From eb2f9772eac29f4462a9067d37230a3a1251947d Mon Sep 17 00:00:00 2001
From: Jake <jake.read@cba.mit.edu>
Date: Wed, 11 Jul 2018 23:37:58 -0400
Subject: [PATCH] add missing brd file
---
circuit/atkstepper17/atkstepper17.brd | 2541 ++++++++++++++++++
embedded/README.md | 6 +-
embedded/atkstepper17/atkstepper17/main.c | 3 -
embedded/atkstepper17/atkstepper17/stepper.c | 16 +-
4 files changed, 2559 insertions(+), 7 deletions(-)
create mode 100644 circuit/atkstepper17/atkstepper17.brd
diff --git a/circuit/atkstepper17/atkstepper17.brd b/circuit/atkstepper17/atkstepper17.brd
new file mode 100644
index 0000000..af39519
--- /dev/null
+++ b/circuit/atkstepper17/atkstepper17.brd
@@ -0,0 +1,2541 @@
+<?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="0.1" unitdist="mm" unit="mm" style="lines" multiple="1" display="yes" altdistance="1" altunitdist="mm" altunit="mm"/>
+<layers>
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+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>
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+<description><h3>Plated Through Hole - 4 Pin Long Pads</h3>
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+</ul></p>
+<p>Example device(s):
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+<p>Specifications:
+<ul><li>Pin count:5</li>
+<li>Pin pitch:0.1"</li>
+</ul></p>
+<p>Example device(s):
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+<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>
+<package name="FIDUCIAL_1MM">
+<smd name="1" x="0" y="0" dx="1" dy="1" layer="1" roundness="100" stop="no" cream="no"/>
+<polygon width="0.127" layer="29">
+<vertex x="-1" y="0" curve="90"/>
+<vertex x="0" y="-1" curve="90"/>
+<vertex x="1" y="0" curve="90"/>
+<vertex x="0" y="1" curve="90"/>
+</polygon>
+<polygon width="0.127" layer="41">
+<vertex x="-1" y="0" curve="90"/>
+<vertex x="0" y="-1" curve="90"/>
+<vertex x="1" y="0" curve="90"/>
+<vertex x="0" y="1" curve="90"/>
+</polygon>
+<circle x="0" y="0" radius="0.4953" width="0" layer="51"/>
+</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"/>
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+<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"/>
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+<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"/>
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+<wire x1="34.4668" y1="24.56520625" x2="37.0858" y2="21.94620625" width="0.1524" layer="16"/>
+<wire x1="37.7" y1="21" x2="37.7" y2="15.4" width="0.1524" layer="16"/>
+<wire x1="37.7" y1="15.4" x2="35.781" y2="13.481" width="0.1524" layer="16"/>
+<wire x1="35.781" y1="13.481" x2="35.4757875" y2="13.481" width="0.1524" layer="16"/>
+<wire x1="35.4757875" y1="13.481" x2="34.8" y2="12.8052125" width="0.1524" layer="16"/>
+<wire x1="34.8" y1="12.8052125" x2="34.8" y2="9.8" width="0.1524" layer="16"/>
+<wire x1="34.8" y1="9.8" x2="35.82" y2="8.78" width="0.1524" layer="16"/>
+<wire x1="35.82" y1="8.78" x2="35.82" y2="8.57" width="0.1524" layer="16"/>
+<wire x1="37.0858" y1="21.6142" x2="37.7" y2="21" width="0.1524" layer="16"/>
+</signal>
+<signal name="ATK0-TX">
+<contactref element="J4" pad="P$6"/>
+<contactref element="U1" pad="43"/>
+<via x="33.4598375" y="26.9519" extent="1-16" drill="0.3"/>
