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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_549.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

311 lines
49 KiB (Stored with Git LFS)
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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 3.8920005 7.784001 18.676003 24.892003 29.554003 36.554 43.554 47.446004 50.946004 57.162004 64.162 70.378009 76.59401 83.59401 87.48601 91.378009 98.378009 105.378009 108.878009 112.378009 120.16201 126.37801 132.59401">time-out exception. See </tspan></text>
<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="136.094 146.202 152.418 159.418 165.634 170.296 176.51201 180.404 186.62001 193.62001 197.12001 206.45801 212.67401 218.12001 224.33602 228.22801 233.67401 237.17401 243.39002 250.39002 257.39 260.89 265.552 272.552 276.444 282.66 287.322 291.98399 298.98399 305.98399 309.87599">Generated Resets and Interrupts</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="11.85" x="315.322 318.822 322.322 332.43 339.43 346.43 349.93 356.93 363.146 369.362 376.362 379.862 383.754 390.754 394.254 401.254 408.254 412.146 419.146 425.362 432.362 435.862 439.754 446.754">. You need to unlock the</tspan><tspan y="27.85" x="-.000030517579 10.10797 16.32397 20.215971 26.431973 33.431974 40.431974 47.431974 54.431974 57.931974 64.93198 71.14798 75.80998 82.80998 87.471988 93.68799 97.18799 103.40399 110.40399 116.619998 123.619998 127.51199 131.40399 138.40399 145.40399 148.90399 152.79599 156.68799 160.18799 163.68799 173.79599 177.29599 182.74199 189.74199 195.18799 199.07999 205.29599 216.18799 219.68799 224.34999 230.566 236.012 242.228 246.12 249.62 256.62 261.28199 265.17399 272.17399 279.17399 284.62 288.12 292.012 299.012 305.228 308.728 318.836 325.052 328.944 335.16 342.16 349.16 356.16 363.16 366.66 373.66 380.66 384.552 388.052 395.052 399.714 403.214 407.106 414.106 420.322 423.822 430.822 434.714 440.16 446.376 453.376 457.268 463.484">watchdog before enabling it. A system reset brings the watchdog out of the disabled</tspan><tspan y="43.85" x="-.0000005175789 10.892 17.892 24.892 31.108002">mode.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 139.4)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 17.792002 22.240002 31.136002 35.584005">24.3.6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 139.4)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 9.776 19.552 32 37.328 47.104 56.88 69.328 78.22401 84.448009 88.896 103.12 112.896 122.672008 131.56801 140.464 144.912 154.688 160.016 164.464 174.24 184.016 192.912 199.136 208.032 213.36 217.808 227.584">Low-power modes of operation</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 53.999994)" font-size="14" font-family="TimesLTStd"><tspan y="122.65" x=".00402 8.55802 15.55802 21.774022 25.274022 29.166022 36.166025 46.274026 50.936025 57.936025 64.93602 75.04402 81.260028 85.92203 89.42203 100.314029 107.314029 114.314029 120.53003 125.97603 129.47603 136.47603 141.13803 144.63803 151.63803 158.63803 164.85404 169.51604 175.73204 179.62404 183.51604 190.51604 197.51604 201.01604 208.01604 212.67804 216.17804 220.07004 227.07004 233.28604 236.78604 246.89405 253.11005 257.00205 263.21806 270.21806 277.21806 284.21806 291.21806 294.71806 300.93406 305.59605 311.81205 315.31205 322.31205 328.52806 333.97407 340.19007 344.85206 348.74406 355.74406 361.96006 368.96006 372.46006 376.35206 383.35206 386.85206 390.74406 397.74406 403.96006 407.46006 412.12205 419.12205 423.01405 426.90605 433.90605 444.01405 447.90605 454.90605 461.90605 465.40605 469.29804 475.51405 482.51405 486.40605 492.62205">The low-power modes of operation of the watchdog are described in the following table:</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 167 189.19998)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="13.968 