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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_550.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

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28 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 87.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 9.452001 18.904002 23.630002">24.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 87.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 10.387 19.839 29.291 34.952 39.678 50.065004 60.452005 65.178 70.839008 81.226009 90.67801 95.40401 108.630008 118.08201 123.74301 133.195 143.582 153.969 164.35599">Testing the watchdog</tspan></text>
<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 7.7790009 14.779001 19.441002 22.941002 27.603003 36.157 45.495004 48.995004 55.995004 62.995004 69.995 76.995 83.995 87.495 93.711009 100.711009 107.711009 111.211009 118.211009 122.103008 129.103 135.319 139.981 143.481 148.927 155.143 159.80501 166.02101 169.91301 176.91301 180.41301 185.85901 189.751 195.96701 202.96701 209.96701 216.18302 220.84502 227.84502 233.29102 236.79102 240.29102 244.18302 251.18302 257.39903 260.89903 267.11503 274.11503 281.11503 287.33103 293.54704 297.43904 303.65504 307.54704 311.43904 318.43904 325.43904 328.93904 332.83103 338.27705 341.77705 345.66905 352.66905 358.88505 362.77705 366.27705 372.49305 379.49305 386.49305 390.38505 397.38505 401.27705 408.27705 415.27705 418.77705 422.66905 429.66905 435.88505 439.77705 443.27705 454.16905 461.16905 468.16905 472.06105 475.95304 482.95304 487.61503 493.06105 496.56105">For IEC 60730 and other safety standards, the expectation is that anything that monitors a</tspan><tspan y="87.049999" x="-.0049699998 5.4410307 11.657031 16.31903 22.53503 26.42703 33.427034 36.927034 41.58903 48.58903 55.58903 61.80503 65.69703 69.58903 76.58903 83.58903 87.08903 97.981029 104.981029 110.427028 114.31902 117.81902 124.81902 131.03502 134.53502 138.42702 144.64302 150.08902 153.98102 160.19702 167.19702 170.69702 174.19702 180.41303 187.41303 194.41303 197.91303 201.80503 208.80503 212.69702 218.14302 221.64302 225.53502 231.75102 237.19702 241.08902 244.58902 248.48102 253.92702 257.427 262.089 268.305 275.305 282.305 286.197 290.85899 297.07499 304.07499 307.57499 311.46699 318.46699 321.96699 328.96699 335.18299 338.68299 343.34498 349.56098 356.56098 360.45298 364.34498 367.84498 371.73698 378.73698 382.62898 388.84498 393.50697 399.72297 406.72297 410.61497 414.11497 417.61497 426.16896 433.16896 436.66896 440.56095 446.77696 452.22297 456.11497 459.61497 463.50697 470.50697">safety function must be tested, and this test is required to be fault tolerant. To test the</tspan><tspan y="103.049999" x="-.0049699998 10.103031 16.31903 20.211031 26.427033 33.427034 40.427034 47.427034 54.427034 57.927034 61.427034 65.31903 69.21103 74.65703 78.15703 89.04903 95.26503 99.15703 106.15703 109.65703 113.54903 117.441028 128.33303 134.54903 139.21103 142.71103 148.92704 155.92704 162.92704 166.42704 170.31903 174.21103 179.65703 183.15703 189.37303 194.81903 200.26503 207.26503 213.48104 217.37303 223.58904 227.48104 233.69704 240.69704 244.19704 250.41304 257.41304 268.30503 275.30503 281.52104 286.183 292.39903 295.89903 302.11503 309.11503 316.11503 319.61503 324.277 330.493 335.93904 342.15504 346.04704 349.54704 353.43904 360.43904 367.43904 371.33103 377.54704 381.04704 391.93904 398.93904 404.38505 408.27705 411.77705 418.77705 424.99305 428.49305 432.38505 438.60105 444.04707 447.93907 454.15507 461.15507 464.65507 468.15507 476.70906">watchdog, its