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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_136.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

125 lines
26 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" 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">3.8.2.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 54)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.005001 18.345002 23.34 31.68 37.515 46.68 55.02 59.190004 63.360006 74.19 78.36 87.525 95.865009 104.20501 108.37501 120.045009 129.21 134.205 138.375 147.54 156.70499">External Clock Options</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="36.25" x="-.001 9.337001 16.337002 19.837002 26.837002 33.053 37.715 43.931 50.931 54.823 58.715005 62.215005 68.43101 74.64701 80.863018 87.863018 91.363018 99.14702 107.70102 120.14702 123.64702 127.53902 132.98502 136.48502 142.70102 146.59302 153.59302 159.80902 166.80902 173.02503 180.02503 183.52503 190.52503 197.52503 201.02503 204.91703 211.91703 218.13303 221.63303 225.52503 232.52503 236.41703 242.63303 247.29503 254.29503 260.51103 264.403 267.903 274.903 281.903 287.34904 290.84904 297.06504 300.95704 307.95704 314.17304 321.17304 324.67304 329.33503 333.22703 340.22703 346.44303 349.94303 357.72703 366.281 378.72703 382.22703 386.889 393.105 397.767 403.983 408.645 414.091 417.591 421.483 428.483 431.983 435.875 439.767 443.267 449.483 454.92903 458.42903 463.87504 470.87504 476.32106 480.21305 486.42906">By default each FTM is clocked by the internal bus clock (the FTM refers to it as system</tspan><tspan y="52.25" x="-.0009900001 6.2150108 10.107011 17.10701 23.32301 30.32301 34.98501 38.48501 41.98501 50.53901 56.75501 62.97101 69.97101 73.47101 84.36301 91.36301 98.36301 105.36301 109.255008 115.47101 118.97101 125.18701 132.18701 139.18701 143.07901 149.29502 153.18701 160.18701 165.63301 169.13301 175.34902 178.84902 183.51102 189.72702 196.72702 200.61902 206.06502 209.95702 216.17302 220.83502 224.33502 229.78102 235.99703 239.88903 243.78102 247.67302 254.67302 261.67304 265.17304 269.06504 276.06504 282.28105 286.17304 289.67304 295.88905 299.78105 303.67304 310.67304 320.78105 326.22706 329.72706 333.61906 340.61906 346.83506 350.33506 361.22706 368.22706 375.22706 382.22706 386.11906 392.33506 395.83506 399.72706 406.72706 410.22706 417.22706 423.44306 426.94306 433.15907 437.05107 444.05107 450.26707 457.26707 463.48307 470.48307 473.98307 478.64506 483.30705 490.30705">clock). Each module contains a register setting that allows the module to be clocked from</tspan><tspan y="68.25" x="-.0009400001 6.2150609 13.215061 16.715062 22.93106 29.93106 33.823064 40.039064 44.70106 51.70106 57.91706 61.809064 65.30907 71.52507 75.41707 82.41707 88.63307 95.63307 99.13307 103.02507 110.02507 115.47107 119.36307 125.57907 131.79508 138.79508 142.29508 145.79508 154.34908 161.34908 167.56508 172.22708 178.44309 181.94309 188.15909 192.82109 199.0371 202.5371 206.4291 216.5371 223.5371 227.0371 233.2531 240.2531 244.1451 250.3611 255.0231 262.0231 268.2391 272.1311 275.6311 283.4151 291.9691 304.4151 311.4151 320.7531 329.3071 339.4151 344.0771 354.1851 361.1851 364.6851 371.6851 375.5771 382.5771 388.0231 391.5231 395.4151 402.4151 408.6311 412.5231 416.0231 422.2391 428.4551 435.4551 438.9551 445.9551 452.1711 455.6711 461.11714 467.33314 471.22514 477.44114 483.65715 487.54914 493.76515">an external