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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_237.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

122 lines
30 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="0 10.892001 17.892003 21.784003 25.676003 29.568003 36.568 40.460004 46.676004 50.176004 55.622 61.838 68.838 75.838 82.054 89.054 92.946 96.838 103.054 106.946 110.446 115.108 122.108 129.108 134.554 138.054 145.054 152.054 155.554 161.77 168.77 174.98601 181.20201 188.20201 192.09401 195.98601 202.98601 209.98601 213.48601 219.70201 226.70201 233.70201 239.91802 243.41802 250.41802 257.41804 261.31004 265.20204 269.09403 272.59403 276.48603 283.48603 289.70204 293.20204 301.756 310.31 319.648 323.148 327.04 332.48603 335.98603 342.20204 346.09403 356.98603 363.98603 369.43205 373.32405 376.82405 381.48603 388.48603 392.37803 396.27003 399.77003 403.27003 409.48603 416.48603 423.48603 426.98603 433.98603 440.20204 444.09403 447.98603 451.87803 458.87803 465.87803 469.37803 476.37803">multiple sequential runs by executing code until the ETB is almost full, and halting or</tspan><tspan y="27.85" x="0 6.2160007 13.216001 19.432002 25.648003 32.648004 36.540006 40.432008 47.432008 54.432008 57.932008 64.14801 71.14801 74.64801 78.54001 85.54001 89.43201 95.64801 100.31001 104.972019 111.972019 118.972019 122.86401 126.36401 133.36402 139.58002 146.58002 153.58002 157.47202 163.68802 168.35002 171.85002 175.74202 182.74202 186.24202 192.45803 196.35002 200.24202 207.24202 217.35002 220.85002 224.74202 231.74202 237.95803 241.45803 248.45803 255.45803 260.12004 264.782 270.99803 275.66 279.16 283.052 290.052 293.552 300.552 306.768 310.268 316.484 327.376 334.376 338.268 342.16 348.376 355.376 358.876 362.376 368.592 375.592 382.592 386.092 389.984 396.984 403.2 410.2 413.7 419.91603 426.91603 433.91603 437.808 441.7 448.7 455.7 459.592 466.592">executing an interrupt handler to allow the buffer to be emptied, and then continuing</tspan><tspan y="43.85" x="0 6.2160007 13.216001 19.432002 25.648003 32.648004 36.540006 40.432008 47.432008 54.432008 57.932008 64.14801 71.14801 78.14801 84.36401 87.86401 91.36401 99.918018 106.918018 113.13402 116.63402 120.52602 126.74202 131.40402 138.40402 144.62003 148.51203 152.01203 159.01203 165.22803 169.12003 173.01203 178.45803 181.95803 188.95803 193.62003 197.12003 203.33603 210.33603 216.55204 222.76804 229.76804 233.66004 239.87604 245.32204 248.82204 255.03804 262.03804 265.53804 269.43003 276.43003 280.32203 286.53804 291.2 295.862 302.862 309.862 313.754 317.254 324.254 330.47 337.47 344.47 348.362 354.578 359.24 362.74 372.848 379.848 386.064 393.064 396.564 400.456 407.456 413.672 417.172 424.172 431.172 435.83399 440.49598 446.71199 451.37397 454.87397 458.76597">executing code. The target halts or executes an interrupt handler when the buffer is</tspan><tspan y="59.85" x="0 6.2160007 10.108001 21.000002 28.000002 33.446004 37.338006 40.838006 45.500005 52.500005 56.392007 60.284009 63.784009 67.67601 74.67601 78.17601 84.39201 95.28401 102.28401 106.17601 113.17601 116.67601 120.56801 127.56801 133.78401 137.28401 144.28401 150.50002 154.39202 160.60802 164.10802 170.32402 177.32402 184.32402 187.82402 191.71602 198.71602 204.93202 211.93202 215.43202 219.32402 226.32402 232.54003 236.04003 243.04003 249.25603 256.25605 263.25605 270.25605 277.25605 283.47206 288.13404 291.63404 296.29603 303.29603 310.29603 315.74205 319.24205 323.13404 330.13404 336.35005 339.85005 343.74205 349.95805 354.62004 361.62004 367.83604 371.72804 375.22804 381.44404 388.44404 394.66004 398.55204 405.55204">almost full to empty the data and then the debugger runs the target again.