birdcage/docs/K60-refman-vectors/K60-reference-manual_page_280.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

1486 lines
128 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08036 310.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 6.4980409 11.502041 14.499041 17.49604 22.500042 27.000042 32.004045 37.008047 42.012048 47.01605 49.01405 54.01805 59.022054 61.52405 67.527057 69.525058 74.52905 77.03105 83.52905 88.53305 93.53705 96.03905 99.03605 104.04005 106.03805 108.54005 115.03805 120.042049 125.04604 127.044048 131.54404 134.04604 139.05004 142.04703 144.54903 146.54703 151.04703 153.54903 158.55303 163.55702 166.05902 168.56102 173.56502 178.56902 183.57302 188.57701 191.07901 196.08301 201.087 203.589 210.087 212.085 214.587 219.591 222.093 224.595 229.599 234.603 237.105 241.605 246.609 248.607 253.611 258.615 261.117 263.115 268.119 270.621 277.62303 283.626 292.122 298.62">Corresponding Pin Control Register is not updated with the value in GPWD.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08036 321.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 6.4980409 11.502041 14.499041 17.49604 22.500042 27.000042 32.004045 37.008047 42.012048 47.01605 49.01405 54.01805 59.022054 61.52405 67.527057 69.525058 74.52905 77.03105 83.52905 88.53305 93.53705 96.03905 99.03605 104.04005 106.03805 108.54005 115.03805 120.042049 125.04604 127.044048 131.54404 134.04604 139.05004 142.04703 144.54903 146.54703 151.04703 153.54903 158.55303 163.55702 168.56102 173.56502 176.06702 181.07102 186.07501 188.57701 195.07501 197.07302 199.57501 204.57901 207.08101 209.58301 214.587 219.591 222.093 226.593 231.597 233.595 238.599 243.603 246.105 248.103 253.107 255.609 262.611 268.61399 277.11 283.60798">Corresponding Pin Control Register is updated with the value in GPWD.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.24993 339.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="25.542 30.546002 35.550004 40.554006">15&#x2013;0</tspan><tspan y="18.83789" x="21.546 28.548 34.551004 43.047006">GPWD</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.84995 339.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.0020005 9 14.004001 19.008002 24.012001 26.010003 28.512003 34.515005 36.513006 41.517007 44.019006 52.515008 55.51201 57.51001 60.01201 65.01601 67.518009 74.01601 79.020008 81.522">Global Pin Write Data</tspan><tspan y="28.83789" x="0 8.496 11.493 13.491 15.993 20.997002 23.499003 27.999003 33.003004 35.001005 40.005006 45.009008 47.511007 50.013006 55.017007 60.021009 62.523008 65.02501 67.02301 71.52301 74.02501 80.52301 83.52001 85.51801 88.02001 90.52201 95.52601 100.53001 103.032009 105.534008 110.538 113.04 118.044 120.042 122.04 124.542 130.545 132.543 137.547 140.049 146.547 151.551 156.555 159.05699 162.05399 167.05799 169.05599 171.55799 178.05599 183.05998 188.06398 190.06198 194.56198 197.06398 202.06798 205.06497 209.56497 212.06697 217.07097 219.06897 221.57097 226.07097 228.57297 231.07497 236.07897 241.08296 243.58496 248.58896 251.09096 253.59296 256.09498 261.09898 266.10298 268.60499 271.107 276.111 279.108 284.112 286.614 291.114 296.118 298.116 303.12 307.62 310.122 315.126 320.13 322.63203 327.63603 332.13603 334.63804 341.64006 347.64305 356.13905 362.14204">Write value that is written to all Pin Control Registers bits [15:0] that are selected by GPWE.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.99993 419.9)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 16.680003 20.850003 29.190003 33.360006">11.5.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 109.87322 419.9)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 11.670001 15.840002 25.005002 34.170003 42.510004 46.680006 50.850008 60.855009 65.02501 74.19001 78.36001 89.19001 98.35501 107.52001 112.515018 118.35001 127.515018 131.68502 135.85501 146.68502 150.85501 160.02 169.185 173.355 184.185 192.525 201.68999 205.85999 214.19998 219.19498 227.53498 233.36998 237.53998 242.53498 252.53998 264.21 275.03999">Global Pin Control High Register (PORT</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 109.87322 419.9)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="284.205">x</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 109.87322 419.9)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="291.705 300.04499 311.715 321.72 332.55 343.37998 354.20997">_GPCHR)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.99993 54)" font-size="14" font-family="TimesLTStd"><tspan y="402.15" x="-.00699 10.10101 17.10101 20.99301 27.99301 31.49301 38.49301 45.49301 50.15501 57.15501 61.047014 64.93901 68.43901 78.54701 83.209018 87.10101 90.99301 97.209018 102.655017 106.155017 112.37102 117.03302 123.24902 126.74902 132.19503 139.19503 146.19503 153.19503 160.19503 164.85703 168.74903 174.96503 181.96503 185.46503 189.35703 196.35703 199.85703 203.74903 210.74903 214.64102 220.08702 223.58702 228.24903 234.46503 241.46503 245.35703 250.80303 254.69503 260.911 265.573">Only 32-bit writes are supported to this register.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 92.01604 472.