21.3 27.972 35.304 38.64 45.312 48.648004 55.320005 61.992006 65.98801 72.66 84.996 92.328 99.66 108.996 112.992008 120.324008 127.656009 136.992 143.664 148.332 151.668 162.336 169.668 177 183.672 190.344 193.68 201.012 205.008 208.344 215.676 223.008 229.68 234.34799 241.01999 245.01599 248.35199 255.68399">Table 24-1.Low-power modes of operation</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 211.19998)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="49.752 57.249 62.748 68.247">Mode</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 182.5 211.19998)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="168.246 174.744 179.748 185.247 190.25099 195.25499 197.75699 203.25598">Behavior</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 227.19998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 8.496 13.500001 15.498001">Wait</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 182.25 227.19998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 2.5020004 5.0040009 7.506001 10.008001 15.012002 20.016003 22.518004 31.014004 37.512006 44.514005 51.516004 54.018 56.016004 60.516004 63.018 68.022 73.026 78.03 83.034 85.032 90.035999 95.03999 97.54199 100.538997 109.034999 115.037998 117.53999 123.038997 128.043 134.046 140.544 143.046 148.302 150.804 155.808 158.805 161.30699 163.80899 165.80699 168.30899 170.81099 175.31099 180.31499 185.31899 187.82099 190.81798 195.82198 200.82598 203.32798 208.33197 213.33597 215.83797 220.84197 225.84597 230.34597 232.84796 237.34796 239.34597 244.34996 248.84996 253.34996 255.85196 260.85597 263.85298 266.35499 268.35298 273.35697 279.85496 282.85197 287.85597 292.85997 299.35795 304.36195 307.35896 309.86097 314.86497 319.36497 323.86497 325.86296 327.86094 329.85893 334.8629 337.36494 342.36894 345.36595 347.86796 352.36796 354.36595 359.36994 363.86994">If the WDOG is enabled (WAIT_EN = 1), it can run on bus clock or low-power oscillator clock</tspan><tspan y="18.83789" x="0 2.997 9.495001 14.4990019 20.502003 25.506005 31.509005 38.007005 44.505006 47.007005 52.263006 54.765005 59.265005 62.262006 64.76401 67.26601 72.270008 74.772 79.776 84.78 89.784 94.787998 97.784999 102.788997 105.29099 110.29499 112.79699 114.79499 119.79899 122.30099 127.304988 130.30199 133.29898 138.30298 143.30698 145.80898 148.31098 151.30797 153.80997 160.30797 167.30997 172.31397 178.81197 184.81497 190.31397 195.31797 201.32097 207.81897 213.07497 218.07897 221.07596 223.57796 226.07996 231.08396 233.08196 235.07996 240.08396 246.58196 251.58596 256.58998 259.09199 264.09599 268.59599 271.098 276.102 278.604 281.601 286.605 291.105 296.109 298.61103 301.11305 306.11705 311.12104 313.62306 316.12507 318.12306 325.62007 330.62406 333.62107 338.62507 343.62907 346.13108 348.6331 351.1351 357.1381 359.6401 362.14213 367.14613">(CLK_SRC = x) to generate interrupt (IRQ_RST_EN=1) followed by a reset on time-out. After</tspan><tspan y="29.83789" x="0 2.997 8.001 12.501 17.505002 20.007002 22.509003 25.011004 30.015004 35.019006 37.521005 46.017007 52.515008 59.517007 66.519008 69.021 72.018009 77.022 81.522 86.526 89.028 91.53 96.03 101.034 106.037998 111.04199 113.54399 118.54799 121.54499 124.04699 126.04499 131.049 135.549 138.54599 143.54999 151.04698 156.05098 161.05498 163.55698 168.05698 170.55898 175.56298 180.06298 182.56497 187.56897 192.57297 197.57697">reset the WDOG reset counter increments by one.