+<wire x1="32.6" y1="27.25" x2="32.7339" y2="27.1161" width="0.1524" layer="1"/>
+<wire x1="32.7339" y1="27.1161" x2="33.0446875" y2="27.1161" width="0.1524" layer="1"/>
+<wire x1="33.2088875" y1="26.9519" x2="33.4598375" y2="26.9519" width="0.1524" layer="1"/>
+<wire x1="33.0446875" y1="27.1161" x2="33.2088875" y2="26.9519" width="0.1524" layer="1"/>
+<wire x1="33.4598375" y1="26.9519" x2="33.4598375" y2="26.5598375" width="0.1524" layer="16"/>
+<wire x1="33.4598375" y1="26.5598375" x2="32.6" y2="25.7" width="0.1524" layer="16"/>
+<wire x1="32.6" y1="25.7" x2="32.6" y2="24.6" width="0.1524" layer="16"/>
+<wire x1="32.6" y1="24.6" x2="35.6" y2="21.6" width="0.1524" layer="16"/>
+<wire x1="35.6" y1="21.6" x2="35.6" y2="17.9" width="0.1524" layer="16"/>
+<wire x1="35.6" y1="17.9" x2="34.6" y2="16.9" width="0.1524" layer="16"/>
+<wire x1="34.6" y1="16.9" x2="34.6" y2="15" width="0.1524" layer="16"/>
+<wire x1="34.6" y1="15" x2="35.2" y2="14.4" width="0.1524" layer="16"/>
+<via x="35.2" y="14.4" extent="1-16" drill="0.3"/>
+<wire x1="35.2" y1="14.4" x2="36.119" y2="13.481" width="0.1524" layer="1"/>
+<wire x1="36.119" y1="13.481" x2="36.1642125" y2="13.481" width="0.1524" layer="1"/>
+<wire x1="36.1642125" y1="13.481" x2="37.65" y2="11.9952125" width="0.1524" layer="1"/>
+<wire x1="37.65" y1="11.9952125" x2="37.65" y2="11.63" width="0.1524" layer="1"/>
+</signal>
+<signal name="ATK-CLKOUT">
+<contactref element="J4" pad="P$8"/>
+<contactref element="U1" pad="46"/>
+<wire x1="32.6" y1="28.75" x2="33.75" y2="28.75" width="0.1524" layer="1"/>
+<wire x1="33.75" y1="28.75" x2="33.9" y2="28.9" width="0.1524" layer="1"/>
+<via x="33.9" y="28.9" extent="1-16" drill="0.3"/>
+<wire x1="33.9" y1="28.9" x2="31.7" y2="26.7" width="0.1524" layer="16"/>
+<wire x1="31.7" y1="21.4" x2="34.5" y2="18.6" width="0.1524" layer="16"/>
+<via x="34.5" y="18.6" extent="1-16" drill="0.3"/>
+<wire x1="34.5" y1="18.6" x2="35.5" y2="17.6" width="0.1524" layer="1"/>
+<wire x1="35.5" y1="17.6" x2="36.5" y2="17.6" width="0.1524" layer="1"/>
+<wire x1="36.5" y1="17.6" x2="37.65" y2="16.45" width="0.1524" layer="1"/>
+<wire x1="37.65" y1="16.45" x2="37.65" y2="13.67" width="0.1524" layer="1"/>
+<wire x1="31.7" y1="26.7" x2="31.7" y2="21.4" width="0.1524" layer="16"/>
+</signal>
+<signal name="N$16">
+<contactref element="R5" pad="2"/>
+<contactref element="J4" pad="GRNN"/>
+<wire x1="33.66" y1="17.11" x2="32.6" y2="17.11" width="0.1524" layer="1"/>
+<wire x1="38.15" y1="21.6" x2="36.9786" y2="20.4286" width="0.1524" layer="1"/>
+<wire x1="33.969" y1="17.419" x2="33.66" y2="17.11" width="0.1524" layer="1"/>
+<wire x1="33.969" y1="18.81995" x2="33.969" y2="17.419" width="0.1524" layer="1"/>
+<wire x1="36.9786" y1="20.4286" x2="35.57765" y2="20.4286" width="0.1524" layer="1"/>
+<wire x1="35.57765" y1="20.4286" x2="33.969" y2="18.81995" width="0.1524" layer="1"/>
+</signal>
+<signal name="N$17">
+<contactref element="J4" pad="YLWN"/>
+<contactref element="R6" pad="2"/>
+<wire x1="38.15" y1="19.6" x2="38.3" y2="19.45" width="0.1524" layer="1"/>
+<wire x1="38.3" y1="16.6" x2="38.9" y2="16" width="0.1524" layer="1"/>
+<via x="38.9" y="16" extent="1-16" drill="0.3"/>
+<wire x1="38.9" y1="16" x2="38.9" y2="11.4" width="0.1524" layer="16"/>
