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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_228.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

1035 lines
89 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 221)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 13.005001 18.009003 22.509003 25.011004 29.511004 32.013006 37.017007 41.517007 46.521009 51.52501 56.02501 60.52501 63.027009 66.02401 71.02801 76.032009 78.03001 82.53001 85.032009 90.036 93.033008 95.535 102.033008 107.037 109.035 111.033008 116.037 118.539 121.041 126.045 129.04199 134.04599 139.04999 142.04698 146.54698 149.04898 154.05298 156.55498 158.55298 163.55698 168.56098 171.06298 176.06697 178.06497 180.06298 182.56497 187.56897 192.57297 195.07497 200.07897 205.08296 207.58496 210.08696 215.09096 217.08896 222.09296 226.59296 229.09496 234.09896 239.10295">Selects bypass register while three-stating all output pins and</tspan><tspan y="18.83789" x="0 5.0040009 9.504001 14.004001 19.008002 22.005002 24.507002 26.505002 31.509003 36.513006 39.015005 41.517004 46.521005 51.525007 56.025007 58.527006 60.525007 65.52901 70.533008 75.537 77.535 80.037 83.034008 88.038 92.538 97.542">asserting functional reset</tspan></text>
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<path transform="matrix(1,0,0,1,54,245.25)" d="M.25 .25H150.95V26.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 247.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 17.505002 25.002003">CLAMP</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 207.45 247.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="38.142 43.146 48.15 53.154005">1100</tspan></text>
<g clip-path="url(#clip_21)">
<path transform="matrix(1,0,0,1,54,245.25)" d="M252.25 .25H503.75V26.25H252.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 247.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 13.005001 18.009003 22.509003 25.011004 29.511004 32.013006 37.017007 41.517007 46.521009 51.52501 56.02501 60.52501 63.027009 66.02401 71.02801 76.032009 78.03001 82.53001 85.032009 90.036 93.033008 95.535 102.033008 107.037 109.035 111.033008 116.037 118.539 123.543 128.547 133.551 135.549 140.049 142.047 147.051 152.055 154.55699 159.56099 162.55799 167.56198 169.55998 174.56398 179.56798 184.57198 189.57598 194.57997 197.08197 201.58197 206.58597 208.58397 213.58797 218.59197 223.09197 225.59397 228.09597">Selects bypass register while applying preloaded values to</tspan><tspan y="18.83789" x=".00002 5.0040209 10.008021 12.510021 17.514023 22.518025 25.020026 27.522027 32.526029 34.52403 39.52803 44.02803 46.53003 51.53403 56.538034 61.542036 64.04404 69.048038 73.548038 78.048038 83.05203 86.049037 88.55103 90.549037 95.55303 100.55703 103.05903 105.56103 110.565029 115.56902 120.06902 122.57102 124.56902 129.57303 134.57703 139.58103 141.57903 144.08103 147.07802 152.08202 156.58202 161.58602">output pins and asserting functional reset</tspan></text>
<g clip-path="url(#clip_22)">
<path transform="matrix(1,0,0,1,54,271.75)" d="M.25 .25H150.95V26.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 274)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.502001 17.505002 24.507002 31.005003">EZPORT</tspan></text>
<g clip-path="url(#clip_23)">
<path transform="matrix(1,0,0,1,54,271.75)" d="M151.45 .25H251.75V26.25H151.45Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 207.45 274)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="38.142 43.146 48.15 53.154005">1101</tspan></text>
<g clip-path="url(#clip_24)">
<path transform="matrix(1,0,0,1,54,271.75)" d="M252.25 .25H503.75V26.25H252.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 274)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 16.011002 21.015004 23.013005 28.017006 32.517007 35.019006 37.521005 42.525007 47.529008 50.031007 56.034006 61.533006 67.536 74.538 81.036 86.535 89.037 91.539 96.543 101.547 106.047 108.548999 110.547 115.550998 120.55499 123.05699 125.55899 130.56299 133.55998 136.06198 138.56398 143.56798 148.57198 151.07398 157.07698 162.08098 168.57898 171.08098 176.08498 181.08898 186.09297 188.59497 193.59897 198.09897 202.59897 207.60297 210.59996 213.10196">Enables the EZPORT function for the SoC and asserts</tspan><tspan y="18.83789" x=".00002 2.5020204 7.506021 12.510021 17.010022 19.512022 21.510022 26.514023 31.518025 36.522027 38.520029 41.022027 44.019029 49.02303 53.52303 58.52703 61.02903">functional reset.</tspan></text>