main timer and its associated compare and reset logic must be tested. To</tspan><tspan y="119.049999" x="-.0049699998 3.8870304 10.887031 14.779031 20.22503 23.72503 29.941033 36.941034 43.941034 47.441034 50.941034 54.833036 64.94103 71.94103 75.44103 79.33303 85.549037 90.99503 94.88703 100.33303 103.83303 110.049037 114.71104 120.92704 124.42704 128.31905 139.21105 146.21105 150.10305 156.31905 167.21105 173.42705 180.42705 184.31905 190.53505 197.53505 201.03505 205.69705 212.69705 217.35906 220.85906 224.75106 231.75106 237.96706 241.46706 251.57506 257.79106 261.68305 267.89906 274.89906 281.89906 288.89906 295.89906 299.39906 302.89906 309.11506 314.56108 318.06108 325.06108 331.27708 336.72309 342.9391 347.60108 351.49308 358.49308 364.70909 371.70909 375.20909 379.10108 386.10108">this end, two tests are implemented for the watchdog, as described in </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 54 54.000005)" font-size="14" font-family="TimesLTStd"><tspan y="119.049999" x="389.601 399.709 406.709 410.601 416.81703 423.81703 427.31703 435.871 442.087 447.53303">Quick Test</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54.000005)" font-size="14" font-family="TimesLTStd"><tspan y="119.049999" x="451.42503 454.92503 461.14103 468.14103"> and</tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 54 54.000005)" font-size="14" font-family="TimesLTStd"><tspan y="135.05" x="-.0049743654 9.333027 16.333027 20.225028 26.441029 29.941029 38.49503 44.71103 50.15703">Byte Test</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54.000005)" font-size="14" font-family="TimesLTStd"><tspan y="135.05" x="54.049028 57.549028 61.049028 71.15703 74.65703 80.87303 87.87303 94.87303 98.76503 103.42703 110.42703 114.31903 117.81903 124.81903 128.71103 132.60303 136.10303 139.99503 145.44103 148.94103 155.94103 160.60303 167.60303 174.60303 178.49503 185.49503 191.71103 198.71103 202.21103 206.10303 213.10303 216.60303 223.60303 230.60303 234.49503 237.99503 241.88703 248.88703 255.10303 258.60304 268.71104 274.92704 278.81904 285.03504 292.03504 299.03504 306.03504 313.03504 316.53504 320.42704 327.42704 331.31904 338.31904 341.81904 346.48103 353.48103 360.48103 366.69703 370.58903 374.48103 381.48103 388.48103 394.69703 398.58903 402.08903 405.98103 412.19703 417.64305 421.53504 425.03504 435.92704 442.92704 449.92704 456.14305 459.64305 463.14305 471.69703 478.69703 484.91304 489.575">. A control bit is provided to put the watchdog into functional test mode. There</tspan><tspan y="151.05" x="-.00491333 3.887087 9.333088 12.833088 19.049088 22.941088 28.387089 35.38709 38.88709 45.10309 52.10309 55.60309 62.60309 69.60309 75.81909 80.481098 85.1431 89.035099 96.035099 99.92709 106.92709 113.92709 117.42709 121.31909 127.535099 132.9811 136.8731 141.5351 148.5351 152.4271 157.8731 164.0891 171.0891 174.9811 181.1971 184.6971 190.9131 197.9131 204.9131 208.8051 213.4671 220.4671 224.3591 227.8591 234.8591 238.7511 242.6431 246.1431 256.2511 263.2511 267.1431 273.3591 280.3591 283.8591 290.0751 293.9671 297.8591 304.8591 314.9671 320.41313 323.91313 327.8051 334.8051 341.02113 344.52113 349.1831 356.1831 363.1831 369.3991 373.2911 377.1831 384.1831 391.1831 397.3991 401.2911 404.7911 408.6831 414.8991 420.34513 424.23713 427.73713 438.62913 445.62913 452.62913 458.84513 462.34513 466.23713 473.23713 476.73713 483.73713">is also an overriding test-disable control bit which allows the functional test mode to be</tspan><tspan y="167.05" x="-.00486333 6.9951369 10.887137 16.333138 22.549138 29.549138 33.44114 39.65714 46.65714 50.15714 