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.
113 lines
22 KiB (Stored with Git LFS)
XML
113 lines
22 KiB (Stored with Git LFS)
XML
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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="13.104 23.996003 34.104005 37.996007 41.88801 45.38801 58.604009 68.712009 78.82001 88.92801 92.42801 98.64401 105.64401 112.64401 116.53601 121.19801 128.19802 132.09001 135.98201 142.19802 149.19802 156.19802 160.86002 164.75202 171.75202 178.75202 183.41402 189.63002 193.52202 197.41402 204.41402 211.41402 214.91402 221.91402 225.80602 229.69802 235.14402 238.64402 244.86002 249.52202 255.73802 259.23805 269.34605 274.00804 277.90003 281.79203 288.00804 295.00804 298.90003 305.11604 308.61604 315.61604 322.61604 328.83204 335.04804 338.54804 345.54804 352.54804 356.44004 363.44004 366.94004 377.04804 380.94004 384.83204 391.83204 395.72404 402.72404 406.22404 413.22404 420.22404 427.22404 430.72404 437.72404 444.72404 450.17005 453.67005 459.88606 463.77806 470.77806 476.99406">•All WDOG control/configuration bits are writable once only within 256 bus clock</tspan><tspan y="27.85" x="23.99601 30.21201 37.21201 43.42801 47.32001 53.53601 58.98201 62.48201 69.48201 74.14401 77.64401 84.64401 90.860019 94.752017 101.752017 108.752017 112.252017 119.252017 126.252017 130.14402 137.14402 143.36002 150.36002 156.57602 163.57602">cycles of being unlocked.</tspan><tspan y="52.25" x="37.10002 48.006025 58.114027 65.11403 72.11403 75.61403 82.61403 88.83003 95.046039 102.046039 105.546039 109.438037 116.438037 119.938037 126.15404 130.04604 140.15404 146.37004 153.37004 158.81604 162.31604 169.31604 176.31604 183.31604 189.53205 193.42404 199.64005 203.14005 207.03205 214.03205 220.24805 225.69405 231.91005 235.41005 242.41005 246.30205 250.19405 255.64005 259.14006 265.35606 270.01805 273.91004 280.12605 284.78804 288.28804 295.28804 302.28804 306.18003 313.18003 319.39604 326.39604 330.28804 337.28804 344.28804 347.78804 357.89604 361.78804 365.68003 372.68003 376.57203 383.57203 387.07203 394.07203 401.07203 408.07203 411.57203 418.57203 425.57203 431.01805 434.51805 440.73405 444.62605 451.62605 457.84205">•You need to always update these bits after unlocking within 256 bus clock</tspan><tspan y="68.25" x="48.00602 54.22202 61.22202 67.43802 71.33002 77.54602 82.99202 86.49202 89.99202 97.776027 103.99203 107.884029 111.776027 118.776027 123.43803 129.65402 133.15402 137.04602 144.04602 147.54602 154.54602 161.54602 168.54602 174.76203 178.65402 184.87003 188.37003 192.26203 199.26203 205.47803 210.92403 217.14003 220.64003 227.64003 231.53203 235.42403 240.87003 244.37003 249.03203 255.24803 260.69404 266.91004 270.80204 276.24806 279.74806 283.64006 290.64006 296.85606 300.35606 305.80207 312.80207 318.24809 322.14009 328.35609 339.24809">cycles. Failure to update these bits resets the system.</tspan><tspan y="92.65" x="13.104019 23.996022 31.780022 36.44202 43.44202 50.44202 55.10402 61.32002 72.21202 83.10402 89.32002 96.32002 100.21202 106.428028 109.928028 113.82002 117.71202 128.60402 134.82003 139.48203 146.48203 153.48203 157.37403 160.87403 167.87403 174.09003 178.75203 182.64403 189.64403 196.64403 200.14403 205.59003 212.59003 218.80603 225.02204 228.91403 233.57604 237.46804 243.68404 250.68404 254.18404 258.07606 265.07606 268.57606 272.46806 278.68406 283.34605 294.23805 299.68406 303.18406 310.18406 314.84605 318.34605 325.34605 332.34605 343.23805 350.23805 356.45405 361.11604 364.61604 371.61604 376.278 379.778 392.99403 403.10203 413.21003 423.31803 426.81803 433.03404 436.92604 443.92604 450.14204 457.14204 460.64204 466.85804 473.85804 480.07405 483.96604 490.18205 495.62806">•Programmable time-out period specified in terms of number of WDOG clock cycles.