VINS论文推倒及代码解析
VINS 的功能模块可包括五个部分:数据预处理、初始化、后端非线性优化、闭环检测及闭环优化。代码中主要开启了四个线程,分别是:前端图像跟踪、后端非线性优化(其中初始化和 IMU 预积分在这个线程中)、闭环检测、闭环优化。、总体框架Measurement PreprocessingInitializationCamera(30hz)Feature Detectionnd rackerVisual-lnertialInitializedis- onlySfMAlignmentIMU (100hMU Pre-integrationLocal Visual-Inertial: OldestSliting WindowNewestNonli+、 Keyframe?OptimizationBundle Adjustment II Loop detectionwith RelocalizationStates from Loop ClosureFealure retrievel oop Deleted二二1---11------22===Global Pose Graph4-DoF Pose Graph OptimizationKeyframe DatabaseOptimization图1VINS框架ⅵINS的玏能模块可包括五个部分:数据预处理、初始化、后端非线性优化、闭环检测及闭环优化。代码中主要开启了四个线稈,分别是:前端图像跟踪、后端非线性伉化(其中初始化和IMU预积分在这个线程中)、闭环检测、闭环优化各个功能模块的作用上要有:1.I图像和MU预处理●图像:提取图像 Harris角点,利用金字塔光流跟踪相邻帧,通过 RANSAC去除异常点,最后将跟踪到的特征点push到图像队列中,并通知后端进行处理●IU:将IMU数据进行积分,得到当前时刻的位置、速度和旋转(PVQ),同时计算在后端优化中将用到的相邻帧的预积分增量,及预积分误差的 Jacobian矩阵和协方差项。1.2初始化首先,利用SFM进行纯视觉佔计滑窗內所有帧的位姿及3D点逆深度,最后与IMU预积分进行对齐求解初始化参数1.3后端滑窗优化将视觉约束、IMU约束和闭环约束放在·个大的目标函数中进行非线性优化,求解滑窗内所有帧的PVQ、bias等。L M States in the sliding windowIMU:k States from loop clos1Camera:冷 MU measurements>visual measurements★ Catur图2滑窗优化示意图14闭环检测和优化利用D)BoW进行闭环检测,当检测成功后进行重定位,最后对整个相机轨迹进行闭环优化。U预积分VisionIMUVision图3MU预积分示意图21当前时刻pVQ的连续形式将第k唢和第kl帧之间的所有IMU进行积分,可得第kHI帧的位置、速度和旋转(PVQ),作为视觉估计的初始值,这里的旋转采用的四元数。v△t+k+1∈[k,k+1]rW(at-ba ) -owletbk JtE[k, k+1]n(,-bdt∈[k,k+1]其中,a2和O为ⅠMU测量的加速度和角速度,是在Body自身坐标系, world坐标系是IMU所在的惯导系,上式的旋转公式推导可参考附录10.1。22当前时刻PVQ的中值法离散形式公式(1)给出的是连续吋刻的相机当前PVR的达代公式,为了跟代码致,下面给出基于中值法的公式,这与 Estimator:; processIMg(O函数中的Ps]、Rs]和Vs是一致的,IMU积分出来的第j时刻的物理量可以作为第j帧图像的初始值。tr t+a26t(2)ka,St其中q(a1-ba)-g"+q:+1(a+1-ba)(a;+o;+1)2.3两帧之间PVQ增量的连续形式通过观察公式(1)可知,IvU的预积分需要依赖与第k帧的ν和R,当我们在后端进行非线性优化时,需要迭代更新第κ唢的ν和R,这将导致我们需要根据每次迭代后值重新进行积分,这将非常耗吋。因此,我们考虑将优化变量从第k帧到第κ+1帧的IU预积分项中分离开来,通过对公式(1)左右两侧各乘Rb,可化简为:R(+p2k-=2△)+ak+1b其中DtElk, k+1t∈[k,k+1R k(at-bar)ldt)Wendtt∈[kk+1这样我们就得到了连续时刻的MU预积分公式,可以发现,上式得到的MU预积分的值只与不同时刻的a2和o相关。这里我们需要重新讨论下公式(5)预积分公式,以ab,为例,我们发现它是与MU的bias相关的,而bias也是我们需要优化的变量,这将导致的问题是,当每次迭代时,我们得到一个新的bias,又得根据公式(巧5)重新对第k帧和第k+1帧之间的IMU预积分,非常耗时。这里假设预积分的变化量与bias是线性关系,可以写成:ab,+/6n6ba+/16b+8 8ba +p(6)k+1sb24两帧之间PVQ增量的欧拉法离散形式面给出离散时刻的IMU预积分公式,首先按照论文中采用的欧拉法,给出第i个MU时刻与第i1个IMU时刻的变量关系为b+1k+的6t+元R(P)(1+R(P")(a2-bbn)δt25两帧之间PⅤQ增量的中值法离散形式卜面给出代码中采用的基」中值法的IMU预积分公式,这与 Estimator: processIMUO函数中的 Integration Base: push backo上是一致的。