From fdd8de3e004f2b44abf97cd93a9cac18efb8582e Mon Sep 17 00:00:00 2001 From: Claude Date: Sun, 27 Sep 2026 09:28:49 +0000 Subject: [PATCH] Route the phase-3 manager board: 0 unconnected, 0 DRC errors Hand-drawn locked copper for the USB pair (through U12 into J3), the CAN pair and the U8 buck power stage (route_critical.py), then Freerouting with B.Cu weighted expensive, phase-1's finish_routes with 2-layer settings, and PGND stitching between the two ground pours. PGND is now poured on both layers (3V3 runs as 0.4 mm tracks). Placement in gen_board.py was reworked against the netlist and U8 gets an IPC-size board-local courtyard. Fab outputs regenerated. phase1 finish_routes.py gains FILL_AROUND/B_COST hooks (defaults keep phase-1 behaviour), skips rule areas, and loads the base board first so LoadBoard no longer resets the project rules. Co-Authored-By: Claude Opus 5.5 (1M context) Claude-Session: https://claude.ai/code/session_01KfJo5gk19gMQupM6RFmYmb --- HANDOVER.md | 10 +- hardware/LAYOUT.md | 9 +- hardware/phase1-module/tools/finish_routes.py | 19 +- hardware/phase3-manager/drc-report.txt | 718 +- .../phase3-manager/phase3-manager-fab.zip | Bin 0 -> 252399 bytes .../phase3-manager/phase3-manager.kicad_pcb | 44430 +++++++++------- hardware/phase3-manager/tools/README.md | 64 + hardware/phase3-manager/tools/export_dsn.py | 116 + .../phase3-manager/tools/finish_routes.py | 31 + .../phase3-manager/tools/freerouting.rules | 27 + hardware/phase3-manager/tools/gen_board.py | 177 +- .../phase3-manager/tools/route_critical.py | 186 + hardware/phase3-manager/tools/run_drc.py | 6 +- hardware/phase3-manager/tools/stitch.py | 173 + 14 files changed, 25489 insertions(+), 20477 deletions(-) create mode 100644 hardware/phase3-manager/phase3-manager-fab.zip create mode 100644 hardware/phase3-manager/tools/README.md create mode 100644 hardware/phase3-manager/tools/export_dsn.py create mode 100644 hardware/phase3-manager/tools/finish_routes.py create mode 100644 hardware/phase3-manager/tools/freerouting.rules create mode 100644 hardware/phase3-manager/tools/route_critical.py create mode 100644 hardware/phase3-manager/tools/stitch.py diff --git a/HANDOVER.md b/HANDOVER.md index 2b6b3ba..92d06b2 100644 --- a/HANDOVER.md +++ b/HANDOVER.md @@ -47,7 +47,7 @@ manager, CAN 2.0B @500k. Docs 01–07 are the spec; read 05 (build plan) first | PCB — Phase 2 | **83 unconnected, 0 copper DRC, silk clean (2026-07-26, c1a86eb)** — see the resume section; finish by hand in KiCad. Older detail below: | | PCB — Phase 2 (history) | **(2026-07-25, 27fb2d1).** `gen_board.py` placement green (173 comps, all pour/courtyard/edge assertions pass, 130×90 4-layer); `route_board.py` pass-1 done (power pours, In2 heat patches, both phases' gate fan-outs, Kelvin pairs, disconnect trunk). DRC: **copper down to ~19 clearance + ~11 dangling/mask/hole in 3 known clusters** (see resume section); 243 unconnected = signal nets, autoroute not yet run. Found & fixed a real LM5143 land-pattern bug in the process (see load-bearing decisions) | | PCB — Phase 3 backplane | **COMPLETE pass-1 (2026-07-25)**: `phase3-backplane/tools/gen_board.py` (single-script: placement + 2oz bus pours + stitching + ALL signal routing) — **0 copper DRC, 0 unconnected**; only lib-bookkeeping (39) + 1 silk nick remain. 8 slots @30mm (XT60PW-F rot-90 mates the module pad-for-pad, socket y60..77.8 = module J5 1:1), M6 lugs -> RS1‖RS2 0.5mΩ Kelvin-sensed by INA228, nested PRESENT L-bus, CAN terminated past both end slots, E-stop chain threaded per docs. Netlist from `tools/wip/bp.net` (regenerate via kicad-cli) | -| PCB — Phase 3 manager | **placement pass complete, 0 DRC (2026-07-26)**: 100×80 2L, 87 footprints (80 comps + 4 M3 + 3 fiducials), 86 nets, F.Cu 3V3 / B.Cu PGND planes, antenna keep-out verified copper-free. **173 unconnected = the signal nets; routing is the next pass.** Reproduce: `cd tools && python3 gen_board.py wip/mgr.net` → `python3 ../../common/fix_fpids.py ../phase3-manager.kicad_pcb` → `python3 ../../common/finish_board.py ../phase3-manager.kicad_pcb --silk --planes` → `python3 run_drc.py` | +| PCB — Phase 3 manager | **Routed, 0 unconnected, 0 DRC errors (2026-09-27, draft PR into `development` from `claude/route-manager-shxsg1`)**: placement reworked (15+ passives had been placed by stale refdes, far from their pins; U8 buck re-laid tight round its pinout; U11 turned so CAN faces J1; U12 in the USB path), PGND now poured on both layers (was F.Cu 3V3 / B.Cu PGND), USB + CAN pairs and buck power copper hand-drawn and locked (`route_critical.py`), rest Freerouting 1.9 + `finish_routes.py`, 283 PGND stitch vias. DRC = 5 warnings (4 silk, 1 U8 courtyard-override lib mismatch). Antenna keep-out copper-free. Pipeline: `phase3-manager/tools/README.md` | | Module firmware | v0.1 builds clean (6.3 KB): full peripheral binding + CAN dispatch around the host-tested `module_core`. Untested on silicon (no board yet) | | Host tests | `cd firmware/tests && make test` — must stay green. **5 suites now**: can, core, manager, scpi, ui | | Manager firmware | **v0.2 COMPLETE (2026-07-25, commit 174595e)**: `scpi_core` + `ui_core` join `manager_core` as host-tested cores; ESP-IDF shell fully written (display/encoder/USB-SCPI/app_main). **First compile 2026-09-27: builds clean on IDF v5.3.2** (355 KB image, two build fixes). Untested on silicon. See docs/10 | @@ -198,10 +198,10 @@ Notable route_board facts a future session needs: 1. **Finish Phase-2 board** — hand-route the remaining 83 connections in KiCad (table + per-item coords in the resume section), then `../common/finish_board.py` (silk + planes + fab) and `run_drc.py`. -2. **Phase-3 manager board — ROUTE it.** Placement is done and DRC-clean - (see the table); what is left is 173 unconnected signal nets on a 2-layer - board. Mostly 3-node digital nets, so hand-routing in KiCad is realistic; - there is no `route_board.py` for this phase yet. +2. **Phase-3 manager board — routed (2026-09-27).** Review before ordering: + the J3 breakout is tied to the USB4105 land pattern while the USB-C part + is still an open pick; 13 nets cross under the USB pair on B.Cu (fine at + full speed); the 0.2 mm drilling gate below still applies. 3. **Order files** — the MPN/LCSC pass is done for every part SOURCING.md verified: `python3 common/bom.py` (from `hardware/`) writes hidden LCSC/MPN/Manufacturer properties into the schematics (surgical, additive diff --git a/hardware/LAYOUT.md b/hardware/LAYOUT.md index f40d65c..df2a6b9 100644 --- a/hardware/LAYOUT.md +++ b/hardware/LAYOUT.md @@ -12,7 +12,7 @@ against the footprints + netlist, not memory. | phase1-module | done | green | **done** — `phase1-module.kicad_pcb`: placement, pours, planes, critical routes, 0 DRC copper errors; some signal nets unrouted (autoroute.py is WIP) | | phase2-module | done (hand-arranged) | green (173 comps, 116 nets) | not started — this doc is the placement plan | | phase3-backplane | done | green (30 comps) | not started | -| phase3-manager | done | not yet re-checked | not started | +| phase3-manager | done | green (80 comps, 86 nets) | **routed** 2026-09-27: 0 unconnected, 0 DRC errors (see `phase3-manager/tools/README.md`) | Phase-1's board is the reference implementation: open it next to this doc — every rule below is applied there and visible (input band → FET straddle → @@ -264,7 +264,7 @@ with the bottom row facing the FETs, and give the top edge an **AGND pocket** - Keep the manager connector and any supply-sense divider at the same end as the supply entry. -# Phase-3 manager (100 × 80 mm, 2-layer) — preliminary +# Phase-3 manager (100 × 80 mm, 2-layer) — routed 2026-09-27; the rules it follows - ESP32-S3 module: antenna edge overhanging or keep-out (no copper under the antenna), away from the display/CAN wiring. @@ -272,6 +272,11 @@ with the bottom row facing the FETs, and give the top edge an **AGND pocket** transceiver next to the backplane connector, differential pair, termination per the bus plan above; USB connector ESD diodes at the connector; buttons/ encoder and display connector grouped on the UI edge (see ui.kicad_sch). +- As built: PGND poured on both layers and stitched (a 2-layer board's top + layer carries the signals, so a top-side 3V3 plane only fragments); B.Cu + kept for short jumpers so it stays the reference plane under the USB and + CAN pairs; each LMR36015 VIN/PGND pin pair has its own input cap at the + pins; U12 (ESD) sits in the USB pair's path, not on a stub. --- diff --git a/hardware/phase1-module/tools/finish_routes.py b/hardware/phase1-module/tools/finish_routes.py index f3ed00d..c783161 100644 --- a/hardware/phase1-module/tools/finish_routes.py +++ b/hardware/phase1-module/tools/finish_routes.py @@ -59,6 +59,10 @@ VIA_COST = 1.5 ZONE_COST = 0.6 # per cell through a foreign F.Cu pour fill RIP_COST = 0.4 # per 0.05 mm cell through rippable copper +# Boards that reuse this router (phase3-manager/tools/finish_routes.py) +# override these; the defaults keep phase-1 behaviour unchanged. +FILL_AROUND = set() # nets whose F.Cu pour is plain fill-around: no ZONE_COST +B_COST = 0.0 # extra cost per cell on B.Cu (keeps a B.Cu plane whole) COPPER = (pcbnew.F_Cu, pcbnew.In1_Cu, pcbnew.In2_Cu, pcbnew.B_Cu) ROUTE_LAYERS = (pcbnew.F_Cu, pcbnew.B_Cu) mm = pcbnew.ToMM @@ -117,6 +121,8 @@ def __init__(self, board, base_keys=None): obj = None if key(t) in base_keys else t self.items.append((net, t.GetLayer(), g, "track", obj)) for z in board.Zones(): + if z.GetIsRuleArea(): + continue # keep-outs have no fill (asserts in KiCad 7) for g in sps_polys(z.GetFilledPolysList(z.GetLayer())): self.items.append((z.GetNetname(), z.GetLayer(), g, "zone", None)) @@ -196,9 +202,9 @@ def soft(it): # refills around the track), so a pin walled in by a pour can still # get out -- but