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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_134.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

271 lines
32 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="11.85" x="13.104 23.996003 31.780003 41.888006 51.226007 54.726007 58.618009 65.61801 69.51001 75.72601 80.388019 87.388019 93.60402 97.49602 100.99602 104.888019 109.55002 113.44202 120.44202 127.44202 133.65802 138.32003 141.82003 148.82003 152.32003 158.53603 165.53603 172.53603 179.53603 185.75203 191.96804 195.86003 201.30603 204.80603 208.69803 215.69803 219.19803 229.30603 239.41403 248.75203 255.75203 259.252 266.252 272.46803 277.13 284.13 294.238 300.454 305.116 311.332 314.832 318.724 323.386 327.27799 334.27799 341.27799 347.494 352.15599 355.65599 359.54798 366.54798 373.54798 380.54798 384.43998">&#x2022;PDB interval trigger 0 connects to DAC0 hardware trigger input.</tspan><tspan y="36.25" x="13.10402 23.996022 31.780022 41.888025 51.226026 54.726026 58.618028 65.61803 69.510028 75.72603 80.38803 87.38803 93.604038 97.49603 100.99603 104.88803 109.55003 113.44203 120.44203 127.44203 133.65804 138.32004 141.82004 148.82004 152.32004 158.53604 165.53604 172.53604 179.53604 185.75205 191.96805 195.86005 201.30605 204.80605 208.69805 215.69805 219.19805 229.30605 239.41405 248.75205 255.75205 259.25205 266.25205 272.46806 277.13005 284.13005 294.23805 300.45405 305.11604 311.33204 314.83204 318.72404 323.38603 327.278 334.278 341.278 347.49403 352.156 355.656 359.548 366.548 373.548 380.548 384.44">&#x2022;PDB interval trigger 1 connects to DAC1 hardware trigger input.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 140.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00498 8.335021 12.505022 20.845025 25.015025 33.355028 37.52503">3.8.1.5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 140.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00498 10.825021 21.655022 32.485025 36.655027 46.660028 55.000028 59.995027 68.33503 74.17003 83.33503 91.67503 95.84503 100.01503 109.18003 115.01503 119.18503 128.35002 137.51502 145.85501 151.69002 155.86002 160.03002 169.195 178.36 187.525 192.51999 196.68999 207.51999 216.68498 225.84998 235.01497 243.35497 251.69496 256.68998 260.86 270.025 279.19">DAC External Trigger Input Connections</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="123.05" x="-.00197 4.6600306 11.66003 15.16003 19.05203 26.05203 29.94403 35.39003 38.89003 51.33603 60.67403 70.78203 74.28203 77.78203 81.67403 88.67403 94.89003 98.39003 103.05203 110.05203 113.94403 117.83603 124.83603 134.94403 138.83603 145.83603 152.83603 156.33603 166.44403 176.55204 185.89003 189.39003 195.60604 202.60604 206.49803 212.71404 217.37604 224.37604 230.59204 234.48404 237.98404 241.87604 246.53804 250.43004 257.43006 264.43006 270.64607 275.30805 278.80805 282.70005 289.70005 296.70005 303.70005 307.59205 313.03807 316.53807 322.75407 327.41606 333.63206 337.13206 341.02406 351.91606 358.91606 362.80805 369.02406 379.91606 386.13206 393.13206 397.02406 403.24006 410.24006">In this MCU, the following DAC external trigger inputs are implemented.</tspan><tspan y="147.45001" x="13.102019 23.99402 34.10202 44.210023 53.548025 57.048025 63.264024 70.26402 74.15602 80.372028 85.03403 92.03403 98.25003 102.14203 105.64203 109.53403 114.19603 118.08803 125.08803 132.08803 138.30403 142.96604 146.46604 150.35803 157.35803 164.35803 171.35803 175.25003 178.75003 185.75003 189.64203 193.14203 203.25003 213.35803 222.69603 229.69603 237.48003 246.81803 253.81803 263.92604 270.92604 280.26405 290.37205 299.71006">&#x2022;DAC external trigger input 0: ADC0SC1A_COCO</tspan><tspan y="171.85" x="13.102019 23.99402 34.10202 44.210023 53.548025 57.048025 63.264024 70.26402 74.15602 80.372028 85.03403 92.03403 98.25003 102.14203 105.64203 109.53403 114.19603 118.08803 125.08803 132.08803 138.30403 142.96604 146.46604 150.35803 157.35803 164.35803 171.35803 175.25003 178.75003 185.75003 189.64203 193.14203 203.25003 213.35803 222.69603 229.69603 237.48003 246.81803 253.81803 263.92604 270.92604 280.26405 290.37205 299.71006">&#x2022;DAC external trigger input 1: ADC1SC1A_COCO</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="206.03672" x="232.55204 242.66004 253.55204 262.10603">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="222.25" x="72 82.108 89.108 96.108 100 103.892 110.108 116.324008 120.216 124.108 131.108 138.108 141.608 147.824 154.824 161.824 168.04001 171.54001 177.75601 183.97202 190.97202 194.47202 199.91802 206.13402 210.02602 213.52602 217.41802 224.41802 230.63402 234.13402 241.91802 252.02602 261.364 268.364 275.364 