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birdcage/docs/K60-datasheet-vectors/K60-datasheet_page_64.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

2146 lines
166 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="-415.012" x="303.497">0</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="-399.512" x="60.471 66.969 71.973 73.971 78.975 81.477 83.979 85.977 93.474 98.478 100.979999 103.977 106.974 111.978 116.981998 121.98599 126.98999 129.49199 134.49599 139.49999 142.49698 144.99898 151.00199 156.50098 162.50399 169.00199 174.50098 177.00298 181.50298 186.50698 191.51097 196.51497 198.51297 201.01497 203.01297 208.01697 213.02097">Hold time (repeated) START condition.</tspan><tspan y="-388.512" x="61.218004 67.221 69.723 72.225 77.229 80.226 82.728 85.229999 90.23399 92.231998 96.731998 99.23399 104.23799 109.24199 112.23899 114.23699 119.24099 124.24499 126.74699 129.249 131.75099 136.75499 141.75899 144.26099 146.76299 148.76099 151.75798 156.25798 158.75998 161.26198 165.76198 167.75998 172.76398 177.26398 181.76398 184.26598 189.26998 194.27397 196.27198 200.77198 205.77597 208.27797 210.27597">After this period, the first clock pulse is</tspan><tspan y="-377.512" x="116.487 121.491 126.494998 131.499 136.50299 139.49999 144.50399 147.00598 152.00998 157.01398">generated.</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="-399.512" x="303.497">4</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="-399.512" x="357.499">&#x2014;</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="-362.012" x="299.744 304.748 307.25">4.7</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="-362.012" x="411.744 416.748 419.25">1.3</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="-346.512" x="78.975 85.473 87.975 94.977 101.475 103.977 108.980998 113.98499 116.981998 118.979999 123.98399 128.98799 131.48999 136.49399 138.99599 141.49799 143.99999 149.00399 154.00798 156.50998 162.51299 169.01099 174.01499 176.51699 181.01699 183.01499 188.01898 192.51898">HIGH period of the SCL clock</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="-346.512" x="303.497">4</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="-346.512" x="411.744 416.748 419.25">0.6</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="-331.012" x="69.723 75.726 80.729999 83.231998 86.229 91.232997 96.23699 98.73899 101.24099 103.23899 110.73599 115.73999 118.24199 120.74399 125.747989 128.74498 131.24698 136.25098 138.75298 141.74997 146.75397 151.75797 156.76197 161.76596 164.26796 169.27196 174.27596 176.77796 182.78096 188.27996 194.28296 200.78096">Set-up time for a repeated START</tspan><tspan y="-320.012" x="119.988 124.488 129.492 134.496 139.5 141.498 144 145.998 151.002">condition</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="-329.212" x="235.311 239.81325">SU</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="-331.012" x="299.744 304.748 307.25">4.7</tspan></text>
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<g clip-path="url(#clip_46)">
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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="-304.512" x="69.849 76.347 81.351 83.853 88.856998 91.35899 96.36299 101.36699 103.36499 108.36899 110.87099 113.372989 115.37099 122.86799 127.87199 130.374 132.87599 137.87999 140.87699 143.37899">Data hold time for I</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="-302.712" x="234.872 239.7455">HD</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="-304.512" x="301.625">0</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="-273.512" x="525.247 530.25106">ns</tspan></text>
<g clip-path="url(#clip_67)">
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<g clip-path="url(#clip_72)">
