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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_140.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

784 lines
66 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 383.3614)" 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">3.8.4.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 383.3614)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 9.165 19.170002 28.335003 40.83 51.660005 55.830007 64.995 70.83 79.170009 87.51001 95.85001 104.19002 108.360019 116.70002 122.53502 126.70502 135.87001 140.04001 144.21 149.205 157.545 166.70999 170.87999 175.87499 180.04499 184.21498 189.20998 197.54998 203.38498 207.55498 215.89498 220.06497 229.22997 237.56996 245.90996 250.07996 259.24497 268.40998 272.58 281.745 290.91 295.905 300.075 309.24003 318.40504">LPTMR prescaler/glitch filter clocking options</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="365.6114" x="-.00098 8.55302 15.55302 21.76902 25.26902 32.26902 36.93102 43.14702 48.593019 54.809019 61.025018 64.917018 71.13302 75.79502 79.29502 85.511028 92.511028 99.511028 103.011028 110.011028 113.90302 117.79502 121.68702 127.90302 134.90302 138.40302 143.06502 146.95702 150.84902 154.74102 160.95702 165.61902 169.11902 176.11902 180.78102 184.28102 188.17302 195.17302 201.38903 204.88903 213.44303 221.22702 229.78102 242.22702 251.56502 255.06502 265.95704 272.95704 279.95704 286.95704 290.84904 297.06504 300.56504 306.78105 312.99705 319.99705 323.49705 330.49705 336.71305 340.21305 346.42906 350.32106 357.32106 363.53706 370.53706 376.75306 383.75306 387.25306 391.91505 396.57704 403.57704 414.46903 417.96903 424.96903 431.96903 438.18504 441.68504 448.68504 453.34703 456.84703 461.509 468.509 475.509">The prescaler and glitch filter of the LPTMR module can be clocked from one of four</tspan><tspan y="381.6114" x="-.00098 5.4450209 12.445021 19.44502 24.107022 30.32302 36.53902 41.98502 45.48502 52.48502 58.70102 62.59302 68.80902 73.47102 84.36302 88.25502 95.25502 101.47102 108.47102 111.97102 118.97102 125.97102 129.47103 133.36302 140.36302 146.57903 150.07903 158.63303 166.41703 174.97103 187.41703 196.75502 203.75502 210.75502 218.53902 226.32302 235.66101 240.32302 248.10701 257.445 265.229 269.891 273.391 280.391 284.283 288.175 292.83699 296.72898 302.94499 306.83699 313.83699 317.33699 320.83699 329.39097 336.39097 342.60697 346.10697 350.76896 357.76896 361.66096 365.55296 372.55296 382.66096 386.55296 393.55296 400.55296 404.05296 407.94496 414.16096 421.16096 425.05296 431.26896 434.76896 440.21498 447.21498 454.21498 464.32298 469.76899 473.26899 477.16099 484.16099">sources determined by the LPTMR0_PSR[PCS] bitfield. The following table shows the</tspan><tspan y="397.6114" x="-.00098 6.2150208 13.215021 17.107022 24.107022 28.769022 34.215024 41.215024 47.431024 53.647024 57.539026 62.201025 66.093029 72.30903 75.80903 82.02503 85.91703 92.91703 99.13303 106.13303 109.63303 115.84904 121.29504 126.741039 130.63304 137.63304 144.63304 155.52504 161.74105 168.74105 172.63304 178.07904 181.57904 186.24105 193.24105 197.90305 201.40305 205.29505 212.29505 216.18704 221.63304 225.13304 232.13304 236.02504 239.91704 244.57904 248.47104 254.68704 258.57905 265.57905">chip-specific clock assignments for this bitfield.</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="421.7981" x="232.55303 242.66103 253.55303 262.10704">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="438.01139" x="72.00102 80.55502 87.55502 93.77103 97.27103 103.48703 110.48703 117.48703 122.93303 129.14904 136.14904 139.64904 145.86504 149.75704 156.75704 162.97304 169.97304 173.47304 184.36504 191.36504 196.81104 200.70304 204.20304 208.86504 215.08104 225.97304 232.18904 236.08104 243.08104 246.58104 252.79705 259.79707 266.01307 273.01307 276.90507 283.12107 290.12107 293.62107 297.51307 302.17506 305.67506 309.56706 316.56706 322.78306 326.28306 334.83705 342.62104 351.17503 363.62104 372.95906 376.45906 380.35105 385.79707 389.29707 393.18907">The chosen clock must remain enabled if the LPTMR is to</tspan><tspan y="454.01139" x="72.00102 78.217029 85.217029 92.217029 96.109027 100.00102 107.00102 114.00102 120.217029 123.717029 130.71703 137.71703 143.93303 148.59503 154.81104 158.70304 162.59503 169.59503 176.59503 180.09503 183.98703 190.98703 194.48703 200.70304 204.59503 208.48703 211.98703 216.64904 222.86504 229.86504 236.86504 240.75704 245.41904 251.63504 258.63505 262.13505 266.02705 273.02705 283.13505 287.79704 294.79704 301.79704 311.90504 318.12104 322.78303 326.28303 337.17503 344.17503 351.17503 357.39103 362.83705">continue operating in all required low-power modes.