clock instead. There are two external FTM_CLKINx pins that can be selected</tspan><tspan y="84.25" x="-.0009400001 6.99906 13.99906 17.49906 23.715062 30.715062 37.71506 41.21506 48.99906 57.553064 69.99906 73.49906 84.39106 91.39106 98.39106 105.39106 109.28306 115.49906 118.99906 125.99906 129.89107 136.10707 139.60707 143.49907 150.49907 156.71508 160.21508 167.99907 178.10707 185.89107 194.44507 201.44507 204.94507 209.60707 215.82308 222.82308 226.71508 232.16107 236.05307 242.26908 246.93108 250.43108 254.32308 261.32307 264.82307 268.71507 275.71507 281.93107 285.43107 293.21507 297.87705 310.32307 313.82307 324.71507 331.71507 338.71507 345.71507 349.60707 355.82307">by any FTM module via the SOPT4 register in the SIM module.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 178.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00193 8.338071 12.508072 20.848073 25.018073 33.358076 37.528078">3.8.2.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 178.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00194 9.16306 13.333061 21.673062 30.013062 39.178064 43.348066 48.343065 54.178064 62.518064 71.68306 80.84806 89.188068 98.353069 106.69307 115.03307 119.20307 127.543079 131.71308 140.87807 149.21807">Fixed frequency clock</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="161.05" x=".00206 8.55606 15.55606 21.77206 25.27206 29.934062 33.82606 40.82606 47.04206 54.04206 57.54206 62.20406 66.86606 73.08206 80.08206 87.08206 93.298069 100.298069 106.51407 113.51407 117.01407 123.23007 127.12207 134.12207 140.33808 147.33808 150.83808 155.50008 162.50008 167.16208 170.66208 176.87808 183.09409 189.31009 196.31009 199.81009 207.59409 216.14809 228.59409 232.09409 235.98609 241.43209 244.93209 257.37809 266.7161 276.8241 284.6081 292.3921 301.7301 310.2841 320.3921">The fixed frequency clock for each FTM is MCGFFCLK.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 255.59999)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00293 8.337071 12.507072 20.847073 25.017073 33.357076 37.527078">3.8.2.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 255.59999)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00293 9.16207 18.32707 30.822072 34.992074 39.162076 48.327077 53.322076 61.662076 67.49708 73.33208 82.49708 91.66208 96.65708">FTM Interrupts</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="237.84999" x="-.00293 8.55107 15.55107 21.76707 25.26707 33.05107 36.943075 43.159074 50.159074 58.713075 62.605077 73.49708 79.71308 84.375087 87.875087 94.875087 101.09109 106.53709 110.03709 120.929088 127.929088 131.82109 135.71309 139.60509 146.60509 150.49709 156.71309 160.21309 165.65909 172.65909 179.65909 184.32109 190.5371 196.7531 202.1991 205.6991 212.6991 217.3611 220.8611 224.7531 231.7531 235.6451 241.8611 246.5231 251.1851 258.18513 265.18513 269.07713 272.57713 276.07713 286.18513 293.18513 303.29313 309.50914 316.50914 322.72514 327.38713 330.88713 334.38713 338.2791 345.2791 351.49513 356.94114 363.15715 366.65715 372.10316 379.10316 386.10316 390.76515 396.98115 403.19715 408.64317 412.14317 418.35917 423.02116 429.23716 432.73716 442.84516 452.18318 454.70317">The FlexTimer has multiple sources of interrupt. However, these sources are OR'd</tspan><tspan y="253.84999" x="-.0029 3.8891006 10.889101 17.889101 24.105103 27.997103 34.9971 41.2131 45.8751 49.3751 53.2671 60.2671 63.7671 70.767108 76.98311 83.98311 