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birdcage/docs/K60-datasheet-vectors/K60-datasheet_page_23.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

963 lines
74 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="9" font-family="Helvetica LT Std"><tspan y="-543.462" x="54 59.004 69.12 74.619 79.623 81.621 86.121 88.623 90.621 95.121 97.623 100.125 105.129 110.132999 112.634998 120.131999 122.13 127.133998 129.13199 136.62899 141.63298 149.12998 151.63198 156.63597 161.63997 163.63797 168.13797 173.14197 175.64397 182.14197 184.13997 189.14397 191.64597 196.64997 199.15196 201.65396 206.65796 211.66196 214.16396 216.66596 218.66396 223.16396 225.66596 230.66996 235.67395 240.67795 243.67494 248.67894 253.68294 256.18495 261.18894 266.19294 271.19694 273.69895 276.20097 281.20497 283.70698 288.71098 293.71498 298.21498 302.71498 305.21699 307.719 312.723 315.72 320.724 325.728 330.732 335.736 338.238 340.74003 345.74403 350.74803 353.25004 358.25404 360.252 365.256 367.75804 372.25804 376.75804 381.76203 386.26203 391.26603 394.26304 399.26704 404.27104 406.269 410.769 415.773 418.27503 420.273 425.277 430.281 432.78303 437.28303 439.281 442.278 446.778 451.782 453.78 456.282 459.27903 463.77903 466.28105 468.78306 474.78605 479.79005 484.79405 487.79106 490.29307 495.29707 498.29408 500.79609 505.80009 510.80409 512.80209 517.30209 522.3061 526.8061 529.3081 536.8051 541.80917 546.30917 548.81118 553.8152">1.This is the minimum pulse width that is guaranteed to pass through the pin synchronization circuitry. Shorter pulses may or</tspan><tspan y="-532.462" x="69.12 76.617008 81.621 86.121 88.623 93.627 98.631 101.132999 103.634998 108.63899 113.64299 116.14499 119.14199 124.14599 128.646 133.65 138.65399 143.65799 145.65599 150.15599 155.15999 160.16399 162.66599 165.16799 167.66999 172.67398 175.17598 181.17899 183.68099 188.68498 193.68898 196.19098 198.69298 204.69599 209.69998 215.70299 221.706 224.208 226.70999 231.71399 236.71799 242.721 245.22299 247.72499 252.72899 257.733 262.737 265.239 271.242 276.246 281.25 287.253 291.753 294.255 301.752 306.756 311.76 316.764 321.264 323.76603 326.26805 328.77006 333.77406 338.77806 341.28007 345.78007 350.28007 355.28407 359.78407 364.78807 367.78507 372.78907 377.79307 379.79106 384.29106 389.29505 392.29206 394.79408 396.79206 401.29206 403.79408 408.79808 413.29808 418.30207 423.30607 427.80607 432.30607 437.31007 442.31407 444.81608 449.31608 454.32008 456.82209 461.32209 466.32609 471.33009 474.3271 476.8291 481.8331 484.8301 487.33213 492.33613 497.34013 499.3381 503.8381 508.8421 513.3421 515.8441 520.3441 525.34817 530.3522 532.8542 537.8582">may not be recognized. In Stop, VLPS, LLS, and VLLSx modes, the synchronizer is bypassed so shorter pulses can be</tspan><tspan y="-521.462" x="69.12 72.117008 77.121 81.621 86.625 91.629 96.632999 98.631 103.131 108.134998 113.13899 115.64099 117.63899 122.64299 125.14499 127.64699 132.65099 137.65499 140.15699 142.65898 147.15898 152.16298 156.66298 161.66698">recognized in that case.</tspan><tspan y="-510.46199" x="54.000005 59.004007 69.12 74.619 79.623 84.627 87.129 92.132999 95.13 100.133998 105.13799 107.63999 112.64399 115.64099 118.14299 122.64299 127.14299 132.14699 136.64699 141.65099 144.64798 149.65198 154.65598 159.65998 164.66397 169.16397 171.66597 176.66997 181.67397 186.67797 189.17996 194.18396 198.68396 203.18396 208.18796 212.68796 217.69196 220.68895 225.69295 230.69695 235.70095 240.70494 245.20494 247.70694 250.20894 252.20694 259.70396 261.70195 266.70594 271.70994 274.21195 281.70896 286.71296 291.21296 293.71498 296.21699 301.22099 306.22499 308.727 316.224 321.228 323.73">2.The greater synchronous and asynchronous timing must be met.