From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Sun, 9 Oct 2016 22:13:51 +0000 (-0700)
Subject: Replaced TMC2660 with DRV8711, Added filtering to serial lines, Modified motor connec... 
X-Git-Url: https://git.buildbotics.com/?a=commitdiff_plain;h=84225c7442a05c23cdb8c7a1fb3cb50a410e55b5;p=bbctrl-pcb

Replaced TMC2660 with DRV8711, Added filtering to serial lines, Modified motor connector footprint pin numbers, Connected BEMF lines to AVR
---

diff --git a/footprints/AMPHENOL_10127720-041LF.fp b/footprints/AMPHENOL_10127720-041LF.fp
index 395211a..6f77286 100644
--- a/footprints/AMPHENOL_10127720-041LF.fp
+++ b/footprints/AMPHENOL_10127720-041LF.fp
@@ -1,8 +1,8 @@
 Element (0x00 "AMPHENOL_10127720-041LF.fp" "J?" "" 0 0 -150 -175 0 100 0x00)
 (
-  Pin[-1.5mm -1.5mm 2mm 1mm 2.16mm 1.02mm "Pin 1" "1" ""]
+  Pin[-1.5mm -1.5mm 2mm 1mm 2.16mm 1.02mm "Pin 3" "3" ""]
   Pin[1.5mm -1.5mm 2mm 1mm 2.16mm 1.02mm "Pin 2" "2" ""]
-  Pin[1.5mm 1.5mm 2mm 1mm 2.16mm 1.02mm "Pin 3" "3" ""]
+  Pin[1.5mm 1.5mm 2mm 1mm 2.16mm 1.02mm "Pin 1" "1" ""]
   Pin[-1.5mm 1.5mm 2mm 1mm 2.16mm 1.02mm "Pin 4" "4" ""]
   Pin[0 5.82mm 0 1mm 0 3mm "Mounting Hole" "" "hole"]
   ElementLine[-4.8mm 0 4.8mm 0 0.25mm]
diff --git a/microprocessor.sch b/microprocessor.sch
index eaba063..bc56cd8 100644
--- a/microprocessor.sch
+++ b/microprocessor.sch
@@ -99,7 +99,7 @@ Copyright (c) 2016, Buildbotics LLC
 T 53900 40100 9 10 1 0 0 0 1
 Joseph Coffland
 T 53800 40400 9 10 1 0 0 0 1
-2.0
+4.0
 T 50000 40100 9 10 1 0 0 0 1
 5
 T 51500 40100 9 10 1 0 0 0 1
@@ -277,13 +277,6 @@ device=OUTPUT
 T 48850 47150 5 10 1 1 0 0 1
 net=step_y:1
 }
-C 44000 49600 1 180 0 output.sym
-{
-T 43900 49300 5 10 0 0 180 0 1
-device=OUTPUT
-T 43450 49450 5 10 1 1 0 6 1
-net=enable_y:1
-}
 C 48300 46400 1 180 1 output.sym
 {
 T 48400 46100 5 10 0 0 180 6 1
@@ -298,13 +291,6 @@ device=OUTPUT
 T 48850 44550 5 10 1 1 0 0 1
 net=step_z:1
 }
-C 44000 49300 1 180 0 output.sym
-{
-T 43900 49000 5 10 0 0 180 0 1
-device=OUTPUT
-T 43450 49150 5 10 1 1 0 6 1
-net=enable_z:1
-}
 C 48300 45500 1 180 1 output.sym
 {
 T 48400 45200 5 10 0 0 180 6 1
@@ -319,13 +305,6 @@ device=OUTPUT
 T 48850 45950 5 10 1 1 0 0 1
 net=step_a:1
 }
-C 44000 49000 1 180 0 output.sym
-{
-T 43900 48700 5 10 0 0 180 0 1
-device=OUTPUT
-T 43450 48850 5 10 1 1 0 6 1
-net=enable_a:1
-}
 C 48300 45200 1 180 1 output.sym
 {
 T 48400 44900 5 10 0 0 180 6 1
@@ -347,19 +326,12 @@ device=OUTPUT
 T 48850 48850 5 10 1 1 0 0 1
 net=spi_cs_z:1
 }
-C 49100 42900 1 180 0 input.sym
-{
-T 49100 42600 5 10 0 0 180 0 1
-device=INPUT
-T 48850 42750 5 10 1 1 0 0 1
-net=fault_z:1
-}
 C 49100 43200 1 180 0 input.sym
 {
 T 49100 42900 5 10 0 0 180 0 1
 device=INPUT
 T 48850 43050 5 10 1 1 0 0 1
-net=fault_y:1
+net=drv_stall:1
 }
 C 44000 43800 1 180 0 output.sym
 {
@@ -410,12 +382,12 @@ device=INPUT
 T 42750 46850 5 10 1 1 0 0 1
 net=max_x:1
 }
-C 44000 49900 1 180 0 output.sym
+C 48300 42700 1 0 0 output.sym
 {
-T 43900 49600 5 10 0 0 180 0 1
+T 48400 43000 5 10 0 0 0 0 1
 device=OUTPUT
-T 42550 49750 5 10 1 1 0 0 1
-net=enable_x:1
+T 49925 42875 5 10 1 1 180 0 1
+net=drv_enable:1
 }
 C 48300 46700 1 180 1 output.sym
 {
@@ -442,8 +414,8 @@ C 49100 43300 1 0 1 input.sym
 {
 T 49100 43600 5 10 0 0 0 6 1
 device=INPUT
-T 49550 43350 5 10 1 1 0 6 1
-net=fault_x:1
+T 49700 43350 5 10 1 1 0 6 1
+net=drv_fault:1
 }
 C 45700 40900 1 180 0 input.sym
 {
@@ -504,49 +476,10 @@ device=INPUT
 T 49350 44075 5 10 1 1 180 0 1
 net=fault:1
 }
-C 53900 46300 1 0 0 connector4-2.sym
-{
-T 54600 48400 5 10 1 1 0 6 1
-refdes=SPI
-T 54200 48350 5 10 0 0 0 0 1
-device=CONNECTOR_4
-T 54200 48550 5 10 0 0 0 0 1
-footprint=JUMPER4
-T 53900 46300 5 10 0 0 0 0 1
-description=Unpopulated test point
-T 53900 46300 5 10 0 0 0 0 1
-documentation=Label each pin on PCB.
-T 53900 46300 5 10 0 0 0 0 1
-value=N/A
-T 53900 46300 5 10 0 0 0 0 1
-model=N/A
-}
-C 53100 47800 1 0 0 input.sym
-{
-T 53100 48100 5 10 0 0 0 0 1
-device=INPUT
-T 52650 47800 5 10 1 1 0 0 1
-net=spi_clk:1
-}
-C 53900 47200 1 180 0 output.sym
-{
-T 53800 46900 5 10 0 0 180 0 1
-device=OUTPUT
-T 52500 47000 5 10 1 1 0 0 1
-net=spi_miso:1
-}
-C 53100 47400 1 0 0 input.sym
-{
-T 53100 47700 5 10 0 0 0 0 1
-device=INPUT
-T 52500 47400 5 10 1 1 0 0 1
-net=spi_mosi:1
-}
 C 47600 40200 1 0 0 gnd.sym
 C 46000 41200 1 0 0 gnd.sym
 C 42500 40400 1 90 0 gnd.sym
 C 40700 50100 1 0 0 gnd.sym
-C 53600 46800 1 270 0 gnd.sym
 C 48300 47800 1 180 1 output.sym
 {
 T 48400 47500 5 10 0 0 180 6 1
@@ -589,13 +522,6 @@ device=INPUT
 T 42650 48550 5 10 1 1 0 0 1
 net=spin_dir:1
 }
-C 49100 42600 1 180 0 input.sym
-{
-T 49100 42300 5 10 0 0 180 0 1
-device=INPUT
-T 48850 42450 5 10 1 1 0 0 1
-net=fault_a:1
-}
 C 48300 44400 1 180 1 output.sym
 {
 T 48400 44100 5 10 0 0 180 6 1
@@ -624,3 +550,38 @@ device=IO
 T 43000 44525 5 10 1 1 0 0 1
 net=sda:1
 }
+C 48600 42600 1 180 0 nc.sym
+{
+T 48600 42200 5 10 0 0 180 0 1
+value=NoConnection
+T 48600 41800 5 10 0 0 180 0 1
+device=DRC_Directive
+}
+C 43200 49700 1 0 0 input.sym
+{
+T 43200 50000 5 10 0 0 0 0 1
+device=INPUT
+T 42700 49750 5 10 1 1 0 0 1
+net=bemf_x:1
+}
+C 43200 49400 1 0 0 input.sym
+{
+T 43200 49700 5 10 0 0 0 0 1
+device=INPUT
+T 42700 49450 5 10 1 1 0 0 1
+net=bemf_y:1
+}
+C 43200 49100 1 0 0 input.sym
+{
+T 43200 49400 5 10 0 0 0 0 1
+device=INPUT
+T 42700 49150 5 10 1 1 0 0 1
+net=bemf_z:1
+}
+C 43200 48800 1 0 0 input.sym
+{
+T 43200 49100 5 10 0 0 0 0 1
+device=INPUT
+T 42700 48850 5 10 1 1 0 0 1
+net=bemf_a:1
+}
diff --git a/motor_driver.sch b/motor_driver.sch
index 5c074ec..1b2b58b 100644
--- a/motor_driver.sch
+++ b/motor_driver.sch
@@ -3,524 +3,512 @@ C 40000 40000 0 0 0 title-B.sym
 T 50000 40700 9 10 1 0 0 0 2
 Motor Driver
 Copyright (c) 2016, Buildbotics LLC
-C 47900 48700 1 270 0 nc.sym
+C 45700 46000 1 0 0 nc.sym
 {
-T 48400 48300 5 10 0 0 270 0 1
+T 45700 46400 5 10 0 0 0 0 1
 value=NoConnection
-T 48600 48300 5 10 0 0 270 0 1
+T 45700 46800 5 10 0 0 0 0 1
 device=DRC_Directive
 }
-C 48200 48700 1 270 0 nc.sym
+C 46500 48900 1 0 0 cap.sym
 {
-T 48700 48300 5 10 0 0 270 0 1
-value=NoConnection
-T 48900 48300 5 10 0 0 270 0 1
-device=DRC_Directive
-}
-C 46700 45100 1 0 0 nc.sym
-{
-T 46700 45500 5 10 0 0 0 0 1
-value=NoConnection
-T 46700 45900 5 10 0 0 0 0 1
-device=DRC_Directive
-}
-N 52600 47500 52600 46600 4
-N 52600 46300 52600 45400 4
-N 49800 44000 50700 44000 4
-N 48600 44000 49500 44000 4
-N 54000 42400 49800 42400 4
-N 49500 42300 54600 42300 4
-N 48700 48600 49000 48600 4
-C 50800 48700 1 90 0 cap.sym
-{
-T 50100 48900 5 10 0 0 90 0 1
-device=CAPACITOR
-T 50900 48600 5 10 1 1 90 0 1
-refdes=C19
-T 50900 49050 5 10 1 1 90 0 1
