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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_236.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

190 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 54 54.000005)" font-size="14" font-family="TimesLTStd"><tspan y="71.05" x="-.005 8.549 15.549 21.765 25.265 33.819 42.373 51.711004 55.211004 62.211004 66.873 73.873 80.873 84.765 91.765 97.981 103.427 106.927 113.927 120.927 125.589008 131.80501 138.80501 142.697 149.697 153.197 158.643 162.535 169.535 174.197 180.41301 187.41301 193.62902 197.12902 204.12902 208.79102 212.29102 216.18302 220.84502 227.06102 233.27703 239.49303 242.99303 249.99303 256.209 260.101 266.31703 269.81703 276.81703 282.26304 286.15504 293.15504 300.15504 303.65504 310.65504 317.65504 322.31703 329.31703 333.209 337.101 340.601 349.93904 360.04704 372.49305 375.99305 379.49305 388.04704 395.04704 401.26304 404.76304 413.31703 421.871 431.209 434.709 440.92503 447.14103 453.35704 459.57304 466.57304 470.46504">The ETB provides on-chip storage of trace data using 32-bit RAM. The ETB accepts</tspan><tspan y="87.049999" x="-.00503 3.8869706 8.548971 14.764972 20.980973 27.196972 30.696972 37.69697 43.91297 47.804975 54.020975 57.520975 62.182973 66.84497 73.84497 84.73697 88.23697 94.45297 101.45297 108.45297 111.95297 121.29097 128.29097 132.95298 139.16898 146.95298 150.84497 157.84497 164.84497 168.73697 173.39897 179.61498 186.61498 197.50698 204.50698 208.39897 212.29097 218.50698 225.50698 229.39897 232.89897 239.11498 246.11498 257.007 264.007 271.007 278.007 284.223 291.223 295.115 298.615 302.507 307.16899 313.38499 319.60099 325.817 329.317 334.763 341.763 348.763 353.425 359.641 365.857 369.357 379.465 383.357 387.249 394.249 397.749 403.965 410.965 414.465 424.573 433.12699 442.465 445.965 456.857 463.073 468.519 472.411 478.627">trace data from any CoreSight-compliant component trace source with an ATB master</tspan><tspan y="103.049999" x="-.00503 6.99497 13.99497 18.656971 22.548972 26.048972 29.548972 34.994974 41.994974 48.21097 55.21097 58.71097 64.92697 70.37297 73.87297 80.088977 83.588977 87.48097 92.142978 98.35898 104.57498 110.790988 114.290988 119.736988 126.736988 133.73699 138.39899 144.61499 150.831 154.331 161.331 165.993 169.493 175.709 179.209 183.101 187.763 193.979 200.195 206.41101 209.91101 214.57302 221.57302 228.57302 235.57302 241.78902 245.68102 249.18102 252.68102 257.34303 261.23503 264.73503 268.627 274.07304 277.57304 281.46504 288.46504 294.68104 298.57304 305.57304 312.57304 318.78904 325.78904 329.28904 333.18104 340.18104 343.68104 347.57304 354.57304 358.46504 363.91105 367.41105 374.41105 380.62705 387.62705 391.51905 397.73506 403.95106 407.45106 411.34306 418.34306 421.84306 426.50505 432.72105 443.61305 450.61305 457.61305">port, such as a trace source or a trace funnel. It is included in this device to remove</tspan><tspan y="119.049999" x="-.00503 6.99497 13.21097 20.21097 26.426972 33.42697 40.42697 46.64297 53.64297 59.85897 63.750974 69.96697 75.41297 78.91297 83.574977 88.23698 95.23698 106.128978 109.628978 113.52097 120.52097 126.73698 130.23697 134.12897 138.79097 145.00698 151.22298 157.43898 160.93898 167.93898 171.83098 178.83098 182.33098 189.33098 195.54698 202.54698 206.04698 211.49298 218.49298 224.70899 230.92499 237.92499 241.42499 244.92499 251.14099 258.141 265.141 268.641 274.857 281.857 288.073 295.073 298.965 305.181 308.681 312.573 319.573 329.681 333.181 339.397 346.397 351.84303 355.73503 359.23503 363.127 367.789 374.005 380.221 386.437 389.937 395.38304 402.38304 406.27503 413.27503 417.16703 421.05903 428.05903 435.05903 440.50505 444.00505 447.50505 456.05903 463.05903">dependencies from the trace pin pad speed, and enable low cost trace solutions. The</tspan><tspan y="135.05" x="-.00503 8.54897 13.21097 19.426972 25.642971 31.85897 41.19697 51.304975 63.750978 67.25098 72.696979 76.588977 82.80498 89.02098 92.52098 96.41298 101.85898 105.35898 112.35898 115.85898 125.96698 135.30498">TraceRAM size is 2 KB.