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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_229.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

453 lines
59 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 392.25 91)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 16.011002">See </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 392.25 106.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.506 21.510003 24.507002 29.511002 34.515005 36.513006 41.013006 43.515005 45.513006 50.517007 55.521009 60.52501 63.027009 65.02501 67.52701 69.52501 74.02501 79.02901 81.531009 83.52901 88.533008 93.537 96.039 99.036 104.04 109.044 111.042 115.542 118.044 123.048 126.045 128.547 131.049 136.053 141.05699">Read-only identification register that</tspan><tspan y="18.83789" x="0 5.0040009 7.002001 13.500002 18.504002 23.004002 27.504002 30.006003 33.003004 38.007005 43.011007 48.015008 52.515008 55.017007 60.021009 64.52101 67.02301 72.02701 76.52701 81.531009 86.535 91.539 98.037 103.041 108.045 113.048999 118.05299">always reads as 0x001C_0000</tspan></text>
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<text xml:space="preserve" transform="matrix(1.0949669 0 0 1.159628 1.0137138 640.407)" font-size="5.76" font-family="HelveticaLTStd"><tspan y="-230.02259" x="358.87684 362.71876 366.56068 369.76325 373.60517 377.7639 381.28324 382.88453 386.0871 389.28968 390.89097 394.0935 397.29609 398.89738 400.49867 402.41676 406.25868 410.1006 413.9425 417.78443 420.987 422.9051 424.50639 427.38639 430.58894 431.86766 435.0702 437.9502 439.55149 442.4315 444.03279 445.63407 448.8366 452.03919 453.64048 457.4824">SELECT[31:24] (APSEL) selects the AP</tspan></text>
<text xml:space="preserve" transform="matrix(1.0949669 0 0 1.159628 1.0137138 640.407)" font-size="5.76" font-family="HelveticaLTStd"><tspan y="-217.16275" x="358.87687 362.71879 366.5607 369.76325 373.60517 377.7639 381.28324 382.88453 386.0871 387.6884 390.89094 392.49223 394.0935 396.0116 399.85353 403.69544 407.53736 411.37928 415.538 419.3799 423.22184 427.06376 430.2663 432.1844 433.78569 436.66569 439.86824 441.14695 444.3495 447.2295 448.83079 451.7108 453.31208 454.91337 458.1159 461.31849 462.91978 466.1223 469.3249 472.52748">SELECT[7:4] (APBANKSEL) selects the bank</tspan></text>
<text xml:space="preserve" transform="matrix(1.0949669 0 0 1.159628 1.0137138 640.407)" font-size="5.76" font-family="HelveticaLTStd"><tspan y="-203.05915" x="358.87687 362.71879 364.32008 367.52265 369.12394 372.32649 373.92778 375.52906 377.13035 379.04844 382.25099 387.04908 388.65037 390.25166 393.45423 396.6568 398.2581 402.1 405.94194 409.78385 413.94258 418.1013 419.70259 422.58259 425.78517 427.06388 430.26643 433.14643 434.7477 437.62773 439.229 440.8303 444.03285 447.2354 448.8367 450.7548 453.95735 457.1599 458.43864 461.31864 462.91993 466.1225 468.0406">A[3:2] from the APACC selects the register </tspan></text>
<text xml:space="preserve" transform="matrix(1.0949669 0 0 1.159628 1.0137138 640.407)" font-size="5.76" font-family="HelveticaLTStd"><tspan y="-196.41834" x="358.8769 363.0356 364.31434 365.91563 369.11817 370.39689 373.59944 375.2007 376.802 380.00459 383.20716 384.80845 388.011 391.21357 394.41615">within the bank</tspan></text>
<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" d="M54.42 142.2H132.62001V169.5H54.42001V142.2Z" fill="#ffffff" fill-rule="evenodd"/>
<text xml:space="preserve" transform="matrix(1.1268338 0 0 1.1268338 1.0137138 640.407)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="-159.84004" x="60.1849 64.5049 69.0193 73.0585 74.58491 78.90491 81.8785 84.8521 88.49529 91.36809 94.24088 95.97608 99.80648 103.65848 106.24327">AHB Access Port</tspan></text>
