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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_233.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

114 lines
34 KiB (Stored with Git LFS)
XML
Raw Blame History

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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="13.104 23.996003 29.442004 37.996004 48.104005 58.212007 65.212009 73.76601 83.104007 90.88801 99.44201 106.44201 113.44201 116.94201 121.60401 126.266017 133.26602 144.15802 147.65802 153.87403 160.87403 164.37403 170.59003 177.59003 181.48203 187.69803 192.36003 199.36003 205.57604 209.46804 212.96804 218.41403 222.30603 229.30603 236.30603 242.52204 246.41403 249.91403 253.41403 261.96803 268.96803 272.86003 278.30604 281.80604 287.25205 291.14405 298.14405 305.14405 311.36006 315.25205 318.75205 322.64405 328.09007 331.59007 338.59007 345.59007 349.48207 353.37406 360.37406 367.37406 373.59007 377.48207 380.98207 387.19807 394.19807 401.19807 404.69807 415.59007 421.80607 428.80607 432.30607 439.30607 446.30607 450.19807 453.69807 460.69807">&#x2022;JTAG_TRST_b from an external signal. This signal is optional and may not be</tspan><tspan y="27.85" x="23.99601 30.21201 37.21201 43.42801 47.32001 51.212015 57.428014 64.42801 68.32001 74.53601 78.03601 81.92801 88.92801 92.42801 98.64401 102.53601 106.42801 109.92801 116.92801 123.14401 129.36002 136.36002 142.57602 149.57602 155.79203 161.23802">available in all packages.</tspan><tspan y="43.85" x="13.10401 23.99601 34.10401 40.32001 47.32001 54.32001 61.32001 64.82001 69.48201 75.69801 81.14401 87.360019 91.252017 94.752017 99.41402 108.752017 118.860019 128.19802 138.30602 147.64402 155.42801 163.98201 173.32 181.87401 191.98201 195.48201 202.48201 206.37401 210.266 213.766 223.87401 227.766 231.658 238.658 242.55 249.55 253.05 256.94203 263.94203 270.15803 273.65803 281.44203 294.65803 300.10404 304.76603 314.87403 322.65803 326.15803 335.49604 344.05003 353.38804 361.94203 365.834 373.618 382.172 392.28 400.83399 404.33399 408.99598 415.21199 422.21199 426.10398 431.55 435.442 441.658 446.31999 450.98197 454.48197 458.37397 465.37397 468.87397 472.76597 479.76597">&#x2022;Debug reset (CDBGRSTREQ bit within the SWJ-DP CTRL/STAT register) in the</tspan><tspan y="59.85" x="23.99601 32.55001 41.888013 50.442014 60.550016 64.05002 71.05002 78.05002 88.94202 95.15802 99.05002 106.05002 109.55002 113.44202 120.44202 126.65802 130.55002 134.05002 140.26602 144.15802 148.05002 155.05002 165.15802 170.60402 174.10402 177.99602 184.99602 191.21202 194.71202 201.71202 207.92803 214.92803 221.92803 228.92803 235.92803 242.14403 246.80603 250.30603 254.19803 261.19804 264.69804 269.36003 275.57603 281.02204 287.23805 291.13005 294.63005 298.52204 305.52204 311.73805 315.23805 322.23805 328.45405 335.45405 342.45405 349.45405 352.95405 356.84605 363.84605 370.84605 374.73805 380.95405">TCLK domain that allows the debugger to reset the debug logic.</tspan><tspan y="75.85" x="13.10402 23.996022 32.550024 41.888025 49.672025 58.226026 61.726026 67.942028 73.38802 78.83402 85.050029 89.71203 93.60403 99.82003 106.82003 110.32003 117.32003 121.21203 127.42803 130.92804 134.82004 141.82004 148.03604 151.53604 157.75205 163.19805 171.75205 181.86005 191.96805 195.46805 201.68405 207.13005 213.34606 219.56206 226.56206 232.77806 236.27806 242.49407 249.49407 260.38609 271.27809 277.49409 284.49409 291.49409">&#x2022;TRST asserted via the cJTAG escape command.