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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_376.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

130 lines
29 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 87.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 9.452001 18.904002 23.630002">16.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 87.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 10.387 20.774 31.161 40.613 46.274 51 61.387 71.774 81.226009 85.952 90.678 101.065 110.517009 119.96901 129.421 136.03401 140.76001 151.147 156.808 161.534 171.92099">Functional description</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54.000005)" font-size="14" font-family="TimesLTStd"><tspan y="71.05" x="0 8.554 15.554 19.446002 24.892003 28.392003 35.392004 42.392004 47.054 53.27 60.27 64.162 71.162 74.662 81.662 87.878009 92.54001 96.43201 103.43201 110.43201 116.64801 121.31001 127.52602 131.41802 134.91802 145.81002 152.81002 159.81002 166.81002 170.70201 176.91802 180.41802 184.31002 189.75601 193.25601 199.47202 205.68802 209.58002 213.47202 219.68802 226.68802 230.18802 236.40402 239.90402 243.79602 250.79602 260.90403 265.566 269.458 275.674 281.89 288.89 295.10603 302.10603 308.32203 311.82203 321.93003 328.14604 335.14604 341.36204 348.36204 355.36204 358.86204 365.86204 372.86204 376.75404 380.64604 384.14604 388.808 397.362 405.916 419.132 429.24 433.90199 437.40199 448.29399 455.29399 462.29399 469.29399 473.18598">This on-chip peripheral module is called a low-leakage wakeup unit (LLWU) module</tspan><tspan y="87.049999" x="0 7 13.216001 19.432002 25.648003 32.648004 38.094 44.31 47.81 51.702005 55.594007 59.094007 65.310009 69.202 73.094 80.094 90.202 95.648 99.148 103.04 110.04 113.932 120.148 124.810009 131.81 138.026 141.918 145.418 152.418 158.634 163.296 167.188 174.188 181.188 187.404 192.06601 198.28202 202.17401 207.62001 211.12001 217.33602 224.33602 231.33602 234.83602 241.05202 248.05202 251.94402 258.16 262.822 269.822 276.038 279.93 283.43 287.322 294.322 301.322 308.322 312.214 315.714 322.714 326.606 333.606 339.052 342.552 348.768 354.21403 357.71403 363.93003 367.43003 372.87605 379.87605 386.87605 391.53804 397.75404 403.97004 407.47004 414.47004 419.13203 422.63203 432.74003 438.95603 445.95603 452.17204 459.17204 466.17204 469.67204 474.334 478.996 485.996">because it allows internal peripherals and external input pins as a source of wakeup from</tspan><tspan y="103.049999" x="0 3.8920005 10.892 21 25.662 29.554 35.77 41.986 48.986 55.202 62.202 68.418 71.918 82.81 89.81 96.81 103.026 108.472 111.972 115.472 120.134 124.026 127.526 131.418 136.864 140.364 147.364 154.364 160.58 165.242 171.45801 175.35 179.242 186.242 193.242 199.45801 203.35 206.85 213.85 220.85 224.742 231.742 235.242 239.134 246.134 249.634 258.188 266.74198 274.52598 278.02598 284.24198 291.24198 298.24198 301.74198 311.84999 320.40397 328.95796 336.74195 343.74195 347.24195 358.13395 365.13395 372.13395 378.34996 383.79597">low-leakage modes. It is operational only in LLS and VLLSx modes.