├── .gitignore
├── maps
    ├── map.pgm
    └── map.yaml
├── launch
    ├── tf.launch
    └── localize.launch
├── hardware
    ├── arduino
    │   ├── tag
    │   │   ├── sender.h
    │   │   ├── sender.cpp
    │   │   └── tag.ino
    │   └── anchor
    │   │   └── anchor.ino
    └── pcb
    │   ├── fabricate
    │       ├── dwm1000.TXT
    │       ├── dwm1000.dri
    │       ├── dwm1000.gpi
    │       ├── dwm1000.GML
    │       ├── dwm1000.GBP
    │       ├── dwm1000.GTP
    │       ├── dwm1000.GBS
    │       ├── dwm1000.GTS
    │       └── dwm1000.GBO
    │   ├── eagle.epf
    │   └── dwm1000.brd
├── package.xml
├── README.md
├── rviz
    └── localize.rviz
├── CMakeLists.txt
└── scripts
    └── localize.py


/.gitignore:
--------------------------------------------------------------------------------
1 | .DS_Store
2 | /other_scripts
3 | /other_launch
4 | /other_maps
5 | 


--------------------------------------------------------------------------------
/maps/map.pgm:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/cheekiang/uwb_localization/HEAD/maps/map.pgm


--------------------------------------------------------------------------------
/maps/map.yaml:
--------------------------------------------------------------------------------
1 | image: map.pgm
2 | resolution: 0.050000
3 | origin: [-50.000000, -50.000000, 0.000000]
4 | negate: 0
5 | occupied_thresh: 0.65
6 | free_thresh: 0.196
7 | 


--------------------------------------------------------------------------------
/launch/tf.launch:
--------------------------------------------------------------------------------
1 | <launch>  
2 |    <node pkg="tf" type="static_transform_publisher" name="uwbtfbroadcaster1" args="2.54 0.881 0.57 0 0 0 1 map 1 100" />
3 |    <node pkg="tf" type="static_transform_publisher" name="uwbtfbroadcaster2" args="1.95 -1.8 1.02 0 0 0 1 map 2 100" />
4 |    <node pkg="tf" type="static_transform_publisher" name="uwbtfbroadcaster3" args="0.464 0.296 0.9 0 0 0 1 map 3 100" />
5 | </launch>
6 |   
7 |   
8 | 


--------------------------------------------------------------------------------
/hardware/arduino/tag/sender.h:
--------------------------------------------------------------------------------
 1 | #ifndef SENDER_H
 2 | #define SENDER_H
 3 | 
 4 | #include <Arduino.h>
 5 | 
 6 | class Sender{
 7 |   public:
 8 |     Sender();
 9 |     void newDevice(byte address, float range);
10 |     void addDevice();
11 |     void deleteDevice();
12 |     void loop();
13 |     
14 |   private:
15 |     int _totalDevices;
16 |     bool _isTriggered;
17 |     String _dataString;
18 |     int _devicesSent;
19 |     void _endPacket();
20 |     void _startPacket();
21 |     int _getChecksum();
22 | };
23 | 
24 | #endif
25 | 


--------------------------------------------------------------------------------
/launch/localize.launch:
--------------------------------------------------------------------------------
 1 | <launch>  
 2 |     <arg name="map_file" default="$(find uwb_localization)/maps/map.yaml"/>
 3 |     <node pkg="map_server" name="map_server"  type="map_server" args="$(arg map_file)" />
 4 |   
 5 |     <include file="$(find uwb_localization)/launch/tf.launch" />
 6 | 
 7 |     <node pkg="uwb_localization" name="uwb_localization"  type="localize.py" output="screen">
 8 |         <param name="serial_port" value="/dev/ttyUSB0" />
 9 |         <param name="min_anchor" value="2" />
10 |         <param name="min_range" value="0.1" />
11 |         <param name="max_range" value="10.1" />
12 |         <param name="frame_id" value="tag_link" />
13 |     </node>
14 | </launch>
15 |   
16 |   
17 | 


--------------------------------------------------------------------------------
/hardware/pcb/fabricate/dwm1000.TXT:
--------------------------------------------------------------------------------
 1 | %
 2 | M48
 3 | M72
 4 | T01C0.01200
 5 | T02C0.03200
 6 | T03C0.04000
 7 | T04C0.12598
 8 | %
 9 | T01
10 | X196011Y25136
11 | X189761Y25136
12 | X207261Y31386
13 | X184761Y33886
14 | X179761Y48886
15 | T02
16 | X136011Y42636
17 | X106011Y42636
18 | X91011Y42636
19 | X81011Y42636
20 | T03
21 | X46011Y12636
22 | X56011Y12636
23 | X66011Y12636
24 | X76011Y12636
25 | X86011Y12636
26 | X96011Y12636
27 | X106011Y12636
28 | X116011Y12636
29 | X126011Y12636
30 | X136011Y12636
31 | X146011Y12636
32 | X156011Y12636
33 | X56011Y72636
34 | X66011Y72636
35 | X76011Y72636
36 | X86011Y72636
37 | X96011Y72636
38 | X106011Y72636
39 | X116011Y72636
40 | X126011Y72636
41 | X136011Y72636
42 | X146011Y72636
43 | X156011Y72636
44 | X46011Y72636
45 | T04
46 | X148808Y33078
47 | X57793Y42278
48 | M30
49 | 


--------------------------------------------------------------------------------
/hardware/arduino/anchor/anchor.ino:
--------------------------------------------------------------------------------
 1 | 
 2 | #include <SPI.h>
 3 | #include "DW1000Ranging.h"
 4 | #include "DW1000Device.h"
 5 | 
 6 | // connection pins
 7 | const uint8_t PIN_RST = 9; // reset pin
 8 | const uint8_t PIN_IRQ = 2; // irq pin
 9 | const uint8_t PIN_SS = SS; // spi select pin
10 | 
11 | void setup() {
12 |   Serial.begin(115200);
13 |   delay(1000);
14 |   
15 |   DW1000Ranging.initCommunication(PIN_RST, PIN_SS, PIN_IRQ); 
16 |   DW1000Ranging.attachNewRange(newRange);
17 |   DW1000Ranging.attachBlinkDevice(newBlink);
18 |   DW1000Ranging.attachInactiveDevice(inactiveDevice);
19 |   DW1000Ranging.useRangeFilter(true);
20 |   
21 |   DW1000Ranging.startAsAnchor("02:00:5B:D5:A9:9A:E2:9C", DW1000.MODE_SHORTDATA_FAST_ACCURACY);
22 | }
23 | 
24 | void loop() {
25 |   DW1000Ranging.loop();
26 | }
27 | 
28 | void newRange() {
29 | ;
30 | }
31 | 
32 | void newBlink(DW1000Device* device) {
33 | 
34 | }
35 | 
36 | void inactiveDevice(DW1000Device* device) {
37 | 
38 | }
39 | 
40 | 


--------------------------------------------------------------------------------
/hardware/pcb/fabricate/dwm1000.dri:
--------------------------------------------------------------------------------
 1 | Generated by EAGLE CAM Processor 7.5.0
 2 | 
 3 | Drill Station Info File: /Users/Juan/Documents/eagle/dwm1000/dwm1000.dri
 4 | 
 5 |  Date              : 18/9/16 1:35 AM
 6 |  Drills            : generated
 7 |  Device            : Excellon drill station, coordinate format 2.5 inch
 8 | 
 9 | Parameter settings:
10 | 
11 |  Tolerance Drill + :  0.00 %
12 |  Tolerance Drill - :  0.00 %
13 |  Rotate            : no
14 |  Mirror            : no
15 |  Optimize          : yes
16 |  Auto fit          : yes
17 |  OffsetX           : 0inch
18 |  OffsetY           : 0inch
19 |  Layers            : Drills Holes
20 | 
21 | Drill File Info:
22 | 
23 |  Data Mode         : Absolute
24 |  Units             : 1/100000 Inch
25 | 
26 | Drills used:
27 | 
28 |  Code  Size       used
29 | 
30 |  T01   0.0120inch     5
31 |  T02   0.0320inch     4
32 |  T03   0.0400inch    24
33 |  T04   0.1260inch     2
34 | 
35 | Total number of drills: 35
36 | 
37 | Plotfiles:
38 | 
39 |  /Users/Juan/Documents/eagle/dwm1000/dwm1000.TXT
40 | 


--------------------------------------------------------------------------------
/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package>
 3 |   <name>uwb_localization</name>
 4 |   <version>0.0.1</version>
 5 |   <description>UWB Indoor Positioning Systenm</description>
 6 |   <maintainer email="jimenojmm@gmail.com">Jimeno</maintainer>
 7 |   <license>BSD</license>
 8 |   <author email="jimenojmm@gmail.com">Juan Jimeno</author> 
 9 |   <buildtool_depend>catkin</buildtool_depend>
10 |   
11 |   <build_depend>roscpp</build_depend>
12 |   <build_depend>rospy</build_depend>
13 |   <build_depend>tf</build_depend>
14 |   <build_depend>python-scipy</build_depend>
15 |   <build_depend>python-numpy</build_depend>
16 |   <build_depend>python-shapely</build_depend>
17 |   <build_depend>localization</build_depend>
18 | 
19 |   <run_depend>roscpp</run_depend>
20 |   <run_depend>rospy</run_depend>
21 |   <run_depend>tf</run_depend>
22 |   <build_depend>python-scipy</build_depend>
23 |   <build_depend>python-numpy</build_depend>
24 |   <build_depend>python-shapely</build_depend>
25 |   <build_depend>localization</build_depend>
26 | 
27 |   <export>
28 |   </export>
29 | </package>


--------------------------------------------------------------------------------
/hardware/arduino/tag/sender.cpp:
--------------------------------------------------------------------------------
 1 | //PROTOCOL: "$TOTAL_DEVICES_AROUND,ADDRESS_1,RANGE_1,ADDRESS_2,RANGE_2,ADDRESS_N,RANGE_N,TOTAL_DEVICES_SENT\r\n"
 2 | 
 3 | #include "sender.h"
 4 | #include "Arduino.h"
 5 | 
 6 | Sender::Sender()
 7 | {
 8 |   _totalDevices = 0;
 9 |   _isTriggered = false;
10 |   _dataString = "";
11 |   _devicesSent = 0;
12 | }
13 | 
14 | void Sender::newDevice(byte address, float range)
15 | {
16 |   if (_isTriggered)
17 |   {
18 |     Serial.print(address);
19 |     Serial.print(',');
20 |     Serial.print(range);
21 |     Serial.print(',');
22 |     _devicesSent++;
23 |   }
24 | }
25 | 
26 | void Sender::addDevice()
27 | {
28 |   _totalDevices++;
29 | }
30 | 
31 | void Sender::deleteDevice()
32 | {
33 |   _totalDevices--;
34 | }
35 | 
36 | void Sender::_endPacket()
37 | {
38 |   Serial.println(_devicesSent);
39 |   _isTriggered = false;
40 |   _devicesSent = 0;
41 | 
42 | }
43 | 
44 | void Sender::_startPacket()
45 | {
46 |   Serial.print('$');
47 |   Serial.print(_totalDevices);
48 |   Serial.print(',');
49 |   _isTriggered = true;
50 | }
51 | 
52 | void Sender::loop()
53 | {
54 |   while (Serial.available())
55 |   {
56 |     char data = Serial.read();
57 |     if (data == '+')
58 |     {
59 |       _startPacket();
60 |     }
61 |   }
62 |   
63 |   if (_isTriggered && _devicesSent == _totalDevices)
64 |   {
65 |     _endPacket();
66 |   }
67 | }
68 | 
69 | 


--------------------------------------------------------------------------------
/hardware/arduino/tag/tag.ino:
--------------------------------------------------------------------------------
 1 | 
 2 | #include <SPI.h>
 3 | #include "DW1000Ranging.h"
 4 | #include "DW1000Device.h"
 5 | #include "sender.h"
 6 | 
 7 | Sender sender;
 8 | #define SENSOR_OFFSET 0.4
 9 | // connection pins
10 | const uint8_t PIN_RST = 9; // reset pin
11 | const uint8_t PIN_IRQ = 2; // irq pin
12 | const uint8_t PIN_SS = SS; // spi select pin
13 | 
14 | void setup() {
15 |   Serial.begin(57600);
16 |   delay(1000);
17 |   DW1000Ranging.initCommunication(PIN_RST, PIN_SS, PIN_IRQ);
18 |   DW1000Ranging.attachNewRange(newRange);
19 |   DW1000Ranging.attachNewDevice(newDevice);
20 |   DW1000Ranging.attachInactiveDevice(inactiveDevice);
21 |   DW1000Ranging.useRangeFilter(true);
22 | 
23 |   //start the hardware as tag
24 |   DW1000Ranging.startAsTag("01:00:5B:D5:A9:9A:E2:9C", DW1000.MODE_SHORTDATA_FAST_ACCURACY);
25 | }
26 | 
27 | void loop() {
28 |   DW1000Ranging.loop();
29 |   //keep waiting for command from ROS node. 
30 |   sender.loop();
31 | }
32 | 
33 | void newRange() {
34 |   //insert to the message  
35 |   sender.newDevice(DW1000Ranging.getDistantDevice()->getShortAddress(),
36 |                    DW1000Ranging.getDistantDevice()->getRange() - SENSOR_OFFSET);
37 | }
38 | 
39 | void newDevice(DW1000Device* device) {
40 |   //add device from total no of devices around
41 |   sender.addDevice();
42 | }
43 | 
44 | void inactiveDevice(DW1000Device* device) {
45 |   //delete device from total no of devices around
46 |   sender.deleteDevice();
47 | }
48 | 
49 | 


