birdcage/docs/K60-refman-vectors/K60-reference-manual_page_381.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

928 lines
80 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 264.3)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="161.66399 171.65999 180.32399 190.31999 196.99199 204.99599 212.32799 220.99199 230.98799 239.652 242.98799 246.984 250.31999 256.992 260.328 267.66 270.996 278.328 285 291.672 298.344 303.012 306.348 313.68 317.676 321.012 328.344 335.676">MCM_PLAMC field descriptions</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 302.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 40.509008 45.009008 47.511007 50.508008 55.51201 60.01201 65.01601 68.01301 72.51301 77.517009 82.521">This field is reserved.</tspan><tspan y="18.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 80.523 85.023 87.525 90.522 95.526 100.026 105.03 108.027 112.527 117.531 122.534999 125.036998 130.041 135.045 140.049 142.551 147.555 149.553 156.051 161.055 165.555 170.055 172.55699 177.56099 182.56499 187.06499 189.56699 192.06899 197.07299 202.07698 204.57898 209.07898 214.08298 216.08098 221.08498 226.08898 228.59098 233.59497">This read-only field is reserved and always has the value 0.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 328.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 15.507001 20.511002 23.013003 28.017003 30.015004 32.517004 35.019 37.017004 42.021005 44.523004 47.025 52.029005 57.033006 59.535005 65.538 73.035 79.533008 82.035 84.537 86.535 91.539 93.537 98.541 101.043 103.041 108.045 113.048999 115.047 119.547 124.550998 127.05299 132.05699 136.55699 139.05899 145.55699 150.56099 155.56499 158.06699 163.07099 168.07498 171.07198 173.57398 176.07598 181.07997 186.08397 189.08097 194.08496 196.58696 198.58496 203.08496 205.58696 210.59096 213.09296 217.59296 222.59696 225.59395 228.59095 233.59494 238.09494 243.09894 248.10294 253.10694 258.11094 260.10893 265.1129 270.1169 272.61894 277.11894 282.12294 287.12693 292.13093 297.13493 301.63493 304.13694 306.13493 311.13893 316.1429 318.64494 321.14695 326.15095 328.65296 331.15498 336.15898 341.16297 343.66499 349.66798 355.67097 361.67396 367.67695 370.17897 377.67597 382.67997 387.17997 389.68199 394.68598 397.68299 400.185 402.18299 407.18699 412.19099 417.19499">Each bit in the AMC field indicates whether there is a corresponding connection to the AXBS master input</tspan><tspan y="18.83789" x="0 5.0040009 10.008001 13.005001 15.507002">port.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 360.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08045 360.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.505001 13.509002 18.513003 23.013003 25.515004 33.012006 38.016008 42.516008 45.018007 50.022008 53.01901 55.521009 60.021009 65.02501 70.02901 75.033008 80.037 84.537 87.039 89.037 94.041 99.045 101.547 104.048999 109.05299 111.55499 117.55799 123.56099 129.564 135.567 138.069 140.067 145.071 150.075 155.079 157.581 160.083 165.08699 170.09099 173.08798 175.58998">A bus master connection to AXBS input port </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08045 360.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="178.092">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08045 360.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="183.096 185.59799 187.596 192.096 194.59799 199.60199 204.60599 209.10599 214.10999 219.11399"> is absent</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 371.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08045 371.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.0030004 8.505001 13.509002 18.513003 23.013003 25.515004 33.012006 38.016008 42.516008 45.018007 50.022008 53.01901 55.521009 60.021009 65.02501 70.02901 75.033008 80.037 84.537 87.039 89.037 94.041 99.045 101.547 104.048999 109.05299 111.55499 117.55799 123.56099 129.564 135.567 138.069 140.067 145.071 150.075 155.079 157.581 160.083 165.08699 170.09099 173.08798 175.58998">A bus master connection to AXBS input port </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08045 371.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="178.092">n</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 433.3)" 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">17.2.