-value=.1uF
-T 50800 48700 5 10 0 0 0 0 1
-footprint=0805_ext
-T 50800 48700 5 10 0 0 0 0 1
-description=CAP CER 0.1UF 50V X7R 0805
-T 50800 48700 5 10 0 0 0 0 1
-model=C0805C104M5RACTU
-}
-C 49100 48900 1 0 0 cap.sym
-{
-T 49300 49600 5 10 0 0 0 0 1
+T 46700 49600 5 10 0 0 0 0 1
 device=CAPACITOR
-T 49700 48850 5 10 1 1 180 0 1
+T 47000 48850 5 10 1 1 180 0 1
 value=.1uF
-T 49100 48900 5 10 0 0 180 0 1
+T 46500 48900 5 10 0 0 180 0 1
 footprint=0805_ext
-T 49100 48900 5 10 0 0 180 0 1
+T 46500 48900 5 10 0 0 180 0 1
 description=CAP CER 0.1UF 50V X7R 0805
-T 49300 49150 5 10 1 1 0 0 1
-refdes=C17
-T 49100 48900 5 10 0 0 0 0 1
+T 46600 49150 5 10 1 1 0 0 1
+refdes=C3
+T 46500 48900 5 10 0 0 0 0 1
 model=C0805C104M5RACTU
 }
-C 51750 43900 1 180 0 resistor.sym
-{
-T 51450 43500 5 10 0 0 180 0 1
-device=RESISTOR
-T 51225 43875 5 10 1 1 0 0 1
-refdes=R11
-T 51450 43725 5 10 1 1 180 0 1
-value=22
-T 51750 43900 5 10 0 0 0 0 1
-footprint=0805_ext
-T 51750 43900 5 10 0 0 0 0 1
-model=RMCF0805JT22R0
-}
-N 49800 42400 49800 44200 4
-C 51700 43000 1 90 0 cap.sym
-{
-T 51000 43200 5 10 0 0 90 0 1
-device=CAPACITOR
-T 51800 42800 5 10 1 1 90 0 1
-refdes=C23
-T 51850 43350 5 10 1 1 90 0 1
-value=10nF
-T 51700 43000 5 10 0 0 0 0 1
-footprint=0805_ext
-T 51700 43000 5 10 0 0 0 0 1
-model=CC0805KRX7R9BB103
-T 51700 43000 5 10 0 0 0 0 1
-description=CAP CER 10000PF 16V X7R 0805
-}
-N 49500 42300 49500 44200 4
-N 48600 44200 48600 44000 4
-N 48900 44200 48900 44000 4
-N 49200 44200 49200 44000 4
-N 50100 44200 50100 44000 4
-N 50400 44200 50400 44000 4
-N 52400 47500 52600 47500 4
-N 52400 47200 52600 47200 4
-N 52600 46900 52400 46900 4
-N 52400 46000 52600 46000 4
-N 52400 45700 52600 45700 4
-N 52400 45400 52600 45400 4
-N 50700 48800 50700 48400 4
-N 51000 48400 51000 49700 4
-N 50700 49700 51300 49700 4
-N 51600 48700 51600 48400 4
-N 51300 48400 51300 49700 4
 T 53900 40100 9 10 1 0 0 0 1
 Joseph Coffland
 T 53800 40400 9 10 1 0 0 0 1
-2.0
+4.0
 T 50000 40100 9 10 1 0 0 0 1
 4
 T 51500 40100 9 10 1 0 0 0 1
 8
-N 50700 44200 50700 44000 4
-C 47000 44200 1 0 0 TMC2660.sym
-{
-T 49395 46195 5 10 0 1 0 0 1
-footprint=LQFP44_10_TMS2660
-T 51795 48195 5 10 1 1 0 0 1
-refdes=U3
-T 47000 44200 5 10 0 0 0 0 1
-description=Trinamic IC MOTOR DRIVER PAR/SPI 44QFP
-T 47000 44200 5 10 0 1 0 0 1
-device=TMC2660
-T 47000 44200 5 10 1 1 0 0 1
-model=TMC2660-PA-T
-T 47000 44200 5 10 0 0 0 0 1
-value=N/A
-}
-N 48700 48600 48700 48400 4
-N 49000 48400 49000 49000 4
-N 49300 48600 49300 48400 4
-N 51300 48700 56100 48700 4
-N 50700 49200 50700 49700 4
-C 50300 48600 1 90 0 cap.sym
-{
-T 49700 48600 5 10 0 0 90 0 1
-device=CAPACITOR
-T 50400 48600 5 10 1 1 90 0 1
-refdes=C18
-T 50400 49000 5 10 1 1 90 0 1
-value=470nF
-T 50300 48600 5 10 0 0 90 0 1
-footprint=0805_ext
-T 50300 48600 5 10 0 0 0 0 1
-model=GRM219R71C474KA01D 
-T 50300 48600 5 10 0 0 0 0 1
-description=CAP CER 0.47UF 16V X7R 0805
-}
-N 51200 44200 51100 44200 4
-N 51100 44200 51100 43500 4
-N 51500 44200 51600 44200 4
-N 51600 44200 51600 43500 4
-N 51100 43800 51150 43800 4
-N 51550 43800 51600 43800 4
-N 50600 42800 51600 42800 4
-C 52550 43700 1 0 0 resistor.sym
-{
-T 52850 44100 5 10 0 0 0 0 1
-device=RESISTOR
-T 52800 43900 5 10 1 1 0 0 1
-refdes=R13
-T 52850 43575 5 10 1 1 0 0 1
-value=22
-T 52550 43700 5 10 0 0 0 0 1
-footprint=0805_ext
-T 52550 43700 5 10 0 0 0 0 1
-model=RMCF0805JT22R0
-}
-C 53300 42900 1 90 0 resistor.sym
-{
-T 52900 43200 5 10 0 0 90 0 1
-device=RESISTOR
-T 53400 42900 5 10 1 1 90 0 1
-refdes=R14
-T 53400 43325 5 10 1 1 90 0 1
-value=.075
-T 53300 42900 5 10 0 0 270 0 1
-description=RES SMD 0.075 OHM 1% 2W 2512 
-T 53300 42900 5 10 0 0 270 0 1
-footprint=2512
-T 53300 42900 5 10 0 0 270 0 1
-model=CSRN2512FK75L0
-}
-N 51600 42800 51600 43100 4
-N 51100 42800 51100 43100 4
-N 52400 44900 53200 44900 4
-N 53200 43100 53200 42800 4
-N 53200 43500 53200 44900 4
-N 52700 43100 52700 42800 4
-C 50800 49700 1 0 0 Vs.sym
-{
-T 50900 50400 5 10 0 0 0 0 1
-device=none
-}
-C 51000 43700 1 270 0 resistor.sym
-{
-T 51400 43400 5 10 0 0 270 0 1
-device=RESISTOR
-T 51000 42900 5 10 1 1 90 0 1
-refdes=R12
-T 51000 43325 5 10 1 1 90 0 1
-value=.075
-T 51000 43700 5 10 0 0 90 0 1
-description=RES SMD 0.075 OHM 1% 2W 2512 
-T 51000 43700 5 10 0 0 90 0 1
-footprint=2512
-T 51000 43700 5 10 0 0 90 0 1
-model=CSRN2512FK75L0
-}
-N 52400 47800 52400 48700 4
-C 48500 44200 1 180 0 Vs.sym
+N 47600 49000 49600 49000 4
+C 49400 49000 1 0 0 Vs.sym
 {
-T 48400 43500 5 10 0 0 180 0 1
+T 49500 49700 5 10 0 0 0 0 1
 device=none
 }
-C 53200 48600 1 270 0 ecap.sym
+C 49500 48900 1 270 0 ecap.sym
 {
-T 53900 48400 5 10 0 0 270 0 1
+T 50200 48700 5 10 0 0 270 0 1
 device=POLARIZED_CAPACITOR
-T 52900 48400 5 10 1 1 0 0 1
-refdes=C20
-T 53200 48600 5 10 0 0 0 0 1
+T 49675 48750 5 10 1 1 0 0 1
+refdes=C5
+T 49500 48900 5 10 0 0 0 0 1
 description=Nichicon CAP ALUM 100UF 20% 35V SMD
-T 53200 48600 5 10 0 0 0 0 1
+T 49500 48900 5 10 0 0 0 0 1
 footprint=NICHICON_WT_CAP_260_mil_sq
-T 52700 48000 5 10 1 1 0 0 1
+T 49650 48325 5 10 1 1 0 0 1
 value=100uF
-T 53200 48600 5 10 0 0 0 0 1
+T 49500 48900 5 10 0 0 0 0 1
 model=UWT1V101MCL1GS
 }
-N 53300 47800 56100 47800 4
-N 50200 48400 50200 48700 4
-N 49000 49000 49200 49000 4
-N 49800 48400 49800 49000 4
-N 49300 48600 49000 48600 4
-N 52700 42800 53700 42800 4
-N 53150 43800 53200 43800 4
-N 45100 47900 47000 47900 4
-C 45100 48700 1 270 0 resistor.sym
-{
-T 45500 48400 5 10 0 0 270 0 1
-device=RESISTOR
-T 45550 48450 5 10 1 1 180 0 1
-refdes=R9
-T 45250 48125 5 10 1 1 0 0 1
-value=10k
-T 45100 48700 5 10 0 0 90 0 1
-footprint=0805_ext
-T 45100 48700 5 10 0 0 0 0 1
-model=RMCF0805JT10K0
-T 45100 48700 5 10 0 0 0 0 1
-description=RES SMD 10K OHM 5% 1/8W 0805
-}
-N 45200 48100 45200 47900 4
-N 45200 46500 45200 46300 4
-N 45100 46300 47000 46300 4
-C 44900 48500 1 0 0 3.3V_motor.sym
-{
-T 45000 49200 5 10 0 0 0 0 1
-device=none
-}
-C 44900 46900 1 0 0 3.3V_motor.sym
-{
-T 45000 47600 5 10 0 0 0 0 1
-device=none
-}
-C 49500 49000 1 0 0 3.3V_motor.sym
+N 48600 48200 49600 48200 4
+C 47000 43000 1 0 0 gnd.sym
+C 49500 47900 1 0 0 gnd.sym
+C 44600 46800 1 0 0 input.sym
 {
-T 49600 49700 5 10 0 0 0 0 1
-device=none
-}
-N 49600 49000 49800 49000 4
-N 50200 49700 50200 49100 4
-N 54700 48100 54700 47800 4
-C 46700 45000 1 270 0 gnd.sym
-C 51000 42500 1 0 0 gnd.sym
-C 53100 42500 1 0 0 gnd.sym
-C 53700 47500 1 0 0 gnd.sym
-C 50300 50000 1 180 0 gnd.sym
-C 49100 49300 1 180 0 gnd.sym
-C 44300 46200 1 0 0 input.sym
-{
-T 44000 46450 5 10 0 0 0 0 1
+T 44300 47050 5 10 0 0 0 0 1
 device=INPUT
-T 44200 46250 5 10 1 1 0 0 1
-refdes=ENN
