Commit c9c95ba7 authored by Jake Read's avatar Jake Read

add notes for new board

parent 65d9f07b
jake/
**.elf
**.hex
**.bin
**.lss
**.map
**.srec
**.o
**.d
**.DS_Store
**.b#*
**.s#*
**.atsuo
**/ASF/
js/node_modules/
sim/js_code.txt
sim/TinyNets/nbproject/
\ No newline at end of file
......@@ -186,17 +186,37 @@ Great Resource on ground planes - https://www.maximintegrated.com/en/app-notes/i
# Jake's Notes
- just on to powering up motor and then scoping current sense
- might want a bigger sense r, considering 0-5a not 0-10a
- spi pins are mostly off, probably a mistake in labelling uart / spi peripherals
- pc0 / in1
- pc1 / in2
- pc2 / nfault
- pc3 / nsleep
- pb0 / adc
- dump nsleep to hi to turn on,
- in1 pwm w/ in2 lo for one d
- in2 pwm w/ in1 lo for other direction
- when both hi, breaking
- when both lo, coasting
\ No newline at end of file
I modified *some* aspects of the board, and pinouts go through the [xmega motherboard](https://gitlab.cba.mit.edu/jakeread/motherboard-xmega).
Here are the pinouts as they stand:
**PB1:** The DRV8701's Sense Output (amplifier output)
**PB6:** DRV8701 NFault
**PB7:** DRV8701 SNSOut (logic / flag)
**PC4:** DRV8701 NSleep
**PC6:** IN1
**PC7:** IN2
**PD4:** PWM -> RC Filter -> DRV8701 VRef
**PE4:** Encoder (SPI) Chip Select
**PE5:** Encoder (SPI) Clock
**PE6:** Encoder (SPI) MISO
**PE7:** Encoder (SPI) MOSI
### RC Filter to VREF, and Chopping
There is an RC Filter in front of the DRV8701's VRef. I assumed we would run 100kHz pwm into this RC filter, to output analog voltages that the DRV8701 will use in it's comparator / chopper drive.
The R is 1kOhm and the C is 1uF, which *should* have a low-pass around 150kHz, but please check that I calculated that properly.
The datasheet includes a note on which VRef voltages will lead to which chopping currents based on the size of the sense resistor. I placed a 50mOhm resistor on the board, but this can change. It was the recommended value in the datasheet.
### The IDrive Pin
I have a 10kOhm resistor here, but I think it would 'properly' be 33kOhm. I think this will *increase* the drive current, which will just waste a little bit of energy, no worries.
### Sense Out
The DRV8701's Sense Amplifier output is still connected to PB1 to be read on the ADC.
\ No newline at end of file
This source diff could not be displayed because it is too large. You can view the blob instead.
This source diff could not be displayed because it is too large. You can view the blob instead.
This source diff could not be displayed because it is too large. You can view the blob instead.
This source diff could not be displayed because it is too large. You can view the blob instead.
This source diff could not be displayed because it is too large. You can view the blob instead.
This source diff could not be displayed because it is too large. You can view the blob instead.
This source diff could not be displayed because it is too large. You can view the blob instead.
This source diff could not be displayed because it is too large. You can view the blob instead.
<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE eagle SYSTEM "eagle.dtd">
<eagle version="9.2.2">
<drawing>
<settings>
<setting alwaysvectorfont="yes"/>
<setting verticaltext="up"/>
</settings>
<grid distance="0.1" unitdist="mm" unit="mm" style="lines" multiple="1" display="yes" altdistance="0.5" altunitdist="mm" altunit="mm"/>
<layers>
<layer number="1" name="Top" color="12" fill="1" visible="yes" active="yes"/>
<layer number="2" name="Route2" color="16" fill="1" visible="no" active="no"/>
<layer number="3" name="Route3" color="17" fill="1" visible="no" active="no"/>
<layer number="4" name="Route4" color="18" fill="1" visible="no" active="no"/>
<layer number="5" name="Route5" color="19" fill="1" visible="no" active="no"/>
<layer number="6" name="Route6" color="25" fill="1" visible="no" active="no"/>
<layer number="7" name="Route7" color="26" fill="1" visible="no" active="no"/>
<layer number="8" name="Route8" color="27" fill="1" visible="no" active="no"/>
<layer number="9" name="Route9" color="28" fill="1" visible="no" active="no"/>
<layer number="10" name="Route10" color="29" fill="1" visible="no" active="no"/>
<layer number="11" name="Route11" color="30" fill="1" visible="no" active="no"/>
<layer number="12" name="Route12" color="20" fill="1" visible="no" active="no"/>
