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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_547.svg
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

118 lines
36 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="11.85" x="0 8.554 15.554 21.77 25.27 32.27 39.27 46.27 52.486 56.378004 62.594 66.094 70.756008 76.97201 83.18801 87.08001 94.08001 98.74201 104.958019 108.458019 112.35001 117.79601 121.29601 128.29602 133.74202 139.95803 144.62003 151.62003 155.51203 159.01203 163.67403 170.67403 175.33603 178.83603 185.05204 192.05204 199.05204 202.94403 206.83603 213.05204 219.26804 223.16004 227.05204 234.05204 241.05204 246.49803 249.99803 253.89003 260.89 267.10603 270.99803 274.49803 281.49803 287.71403 294.71403 300.93003 304.43003 310.64604 317.64604 321.14604 325.03804 332.03804 335.93003 339.82203 343.71403 349.93003 353.82203 357.32203 360.82203 367.82203 374.82203 381.82203 386.484 391.93003 398.14604 402.808 409.02403 412.91603 419.91603 423.41603 429.63203 434.294 438.186 442.078 445.97 452.186 458.402 462.294 465.794 472.794 479.01 483.672 487.564">The update feature is useful for applications that have an initial, non-safety critical part,</tspan><tspan y="27.85" x="0 10.108001 17.108002 23.324002 27.986002 34.202005 37.702005 41.594007 48.594007 54.810007 58.310007 68.41801 74.63401 78.52601 84.74201 91.74201 98.74201 105.74201 112.74201 116.24201 120.13401 125.58001 129.08002 136.08002 142.29602 149.29602 153.18802 156.68802 163.68802 167.58002 173.02602 179.24202 186.24202 190.13402 196.35002 203.35002 206.85002 213.85002 218.51203 222.01203 232.12003 236.01203 239.90402 246.90402 250.40402 256.62004 260.12004 266.33604 273.33604 280.33604 287.33604 293.55204 300.55204 304.44404 310.66004 317.66004 321.55204 325.44404 332.44404 335.94404 339.83604 346.83604 353.83604 360.83604 364.33604 368.22804 372.12004 383.01203 389.22804 393.89 400.89 407.89 411.782 415.282 422.282 428.49803 433.16 437.052 444.052 451.052 454.552 458.052 466.606 473.606 477.498">where the watchdog is kept disabled or with a conveniently long time-out period. This</tspan><tspan y="43.85" x="0 10.892001 17.108002 23.324002 30.324002 35.77 39.27 43.162004 50.162004 56.378004 59.878004 66.094 73.094 80.094 83.986 87.878 94.094 100.310009 104.202 108.094 115.094 122.094 125.594 131.81 138.81 145.81 152.026 156.688 160.188 167.188 174.188 180.404 185.85 189.35 196.35 203.35 207.242 210.742 217.742 223.95801 230.95801 237.17401 240.67401 244.56601 251.56601 255.06601 259.728 264.38999 270.606 277.606 284.606 290.822 297.822 301.714 305.606 312.606 316.106 321.552 327.768 332.43 339.43 343.322 349.538 355.754 359.254 363.146 370.146 376.362 379.862 389.97 396.186 400.078 406.294 413.294 420.294 427.294 434.294 437.794 441.294 451.402 456.064 459.956 466.172 470.83399 474.33399 478.22599 485.22599">means the application coder does not have to frequently service the watchdog. After the</tspan><tspan y="59.85" x="0 6.2160007 10.878 14.77 18.662 22.554 28.77 34.986 38.878004 42.378004 49.378004 55.594 60.256 64.148 67.648 74.648 79.310009 82.810009 86.702 93.702 99.91801 103.41801 109.63401 116.63401 123.63401 127.52601 131.41802 137.63402 143.85002 147.74202 151.63402 158.63402 165.63402 169.13402 176.13402 182.35002 189.35002 193.24202 200.24202 205.68802 209.18802 212.68802 216.58002 223.58002 229.79602 233.29602 243.40402 249.62003 253.51203 259.72804 266.72804 273.72804 280.72804 287.72804 291.22804 297.44404 303.66004 310.66004 314.16004 321.16004 327.37605 330.87605 335.53804 341.75404 347.97004 354.97004 361.97004 366.63203 370.52403 377.52403 384.52403 389.186 395.402 402.402 405.902 412.118 417.56404 421.06404 428.06404 434.28004 440.49604 447.49604 453.71205 460.71205">critical part of the application begins, the watchdog can be reconfigured as needed.