}
\ No newline at end of file
diff --git a/embedded/atkstepper23/atkstepper23/spiport.h b/embedded/atkstepper23/atkstepper23/spiport.h
deleted file mode 100644
index cd5e5aa10ae4d4a5f85c73acd785d2b727d67650..0000000000000000000000000000000000000000
--- a/embedded/atkstepper23/atkstepper23/spiport.h
+++ /dev/null
@@ -1,35 +0,0 @@
-/*
- * spiport.h
- *
- * Created: 2/7/2018 10:51:52 AM
- * Author: Jake
- */
-
-
-#ifndef SPIPORT_H_
-#define SPIPORT_H_
-
-#include <avr/io.h>
-#include "pin.h"
-
-typedef struct{
- USART_t *com;
- PORT_t *port;
-
- uint8_t miso_bm;
- uint8_t mosi_bm;
- uint8_t sck_bm;
-
- pin_t *csn;
-}spiport_t;
-
-void spi_init(spiport_t *spi, USART_t *com, PORT_t *port, uint8_t miso_bm, uint8_t mosi_bm, uint8_t sck_bm, pin_t *csn);
-
-void spi_start(spiport_t *spi, uint8_t cpha); // bits: 0: 8, 1: 32
-
-void spi_txchar_polled(spiport_t *spi, uint8_t data);
-void spi_txchars_polled(spiport_t *spi, uint8_t *data, uint8_t length);
-void spi_txrxchar_polled(spiport_t *spi, uint8_t data, uint8_t *rxdata);
-
-
-#endif /* SPIPORT_H_ */
\ No newline at end of file
diff --git a/embedded/atkstepper23/atkstepper23/stepper.c b/embedded/atkstepper23/atkstepper23/stepper.c
deleted file mode 100644
index 8fb78ee0e1bb7ecd35673bbbb1f610a61311a80b..0000000000000000000000000000000000000000
--- a/embedded/atkstepper23/atkstepper23/stepper.c
+++ /dev/null
@@ -1,237 +0,0 @@
-/*
-* stepper.c
-*
-* Created: 2/17/2018 5:39:34 PM
-* Author: Jake
-*/
-
-#include "stepper.h"
-#include "hardware.h"
-#include "atkport.h"
-#include "atkhandler.h"
-#include "fastmath.h"
-
-void stepper_init(stepper_t *stepper, pin_t *step_pin, pin_t *dir_pin){
- stepper->step_pin = step_pin;
- stepper->dir_pin = dir_pin;
-
- stepper_reset(stepper);
-}
-
-void stepper_reset(stepper_t *stepper){
- stepper->blockhead = 0;
- stepper->blocktail = 0;
- stepper->blocksize = BLOCKS_QUEUE_SIZE;
-
- stepper->speed_period = 0;
- stepper->accel_period = 0;
-
- stepper->speed = 0;
-
- stepper->position_ticks = 0;
- stepper->position_accel_to = 0;
- stepper->position_deccel_from = 0;
-}
-
-void stepper_steps(stepper_t *stepper, int32_t steps, uint32_t speed){
- // not implemented atm
-}
-
-void stepper_new_block(uint8_t *packet, stepper_t *stepper, int32_t steps, uint32_t entryspeed, uint32_t accel, uint32_t accellength, uint32_t deccellength){
- // does assignments and adds to queue
- // track this address so that we can ack to it when the move is complete
- // a sloppy copy, I'm sure
- for(int i = 0; i < packet[0]; i ++){
- stepper->block[stepper->blockhead].packet[i] = packet[i];
- }
-
- // a real move
- stepper->block[stepper->blockhead].is_nomove = 0;
-
- // TODO: should block the execution of this block while we do this, so that we
- // have an interrupt safe ringbuffer
-
- // enforce no div/0
- (entryspeed < 3) ? entryspeed = 3 : (0); //(0) is NOP: 3 is min steps/s due to timer resolution
- (entryspeed > 187500) ? entryspeed = 187500 : (0); // no faster than this pls, else underneat timer resolution
- // going to have to catch blocks which cause deceleration to 0 during deceleration phases !
- stepper->block[stepper->blockhead].entry_speed = entryspeed;
-
- // do starting speed period
- (accel < 3) ? accel = 3 : (0);
- (accel > 187500) ? accel = 187500 : (0);
- stepper->block[stepper->blockhead].accel_period = STEPTICKER_ONE_SECOND / accel;
-
- // set dir
- if(steps < 0){
- stepper->block[stepper->blockhead].dir = 0;
- } else {
- stepper->block[stepper->blockhead].dir = 1;
- }
-
- // do lengths
- stepper->block[stepper->blockhead].position_end = abs(steps);
- stepper->block[stepper->blockhead].position_accel_to = accellength;
- stepper->block[stepper->blockhead].position_deccel_from = deccellength;
-
- // ready set
- stepper->block[stepper->blockhead].is_new = 1;
-
- // if there are currently no steps to make, we're not sure about the current step frequency, we'll set the period
- // otherwise we're taking for granted that we've set this properly following the last move
- if(stepper->blockhead == stepper->blocktail){
- uint16_t newper = STEPTICKER_ONE_SECOND / entryspeed;
- stepticker_newperiod(newper);
- stepticker_reset();
- uint16_t accper = STEPTICKER_ONE_SECOND / accel;
- accelticker_newperiod(accper);
- accelticker_reset();
- pin_clear(&stlerr);
- }
- // increment block head ptr: should catch full queue HERE but not bothering
- stepper->blockhead = fastModulo((stepper->blockhead + 1), BLOCKS_QUEUE_SIZE);
-}
-
-void stepper_new_wait(uint8_t *packet, stepper_t *stepper, int32_t steps, uint32_t speed){
- for(int i = 0; i < packet[0]; i ++){
- stepper->block[stepper->blockhead].packet[i] = packet[i];
- }
-
- // we have a waiting block, we'll say accel is now = speed for supposed steps
- stepper->block[stepper->blockhead].is_nomove = 1;
- // still need to check this
- (speed < 3) ? speed = 3 : (0);
- (speed > 187500) ? speed = 187500 : (0);
- // but we're going to wrap everything else in update() to avoid accel etc checks, we're just going to be counting
- stepper->block[stepper->blockhead].entry_speed = speed;
- stepper->block[stepper->blockhead].position_end = abs(steps);
- stepper->block[stepper->blockhead].accel_period = STEPTICKER_ONE_SECOND - 1;
- stepper->block[stepper->blockhead].position_accel_to = 0;
- stepper->block[stepper->blockhead].position_deccel_from = abs(steps);
-
- // ready set
- stepper->block[stepper->blockhead].is_new = 1;
-
- // if there are currently no steps to make, we're not sure about the current step frequency, we'll set the period
- // otherwise we're taking for granted that we've set this properly following the last move
- if(stepper->blockhead == stepper->blocktail){
- pin_clear(&stlerr);
- // could we just call stepper_update now?
