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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_151.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

543 lines
48 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.63672" x="232.554 242.662 253.554 262.108">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="27.849999" x="72.002 85.218 92.218 98.434009 105.434009 108.934009 119.04201 126.82601 136.16402 139.66402 143.55602 149.00202 152.50202 159.50202 166.50202 170.39402 173.89402 180.89402 186.34001 192.55602 199.55602 203.05602 206.94802 213.94802 217.44802 221.34001 228.34001 234.55602 238.05602 244.27202 251.27202 258.27204 262.16404 266.05604 272.27204 278.48805 282.38005 286.27204 293.27204 300.27204 303.77204 307.27204 311.16404 315.05604 318.55604 322.44804 327.89405 331.39405 336.05604 342.27204 348.48805 355.48805 366.38005 377.27204 383.48805 390.48805 397.48805 403.70405">When USB is not used in the application, it is recommended</tspan><tspan y="43.85" x="72.002 75.894 82.894 89.11 93.002 96.502 100.394 107.394 113.61 117.11 127.218 135.002 144.34 147.84 152.502 158.718 165.718 172.718 176.61 182.826 186.718 193.718 198.38 201.88 211.988 221.326 229.88 239.988 244.65001 254.75801 258.258 264.474 271.474 278.474 281.974 292.082 302.19 312.298 320.852 327.852 334.852 338.352 345.352 349.244 356.244 361.69 365.19 369.852 376.068 386.96 393.176 397.068">that the USB regulator VREGIN and VOUT33 pins remain</tspan><tspan y="59.85" x="72.002 76.664 80.556 87.556 93.772 97.664 101.556 108.556 115.556">floating.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 155.4)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 13.344002 22.240002 26.688002">3.9.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.757328 155.4)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 11.552001 23.104002 34.656003 39.104005 50.656007 60.432008 70.20801 75.53601 79.98401 89.76001 99.53601 105.76001 114.65601 119.98402 124.432018 134.20801">CAN Configuration</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 53.999994)" font-size="14" font-family="TimesLTStd"><tspan y="138.65001" x="-.006 8.548 15.548 19.44 24.886002 28.386002 33.832 40.048 46.264 50.156003 54.048006 61.048006 68.048007 71.548007 76.994 83.994 94.886 105.778 111.994 116.656009 120.548007 126.76401 132.98001 138.42601 141.92601 148.92601 155.92601 166.03401 169.53401 173.42601 180.42601 186.64202 190.14202 201.03401 208.03401 215.03401 222.03401 225.92601 232.14202 235.64202 242.64202 248.85802 254.30402 257.80403 264.80403 271.02003 277.23603 284.23603 287.73603 293.95204 300.95204 307.95204 312.614 316.506 323.506 330.506 335.168 341.384 348.384 351.884 355.776 362.776 366.276 370.168 377.168 383.384 386.884 393.1 400.1 403.992 410.992 414.492 417.992 425.776 432.776 437.438 440.938">This section summarizes how the module has been configured in the chip. For a</tspan><tspan y="154.65001" x="-.00599 6.2100107 13.210011 24.102013 31.102013 35.76401 41.98001 48.98001 55.19601 62.19601 67.64201 71.53401 78.53401 84.750019 88.250019 95.250019 101.46602 106.91202 113.12802 117.79002 121.68202 128.68202 132.57402 136.46602 143.46602 150.46602 153.96602 160.96602 165.62802 169.12802 173.02002 180.02002 186.23603 189.73603 200.62802 207.62802 214.62802 221.62802 225.52002 231.73603 235.23603 239.12802 243.02002 248.46602 254.68202 258.57405 263.23603 266.73603 270.23603 275.68205 281.89805 288.11405 291.61405 295.50605 302.50605 308.72206 312.22206 323.11405 330.11405 337.11405 344.11405 348.00605 354.22206 358.88404 364.33006 367.83006 374.83006 381.04606 388.04606 391.93806 398.15406 404.37007 408.26206 414.47807 421.47807 424.97807 431.19407 438.19407 444.41007 451.41007 455.30207 461.51808 466.18006">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 54 553.36148)" 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">3.9.3.1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 630.1615)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00504 10.824961 19.164963 27.504963 35.844964 40.839963 45.009965 53.349966 61.689966 65.85996 75.02496 83.36497 87.534969 96.69997 101.69497 105.86497 118.35997 129.18997 133.35997 143.36498 147.53498 156.69997 160.86997">Reset value of MDIS bit</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="612.4115" x=".00696 8.56096 15.56096 21.77696 25.27696 34.61496 44.72296 54.830965 61.830965 74.27696 83.61496 92.95296 97.61496 110.06096 120.16896 124.83096 132.61496 137.27696 140.77696 147.77696 151.66896 155.56096 159.06096 162.95296 168.39896 171.89896 177.34496 183.56096 187.45296 190.95296 197.16896 201.83097 205.72296 211.93897 216.60097 220.10097 224.76297 230.97898 236.42498 242.64098 246.53298 250.03298 253.53298 262.08699 269.08699 275.30299 279.96498 286.18098 290.84297 297.84297 302.50495 308.72096 312.22096 315.72096 323.50495 327.39695 333.61296 340.61296 349.95097 360.05897 370.16697 373.66697 384.55897 391.55897 398.55897 405.55897 409.45097 415.66697 419.16697 423.05897 428.50498 432.00498 439.00498 442.89698 448.343 454.559 461.559 465.451 471.667">The CAN_MCR[MDIS] bit is set after reset. Therefore, FlexCAN module is disabled</tspan><tspan y="628.4115" x="-.007 4.655 11.655001 15.547001 19.439002 26.439002 36.547 40.439004 47.439004 54.439004 57.939004 64.15501 67.65501 72.31701 78.53301 83.97901 90.195018 94.08701">following a reset.</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="26.01031" x="378.495 384.99299 390.49198 395.49598 400.99497 403.99198 408.99598 412.49699 414.999 420.003 422.505 429.003 434.50199 437.004 442.503 445.005 451.503 457.00199 462.50099 465.498 468 473.499 478.998 482.499 487.503 490.5 493.002 498.501">Chapter 3 Chip Configuration</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="130.01 137.23 142.79 148.34999 151.12999 157.79999 163.90999 170.01999 173.34999 179.45999 185.01999 193.90999 196.68999 199.46999 205.02999 207.80998 215.02999 220.58998 223.91999 229.47998 233.36998 238.92998 245.03998 250.59998 256.15998 258.93998 267.26997 272.82997 278.93995 285.04994 290.60993 293.38993 296.16993 298.94993 306.16993 311.72993 317.28993 320.06993 322.8499 328.4099 331.1899 336.7499 342.8599 348.96989 351.74989 357.30989 362.86988 368.42988">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 5.5030105 8.5000109 13.504011 18.50801 23.00801 27.50801 32.512014 34.510015 39.514017 42.016016 48.019014 53.023015 60.520017 62.518018 67.01802 72.02202 77.02602 82.030017 87.03401 91.53401 94.03601 99.04001 102.03701 104.53901 107.04101 109.54301 114.547008 119.047008">Freescale Semiconductor, Inc.</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="151.308 156.312 161.316">151</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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