text:
" x="0.5" y="-1.16" dx="0.575" dy="0.35" layer="1" rot="R90"/>
<smd name="10" x="1" y="-1.16" dx="0.575" dy="0.35" layer="1" rot="R90"/>
<smd name="9" x="1.5" y="-1.16" dx="0.575" dy="0.35" layer="1" rot="R90"/>
<smd name="13" x="-0.5" y="-1.16" dx="0.575" dy="0.35" layer="1" rot="R90"/>
<smd name="14" x="-1" y="-1.16" dx="0.575" dy="0.35" layer="1" rot="R90"/>
<smd name="15" x="-1.5" y="-1.16" dx="0.575" dy="0.35" layer="1" rot="R90"/>
<smd name="8" x="1.915" y="0" dx="0.575" dy="0.35" layer="1"/>
<smd name="16" x="-1.915" y="0" dx="0.575" dy="0.35" layer="1"/>
<wire x1="-2.25" y1="1.5" x2="-1.9" y2="1.5" width="0.127" layer="21"/>
<wire x1="-1.9" y1="1.5" x2="2.25" y2="1.5" width="0.127" layer="21"/>
<wire x1="2.25" y1="1.5" x2="2.25" y2="-1.5" width="0.127" layer="21"/>
<wire x1="2.25" y1="-1.5" x2="-2.25" y2="-1.5" width="0.127" layer="21"/>
<wire x1="-2.25" y1="-1.5" x2="-2.25" y2="1.5" width="0.127" layer="21"/>
<wire x1="-2.2" y1="1.1" x2="-1.9" y2="1.1" width="0.127" layer="21"/>
<wire x1="-1.9" y1="1.1" x2="-1.9" y2="1.5" width="0.127" layer="21"/>
<text x="-2.2" y="1.9" size="1.27" layer="25">>NAME</text>
</package>
<package name="WSON10">
<smd name="3" x="-0.95" y="0" dx="0.5" dy="0.25" layer="1"/>
<smd name="2" x="-0.95" y="0.5" dx="0.5" dy="0.25" layer="1"/>
<smd name="1" x="-0.95" y="1" dx="0.5" dy="0.25" layer="1"/>
<smd name="4" x="-0.95" y="-0.5" dx="0.5" dy="0.25" layer="1"/>
<smd name="5" x="-0.95" y="-1" dx="0.5" dy="0.25" layer="1"/>
<smd name="8" x="0.95" y="0" dx="0.5" dy="0.25" layer="1"/>
<smd name="9" x="0.95" y="0.5" dx="0.5" dy="0.25" layer="1"/>
<smd name="10" x="0.95" y="1" dx="0.5" dy="0.25" layer="1"/>
<smd name="7" x="0.95" y="-0.5" dx="0.5" dy="0.25" layer="1"/>
<smd name="6" x="0.95" y="-1" dx="0.5" dy="0.25" layer="1"/>
<smd name="P0" x="0" y="0" dx="2.4" dy="0.84" layer="1" rot="R90"/>
<pad name="P2" x="0" y="0" drill="0.3048"/>
<pad name="P1" x="0" y="0.8" drill="0.3048"/>
<pad name="P3" x="0" y="-0.8" drill="0.3048"/>
<wire x1="-1" y1="1.5" x2="-0.8" y2="1.5" width="0.127" layer="21"/>
<wire x1="-0.8" y1="1.5" x2="1" y2="1.5" width="0.127" layer="21"/>
<wire x1="1" y1="1.5" x2="1" y2="-1.5" width="0.127" layer="21"/>
<wire x1="1" y1="-1.5" x2="-1" y2="-1.5" width="0.127" layer="21"/>
<wire x1="-1" y1="-1.5" x2="-1" y2="1.3" width="0.127" layer="21"/>
<wire x1="-1" y1="1.3" x2="-1" y2="1.5" width="0.127" layer="21"/>
<wire x1="-1" y1="1.3" x2="-0.8" y2="1.3" width="0.127" layer="21"/>
<wire x1="-0.8" y1="1.3" x2="-0.8" y2="1.5" width="0.127" layer="21"/>
<text x="-1" y="1.8" size="0.8" layer="25" font="vector" ratio="10">>NAME</text>
</package>
<package name="JST_S2B-PH-SM4-TB(LF)(SN)">
<smd name="2" x="-1" y="-2.65" dx="1" dy="3.5" layer="1"/>
<smd name="1" x="1" y="-2.65" dx="1" dy="3.5" layer="1"/>
<smd name="S1" x="-3.35" y="2.9" dx="1.5" dy="3.4" layer="1"/>
<smd name="S2" x="3.35" y="2.9" dx="1.5" dy="3.4" layer="1"/>
<wire x1="-3.5" y1="4.2" x2="-3.5" y2="-3.4" width="0.127" layer="21"/>
<wire x1="-3.5" y1="-3.4" x2="2.5" y2="-3.4" width="0.127" layer="21"/>
<wire x1="2.5" y1="-3.4" x2="3.3" y2="-3.4" width="0.127" layer="21"/>
<wire x1="3.3" y1="-3.4" x2="3.3" y2="-2.5" width="0.127" layer="21"/>
<wire x1="3.3" y1="-2.5" x2="3.3" y2="4.2" width="0.127" layer="21"/>
<wire x1="-3.5" y1="4.2" x2="3.3" y2="4.2" width="0.127" layer="21"/>
<wire x1="3.3" y1="-2.5" x2="2.5" y2="-2.5" width="0.127" layer="21"/>
<wire x1="2.5" y1="-2.5" x2="2.5" y2="-3.4" width="0.127" layer="21"/>
<text x="-4.5" y="-2.5" size="1.27" layer="25" ratio="10" rot="R90">>NAME</text>
</package>
</packages>
<symbols>
<symbol name="BMI088">
<wire x1="-7.62" y1="17.78" x2="10.16" y2="17.78" width="0.254" layer="94"/>
<wire x1="10.16" y1="17.78" x2="10.16" y2="-12.7" width="0.254" layer="94"/>
<wire x1="10.16" y1="-12.7" x2="-7.62" y2="-12.7" width="0.254" layer="94"/>
<wire x1="-7.62" y1="-12.7" x2="-7.62" y2="17.78" width="0.254" layer="94"/>
<text x="-2.54" y="15.24" size="1.27" layer="94">BMI088</text>
<text x="-7.62" y="20.32" size="1.27" layer="94">>NAME</text>
<pin name="SCK" x="-12.7" y="12.7" length="middle"/>
<pin name="SDI" x="-12.7" y="10.16" length="middle"/>
<pin name="SDO1" x="-12.7" y="7.62" length="middle"/>
<pin name="SDO2" x="-12.7" y="5.08" length="middle"/>
<pin name="CSB1" x="-12.7" y="0" length="middle"/>
<pin name="CSB2" x="-12.7" y="-2.54" length="middle"/>
<pin name="PS" x="-12.7" y="-7.62" length="middle"/>
<pin name="NC" x="-12.7" y="-10.16" length="middle"/>
<pin name="INT1" x="15.24" y="12.7" length="middle" rot="R180"/>
<pin name="INT2" x="15.24" y="10.16" length="middle" rot="R180"/>
<pin name="INT3" x="15.24" y="7.62" length="middle" rot="R180"/>
<pin name="INT4" x="15.24" y="5.08" length="middle" rot="R180"/>
<pin name="VDD" x="15.24" y="0" length="middle" rot="R180"/>
<pin name="VDDIO" x="15.24" y="-2.54" length="middle" rot="R180"/>
<pin name="GND" x="15.24" y="-7.62" length="middle" rot="R180"/>
<pin name="GNDIO" x="15.24" y="-10.16" length="middle" rot="R180"/>
</symbol>
<symbol name="TPS62177">
<wire x1="-10.16" y1="17.78" x2="10.16" y2="17.78" width="0.254" layer="94"/>
<wire x1="10.16" y1="17.78" x2="10.16" y2="-17.78" width="0.254" layer="94"/>
<wire x1="10.16" y1="-17.78" x2="-10.16" y2="-17.78" width="0.254" layer="94"/>
<wire x1="-10.16" y1="-17.78" x2="-10.16" y2="17.78" width="0.254" layer="94"/>
<text x="-2.54" y="15.24" size="1.27" layer="94" font="vector" ratio="10">TPS62177</text>
<pin name="VIN" x="-15.24" y="10.16" length="middle"/>
<pin name="EN" x="-15.24" y="5.08" length="middle"/>
<pin name="SLEEP" x="-15.24" y="-2.54" length="middle"/>
<pin name="AGND" x="-15.24" y="-10.16" length="middle"/>
<pin name="PGND" x="-15.24" y="-15.24" length="middle"/>
<pin name="SW" x="15.24" y="10.16" length="middle" rot="R180"/>
<pin name="VOS" x="15.24" y="5.08" length="middle" rot="R180"/>
<pin name="PG" x="15.24" y="-2.54" length="middle" rot="R180"/>
<pin name="FB" x="15.24" y="-10.16" length="middle" rot="R180"/>
<pin name="NC" x="15.24" y="-15.24" length="middle" rot="R180"/>
</symbol>
<symbol name="CON02">
<wire x1="-5.08" y1="5.08" x2="-5.08" y2="-5.08" width="0.1524" layer="94"/>
<wire x1="-5.08" y1="-5.08" x2="2.54" y2="-5.08" width="0.1524" layer="94"/>
<wire x1="2.54" y1="-5.08" x2="2.54" y2="5.08" width="0.1524" layer="94"/>
<wire x1="2.54" y1="5.08" x2="-5.08" y2="5.08" width="0.1524" layer="94"/>
<text x="-5.08" y="5.842" size="1.778" layer="95">>NAME</text>
<text x="-5.08" y="-7.366" size="1.778" layer="96">>VALUE</text>
<pin name="2" x="5.08" y="0" length="short" direction="pas" rot="R180"/>
<pin name="1" x="5.08" y="2.54" length="short" direction="pas" rot="R180"/>
</symbol>
</symbols>
<devicesets>
<deviceset name="BMI088">
<gates>
<gate name="G$1" symbol="BMI088" x="0" y="0"/>
</gates>
<devices>
<device name="LGA16" package="LGA16">
<connects>
<connect gate="G$1" pin="CSB1" pad="14"/>
<connect gate="G$1" pin="CSB2" pad="5"/>
<connect gate="G$1" pin="GND" pad="4"/>
<connect gate="G$1" pin="GNDIO" pad="6"/>
<connect gate="G$1" pin="INT1" pad="16"/>
<connect gate="G$1" pin="INT2" pad="1"/>
<connect gate="G$1" pin="INT3" pad="12"/>
<connect gate="G$1" pin="INT4" pad="13"/>
<connect gate="G$1" pin="NC" pad="2"/>
<connect gate="G$1" pin="PS" pad="7"/>
<connect gate="G$1" pin="SCK" pad="8"/>
<connect gate="G$1" pin="SDI" pad="9"/>
<connect gate="G$1" pin="SDO1" pad="15"/>
<connect gate="G$1" pin="SDO2" pad="10"/>
<connect gate="G$1" pin="VDD" pad="3"/>
<connect gate="G$1" pin="VDDIO" pad="11"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
</devices>
</deviceset>
<deviceset name="TPS62177">
<gates>
<gate name="G$1" symbol="TPS62177" x="0" y="0"/>
</gates>
<devices>
<device name="WSON10" package="WSON10">
<connects>
<connect gate="G$1" pin="AGND" pad="6 P0 P1 P2 P3"/>
<connect gate="G$1" pin="EN" pad="3"/>
<connect gate="G$1" pin="FB" pad="5"/>
<connect gate="G$1" pin="NC" pad="4"/>
<connect gate="G$1" pin="PG" pad="7"/>
<connect gate="G$1" pin="PGND" pad="1"/>
<connect gate="G$1" pin="SLEEP" pad="8"/>
<connect gate="G$1" pin="SW" pad="9"/>
<connect gate="G$1" pin="VIN" pad="2"/>
<connect gate="G$1" pin="VOS" pad="10"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
</devices>
</deviceset>
<deviceset name="JST-PH2">
<gates>
<gate name="A" symbol="CON02" x="0" y="0" swaplevel="1"/>
</gates>
<devices>
<device name="" package="JST_S2B-PH-SM4-TB(LF)(SN)">
<connects>
<connect gate="A" pin="1" pad="1"/>
<connect gate="A" pin="2" pad="2"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
</devices>
</deviceset>
</devicesets>
</library>
<library name="gimbal">
<packages>
<package name="JST_XH_SMT_RA_4">
<smd name="3" x="1.25" y="4.6" dx="4.5" dy="1.3" layer="1" rot="R90"/>
<smd name="4" x="3.75" y="4.6" dx="4.5" dy="1.3" layer="1" rot="R90"/>
<smd name="SHLD2" x="6.3" y="-2.2" dx="3.9" dy="1.9" layer="1" rot="R90"/>
<smd name="SHLD1" x="-6.3" y="-2.2" dx="3.9" dy="1.9" layer="1" rot="R90"/>
<smd name="2" x="-1.25" y="4.6" dx="4.5" dy="1.3" layer="1" rot="R90"/>
<smd name="1" x="-3.75" y="4.6" dx="4.5" dy="1.3" layer="1" rot="R90"/>
<text x="-7.7" y="7.8" size="1.27" layer="21">>NAME</text>
<wire x1="-7.5" y1="-4.2" x2="-7.5" y2="3.2" width="0.127" layer="21"/>
<wire x1="-7.5" y1="3.2" x2="7.6" y2="3.2" width="0.127" layer="21"/>
<wire x1="7.6" y1="3.2" x2="7.6" y2="-4.2" width="0.127" layer="21"/>
<wire x1="7.6" y1="-4.2" x2="-7.5" y2="-4.2" width="0.127" layer="21"/>
</package>
<package name="JST_XH_VERT_4">
<pad name="3" x="1.25" y="0" drill="0.9"/>
<pad name="2" x="-1.25" y="0" drill="0.9"/>
<pad name="4" x="3.75" y="0" drill="0.9"/>
<pad name="1" x="-3.75" y="0" drill="0.9"/>
<wire x1="6.25" y1="-2.35" x2="6.25" y2="3.4" width="0.127" layer="21"/>
<wire x1="6.25" y1="3.4" x2="-6.25" y2="3.4" width="0.127" layer="21"/>
<wire x1="-6.25" y1="3.4" x2="-6.25" y2="-2.35" width="0.127" layer="21"/>
<wire x1="-6.25" y1="-2.35" x2="-1.25" y2="-2.35" width="0.127" layer="21"/>
<wire x1="-1.25" y1="-2.35" x2="1.25" y2="-2.35" width="0.127" layer="21"/>
<wire x1="1.25" y1="-2.35" x2="6.25" y2="-2.35" width="0.127" layer="21"/>
<wire x1="-1.25" y1="-2.35" x2="-1.25" y2="-1.75" width="0.127" layer="21"/>
<wire x1="-1.25" y1="-1.75" x2="1.25" y2="-1.75" width="0.127" layer="21"/>
<wire x1="1.25" y1="-1.75" x2="1.25" y2="-2.35" width="0.127" layer="21"/>
<text x="-6.1" y="3.9" size="1.27" layer="21">>NAME</text>
</package>
</packages>
<symbols>
<symbol name="CON04">
<wire x1="-2.54" y1="7.62" x2="-2.54" y2="-7.62" width="0.1524" layer="94"/>
<wire x1="-2.54" y1="-7.62" x2="5.08" y2="-7.62" width="0.1524" layer="94"/>
<wire x1="5.08" y1="-7.62" x2="5.08" y2="7.62" width="0.1524" layer="94"/>
<wire x1="5.08" y1="7.62" x2="-2.54" y2="7.62" width="0.1524" layer="94"/>
<text x="-2.54" y="8.382" size="1.778" layer="95">>NAME</text>
<text x="-2.54" y="-9.906" size="1.778" layer="96">>VALUE</text>
<pin name="3" x="7.62" y="0" visible="pad" length="short" direction="pas" rot="R180"/>
<pin name="2" x="7.62" y="2.54" visible="pad" length="short" direction="pas" rot="R180"/>
<pin name="1" x="7.62" y="5.08" visible="pad" length="short" direction="pas" rot="R180"/>
<pin name="4" x="7.62" y="-2.54" visible="pad" length="short" direction="pas" rot="R180"/>
</symbol>
</symbols>
<devicesets>
<deviceset name="JST-XH4">
<gates>
<gate name="G$1" symbol="CON04" x="0" y="0"/>
</gates>
<devices>
<device name="SMT_RA" package="JST_XH_SMT_RA_4">
<connects>
<connect gate="G$1" pin="1" pad="1"/>
<connect gate="G$1" pin="2" pad="2"/>
<connect gate="G$1" pin="3" pad="3"/>
<connect gate="G$1" pin="4" pad="4"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
<device name="VERT" package="JST_XH_VERT_4">
<connects>
<connect gate="G$1" pin="1" pad="1"/>