</tspan><tspan y="84.25" x="0 8.554 15.554 21.77 25.27 35.378004 41.594 45.486005 51.702005 58.702005 65.702 72.702 79.702 83.202 87.094 92.54 97.986 104.986 111.202 116.648 120.148 126.364009 129.86402 134.52602 140.74202 146.18802 152.40402 156.29602 159.79602 163.29602 167.18802 174.18802 180.40402 184.29602 187.79602 191.68802 197.13402 200.63402 204.13402 208.02602 215.02602 218.91802 225.13402 229.79602 234.45803 241.45803 248.45803 252.35002 257.01203 260.90403 267.90403 274.12004 281.12004 285.782 290.444 296.66 302.10603 308.32203 312.21403 315.71403 319.60603 324.268 327.768 333.984 340.984 347.2 354.2 358.092 364.308 371.308 374.808 378.308 382.2 389.2 392.7 396.592 403.592 409.808 413.308 418.75404 425.75404 431.20005 435.09205 441.30805 452.20005 455.70005 460.36204 467.36204 472.02403 475.52403 481.74003 488.74003">The watchdog issues a reset, that is, interrupt-then-reset if enabled, to the system for any</tspan><tspan y="100.25" x="0 7 11.662001 15.162001 19.054 26.054 32.27 37.716 43.932 47.432 51.324 58.324 65.324008 71.54001 75.43201 79.324008 86.324008 89.824008 96.824008 103.824008 107.716 114.716 120.93201 127.93201 131.432 136.878 143.09401 150.09401 157.09401 163.31002 170.31002 176.52602 182.74202 188.18802">of these invalid unlock sequences:</tspan><tspan y="116.25" x="13.10401 23.99601 34.10401 41.10401 48.10401 51.60401 61.712015 66.374019 70.266017 74.15801 80.374019 83.874019 90.09002 97.09002 104.09002 107.59002 114.59002 120.80602 124.69802 131.69803 137.91403 141.41403 148.41403 152.30603 159.30603 165.52204 170.18404 173.68404 177.57604 184.57604 190.79204 197.79204 201.29204 208.29204 215.29204 224.63004 231.63004 238.63004 245.63004 249.13004 256.13005 260.79203 264.29203 271.29203 278.29203 288.40003 295.40003 302.40003 309.40003 312.90003 316.79203 323.79203 327.29203 331.18403 338.18403 344.40003 347.90003 354.90003 361.90003 365.79203 372.79203 379.00804 386.00804 389.50804 394.17 400.38603 407.38603 411.278 416.72404 420.61604 426.83204 431.49403">&#x2022;You write any value other than 0xC520 or 0xD928 to the unlock register.</tspan><tspan y="132.25" x="13.104 23.996003 34.104005 42.658006 51.212007 61.320009 74.53601 81.53601 91.64401 99.42802 109.53602 119.64402 128.19802 136.75202 140.25202 144.14402 149.59001 153.09001 158.53601 164.75202 168.64402 172.14402 178.36002 185.36002 192.36002 195.86002 202.86002 209.86002 216.86002 220.36002 226.57602 230.46802 234.36002 241.36002 251.46802 254.96802 261.18403 264.68403 271.68403 277.90003 284.90003 288.40003 295.40003 300.062 303.562 314.454 321.454 326.116 332.332 335.832 339.724 346.724 352.94 359.94 363.44 370.44 377.44 380.94 387.94 394.94 400.38603 403.88603 410.10203 413.99403 420.99403 427.21003 434.21003 437.71003 443.92604 450.92604 457.14204 461.03404 467.25004">&#x2022;ALLOW_UPDATE is set and you allow a gap of more than 20 bus clock cycles</tspan><tspan y="148.25" x="23.996022 30.996022 37.21202 41.104024 51.212026 57.428026 63.644025 70.64403 74.14403 78.036029 85.036029 91.25203 94.75203 104.86003 109.52203 113.41403 117.30603 121.19803 128.19803 135.19803 138.69803 145.69803 150.36003 153.86003 157.75203 164.75203 170.96804 174.46804 181.46804 188.46804 192.36003 199.36003 205.57604 212.57604 216.07604 221.52204 227.73804 234.73804 241.73804 247.95404 254.95404 261.17005 267.38606 270.88606 277.88606 284.10206 287.99406 294.99406 301.21006 306.65608">between the writing of the unlock sequence values.