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.
116 lines
26 KiB (Stored with Git LFS)
XML
116 lines
26 KiB (Stored with Git LFS)
XML
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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="0 8.554 15.554 21.77 25.27 33.824 42.378004 54.824007 58.324007 64.54001 71.54001 78.54001 82.04001 86.70201 95.25601 107.70201 111.20201 117.418018 123.63402 130.63402 134.13402 138.79602 145.79602 152.79602 156.68802 162.90402 166.40402 170.29602 174.18802 179.63402 183.13402 190.13402 196.35002 200.24202 206.45803 209.95803 213.85002 220.85002 224.35002 228.24202 235.24202 241.45803 244.95803 253.51203 262.066 271.40403 274.90403 281.90403 286.566 290.066 293.958 300.958 307.174 310.674 319.228 327.012 331.67399 341.78199 345.28199 348.78199 353.44398 361.22798 367.44398 373.65998 377.15998 381.05198 388.05198 394.26799">The ETM and ITM can route its data to the ETB or the TPIU. (See the </tspan></text>
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="11.85" x="397.768 410.21403 419.55204">MCM</tspan><tspan y="27.85" x=".000030517579 4.6620309 17.108033 21.000033 26.446034 32.662034 38.878034 42.770036 46.662038 52.878038 59.878038 66.09404 73.09404 80.09404 85.54004 89.04004 98.37804 105.37804 112.37804 116.270038 120.93204 127.93204 131.82404 135.32404 147.77004 154.77004 161.77004 168.77004 172.66204 178.87804">(Miscellaneous Control Module)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="27.85" x="183.54003 187.04003 191.70203 198.70203 203.36403 206.86403 213.08003 220.08003 227.08003 230.97203 235.63404 242.63404 246.52603 250.41803 254.31003 261.31004 268.31004 271.81004 275.70204 282.70204 288.91804 292.41804 297.08003 304.08003 311.08003 314.97203 318.864 325.864 332.864 336.364 340.256 347.256 350.756 354.648 361.648 367.864 371.364 379.918 387.702 392.36399 402.472 405.972 410.63398 414.13398 422.68797 429.68797 433.57997"> for controlling the routing to the TPIU.) This</tspan><tspan y="43.85" x=".000030517579 6.216031 13.216031 20.21603 24.87803 28.770031 35.77003 42.77003 47.43203 53.64803 57.54003 61.432035 68.43204 75.43204 78.93204 85.14804 92.14804 98.364048 105.364048 109.25604 115.472049 120.918048 124.418048 128.31005 135.31005 141.52605 145.02605 152.02605 157.47205 163.68805 167.18805 174.18805 178.85005 182.35005 186.24205 190.90406 197.12006 203.33606 209.55207 213.05207 223.16007 227.05207 230.94406 237.94406 241.44406 245.33606 252.33606 262.44407 265.94407 272.16007 279.16007 284.60609 288.49809 291.99809 295.89009 302.89009 309.89009 313.78208 319.2281 322.7281 332.8361 339.8361 343.7281 347.6201 353.8361 357.3361 368.2281 374.4441 378.3361 385.3361 389.2281 395.4441 399.3361 406.3361 410.2281 417.2281 424.2281 427.7281 431.6201 438.6201">configuration enables the use of trace with low cost tools while maintaining the</tspan><tspan y="59.85" x=".000050517579 6.216051 13.216051 24.108052 31.108052 37.32405 41.216054 45.108057 52.108057 56.000059 59.89206 63.78406 67.67606 74.67606 78.17606 88.284069 92.17606 96.06806 103.06806 106.56806 110.46006 115.12206 121.338069 127.55407 133.77007 137.27007 144.27007 148.93207 155.93207 162.93207 169.14807 174.59407 178.09407 181.59407 190.14807 197.14807 203.36408 206.86408 213.08008 217.74208 224.74208 228.63408 232.52608 237.18808 243.40409 247.29608 251.18808 258.18809 265.18809 268.68809 275.68809 281.90409 285.79609 295.90409 302.1201 308.3361 315.3361 318.8361 322.7281 329.7281 335.9441 339.4441 347.99809 356.55207 368.99809 372.49809 378.71409 385.71409 392.71409 396.21409 400.87608 409.43006 421.87608 425.37608 429.26808 434.71409 438.21409 445.21409 451.43009 456.09208 460.75407 467.75407 472.41606 483.30805 489.52406">compatibility with trace probes. The arbitration between the ETM and ITM is performed</tspan><tspan y="75.85" x=".000050517579 3.892051 10.892051 16.33805 20.230051 27.230051 33.446054 36.946054 40.838056 47.838056 54.054056 57.554056 66.108058 73.89206 78.55406 88.66206">inside the TPIU.