the router minimises the cut pour = mask([it[2] for it in items if it[1] == pcbnew.F_Cu and it[0] != net - and it[3] == "zone"], CLEAR + TRACK_W / 2) + and it[3] == "zone" and it[0] not in FILL_AROUND], CLEAR + TRACK_W / 2) pour_via = mask([it[2] for it in items if it[1] == pcbnew.F_Cu and it[0] != net - and it[3] == "zone"], CLEAR + VIA_D / 2) + and it[3] == "zone" and it[0] not in FILL_AROUND], CLEAR + VIA_D / 2) softg = {L: [it[2] for it in items if it[1] == L and it[0] != net and soft(it)] for L in ROUTE_LAYERS} track_ok = {L: ~mask(foreign[L], CLEAR + TRACK_W / 2) for L in ROUTE_LAYERS} @@ -287,7 +293,8 @@ def h(i, j): if di and dj and not (ok[l][i + di, j] and ok[l][i, j + dj]): continue # no corner cutting past an obstacle nc = c + w * STEP + (RIP_COST if sm[l][a, b] else 0.0) \ - + (ZONE_COST if l == 0 and pour[a, b] else 0.0) + + (ZONE_COST if l == 0 and pour[a, b] else 0.0) \ + + (B_COST if l == 1 else 0.0) ns = (l, a, b) if nc < best.get(ns, 1e18): best[ns] = nc @@ -509,10 +516,14 @@ def main(): args = [a for a in sys.argv[1:] if not a.startswith("--base=")] base = [a[7:] for a in sys.argv[1:] if a.startswith("--base=")] board_path = args[0] if args else BOARD - board = pcbnew.LoadBoard(board_path) + # Load the base BEFORE the board: pcbnew.LoadBoard switches the active + # project, and a base outside the project dir has none -- loaded second, + # it swapped the board's rules for KiCad defaults, which Save() then + # wrote into the real .kicad_pro (min drill 0.3, hole clearance 0.25...). base_keys = set() if base: base_keys = {key(t) for t in pcbnew.LoadBoard(base[0]).GetTracks()} + board = pcbnew.LoadBoard(board_path) pcbnew.ZONE_FILLER(board).Fill(board.Zones()) bb = board.GetBoardEdgesBoundingBox() board_bb = (mm(bb.GetLeft()), mm(bb.GetTop()), mm(bb.GetRight()), mm(bb.GetBottom())) diff --git a/hardware/phase3-manager/drc-report.txt b/hardware/phase3-manager/drc-report.txt index 8331aa7..99d9ed1 100644 --- a/hardware/phase3-manager/drc-report.txt +++ b/hardware/phase3-manager/drc-report.txt @@ -1,701 +1,27 @@ -** Drc report for /home/fire310w/Documents/Hobbies/Lab_Bench/hardware/phase3-manager/tools/../phase3-manager.kicad_pcb ** -** Created on 2026-07-26 13:09:15 ** +** Drc report for /home/claude/Lab_Bench/hardware/phase3-manager/tools/../phase3-manager.kicad_pcb ** +** Created on 2026-09-27 09:27:22 ** -** Found 0 DRC violations ** +** Found 5 DRC violations ** +[silk_overlap]: Silkscreen overlap + Rule: board setup constraints silk; Severity: warning + @(31.8000 mm, 71.9500 mm): Reference 'C54' + @(31.6000 mm, 74.0000 mm): Reference 'C51' +[silk_overlap]: Silkscreen overlap + Rule: board setup constraints silk; Severity: warning + @(107.0000 mm, 69.5700 mm): Reference 'R79' + @(107.0000 mm, 69.4300 mm): Reference 'R76' +[silk_overlap]: Silkscreen overlap + Rule: board setup constraints silk; Severity: warning + @(49.0000 mm, 29.5700 mm): Reference 'R70' + @(49.0000 mm, 29.4300 mm): Reference 'R69' +[silk_over_copper]: Silkscreen clipped by solder mask + Local override; Severity: warning + @(38.0000 mm, 72.0500 mm): Reference 'U8' +[lib_footprint_mismatch]: Footprint 'LMR36015_RNX_VQFN-HR-12' does not match copy in library 'labbench'. + Local override; Severity: warning + @(38.0000 mm, 75.0000 mm): Footprint U8 -** Found 173 unconnected pads ** -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(21.0000 mm, 21.0000 mm): Zone [3V3] on F.Cu - @(62.5250 mm, 80.0000 mm): Pad 1 [3V3] of C57 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(50.4000 mm, 75.0000 mm): Pad 2 [5V0] of L2 on F.Cu - @(52.5000 mm, 72.0000 mm): Zone [5V0] on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(48.5250 mm, 80.0000 mm): Pad 1 [5V0] of C56 on F.Cu - @(50.4000 mm, 75.0000 mm): Pad 2 [5V0] of L2 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(43.1750 mm, 80.0000 mm): Pad 1 [5V0] of R50 on F.Cu - @(48.5250 mm, 80.0000 mm): Pad 1 [5V0] of C56 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(106.4000 mm, 87.6000 mm): Pad 1 [5V0] of BZ1 on F.Cu - @(106.4000 mm, 80.4000 mm): Pad 1 [5V0] of BZ1 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(115.9500 mm, 77.0000 mm): Pad 1 [5V0] of D9 on F.Cu - @(106.4000 mm, 80.4000 mm): Pad 1 [5V0] of BZ1 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(55.2250 mm, 38.0000 mm): Pad 1 [5V0] of C69 on F.Cu - @(32.5250 mm, 28.6350 mm): Pad 3 [5V0] of U11 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(52.5000 mm, 72.0000 mm): Zone [5V0] on F.Cu - @(55.2250 mm, 38.0000 mm): Pad 1 [5V0] of C69 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(52.5000 mm, 72.0000 mm): Zone [5V0] on F.Cu - @(106.4000 mm, 80.4000 mm): Pad 1 [5V0] of BZ1 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(32.2250 mm, 80.0000 mm): Pad 1 [AUX_BOOT] of C52 on F.Cu - @(37.1000 mm, 75.6750 mm): Pad 4 [AUX_BOOT] of U8 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(43.1750 mm, 83.0000 mm): Pad 1 [AUX_FB] of R51 on F.Cu - @(44.8250 mm, 80.0000 mm): Pad 2 [AUX_FB] of R50 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(44.8250 mm, 80.0000 mm): Pad 2 [AUX_FB] of R50 on F.Cu - @(38.5000 mm, 76.4000 mm): Pad 7 [AUX_FB] of U8 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(39.8250 mm, 68.5000 mm): Pad 2 [AUX_PG] of R52 on F.Cu - @(38.9000 mm, 75.6750 mm): Pad 8 [AUX_PG] of U8 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(98.7500 mm, 42.0900 mm): Pad 35 [AUX_PG] of U10 on F.Cu - @(39.8250 mm, 68.5000 mm): Pad 2 [AUX_PG] of R52 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(37.2250 mm, 80.0000 mm): Pad 1 [AUX_VCC] of C53 on F.Cu - @(37.5000 mm, 76.4000 mm): Pad 5 [AUX_VCC] of U8 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(91.0625 mm, 88.0500 mm): Pad 1 [BL_G] of Q11 on F.Cu - @(102.9375 mm, 83.0000 mm): Pad 3 [BL_G] of Q10 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(33.1750 mm, 85.0000 mm): Pad 1 [BL_G] of R73 on F.Cu - @(91.0625 mm, 88.0500 mm): Pad 1 [BL_G] of Q11 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(108.1500 mm, 74.1000 mm): Pad 1 [BOOT0] of SW2 on F.Cu - @(101.8500 mm, 74.1000 mm): Pad 1 [BOOT0] of SW2 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(107.8250 mm, 93.0000 mm): Pad 2 [BOOT0] of R66 on F.Cu - @(108.1500 mm, 74.1000 mm): Pad 1 [BOOT0] of SW2 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(98.7500 mm, 52.2500 mm): Pad 27 [BOOT0] of U10 on F.Cu - @(101.8500 mm, 74.1000 mm): Pad 1 [BOOT0] of SW2 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(96.0625 mm, 82.0500 mm): Pad 1 [BUZZ] of Q9 on F.Cu - @(98.7500 mm, 43.3600 mm): Pad 34 [BUZZ] of U10 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(33.1750 mm, 88.0000 mm): Pad 1 [BUZZ] of R98 on F.Cu - @(96.0625 mm, 82.0500 mm): Pad 1 [BUZZ] of Q9 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(118.0500 mm, 77.0000 mm): Pad 2 [BUZZ_N] of D9 on F.Cu - @(113.6000 mm, 80.4000 mm): Pad 2 [BUZZ_N] of BZ1 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(113.6000 mm, 80.4000 mm): Pad 2 [BUZZ_N] of BZ1 on F.Cu - @(113.6000 mm, 87.6000 mm): Pad 2 [BUZZ_N] of BZ1 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(97.9375 mm, 83.0000 mm): Pad 3 [BUZZ_N] of Q9 on F.Cu - @(113.6000 mm, 80.4000 mm): Pad 2 [BUZZ_N] of BZ1 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(25.0000 mm, 49.2400 mm): PTH pad 7 [CAN_H] of J1 - @(37.4750 mm, 27.3650 mm): Pad 7 [CAN_H] of U11 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(25.0000 mm, 51.7800 mm): PTH pad 8 [CAN_L] of J1 - @(37.4750 mm, 28.6350 mm): Pad 6 [CAN_L] of U11 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(32.5250 mm, 29.9050 mm): Pad 4 [CAN_RX] of U11 on F.Cu - @(81.2500 mm, 40.8200 mm): Pad 5 [CAN_RX] of U10 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(37.4750 mm, 26.0950 mm): Pad 8 [CAN_STB] of U11 on F.Cu - @(47.1750 mm, 41.0000 mm): Pad 1 [CAN_STB] of R64 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(47.1750 mm, 41.0000 mm): Pad 1 [CAN_STB] of R64 on F.Cu - @(81.2500 mm, 42.0900 mm): Pad 6 [CAN_STB] of U10 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(32.5250 mm, 26.0950 mm): Pad 1 [CAN_TX] of U11 on F.Cu - @(81.2500 mm, 39.5500 mm): Pad 4 [CAN_TX] of U10 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(116.2250 mm, 65.0000 mm): Pad 1 [ENC_A] of C74 on F.Cu - @(98.7500 mm, 50.9800 mm): Pad 28 [ENC_A] of U10 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(98.7500 mm, 50.9800 mm): Pad 28 [ENC_A] of U10 on F.Cu - @(34.8250 mm, 46.0000 mm): Pad 2 [ENC_A] of R77 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(72.0000 mm, 76.0000 mm): PTH pad A [ENC_A_RAW] of ENC1 - @(102.8250 mm, 71.0000 mm): Pad 2 [ENC_A_RAW] of R75 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(33.1750 mm, 46.0000 mm): Pad 1 [ENC_A_RAW] of R77 on F.Cu - @(72.0000 mm, 76.0000 mm): PTH pad A [ENC_A_RAW] of ENC1 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(96.2250 mm, 93.0000 mm): Pad 1 [ENC_B] of C75 on F.Cu - @(98.7500 mm, 49.7100 mm): Pad 29 [ENC_B] of U10 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(98.7500 mm, 49.7100 mm): Pad 29 [ENC_B] of U10 on F.Cu - @(38.8250 mm, 46.0000 mm): Pad 2 [ENC_B] of R78 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(42.8250 mm, 24.0000 mm): Pad 2 [ENC_B_RAW] of R76 on F.Cu - @(37.1750 mm, 46.0000 mm): Pad 1 [ENC_B_RAW] of R78 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(37.1750 mm, 46.0000 mm): Pad 1 [ENC_B_RAW] of R78 on F.Cu - @(72.0000 mm, 81.0000 mm): PTH pad B [ENC_B_RAW] of ENC1 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(86.5000 mm, 81.0000 mm): PTH pad S1 [ENC_SW] of ENC1 - @(101.2250 mm, 93.0000 mm): Pad 1 [ENC_SW] of C76 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(98.7500 mm, 48.4400 mm): Pad 30 [ENC_SW] of U10 on F.Cu - @(86.5000 mm, 81.0000 mm): PTH pad S1 [ENC_SW] of ENC1 