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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_562.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

111 lines
35 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="13.104 23.996003 33.334005 39.550004 44.996004 48.888006 53.550004 57.442007 63.658006 67.55 71.442 78.442 85.442 88.942 95.942 102.942 106.442 113.442 120.442 124.334 131.334 137.55 144.55 148.442 153.104 159.32 163.98201 168.64402 174.86002 180.30602 187.30602 190.80602 197.80602 204.80602 211.02202 215.68402 221.90003 225.79203 229.68402 236.68402 243.68402 249.13002 263.13 267.792 274.792 278.292 282.184 289.184 295.4 298.9 305.9 312.116 316.77799 320.66999 327.66999 334.66999 338.16999 345.16999 351.386 355.27799 365.386 371.602 377.818 384.818 388.318 392.21 399.21 405.426 408.926 415.142 419.034 426.034 431.48 438.48 443.142 449.358 452.858 459.858 464.52 468.02 471.912 478.912">&#x2022;Restriction on unlock/refresh operations&#x2014;In the period between the closure of the</tspan><tspan y="27.85" x="23.99601 37.21201 46.55001 55.10401 58.60401 68.71201 72.60401 79.60401 86.60401 93.60401 103.71201 107.21201 113.42802 118.09002 121.98202 128.19802 132.86002 136.36002 143.36002 150.36002 154.25202 161.25202 167.46802 174.46802 177.96802 184.18402 191.18402 198.18402 201.68402 205.57602 212.57602 218.79203 222.29203 228.50803 234.72403 238.61603 245.61603 251.83203 255.72403 259.22404 263.88603 270.10203 273.99403 280.99403 287.21003 294.21003 297.71003 304.71003 309.372 312.872 316.764 323.764 329.98 333.48 343.588 349.80403 353.696 359.91203 366.91203 373.91203 380.91203 387.91203 391.41203 395.30403 399.196 410.088 416.30403 420.966 424.466 427.966 434.966 441.966 445.858 452.858 459.074 466.074 469.574 475.79 482.79">WCT window after unlock and the actual reload of the watchdog timer, unlock and</tspan><tspan y="43.85" x="23.99601 28.65801 34.874013 39.53601 44.19801 50.41401 55.86001 62.86001 66.36001 73.36001 80.36001 86.57601 91.238018 97.45402 101.346019 105.238018 112.238018 119.238018 124.68401 128.18402 135.18402 141.40003 147.61603 154.61603 158.11603 165.11603 172.11603 176.00803 179.50803 186.50803 192.72403 196.22403 202.44004 206.33203 210.22403 216.44004 227.33203 234.33203 238.22403 244.44004 251.44004">refresh operations need not be attempted.</tspan><tspan y="68.25" x="13.10399 23.99599 32.54999 39.54999 45.76599 49.26599 56.26599 63.26599 70.26599 76.481998 80.37399 86.59 90.09 96.306 103.306 110.306 113.806 118.468 124.684009 128.576 135.576 141.792 148.792 152.292 159.292 163.95401 167.45401 171.34601 178.34601 184.56201 188.06201 198.17002 204.38602 208.27802 214.49402 221.49402 228.49402 235.49402 242.49402 245.99402 249.88602 253.77802 264.67 270.88603 275.548 279.048 286.048 292.264 299.264 306.264 312.48 319.48 324.92604 328.42604 332.31803 342.42604 349.42604 352.92604 356.81803 363.81803 367.31803 371.21003 378.21003 382.872 389.088 395.30403 398.80403 408.91203 415.12803 419.02003 425.23603 432.23603 439.23603 446.23603 453.23603 456.73603 462.95204 466.84403 473.84403 480.06004 487.06004">&#x2022;The update and reload of the watchdog timer happens two to three watchdog clocks</tspan><tspan y="84.25" x="23.99601 30.21201 34.87401 