</tspan><tspan y="-499.46199" x="54.000005 59.004007 69.12 74.619 79.623 81.621 86.121 88.623 90.621 95.121 97.623 100.125 105.129 110.132999 112.634998 120.131999 122.13 127.133998 129.13199 136.62899 141.63298 149.12998 151.63198 156.63597 161.63997 163.63797 168.13797 173.14197 175.64397 182.14197 184.13997 189.14397 191.64597 196.64997 199.15196 201.65396 206.65796 211.66196 214.16396 216.66596 218.66396 223.16396 225.66596 230.66996 235.67395 240.67795 243.67494 248.67894 253.68294 256.18495 261.18894 266.19294 271.19694 273.69895 276.20097 281.20497 283.70698 288.71098 293.71498 296.21699 299.214 304.218 308.718 313.722 318.72599 323.72999 325.72798 330.22798 335.23197 340.23597 342.73799 347.74198 352.24198 354.744 359.748 362.25 367.254 369.25199 374.25599 376.758 378.75599 383.75999 386.262 391.266 394.263 397.26 402.264 407.268 409.77003 412.27204 415.26905 420.27305 425.27705 430.28105 435.28504 439.78504 442.28706 444.78907 446.78706 451.79106 454.29307 460.29606 462.79808 467.80207 472.80607 475.30809 477.8101 483.81309 488.81709 494.82008 500.82307 503.32508 505.8271 510.8311 515.8351 521.8381 524.3401 526.8421 531.8461 536.85018">3.This is the minimum pulse width that is guaranteed to be recognized as a pin interrupt request in Stop, VLPS, LLS, and</tspan><tspan y="-488.46199" x="69.12 75.123 80.127 85.131 91.133998 95.633998 98.135997 105.632999 110.63699 115.64099 120.64499 125.14499">VLLSx modes.</tspan><tspan y="-477.46199" x="54.000005 59.004007 69.12 74.124 79.128 81.63 86.633998 92.132999 94.634998 96.632999 101.63699 106.64099">4.75 pF load</tspan><tspan y="-466.46199" x="54.000005 59.004007 69.12 74.124 79.128 81.63 86.633998 92.132999 94.634998 96.632999 101.63699 106.64099">5.15 pF load</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="16" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-411.64399" x="53.997007 62.893007 67.341 90.41301 100.18901 109.96501 118.861019 125.085018 139.30902 148.20502 152.65302 157.10102 165.99701 175.77301 184.669 193.565 198.013 203.341 207.789 216.685 225.581 230.909 235.357 245.133 254.909">5.4Thermal specifications</tspan></text>
<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="-362.404" x="54.004007 62.344007 66.51401 74.85401 79.02401 101.53902 110.70402 119.86902 128.20902 134.04402 147.37903 155.71903 159.88903 164.05902 173.22402 182.389 190.729 196.56401 204.904 209.899 214.069 223.234 232.39899 236.56899 242.40399 250.74399 259.909 269.074 273.24403 279.079 287.419 300.754 309.094 318.259 323.254">5.4.1Thermal operating requirements</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="12" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-346.183" x="181.136 188.468 195.14 202.472 205.808 212.48 215.816 222.48799 229.15999 241.49599 248.82799 256.15998 262.83198 267.49998 278.16798 284.83998 288.17597 291.51197 298.84397 306.17597 312.84797 317.51597 324.18797 328.18397 331.51997 338.85197 346.18397 349.51997 354.18797 360.85997 368.19197 375.52397 378.85997 383.52796 390.19996 400.86796 407.53996 414.87196 418.86796">Table 11.Thermal operating requirements</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="-326.462" x="121.498 127.996 133 138.004 143.008 146.509 149.011 154.51 157.50699 160.00899 165.50798">Description</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="-310.462" x="81.063">T</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="-308.66203" x="86.562007">J</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="-310.462" x="455.994 460.998 466.00199">125</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="-294.962" x="80.496">T</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="-293.16203" x="85.995">A</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="-294.962" x="119.25 125.253 132.75 137.754 139.752 144.756 149.76 152.262 154.76399 157.26599 162.26999 169.76699 174.77098 179.77498 182.77198 187.77597 190.27797 195.28197 198.27896">Ambient temperature</tspan></text>
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