57.15714 63.37314 68.03514 78.92714 85.14314 92.14314 98.359149 105.359149 109.251148 113.14314 120.14314 123.64314 127.14314 137.25115 141.91315 145.80515 152.02115 156.68315 160.18315 164.07515 167.96715 171.46715 175.35915 180.80515 184.30515 189.75115 195.96715 199.85915 203.35915 206.85915 210.75115 217.75115 221.64315 227.08914 230.58914 234.48114 240.69715 246.14315 250.03514 254.69715 261.69715 265.58915 271.03517 277.25117 284.25117 288.14317 294.35917 297.85917 304.85917 308.75117 312.64317 316.14317 322.35917 328.57518 335.57518 339.07518 346.07518 353.07518 356.96717 363.96717 367.46717 374.46717 380.68318 384.18318 390.39918 394.29118 400.50718 406.72319 411.38517 417.60118 424.60118 428.10118 435.10118 442.10118 445.60118 451.81718 455.31718 459.97917 466.19517 471.64118 477.85719 481.74919">disabled permanently. After it is set, this test-disable bit can only be cleared by a reset.</tspan><tspan y="191.45" x="-.0048133304 8.549187 15.549187 21.765187 27.211188 33.42719 36.92719 40.81919 50.927194 57.927194 61.427194 65.31919 71.535198 76.98119 80.87319 86.31919 89.81919 96.035198 102.2512 109.2512 113.143199 119.3592 126.3592 132.5752 136.0752 139.9672 146.9672 153.1832 156.6832 163.6832 170.6832 176.8992 181.5612 187.7772 191.6692 195.5612 199.0612 205.2772 209.1692 220.0612 223.5612 230.5612 235.2232 238.7232 242.6152 248.8312 254.2772 258.16923 262.06123 269.06123 276.06123 279.56123 283.45323 290.45323 296.66923 300.16923 306.38523 313.38523 320.38523 327.38523 331.27723 337.49324 342.1552 345.6552 350.3172 357.3172 364.3172 370.5332 374.4252 378.3172 385.3172 392.3172 396.2092 403.2092 410.2092 413.7092 419.9252 426.9252 433.9252 437.4252 441.3172 448.3172">These two tests achieve the overall aim of testing the counter functioning and the</tspan><tspan y="207.45" x="-.0048133304 6.2111876 13.211187 24.103188 31.103188 37.319189 41.981187 48.197187 51.697187 57.913187 64.913188 71.913188 75.413188 80.07519 86.29119 91.73719 97.95319 101.84519 105.34519 109.23719 116.23719 123.23719 127.12919 133.34519">compare and reset logic.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54.000005)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="231.6367" x="236.4412 246.5492 255.1032 259.7652">Note</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54.000005)" font-size="14" font-family="TimesLTStd"><tspan y="256.24998" x="71.99719 82.105197 89.105197 92.605197 99.605197 106.605197 110.49719 113.99719 120.213199 127.213199 133.4292 140.4292 144.3212 150.5372 154.0372 157.9292 164.9292 171.1452 174.6452 184.7532 190.96921 194.8612 201.07721 208.07721 215.07721 222.07721 229.07721 232.57721 236.46921 243.46921 247.3612 253.57721 258.2392 262.90119 269.90119 276.90119 280.79319 284.29319 291.29319 298.29319 302.95518 306.84718 313.84718 320.84718 324.34718 328.23918 335.23918 341.45518 346.90119 353.1172 356.6172 360.5092 366.7252 372.1712 376.0632 381.50923 385.00923 388.50923 393.1712">Do not enable the watchdog interrupt during these tests. If</tspan><tspan y="272.24998" x="71.997219 76.65922 82.87522 89.87522 96.87522 100.76722 105.42922 111.645229 118.645229 122.145229 125.645229 132.64524 139.64524 146.64524 150.14524 161.03723 168.03723 173.48323 177.37523 180.87523 187.09123 194.09123 199.53723 206.53723 211.19924 217.41524 220.91524 224.80724 231.80724 238.02324 241.91524 245.41524 249.30724 256.30726 262.52326 266.02326 272.23927 276.90126 281.56324 287.77925 293.99525 297.88725 301.77925 308.77925 314.99525 318.49525 322.38725 326.27925 337.17124 343.38725 348.04924 355.04924 362.04924 365.94123 369.44123 