Ryan Malloy
5252d1d73c
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.
131 lines
22 KiB (Stored with Git LFS)
XML
131 lines
22 KiB (Stored with Git LFS)
XML
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 12.510002 20.850003 25.020003 33.360006 37.530008">6.2.5.3</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 54)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.830001 19.170002 27.510003 35.850004 40.845 45.84 50.010004 59.175004 68.340007 72.51 77.505008 86.670009 95.01001 99.18001 110.01001 118.35001 127.515018 136.68001 145.845 150.015 158.355 167.51999 176.68498 185.02498 193.36498 201.70497 206.69997 215.03997">Resetting the Debug subsystem</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="36.25" x="-.00699 10.10101 15.54701 21.763012 25.263012 29.155013 36.155015 42.371015 45.871015 55.209016 65.31702 74.655017 84.763019 94.10101 101.88502 110.43902 119.77702 128.33103 138.43903 141.93903 148.93903 152.83103 156.72303 160.22303 170.33103 174.22303 178.11502 185.11502 189.00702 196.00702 199.50702 203.39902 210.39902 216.61502 220.11502 227.89902 241.11502 246.56102 251.22303 261.33103 269.11503 272.61503 281.95304 290.50703 299.84504 308.39903 312.29103 320.075 328.629 338.737 347.291 350.791 355.45298 361.66899 368.66899 372.56098 378.007 381.899 388.115 392.77699 396.27699 400.16899 407.16899 410.66899 415.33097 421.54698 426.99299 433.20899 437.10099 440.60099 444.49299 451.49299 457.70899 461.20899 468.20899 474.425 481.425 488.425">Use the CDBGRSTREQ bit within the SWJ-DP CTRL/STAT register to reset the debug</tspan><tspan y="52.25" x="-.0069500005 10.885051 17.885052 24.885052 31.885052 35.777055 41.993055 47.439054 50.939054 54.439054 64.54705 71.54705 81.65505 87.871059 94.871059 101.08706 105.74906 109.24906 112.74906 118.965068 124.411067 127.911067 134.12706 141.12706 148.12706 152.01906 158.23506 162.12706 169.12706 175.34307 182.34307 185.84307 192.84307 199.05907 202.95107 209.95107 220.05907 223.55907 227.05907 234.05907 239.50507 243.39707 250.39707 257.39707 260.89707 264.78907 271.78907 278.00508 281.50508 290.84309 300.95109 310.2891 320.3971 329.7351 337.5191 346.0731 355.4111 363.9651 374.0731 377.5731 384.5731 388.4651 392.3571 395.8571 402.8571 409.8571 416.0731 421.5191 425.0191 432.0191 439.0191 442.9111 446.4111 451.0731 457.2891 462.7351 468.9511 472.8431 476.3431 482.5591 486.4511">modules. However, as explained below, using the CDBGRSTREQ bit does not reset all</tspan><tspan y="68.25" x="-.0069500005 6.99305 13.209051 20.209052 27.209052 34.209054 38.87105 43.53305 49.74905 53.641054 59.85705 63.749055 69.96506 76.96506 80.46506 85.12706 91.34306 98.34306 102.23506 107.68106 111.57306 117.78906 122.451068 127.897068">debug-related registers.</tspan><tspan y="92.65" x="-.00694 9.331061 19.439063 28.777064 38.885065 48.223066 56.007066 64.561069 73.89906 82.453067 92.561069 96.061069 100.72307 106.93907 112.38507 118.601078 122.49307 127.93907 131.43907 135.33107 142.33107 148.54708 152.04708 159.04708 165.26308 172.26308 179.26308 186.26308 190.92508 195.58708 201.80309 205.69509 211.91109 215.80309 222.01909 229.01909 232.51909 237.18109 243.3971 250.3971 254.2891 259.7351 263.6271 269.8431 274.5051 279.9511 283.4511 293.5591 297.4511 301.3431 308.3431 312.2351 319.2351 322.7351 326.6271 333.6271 339.8431 343.3431 348.0051 355.0051 358.8971 362.7891 369.7891 379.8971 383.7891 390.7891 397.7891 401.2891 412.1811 419.1811 426.1811 433.1811 437.0731 443.2891 448.7351">CDBGRSTREQ resets the debug-related registers within the following modules:</tspan><tspan