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 154.4)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.004 10.668001 20.444 31.996003 36.444005 47.996007 57.772008 67.548007 77.324008 82.65201 91.54801 97.77201 102.22001 113.77201 123.54801 133.324 138.65201 144.876 154.65201">ETB Counter Control</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 53.999994)" font-size="14" font-family="TimesLTStd"><tspan y="137.65001" x=".00401 8.55801 15.55801 21.77401 25.27401 33.82801 42.38201 51.720014 55.220014 62.220014 68.43601 74.652019 81.652019 87.86802 91.76002 95.26002 101.47602 108.47602 115.47602 122.47602 126.36802 132.58402 137.24602 140.74602 144.63802 150.08402 153.58402 159.80002 166.80002 173.80002 177.69202 182.35402 189.35402 193.24602 197.13802 203.35402 210.35402 213.85402 220.85402 227.85402 231.35402 235.24602 242.24602 248.46202 251.96202 260.51603 269.07 278.40803 281.90803 288.12403 295.12403 302.12403 309.12403 313.01603 319.23204 323.894 327.394 333.61003 340.61003 347.61003 351.502 356.164 363.164 367.056 370.556 375.218 381.434 388.434 392.326 397.772 401.664 407.88 412.542 416.042 419.542 428.09599 436.64997 445.98799 449.48799 454.14997 460.36598 464.25798 471.25798 477.47398">The ETB packet counter is controlled by the ETB counter control register, ETB reload</tspan><tspan y="153.65001" x=".0039999999 4.6660006 10.882001 17.882 21.774 27.220002 31.112002 37.328004 41.99 45.49 48.99 55.206 62.206 69.206 72.706 81.26 89.814 99.15201 102.65201 108.86801 115.86801 122.86801 129.86801 133.76001 139.97602 144.63802 148.13802 155.13802 161.35402 165.24602 172.24602 178.46202 181.96202 186.62403 192.84003 199.84003 203.73203 209.17803 213.07003 219.28603 223.94803 227.44803 231.34003 242.23203 249.23203 253.12403 259.34004 270.23204 276.44804 283.44804 287.34004 293.55604 300.55604 304.05604 307.94804 314.94804 318.44804 322.34004 329.34004 335.55604">register, and ETB counter value register implemented in the </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 54 53.999994)" font-size="14" font-family="TimesLTStd"><tspan y="153.65001" x="339.056 351.502 355.394 360.84004 367.05604 373.27204 377.16404 381.05604 387.27204 394.27204 400.48805 407.48805 414.48805 419.93406 423.43406 432.77207 439.77207 446.77207 450.66407 455.32606 462.32606">Miscellaneous Control</tspan><tspan y="169.65001" x=".0039978029 12.449999 19.449999 26.449999 33.449998 37.342 43.558 47.058 51.719999 64.166 73.504 85.95">Module (MCM)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 53.999994)" font-size="14" font-family="TimesLTStd"><tspan y="169.65001" x="90.611988 94.111988 100.32799 106.54399 112.759998 118.976 124.422 129.868 133.76 140.76 144.652 150.868 154.368 161.368 165.26 171.476 174.976 178.868 185.868 192.084 195.584 203.368 208.03 211.922 218.922 225.138 229.03 235.246 238.746 246.53 252.746 257.408 261.3 268.3 275.3 281.516 286.17799 292.39399 296.28599 299.78599 309.124 316.124 321.57 325.07 328.57 338.678 342.57 348.786 352.286 356.178 363.178 369.394 372.894 381.448 390.00199 399.34 402.84 409.056 416.056 423.056 430.056 433.948 440.164 444.826 448.326 454.542 461.542 468.542 472.434 477.09599 484.09599"> accessible via the Private Peripheral Bus. Via the ETB counter control</tspan><tspan y="185.65001" x=".0040359499 4.666036 10.882036 17.882037 21.774037 27.220038 31.112038 37.328039 41.990037 45.490037 49.38204 56.38204 62.598039 66.09804 74.65204 83.20604 92.54404 96.04404 102.26004 109.26004 116.26004 120.15204 