</tspan><tspan y="127.45" x=".00003 8.554029 15.554029 21.770031 25.270031 33.82403 42.378034 55.594034 65.702037 69.202037 80.09403 87.09403 94.09403 101.09403 104.98603 111.202037 114.702037 120.91804 127.91804 134.91803 138.81003 145.02603 148.91803 155.91803 161.36403 164.86403 171.86403 175.75603 182.75603 186.25603 192.47203 199.47203 205.68804 212.68804 216.58003 222.79604 228.24204 231.74204 236.40404 243.40404 248.06604 251.56604 257.78205 263.99806 270.21406 277.21406 280.71406 286.93006 293.93006 297.82206 304.03807 308.70005 315.70005 321.91606 325.80805 329.30805 336.30805 340.20005 347.20005 350.70005 356.91606 363.91606 370.91606 374.41606 378.30805 385.30805 389.20005 395.41606 400.07804 407.07804 413.29405 417.18605 420.68605 431.57804 438.57804 445.57804 452.57804 456.47004 462.68605 466.18605 469.68605 477.47004 484.47004">The LLWU module contains pin enables for each external pin and internal module. For</tspan><tspan y="143.45001" x=".00006 6.2160608 12.432061 18.648062 25.648062 29.148062 35.364065 42.364065 46.256067 52.472066 57.134065 64.13406 70.35007 74.242069 77.742069 84.742069 88.63406 95.63406 99.13406 102.63406 106.52606 113.52606 119.742069 123.242069 130.24207 135.68807 141.90407 146.56607 150.06607 156.28208 162.49808 169.49808 172.99808 179.99808 183.89008 189.33608 195.55208 202.55208 206.44408 212.66008 216.16008 223.16008 227.82209 231.32209 236.76808 242.98409 246.87609 253.09209 259.30809 263.20008 266.70008 270.59208 277.59208 283.80809 287.30809 293.52409 300.52409 307.52409 313.74009 317.24009 321.13209 328.13209 335.13209 341.34809 344.84809 349.51008 356.51008 361.17207 364.67207 368.56407 375.56407 381.78007 385.28007 395.38807 401.60408 408.60408 414.82008 421.82008 428.82008 432.32008 435.82008 444.37406 451.37406 458.37406">each external pin, the user can disable or select the edge type for the wakeup. Type</tspan><tspan y="159.45001" x=".00006 7.00006 14.00006 17.892062 21.784062 28.784062 35.78406 41.23006 44.73006 50.94606 55.60806 61.82406">options are:</tspan><tspan y="183.85" x="13.10407 23.99607 31.780072 37.99607 41.888074 45.780076 49.672079 56.672079 63.672079 68.334079 74.55008 81.55008 88.55008">&#x2022;Falling-edge</tspan><tspan y="199.85" x="13.10407 23.99607 33.334074 37.226076 42.672075 46.564077 53.564077 60.564077 65.226078 71.44208 78.44208 85.44208">&#x2022;Rising-edge</tspan><tspan y="215.85" x="13.10407 23.99607 32.55007 36.442075 40.334077 47.334077 53.550077 58.212076 62.874074 69.09007 76.09007 83.09007">&#x2022;Either-edge</tspan><tspan y="241.85" x=".000060081483 13.216061 20.21606 26.43206 33.43206 36.93206 43.14806 50.14806 53.64806 59.86406 66.86406 70.75606 76.97206 81.63406 88.63406 94.85007 98.742069 102.242069 109.242069 113.13406 120.13406 123.63406 127.52606 132.97206 136.47206 142.68807 149.68807 155.90407 162.90407 166.79607 173.01207 180.01207 183.51207 189.72808 195.17407 198.67407 204.89008 208.39008 218.49808 224.71408 231.71408 237.93009 244.93009 251.93009 255.43009 260.8761 267.8761 274.8761 279.5381 285.7541 291.9701 295.4701 298.9701 302.8621 309.8621 316.0781 319.5781 326.5781 330.4701 337.4701 340.9701 351.8621 358.8621 364.3081 368.2001 371.7001 378.7001 384.9161 388.4161 394.6321 401.6321 408.6321 413.2941 417.1861 424.1861 431.1861 435.84809 442.0641 449.0641 452.5641 458.7801 464.2261 467.7261 473.9421">When an external pin is enabled as a wakeup source, the pin must be configured as an</tspan><tspan y="257.85" x=".000060081483 3.8920606 10.89206 17.89206 24.89206 28.78406 32.284059 39.284059 43.17606 50.17606">input pin.