<layer number="13" name="Route13" color="21" fill="1" visible="no" active="no"/>
<layer number="14" name="Route14" color="22" fill="1" visible="no" active="no"/>
<layer number="15" name="Route15" color="23" fill="1" 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"/>
<layer number="23" name="tOrigins" color="15" fill="1" visible="yes" active="yes"/>
<layer number="24" name="bOrigins" color="15" fill="1" visible="yes" active="yes"/>
<layer number="25" name="tNames" color="7" fill="1" visible="no" active="yes"/>
<layer number="26" name="bNames" color="7" fill="1" visible="no" active="yes"/>
<layer number="27" name="tValues" color="7" fill="1" visible="no" active="yes"/>
<layer number="28" name="bValues" color="7" fill="1" visible="no" active="yes"/>
<layer number="29" name="tStop" color="7" fill="3" visible="no" active="yes"/>
<layer number="30" name="bStop" color="7" fill="6" visible="no" active="yes"/>
<layer number="31" name="tCream" color="7" fill="4" visible="no" active="yes"/>
<layer number="32" name="bCream" color="7" fill="5" visible="no" active="yes"/>
<layer number="33" name="tFinish" color="6" fill="3" visible="no" active="yes"/>
<layer number="34" name="bFinish" color="6" fill="6" visible="no" active="yes"/>
<layer number="35" name="tGlue" color="7" fill="4" visible="no" active="yes"/>
<layer number="36" name="bGlue" color="7" fill="5" visible="no" active="yes"/>
<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"/>
<layer number="40" name="bKeepout" color="1" fill="11" visible="no" active="yes"/>
<layer number="41" name="tRestrict" color="4" fill="10" visible="no" active="yes"/>
<layer number="42" name="bRestrict" color="1" fill="10" visible="no" active="yes"/>
<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"/>
<layer number="46" name="Milling" color="3" fill="1" visible="no" active="yes"/>
<layer number="47" name="Measures" color="7" fill="1" visible="yes" active="yes"/>
<layer number="48" name="Document" color="7" fill="1" visible="yes" active="yes"/>
<layer number="49" name="Reference" color="7" fill="1" visible="no" active="yes"/>
<layer number="50" name="dxf" color="7" fill="1" visible="no" active="no"/>
<layer number="51" name="tDocu" color="7" fill="1" visible="no" active="yes"/>
<layer number="52" name="bDocu" color="7" fill="1" visible="yes" active="yes"/>
<layer number="53" name="tGND_GNDA" color="7" fill="9" visible="no" active="no"/>
<layer number="54" name="bGND_GNDA" color="1" fill="9" visible="no" active="no"/>
<layer number="56" name="wert" color="7" fill="1" visible="no" active="no"/>
<layer number="57" name="tCAD" color="7" fill="1" visible="no" active="no"/>
<layer number="59" name="tCarbon" color="7" fill="1" visible="no" active="no"/>
<layer number="60" name="bCarbon" color="7" fill="1" visible="no" active="no"/>
<layer number="88" name="SimResults" color="9" fill="1" visible="no" active="no"/>
<layer number="89" name="SimProbes" color="9" fill="1" visible="no" active="no"/>
<layer number="90" name="Modules" color="5" fill="1" visible="no" active="no"/>
<layer number="91" name="Nets" color="2" fill="1" visible="no" active="no"/>
<layer number="92" name="Busses" color="1" fill="1" visible="no" active="no"/>
<layer number="93" name="Pins" color="2" fill="1" visible="no" active="no"/>
<layer number="94" name="Symbols" color="4" fill="1" visible="no" active="no"/>
<layer number="95" name="Names" color="7" fill="1" visible="no" active="no"/>
<layer number="96" name="Values" color="7" fill="1" visible="no" active="no"/>
<layer number="97" name="Info" color="7" fill="1" visible="no" active="no"/>
<layer number="98" name="Guide" color="6" fill="1" visible="no" active="no"/>
<layer number="99" name="SpiceOrder" color="7" fill="1" visible="no" active="no"/>
<layer number="100" name="Muster" color="7" fill="1" visible="no" active="no"/>
<layer number="101" name="Patch_Top" color="12" fill="4" visible="no" active="yes"/>
<layer number="102" name="Vscore" color="7" fill="1" visible="no" active="yes"/>
<layer number="103" name="tMap" color="7" fill="1" visible="no" active="yes"/>
<layer number="104" name="Name" color="16" fill="1" visible="no" active="yes"/>
<layer number="105" name="tPlate" color="7" fill="1" visible="no" active="yes"/>
<layer number="106" name="bPlate" color="7" fill="1" visible="no" active="yes"/>
<layer number="107" name="Crop" color="7" fill="1" visible="no" active="yes"/>
