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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_225.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

350 lines
40 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 138.5 53.99997)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="12.648 19.98 26.652 33.984 37.32 43.992 47.328004 54.000005 57.996004 64.668 77.004 85.668 92.34 99.672 107.004 114.336 117.672 126.336 133.668 144.336 151.668 159 166.332 173.004 180.336 184.332 191.004 194.34 203.004 209.676 216.34799 223.01999 227.68799 231.02399 238.35599 242.35199 245.68799 253.01999 260.352 263.688 267.684 274.356 281.688 289.02 293.016 296.352 303.684 311.016 317.688 325.02">Table 9-1.Debug Components Description (continued)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 75.99997)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="108.74699 116.24399 121.74299 127.24199 132.74098 135.24298">Module</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.5 75.99997)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="99.74699 106.24499 111.248989 116.25298 121.25698 124.75798 127.25998 132.75897 135.75597 138.25797 143.75696">Description</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 91.99997)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 14.994001 20.493002 22.995003 25.992003 32.49 37.494005 39.996004 45.000005 47.502004 52.506006 57.510007 62.514009 65.01601 71.019008 76.023 81.027 84.024 89.028 93.528 98.028 100.53 109.026 114.03 116.532 121.032 126.035999 131.04 136.04399 138.04199 143.04599 145.54799 150.04799">DWT (Data and Address Watchpoints)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 91.99997)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 7.506001 12.510002 17.514004 20.016005 25.020005 27.522006 32.526006 37.530008 42.534009 45.036008 50.04001 55.04401 60.04801 63.045015 68.04901 72.54901 77.04901 79.55101 86.04901 91.05301 93.55501 98.05501 103.059009 108.063 113.067 115.065 120.069 122.571 127.071 129.573 132.56999 137.06999 142.07399 147.07799 149.57999 151.57799 156.58199 161.58599 164.58298 169.58698 174.59098 176.58898 181.59297 184.09497 186.59697 191.60097 194.59796 197.09996 199.09796 204.10196 208.60196 213.10196 215.60396 218.10596 223.10996 228.11396 230.61595 233.11795">4 data and address watchpoints (configurable for less, but 4</tspan><tspan y="18.83789" x="0 4.5 9.504001 14.508001 22.005002 26.505002 29.007002 31.509003 36.513006 39.015005 44.019006 49.023008 51.525007 56.529008 61.029008 65.52901 70.533008 75.537 78.039 83.043 88.047">seems to be accepted)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 118.49997)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 11.502001 17.505002 20.007002 23.004002 28.503003 30.501004 35.505006 40.005006 45.009008 47.511007 53.514009 58.51801 61.020009 65.520008 70.524 73.026 78.03 83.034 88.037998 90.53999 96.54299 99.53999 104.54399 109.54799 114.04799 119.05199 124.055988 126.053989 131.05799 133.55998 138.05998">FPB (Flash Patch and Breakpoints)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 118.49997)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 23.508002 29.511002 35.514 38.016 40.014 47.511 52.515005 54.513006 59.517007 67.01401 72.018009 77.022 79.524 84.024 86.526 91.53 96.534 99.531 104.534999 111.033 116.036998 119.034 124.037998 126.53999 131.54399 134.54099 139.54499 144.54898 149.04898 154.05298 159.05698 161.05498 166.05898 168.56098 173.06098 175.56298 180.56697 185.57097 190.57497 193.07697 198.08097 203.08496 205.58696 210.08696 215.09096 220.09496 224.59496 227.09696 231.59696 236.60095 241.60495">The FPB implements hardware breakpoints and patches code</tspan><tspan y="18.83789" x="0 5.0040009 10.008001 15.012002 17.514002 22.518002 27.522004 30.024004 35.028005 37.530004 40.032 43.029005 48.033006 55.530008 58.032007 62.532007 67.536 72.54 77.544 80.046 84.546 89.549999 94.55399 99.05399 104.05799 106.55999 109.06199 114.06599 116.567989 121.067989 125.567989 130.068 132.56999 137.57399 145.07099 147.57299 152.07299 157.07698 162.08098 166.58098 171.58498">and data from code space to system space.