</tspan><tspan y="282.25" x=".000060081483 8.55406 15.55406 21.770062 25.270062 33.824064 42.378065 55.594064 65.702068 69.202068 73.09406 83.98606 90.98606 94.87806 101.09406 111.98606 118.202068 125.202068 129.09407 134.54007 138.04007 145.04007 152.04007 155.93207 159.82407 166.82407 173.82407 180.04007 183.93207 187.43207 194.43207 199.09407 205.31008 212.31008 218.52608 222.41808 228.63408 232.13408 239.13408 243.02608 246.91808 250.81008 257.02607 264.02607 267.52607 272.18806 276.08006 279.97206 283.86405 290.08006 294.74205 300.18806 303.68806 307.18806 314.18806 320.40406 325.85008 332.06608 339.06608 342.56608 349.56608 356.56608 360.06608 363.95808 370.95808 377.17408 380.67408 389.22807 397.01206 407.12007 410.62007 416.83607 420.72807 427.72807 433.94407 440.94407 444.44407 447.94407">The LLWU implements optional 3-cycle glitch filters, based on the LPO clock. A</tspan><tspan y="298.25" x=".00009008148 7.00009 13.216091 17.108092 23.324093 29.540093 33.432096 39.648096 46.648096 50.148096 56.364095 63.364095 67.256099 73.4721 78.1341 85.1341 91.350109 95.2421 98.7421 105.7421 109.6341 116.6341 120.1341 123.6341 129.8501 133.7421 137.6341 144.6341 150.8501 155.5121 159.0121 169.1201 175.3361 182.3361 188.55211 195.55211 202.55211 206.05211 213.05211 217.71411">detected external pin, either wakeup or </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54.000005)" font-size="14" font-family="TimesLTStd"><tspan y="298.25" x="221.21408 230.55208 239.10608 246.89008 255.44408 263.99809 267.49809 270.99809 274.89009 280.3361 283.8361 288.49809 294.71409 301.71409 308.71409 312.60609 317.26808 323.48408 330.48408 333.98408 337.87608 344.87608 348.37608 353.03807 359.25407 370.14607 376.36207 380.25407 387.25407 390.75407 396.97007 402.41609 407.8621 414.0781 418.74009 422.63209 428.84809 435.84809 439.34809 446.34809 453.34809 457.24009 461.13209 465.02409 468.52409 472.41609 479.41609">RESET, is required to remain asserted until the</tspan><tspan y="314.25" x=".00010681152 6.2161076 13.216107 19.432108 26.432108 30.324109 36.540109 43.540109 47.040109 54.040109 57.93211 61.824113 65.71611 71.93211 78.93211 82.43211 87.09412 90.986118 94.87811 98.77011 104.986118 109.64812 113.14812 117.040119 120.93211 131.82411 138.04012 143.48612 146.98612 153.98612 160.98612 164.87812 168.37812 171.87812 181.98612 188.98612 195.98612 199.87812 203.77011 207.66211 214.66211 221.66211 227.87812 231.77011 235.27011 239.16211 245.37812 249.27011 255.48612 262.4861 268.70213 275.70213 279.20213 286.20213 290.8641 294.3641 301.3641 308.3641 311.8641 315.7561 322.7561 326.2561 333.2561 336.7561 342.9721 349.9721 356.1881 360.0801 366.2961 371.74214 375.24214 379.13414 384.58015 388.08015 395.08015 402.08015 408.29615 411.79615 415.68815">enabled glitch filter times out. Additional latency of up to 2 cycles is due to</tspan><tspan y="330.25" x=".00013681152 5.4461376 12.446137 19.446137 25.662137 32.662137 37.324136 44.324136 51.324136 55.216138 61.432138 67.64814 71.54014 75.43214 82.43214 89.43214 92.93214 96.43214 106.54014 113.54014 117.43214 123.64814 130.64813 134.14813 138.81014 145.02614 150.47214 157.47214 161.36414 165.25614 170.70214 174.20214 178.09413 185.09413 188.59413 194.81014 198.31014 202.20214 209.20214 213.09413 219.31014 223.20214 226.70214 233.70214 238.36414 241.86414 248.86414 255.86414 259.36415 263.25614 270.25614 273.75614 280.75614 284.25614 290.47215 297.47215 303.68815 307.58015 313.79615 319.24217 322.74217 329.74217 334.40415 337.90415 344.90415 351.12016 355.01216 361.22816 368.22816 371.72816 378.72816 384.94416 389.60615 396.60615 401.26814 407.48414 410.98414 414.87614 421.87614 428.09214 431.59214 438.59214 444.80815 448.70014 454.91615 461.13215">synchronization, which results in a total of up to 5 cycles of delay before the detect</tspan><tspan y="346.25" x=".00010681152 6.2161076 10.108108 14.770107 20.986107 27.986107 31.878108 35.770109 39.270109 45.486108 49.37811 55.59411 60.256109 64.14811 69.59411 73.09411 76.98611 83.98611 90.20211 93.70211 99.14811 106.14811 111.59411 115.48611 121.70211 132.59412 136.09412 