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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_343.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

120 lines
27 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="11.85" x="0 8.554 15.554 19.054 23.716002 29.932003 36.148004 43.148004 47.040006 53.256006 57.918004 61.418004 71.526 78.526 83.188 94.08 100.296009 104.188 107.688 117.026 124.026 131.026 134.526 145.418 152.418 159.418 165.634 169.134 172.634 178.85 182.742 188.95801 195.17401 199.83602 203.33602 212.67401 222.78202 232.89002 245.33602 248.83602 252.33602 260.89 267.89 274.10603 277.60603 285.39 297.83604 305.62004 314.174 324.282 332.836 336.336 340.998 347.214 354.214 358.106 363.552 367.444 373.66 378.322 381.822 385.714 391.16 394.66 400.876 404.376 409.038 415.254 421.47 428.47 433.132 440.132 447.132 451.024 458.024 461.524 466.97 470.862 477.078 480.97 487.97">To reenter Normal Run mode, clear RUNM. The PMSTAT register is a read-only status</tspan><tspan y="27.85" x="0 4.662 10.878 17.878 21.77 27.216002 31.108002 37.324 41.986 45.486 49.378004 56.378004 62.594 66.486 69.986 76.202 82.41801 89.41801 92.91801 99.91801 106.13401 109.63401 116.63401 122.08001 128.296 135.296 138.796 142.688 149.688 153.188 160.188 166.404 170.296 176.51201 181.17401 192.06601 195.95801 202.95801 209.17401 212.67401 222.78202 229.78202 235.99802 242.99802 246.49802 250.39002 257.39 263.60603 267.10603 272.55204 279.55204 284.99806 288.89006 295.10606 305.99806 309.49806 316.49806 322.71406 328.16007 331.66007 337.87608 344.87608 355.76808 362.76808 366.66007 372.87608 376.76808 382.98408 389.98408 393.48408 399.70008 406.70008 410.20008 416.41609 423.41609 427.30809 431.20008 434.70008 438.59208 445.59208 449.09208 458.43009 468.5381">register that can be used to determine when the system has completed an exit to RUN</tspan><tspan y="43.85" x="0 10.892001 17.892003 24.892003 31.108002 34.608 38.108 51.324 58.324 64.54 71.54 75.04 82.824008 95.270008 103.05401 111.60801 121.71601 130.27 138.166 147.504 157.612 167.72 171.22 174.72 178.612 185.612 191.828 195.328 200.774 207.774 213.22 217.112 223.328 234.22 237.72 241.612 247.058 250.558 254.45 261.45 264.95 269.612 276.612 283.612 287.112 291.774 297.99 304.99 311.99 315.882 322.098 325.99 329.882 336.882 343.882 347.382 353.598 360.598 367.598 371.098 374.99 381.99 388.206 391.706 404.152 413.49003 423.59803 427.09803 433.31404 439.53004 446.53004 450.03004 454.69203 461.69203 468.69203 472.19203 478.40803">mode. When PMSTAT=RUN, the system is in run regulation and the MCU can run at</tspan><tspan y="59.85" x="0 4.662 11.662001 15.554001 19.446002 22.946002 28.392003 35.392004 41.608 47.824 54.824 58.324 62.216005 69.216 72.716 78.93201 85.93201 92.93201 96.43201 102.64801 106.54001 113.54001 119.75601 126.75601 130.25601 141.14801 148.14801 155.14801 161.36402 164.86402 168.36402 173.02602 177.68802 181.18802 187.40402 190.90402 197.90402 201.79602 208.79602 215.79602 222.01203 226.67403 230.17403 236.39003 243.39003 249.60604 255.82204 262.82203 266.71403 270.60603 277.60603 284.60603 288.10603 292.768 297.43 303.646 310.646 317.646 323.862 330.862 337.078 344.078 347.578 351.47 356.91603 360.41603 367.41603 373.63203 379.07804 382.97004 387.63203 393.84803 400.84803 404.34803 407.84803 414.84803 421.84803 425.74003 429.63203 433.13203 437.02403 444.02403">full speed in any clock mode. If a higher execution frequency is desired, poll the</tspan><tspan y="75.85" x="0 