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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_226.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

625 lines
78 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 -49.257158 115.453067)" font-size="4.8" font-family="HelveticaLTStd" font-weight="bold"><tspan y="141.66117" x="543.7153 547.7137 551.17929 555.1777 556.77609 560.24166">MDM-AP</tspan></text>
<path transform="matrix(1,0,0,1,-40.457155,6.253067)" d="M529.8375 186.98436H560.79116V208.33797H529.8375Z" fill="#ffffff"/>
<path transform="matrix(1,0,0,1,-40.457155,6.253067)" stroke-width=".4064" stroke-linecap="butt" stroke-miterlimit="3" stroke-linejoin="miter" fill="none" stroke="#000000" d="M529.8375 186.98436H560.79116V208.33797H529.8375Z"/>
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<path transform="matrix(1,0,0,1,19.142846,36.253068)" d="M465.11045 221.13976H452.52223V219.7826H465.11045V221.13976ZM464.4349 218.42545 468.50636 220.45816 464.4349 222.49687V218.42545Z"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="345.4814" x="161.32798 168.65998 171.99597 179.32798 186.65998 191.32798 197.99997 201.33597 208.00797 212.00397 218.67597 222.01197 225.34796 235.34397 242.67597 250.00797 253.34397 257.33998 260.67597 267.34797 274.67997 278.01597 286.67997 293.35197 300.68397 308.01597 315.34797 318.68397 326.68797 334.01997 338.68797">Figure 9-2. Modified Debug Port</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="371.91426" x=".0059661867 8.559966 15.559966 21.775967 25.275967 32.275968 38.491968 45.491968 52.491968 59.491968 62.991968 69.99197 76.99197 81.65397 85.54597 89.04597 95.26197 102.26197 113.15397 119.36997 124.81597 128.31598 135.31598 142.31598 146.20798 149.70798 156.70798 161.36998 164.86998 169.53199 175.74799 181.19399 187.40999 191.30199 194.80199 198.69399 205.69399 209.19399 214.63999 218.53199 224.74799 231.74799 238.74799 244.96399 249.62599 256.62599 260.12599 265.572 274.12599 284.23399 294.34199 297.84199 308.73399 315.73399 322.73399 328.94999 332.44999 338.666 345.666 352.666 356.166 360.05799 365.504 369.004 374.45 384.558 388.45 392.342 398.558 405.558 411.77403 418.77403 422.27403 426.16603 433.16603 437.058 444.058 447.558 453.77403 457.66603 461.558 468.558 474.77403">The debug port comes out of reset in standard JTAG mode and is switched into either</tspan><tspan y="387.91426" x=".0059661867 6.2219669 11.667967 20.221966 30.329968 40.43797 43.93797 50.93797 55.599969 59.099969 66.88397 80.099979 90.20798 93.70798 104.599979 111.599979 118.599979 124.81598 128.31598 135.31598 142.31598 145.81598 149.70798 156.70798 162.92398 166.42398 171.08599 178.08599 181.97798 185.86998 192.86998 202.97798 206.86998 213.86998 220.86998 224.36998 229.81598 236.03199 243.03199 250.03199 256.248 263.248 269.464 275.68 281.126 284.626 288.126 298.234 305.234 311.45 317.66603 321.16603 325.058 332.058 338.27403 341.77403 352.66603 359.66603 366.66603 372.88203 376.38203 383.38203 389.59803 395.04405 398.54405 405.54405 411.76005 417.97605 424.97605 428.47605 434.69206 441.69206 447.90806 454.90806 461.90806 468.12406 475.12406">cJTAG or SWD mode by the following sequences. Once the mode has been changed,</tspan><tspan y="403.91426" x=".0059661867 7.005966 14.005966 21.005967 26.451968 32.66797 39.66797 43.16797 50.16797 56.38397 63.38397 70.38397 77.38397 80.88397 87.88397 91.77597 98.77597 104.22197 107.72197 113.93797 120.15398 127.15398 130.65398 137.65398 143.86998 147.36998 152.03199 158.24799 164.46399 169.90999 175.35599 179.24799 186.24799 193.24799 199.46399 206.46399 209.96399 213.85599 220.85599 224.35599 230.57199 237.57199 244.57199 248.07199 255.07199 259.73399 263.23399 267.12599 274.12599 280.34199 284.23399 288.89598 292.39598 298.61198 302.50398 306.39598 312.61198 317.27397 324.27397 330.48997 334.38197 338.27397 345.27397 351.48997 354.98997 365.88197 372.88197 379.88197 386.09797 393.09797 396.59797 401.25996 408.25996 415.25996 421.47596 425.36796 429.25996 436.25996 443.25996 448.70597">unused debug pins can be reassigned to any of their alternative muxed functions.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 498.46424)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00203 8.8939709 13.34197 22.237973 26.685973">9.2.