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 264.69999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.505001 13.509002">Stop</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 182.25 264.69999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 8.496 13.500001 18.504002 21.501002 26.505002 29.007002 31.509003 36.513006 41.517007 44.019006 49.023008 54.027009 58.527009 61.029008 65.52901 67.52701 72.531009 77.031009 81.531009 84.033008 86.031009 90.531009 93.033008 98.037 103.041 105.543 110.547 115.550998 118.05299 120.55499 123.05699 128.06099 133.06499 135.56699 144.06299 150.56099 157.56299 164.56499 167.06699 171.56699 176.57099 181.57498 184.07698 187.07398 192.07798 197.08197 199.58397 204.58797 209.59197 211.58997 216.08997 218.59197 223.59597 228.59996 231.10196 233.09996 238.10396 244.60196 247.59896 252.60295 257.60697 264.10496 269.10896 272.10597 274.60798 279.61198 284.11198 288.61198 290.60997 292.60795 294.60594 299.60993 302.11195 307.11595 310.11296 312.61497 317.11497 319.11296 324.11695 328.61695">Where the bus clock is gated, the WDOG can run only on low-power oscillator clock</tspan><tspan y="18.83789" x="0 2.997 9.495001 14.4990019 20.502003 25.506005 31.509005 38.007005 44.505006 49.761007 54.765008 57.76201 60.264009 62.26201 64.76401 67.26601 69.26401 71.76601 74.268009 76.26601 80.76601 83.268009 88.272 93.276 98.28 103.284 105.282 110.285999 115.28999 117.79199 119.78999 124.79399 127.29599 131.79599 134.29799 139.30199 144.30599 146.80799 149.80498 155.80799 161.30698 168.30898 174.31198 179.31598 185.31899 191.81699 197.07299 202.07698 205.07398 207.57598 210.07798 212.57997 217.58397 220.08597 222.58797 227.59197 229.58997 234.08997 236.59197 241.09197 246.09597 250.59597 255.59996 258.10197 260.60398 263.106 268.11 273.11399 275.616 284.112 290.61 297.612 304.614 307.11604 310.11305 315.11705 320.12104 324.62104 327.12306 329.62507 334.62907 337.13108 339.6331 341.63108 349.12809 354.13209 357.1291 362.1331 367.1371">(CLK_SRC=0) if it is enabled in stop (STOP_EN=1). In this case, the WDOG runs to time-out</tspan><tspan y="29.83789" x=".00004 2.5020405 9.000041 10.998041 15.498041 20.50204 23.004042 25.506043 30.510045 35.514047 40.518049 43.020048 45.522047 50.526048 55.53005 60.53405 63.03605 68.04005 73.044048 78.04804 83.05204 86.04904 91.05304 93.55504 98.55904 103.05904 105.561038 110.56503 113.06703 116.06403 121.06803 125.56803 130.57204 133.07404 135.57604 138.07804 141.07503 146.07903 153.57602 156.07802 158.07602 160.57802 165.07802 167.58002 172.58402 177.58802 182.08802 186.58802 191.59201 196.59601 199.098 203.598 205.59601 208.593 213.093 218.097 220.095 222.597 225.594 230.094 232.596 235.09799 240.59699 245.60099 250.60498 253.60198 258.606 261.108 266.112 269.109 274.113 276.61503 279.11705 281.11503 283.61705 286.11906 290.61906 295.62306 300.62705 303.12907 308.13307 311.13008 316.13407 321.13807 324.13508 329.13908 336.63609 339.1381 341.6401 346.6441">twice, and then generates a reset from its backup circuitry. Therefore, if you program the</tspan><tspan y="40.83789" x=".00004 6.4980409 11.502041 14.004042 18.504042 23.508042 28.512043 33.516046 38.520048 41.022047 43.524045 48.528047 51.030046 53.532045 55.530046 63.027048 68.031047 71.028049 76.03204 81.03604 83.53804 86.04004 91.04404 93.546039 96.048038 101.05203 104.049037 106.55103 111.55503 116.55903 121.56303 124.065029 131.56203 136.06203 138.56403 143.56803 148.57202 153.57602 156.07802 158.58002 163.58402 168.58802 173.59201 176.09401 181.098 186.102 188.604 193.608 196.605 199.107 203.607 208.611 213.111 218.11499 220.61699 225.62099 228.12299 232.62299 235.12499 240.12899 245.13298 247.63498 255.13198 260.136 265.13999 270.14399 272.646 275.148 277.65003 282.65403 287.65803 290.16004 293.15705 298.16105 302.66105 307.66505 310.16706 312.66908 319.16706 321.16505 323.16304 325.161 327.66304 332.66703 337.16703 341.66703 346.67103 349.66804 352.17005 357.17405 359.67607 362.17808 367.18208">watchdog to time-out after 100 ms and then enter such a stop mode, the reset will occur after</tspan><tspan y="51.83789" x=".00004 5.0040409 10.008041 15.012042 17.514042 25.011044 29.511044 32.013044 34.51504 40.518045 