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Ryan Malloy 5252d1d73c Add hardware reference docs (A3981, K60, RYS352A) 
Allegro A3981 stepper motor driver: datasheet, KiCad symbols/footprint,
3D model (TSSOP-28). Two per G2 board, SPI-controlled, AUTO microstep.

NXP MK60DN512VLQ10 (Kinetis K60): datasheet and 1300-page reference
manual. Cortex-M4 96MHz MCU running the G2 firmware.

Reyax RYS352A GPS module: datasheet and PAIR command guide.
GPS receiver on the G2 board (used for auto-location/satellite lookup).

All extracted as markdown + page images + vector SVGs for LLM context.
Binary assets (PDFs, PNGs, SVGs, STEP, WRL) stored via git-lfs.
2026-02-14 18:36:42 -07:00

117 lines
22 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="20" font-family="HelveticaLTStd" font-weight="bold"><tspan y="88.19531" x="0 14.4400019 26.660002 37.780004 50.000005 56.660005 67.78001 75.560009 81.12 92.240009">Chapter 24</tspan><tspan y="110.19531" x="0 18.880002 30.000002 36.660005 47.780008 60.000009 72.22001 84.44001 96.66001 102.22001 114.44001 120.00001 137.78002 148.90001 156.68001 162.24 168.90001 187.78002 202.22002 217.78002 233.34001">Watchdog Timer (WDOG)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00599 9.446011 18.89801 23.62401">24.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00599 4.7200105 15.10701 20.76801 27.38101 37.76801 48.15501 58.54201 67.99401 73.655017 78.38101 88.76801">Introduction</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="186.83672" x="232.54701 242.65502 253.54701 262.101">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="211.45" x="71.994998 79.779 86.779 91.441 94.941 98.833 105.833 112.049 115.549 121.76501 128.76502 132.65702 139.65702 144.31902 149.76502 156.76502 162.98102 169.19702 173.08902 177.75102 181.64302 187.85903 191.35903 195.25102 206.14302 213.14302 217.03502 223.25102 234.14302 240.35903 247.35903 251.25102 257.467 261.359 265.251 272.251 279.251 282.751 289.751 295.967 299.859 306.075 309.967 313.859 319.30503 322.80503 329.80503 334.467 337.967 341.859 348.859 352.751 358.19703 361.69703 372.58903 379.58903 386.58903 393.58903 397.48103 403.69703 406.217">For the chip-specific implementation details of this module's</tspan><tspan y="227.45" x="71.994998 75.88699 82.88699 88.33299 92.22499 98.440998 105.440998 111.657 117.873 123.319 126.819 132.265 138.481 144.697 148.197 152.089 159.089 165.30501 168.80501 175.02101 182.02101 185.91301 192.91301 196.41301 202.62902 209.62902 216.62902 221.29102 225.18302 232.18302 239.18302 243.84502 250.06102 253.95302 257.84504 264.84504 271.84504 275.34504 279.23704 286.23704 290.89903 297.89903 302.561 313.453 319.669 323.561 327.453 334.453 341.453">instances see the chip configuration information.</tspan><tspan y="251.84999" x="71.995029 79.77903 89.88703 99.22504 107.77904 112.44104 121.77904 131.88704 140.44104 145.10305 155.21105 165.31905 168.81905 177.37305 186.71105 196.04904 206.15705 215.49504 219.38704 222.88704 227.54904 234.54904 238.04904 248.94104 255.94104 262.94105 269.94105 273.83305 280.04905 283.54905 294.44105 300.65705 311.54905 318.54905 323.21104 330.21104 333.71104 344.60304 350.81904 357.81904 361.31904 365.21104 371.42704 378.42704 382.31904 388.53504 393.98106">PUBLICATION ERROR: In module memory map tables,</tspan><tspan y="267.85" x="71.995029 76.65703 82.87303 89.87303 93.76503 99.21103 103.10303 109.31903 113.98103 117.48103 122.143039 128.35904 133.80504 140.02104 143.91304 147.41304 154.41304 160.62905 164.52104 171.52104 177.73705 183.18305 186.68305 197.57505 203.79105 210.79105 214.29105 221.29105 227.50705 231.00705 234.89905 241.89905 248.11505 255.11505 259.77705 264.43904 