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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

130 lines
29 KiB (Stored with Git LFS)
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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">3.9.1.1</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 10.005001 15.000001 24.165 32.505 38.34 47.505 55.845 60.84 65.01 75.840007 80.01 89.175 97.51501 105.85501 110.02501 119.19001 128.35501 132.52501 144.195 153.36 158.355 162.525 171.68999 180.85498">Ethernet 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="64.25" x="-.00098 8.55302 15.55302 21.76902 25.26902 33.82302 37.715024 44.715024 50.931024 55.59302 62.59302 68.80902 72.70102 76.20102 87.09302 94.09302 101.09302 108.09302 111.985019 118.20102 121.70102 128.70102 134.14702 140.36302 145.80902 149.30902 153.20102 160.20102 166.41703 169.91703 174.57903 181.57903 185.47103 189.36302 196.36302 206.47103 210.36302 217.36302 224.36302 227.86302 234.07903 237.97103 244.97103 251.18703 258.187 263.63304">The Ethernet module uses the following clocks:</tspan><tspan y="88.65" x="13.10304 23.99504 32.54904 39.54904 45.76504 49.26504 56.26504 62.48104 69.48104 73.37304 79.58904 85.805049 88.32504 93.77104 97.27104 102.71704 109.71704 115.16304 119.05504 125.27104 136.16304 139.66304 145.87905 149.77104 156.77104 162.98705 169.98705 173.48705 177.37905 182.82505 186.32505 192.54105 199.54105 206.54105 213.54105 219.75705 225.97306 229.86505 236.08106 243.08106 246.58106 250.47306 257.47306 260.97306 264.86506 271.86506 278.08106 281.58106 292.47306 299.47306 306.47306 313.47306 317.36506 323.58106 327.08106 333.29707 337.18907 344.18907 350.40507 357.40507 360.90507 364.40507 370.62107 376.06709 379.56709 386.56709 392.78309 403.67509 409.89109 416.89109 420.39109 424.28309 431.28309 434.78309 438.67509 445.67509 451.89109">&#x2022;The device's system clock is connected to the module clock, as named in the </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="88.65" x="455.39103 463.945 467.837 474.837 481.053 485.715 492.715 498.931">Ethernet</tspan><tspan y="104.65" x="23.995026 30.211026 37.211027 43.427026 50.427026 54.319028 60.535028">chapter</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="104.65" x="65.19702 68.69702 72.19702 80.75102 87.75102 93.967029 97.467029 108.359027 112.25102 119.25102 123.14302 134.03502 141.03502 151.92702 155.42702 160.87302 167.87302 173.31902 177.21102 183.42702 194.31902 197.81902 204.03502 207.92702 214.92702 221.14302 228.14302 231.64302 236.30503 240.96703 247.18303 254.18303 261.18305 267.39906 274.39906 280.61506 287.61506 291.11506 295.77705 302.77705 307.43904 310.93904 317.93904 324.93904 331.93904 335.43904 347.88505 354.88505 361.88505 367.33106 370.83106 377.83106 384.83106 391.04707 395.70906 401.92506 405.81706 409.70906 416.70906 423.70906 427.20906 431.10105 436.54707 440.04707 447.04707 454.04707 457.54707 469.99308 480.10108 486.31709">. The minimum system clock frequency for 100 Mbps operation is 25 MHz.</tspan><tspan y="120.65" x="13.103012 23.995015 34.103017 41.103017 44.603017 50.819017 57.819017 61.711019 67.92702 72.58902 79.58902 85.80502 89.69702 93.58902 100.58902 105.25102 110.69702 117.69702 124.69702 131.69702 135.58902 139.48102 145.69702 152.69702 156.19702 163.19702 170.19702 173.69702 186.14302 196.25102 202.46703 205.96703 218.41303 223.07503 227.73703 231.23703 237.45304 241.34503 248.34503 254.56104 261.56105 265.06105 272.06105 276.72303 280.22303 287.22303 294.22303 297.72303 310.16905 320.27705 326.49305 329.99305 339.33106 351.77708 356.43907 361.10105 364.60105 370.81706 374.70906 381.70906 387.92506 394.92506 