birdcage/docs/K60-refman-vectors/K60-reference-manual_page_227.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

1214 lines
91 KiB (Stored with Git LFS)
XML

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 145.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00794 9.44406 14.170061">9.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 91.80322 145.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00794 12.266061 21.718062 32.10506 42.49206 52.879064 57.605066 68.94406 79.33106 85.94406 91.605068 96.33106 107.67006 112.39606 122.78306 127.509059 139.78305 149.23505 158.68704 168.13904 174.75205 179.47805 189.86504 195.52603 200.25203 210.63903 221.02602">Debug Port Pin Descriptions</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 497.25 308.6)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 13.005001 15.003001 18.000002 23.004002">Pull-up</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 119.25 346.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">I</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 245.25 346.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="27.999">I</tspan></text>
<g clip-path="url(#clip_26)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 119.25 372.6)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">I</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 245.25 372.6)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="27.756">-</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 372.6)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="27.756">-</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 371.25 372.6)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="27.756">-</tspan></text>
<g clip-path="url(#clip_36)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 434.25 372.6)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="27.756">-</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 119.25 399.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">O</tspan></text>
<g clip-path="url(#clip_40)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 245.25 399.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="25.749">O</tspan></text>
<g clip-path="url(#clip_42)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 371.25 399.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="25.749">O</tspan></text>
<g clip-path="url(#clip_44)">
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<g clip-path="url(#clip_45)">
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<g clip-path="url(#clip_46)">
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</g>
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<g clip-path="url(#clip_47)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 119.25 436.6)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">I</tspan></text>
<g clip-path="url(#clip_48)">
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</g>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 245.25 436.6)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">I</tspan></text>
<g clip-path="url(#clip_50)">
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<g clip-path="url(#clip_51)">
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</g>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 521.9)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 9.452001 14.178001">9.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 91.80322 521.9)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 11.339001 20.791 30.243 35.904 45.356 60.469 65.195 75.582 87.856 99.19501 103.921009 113.37301 123.76001 134.147 144.534 153.986 163.43799 169.09899 173.82498 184.21198">System TAP connection</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54.00003)" font-size="14" font-family="TimesLTStd"><tspan y="505.15" x="-.001 8.5529999 15.5529999 21.769001 25.269001 30.715003 37.715005 43.161005 47.053007 53.269006 64.161 67.661 73.107 81.661 91.769008 101.87701 105.37701 111.59301 118.59301 125.59301 129.48502 134.14702 141.14702 145.03902 148.93102 155.14702 159.80902 163.30902 167.20102 172.64702 176.14702 182.36302 189.36302 196.36302 203.36302 209.57903 215.79503 219.68703 225.90303 232.90303 236.40303 240.29503 247.29503 250.79503 257.79505 264.01106 268.67304 274.88905 278.78105 282.67304 288.88905 292.78105 296.28105 300.17304 307.17304 310.67304 314.56504 321.56504 327.78105 331.28105 341.38905 350.72706 363.17308 366.67308 375.22706 385.33506 393.11906 396.61906 402.83506 409.83506 416.83506 420.72706 425.38905 432.38905 436.28105 440.17304 446.38905 451.05104 454.55104 458.05104 466.605 473.605">The system JTAG controller is connected in parallel to the ARM TAP controller. The</tspan><tspan y="521.14999" x="-.0009900001 5.4450109 12.445011 17.891013 21.783013 27.999012 38.891016 42.391016 47.837015 56.391016 66.499019 76.60702 80.10702 86.32302 93.32302 100.32302 104.21502 108.87702 115.87702 119.76902 123.66102 129.87702 134.53902 