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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_130.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

550 lines
52 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" 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">3.7.3.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 54)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 16.680003 21.675004 30.840004 35.010007 40.005006 44.175008 55.00501 65.83501 76.66501 80.83501 92.505008 101.670009 106.66501 115.83001 124.99501">12-bit DAC Output</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="36.25" x=".00001 8.554009 15.554009 21.77001 25.27001 32.27001 39.27001 43.162015 50.162015 57.162015 61.054018 64.554019 71.554019 76.21602 79.71602 83.60802 90.60802 96.82402 100.32402 110.43202 120.54002 129.87802 133.37802 139.59403 145.81003 152.81003 156.31003 163.31003 169.52603 173.02603 180.02603 183.91803 190.13404 196.35004 202.56604 209.56604 213.06604 220.06604 227.06604 230.56604 236.78205 243.78205 247.28205 253.49805 260.49806 264.39006 270.60606 275.26805 282.26805 288.48405 292.37605 295.87605 302.87605 306.76805 313.76805 317.26805 324.26805 328.93003 332.43003 337.87605 344.09205 347.98405 351.48405 357.70005 363.14607 366.64607 373.64607 380.64607 386.86207 390.36207 397.36207 402.02406 405.52406 409.41606 416.41606 422.63206 426.13206 430.02406 437.02406 444.02406 451.02406 454.91606 460.36207 463.86207 467.75407 474.75407 478.25407 482.14607 489.14607">The output of the DAC can be placed on an external pin or set as one of the inputs to the</tspan><tspan y="52.25" x="0 6.2160007 13.216001 19.432002 23.324002 30.324002 37.324 40.824 47.04 54.04 64.932 71.932 78.148 82.810009 89.02601 92.91801 99.91801 104.58001 108.08001 115.08001 119.74201 123.24201 133.35 143.45801 152.796">analog comparator or ADC.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 146.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.004 8.336001 12.506002 20.846005 25.016005 33.356008 37.52601">3.7.3.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 146.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.004 8.336001 16.676003 21.671002 30.836003 35.006006 40.001005 44.171007 55.001008 65.83101 76.66101 80.83101 91.66101 100.001018 104.99602 113.33602 119.17102 127.511028 136.67603 145.01602">12-bit DAC Reference</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="129.05" x=".00001 7.784011 14.784011 19.44601 22.94601 26.83801 33.838014 37.730016 43.176015 46.676015 53.676015 59.892015 66.89201 70.78401 77.000019 83.21602 86.71602 96.82402 106.16202 114.71602 122.50002 129.50003 139.60803 149.71604 158.27004 161.77004 167.98604 174.98604 181.98604 185.48604 195.59404 205.70204 215.81005 225.91805 229.41805 235.63405 240.29605 246.51206 250.01206 255.45806 261.67405 265.56605 271.78205 277.99806 281.89006 288.10606 295.10606 298.99806 305.21406 308.71406 314.93006 320.37608 323.87608 327.76808 334.76808 340.98408 344.48408 354.59208 364.70008 374.0381 377.5381 382.20008 388.41609 393.07807 399.29408 403.95606 410.17207 417.17207 423.38807 429.60408">For this device VREF_OUT and VDDA are selectable as the DAC reference.