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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

117 lines
36 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 8.554 15.554 19.446002 24.892003 28.392003 34.608 38.500005 45.500005 51.716005 58.716005 62.216005 66.108 71.554 75.054 80.5 87.5 94.5 100.716 107.716 112.378009 119.378009 126.378009 130.27 136.48601 142.70201 149.70201 153.20201 157.09401 164.09401 167.59401 171.48601 178.48601 184.70201 188.20201 195.20201 201.41802 206.08002 209.97202 216.97202 223.97202 230.18802 234.85002 241.06603 244.95803 248.45803 255.45803 262.458 267.90403 271.40403 277.62004 281.51203 288.51203 294.72804 301.72804 305.22804 311.44404 318.44404 325.44404 328.94404 332.83604 338.28205 341.78205 348.78205 354.99806 358.89006 362.78205 369.78205 373.28205 380.28205 387.28205 391.17405 398.17405 401.67405 411.78205 418.78205 424.99806 431.99806 435.49806 439.39006 443.28205">This clock is synchronized to the peripheral bus clock and is valid only when its</tspan><tspan y="27.85" x="0 4.662 9.324 15.540001 22.54 29.54 35.756 42.756 48.972 55.972 59.472 63.364004 68.810009 72.310009 79.310009 86.310009 90.202 93.702 104.594 111.594 116.256008 122.47201 125.97201 129.86402 136.86402 143.08002 150.08002 153.58002 160.58002 164.47202 171.47202 174.97202 181.97202 186.63402 190.13402 194.02602 201.02602 207.24202 210.74202 223.18802 232.52602 242.63402 252.74202 262.85 271.404 280.742 289.296 299.404 302.904 307.56599 312.22798 318.44398 325.44398 332.44398 338.65998 345.65998 351.87599 358.87599 362.37599 365.87599 379.09199 386.09199 392.30799 399.30799 402.80799 406.69999 410.59199 414.09199 417.98399 423.43 426.93 433.93 440.93 444.822 448.322 455.322 461.538 465.43 469.322 476.322 479.822 483.322 487.214 491.106 494.606 498.498">frequency is not more than 1/8 of the MCGOUTCLK frequency. When it is not valid, it is</tspan><tspan y="43.85" x="0 7 10.892 16.338002 22.554 29.554 33.446004 39.662004 46.662004 50.162004 56.378004 63.378004 70.378009 73.878009 80.878009 87.09401 90.98601 97.98601 101.48601 108.48601 112.378009 119.378009 126.378009 129.878 133.378 141.932 148.932 155.14801 158.64801 171.09401 180.432 190.54001 198.324 206.108 215.446 224 234.108 237.608 241.5 246.946 250.446 257.44599 264.44599 268.33799 271.83799 278.054 285.054 291.27 295.162 299.054 305.27 312.27 316.162 322.378 325.878 335.986 342.986 349.202 356.202 359.702 363.594 370.594 376.81 380.31 392.756 402.09403 412.20204 415.70204 419.59403 425.04005 428.54005 432.43205 439.43205 442.93205 452.27006 460.82405 468.60804">disabled and held high. The MCGFFCLK is not available when the MCG is in BLPI</tspan><tspan y="59.85" x="0 10.892001 17.892003 24.892003 31.108002 34.608 38.108 46.662004 53.662004 57.554006 63.000005 66.5 72.716 76.608 83.608 89.824008 96.824008 100.324008 104.216 109.662 113.162 119.378009 123.270008 128.716 135.716 139.216 146.216 150.108 155.554 161.77 168.77 172.662 178.878 185.878 189.378 193.27 200.27 203.77 211.554 215.446 222.446 229.446 232.946 243.838 250.838 257.838 264.05403 267.55403 271.05403 279.608 286.608 292.824 296.324 304.108 312.662 321.21598 324.71598 329.37797 335.59397 340.25596 346.47196 351.13395 357.34996 364.34996 370.56596 376.78196 380.28196 386.49797 390.38996 397.38996 403.60597 410.60597 414.10597 424.99797 431.99797 437.44398 441.33598 444.83598 451.83598 458.05198 461.55198 466.998 473.214">mode. This clock is also disabled in Stop mode. The FLL reference clock must be set</tspan><tspan y="75.85" x="0 10.108001 14.000001 17.892003 24.892003 28.784003 35.784006 39.284006 43.176008 50.176008 56.392007 59.892007 66.892009 73.10801 77.00001 80.892009 87.892009 91.392009 96.05401 100.71601 106.932018 113.932018 120.932018 127.14802 134.14801 140.36402 147.36402 150.86402 155.52602 161.74202 168.74202 175.74202 181.95803 185.45803 190.12003 197.12003 201.78203 205.28203 209.17403 216.17403 222.39003 225.89003 238.33603 247.67403 257.782 265.566 273.35 282.68803 291.242 301.35">within the valid frequency range for the MCGFFCLK.