139.98612 146.98612 150.48612 154.37812 161.37812 167.59412 171.09412 181.20212 187.41812 194.41812 200.63413 207.63413 214.63413 218.13413 225.13413 229.79613 233.29613 237.95813 244.17414 249.62014 255.83614 259.72816 263.22816 269.44416 276.44416 282.66017 289.66017 293.55216 297.05216 307.16017 314.16017 320.37617 327.37617 330.87617 334.76817 341.76817 347.98417 351.48417 356.14616 360.03816 363.93016 367.82215 374.03816 378.70014 382.20014 386.86213 393.86213 400.86213 407.07814 410.97013 414.86213 421.86213 428.86213 432.36213 436.25413 441.70014 445.20014 451.41615 458.41615 464.63215 471.63215 475.52415 481.74015 488.74015">circuit alerts the system to the wakeup or reset event when the filter function is enabled.</tspan><tspan y="362.25" x=".00010681152 8.554107 18.662108 25.662108 29.162108 39.270109 45.486108 52.486108 58.702108 65.7021 72.7021 76.2021 83.2021 89.418109 93.310108 99.52611 105.74211 109.63411 113.13411 117.79611 121.68811 125.58011 129.4721 135.68811 140.35012 145.79611 149.29611 155.51212 160.17412 166.39012 169.89012 176.10613 183.10613 189.32213 193.21413 197.10613 203.32213 210.32213 214.21413 220.43013 223.93013 227.82213 234.82213 238.32213 245.32213 251.53813 255.43013 261.64613 267.86213 271.75413 275.25413 282.25413 289.25413 292.75413 296.64613 303.64613 307.14613 311.03813 321.14613 328.14613 331.64613 337.86213 344.86213 348.75413 354.97013 359.6321 366.6321 372.8481 376.7401 380.2401 387.2401 391.1321 398.1321 403.57814 407.07814 410.57814 420.68614 424.18614 429.63215 435.84815 442.84815 449.06416 453.72615 459.94215 463.83415 470.05015 473.55015 478.21214 484.42814 489.87416 496.09016">Two wakeup detect filters are available to detect up to two external pins. A separate reset</tspan><tspan y="378.25" x=".00010681152 4.662107 8.554108 12.446108 16.338109 22.554108 27.216109 30.716109 34.60811 40.054109 43.554109 50.554109 57.554109 61.054109 64.946109 71.946109 78.16211">filter is on the </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54.000005)" font-size="14" font-family="TimesLTStd"><tspan y="378.25" x="81.66211 91.00011 99.55411 107.33811 115.89211 124.44611 127.94611 134.9461 138.8381 145.8381 149.3381 152.8381 162.9461 166.8381 170.7301 174.6221 180.8381 187.8381 191.3381 196.0001 199.8921 203.7841 207.6761 213.8921 218.55411 222.4461 229.4461 236.4461 239.9461 243.8381 249.2841 252.7841 259.78413 266.78413 270.67613 274.17613 281.17613 285.8381 292.8381 299.8381 303.7301 310.7301 316.9461 323.9461 327.4461 334.4461 341.4461 344.9461 348.8381 355.8381 362.0541 365.5541 369.4461 376.4461 380.3381 386.5541 391.2161 398.2161 404.4321 408.3241 411.8241 422.7161 429.7161 436.7161 443.7161 447.6081 453.8241 459.2701">RESET pin. Glitch filtering is not provided on the internal modules.</tspan><tspan y="402.65" x=".00010681152 7.7841079 14.784107 19.446108 22.946108 26.838109 33.838109 37.73011 43.94611 48.60811 55.60811 61.82411 65.71611 69.21611 80.10811 87.10811 94.10811 101.10811 105.00011 111.21611 114.71611 124.82411 131.04012 138.04012 144.25612 151.25612 158.25612 161.75612 168.75612 175.75612 181.97212 186.63413 192.85013 196.74213 200.63413 207.63413 214.63413 218.13413 221.63413 225.52613 232.52613 238.74213 242.24213 255.45813 265.56614 278.01216 286.56614 293.56614 297.06614 304.06614 307.95814 311.85014 315.35014 321.56614 328.56614 334.78215 341.78215 345.67414 351.89015 357.33616 360.83616 364.72816 371.72816 377.94416 381.44416 387.66017 393.10618 398.5522 405.5522 411.7682 415.6602 421.8762 425.7682 431.9842 438.9842 442.4842 453.3762 460.3762 467.3762 474.3762 478.2682 484.4842 487.9842 494.2002">For internal module wakeup operation, the WUMEx bit enables the associated module as</tspan><tspan y="418.65" x=".00010681152 6.2161076 9.716107 19.824109 26.040108 33.040109 39.256109 46.256109 53.256109 56.756109 62.202108 69.2021 76.2021 80.864109 87.08011 93.29611">a wakeup source.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 514.2)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.0039 9.7721 19.5481 30.2201 34.668104 48.892107 58.668107 68.44411">LLS mode</tspan></text>
