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birdcage/docs/K60-datasheet-vectors/K60-datasheet_page_81.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

293 lines
41 KiB (Stored with Git LFS)
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x="428.74736 432.48255 435.90415 439.63935 442.75294">PTA14</tspan><tspan y="-464.61244" x="468.31135 472.04655 475.46815 479.20335">PTB3</tspan><tspan y="-426.84245" x="466.75434 470.48954 473.91114 477.64634 480.75993">PTA29</tspan><tspan y="-389.15943" x="466.75434 470.48954 473.91114 477.64634 480.75993">PTA26</tspan><tspan y="-351.50343" x="466.75434 470.48954 473.91114 477.64634 480.75993">PTA17</tspan><tspan y="-313.82044" x="466.75434 470.48954 473.91114 477.64634 480.75993">PTA15</tspan><tspan y="-275.93345" x="466.75434 470.48954 473.91114 477.64634 480.75993">PTA19</tspan><tspan y="-313.82044" x="500.64533 504.68855 508.42375 512.15896 515.89419 519.31576 522.4293">RESET_b</tspan><tspan y="-351.50343" x="504.5313 508.2665 511.6881 515.42337 518.5369">PTA24</tspan><tspan y="-389.15943" x="504.5313 508.2665 511.6881 515.42337 518.5369">PTA25</tspan><tspan y="-426.8424" x="504.5313 508.2665 511.6881 515.42337 518.5369">PTA28</tspan><tspan y="-464.6124" x="506.08833 509.82353 513.2451 516.98037">PTB2</tspan><tspan y="-502.2064" x="506.08833 509.82353 513.2451 516.98037 468.3103 472.0455 475.4671 479.2023 430.3033 434.0385 437.4601 441.1953 392.8893 396.6245 400.0461 403.7813 356.2543 359.9895 364.0327">PTB6PTB7PTB8PTB9VDD</tspan><tspan y="-539.8374" x="356.2543 359.9895 364.0327 391.33274 395.06794 398.48954 402.22474 405.33833 428.7463 432.4815 435.9031 439.6383 442.7519 504.5313 508.2665 511.6881 515.42337 518.5369 466.7533 470.4885 473.9101 477.6453 480.75889">VDDPTB17PTB16PTB10PTB11</tspan><tspan y="-577.5454" x="466.7533 470.4885 473.9101 477.6453 480.75889 504.53089 508.26609 511.68769 515.4229 518.5365">PTB19PTB18</tspan><tspan y="-615.2904" x="504.5313 508.2665 511.6881 515.42337 518.5369 466.7533 470.4885 473.9101 477.6453 480.75889 433.2593 437.30253">PTB22PTB23NC</tspan><tspan y="-577.5454" x="428.7453 432.4805 435.9021 439.6373 442.7509 391.3313 395.0665 398.4881 402.2233 405.33689">PTB20PTB21</tspan><tspan y="-580.7454" x="354.2253 357.9605 361.3821 365.42533 368.5389">PTC5/</tspan><tspan y="-615.2904" x="392.73634 396.47154 399.89314 403.93635">PTD8</tspan><tspan y="-618.4904" x="354.22535 357.96055 361.38215 365.42536 368.53895">PTC6/</tspan><tspan y="-652.8844" x="355.00337 358.73857 362.16017 366.20338 392.73616 396.47135 399.89295 403.93617 433.25776 437.30097">PTC7PTD9NC</tspan><tspan y="-656.0844" x="467.37336 471.10856 474.53016 478.57337 481.68696">PTC1/</tspan><tspan y="-652.8844" x="505.93537 509.67057 513.09219 517.1354">PTC0</tspan><tspan y="-502.20643" x="281.44837 285.18357 288.91877 319.15318 322.88838 326.62358">VSSVSS</tspan><tspan y="-539.8374" x="318.84538 322.58058 326.62379 281.14039 284.87559 288.9188">VDDVDD</tspan><tspan y="-577.5454" x="278.3404 282.0756 285.4972 289.5404 292.654 317.602 321.3372 324.7588 328.802">PTC13PTC9</tspan><tspan y="-656.0844" x="315.2664 319.0016 322.4232 326.4664 329.58 332.69358">PTC11/</tspan><tspan y="-615.2904" x="316.0444 319.7796 323.2012 327.24443 330.358">PTC10</tspan><tspan y="-652.8844" x="240.9544 244.6896 248.1112 252.1544 255.268 278.34 282.0752 285.4968 289.54 292.6536">PTC19PTC15</tspan><tspan y="-615.2904" x="278.3404 282.0756 