38.76601 44.98201 49.64401 53.14401 66.36001 75.69801 84.252017 87.752017 97.860019 101.752017 108.752017 115.752017 122.752017 132.86002 136.36002 142.57602 146.46802 153.46802 158.91402 165.13002 170.57602 174.07602 177.57602 182.23802 189.23802 193.13002 197.02202 204.02202 214.13002 218.02202 225.02202 232.02202 235.52202 241.73802 245.23802 250.68402 257.68403 263.90003 270.11604 276.33204 281.77806 287.22407 291.88606 298.88606 302.77806 306.27806 312.49406 319.49406 326.49406 331.15605 335.04804 342.04804 349.04804 353.71003 359.92604 363.81803 367.71003 374.71003 381.71003 385.21003 392.21003 399.21003 402.71003 409.71003 416.71003 420.60203 427.60203 433.81803 440.81803">after WCT window closes, following a successful configuration on unlock.</tspan><tspan y="108.65" x="13.10399 23.99599 33.333993 37.225996 44.225996 50.441995 57.441995 60.941995 68.726 78.834 82.726 86.618 92.834 99.834 103.726 110.726 117.726 121.226 131.334 137.55 141.442 147.658 154.658 168.658 177.212 184.212 190.42801 193.92801 204.03601 210.25202 214.14402 220.36002 227.36002 234.36002 241.36002 248.36002 251.86002 258.86003 264.30604 270.52204 275.96806 279.46806 286.46806 290.36006 294.25205 298.14405 304.36006 311.36006 316.02204 320.68403 325.346 331.562 337.778 341.278 352.17 359.17 363.062 366.954 370.846 377.846 381.738 387.954 394.954 401.17 405.832 411.278 414.778 420.99403 424.88603 428.38603 432.278 442.38603 449.38603 452.88603 459.88603 463.778 469.99403 476.21003 482.42604 487.87205 491.37205">&#x2022;Clock Switching Delay&#x2014;The watchdog uses glitch-free multiplexers at two places &#x2013;</tspan><tspan y="124.65" x="23.99601 30.99601 37.99601 44.21201 47.71201 51.60401 58.60401 62.10401 68.320018 75.320018 82.320018 89.320018 94.766017 100.98202 104.48202 111.48202 117.69802 121.59002 131.69802 137.91402 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193.90004 200.11605 204.00804 210.22405 217.22405 224.22405 231.22405 238.22405 241.72405 246.38605 253.38605 260.38606 266.60206 270.49406 274.38606 281.38606 288.38606 294.60206 298.49406 301.99406 308.21006 312.10206 319.10206 325.31806 332.31806 335.81806 342.03407 349.03407 356.03407 359.53407 364.19606 370.41206 375.85807 379.75007 383.25007 389.46607 393.35807 400.35807 406.57408 413.57408 417.07408 420.96607 427.96607 434.96607 441.96607 445.85807 449.35807 454.02006 461.02006">other to choose between the watchdog functional clock and fast clock input for</tspan><tspan y="156.65001" x="23.99601 34.10401 40.32001 44.212015 50.428014 57.428014 64.42801 71.42801 78.42801 81.92801 86.59001 93.59001 100.59001 106.806018 110.69801 114.59001 121.59001 128.59001 134.80602 138.69802 142.19802 146.09001 152.30602 157.75202 161.64402 165.14402 168.64402 178.75202 182.25202 193.14402 199.36002 206.36002 210.25202 221.14402 228.14402 239.03601 242.53601 246.42801 250.32 261.212 267.428 270.928 277.928 284.144 288.806 292.698 299.698 306.698 310.198 317.198 321.86 325.36 332.934 339.934 343.434 349.65 353.542 360.542 366.758 373.758 377.258 387.366 390.866 397.082 404.082 410.298 414.19 420.406 425.85203 429.35203 436.35203 440.24403 447.24403 452.69004 456.19004 463.76405">watchdog functional test. A maximum time period of ~2 clock A cycles