376.44123 382.65724 386.54924 393.54924 399.76524 403.26524 407.15724">required, you must ensure that the effective time-out value is</tspan><tspan y="288.24998" x="71.997219 78.997219 83.65922 89.87522 96.091228 99.98322 106.19923 110.86123 114.36123 118.25323 125.25323 131.46923 138.46923 141.96923 155.18523 164.52323 173.07723 176.57723 180.46923 184.36122 195.25322 201.46923 204.96923 208.46923 216.25322 222.46923 228.68523">greater than WCT time. See </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 54 54.000005)" font-size="14" font-family="TimesLTStd"><tspan y="288.24998" x="232.18521 242.29322 248.50922 255.50922 261.72523 266.3872 272.6032 276.4952 282.7112 289.7112 293.2112 302.54924 308.76524 314.21125 320.42726 324.31925 329.76527 333.26527 339.48127 346.48127 353.48127 356.98127 361.64326 368.64326 372.53526 378.75126 383.41325 388.07524 395.07524 402.07524 405.96723">Generated Resets and Interrupts</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54.000005)" font-size="14" font-family="TimesLTStd"><tspan y="288.24998" x="411.4132 414.9132 419.5752 426.5752"> for</tspan><tspan y="304.24998" x="71.99719 82.88919 89.88919 94.55119 100.7672 104.2672 111.2672 117.4832 121.3752 127.5912 131.4832 135.3752 140.8212">more details.</tspan><tspan y="328.64997" x="-.0047912599 8.549209 15.549209 19.04921 23.71121 30.71121 37.711214 41.211214 47.42721 50.92721 57.92721 64.14321 68.805217 72.69721 76.58921 82.805217 89.805217 93.69721 99.913219 104.57522 108.07522 111.96722 118.18322 123.62922 127.52122">To run a particular test:</tspan><tspan y="353.04997" x="7.499199 14.499199 24.0052 31.7892 38.0052 41.8972 48.1132 54.3292 58.221204 61.721204 67.9372 71.8292 75.7212 82.7212 88.9372 93.599208 97.099208 104.099208 111.099208 114.9912 121.20721 128.20722 131.70722 135.59922 141.81522 147.26122 151.15322 154.65322 161.65322 166.31522 169.81522 176.81522 183.81522 187.70722 193.92322 197.42322 201.31522 207.53122 212.97722 216.86922 220.36922">1.Select either quick test or byte test..</tspan><tspan y="369.04997" x="7.499199 14.499199 24.0052 31.7892 38.0052 41.8972 45.3972 51.6132 55.1132 61.3292 67.545207 72.20721 76.099208 82.31521 86.20721 93.20721 96.70721 100.599208 106.81521 112.26121 116.153209 119.653209 130.54521 137.54521 144.54521 150.76122 154.26122 161.26122 165.15322 169.04521 172.54521 176.43721 183.43721 186.93721 193.93721 200.93721 204.82921 208.32921 212.2212 219.2212 225.43721 228.93721 239.04521 245.26122 249.15322 255.36922 262.3692 269.3692 276.3692 283.3692 286.8692 290.7612 297.7612 301.2612 305.1532 312.1532 318.3692 321.8692 326.5312 333.5312 340.5312 346.7472 350.6392 354.5312 361.5312 368.5312 374.7472 378.6392 382.1392 386.0312 392.2472 397.6932 401.5852 405.0852 415.9772 422.9772 429.9772 436.1932 439.6932 443.1932 450.9772 457.1932 461.0852 464.9772 468.8692 475.8692">2.Set a certain test mode bit to put the watchdog in the functional test mode. Setting</tspan><tspan y="385.04997" x="24.00524 27.89724 34.89724 38.78924 44.23524 47.73524 54.73524 58.627244 62.519247 66.01924 72.235248 79.235248 83.12724 90.12724 101.01924 107.235248 111.12724 115.01924 121.235248 127.45125 131.34325 135.23525 142.23525 145.73525 151.18125 161.28925 165.18125 169.07324 175.28925 182.28925 188.50525 193.95125 197.45125 201.34325 208.34325 214.55925 218.05925 228.16725 234.38326 238.27526 244.49126 251.49126 258.49128 265.49128 272.49128 275.99128 279.88328 283.77528 294.66728 300.88328 305.54527 309.04527 312.93727 319.93727 323.43727 329.65327 333.15327 337.81526 344.03126 349.47727 353.36927 356.86927 363.08528 