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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

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26 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="20" font-family="HelveticaLTStd" font-weight="bold"><tspan y="88.19531" x="0 14.4400019 26.660002 37.780004 50.000005 56.660005 67.78001 75.560009 81.12 92.240009">Chapter 23</tspan><tspan y="110.19531" x="0 13.340001 24.460003 31.120003 42.240007 50.020006 62.240007 73.36001 78.920009 84.48 103.36 114.48 121.14 132.26 144.48 156.7 168.92 181.14 186.7 203.36 215.58 227.8 233.36 240.02 252.24 260.02003 265.58003 272.24003 285.58003 304.46003 321.12004">External Watchdog Monitor (EWM)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".00302 9.455021 18.90702 23.63302">23.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".00302 4.72902 15.11602 20.77702 27.39002 37.77702 48.16402 58.55102 68.00302 73.664028 78.39002 88.77702">Introduction</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="186.83672" x="232.55602 242.66402 253.55602 262.11003">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="211.45" x="72.00401 79.78802 86.78802 91.45002 94.95002 98.84202 105.84202 112.05802 115.55802 121.774028 128.77402 132.66602 139.66602 144.32802 149.77402 156.77402 162.99002 169.20603 173.09803 177.76003 181.65203 187.86803 191.36803 195.26003 206.15203 213.15203 217.04402 223.26003 234.15203 240.36803 247.36803 251.26003 257.476 261.368 265.26 272.26 279.26 282.76 289.76 295.976 299.868 306.084 309.976 313.868 319.31404 322.81404 329.81404 334.476 337.976 341.868 348.868 352.76 358.20603 361.70603 372.59803 379.59803 386.59803 393.59803 397.49003 403.70603 406.226">For the chip-specific implementation details of this module's</tspan><tspan y="227.45" x="72.00401 75.89601 82.89601 88.34201 92.23401 98.45001 105.45001 111.666019 117.88202 123.32802 126.82802 132.27402 138.49002 144.70603 148.20603 152.09803 159.09803 165.31403 168.81403 175.03003 182.03003 185.92203 192.92203 196.42203 202.63803 209.63803 216.63803 221.30004 225.19203 232.19203 239.19203 243.85404 250.07004 253.96204 257.85404 264.85404 271.85404 275.35404 279.24604 286.24604 290.90803 297.90803 302.57 313.462 319.678 323.57 327.462 334.462 341.462">instances see the chip configuration information.</tspan><tspan y="251.84999" x="72.004039 79.78804 89.89604 99.23404 107.78804 112.45004 121.78804 131.89604 140.45005 145.11205 155.22005 165.32805 168.82805 177.38205 186.72005 196.05805 206.16605 215.50405 219.39604 222.89604 227.55805 234.55805 238.05805 248.95005 255.95005 262.95005 269.95005 273.84205 280.05805 283.55805 294.45005 300.66606 311.55805 318.55805 323.22004 330.22004 333.72004 344.61204 350.82804 357.82804 361.32804 365.22004 371.43605 378.43605 382.32804 388.54405 393.99006">PUBLICATION ERROR: In module memory map tables,</tspan><tspan y="267.85" x="72.00407 76.66607 82.88207 89.88207 93.77407 99.22007 103.11207 109.32807 113.990077 117.490077 122.15208 128.36808 133.81407 140.03008 143.92208 147.42208 154.42208 160.63808 164.53008 171.53008 177.74608 183.19208 186.69208 197.58408 203.80008 210.80008 214.30008 221.30008 227.51609 231.01609 234.90808 241.90808 248.12409 255.12409 259.78608 264.44807 270.66407 276.88008 280.77207 284.27207 287.77207 295.55607 301.77207 307.98808 311.48808 315.38008 322.38008 328.59608 332.09608 335.98808 342.98808 349.98808 353.88008 360.88008 364.77207 