<connect gate="G$1" pin="2" pad="2"/>
<connect gate="G$1" pin="3" pad="3"/>
<connect gate="G$1" pin="4" pad="4"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
</devices>
</deviceset>
</devicesets>
</library>
<library name="shorts">
<packages>
<package name="SHORT_TOP-50">
<description>Short, top layer, 50mil width</description>
<smd name="1" x="0.127" y="0" dx="0.254" dy="0.254" layer="1" stop="no" cream="no"/>
<smd name="2" x="-0.127" y="0" dx="0.254" dy="0.254" layer="1" stop="no" cream="no"/>
<text x="-1.27" y="-2.032" size="1.27" layer="25" ratio="16">>NAME</text>
</package>
<package name="SHORT_ALL-50">
<description>Short, all layers, 50mil width</description>
<pad name="1" x="-0.635" y="0" drill="0.7366" diameter="1.524"/>
<pad name="2" x="0.635" y="0" drill="0.7366" diameter="1.524"/>
<text x="-1.7145" y="-2.2225" size="1.27" layer="25" ratio="16">>NAME</text>
<text x="0.381" y="-0.889" size="0.762" layer="51" ratio="10" rot="R90">>NAME</text>
<rectangle x1="-0.254" y1="0.381" x2="0.254" y2="0.635" layer="1"/>
<rectangle x1="-0.254" y1="-0.635" x2="0.254" y2="-0.381" layer="1"/>
<rectangle x1="-0.254" y1="0.381" x2="0.254" y2="0.635" layer="16"/>
<rectangle x1="-0.254" y1="-0.635" x2="0.254" y2="-0.381" layer="16"/>
</package>
<package name="SHORT_TOP-BIG">
<smd name="1" x="0.635" y="0" dx="1.27" dy="1.27" layer="1" stop="no" cream="no"/>
<smd name="2" x="-0.635" y="0" dx="1.27" dy="1.27" layer="1" stop="no" cream="no"/>
<text x="-1.27" y="-2.032" size="1.27" layer="25" ratio="16">>NAME</text>
</package>
</packages>
<symbols>
<symbol name="SHORT-H">
<wire x1="-2.54" y1="0" x2="2.54" y2="0" width="0.508" layer="94"/>
<text x="-2.2225" y="1.27" size="1.778" layer="95">>NAME</text>
<pin name="P$1" x="-2.54" y="0" visible="off" length="point" swaplevel="1"/>
<pin name="P$2" x="2.54" y="0" visible="off" length="point" swaplevel="1"/>
</symbol>
</symbols>
<devicesets>
<deviceset name="SHORT" prefix="SH">
<description>Short between two nets</description>
<gates>
<gate name="G$1" symbol="SHORT-H" x="0" y="0" swaplevel="1"/>
</gates>
<devices>
<device name="T5" package="SHORT_TOP-50">
<connects>
<connect gate="G$1" pin="P$1" pad="1"/>
<connect gate="G$1" pin="P$2" pad="2"/>
</connects>
<technologies>
<technology name="">
<attribute name="BOM" value="no"/>
</technology>
</technologies>
</device>
<device name="A5" package="SHORT_ALL-50">
<connects>
<connect gate="G$1" pin="P$1" pad="1"/>
<connect gate="G$1" pin="P$2" pad="2"/>
</connects>
<technologies>
<technology name="">
<attribute name="BOM" value="no"/>
</technology>
</technologies>
</device>
<device name="BIG" package="SHORT_TOP-BIG">
<connects>
<connect gate="G$1" pin="P$1" pad="1"/>
<connect gate="G$1" pin="P$2" pad="2"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
</devices>
</deviceset>
</devicesets>
</library>
<library name="mfleds">
<packages>
<package name="LED0603">
<description>Description: Footprint for Single LEDs in 0603
</description>
<smd name="CATHODE" x="-0.75" y="0" dx="0.8" dy="0.8" layer="1"/>
<smd name="ANODE" x="0.75" y="0" dx="0.8" dy="0.8" layer="1"/>
<wire x1="-1.5" y1="0.75" x2="-1.5" y2="-0.75" width="0.127" layer="21"/>
<wire x1="-1.5" y1="-0.75" x2="1.5" y2="-0.75" width="0.127" layer="21"/>
<wire x1="1.5" y1="-0.75" x2="1.5" y2="0.75" width="0.127" layer="21"/>
<wire x1="1.5" y1="0.75" x2="-1.5" y2="0.75" width="0.127" layer="21"/>
<polygon width="0.127" layer="21">
<vertex x="-1.5" y="0.75"/>
<vertex x="-1.7" y="0.75"/>
<vertex x="-1.7" y="-0.75"/>
<vertex x="-1.5" y="-0.75"/>
</polygon>
<text x="-1.7" y="1.1" size="1.016" layer="25" font="vector" ratio="16">>NAME</text>
<polygon width="0.127" layer="21">
<vertex x="-0.15" y="0"/>
<vertex x="0.15" y="0.3"/>
<vertex x="0.15" y="-0.3"/>
</polygon>
</package>
<package name="LED0805">
<description>Description: Footprint for Single LEDs in 0805
</description>
<smd name="CATHODE" x="-1.25" y="0" dx="1.25" dy="1.1" layer="1" rot="R90"/>
<smd name="ANODE" x="1.25" y="0" dx="1.25" dy="1.1" layer="1" rot="R90"/>
<wire x1="-2.05" y1="0.85" x2="-2.05" y2="-0.85" width="0.127" layer="21"/>
<wire x1="-2.05" y1="-0.85" x2="2.05" y2="-0.85" width="0.127" layer="21"/>
<wire x1="2.05" y1="-0.85" x2="2.05" y2="0.85" width="0.127" layer="21"/>
<wire x1="2.05" y1="0.85" x2="-2.05" y2="0.85" width="0.127" layer="21"/>
<polygon width="0.127" layer="21">
<vertex x="-2.05" y="0.85"/>
<vertex x="-2.25" y="0.85"/>
<vertex x="-2.25" y="-0.85"/>
<vertex x="-2.05" y="-0.85"/>
</polygon>
<text x="-2.25" y="1.1" size="1.016" layer="25" font="vector" ratio="16">>NAME</text>
<polygon width="0.127" layer="21">
<vertex x="-0.15" y="0"/>
<vertex x="0.15" y="0.3"/>
<vertex x="0.15" y="-0.3"/>
</polygon>
</package>
</packages>
<symbols>
<symbol name="LED">
<description>Description: Symbol for Single LEDs
</description>
<wire x1="1.27" y1="1.524" x2="1.27" y2="-1.524" width="0.254" layer="94"/>
<wire x1="1.016" y1="0" x2="-0.508" y2="-1.524" width="0.254" layer="94"/>
<wire x1="-0.508" y1="-1.524" x2="-0.508" y2="1.524" width="0.254" layer="94"/>
<wire x1="-0.508" y1="1.524" x2="1.016" y2="0" width="0.254" layer="94"/>
<polygon width="0.254" layer="94">
<vertex x="-0.508" y="-1.524"/>
<vertex x="-0.508" y="1.524"/>
<vertex x="1.016" y="0"/>
</polygon>
<wire x1="-0.508" y1="2.286" x2="0.508" y2="3.302" width="0.254" layer="94"/>
<wire x1="0.508" y1="3.302" x2="0" y2="3.81" width="0.254" layer="94"/>
<wire x1="0" y1="3.81" x2="1.016" y2="4.826" width="0.254" layer="94"/>
<wire x1="1.016" y1="4.826" x2="0.508" y2="4.826" width="0.254" layer="94"/>
<wire x1="0.508" y1="4.826" x2="1.016" y2="4.318" width="0.254" layer="94"/>
<wire x1="1.016" y1="4.318" x2="1.016" y2="4.826" width="0.254" layer="94"/>
<wire x1="0.762" y1="2.286" x2="1.778" y2="3.302" width="0.254" layer="94"/>
<wire x1="1.778" y1="3.302" x2="1.27" y2="3.81" width="0.254" layer="94"/>
<wire x1="1.27" y1="3.81" x2="2.286" y2="4.826" width="0.254" layer="94"/>
<wire x1="2.286" y1="4.826" x2="1.778" y2="4.826" width="0.254" layer="94"/>
<wire x1="1.778" y1="4.826" x2="2.286" y2="4.318" width="0.254" layer="94"/>
<wire x1="2.286" y1="4.318" x2="2.286" y2="4.826" width="0.254" layer="94"/>
<text x="-2.54" y="-2.54" size="1.016" layer="95" font="vector" align="top-left">>NAME</text>
<text x="-2.54" y="-5.08" size="1.016" layer="96" font="vector">>VALUE</text>
<pin name="ANODE" x="-2.54" y="0" visible="off" length="short" direction="pwr"/>
<pin name="CATHODE" x="2.54" y="0" visible="off" length="short" direction="pwr" rot="R180"/>
</symbol>
</symbols>
<devicesets>
<deviceset name="LED_SINGLE" prefix="D" uservalue="yes">
<description>Library:  MF_LEDs

Description: Device for Single LED Packages. Manufacture part number (MFG#) can be added via Attributes.
</description>
<gates>
<gate name="G$1" symbol="LED" x="0" y="0"/>
</gates>
<devices>
<device name="-0603-RED" package="LED0603">
<connects>
<connect gate="G$1" pin="ANODE" pad="ANODE"/>
<connect gate="G$1" pin="CATHODE" pad="CATHODE"/>
</connects>
<technologies>
<technology name="">
<attribute name="HOUSEPART" value="YES" constant="no"/>
<attribute name="MPN" value="MF-LED-0603-RED" constant="no"/>
<attribute name="POPULATE" value="1" constant="no"/>
<attribute name="URL" value="https://factory.macrofab.com/part/MF-LED-0603-RED" constant="no"/>
<attribute name="VALUE" value="MF-LED-0603-RED" constant="no"/>
</technology>
</technologies>
</device>
<device name="-0805-RED" package="LED0805">
<connects>
<connect gate="G$1" pin="ANODE" pad="ANODE"/>
<connect gate="G$1" pin="CATHODE" pad="CATHODE"/>
</connects>
<technologies>
<technology name="">
<attribute name="HOUSEPART" value="YES" constant="no"/>
<attribute name="MPN" value="MF-LED-0805-RED" constant="no"/>
<attribute name="POPULATE" value="1" constant="no"/>
<attribute name="URL" value="https://factory.macrofab.com/part/MF-LED-0805-RED" constant="no"/>
<attribute name="VALUE" value="MF-LED-0805-RED" constant="no"/>
</technology>
</technologies>
</device>
<device name="-0603-GREEN" package="LED0603">
<connects>
<connect gate="G$1" pin="ANODE" pad="ANODE"/>
<connect gate="G$1" pin="CATHODE" pad="CATHODE"/>
</connects>
<technologies>
<technology name="">
<attribute name="HOUSEPART" value="YES" constant="no"/>
<attribute name="MPN" value="MF-LED-0603-GREEN" constant="no"/>
<attribute name="POPULATE" value="1" constant="no"/>
<attribute name="URL" value="https://factory.macrofab.com/part/MF-LED-0603-GREEN" constant="no"/>
<attribute name="VALUE" value="MF-LED-0603-GREEN" constant="no"/>
</technology>
</technologies>
</device>
<device name="-0805-GREEN" package="LED0805">
<connects>
<connect gate="G$1" pin="ANODE" pad="ANODE"/>
<connect gate="G$1" pin="CATHODE" pad="CATHODE"/>
</connects>
<technologies>
<technology name="">
<attribute name="HOUSEPART" value="YES" constant="no"/>
<attribute name="MPN" value="MF-LED-0805-GREEN" constant="no"/>
<attribute name="POPULATE" value="1" constant="no"/>
<attribute name="URL" value="https://factory.macrofab.com/part/MF-LED-0805-GREEN" constant="no"/>
<attribute name="VALUE" value="MF-LED-0805-GREEN" constant="no"/>
</technology>
</technologies>
</device>
<device name="-0603" package="LED0603">
<connects>
<connect gate="G$1" pin="ANODE" pad="ANODE"/>
<connect gate="G$1" pin="CATHODE" pad="CATHODE"/>
</connects>
<technologies>
<technology name="">
<attribute name="HOUSEPART" value="NO" constant="no"/>
<attribute name="MPN" value="" constant="no"/>
<attribute name="POPULATE" value="1" constant="no"/>
<attribute name="URL" value="" constant="no"/>
</technology>
</technologies>
</device>
<device name="-0805" package="LED0805">
<connects>
<connect gate="G$1" pin="ANODE" pad="ANODE"/>
<connect gate="G$1" pin="CATHODE" pad="CATHODE"/>
</connects>
<technologies>
<technology name="">
<attribute name="HOUSEPART" value="NO" constant="no"/>
<attribute name="MPN" value="" constant="no"/>
<attribute name="POPULATE" value="1" constant="no"/>
<attribute name="URL" value="" constant="no"/>
</technology>
</technologies>
</device>
</devices>
</deviceset>
</devicesets>
</library>
<library name="mfdiscretesemi">
<packages>
<package name="SOT-23-3">
<description>Description: Standard SOT-23-3 footprint.
</description>
<smd name="P$1" x="-1" y="0.95" dx="0.9" dy="0.8" layer="1"/>
<smd name="P$2" x="-1" y="-0.95" dx="0.9" dy="0.8" layer="1"/>
<smd name="P$3" x="1" y="0" dx="0.9" dy="0.8" layer="1"/>
<wire x1="-1.8" y1="1.6" x2="-1.8" y2="-1.6" width="0.127" layer="21"/>
<wire x1="-1.8" y1="-1.6" x2="1.8" y2="-1.6" width="0.127" layer="21"/>
<wire x1="1.8" y1="-1.6" x2="1.8" y2="1.6" width="0.127" layer="21"/>
<wire x1="1.8" y1="1.6" x2="-1.8" y2="1.6" width="0.127" layer="21"/>
<text x="-1.8" y="-2.88" size="1.016" layer="25" font="vector" ratio="16">>NAME</text>
<polygon width="0.127" layer="21">
<vertex x="-1.6" y="2.2" curve="-90"/>
<vertex x="-1.4" y="2.4" curve="-90"/>
<vertex x="-1.2" y="2.2" curve="-90"/>
<vertex x="-1.4" y="2" curve="-90"/>
</polygon>
</package>
<package name="TO-252-3">
<description>Description: Footprint for TO-252-3 Standard.
</description>
<smd name="PAD" x="0" y="0" dx="6.7" dy="6.7" layer="1" rot="R270"/>
<smd name="1" x="-6.65" y="2.3" dx="3" dy="1.6" layer="1"/>
<smd name="2" x="-6.65" y="-2.3" dx="3" dy="1.6" layer="1"/>
<wire x1="3.8" y1="3.8" x2="3.8" y2="-3.8" width="0.127" layer="21"/>
<wire x1="3.8" y1="-3.8" x2="-8.6" y2="-3.8" width="0.127" layer="21"/>
<wire x1="-8.6" y1="-3.8" x2="-8.6" y2="3.8" width="0.127" layer="21"/>
<wire x1="-8.6" y1="3.8" x2="3.8" y2="3.8" width="0.127" layer="21"/>
<text x="-8.6" y="4.2" size="1.016" layer="25" font="vector" ratio="16">>NAME</text>
</package>
</packages>
<symbols>
<symbol name="N-CHANNEL_FET">
<description>Description: Symbol for N-Channel Mosfets.