270.65504 276.87104 280.76304 284.26304 287.76304 295.54704 301.76304 307.97904 311.47904 315.37104 322.37104 328.58705 332.08705 335.97904 342.97904 349.97904 353.87104 360.87104 364.76304 371.76304 378.76304 384.97904">register reset values may be incorrect. See the individual</tspan><tspan y="283.85" x="71.99505 76.65705 82.873058 89.873058 93.76505 99.21105 103.10305 109.31905 113.98106 117.48106 124.48106 128.37306 134.58907 141.58907 146.25107 152.46707 163.35907 168.80507 172.30507 176.96707 183.96707 188.62908 192.12908 198.34508 204.56108 210.77709 217.77709 222.43909 228.65509 232.54709 238.76309 242.26309 246.9251 253.1411 258.5871 264.8031 268.6951 272.1951 276.0871 283.0871 287.74909 294.74909 299.41108 310.30308 316.51908 320.41108 324.30308 331.30308 338.30308">register diagrams for accurate reset information.</tspan><tspan y="308.25" x="-.006919861 8.54708 15.54708 21.76308 25.26308 38.47908 44.69508 48.587083 54.80308 61.80308 68.803089 75.803089 82.803089 86.303089 94.857089 98.749088 109.64108 115.857089 120.51909 124.01909 128.68109 141.8971 152.0051 162.1131 172.2211 176.8831 180.3831 187.3831 193.5991 199.81511 206.81511 212.26111 215.76111 221.97711 225.47711 235.58512 241.80112 245.69312 251.90912 258.90913 262.40913 269.40913 276.40913 279.90913 283.80113 290.80113 297.01713 300.51713 305.96315 312.96315 318.40916 322.30116 328.51716 339.40916 342.90916 347.57115 354.57115 361.57115 367.78715 371.67915 375.57115 382.57115 389.57115 393.46315 400.46315 407.46315 410.96315 417.17915 424.17915 431.17915 434.67915 439.34114 445.55714 451.00315 457.21916 461.11116 466.55717 470.05717 473.94917 477.84117 481.34117 485.23316">The Watchdog Timer (WDOG) keeps a watch on the system functioning and resets it in</tspan><tspan y="324.25" x="-.006949861 6.2090508 12.425051 17.871052 24.087052 27.587052 34.58705 39.24905 42.74905 46.641054 50.533056 55.979055 59.479055 64.14105 70.357059 74.249057 78.14105 85.14105 89.803058 96.01906 99.51906 103.01906 112.357059 118.57306 124.78906 130.23506 137.23506 144.23506 149.68106 153.18106 157.84307 164.84307 169.50507 173.00507 177.66707 183.88307 187.77507 191.66707 198.66707 203.32907 209.54508 213.04508 216.93708 223.93708 230.15308 234.04508 241.04508 248.04508 254.26108 257.76109 262.42308 269.42308 276.42308 281.08506 287.30107 297.40907 303.62507 310.62507 314.12507 319.57109 326.57109 331.23307 335.12507 345.23307 351.44908 356.11106 362.32707 365.82707 372.04307 379.04307 386.04307 392.25907 395.75907 401.97508 408.97508 415.97508 419.47508 423.36708 430.36708 436.58308 440.08308 445.52909 449.42109 456.42109 463.42109 470.42109 476.6371 483.6371">case of its failure. Reasons for failure include run-away software code and the stoppage</tspan><tspan y="340.25" x="-.006949861 6.99305 11.65505 15.15505 19.04705 26.04705 32.26305 35.76305 41.20905 48.20905 53.65505 57.54705 63.76305 74.65505 78.15505 84.371059 88.263057 95.263057 101.47906 108.47906 111.97906 115.871059 122.871059 129.08705 132.97905 136.47905 140.37105 147.37105 150.87105 157.08705 160.58705 166.03305 172.24906 176.91106 183.12706 187.01906 194.01906 197.51906 203.73506 208.39707 212.28907 216.18106 220.07306 226.28907 232.50507 236.39707 239.89707 245.34307 252.34307 257.78907 261.68107 267.89707 278.78907 282.28907 288.50508 294.72108 301.72108 305.22108 309.11308 315.32908 321.54508 328.54508 332.04508 335.93708 342.93708 346.43708 351.8831 358.0991 362.76109 366.65309 373.65309 380.65309 386.0991 389.5991 395.8151 402.8151 409.8151 415.2611 421.4771 428.4771 435.4771 441.6931 448.6931 454.90913 461.12513 466.57115 470.07115 473.57115 478.23313">of the system clock that in a safety critical system can