371.77207 378.77207 384.98808">register reset values may be incorrect. See the individual</tspan><tspan y="283.85" x="72.0041 76.6661 82.8821 89.8821 93.7741 99.2201 103.1121 109.3281 113.990108 117.490108 124.490108 128.38211 134.59812 141.59812 146.26012 152.47612 163.36812 168.81412 172.31412 176.97612 183.97612 188.63813 192.13813 198.35413 204.57013 210.78614 217.78614 222.44814 228.66414 232.55614 238.77214 242.27214 246.93415 253.15015 258.59617 264.81217 268.70417 272.20417 276.09617 283.09617 287.75816 294.75816 299.42015 310.31214 316.52815 320.42015 324.31214 331.31214 338.31214">register diagrams for accurate reset information.</tspan><tspan y="308.25" x=".0020980836 8.556098 15.556098 21.772099 25.272099 35.3801 41.5961 45.488103 51.7041 58.7041 65.7041 72.7041 79.7041 83.2041 87.0961 92.5421 96.0421 103.0421 109.2581 116.2581 122.474109 127.13611 133.35211 137.24411 141.13611 148.13611 151.63611 158.63611 164.0821 170.29811 177.29811 180.79811 184.69011 191.69011 195.19011 206.0821 213.0821 220.0821 223.9741 227.8661 234.8661 239.5281 243.0281 246.9201 253.9201 260.1361 263.6361 268.2981 272.1901 279.1901 289.2981 292.7981 299.0141 306.0141 313.0141 316.5141 322.7301 329.7301 335.9461 342.1621 349.1621 353.0541 356.9461 363.9461 370.9461 374.4461 381.4461 386.1081 389.6081 395.8241 406.7161 413.7161 419.9321 426.9321 433.9321 440.1481 447.1481 450.6481 456.09413 463.09413 467.7561 471.6481 481.7561 487.9721 492.6341">The watchdog is generally used to monitor the flow and execution of embedded software</tspan><tspan y="324.25" x=".0021280836 10.110128 14.002129 17.894129 24.894129 28.786129 35.78613 39.28613 45.50213 52.50213 56.00213 68.44813 77.78613 87.894138 91.394138 94.894138 103.448139 110.448139 116.66414 120.16414 130.27214 136.48815 140.38014 146.59615 153.59615 160.59615 167.59615 174.59615 178.09615 184.31215 191.31215 198.31215 203.75815 207.65015 213.09615 216.98815 222.43415 225.93415 232.93415 237.59615 241.09615 247.31215 250.81215 257.02815 264.02815 271.02815 278.02815 281.92015 288.13615 292.79814 296.29814 300.19013 307.19013 313.40614 317.29814 320.79814 324.69013 329.3521 332.8521 339.0681 342.9601 346.8521 353.8521 363.9601 370.17613 377.17613 380.67613 384.5681 391.5681 395.0681 402.0681 409.0681 415.28413 419.9461 424.6081 428.5001 435.5001 445.6081 449.1081 452.6081 457.27009 464.27009 468.93208 475.14808 481.36408 486.8101 490.3101 496.5261">within an MCU. The watchdog consists of a counter that if allowed to overflow, forces an</tspan><tspan y="340.25" x=".0021280836 3.8941286 10.894129 14.786129 21.002129 25.66413 32.66413 38.88013 42.772134 46.272134 50.93413 57.15013 62.59613 68.81213 72.70413 76.20413 80.866138 87.08214 92.52814 99.52814 106.52814 112.74414 119.74414 124.40614 131.40615 138.40615 145.40615 152.40615 157.85214 162.51415 166.01415 169.90615 176.90615 180.40615 186.62215 190.51415 194.40615 197.90615 204.90615 211.90615 216.56815 222.78415 229.78415 233.67615 240.67615 244.17615 251.17615 257.39216 262.05415 265.94615 272.94615 279.94615 286.16215 290.82414 297.04014 300.93214 306.37815 309.87815 316.09416 323.09416 330.09416 333.59416 340.59416 347.59416 351.48616 355.37815 362.37815 369.37815 375.59416 379.48616 383.37815 390.37815 393.87815 400.09416 405.54017 410.98619 417.20219 421.86418 425.75617 429.25617 433.14817 440.14817 446.36418">internal reset (asynchronous) to all on-chip peripherals and optionally assert