--------------------------------------------------------------------------------
/hardware/pcb/fabricate/dwm1000.gpi:
--------------------------------------------------------------------------------
 1 | Generated by EAGLE CAM Processor 7.5.0
 2 | 
 3 | Photoplotter Info File: /Users/Juan/Documents/eagle/dwm1000/dwm1000.gpi
 4 | 
 5 |  Date              : 18/9/16 1:35 AM
 6 |  Plotfile          : /Users/Juan/Documents/eagle/dwm1000/dwm1000.GTL
 7 |  Apertures         : generated: 
 8 |  Device            : Gerber RS-274-X photoplotter, coordinate format 2.5 inch
 9 | 
10 | Parameter settings:
11 | 
12 |  Emulate Apertures : no
13 |  Tolerance Draw  + :  0.00 %
14 |  Tolerance Draw  - :  0.00 %
15 |  Tolerance Flash + :  0.00 %
16 |  Tolerance Flash - :  0.00 %
17 |  Rotate            : no
18 |  Mirror            : no
19 |  Optimize          : yes
20 |  Auto fit          : yes
21 |  OffsetX           : 0inch
22 |  OffsetY           : 0inch
23 | 
24 | Plotfile Info:
25 | 
26 |  Coordinate Format : 2.5
27 |  Coordinate Units  : Inch
28 |  Data Mode         : Absolute
29 |  Zero Suppression  : None
30 |  End Of Block      : *
31 | 
32 | Apertures used:
33 | 
34 |  Code     Shape     Size                  used
35 | 
36 |  D10      draw      0.0000inch              10
37 |  D11      rectangle 0.0394inch x 0.0965inch    16
38 |  D12      rectangle 0.0965inch x 0.0394inch     8
39 |  D13      draw      0.0600inch              24
40 |  D14      octagon   0.0560inch               2
41 |  D15      octagon   0.0520inch               2
42 |  D16      draw      0.0100inch              66
43 |  D17      round     0.0240inch               5
44 |  D18      draw      0.0160inch            1001
45 | 
46 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | #uwb_localization
 2 | 
 3 | Indoor/Outdoor Positioning System framework based on Decawave's DWM1000 Ultra Wide Band transceivers. 
 4 | The whole system was tested indoors with 3 anchors and 1 tag. Technically this should work outdoors as well.
 5 | 
 6 | [![IMAGE ALT TEXT](http://img.youtube.com/vi/BuBnmrkJ9BY/maxresdefault.jpg)](https://www.youtube.com/embed/BuBnmrkJ9BY "ROS Indoor Localization using Decawave's UWB Transceivers ")
 7 | 
 8 | ###Hardware
 9 | Both anchors and tags use the same circuit board. The board houses the UWB transceiver, an Arduino Pro Mini 3.3V and a built-in USB 
10 | Male so you can plug it straight to a power bank and deploy the anchors remotely.
11 | 
12 | 1. If you wish to fabricate the PCB, the Gerber files are included /hardware/pcb/fabricate. 
13 | Seeedstudio's DRU for 2-layer board was used to verify the design.
14 | 
15 | 2. Download the DWM1000 Arduino library https://github.com/thotro/arduino-dw1000 .
16 | 
17 | 3. The current DWM1000 Arduino library  uses random address for the anchors and doesn't support arbitrary addresses. 
18 | You need to edit https://github.com/thotro/arduino-dw1000/blob/master/src/DW1000Ranging.cpp#L164-L165 every time you upload the 
19 | anchor codes to have unique address per anchor from:
20 | 
21 |     ```c++
22 |     _currentShortAddress[0] = random(0, 256);
23 |     _currentShortAddress[1] = random(0, 256);
24 |     ```
25 |     to the address you want (ie. address: '01'):
26 | 
27 |     ```c++
28 |     _currentShortAddress[0] = 1;
29 |     _currentShortAddress[1] = 0;
30 |     ```
31 | 
32 | 4. Save DW1000Ranging.cpp and upload the codes from /hardware/arduino to your tag and anchors.
33 | 
34 | ###Installation
35 | 1. Install dependencies
36 | 
37 |     ```sh
38 |     $ pip install localization
39 |     $ pip install scipy
40 |     $ pip install shapely
41 |     ```
42 | 
43 | 2. Install map_server
44 | 
45 |     ```sh
46 |     $ sudo apt-get install ros-indigo-map-server
47 |     ```
48 | 
49 | 3. Build the package
50 | 
51 |     ```sh
52 |     $ cd ~/catkin_ws
53 |     $ catkin_make
54 |     ```
55 | 
56 | ###Defining TF
57 | 1. You need to define the transforms from map to each anchor's frame. You can run map_server and load your map to identify 
58 | the exact points you want your anchors placed. Open RVIZ and click on the location of each anchor by using "Publish Points".
59 | 
60 | 2. Once you get the exact location of each anchor, add the transforms in /launch/tf.launch file. Take note that the frame_id of 
61 | each anchor must be the same as the address defined in Arduino (_currentShortAddress[]).
62 | 
63 | ###Usage
64 | 1. Run lips.launch:			
65 | 
66 |     ```sh
67 |     $ roslaunch uwb_localization localize.launch
68 |     
69 |     ```
70 | 
71 | ###Parameters
72 | #####serial_port(default: '/dev/ttyUSB0')
73 | Tag's serial port.
74 | 
75 | #####frame_id(default: 'uwb_tag')
76 | Tag's frame_id when transform's published from map to tag.
77 | 
78 | #####min_anchor(default: 3)
79 | The mininum number of anchors the system must find before performing trilateration between anchors. Increase this if you want to improve the accuracy
80 | at the expense of computational cost.
81 | 
82 | #####min_range(default: 0.5)
83 | The minimum probable distance from an anchor to a tag to prevent false reading. For example, if your anchor is hanging 1 m away from 
84 | the floor, it makes sense to put 1 meter as minimum range since there's no way it will range less than 1 meter.
85 | 
86 | #####max_range(default: 10.0)
87 | The maximum probable distance from an anchor to a tag to prevent false reading. For example, if your anchors are placed in 8 meter x 8 meter room, 
88 | you can set the max_range less than or equal the hypotenuse of the room since ranges won't get any longer than that.
89 | 
90 | 


--------------------------------------------------------------------------------
/rviz/localize.rviz:
--------------------------------------------------------------------------------
  1 | Panels:
  2 |   - Class: rviz/Displays
  3 |     Help Height: 81
  4 |     Name: Displays
  5 |     Property Tree Widget:
  6 |       Expanded:
  7 |         - /Global Options1
  8 |         - /Status1
  9 |         - /Map1
 10 |         - /TF1
 11 |         - /Marker1
 12 |       Splitter Ratio: 0.5
 13 |     Tree Height: 1442
 14 |   - Class: rviz/Selection
 15 |     Name: Selection
 16 |   - Class: rviz/Tool Properties
 17 |     Expanded:
 18 |       - /2D Pose Estimate1
 19 |       - /2D Nav Goal1
 20 |       - /Publish Point1
 21 |     Name: Tool Properties
 22 |     Splitter Ratio: 0.588679
 23 |   - Class: rviz/Views
 24 |     Expanded:
 25 |       - /Current View1
 26 |     Name: Views
 27 |     Splitter Ratio: 0.5
 28 |   - Class: rviz/Time
 29 |     Experimental: false
 30 |     Name: Time
 31 |     SyncMode: 0
 32 |     SyncSource: ""
 33 | Visualization Manager:
 34 |   Class: ""
 35 |   Displays:
 36 |     - Alpha: 0.5
 37 |       Cell Size: 1
 38 |       Class: rviz/Grid
 39 |       Color: 160; 160; 164
 40 |       Enabled: true
 41 |       Line Style:
 42 |         Line Width: 0.03
 43 |         Value: Lines
 44 |       Name: Grid
 45 |       Normal Cell Count: 0
 46 |       Offset:
 47 |         X: 0
 48 |         Y: 0
 49 |         Z: 0
 50 |       Plane: XY
 51 |       Plane Cell Count: 10
 52 |       Reference Frame: <Fixed Frame>
 53 |       Value: true
 54 |     - Alpha: 0.7
 55 |       Class: rviz/Map
 56 |       Color Scheme: map
 57 |       Draw Behind: false
 58 |       Enabled: true
 59 |       Name: Map
 60 |       Topic: /map
 61 |       Value: true
 62 |     - Class: rviz/TF
 63 |       Enabled: true
 64 |       Frame Timeout: 15
 65 |       Frames:
 66 |         01:
 67 |           Value: true
 68 |         02:
 69 |           Value: true
 70 |         03:
 71 |           Value: true
 72 |         All Enabled: true
 73 |         map:
 74 |           Value: true
 75 |         uwb_tag:
 76 |           Value: true
 77 |       Marker Scale: 1
 78 |       Name: TF
 79 |       Show Arrows: false
 80 |       Show Axes: true
 81 |       Show Names: true
 82 |       Tree:
 83 |         map:
 84 |           01:
 85 |             {}
 86 |           02:
 87 |             {}
 88 |           03:
 89 |             {}
 90 |           uwb_tag:
 91 |             {}
 92 |       Update Interval: 0
 93 |       Value: true
 94 |     - Class: rviz/Marker
 95 |       Enabled: true
 96 |       Marker Topic: visualization_marker
 97 |       Name: Marker
 98 |       Namespaces:
 99 |         {}
100 |       Queue Size: 100
101 |       Value: true
102 |   Enabled: true
103 |   Global Options:
104 |     Background Color: 48; 48; 48
105 |     Fixed Frame: map
106 |     Frame Rate: 30
107 |   Name: root
108 |   Tools:
109 |     - Class: rviz/Interact
110 |       Hide Inactive Objects: true
111 |     - Class: rviz/MoveCamera
112 |     - Class: rviz/Select
113 |     - Class: rviz/FocusCamera
114 |     - Class: rviz/Measure
115 |     - Class: rviz/SetInitialPose
116 |       Topic: /initialpose
117 |     - Class: rviz/SetGoal
118 |       Topic: /move_base_simple/goal
119 |     - Class: rviz/PublishPoint
120 |       Single click: true
121 |       Topic: /clicked_point
122 |   Value: true
123 |   Views:
124 |     Current:
125 |       Class: rviz/Orbit
126 |       Distance: 4.66559
127 |       Enable Stereo Rendering:
128 |         Stereo Eye Separation: 0.06
129 |         Stereo Focal Distance: 1
130 |         Swap Stereo Eyes: false
131 |         Value: false
132 |       Focal Point:
133 |         X: -1.00912
134 |         Y: 0.00907818
135 |         Z: -6.32136e-09
136 |       Name: Current View
137 |       Near Clip Distance: 0.01
138 |       Pitch: 0.854797
139 |       Target Frame: uwb_tag
140 |       Value: Orbit (rviz)
141 |       Yaw: 3.3954
142 |     Saved: ~
143 | Window Geometry:
144 |   Displays:
145 |     collapsed: false
146 |   Height: 1751
147 |   Hide Left Dock: false
148 |   Hide Right Dock: false
149 |   QMainWindow State: 000000ff00000000fd00000004000000000000013c00000634fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006700fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004100000634000000e300fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000634fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000004100000634000000b300fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000b400000003efc0100000002fb0000000800540069006d0065010000000000000b40000002f500fffffffb0000000800540069006d00650100000000000004500000000000000000000008e90000063400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
150 |   Selection:
151 |     collapsed: false
152 |   Time:
153 |     collapsed: false
154 |   Tool Properties:
155 |     collapsed: false
156 |   Views:
157 |     collapsed: false
158 |   Width: 2880
159 |   X: 0
160 |   Y: 0
161 | 


