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PCM编码与解码系统的simulink仿真模块，

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目前能找到的cpci express总线的标准ContentsIntroduction1.1 Statement of Compliance131.2 Terminology131.3 Applicable Documents181.4 Objectives…191.5 Name and Logo Usage....翻1E,B面201.5.1 Logo Use201.5.2 Trademark polic201.6 Intellectual Property211.7 Special Word Usage221.8 Connectors1.8.1 Legacy CompactPCI Connectors221.8.2 High -Speed Advanced differential Fabric Connectors1.83 UPM Power Connectors∴…251.8.3.1 System Slot/Board and Type 1 Peripheral Slot/Board.251.8.3.2 Switch Slot/ Board261.8.4 eHM C271.8.5 CompactPCI Pluggable Power Supply Connector271.9 Slot and board descriptions281.9.1 Connector Reference Designators...............311.9.2 System Slot and Board1.9.3 Type 1 Peripheral Slot and Board321.9.4 Type 2 Peripheral Slot and Board331.9.5 Hybrid Peripheral slot351.9.6 Legacy Slot1.9.7 Switch Slot and board.36197.13uSwitchSlotandboard.wwwwwww.361.9.7.2 6U Switch Slot and board371.10 EXample Configurations402 Mechanical Requirements452.1 Mechanical Overview452.2 DrayStandard452.3 Units452.4 Keepout Zones452.5 Connector Requirements.452.5.1 ADF Connectors452.5.1.1 Board connectors452.5.1.3 Backplane Connectors with Hot-Plug Suppor o2.5.1.2 Backplane Connectors without Hot-Plug Support46462.5.2 eHM Connectors462.5.2.1 Board Connector Type Designation.462.5.2.2 Backplane Connectors without Hot-Plug Support .........462.5.2.3 Backplane Connectors with Hot-Plug Support..... 462.5.3 UPM Connectors462.5.3.1 Backplane Connectors…………462.5.3.2 Board Connectors without Hot-Plug Support47PICMG EXPO CompactPCI Express Specification, Draft R. 93, March 11, 2005Do Not design To/Do Not claim compliance To/do Not distribute This specification2.5.3.3 Board Connectors with Hot-Plug Support2.5.4 HM Connectors472.5.5 47-Position Pluggable Power Supply Connector472.6 Chassis Subrack Requirements472.7 Backplane Requirements472.7.1 3U Backplane Dimensions and Connector Locations....... 472.7.2 6U Backplane Dimensions and Connector Locations2.8 Slot Numbering and Glyphs512.9 Board Requirements2.9.1 3U System/Type 1/Type 2 Board Dimensions and ConnectorLocations512.9.2 6U System/Type 1/Type 2 Board Dimensions and ConnectorLocations2.9.3 3U Switch board dimensions and connector locations wwm. 5429.4 6U Switch board dimensions and connector locations.552.9.5 Board pcb thickness562.9.6 ESD Discharge Strip562.9.7 ESD Clip562.9.8 Front Panels562.9.9 CompactPcI Express logo572.9.10 PMC/XMC Support….5729.11 Cross sectional vi582.9.12 Component Outline and Warpage582.9.13 Solder Side Cover(Optional)582. 9.14 Component Heights2.9. 15 System Slot Identification592.10 Rear-Panel 1/0 Board Requirements592.10.1 3U Rear-Panel l/o board dimensions592.10.2 6U Rear-Panel l/o board dimensions3 Electrical Requirements623. 