</tspan><tspan y="145.05002" x=".00002 10.108021 19.446022 28.000023 35.784025 42.784025 52.892026 63.000028 71.55402 75.05402 78.94602 84.39202 87.89202 94.108028 101.108028 108.108028 115.108028 121.32403 127.54003 131.43204 137.64804 144.64804 148.14804 152.04004 159.04004 162.54004 166.43204 173.43204 179.64804 183.14804 193.25605 203.36405 212.70204 222.04004 230.59404 238.37804 245.37804 252.37804 255.87804 259.77006 266.77006 273.77006 280.77006 284.66206 288.16206 294.37806 301.37806 308.37806 311.87806 321.98606 332.09407 342.20207 352.31007 355.81007 359.70207 365.14808 368.64808 374.86408 381.86408 388.86408 395.86408 402.08009 408.29609 412.18809 418.40409 425.40409 428.90409 432.79609 439.79609 443.29609 447.18809 454.18809">VREF_OUT is connected to the DACREF_1 input and VDDA is connected to the</tspan><tspan y="161.05002" x=".00005 10.10805 20.216052 29.554053 38.89205 47.446054 55.230054 62.230054 69.23006 72.73006 76.622058 83.622058 90.622058 97.622058 101.51405 105.01405 108.51405 118.622058 124.068058 130.28406 133.78406 143.89206 154.00006 163.33806 170.33806 177.33806 186.67606 193.67606 198.33806 208.44606 218.55406 227.89206 237.23006 245.01406 252.79805 257.46006 260.96006 267.17607 274.17607 281.17607 285.06806 289.73005 296.73005 300.62205 304.12205 311.12205 315.01405 318.90605 322.40605 326.29804 333.29804 336.79804 342.24406 348.46006 352.35206 358.56806 364.78407 368.67607 372.17607 379.17607 385.39207 389.28407 399.39207 405.60807 411.82408 418.82408 422.32408 426.21607 433.21607 439.43208 444.87809 451.0941 454.5941 458.48609 468.5941">DACREF_2 input. Use DACx_C0[DACRFS] control bit to select between these two</tspan><tspan y="177.05002" x=".00005 7.00005 14.00005 17.89205 21.78405 28.78405 35.78405 41.23005">options.</tspan><tspan y="201.45001" x=".00005 9.338051 15.554051 19.05405 25.27005 35.37805 41.59405 46.25605 52.47205 55.97205 59.86405 66.86405 73.080059 76.97205 80.47205 84.36405 89.026058 92.526058 96.41805 103.41805 109.634059 113.134059 123.24206 133.35005 142.68805 146.18805 152.40406 159.40406 166.40406 169.90406 180.01206 190.12006 199.45806 202.95806 209.95806 215.40406 221.62006 225.12006 229.01206 236.01206 242.22806 245.72806 255.83606 265.17408 273.72807 281.51206 288.51206 298.62007 308.72807 317.28205 320.78205 325.44404 331.66004 336.32203 342.53804 347.2 353.41603 360.41603 366.63203 372.84803 376.34803 381.79405 385.68605 396.57804 403.57804 407.47004 411.36204 417.57804 424.57804 430.79405 437.79405 444.79405 450.24006 454.13206 461.13206 464.63206 468.13206 473.57807 480.57807 491.47007">Be aware that if the DAC and ADC use the VREF_OUT reference simultaneously, some</tspan><tspan y="217.45001" x=".00005 7.00005 13.216051 20.216052 24.878052 31.094052 38.09405 44.31005 48.202054 52.094057 59.094057 66.094058 69.594058 76.594058 81.25606 84.75606 94.86406 104.97206 114.31006 117.81006 124.02606 130.24207 136.45807 143.45807 148.12007 154.33608 160.55208 167.55208 171.05208 174.94408 180.39008 183.89008 187.78208 194.78208 198.28208 205.28208 211.49808 214.99808 221.21408 228.21408 235.21408 241.43009 247.64609 251.53809 257.7541 264.7541 268.2541 275.2541 282.2541 288.4701 291.9701 295.8621 302.8621 306.3621 316.4701 326.5781 335.9161 339.4161 344.86213 354.97013 358.86213 362.75413 368.97013 375.97013 379.86213 386.86213 393.86213">degradation of ADC accuracy is to be expected due to DAC switching.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 313)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00206 8.898061 13.346062 22.242062 26.690062">3.7.