138.03902 142.70102 152.03902 155.53902 161.75502 168.75502 175.75502 181.97103 187.41703 190.91703 197.91703 204.91703 211.13303 215.79503 219.68703 225.90303 232.90303 236.40303 240.29503 247.29503 253.51103 257.01106 267.11906 276.45707 288.90309 292.40309 297.8491 306.40309 316.51109 326.61909 330.11909 336.33509 343.33509 350.33509 354.22709 358.88908 365.88908 369.78108 373.67308 379.88908 384.55107 388.05107 392.71305 402.05107 405.55107 411.76707 418.76707 425.76707 431.98307 437.42909 440.92909 451.03709 454.92909 458.82109 465.82109 472.82109 479.82109">system JTAG controller IR codes overlay the ARM JTAG controller IR codes without</tspan><tspan y="537.14999" x="-.0009900001 6.2150108 13.215011 20.215012 24.877013 28.769013 32.661016 38.877016 42.769018 46.269018 49.769018 59.107019 65.32302 69.98502 76.20103 80.86303 84.36303 88.25503 95.25503 98.75503 102.647029 109.647029 115.86303 119.36303 124.02503 133.36304 136.86304 143.07904 150.07904 157.07904 163.29505 168.74105 172.24105 176.13304 182.34905 189.34905 193.24105 199.45705 202.95705 207.61905 214.61905 219.28105 222.78105 228.99706 232.49706 236.38906 240.28105 245.72705 249.61905 253.11905 260.11906 264.78105 268.28105 272.17304 279.17304 285.38905 288.88905 295.10505 302.10505 308.32106 312.21305 316.10505 322.32106 329.32106 333.21305 339.42906 342.92906 347.59104 356.92906 360.42906 366.64506 373.64506 380.64506 386.86106 392.30708 395.80708 399.30708 407.86106 414.86106 421.07707 424.57707 431.57707 438.57707 442.46907 449.46907 456.46907 460.36106 463.86106 470.86106 475.52305 479.02305 482.91505 489.91505">conflict. Refer to the IR codes table for a list of the available IR codes. The output of the</tspan><tspan y="553.14999" x="-.0009900001 8.55301 18.66101 26.445012 31.891013 35.391016 40.053014 48.607015 58.715017 68.82301 73.485019 76.985019 83.20102 87.86302 94.079029 97.579029 108.47102 115.47102 122.47102 128.68703 135.68703 139.18703 146.18703 152.40303 157.84903 164.06504 171.06504 174.56504 181.56504 188.56504 192.06504 195.95703 202.95703 209.17304 212.67304 217.33504 226.67304 230.17304 236.38904 243.38904 250.38904 256.60505 260.10505 270.21305 277.21305 281.10505 287.32106 294.32106 297.82106 301.71305 307.15907 310.65907 316.10508 322.32109 326.21308 332.42909 338.64509 342.53709 348.75309 355.75309 359.25309 362.75309 371.30708 378.30708 382.19908 387.64509 391.14509 398.14509 404.36109 409.8071 413.6991 420.6991 427.6991 431.1991 435.0911 440.5371 444.0371 448.6991 455.6991 459.5911 463.4831">TAPs (TDO) are muxed based on the IR code which is selected. This design is fully</tspan><tspan y="569.14999" x="-.0009400001 5.4450609 13.999061 24.107062 34.21506 37.71506 43.93106 50.93106 61.823064 68.82306 72.71506 76.607059 82.82306 89.82306 93.71506 97.21506 103.43106 110.43106 117.43106 120.93106 127.147068 134.14707 141.14707 147.36307 153.57907 158.24108 163.68708 167.18708 171.07907 178.07907 181.57907 185.47107 192.47107 198.68708 202.18708 207.63307 216.18708 226.29508 236.40308 239.90308 246.11908 253.11908 259.33509 263.22709 270.22709 273.72709 279.94309 285.3891 288.8891 295.1051 298.6051 304.05113 307.9431 314.9431 321.9431 325.8351 332.05113 335.55113 344.1051 354.2131 361.9971 365.4971 368.9971 379.1051 382.9971 386.4971 393.4971 400.4971 410.6051 416.8211 421.4831 424.9831 431.9831 438.9831 442.4831 447.14509 453.36109 458.8071 465.0231 468.9151">JTAG compliant and appears to the JTAG chain as a single TAP. At power on reset,</tspan><tspan y="585.14999" x="-.0009400001 10.10706 19.44506 31.891062 34.41106 39.85706 43.35706 48.01906 58.12706 67.46506 77.57306 87.68106 96.23506 99.73506 104.397068 109.05907 118.397068 126.29306 133.29306 135.81307 142.81307 149.81307 156.81307 163.81307 170.81307 175.47507 178.97507 182.86707 188.31307 191.81307 197.25907 203.47507 207.36707 213.58307 219.79907 223.69107 229.90708 236.90708">ARM's IDCODE (IR=4'b1110) is selected.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 18.00003)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01031" x="431.991 438.48899 443.98799 448.99198 454.49098 457.48799 462.49198 465.99299 468.495 473.499 476.001 482.499 487.503 493.00199 498.50099">Chapter 9 Debug</tspan></text>
<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="130.00998 137.22998 142.78998 148.34998 151.12998 157.79998 163.90998 170.01998 173.34998 179.45998 185.01998 193.90998 196.68997 199.46997 205.02997 207.80997 215.02997 220.58997 223.91997 229.47997 233.36997 238.92996 245.03997 250.59996 256.15998 258.93998 267.26997 272.82997 278.93995 285.04994 290.60993 293.38993 296.16993 298.94993 306.16993 311.72993 317.28993 320.06993 322.8499 328.4099 331.1899 336.7499 342.8599 348.96989 351.74989 357.30989 362.86988 368.42988">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54 763.75607)" 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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