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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_204.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

132 lines
27 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 82)" 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">6.2.2.9</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 82)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 9.165 18.33 26.670002 35.010004 44.175004 53.340005 57.510007 63.345006 71.685009 80.02501 88.36501 93.360019 97.530017 102.52502 111.69002 123.360019 134.19002 145.02002 155.85002 165.85503">Lockup reset (LOCKUP)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="64.25" x="-.00599 8.54801 15.54801 21.764012 25.264012 33.818014 43.926015 53.264017 63.372018 73.48002 81.26402 84.76402 91.76402 95.65602 102.65602 108.872028 114.31802 117.81802 121.71002 132.60202 143.49402 149.71002 156.71002 160.60202 166.81803 170.71002 176.92603 180.42603 184.31803 191.31803 198.31803 202.21002 208.42603 214.64203 218.53403 222.42603 229.42603 236.42603 239.92603 246.92603 251.58803 255.08803 260.53404 266.75004 271.41203 275.30403 282.30403 289.30403 294.75004 298.64204 305.64204 309.14204 315.35804 320.02003 324.682 330.898 337.898 341.79 345.29 352.29 358.506 363.168 370.168 376.384 380.276 383.776 389.22203 396.22203 400.884 404.776 414.884 421.1 425.762 431.978 435.478 438.978 447.53199 454.53199 458.42399 463.87 467.37 471.262 476.708 480.208 484.1 491.1">The LOCKUP gives immediate indication of seriously errant kernel software. This is the</tspan><tspan y="80.25" x="-.0059599999 4.65604 10.872041 16.31804 23.31804 27.210041 31.102042 34.602045 41.602045 46.26404 49.76404 53.656045 60.656045 66.87205 70.37205 76.58805 83.58805 88.25005 94.46606 97.96606 104.96606 111.18206 115.07406 122.07406 129.07407 132.57407 136.46607 143.46607 149.68207 156.68207 162.89807 169.89807 173.39807 180.39807 186.61408 192.83008 199.04608 206.04608 211.49208 217.70809 221.20809 228.20809 232.87009 236.37009 242.58609 249.58609 253.08609 260.0861 267.0861 271.74809 277.96409 284.18009 291.18009 298.18009 304.3961 309.05809 315.27409 322.27409 326.16609 332.38209 335.88209 342.09809 349.09809 355.3141 361.5301 368.5301 372.4221 376.3141 383.3141 390.3141 393.8141 398.47608 405.47608 409.36808 413.26008 420.26008 430.36808 434.26008 441.26008 448.26008 451.76008 455.65208 462.65208">result of the core being locked because of an unrecoverable exception following the</tspan><tspan y="96.25" x="-.0059599999 6.2100408 12.426041 16.31804 20.210041 27.210041 33.42604 37.318044 41.210046 48.210046 55.210046 58.710046 65.710048 70.37205 73.87205 77.764049 84.764049 90.98005 94.48005 101.48005 106.14205 113.14205 119.358058 125.57406 131.02007 136.46607 143.46607 148.12807 152.79007 158.23607 161.73607 168.73607 175.73607 179.62807 183.52007 187.41207 190.91207 194.80406 201.80406 205.30406 210.75006 217.75006 223.19606 227.08806 233.30406 244.19606 247.69606 253.14206 257.03407 263.25007 267.14207 273.35807 276.85807 283.85807 288.52006 295.52006 299.41206 305.62806 311.84407 315.73606 319.62806 326.62806 333.62806 337.12806 344.12806 350.34407 355.00605 362.00605 372.11405 378.33006 382.99205 389.20805">activation of the processor&#x2019;s built in system state protection hardware.</tspan><tspan y="120.65" x="-.0059599999 8.548039 15.548039 21.76404 25.26404 33.81804 43.92604 53.26404 63.372045 73.48004 81.264049 84.764049 90.98005 97.98005 104.98005 111.98005 115.87205 119.764049 123.656047 130.65604 137.65604 141.15604 147.37204 153.58805 160.58805 166.03404 172.25005 177.69605 181.19605 187.41205 190.91205 196.35805 203.35805 208.80405 212.69605 218.91205 229.80405 233.30405 237.96605 244.18206 249.62805 255.84406 259.73606 263.23606 269.45207 276.45207 283.45207 286.95207 293.16807 297.06007 302.50608 309.50608 313.00608 319.22209 325.43809 332.43809 337.8841 344.1001 349.5461 353.0461 356.9381 363.9381 370.1541 373.6541 382.99214 392.33015 404.77616 407.29615">The LOCKUP condition causes a system reset and also causes the RCM's</tspan><tspan y="136.65001" x="-.0059599999 7.778041 17.116044 24.900044 31.900044 36.562044 45.116044 55.224046 64.56204 74.670047 84.778049 92.56205 97.22405 100.72405 107.72405 111.61605 115.50805 119.00805 122.90005 129.90006 133.40006 138.84606 145.06206 148.95406">SRS1[LOCKUP] bit to set.