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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

114 lines
34 KiB (Stored with Git LFS)
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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 14.392 21.392 27.608002 31.108002 36.554 42.77 47.432 54.432 58.324 64.54 70.756008 77.756008 81.256008 88.256008 94.47201 99.13401 103.02601 110.02601 117.02601 120.91801 127.13401 133.35 137.242 141.134 148.134 151.634 155.134 159.796 166.01201 169.904 173.796 177.688 184.688 191.688 195.188 205.296 212.296 216.188 222.404 229.404 232.904 236.796 240.688 244.188 248.85 255.06601 260.51203 266.72804 270.62004 276.06605 279.56605 283.45805 290.45805 296.67405 300.17405 305.62007 312.62007 318.06608 321.95808 328.17408 339.06608 342.56608 346.06608 354.62007 361.62007 365.51206 370.95808 374.45808 380.67408 387.67408 393.1201 400.1201 404.78208 410.99809 416.4441 419.9441 423.8361 430.8361 437.0521 440.9441 444.4441 448.3361 455.3361">to be serviced periodically, failing which it resets the system. This ensures that the</tspan><tspan y="27.85" x="0 5.4460008 12.446001 17.108002 21.000002 31.108002 37.324 41.986 48.202 51.702 55.594 61.04 64.54 70.756008 77.756008 83.97201 90.18801 97.18801 101.08001 104.97201 111.97201 118.97201 122.47201 128.688 135.688 140.35 145.01201 151.22801 157.44402 161.33602 165.22801 172.22801 175.72801 181.94402 188.94402 195.94402 199.44402 206.44402 212.66002 218.10602 221.60602 228.60602 235.60602 239.49802 242.99802 247.66002 254.66002 261.66004 265.16004 271.37605 281.48405 287.70005 294.70005 298.20005 302.09205 309.09205 312.59205 318.80805 325.80805 329.30805 336.30805 343.30805 347.20005 354.20005 358.09205 364.30805 371.30805 378.30805 384.52406 391.52406 395.02406 402.02406 405.91606 410.57804 416.79405 423.01005 426.90205 430.79405 437.79405 444.79405 448.29405 451.79405 459.57804 466.57804 471.24003 475.13203 485.24003 491.45603 496.118">software is executing correctly and has not run away in an unintended direction. Software</tspan><tspan y="43.85" x=".00005 6.2160508 12.432051 19.43205 22.93205 29.148053 36.148054 40.040056 47.040056 52.486055 56.378057 59.878057 63.770059 70.77006 76.98606 80.48606 87.48606 93.702068 98.36407 102.256069 109.256069 116.256069 119.756069 126.756069 131.41806 134.91806 140.36406 146.58007 151.24207 158.24207 162.13407 168.35007 172.24207 179.24207 186.24207 189.74207 196.74207 201.40407 204.90407 208.79607 215.79607 222.01207 225.51207 229.40407 233.29607 244.18807 250.40407 255.06607 262.06608 269.06608 272.95808 276.45808 283.45808 289.67408 293.56608 300.56608 306.78208 310.28208 314.94407 321.94407 326.60606 330.10606 333.99806 340.99806 347.21406 350.71406 360.82206 367.03807 370.93006 377.14607 384.14607 391.14607 398.14607 405.14607 408.64607 412.53807 416.43006 427.32206 433.53807 438.20005 441.70005 445.59205 452.59205 456.09205 466.98405 473.20005 479.41606 483.30805 486.80805 490.70005 497.70005">can adjust the period of servicing or the time-out value for the watchdog timer to meet the</tspan><tspan y="59.85" x=".00005 7.00005 13.216051 19.432053 26.432053 31.878054 35.37805 42.37805 47.04005 50.54005 54.432054 61.432054 67.648059 71.148059 77.36406 84.36406 91.36406 95.25606 99.148059 105.36406 111.58006 115.47206 119.36406 126.36406 133.36406">needs of the application.