</description>
<pin name="GATE" x="-7.62" y="0" visible="off" length="short"/>
<pin name="DRAIN" x="2.54" y="7.62" visible="off" length="short" rot="R270"/>
<pin name="SOURCE" x="2.54" y="-7.62" visible="off" length="short" rot="R90"/>
<circle x="0" y="0" radius="3.81845625" width="0.1524" layer="94"/>
<text x="-5.08" y="0.254" size="1.016" layer="94" font="vector">G</text>
<text x="2.794" y="3.81" size="1.016" layer="94" font="vector">D</text>
<text x="2.794" y="-4.826" size="1.016" layer="94" font="vector">S</text>
<text x="5.08" y="5.08" size="1.016" layer="95" font="vector" rot="R180" align="bottom-right">>NAME</text>
<text x="5.08" y="2.54" size="1.016" layer="96" font="vector">>VALUE</text>
<wire x1="-5.08" y1="0" x2="-1.778" y2="0" width="0.1524" layer="94"/>
<wire x1="-1.778" y1="0" x2="-1.778" y2="2.54" width="0.1524" layer="94"/>
<wire x1="-1.778" y1="0" x2="-1.778" y2="-2.54" width="0.1524" layer="94"/>
<wire x1="2.54" y1="5.08" x2="2.54" y2="1.778" width="0.1524" layer="94"/>
<wire x1="2.54" y1="1.778" x2="-1.016" y2="1.778" width="0.1524" layer="94"/>
<wire x1="-1.016" y1="1.778" x2="-1.016" y2="2.54" width="0.1524" layer="94"/>
<wire x1="-1.016" y1="1.778" x2="-1.016" y2="1.016" width="0.1524" layer="94"/>
<wire x1="2.54" y1="-5.08" x2="2.54" y2="-1.778" width="0.1524" layer="94"/>
<wire x1="2.54" y1="-1.778" x2="0.762" y2="-1.778" width="0.1524" layer="94"/>
<wire x1="0.762" y1="-1.778" x2="-1.016" y2="-1.778" width="0.1524" layer="94"/>
<wire x1="-1.016" y1="-1.778" x2="-1.016" y2="-2.54" width="0.1524" layer="94"/>
<wire x1="-1.016" y1="-1.778" x2="-1.016" y2="-1.016" width="0.1524" layer="94"/>
<wire x1="-1.016" y1="0.508" x2="-1.016" y2="0" width="0.1524" layer="94"/>
<wire x1="-1.016" y1="0" x2="-1.016" y2="-0.508" width="0.1524" layer="94"/>
<wire x1="-1.016" y1="0" x2="0.762" y2="0" width="0.1524" layer="94"/>
<wire x1="0.762" y1="0" x2="0.762" y2="-1.778" width="0.1524" layer="94"/>
<wire x1="2.54" y1="1.778" x2="2.54" y2="-1.778" width="0.1524" layer="94"/>
<wire x1="2.032" y1="0.254" x2="3.048" y2="0.254" width="0.1524" layer="94"/>
<polygon width="0.1524" layer="94">
<vertex x="2.54" y="0.254"/>
<vertex x="2.032" y="-0.508"/>
<vertex x="3.048" y="-0.508"/>
</polygon>
<polygon width="0.1524" layer="94">
<vertex x="-1.016" y="0"/>
<vertex x="-0.254" y="0.508"/>
<vertex x="-0.254" y="-0.508"/>
</polygon>
</symbol>
</symbols>
<devicesets>
<deviceset name="N-CHANNEL_FET" prefix="U" uservalue="yes">
<description>Library:  MF_Discrete_Semiconductor

Description: Device for Single N-Channel Mosfet. Manufacture part number (MFG#) can be added via Attributes.
</description>
<gates>
<gate name="G$1" symbol="N-CHANNEL_FET" x="0" y="0"/>
</gates>
<devices>
<device name="_SOT-23-3" package="SOT-23-3">
<connects>
<connect gate="G$1" pin="DRAIN" pad="P$3"/>
<connect gate="G$1" pin="GATE" pad="P$1"/>
<connect gate="G$1" pin="SOURCE" pad="P$2"/>
</connects>
<technologies>
<technology name="">
<attribute name="HOUSEPART" value="NO" constant="no"/>
<attribute name="MPN" value="" constant="no"/>
<attribute name="POPULATE" value="1" constant="no"/>
<attribute name="URL" value="" constant="no"/>
</technology>
<technology name="_BSS138">
<attribute name="HOUSEPART" value="YES" constant="no"/>
<attribute name="MPN" value="MF-DSC-SOT233-BSS138" constant="no"/>
<attribute name="POPULATE" value="1" constant="no"/>
<attribute name="URL" value="https://factory.macrofab.com/part/MF-DSC-SOT233-BSS138" constant="no"/>
<attribute name="VALUE" value="MF-DSC-SOT233-BSS138" constant="no"/>
</technology>
</technologies>
</device>
<device name="_TO-252-3" package="TO-252-3">
<connects>
<connect gate="G$1" pin="DRAIN" pad="PAD"/>
<connect gate="G$1" pin="GATE" pad="1"/>
<connect gate="G$1" pin="SOURCE" pad="2"/>
</connects>
<technologies>
<technology name="">
<attribute name="HOUSEPART" value="NO" constant="no"/>
<attribute name="MPN" value="" constant="no"/>
<attribute name="POPULATE" value="1" constant="no"/>
<attribute name="URL" value="" constant="no"/>
</technology>
</technologies>
</device>
</devices>
</deviceset>
</devicesets>
</library>
</libraries>
<attributes>
</attributes>
<variantdefs>
</variantdefs>
<classes>
<class number="0" name="default" width="0" drill="0">
</class>
</classes>
<parts>
<part name="U1" library="controller" deviceset="STM32F4R_64PIN" device="">
<attribute name="MF" value="ST"/>
<attribute name="MPN" value="STM32F446RET6"/>
<attribute name="POPULATE" value="1"/>
</part>
<part name="+3V9" library="supply1" deviceset="+3V3" device=""/>
<part name="GND16" library="supply1" deviceset="GND" device=""/>
<part name="+3V8" library="supply1" deviceset="+3V3" device=""/>
<part name="R1" library="mfpassives" deviceset="RESISTOR" device="_0402" value="220">
<attribute name="HOUSEPART" value="1"/>
<attribute name="MPN" value="MF-RES-0402-220"/>
</part>
<part name="C2" library="mfpassives" deviceset="CAPACITOR_NP" device="_0402" value="0.1uF 50V">
<attribute name="MF" value="Walsin"/>
<attribute name="MPN" value="0402B104K500CT"/>
</part>
<part name="C6" library="mfpassives" deviceset="CAPACITOR_NP" device="_0402" value="0.1uF 50V">
<attribute name="MF" value="Walsin"/>
<attribute name="MPN" value="0402B104K500CT"/>
</part>
<part name="C4" library="mfpassives" deviceset="CAPACITOR_NP" device="_0402" value="0.1uF 50V">
<attribute name="MF" value="Walsin"/>
<attribute name="MPN" value="0402B104K500CT"/>
</part>
<part name="C5" library="mfpassives" deviceset="CAPACITOR_NP" device="_0402" value="0.1uF 50V">
<attribute name="MF" value="Walsin"/>
<attribute name="MPN" value="0402B104K500CT"/>
</part>
<part name="C3" library="mfpassives" deviceset="CAPACITOR_NP" device="_0402" value="0.1uF 50V">
<attribute name="MF" value="Walsin"/>
<attribute name="MPN" value="0402B104K500CT"/>
</part>
<part name="C1" library="mfpassives" deviceset="CAPACITOR_NP" device="_0603" value="4.7uF">
<attribute name="MF" value="Samsung Electro-Mechanics"/>
<attribute name="MPN" value="CL10A475KA8NQNC"/>
</part>
<part name="GND1" library="supply1" deviceset="GND" device=""/>
<part name="GND14" library="supply1" deviceset="GND" device=""/>
<part name="C7" library="mfpassives" deviceset="CAPACITOR_NP" device="_0603" value="4.7uF">
<attribute name="MF" value="Samsung Electro-Mechanics"/>
<attribute name="MPN" value="CL10A475KA8NQNC"/>
</part>
<part name="X1" library="controller" deviceset="CRYSTAL" device="ABM3B" value="8.0MHz">
<attribute name="MF" value="Abracon"/>
<attribute name="MPN" value="ABM3B-8.000MHZ-10-1-U-T"/>
<attribute name="POPULATE" value="1"/>
</part>
<part name="GND17" library="supply1" deviceset="GND" device=""/>
<part name="C8" library="mfpassives" deviceset="CAPACITOR_NP" device="_0603" value="10pF">
<attribute name="HOUSEPART" value="1"/>
<attribute name="MF" value=""/>
<attribute name="MPN" value="MF-CAP-0603-10pF"/>
</part>
<part name="C9" library="mfpassives" deviceset="CAPACITOR_NP" device="_0603" value="10pF">
<attribute name="HOUSEPART" value="1"/>
<attribute name="MF" value=""/>
<attribute name="MPN" value="MF-CAP-0603-10pF"/>
</part>
<part name="GND6" library="supply1" deviceset="GND" device=""/>
<part name="SWD" library="controller" deviceset="JST-ZH6" device="SMT_VERT" value="JST-ZH6SMT_VERT">
<attribute name="MF" value="JST"/>
<attribute name="MPN" value="B6B-ZR-SM4-TF(LF)(SN)"/>
<attribute name="POPULATE" value="1"/>
</part>
<part name="U$1" library="controller" deviceset="MOUNT" device="M2" value="MOUNTM2">
<attribute name="POPULATE" value="0"/>
</part>
<part name="U$2" library="controller" deviceset="MOUNT" device="M2" value="MOUNTM2">
<attribute name="POPULATE" value="0"/>
</part>
<part name="U$3" library="controller" deviceset="MOUNT" device="M2" value="MOUNTM2">
<attribute name="POPULATE" value="0"/>
</part>
<part name="U$4" library="controller" deviceset="MOUNT" device="M2" value="MOUNTM2">
<attribute name="POPULATE" value="0"/>
</part>
<part name="C26" library="mfpassives" deviceset="CAPACITOR_NP" device="_0402" value="0.1uF 50V">
<attribute name="MF" value="Walsin"/>
<attribute name="MPN" value="0402B104K500CT"/>
</part>
<part name="C29" library="mfpassives" deviceset="CAPACITOR_NP" device="_0402" value="1uF">
<attribute name="HOUSEPART" value="YES"/>
<attribute name="MF" value=""/>
<attribute name="MPN" value="MF-CAP-0402-1uF"/>
</part>
<part name="DGND" library="controller" deviceset="PAD" device="24AWG_PAD">
<attribute name="POPULATE" value="0"/>
</part>
<part name="GND2" library="supply1" deviceset="GND" device=""/>
<part name="C10" library="mfpassives" deviceset="CAPACITOR_NP" device="_0402" value="0.1uF 50V">
<attribute name="MF" value="Walsin"/>
<attribute name="MPN" value="0402B104K500CT"/>
</part>
<part name="C11" library="mfpassives" deviceset="CAPACITOR_NP" device="_0402" value="0.1uF 50V">
<attribute name="MF" value="Walsin"/>
<attribute name="MPN" value="0402B104K500CT"/>
</part>
<part name="U2" library="imu_junction" deviceset="BMI088" device="LGA16">
<attribute name="MF" value="Bosch Sensortec"/>
<attribute name="MPN" value="BMI088"/>
<attribute name="POPULATE" value="1"/>
</part>
<part name="+3V1" library="supply1" deviceset="+3V3" device=""/>
<part name="U3" library="imu_junction" deviceset="TPS62177" device="WSON10">
<attribute name="MF" value="TI"/>
<attribute name="MPN" value="TPS62177DQCR"/>
<attribute name="POPULATE" value="1"/>
</part>
<part name="L1" library="mfpassives" deviceset="INDUCTOR" device="_1210" value="10uH">
<attribute name="HOUSEPART" value="1"/>
<attribute name="MPN" value="MF-IND-1210-10uH"/>
<attribute name="POPULATE" value="1"/>
</part>
<part name="+3V2" library="supply1" deviceset="+3V3" device=""/>
<part name="GND3" library="supply1" deviceset="GND" device=""/>
<part name="P+1" library="supply1" deviceset="+18V" device=""/>
<part name="+3V3" library="supply1" deviceset="+3V3" device=""/>
<part name="C13" library="mfpassives" deviceset="CAPACITOR_NP" device="_1206" value="10uF 35V">
<attribute name="MF" value="TDK"/>
<attribute name="MPN" value="CGA5L1X7R1V106K160AC"/>
</part>
<part name="C14" library="mfpassives" deviceset="CAPACITOR_NP" device="_1206" value="10uF 35V">
<attribute name="MF" value="TDK"/>
<attribute name="MPN" value="CGA5L1X7R1V106K160AC"/>
</part>
<part name="C15" library="mfpassives" deviceset="CAPACITOR_NP" device="_0402" value="0.1uF 50V">
<attribute name="MF" value="Walsin"/>
<attribute name="MPN" value="0402B104K500CT"/>
</part>
<part name="J1" library="controller" deviceset="JST-PH3" device="SMT_VERT" value="JST-PH3SMT_VERT">
<attribute name="MF" value="JST"/>
<attribute name="MPN" value="B3B-PH-SM4-TB(LF)(SN)"/>
<attribute name="POPULATE" value="1"/>
</part>
<part name="J2" library="controller" deviceset="JST-PH3" device="SMT_VERT" value="JST-PH3SMT_VERT">
<attribute name="MF" value="JST"/>
<attribute name="MPN" value="B3B-PH-SM4-TB(LF)(SN)"/>
<attribute name="POPULATE" value="1"/>
</part>
<part name="J3" library="controller" deviceset="JST-PH3" device="SMT_VERT" value="JST-PH3SMT_VERT">
<attribute name="MF" value="JST"/>
<attribute name="MPN" value="B3B-PH-SM4-TB(LF)(SN)"/>
<attribute name="POPULATE" value="1"/>
</part>
<part name="J4" library="controller" deviceset="JST-PH3" device="SMT_VERT" value="JST-PH3SMT_VERT">
<attribute name="MF" value="JST"/>
<attribute name="MPN" value="B3B-PH-SM4-TB(LF)(SN)"/>
<attribute name="POPULATE" value="1"/>
</part>
<part name="GND4" library="supply1" deviceset="GND" device=""/>
<part name="GND5" library="supply1" deviceset="GND" device=""/>
<part name="GND7" library="supply1" deviceset="GND" device=""/>
<part name="V+" library="controller" deviceset="PAD" device="12AWG_PAD">
<attribute name="POPULATE" value="0"/>
</part>
<part name="V-" library="controller" deviceset="PAD" device="12AWG_PAD">
<attribute name="POPULATE" value="0"/>
</part>
<part name="V+1" library="controller" deviceset="PAD" device="12AWG_PAD">
<attribute name="POPULATE" value="0"/>
</part>
<part name="V+2" library="controller" deviceset="PAD" device="12AWG_PAD">
<attribute name="POPULATE" value="0"/>
</part>
<part name="V+3" library="controller" deviceset="PAD" device="12AWG_PAD">
<attribute name="POPULATE" value="0"/>
</part>
<part name="V+4" library="controller" deviceset="PAD" device="12AWG_PAD">
<attribute name="POPULATE" value="0"/>
</part>
<part name="V-1" library="controller" deviceset="PAD" device="12AWG_PAD">
<attribute name="POPULATE" value="0"/>
</part>
<part name="V-2" library="controller" deviceset="PAD" device="12AWG_PAD">
<attribute name="POPULATE" value="0"/>
</part>
<part name="V-3" library="controller" deviceset="PAD" device="12AWG_PAD">