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 170.4)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.15625" x=".002 8.898001 17.794003 22.242003 31.138005 35.586008">25.4.6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 170.4)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.15625" x=".002 13.330001 24.882002 37.33 41.778005 52.450006 62.226007 72.00201 76.450008 85.34601 89.79401 99.57001 108.46601">MCG PLL clock</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 53.999994)" font-size="14" font-family="TimesLTStd"><tspan y="152.65" x="0 8.554 15.554 21.77 25.27 37.716005 47.054006 57.162008 60.662008 68.44601 77.00001 85.55401 89.05401 98.39201 102.28401 109.28401 115.500019 122.500019 126.000019 130.66202 143.10802 152.44602 162.55402 170.33802 178.89202 187.44602 196.78401 205.33802 215.44602 220.10802 223.60802 227.50002 232.94602 236.44602 242.66202 249.66202 255.87802 259.77003 263.66203 269.87803 276.87803 280.77003 286.98603 290.48603 297.48603 303.70204 310.70204 316.91804 323.91804 330.91804 334.81004 341.81004 348.81004 352.31004 359.31004 366.31004 369.81004 373.70204 380.70204 386.91804 390.41804 397.41804 403.63404 410.63404 414.52604 420.74205 426.95805 429.47804">The MCG PLL Clock (MCGPLLCLK) is available depending on the device's</tspan><tspan y="168.65" x=".00003 6.2160308 13.21603 20.21603 24.87803 28.770031 35.77003 42.77003 47.43203 53.64803 57.54003 61.432035 68.43204 75.43204 78.93204 85.93204 90.59404 94.09404 97.98604 104.98604 111.20204 114.70204 127.14804 136.48604 146.59404 150.09404 160.98604 167.98604 174.98604 181.98604 185.87804 192.09404 195.59404 199.09404 206.87804 213.87804 218.54004 222.04004 232.93204 239.93204 244.59404 250.81005 254.31005 261.31007 267.52607 271.41807 277.63407 281.52607 285.41807 290.86408 294.36408 297.86408 303.3101 309.5261 315.7421 319.2421 323.1341 330.1341 336.3501 339.8501 346.0661 349.9581 356.9581 363.1741 370.1741 373.6741 380.6741 384.5661 390.01213 393.9041 398.5661 402.4581 409.4581 416.4581 420.3501 424.2421 431.2421 438.2421 441.7421 447.9581 454.9581 461.1741 468.1741 472.0661 478.2821 482.9441 486.4441 493.4441">configuration of the MCG module. For more details, see the clock distribution chapter of</tspan><tspan y="184.65" x=".00006 3.8920606 10.89206 14.7840609 20.23006 23.73006 36.176065 45.514066 55.622068 59.122068 62.622068 71.17606 78.17606 84.39207 87.89207 100.338069 109.67607 119.78407 127.56808 136.12207 144.67607 154.01407 162.56807 172.67607 176.17607 180.06807 185.51407 189.01407 196.01407 200.67607 206.89208 213.89208 220.10808 227.10808 231.00008 237.21608 244.21608 247.71608 252.37808 257.04008 264.04008 274.93208 278.43208 284.64808 291.64808 302.54008 306.43208 313.43208 320.43208 323.93208 330.93208 337.93208 341.82408 345.32408 352.32408 356.98606 360.48606 364.37806 371.37806 377.59407 381.09407 393.54008 402.87809 412.98609 416.48609 423.48609 430.48609 434.37809 438.27009 442.16209 445.66209 449.55409 453.44609 456.94609 460.83808">this MCU. The MCGPLLCLK is prevented from coming out of the MCG until it is</tspan><tspan y="200.65" x=".00006 6.2160608 13.216061 19.43206 26.43206 30.32406 36.540063 43.540063 47.040063 53.25606 60.25606 67.25606 70.75606 78.54006 83.202068 91.756069 101.86407 111.20207 121.310077 128.31008 132.97208 136.47208 140.36408 145.81008 149.31008 154.75608 160.97208 164.86408">enabled and S[LOCK0] is set.