398.42506 401.92506 410.47904 417.47904 421.37104 426.81706 430.31706 436.53306 440.42506 447.42506 453.64106 460.64106 464.14106 468.03306 473.47908 476.97908 483.97908 489.42509 495.64109">&#x2022;An externally-supplied 25 MHz MII clock or 50 MHz RMII clock. This clock is used</tspan><tspan y="136.65001" x="23.995034 30.211033 35.657033 39.157033 43.049036 50.049036 56.265035 59.765035 63.657037 67.549037 78.44103 82.33303 89.33303 96.33303 99.83303 104.49503 110.71104 115.37304 121.58904 126.251049 132.46704 139.46704 145.68305 151.89905 155.39905 160.06105 167.06105 171.72306 175.22306 179.11505 186.11505 192.33106 195.83106 202.04706 209.04706 212.93906 219.15506 223.81707 230.81707 237.03307 240.92507 244.42507 256.87107 261.53306 266.19505 269.69505 276.69505 281.35704 284.85704 294.19505 306.64106 311.30305 315.96504 319.46504 323.35704 330.35704 334.24903 340.46504 345.127 349.789 356.005 362.221 368.437">as the timing reference for the external MII or RMII interface.</tspan><tspan y="152.65001" x="13.103013 23.995015 34.103017 37.603017 41.495019 45.38702 56.279024 62.49502 67.15702 72.60302 76.49502 82.71102 93.60302 100.60302 104.49502 111.49502 118.49502 121.99502 128.21102 132.10301 139.10301 145.31902 152.31902 155.81902 160.48102 167.48102 172.14302 175.64302 179.53502 186.53502 192.75102 196.25102 200.91303 209.46703 218.02103 226.57503 230.07503 237.07503 244.07503 251.07503 258.075 261.575 265.467 269.359 280.251 286.467 291.129 296.575">&#x2022;A time-stamping clock for the IEEE 1588 timers.</tspan><tspan y="178.65001" x="-.0010070801 7.782994 14.782993 19.444994 22.944994 33.836996 40.836996 45.498994 51.714994 55.214994 62.214994 68.43099 72.32299 78.538997 82.43099 86.32299 91.76899 95.26899 102.26899 109.26899 112.76899 116.66099 123.66099 129.87699 133.37699 141.93099 145.82299 152.82299 159.03899 163.70099 170.70099 176.91699 180.80899 184.30899 195.20099 202.20099 209.20099 216.20099 220.09299 226.30899 229.80899 236.025 239.91699 246.91699 253.133 260.133 264.025 271.025 278.025 281.525 288.525 295.525 299.417 303.309 310.309 317.309 322.755 326.255 329.755 335.20103 341.41703 347.63304">For more details on the Ethernet module clocking options, see </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="178.65001" x="351.133 359.68699 363.57899 370.57899 376.79499 381.45698 388.45698 394.67298 398.56498 402.06498 411.40299 415.29499 422.29499 428.511 435.511 439.40299 446.40299">Ethernet Clocking</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="178.65001" x="453.40299">.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 273.2)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00296 8.342961 12.512962 20.852963 25.022963 33.362966 37.532968">3.9.1.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 273.2)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00296 10.832961 23.327961 27.497961 31.667962 35.837965 46.667966 50.837968 60.002969 68.34297 76.682979 80.852977 90.017978">RMII Clocking</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54.000017)" font-size="14" font-family="TimesLTStd"><tspan y="255.45" x=".00697 10.114971 17.114972 20.614972 24.506972 31.506972 35.39897 40.84497 44.34497 51.34497 57.56097 64.560977 68.45297 74.668979 80.88498 84.38498 87.88498 97.22298 109.668979 114.33098 118.99298 125.99298 135.33098 143.88498 151.66898 158.66898 168.00698 176.56098 186.66898 190.16898 194.06098 199.50698 203.00698 206.89897 213.89897 217.79097 224.00698 228.66898 235.66898 241.88498 245.77698 249.66898 256.66899 260.16899 264.06098 267.95298 274.16899 281.16899 284.66899 288.56098 295.56098 299.06098 307.61497 317.72297 326.27696 336.38496 344.93894 