注意这里跟公式(2)是不一样的,这里积分出来的是前后两顿之间的IU增量信息,而公式(2)给出的当前帧时刻的物理量信息+1+B k St +=a, &tbb+1Bi + au1其中a,=slqilai-bai)+qiDi t aitl2.6连续形式下PVQ增量的误差、协方差及 JacobianIMU在每个吋刻积分出来的值是有误差的,下面我们对误差进行分析。首先我们直接给出在t时刻误差项的导数为:sa00016a000000-82(066hkR;0006|=00-(a-bh)0-1192k|+|000|mLL000016ba00101n000018b000F+ozk+ Gt其中:F25×15,G215×2,62x1,n12×,上式推导可参考附录102。下面我们讨论它的作用,将其可以简写为:6之k=F62z+Gtnt根据导数定义可知:62b=1m24-6262+8=62+628t=(+F6t)6z+(Gt6t)nt(11)这里我们对公式(1)的IMU误差运动方程再说明,将上式和EKF对比可知,上式恰好给出了如EKF一般对非线性系统线性化的过程,这里的意义是表示下一个时刻的IMU测量误差与上一个时刻的成线性关系,这样我们根据当前时刻的值,可以预测出下一个时刻的均值和协方差,而公式(1)给出的是均值预测,协方差预测公式如下Pb+6=(1+Ft)P(+Fl6t)7+(G,t)Q(G18t)ot(12)上式给出了协方差的选代公式,初始值Pk=0。其中,Q为表示噪声项的对角协方差矩阵000003000另外根据(11)式可获得诀差项的 Jacobian的迭代公式:(I+F26t)(14)其中 Jacobian的初始值为bk=12.7离散形式的PVQ增量误差分析我们首先直接给出PVQ增量误差在离散形式下的矩阵形式,为了与代码一致,我们修改下变量顺序,这和代码中 midPointIntegration(函数是一致的。(但不知为何计算的V中与前四个噪声项相关的差个负号?)1t fo660f106t‖loeBk+1=0f211f20016bδb0[6b102001rnot000kRkotk+1(15006t0n0000δt其中,推导可参考附录10.3:stE(ak-ba)02-4B+1(kk+121k+1b.)6t|6t2(Rr+ rk+18t2Stn=71=Rk+1(a+1-b)6tWr+ wf1=Ik+11+Gb。)δt-Rn+1(ak+121=-2配+1Stl st21(RK+Ruts)4rula1RrotstStR+1(a1R,+114/+11t28离散形式的PVQ增量误差的 Jacobian和协方差将公式(15)简写为:k+1F15×158215×1+V15×13Q则 Jacobian的迭代公式为k+15×15=F/k(16)其中, Jacobian的初始值为/k=l。这里计算出来的k+1只是为了给后面提供对bias的acoblar。协方差的迭代公式为P+15×15=FPFr+vQv(17)其中,初始值P=0。Q为表示噪声项的对角协方差矩阵:00000000aa000Q18×180a00(18)000000三、后端非线性优化31状态向量状态向量共包括滑动窗口内的n+l1个所有相机的状态(包括位置、朝向、速度、加速度计bias和陀螺仪bias)、 Camera到IMU的外参、m+1个3D点的逆深度X=[xr=pw,vb bpc,q3.2目标函数吗+(喻,2)+2(19)其中三个残差项即误差项分别为边缘化的先验信息、IMU测量残差、视觉的重投影残差。三种残差都是用马氏距离表示。根据《十四讲》中高斯牛顿法,若要计算目标函数的最小值,可以理解为,当优化变量有一个增量后,目标函数值最小,以IU残差为例,可写成如下所示:nin lre2bk, X+8Xrk x)+HSⅩDk+1oXk+1k+1其中HB,为B关于 XIK Jacobian,将上式展开并令关于6X的导数为0,可得增量δx的计算公式:H k 8X=k+1TB那么,公式(28)可写成+∑+∑Tk∑1rc上式中,B为MU预积分噪声项的协方差,P为vual观测的噪声协方差。当MU的噪声协方差P越大时,其信息矩阵Pk,将越小,意味着该MU观测越不可信,换句话说,因MU噪声较大,越不可信IMU预积分数据,而更加相信 visual观测。注意,这里的IMU和vsua协方差的绝对值没有意义,因为考虑得是两者的相对性可将上式继续简化为:(Ap+AB +Acox=bp +bB +bc其中,Ap,AB和Ac为 Hessian矩阵,上述方程称之为增量方程。33MU约束1)残差:两帧之间的PVQ和bias的变化量的差△tx+k+1bk qbk+1bR+1 xyz+g"△t)-Bk(20)sbbbb其中各增量关于bias的 Jacobian可从公式(16)的大 Jacobian中的相应位置获得。上面与代码中 Integration base: evaluateD对应,2)优化变量pb, 0W, Svb ,8ba:,bor Opb,, 80W ,Swb,, bakr, Sba3)Jacobian:计算 Jacobian时,残差对应求偏导对象分别为p6e,6vB,6h,ba],6b,6b
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cpci express的标准
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
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