birdcage/docs/K60-refman-vectors/K60-reference-manual_page_115.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

620 lines
58 KiB (Stored with Git LFS)
XML

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="146.2786" x="153.30707 160.63907 163.97507 171.30707 178.63907 183.30707 189.97907 193.31507 199.98706 203.98307 210.65506 217.32706 220.66306 223.99906 231.33106 234.66706 241.33905 248.01105 256.67506 264.00706 270.67906 274.01506 280.68705 288.01905 295.35105 299.34706 302.68305 310.01506 317.34706 322.01506 328.68705 332.68305 336.01905 343.35105">Figure 3-31. FlexBus configuration</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 409.8614)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 12.510002 20.850003 25.020003 33.360006 37.530008">3.5.8.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 409.8614)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 9.165 13.335001 21.675004 30.015004 40.845006 50.010007 58.350008 62.520009 70.86001 75.03001 84.19501 92.53501 100.875019 105.04501 114.210018">FlexBus clocking</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="392.1114" x="-.007 8.547 15.547 21.763 25.263 30.709002 37.709 43.155 47.047 53.263 64.155 67.655 74.655 79.317 86.317 93.317 97.209 104.209 110.425 115.871 119.371 125.587009 129.087 136.087 142.30301 149.30301 153.195 159.41101 165.62702 169.51902 175.73502 182.73502 186.23502 192.45102 196.34302 203.34302 209.55902 216.55902 220.05902 225.50502 232.50502 239.50502 244.16703 250.38303 256.59904 260.09904 263.99104 270.99104 274.49104 278.38304 285.38304 291.59904 295.09904 302.88304 306.77503 312.99104 319.99104 329.32905 336.32905 341.77507 345.27507 356.16706 363.16706 370.16706 377.16706 381.05906 387.27507 389.79505 395.24107 398.74107 404.95707 411.95707 415.84907 422.06507 426.72706 433.72706 439.94306">The system provides a dedicated clock source to the FlexBus module's external</tspan><tspan y="408.1114" x="-.00697 9.331031 17.88503 27.99303 38.101034 48.209035 56.763036 60.263036 63.763036 68.42503 72.31703 77.76303 81.26303 87.479038 91.37103 98.37103 104.587039 111.587039 115.087039 119.74904 124.41104 130.62705 137.62705 144.62705 150.84305 157.84305 164.05905 171.05905 174.55905 178.45105 183.89705 187.39705 194.39705 200.61305 205.27506 209.16706 216.16706 222.38306 229.38306 232.88306 237.54506 242.20706 249.20706 260.09907 263.59907 269.81507 273.31507 280.31507 284.20707 291.20707 295.09907 302.09907 308.31507 312.97706 316.47706 323.47706 328.13905 331.63905 335.53105 342.53105 348.74705 352.24705 364.69306 374.03108 384.13908 394.24708 404.35508 412.90907 422.24708 430.80107 440.90907 444.40907 447.90907 455.69306 461.90907">CLKOUT. Its clock frequency is derived from a divider of the MCGOUTCLK. See</tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="424.1114" x="-.0069399999 9.331061 13.223062 20.22306 26.43906 33.43906 36.93906 47.047063 50.939065 56.385065 60.277067 64.939067 68.83106 75.83106 82.83106 86.72306 90.61506 97.61506">Clock Distribution</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="424.1114" x="104.61506 108.11506 112.77706 119.77706 124.439067 127.939067 138.83107 145.83107 150.49308 156.70908 160.20908 167.20908 173.42508 177.31708 183.53308 187.42508 191.31708 196.76308"> for more details.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 518.6614)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00195 8.338051 12.508051 20.848053 25.018054 33.358057 37.528059">3.5.8.