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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_234.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

1086 lines
98 KiB (Stored with Git LFS)
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The ITM emits trace information as packets. There are four sources that can</tspan><tspan y="119.049999" x="0 7 13.216001 20.216 26.432 31.094 37.31 41.202005 47.418004 50.918004 57.918004 64.134 70.350009 77.350009 83.56601 87.45801 92.90401 96.40401 99.90401 104.56601 109.22801 112.72801 123.62001 130.62001 134.51201 138.404 142.296 149.296 153.188 159.404 162.904 168.35 175.35 182.35 187.01201 193.22801 199.44402 204.89002 208.39002 215.39002 221.60602 228.60602 234.82202 239.48403 245.70003 249.59203 255.80803 259.30805 266.30805 272.52406 278.74006 285.74006 291.95606 295.84806 301.29408 304.79408 311.01008 314.90208 318.40208 322.29408 329.29408 335.51008 339.01008 344.4561 350.6721 361.5641 367.7801 371.2801 375.1721 379.0641 389.9561 396.1721 399.6721 403.1721 407.0641 414.0641 420.2801 423.7801 428.44209 436.99607">generate packets. 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The four sources in decreasing order of</tspan><tspan y="151.05" x=".00005 7.00005 11.66205 15.55405 22.55405 27.216052 31.108052 35.000055 42.000055 45.500055 51.716054 56.37805 62.59405">priority are:</tspan><tspan y="175.45" x="7.5040504 14.50405 23.996052 31.780053 38.780054 43.44205 47.334054 57.442056 63.658056 68.32005 74.53606 78.03606 81.928058 86.59006 92.80606 99.022068 105.23807 108.73807 113.40007 118.06207 121.56207 129.34607 136.34607 141.00807 144.90007 155.00807 161.22408 165.88608 172.10208 175.60208 181.81809 188.03409 195.03409 198.53409 208.64209 213.3041 217.19609 221.08809 227.3041 230.8041 237.8041 241.69609 246.3581 252.5741 258.7901 262.6821 266.5741 273.5741 277.0741 280.9661 287.9661 291.4661 296.12809 304.68208 317.12809 320.62809 326.0741 329.9661 333.8581 344.7501 351.7501 355.6421 362.6421 368.0881 371.5881 376.2501 382.4661 389.4661 393.3581 398.8041 402.6961 408.9121 413.5741 419.0201 422.5201 426.0201 434.5741 441.5741 445.4661 450.9121 454.4121 460.6281 471.5201 475.4121 479.3041">1.Software trace -- Software can write directly to ITM stimulus registers. This emits</tspan><tspan y="191.45" x="23.99606 30.99606 37.21206 43.42806 50.42806 56.64406 60.53606 65.98206">packets.</tspan><tspan y="207.45" x="7.504059 14.504059 23.99606 34.10406 40.32006 44.98206 51.98206 62.09006 68.30606 72.96806 79.18407 82.68407 86.576068 91.23807 97.45407 103.670078 109.88608 113.38608 118.04808 122.71008 126.21008 134.76409 141.76409 147.98009 151.48009 161.58809 174.8041 183.3581 186.8581 193.8581 200.0741 207.0741 213.2901 217.9521 224.1681 228.0601 234.27611 239.7221 243.2221 247.1141 254.1141 260.3301 265.77613 271.99214 275.49214 282.49214 288.70814 294.92414 301.92414 308.14015 312.03215 317.47816 320.97816 324.47816 330.69416 337.69416 344.69416 348.19416 352.08616 359.08616 365.30216 368.80216 373.46415 382.01814 394.46415 397.96415 404.18016 415.07215 418.96415 422.85615 428.30216 431.80216 435.69416 442.69416 448.91017 459.80216">2.Hardware trace -- The DWT generates these packets, and the ITM emits them.</tspan><tspan y="223.45" x="7.504059 14.504059 23.99606 32.55006 36.442064 47.334066 53.550065 57.050065 62.496065 66.38806 72.604068 83.49606 90.49606 94.38806 101.38806 108.38806 111.88806 116.550067 121.21207 124.71207 133.26607 137.15807 148.05007 154.26607 159.71207 163.60407 169.82007 180.71207 187.71207 193.15807 196.65807 202.87407 207.53607 213.75208 217.25208 223.46808 234.36008 238.25208 242.14408 246.03607 252.25208 259.25209 262.75209 267.41407 273.63008 277.52207 283.73808 287.63008 291.52207 298.52207 304.73808 308.23808 312.13008 319.13008 322.63008 329.63008 335.84608 342.06208 349.06208 355.27809 359.17008 364.6161 368.1161 371.6161 380.17008 387.17008 393.38609 396.88609 401.54808 410.10206 422.54808 426.04808 432.26408 439.26408 446.26408 450.15608 456.37208 460.26408 467.26408 472.71009 476.21009">3.Time stamping -- Timestamps are emitted relative to packets. The ITM contains a</tspan><tspan y="239.45" x="23.996048 30.996048 37.996049 42.658048 49.658048 53.55005 57.44205 60.94205 67.15805 74.15805 81.15805 88.15805 92.05005 98.26605 102.928058 106.428058 110.32005 117.32005 120.82005 127.82005 134.03606 141.03606 147.25206 151.91407 158.13007 162.02207 168.23807 171.73807 175.63007 