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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="-258.012" x="525.247 530.25106">ns</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="-240.71199" x="234.80699 239.30924">SU</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="-242.512" x="303.497">4</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="-159.012" x="54 59.004 69.12 74.619 79.623 84.627 87.129 94.626 99.63 104.13 106.631999 111.635997 114.632999 117.134998 124.631999 129.636 134.64 139.644 142.146">1.The master mode 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="-162.012" x="144.64801">2</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="-159.012" x="148.40102 154.89902 157.40102 162.40502 167.40901 172.41301 176.91301 181.41301 186.417 189.414 191.916 196.416 198.918 204.921 211.419 217.42201 219.92401 224.92801 227.43001 229.932 234.936 239.94 242.442 247.446 252.45 257.454 260.45103 265.45503 269.95503 274.45503 276.95704 281.96104 286.46104 288.96305 293.96705 296.46907 300.96907 302.96705 310.46406 315.46806 317.46604 319.96806 324.97206 329.97605 334.98005 339.98405 344.98805 349.48805 351.48603 355.98603 358.48805 364.98603 366.984 369.48603 374.49003 376.99205 379.49406 384.49806 389.50205 392.00407 394.50608 399.51008 401.50807 403.50605 405.50404 410.50804 415.51203 418.01405 423.01805 428.02204 433.02604 438.03004 440.53205 445.53605 448.03807 450.54008 456.54307 463.04106 468.04505 470.54707 473.04908 475.5511 478.0531 480.5551 485.5591 490.5631 493.06513 497.56513 499.5631 504.5671 509.0671 514.0711">C deasserts ACK of an address byte simultaneously with the falling edge of SCL. If no slaves</tspan><tspan y="-148.012" x="69.12002 74.124019 78.624019 83.124019 88.12801 93.13201 99.63001 101.62801 106.63201 111.63601 116.64001 121.644008 124.146 126.648 131.65201 133.65001 138.15001 140.65201 145.656 150.66 155.664 158.661 163.665 168.165 172.665 175.16699 180.17099 184.67099 187.17299 192.17699 194.67899 197.18099 199.68299 204.68698 209.69098 214.69498 217.19698 222.20098 224.70298 229.70697 234.71097 239.71497 244.71897 247.22097 249.21897 253.71897 258.72297 261.22499 266.22898 271.23298 273.23097 278.23497 280.73698 283.23899 285.23698 292.73399 297.73799 300.24 304.74 309.744 314.748 317.25 320.247 325.251 329.751 334.755 336.753 339.255 341.75703 344.25904 349.26304 354.26704 359.27104 364.27503 369.27903 374.28303 376.281 381.285 386.289 388.79103 393.795 398.799 401.30104 403.80305 408.80705 413.81105 416.31306 421.31706 426.32106 431.32505 436.32905 438.83106 441.82807 446.83207 449.33409 454.33808 458.83808 461.3401 466.3441 468.8461 471.3481 473.85014 478.85414 483.85813 486.36015 492.36314 498.8611 504.8641 507.36613 512.3701 517.37417 522.3782 524.8802 530.8832 537.38119">acknowledge this address byte, then a negative hold time can result, depending on the edge rates of the SDA and SCL</tspan><tspan y="-137.012" x="69.12002 71.11802 73.11602 78.12002 83.124019 87.624019">lines.</tspan><tspan y="-126.01199" x="54.00002 59.00402 69.12002 74.61902 79.62302 84.627017 87.12901 94.626018 99.63001 104.13001 106.12801 113.625019 118.62901 126.126018 128.62802 131.13002 137.62802 144.12602 146.62802 149.13002 155.62802 161.63103 167.13002 169.63202 177.12902 182.13301 186.63301 189.13501 191.63701 196.641 201.645 204.147 211.644 216.648 219.15 221.652 226.65599 231.65999 233.65799 238.15799 240.65999 242.65799 245.15999 247.66199 250.16399 255.16799 260.172 262.674 267.678 272.682 277.182 279.18 283.68 288.684 291.186 296.19 301.194 306.198 310.698 313.2 318.204 323.208 325.71003 328.21205 332.71205 335.21406 338.21107 343.21507 345.71708 350.21708 355.22108 357.72309 360.2251 365.2291 370.2331 372.7351 377.7391 384.74113 393.23713 395.73915 400.74314 405.74714 408.74415 410.74214 415.74613 420.75013 423.25215 426.24916 428.75117 433.75517 440.75718 449.25318 452.25019 454.7522 459.7562 462.2582 464.76023 467.26225 472.26625 477.27024 479.77226 485.77525 492.27323 497.27723 499.77925 504.27925 506.27723 511.28123 516.2852 521.28927 523.28726">2.The maximum tHD; DAT must be met only if the device does not stretch the LOW period (tLOW) of the SCL signal.