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.
111 lines
26 KiB (Stored with Git LFS)
XML
111 lines
26 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 32.550004 37.212 44.212 48.104005 55.104005 62.104005 65.604007 69.496 76.496 79.996 86.996 93.996 97.888 104.888 111.104007 118.104007 121.604007 125.496 132.496 138.712 142.212 152.32 158.53601 162.42801 168.64402 175.64402 182.64402 189.64402 196.64402 200.14402 210.25202 214.14402 218.03601 225.03601 228.92801 235.92801 239.42801 243.32 250.32 256.536 260.036 273.252 282.59004 291.144 294.644 298.536 302.428 313.32 319.536 323.036 329.252 333.914 337.806 344.022 348.684 352.184 358.4 365.4 368.9 372.792 379.792 383.684 387.576 391.468 397.684 401.576 405.076 412.076 419.076 422.968 429.968 436.184 443.184 446.684 453.684 459.9 465.346 468.846 475.846">•Trying to unlock the watchdog within the WCT time after an initial unlock has no</tspan><tspan y="27.85" x="23.99601 30.21201 34.87401 39.536008 45.752008 51.968008 55.86001">effect.</tspan><tspan y="52.25" x="13.10401 23.99601 32.55001 39.55001 45.76601 49.26601 53.92801 60.14401 64.80601 69.46801 75.68401 81.13001 88.13001 91.63001 97.846019 104.846019 111.846019 115.346019 122.346019 129.34601 133.238 140.238 146.45401 153.45401 156.95401 163.95401 170.95401 177.17002 181.83202 188.04802 191.94002 195.83202 202.83202 209.83202 215.27802 218.77802 224.99402 231.99402 238.99402 242.49402 246.38602 253.38602 257.278 263.49403 268.156 272.818 279.818 286.818 290.71 294.21 300.426 305.08799 311.304 314.804 321.804 328.804 332.69599 336.19599 342.412 349.412 353.304 360.304 371.19599 377.412 381.304 385.19599 391.412 397.628 401.52 405.412 412.412 415.912 422.912 426.804 432.25 438.466 445.466 449.358 455.574 462.574 466.074 469.966 476.966 480.466 484.358 491.358">•The refresh and unlock operations and interrupt are not automatically disabled in the</tspan><tspan y="68.25" x="23.99601 34.10401 40.32001 44.212015 50.428014 57.428014 64.42801 71.42801 78.42801 81.92801 86.59001 93.59001 100.59001 106.806018 110.69801 114.59001 121.59001 128.59001 134.80602 138.69802 142.19802 146.09001 152.30602 157.75202 161.64402 165.14402 176.03601 183.03601 190.03601 196.25202">watchdog functional test mode.</tspan><tspan y="92.65" x="13.10399 23.99599 34.103994 38.76599 42.657995 48.873994 53.53599 57.03599 63.25199 74.14399 80.35999 85.021999 92.021999 95.913997 102.913997 109.913997 113.413997 118.076 122.738 129.738 140.63 144.13 150.34601 153.84601 158.50801 164.72402 170.17002 176.38602 180.27802 183.77802 190.77802 197.77802 203.99402 207.49402 211.38602 218.38602 221.88602 228.10202 231.60202 241.71002 247.92603 251.81803 258.03404 265.03404 272.03404 279.03404 286.03404 289.53404 294.196 301.196 308.196 314.41203 318.30403 322.196 329.196 336.196 342.41203 346.30403 349.80403 353.696 359.91203 365.35804 369.25004 372.75004 376.25004 383.25004 390.25004 397.25004 400.75004 406.96604 411.62803 417.84403 421.34403 426.79005 430.68205 434.57405 438.46604 442.35804 445.85804 452.07405 459.07405 466.07405 472.29005 478.50605 482.39805 488.61405">•After emerging from a reset due to a watchdog functional test, you are still expected</tspan><tspan y="108.65" x="23.99601 27.88801 34.88801 38.38801 45.38801 52.38801 55.88801 59.78001 66.780017 71.44202 78.44202 85.44202 92.44202 99.44202 102.94202 106.834018 113.834018 120.05002 123.55002 134.44202 140.65802 147.65802 154.65802 160.87403 164.76602 171.76602 176.42803 183.42803 186.92803 192.37403 196.26602 202.48203 209.48203 