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(42.8250 mm, 46.0000 mm): Pad 2 [ENC_SW] of R79 on F.Cu - @(86.5000 mm, 81.0000 mm): PTH pad S1 [ENC_SW] of ENC1 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(98.1500 mm, 74.1000 mm): Pad 1 [ESP_EN] of SW1 on F.Cu - @(96.2250 mm, 71.0000 mm): Pad 1 [ESP_EN] of C68 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(96.2250 mm, 71.0000 mm): Pad 1 [ESP_EN] of C68 on F.Cu - @(91.8500 mm, 74.1000 mm): Pad 1 [ESP_EN] of SW1 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(92.8250 mm, 93.0000 mm): Pad 2 [ESP_EN] of R65 on F.Cu - @(91.8500 mm, 74.1000 mm): Pad 1 [ESP_EN] of SW1 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(96.2250 mm, 71.0000 mm): Pad 1 [ESP_EN] of C68 on F.Cu - @(81.2500 mm, 38.2800 mm): Pad 3 [ESP_EN] of U10 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(92.8250 mm, 71.0000 mm): Pad 2 [EXP_INT] of R72 on F.Cu - @(81.2500 mm, 43.3600 mm): Pad 7 [EXP_INT] of U10 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(81.2500 mm, 43.3600 mm): Pad 7 [EXP_INT] of U10 on F.Cu - @(53.1375 mm, 27.4250 mm): Pad 1 [EXP_INT] of U13 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(92.9375 mm, 83.0000 mm): Pad 3 [HW_EN] of Q8 on F.Cu - @(98.7500 mm, 47.1700 mm): Pad 31 [HW_EN] of U10 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(25.0000 mm, 54.3200 mm): PTH pad 9 [HW_EN] of J1 - @(92.9375 mm, 83.0000 mm): Pad 3 [HW_EN] of Q8 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(91.0625 mm, 82.0500 mm): Pad 1 [HW_KILL] of Q8 on F.Cu - @(93.1750 mm, 53.5000 mm): Pad 23 [HW_KILL] of U10 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(33.1750 mm, 68.5000 mm): Pad 1 [HW_KILL] of R71 on F.Cu - @(91.0625 mm, 82.0500 mm): Pad 1 [HW_KILL] of Q8 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(58.8625 mm, 28.7250 mm): Pad 22 [I2C_SCL] of U13 on F.Cu - @(48.8250 mm, 35.0000 mm): Pad 2 [I2C_SCL] of R62 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(48.8250 mm, 35.0000 mm): Pad 2 [I2C_SCL] of R62 on F.Cu - @(25.0000 mm, 61.9400 mm): PTH pad 12 [I2C_SCL] of J1 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(85.5550 mm, 53.5000 mm): Pad 17 [I2C_SCL] of U10 on F.Cu - @(58.8625 mm, 28.7250 mm): Pad 22 [I2C_SCL] of U13 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(58.8625 mm, 28.0750 mm): Pad 23 [I2C_SDA] of U13 on F.Cu - @(48.8250 mm, 38.0000 mm): Pad 2 [I2C_SDA] of R63 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(81.2500 mm, 49.7100 mm): Pad 12 [I2C_SDA] of U10 on F.Cu - @(58.8625 mm, 28.0750 mm): Pad 23 [I2C_SDA] of U13 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(48.8250 mm, 38.0000 mm): Pad 2 [I2C_SDA] of R63 on F.Cu - @(25.0000 mm, 59.4000 mm): PTH pad 11 [I2C_SDA] of J1 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(58.8625 mm, 34.5750 mm): Pad 13 [KEY0] of U13 on F.Cu - @(46.8250 mm, 52.0000 mm): Pad 2 [KEY0] of R90 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(46.8250 mm, 52.0000 mm): Pad 2 [KEY0] of R90 on F.Cu - @(70.0000 mm, 66.0000 mm): PTH pad 1 [KEY0] of J5 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(58.8625 mm, 33.9250 mm): Pad 14 [KEY1] of U13 on F.Cu - @(34.8250 mm, 55.0000 mm): Pad 2 [KEY1] of R91 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(72.5400 mm, 66.0000 mm): PTH pad 2 [KEY1] of J5 - @(58.8625 mm, 33.9250 mm): Pad 14 [KEY1] of U13 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(58.8625 mm, 33.2750 mm): Pad 15 [KEY2] of U13 on F.Cu - @(38.8250 mm, 55.0000 mm): Pad 2 [KEY2] of R92 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(75.0800 mm, 66.0000 mm): PTH pad 3 [KEY2] of J5 - @(58.8625 mm, 33.2750 mm): Pad 15 [KEY2] of U13 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(58.8625 mm, 32.6250 mm): Pad 16 [KEY3] of U13 on F.Cu - @(42.8250 mm, 55.0000 mm): Pad 2 [KEY3] of R93 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(42.8250 mm, 55.0000 mm): Pad 2 [KEY3] of R93 on F.Cu - @(77.6200 mm, 66.0000 mm): PTH pad 4 [KEY3] of J5 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(58.8625 mm, 31.9750 mm): Pad 17 [KEY4] of U13 on F.Cu - @(46.8250 mm, 55.0000 mm): Pad 2 [KEY4] of R94 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(46.8250 mm, 55.0000 mm): Pad 2 [KEY4] of R94 on F.Cu - @(80.1600 mm, 66.0000 mm): PTH pad 5 [KEY4] of J5 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(82.7000 mm, 66.0000 mm): PTH pad 6 [KEY5] of J5 - @(107.8250 mm, 71.0000 mm): Pad 2 [KEY5] of R95 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(58.8625 mm, 31.3250 mm): Pad 18 [KEY5] of U13 on F.Cu - @(82.7000 mm, 66.0000 mm): PTH pad 6 [KEY5] of J5 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(85.2400 mm, 66.0000 mm): PTH pad 7 [KEY6] of J5 - @(112.8250 mm, 71.0000 mm): Pad 2 [KEY6] of R96 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(58.8625 mm, 30.6750 mm): Pad 19 [KEY6] of U13 on F.Cu - @(85.2400 mm, 66.0000 mm): PTH pad 7 [KEY6] of J5 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(87.7800 mm, 66.0000 mm): PTH pad 8 [KEY7] of J5 - @(117.8250 mm, 71.0000 mm): Pad 2 [KEY7] of R97 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(58.8625 mm, 30.0250 mm): Pad 20 [KEY7] of U13 on F.Cu - @(87.7800 mm, 66.0000 mm): PTH pad 8 [KEY7] of J5 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(81.2500 mm, 45.9000 mm): Pad 9 [LCD_BL] of U10 on F.Cu - @(101.0625 mm, 82.0500 mm): Pad 1 [LCD_BL] of Q10 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(75.0800 mm, 60.0000 mm): PTH pad 3 [LCD_CS] of J6 - @(86.8250 mm, 53.5000 mm): Pad 18 [LCD_CS] of U10 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(80.1600 mm, 60.0000 mm): PTH pad 5 [LCD_DC] of J6 - @(91.9050 mm, 53.5000 mm): Pad 22 [LCD_DC] of U10 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(87.7800 mm, 60.0000 mm): PTH pad 8 [LCD_LED] of J6 - @(92.9375 mm, 89.0000 mm): Pad 3 [LCD_LED] of Q11 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(90.6350 mm, 53.5000 mm): Pad 21 [LCD_MISO] of U10 on F.Cu - @(90.3200 mm, 60.0000 mm): PTH pad 9 [LCD_MISO] of J6 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(90.3200 mm, 60.0000 mm): PTH pad 9 [LCD_MISO] of J6 - @(100.4800 mm, 60.0000 mm): PTH pad 13 [LCD_MISO] of J6 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(88.0950 mm, 53.5000 mm): Pad 19 [LCD_MOSI] of U10 on F.Cu - @(82.7000 mm, 60.0000 mm): PTH pad 6 [LCD_MOSI] of J6 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(97.9400 mm, 60.0000 mm): PTH pad 12 [LCD_MOSI] of J6 - @(88.0950 mm, 53.5000 mm): Pad 19 [LCD_MOSI] of U10 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(77.6200 mm, 60.0000 mm): PTH pad 4 [LCD_RST] of J6 - @(81.2500 mm, 44.6300 mm): Pad 8 [LCD_RST] of U10 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(92.8600 mm, 60.0000 mm): PTH pad 10 [LCD_SCK] of J6 - @(89.3650 mm, 53.5000 mm): Pad 20 [LCD_SCK] of U10 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(85.2400 mm, 60.0000 mm): PTH pad 7 [LCD_SCK] of J6 - @(92.8600 mm, 60.0000 mm): PTH pad 10 [LCD_SCK] of J6 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(41.2125 mm, 31.0000 mm): Pad 1 [LED_CAN] of D8 on F.Cu - @(98.7500 mm, 44.6300 mm): Pad 33 [LED_CAN] of U10 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(42.7875 mm, 31.0000 mm): Pad 2 [LED_CAN_A] of D8 on F.Cu - @(46.1750 mm, 31.0000 mm): Pad 1 [LED_CAN_A] of R70 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(41.2125 mm, 28.0000 mm): Pad 1 [LED_STAT] of D7 on F.Cu - @(98.7500 mm, 45.9000 mm): Pad 32 [LED_STAT] of U10 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(42.7875 mm, 28.0000 mm): Pad 2 [LED_STAT_A] of D7 on F.Cu - @(46.1750 mm, 28.0000 mm): Pad 1 [LED_STAT_A] of R69 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(53.1375 mm, 28.7250 mm): Pad 3 [PGND] of U13 on F.Cu - @(53.1375 mm, 28.0750 mm): Pad 2 [PGND] of U13 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(86.3200 mm, 92.8950 mm): PTH pad S1 [PGND] of J3 - @(85.2000 mm, 92.3200 mm): Pad B1 [PGND] of J3 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(77.6800 mm, 92.8950 mm): PTH pad S1 [PGND] of J3 - @(78.8000 mm, 92.3200 mm): Pad B12 [PGND] of J3 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(38.9000 mm, 73.8750 mm): Pad 11 [PGND] of U8 on F.Cu - @(37.1000 mm, 73.8750 mm): Pad 1 [PGND] of U8 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(37.1000 mm, 73.8750 mm): Pad 1 [PGND] of U8 on F.Cu - @(38.0000 mm, 76.4000 mm): Pad 6 [PGND] of U8 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(51.4750 mm, 80.0000 mm): Pad 2 [PGND] of C56 on F.Cu - @(53.8500 mm, 81.7000 mm): Pad 1 [PGND] of U9 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(66.8250 mm, 93.0000 mm): Pad 2 [PGND] of R68 on F.Cu - @(66.8250 mm, 90.0000 mm): Pad 2 [PGND] of R67 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(38.0000 mm, 76.4000 mm): Pad 6 [PGND] of U8 on F.Cu - @(38.7750 mm, 80.0000 mm): Pad 2 [PGND] of C53 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(101.8500 mm, 77.9000 mm): Pad 2 [PGND] of SW2 on F.Cu - @(98.1500 mm, 77.9000 mm): Pad 2 [PGND] of SW1 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(44.4750 mm, 70.5000 mm): Pad 2 [PGND] of C51 on F.Cu - @(44.4750 mm, 74.5000 mm): Pad 2 [PGND] of C50 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(75.0250 mm, 40.5000 mm): Pad 2 [PGND] of C64 on F.Cu - @(77.0250 mm, 37.0000 mm): Pad 2 [PGND] of C65 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(81.2500 mm, 35.7400 mm): Pad 1 [PGND] of U10 on F.Cu - @(77.0250 mm, 37.0000 mm): Pad 2 [PGND] of C65 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(56.7750 mm, 38.0000 mm): Pad 2 [PGND] of C69 on F.Cu - @(53.1375 mm, 34.5750 mm): Pad 12 [PGND] of U13 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(107.7750 mm, 65.0000 mm): Pad 2 [PGND] of C70 on F.Cu - @(112.7750 