- uint16_t newper = STEPTICKER_ONE_SECOND / speed;
- stepticker_newperiod(newper);
- stepticker_reset();
- uint16_t accper = STEPTICKER_ONE_SECOND - 1; // gets 16-bit truncated
- accelticker_newperiod(accper);
- accelticker_reset();
- pin_clear(&stlerr);
- }
-
- stepper->blockhead = fastModulo((stepper->blockhead + 1), BLOCKS_QUEUE_SIZE);
-}
-
-void stepper_updatesteps(stepper_t *stepper){
- if(stepper->blockhead == stepper->blocktail){
- // no steps to make, ringbuffer is empty
- pin_set(&stlerr);
- } else if(stepper->block[stepper->blocktail].position_end > stepper->position_ticks){
- // we have somewhere to go
- if(stepper->block[stepper->blocktail].is_new){
- // if we're just starting this block, set the speed
- stepper->speed = stepper->block[stepper->blocktail].entry_speed;
- stepper->speed_period = STEPTICKER_ONE_SECOND / stepper->speed;
- stepticker_newperiod(stepper->speed_period);
- stepticker_reset();
-
- // and set the accel ticker
- accelticker_newperiod(stepper->block[stepper->blocktail].accel_period);
- accelticker_reset();
-
- // and set the dir
- if(stepper->block[stepper->blocktail].dir > 0){
- pin_set(stepper->dir_pin);
- } else {
- pin_clear(stepper->dir_pin);
- }
- // and distance was 0'd after last move
- // and then clear this flag
- stepper->block[stepper->blocktail].is_new = 0;
- }
-
- // if there's steps to make, and this timer is firing, it's time to step!
- if(!stepper->block[stepper->blocktail].is_nomove){
- pin_toggle(stepper->step_pin);
- }
-
- stepper->position_ticks ++;
-
- if(stepper->position_ticks < stepper->block[stepper->blocktail].position_accel_to){
- stepper->accelstate = STEP_ACCELSTATE_ACCEL;
- } else if (stepper->position_ticks > stepper->block[stepper->blocktail].position_deccel_from){
- stepper->accelstate = STEP_ACCELSTATE_DECEL;
- } else {
- stepper->accelstate = STEP_ACCELSTATE_CRUISE;
- }
-
- } else {
- // looks a lot like we're done here
- // send a reply for windowed transmission
- // this is dirty because we're passing the packet (referenced here in the ringbuffer) by reference,
- // properly return_packet should take a copy of the packet so that we can be done with it now, but *it* goes faster than *this* (almost for sure...)
- // so, we shrugman for now
- // apa_return_packet(stepper->block[stepper->blocktail].packet, 25);
- uint8_t reply[2];
- if(stepper->block[stepper->blocktail].is_nomove){
- reply[0] = DELIM_KEY_WAIT;
- reply[1] = 12;
- } else {
- reply[0] = DELIM_KEY_TRAPEZOID;
- reply[1] = 24;
- }
- atk_reply_packet(stepper->block[stepper->blocktail].packet, reply, 2);
- // increment ringbuffer along
- stepper->blocktail = fastModulo((stepper->blocktail + 1), BLOCKS_QUEUE_SIZE);
- stepper->position_ticks = 0; // clear so that we evaluate new block as having steps to make
- }
-}
-
-void stepper_updateaccel(stepper_t *stepper){
- // check for acceleration or deceleration
- switch (stepper->accelstate){
- case STEP_ACCELSTATE_ACCEL:
- stepper->speed ++;
- (stepper->speed > 187500) ? stepper->speed = 187500 : (0); // max speed due to timer res
- stepper->speed_period = STEPTICKER_ONE_SECOND / stepper->speed;
- stepticker_newperiod(stepper->speed_period);
- break;
- case STEP_ACCELSTATE_DECEL:
- stepper->speed --;
- (stepper->speed < 3) ? stepper->speed = 3 : (0); // min speed due to timer res
- stepper->speed_period = STEPTICKER_ONE_SECOND / stepper->speed;
- stepticker_newperiod(stepper->speed_period);
- break;
- case STEP_ACCELSTATE_CRUISE:
- (0);
- break;
- default:
- (0);
- break;
- }
-}
-
-void stepticker_newperiod(uint16_t per){
- TCC0.PERBUFL = (uint8_t) per;
- TCC0.PERBUFH = (uint8_t) (per >> 8);
-}
-
-void stepticker_reset(void){
- TCC0.CTRLFSET = TC_CMD_RESTART_gc;
-}
-
-void accelticker_newperiod(uint16_t per){
- TCC1.PERBUFL = (uint8_t) per;
- TCC1.PERBUFH = (uint8_t) (per >> 8);
-}
-
-void accelticker_reset(void){
- TCC1.CTRLFSET = TC_CMD_RESTART_gc;
-}
\ No newline at end of file
diff --git a/embedded/atkstepper23/atkstepper23/stepper.h b/embedded/atkstepper23/atkstepper23/stepper.h
deleted file mode 100644
index e58e77cb6114d131f10cb6536b210d20e440b617..0000000000000000000000000000000000000000
--- a/embedded/atkstepper23/atkstepper23/stepper.h
+++ /dev/null
@@ -1,95 +0,0 @@
-/*
- * stepper.h
- *
- * Created: 2/17/2018 5:39:45 PM
- * Author: Jake
- */
-
-
-#ifndef STEPPER_H_
-#define STEPPER_H_
-
-#include "pin.h"
-
-#define BLOCKS_QUEUE_SIZE 16
-#define STEPTICKER_ONE_SECOND 187500 // one tick of timer is 5.3-- us
-#define STEP_ACCELSTATE_CRUISE 0
-#define STEP_ACCELSTATE_ACCEL 1
-#define STEP_ACCELSTATE_DECEL 2
-
-// one movement
-typedef struct {
- // from whence you came
- uint8_t packet[256]; // C quesion: how to do this properly with malloc() ? malloc() on embedded sys?