<text xml:space="preserve" transform="matrix(1.1268338 0 0 1.1268338 1.0137138 640.407)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="-146.88005" x="69.68887 71.89927 76.21927 80.72647">(AHB</tspan></text>
<text xml:space="preserve" transform="matrix(1.1268338 0 0 1.1268338 1.0137138 640.407)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="-146.88005" x="84.75847">-</tspan></text>
<text xml:space="preserve" transform="matrix(1.1268338 0 0 1.1268338 1.0137138 640.407)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="-146.88005" x="86.96886 91.28886 95.119258">AP)</tspan></text>
<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" stroke-width=".6" stroke-linecap="butt" stroke-miterlimit="8" stroke-linejoin="miter" fill="none" stroke="#000000" d="M53.12 123.30401H123.62V185.904H53.12V123.304Z"/>
<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" stroke-width=".6" stroke-linecap="butt" stroke-miterlimit="8" stroke-linejoin="miter" fill="none" stroke="#000000" d="M162.50402 111.30401H269V185.404H162.504V111.30401Z"/>
<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" d="M164.8 141.304H224.40001V155.704H164.8V141.304Z" fill="#ffffff" fill-rule="evenodd"/>
<text xml:space="preserve" transform="matrix(1.1268338 0 0 1.1268338 193.24256 475.8532)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="0" x=".00006 6.3288605 10.843261">MDM</tspan></text>
<text xml:space="preserve" transform="matrix(1.1268338 0 0 1.1268338 212.60607 475.8532)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="0" x=".00006">-</tspan></text>
<text xml:space="preserve" transform="matrix(1.1268338 0 0 1.1268338 215.0941 475.8532)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="0" x=".00006 4.3200609">AP</tspan></text>
<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" d="M207.8 118.704H223.5V161.004H207.8V118.70399Z" fill="#ffffff" fill-rule="evenodd"/>
<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" stroke-width=".6" stroke-linecap="butt" stroke-miterlimit="8" stroke-linejoin="miter" fill="none" stroke="#000000" d="M207.8 118.704H223.5V161.004H207.8V118.70399Z"/>
<text xml:space="preserve" transform="matrix(0 -1.1268338 1.1268338 0 247.71823 498.20057)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="0" x=".00006 3.3624602 5.8608605 9.417661 11.91606 15.74646">Status</tspan></text>
<text xml:space="preserve" transform="matrix(0 -1.1268338 1.1268338 0 248.39432 454.57856)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="0" x=".00006 3.6504603 6.9120604 10.56246">0x00</tspan></text>
<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" d="M222.8 118.704H238.5V161.004H222.8V118.70399Z" fill="#ffffff" fill-rule="evenodd"/>
<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" stroke-width=".6" stroke-linecap="butt" stroke-miterlimit="8" stroke-linejoin="miter" fill="none" stroke="#000000" d="M222.8 118.704H238.5V161.004H222.8V118.70399Z"/>
<text xml:space="preserve" transform="matrix(0 -1.1268338 1.1268338 0 264.62074 498.20057)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="0" x=".00006 3.8304606 7.66806 11.50566 14.00406 16.58886 20.42646">Control</tspan></text>
<text xml:space="preserve" transform="matrix(0 -1.1268338 1.1268338 0 265.28779 454.9301)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="0" x=".00006 3.6504603 6.9120604 10.56246">0x01</tspan></text>
<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" d="M238.40001 118.704H254.1V161.004H238.40001V118.70399Z" fill="#ffffff" fill-rule="evenodd"/>
<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" stroke-width=".6" stroke-linecap="butt" stroke-miterlimit="8" stroke-linejoin="miter" fill="none" stroke="#000000" d="M238.40001 118.704H254.1V161.004H238.40001V118.70399Z"/>
<text xml:space="preserve" transform="matrix(0 -1.1268338 1.1268338 0 282.2083 498.20057)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="0" x=".00006 1.9224601 6.429661">IDR</tspan></text>