</tspan><tspan y="100.25" x=".000050517579 8.55405 15.55405 21.77005 25.27005 33.82405 42.37805 51.716054 55.216054 61.432054 67.648059 74.648059 78.148059 85.148059 92.148059 96.040058 99.540058 106.540058 112.75606 116.25606 122.47206 129.47206 136.47206 141.13407 145.02606 152.02606 159.02606 163.68807 169.90407 176.90407 180.40407 190.51207 194.40407 198.29607 205.29607 208.79607 215.01207 222.01207 225.51207 229.40407 236.40407 240.29607 246.51207 251.17407 255.83608 262.05207 268.26808 274.48408 277.98408 283.43009 294.32209 300.5381 304.43009 308.32209 314.5381 319.20008 322.70008 326.59208 333.59208 339.80809 346.80809 350.30809 357.30809 364.30809 367.80809 374.80809 378.70008 382.59208 388.0381 391.5381 395.0381 405.93009 412.1461 419.1461 423.0381 430.0381 437.0381 440.5381 444.43009">The ETB can not be configured with an interface smaller than 32 bits, making it</tspan><tspan y="116.25" x=".000050517579 7.0000507 13.216051 19.432053 25.648053 31.094054 36.540056 42.756055 47.418054 54.418054 57.918054 61.810056 68.81006 72.31006 78.52606 85.52606 92.52606 96.02606 102.242069 109.242069 112.742069 122.85007 131.40407 140.74207 144.24207 151.24207 158.24207 163.68807 167.58007 173.79607 180.01207 184.67407 188.17407 192.06607 199.06607 202.56607 213.45807 219.67407 226.67407 232.89008 236.39008 240.28208 244.17407 247.67407 253.89008 260.89009 271.78208 278.78208 284.99809 288.89009 292.78208 299.78208 303.67408 309.89009 313.39009 323.49809 327.39009 331.28208 338.28208 341.78208 345.67408 352.67408 358.89009 362.39009 370.94407 379.49806 391.94407 395.44407 402.44407 409.44407 415.66007 420.32206 426.53807 430.43006 434.32206 441.32206 448.32206 451.82206 461.93006 465.82206 469.71406 476.71406 480.21406 486.43006">necessary to add an ATB upsizer to make it compatible with the ETM operating with an</tspan><tspan y="132.25" x=".000050517579 7.0000507 11.66205 18.66205 22.55405 26.44605 29.94605 33.83805 40.83805 44.730054 50.946054 55.60805 60.27005 66.48605 72.70206 78.91806 82.41806 85.91806 94.47206 101.47206 107.688068 111.188068 116.63406 123.63406 129.85007 136.06607 143.06607 146.56607 153.56607 158.22808 161.72808 165.62007 172.62007 178.83608 182.33608 190.89008 199.44408 208.78208 212.28208 219.28208 226.28208 229.78208 236.78208 240.67407 244.56607 248.06607 251.95807 258.95808 262.85008 269.06608 273.72807 278.39006 284.60606 290.82206 297.03807 300.53807 306.75407 313.75407 320.75407 324.25407 328.14607 332.03807 337.48408 340.98408 347.20008 352.6461 358.0921 365.0921 371.3081 375.2001 381.4161 385.3081 391.5241 398.5241 402.0241 411.36213 421.47013 433.91615 437.41615 441.30815 446.75416 450.25416 456.47016 463.47016 470.47016 476.68617 482.90217 486.79417 493.01017">8-bit interface. The speed of the ETB 32 bit interface and its associated RAM is expected</tspan><tspan y="148.25" x=".00010051757 3.892101 10.892101 14.392101 21.392102 27.6081 31.1081 38.1081 45.1081 51.3241 54.8241 61.8241 68.8241 75.0401 79.7021 83.5941 89.810108 94.47211 97.97211 104.97211 109.63411 113.13411 117.02611 124.02611 130.24211 133.74211 142.29611 150.85012 160.18811 163.68811 169.90412 173.79611 180.79611 187.01212 194.01212">to be one quarter of the ETB clock.