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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

162 lines
69 KiB (Stored with Git LFS)
XML
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 10.892 17.108002 20.608002 30.716004 39.270006 51.716005 55.216005 61.432004 68.43201 72.324008 78.54001 83.20201 90.20201 96.418018 100.31001 103.81001 110.02602 117.02602 124.02602 131.02602 134.91802 141.13402 145.79602 149.29602 156.29602 162.51203 166.40402 173.40402 179.62003 183.12003 187.01203 192.45803 195.95803 202.17403 209.17403 220.06603 227.06603 233.28203 237.94403 244.16004 251.16004 254.66004 258.55204 265.55204 269.05204 272.94404 279.94404 286.16004 289.66004 299.76805 308.32203 317.66004 327.76805 332.43003 339.43003 346.43003 350.32203 357.32203 361.984 365.484 370.146 376.362 383.362 387.254 392.7 396.592 402.808 407.47 410.97 417.97 424.186 428.078 435.078 441.294 444.794 448.294 457.63203 463.84803 469.29405 475.51005 482.51005 486.01005 493.01005">the ATM external counter value is compared to the ATCV[15:0] register value. Based on</tspan><tspan y="27.85" x="0 3.8920005 10.892 17.108002 20.608002 26.824002 33.824 44.716005 51.716005 57.932004 62.594 66.486 71.932 78.932 85.932 89.432 94.094 100.310009 105.756008 112.756008 116.648 120.54 124.04 127.54 131.432 138.432 144.64801 148.14801 158.25601 166.81002 179.25601 182.75601 186.64801 191.31002 195.20201 206.09401 209.59401 216.59401 220.48601 224.378 227.878 234.878 241.878 248.878 255.09401 259.756 263.256 267.148 273.364 278.81004 282.70204 286.20204 296.31004 300.20204 304.09403 307.98603 311.48603 318.48603 324.70204 328.59403 332.09403 338.31004 342.20204 348.41804 354.63404 359.29603 365.51203 372.51203 376.01203 383.01203 387.674 391.174 396.62004 400.51203 406.72804 413.72804 417.22804 423.44404 428.89006 434.33607 440.55207 445.21406 449.10606 455.32206 462.32206 465.82206 469.32206 477.87605 484.87605 488.76805">the comparison result, the ATM trim bit under test will get cleared or stay asserted. This</tspan><tspan y="43.85" x="0 3.8920005 9.338001 12.838001 19.838002 26.838002 33.838 40.054 43.554 50.554 57.554 61.446004 65.338008 69.23 72.73 78.94601 82.838008 86.73 90.23 94.122 98.784008 102.676 113.568 117.068 124.068 127.96 131.852 137.298 140.798 147.798 154.014 161.014 167.23001 170.73001 177.73001 183.94602 190.16202 197.16202 200.66202 204.55402 210.77002 216.21602 220.10802 226.32402 233.32402 236.82402 243.82402 250.82402 254.32402 264.432 272.986 285.432 288.932 296.716 306.824 316.16203 319.66203 330.55403 336.77003 342.98603 349.98603 353.87803 360.87803 367.09403">is done until all trim bits have been tested by ATM SAR machine.</tspan><tspan y="68.25" x="0 9.338001 15.554002 20.216002 27.216002 31.878003 38.094 41.594 45.486005 52.486005 58.702005 62.202005 72.310009 80.864009 93.310009 96.810009 103.02601 109.24201 116.24201 119.74201 126.74201 132.95801 136.45801 142.67401 149.67401 155.89002 162.89002 166.78202 172.99802 179.99802 183.49802 186.99802 190.89002 197.89002 204.10602 207.60602 217.71402 226.26802 238.71402 242.21402 248.43003 255.43003 262.43003 268.64604 274.86204 278.75404 284.97004 291.97004 295.47004 301.68605 308.68605 315.68605 322.68605 326.57804 330.07804 337.07804 343.29405 349.51005 356.51005 361.95606 365.45606 369.34806 376.34806 379.84806 386.84806 393.06407 396.56407 403.56407 409.78007 414.44206 