</tspan><tspan y="84.25" x=".00006 10.108061 17.10806 24.10806 27.60806 33.824064 40.040063 47.040063 50.540063 55.98606 62.20206 66.09406 72.31007 78.52607 82.41807 85.91807 92.13407 95.63407 105.74207 109.63407 116.63407 123.63407 130.63407 140.74207 146.95807 153.95807 157.45807 168.35007 175.35007 182.35007 188.56607 192.06607 199.06607 203.72808 207.22808 214.22808 221.22808 227.44408 232.10608 238.32209 242.21408 246.10608 253.10608 260.10609 263.60609 267.49809 274.49809 280.71409 284.60609 288.10609 294.32209 301.32209 308.32209 314.5381 320.7541 324.6461 330.0921 333.5921 337.4841 344.4841 350.7001 354.2001 359.64613 365.86213 370.5241 377.5241 381.4161 387.6321 391.5241 398.5241 405.5241 409.0241 412.9161 419.9161 423.4161 430.4161 436.6321 440.1321 447.1321 454.1321 461.1321 467.3481 470.8481 477.8481 484.8481 488.7401">You can select a windowed mode of operation that expects the servicing to be done only</tspan><tspan y="100.25" x=".00005 3.8920506 10.892051 14.392051 20.608052 24.108052 31.108052 37.32405 41.98605 45.87805 49.770055 55.986055 62.986055 66.87805 73.094058 77.75606 81.25606 91.36406 95.25606 102.25606 109.25606 116.25606 126.36406 129.86406 136.86406 141.52606 145.02606 148.91806 155.91806 162.13407 165.63407 169.52606 173.41806 184.31006 190.52606 195.18807 202.18807 209.18807 213.08007 216.58007 223.58007 229.79607 234.45807 238.35007 245.35007 252.35007 255.85007 259.35008 269.45808 276.45808 279.95808 286.17408 290.06608 293.95808 300.17408 311.06608 318.06608 321.95808 328.17408 335.17408 338.67408 344.1201 350.3361 354.99809 361.99809 365.89009 372.10609 375.99809 382.99809 389.99809 393.49809 400.49809 405.16007 408.66007 412.55207 419.55207 425.76808 429.26808 439.37608 445.59208 449.48408 455.70008 462.70008 469.70008 476.70008">in a particular window of the time-out period. An attempted servicing of the watchdog</tspan><tspan y="116.25" x=".0001 7.0001 14.0001 17.892102 23.338103 27.230103 34.230104 40.446104 43.946104 47.838106 54.838106 58.730108 64.17611 67.67611 77.78411 81.67611 88.67611 95.67611 102.67611 112.78411 116.28411 120.94611 127.16212 132.60813 139.60813 143.50012 147.39212 152.83812 156.33812 160.23012 167.23012 170.73012 176.94612 180.44612 185.10813 191.32413 196.77013 202.98613 206.87813 210.37813 213.87813 223.21613 230.21613 233.71613 240.71613 247.71613 253.93213 258.59413 264.81013 268.70213 272.59413 279.59413 286.59413 290.09413 293.9861 300.9861 304.4861 308.3781 315.3781 319.2701 324.71614 328.21614 339.10813 346.10813 353.10813 359.32414 362.82414 366.32414 373.32414 380.32414 387.32414 390.82414 397.04014 403.25614 410.25614 413.75614 420.75614 426.97215 430.86415 434.36415 440.58015">outside this window results in a reset. By operating in this mode, you can get an</tspan><tspan y="132.25" x=".0001 3.8921004 10.8921 17.892102 21.784102 28.000103 34.216104 38.108106 42.000108 49.000108 56.000108 59.500108 66.50011 71.16211 74.66211 84.77011 91.77011 97.986118 101.87811 108.87811 115.09412 119.75612 123.25612 127.14812 134.14812 140.36412 143.86412 150.08013 157.08013 164.08013 170.29613 173.79613 177.68813 183.13413 186.63413 191.29613 198.29613 205.29613 212.29613 216.18813 223.18813 230.18813 233.68813 238.35013 244.56613 250.01213 253.90413 260.12013 264.7821 268.2821 272.1741 279.1741 285.3901 292.3901 295.8901 302.1061 309.1061 316.1061 322.3221 328.53813 332.4301 338.64613 345.64613 349.14613 