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 15.507001 20.511002 23.013003 28.017003 33.021005 38.025007 41.022008 46.02601 50.52601 55.02601 57.528009 62.784009 65.28601 70.29001 75.29401 80.298007 82.8 87.804 90.306 92.808 97.308 102.312">Base address + 84h offset</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 69.27265 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.741 7.6330006">31</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 84.54537 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.741 7.6330006">30</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 99.8181 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.741 7.6330006">29</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 115.090839 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.741 7.6330006">28</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 130.36356 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.741 7.6330006">27</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 145.63629 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.741 7.6330006">26</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 160.90903 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.741 7.6330006">25</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 176.18177 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.741 7.6330006">24</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 191.45449 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.741 7.6330006">23</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 206.7272 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.741 7.6330006">22</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 221.99993 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.741 7.6330006">21</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 237.27265 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.741 7.6330006">20</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 252.54537 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.741 7.6330006">19</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 267.81809 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.741 7.6330006">18</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 283.09083 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.741 7.6330006">17</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 298.36354 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.622 7.5140006">16</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 328.909 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.745 7.637">14</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 344.18174 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.745 7.637">13</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 359.45448 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.745 7.637">12</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 374.7272 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.745 7.637">11</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 389.99995 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.745 7.637">10</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 405.27268 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">9</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 420.5454 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">8</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 435.81816 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 451.09089 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 466.36363 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 481.63636 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 496.9091 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 512.1818 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 527.4546 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 542.7273 487.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.99994 498.55)" font-size="7" font-family="HelveticaLTStd"><tspan y="10.81836" x="5.971">R</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.99994 516.55)" font-size="7" font-family="HelveticaLTStd"><tspan y="10.81836" x="4.41199">W</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 69.52267 516.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="11.08789" x="108.18399 115.18599 121.18899 129.68498">GPWE</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 84.54539 534.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="5.138">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 99.818119 534.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="5.138">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 115.09085 534.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="5.138">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 130.36357 534.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="5.138">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 145.63629 534.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="5.138">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 160.90903 534.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="5.138">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 176.18177 534.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="5.138">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 191.45449 534.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="5.138">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 206.7272 534.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="5.138">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 221.99993 534.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="5.138">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 237.27265 534.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="5.138">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 252.54537 534.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="5.138">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 267.81809 534.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="5.138">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 283.09083 534.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="5.138">0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.99993 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 7.4970009 12.501001 20.502003 26.001004 29.502003 34.506006 37.008005 45.009004 50.013006 55.512006 58.014005 63.018007 68.517009 74.01601 76.518009 80.019008 85.023 90.522 93.024 98.028 101.025 106.029 109.53 112.032 117.531 122.534999 125.532 128.034 133.53299 136.03499 139.03199 141.53398 147.03298">Memory map and register definition</tspan></text>
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