<attribute name="POPULATE" value="0"/>
</part>
<part name="V-4" library="controller" deviceset="PAD" device="12AWG_PAD">
<attribute name="POPULATE" value="0"/>
</part>
<part name="J5" library="gimbal" deviceset="JST-XH4" device="SMT_RA">
<attribute name="DPN" value="455-2262-1-ND"/>
<attribute name="MPN" value="S4B-XH-SM4-TB(LF)(SN)"/>
<attribute name="POPULATE" value="1"/>
</part>
<part name="SH4" library="shorts" deviceset="SHORT" device="BIG" value="SHORTBIG">
<attribute name="POPULATE" value="0"/>
</part>
<part name="U4" library="controller" deviceset="MAX13431E" device="">
<attribute name="MF" value="Maxim"/>
<attribute name="MPN" value="MAX13431EETB+T"/>
<attribute name="POPULATE" value="1"/>
</part>
<part name="U5" library="controller" deviceset="MAX13431E" device="">
<attribute name="MF" value="Maxim"/>
<attribute name="MPN" value="MAX13431EETB+T"/>
<attribute name="POPULATE" value="1"/>
</part>
<part name="U6" library="controller" deviceset="MAX13431E" device="">
<attribute name="MF" value="Maxim"/>
<attribute name="MPN" value="MAX13431EETB+T"/>
<attribute name="POPULATE" value="1"/>
</part>
<part name="+3V4" library="supply1" deviceset="+3V3" device=""/>
<part name="+3V5" library="supply1" deviceset="+3V3" device=""/>
<part name="+3V6" library="supply1" deviceset="+3V3" device=""/>
<part name="C17" library="mfpassives" deviceset="CAPACITOR_NP" device="_0402" value="0.1uF 50V">
<attribute name="MF" value="Walsin"/>
<attribute name="MPN" value="0402B104K500CT"/>
</part>
<part name="C18" library="mfpassives" deviceset="CAPACITOR_NP" device="_0402" value="0.1uF 50V">
<attribute name="MF" value="Walsin"/>
<attribute name="MPN" value="0402B104K500CT"/>
</part>
<part name="C16" library="mfpassives" deviceset="CAPACITOR_NP" device="_0402" value="0.1uF 50V">
<attribute name="MF" value="Walsin"/>
<attribute name="MPN" value="0402B104K500CT"/>
</part>
<part name="DTX" library="controller" deviceset="PAD" device="24AWG_PAD">
<attribute name="POPULATE" value="0"/>
</part>
<part name="DRX" library="controller" deviceset="PAD" device="24AWG_PAD">
<attribute name="POPULATE" value="0"/>
</part>
<part name="GND8" library="supply1" deviceset="GND" device=""/>
<part name="D1" library="mfleds" deviceset="LED_SINGLE" device="-0603-RED" value="MF-LED-0603-RED"/>
<part name="D2" library="mfleds" deviceset="LED_SINGLE" device="-0603-GREEN" value="MF-LED-0603-GREEN"/>
<part name="R2" library="mfpassives" deviceset="RESISTOR" device="_0402" value="220">
<attribute name="HOUSEPART" value="1"/>
<attribute name="MPN" value="MF-RES-0402-220"/>
</part>
<part name="R3" library="mfpassives" deviceset="RESISTOR" device="_0402" value="220">
<attribute name="HOUSEPART" value="1"/>
<attribute name="MPN" value="MF-RES-0402-220"/>
</part>
<part name="+3V7" library="supply1" deviceset="+3V3" device=""/>
<part name="C19" library="mfpassives" deviceset="CAPACITOR_NP" device="_1206" value="10uF 35V">
<attribute name="MF" value="TDK"/>
<attribute name="MPN" value="CGA5L1X7R1V106K160AC"/>
</part>
<part name="C12" library="mfpassives" deviceset="CAPACITOR_NP" device="_1206" value="10uF 35V">
<attribute name="MF" value="TDK"/>
<attribute name="MPN" value="CGA5L1X7R1V106K160AC"/>
</part>
<part name="U7" library="mfdiscretesemi" deviceset="N-CHANNEL_FET" device="_SOT-23-3" technology="_BSS138" value="MF-DSC-SOT233-BSS138"/>
<part name="U8" library="mfdiscretesemi" deviceset="N-CHANNEL_FET" device="_SOT-23-3" technology="_BSS138" value="MF-DSC-SOT233-BSS138"/>
<part name="F1" library="imu_junction" deviceset="JST-PH2" device="">
<attribute name="MF" value="JST"/>
<attribute name="MPN" value="B2B-PH-SM4-TB(LF)(SN)"/>
<attribute name="POPULATE" value="1"/>
</part>
<part name="F2" library="imu_junction" deviceset="JST-PH2" device="">
<attribute name="MF" value="JST"/>
<attribute name="MPN" value="B2B-PH-SM4-TB(LF)(SN)"/>
<attribute name="POPULATE" value="1"/>
</part>
<part name="P+2" library="supply1" deviceset="+18V" device=""/>
<part name="P+3" library="supply1" deviceset="+18V" device=""/>
</parts>
<sheets>
<sheet>
<plain>
<text x="-50.8" y="175.26" size="5.08" layer="91">(c) 2019 Josh Pieper, jjp@pobox.com
Licensed under the Apache 2.0 License
https://www.apache.org/licenses/LICENSE-2.0</text>
</plain>
<instances>
<instance part="U1" gate="G$1" x="76.2" y="15.24">
<attribute name="POPULATE" x="76.2" y="15.24" size="1.778" layer="96" display="off"/>
<attribute name="MPN" x="76.2" y="15.24" size="1.778" layer="96" display="off"/>
<attribute name="MF" x="76.2" y="15.24" size="1.778" layer="96" display="off"/>
</instance>
<instance part="+3V9" gate="G$1" x="-43.18" y="68.58"/>
<instance part="GND16" gate="1" x="-45.72" y="30.48"/>
<instance part="+3V8" gate="G$1" x="43.18" y="101.6"/>
<instance part="R1" gate="G$1" x="63.5" y="78.74" rot="R180">
<attribute name="MPN" x="63.5" y="78.74" size="1.778" layer="96" rot="R180" display="off"/>
</instance>
<instance part="C2" gate="G$1" x="25.4" y="86.36">
<attribute name="MF" x="25.4" y="86.36" size="1.778" layer="96" display="off"/>
</instance>
<instance part="C6" gate="G$1" x="53.34" y="81.28">
<attribute name="MF" x="53.34" y="81.28" size="1.778" layer="96" display="off"/>
</instance>
<instance part="C4" gate="G$1" x="17.78" y="86.36">
<attribute name="MF" x="17.78" y="86.36" size="1.778" layer="96" display="off"/>
</instance>
<instance part="C5" gate="G$1" x="10.16" y="86.36">
<attribute name="MF" x="10.16" y="86.36" size="1.778" layer="96" display="off"/>
</instance>
<instance part="C3" gate="G$1" x="33.02" y="86.36">
<attribute name="MF" x="33.02" y="86.36" size="1.778" layer="96" display="off"/>
</instance>
<instance part="C1" gate="G$1" x="43.18" y="86.36">
<attribute name="MF" x="43.18" y="86.36" size="1.778" layer="96" display="off"/>
</instance>
<instance part="GND1" gate="1" x="43.18" y="68.58"/>
<instance part="GND14" gate="1" x="127" y="76.2"/>
<instance part="C7" gate="G$1" x="119.38" y="86.36">
<attribute name="MF" x="119.38" y="86.36" size="1.778" layer="96" display="off"/>
</instance>
<instance part="X1" gate="G$1" x="187.96" y="-15.24">
<attribute name="MPN" x="187.96" y="-15.24" size="1.778" layer="96" display="off"/>
<attribute name="POPULATE" x="187.96" y="-15.24" size="1.778" layer="96" display="off"/>
<attribute name="MF" x="187.96" y="-15.24" size="1.778" layer="96" display="off"/>
</instance>
<instance part="GND17" gate="1" x="187.96" y="-38.1"/>
<instance part="C8" gate="G$1" x="167.64" y="-22.86">
<attribute name="MF" x="167.64" y="-22.86" size="1.778" layer="96" display="off"/>
</instance>
<instance part="C9" gate="G$1" x="208.28" y="-22.86">
<attribute name="MF" x="208.28" y="-22.86" size="1.778" layer="96" display="off"/>
</instance>
<instance part="GND6" gate="1" x="73.66" y="-76.2"/>
<instance part="SWD" gate="A" x="-60.96" y="50.8">
<attribute name="POPULATE" x="-60.96" y="50.8" size="1.778" layer="96" display="off"/>
<attribute name="MPN" x="-60.96" y="50.8" size="1.778" layer="96" display="off"/>
<attribute name="MF" x="-60.96" y="50.8" size="1.778" layer="96" display="off"/>
</instance>
<instance part="U$1" gate="G$1" x="-5.08" y="124.46">
<attribute name="POPULATE" x="-5.08" y="124.46" size="1.778" layer="96" display="off"/>
</instance>
<instance part="U$2" gate="G$1" x="10.16" y="124.46">
<attribute name="POPULATE" x="10.16" y="124.46" size="1.778" layer="96" display="off"/>
</instance>
<instance part="U$3" gate="G$1" x="22.86" y="124.46">
<attribute name="POPULATE" x="22.86" y="124.46" size="1.778" layer="96" display="off"/>
</instance>
<instance part="U$4" gate="G$1" x="38.1" y="124.46">
<attribute name="POPULATE" x="38.1" y="124.46" size="1.778" layer="96" display="off"/>
</instance>
<instance part="C26" gate="G$1" x="2.54" y="86.36">
<attribute name="MF" x="2.54" y="86.36" size="1.778" layer="96" display="off"/>
</instance>
<instance part="C29" gate="G$1" x="-7.62" y="86.36">
<attribute name="MF" x="-7.62" y="86.36" size="1.778" layer="96" display="off"/>
</instance>
<instance part="DGND" gate="G$1" x="106.68" y="-68.58">
<attribute name="POPULATE" x="106.68" y="-68.58" size="1.778" layer="96" display="off"/>
</instance>
<instance part="GND2" gate="1" x="119.38" y="-218.44"/>
<instance part="C10" gate="G$1" x="134.62" y="-205.74">
<attribute name="MF" x="134.62" y="-205.74" size="1.778" layer="96" display="off"/>
</instance>
<instance part="C11" gate="G$1" x="119.38" y="-205.74">
<attribute name="MF" x="119.38" y="-205.74" size="1.778" layer="96" display="off"/>
</instance>
<instance part="U2" gate="G$1" x="86.36" y="-195.58">
<attribute name="MPN" x="86.36" y="-195.58" size="1.778" layer="96" display="off"/>
<attribute name="MF" x="86.36" y="-195.58" size="1.778" layer="96" display="off"/>
<attribute name="POPULATE" x="86.36" y="-195.58" size="1.778" layer="96" display="off"/>
</instance>
<instance part="+3V1" gate="G$1" x="119.38" y="-190.5"/>
<instance part="U3" gate="G$1" x="88.9" y="-292.1">
<attribute name="MPN" x="88.9" y="-292.1" size="1.778" layer="96" display="off"/>
<attribute name="MF" x="88.9" y="-292.1" size="1.778" layer="96" display="off"/>
<attribute name="POPULATE" x="88.9" y="-292.1" size="1.778" layer="96" display="off"/>
</instance>
<instance part="L1" gate="G$1" x="116.84" y="-281.94"/>
<instance part="+3V2" gate="G$1" x="132.08" y="-274.32"/>
<instance part="GND3" gate="1" x="101.6" y="-327.66"/>
<instance part="P+1" gate="1" x="50.8" y="-274.32"/>
<instance part="+3V3" gate="G$1" x="60.96" y="-289.56"/>
<instance part="C13" gate="G$1" x="127" y="-297.18">
<attribute name="MF" x="127" y="-297.18" size="1.778" layer="96" display="off"/>
</instance>
<instance part="C14" gate="G$1" x="134.62" y="-297.18">
<attribute name="MF" x="134.62" y="-297.18" size="1.778" layer="96" display="off"/>
</instance>
<instance part="C15" gate="G$1" x="144.78" y="-297.18">
<attribute name="MF" x="144.78" y="-297.18" size="1.778" layer="96" display="off"/>
</instance>
<instance part="J1" gate="A" x="109.22" y="-378.46" rot="MR0">
<attribute name="POPULATE" x="109.22" y="-378.46" size="1.778" layer="96" rot="MR0" display="off"/>
<attribute name="MPN" x="109.22" y="-378.46" size="1.778" layer="96" rot="MR0" display="off"/>
<attribute name="MF" x="109.22" y="-378.46" size="1.778" layer="96" rot="MR0" display="off"/>
</instance>
<instance part="J2" gate="A" x="129.54" y="-378.46" rot="MR0">
<attribute name="POPULATE" x="129.54" y="-378.46" size="1.778" layer="96" rot="MR0" display="off"/>
<attribute name="MPN" x="129.54" y="-378.46" size="1.778" layer="96" rot="MR0" display="off"/>
<attribute name="MF" x="129.54" y="-378.46" size="1.778" layer="96" rot="MR0" display="off"/>
</instance>
<instance part="J3" gate="A" x="109.22" y="-426.72" rot="MR0">
<attribute name="POPULATE" x="109.22" y="-426.72" size="1.778" layer="96" rot="MR0" display="off"/>
<attribute name="MPN" x="109.22" y="-426.72" size="1.778" layer="96" rot="MR0" display="off"/>
<attribute name="MF" x="109.22" y="-426.72" size="1.778" layer="96" rot="MR0" display="off"/>
</instance>
<instance part="J4" gate="A" x="129.54" y="-426.72" rot="MR0">
<attribute name="POPULATE" x="129.54" y="-426.72" size="1.778" layer="96" rot="MR0" display="off"/>
<attribute name="MPN" x="129.54" y="-426.72" size="1.778" layer="96" rot="MR0" display="off"/>
<attribute name="MF" x="129.54" y="-426.72" size="1.778" layer="96" rot="MR0" display="off"/>
</instance>
<instance part="GND4" gate="1" x="83.82" y="-406.4"/>
<instance part="GND5" gate="1" x="83.82" y="-457.2"/>
<instance part="GND7" gate="1" x="83.82" y="-510.54"/>
<instance part="V+" gate="G$1" x="33.02" y="-111.76" rot="R270">
<attribute name="POPULATE" x="33.02" y="-111.76" size="1.778" layer="96" rot="R270" display="off"/>
</instance>
<instance part="V-" gate="G$1" x="33.02" y="-137.16" rot="R270">
<attribute name="POPULATE" x="33.02" y="-137.16" size="1.778" layer="96" rot="R270" display="off"/>
</instance>
<instance part="V+1" gate="G$1" x="68.58" y="-111.76" rot="R270">
<attribute name="POPULATE" x="68.58" y="-111.76" size="1.778" layer="96" rot="R270" display="off"/>
</instance>
<instance part="V+2" gate="G$1" x="83.82" y="-111.76" rot="R270">
<attribute name="POPULATE" x="83.82" y="-111.76" size="1.778" layer="96" rot="R270" display="off"/>
</instance>
<instance part="V+3" gate="G$1" x="99.06" y="-111.76" rot="R270">
<attribute name="POPULATE" x="99.06" y="-111.76" size="1.778" layer="96" rot="R270" display="off"/>
</instance>
<instance part="V+4" gate="G$1" x="114.3" y="-111.76" rot="R270">
<attribute name="POPULATE" x="114.3" y="-111.76" size="1.778" layer="96" rot="R270" display="off"/>