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 109.873317 433.3)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.830001 19.995 29.16 34.155 39.989999 49.155 53.325 57.495004 68.325008 76.66501 85.83001 90.00001 98.34001 103.335018 111.67502 117.51002 121.680019 126.67502 139.17002 150.00002 162.49501 170.835 181.66501 192.49501">Control Register (MCM_CR)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 54)" font-size="14" font-family="TimesLTStd"><tspan y="415.55" x=".00602 9.344021 18.682023 22.182023 29.182023 35.39802 40.06002 43.952024 50.952024 57.168024 62.61402 66.11402 70.00602 77.00602 83.22202 86.72202 92.93803 97.60003 104.60003 108.49203 112.384029 117.04603 123.26203 127.15403 131.04604 138.04604 145.04604 148.54604 154.76204 161.76204 168.76204 172.26204 179.26204 183.92404 190.92404 194.81604 201.03205 207.24805 211.14005 215.03205 222.03205 229.03205 232.53205 237.97805 244.19405 251.19405 257.41004 268.30204 274.51805 279.96406 283.46406 288.12605 295.12605 299.78804 303.28804 307.18003 314.18003 320.39604 323.89604 327.78804 337.89604 344.89604 348.39604 353.84205 360.84205 366.28807 370.18006 376.39607 387.28807 390.78807 400.12608 410.23408 422.68009 426.18009 432.3961 437.05809 441.72007 447.93608 454.93608 460.38209">CR defines the arbitration and protection schemes for the two system RAM arrays.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="439.7367" x="232.56003 242.66803 253.56003 262.114">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 54)" font-size="14" font-family="TimesLTStd"><tspan y="455.94999" x="71.99402 81.332019 85.224018 89.11601 94.56201 98.06201 105.06201 112.06201 116.724018 123.724018 127.224018 133.44002 138.10202 144.31803 147.81803 154.81803 161.81803 168.81803 175.03403 179.69603 183.58803 190.58803 196.80403 203.80403 207.30403 213.52004 218.18204 222.07404 228.29004 232.95204 236.45204 241.11405 247.33005 252.77605 258.99205 262.88404">Bits 23-0 are undefined after reset.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 526.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00201 6.00501 11.00901 16.013012 19.010012 24.014012 28.514012 33.01401 35.51601">Address: </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 92.01613 526.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".002 6.005 11.009001 16.013 21.017003 26.021004 31.025006 36.029008 41.03301 46.03701 51.04101 53.54301 58.547014 63.551015 68.05101 73.05501 75.55701 80.813 83.315 89.813 94.817 97.319 102.323 104.825 107.326999 111.826999 116.83099 119.33299 121.83499 127.09099 129.59299 135.596 140.59999 145.60399 150.60799 155.61199 160.61598 165.61998 170.62398 177.12198">E008_0000h base + Ch offset = E008_000Ch</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 545.1)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="17.479 22.148 23.702002">Bit</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01034" x="294.97499 301.47297 306.97196 311.97596 317.47496 320.47196 325.47596 328.97697 331.47898 336.48298 341.48698 343.98899 351.486 353.988 358.992 363.996 369 371.502 374.00404 379.00804 384.50703 389.51103 395.01 400.509 405.513 408.015 414.513 420.012 425.511 428.508 432.009 437.508 440.01 442.51203 450.00904 455.50804 461.00703 466.506 469.00804 474.01203 476.51405 479.51106 487.00807 493.50605 501.00306">Chapter 17 Miscellaneous Control Module (MCM)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.01 137.23 142.79 148.34999 151.12999 157.79999 163.90999 170.01999 173.34999 179.45999 185.01999 193.90999 196.68999 199.46999 205.02999 207.80998 215.02999 220.58998 223.91999 229.47998 233.36998 238.92998 245.03998 250.59998 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>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00401 5.5030105 8.5000109 13.504011 18.50801 23.00801 27.50801 32.512014 34.510015 39.514017 42.016016 48.019014 53.023015 60.520017 62.518018 67.01802 72.02202 77.02602 82.030017 87.03401 91.53401 94.03601 99.04001 102.03701 104.53901 107.04101 109.54301 114.547008 119.047008">Freescale Semiconductor, Inc.</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32004 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>
<text xml:space="preserve" transform="matrix(1 0 0 1 391.68003 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">381</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54.00003 763.756)" 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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