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="351.1872" x="164.31398 171.64598 174.98198 182.31398 189.64598 194.31398 200.98598 204.32198 210.99398 214.98998 221.66197 224.99797 228.33397 236.33797 243.66997 252.33397 255.66997 264.33396 267.66996 275.00196 281.67396 288.34596 291.68196 300.34596 303.68196 310.35395 317.68595 322.35395 329.02595">Figure 9-5. ETB Block Diagram</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="377.62004" x="-.0019989014 8.552001 15.552001 21.768002 25.268002 33.822004 42.376005 51.714006 55.214006 61.430006 68.43001 75.43001 79.32201 85.53801 89.43001 96.43001 101.87601 105.37601 109.268009 116.268009 122.48401 125.98401 130.64601 137.64601 141.53801 145.43001 152.43001 162.53801 166.43001 173.43001 180.43001 183.93001 190.93001 194.822 201.822 208.03801 215.03801 220.48401">The ETB contains the following blocks:</tspan><tspan y="393.62004" x="13.102011 23.99401 31.778012 38.77801 43.44001 54.332014 60.54801 64.44001 68.33201 74.54801 79.210018 82.710018 87.37202 92.03402 95.53402 100.19602 107.19602 112.64202 118.858028 123.52003 127.412029 132.85803 136.35803 141.80403 148.80403 155.80403 160.46604 166.68204 172.89804 176.39804 181.06005 191.16805 194.66805 200.11405 204.00605 211.00605 218.00605 224.22205 228.11405 233.56005 237.06005 240.95204 247.95204 251.84404 258.84407 262.34407 266.23606 273.23606 279.45207 282.95207 289.95207 296.16807 300.06007 306.27607 309.77607 316.77607 322.99208 329.20808 336.20808 342.42408 346.31608 349.81608 355.2621 359.15409 363.81608 370.03208 376.24809 387.14009 390.64009 396.0861 403.0861 406.5861 410.4781 417.4781 423.6941 427.5861 431.0861 434.9781 439.64009 445.85609 452.07209 458.2881 461.7881 468.7881 475.0041 478.8961">&#x2022;Formatter -- Inserts source ID signals into the data packet stream so that trace data</tspan><tspan y="409.62004" x="23.994042 30.210041 36.42604 43.42604 46.92604 53.92604 60.14204 63.64204 68.30404 74.52004 79.182048 85.39805 90.84405 96.29005 103.29005 109.50605 113.39805 119.61405 123.50605 129.72205 136.72205 140.22205 150.33005 154.22205 158.11405 165.11405 168.61405 172.50605 176.39804 181.84404 185.34404 189.23604 193.89804 200.11405 206.33005 212.54605 216.04605 221.49205 228.49205 235.49205 240.15406 246.37006 252.58606 256.08607 262.30207 266.96406 270.85606 277.07206 281.73405 285.23405 289.12605 296.12605 302.34205 305.84205 312.84205 319.05805 322.95005 329.16606 332.66606 336.55805 342.00407 345.50407 350.16606 356.38206 362.59806 369.59806 373.09806 380.09806 386.31407 392.53007 399.53007 403.03007 410.03007 417.03007 420.92207 424.42207 431.42207 436.08406 439.58406 443.47605 450.47605 456.69206 460.19206 468.74604 477.30003 486.63804">can be re-associated with its trace source after the data is read back out of the ETB.</tspan><tspan y="425.62004" x="13.102081 23.994084 33.332086 40.332086 47.332086 51.224088 55.886087 62.886087 66.77808 70.27808 74.94009 79.60209 83.10209 92.440097 99.440097 106.440097 110.33209 114.994098 121.994098 125.88609 129.3861 134.0481 140.2641 147.2641 151.1561 156.6021 160.4941 166.7101 171.3721 176.8181 180.3181 184.9801 191.9801 196.6421 200.1421 204.0341 208.6961 214.91211 221.12812 227.34412 230.84412 237.06012 243.27613 250.27613 254.16812 261.16813 265.8301 272.0461 275.5461 281.76213 288.76213 295.76213 299.26213 303.9241 307.8161 314.8161 320.26213 327.26213 331.1541 338.1541 345.1541">&#x2022;Control -- Control registers for trace capture and flushing.