plus ~2</tspan><tspan y="172.65001" x="23.99601 30.21201 34.10401 41.10401 47.32001 54.32001 57.82001 67.15801 70.65801 76.874019 83.874019 90.09002 93.98202 100.19802 105.64402 109.14402 115.36002 119.25202 125.468029 132.46802 137.91402 144.13002 149.57602 153.07602 157.73802 162.40003 169.40003 180.29203 183.79203 187.68402 194.68402 200.90003 204.40003 208.29203 212.18402 223.07602 229.29203 232.79203 239.00803 242.50803 247.95403 258.062 261.954 265.846 272.062 279.062 282.562 286.454 291.90003 295.40003 300.062 306.278 313.278 320.278 326.49403 331.94004 335.83204 342.04804 349.04804 352.54804 356.44004 363.44004 366.94004 370.83204 377.83204 384.04804 387.54804 394.54804 400.76405 406.98005 413.98005 418.64204 423.30403 429.52003 436.52003 442.73603 448.95204 452.45204 459.45204 464.114 467.614 471.506 478.506">clock B cycles elapses from the time a switch is requested to the occurrence of the</tspan><tspan y="188.65001" x="23.99601 30.21201 36.42801 40.32001 47.32001 53.53601 57.428014 60.928014 67.14401 71.03601 78.03601 84.252017 91.252017 94.752017 100.19801 110.306018 114.19801 118.09001 124.306018 131.30602 134.80602 138.30602 148.41402 155.41402 161.63002 166.29203 172.50803 176.00803 182.22403 186.11603 193.11603 199.33203 206.33203 209.83203 219.94004 223.44004 229.65604 236.65604 243.65604 247.15604 256.49406 259.99406 266.21006 270.87205 277.08805 280.58805 284.48005 291.48005 297.69606 301.19606 305.08805 315.19606 322.19606 325.69606 329.58805 336.58805 343.58805 350.58805 354.48005 357.98005 364.19606 368.08805 375.08805 381.30406 388.30406 393.75007 397.25007 401.14207 408.14207 411.64207 415.53407 422.53407 428.75007 432.25007 438.46607 442.35807 449.35807 455.57408 462.57408 466.07408 476.96607 483.96607 490.96607">actual clock switch, where clock A and B are the two input clocks to the clock mux.</tspan><tspan y="213.05" x="13.10399 23.99599 31.779992 38.77999 43.44199 46.94199 50.833993 57.833993 64.049999 67.549999 77.658 81.549999 88.549999 95.549999 102.549999 112.658 118.874 125.874 129.374 140.26599 147.26599 154.26599 160.482 163.982 167.482 171.374 178.374 184.59 189.252 195.468 198.968 202.86 208.306 211.806 218.022 221.522 225.414 235.522 242.522 246.022 249.914 256.914 260.414 264.306 271.306 275.968 282.184 288.4 291.9 298.9 305.9 311.346 314.846 321.062 324.954 331.954 338.17 345.17 348.67 352.562 358.778 362.67 368.88603 375.88603 382.10203 389.10203 392.60203 399.60203 405.81803 409.71003 419.81803 426.03404 432.25004 439.25004 442.75004 446.64204 453.64204">&#x2022;For the windowed mode, there is a two to three bus clock latency between the</tspan><tspan y="229.05" x="23.99601 34.10401 40.32001 44.212015 50.428014 57.428014 64.42801 71.42801 78.42801 81.92801 88.14401 95.14401 102.14401 109.14401 113.03601 119.252017 123.91402 127.41402 134.41402 141.41402 145.30602 152.30602 159.30602 162.80602 169.80602 176.02202 181.46802 185.36002 188.86002 192.75202 199.75202 205.96802 209.46802 219.57602 223.46802 230.46802 237.46802 244.46802 254.57602 258.07603 265.07603 271.29203 275.18403 282.18403 288.40003 291.90003 298.11604 305.11604 312.11604 315.61604 319.50804 326.50804 332.72404 336.22404 341.67005 347.88606 358.77806 364.99406 368.49406 373.15605 379.37205 386.37205 390.26405 395.71006 399.60206 405.81806 410.48005 414.37205 421.37205 428.37205 431.87205 435.76405 442.76405 446.26405 450.15605 457.15605 463.37205 466.87205 473.87205 480.87205">watchdog counter going past the window value and the same registering in the bus</tspan><tspan y="245.05" x="23.99601 30.21201 34.10401 41.10401 47.32001 54.32001 57.82001 64.82001 71.82001 82.712009 88.92801 92.82001 99.82001">clock domain.