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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

1532 lines
117 KiB (Stored with Git LFS)
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Raw Blame History

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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="-713.483" x="139.136 146.468 153.14 160.472 163.808 170.48 173.816 180.48799 187.15999 199.49599 206.16799 212.83998 216.83599 224.16799 227.50399 231.49999 234.83599 243.49999 252.16399 260.82798 264.16398 273.49998 276.83598 280.83198 288.16398 291.49998 299.50398 308.83998 317.50398 320.83998 327.51197 334.84397 341.51597 346.18397 352.85597 359.52796 363.52397 370.19596 374.86396 378.19996 384.87196 388.86796 392.20396 398.87596 405.54795 408.88395 412.87995 419.55195 426.88395 434.21595 438.21195 441.54795 448.87995 456.21195 462.88395 470.21595">Table 30.16-bit ADC with PGA characteristics (continued)</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="-380.862" x="182.9 185.402 190.65799 195.66199 198.16399 203.16799 209.17099 211.67299 214.17499 219.67398 224.67798 232.17498 237.17897 242.43497 247.43897 252.44297 256.04298 262.54096 265.04298 267.54499"> =3.0V, Temp=25&#x00b0;C, f</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="-380.862" x="288.798 294.05403 299.058 306.55503 313.053 317.553 320.05503 325.05903 330.06303 332.061 337.065 341.565 346.065 348.56703 353.571 356.07304 361.07704 366.08103 369.07804 375.57603 377.574 382.074 387.078 389.58003 394.08003 396.58204 401.58604 404.08805 409.09205 414.09605">=6MHz unless otherwise stated.</tspan><tspan y="-369.862" x="53.99701 59.00101 69.11701 74.61601 79.62001 81.61801 86.11801 88.62001 93.12001 98.12401 101.12101 104.11801 109.12201 114.12601 116.628009 119.130008 121.128009 125.628009 128.13 133.134 135.636 141.639 148.641 154.64402 157.14601 164.643 169.647 174.651 179.655 181.653 186.657 189.159 194.163 199.16699 204.17099 209.17499 212.17198 214.67398 217.17598 219.17398 224.17798 226.67998 231.68398 236.68798 241.69197 243.68997 246.19197 248.18997 253.19397 258.19798 260.69999 263.202 268.206 270.708 276.711 283.20899 289.70698 292.20899 296.70899 301.71299 306.71699 311.21699 316.22099 319.218 323.718 325.71598 330.71998 335.72398 338.22599 342.72599 347.72999 350.727 353.724 358.728 363.732 366.234 370.734">2.This current is a PGA module adder, in addition to ADC conversion currents.</tspan><tspan y="-358.862" x="53.99701 59.00101 69.11701 75.12001 80.12401 82.62601 89.12401 94.128009 99.132 104.136 106.638 109.14 115.638 120.894 123.395999 128.4 133.40399 138.40799 140.90999 143.41199 149.90999 152.90699 155.40898 157.91098 163.40998 168.41397 173.41797 175.91997 181.92298 188.92498 194.92798 197.42998 202.43398 205.43097 210.43497 216.93297 221.43297 223.93497 228.93897 231.44097 237.93897 244.43697 246.93897 251.43897 256.44297 259.43998 262.43699 267.44099 272.44499 274.947 277.449 279.95103 282.94804 287.95204 295.44905 297.95106 300.45307 305.45707 310.46107 312.96308 314.96107 319.96507 324.96907 329.97306 332.47508 334.97709 337.4791 342.4831 345.4801 352.9771 354.9751 359.9791 364.9831 366.98109 371.48109 373.9831 376.4851 381.9841 386.9881 391.9921 394.4941 401.99113 406.99513 411.9991 417.0031 419.0011 421.5031 426.5071 431.5111 436.5151 439.01713 444.02113 446.52314 449.02516 451.52717 456.53117 461.53517 464.03718 470.53517 477.03315 479.53517 484.03517 489.03916 492.03617 495.03318 500.03718 505.04118 507.54319 510.0452 512.0432 516.5432 519.0452 524.04928 526.5513 531.0513 533.5533 536.5503 541.5543 546.55838">3.Between IN+ and IN-. The PGA draws a DC current from the input terminals. The magnitude of the DC current is a strong</tspan><tspan y="-347.862" x="69.11701 71.61901 76.62301 81.62701 86.12701 88.629009 90.62701 95.631008 100.635 103.137 108.141 110.643 113.145 115.143 120.146999 125.15099 130.155 132.657 135.159 139.659 144.663 152.15999 159.65699 164.66098 169.66498 172.16698 179.66397 184.66797 189.67197 194.67597 197.17797 201.67797 206.68196 208.67996 211.18196 216.18596 221.18996 226.19396 228.69596 231.69295">function of input common mode 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="-346.062" x="237.69602 242.56952">CM</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="-347.862" x="248.19202 251.18901 253.69101 258.695 263.699 268.703 271.20503 273.70704 278.71104 283.71504 286.21705 292.22004 299.22206 305.22505 307.72706 312.73106 317.73506 319.73304 324.73704">) and the PGA gain.