</tspan><tspan y="91.85" x="13.10402 23.996022 31.780022 38.78002 44.22602 48.118024 54.334024 65.22602 68.72602 76.510028 86.61803 95.956027 99.456027 104.11803 110.33403 115.78003 121.99603">&#x2022;System POR reset</tspan><tspan y="117.85" x=".0000104904179 9.338012 16.338013 23.338013 30.338013 36.554014 41.21601 46.66201 52.87801 56.77001 63.77001 67.27001 71.16201 78.16201 84.37801 87.87801 94.87801 101.09402 108.09402 115.09402 122.09402 125.59402 131.04003 138.04003 143.48603 147.37802 153.59403 164.48603 167.98603 171.87802 177.32402 180.82402 187.04003 193.25603 200.25603 206.47203 213.47203 217.36403 223.58003 227.08003 234.08003 238.74204 242.24204 249.24204 255.45804 262.45805 268.67405 273.33604 279.55204 283.44404 287.33604 294.33604 301.33604 304.83604 310.28205 317.28205 322.72807 326.62007 332.83607 343.72807 347.22807 351.89006 358.10606 363.55207 369.76808 373.66007 377.16007 384.16007 389.60609 393.49809 400.49809 407.49809 410.99809 414.89009 421.89009 428.10609 431.60609 436.26808 443.26808 447.16007 451.05207 458.05207 468.16007 472.05207 479.05207">Conversely the debug system is capable of generating system reset using the following</tspan><tspan y="133.85" x=".00000049041776 10.892002 17.108002 23.324002 30.324002 36.54 43.54 47.432004 52.878004 63.770006">mechanism:</tspan><tspan y="158.25" x="13.104011 23.996012 34.10401 37.60401 43.05001 50.05001 55.49601 59.388013 65.60401 76.49601 79.99601 84.65801 90.874019 96.320018 102.53602 106.42802 109.92802 113.820018 120.820018 124.320018 128.21202 135.21202 141.42803 144.92803 155.03603 165.14403 172.92803 176.42803 182.64403 189.64403 196.64403 200.53603 205.19803 212.19803 216.09003 219.59003 224.25203 230.46804 237.46804 241.36003 246.80603 250.69803 256.91404 261.57603 265.07603 275.18403 282.18403 286.07603 292.29203 299.29203 302.79203 309.00804 312.90003 316.79203 323.79203 333.90003 339.34605 342.84605 346.73805 353.73805 359.95405 363.45405 370.45405 376.67005 383.67005 390.67005 397.67005 404.67005 410.88606 415.54804 419.04804 422.94004 429.94004 433.44004 440.44004 447.44004 451.33204 458.33204 461.83204 465.72404 472.72404">&#x2022;A system reset in the DAP control register which allows the debugger to hold the</tspan><tspan y="174.25" x="23.99601 29.44201 36.44201 41.88801 45.78001 51.99601 62.888013 66.388019 70.280017 77.280017 80.780017 85.44202 91.65802 97.10402 103.32002 107.21202">system in reset.</tspan><tspan y="190.25" x="13.10402 23.996022 31.780022 41.888025 49.672025 59.010026 67.564029 75.34803 83.90203 92.45603 101.79404 110.34804 120.45604 123.95604 130.95604 134.84804 138.74004 142.24004 146.13204 153.13204 156.63204 160.52404 167.52404 173.74004 177.24004 187.34804 197.45604 202.11804 211.45604 214.95604 221.17205 228.17205 235.17205 239.06404 242.95604 249.17205 255.38805 259.28007 263.17207 270.17207 277.17207 280.67207 284.56407 291.56407 295.45606 301.67207 306.33406 310.99604 317.99604 324.99604 328.88804 332.38804 338.60404 345.60404 352.60404 356.10404 360.76603 