y="117.05" x="13.09707 24.00307 31.787072 45.00307 50.44907 55.11107 65.21907">•SWJ-DP</tspan><tspan y="133.05" x="13.09707 24.00307 34.111074 44.219076 53.557077 58.219076 68.32707">•AHB-AP</tspan><tspan y="149.05002" x="13.09707 24.00307 32.55707 41.111074">•ETM</tspan><tspan y="165.05002" x="13.09707 24.00307 34.111074 42.665075 52.003076 55.503076 60.165075 66.38107 73.38107 77.27307 81.16507 87.38107 93.59708 97.489078 104.489078 109.15108">•ATB replicators</tspan><tspan y="181.05002" x="13.09707 24.00307 34.111074 42.665075 52.003076 55.503076 62.503076 69.503078 74.94907 78.84107 85.057079 91.27308 95.93508">•ATB upsizers</tspan><tspan y="197.05002" x="13.09707 24.00307 34.111074 42.665075 52.003076 55.503076 60.165075 67.16507 74.16507 81.16507 87.38107 91.27307">•ATB funnels</tspan><tspan y="213.05002" x="13.097079 24.00308 32.55708 41.11108">•ETB</tspan><tspan y="229.05002" x="13.097079 24.00308 32.55708 40.34108 45.00308">•TPIU</tspan><tspan y="245.05002" x="13.097079 24.00308 36.44908 46.557085 59.003084 63.66508 73.77308 81.55708 85.05708 89.719089 102.165088 112.27309 124.719089 128.21909 134.43509 141.43509 148.43509 152.32709 156.98909 163.98909 167.88109 171.38109 177.59709 184.59709 191.59709 195.09709 200.54309 204.43509 210.6511 214.54309 221.54309 226.98909 230.48909 235.1511 241.3671 248.3671 252.2591 257.7051 261.5971 267.8131 272.4751 277.9211">•MDM-AP (MDM control and status registers)</tspan><tspan y="261.05003" x="13.097079 24.00308 36.44908 45.787084 58.233087 61.733087 66.39509 74.94909 83.50309 92.841098 96.341098 102.5571 112.6651 116.5571 127.4491 134.4491 139.8951 143.7871 147.2871 155.07109 162.07109 165.96309 169.85509 176.07109 179.57109 183.46309 190.46309 197.46309 201.35509 207.57109">•MCM (ETB “Almost Full” logic)</tspan><tspan y="287.05003" x="-.0069303514 9.331071 19.439072 28.777073 38.885076 48.223077 56.007078 64.56107 73.89908 82.45308 92.56108 96.06108 103.06108 110.06108 116.277088 121.72308 125.22308 132.22309 139.22309 143.11508 146.61508 151.27709 157.49309 162.93909 169.15509 173.04709 176.54709 180.43909 187.43909 193.65509 197.15509 204.15509 210.3711 217.3711 224.3711 231.3711 236.0331 240.6951 246.9111 250.8031 257.0191 260.9111 267.1271 274.1271 277.6271 282.2891 288.5051 295.5051 299.3971 304.8431 308.7351 314.9511 319.6131 325.0591 328.5591 338.6671 342.5591 346.4511 353.4511 357.3431 364.3431 367.8431 371.7351 378.7351 384.9511 388.4511 393.1131 400.1131 404.0051 407.8971 414.8971 425.0051 428.8971 435.8971 442.8971 446.3971 457.2891 464.2891 471.2891 478.2891 482.1811 488.3971 493.8431">CDBGRSTREQ does not reset the debug-related registers within the following modules:</tspan><tspan y="311.45" x="13.097079 24.00308 33.34108 45.78708 52.78708 56.28708 62.50308 69.50308 74.165088 80.38109 83.88109 88.54309 94.759098 101.759098 106.4211 112.6371 116.1371 123.1371 129.3531 136.3531 143.3531 150.3531 153.8531 158.5151 164.73111 171.73111 175.62311 181.0691 184.9611 191.17711 195.83911 201.28511 205.17711 208.67711 218.78511 228.89311 238.23111 246.0151 255.3531 258.8531 262.3531 272.4611 281.7991 291.13713 298.9211 308.25914 311.75914 315.25914 325.36714 334.70515 344.04316 354.15116 363.48918 366.98918 370.48918 380.59718 389.15116 401.59718 410.93519 420.2732">•CM4 core (core debug registers: DHCSR, DCRSR, DCRDR, DEMCR)</tspan><tspan y="327.45" x="13.097109 24.003109 31.78711 39.57111">•FPB</tspan><tspan y="343.45" x="13.097109 24.003109 34.11111 47.32711">•DWT</tspan><tspan y="359.45" x="13.097109 24.003109 28.66511 37.21911">•ITM</tspan><tspan y="375.45" x="13.097109 24.003109 34.11111 44.219114 48.88111">•NVIC</tspan><tspan y="391.45" x="13.097109 24.003109 33.34111 38.00311 45.00311 50.44911 55.895109 62.895109 69.11111 73.77311 77.27311 84.27311 91.27311 96.71911 100.21911 105.66511 115.77311 119.66511 123.557109 129.7731">•Crossbar bus switch</tspan></text>