lead to serious consequences. In</tspan><tspan y="356.25" x="-.006949861 5.4390509 12.439051 18.655053 25.655053 29.155053 35.37105 41.58705 47.03305 53.24905 58.69505 62.19505 65.69505 69.58705 76.58705 82.803058 86.303058 96.41106 102.62706 106.51906 112.73506 119.73506 126.73506 133.73506 140.73506 144.23506 151.23506 155.89707 159.78907 166.78907 173.78907 179.23506 182.73506 186.62706 193.62706 199.84307 203.34307 208.78907 215.78907 221.23506 225.12706 231.34307 242.23506 245.73506 249.62706 256.62709 260.51908 267.51908 271.01908 277.23509 280.73509 286.1811 292.3971 297.05909 303.2751 306.7751 312.2211 316.1131 322.3291 326.2211 332.4371 335.9371 342.9371 347.5991 351.0991 358.0991 365.0991 371.3151 375.97709 382.19309 386.08509 389.97709 396.97709 403.97709 407.47709 410.97709 419.53108 426.53108 432.74708 436.24708 446.35508 452.57109 456.46308 462.67909 469.67909 476.67909 483.67909">such cases, the watchdog brings the system into a safe state of operation. The watchdog</tspan><tspan y="372.25" x="-.006949861 10.885052 17.885052 24.885052 28.777052 32.669054 39.669054 44.33105 49.77705 53.27705 57.169054 64.16905 70.385059 73.885059 80.885059 87.885059 94.10106 98.76306 104.979068 108.87106 112.76306 119.76306 126.76306 130.26306 137.26306 141.92507 145.42507 149.31707 156.31707 162.53307 166.03307 171.47907 178.47907 183.92507 187.81707 194.03307 204.92507 208.42507 215.42507 222.42507 225.92507 232.14107 239.14107 246.14107 252.35707 258.57307 262.46507 266.35707 273.35707 280.35707 283.85707 290.85707 297.07307 301.73506 305.62705 312.62705 319.62705 323.51905 329.73506 333.23506 339.45106 346.45106 357.34306 368.23506 375.23506 382.23506 386.12705 392.34306 398.55906 402.45106 406.34306 413.34306 420.34306 423.84306 428.50505 433.16703 440.16703 451.05903 454.55903 458.45103 465.45103">monitors the operation of the system by expecting periodic communication from the</tspan><tspan y="388.25" x="-.006949861 5.4390509 12.439051 17.101052 20.993052 31.101052 37.31705 41.97905 48.19505 51.69505 55.19505 62.19505 68.41105 75.41105 81.62705 86.289058 92.50506 96.39706 100.289058 107.289058 110.789058 117.789058 124.789058 131.78907 141.89707 148.89707 152.39707 158.61307 164.05907 167.55907 173.00507 179.22107 183.88307 190.88307 194.77507 200.99108 204.88307 211.88307 218.88307 222.38307 229.38307 234.04508 237.54508 242.20708 248.42308 253.08509 257.74708 263.96308 269.4091 276.4091 280.3011 287.3011 294.3011 297.8011 301.69309 308.69309 314.9091 318.4091 328.5171 334.7331 338.6251 344.8411 351.8411 358.8411 365.8411 372.8411 376.3411 379.8411 384.50309 389.16508 392.66508 396.55708 403.55708 407.44908 412.89509 416.39509 423.39509 429.61109 434.27308 438.16508 445.16508 452.16508 456.05708">software, generally known as servicing or refreshing the watchdog. If this periodic</tspan><tspan y="404.25" x="-.006949861 4.6550505 10.871051 15.533051 20.195052 26.411053 31.857054 38.857057 42.749059 49.749059 56.749059 60.249059 67.249057 74.249057 80.46506 85.91106 89.41106 96.41106 103.41106 107.303058 110.803058 117.803058 124.01906 130.23506 137.23506 141.89707 145.39707 148.89707 152.78907 159.78907 166.00507 169.50507 179.61307 185.82907 189.72107 195.93708 202.93708 209.93708 216.93708 223.93708 227.43708 232.09908 238.31508 243.76108 249.97708 253.86908 259.3151 262.8151 266.7071 273.7071 279.9231 283.4231 288.8691 295.8691 301.31513 305.20713 311.42314 322.31513">refreshing does not occur, the watchdog resets the system.