</tspan><tspan y="35.237894" x=".00002 5.49902 10.503021 15.507022 18.009022 23.508023 29.511023 35.514024 38.01602 43.020025 48.024026 50.022027 52.524026 55.026025 59.526025 64.53002 69.53402 72.03602 77.040019 79.03802 84.042018 88.542018 91.044017 93.54601 100.044017 105.04801 107.55001 109.54801 111.54601 114.04801 119.05201 122.04901 127.05301 129.05101 131.55301 136.05301 141.057 148.554 153.558 158.562 161.55899 166.56299 169.06499 174.06899 177.06598 181.56598 184.06798 186.56998 191.57398 194.57097 197.07297 204.56996 209.57396 212.07596 216.57596 221.57996 223.57796 228.58196">The FPB unit contains two literal comparators for matching</tspan><tspan y="46.237894" x=".00002 5.0040209 10.008021 15.012022 17.010022 22.014023 26.514023 29.016024 31.518025 33.516027 35.514028 38.016027 43.020029 46.01703 51.02103 53.01903 55.52103 57.51903 62.523035 67.52703 72.53103 77.03103 79.53303 82.03503 85.03203 90.036029 97.53303 100.03503 106.53303 111.537029 116.54102 121.54502 124.04702 128.54703 133.55103 138.55503 143.05503 148.05902 150.56102 153.06302 158.06702 163.07102 168.07501 170.57701 173.574 178.578 186.075 191.079 196.083 201.08699 203.08499 208.08899 213.09299 215.59499 218.09699 223.10099 225.60298">against literal loads from Code space, and remapping to a</tspan><tspan y="57.237894" x=".00002 4.50002 9.504021 12.50102 15.49802 20.502022 25.002022 30.006024 35.010026 40.014028 45.01803 47.01603 52.02003 57.024034 59.52603 64.53003 67.52703 72.53103 77.53503 80.037029 82.03503 87.039028 89.54102 95.54402 100.04402 104.54402 107.04602 112.05002 119.54702 122.04902 126.54902 131.55303 136.55702 141.05702 146.06102">corresponding area in System space.</tspan><tspan y="73.63789" x=".00002 5.49902 10.503021 15.507022 18.009022 23.508023 29.511023 35.514024 38.01602 43.020025 45.018026 49.518026 54.522027 57.024026 61.524026 66.52802 71.53202 74.03402 79.03802 81.03602 86.040019 90.540019 93.042018 97.542018 99.540019 104.040019 106.542018 108.540019 113.544017 118.044017 120.54601 123.543018 128.54701 133.04701 135.54901 137.54701 142.55101 147.55501 150.057 154.557 159.561 167.058 172.062 177.066 180.06299 185.06699 187.56899 192.57299 195.56998 200.06998 202.57198 205.07398 210.07798">The FBP also contains six instruction comparators for</tspan><tspan y="84.63789" x=".00002 7.4970209 12.501021 15.003021 19.503022 24.507023 26.505024 31.509026 36.513029 39.015027 44.019029 49.02303 54.02703 56.025033 61.029035 65.52904 68.03104 70.533039 72.53104 77.535037 82.035037 84.53703 87.534038 92.53803 97.03803 99.54003 101.53803 106.54203 111.54603 114.04803 116.550029 121.55402 124.05602 128.55603 133.56003 138.56403 143.06403 145.56603 148.06803 151.06502 156.06902 163.56601 166.06801 172.56601 177.57 182.574 187.578 190.08 194.58 199.584 204.588 209.088 214.092 216.594 219.096 224.09999 229.10399">matching against instruction fetches from Code space, and</tspan><tspan y="95.63789" x=".00002 2.99702 8.00102 15.498021 20.502022 25.506024 30.510025 32.508028 37.512029 42.51603 45.01803 47.520029 52.52403 55.026029 60.03003 62.53203 67.03203 72.036029 75.03303 78.03003 83.03403 87.53403 92.538028 97.54202 102.54602 107.55002 109.54802 114.55202 119.556018 122.058017 127.06201 130.059 135.063 140.067 142.569 144.567 149.571 152.073 158.076 162.576 167.076 169.578 174.582 182.079 184.581 189.081 194.08499 199.08899 203.58899 208.59299">remapping to a corresponding area in System space.