+T 44100 46850 5 10 1 1 0 0 1
+refdes=ENABLE
 }
-C 44300 47800 1 0 0 input.sym
+C 44600 45400 1 0 0 input.sym
 {
-T 44000 48050 5 10 0 0 0 0 1
+T 44300 45650 5 10 0 0 0 0 1
 device=INPUT
-T 44200 47800 5 10 1 1 0 0 1
-refdes=CSN
+T 44600 45400 5 10 1 1 0 0 1
+refdes=CS
 }
-C 46200 45500 1 0 0 input.sym
+C 44600 46400 1 0 0 input.sym
 {
-T 45900 45750 5 10 0 0 0 0 1
+T 44300 46650 5 10 0 0 0 0 1
 device=INPUT
-T 46000 45500 5 10 1 1 0 0 1
+T 44400 46400 5 10 1 1 0 0 1
 refdes=STEP
 }
-C 46200 45800 1 0 0 input.sym
+C 44600 46200 1 0 0 input.sym
 {
-T 45900 46050 5 10 0 0 0 0 1
+T 44300 46450 5 10 0 0 0 0 1
 device=INPUT
-T 46100 45800 5 10 1 1 0 0 1
+T 44500 46200 5 10 1 1 0 0 1
 refdes=DIR
 }
-C 47000 44700 1 180 0 output.sym
+C 45400 44500 1 180 0 output.sym
 {
-T 46900 44400 5 10 0 0 180 0 1
+T 45300 44200 5 10 0 0 180 0 1
 device=OUTPUT
-T 45900 44500 5 10 1 1 0 0 1
+T 44300 44300 5 10 1 1 0 0 1
 refdes=FAULT
 }
-C 47000 47100 1 180 0 output.sym
+C 45400 45000 1 180 0 output.sym
 {
-T 46900 46800 5 10 0 0 180 0 1
+T 45300 44700 5 10 0 0 180 0 1
 device=OUTPUT
-T 46000 46900 5 10 1 1 0 0 1
+T 44400 44800 5 10 1 1 0 0 1
 refdes=MISO
 }
-C 46200 47200 1 0 0 input.sym
+C 44600 45000 1 0 0 input.sym
 {
-T 45900 47450 5 10 0 0 0 0 1
+T 44300 45250 5 10 0 0 0 0 1
 device=INPUT
-T 46000 47200 5 10 1 1 0 0 1
+T 44400 45000 5 10 1 1 0 0 1
 refdes=MOSI
 }
-C 46200 47500 1 0 0 input.sym
+C 44600 45200 1 0 0 input.sym
 {
-T 45900 47750 5 10 0 0 0 0 1
+T 44300 45450 5 10 0 0 0 0 1
 device=INPUT
-T 46100 47500 5 10 1 1 0 0 1
+T 44500 45200 5 10 1 1 0 0 1
 refdes=SCK
 }
-C 46200 46500 1 0 0 input.sym
+N 49600 48400 49600 48200 4
+N 49600 48800 49600 49000 4
+C 53800 44900 1 0 0 connector4-2.sym
 {
-T 45900 46750 5 10 0 0 0 0 1
-device=INPUT
-T 46100 46500 5 10 1 1 0 0 1
-refdes=CLK
-}
-N 53300 48100 53300 47800 4
-N 53300 48500 53300 48700 4
-N 47000 45400 47000 45600 4
-N 47000 45900 47000 45800 4
-N 47000 44600 47000 44400 4
-N 43400 44400 47000 44400 4
-N 45200 46300 45200 46100 4
-N 45200 46100 43500 46100 4
-N 45200 47900 45200 47700 4
-N 45200 47700 43500 47700 4
-N 43500 46600 43500 47700 4
-C 55500 45100 1 0 0 connector4-2.sym
-{
-T 56100 47200 5 10 1 1 0 6 1
+T 54400 47000 5 10 1 1 0 6 1
 refdes=J1
-T 55800 47150 5 10 0 0 0 0 1
+T 54100 46950 5 10 0 0 0 0 1
 device=CONNECTOR_4
-T 55500 45100 5 10 0 0 0 0 1
+T 53800 44900 5 10 0 0 0 0 1
 model=10127720-041LF
-T 55500 45100 5 10 0 0 0 0 1
+T 53800 44900 5 10 0 0 0 0 1
 description=Ampnenol MINITEK PWR3.0 RA HEADER Male pins
-T 55500 45100 5 10 0 0 0 0 1
+T 53800 44900 5 10 0 0 0 0 1
 footprint=AMPHENOL_10127720-041LF.fp
-T 55500 45100 5 10 0 0 0 0 1
+T 53800 44900 5 10 0 0 0 0 1
 value=4-Pin Male Connector
 }
-N 51100 43800 50600 43800 4
-N 50600 42800 50600 43100 4
-N 53200 43800 53700 43800 4
-N 53700 43800 53700 43500 4
-N 53700 42800 53700 43100 4
-N 50600 43800 50600 43500 4
-C 56000 48600 1 270 0 ecap.sym
+C 48900 48900 1 270 0 cap.sym
 {
-T 56700 48400 5 10 0 0 270 0 1
-device=POLARIZED_CAPACITOR
-T 55700 48400 5 10 1 1 0 0 1
-refdes=C27
-T 56000 48600 5 10 0 0 0 0 1
-description=Nichicon CAP ALUM 100UF 20% 35V SMD
-T 56000 48600 5 10 0 0 0 0 1
-footprint=NICHICON_WT_CAP_260_mil_sq
-T 55500 48000 5 10 1 1 0 0 1
-value=100uF
-T 56000 48600 5 10 0 0 0 0 1
-model=UWT1V101MCL1GS
+T 49600 48700 5 10 0 0 270 0 1
+device=CAPACITOR
+T 49275 48875 5 10 1 1 180 0 1
+refdes=C7
+T 49450 48450 5 10 1 1 180 0 1
+value=10nF
+T 48900 48900 5 10 0 0 90 0 1
+footprint=0805_ext
+T 48900 48900 5 10 0 0 0 0 1
+model=GRM31MR71H474KA01L 
 }
-N 56100 48700 56100 48500 4
-N 54700 48500 54700 48700 4
-N 56100 47800 56100 48100 4
-C 53700 48600 1 270 0 cap.sym
+N 49000 48200 49000 48400 4
+N 49000 48800 49000 49000 4
+N 43500 47100 45600 47100 4
+N 43500 46700 45600 46700 4
+C 43500 44700 1 0 1 connector6-2.sym
 {
-T 54400 48400 5 10 0 0 270 0 1
+T 42900 47600 5 10 1 1 0 0 1
+refdes=J2
+T 43200 48350 5 10 0 0 0 6 1
+device=CONNECTOR_6
+T 43500 44700 5 10 0 0 0 0 1
+model=N/A
+T 43500 44700 5 10 0 0 0 0 1
+footprint=JUMPER6
+T 43500 44700 5 10 0 0 0 0 1
+description=UNPOPULATED TEST POINTS
+T 43500 44700 5 10 0 0 0 0 1
+documentation=LABEL EACH PIN ON PCB
+}
+C 43400 44600 1 0 0 gnd.sym
+N 53800 45300 53100 45300 4
+N 53800 46500 53100 46500 4
+N 48400 46100 53800 46100 4
+N 53000 45700 53800 45700 4
+C 46000 43500 1 0 0 drv8711.sym
+{
+T 47995 48000 5 8 1 1 0 0 1
+refdes=U1
+T 46795 47195 5 10 1 1 0 0 1
+device=DRV8711
+T 46200 48300 5 10 0 0 0 0 1
+footprint=HTSSOP38
+}
+N 45400 44400 46000 44400 4
+N 46800 43300 47400 43300 4
+N 45400 45300 46000 45300 4
+N 45400 46500 46000 46500 4
+N 45400 46300 46000 46300 4
+N 45400 45100 46000 45100 4
+N 45400 44900 46000 44900 4
+N 45400 46900 46000 46900 4
+N 45400 45500 46000 45500 4
+C 45700 45800 1 0 0 nc.sym
+{
+T 45700 46200 5 10 0 0 0 0 1
+value=NoConnection
+T 45700 46600 5 10 0 0 0 0 1
+device=DRC_Directive
+}
+N 46600 48100 46600 49000 4
+N 47000 48100 47000 49000 4
+C 47100 48900 1 0 0 cap.sym
+{
+T 47300 49600 5 10 0 0 0 0 1
 device=CAPACITOR
-T 54200 48550 5 10 1 1 180 0 1
-refdes=C21
-T 54400 48150 5 10 1 1 180 0 1
-value=470nF
-T 53700 48600 5 10 0 0 90 0 1
-footprint=1206
-T 53700 48600 5 10 0 2 90 0 1
-description=CAP CER 0.47UF 50V X7R 1206
-T 53700 48600 5 10 0 0 0 0 1
-model=GRM31MR71H474KA01L 
+T 47550 48850 5 10 1 1 180 0 1
+value=1uF
+T 47100 48900 5 10 0 0 180 0 1
+footprint=0805_ext
+T 47200 49150 5 10 1 1 0 0 1
+refdes=C4
 }
-N 53800 47800 53800 48100 4
-N 53800 48500 53800 48700 4
-C 54600 48600 1 270 0 cap.sym
+N 47200 48100 47200 49000 4
+N 47600 48100 47600 49000 4
+C 45400 48500 1 270 0 cap.sym
 {
-T 55300 48400 5 10 0 0 270 0 1
+T 46100 48300 5 10 0 0 270 0 1
 device=CAPACITOR
-T 55100 48550 5 10 1 1 180 0 1
-refdes=C22
-T 55300 48150 5 10 1 1 180 0 1
-value=470nF
-T 54600 48600 5 10 0 0 90 0 1
+T 45800 48450 5 10 1 1 180 0 1
+refdes=C2
+T 45900 48050 5 10 1 1 180 0 1
+value=.1uF
+T 45400 48500 5 10 0 0 90 0 1
 footprint=1206
-T 54600 48600 5 10 0 2 90 0 1
-description=CAP CER 0.47UF 50V X7R 1206
-T 54600 48600 5 10 0 0 0 0 1
-model=GRM31MR71H474KA01L 
 }
-C 50700 43000 1 90 0 cap.sym
+C 45000 48500 1 270 0 cap.sym
 {
-T 50100 43000 5 10 0 0 90 0 1
+T 45700 48300 5 10 0 0 270 0 1
+device=CAPACITOR
+T 45000 48450 5 10 1 1 180 0 1
+refdes=C1
+T 45000 48050 5 10 1 1 180 0 1
+value=1uF
+T 45000 48500 5 10 0 0 90 0 1
+footprint=1206
+}
+C 45200 47500 1 0 0 gnd.sym
+N 46000 47600 46000 48600 4
+N 46000 48600 45500 48600 4
+N 45500 48600 45500 48400 4
+N 46000 47300 44600 47300 4
+N 44600 47300 44600 48600 4
+N 44600 48600 45100 48600 4
+N 45100 48600 45100 48400 4
+N 45500 47800 45100 47800 4
+N 45500 47800 45500 48000 4