</tspan><tspan y="269.45" x="13.10402 23.996022 31.780022 38.78002 43.44202 46.94202 53.94202 58.60402 65.60402 72.60402 78.82002 83.482028 86.982028 93.982028 100.982028 107.19803 111.86003 118.076038 121.96803 125.86003 132.86003 139.86003 143.36003 150.36003 155.02204 158.52204 162.41403 169.41403 175.63004 179.13004 189.23804 195.45404 199.34604 205.56204 212.56204 219.56204 226.56204 233.56204 237.06204 240.56204 244.45404 251.45404 257.67005 261.17005 271.27806 277.49406 281.38606 287.60206 294.60206 301.60206 308.60206 315.60206 319.10206 325.31806 329.21006 336.21006 342.42607 349.42607 352.92607 363.81806 370.81806 376.26408 380.15608 383.65608 390.65608 396.87208 400.37208 406.58808 410.48008 413.98008 417.87208 424.08808 430.30409 435.7501 439.6421 443.1421 447.80409 451.69609 458.69609 464.91209 468.41209 472.30409 476.19609 487.08808 493.30409">&#x2022;For proper operation of the watchdog, the watchdog clock must be at least five times</tspan><tspan y="285.45" x="23.99601 29.44201 33.33401 40.33401 50.442014 56.658014 61.32001 64.82001 68.712009 75.712009 81.92801 88.92801 92.42801 96.32001 103.32001 109.53601 113.03601 118.48201 125.48201 130.92801 134.82 141.03601 151.92801 155.42801 162.42801 169.42801 174.87401 178.37401 184.59001 188.48201 195.48201 201.69802 208.69802 212.19802 218.41402 222.30602 225.80602 232.02202 235.91402 239.80602 243.30602 247.19802 251.09001 261.98204 268.19804 273.64405 277.14405 280.64405 290.75205 297.75205 301.25205 307.46806 314.46806 320.68406 326.90007 333.90007 337.79206 341.68406 348.68406 355.68406 359.18406 363.07606 368.52207 372.02207 382.13008 389.13008 395.34608 402.34608 405.84608 409.73808 416.73808 422.95408 426.45408 436.56208 442.77809 446.67008 452.88609 459.88609 466.88609 473.88609">slower than the system bus clock at all times. An exception is when the watchdog</tspan><tspan y="301.45" x="23.99604 30.21204 34.104043 41.104043 47.32004 54.32004 57.82004 61.712045 67.15804 70.65804 76.10404 83.10404 90.10404 96.320049 103.320049 107.98205 114.98205 121.98205 128.98206 135.98206 141.42806 144.92806 148.82006 155.82006 159.32006 163.21205 170.21205 176.42806 179.92806 186.92806 193.92806 199.37406 202.87406 209.09006 212.98206 219.98206 226.19806 233.19806 236.69806 246.80606 253.80606 260.02207 264.68406 270.90007 274.79206 281.79206 285.29206 289.18406 296.18406 302.40007 305.90007 316.00807 322.22407 326.11607 332.33207 339.33207 346.33207 353.33207 360.33207 363.83207 370.04808 373.94007 380.94007 387.15608 394.15608 397.65608 403.87208 410.08808 417.08808 420.58808 427.58808 433.80409 437.30409 443.52009 448.9661 452.4661 457.12809 463.3441 468.7901 472.6821 476.1821 482.3981">clock is synchronous to the bus clock wherein the watchdog clock can be as fast as</tspan><tspan y="317.45" x="23.99607 27.888072 34.88807 41.10407 44.60407 51.60407 58.60407 64.05007 67.55007 73.766078 77.65807 84.65807 90.87408 97.87408">the bus clock.