42.516046 47.016046 52.020048 54.522047 57.024045 59.022047 64.02605 66.528049 69.030048 74.03404 76.03204 80.53204 83.03404 87.53404 92.53804 97.03804 102.04204 104.54404 107.046039 112.05003 117.05403 119.55603 121.55403 126.55803 129.06003 134.06403 137.06102 140.05802 145.06201 150.06601 152.56801 155.07 161.56801 163.56601 165.56401 167.56201 170.06401 175.06801 180.072 182.574 187.578 192.582 197.586 202.59 205.58699 210.59099 213.09299 218.09699 223.10099 225.60298 227.60099 230.59798 233.59497 238.59897 243.09897 248.10297 253.10697 257.60697 260.10899 262.10697 266.60697 271.61097 274.11299 279.11698 281.619 284.121 286.62303 291.627 296.631 299.13304 303.63304 308.63703 310.635 315.639 320.643 323.14503 328.14903">200 ms. Also, in this case, no interrupt will be generated irrespective of the value of</tspan><tspan y="62.83789" x=".00004 2.5020405 9.000041 16.00204 21.006043 27.504044 33.507043 39.006044 44.010046 50.013048 56.511049 59.013048 64.017047 66.015048 68.517047 71.01904 73.52104 79.52404 82.02604 84.52804 89.532039 92.52904 95.03104 103.52704 110.02504 117.02704 124.02904 126.53104 129.52803 134.53203 139.03203 144.03603 146.53803 149.04003 151.54203 154.04402 159.04802 164.05202 166.55402 175.05002 181.54802 188.55002 195.55202 198.05402 201.05101 206.05501 210.55501 215.559 218.061 220.563 225.063 230.067 235.071 240.075 242.577 247.581 250.57799 253.07999 259.57798 261.57597 263.57395 265.57194 268.07395 273.07795 275.07594 279.57594 284.57994 287.08195 292.08595 297.08995 299.59196 302.09397 304.09196 309.09596 313.59596 316.59297 321.59696 329.09397 334.09797 339.10197 341.60398">IRQ_RST_EN bit. After WDOG reset, the WDOG reset counter will also not increment.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 182.25 335.19999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 24.507002 29.511002 32.013 36.513 41.517004 46.521005 51.525007 56.529008 59.031007 61.029008 65.52901 68.031009 73.035 78.039 84.537 89.541 92.538 97.542 102.546 105.048 110.051998 112.55399 115.05599">The watchdog is powered off.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 404.7)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 17.792002 22.240002 31.136002 35.584005">24.3.7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 404.7)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 11.552001 20.448002 30.224003 40.000005 49.776006 54.224008 68.448009 78.22401 88.00001 96.89601 105.792018 110.24001 120.016017 125.34402 129.79203 139.56803 149.34403 158.24002 164.46402 173.36002 178.68802 183.13602 192.91202">Debug modes of operation</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="387.95" x="-.00399 10.104011 17.104012 24.104012 27.604012 33.82001 40.03601 47.03601 50.53601 57.53601 62.19801 69.19801 76.19801 80.860019 87.07602 97.96802 101.46802 105.360019 112.360019 118.57602 122.07602 132.18402 138.40003 142.29203 148.50803 155.50803 162.50803 169.50803 176.50803 180.00803 183.90003 190.90003 194.40003 201.40003 205.29203 210.73802 216.95403 223.95403 227.84603 234.06203 237.56203 241.45403 248.45403 251.95403 258.95405 265.17005 272.17005 279.17005 286.17005 289.67005 300.56205 307.56205 314.56205 320.77806 326.22407 329.72407 333.61607 340.61607 345.27806 352.27806 359.27806 366.27806 373.27806 376.77806 386.88606 396.22407 406.33207 413.33207 421.88606 431.99406 435.49406 439.38606 446.38606 449.88606 453.77806 460.77806">You can program the watchdog to disable in debug modes through DBG_EN in the</tspan><tspan y="403.95" x="-.00399 10.104011 16.320012 20.212012 26.428013 33.428014 40.428014 47.428014 54.428014 57.928014 64.14401 71.14401 78.14401 82.03601 86.69801 93.69801 97.59001 101.09001 105.752017 111.96802 118.96802 122.860019 128.30602 132.19802 138.41402 143.07602 146.57602 150.07602 158.63002 165.63002 169.52202 174.96802 