124.81404 131.81404 135.70604 139.20604 143.09804 150.09804 157.09804 160.99004 167.20604 170.70604 176.92205 183.13805 190.13805 193.63805 200.63805 206.85405 210.35405 216.57006 223.57006 230.57006 235.23206 239.12406 246.12406 253.12406 257.78605 264.00205 271.00205 274.50205 278.39405 285.39405 288.89405 295.11006 301.32606 308.32606 313.77207 319.98808 323.48808 329.70408 336.70408 340.20408 352.6501 361.9881 374.4341 377.9341 388.0421 391.9341 398.15013 402.8121 406.7041 410.2041 414.8661 421.8661 425.7581 431.9741 436.63609 441.29808 448.29808 455.29808 459.19007 462.69007 466.19007 472.40608">register the ETB control logic can be configured to cause an MCM Alert Interrupt, an</tspan><tspan y="201.65001" x=".0040959499 10.112097 22.558098 27.220099 30.720099 35.3821 42.3821 46.2741 52.4901 57.1521 61.8141 68.8141 75.8141 79.7061 83.2061 86.7061 93.7061 98.3681 101.8681 108.08411 114.30011 121.30011 126.74611 132.96212 136.46212 142.67812 146.17812 156.28612 162.50212 169.50212 176.50212 183.50212 187.00212 194.00212 200.21813 204.11013 208.00212 211.50212 221.61013 228.61013 234.82613 241.82613 245.32613 249.21813 256.21815 262.43415 265.93415 272.93415 279.93415 290.04216 297.04216 300.54216 306.75816 313.75816 320.75816 327.75816 331.65016 337.86616 342.52815 346.02815 350.69013 356.90614 363.12214 369.33815 376.33815 382.55415 388.00016 391.50016 398.50016 402.00016 405.50016 415.60816 419.50016 426.50016 432.71617 437.37815 440.87815 445.54014 451.75614 457.97215 461.86415 468.86415 473.52613 479.74214 485.18815 488.68815 495.68815">NMI Interrupt, or cause a Debug halt when the down counter reaches 0. Other features of</tspan><tspan y="217.65001" x=".0040959499 3.8960965 10.896096 17.112097 20.612097 29.166096 37.720098 47.058099 50.558099 56.774099 63.774099 70.77409 74.66609 79.328098 86.328098 90.22009 93.72009 97.61209 104.61209 111.61209 115.50409 121.72009 125.22009 129.11209 136.11209 142.3281 146.2201 153.2201 160.2201 166.4361">the ETB control logic include:</tspan><tspan y="242.05" x="13.094106 24.000107 34.10811 41.10811 51.21611 58.21611 61.71611 67.93211 74.93211 81.93211 88.93211 92.82411 99.040119 103.70212 107.20212 111.09412 118.09412 121.59412 127.81012 134.81012 141.81012 148.81012 152.70212 156.20212 162.41812 167.86412 171.36412 182.25612 188.47212 195.47212 202.47212 205.97212 212.18813 217.63413 221.13413 228.13413 235.13413 242.13413 245.63413 252.63413 256.13414 263.13414 270.13414 274.7961 281.7961 285.6881 289.5801 293.0801 300.0801 306.2961 312.51213 319.51213 325.72813 329.62013 335.06614">&#x2022;Down counter to count as many as 512 x 32-bit packets.</tspan><tspan y="258.05" x="13.094146 24.000147 33.33815 39.55415 43.44615 50.44615 56.66215 63.66215 67.162158 71.82416 78.04016 85.04016 92.04016 98.256168 103.70216 107.59416 111.09416 114.98616 119.64816 125.86417 132.86417 138.31017 142.97217 149.18817 153.85018 159.29618 162.79618 167.45818 173.67418 177.56618 184.56618 190.78218 197.78218 201.28218 208.28218 214.49819 218.39019 225.39019 231.60619 235.10619 238.99819 245.99819 249.49819 255.71419 262.71418 269.71418 276.71418 280.60618 286.82218 291.48417">&#x2022;Reload request transfers reload value to counter.</tspan><tspan y="274.05003" x="13.094175 24.000176 34.108179 42.662179 52.00018 55.50018 62.50018 68.71618 72.60818 76.500179 83.500179 87.000179 93.21618 100.21618 107.21618 110.71618 115.37818 121.594188 127.81019 134.81018 141.81018 145.31018 150.75618 154.64818 161.64818 168.64818 174.86418 178.75618 184.20218 187.70218 194.70218 200.14818 206.36418 213.36418 216.86418 220.75618 227.75618 231.25618 235.91819 242.91819 247.58019 258.4722 261.9722 268.1882 275.1882 282.1882 289.1882 293.0802 299.2962 303.9582 307.4582 314.4582 320.6742 326.8902 331.5522 337.7682 348.6602 354.8762 361.8762 365.7682">&#x2022;ATB valid and ready signals used to form counter decrement.