418.33406 425.33406 431.55006 438.55006 442.05006 448.26606 455.26606 462.26606 465.76606 471.21208 475.10408 482.10408 486.76606 492.98207">Before the ATM can be enabled, the ATM expected count needs to be derived and stored</tspan><tspan y="84.25" x="0 3.8920005 10.892 14.784 21.784 25.284 29.176 36.176004 42.392004 45.892004 56.000005 64.554 73.892 84 87.5 92.162 98.378009 105.378009 109.270008 114.716 118.608 124.824008 129.48601 132.98601 136.48601 145.04001 152.04001 158.25601 161.75601 171.86402 180.41802 189.75601 199.86402 203.36402 209.58002 216.58002 223.58002 229.79602 236.01203 239.90402 246.12003 253.12003 256.62004 262.83604 269.83604 276.83604 283.83604 287.72804 291.22804 295.12004 300.56605 304.06605 311.06605 317.28205 321.94404 325.83604 332.83604 339.05204 346.05204 349.55204 356.55204 362.76805 368.21406 374.43006 381.43006 384.93006 391.93006 398.93006 402.43006 406.32206 413.32206 419.53807 423.03807 427.70005 433.91606 440.91606 447.91606 451.80805 456.47004 462.68605">into the ATCV register. The ATCV expected count is derived based on the required</tspan><tspan y="100.25" x="0 3.8920005 10.108001 14.77 21.77 27.986 31.878 35.378 40.039999 47.039999 50.932 57.148 61.809999 68.81 75.026 78.918 82.418 91.756 97.972 102.634 108.850009 113.51201 119.72801 126.72801 132.94402 139.16002 142.66002 151.99802 155.89002 162.89002 169.10602 176.10602 179.60602 184.26802 188.93003 198.26802 207.60602 212.26802 215.76802 220.43003 225.09203 231.30803 238.30803 245.30803 251.52404 258.52406 264.74006 271.74006 275.24006 278.74006 284.95606 291.95606 298.95606 302.45606 306.34806 313.34806 319.56407 323.06407 327.72605 332.38804 338.60404 345.60404 352.60404 358.82005 365.82005 372.03605 379.03605 382.53605 389.53605 394.19804 397.69804 401.59004 408.59004 414.80604 418.30604 424.52204 431.52204 435.41404 441.63005 446.29203 453.29203 459.50804">target Internal Reference Clock (IRC) frequency, and the frequency of the external</tspan><tspan y="116.25" x="0 4.662 10.878 15.540001 21.756 26.418002 32.634004 39.634004 45.850004 52.066 55.566 61.782 65.674 72.674 78.89001 85.89001 89.39001 96.39001 101.836009 105.728008 112.728008 119.728008 123.228008 127.12 134.12 140.336 143.836 148.498 155.498 159.39 163.282 170.282 180.39 184.282 191.282 198.282 201.782 206.444 213.444 218.106 228.998 235.998 239.89 246.106">reference clock using the following formula:</tspan></text>
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<text xml:space="preserve" transform="matrix(.99434 0 0 1.005692 183.66626 183.8)" font-size="12.91527" font-family="HelveticaLTStd"><tspan y="12.30034" x=".01292 8.627406 16.518637 25.843462">ATCV</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="160.6774" x="13.104 23.996003 31.780003 36.442 39.942 47.838 51.338 59.892004 66.108 70.770008 77.770008 83.98601 87.878009 91.378009 96.04001 103.04001 106.93201 113.14801 117.81001 124.81001 131.02602 134.91802 138.41802 147.75601 153.97202 158.63402 164.85002 169.51203 175.72803 182.72803 188.94403 195.16004 198.66004 207.99803 211.89003 218.89003 225.10604 232.10604 235.60604 240.26804 244.93004 254.26804 263.60606 268.26805 271.76805 280.32203 284.984 288.876 299.768 310.66 316.876 323.876 327.376 335.16 339.822 346.038 353.038 360.038 366.254 373.254 379.47">&#x2022;Fr = Target Internal Reference Clock (IRC) Trimmed Frequency</tspan><tspan