352.64613 361.2001 368.2001 374.4161 377.9161 388.0241 391.9161 398.9161 405.9161 412.9161 423.0241 426.5241 430.4161 436.6321 443.6321 450.6321 454.5241 461.5241 465.0241 468.9161 474.36213 477.86213 484.07814 487.97013 493.41615">indication of whether the code is running faster than expected. The window length is also</tspan><tspan y="148.25" x=".0001 7.0001 12.4461 18.662102 23.324103 26.824103 33.824106 38.486104 45.486104 52.486104 57.1481 63.3641 74.2561 85.1481 91.364109 98.364109 102.2561 108.47211">user programmable.</tspan><tspan y="172.65" x=".0001 4.6621005 9.3241009 12.8241009 19.0401 22.5401 27.986102 34.9861 40.4321 44.3241 50.5401 61.432104 64.9321 69.5941 75.810108 79.7021 83.5941 89.0401 92.5401 96.4321 103.4321 106.9321 113.9321 120.9321 127.9321 134.1481 138.0401 144.2561 148.1481 152.8101 159.02611 163.68811 168.35012 174.56612 180.01212 187.01212 190.51212 194.40412 201.40412 207.62012 211.12012 221.22812 227.44412 231.33612 237.55213 244.55213 251.55213 258.55213 265.55213 269.05213 276.05213 283.05213 289.26814 292.76814 296.66014 303.66014 307.16014 313.37614 320.37614 323.87614 330.87614 337.87614 344.87614 351.87614 358.87614 368.98414 375.98414 379.48414 385.70014 392.70014 399.70014 403.20014 410.20014 416.41615 421.07814 426.52415 430.41615 435.86216 439.75416 445.97016 452.97016 456.86216 460.36216 466.57817 472.79417 479.79417 485.24018 491.45619">If a system fails to update/refresh the watchdog due to an unknown and persistent cause,</tspan><tspan y="188.65" x=".0001 3.8921004 7.7841007 11.284101 21.392102 25.284102 29.176102 33.068105 36.568105 43.568105 49.784105 53.284105 59.500104 65.7161 72.7161 79.7161 86.7161 90.6081 94.1081 98.0001 105.0001 108.5001 114.7161 121.7161 125.2161 131.4321 138.4321 145.4321 149.3241 155.5401 160.9861 166.4321 169.9321 176.1481 183.1481 189.3641 193.2561 199.4721 202.9721 209.9721 214.63411 218.13411 222.79611 229.01212 234.45812 240.67412 244.56612 250.01212 253.51212 258.1741 262.8361 269.8361 280.7281 284.2281 288.1201 295.1201 301.3361 304.8361 314.9441 321.1601 325.0521 331.2681 338.2681 345.2681 352.2681 359.2681 362.7681 366.2681 374.82209 381.82209 385.32209 391.5381 398.5381 404.7541 408.6461 415.6461 421.8621 428.0781 431.5781 435.4701 442.4701 448.6861 452.1861 458.4021 464.6181 471.6181 477.06413 483.28013 486.78013 493.78013">it will be caught in an endless cycle of resets from the watchdog. To analyze the cause of</tspan><tspan y="204.65" x=".0001 5.4461009 12.4461 18.662102 25.662102 29.162102 35.3781 42.3781 49.3781 56.3781 60.270105 64.1621 68.0541 75.0541 82.0541 87.5001 91.0001 94.5001 101.5001 108.5001 115.5001 119.0001 125.2161 131.4321 138.4321 141.9321 148.9321 153.5941 160.5941 167.5941 172.2561 178.4721 189.3641 192.8641 196.7561 203.7561 209.9721 213.4721 223.58011 229.79611 233.68811 239.90412 246.90412 253.90412 260.9041 267.9041 271.4041 275.2961 282.2961 285.7961 290.4581 294.3501 299.0121 304.4581 308.3501 311.8501 315.7421 321.1881 326.63414 333.63414 339.85014 343.35014 349.56614 356.56614 360.06614 363.95814 370.95814 374.85014 381.06614 385.72813 390.3901 397.3901 404.3901 408.2821 411.7821 415.2821 419.9441 426.9441 430.8361 434.7281 441.7281 451.8361 458.0521 465.0521 468.5521 475.5521 482.5521 486.0521">such conditions, you can program the watchdog to first issue an interrupt, followed by a</tspan><tspan y="220.65" x=".00014999999 