added machinekit source

.gitmodules

@@ -7,3 +7,6 @@
 [submodule "config/machinekit/frontend/probe_basic"]
 	path = config/machinekit/frontend/probe_basic
 	url = https://github.com/kcjengr/probe_basic/
+[submodule "software/machinekit-src"]
+	path = software/machinekit-src
+	url = https://github.com/machinekit/machinekit.git

pcb/millcontroller/servointerface.sch

@@ -4,7 +4,7 @@ EELAYER 26 0
 EELAYER END
 $Descr A4 11693 8268
 encoding utf-8
-Sheet 6 8
+Sheet 3 8
 Title ""
 Date ""
 Rev ""
@@ -35,7 +35,7 @@ AR Path="/5CEFB340/5D25DA64" Ref="U8"  Part="1"
 AR Path="/5CEFDCEF/5D25DA64" Ref="U10"  Part="1" 
 AR Path="/5CEFE187/5D25DA64" Ref="U12"  Part="1" 
 AR Path="/5CEFEAB7/5D25DA64" Ref="U16"  Part="1" 
-F 0 "U14" H 5050 4100 50  0000 C CNN
+F 0 "U8" H 5050 4100 50  0000 C CNN
 F 1 "PC817" H 5050 4000 50  0000 C CNN
 F 2 "Package_DIP:DIP-4_W7.62mm_SMDSocket_SmallPads" H 4850 3600 50  0001 L CIN
 F 3 "http://www.soselectronic.cz/a_info/resource/d/pc817.pdf" H 5050 3800 50  0001 L CNN
@@ -53,7 +53,7 @@ AR Path="/5CEFB340/5D25DA6B" Ref="#PWR0134"  Part="1"
 AR Path="/5CEFDCEF/5D25DA6B" Ref="#PWR0141"  Part="1" 
 AR Path="/5CEFE187/5D25DA6B" Ref="#PWR0148"  Part="1" 
 AR Path="/5CEFEAB7/5D25DA6B" Ref="#PWR0162"  Part="1" 
-F 0 "#PWR0162" H 5350 3750 50  0001 C CNN
+F 0 "#PWR0134" H 5350 3750 50  0001 C CNN
 F 1 "GNDD" H 5354 3845 50  0000 C CNN
 F 2 "" H 5350 4000 50  0001 C CNN
 F 3 "" H 5350 4000 50  0001 C CNN
@@ -71,7 +71,7 @@ AR Path="/5CEFB340/5D25DA71" Ref="R22"  Part="1"
 AR Path="/5CEFDCEF/5D25DA71" Ref="R32"  Part="1" 
 AR Path="/5CEFE187/5D25DA71" Ref="R42"  Part="1" 
 AR Path="/5CEFEAB7/5D25DA71" Ref="R62"  Part="1" 
-F 0 "R52" H 5400 3550 50  0000 L CNN
+F 0 "R22" H 5400 3550 50  0000 L CNN
 F 1 "220R" V 5350 3350 50  0000 L CNN
 F 2 "Resistor_SMD:R_0805_2012Metric" V 5280 3450 50  0001 C CNN
 F 3 "~" H 5350 3450 50  0001 C CNN
@@ -89,7 +89,7 @@ AR Path="/5CEFB340/5D25DA7A" Ref="R21"  Part="1"
 AR Path="/5CEFDCEF/5D25DA7A" Ref="R31"  Part="1" 
 AR Path="/5CEFE187/5D25DA7A" Ref="R41"  Part="1" 
 AR Path="/5CEFEAB7/5D25DA7A" Ref="R61"  Part="1" 
-F 0 "R51" H 4800 3550 50  0000 L CNN
+F 0 "R21" H 4800 3550 50  0000 L CNN
 F 1 "220R" V 4750 3350 50  0000 L CNN
 F 2 "Resistor_SMD:R_0805_2012Metric" V 4680 3450 50  0001 C CNN
 F 3 "~" H 4750 3450 50  0001 C CNN
@@ -107,7 +107,7 @@ AR Path="/5CEFB340/5D25DA81" Ref="#PWR0135"  Part="1"
 AR Path="/5CEFDCEF/5D25DA81" Ref="#PWR0142"  Part="1" 
 AR Path="/5CEFE187/5D25DA81" Ref="#PWR0149"  Part="1" 
 AR Path="/5CEFEAB7/5D25DA81" Ref="#PWR0163"  Part="1" 