</tspan><tspan y="174.25" x=".00004196167 10.108043 17.108044 20.608044 26.824044 30.716044 34.608045 40.824045 51.716047 58.716047 62.608049 68.82405 75.82405 79.32405 83.98605 90.20206 94.86406 99.52606 105.742069 111.188068 118.188068 121.688068 128.68807 135.68807 141.90407 146.56607 152.78208 156.67407 160.56607 167.56607 174.56607 178.06607 185.06607 191.28208 195.17407 205.28208 211.49808 217.71408 224.71408 228.21408 232.10608 239.10608 245.32209 248.82209 252.71408 262.82209 269.82209 273.32209 283.43009 288.09208 291.98408 295.87608 302.09208 307.5381 311.0381 318.0381 322.70008 326.20008 330.09208 337.09208 343.30809 346.80809 353.80809 360.80809 364.70008 371.70008 377.91609 384.91609 388.41609 393.8621 400.0781 407.0781 414.0781 420.2941 427.2941 433.5101 439.7261 443.2261 449.4421 456.4421 463.4421 466.9421 470.8341 477.8341 481.3341 485.2261 492.2261">An attempted refresh operation between the two writes of the unlock sequence and in the</tspan><tspan y="190.25" x=".000071961669 13.216072 22.554074 31.108075 34.608076 38.500078 42.39208 53.28408 59.50008 63.00008 67.66208 74.66208 78.55408 82.446079 89.446079 99.55408 103.446079 110.446079 117.446079 120.946079 127.16208 130.66208 136.10808 143.10808 149.32408 155.54009 161.75609 167.20209 172.64809 177.31009 184.31009 188.20209 191.70209 198.70209 205.70209 209.59409 216.59409 222.81009 229.81009 233.31009 236.81009 243.81009 250.81009 257.0261 262.4721 265.9721 272.9721 279.9721 286.9721 293.1881 297.0801 303.2961 309.51213 313.4041 319.62013 326.62013 330.12013 333.62013 343.72813 347.62013 353.06614 360.06614 363.56614 367.06614 372.51216 378.72816 384.94416">WCT time following a successful unlock, goes undetected. Also, see </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="190.25" x="388.44407 401.66007 407.87608 411.76808 417.98408 424.98408 431.98408 438.98408">Watchdog</tspan><tspan y="206.25" x=".000091552738 10.108092 17.108094 23.324093 27.986094 34.202096 38.094099 41.9861 48.9861 55.9861 59.4861 69.5941 73.4861 77.3781 84.3781 87.8781 94.8781 99.5401 106.5401 110.4321 114.3241 117.8241 124.0401 130.2561 136.4721 142.68811 148.13411">Operation with 8-bit access</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="206.25" x="153.58008 157.08008 161.74208 168.74208 173.40409 176.90409 183.90409 190.90409 194.79608 201.79608 208.01209 211.90409 215.79608 222.79608 229.01209 234.45809 237.95809 242.62009 248.83609 252.72809 258.9441 262.8361 269.0521 276.0521 279.5521 283.4441 290.4441 293.9441 300.9441 305.60609 312.60609 316.49809 320.39009 323.89009 330.10609 336.32209 342.5381 348.7541 354.2001 359.64613 365.86213 371.30815 374.80815 378.70014 385.70014 389.20014 393.09214 400.09214 406.30815 409.80815 416.80815 423.80815 427.70014 434.70014 440.91615 447.91615 451.41615 456.07814 462.29414 469.29414 473.18614 478.63215 482.52415 488.74015 493.40214"> for guidelines related to 8-bit accesses to the unlock register.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="230.4367" x="236.44606 246.55406 255.10807 259.77006">Note</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="255.04999" x="72.00206 82.11006 85.61006 91.826068 98.826068 105.826068 109.71806 115.93407 122.93407 126.826068 130.32607 135.77207 145.88007 149.77207 153.66407 159.88007 166.88007 170.38007 177.38007 184.38007 189.04207 192.93407 199.93407 206.93407 210.43407 217.43407 224.43407 228.32607 235.32607 241.54207 248.54207 252.43407 259.43409 266.43409 269.93409 276.1501 283.1501 290.1501 293.6501 298.31208 304.52809 309.19007 313.85206 320.06806 325.51408 332.51408 336.40608 343.40608 350.40608 353.90608 364.79808 371.01408 378.01408 381.51408 385.40608 391.62208 397.83808 404.83808 408.33808 412.23008 419.23008 422.73008">A context switch during unlocking and refreshing may lead to a</tspan><tspan y="271.05" x="72.00206 82.11006 88.326068 92.21806 98.43407 105.43407 112.43407 119.43407 126.43407 129.93407 134.59607 140.81208 146.25807 152.47408 156.36608">watchdog reset.