4.6621506 10.878151 16.324152 22.540154 26.432154 29.932154 33.43215 38.09415 45.09415 48.59415 52.486154 59.486154 65.702159 69.202159 73.094158 80.094158 83.98615 90.202159 94.86416 99.52616 106.52616 113.52616 117.41816 120.91816 126.36416 132.58016 137.24216 144.24216 148.13416 154.35016 160.56616 164.06616 168.72817 175.72817 182.72817 186.62017 190.51216 197.51216 203.72817 207.22817 210.72817 214.62017 221.62017 227.83617 231.33617 236.78217 243.78217 248.44417 252.33617 262.44416 268.66017 273.32215 279.53816 283.03816 289.25416 295.47016 302.47016 305.97016 312.18617 319.18617 325.40217 329.29417 336.29417 342.51017 348.72618 352.22618 356.11817 363.11817 369.33418 372.83418 378.28019 385.28019 390.7262 394.6182 400.8342 411.7262 415.2262 420.6722 424.5642 430.7802 436.99623 443.99623 447.49623 451.3882 458.3882 461.8882 468.10423 471.99623">reset. In the interrupt service routine, the software can analyze the system stack to aid</tspan><tspan y="236.65" x=".00014999999 7.00015 13.21615 20.21615 27.21615 34.21615 41.21615 45.10815 52.10815 59.10815">debugging.</tspan><tspan y="261.05" x=".00014999999 8.55415 15.55415 19.05415 25.27015 32.27015 39.27015 45.48615 52.48615 58.70215 64.91815 68.41815 72.31015 79.31015 85.52615 89.02615 92.91815 99.91815 106.91815 113.134159 120.134159 126.35016 133.35016 140.35016 146.56616 153.56616 159.78217 165.99817 169.49817 176.49817 181.16017 184.66017 194.76818 200.98418 204.87618 211.09218 218.09218 225.09218 232.09218 239.09218 242.59218 247.25418 251.91619 258.9162 269.8082 273.3082 277.2002 284.2002 290.4162 293.9162 299.3622 306.3622 311.80824 315.70024 321.91624 332.80824 336.30824 339.80824 343.70024 347.59223 351.09223 355.7542 362.7542 369.7542 375.20024 378.70024 385.70024 390.3622 395.0242 398.5242 404.7402 411.7402 415.2402 419.1322 426.1322 433.1322 439.3482 446.3482 452.5642 459.5642 466.5642 472.7802 479.7802">To enhance the independence of watchdog from the system, it runs off an independent</tspan><tspan y="277.05" x=".0002 8.5542 16.338202 26.446202 29.946202 36.9462 42.3922 48.6082 52.500204 56.392206 60.284208 66.500209 70.392208 77.392208 82.05421 85.55421 91.77021 95.66221 102.66221 108.87821 115.87821 119.37821 122.87821 132.9862 139.9862 146.9862 150.4862 156.70221 162.91822 169.91822 173.41822 179.63422 183.52622 188.97222 195.97222 199.47222 204.91822 215.02622 218.91822 222.81021 229.02622 236.02622 239.52622 246.52622 253.52622 259.74223 264.4042 267.9042 271.7962 278.7962 282.2962 288.5122 295.5122 299.0122 305.2282 309.1202 313.0122 319.2282 323.8902 330.8902 337.1062 340.9982 347.2142 350.7142 356.9302 360.8222 367.8222 374.0382 381.0382 384.5382 389.98423 396.98423 403.98423 408.6462 414.8622 421.07823 424.57823 428.4702 433.1322 436.6322 441.2942 447.5102 454.5102 461.5102 465.4022 470.06419 476.28019 483.28019">LPO oscillator clock. You can also switch over to an alternate clock source if required,</tspan><tspan y="293.05" x=".0002 3.8922005 10.8922 15.554201 22.554202 29.554202 36.5542 43.5542 47.0542 53.2702 56.7702 62.9862 69.9862 76.9862 80.8782 85.5402 92.5402 96.4322 99.9322 104.5942 110.8102 117.8102 121.7022 127.1482 131.0402 137.25621 141.91822 145.41822 152.41822 156.31021 160.20221">through a control register bit.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 388.59999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".0062 8.902201 17.798203 22.246203 31.142205 35.590208">24.3.