<g clip-path="url(#clip_25)">
<path transform="matrix(1,0,0,1,54,298.25)" d="M.25 .25H150.95V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 300.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 12.501001 19.998002 25.002003 27.504004 34.002004 40.500005 47.502004 54.000005">ARM_IDCODE</tspan></text>
<g clip-path="url(#clip_26)">
<path transform="matrix(1,0,0,1,54,298.25)" d="M151.45 .25H251.75V15.25H151.45Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 207.45 300.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="38.142 43.146 48.15 53.154005">1110</tspan></text>
<g clip-path="url(#clip_27)">
<path transform="matrix(1,0,0,1,54,298.25)" d="M252.25 .25H503.75V15.25H252.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 300.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 12.501001 19.998002 22.500002 27.000002 32.499 38.502 45.503999 48.501 54.999 61.002 63.503999 66.006 71.009998 75.509998 78.01199 81.008998 86.01299 90.51299 93.01499 95.01299 100.01699">ARM JTAG-DP Instruction</tspan></text>
<g clip-path="url(#clip_28)">
<path transform="matrix(1,0,0,1,54,313.75)" d="M.25 .25H150.95V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 316)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 12.0060009 18.009 24.012001 30.015002">BYPASS</tspan></text>
<g clip-path="url(#clip_29)">
<path transform="matrix(1,0,0,1,54,313.75)" d="M151.45 .25H251.75V15.25H151.45Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 207.45 316)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="38.142 43.146 48.15 53.154005">1111</tspan></text>
<g clip-path="url(#clip_30)">
<path transform="matrix(1,0,0,1,54,313.75)" d="M252.25 .25H503.75V15.25H252.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 316)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 13.005001 18.009003 22.509003 25.011004 29.511004 32.013006 37.017007 41.517007 46.521009 51.52501 56.02501 60.52501 63.027009 66.02401 71.02801 76.032009 78.03001 82.53001 85.032009 90.036 93.033008 95.535 98.037 103.041 106.038 108.54 113.544 118.548 121.049999 126.05399 128.556 133.56 138.564 143.568 146.56499 151.56899 154.07099 156.06899 161.07299 166.07698">Selects bypass register for data operations</tspan></text>
<g clip-path="url(#clip_31)">
<path transform="matrix(1,0,0,1,54,329.25)" d="M.25 .25H150.95V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 331.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.003 17.505002 22.509003 25.506003 30.006003 32.508005 37.512006 42.516008 47.520009 52.52401 57.52801 60.03001 63.02701 68.03101 72.53101 77.53501 80.53201 85.03201 90.03601">Factory debug reserved</tspan></text>
<g clip-path="url(#clip_32)">
<path transform="matrix(1,0,0,1,54,329.25)" d="M151.45 .25H251.75V15.25H151.45Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 207.45 331.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="13.122 18.126 23.130002 28.134003 33.138006 35.640005 38.142004 43.146005 48.150007 53.154008 58.15801 60.660009 63.162008 68.16601 73.170009 78.174">0101, 0110, 0111</tspan></text>
<g clip-path="url(#clip_33)">
<path transform="matrix(1,0,0,1,54,329.25)" d="M252.25 .25H503.75V15.25H252.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 331.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 2.5020004 7.506001 10.008001 15.012002 20.016003 25.020005 30.024006 35.028009 37.530008 40.032007 45.036008 48.03301 50.535009 53.037008 58.041009 62.541009 65.04301 70.047008 73.04401 77.54401 80.046009 85.05 90.054 95.058 100.062 105.065998 107.56799 112.57199 117.57599 119.57399">Intended for factory debug only</tspan></text>