366.97727 373.97727 380.19328 387.19328 390.69328 396.13929 403.13929 410.13929 414.80128 421.01728 427.23329 430.73329 434.23329 442.78727 449.78727">this bit automatically switches the watchdog timer to a fast clock source. The</tspan><tspan y="401.04997" x="24.00524 29.45124 39.559244 43.451246 47.343248 53.559247 60.559247 64.45125 71.45125 78.45125 81.95125 88.95125 93.61325 97.11325 101.00525 108.00525 114.22125 117.72125 123.937259 127.829257 134.82926 141.04526 148.04526 151.54526 156.99126 163.99126 170.99126 175.65326 181.86927 188.08527 191.58527 195.47727 200.92327 204.42327 211.42327 218.42327 225.42327 231.63927 235.13927 239.03127 246.03127 249.53127 255.74727 261.96327 268.96327 272.85527 279.07127 286.07127 292.28727 295.78727 302.00328 305.50328 310.16526 316.38127 321.82728 325.71928 331.93528 336.59727 340.09727 343.98927 347.88127 358.77326 364.98927 369.65126 376.65126 383.65126 387.54325 391.04325 397.25926 404.25926 411.25926 414.75926 421.75926 427.97526 434.97526 441.19126 447.40727 450.90727 457.12327 460.62327 465.28526 471.50126 476.94728 480.83927 487.05528">switching of the clock source is done to achieve a faster time-out and hence a faster</tspan><tspan y="417.04997" x="24.00524 27.89724 34.11324 39.55924 43.45124">test.</tspan><tspan y="443.04997" x="-.004760742 4.6572396 11.65724 15.15724 21.373242 24.873242 30.319243 37.319246 43.535245 49.751245 55.967245 61.413244 66.859249 71.52125 78.52125 82.413249 85.913249 89.805248 96.02125 101.46725 105.359249 108.859249 112.359249 116.25124 123.25124 129.46724 132.96724 136.85924 140.75124 151.64324 157.85924 162.52124 166.02124 169.91324 173.80524 184.69724 190.91324 196.35924 199.85924 206.85924 213.85924 217.75124 221.25124 227.46724 232.12924 236.02124 242.23725 246.89925 250.39925 255.06125 261.27726 267.49327 273.70927 280.70927 284.60127 291.60127 298.60127 302.10127 305.99327 312.99327 319.20927 322.70927 329.70927 334.37126 341.37126 348.37126 353.03324 359.24925 370.14125 381.03324 387.24925 394.24925 397.74925 401.64125 405.53324 416.42524 422.64125 427.30323 434.30323 441.30323 445.19523 448.69523 455.69523 461.91123 465.80323 472.80323 479.01924 482.51924 488.73524 495.73524">In a successful test, the timer times out after reaching the programmed time-out value and</tspan><tspan y="459.04997" x="-.004760742 6.9952394 13.21124 20.211239 26.427239 31.08924 37.30524 41.197244 47.413244 52.85924 56.35924 62.57524 66.07524 71.52124 78.52124 83.96724 87.85924 94.07524 104.96724 108.46724 113.12924 119.345249 124.791248 131.00725 134.89925">generates a system reset.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54.000005)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="483.23667" x="236.44124 246.54924 255.10324 259.76524">Note</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 18.000004)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 5.499 10.503 15.507001 18.504002 21.006003 26.505003 32.004 34.506 37.503004 43.002004 48.006006 50.508005 57.510004 62.514005 65.511 70.515 76.014 81.513 87.012">Testing the watchdog</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="130.011 137.231 142.791 148.351 151.131 157.801 163.911 170.021 173.351 179.461 185.021 193.911 196.691 199.471 205.03099 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>
<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 4.9999907 10.003991">550</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>
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<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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