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="10.5" font-family="TimesLTStd"><tspan y="386.78337" x="136.77309">1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="407.45" x="13.097084 24.003087 34.111089 44.21909 53.55709 58.21909 68.32709">•AHB-AP</tspan></text>
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="10.5" font-family="TimesLTStd"><tspan y="402.78337" x="76.111087">1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="423.45" x="13.097084 24.003087 31.787087 36.449087 40.341089 47.341089 53.557088 57.44909 63.66509 67.165088 74.165088 80.38109 85.04309 88.93509 95.93509 102.93509 109.15109 113.813098 120.0291 123.9211 127.4211 134.4211 141.4211">•Private peripheral bus</tspan></text>
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="10.5" font-family="TimesLTStd"><tspan y="418.78337" x="146.86707">1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 525.4)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 9.452001 14.178001">6.3</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 91.803218 525.4)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 12.274001 22.661002 33.048">Boot</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54.00003)" font-size="14" font-family="TimesLTStd"><tspan y="508.65" x="-.001 8.5529999 15.5529999 19.445 24.891 28.391 33.837 40.053 46.269 50.161005 54.053007 61.053007 68.05301 71.55301 78.55301 84.76901 90.21501 96.431018 101.09302 104.985019 111.985019 118.20102 123.64702 127.14702 131.03902 138.03902 144.25502 147.75502 154.75502 161.75502 168.75502 172.64702 176.14702 181.59302 187.80902 194.80902 201.80902 208.02503 215.02503 221.24103 227.45703 230.95703 234.45703 238.34903 245.34903 251.56504 255.45703 262.45704 269.45704 273.34904 280.34904 287.34904 290.84904 296.29505 303.29505 310.29505 314.95704 321.17304 327.38905 332.83506 336.33506 342.55107 349.55107 356.55107 360.05107 367.05107 374.05107 377.94306 381.83506 388.83506 395.83506 401.28108">This section describes the boot sequence, including sources and options.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 604.2001)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.003 8.893001 13.3410019 22.237004 26.685004">6.3.1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 103.75732 604.2001)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.003 11.549001 21.325 31.101002 36.429 40.877004 49.773004 59.549005 69.325008 75.549 84.44501 93.34101">Boot sources</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54.00006)" font-size="14" font-family="TimesLTStd"><tspan y="595.85006" x="-.005 8.549 15.549 19.441 24.887001 28.387001 35.387 41.603 48.603 52.495004 58.711004 64.927 68.427 75.427 82.427 86.319 93.319 96.819 102.265 109.265 116.265 123.265 130.265 134.927 138.819 144.265 147.765 154.765 161.765 168.765 172.657 176.549 183.549 190.549 194.049 198.711 203.373 210.373 221.265 224.765 228.657 235.657 239.549 245.765 250.427 257.427 263.643 267.535 271.035 275.697 279.589 285.805 291.251 298.251 301.751 305.251 315.359 322.359 329.359 332.859 338.30503 344.52104 350.73704 357.73704 364.73704 371.73704 377.95304 382.61503 389.61503 393.11503 400.11503 407.11503 414.11503 418.00703 421.50703 432.39903 439.39903 444.84504 448.73704 452.23704 459.23704">This device only supports