285.4972 289.5404 292.654 240.95439 244.68959 248.11119 252.15439 255.26799">PTC14PTC18</tspan><tspan y="-618.4904" x="203.97739 207.71259 211.13419 215.17739 218.29099">PTD2/</tspan><tspan y="-652.8844" x="204.75539 208.49059 211.91219 215.95539 165.82939 169.56459 172.98619 177.02939 180.14299">PTD3PTD10</tspan><tspan y="-615.2904" x="165.82939 169.56459 172.98619 177.02939 180.14299">PTD13</tspan><tspan y="-577.5454" x="167.5434 171.2786 174.7002 178.4354 204.7554 208.4906 211.9122 215.9554 240.9538 244.689 248.1106 252.1538 255.2674">PTE0PTD1PTC17</tspan><tspan y="-539.8374" x="243.75339 247.48859 251.53179">VDD</tspan><tspan y="-502.2064" x="243.75339 247.48859 251.53179 204.91139 208.64659 212.06819 215.80339">VDDPTE7</tspan><tspan y="-539.8374" x="204.91139 208.64659 212.06819 215.80339">PTE3</tspan><tspan y="-543.0374" x="166.76439 170.49959 173.92119 177.65639 180.76999">PTE4/</tspan><tspan y="-502.20643" x="167.54239 171.27759 174.69919 178.43439 129.82639 133.56159 136.98319 140.71839 90.172389 93.907588 97.329189 101.064388 104.177989">PTE8PTE9PTE10</tspan><tspan y="-539.8374" x="91.729389 95.464588 98.886188 102.62138 129.82619 133.56139 136.98299 140.71819">PTE6PTE5</tspan><tspan y="-580.7454" x="129.0474 132.7826 136.2042 139.93939 143.053 90.95039 94.68559 98.10719 101.84239 104.95599">PTE1/PTE2/</tspan><tspan y="-615.2904" x="90.015399 93.750598 97.172199 101.21539 104.328998 128.1178 131.853 135.2746 139.3178 142.4314">PTD15PTD14</tspan><tspan y="-652.8844" x="128.1174 131.8526 135.2742 139.3174 142.431 90.015399 93.750598 97.172199 101.21539 104.328998">PTD11PTD12</tspan><tspan y="-690.5154" x="316.0424 319.7776 323.1992 327.2424 330.356 278.3374 282.0726 285.4942 289.5374 292.651">PTC12PTC16</tspan><tspan y="-693.7154" x="241.73041 245.4656 248.8872 252.9304 256.044 203.9754 207.7106 211.1322 215.1754 218.289">PTD0/PTD4/</tspan><tspan y="-690.5154" x="167.3854 171.1206 174.5422 178.5854">PTD5</tspan><tspan y="-693.7154" x="128.89641 132.6316 136.0532 140.0964 143.21">PTD6/</tspan><tspan y="-690.5154" x="91.5724 95.3076 98.7292 102.7724">PTD7</tspan><tspan y="-687.31539" x="122.512409 125.62601 128.73961 134.02602 138.06922 141.18282 144.91802 148.03162 197.59741 200.71102 203.82462 209.11103 213.15422 216.26782 220.00302 223.11663 235.34703 238.46063 241.57424 246.86064 250.90384 254.01744 257.75267 260.86625">LLWU_P15LLWU_P14LLWU_P12</tspan><tspan y="-687.8694" x="387.1354 390.249 393.36259 398.649 402.6922 405.8058 409.541 462.5284 465.642 468.75559 474.042 478.0852 481.1988 484.934">LLWU_P8LLWU_P7</tspan><tspan y="-649.6844" x="310.43843 313.552 316.6656 321.952 325.9952 329.1088 332.844 335.95759 462.55143 465.665 468.7786 474.065 478.10823 481.2218 484.957">LLWU_P11LLWU_P6</tspan><tspan y="-612.0904" x="197.59842 200.71202 203.82563 209.11203 213.15523 216.26883 220.00403 223.11763 347.84645 350.96003 354.0736 359.36003 363.40324 366.5168 370.252 373.3656">LLWU_P13LLWU_P10</tspan><tspan y="-574.3454" x="85.97345 89.08705 92.20065 97.48705 101.53025 104.64385 108.37905 124.07025 127.18385 130.29746 135.58386 139.62706 142.74066 146.47586 349.40345 352.51704 355.6306 360.91703 364.96025 368.07383 371.80903">LLWU_P1LLWU_P0LLWU_P9</tspan><tspan y="-536.6374" x="161.78644 164.90004 168.01364 173.30005 177.34325 180.45685 184.19205">LLWU_P2</tspan><tspan y="-423.6424" x="424.54444 427.65803 430.7716 436.058 440.10124 443.2148 446.95">LLWU_P5</tspan><tspan