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 295.19999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.15625" x="-.00394 8.892061 17.788064 22.236063 31.132065 35.580068">25.4.7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 295.19999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.15625" x="-.00394 13.324061 24.876063 37.324064 41.772066 53.324068 63.100069 68.42807 78.20407 82.65207 92.42807 103.98007 108.42807 121.75607 126.20407 131.53208 143.08408 152.86008 166.18808">MCG Auto TRIM (ATM)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="277.44999" x=".00208 8.55608 15.55608 21.77208 25.27208 37.71808 47.05608 57.16408 60.66408 70.77208 77.77208 81.66408 88.66408 92.16408 100.71808 105.38008 109.27208 120.16408 123.66408 128.32608 138.43408 146.98809 159.43408 164.09609 167.59609 171.48809 176.93408 180.43408 186.65009 190.15009 202.59609 211.93408 222.04209 225.54209 230.20409 236.42009 242.6361 246.52809 253.52809 258.1901 264.4061 267.9061 271.7981 278.7981 285.0141 288.9061 292.4061 302.5141 309.5141 315.7301 322.7301 326.2301 332.4461 339.4461 345.6621 352.6621 356.5541 362.7701 369.7701 373.2701 376.7701 380.6621 384.5541 388.0541 394.2701 401.2701 408.2701 412.9321 416.8241 423.8241 430.8241 435.48609 441.7021 447.1481 450.6481 454.5401 461.5401 467.7561 471.2561 483.70213 493.04014">The MCG Auto Trim (ATM) is a MCG feature that when enabled, it configures the MCG</tspan><tspan y="293.44999" x=".00208 7.00208 13.2180809 17.880082 24.880082 34.988084 41.204084 45.86608 52.08208 55.58208 59.474084 66.47408 69.97408 76.19009 83.19009 87.082088 94.082088 104.97408 111.19009 115.082088 118.97408 125.19009 131.40608 135.29808 139.19008 146.19008 149.69008 153.58208 158.24408 162.13608 173.02808 176.52808 180.42008 187.42008 193.63608 197.13608 209.58208 218.92008 229.02808 232.52808 237.19008 244.19008 248.08208 254.29808 258.96009 265.96009 272.1761 276.06809 279.56809 288.9061 295.1221 299.7841 306.0001 310.66209 316.87809 323.87809 330.0941 336.3101 339.8101 349.1481 353.0401 360.0401 366.2561 373.2561 378.70213 382.20213 389.20213 394.64814 398.54014 405.54014 412.54014 416.04014 422.25614 429.25614 432.75614 438.97215 445.97215 449.86415 456.08015 460.74214 467.74214 473.95814">hardware to automatically trim the MCG Internal Reference Clocks using an external</tspan><tspan y="309.44999" x=".00208 6.2180807 10.110081 17.11008 23.32608 30.32608 33.82608 40.04208 45.48808 48.98808 55.20408 58.70408 63.366079 69.58208 74.24408 80.46008 85.122089 91.33809 98.33809 104.55409 110.770099 114.270099 117.770099 126.3241 133.3241 139.5401 143.0401 148.4861 154.7021 158.5941 164.8101 171.02611 174.9181 178.8101 185.8101 192.8101 196.3101 203.3101 209.52611 213.4181 223.52611 229.74211 235.95812 242.95812 246.45812 256.5661 263.5661 267.4581 273.6741 280.6741 284.1741 296.62013 305.95814 316.06614 319.56614 324.22813 333.56614 342.90415 346.40415 352.62016 356.51216 363.51216 369.72816 376.72816 380.22816 387.22816 393.44416 397.33616 402.78218 406.28218 410.17417 416.39018 421.83619 425.72819 431.94419 438.94419 442.44419 448.6602 455.6602">clock as a reference. The selection between which MCG