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/CMakeLists.txt:
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  1 | cmake_minimum_required(VERSION 2.8.3)
  2 | project(uwb_localization)
  3 | 
  4 | ## Find catkin macros and libraries
  5 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
  6 | ## is used, also find other catkin packages
  7 | find_package(catkin REQUIRED COMPONENTS
  8 |   roscpp
  9 |   rospy
 10 |   tf
 11 | )
 12 | 
 13 | ## System dependencies are found with CMake's conventions
 14 | # find_package(Boost REQUIRED COMPONENTS system)
 15 | 
 16 | 
 17 | ## Uncomment this if the package has a setup.py. This macro ensures
 18 | ## modules and global scripts declared therein get installed
 19 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
 20 | # catkin_python_setup()
 21 | 
 22 | ################################################
 23 | ## Declare ROS messages, services and actions ##
 24 | ################################################
 25 | 
 26 | ## To declare and build messages, services or actions from within this
 27 | ## package, follow these steps:
 28 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in
 29 | ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
 30 | ## * In the file package.xml:
 31 | ##   * add a build_depend tag for "message_generation"
 32 | ##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
 33 | ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
 34 | ##     but can be declared for certainty nonetheless:
 35 | ##     * add a run_depend tag for "message_runtime"
 36 | ## * In this file (CMakeLists.txt):
 37 | ##   * add "message_generation" and every package in MSG_DEP_SET to
 38 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 39 | ##   * add "message_runtime" and every package in MSG_DEP_SET to
 40 | ##     catkin_package(CATKIN_DEPENDS ...)
 41 | ##   * uncomment the add_*_files sections below as needed
 42 | ##     and list every .msg/.srv/.action file to be processed
 43 | ##   * uncomment the generate_messages entry below
 44 | ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 45 | 
 46 | ## Generate messages in the 'msg' folder
 47 | # add_message_files(
 48 | #   FILES
 49 | #   Message1.msg
 50 | #   Message2.msg
 51 | # )
 52 | 
 53 | ## Generate services in the 'srv' folder
 54 | # add_service_files(
 55 | #   FILES
 56 | #   Service1.srv
 57 | #   Service2.srv
 58 | # )
 59 | 
 60 | ## Generate actions in the 'action' folder
 61 | # add_action_files(
 62 | #   FILES
 63 | #   Action1.action
 64 | #   Action2.action
 65 | # )
 66 | 
 67 | ## Generate added messages and services with any dependencies listed here
 68 | # generate_messages(
 69 | #   DEPENDENCIES
 70 | #   std_msgs  # Or other packages containing msgs
 71 | # )
 72 | 
 73 | ################################################
 74 | ## Declare ROS dynamic reconfigure parameters ##
 75 | ################################################
 76 | 
 77 | ## To declare and build dynamic reconfigure parameters within this
 78 | ## package, follow these steps:
 79 | ## * In the file package.xml:
 80 | ##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
 81 | ## * In this file (CMakeLists.txt):
 82 | ##   * add "dynamic_reconfigure" to
 83 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 84 | ##   * uncomment the "generate_dynamic_reconfigure_options" section below
 85 | ##     and list every .cfg file to be processed
 86 | 
 87 | ## Generate dynamic reconfigure parameters in the 'cfg' folder
 88 | # generate_dynamic_reconfigure_options(
 89 | #   cfg/DynReconf1.cfg
 90 | #   cfg/DynReconf2.cfg
 91 | # )
 92 | 
 93 | ###################################
 94 | ## catkin specific configuration ##
 95 | ###################################
 96 | ## The catkin_package macro generates cmake config files for your package
 97 | ## Declare things to be passed to dependent projects
 98 | ## INCLUDE_DIRS: uncomment this if you package contains header files
 99 | ## LIBRARIES: libraries you create in this project that dependent projects also need
100 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need
101 | ## DEPENDS: system dependencies of this project that dependent projects also need
102 | catkin_package(
103 | #  INCLUDE_DIRS include
104 | #  LIBRARIES uwb_localization
105 | #  CATKIN_DEPENDS roscpp rospy tf
106 | #  DEPENDS system_lib
107 | )
108 | 
109 | ###########
110 | ## Build ##
111 | ###########
112 | 
113 | ## Specify additional locations of header files
114 | ## Your package locations should be listed before other locations
115 | # include_directories(include)
116 | include_directories(
117 |   ${catkin_INCLUDE_DIRS}
118 | )
119 | 
120 | ## Declare a C++ library
121 | # add_library(uwb_localization
122 | #   src/${PROJECT_NAME}/uwb_localization.cpp
123 | # )
124 | 
125 | ## Add cmake target dependencies of the library
126 | ## as an example, code may need to be generated before libraries
127 | ## either from message generation or dynamic reconfigure
128 | # add_dependencies(uwb_localization ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
129 | 
130 | ## Declare a C++ executable
131 | # add_executable(uwb_localization_node src/uwb_localization_node.cpp)
132 | 
133 | ## Add cmake target dependencies of the executable
134 | ## same as for the library above
135 | # add_dependencies(uwb_localization_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
136 | 
137 | ## Specify libraries to link a library or executable target against
138 | # target_link_libraries(uwb_localization_node
139 | #   ${catkin_LIBRARIES}
140 | # )
141 | 
142 | #############
143 | ## Install ##
144 | #############
145 | 
146 | # all install targets should use catkin DESTINATION variables
147 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
148 | 
149 | ## Mark executable scripts (Python etc.) for installation
150 | ## in contrast to setup.py, you can choose the destination
151 | # install(PROGRAMS
152 | #   scripts/my_python_script
153 | #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
154 | # )
155 | 
156 | ## Mark executables and/or libraries for installation
157 | # install(TARGETS uwb_localization uwb_localization_node
158 | #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
159 | #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
160 | #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
161 | # )
162 | 
163 | ## Mark cpp header files for installation
164 | # install(DIRECTORY include/${PROJECT_NAME}/
165 | #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
166 | #   FILES_MATCHING PATTERN "*.h"
167 | #   PATTERN ".svn" EXCLUDE
168 | # )
169 | 
170 | ## Mark other files for installation (e.g. launch and bag files, etc.)
171 | # install(FILES
172 | #   # myfile1
173 | #   # myfile2
174 | #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
175 | # )
176 | 
177 | #############
178 | ## Testing ##
179 | #############
180 | 
181 | ## Add gtest based cpp test target and link libraries
182 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_uwb_localization.cpp)
183 | # if(TARGET ${PROJECT_NAME}-test)
184 | #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
185 | # endif()
186 | 
187 | ## Add folders to be run by python nosetests
188 | # catkin_add_nosetests(test)
189 | 


--------------------------------------------------------------------------------
/scripts/localize.py:
--------------------------------------------------------------------------------
  1 | #!/usr/bin/env python  
  2 | 
  3 | '''
  4 |  Copyright (c) 2016, Juan Jimeno
  5 |  
  6 |  All rights reserved. 
  7 |  
  8 |  Redistribution and use in source and binary forms, with or without 
  9 |  modification, are permitted provided that the following conditions are met: 
 10 |  
 11 |  * Redistributions of source code must retain the above copyright notice, 
 12 |  this list of conditions and the following disclaimer. 
 13 |  * Redistributions in binary form must reproduce the above copyright 
 14 |  notice, this list of conditions and the following disclaimer in the 
 15 |  documentation and/or other materials provided with the distribution. 
 16 |  * Neither the name of  nor the names of its contributors may be used to 
 17 |  endorse or promote products derived from this software without specific 
 18 |  prior written permission. 
 19 |  
 20 |  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
 21 |  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
 22 |  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 
 23 |  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 
 24 |  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 
 25 |  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
 26 |  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
 27 |  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
 28 |  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
 29 |  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
 30 |  POSSIBILITY OF SUCH DAMAGE. 
 31 | '''
 32 |  
 33 | import rospy
 34 | import tf
 35 | import localization as lx
 36 | import serial
 37 | 
 38 | def parse_data(data_string):
 39 |     range_dict={}
 40 |     if data_string != None:
 41 |         current_key = ""
 42 |         #iterate message string without first and last character of message
 43 |         for i in range(1,len(data_string)): 
 44 |             #anchor id is located at odd indexes       
 45 |             if i % 2 != 0:
 46 |                 current_anchor = data_string[i]
 47 |                 
 48 |             #anchor range is located at even indexes    
 49 |             else:
 50 |                 current_range = data_string[i]
 51 |                 
 52 |                 #filter out data that doesn't make sense
 53 |                 if float(current_range) < MAX_RANGE and float(current_range) > MIN_RANGE:
 54 |                     #populate dictionary
 55 |                     range_dict[current_anchor] = current_range
 56 |                 else:
 57 |                     break
 58 |                     
 59 |         return range_dict
 60 | 
 61 | def get_transforms(anchors):
 62 |     transform_dict = {}
 63 |     #iterate and get the transforms for each anchor
 64 |     for anchor in anchors:
 65 |         try:
 66 |             (trans,rot) = listener.lookupTransform('/map', anchor, rospy.Time(0))
 67 |             transform_dict[anchor] = trans
 68 |         except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
 69 |             pass         
 70 |                
 71 |     return transform_dict
 72 |     
 73 | def get_target_location(transforms, ranges):
 74 |     P = lx.Project(mode="3D",solver="LSE")
 75 |     
 76 |     #define anchor locations
 77 |     for anchor in transforms:        
 78 |         P.add_anchor(anchor, transforms[anchor])
 79 |     t, label = P.add_target()
 80 | 
 81 |     #define anchor ranges
 82 |     for anchor in ranges:       
 83 |         t.add_measure(anchor,ranges[anchor])
 84 | 
 85 |     P.solve()
 86 |     B = t.loc
 87 | 
 88 |     return {'x':B.x, 'y':B.y, 'z':B.z}
 89 |     
 90 | def read_serial_data():
 91 |     #PROTOCOL: "$TOTAL_DEVICES_AROUND,ADDRESS_1,RANGE_1,ADDRESS_2,RANGE_2,ADDRESS_N,RANGE_N,TOTAL_DEVICES_SENT\r\n"
 92 |     data_string = ""
 93 |     parsed_data_string = ""
 94 |     
 95 |     #tell Arduino to send the data
 96 |     ser.write('+')
 97 |     # print "hello"
 98 |     #check the first character of the message 
 99 |     if ser.read() == '$':
100 |         while True:
101 |             c = ser.read()
102 |             data_string += c
103 |             # print data_string
104 |             # print data_string
105 |             #stop collecting characters at end of message
106 |             if c == '\n':
107 |                 #omit start and end characters
108 |                 data_string = data_string.rstrip('$\r\n')  
109 |                 try:
110 |                     #parse anchor ids and ranges from message
111 |                     parsed_data_string = data_string.split(',')
112 |                     total_anchors = int(parsed_data_string[0]) 
113 |                                      
114 |                     #exit when there's not enough anchors around
115 |                     if total_anchors < MIN_ANCHOR or total_anchors == 0:
116 |                         duration = rospy.get_time() - start_time
117 |                         #prevent from complaining on sensor boot up
118 |                         if duration > 5:
119 |                             rospy.logwarn("Not enough anchors. Make sure anchors are powered on or try moving around near the anchors.")
120 |                         break
121 |                     else:
122 |                         return parsed_data_string                       
123 |                 except:
124 |                     rospy.logwarn("Error parsing reading serial data")                 
125 |                     pass                      
126 |             # elif c == '$':
127 |             #     break
128 | if __name__ == '__main__':
129 | 
130 |     rospy.init_node('lips')
131 |     listener = tf.TransformListener()
132 |     start_time = rospy.get_time()
133 |     #create rosparameters
134 |     MIN_RANGE = rospy.get_param('/lips/min_range', 0.5)
135 |     MAX_RANGE = rospy.get_param('/lips/max_range', 10.0)
136 |     MIN_ANCHOR = rospy.get_param('/lips/min_anchor', 2)
137 |     FRAME_ID = rospy.get_param('/lips/frame_id', 'uwb_tag')
138 |     SERIAL_PORT = rospy.get_param('/lips/serial_port', '/dev/ttyUSB0')
139 |     
140 |     #rosparam logs just to make sure parameters kicked in
141 |     rospy.loginfo("%s is %s", rospy.resolve_name('/lips/min_range'), MIN_RANGE)
142 |     rospy.loginfo("%s is %s", rospy.resolve_name('/lips/max_range'), MAX_RANGE)
143 |     rospy.loginfo("%s is %s", rospy.resolve_name('/lips/min_anchor'), MIN_ANCHOR)
144 |     rospy.loginfo("%s is %s", rospy.resolve_name('/lips/frame_id'), FRAME_ID)
145 |     rospy.loginfo("%s is %s", rospy.resolve_name('/lips/serial_sport'), SERIAL_PORT)
146 |      
147 |     ser = serial.Serial(SERIAL_PORT, 57600)
148 |     rospy.loginfo("Connected to %s", ser.portstr)
149 |  
150 |     while not rospy.is_shutdown():
151 |         rospy.sleep
152 |         #get the range of each anchor
153 |         ranges = parse_data(read_serial_data())
154 |         
155 |         #only perform calculations when there's valid ranges from the anchors
156 |         if ranges != None:
157 |             anchors = []
158 |             
159 |             #populate anchor dictionary 
160 |             for anchor in ranges:
161 |                 anchors.append(anchor)
162 |                 
163 |             #get transforms of each anchor
164 |             transforms = get_transforms(anchors)
165 |             
166 |             if(len(transforms) >= MIN_ANCHOR):
167 |                 try:
168 |                     #perform trilateration using anchor ranges
169 |                     pos = get_target_location(transforms, ranges)
170 |                 except:
171 |                     rospy.logwarn("Localization Error")
172 | 
173 |                 #broadcast the tag's transform from map -> tag (FRAME_ID)   
174 |                 br = tf.TransformBroadcaster()
175 |                 br.sendTransform((pos['x'], pos['y'], pos['z']),
176 |                                 tf.transformations.quaternion_from_euler(0, 0, 0),
177 |                                 rospy.Time.now(),
178 |                                 FRAME_ID,
179 |                                 "map")