</tspan><tspan y="341.85" x="13.104071 23.99607 37.21207 46.55007 55.104074 58.604074 69.49607 76.49607 81.94207 85.83407 89.33407 96.33407 102.55007 106.05007 112.266078 119.266078 126.266078 130.15808 137.15808 143.37409 147.26609 153.48209 160.48209 164.37409 167.87409 171.76609 178.76609 182.26609 188.48209 192.37409 195.87409 199.76609 205.98209 212.19809 217.64409 221.53609 225.03609 228.92809 235.92809 240.59009 246.80609 253.0221 256.5221 266.6301 272.8461 276.7381 282.9541 289.9541 296.9541 303.9541 310.9541 314.4541 320.6701 324.5621 331.5621 337.7781 344.7781 348.2781 354.4941 361.4941 367.7101 371.6021 377.8181 383.26414 386.76414 390.26414 394.92613 399.5881 403.0881 410.0881 417.0881 420.9801 424.4801 430.6961 437.6961 443.14213 450.14213 454.8041 461.0201 468.0201 471.5201 475.0201 478.9121 485.9121 489.8041">&#x2022;WCT must be equivalent to at least three watchdog clock cycles. If not ensured, this</tspan><tspan y="357.85" x="23.99607 34.888074 41.104074 47.320074 54.320074 59.76607 63.26607 67.15807 74.15807 80.37408 84.266078 87.766078 93.98208 100.98208 107.19808 114.19808 117.69808 123.914089 128.57608 132.46808 138.68408 143.34609 146.84609 150.73809 157.73809 163.95409 167.45409 173.67009 177.56209 184.56209 190.00809 196.22409 199.72409 206.72409 211.3861 214.8861 218.77809 225.77809 231.9941 235.4941 248.7101 258.0481 266.60209 270.10209 280.21009 284.10209 291.10209 298.10209 305.10209 315.21009 318.71009 322.21009 329.21009 336.21009 343.21009 346.71009 353.71009 359.9261 366.9261 373.1421 376.6421 380.5341 387.5341 391.0341 401.1421 407.3581 411.2501 415.1421 418.6421 423.30409 430.30409 434.96607 438.46607 442.35807 449.35807">means that even after the close of the WCT window, you have to wait for the</tspan><tspan y="373.85" x="23.996102 29.442103 36.4421 43.4421 49.6581 56.6581 61.3201 68.3201 75.3201 79.2121 85.4281 91.644107 98.644107 102.144107 107.5901 114.5901 120.0361 123.9281 130.1441 141.0361 144.5361 149.1981 155.41411 160.8601 167.07611 170.96811 174.46811 178.3601 185.3601 188.8601 195.8601 202.07611 208.29212 213.73812 219.18412 225.40012 230.06212 233.95412 237.45412 241.34612 248.34612 251.84612 255.73812 262.7381 268.9541 272.4541 282.5621 288.7781 292.6701 298.8861 305.8861 312.8861 319.8861 326.8861 330.3861 336.6021 340.4941 347.4941 353.7101 360.7101 364.2101 371.2101 378.2101 389.1021 395.3181 399.2101 406.2101 409.7101 413.2101 420.2101 426.42613 431.0881 438.0881 442.7501">synchronized system reset to deassert in the watchdog clock domain, before</tspan><tspan y="389.85" x="23.996132 30.212132 37.21213 44.21213 50.42813 56.64413 60.536134 64.42813 71.42813 78.42813 81.92813 85.82013 92.82013 99.03613 102.53613 108.75214 115.75214 122.75214 127.41414 131.30614 138.30614 145.30614 149.96814 156.18415 160.07614 163.96814 170.96814 177.96814 181.46814 188.46814 195.46814 202.46814 208.68415 212.57614 218.79215 224.23815 227.73815 231.63014 238.63014 242.13014 246.02214 252.23815 259.23817 265.45417 268.95417 275.17018 279.83216 284.49415 290.71015 296.92616 300.81816">expecting the configuration updates to take effect.