mm, 65.0000 mm): Pad 2 [PGND] of C73 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(97.7750 mm, 93.0000 mm): Pad 2 [PGND] of C75 on F.Cu - @(102.7750 mm, 93.0000 mm): Pad 2 [PGND] of C76 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(91.0625 mm, 83.9500 mm): Pad 2 [PGND] of Q8 on F.Cu - @(96.0625 mm, 83.9500 mm): Pad 2 [PGND] of Q9 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(101.0625 mm, 83.9500 mm): Pad 2 [PGND] of Q10 on F.Cu - @(96.0625 mm, 83.9500 mm): Pad 2 [PGND] of Q9 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(117.7750 mm, 65.0000 mm): Pad 2 [PGND] of C74 on F.Cu - @(112.7750 mm, 65.0000 mm): Pad 2 [PGND] of C73 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(72.7400 mm, 91.5000 mm): Pad 4 [PGND] of U12 on F.Cu - @(77.6800 mm, 92.8950 mm): PTH pad S1 [PGND] of J3 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(96.0000 mm, 66.0000 mm): PTH pad 1 [PGND] of J4 - @(97.7750 mm, 71.0000 mm): Pad 2 [PGND] of C68 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(57.4750 mm, 75.0000 mm): Pad 2 [PGND] of C54 on F.Cu - @(62.9750 mm, 75.0000 mm): Pad 2 [PGND] of C55 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(65.4750 mm, 80.0000 mm): Pad 2 [PGND] of C57 on F.Cu - @(62.9750 mm, 75.0000 mm): Pad 2 [PGND] of C55 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(38.9000 mm, 73.8750 mm): Pad 11 [PGND] of U8 on F.Cu - @(44.4750 mm, 74.5000 mm): Pad 2 [PGND] of C50 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(91.8500 mm, 77.9000 mm): Pad 2 [PGND] of SW1 on F.Cu - @(86.5000 mm, 76.0000 mm): PTH pad S2 [PGND] of ENC1 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(58.8625 mm, 29.3750 mm): Pad 21 [PGND] of U13 on F.Cu - @(53.1375 mm, 28.7250 mm): Pad 3 [PGND] of U13 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(37.1000 mm, 73.8750 mm): Pad 1 [PGND] of U8 on F.Cu - @(34.8250 mm, 68.5000 mm): Pad 2 [PGND] of R71 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(53.1375 mm, 28.7250 mm): Pad 3 [PGND] of U13 on F.Cu - @(53.1375 mm, 34.5750 mm): Pad 12 [PGND] of U13 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(101.0625 mm, 83.9500 mm): Pad 2 [PGND] of Q10 on F.Cu - @(101.8500 mm, 77.9000 mm): Pad 2 [PGND] of SW2 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(91.0625 mm, 83.9500 mm): Pad 2 [PGND] of Q8 on F.Cu - @(91.8500 mm, 77.9000 mm): Pad 2 [PGND] of SW1 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(72.7400 mm, 91.5000 mm): Pad 4 [PGND] of U12 on F.Cu - @(66.8250 mm, 90.0000 mm): Pad 2 [PGND] of R67 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(101.8500 mm, 77.9000 mm): Pad 2 [PGND] of SW2 on F.Cu - @(108.1500 mm, 77.9000 mm): Pad 2 [PGND] of SW2 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(72.0000 mm, 78.5000 mm): PTH pad C [PGND] of ENC1 - @(65.4750 mm, 80.0000 mm): Pad 2 [PGND] of C57 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(44.8250 mm, 83.0000 mm): Pad 2 [PGND] of R51 on F.Cu - @(38.7750 mm, 80.0000 mm): Pad 2 [PGND] of C53 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(44.8250 mm, 83.0000 mm): Pad 2 [PGND] of R51 on F.Cu - @(51.4750 mm, 80.0000 mm): Pad 2 [PGND] of C56 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(35.7750 mm, 34.0000 mm): Pad 2 [PGND] of C66 on F.Cu - @(32.5250 mm, 27.3650 mm): Pad 2 [PGND] of U11 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(57.4750 mm, 75.0000 mm): Pad 2 [PGND] of C54 on F.Cu - @(53.8500 mm, 81.7000 mm): Pad 1 [PGND] of U9 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(53.1375 mm, 34.5750 mm): Pad 12 [PGND] of U13 on F.Cu - @(48.8250 mm, 41.0000 mm): Pad 2 [PGND] of R64 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(38.7750 mm, 80.0000 mm): Pad 2 [PGND] of C53 on F.Cu - @(34.8250 mm, 88.0000 mm): Pad 2 [PGND] of R98 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(87.8000 mm, 42.0600 mm): PTH pad 41 [PGND] of U10 - @(81.2500 mm, 35.7400 mm): Pad 1 [PGND] of U10 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(102.7750 mm, 93.0000 mm): Pad 2 [PGND] of C76 on F.Cu - @(101.0625 mm, 83.9500 mm): Pad 2 [PGND] of Q10 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(89.9000 mm, 42.7600 mm): PTH pad 41 [PGND] of U10 - @(98.7500 mm, 35.7400 mm): Pad 40 [PGND] of U10 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(53.1500 mm, 63.0000 mm): Pad 2 [PGND] of D5 on F.Cu - @(44.4750 mm, 70.5000 mm): Pad 2 [PGND] of C51 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(107.7750 mm, 65.0000 mm): Pad 2 [PGND] of C70 on F.Cu - @(97.7750 mm, 71.0000 mm): Pad 2 [PGND] of C68 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(35.7750 mm, 34.0000 mm): Pad 2 [PGND] of C66 on F.Cu - @(25.0000 mm, 39.0800 mm): PTH pad 3 [PGND] of J1 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(35.7750 mm, 34.0000 mm): Pad 2 [PGND] of C66 on F.Cu - @(48.8250 mm, 41.0000 mm): Pad 2 [PGND] of R64 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(46.8250 mm, 46.0000 mm): Pad 2 [PRESENT0] of R80 on F.Cu - @(53.1375 mm, 29.3750 mm): Pad 4 [PRESENT0] of U13 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(25.0000 mm, 64.4800 mm): PTH pad 13 [PRESENT0] of J1 - @(46.8250 mm, 46.0000 mm): Pad 2 [PRESENT0] of R80 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(34.8250 mm, 49.0000 mm): Pad 2 [PRESENT1] of R81 on F.Cu - @(25.0000 mm, 67.0200 mm): PTH pad 14 [PRESENT1] of J1 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(53.1375 mm, 30.0250 mm): Pad 5 [PRESENT1] of U13 on F.Cu - @(34.8250 mm, 49.0000 mm): Pad 2 [PRESENT1] of R81 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(53.1375 mm, 30.6750 mm): Pad 6 [PRESENT2] of U13 on F.Cu - @(38.8250 mm, 49.0000 mm): Pad 2 [PRESENT2] of R82 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(38.8250 mm, 49.0000 mm): Pad 2 [PRESENT2] of R82 on F.Cu - @(25.0000 mm, 69.5600 mm): PTH pad 15 [PRESENT2] of J1 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(42.8250 mm, 49.0000 mm): Pad 2 [PRESENT3] of R83 on F.Cu - @(53.1375 mm, 31.3250 mm): Pad 7 [PRESENT3] of U13 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(25.0000 mm, 72.1000 mm): PTH pad 16 [PRESENT3] of J1 - @(42.8250 mm, 49.0000 mm): Pad 2 [PRESENT3] of R83 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(46.8250 mm, 49.0000 mm): Pad 2 [PRESENT4] of R84 on F.Cu - @(53.1375 mm, 31.9750 mm): Pad 8 [PRESENT4] of U13 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(25.0000 mm, 74.6400 mm): PTH pad 17 [PRESENT4] of J1 - @(46.8250 mm, 49.0000 mm): Pad 2 [PRESENT4] of R84 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(53.1375 mm, 32.6250 mm): Pad 9 [PRESENT5] of U13 on F.Cu - @(34.8250 mm, 52.0000 mm): Pad 2 [PRESENT5] of R85 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(34.8250 mm, 52.0000 mm): Pad 2 [PRESENT5] of R85 on F.Cu - @(25.0000 mm, 77.1800 mm): PTH pad 18 [PRESENT5] of J1 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(53.1375 mm, 33.2750 mm): Pad 10 [PRESENT6] of U13 on F.Cu - @(38.8250 mm, 52.0000 mm): Pad 2 [PRESENT6] of R86 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(38.8250 mm, 52.0000 mm): Pad 2 [PRESENT6] of R86 on F.Cu - @(25.0000 mm, 79.7200 mm): PTH pad 19 [PRESENT6] of J1 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(42.8250 mm, 52.0000 mm): Pad 2 [PRESENT7] of R87 on F.Cu - @(53.1375 mm, 33.9250 mm): Pad 11 [PRESENT7] of U13 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(25.0000 mm, 82.2600 mm): PTH pad 20 [PRESENT7] of J1 - @(42.8250 mm, 52.0000 mm): Pad 2 [PRESENT7] of R87 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(38.0000 mm, 74.2120 mm): Pad 12 [SW_AUX] of U8 on F.Cu - @(33.7750 mm, 80.0000 mm): Pad 2 [SW_AUX] of C52 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(47.6000 mm, 75.0000 mm): Pad 1 [SW_AUX] of L2 on F.Cu - @(38.0000 mm, 74.2120 mm): Pad 12 [SW_AUX] of U8 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(81.2500 mm, 47.1700 mm): Pad 10 [TOUCH_CS] of U10 on F.Cu - @(95.4000 mm, 60.0000 mm): PTH pad 11 [TOUCH_CS] of J6 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(81.2500 mm, 48.4400 mm): Pad 11 [TOUCH_IRQ] of U10 on F.Cu - @(103.0200 mm, 60.0000 mm): PTH pad 14 [TOUCH_IRQ] of J6 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(98.7500 mm, 40.8200 mm): Pad 36 [UART_RX] of U10 on F.Cu - @(101.0800 mm, 66.0000 mm): PTH pad 3 [UART_RX] of J4 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(98.5400 mm, 66.0000 mm): PTH pad 2 [UART_TX] of J4 - @(98.7500 mm, 39.5500 mm): Pad 37 [UART_TX] of U10 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(65.1750 mm, 90.0000 mm): Pad 1 [USB_CC1] of R67 on F.Cu - @(80.7500 mm, 92.3200 mm): Pad A5 [USB_CC1] of J3 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(65.1750 mm, 93.0000 mm): Pad 1 [USB_CC2] of R68 on F.Cu - @(83.7500 mm, 92.3200 mm): Pad B5 [USB_CC2] of J3 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(81.2500 mm, 92.3200 mm): Pad B7 [USB_DN] of J3 on F.Cu - @(82.2500 mm, 92.3200 mm): Pad A7 [USB_DN] of J3 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(72.7400 mm, 90.5000 mm): Pad 5 [USB_DN] of U12 on F.Cu - @(81.2500 mm, 92.3200 mm): Pad B7 [USB_DN] of J3 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(81.2500 mm, 50.9800 mm): Pad 13 [USB_DN] of U10 on F.Cu - @(72.7400 mm, 90.5000 mm): Pad 5 [USB_DN] of U12 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(81.7500 mm, 92.3200 mm): Pad A6 [USB_DP] of J3 on F.Cu - @(82.7500 mm, 92.3200 mm): Pad B6 [USB_DP] of J3 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(71.2600 mm, 91.5000 mm): Pad 3 [USB_DP] of U12 on F.Cu - @(81.7500 mm, 92.3200 mm): Pad A6 [USB_DP] of J3 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(81.7500 mm, 92.3200 mm): Pad A6 [USB_DP] of J3 on F.Cu - @(81.2500 mm, 52.2500 mm): Pad 14 [USB_DP] of U10 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(79.6000 