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523 | M02*
524 | 


--------------------------------------------------------------------------------
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530 | X0022192Y0038699D03*
531 | M02*
532 | 


--------------------------------------------------------------------------------
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--------------------------------------------------------------------------------
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551 | M02*
552 | 


--------------------------------------------------------------------------------
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--------------------------------------------------------------------------------
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589 | X0091011Y0042636D03*
590 | D16*
591 | X0106011Y0042636D03*
592 | X0136011Y0042636D03*
593 | M02*
594 | 


--------------------------------------------------------------------------------
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--------------------------------------------------------------------------------
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609 | X0081011Y0042636D03*
610 | D16*
611 | X0106011Y0042636D03*
612 | X0136011Y0042636D03*
613 | M02*
614 | 


--------------------------------------------------------------------------------
/hardware/pcb/fabricate/dwm1000.GBO:
--------------------------------------------------------------------------------
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226 | X0146563Y0027193D01*
227 | X0146416Y0027251D01*
228 | X0146270Y0027313D01*
229 | X0146126Y0027378D01*
230 | X0145984Y0027448D01*
231 | X0145843Y0027520D01*
232 | X0145704Y0027597D01*
233 | X0145568Y0027676D01*
234 | X0145433Y0027760D01*
235 | X0145300Y0027846D01*
236 | X0145170Y0027936D01*
237 | X0145042Y0028029D01*
238 | X0144916Y0028125D01*
239 | X0144793Y0028225D01*
240 | X0144672Y0028327D01*
241 | X0144554Y0028432D01*
242 | X0144439Y0028541D01*
243 | X0144326Y0028652D01*
244 | X0144216Y0028766D01*
245 | X0144109Y0028883D01*
246 | X0144005Y0029002D01*
247 | X0143904Y0029124D01*
248 | X0143807Y0029249D01*
249 | X0143712Y0029376D01*
250 | X0143621Y0029505D01*
251 | X0143532Y0029636D01*
252 | X0143448Y0029770D01*
253 | X0143366Y0029906D01*
254 | X0143288Y0030043D01*
255 | X0143214Y0030183D01*
256 | X0143143Y0030325D01*
257 | X0143075Y0030468D01*
258 | X0143011Y0030613D01*
259 | X0142951Y0030759D01*
260 | X0142895Y0030907D01*
261 | X0142842Y0031056D01*
262 | X0142793Y0031207D01*
263 | X0142748Y0031359D01*
264 | X0142707Y0031512D01*
265 | X0142669Y0031665D01*
266 | X0142636Y0031820D01*
267 | X0142606Y0031976D01*
268 | X0142580Y0032132D01*
269 | X0142559Y0032289D01*
270 | X0142541Y0032446D01*
271 | X0142527Y0032604D01*
272 | X0142517Y0032762D01*
273 | X0142511Y0032920D01*
274 | X0142509Y0033078D01*
275 | X0051494Y0042278D02*
276 | X0051496Y0042436D01*
277 | X0051502Y0042594D01*
278 | X0051512Y0042752D01*
279 | X0051526Y0042910D01*
280 | X0051544Y0043067D01*
281 | X0051565Y0043224D01*
282 | X0051591Y0043380D01*
283 | X0051621Y0043536D01*
284 | X0051654Y0043691D01*
285 | X0051692Y0043844D01*
286 | X0051733Y0043997D01*
287 | X0051778Y0044149D01*
288 | X0051827Y0044300D01*
289 | X0051880Y0044449D01*
290 | X0051936Y0044597D01*
291 | X0051996Y0044743D01*
292 | X0052060Y0044888D01*
293 | X0052128Y0045031D01*
294 | X0052199Y0045173D01*
295 | X0052273Y0045313D01*
296 | X0052351Y0045450D01*
297 | X0052433Y0045586D01*
298 | X0052517Y0045720D01*
299 | X0052606Y0045851D01*
300 | X0052697Y0045980D01*
301 | X0052792Y0046107D01*
302 | X0052889Y0046232D01*
303 | X0052990Y0046354D01*
304 | X0053094Y0046473D01*
305 | X0053201Y0046590D01*
306 | X0053311Y0046704D01*
307 | X0053424Y0046815D01*
308 | X0053539Y0046924D01*
309 | X0053657Y0047029D01*
310 | X0053778Y0047131D01*
311 | X0053901Y0047231D01*
312 | X0054027Y0047327D01*
313 | X0054155Y0047420D01*
314 | X0054285Y0047510D01*
315 | X0054418Y0047596D01*
316 | X0054553Y0047680D01*
317 | X0054689Y0047759D01*
318 | X0054828Y0047836D01*
319 | X0054969Y0047908D01*
320 | X0055111Y0047978D01*
321 | X0055255Y0048043D01*
322 | X0055401Y0048105D01*
323 | X0055548Y0048163D01*
324 | X0055697Y0048218D01*
325 | X0055847Y0048269D01*
326 | X0055998Y0048316D01*
327 | X0056150Y0048359D01*
328 | X0056303Y0048398D01*
329 | X0056458Y0048434D01*
330 | X0056613Y0048465D01*
331 | X0056769Y0048493D01*
332 | X0056925Y0048517D01*
333 | X0057082Y0048537D01*
334 | X0057240Y0048553D01*
335 | X0057397Y0048565D01*
336 | X0057556Y0048573D01*
337 | X0057714Y0048577D01*
338 | X0057872Y0048577D01*
339 | X0058030Y0048573D01*
340 | X0058189Y0048565D01*
341 | X0058346Y0048553D01*
342 | X0058504Y0048537D01*
343 | X0058661Y0048517D01*
344 | X0058817Y0048493D01*
345 | X0058973Y0048465D01*
346 | X0059128Y0048434D01*
347 | X0059283Y0048398D01*
348 | X0059436Y0048359D01*
349 | X0059588Y0048316D01*
350 | X0059739Y0048269D01*
351 | X0059889Y0048218D01*
352 | X0060038Y0048163D01*
353 | X0060185Y0048105D01*
354 | X0060331Y0048043D01*
355 | X0060475Y0047978D01*
356 | X0060617Y0047908D01*
357 | X0060758Y0047836D01*
358 | X0060897Y0047759D01*
359 | X0061033Y0047680D01*
360 | X0061168Y0047596D01*
361 | X0061301Y0047510D01*
362 | X0061431Y0047420D01*
363 | X0061559Y0047327D01*
364 | X0061685Y0047231D01*
365 | X0061808Y0047131D01*
366 | X0061929Y0047029D01*
367 | X0062047Y0046924D01*
368 | X0062162Y0046815D01*
369 | X0062275Y0046704D01*
370 | X0062385Y0046590D01*
371 | X0062492Y0046473D01*
372 | X0062596Y0046354D01*
373 | X0062697Y0046232D01*
374 | X0062794Y0046107D01*
375 | X0062889Y0045980D01*
376 | X0062980Y0045851D01*
377 | X0063069Y0045720D01*
378 | X0063153Y0045586D01*
379 | X0063235Y0045450D01*
380 | X0063313Y0045313D01*
381 | X0063387Y0045173D01*
382 | X0063458Y0045031D01*
383 | X0063526Y0044888D01*
384 | X0063590Y0044743D01*
385 | X0063650Y0044597D01*
386 | X0063706Y0044449D01*
387 | X0063759Y0044300D01*
388 | X0063808Y0044149D01*
389 | X0063853Y0043997D01*
390 | X0063894Y0043844D01*
391 | X0063932Y0043691D01*
392 | X0063965Y0043536D01*
393 | X0063995Y0043380D01*
394 | X0064021Y0043224D01*
395 | X0064042Y0043067D01*
396 | X0064060Y0042910D01*
397 | X0064074Y0042752D01*
398 | X0064084Y0042594D01*
399 | X0064090Y0042436D01*
400 | X0064092Y0042278D01*
401 | X0064090Y0042120D01*
402 | X0064084Y0041962D01*
403 | X0064074Y0041804D01*
404 | X0064060Y0041646D01*
405 | X0064042Y0041489D01*
406 | X0064021Y0041332D01*
407 | X0063995Y0041176D01*
408 | X0063965Y0041020D01*
409 | X0063932Y0040865D01*
410 | X0063894Y0040712D01*
411 | X0063853Y0040559D01*
412 | X0063808Y0040407D01*
413 | X0063759Y0040256D01*
414 | X0063706Y0040107D01*
415 | X0063650Y0039959D01*
416 | X0063590Y0039813D01*
417 | X0063526Y0039668D01*
418 | X0063458Y0039525D01*
419 | X0063387Y0039383D01*
420 | X0063313Y0039243D01*
421 | X0063235Y0039106D01*
422 | X0063153Y0038970D01*
423 | X0063069Y0038836D01*
424 | X0062980Y0038705D01*
425 | X0062889Y0038576D01*
426 | X0062794Y0038449D01*
427 | X0062697Y0038324D01*
428 | X0062596Y0038202D01*
429 | X0062492Y0038083D01*
430 | X0062385Y0037966D01*
431 | X0062275Y0037852D01*
432 | X0062162Y0037741D01*
433 | X0062047Y0037632D01*
434 | X0061929Y0037527D01*
435 | X0061808Y0037425D01*
436 | X0061685Y0037325D01*
437 | X0061559Y0037229D01*
438 | X0061431Y0037136D01*
439 | X0061301Y0037046D01*
440 | X0061168Y0036960D01*
441 | X0061033Y0036876D01*
442 | X0060897Y0036797D01*
443 | X0060758Y0036720D01*
444 | X0060617Y0036648D01*
445 | X0060475Y0036578D01*
446 | X0060331Y0036513D01*
447 | X0060185Y0036451D01*
448 | X0060038Y0036393D01*
449 | X0059889Y0036338D01*
450 | X0059739Y0036287D01*
451 | X0059588Y0036240D01*
452 | X0059436Y0036197D01*
453 | X0059283Y0036158D01*
454 | X0059128Y0036122D01*
455 | X0058973Y0036091D01*
456 | X0058817Y0036063D01*
457 | X0058661Y0036039D01*
458 | X0058504Y0036019D01*
459 | X0058346Y0036003D01*
460 | X0058189Y0035991D01*
461 | X0058030Y0035983D01*
462 | X0057872Y0035979D01*
463 | X0057714Y0035979D01*
464 | X0057556Y0035983D01*
465 | X0057397Y0035991D01*
466 | X0057240Y0036003D01*
467 | X0057082Y0036019D01*
468 | X0056925Y0036039D01*
469 | X0056769Y0036063D01*
470 | X0056613Y0036091D01*
471 | X0056458Y0036122D01*
472 | X0056303Y0036158D01*
473 | X0056150Y0036197D01*
474 | X0055998Y0036240D01*
475 | X0055847Y0036287D01*
476 | X0055697Y0036338D01*
477 | X0055548Y0036393D01*
478 | X0055401Y0036451D01*
479 | X0055255Y0036513D01*
480 | X0055111Y0036578D01*
481 | X0054969Y0036648D01*
482 | X0054828Y0036720D01*
483 | X0054689Y0036797D01*
484 | X0054553Y0036876D01*
485 | X0054418Y0036960D01*
486 | X0054285Y0037046D01*
487 | X0054155Y0037136D01*
488 | X0054027Y0037229D01*
489 | X0053901Y0037325D01*
490 | X0053778Y0037425D01*
491 | X0053657Y0037527D01*
492 | X0053539Y0037632D01*
493 | X0053424Y0037741D01*
494 | X0053311Y0037852D01*
495 | X0053201Y0037966D01*
496 | X0053094Y0038083D01*
497 | X0052990Y0038202D01*
498 | X0052889Y0038324D01*
499 | X0052792Y0038449D01*
500 | X0052697Y0038576D01*
501 | X0052606Y0038705D01*
502 | X0052517Y0038836D01*
503 | X0052433Y0038970D01*
504 | X0052351Y0039106D01*
505 | X0052273Y0039243D01*
506 | X0052199Y0039383D01*
507 | X0052128Y0039525D01*
508 | X0052060Y0039668D01*
509 | X0051996Y0039813D01*
510 | X0051936Y0039959D01*
511 | X0051880Y0040107D01*
512 | X0051827Y0040256D01*
513 | X0051778Y0040407D01*
514 | X0051733Y0040559D01*
515 | X0051692Y0040712D01*
516 | X0051654Y0040865D01*
517 | X0051621Y0041020D01*
518 | X0051591Y0041176D01*
519 | X0051565Y0041332D01*
520 | X0051544Y0041489D01*
521 | X0051526Y0041646D01*
522 | X0051512Y0041804D01*
523 | X0051502Y0041962D01*
524 | X0051496Y0042120D01*
525 | X0051494Y0042278D01*
526 | D11*
527 | X0085837Y0058341D02*
528 | X0086905Y0057274D01*
529 | X0089040Y0057274D01*
