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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_98.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

830 lines
66 KiB (Stored with Git LFS)
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Raw Blame History

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<g clip-path="url(#clip_61)">
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<g clip-path="url(#clip_62)">
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<g clip-path="url(#clip_64)">
<path transform="matrix(1,0,0,1,54,329.13343)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M504.25004 15.5H201.5"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 399.88343)" 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 41.700006 45.870008">3.3.11.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 399.88343)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.005001 24.165 36.660005 40.830007 49.170007 53.340009 62.50501 70.84501 79.18501">EWM clocks</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="382.13343" x="-.00299 8.55101 15.55101 19.44301 24.889012 28.389012 32.281015 38.497014 45.497014 49.389017 55.605016 59.105016 64.55102 71.55102 78.55102 88.65902 94.10502 97.60502 101.49702 108.49702 114.71302 118.21302 126.76702 139.98302 152.42902 155.92902 162.14502 166.03702 173.03702 179.25302 186.25302 191.69902 195.19902 201.41503 208.41503 215.41503 218.91503 222.80702 229.80702 236.02303 239.52303 245.73903 252.73903 257.40104 262.06303 268.27903 273.72505 280.72505 287.72505 294.72505 301.72505 305.61705 312.61705 319.61705 323.11705 329.33305 336.33305 340.22505 347.22505 350.72505 356.94105 360.83305 367.83305 374.04905 381.04905 386.49507">This table shows the EWM clocks and the corresponding chip clocks.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 192.5 448.6834)" 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 93 104.328 114.324008 117.66 124.332 127.668 135 141.672 148.344 151.68 158.35199 165.68399 173.01599 180.34799 187.01999 193.69199 197.68799 201.02399 208.35599 215.68799">Table 3-27.EWM clock connections</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 66.19232 470.6834)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="91.14301 98.640018 104.139019 109.638019 115.13702 117.639019 122.64301 125.14501 130.14902 132.65102 138.15001 143.154">Module clock</tspan></text>
<g clip-path="url(#clip_66)">
<path transform="matrix(1,0,0,1,63.69232,468.1834)" d="M242.8077 .5H484.1154V15.5H242.8077Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.5 470.6834)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="96.894 103.392 108.891 111.393 116.892 119.394 124.397998 126.899997 132.39899 137.40299">Chip clock</tspan></text>
<g clip-path="url(#clip_67)">
<path transform="matrix(1,0,0,1,63.692308,484.1834)" d="M.25 .5H242.0577V15.5H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 65.94231 486.6834)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 10.008001 16.506003 19.008004 25.011004 30.015004 36.513006 41.517007 44.514009 47.016008 53.514009 55.51201 60.51601 65.01601">Low Power Clock</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 486.6834)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 7.506001 12.0060009 18.504002 23.004002 25.506003 30.510003 36.513 43.515 46.017 52.515 54.513 59.517004 64.017">1 kHz LPO Clock</tspan></text>
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<g clip-path="url(#clip_72)">
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</g>
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<g clip-path="url(#clip_74)">
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<g clip-path="url(#clip_76)">
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<g clip-path="url(#clip_77)">
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<g clip-path="url(#clip_78)">
<path transform="matrix(1,0,0,1,63.692308,484.1834)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M0 16V.4"/>
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<g clip-path="url(#clip_79)">
<path transform="matrix(1,0,0,1,63.692308,484.1834)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M484.6154 .4V16"/>
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<g clip-path="url(#clip_80)">
<path transform="matrix(1,0,0,1,63.692308,484.1834)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M484.8654 15.75H242.20769"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.99997 545.1834)" 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 41.700006 45.870008">3.3.11.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.38327 545.1834)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.005001 24.165 36.660005 40.830007 45.000009 54.16501 65.83501 70.83001 79.99501 89.16001 100.83001 109.17001 115.00501 119.17501 132.51001 141.675 150.84 159.18">EWM low-power modes</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.99997 54)" font-size="14" font-family="TimesLTStd"><tspan y="527.4334" x="-.00399 8.55001 15.55001 19.44201 24.888012 28.388012 32.280015 38.496015 45.496015 49.388017 55.604017 59.104017 64.55002 71.55002 78.55002 88.65802 94.10402 97.60402 101.49602 108.49602 114.71202 118.21202 126.76602 139.98203 152.42803 155.92803 159.82003 166.82003 176.92803 181.59003 188.59003 195.59003 205.69803 211.91403 216.57604 220.07604 230.96804 237.96804 244.96804 251.18404 256.63005 260.13005 266.34605 273.34605 280.34605 283.84605 287.73805 294.73805 300.95405 304.45405 310.67005 317.67005 322.33204 326.99403 333.21003 338.65605 345.65605 352.65605 359.65605 366.65605 370.54804 377.54804 384.54804 388.04804 394.26405 401.26405 405.15605 412.15605 415.65605 419.54804 426.54804 436.65605 441.31803 448.31803 455.31803 465.42604 471.64204">This table shows the EWM low-power modes and the corresponding chip low-power</tspan><tspan y="543.4334" x="-.00399 10.888011 17.888012 24.888012 31.104012 36.55001">modes.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 189.99997 609.98348)" 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 93 104.328 114.324008 117.66 120.996 128.328 137.664 141.66 148.992 156.324 165.66 172.332 177 180.336 191.004 198.336 205.668 212.34">Table 3-28.EWM low-power modes</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 66.19226 631.98348)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="90.64799 98.14499 103.64399 109.14299 114.64199 117.14399 122.14799 124.64999 132.65099 138.14998 143.64897">Module mode</tspan></text>
<g clip-path="url(#clip_82)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.49995 631.98348)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="96.39899 102.89699 108.39599 110.89799 116.39699 118.89899 126.89999 132.39899 137.89798">Chip mode</tspan></text>
<g clip-path="url(#clip_83)">
<path transform="matrix(1,0,0,1,63.692247,645.48348)" d="M.25 .5H242.0577V15.5H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 65.942249 647.98348)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 8.496 13.500001 15.498001">Wait</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.24995 647.98348)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 8.496 13.500001 15.498001 18.000002 20.502003 23.004004 29.007004 34.011007 40.014009">Wait, VLPW</tspan></text>
<g clip-path="url(#clip_85)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 65.942249 663.48348)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.505001 13.509002">Stop</tspan></text>
<g clip-path="url(#clip_86)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.24995 663.48348)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.505001 13.509002 18.513003 21.015004 23.517004 29.520005 34.524007 40.527009 46.530008 49.032007 51.534006 56.538007 61.542009">Stop, VLPS, LLS</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 65.942249 678.98348)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 17.505002 22.509003 25.506003 28.008004 34.506006 39.510007 46.008008">Power Down</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.99991 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 6.0030004 11.007001 16.011002 19.008002 24.012001 32.013 34.515 42.516 48.015 53.514 59.013 61.515 66.519">System modules</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 391.6799 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="44.775 50.274003 53.271005 58.275007 63.279008 67.77901 72.27901 77.283008 79.281009 84.285 86.787 92.79 97.794 105.291 107.289 111.789 116.793 121.797 126.800998 131.805 136.305 138.80699 143.81099 146.80799 149.30998 151.81198 154.31398 159.31798 163.81798">Freescale Semiconductor, Inc.</tspan></text>
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