-
- // tracking
- uint8_t is_new;
- uint8_t is_nomove;
-
- // for what you do
- uint8_t dir; // 0 or 1
- uint32_t position_end; // in steps
- uint32_t entry_speed;
- uint32_t accel_period;
- uint32_t position_accel_to;
- uint32_t position_deccel_from;
-}block_t;
-
-// the stepper
-typedef struct {
- pin_t *step_pin;
- pin_t *dir_pin;
-
- // block ringbuffer
- block_t block[BLOCKS_QUEUE_SIZE];
- uint8_t blockhead;
- uint8_t blocktail;
- uint8_t blocksize;
-
- // tracking time periods
- uint16_t speed_period; // meaning we have a min. step speed of STEPTICKER_ONE_SECOND / 2^16 ( ~ 2.86 s/s)
- uint16_t accel_period;
-
- // tracking time for updates
- uint8_t accelstate;
-
- // have to track speed to update accel
- uint32_t speed;
-
- // targets
- uint32_t position_ticks;
- uint32_t position_accel_to;
- uint32_t position_deccel_from;
-}stepper_t;
-
-void stepper_init(stepper_t *stepper, pin_t *step_pin, pin_t *dir_pin);
-
-void stepper_reset(stepper_t *stepper);
-
-// steps discrete, mm/min
-void stepper_steps(stepper_t *stepper, int32_t steps, uint32_t speed);
-
-// steps discrete, mm/min, mm/min/s (mm/s better but we want more discrete resolution)
-void stepper_new_block(uint8_t *packet, stepper_t *stepper, int32_t steps, uint32_t entryspeed, uint32_t accel, uint32_t accellength, uint32_t deccellength);
-
-void stepper_new_wait(uint8_t *packet, stepper_t *stepper, int32_t steps, uint32_t speed);
-
-void stepper_updatesteps(stepper_t *stepper);
-
-void stepper_updateaccel(stepper_t *stepper);
-
-void stepticker_newperiod(uint16_t per);
-
-void stepticker_reset(void);
-
-void accelticker_newperiod(uint16_t per);
-
-void accelticker_reset(void);
-
-/*
-step to-do
-// block ringbuffer, pull and reply blocks - architecture for network functions, generally?
-// doc this https://embeddedgurus.com/stack-overflow/2011/02/efficient-c-tip-13-use-the-modulus-operator-with-caution/
-*/
-
-#endif /* STEPPER_H_ */
\ No newline at end of file
diff --git a/embedded/atkstepper23/atkstepper23/tmc26x.c b/embedded/atkstepper23/atkstepper23/tmc26x.c
deleted file mode 100644
index da44efd69cc754cf05861e8badc58aaef49662e6..0000000000000000000000000000000000000000
--- a/embedded/atkstepper23/atkstepper23/tmc26x.c
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
- * tmc26x.c
- *
- * Created: 2/7/2018 10:17:39 PM
- * Author: Jake
- */
-
-#include "tmc26x.h"
-
-void tmc26_init(tmc26_t *tmc, spiport_t *spi, pin_t *en, pin_t *sg){
- tmc->spi = spi;
- tmc->en_pin = en;
- tmc->sg_pin = sg;
-}
-
-void tmc26_write(tmc26_t *tmc, uint32_t word){
- // takes a 20-bit TMC ready word and writes it on the SPI port, using three 8-bit words
- //word = word << 4; // go left for 4 empty bits at the end of byte 3 (20 not 24 bit word)
- uint8_t bytes[3];
- bytes[0] = word >> 16;// | 0b11110000; // top 4 & mask for visibility
- bytes[1] = word >> 8; // middle 8
- bytes[2] = word; // last 4 and 0's
- spi_txchars_polled(tmc->spi, bytes, 3);
-}
-
-void tmc26_start(tmc26_t *tmc){
- pin_output(tmc->en_pin);
- //pin_input(tmc->sg_pin);
- tmc26_disable(tmc); // turnt off
-
- // address, slope control hi and lo to minimum, short to ground protection on, short to gnd timer 3.2us,
- // enable step/dir, sense resistor full scale current voltage is 0.16mv, readback stallguard2 data, reserved
- uint32_t drvconf = 0b11100000000000110000;
- tmc26_write(tmc, drvconf);
-
- // address, sgfilt off, threshold value, current scaling (5-bit value appended)
- uint32_t sgthresh_mask = 0b00000111111100000000;
- int32_t sgthres_val = 60;
- uint32_t cscale_mask = 0b00000000000000011111;
- uint32_t cscale_val = 6;
- uint32_t sgcsconf = 0b11010000000000000000 | ((sgthres_val << 8) & sgthresh_mask) | (cscale_val & cscale_mask);
- tmc26_write(tmc, sgcsconf);
-
- // turning coolstep off
- uint32_t smarten = 0b10100000000000000000;
- tmc26_write(tmc, smarten);
-
- // times, delays, cycle mode
- uint32_t chopconf = 0b10011000001000010011;
- tmc26_write(tmc, chopconf);
-
- // 9th bit is intpol, 8th is dedge, last 4 are microstepping
- // 0101 8
- // 0100 16
- // 0011 32
- // 0010 64
- // 0001 128
- // 0000 256
- uint32_t drvctrl = 0b00000000001100000100;
- tmc26_write(tmc, drvctrl);
-}
-
-void tmc26_update(tmc26_t *tmc){
- uint32_t smarten = 0b10100000000000000000;
- tmc26_write(tmc, smarten);
-}
-
-void tmc26_enable(tmc26_t *tmc){
- pin_clear(tmc->en_pin);
-}
-
-void tmc26_disable(tmc26_t *tmc){
- pin_set(tmc->en_pin);
-}
\ No newline at end of file
diff --git a/embedded/atkstepper23/atkstepper23/tmc26x.h b/embedded/atkstepper23/atkstepper23/tmc26x.h
deleted file mode 100644
index a9f1e61edde58a1715c1639bb79bde584ca564a3..0000000000000000000000000000000000000000
--- a/embedded/atkstepper23/atkstepper23/tmc26x.h
+++ /dev/null
@@ -1,38 +0,0 @@
-/*
- * tmc26x.h
- *
- * Created: 2/7/2018 10:17:49 PM
- * Author: Jake
- */
-
-
-#ifndef TMC26X_H_
-#define TMC26X_H_
-
-#include "spiport.h"
-#include "pin.h"
-
-// TODO: adding updates (microstep, current)
-// in that, calculating current
-// TODO: reading stallguard, understanding if is already doing closed loop?