178.46802 183.13002 189.34603 194.79203 201.79203 205.68402 209.57602 215.02202 218.52202 222.41402 229.41402 232.91402 236.80602 243.80602 250.02202 253.52202 263.63 269.846 273.738 279.954 286.954 293.954 300.954 307.954 311.454 315.346 319.238 330.13 336.346 341.008 344.508 351.508 357.724 364.724 370.17 374.062 381.062 388.062 391.562 396.224 403.224 407.886 411.386 415.27799 422.27799 428.494 431.994 438.994 445.994 450.65599 456.87199 460.76399 464.65599 471.65599 478.65599 482.15599 489.15599">watchdog control register. This results in the watchdog timer pausing for the duration of</tspan><tspan y="419.95" x="-.00399 3.8880106 10.88801 17.104012 20.604012 31.496014 38.496015 45.496015 51.712015 55.212015 58.712015 68.05002 74.26602 81.26602 85.15802 90.60402 94.49602 100.71202 105.37402 108.87402 113.536029 119.75203 125.96803 132.96804 136.86003 146.96804 151.63004 155.52204 159.41403 165.63004 171.07604 174.57604 180.79204 185.45404 191.67005 195.17005 200.61605 204.50804 208.40004 212.29204 216.18404 219.68404 225.90004 229.79204 233.68404 240.68404 250.79204 257.00804 264.00804 267.50804 271.00804 281.11604 288.11604 292.00804 298.22404 305.22404 308.72404 319.61604 325.83204 332.04804 339.04804 344.49406 347.99406 351.88606 358.88606 365.10206 368.99406 372.49406 379.49406 386.49406 392.71006 397.37205 403.58805 407.48005 411.37205 418.37205 425.37205 430.81806 434.31806 438.21006 442.10206 449.10206 455.31806 458.81806 463.48005 469.69606 474.35804 479.02003 485.23603 490.68205 497.68205">the mode. Register read/writes are still allowed, which means that operations like refresh,</tspan><tspan y="435.95" x="-.00399 6.99601 13.99601 17.88801 24.88801 31.104012 38.10401 41.60401 45.10401 51.32001 58.32001 65.32001 68.82001 74.26601 81.26601 84.76601 91.76601 98.76601 102.26601 108.48201 113.14401 119.360019 122.860019 129.07602 132.96802 136.86002 143.86002 153.96802 160.18402 167.18402 170.68402 174.18402 184.29203 191.29203 198.29203 205.29203 208.79203 215.00803 222.00803 225.90003 229.79203 233.29203 237.95403 242.61603 249.61603 260.50804 264.00804 267.90003 274.90003 281.11604 284.61604 295.50804 302.50804 309.50804 315.72404 319.22404 322.72404 326.61604 333.61604 339.83204 343.33204 347.22404 351.11604 362.00804 368.22404 372.88603 376.38603 381.048 387.264 392.71003 399.71003 410.60203 416.81803 422.26405 425.76405 429.65605 433.54804 438.99406 442.49406 449.49406 456.49406 462.71006 467.37205 473.58805 477.48005 481.37205 488.37205">unlock, and so on are allowed. Upon exit from the mode, the timer resumes its operation</tspan><tspan y="451.95" x="-.00399 4.65801 9.32001 16.320012 27.212014 30.712014 34.604017 41.604017 47.820016 51.320016 58.320016 65.320018 69.21201 76.21201 80.10401 83.60401 90.60401 95.266017 98.766017 105.766017 111.98202 118.98202 124.42802 128.32003 135.32003 142.32003">from the point of pausing.</tspan><tspan y="476.35" x="-.00399 8.55001 15.55001 21.76601 25.26601 31.48201 38.48201 42.374013 47.03601 54.03601 57.53601 64.53601 69.19801 72.69801 76.59001 83.59001 89.806018 93.306018 98.752017 105.752017 111.19801 115.09001 121.306018 132.19802 135.69802 139.59001 146.59001 150.48201 157.48201 160.98201 164.87401 171.87401 178.09001 181.59001 188.59001 194.80602 201.80602 208.80602 215.80602 219.30602 230.19802 237.19802 244.19802 250.41402 253.91402 260.914 267.914 274.13 279.57603 283.07603 290.07603 297.07603 300.96803 304.46803 310.68403 317.68403 323.90003 330.90003 336.34605 342.56205 346.06205 349.95405 353.84605 357.34605 362.00804 366.67 373.67 384.562 388.062 394.278 401.278 412.17 419.17 426.17 430.062 435.50804 442.50804 447.17 451.062 454.954">The entry of the system into the debug mode does not excuse it from compulsorily</tspan><tspan y="492.35" x="-.00399 6.2120106 13.21201 20.21201 24.87401 28.76601 