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State</tspan><tspan y="553.85" x=".00416 4.66616 10.88216 14.77416 20.990162 27.990162 31.882163 35.774164 42.774164 49.774164 53.274164 60.274164 66.490169 70.382167 76.59817 80.09817 83.990169 89.436168 92.936168 96.82816 103.82816 109.27416 113.16616 116.66616 120.16616 126.382167 133.38217 140.38217 143.88217 147.77417 154.77417 160.99018 164.49018 169.15218 173.04418 183.15218 186.65218 192.09818 195.99018 202.20618 206.09818 212.31418 217.76018 221.26018 225.92218 232.13819 236.03018 243.03018 247.69219 254.69219 258.1922 262.0842 269.0842 272.5842 276.4762 283.4762 289.6922 293.5842 298.2462 301.7462 306.40818 312.62419 318.0702 324.2862 328.1782 331.6782 337.1242 341.0162 347.2322 351.1242 357.3402 360.8402 364.3402 372.8942 379.8942">retention data is lost, and the I/O states return to their reset state. The</tspan><tspan y="569.85" x=".00416 9.342161 18.680163 31.126164 38.126165 45.910165 55.248167 63.032167 67.69417 80.91017 91.01817 101.126178 109.680179 119.78818 127.57218 132.23418 135.73418 141.95018 148.95018 155.95018 159.45018 168.78818 178.12618 190.57218 197.57218 205.35617 214.69417 222.47817 227.14017 234.92417 239.58617 249.69417 254.35617 257.85618 264.85618 268.74818 272.64018 278.08619 281.58619 287.8022 292.46418 298.68019 302.18019 307.6262 313.8422 317.7342 321.2342 327.4502 334.4502 341.4502 344.9502 348.8422 355.8422 362.0582 365.5582 371.0042 378.0042 383.45024 387.34223 393.55824 404.45024 407.95024 414.16624 421.16624 427.38224 433.59825 440.59825 444.49024 450.70625 456.15226 459.65226 465.86827 469.36827 474.03025 480.24626 485.69227 491.90827">RCM_SRS[WAKEUP] and RCM_SRS[PIN] bits are set and the system executes a reset</tspan><tspan y="585.85" x=".00416 4.66616 8.558161 15.558161 25.66616 29.16616 36.16616 42.38216 47.04416 54.04416 58.706159 64.92216 68.42216 77.76016 85.54417 95.65217 99.15217 106.15217 113.15217 119.36817 124.030178 130.24617 134.13817 138.03017 145.03017 152.03017 155.53017 162.53017 168.74617 175.74617 179.63817 186.63817 192.08417 195.58417 205.69217 209.58417 213.47617 220.47617 223.97617 230.19217 233.69217 238.35417 244.57018 250.01618 256.23219 260.12419 263.62419 270.62419 276.84019 283.05619 286.94819 293.94819 298.61018 302.11018 306.77217 312.98817 316.88017 323.09617 330.09617">flow before CPU operation begins with a reset vector fetch.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.9387)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.006 137.226 142.786 148.346 151.12599 157.79599 163.90599 170.01599 173.346 179.456 185.01599 193.90599 196.68599 199.46599 205.02599 207.80599 215.02599 220.58599 223.91599 229.47599 233.36598 238.92598 245.03598 250.59598 256.15599 258.93598 267.26597 272.82597 278.93595 285.04594 290.60594 293.38594 296.16593 298.94593 306.16593 311.72593 317.28593 320.06593 322.84593 328.4059 331.1859 336.7459 342.8559 348.96589 351.74589 357.30589 362.86589 368.42588">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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