</tspan><tspan y="172.65" x=".00010051757 8.5541 15.5541 21.7701 25.2701 29.9321 36.9321 40.8241 44.716104 51.716104 61.824106 65.7161 72.7161 79.7161 83.2161 89.432109 96.432109 107.324108 114.324108 118.2161 125.2161 131.4321 135.3241 139.2161 146.2161 153.2161 158.6621 162.1621 169.1621 175.3781 179.2701 186.2701 191.7161 195.2161 201.4321 206.0941 212.3101 215.8101 221.2561 228.2561 235.2561 242.2561 249.2561 253.9181 257.81013 264.02613 271.02613">The following combinations paths are supported:</tspan><tspan y="197.04999" x="7.504121 14.504121 23.99612 32.55012 41.104124 53.550127 57.050127 61.712125 69.60812 73.10812 81.662128 90.216129">1.ETM -> ETB</tspan><tspan y="213.04999" x="7.504121 14.504121 23.99612 32.55012 41.104124 53.550127 57.050127 61.712125 69.60812 73.10812 81.662128 89.44613 94.10813 104.21613 108.878139 115.878139 119.378139 126.378139 130.27014 137.27014 140.77014 147.77014 152.43215 155.93215 162.93215 166.43215 173.43215 177.32415 184.32415 187.82415 194.82415 201.04015 205.70215 211.91815 215.81015 219.70215 225.91815 229.81015">2.ETM -> TPIU(4 pin or 2 pin parallel)</tspan><tspan y="229.04999" x="7.504121 14.504121 23.99612 28.658122 37.21212 49.65812 54.320119 62.216119 70.77012 79.32412">3.ITM->ETB</tspan><tspan y="245.04999" x="7.504121 14.504121 23.99612 28.658122 37.21212 49.65812 54.320119 62.216119 70.77012 78.55412 83.216129 93.32413 97.98613 104.98613 108.48613 115.48613 119.37813 126.37813 129.87813 137.66213 150.87813 160.98613 164.48613 167.98613 174.98613 178.48613 185.48613 189.37813 196.37813 199.87813 206.87813 211.54013 215.04013 222.04013 225.54013 232.54013 236.43213 243.43213 246.93213 253.93213 260.14814 264.81013 271.02613 274.91813 278.81013 285.02613 288.91813">4.ITM->TPIU(1 pin SWO, 2 pin or 4 pin parallel)</tspan><tspan y="261.05" x="7.504161 14.504161 23.996163 32.550165 41.104166 53.550165 57.050165 67.94216 71.44216 76.104167 84.658168 97.104167 100.604167 105.26617 113.16217 116.66217 125.21617 133.77017">5.ETM & ITM -> ETB</tspan><tspan y="277.05" x="7.504161 14.504161 23.996163 32.550165 41.104166 53.550165 57.050165 67.94216 71.44216 76.104167 84.658168 97.104167 100.604167 105.26617 113.16217 116.66217 125.21617 133.00017 137.66217">6.ETM & ITM -> TPIU</tspan><tspan y="293.05" x="7.504171 14.504171 23.996172 32.55017 41.10417 53.55017 57.05017 61.71217 69.60817 73.10817 81.66217 90.21617 99.55417 103.05417 113.94617 117.44617 122.10817 130.66217 143.10817 146.60817 151.27017 159.16617 162.66617 171.22017 179.00417 183.66617">7.ETM -> ETB & ITM -> TPIU</tspan><tspan y="319.05" x=".00018072129 8.55418 15.55418 21.77018 25.27018 29.93218 36.932184 40.824186 44.716188 51.716188 61.82419 65.71619 72.71619 79.71619 83.21619 89.43219 96.43219 107.32419 114.32419 118.21619 125.21619 131.43219 135.32419 139.21619 146.21619 153.21619 156.71619 163.71619 169.93219 173.82419 180.82419 186.27019 189.77019 195.98619 200.6482 206.8642 210.3642 220.4722 230.5802 239.1342 242.6342 248.0802 255.0802 262.0802 269.0802 276.0802 280.7422 284.6342 290.8502">The following combination paths are NOT supported</tspan><tspan y="343.44999" x="7.504211 14.504211 23.996212 32.550214 41.104215 53.550218 57.050218 61.712217 69.608219 73.108219 81.66222 89.44622 94.10822 104.216228 107.716228 118.60822 122.10822 130.66222 139.21622">1.ETM -> TPIU & ETB</tspan><tspan y="359.44999" x="7.504211 14.504211 