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 366.59999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00595 8.890051 17.786053 22.234053 31.130055 35.578058">24.3.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 366.59999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00596 15.098041 23.994042 29.32204 38.21804 47.99404 57.770044 67.54604 77.322048 81.77004 90.666049 100.44205 110.21805 115.54605 119.99405 129.77005 139.54605 145.77005 154.66605 159.99405 164.44205 174.21805 183.99405 188.44205 193.77005 198.21805 212.44205 221.33805 225.78604 231.11405 246.21805 257.77006 267.54606">Watchdog configuration time (WCT)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="349.84999" x=".00005 8.5540499 15.5540499 19.05405 26.05405 30.716052 36.932054 43.932054 50.148054 57.148054 61.040056 64.540058 71.540058 78.540058 82.43205 89.43205 93.32405 99.540058 106.540058 113.540058 119.75606 126.75606 130.25606 141.14806 148.14806 155.14806 159.04006 163.70206 167.59406 173.81006 180.02606 183.91806 187.81006 194.81006 201.81006 205.31006 212.31006 216.97206 220.47206 224.36406 231.36406 237.58007 241.08007 251.18807 257.40406 261.29606 267.51206 274.51206 281.51206 288.51206 295.51206 298.03205 303.47807 306.97807 313.19407 320.19407 327.19407 331.08607 335.74806 342.74806 346.64006 350.14006 356.35606 363.35606 370.35606 373.85606 380.07206 387.07206 394.07206 398.73405 402.62605 409.62605 416.62605 421.28804 427.50404 431.39604 435.28804 442.28804 449.28804 452.78804 457.45 463.66603 470.66603 474.558 480.00404 483.89604 490.11204">To prevent unintended modification of the watchdog's control and configuration register</tspan><tspan y="365.84999" x=".00005 7.00005 10.892051 14.784051 20.230051 23.730051 27.230051 34.23005 41.23005 48.23005 51.73005 57.94605 62.608049 68.82405 72.32405 78.540058 82.43205 86.32405 93.32405 103.43205 109.648059 116.648059 120.148059 124.040058 131.04006 134.54006 141.54006 148.54006 155.54006 161.75606 165.64806 171.86406 175.36406 179.25606 186.25606 192.47206 203.36406 206.86406 213.86406 220.86406 224.75606 231.75606 235.25606 245.36406 249.25606 253.14806 260.14808 264.04008 271.04008 274.54008 280.75608 284.25608 291.25608 297.47209 302.13407 306.02607 313.02607 320.02607 323.52607 330.52607 335.18806 338.68806 345.68806 352.68806 359.68806 363.18806 370.18806 377.18806 382.63407 386.13407 392.35008 396.24208 403.24208 409.45808 416.45808 419.95808 426.17408 433.17408 439.39009 443.28208 449.49809 454.9441 458.4441 464.6601 469.32209 473.21409 479.43009">bits, you are allowed to update them only within a period of 256 bus clock cycles after</tspan><tspan y="381.84999" x=".00005 7.00005 14.00005 17.89205 24.89205 31.108052 38.10805 42.000055 49.000055 56.000055 59.500055 63.000055 71.554058 78.554058 82.44605 87.89205 91.39205 98.39205 104.608058 109.27006 113.162059 120.162059 127.162059 130.66205 134.55405 140.00005 143.50005 150.50005 157.50005 164.50005 174.60805 181.60805 185.10805 191.32405 196.77005 200.27005 204.16205 211.16205 217.37805 220.87805 230.98606 237.20206 241.09406 247.31006 254.31006 261.31007 268.31007 275.31007 278.81007 285.02607 292.02607 299.02607 303.68806 307.58006 314.58006 321.58006 326.24205 332.45805 336.35005 340.24205 347.24205 354.24205 