<g clip-path="url(#clip_34)">
<path transform="matrix(1,0,0,1,54,344.75)" d="M.25 .25H150.95V37.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 347)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 12.501001 19.998002 22.500002 27.000002 32.499 38.502 45.503999 48.501 54.999 61.002 63.503999 70.002 75.006 79.506 84.509998 87.506999 92.006999 97.010997">ARM JTAG-DP Reserved</tspan></text>
<g clip-path="url(#clip_35)">
<path transform="matrix(1,0,0,1,54,344.75)" d="M151.45 .25H251.75V37.25H151.45Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 207.45 347)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".612 5.6160008 10.620001 15.6240019 20.628003 23.130003 25.632004 30.636006 35.640008 40.64401 45.64801 48.15001 50.652009 55.65601 60.66001 65.66401 70.66801 73.170009 75.672008 80.676 85.68 90.684">1000, 1010, 1011, 1110</tspan></text>
<g clip-path="url(#clip_36)">
<path transform="matrix(1,0,0,1,54,344.75)" d="M252.25 .25H503.75V37.25H252.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 347)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 20.007 25.011002 27.513003 29.511002 34.515005 39.015005 41.517004 44.514005 49.518007 54.018007 56.520006 58.518007 63.522008 68.52601 73.02601 75.52801 82.02601 84.02401 86.02201 88.02001 90.52201 95.52601 100.53001 103.032009 105.534008 110.538 115.542 118.044 124.047 130.545 138.04199 140.54399 145.04399 150.54299 156.54599 163.54799 166.54499 173.04299 179.04599 181.54799 186.04799 191.05199 196.05599 198.55799 201.55498 206.55898 208.55698 210.55498 215.55898 218.55597">These instructions will go the ARM JTAG-DP controller.</tspan><tspan y="18.83789" x="0 6.0030004 8.001 13.005001 18.009003 22.509003 27.513005 30.015006 32.013006 37.017007 42.021009 46.521009 49.023008 54.027009 56.529008 59.031007 65.034008 71.532009 79.02901 81.531009 86.031009 91.53001 97.533008 104.535 107.532009 114.03001 120.033008 122.535 127.539 132.543 137.043 142.047 149.54399 154.54799 159.55199 162.05399 167.05799 169.55998 171.55799 176.56198 181.56598 184.06798 186.56998 191.57398 194.57097 197.07297 204.56996 209.57396 212.57096">Please look at ARM JTAG-DP documentation for more</tspan><tspan y="29.83789" x="0 1.9980002 7.002001 9.504002 14.508002 17.505003 25.002003 30.006005 32.508005 34.506006 39.510007 44.514009 47.016008 52.020009 57.02401 59.52601 62.028009 67.032009 72.036 76.536 81.54 84.042 86.04 91.044 95.544 98.046 101.043 106.047 110.547 113.048999 115.047 120.050998 125.05499 129.555">information on these instructions.</tspan></text>
<g clip-path="url(#clip_37)">
<path transform="matrix(1,0,0,1,54,382.25)" d="M.25 .25H150.95V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 384.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.002 21.006 24.003 28.503 33.507 38.511">Reserved </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 56.25 384.5)" font-size="6.75" font-family="HelveticaLTStd"><tspan y="4.83789" x="41.013">1</tspan></text>
<g clip-path="url(#clip_38)">
<path transform="matrix(1,0,0,1,54,382.25)" d="M151.45 .25H251.75V15.25H151.45Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 207.45 384.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="13.383 19.386002 21.384003 23.382004 25.884005 30.888005 33.390005 38.394006 43.398008 46.395009 48.897008 53.90101 58.90501 63.40501 68.40901 73.41301 78.41701">All other opcodes</tspan></text>
<g clip-path="url(#clip_39)">
<path transform="matrix(1,0,0,1,54,382.25)" d="M252.25 .25H503.75V15.25H252.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 384.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.002 21.006 26.010003 31.014004 36.018007 38.520006 41.022005 46.026006 48.528005 53.028005 58.032007 60.030008 65.034008 69.534008 72.036 74.538 79.542 84.042 89.046 94.049999 98.549999 103.049999 105.551998 108.548999 113.55299 118.55699 120.55499 125.05499 127.55699 132.56099">Decoded to select bypass register</tspan></text>
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</g>
<g clip-path="url(#clip_41)">