<layer number="108" name="tplace-old" color="10" fill="1" visible="no" active="yes"/>
<layer number="109" name="ref-old" color="11" fill="1" visible="no" active="yes"/>
<layer number="110" name="fp0" color="7" fill="1" visible="no" active="yes"/>
<layer number="111" name="LPC17xx" color="7" fill="1" visible="no" active="yes"/>
<layer number="112" name="tSilk" color="7" fill="1" visible="no" active="yes"/>
<layer number="113" name="IDFDebug" color="4" fill="1" visible="no" active="yes"/>
<layer number="114" name="Badge_Outline" color="7" fill="1" visible="no" active="yes"/>
<layer number="115" name="ReferenceISLANDS" color="7" fill="1" visible="no" active="yes"/>
<layer number="116" name="Patch_BOT" color="9" fill="4" visible="no" active="yes"/>
<layer number="117" name="BACKMAAT1" color="7" fill="1" visible="no" active="yes"/>
<layer number="118" name="Rect_Pads" color="7" fill="1" visible="no" active="yes"/>
<layer number="119" name="KAP_TEKEN" color="7" fill="1" visible="no" active="yes"/>
<layer number="120" name="KAP_MAAT1" color="7" fill="1" visible="no" active="yes"/>
<layer number="121" name="_tsilk" color="7" fill="1" visible="no" active="yes"/>
<layer number="122" name="_bsilk" color="7" fill="1" visible="no" active="yes"/>
<layer number="123" name="tTestmark" color="7" fill="1" visible="no" active="yes"/>
<layer number="124" name="bTestmark" color="7" fill="1" visible="no" active="yes"/>
<layer number="125" name="_tNames" color="7" fill="1" visible="no" active="yes"/>
<layer number="126" name="_bNames" color="7" fill="1" visible="no" active="yes"/>
<layer number="127" name="_tValues" color="7" fill="1" visible="no" active="yes"/>
<layer number="128" name="_bValues" color="7" fill="1" visible="no" active="yes"/>
<layer number="129" name="Mask" color="7" fill="1" visible="no" active="yes"/>
<layer number="130" name="SMDSTROOK" color="7" fill="1" visible="no" active="yes"/>
<layer number="131" name="tAdjust" color="7" fill="1" visible="no" active="yes"/>
<layer number="132" name="bAdjust" color="7" fill="1" visible="no" active="yes"/>
<layer number="133" name="bottom_silk" color="7" fill="1" visible="no" active="yes"/>
<layer number="144" name="Drill_legend" color="7" fill="1" visible="no" active="yes"/>
<layer number="150" name="Notes" color="7" fill="1" visible="no" active="yes"/>
<layer number="151" name="HeatSink" color="7" fill="1" visible="no" active="yes"/>
<layer number="152" name="_bDocu" color="7" fill="1" visible="no" active="yes"/>
<layer number="153" name="FabDoc1" color="7" fill="1" visible="no" active="yes"/>
<layer number="154" name="FabDoc2" color="7" fill="1" visible="no" active="yes"/>
<layer number="155" name="FabDoc3" color="7" fill="1" visible="no" active="yes"/>
<layer number="199" name="Contour" color="7" fill="1" visible="no" active="yes"/>
<layer number="200" name="200bmp" color="1" fill="10" visible="no" active="yes"/>
<layer number="201" name="201bmp" color="2" fill="10" visible="no" active="yes"/>
<layer number="202" name="202bmp" color="3" fill="10" visible="no" active="yes"/>
<layer number="203" name="203bmp" color="4" fill="10" visible="no" active="yes"/>
<layer number="204" name="204bmp" color="5" fill="10" visible="no" active="yes"/>
<layer number="205" name="205bmp" color="6" fill="10" visible="no" active="yes"/>
<layer number="206" name="206bmp" color="7" fill="10" visible="no" active="yes"/>
<layer number="207" name="207bmp" color="8" fill="10" visible="no" active="yes"/>
<layer number="208" name="208bmp" color="9" fill="10" visible="no" active="yes"/>
<layer number="209" name="209bmp" color="7" fill="1" visible="no" active="yes"/>
<layer number="210" name="210bmp" color="7" fill="1" visible="no" active="yes"/>
<layer number="211" name="211bmp" color="7" fill="1" visible="no" active="yes"/>
<layer number="212" name="212bmp" color="7" fill="1" visible="no" active="yes"/>
<layer number="213" name="213bmp" color="7" fill="1" visible="no" active="yes"/>
<layer number="214" name="214bmp" color="7" fill="1" visible="no" active="yes"/>
<layer number="215" name="215bmp" color="7" fill="1" visible="no" active="yes"/>
<layer number="216" name="216bmp" color="7" fill="1" visible="no" active="yes"/>
<layer number="217" name="217bmp" color="18" fill="1" visible="no" active="no"/>
<layer number="218" name="218bmp" color="19" fill="1" visible="no" active="no"/>