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 231.2)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00596 8.334041 12.504042 20.844044 25.014044 33.354047 37.524049 45.864049">6.2.2.10</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 231.2)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00597 9.999031 17.499032 27.504033 36.669034 42.504034 47.49903 51.669034 57.504034 65.84403 74.18404 82.52404">EzPort reset</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="213.45" x=".00504 8.55904 15.55904 21.77504 25.27504 33.82904 40.04504 47.82904 54.82904 59.49104 63.38304 66.88304 72.32904 79.32904 86.32904 93.32904 100.32904 104.99104 108.88304 114.32904 117.82904 124.045047 127.545047 132.99105 139.99105 145.43704 149.32904 155.54505 166.43704 169.93704 174.59905 180.81505 186.26105 192.47705 196.36905 199.86905 204.53105 210.74706 217.74706 224.74706 230.96306 236.40906 240.30106 243.80106 250.80106 254.69306 260.90907 264.40907 272.96305 279.17906 286.96305 293.96305 298.62504 302.51704 306.01704 311.46305 315.35505 322.35505 329.35505 335.57106 339.46305 343.35505 350.35505 357.35505 360.85505 364.35505 372.90904 379.90904 386.12504 389.62504 398.17903 404.39503 412.17903 419.17903 423.841 427.733 431.233 438.233 444.449 451.449 457.665 462.327 468.543 472.435 478.651 484.09703 487.59703">The EzPort supports a system reset request via EzPort signaling. The EzPort generates a</tspan><tspan y="229.45" x=".00509 5.451091 12.451091 17.89709 21.789092 28.005093 38.897096 42.397096 47.059095 53.275094 58.721094 64.937099 68.829097 72.329097 76.9911 83.2071 90.2071 97.2071 103.4231 108.8691 112.7611 116.2611 120.9231 127.9231 131.81511 135.7071 142.7071 152.81511 156.7071 163.7071 170.7071 174.2071 180.42311 187.42311 193.63912 199.85512 206.85512 210.74712 214.63912 221.63912 228.63912 232.13912 239.13912 243.80112 247.30112 253.51712 257.01713 266.35514 272.57115 278.01716 284.23316 288.12516 291.62516 300.96318 307.96318 311.85517 318.85517 322.35517 327.01716 336.35517 344.90916 352.69316 361.24714 369.80113 374.4631 377.9631 384.1791 391.1791 402.0711 412.9631 419.1791 426.1791 433.1791 436.6791 443.6791 447.5711 453.7871 457.2871 461.1791 468.1791">system reset request following execution of a Reset Chip (RESET) command via the</tspan><tspan y="245.45" x=".00514 8.55914 14.775141 22.559142 29.559142 34.22114 38.113145 41.613145 45.505147 52.505147 56.39715 62.613149 67.27515 71.93715 78.15315 84.369159 90.58516 94.08516 97.58516 106.13916 113.13916 117.03116 122.47716 125.97716 136.86916 143.08516 146.97716 153.97716 160.97716 167.97716 171.47716 178.47716 183.13916 186.63916 191.30117 197.51717 202.96317 209.17917 213.07117 216.57117 222.78717 226.67917 230.57117 237.57117 247.67917 253.12517 256.62519 260.51719 267.51719 273.7332 277.2332 283.4492 290.4492 294.3412 301.3412 304.8412 308.7332 315.7332 319.2332 326.2332 333.2332 340.2332 344.12519 347.62519 352.28718 356.94917 363.94917 374.84117 378.34117 383.00315 386.89515 393.11116 398.55717 405.55717 409.05717 419.94917 426.16517 437.05717 444.05717 448.71916 455.71916 459.21916 465.43516 470.09715 473.98915 480.20515 484.86714 488.36714 492.25914">EzPort interface. This method of reset allows the chip to boot from flash memory after it</tspan><tspan y="261.44999" x=".00514 7.00514 13.22114 18.667141 22.167141 29.167141 35.38314 41.59914 48.59914 52.09914 59.09914 63.76114 70.76114 77.76114 82.42314 88.639148 99.53114 110.42314 116.639148 123.639148 127.139148 134.13915 141.13915 144.63915 