23.996212 28.658213 37.21221 49.65821 53.15821 57.82021 65.71621 69.21621 77.77021 85.554218 90.21622 100.32422 103.82422 114.71622 118.21622 126.77022 135.32422">2.ITM -> TPIU & ETB</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 461.39997)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00777 9.444231 14.170231 23.62223">9.10</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 461.39997)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00777 11.331231 26.444233 36.831235 46.283235 56.670236 67.057239 76.50924 86.89624 91.62224 102.00924 108.62224 118.07424 127.526248 136.97824 141.70424 155.86524 165.31723 174.76923 181.38224 191.76923 201.22122 210.67322 215.39922 220.12522 224.85121 234.3032 243.7552 248.4812 257.9332 262.6592 268.32023 279.6592 290.0462 304.2072">Embedded Trace Macrocell v3.5 (ETM)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="444.64997" x=".00623 8.56023 15.56023 21.77623 25.27623 34.61423 41.61423 46.27623 50.168233 56.38423 63.38423 68.046237 80.49223 87.49223 90.99223 99.546237 110.43823 117.43823 123.654239 130.65424 137.65424 143.87024 150.87024 154.37024 162.92424 167.58625 173.80225 180.01825 186.23426 189.73426 202.18025 208.39626 214.61226 219.27426 226.27426 232.49027 238.70627 242.59827 246.49027 249.99027 254.65227 263.20628 271.76026 284.20628 288.86827 301.31428 308.31428 312.97627 316.47627 320.36827 325.81428 329.31428 335.53028 339.03028 346.03028 352.24629 359.24629 366.24629 373.24629 376.74629 382.96229 389.96229 400.85429 407.85429 414.85429 421.85429 428.07029 435.07029 438.96229 442.46229 446.35429 453.35429 459.57029">The Cortex-M4 Embedded Trace Macrocell (ETM-M4) is a debug component that</tspan><tspan y="460.64997" x=".00623 6.2222306 13.222231 19.438233 26.438233 30.330233 36.546236 41.992235 45.492235 51.708234 55.208234 62.208234 68.42423 75.42423 82.42423 89.42423 96.42423 102.640239 107.30224 110.80224 114.69424 121.69424 125.19424 129.85623 136.07224 142.28824 149.28824 156.28824 161.73424 165.62624 170.28824 177.28824 183.50424 187.39624 190.89624 197.89624 202.55825 209.55825 216.55825 221.22025 227.43625 238.32825 241.82825 248.04425 255.04425 261.26026 267.47627 274.47627 278.36827 282.26026 289.26026 296.26026 299.76026 303.26026 311.81425 318.81425 325.03025 328.53025 337.86827 344.86827 349.53025 355.74626 363.53025 367.42225 374.42225 381.42225 385.31425 388.81425 397.36824 405.9222 418.36824 423.0302 435.47624 442.47624 445.97624 451.42225 458.42225 465.42225 472.42225 479.42225 484.08424 487.97624">enables a debugger to reconstruct program execution. The CoreSight ETM-M4 supports</tspan><tspan y="476.64997" x=".00623 7.00623 14.006229 17.89823 24.89823 28.39823 32.29023 39.29023 44.73623 48.62823 53.29023 60.29023 66.50623 70.39823 74.29023 81.29023 88.29023 91.79023 95.68223 100.34423 106.560237 112.77624 118.99224 122.49224 125.99224 136.10024 143.10024 150.10024 153.60024 159.81624 166.03224 173.03224 176.53224 183.53224 188.97824 195.19425 198.69425 202.58625 206.47824 209.97824 216.19425 220.08625 223.97824 230.97824 237.19425 241.85625 245.35625 255.46425 259.35627 263.24827 270.24827 273.74827 277.64027 284.64027 290.85627 294.35627 303.69429 310.69429 315.35627 319.24827 325.46427 332.46427 337.12626 349.57228 356.57228 360.07228 368.62626 373.28825 379.50425 385.72026 391.93626 395.43626 403.22026 410.22026 414.88224 418.77424 422.27424 426.93623 433.93623 437.82823 444.04423 448.7062 453.3682 459.5842 465.8002 472.0162 475.5162 485.6242 492.6242 496.5162">only instruction trace. You can use it either with the Cortex-M4 Trace Port Interface Unit</tspan><tspan y="492.64997" x=".00623 4.66823 17.114232 24.114232 28.776232 37.33023 45.11423 49.77623 59.88423 64.546237 68.046237 71.546237 78.546237 83.20824 86.70824 96.81624 100.70824 104.600238 111.600238 115.100238 118.99223 125.99223 132.20824 135.70824 145.04624 152.04624 156.70824 162.92424 170.70824 174.60024 181.60024 188.60024 192.49224 195.99224 204.54624 213.10024 222.43824">(M4-TPIU), or with the CoreSight ETB.