<layer number="219" name="219bmp" color="20" fill="1" visible="no" active="no"/>
<layer number="220" name="220bmp" color="21" fill="1" visible="no" active="no"/>
<layer number="221" name="221bmp" color="22" fill="1" visible="no" active="no"/>
<layer number="222" name="222bmp" color="23" fill="1" visible="no" active="no"/>
<layer number="223" name="223bmp" color="24" fill="1" visible="no" active="no"/>
<layer number="224" name="224bmp" color="25" fill="1" visible="no" active="no"/>
<layer number="225" name="225bmp" color="7" fill="1" visible="no" active="yes"/>
<layer number="226" name="226bmp" color="7" fill="1" visible="no" active="yes"/>
<layer number="227" name="227bmp" color="7" fill="1" visible="no" active="yes"/>
<layer number="228" name="228bmp" color="7" fill="1" visible="no" active="yes"/>
<layer number="229" name="229bmp" color="7" fill="1" visible="no" active="yes"/>
<layer number="230" name="230bmp" color="7" fill="1" visible="no" active="yes"/>
<layer number="231" name="231bmp" color="7" fill="1" visible="no" active="yes"/>
<layer number="232" name="Eagle3D_PG2" color="7" fill="1" visible="no" active="no"/>
<layer number="233" name="Eagle3D_PG3" color="7" fill="1" visible="no" active="no"/>
<layer number="248" name="Housing" color="7" fill="1" visible="no" active="yes"/>
<layer number="249" name="Edge" color="7" fill="1" visible="no" active="yes"/>
<layer number="250" name="Descript" color="3" fill="1" visible="no" active="no"/>
<layer number="251" name="SMDround" color="12" fill="11" visible="no" active="no"/>
<layer number="254" name="cooling" color="7" fill="1" visible="no" active="yes"/>
<layer number="255" name="routoute" color="7" fill="1" visible="no" active="yes"/>
</layers>
<board>
<plain>
<dimension x1="57.5" y1="90.5" x2="7" y2="90.5" x3="32.25" y3="97.5" textsize="1.778" layer="47"/>
<dimension x1="7" y1="90.5" x2="7" y2="49" x3="-6.5" y3="69.75" textsize="1.778" layer="47"/>
<dimension x1="49.5" y1="69" x2="57.5" y2="69" x3="53.5" y3="63" textsize="1.778" layer="47"/>
<dimension x1="49.5" y1="76.5" x2="49.5" y2="90.5" x3="61" y3="83.5" textsize="1.778" layer="47"/>
<dimension x1="7" y1="49" x2="40" y2="49" x3="23.5" y3="43.999996875" textsize="1.778" layer="47"/>
<dimension x1="0" y1="-1" x2="40" y2="-1" x3="20" y3="-6" textsize="1.778" layer="47"/>
<dimension x1="10" y1="-3" x2="40" y2="-3" x3="25" y3="-13" textsize="1.778" layer="47"/>
<wire x1="0.5" y1="0" x2="0" y2="0.5" width="0.1524" layer="20" curve="-90"/>
<wire x1="0" y1="0.5" x2="0" y2="39.5" width="0.1524" layer="20"/>
<wire x1="0" y1="39.5" x2="0.5" y2="40" width="0.1524" layer="20" curve="-90"/>
<wire x1="0.5" y1="40" x2="39.5" y2="40" width="0.1524" layer="20"/>
<wire x1="39.5" y1="40" x2="40" y2="39.5" width="0.1524" layer="20" curve="-90"/>
<wire x1="40" y1="39.5" x2="40" y2="0.5" width="0.1524" layer="20"/>
<wire x1="40" y1="0.5" x2="39.5" y2="0" width="0.1524" layer="20" curve="-90"/>
<wire x1="39.5" y1="0" x2="0.5" y2="0" width="0.1524" layer="20"/>
<text x="17.5" y="20.3" size="0.8128" layer="21" align="center-left">IDRIVE</text>
<text x="18.6" y="33.9" size="0.8128" layer="21" rot="R90" align="center-left">SEL REF</text>
<text x="19.8" y="32.9" size="0.8128" layer="21" align="center-left">VREF-C</text>
<text x="19.8" y="31.4" size="0.8128" layer="21" align="center-left">VREF-R</text>
<text x="19.8" y="29.8" size="0.8128" layer="21" align="center-left">VREF</text>
<text x="13.7" y="29.4" size="0.8128" layer="21" align="bottom-center">vdt</text>
<text x="13.7" y="28.2" size="0.8128" layer="21" rot="R270" align="bottom-center">vdb</text>
<text x="15.3" y="12.3" size="0.8128" layer="21" align="center-left">SN C : R</text>
<text x="15.4" y="15.3" size="0.8128" layer="21" align="center-left">SP C : R</text>
</plain>
<libraries>
<library name="SparkFun-Connectors">
<description>&lt;h3&gt;SparkFun Connectors&lt;/h3&gt;
This library contains electrically-functional connectors.
&lt;br&gt;
&lt;br&gt;
We've spent an enormous amount of time creating and checking these footprints and parts, but it is &lt;b&gt; the end user's responsibility&lt;/b&gt; to ensure correctness and suitablity for a given componet or application.
&lt;br&gt;
&lt;br&gt;If you enjoy using this library, please buy one of our products at &lt;a href=" www.sparkfun.com"&gt;SparkFun.com&lt;/a&gt;.