+C 48500 44000 1 270 0 cap.sym
+{
+T 49200 43800 5 10 0 0 270 0 1
 device=CAPACITOR
-T 50500 42800 5 10 1 1 90 0 1
-refdes=C25
-T 50500 43300 5 10 1 1 90 0 1
-value=470nF
-T 50700 43000 5 10 0 0 90 0 1
+T 49000 43950 5 10 1 1 180 0 1
+refdes=C8
+T 49000 43550 5 10 1 1 180 0 1
+value=1nF
+T 48500 44000 5 10 0 0 90 0 1
 footprint=0805_ext
-T 50700 43000 5 10 0 0 0 0 1
-model=GRM219R71C474KA01D 
-T 50700 43000 5 10 0 0 0 0 1
-description=CAP CER 0.47UF 16V X7R 0805
 }
-C 53800 43000 1 90 0 cap.sym
+C 48500 43000 1 0 0 gnd.sym
+N 48600 43300 48600 43500 4
+N 46800 43500 46800 43300 4
+N 47000 43500 47000 43300 4
+N 47200 43500 47200 43300 4
+N 47400 43500 47400 43300 4
+N 43500 45900 45600 45900 4
+N 45600 45900 45600 45500 4
+N 43500 46100 45600 46100 4
+N 45600 46100 45600 46300 4
+N 45600 46700 45600 46500 4
+N 45600 47100 45600 46900 4
+C 45700 46600 1 0 0 nc.sym
+{
+T 45700 47000 5 10 0 0 0 0 1
+value=NoConnection
+T 45700 47400 5 10 0 0 0 0 1
+device=DRC_Directive
+}
+N 43500 44900 43500 45100 4
+N 43500 46100 43500 46300 4
+C 45400 44300 1 180 0 output.sym
 {
-T 53200 43000 5 10 0 0 90 0 1
-device=CAPACITOR
-T 53900 42900 5 10 1 1 90 0 1
-refdes=C26
-T 53900 43400 5 10 1 1 90 0 1
-value=470nF
-T 53800 43000 5 10 0 0 90 0 1
+T 45300 44000 5 10 0 0 180 0 1
+device=OUTPUT
+T 44300 44100 5 10 1 1 0 0 1
+refdes=STALL
+}
+N 45400 44200 46000 44200 4
+C 49100 46700 1 0 0 resistor.sym
+{
+T 49400 47100 5 10 0 0 0 0 1
+device=RESISTOR
+T 49100 46700 5 10 0 0 180 0 1
+footprint=2512
+T 49025 46825 5 10 1 1 0 0 1
+refdes=R2
+T 49650 46825 5 10 1 1 0 0 1
+value=.05
+}
+N 48400 47000 50500 47000 4
+N 48400 46800 49300 46800 4
+C 48700 46500 1 0 0 gnd.sym
+C 50800 47700 1 0 0 csd88537nd.sym
+{
+T 51020 47725 5 10 1 1 0 0 1
+device=CSD88537ND
+T 51020 49050 5 10 0 0 0 0 1
+footprint=SO-8
+T 51945 48850 5 10 1 1 0 0 1
+refdes=Q1
+}
+C 52400 48700 1 0 0 Vs.sym
+{
+T 52500 49400 5 10 0 0 0 0 1
+device=none
+}
+N 52400 48300 52600 48300 4
+N 52600 48300 52600 48700 4
+N 52400 48500 52600 48500 4
+N 52400 48100 52600 48100 4
+N 52600 48100 52600 47900 4
+N 52400 47900 53100 47900 4
+C 50800 46300 1 0 0 csd88537nd.sym
+{
+T 51020 47650 5 10 0 0 0 0 1
+footprint=SO-8
+T 51020 46325 5 10 1 1 0 0 1
+device=CSD88537ND
+T 51945 47450 5 10 1 1 0 0 1
+refdes=Q2
+}
+N 52400 46900 52600 46900 4
+N 52600 46900 52600 47100 4
+N 52400 47100 53000 47100 4
+N 52400 46700 52600 46700 4
+N 52600 46700 52600 46500 4
+N 52800 46500 52400 46500 4
+C 52600 46500 1 0 0 Vs.sym
+{
+T 52700 47200 5 10 0 0 0 0 1
+device=none
+}
+N 50300 47700 50300 49300 4
+N 50300 49300 53100 49300 4
+N 53100 46500 53100 49300 4
+N 50800 46700 50700 46700 4
+N 50700 46700 50700 46100 4
+N 53000 46100 53000 47100 4
+N 50300 48500 50800 48500 4
+N 50400 48300 50800 48300 4
+N 50800 48100 50500 48100 4
+N 49700 47300 50800 47300 4
+N 50500 46800 50500 48100 4
+N 50600 46900 50800 46900 4
+N 48400 46300 50800 46300 4
+N 50500 47100 50800 47100 4
+N 50300 47700 48400 47700 4
+N 50400 48300 50400 47500 4
+N 50400 47500 48400 47500 4
+N 49700 46800 50500 46800 4
+N 49700 46500 50600 46500 4
+N 50600 46500 50600 46900 4
+N 50800 47300 50800 47900 4
+N 50800 46300 50800 46500 4
+C 49100 47200 1 0 0 resistor.sym
+{
+T 49400 47600 5 10 0 0 0 0 1
+device=RESISTOR
+T 49100 47200 5 10 0 0 180 0 1
 footprint=0805_ext
-T 53800 43000 5 10 0 0 0 0 1
-model=GRM219R71C474KA01D 
-T 53800 43000 5 10 0 0 0 0 1
-description=CAP CER 0.47UF 16V X7R 0805
+T 49025 47325 5 10 1 1 0 0 1
+refdes=R1
+T 49650 47325 5 10 1 1 0 0 1
+value=47
 }
-C 52800 43000 1 90 0 cap.sym
+N 49300 47300 48400 47300 4
+C 49100 46400 1 0 0 resistor.sym
 {
-T 52100 43200 5 10 0 0 90 0 1
-device=CAPACITOR
-T 52600 42900 5 10 1 1 90 0 1
-refdes=C24
-T 52550 43250 5 10 1 1 90 0 1
-value=10nF
-T 52800 43000 5 10 0 0 0 0 1
+T 49400 46800 5 10 0 0 0 0 1
+device=RESISTOR
+T 49100 46400 5 10 0 0 180 0 1
 footprint=0805_ext
-T 52800 43000 5 10 0 0 0 0 1
-model=CC0805KRX7R9BB103
-T 52800 43000 5 10 0 0 0 0 1
-description=CAP CER 10000PF 16V X7R 0805
+T 49025 46525 5 10 1 1 0 0 1
+refdes=R3
+T 49650 46525 5 10 1 1 0 0 1
+value=47
 }
-C 45100 47100 1 270 0 resistor.sym
+N 49300 46500 48400 46500 4
+C 49100 44800 1 0 0 resistor.sym
 {
-T 45500 46800 5 10 0 0 270 0 1
+T 49400 45200 5 10 0 0 0 0 1
 device=RESISTOR
-T 45650 46850 5 10 1 1 180 0 1
-refdes=R10
-T 45250 46525 5 10 1 1 0 0 1
-value=10k
-T 45100 47100 5 10 0 0 90 0 1
+T 49100 44800 5 10 0 0 180 0 1
+footprint=2512
+T 49025 44925 5 10 1 1 0 0 1
+refdes=R5
+T 49650 44925 5 10 1 1 0 0 1
+value=.05
+}
+N 48400 44900 49300 44900 4
+C 48700 44600 1 0 0 gnd.sym
+C 50800 44200 1 0 0 csd88537nd.sym
+{
+T 51020 45550 5 10 0 0 0 0 1
+footprint=SO-8
+T 51020 44225 5 10 1 1 0 0 1
+device=CSD88537ND
+T 51945 45350 5 10 1 1 0 0 1
+refdes=Q3
+}
+C 52400 45200 1 0 0 Vs.sym
+{
+T 52500 45900 5 10 0 0 0 0 1
+device=none
+}
+N 52400 44800 52600 44800 4
+N 52600 44800 52600 45200 4
+N 52400 45000 52600 45000 4
+N 52400 44600 52600 44600 4
+N 52600 44600 52600 44400 4
+N 52400 44400 53000 44400 4
+C 50800 42800 1 0 0 csd88537nd.sym
+{
+T 51020 44150 5 10 0 0 0 0 1
+footprint=SO-8
+T 51020 42825 5 10 1 1 0 0 1
+device=CSD88537ND
+T 51945 43950 5 10 1 1 0 0 1
+refdes=Q4
+}
+N 52400 43400 52600 43400 4
+N 52600 43400 52600 43600 4
+N 52400 43600 53100 43600 4
+N 52400 43200 52600 43200 4
+N 52600 43200 52600 43000 4
+N 52800 43000 52400 43000 4
+C 52600 43000 1 0 0 Vs.sym
+{
+T 52700 43700 5 10 0 0 0 0 1
+device=none
+}
+N 50800 45000 50800 45800 4
+N 48400 45800 53000 45800 4
+N 53000 45800 53000 44400 4
+N 50800 43200 50600 43200 4
+N 50600 43200 50600 42600 4
+N 50200 42600 53100 42600 4
+N 53100 42600 53100 45300 4
+N 50700 44800 50800 44800 4
+N 50800 44600 50500 44600 4
+N 49700 45400 50600 45400 4
+N 50400 43400 50800 43400 4
+N 48400 44400 50300 44400 4
+N 50500 43600 50800 43600 4
+N 49700 44900 50500 44900 4
+N 49700 44600 50400 44600 4
+N 50400 44600 50400 43400 4
+N 50600 45400 50600 44400 4
+N 50300 44400 50300 43000 4
+N 50600 44400 50800 44400 4
+C 49100 45300 1 0 0 resistor.sym
+{
+T 49400 45700 5 10 0 0 0 0 1
+device=RESISTOR
+T 49100 45300 5 10 0 0 180 0 1
 footprint=0805_ext
-T 45100 47100 5 10 0 0 0 0 1
-model=RMCF0805JT10K0
-T 45100 47100 5 10 0 0 0 0 1
-description=RES SMD 10K OHM 5% 1/8W 0805
-}
-N 43500 46200 43500 46100 4
-N 52700 43500 52700 44600 4
-N 52700 44600 52400 44600 4
-N 42000 46600 43500 46600 4
-N 42000 46200 43500 46200 4
-N 42000 45800 47000 45800 4
-N 42000 45400 47000 45400 4
-N 43400 44400 43400 45000 4
-N 43400 45000 42000 45000 4
-C 42000 44200 1 0 1 connector6-2.sym
-{
-T 41400 47200 5 10 1 1 0 0 1
-refdes=J2
-T 41700 47850 5 10 0 0 0 6 1