285.47203 295.58003 304.91804 309.58003 319.68803 328.242 337.58003 344.58003 349.242 357.796 367.904 376.45799 381.11997 384.61997 391.61997 395.51197 399.40397 402.90397 406.79597">Application code can set the PDBx_DACINTCn[EXT] bit to</tspan><tspan y="238.25" x="72 78.216 82.108 86 93 103.108 106.608 116.716 126.824008 136.162 139.662 145.878 152.878 156.77 162.98601 167.64801 174.64801 180.86402 184.75601 188.25601 192.14801 196.81002 200.70201 207.70201 214.70201 220.91802 225.58002 229.08002 232.97202 239.97202 246.97202 253.97202 257.864 261.364 271.47203 278.47203 284.68803 291.68803 295.18803 299.08003 306.08003 312.29603 315.79603 322.01203 329.01203 333.674 338.336 344.552 349.99803 356.99803 363.99803 370.99803 377.99803 381.89 388.89 395.89 399.39 409.49803 419.60603">allow DAC external trigger input when the corresponding ADC</tspan><tspan y="254.25" x="72 81.338 88.338 95.338 102.338 108.554 113.216 118.662 122.554 129.554 136.554 140.054 146.27 153.27 164.162 171.162 175.054 181.27 185.162 191.378 194.878 199.54001 203.432 209.64801 216.64801 220.14801 223.64801 233.75601 243.86402 253.20201 260.20204 267.20204 274.98603 284.32405 291.32405 298.32405 302.98603 312.32405 322.43205 331.77006 341.87806 346.54005 350.04005 353.54005 357.43205 362.87806 366.37806 371.82408 378.04008 381.93208">Conversion complete flag, ADCx_SC1n[COCO], is set.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 348.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".007 8.347001 12.517002 20.857003 25.027003 33.367006 37.537008">3.8.1.6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 348.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".007 10.012001 19.177002 23.347002 31.687005 40.027006 45.022005 56.692007 65.857 70.852008 75.022 85.852008 95.017009 104.18201 113.34701 121.68701 130.02701 135.022 139.192 148.357">Pulse-Out Connection</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="331.05" x="-.00599 4.65601 11.65601 18.65601 22.54801 29.54801 33.44001 40.44001 47.44001 53.65601 57.54801 61.04801 68.832019 78.94002 88.278018 91.778018 99.56202 106.56202 110.45402 115.90002 122.11602 126.77802 136.88602 143.88602 147.77802 151.27802 156.72402 160.61602 167.61602 174.61602 180.83202 184.72402 190.17002 193.67002 199.88602 204.54802 210.76403 214.26403 220.48003 227.48003 234.48003 241.48003 247.69603 253.91204 257.80406 264.02006 271.02006 274.52006 278.41206 285.41206 288.91206 295.12806 301.34407 307.56007 314.56007 318.06007 327.39808 339.8441 347.62809 351.12809 358.12809 362.02009 369.02009 375.23609 382.23609 385.73609 391.9521 398.9521 405.9521 409.4521 416.4521 421.8981 428.1141 435.1141 438.6141 443.2761 450.2761 454.93809 458.43809 463.8841 470.1001 480.9921 487.9921 491.8841">Individual PDB Pulse-Out signals are connected to each CMP block and used for sample</tspan><tspan y="347.05" x="-.0059599999 10.10204 13.9940409 20.994042 27.994042 34.99404 45.102045">window.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 441.59999)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00204 8.342041 12.512041 20.852044 25.022044 33.362047 37.532049">3.8.1.7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 441.59999)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00203 10.007031 19.172032 23.342032 31.682034 40.022035 45.017034 56.687036 65.852039 70.84704 75.01704 85.02203 94.187038 102.52704 111.69204 115.86204 124.20204 128.37204 139.20204 147.54204 156.70703 160.87703 169.21703 174.21202 182.55202 188.38703 192.55702 196.72702 210.06203 219.22702 223.39702 231.73702 245.07202 253.41202 262.57704 267.57203 275.91203 280.907 285.07704 294.24205">Pulse-Out Enable Register Implementation</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="423.84999" x="-.00096 8.55304 15.55304 21.76904 25.26904 29.93104 36.931039 40.82304 44.715044 51.715044 61.823045 65.71504 72.71504 79.71504 83.21504 87.10704 93.323047 100.323047 104.21504 110.431049 113.931049 119.377048 126.377048 133.37705 143.48505 148.93105 152.43105 156.32305 163.32305 169.53905 173.03905 179.25505 186.25505 197.14705 204.14705 210.36305 215.02506 218.91706 224.36305 231.36305 238.36305 241.86305 248.86305 253.52506 257.02507 264.02507 271.02507 274.91706 280.36308 286.57908 291.24107 298.24107 305.24107 309.13307 312.63307 318.84907 325.84907 332.06507 339.06507 342.95707 349.17308 352.67308 357.33506 363.55107 370.55107 374.44306 379.88908 383.78108 389.99708 394.65907 398.15907 404.37507 408.26707 411.76707 415.65907 422.65907 428.87507 432.37507 443.26707 450.26707 457.26707 464.26707 468.15907 474.37507 477.87507 484.09107 491.09107">The following table shows the comparison of pulse-out enable register at the module and</tspan><tspan y="439.84999" x="-.00093 6.2150709 13.215071 17.10707 24.10707 27.60707 31.499072 37.715074 44.715074 50.931074 54.823076">chip level.