</tspan><tspan y="-336.862" x="53.999025 59.003026 69.119029 76.121028 81.12502 83.123027 88.12702 90.62902 95.885028 98.387027">4.Gain = 2</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="-339.862" x="103.39102 107.89327 113.144779 117.647029">PGAG</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="-325.862" x="53.994024 58.998025 69.11402 75.11702 77.61902 80.12102 85.125019 88.12202 90.624019 95.124019 100.12801 105.13201 110.13601 115.14001 117.13801 122.142009 127.146 129.64801 132.15001 137.154 142.158 144.66 150.66301 157.66501 163.66802 166.17002 171.17401 176.17801 178.17601 183.18001 185.682 190.182 195.186 197.688 200.19 202.188 207.192 212.196 214.698 217.2 222.204 224.706 232.20299 234.20099 239.20499 241.20299 248.69998 253.70398 261.201 263.703 268.707 271.209 273.71104 278.71504 281.21705 287.22004 293.71803 300.216 305.47203 311.475 318.47703 324.48 326.98204 331.48204 336.48603 341.49003 345.99003 350.99403 353.99104 358.49104 360.489 365.493 370.497 374.997 377.49903 381.99903 387.00303 392.00703 397.01103 399.009 404.013 406.515 411.519 416.523 419.02503 421.023 426.027 431.031 436.035 439.032 444.036 449.04">5.After changing the PGA gain setting, a minimum of 2 ADC+PGA conversions should be ignored.</tspan><tspan y="-314.862" x="53.994024 58.998025 69.11402 74.11802 76.11602 83.61302 85.61102 88.11302 90.61502 93.11702 98.12102 103.125019 105.627017 107.625019 112.62901 117.63301 122.63701 125.13901 127.64101 132.141 134.139 139.143 144.147 149.151 151.149 153.651 158.151 164.649 166.647 171.651 176.655 179.157 183.657 188.661 191.163 193.665 198.66899 203.67299 206.17499 208.67699 211.17899 216.18299 221.18698 223.68898 229.69199 236.69399 242.69699 245.19899 250.20299 255.20699 260.211 264.711 267.213 272.217 277.221 279.72303 282.22505 286.72505 291.72904 294.23106 299.23506 302.23207 307.23606 309.73808 314.74208 317.24409 322.24809 327.25209 330.24909 332.24708 337.25108 342.25508 344.75709 349.76109 354.76509 359.76908 362.76609 367.77009 370.2721 372.27009 377.27409 382.27809 384.7801 387.2821 389.78413 394.78813 399.7921 404.7961 407.29814 409.80015 414.30015 416.29814 421.30213 426.30613 431.31013 433.3081 435.81013 440.31013 446.8081 448.8061 453.8101 458.8141 461.3161 463.3141 467.8141 470.3161 475.3201 480.3241 485.3281 490.3321 495.3361 500.3401 505.3441 510.34809 512.8501 515.3521 520.35617 525.36019 527.8622 530.3642 535.3682">6.Limit the input signal swing so that the PGA does not saturate during operation. Input signal swing is dependent on the</tspan><tspan y="-303.862" x="69.11402 75.11702 82.11902 88.12202 90.624019 93.62102 98.625019 101.127017 106.13101 109.12801 114.13201 119.13601 123.63601 128.64002 131.14202 135.64202 140.64601 142.64402 145.14601 150.15001 155.154 160.158 162.66 167.664 172.668 177.672 180.174 185.178 190.18199 192.18 197.18399 199.68599 204.18599 209.18999 211.69199 214.19399 216.19199 221.19599 226.19998">PGA reference voltage and gain setting.</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="-250.80301" x="53.99702 62.33702 66.50702 74.84702 79.01702 101.53203 112.36203 124.85703 134.86203 139.03203 147.37203 156.53702 165.70201 169.87201 178.212 183.207 192.372 196.54199 201.53699 205.70699 216.53699 227.36699 238.19699 242.36699 250.70699 254.87699 263.21699 271.55699 276.55198 282.38697 286.55699 294.89698 303.23698 307.40699 311.577 319.917 329.082 337.422 345.762 349.932 354.927 359.09703 367.437 375.777 380.772 384.94203 394.10704 403.27204">6.6.2CMP and 6-bit DAC electrical specifications</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="-234.583" x="128.136 135.468 142.14 149.472 152.808 159.48 162.816 169.48799 176.15999 188.49599 197.15999 204.49199 215.15999 222.49199 229.16399 233.83199 240.50399 244.49999 251.83199 256.5 259.836 266.508 273.84 281.172 284.508 291.18 295.176 302.508 305.844 309.84 313.176 321.84 330.504 339.168 342.504 349.176 352.512 359.184 365.856 369.852 374.52 377.856 384.52799 391.19999 394.53599 397.87199 404.54399 411.87599 418.54798 425.21998 428.55598 432.55198 435.88798 442.55998 449.23197 453.22798 456.56398 463.89598 471.22798">Table 31.Comparator and 6-bit DAC electrical 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="-215.362" x="353.996 361.493 363.99504 369.49403">Min.</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="-215.362" x="409.744 415.24299 420.24699 425.74598">Typ.</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="-215.362" x="464.997 472.49403 477.49803 482.502">Max.</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="-215.362" x="522.248 528.746 534.245 536.747">Unit</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="-197.562" x="80.127 85.000499">DD</tspan></text>