357.74205 361.63404 365.52604 376.41804 382.63404 386.13404 390.79603 404.01203 413.35005 421.90403 426.566 430.066 433.566 438.228 445.228 448.728 454.944 461.944 468.944 472.836 476.728 480.62 487.62 494.62">unlocking. This period is known as the watchdog configuration time (WCT). In addition,</tspan><tspan y="397.84999" x=".00005 3.8920506 10.892051 17.108052 22.554053 28.770054 32.270055 36.932054 43.148054 50.148054 54.040056 59.486055 63.378057 69.594058 74.25606 77.75606 84.75606 88.648059 92.540058 97.98605 101.48605 107.70206 113.91806 120.91806 124.41806 131.41806 137.63407 141.13407 152.02606 159.02606 166.02606 169.91806 174.58007 178.47206 184.68807 191.68807 195.18807 202.18807 209.18807 213.08007 220.08007 223.58007 230.58007 237.58007 243.79607 250.01207 253.51207 259.72807 264.39006 268.28205 274.49806 279.16004 282.66004 289.66004 296.66004 300.55204 307.55204 313.76805 320.76805 324.66004 331.66004 338.66004 342.16004 346.05204 353.05204 359.26805 370.16004 373.66004 378.32203 385.32203 389.984 393.484 399.7 406.7 410.592 414.484 418.376 425.376 432.376 435.876 439.376 445.592 452.592 458.808 465.808 469.308 475.52403 480.186 484.078 490.294">these register bits can be modified only once after unlocking them for editing, even after</tspan><tspan y="413.84999" x=".00005 4.6620504 10.878051 16.32405 22.54005 26.43205">reset.</tspan><tspan y="438.24998" x=".00005 10.10805 17.108052 24.108052 27.608052 38.500055 45.500055 50.946054 54.838056 58.338056 65.33806 72.33806 76.23006 83.23006 89.44606 96.44606 99.94606 103.83806 110.83806 117.05406 120.55406 125.216068 131.43207 138.43207 142.32407 147.77007 151.66207 157.87807 162.54007 167.98607 171.48607 181.59407 185.48607 189.37807 196.37807 200.27007 207.27007 210.77007 223.98607 233.32407 241.87807 245.37807 251.59407 256.25608 260.14808 266.36408 271.02607 274.52607 279.97209 286.97209 292.4181 296.3101 302.5261 313.4181 316.9181 321.58009 327.79609 333.2421 339.4581 343.3501 346.8501 350.3501 355.0121 361.2281 365.1201 369.0121 372.90409 379.90409 386.90409 390.40409 400.5121 407.5121 411.40409 417.6201 424.6201 428.1201 432.0121 439.0121 445.2281 448.7281 461.9441 472.0521 482.1601">You must unlock the registers within WCT after system reset, failing which the WDOG</tspan><tspan y="454.24998" x=".00005 3.8920506 9.338051 14.784052 21.784052 28.000054 33.446054 36.946054 43.162054 46.662054 51.32405 57.54005 62.98605 69.20205 73.09405 76.59405 80.486049 87.486049 90.986049 94.878047 101.878047 108.09405 111.59405 117.04005 124.04005 129.48606 133.37805 139.59406 150.48606 153.98606 157.48606 162.14806 169.14806 172.64806 179.64806 183.54006 190.54006 196.75606 201.41806 204.91806 215.02606 222.02606 226.68807 233.68807 239.13407 242.63407 246.13407 253.13407 260.13407 267.13407 270.63407 281.52607 288.52607 293.97209 297.86408 301.36408 311.47209 316.13407 320.02607 323.91807 330.13407 333.63407 339.85008 343.74208 347.24208 351.13407 357.35008 363.56608 369.0121 372.90409 376.40409 380.29609 387.29609 393.5121 397.0121 401.67408 405.56608 410.22807 415.67408 419.56608 423.06608 433.17408 440.17408 444.83607 451.83607 455.33607 462.33607 466.99806 470.49806 474.39006 481.39006">issues a reset to the system. In other words, you must write at least the first word of the</tspan><tspan y="470.24998" x=".00005 7.00005 14.00005 17.89205 24.89205 31.108052 38.10805 42.000055 49.000055 56.000055 59.500055 64.94605 71.162059 78.162059 85.162059 91.37806 98.37806 104.59406 110.81007 114.31007 124.41807 128.31008 132.20207 139.20207 143.09407 150.09407 153.59407 157.48607 164.48607 170.70207 174.20207 187.41808 196.75608 