530 | X0090108Y0058341D01*
531 | X0092283Y0058341D02*
532 | X0092283Y0062612D01*
533 | X0093350Y0063679D01*
534 | X0095486Y0063679D01*
535 | X0096553Y0062612D01*
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537 | X0095486Y0057274D01*
538 | X0093350Y0057274D01*
539 | X0092283Y0058341D01*
540 | X0086905Y0060477D02*
541 | X0085837Y0059409D01*
542 | X0085837Y0058341D01*
543 | X0086905Y0060477D02*
544 | X0089040Y0060477D01*
545 | X0090108Y0061544D01*
546 | X0090108Y0062612D01*
547 | X0089040Y0063679D01*
548 | X0086905Y0063679D01*
549 | X0085837Y0062612D01*
550 | X0098728Y0062612D02*
551 | X0098728Y0060477D01*
552 | X0099796Y0059409D01*
553 | X0102999Y0059409D01*
554 | X0100864Y0059409D02*
555 | X0098728Y0057274D01*
556 | X0102999Y0057274D02*
557 | X0102999Y0063679D01*
558 | X0099796Y0063679D01*
559 | X0098728Y0062612D01*
560 | X0111619Y0062612D02*
561 | X0111619Y0058341D01*
562 | X0112687Y0057274D01*
563 | X0114822Y0057274D01*
564 | X0115890Y0058341D01*
565 | X0111619Y0062612D01*
566 | X0112687Y0063679D01*
567 | X0114822Y0063679D01*
568 | X0115890Y0062612D01*
569 | X0115890Y0058341D01*
570 | X0118065Y0058341D02*
571 | X0119132Y0057274D01*
572 | X0121268Y0057274D01*
573 | X0122335Y0058341D01*
574 | X0118065Y0062612D01*
575 | X0118065Y0058341D01*
576 | X0122335Y0058341D02*
577 | X0122335Y0062612D01*
578 | X0121268Y0063679D01*
579 | X0119132Y0063679D01*
580 | X0118065Y0062612D01*
581 | X0124510Y0062612D02*
582 | X0128781Y0058341D01*
583 | X0127713Y0057274D01*
584 | X0125578Y0057274D01*
585 | X0124510Y0058341D01*
586 | X0124510Y0062612D01*
587 | X0125578Y0063679D01*
588 | X0127713Y0063679D01*
589 | X0128781Y0062612D01*
590 | X0128781Y0058341D01*
591 | X0130956Y0057274D02*
592 | X0135226Y0057274D01*
593 | X0133091Y0057274D02*
594 | X0133091Y0063679D01*
595 | X0135226Y0061544D01*
596 | X0137401Y0063679D02*
597 | X0139537Y0061544D01*
598 | X0141672Y0063679D01*
599 | X0141672Y0057274D01*
600 | X0143847Y0057274D02*
601 | X0143847Y0063679D01*
602 | X0148117Y0063679D02*
603 | X0148117Y0057274D01*
604 | X0145982Y0059409D01*
605 | X0143847Y0057274D01*
606 | X0150292Y0058341D02*
607 | X0150292Y0062612D01*
608 | X0151360Y0063679D01*
609 | X0154563Y0063679D01*
610 | X0154563Y0057274D01*
611 | X0151360Y0057274D01*
612 | X0150292Y0058341D01*
613 | X0137401Y0057274D02*
614 | X0137401Y0063679D01*
615 | D12*
616 | X0134546Y0054228D02*
617 | X0134546Y0049624D01*
618 | X0136081Y0049624D02*
619 | X0133011Y0049624D01*
620 | X0131477Y0049624D02*
621 | X0131477Y0050391D01*
622 | X0130709Y0050391D01*
623 | X0130709Y0049624D01*
624 | X0131477Y0049624D01*
625 | X0129175Y0049624D02*
626 | X0126105Y0049624D01*
627 | X0127640Y0049624D02*
628 | X0127640Y0054228D01*
629 | X0129175Y0052693D01*
630 | X0134546Y0054228D02*
631 | X0136081Y0052693D01*
632 | X0142219Y0051158D02*
633 | X0142219Y0054228D01*
634 | X0145288Y0054228D02*
635 | X0145288Y0051158D01*
636 | X0143754Y0049624D01*
637 | X0142219Y0051158D01*
638 | X0146823Y0049624D02*
639 | X0149892Y0049624D01*
640 | X0149892Y0054228D01*
641 | X0146823Y0054228D01*
642 | X0151427Y0053460D02*
643 | X0151427Y0051926D01*
644 | X0152194Y0051158D01*
645 | X0154496Y0051158D01*
646 | X0152962Y0051158D02*
647 | X0151427Y0049624D01*
648 | X0154496Y0049624D02*
649 | X0154496Y0054228D01*
650 | X0152194Y0054228D01*
651 | X0151427Y0053460D01*
652 | X0149892Y0051926D02*
653 | X0148358Y0051926D01*
654 | X0154331Y0046839D02*
655 | X0154331Y0042235D01*
656 | X0151262Y0042235D02*
657 | X0151262Y0044537D01*
658 | X0152029Y0045305D01*
659 | X0153564Y0045305D01*
660 | X0154331Y0044537D01*
661 | X0149727Y0045305D02*
662 | X0148192Y0045305D01*
663 | X0148960Y0046072D02*
664 | X0148960Y0043003D01*
665 | X0148192Y0042235D01*
666 | X0145890Y0043003D02*
667 | X0145123Y0042235D01*
668 | X0145890Y0043003D02*
669 | X0145890Y0046072D01*
670 | X0145123Y0045305D02*
671 | X0146658Y0045305D01*
672 | X0143588Y0045305D02*
673 | X0141286Y0045305D01*
674 | X0140519Y0044537D01*
675 | X0140519Y0043003D01*
676 | X0141286Y0042235D01*
677 | X0143588Y0042235D01*
678 | X0143588Y0040701D02*
679 | X0143588Y0045305D01*
680 | X0138984Y0045305D02*
681 | X0138984Y0044537D01*
682 | X0138217Y0044537D01*
683 | X0138217Y0045305D01*
684 | X0138984Y0045305D01*
685 | X0138984Y0043003D02*
686 | X0138984Y0042235D01*
687 | X0138217Y0042235D01*
688 | X0138217Y0043003D01*
689 | X0138984Y0043003D01*
690 | X0136682Y0042235D02*
691 | X0133613Y0046839D01*
692 | X0129009Y0046839D02*
693 | X0132079Y0042235D01*
694 | X0127475Y0042235D02*
695 | X0125940Y0042235D01*
696 | X0126707Y0042235D02*
697 | X0126707Y0046839D01*
698 | X0127475Y0046839D01*
699 | X0124405Y0045305D02*
700 | X0123638Y0045305D01*
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702 | X0124405Y0042235D02*
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704 | X0121336Y0042235D02*
705 | X0121336Y0045305D01*
706 | X0119034Y0045305D01*
707 | X0118267Y0044537D01*
708 | X0118267Y0042235D01*
709 | X0116732Y0043003D02*
710 | X0115965Y0042235D01*
711 | X0114430Y0042235D01*
712 | X0113663Y0043003D01*
713 | X0113663Y0044537D01*
714 | X0114430Y0045305D01*
715 | X0115965Y0045305D01*
716 | X0116732Y0044537D01*
717 | X0116732Y0043003D01*
718 | X0112128Y0043770D02*
719 | X0110594Y0045305D01*
720 | X0109826Y0045305D01*
721 | X0108292Y0044537D02*
722 | X0108292Y0043003D01*
723 | X0107524Y0042235D01*
724 | X0105990Y0042235D01*
725 | X0105222Y0043003D01*
726 | X0105222Y0044537D01*
727 | X0105990Y0045305D01*
728 | X0107524Y0045305D01*
729 | X0108292Y0044537D01*
730 | X0103688Y0045305D02*
731 | X0101386Y0045305D01*
732 | X0100618Y0044537D01*
733 | X0100618Y0043003D01*
734 | X0101386Y0042235D01*
735 | X0103688Y0042235D01*
736 | X0103688Y0046839D01*
737 | X0099084Y0044537D02*
738 | X0098316Y0045305D01*
739 | X0096782Y0045305D01*
740 | X0096014Y0044537D01*
741 | X0096014Y0043003D01*
742 | X0096782Y0042235D01*
743 | X0098316Y0042235D01*
744 | X0099084Y0043003D01*
745 | X0099084Y0044537D01*
746 | X0094480Y0045305D02*
747 | X0092945Y0045305D01*
748 | X0093713Y0046072D02*
749 | X0093713Y0043003D01*
750 | X0092945Y0042235D01*
751 | X0091411Y0042235D02*
752 | X0091411Y0043003D01*
753 | X0090643Y0043003D01*
754 | X0090643Y0042235D01*
755 | X0091411Y0042235D01*
756 | X0089109Y0043003D02*
757 | X0088341Y0042235D01*
758 | X0086807Y0042235D01*
759 | X0086039Y0043003D01*
760 | X0086039Y0044537D01*
761 | X0086807Y0045305D01*
762 | X0088341Y0045305D01*
763 | X0089109Y0044537D01*
764 | X0089109Y0043003D01*
765 | X0084505Y0043770D02*
766 | X0082970Y0045305D01*
767 | X0082203Y0045305D01*
768 | X0080668Y0044537D02*
769 | X0080668Y0043003D01*
770 | X0079901Y0042235D01*
771 | X0077599Y0042235D01*
772 | X0077599Y0041468D02*
773 | X0077599Y0045305D01*
774 | X0079901Y0045305D01*
775 | X0080668Y0044537D01*
776 | X0084505Y0045305D02*
777 | X0084505Y0042235D01*
778 | X0079133Y0040701D02*
779 | X0078366Y0040701D01*
780 | X0077599Y0041468D01*
781 | X0076997Y0049624D02*
782 | X0076997Y0051926D01*
783 | X0077764Y0052693D01*
784 | X0080066Y0052693D01*
785 | X0080066Y0049624D01*
786 | X0082368Y0049624D02*
787 | X0083903Y0049624D01*
788 | X0084670Y0050391D01*
789 | X0084670Y0051926D01*
790 | X0083903Y0052693D01*
791 | X0082368Y0052693D01*
792 | X0081601Y0051926D01*
793 | X0081601Y0051158D01*
794 | X0084670Y0051158D01*
795 | X0086205Y0051926D02*
796 | X0086205Y0049624D01*
797 | X0087739Y0049624D02*
798 | X0087739Y0051926D01*
799 | X0086972Y0052693D01*
800 | X0086205Y0051926D01*
801 | X0087739Y0051926D02*
802 | X0088507Y0052693D01*
803 | X0089274Y0052693D01*
804 | X0089274Y0049624D01*
805 | X0090809Y0049624D02*
806 | X0092343Y0049624D01*
807 | X0091576Y0049624D02*
808 | X0091576Y0052693D01*
809 | X0092343Y0052693D01*
810 | X0091576Y0054228D02*
811 | X0091576Y0054995D01*
812 | X0093878Y0054228D02*
813 | X0095413Y0054228D01*
814 | X0094645Y0054228D02*
815 | X0094645Y0050391D01*
816 | X0095413Y0049624D01*
817 | X0096180Y0049624D01*
818 | X0096947Y0050391D01*
819 | X0103086Y0049624D02*
820 | X0103086Y0051926D01*
821 | X0103853Y0052693D01*
822 | X0106155Y0052693D01*
823 | X0106155Y0049624D01*
824 | X0107690Y0049624D02*
825 | X0109992Y0049624D01*
826 | X0110759Y0050391D01*
827 | X0109992Y0051158D01*
828 | X0107690Y0051158D01*
829 | X0107690Y0051926D02*
830 | X0107690Y0049624D01*
831 | X0112294Y0049624D02*
832 | X0112294Y0052693D01*
833 | X0109992Y0052693D02*
834 | X0108457Y0052693D01*
835 | X0107690Y0051926D01*
836 | X0112294Y0049624D02*
837 | X0114596Y0049624D01*
838 | X0115363Y0050391D01*
839 | X0115363Y0052693D01*
840 | X0116898Y0054228D02*
841 | X0118432Y0054228D01*
842 | X0117665Y0054228D02*
843 | X0117665Y0050391D01*
844 | X0118432Y0049624D01*
845 | X0119200Y0049624D01*
846 | X0119967Y0050391D01*
847 | X0123638Y0047606D02*
848 | X0123638Y0046839D01*
849 | X0112128Y0045305D02*
850 | X0112128Y0042235D01*
851 | X0075462Y0050391D02*
852 | X0074695Y0049624D01*
853 | X0073160Y0049624D01*
854 | X0072393Y0050391D01*
855 | X0072393Y0051926D01*
856 | X0073160Y0052693D01*
857 | X0074695Y0052693D01*
858 | X0075462Y0051926D01*
859 | X0075462Y0050391D01*
860 | D13*
861 | X0019880Y0022587D02*
862 | X0019380Y0022587D01*
863 | X0019630Y0022587D02*
864 | X0019630Y0021336D01*
865 | X0019880Y0021086D01*
866 | X0020130Y0021086D01*
867 | X0020380Y0021336D01*
868 | X0018907Y0021086D02*
869 | X0018907Y0022587D01*
870 | X0018157Y0022587D01*
871 | X0017906Y0022337D01*
872 | X0017906Y0021837D01*
873 | X0018157Y0021586D01*
874 | X0018907Y0021586D01*
875 | X0017434Y0021336D02*
876 | X0017184Y0021086D01*
877 | X0016683Y0021086D01*
878 | X0016433Y0021336D01*
879 | X0016433Y0021586D01*
880 | X0016683Y0021837D01*
881 | X0016934Y0021837D01*
882 | X0016683Y0021837D02*
883 | X0016433Y0022087D01*
884 | X0016433Y0022337D01*
885 | X0016683Y0022587D01*
886 | X0017184Y0022587D01*
887 | X0017434Y0022337D01*
888 | M02*
889 | 