366.98204 372.42805 378.64405 382.53605 386.03605 392.25205 399.25205 406.25205 410.14405 414.80604 421.80604 425.69804 429.19804 433.86003 440.07603 447.07603 450.96803 456.41404 460.30604 466.52204">&#x2022;SYSRESETREQ bit in the NVIC application interrupt and reset control register</tspan><tspan y="206.25" x="13.10402 23.996022 34.104024 37.604024 43.050024 50.050024 55.49602 59.388025 65.60403 76.496028 79.996028 84.65803 90.87403 96.32003 102.53603 106.42803 109.92803 113.82003 120.82003 124.32003 128.21204 135.21204 141.42804 144.92804 155.03604 165.14405 172.92804 176.42804 182.64405 189.64405 196.64405 200.53604 205.19805 212.19805 216.09004 219.59004 224.25205 230.46805 237.46805 241.36005 246.80605 250.69805 256.91404 261.57603 265.07603 275.18403 282.18403 286.07603 292.29203 299.29203 302.79203 309.00804 312.90003 316.79203 323.79203 333.90003 339.34605 342.84605 346.73805 353.73805 359.95405 363.45405 370.45405 376.67005 383.67005 390.67005 397.67005 404.67005 410.88606 415.54804 419.04804 422.94004 429.94004 433.44004 440.44004 447.44004 451.33204 458.33204 461.83204 465.72404 472.72404">&#x2022;A system reset in the DAP control register which allows the debugger to hold the</tspan><tspan y="222.25" x="23.996029 33.33403 40.33403 44.99603 51.21203 54.71203 58.60403 65.604038 69.104038 73.76604 79.98204 85.42804 91.64404 95.53604">Core in reset.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 324.2)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00596 9.44604 14.172041">9.7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 91.80322 324.2)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00596 12.268041 24.542042 36.816045 42.477045 54.751047">AHB-AP</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="307.45" x="-.00396 10.104041 20.212042 29.550044 34.212045 44.320047 52.104047 55.604047 62.604047 67.266048 74.266048 81.266048 85.15804 92.15804 98.37405 103.820049 107.320049 111.21204 118.21204 124.42805 127.92805 134.92804 141.14405 148.14405 155.14405 162.14405 169.14405 175.36005 180.02205 183.52205 189.73805 195.95406 202.17006 208.38607 213.83206 219.27806 222.77806 226.67006 233.67006 237.17006 243.38607 247.27806 251.17006 254.67006 265.56208 271.77809 282.67008 289.67008 294.33207 301.33207 304.83207 311.04808 318.04808 325.04808 328.54808 333.21006 339.42607 346.42607 350.31806 355.76408 359.65608 365.87208 370.53407 375.98008 379.48008 383.37208 390.37208 393.87208 397.76408 404.76408 410.98008 414.48008 419.9261 426.9261 432.3721 436.2641 442.4801 453.3721">AHB-AP provides the debugger access to all memory and registers in the system,</tspan><tspan y="323.45" x="-.0039399999 3.8880604 10.888061 17.104062 20.996062 27.996062 34.996065 38.888067 45.888067 52.888067 56.388067 63.388067 68.050067 75.050067 81.26607 87.48207 92.92807 98.37407 105.37407 110.03607 113.53607 118.198078 124.41408 131.41408 135.30608 140.75208 144.64408 150.86008 155.52208 160.96808 164.46808 168.36008 175.36008 180.02208 187.02208 194.02208 201.02208 208.02208 211.52208 215.41408 222.41408 228.63008 232.13008 242.23809 252.34609 257.0081 266.3461 269.8461 273.3461 281.1301 288.1301 293.5761 297.4681 303.6841 314.5761 318.0761 324.2921 330.50813 336.72413 342.94013 348.38615 