90.19911 94.861118 101.07712 104.96912 111.18512 114.68512 120.90112 124.40112 129.84712 133.73912 140.73912 147.73912 151.63112 157.84712 161.34712 165.23912 172.23912 176.13112 182.34712 187.00913 191.67113 198.67113 205.67113 209.56313 213.06313 217.72513 223.94113 230.94113 237.94113 244.15714 249.60314 253.49514 256.99513 260.88713 267.88713 271.38713 275.2791 282.2791 288.49513 291.99513 295.88713 302.88713 306.7791 312.99513 317.6571 322.3191 329.3191 336.3191 340.2111 343.7111 349.9271 356.9271 363.9271 367.8191 372.48109 379.48109 383.37309 387.26509 393.48109 398.14308 401.64308 405.14308 418.35908 425.35908 431.57508 438.57508 442.07508 448.29109 455.29109 458.79109 466.57508 475.12907">together to generate a single interrupt request to the interrupt controller. When an FTM</tspan><tspan y="269.85" x="-.0029 3.8891006 10.889101 14.781101 20.9971 25.659102 30.321103 37.321104 44.321104 48.213106 51.713106 58.713106 64.92911 71.14511 78.14511 82.80711 88.25311 91.75311 95.25311 99.915119 106.13112 112.34712 119.34712 122.84712 126.73912 133.73912 139.95513 143.45513 151.23912 159.79312 172.23912 175.73912 181.18512 185.07712 191.29312 195.18512 202.18512 207.63112 211.13112 215.79312 222.00913 229.00913 232.90113 238.34712 242.23912 248.45513 253.11713 258.56315 262.06315 266.72514 274.50914 286.95515 294.73915 298.23915 301.73915 309.52314 318.86116 322.36116 325.86116 332.07716 339.07716 346.07716 349.57716 357.36116 365.91514 376.02314 384.57713 394.68513 402.46913 407.1311 410.6311 414.5231 421.5231 425.0231 432.0231 438.2391 442.1311 448.3471 453.0091 463.9011 467.7931 474.7931 481.0091 484.5091 488.4011 495.4011">interrupt occurs, read the FTM status registers (FMS, SC, and STATUS) to determine the</tspan><tspan y="285.85" x="-.0029 6.2131006 13.2131 19.4291 25.6451 29.5371 33.0371 36.929105 43.929105 47.821107 54.037107 58.699106 63.361104 70.3611 77.3611 81.2531 84.7531 90.1991 97.1991 104.1991 108.8611 115.0771 121.293109">exact interrupt source.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 380.4)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.0069 8.333101 12.503101 20.843102 25.013102 33.353105 37.523107">3.8.2.5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 380.4)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.0069 9.1581 18.323101 30.818102 34.988103 44.153104 52.493104 61.658105 65.8281 70.823108 74.9931 85.823108 94.16311 99.15811 107.498119 115.83812 120.83312 125.00312 134.16812 143.33312 147.50312 151.67311 160.8381 170.0031 179.16809 184.16309">FTM Fault Detection Inputs</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="362.65" x=".0031 8.5571 15.5571 21.773102 25.273102 29.935103 36.935106 40.827108 44.71911 51.71911 61.82711 65.71911 72.71911 79.71911 83.21911 87.88111 94.097118 101.097118 104.98911 108.88111 112.38111 119.38111 125.597118 129.48912 135.70513 141.92113 145.81313 149.70513 156.70513 163.70513 167.20513 171.09712 178.09712 185.09712 192.09712 195.98912 199.48912 206.48912 213.48912 217.38112 221.27312 228.27312 235.27312 240.71912 244.21912 248.88112 255.88112 260.54313 264.04313 267.93513 274.93513 281.15113 284.65113 292.43513 300.9891 313.43513 316.93513 327.82713 334.82713 341.82713 348.82713 352.71913 358.93513 364.38114 367.88114 374.09715 378.75914 384.97514 388.47514 393.92115 400.13716 404.02915 410.24516 416.46116 420.35316 426.56916 433.56916 437.06916 444.06916 447.96116 