35.76601 42.76601 47.42801 51.32001 58.32001 65.32001 68.82001 72.712009 79.712009 85.92801 89.42801 99.53601 105.752017 109.64401 115.860019 122.860019 129.86002 136.86002 143.86002 147.36002 151.25202 158.25202 161.75202 165.64402 172.64402 178.86002 182.36002 195.57602 204.91402 213.46802 216.96802 220.86002 224.75202 235.64402 241.86002 245.36002 251.57602 256.238 260.13 266.346 271.008 274.508 281.508 288.508 292.4 299.4 305.616 312.616 316.116 319.616 326.616 333.616 337.508 343.724 349.17 354.61604 358.11604 362.00804 369.00804 375.22404 378.72404 384.17005 391.17005 396.61607 400.50807 406.72407 417.61607 421.11607 428.11607 435.11607 440.56208 444.06208 450.27809 454.17008 461.17008 467.38609 474.38609 477.88609 481.77809">configuring the watchdog in the WCT time after unlock, unless the system bus clock is</tspan><tspan y="508.35" x="-.00399 6.99601 13.21201 17.104012 23.320012 30.320012 33.82001 40.82001 45.48201 50.14401 53.64401 57.14401 61.03601 68.03601 71.53601 81.64401 88.64401 92.53601 98.752017 105.752017 109.252017 115.46802 121.68402 127.13002 133.34603 136.84603 140.73802 147.73802 153.95403 157.45403 161.34603 168.34603 172.23802 178.45403 183.11603 190.11603 196.33203 200.22403 203.72403 209.17003 213.06203 219.27803 223.17003 229.38603 232.88603 243.77803 249.99404 256.21003 263.21003 267.10203 274.10203 280.31803 283.81803 290.81803 297.03404 304.03404 309.48005 315.69606 321.14207 324.64207 328.53407 335.53407 342.53407 346.03407 349.53407 357.31806 363.53407 367.42607 371.31806 375.21006 382.21006 389.21006 392.71006 396.60206 403.60206 407.10206 414.10206 421.10206 424.60206 430.04808 437.04808 440.54808 445.99409 449.88609 453.77809 457.67008 461.56208 465.06208 469.72407 475.94007 481.38609 488.38609 492.27809 496.17008">gated off, in which case the internal state machine pauses too. Failing to do so still results</tspan><tspan y="524.35" x="-.00399 3.8880106 10.88801 14.38801 20.604012 24.104012 28.766013 34.982015 40.428014 46.644014 50.536016 54.036016 57.536016 64.53601 69.19801 72.69801 76.59001 83.59001 87.48201 93.69801 98.360019 103.02202 110.02202 117.02202 120.91402 125.57602 129.46802 136.46802 142.68402 149.68402 154.34603 159.00803 165.22403 170.67003 176.88603 180.77803 184.27803 187.77803 191.67003 196.33203 199.83203 206.04804 213.04804 219.26404 226.26404 230.15604 236.37204 243.37204 246.87204 250.37204 254.26404 261.26405 264.76405 268.65605 275.65605 281.87205 285.37205 290.81806 297.81806 303.26408 307.15608 313.37208 324.26408 327.76408 331.26408 341.37208 345.26408 350.71009 357.71009 361.21009 364.71009 370.9261 374.81809 378.71009 382.21009 389.21009 393.87208 397.37208 401.26408 408.26408 414.48008 417.98008 424.19609 431.19609 437.41209 443.62809 450.62809 454.52009 458.41209 465.41209">in a reset, or interrupt-then-reset, if enabled, to the system. Also, all of the exception</tspan><tspan y="540.35" x="-.00399 6.2120106 13.21201 20.21201 27.21201 31.10401 34.99601 38.888013 45.888013 52.888013 58.33401 61.83401 65.72601 72.72601 78.94202 82.834018 86.334018 90.99602 97.21202 102.65802 109.65802 113.55002 117.44202 120.94202 124.834018 131.83402 135.33402 141.55002 145.05002 149.71202 155.92803 161.37403 167.59003 171.48203 174.98203 178.87403 185.87403 189.37403 193.26602 200.26602 206.48203 209.98203 215.42803 222.42803 227.87403 231.76602 237.98203 248.87403 252.37403 255.87403 262.09004 267.53605 271.03605 278.03605 284.25205 289.69807 295.91407 300.57606 304.46806 311.46806 317.68406 324.68406 328.18406 332.07606 339.07606">conditions that result in a reset to the system, as 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="540.35" x="342.576 352.684 358.9 365.9 372.116 376.77799 382.994 386.886 393.102 400.102 403.602 412.94 419.156 424.60203 430.81803 434.71003 440.15605 443.65605 449.87205 