<path transform="matrix(1,0,0,1,54,107.5)" stroke-width="1" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M151.2-.5V16.5"/>
</g>
<g clip-path="url(#clip_42)">
<path transform="matrix(1,0,0,1,54,107.5)" stroke-width="1" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M151.8 16H-.5"/>
</g>
<g clip-path="url(#clip_43)">
<path transform="matrix(1,0,0,1,54,107.5)" stroke-width="1" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M0 16.5V-.5"/>
</g>
<g clip-path="url(#clip_44)">
<path transform="matrix(1,0,0,1,54,107.5)" stroke-width="1" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M151.09999 0H252.1"/>
</g>
<g clip-path="url(#clip_45)">
<path transform="matrix(1,0,0,1,54,107.5)" stroke-width="1" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M252-.5V16.5"/>
</g>
<g clip-path="url(#clip_46)">
<path transform="matrix(1,0,0,1,54,107.5)" stroke-width="1" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M252.6 16H150.59999"/>
</g>
<g clip-path="url(#clip_47)">
<path transform="matrix(1,0,0,1,54,107.5)" stroke-width="1" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M251.9 0H504.5"/>
</g>
<g clip-path="url(#clip_48)">
<path transform="matrix(1,0,0,1,54,107.5)" stroke-width="1" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M504-.5V16.5"/>
</g>
<g clip-path="url(#clip_49)">
<path transform="matrix(1,0,0,1,54,107.5)" stroke-width="1" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M504.5 16H251.4"/>
</g>
<g clip-path="url(#clip_50)">
<path transform="matrix(1,0,0,1,54,123.5)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M151.2-.6V16.1"/>
</g>
<g clip-path="url(#clip_51)">
<path transform="matrix(1,0,0,1,54,123.5)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M151.55 15.75H-.25"/>
</g>
<g clip-path="url(#clip_52)">
<path transform="matrix(1,0,0,1,54,123.5)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M0 15.85V.4"/>
</g>
<g clip-path="url(#clip_53)">
<path transform="matrix(1,0,0,1,54,123.5)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M252-.6V16.1"/>
</g>
<g clip-path="url(#clip_54)">
<path transform="matrix(1,0,0,1,54,123.5)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M252.35 15.75H150.84999"/>
</g>
<g clip-path="url(#clip_55)">
<path transform="matrix(1,0,0,1,54,123.5)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M504 .4V15.85"/>
</g>
<g clip-path="url(#clip_56)">
<path transform="matrix(1,0,0,1,54,123.5)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M504.25 15.75H251.65"/>
</g>
<g clip-path="url(#clip_57)">
<path transform="matrix(1,0,0,1,54,139.25)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M151.2-.35V26.85"/>
</g>
<g clip-path="url(#clip_58)">
<path transform="matrix(1,0,0,1,54,139.25)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M151.55 26.5H-.25"/>
</g>
<g clip-path="url(#clip_59)">
<path transform="matrix(1,0,0,1,54,139.25)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M0 26.6V-.1"/>
</g>
<g clip-path="url(#clip_60)">
<path transform="matrix(1,0,0,1,54,139.25)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M252-.35V26.85"/>
</g>
<g clip-path="url(#clip_61)">
<path transform="matrix(1,0,0,1,54,139.25)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M252.35 26.5H150.84999"/>
</g>
<g clip-path="url(#clip_62)">
<path transform="matrix(1,0,0,1,54,139.25)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M504-.1V26.6"/>
</g>
<g clip-path="url(#clip_63)">
<path transform="matrix(1,0,0,1,54,139.25)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M504.25 26.5H251.65"/>
</g>
<g clip-path="url(#clip_64)">
<path transform="matrix(1,0,0,1,54,165.75)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M151.2-.35V26.85"/>
</g>
<g clip-path="url(#clip_65)">
<path transform="matrix(1,0,0,1,54,165.75)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M151.55 26.5H-.25"/>
</g>