</tspan><tspan y="-115.01199" x="54.00002 59.00402 69.12002 71.62202 76.626018 81.63001 86.63401 89.13601 91.63801 96.13801 98.13601 103.14001 108.144008 113.148 115.146 117.648 123.651 125.649 130.653 137.151 139.653 144.909 147.411 152.415 157.41899 159.92099 164.92499 169.42499 171.92699 176.93099 181.93498 186.93898 189.44098 196.44298 201.44698 203.94898 208.95298 213.95697 216.45897 218.96097 223.96497 228.96897 233.97296 238.97696 241.47896 246.73496 249.23696 254.24095 259.24497 261.74699 266.75099">3.Input signal Slew = 10 ns and Output Load = 50 pF</tspan><tspan y="-104.01199" x="54.00002 59.00402 69.12002 75.12302 80.127017 82.62901 85.626018 90.63001 95.63401 98.13601 100.63801 102.63601 110.13301 115.13701 117.63901 119.63701 124.64101 127.143009 131.643 133.641 138.645 143.145 148.149 151.146 153.648 156.64499 161.64899 166.65299 171.15299 178.64998 180.64798 183.14998 185.65198 190.65598 193.65297 196.15497 203.65196 208.65596 213.65996 218.66396 221.16596 223.16396 227.66396 230.16596 235.16996 237.67195 240.17395 246.17696 252.17996 257.18397 261.68397 264.18598 268.68598 270.68397 275.68797 280.18797 284.68797 287.18998 292.19398 297.19798 300.19499 302.19297 307.19697 312.20097 314.70298 317.205 319.20298 321.705 324.207 326.709 331.713 336.717 339.21903 344.71803 350.721 353.22303 358.72203 361.22404 366.72303 373.72505 376.22706 378.22505 382.72505 385.22706 390.23106 397.72807 402.73207 405.23408 409.73408">4.Set-up time in slave-transmitter mode is 1 IPBus clock period, if the TX FIFO is empty.</tspan><tspan y="-93.01199" x="54.00002 59.00402 69.12002 75.12302 77.625019 83.124019 88.12801 92.62801 95.13001 97.63201 105.12901 110.13301 115.13701 120.14101 122.643009">5.A Fast mode I</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="-93.01199" x="128.89803 135.39603 137.89803 142.90203 147.90602 152.40602 154.90802 159.91202 164.91602 169.41602 171.41402 175.91402 180.91802 183.42002 187.92002 192.92401 197.92801 200.43001 205.434 210.438 212.94 217.944 222.444 227.448 232.452 234.954 236.952 241.956 244.458 249.46199 251.96399 257.96699 260.469 265.473 270.477 275.481 280.485 283.482 288.486 290.988 298.48503 303.489 308.493 313.497 315.99903 318.50105 323.50505 330.00303 332.50505 337.50904 342.51304 347.01304 349.51506 354.01506 358.51506 363.01506 365.51707 370.52107 378.01808 380.52009 383.0221 388.0261 393.0301 395.5321 398.03413 400.53614 405.54014 410.54414 413.04615 416.04316 421.04716 426.05116 431.05516 433.05314 436.05015 441.05415 448.55116 453.55516 458.55915 461.06117 463.56318">C bus device can be used in a Standard mode I2C bus system, but the requirement 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="-91.21199" x="466.065 470.56727 475.44078 477.31727 479.19377 484.06727 488.56953">SU; DAT</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="-93.01199" x="492.694 495.196 500.596 503.09803 508.10203 513.106 518.11007 520.61209 525.6161 530.1161 532.6181 540.1151 545.11917 549.61917"> &#x2265; 250 ns must</tspan><tspan y="-82.01199" x="69.11801 71.62001 76.62401 81.628009 86.632 89.134 94.138 99.142 101.644 109.141 114.145 116.646999 119.148998 121.65099 127.149997 132.15399 134.152 138.652 141.15399 143.152 147.652 150.15399 155.15799 160.16199 162.66399 167.66799 175.16498 180.16898 182.67098 184.66898 189.16898 194.17298 196.17098 198.16898 202.66898 205.17098 207.67298 212.67697 217.68097 220.18297 224.68297 229.68697 