-F 0 "#PWR0163" H 5350 3150 50  0001 C CNN
+F 0 "#PWR0135" H 5350 3150 50  0001 C CNN
 F 1 "+3V3" H 5365 3473 50  0000 C CNN
 F 2 "" H 5350 3300 50  0001 C CNN
 F 3 "" H 5350 3300 50  0001 C CNN
@@ -139,7 +139,7 @@ AR Path="/5CEFDCEF/5D71156C" Ref="Q7"  Part="1"
 AR Path="/5CEFE187/5D71156C" Ref="Q10"  Part="1" 
 AR Path="/5CEFE61F/5D71156C" Ref="Q13"  Part="1" 
 AR Path="/5CEFEAB7/5D71156C" Ref="Q16"  Part="1" 
-F 0 "Q13" H 1706 3846 50  0000 L CNN
+F 0 "Q4" H 1706 3846 50  0000 L CNN
 F 1 "SI-2300DS" H 1700 3650 50  0000 L CNN
 F 2 "Package_TO_SOT_SMD:SOT-23" H 1700 3900 50  0001 C CNN
 F 3 "~" H 1500 3800 50  0001 C CNN
@@ -157,7 +157,7 @@ AR Path="/5CEFDCEF/5D711573" Ref="R26"  Part="1"
 AR Path="/5CEFE187/5D711573" Ref="R36"  Part="1" 
 AR Path="/5CEFE61F/5D711573" Ref="R46"  Part="1" 
 AR Path="/5CEFEAB7/5D711573" Ref="R56"  Part="1" 
-F 0 "R46" H 1320 4046 50  0000 L CNN
+F 0 "R16" H 1320 4046 50  0000 L CNN
 F 1 "4k7" H 1320 3955 50  0000 L CNN
 F 2 "Resistor_SMD:R_0805_2012Metric" V 1180 4000 50  0001 C CNN
 F 3 "~" H 1250 4000 50  0001 C CNN
@@ -175,7 +175,7 @@ AR Path="/5CEFDCEF/5D71157A" Ref="R25"  Part="1"
 AR Path="/5CEFE187/5D71157A" Ref="R35"  Part="1" 
 AR Path="/5CEFE61F/5D71157A" Ref="R45"  Part="1" 
 AR Path="/5CEFEAB7/5D71157A" Ref="R55"  Part="1" 
-F 0 "R45" H 1180 3554 50  0000 R CNN
+F 0 "R15" H 1180 3554 50  0000 R CNN
 F 1 "100R" H 1180 3645 50  0000 R CNN
 F 2 "Resistor_SMD:R_0805_2012Metric" V 1180 3600 50  0001 C CNN
 F 3 "~" H 1250 3600 50  0001 C CNN
@@ -209,7 +209,7 @@ AR Path="/5CEFB340/5D711AB4" Ref="U9"  Part="1"
 AR Path="/5CEFDCEF/5D711AB4" Ref="U11"  Part="1" 
 AR Path="/5CEFE187/5D711AB4" Ref="U13"  Part="1" 
 AR Path="/5CEFEAB7/5D711AB4" Ref="U17"  Part="1" 
-F 0 "U15" H 6450 4100 50  0000 C CNN
+F 0 "U9" H 6450 4100 50  0000 C CNN
 F 1 "PC817" H 6450 4000 50  0000 C CNN
 F 2 "Package_DIP:DIP-4_W7.62mm_SMDSocket_SmallPads" H 6250 3600 50  0001 L CIN
 F 3 "http://www.soselectronic.cz/a_info/resource/d/pc817.pdf" H 6450 3800 50  0001 L CNN
@@ -227,7 +227,7 @@ AR Path="/5CEFB340/5D711ABB" Ref="#PWR0136"  Part="1"
 AR Path="/5CEFDCEF/5D711ABB" Ref="#PWR0143"  Part="1" 
 AR Path="/5CEFE187/5D711ABB" Ref="#PWR0150"  Part="1" 
 AR Path="/5CEFEAB7/5D711ABB" Ref="#PWR0164"  Part="1" 
-F 0 "#PWR0164" H 6750 3750 50  0001 C CNN
+F 0 "#PWR0136" H 6750 3750 50  0001 C CNN
 F 1 "GNDD" H 6754 3845 50  0000 C CNN
 F 2 "" H 6750 4000 50  0001 C CNN
 F 3 "" H 6750 4000 50  0001 C CNN
@@ -245,7 +245,7 @@ AR Path="/5CEFB340/5D711AC1" Ref="R24"  Part="1"
 AR Path="/5CEFDCEF/5D711AC1" Ref="R34"  Part="1" 