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 388.59999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".0062 11.558201 21.334202 25.782202 35.5582 44.4542 53.3502 57.798204 67.5742 77.350208 81.7982 90.69421 100.47021 110.24621 114.69421 124.47021 134.2462 144.0222 152.9182 158.2462 162.6942 172.4702 182.2462 186.6942 192.0222 201.7982 210.6942 215.1422 227.5902 236.48619 241.8142 250.71019 260.48619 270.26219 280.03819">Unlocking and updating the watchdog</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="371.84999" x=".00022 10.108221 15.554222 19.054223 22.946223 29.946223 36.94622 43.94622 47.44622 53.66222 59.10822 62.60822 72.71622 81.27022 89.82422 99.93222 113.148227 120.148227 130.25623 138.04022 148.14823 158.25623 166.81023 175.36423 178.86423 182.75623 189.75623 193.25623 197.14823 204.14823 210.36423 213.86423 223.97223 230.18824 234.08023 240.29624 247.29624 254.29624 261.29624 268.29624 271.79624 278.01225 285.01225 292.01225 295.90425 300.56623 307.56623 311.45823 314.95823 319.6202 325.8362 332.8362 336.7282 342.17424 346.06623 352.28224 356.9442 360.4442 364.3362 369.78224 373.28224 378.72825 384.94425 388.83625 392.33625 395.83625 402.83625 409.83625 416.83625 420.33625 426.55226 432.76826 439.76826 443.26826 450.26826 457.26826 461.16026 468.16026 474.37626">As long as ALLOW_UPDATE in the watchdog control register is set, you can unlock</tspan><tspan y="387.84999" x=".00022 6.2162206 13.216221 20.21622 23.71622 34.608224 41.608224 48.608224 52.500226 57.162225 64.162227 67.662227 71.55422 78.55422 84.770229 88.270229 98.37823 103.04023 106.93223 110.82423 117.04023 121.70223 128.70224 135.70224 141.91825 148.13425 152.79625 159.79625 166.79625 170.68825 177.68825 181.18825 187.40425 194.40425 201.40425 205.29625 209.95825 216.95825 220.85025 224.35025 230.56626 237.56626 244.56626 248.06626 254.28226 261.28227 268.28227 272.94425 276.83625 283.83625 290.83625 295.49824 301.71424 305.60624 309.49824 316.49824 323.49824 326.99824 331.66023 337.87623 344.87623 348.76823 354.21424 358.10624 364.32225 368.98423 374.43025">and modify the write-once-only control and configuration registers:</tspan><tspan y="412.24998" x="7.50421 14.5042099 23.99621 37.21221 41.87421 45.766214 49.658216 55.874216 59.374216 66.374217 73.374217 82.71222 89.71222 96.71222 103.71222 107.21222 111.87422 118.87422 122.76622 126.65822 133.65822 143.76622 149.98223 156.98223 160.48223 167.48223 174.48223 177.98223 184.98223 191.98223 202.09023 209.09023 216.09023 223.09023 226.59023 236.69823 240.59023 244.48223 251.48223 255.37422 262.3742 265.8742 272.8742 279.8742 283.3742 290.3742 297.3742 302.82023 306.32023 312.53623 316.42823 323.42823 329.64424 336.64424 340.14424 346.36024 353.36024 359.57624 363.46824 369.68424 375.13026 378.63026 382.52226 389.52226 393.02226 399.23826 402.73826 408.18428 415.18428 421.40028 427.61628 431.50828 436.17027 440.06227 446.27827 449.77827 456.77827 463.77827 467.67027 474.67027 480.88627">1.Write 0xC520 followed by 0xD928 within 20 bus clock cycles to a specific unlock</tspan><tspan y="428.24998" x="23.99623 28.65823 34.87423 41.87423 45.76623 51.21223 55.104234 61.320234 65.98223 69.48223 74.14423 87.36024 97.46824 107.57624 117.68424 124.68424 134.79224 144.90024 153.45424 163.56224 172.90024 183.00824 187.67024">register (WDOG_UNLOCK).