Ryan Malloy
5252d1d73c
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.
811 lines
92 KiB (Stored with Git LFS)
XML
811 lines
92 KiB (Stored with Git LFS)
XML
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<path transform="matrix(.994945,0,0,.994945,-8.574734,-13.68264)" stroke-width=".5" stroke-linecap="butt" stroke-miterlimit="3" stroke-linejoin="miter" fill="none" stroke="#000000" d="M535.1865 237.1516H569.20358V268.3336H535.1865V237.1516Z"/>
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<text xml:space="preserve" transform="matrix(.994945 0 0 .994945 -8.574734 -13.68264)" font-size="8" font-family="HelveticaLTStd"><tspan y="255.60587" x="537.09597 543.75997 550.42398 556.19998 561.53598">MMCAU</tspan></text>
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<path transform="matrix(.994945,0,0,.994945,27.217347,-13.68264)" stroke-width="1.5" stroke-linecap="butt" stroke-miterlimit="3" stroke-linejoin="miter" fill="none" stroke="#000000" d="M466.1804 218.2239H494.58006"/>
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<path transform="matrix(.994945,0,0,.994945,27.217347,-13.68264)" d="M463.73088 220.6989C462.36485 220.6989 461.25486 219.58989 461.25486 218.2239 461.25486 216.8579 462.36485 215.7489 463.73088 215.7489 465.09684 215.7489 466.20588 216.8579 466.20588 218.2239 466.20588 219.58989 465.09684 220.6989 463.73088 220.6989" fill-rule="evenodd"/>
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<path transform="matrix(.994945,0,0,.994945,27.217347,-13.68264)" stroke-width="1.5" stroke-linecap="butt" stroke-miterlimit="3" stroke-linejoin="miter" fill="none" stroke="#000000" d="M409.00547 148.02285H464.0068"/>
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<path transform="matrix(.994945,0,0,.994945,27.217347,-13.68264)" d="M464.0356 150.18358C462.6696 150.18358 461.55958 149.07457 461.55958 147.70858 461.55958 146.34258 462.6696 145.23357 464.0356 145.23357 465.40159 145.23357 466.5106 146.34258 466.5106 147.70858 466.5106 149.07457 465.40159 150.18358 464.0356 150.18358" fill-rule="evenodd"/>
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<path transform="matrix(.994945,0,0,.994945,27.217347,-13.68264)" stroke-width=".5" stroke-linecap="butt" stroke-miterlimit="3" stroke-linejoin="miter" fill="none" stroke="#000000" d="M438.96549 309.44065 464.47648 317.81095V342.926L438.96549 351.2958V309.44065Z"/>
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<text xml:space="preserve" transform="matrix(.994945 0 0 .994945 27.217347 -13.68264)" font-size="12" font-family="HelveticaLTStd"><tspan y="288.45304" x="310.18797"> </tspan></text>
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<text xml:space="preserve" transform="matrix(.994945 0 0 .994945 27.217347 -13.68264)" font-size="8.0003" font-family="HelveticaLTStd"><tspan y="318.7662" x="381.00648 383.23057 385.89466 389.8948 394.343 398.79118 403.23936 405.46345 409.91163 414.3598">I-code bus</tspan></text>
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<text xml:space="preserve" transform="matrix(.994945 0 0 .994945 27.217347 -13.68264)" font-size="12" font-family="TimesLTStd"><tspan y="318.7662" x="418.35997"> </tspan></text>
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<text xml:space="preserve" transform="matrix(.994945 0 0 .994945 27.217347 -13.68264)" font-size="8.0003" font-family="HelveticaLTStd"><tspan y="335.77479" x="379.9344 385.7106 388.3747 392.37486 396.82304 401.2712 405.7194 407.94349 412.39167 416.83985">D-code bus</tspan></text>
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<text xml:space="preserve" transform="matrix(.994945 0 0 .994945 27.217347 -13.68264)" font-size="12" font-family="TimesLTStd"><tspan y="335.77479" x="420.84"> </tspan></text>
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<text xml:space="preserve" transform="matrix(.994945 0 0 .994945 27.217347 -13.68264)" font-size="8.0003" font-family="HelveticaLTStd"><tspan y="352.78346" x="379.49433 384.83055 388.8307 392.83085 395.05494 399.5031 406.16737 408.39146 412.83964 417.2878">System bus</tspan></text>
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<path transform="matrix(.994945,0,0,.994945,27.217347,-13.68264)" stroke-width="1.5" stroke-linecap="butt" stroke-miterlimit="3" stroke-linejoin="miter" fill="none" stroke="#000000" d="M464.68907 330.38255H522.4717"/>
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<path transform="matrix(.994945,0,0,.994945,27.217347,-13.68264)" d="M516.94699 327.08256 523.547 330.38255 516.94699 333.68257V327.08256" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(.994945 0 0 .994945 27.217347 -13.68264)" font-size="8.0003" font-family="HelveticaLTStd"><tspan y="328.15437" x="473.34593 479.12214 483.5703 488.0185 492.46669 494.69078 499.13896 503.58714">Code bus</tspan></text>