 AR Path="/5CEFE187/5D711AC1" Ref="R44"  Part="1" 
 AR Path="/5CEFEAB7/5D711AC1" Ref="R64"  Part="1" 
-F 0 "R54" H 6800 3550 50  0000 L CNN
+F 0 "R24" H 6800 3550 50  0000 L CNN
 F 1 "220R" V 6750 3350 50  0000 L CNN
 F 2 "Resistor_SMD:R_0805_2012Metric" V 6680 3450 50  0001 C CNN
 F 3 "~" H 6750 3450 50  0001 C CNN
@@ -263,7 +263,7 @@ AR Path="/5CEFB340/5D711AC8" Ref="R23"  Part="1"
 AR Path="/5CEFDCEF/5D711AC8" Ref="R33"  Part="1" 
 AR Path="/5CEFE187/5D711AC8" Ref="R43"  Part="1" 
 AR Path="/5CEFEAB7/5D711AC8" Ref="R63"  Part="1" 
-F 0 "R53" H 6200 3550 50  0000 L CNN
+F 0 "R23" H 6200 3550 50  0000 L CNN
 F 1 "220R" V 6150 3350 50  0000 L CNN
 F 2 "Resistor_SMD:R_0805_2012Metric" V 6080 3450 50  0001 C CNN
 F 3 "~" H 6150 3450 50  0001 C CNN
@@ -281,7 +281,7 @@ AR Path="/5CEFB340/5D711ACF" Ref="#PWR0137"  Part="1"
 AR Path="/5CEFDCEF/5D711ACF" Ref="#PWR0144"  Part="1" 
 AR Path="/5CEFE187/5D711ACF" Ref="#PWR0151"  Part="1" 
 AR Path="/5CEFEAB7/5D711ACF" Ref="#PWR0165"  Part="1" 
-F 0 "#PWR0165" H 6750 3150 50  0001 C CNN
+F 0 "#PWR0137" H 6750 3150 50  0001 C CNN
 F 1 "+3V3" H 6765 3473 50  0000 C CNN
 F 2 "" H 6750 3300 50  0001 C CNN
 F 3 "" H 6750 3300 50  0001 C CNN
@@ -313,7 +313,7 @@ AR Path="/5CEFDCEF/5D712749" Ref="Q8"  Part="1"
 AR Path="/5CEFE187/5D712749" Ref="Q11"  Part="1" 
 AR Path="/5CEFE61F/5D712749" Ref="Q14"  Part="1" 
 AR Path="/5CEFEAB7/5D712749" Ref="Q17"  Part="1" 
-F 0 "Q14" H 2706 3846 50  0000 L CNN
+F 0 "Q5" H 2706 3846 50  0000 L CNN
 F 1 "SI-2300DS" H 2700 3650 50  0000 L CNN
 F 2 "Package_TO_SOT_SMD:SOT-23" H 2700 3900 50  0001 C CNN
 F 3 "~" H 2500 3800 50  0001 C CNN
@@ -331,7 +331,7 @@ AR Path="/5CEFDCEF/5D712750" Ref="R28"  Part="1"
 AR Path="/5CEFE187/5D712750" Ref="R38"  Part="1" 
 AR Path="/5CEFE61F/5D712750" Ref="R48"  Part="1" 
 AR Path="/5CEFEAB7/5D712750" Ref="R58"  Part="1" 
-F 0 "R48" H 2320 4046 50  0000 L CNN
+F 0 "R18" H 2320 4046 50  0000 L CNN
 F 1 "4k7" H 2320 3955 50  0000 L CNN
 F 2 "Resistor_SMD:R_0805_2012Metric" V 2180 4000 50  0001 C CNN
 F 3 "~" H 2250 4000 50  0001 C CNN
@@ -349,7 +349,7 @@ AR Path="/5CEFDCEF/5D712757" Ref="R27"  Part="1"
 AR Path="/5CEFE187/5D712757" Ref="R37"  Part="1" 
 AR Path="/5CEFE61F/5D712757" Ref="R47"  Part="1" 
 AR Path="/5CEFEAB7/5D712757" Ref="R57"  Part="1" 
-F 0 "R47" H 2180 3554 50  0000 R CNN
+F 0 "R17" H 2180 3554 50  0000 R CNN
 F 1 "100R" H 2180 3645 50  0000 R CNN
 F 2 "Resistor_SMD:R_0805_2012Metric" V 2180 3600 50  0001 C CNN
 F 3 "~" H 2250 3600 50  0001 C CNN
@@ -381,7 +381,7 @@ AR Path="/5CEFDCEF/5D712769" Ref="#PWR0145"  Part="1"