7.784001 20.230002 28.014002 36.568 46.676004 55.230005 58.730005 63.392004 69.608 76.608 80.5 85.946 89.838 96.054 100.716 104.216 111.216 118.216 122.108 126 129.892 133.392 137.284 141.176 144.676 148.568 154.01399 157.51399 162.95999 169.176 173.068 176.568 180.45999 187.45999 190.95999 200.29799 210.40599 220.51399 224.01399 234.122 241.122 247.338 254.338 257.838 262.5 268.716 272.608 279.608 284.27 291.27 295.162 302.162 309.162 312.662 317.32398 321.98597 328.98597 339.87797 343.37797 353.48597 362.03996 369.82395 379.16197 382.66197 393.55397 400.55397 407.55397 413.76997">PMSTAT register until it is set to RUN when returning from VLPR mode.</tspan><tspan y="100.25" x="0 10.108001 18.662 26.446002 35.784006 39.284006 50.176008 57.176008 64.17601 70.39201 73.89201 80.10802 84.000019 89.446018 96.446018 99.946018 106.946018 111.60802 118.60802 125.60802 129.50002 136.50002 142.71602 148.16202 151.66202 155.55402 162.55402 168.77002 172.27002 179.27002 186.27002 190.16202 194.05402 201.05402 208.05402 211.55402 215.44602 222.44602 225.94602 230.60802 236.82402 240.71602 247.71602 252.37802 259.37803 262.87803 266.77003 273.77003 277.27003 281.932 288.932 295.932 299.432 304.094 310.31 317.31 324.31 328.202 334.418 338.31 342.202 349.202 356.202 359.702 363.594 368.25599 371.75599 377.972 384.972 391.972 395.472 399.36399 406.36399 410.25599 416.472 421.13398 425.79597 432.79597 439.79597 443.68797 447.18797 454.18797 460.40397 466.61997 473.61997 478.28196 483.72798">VLPR mode also provides the option to return to run regulation if any interrupt occurs.</tspan><tspan y="116.25" x="0 4.662 15.554001 22.554 26.446002 32.662004 43.554006 49.770006 56.770006 60.662008 64.162 68.054 75.054 78.946 84.392 87.892 94.892 101.892 105.784 109.675998 116.675998 123.675998 127.175998 134.176 141.176 144.676 150.122 156.338 160.23 164.122 168.01399 175.01399 182.01399 185.51399 194.068 201.068 211.176 215.838 223.622 230.622 240.73 246.946 251.608 255.108 268.324 274.54 281.54 287.756 294.756 301.756 305.256 315.364 322.364 325.864 330.526 337.526 341.418 347.634 352.296 356.95799 363.95799 370.95799 374.84999 378.34999 383.01197 391.56596 399.34996 412.56596 422.67396 427.33595 431.99794 435.49794 439.38993 446.38993 449.88993 453.78193 460.78193">Implement this option by setting Low-Power Wakeup On Interrupt (LPWUI) in the</tspan><tspan y="132.25" x="0 7.784001 20.230002 29.568003 38.122 47.460004 56.014005 59.514005 64.176 70.392009 77.392009 81.284008 86.73 90.622 96.838008 101.50001 105.00001 108.50001 118.60801 125.60801 132.608 136.108 140.77 146.98601 152.432 158.64801 162.54001 166.04001 172.25601 176.14801 186.25601 192.47202 199.47202 204.91802 208.41802 214.63402 220.85002 227.85002 233.29602 239.51203 244.95803 248.45803 254.67403 261.674 265.174 271.39 278.39 282.282 286.174 289.674 294.336 298.998 305.998 316.88999 320.38999 330.498 339.05198 346.83598 356.17399 359.67399 365.88999 372.88999 379.88999 383.38999 388.05198 394.26799 398.15998 405.15998 409.82197 416.82197 422.26799 425.76799 429.65998 436.65998 442.87599 446.37599 453.37599 459.59199 466.59199 470.48399 476.69999 482.916 486.416 490.30799">PMCTRL register. Any reset always causes an exit from VLPR and returns the device to</tspan><tspan y="148.25" x=".00005 9.338051 19.446053 29.554055 33.054056 43.946058 50.946058 57.946058 64.162059 67.662059 73.87806 78.54006 82.43206 88.64806 93.31007 96.81007 100.702068 107.702068 113.91807 117.41807 129.86408 139.20207 149.31008 