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.757328 498.46424)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00203 8.8939709 18.669972 30.221974 42.669977 47.997976 53.325975 63.101976 68.42998 79.101978 94.20598 105.75798 110.20598 119.10198 128.87798 137.77397 147.54998 157.32598 166.22197 170.66997 179.56597 188.46196 198.23796 208.01396 216.90996 226.68596 235.58196">JTAG-to-SWD change sequence</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="478.31425" x="7.49997 14.4999699 24.00597 31.78997 38.00597 45.00597 52.00597 55.50597 66.39797 73.39797 78.059978 84.27598 87.77598 91.66798 98.66798 104.88398 111.88398 115.38398 122.38398 129.38397 132.88397 141.43798 150.77597 160.88397 164.38397 170.59998 177.59998 183.81598 187.70798 193.92398 199.36998 202.86998 212.97798 216.86998 220.76198 227.76198 231.26198 239.81598 252.26198 260.046 263.546 268.20799 275.99198 289.20799 299.31599 303.97798 314.08598 318.74797 322.24797 330.14396">1.Send more than 50 TCK cycles with TMS (SWDIO) =1</tspan><tspan y="494.31425" x="7.5 14.5 24.006 31.79 38.006 45.006 52.006 55.506 59.398004 66.398 72.614009 76.114009 83.114009 90.114009 94.77601 101.77601 105.66801 109.560009 113.060009 118.506008 124.72201 131.72202 138.72202 144.93802 151.93802 158.15402 164.37003 167.87003 174.87003 181.87003 185.37003 193.92403 206.37003 214.15402 217.65402 222.31603 230.10002 243.31603 253.42403 258.08604 268.19404 272.85603 276.35603 284.252 287.752 294.752 301.752 308.752 315.752 322.752 329.752 336.752 343.752 350.752 357.752 364.752 371.752 378.752 385.752 392.752 399.752 406.752 413.752 420.752 424.252 428.914 441.36003 449.144">2.Send the 16-bit sequence on TMS (SWDIO) = 0111_1001_1110_0111 (MSB</tspan><tspan y="510.31425" x="24.00604 27.89804 32.56004 38.77604 45.77604 51.22204 62.11404 66.00604 69.89804 73.79004 80.00604 87.00604 90.50604 95.168048 99.06004 103.722049 109.168048 113.06004">transmitted first)</tspan><tspan y="526.3142" x="7.5000517 14.5000519 24.006052 31.790053 38.006055 45.006055 52.006055 55.506055 66.398059 73.398059 78.06006 84.27606 87.77606 91.66806 98.66806 104.88406 111.88406 115.38406 122.38406 129.38407 132.88407 141.43807 150.77606 160.88407 164.38407 170.60007 177.60007 183.81607 187.70807 193.92407 199.37007 202.87007 212.97808 216.87007 220.76207 227.76207 231.26207 239.81607 252.26207 260.04609 263.54609 268.20808 275.99208 289.20808 299.31608 303.97807 314.08607 318.74806 322.24806 330.14405">3.Send more than 50 TCK cycles with TMS (SWDIO) =1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="552.10098" x="232.55005 242.65805 253.55005 262.10404">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="568.3142" x="71.99802 79.78202 85.998027 92.21403 95.71403 99.606029 106.606029 112.82203 116.32203 126.43003 135.76804 148.21404 151.71404 158.71404 165.71404 171.93004 178.93004 189.82204 196.03804 203.03804 206.93004 213.14604 217.03804 220.93004 227.93004 234.93004 238.43004 243.09204 250.09204 254.75405 258.25404 262.14604 269.14604 275.36204 278.86204 288.20005 295.20005 299.86204 306.07804 313.86204 317.75404 324.75404 331.75404 335.64604 339.14604 349.25404 359.36204 367.14604 370.64604 379.2 383.092 386.984 393.2 396.7 401.362 408.362">See the ARM documentation for the CoreSight DAP Lite for</tspan><tspan y="584.3142" x="71.99804 76.66004 82.876049 88.322048 92.21404 96.876049 100.76804 106.98405 110.876049 114.76804 121.76804 128.76804 134.21404">restrictions.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 678.86428)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00203 8.898031 13.346031 22.242032 26.690032">9.2.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.757328 678.86428)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00203 8.898031 18.67403 30.226033 42.674036 48.002035 53.330034 63.106035 68.43404 77.33004 86.22604 96.002048 107.55405 120.002048 124.45004 133.34604 143.12204 152.01804 161.79404 171.57004 180.46604 184.91403 193.81003 202.70603 212.48203 222.25803 231.15402 240.93003 249.82602">JTAG-to-cJTAG change sequence</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="658.71426" x="7.50602 14.50602 23.99802 33.33602 39.55202 44.99802 51.21402 55.10602 58.60602 62.498025 69.498027 75.71403 79.21403 86.21403 92.43003 99.43003 106.43003 113.43003 116.93003 123.93003 130.93003 135.59203">1.Reset the debug port</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 5.499 10.998 16.002 18.504002 25.002003 30.006005 35.505006 41.004007 46.503007 49.005006 55.008005 60.507005 64.008">The Debug Port</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.005 137.225 142.785 148.345 151.125 157.795 163.905 170.015 173.345 179.455 185.015 193.905 196.685 199.465 205.025 207.805 215.025 220.58499 223.915 229.47499 233.36499 238.92499 245.03499 250.59499 256.155 258.935 267.26499 272.82499 278.93498 285.04496 290.60496 293.38496 296.16496 298.94496 306.16496 311.72496 317.28495 320.06495 322.84495 328.40495 331.18495 336.74494 342.85493 348.9649 351.7449 357.3049 362.8649 368.4249">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="-.00102 5.0029809 10.006981">226</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="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>
<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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