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 171 506.39997)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="13.97108 21.30308 27.97508 35.30708 38.64308 45.315084 48.651086 55.323087 59.319086 65.99109 72.663089 84.999088 93.00308 101.66708 110.331089 113.66708 120.999088 128.33109 131.66709 138.33908 145.01108 149.00708 156.33908 163.67108 167.66709 171.00308 177.67508 185.00708 191.67908 199.01108 202.34708 209.01908 212.35507 217.02307 223.69507 231.02707 234.36307 241.03507 245.03107 251.70307">Table 3-54.PDB pulse-out enable register</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 663.1)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 13.344002 22.240002 26.688002">3.8.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.757328 663.1)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 9.776 14.224001 23.120003 32.016004 41.792005 46.240007 60.464006 69.36001 75.58401 80.032009 91.58401 101.36001 111.13601 116.46401 120.91201 130.688 140.464 146.688 155.584 160.912 165.36 175.136">FlexTimer Configuration</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="646.35" x=".00001 8.554009 15.554009 19.44601 24.892012 28.392012 33.838014 40.054014 46.27001 50.162015 54.054018 61.054018 68.054019 71.554019 77.000019 84.000019 94.89201 105.78401 112.000019 116.66202 120.554019 126.77002 132.98603 138.43202 141.93202 148.93202 155.93202 166.04003 169.54003 173.43202 180.43202 186.64803 190.14803 201.04003 208.04003 215.04003 222.04003 225.93202 232.14803 235.64803 242.64803 248.86403 254.31003 257.81004 264.81004 271.02604 277.24205 284.24205 287.74205 293.95805 300.95805 307.95805 312.62004 316.51203 323.51203 330.51203 335.174 341.39 348.39 351.89 355.782 362.782 366.282 370.174 377.174 383.39 386.89 393.10603 400.10603 403.99803 410.99803 414.49803 417.99803 425.782 432.782 437.444 440.944">This section summarizes how the module has been configured in the chip. For a</tspan><tspan y="662.35" x=".00002 6.2160208 13.216021 24.10802 31.10802 35.77002 41.98602 48.98602 55.20202 62.20202 67.64802 71.540019 78.540019 84.75602 88.25602 95.25602 101.47202 106.91802 113.134029 117.79603 121.68803 128.68802 132.58002 136.47202 143.47202 150.47202 153.97202 160.97202 165.63402 169.13402 173.02602 180.02602 186.24202 189.74202 200.63402 207.63402 214.63402 221.63402 225.52602 231.74202 235.24202 239.13402 243.02602 248.47202 254.68802 258.58003 263.242 266.742 270.242 275.68803 281.90403 288.12004 291.62004 295.51203 302.51203 308.72804 312.22804 323.12004 330.12004 337.12004 344.12004 348.01203 354.22804 358.89 364.33604 367.83604 374.83604 381.05204 388.05204 391.94404 398.16004 404.37605 408.26805 414.48405 421.48405 424.98405 431.20005 438.20005 444.41606 451.41606 455.30805 461.52406 466.18605">comprehensive description of the module itself, see the module&#x2019;s dedicated chapter.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 5.499 8.001 16.002 21.006 24.507">Timers</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.011 137.231 142.791 148.351 151.131 157.801 163.911 170.021 173.351 179.461 185.021 193.911 196.691 199.471 205.03099 207.81099 215.03099 220.59099 223.92099 229.48099 233.37099 238.93099 245.04099 250.60099 256.16099 258.94099 267.27098 272.83097 278.94096 285.05094 290.61094 293.39094 296.17094 298.95094 306.17094 311.73094 317.29093 320.07093 322.85093 328.41093 331.19093 336.75093 342.8609 348.9709 351.7509 357.31089 362.87089 368.43089">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="-.00401 4.9999907 10.003991">134</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>
<text xml:space="preserve" transform="matrix(1 0 0 1 391.68 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="44.775 50.274003 53.271005 58.275007 63.279008 67.77901 72.27901 77.283008 79.281009 84.285 86.787 92.79 97.794 105.291 107.289 111.789 116.793 121.797 126.800998 131.805 136.305 138.80699 143.81099 146.80799 149.30998 151.81198 154.31398 159.31798 163.81798">Freescale Semiconductor, Inc.</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54 763.756)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="180.87 188.65 194.20999 200.31999 205.87999 209.76999 215.32999 218.10999 220.88999 228.10999 234.21999 239.77999 242.55998 248.66999 254.22998 259.78999 265.34999 268.12998 270.90998 277.01997 280.34996 286.45994 290.34996 299.23997 304.79997 308.12995 310.90995 317.01994">General Business Information</tspan></text>
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