<text xml:space="preserve" transform="matrix(0 -1.1268338 1.1268338 0 282.87544 454.9301)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="0" x=".00006 3.6504603 6.9120604 10.56246">0x3F</tspan></text>
<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" stroke-width=".6" stroke-linecap="butt" stroke-linejoin="round" fill="none" stroke="#000000" d="M305.544 186.8C308.91203 186.8 311.64 183.168 311.64 178.688V146.256C311.64 141.784 314.368 138.152 317.74403 138.152 314.368 138.152 311.64 134.51999 311.64 130.04V97.60799C311.64 93.12798 308.91203 89.49599 305.544 89.49599"/>
<text xml:space="preserve" transform="matrix(1.0949669 0 0 1.159628 1.0137138 640.407)" font-size="8" font-family="HelveticaLTStd" font-weight="bold"><tspan y="-172.46385" x="358.87367 364.64967 370.42567 376.20167 378.86567 384.64167">AHB-AP</tspan></text>
<text xml:space="preserve" transform="matrix(1.0949669 0 0 1.159628 1.0137138 640.407)" font-size="5.76" font-family="HelveticaLTStd"><tspan y="-163.97443" x="358.87944 362.72135 366.56327 369.7658 373.60774 377.76646 381.2858 382.8871 386.08967 389.29225 390.89353 394.09608 397.29866 398.89994 400.50123 403.86506 405.46635 408.66889 411.5489 414.75148 417.95405 419.55534 422.43534 425.63789 426.9166 430.11915 432.99916 434.60044 437.48045 439.08174 440.683 443.88557 447.08815 448.68943 452.53135 456.69007 460.53199 462.45008 466.292">SELECT[31:24] = 0x00 selects the AHB-AP</tspan></text>
<text xml:space="preserve" transform="matrix(1.0949669 0 0 1.159628 1.0137138 640.407)" font-size="5.76" font-family="HelveticaLTStd"><tspan y="-156.6717" x="358.87947 362.72138 365.92396 369.12654 370.7278 374.56974 378.72846 383.52656 385.12785 388.33039 391.53297 394.41297 397.61555 402.41365 405.6162 408.8188 410.42008 413.62263 415.2239 416.50263 419.7052 422.90779 424.50907 426.11036 429.31294 431.23103 432.8323 434.4336 437.63618 439.55427 441.15556 444.3581 447.56068 449.47877 451.08006 454.2826 457.48518 459.08647 462.289 463.56773 464.84645">See ARM documentation for further details</tspan></text>
<text xml:space="preserve" transform="matrix(1.0949669 0 0 1.159628 1.0137138 640.407)" font-size="8" font-family="HelveticaLTStd" font-weight="bold"><tspan y="-137.77587" x="358.8782 365.5422 371.3182 377.9822 380.6462 386.4222">MDM-AP</tspan></text>
<text xml:space="preserve" transform="matrix(1.0949669 0 0 1.159628 1.0137138 640.407)" font-size="5.76" font-family="HelveticaLTStd"><tspan y="-129.28646" x="358.88014 362.72206 366.56398 369.76655 373.60847 377.76719 381.28654 382.88783 386.0904 389.29298 390.89427 394.0968 397.29939 398.90068 400.50196 403.86579 405.46708 408.66963 411.54963 414.7522 417.95478 419.55607 422.43608 425.6386 426.91734 430.11988 432.99989 434.60118 437.48118 439.08247 440.68376 443.8863 447.08888 448.69017 453.48823 457.64695 462.445 464.3631 468.20503">SELECT[31:24] = 0x01 selects the MDM-AP</tspan></text>
<text xml:space="preserve" transform="matrix(1.0949669 0 0 1.159628 1.0137138 640.407)" font-size="5.76" font-family="HelveticaLTStd"><tspan y="-114.68098" x="358.88017 362.72209 366.564 369.76655 373.60847 377.76719 381.28654 382.88783 386.0904 387.69169 390.89424 392.4955 394.0968 397.46064 399.06193 402.26448 405.14448 408.34706 409.94834 412.82835 416.03089 417.3096 420.51216 423.39216 424.99345 427.87345 429.47474 431.07603 434.27857 437.48115 439.08244 442.28498 445.48756 448.69013 451.57014 453.17143 457.33015 458.60887 460.21015 463.41273 465.014 468.85594 470.4572 473.6598 475.26109 478.46363 481.34364 482.94493 486.14747 489.35005 492.5526 494.1539 498.31263 499.9139 501.832">SELECT[7:4] = 0x0 selects the bank with Status and Ctrl</tspan></text>