</tspan><tspan y="290.05003" x="13.094205 24.000206 32.554208 39.554208 45.770208 49.270208 55.486207 62.486207 69.486209 76.486209 80.378208 86.59421 91.25621 94.75621 101.75621 105.64821 111.09421 117.31021 121.97221 132.86421 138.31021 141.81021 145.70221 149.59421 155.0402 161.25621 165.14821 169.81021 173.31021 183.41822 190.41822 196.63422 203.63422 207.13422 211.02622 218.02622 224.24222 227.74222 233.95822 240.95822 247.95822 254.95822 258.85023 262.35023 267.0122 273.2282 279.4442 285.66023 292.66023 298.87623 304.32225 307.82225 314.82225">&#x2022;The counter disarms itself when the count reaches 0.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 392)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00279 10.38421 21.72321 26.44921">TPIU</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="375.25" x="-.00079 8.55321 15.55321 21.76921 25.26921 33.82321 41.607213 46.26921 56.377214 59.877214 66.093219 72.30922 76.20122 81.64722 85.14722 91.36322 96.80922 100.30922 106.52522 110.02522 117.02522 121.687229 125.57922 132.57923 139.57923 145.79523 149.29523 156.29523 162.51123 166.40323 176.51123 182.72724 188.94324 195.94324 199.44324 203.33524 210.33524 216.55124 220.05124 227.05124 234.05124 238.71324 244.92925 251.92925 255.82125 262.82124 266.32124 270.21324 274.8752 281.09123 287.30723 293.52323 297.02323 304.02323 310.23924 314.13124 320.34724 323.84724 328.50923 333.1712 340.1712 351.0632 354.5632 358.4552 365.4552 371.6712 375.1712 383.7252 394.6172 401.6172 407.8332 414.8332 421.8332 428.0492 435.0492 438.5492 447.10319 451.76518 457.98118 464.19718">The TPIU acts as a bridge between the on-chip trace data from the Embedded Trace</tspan><tspan y="391.25" x="-.00077000007 12.445231 18.661232 24.877232 29.539233 36.53923 42.75523 48.97123 52.86323 56.755235 60.255235 64.91724 73.47124 82.02524 94.47124 99.13324 102.63324 108.84924 115.84924 122.84924 126.34924 130.24124 137.24124 143.45725 146.95725 151.61925 158.61925 164.06525 167.95725 172.61925 179.61925 190.51125 196.72725 203.72725 207.61925 213.83525 217.72725 221.61925 228.61925 235.61925 239.11925 247.67325 252.33525 258.55125 264.76725 270.98326 274.48326 286.92927 293.14527 299.36128 304.02326 311.02326 317.23927 323.45527 327.34727 331.23927 334.73927 339.40126 344.06324 352.61723 365.06324 369.72523 373.22523 376.72523 386.83323 390.72523 394.61723 401.61723 405.11723 410.56324 416.77925 423.77925 429.99525 434.65724 440.87324 444.76524 450.98124 454.48124 459.14323 469.25123 474.69725 478.19725 481.69725 485.58924 492.58924 496.08924">Macrocell (ETM) and the Instrumentation Trace Macrocell (ITM), with separate IDs, to a</tspan><tspan y="407.25" x="-.00077000007 6.99923 13.215231 17.107232 23.32323 26.82323 32.26923 36.161233 40.82323 47.03923 53.25523 64.14723 67.64723 71.14723 77.363239 84.363239 90.57924 96.79524 103.79524 109.24124 116.24124 120.13324 126.34924 130.24124 134.13324 141.13324 148.13324 151.63324 156.29524 166.40325 171.84925 175.34925 185.45725 192.45725 198.67325 203.33525 209.55126 213.05126 217.71326 223.92926 230.92926 237.92926 241.82126 246.48326 252.69927 259.69929 263.19929 266.69929 270.59129 277.59129 283.80729 287.69929 291.19929 295.09129 300.5373 304.0373 307.9293 314.9293 321.1453 328.1453 331.6453 337.8613 344.0773 351.0773 354.9693 