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 518.6614)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00195 9.16305 13.33305 21.67305 30.01305 40.843053 50.008054 58.348054 62.518056 70.858058 75.02805 84.193058 93.358058 101.69806 105.86806 110.038059 123.373058 132.53806 136.70806 141.70305 145.87305 155.03804 159.20804 167.54804 175.88803 180.05803 189.22303">FlexBus signal multiplexing</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="500.91139" x="-.00595 8.54805 15.54805 21.76405 25.26405 36.15605 43.15605 47.048055 50.940057 54.832059 61.832059 65.72406 71.94006 78.94006 82.83206 89.83206 96.83206 100.33206 107.33206 111.994068 115.494068 119.38606 126.38606 132.60207 136.10207 143.88607 147.77806 153.99407 160.99407 170.33206 177.33206 182.77806 186.27806 192.49407 199.49407 206.49407 211.15607 217.37207 222.81807 228.26407 231.76407 237.98007 244.98007 251.98007 255.48007 262.48008 268.69609 272.58808 278.80409 282.30409 287.7501 291.6421 298.6421 305.6421 311.8581 315.7501 321.1961 324.6961 328.5881 334.03413 337.53413 343.75013 350.75013 357.75013 361.64213 366.3041 373.3041 377.1961 381.0881 387.3041 394.3041 397.8041 404.8041 411.8041 415.3041 419.1961 426.1961 432.4121 435.9121 442.9121 449.9121 454.5741 458.4661 461.9661 468.1821 475.1821 482.1821 486.0741 490.73609 497.73609">The multiplexing of the FlexBus address and data signals is controlled by the port control</tspan><tspan y="516.9114" x="-.0059100005 10.886091 17.886092 24.886092 31.886092 35.77809 41.99409 45.49409 48.99409 59.102094 66.1021 76.2101 82.4261 89.4261 95.642108 100.30411 103.80411 107.30411 111.196109 118.196109 124.41211 127.91211 138.80411 145.80411 149.6961 153.5881 157.4801 164.4801 168.3721 174.5881 181.5881 185.4801 192.4801 199.4801 202.9801 209.9801 214.6421 218.1421 223.5881 230.5881 241.4801 247.6961 251.1961 258.1961 262.8581 266.3581 270.2501 277.2501 283.4661 286.9661 294.7501 298.6421 304.8581 311.8581 321.1961 328.1961 333.64213 337.14213 343.35813 350.35813 357.35813 361.25013 365.9121 372.9121 376.8041 380.3041 385.75013 389.64213 396.64213 403.64213 409.85813 413.75013 419.19615 422.69615 428.91215 433.57414 439.79014 443.29014 449.50614 456.50614 463.50614 467.39814 472.06013 479.06013 482.95213 486.84413 493.06013">module. However, the multiplexing of some of the FlexBus control signals are controlled</tspan><tspan y="532.9114" x="-.0059100005 6.99409 13.99409 17.494091 21.386092 28.386092 34.602094 38.102094 45.102094 52.102094 56.76409 60.656095 64.1561 70.3721 77.3721 84.3721 88.2641 92.9261 99.9261 103.8181 107.3181 113.5341 120.5341 127.5341 131.0341 138.8181 142.7101 148.9261 155.9261 165.2641 172.2641 177.7101 181.2101 192.1021 199.1021 206.1021 213.1021 216.9941 223.2101 228.6561 232.1561 235.6561 244.2101 251.2101 257.4261 260.9261 267.9261 274.9261 279.58808 283.48008 286.98008 293.19609 300.19609 307.19609 311.08808 315.75007 322.75007 326.64207 330.14207 341.03407 348.03407 355.03407 362.03407 365.92607 372.14207 375.64207 380.30406 386.52006 393.52006 397.41206 402.85807 406.75007 412.96607 417.62806 423.07408 426.57408 432.79008 439.79008 446.79008 450.68208 455.34407 462.34407">by the port control and FlexBus modules. The port control module registers control</tspan><tspan y="548.9114" x="-.0059100005 10.102091 17.10209 23.318093 27.210093 34.21009 40.42609 45.08809 48.58809 52.48009 59.48009 65.69609 69.19609 76.980098 80.87209 87.0881 94.0881 103.4261 110.4261 115.8721 119.3721 126.3721 131.0341 134.5341 140.7501 147.7501 154.7501 158.6421 165.6421 171.85811 176.52011 180.02011 190.91211 197.91211 204.91211 211.91211 215.80411 222.02011 225.52011 230.96611 