</instance>
<instance part="V-1" gate="G$1" x="68.58" y="-137.16" rot="R270">
<attribute name="POPULATE" x="68.58" y="-137.16" size="1.778" layer="96" rot="R270" display="off"/>
</instance>
<instance part="V-2" gate="G$1" x="83.82" y="-137.16" rot="R270">
<attribute name="POPULATE" x="83.82" y="-137.16" size="1.778" layer="96" rot="R270" display="off"/>
</instance>
<instance part="V-3" gate="G$1" x="99.06" y="-137.16" rot="R270">
<attribute name="POPULATE" x="99.06" y="-137.16" size="1.778" layer="96" rot="R270" display="off"/>
</instance>
<instance part="V-4" gate="G$1" x="114.3" y="-137.16" rot="R270">
<attribute name="POPULATE" x="114.3" y="-137.16" size="1.778" layer="96" rot="R270" display="off"/>
</instance>
<instance part="J5" gate="G$1" x="144.78" y="-482.6" rot="R180">
<attribute name="DPN" x="144.78" y="-482.6" size="1.778" layer="96" rot="R180" display="off"/>
<attribute name="MPN" x="144.78" y="-482.6" size="1.778" layer="96" rot="R180" display="off"/>
<attribute name="POPULATE" x="144.78" y="-482.6" size="1.778" layer="96" rot="R180" display="off"/>
</instance>
<instance part="SH4" gate="G$1" x="88.9" y="-325.12">
<attribute name="POPULATE" x="88.9" y="-325.12" size="1.778" layer="96" display="off"/>
</instance>
<instance part="U4" gate="G$1" x="50.8" y="-378.46">
<attribute name="POPULATE" x="50.8" y="-378.46" size="1.778" layer="96" display="off"/>
<attribute name="MPN" x="50.8" y="-378.46" size="1.778" layer="96" display="off"/>
<attribute name="MF" x="50.8" y="-378.46" size="1.778" layer="96" display="off"/>
</instance>
<instance part="U5" gate="G$1" x="50.8" y="-426.72">
<attribute name="POPULATE" x="50.8" y="-426.72" size="1.778" layer="96" display="off"/>
<attribute name="MPN" x="50.8" y="-426.72" size="1.778" layer="96" display="off"/>
<attribute name="MF" x="50.8" y="-426.72" size="1.778" layer="96" display="off"/>
</instance>
<instance part="U6" gate="G$1" x="50.8" y="-485.14">
<attribute name="POPULATE" x="50.8" y="-485.14" size="1.778" layer="96" display="off"/>
<attribute name="MPN" x="50.8" y="-485.14" size="1.778" layer="96" display="off"/>
<attribute name="MF" x="50.8" y="-485.14" size="1.778" layer="96" display="off"/>
</instance>
<instance part="+3V4" gate="G$1" x="22.86" y="-360.68"/>
<instance part="+3V5" gate="G$1" x="25.4" y="-411.48"/>
<instance part="+3V6" gate="G$1" x="25.4" y="-469.9"/>
<instance part="C17" gate="G$1" x="17.78" y="-449.58">
<attribute name="MF" x="17.78" y="-449.58" size="1.778" layer="96" display="off"/>
</instance>
<instance part="C18" gate="G$1" x="20.32" y="-502.92">
<attribute name="MF" x="20.32" y="-502.92" size="1.778" layer="96" display="off"/>
</instance>
<instance part="C16" gate="G$1" x="17.78" y="-398.78">
<attribute name="MF" x="17.78" y="-398.78" size="1.778" layer="96" display="off"/>
</instance>
<instance part="DTX" gate="G$1" x="-81.28" y="20.32" rot="R180">
<attribute name="POPULATE" x="-81.28" y="20.32" size="1.778" layer="96" rot="R180" display="off"/>
</instance>
<instance part="DRX" gate="G$1" x="-91.44" y="17.78" rot="R180">
<attribute name="POPULATE" x="-91.44" y="17.78" size="1.778" layer="96" rot="R180" display="off"/>
</instance>
<instance part="GND8" gate="1" x="68.58" y="-215.9"/>
<instance part="D1" gate="G$1" x="185.42" y="-86.36" rot="R270"/>
<instance part="D2" gate="G$1" x="200.66" y="-86.36" rot="R270"/>
<instance part="R2" gate="G$1" x="185.42" y="-76.2" rot="R180">
<attribute name="MPN" x="185.42" y="-76.2" size="1.778" layer="96" rot="R180" display="off"/>
</instance>
<instance part="R3" gate="G$1" x="200.66" y="-76.2" rot="R180">
<attribute name="MPN" x="200.66" y="-76.2" size="1.778" layer="96" rot="R180" display="off"/>
</instance>
<instance part="+3V7" gate="G$1" x="195.58" y="-66.04"/>
<instance part="C19" gate="G$1" x="48.26" y="-299.72">
<attribute name="MF" x="48.26" y="-299.72" size="1.778" layer="96" display="off"/>
</instance>
<instance part="C12" gate="G$1" x="40.64" y="-299.72">
<attribute name="MF" x="40.64" y="-299.72" size="1.778" layer="96" display="off"/>
</instance>
<instance part="U7" gate="G$1" x="195.58" y="-170.18"/>
<instance part="U8" gate="G$1" x="256.54" y="-170.18"/>
<instance part="F1" gate="A" x="190.5" y="-144.78">
<attribute name="POPULATE" x="190.5" y="-144.78" size="1.778" layer="96" display="off"/>
<attribute name="MPN" x="190.5" y="-144.78" size="1.778" layer="96" display="off"/>
<attribute name="MF" x="190.5" y="-144.78" size="1.778" layer="96" display="off"/>
</instance>
<instance part="F2" gate="A" x="251.46" y="-147.32">
<attribute name="POPULATE" x="251.46" y="-147.32" size="1.778" layer="96" display="off"/>
<attribute name="MPN" x="251.46" y="-147.32" size="1.778" layer="96" display="off"/>
<attribute name="MF" x="251.46" y="-147.32" size="1.778" layer="96" display="off"/>
</instance>
<instance part="P+2" gate="1" x="198.12" y="-129.54"/>
<instance part="P+3" gate="1" x="259.08" y="-132.08"/>
</instances>
<busses>
</busses>
<nets>
<net name="+3V3" class="0">
<segment>
<pinref part="+3V9" gate="G$1" pin="+3V3"/>
<wire x1="-43.18" y1="66.04" x2="-43.18" y2="45.72" width="0.1524" layer="91"/>
<wire x1="-55.88" y1="45.72" x2="-43.18" y2="45.72" width="0.1524" layer="91"/>
<pinref part="SWD" gate="A" pin="6"/>
</segment>
<segment>
<pinref part="+3V8" gate="G$1" pin="+3V3"/>
<wire x1="43.18" y1="99.06" x2="43.18" y2="93.98" width="0.1524" layer="91"/>
<wire x1="43.18" y1="93.98" x2="33.02" y2="93.98" width="0.1524" layer="91"/>
<wire x1="33.02" y1="93.98" x2="25.4" y2="93.98" width="0.1524" layer="91"/>
<wire x1="25.4" y1="93.98" x2="17.78" y2="93.98" width="0.1524" layer="91"/>
<wire x1="17.78" y1="93.98" x2="10.16" y2="93.98" width="0.1524" layer="91"/>
<wire x1="10.16" y1="88.9" x2="10.16" y2="93.98" width="0.1524" layer="91"/>
<junction x="17.78" y="93.98"/>
<wire x1="17.78" y1="88.9" x2="17.78" y2="93.98" width="0.1524" layer="91"/>
<junction x="25.4" y="93.98"/>
<wire x1="25.4" y1="88.9" x2="25.4" y2="93.98" width="0.1524" layer="91"/>
<junction x="33.02" y="93.98"/>
<wire x1="33.02" y1="88.9" x2="33.02" y2="93.98" width="0.1524" layer="91"/>
<junction x="43.18" y="93.98"/>
<wire x1="43.18" y1="88.9" x2="43.18" y2="93.98" width="0.1524" layer="91"/>
<wire x1="43.18" y1="93.98" x2="73.66" y2="93.98" width="0.1524" layer="91"/>
<pinref part="C2" gate="G$1" pin="P$1"/>
<junction x="25.4" y="88.9"/>
<pinref part="C4" gate="G$1" pin="P$1"/>
<junction x="17.78" y="88.9"/>
<pinref part="C5" gate="G$1" pin="P$1"/>
<junction x="10.16" y="88.9"/>
<pinref part="C3" gate="G$1" pin="P$1"/>
<junction x="33.02" y="88.9"/>
<pinref part="C1" gate="G$1" pin="P$1"/>
<junction x="43.18" y="88.9"/>
<wire x1="73.66" y1="93.98" x2="73.66" y2="68.58" width="0.1524" layer="91"/>
<pinref part="U1" gate="G$1" pin="VBAT"/>
<pinref part="U1" gate="G$1" pin="VDD1"/>
<wire x1="81.28" y1="68.58" x2="81.28" y2="93.98" width="0.1524" layer="91"/>
<wire x1="81.28" y1="93.98" x2="73.66" y2="93.98" width="0.1524" layer="91"/>
<junction x="73.66" y="93.98"/>
<pinref part="U1" gate="G$1" pin="VDD2"/>
<wire x1="83.82" y1="68.58" x2="83.82" y2="93.98" width="0.1524" layer="91"/>
<wire x1="83.82" y1="93.98" x2="81.28" y2="93.98" width="0.1524" layer="91"/>
<junction x="81.28" y="93.98"/>
<pinref part="U1" gate="G$1" pin="VDD3"/>
<wire x1="86.36" y1="68.58" x2="86.36" y2="93.98" width="0.1524" layer="91"/>
<wire x1="86.36" y1="93.98" x2="83.82" y2="93.98" width="0.1524" layer="91"/>
<junction x="83.82" y="93.98"/>
<pinref part="U1" gate="G$1" pin="VDD4"/>
<wire x1="88.9" y1="68.58" x2="88.9" y2="93.98" width="0.1524" layer="91"/>
<wire x1="88.9" y1="93.98" x2="86.36" y2="93.98" width="0.1524" layer="91"/>
<junction x="86.36" y="93.98"/>
<pinref part="U1" gate="G$1" pin="VDDA"/>
<wire x1="93.98" y1="68.58" x2="93.98" y2="93.98" width="0.1524" layer="91"/>
<wire x1="93.98" y1="93.98" x2="88.9" y2="93.98" width="0.1524" layer="91"/>
<junction x="88.9" y="93.98"/>
<pinref part="C26" gate="G$1" pin="P$1"/>
<wire x1="10.16" y1="93.98" x2="2.54" y2="93.98" width="0.1524" layer="91"/>
<wire x1="2.54" y1="93.98" x2="2.54" y2="88.9" width="0.1524" layer="91"/>
<junction x="10.16" y="93.98"/>
<pinref part="C29" gate="G$1" pin="P$1"/>
<wire x1="-7.62" y1="88.9" x2="-7.62" y2="93.98" width="0.1524" layer="91"/>
<wire x1="-7.62" y1="93.98" x2="2.54" y2="93.98" width="0.1524" layer="91"/>
<junction x="2.54" y="93.98"/>
</segment>
<segment>
<pinref part="U2" gate="G$1" pin="VDD"/>
<pinref part="C10" gate="G$1" pin="P$1"/>
<wire x1="101.6" y1="-195.58" x2="119.38" y2="-195.58" width="0.1524" layer="91"/>
<wire x1="119.38" y1="-195.58" x2="134.62" y2="-195.58" width="0.1524" layer="91"/>
<wire x1="134.62" y1="-195.58" x2="134.62" y2="-203.2" width="0.1524" layer="91"/>
<pinref part="+3V1" gate="G$1" pin="+3V3"/>
<wire x1="119.38" y1="-193.04" x2="119.38" y2="-195.58" width="0.1524" layer="91"/>
<junction x="119.38" y="-195.58"/>
<pinref part="U2" gate="G$1" pin="VDDIO"/>
<pinref part="C11" gate="G$1" pin="P$1"/>
<wire x1="101.6" y1="-198.12" x2="119.38" y2="-198.12" width="0.1524" layer="91"/>
<wire x1="119.38" y1="-198.12" x2="119.38" y2="-203.2" width="0.1524" layer="91"/>
<wire x1="119.38" y1="-195.58" x2="119.38" y2="-198.12" width="0.1524" layer="91"/>
<junction x="119.38" y="-198.12"/>
</segment>
<segment>
<pinref part="U3" gate="G$1" pin="VOS"/>
<wire x1="104.14" y1="-287.02" x2="121.92" y2="-287.02" width="0.1524" layer="91"/>
<pinref part="L1" gate="G$1" pin="P$2"/>
<wire x1="121.92" y1="-287.02" x2="121.92" y2="-281.94" width="0.1524" layer="91"/>
<wire x1="121.92" y1="-281.94" x2="132.08" y2="-281.94" width="0.1524" layer="91"/>
<junction x="121.92" y="-281.94"/>
<pinref part="+3V2" gate="G$1" pin="+3V3"/>
<wire x1="132.08" y1="-281.94" x2="132.08" y2="-276.86" width="0.1524" layer="91"/>
<wire x1="132.08" y1="-281.94" x2="132.08" y2="-292.1" width="0.1524" layer="91"/>
<junction x="132.08" y="-281.94"/>
<pinref part="C13" gate="G$1" pin="P$1"/>
<wire x1="132.08" y1="-292.1" x2="127" y2="-292.1" width="0.1524" layer="91"/>
<wire x1="127" y1="-292.1" x2="127" y2="-294.64" width="0.1524" layer="91"/>
<pinref part="C14" gate="G$1" pin="P$1"/>
<wire x1="132.08" y1="-292.1" x2="134.62" y2="-292.1" width="0.1524" layer="91"/>
<wire x1="134.62" y1="-292.1" x2="134.62" y2="-294.64" width="0.1524" layer="91"/>
<junction x="132.08" y="-292.1"/>
<pinref part="C15" gate="G$1" pin="P$1"/>
<wire x1="134.62" y1="-292.1" x2="144.78" y2="-292.1" width="0.1524" layer="91"/>
<wire x1="144.78" y1="-292.1" x2="144.78" y2="-294.64" width="0.1524" layer="91"/>
<junction x="134.62" y="-292.1"/>
</segment>
<segment>
<pinref part="+3V3" gate="G$1" pin="+3V3"/>
<wire x1="60.96" y1="-292.1" x2="60.96" y2="-294.64" width="0.1524" layer="91"/>
<pinref part="U3" gate="G$1" pin="SLEEP"/>
<wire x1="60.96" y1="-294.64" x2="73.66" y2="-294.64" width="0.1524" layer="91"/>
</segment>
<segment>
<pinref part="U6" gate="G$1" pin="VCC"/>
<pinref part="+3V6" gate="G$1" pin="+3V3"/>
<wire x1="35.56" y1="-477.52" x2="25.4" y2="-477.52" width="0.1524" layer="91"/>
<wire x1="25.4" y1="-477.52" x2="25.4" y2="-472.44" width="0.1524" layer="91"/>
<pinref part="U6" gate="G$1" pin="VL"/>
<wire x1="35.56" y1="-482.6" x2="25.4" y2="-482.6" width="0.1524" layer="91"/>
<wire x1="25.4" y1="-482.6" x2="25.4" y2="-477.52" width="0.1524" layer="91"/>
<junction x="25.4" y="-477.52"/>
<pinref part="C18" gate="G$1" pin="P$1"/>
<wire x1="20.32" y1="-500.38" x2="20.32" y2="-482.6" width="0.1524" layer="91"/>
<wire x1="20.32" y1="-482.6" x2="25.4" y2="-482.6" width="0.1524" layer="91"/>
<junction x="25.4" y="-482.6"/>
</segment>
<segment>
<pinref part="U5" gate="G$1" pin="VCC"/>
<pinref part="+3V5" gate="G$1" pin="+3V3"/>
<wire x1="35.56" y1="-419.1" x2="25.4" y2="-419.1" width="0.1524" layer="91"/>
<wire x1="25.4" y1="-419.1" x2="25.4" y2="-414.02" width="0.1524" layer="91"/>
<pinref part="U5" gate="G$1" pin="VL"/>
<wire x1="35.56" y1="-424.18" x2="25.4" y2="-424.18" width="0.1524" layer="91"/>
<wire x1="25.4" y1="-424.18" x2="25.4" y2="-419.1" width="0.1524" layer="91"/>
<junction x="25.4" y="-419.1"/>
<pinref part="C17" gate="G$1" pin="P$1"/>
<wire x1="17.78" y1="-447.04" x2="17.78" y2="-424.18" width="0.1524" layer="91"/>
<wire x1="17.78" y1="-424.18" x2="25.4" y2="-424.18" width="0.1524" layer="91"/>
<junction x="25.4" y="-424.18"/>
</segment>
<segment>
<pinref part="U4" gate="G$1" pin="VCC"/>
<pinref part="+3V4" gate="G$1" pin="+3V3"/>
<wire x1="35.56" y1="-370.84" x2="22.86" y2="-370.84" width="0.1524" layer="91"/>