205.31008 208.81008 215.02608 219.68808 223.58008 229.79608 234.45809 237.95809 242.62009 248.83609 254.28209 260.49809 264.39009 267.89009 271.39009 281.49809 286.16007 290.05207 296.26808 300.93006 304.43006 308.32206 315.32206 319.21406 324.66007 328.16007 332.05207 337.49809 340.99809 347.99809 354.99809 361.99809 368.21409 371.71409 375.21409 382.21409 389.21409 396.21409 399.71409 406.71409 412.93009 419.93009 426.1461 429.6461 435.8621 439.3621 444.02409 451.02409 455.68608 459.57807 466.57807 472.79408 477.45606 480.95606 487.95606">unlocking sequence within the WCT after reset. After this is done, you have a further 20</tspan><tspan y="486.24998" x=".00005 7.00005 14.00005 19.44605 22.94605 29.162053 33.054056 40.054056 46.270055 53.270055 56.770055 62.986055 69.98605 76.20206 80.094058 86.31006 91.75606 95.25606 98.75606 102.648059 109.648059 115.86406 119.36406 130.25606 136.47206 143.47206 147.36406 158.25606 165.25606 176.14806 179.64806 185.86406 189.75606 193.64806 200.64806 210.75606 216.97206 223.97206 227.47206 234.47206 240.68807 247.68807 251.18807 258.18806 264.40406 268.29606 278.40406 284.62007 290.83607 297.83607 301.33607 305.22807 312.22807 318.44407 321.94407 332.05207 339.05207 343.71406 350.71406 356.16007 359.66007 366.66007 371.32206 374.82206 378.71406 385.71406 391.93006 395.43006 402.43006 409.43006 413.32206 420.32206 426.53807 433.53807 437.03807 442.48408 448.70008 455.70008 462.70008 468.91609 475.91609 482.13209 488.34809">bus clock cycles, the maximum allowed gap between the words of the unlock sequence,</tspan><tspan y="502.24998" x=".00005 3.8920506 10.892051 14.392051 20.608052 27.608052 38.500055 45.500055 49.392057 55.608057 59.500059 65.71606 69.21606 73.108058 80.108058 86.32406 89.82406 96.82406 103.82406 107.71606 114.71606 120.93206 127.93206 131.82407 138.82407 145.82407 149.32407 156.32407 163.32407 169.54007 174.20207 180.41808 184.31008 188.20207 195.20207 202.20207 205.70207 209.20207 217.75608 224.75608 230.97208 235.63408 241.85009 248.06609 252.72809 256.6201 262.8361 267.49809 270.99809 274.49809 278.39009 285.39009 288.89009 299.78208 305.99809 312.99809 319.21409 322.71409 328.1601 335.1601 339.82209 346.0381 349.5381 353.43009 360.43009 366.6461 370.5381 374.0381 381.0381 388.0381 395.0381 398.5381 405.5381 412.5381 416.0381 423.0381 430.0381 433.93009 437.43009 442.09208 449.09208 453.75407 460.75407 466.97007 470.86207 474.36207 478.25407">to complete the unlocking operation. Thereafter, to make sure that you do not forget to</tspan><tspan y="518.24996" x=".00005 6.2160508 13.216051 20.216052 24.878052 28.770052 35.77005 42.77005 47.43205 53.64805 57.14805 61.04005 68.040058 74.25606 77.75606 87.86406 94.08006 97.97206 104.188068 111.188068 118.188068 125.188068 132.18807 135.68807 139.18807 143.08007 150.08007 156.29607 159.79607 169.90407 176.12007 180.01207 186.22808 193.22808 200.22808 207.22808 214.22808 217.72808 221.62007 227.06607 232.51207 239.51207 245.72808 251.17407 254.67407 260.89009 264.39009 269.05207 275.26808 280.71409 286.93009 290.82209 294.32209 298.21409 302.87608 306.37608 313.37608 320.37608 327.37608 333.59208 337.09208 344.09208 348.75407 352.25407 356.14607 363.14607 369.36207 372.86207 386.07807 396.18608 406.29408 416.40208 419.90208 426.11808 433.11808 440.11808 444.01008 448.67207 455.67207 459.56407 463.06407 469.28007 476.28007">configure the watchdog, the watchdog issues a reset if none of the WDOG control and</tspan><tspan y="534.24996" x=".00005 6.2160508 13.216051 20.216052 24.878052 28.770052 35.77005 42.77005 47.43205 53.64805 57.54005 61.432054 68.43205 75.43205 78.93205 83.594058 