<text xml:space="preserve" transform="matrix(1.0949669 0 0 1.159628 1.0137138 640.407)" font-size="5.76" font-family="HelveticaLTStd"><tspan y="-107.37826" x="358.88017 362.72209 364.32337 367.52595 369.12724 372.32978 373.93107 375.53236 378.89619 380.49748 383.7 384.97874 388.18128 391.38386 394.58644 396.1877 399.06773 402.27027 403.54899 406.75154 409.63154 411.23283 414.11283 415.7141 417.3154 420.51795 423.72053 425.3218 429.16374 430.765 433.9676 435.56889 438.77143 441.65144 443.25273 447.41145 450.614 453.8166 455.0953 457.9753 459.5766 462.77919">A[3:2] = 2&#x2019;b00 selects the Status Register</tspan></text>
<text xml:space="preserve" transform="matrix(1.0949669 0 0 1.159628 1.0137138 640.407)" font-size="5.76" font-family="HelveticaLTStd"><tspan y="-100.07552" x="358.8802 362.7221 364.3234 367.52595 369.12724 372.32978 373.93107 375.53236 378.89619 380.49748 383.7 384.97874 388.18128 391.38386 394.58644 396.1877 399.06773 402.27027 403.54899 406.75154 409.63154 411.23283 414.11283 415.7141 417.3154 420.51795 423.72053 425.3218 429.48054 432.6831 435.88569 437.48698 439.40507 442.6076 443.88633 445.4876 449.64634 452.84889 456.05146 457.33018 460.21018 461.81147 465.01405">A[3:2] = 2&#x2019;b01 selects the Control Register</tspan></text>
<text xml:space="preserve" transform="matrix(1.0949669 0 0 1.159628 1.0137138 640.407)" font-size="5.76" font-family="HelveticaLTStd"><tspan y="-85.44723" x="358.88023 362.72215 366.56407 369.7666 373.60853 377.76725 381.2866 382.88789 386.09046 387.69175 390.8943 392.49559 394.09687 397.4607 399.06199 402.26454 405.14454 408.66389 410.26518 413.14518 416.34773 417.62644 420.82899 423.70899 425.31028 428.19029 429.79158 431.39286 434.5954 437.79798 439.39927 442.6018 445.80439 449.00697 451.88697 453.48826 457.64698 458.9257 460.52699 463.72956 465.33085 466.93214 471.09086">SELECT[7:4] = 0xF selects the bank with IDR</tspan></text>
<text xml:space="preserve" transform="matrix(1.0949669 0 0 1.159628 1.0137138 640.407)" font-size="5.76" font-family="HelveticaLTStd"><tspan y="-78.14754" x="358.88026 362.72218 364.32347 367.526 369.1273 372.32984 373.93113 375.5324 378.89625 380.49754 383.70008 384.9788 388.18135 391.3839 394.5865 396.18778 399.06779 402.27033 403.54905 406.7516 409.6316 411.23289 414.11289 415.71418 417.31547 420.518 423.72059 425.32188 426.92317 431.08189 435.2406 436.8419 441.0006 444.2032 447.40577 448.68449 451.56449 453.16578 456.36836">A[3:2] = 2&#x2019;b11 selects the IDR Register</tspan></text>
<text xml:space="preserve" transform="matrix(1.0949669 0 0 1.159628 1.0137138 640.407)" font-size="5.76" font-family="HelveticaLTStd"><tspan y="-70.84482" x="358.87455 360.79264 362.39393 366.55265 370.71138 372.31266 374.23075 377.4333 380.63587 381.91459 384.7946 386.39588 389.59846 391.5223 393.1236 395.0417 398.24427 401.44685 404.6494 407.52943 409.1307 412.33326 415.21327 418.41584 421.6184 424.82099 428.9797 432.18226 435.38484 438.5874 441.78999 444.99256">(IDR register reads 0x001C_0000)</tspan></text>
<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" d="M205.296 232.304V209.104H203.496V232.304H205.296ZM201.696 231.4 204.4 236.79999 207.096 231.4H201.696Z"/>
<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" stroke-width="1.8" stroke-linecap="butt" stroke-linejoin="round" fill="none" stroke="#000000" d="M77 208.896H214.304"/>
<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" d="M214.896 209.104V189.8H213.096V209.104H214.896ZM216.696 190.70401 214 185.30402 211.296 190.70401H216.696Z"/>
<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" d="M77.2 209.50402V190.20001H75.4V209.50402H77.2ZM79.00001 191.10402 76.30001 185.70403 73.60001 191.10402H79.00002Z"/>
<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" d="M67.4 231.304V191H66.6V231.304H67.4ZM69.4 191.8 67 187 64.6 191.8H69.4Z"/>