-
-typedef struct{
- spiport_t *spi;
-
- pin_t *en_pin;
- pin_t *sg_pin;
-}tmc26_t;
-
-void tmc26_init(tmc26_t *tmc, spiport_t *spi, pin_t *en, pin_t *sg);
-
-void tmc26_write(tmc26_t *tmc, uint32_t word);
-
-void tmc26_start(tmc26_t *tmc);
-
-void tmc26_update(tmc26_t *tmc);
-
-void tmc26_enable(tmc26_t *tmc);
-
-void tmc26_disable(tmc26_t *tmc);
-
-#endif /* TMC2660_H_ */
\ No newline at end of file
diff --git a/embedded/atkstepper23/atkstepper23/uartport.c b/embedded/atkstepper23/atkstepper23/uartport.c
deleted file mode 100644
index 8b51d63cb10a34774577d7b82e0f7937fcecd41e..0000000000000000000000000000000000000000
--- a/embedded/atkstepper23/atkstepper23/uartport.c
+++ /dev/null
@@ -1,70 +0,0 @@
-/*
- * uartport.c
- *
- * Created: 6/18/2018 12:12:32 PM
- * Author: Jake
- */
-
-#include "uartport.h"
-#include "hardware.h"
-
-void uart_init(uartport_t *up, USART_t *uart, PORT_t *port, uint8_t pinRX_bm, uint8_t pinTX_bm, ringbuffer_t *rbrx, ringbuffer_t *rbtx, pin_t *stlrx, pin_t *stltx){
- up->uart = uart;
- up->port = port;
- up->pinRX_bm = pinRX_bm;
- up->pinTX_bm = pinTX_bm;
- up->rbrx = rbrx;
- up->rbtx = rbtx;
- up->stlrx = stlrx;
- up->stltx = stltx;
-}
-
-void uart_start(uartport_t *up, uint8_t BAUDA, uint8_t BAUDB){
- up->uart->BAUDCTRLA = BAUDA;
- up->uart->BAUDCTRLB = BAUDB;
-
- up->uart->CTRLA |= USART_RXCINTLVL_MED_gc | USART_TXCINTLVL_OFF_gc | USART_DREINTLVL_OFF_gc;
-
- up->uart->CTRLB = USART_TXEN_bm | USART_RXEN_bm;
-
- // should try that parity
- up->uart->CTRLC = USART_CMODE_ASYNCHRONOUS_gc | USART_PMODE_DISABLED_gc | USART_CHSIZE_8BIT_gc;
-
- up->port->DIRCLR = up->pinRX_bm;
- up->port->DIRSET = up->pinTX_bm;
-
- pin_set(up->stlrx);
- pin_set(up->stltx);
-}
-
-void uart_sendchar_polled(uartport_t *up, uint8_t data){
- while(!(up->uart->STATUS & USART_DREIF_bm));
- up->uart->DATA = data;
-}
-
-void uart_sendchar_buffered(uartport_t *up, uint8_t data){
- rb_putchar(up->rbtx, data);
- pin_clear(up->stltx);
- up->uart->CTRLA |= USART_DREINTLVL_MED_gc;
-}
-
-void uart_sendchars_buffered(uartport_t *up, uint8_t *data, uint8_t length){
- rb_putdata(up->rbtx, data, length);
- pin_clear(up->stltx);
- up->uart->CTRLA |= USART_DREINTLVL_MED_gc;
-}
-
-void uart_rxhandler(uartport_t *up){
- uint8_t data = up->uart->DATA;
- rb_putchar(up->rbrx, data);
- pin_clear(up->stlrx);
-}
-
-void uart_txhandler(uartport_t *up){
- if(!rb_empty(up->rbtx)){
- up->uart->DATA = rb_get(up->rbtx);
- } else {
- up->uart->CTRLA = USART_DREINTLVL_OFF_gc | USART_RXCINTLVL_MED_gc;
- pin_set(up->stltx);
- }
-}
\ No newline at end of file
diff --git a/embedded/atkstepper23/atkstepper23/uartport.h b/embedded/atkstepper23/atkstepper23/uartport.h
deleted file mode 100644
index 72fa539b121a11546dddae9a76892d4ad2ef0315..0000000000000000000000000000000000000000
--- a/embedded/atkstepper23/atkstepper23/uartport.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/*
- * uartport.h
- *
- * Created: 6/18/2018 12:12:43 PM
- * Author: Jake
- */
-
-
-#ifndef UARTPORT_H_
-#define UARTPORT_H_
-
-#include "avr/io.h"
-#include "ringbuffer.h"
-#include "pin.h"
-
-typedef struct{
- USART_t *uart;
- PORT_t *port;
-
- uint8_t pinRX_bm;
- uint8_t pinTX_bm;
-
- ringbuffer_t *rbrx;
- ringbuffer_t *rbtx;
-
- pin_t *stlrx;
- pin_t *stltx;
-
-}uartport_t;
-
-void uart_init(uartport_t *up, USART_t *uart, PORT_t *port, uint8_t pinRX_bm, uint8_t pinTX_bm, ringbuffer_t *rbrx, ringbuffer_t *rbtx, pin_t *stlrx, pin_t *stltx);
-
-void uart_start(uartport_t *up, uint8_t BAUDA, uint8_t BAUDB);
-
-void uart_sendchar_polled(uartport_t *up, uint8_t data);
-void uart_sendchar_buffered(uartport_t *up, uint8_t data);
-void uart_sendchars_buffered(uartport_t *up, uint8_t *data, uint8_t length);
-
-void uart_rxhandler(uartport_t *up);
-void uart_txhandler(uartport_t *up);
-
-#endif /* UARTPORT_H_ */
\ No newline at end of file
diff --git a/embedded/mkstepper-v011-incl-all.zip b/embedded/mkstepper-v011-incl-all.zip
deleted file mode 100644
index f2a423103e7e4317d9ec06af23d8351cb9b8b2f9..0000000000000000000000000000000000000000
Binary files a/embedded/mkstepper-v011-incl-all.zip and /dev/null differ
diff --git a/embedded/mkstepper-v011.md b/embedded/mkstepper-v011.md
new file mode 100644
index 0000000000000000000000000000000000000000..6a35f85ba43ee937e359771fdbcb7ce117066f49
--- /dev/null
+++ b/embedded/mkstepper-v011.md
@@ -0,0 +1,545 @@
+# MK Stepper Embedded Doc
+
+My goal is to
+ - verify that I can communicate over both UART ports to the board
+ - now, wrap gpio and uart in tiny packages
+ - verify that I can speak SPI to the TMC2660, maybe the AS5147D.
+ - then, wrap spi into a package
+ - fiddle through tmc2660 config and send some steps
+ - send a key:value to the board that is a 'step command' - a # of steps to take over a timespan, and setup a queue of these
+
+## Ring Testing the ATSAMD51
+
+OK, first I setup the systick timer to fire every 500 cycles. This is handy - I use the interrupt to toggle a pin, then I can get a rough estimate of where the main clock is running.
+
+```C
+int main(void)
+{
+ /* Initialize the SAM system */
+ SystemInit();
+
+ // setup blinking
+
+ PORT->Group[1].DIRSET.reg |= (uint32_t)(1 << 13);
+ PORT->Group[1].DIRSET.reg |= (uint32_t)(1 << 14);
+ PORT->Group[1].OUTSET.reg |= (uint32_t)(1 << 13);
+ PORT->Group[1].OUTSET.reg |= (uint32_t)(1 << 14);
+
+ // setup ring
+
+ PORT->Group[1].DIRSET.reg |= (uint32_t)(1 << 2);
+ PORT->Group[1].OUTSET.reg |= (uint32_t)(1 << 2);
+
+ PORT->Group[1].DIRCLR.reg = (uint32_t)(1 << 3);
+ PORT->Group[1].PINCFG[3].reg |= PORT_PINCFG_INEN;
+ PORT->Group[1].PINCFG[3].reg &= ~PORT_PINCFG_PULLEN;
+
+ SysTick_Config(500);
+
+ while (1)
+ {
+
+ }
+}
+
+void SysTick_Handler(void){
+ PORT->Group[1].OUTTGL.reg = (uint32_t)(1 << 2);
+ PORT->Group[1].OUTTGL.reg = (uint32_t)(1 << 14); // blink STLB
+}
+```
+
+I see 48kHz on the scope, and I know I've got a 1000x multiplier on that wave (as the scope is counting positive clock edges only, the toggle does postive-to-negative etc). So these chips set up to run at 48MHz unless we tell them otherwise. Let's try that. I'm following adafruit's bootloader code, mostly.