1 Signal Definitions623.1.1 PCI Express Signals.623.1.1.1 PCI EXpress Transmit SigInaIs3.1.1.2 PCI Express Receive Signals623.1.1.3 Interconnect Definition633.1.1.3.1 Link definit633.1.1.3.2 Link Grouping.633.1.1.4 Electrical B643. 1.1.4.1 AC Coupling653.1.1.4.2 Insertion loss653.1.1.4.3 Crosstab‖k3.1.1.4,4 Lane-to-Lane skew3.1.1. 4.5 Equalization673.1.1.4.6 Skew within the Differential Pair(Intra-PairSkew)3.1.1.5 Jitter Budget Allocation683.1.1.5.1 Random Jitter(Rj)683.1.1.5.2 System Level Jitter Distribution693.1.1.5.3 Interconnect Jitter Budget693.1.1.5.4 Eye Patterns703. 1.1.5.5 Type 2 Peripheral Transmitter Eye4PICMG EXPO CompactPCI EXpress Specification, Draft R.93, March 11, 2005Do Not Design To/Do Not Claim Compliance To/Do Not Distribute This specification3.1.1.5.6 Controller Transmitter Eye3.1.1.5.7 Type 2 Peripheral Receiver Eye3.1.1.5. 8 Controller Receiver eye743.1.1.5. 9 Backplane Compliance Testing3.1.1.5. 10 Alternative Controller tX measurement.wm.773.1.1.6 Reference Clock783.1.1.6.1Hot-Pug…...….783.1.1.6.2 Clock Fan-Out..793. 1.1.6.3 Clocking dependencies3. 1.1.6.4 AC-Coupling and Biasing793.1.1.6.5 Routing length803. 1.1.6.6 Reference Clock Specification813.1.1.6.7 REFCLK Phase Jitter Specification3.1.2ESD853.1.35VauX.853.1.4 SMBI3.1.4.1 SMBus " Back Powering Considerations883.1.4.2 Backplane Identification and Capability Using SMBus. 883.1.5 PWRBTN# Signal943.1.6 PS ON# Signal.943.1.7 PWR OK Signal.......953.1.8 WAKE# Signal3.1.8. 1 Implementation Note983.1. 9 PERST# Signal993.1.9.1 nitial Power-Up(G3toL0)……………………1003.1.9.2 Power Management States(so to S3/S4 to so)1013.1.9.3 Power down1023.1.10 SYSEN# Signal…1033.1.11 Geographical Addressing1033. 1. 12 LINKCAP Signal1043.1.13/OPin1043.1.14 Reserved pins1043.2 Hot-Plug Support.1043.2.1 Hot-Plug sub-System Architecture1043.2.2 Power enable1073.2.3 Wake#1083.2.4 Module Power good1083.2.5 Present detection1083.2.6 System Management Bus1083.2.7 System Management Bus alert1083.2.8 Attention LED1093.2.9 Attention Switch1093.2.10 DC Specifications1093.3 Backplane Connector Pin Assignments1093.3.1 System SI3.3.1.1 4-Link Configuration1103.3.1.2 2-Link Combination Configuration3.3.2 Peripheral Slot I ype 11133.3. 3 Peripheral Slot Type 2.1153.3.4 Hybrid Peripheral slot.1153.3.5 Legacy slot117PICMG EXPO CompactPCI Express Specification, Draft R. 93, March 11, 2005Do Not design To/Do Not claim compliance To/do Not distribute This specification3.3.6 Switch Slot1173.3.6.1 3U Switch Slot3.3.6.2 6U Switch Slot x4 Link width1183.3.6.3 6U Switch Slot--X8 Link Width.1213.4 Power Supply Requirements…1233.4.1 Current Available1233.4.2 Regulation and Ripple and noise1243.4.3 Backplane Power Decoupling1243. 4.4 Power Supply Timing1243.4.5 Additional Power Requirements for Boards SupportingHot-Ppluc1254 Keying Requirements4Legacy Slots and Legacy boards12642 eHM Ke126A CompactPCI Express Advanced Differential Fabric Connector......129A 1 General data129A 1.1 Objective of this document.129A.1.2Scope129A.1.3 Intended Method of mounting129A 1. 