150.85515 157.85515 161.35515 167.57115 174.57115 178.46315 184.67916 189.34116 196.34116 202.55716 206.44916 209.94916 215.39516 222.39516 229.39516 234.05716 240.27317 246.48917 249.98917 253.48917 262.04316 269.04316 275.25917 278.75917 287.31315 293.52915 301.31315 308.31315 312.97514 316.86714 320.36714 324.25914 329.70515 333.20515 339.42115 346.42115 352.63716 359.63716 363.52915 369.74516 376.74516 380.24516 387.24516 391.90715 395.40715 402.40715 406.29914 411.74516 417.96116 424.96116 428.85316 435.06916 442.06916 445.56916 452.56916 459.56916 463.06916 466.96116 473.96116">has been programmed by an external source. The EzPort is enabled or disabled by the</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="277.44999" x=".00514 8.55914 17.11314 24.89714 31.89714 41.23514 49.019144 52.519144 59.519144 63.411146 70.41115">EZP_CS pin.</tspan><tspan y="301.84999" x=".00514 10.113141 17.11314 20.61314 29.167141 35.38314 43.16714 50.16714 54.82914 58.72114 62.22114 66.88314 73.099147 78.54514 84.76115 88.653148 92.153148 98.36915 104.58515 111.58515 117.03115 123.247158 128.69316 132.19316 136.08516 143.08516 149.30117 152.80117 162.13916 171.47716 183.92316 186.44316 191.88916 195.38916 203.17316 212.51116 220.29515 227.29515 231.95716 240.51116 249.06516 256.84916 265.40315 270.06513 273.56513 280.56513 284.45713 288.34913 291.84913 295.74113 302.74113 306.24113 311.68714 317.90315 321.79515">An EzPort reset causes the RCM's SRS1[EZPT] bit to set.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 396.39997)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00513 8.345131 12.515131 20.855134 25.025134 33.365137 37.535139 45.875139">6.2.2.11</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 396.39997)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00512 12.500121 23.330122 35.825124 40.82012 51.650125 61.655126 65.82513 74.16513 82.505138 90.84514 95.84014 104.180149 117.515148 121.68514 127.52014 135.86014 144.20014 152.54013 157.53513 161.70513 167.54013 175.88013 185.04512 194.21012 202.55011 210.8901">MDM-AP system reset request</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="378.64997" x=".00514 7.7891409 14.005141 17.897143 21.397143 25.289143 32.289144 38.505144 42.005144 47.45114 54.45114 59.89714 63.789144 70.00514 80.89714 84.39714 89.05914 95.27515 100.721149 106.93715 110.82915 114.32915 118.99115 125.20715 132.20716 139.20716 145.42316 150.86916 154.76116 158.26116 165.26116 169.15316 173.04515 176.54515 180.43715 187.43715 190.93715 194.82915 201.82915 208.04515 211.54515 223.99115 234.09915 246.54515 251.20716 261.31517 269.09916 272.59916 278.81517 285.81517 292.81517 296.70716 301.36915 308.36915 312.26115 315.76115 320.42314 326.63914 333.63914 337.53114 342.97715 346.86915 353.08515 357.74714 361.24714 365.13914 372.13914 375.63914 379.53114 386.53114 390.42314 394.31513 398.20713 404.42314 408.31513 414.53114 418.03114 424.24714 427.74714 433.19316 440.19316 445.63917 449.53117 455.74717 466.63917 470.13917 474.80116 481.01716 486.46318 492.67918 496.57118">Set the system reset request bit in the MDM-AP control register to initiate a system reset.</tspan><tspan y="394.64997" x=".00514 8.55914 15.55914 19.451142 24.897143 28.397143 32.289144 37.73514 41.23514 45.127145 52.127145 58.343145 61.843145 68.84314 73.50514 77.39714 88.28914 94.50514 99.167148 106.167148 109.667148 120.55914 126.77515 130.66715 137.66715 144.66715 151.66715 155.16715 159.82915 166.82915 171.49115 174.99115 179.65316 185.86916 191.31516 197.53116 201.42316 206.86916 210.36916 217.36916 221.26116 227.47716 230.97716 234.86916 241.86916 248.08516 251.58516 257.03117 265.58515 275.69316 285.80116 289.69316 297.47715 310.69316 320.80116 324.30116 328.19316 335.19316 339.08515 345.30116 349.96315 354.62513 360.84114 367.05714 373.27314 376.77314 380.27314 388.82713 395.82713 402.04313 405.54313 410.98915 417.98915 423.43516 427.32716 433.54316 444.43516 447.93516 452.59715 458.81315 464.25917 470.47517 474.36717 477.86717 481.75917">This is the primary method for resets via the JTAG/SWD interface. The system reset is</tspan><tspan y="410.64997" x=".00514 7.00514 13.22114 17.11314 24.11314 27.61314 34.61314 41.61314 45.505144 49.397146 53.289148 56.789148 60.68115 67.68115 71.57315 77.01915 80.51915 87.51915 91.41115 95.30315 98.80315 102.695148 108.14114 111.64114 117.85715 121.749149 127.96515 134.18115 138.84316 145.05916 152.05916">held until this bit is cleared.