</tspan><tspan y="117.05" x="13.104049 23.99605 34.10405 41.10405 44.99605 48.888055 52.780057 56.67206 63.67206 67.17206 71.06406 78.06406 81.56406 85.456058 91.67206 97.11806 101.010059 104.510059 117.72606 127.83406 137.94207 148.05007 151.55007 155.44207 159.33406 170.22606 176.44207 181.10407 184.60407 190.82007 197.82007 204.82007 208.32007 212.98207 219.19808 224.64408 230.86008 234.75208 238.25208 248.36008 252.25208 256.14408 263.14408 266.64408 272.86009 276.36009 281.02207 284.91407 291.13008 298.13008 301.63008 305.52207 312.52207 319.52207 323.41407 329.63008 335.84608 339.73808 343.63008 350.63008 357.63008 361.13008 371.23808 377.45408 381.34608 387.56208 394.56208 401.56208 408.56208 415.56208 419.06208 422.95408 429.17008 434.6161 438.5081">•Ability to test WDOG timer and reset with a flag indicating watchdog test.</tspan><tspan y="141.45001" x="37.10003 48.00603 58.114034 65.11403 69.00603 75.22203 82.22203 85.72203 89.61403 95.83003 101.27603 105.16803 119.16803 126.952037 137.84404 144.06005 147.95204 151.84404 155.34404 159.23604 163.12804 174.02004 180.23604 184.89804 191.89804 198.89804 202.79004 206.29004 213.29004 219.50605 223.39804 230.39804 236.61405 240.11405 247.11405 251.77605 258.77607 265.77607 270.43806 276.65406 287.54606 298.43806 304.65406 311.65406 315.15406 319.81605 326.81605 331.47804 334.97804 341.97804 348.97804 352.87004 359.08604 366.08604 369.58604 373.47804 379.69404 385.14006 389.03205">•Quick test—Small time-out value programmed for quick test.</tspan><tspan y="165.85" x="37.10003 48.00603 57.344034 64.34403 68.23603 74.452037 77.952037 81.84403 88.060039 93.506038 97.39803 111.39803 116.060039 123.060039 130.06003 133.95203 140.95203 144.84403 151.84403 158.84403 165.06003 168.95203 172.45203 179.45203 186.45203 190.34403 196.56003 202.00603 205.50603 212.50603 217.16803 220.66803 224.56003 228.45203 239.34403 245.56003 250.22203 253.72203 257.61405 263.83006 269.27607 273.16807 279.38407 286.38407 289.88407 296.88407 303.88407 310.10008 313.60008 319.81608 323.70808 327.20808 333.42408 336.92408 340.81608 344.70808 355.60008 361.81608">•Byte test—Individual bytes of timer tested one at a time.</tspan><tspan y="190.25" x="37.1 48.006 57.344 63.56 69.776 76.776 81.438 88.438 95.438 99.33 106.33 109.83 116.046009 122.26201 128.47801 134.69402 140.14002 145.58602 149.08602 152.97801 159.97801 163.47801 167.37001 174.37001 180.58602 184.08602 197.30202 207.41002 217.51802 227.62602 231.12602 235.01802 238.91002 249.80202 256.018 260.68 274.68 284.788 288.68 292.572 299.572 309.68 315.126 318.626 325.626 332.626 339.626 345.842 356.734 360.626 366.842 370.342 376.558 383.558 389.77403 395.99003 402.99003 406.49003 410.38203 417.38203 423.59803 427.49003 430.99003 444.20603 454.31404 464.42204">•Read-only access to the WDOG timer—Allows dynamic check that WDOG</tspan><tspan y="206.25" x="48.00602 51.89802 55.790025 66.68202 72.898029 77.56003 81.06003 84.95203 90.398029 93.898029 100.898029 107.898029 114.11403 118.77603 124.992038 128.88404 132.77603 139.77603 146.77603 152.99204 156.88404">timer is operational.