+
+Also, [this](https://github.com/ataradov/mcu-starter-projects/blob/master/samd21/hal_gpio.h) was nice GPIO reference for the structures used in the ATSAMD series (21 and 51).
+
+OK, this clock is baffling me. I'm trapped at 48MHz ... going to move on for now. Somehow I want to set up the DFLL (digital frequency locked loop .. ?) to run on the 32.768kHz xtal (as a reference) with a big ol' multiplier to bring it up to 120MHz. To be honest I'm not really sure if even this is correct.
+
+In any case, here's some code for a ring test, for when I get the clock sorted. On a 48MHz clock it runs at 1.6MHz. Uses the setup above...
+
+```C
+ while (1)
+ {
+ //PORT->Group[1].OUTTGL.reg = (uint32_t)(1 << 2);
+ if(PORT->Group[1].IN.reg & (1 << 3)){
+ PORT->Group[1].OUTCLR.reg = (uint32_t)(1 << 2);
+ } else {
+ PORT->Group[1].OUTSET.reg = (uint32_t)(1 << 2);
+ }
+ }
+```
+
+## USART on the ATSAMD51
+
+Altogether more registers than I'd like to manage, but here we are.
+
+```C
+
+int main(void)
+{
+ /* Initialize the SAM system */
+ SystemInit();
+
+ //clock_init();
+
+ /*setup blinking
+ STLR PB13
+ STLB PB14
+ */
+ PORT->Group[1].DIRSET.reg |= (uint32_t)(1 << 13);
+ PORT->Group[1].DIRSET.reg |= (uint32_t)(1 << 14);
+ PORT->Group[1].OUTSET.reg |= (uint32_t)(1 << 13);
+ PORT->Group[1].OUTSET.reg |= (uint32_t)(1 << 14);
+
+ SysTick_Config(5000000);
+
+ /* setup UARTs
+ NP1RX PA12 / SER4-1
+ NP1TX PA13 / SER4-0
+
+ NP2RX PB03 / SER5-1 / Peripheral D
+ NP2TX PB02 / SER5-0 / Peripheral D
+ */
+
+ // setup pins for peripheral
+ PORT->Group[1].DIRCLR.reg = (uint32_t)(1 << 3); // rx is input
+ PORT->Group[1].DIRSET.reg = (uint32_t)(1 << 2); // tx output
+ PORT->Group[1].PINCFG[3].bit.PMUXEN = 1;
+ PORT->Group[1].PMUX[3>>1].reg |= PORT_PMUX_PMUXE(0x3);
+ PORT->Group[1].PMUX[3>>3].reg |= PORT_PMUX_PMUXO(0x3);
+ PORT->Group[1].PINCFG[2].bit.PMUXEN = 1;
+ PORT->Group[1].PMUX[2>>1].reg |= PORT_PMUX_PMUXE(0x3);
+ PORT->Group[1].PMUX[2>>3].reg |= PORT_PMUX_PMUXO(0x3);
+ // unmask clocks
+ MCLK->APBDMASK.reg |= MCLK_APBDMASK_SERCOM5;
+ // generate clocks to, starting with clock 6 (arbitrary choice, lower # held for system things)
+ // datasheet says normally one gclk per peripheral shrugman knows why
+ GCLK->GENCTRL[6].reg = GCLK_GENCTRL_SRC(GCLK_GENCTRL_SRC_DFLL) | GCLK_GENCTRL_GENEN;
+ while(GCLK->SYNCBUSY.reg & GCLK_SYNCBUSY_GENCTRL6);
+ GCLK->PCHCTRL[SERCOM5_GCLK_ID_CORE].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN_GCLK6;
+ // now the sercom
+ while(SERCOM5->USART.SYNCBUSY.bit.ENABLE);
+ SERCOM5->USART.CTRLA.bit.ENABLE = 0;
+ while(SERCOM5->USART.SYNCBUSY.bit.SWRST);
+ SERCOM5->USART.CTRLA.bit.SWRST = 1;
+ while(SERCOM5->USART.SYNCBUSY.bit.SWRST);
+ while(SERCOM5->USART.SYNCBUSY.bit.SWRST || SERCOM5->USART.SYNCBUSY.bit.ENABLE);
+ // now reset and ready, do config
+ SERCOM5->USART.CTRLA.reg = SERCOM_USART_CTRLA_MODE(1) | SERCOM_USART_CTRLA_DORD | SERCOM_USART_CTRLA_RXPO(1) | SERCOM_USART_CTRLA_TXPO(0);
+ while(SERCOM5->USART.SYNCBUSY.bit.CTRLB);
+ SERCOM5->USART.CTRLB.reg = SERCOM_USART_CTRLB_RXEN | SERCOM_USART_CTRLB_TXEN | SERCOM_USART_CTRLB_CHSIZE(0);
+ /*
+ BAUD = 65536*(1-S*(fBAUD/fref))
+ where S is samples per bit, 16 for async uart
+ where fBAUD is the rate that you want
+ where fref is the peripheral clock from GCLK, in this case (and most) 48MHz
+ */
+ SERCOM5->USART.BAUD.reg = 45402;
+ while(SERCOM5->USART.SYNCBUSY.bit.ENABLE);
+ SERCOM5->USART.CTRLA.bit.ENABLE = 1;
+
+
+ while (1)
+ {
+ while(!SERCOM5->USART.INTFLAG.bit.DRE);
+ SERCOM5->USART.DATA.reg = (uint8_t)170;
+ }
+}
+
+void SysTick_Handler(void){
+ PORT->Group[1].OUTTGL.reg = (uint32_t)(1 << 14); // blink STLB
+}
+```
+
+## Interrupts on the ATSAMD51
+
+To configure an interrupt on the ATSAMD51, roughly, we do this:
+
+```C
+
+int main(void){
+
+ __enable_irq(); // globally enables the NVIC
+
+ // turns on a particular 'irq line' or 'irq number'
+ // for example, in the SERCOM->UART section of the datasheet,
+ // see 34.8.8 - the interrupt 'flag' sections. these are analagous to 'line numbers'
+ // and are linked to 'interrupt numbers' per 10.2.2
+ NVIC_EnableIRQ(SERCOM4_2_IRQn);
+}
+
+// we can then handle the interrupt:
+
+void SERCOM4_2_Handler(void){
+ // we must clear the flag, often this is done by reading the flag register, like this:
+ // SERCOM4->USART->INTFLAG.bit.RXC = 1; // odd, writing '1' is normally the way to clear it
+ // however, for this particular register, we read the data from the peripheral to clear the interrupt.