152.81008 159.02608 166.02608 169.91808 173.81008 179.25608 182.75608 186.64807 190.54007 195.98607 199.48607 204.14807 210.36408 215.81008 222.02608 225.91808 229.41808 234.08008 237.97208 244.97208 255.08008 258.58009 262.08009 270.63407 277.63407 283.85008 287.35008 296.68809 306.79609 316.90409 329.3501 332.8501 339.8501 343.7421 347.6341 353.0801 356.5801 362.7961 367.4581 373.6741 377.1741 383.3901 387.2821 393.4981 399.7141 404.3761 410.5921 417.5921 421.0921 428.0921 435.0921 438.5921 445.5921 451.8081 456.4701 463.4701 473.5781 479.7941 484.4561">RUN mode after the MCU exits its reset flow. The RUNM bits are cleared by hardware</tspan><tspan y="164.25" x=".00005 7.00005 14.00005 17.50005 23.71605 30.71605 37.71605 41.21605 45.10805 52.10805 56.000055 62.216054 66.87805 71.540058 78.540058 85.540058 89.43205 92.93205 103.040058 110.040058 116.25606 123.25606 126.75606 135.31006 143.09406 156.31006 166.41806 171.08007 174.58007 178.47206 183.91806 187.41806 192.86406 199.08007 202.97206 206.47206 213.47206 218.13407 221.63407 228.63407 235.63407 239.13407 245.35007 252.35007 259.35008 262.85008 267.51206 273.72807 279.17408 285.39009 289.28208">on any interrupt when LPWUI is set or on any reset.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 259.8)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00194 8.894061 17.790062 22.238062 31.134064 35.582067">14.4.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 259.8)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00194 15.102061 23.998063 28.446063 33.774065 38.222066 52.446069 62.22207 71.99807 80.89407">Wait modes</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="243.04999" x="-.00593 8.54807 15.54807 19.440072 24.886073 28.386073 35.38607 41.60207 48.60207 52.494073 58.71007 64.92607 68.42607 74.642078 81.642078 88.642078 92.53407 98.75008 102.642078 109.642078 115.08807 118.58807 122.48007 132.58808 139.58808 143.08808 150.08808 153.98007 158.64208 163.30408 169.52008 174.18209 180.39809 187.39809 191.29009 194.79009 204.89809 211.11409 215.00609 218.89809 222.39809 233.29009 240.29009 247.29009 253.50609 258.9521">This device contains two different wait modes:</tspan><tspan y="267.44999" x="13.09809 24.004092 37.220094 43.436094 47.328096">&#x2022;Wait</tspan><tspan y="283.44999" x="13.09809 24.004092 34.11209 40.32809 44.99009 51.99009 56.65209 65.206089 72.206089 82.31409 85.81409 93.59809 100.59809 110.70609 116.9221 121.5841 125.0841 138.3001 144.5161 148.4081 152.3001 155.8001 160.4621 170.5701 179.1241 186.9081 200.1241">&#x2022;Very-Low Power Wait (VLPW)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 379.59999)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00608 8.346081 16.68608 20.856081 29.196084 33.366086 41.706087 45.876089">14.4.4.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 379.59999)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00608 14.16608 24.996083 29.166083 38.33108 42.501085 55.836084 65.00108 74.166088">WAIT mode</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="361.84999" x=".00408 13.22008 23.328082 27.990082 36.544084 40.044084 50.936086 57.936086 64.93608 71.152088 74.652088 78.54408 83.99008 87.49008 93.706089 100.706089 104.59808 110.81409 115.47609 121.69209 128.6921 132.1921 142.3001 149.3001 155.5161 162.5161 166.0161 169.9081 176.9081 183.1241 186.6241 196.7321 206.0701 218.5161 222.0161 228.2321 235.2321 239.8941 246.1101 249.6101 255.82611 262.8261 266.7181 272.9341 277.5961 283.0421 286.5421 