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.75732 313)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00206 10.674061 22.226063 32.898065 42.674066 47.122068 58.67407 68.450069 78.22607 83.55407 88.00207 97.77807 107.55407 113.77807 122.67407 128.00208 132.45008 142.22608">VREF Configuration</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="296.25" x=".00406 8.55806 15.55806 19.45006 24.89606 28.39606 33.84206 40.05806 46.27406 50.16606 54.058065 61.058065 68.05806 71.55806 77.00406 84.00406 94.89606 105.788059 112.00406 116.66606 120.55806 126.77406 132.99007 138.43607 141.93607 148.93607 155.93607 166.04407 169.54407 173.43607 180.43607 186.65207 190.15207 201.04407 208.04407 215.04407 222.04407 225.93607 232.15207 235.65207 242.65207 248.86808 254.31407 257.8141 264.8141 271.0301 277.2461 284.2461 287.7461 293.9621 300.9621 307.9621 312.62409 316.51609 323.51609 330.51609 335.17808 341.39408 348.39408 351.89408 355.78608 362.78608 366.28608 370.17808 377.17808 383.39408 386.89408 393.11009 400.11009 404.00209 411.00209 414.50209 418.00209 425.78608 432.78608 437.44807 440.94807">This section summarizes how the module has been configured in the chip. For a</tspan><tspan y="312.25" x=".0040700004 6.2200706 13.22007 24.112072 31.112072 35.77407 41.99007 48.99007 55.20607 62.20607 67.65207 71.54407 78.54407 84.76007 88.26007 95.26007 101.476078 106.92207 113.13808 117.80008 121.69208 128.69208 132.58408 136.47608 143.47608 150.47608 153.97608 160.97608 165.63808 169.13808 173.03008 180.03008 186.24608 189.74608 200.63808 207.63808 214.63808 221.63808 225.53008 231.74608 235.24608 239.13808 243.03008 248.47608 254.69208 258.58409 263.24607 266.74607 270.24607 275.69209 281.90809 288.12409 291.62409 295.51609 302.51609 308.7321 312.2321 323.12409 330.12409 337.12409 344.12409 348.01609 354.2321 358.89408 364.3401 367.8401 374.8401 381.0561 388.0561 391.9481 398.1641 404.3801 408.2721 414.4881 421.4881 424.9881 431.2041 438.2041 444.4201 451.4201 455.3121 461.5281 466.1901">comprehensive description of the module itself, see the module&#x2019;s dedicated chapter.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 149.50002 542.4614)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="13.968 21.3 27.972 35.304 38.64 45.312 48.648004 55.320005 59.316 65.98801 72.66 84.996 93.66 100.332 104.328 111 115.668 122.34 129.672 136.344 143.01599 146.35199 149.68799 153.02399 160.35599 167.02799 173.69998 177.03598 181.03199 188.36399 191.69998 196.36798 203.03998 206.37598 213.04798 217.04398 223.71598 231.04798 234.38397 237.71997 245.05197 249.04798 256.37998 261.04798 271.71598 278.38798 282.38398 285.71998 293.05198">Table 3-50.Reference links to related information</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 564.4614)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="36.9 42.399003 47.898004 53.397005 55.899003">Topic</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.3 564.4614)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="15.39 21.888 26.892003 29.394003 34.398004 37.395006 42.399007 47.898008 50.400007 58.401006 63.900007 69.399 74.898 77.4">Related module</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 258.1 564.4614)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="127.944 134.442 139.446 142.443 147.44699 150.948 155.952 161.45099 166.45499">Reference</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 595.9614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="5.64301 11.64601 16.146012 20.646012 23.148013 28.152012 35.649015 38.151014 45.648015 50.652017 58.149019 63.15302 66.15002 70.65002 73.152019 80.64902 85.653018">System memory map</tspan></text>
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 257.85 595.9614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="106.443 112.446 116.946 121.446 123.948 128.952 136.44899 138.95099 146.44799 151.45198 158.94898 163.95298 166.94997 171.44997 173.95197 181.44896 186.45296">System memory map</tspan></text>
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<g clip-path="url(#clip_13)">
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