y="-389.1594" x="160.07343 164.11663 168.78142 172.51662 175.63022 178.74382 180.30062 184.34381 187.45742">CMP1_IN2/</tspan><tspan y="-382.7594" x="158.67343 162.40863 166.45183 170.49503 173.60863 176.72223 180.45743 184.19263 187.30623">ADC0_SE21</tspan><tspan y="-385.9594" x="387.1314 390.245 393.35859 398.645 402.6882 405.8018 409.537">LLWU_P4</tspan><tspan y="-351.50343" x="160.07341 164.11661 168.7814 172.5166 175.6302 178.7438 180.3006 184.3438 187.4574">CMP2_IN2/</tspan><tspan y="-345.10343" x="158.67342 162.40862 166.45182 170.49501 173.60861 176.72222 180.45742 184.19261 187.30622">ADC0_SE22</tspan><tspan y="-313.82044" x="83.482418 87.21761 91.26081 95.30401 98.41761 101.53121 105.57441 109.30961 112.42321">ADC0_DP0/</tspan><tspan y="-307.42045" x="84.260417 87.99561 92.03881 96.08201 99.19561 102.30921 106.35241 110.08761">ADC1_DP3</tspan><tspan y="-313.82044" x="121.119419 124.854618 128.89781 132.94101 136.05461 139.16822 143.21141 147.8762 150.9898">ADC0_DM0/</tspan><tspan y="-307.42045" x="121.897418 125.632617 129.67581 133.71901 136.83261 139.94622 143.98941 148.6542">ADC1_DM3</tspan><tspan y="-313.82044" x="160.07242 164.11562 168.78041 172.51561 175.62921 178.74282 180.2996 184.3428 187.4564">CMP1_IN3/</tspan><tspan y="-307.42045" x="158.67243 162.40763 166.45082 170.49402 173.60762 176.72122 180.45642 184.19162 187.30522">ADC0_SE23</tspan><tspan y="-317.02046" x="197.44142 201.48462 206.14942 209.88462 212.99822 216.11182 217.66861 221.7118 224.82541">CMP0_IN4/</tspan><tspan y="-310.62046" x="197.44142 201.48462 206.14942 209.88462 212.99822 216.11182 217.66861 221.7118 224.82541">CMP2_IN3/</tspan><tspan y="-304.22047" x="196.04143 199.77663 203.81983 207.86302 210.97663 214.09023 217.82543 221.56063 224.67423">ADC1_SE23</tspan><tspan y="-312.22047" x="232.54743 235.66103 240.94744 244.68264 248.41783 252.15303 256.19624 259.93144 263.045">_WAKEUP_B</tspan><tspan y="-310.62046" x="311.99443 315.108 318.2216 323.508 327.5512 330.6648 334.4">LLWU_P3</tspan><tspan y="-279.13346" x="160.07242 164.11562 168.78041 172.51561 175.62921 178.74282 180.2996 184.3428 187.4564">CMP1_IN5/</tspan><tspan y="-272.73347" x="160.07242 164.11562 168.78041 172.51561 175.62921 178.74282 180.2996 184.3428 187.4564">CMP0_IN5/</tspan><tspan y="-266.33348" x="158.67243 162.40763 166.45082 170.49402 173.60762 176.72122 180.45642 184.19162 187.30522">ADC1_SE18</tspan><tspan y="-275.93348" x="83.48142 87.21662 91.25982 95.30302 98.41662 101.53022 105.57342 109.30862 112.42222">ADC1_DP0/</tspan><tspan y="-269.53349" x="84.25942 87.99462 92.03782 96.08102 99.19462 102.30822 106.35142 110.08662">ADC0_DP3</tspan><tspan y="-275.93348" x="121.11842 124.85362 128.89682 132.94002 136.05362 139.16722 143.21042 147.87522 150.98882">ADC1_DM0/</tspan><tspan y="-269.53349" x="121.89642 125.63162 129.67482 133.71802 136.83162 139.94522 143.98842 148.65322">ADC0_DM3</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="-231.582" x="178.968 186.3 189.636 196.968 204.3 208.968 215.64 218.976 225.648 232.31999 235.65599 238.99199 247.65599 254.32799 261 264.336 271.008 277.68 284.352 287.688 297.684 306.348 314.352 323.016 332.352 341.016 344.352 352.356 355.692 363.024 370.356 377.688 381.684 385.02 393.684 397.02 403.692 411.024 415.692 422.36399">Figure 35. K60 144 MAPBGA Pinout Diagram</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="17" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-170.283" x="54 