-device=CONNECTOR_6
-T 42000 44200 5 10 0 0 0 0 1
-model=N/A
-T 42000 44200 5 10 0 0 0 0 1
-footprint=JUMPER6
-T 42000 44200 5 10 0 0 0 0 1
-description=UNPOPULATED TEST POINTS
-T 42000 44200 5 10 0 0 0 0 1
-documentation=LABEL EACH PIN ON PCB
+T 49025 45425 5 10 1 1 0 0 1
+refdes=R4
+T 49650 45425 5 10 1 1 0 0 1
+value=47
+}
+N 49300 45400 48400 45400 4
+C 49100 44500 1 0 0 resistor.sym
+{
+T 49400 44900 5 10 0 0 0 0 1
+device=RESISTOR
+T 49100 44500 5 10 0 0 180 0 1
+footprint=0805_ext
+T 49025 44625 5 10 1 1 0 0 1
+refdes=R6
+T 49650 44625 5 10 1 1 0 0 1
+value=47
+}
+N 49300 44600 48400 44600 4
+N 50500 43600 50500 45100 4
+N 50300 43000 50800 43000 4
+N 50700 44800 50700 45600 4
+N 50700 45600 48400 45600 4
+N 50200 42600 50200 44200 4
+N 50200 44200 48400 44200 4
+N 48400 45100 50500 45100 4
+N 45100 48000 45100 47800 4
+C 48500 48900 1 270 0 cap.sym
+{
+T 49200 48700 5 10 0 0 270 0 1
+device=CAPACITOR
+T 48500 48875 5 10 1 1 180 0 1
+refdes=C6
+T 48550 48450 5 10 1 1 180 0 1
+value=1uF
+T 48500 48900 5 10 0 0 90 0 1
+footprint=0805_ext
+T 48500 48900 5 10 0 0 0 0 1
+model=GRM31MR71H474KA01L 
 }
-C 42300 44500 1 90 0 gnd.sym
-N 55500 45500 53900 45500 4
-N 53900 45500 53900 46600 4
-N 53900 46600 52400 46600 4
-N 55500 46700 53300 46700 4
-N 53300 46700 53300 46300 4
-N 53300 46300 52400 46300 4
-N 54000 46300 55500 46300 4
-N 54000 46300 54000 42400 4
-N 55500 45900 54600 45900 4
-N 54600 45900 54600 42300 4
-N 52700 43800 52750 43800 4
+N 48600 48400 48600 48200 4
+N 48600 48800 48600 49000 4
+C 45400 43100 1 180 0 output.sym
+{
+T 45300 42800 5 10 0 0 180 0 1
+device=OUTPUT
+T 44300 42900 5 10 1 1 0 0 1
+refdes=BEMF
+}
+N 48400 43900 48600 43900 4
+N 45400 43000 48400 43000 4
+N 48400 43000 48400 43900 4
+N 45600 43000 45600 43200 4
+N 43700 43200 45600 43200 4
+N 43700 43200 43700 45500 4
+N 43700 45500 43500 45500 4
diff --git a/motor_module.sch b/motor_module.sch
index 5d49c36..659a9a3 100644
--- a/motor_module.sch
+++ b/motor_module.sch
@@ -39,321 +39,403 @@ T 50000 40100 9 10 1 0 0 0 1
 3
 T 51500 40100 9 10 1 0 0 0 1
 8
-C 52500 45200 1 0 0 input.sym
+C 52500 45400 1 0 0 input.sym
 {
-T 52500 45500 5 10 0 0 0 0 1
+T 52500 45700 5 10 0 0 0 0 1
 device=OUTPUT
-T 51900 45200 5 10 1 1 0 0 1
+T 51900 45400 5 10 1 1 0 0 1
 net=spi_cs_a:1
 }
-C 52500 45000 1 0 0 input.sym
+C 52500 45200 1 0 0 input.sym
 {
-T 52500 45300 5 10 0 0 0 0 1
+T 52500 45500 5 10 0 0 0 0 1
 device=INPUT
-T 52050 45000 5 10 1 1 0 0 1
+T 52050 45200 5 10 1 1 0 0 1
 net=spi_clk:1
 }
-C 52500 44800 1 0 0 input.sym
+C 52500 45000 1 0 0 input.sym
 {
-T 52500 45100 5 10 0 0 0 0 1
+T 52500 45300 5 10 0 0 0 0 1
 device=INPUT
-T 51900 44800 5 10 1 1 0 0 1
+T 51900 45000 5 10 1 1 0 0 1
 net=spi_mosi:1
 }
-C 53300 44800 1 180 0 output.sym
+C 53300 45000 1 180 0 output.sym
 {
-T 53200 44500 5 10 0 0 180 0 1
+T 53200 44700 5 10 0 0 180 0 1
 device=OUTPUT
-T 51900 44600 5 10 1 1 0 0 1
+T 51900 44800 5 10 1 1 0 0 1
 net=spi_miso:1
 }
-C 52500 44000 1 0 0 input.sym
+C 52500 44400 1 0 0 input.sym
 {
-T 52500 44300 5 10 0 0 0 0 1
+T 52500 44700 5 10 0 0 0 0 1
 device=OUTPUT
-T 52200 44000 5 10 1 1 0 0 1
+T 52200 44400 5 10 1 1 0 0 1
 net=dir_a:1
 }
 C 52500 44200 1 0 0 input.sym
 {
 T 52500 44500 5 10 0 0 0 0 1
 device=OUTPUT
-T 51875 44200 5 10 1 1 0 0 1
-net=enable_a:1
-}
-C 52500 43800 1 0 0 input.sym
-{
-T 52500 44100 5 10 0 0 0 0 1
-device=OUTPUT
-T 52075 43800 5 10 1 1 0 0 1
+T 52075 44200 5 10 1 1 0 0 1
 net=step_a:1
 }
-C 53300 43800 1 180 0 output.sym
+C 42000 48700 1 0 0 input.sym
 {
-T 53200 43500 5 10 0 0 180 0 1
-device=INPUT
-T 52075 43600 5 10 1 1 0 0 1
-net=fault_a:1
-}
-C 42000 48500 1 0 0 input.sym
-{
-T 42000 48800 5 10 0 0 0 0 1
+T 42000 49000 5 10 0 0 0 0 1
 device=OUTPUT
-T 41400 48500 5 10 1 1 0 0 1
+T 41400 48700 5 10 1 1 0 0 1
 net=spi_cs_x:1
 }
-C 42000 48300 1 0 0 input.sym
+C 42000 48500 1 0 0 input.sym
 {
-T 42000 48600 5 10 0 0 0 0 1
+T 42000 48800 5 10 0 0 0 0 1
 device=INPUT
-T 41550 48300 5 10 1 1 0 0 1
+T 41550 48500 5 10 1 1 0 0 1
 net=spi_clk:1
 }
-C 42000 48100 1 0 0 input.sym
+C 42000 48300 1 0 0 input.sym
 {
-T 42000 48400 5 10 0 0 0 0 1
+T 42000 48600 5 10 0 0 0 0 1
 device=INPUT
-T 41400 48100 5 10 1 1 0 0 1
+T 41400 48300 5 10 1 1 0 0 1
 net=spi_mosi:1
 }
-C 42800 48100 1 180 0 output.sym
+C 42800 48300 1 180 0 output.sym
 {
-T 42700 47800 5 10 0 0 180 0 1
+T 42700 48000 5 10 0 0 180 0 1
 device=OUTPUT
-T 41400 47900 5 10 1 1 0 0 1
+T 41400 48100 5 10 1 1 0 0 1
 net=spi_miso:1
 }
-C 42000 47300 1 0 0 input.sym
+C 42000 47700 1 0 0 input.sym
 {
-T 42000 47600 5 10 0 0 0 0 1
+T 42000 48000 5 10 0 0 0 0 1
 device=OUTPUT
-T 41725 47300 5 10 1 1 0 0 1
+T 41725 47700 5 10 1 1 0 0 1
 net=dir_x:1
 }
-C 42000 47500 1 0 0 input.sym
+C 42000 47900 1 0 0 input.sym
 {
-T 42000 47800 5 10 0 0 0 0 1
+T 42000 48200 5 10 0 0 0 0 1
 device=OUTPUT
-T 41400 47500 5 10 1 1 0 0 1
-net=enable_x:1
+T 41225 47900 5 10 1 1 0 0 1
+net=drv_enable:1
 }
-C 42000 47100 1 0 0 input.sym
+C 42000 47500 1 0 0 input.sym
 {
-T 42000 47400 5 10 0 0 0 0 1
+T 42000 47800 5 10 0 0 0 0 1
 device=OUTPUT
-T 41600 47100 5 10 1 1 0 0 1
+T 41600 47500 5 10 1 1 0 0 1
 net=step_x:1
 }
-C 42800 47100 1 180 0 output.sym
+C 42800 47300 1 180 0 output.sym
 {
-T 42700 46800 5 10 0 0 180 0 1
+T 42700 47000 5 10 0 0 180 0 1
 device=INPUT
-T 41600 46900 5 10 1 1 0 0 1
-net=fault_x:1
+T 41450 47100 5 10 1 1 0 0 1
+net=drv_fault:1
 }
-C 42000 45200 1 0 0 input.sym
+C 42000 45400 1 0 0 input.sym
 {
-T 42000 45500 5 10 0 0 0 0 1
+T 42000 45700 5 10 0 0 0 0 1
 device=OUTPUT
-T 41400 45200 5 10 1 1 0 0 1
+T 41400 45400 5 10 1 1 0 0 1
 net=spi_cs_y:1
 }
-C 42000 45000 1 0 0 input.sym
+C 42000 45200 1 0 0 input.sym
 {
-T 42000 45300 5 10 0 0 0 0 1
+T 42000 45500 5 10 0 0 0 0 1
 device=INPUT
-T 41550 45000 5 10 1 1 0 0 1
+T 41550 45200 5 10 1 1 0 0 1
 net=spi_clk:1
 }
-C 42000 44800 1 0 0 input.sym
+C 42000 45000 1 0 0 input.sym
 {
-T 42000 45100 5 10 0 0 0 0 1
+T 42000 45300 5 10 0 0 0 0 1
 device=INPUT
-T 41400 44800 5 10 1 1 0 0 1
+T 41400 45000 5 10 1 1 0 0 1
 net=spi_mosi:1
 }
-C 42800 44800 1 180 0 output.sym
+C 42800 45000 1 180 0 output.sym
 {
-T 42700 44500 5 10 0 0 180 0 1
+T 42700 44700 5 10 0 0 180 0 1
 device=OUTPUT
-T 41400 44600 5 10 1 1 0 0 1
+T 41400 44800 5 10 1 1 0 0 1
 net=spi_miso:1
 }
-C 42000 44000 1 0 0 input.sym
+C 42000 44400 1 0 0 input.sym
 {
-T 42000 44300 5 10 0 0 0 0 1
+T 42000 44700 5 10 0 0 0 0 1
 device=OUTPUT
-T 41725 44000 5 10 1 1 0 0 1
+T 41725 44400 5 10 1 1 0 0 1
 net=dir_y:1
 }
 C 42000 44200 1 0 0 input.sym
 {
 T 42000 44500 5 10 0 0 0 0 1
 device=OUTPUT
-T 41375 44200 5 10 1 1 0 0 1
-net=enable_y:1
-}