454.17716 457.67716 461.56916 468.56916">The following fault detection input options for the FTM modules are selected via the</tspan><tspan y="378.65" x=".0031100002 7.787111 17.895112 25.679112 34.233114 41.233114 44.733114 49.39511 55.61111 62.61111 66.50311 71.94911 75.84111 82.05711 86.71912 90.21912 94.111118 101.111118 104.611118 108.50311 115.50311 121.71912 125.21912 133.00312 137.66512 150.11112 153.61112 164.50312 171.50312 178.50312 185.50312 189.39511 195.61112 199.11112 202.61112 211.16512 218.16512 224.38112 227.88112 234.09712 241.09712 244.98912 251.20513 255.86713 262.86714 269.08314 272.97514 276.47514 283.47514 287.36714 294.36714 297.86714 304.86714 311.86714 315.75914 319.65113 326.65113 333.65113 337.15113 341.04313 346.48915 349.98915 355.43516 361.65116 365.54316 371.75917 377.97517 381.86717 388.08317 395.08317 398.58317 405.58317 412.58317 416.08317 423.08317 429.29917 433.96116 440.17716 447.17716 451.06916 454.96116">SOPT4 register in the SIM module. The external pin option is selected by default.</tspan><tspan y="403.05" x="13.09313 23.99913 31.78313 40.33713 52.783136 59.783136 63.283136 71.06714 81.17514 91.28314 99.83714 108.39114 115.39114 118.89114 126.78714 130.28714 138.07114 146.62514 159.07114 166.07114 173.07114 180.85514 189.40914 197.96314 204.96314 208.46314 215.46314 219.35514 226.35514 229.85514 236.85514 241.51714 245.01714 254.35514 266.80116 274.58515 281.58515 285.08515 292.08515 299.08515 302.97715 309.97715 316.97715">&#x2022;FTM0 FAULT0 = FTM0_FLT0 pin or CMP0 output</tspan><tspan y="419.05" x="13.09313 23.99913 31.78313 40.33713 52.783136 59.783136 63.283136 71.06714 81.17514 91.28314 99.83714 108.39114 115.39114 118.89114 126.78714 130.28714 138.07114 146.62514 159.07114 166.07114 173.07114 180.85514 189.40914 197.96314 204.96314 208.46314 215.46314 219.35514 226.35514 229.85514 236.85514 241.51714 245.01714 254.35514 266.80116 274.58515 281.58515 285.08515 292.08515 299.08515 302.97715 309.97715 316.97715">&#x2022;FTM0 FAULT1 = FTM0_FLT1 pin or CMP1 output</tspan><tspan y="435.05" x="13.09313 23.99913 31.78313 40.33713 52.783136 59.783136 63.283136 71.06714 81.17514 91.28314 99.83714 108.39114 115.39114 118.89114 126.78714 130.28714 138.07114 146.62514 159.07114 166.07114 173.07114 180.85514 189.40914 197.96314 204.96314 208.46314 215.46314 219.35514 226.35514 229.85514 236.85514 241.51714 245.01714 254.35514 266.80116 274.58515 281.58515 285.08515 292.08515 299.08515 302.97715 309.97715 316.97715">&#x2022;FTM0 FAULT2 = FTM0_FLT2 pin or CMP2 output</tspan><tspan y="451.05" x="13.09313 23.99913 31.78313 40.33713 52.783136 59.783136 63.283136 71.06714 81.17514 91.28314 99.83714 108.39114 115.39114 118.89114 126.78714 130.28714 138.07114 146.62514 159.07114 166.07114 173.07114 180.85514 189.40914 197.96314 204.96314 208.46314 215.46314 219.35514">&#x2022;FTM0 FAULT3 = FTM0_FLT3 pin</tspan><tspan y="477.05" x="13.09313 23.99913 31.78313 40.33713 52.783136 59.783136 63.283136 71.06714 81.17514 91.28314 99.83714 108.39114 115.39114 118.89114 126.78714 130.28714 138.07114 146.62514 159.07114 166.07114 173.07114 180.85514 189.40914 197.96314 204.96314 208.46314 215.46314 219.35514 226.35514 229.85514 236.85514 241.51714 245.01714 254.35514 266.80116 274.58515 281.58515 285.08515 292.08515 299.08515 302.97715 309.97715 316.97715">&#x2022;FTM1 FAULT0 = FTM1_FLT0 pin or CMP0 output</tspan><tspan y="493.05" x="13.09313 