361.9693 366.6313 372.8473 379.8473 383.3473 390.3473 397.3473 400.8473 407.0633 410.5633 419.11729 423.77928 429.99528 436.21128 442.42729 445.92729 453.71128 460.71128 465.37327">data stream, encapsulating IDs where required, that is then captured by a Trace Port</tspan><tspan y="423.25" x="-.00077000007 10.107231 17.107232 23.32323 27.21523 34.215234 40.431234 46.647233 51.30923 54.80923 59.47123 68.02523 75.809238 85.91724 90.57924 94.07924 97.57924 106.13324 113.13324 119.34924 122.84924 131.40325 139.18724 143.84925 153.95725 157.45725 161.34925 166.79524 170.29524 175.74124 182.74124 188.95725 195.17325 199.06525 205.28125 209.17325 213.06525 220.06525 223.56525 230.56525 236.78125 242.22725 246.11925 253.11925 260.11927 266.33528 273.33528 276.83528 281.49726 288.49726 293.15925 296.65925 300.55125 307.55125 317.65925 322.32124 328.53724 335.53724 340.98326 344.87525 348.37525 355.37525 361.59126 368.59126 375.59126 382.59126">Analyzer (TPA). The TPIU is specially designed for low-cost debug.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 523.6)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".00425 12.278251 28.326252">DWT</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="506.84999" x=".00325 8.55725 15.55725 21.77325 25.27325 35.381254 48.59725 57.151254 60.651254 64.54325 69.98925 73.48925 79.70525 83.20525 90.20525 97.20525 101.09725 104.98925 108.48925 112.38125 119.38125 125.59725 129.48926 132.98926 139.98926 146.20526 150.86727 155.52927 162.52927 167.19127 178.08327 183.52927 187.02927 190.92127 197.92127 204.13727 207.63727 212.29927 219.29927 223.19127 227.08327 234.08327 244.19127 248.08327 255.08327 262.08326 265.58326 272.58326 278.79927 285.79927 292.79927 299.79927 303.29927 307.96125 314.96125 321.96125 328.17726 332.06925 335.96125 342.96125 349.96125 356.17726 360.06925 363.96125 367.85325 374.85325">The DWT is a unit that performs the following debug functionality:</tspan><tspan y="531.24996" x="13.09327 23.999272 28.661273 32.553274 36.053274 42.26927 49.26927 56.26927 60.161275 66.37727 70.26927 77.26927 82.71527 86.21527 90.87727 97.87727 104.87727 109.539279 113.039279 119.25528 126.25528 137.14728 144.14728 150.36328 155.02529 161.24129 165.13329 172.13329 176.79529 182.24129 185.74129 189.63329 196.63329 202.84929 206.74129 210.24129 217.24129 224.24129 231.24129 234.74129 240.95729 247.1733 254.1733 257.67329 263.88929 270.88929 277.88929 282.55128 286.44328 293.44328 300.44328 305.10527 311.32127 314.82127 321.03727 326.48329 329.98329 336.19929 339.69929 346.69929 352.91529 357.57728 364.57728 374.68528 380.90129 385.56327 391.77928 395.27928 405.38728 411.60328 415.49528 421.71128 428.71128 435.71128 442.71128 446.60328 453.60328 457.49528 460.99528 464.49528 470.71128">&#x2022;It contains four comparators that you can configure as a hardware watchpoint, an</tspan><tspan y="547.24996" x="23.999279 32.55328 41.10728 53.553285 57.053285 60.945287 65.607288 69.49928 76.49928 83.49928 89.71529 94.37729 97.87729 101.37729 107.59329 111.09329 118.8773 128.2153 131.7153 137.1613 143.3773 154.2693 161.2693 165.1613 171.3773 176.0393 179.5393 185.75531 192.75531 198.97132 205.97132 209.86331 213.36331 217.25531 221.91732 225.80931 232.80931 239.80931 246.02532 250.68732 254.18732 257.68733 264.68733 269.3493 272.8493 279.0653 282.5653 289.5653 295.7813 299.6733 305.8893 309.3893 315.60533 322.60533 329.60533 334.2673 340.4833 345.92933 351.37535 354.87535 360.32136 366.53736 377.42936 384.42936 388.32136 394.53736 399.19935 402.69935 408.91535 415.91535 422.13136 429.13136 433.02336 436.52336 