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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_142.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

478 lines
45 KiB (Stored with Git LFS)
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Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 82)" 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">3.8.5.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 82)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 4.1700007 15.000002 26.670002 30.840003 41.670003 47.505 51.675004 60.015005 68.355 72.525 82.53 87.525 93.36 101.700008 110.865009 120.03001 125.02501">IRO Drive Strength</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="64.25" x="0 8.554 15.554 21.77 25.27 29.932002 39.270006 49.378007 52.878007 59.878007 66.09401 73.09401 76.59401 81.25601 87.472019 94.472019 101.472019 105.36401 110.02602 116.24202 121.68802 125.18802 132.18802 136.08002 143.08002 150.08002 156.29602 160.95803 164.45803 170.67403 177.67403 182.33603 186.99803 193.21404 200.21404 204.10604 207.60604 214.60604 219.26804 223.16004 230.16004 236.37604 239.87604 243.76804 250.76804 256.98405 263.98405 267.48405 273.70005 279.91606 286.91606 290.41606 297.41606 303.63206 307.13206 314.13206 321.13206 325.02406 331.24006 335.13206 342.13206 348.34806 355.34806 358.84806 363.51005 368.17204 375.17204 386.06404 389.56404 395.78004 399.28004 404.72605 408.61805 415.61805 422.61805 426.51005 432.72605 436.22605 443.22605 449.44206 456.44206 459.94206 463.44206 471.22605 478.22605">The IRO pad requires higher current drive than can be obtained from a single pad. For</tspan><tspan y="80.25" x="0 3.8920005 10.892 14.784 20.230002 23.730002 30.730002 36.946004 43.946004 47.838006 54.054006 60.270006 63.770006 67.270008 71.162 78.162 84.378009 87.878009 94.878009 98.770008 105.770008 109.270008 115.48601 120.93201 126.378009 133.378 139.59401 143.48601 149.70201 153.59401 159.81002 166.81002 170.31002 180.41802 184.31002 188.20201 195.20201 198.70201 202.59401 209.59401 215.81002 219.31002 228.64801 241.09401 249.64801 256.648 261.31 270.648 280.756 284.256 289.70204 293.59403 300.59403 307.59403 313.81004 317.70204 321.20204 325.09403 330.54005 334.04005 341.04005 348.04005 355.04005 362.04005 365.93205 372.14805 379.14805 382.64805 389.64805 396.64805 403.64805 410.64805 416.86405 423.86405 427.36405 431.25605 438.25605 441.75605 445.64805 455.75605 462.75605 466.25605 473.25605 479.47206 486.47206 491.91807">this device, the pin associated with the CMT_IRO signal is doubled bonded to two pads.</tspan><tspan y="104.65" x="0 8.554 15.554 21.77 25.27 33.054 43.162004 50.946004 59.500005 66.5 71.162 78.94601 87.50001 97.60801 104.60801 112.39201 122.500019 132.60802 137.27002 140.77002 145.43202 149.32402 155.54003 159.43202 166.43202 169.93202 173.82402 180.82402 184.32402 192.10802 196.77002 209.21602 212.71602 223.60802 230.60802 237.60802 244.60802 248.50002 254.71602 258.216 264.432 270.648 277.648 281.148 288.148 294.364 297.864 304.864 310.31004 316.52604 323.52604 327.02604 330.91804 337.91804 341.41804 347.63404 354.63404 361.63404 366.29603 370.18803 377.18803 384.18803 388.85 395.066 398.566 402.458 409.458 415.674 419.174 426.174 430.066 437.066 440.566 446.782 452.22804 457.67405 464.67405 470.89006 474.78205 480.99806 484.89006 491.10606">The SOPT2[PTD7PAD] field in SIM module can be used to configure the pin associated</tspan><tspan y="120.65" x="0 10.108001 14.000001 17.892003 24.892003 28.392003 32.284006 39.284006 45.500005 49.000005 58.338006 70.784008 79.338008 86.338008 91.00001 100.33801 110.446018 113.946018 119.39201 123.28401 130.28401 137.28401 143.50002 147.39202 150.89202 157.10802 162.55402 166.05402 172.27002 175.77002 182.77002 186.66202 193.66202 200.66202 206.87802 211.54003 215.04003 221.25603 228.25603 232.91803 237.58003 243.79604 250.79604 254.68804 258.18806 265.18806 272.18806 276.08006 283.08006 290.08006 293.97206 297.47206 304.47206 311.47206 316.13404 320.02604 323.52604 330.52604 334.41804 341.41804">with the CMT_IRO signal as a higher current output port pin.