y="185.0774" x="13.10402 23.996022 31.780022 37.99602 41.49602 49.39202 52.89202 61.446023 68.44602 72.33802 78.55402 83.21603 90.21603 96.43203 100.32403 103.82403 113.16203 117.05403 124.05403 130.27004 137.27004 140.77004 148.55403 153.21604 159.43204 166.43204 173.43204 179.64804 186.64804 192.86405">&#x2022;Fe = External Clock Frequency</tspan><tspan y="219.47739" x=".0000104904179 4.6620109 9.324011 12.824011 16.716012 23.716012 29.93201 33.43201 39.64801 46.64801 50.540014 57.540014 61.040014 64.932018 69.59402 73.486019 84.37801 87.87801 91.77001 97.21601 100.71601 107.71601 113.932018 117.82401 124.82401 131.824 135.324 142.324 148.54001 153.20201 157.86402 164.86402 169.52602 180.41802 186.63402 193.63402 197.13402 204.13402 211.13402 214.63402 218.52602 225.52602 231.74202 235.24202 242.24202 245.74202 258.18803 268.29603 274.51203 278.01203 282.674 292.01203 301.35005 304.85005 308.35005 312.24205 319.24205 325.45805 328.95805 335.17405 341.39006 345.28205 351.49806 358.49806 362.39006 368.60606 372.49806 378.71406 385.71406 389.21406 395.43006 402.43006 409.43006 415.64607 421.86207 425.75407 431.97007 438.97007 442.47007 448.68608 455.68608 462.68608 469.68608">If the auto trim is being performed on the 4 MHz IRC, the calculated expected count</tspan><tspan y="235.47739" x=".00000049041776 7.0000007 13.2160019 17.108002 24.108002 30.324002 33.824 44.716005 51.716005 57.162004 61.054006 64.554 71.554 77.770008 81.270008 92.162 99.162 103.054 106.946 110.838 117.838 121.729999 125.621997 131.838 138.838 142.338 149.338 156.338 159.838 166.838 173.838 180.838 184.338 191.338 197.554 202.216 209.216 213.878 220.09401 223.59401 229.04001 232.932 239.932 244.59401 248.48601 255.48601 262.48603 265.98603 269.87803 273.77003 277.27003 281.16203 288.16203 291.66203 295.55403 302.55403 308.77003 312.27003 322.37803 330.932 340.27003 350.37803 353.87803 358.54 364.756 371.756 375.648 381.09403 384.98603 391.20204 395.864 399.364 402.864 411.418 418.418 424.634 429.296 435.512 440.17399 447.17399 451.83598 458.05198 461.55198 465.05198 468.94398 475.94398">value must be multiplied by 128 before storing it in the ATCV register. Therefore, the</tspan><tspan y="251.47739" x=".00000049041776 10.108002 18.662003 28.000004 38.108007 41.608007 50.162008 57.162008 64.162 70.378009 76.59401 80.48601 86.70201 93.70201 97.20201 106.54001 113.54001 120.54001 127.54001 131.432 134.932 145.04001 151.25601 155.14801 162.14801 168.36402 171.86402 176.52602 183.52602 188.18802 191.68802 195.58002 200.24202 204.13402 215.02602 225.91802 229.81002 236.81002 243.81002 247.31002 251.20201 258.20204 264.41804 267.91804 274.91804 278.41804 290.86405 300.97206 307.18806 310.68806 315.35005 324.68806 334.02607 337.52607 341.41807 346.86408 350.36408 356.58009 362.79609 366.68809 372.90409 379.90409 383.79609 390.0121 393.90409 400.1201 407.1201 410.6201 417.6201 423.0661 426.9581 433.9581 440.9581 444.4581 448.3501 455.3501">ATCV Expected Count Value for trimming the 4 MHz IRC is calculated using the</tspan><tspan y="267.4774" x=".00000049041776 4.6620008 11.662001 15.554001 19.446002 26.446002 36.554 40.446004 47.446004 54.446004 57.946004 62.608 69.608 74.270008 85.162 92.162 96.054 102.270008">following formula.</tspan></text>