--------------------------------------------------------------------------------
/hardware/pcb/eagle.epf:
--------------------------------------------------------------------------------
  1 | [Eagle]
  2 | Version="07 05 00"
  3 | Platform="Mac OS X"
  4 | Serial="62191E841E-LSR-WLM-1EL"
  5 | Globals="Globals"
  6 | Desktop="Desktop"
  7 | 
  8 | [Globals]
  9 | AutoSaveProject=1
 10 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/19inch.lbr"
 11 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/40xx.lbr"
 12 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/41xx.lbr"
 13 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/45xx.lbr"
 14 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/74ac-logic.lbr"
 15 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/74ttl-din.lbr"
 16 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/74xx-eu.lbr"
 17 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/74xx-little-de.lbr"
 18 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/74xx-little-us.lbr"
 19 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/74xx-us.lbr"
 20 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/751xx.lbr"
 21 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/IQD-Frequency-Products.lbr"
 22 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/adafruit.lbr"
 23 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/advanced-test-technologies.lbr"
 24 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/agilent-technologies.lbr"
 25 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/allegro.lbr"
 26 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/altera-cyclone-II.lbr"
 27 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/altera-cyclone-III.lbr"
 28 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/altera-stratix-iv.lbr"
 29 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/altera.lbr"
 30 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/am29-memory.lbr"
 31 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/amd-mach.lbr"
 32 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/amd.lbr"
 33 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/amis.lbr"
 34 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/analog-devices.lbr"
 35 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/aplus.lbr"
 36 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/arduino-pro-mini.lbr"
 37 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/ase.lbr"
 38 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/atmel.lbr"
 39 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/austriamicrosystems.lbr"
 40 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/avago.lbr"
 41 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/axis.lbr"
 42 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/battery.lbr"
 43 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/belton-engineering.lbr"
 44 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/burr-brown.lbr"
 45 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/busbar.lbr"
 46 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/buzzer.lbr"
 47 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/c-trimm.lbr"
 48 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/california-micro-devices.lbr"
 49 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/capacitor-wima.lbr"
 50 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/chipcard-siemens.lbr"
 51 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/cirrus-logic.lbr"
 52 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-3m.lbr"
 53 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-4ucon.lbr"
 54 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-amp-champ.lbr"
 55 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-amp-micromatch.lbr"
 56 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-amp-mt.lbr"
 57 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-amp-mt6.lbr"
 58 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-amp-quick.lbr"
 59 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-amp-te.lbr"
 60 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-amp.lbr"
 61 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-amphenol.lbr"
 62 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-avx.lbr"
 63 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-berg.lbr"
 64 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-bosch.lbr"
 65 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-chipcard-iso7816.lbr"
 66 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-coax.lbr"
 67 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-commcon.lbr"
 68 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-conrad.lbr"
 69 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-cpci.lbr"
 70 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-cui.lbr"
 71 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-cypressindustries.lbr"
 72 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-deutsch.lbr"
 73 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-dil.lbr"
 74 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-ebyelectro.lbr"
 75 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-elco.lbr"
 76 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-erni.lbr"
 77 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-faston.lbr"
 78 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-fci.lbr"
 79 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-friwo.lbr"
 80 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-garry.lbr"
 81 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-harting-h.lbr"
 82 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-harting-ml.lbr"
 83 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-harting-v.lbr"
 84 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-harting.lbr"
 85 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-hirose.lbr"
 86 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-hirschmann.lbr"
 87 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-jack.lbr"
 88 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-jae.lbr"
 89 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-jst.lbr"
 90 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-kycon.lbr"
 91 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-kyocera-elco.lbr"
 92 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-lemo.lbr"
 93 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-leotronics.lbr"
 94 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-lsta.lbr"
 95 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-lstb.lbr"
 96 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-lumberg.lbr"
 97 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-ml.lbr"
 98 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-molex.lbr"
 99 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-neutrik_ag.lbr"
100 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-omron.lbr"
101 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-panasonic.lbr"
102 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-panduit.lbr"
103 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-pc.lbr"
104 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-pc104.lbr"
105 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-phoenix-254.lbr"
106 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-phoenix-3.81.lbr"
107 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-phoenix-350.lbr"
108 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-phoenix-500.lbr"
109 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-phoenix-508.lbr"
110 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-phoenix-762.lbr"
111 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-phoenix-me_max.lbr"
112 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-phoenix-mkds_5.lbr"
113 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-phoenix-smkdsp.lbr"
114 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-ptr500.lbr"
115 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-pulse.lbr"
116 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-rib.lbr"
117 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-samtec.lbr"
118 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-shallin.lbr"
119 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-shiua-chyuan.lbr"
120 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-stewart.lbr"
121 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-stocko.lbr"
122 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-subd.lbr"
123 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-sullinselectronics.lbr"
124 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-thomas-betts.lbr"
125 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-tyco.lbr"
126 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-tycoelectronics.lbr"
127 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-vg.lbr"
128 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-wago-500.lbr"
129 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-wago-508.lbr"
130 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-wago.lbr"
131 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-wago255.lbr"
132 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-weidmueller-sl35.lbr"
133 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-wenzhou-yihua.lbr"
134 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-xmultiple.lbr"
135 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/con-yamaichi.lbr"
136 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/crystal.lbr"
137 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/csr.lbr"
138 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/cypress.lbr"
139 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/davicom.lbr"
140 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/dc-dc-converter.lbr"
141 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/decawave.lbr"
142 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/dimensions.lbr"
143 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/diode.lbr"
144 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/discrete.lbr"
145 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/display-hp.lbr"
146 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/display-kingbright.lbr"
147 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/display-lcd.lbr"
148 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/docu-dummy.lbr"
149 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/dom-key.lbr"
150 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/eagle-ltspice.lbr"
151 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/ecl.lbr"
152 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/em-microelectronic.lbr"
153 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/etx-board.lbr"
154 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/exar.lbr"
155 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/fairchild-semic.lbr"
156 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/farnell.lbr"
157 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/fiber-optic-hp.lbr"
158 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/fiber-optic-siemens.lbr"
159 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/fifo.lbr"
160 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/flexipanel.lbr"
161 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/fox-electronics.lbr"
162 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/frames.lbr"
163 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/freescale.lbr"
164 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/ftdichip.lbr"
165 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/fujitsu.lbr"
166 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/fuse.lbr"
167 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/gennum.lbr"
168 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/halo-electronics.lbr"
169 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/heatsink.lbr"
170 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/holes.lbr"
171 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/holtek.lbr"
172 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/ic-package.lbr"
173 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/inductor-coilcraft.lbr"
174 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/inductor-neosid.lbr"
175 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/inductor-nkl.lbr"
176 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/inductors.lbr"
177 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/infineon-tricore.lbr"
178 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/infineon.lbr"
179 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/intersil-techwell.lbr"
180 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/intersil.lbr"
181 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/ir.lbr"
182 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/isd.lbr"
183 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/johanson-technology.lbr"
184 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/jump-0r-smd.lbr"
185 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/jumper.lbr"
186 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/lantronix.lbr"
187 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/lattice.lbr"
188 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/lc-filter.lbr"
189 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/led-7-segment.lbr"
190 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/led-citizen-electronics.lbr"
191 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/led-lumiled.lbr"
192 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/led.lbr"
193 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/lem.lbr"
194 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/linear-technology.lbr"
195 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/linear.lbr"
196 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/linx.lbr"
197 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/logo.lbr"
198 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/lprs.lbr"
199 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/lsi-computer-systems.lbr"
200 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/lumiled.lbr"
201 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/marks.lbr"
202 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/maxim.lbr"
203 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/maxstream.lbr"
204 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/melexis.lbr"
205 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/memory-hitachi.lbr"
206 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/memory-idt.lbr"
207 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/memory-micron.lbr"
208 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/memory-motorola-dram.lbr"
209 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/memory-nec.lbr"
210 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/memory-samsung.lbr"
211 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/memory-sram.lbr"
212 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/memory.lbr"
213 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/mems.lbr"
214 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/micrel.lbr"
215 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/micro-cyrod.lbr"
216 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/micro-fujitsu.lbr"
217 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/micro-harris.lbr"
218 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/micro-hitachi.lbr"
219 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/micro-infineon.lbr"
220 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/micro-intel.lbr"
221 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/micro-mc68000.lbr"
222 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/micro-motorola.lbr"
223 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/micro-philips.lbr"
224 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/micro-renesas.lbr"
225 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/micro-samsung.lbr"
226 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/micro-siemens.lbr"
227 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/microchip.lbr"
228 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/micron.lbr"
229 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/micronas.lbr"
230 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/microphon.lbr"
231 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/microwave.lbr"
232 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/midori-sensor.lbr"
233 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/minicircuits.lbr"
234 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/mitsubishi-semiconductor.lbr"
235 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/motorola-sensor-driver.lbr"
236 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/murata-filter.lbr"
237 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/murata-sensor.lbr"
238 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/nanotec.lbr"
239 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/national-instruments.lbr"
240 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/national-semiconductor.lbr"
241 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/nec-lqfp100-pack.lbr"
242 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/nec.lbr"
243 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/nrj-semiconductor.lbr"
244 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/omnivision.lbr"
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246 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/opto-honeywell-3000.lbr"
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248 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/opto-honeywell.lbr"
249 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/opto-micro-linear.lbr"
250 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/opto-trans-siemens.lbr"
251 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/opto-transmittter-hp.lbr"
252 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/opto-vishay.lbr"
253 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/optocoupler.lbr"
254 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/pal.lbr"
255 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/philips-semiconductors.lbr"
256 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/photo-elements.lbr"
257 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/piher.lbr"
258 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/pinhead.lbr"
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262 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/pot-vitrohm.lbr"
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281 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/resistor.lbr"
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291 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/silabs.lbr"
292 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/sim-technology.lbr"
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294 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/smd-ipc.lbr"
295 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/smd-special.lbr"
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298 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/speaker.lbr"
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300 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/special.lbr"
301 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/st-microelectronics.lbr"
302 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/stm32xx.lbr"
303 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/supertex.lbr"
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305 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/supply2.lbr"
306 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/switch-alps.lbr"
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308 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/switch-dil.lbr"
309 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/switch-misc.lbr"
310 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/switch-omron.lbr"
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312 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/switch-reed.lbr"
313 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/switch.lbr"
314 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/teensy.lbr"
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316 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/telecontrolli.lbr"
317 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/telefunken.lbr"
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319 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/texas-sn55-sn75.lbr"
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322 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/traco-electronic.lbr"
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324 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/trafo-hammondmfg.lbr"
325 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/trafo-siemens.lbr"
326 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/trafo-xicon.lbr"
327 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/trafo.lbr"
328 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/transformer-pulse.lbr"
329 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/transistor-fet.lbr"
330 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/transistor-neu-to92.lbr"
331 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/transistor-npn.lbr"
332 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/transistor-pnp.lbr"
333 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/transistor-power.lbr"
334 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/transistor-small-signal.lbr"
335 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/transistor.lbr"
336 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/triac.lbr"
337 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/trimble.lbr"
338 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/tripas.lbr"
339 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/u-blox.lbr"
340 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/uln-udn.lbr"
341 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/v-reg-micrel.lbr"
342 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/v-reg.lbr"
343 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/varistor.lbr"
344 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/wafer-scale-psd.lbr"
345 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/wirepad.lbr"
346 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/xicor.lbr"
347 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/xilinx-virtex-v5.lbr"
348 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/xilinx-xc18v.lbr"
349 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/xilinx-xc9.lbr"
350 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/xilinx-xcv.lbr"
351 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/zetex.lbr"
352 | UsedLibrary="/Applications/EAGLE-7.5.0/lbr/zilog.lbr"
353 | 
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407 | [Desktop]
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409 | Window="Win_1"
410 | Window="Win_2"
411 | 