</tspan><tspan y="106.63789" x=".00002 6.0030205 8.00102 10.503021 15.507022 18.504023 23.508023 28.512024 31.014025 33.012025 37.512025 42.516027 44.514028 49.014028 51.516027 54.018026 56.520025 61.524026 66.52802 69.03002 73.53002 75.52802 80.02802 82.53002 84.52802 89.53202 94.03202 96.53402 99.53102 104.53502 109.03502 111.53702 113.53502 118.53902 123.543018 126.04501 130.54502 135.54901 143.046 148.05 153.054 156.051 161.055 163.55699 168.56099 171.55799 176.05799 178.55998 183.05998 188.06398 193.06798 195.56998 197.56798 202.57198 207.57598 209.57398 214.07398 216.07198 221.07598 226.07997 231.08397 233.08197 235.07997">Alternatively, the six instruction comparators can individually</tspan><tspan y="117.63789" x=".00002 4.50002 9.504021 14.508021 17.010022 19.008023 24.012024 29.016026 32.013029 37.01703 39.519029 42.021028 47.02503 52.02903 54.53103 59.03103 64.03503 71.53203 76.536029 81.54002 84.537029 89.54102 92.04302 97.04702 100.04402 104.54402 107.04602 109.54802 114.55202 117.054019 120.05102 125.055019 127.557018 132.56102 135.55802 140.56201 143.06401 148.06801 150.57 156.57302 159.57 164.574 169.578 174.078 179.082 184.086 186.084 191.088 193.59 196.092 198.594 203.59799 208.09799 210.59999 213.59699 218.60099 223.10099 225.60298 227.60099 232.60498">configure the comparators to return a Breakpoint Instruction</tspan><tspan y="128.6379" x=".00002 2.99702 9.00002 15.00302 21.00602 26.50502 29.50202 32.00402 34.50602 39.51002 42.01202 44.51402 49.51802 54.522024 57.02402 62.028024 65.025028 70.02902 74.52902 79.53302 84.03302 88.53302 93.53702 96.53402 99.03602 103.53602 108.540019 111.53702 116.541019 119.043018 124.04701 129.05101 131.55301 136.557 139.059 146.556 151.56 154.062 158.562 163.566 166.068 168.56999 173.06999 178.07399 180.57599 185.57999 188.57698 193.58098 198.08098 200.07898 205.08298 207.08098 212.08498">(BKPT) to the processor core on a match, so providing</tspan><tspan y="139.6379" x=".00004 5.0040409 10.008041 13.005041 18.00904 24.507042 29.511044 32.508047 37.512048 40.014047 45.018049 48.01505 53.01905 58.023054 62.523054 67.527057 72.53105 74.52905 79.53305 82.03505 84.53705 89.03705 94.041049 99.045047 104.04904 109.05304 111.05104 113.04904 115.04704 117.54904 122.04904">hardware breakpoint capability.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 427.59999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 13.344002 22.240002 26.688002">9.1.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.757328 427.59999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 11.552001 20.448002 25.776001 34.672 40.896 49.792 59.568 68.464008 77.36001">References</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 53.99997)" font-size="14" font-family="TimesLTStd"><tspan y="410.85" x=".002 7.7860009 14.786001 19.448002 22.948002 33.840005 40.840005 45.502004 51.718004 55.218004 59.110006 66.11 70.772 77.772 82.434009 93.326007 99.54201 103.434009 107.326007 114.326007 121.326007 124.826007 131.826 138.826 142.326 152.434 161.772 174.218 177.718 184.718 190.934 197.934 204.934 211.934 215.434 221.65001 228.65001 239.542 246.542 253.542 260.542 266.758 273.758 277.65 283.096 286.596 290.096 295.54203 301.75804 307.97404 311.47404 315.36604 322.36604 328.58204 334.02806 340.24406 343.74406 350.74406 357.74406 363.96006 370.96006 381.85206 388.06806 395.06806 398.96006 404.40608">For more information on ARM debug components, see these documents:</tspan><tspan y="435.25" x="13.105989 23.99799 34.10599 43.443994 55.88999 62.88999 69.88999 74.551998 86.99799 90.49799 100.605998 105.268 111.484 118.484 122.376 126.268 132.484 138.7 142.592 149.592 154.254 160.47 163.97 173.308 179.524 184.186 190.40201 195.06401 201.28002 208.28002 214.49602 220.71202 224.21202 