182.63007 188.84607 192.34607 196.23807 200.13007 211.02207 217.23807 222.68407 226.57607 232.79207 243.68407 250.68407 254.18407 257.68409 266.23808 273.23808 279.45408 282.95408 292.29209 299.29209 303.95408 307.84608 314.06208 321.06208 325.72407 338.17008 345.17008 348.67008 354.88609 358.77809 365.77809 371.99409 378.99409 382.49409 389.49409 394.15608 397.65608 401.54808 408.54808 414.76408 418.26408 425.26408 429.15608 433.04808 439.26408 443.15608 450.15608 456.37208 463.37208 466.87208 471.53407 477.75007 481.64207 487.85807 491.35807 498.35807">21-bit counter to generate the timestamp. The Cortex-M4 clock or the bitclock rate of</tspan><tspan y="255.45" x="23.996048 27.888049 34.888048 41.104047 44.604047 52.388048 58.604047 63.266046 67.15804 73.37405 77.266048 80.766048 93.98205 97.87405 102.53605 108.75205 112.25205 122.360057 126.25205 132.46805 142.57605 148.79206 153.45406 156.95406 161.61606 169.40006 182.61606 192.72406 197.38607 200.88607 207.88607 214.88607 218.77806 225.77806 232.77806 236.67006 240.17006 246.38607 250.27806 257.27809 263.49409 270.49409 275.9401 279.4401 283.3321 290.3321 296.5481 300.0481 306.2641 313.2641 320.2641 327.2641 331.1561 337.3721 342.0341">the Serial Wire Viewer (SWV) output clocks the counter.</tspan><tspan y="271.44999" x="7.504059 14.504059 23.99606 34.10406 37.996065 44.996065 51.996065 58.212064 62.104066 65.604068 71.050067 78.050067 83.49606 87.38806 93.604068 104.49606 107.99606 111.88806 115.78006 126.67206 132.88806 138.33406 142.22606 148.44207 159.33406 166.33406 170.22606 177.22606 184.22606 187.72606 191.22606 199.78006 203.67206 214.56406 220.78006 226.22606 230.11806 236.33406 247.22606 254.22606 259.67207 263.17207 269.38807 275.60408 282.60408 286.10408 293.10408 300.10408 303.99607 307.88807 314.88807 321.88807 328.10408 331.99607 335.88807 342.88807 346.38807 353.38807 359.60408 363.10408 370.10408 376.32008 383.32008 389.53608 394.19807 400.41407 404.30607 410.52207 417.52207 421.02207 428.02207 433.46809 437.36009 444.36009 451.36009 454.86009">4.Global system timestamping. Timestamps can optionally be generated using a</tspan><tspan y="287.44999" x="23.996048 29.442049 36.442049 41.888048 45.78005 51.996049 62.88805 67.55005 77.65805 81.55005 88.55005 94.76605 98.26605 105.26605 112.26605 116.928058 123.928058 127.82005 131.71205 135.21205 141.42806 148.42806 155.42806 162.42806 166.32006 169.82006 176.82006 183.03606 186.92806 193.92806 200.14406 203.64406 207.14406 215.69806 222.69806 228.91407 232.41407 237.86006 244.07607 254.96807 261.18406 264.68406 270.90007 277.90007 284.90007 291.90007 295.79206 299.29206 306.29206 312.50807 316.40007 323.40007 329.61607 333.11607 339.33207 345.54808 352.54808 356.04808 363.04808 369.26408 372.76408 379.76408 385.21009 391.4261 398.4261 401.9261 405.81809 412.81809 416.31809 420.21009 427.21009 432.6561 438.8721 443.5341">system-wide 48-bit count value. The same count value can be used to insert</tspan><tspan y="303.44999" x="23.996048 27.888049 31.780049 42.67205 48.88805 54.33405 58.22605 64.442058 75.33405 82.33405 87.78005 91.28005 95.17205 102.17205 105.67205 109.56405 116.56405 122.78005 126.28005 134.83405 143.38805 155.83405 159.33405 163.22605 167.88805 174.10405 180.32006 186.53606 190.03606 195.48206 199.37406 204.03606 210.25206 216.46807 227.36006 230.86006 234.36006 240.57607 244.46807 248.36006 255.36006 265.46806 269.36006 276.36006 283.36006 286.86006 293.07606 300.07606 306.29206 310.95405 316.40007 322.61607 327.27806 334.27806 338.94004 345.15605 349.04804 356.04804 359.54804 365.76405 372.76405 377.42604 382.088 388.30403 392.196 398.41203 402.30403 406.196 413.196 420.196">timestamps in the ETM trace stream, allowing coarse-grain correlation.</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="25.87323" x="0 2.5020004 8.001">ITM</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="130.008 137.228 142.788 148.34799 151.12799 157.79799 163.90799 170.01799 173.34799 179.458 185.01799 193.90799 196.68799 199.46799 205.02799 207.80799 215.02799 220.58798 223.91799 229.47798 233.36798 238.92798 245.03798 250.59798 256.158 258.938 267.26799 272.82798 278.93797 285.04795 290.60795 293.38795 296.16795 298.94795 306.16795 311.72795 317.28794 320.06794 322.84794 328.40794 331.18794 336.74794 342.8579 348.9679 351.7479 357.3079 362.8679 368.4279">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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