</tspan><tspan y="444.24998" x="7.50424 14.50424 23.99624 37.212244 43.42824 47.320245 51.212247 54.712247 61.712247 68.71225 74.92825 78.42825 85.42825 92.42825 97.87425 101.37425 107.590259 111.482257 118.482257 124.69826 131.69826 135.19826 141.41426 148.41426 154.63027 158.52227 164.73827 168.23827 171.73827 181.84627 188.84627 195.84627 199.34627 205.56227 211.77828 218.77828 225.77828 232.77828 236.67028 240.17028 247.17028 254.17028 261.1703 267.3863 271.2783 277.4943 280.9943 285.65629 291.87229 298.87229 302.76429 308.2103 312.1023 318.3183 322.9803 328.4263 331.9263 338.9263 345.9263 349.4263 353.3183 360.3183 366.5343 370.0343 377.0343 384.0343 389.48033 392.98033 399.19633 403.08833 410.08833 416.30433 423.30433 426.80433 433.02033 440.02033 446.23634 450.12834">2.Wait one bus clock cycle. You cannot update registers on the bus clock cycle</tspan><tspan y="460.24998" x="23.99626 27.88826 38.780263 49.672266 55.888265 62.888265 66.780269 72.99627 76.88827 83.10427 86.99627 93.99627 97.49627 102.15827 109.15827 113.05027 116.94227 123.94227 134.05027 137.94226 144.94226 151.94226 155.44226 159.33426 166.33426 172.55027 176.05027 186.15827 190.82027 194.71227 198.60427 204.82027 208.32027 215.32027 219.98227 223.48227 227.37427 234.37427 240.59027 244.09027 251.09027 258.09028 261.98228 268.98228 275.19828 282.19828 285.69828 291.1443 297.3603 304.3603 311.3603 317.5763 324.5763 330.7923 337.0083">immediately following the write of the unlock sequence.</tspan><tspan y="476.24998" x="7.50424 14.50424 23.99624 34.10424 41.10424 44.60424 51.60424 58.60424 65.60424 71.820247 75.71224 81.928249 85.428249 95.53625 99.428249 106.428249 113.428249 120.428249 130.53624 134.03624 140.25225 147.25225 154.25225 160.46825 164.36025 167.86025 171.75225 178.75225 182.25225 186.14424 192.36025 199.36025 206.36025 210.25225 217.25225 220.75225 224.64424 231.64424 235.14424 239.03624 246.03624 252.25225 255.75225 265.86024 272.07624 275.96824 282.18424 289.18424 296.18424 303.18424 310.18424 313.68424 319.90025 326.90025 333.90025 338.56224 342.45423 349.45423 356.45423 361.1162 367.3322 371.2242 375.1162 382.1162 389.1162 392.6162 396.5082 400.4002 411.2922 417.5082 421.0082 425.6702 438.8862 448.2242 456.7782 461.4402 464.9402 471.9402 478.9402 485.1562 492.1562 497.6022">3.An update window equal in length to the watchdog configuration time (WCT) opens.</tspan><tspan y="492.24998" x="23.99623 37.21223 41.104234 44.996236 51.996236 55.888238 62.888238 66.38824 70.280239 77.280239 81.17223 86.61823 90.11823 100.226238 104.11823 111.11823 118.11823 125.11823 135.22623 138.72623 142.22623 149.22623 156.22623 163.22623 166.72623 172.94223 179.15824 186.15824 189.65824 196.65824 203.65824 210.65824 216.87424 220.76624 226.98224 230.48224 234.37424 241.37424 247.59024 251.09024 257.30625 264.30625 271.30625 275.96824 279.86024 286.86024 293.86024 298.52223 304.73823 308.63023 312.52223 319.52223 326.52223 330.02223 336.23823 343.23823 350.23823 353.73823 359.95423 366.95423 373.95423 377.84623 382.5082 389.5082 393.4002 396.9002 401.5622 407.7782 414.7782 418.6702 424.1162 428.0082 434.2242 438.8862 442.3862 449.3862 453.2782 457.1702 462.6162">Within this window, you can update the configuration and control register bits.