20060402 Servo motor feed back signal fix
20060416 CPLD Pin out description fox Xilinx 9572XL

CN1
01 VBAT                      
02 P1.30/TMS                 
03 P0.18/CAP1.3/MISO/MAT1.3  
04 P0.19/CAP1.2/MOSI/MAT1.2  
05 P0.20/SSEL1/EINT3/MAT1.3  
06 P1.29/TCK                 
07 RESET                     
08 P0.23                     
09 P1.28/TDI                 
10 VREF                      
11 P1.27/TDO                 
12 P0.21/PWM5/AD1.6/CAP1.3   PWM5(PWM_3)              CPLD Pxx
13 P0.22/AD1.7/CAP0.0/MAT0.0 MAT0.0(PWM_LE)           CPLD P02
14 P1.19/TRACEPKT3           
15 +3.3V                     
16 +3.3V                     
17 +5V                       
18 +5V                       
19 GND                       
20 GND                       

CN2
01 3.3V                      
02 GND                       
03 P0.5/MISO0/AD0.7/MAT0.1   AD0.7(ADC_7)
04 P0.6/MOSI0/AD1.0/CAP0.2   
05 P0.7/PWM2/SSEL0/EINT2     PWM2(PWM_1)             CPLD P03
06 P1.24/TRACECLK            
07 P0.8/PWM4/AD1.1/TXD1      PWM4(PWM_2)             CPLD P21
08 P0.9/PWM6/EINT3/RXD1      PWM6(PWM_4)             CPLD Pxx
09 P0.10/AD1.2/CAP1.0/RTS1   P0.10(DISPLAY)          
10 P1.23/PIPESTAT2           P1.23(PWM_SDC_PWMSEL)   CPLD P41
11 P0.11/SCL1/CAP1.1/CTS1    P0.11(DISPLAY)          
12 P0.12/DSR1/AD1.3/MAT1.0   P0.12(DISPLAY)          
13 P0.13/DTR1/AD1.4/MAT1.1   P0.13(DISPLAY)          
14 P1.22/PIPESTAT1           P1.22(PWM_SDC_SOFTPWM)  CPLD P42
15 P0.14/DCD1/SDA1/EINT1     P0.14(DISPLAY)          
16 P1.21/PIPESTAT0           P1.21(PWM_SDC_CLK)      CPLD P39
17 P0.15/RI1/AD1.5/EINT2     P0.15(PWM_SDC_Reset)    CPLD P38
18 P0.16/MAT0.2/CAP0.2/EINT0 CAP0.2(PWM_SDC_Data)    CPLD P40
19 P0.17/MAT1.2/CAP1.2/SCK1  
20 P1.20/TRACESYNC           P1.20(PWM_SDC_SEL)      CPLD P37

CN3
01 P1.18/TRACEPKT2           P1.18(PWM_A2)           CPLD P07
02 P0.25/AD0.4/AOUT          AD0.4(ADC_4)
03 P0.26/AD0.5               AD0.5(ADC_5)
04 P0.27/AD0.0/CAP0.1/MAT0.1 AD0.0(ADC_0)
05 P1.17/TRACEPKT2           P1.17(PWM_A1)           CPLD P06
06 P0.28/AD0.1/CAP0.2/MAT0.2 AD0.1(ADC)
07 P0.29/AD0.2/CAP0.3/MAT0.3 AD0.2(ADC)
08 P0.30/AD0.3/CAP0.0/EINT3  AD0.3(ADC)
09 P1.16/TRACEPKT0           P1.16(PWM_A0)           CPLD P05
10 P0.31                     P0.31(SYSTEM)
11 P0.0/PWM1/TXD0            TXD0(Bluetooth)
12 P1.31/TRST                
13 P0.1/PWM3/RXD0/EINT0      RXD0(Bluetooth)
14 P0.2/SCL0/CAP0.0          
15 P1.26/RTCK                
16 P0.3/SDA0/MAT0.0/EINT1    
17 P0.4/AD0.6/SCK0/CAP0.1    AD0.6(ADC_6)
18 P1.25/EXTIN0              
19 3.3V                      
20 GND