</tspan><tspan y="435.04997" x=".00515 7.7891509 14.005152 17.897152 21.397152 25.289153 32.289155 38.505155 42.005155 48.221155 55.221155 59.883153 66.09915 69.59915 76.59915 83.59915 87.49115 94.49115 97.99115 102.65315 108.869159 114.315158 120.53116 124.42316 127.92316 134.92316 138.81516 142.70716 146.20716 150.09915 157.09915 160.59915 164.49115 171.49115 177.70716 181.20716 193.65316 203.76116 216.20716 220.86916 230.97716 238.76116 242.26116 248.47716 255.47716 262.47718 266.36918 271.03117 278.03117 281.92317 285.42317 290.08515 296.30116 303.30116 307.19316 312.63917 316.53117 322.74717 327.40916 330.90916 334.80116 341.80116 345.30116 352.30116 359.30116 363.19316 370.19316 373.69316 377.58515 384.58515 390.80116 394.30116 400.51716 407.51716 412.17915 418.39515 421.89515 425.78715 432.78715 436.28715 440.94914 447.16514 452.61116 458.82716 462.71916 466.21916 472.43516 477.88117 481.38117 485.27317 492.27317">Set the core hold reset bit in the MDM-AP control register to hold the core in reset as the</tspan><tspan y="451.04997" x=".00519 4.66719 10.88319 16.329192 20.221192 23.721192 30.721192 35.38319 38.88319 42.775194 49.775194 55.99119 59.49119 65.70719 72.70719 76.59919 83.59919 87.09919 93.31519 100.31519 111.20719 117.423198 122.869197 126.369197 133.3692 140.3692 144.2612 147.7612 154.7612 159.4232 162.9232 168.3692 175.3692 180.8152 184.7072 190.9232 201.8152 205.3152 209.9772 216.1932 221.6392 227.85521 231.74721">rest of the chip comes out of system reset.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 546.6)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00081 8.895191 13.343191 22.239193 26.687193">6.2.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.757328 546.6)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00081 13.327191 24.879193 36.431196 40.879198 52.4312 61.327199 70.2232 79.1192 84.447208">MCU Resets</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54.00003)" font-size="14" font-family="TimesLTStd"><tspan y="529.8499" x=".0052 10.113201 13.613201 20.613202 26.8292 31.491202 35.3832 41.5992 45.491205 52.491205 55.991205 62.991205 67.653209 71.153209 75.81521 82.03121 87.47721 93.693218 97.58521 103.03121 106.53121 112.747219 117.40922 123.62522 127.12522 134.12522 140.34122 147.34122 153.55722 158.21923 164.43523 168.32723 174.54323 181.54323 185.04323 192.04323 199.04323 202.54323 206.43523 213.43523 219.65123 223.15123 235.59723 244.93523 255.04323 258.5432 262.4352 269.4352 272.9352 277.5972 283.8132 289.25923 295.47523 299.36723 302.86723 309.86723 313.75923 318.4212 323.0832 329.2992 333.96119 340.1772 347.1772 351.06919 354.56919 365.46119 372.46119 379.46119 386.46119 390.35319 396.56919 402.0152">A variety of resets are generated by the MCU to reset different modules.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 734.9387)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.007 137.227 142.787 148.347 151.127 157.797 163.907 170.017 173.347 179.457 185.017 193.907 196.687 199.467 205.027 207.80699 215.027 220.58699 223.91699 229.47699 233.36699 238.92699 245.03699 250.59699 256.15699 258.93699 267.26698 272.82698 278.93696 285.04695 290.60694 293.38694 296.16694 298.94694 306.16694 311.72694 317.28694 320.06694 322.84693 328.40693 331.18693 336.74693 342.8569 348.9669 351.7469 357.3069 362.86689 368.42689">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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