+<wire x1="38.9" y1="11.4" x2="39.6" y2="10.7" width="0.1524" layer="16"/>
+<via x="39.6" y="10.7" extent="1-16" drill="0.3"/>
+<wire x1="39.6" y1="10.7" x2="39.6" y2="10" width="0.1524" layer="1"/>
+<wire x1="39.6" y1="10" x2="38.2" y2="8.6" width="0.1524" layer="1"/>
+<wire x1="38.2" y1="8.6" x2="37" y2="8.6" width="0.1524" layer="1"/>
+<wire x1="34.03" y1="5.63" x2="32.6" y2="5.63" width="0.1524" layer="1"/>
+<wire x1="37" y1="8.6" x2="36.651" y2="8.251" width="0.1524" layer="1"/>
+<wire x1="36.651" y1="8.251" x2="36.651" y2="8.2257875" width="0.1524" layer="1"/>
+<wire x1="35.4757875" y1="7.361" x2="34.989" y2="6.8742125" width="0.1524" layer="1"/>
+<wire x1="34.989" y1="6.8742125" x2="34.989" y2="6.589" width="0.1524" layer="1"/>
+<wire x1="34.989" y1="6.589" x2="34.03" y2="5.63" width="0.1524" layer="1"/>
+<wire x1="36.651" y1="8.2257875" x2="35.7862125" y2="7.361" width="0.1524" layer="1"/>
+<wire x1="35.7862125" y1="7.361" x2="35.4757875" y2="7.361" width="0.1524" layer="1"/>
+<wire x1="38.3" y1="19.45" x2="38.3" y2="16.6" width="0.1524" layer="1"/>
+</signal>
+<signal name="ATK0-RXLED">
+<contactref element="R5" pad="1"/>
+<contactref element="U1" pad="40"/>
+<wire x1="32.6" y1="25.75" x2="33.1548" y2="25.75" width="0.1524" layer="1"/>
+<wire x1="33.1548" y1="25.75" x2="33.4048" y2="25.5" width="0.1524" layer="1"/>
+<via x="33.4048" y="25.5" extent="1-16" drill="0.3"/>
+<wire x1="33.4048" y1="25.5" x2="33.4048" y2="24.4452" width="0.1524" layer="16"/>
+<wire x1="33.4048" y1="24.4452" x2="36.25" y2="21.6" width="0.1524" layer="16"/>
+<via x="36.25" y="21.6" extent="1-16" drill="0.3"/>
+</signal>
+<signal name="ATK0-TXLED">
+<contactref element="R6" pad="1"/>
+<contactref element="U1" pad="41"/>
+<via x="33.9358" y="24.7" extent="1-16" drill="0.3"/>
+<wire x1="32.6" y1="26.25" x2="32.7339" y2="26.1161" width="0.1524" layer="1"/>
+<wire x1="32.7339" y1="26.1161" x2="33.53965" y2="26.1161" width="0.1524" layer="1"/>
+<wire x1="33.53965" y1="26.1161" x2="33.9358" y2="25.71995" width="0.1524" layer="1"/>
+<wire x1="33.9358" y1="25.71995" x2="33.9358" y2="24.7" width="0.1524" layer="1"/>
+<wire x1="33.9358" y1="24.7" x2="33.9358" y2="24.34525625" width="0.1524" layer="16"/>
+<via x="36.25" y="19.6" extent="1-16" drill="0.3"/>
+<wire x1="36.15005625" y1="22.131" x2="36.46995" y2="22.131" width="0.1524" layer="16"/>
+<wire x1="36.46995" y1="22.131" x2="36.781" y2="21.81995" width="0.1524" layer="16"/>
+<wire x1="36.781" y1="21.81995" x2="36.781" y2="21.38005" width="0.1524" layer="16"/>
+<wire x1="36.25" y1="20.84905" x2="36.25" y2="19.6" width="0.1524" layer="16"/>
+<wire x1="36.781" y1="21.38005" x2="36.25" y2="20.84905" width="0.1524" layer="16"/>
+<wire x1="33.9358" y1="24.34525625" x2="36.15005625" y2="22.131" width="0.1524" layer="16"/>
+</signal>
+<signal name="TMC_STEP">
+<contactref element="U2" pad="6"/>
+<wire x1="15.5" y1="22.95" x2="15.85" y2="22.95" width="0.1524" layer="1"/>
+<wire x1="16.9" y1="21.9" x2="20.1" y2="21.9" width="0.1524" layer="1"/>
+<wire x1="15.85" y1="22.95" x2="16.9" y2="21.9" width="0.1524" layer="1"/>
+<contactref element="U1" pad="19"/>
+<wire x1="25.35" y1="21.5" x2="25.35" y2="20.88105625" width="0.1524" layer="1"/>
+<wire x1="25.35" y1="20.88105625" x2="24.884471875" y2="20.415528125" width="0.1524" layer="1"/>