4 Ratings and characteristics130A.1.5 Normative references130A.1.6 Markings……131A 1.7 Type Designation国131A.1.8 Ordering Information132A 1. 9 Special Connector LoadingsA2 Technical InformationA.2.1 Contacts and terminations133A 3 Dimensional Information134A.3.1 Isometric view and common features.134A 3.2 Engagement Information134A.3. 2.1 Electrical Engagement Length134A.3.2.2 First Contact point135A 3.2.3 Perpendicular to Engagement direction135A.3.2.4 Inclination135A 3.3 Backplane Connectors136A 3.3.1 Dimensions1136A.3.3.2 Contacts136A.3.3.3 Contact Tip Geometry…………137A.3.3,4 Terminations137A. 3. 4 Front board connectors wwwwwwwwwww138A,3. 4. Dimensions.138A 3.4.2 Terminations138A 3.5 Mounting Information for Backplane Connectors138A. 3.5. 1 Hole Pattern on Backplanes139A 3.5.2 Backplane Contact Positional Requirements139A.3.5.3 True position of male contacts.139A.3.6 Mounting Information for Front Board Connectors.140A 3.6.1 Hole Pattern on Printed boards140A 4 Characteristics1416PICMG EXPO CompactPCI EXpress Specification, Draft R.93, March 11, 2005Do Not Design To/Do Not Claim Compliance To/Do Not Distribute This specificationA.4.1 Climatic Category141A 4.1.1 Climatic Category Test batch P: Initial EXamination .....141A 4.1.2 Climatic Category Test Batch A: Mechanical Tests.. 141A 4.1.3 Climatic Category Test Batch B: Harsh Environments. 144A.4.1.4 Climatic Category Test Batch C: Damp Heat146A 4.1.5 Climatic Category Test Batch D: ExtendedEnvironmental Tests147A 4.1.6 Climatic Categary Test Batch E: ExtendedEnvironmental Tests148A.4.2 Electrical characteristics148A.4.2.1 Impedance148A 4.2.2 Crosstalk149A.4.2.3 Propagation Delay149A42.4 Differential skew..149A 4.25 Insertion Loss149BEnriched hard-Metric ConnectorB. 1 General data国面国B150B. 1. 1 Objective of this document150B.1.2 Description of the Connector,s Approach150B.1.3 Descriptive Partitions Found Further This document150B 1.4 Normative References15B 1.4.1 Primary references describing the generic Part ofthe co151B.1.42Additionalreferenceswwwwwww.15B.1.5 Intended Method of Mounting151B 1.6 Markings.152B.1.7 Type Designation(General)152B2 Technical Information∴152B 2.1 Definitions152B 2.2 Contacts152B 2.3 Contact Performance Level154B 2.4 Keying154B.2.4.1 Mating rules155B.2.4.2 Examples for mating and nonmating configurations . 156B.2.5 Type Designation156B 2.6 Applicational Information157B 2.6.1 Alignment and Gathering157B26.2 Polarization翻面面∴158B3 Dimensional InformationQB.3.1 General158B.3.2 View and common features158B3.3 Remarks on Mating Properties of eHM Connector…………159B 3. 4 Fixed Board connector160B 3.4.1 Dimensions160B 3.4.2 TerminationsB.3.4.3 Mounting Information for Fixed Board Connectors..161B 3. 