<g clip-path="url(#clip_110)">
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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="-199.362" x="112.25 118.253 123.256999 128.261 133.265 135.263 139.763 142.265 146.765 151.769 153.767 156.269 161.273 166.277">Supply voltage</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="-199.362" x="353.242 358.246 360.74803 365.752">1.71</tspan></text>
<g clip-path="url(#clip_112)">
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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="-199.362" x="413.499">&#x2014;</tspan></text>
<g clip-path="url(#clip_113)">
<path transform="matrix(1,0,0,1,54,567.89999)" d="M392.25 .5H447.75V15.5H392.25Z" 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="-199.362" x="467.744 472.748 475.25">3.6</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="-199.362" x="527.002">V</tspan></text>
<g clip-path="url(#clip_115)">
<path transform="matrix(1,0,0,1,54,583.64999)" d="M.25 .25H55.75V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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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="-183.862" x="71.19">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="-182.062" x="73.692 78.5655 83.438999 88.31249">DDHS</tspan></text>
<g clip-path="url(#clip_116)">
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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="-183.862" x="112.25 118.253 123.256999 128.261 133.265 135.263 139.763 142.265 146.765 151.769 154.76599 157.76299 162.76699 167.77098 170.27298 172.77498 175.27698 181.77498 183.77298 188.77698 193.78098 196.77797 201.27797 206.28197 211.28597 216.28997 221.29396 223.79596 231.29296 236.29695 241.30095 246.30495 248.80695 251.80394 257.80696 264.30494 269.56095 274.56495 277.06697 279.56898 285.57197 293.06898 300.07099 306.56898 312.57197 317.82798 322.83198">Supply current, High-speed mode (EN=1, PMODE=1)</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="-183.862" x="413.499">&#x2014;</tspan></text>
<g clip-path="url(#clip_119)">
<path transform="matrix(1,0,0,1,54,583.64999)" d="M392.25 .25H447.75V15.25H392.25Z" fill="#ffffff" fill-rule="evenodd"/>
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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="-183.862" x="466.493 471.497 476.501">200</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="-166.562" x="74.25 79.1235 83.996997 87.74999">DDLS</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="-168.362" x="112.25 118.253 123.256999 128.261 133.265 135.263 139.763 142.265 146.765 151.769 154.76599 157.76299 162.76699 167.77098 170.27298 172.77498 175.27698 177.27498 182.27898 188.77698 191.77397 196.27397 201.27797 206.28197 211.28597 216.28997 218.79196 226.28896 231.29296 236.29695 241.30095 243.80295 246.79994 252.80295 259.30094 264.55696 269.56095 272.06297 274.56498 280.56797 288.06498 295.067 301.56498 307.56797 312.82398 317.82798">Supply current, low-speed mode (EN=1, PMODE=0)</tspan></text>
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<g clip-path="url(#clip_125)">
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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="-168.362" x="468.995 473.999">20</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="-151.062" x="79.378 83.88025 85.75675">AIN</tspan></text>
<g clip-path="url(#clip_128)">
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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="-152.862" x="112.25 118.253 123.256999 128.261 130.259 135.263 140.267 142.769 144.767 149.771 154.775 159.77899 162.28099 164.78299 169.28299 174.28699 176.28499 178.78699 183.79099 188.79499">Analog input voltage</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 60.003 65.006999 68.507999 71.009998 76.508998 82.007999 87.01199 90.51299 95.51699 98.01899 100.52099 106.01999 111.51899 116.52299 120.02399 125.027988 128.02498 130.52698 136.02597 141.52497 144.02696 147.52797 152.53197 158.03096 163.52996 166.03195 169.53296 174.53696 182.53797 187.54196 193.04096 196.03795 201.04195 203.54395 208.54795 214.04694 219.54593 222.04793 227.54692 232.55092 238.04991 243.05391 248.0579 250.5599 256.0589 259.5599">Peripheral operating requirements and behaviors</tspan></text>
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