<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" d="M81.8 231.304V221.304L81.4 221.704H190.496C190.72 221.704 190.896 221.51999 190.896 221.304V189.904H190.096V221.304L190.49599 220.904H81.39999C81.17599 220.904 80.99998 221.08 80.99998 221.304V231.304H81.79999ZM192.896 190.704 190.496 185.90399 188.09601 190.704H192.89601Z"/>
<text xml:space="preserve" transform="matrix(1.1268338 0 0 1.1268338 1.0137138 640.407)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="-86.22403" x="65.56239 70.760799 75.159999 79.16319 81.164798 87.16239 91.16559 93.56319 96.36398 98.365589">Bus Matrix</tspan></text>
<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" d="M84.52 119.104V104.304H82.72V119.104H84.52ZM80.92001 118.2 83.62 123.60001 86.32 118.2H80.92ZM86.32001 105.2 83.62001 99.8 80.92001 105.2H86.32001Z"/>
<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" d="M231.896 118.8V95.104H231.096V118.8H231.896ZM233.896 95.904 231.496 91.104 229.09601 95.904H233.89601Z"/>
<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" d="M216.496 114.704V91H215.696V114.704H216.496ZM213.696 113.904 216.096 118.704 218.49599 113.904H213.69599Z"/>
<text xml:space="preserve" transform="matrix(1.1268338 0 0 1.1268338 1.0137138 640.407)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="-77.9072" x="178.408 181.7704 185.4136 189.05681 190.49681 194.32721 198.16481 202.00241 204.50081 207.0856 210.9232 212.6512 214.4656 218.02242 221.86002 225.69762 227.41841 230.7808 233.2792 236.83602 239.33441 243.16481 246.03762 247.85923 251.89122 255.53443 258.98323 260.7112 263.584 266.08244 269.72566 272.31047">See Control and Status Register </tspan></text>
<text xml:space="preserve" transform="matrix(1.1268338 0 0 1.1268338 1.0137138 640.407)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="-69.2672" x="206.92005 211.43444 215.07764 217.95044 220.93125 223.51604 225.24404 229.08164 231.58003 233.30803 237.14563 240.98323">Descriptions</tspan></text>
<text xml:space="preserve" transform="matrix(0 -1.1268338 1.1268338 0 1.0137138 640.407)" font-size="9.6" font-family="HelveticaLTStd"><tspan y="330.504" x="311.72566 317.66807 322.44889 327.5465 332.6249 337.1465 338.9609 343.7609 348.83934 352.18974">Debug Port</tspan></text>
<text xml:space="preserve" transform="matrix(0 -1.1268338 1.1268338 0 1.0137138 640.407)" font-size="9.6" font-family="HelveticaLTStd"><tspan y="330.504" x="197.00557 199.42478 204.39757 207.56558 212.34639 215.69678 220.80399 225.40239 227.61038 229.44397 234.62796 239.70636">Internal Bus</tspan></text>
<text xml:space="preserve" transform="matrix(0 -1.1268338 1.1268338 0 1.0137138 640.407)" font-size="9.6" font-family="HelveticaLTStd"><tspan y="330.504" x="108.49353 114.051929 118.11273 122.125537 126.906337 130.65993 134.41353 136.80394 141.60395 146.68235 150.03275">Access Port</tspan></text>
<text xml:space="preserve" transform="matrix(1.1268338 0 0 1.1268338 1.0137138 640.407)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="-241.72571" x="148.1871 153.3855 157.3887 159.7863 163.7895 166.1871 170.1903 174.19351 176.59111 180.59432">Data[31:0]</tspan></text>
<text xml:space="preserve" transform="matrix(1.1268338 0 0 1.1268338 1.0137138 640.407)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="-241.72571" x="203.2272 208.4256 210.8232 214.8264 217.224 221.2272">A[7:4]</tspan></text>
<text xml:space="preserve" transform="matrix(1.1268338 0 0 1.1268338 1.0137138 640.407)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="-241.72571" x="230.10482 235.3032 237.7008 241.70401 244.10161 248.10482">A[3:2]</tspan></text>
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<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" stroke-width=".60011" stroke-linecap="butt" stroke-miterlimit="8" stroke-linejoin="miter" fill="none" stroke="#000000" d="M227.37635 237.01177H252.68936V250.82479H227.37635V237.01177Z"/>