</tspan><tspan y="517.0499" x=".00623 8.56023 15.56023 21.77623 25.27623 36.168233 42.38423 46.276235 53.276235 56.776235 61.438234 67.654239 73.87024 77.76224 84.76224 89.42424 95.64024 101.08624 104.58624 111.58624 116.248249 119.748249 125.96425 132.96425 136.46425 145.01825 153.57225 166.01825 169.51825 175.73426 180.39626 186.61226">The main features of an ETM are:</tspan><tspan y="541.44998" x="13.09624 24.002242 27.894242 32.55624 38.77224 44.98824 48.88024 55.88024 62.88024 66.38024 73.38024 78.042247 81.542247 88.542247 95.542247 100.20425 107.20425 111.096248 114.98824 118.48824 124.70425 131.70426 138.70426 142.20426 149.20426 156.20426 160.86626 167.86626 171.75826 175.65026 179.15026 187.70426 194.70426 201.70426 212.59626 219.59626 223.09626 226.98825 233.98825 239.43425 243.32625 247.98825 254.98825 261.20426 265.09626 268.98826 275.98826 282.98826">•tracing of 16-bit and 32-bit Thumb instructions</tspan><tspan y="557.44998" x="13.0962309 24.002232 28.664233 35.66423 42.66423 47.32623 50.82623 59.38023 70.27223 77.27223 83.488239 90.488239 97.488239 103.70424 110.70424 115.36624 124.70424 133.25824 136.75824 146.86624 153.08225 156.97425 163.19025 170.19025 177.19025 184.19025 188.08225 195.08225 198.97425 202.47425 206.36624 213.36624 220.36624 227.36624 231.25824">•four EmbeddedICE watchpoint inputs</tspan><tspan y="573.44998" x="13.0962309 24.002232 30.218232 33.71823 42.272233 46.93423 53.15023 59.36623 65.58223 69.08223 76.866237 80.75823 86.974239 91.63624 95.52824 99.420238 107.20424 111.09624 118.09624 125.09624 128.59624 135.59624 139.48824 146.48824 152.70424 159.70424 163.20424 173.31224 177.20424 181.09624 188.09624 191.59624 200.15024 211.04224 218.04224 224.25824 231.25824 238.25824 244.47425 251.47425 256.13624 265.47425 274.02824 277.52824 281.42024 288.42024 295.42024 302.42024 306.31224">•a Trace Start/Stop block with EmbeddedICE inputs</tspan><tspan y="589.44998" x="13.09626 24.002263 31.002263 38.002264 44.21826 47.71826 52.38026 58.59626 65.59626 72.59626 78.81226 85.02827 92.02827 95.52827 100.19027 107.19027 114.19027 120.40627 124.29827 128.19028 135.19028 142.19028 145.69028 151.90628 158.90628 165.90628 172.90628 176.79828 183.01428">•one reduced function counter</tspan><tspan y="605.44998" x="13.09626 24.002263 27.894263 38.002264 45.002264 48.502264 54.71826 61.71826 65.61026 71.82626 76.488269 83.488269 89.70427 93.59627 97.09627 100.988269 107.988269 114.988269 121.988269 125.880268">•two external inputs</tspan><tspan y="621.44998" x="13.09627 24.00227 30.21827 33.71827 40.71827 47.71827 52.38027 59.38027 66.380268 70.27226 76.488269 79.988269 87.77227 92.43427 100.21828 110.32628 113.82628 120.82628 127.82628 134.04228 141.04228">•a 24-byte FIFO queue</tspan><tspan y="637.44998" x="13.09627 24.00227 31.00227 34.89427 41.89427 48.89427 55.11027 59.002275 62.502275 66.39427 70.28627 81.17827 87.39427 92.84027 96.73227 102.94827 113.84027 120.84027 124.73227 131.73227">•global timestamping</tspan></text>
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