<g clip-path="url(#clip_66)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 415)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">1.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 69.12 415)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 25.506 30.510003 35.514005 40.518007 43.020006 48.024007 52.524007 55.026006 60.030008 63.027009 68.031009 71.02801 73.53001 76.52701 81.531009 86.031009 91.035 94.032009 98.532009 103.536 108.036 110.538 113.04 118.044 123.048 125.549999 128.547 130.545 135.549 140.553 143.055 145.55699 148.05899 153.06299 155.56499 160.06499 165.06899 170.07299 175.07698 180.08098 185.08498 187.58698 190.08898 195.09297 200.09697 202.59897 207.60297 212.60697 217.10697 222.11096 227.11496 229.11296 234.11696 239.12096 241.62296 246.62696 249.12895 251.63095 254.62795 259.63197 264.13197 269.13597 272.13298 276.63298 281.63697 286.64097 289.14299 291.14097 296.14497 300.64497 303.14698 306.14399 311.14799 315.64799 318.15 320.14799 325.15199 330.15599 332.658 337.158 342.162 347.166 352.16999 356.66999 359.172 361.16999 366.17399 368.676 371.178 376.182 381.186 383.68803 386.19004 391.19404 393.69606 398.70005 401.69706">The manufacturer reserves the right to change the decoding of reserved instruction codes in the future</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 469.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00701 9.44499 14.17099">9.5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 91.80322 469.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00701 9.44499 19.83199 32.10599 45.331995 50.057996 59.509996 65.171 74.623 80.284008 90.671009 100.12301 104.84901 114.30101 124.68801 135.07501 139.80101 149.253 159.64 170.027 175.68799 182.301 192.68799 197.41399 202.13999 208.75299 218.20499 228.59198 233.31798 242.76998 248.43097 257.88298 264.49598">JTAG status and control registers</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="453.05" x="-.00402 8.54998 15.54998 20.21198 27.21198 34.211984 41.211984 48.211984 51.711984 55.603986 62.603986 68.819988 72.319988 82.427989 91.76599 104.21199 107.71199 117.81999 124.035999 131.036 138.036 145.036 148.536 158.644 164.86 171.076 177.292 182.738 188.184 191.684 199.468 206.468 211.13 215.022 218.522 223.184 233.292 243.40001 251.184 255.84601 259.346 262.846 266.738 273.738 279.954 283.454 290.454 296.67 303.67 310.67 317.67 324.67 330.88603 335.548 339.048 346.048 352.264 357.71003 361.21003 367.42604 373.64204 379.85804 386.07405 391.52006 396.96607 400.46607 404.35807 411.35807 414.85807 418.75007 425.75007 431.96607 435.46607 440.91209 444.80409 451.02009 454.91209 461.91209 467.3581 470.8581 477.0741 484.0741">Through the ARM Debug Access Port (DAP), the debugger has access to the status and</tspan><tspan y="469.05" x="-.0039899998 6.2120106 13.21201 20.21201 24.10401 28.76601 35.76601 39.658014 43.158014 49.374013 53.266016 59.482015 70.374019 76.59002 83.59002 87.48202 92.92802 96.42802 99.92802 103.820018 114.71201 121.71201 125.60401 131.82 142.712 148.92801 155.92801 159.82 166.03601 173.03601 176.53601 182.75202 188.19802 191.69802 196.36002 202.57602 209.57602 213.46802 218.91402 222.80602 229.02202 233.68402 239.13002 242.63002 249.63002 256.63 260.13 264.022 271.022 277.238 280.738 290.846 300.954 308.738 312.238 319.238 326.238 331.68403 335.18403 341.40003 346.84605 350.34605 355.79206 362.79206 369.79206 379.90007 386.90007 390.40007 394.29206 401.29206 404.79206 408.68406 415.68406 421.90007 425.40007 430.06205 437.06205 440.95405 444.84605 451.84605 461.95405 465.84605 472.84605">control elements, implemented as registers on the DAP bus as shown in the following</tspan><tspan y="485.05" x="-.0039899998 4.65801 8.550011 15.550011 22.55001 27.212012 33.428014 36.928014 40.428014 48.982015 55.982015 62.198015 67.64401 73.860019 77.360019 82.02202 88.23802 95.23802 99.13002 104.57602 108.46802 114.68402 119.34602 124.79202 128.29203 135.29203 139.95403 146.95403 153.95403 157.84603 164.84603 171.06203 174.56203 180.77803 187.77803 194.77803 198.67003 202.56203 206.45403 213.45403 220.45403 226.67003 230.56203 234.06203 240.27803 247.27803 254.27803 258.17005 262.83204 269.83204 273.72404 