353.83216 357.33216 361.22416 366.67018 370.17018 374.06217 381.06217 388.06217 394.27818 401.27818 407.49418 414.49418 421.49418 427.71018 434.71018 438.60218 442.10218 449.10218 453.76417 457.26417 461.15617 468.15617">including processor registers through the NVIC. System access is independent of the</tspan><tspan y="339.45" x="-.0039399999 6.99606 11.65806 18.65806 24.874062 31.090062 36.53606 41.98206 48.98206 53.64406 57.14406 62.590059 66.482059 72.69806 76.59006 83.59006 89.03606 92.53606 96.03606 106.14406 116.25206 125.59006 130.25206 140.36006 148.14406 151.64406 158.64406 165.64406 171.86006 177.30606 180.80606 187.80606 194.80606 198.69806 202.19806 209.19806 216.19806 219.69806 226.69806 232.91407 239.13007 246.13007 250.79207 254.68407 261.68409 266.34608 273.34608 279.56208 285.77809 292.77809 296.27809 300.17008 304.83207 311.04808 318.04808 323.49409 329.71009 335.9261 339.81809 343.71009 350.71009 357.71009 363.1561 366.6561 373.6561 380.6561 384.1561 388.0481 395.0481 401.2641 404.7641 411.7641 418.7641 424.2101 427.7101 431.2101 436.65614 443.65614 447.15614 453.37214 457.26414">processor status. AHB-AP does not do back-to-back transactions on the bus, so all</tspan><tspan y="355.45" x="-.0039399999 3.8880604 8.55006 14.766061 21.76606 27.21206 33.428064 39.644063 43.536066 47.428068 54.428068 61.428068 66.87407 70.37407 76.59007 81.252079 87.46808 90.96808 97.96808 104.96808 111.96808 116.63008 122.07608 128.29209 135.29209 142.29209 148.50809 155.50809 159.40009 163.29209 169.50809 173.40009 176.90009 180.40009 190.50809 200.61609 209.95409 214.61609 224.72409 232.50809 236.00809 242.22409 248.4401 255.4401 258.9401 265.9401 272.1561 276.81809 281.48008 288.48008 293.14207 304.03407 307.53407 314.53407 321.53407 327.75007 331.64207 335.53407 342.53407 349.53407 355.75007 362.75007 366.25007 372.46607 379.46607 386.46607 389.96607 396.96607 400.85807 404.75007 409.41206 416.41206 422.62806 429.62806">transactions are non-sequential. AHB-AP can perform unaligned and bit-band</tspan><tspan y="371.45" x="-.0039399999 3.8880604 8.55006 14.766061 21.76606 27.21206 33.428064 39.644063 43.536066 47.428068 54.428068 61.428068 66.87407 70.37407 73.87407 83.98207 94.09007 103.42807 108.09007 118.198078 125.98208 129.48209 133.37409 138.03609 144.25209 151.25209 156.69809 162.9141 169.1301 173.0221 176.9141 183.9141 190.9141 196.36009 199.86009 206.86009 213.86009 220.86009 227.0761 232.5221 237.9681 241.4681 245.36009 252.36009 258.57609 262.07609 269.86009 277.64408 286.9821 290.4821 293.9821 299.4281 306.4281 309.9281 313.8201 320.8201 327.0361 330.5361 338.3201 346.1041 355.4421 358.9421 365.1581 371.3741 378.3741 385.3741 392.3741 396.2661 399.7661 404.4281 410.6441 421.5361 427.7521 434.7521 438.2521 448.3601 458.4681 467.80613 472.4681 482.5761">transactions. AHB-AP transactions bypass the FPB, so the FPB cannot remap AHB-AP</tspan><tspan y="387.45" x="-.0038899999 3.8881105 8.550111 14.766111 21.766112 27.212113 33.428113 39.64411 43.536115 47.428117 54.428117 61.428117 66.874118 70.374118 73.874118 81.65812 94.87412 100.32012 104.21212 111.996128 125.21213 129.87413 139.98213 147.76613 152.42813 156.32013 163.32013 167.21213 171.10413 174.99613 181.21213 185.10413 191.32013 