<wire x1="22.86" y1="-370.84" x2="22.86" y2="-363.22" width="0.1524" layer="91"/>
<pinref part="U4" gate="G$1" pin="VL"/>
<wire x1="35.56" y1="-375.92" x2="22.86" y2="-375.92" width="0.1524" layer="91"/>
<wire x1="22.86" y1="-375.92" x2="22.86" y2="-370.84" width="0.1524" layer="91"/>
<junction x="22.86" y="-370.84"/>
<pinref part="C16" gate="G$1" pin="P$1"/>
<wire x1="17.78" y1="-396.24" x2="17.78" y2="-375.92" width="0.1524" layer="91"/>
<wire x1="17.78" y1="-375.92" x2="22.86" y2="-375.92" width="0.1524" layer="91"/>
<junction x="22.86" y="-375.92"/>
</segment>
<segment>
<pinref part="R2" gate="G$1" pin="P$2"/>
<wire x1="185.42" y1="-71.12" x2="185.42" y2="-68.58" width="0.1524" layer="91"/>
<pinref part="+3V7" gate="G$1" pin="+3V3"/>
<wire x1="185.42" y1="-68.58" x2="195.58" y2="-68.58" width="0.1524" layer="91"/>
<pinref part="R3" gate="G$1" pin="P$2"/>
<wire x1="195.58" y1="-68.58" x2="200.66" y2="-68.58" width="0.1524" layer="91"/>
<wire x1="200.66" y1="-68.58" x2="200.66" y2="-71.12" width="0.1524" layer="91"/>
<junction x="195.58" y="-68.58"/>
</segment>
</net>
<net name="GND" class="0">
<segment>
<pinref part="GND16" gate="1" pin="GND"/>
<wire x1="-45.72" y1="50.8" x2="-45.72" y2="33.02" width="0.1524" layer="91"/>
<wire x1="-45.72" y1="50.8" x2="-55.88" y2="50.8" width="0.1524" layer="91"/>
<pinref part="SWD" gate="A" pin="4"/>
</segment>
<segment>
<wire x1="10.16" y1="78.74" x2="17.78" y2="78.74" width="0.1524" layer="91"/>
<wire x1="17.78" y1="78.74" x2="25.4" y2="78.74" width="0.1524" layer="91"/>
<wire x1="25.4" y1="78.74" x2="33.02" y2="78.74" width="0.1524" layer="91"/>
<wire x1="33.02" y1="78.74" x2="43.18" y2="78.74" width="0.1524" layer="91"/>
<wire x1="43.18" y1="78.74" x2="43.18" y2="73.66" width="0.1524" layer="91"/>
<wire x1="43.18" y1="73.66" x2="43.18" y2="71.12" width="0.1524" layer="91"/>
<wire x1="10.16" y1="83.82" x2="10.16" y2="78.74" width="0.1524" layer="91"/>
<wire x1="17.78" y1="83.82" x2="17.78" y2="78.74" width="0.1524" layer="91"/>
<junction x="17.78" y="78.74"/>
<wire x1="25.4" y1="83.82" x2="25.4" y2="78.74" width="0.1524" layer="91"/>
<junction x="25.4" y="78.74"/>
<wire x1="33.02" y1="83.82" x2="33.02" y2="78.74" width="0.1524" layer="91"/>
<junction x="33.02" y="78.74"/>
<wire x1="43.18" y1="83.82" x2="43.18" y2="78.74" width="0.1524" layer="91"/>
<junction x="43.18" y="78.74"/>
<wire x1="43.18" y1="73.66" x2="53.34" y2="73.66" width="0.1524" layer="91"/>
<wire x1="53.34" y1="73.66" x2="53.34" y2="78.74" width="0.1524" layer="91"/>
<junction x="43.18" y="73.66"/>
<pinref part="R1" gate="G$1" pin="P$1"/>
<wire x1="63.5" y1="73.66" x2="53.34" y2="73.66" width="0.1524" layer="91"/>
<junction x="53.34" y="73.66"/>
<pinref part="C2" gate="G$1" pin="P$2"/>
<pinref part="C6" gate="G$1" pin="P$2"/>
<pinref part="C4" gate="G$1" pin="P$2"/>
<pinref part="C5" gate="G$1" pin="P$2"/>
<pinref part="C3" gate="G$1" pin="P$2"/>
<pinref part="C1" gate="G$1" pin="P$2"/>
<pinref part="GND1" gate="1" pin="GND"/>
<pinref part="C26" gate="G$1" pin="P$2"/>
<wire x1="2.54" y1="83.82" x2="2.54" y2="78.74" width="0.1524" layer="91"/>
<wire x1="2.54" y1="78.74" x2="10.16" y2="78.74" width="0.1524" layer="91"/>
<junction x="10.16" y="78.74"/>
<pinref part="C29" gate="G$1" pin="P$2"/>
<wire x1="2.54" y1="78.74" x2="-7.62" y2="78.74" width="0.1524" layer="91"/>
<wire x1="-7.62" y1="78.74" x2="-7.62" y2="83.82" width="0.1524" layer="91"/>
<junction x="2.54" y="78.74"/>
</segment>
<segment>
<pinref part="GND14" gate="1" pin="GND"/>
<wire x1="119.38" y1="83.82" x2="119.38" y2="78.74" width="0.1524" layer="91"/>
<wire x1="119.38" y1="78.7

license_type: permissive

branch_name: refs/heads/master


text:
4" x2="127" y2="78.74" width="0.1524" layer="91"/>
<pinref part="C7" gate="G$1" pin="P$2"/>
<junction x="119.38" y="83.82"/>
</segment>
<segment>
<wire x1="167.64" y1="-25.4" x2="167.64" y2="-35.56" width="0.1524" layer="91"/>
<pinref part="GND17" gate="1" pin="GND"/>
<wire x1="167.64" y1="-35.56" x2="187.96" y2="-35.56" width="0.1524" layer="91"/>
<pinref part="X1" gate="G$1" pin="P$3"/>
<wire x1="187.96" y1="-27.94" x2="187.96" y2="-35.56" width="0.1524" layer="91"/>
<junction x="187.96" y="-35.56"/>
<wire x1="187.96" y1="-35.56" x2="208.28" y2="-35.56" width="0.1524" layer="91"/>
<wire x1="208.28" y1="-35.56" x2="208.28" y2="-25.4" width="0.1524" layer="91"/>
<pinref part="C8" gate="G$1" pin="P$2"/>
<pinref part="C9" gate="G$1" pin="P$2"/>
</segment>
<segment>
<wire x1="60.96" y1="-55.88" x2="60.96" y2="-68.58" width="0.1524" layer="91"/>
<wire x1="60.96" y1="-68.58" x2="66.04" y2="-68.58" width="0.1524" layer="91"/>
<pinref part="GND6" gate="1" pin="GND"/>
<wire x1="66.04" y1="-68.58" x2="71.12" y2="-68.58" width="0.1524" layer="91"/>
<wire x1="71.12" y1="-68.58" x2="73.66" y2="-68.58" width="0.1524" layer="91"/>
<wire x1="73.66" y1="-68.58" x2="73.66" y2="-73.66" width="0.1524" layer="91"/>
<wire x1="66.04" y1="-55.88" x2="66.04" y2="-68.58" width="0.1524" layer="91"/>
<junction x="66.04" y="-68.58"/>
<wire x1="71.12" y1="-55.88" x2="71.12" y2="-68.58" width="0.1524" layer="91"/>
<junction x="71.12" y="-68.58"/>
<wire x1="76.2" y1="-55.88" x2="76.2" y2="-68.58" width="0.1524" layer="91"/>
<wire x1="76.2" y1="-68.58" x2="73.66" y2="-68.58" width="0.1524" layer="91"/>
<junction x="73.66" y="-68.58"/>
<wire x1="83.82" y1="-55.88" x2="83.82" y2="-68.58" width="0.1524" layer="91"/>
<wire x1="83.82" y1="-68.58" x2="76.2" y2="-68.58" width="0.1524" layer="91"/>
<junction x="76.2" y="-68.58"/>
<pinref part="U1" gate="G$1" pin="VSS1"/>
<pinref part="U1" gate="G$1" pin="VSS2"/>
<pinref part="U1" gate="G$1" pin="VSS3"/>
<pinref part="U1" gate="G$1" pin="VSS4"/>
<pinref part="U1" gate="G$1" pin="VSSA"/>
<pinref part="DGND" gate="G$1" pin="P$1"/>
<wire x1="83.82" y1="-68.58" x2="99.06" y2="-68.58" width="0.1524" layer="91"/>
<junction x="83.82" y="-68.58"/>
</segment>
<segment>
<pinref part="U2" gate="G$1" pin="GNDIO"/>
<wire x1="101.6" y1="-205.74" x2="106.68" y2="-205.74" width="0.1524" layer="91"/>
<wire x1="106.68" y1="-205.74" x2="106.68" y2="-215.9" width="0.1524" layer="91"/>
<pinref part="GND2" gate="1" pin="GND"/>
<wire x1="106.68" y1="-215.9" x2="119.38" y2="-215.9" width="0.1524" layer="91"/>
<pinref part="C11" gate="G$1" pin="P$2"/>
<wire x1="119.38" y1="-215.9" x2="119.38" y2="-208.28" width="0.1524" layer="91"/>
<junction x="119.38" y="-215.9"/>
<pinref part="C10" gate="G$1" pin="P$2"/>
<wire x1="119.38" y1="-215.9" x2="134.62" y2="-215.9" width="0.1524" layer="91"/>
<wire x1="134.62" y1="-215.9" x2="134.62" y2="-208.28" width="0.1524" layer="91"/>
<pinref part="U2" gate="G$1" pin="GND"/>
<wire x1="101.6" y1="-203.2" x2="106.68" y2="-203.2" width="0.1524" layer="91"/>
<wire x1="106.68" y1="-203.2" x2="106.68" y2="-205.74" width="0.1524" layer="91"/>
<junction x="106.68" y="-205.74"/>
</segment>
<segment>
<wire x1="50.8" y1="-444.5" x2="50.8" y2="-454.66" width="0.1524" layer="91"/>
<pinref part="GND5" gate="1" pin="GND"/>
<wire x1="50.8" y1="-454.66" x2="83.82" y2="-454.66" width="0.1524" layer="91"/>
<pinref part="U5" gate="G$1" pin="GND"/>
<pinref part="C17" gate="G$1" pin="P$2"/>
<wire x1="17.78" y1="-452.12" x2="17.78" y2="-454.66" width="0.1524" layer="91"/>
<wire x1="17.78" y1="-454.66" x2="50.8" y2="-454.66" width="0.1524" layer="91"/>
<junction x="50.8" y="-454.66"/>
</segment>
<segment>
<pinref part="GND7" gate="1" pin="GND"/>
<wire x1="50.8" y1="-508" x2="83.82" y2="-508" width="0.1524" layer="91"/>
<pinref part="U6" gate="G$1" pin="GND"/>
<wire x1="50.8" y1="-508" x2="50.8" y2="-502.92" width="0.1524" layer="91"/>
<pinref part="C18" gate="G$1" pin="P$2"/>
<wire x1="20.32" y1="-505.46" x2="20.32" y2="-508" width="0.1524" layer="91"/>
<wire x1="20.32" y1="-508" x2="50.8" y2="-508" width="0.1524" layer="91"/>
<junction x="50.8" y="-508"/>
</segment>
<segment>
<wire x1="50.8" y1="-396.24" x2="50.8" y2="-403.86" width="0.1524" layer="91"/>
<pinref part="GND4" gate="1" pin="GND"/>
<wire x1="50.8" y1="-403.86" x2="83.82" y2="-403.86" width="0.1524" layer="91"/>
<pinref part="U4" gate="G$1" pin="GND"/>
<pinref part="C16" gate="G$1" pin="P$2"/>
<wire x1="17.78" y1="-401.32" x2="17.78" y2="-403.86" width="0.1524" layer="91"/>
<wire x1="17.78" y1="-403.86" x2="50.8" y2="-403.86" width="0.1524" layer="91"/>
<junction x="50.8" y="-403.86"/>
</segment>
<segment>
<pinref part="U2" gate="G$1" pin="PS"/>
<pinref part="GND8" gate="1" pin="GND"/>
<wire x1="73.66" y1="-203.2" x2="68.58" y2="-203.2" width="0.1524" layer="91"/>
<wire x1="68.58" y1="-203.2" x2="68.58" y2="-213.36" width="0.1524" layer="91"/>
</segment>
<segment>
<pinref part="SH4" gate="G$1" pin="P$2"/>
<pinref part="GND3" gate="1" pin="GND"/>
<wire x1="91.44" y1="-325.12" x2="101.6" y2="-325.12" width="0.1524" layer="91"/>
</segment>
</net>
<net name="N$24" class="0">
<segment>
<wire x1="53.34" y1="83.82" x2="53.34" y2="88.9" width="0.1524" layer="91"/>
<wire x1="53.34" y1="88.9" x2="71.12" y2="88.9" width="0.1524" layer="91"/>
<pinref part="C6" gate="G$1" pin="P$1"/>
<junction x="53.34" y="83.82"/>
<wire x1="71.12" y1="68.58" x2="71.12" y2="88.9" width="0.1524" layer="91"/>
<wire x1="71.12" y1="88.9" x2="71.12" y2="109.22" width="0.1524" layer="91"/>
<junction x="71.12" y="88.9"/>
<wire x1="71.12" y1="109.22" x2="-38.1" y2="109.22" width="0.1524" layer="91"/>
<wire x1="-38.1" y1="109.22" x2="-38.1" y2="55.88" width="0.1524" layer="91"/>
<wire x1="-38.1" y1="55.88" x2="-55.88" y2="55.88" width="0.1524" layer="91"/>
<pinref part="U1" gate="G$1" pin="NRST"/>
<pinref part="SWD" gate="A" pin="2"/>
</segment>
</net>
<net name="N$33" class="0">
<segment>
<pinref part="R1" gate="G$1" pin="P$2"/>
<wire x1="63.5" y1="83.82" x2="63.5" y2="86.36" width="0.1524" layer="91"/>
<wire x1="63.5" y1="86.36" x2="66.04" y2="86.36" width="0.1524" layer="91"/>
<wire x1="66.04" y1="86.36" x2="66.04" y2="68.58" width="0.1524" layer="91"/>
<pinref part="U1" gate="G$1" pin="BOOT0"/>
</segment>
</net>
<net name="N$23" class="0">
<segment>
<wire x1="99.06" y1="93.98" x2="119.38" y2="93.98" width="0.1524" layer="91"/>
<wire x1="119.38" y1="93.98" x2="119.38" y2="88.9" width="0.1524" layer="91"/>
<pinref part="C7" gate="G$1" pin="P$1"/>
<pinref part="U1" gate="G$1" pin="VCAP1"/>
<wire x1="99.06" y1="93.98" x2="99.06" y2="68.58" width="0.1524" layer="91"/>
</segment>
</net>
<net name="N$6" class="0">
<segment>
<wire x1="5.08" y1="10.16" x2="-25.4" y2="10.16" width="0.1524" layer="91"/>
<wire x1="-25.4" y1="10.16" x2="-25.4" y2="48.26" width="0.1524" layer="91"/>
<wire x1="-25.4" y1="48.26" x2="-55.88" y2="48.26" width="0.1524" layer="91"/>
<pinref part="U1" gate="G$1" pin="PA14/SWCLK"/>
<pinref part="SWD" gate="A" pin="5"/>
</segment>
</net>
<net name="N$7" class="0">
<segment>
<wire x1="5.08" y1="12.7" x2="-22.86" y2="12.7" width="0.1524" layer="91"/>
<wire x1="-22.86" y1="12.7" x2="-22.86" y2="53.34" width="0.1524" layer="91"/>
<wire x1="-22.86" y1="53.34" x2="-55.88" y2="53.34" width="0.1524" layer="91"/>
<pinref part="U1" gate="G$1" pin="PA13/SWDIO"/>
<pinref part="SWD" gate="A" pin="3"/>
</segment>
</net>
<net name="N$35" class="0">
<segment>
<pinref part="X1" gate="G$1" pin="P$1"/>
<wire x1="167.64" y1="-20.32" x2="167.64" y2="-15.24" width="0.1524" layer="91"/>
<wire x1="167.64" y1="-15.24" x2="175.26" y2="-15.24" width="0.1524" layer="91"/>
<wire x1="152.4" y1="-15.24" x2="167.64" y2="-15.24" width="0.1524" layer="91"/>
<junction x="167.64" y="-15.24"/>
<pinref part="C8" gate="G$1" pin="P$1"/>
<junction x="167.64" y="-20.32"/>
<pinref part="U1" gate="G$1" pin="PH0"/>
</segment>
</net>
<net name="N$36" class="0">
<segment>
<pinref part="X1" gate="G$1" pin="P$2"/>
<wire x1="200.66" y1="-15.24" x2="208.28" y2="-15.24" width="0.1524" layer="91"/>
<wire x1="208.28" y1="-15.24" x2="208.28" y2="-20.32" width="0.1524" layer="91"/>
<wire x1="208.28" y1="-15.24" x2="208.28" y2="-5.08" width="0.1524" layer="91"/>
<junction x="208.28" y="-15.24"/>
<wire x1="208.28" y1="-5.08" x2="167.64" y2="-5.08" width="0.1524" layer="91"/>
<wire x1="167.64" y1="-5.08" x2="167.64" y2="-12.7" width="0.1524" layer="91"/>
<wire x1="167.64" y1="-12.7" x2="152.4" y2="-12.7" width="0.1524" layer="91"/>
<pinref part="C9" gate="G$1" pin="P$1"/>
<junction x="208.28" y="-20.32"/>
<pinref part="U1" gate="G$1" pin="PH1"/>
</segment>
</net>
<net name="N$1" class="0">
<segment>
<pinref part="U3" gate="G$1" pin="SW"/>
<pinref part="L1" gate="G$1" pin="P$1"/>
<wire x1="104.14" y1="-281.94" x2="111.76" y2="-281.94" width="0.1524" layer="91"/>
</segment>
</net>
<net name="+18V" class="0">
<segment>
<pinref part="P+1" gate="1" pin="+18V"/>