IRC clock gets tested and</tspan><tspan y="325.44999" x=".00208 6.2180807 13.2180809 19.434082 26.434082 30.326083 36.542085 43.542085 47.042085 50.934087 56.380086 59.880086 66.096088 73.096088 80.096088 83.98808 88.650089 95.650089 99.54208 103.43408 109.650089 116.650089 120.150089 127.150089 134.15009 137.65009 141.54209 148.54209 154.75809 158.25809 168.36609 176.92009 186.25809 190.92009 201.02809 209.58209 222.02809 229.81209 234.47409 237.97409 244.1901 251.1901 258.1901 262.0821 266.74409 273.74409 277.63609 281.13609 288.13609 292.02809 295.92008 299.42008 304.08207 314.19007 322.74406 332.08207 336.74406 346.85206 355.40605 367.85206 375.63606 380.29804 388.19404 395.19404 398.69404 404.14006 410.35606 414.24806 420.46406 426.68006 430.57206 436.01808 439.51808 443.41007 450.41007 456.62608 460.12608 467.12608 474.12608 477.62608 484.62608 494.73408">enabled is controlled by the ATC[ATMS] control bit (ATC[ATMS]=0 selects the 32 kHz</tspan><tspan y="341.44999" x=".00208 4.66408 14.002081 23.340083 26.840083 33.056085 40.056085 47.056085 50.556085 60.664087 69.21809 78.55609 83.218097 93.326099 101.8801 114.326099 122.1101 126.7721 134.6681 141.6681 145.1681 150.6141 156.83011 160.7221 166.93811 173.15412 177.04611 182.49211 185.99211 189.88411 196.88411 203.10012 206.60012 213.60012 217.10012 229.54611 239.65412 245.87012 249.37012 254.03212 263.37013 272.70814 277.37013 280.87013 284.37013 289.0321 293.6941 297.1941 304.1941 307.6941 320.1401 330.2481 336.4641 339.9641 344.6261 353.9641 363.30213 366.80213 370.69413 376.14015 379.64015 385.08616 391.30216 395.19416 401.41017 407.62617 411.51817 417.73417 424.73417 428.23417 432.89616 439.89616 444.55815 448.05815 451.95014 458.95014 465.16615 468.66615 478.77415 487.32814 499.77415">IRC and ATC[ATMS]=1 selects the 4 MHz IRC). If 4 MHz IRC is selected for the ATM,</tspan><tspan y="357.44999" x=".00208 6.2180807 9.7180809 16.71808 20.61008 27.61008 31.50208 38.502084 44.718084 48.218084 55.218084 62.218084 65.71808 72.71808 79.71808 86.71808 90.21808 94.11008 99.556079 103.056079 109.27208 116.27208 122.48808 129.48809 133.38008 139.59609 146.59609 150.09609 153.98809 160.98809 164.48809 171.48809 175.38008 182.38008 186.27208 193.27208 199.48809 202.98809 209.98809 216.98809 227.09609 234.09609 237.59609 241.48809 248.48809 254.70409 258.2041 265.2041 268.7041 281.15013 291.25813 297.47413 300.97413 305.6361 314.97413 324.31214 327.81214 331.70414 338.70414 342.20414 348.42015 351.92015 356.58213 362.79814 369.79814 376.79814 383.01414 386.51414 393.51414 398.17613 401.67613 408.67613 415.67613 419.17613 426.17613 433.17613 440.17613 443.67613 450.67613 460.78413 467.00013">a divide by 128 is enabled to divide down the 4 MHz IRC to a range of 31.250 kHz.</tspan><tspan y="381.84999" x=".00208 13.2180809 20.21808 26.434082 33.434083 36.934083 49.38008 58.718084 68.82608 72.32608 82.43408 90.98808 103.43408 106.93408 110.82608 116.27208 119.77208 125.98808 132.98809 139.20409 146.20409 150.09609 156.31209 163.31209 166.81209 173.81209 180.81209 184.31209 194.42009 199.08209 202.97409 206.86609 210.75809 217.75809 224.75809 228.25809 238.36609 246.92009 256.2581 260.92008 271.02809 279.58207 292.02809 300.58207 305.24406 308.74406 315.74406 319.63606 323.52806 327.02806 330.92005 337.92005 341.42005 348.42005 351.92005 355.42005 363.97404 370.97404 377.19004 380.69004 390.79804 399.35203 411.79804 415.29804 426.19004 432.40605 438.62205 445.62205 449.51405 456.51405 462.73005 466.23005 476.33805 480.23005 484.12205">When MCG ATM is