mm, 92.3200 mm): Pad B9 [USB_VBUS] of J3 on F.Cu - @(84.4000 mm, 92.3200 mm): Pad B4 [USB_VBUS] of J3 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(25.0000 mm, 34.0000 mm): PTH pad 1 [VBUS] of J1 - @(25.0000 mm, 36.5400 mm): PTH pad 2 [VBUS] of J1 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(25.0000 mm, 36.5400 mm): PTH pad 2 [VBUS] of J1 - @(34.0000 mm, 63.0000 mm): PTH pad 1 [VBUS] of F1 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(38.9000 mm, 75.1750 mm): Pad 9 [VBUS_F] of U8 on F.Cu - @(38.9000 mm, 74.5250 mm): Pad 10 [VBUS_F] of U8 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(38.9000 mm, 74.5250 mm): Pad 10 [VBUS_F] of U8 on F.Cu - @(37.1000 mm, 74.5250 mm): Pad 2 [VBUS_F] of U8 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(38.9000 mm, 74.5250 mm): Pad 10 [VBUS_F] of U8 on F.Cu - @(41.5250 mm, 74.5000 mm): Pad 1 [VBUS_F] of C50 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(41.5250 mm, 74.5000 mm): Pad 1 [VBUS_F] of C50 on F.Cu - @(41.5250 mm, 70.5000 mm): Pad 1 [VBUS_F] of C51 on F.Cu -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(48.8500 mm, 63.0000 mm): Pad 1 [VBUS_F] of D5 on F.Cu - @(42.0000 mm, 63.0000 mm): PTH pad 2 [VBUS_F] of F1 -[unconnected_items]: Missing connection between items - Local override; Severity: error - @(41.5250 mm, 70.5000 mm): Pad 1 [VBUS_F] of C51 on F.Cu - @(42.0000 mm, 63.0000 mm): PTH pad 2 [VBUS_F] of F1 +** Found 0 unconnected pads ** ** Found 0 Footprint errors ** diff --git a/hardware/phase3-manager/phase3-manager-fab.zip 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54.669136 21.264459) + (xy 54.650141 21.239704) + (xy 54.620626 21.168447) + (xy 54.630695 21.091978) + (xy 54.677648 21.030789) + (xy 54.748905 21.001274) + (xy 54.768352 21) (xy 64.851 21) ) ) diff --git a/hardware/phase3-manager/tools/README.md b/hardware/phase3-manager/tools/README.md new file mode 100644 index 0000000..afafd5a --- /dev/null +++ b/hardware/phase3-manager/tools/README.md @@ -0,0 +1,64 @@ +# Phase-3 manager board: generation and routing pipeline + +Same approach as `hardware/phase1-module/tools/` (read its README for the +philosophy and the pcbnew API notes). Two copper layers, 100 x 80 mm, +ESP32-S3-WROOM-1 manager. + +## Full rebuild + +Run from this directory with KiCad 7.0.11's Python (on Ubuntu 24.04 that +is `python3.12`; the repo's `python3` may be a different interpreter). + +```bash +kicad-cli sch export netlist -o wip/mgr.net ../phase3-manager.kicad_sch +python3 check_netlist.py wip/mgr.net # all nets OK +python3 check_footprints.py wip/mgr.net # all OK +python3 gen_board.py wip/mgr.net # placement + pours + keep-outs +python3 route_critical.py # USB/CAN pairs, buck power copper (locked) +cp ../phase3-manager.kicad_pcb wip/base.kicad_pcb # base for rip-up protection +python3 export_dsn.py wip/mgr.dsn +xvfb-run -a java -Xss64m -jar freerouting-1.9.0.jar \ + -de wip/mgr.dsn -dr freerouting.rules -do wip/mgr.ses -mp 20 -mt 1 +python3 ../../phase1-module/tools/import_ses.py wip/mgr.ses ../phase3-manager.kicad_pcb +python3 finish_routes.py --base=wip/base.kicad_pcb # closes the last few +python3 stitch.py # PGND stitch vias, F.Cu <-> B.Cu +python3 ../../common/fix_fpids.py ../phase3-manager.kicad_pcb +python3 ../../common/finish_board.py ../phase3-manager.kicad_pcb --silk --planes +python3 run_drc.py # 0 unconnected, 0 errors +python3 ../../common/finish_board.py ../phase3-manager.kicad_pcb --fab +``` + +Freerouting is not deterministic, so a rerun gives a different (equally +DRC-clean) result. Everything placed by hand lives in `gen_board.py` +PLACEMENT, so rerunning it always reproduces the committed placement; no +script after it moves a part. + +## Scripts + +| Script | Role | +|---|---| +| `gen_board.py` | Netlist -> placed board: PLACEMENT table, PGND pours on both layers, antenna rule area, placement/keep-out/courtyard/plane-continuity assertions | +| `route_critical.py` | Pass 1, locked: USB pair (through the U12 ESD clamp into J3), CAN pair, and the U8 buck's power copper (VIN/PGND at each input cap, SW, 5V0 trunk, VBUS, VBUS_F) | +| `export_dsn.py` | Specctra export: locked copper as `fix`, B.Cu PGND as a plane, F.Cu PGND dropped, power net classes, keep-outs round fiducials and the board edge | +| `freerouting.rules` | Freerouting layer costs: B.Cu traces cost 4-6x F.Cu so B.Cu stays a near-solid ground plane with short jumpers | +| `finish_routes.py` | Pass 3: phase-1's exact-geometry router with two-layer settings | +| `stitch.py` | Pass 4: a PGND via in every F.Cu pour fragment, then a 5 mm grid | +| `run_drc.py` | DRC via pcbnew (KiCad 7 has no CLI drc) | + +`import_ses.py` is phase-1's, run with explicit paths. + +## Why the board looks the way it does + +- **Ground on both layers.** The board was first drawn with F.Cu as a 3V3 + plane. On two layers F.Cu also carries most signals, and routing cuts a + top plane into islands only a track can re-join. PGND on top is re-joined + by any stitch via; 3V3 (under 0.5 A) runs as 0.4 mm tracks. +- **B.Cu is expensive for the router** (`freerouting.rules`): the first + unweighted run put 1.4 m of track on B.Cu and cut the ground plane into + large pieces; weighted, it is about 0.57 m of short jumpers. +- **The pairs are drawn by hand** because Freerouting routes each half of a + pair as an unrelated net. The ESP32-S3's USB is full-speed only, so the + pair is coupled and matched rather than impedance-controlled (90 ohm is + not achievable on 1.6 mm two-layer stock). +- **The buck is drawn by hand** because an autorouter treats SW as just + another net (first pass: 0.2 mm wide, two vias, round C50). diff --git a/hardware/phase3-manager/tools/export_dsn.py b/hardware/phase3-manager/tools/export_dsn.py new file mode 100644 index 0000000..d1871b0 --- /dev/null +++ b/hardware/phase3-manager/tools/export_dsn.py @@ -0,0 +1,116 @@ +"""Export a Specctra DSN of the manager board for Freerouting. + +Same approach as phase1-module/tools/export_dsn.py, adapted to two layers: + + 1. **Existing copper is locked** and exports as `(type fix)`: the USB and + CAN pairs and buck copper from route_critical.py are not the router's + to rip up. + 2. **B.Cu PGND stays a `(plane ...)`** (KiCad's stock export). On a signal + layer Freerouting treats a conduction area as free space for other + nets, and pads/vias touching it as connected to PGND, which is what a + ground pour that refills around tracks is. finish_routes.py and + stitch.py re-join any islands the routed B.Cu jumpers carve out. + 3. **The F.Cu PGND pour is dropped**: it is fill-around copper; exported, + it would read as a second conduction area on the signal layer. Any + other F.Cu pour (none today) would export as its fill, as a plane. + 4. **Net classes**: power nets get wider tracks than the 0.2 mm default. + 5. **Keepouts Freerouting cannot infer**: a ring round each fiducial + (KiCad gives fiducials a 0.5 mm local clearance; the DSN carries only + the 1 mm pad) and a band inside the board edge (KiCad's edge clearance + is 0.5 mm; Freerouting only keeps the 0.2 mm track clearance). + +The board file is never modified. + +Usage: python3 export_dsn.py [out.dsn] [board.kicad_pcb] +""" +import os +import re +import sys + +import pcbnew + +HERE = os.path.dirname(os.path.abspath(__file__)) +BOARD = sys.argv[2] if len(sys.argv) > 2 else os.path.join(HERE, "..", "phase3-manager.kicad_pcb") +OUT = sys.argv[1] if len(sys.argv) > 1 else os.path.join(HERE, "wip", "mgr.dsn") + +# width in um; nets not listed keep the 200 um default +FID_KEEPOUT_UM = 2600 # diameter: 1 mm pad + 0.5 mm clearance + track margin +EDGE_KEEPOUT_UM = 600 + +CLASSES = { + "vbus": (600, ["VBUS", "VBUS_F", "SW_AUX"]), + "rail": (400, ["3V3", "5V0", "PGND"]), +} + + +def um(v): + return round(pcbnew.ToMM(v) * 1000, 1) + + +def main(): + board = pcbnew.LoadBoard(BOARD) + board.BuildConnectivity() + pcbnew.ZONE_FILLER(board).Fill(board.Zones()) + + planes = [] + for z in board.Zones(): + if z.GetIsRuleArea() or z.GetLayer() != pcbnew.F_Cu or z.GetNetname() == "PGND": + continue + polys = z.GetFilledPolysList(z.GetLayer()) + for i in range(polys.OutlineCount()): + ol = polys.Outline(i) + pts = [ol.CPoint(j) for j in range(ol.PointCount())] + pts.append(pts[0]) + coords = " ".join(f"{um(p.x)} {-um(p.y)}" for p in pts) + planes.append(f' (plane "{z.GetNetname()}" (polygon F.Cu 0 {coords}))') + + for fp in board.GetFootprints(): + if fp.GetReference().startswith("FID"): + x, y = um(fp.GetPosition().x), -um(fp.GetPosition().y) + for lname in ("F.Cu", "B.Cu"): + planes.append(f' (keepout "" (circle {lname} {FID_KEEPOUT_UM} {x} {y}))') + bb = board.GetBoardEdgesBoundingBox() + x1, y1, x2, y2 = um(bb.GetLeft()), -um(bb.GetTop()), um(bb.GetRight()), -um(bb.GetBottom()) + e = EDGE_KEEPOUT_UM + for lname in ("F.Cu", "B.Cu"): + for rx1, ry1, rx2, ry2 in ((x1, y1, x2, y1 - e), (x1, y2 + e, x2, y2), + (x1, y1, x1 + e, y2), (x2 - e, y1, x2, y2)): + planes.append(f' (keepout "" (rect {lname} {rx1} {ry1} {rx2} {ry2}))') + + for t in board.GetTracks(): + t.SetLocked(True) + tmp = OUT + ".tmp" + if not pcbnew.ExportSpecctraDSN(board, tmp): + sys.exit("ExportSpecctraDSN failed") + text = open(tmp).read() + os.remove(tmp) + + # drop every stock F.Cu plane (PGND pour, 5V0 outline); keep B.Cu PGND + text = re.sub(r" \(plane [^\n]*\(polygon F\.Cu (?:[^()]|\n)*?\)\)\n", "", text) + at = text.index("\n (via ") + text = text[:at] + "\n" + "\n".join(planes) + text[at:] + + # pull the listed nets out of kicad_default into their own classes + m = re.search(r'\(class kicad_default ""(.*?)