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 394.25 526.4114)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.09766" x="1.99704 9.217041 15.327042 18.107043 24.217043 26.997044 32.557046 35.337045 41.447046 47.007047">Chip clock</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 552.9114)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.99604 7.0000407">00</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 552.9114)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.99604">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 392.25 552.9114)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.99604 9.493041 15.991041 22.993042 25.495043 31.993044 38.491044 43.495046 49.498048 52.000047 61.000047 63.502046 65.500049 70.50404 73.00604 78.01004 81.00704 86.01104 91.01504 93.01304 95.51504 98.51204 103.51604 106.018039 111.02203 114.019039 119.02303 124.02703 128.52704 133.53104 136.03304 140.53304 142.53104 147.53504 152.03504">MCGIRCLK &#x2014; internal reference clock</tspan><tspan y="18.83789" x="1.99604 4.99304 9.997041 15.001041 17.503043 20.005043 25.009045 29.509045 34.513048 36.511049 38.50905 43.51305 48.51705 50.515054 55.519056 58.021055 60.019056 65.023059 67.525058 73.52805 78.53205 84.53505 90.53805 93.04005 98.044048 103.04804 109.05104 111.55304 117.55604 122.560039 127.56403">(not available in VLPS/LLS/VLLS</tspan><tspan y="29.83789" x="1.99604 9.493041 14.497042 19.501042 24.505043 29.005043">modes)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 590.4114)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.99606 7.0000607">01</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 590.4114)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.99606">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 392.25 590.4114)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.99606 7.0000607 13.003061 20.005063 22.507063 31.507063 34.009065 39.013067 41.515066 46.015066 52.513067 57.013067 59.515066 64.01506 66.01306 71.01706 75.51706">LPO &#x2014; 1 kHz clock</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 605.9114)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.99607 7.0000708">10</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 605.9114)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.99607">2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 392.25 605.9114)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.99607 7.99907 14.49707 20.995072 25.999073 32.002077 37.006078 42.01008 48.013078 50.515077 59.515077 62.017076 66.517078 71.52107 76.02107 81.02507 86.02907 91.033069 96.03706 99.034069 103.534069 106.036067 111.04006 115.54006 118.04206 123.04606 126.04306 131.04706 136.05106">ERCLK32K &#x2014; secondary external</tspan><tspan y="18.83789" x="1.99607 4.99307 9.99707 12.499071 17.50307 20.50007 25.50407 30.508072 35.00807 40.012075 42.514074 47.014074 49.012075 54.016077 58.516077">reference clock</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 632.4114)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.99608 7.0000808">11</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 632.4114)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.99608">3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 392.25 632.4114)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.99608 8.99808 15.0010809 21.49908 27.50208 34.00008 40.49808 45.502084 51.50508 54.00708 63.00708 65.50908 70.51308 75.01308 77.515079 82.51907 85.516078 90.52007 95.52407 97.52207 100.02407 103.02107 108.02507 110.52707 115.53107 118.52807 123.53207 128.53607 133.03607 138.04007 140.54207 145.04207 147.04007 152.04407 156.54407">OSCERCLK &#x2014; external reference clock</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="629.1614" x="0 7.784001 14.000002 20.216004">See </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="629.1614" x="23.716 33.054 36.946004 43.946004 50.162004 57.162004 60.662004 70.770008 74.662 80.108 84 88.662 92.554 99.554 106.554 110.446 114.338 121.338">Clock Distribution</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="629.1614" x="128.33798 131.83798 136.49999 143.49999 148.16199 151.66199 162.55399 169.55399 174.21599 180.43199 183.93199 190.93199 197.148 201.04 207.256 211.148 215.04 220.486 223.986 230.986 237.986 241.486 245.37799 252.37799 258.594 264.04 270.256 273.756 279.97203 283.864 290.864 297.08003 304.08003 309.52604"> for more details on these clocks.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 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 54 734.93869)" 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 54 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="-.00401 4.9999907 10.003991">140</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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