4.4 Hole pattern on fixed board161B.3.4 5 Position of connectors on fixed board∴161B 3.5 Free board connectors162B 3.5.1 Dimensions162B 3.5.2 Termination163PICMG EXPO CompactPCI Express Specification, Draft R. 93, March 11, 2005Do Not Design TO/Do Not Claim Compliance To/Do Not Distribute This specificationB.3.5.3 Mounting Information for Free Board Connectors. .......163B 3.5.4 Hole pattern on free board163B 3.5.5 Position of connectors on front board163B4 Characteristics81.163B.4.1 Climatic Category∴163B 4.2 Electrical Characteristics163B.4.2. 1 Creepage and clearance Distances163B 4.2.2 Voltage Proof164B.4.2. 3 Current-Carrying Capacity.164B.4.2.4 Contact resistance.……164B 4.2.5 Insulation Resistance.164B 4.3 Mechanica164B.4.3.1 Mechanical Operation.164B.4.3.2 Engaging and Separating Forces164B 4.3.3 Contact retesert164B 4.3.4 Static Load. Transverse.164B 4.3.5 Gauge Retention Force.164B 4.3.6 Vibration(Sinusoidal.164B 4.3.7 Shock164B 4.3.8 Polarization method165B.4.3.9 Robustness and effectiveness of coding device .........165B.4.3.9.1 Conditions According to IEC60512-7,Test 13e....B165B 5 Test schedule165B.6 Quality Assessment Procedures…………….…..….…......…...165c Universal Power Connector(UPM)166C 1 General data.I....8.4.4面面面..166C.1.1 Objective of this document166C2 Dimensions167C 3 Perpendicular to Engagement Direction169C4 Inclination169C 5 Mounting Information169C 6 Climatic Category.171Figuresg1-1 HM Connectors231-2 Advanced Differential Fabric(ADF) Connector241-3 UPM Power Connector for System and Type 1 Peripheral Slots/Boards..251-4PowerConnectorforswitchslots/boardswwwwww.26-5 eHM Connector1-647- Position CompactS| Pluggable Power Supply Connector……….281-7 CompactPCI Express 3U Slot Examples29-8 Compact PCI Express 6u Slot Examples301-9 System Board311-10 System Slot321-11 Type 1 Peripheral Board321-12 Type 1 Peripheral Slot.331-13 Type 2 Peripheral Board-14 Type 2 Peripheral Slot34PICMG EXPO CompactPCI EXpress Specification, Draft R.93, March 11, 2005Do Not Design To/Do Not Claim Compliance To/Do Not Distribute This specification1-15 Hybrid Peripheral slot351-16 Boards Supported By Hybrid Peripheral Slots361-17 3 Switch Board371-18 3 Switch Slot371-19 6U Switch board38-20 6U Switch Slot391-21 Backplane with Hybrid Peripheral Slots and Legacy Slots401-22 Backplane with all Hybrid Peripheral Slots411-23 Backplane with Type 2 and Hybrid Peripheral Slots421-24 3U Backplane with Switch, System, Type 1, and Type 2 Slots1-256 U Backplane with Switch, System,Type1, and type2S∴………43442-1 Backplane Overall Dimensions482-2 30 Backplane connector Locations492-3 6U Backplane Connector Locations502-4 board compatibility glyphs2-5 Glyph for Boards that Operate in Either System or Peripheral Slots512-6 Slot Compatibility Glyphs……512-7 3U System, Type 1, and Type 2 Board Dimensions and ConnectorLocations522-8 6U System/Type 1/Type 2 Board Dimensions and Connector Locations...532-9 3 Switch board Dimensions and connector locations542-106uswItchboarddimensionsandconnectorlocations..w.wwwwww.552-11 Modification to PCB to Support Thicker Boards562-12 CompactPCI Express Logo572-13 Alternate CompactPC| Express Logo....