</tspan><tspan y="414.25" x="13.104142 23.996144 32.550146 39.550146 45.766145 49.266145 53.158147 57.050149 67.94215 74.15815 78.82015 85.82015 92.82015 96.71215 100.21215 107.21215 113.428157 117.32015 124.32015 130.53615 134.03615 141.03615 145.69815 149.19815 153.09015 160.09015 166.30615 169.80615 179.91416 186.13016 190.02216 196.23816 203.23816 210.23816 217.23816 224.23816 227.73816 233.18416 240.18416 247.18416 254.18416 258.07618 265.07618 268.57618 275.57618 281.79219 285.29219 290.7382 296.9542 300.8462 304.3462 308.2382 315.2382 318.7382 324.9542 328.4542 339.3462 343.2382 350.2382 354.1302 365.0222 372.0222 382.91419 386.41419 393.41419 398.07618 401.57618 406.23817 413.23817 420.23817 424.90016 428.40016 438.50816 444.72416 448.61616 454.83216 461.83216 468.83216 475.83216">&#x2022;The time-out value of the watchdog should be set to a minimum of four watchdog</tspan><tspan y="430.25" x="23.996132 30.212132 34.104135 41.104135 47.320135 54.320135 57.820135 64.03613 71.03613 77.25214 81.144138 87.36014 92.80614 96.30614 99.80614 108.36014 115.36014 119.25214 124.698139 128.19814 132.09014 137.53614 141.03614 144.92813 151.92813 155.42813 159.32013 165.53614 172.53614 178.75214 182.25214 186.14414 193.14414 197.03614 204.03614 207.53614 213.75214 219.96814 226.18415 233.18415 240.18415 247.18415 251.07614 254.57614 258.46815 265.46815 271.68415 275.18415 282.18415 288.40016 292.29216 298.50816 305.50816 309.00816 312.90016 319.90016 323.40016 330.40016 336.61616 346.72416 350.22416 355.67018 361.88618 365.77818 369.67018 373.56217 380.56217 387.56217 393.00819 396.50819 400.40019 406.61619 413.61619 417.50819 424.50819 431.50819 435.00819 441.22419 445.88618 450.54817 456.76417 462.98017 466.87217 470.37217 474.26417 481.26417 484.76417 488.65617 495.65617">clock cycles. This is to take into account the delay in new settings taking effect in the</tspan><tspan y="446.25" x="23.996191 34.10419 40.32019 44.212194 50.428194 57.428194 64.42819 71.42819 78.42819 81.92819 88.144199 92.036197 99.036197 105.2522 112.2522 115.7522 122.7522 129.7522 140.6442 146.8602 150.7522 157.7522">watchdog clock domain.</tspan><tspan y="470.65" x="13.104191 23.996193 34.104196 41.104196 48.104196 51.604196 62.496198 69.4962 74.9422 78.8342 82.3342 86.2262 92.4422 99.4422 105.6582 109.1582 115.37421 121.59021 126.25221 132.46822 135.96822 142.96822 149.96822 153.86022 157.36022 164.36022 171.36022 175.25222 182.25222 185.75222 189.64421 196.64421 200.14421 204.80622 211.02222 215.68422 220.34622 226.56223 232.00823 239.00823 242.50823 246.40023 253.40023 259.6162 263.1162 273.2242 279.44023 283.3322 289.54823 296.54823 303.54823 310.54823 317.54823 321.04823 331.15623 335.04823 338.94023 345.94023 349.8322 356.8322 360.3322 364.2242 371.2242 377.44023 380.94023 391.04823 397.26423 401.15623 407.37223 414.37223 421.37223 428.37223 435.37223 438.87223 442.76423 446.65623 457.54823 463.76423 468.4262 470.9462">&#x2022;You must take care not only to refresh the watchdog within the watchdog timer's</tspan><tspan y="486.65" x="23.996191 30.212193 36.428194 40.320196 47.320196 53.536195 57.428197 60.928197 64.8202 68.7122 79.604198 85.8202 90.4822 97.4822 104.4822 108.3742 111.8742 118.8742 125.0902 