348.43894 351.93894 359.72294 365.93894 372.15495">On this device, RMII_REF_CLK is internally tied to EXTAL. See </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54.000017)" font-size="14" font-family="TimesLTStd"><tspan y="255.45" x="375.64799 384.986 388.878 395.878 402.094 409.094 412.594 422.702 426.594 432.04 435.932 440.594 444.486 451.486 458.486 462.378 466.27 473.27">Clock Distribution</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54.000017)" font-size="14" font-family="TimesLTStd"><tspan y="255.45" x="480.27 483.77 488.43199 495.43199"> for</tspan><tspan y="271.44999" x="0 6.2160007 10.108001 17.108002 23.324002 30.324002 34.216005 41.216005 48.216005 51.716005 56.378004 62.594 69.594 76.594 80.486 85.148 91.364009 102.256008 108.47201 115.47201 119.364009 124.810009">clocking requirements.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 366)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00001 8.339992 12.509993 20.849995 25.019995 33.359998 37.53">3.9.1.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 366)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00002 4.1699807 14.174982 24.179984 34.184984 38.354986 46.694986 55.034986 63.374986 71.71499 75.88499 85.04999 89.219989 102.554988 110.89499 116.72999">IEEE 1588 Timers</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54.00003)" font-size="14" font-family="TimesLTStd"><tspan y="348.24998" x="-.00602 8.54798 15.54798 21.76398 25.26398 31.47998 35.371984 42.371984 48.587984 53.24998 60.24998 66.46598 70.35798 73.85798 84.74998 91.74998 98.74998 105.74998 109.641979 115.85798 119.35798 123.24998 130.24997 136.46598 140.35797 147.35797 154.35797 160.57398 166.01998 169.51998 175.73598 179.23598 183.89798 190.89798 197.89798 202.55998 206.05998 212.27599 219.27599 225.49199 232.49199 239.49199 245.708 249.59999 253.09999 256.992 260.884 271.776 277.992 282.654 286.154 297.046 304.046 311.046 318.046 321.938 328.154 331.654 336.31599 343.31599 347.97798 351.47798 356.13996 364.69395 373.24794 381.8019 385.3019 392.3019 399.3019 406.3019 413.3019 416.8019 420.6939 424.5859 435.4779 441.6939 447.13993 451.03193 457.24794 468.13993 475.13993 479.03193 486.03193 493.03193">The ethernet module includes a four channel timer module for IEEE 1588 timestamping.</tspan><tspan y="364.24998" x="-.00602 8.54798 15.54798 21.76398 25.26398 29.155982 33.04798 43.939985 50.155984 54.81798 58.31798 63.76398 70.76398 77.76398 84.76398 91.76398 96.42598 100.31798 105.76398 109.26398 113.155979 120.155979 127.155979 134.15598 138.04798 141.54798 147.76398 153.97998 160.97998 164.87198 171.87198 176.53398 182.74999 186.24999 190.91199 195.57399 199.46599 204.91199 208.80399 215.80399 222.80399 226.30399 229.80399 234.46599 240.68199 244.57399 248.46599 252.35799 259.35798 266.35798 269.85798 273.35798 280.35798 285.01997 288.51997 295.51997 302.51997 306.41197 313.41197 316.91197 323.12797 330.12797 337.12797 343.34397 348.78999 353.45198 356.95198 360.45198 367.45198 374.45198 378.34397 385.34397 392.34397 396.23597 399.73597 405.95198 412.95198 423.84397 430.84397 437.05998 441.72196 447.93797 451.43797 456.09996 459.99195 466.99195 473.99195 480.99195 484.88395">The timer supports input capture (rising, falling, or both edges), output compare (toggle</tspan><tspan y="380.24998" x="-.00602 6.99398 11.65598 15.15598 22.15598 29.15598 33.04798 38.49398 44.70998 48.20998 58.31798 62.209985 66.10198 73.10198 76.60198 83.60198 88.263988 95.263988 102.263988 106.92599 113.14199 124.03399 134.926 141.142 148.142 152.034 158.25 161.75 168.75 175.75 179.642 185.858 190.52 194.412 198.304 205.304 209.966 213.466 216.966 225.52 232.52 238.73601 242.23601 