</tspan><tspan y="441.62004" x="13.102081 23.994084 34.102087 41.886087 51.224088 54.724088 58.61609 65.61609 69.50809 75.72409 80.38609 85.048099 91.2641 97.4801 103.696109 107.196109 111.85811 116.52011 120.02011 129.35811 135.57411 141.79012 148.79012 152.29012 155.79012 165.89812 170.56012 174.45212 178.34412 184.56012 188.06012 191.56012 197.77613 204.77613 211.77613 215.27613 222.27613 228.49213 232.38413 238.60013 242.10013 249.10013 256.10014 259.99214 266.99214 270.88414 277.10014 281.76213 287.20814 290.70814 297.70814 302.37013 309.37013 316.37013 320.26213 327.26213 333.47813 336.97813 343.19413 349.41014 355.62614 361.84214 367.28816 372.73417 376.23417 380.12617 387.12617 390.62617 399.18016 407.73414 417.07215 420.57215 425.23414 431.45014 438.45014 442.34214 447.78816 451.68016 457.89616 462.55815 468.00416 471.50416 475.00416 479.66615">&#x2022;APB interface -- Read, write, and data pointers provide access to ETB registers. In</tspan><tspan y="457.62004" x="23.994091 30.21009 37.21009 44.21009 48.102094 51.994096 55.886098 62.886098 69.88609 73.38609 76.88609 80.77809 87.77809 93.994098 97.494098 107.6021 115.3861 124.724109 128.2241 132.1161 139.1161 143.0081 149.2241 153.88611 158.54811 164.76412 170.98012 177.19612 180.69612 186.14212 193.14212 200.14212 207.14212 214.14212 218.80413 222.69612 228.14212 231.64212 241.75012 247.96613 251.85813 255.75012 259.25013 264.69615 268.58815 274.80415 278.69615 284.91215 290.35816 293.85816 297.75016 304.75016 309.41215 316.41215 323.41215 330.41215 337.41215 340.91215 344.80415 351.80415 358.02015 361.52015 368.52015 373.96617 380.18217 383.68217 390.68217 395.34416 398.84416 405.06016 408.56016 416.34416 425.68217 434.23616 444.34416 454.45216 464.56016 474.66816 484.00617">addition, the APB interface supports wait states through the use of a PREADYDBG</tspan><tspan y="473.62004" x="23.994091 29.440093 33.332094 40.332094 47.332094 53.54809 57.440095 60.940095 67.940097 74.940097 78.83209 85.83209 92.83209 96.72409 100.22409 107.22409 114.22409 117.72409 121.61609 128.61609 134.83209 138.33209 146.8861 155.4401 164.77809 168.27809 171.77809 180.33209 187.33209 193.5481 197.0481 207.1561 214.9401 224.27809 227.77809 231.67009 238.67009 242.56209 248.77809 253.4401 258.10209 264.31809 270.5341 276.7501 280.2501 284.1421 289.5881 293.0881 298.53413 305.53413 312.53413 318.75013 325.75013 330.4121 337.4121 344.4121 351.4121 358.4121 363.85813 367.35813 371.25013 378.25013 381.75013 385.64213 392.64213 398.85813 402.35813 412.46614 421.0201 430.35813 433.85813 440.85813 447.85813 458.75013 464.96614 468.85813 475.85813">signal output by the ETB. The APB interface is synchronous to the ATB domain.</tspan><tspan y="489.62004" x="13.102081 23.994084 33.332086 39.548086 46.548086 50.440088 55.886087 59.778089 65.99409 70.65609 74.15609 81.15609 87.37209 94.37209 101.37209 104.87209 109.534099 114.1961 117.6961 127.0341 134.0341 141.0341 144.9261 151.1421 155.0341 162.0341 167.4801 170.9801 174.8721 181.8721 188.0881 191.5881 202.4801 208.6961 215.6961 221.91211 228.91211 235.12812 246.02011 252.23612 259.2361 263.1281 266.6281 270.1281 276.34413 283.34413 290.34413 294.2361 298.8981 305.8981 309.7901 313.2901 316.7901 323.0061 330.0061 337.0061 340.5061 345.95213 349.84413 356.06013 359.95213 366.95213 372.39814 375.89814 380.56013 386.77613 393.77613 397.66813 403.11415 407.00614 413.22215 417.88414 423.33015 426.83015 431.49214 438.49214 443.1541 446.6541 450.5461 455.2081 459.1001 466.1001 473.1001 479.3161 483.9781 489.4241">&#x2022;Register bank -- Contains the management, control, and status registers for triggers,</tspan><tspan y="505.62004" x="23.994091 28.656092 32.54809 39.54809 44.99409 51.99409 55.886095 62.886095 69.88609 73.38609 80.38609 86.6021 93.6021 99.8181 106.8181 110.7101 117.7101 122.3721 125.8721 129.3721 135.5881 142.5881 149.5881 153.0881 159.30411 166.30411 170.1961 176.41211 181.07411 188.07411 194.29012 198.18212 201.68212 207.89812 214.89812 221.89812 225.79012 230.45212 237.45212 241.34412">flushing behavior, and external control.