--------------------------------------------------------------------------------
/hardware/pcb/dwm1000.brd:
--------------------------------------------------------------------------------
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310 | <rectangle x1="6.096" y1="-0.254" x2="6.604" y2="0.254" layer="51"/>
311 | <rectangle x1="3.556" y1="-0.254" x2="4.064" y2="0.254" layer="51"/>
312 | <rectangle x1="1.016" y1="-0.254" x2="1.524" y2="0.254" layer="51"/>
313 | <rectangle x1="-1.524" y1="-0.254" x2="-1.016" y2="0.254" layer="51"/>
314 | <rectangle x1="-4.064" y1="-0.254" x2="-3.556" y2="0.254" layer="51"/>
315 | <rectangle x1="-6.604" y1="-0.254" x2="-6.096" y2="0.254" layer="51"/>
316 | <rectangle x1="-9.144" y1="-0.254" x2="-8.636" y2="0.254" layer="51"/>
317 | <rectangle x1="-11.684" y1="-0.254" x2="-11.176" y2="0.254" layer="51"/>
318 | <rectangle x1="-14.224" y1="-0.254" x2="-13.716" y2="0.254" layer="51"/>
319 | <rectangle x1="13.716" y1="-0.254" x2="14.224" y2="0.254" layer="51"/>
320 | </package>
321 | </packages>
322 | </library>
323 | <library name="SparkFun-Connectors">
324 | <description>&lt;h3&gt;SparkFun Electronics' preferred foot prints&lt;/h3&gt;
325 | In this library you'll find connectors and sockets- basically anything that can be plugged into or onto.&lt;br&gt;&lt;br&gt;
326 | We've spent an enormous amount of time creating and checking these footprints and parts, but it is the end user's responsibility to ensure correctness and suitablity for a given componet or application. If you enjoy using this library, please buy one of our products at www.sparkfun.com.
327 | &lt;br&gt;&lt;br&gt;
328 | &lt;b&gt;Licensing:&lt;/b&gt; CC v3.0 Share-Alike 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>
329 | <packages>
330 | <package name="USB-A-PCB">
331 | <wire x1="-5" y1="6" x2="3.7" y2="6" width="0.127" layer="51"/>
332 | <wire x1="3.7" y1="6" x2="3.7" y2="-6" width="0.127" layer="51"/>
333 | <wire x1="3.7" y1="-6" x2="-5" y2="-6" width="0.127" layer="51"/>
334 | <wire x1="-5" y1="-6" x2="-5" y2="6" width="0.127" layer="51"/>
335 | <smd name="5V" x="-0.2" y="-3.5" dx="7.5" dy="1.5" layer="1"/>
336 | <smd name="USB_M" x="0.3" y="-1" dx="6.5" dy="1" layer="1"/>
337 | <smd name="USB_P" x="0.3" y="1" dx="6.5" dy="1" layer="1"/>
338 | <smd name="GND" x="-0.2" y="3.5" dx="7.5" dy="1.5" layer="1"/>
339 | <text x="-1.27" y="5.08" size="0.4064" layer="25">&gt;Name</text>
340 | <text x="-1.27" y="-5.08" size="0.4064" layer="27">&gt;Value</text>
341 | </package>
342 | </packages>
343 | </library>
344 | <library name="adafruit">
345 | <packages>
346 | <package name="C025-024X044">
347 | <description>&lt;b&gt;CAPACITOR&lt;/b&gt;&lt;p&gt;
348 | grid 2.5 mm, outline 2.4 x 4.4 mm</description>
349 | <wire x1="-2.159" y1="-0.635" x2="-2.159" y2="0.635" width="0.1524" layer="21"/>
350 | <wire x1="-2.159" y1="0.635" x2="-1.651" y2="1.143" width="0.1524" layer="21" curve="-90"/>
351 | <wire x1="-2.159" y1="-0.635" x2="-1.651" y2="-1.143" width="0.1524" layer="21" curve="90"/>
352 | <wire x1="1.651" y1="1.143" x2="-1.651" y2="1.143" width="0.1524" layer="21"/>
353 | <wire x1="2.159" y1="-0.635" x2="2.159" y2="0.635" width="0.1524" layer="21"/>
354 | <wire x1="1.651" y1="-1.143" x2="-1.651" y2="-1.143" width="0.1524" layer="21"/>
355 | <wire x1="1.651" y1="1.143" x2="2.159" y2="0.635" width="0.1524" layer="21" curve="-90"/>
356 | <wire x1="1.651" y1="-1.143" x2="2.159" y2="-0.635" width="0.1524" layer="21" curve="90"/>
357 | <wire x1="-0.3048" y1="0.762" x2="-0.3048" y2="-0.762" width="0.3048" layer="21"/>
358 | <wire x1="0.3302" y1="0.762" x2="0.3302" y2="-0.762" width="0.3048" layer="21"/>
359 | <wire x1="1.27" y1="0" x2="0.3302" y2="0" width="0.1524" layer="51"/>
360 | <wire x1="-1.27" y1="0" x2="-0.3048" y2="0" width="0.1524" layer="51"/>
361 | <pad name="1" x="-1.27" y="0" drill="0.8128" diameter="1.4224" shape="octagon"/>
362 | <pad name="2" x="1.27" y="0" drill="0.8128" diameter="1.4224" shape="octagon"/>
363 | <text x="-1.778" y="1.397" size="1.27" layer="25" ratio="10">&gt;NAME</text>
364 | <text x="-1.778" y="-2.667" size="1.27" layer="27" ratio="10">&gt;VALUE</text>
365 | </package>
366 | <package name="0207/7">
367 | <description>&lt;b&gt;RESISTOR&lt;/b&gt;&lt;p&gt;
368 | type 0207, grid 7.5 mm</description>
369 | <wire x1="-3.81" y1="0" x2="-3.429" y2="0" width="0.6096" layer="51"/>
370 | <wire x1="-3.175" y1="0.889" x2="-2.921" y2="1.143" width="0.1524" layer="21" curve="-90" cap="flat"/>
371 | <wire x1="-3.175" y1="-0.889" x2="-2.921" y2="-1.143" width="0.1524" layer="21" curve="90" cap="flat"/>
372 | <wire x1="2.921" y1="-1.143" x2="3.175" y2="-0.889" width="0.1524" layer="21" curve="90" cap="flat"/>
373 | <wire x1="2.921" y1="1.143" x2="3.175" y2="0.889" width="0.1524" layer="21" curve="-90" cap="flat"/>
374 | <wire x1="-3.175" y1="-0.889" x2="-3.175" y2="0.889" width="0.1524" layer="51"/>
375 | <wire x1="-2.921" y1="1.143" x2="-2.54" y2="1.143" width="0.1524" layer="21"/>
376 | <wire x1="-2.413" y1="1.016" x2="-2.54" y2="1.143" width="0.1524" layer="21"/>
377 | <wire x1="-2.921" y1="-1.143" x2="-2.54" y2="-1.143" width="0.1524" layer="21"/>
378 | <wire x1="-2.413" y1="-1.016" x2="-2.54" y2="-1.143" width="0.1524" layer="21"/>
379 | <wire x1="2.413" y1="1.016" x2="2.54" y2="1.143" width="0.1524" layer="21"/>
380 | <wire x1="2.413" y1="1.016" x2="-2.413" y2="1.016" width="0.1524" layer="21"/>
381 | <wire x1="2.413" y1="-1.016" x2="2.54" y2="-1.143" width="0.1524" layer="21"/>
382 | <wire x1="2.413" y1="-1.016" x2="-2.413" y2="-1.016" width="0.1524" layer="21"/>
383 | <wire x1="2.921" y1="1.143" x2="2.54" y2="1.143" width="0.1524" layer="21"/>
384 | <wire x1="2.921" y1="-1.143" x2="2.54" y2="-1.143" width="0.1524" layer="21"/>
385 | <wire x1="3.175" y1="-0.889" x2="3.175" y2="0.889" width="0.1524" layer="51"/>
386 | <wire x1="3.429" y1="0" x2="3.81" y2="0" width="0.6096" layer="51"/>
387 | <pad name="1" x="-3.81" y="0" drill="0.8128" shape="octagon"/>
388 | <pad name="2" x="3.81" y="0" drill="0.8128" shape="octagon"/>
389 | <text x="-2.54" y="1.397" size="1.27" layer="25" ratio="10">&gt;NAME</text>
390 | <text x="-2.286" y="-0.5588" size="1.27" layer="27" ratio="10">&gt;VALUE</text>
391 | <rectangle x1="-3.429" y1="-0.3048" x2="-3.175" y2="0.3048" layer="51"/>
392 | <rectangle x1="3.175" y1="-0.3048" x2="3.429" y2="0.3048" layer="51"/>
393 | </package>
394 | </packages>
395 | </library>
396 | </libraries>
397 | <attributes>
398 | </attributes>
399 | <variantdefs>
400 | </variantdefs>
401 | <classes>
402 | <class number="0" name="default" width="0.254" drill="0">
403 | <clearance class="0" value="0.254"/>
404 | </class>
405 | </classes>
406 | <designrules name="SeeedStudio_2layer_DRU_no_angle_20140221">
407 | <description language="de">&lt;b&gt;EAGLE Design Rules&lt;/b&gt;
408 | &lt;p&gt;
409 | Die Standard-Design-Rules sind so gewählt, dass sie für 
410 | die meisten Anwendungen passen. Sollte ihre Platine 
411 | besondere Anforderungen haben, treffen Sie die erforderlichen
412 | Einstellungen hier und speichern die Design Rules unter 
413 | einem neuen Namen ab.</description>
414 | <description language="en">&lt;b&gt;EAGLE Design Rules&lt;/b&gt;
415 | &lt;p&gt;
416 | The default Design Rules have been set to cover
417 | a wide range of applications. Your particular design
418 | may have different requirements, so please make the
419 | necessary adjustments and save your customized
420 | design rules under a new name.</description>
421 | <description language="zh">&lt;b&gt;Seeed Studio EAGLE Design Rules&lt;/b&gt;
422 | </description>
423 | <param name="layerSetup" value="(1*16)"/>
424 | <param name="mtCopper" value="0.035mm 0.0175mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.0175mm 0.035mm"/>
425 | <param name="mtIsolate" value="1.5mm 1.1mm 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"/>
426 | <param name="mdWireWire" value="6mil"/>
427 | <param name="mdWirePad" value="6mil"/>
428 | <param name="mdWireVia" value="6mil"/>
429 | <param name="mdPadPad" value="6mil"/>
430 | <param name="mdPadVia" value="6mil"/>
431 | <param name="mdViaVia" value="6mil"/>
432 | <param name="mdSmdPad" value="0mil"/>
433 | <param name="mdSmdVia" value="0mil"/>
434 | <param name="mdSmdSmd" value="0mil"/>
435 | <param name="mdViaViaSameLayer" value="8mil"/>
436 | <param name="mnLayersViaInSmd" value="2"/>
437 | <param name="mdCopperDimension" value="10mil"/>
438 | <param name="mdDrill" value="10mil"/>
439 | <param name="mdSmdStop" value="0mil"/>
440 | <param name="msWidth" value="6mil"/>
441 | <param name="msDrill" value="12mil"/>
442 | <param name="msMicroVia" value="12mil"/>
443 | <param name="msBlindViaRatio" value="0.5"/>
444 | <param name="rvPadTop" value="0.25"/>
445 | <param name="rvPadInner" value="0.25"/>
446 | <param name="rvPadBottom" value="0.25"/>
447 | <param name="rvViaOuter" value="0.25"/>
448 | <param name="rvViaInner" value="0.25"/>
449 | <param name="rvMicroViaOuter" value="0.25"/>
450 | <param name="rvMicroViaInner" value="0.25"/>
451 | <param name="rlMinPadTop" value="10mil"/>
452 | <param name="rlMaxPadTop" value="20mil"/>
453 | <param name="rlMinPadInner" value="10mil"/>
454 | <param name="rlMaxPadInner" value="20mil"/>
455 | <param name="rlMinPadBottom" value="10mil"/>
456 | <param name="rlMaxPadBottom" value="20mil"/>
457 | <param name="rlMinViaOuter" value="6mil"/>
458 | <param name="rlMaxViaOuter" value="20mil"/>