<wire x1="50.8" y1="-276.86" x2="50.8" y2="-281.94" width="0.1524" layer="91"/>
<pinref part="U3" gate="G$1" pin="EN"/>
<wire x1="73.66" y1="-287.02" x2="68.58" y2="-287.02" width="0.1524" layer="91"/>
<wire x1="68.58" y1="-287.02" x2="68.58" y2="-281.94" width="0.1524" layer="91"/>
<pinref part="U3" gate="G$1" pin="VIN"/>
<wire x1="68.58" y1="-281.94" x2="73.66" y2="-281.94" width="0.1524" layer="91"/>
<wire x1="50.8" y1="-281.94" x2="68.58" y2="-281.94" width="0.1524" layer="91"/>
<junction x="68.58" y="-281.94"/>
<pinref part="C19" gate="G$1" pin="P$1"/>
<wire x1="50.8" y1="-281.94" x2="48.26" y2="-281.94" width="0.1524" layer="91"/>
<wire x1="48.26" y1="-281.94" x2="48.26" y2="-297.18" width="0.1524" layer="91"/>
<junction x="50.8" y="-281.94"/>
<pinref part="C12" gate="G$1" pin="P$1"/>
<wire x1="48.26" y1="-281.94" x2="40.64" y2="-281.94" width="0.1524" layer="91"/>
<wire x1="40.64" y1="-281.94" x2="40.64" y2="-297.18" width="0.1524" layer="91"/>
<junction x="48.26" y="-281.94"/>
</segment>
<segment>
<pinref part="V+" gate="G$1" pin="P$1"/>
<wire x1="33.02" y1="-104.14" x2="33.02" y2="-99.06" width="0.1524" layer="91"/>
<wire x1="33.02" y1="-99.06" x2="68.58" y2="-99.06" width="0.1524" layer="91"/>
<pinref part="V+1" gate="G$1" pin="P$1"/>
<wire x1="68.58" y1="-99.06" x2="68.58" y2="-104.14" width="0.1524" layer="91"/>
<pinref part="V+2" gate="G$1" pin="P$1"/>
<wire x1="68.58" y1="-99.06" x2="83.82" y2="-99.06" width="0.1524" layer="91"/>
<wire x1="83.82" y1="-99.06" x2="83.82" y2="-104.14" width="0.1524" layer="91"/>
<junction x="68.58" y="-99.06"/>
<pinref part="V+3" gate="G$1" pin="P$1"/>
<wire x1="83.82" y1="-99.06" x2="99.06" y2="-99.06" width="0.1524" layer="91"/>
<wire x1="99.06" y1="-99.06" x2="99.06" y2="-104.14" width="0.1524" layer="91"/>
<junction x="83.82" y="-99.06"/>
<pinref part="V+4" gate="G$1" pin="P$1"/>
<wire x1="99.06" y1="-99.06" x2="114.3" y2="-99.06" width="0.1524" layer="91"/>
<wire x1="114.3" y1="-99.06" x2="114.3" y2="-104.14" width="0.1524" layer="91"/>
<junction x="99.06" y="-99.06"/>
<label x="48.26" y="-99.06" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="J5" gate="G$1" pin="4"/>
<wire x1="137.16" y1="-480.06" x2="119.38" y2="-480.06" width="0.1524" layer="91"/>
<label x="119.38" y="-480.06" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="F1" gate="A" pin="1"/>
<pinref part="P+2" gate="1" pin="+18V"/>
<wire x1="195.58" y1="-142.24" x2="198.12" y2="-142.24" width="0.1524" layer="91"/>
<wire x1="198.12" y1="-142.24" x2="198.12" y2="-132.08" width="0.1524" layer="91"/>
</segment>
<segment>
<pinref part="F2" gate="A" pin="1"/>
<pinref part="P+3" gate="1" pin="+18V"/>
<wire x1="256.54" y1="-144.78" x2="259.08" y2="-144.78" width="0.1524" layer="91"/>
<wire x1="259.08" y1="-144.78" x2="259.08" y2="-134.62" width="0.1524" layer="91"/>
</segment>
</net>
<net name="D2_P" class="0">
<segment>
<pinref part="J3" gate="A" pin="1"/>
<wire x1="66.04" y1="-424.18" x2="104.14" y2="-424.18" width="0.1524" layer="91"/>
<pinref part="J4" gate="A" pin="1"/>
<wire x1="104.14" y1="-424.18" x2="124.46" y2="-424.18" width="0.1524" layer="91"/>
<junction x="104.14" y="-424.18"/>
<pinref part="U5" gate="G$1" pin="A"/>
<label x="81.28" y="-424.18" size="1.778" layer="95"/>
</segment>
</net>
<net name="D2_N" class="0">
<segment>
<wire x1="66.04" y1="-429.26" x2="68.58" y2="-429.26" width="0.1524" layer="91"/>
<wire x1="68.58" y1="-429.26" x2="68.58" y2="-426.72" width="0.1524" layer="91"/>
<pinref part="J3" gate="A" pin="2"/>
<wire x1="68.58" y1="-426.72" x2="104.14" y2="-426.72" width="0.1524" layer="91"/>
<pinref part="J4" gate="A" pin="2"/>
<wire x1="104.14" y1="-426.72" x2="124.46" y2="-426.72" width="0.1524" layer="91"/>
<junction x="104.14" y="-426.72"/>
<pinref part="U5" gate="G$1" pin="B"/>
<wire x1="66.04" y1="-431.8" x2="66.04" y2="-429.26" width="0.1524" layer="91"/>
<label x="81.28" y="-426.72" size="1.778" layer="95"/>
</segment>
</net>
<net name="D1_N" class="0">
<segment>
<wire x1="66.04" y1="-381" x2="71.12" y2="-381" width="0.1524" layer="91"/>
<wire x1="71.12" y1="-381" x2="71.12" y2="-378.46" width="0.1524" layer="91"/>
<pinref part="J1" gate="A" pin="2"/>
<wire x1="71.12" y1="-378.46" x2="104.14" y2="-378.46" width="0.1524" layer="91"/>
<pinref part="J2" gate="A" pin="2"/>
<wire x1="104.14" y1="-378.46" x2="124.46" y2="-378.46" width="0.1524" layer="91"/>
<junction x="104.14" y="-378.46"/>
<pinref part="U4" gate="G$1" pin="B"/>
<wire x1="66.04" y1="-383.54" x2="66.04" y2="-381" width="0.1524" layer="91"/>
<label x="78.74" y="-378.46" size="1.778" layer="95"/>
</segment>
</net>
<net name="D1_P" class="0">
<segment>
<pinref part="J1" gate="A" pin="1"/>
<wire x1="66.04" y1="-375.92" x2="104.14" y2="-375.92" width="0.1524" layer="91"/>
<pinref part="J2" gate="A" pin="1"/>
<wire x1="104.14" y1="-375.92" x2="124.46" y2="-375.92" width="0.1524" layer="91"/>
<junction x="104.14" y="-375.92"/>
<pinref part="U4" gate="G$1" pin="A"/>
<label x="78.74" y="-375.92" size="1.778" layer="95"/>
</segment>
</net>
<net name="D3_N" class="0">
<segment>
<pinref part="J5" gate="G$1" pin="2"/>
<wire x1="137.16" y1="-485.14" x2="76.2" y2="-485.14" width="0.1524" layer="91"/>
<wire x1="66.04" y1="-487.68" x2="76.2" y2="-487.68" width="0.1524" layer="91"/>
<wire x1="76.2" y1="-487.68" x2="76.2" y2="-485.14" width="0.1524" layer="91"/>
<pinref part="U6" gate="G$1" pin="B"/>
<wire x1="66.04" y1="-490.22" x2="66.04" y2="-487.68" width="0.1524" layer="91"/>
<label x="88.9" y="-485.14" size="1.778" layer="95"/>
</segment>
</net>
<net name="D3_P" class="0">
<segment>
<pinref part="J5" gate="G$1" pin="3"/>
<wire x1="66.04" y1="-482.6" x2="137.16" y2="-482.6" width="0.1524" layer="91"/>
<pinref part="U6" gate="G$1" pin="A"/>
<label x="88.9" y="-482.6" size="1.778" layer="95"/>
</segment>
</net>
<net name="V-" class="0">
<segment>
<pinref part="U3" gate="G$1" pin="PGND"/>
<wire x1="73.66" y1="-307.34" x2="71.12" y2="-307.34" width="0.1524" layer="91"/>
<pinref part="U3" gate="G$1" pin="AGND"/>
<wire x1="73.66" y1="-302.26" x2="71.12" y2="-302.26" width="0.1524" layer="91"/>
<wire x1="71.12" y1="-302.26" x2="71.12" y2="-307.34" width="0.1524" layer="91"/>
<junction x="71.12" y="-307.34"/>
<wire x1="71.12" y1="-307.34" x2="71.12" y2="-314.96" width="0.1524" layer="91"/>
<wire x1="48.26" y1="-314.96" x2="71.12" y2="-314.96" width="0.1524" layer="91"/>
<wire x1="71.12" y1="-314.96" x2="71.12" y2="-317.5" width="0.1524" layer="91"/>
<junction x="71.12" y="-314.96"/>
<label x="73.66" y="-327.66" size="1.778" layer="95"/>
<wire x1="71.12" y1="-317.5" x2="71.12" y2="-325.12" width="0.1524" layer="91"/>
<pinref part="U3" gate="G$1" pin="NC"/>
<wire x1="71.12" y1="-325.12" x2="71.12" y2="-330.2" width="0.1524" layer="91"/>
<wire x1="104.14" y1="-307.34" x2="104.14" y2="-317.5" width="0.1524" layer="91"/>
<wire x1="104.14" y1="-317.5" x2="71.12" y2="-317.5" width="0.1524" layer="91"/>
<junction x="71.12" y="-317.5"/>
<pinref part="U3" gate="G$1" pin="FB"/>
<wire x1="104.14" y1="-302.26" x2="109.22" y2="-302.26" width="0.1524" layer="91"/>
<wire x1="109.22" y1="-302.26" x2="109.22" y2="-314.96" width="0.1524" layer="91"/>
<pinref part="C13" gate="G$1" pin="P$2"/>
<wire x1="109.22" y1="-314.96" x2="127" y2="-314.96" width="0.1524" layer="91"/>
<wire x1="127" y1="-314.96" x2="127" y2="-299.72" width="0.1524" layer="91"/>
<pinref part="C14" gate="G$1" pin="P$2"/>
<wire x1="127" y1="-314.96" x2="134.62" y2="-314.96" width="0.1524" layer="91"/>
<wire x1="134.62" y1="-314.96" x2="134.62" y2="-299.72" width="0.1524" layer="91"/>
<junction x="127" y="-314.96"/>
<pinref part="C15" gate="G$1" pin="P$2"/>
<wire x1="134.62" y1="-314.96" x2="144.78" y2="-314.96" width="0.1524" layer="91"/>
<wire x1="144.78" y1="-314.96" x2="144.78" y2="-299.72" width="0.1524" layer="91"/>
<junction x="134.62" y="-314.96"/>
<wire x1="104.14" y1="-317.5" x2="109.22" y2="-317.5" width="0.1524" layer="91"/>
<wire x1="109.22" y1="-317.5" x2="109.22" y2="-314.96" width="0.1524" layer="91"/>
<junction x="104.14" y="-317.5"/>
<junction x="109.22" y="-314.96"/>
<pinref part="SH4" gate="G$1" pin="P$1"/>
<wire x1="71.12" y1="-325.12" x2="86.36" y2="-325.12" width="0.1524" layer="91"/>
<junction x="71.12" y="-325.12"/>
<pinref part="C19" gate="G$1" pin="P$2"/>
<wire x1="48.26" y1="-314.96" x2="48.26" y2="-302.26" width="0.1524" layer="91"/>
<pinref part="C12" gate="G$1" pin="P$2"/>
<wire x1="48.26" y1="-314.96" x2="40.64" y2="-314.96" width="0.1524" layer="91"/>
<wire x1="40.64" y1="-314.96" x2="40.64" y2="-302.26" width="0.1524" layer="91"/>
<junction x="48.26" y="-314.96"/>
</segment>
<segment>
<pinref part="V-" gate="G$1" pin="P$1"/>
<wire x1="33.02" y1="-129.54" x2="33.02" y2="-124.46" width="0.1524" layer="91"/>
<pinref part="V-1" gate="G$1" pin="P$1"/>
<wire x1="33.02" y1="-124.46" x2="68.58" y2="-124.46" width="0.1524" layer="91"/>
<wire x1="68.58" y1="-124.46" x2="68.58" y2="-129.54" width="0.1524" layer="91"/>
<pinref part="V-2" gate="G$1" pin="P$1"/>
<wire x1="68.58" y1="-124.46" x2="83.82" y2="-124.46" width="0.1524" layer="91"/>
<wire x1="83.82" y1="-124.46" x2="83.82" y2="-129.54" width="0.1524" layer="91"/>
<junction x="68.58" y="-124.46"/>
<pinref part="V-3" gate="G$1" pin="P$1"/>
<wire x1="83.82" y1="-124.46" x2="99.06" y2="-124.46" width="0.1524" layer="91"/>
<wire x1="99.06" y1="-124.46" x2="99.06" y2="-129.54" width="0.1524" layer="91"/>
<junction x="83.82" y="-124.46"/>
<pinref part="V-4" gate="G$1" pin="P$1"/>
<wire x1="99.06" y1="-124.46" x2="114.3" y2="-124.46" width="0.1524" layer="91"/>
<wire x1="114.3" y1="-124.46" x2="114.3" y2="-129.54" width="0.1524" layer="91"/>
<junction x="99.06" y="-124.46"/>
<label x="48.26" y="-124.46" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="J5" gate="G$1" pin="1"/>
<wire x1="137.16" y1="-487.68" x2="127" y2="-487.68" width="0.1524" layer="91"/>
<wire x1="127" y1="-487.68" x2="127" y2="-508" width="0.1524" layer="91"/>
<label x="127" y="-505.46" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="J2" gate="A" pin="3"/>
<pinref part="J1" gate="A" pin="3"/>
<wire x1="83.82" y1="-381" x2="104.14" y2="-381" width="0.1524" layer="91"/>
<junction x="104.14" y="-381"/>
<wire x1="104.14" y1="-381" x2="124.46" y2="-381" width="0.1524" layer="91"/>
<wire x1="83.82" y1="-381" x2="83.82" y2="-391.16" width="0.1524" layer="91"/>
<label x="83.82" y="-391.16" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="J4" gate="A" pin="3"/>
<pinref part="J3" gate="A" pin="3"/>
<wire x1="86.36" y1="-429.26" x2="104.14" y2="-429.26" width="0.1524" layer="91"/>
<junction x="104.14" y="-429.26"/>
<wire x1="104.14" y1="-429.26" x2="124.46" y2="-429.26" width="0.1524" layer="91"/>
<wire x1="86.36" y1="-429.26" x2="86.36" y2="-444.5" width="0.1524" layer="91"/>
<label x="86.36" y="-441.96" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="U7" gate="G$1" pin="SOURCE"/>
<wire x1="198.12" y1="-177.8" x2="198.12" y2="-180.34" width="0.1524" layer="91"/>
<pinref part="U8" gate="G$1" pin="SOURCE"/>
<wire x1="259.08" y1="-177.8" x2="259.08" y2="-180.34" width="0.1524" layer="91"/>
<wire x1="259.08" y1="-180.34" x2="259.08" y2="-182.88" width="0.1524" layer="91"/>
<wire x1="198.12" y1="-180.34" x2="259.08" y2="-180.34" width="0.1524" layer="91"/>
<junction x="259.08" y="-180.34"/>
<label x="261.62" y="-182.88" size="1.778" layer="95"/>
</segment>
</net>
<net name="TX3" class="0">
<segment>
<pinref part="U6" gate="G$1" pin="DI"/>
<wire x1="35.56" y1="-487.68" x2="22.86" y2="-487.68" width="0.1524" layer="91"/>
<label x="22.86" y="-487.68" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="U1" gate="G$1" pin="PC10/SPI3_SCK/I2S3_CK/UART3_TX/UART4_TX"/>
<wire x1="152.4" y1="17.78" x2="177.8" y2="17.78" width="0.1524" layer="91"/>
<label x="172.72" y="17.78" size="1.778" layer="95"/>
</segment>
</net>
<net name="RX3" class="0">
<segment>
<pinref part="U6" gate="G$1" pin="RO"/>
<wire x1="35.56" y1="-495.3" x2="22.86" y2="-495.3" width="0.1524" layer="91"/>
<label x="22.86" y="-495.3" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="U1" gate="G$1" pin="PC11/SPI3_MISO/UART3_RX/UART4_RX"/>
<wire x1="152.4" y1="15.24" x2="177.8" y2="15.24" width="0.1524" layer="91"/>
<label x="172.72" y="15.24" size="1.778" layer="95"/>
</segment>
</net>
<net name="DIR3" class="0">
<segment>
<pinref part="U6" gate="G$1" pin="RE/"/>
<wire x1="35.56" y1="-492.76" x2="33.02" y2="-492.76" width="0.1524" layer="91"/>
<wire x1="33.02" y1="-492.76" x2="33.02" y2="-490.22" width="0.1524" layer="91"/>
<pinref part="U6" gate="G$1" pin="DE"/>