….….…572-14 Approximate Clearance Between the PMC/XMC PCB and the aDFConnector………………..572-15 Board cross-Sectional view82-16 3U Rear-Panel l/o board dimensions,602-17 6U Rear-Panel l/o Board Dimensions613-1 2-Link and Loss definition643-2 Backplane Connector Footprint683-3 Interconnect jitter allocation703-4 Peripheral TX Eye Mask723-5 Controller TX eye Mask733-6 Peripheral RX Eye Mask743-7 Controller RX Eye Mask753-8 Backplane TX Compliance signal763-9 Backplane RX Eye…763-10 Alternative Controller measurement783-11 Biasing for HCSL Clock Input3-12 Biasing Simulation Results.803-13 Single-Ended Measurement for swing.833-14 Single-Ended Measurement Points for delta cross point833-15 Single-Ended Measurement Points for Rise and Fall Time Matching ..........833-16 Differential Measurement Points for Duty Cycle and Period833-17 Differential measurement points for rise and fall time843-18 Differential Measurement Points for Ringback843-19 Eight-Slot Backplane Example913-20 Power Supply Timing95PICMG EXPO CompactPCI Express Specification, Draft R. 93, March 11, 2005Do Not design To/Do Not claim compliance To/do Not distribute This specification3-21 WAKE Rise and fall time measurement points983-22 WAKE# Circuit Example93-23 Power Up…1013-24 Power Management states1023-25 Power down1033-26 Typical Hot-Plug Interface Implementation1063-27 4-Link Configuration Backplane Example1103-28 2-Link Combination Configuration backplane example112A-1 Sample Part Number with Explanation132A-2 Special Connector Loading 01001面着国面国B面面国33A-3 View of connectors with common features134A-4 Connector Mating Sequence35A-5 Dimensional Drawing of Backplane Connector.136A-6 Contact Geometry for Zone 2 Backplane Connector137A-7 Dimensional Drawing of Front Board Connectors138A-8 Hole Requirements for backplane Connector139A-9 Backplane Pin Contact Positional Tolerance ................................................140A-10 Hole Requirements for the Front Board Connector140B-1 View of Fixed and Free Board Keying Design(Left Perspective, RightDetailed).……155B-2 View of a Mating and a Non-Mating Keying Combination156B-3 View of fixed and free Board connectors..158B-4 View of Fixed Board connector Including polarization Feature.......159B-5 Dimensional drawing of Fixed board eHM connector160B-6 Hole Requirements for eHM on Fixed Board161B-7 Dimensional drawing of eHM Free Board connector…162B-8 Hole Requirements for eHM Free Board Connector............163C-1 UPM-F-7 Female 7-Position power connector dimensional information 167C-2 UPM-F-5 Female 5-Position Power Connector Dimensional Information ....168C-3 Male 7-Position power connector dimensional information168C-4 UPM-M-5 Male 5-Position Power connector dimensional Information169C-5 Hole pattern for 7-Row