129.7522 133.6442 140.6442 147.6442 151.1442 154.6442 161.6442 168.6442 172.5362 176.0362 182.2522 186.1442 191.5902 198.5902 202.0902 209.0902 213.7522 220.7522 227.7522 231.6442 238.6442 244.8602 248.3602 254.5762 261.5762 268.5762 275.5762 282.5762 289.5762 293.0762 299.2922 303.1842 307.0762 314.0762 324.1842 330.4002 337.4002 343.6162 349.8322 353.3322 357.9942 364.9942 369.6562 373.1562 377.0482 384.0482 390.2642 393.7642 397.6562 401.5482 412.4402 418.6562 422.1562 426.0482 429.9402 433.4402 437.33219 443.5482 450.5482 456.7642 462.2102 465.7102 470.3722 477.3722 482.03419 485.53419 489.42619 496.42619">actual time-out period, but also provide enough allowance for the time it takes for the</tspan><tspan y="502.65" x="23.996191 28.658192 34.87419 39.53619 44.19819 50.41419 55.860189 62.860189 66.36018 71.80618 78.02219 85.02219 92.02219 98.23819 105.23819 111.45419 117.6702 121.1702 125.062198 132.0622 135.5622 142.5622 148.7782 152.2782 159.2782 165.4942 169.3862 175.6022 181.8182 185.7102 191.92621 198.92621 202.42621 209.42621 216.42621 219.92621 223.8182 230.8182 237.03421 240.53421 250.64221 256.85823 260.7502 266.96623 273.96623 280.96623 287.96623 294.96623 298.46623 302.35823 306.2502 317.1422 323.35823 328.0202 331.5202 335.0202 342.0202 349.0202 352.5202 356.4122 363.4122 369.6282 373.1282 383.2362 389.4522 393.3442 399.5602 406.5602 413.5602 420.5602 427.5602 431.0602 437.2762 441.1682 448.1682 454.38423 461.38423">refresh sequence to be detected by the watchdog timer, on the watchdog clock.</tspan><tspan y="527.05" x="13.104201 23.996203 34.104204 41.104204 48.104204 54.3202 58.212205 64.42821 69.87421 73.37421 79.59021 85.80621 92.80621 99.80621 106.80621 110.69821 114.19821 121.19821 127.414218 130.91422 141.80622 148.02222 155.02222 161.23822 164.73822 168.63022 175.63022 179.13022 183.02222 190.02222 196.23822 199.73822 206.73822 213.73822 219.18422 222.68422 228.90023 232.79222 239.79222 246.00823 253.00823 256.50825 262.72425 269.72425 275.94026 279.83226 286.04826 289.54826 293.44026 304.33226 315.22425 321.44026 328.44026 332.33226 338.54826 342.44026 348.65626 352.54826 359.54826 363.04826 367.71025 374.71025 378.60224 382.49424 389.49424 399.60224 403.49424 410.49424 417.49424 420.99424 424.88624 431.88624 438.10224 441.60224 451.71025 456.37223 460.26423 464.15623 470.37223 473.87223 480.87223">&#x2022;Updates cannot be made in the bus clock cycle immediately following the write of</tspan><tspan y="543.05" x="23.996191 27.888192 34.88819 41.10419 44.60419 51.60419 58.60419 62.496194 69.49619 75.7122 82.7122 86.2122 91.658199 97.8742 104.8742 111.8742 118.0902 125.0902 131.3062 137.5222 141.0222 144.5222 151.5222 158.5222 162.4142 165.9142 172.9142 179.9142 186.1302 189.6302 196.6302 203.6302 209.0762 212.5762 218.7922 222.6842 229.6842 235.9002 242.9002 246.4002 252.61621 259.6162 265.8322 269.7242 275.94023 279.44023 283.3322 289.54823 293.44023 299.65623 304.3182">the unlock sequence, but one bus clock cycle later.