enabled by writing ATC[ATME] bit to 1, The ATM machine will</tspan><tspan y="397.84999" x=".00208 5.4480807 9.340081 15.556082 20.218083 24.110083 27.610083 33.826086 40.826086 44.718088 51.718088 55.218088 59.11009 63.772089 67.664089 78.55608 89.44808 93.34008 100.34008 107.34008 110.84008 114.73208 121.73208 127.94808 131.44809 136.89409 143.11009 147.00209 153.2181 159.4341 163.3261 169.5421 176.5421 180.0421 184.7041 194.0421 203.3801 206.8801 213.0961 216.9881 223.9881 230.2041 237.2041 240.7041 244.2041 254.3121 261.3121 265.9741 269.8661 276.8661 283.8661 287.3661 291.2581 298.2581 304.4741 307.9741 314.1901 321.1901 325.0821 332.0821 335.9741 340.63609 344.52809 355.42008 358.92008 365.92008 370.58207 377.58207 383.79808 390.01408 395.46009 400.9061 404.4061 407.9061 418.0141 426.56809 435.9061 440.56809 450.6761 459.23008 471.6761 480.23008">start auto trimming the selected IRC clock. During the autotrim process, ATC[ATME]</tspan><tspan y="413.84999" x=".00208 10.110081 14.002081 17.894082 21.786082 25.286082 29.948082 36.16408 47.056085 53.272085 57.164087 64.164089 67.664089 73.88009 79.32609 84.77209 90.98809 95.65009 99.54209 105.758098 112.758098 116.258098 122.4741 129.47409 136.47409 139.97409 150.08209 153.97409 157.86609 161.75809 165.25809 172.25809 178.47409 184.6901 190.1361 195.58209 201.7981 206.4601 210.3521 213.8521 220.0681 224.7301 228.6221 234.8381 239.5001 243.0001 253.10811 261.6621 274.10813 277.60813 281.50013 286.94615 290.44615 296.66215 303.66215 314.55415 321.55415 325.44615 331.66215 335.55415 341.77015 348.77015 352.27015 359.27015 363.93214 367.43214 373.64814 380.64814 384.14814 390.36415 397.36415 404.36415 409.02613 412.91813 416.41813 423.41813 429.63414 435.85014 442.85014 447.51213 452.95814 456.45814 459.95814 468.51213 475.51213">will remain asserted and will deassert after ATM is completed or an abort occurs. The</tspan><tspan y="429.84999" x=".00208 12.448081 21.786084 31.894085 35.394086 45.502088 54.056089 66.50209 70.00209 73.89409 79.34009 82.84009 89.05609 96.05609 103.05609 107.718097 111.61009 117.826099 124.826099 128.3261 132.2181 136.8801 140.3801 146.5961 150.0961 160.2041 164.8661 168.7581 172.6501 178.8661 182.3661 186.2581 193.2581 196.7581 202.9741 209.9741 216.9741 220.4741 227.4741 232.13611 235.63611 239.5281 246.5281 252.74411 256.2441 260.9061 267.9061 271.7981 275.6901 282.6901 292.7981 296.6901 303.6901 310.6901 314.1901 320.4061 327.4061 334.4061 338.2981 342.96009 349.96009 353.85209 357.35209 362.01408 368.23008 375.23008 379.12208 384.56809 388.46009 394.6761 399.33808 404.7841 408.2841 412.1761 417.6221 421.1221 428.1221 434.3381 438.2301 444.4461 450.6621 454.5541 460.7701 467.7701 471.2701 475.1621 478.6621 488.00013 495.00013">MCG ATM is aborted if a write to any of the following control registers is detected : C1,</tspan><tspan y="445.84999" x=".00208 9.340081 16.34008 19.84008 23.34008 32.67808 39.67808 43.17808 46.67808 53.67808 58.34008 61.84008 71.94808 80.50208 89.84009 93.34009 100.34009 105.00209 108.50209 112.39409 117.05609 120.55609 128.34009 132.23209 139.23209 146.23209 149.73209 160.62409 167.62409 174.62409 180.84009 184.34009 188.23209 193.67809 197.17809 203.39409 210.39409 214.28609 220.50209 225.1641 231.3801 238.3801 241.8801 245.3801 250.0421 254.7041 258.2041 264.4201 271.4201 274.9201 281.1361 288.1361 295.1361 299.7981 303.6901 307.1901 314.1901 320.4061 326.6221 333.6221 338.2841 343.7301 347.2301 350.7301 360.8381 369.3921 378.7301 383.3921 393.5001 402.05409 414.5001 422.2841 426.94609 430.44609 435.10807 441.32408 445.21607 449.10807 452.60807 457.27006 461.16206 467.37806 474.37806 477.87806 481.77006">C3, C4, or ATC or if Stop mode is entered. If an abort occurs, ATC[ATMF] fail flag is</tspan><tspan y="461.84999" x=".00208 6.2180807 11.664082 17.110083 23.326085 27.988085 31.880085 38.096086 45.096086">asserted.