 AR Path="/5CEFE187/5D712769" Ref="#PWR0152"  Part="1" 
 AR Path="/5CEFE61F/5D712769" Ref="#PWR0159"  Part="1" 
 AR Path="/5CEFEAB7/5D712769" Ref="#PWR0166"  Part="1" 
-F 0 "#PWR0166" H 2600 3900 50  0001 C CNN
+F 0 "#PWR0138" H 2600 3900 50  0001 C CNN
 F 1 "GNDD" H 2604 3995 50  0000 C CNN
 F 2 "" H 2600 4150 50  0001 C CNN
 F 3 "" H 2600 4150 50  0001 C CNN
@@ -399,7 +399,7 @@ AR Path="/5CEFDCEF/5D712CA3" Ref="Q9"  Part="1"
 AR Path="/5CEFE187/5D712CA3" Ref="Q12"  Part="1" 
 AR Path="/5CEFE61F/5D712CA3" Ref="Q15"  Part="1" 
 AR Path="/5CEFEAB7/5D712CA3" Ref="Q18"  Part="1" 
-F 0 "Q15" H 3706 3846 50  0000 L CNN
+F 0 "Q6" H 3706 3846 50  0000 L CNN
 F 1 "SI-2300DS" H 3700 3650 50  0000 L CNN
 F 2 "Package_TO_SOT_SMD:SOT-23" H 3700 3900 50  0001 C CNN
 F 3 "~" H 3500 3800 50  0001 C CNN
@@ -419,7 +419,7 @@ AR Path="/5CEFB340/5D715B11" Ref="#PWR0139"  Part="1"
 AR Path="/5CEFDCEF/5D715B11" Ref="#PWR0146"  Part="1" 
 AR Path="/5CEFE187/5D715B11" Ref="#PWR0153"  Part="1" 
 AR Path="/5CEFEAB7/5D715B11" Ref="#PWR0167"  Part="1" 
-F 0 "#PWR0167" H 2900 2000 50  0001 C CNN
+F 0 "#PWR0139" H 2900 2000 50  0001 C CNN
 F 1 "+5V" H 2915 2323 50  0000 C CNN
 F 2 "" H 2900 2150 50  0001 C CNN
 F 3 "" H 2900 2150 50  0001 C CNN
@@ -427,16 +427,14 @@ F 3 "" H 2900 2150 50  0001 C CNN
 	1    0    0    -1  
 $EndComp
 Wire Wire Line
-	2900 2150 2900 2300
+	2900 2150 2900 2450
 Wire Wire Line
-	2900 2300 3650 2300
+	2900 2450 3650 2450
 Wire Wire Line
-	3650 2300 3650 2150
+	3650 2450 3850 2450
 Wire Wire Line
-	3650 2300 3850 2300
-Wire Wire Line
-	3850 2300 3850 2150
-Connection ~ 3650 2300
+	3850 2450 3850 2150
+Connection ~ 3650 2450
 Wire Wire Line
 	1600 2650 3750 2650
 Wire Wire Line
@@ -470,7 +468,7 @@ Wire Wire Line
 $Comp
 L power:GNDD #PWR?
 U 1 1 5D71BE0D
-P 4450 2250
+P 4700 2450
 AR Path="/5CFEE5CD/5D71BE0D" Ref="#PWR?"  Part="1" 
 AR Path="/5CEFE61F/5D71BE0D" Ref="#PWR0161"  Part="1" 
 AR Path="/5CEFA6B3/5D71BE0D" Ref="#PWR0133"  Part="1" 
@@ -478,19 +476,15 @@ AR Path="/5CEFB340/5D71BE0D" Ref="#PWR0140"  Part="1"
 AR Path="/5CEFDCEF/5D71BE0D" Ref="#PWR0147"  Part="1" 
 AR Path="/5CEFE187/5D71BE0D" Ref="#PWR0154"  Part="1" 
 AR Path="/5CEFEAB7/5D71BE0D" Ref="#PWR0168"  Part="1" 
-F 0 "#PWR0168" H 4450 2000 50  0001 C CNN
-F 1 "GNDD" H 4454 2095 50  0000 C CNN
-F 2 "" H 4450 2250 50  0001 C CNN
-F 3 "" H 4450 2250 50  0001 C CNN
-	1    4450 2250
+F 0 "#PWR0140" H 4700 2200 50  0001 C CNN
+F 1 "GNDD" H 4704 2295 50  0000 C CNN
+F 2 "" H 4700 2450 50  0001 C CNN
+F 3 "" H 4700 2450 50  0001 C CNN
+	1    4700 2450
 	1    0    0    -1  