214.92803 218.42803 225.42803 230.09003 233.59003 240.59003 247.59003 251.48203 258.48204 264.69804 271.69804 275.59004 282.59004 289.59004 293.09004 299.30604 306.30604 313.30604 316.80604 323.02204 330.02204 337.02204 341.68403 345.57603 352.57603 359.57603 364.238 368.13 375.13 382.13 385.63 389.522 396.522 402.738 406.238 416.346 422.562 426.454 432.67 439.67 446.67 453.67 460.67 464.17 467.67 476.224 483.224">to go through the mandatory steps of unlocking and configuring the watchdog. The</tspan><tspan y="124.65" x="23.99601 34.10401 40.32001 44.212015 50.428014 57.428014 64.42801 71.42801 78.42801 81.92801 88.14401 95.14401 102.14401 106.03601 109.92801 116.92801 123.92801 130.14402 135.59001 139.09001 142.98201 149.98201 153.48201 160.48201 166.69802 170.19802 174.09001 181.09001 184.59001 188.48201 192.37401 197.82 201.32 205.98201 212.98201 219.98201 226.19802 230.09001 233.98201 240.98201 247.98201 254.19802 258.09004 261.59004 265.48204 271.69804 277.14405 281.03605 284.53605 295.42805 302.42805 309.42805 315.64405 319.14405 325.36006 332.36006 339.36006 342.86006 346.75205 353.75205 359.96806 364.63005 370.84605 375.50804 382.50804 387.17 393.38603 396.88603 403.88603 410.88603 417.88603 421.38603 426.83204 433.83204 440.83204 447.83204 451.72404 458.72404 462.22404 469.22404 476.22404 480.11604">watchdog continues to be in its functional test mode and therefore you should pull</tspan><tspan y="140.65001" x="23.99601 27.88801 34.88801 41.104009 44.604009 54.71201 60.92801 64.82001 71.03601 78.03601 85.03601 92.03601 99.03601 102.53601 109.53601 116.53601 120.42801 123.92801 130.92801 135.59001 139.09001 142.98201 149.98201 156.19802 159.69802 164.36002 171.36002 178.36002 184.57602 188.46802 192.36002 199.36002 206.36002 212.57602 216.46802 219.96802 223.86002 230.07602 235.52202 239.41402 242.91402 253.80602 260.80604 267.80604 274.02204 277.52204 287.63005 291.52204 295.41404 302.41404 306.30604 313.30604 316.80604 330.02204 339.36006 347.91404 351.41404 355.30604 359.19804 370.09004 376.30604 379.80604 386.80604 391.46803 394.96803 399.63 405.846 411.29203 417.50804 421.40003">the watchdog out of the functional test mode within WCT time of reset.</tspan><tspan y="165.05" x="13.10399 23.99599 34.103994 38.76599 42.657995 48.873994 53.53599 57.03599 63.25199 74.14399 80.35999 85.021999 92.021999 95.913997 102.913997 109.913997 113.413997 118.076 122.738 129.738 140.63 144.13 150.34601 153.84601 158.50801 164.72402 170.17002 176.38602 180.27802 183.77802 190.77802 197.77802 203.99402 207.49402 211.38602 218.38602 221.88602 228.10202 231.60202 241.71002 247.92603 251.81803 258.03404 265.03404 272.03404 279.03404 286.03404 289.53404 294.196 301.196 308.196 314.41203 318.30403 322.196 329.196 336.196 342.41203 346.30403 349.80403 353.696 359.91203 365.35804 369.25004 372.75004 376.25004 383.25004 390.25004 397.25004 400.75004 406.19606 410.08805 413.98005 417.87205 421.76405 425.26405 432.26405 438.48005 444.69606 451.69606 455.19606 459.08805 466.08805 469.58805 476.58805">•After emerging from a reset due to a watchdog functional test, you still need to go</tspan><tspan y="181.05" x="23.99601 27.88801 34.88801 39.550008 46.550008 53.550008 60.550008 67.55 71.05 74.942 81.942 88.158008 91.658008 102.55 108.76601 115.76601 122.76601 128.98201 132.87401 139.87401 144.53601 151.53601 155.03601 160.48201 164.37401 170.59001 177.59001 183.03601 186.53601 193.53601 198.19802 201.69802 208.69802 215.69802 219.59001 226.59001 232.80602 239.80602 243.69802 250.69802 257.698 261.198 267.414 274.414 281.414 284.914 291.13 298.13 305.13 309.792 313.684 320.684 327.684 332.34599 336.23799 343.23799 350.23799 353.73799 357.62998 364.62998 370.84599 374.34599 384.45399 390.66999 394.56199 400.77799 407.77799 414.77799 421.77799 428.77799">through the mandatory steps of unlocking and configuring the watchdog.