the </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="340.25" x="449.86415 459.20216 467.75614 475.54014 484.09413">RESET</tspan><tspan y="356.25" x=".0021362305 7.002136 10.894136 17.894137 21.394137 25.286137 32.286138 35.786138 40.448137 46.664136 52.110136 58.326135 62.218137 65.71814 71.93414 78.93414 82.82614 89.042148 93.70415 100.70415 106.92015 110.81215 114.31215 121.31215 127.52815 134.52816 138.42015 144.63616 150.85216 156.29816 160.19016 166.40616 170.29816 174.96016 181.17617 188.17617 192.06816 195.96016 201.40616 204.90616 208.40616 216.96016 223.96016 230.17617 233.67617 240.67617 247.67617 253.89217 258.55418 263.21617 267.10816 274.10816 284.21617 287.71617 294.71617 299.37815 302.87815 306.77015 313.77015 319.98616 323.48616 333.59416 339.81016 343.70216 349.91816 356.91816 363.91816 370.91816 377.91816 381.41816 387.63417 394.63417 401.63417 408.63417 412.52616 418.74217 423.40415 426.90415 437.79615 444.79615 450.24217 454.13417 457.63417 464.63417 471.63417">pin to reset external devices/circuits. The overflow of the watchdog counter must not</tspan><tspan y="372.25" x=".0021362305 7.002136 13.218137 19.434138 26.434138 31.096138 34.596139 38.48814 43.15014 46.65014 50.54214 57.54214 63.75814 67.25814 72.70414 79.70414 84.36614 88.25814 98.36614 104.582149 109.24415 115.46015 118.96015 125.176158 132.17615 139.17615 145.39215 148.89215 159.00016 166.00016 170.66216 177.66216 183.10816 186.60816 196.71616 202.93216 206.82416 210.71616 214.21616 220.43216 227.43216 234.43216 237.93216 243.37816 249.59416 254.25617 261.25617 265.14817 271.36418 277.58018 283.02619 286.52619 290.41819 297.41819 303.6342 307.1342 317.2422 323.4582 327.3502 333.5662 340.5662 347.5662 354.5662 361.5662 365.0662 368.9582 375.9582 379.4582 384.12019 390.33619 394.99818 400.44419 404.33619 410.5522 415.21418 419.10618 422.60618 426.49818 433.49818 439.71418 443.21418 449.43019 455.64619 459.53819 466.53819 472.75419">occur if the software code works well and services the watchdog to re-start the actual</tspan><tspan y="388.25" x=".0021862305 6.218187 13.218187 20.218188 27.218188 31.110188 37.326189 41.988187">counter.</tspan><tspan y="412.65" x=".0021862305 7.786187 14.786187 19.448187 22.948187 28.394188 34.610189 39.272188 45.488187 49.380189 56.380189 59.880189 63.380189 69.59619 73.09619 77.758197 83.9742 90.9742 97.9742 104.9742 111.9742 118.1902 125.1902 129.0822 132.5822 142.6902 148.9062 152.7982 159.0142 166.0142 173.0142 180.0142 187.0142 190.5142 195.9602 202.9602 208.4062 212.2982 218.5142 229.4062 232.9062 236.4062 244.9602 251.9602 255.8522 262.0682 266.7302 273.7302 279.9462 283.8382 287.3382 300.5542 306.7702 310.6622 316.8782 323.8782 330.8782 337.8782 344.8782 348.3782 360.82423 367.82423 374.82423 378.71623 382.60823 389.60823 394.2702 397.7702 402.4322 410.98619 424.20219 436.6482 441.31019 444.81019 448.31019 452.20219">For safety, a redundant watchdog system, External Watchdog Monitor (EWM), is</tspan><tspan y="428.65" x=".0022162304 7.0022165 13.218217 18.664217 22.556218 29.556218 36.556219 42.772218 49.772218 53.272218 57.16422 64.164218 67.664218 78.55621 85.55621 92.55621 96.44821 100.34021 107.34021 112.00221 115.50221 121.718219 128.71822 132.61022 138.82622 143.48822 150.48822 156.70423 160.59622 164.09622 170.31223 174.20423 178.86623 185.08223 192.08223 195.97423 199.86623 205.31223 208.81223 212.31223 218.52823 223.97423 227.47423 237.58223 