birdcage/docs/K60-datasheet-vectors/K60-datasheet_page_39.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

1265 lines
99 KiB (Stored with Git LFS)
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<path transform="matrix(1,0,0,1,285.6,137.4)" stroke-width=".4" stroke-linecap="butt" stroke-dasharray="2.4,2.4" stroke-miterlimit="4" stroke-linejoin="miter" fill="none" stroke="#0000fa" d="M0 0V20"/>
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<path transform="matrix(1,0,0,1,302.40003,150.2)" stroke-width=".4" stroke-linecap="butt" stroke-dasharray="2.4,2.4" stroke-miterlimit="4" stroke-linejoin="miter" fill="none" stroke="#000000" d="M0 0V39.2"/>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.4" font-family="Times LT Std"><tspan y="-664.2" x="354.4 358.3104 361.8688">EP2</tspan><tspan y="-655.197" x="187.443 191.3534 194.91179">EP3</tspan></text>
<text fill="#0000fc" xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.4" font-family="Times LT Std"><tspan y="-664.2" x="354.4 358.3104 361.8688">EP2</tspan><tspan y="-655.197" x="187.443 191.3534 194.91179">EP3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.4" font-family="Times LT Std"><tspan y="-663.4" x="251.2 255.1104 258.6688">EP4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.4" font-family="Times LT Std"><tspan y="-558.747" x="196.595 200.5054 204.0638">EP5</tspan></text>
<text fill="#0000fc" xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.4" font-family="Times LT Std"><tspan y="-558.747" x="196.595 200.5054 204.0638">EP5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.4" font-family="Times LT Std"><tspan y="-558.747" x="252.851 256.76139 260.3198">EP6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.4" font-family="Times LT Std"><tspan y="-602.56" x="189.459 193.3694 196.9278">EP7</tspan></text>
<text fill="#0000fb" xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.4" font-family="Times LT Std"><tspan y="-602.56" x="189.459 193.3694 196.9278">EP7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.4" font-family="Times LT Std"><tspan y="-601.347" x="306.509 310.4194 313.9778">EP8</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.4" font-family="Times LT Std"><tspan y="-621.797" x="306.055 309.9654 313.5238">EP9</tspan></text>
<text fill="#0000fc" xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.4" font-family="Times LT Std"><tspan y="-621.797" x="306.055 309.9654 313.5238">EP9</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="8" font-family="Helvetica LT Std"><tspan y="-691.101" x="92.40399 97.73999 102.62799 107.96399 112.41199 118.18799">EZP_CK</tspan><tspan y="-639.101" x="92.40399 97.73999 102.62799 107.96399 112.41199 118.18799">EZP_CS</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="8" font-family="Helvetica LT Std"><tspan y="-587.101" x="92.403 97.739 102.627 107.963 112.410999 118.634998 120.85899 123.522998 127.97099 132.41899 134.64299 139.09099 143.53899 145.76299">EZP_Q (output)</tspan><tspan y="-535.101" x="92.403 97.739 102.627 107.963 112.410999 118.187 120.410999 123.075 124.851 129.299 133.747 138.19499 140.41899">EZP_D (input)</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="-473.433" x="209.979 217.311 220.647 227.979 235.311 239.979 246.651 249.987 256.659 263.331 266.667 270.003 278.007 284.007 292.011 299.343 304.011 308.007 311.343 318.675 322.011 332.679 336.01499 343.347 350.679 354.01499 362.679 366.01499 372.68699 380.01899 384.68699 391.35899">Figure 10. EzPort Timing Diagram</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="-418.954" x="53.99701 62.33701 66.50701 74.847019 79.01701 101.53202 110.69702 114.86702 123.20702 131.54703 140.71202 149.87702 158.21701 162.38701 170.727 182.397 186.567 191.562 199.902 209.06699 213.23699 222.40198 231.56697 235.73697 244.07697 253.24196 261.58198 269.92198 274.09199 279.08699 283.257 291.597 299.93699 304.93199 309.102 318.267 327.432">6.4.3Flexbus switching specifications</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="-394.6" x="54.00301 64.11101 68.003009 71.895008 75.395008 82.395008 87.05701 94.05701 100.27301 106.48901 111.93501 117.38101 124.38101 129.04302 132.54302 139.54302 146.54302 151.98902 155.48902 159.38101 