&lt;br&gt;
&lt;br&gt;
&lt;b&gt;Licensing:&lt;/b&gt; Creative Commons ShareAlike 4.0 International - https://creativecommons.org/licenses/by-sa/4.0/
&lt;br&gt;
&lt;br&gt;
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="2X6_NOSILK">
<pad name="1" x="0" y="0" drill="1.016" diameter="1.8796"/>
<pad name="2" x="0" y="2.54" drill="1.016" diameter="1.8796"/>
<pad name="3" x="2.54" y="0" drill="1.016" diameter="1.8796"/>
<pad name="4" x="2.54" y="2.54" drill="1.016" diameter="1.8796"/>
<pad name="5" x="5.08" y="0" drill="1.016" diameter="1.8796"/>
<pad name="6" x="5.08" y="2.54" drill="1.016" diameter="1.8796"/>
<pad name="7" x="7.62" y="0" drill="1.016" diameter="1.8796"/>
<pad name="8" x="7.62" y="2.54" drill="1.016" diameter="1.8796"/>
<pad name="9" x="10.16" y="0" drill="1.016" diameter="1.8796"/>
<pad name="10" x="10.16" y="2.54" drill="1.016" diameter="1.8796"/>
<pad name="11" x="12.7" y="0" drill="1.016" diameter="1.8796"/>
<pad name="12" x="12.7" y="2.54" drill="1.016" diameter="1.8796"/>
<rectangle x1="-0.254" y1="-0.254" x2="0.254" y2="0.254" layer="51"/>
<rectangle x1="-0.254" y1="2.286" x2="0.254" y2="2.794" layer="51"/>
<rectangle x1="2.286" y1="2.286" x2="2.794" y2="2.794" layer="51"/>
<rectangle x1="2.286" y1="-0.254" x2="2.794" y2="0.254" layer="51"/>
<rectangle x1="4.826" y1="2.286" x2="5.334" y2="2.794" layer="51"/>
<rectangle x1="4.826" y1="-0.254" x2="5.334" y2="0.254" layer="51"/>
<rectangle x1="7.366" y1="2.286" x2="7.874" y2="2.794" layer="51"/>
<rectangle x1="9.906" y1="2.286" x2="10.414" y2="2.794" layer="51"/>
<rectangle x1="12.446" y1="2.286" x2="12.954" y2="2.794" layer="51"/>
<rectangle x1="7.366" y1="-0.254" x2="7.874" y2="0.254" layer="51"/>
<rectangle x1="9.906" y1="-0.254" x2="10.414" y2="0.254" layer="51"/>
<rectangle x1="12.446" y1="-0.254" x2="12.954" y2="0.254" layer="51"/>
<text x="-1.27" y="4.064" size="0.6096" layer="25" font="vector" ratio="20">&gt;NAME</text>
<text x="-1.27" y="-2.413" size="0.6096" layer="27" font="vector" ratio="20">&gt;VALUE</text>
</package>
<package name="1X01NS_KIT">
<description>&lt;h3&gt;Plated Through Hole - No Silk Outline Kit Version&lt;/h3&gt;
&lt;p&gt; Mask on only one side to make soldering in kits easier.
&lt;p&gt;Specifications:
&lt;ul&gt;&lt;li&gt;Pin count:1&lt;/li&gt;
&lt;li&gt;Pin pitch:0.1"&lt;/li&gt;
&lt;/ul&gt;&lt;/p&gt;
&lt;p&gt;Example device(s):
&lt;ul&gt;&lt;li&gt;CONN_01&lt;/li&gt;
&lt;/ul&gt;&lt;/p&gt;</description>
<pad name="1" x="0" y="0" drill="1.016" diameter="1.8796" rot="R90" stop="no"/>
<circle x="0" y="0" radius="0.508" width="0" layer="29"/>
<circle x="0" y="0" radius="0.9398" width="0" layer="30"/>
<text x="-1.27" y="1.143" size="0.6096" layer="25" font="vector" ratio="20">&gt;NAME</text>
<text x="-1.27" y="-1.016" size="0.6096" layer="27" font="vector" ratio="20" align="top-left">&gt;VALUE</text>
</package>
<package name="1X01_OFFSET">
<description>&lt;h3&gt;Plated Through Hole - Long Pad w/ Offset Hole&lt;/h3&gt;
&lt;p&gt;Specifications:
&lt;ul&gt;&lt;li&gt;Pin count:1&lt;/li&gt;
&lt;/ul&gt;&lt;/p&gt;
&lt;p&gt;Example device(s):
&lt;ul&gt;&lt;li&gt;CONN_01&lt;/li&gt;
&lt;/ul&gt;&lt;/p&gt;</description>
<wire x1="-1.27" y1="0.635" 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="0.635" 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"/>
<pad name="1" x="0" y="0" drill="1.1176" diameter="1.8796" shape="offset" rot="R90"/>
<text x="-1.27" y="3.048" size="0.6096" layer="25" font="vector" ratio="20">&gt;NAME</text>
<text x="-1.27" y="-2.032" size="0.6096" layer="27" font="vector" ratio="20">&gt;VALUE</text>
<rectangle x1="-0.254" y1="-0.254" x2="0.254" y2="0.254" layer="51"/>
</package>
</packages>
</library>
<library name="passives">
<packages>
<package name="0603-CAP">
<wire x1="-0.356" y1="0.332" x2="0.356" y2="0.332" width="0.1016" layer="51"/>
<wire x1="-0.356" y1="-0.319" x2="0.356" y2="-0.319" width="0.1016" layer="51"/>
<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">&gt;NAME</text>
<text x="-1.016" y="-2.413" size="1.016" layer="27">&gt;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="0805">
<smd name="1" x="-0.95" y="0" dx="0.7" dy="1.2" layer="1"/>