</tspan><tspan y="518.24996" x=".0002193451 8.554219 15.554219 21.77022 27.21622 33.43222 36.93222 41.59422 47.81022 54.81022 58.70222 64.148227 68.04022 74.256229 78.91823 82.41823 89.41823 93.31023 97.202228 102.648227 106.148227 112.36423 118.58023 125.58023 129.08023 136.08023 142.29624 145.79624 156.68824 163.68824 170.68824 174.58023 179.24224 183.13423 189.35024 196.35024 199.85024 206.85024 213.85024 217.74224 224.74224 228.24224 235.24224 242.24224 248.45824 254.67424 258.17427 264.39027 269.05226 272.94425 279.16026 283.82225 287.32225 294.32225 301.32225 305.21424 312.21424 318.43025 325.43025 329.32225 336.32225 343.32225">These register bits can be modified only once after unlocking.</tspan><tspan y="542.64999" x=".0002193451 4.6622197 9.32422 12.82422 19.824219 26.824219 33.82422 40.04022 43.54022 50.54022 55.202219 58.702219 62.59422 69.59422 75.81023 79.31023 85.52623 92.52623 99.52623 104.18823 108.08023 115.08023 122.08023 126.74223 132.95824 136.85024 140.74224 147.74224 154.74224 158.24224 164.45824 171.45824 178.45824 181.95824 188.17424 195.17424 202.17424 206.06624 210.72824 217.72824 221.62024 225.12024 229.78224 235.99825 242.99825 246.89025 252.33625 256.22825 262.44425 267.10624 272.55226 276.05226 279.94425 285.39027 288.89027 295.89027 302.89027 309.89027 316.10627 319.99827 326.21427 333.21427 336.71427 346.82228 350.71427 354.60627 361.60627 365.49827 372.49827 375.99827 379.89027 386.89027 393.10627 396.60627 403.60627 410.60627 417.60627 423.82228 427.71427 433.93028 437.43028 447.53828 451.43028 458.43028 465.43028 472.43028 482.53828">If none of the configuration and control registers is updated within the update window,</tspan><tspan y="558.64999" x=".0002193451 3.8922199 10.89222 17.10822 20.60822 30.71622 36.93222 40.824224 47.040224 54.040224 61.040224 68.04022 75.04022 78.54022 82.43222 87.87822 93.32422 100.32422 106.54022 111.98622 115.48622 121.702228 125.202228 129.86423 136.08023 141.52623 147.74224 151.63423 155.13423 158.63423 162.52623 169.52623 175.74224 179.63423 183.13423 187.02623 192.47223 195.97223 199.47223 203.36423 210.36423 214.25623 220.47223 225.13423 229.79624 236.79624 243.79624 247.68824 252.35024 256.24226 263.24226 269.45826 276.45826 281.12025 285.78224 291.99824 297.44425 303.66026 307.55226 311.05226 314.55226 318.44425 325.44425 328.94425 332.83625 339.83625 346.05226 349.55226 354.99827 361.99827 367.44429 371.33628 377.55229 388.44429 391.94429 395.44429 403.99827 408.66026 415.66026 419.55226 426.55226 433.55226 437.05226 440.94425 447.94425 451.44425 458.44425 465.44425 469.33625 476.33625 482.55226">the watchdog issues a reset, that is, interrupt-then-reset, to the system. Trying to unlock</tspan><tspan y="574.64999" x=".0002193451 3.8922199 10.89222 17.10822 20.60822 30.71622 36.93222 40.824224 47.040224 54.040224 61.040224 68.04022 75.04022 78.54022 88.648227 92.54022 96.43222 103.43222 107.32422 114.32422 117.82422 121.71622 128.71622 134.93222 138.43222 151.64823 160.98622 169.54022 173.04022 179.25623 183.91823 187.81023 194.02623 198.68824 202.18824 208.40424 215.40424 218.90424 222.79624 229.79624 233.68824 237.58023 241.47223 247.68824 251.58023 255.08023 262.08024 269.08024 272.97224 279.97224 286.18824 293.18824 296.68824 303.68824 309.90425 315.35026 318.85026 325.85026 332.85026 336.35026 342.56626 347.22825 351.89024 358.10624 364.32225 368.21424 371.71424 375.21424 385.32225 392.32225 396.98423 400.87623 407.87623 414.87623 418.37623 422.26823 429.26823 435.48423 