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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_133.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

320 lines
38 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="226" x=".00202 4.66402 11.664021 15.164021 19.05602 26.05602 29.94802 35.39402 38.89402 51.34002 60.67802 70.78602 74.28602 77.78602 85.57002 95.678028 105.01602 108.51602 115.51602 121.732028 127.94803 134.94803 139.61003 143.50203 150.50203 155.16403 162.16403 168.38004 174.59604 181.59604 185.09604 192.09604 199.09604 205.31204 209.97405 216.19005 220.08205 223.97405 230.97405 237.97405 241.47405 247.69005 253.90605 260.90608 267.90608 274.90608 285.01408 288.90608 295.12208 302.12208 309.12208 320.01408 326.23008 333.23008 337.12208 340.62208 346.83808 353.83808 360.83808 367.83808 374.05409 380.27009 384.16209 388.05409 395.05409 402.05409 407.5001 411.0001 417.2161 421.87809">In this MCU, PDB back-to-back operation acknowledgment connections are</tspan><tspan y="242" x=".00205 3.8940504 14.786052 21.786053 25.678053 31.894055 42.786058 49.002058 56.002058 59.89406 66.11006 73.11006 76.61006 82.826068 88.272068 91.772068 96.43407 103.43407 107.326068 111.21806 118.21806 128.32607 133.77207">implemented as follows:</tspan><tspan y="266.4" x="13.10606 23.998063 31.782063 41.890066 51.228067 54.728067 60.944067 67.94406 74.160068 81.160068 88.160068 94.37607 98.26807 101.76807 108.76807 112.26807 119.26807 123.93007 130.14608 134.80808 138.70008 143.36208 147.25408 154.25408 161.25408 167.47008 172.13208 175.63208 182.63208 186.13208 192.34809 198.56409 205.56409 212.56409 219.56409 229.67209 233.56409 239.78009 246.78009 253.78009 259.9961 270.8881 277.1041 284.1041 287.9961 291.4961 295.3881 302.3881 309.3881 316.3881 320.2801 324.1721 327.6721 337.7801 347.8881 357.2261 364.2261 372.0101 381.3481 388.3481 397.68614 404.68614 414.02415 424.13215 433.47016">&#x2022;PDB channel 0 pre-trigger 0 acknowledgement input: ADC1SC1B_COCO</tspan><tspan y="282.4" x="13.1060509 23.99805 31.782052 41.890054 51.228055 54.728055 60.944055 67.94405 74.16006 81.16006 88.16006 94.37606 98.26806 101.76806 108.76806 112.26806 119.26806 123.93006 130.14606 134.80806 138.70006 143.36206 147.25406 154.25406 161.25406 167.47006 172.13207 175.63207 182.63207 186.13207 192.34807 198.56407 205.56407 212.56407 219.56407 229.67208 233.56407 239.78008 246.78008 253.78008 259.99607 270.88807 277.10408 284.10408 287.99607 291.49607 295.38807 302.38807 309.38807 316.38807 320.28007 324.17207 327.67207 337.78007 347.88807 357.22608 364.22608 372.01008 381.34809 388.34809 398.4561 405.4561 414.7941 424.9021 434.2401">&#x2022;PDB channel 0 pre-trigger 1 acknowledgement input: ADC0SC1A_COCO</tspan><tspan y="298.4" x="13.10608 23.998082 31.782082 41.890085 51.228086 54.728086 60.944086 67.944087 74.16009 81.16009 88.16009 94.37609 98.26809 101.76809 108.76809 112.26809 119.26809 123.93009 130.14609 134.80809 138.70009 143.36209 147.25409 154.25409 161.25409 167.4701 172.1321 175.6321 182.6321 186.1321 192.3481 198.5641 205.5641 212.5641 219.5641 229.6721 233.5641 239.7801 246.7801 253.7801 259.9961 270.8881 277.1041 284.1041 287.9961 291.4961 295.3881 302.3881 309.3881 316.3881 320.2801 324.1721 327.6721 337.7801 347.8881 357.2261 364.2261 372.0101 381.3481 388.3481 397.68614 404.68614 414.02415 424.13215 433.47016">&#x2022;PDB channel 1 pre-trigger 0 acknowledgement input: ADC0SC1B_COCO</tspan><tspan y="314.4" x="13.10608 23.998082 31.782082 41.890085 51.228086 54.728086 60.944086 67.944087 74.16009 81.16009 88.16009 94.37609 98.26809 101.76809 108.76809 112.26809 119.26809 123.93009 130.14609 134.80809 138.70009 143.36209 147.25409 154.25409 161.25409 167.4701 172.1321 175.6321 182.6321 186.1321 192.3481 198.5641 205.5641 212.5641 219.5641 229.6721 233.5641 239.7801 246.7801 253.7801 259.9961 270.8881 277.1041 284.1041 287.9961 291.4961 295.3881 302.3881 309.3881 316.3881 320.2801 324.1721 327.6721 