</tspan><tspan y="521.62" x="13.102101 23.994103 32.548105 37.210103 43.4261 49.6421 55.8581 59.3581 68.696109 78.80411 91.25011 94.75011 98.642108 105.642108 109.5341 115.75011 120.41211 125.07411 131.29012 137.50612 143.72212 147.22212 151.88413 156.54613 160.04613 169.38413 176.38413 183.38413 187.27613 191.93813 198.93813 202.83013 208.27613 211.77613 216.43813 222.65413 228.87014 235.87014 241.31613 244.81613 251.03214 258.03215 265.03215 268.53215 278.64015 283.30213 287.19413 291.08613 297.30213 302.74815 306.24815 310.14015 317.14015 320.64015 324.53215 331.53215 337.74815 341.24815 349.80213 354.4641 360.6801 366.89613 373.11213 376.61213 385.95014 396.05815 408.50416">&#x2022;Trace RAM interface -- Controls reads and writes to the Trace RAM.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 617.77)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00412 8.900121 13.348122 22.244122 31.140122 35.588125">9.11.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 617.77)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00412 10.676121 19.57212 25.796122 31.124123 40.900125 47.124124 61.34812 70.244129 80.02013 88.91613 97.81213 102.26013 112.93213 119.15613 128.93213 134.26013 138.70813 143.15613 147.60413 157.38013 167.15613 171.60413 184.05213 188.50012 193.82813 203.60413 208.05213 213.38013 223.15613 232.05213 236.50012 247.17212 256.94813">Performance Profiling with the ETB</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="601.02" x="-.00588 8.54812 15.54812 19.048119 25.264119 29.926119 36.14212 42.35812 46.250123 52.46612 55.96612 62.18212 65.68212 72.68212 78.898128 83.56013 88.22213 95.22213 99.88413 110.77613 116.992137 123.992137 130.20813 136.42414 139.92414 146.92414 151.58614 158.58614 163.24814 167.14014 171.03214 177.24814 180.74814 185.41014 191.62615 195.12615 202.12615 205.62615 209.12615 216.12615 223.12615 227.78815 234.78815 239.45015 244.11215 247.61215 252.27416 259.27418 263.93617 267.43617 271.32817 278.32817 284.54417 288.04417 291.93617 298.15217 302.81416 309.81416 316.03016 319.92216 323.42216 329.63816 336.63816 343.63816 347.53016 351.42216 357.63816 363.85417 367.74617 371.63816 378.63816 385.63816 389.13816 392.63816 398.85417 402.35417 413.24617 419.46217 425.67817 432.67817 438.12419 441.62419 445.51618 452.51618 456.01618 462.23219 469.23219 473.12419 477.01618 483.23219 489.44819">To create a performance profile (e.g. gprof) for the target application, a means to collect</tspan><tspan y="617.02" x="-.00585 3.8861504 8.548151 14.764152 20.980153 27.196152 30.696152 37.69615 44.69615 50.91215 55.57415 59.07415 65.29015 68.79015 72.68215 79.68215 86.68215 93.68215 97.18215 104.18215 110.398159 115.06016 118.952159 125.952159 132.95215 136.45215 143.45215 148.11415 151.61415 155.50615 159.39815 170.29015 176.50615 180.00615 183.89815 189.34415 192.84415 199.84415 206.06015 212.27616 219.27616 225.49216 232.49216 235.99216 239.49216 248.04616 255.04616 261.26216 264.76216 273.31614 281.87013 291.20814 294.70814 301.70814 308.70814 313.37013 318.0321 324.2481 328.9101 332.4101 336.3021 341.7481 345.2481 349.1401 356.1401 363.1401 366.6401 372.08613 382.97813 389.19413 393.08613 396.97813 