163.27301 174.16501 178.057 185.057 192.057 197.503 201.003 207.21901 211.88101 218.09702 221.59702 227.04302 234.04302 241.04302 247.25902 254.25902 258.92103 265.92103 272.92103 279.92103 286.92103 292.36705 296.25904 299.75904 303.65104 310.65104 317.65104 324.65104 328.54304 332.04304 337.48905 343.70506 347.59706 354.59706 361.59706 365.48905 372.48905 379.48905 383.38105 390.38105 393.88105 400.09706 407.09706 414.09706 417.59706 424.59706 431.59706 435.48905 442.48905 449.48905 453.38105 456.88105 463.88105 470.09706 473.98905 480.20506 487.20506 490.70506 496.92106 501.58305 507.79905 511.29905 518.2991 522.1911 529.1911 535.4071 542.4071 545.9071 549.79916">All processor bus timings are synchronous; input setup/hold and output delay are given in</tspan><tspan y="-378.6" x="54.00301 58.66501 64.88101 70.32701 77.32701 83.543018 89.75902 93.65102 97.15102 101.043018 108.043018 111.543018 115.43501 122.43501 128.65102 132.15102 136.81302 140.70502 146.15102 150.04302 157.04302 164.04302 167.54302 173.75902 180.75902 187.75902 193.97502 197.47502 204.47502 209.13703 212.63703 218.85303 222.35303 227.01503 233.23104 237.89304 244.10904 248.77104 254.98705 261.98707 268.20307 274.41908 277.91908 284.13508 288.02708 295.02708 301.24308 308.24308 311.74308 315.24308 323.02708 332.36509 339.36509 348.7031 357.25709 367.36509 370.86509 374.36509 382.91908 389.91908 396.13508 399.63508 407.41908 416.75709 423.75709 433.0951 441.64909 451.75709 455.25709 459.91908 464.58106 470.79707 477.79707 484.79707 491.01307 498.01307 504.22908 511.22908 514.72909 525.6211 531.8371 538.8371 542.3371 549.3371">respect to the rising edge of a reference clock, FB_CLK. The FB_CLK frequency may be</tspan><tspan y="-362.6" x="54.00301 57.89501 64.89501 71.111019 74.611019 80.057018 86.27302 97.165019 103.38102 106.88102 113.09702 118.54302 122.04302 125.93502 132.93503 139.15103 142.65103 146.54303 153.54303 157.43503 163.65103 168.31304 175.31304 181.52904 185.42104 188.92104 194.36704 201.36704 206.81304 210.70503 216.92104 227.81304 231.31304 238.31304 245.31304 250.75904 254.25904 258.92103 263.583 269.799 276.799 283.799 290.015 297.015 303.23103 310.23103 313.73103 320.73103 325.393 328.893 335.109 342.109 345.609 349.501 356.501 360.393 366.609 373.609 379.825 384.487 387.987 394.987 398.879 405.879 409.771 416.771 422.987 427.649 431.149 438.149 442.81098 446.31098 450.20298 457.20298 463.41899 467.31098 470.81098 475.47297 480.13496 486.35096 493.35096 500.35096 506.56697 513.56698 519.78298 526.78298">the same as the internal system bus frequency or an integer divider of that frequency.</tspan><tspan y="-338.2" x="54.00301 62.55701 69.55701 75.77301 79.27301 83.93501 90.93501 94.82701 98.71901 105.71901 115.82701 119.71901 126.71901 133.71901 137.21901 141.11101 145.003 155.895 159.787 166.787 173.787 177.287 184.287 191.287 202.179 209.179 215.395 220.057 225.503 229.003 232.895 239.895 246.895 250.787 257.003 263.219 267.111 273.327 276.827 286.935 293.935 300.151 307.151 310.651 317.651 323.867 327.759 333.975 337.475 341.367 346.81303 350.31303 354.20503 360.42103 364.31303 370.52903 377.52903 383.74504 390.74504 394.24504 401.24504 405.907 409.407 416.407 421.069 424.961 431.961 438.177 445.177 448.677 455.677 462.677 466.569 473.569 477.069 480.961 487.961 494.177 497.677 503.893 510.893 514.78506 521.00106 525.663 532.663 538.879">The following timing numbers indicate when data is latched or driven onto the external</tspan><tspan y="-322.2" x="54.00301 61.00301 68.003009 73.449008 76.949008 80.449008 85.11101 91.32701 95.21901 101.43501 105.32701 109.21901 116.21901 122.43501 125.93501 129.82701 136.82701 140.32701 144.21901 151.21901 157.43502 160.93502 168.71901 172.61101 178.82701 185.82701 192.82701 199.82701 205.27301 208.77301 215.77301 222.77301 226.66501 233.66501 240.66501 244.557 248.057 254.27301 258.165 265.165 271.381 278.381 281.881 286.543 294.327 303.665 310.665 320.00303 328.557 338.665 343.327 346.827 350.327 360.435 364.327 368.219 371.719 378.719 382.611 389.611 395.827 400.48899 403.98899 407.88099 411.77299 422.66499 426.55699 433.55699 440.55699 444.05699 448.71897 454.93498 458.82698 465.04298 468.93498 472.82698 479.82698 486.82698 492.27299 499.27299 503.16499 510.16499 515.61099 519.11099 525.32699 531.54299 538.54299 542.04299 549.04299">bus, relative to the Flexbus output clock (FB_CLK). All other timing relationships can be</tspan><tspan y="-306.2" x="54.00301 61.00301 67.21901 71.88101 75.77301 82.77301 88.98901 95.98901 99.48901 104.15102 108.81302 115.81302 126.70502 130.20502 134.09702 141.09702 147.31302 152.75902 158.97502 162.47502 169.47502 175.69103 179.58303 186.58303 192.79903 198.24503">derived from these values.