277.22404 283.44004 290.44004 297.44004 300.94004 306.38606 310.27806 316.49406 320.38606 327.38606 332.83207 336.33207 340.99406 347.99406 352.65605 356.15605 360.04804 367.04804 377.15605 380.65605 387.65605 394.65605 404.76405 410.98005 415.64204 419.14204 430.03404 437.03404 444.03404 450.25004 453.75004 458.41203 464.62803 470.84403 477.84403 484.84403 491.06004 495.72203">figure. These registers provide additional control and status for low power mode recovery</tspan><tspan y="501.05" x="-.0039899998 6.2120106 13.21201 20.21201 23.71201 27.60401 34.60401 41.60401 45.496015 51.712015 57.928014 61.820016 65.320018 69.98202 76.98202 83.98202 88.64402 94.86002 101.86002 108.86002 112.75202 117.414028 124.414028 128.30603 131.80603 137.25203 143.46804 149.68404 156.68404 162.90004 167.56204 171.45404 178.45404 183.90004 187.40004 190.90004 199.45404 206.45404 212.67005 216.17005 221.61605 225.50804 231.72405 235.61605 242.61605 248.06204 251.56204 256.22404 262.44004 269.44004 273.33204 278.77806 282.67005 288.88606 293.54804 297.04804 304.04804 307.94004 311.83204 317.27806 320.77806 326.99406 330.88606 336.33207 343.33207 346.83207 353.83207 358.49406 365.49406 372.49406 376.38606 383.38606 389.60206 393.10206 399.31806 402.81806 413.71006 419.92607 426.14207 433.14207 438.58808 442.08808 446.75007 453.75007 458.41206 461.91206 465.80406 472.80406">and typical run-control scenarios. The status register bits also provide a means for the</tspan><tspan y="517.05" x="-.0039899998 6.99601 13.21201 20.21201 27.21201 34.21201 41.21201 47.42801 52.090009 55.590009 59.48201 66.48201 69.98201 76.98201 83.19801 87.09001 90.59001 97.59001 104.59001 111.59001 117.806018 121.69801 127.91402 134.91402 138.41402 143.86002 147.75202 153.96802 157.86002 164.86002 170.30602 173.80602 180.80602 185.46802 188.96802 192.86002 199.86002 206.07602 209.57602 215.79203 222.79203 227.45403 233.67003 237.17003 247.27803 251.17003 255.06203 262.062 269.062 276.062 279.954 283.454 290.454 296.67 303.67 307.562 314.562 321.562 325.062 328.954 335.954 339.454 343.346 350.346 354.238 358.13 362.022 368.238 372.13 378.346 381.846 388.062 391.562 398.562 405.562 411.00804 414.50804 418.40003 423.062 429.278 436.278 441.72404 447.94004 454.15605 458.04804 461.94004 468.94004">debugger to get updated status of the core without having to initiate a bus transaction</tspan><tspan y="533.0499" x="-.0039899998 6.2120106 12.428011 17.090012 24.090012 29.536013 34.982015 38.482015 42.374017 49.374017 55.590017 59.090017 65.306018 69.96802 76.96802 82.41402 87.860019 94.860019 101.07602 105.73802 109.23802 114.68402 124.79202 128.68402 132.57602 138.79203 145.79203 149.29203 152.79203 156.68402 163.68402 170.68402 176.13002 179.63002 184.29203 190.50803 201.40003 207.61603 211.50803 218.50803 222.40003 229.40003 236.40003 239.90003 243.79203 250.00803 255.45403 260.90003 264.40003 268.29203 275.29203 279.18403 283.846 290.846 296.29203 300.18403 307.18403 313.40003 316.90003 323.90003 330.90003 335.562 339.454 346.454 353.454 356.954 363.17 366.67 373.67 379.88603 386.88603 393.88603 400.88603 404.38603 409.83204 416.04804 421.49406 426.94007 430.83207 437.83207 444.83207">across the crossbar switch, thus remaining less intrusive during a debug session.</tspan><tspan y="557.44998" x="-.0039899998 4.65801 8.550011 12.050011 15.942011 21.388012 24.888012 28.780013 39.672014 46.672014 53.672014 58.33401 62.226015 68.44202 75.44202 79.334018 82.834018 86.72601 93.72601 97.22601 104.22601 111.22601 115.11801 121.334018 124.834018 128.72602 135.72602 141.94202 145.83402 149.33402 153.22602 160.22602 166.44202 171.88802 178.10402 181.60402 191.71202 201.82003 209.60402 213.10402 219.32003 226.32003 233.32003 237.21202 241.87403 248.87403 252.76602 256.26603 262.48204 269.48204 276.48204 279.98204 285.42805 289.32005 295.53605 299.42805 306.42805 311.87406 315.37406 320.03605 326.25205 333.25205 337.14405 342.59007 346.48207 352.69807 357.36006 362.80607 366.30607 372.52207 377.18406 383.40007 386.90007 