</tspan><tspan y="567.45" x="13.104201 23.996203 28.658204 32.550207 36.050207 41.496206 48.496206 55.496206 62.496206 66.38821 73.38821 76.88821 83.88821 90.10421 93.60421 99.82021 106.82021 112.26621 119.26621 123.928218 130.14421 137.14421 140.64421 144.53621 151.53621 157.75222 161.64421 165.14421 169.03621 176.03621 182.25222 185.75222 189.64421 193.53621 204.4282 210.64421 215.30622 222.30622 229.30622 233.19821 236.69821 243.69821 249.91422 253.80622 260.8062 267.02223 270.52223 275.1842 282.1842 286.8462 290.3462 294.2382 301.2382 307.4542 310.9542 321.0622 327.2782 331.1702 337.3862 344.3862 351.3862 358.3862 365.3862 368.8862 372.7782 378.2242 381.7242 387.94023 391.8322 401.94023 408.15623 415.15623 420.60224 424.10224 431.10224 435.76423 441.98023 448.19624 452.08824 458.30424 462.96623 466.46623 470.35823 477.35823 483.57423">&#x2022;It should be ensured that the time-out value for the watchdog is always greater than</tspan><tspan y="583.45" x="23.996243 30.996243 37.996244 51.212244 60.550245 69.10424 72.60424 76.49624 80.38824 91.280239 97.49624 100.99624 108.89224 112.39224 119.39224 126.39224 129.89225 136.89225 143.89225 149.33824 152.83824 159.05425 162.94625 169.94625 176.16225 183.16225 186.66225 192.87825 199.87825 206.09426 209.98625 216.20226 221.64826">2xWCT time + 20 bus clock cycles.</tspan><tspan y="607.85006" x="13.104242 23.996243 34.104246 41.104246 44.604246 50.820245 54.712247 58.604249 64.82025 75.71225 82.71225 86.60425 92.82025 99.82025 103.32025 107.982257 114.19826 118.86026 123.52226 129.73827 135.18427 142.18427 145.68427 152.68427 159.68427 165.90027 170.56227 176.77828 180.67028 184.56227 191.56227 198.56227 202.06227 205.56227 209.45427 216.45427 219.95427 226.95427 233.17028 237.06227 247.17028 253.38628 259.60227 266.60227 270.10227 273.99427 280.99427 287.21028 290.71028 294.60227 304.71028 311.71028 315.21028 325.31828 329.98027 333.87226 337.76426 343.98027 349.42628 352.92628 359.92628 364.58827 368.08827 371.98027 378.98027 385.19627 388.69627 395.69627 402.69627 406.58827 413.58827 419.80427 426.80427 430.30427 435.75028 441.96629 448.96629 455.96629 462.18229 469.18229 475.3983">&#x2022;An attempted refresh operation, in between the two writes of the unlock sequence</tspan><tspan y="623.85006" x="23.996273 30.212273 37.212274 44.212274 47.712274 51.604276 58.604276 62.104276 65.99628 72.99628 79.21228 82.71228 95.92828 105.26628 113.82028 117.32028 121.21228 125.10428 135.99628 142.21228 145.71228 150.37429 157.37429 161.26628 165.15828 172.15828 182.26628 186.15828 193.15828 200.15828 203.65828 209.87429 213.37429 218.82028 225.82028 232.03629 238.25229 244.46829 249.91429 255.36029 260.02229 267.02229 270.91429 274.41429 281.41429 288.41429 292.30628 299.30628 305.52229 312.52229 316.02229 319.52229 329.63029 333.52229 337.41429 341.30628 344.80628 351.80628 358.80628 362.30628 369.30628 376.30628 383.30628 389.52229 393.41429 399.63029 405.84629 409.73829 415.95429 422.95429">and in the WCT time following a successful unlock, will go undetected.</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="25.87323" x="0 6.4980008 11.502001 16.506 19.503 23.004 25.506 30.510003 33.507005 36.009004 41.508005 47.007005 52.011007 54.513006 60.012006 65.511 68.013 75.015 80.019 83.016 88.02 93.519 99.018 104.517 110.016 112.518 118.017 123.516 128.52 132.02101 137.02501 140.022 142.524 148.023">Restrictions on watchdog operation</tspan></text>
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