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="230.4367" x="256.55 266.658 277.55 286.10398">NOTE</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="246.65" x="119.99399 129.33199 135.54799 141.76399 148.76399 152.65599 159.65599 166.65599 170.15599 174.04799 181.04799 187.26399 190.76399 200.872 207.088 210.98 217.196 224.196 231.196 238.196 245.196 248.696 252.588 256.48 267.372 273.588 278.25 281.75 287.966 294.966 301.966 308.966 312.858 319.074 323.736 327.236 337.344 344.344 348.236 352.128 358.344 361.844 366.50599 373.50599 380.50599 387.50599 391.39799 398.39799 405.39799 408.89799 412.78999 419.78999">Reading the watchdog timer counter while running the</tspan><tspan y="262.65" x="119.99399 130.10199 136.318 140.20999 146.426 153.426 160.426 167.426 174.426 177.926 184.926 191.926 195.426 199.318 206.318 212.534 216.034 223.034 230.034 235.48 238.98 245.196 249.088 256.088 262.30403 269.30403 272.80403 283.696 287.588 294.588 301.588 305.48 308.98 315.98 322.98 326.872 330.372 337.372 341.264 348.264 354.48 357.98 361.872 368.872 375.088 378.588 384.80403 391.02003 397.23603 404.23603 408.898 415.114 419.006">watchdog on the bus clock might not give the accurate</tspan><tspan y="278.65" x="119.99399 126.20999 133.20999 140.20999 147.20999 151.10199 157.318 161.98 165.48 172.48 178.696 182.588 189.588 195.804">counter value.</tspan><tspan y="303.05" x="13.103981 23.995984 37.211984 41.103986 48.103986 55.103986 62.103986 72.21198 78.427989 85.427989 88.927989 93.58999 99.80599 104.467998 109.13 115.346 120.792 127.792 131.29199 138.29199 145.29199 149.18399 153.07599 160.07599">•Windowed refresh option</tspan><tspan y="327.44999" x="37.099985 48.005987 55.789987 60.451986 67.45198 74.45198 78.34398 85.34398 91.55998 97.00598 100.50598 105.167987 112.167987 119.167987 126.167987 131.61399 135.50598 139.00598 145.22199 152.22199 158.43799 164.65399 171.65399 175.15399 179.04599 186.04599 192.262 196.15399 199.65399 206.65399 211.316 218.316 225.316 229.978 236.194 247.086 250.586 255.248 259.14 266.14 276.24803 279.74803 283.64 289.08604 292.58604 297.24803 303.46403 308.91004 312.80204 319.01805 323.68003 327.18003 331.07203 338.07203 344.28804 351.28804 354.78804 361.00404 368.00404 375.00404 381.22004 387.43605 391.32804 397.54405 404.54405">•Provides robust check that program flow is faster than expected.</tspan><tspan y="351.84999" x="37.09997 48.005975 55.789976 60.451974 67.45197 74.45197 79.113979 85.32998 96.22198 107.113979 113.32998 120.32998 124.22198 130.43798 133.93798 144.04598 147.93798 154.93798 161.93798 168.93798 179.04598">•Programmable window.</tspan><tspan y="376.24998" x="37.099954 48.005956 57.343957 63.559957 68.221958 72.88396 79.09996 84.54596 91.54596 95.04596 102.04596 109.04596 112.93796 118.38396 122.275959 129.27596 135.49196 138.99196 149.09996 152.99196 159.99196 166.99196 173.99196 184.09996 187.59996 191.49196 197.70796 203.92397 210.92397 216.36997 219.86997 223.76197 230.76197 234.26197 238.92397 245.13997 250.58597 256.80198 260.69398">•Refresh outside window leads to reset.</tspan><tspan y="400.64997" x="13.103933 23.995934 33.333936 40.333936 47.333936 54.333936 59.779935 63.671937 67.171939 71.83394 78.04994 82.711948 87.37395 93.58995 99.03595 106.03595 109.53595 120.42795 126.64395 132.85996 139.85996 146.07596 153.07596 156.96796 162.41396">•Robust refresh mechanism</tspan><tspan y="425.04997" x="37.099924 48.005926 61.221925 65.88393 69.775928 73.66792 79.88393 83.38393 90.38393 96.59993 100.49193 107.49193 113.70793 119.15393 122.65393 129.65393 134.31594 137.81594 144.81594 151.81594 161.92394 168.92394 175.92394 182.92394 