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birdcage/docs/K60-datasheet-vectors/K60-datasheet_page_16.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

944 lines
85 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-605.8622" x="136.656 141.52951">DD</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-589.46218" x="136.656 141.52951">DD</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-573.06216" x="136.656 141.52951">DD</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-507.962" x="54 59.004 69.12 74.619 79.119 84.123 86.121 90.621 95.625 97.623 100.125 104.625 109.629 111.627 116.631 121.634998 126.134998 128.637 133.137 138.14099 143.14499 146.14199 151.14598 155.64598 158.14798 163.15198 166.14897 168.14698 172.64698 177.65097 182.65497 185.15697 190.16097 192.66297 195.16497 200.16896 205.17296 208.77297 215.27097 217.77297 222.77696 227.78096 232.78496 235.28696 241.28997 247.78797 254.28597 256.78797 262.04399 264.546 269.55 272.052 277.056 279.558 285.561 288.06303 293.06703 298.071 300.069 305.073 309.573 314.073 316.575 321.579 324.08103 329.08503 334.08903 337.08604 343.584 345.582 350.082 355.086 357.588 362.592 367.596 370.09803 375.10203 380.10603">1.Typical values characterized at 25&#x00b0;C and VDD = 3.6 V unless otherwise noted.</tspan><tspan y="-496.962" x="54 59.004 69.12 76.122 81.126 86.13 91.133998 93.635997 98.63999 101.63699 106.64099 108.63899 113.64299 116.14499 121.14899 126.152988 128.65499 133.65898 138.66298 141.16498 145.66498 148.16698 155.66397 160.66797 165.16797 167.66997 170.17197 175.17597 180.17996 182.68196 187.68596 192.68996 194.68796 196.68596 201.68996 206.69396 209.19596 211.69795 216.70195 219.20395">2.Open drain outputs must be pulled to V</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-495.16203" x="225.207 230.0805">DD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-496.962" x="234.954">.</tspan><tspan y="-485.962" x="54 59.004 69.12 75.123 80.127 85.131 87.129 92.132999 97.13699 99.63899 104.64299 106.64099 111.64499 116.14499 118.64699 123.650989 126.64799 131.652 134.15399 139.15799 144.16199 146.66399 148.66199 153.66599 158.66999 163.67398 166.17598 171.17998 175.67998 178.18198 183.18598 185.18398 190.18798 194.68798 197.18997 199.69197 204.69597 209.69997 212.20197 214.70397 219.70796 224.71196 227.21396 232.21796 237.22196 239.72396 242.22595 247.22995 252.23395 256.73396 261.73796 264.23997 269.24397 274.24797 276.74998 281.75398 286.25398 290.75398 295.75798 300.25798 302.25596 307.25996 309.76197 314.76597 319.76997 322.27198 327.27598 332.27998 337.28398 342.28797 345.28498 350.28898 352.28697 354.78898 359.79298 364.79698 367.79399 372.79798 377.80198 382.30198 387.30598 389.80799 392.31 394.812 401.81404 404.31605 409.32005 414.32405 417.32106 419.82307 422.32508 424.8271 429.8311 434.83509 439.33509 441.8371 443.83509 448.83909 453.84309">3.Analog pins are defined as pins that do not have an associated general purpose I/O port function.</tspan><tspan y="-474.962" x="54 59.004 69.12 75.618007 77.616008 82.62 84.618007 87.12 92.124 94.122 96.624 101.628 103.626 108.63 113.13 115.631999 120.635997 125.63999 130.13999 135.14398 137.64598 142.64998 147.65398 150.15598 155.15998 159.65998 164.15998 169.16397 173.66397 175.66197 180.66597 183.16797 188.17197 193.17597 195.67797 202.67996 208.68297 211.18497 218.18697 220.68897 225.69297 230.69696 233.69396 236.19596 238.69795 241.19995 246.20395 251.20795 255.70795 258.20997 260.20796 265.21195 270.21595 272.71797 277.72196 282.72596 287.72996 290.23197 295.23597 300.23997 304.73997 309.74397 312.24598 317.24998 323.25297 325.75498 328.257 333.261 335.25898 340.26298 343.25999 348.26399 353.26799 355.77 358.272 360.27 365.274 370.27799 375.28199 377.784 382.284 384.786 387.28804 392.29203 396.79203 401.29203 406.29603 411.30003 413.80204 416.30406 422.30705 428.31004 433.80903 439.812 444.816 447.31803 452.32203 457.32603 462.33003 464.83204 470.83503 476.334 482.337 487.341">4.Digital pins have an associated GPIO port function and have 5V tolerant inputs, except EXTAL and XTAL.