-C 42000 43800 1 0 0 input.sym
-{
-T 42000 44100 5 10 0 0 0 0 1
-device=OUTPUT
-T 41600 43800 5 10 1 1 0 0 1
+T 41600 44200 5 10 1 1 0 0 1
 net=step_y:1
 }
-C 42800 43800 1 180 0 output.sym
-{
-T 42700 43500 5 10 0 0 180 0 1
-device=INPUT
-T 41600 43600 5 10 1 1 0 0 1
-net=fault_y:1
-}
-C 52500 48500 1 0 0 input.sym
+C 52500 48700 1 0 0 input.sym
 {
-T 52500 48800 5 10 0 0 0 0 1
+T 52500 49000 5 10 0 0 0 0 1
 device=OUTPUT
-T 51925 48500 5 10 1 1 0 0 1
+T 51925 48700 5 10 1 1 0 0 1
 net=spi_cs_z:1
 }
-C 52500 48300 1 0 0 input.sym
+C 52500 48500 1 0 0 input.sym
 {
-T 52500 48600 5 10 0 0 0 0 1
+T 52500 48800 5 10 0 0 0 0 1
 device=INPUT
-T 52075 48300 5 10 1 1 0 0 1
+T 52075 48500 5 10 1 1 0 0 1
 net=spi_clk:1
 }
-C 52500 48100 1 0 0 input.sym
+C 52500 48300 1 0 0 input.sym
 {
-T 52500 48400 5 10 0 0 0 0 1
+T 52500 48600 5 10 0 0 0 0 1
 device=INPUT
-T 51900 48100 5 10 1 1 0 0 1
+T 51900 48300 5 10 1 1 0 0 1
 net=spi_mosi:1
 }
-C 53300 48100 1 180 0 output.sym
+C 53300 48300 1 180 0 output.sym
 {
-T 53200 47800 5 10 0 0 180 0 1
+T 53200 48000 5 10 0 0 180 0 1
 device=OUTPUT
-T 51900 47900 5 10 1 1 0 0 1
+T 51900 48100 5 10 1 1 0 0 1
 net=spi_miso:1
 }
-C 52500 47300 1 0 0 input.sym
+C 52500 47700 1 0 0 input.sym
 {
-T 52500 47600 5 10 0 0 0 0 1
+T 52500 48000 5 10 0 0 0 0 1
 device=OUTPUT
-T 52200 47300 5 10 1 1 0 0 1
+T 52200 47700 5 10 1 1 0 0 1
 net=dir_z:1
 }
 C 52500 47500 1 0 0 input.sym
 {
 T 52500 47800 5 10 0 0 0 0 1
 device=OUTPUT
-T 51875 47500 5 10 1 1 0 0 1
-net=enable_z:1
-}
-C 52500 47100 1 0 0 input.sym
-{
-T 52500 47400 5 10 0 0 0 0 1
-device=OUTPUT
-T 52075 47100 5 10 1 1 0 0 1
+T 52075 47500 5 10 1 1 0 0 1
 net=step_z:1
 }
-C 53300 47100 1 180 0 output.sym
+C 42800 47500 1 180 0 output.sym
 {
-T 53200 46800 5 10 0 0 180 0 1
+T 42700 47200 5 10 0 0 180 0 1
 device=INPUT
-T 52075 46900 5 10 1 1 0 0 1
-net=fault_z:1
+T 41450 47300 5 10 1 1 0 0 1
+net=drv_stall:1
 }
-C 42000 47700 1 0 0 input.sym
+C 42000 44600 1 0 0 input.sym
 {
-T 42000 48000 5 10 0 0 0 0 1
+T 42000 44900 5 10 0 0 0 0 1
 device=OUTPUT
-T 41400 47700 5 10 1 1 0 0 1
-net=mdvr_clk:1
+T 41575 44600 5 10 1 1 0 0 1
+net=enable:1
 }
-C 52500 47700 1 0 0 input.sym
+C 52500 44600 1 0 0 input.sym
 {
-T 52500 48000 5 10 0 0 0 0 1
+T 52500 44900 5 10 0 0 0 0 1
 device=OUTPUT
-T 51900 47700 5 10 1 1 0 0 1
-net=mdvr_clk:1
+T 52075 44600 5 10 1 1 0 0 1
+net=enable:1
 }
-C 42000 44400 1 0 0 input.sym
+C 52500 47900 1 0 0 input.sym
 {
-T 42000 44700 5 10 0 0 0 0 1
+T 52500 48200 5 10 0 0 0 0 1
 device=OUTPUT
-T 41375 44400 5 10 1 1 0 0 1
-net=mdvr_clk:1
+T 52075 47900 5 10 1 1 0 0 1
+net=enable:1
 }
-C 52500 44400 1 0 0 input.sym
+C 42800 44000 1 180 0 output.sym
 {
-T 52500 44700 5 10 0 0 0 0 1
-device=OUTPUT
-T 51875 44400 5 10 1 1 0 0 1
-net=mdvr_clk:1
+T 42700 43700 5 10 0 0 180 0 1
+device=INPUT
+T 41450 43800 5 10 1 1 0 0 1
+net=drv_fault:1
 }
-N 47700 46700 47700 46900 4
-N 47200 45100 47000 45100 4
-N 46400 46900 47700 46900 4
-N 47000 46000 47000 46900 4
-N 47000 45100 47000 45600 4
-C 49800 46200 1 0 0 output.sym
+C 42800 44200 1 180 0 output.sym
 {
-T 49900 46500 5 10 0 0 0 0 1
-device=OUTPUT
-T 50325 46250 5 10 1 1 0 0 1
-net=mdvr_clk:1
-}
-C 47200 44700 1 0 0 crystal_oscillator.sym
-{
-T 47200 44700 5 10 0 0 0 0 1
-description=Crystal Technologies CB3LV-3I-16M0000 16MHz, HCMOS TTL ,surface mount crystal clock oscill
-T 47200 44700 5 10 0 0 0 0 1
-footprint=CB3_OSC
-T 47200 44700 5 10 0 0 0 0 1
-model=CB3LV-3I-16M0000
-T 48395 46595 5 10 1 1 0 0 1
-refdes=OSC1
-T 48195 45295 5 10 1 1 0 0 1
-value=16MHz
-T 47200 44700 5 10 0 1 0 0 1
-device=CRYSTAL
-}
-N 46400 46500 46400 46900 4
-C 47400 46900 1 0 0 3.3V_motor.sym
-{
-T 47500 47600 5 10 0 0 0 0 1
+T 42700 43900 5 10 0 0 180 0 1
+device=INPUT
+T 41450 44000 5 10 1 1 0 0 1
+net=drv_stall:1
+}
+C 53300 47300 1 180 0 output.sym
+{
+T 53200 47000 5 10 0 0 180 0 1
+device=INPUT
+T 51950 47100 5 10 1 1 0 0 1
+net=drv_fault:1
+}
+C 53300 47500 1 180 0 output.sym
+{
+T 53200 47200 5 10 0 0 180 0 1
+device=INPUT
+T 51950 47300 5 10 1 1 0 0 1
+net=drv_stall:1
+}
+C 53300 44000 1 180 0 output.sym
+{
+T 53200 43700 5 10 0 0 180 0 1
+device=INPUT
+T 51950 43800 5 10 1 1 0 0 1
+net=drv_fault:1
+}
+C 53300 44200 1 180 0 output.sym
+{
+T 53200 43900 5 10 0 0 180 0 1
+device=INPUT
+T 51950 44000 5 10 1 1 0 0 1
+net=drv_stall:1
+}
+C 48200 49200 1 0 0 3.3V_motor.sym
+{
+T 48300 49900 5 10 0 0 0 0 1
 device=none
 }
-C 46300 45600 1 0 0 gnd.sym
-C 46500 46000 1 90 0 cap.sym
+C 48600 48200 1 90 0 resistor.sym
 {
-T 45800 46200 5 10 0 0 90 0 1
-device=CAPACITOR
-T 46200 46000 5 10 1 1 90 0 1
-refdes=C16
-T 46200 46400 5 10 1 1 90 0 1
-value=10nF
-T 46500 46000 5 10 0 0 0 0 1
+T 48200 48500 5 10 0 0 90 0 1
+device=RESISTOR
+T 48600 48200 5 10 0 0 90 0 1
 footprint=0805_ext
-T 46500 46000 5 10 0 0 0 0 1
-description=16v
-T 46500 46000 5 10 0 0 0 0 1
-model=CC0805KRX7R9BB103
-T 46500 46000 5 10 0 0 0 0 1
-description=CAP CER 10000PF 50V X7R 0805
+T 48400 48450 5 10 1 1 90 0 1
+refdes=R13
+T 48725 48500 5 10 1 1 90 0 1
+value=10k
 }
-N 46400 45900 46400 46100 4
-C 47100 45400 1 90 0 resistor.sym
+N 48500 48400 48500 48200 4
+N 48500 49000 48500 48800 4
+C 49200 48200 1 90 0 resistor.sym
 {
-T 46700 45700 5 10 0 0 90 0 1
+T 48800 48500 5 10 0 0 90 0 1
 device=RESISTOR
-T 46925 45500 5 10 1 1 90 0 1
-refdes=R8
-T 46925 45900 5 10 1 1 90 0 1
+T 49200 48200 5 10 0 0 90 0 1
+footprint=0805_ext
+T 49000 48450 5 10 1 1 90 0 1
+refdes=R13
+T 49325 48500 5 10 1 1 90 0 1
 value=10k
-T 47100 45400 5 10 0 0 0 0 1
+}
+N 49100 49000 49100 48800 4
+N 47900 48400 47900 48200 4
+C 48000 48200 1 90 0 resistor.sym
+{
+T 47600 48500 5 10 0 0 90 0 1
+device=RESISTOR
+T 48000 48200 5 10 0 0 90 0 1
 footprint=0805_ext
-T 47100 45400 5 10 0 0 0 0 1
-model=RMCF0805JT10K0
+T 47800 48450 5 10 1 1 90 0 1
+refdes=R13
+T 48125 48500 5 10 1 1 90 0 1
+value=10k
+}
+N 47900 49000 47900 48800 4
+N 47900 49000 49100 49000 4
+N 48500 49000 48500 49200 4
+N 49100 48400 49100 48200 4
+C 48000 47400 1 90 0 input.sym
+{
+T 47700 47400 5 10 0 0 90 0 1
+device=OUTPUT
+T 48000 46800 5 10 1 1 90 0 1
+net=drv_stall:1
+}
+C 48600 47400 1 90 0 input.sym
+{
+T 48300 47400 5 10 0 0 90 0 1
+device=OUTPUT
+T 48600 46800 5 10 1 1 90 0 1
+net=drv_fault:1
+}
+C 49200 47400 1 90 0 input.sym
+{
+T 48900 47400 5 10 0 0 90 0 1
+device=OUTPUT
+T 49200 46800 5 10 1 1 90 0 1
+net=spi_miso:1
+}
+C 48700 43000 1 0 0 connector6-2.sym
+{
+T 49000 45050 5 10 0 0 0 0 1
+device=CONNECTOR_6
+T 49000 45250 5 10 0 0 0 0 1
+footprint=JUMPER6
+T 48700 43000 5 10 0 0 0 0 1
+description=Unpopulated test point
+T 48700 43000 5 10 0 0 0 0 1
+documentation=Label each pin on PCB.