393.90007 400.90007 404.79206 408.29206 419.18406 425.40007 436.29206 443.29206 447.95405 454.95405 458.45405 469.34605 475.56205 482.56205 489.56205 495.77806">It is important to note that these DAP control and status registers are not memory mapped</tspan><tspan y="573.44998" x="-.0039899998 10.104011 13.996011 17.888012 24.888012 28.780013 35.780015 39.280015 43.172018 50.172018 56.388017 59.888017 65.334018 72.334018 77.780017 81.67201 87.888019 98.780017 102.280017 113.17201 119.388019 130.28002 137.28002 141.94202 148.94202 152.44202 163.33402 169.55002 176.55002 180.05002 186.26602 193.26602 200.26602 203.76602 209.98203 214.64403 220.86003 224.36003 231.36003 238.36003 242.25203 249.25203 252.75203 258.96803 265.18403 271.40003 277.61604 283.06205 288.50807 292.40007 299.40007 303.29206 309.50807 313.00807 320.00807 323.90007 330.11607 333.61607 337.50807 344.50807 350.72407 354.22407 364.33207 370.54808 377.54808 384.54808 391.54808 395.04808 405.15608 411.37208 417.58808 423.80409 429.2501 434.6961 438.1961 445.9801 452.9801 457.6421 461.5341 465.0341 469.69609 479.80409 489.91209 497.69609">within the system memory map and are only accessible via the Debug Access Port (DAP)</tspan><tspan y="589.44998" x="-.0039899998 6.99601 12.442011 16.334012 23.334012 30.334012 33.83401 39.28001 47.83401 57.942014 68.05001 71.55001 75.05001 81.266017 86.71201 95.266017 105.374019 115.48202 118.98202 122.48202 129.48203 134.14403 137.64403 145.42803 158.64403 168.75203 172.25203 175.75203 184.30603 191.30603 197.52204 201.02204 213.46804 223.57604 236.02204 240.68404 250.79204 258.57606 262.07606 265.96806 271.41407 274.91407 281.13008 287.34608 293.56208 299.77809 305.2241 310.6701 314.5621 321.5621 325.4541 331.6701 335.1701 341.3861 346.83213 350.33213 360.44013 366.65614 373.65614 380.65614 387.65614 391.15614 401.26414 407.48014 413.69615 419.91215 425.35816 430.80418 434.30418 442.08818 449.08818 453.75016 457.64216 461.14216 468.14216 471.64216 481.75016 485.64216 489.53416">using JTAG, cJTAG, or SWD. The MDM-AP is accessible as Debug Access Port 1 with</tspan><tspan y="605.44998" x="-.0039899998 3.8880106 10.88801 17.104012 20.604012 26.820012 33.82001 40.03601 43.928014 47.820016 54.036016 61.036016 64.92802 71.14402 74.64402 79.30602 85.522029 92.522029 96.414028 101.86002 105.75202 111.968029 116.63003 122.07603 125.57603 131.02204 138.02204 145.02204 155.13004 162.13004 165.63004 169.52204 176.52204 180.02204 183.91403 190.91403 197.13004 200.63004 204.52204 210.73804 217.73804 221.63004 227.84604 231.34604 238.34604 244.56204 248.45404 255.45404 265.56205">the available registers shown in the table below.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 98.5 672)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="12.64604 19.978039 26.65004 33.98204 37.31804 43.99004 47.326044 53.998044 57.99404 64.666049 77.002048 86.99805 95.66205 105.65805 109.65405 118.318058 126.32205 129.65805 138.32205 144.99405 152.32605 155.66205 162.33405 166.33005 173.00205 177.67005 181.00605 189.01004 196.34204 207.01004 217.67804 224.35004 229.01804">Table 9-4.MDM-AP Register Summary</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="25.87323" x="0 5.0040009 10.503 17.001002 24.003003 26.505003 31.509003 34.506006 39.510007 42.507009 48.00601 53.01001 55.51201 60.51601 66.01501 71.51401 74.01601 79.020008 84.519008 90.018009 93.01501 96.51601 102.01501 104.517009 107.019008 110.520008 115.524 121.023 123.525 128.529 131.526 136.53 140.031">JTAG status and control registers</tspan></text>
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<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="44.775 50.274003 53.271005 58.275007 63.279008 67.77901 72.27901 77.283008 79.281009 84.285 86.787 92.79 97.794 105.291 107.289 111.789 116.793 121.797 126.800998 131.805 136.305 138.80699 143.81099 146.80799 149.30998 151.81198 154.31398 159.31798 163.81798">Freescale Semiconductor, Inc.</tspan></text>
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