<wire x1="33.02" y1="-490.22" x2="35.56" y2="-490.22" width="0.1524" layer="91"/>
<wire x1="33.02" y1="-490.22" x2="22.86" y2="-490.22" width="0.1524" layer="91"/>
<junction x="33.02" y="-490.22"/>
<label x="22.86" y="-490.22" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="U1" gate="G$1" pin="PC12/I2C2_SDA/SPI3_MOSI/I2S3_SD/UART3_CK/UART5_TX"/>
<wire x1="152.4" y1="12.7" x2="177.8" y2="12.7" width="0.1524" layer="91"/>
<label x="172.72" y="12.7" size="1.778" layer="95"/>
</segment>
</net>
<net name="TX2" class="0">
<segment>
<pinref part="U5" gate="G$1" pin="DI"/>
<wire x1="35.56" y1="-429.26" x2="20.32" y2="-429.26" width="0.1524" layer="91"/>
<label x="20.32" y="-429.26" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="U1" gate="G$1" pin="PC6/TIM3_1/TIM8_1/I2S2_MCK/UART6_RX"/>
<wire x1="152.4" y1="27.94" x2="177.8" y2="27.94" width="0.1524" layer="91"/>
<label x="170.18" y="27.94" size="1.778" layer="95"/>
</segment>
</net>
<net name="RX2" class="0">
<segment>
<pinref part="U5" gate="G$1" pin="RO"/>
<wire x1="35.56" y1="-436.88" x2="20.32" y2="-436.88" width="0.1524" layer="91"/>
<label x="20.32" y="-436.88" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="U1" gate="G$1" pin="PC7/TIM3_2/TIM8_2/SPI2_SCK/I2S2_CK/I2S3_MCK/UART6_RX"/>
<wire x1="152.4" y1="25.4" x2="177.8" y2="25.4" width="0.1524" layer="91"/>
<label x="170.18" y="25.4" size="1.778" layer="95"/>
</segment>
</net>
<net name="DIR2" class="0">
<segment>
<pinref part="U5" gate="G$1" pin="RE/"/>
<wire x1="35.56" y1="-434.34" x2="33.02" y2="-434.34" width="0.1524" layer="91"/>
<wire x1="33.02" y1="-434.34" x2="33.02" y2="-431.8" width="0.1524" layer="91"/>
<pinref part="U5" gate="G$1" pin="DE"/>
<wire x1="33.02" y1="-431.8" x2="35.56" y2="-431.8" width="0.1524" layer="91"/>
<wire x1="33.02" y1="-431.8" x2="20.32" y2="-431.8" width="0.1524" layer="91"/>
<junction x="33.02" y="-431.8"/>
<label x="20.32" y="-431.8" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="U1" gate="G$1" pin="PC8/TIM3_3/TIM8_3/UART6_CK"/>
<wire x1="152.4" y1="22.86" x2="177.8" y2="22.86" width="0.1524" layer="91"/>
<label x="170.18" y="22.86" size="1.778" layer="95"/>
</segment>
</net>
<net name="TX1" class="0">
<segment>
<pinref part="U4" gate="G$1" pin="DI"/>
<wire x1="35.56" y1="-381" x2="20.32" y2="-381" width="0.1524" layer="91"/>
<label x="20.32" y="-381" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="U1" gate="G$1" pin="PA2/TIM2_3/TIM5_3/TIM9_1/UART2_TX"/>
<wire x1="5.08" y1="40.64" x2="-17.78" y2="40.64" width="0.1524" layer="91"/>
<label x="-17.78" y="40.64" size="1.778" layer="95"/>
</segment>
</net>
<net name="RX1" class="0">
<segment>
<pinref part="U4" gate="G$1" pin="RO"/>
<wire x1="35.56" y1="-388.62" x2="20.32" y2="-388.62" width="0.1524" layer="91"/>
<label x="20.32" y="-388.62" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="U1" gate="G$1" pin="PA3/TIM2_4/TIM5_4/TIM9_2/UART2_RX"/>
<wire x1="5.08" y1="38.1" x2="-17.78" y2="38.1" width="0.1524" layer="91"/>
<label x="-17.78" y="38.1" size="1.778" layer="95"/>
</segment>
</net>
<net name="DIR1" class="0">
<segment>
<pinref part="U4" gate="G$1" pin="RE/"/>
<wire x1="35.56" y1="-386.08" x2="33.02" y2="-386.08" width="0.1524" layer="91"/>
<wire x1="33.02" y1="-386.08" x2="33.02" y2="-383.54" width="0.1524" layer="91"/>
<pinref part="U4" gate="G$1" pin="DE"/>
<wire x1="33.02" y1="-383.54" x2="35.56" y2="-383.54" width="0.1524" layer="91"/>
<wire x1="33.02" y1="-383.54" x2="20.32" y2="-383.54" width="0.1524" layer="91"/>
<junction x="33.02" y="-383.54"/>
<label x="20.32" y="-383.54" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="U1" gate="G$1" pin="PA1/TIM2_2/TIM5_2/UART4_RX"/>
<wire x1="5.08" y1="43.18" x2="-17.78" y2="43.18" width="0.1524" layer="91"/>
<label x="-17.78" y="43.18" size="1.778" layer="95"/>
</segment>
</net>
<net name="IMU_SCK" class="0">
<segment>
<pinref part="U2" gate="G$1" pin="SCK"/>
<wire x1="73.66" y1="-182.88" x2="53.34" y2="-182.88" width="0.1524" layer="91"/>
<label x="53.34" y="-182.88" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="U1" gate="G$1" pin="PB3/SWO/TIM2_2/I2C2_SDA/SPI1_SCK/I2S1_CK/SPI3_SCK/I2S3_CK"/>
<wire x1="5.08" y1="-5.08" x2="-12.7" y2="-5.08" width="0.1524" layer="91"/>
<label x="-12.7" y="-5.08" size="1.778" layer="95"/>
</segment>
</net>
<net name="IMU_MOSI" class="0">
<segment>
<pinref part="U2" gate="G$1" pin="SDI"/>
<wire x1="73.66" y1="-185.42" x2="53.34" y2="-185.42" width="0.1524" layer="91"/>
<label x="53.34" y="-185.42" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="U1" gate="G$1" pin="PB5/TIM3_2/SPI1_MOSI/I2S1_SD/SPI3_MOSI/I2S3_SD"/>
<wire x1="5.08" y1="-10.16" x2="-12.7" y2="-10.16" width="0.1524" layer="91"/>
<label x="-12.7" y="-10.16" size="1.778" layer="95"/>
</segment>
</net>
<net name="IMU_MISO" class="0">
<segment>
<pinref part="U2" gate="G$1" pin="SDO2"/>
<wire x1="73.66" y1="-190.5" x2="71.12" y2="-190.5" width="0.1524" layer="91"/>
<wire x1="71.12" y1="-190.5" x2="71.12" y2="-187.96" width="0.1524" layer="91"/>
<pinref part="U2" gate="G$1" pin="SDO1"/>
<wire x1="71.12" y1="-187.96" x2="73.66" y2="-187.96" width="0.1524" layer="91"/>
<wire x1="71.12" y1="-187.96" x2="53.34" y2="-187.96" width="0.1524" layer="91"/>
<junction x="71.12" y="-187.96"/>
<label x="53.34" y="-187.96" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="U1" gate="G$1" pin="PB4/NJTRST/TIM3_1/I2C3_SDA/SPI1_MISO/SPI3_MISO"/>
<wire x1="5.08" y1="-7.62" x2="-12.7" y2="-7.62" width="0.1524" layer="91"/>
<label x="-12.7" y="-7.62" size="1.778" layer="95"/>
</segment>
</net>
<net name="IMU_CS1" class="0">
<segment>
<pinref part="U2" gate="G$1" pin="CSB1"/>
<wire x1="73.66" y1="-195.58" x2="53.34" y2="-195.58" width="0.1524" layer="91"/>
<label x="53.34" y="-195.58" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="U1" gate="G$1" pin="PB6/TIM4_1/I2C1_SCL/UART1_TX"/>
<wire x1="5.08" y1="-12.7" x2="-12.7" y2="-12.7" width="0.1524" layer="91"/>
<label x="-12.7" y="-12.7" size="1.778" layer="95"/>
</segment>
</net>
<net name="IMU_CS2" class="0">
<segment>
<pinref part="U2" gate="G$1" pin="CSB2"/>
<wire x1="73.66" y1="-198.12" x2="53.34" y2="-198.12" width="0.1524" layer="91"/>
<label x="53.34" y="-198.12" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="U1" gate="G$1" pin="PB7/TIM4_2/I2C1_SDA/UART1_RX"/>
<wire x1="5.08" y1="-15.24" x2="-12.7" y2="-15.24" width="0.1524" layer="91"/>
<label x="-12.7" y="-15.24" size="1.778" layer="95"/>
</segment>
</net>
<net name="N$2" class="0">
<segment>
<pinref part="DTX" gate="G$1" pin="P$1"/>
<wire x1="-73.66" y1="20.32" x2="-17.78" y2="20.32" width="0.1524" layer="91"/>
<wire x1="-17.78" y1="20.32" x2="-17.78" y2="22.86" width="0.1524" layer="91"/>
<pinref part="U1" gate="G$1" pin="PA9/TIM1_2/SPI2_SCK/I2S3_CK/UART1_TX/USB_VBUS"/>
<wire x1="-17.78" y1="22.86" x2="5.08" y2="22.86" width="0.1524" layer="91"/>
</segment>
</net>
<net name="N$3" class="0">
<segment>
<pinref part="DRX" gate="G$1" pin="P$1"/>
<wire x1="-83.82" y1="17.78" x2="-15.24" y2="17.78" width="0.1524" layer="91"/>
<wire x1="-15.24" y1="17.78" x2="-15.24" y2="20.32" width="0.1524" layer="91"/>
<pinref part="U1" gate="G$1" pin="PA10/TIM1_3/USART1_RX"/>
<wire x1="-15.24" y1="20.32" x2="5.08" y2="20.32" width="0.1524" layer="91"/>
</segment>
</net>
<net name="IMU_ACC_INT" class="0">
<segment>
<pinref part="U2" gate="G$1" pin="INT1"/>
<wire x1="101.6" y1="-182.88" x2="127" y2="-182.88" width="0.1524" layer="91"/>
<label x="119.38" y="-182.88" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="U1" gate="G$1" pin="PC14"/>
<wire x1="152.4" y1="7.62" x2="177.8" y2="7.62" width="0.1524" layer="91"/>
<label x="167.64" y="7.62" size="1.778" layer="95"/>
</segment>
</net>
<net name="IMU_GYRO_INT" class="0">
<segment>
<pinref part="U2" gate="G$1" pin="INT3"/>
<wire x1="101.6" y1="-187.96" x2="127" y2="-187.96" width="0.1524" layer="91"/>
<label x="119.38" y="-187.96" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="U1" gate="G$1" pin="PC13"/>
<wire x1="152.4" y1="10.16" x2="177.8" y2="10.16" width="0.1524" layer="91"/>
<label x="167.64" y="10.16" size="1.778" layer="95"/>
</segment>
</net>
<net name="N$5" class="0">
<segment>
<pinref part="R2" gate="G$1" pin="P$1"/>
<pinref part="D1" gate="G$1" pin="ANODE"/>
<wire x1="185.42" y1="-81.28" x2="185.42" y2="-83.82" width="0.1524" layer="91"/>
</segment>
</net>
<net name="N$8" class="0">
<segment>
<pinref part="R3" gate="G$1" pin="P$1"/>
<pinref part="D2" gate="G$1" pin="ANODE"/>
<wire x1="200.66" y1="-81.28" x2="200.66" y2="-83.82" width="0.1524" layer="91"/>
</segment>
</net>
<net name="STATUS2" class="0">
<segment>
<pinref part="D2" gate="G$1" pin="CATHODE"/>
<wire x1="200.66" y1="-88.9" x2="200.66" y2="-101.6" width="0.1524" layer="91"/>
<label x="200.66" y="-99.06" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="U1" gate="G$1" pin="PB12"/>
<wire x1="5.08" y1="-27.94" x2="-12.7" y2="-27.94" width="0.1524" layer="91"/>
<label x="-12.7" y="-27.94" size="1.778" layer="95"/>
</segment>
</net>
<net name="STATUS1" class="0">
<segment>
<pinref part="D1" gate="G$1" pin="CATHODE"/>
<wire x1="185.42" y1="-88.9" x2="185.42" y2="-101.6" width="0.1524" layer="91"/>
<label x="185.42" y="-99.06" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="U1" gate="G$1" pin="PB13/TIM1_1N/SPI2_SCK/I2S2_CK"/>
<wire x1="5.08" y1="-30.48" x2="-12.7" y2="-30.48" width="0.1524" layer="91"/>
<label x="-12.7" y="-30.48" size="1.778" layer="95"/>
</segment>
</net>
<net name="FAN1" class="0">
<segment>
<pinref part="U7" gate="G$1" pin="GATE"/>
<wire x1="187.96" y1="-170.18" x2="165.1" y2="-170.18" width="0.1524" layer="91"/>
<label x="165.1" y="-170.18" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="U1" gate="G$1" pin="PA6/TIM3_1/SPI1_MISO/I2S2_MCK/TIM13_1"/>
<wire x1="5.08" y1="30.48" x2="-17.78" y2="30.48" width="0.1524" layer="91"/>
<label x="-17.78" y="30.48" size="1.778" layer="95"/>
</segment>
</net>
<net name="FAN2" class="0">
<segment>
<pinref part="U8" gate="G$1" pin="GATE"/>
<wire x1="248.92" y1="-170.18" x2="228.6" y2="-170.18" width="0.1524" layer="91"/>
<label x="228.6" y="-167.64" size="1.778" layer="95"/>
</segment>
<segment>
<pinref part="U1" gate="G$1" pin="PA7/TIM1_1N/TIM3_2/TIM8_1N/SPI1_MOSI/I2S1_SD/TIM14_1"/>
<wire x1="5.08" y1="27.94" x2="-17.78" y2="27.94" width="0.1524" layer="91"/>
<label x="-17.78" y="27.94" size="1.778" layer="95"/>
</segment>
</net>
<net name="N$4" class="0">
<segment>
<pinref part="F1" gate="A" pin="2"/>
<pinref part="U7" gate="G$1" pin="DRAIN"/>
<wire x1="195.58" y1="-144.78" x2="198.12" y2="-144.78" width="0.1524" layer="91"/>
<wire x1="198.12" y1="-144.78" x2="198.12" y2="-162.56" width="0.1524" layer="91"/>
</segment>
</net>
<net name="N$9" class="0">
<segment>
<pinref part="F2" gate="A" pin="2"/>
<pinref part="U8" gate="G$1" pin="DRAIN"/>
<wire x1="256.54" y1="-147.32" x2="259.08" y2="-147.32" width="0.1524" layer="91"/>
<wire x1="259.08" y1="-147.32" x2="259.08" y2="-162.56" width="0.1524" layer="91"/>
</segment>
</net>
</nets>
</sheet>
</sheets>
</schematic>
</drawing>
<compatibility>
<note version="6.3" minversion="6.2.2" severity="warning">
Since Version 6.2.2 text objects can contain more than one line,
which will not be processed correctly with this version.
</note>
</compatibility>
</eagle>

repository: xinsongyan/moteus

repo_name: xinsongyan/moteus

extension: sch


text:
@InProceedings{pmlr-v60-manokhin17a,
  title = 	 {Multi-class probabilistic classification using inductive and cross {V}enn–{A}bers predictors},
  author = 	 {Manokhin, Valery},
  booktitle = 	 {Proceedings of the Sixth Workshop on Conformal and Probabilistic Prediction and Applications},
  pages = 	 {228--240},
  year = 	 {2017},
  editor = 	 {Gammerman, Alex and Vovk, Vladimir and Luo, Zhiyuan and Papadopoulos, Harris},
  volume = 	 {60},
  series = 	 {Proceedings of Machine Learning Research},
  month = 	 {13--16 Jun},
  publisher =    {PMLR},
  pdf = 	 {http://proceedings.mlr.press/v60/manokhin17a/manokhin17a.pdf},
  url = 	 {https://proceedings.mlr.press/v60/manokhin17a.html},
  abstract = 	 {Inductive (IVAP) and cross (CVAP) Venn–Abers predictors are computationally efficient algorithms for probabilistic prediction in binary classification problems.
 We present a new approach to multi-class probability estimation by turning IVAPs and CVAPs into multi-class probabilistic predictors.
 The proposed multi-class predictors are experimentally more accurate than both uncalibrated predictors and existing calibration methods.}
}

license: MIT

branch_name: refs/heads/main

extension: bib