+T 48700 43000 5 10 0 0 0 0 1
+value=N/A
+T 48700 43000 5 10 0 0 0 0 1
+model=N/A
+T 49300 45900 5 10 1 1 0 6 1
+refdes=J1
+}
+C 47900 44500 1 0 0 input.sym
+{
+T 47900 44800 5 10 0 0 0 0 1
+device=INPUT
+T 47450 44500 5 10 1 1 0 0 1
+net=spi_clk:1
+}
+C 48700 43900 1 180 0 output.sym
+{
+T 48600 43600 5 10 0 0 180 0 1
+device=OUTPUT
+T 47300 43700 5 10 1 1 0 0 1
+net=spi_miso:1
+}
+C 47900 44100 1 0 0 input.sym
+{
+T 47900 44400 5 10 0 0 0 0 1
+device=INPUT
+T 47300 44100 5 10 1 1 0 0 1
+net=spi_mosi:1
+}
+C 48400 43500 1 270 0 gnd.sym
+C 47900 45100 1 180 1 input.sym
+{
+T 47900 44800 5 10 0 0 180 6 1
+device=INPUT
+T 47300 45050 5 10 1 1 180 6 1
+net=drv_fault:1
+}
+C 47900 45300 1 0 0 input.sym
+{
+T 47900 45600 5 10 0 0 0 0 1
+device=INPUT
+T 48150 45450 5 10 1 1 180 0 1
+net=drv_stall:1
+}
+C 42800 47100 1 180 0 output.sym
+{
+T 42700 46800 5 10 0 0 180 0 1
+device=INPUT
+T 41550 46900 5 10 1 1 0 0 1
+net=bemf_x:1
+}
+C 42800 43800 1 180 0 output.sym
+{
+T 42700 43500 5 10 0 0 180 0 1
+device=INPUT
+T 41550 43600 5 10 1 1 0 0 1
+net=bemf_y:1
+}
+C 53300 47100 1 180 0 output.sym
+{
+T 53200 46800 5 10 0 0 180 0 1
+device=INPUT
+T 52050 46900 5 10 1 1 0 0 1
+net=bemf_z:1
+}
+C 53300 43800 1 180 0 output.sym
+{
+T 53200 43500 5 10 0 0 180 0 1
+device=INPUT
+T 52050 43600 5 10 1 1 0 0 1
+net=bemf_a:1
 }
-C 49300 44400 1 0 0 gnd.sym
diff --git a/rpi_bus.sch b/rpi_bus.sch
index dea0284..a0bbd3d 100644
--- a/rpi_bus.sch
+++ b/rpi_bus.sch
@@ -72,115 +72,115 @@ device=OUTPUT
 T 44800 43000 5 10 1 1 180 0 1
 net=rpi_serial_cts:1
 }
-C 50700 43200 1 0 0 MAX18450.sym
+C 49500 43200 1 0 0 MAX18450.sym
 {
-T 50700 43200 5 10 0 0 0 0 1
+T 49500 43200 5 10 0 0 0 0 1
 footprint=QSOP16_EXT
-T 52695 45000 5 8 1 1 0 0 1
+T 51495 45000 5 8 1 1 0 0 1
 refdes=U4
-T 51400 43000 5 10 0 1 0 0 1
+T 50200 43000 5 10 0 1 0 0 1
 device=MAX14850
-T 50700 43200 5 10 0 1 0 0 1
+T 49500 43200 5 10 0 1 0 0 1
 model=MAX14850AAE+
-T 50700 43200 5 10 0 0 0 0 1
+T 49500 43200 5 10 0 0 0 0 1
 value=6-Channel Digital Isolator
 }
-N 50600 45100 50600 44700 4
-N 50600 44700 50700 44700 4
-C 54000 45200 1 180 0 cap.sym
+N 49400 45100 49400 44700 4
+N 49400 44700 49500 44700 4
+C 52800 45200 1 180 0 cap.sym
 {
-T 53800 44500 5 10 0 0 180 0 1
+T 52600 44500 5 10 0 0 180 0 1
 device=CAPACITOR
-T 54000 45200 5 10 0 0 90 0 1
+T 52800 45200 5 10 0 0 90 0 1
 footprint=0805_ext
-T 54000 45200 5 10 0 0 90 0 1
+T 52800 45200 5 10 0 0 90 0 1
 description=Kemet ceramic 50 volt cap
-T 53850 45400 5 10 1 1 180 0 1
+T 52650 45400 5 10 1 1 180 0 1
 refdes=C26
-T 53550 44850 5 10 1 1 0 0 1
+T 52350 44850 5 10 1 1 0 0 1
 value=0.1uF
-T 54000 45200 5 10 0 0 0 0 1
+T 52800 45200 5 10 0 0 0 0 1
 model=C0805C104M5RACTU
 }
-C 50500 45200 1 180 0 cap.sym
+C 49300 45200 1 180 0 cap.sym
 {
-T 50300 44500 5 10 0 0 180 0 1
+T 49100 44500 5 10 0 0 180 0 1
 device=CAPACITOR
-T 50500 45200 5 10 0 0 90 0 1
+T 49300 45200 5 10 0 0 90 0 1
 footprint=0805_ext
-T 50500 45200 5 10 0 0 90 0 1
+T 49300 45200 5 10 0 0 90 0 1
 description=Kemet ceramic 50 volt cap
-T 50000 45200 5 10 1 1 0 0 1
+T 48800 45250 5 10 1 1 0 0 1
 refdes=C25
-T 50500 45000 5 10 1 1 180 0 1
+T 49300 45000 5 10 1 1 180 0 1
 value=0.1uF
-T 50500 45200 5 10 0 0 0 0 1
+T 49300 45200 5 10 0 0 0 0 1
 model=C0805C104M5RACTU
 }
-N 50400 45100 50600 45100 4
-C 49900 44400 1 0 0 input.sym
+N 49200 45100 49400 45100 4
+C 48700 44400 1 0 0 input.sym
 {
-T 49900 44700 5 10 0 0 0 0 1
+T 48700 44700 5 10 0 0 0 0 1
 device=INPUT
-T 49025 44450 5 10 1 1 0 0 1
+T 47825 44450 5 10 1 1 0 0 1
 net=rpi_serial_tx:1
 }
-C 53900 44000 1 0 1 input.sym
+C 56100 44000 1 0 1 input.sym
 {
-T 53900 44300 5 10 0 0 0 6 1
+T 56100 44300 5 10 0 0 0 6 1
 device=INPUT
-T 54475 44050 5 10 1 1 0 6 1
+T 56675 44050 5 10 1 1 0 6 1
 net=serial_tx:1
 }
-C 53100 44400 1 0 0 output.sym
+C 51900 44400 1 0 0 output.sym
 {
-T 53200 44700 5 10 0 0 0 0 1
+T 52000 44700 5 10 0 0 0 0 1
 device=OUTPUT
-T 53625 44450 5 10 1 1 0 0 1
+T 52425 44450 5 10 1 1 0 0 1
 net=serial_rx:1
 }
-C 50700 44000 1 0 1 output.sym
+C 49500 44000 1 0 1 output.sym
 {
-T 50600 44300 5 10 0 0 0 6 1
+T 49400 44300 5 10 0 0 0 6 1
 device=OUTPUT
-T 50175 44050 5 10 1 1 0 6 1
+T 48975 44050 5 10 1 1 0 6 1
 net=rpi_serial_rx:1
 }
-C 50400 45100 1 0 0 3.3V-plus-1.sym
-C 50700 43800 1 0 1 output.sym
+C 49200 45100 1 0 0 3.3V-plus-1.sym
+C 49500 43800 1 0 1 output.sym
 {
-T 50600 44100 5 10 0 0 0 6 1
+T 49400 44100 5 10 0 0 0 6 1
 device=OUTPUT
-T 50175 43825 5 10 1 1 0 6 1
+T 48975 43825 5 10 1 1 0 6 1
 net=rpi_serial_cts:1
 }
-C 52900 45100 1 0 0 3.3V_motor.sym
+C 51700 45100 1 0 0 3.3V_motor.sym
 {
-T 53000 45800 5 10 0 0 0 0 1
+T 51800 45800 5 10 0 0 0 0 1
 device=none
 }
-N 53100 44700 53200 44700 4
-N 53200 44700 53200 45100 4
-N 53200 45100 53500 45100 4
-C 53900 43800 1 0 1 input.sym
+N 51900 44700 52000 44700 4
+N 52000 44700 52000 45100 4
+N 52000 45100 52300 45100 4
+C 56100 43800 1 0 1 input.sym
 {
-T 53900 44100 5 10 0 0 0 6 1
+T 56100 44100 5 10 0 0 0 6 1
 device=INPUT
-T 54575 43850 5 10 1 1 0 6 1
+T 56775 43850 5 10 1 1 0 6 1
 net=serial_cts:1
 }
-C 47800 44200 1 0 0 input.sym
+C 46600 44200 1 0 0 input.sym
 {
-T 47800 44500 5 10 0 0 0 0 1
+T 46600 44500 5 10 0 0 0 0 1
 device=OUTPUT
-T 47200 44250 5 10 1 1 0 0 1
+T 46000 44250 5 10 1 1 0 0 1
 net=rpi_reset:1
 }
-C 55300 44200 1 0 0 output.sym
+C 53900 44200 1 0 0 output.sym
 {
-T 55400 44500 5 10 0 0 0 0 1
+T 54000 44500 5 10 0 0 0 0 1
 device=OUTPUT
-T 55850 44225 5 10 1 1 0 0 1
+T 54450 44225 5 10 1 1 0 0 1
 net=reset:1
 }
 C 41600 46300 1 90 0 3.3V-plus-1.sym
@@ -276,69 +276,69 @@ device=OUTPUT
 T 55600 49400 5 10 1 1 0 6 1
 net=rpi_serial_cts:1
 }
-N 53500 43500 53100 43500 4
-C 49500 43400 1 0 0 input.sym
+N 52300 43500 51900 43500 4
+C 48300 43400 1 0 0 input.sym
 {
-T 49500 43700 5 10 0 0 0 0 1
+T 48300 43700 5 10 0 0 0 0 1
 device=INPUT
-T 48875 43450 5 10 1 1 0 0 1
+T 47675 43450 5 10 1 1 0 0 1
 net=rpi_scl_0:1
 }
-C 53500 43400 1 0 0 output.sym
+C 52300 43400 1 0 0 output.sym
 {
-T 53600 43700 5 10 0 0 0 0 1
+T 52400 43700 5 10 0 0 0 0 1
 device=OUTPUT
-T 54050 43425 5 10 1 1 0 0 1
+T 52850 43425 5 10 1 1 0 0 1
 net=scl:1
 }
-N 48600 44300 50700 44300 4
-N 50300 43500 50700 43500 4
-C 53500 42700 1 90 0 resistor.sym
+N 47400 44300 49500 44300 4
+N 49100 43500 49500 43500 4
+C 52300 42700 1 90 0 resistor.sym
 {
-T 53100 43000 5 10 0 0 90 0 1
+T 51900 43000 5 10 0 0 90 0 1
 device=RESISTOR
-T 53800 43325 5 10 1 1 180 0 1
+T 52600 43325 5 10 1 1 180 0 1
 refdes=R18
-T 53800 43125 5 10 1 1 180 0 1
+T 52500 43125 5 10 1 1 180 0 1
 value=1k
-T 53500 42700 5 10 0 1 0 0 1
+T 52300 42700 5 10 0 1 0 0 1
 footprint=0805_ext
-T 53500 42700 5 10 0 0 0 0 1
+T 52300 42700 5 10 0 0 0 0 1
 model=RC0805JR-071KL
 }
-C 53700 42900 1 180 0 3.3V_motor.sym
+C 52500 42900 1 180 0 3.3V_motor.sym
 {
-T 53600 42200 5 10 0 0 180 0 1
+T 52400 42200 5 10 0 0 180 0 1
 device=none
 }
-C 48600 44300 1 270 1 resistor.sym