</tspan><tspan y="486.24998" x=".00208 8.55608 15.55608 21.77208 25.27208 35.38008 43.934083 56.38008 59.88008 70.77208 76.98808 83.20409 90.20409 94.096088 101.096088 107.31209 110.81209 117.81209 123.25809 129.47409 134.92009 138.42009 142.31209 149.31209 155.52809 159.02809 166.02809 173.02809 178.47409 181.97409 188.1901 192.08209 199.08209 205.2981 212.2981 215.7981 222.0141 227.4601 230.9601 234.8521 241.8521 248.0681 251.5681 257.7841 264.7841 268.6761 274.8921 279.55409 286.55409 292.77009 296.66209 300.16209 304.82408 311.04008 315.70207 321.91807 326.58006 332.79606 339.79606 346.01206 352.22807 355.72807 361.94407 365.83607 372.83607 379.05207 386.05207 389.55207 393.44407 400.44407 403.94407 410.94407 417.16007 421.82206 426.48405 433.48405 438.14604 449.03804 452.53804 456.43003 463.43003 469.64604 473.14604 477.808 487.14604">The ATM machine uses the bus clock as the external reference clock to perform the IRC</tspan><tspan y="502.24998" x=".00208 6.2180807 13.2180809 17.11008 24.11008 28.772082 32.66408 37.32608 41.218084 52.110086 55.610086 59.110086 67.664089 74.664089 80.88009 85.54209 91.758098 96.4201 103.4201 108.0821 114.2981 117.7981 121.2981 125.1901 129.0821 132.5821 136.4741 141.9201 145.4201 150.0821 156.29811 163.29811 170.29811 174.19011 178.85211 185.06812 192.06812 195.56812 199.46012 206.46012 212.67612 216.56812 220.06812 223.96012 230.96012 237.17612 240.67612 253.12212 262.4601 272.5681 276.0681 279.9601 285.40614 288.90614 295.12214 302.12214 309.12214 313.78413 317.67613 324.67613 331.67613 336.3381 342.5541 349.5541 353.0541 356.9461 363.9461 367.4461 373.6621 377.1621 383.3781 387.2701 394.2701 400.4861 407.4861 410.9861 421.8781 428.8781 435.8781 442.09413 445.59413 455.70213 462.70213 468.91813 473.5801 479.7961 483.2961 487.1881 494.1881">auto-trim. Therefore, it is required that the MCG is configured in a clock mode where the</tspan><tspan y="518.24996" x=".00208 4.66408 10.880081 15.542082 21.758084 26.420084 32.636087 39.636087 45.852087 52.068086 55.568086 61.784086 65.67609 72.67609 78.89209 85.89209 89.39209 96.39209 101.83809 108.05409 115.05409 118.55409 122.44609 129.44609 132.94609 139.94609 146.1621 153.1621 159.3781 164.0401 170.2561 174.1481 180.3641 183.8641 187.7561 194.7561 200.9721 204.4721 209.9181 216.9181 222.3641 226.2561 232.4721 243.3641 246.8641 253.08011 256.9721 263.9721 270.1881 277.1881 280.6881 284.5801 290.02613 293.52613 297.41813 304.41813 310.63414 314.13414 320.35014 327.35014 331.24214 337.45814 342.12013 349.12013 355.33613 359.22813 362.72813 367.3901 373.6061 378.2681 384.4841 389.1461 395.3621 402.3621 408.5781 414.7941 418.2941 424.5101 428.4021 435.4021 441.6181 448.6181 452.1181 457.56413 464.56413 470.78013 477.78013 481.28013 487.49613">reference clock used to generate the system clock is the external reference clock such as</tspan><tspan y="534.24996" x=".00208 7.786081 17.124083 25.678082 29.178082 35.39408 39.286085 46.286085 52.502084 59.502084 63.002084 73.89408 80.89408 87.89408 94.110088 97.610088 101.110088 109.664089 116.664089 122.88009 126.38009 138.8261 148.1641 158.2721 161.7721 172.6641 179.6641 185.11009 189.00209 192.50209 199.50209 206.50209 210.39409 213.89409 