\n \(circuit', text, re.S) + names = m.group(1).split() + moved = {n for _, nets in CLASSES.values() for n in nets} + missing = moved - set(names) + if missing: + sys.exit(f"nets not in kicad_default: {sorted(missing)}") + keep = " ".join(n for n in names if n not in moved) + text = text[:m.start(1)] + " " + keep + text[m.end(1):] + via = re.search(r"\(circuit\s*\(use_via [^)]*\)\s*\)", text[m.start():]).group(0) + extra = [] + for name, (w, nets) in CLASSES.items(): + extra.append(f' (class {name} {" ".join(nets)}\n {via}\n' + f' (rule\n (width {w})\n (clearance 200.1)\n )\n )') + # insert after the kicad_default class block closes + close = text.index("\n )", text.index("(class kicad_default")) + len("\n )") + text = text[:close] + "\n" + "\n".join(extra) + text[close:] + open(OUT, "w").write(text) + print(f"export_dsn: {len(planes)} plane/keepout entries, " + f"{len(moved)} nets in power classes -> {os.path.relpath(OUT, HERE)}") + + +if __name__ == "__main__": + main() diff --git a/hardware/phase3-manager/tools/finish_routes.py b/hardware/phase3-manager/tools/finish_routes.py new file mode 100644 index 0000000..1d0c9af --- /dev/null +++ b/hardware/phase3-manager/tools/finish_routes.py @@ -0,0 +1,31 @@ +"""Routing pass 3 for the manager: phase-1's exact-geometry router, 2-layer settings. + + python3 finish_routes.py [board.kicad_pcb] [--base=pre_freerouting.kicad_pcb] + +Runs hardware/phase1-module/tools/finish_routes.py (read its docstring) +with this board's differences: + + * two copper layers, so no In1/In2 plane drops; + * PGND is poured on both layers and is fill-around: crossing the F.Cu + ground pour costs nothing extra, while the 5V0 buck-output island keeps + phase-1's pour cost so the router goes round it where it can; + * each B.Cu cell costs extra, so closing a connection prefers F.Cu and + the B.Cu ground plane under the USB/CAN pairs stays as whole as it can. +""" +import os +import sys + +import pcbnew + +HERE = os.path.dirname(os.path.abspath(__file__)) +sys.path.insert(0, os.path.join(HERE, "..", "..", "phase1-module", "tools")) +import finish_routes as fr # noqa: E402 + +fr.BOARD = os.path.join(HERE, "..", "phase3-manager.kicad_pcb") +fr.COPPER = (pcbnew.F_Cu, pcbnew.B_Cu) +fr.POWER_NETS = {"PGND", "3V3", "5V0", "VBUS", "VBUS_F", "SW_AUX"} +fr.FILL_AROUND = {"PGND"} +fr.B_COST = 0.05 + +if __name__ == "__main__": + fr.main() diff --git a/hardware/phase3-manager/tools/freerouting.rules b/hardware/phase3-manager/tools/freerouting.rules new file mode 100644 index 0000000..26ee3e8 --- /dev/null +++ b/hardware/phase3-manager/tools/freerouting.rules @@ -0,0 +1,27 @@ +(rules PCB mgr + (snap_angle + fortyfive_degree + ) + (autoroute_settings + (fanout off) + (autoroute on) + (postroute on) + (vias on) + (via_costs 30) + (plane_via_costs 5) + (start_ripup_costs 100) + (start_pass_no 1) + (layer_rule F.Cu + (active on) + (preferred_direction horizontal) + (preferred_direction_trace_costs 1.0) + (against_preferred_direction_trace_costs 1.2) + ) + (layer_rule B.Cu + (active on) + (preferred_direction vertical) + (preferred_direction_trace_costs 4.0) + (against_preferred_direction_trace_costs 6.0) + ) + ) +) diff --git a/hardware/phase3-manager/tools/gen_board.py b/hardware/phase3-manager/tools/gen_board.py index c12910b..edeb6c0 100644 --- a/hardware/phase3-manager/tools/gen_board.py +++ b/hardware/phase3-manager/tools/gen_board.py @@ -61,6 +61,14 @@ # constraint that actually matters, and these are asserted against it. COURTYARD_EXEMPT = {("C64", "U10"), ("C65", "U10")} +# U8's library courtyard (labbench LMR36015_RNX, shared with phase 1) is +# 4.4 x 5.4 mm round a 2 x 3 mm body: 1.2 mm of margin, not IPC-7351's +# 0.25. The input caps, L2 and the FB parts belong closer than that -- it +# is what keeps the hot loops short -- so this board replaces it with the +# IPC courtyard: pad/body extent (x +-1.2, y +-1.7) + 0.25 mm. Board-local; +# the shared library footprint (and the routed phase-1 board) are untouched. +COURTYARD_OVERRIDE = {"U8": (1.45, 1.95)} # ref -> (half-width, half-height) + def P(x, y): return VECTOR2I(FromMM(ORG[0] + x), FromMM(ORG[1] + y)) @@ -111,83 +119,103 @@ def parse_netlist(path): "J1": (5.0, 14.0, 0), # 1x20, pins y14..62.3 # === upper-left: CAN + I/O expander + pull-up field =================== - "U11": (15.0, 8.0, 0), # TCAN1042HGV SOIC-8 - "C66": (15.0, 14.0, 0), - "R76": (22.0, 4.0, 0), # CAN_STB pulldown - "D7": (22.0, 8.0, 0), # LED_STAT - "D8": (22.0, 11.0, 0), # LED_CAN - "R69": (27.0, 8.0, 0), - "R70": (27.0, 11.0, 0), + # Refdes below were re-checked against the netlist before routing (2026-09-27): + # an earlier pass had labelled parts by their old refdes, which left R64, + # R72, R76, C69 and eleven others 20-60 mm from the pins they serve. + # U11 turned 180 so CAN_H/CAN_L (pins 7/6) face J1 pins 7/8 across a + # clear 5 mm channel, and TXD/RXD (pins 1/4) face U10. route_pairs.py + # lays the CAN pair in that channel. + "U11": (15.0, 8.0, 180), # TCAN1042HGV SOIC-8 + "C66": (14.5, 3.6, 0), # U11 VIO (3V3) 100n, above pin 5 + "C69": (20.0, 7.4, 90), # U11 VCC (5V0) 100n, beside pin 3 + "R64": (13.0, 12.6, 0), # CAN_STB pulldown, below U11 pin 8 + "D7": (24.0, 8.0, 0), # LED_STAT + "D8": (24.0, 11.0, 0), # LED_CAN + "R69": (29.0, 8.0, 0), + "R70": (29.0, 11.0, 0), "U13": (36.0, 11.0, 0), # TCA9535 TSSOP-24 - "C69": (36.0, 18.0, 0), - "R62": (28.0, 15.0, 0), # I2C_SDA pull-up - "R63": (28.0, 18.0, 0), # I2C_SCL pull-up - "R64": (28.0, 21.0, 0), # EXP_INT pull-up + "C70": (41.8, 7.6, 90), # U13 VCC (3V3) 100n, beside pin 24 + "R72": (36.0, 4.0, 0), # EXP_INT pull-up, above U13 pin 1 + "R62": (28.0, 15.0, 0), # I2C_SCL pull-up + "R63": (28.0, 18.0, 0), # I2C_SDA pull-up } -_PU = ["R77", "R78", "R79", "R80", "R81", "R82", "R83", "R84", - "R85", "R86", "R87", "R90", "R91", "R92", "R93", "R94"] -for i, ref in enumerate(_PU): +# PRESENT0-7 pull-ups (J1 pins 13-20 <-> U13 port 0), two rows of four. +for i, ref in enumerate(["R80", "R81", "R82", "R83", "R84", "R85", "R86", "R87"]): PLACEMENT[ref] = (14.0 + 4.0 * (i % 4), 26.0 + 3.0 * (i // 4), 0) +# KEY0-7 pull-ups: one column just right of U13's port-1 pins (13-20), clear +# of U10's courtyard (x>=46), so each KEY net is a straight run down to J5. +for i, ref in enumerate(["R97", "R96", "R95", "R94", "R93", "R92", "R91", "R90"]): + PLACEMENT[ref] = (44.3, 10.0 + 2.2 * i, 0) PLACEMENT.update({ # === lower-left: VBUS -> buck -> 5V0 -> LDO -> 3V3 ==================== "F1": (14.0, 43.0, 0), # blade fuse, courtyard x11..24.9 "D5": (31.0, 43.0, 0), # SMBJ33A, courtyard 7.3 x 4.5 - # Buck hot loop: these MUST hug U8's VIN (pads 9/10 at x18.9) and PGND - # (pads 1/11). An earlier pass had them 23 mm away at x39/x44 — EMC SW-003 - # "large hot loop", the classic buck layout error: the di/dt loop area sets - # radiated emissions and switch-node ringing. - "C50": (23.0, 54.5, 0), # 4.7u/50V input, hard against U8 - "C51": (23.0, 50.5, 0), - "R71": (14.0, 48.5, 0), # EN divider - "R52": (19.0, 48.5, 0), + # U8 buck, laid out round the LMR36015 RNX pinout (route_critical.py + # draws its copper). Each VIN/PGND pin pair gets its own 1210 input cap + # right at the pins -- C51 on the west (pins 2/1), C50 on the east + # (pins 10/11) -- so each hot loop closes in ~2 mm on F.Cu. (An earlier + # pass had both caps east and L2 12 mm away, which put C50 between the + # SW pin and the inductor.) SW (pin 12) exits north straight into L2; + # the output caps sit west of L2's 5V0 pad; C52 (boot) is fed from SW + # round the west side, BOOT from pin 4 down the south; C53 (VCC) and the + # FB divider R51/R50 sit under pins 5-7, and AUX_PG leaves east to R52. "U8": (18.0, 55.0, 0), # LMR36015 VQFN-HR-12 - "L2": (29.0, 55.0, 0), # 33u 1210 - "C52": (13.0, 60.0, 0), # BOOT - "C53": (18.0, 60.0, 0), # VCC - "R50": (24.0, 60.0, 0), # FB top - "R51": (24.0, 63.0, 0), # FB bottom - "C54": (36.0, 55.0, 0), # 5V0 out 22u - "C55": (41.5, 55.0, 0), - "U9": (37.0, 64.0, 0), # NCP1117-3.3, fed straight from C54/C55 - "C56": (30.0, 60.0, 0), # LDO in - "C57": (44.0, 60.0, 0), # 3V3 out - "R73": (14.0, 65.0, 0), # AUX_PG pull-up - "R98": (14.0, 68.0, 0), + "C51": (14.65, 54.0, 90), # 4.7u/50V at pins 2 (VIN) / 1 (PGND) + "C50": (21.35, 54.0, 90), # 4.7u/50V at pins 10 (VIN) / 11 (PGND) + "L2": (18.0, 50.0, 90), # 33u 1210: pad1 SW (south), pad2 5V0 + "C54": (14.2, 48.3, 90), # 5V0 out 22u + "C55": (10.9, 48.3, 90), + "C52": (14.2, 57.3, 180), # BOOT: pad1 BOOT east, pad2 SW west + "C53": (16.9, 58.5, 270), # VCC, under pin 5 + "R51": (19.6, 58.5, 270), # FB bottom, under pin 7 + "R50": (21.9, 57.68, 180), # FB top, tapped off the 5V0 trunk + "R52": (25.6, 57.0, 180), # AUX_PG pull-up + "U9": (37.0, 64.0, 0), # NCP1117-3.3 + "C56": (30.2, 66.3, 180), # LDO in, at pin 3 + "C57": (44.0, 64.0, 0), # 3V3 out, at the tab "C67x": None, # === bottom edge: USB-C + ESD ========================================= "J3": (62.0, 76.0, 0), - "U12": (52.0, 71.0, 0), - "R67": (46.0, 70.0, 0), # CC1 5.1k - "R68": (46.0, 73.0, 0), # CC2 5.1k + # U12 (ESD) sits IN the USB pair's path, turned 180 so its DN pin faces + # the pair's DN (west) track and DP the DP (east) one: the pair splits + # round the package and each line touches its clamp with a short stub. + "U12": (47.525, 69.6, 180), + "R67": (55.1, 71.2, 180), # CC1 5.1k, under the USB pair, beside J3.A5 + "R68": (67.8, 69.0, 90), # CC2 5.1k, beside J3.B5 # === right: UI headers, encoder, buttons, buzzer ====================== "J6": (50.0, 40.0, 90), # 1x14 LCD, pins x50..83 "J5": (50.0, 46.0, 90), # 1x09 keys, pins x50..70.3 "J4": (76.0, 46.0, 90), # 1x03 UART - "ENC1": (52.0, 56.0, 0), # courtyard x50.5..68, y51.4..65.6 + "C73": (50.0, 37.0, 0), # J6 (LCD) 3V3 100n, above pin 1 + # ENC1 turned 180 so its A/B pins (now x66.5) face the RC network on + # the right instead of the 5V0 pour; same courtyard x50.5..68, y51.4..65.6. + "ENC1": (66.5, 61.0, 180), "SW1": (75.0, 56.0, 0), # RESET "SW2": (85.0, 56.0, 0), # BOOT - "R72": (72.0, 51.0, 0), # EN