</tspan><tspan y="-463.962" x="54 59.004 69.12 71.622 76.626 79.128 84.131999 87.129 92.132999 97.13699 99.134998 101.63699 106.64099 111.64499 113.64299 115.64099 118.63799 123.64199 128.646 131.148 136.152 141.15599 143.15399 145.152 148.14899 153.15299 158.15699 164.65499 169.65898 172.16098 175.15798 180.16197 184.66197 186.65998 191.15998 193.66197 198.66597 201.66297 206.16297 208.66497 213.66896 215.66696 220.16696 225.17096 230.17496 232.17296 237.17696 242.18096">5.Internal pull-up/pull-down resistors disabled.</tspan><tspan y="-452.962" x="54 59.004 69.12 75.618007 80.622 85.626 88.623 93.627 98.127 100.629 105.632999 108.63 110.628 115.128 120.131999 125.135997 127.63799 130.14 135.144 140.148 142.65 145.152 147.65399 152.65799 157.15799 159.65999 164.66399 169.66799 172.16999 174.16799 179.17198 181.67398 186.67798 189.67498 194.67897 199.68297 204.68697 209.18697 211.68897 213.68697 218.69097 223.69496">6.Characterized, not tested in production.</tspan><tspan y="-441.962" x="54 59.004 69.12 75.123 79.623 84.627 92.124 97.128 99.126 104.13 108.63 111.131999 115.631999 120.635997 122.633998 127.133998 132.138 134.136 139.14 141.642 146.646 151.65 154.152 159.15599 163.65599 165.65399 170.65799 175.66199 178.16399">7.Examples calculated using V</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-440.16203" x="184.167 186.0435">IL</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-441.962" x="189.796 192.298 195.295 200.299 202.297 207.301 209.803 211.801 216.805 221.80899 224.31099 226.81299"> relation, V</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-440.16203" x="232.81601 237.68952">DD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-441.962" x="242.563 245.065 247.567 252.571 257.575 262.579 265.08103 272.57804 277.58204 282.08204 284.58406">, and max I</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-440.16203" x="287.086 288.9625 293.836">IND</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-441.962" x="298.71 301.212 303.71403">: Z</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-440.16203" x="309.21299 311.08949 315.96299">IND</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-441.962" x="320.83699 326.093">=V</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-440.16203" x="332.09599 333.97248">IL</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-441.962" x="337.72499 340.227">/I</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-440.16203" x="342.72898 344.60548 349.47898">IND</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-441.962" x="354.35298 356.85499 359.357 364.856 369.86 371.85798 376.35798 378.86 380.85798 385.35798 387.86 390.362 395.366 400.37 402.872 404.87 412.367 417.371 422.375 427.379 432.383 437.387 441.887 446.891 449.393 454.397 459.401 464.405 469.409 474.413 479.417 481.919 484.42103 489.42503 491.92704 496.93104 501.93504 503.933 505.931 508.433 513.437 515.939 520.94308 522.94107 527.94509">. This is the impedance needed to pull a high</tspan><tspan y="-430.962" x="69.11597 73.61597 75.61397 80.617969 85.62196 90.62596 92.62396 95.12596 97.62796 102.63196 105.13396 110.137958 112.63995 114.637958 119.64195 124.14195 129.14595 131.14395 133.64595 138.64995 143.65395 145.65195 150.65595 157.15395 159.65595">signal to a level below V</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-429.16203" x="165.66597 167.54247">IL</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-430.962" x="171.29497 173.79697 178.80097 