198.32013 201.82013 205.71213 210.37413 216.59014 223.59014 229.03614 235.25214 241.46814 245.36014 249.25214 256.25215 263.25215 266.75215 272.96815 279.96815 286.96815 291.63014 295.52214 300.96815 304.46815 311.46815 316.13014 320.02214 327.02214 333.23814 336.73814 342.95414 349.95414 353.45414 363.56214 373.67015 383.00816 387.67015 397.77815 405.56214 410.22413 415.67015 422.67015 429.67015 436.67015 443.67015 448.33213 452.22413 458.44013">transactions. SWJ/SW-DP-initiated transaction aborts drive an AHB-AP-supported</tspan><tspan y="403.45" x="-.0038899999 5.4421107 9.334111 16.33411 22.55011 29.55011 35.76611 42.76611 49.76611 53.26611 58.71211 62.60411 69.60411 76.60411 82.820117 86.71211 90.21211 96.428119 102.64412 106.53612 110.428119 116.64412 123.64412 127.14412 137.25212 147.36013 156.69812 166.80612 176.14412 184.69812 188.19812 191.69812 200.25212 207.25212 211.14412 216.59012 220.09012 225.53612 229.42812 236.42812 243.42812 249.64412 253.53612 257.03614 260.92814 266.37416 269.87416 276.87416 281.53614 285.42814 292.42814 298.64414 305.64414 309.14414 313.03614 320.03614 323.92814 330.92814 334.42814 338.32014 345.32014 351.53614 355.03614 364.37416 371.37416 376.82017 380.32017 392.76618 398.98219 402.87419 407.53617 411.42817 418.42817 421.92817 425.42817 435.53617 442.53617 446.42817 452.64418 459.64418 463.14418 467.80616 474.02217 479.46818 485.68418 489.57618">sideband signal called HABORT. This signal is driven into the Bus Matrix, which resets</tspan><tspan y="419.45" x="-.0038899999 3.8881105 10.88811 17.10411 20.60411 29.942112 36.942113 42.38811 45.88811 58.334115 64.55012 68.442119 73.10412 76.99612 83.99612 87.49612 92.942119 96.834117 103.05012 106.942119 113.15812 116.65812 120.15812 125.60412 132.60413 136.10413 139.99613 146.99613 153.21213 157.10413 160.60413 170.71213 180.82013 190.15813 194.82013 204.92813 212.71213 216.21213 222.42813 228.64414 235.64414 239.14414 245.36014 251.57614 257.79216 264.00816 269.45417 274.90019 278.40019 282.29219 289.29219 295.50819 299.00819 306.79219 311.45417 315.34617 322.34617 328.56217 332.45417 338.67018 342.17018 349.95417 356.17018 360.83216 364.72416 371.72416 378.72416 384.94017 389.60215 395.81816 399.71015 403.21015 412.54817 419.54817 424.99418 428.49418 433.15617 440.15617 444.81816 448.31816 452.21015 458.42616 463.87217 467.76417 471.26417 478.26417 482.15617 486.04817 492.26417">the Bus Matrix state, so that AHB-AP can access the Private Peripheral Bus for last ditch</tspan><tspan y="435.45" x="-.00384 6.99616 13.21216 20.21216 27.21216 34.21216 41.21216 45.10416 52.10416 59.10416 62.60416 68.05016 75.05016 81.26617 88.26617 91.76617 97.98217 103.42817 106.92817 111.59017 117.806179 124.02218 131.02219 134.91419 140.36019 144.25218 151.25218 158.25218 162.14418 166.80619 173.02219 178.46819 184.68419 188.57619 192.07619 195.96819 202.96819 209.18419 212.68419 218.90019 225.90019 230.5622 236.7782 240.2782 243.7782 253.8862 263.9942 273.3322 277.9942 288.1022 295.8862 299.3862 303.2782 307.9402 314.1562 321.1562 326.6022 332.8182 339.0342 342.9262 346.8182 353.8182 360.8182 366.26423 369.76423 375.98023 380.6422 386.85823 390.35823 394.2502 398.1422 402.0342 405.9262 409.8182 416.0342 419.5342 425.7502 432.7502 439.7502 443.6422 449.85823 456.85823">debugging such as read/stop/reset the core. AHB-AP transactions are little endian.