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<text xml:space="preserve" transform="matrix(1.3453406 0 0 1.345341 397.8444 347.3046)" font-size="10.4" font-family="HelveticaLTStd"><tspan y="-.27097" x="-.832 2.6311999 8.4136 14.196 19.978402">(128)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 387.85475)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 9.452001 18.904002 23.630002">25.5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 387.85475)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 4.7260005 15.113001 19.839 25.5 30.226 39.678 44.404005 49.130006 57.630006 67.08201 72.74301 77.46901 87.85601 98.24301 102.96901 107.69501 112.421009 124.69501 135.082 145.469 150.19499 154.92099 164.37299 173.82498 179.48598 184.21198 194.59897 204.98596 209.71196 214.43796 224.82495 230.48595 240.87294 247.48595 262.59895 272.05094 277.71195 282.43797 292.82496">Initialization / Application information</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="371.10475" x=".00003 8.554029 15.554029 19.44603 24.89203 28.39203 33.83803 40.05403 46.27003 50.162034 54.054037 61.054037 68.05403 71.55403 78.55403 84.770038 90.216037 96.43204 101.09404 104.98604 111.98604 118.20204 123.64804 127.14804 134.14804 141.14804 151.25605 154.75605 158.64804 165.64804 169.14804 173.04004 180.04004 183.93204 187.82404 191.71604 197.93204 201.82404 205.71604 211.93204 218.14804 221.64804 227.86405 234.86405 241.86405 245.36405 251.58005 258.58006 265.58006 270.24205 274.13404 281.13404 288.13404 292.79603 299.01203 302.51203 306.40403 313.40403 319.62004 323.12004 335.56605 344.90406 355.01206 358.51206 369.40406 376.40406 383.40406 390.40406 394.29606 400.51206 404.01206 407.90406 414.90406 418.40406 424.62007 431.62007 435.12007 441.33607 448.33607 455.33607 459.22807 463.12007 469.33607 475.55207 479.44407 483.33607 490.33607 497.33607">This section describes how to initialize and configure the MCG module in an application.</tspan><tspan y="387.10475" x=".00006 8.55406 15.55406 21.770062 25.270062 29.932063 36.93206 40.824064 44.716066 51.716066 61.824068 65.716068 72.716068 79.716068 83.216068 88.66206 94.87807 101.09407 104.98607 108.87807 115.87807 122.87807 128.32407 131.82407 135.71607 142.71607 148.93207 152.82407 159.82407 166.82407 173.04007 176.54007 182.75608 189.75608 195.97208 206.86408 213.86408 217.75608 223.97208 229.41808 232.91808 239.91808 246.91808 250.41808 257.4181 264.4181 274.5261 278.0261 281.9181 288.9181 292.4181 296.3101 303.3101 307.2021 311.0941 314.98609 321.2021 325.0941 328.98609 335.2021 341.4181 344.9181 348.8101 355.8101 362.0261 365.5261 377.9721 387.31013 397.41813 400.91813 407.13414 414.13414 421.13414 424.63414 431.63414 436.2961 443.2961 450.2961 456.51213 461.1741 465.0661">The following sections include examples on how to initialize the MCG and properly</tspan><tspan y="403.10475" x=".00010999999 5.4461109 15.5541119 19.446112 23.338112 29.554112 36.55411 40.05411 47.05411 53.27011 57.162115 67.27011 73.486118 79.70212 86.70212 90.20212 94.09412 101.09412 107.31012 110.81012 117.81012 124.02612 128.68813 132.58013 139.58013 146.58013 152.02613 155.52613 161.74213 168.74213 174.95813 178.85013 182.74213 188.95813 195.95813 199.85013 206.06613 209.56613 220.45813 227.45813 234.45813 240.67414 246.12014">switch between the various available modes.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 498.65473)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00411 8.900111 17.796113 22.244112 31.140114 35.588117">25.5.