438.98423 445.98423 452.98423 459.98423 466.20024 470.09223">the watchdog within the WCT after an initial unlock has no effect. During the update</tspan><tspan y="590.64999" x=".0002193451 7.0002195 14.000219 20.21622 24.878222 31.094223 34.986227 38.878229 45.878229 52.878229 56.378229 59.878229 63.77023 70.77023 76.98624 80.48624 90.59424 96.81024 100.70224 106.91824 113.91824 120.91824 127.91824 134.91825 138.41825 142.31024 146.20224 157.09424 163.31024 167.97225 171.47225 175.36425 180.81024 184.31024 191.31024 198.31024 202.20224 205.70224 212.70224 218.91825 225.91825 231.36425 237.58025 244.58025 248.08025 254.29625 261.29627 268.29627 271.79627 278.01228 285.01228 292.01228 295.90428 299.79627 306.79627 313.79627 320.01228 325.45829 328.95829 333.62028 340.62028 347.62028 354.62028 358.51228 365.51228 372.51228 376.01228 379.90428 386.90428 390.40428 394.29627 401.29627 407.51228 411.01228 418.01228 424.22828 430.44429 437.44429 444.44429 449.10627 456.10627 463.10627 470.10627 477.10627">operation, the watchdog timer is not paused and continues running in the background.</tspan><tspan y="606.64999" x=".0002193451 10.10822 14.77022 18.66222 24.87822 29.54022 33.040224 36.932226 43.932226 50.148225 53.648225 60.648225 67.648227 74.648227 80.86423 84.756229 90.97223 94.47223 104.58023 108.47223 115.47223 122.47223 129.47223 139.58023 143.08023 149.29624 153.18824 160.18824 165.63423 171.85024 177.29624 180.79624 184.29624 188.18824 195.18824 201.40424 204.90424 215.01224 221.22824 225.12024 231.33625 238.33625 245.33625 252.33625 259.33625 262.83625 266.72825 270.62025 281.51225 287.72825 292.39024 295.89024 300.55223 306.76823 312.21424 316.10624 322.32225 326.98423 330.87623 336.32225 339.82225 346.03825 353.03825 360.03825 363.53825 367.43025 374.43025 380.64625 384.14625 394.25425 400.47026 404.36225 410.57826 417.57826 424.57826 431.57826 438.57826 442.07826 446.74024 453.74024 460.74024 466.95625 470.84825 474.74024 481.74024 488.74024">After the update window closes, the watchdog timer restarts and the watchdog functions</tspan><tspan y="622.64999" x=".0002193451 6.21622 12.43222 18.64822 25.64822 30.31022 37.31022 41.20222 48.20222 55.20222 58.70222 62.594224 69.59422 73.09422 76.98622 83.98622 90.202228 93.702228 100.702228 106.91823 117.02623 120.52623 126.74223 133.74224 140.74224 145.40424 149.29624 156.29624 163.29624 167.95824 174.17424 178.06624 181.95824 188.95824 195.95824">according to the new configuration.</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 10.998 16.497 21.501 24.498 27 32.499 37.998 43.002004 45.504 48.006 53.505 58.509004 63.513006 67.01401 72.018009 74.520008 79.524">Functional overview</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="130.006 137.226 142.786 148.346 151.12599 157.79599 163.90599 170.01599 173.346 179.456 185.01599 193.90599 196.68599 199.46599 205.02599 207.80599 215.02599 220.58599 223.91599 229.47599 233.36598 238.92598 245.03598 250.59598 256.15599 258.93598 267.26597 272.82597 278.93595 285.04594 290.60594 293.38594 296.16593 298.94593 306.16593 311.72593 317.28593 320.06593 322.84593 328.4059 331.1859 336.7459 342.8559 348.96589 351.74589 357.30589 362.86589 368.42588">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="0 5.0040009 10.008001">546</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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