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<path transform="matrix(.994945,0,0,.994945,27.217347,-13.68264)" d="M152.36164 407.7651H192.04863V385.08714H152.36164V407.7651Z" fill="#ffffff"/>
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<path transform="matrix(.994945,0,0,.994945,27.217347,-13.68264)" stroke-width=".5" stroke-linecap="butt" stroke-miterlimit="3" stroke-linejoin="miter" fill="none" stroke="#000000" d="M152.36164 385.08714H192.04863V407.7651H152.36164V385.08714Z"/>
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<text xml:space="preserve" transform="matrix(.994945 0 0 .994945 27.217347 -13.68264)" font-size="8.0003" font-family="HelveticaLTStd"><tspan y="399.28953" x="155.84604 162.51029 168.2865 174.95075 177.61484 182.95104">MDM-AP</tspan></text>
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<path transform="matrix(.994945,0,0,.994945,27.217347,-13.68264)" stroke-width="1.5" stroke-linecap="butt" stroke-miterlimit="3" stroke-linejoin="miter" fill="none" stroke="#000000" d="M105.66549 395.99775H145.60076"/>
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<path transform="matrix(.994945,0,0,.994945,27.217347,-13.68264)" d="M145.7177 392.69676 152.3177 395.99775 145.7177 399.29774V392.69676" fill-rule="evenodd"/>
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<path transform="matrix(.994945,0,0,.994945,27.217347,-13.68264)" stroke-width="1.5" stroke-linecap="butt" stroke-miterlimit="3" stroke-linejoin="miter" fill="none" stroke="#000000" d="M106.5015 395.78648V355.62278"/>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="357.037" x="141.65526 148.98726 152.32326 159.65526 166.98726 171.65526 178.32726 181.66326 188.33525 192.33126 199.00325 202.33925 205.67525 214.33925 221.67125 226.33925 230.33525 237.00725 243.67925 247.67525 257.67124 264.34324 267.67924 276.34324 283.01524 290.34724 297.67924 305.01124 308.34724 315.67924 323.01124 330.34324 337.67524 341.01124 348.34324 355.67524">Figure 9-1. Cortex-M4 Debug Topology</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="383.46983" x="-.0007324219 8.5532679 15.5532679 21.769268 25.269268 29.931269 36.931268 40.82327 44.71527 51.71527 61.823274 65.71527 72.71527 79.71527 83.21527 87.10727 93.32327 100.32327 104.21527 110.431278 113.931278 120.931278 125.59328 131.80928 137.25528 143.47129 150.47129 154.36328 159.80928 163.30928 169.52529 173.02529 180.02529 184.68729 188.57929 194.79529 199.45729 202.95729 209.95729 216.1733 221.6193 227.8353 232.4973 236.3893 243.3893 247.2813 251.1733 258.17329 265.17329 268.67329 275.67329 280.33528 283.83528 290.05128 296.26728 302.48329 309.48329 312.98329 319.98329 326.98329 333.19929 336.69929 343.69929 348.36128 351.86128 355.75328 362.75328 368.96928 372.46928 379.46928 385.68528 392.68528 399.68528 406.68528 410.18528 416.40129 423.40129 434.29328 441.29328 448.29328 455.29328 461.50929 468.50929 472.40129 477.8473">The following table presents a brief description of each one of the debug components.</tspan></text>
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<path transform="matrix(1,0,0,1,54,54)" d="M0 396.0198H504V657.5198H0Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 170.5 450.01979)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="12.63931 19.97131 26.64331 33.97531 37.31131 43.98331 47.319314 53.991315 57.987314 64.65932 76.995319 85.65932 92.331317 99.663318 106.995319 114.32732 117.663318 126.32732 133.65932 144.32732 151.65932 158.99132 166.32332 172.99532 180.32732 184.32332 190.99532 194.33132 202.99532 209.66732 216.33931 223.0113 227.6793 231.0153 238.3473 242.3433 245.6793 253.0113">Table 9-1.Debug Components Description</tspan></text>
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<g clip-path="url(#clip_2)">
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<path transform="matrix(1,0,0,1,54,469.01979)" d="M.5 .5H251.5V15.5H.5Z" fill="#ffffff" fill-rule="evenodd"/>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 471.51979)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="108.74699 116.24399 121.74299 127.24199 132.74098 135.24298">Module</tspan></text>
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<g clip-path="url(#clip_3)">
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<path transform="matrix(1,0,0,1,54,469.01979)" d="M252.5 .5H503.5V15.5H252.5Z" fill="#ffffff" fill-rule="evenodd"/>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.5 471.51979)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="99.74699 106.24499 111.248989 116.25298 121.25698 124.75798 127.25998 132.75897 135.75597 138.25797 143.75696">Description</tspan></text>
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<g clip-path="url(#clip_4)">
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<path transform="matrix(1,0,0,1,54,485.01979)" d="M.25 .5H251.75V15.5H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 487.51979)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 14.499001 18.999 21.996 28.494002 34.497 39.753004 42.255 46.755 51.255 56.754 62.757005">SWJ-DP+ cJTAG</tspan></text>