</tspan><tspan y="205.45" x="13.10402 23.996022 34.104024 41.104024 48.104024 51.604024 62.496026 69.496028 74.942028 78.83402 82.33402 88.550029 95.550029 100.996028 107.996028 112.65803 118.87403 122.37403 126.26603 133.26602 139.48203 143.37403 146.87403 153.87403 160.87403 164.76602 171.76602 175.26602 179.15802 186.15802 192.37403 195.87403 202.09003 205.98203 212.98203 219.19803 226.19803 229.69803 233.59003 240.59003 247.59003 254.59003 258.48204 263.92805 267.42805 271.32005 278.32005 281.82005 285.71205 292.71205 298.92805 302.42805 309.42805 313.32005 317.21205 321.10404 327.32005 334.32005 338.21205 344.42805 349.87406 355.32008 358.82008 365.03608 368.92808 375.92808 382.14408 389.14408 392.64408 403.53608 410.53608 414.42808 418.32008 422.21208 429.21208 433.10408 439.32008 446.32008 452.53608 457.19807 462.64408 466.14408 472.36009 477.02207">•You must ensure that both the clock inputs to the glitchless clock multiplexers are</tspan><tspan y="221.45" x="23.99606 30.212059 34.10406 37.996065 44.996065 51.212064 54.712064 61.712064 68.71207 73.37407 77.26607 84.26607 91.26607 94.76607 98.658069 105.658069 111.87407 115.37407 120.82007 130.92807 134.82007 138.71207 144.92807 151.92807 155.82007 162.82007 169.82007 173.32007 180.32007 184.98207 188.48207 194.69808 198.59008 205.59008 211.80608 218.80608 224.25208 227.75208 231.25208 239.03607 245.25208 249.14408 253.03607 260.03608 264.69807 270.91407 274.41407 278.30607 285.30607 288.80607 295.80607 302.80607 306.30607 311.75209 318.75209 322.25209 326.91407 333.13008 338.57609 345.57609 349.46809 353.36009 358.8061 362.3061 366.1981 373.1981 376.6981 382.9141 386.4141 390.3061 397.3061 402.7521 408.19813 411.69813 418.69813 423.3601 426.8601 433.0761 436.9681 443.9681 450.1841 457.1841 460.6841 466.90013 470.7921 474.2921 478.1841 485.1841 491.40013 495.2921">alive during the switching of clocks. Failure to do so results in a loss of clock at their</tspan><tspan y="237.45" x="23.99606 30.99606 37.99606 41.88806 48.88806 55.88806 59.780065 65.22607">outputs.</tspan><tspan y="261.84999" x="13.104059 23.99606 32.55006 39.55006 45.76606 50.42806 56.64406 60.14406 64.03606 69.482059 72.982059 79.19806 82.69806 89.69806 95.91406 102.91406 106.41406 113.41406 118.076068 121.576068 125.46806 135.57607 142.57607 146.07607 149.96807 156.96807 160.46807 164.36006 171.36006 176.02207 182.23807 188.45407 191.95407 202.06208 208.27808 212.17008 218.38608 225.38608 232.38608 239.38608 246.38608 249.88608 256.10209 259.99409 266.99409 273.21009 280.21009 283.71009 289.9261 296.9261 303.1421 307.0341 313.2501 318.6961 322.1961 326.8581 331.52009 338.52009 349.41209 352.91209 356.80409 363.80409 370.02009 373.52009 380.52009 387.52009 391.41209 398.41209 402.30409 405.80409 409.69609 416.69609 422.91209 426.80409 430.30409 435.7501 439.6421 446.6421 453.6421 457.1421 468.0341 475.0341 482.0341 488.2501 491.7501 495.6421">•There is a gap of two to three watchdog clock cycles from the point that stop mode is</tspan><tspan y="277.85" x="23.99606 30.212059 37.21206 41.10406 47.32006 51.98206 58.19806 65.19806 68.69806 72.59006 79.59006 83.09006 86.982059 93.982059 100.19806 103.69806 113.80606 