186.42394 192.63994 199.63994 206.63994 210.13994 217.13994 224.13994 233.47794 240.47794 247.47794 254.47794 257.97795 261.86994 268.86994 272.36994 285.58595 295.69395 305.80195 315.90995 319.40995 328.74797 334.96397 339.62596 344.28794 350.50395 355.94996 362.94996 366.44996 375.78797 382.00398 389.00398 392.89598 398.34199 402.23399 408.44999 413.11198 416.61198 426.71998 430.61198 434.50398 441.50398 445.39598 452.39598 455.89598 462.89598 469.89598 473.39598 480.39598 487.39598">•Write values of 0xA602 and 0xB480 to WDOG Refresh Register within 20 bus</tspan><tspan y="441.04997" x="48.00592 54.22192 58.113924 65.11392 71.329929 78.329929 81.829929 88.04593 95.04593 101.26193 105.15393 111.369937 116.81593">clock cycles.</tspan><tspan y="465.44996" x="13.103931 23.995934 33.333936 40.333936 47.333936 54.333936 58.225938 61.725938 68.72594 73.38794 76.88794 90.10394 100.211948 110.31995 120.42795 123.92795 128.58995 134.80596 140.25196 146.46796 150.35996 155.80596 159.30596 165.52196 170.96796 174.46796 178.35996 185.35996 191.57596 198.57596 202.07596 209.07596 215.29196 221.50797 228.50797 233.16997">•Count of WDOG resets as they occur.</tspan><tspan y="489.84996" x="13.103931 23.995934 33.333936 40.333936 47.333936 51.995935 55.887937 62.887937 69.88794 74.54994 80.765949 87.765949 91.65794 97.87395 101.37395 105.265949 112.265949 116.15794 122.37395 127.03595 131.69795 138.69795 145.69795 149.58995 153.08995 160.08995 167.08995 170.58995 174.48195 178.37395 189.26595 195.48195 200.14395 207.14395 214.14395 218.03595 221.53595 225.42795 232.42795 235.92795 242.92795 247.58995 254.58995 261.58998 265.48197 272.48197 278.69798 282.19798 289.19798 295.41398 302.41398 309.41398 316.41398 319.91398 326.91398 331.57597 337.79197 344.00798 351.00798 357.22398 361.88597 368.88597 379.77796 386.77796 392.22398 395.72398 399.22398 407.77796 414.77796 418.66996 424.11598 427.61598 431.50798 436.95399 440.45399 445.11598 452.11598 456.00798 459.89997 466.89997 477.00798 483.22398">•Configurable interrupt on time-out to provide debug breadcrumbs. This is followed</tspan><tspan y="505.84996" x="23.995942 30.995942 37.99594 41.49594 47.71194 51.21194 55.87394 62.08994 67.53594 73.751949 77.64394 81.14394 87.35995 92.02195 95.91395 102.12995 106.791957 110.291957 117.291957 124.291957 131.29196 134.79196 141.79196 148.79196 154.23796 157.73796 163.95397 167.84597 174.84597 181.06197 188.06197 191.56197 197.77797 204.77797 210.99398 214.88597 221.10198 226.54798">by a reset after 256 bus clock cycles.</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 5.499 10.503 15.507001 18.504002 24.003003 27.504002 32.508005">Features</tspan></text>
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<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="130.012 137.232 142.79199 148.35199 151.13199 157.80199 163.91199 170.02199 173.35199 179.46199 185.02199 193.91199 196.69199 199.47199 205.03199 207.81198 215.03199 220.59198 223.92198 229.48198 233.37198 238.93198 245.04198 250.60198 256.162 258.942 267.27198 272.83198 278.94197 285.05195 290.61195 293.39195 296.17195 298.95195 306.17195 311.73194 317.29194 320.07194 322.85194 328.41194 331.19194 336.75193 342.8619 348.9719 351.7519 357.3119 362.8719 368.4319">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="-.00299 5.001011 10.005012">544</tspan></text>
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<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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