</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="-283.533" x="122.137 129.469 136.14099 143.47299 146.80899 153.48099 156.81699 163.48899 170.16098 182.49698 189.82898 193.16498 199.83698 206.50897 213.84098 221.17298 227.84497 231.18097 234.51697 237.85297 248.52097 251.85697 255.85297 262.52497 269.85697 273.19297 279.86497 287.19697 290.53297 294.52897 301.20097 308.53297 315.20497 318.54096 323.20896 329.88096 337.21296 344.54496 351.21696 354.55296 361.22496 370.56095 373.89695 377.89295 384.56495 391.89695 395.23295 402.56495 409.89695 413.23295 419.90495 427.23695 433.90895 440.58094 443.91694 447.91294 451.24894 457.92094 464.59294 468.58894 471.92494 479.25694 486.58894">Table 25.Flexbus limited voltage range switching specifications</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="-263.812" x="72.997 79.495 84.994">Num</tspan></text>
<g clip-path="url(#clip_3)">
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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="-263.812" x="114.498 120.996 126 131.004 136.008 139.509 142.011 147.51 150.50699 153.00899 158.50798">Description</tspan></text>
<g clip-path="url(#clip_4)">
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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="-263.812" x="353.996 361.493 363.99504 369.49403">Min.</tspan></text>
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</g>
<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="-263.812" x="408.997 416.49403 421.49803 426.502">Max.</tspan></text>
<g clip-path="url(#clip_6)">
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</g>
<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="-263.812" x="466.248 472.74598 478.24497 480.74699">Unit</tspan></text>
<g clip-path="url(#clip_7)">
<path transform="matrix(1,0,0,1,54,503.44999)" d="M448.5 .5H503.5V15.5H448.5Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<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="-263.812" x="518.495 524.993 530.492 533.489 538.49307">Notes</tspan></text>
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<g clip-path="url(#clip_9)">
<path transform="matrix(1,0,0,1,54,519.44998)" d="M56.25 .5H279.75V15.5H56.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-247.812" x="112.25 119.252 124.256 129.26 132.25699 137.26099 139.76299 141.76099 146.76499 151.76898 154.27098 158.77098 163.77498 165.77298 168.27498 173.27898 178.28298">Operating voltage</tspan></text>
<g clip-path="url(#clip_10)">
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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="-247.812" x="355.744 360.748 363.25">2.7</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-247.812" x="411.744 416.748 419.25">3.6</tspan></text>
<g clip-path="url(#clip_12)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-247.812" x="471.002">V</tspan></text>
<g clip-path="url(#clip_13)">
<path transform="matrix(1,0,0,1,54,519.44998)" d="M448.25 .5H503.75V15.5H448.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<g clip-path="url(#clip_14)">
<path transform="matrix(1,0,0,1,54,535.19998)" d="M.25 .25H55.75V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<g clip-path="url(#clip_15)">
<path transform="matrix(1,0,0,1,54,535.19998)" d="M56.25 .25H279.75V15.25H56.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-232.312" x="112.25 117.749 120.746 125.75 130.754 135.758 140.762 145.76599 150.26599 154.76599 157.26799 162.27199 164.77399 167.27599 172.27999 177.28398 182.28798 185.28498 190.28897 192.79097 194.78897 199.79297">Frequency of operation</tspan></text>
<g clip-path="url(#clip_16)">
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</g>
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