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 103.75732 216.2)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".006 11.558001 21.334 32.886 37.334005 46.230005 56.006006 65.782009 71.11001 75.55801 85.33401 95.11001 101.33401 110.23001 115.558017 120.00601 129.78202">RTC configuration</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="199.45" x=".006 8.559999 15.559999 19.452 24.898 28.398 33.844 40.06 46.276 50.168004 54.060007 61.060007 68.060009 71.560009 77.006008 84.006008 94.898 105.79 112.006008 116.66801 120.560009 126.77601 132.992 138.438 141.938 148.938 155.938 166.046 169.546 173.438 180.438 186.654 190.154 201.046 208.046 215.046 222.046 225.938 232.154 235.654 242.654 248.87001 254.31601 257.816 264.816 271.032 277.24803 284.24803 287.74803 293.96403 300.96403 307.96403 312.626 316.518 323.518 330.518 335.18 341.396 348.396 351.896 355.788 362.788 366.288 370.18 377.18 383.396 386.896 393.112 400.112 404.004 411.004 414.504 418.004 425.788 432.788 437.44999 440.94999">This section summarizes how the module has been configured in the chip. For a</tspan><tspan y="215.45" x=".00601 6.2220108 13.222011 24.114012 31.114012 35.776014 41.992013 48.992013 55.20801 62.20801 67.654018 71.54601 78.54601 84.76202 88.26202 95.26202 101.47802 106.92402 113.14002 117.802028 121.69402 128.69403 132.58603 136.47803 143.47803 150.47803 153.97803 160.97803 165.64003 169.14003 173.03203 180.03203 186.24803 189.74803 200.64003 207.64003 214.64003 221.64003 225.53203 231.74803 235.24803 239.14003 243.03203 248.47803 254.69403 258.58604 263.24803 266.74803 270.24803 275.69404 281.91004 288.12605 291.62605 295.51805 302.51805 308.73405 312.23405 323.12605 330.12605 337.12605 344.12605 348.01805 354.23405 358.89604 364.34205 367.84205 374.84205 381.05805 388.05805 391.95005 398.16606 404.38206 408.27406 414.49006 421.49006 424.99006 431.20606 438.20606 444.42207 451.42207 455.31407 461.53007 466.19206">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 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="377.07859" x="164.32798 171.65998 174.99597 182.32798 189.65998 194.32798 200.99997 204.33597 211.00797 215.00397 221.67597 228.34796 231.68396 235.01996 243.68396 251.01596 259.67997 263.01597 269.68797 277.01997 284.35197 288.34797 291.68397 299.01597 306.34797 311.01597 317.68797 321.68397 325.01997 332.35197">Figure 3-50. RTC configuration</tspan></text>
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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="580.9114" x=".005 13.221001 20.221 26.437 33.437 36.937 40.829004 47.829004 54.045003 57.545003 66.883 75.437007 84.77501 88.27501 92.16701 97.61301 101.11301 107.32901 114.32901 120.54501 127.54501 131.43701 137.65302 144.65302 148.15302 154.36902 161.36902 168.36902 171.86902 175.76102 182.76102 188.97702 192.47702 199.47702 206.47702 211.13903 215.03102 218.53102 224.74703 231.74703 238.74703 242.63903 247.30103 254.30103 258.19303 261.69303 272.58503 279.58503 286.58503 293.58503 297.47703 303.69303 307.19303 312.63905 318.85505 322.74705 328.96305 335.17906 339.07106 344.51707 348.01707 351.90907 358.90907 365.12507 368.62507 377.96308 386.51707 395.85508 402.85508 412.19309 420.74708 430.85508 440.96308 451.07109">When the RTC is enabled and the port control module selects the RTC_CLKOUT</tspan><tspan y="596.9114" x=".00503 4.6670305 11.66703 18.66703 24.88303 28.77503 32.66703 39.66703 46.66703 50.16703 53.66703 57.559034 64.55904 70.77504 74.27504 83.61304 92.16704 101.505039 108.505039 117.84303 126.39703 136.50504 146.61304 156.72104 165.27504 168.77504 174.22104 178.11304 185.11304 192.11304 198.32904 202.22104 205.72104 212.72104 219.72104 223.61304 230.61304 237.61304 241.50504 246.95104 250.45104 256.66703 260.16703 267.16703 270.66703 280.77503 286.99104 290.49104 297.49104 302.153 305.653 312.653 319.653 323.153 330.153 340.26103 346.47703 349.97703 356.97703 363.97703 367.86903 374.86903 381.86903 385.76103 389.26103 396.26103 402.47703 407.139 411.031 418.031 424.247 431.247 434.747 439.409 444.07099 451.07099 461.96299 465.46299 474.801 483.35499">function, the RTC_CLKOUT signal outputs a 1 Hz or 32 kHz output derived from RTC</tspan><tspan y="612.9114" x=".00503 7.00503 12.451031 18.66703 22.55903 26.45103 30.34303 36.559034 40.451036 47.451036 52.113035 55.613035 61.829034 67.27503 70.77503 76.22103 83.22103 90.22103 100.32903 107.32903 110.82903 117.82903 124.04504 127.937038 134.93704 145.04505">oscillator as shown below.</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>
<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 4.9999907 10.003991">142</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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