459 | <param name="rlMinViaInner" value="6mil"/>
460 | <param name="rlMaxViaInner" value="20mil"/>
461 | <param name="rlMinMicroViaOuter" value="4mil"/>
462 | <param name="rlMaxMicroViaOuter" value="20mil"/>
463 | <param name="rlMinMicroViaInner" value="4mil"/>
464 | <param name="rlMaxMicroViaInner" value="20mil"/>
465 | <param name="psTop" value="-1"/>
466 | <param name="psBottom" value="-1"/>
467 | <param name="psFirst" value="0"/>
468 | <param name="psElongationLong" value="100"/>
469 | <param name="psElongationOffset" value="100"/>
470 | <param name="mvStopFrame" value="1"/>
471 | <param name="mvCreamFrame" value="0"/>
472 | <param name="mlMinStopFrame" value="2mil"/>
473 | <param name="mlMaxStopFrame" value="2mil"/>
474 | <param name="mlMinCreamFrame" value="0mil"/>
475 | <param name="mlMaxCreamFrame" value="0mil"/>
476 | <param name="mlViaStopLimit" value="100mil"/>
477 | <param name="srRoundness" value="0"/>
478 | <param name="srMinRoundness" value="0mil"/>
479 | <param name="srMaxRoundness" value="0mil"/>
480 | <param name="slThermalIsolate" value="10mil"/>
481 | <param name="slThermalsForVias" value="0"/>
482 | <param name="dpMaxLengthDifference" value="10mm"/>
483 | <param name="dpGapFactor" value="2.5"/>
484 | <param name="checkGrid" value="0"/>
485 | <param name="checkAngle" value="0"/>
486 | <param name="checkFont" value="1"/>
487 | <param name="checkRestrict" value="0"/>
488 | <param name="useDiameter" value="13"/>
489 | <param name="maxErrors" value="50"/>
490 | </designrules>
491 | <autorouter>
492 | <pass name="Default">
493 | <param name="RoutingGrid" value="50mil"/>
494 | <param name="AutoGrid" value="1"/>
495 | <param name="Efforts" value="2"/>
496 | <param name="TopRouterVariant" value="1"/>
497 | <param name="tpViaShape" value="round"/>
498 | <param name="PrefDir.1" value="a"/>
499 | <param name="PrefDir.2" value="0"/>
500 | <param name="PrefDir.3" value="0"/>
501 | <param name="PrefDir.4" value="0"/>
502 | <param name="PrefDir.5" value="0"/>
503 | <param name="PrefDir.6" value="0"/>
504 | <param name="PrefDir.7" value="0"/>
505 | <param name="PrefDir.8" value="0"/>
506 | <param name="PrefDir.9" value="0"/>
507 | <param name="PrefDir.10" value="0"/>
508 | <param name="PrefDir.11" value="0"/>
509 | <param name="PrefDir.12" value="0"/>
510 | <param name="PrefDir.13" value="0"/>
511 | <param name="PrefDir.14" value="0"/>
512 | <param name="PrefDir.15" value="0"/>
513 | <param name="PrefDir.16" value="a"/>
514 | <param name="cfVia" value="8"/>
515 | <param name="cfNonPref" value="5"/>
516 | <param name="cfChangeDir" value="2"/>
517 | <param name="cfOrthStep" value="2"/>
518 | <param name="cfDiagStep" value="3"/>
519 | <param name="cfExtdStep" value="0"/>
520 | <param name="cfBonusStep" value="1"/>
521 | <param name="cfMalusStep" value="1"/>
522 | <param name="cfPadImpact" value="4"/>
523 | <param name="cfSmdImpact" value="4"/>
524 | <param name="cfBusImpact" value="0"/>
525 | <param name="cfHugging" value="3"/>
526 | <param name="cfAvoid" value="4"/>
527 | <param name="cfPolygon" value="10"/>
528 | <param name="cfBase.1" value="0"/>
529 | <param name="cfBase.2" value="1"/>
530 | <param name="cfBase.3" value="1"/>
531 | <param name="cfBase.4" value="1"/>
532 | <param name="cfBase.5" value="1"/>
533 | <param name="cfBase.6" value="1"/>
534 | <param name="cfBase.7" value="1"/>
535 | <param name="cfBase.8" value="1"/>
536 | <param name="cfBase.9" value="1"/>
537 | <param name="cfBase.10" value="1"/>
538 | <param name="cfBase.11" value="1"/>
539 | <param name="cfBase.12" value="1"/>
540 | <param name="cfBase.13" value="1"/>
541 | <param name="cfBase.14" value="1"/>
542 | <param name="cfBase.15" value="1"/>
543 | <param name="cfBase.16" value="0"/>
544 | <param name="mnVias" value="20"/>
545 | <param name="mnSegments" value="9999"/>
546 | <param name="mnExtdSteps" value="9999"/>
547 | <param name="mnRipupLevel" value="10"/>
548 | <param name="mnRipupSteps" value="100"/>
549 | <param name="mnRipupTotal" value="100"/>
550 | </pass>
551 | <pass name="Follow-me" refer="Default" active="yes">
552 | </pass>
553 | <pass name="Busses" refer="Default" active="yes">
554 | <param name="cfNonPref" value="4"/>
555 | <param name="cfBusImpact" value="4"/>
556 | <param name="cfHugging" value="0"/>
557 | <param name="mnVias" value="0"/>
558 | </pass>
559 | <pass name="Route" refer="Default" active="yes">
560 | </pass>
561 | <pass name="Optimize1" refer="Default" active="yes">
562 | <param name="cfVia" value="99"/>
563 | <param name="cfExtdStep" value="10"/>
564 | <param name="cfHugging" value="1"/>
565 | <param name="mnExtdSteps" value="1"/>
566 | <param name="mnRipupLevel" value="0"/>
567 | </pass>
568 | <pass name="Optimize2" refer="Optimize1" active="yes">
569 | <param name="cfNonPref" value="0"/>
570 | <param name="cfChangeDir" value="6"/>
571 | <param name="cfExtdStep" value="0"/>
572 | <param name="cfBonusStep" value="2"/>
573 | <param name="cfMalusStep" value="2"/>
574 | <param name="cfPadImpact" value="2"/>
575 | <param name="cfSmdImpact" value="2"/>
576 | <param name="cfHugging" value="0"/>
577 | </pass>
578 | <pass name="Optimize3" refer="Optimize2" active="yes">
579 | <param name="cfChangeDir" value="8"/>
580 | <param name="cfPadImpact" value="0"/>
581 | <param name="cfSmdImpact" value="0"/>
582 | </pass>
583 | <pass name="Optimize4" refer="Optimize3" active="yes">
584 | <param name="cfChangeDir" value="25"/>
585 | </pass>
586 | </autorouter>
587 | <elements>
588 | <element name="IC1" library="decawave" package="DWM1000" value="DWM1000" x="55.88" y="11.43" smashed="yes" rot="R270"/>
589 | <element name="JP1" library="pinhead" package="1X12" value="" x="26.67" y="3.81"/>
590 | <element name="JP2" library="pinhead" package="1X12" value="" x="26.67" y="19.05" smashed="yes">
591 | <attribute name="NAME" x="11.22265625" y="16.024459375" size="1.27" layer="25" ratio="10"/>
592 | <attribute name="VALUE" x="11.43" y="15.875" size="1.27" layer="27"/>
593 | </element>
594 | <element name="JP3" library="SparkFun-Connectors" package="USB-A-PCB" value="USBPCB" x="6.35" y="11.43" rot="MR180"/>
595 | <element name="C1" library="adafruit" package="C025-024X044" value="1uF" x="22.86" y="11.43" smashed="yes">
596 | <attribute name="NAME" x="20.704153125" y="12.8899875" size="1.27" layer="25" ratio="10"/>
597 | </element>
598 | <element name="R1" library="adafruit" package="0207/7" value="10K" x="31.75" y="11.43" smashed="yes">
599 | <attribute name="NAME" x="28.76918125" y="12.889984375" size="1.27" layer="25" ratio="10"/>
600 | </element>
601 | </elements>
602 | <signals>
603 | <signal name="N$1">
604 | <contactref element="JP1" pad="12"/>
605 | <contactref element="IC1" pad="3"/>
606 | <wire x1="53.6575" y1="8.5725" x2="53.6575" y2="17.4625" width="0.254" layer="1"/>
607 | <wire x1="48.895" y1="3.81" x2="53.6575" y2="8.5725" width="0.254" layer="16"/>
608 | <wire x1="40.64" y1="3.81" x2="48.895" y2="3.81" width="0.254" layer="16"/>
609 | <wire x1="53.6575" y1="17.4625" x2="53.88" y2="17.68" width="0.254" layer="1"/>
610 | <via x="53.6575" y="8.5725" extent="1-16" drill="0.3048"/>
611 | </signal>
612 | <signal name="N$2">
613 | <contactref element="JP2" pad="12"/>
614 | <contactref element="IC1" pad="17"/>
615 | <wire x1="46.6725" y1="13.0175" x2="46.6725" y2="5.3975" width="0.254" layer="1"/>
616 | <wire x1="40.64" y1="19.05" x2="46.6725" y2="13.0175" width="0.254" layer="16"/>
617 | <wire x1="46.6725" y1="5.3975" x2="46.88" y2="5.18" width="0.254" layer="1"/>
618 | <via x="46.6725" y="13.0175" extent="1-16" drill="0.3048"/>
619 | </signal>
620 | <signal name="N$3">
621 | <contactref element="JP2" pad="11"/>
622 | <contactref element="IC1" pad="18"/>
623 | <wire x1="47.9425" y1="5.715" x2="48.26" y2="5.3975" width="0.254" layer="1"/>
624 | <wire x1="47.9425" y1="9.2075" x2="47.9425" y2="5.715" width="0.254" layer="1"/>
625 | <wire x1="38.1" y1="19.05" x2="47.9425" y2="9.2075" width="0.254" layer="16"/>
626 | <wire x1="48.26" y1="5.3975" x2="48.28" y2="5.18" width="0.254" layer="1"/>
627 | <via x="47.9425" y="9.2075" extent="1-16" drill="0.3048"/>
628 | </signal>
629 | <signal name="N$4">
630 | <contactref element="JP2" pad="9"/>
631 | <contactref element="IC1" pad="20"/>
632 | <wire x1="50.8" y1="6.985" x2="50.8" y2="5.3975" width="0.254" layer="1"/>
633 | <wire x1="49.8475" y1="6.0325" x2="50.8" y2="6.985" width="0.254" layer="16"/>
634 | <wire x1="46.0375" y1="6.0325" x2="49.8475" y2="6.0325" width="0.254" layer="16"/>
635 | <wire x1="33.02" y1="19.05" x2="46.0375" y2="6.0325" width="0.254" layer="16"/>
636 | <wire x1="50.8" y1="5.3975" x2="51.08" y2="5.18" width="0.254" layer="1"/>
637 | <via x="50.8" y="6.985" extent="1-16" drill="0.3048"/>
638 | </signal>
639 | <signal name="N$5">
640 | <contactref element="JP2" pad="10"/>
641 | <contactref element="IC1" pad="19"/>
642 | <wire x1="49.2125" y1="5.715" x2="49.53" y2="5.3975" width="0.254" layer="1"/>
643 | <wire x1="49.2125" y1="6.985" x2="49.2125" y2="5.715" width="0.254" layer="1"/>
644 | <wire x1="47.625" y1="6.985" x2="49.2125" y2="6.985" width="0.254" layer="16"/>
645 | <wire x1="35.56" y1="19.05" x2="47.625" y2="6.985" width="0.254" layer="16"/>
646 | <wire x1="49.53" y1="5.3975" x2="49.68" y2="5.18" width="0.254" layer="1"/>
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756 | </drawing>
757 | </eagle>
758 | 


--------------------------------------------------------------------------------