400.47813 404.37013 411.37013 414.87013 421.08613 427.30213 434.30213 438.19413 445.19413 449.8561 456.0721 459.5721">trace over a long period of time is needed. The ETB buffer is too small to capture a</tspan><tspan y="633.02" x="-.00585 10.886151 17.102152 23.318154 30.318154 34.210157 41.210157 48.210157 52.872156 59.872156 63.764158 67.26416 74.26416 78.92616 85.92616 90.588169 94.48016 98.37216 104.588169 108.088169 111.98016 118.98016 122.48016 126.37216 133.37216 138.81816 142.71016 146.21016 153.21016 160.21016 166.42617 169.92617 173.81816 180.03417 187.03417 193.25017 196.75017 200.25017 213.46617 220.46617 226.68218 230.57418 234.07418 237.96617 243.41217 246.91217 253.91217 260.12818 266.34419 273.34419 279.56019 286.56019 290.06019 293.95219 299.3982 302.8982 306.7902 313.7902 317.2902 323.5062 330.5062 334.3982 338.2902 344.5062 350.7222 354.6142 358.1142 364.3302 371.3302 378.3302 381.8302 388.0462 395.0462 402.0462 408.2622 414.4782 418.3702 424.5862 431.5862 437.80223 441.6942 447.91023 451.41023 458.41023 464.62623 468.51823">meaningful profile in just one take. What is needed is to collect and concatenate data</tspan><tspan y="649.02" x="-.00585 4.6561505 9.3181509 16.31815 27.210152 30.710152 34.602155 41.602155 47.818155 51.318155 59.872156 68.426158 77.76416 81.26416 88.26416 95.26416 99.92616 104.588169 110.80417 115.46617 118.96617 123.628177 130.62818 135.29018 138.79018 149.68218 156.68218 160.57418 164.46617 168.35817 175.35817 179.25017 185.46617 188.96617 194.41217 200.62818 207.62818 214.62818 220.84418 227.84418 231.73618 235.62818 241.84418 245.73618 249.23618 253.89818 260.8982 267.8982 273.3442 276.8442 280.3442 290.4522 295.89823 299.79023 306.79023 313.79023 317.29023 321.18223 328.18223 334.39823 337.89823 346.4522 355.0062 364.3442 367.8442 374.8442 381.0602 387.2762 394.2762 400.49223 404.38423 407.88423 414.10023 421.10023 428.10023 435.10023 438.99223 445.20823">from the ETB buffer for multiple sequential runs. Using the ETB packet counter</tspan><tspan y="665.02" x="-.00585 4.6561505 11.656151 17.87215 23.318152 29.534153 34.19615 38.088155 45.088155 51.304155 58.304155 61.804155 65.69615 72.69615">(described in </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="665.02" x="76.19615 88.64215 92.53415 97.98015 104.19615 110.412158 114.30415 118.19615 124.412158 131.41216 137.62816 144.62816 151.62816 157.07416 160.57416 169.91216 176.91216 183.91216 187.80416 192.46616 199.46616 203.35816 206.85816 219.30416 226.30416 233.30416 240.30416 244.19615 250.41216 253.91216 258.57417 271.02018 280.3582 292.8042">Miscellaneous Control Module (MCM)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="665.02" x="297.46614 302.1281 305.6281 309.1281 313.0201 320.0201 326.2361 329.7361 333.6281 338.2901 344.5061 350.7221 356.9381 360.4381 366.6541 373.6541 379.87013 383.76213 390.76213 396.20814 400.10014 405.54615 409.04615 412.93815 419.93815 426.93815 430.83015 434.33015 440.54615 446.76216 453.76216 457.26216 463.47816 469.69416 476.69416 480.58616 487.58616 492.24815">), the trace analysis tool can capture</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.011 137.231 142.791 148.351 151.131 157.801 163.911 170.021 173.351 179.461 185.021 193.911 196.691 199.471 205.03099 207.81099 215.03099 220.59099 223.92099 229.48099 233.37099 238.93099 245.04099 250.60099 256.16099 258.94099 267.27098 272.83097 278.94096 285.05094 290.61094 293.39094 296.17094 298.95094 306.17094 311.73094 317.29093 320.07093 322.85093 328.41093 331.19093 336.75093 342.8609 348.9709 351.7509 357.31089 362.87089 368.43089">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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