+<wire x1="24.884471875" y1="20.415528125" x2="21.584471875" y2="20.415528125" width="0.1524" layer="1"/>
+<wire x1="21.584471875" y1="20.415528125" x2="20.1" y2="21.9" width="0.1524" layer="1"/>
+</signal>
+<signal name="TMC_DIR">
+<contactref element="U2" pad="7"/>
+<wire x1="15.5" y1="23.45" x2="15.95" y2="23.45" width="0.1524" layer="1"/>
+<wire x1="17.1952" y1="22.2048" x2="20.22625625" y2="22.2048" width="0.1524" layer="1"/>
+<wire x1="15.95" y1="23.45" x2="17.1952" y2="22.2048" width="0.1524" layer="1"/>
+<contactref element="U1" pad="18"/>
+<wire x1="24.85" y1="21.5" x2="24.85" y2="20.81211875" width="0.1524" layer="1"/>
+<wire x1="24.85" y1="20.81211875" x2="24.768940625" y2="20.731059375" width="0.1524" layer="1"/>
+<wire x1="24.768940625" y1="20.731059375" x2="21.699996875" y2="20.731059375" width="0.1524" layer="1"/>
+<wire x1="21.699996875" y1="20.731059375" x2="20.22625625" y2="22.2048" width="0.1524" layer="1"/>
+</signal>
+<signal name="N$2">
+<contactref element="U1" pad="57"/>
+<contactref element="J3" pad="5"/>
+<contactref element="S1" pad="P$4"/>
+<wire x1="27.85" y1="30.5" x2="27.9" y2="30.55" width="0.1524" layer="1"/>
+<wire x1="31.15" y1="34.55" x2="31.305946875" y2="34.796234375" width="0.1524" layer="16"/>
+<via x="31.34" y="34.85" extent="1-16" drill="0.3"/>
+<wire x1="31.305946875" y1="34.796234375" x2="31.34" y2="34.85" width="0.1524" layer="16"/>
+<wire x1="27.85" y1="30.5" x2="27.85" y2="31.219" width="0.1524" layer="1"/>
+<wire x1="27.85" y1="31.219" x2="27.931" y2="31.3" width="0.1524" layer="1"/>
+<via x="27.931" y="31.3" extent="1-16" drill="0.3"/>
+<wire x1="27.931" y1="31.3" x2="31.305946875" y2="34.674946875" width="0.1524" layer="16"/>
+<wire x1="31.305946875" y1="34.674946875" x2="31.305946875" y2="34.796234375" width="0.1524" layer="16"/>
+<wire x1="31.34" y1="34.85" x2="32.59" y2="33.6" width="0.1524" layer="1"/>
+<wire x1="32.59" y1="33.6" x2="33.8" y2="33.6" width="0.1524" layer="1"/>
+<via x="33.8" y="33.6" extent="1-16" drill="0.3"/>
+<wire x1="33.8" y1="33.6" x2="35.3412" y2="32.0588" width="0.1524" layer="16"/>
+<wire x1="35.3412" y1="32.0588" x2="37.0818" y2="32.0588" width="0.1524" layer="16"/>
+<via x="37.0818" y="32.0588" extent="1-16" drill="0.3"/>
+</signal>
+<signal name="N$8">
+<contactref element="J3" pad="1"/>
+<contactref element="U1" pad="56"/>
+<wire x1="28.5446875" y1="33.5786" x2="28.6786" y2="33.4446875" width="0.1524" layer="1"/>
+<wire x1="26.26" y1="34.85" x2="27.5314" y2="33.5786" width="0.1524" layer="1"/>
+<wire x1="27.5314" y1="33.5786" x2="28.5446875" y2="33.5786" width="0.1524" layer="1"/>
+<wire x1="28.6786" y1="33.4446875" x2="28.6786" y2="31.4786" width="0.1524" layer="1"/>
+<wire x1="28.6786" y1="31.4786" x2="28.462" y2="31.262" width="0.1524" layer="1"/>
+<wire x1="28.462" y1="31.08005" x2="28.35" y2="30.96805" width="0.1524" layer="1"/>
+<wire x1="28.35" y1="30.96805" x2="28.35" y2="30.5" width="0.1524" layer="1"/>
+<wire x1="28.462" y1="31.262" x2="28.462" y2="31.08005" width="0.1524" layer="1"/>
+</signal>
+<signal name="N$3">
+<contactref element="Y1" pad="1"/>
+<contactref element="U1" pad="58"/>
+<wire x1="27.35" y1="30.5" x2="27.35" y2="31.0767125" width="0.1524" layer="1"/>