183.80496 188.80896 191.31096 193.81296 198.81696 201.31896 203.31696 208.32096 213.32495 217.82495 222.82895 227.83295 232.83695 235.33895 241.83695 246.84095 251.84494 256.84895 259.35096"> due to leakage when V</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-429.16203" x="265.35398 267.23048">IL</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-430.962" x="270.98298 273.485 278.741 281.243"> &#x003c; V</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-429.16203" x="287.24598 289.12248">IN</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-430.962" x="293.99598 296.498 301.754 304.256"> &#x003c; V</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-429.16203" x="310.25898 315.13249">DD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-430.962" x="320.00599 322.508 325.01 330.509 335.513 340.517 345.017 350.021 352.523 357.527 362.027 367.031 374.528 379.532 381.53 386.534 391.034 393.536 398.54 403.04 407.54 412.544 420.04103 425.045 427.54704 432.04704 434.045 439.049 444.053 449.057 451.055 453.557 458.057 463.061 468.065 471.062 475.562 480.566 483.06803 485.066 490.07 496.568 499.07 504.32603 506.82804 511.83204 514.33407 520.33706">. These examples assume signal source low = 0 V.</tspan><tspan y="-419.962" x="54.001985 59.005987 69.12199 76.61899 81.622989 86.62698 91.12698 96.13098 99.12798 104.13198 109.13598 111.63798 116.641979 119.143978 121.64597">8.Measured at V</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-418.16203" x="127.64899 132.52249">DD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-419.962" x="137.39598 139.89798 144.39798 149.40198 154.40598 159.40998 161.40798 165.90798 168.40998 172.90998 177.91397 179.91197 182.41397 187.41797 192.42197 197.42597 199.92797 205.18396 207.68596"> supply voltage = V</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-418.16203" x="213.68898 218.56249">DD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-419.962" x="223.43598 225.93798 233.43497 235.43297 240.43697 242.93897 247.94297 252.94696 257.95097 260.45298 266.45597 268.45396 273.45796 278.46195 283.46595 285.96797 288.46998 293.72599 296.228"> min and Vinput = V</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-418.16203" x="302.23097 306.73323">SS</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-408.962" x="53.997957 59.001958 69.11796 76.61496 81.61896 86.622959 91.122959 96.12695 99.123958 104.12795 109.13195 111.63395 116.63795 119.139949 121.641948">9.Measured at V</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-407.16203" x="127.64496 132.51847">DD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-408.962" x="137.39196 139.89395 144.39395 149.39795 154.40195 159.40595 161.40395 165.90395 168.40595 172.90595 177.90995 179.90795 182.40995 187.41394 192.41794 197.42194 199.92394 205.17993 207.68193"> supply voltage = V</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-407.16203" x="213.68495 218.55846">DD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-408.962" x="223.43195 225.93395 233.43094 235.42894 240.43294 242.93494 247.93894 252.94293 257.94694 260.44895 266.45195 268.44993 273.45393 278.45793 283.4619 285.96394 288.46595 293.72196 296.22398"> min and Vinput = V</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-407.16203" x="302.22694 307.10044">DD</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="15" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-206.476" x="54 62.34 66.51 74.850009 79.020008 101.53501 111.54001 120.70501 132.37502 140.71501 146.55002 150.72002 164.05503 173.22002 182.38501 190.725 194.895 199.89 205.725 214.065 223.23 231.56999 235.73999 240.73499 244.90499 254.06998 263.235 267.405 276.57 285.73503 294.075 299.91 308.25 313.245 317.415 326.58003 335.74504 339.91505 349.08006 