456.87205">Generated Resets and</tspan><tspan y="556.35" x="-.0039978029 4.6580026 11.658003 15.550003 21.766003 26.428004 31.090004 38.090005 45.090005 48.982007">Interrupts</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="556.35" x="54.428 57.928 61.428 67.644008 72.30601 78.52201 82.02201 87.46801 91.36001 95.25201 99.144008 103.036 106.536 113.536 119.75201 123.644008 127.536 134.53601 138.03601 141.92801 148.92801 152.42801 156.32 163.32 167.212 172.658 176.158 187.05 194.05 201.05 207.266 210.766 214.266 222.05 229.05 232.55 236.05 239.942 244.604 248.104 254.32 261.32 264.82 271.036 278.036 284.252 290.46803 297.46803 301.36003 305.252 312.252 319.252 322.752 328.96803 335.96803 342.96803 349.96803 353.86003 357.752 361.644 368.644 375.644 379.144 386.144 392.36003 398.57603 405.57603 410.238 415.68403 419.18403 425.40003 432.40003 439.40003 442.90003 446.79203 453.79203 460.00804 463.50804 468.95405 475.95405 481.40007 485.29206 491.50807">, are still valid in this mode. So, if an exception condition occurs and the system</tspan><tspan y="572.35" x="-.0039367678 6.996063 13.996063 19.442065 22.942065 29.158066 33.050069 40.050069 46.266069 53.266069 56.766069 60.65807 66.10407 69.60407 76.60407 83.60407 87.10407 90.60407 96.820079 100.320079 104.98208 111.19808 116.64408 122.860088 126.75208 130.25208 137.25208 143.46808 149.68408 156.68408 161.34609 166.79209 170.29209 173.79209 180.79209 185.45409 188.95409 192.84609 199.84609 203.73809 209.95409 214.61609 219.27809 226.27809 233.27809 237.17009 241.83209 245.72409 252.72409 258.9401 265.9401 270.60209 275.26408 281.48008 286.9261 293.1421 297.0341 300.5341 304.0341 307.9261 312.58808 316.08808 322.30409 329.30409 335.52009 342.52009 346.41209 352.62809 359.62809">bus clock is on, a reset occurs, or interrupt-then-reset, if enabled.</tspan><tspan y="596.75" x="-.0039367678 8.550063 15.550063 21.766064 25.266064 31.482064 38.482065 42.374067 47.036066 54.036066 57.536066 61.428068 68.42807 72.32007 79.32007 82.82007 92.92807 99.14407 106.14407 113.14407 120.14407 123.64407 134.53607 141.53607 148.53607 154.75208 158.25208 168.36008 172.25208 176.14408 183.14408 187.03607 194.03607 197.53607 210.75208 220.09008 228.64408 232.14408 238.36008 243.02208 246.91408 253.13008 257.79209 261.29209 265.95408 272.17008 277.6161 283.8321 287.7241 291.2241 295.1161 300.5621 304.0621 307.9541 312.6161 318.8321 325.0481 328.9401 335.1561 342.1561 345.6561 352.6561 356.5481 361.21009 365.87208 372.08808 376.75007 382.96607 389.96607 393.85807 397.75007 404.75007 408.25007 411.75007 420.30406 427.30406 433.52006 437.02006 450.23606 460.34407 470.45207">The entry into Debug mode within WCT after reset is treated differently. The WDOG</tspan><tspan y="612.75" x="-.0039367678 3.8880637 7.780064 18.672066 24.888066 29.550066 33.050065 36.942068 42.388067 45.888067 52.888067 59.104066 66.104068 69.99606 73.49606 78.158069 84.37407 89.82007 96.03607 99.92807 103.42807 107.32007 114.32007 117.82007 124.03607 130.25208 134.91408 141.91408 145.41408 151.63008 158.63008 165.63008 169.13008 173.02208 180.02208 186.23809 190.90009 197.11609 200.61609 204.50809 209.95409 213.45409 220.45409 227.45409 230.95409 237.95409 244.17009 250.3861 257.3861 260.8861 264.7781 271.7781 275.2781 282.2781 289.2781 293.1701 300.1701 306.3861 313.3861 316.8861 323.1021 330.1021 337.1021 340.6021 346.8181 353.8181 360.8181 365.4801 369.3721 376.3721 383.3721 388.0341 394.2501 397.7501 401.6421 405.5341 409.0341 419.1421 423.0341 426.9261 433.9261 437.81809 444.81809 448.31809 461.5341 470.8721 479.4261">timer is kept reset to zero and there is no need to unlock and configure it within WCT.