243.79824 247.69023 251.58223 255.08223 261.29823 266.74424 270.24424 274.13624 281.13624 287.35224 290.85224 303.29826 312.63627 322.74427 326.24427 331.69029 338.69029 343.35227 347.24427 357.35227 363.56828 368.23027 374.44627 377.94627 382.60826 386.50025 393.50025 403.60826 407.10826 410.60826 419.16224 426.16224 430.05424 435.50025 439.00025 446.00025 450.66224 457.66224 464.66224 468.55424 475.55424 481.77024 487.21626 490.71626">designed to monitor external circuits, as well as the MCU software flow. This provides a</tspan><tspan y="444.65" x=".0022462304 7.0022466 13.218246 19.434247 26.434247 31.096247 38.096246 45.096246 48.596246 59.488248 65.70425 71.92025 78.92025 85.13625 92.13625 96.02825 101.47425 112.36625 115.86625 119.75825 126.75825 130.25824 134.15024 141.15024 147.36624 150.86624 154.75824 161.75824 165.65024 171.86624 176.52825 183.52825 189.74425 193.63625 197.13625 207.24425 213.46025 217.35225 223.56826 230.56826 237.56826 244.56826 251.56826 255.06826 258.96028 265.96028 272.17628 276.06828 279.56828 284.23027 290.44627 295.89228 302.10829 306.00028 311.4463 314.9463 318.8383 325.8383 332.0543 335.5543 348.0003 357.33833 367.44633 369.9663 375.41233 378.91233 388.25035 396.03434 406.14234 409.64234 415.85835 422.85835 429.85835 433.35835 440.35835 446.57435 451.23634 455.12834 462.12834 469.12834 475.34434 480.00633 486.22233 490.11433 495.56034">back-up mechanism to the internal watchdog that resets the MCU's CPU and peripherals.</tspan><tspan y="469.05" x=".0022462304 8.556246 15.556246 21.772248 25.272248 33.82625 47.042249 59.48825 62.98825 69.98825 73.88025 78.54225 83.204257 89.42026 94.08226 99.52826 103.02826 107.69026 112.352268 119.352268 130.24427 133.74427 137.63626 144.63626 150.85227 154.35227 158.24427 165.24427 169.13626 175.35227 180.01427 187.01427 193.23027 197.12227 200.62227 210.73027 216.94628 220.83827 227.05428 234.05428 241.05428 248.05428 255.05428 258.55427 262.44627 269.44627 272.94627 276.83827 283.83827 290.05427 293.94627 297.44627 301.33827 305.23027 308.73027 315.73027 322.73027 328.94627 334.39228 337.89228 344.89228 351.89228 355.78428 359.28428 363.94627 370.16227 375.60829 381.82429 385.71629 389.21629 393.10829 400.10829 406.32429 409.82429 422.2703 431.6083 441.7163 444.2363 449.6823 453.1823 462.52033 470.30433">The EWM differs from the internal watchdog in that it does not reset the MCU's CPU</tspan><tspan y="485.05" x=".0022462304 6.218247 13.218246 20.218247 23.718247 30.718247 36.934247 41.596246 45.488248 52.488248 59.488248 65.70425 70.36625 76.58225 80.47425 85.92025 89.42025 92.92025 101.47425 108.47425 114.690258 118.190258 126.744258 139.96025 152.40625 155.90625 159.79825 164.46025 167.96025 174.17626 178.06826 181.96025 188.96025 199.06826 205.28426 212.28426 215.78426 219.67626 226.67626 230.17626 234.06826 237.96025 248.85225 255.06826 259.73027 266.73027 273.73027 277.62226 281.12226 284.62226 291.62226 296.28425 303.28425 310.28425 314.17625 321.17625 327.39225 332.83827 336.33827 342.55427 349.55427 353.05427 356.94627 363.94627 370.94627 377.16227 384.16227 390.37828 397.37828 404.37828 410.59428 417.59428 421.48628">and peripherals. The EWM if allowed to time-out, provides an independent </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="485.05" x="424.98625 433.54023 446.75624 459.20225 466.20225 473.20225 480.20225">EWM_out</tspan><tspan y="501.05" x=".0022277833 7.002228 10.894228 17.894228 