120.022068 123.91406 130.13007 137.13007 144.13007 151.13007 158.13007 161.63007 165.52207 169.41407 180.30606 186.52207 191.18407 194.68407 200.90007 207.11608 211.00807 218.00807 224.22408 228.11608 232.00807 239.00807 242.50807 249.50807 255.72408 262.72407 268.17008 272.06208 279.06208 286.06208 289.56208 293.06208 300.06208 307.06208 313.27809 316.77809 320.67008 327.67008 331.17008 336.6161 343.6161 350.6161 356.8321 363.8321 368.49409 375.49409 382.49409 386.38609 392.60209 398.81809 402.71009 406.60209 413.60209 420.60209 424.10209 427.60209 436.15608 443.15608 449.37208 452.87208 458.31809 464.5341 475.4261">entered to the watchdog timer actually pausing, due to synchronization. The same</tspan><tspan y="293.85" x="23.99606 30.99606 37.99606 41.88806 48.88806 54.33406 57.83406 61.726064 66.38806 73.38806 79.604068 83.104068 87.76607 94.76607 99.42807 102.92807 109.14407 116.14407 119.64407 125.86008 132.86008 136.75208 140.64408 144.14408 148.80608 153.46808 160.46808 171.36008 174.86008 178.75208 185.75208 191.96808 195.46808 200.91408 204.80608 211.80608 218.80608 222.30608 233.19808 240.19808 247.19808 253.41408 256.91407 260.41407 264.30607 271.30607 275.19807 280.64408 284.14408 288.03608 291.92808 302.82008 309.03608 312.53608 317.19807 323.41407 328.86009 335.86009 339.75209 343.64408 347.53608 354.53608 361.53608 365.03608 368.92808 375.92808 379.42808 385.64408 389.14408 393.03608 403.14408 410.14408 413.64408 417.53608 424.53608 428.03608 431.92808 438.92808 443.59007 449.80607">holds true for an exit from the stop mode, this time resulting in a two to three</tspan><tspan y="309.85" x="23.99609 34.10409 40.32009 44.212095 50.428094 57.428094 64.42809 71.42809 78.42809 81.92809 88.1441 92.036098 99.036098 105.2521 112.2521 115.7521 121.9681 128.96811 135.18412 139.07611 145.29212 148.79212 155.79212 162.00812 165.90012 172.11612 179.11612 182.61612 186.50812 193.50812 197.00812 200.90012 207.90012 214.11612 217.61612 221.50812 225.40012 236.29212 242.50812 247.17012 250.67012 255.33213 261.54814 266.99415 270.88615 277.10215 281.76414 285.65614 289.54814 296.54814 303.54814 307.04814 310.54814 315.2101 322.2101 325.7101 331.92613 338.14213 343.58815 349.80415 353.30415 357.19615 364.19615 370.41215 373.91215 380.91215 387.91215 392.57414 398.79014 402.68214 406.57414 413.57414 420.57414 424.07414 431.07414 435.7361 439.2361 443.1281 450.1281 456.34413 459.84413 465.29014 469.18214 476.18214">watchdog clock cycle delay in the timer restarting. In case the duration of the stop</tspan><tspan y="325.85" x="23.99612 34.888124 41.888124 48.888124 55.104124 58.604124 62.496126 67.94212 71.44212 75.33412 81.550128 86.996128 92.44212 95.94212 99.83412 106.83412 113.050128 120.050128 123.550128 130.55013 137.55013 143.76613 147.26613 157.37413 163.59014 167.48213 173.69814 180.69814 187.69814 194.69814 201.69814 205.19814 211.41414 215.30614 222.30614 228.52214 235.52214 239.02214 245.23815 252.23815 258.45414 262.34614 268.56214 272.06214 275.56214 279.45414 286.45414 292.67015 296.17015 306.27815 312.49415 316.38615 322.60215 329.60215 336.60215 343.60215 350.60215 354.10215 357.99415 361.88615 372.77815 378.99415 383.65614 387.15614 391.04814 396.49415 399.99415 406.99415 413.99415 417.88615 421.38615 428.38615 435.38615 441.60215 446.26414 452.48014 459.48014 463.37214 469.58815 475.80415 482.80415 486.30415 490.19615">mode is less than one watchdog clock cycle, the watchdog timer is not guaranteed to</tspan><tspan y="341.85" x="23.99618 30.99618 37.21218 44.21218 49.65818 55.87418">pause.