</tspan><tspan y="628.75" x="-.0039367678 10.104064 17.104065 24.104065 27.604065 38.496068 45.496068 50.942068 54.83407 58.33407 65.33407 72.33407 76.22607 79.72607 83.618068 88.28007 95.28007 98.78007 102.672069 109.672069 113.172069 117.83407 124.05007 128.71207 133.37407 139.59008 145.03607 152.03607 155.53607 162.53607 167.19808 170.69808 177.69808 184.69808 188.59008 195.59008 201.80608 208.80608 212.30608 216.19808 223.19808 229.41408 232.91408 246.13008 256.23808 266.34608 276.45408 279.95408 283.84608 290.84608 294.34608 298.23808 305.23808 309.13008 314.57609 318.07609 323.5221 327.4141 333.6301 337.5221 343.7381 347.2381 354.2381 358.9001 362.4001 369.4001 376.4001 383.4001 390.4001 397.4001 407.5081 414.5081 418.0081 425.0081 431.2241 438.2241 444.4401 451.4401 455.3321 462.3321 466.99409 470.49409 481.38609 487.60209">You must not try to refresh or unlock the WDOG in this state or unknown behavior may</tspan><tspan y="644.75" x="-.0039367678 4.6580636 10.8740639 16.320065 23.320065 27.212065 31.104065 34.604066 38.104066 48.212068 55.212068 62.212068 69.21207 72.71207 78.92807 85.92807 89.82007 93.71207 97.21207 101.87407 106.53607 113.53607 124.42807 127.92807 131.82007 138.82007 142.71207 148.15807 151.65807 162.55007 169.55007 176.55007 182.76607 186.26607 189.76607 193.65807 200.65807 206.87407 210.37407 223.59008 233.69808 243.80608 253.91408 257.41407 261.30607 265.19807 276.09007 282.30607 286.96806 290.46806 295.13005 301.34605 306.79206 310.68406 316.90007 321.56205 325.45405 330.90007 334.40007 340.61607 347.61607 354.61607 358.11607 362.00807 369.00807 375.22407 378.72407 391.94007 402.04808 412.15608 422.26408 425.76408 432.76408 438.98008 444.4261 447.9261 451.81809 458.81809 462.31809 469.31809">result. Upon exit from this mode, the WDOG timer restarts and the WDOG has to be</tspan><tspan y="660.75" x="-.0039367678 6.996063 13.996063 17.888064 24.888064 31.104065 38.104066 44.320066 51.320066 54.820066 61.036066 68.036067 75.036067 78.536067 84.75207 91.75207 98.75207 103.41407 107.30607 114.30607 121.30607 125.96807 132.18407 139.18407 142.68407 152.79207 156.68407 160.57607 167.57607 171.46807 178.46807 181.96807 195.18407 204.52207 213.07607">unlocked and configured within WCT.</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="346.986 353.48399 358.98298 363.98698 369.48597 372.48298 377.48698 380.98799 383.49 388.494 393.498 396 404.496 409.5 412.497 417.501 423 428.499 433.998 439.49699 441.999 447.498 450 458.001 463.005 466.506 469.00804 472.00505 480.50105 486.99903 494.00105 501.00306">Chapter 24 Watchdog Timer (WDOG)</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="130.01 137.23 142.79 148.34999 151.12999 157.79999 163.90999 170.01999 173.34999 179.45999 185.01999 193.90999 196.68999 199.46999 205.02999 207.80998 215.02999 220.58998 223.91999 229.47998 233.36998 238.92998 245.03998 250.59998 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>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00401 5.5030105 8.5000109 13.504011 18.50801 23.00801 27.50801 32.512014 34.510015 39.514017 42.016016 48.019014 53.023015 60.520017 62.518018 67.01802 72.02202 77.02602 82.030017 87.03401 91.53401 94.03601 99.04001 102.03701 104.53901 107.04101 109.54301 114.547008 119.047008">Freescale Semiconductor, Inc.</tspan></text>
<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>
<text xml:space="preserve" transform="matrix(1 0 0 1 391.68 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">549</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54 763.756)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="180.87 188.65 194.20999 200.31999 205.87999 209.76999 215.32999 218.10999 220.88999 228.10999 234.21999 239.77999 242.55998 248.66999 254.22998 259.78999 265.34999 268.12998 270.90998 277.01997 280.34996 286.45994 290.34996 299.23997 304.79997 308.12995 310.90995 317.01994">General Business Information</tspan></text>
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