<smd name="2" x="0.95" y="0" dx="0.7" dy="1.2" layer="1"/>
<text x="-0.762" y="0.8255" size="1.016" layer="25">&gt;NAME</text>
<text x="-1.016" y="-2.032" size="1.016" layer="27">&gt;VALUE</text>
</package>
<package name="R2512_SHUNT">
<wire x1="-2.362" y1="1.473" x2="2.387" y2="1.473" width="0.1524" layer="51"/>
<wire x1="-2.362" y1="-1.473" x2="2.387" y2="-1.473" width="0.1524" layer="51"/>
<smd name="A" x="-2.8" y="0" dx="1.8" dy="3.2" layer="1" thermals="no"/>
<smd name="B" x="2.8" y="0" dx="1.8" dy="3.2" layer="1" thermals="no"/>
<text x="-2.54" y="1.905" size="1.016" layer="25">&gt;NAME</text>
<text x="-2.54" y="-3.175" size="1.016" layer="27">&gt;VALUE</text>
<rectangle x1="-3.2004" y1="-1.5494" x2="-2.3505" y2="1.5507" layer="51"/>
<rectangle x1="2.3622" y1="-1.5494" x2="3.2121" y2="1.5507" layer="51"/>
<smd name="SA" x="-1.414" y="1.3" dx="0.5" dy="0.5" layer="1" rot="R180"/>
<smd name="SB" x="1.386" y="1.3" dx="0.5" dy="0.5" layer="1"/>
<wire x1="-1.4" y1="1.3" x2="-2.4" y2="1.3" width="0.2032" layer="1"/>
<wire x1="1.4" y1="1.3" x2="2.2" y2="1.3" width="0.2032" layer="1"/>
</package>
<package name="1206">
<wire x1="-0.965" y1="0.787" x2="0.965" y2="0.787" width="0.1016" layer="51"/>
<wire x1="-0.965" y1="-0.787" x2="0.965" y2="-0.787" width="0.1016" layer="51"/>
<smd name="1" x="-1.4" y="0" dx="1.6" dy="1.8" layer="1"/>
<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">&gt;NAME</text>
<text x="-1.397" y="-2.794" size="1.016" layer="27">&gt;VALUE</text>
<rectangle x1="-1.7018" y1="-0.8509" x2="-0.9517" y2="0.8491" layer="51"/>
<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"/>
</package>
</packages>
</library>
<library name="power">
<packages>
<package name="PWRPAD_3-25MM">
<pad name="P$1" x="0" y="0" drill="3.25" diameter="5.75" thermals="no"/>
</package>
<package name="DSOP-ADVANCE">
<smd name="P$1" x="-1.905" y="-2.8" dx="0.65" dy="1" layer="1"/>
<smd name="P$2" x="-0.635" y="-2.8" dx="0.65" dy="1" layer="1"/>
<smd name="P$3" x="0.635" y="-2.8" dx="0.65" dy="1" layer="1"/>
<smd name="P$4" x="1.905" y="-2.8" dx="0.65" dy="1" layer="1"/>
<smd name="P$5" x="0" y="0.95" dx="5.5" dy="4.7" layer="1"/>
<circle x="-2.7" y="-3.8" radius="0.22360625" width="0.127" layer="21"/>
<wire x1="-2.5" y1="3" x2="2.5" y2="3" width="0.127" layer="48"/>
<wire x1="2.5" y1="3" x2="2.5" y2="-3" width="0.127" layer="48"/>
<wire x1="2.5" y1="-3" x2="-2.5" y2="-3" width="0.127" layer="48"/>
<wire x1="-2.5" y1="-3" x2="-2.5" y2="3" width="0.127" layer="48"/>
</package>
<package name="DRV8701">
<smd name="1" x="-1.9" y="1.25" dx="0.24" dy="0.6" layer="1" rot="R90"/>
<smd name="2" x="-1.9" y="0.75" dx="0.24" dy="0.6" layer="1" rot="R90"/>
<smd name="3" x="-1.9" y="0.25" dx="0.24" dy="0.6" layer="1" rot="R90"/>
<smd name="4" x="-1.9" y="-0.25" dx="0.24" dy="0.6" layer="1" rot="R90"/>
<smd name="5" x="-1.9" y="-0.75" dx="0.24" dy="0.6" layer="1" rot="R90"/>
<smd name="6" x="-1.9" y="-1.25" dx="0.24" dy="0.6" layer="1" rot="R90"/>
<smd name="18" x="1.9" y="1.25" dx="0.24" dy="0.6" layer="1" rot="R90"/>
<smd name="17" x="1.9" y="0.75" dx="0.24" dy="0.6" layer="1" rot="R90"/>
<smd name="16" x="1.9" y="0.25" dx="0.24" dy="0.6" layer="1" rot="R90"/>
<smd name="15" x="1.9" y="-0.25" dx="0.24" dy="0.6" layer="1" rot="R90"/>
<smd name="14" x="1.9" y="-0.75" dx="0.24" dy="0.6" layer="1" rot="R90"/>
<smd name="13" x="1.9" y="-1.25" dx="0.24" dy="0.6" layer="1" rot="R90"/>
<smd name="24" x="-1.25" y="1.9" dx="0.24" dy="0.6" layer="1"/>
<smd name="23" x="-0.75" y="1.9" dx="0.24" dy="0.6" layer="1"/>
<smd name="22" x="-0.25" y="1.9" dx="0.24" dy="0.6" layer="1"/>
<smd name="21" x="0.25" y="1.9" dx="0.24" dy="0.6" layer="1"/>
<smd name="20" x="0.75" y="1.9" dx="0.24" dy="0.6" layer="1"/>
<smd name="19" x="1.25" y="1.9" dx="0.24" dy="0.6" layer="1"/>
<smd name="7" x="-1.25" y="-1.9" dx="0.24" dy="0.6" layer="1"/>
<smd name="8" x="-0.75" y="-1.9" dx="0.24" dy="0.6" layer="1"/>
<smd name="9" x="-0.25" y="-1.9" dx="0.24" dy="0.6" layer="1"/>
<smd name="10" x="0.25" y="-1.9" dx="0.24" dy="0.6" layer="1"/>
<smd name="11" x="0.75" y="-1.9" dx="0.24" dy="0.6" layer="1"/>
<smd name="12" x="1.25" y="-1.9" dx="0.24" dy="0.6" layer="1"/>