246.128 250.02 260.91203 267.12803 271.79 275.29 286.182 292.398 296.29 302.506 309.506 315.72203 321.16804 324.66804 331.66804 338.66804 342.16804 349.16804 353.83003 360.04603 366.26203 370.15403 376.37004 381.032 384.532 388.424 395.424 401.64 408.64 412.14 419.14 423.802 427.302 433.518 440.518 447.518 453.734 457.626 461.126 465.788 469.68 476.68">or pulse with programmable polarity). The timer matches on greater than or equal (the</tspan><tspan y="396.24998" x="-.00602 6.99398 13.99398 20.99398 27.99398 31.49398 37.70998 43.92598 50.92598 54.42598 59.87198 66.87198 70.76398 77.76398 81.26398 88.26398 95.26398 106.155979 113.155979 119.37198 124.03398 129.47998 132.97998 136.47998 141.92598 148.92598 152.42598 156.31798 163.31798 169.53398 173.03398 179.24999 186.24999 193.24999 200.24999 204.14199 210.35799 215.01999 218.51999 229.41199 233.30399 240.30399 247.30399 251.19599 254.69599 261.69599 268.69599 272.58799 276.08799 282.304 289.304 295.52 300.18199 303.68199 309.89799 316.89799 323.11399 329.33 333.222 337.11399 344.11399 347.61399 358.50599 364.722 368.61399 374.83 381.83 385.33 389.222 396.222 402.438 405.938 412.154 419.154 430.046 437.046 443.262 447.92399 454.13999 457.63999 464.63999 470.856 474.748 481.748 487.964 492.62599">1588 can skip numbers, so the counter might not ever exactly match the compare value).</tspan><tspan y="420.64997" x="-.00602 8.54798 15.54798 21.76398 25.26398 31.47998 38.47998 45.47998 52.47998 56.371984 62.587984 67.249988 70.749988 74.64198 80.08798 83.58798 89.803989 96.803989 100.695987 106.91199 110.41199 114.303989 121.303989 124.803989 131.80399 138.80399 145.01999 149.68199 155.898 159.79 166.006 169.506 175.722 181.168 188.168 195.168 201.384 208.384 213.046 220.046 227.046 234.046 241.046 246.492 250.384 257.384 260.884 264.776 271.776 275.276 279.168 286.168 292.384 295.884 302.1 305.992 312.992 319.208 323.87 330.87 337.086 340.978 344.478 351.478 358.478 363.924 367.424 374.424 381.424 384.924 391.924 397.37004 401.26203 408.26203 415.26203 418.76203 425.76203 432.76203 438.97804 442.47804 449.47804 454.14 457.64 462.302 469.302 476.302">The counter is able to operate asynchronously to the ethernet bus by using one of four</tspan><tspan y="436.64997" x="-.00602 6.2099807 10.101981 17.101983 23.317982 30.317982 33.81798 39.26398 46.26398 53.26398 57.92598 64.14198 70.35799 75.803989 79.303989 82.803989 90.58799 96.80399 103.02">clock sources. See </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54.00003)" font-size="14" font-family="TimesLTStd"><tspan y="436.64997" x="106.51998 115.07398 118.96598 125.96598 132.18198 136.84398 143.84398 150.05998 153.95198 157.45198 166.78998 170.68198 177.68198 183.89798 190.89798 194.78998 201.78998">Ethernet Clocking</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54.00003)" font-size="14" font-family="TimesLTStd"><tspan y="436.64997" x="208.78998 212.28998 216.95198 223.95198 228.61399 232.11399 243.00598 250.00598 254.66799 260.88398 264.38398 271.38398 277.59999 281.49198 287.70799 291.59999 295.49198 300.938"> for more details.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 531.19998)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00203 10.002971 14.997971 24.162972 32.50297 38.33797 47.50297 55.84297 60.83797 65.00797 76.67797 85.84297 94.182979 100.017978 108.35798 113.35298 117.52298 126.68798 135.85298 140.02298 144.19298 153.35797 157.52797 166.69297 175.85796 187.52796 191.69795 201.70296 210.86795 222.53795 230.87795 236.71295 240.88295 253.37795 262.54295 271.70796 280.04795">Ethernet Operation in Low Power Modes</tspan></text>
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