220.89409 227.11009 230.61009 236.8261 243.8261 250.8261 255.4881 259.3801 266.3801 273.3801 278.04209 284.2581 291.2581 294.7581 298.6501 305.6501 309.1501 315.3661 318.8661 325.0821 328.9741 335.9741 342.1901 349.1901 352.6901 363.5821 370.5821 377.5821 383.7981 387.2981 397.4061 404.4061 410.6221 415.2841 421.5001 425.0001 430.4461 436.6621 440.5541 446.7701 452.9861 456.8781 463.09413 470.09413 473.59413 478.2561 487.59413">FBE clock mode. The MCG must not be configured in a clock mode where selected IRC</tspan><tspan y="550.24996" x=".00208 10.110081 18.664082 31.110083 34.610086 40.826086 44.718088 51.718088 57.934087 64.93408 68.43408 72.32608 77.77208 81.27208 88.27208 93.71808 99.93408 106.93408 110.43408 114.32608 121.32608 124.82608 131.82608 138.04209 145.04209 151.25809 155.92009 162.1361 166.02809 172.2441 175.7441 179.6361 186.6361 192.8521 196.3521 201.7981 208.7981 214.2441 218.1361 224.3521 235.2441 238.7441 244.9601 248.8521 255.8521 262.06809 269.06809 272.56809 276.06809 284.62208 291.62208 297.83808 301.33808 308.33808 315.33808 320.7841 324.2841 330.5001 334.3921 341.3921 347.6081 354.6081 358.1081 362.0001 367.4461 370.9461 377.1621 381.0541 386.50013 393.50013 397.00013 401.6621 407.8781 414.8781 421.8781 425.7701 430.4321 436.6481 443.6481 447.1481 451.0401 458.0401 461.5401 468.5401">ATM clock is used to generate the system clock. The bus clock is also required to be</tspan><tspan y="566.24996" x=".00208 4.66408 11.66408 18.66408 25.66408 29.55608 36.55608 43.55608 47.05608 57.16408 61.056085 64.94808 71.94808 75.44808 79.34008 86.34008 89.84008 93.73208 100.73208 106.94808 110.44808 115.110088 121.32609 128.32608 135.32608 141.54209 145.04209 152.04209 156.70409 160.20409 167.20409 174.20409 181.20409 188.20409 191.70409 204.15009 214.25809 220.47409">running with in the range of 8&#x2013;16 MHz.</tspan><tspan y="590.64999" x=".00208 8.55608 15.55608 19.05608 26.05608 32.27208 36.93408 41.596078 48.596078 53.258077 64.15008 67.65008 71.542079 78.542079 84.75808 88.25808 98.36608 106.92008 119.36608 122.86608 129.86609 136.86609 140.36609 144.25809 151.25809 157.47409 160.97409 166.42009 172.6361 176.52809 182.7441 188.9601 192.8521 199.0681 206.0681 209.5681 214.2301 223.5681 232.9061 236.4061 239.9061 243.7981 250.7981 257.0141 260.5141 270.6221 279.1761 291.6221 295.1221 306.0141 312.2301 318.4461 325.4461 329.3381 336.3381 342.5541 346.0541 353.0541 358.50013 364.71614 370.16215 373.66215 377.55415 384.55415 390.77015 394.27015 399.71617 406.71617 412.93217 419.14817 425.36418 430.81019 436.2562 440.1482 447.1482">To perform the ATM on the selected IRC, the ATM machine uses the successive</tspan><tspan y="606.64999" x=".00208 6.2180807 13.2180809 20.21808 24.880082 31.880082 38.88008 42.772085 53.664087 59.880086 63.772089 67.664089 74.664089 81.664089 85.164089 89.05608 95.27209 101.48809 108.48809 115.48809 119.38009 126.38009 133.3801 139.5961 143.0961 146.9881 153.9881 157.4881 163.7041 170.7041 174.5961 181.5961 187.0421 190.9341 194.4341 198.3261 205.3261 211.5421 215.0421 219.7041 229.0421 238.3801 241.8801 245.7721 250.4341 254.3261 265.2181 268.7181 275.7181 279.6101 283.5021 288.94813 292.44813 296.34013 303.34013 306.84013 313.84013 320.05613 327.05613 333.27214 337.9341 344.15013 348.0421 354.25813 357.75813 361.65013 368.65013 374.86613 378.36613 385.36613 391.58213 397.02815 400.92015 405.58213 411.79814 418.79814 422.29814 426.9601 436.29814 445.63615 449.13615 453.02815 457.69013 461.58213 472.47413 483.36613 489.58213">approximation