23.99913 31.78313 40.33713 52.783136 59.783136 63.283136 71.06714 81.17514 91.28314 99.83714 108.39114 115.39114 118.89114 126.78714 130.28714 139.62514 152.07114 159.85514 166.85514 170.35514 177.35514 184.35514 188.24713 195.24713 202.24713">&#x2022;FTM1 FAULT1 = CMP1 output</tspan><tspan y="509.05" x="13.093121 23.999123 31.783123 40.337125 52.783128 59.783128 63.283128 71.06713 81.17513 91.283138 99.837139 108.391139 115.391139 118.891139 126.78714 130.28714 139.62514 152.07114 159.85514 166.85514 170.35514 177.35514 184.35514 188.24713 195.24713 202.24713">&#x2022;FTM1 FAULT2 = CMP2 output</tspan><tspan y="535.0499" x="13.093111 23.999112 31.783112 40.337114 52.78311 59.78311 63.28311 71.067119 81.17512 91.28312 99.83712 108.39112 115.39112 118.89112 126.787128 130.28713 138.07112 146.62512 159.07112 166.07112 173.07112 180.85512 189.40912 197.96312 204.96312 208.46312 215.46312 219.35512 226.35512 229.85512 236.85512 241.51712 245.01712 254.35512 266.80113 274.5851 281.5851 285.0851 292.0851 299.0851 302.9771 309.9771 316.9771">&#x2022;FTM2 FAULT0 = FTM2_FLT0 pin or CMP0 output</tspan><tspan y="551.0499" x="13.093111 23.999112 31.783112 40.337114 52.78311 59.78311 63.28311 71.067119 81.17512 91.28312 99.83712 108.39112 115.39112 118.89112 126.787128 130.28713 139.62512 152.07112 159.85512 166.85512 170.35512 177.35512 184.35512 188.24712 195.24712 202.24712">&#x2022;FTM2 FAULT1 = CMP1 output</tspan><tspan y="567.0499" x="13.093111 23.999112 31.783112 40.337114 52.78311 59.78311 63.28311 71.067119 81.17512 91.28312 99.83712 108.39112 115.39112 118.89112 126.787128 130.28713 139.62512 152.07112 159.85512 166.85512 170.35512 177.35512 184.35512 188.24712 195.24712 202.24712">&#x2022;FTM2 FAULT2 = CMP2 output</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 663.19998)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00589 8.334111 12.504112 20.844113 25.014113 33.354116 37.524118">3.8.2.6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 663.19998)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00589 9.15911 18.32411 30.81911 34.989114 45.819116 54.159116 59.994115 69.15911 80.82911 89.16911 95.00411 103.34412 107.514118 116.679119 122.514118 126.68411 135.8491 145.0141 153.3541 159.1891">FTM Hardware Triggers</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="645.44998" x=".00511 8.55911 15.55911 21.77511 25.27511 33.059114 41.613115 54.059114 57.559114 63.00511 70.00511 77.00511 83.221118 90.221118 94.88312 101.88312 108.88312 112.775119 118.99112 125.20712 129.09912 132.99112 139.99112 146.99112 150.49112 157.49112 163.70713 168.36913 175.36913 185.47713 191.69313 196.35514 202.57114 206.07114 209.96314 214.62514 218.51714 225.51714 232.51714 238.73314 243.39514 248.84114 252.34114 258.55714 263.21913 269.43513 272.93513 279.15113 286.15113 293.15113 300.15113 306.36714 312.58314 316.47514 322.69114 329.69114 333.19114 337.08314 344.08314 347.58314 351.47514 358.47514 364.69114 368.19114 374.40715 381.40715 385.29914 392.29914 395.79914 402.01515 407.46116 410.96116 415.62315 422.62315 426.51515 430.40715 437.40715 447.51515 452.96116">The FTM synchronization hardware triggers are connected in the chip 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="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 53.999998 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>
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