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 498.65473)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00411 13.332111 24.884114 37.332117 41.780118 56.00412 65.78012 75.55612 85.33212 89.78012 98.676128 103.12412 107.57212 117.34812 121.79612 127.12412 131.57213 140.46813 144.91613 149.36412 157.36412 166.26012 171.58812 176.03612 185.81212 195.58812 200.03612 208.93212 217.82811 227.60411 237.38011 246.27611 256.0521 264.9481">MCG module initialization sequence</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="481.90473" x=".00413 8.55813 15.55813 21.774132 25.274132 37.72013 47.058134 57.166135 60.666135 66.88213 73.88213 84.77413 90.990139 96.436138 99.936138 106.936138 113.936138 117.82813 121.32813 128.32813 132.99013 136.49013 141.15213 147.36814 152.81414 159.03014 162.92214 166.42214 172.63814 179.63814 186.63814 191.30014 195.19214 202.19214 209.19214 213.85414 220.07015 227.07015 230.57015 235.23215 242.23215 246.89415 250.39415 258.17817 266.73216 271.39414 274.89414 285.78614 292.78614 299.78614 306.00215 309.50215 313.00215 321.55613 328.55613 334.77214 338.27214 342.16413 349.16413 353.05613 359.27214 363.9341 370.9341 377.15013 381.0421 384.5421 389.2041 395.4201 400.0821 406.2981 410.96009 417.1761 424.1761 430.3921 436.6081 440.1081 450.2161 454.1081 458.0001">The MCG comes out of reset configured for FEI mode. The internal reference will</tspan><tspan y="497.90473" x=".00416 5.4501607 9.342161 15.558162 22.558163 26.450163 30.342164 34.234167 40.450166 46.666166 50.166166 54.058168 61.058168 64.55817">stabilize in t</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="10.5" font-family="TimesLTStd"><tspan y="500.7047" x="68.45016 71.369159 74.865657 79.52766 83.024158 87.10866 90.02766">irefsts</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="497.90473" x="94.11216 97.61216 108.50416 112.39616 118.61216 123.27416 130.27417 135.72017 141.93618 148.15218 155.15218 162.15218 169.15218 174.59818 178.09818 185.09818 191.31418 195.97618 202.97618 207.63819 213.85419 217.35419 221.24619 228.24619 234.46219 237.96219 245.74619 254.30019 262.8542 266.3542 272.5702 278.7862 285.7862 289.2862 295.5022 301.7182 308.7182 315.7182 319.6102 324.2722 330.4882 333.9882 337.8802 344.8802 351.0962 358.0962 361.5962 365.0962 375.2042 380.6502 384.1502 389.59623 396.59623 403.59623 410.59623 414.09623 420.31224 425.75825 429.25825 433.15025 440.15025 446.36625 449.86625 453.75825 460.75825 464.65025 470.86625 475.52824 482.52824 488.74424"> microseconds before the FLL can acquire lock. As soon as the internal</tspan><tspan y="513.9047" x=".004211426 4.6662118 10.882212 15.544212 21.760212 26.422213 32.638216 39.638216 45.854215 52.070215 55.570215 59.462217 64.90822 68.40822 73.85422 77.746219 83.96222 90.96222 94.85422 101.07022 104.57022 108.07022 111.96222 118.96222 125.17822 128.67823 136.46222 145.01622 153.57022 157.07022 167.17823 171.07022 174.96222 178.85422 182.35422 188.57022 194.78623 201.78623 208.78623 212.67823 217.34023 223.55623 227.05623 230.94823 237.94823 244.16423 251.16423 254.66423 258.55625 265.55625 269.05625">reference is stable, the FLL will acquire lock in t</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="10.5" font-family="TimesLTStd"><tspan y="516.7047" x="272.9482 276.4447 279.3637 282.2827 287.5327 292.1947 296.8567 302.1067 307.3567 310.2757 313.7722">fll_acquire</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="513.9047" x="318.4342 321.9342 332.8262 336.7182 340.6102 344.5022 348.3942 353.8402 360.0562 366.27223 373.27223 380.27223 387.27223 392.71824"> milliseconds.