77.63 89.904 99.356 108.80801 113.534008 122.98601 127.712009 138.099 148.486 153.21199 163.59899 168.32498 177.77698 183.43798 193.82497 200.43798">9Revision history</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="-145.949" x="54.002 62.556 69.556 75.772 79.272 83.934009 90.934009 94.826007 98.718 105.718 115.826007 119.718 126.718 133.718 137.218 141.11 147.326 154.326 158.218 164.434 167.934 174.934 179.59601 186.59601 193.59601 197.488 204.488 210.70401 216.15001 219.65001 225.86602 229.36602 234.02802 240.24402 247.24402 251.13602 256.58204 260.47404 267.47404 274.47404 277.97404 284.97404 288.86604 294.31205 298.20405 305.20405 309.86604 316.86604 320.36604 325.028 332.028 336.69 340.19 344.082 351.082 354.974 360.42 363.92 370.92 377.92 384.13603 391.13603 402.028 408.24403 415.24403 419.13603">The following table provides a revision history for this document.</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="-123.282" x="230.636 237.968 244.64 251.972 255.308 261.98 265.316 271.988 278.66 290.996 299.66 306.332 313.004 316.34 323.012 326.348 333.68 341.012 344.348 351.68 355.016 361.688 365.684 373.016 377.684">Table 55.Revision history</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="-104.062" x="68.497 74.995 79.999 85.003 87.505 90.006999 96.505 102.004">Rev. No.</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="-104.062" x="139.75 146.248 151.252 154.249">Date</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="-104.062" x="184.498 190.501 196 201.499 206.50299 209.49999 214.50399 220.00298 222.99997 225.50197 230.50597 233.00797 235.50997 242.00797 247.50696 252.51096 258.00996 263.50895 268.51295">Substantial Changes</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="-88.062" x="82.998">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="-88.062" x="134.739 139.743 142.245 147.249 152.25299 157.25699">6/2012</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="-88.062" x="182.25 184.752 189.756 191.754 194.256 196.254 201.258 203.256 205.758 210.762 215.76599 220.76999 222.76799 224.76599 229.26599 231.76799 234.76499 239.76898 244.26898 246.26699 250.76699 252.76499 257.76899">Initial public revision</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std" font-style="italic"><tspan y="-69.562" x="234.963 239.967 244.971 250.46999 252.46799 257.472 259.974 264.978 269.982 274.986 277.488 279.486 284.49 289.494 294.498 298.998 301.5 306.504 311.508 314.01 316.51203 321.51603 326.52003 329.02204 334.02604 339.03004 343.53004 346.03205 348.53407 354.03306 359.03706 364.53605 369.54005 372.04206 374.54408">Table continues on the next page...</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="487.98 494.478 499.482 504.486 506.988 511.992 514.494 519.99307 525.49209 527.9941 533.4931 535.9951 540.99917 543.99618 549.4952 552.99618">Revision history</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="204.29001 211.51001 217.07 222.63 225.41 232.08 238.19 244.3 247.63 253.74 259.30003 268.19004 270.97004 273.75004 279.31004 282.09004 289.31004 294.87004 298.2 303.76 306.54 313.21003 319.32 324.88 330.44 333.77 336.55 339.33 346.55 352.11 357.66999 360.44999 363.22999 368.78999 371.56999 374.34999 379.90998 382.68998 388.24998 393.80998 399.36997 404.92997">K60 Sub-Family Data Sheet, Rev. 3, 6/2013.</tspan></text>
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