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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_126.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

306 lines
28 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="64.25" x="-.00198 8.55202 15.55202 19.444022 24.890023 28.390023 32.282026 38.498025 45.498025 49.390027 55.606027 59.106027 64.552028 71.552028 78.552028 88.66003 94.106029 97.606029 101.498027 108.498027 114.71403 118.21403 128.32202 138.43003 147.76802 151.26802 155.16002 162.16002 172.26802 176.93003 183.93003 190.93003 201.03803 207.25403 211.91603 215.41603 226.30803 233.30803 240.30803 246.52404 251.97003 255.47003 261.68605 268.68605 275.68605 279.18605 283.07804 290.07804 296.29405 299.79405 306.01005 313.01005 317.67204 322.334 328.55003 333.99604 340.99604 347.99604 354.99604 361.99604 365.88804 372.88804 379.88804 383.38804 389.60404 396.60404 400.49604 407.49604 410.99604 414.88804 421.88804 431.99604 436.65803 443.65803 450.65803 460.76603 466.98204">This table shows the ADC low-power modes and the corresponding chip low-power</tspan><tspan y="80.25" x="-.0019699999 10.890031 17.89003 24.89003 31.10603 36.55203">modes.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 284.3)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 12.510002 20.850003 25.020003 33.360006 37.530008 45.870008">3.7.1.11</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 53.999986)" font-size="14" font-family="TimesLTStd"><tspan y="260.15" x="13.10001 24.006012 34.114015 41.114015 44.614015 50.830015 57.830015 64.83002 68.722019 72.61401 76.50601 83.50601 90.50601 96.722019 100.61401 104.11401 110.33002 117.33002 121.222019 127.43802 132.10002 139.10002 145.31603 149.20803 152.70803 159.70803 163.60002 170.60002 176.04602 179.54602 185.76203 190.42403 196.64003 200.14003 204.80204 211.01804 218.01804 225.01804 228.91004 233.57204 239.78804 246.78804 250.28804 254.95005 261.95005 266.61204 270.11204 274.00404 281.00404 287.22004 290.72004 298.50404 308.61204 318.72004 322.22004 328.43605 333.88206 337.38206 341.27406 345.16606 348.66606 352.55805 358.00407 361.50407 368.50407 374.72007 379.38206 383.27406 386.77406 393.77406 398.43605 401.93605 405.82804 412.82804 419.04405 422.54405 432.65205 442.76005 452.09806 455.59806 461.81407 468.81407 475.81407 479.31407 483.20606">&#x2022;No additional external pins are required for the PGA as it is part of the ADC and is</tspan><tspan y="276.15" x="24.00602 29.45202 35.668024 39.560026 45.776025 51.992025 55.884027 62.100027 69.10002 72.60002 78.816028 84.262027 87.762027 93.97803 97.47803 102.92403 109.14003 116.14003 122.35603 127.018039 133.23404 137.12604 143.34204 146.84204 153.05805 160.05805 166.27405 173.27405 180.27405 186.49005">selected as a separate channel</tspan><tspan y="292.15" x="13.100019 24.00602 32.56002 38.77602 44.99202 51.99202 55.49202 63.27602 73.38402 83.49202 86.99202 93.20802 100.20802 107.20802 114.20802 120.42403 126.64003 130.53203 135.97803 139.47803 143.37003 150.37003 153.87003 157.76203 164.76203 170.97803 174.47803 181.47803 185.37003 190.03203 194.69403 200.91004 205.57204 211.78804 218.78804 222.68004 226.57204 232.78804 236.68004 240.18004 250.28804 260.39604 269.73405 273.23405 279.45005 286.45005 292.66606 299.66606 306.66606 312.88206 316.77406">&#x2022;Each PGA connects to the differential ADC channels</tspan><tspan y="308.15" x="13.10001 24.006012 32.560014 39.560014 45.776014 49.276014 57.060014 67.168018 77.27602 80.77602 87.77602 94.77602 98.668018 105.668018 112.668018 116.56001 122.00601 125.50601 132.50601 136.39801 141.06002 145.72202 151.93802 156.60002 162.81603 169.81603 173.70803 177.60002 183.81603 187.70803 191.20803 198.20803 204.42403 208.31603 212.97803 218.42403 221.92403 225.81603 232.81603 239.03203 242.92403 246.42403 252.64003 257.30204 263.51805 267.01805 273.23405 280.23405 287.23405 294.23405 300.45005 306.66606 310.55805 316.77406 323.77406 327.27406 331.16606 338.16606 341.66606 351.77406 361.88206 371.22007 374.72007 381.72007 385.61207 390.27406 394.93605 401.15205 405.81404 412.03004 419.03004 422.92204 426.81404 433.03004 436.92204 440.42204 444.31404 451.31404 458.31404 465.31404">&#x2022;The PGA outputs differential pairs that are connected to ADC differential input</tspan><tspan y="324.15" x="13.1000399 24.00604 37.222043 44.222043 50.43804 57.43804 60.93804 64.83004 71.83004 78.04604 81.54604 89.33005 99.43805 109.54605 113.04605 116.93805 122.38405 125.88405 132.88405 138.33005 144.54605 151.54605 155.04605 158.54605 165.54605 169.43805 174.10005 178.76206 184.97806 189.64006 195.85607 202.85607 206.74806 210.64006 216.85607 220.74806 224.24806 228.14006 235.14006 242.14006 249.14006 253.03206 256.53205 261.19404 265.85603 272.85603 283.74803 287.24803 291.14 298.14 304.35603 307.85603 314.85603 318.74803 325.74803 331.19404 334.69404 338.58604 344.03205 347.53205 353.74806 360.74806 367.74806 374.74806 380.96406 387.18006 391.07206 397.28807 404.28807 407.78807 411.68006 418.68006 422.18006 429.18006 433.07206 437.73405 442.39604 448.61204 453.27403 459.49003 466.49003 470.38203 474.27403 480.49003">&#x2022;When the PGA is used, differential input from the pins is connected to differential</tspan><tspan y="340.15" x="24.00603 27.89803 34.89803 41.89803 48.89803 52.79003 56.29003 62.50603 69.50603 75.72203 82.72203 89.72203 95.938037 99.83003 103.33003 110.33003 113.83003 120.83003 127.83003 131.33003 141.43804 151.54604 160.88404">input channel 2 on ADCx</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 17.999985)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 6.4980008 11.997001 17.001002 19.503003 25.002003">Analog</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="130.011 137.231 142.791 148.351 151.131 157.801 163.911 170.021 173.351 179.461 185.021 193.911 196.691 199.471 205.03099 207.81099 215.03099 220.59099 223.92099 229.48099 233.37099 238.93099 245.04099 250.60099 256.16099 258.94099 267.27098 272.83097 278.94096 285.05094 290.61094 293.39094 296.17094 298.95094 306.17094 311.73094 317.29093 320.07093 322.85093 328.41093 331.19093 336.75093 342.8609 348.9709 351.7509 357.31089 362.87089 368.43089">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="-.00401 4.9999907 10.003991">126</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>
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