234.18697 239.19097 241.69297 243.69097 246.19297 248.69496 251.19696 256.20097 261.20497 263.70698 268.71098 273.71498 278.21498 280.21296 284.71296 289.71696 292.21897 297.22297 302.22697 307.23097 311.73097 314.23298 319.23698 324.24098 326.74299 329.245 333.745 336.247 339.24403 344.24803 346.75004 351.25004 356.25404 358.75605 361.25807 366.26206 371.26606 373.76808 378.77207 385.77409 394.27009 396.7721 401.7761 406.7801 409.7771 411.7751 416.77909 421.78309 424.2851 429.2891 431.7911 434.29313 436.79515 441.79914 446.80314 449.30516 455.30815 461.80613 466.81013 469.31214 473.81214 475.81013 480.81413 485.8181 490.8221 492.8201 495.3221 497.82414 500.32615 502.82817 505.33018 509.83018 514.83419 519.33419 524.3382 526.8402">then be met. This is automatically the case if the device does not stretch the LOW period of the SCL signal. If such a</tspan><tspan y="-71.01199" x="69.11801 74.12201 79.12601 83.62601 85.62401 90.12401 95.128009 97.630008 102.634 107.638 112.642 117.142 119.644 124.144 126.645999 129.64299 134.64699 137.14899 141.64899 146.65299 149.15499 151.65699 156.66098 161.66498 164.16698 169.17098 176.17298 184.66898 187.17098 192.17498 197.17897 200.17597 202.17397 207.17797 212.18196 214.68396 219.68796 222.18996 224.69196 227.19396 232.19795 237.20195 239.70395 245.70696 252.20496 257.20896 259.71098 264.21098 266.20896 271.21296 276.21696 281.22096 283.21894 285.72096 288.22297 290.72499 295.72898 300.73298 305.73698 308.23899 310.23698 312.73899 315.241 322.738 327.742 332.242 334.74403 337.24604 342.25004 347.25404 349.75605 354.76005 359.76405 362.26606 364.76808 367.27009 372.27409 377.27809 379.7801 384.7841 389.7881 394.2881 396.7901 399.2921 404.2961 409.3001 411.80213 416.80613 419.30815 424.31214 426.31013 428.81214 431.31416 433.81617 438.82017 441.32218 443.8242 448.8282 453.83219 456.3342 462.3372 468.83518 474.83818 477.34019 479.33818 481.33616 486.34016 491.34416 493.84617">device does stretch the LOW period of the SCL signal, then it must output the next data bit to the SDA line 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="-69.21199" x="496.34803 498.59577 504.2185 507.9715">rmax</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="-71.01199" x="511.34703 513.849 519.105 521.607"> + 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="-69.21199" x="524.109 528.61129 533.48477 535.36129 537.2378 542.11129 546.6135">SU; DAT</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="-60.01199" x="69.121 74.377 76.879 81.882999 86.88699 91.89099 96.89499 99.39699 104.652988 107.15498 112.15898 117.16298 122.16698 124.668979 129.92498 132.42697 137.43097 142.43497 147.43897 152.44297 154.94496 159.94896 164.44896 166.95096 169.94795 174.95195 179.45195 183.95195 188.95595 191.95294 196.95694 198.95494 203.95894 208.96294 211.46494 213.96694 218.97093 221.47293 223.97493 228.97893 233.98293 236.48493 242.48793 244.98993 249.99393 254.99793 260.00193 265.00593 268.00294 273.00694 275.50895 283.00596 288.00996 293.01396 298.01795 300.51997">= 1000 + 250 = 1250 ns (according to the Standard mode I</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="-60.01199" x="306.775 313.27299 315.775 320.779 325.783 330.283 332.785 337.285 342.289 347.293 351.793 353.791 356.293 358.291 362.791 367.79499 370.297 372.29499 377.29899 382.30299 385.3 387.802 392.806 397.81 400.312 405.316 408.31303 413.31703 415.81904 418.32106 423.32505 428.32905 430.83106 436.83406 443.33204 448.33604 450.83805 452.83604 454.834 459.838 464.842 467.34403 469.342 473.842 476.34403 479.34104 484.34504 486.34303 491.34703 496.351 500.851 505.855 510.859">C bus specification) before the SCL line is released.</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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