89.81006 96.81006 100.70206 106.148059 110.040058 116.25606 120.91806 126.36406 129.86406 133.75606 139.20206 142.70206 149.70206 156.70206 163.70206 169.91806 173.81006 180.02606 187.02606 190.52606 194.41806 201.41806 204.91806 208.81006 215.81006 222.02606 225.52606 238.74207 248.08007 256.63407 260.13407 266.35008 271.01206 274.90406 281.12007 285.78205 289.28205 296.28205 303.28205 307.17405 314.17405 320.39006 327.39006 330.89006 334.39006 344.49806 349.16004 353.05204 359.26805 363.93003 367.43003 371.32203 378.32203 384.53804 388.03804 394.25404 398.14604 405.14604 410.59205 416.80805 420.30805 427.30805 431.97004 435.47004 439.36204 446.36204 450.25404">configuration registers is updated in the WCT after unlock. After the close of this</tspan><tspan y="550.24996" x=".00008 10.108081 14.000081 21.00008 28.00008 35.00008 45.10808 48.60808 55.60808 60.27008 63.77008 69.986087 74.64809 78.540088 84.75609 89.41809 92.91809 96.81009 103.81009 110.02609 113.52609 118.188098 122.08009 126.742099 132.1881 136.0801 139.5801 149.6881 154.3501 158.2421 162.1341 168.3501 171.8501 175.3501 179.2421 186.2421 192.4581 197.9041 204.1201 207.6201 212.2821 218.49811 225.49811 229.3901 234.8361 238.7281 244.9441 249.60611 253.10611 260.1061 263.9981 267.8901 273.33613 276.83613 283.05213 287.7141 293.9301 297.4301 301.3221 308.3221 314.53813 321.53813 327.75413 334.75413 338.25413 345.25413 352.25413 356.14613 359.64613 364.3081 368.9701 375.9701 386.8621 390.3621 396.5781 403.5781 410.5781 414.0781 418.74009 425.74009 430.40208 434.29408 441.29408 447.51008">window or after the first write, these register bits are locked out from any further</tspan><tspan y="566.24996" x=".00010999999 6.2161109 13.21611 19.43211 26.43211 33.43211 39.64811 45.09411">changes.</tspan><tspan y="590.64999" x=".00010999999 8.55411 15.55411 21.770112 25.270112 35.378114 41.594114 45.486116 51.702116 58.702116 65.70212 72.70212 79.70212 83.20212 87.09412 90.986118 101.87811 108.09412 112.75612 116.25612 123.25612 129.47212 135.68813 142.68813 148.13413 151.63413 156.29613 163.29613 170.29613 177.29613 181.18813 188.18813 195.18813 198.68813 204.90413 211.12014 217.33614 224.33614 228.99814 235.99814 239.89014 246.89014 253.89014 257.39015 261.28215 268.28215 271.78215 275.67414 279.56614 285.01216 288.51216 295.51216 301.72816 306.39015 312.60615 319.60615 323.49815 327.39015 330.89015 337.10615 344.10615 351.10615 355.76814 359.66014 366.66014 373.66014 378.3221 384.53813 388.4301 392.3221 399.3221 406.3221 409.8221 413.7141 420.7141 425.3761 432.3761 439.3761 446.3761">The watchdog timer keeps running according to its default configuration through</tspan><tspan y="606.64999" x=".00013 7.00013 14.00013 17.89213 24.89213 31.108132 38.10813 42.000135 49.000135 56.000135 59.500135 65.71613 72.71613 79.71613 83.21613 90.21613 97.21613 104.21613 110.43214 114.324138 120.54014 124.04014 131.04013 138.04013 144.25614 148.91814 155.13414 159.02614 162.91814 169.91814 176.91814 182.36414 185.86414 189.75614 196.75614 202.97214 206.86414 210.36414 216.58014 222.79615 229.79615 233.29615 239.51215 246.51215 250.40415 256.62016 263.62016 270.62016 274.12016 281.12016 288.12016 291.62016 295.51216 302.51216 306.01216 312.22816 315.72816 326.62016 332.83616 339.83616 343.72816 354.62016 361.62016 372.51216 376.01216 379.90415 386.90415 390.79615 397.01216 400.90415 404.40415 411.40415 416.06614 419.56614 426.56614 433.56614 446.78215 456.12016 464.67414 468.17414 476.07014 479.57014 486.57014">unlocking and update operations that can extend up to a maximum total of 2xWCT + 20</tspan><tspan y="622.64999" x=".00016 7.00016 14.00016 