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 522.6)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00694 10.38006 19.832062 29.284062 34.94506 45.33206 51.94506 61.39706">Features</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="487.84999" x="-.00493 8.54907 15.54907 21.765072 25.265072 29.927073 36.143075 42.359075 46.251077 53.251077 57.913076 64.129077 69.57507 73.07507 80.07507 84.737079 88.237079 92.129077 99.129077 105.34508 108.84508 122.06108 128.27709 132.16909 138.38509 145.38509 152.38509 159.38509 166.38509 169.88509 178.43909 182.33109 193.22309 199.43909 204.10109 207.60109 212.26309 225.4791 235.5871 245.6951 255.8031 260.4651 263.9651 267.8571 274.8571 281.0731 284.9651 291.9651 298.9651 305.1811">The features of the Watchdog Timer (WDOG) include:</tspan><tspan y="512.24996" x="13.099071 24.005072 33.34307 37.235074 44.235074 50.451074 57.451074 60.951074 66.39707 73.39707 80.39707 85.059078 91.27508 97.49108 100.99108 104.88308 111.88308 118.88308 125.88308 129.77509 133.27509 137.16709 144.16709 151.16709 157.38309 164.38309 170.59909 177.59909 184.59909 190.8151 197.8151 201.70709 205.20709 209.8691 214.5311 221.5311 232.4231 235.9231 245.2611 253.04509 263.15309 267.04508 274.04508 281.04508 286.4911 289.9911 296.2071 300.0991 307.0991 313.3151 320.3151 323.8151 327.3151 336.6531 343.6531 350.6531 354.5451 360.7611 366.9771 370.4771 377.4771 383.6931 387.5851 397.6931 403.90913 410.12513 417.12513 420.62513 424.51713 434.62513 441.62513 445.12513 451.34114 455.23313 462.23313 468.44914">&#x2022;Clock source input independent from CPU/bus clock. Choice between two clock</tspan><tspan y="528.24996" x="24.005082 29.451083 36.45108 43.45108 48.11308 54.32908 60.54508 65.99108">sources:</tspan><tspan y="552.64999" x="37.09508 48.001085 56.555086 63.555086 73.663089 78.32509 85.32509 92.32509 102.43309 108.64909 113.3111 116.8111 123.8111 129.2571 135.4731 139.3651 143.2571 147.1491 153.3651 157.2571 164.2571 168.9191 172.4191 177.0811 185.6351 193.4191 203.5271">&#x2022;Low-power oscillator (LPO)</tspan><tspan y="577.05" x="37.09508 48.001085 56.555086 63.555086 67.44708 73.663089 78.32509 85.32509 91.54109 95.43309 98.93309 104.37909 111.37909 116.82509 120.71709 126.93309 137.82509 141.32509 147.54109 151.43309 158.43309 164.6491">&#x2022;External system clock</tspan><tspan y="601.45" x="13.099091 24.005093 34.113096 41.113096 45.005098 52.005098 58.221097 65.2211 68.7211 74.1671 80.3831 87.3831 94.3831 100.599109 107.599109 113.81511 120.03111 123.53111 128.19312 135.19312 139.85512 143.35512 149.57112 153.46312 157.35512 164.35512 174.46312 178.35512 185.35512 192.35512 195.85512 202.85512 209.85512 216.85512 223.07112 226.96312 233.17913 238.62512 242.12512 246.01712 253.01712 256.51713 266.62513 271.2871 275.1791 279.0711 285.2871 289.9491 296.9491 303.9491 310.1651 316.3811 319.8811 333.0971 343.2051 353.3131 363.4211 366.9211 373.13713 380.13713 387.13713 391.0291 395.6911 402.6911 406.5831 410.4751 416.6911 423.6911 430.6911 435.3531 439.2451 446.2451 453.2451 457.90708 464.12309 468.01509 471.90708 478.90708">&#x2022;Unlock sequence for allowing updates to write-once WDOG control/configuration</tspan><tspan y="617.45" x="24.00513 31.00513 34.897134 38.789136 44.235136">bits.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 729.26937)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.01001 137.23001 142.79001 148.35 151.13 157.8 163.91 170.02 173.35 179.46 185.02 193.91 196.69 199.47 205.03 207.81 215.03 220.59 223.92 229.48 233.37 238.93 245.04 250.59999 256.16 258.94 267.27 272.83 278.93998 285.04997 290.60997 293.38996 296.16996 298.94996 306.16996 311.72996 317.28996 320.06996 322.84996 328.40995 331.18995 336.74995 342.85993 348.9699 351.7499 357.3099 362.8699 368.4299">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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