440.41535 445.07734 448.96934 455.96934 462.96934 469.18534 473.84733 477.34733 480.84733 489.4013 496.4013">ETM trigger, a PC sampler event trigger, or a data address sampler event trigger. The</tspan><tspan y="563.24996" x="23.999279 28.66128 32.55328 37.21528 42.661279 46.55328 50.05328 56.26928 63.26928 74.16128 81.16128 87.37728 92.03928 98.25529 102.147289 109.147289 113.80929 117.30929 120.80929 130.91728 144.13329 152.68729 159.68729 169.02529 179.13329 191.57929 199.36328 206.36328 209.86328 213.36328 219.57929 225.79529 232.79529 236.29529 242.51129 246.40329 251.84929 258.8493 262.3493 268.5653 275.5653 286.4573 293.4573 299.6733 304.3353 310.5513 314.0513 320.2673 327.2673 333.4833 337.3753 344.3753 349.82133 353.71333 357.21333 361.10533 368.10533 374.32133 377.82133 384.03733 387.92933 394.92933 401.14533 408.14533 411.64533 417.86134 424.86134 431.07734 434.96934 441.18534 444.68534 450.90135 457.90135 464.90135 471.90135 475.79335 482.00935 486.67134">first comparator, DWT_COMP0, can also compare against the clock cycle counter,</tspan><tspan y="579.24996" x="23.999279 33.33728 43.445283 52.783285 62.121286 72.22929 80.78329 84.28329 87.78329 96.33729 103.33729 109.55329 113.05329 118.49929 124.715297 130.93129 137.93129 144.93129 151.93129 155.43129 161.6473 168.6473 179.53929 186.53929 192.7553 197.4173 203.6333 207.5253 214.5253 219.1873 222.6873 226.1873 236.2953 249.5113 258.0653 265.0653 274.40333 284.51133 296.95735 304.74134 311.74134 315.24134 318.74134 324.95735 331.17335 338.17335 341.67335 347.88935 351.78135 357.22737 364.22737 367.72737 374.72737 380.94337 384.44337 391.44337 396.88938 403.10539 410.10539 413.60539 419.82139 425.2674 428.7674 434.9834 438.4834 445.4834 451.6994 455.5914">CYCCNT. The second comparator, DWT_COMP1, can also be used as a data</tspan><tspan y="595.24996" x="23.99931 30.21531 37.21531 48.10731 55.10731 61.32331 65.98531 72.20132 76.093318 83.093318 87.75532">comparator.</tspan><tspan y="611.24996" x="13.093309 23.99931 32.55331 39.55331 45.76931 49.26931 59.37731 72.593318 81.147319 84.647319 90.86332 97.86332 104.86332 108.75532 114.97132 118.86332 125.86332 131.30933 134.80933 141.02533 148.02533 155.02533 162.02533 165.91733 172.13333 176.79534 182.24134 185.74134 190.40334 197.40334 202.06534">&#x2022;The DWT contains counters for:</tspan><tspan y="627.24996" x="37.103303 47.995306 57.333307 61.225309 68.22531 74.441318 81.441318 84.941318 91.15732 98.15732 104.37332 108.26532 114.48132 119.92732 123.42732 128.08933 137.42733 147.53533 156.87332 166.21132 176.31932 184.87332">&#x2022;Clock cycles (CYCCNT)</tspan><tspan y="643.24996" x="37.103303 47.995306 55.779306 62.779306 66.6713 73.6713 79.88731 86.88731 90.38731 94.279308 101.279308 106.7253 110.6173 115.279308 122.279308 128.4953 132.3873 136.2793 143.2793 150.2793">&#x2022;Folded instructions</tspan><tspan y="659.24996" x="37.10332 47.995325 56.549325 63.549325 69.76533 76.76533 80.26533 85.71133 89.603328 96.603328 101.26533 107.48133 110.98133 117.98133 124.98133 128.87334 132.76534 136.26534 140.92734 149.48134 157.26534 167.37334 172.03534 175.53534 182.53534 189.53534 195.75135 200.41335 206.62935 210.52135 214.41335 221.41335 228.41335">&#x2022;Load store unit (LSU) operations</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="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 54 734.93869)" 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>
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<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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