</tspan><tspan y="366.25" x="13.104179 23.996182 33.334184 40.334184 47.334184 52.78018 56.672185 63.672185 69.88818 74.550189 78.050189 81.942188 88.942188 95.15819 98.65819 104.87419 111.090198 116.536197 122.7522 126.2522 136.3602 143.3602 149.5762 156.5762 160.0762 163.9682 170.9682 177.1842 180.6842 185.3462 189.2382 193.9002 199.3462 203.2382 206.7382 211.4002 217.61621 222.27822 226.94022 233.15622 238.60222 245.60222 249.10222 256.10224 262.31825 266.21025 273.21025 279.42625 282.92625 286.81825 292.26426 295.76426 305.87226 310.53425 314.42625 318.31825 322.21025 328.42625 335.42625 338.92625 342.42625 347.08824 354.08824 357.98023 361.87223 368.87223 378.98023 382.87223 389.87223 396.87223 400.37223 410.48023 417.48023 421.37223 427.58824 434.58824 438.08824 441.98023 448.98023 455.19624 458.69624 464.14225 471.14225 476.58827 480.48027 486.69627">•Consider the case when the first refresh value is written, following which the system</tspan><tspan y="382.25" x="23.99618 30.212182 37.21218 41.104185 47.320184 51.98218 57.42818 60.92818 66.37418 70.26618 77.26618 84.26618 87.76618 98.65818 105.65818 112.65818 118.87418 122.37418 132.48218 136.37418 140.26618 147.26618 150.76618 156.21218 163.21218 168.65818 172.55017 178.76618 189.65818 193.15818 200.15818 207.15818 212.60417 216.10417 222.32018 226.21218 233.21218 236.71218 242.15818 246.05017 249.94217 253.83417 257.72618 261.22618 268.22618 275.22618 278.72618 282.22618 286.88816 291.55015 295.05015 298.94215 305.94215 312.15815 315.65815 321.10417 327.32017 333.53617 340.53617 347.53617 354.53617 358.03617 362.69816 368.91416 373.57615 378.23814 384.45414 389.90016 396.90016 400.40016 407.40016 413.61616 417.50816 424.50816 430.72416 434.22416 438.11616 443.56217 447.06217 454.06217 461.06217">enters stop mode with system bus clk still on. If the second refresh value is not</tspan><tspan y="398.25" x="23.99621 34.10421 38.76621 42.65821 46.550214 50.442216 56.658216 63.658216 67.15822 77.26622 81.15822 85.05022 92.05022 95.942218 102.942218 106.442218 113.442218 120.442218 123.942218 130.94222 137.94222 143.38822 146.88822 153.10422 160.10422 166.32022 170.21222 176.42823 181.87422 185.37422 192.37422 197.03623 200.53623 204.42823 211.42823 217.64423 221.14423 225.80623 229.69823 234.36023 239.80623 243.69823 247.19823 254.19823 260.4142 264.3062 271.3062 277.52223 281.02223 284.52223 288.4142 295.4142 301.63023 305.13023 310.57624 317.57624 323.02226 326.91426 333.13026 344.02226 347.52226 351.41426 356.86027 360.36027 365.02226 371.23826 376.68428 382.90028 386.79228 390.29228 393.79228 400.79228 405.45426 408.95426 412.84626 419.84626 423.73826 429.95426 434.61625 439.27824 446.27824 453.27824 457.17024 461.8322 465.7242 472.7242 478.94023 485.94023">written within 20 bus cycles of the first value, the system is reset, or interrupt-then-</tspan><tspan y="414.25" x="23.99624 28.658242 34.87424 40.32024 46.53624 50.42824 53.92824 57.820245 62.482244 65.98224 72.19824 79.19824 85.414249 92.414249 96.306247 102.52225 109.52225">reset if enabled.</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="26.01035" x="346.986 353.48399 358.98298 363.98698 369.48597 372.48298 377.48698 380.98799 383.49 388.494 393.498 396 404.496 409.5 412.497 417.501 423 428.499 433.998 439.49699 441.999 447.498 450 458.001 463.005 466.506 469.00804 472.00505 480.50105 486.99903 494.00105 501.00306">Chapter 24 Watchdog Timer (WDOG)</tspan></text>
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