337.7801 347.8881 357.2261 364.2261 372.0101 381.3481 388.3481 398.45613 405.45613 414.79414 424.90214 434.24015">&#x2022;PDB channel 1 pre-trigger 1 acknowledgement input: ADC1SC1A_COCO</tspan><tspan y="340.4" x=".002120018 7.786121 14.786121 18.286122 21.786122 25.678122 32.678125 38.894124 42.394124 49.394124 55.610124 61.826124 68.826129 73.48813 77.38013 84.38013 89.04213 96.04213 102.25813 108.47414 115.47414 118.97414 125.19014 132.19014 138.40615 142.29814 149.29814 152.79814 156.69014 162.13614 165.63614 171.85214 178.85214 185.85214 192.85214 199.06815 205.28415 209.17615 215.39215 222.39215 225.89215 232.10816 237.55416 241.05416 247.27016 250.77016 255.43216 259.32417 266.32417 273.32417">So, the back-to-back chain is connected as a ring:</tspan></text>
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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="501.89009" x="147.97197 155.30397 158.63997 165.97197 173.30397 177.97197 184.64397 187.97997 194.65196 198.64797 205.31996 211.99196 215.32796 218.66396 226.66796 235.33196 243.99596 247.33196 254.66396 261.33598 268.00798 274.67997 278.67597 282.67198 290.00398 293.99998 301.33198 308.00398 314.67597 321.34797 324.68397 331.35597 338.68797 345.35997 348.69596">Figure 3-44. PDB back-to-back chain</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="528.3229" x="250.398 259.736 266.736 271.39799 280.736 290.074 294.736 298.236 305.236 309.128 313.02 318.466 321.966 325.858 332.858 336.358 342.574 349.574 356.574 361.236 365.128 372.128 379.128 383.78999 390.00599 393.50599 397.39799 404.39799 410.61399 414.11399 421.89799 432.00599 441.344 444.844 451.844 456.50599 462.722">C1[BB] bits to configure the PDB pre-</tspan><tspan y="544.3229" x="-.0059661867 3.8860343 8.548035 12.440035 19.440035 26.440035 32.656038 37.318037 42.764036 46.264036 52.480035 57.926034 61.426034 67.64204 71.14204 76.588039 80.480037 87.480037 94.480037 98.37203 104.588039 108.088039 114.30404 121.30404 127.52004 131.41205 138.41205 141.91205 148.91205 153.57405 157.07405 162.52005 168.73606 175.73606 181.95206 186.61406 192.83007 196.72206 200.22206 206.43807 213.43807 219.65407 223.54607 230.54607 235.99207">triggers as a single chain or several chains.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 638.8729)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00202 8.342021 12.512022 20.852025 25.022025 33.362028 37.53203">3.8.1.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 638.8729)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00202 10.007021 20.83702 31.667023 35.837026 40.007028 49.172029 54.167028 62.507028 68.342029 76.68203 85.02203 89.19203 93.36203 102.52703 108.36203 112.53203 121.69703 130.86203 139.20203 145.03704 149.20703 160.03704 169.20203 178.36702 187.53202 195.87201 204.212 209.207 213.377 222.54199 231.70699 240.04698 244.21698 249.21198 258.37699 262.547 273.37699 284.20698">PDB Interval Trigger Connections to DAC</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="621.1229" x=".00104 4.66304 11.66304 15.16304 19.05504 26.05504 29.94704 35.39304 38.89304 51.339044 60.677045 70.78504 74.28504 77.78504 85.569049 95.67705 105.015048 108.515048 112.40704 119.40704 123.29904 129.51505 134.17705 141.17705 147.39305 151.28505 154.78505 158.67705 163.33905 167.23105 174.23105 181.23105 187.44705 192.10906 195.60906 201.82506 208.82506 215.82506 222.82506 229.04106 235.25707 239.14907 243.04106 250.04106 257.04109 262.4871 265.9871 269.8791 276.8791 280.3791 290.4871 300.5951 309.9331 313.4331 319.6491 324.3111 330.5271 334.0271 337.9191 348.8111 355.8111 359.7031 365.9191 376.8111 383.0271 390.0271 393.9191 400.1351 407.1351 410.6351 416.8511 422.29713 425.79713 430.4591 437.4591 441.3511 445.2431 452.2431 462.3511 467.79713">In this MCU, PDB interval trigger connections to DAC are implemented as follows.</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>
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