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<g clip-path="url(#clip_5)">
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<path transform="matrix(1,0,0,1,54,485.01979)" d="M252.25 .5H503.75V15.5H252.25Z" fill="#ffffff" fill-rule="evenodd"/>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 487.51979)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.4970009 12.501001 17.505002 19.503003 22.005003 24.003003 29.007004 34.011007 36.513006 43.011007 48.015008 53.01901 58.02301 63.02701 65.529018 71.53201 76.53601 79.53301 82.03501 84.53701 91.03501 93.03301 95.53501 100.53901 103.04101 107.54101 112.545009 117.549 122.553 127.557 130.554 133.056 135.558 138.06 143.064 146.06099 148.56299 154.566 163.062 169.56 172.062 174.564 179.064 184.56299 190.566 197.568 200.06999 202.57199 207.07199 211.57199 217.07099 223.07399">Modified Debug Port with support for SWD, JTAG, cJTAG</tspan></text>
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<g clip-path="url(#clip_6)">
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<path transform="matrix(1,0,0,1,54,500.76979)" d="M.25 .25H251.75V26.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 503.01979)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 12.501001 18.504002 21.501002 27.504002">AHB-AP</tspan></text>
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<g clip-path="url(#clip_7)">
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<path transform="matrix(1,0,0,1,54,500.76979)" d="M252.25 .25H503.75V26.25H252.25Z" fill="#ffffff" fill-rule="evenodd"/>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 503.01979)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 12.501001 18.504002 21.006003 28.503003 33.507005 38.007005 40.509004 45.513006 48.510007 51.012006 53.514005 58.518007 61.020006 66.024 69.021 71.523 76.527 81.027 86.031 88.533 91.034999 94.032 99.035999 106.533 109.034999 113.534999 119.034 125.036998 132.039 134.541 137.043 142.047 144.549 149.553 154.55699 159.56099 164.56499 169.56899 172.07099 179.56798 184.57198 189.57598 194.57997 196.57798 201.58197 204.08397 209.08797 214.09197 219.09597 221.59796 227.60097 234.60297">AHB Master Interface from JTAG to debug module and SOC</tspan><tspan y="18.83789" x="0 4.5 9 13.5 16.002 21.006 28.503003 31.005003 38.502004 43.506006 51.003007 56.007009 59.00401 63.50401 66.00601 73.50301 78.50701 83.51101">system memory maps</tspan></text>
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<g clip-path="url(#clip_8)">
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<path transform="matrix(1,0,0,1,54,527.2698)" d="M.25 .25H251.75V26.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 529.5198)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.4970009 13.995001 21.492 24.489 30.492">MDM-AP</tspan></text>
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<g clip-path="url(#clip_9)">
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<path transform="matrix(1,0,0,1,54,527.2698)" d="M252.25 .25H503.75V26.25H252.25Z" fill="#ffffff" fill-rule="evenodd"/>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 529.5198)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 9 14.004001 18.504002 20.502003 25.506005 30.510006 35.010007 37.512006 42.012006 47.016008 52.020009 54.522008 57.51901 62.52301 64.52101 66.51901 71.01901 76.02301 81.02701 83.52901 88.02901 93.033008 98.037 100.539 103.536 108.54 110.538 113.04 118.044 123.048 128.052 130.554 135.054 137.556 142.56 145.062 150.066 154.566 157.068 160.06499 165.06899 170.07299 172.07099 176.57099 179.07299 184.07698 187.07398 191.57398 194.07598 196.57798 201.58197 204.57897 207.08097 212.08496">Provides centralized control and status registers for an</tspan><tspan y="18.83789" x=".00002 5.0040209 9.504021 12.0060219 17.010022 20.00702 25.01102 30.015023 32.013025 34.515024 39.519025 44.523027 49.527029 54.53103 59.53503 64.53903 69.54303 72.54003 75.04203 77.54403 82.54803 85.050029 89.550029 94.55402 99.55802 102.06002 105.05702 110.06102 112.05902 114.56102 117.06302 122.06702 127.071018 129.57302 134.57701 139.58101 144.08101 146.07901 150.57901 155.58301">external debugger to control the device.</tspan></text>
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<g clip-path="url(#clip_10)">
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<path transform="matrix(1,0,0,1,54,553.7698)" d="M.25 .25H251.75V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 556.0198)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 13.500001 20.997002 23.499003 28.998003 34.002004 39.006006 41.004007">ROM Table</tspan></text>
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<g clip-path="url(#clip_11)">