357.42005 366.58506 374.92506 383.26506 387.43507 396.60008 402.43507">5.2.4Power mode transition operating behaviors</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="14" font-family="Times LT Std"><tspan y="-182.122" x="53.994 64.102 67.993999 71.885997 75.385997 80.83199 87.83199 94.048 100.264 104.156 108.818 112.71 118.926 125.142009 129.03401 132.92601 139.92601 146.92601 152.37201 155.87201 162.08802 169.08802 175.30402 181.52002 188.52002 192.41202 195.91202">All specifications except t</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="14" font-family="Times LT Std"><tspan y="-182.122" x="220.23601 223.73601 227.23601 233.45201 240.45201 247.45201 250.95201 261.06 269.61399 278.16798 285.95198">, and VLLSx</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="14" font-family="Times LT Std"><tspan y="-182.122" x="304.68397 314.02198 324.12998 334.23799 337.73799 342.39997 348.61598 354.83198 361.83198 368.83198 375.04798 379.70997 386.70997 390.20997 394.10197 397.99397 408.88597 415.10197 420.54798 424.04798 427.93998 434.93998 438.43998 442.33198 449.33198 455.54798 459.04798 463.70997 470.70997 474.60197 478.49397 485.49397 495.60197 499.49397 506.49397 513.49398 516.99398 520.886 527.102 534.102 537.994">RUN recovery times in the following table</tspan><tspan y="-166.122" x="54.000017 60.216016 65.66202 71.10802 78.10802 89.000019 95.21602 98.71602 102.60802 109.60802 113.500019 118.946018 122.446018 128.66202 132.55402 139.55402 145.77002 152.77002 156.27002 162.48603 169.48603 176.48603 181.14803 185.04003 192.04003 199.04003 203.70203 209.91803 213.81003 217.70203 224.70203 231.70203">assume this clock configuration:</tspan><tspan y="-141.722" x="67.10402">&#x2022;</tspan><tspan y="-141.7221" x="77.997 87.33501 95.11901 105.22701 108.72701 114.943019 121.943019 128.94303 132.44303 137.88903 144.88903 150.33502 154.22702 160.44303 171.33502 174.83502 181.05103 184.94303 191.94303 198.15903 205.15903 210.60503 214.10503 222.00102 225.50102 232.50102 239.50102 246.50102 250.00102 262.44703 272.55503">CPU and system clocks = 100 MHz</tspan><tspan y="-125.72211" x="67.105 77.997 87.33501 94.33501 99.781009 103.281009 109.49701 113.38901 120.38901 126.60501 133.60501 137.10501 145.001 148.501 155.501 162.501 166.001 178.447 188.55501">&#x2022;Bus clock = 50 MHz</tspan><tspan y="-109.72211" x="67.105 77.997 85.781009 89.673007 95.88901 102.88901 112.227008 119.227008 124.673007 128.173 134.389 138.281 145.281 151.49701 158.49701 161.99701 169.893 173.393 180.393 187.393 190.893 203.339 213.447">&#x2022;FlexBus clock = 50 MHz</tspan><tspan y="-93.72211" x="67.105 77.997 85.781009 89.673007 95.88901 101.33501 108.33501 111.83501 118.05101 121.94301 128.94301 135.15901 142.15901 145.65901 153.55501 157.05501 164.05501 171.05501 174.55501 187.001 197.10901">&#x2022;Flash clock = 25 MHz</tspan><tspan y="-77.72211" x="67.105 77.997 90.443 99.781009 109.88901 113.38901 124.281009 131.281 138.281 144.49701 148.389 151.889 159.673 168.227">&#x2022;MCG mode: FEI</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-733.727" x="54 61.002 66.006 71.505 76.508998 80.009998 85.01399">General</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="10" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-34.063966" x="204.286 211.506 217.066 222.62599 225.40599 232.07599 238.18599 244.29599 247.62599 253.736 259.296 268.186 270.966 273.746 279.306 282.086 289.306 294.866 298.19599 303.75599 306.53599 313.206 319.31599 324.87599 330.43598 333.76597 336.54597 339.32597 346.54597 352.10597 357.66596 360.44596 363.22596 368.78596 371.56596 374.34596 379.90596 382.68595 388.24595 393.80595 399.36595 404.92594">K60 Sub-Family Data Sheet, Rev. 3, 6/2013.</tspan></text>
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