</tspan><tspan y="459.85" x="-.00384 8.550159 15.550159 21.76616 25.26616 37.71216 45.49616 55.60416 59.10416 62.996164 69.99616 76.212169 80.104167 87.104167 94.104167 100.32017 105.76617 109.26617 116.26617 122.48217 127.14417 133.36017 140.36017 144.25217 148.14417 151.64417 157.09017 163.30617 167.19817 171.09017 174.98217 181.98217 188.98217 194.42816 197.92816 204.14417 211.14417 218.14417 221.64417 228.64417 233.30617 240.30617 244.19817 250.41417 256.63017 260.52217 264.41416 271.41416 278.41416 283.86018 287.36018 292.02217 299.02217 303.68415 307.18415 311.07615 318.07615 324.29216 327.79216 337.13017 343.34617 350.34617 354.23817 361.23817 368.23817 371.73817 381.84617 388.06217 393.50819 399.72419 404.38618 408.27818 415.27818 419.17018 426.17018 430.83216 434.33216 441.33216 444.83216 449.49415 458.83216 468.94017 479.04817 486.04817">The MPU includes default settings and protections for the Region Descriptor 0 (RGD0)</tspan><tspan y="475.85" x="-.00384 5.4421608 12.442161 18.658162 25.658162 29.158162 33.050165 40.050165 46.266164 50.158166 53.658166 57.550168 64.55017 70.766178 74.266178 84.374179 90.59018 97.59018 104.59018 111.59018 118.59018 124.80618 129.46819 132.96819 139.18419 143.07619 153.18419 159.40019 166.40019 171.84619 175.34619 182.34619 188.5622 194.0082 197.5082 203.7242 209.9402 216.1562 222.37221 227.8182 233.2642 236.7642 240.6562 247.6562 251.1562 255.0482 262.04823 268.26423 271.76423 277.98023 284.98023 288.87223 292.76423 297.4262 303.6422 307.1422 313.35823 320.35823 327.35823 332.0202 338.2362 343.68223 349.12825 352.62825 358.07426 365.07426 371.29026 377.50627 383.72227 387.22227 393.43827 400.43827 407.43827 410.93827 414.83027 421.83027 428.83027 434.27629 440.49229 443.99229 448.65428 452.54627 459.54627 466.54627 470.43827">such that the Debugger always has access to the entire address space and those rights</tspan><tspan y="491.85" x="-.00379 6.2122108 12.428211 19.428212 26.428212 33.42821 37.320215 40.820215 47.820215 54.036214 57.536214 63.752214 70.75221 76.968219 83.968219 90.968219 97.18422 104.18422 107.68422 114.68422 121.68422 125.18422 129.07622 136.07622 142.29222 145.79222 152.00823 159.00823 163.67023 169.88623 173.38623 180.38623 185.04824 188.54824 194.76424 201.76424 208.76424 212.26424 219.26424 223.15624 230.15624 236.37224 241.03424 244.53424 251.53424 258.53425 263.98027 267.48027 278.37226 284.58827 290.03428 293.92628 300.14228 304.80427">cannot be changed by the core or any other bus master.</tspan><tspan y="516.25" x="-.00379 7.780211 14.7802109 19.442212 22.942212 29.15821 32.65821 38.10421 45.10421 52.10421 56.76621 60.65821 64.15821 71.15821 77.374217 82.03622 85.928218 92.928218 99.928218 103.428218 109.64422 113.53622 117.03622 120.928218 127.928218 134.14421 137.64421 143.09021 146.98221 153.19821 157.86022 161.75222 165.25222 172.25222 176.91422 180.41422 186.63022 190.13022 195.57622 202.57622 208.02222 211.91422 218.13022 229.02222 232.52222 237.18422 243.40023 248.84622 255.06223 258.95423 262.45423 268.67024 275.67024 281.88624 288.88624 292.77824 296.27824 300.17024 307.17024 313.38624 316.88624 