booting from internal flash. Any secondary boot must go</tspan><tspan y="611.85006" x="-.0049799999 3.8870204 10.88702 15.549021 22.54902 29.54902 36.54902 43.54902 47.04902 53.26502 60.26502 63.76502 67.65702 74.65702 78.54902 82.44102 86.333019 92.54902 96.44102 100.333019 106.54902 112.76502 116.65702 120.54902 127.54902 134.54901 138.04901 143.49501 149.71102 156.71102 163.71102 169.92702 176.92702 183.14302 189.35903 192.85903 196.75102 203.75102 207.25102 211.91303 215.80503 222.02103 227.46703 234.46703">through an initialization sequence in flash.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 689.6001)" font-size="9" font-family="HelveticaLTStd"><tspan y="19.83789" x="25.497 30.501 42.003 48.501 54.999 61.002 68.004 74.502 80.505 86.004 92.502 98.505 105.506999 108.008998 113.01299 118.01699 123.02099 127.52099 130.023 135.027 140.03099 142.53299 145.03499 150.03899 152.54099 155.04299 160.04698 164.54698 167.04898 169.55098 175.55399 182.05199 188.055 190.55699 193.55399 198.55799 203.05799 208.06198 213.06598 216.06298 220.56298 225.56697 230.06697 232.56897 237.06897 242.07297 244.57497 247.07697 252.08097 257.08497 259.58699 262.089 267.093 272.097 277.10099 282.10499 287.10899 289.611 292.608 297.612 302.112 307.116 312.12 315.117 319.617 324.621 329.121 331.62303 336.627 341.631 344.13304 346.63505 351.63905 356.64305 359.14506 364.14906 367.14607 369.14405 373.64405 378.64805 381.15007 386.15406 388.65608 393.66007 398.66407 401.66108 403.65907 408.66307 413.66706 418.67106 421.66807 426.67207 428.67005 431.17207 436.17607 441.18006 445.68006 448.18208 453.18608 456.18309 461.18708 463.6891 468.69309 473.19309 478.19709 480.19508 482.19306 487.19706 492.20106 494.19905">1.CDBGRSTREQ does not affect AHB resources so that debug resources on the private peripheral bus are available</tspan><tspan y="30.83789" x="42.00303 47.00703 52.011034 55.008035 57.006036 62.010038 67.01404 69.51604 75.519039 80.019039 84.519039 87.021038 92.02503 99.52203 102.02403 108.52203 113.52603 118.02603 123.03003 125.53203">during System Reset.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 18.000061)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01034" x="393.98399 400.48197 405.98097 410.98497 416.48396 419.48097 424.48497 427.98597 430.48799 435.49198 437.994 444.49198 449.49598 454.49998 459.50398 462.50099 465.003 470.007 475.50599 481.00498 483.507 490.00498 495.50398 501.00297">Chapter 6 Reset and Boot</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 734.9387)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.00998 137.22998 142.78998 148.34998 151.12998 157.79998 163.90998 170.01998 173.34998 179.45998 185.01998 193.90998 196.68997 199.46997 205.02997 207.80997 215.02997 220.58997 223.91997 229.47997 233.36997 238.92996 245.03997 250.59996 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>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 751.75607)" 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>
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<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32 751.75607)" 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>
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<text xml:space="preserve" transform="matrix(1 0 0 1 391.68 751.75607)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">207</tspan></text>
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<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54 763.75607)" 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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