pull-up - "C68": (77.0, 51.0, 0), - "R75": (82.0, 51.0, 0), # BOOT0 pull-up - "R95": (87.0, 51.0, 0), # ENC_A - "R96": (92.0, 51.0, 0), # ENC_B - "R97": (97.0, 51.0, 0), # ENC_SW - "C70": (87.0, 45.0, 0), # ENC RC - "C73": (92.0, 45.0, 0), - "C74": (97.0, 45.0, 0), + "R65": (72.0, 51.0, 0), # ESP_EN pull-up + "C68": (77.0, 51.0, 0), # ESP_EN RC + "R66": (82.0, 51.0, 0), # BOOT0 pull-up + # Encoder conditioning, one row per signal: pull-up, series R, cap. + "R75": (87.0, 45.0, 0), # ENC_A_RAW pull-up + "R77": (92.0, 45.0, 0), # ENC_A series + "C74": (97.0, 45.0, 0), # ENC_A cap + "R76": (87.0, 48.0, 0), # ENC_B_RAW pull-up + "R78": (92.0, 48.0, 0), # ENC_B series + "C75": (97.0, 48.0, 0), # ENC_B cap + "R79": (87.0, 51.0, 0), # ENC_SW pull-up + "C76": (92.0, 51.0, 0), # ENC_SW cap "BZ1": (90.0, 64.0, 0), - "Q8": (72.0, 63.0, 0), # buzzer drive - "Q9": (77.0, 63.0, 0), # HW_KILL + "Q8": (72.0, 63.0, 0), # HW_KILL -> HW_EN + "Q9": (77.0, 63.0, 0), # buzzer drive "Q10": (82.0, 63.0, 0), # backlight pre-drive "Q11": (72.0, 69.0, 0), # backlight PMOS "D9": (97.0, 57.0, 0), # buzzer flyback - "R65": (72.0, 73.0, 0), - "R66": (87.0, 73.0, 0), - "C75": (77.0, 73.0, 0), - "C76": (82.0, 73.0, 0), + "R98": (77.0, 67.0, 0), # BUZZ pulldown, under Q9 + "R73": (82.0, 67.0, 0), # BL_G pull-up, under Q10 + "R71": (72.0, 73.0, 0), # HW_KILL pulldown }) PLACEMENT = {k: v for k, v in PLACEMENT.items() if v is not None} @@ -197,15 +225,12 @@ def parse_netlist(path): FIDUCIALS = [(10.0, 36.0), (44.0, 34.0), (90.0, 76.0)] # >=3 for SMD assembly # Pours. Nothing may enter KEEPOUT: the polygons below are shaped around it. -PWR_POURS = { - # 5V0 island: buck output caps -> LDO input, one contiguous piece - "5V0": [(32.5, 52.0), (45.0, 52.0), (45.0, 62.0), (39.5, 62.0), - (39.5, 66.5), (32.5, 66.5)], -} +# F.Cu power pours (net -> polygon). None since the 2026-09-27 re-layout: +# the old 5V0 island (x32..45) held output caps that now sit at L2, and +# 5V0 runs as a 0.8 mm trunk (route_critical.py) instead. +PWR_POURS = {} -EXPECT_IN_POUR = [ - ("C54", "1", "5V0"), ("C55", "1", "5V0"), ("U9", "3", "5V0"), -] +EXPECT_IN_POUR = [] def point_in_poly(x, y, poly): @@ -345,9 +370,9 @@ def check_plane_continuity(board): Must run AFTER the final ZONE_FILLER pass — island geometry is a property of the finished copper, not of the zone outlines. A fragment holding no pads is normal (the filler carves copper around pads and clearances); a - fragment holding pads with no via/PTH of its own is a genuine break, and - on this 2-layer board it is not even fixable with a stitch via, because - the opposite layer is the other plane. Moving the offender is the fix. + fragment holding pads with no via/PTH of its own is a genuine break. + (With PGND now poured on both layers, a stitch via re-joins such an + island; when F.Cu was a 3V3 plane, moving the offender was the only fix.) This exists because placing U10's decoupling caps pinched the F.Cu 3V3 pour into two pieces and nothing in the assertion set noticed — the @@ -447,6 +472,20 @@ def main(): fp = load_fp(fpid) fp.SetReference(ref) fp.SetValue(value) + if ref in COURTYARD_OVERRIDE: + hw, hh = COURTYARD_OVERRIDE[ref] + for g in list(fp.GraphicalItems()): + if g.GetLayer() == pcbnew.F_CrtYd: + fp.Remove(g) + corners = [(-hw, -hh), (hw, -hh), (hw, hh), (-hw, hh)] + for k in range(4): + seg = pcbnew.FP_SHAPE(fp, pcbnew.SHAPE_T_SEGMENT) + seg.SetStart0(VECTOR2I(FromMM(corners[k][0]), FromMM(corners[k][1]))) + seg.SetEnd0(VECTOR2I(FromMM(corners[(k + 1) % 4][0]), + FromMM(corners[(k + 1) % 4][1]))) + seg.SetLayer(pcbnew.F_CrtYd) + seg.SetWidth(FromMM(0.05)) + fp.Add(seg) x, y, rot = PLACEMENT[ref] fp.SetPosition(P(x, y)) fp.SetOrientationDegrees(rot) @@ -483,13 +522,19 @@ def main(): seg.SetWidth(FromMM(0.1)) board.Add(seg) - # B.Cu = PGND plane, F.Cu = 3V3 plane, both notched clear of the antenna + # PGND on BOTH layers, notched clear of the antenna. This board was first + # drawn with F.Cu as a 3V3 plane, but on two layers F.Cu also carries + # nearly every signal, and the routed tracks cut a top plane into islands + # that only a track could re-join (the other layer is ground). A ground + # pour on top instead is re-joined by any stitch via, gives the USB and + # CAN pairs coplanar ground on their own layer, and 3V3 (under 0.5 A) + # runs as 0.4 mm tracks. B.Cu stays the reference plane. ko_x1, ko_y1, ko_x2, ko_y2 = KEEPOUT plane = [(1.0, 1.0), (ko_x1 - 1.0, 1.0), (ko_x1 - 1.0, ko_y2 + 1.0), (ko_x2 + 1.0, ko_y2 + 1.0), (ko_x2 + 1.0, 1.0), (W - 1, 1.0), (W - 1, H - 1), (1.0, H - 1)] zones = [("PGND", pcbnew.B_Cu, 0, plane, "thermal"), - ("3V3", pcbnew.F_Cu, 0, plane, "thermal")] + ("PGND", pcbnew.F_Cu, 0, plane, "thermal")] for name, poly in PWR_POURS.items(): zones.append((name, pcbnew.F_Cu, 2, poly, "full")) for net, layer, prio, pts, conn in zones: diff --git a/hardware/phase3-manager/tools/route_critical.py b/hardware/phase3-manager/tools/route_critical.py new file mode 100644 index 0000000..f473d1d --- /dev/null +++ b/hardware/phase3-manager/tools/route_critical.py @@ -0,0 +1,186 @@ +"""Routing pass 1: hand-drawn critical copper, locked, before autorouting. + +Run after gen_board.py, before export_dsn.py: + python3 route_critical.py [board.kicad_pcb] + +Everything here is exported to Freerouting as fixed copper (export_dsn.py +locks it), so the router works round it and never rips it up. + +DIFFERENTIAL PAIRS. Freerouting has no notion of a pair: it routes USB_DP +and USB_DN (and CAN_H / CAN_L) as two unrelated nets, on whatever paths and +layers are cheapest. So the long runs are drawn here as coupled, +length-matched tracks on F.Cu over the B.Cu ground. + + USB (ESP32-S3 is full-speed only, 12 Mbit/s): U10 pins 13/14 exit west, + run along y~31, and turn south down the x~47.5 channel between the buck + area and the J6/J5 header ends -- the only way past two rows of 2.54 mm + headers without splitting the pair round a pin. At y67 the pair splits + round U12 (ESD, turned 180 so its clamp pins face the right lines), each + line touching its clamp with a <1 mm stub, re-joins, runs east along y70 + and turns down into J3. J3's A/B rows interleave DP and DN (B7 DN, A6 DP, + A7 DN, B6 DP), so DP joins A6-B6 with a U over the pin row and DN joins + B7-A7 with a U under it. 0.25 mm / 0.2 mm gap. Controlled 90-ohm + impedance is not achievable on 1.6 mm two-layer stock and is not needed + at full speed; the pair is kept coupled and matched instead. The J3 end + is tied to the USB4105 land pattern, and the USB-C part is still an open + choice: redraw it if the footprint changes. + + CAN (500 kbit/s): J1 pins 7/8 -> U11 pins 7/6, up the clear x~9 channel. + U11 is turned 180 in gen_board.py so its bus pins face J1. The two nets + have to cross once given the two pinouts; they do it at J1, where both + leave the through-hole pins on B.Cu and via up past each other. + +AUX BUCK (U8, LMR36015, 24-30 V -> 5 V). An autorouter treats SW as just +another net: the first autorouted pass ran it 0.2 mm wide round C50 with two +vias. Drawn here instead: + + * each input cap's VIN and PGND pads tie straight to their own pin pair + (C51: pins 2/1 west, C50: pins 10/11 east), so each hot loop closes in + about 2 mm on F.Cu, with two PGND vias per cap into the B.Cu plane; + * SW (pin 12) runs 0.6 mm straight north into L2, and 0.3 mm round the + west side to C52 (boot cap) -- the boot cap carries gate charge only; + * VBUS_F comes 0.8 mm from F1 down x23.6 to C50; C51 (west) is reached by + one 0.6 mm B.Cu jumper under the south side of U8, since the SW-to-C52 + run encloses it on F.Cu; + * 5V0 leaves L2 0.8 mm into C54/C55, and a 0.6 mm trunk runs down the west + channel and back east along y61.6 to the FB divider (R50) -- the rest + of the 5V0 net (U9, U11, BZ1) hangs off that trunk via the router; + * VBUS from J1 pins 1/2 runs 0.8 mm down x7 to F1. + +The small-signal pins of U8 (BOOT, VCC, FB, PG, AGND) are left to the +routers, which handle these escapes on exact geometry. +""" +import os +import sys + +import pcbnew +from pcbnew import FromMM, VECTOR2I + +HERE = os.path.dirname(os.path.abspath(__file__)) +BOARD = sys.argv[1] if len(sys.argv) > 1 else os.path.join(HERE, "..", "phase3-manager.kicad_pcb") +ORG = (20.0, 20.0) +VIA_D, VIA_DRILL = 0.6, 0.3 +F, B = pcbnew.F_Cu, pcbnew.B_Cu + + +def T(layer, w, *pts): + return ("T", layer, w, list(pts)) + + +def V(x, y): + return ("V", (x, y)) + + +# net -> items; board-relative mm. T = (layer, width, points), V = via. +ROUTES = { + # ---- differential pairs -------------------------------------------- + "USB_DN": [T(F, 0.25, (61.25, 30.98), (48.30, 30.98), (47.30, 31.98), (47.30, 67.30), + (46.00, 68.60), (46.00, 70.50), (46.50, 71.00), (50.80, 71.00), + (51.575, 70.225), (60.75, 70.225), (61.25, 70.725), (61.25, 72.32)), + T(F, 0.2, (61.25, 72.32), (61.25, 73.00), (61.45, 73.20), (61.99, 73.20), + (62.25, 72.94), (62.25, 72.32)), # B7 -> A7 + T(F, 0.25, (46.00, 70.10), (46.785, 70.10))], # stub to U12.5 + "USB_DP": [T(F, 0.25, (61.25, 32.25), (59.90, 32.25), (59.08, 31.43), (48.486, 31.43), + (47.75, 32.166), (47.75, 67.30), (49.05, 68.60), (49.05, 69.10), + (51.00, 69.10), (51.675, 69.775), (61.05, 69.775), (61.75, 70.475), + (61.75, 72.32)), + T(F, 0.2, (61.75, 71.69), (62.00, 71.44), (62.56, 71.44), (62.75, 71.63), + (62.75, 72.32)), # A6 -> B6 + T(F, 0.25, (49.05, 69.10), (48.265, 69.10))], # stub to U12.3 + # U12's own GND and 3V3 pins sit between the split lines: one via each + "U12_GND": [T(F, 0.25, (46.785, 69.10), (47.00, 68.80), (47.50, 68.30)), V(47.50, 68.30)], + "U12_3V3": [T(F, 0.25, (48.265, 70.10), (50.00, 70.05)), V(50.00, 70.05)], + "CAN_H": [T(B, 0.25, (5.00, 29.24), (9.20, 29.24)), V(9.20, 29.24), + T(F, 0.25, (9.20, 29.24), (9.20, 9.34), (9.90, 8.64), (12.52, 