<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" stroke-width=".64" stroke-linecap="butt" stroke-miterlimit="8" stroke-linejoin="miter" fill="none" stroke="#000000" d="M253.19766 236.99309H272.37663V250.84348H253.19766V236.99309Z"/>
<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" stroke-width=".64" stroke-linecap="butt" stroke-miterlimit="8" stroke-linejoin="miter" fill="none" stroke="#000000" d="M57.4212 231.35376H95.87881V250.0828H57.4212V231.35376Z"/>
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<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" stroke-width=".64" stroke-linecap="butt" stroke-miterlimit="8" stroke-linejoin="miter" fill="none" stroke="#000000" d="M105.34814 270.32075H118.50043V359.40159H105.34814V270.32075Z"/>
<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" stroke-width=".64" stroke-linecap="butt" stroke-miterlimit="8" stroke-linejoin="miter" fill="none" stroke="#000000" d="M79.74815 270.32075H92.90044V359.40159H79.74815V270.32075Z"/>
<text xml:space="preserve" transform="matrix(0 -1.1268338 1.1268338 0 1.0137138 640.407)" font-size="5.76" font-family="HelveticaLTStd"><tspan y="88.4073" x="274.0896 278.24833 281.45088 284.65345 287.85603 291.0586 292.65989 296.5018 299.70436 301.62245 303.22373 304.825 306.4263 310.58503 312.1863 316.34504 319.5476 322.75019 324.0289 326.9089 328.5102 331.71278 333.63087 335.23216 337.15025 341.30897 345.15089 346.75218 350.9109 355.0696">Debug Port ID Register (DPIDR)</tspan></text>
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<text xml:space="preserve" transform="matrix(0 -1.1268338 1.1268338 0 1.0137138 640.407)" font-size="5.76" font-family="HelveticaLTStd"><tspan y="101.2073" x="274.08967 278.24839 281.45094 284.6535 286.2548 288.17289 291.37544 292.65415 294.25544 298.09736 299.69865 302.90119 304.50248 307.70503 310.58503 312.1863 314.1044 318.26313 321.78248 325.9412 329.14375 330.74504 334.58695 338.1063 341.9482 345.46757">Control/Status (CTRL/STAT)</tspan></text>
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<text xml:space="preserve" transform="matrix(0 -1.1268338 1.1268338 0 1.0137138 640.407)" font-size="5.76" font-family="HelveticaLTStd"><tspan y="114.0073" x="274.0897 277.9316 281.77354 283.37483 287.21675 290.4193 291.69804 294.90058 297.78059 299.38188 300.98316 302.90126 306.74317 310.58509 313.78767 317.62959 321.7883 325.30766">AP Select (SELECT)</tspan></text>
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<text xml:space="preserve" transform="matrix(0 -1.1268338 1.1268338 0 1.0137138 640.407)" font-size="5.76" font-family="HelveticaLTStd"><tspan y="126.8073" x="274.08973 278.24845 281.451 284.65357 287.85615 289.45744 293.29936 296.5019 298.10319 299.70448 302.90705 304.82514 306.42643 308.3445 312.50325 316.34516 320.18708 324.3458 327.86515 331.3845">Read Buffer (REBUFF)</tspan></text>
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<text xml:space="preserve" transform="matrix(0 -1.1268338 1.1268338 0 1.0137138 640.407)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="88.4073" x="362.4049 366.4081 370.41133 374.41453">0x00</tspan></text>
<text xml:space="preserve" transform="matrix(0 -1.1268338 1.1268338 0 1.0137138 640.407)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="101.2073" x="362.4048 366.408 370.4112 374.4144">0x04</tspan></text>
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<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" stroke-width=".64" stroke-linecap="butt" stroke-miterlimit="8" stroke-linejoin="miter" fill="none" stroke="#000000" d="M111.15629 394.4717H140.02942V408.24485H111.15628V394.4717Z"/>
<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" stroke-width=".64" stroke-linecap="butt" stroke-miterlimit="8" stroke-linejoin="miter" fill="none" stroke="#000000" d="M140.55767 394.43309H159.73662V408.28346H140.55767V394.43309Z"/>