+C 47400 44300 1 270 1 resistor.sym
 {
-T 49000 44600 5 10 0 0 90 2 1
+T 47800 44600 5 10 0 0 90 2 1
 device=RESISTOR
-T 48300 44925 5 10 1 1 180 6 1
+T 47100 44925 5 10 1 1 180 6 1
 refdes=R15
-T 48300 44725 5 10 1 1 180 6 1
+T 47100 44725 5 10 1 1 180 6 1
 value=1k
-T 48600 44300 5 10 0 1 0 0 1
+T 47400 44300 5 10 0 1 0 0 1
 footprint=0805_ext
-T 48600 44300 5 10 0 0 0 0 1
+T 47400 44300 5 10 0 0 0 0 1
 model=RC0805JR-071KL
 }
-C 50300 42700 1 270 1 resistor.sym
+C 49100 42700 1 270 1 resistor.sym
 {
-T 50700 43000 5 10 0 0 90 2 1
+T 49500 43000 5 10 0 0 90 2 1
 device=RESISTOR
-T 50000 43325 5 10 1 1 180 6 1
+T 48800 43325 5 10 1 1 180 6 1
 refdes=R16
-T 50000 43125 5 10 1 1 180 6 1
+T 48900 43125 5 10 1 1 180 6 1
 value=1k
-T 50300 42700 5 10 0 1 0 0 1
+T 49100 42700 5 10 0 1 0 0 1
 footprint=0805_ext
-T 50300 42700 5 10 0 0 0 0 1
+T 49100 42700 5 10 0 0 0 0 1
 model=RC0805JR-071KL
 }
-C 48500 44900 1 0 0 3.3V-plus-1.sym
-C 50600 42900 1 180 0 3.3V-plus-1.sym
+C 47300 44900 1 0 0 3.3V-plus-1.sym
+C 49400 42900 1 180 0 3.3V-plus-1.sym
 C 56100 48100 1 90 0 3.3V-plus-1.sym
 C 43300 47200 1 90 0 iso_gnd.sym
 C 43300 48800 1 90 0 iso_gnd.sym
@@ -346,9 +346,9 @@ C 43300 44000 1 90 0 iso_gnd.sym
 C 43300 43200 1 90 0 iso_gnd.sym
 C 41300 42200 1 270 0 iso_gnd.sym
 C 55800 49200 1 270 0 iso_gnd.sym
-C 50600 43000 1 0 0 iso_gnd.sym
-C 53000 43000 1 0 0 gnd.sym
-C 54200 45000 1 90 0 gnd.sym
+C 49400 43000 1 0 0 iso_gnd.sym
+C 51800 43000 1 0 0 gnd.sym
+C 53000 45000 1 90 0 gnd.sym
 C 41300 45000 1 270 0 iso_gnd.sym
 C 41300 48200 1 270 0 iso_gnd.sym
 C 56100 47500 1 0 0 connector5-2.sym
@@ -368,8 +368,8 @@ value=N/A
 T 56100 47500 5 10 0 0 0 0 1
 model=N/A
 }
-C 49600 44800 1 0 0 iso_gnd.sym
-N 49700 45100 50000 45100 4
+C 48400 44800 1 0 0 iso_gnd.sym
+N 48500 45100 48800 45100 4
 C 53200 47100 1 0 0 connector6-2.sym
 {
 T 53900 50000 5 10 1 1 0 6 1
@@ -511,24 +511,24 @@ N 47700 49100 47700 48700 4
 N 47700 48700 48100 48700 4
 N 48100 48300 47700 48300 4
 N 47700 48300 47700 47900 4
-N 48700 44500 48700 44300 4
-N 53400 43300 53400 43500 4
-N 50400 43300 50400 43500 4
-C 55300 44200 1 0 1 resistor.sym
+N 47500 44500 47500 44300 4
+N 52200 43300 52200 43500 4
+N 49200 43300 49200 43500 4
+C 54000 44200 1 0 1 resistor.sym
 {
-T 55000 44600 5 10 0 0 180 2 1
+T 53700 44600 5 10 0 0 180 2 1
 device=RESISTOR
-T 54900 44375 5 10 1 1 0 6 1
+T 53700 44375 5 10 1 1 0 6 1
 refdes=R23
-T 55200 44375 5 10 1 1 0 6 1
+T 53900 44375 5 10 1 1 0 6 1
 value=1k
-T 55300 44200 5 10 0 1 90 0 1
+T 54000 44200 5 10 0 1 90 0 1
 footprint=0805_ext
-T 55300 44200 5 10 0 0 90 0 1
+T 54000 44200 5 10 0 0 90 0 1
 model=RC0805JR-071KL
 }
-N 55300 44300 55100 44300 4
-N 54700 44300 53100 44300 4
+N 53900 44300 53800 44300 4
+N 53400 44300 51900 44300 4
 C 41600 44600 1 180 0 io.sym
 {
 T 41400 44000 5 10 0 0 180 0 1
@@ -550,54 +550,54 @@ value=NoConnection
 T 41300 48400 5 10 0 0 0 0 1
 device=DRC_Directive
 }
-C 48600 43800 1 180 0 io.sym
+C 47400 43800 1 180 0 io.sym
 {
-T 48400 43200 5 10 0 0 180 0 1
+T 47200 43200 5 10 0 0 180 0 1
 device=IO
-T 47100 43625 5 10 1 1 0 0 1
+T 45900 43625 5 10 1 1 0 0 1
 net=rpi_sda_0:1
 }
-N 48600 43700 50700 43700 4
-C 55300 43600 1 0 0 io.sym
+N 47400 43700 49500 43700 4
+C 53900 43600 1 0 0 io.sym
 {
-T 55500 44200 5 10 0 0 0 0 1
+T 54100 44200 5 10 0 0 0 0 1
 device=IO
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+T 54900 43775 5 10 1 1 180 0 1
 net=sda:1
 }
-N 55300 43700 53100 43700 4
-C 48600 42900 1 270 1 resistor.sym
+N 53900 43700 51900 43700 4
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 {
-T 49000 43200 5 10 0 0 90 2 1
+T 47800 43200 5 10 0 0 90 2 1
 device=RESISTOR
-T 48600 42900 5 10 0 1 0 0 1
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 footprint=0805_ext
-T 48600 42900 5 10 0 0 0 0 1
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 model=RC0805JR-071KL
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+T 47100 43525 5 10 1 1 180 6 1
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-T 48300 43325 5 10 1 1 180 6 1
+T 47100 43325 5 10 1 1 180 6 1
 value=1k
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-C 48900 43100 1 180 0 3.3V-plus-1.sym
-N 48700 43500 48700 43700 4
-C 55100 42900 1 270 1 resistor.sym
+C 47700 43100 1 180 0 3.3V-plus-1.sym
+N 47500 43500 47500 43700 4
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 {
-T 55500 43200 5 10 0 0 90 2 1
+T 54000 43200 5 10 0 0 90 2 1
 device=RESISTOR
-T 55100 42900 5 10 0 1 0 0 1
+T 53600 42900 5 10 0 1 0 0 1
 footprint=0805_ext
-T 55100 42900 5 10 0 0 0 0 1
+T 53600 42900 5 10 0 0 0 0 1
 model=RC0805JR-071KL
-T 54800 43525 5 10 1 1 180 6 1
+T 53400 43525 5 10 1 1 180 6 1
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-T 54800 43325 5 10 1 1 180 6 1
+T 53400 43325 5 10 1 1 180 6 1
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-N 55200 43500 55200 43700 4
-C 55500 43100 1 180 0 3.3V_motor.sym
+N 53700 43500 53700 43700 4
+C 54000 43100 1 180 0 3.3V_motor.sym
 {
-T 55400 42400 5 10 0 0 180 0 1
+T 53900 42400 5 10 0 0 180 0 1
 device=none
 }
 C 41300 46800 1 0 0 nc.sym
@@ -621,3 +621,33 @@ value=NoConnection
 T 43300 48400 5 10 0 0 0 6 1
 device=DRC_Directive
 }
+N 55300 43900 51900 43900 4
+N 55300 44100 51900 44100 4
+C 55000 44800 1 270 0 cap.sym
+{
+T 55700 44600 5 10 0 0 270 0 1
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+T 55000 44800 5 10 0 0 180 0 1
+footprint=0805_ext
+T 55150 44600 5 10 1 1 0 0 1
+refdes=C1
+T 55550 44450 5 10 1 1 180 0 1
+value=10nF
+}
+C 55000 43800 1 270 0 cap.sym
+{
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+device=CAPACITOR
+T 55000 43800 5 10 0 0 180 0 1
+footprint=0805_ext
+T 55150 43600 5 10 1 1 0 0 1
+refdes=C2
+T 55550 43450 5 10 1 1 180 0 1
+value=10nF
+}
+N 55100 44300 55100 44100 4
+N 55100 43900 55100 43700 4
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+N 55100 43100 55100 43300 4
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diff --git a/symbols/TMC2660.sym b/symbols/TMC2660.sym
deleted file mode 100644
index 3b7ee36..0000000
--- a/symbols/TMC2660.sym
+++ /dev/null
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diff --git a/symbols/csd88537nd.sym b/symbols/csd88537nd.sym
new file mode 100644
index 0000000..feb8846
--- /dev/null
+++ b/symbols/csd88537nd.sym
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diff --git a/symbols/drv8711.sym b/symbols/drv8711.sym
new file mode 100644
index 0000000..5e2cc10
--- /dev/null
+++ b/symbols/drv8711.sym
@@ -0,0 +1,437 @@
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diff --git a/symbols/motor_driver.sym b/symbols/motor_driver.sym
index 0eb56c2..771b8e1 100644
--- a/symbols/motor_driver.sym
+++ b/symbols/motor_driver.sym
@@ -1,105 +1,116 @@
 v 20130925 2
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 {
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 pintype=unknown
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