+ uint8_t data = SERCOM4->USART.DATA.reg;
+ pin_clear(&stlr); // indicate
+ // then we would presumably do something
+}
+
+```
+
+TODO: make ATSAMD51 doc page for all of this bringup !
+
+## Async-happy USART
+
+To handle USART on these systems, I implement a (hopefully) bulletproof and interrupt-friendly architecture.
+
+TX and RX both have interrupt handlers - the RX dumps bytes into a ringbuffer for the application to poll later on (polling the ringbuffer, not the UART hardware) and the TX buffer is set up so that the application can dump a block of bytes into the transmitter at once, without waiting for anything to transmit.
+
+```C
+
+int main(void)
+{
+ /* Initialize the SAM system */
+ SystemInit();
+ SysTick_Config(5000000);
+
+ //clock_init();
+
+ // lights
+
+ stlb = pin_new(&PORT->Group[1], 14);
+ pin_output(&stlb);
+ pin_set(&stlb);
+ stlr = pin_new(&PORT->Group[1], 13);
+ pin_output(&stlr);
+ pin_set(&stlr);
+
+ // ready interrupt system
+ __enable_irq();
+ NVIC_EnableIRQ(SERCOM4_0_IRQn); //up1tx
+ NVIC_EnableIRQ(SERCOM4_2_IRQn); //up1rx
+ NVIC_EnableIRQ(SERCOM5_0_IRQn);
+ NVIC_EnableIRQ(SERCOM5_2_IRQn);
+
+ // ringbuffers (for uart ports)
+ rb_init(&up1_rbrx);
+ rb_init(&up1_rbtx);
+ rb_init(&up2_rbrx);
+ rb_init(&up2_rbtx);
+
+ // uarts (ports)
+ // TODO: have used PMUXO and PMUXE incorrectly: only set one of these, based on whether / not pin is even / odd !
+
+ up1 = uart_new(SERCOM4, &PORT->Group[0], &up1_rbrx, &up1_rbtx, 12, 13, HARDWARE_IS_APBD, HARDWARE_ON_PERIPHERAL_D);
+ MCLK->APBDMASK.reg |= MCLK_APBDMASK_SERCOM4;
+ uart_init(&up1, 6, SERCOM4_GCLK_ID_CORE, 63018); // baud: 45402 for 921600, 63018 for 115200
+ up2 = uart_new(SERCOM5, &PORT->Group[1], &up2_rbrx, &up2_rbtx, 3, 2, HARDWARE_IS_APBD, HARDWARE_ON_PERIPHERAL_D);
+ MCLK->APBDMASK.reg |= MCLK_APBDMASK_SERCOM5;
+ uart_init(&up2, 7, SERCOM5_GCLK_ID_CORE, 63018);
+
+
+ // SPI
+ // TMC_MOSI PA07 / SER0-3
+ // TMC_MISO PA04 / SER0-0
+ // TMC_SCK PA05 / SER0-1
+ // TMC_CSN PA06 / SER0-2
+
+ // spi
+ spi_tmc = spi_new(SERCOM0, &PORT->Group[0], 4, 7, 5, 6, HARDWARE_IS_APBA, HARDWARE_ON_PERIPHERAL_D);
+ MCLK->APBAMASK.reg |= MCLK_APBAMASK_SERCOM0;
+ spi_init(&spi_tmc, 8, SERCOM0_GCLK_ID_CORE, 126, 0, 2);
+
+ // -> DO SPI, talk to the TMC !
+
+ while (1)
+ {
+ // spi_txchar_polled(&spitmc, 'x');
+ // find TMC registers now, try to read!
+
+ }
+}
+
+void SysTick_Handler(void){
+ pin_toggle(&stlb);
+ while(!rb_empty(up1.rbrx)){
+ uart_sendchar_buffered(&up1, rb_get(up1.rbrx));
+ }
+}
+
+void SERCOM4_0_Handler(void){
+ uart_txhandler(&up1);
+}
+
+void SERCOM4_2_Handler(void){
+ uart_rxhandler(&up1);
+}
+
+void SERCOM5_0_Handler(void){
+ uart_txhandler(&up2);
+}
+
+void SERCOM5_2_Handler(void){
+ uart_rxhandler(&up2);
+}
+```
+
+and
+
+```C
+
+void uart_sendchar_polled(uartport_t *uart, uint8_t data){
+ while(!uart->com->USART.INTFLAG.bit.DRE);
+ uart->com->USART.DATA.reg = data;
+}
+
+void uart_sendchar_buffered(uartport_t *uart, uint8_t data){
+ rb_putchar(uart->rbtx, data); // dump it in there
+ uart->com->USART.INTENSET.bit.DRE = 1; // set up the volley
+}
+
+void uart_rxhandler(uartport_t *uart){
+ uint8_t data = uart->com->USART.DATA.reg;
+ rb_putchar(uart->rbrx, data);
+}
+
+void uart_txhandler(uartport_t *uart){
+ if(!rb_empty(uart->rbtx)){
+ uart->com->USART.DATA.reg = rb_get(uart->rbtx);
+ } else {
+ uart->com->USART.INTENCLR.reg = SERCOM_USART_INTENCLR_DRE;
+ }
+}
+```
+
+## Trinamic Bit-Fiddling
+
+Next I'm going to try to get some steps to happen. I guess we're ready for this!
+
+I found [this](https://github.com/trinamic/TMC26XStepper) library, which will save me from re-writing all of the registers and addresses. Bless.
+
+SPI commands and responses are all 20-bits long. Each 20-bit command is met with a 20-bit status word. Those 20-bit 'commands' are registers - the first three bits of each word denote the address of which register we are re-writing. This means that we have to keep track of each entire register-state in the microcontroller, or should.
+
+Most likely, operation will consist of starting up with sending all 5 registers sequentially in the setup config, and then occasionally polling one to get the response (which, it looks like, contains useful things like relative loads!).
+
+Later on, when I try to make a closed loop stepper with the AS5147, I'll be writing coil currents directly into these registers (I think?) to commutate the motor based on encoder input and a tiny PID loop. That, later - but for now I see that in the DRVCTRL register has two 8-bit words for Current in A and Current in B. Noice.
+
+Another thing I like is that I can set both step edges to signify a step. Normally, step drivers have a 'minimum on time' and only count the positive edge, so the microcode has to do a tiny wait (normally not long enough to warrant an interrupt-to-turn-off). This way I'll just toggle the step pin whenever I want to step, and I can forget about it.
+
+So, first I'll try to figure out how to send a 20-bit word with the SPI peripheral, and verify that I get any kind of response from the TMC.
+
+The ATSAMD51 only allows an 8, 9, or 32 bit word, so 32 it is - I'll just keep the last 12 set to 0 and hope that suffices.
+
+OK, here's a classic debugging moment: I take ~45 minutes (or was it two hours? would rather not count) trying to get my SPI setup correctly. Nothing returns. Welp. I pull my hair out. I take a break, decide to plug in some motor power, because why not? Of course, now, data returns. Heck.