19.446162 22.946162 29.162163 33.054166 40.054166 46.270166 53.270166 56.770166 62.986166 69.98616 76.20216 80.09416 86.310169 91.756168 95.256168 98.756168 107.310169 114.310169 120.52617 125.18817 131.40418 136.06618 143.06618 147.72818 153.94419 157.44419 160.94419 164.83618 168.72818 172.22818 183.12018 190.12018 195.56618 199.45818 202.95818 209.95818 216.17418 219.67418 225.89019 232.89019 238.33618 245.33618 249.99819 256.21418 263.21418 266.71418 270.60618 277.60618 283.82218 287.71418 291.21418 295.10618 302.10618 308.32218 311.82218 315.71418 319.60618 330.49818 336.71418 341.37617 348.37617 355.37617 359.26817 362.76817 369.76817 375.98417 379.87617 386.87617 393.09217 396.59217 401.25416 408.25416 412.91615 416.41615 420.30815 427.30815 433.52415 437.02415 447.13215 453.34815 457.24015 463.45616 470.45616 477.45616 484.45616">bus clock cycles. Therefore, it must be ensured that the time-out value for the watchdog</tspan><tspan y="638.64999" x=".00016 3.8921605 9.338161 12.838161 19.054162 22.946162 33.05416 39.27016 46.27016 51.71616 55.21616 62.21616 66.87816 73.09416 79.310169 83.20216 89.41817 94.08017 97.58017 101.47217 108.47217 114.68817 121.68817 125.18817 132.18817 139.18817 152.40418 161.74217 170.29618 173.79618 177.68817 181.58017 192.47217 198.68817 202.18817 210.08417 213.58417 220.58417 227.58417 231.08417 238.08417 245.08417 250.53017 254.03017 260.24617 264.13816 271.13816 277.35417 284.35417 287.85417 294.07017 301.07017 307.28617 311.17817 317.39418 322.84019">is always greater than 2xWCT time + 20 bus clock cycles.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01031" x="346.986 353.48399 358.98298 363.98698 369.48597 372.48298 377.48698 380.98799 383.49 388.494 393.498 396 404.496 409.5 412.497 417.501 423 428.499 433.998 439.49699 441.999 447.498 450 458.001 463.005 466.506 469.00804 472.00505 480.50105 486.99903 494.00105 501.00306">Chapter 24 Watchdog Timer (WDOG)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.01 137.23 142.79 148.34999 151.12999 157.79999 163.90999 170.01999 173.34999 179.45999 185.01999 193.90999 196.68999 199.46999 205.02999 207.80998 215.02999 220.58998 223.91999 229.47998 233.36998 238.92998 245.03998 250.59998 256.15998 258.93998 267.26997 272.82997 278.93995 285.04994 290.60993 293.38993 296.16993 298.94993 306.16993 311.72993 317.28993 320.06993 322.8499 328.4099 331.1899 336.7499 342.8599 348.96989 351.74989 357.30989 362.86988 368.42988">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00401 5.5030105 8.5000109 13.504011 18.50801 23.00801 27.50801 32.512014 34.510015 39.514017 42.016016 48.019014 53.023015 60.520017 62.518018 67.01802 72.02202 77.02602 82.030017 87.03401 91.53401 94.03601 99.04001 102.03701 104.53901 107.04101 109.54301 114.547008 119.047008">Freescale Semiconductor, Inc.</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32 751.756)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="58.45 65.12 69.01 74.57 77.35 80.13 89.02 91.799999 97.909999 103.46999 107.35999">Preliminary</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 391.68 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">547</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54 763.756)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="180.87 188.65 194.20999 200.31999 205.87999 209.76999 215.32999 218.10999 220.88999 228.10999 234.21999 239.77999 242.55998 248.66999 254.22998 259.78999 265.34999 268.12998 270.90998 277.01997 280.34996 286.45994 290.34996 299.23997 304.79997 308.12995 310.90995 317.01994">General Business Information</tspan></text>
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