+<wire x1="27.35" y1="31.0767125" x2="27.4" y2="31.1267125" width="0.1524" layer="1"/>
+<wire x1="27.4" y1="31.1267125" x2="27.4" y2="31.6" width="0.1524" layer="1"/>
+<wire x1="27.4946875" y1="31.6214" x2="27.6286" y2="31.7553125" width="0.1524" layer="1"/>
+<wire x1="27.6286" y1="31.7553125" x2="27.6286" y2="32.0786" width="0.1524" layer="1"/>
+<wire x1="27.6286" y1="32.0786" x2="28.15" y2="32.6" width="0.1524" layer="1"/>
+<wire x1="27.4" y1="31.6" x2="27.4214" y2="31.6214" width="0.1524" layer="1"/>
+<wire x1="27.4214" y1="31.6214" x2="27.4946875" y2="31.6214" width="0.1524" layer="1"/>
+</signal>
+<signal name="N$4">
+<contactref element="U1" pad="59"/>
+<contactref element="Y1" pad="3"/>
+<wire x1="26.25" y1="32.6" x2="26.7714" y2="31.6786" width="0.1524" layer="1"/>
+<wire x1="26.7714" y1="31.6786" x2="26.7714" y2="31.3553125" width="0.1524" layer="1"/>
+<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>
+</signals>
+</board>
+</drawing>
+<compatibility>
+<note version="6.3" minversion="6.2.2" severity="warning">
+Since Version 6.2.2 text objects can contain more than one line,
+which will not be processed correctly with this version.
+</note>
+</compatibility>
+</eagle>
diff --git a/embedded/README.md b/embedded/README.md
index 3ca73ef..5e7f196 100644
--- a/embedded/README.md
+++ b/embedded/README.md
@@ -4,4 +4,8 @@ Firmware for the board follows the [automatakit](https://gitlab.cba.mit.edu/jake
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.
-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
+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.
+
+## Current Problems
+
+- not really setting ihold or irun, what's up
\ No newline at end of file
diff --git a/embedded/atkstepper17/atkstepper17/main.c b/embedded/atkstepper17/atkstepper17/main.c
index 3ac85b4..958f39e 100644
--- a/embedded/atkstepper17/atkstepper17/main.c
+++ b/embedded/atkstepper17/atkstepper17/main.c
@@ -108,7 +108,6 @@ int main(void)
tmc2130_start(&tmc);
tmc2130_enable(&tmc);
- tmc2130_setCurrents(&tmc, 21, 21);
tickers_init();
@@ -120,8 +119,6 @@ int main(void)
atkport_scan(&atkp0, 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, 16384))){
pin_toggle(&stlclk);
}
diff --git a/embedded/atkstepper17/atkstepper17/stepper.c b/embedded/atkstepper17/atkstepper17/stepper.c
index 8fb78ee..18adf8d 100644
--- a/embedded/atkstepper17/atkstepper17/stepper.c
+++ b/embedded/atkstepper17/atkstepper17/stepper.c
@@ -179,15 +179,25 @@ void stepper_updatesteps(stepper_t *stepper){
// 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];
+ uint8_t reply[12];
+ int8_t replyLength;
if(stepper->block[stepper->blocktail].is_nomove){
reply[0] = DELIM_KEY_WAIT;
reply[1] = 12;
+ replyLength = 2;
} else {
reply[0] = DELIM_KEY_TRAPEZOID;
- reply[1] = 24;
+ int32_t stepsTaken = stepper->block[stepper->blocktail].position_end;
+ if(!stepper->block[stepper->blocktail].dir){
+ stepsTaken = -1 * stepsTaken;
+ }
+ reply[1] = stepsTaken >> 24;
+ reply[2] = stepsTaken >> 16;
+ reply[3] = stepsTaken >> 8;
+ reply[4] = stepsTaken;
+ replyLength = 5;
}
- atk_reply_packet(stepper->block[stepper->blocktail].packet, reply, 2);
+ atk_reply_packet(stepper->block[stepper->blocktail].packet, reply, replyLength);
// 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
--
GitLab