236.65802 242.87403 249.87403 256.87403 263.09004">&#x2022;ARMv7-M Architecture Reference Manual</tspan><tspan y="451.25" x="13.105989 23.99799 34.10599 43.443994 55.88999 59.38999 69.49799 75.714 82.714 89.714 96.714 100.214 104.876 111.876 115.768 121.984 126.646 131.308 137.524 143.74 149.95601 153.45601 160.45601 167.45601 170.95601">&#x2022;ARM Debug Interface v5.1</tspan><tspan y="467.25" x="13.10598 23.997982 34.105985 43.443986 55.889986 59.389986 68.72798 75.72798 80.389987 86.60599 94.38999 98.28199 105.28199 112.28199 116.17399 119.67399 129.78199 134.44399 140.65999 147.65999 151.55199 155.44399 161.65999 167.87599 171.76799 178.76799 183.43 189.646 193.146 200.93 207.93 214.146 220.362 224.254 228.916 232.808 239.024 245.24 249.132 253.024 260.024">&#x2022;ARM CoreSight Architecture Specification</tspan><tspan y="483.25" x="13.105989 23.99799 34.10599 43.443994 55.88999 59.38999 67.94399 76.49799 88.94399 92.44399 102.551998 107.214 113.43 120.43 124.322 128.214 134.43001 140.64601 144.53801 151.53801 156.20001 162.41602 165.91602 173.70001 180.70001 186.91602 193.13202 197.02402 201.68602 205.57802 211.79402 218.01003 221.90203 225.79402 232.79402 239.79402 243.29402 250.29402 257.294 260.794">&#x2022;ARM ETM Architecture Specification v3.5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 585.19998)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00699 9.44501 14.171011">9.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 91.80322 585.19998)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00699 10.38001 20.76701 30.21901 34.94501 47.219015 56.671014 67.058017 77.445018 87.832019 92.558017 103.89702 114.28402 120.89702">The Debug Port</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 53.99994)" font-size="14" font-family="TimesLTStd"><tspan y="568.45" x="-.00198 8.55202 15.55202 21.76802 25.26802 31.48402 38.48402 45.48402 50.14602 54.03802 61.03802 68.038028 72.70003 78.91603 82.80803 86.70003 93.70003 100.70003 104.20003 111.20003 115.86203 119.36203 123.25403 130.25403 136.47003 139.97003 146.18604 151.63204 160.18604 170.29404 180.40204 183.90204 194.79404 201.79404 208.79404 215.79404 219.68604 225.90204 229.40204 232.90204 238.34804 246.90204 257.01005 267.11805 270.61805 276.83406 283.83406 290.83406 294.72605 299.38804 306.38804 310.28004 314.17204 320.38804 325.05003 328.55003 332.05003 338.26603 345.26603 352.26603 355.76603 362.76603 368.98204 375.98204 382.98204 389.98204 393.48204 400.48204 407.48204 412.144 416.036 419.536 423.428 428.87403 432.37403 436.26603 440.15803 444.05003 451.05003 456.49604 460.38804 465.05003 471.26603 475.15803 481.37403 488.37403 491.87403 495.76603">The configuration of the cJTAG module, JTAG controller, and debug port is illustrated in</tspan><tspan y="584.45" x="-.0019699999 3.8900305 10.89003 17.10603 20.60603 25.26803 32.26803 36.16003 40.052034 47.052034 57.160036 61.052038 68.05203 75.05203 78.55203 83.214038 87.10603 94.10603 101.10603 105.768039 111.98404">the following figure:</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 17.999939)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01031" x="431.991 438.48899 443.98799 448.99198 454.49098 457.48799 462.49198 465.99299 468.495 473.499 476.001 482.499 487.503 493.00199 498.50099">Chapter 9 Debug</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 734.9386)" 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>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 751.7559)" 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 1 220.32 751.7559)" 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 fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54 763.7559)" 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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