234.85811 241.85811 248.85811 255.07411 258.96614 264.41215 267.91215 274.12815 278.79014 285.00614 288.50614 294.72215 301.72215 307.93815 311.83015 315.72215 321.93815 328.93815 332.83015 339.04615 342.54615 349.54615 356.54615 360.04615 363.93815 370.93815 377.15415 380.65415 386.87016 393.87016 397.76216 403.97816 408.64015 415.64015 421.85615 425.74815 429.24815 436.24815 440.14015 447.14015 450.64015 454.14015 464.24815 471.24815 475.14015 479.03215">whether the FlexBus or another module signals are available on the external pin, while</tspan><tspan y="564.9114" x="-.0059100005 3.8860906 10.88609 17.10209 20.60209 28.386092 32.27809 38.49409 45.49409 54.832094 61.832094 67.27809 69.79809 75.24409 78.74409 88.08209 95.8661 103.6501 116.0961 125.4341 134.7721 138.2721 142.9341 149.1501 156.1501 160.0421 165.4881 169.3801 175.5961 180.2581 183.7581 189.9741 196.9741 203.9741 208.63611 212.5281 219.5281 226.5281 231.19011 237.40612 242.85211 246.35211 256.4601 263.4601 267.3521 273.5681 280.5681 284.0681 291.8521 295.7441 301.9601 308.9601 318.29814 325.29814 330.74415 334.24415 339.69017 343.58216 350.58216 357.58216 363.79817 367.69017 373.13618 376.63618 382.85218 387.51417 393.73017 397.23017 403.44618 410.44618 416.66218 420.55418 424.44618 430.66218 437.66218 441.55418 447.77018 451.27018 455.93217 460.59416 467.59416 478.48616 481.98616 485.87815 492.87815">the FlexBus's CSPMCR register configures which FlexBus signals are available from the</tspan><tspan y="580.9114" x="-.0059100005 10.886091 17.886092 24.886092 31.886092 35.77809 41.99409 45.49409 48.99409 57.54809 64.548099 70.7641 74.2641 80.4801 87.4801 94.4801 98.3721 103.0341 110.0341 113.9261 117.4261 122.8721 126.7641 133.7641 140.7641 146.9801 150.8721 156.3181 159.8181 166.0341 170.6961 176.91211 180.41211 187.41211 192.07411 199.07411 206.07411 213.07411 219.29012 226.29012 229.79012 236.00612 241.45212 244.95212 248.84412 252.73612 256.6281 263.6281 269.07414 272.96614 277.6281 283.84413 287.7361 293.95213 300.95213">module. The control signals are grouped as illustrated:</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01031" x="378.495 384.99299 390.49198 395.49598 400.99497 403.99198 408.99598 412.49699 414.999 420.003 422.505 429.003 434.50199 437.004 442.503 445.005 451.503 457.00199 462.50099 465.498 468 473.499 478.998 482.499 487.503 490.5 493.002 498.501">Chapter 3 Chip Configuration</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.01 137.23 142.79 148.34999 151.12999 157.79999 163.90999 170.01999 173.34999 179.45999 185.01999 193.90999 196.68999 199.46999 205.02999 207.80998 215.02999 220.58998 223.91999 229.47998 233.36998 238.92998 245.03998 250.59998 256.15998 258.93998 267.26997 272.82997 278.93995 285.04994 290.60993 293.38993 296.16993 298.94993 306.16993 311.72993 317.28993 320.06993 322.8499 328.4099 331.1899 336.7499 342.8599 348.96989 351.74989 357.30989 362.86988 368.42988">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00401 5.5030105 8.5000109 13.504011 18.50801 23.00801 27.50801 32.512014 34.510015 39.514017 42.016016 48.019014 53.023015 60.520017 62.518018 67.01802 72.02202 77.02602 82.030017 87.03401 91.53401 94.03601 99.04001 102.03701 104.53901 107.04101 109.54301 114.547008 119.047008">Freescale Semiconductor, Inc.</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32 751.756)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="58.45 65.12 69.01 74.57 77.35 80.13 89.02 91.799999 97.909999 103.46999 107.35999">Preliminary</tspan></text>
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