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 608.4547)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00684 8.333161 16.673163 20.843163 29.183163 33.353166 41.693166 45.863168">25.5.1.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 608.4547)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00683 4.1631705 13.328171 17.49817 22.493172 26.663172 35.003175 39.173177 43.343179 50.843179 55.01318 64.17818 73.34318 77.513179 82.50818 91.67318 100.01318 104.18318 116.678188 127.50819">Initializing the MCG</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="590.7047" x=".00418 9.342181 15.558182 21.774182 27.990181 34.99018 40.43618 46.65218 50.15218 54.04418 61.04418 67.260189 70.760189 83.206188 92.54419 102.65219 106.15219 112.368198 119.368198 130.2602 136.4762 141.9222 145.4222 152.4222 159.4222 163.3142 166.8142 173.8142 178.4762 181.9762 186.6382 192.8542 198.3002 204.5162 208.4082 211.9082 215.8002 222.8002 226.3002 234.0842 242.6382 247.3002 250.8002 261.6922 268.6922 275.6922 281.9082 285.4082 288.9082 292.8002 299.8002 306.0162 309.5162 316.5162 323.5162 327.4082 334.4082 337.9082 350.35423 359.69224 369.80024 373.30024 384.19224 391.19224 398.19224 404.40824 409.85426 413.35426 417.24626 424.24626 430.46226 434.35426 437.85426 444.07026 450.28627 457.28627 460.78627 467.78627">Because the MCG comes out of reset in FEI mode, the only MCG modes that can be</tspan><tspan y="606.7047" x=".00415 7.00415 10.896151 15.558151 21.77415 27.99015 31.88215 35.77415 42.77415 46.27415 51.72015 61.82815 65.72015 69.61215 75.828159 82.828159 89.04416 96.04416 99.54416 103.43616 110.43616 113.93616 120.93616 127.93616 134.93616 141.93616 145.43616 150.09816 156.31417 161.76016 167.97617 171.86817 175.36817 181.58417 186.24617 192.46218 195.96218 203.74617 212.30017 220.85417 224.35417 227.85417 235.63817 244.97617 253.53017 257.03016 260.53016 266.74617 273.74617 280.74617 284.24617 292.03016 301.36817 306.03016 309.53016 320.42216 327.42216 334.42216 340.63816 346.08418 349.58418 354.24617 359.69218 365.90818 372.12419">directly switched to upon reset are FEE, FBE, and FBI modes (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="606.7047" x="375.62416 383.40815 387.30015 394.30015 401.30015 405.96214 412.17814 415.67814 422.67814 429.67814 434.34013 441.34013">Figure 25-16</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="606.7047" x="448.34016 453.00215">).</tspan><tspan y="622.7047" x=".0041503908 9.342152 15.558152 21.774153 27.990155 34.990156 38.882158 45.882158 52.882158 56.382158 62.598157 69.59816 76.59816 80.09816 87.09816 91.76016 95.26016 99.15216 106.15216 112.368167 115.868167 122.868167 126.76016 133.76016 139.97617 144.63817 148.13817 159.03017 166.03017 173.03017 179.24617 184.69217 188.19217 192.85417 199.07018 206.07018 213.07018 216.96218 221.62418 227.84018 233.28618 236.78618 241.44818 245.34018 250.00218 255.44818 259.34019 262.84019 269.05619 276.05619 283.05619 287.71818 291.61018 298.61018 305.61018 310.27217 314.16416 321.16416 328.16416 331.66416 335.55616 342.55616 348.77217 352.27217 364.71818 374.05619 384.16419 387.66419 392.32618 399.32618 403.98817 407.48817 