<text xml:space="preserve" transform="matrix(1.1268338 0 0 1.1268338 1.0137138 640.407)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="-411.96568" x="57.3048 62.503198 67.305599 72.504 77.7024">DPACC</tspan></text>
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<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" stroke-width=".64" stroke-linecap="butt" stroke-miterlimit="8" stroke-linejoin="miter" fill="none" stroke="#000000" d="M222.51628 394.4717H251.38942V408.24485H222.51628V394.4717Z"/>
<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" stroke-width=".64" stroke-linecap="butt" stroke-miterlimit="8" stroke-linejoin="miter" fill="none" stroke="#000000" d="M251.91768 394.43309H271.09663V408.28346H251.91767V394.43309Z"/>
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<path transform="matrix(0,-.36058683,-.36058683,0,296.35685,354.30433)" d="M0 0 4-4-10 0 4 4 0 0Z" fill-rule="evenodd"/>
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<path transform="matrix(1.1268338,0,0,-1.1268338,1.0137138,640.407)" stroke-width=".60033" stroke-linecap="butt" stroke-miterlimit="8" stroke-linejoin="miter" fill="none" stroke="#000000" d="M53.08244 257.8836H304.6404V419.25587H53.08243V257.8836Z"/>
<text xml:space="preserve" transform="matrix(1.1268338 0 0 1.1268338 1.0137138 640.407)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="-273.08219" x="265.824 271.0224 275.0256 279.4248 283.824 288.2232 290.2248 295.0272 299.4264 302.2272">Debug Port</tspan></text>
<text xml:space="preserve" transform="matrix(1.1268338 0 0 1.1268338 1.0137138 640.407)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="-264.76573" x="276.4008 278.7984 283.9968 288.7992">(DP)</tspan></text>
<text xml:space="preserve" transform="matrix(1.1268338 0 0 1.1268338 1.0137138 640.407)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="-281.40574" x="271.27439 276.87599 280.87919 285.27839 289.2816 292.0824 294.08399">Generic</tspan></text>
<text xml:space="preserve" transform="matrix(1.0949669 0 0 1.159628 1.0137138 640.407)" font-size="5.76" font-family="HelveticaLTStd"><tspan y="-317.08848" x="358.87684 362.71876 365.92134 369.1239 370.7252 372.32649 375.52906 378.73164 380.33293 384.17485 388.33357 393.13166 394.73295 398.89167 402.09425 405.2968 408.4994 411.70198 413.30326 414.90455 418.10713 419.7084 422.91096 424.82905 426.43034 429.63288 432.51289 435.71546 437.31675 440.19676 443.3993 446.60188 449.80445 451.40574 455.24766 458.4502 461.65278 464.85536 466.13407 469.3366 474.1347 477.33729 480.53987 482.14115">See the ARM Debug Interface v5p1 Supplement.</tspan></text>
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<path transform="matrix(1,0,0,1,54,24.56929)" stroke-width=".8" stroke-linecap="butt" stroke-miterlimit="4" stroke-linejoin="miter" fill="none" stroke="#666666" d="M0 0H504L488 16H0V0Z"/>
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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="26.01035" x="431.99098 438.48896 443.98796 448.99195 454.49095 457.48796 462.49195 465.99296 468.49497 473.49897 476.00099 482.49897 487.50297 493.00196 498.50096">Chapter 9 Debug</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="130.01001 137.23001 142.79001 148.35 151.13 157.8 163.91 170.02 173.35 179.46 185.02 193.91 196.69 199.47 205.03 207.81 215.03 220.59 223.92 229.48 233.37 238.93 245.04 250.59999 256.16 258.94 267.27 272.83 278.93998 285.04997 290.60997 293.38996 296.16996 298.94996 306.16996 311.72996 317.28996 320.06996 322.84996 328.40995 331.18995 336.74995 342.85993 348.9699 351.7499 357.3099 362.8699 368.4299">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">229</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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