322.33226 329.33226 334.77827 338.67027 344.88627 355.77827 359.27827 364.72428 370.94029 377.15629 384.15629 388.81828 392.71028 396.60227 403.60227 407.10227 412.54829 416.44029 422.65629 426.54829 433.54829 438.9943 442.4943 446.3863 451.8323 455.3323 462.3323 468.5483 472.4403 479.4403">For a short period at the start of a system reset event the system security status is being</tspan><tspan y="532.25" x="-.00379 6.99621 13.212211 17.104212 23.320214 27.982214 38.874216 42.766218 49.766218 55.982217 62.982217 66.482219 72.69822 79.69822 86.69822 90.19822 97.19822 103.41422 110.41422 117.41422 124.41422 131.41422 137.63022 142.29222 145.79222 152.00823 158.22423 164.44023 170.65624 176.10224 181.54824 185.04824 188.94023 195.94023 199.44023 205.65624 209.54824 213.44023 216.94023 227.04824 237.15624 246.49423 251.15624 261.26423 269.04823 272.54823 276.44023 281.1022 287.3182 294.3182 299.76423 305.98023 312.19624 316.08824 319.98023 326.98023 333.98023 339.42625 342.92625 346.81825 352.26426 355.76426 362.76426 366.65626 373.65626 379.87226 386.87226 393.08827 400.08827 403.58827 407.08827 415.64225 422.64225 428.85826 432.35826 444.80427 454.91227 467.35829 472.02027 482.12828">determined and debugger access to all AHB-AP transactions is blocked. The MDM-AP</tspan><tspan y="548.25" x="-.00379 7.780211 11.672212 17.888213 21.780213 28.780213 34.22621 37.72621 42.38821 48.60421 55.60421 59.496213 64.942218 68.83421 75.05022 79.71222 83.21222 87.10422 92.55022 96.05022 102.26622 108.48222 114.69823 120.91423 126.36023 131.80623 135.69823 142.69823 146.59023 152.80623 156.30623 162.52223 169.52223 176.52223 180.02223 186.23824 192.45424 199.45424 202.95424 209.95424 216.17024 219.67024 230.56224 237.56224 244.56224 248.45424 252.34624 259.34626 264.00825 270.22425 277.22425 280.72425 284.61625 291.61625 295.11625 302.11625 308.33226 312.22425 318.44026 323.10224 333.99424 337.88624 344.88624 351.10224 354.60224 364.71025 371.71025 377.92625 384.92625 388.42625 392.31825 399.31825 403.21025 408.65626 412.15626 416.04826 423.04826 426.94026 430.83226 434.72425 440.94026 444.83226 448.33226 455.33226 461.54826 466.21025 470.10224 477.10224 484.10224 487.60224 491.49424">Status register is accessible and can be monitored to determine when this initial period is</tspan><tspan y="564.25" x="-.00379 6.2122108 13.212211 24.104212 31.104212 34.996213 41.21221 45.104215 51.320215 58.320215 61.820215 65.32021 75.428218 80.09022 83.982219 90.19822 94.86022 98.36022 102.25222 109.25222 113.14422 118.59022 122.09022 125.982219 132.98221 136.8742 140.7662 144.6582 150.8742 154.7662 158.2662 165.2662 171.48221 176.14421 180.03621 187.03621 194.03621 197.53621 201.03621 204.9282 209.59021 213.09021 218.53621 225.53621 230.98221 234.8742 241.09021 251.98221 255.48221 260.1442 266.3602 271.8062 278.02223 281.9142 285.4142 289.3062 294.75224 298.25224 305.25224 311.46824 315.36024 322.36024 325.86024 332.86024 336.75224 342.96824 346.46824 352.68424 358.13026 363.57627 369.79228 374.45426 378.34626 382.23826 389.23826 396.23826 399.73826 406.73826 411.40025 414.90025 418.79225 425.79225 432.00825 435.50825 444.84626 453.40025 461.18424 469.73823 478.2922 481.7922 488.7922 492.6842 499.6842">completed. After this