8.64))], + "CAN_L": [T(B, 0.25, (5.00, 31.78), (8.50, 31.78)), V(8.50, 31.78), + T(F, 0.25, (8.50, 31.78), (8.50, 8.06), (9.20, 7.36), (12.52, 7.36))], + + # ---- aux buck power stage ---------------------------------------------- + "VBUS": [T(F, 0.8, (5.00, 14.00), (5.00, 16.50), (6.40, 16.50), (7.00, 17.10), + (7.00, 40.00), (12.50, 40.00), (12.50, 42.00))], + "VBUS_F": [T(F, 0.8, (24.00, 43.00), (27.60, 43.00)), # F1.2 -> D5.1 + T(F, 0.8, (23.60, 44.50), (23.60, 55.48), (22.30, 55.48)), # F1.2 -> C50.1 + T(F, 0.3, (18.90, 54.525), (20.20, 54.525), (20.20, 55.20)), # pin 10 + T(F, 0.25, (18.90, 55.175), (20.10, 55.175)), # pin 9 (EN) + T(F, 0.3, (17.10, 54.525), (15.80, 54.525), (15.80, 55.20)), # pin 2 -> C51.1 + V(23.60, 56.40), T(F, 0.8, (23.60, 55.48), (23.60, 56.40)), + T(B, 0.6, (23.60, 56.40), (23.60, 59.80), (12.95, 59.80), (12.95, 55.50)), + V(12.95, 55.50), T(F, 0.6, (12.95, 55.50), (13.60, 55.50))], + "SW_AUX": [T(F, 0.25, (18.00, 54.00), (18.00, 53.30)), + T(F, 0.6, (18.00, 53.30), (18.00, 51.40)), + T(F, 0.3, (17.00, 51.40), (16.50, 50.90), (12.00, 50.90), (12.00, 57.30), + (13.42, 57.30))], + "5V0": [T(F, 0.8, (18.00, 49.20), (10.90, 49.20)), + T(F, 0.6, (10.90, 49.78), (9.20, 49.78), (8.80, 50.18), (8.80, 61.60), + (22.72, 61.60), (22.72, 57.68))], + "PGND": [T(F, 0.3, (17.10, 53.875), (16.40, 53.875), (15.80, 52.90)), # pin 1 -> C51.2 + T(F, 0.3, (18.90, 53.875), (19.60, 53.875), (20.20, 52.90)), # pin 11 -> C50.2 + V(13.90, 51.60), V(15.50, 51.60), V(20.60, 51.55), V(22.00, 51.55), + T(F, 0.4, (13.90, 51.60), (13.90, 52.52)), T(F, 0.4, (15.50, 51.60), (15.50, 52.52)), + T(F, 0.4, (20.60, 51.55), (20.60, 52.52)), T(F, 0.4, (22.00, 51.55), (22.00, 52.52)), + V(14.20, 45.60), V(10.90, 45.60), + T(F, 0.4, (14.20, 45.60), (14.20, 46.82)), T(F, 0.4, (10.90, 45.60), (10.90, 46.82))], +} + +PAIRS = (("USB_DP", "USB_DN"), ("CAN_H", "CAN_L")) +# ROUTES keys that are labels for part of a net rather than the net itself +NET_ALIAS = {"U12_GND": "PGND", "U12_3V3": "3V3"} + + +def P(x, y): + return VECTOR2I(FromMM(ORG[0] + x), FromMM(ORG[1] + y)) + + +def length(items): + n = 0.0 + for it in items: + if it[0] == "T": + pts = it[3] + n += sum(((b[0] - a[0]) ** 2 + (b[1] - a[1]) ** 2) ** 0.5 + for a, b in zip(pts, pts[1:])) + return n + + +def main(): + board = pcbnew.LoadBoard(BOARD) + nets = board.GetNetsByName() + # idempotent on a fresh gen_board output: refuse to stack copper + if any(True for _ in board.GetTracks()): + sys.exit("route_critical: board already has tracks -- rerun gen_board.py first") + n_t = n_v = 0 + for net, items in ROUTES.items(): + code = nets[NET_ALIAS.get(net, net)].GetNetCode() + for it in items: + if it[0] == "T": + _, layer, w, pts = it + for a, b in zip(pts, pts[1:]): + t = pcbnew.PCB_TRACK(board) + t.SetStart(P(*a)) + t.SetEnd(P(*b)) + t.SetWidth(FromMM(w)) + t.SetLayer(layer) + t.SetNetCode(code) + t.SetLocked(True) + board.Add(t) + n_t += 1 + else: + v = pcbnew.PCB_VIA(board) + v.SetPosition(P(*it[1])) + v.SetDrill(FromMM(VIA_DRILL)) + v.SetWidth(FromMM(VIA_D)) + v.SetViaType(pcbnew.VIATYPE_THROUGH) + v.SetLayerPair(F, B) + v.SetNetCode(code) + v.SetLocked(True) + board.Add(v) + n_v += 1 + for a, b in PAIRS: + la, lb = length(ROUTES[a]), length(ROUTES[b]) + print(f"route_critical: {a} {la:.2f} mm, {b} {lb:.2f} mm (skew {abs(la - lb):.2f} mm)") + pcbnew.ZONE_FILLER(board).Fill(board.Zones()) + board.Save(BOARD) + print(f"route_critical: {n_t} tracks, {n_v} vias (locked)") + + +if __name__ == "__main__": + main() diff --git a/hardware/phase3-manager/tools/run_drc.py b/hardware/phase3-manager/tools/run_drc.py index 03d9128..c92cab9 100644 --- a/hardware/phase3-manager/tools/run_drc.py +++ b/hardware/phase3-manager/tools/run_drc.py @@ -62,10 +62,8 @@ def main(): print(f" !{typ}: {chunk.splitlines()[0][:120]}") if errors: - print(f"FAIL: {errors} error-severity/unconnected item(s). " - f"Unconnected items are expected until the board is routed — " - f"this board is a placement pass, so a nonzero exit here is " - f"the honest answer, not a regression.") + print(f"FAIL: {errors} error-severity/unconnected item(s). The board " + f"is routed (2026-09-27), so any of these is a regression.") else: print("PASS: no error-severity violations, no unconnected items.") sys.exit(1 if errors else 0) diff --git a/hardware/phase3-manager/tools/stitch.py b/hardware/phase3-manager/tools/stitch.py new file mode 100644 index 0000000..4b6b817 --- /dev/null +++ b/hardware/phase3-manager/tools/stitch.py @@ -0,0 +1,173 @@ +"""Routing pass 4: PGND stitching vias between the F.Cu and B.Cu ground pours. + + python3 stitch.py [board.kicad_pcb] + +On a two-layer board every routed track cuts a pour, so the F.Cu ground +ends up as dozens of fragments. KiCad deletes a fragment with no +connection of its own (island removal), and keeps one that touches a pad +but reaches the rest of ground only through that pad's thermal spokes. +A via from each fragment to the B.Cu plane under it fixes both: the +fragment stays, it is tied with a real conductor, and the two pours act +as one ground. Two passes: + + 1. one via in every F.Cu fragment big enough to take one -- fragments + are found with island removal switched off, so the ones KiCad would + delete are included; + 2. a 5 mm grid over the rest of the board, where both pours are solid. + +A via is placed only where a 0.6 mm pad plus a margin sits wholly inside +BOTH layers' PGND fill (the fill already keeps every clearance to foreign +copper), clear of drilled holes, and at least 1 mm from any other via. +""" +import os +import sys + +import pcbnew +import shapely +from pcbnew import FromMM +from shapely.geometry import Point, Polygon +from shapely.ops import unary_union + +HERE = os.path.dirname(os.path.abspath(__file__)) +BOARD = sys.argv[1] if len(sys.argv) > 1 else os.path.join(HERE, "..", "phase3-manager.kicad_pcb") +VIA_D, VIA_DRILL = 0.6, 0.3 +MARGIN = 0.1 # extra inside the fill, beyond the via's own radius +HOLE_GAP = 0.3 # drill-edge to drill-edge +VIA_PITCH = 1.0 # minimum centre distance to any other via +GRID = 5.0 +FINE = 0.25 # search step inside a fragment +mm = pcbnew.ToMM + + +def polys(sps): + out = [] + for i in range(sps.OutlineCount()): + ol = sps.Outline(i) + pts = [(mm(ol.CPoint(j).x), mm(ol.CPoint(j).y)) for j in range(ol.PointCount())] + holes = [] + for h in range(sps.HoleCount(i)): + hl = sps.Hole(i, h) + holes.append([(mm(hl.CPoint(j).x), mm(hl.CPoint(j).y)) for j in range(hl.PointCount())]) + if len(pts) >= 3: + out.append(Polygon(pts, holes).buffer(0)) + return out + + +def fills(board): + got = {} + for z in board.Zones(): + if z.GetIsRuleArea() or z.GetNetname() != "PGND": + continue + got.setdefault(z.GetLayer(), []).extend(polys(z.GetFilledPolysList(z.GetLayer()))) + return got + + +def main(): + board = pcbnew.LoadBoard(BOARD) + pgnd = board.GetNetsByName()["PGND"].GetNetCode() + zones = [z for z in board.Zones() if not z.GetIsRuleArea()] + modes = {id(z): z.GetIslandRemovalMode() for z in zones} + for z in zones: + z.SetIslandRemovalMode(pcbnew.ISLAND_REMOVAL_MODE_NEVER) + pcbnew.ZONE_FILLER(board).Fill(board.Zones()) + f = fills(board) + top, bot = f[pcbnew.F_Cu], unary_union(f[pcbnew.B_Cu]) + + holes = [] + vias = [] + for t in board.GetTracks(): + if isinstance(t, pcbnew.PCB_VIA): + p = (mm(t.GetPosition().x), mm(t.GetPosition().y)) + vias.append(p) + holes.append((p, mm(t.GetDrillValue()) / 2)) + for fp in board.GetFootprints(): + for pad in fp.Pads(): + if pad.GetDrillSize().x > 0: + holes.append(((mm(pad.GetPosition().x), mm(pad.GetPosition().y)), + mm(max(pad.GetDrillSize().x, pad.GetDrillSize().y)) / 2)) + hole_zone = unary_union([Point(c).buffer(r + HOLE_GAP + VIA_DRILL / 2) for c, r in holes]) + r = VIA_D / 2 + MARGIN + + def ok(x, y): + pt = Point(x, y) + if hole_zone.contains(pt): + return False + if any((x - vx) ** 2 + (y - vy) ** 2 < VIA_PITCH ** 2 for vx, vy in vias): + return False + disc = pt.buffer(r, 16) + return bot.contains(disc) and any(p.contains(disc) for p in top) + + added = [] + + def place(x, y): + v = pcbnew.PCB_VIA(board) + v.SetPosition(pcbnew.VECTOR2I(FromMM(x), FromMM(y))) + v.SetDrill(FromMM(VIA_DRILL)) + v.SetWidth(FromMM(VIA_D)) + v.SetViaType(pcbnew.VIATYPE_THROUGH) + v.SetLayerPair(pcbnew.F_Cu, pcbnew.B_Cu) + v.SetNetCode(pgnd) + board.Add(v) + vias.append((x, y)) + added.append((x, y)) + + # 1. one via per F.Cu fragment that has no via/PTH of its own yet + frag_done = 0 + for poly in sorted(top, key=lambda p: -p.area): + if any(poly.contains(Point(v)) for v in vias) or \ + any(poly.contains(Point(c)) for c, _ in holes): + continue + inner = poly.buffer(-r) + if inner.is_empty: + continue + x1, y1, x2, y2 = inner.bounds + cand = [] + y = y1 + while y <= y2: + x = x1 + while x <= x2: + if inner.contains(Point(x, y)): + cand.append((x, y)) + x += FINE + y += FINE + c = inner.centroid + cand.sort(key=lambda p: (p[0] - c.x) ** 2 + (p[1] - c.y) ** 2) + for x, y in cand: + if ok(x, y): + place(x, y) + frag_done += 1 + break + + # 2. grid stitching + bb = board.GetBoardEdgesBoundingBox() + x0, y0, x1, y1 = mm(bb.GetLeft()), mm(bb.GetTop()), mm(bb.GetRight()), mm(bb.GetBottom()) + grid_done = 0 + y = y0 + GRID / 2 + while y < y1: + x = x0 + GRID / 2 + while x < x1: + best = None + for dx in (0, 0.5, -0.5, 1.0, -1.0): + for dy in (0, 0.5, -0.5, 1.0, -1.0): + if ok(x + dx, y + dy): + best = (x + dx, y + dy) + break + if best: + break + if best: + place(*best) + grid_done += 1 + x += GRID + y += GRID + + for z in zones: + z.SetIslandRemovalMode(modes[id(z)]) + pcbnew.ZONE_FILLER(board).Fill(board.Zones()) + board.BuildConnectivity() + board.Save(BOARD) + print(f"stitch: {frag_done} fragment vias + {grid_done} grid vias; unconnected " + f"{board.GetConnectivity().GetUnconnectedCount(False)}") + + +if __name__ == "__main__": + main()