male uPm Power connector169C-6 Hole pattern for 5-Row male UPM Power connector170C-7 Hole pattern for female 7-Row uPm Power connector..170C-8Holepatternforfemale5-rowuPmpowerconnectorwwww.171Tables3-1 Interconnect Loss Budget Type 1 Peripheral3-2 Interconnect Loss Budget Type 2 Peripheral653-3 Allowable Interconnect Lane-to-Lane skew673-5 Interconnect Jitter buaget on3-4 Total System Jitter Distribution......69703-6 Type 2 Peripheral Transmitter Eye............713-7 Controller TX Compliance Eye Requirements723-8 Type 2 Peripheral RX Compliance Eye Requirements..733-9 Controller RX compliance Eye Requirements743-10 Backplane TX Compliance Signal (Signal Generator)753-11 Backplane RX compliance eye7610PICMG EXPO CompactPCI EXpress Specification, Draft R.93, March 11, 2005Do Not Design To/Do Not Claim Compliance To/Do Not Distribute This specification

自己实现的经典ICP算法，采用PCA作了粗拼接，然后使用K-d树算法加速选取对应点，使用bunny数据进行了拼接实验，并计算了其RMS误差。经典ICP算法中不包含筛选删除误匹配点对的步骤，因此精度较低。

WinCC V7.2与S7-1200/1500 PLC常规通讯，此文档主要讲述如何使用“SIMATIC S7-1200, S7-1500 Channel”通道，组态与S7-1200/1500的以太网通讯。1概述自 WinccⅥ7.2版本起,软件新増加了“ SIMATIC S7-1200,S7-1500 Channel”通道,用于 Wincc与S7-1200/S7-1500PLC之间的通信。此驱动只支持以太网通讯,使用TCP/IP协议。此文档上要讲述如何使用“ SIMATIC S7-1200,S7-1500 Channel”迸道,组态与S71200/1500的以太网通讯。在win℃C项目中可添加此驱动,如图1-1所示,打开变量管理界面,选择“变量管理”点击鼠标右键,选择“添加新的驱动程序”,在驱动列表中选择“ SIMATIC S7-1200,S7-1500 Channe1”驱动。文件编辑E)视图帮助什变量管理《变量管理数结构变导入Modbus TCPIPOPC5Profibus DP6Profibus FmsSIMATIC 505 TCPIP8SIMATIC S5 Ethernet Layer 410SIMATIC S5 Profibus FDL本本本符本符符符符本本11SIMATIC $5 Progr ammers Port AS51112SIMATIC S5 Serial 3964R1314SIMATIC ST-1200. S7-1500 Channel1516SIMATIC TI Serial点17Simotion18System Info19图1-1添加驱动文档示例的软硬件环境件: Wincc项目运行的电脑自带普通以太內卡、CPU1214C、CPU1511-1PN软件: WinCc7.2Upd6、 Simatic net v8.2SPl、Step7Ⅵ13(用于组态S71500/1200)2 Wincc v7.2与S7-1200PLC常规通讯2.1设置PLC通讯参数在Step?Ⅵ13组态软件中打开S7-1200项目,关丁PLC硬件组态步骤在此不详述。在树形菜单中打开“设备和內络”,打开网终视图点击CPU1214C通讯端口,在“属性”界面中设置通讯参数,在“子网”列表中可把接口连接到某一子网,设置“IP电址”和“子网掩码”参数。简单通讯情况下,可以不用启用IP路由尜,如图2-1所小。□项目157-1200鱼设备和网络PLC 1CPU 12140Pu1511-1PN571500AC/DC/RlyPLC设备组态旦在和诊断程序块「工艺对象细外部原文件PLc变里PLc数据类型圆出控与强制表约程序信息PROFINET接口1[X1:PN(LAN墨设备代理数据属性「信息S诊断文本列表常规0变量系统常数文本□本模块□吒C2[Uu15111刚太网地址以太网地址设备组态高级接口连接到旦在线和诊断时间同步程序块硬件标识符子网:PNE2工艺对象添加新子网外部原文件FLC变里PLc数据类型P协议监控与强制表UTra⊙在项目中设置P地址设备代理据P地址:[19216840120ˇ详细视图子阿镜吗:[255:2552550图2-1S7-1200通讯参数将组态下载到CPU,PLC组态完成2.2 Wincc软件组态步骤2.2.1电脑网卡参数设置在操作系统网络连接中设置此网卡的IP地址以及子网掩码,在此例中,IP地址和PIC的IP地址在同一样网段中,子网掩码一致,如图2-2所示。在PLC和电脑之间接入以太网通讯电缆,测试电脑与PC之间物理连接是否正常。选择操作系统左下角“开始”菜单,在最下一行运行栏中输入“CⅧ”命令,然后敲回车进入DOS命令界面。在界面中输入pins命令,格式:pingping192.168.48,120在Ping192.16841.128具有32字节的数据:自192168,48,128的节=32时间< ms TTL=128自192168.4.128的节=32时间

注意：此为PPT，不是PDF格式。李宏毅-Deep Learning Tutorial-300页的PPT，这个PPT介绍了一些关于深度学习的知识，适合深度学习入门级阅读。

T-S模糊辨识与广义预测控制MATLAB源程序及说明文档。

ROS机器人turtlebot路径规划，文件夹中包括了OMPL_ros_turtlebot，贝塞尔曲线拟合后的rrt，move-base-ompl，navigation_tutorials，relaxed_astar等路径规划资源，可用于ROS机器人的路径规划研究

和声搜索算法的MATLAB代码实现，调试过，可以用的，希望给大家带来帮助。