290.4341 297.4341 303.65013 307.15013 314.9341 318.8261 325.0421 331.25813 338.25813 342.9201 353.0281 360.0281 370.1361 373.6361 380.6361 385.2981 388.7981 396.5821 400.4741 406.6901 412.9061 419.9061 424.56809 434.6761 441.6761 446.33808 454.89207 461.89207 465.78407">WAIT mode is entered when the ARM core enters the Sleep-Now or Sleep-On-Exit</tspan><tspan y="377.84999" x=".0041 10.896101 17.896101 24.896101 31.112103 36.5581 40.0581 50.166105 57.166105 61.058107 64.9501 71.16611 74.66611 82.45011 91.00411 99.55811 108.112117 118.220119 126.77412 135.32811 143.1121 146.6121 150.5041 155.9501 159.4501 165.6661 169.5581 175.77411 181.99011 186.65212 192.86812 199.86812 203.36812 206.86812 215.42212 222.42212 228.63813 232.13813 242.24613 251.58412 264.03013 267.53013 276.86814 284.65214 294.76014 298.26014 304.47615 311.47615 315.36814 321.58415 326.24613 331.69215 335.19215 341.40815 344.90815 348.80015 355.80015 365.90815 370.57014 377.57014 384.57014 394.67814 400.89414 405.55613 409.05613 414.50215 418.39414 424.61015 428.50215 434.71815 438.21815 442.11015 449.11015 452.61015 462.71815 469.71815 473.61015 479.82615 486.82615 490.32615 494.21815">modes while SLEEDEEP is cleared. The ARM CPU enters a low-power state in which it</tspan><tspan y="393.84999" x=".0041 3.8961006 9.342101 12.842101 19.842103 26.842103 30.734103 34.2341 40.4501 44.342103 51.342103 57.5581 64.558109 70.77411 77.77411 81.27411 84.77411 91.77411 98.77411 102.66611 106.16611 113.16611 119.38211 124.04411 127.93611 134.93611 141.93611 148.15212 152.81412 159.03012 162.92212 168.36812 171.86812 178.08412 185.08412 192.08412 195.97612 199.86812 206.86812 213.86812 220.08412 223.58412 227.47612 234.47612 237.97612 244.97612 251.19213 254.69213 260.9081 264.8001 271.8001 278.0161 285.0161 291.23213 298.23213 301.73213 308.73213 313.3941 320.3941 327.3941 331.2861 338.2861 344.5021 351.5021 355.0021 358.8941 365.8941 372.1101 379.1101 382.6101 388.8261 393.4881 399.7041 403.2041 409.4201 416.4201 422.6361 429.6361 433.5281 439.7441 446.7441 450.2441 453.7441 463.08213 466.97413 473.97413 480.19013">is not clocked, but peripherals continue to be clocked provided they are enabled. Clock</tspan><tspan y="409.84999" x=".0041 7.0041 13.2201 17.1121 21.0041 28.0041 35.0041 38.5041 42.396104 49.396104 52.896104 56.788106 63.788106 70.004108 73.504108 80.504108 86.72011 91.38211 95.27411 102.27411 109.27411 115.49011 120.152118 126.36812 130.26012 133.76012 137.65212 143.09812 146.59812 152.81412 159.81412 166.03012 173.03012 176.92212 183.13813 190.13813 193.63813 200.63813 204.53012 210.74613 214.24613 218.13813 225.13813 231.35413 234.85413 242.63813 247.30013 259.74613 263.24613">gating to the peripheral is enabled via the SIM..</tspan><tspan y="434.24998" x=".0041 13.2201 20.2201 26.4361 33.4361 36.9361 43.1521 50.1521 53.6521 57.5441 64.5441 68.4361 74.6521 79.3141 83.976108 90.976108 97.976108 101.8681 105.3681 110.030109 116.24611 123.24611 130.24611 136.46212 141.90811 145.80011 149.30011 156.30011 162.51612 168.73212 175.73212 180.39412 185.84012 189.34012 192.84012 196.73212 203.73212 209.94812 213.44812 222.78612 230.57012 240.67812 244.17812 250.39412 257.3941 261.2861 265.1781 270.6241 274.1241 287.34013 297.44813 302.1101 310.6641 314.1641 325.0561 332.0561 339.0561 345.2721 348.7721 354.9881 361.9881 368.9881 372.4881 377.1501 383.3661 388.8121 395.8121 406.7041 412.9201 418.36613 421.86613 428.86613 433.5281 440.5281 446.7441 452.9601 458.40614 463.85215 467.74415 