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<path transform="matrix(1,0,0,1,54,553.7698)" d="M252.25 .25H503.75V15.25H252.25Z" fill="#ffffff" fill-rule="evenodd"/>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 556.0198)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 2.5020004 7.506001 12.510002 17.514004 20.016005 22.014004 24.516005 26.514004 31.518006 36.018007 38.520006 45.018007 50.022008 52.020009 56.520009 61.52401 64.02601 69.03001 74.034008 79.038 84.042 89.046 91.548 94.049999 100.05299 102.55499 104.55299 109.05299 111.55499 116.55899 121.05899 126.06299 128.06099 130.05899 135.06299 140.06699 142.06499 147.06899">Identifies which debug IP is available.</tspan></text>
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<g clip-path="url(#clip_12)">
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<path transform="matrix(1,0,0,1,54,569.2698)" d="M.25 .25H251.75V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 571.5198)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 14.499001 19.503003 22.005003 28.503005 33.507005 38.511007 43.515008">Core Debug</tspan></text>
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<g clip-path="url(#clip_13)">
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<path transform="matrix(1,0,0,1,54,569.2698)" d="M252.25 .25H503.75V15.25H252.25Z" fill="#ffffff" fill-rule="evenodd"/>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 571.5198)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.001 13.005001 18.009003 20.007004 25.011006 29.511006 32.013006 37.017007 42.021009 44.523008 47.025007 53.523008 58.527009 63.53101 65.52901 70.02901 72.531009 77.535 80.532009 83.034008 89.037 93.537 98.037 103.041 107.541 112.041 114.543 117.045 123.543 128.547 133.551 136.053 138.555 145.053 150.05699 153.05399 158.05799 160.55998 166.56299 169.06499 174.06899 176.57099 181.57498">Singlestep, Register Access, Run, Core Status</tspan></text>
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<g clip-path="url(#clip_14)">
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<path transform="matrix(1,0,0,1,54,584.7698)" d="M.25 .25H251.75V26.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 587.0198)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 14.499001 19.503003 25.506003 27.504002 32.508005 37.512006 40.014005 42.516004 48.015005 51.012006 56.016008 60.516008 65.520008 68.022 73.521 78.525 83.529 88.533 93.536998 95.534999 98.036998 101.034 106.037998 111.04199 113.54399 116.04599 120.54599 125.54999 130.55399 137.05199 142.05599 144.55799 146.55599 151.55998 154.06198 156.56398 158.56198 163.56598 168.56998 171.56697 176.57097">CoreSight Trace Funnel (not shown in figure)</tspan></text>
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<g clip-path="url(#clip_15)">
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<path transform="matrix(1,0,0,1,54,584.7698)" d="M252.25 .25H503.75V26.25H252.25Z" fill="#ffffff" fill-rule="evenodd"/>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 587.0198)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 24.507002 30.510003 36.009004 41.508005 44.010004 48.510004 53.514005 61.011007 66.01501 68.01301 73.017009 78.021 82.521 85.023 92.520008 97.524 99.522 102.024 104.022 109.026 111.024 116.028 118.53 121.032 124.029 129.033 133.533 138.537 141.039 145.539 148.041 151.038 156.04199 161.04599 168.54299 173.04299 175.54499 180.54898 185.55298 188.05498 193.05898 195.56098 200.56497 203.06697 207.56697 209.56497 214.56897 219.57297 221.57097 226.57497 229.07697 235.07997 240.57897">The CSTF combines multiple trace streams onto a single ATB</tspan><tspan y="18.83789" x="0 5.0040009 10.008001 14.508001">bus.</tspan></text>
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<g clip-path="url(#clip_16)">
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<path transform="matrix(1,0,0,1,54,611.2698)" d="M.25 .25H251.75V26.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 613.5198)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 14.499001 19.503003 25.506003 27.504002 32.508005 37.512006 40.014005 42.516004 48.015005 51.012006 56.016008 60.516008 65.520008 68.022 74.520008 79.524 84.528 86.526 88.524 93.024 98.028 100.53 105.534 108.531 111.033 114.03 119.034 124.037998 126.53999 129.04199 133.54199 138.54599 143.54999 150.04799 155.05199 157.55399 159.55199 164.55599 167.05799 169.55998 171.55799 176.56198 181.56598 184.56298 189.56697">CoreSight Trace Replicator (not shown in figure)</tspan></text>
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<g clip-path="url(#clip_17)">
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<path transform="matrix(1,0,0,1,54,611.2698)" d="M252.25 .25H503.75V26.25H252.25Z" fill="#ffffff" fill-rule="evenodd"/>
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</g>
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