+
+To solve that 20-bit word problem, I'm taking over manual control of the chip select pin, issuing 3 8-bit words (which I'll have to bit-splice myself) and then sending those on one CSN low cycle.
+
+Great, now we unfux the hacked together code, and try to send some data, then some steps, I guess?
+
+I think I'm actually going to try writing this library from the datasheet. Let's see how that goes.
+
+OK, great news. This morning Will and Sam reminded me that I can just write binary with the prefix '0b' and GCC will make bits out of that. How wonderful. Here's my TMC setup:
+
+```C
+/*
+ * tmc2660.c
+ *
+ * Created: 2/7/2018 10:17:39 PM
+ * Author: Jake
+ */
+
+#include "tmc2660.h"
+
+tmc2260_t tmc2660_new(spiport_t *spi, pin_t *step, pin_t *dir, pin_t *en, pin_t *sg){
+ tmc2260_t tmc;
+
+ tmc.spi = spi;
+ tmc.step_pin = step;
+ tmc.dir_pin = dir;
+ tmc.en_pin = en;
+ tmc.sg_pin = sg;
+
+ return tmc;
+}
+
+void tmc2660_write(tmc2260_t *tmc, uint32_t word){
+ // takes a 20-bit TMC ready word and writes it on the SPI port, using three 8-bit words
+ //word = word << 4; // go left for 4 empty bits at the end of byte 3 (20 not 24 bit word)
+ uint8_t bytes[3];
+ bytes[0] = word >> 16 | 0b11110000; // top 4 & mask for visibility
+ bytes[1] = word >> 8; // middle 8
+ bytes[2] = word; // last 4 and 0's
+ spi_txchars_polled(tmc->spi, bytes, 3);
+}
+
+void tmc2660_init(tmc2260_t *tmc){
+ // address, slope control hi and lo to minimum, short to ground protection on, short to gnd timer 3.2us,
+ // enable step/dir, sense resistor full scale current voltage is 0.305mv, readback stallguard2 data, reserved
+ uint32_t drvconf = 0b11100000000000010000;
+ tmc2660_write(tmc, drvconf);
+
+ // address, sgfilt off, threshold value, current scaling (5-bit value appended)
+ uint32_t sgthresh_mask = 0b00000111111100000000;
+ int32_t sgthres_val = 60;
+ uint32_t cscale_mask = 0b00000000000000011111;
+ uint32_t cscale_val = 12;
+ uint32_t sgcsconf = 0b11010000000000000000 | ((sgthres_val << 8) & sgthresh_mask) | (cscale_val & cscale_mask);
+ tmc2660_write(tmc, sgcsconf);
+
+ // turning coolstep off
+ uint32_t smarten = 0b10100000000000000000;
+ tmc2660_write(tmc, smarten);
+
+ // times, delays, cycle mode
+ uint32_t chopconf = 0b10010010100000010111;
+ tmc2660_write(tmc, chopconf);
+
+ // 9th bit is intpol, 8th is dedge, last 4 are microstepping
+ uint32_t drvctrl = 0b00000000000100000001;
+ tmc2660_write(tmc, drvctrl);
+}
+
+
+void tmc2660_update(tmc2260_t *tmc){
+ uint32_t smarten = 0b10100000000000000000;
+ tmc2660_write(tmc, smarten);
+}
+```
+
+Here's a capture from the logic analyzer, from boot. I write 5 addresses with the settings above (init) and then I'm polling the driver periodically for stallguard data, by just re-writing a register (I'm re-writing the smarten register, because it's disabled and so I feel safer about not accidentally changing anything).
+
+
+
+It took me a minute to figure out how to properly align the 20-bit word within three 8-bit bytes that the SPI peripheral on the ATSAMD51 can handle. There's also a 32 bit extension, which it might make sense to write to, instead. ~ or ~ use a buffer and txinterrupt to fire the series of bytes away. At the moment, I'm polling that flag (txready) before each new byte, meaning when I send a register the processor is waiting around until they're all on the line, and this is non-ideal. However, I was able to push the SPI speed up to 6.25MBPS, so the wait is only 5us (for one register). That's OK.
+
+
+
+I'm running at 0.8A current and everything is nice and cool. When I drive this up to 1.9A, things start to heat up. Next time I draw the board I can likely do a bit better at dissipating heat - a bit helpful step would be to bring the copper thickness past 1oz, that way I can comfortably drive NEMA23s. What would be cooler (haha) would be a little bit of implementation on the coolStep feature, which intelligently sets current in a closed-loop manner, while watching the stallGuard setting - that all happens in the TMC.
+
+The driver's not dead silent, but I expect if I were to play with the settings it might get better. It's certainly better than most drivers I've used.
+
+# Step Timing
+
+In any case! Towards making these kits of parts do CNC things, I want to be able to send commands to this board like "go x steps at y speed" - with a buffer of these commands, I should be able to successfully sync network steppers in a motion control application. There will of course be the tricky problem of synchronization (!) and to be honest I don't have a good plan for that yet.
+
+Pending success today on 'x steps at y speed' - or maybe better is to do 'x steps over y time' - same thing really, but the latter logic probably better for whatever is upstream, breaking motion into discrete chunks of time before networking them - I can spend some time tomorrow at drafting that architecture.
+
+OK, so. Lit review. AKA asking Sam, Will, and looking at other step-motion-controller softwares online. I'm familiar with Smoothie and Marlin.
+
+I believe most people do this with timers or 'tickers' that run around 1kHz to periodically check and step-or-not-step based on elapsed time, steps left, etc. First thing would be to write a quick table to check how often I'll have to do this in order to reliably step at certain speeds, with this gnarly 128 or 256 microstepping in the TMC.
+
+Looks like this needs to be pretty fast. In retrospect, that 1kHz ticker I was thinking about was running an acceleration update loop. The actual step ticker has to be much faster ... for 200RPM (which does about 190mm/s on an 18mm diameter pulley) while driving 64 microsteps (more than enough) we have a 43kHz tick. So I'll be writing a ~ 10us ticker, I think. Not unreasonable in microcontroller land.
+
+## Planning
+
+What's the rest of the plan? I'll need a timer, for sure. I want to run that on the real-time clock and use the kHz crystal I put on the board for that.
+
+Let's see - there's kind of a lot of different ways to do this. Basically, we are just changing position at set time. Forgive me for getting undergraduate here. My intuition is to make this really simple: we track position, and tell each motor to go to positions at certain times. On the next level up, we do acceleration planning. This would require sending messages across the network at around 1kHz, probably more.
+
+Maybe a better way is for each block to have an 'end of block' speed and position - and the motors are responsible for ramping up or down over the course of a segment. Then we set two timers: one to check steps to be made against a speed, one to check if the speed needs to be updated. But I'll need to do some head-scratching to figure how to make all of those ends meet: get here at this time and be doing this speed at the end. Feels over-constrained.