474.74415 481.74415 485.24415 489.13615">When an interrupt request occurs, the CPU exits WAIT mode and resumes processing in</tspan><tspan y="450.24998" x=".0041 9.342101 19.450102 29.558102 33.0581 43.950105 50.950105 57.950105 64.16611 67.66611 71.16611 78.16611 84.38211 91.38211 95.27411 102.27411 109.27411 113.16611 120.16611 127.16611 130.6661 140.77411 144.6661 148.5581 155.5581 159.0581 162.9501 169.9501 176.1661 179.6661 185.1121 189.0041 195.22011 201.43611 208.43611 212.32811 219.32811 226.32811 229.82811 236.82811 243.82811 250.04412 254.70612 260.92213 264.81413 268.70613 275.70613 282.70613 288.15214 291.65214 295.54414 301.76014 307.97615 314.97615 318.86814 325.86814 332.86814 336.36814 340.26014 347.26014 350.76014 354.65214 361.65214 367.86814 371.36814 375.26014 382.26014 386.15214 392.36814 397.03013 401.6921 408.6921 415.6921 419.5841 423.0841 428.53013 434.74613 439.4081 446.4081 450.3001 456.5161">RUN mode, beginning with the stacking operations leading to the interrupt service</tspan><tspan y="466.24998" x=".0041 4.6661 11.6661 18.6661 22.5581 26.4501 33.4501 39.6661">routine.</tspan><tspan y="490.64997" x=".0041 10.112101 13.612101 19.058102 26.058102 31.504103 35.396104 41.612104 52.504106 56.004106 60.666105 66.8821 72.3281 78.544109 82.436107 85.936107 96.044109 99.936107 103.8281 107.7201 111.2201 117.436107 123.65211 130.6521 136.0981 142.3141 145.8141 152.0301 159.0301 162.5301 168.74611 175.74611 179.6381 183.5301 187.0301 191.69211 196.35411 203.35411 214.24611 217.74611 230.96212 241.07012 245.73212 254.28612 257.78614 268.67814 275.67814 282.67814 288.89414 292.39414 295.89414 300.55613 306.77214 310.66413 317.66413 322.3261 329.3261 333.2181 340.2181 347.2181 350.7181 354.6101 361.6101 367.8261 371.3261 378.3261 384.5421 391.5421 395.4341 401.65013 407.86613 411.36613 415.25813 422.25813 425.75813 432.75813 439.75813 444.4201 455.3121 461.5281 465.4201 468.9201 478.25813 488.36613">A system reset will cause an exit from WAIT mode, returning the device to normal RUN</tspan><tspan y="506.64997" x=".0041 10.896101 17.896101 24.896101 31.112103">mode.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 601.19998)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".0071 8.347101 16.687104 20.857104 29.197106 33.367109 41.707109 45.87711">14.4.4.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 601.19998)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".0071 10.012101 18.352103 24.187104 32.527105 37.522104 46.687105 55.852106 67.5221 72.517108 82.52211 91.68711 103.35711 111.69711 117.53211 121.70211 135.8621 144.2021 148.3721 153.3671 157.5371 162.53209 172.5371 181.70209 191.70709 205.8671 210.86209 215.03209 228.3671 237.53209 246.69709">Very-Low-Power Wait (VLPW) mode</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01031" x="351.468 357.96598 363.46498 368.46897 373.96797 376.96498 381.96897 385.46998 387.972 392.97599 397.97999 400.482 406.485 411.48899 416.49299 419.49 424.494 432.495 434.997 442.49403 447.993 453.492 458.496 460.99803 467.496 472.995 478.494 481.491 484.992 490.491 492.993 495.49504 500.49903">Chapter 14 System Mode Controller</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.93869)" 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>
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<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32 751.756)" 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>
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