<smd name="25" x="0" y="0" dx="2.8" dy="2.8" layer="1"/>
<wire x1="-2" y1="2" x2="-2" y2="-2" width="0.127" layer="51"/>
<wire x1="-2" y1="-2" x2="2" y2="-2" width="0.127" layer="51"/>
<wire x1="2" y1="-2" x2="2" y2="2" width="0.127" layer="51"/>
<wire x1="2" y1="2" x2="-2" y2="2" width="0.127" layer="51"/>
<circle x="-2.15" y="1.2" radius="0.05" width="0.127" layer="21"/>
<wire x1="-2" y1="2" x2="-1.7" y2="2" width="0.127" layer="21"/>
<wire x1="-2.05" y1="2" x2="-2.05" y2="1.7" width="0.127" layer="21"/>
<wire x1="1.7" y1="2" x2="2" y2="2" width="0.127" layer="21"/>
<wire x1="2" y1="2" x2="2" y2="1.7" width="0.127" layer="21"/>
<wire x1="2" y1="-1.7" x2="2" y2="-2" width="0.127" layer="21"/>
<wire x1="2" y1="-2" x2="1.7" y2="-2" width="0.127" layer="21"/>
<wire x1="-1.7" y1="-2" x2="-2" y2="-2" width="0.127" layer="21"/>
<wire x1="-2" y1="-2" x2="-2" y2="-1.7" width="0.127" layer="21"/>
<text x="-1.85" y="2.95" size="1.27" layer="25">&gt;NAME</text>
<text x="-2.05" y="-4.15" size="1.27" layer="27">&gt;VALUE</text>
</package>
</packages>
</library>
<library name="connector">
<packages>
<package name="ATK-BFPP-TOP-FX8-60">
<smd name="P$1" x="-8.6" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<pad name="P$61" x="-16.5" y="0" drill="4.5" diameter="6.5" thermals="no"/>
<pad name="P$62" x="16.4" y="0" drill="4.5" diameter="6.5" thermals="no"/>
<smd name="P$60" x="-8.6" y="2.7" dx="0.35" dy="1.7" layer="1"/>
<rectangle x1="-12.3" y1="-2.55" x2="12.3" y2="2.55" layer="51"/>
<hole x="-11.525" y="-1.8" drill="1.1"/>
<hole x="11.525" y="-1.8" drill="0.7"/>
<smd name="P$2" x="-8" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$3" x="-7.4" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$4" x="-6.8" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$5" x="-6.2" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$6" x="-5.6" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$7" x="-5" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$8" x="-4.4" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$9" x="-3.8" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$10" x="-3.2" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$11" x="-2.6" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$12" x="-2" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$13" x="-1.4" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$14" x="-0.8" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$15" x="-0.2" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$16" x="0.4" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$17" x="1" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$18" x="1.6" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$19" x="2.2" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$20" x="2.8" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$21" x="3.4" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$22" x="4" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$23" x="4.6" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$24" x="5.2" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$25" x="5.8" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$26" x="6.4" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$27" x="7" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$28" x="7.6" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$29" x="8.2" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$30" x="8.8" y="-2.7" dx="0.35" dy="1.7" layer="1"/>
<smd name="P$31" x="8.8" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$32" x="8.2" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$33" x="7.6" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$34" x="7" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$35" x="6.4" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$36" x="5.8" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$37" x="5.2" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$38" x="4.6" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$39" x="4" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$40" x="3.4" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$41" x="2.8" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$42" x="2.2" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$43" x="1.6" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$44" x="1" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$45" x="0.4" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$46" x="-0.2" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$47" x="-0.8" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$48" x="-1.4" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$49" x="-2" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$50" x="-2.6" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$51" x="-3.2" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$52" x="-3.8" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$53" x="-4.4" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$54" x="-5" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$55" x="-5.6" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$56" x="-6.2" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$57" x="-6.8" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$58" x="-7.4" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<smd name="P$59" x="-8" y="2.7" dx="0.35" dy="1.7" layer="1" rot="R180"/>
<polygon width="0.127" layer="31">
<vertex x="-16.8" y="3.1"/>
<vertex x="-16.8" y="2.3" curve="90"/>
<vertex x="-18.8" y="0.3"/>
<vertex x="-19.6" y="0.3" curve="-90"/>
</polygon>
<polygon width="0.127" layer="31">
<vertex x="-19.6" y="-0.3"/>
<vertex x="-18.8" y="-0.3" curve="90"/>
<vertex x="-16.8" y="-2.3"/>
<vertex x="-16.8" y="-3.1" curve="-90"/>
</polygon>
<polygon width="0.127" layer="31">
<vertex x="-16.2" y="-3.1"/>
<vertex x="-16.2" y="-2.3" curve="90"/>
<vertex x="-14.2" y="-0.3"/>
<vertex x="-13.4" y="-0.3" curve="-90"/>
</polygon>
<polygon width="0.127" layer="31">
<vertex x="-13.4" y="0.3"/>
<vertex x="-14.2" y="0.3" curve="90"/>
<vertex x="-16.2" y="2.3"/>
<vertex x="-16.2" y="3.1" curve="-90"/>
</polygon>
<polygon width="0.127" layer="31">
<vertex x="16.1" y="3.1"/>
<vertex x="16.1" y="2.3" curve="90"/>
<vertex x="14.1" y="0.3"/>
<vertex x="13.3" y="0.3" curve="-90"/>
</polygon>
<polygon width="0.127" layer="31">
<vertex x="13.3" y="-0.3"/>
<vertex x="14.1" y="-0.3" curve="90"/>
<vertex x="16.1" y="-2.3"/>
<vertex x="16.1" y="-3.1" curve="-90"/>
</polygon>
<polygon width="0.127" layer="31">
<vertex x="16.7" y="-3.1"/>
<vertex x="16.7" y="-2.3" curve="90"/>
<vertex x="18.7" y="-0.3"/>
<vertex x="19.5" y="-0.3" curve="-90"/>
</polygon>
<polygon width="0.127" layer="31">
<vertex x="19.5" y="0.3"/>
<vertex x="18.7" y="0.3" curve="90"/>
<vertex x="16.7" y="2.3"/>
<vertex x="16.7" y="3.1" curve="-90"/>
</polygon>
<wire x1="-20" y1="-3.5" x2="-19.5" y2="-4" width="0.127" layer="51" curve="90"/>
<wire x1="-19.5" y1="-4" x2="19.5" y2="-4" width="0.127" layer="51"/>
<wire x1="19.5" y1="-4" x2="20" y2="-3.5" width="0.127" layer="51" curve="90"/>
<wire x1="-20" y1="-3.5" x2="-20" y2="29.5" width="0.127" layer="51"/>
<wire x1="-20" y1="29.5" x2="-19.5" y2="30" width="0.127" layer="51" curve="-90"/>
<wire x1="-19.5" y1="30" x2="19.5" y2="30" width="0.127" layer="51"/>
<wire x1="19.5" y1="30" x2="20" y2="29.5" width="0.127" layer="51" curve="-90"/>
<wire x1="20" y1="29.5" x2="20" y2="-3.5" width="0.127" layer="51"/>
<wire x1="-20" y1="29.5" x2="-20" y2="44.5" width="0.127" layer="51"/>
<wire x1="-20" y1="44.5" x2="-19.5" y2="45" width="0.127" layer="51" curve="-90"/>
<wire x1="-19.5" y1="45" x2="19.5" y2="45" width="0.127" layer="51"/>
<wire x1="19.5" y1="45" x2="20" y2="44.5" width="0.127" layer="51" curve="-90"/>
<wire x1="20" y1="44.5" x2="20" y2="29.5" width="0.127" layer="51"/>
</package>
<package name="JST-6-SMD-HORI-1.0MM">
<description>&lt;h3&gt;JST SH Vertical 6-Pin SMT&lt;/h3&gt;
&lt;p&gt;Specifications:
&lt;ul&gt;&lt;li&gt;Pin count:6&lt;/li&gt;
&lt;li&gt;Pin pitch: 1 mm&lt;/li&gt;
&lt;/ul&gt;&lt;/p&gt;
&lt;p&gt;&lt;a href=”https://www.sparkfun.com/datasheets/GPS/EM406-SMDConnector-eSH.pdf”&gt;Datasheet referenced for footprint&lt;/a&gt;&lt;/p&gt;
&lt;p&gt;Example device(s):
&lt;ul&gt;&lt;li&gt;JST_6PIN_VERTICAL&lt;/li&gt;
&lt;/ul&gt;&lt;/p&gt;</description>