21.394228 25.286229 32.28623 38.502229 42.39423 45.89423 56.00223 63.00223 69.21823 76.21823 79.71823 85.934238 91.38023 96.82623 103.04224 107.70424 111.59624 117.81224 124.81224 128.31224 132.97425 139.19025 144.63625 150.85225 154.74425 160.19025 163.69025 170.69025 175.35225 178.85225 185.85225 189.74425 195.96025 202.17626 208.39226 213.83826 217.33826 223.55426 230.55426 234.05426 240.27027 247.27027 251.16226 257.37828 262.04026 269.04026 275.25627 279.14826 282.64826 288.86427 292.75627 297.41825 303.63426 310.63426 314.52626 318.41825 321.91825 325.81025 332.81025 336.70225 343.70225 347.20225 353.41825 356.91825 362.36427 368.58027 373.24226 379.45826 382.95826 393.85026 400.85026 407.85026 414.06626 417.56626 421.06626 429.62025 436.62025 442.83625 446.33625 455.67427 463.45826">pin that when asserted resets or places an external circuit into a safe mode. The CPU</tspan><tspan y="517.05" x=".0022377833 4.664238 10.880239 16.326239 22.54224 26.43424 31.880242 35.38024 39.272245 46.272245 52.488245 55.988245 64.542247 77.75825 90.20425 93.70425 99.92025 106.92025 113.92025 120.92025 124.81225 131.02825 135.69025 139.19025 143.08225 150.08225 156.29825 160.19025 163.69025 167.58225 173.02825 176.52825 180.42024 187.42024 194.42024 198.31224 204.52825 210.74425 214.63625 218.52825 225.52825 229.02825 239.13625 249.24425 259.35224 265.56825 272.56825 276.06825 286.17625 290.06825 293.96025 300.96025 304.46025 310.67625 317.67625 321.17625 327.39225 334.39225 338.28425 344.50025 349.16224 356.16224 362.37825 366.27024 369.77024 376.77024 380.66224 387.66224 391.55424 395.44624 401.66224 405.55424 409.05424 412.94624 419.94624 426.94624 433.94624 437.83824 441.33824 448.33824 452.23023 459.23023 462.73023 466.23023 474.7842 481.7842 485.6762">resets the EWM counter that is logically ANDed with an external digital input pin. This</tspan><tspan y="533.0499" x=".0022377833 7.002238 10.894238 17.894238 21.394238 27.610238 31.502238 35.394239 42.394239 52.50224 57.94824 61.44824 67.66424 74.66424 78.16424 84.38024 91.38024 95.27224 101.48824 106.150249 113.150249 119.36625 123.25825 126.75825 132.97425 136.86624 141.52825 147.74425 154.74425 158.63625 162.52825 166.02825 169.92024 176.92024 180.42024 184.31224 191.31224 195.97425 199.86624 206.86624 213.08225 220.08225 226.29825 232.51425 236.01425 239.90625 246.90625 253.12226 256.62226 261.28425 267.50025 272.94627 279.16227 283.05427 290.05427 297.05427 304.05427 307.94627 311.44627 316.89228 320.78428 327.78428 334.78428 341.00028 344.89228">pin allows an external circuit to influence the reset_out signal.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 646.6)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00775 8.888251 17.784253 22.232253 31.128254 35.576257">23.1.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 646.6)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00775 9.76825 18.664252 27.560254 32.888254 42.664255 48.888254 57.784254">Features</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="611.85" x="-.00174 7.782261 13.998261 20.214262 24.106263 31.106263 35.76826 41.98426 47.43026 50.93026 57.93026 62.59226 66.092258 74.646259 87.86226 100.30826 103.80826 114.70026 121.70026 128.70026 135.70026 139.59226 145.80826 149.30826 153.20026 160.20026 166.41626 170.30826 177.30826 184.30826 190.52426">Features of EWM module include:</tspan></text>
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