initial period, if system reset is held via assertion of the RESET pin,</tspan><tspan y="580.25" x="-.00379 3.8882106 10.88821 17.10421 20.60421 27.60421 33.82021 40.82021 47.82021 54.82021 61.82021 68.03621 72.69821 76.19821 83.19821 89.414218 94.860218 98.360218 104.57622 110.79222 117.008228 123.22423 128.67023 134.11623 137.61623 144.61623 148.50823 154.72423 158.22423 162.11623 169.11623 175.33223 178.83223 185.83223 192.83223 198.27823 201.77823 212.67023 218.88623 222.77823 227.44023 231.33223 238.33223 241.83223 245.72423 252.72423 256.22425 260.11625 267.11625 273.33226 276.83226 283.83226 288.49424 292.38624 299.38624 305.60224 309.49424 315.71025 319.21025 326.21025 332.42625 337.08824 340.98023 347.98023 354.98023 361.19624 365.85823 372.07423 375.96623 379.46623 386.46623 393.46623 398.91224 402.41224 406.30424 413.30424 416.80424 423.02024 430.02024 437.02024 441.68223 445.57423 452.57423 459.57423 464.2362 470.4522 473.9522 477.8442 484.8442">the debugger has access via the bus matrix to the private peripheral bus to configure the</tspan><tspan y="596.25" x="-.00379 6.99621 13.212211 20.212212 27.212212 34.21221 37.71221 42.37421 50.15821 53.65821 59.87421 66.87421 73.09021 80.09021 83.59021 93.69821 100.69821 104.59021 108.48221 114.69821 118.19821 123.64421 130.64421 136.09021 139.98221 146.19821 157.09021 160.59021 165.25222 171.46822 176.91422 183.13022 187.02222 190.52222 194.41422 199.86022 203.36022 209.57622 215.02222 220.46822 226.68422 231.34622 235.23822 241.45423 248.45423 251.95423 255.45423 268.67024 275.67024 279.56224 283.45423 289.67024 293.17024 297.06224 304.06224 307.56224 313.00825 320.00825 325.45426 329.34626 335.56227 346.45426 349.95426 354.61625 360.83226 366.27827 372.49427 376.38627 379.88627 383.38627 389.60227 395.81828 402.03428 408.25028 413.6963 419.1423 422.6423 426.5343 433.5343 437.0343 444.0343 447.9263 454.9263 461.1423">debug IP even while system reset is asserted. While in system reset, access to other</tspan><tspan y="612.25" x="-.00379 10.888211 17.104212 27.996212 34.996213 39.65821 46.65821 50.15821 56.37421 63.37421 70.37421 73.87421 78.53621 84.75221 91.75221 95.64421 101.09021 104.98221 111.19821 115.860218 119.360218 124.02222 130.23822 135.68422 142.68422 149.68422 154.34622 160.56223 166.77823 172.22423 175.72423 179.22423 185.44023 191.65624 197.87224 204.08824 209.53424 214.98024 221.19625 228.19625 231.69625 238.69625 245.69625 251.91225 256.57426 260.07426 263.96626 270.96626 277.18226 280.68226 290.02027 294.68226 301.68226 307.12828 312.57429 319.57429 325.79029 330.45228 333.95228 341.73628 351.84428 355.73628 359.62828 365.84428 372.84428 376.34428 379.84428 383.73628 389.18229 392.68229 399.68229 403.57429 410.57429 416.79029 423.79029 430.0063 437.0063">memory and register resources, accessed over the Crossbar Switch, is blocked.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 18)" 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 734.93869)" 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 751.756)" 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>
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<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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