technique to adjust the IRC trim bits to generate the desired IRC trimmed</tspan><tspan y="622.64999" x=".00208 4.66408 9.32608 15.542081 22.54208 29.54208 35.75808 42.75808 48.97408 55.97408 59.47408 62.97408 71.528079 78.528079 84.74408 88.24408 98.35208 106.90608 119.35208 122.85208 130.63608 140.74408 150.08208 155.52808 159.02808 165.24408 171.46009 177.67609 184.67609 188.17609 195.17609 199.83809 203.33809 207.23009 214.23009 220.44609 223.94609 234.0541 242.6081 255.0541 258.55409 263.21607 272.55409 281.8921 285.3921 289.2841 293.94609 297.83808 308.73008 312.23008 319.23008 323.12208 327.01408 332.46009 335.96009 341.4061 345.2981 351.5141 356.1761 360.06809 363.96009 370.96009 377.96009 381.46009 391.56809 395.46009 399.35209 406.35209 409.85209 413.74409 420.74409 426.96009 430.46009 442.9061 450.6901 460.0281 463.5281 467.0281 474.8121 481.8121">frequency. The ATM SARs each of the ATM IRC trim bits starting with the MSB. For</tspan><tspan y="638.64999" x=".00208 6.2180807 12.434081 18.650082 25.650082 29.150082 33.042085 37.704084 41.596086 52.488088 55.988088 62.988088 66.88009 70.77209 74.27209 78.164089 84.38009 89.82609 93.71809 97.21809 100.71809 104.610088 111.610088 117.82609 121.32609 131.43408 139.98809 152.43408 155.93408 162.93408 168.38008 174.59609 180.04209 183.54209 189.75809 193.25809 200.25809 207.25809 211.15009 216.59609 222.81209 226.31209 230.20409 237.20409 243.42009 247.31209 250.81209 254.70409 260.1501 263.6501 270.6501 276.8661 283.8661 290.0821 294.74409 300.96009 304.85209 311.06809 318.06809 321.56809 328.56809 335.56809 339.06809 342.96009 349.96009 356.1761 359.6761 369.7841 378.33808 390.7841 394.2841 399.7301 405.9461 409.8381 416.0541 422.2701 426.1621 432.3781 439.3781 442.8781 447.5401 456.8781 466.21614 469.71614 475.93214 479.82414 486.82414 493.04014">each trim bit test, the ATM uses a pulse that is generated by the ATM selected IRC clock</tspan><tspan y="654.64999" x=".00208 3.8940805 10.89408 14.39408 20.61008 27.61008 33.82608 40.82608 44.718084 50.934083 54.434083 60.65008 64.150089 70.36609 77.36609 84.36609 91.36609 95.25809 101.47409 106.13609 109.63609 113.52809 120.52809 126.744098 130.6361 134.1361 140.3521 147.3521 154.3521 161.3521 165.2441 170.6901 174.1901 181.1901 188.1901 199.08209 206.08209 212.2981 216.9601 220.4601 227.4601 232.1221 235.6221 245.7301 254.2841 266.7301 270.2301 276.4461 283.4461 287.3381 293.5541 298.2161 305.2161 311.4321 315.3241 318.8241 325.0401 328.9321 335.9321 342.1481 349.1481 354.59413 358.09413 361.59413 371.70213 375.59413 379.09413 385.31013 392.31013 399.31013 402.81013 409.81013 414.4721 417.9721 424.1881 430.4041 436.62013 443.62013 447.12013 451.01213 455.6741 459.5661 470.4581 473.9581 480.9581 484.8501 488.7421">to enable a counter that counts number of ATM external clocks. At end of each trim bit,</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="296.469 302.96699 308.46598 313.46998 318.96897 321.96598 326.96998 330.47099 332.973 337.977 342.981 345.483 352.98 358.479 360.98103 363.97804 366.48005 371.97904 377.47804 380.97904 386.47804 391.97703 396.98103 401.98503 404.48704 410.98503 413.48704 418.98603 423.99003 428.99403 431.49604 438.49806 443.50205 449.00105 454.00505 457.50605 462.51005 465.50706 471.00605 474.50706 477.00907 480.00608 487.50309 494.00108 501.00309">Chapter 25 Multipurpose Clock Generator (MCG)</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">589</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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