414.48817 421.48817 427.70417 431.20417 438.20417 442.86616 446.36616 450.25816 457.25816 463.47416 468.92018">Reaching any of the other modes requires first configuring the MCG for one of these</tspan><tspan y="638.7047" x=".0041503908 3.8961509 10.896151 15.558151 21.77415 27.99015 31.49015 35.382154 42.382154 46.274156 52.490156 57.152154 68.04415 74.260158 81.260158 85.15215 91.36816 95.260158 101.47616 104.97616 115.86816 122.86816 129.86817 136.08417 141.53017 145.03017 148.53017 157.86817 164.08417 168.74617 174.96218 178.46218 189.35417 196.35417 201.80017 205.69217 209.19217 216.19217 222.40818 225.90818 229.80017 236.01618 243.01618 249.23218 256.23219 259.73219 263.62419 270.62419 274.12419 280.34019 287.34019 293.55619 299.7722 306.7722 310.2722 314.93418 321.15019 325.04219 331.25819 338.25819 344.47419 351.47419 355.36619 358.86619 364.3122 368.2042 374.4202 378.3122 385.3122 390.7582 394.2582 401.2582 405.1502 409.0422 414.48823 417.98823 421.88023 428.88023 432.38023 436.27223 443.27223 449.48823 452.98823 465.43424 474.77226">three intermediate modes. Care must be taken to check relevant status bits in the MCG</tspan><tspan y="654.7047" x=".0041503908 5.450151 9.342152 15.558152 19.450154 26.450154 31.896155 35.396158 40.058156 46.274156 53.274156 57.166158 62.612157 66.50416 72.72016 77.382167 80.882167 85.54417 91.76017 96.42217 100.31417 106.530178 112.74618 116.638179 120.530178 127.530178 134.53018 138.03018 144.24619 148.13819 152.03018 155.53018 161.74619 168.74619 175.74619 180.40819 184.30019 191.30019 198.30019 202.96219 209.17819 213.07019 216.96219 223.96219 230.96219 234.46219 240.67819 247.67819 253.8942 260.8942 267.8942 274.1102 279.5562 283.0562 293.1642 297.0562 300.9482 307.9482 311.8402 318.8402 322.3402 328.5562 334.77223 340.98823 347.98823 351.48823 362.38023 369.38023 376.38023 382.59623">status register reflecting all configuration changes within each mode.</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 2.5020004 8.001 10.503 13.5 16.002 21.006 23.508002 26.010003 30.510003 35.514005 38.511007 41.013006 46.512006 52.011007 54.513006 57.015005 59.517004 66.015 71.514 77.013 79.515 82.017 87.020999 92.024997 95.021999 97.523998 103.022998 108.521999 111.023998 113.52599 119.024997 122.021999 127.520999 131.022 139.02301 144.02701 147.024 149.526 155.025">Initialization / Application information</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="130.014 137.23401 142.794 148.354 151.134 157.804 163.914 170.024 173.354 179.464 185.024 193.914 196.694 199.474 205.034 207.814 215.034 220.594 223.924 229.484 233.374 238.93399 245.04399 250.60399 256.164 258.944 267.274 272.83399 278.94398 285.05397 290.61396 293.39396 296.17396 298.95396 306.17396 311.73396 317.29396 320.07395 322.85395 328.41395 331.19395 336.75395 342.86393 348.9739 351.7539 357.3139 362.8739 368.4339">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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<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="44.775 50.274003 53.271005 58.275007 63.279008 67.77901 72.27901 77.283008 79.281009 84.285 86.787 92.79 97.794 105.291 107.289 111.789 116.793 121.797 126.800998 131.805 136.305 138.80699 143.81099 146.80799 149.30998 151.81198 154.31398 159.31798 163.81798">Freescale Semiconductor, Inc.</tspan></text>
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