+
+Actually I think this is ideal, on the D-t chart I'm sending commands to get to a point with the curve having a particular slope at that point. I'm drawing bezier type curves that inform a point-to-point S-t chart:
+
+
+
+Or is this naive? It is: the S-t points integrate into the P-t points, so by adding the tangent to the P-t information I'm over-constraining the solution for S-t. However, I should be able to decouple those things in whatever planning-level maths I'm doing, and reliably send 'ramp linear to be at this speed at this time' - trouble is that then I'm in time-series, and have to count on the last steps integrating properly into position. Hmmmm.
+
+So if I send the over-constrained information, I can let the stepper motor error correct by adding some juice of its own, or taking some away, over the time of the block:
+
+
+
+So we end up doing error correction on the 3rd order for acceleration on the 2nd order. Sounds like I might be making this into a more-complicated-than-it-need-be exercise. Rather than trying to add that next bezier, juts do this: add a point, midpoint to current S-t plan, such that the integral matches. Low cpu overhead, good little error correction, still get to feel secure about positioning, while maintaining the ability to do networked acceleration without flooding hella position messages.
+
+
+
+I can check for bounds: like that mid-point (or any combination thereof) driving the acceleration past some max, or I can just count on the controller one level up being a benevolent / brilliant overlord, and go for gold no matter the circumstance.
+
+Cornering, etc, is actually kind of interesting. See [this note on 'junction deviation'](https://onehossshay.wordpress.com/2011/09/24/improving_grbl_cornering_algorithm/) from the Grbl squad.
+
+So, here's the plan:
+ - get command (although this was a nice discussion, to implement with speed I'm going to take the input 'go, for this speed, for this duration' first)
+ - update parameters for loops: current speed (defining an integral to check against) and block start time.
+ - build a fast realtime timer to run both of these things,
+ - one interrupt updates the time value, an overflowing 32bit integer?
+ - one interrupt runs the ticker, checking:
+ - do we need to make a step? if yes, do, and update position
+ - is the block over? ok.
+
+OK, ENOUGH CHAT amirite? Let's get down to bones and write a timer.
+
+## Timers and Interrupts
+
+My first sad discovery is that with a 32.768kHz clock source for the Real Time Counter, the best I can do is 30us clock intervals. I should have known! haha. I would like to run the time-incrementing on this clock. I can either run a faster timer and then try to calibrate / sync them ... sounds tricky. Or I can just use a faster clock and commit to putting a reliable crystal on the next board, for ~12MHz source (which I'm still struggling to figure out how to make this chip actually chooch at 150MHz?).
+
+I can alternately just run the step ticker at 30us.
+
+In either case, I'm not making any progress just sitting here.
+
+OK: for speed I'm going to use the SysTick timer to do time counting (i.e updating a micros() type function) and then drive another timer at 10us or so to check for steps.
+
+Here's some code that's working. I originally tried this with a 16 bit timer, to no luck, and I have no idea why.
+
+```C
+
+// from MAIN:
+ // Timers: in 32 bit mode we pair two - obscure datasheet reading later, they pair in a predefined way: 0 with 1...
+ // a word of warning: with the same code, a 16-bit timer was not working. I am mystified.
+ TC0->COUNT32.CTRLA.bit.ENABLE = 0;
+ TC1->COUNT32.CTRLA.bit.ENABLE = 0;
+ // unmask clocks
+ MCLK->APBAMASK.reg |= MCLK_APBAMASK_TC0 | MCLK_APBAMASK_TC1; // at 15.8.9
+ // generate a gclk
+ GCLK->GENCTRL[10].reg = GCLK_GENCTRL_SRC(GCLK_GENCTRL_SRC_DFLL) | GCLK_GENCTRL_GENEN;
+ while(GCLK->SYNCBUSY.reg & GCLK_SYNCBUSY_GENCTRL(10));
+ // ship gclk to their channels
+ GCLK->PCHCTRL[TC0_GCLK_ID].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN(10);
+ GCLK->PCHCTRL[TC1_GCLK_ID].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN(10);
+ // turn on in mode, presync
+ TC0->COUNT32.CTRLA.reg = TC_CTRLA_MODE_COUNT32 | TC_CTRLA_PRESCSYNC_PRESC;
+ TC1->COUNT32.CTRLA.reg = TC_CTRLA_MODE_COUNT32 | TC_CTRLA_PRESCSYNC_PRESC;
+ // allow interrupt to trigger on this event (overflow)
+ TC0->COUNT32.INTENSET.bit.OVF = 1;
+ // enable, sync for enable write
+ TC0->COUNT32.CTRLA.bit.ENABLE = 1;
+ while(TC0->COUNT32.SYNCBUSY.bit.ENABLE);
+ TC1->COUNT32.CTRLA.bit.ENABLE = 1;
+ while(TC0->COUNT32.SYNCBUSY.bit.ENABLE);
+ // counter is there, can read COUNT, it's not updating, so a clock is probably off.
+
+// and later, to read COUNT and send to UART
+
+void SysTick_Handler(void){
+ lpcnt ++;
+ pin_toggle(&stlb);
+ /*
+ while(!rb_empty(up1.rbrx)){
+ uart_sendchar_buffered(&up1, rb_get(up1.rbrx));
+ }
+ */
+ TC0->COUNT32.CTRLBSET.reg = TCC_CTRLBSET_CMD_READSYNC;
+ uint32_t thecount = TC0->COUNT32.COUNT.reg;
+ uint8_t onemicro = thecount;
+ uint8_t twomicro = thecount >> 8;
+ uint8_t threemicro = thecount >> 16;
+ uint8_t fourmicro = thecount >> 24;
+ uart_sendchar_buffered(&up1, onemicro);
+ uart_sendchar_buffered(&up1, twomicro);
+ uart_sendchar_buffered(&up1, threemicro);
+ uart_sendchar_buffered(&up1, fourmicro);
+
+ uart_sendchar_buffered(&up1, lpcnt);
+ uint8_t stop = TC1->COUNT8.STATUS.bit.STOP;
+ uart_sendchar_buffered(&up1, stop);
+}
+```
+
+OK, this is done now - both timers, and a step to position @ speed command. Next is networks for this board.
+
+## Network Code
+
+Packet Handling and Passing, oh my!
+
+I'll take most of this from the code I've already written for the Router.
+
+Done that, just have to debug one apaport and get the lights a flashing. I think this project should be the major touchstone for network code / all around infrastructure as it'll probably get the most love.
+
+## Step Linking and Acceleration
+
+So, I want to be able to send the command:
+ - Start Speed : Steps to take : End Speed
+ - or Steps to Take : End Speed and assume link from last block
+And do linear interpretation.
+
+I should also, and as a starting exercise, re-write the relative speed and relative steps packet handlers to do ... relative, and real speeds in steps / s.
\ No newline at end of file
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