 $EndComp
 Wire Wire Line
-	4350 2150 4350 2200
-Wire Wire Line
-	4350 2200 4450 2200
-Wire Wire Line
-	4450 2200 4450 2250
+	4350 2450 4700 2450
 $Comp
 L Connector:8P8C_Shielded J7
 U 1 1 5D9EDF7D
@@ -501,7 +495,7 @@ AR Path="/5CEFB340/5D9EDF7D" Ref="J6"  Part="1"
 AR Path="/5CEFE187/5D9EDF7D" Ref="J8"  Part="1" 
 AR Path="/5CEFE61F/5D9EDF7D" Ref="J9"  Part="1" 
 AR Path="/5CEFEAB7/5D9EDF7D" Ref="J10"  Part="1" 
-F 0 "J9" V 3959 2279 50  0000 L CNN
+F 0 "J6" V 3959 2279 50  0000 L CNN
 F 1 "8P8C_Shielded" V 4050 2279 50  0000 L CNN
 F 2 "wv:RJ45_aliexpress_Horizontal" V 3950 1775 50  0001 C CNN
 F 3 "~" V 3950 1775 50  0001 C CNN
@@ -519,7 +513,7 @@ AR Path="/5CEFB340/5D9EE062" Ref="#PWR0197"  Part="1"
 AR Path="/5CEFDCEF/5D9EE062" Ref="#PWR0198"  Part="1" 
 AR Path="/5CEFE187/5D9EE062" Ref="#PWR0199"  Part="1" 
 AR Path="/5CEFEAB7/5D9EE062" Ref="#PWR0201"  Part="1" 
-F 0 "#PWR0201" H 3400 1550 50  0001 C CNN
+F 0 "#PWR0197" H 3400 1550 50  0001 C CNN
 F 1 "GNDD" H 3404 1645 50  0000 C CNN
 F 2 "" H 3400 1800 50  0001 C CNN
 F 3 "" H 3400 1800 50  0001 C CNN
@@ -546,7 +540,7 @@ AR Path="/5CEFDCEF/5D0C29AB" Ref="C19"  Part="1"
 AR Path="/5CEFE187/5D0C29AB" Ref="C21"  Part="1" 
 AR Path="/5CEFE61F/5D0C29AB" Ref="C23"  Part="1" 
 AR Path="/5CEFEAB7/5D0C29AB" Ref="C25"  Part="1" 
-F 0 "C23" H 4565 3846 50  0000 L CNN
+F 0 "C17" H 4565 3846 50  0000 L CNN
 F 1 "DNM" H 4565 3755 50  0000 L CNN
 F 2 "Capacitor_SMD:C_0805_2012Metric" H 4488 3650 50  0001 C CNN
 F 3 "~" H 4450 3800 50  0001 C CNN
@@ -563,7 +557,7 @@ AR Path="/5CEFDCEF/5D0C2A46" Ref="C20"  Part="1"
 AR Path="/5CEFE187/5D0C2A46" Ref="C22"  Part="1" 
 AR Path="/5CEFE61F/5D0C2A46" Ref="C24"  Part="1" 
 AR Path="/5CEFEAB7/5D0C2A46" Ref="C26"  Part="1" 
-F 0 "C24" H 5965 3846 50  0000 L CNN
+F 0 "C18" H 5965 3846 50  0000 L CNN
 F 1 "DNM" H 5965 3755 50  0000 L CNN
 F 2 "Capacitor_SMD:C_0805_2012Metric" H 5888 3650 50  0001 C CNN
 F 3 "~" H 5850 3800 50  0001 C CNN
@@ -590,4 +584,24 @@ Wire Wire Line
 Connection ~ 4750 3650
 Wire Wire Line
 	4750 3650 4750 3700
+Text Label 3650 2400 1    50   ~ 0
+Or-Wh
+Wire Wire Line
+	3650 2150 3650 2450
+Text Label 3750 2400 1    50   ~ 0
+Or
+Text Label 3850 2400 1    50   ~ 0
+Gn-Wh
+Text Label 3950 2400 1    50   ~ 0
+Bl
+Text Label 4050 2400 1    50   ~ 0
+bl-wh
+Text Label 4150 2400 1    50   ~ 0
+Gn
+Text Label 4250 2400 1    50   ~ 0
+Bn-wh
+Wire Wire Line
+	4350 2150 4350 2450
+Text Label 4350 2400 1    50   ~ 0
+Bn
 $EndSCHEMATC

software/machinekit-src

@@ -0,0 +1 @@
+Subproject commit 9239acbee0f84edd94615b5e33e40e724c913ff9