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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_153.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

479 lines
46 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">3.9.3.6</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 9.165 13.335001 21.675004 30.015004 40.845006 51.675008 62.50501 66.67501 78.34501 87.51001 95.85001 101.68501 110.02502 115.02002 119.19002 128.35501 137.52 141.69 145.86 155.025 159.19499 168.35999 177.52498 189.19498 193.36498 203.36998 212.53498 224.20497 232.54497 238.37998 242.54998 255.04497 264.20997 273.37498 281.71498">FlexCAN Operation in Low Power Modes</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=".00301 8.55701 15.55701 21.77301 25.27301 33.05701 36.949014 43.165014 50.165014 59.503015 69.611019 79.71902 83.21902 94.111019 101.111019 108.111019 115.111019 119.00301 125.21902 128.71903 132.61103 138.05702 141.55702 148.55702 155.55702 161.77303 166.43503 172.65103 176.54303 180.43503 187.43503 194.43503 200.65103 204.54303 208.04303 211.93503 218.93503 222.43503 232.54303 241.09703 248.88103 258.21903 261.71903 267.93504 274.93504 281.93504 285.43504 295.54304 304.09703 311.881 325.09703 328.59703 339.489 346.489 353.489 359.70503 365.15104 368.65104 372.15104 385.36705 389.25904 393.15104 400.15104 403.65104 407.54304 414.54304 420.75904 424.25904 431.25904 434.75904 447.20506 457.31306 463.52906 467.02906 474.02906 481.02906">The FlexCAN module is operational in VLPR and VLPW modes. With the 2 MHz bus</tspan><tspan y="80.25" x=".00301 6.2190105 10.111011 17.111012 23.327012 30.327012 33.82701 37.32701 41.219015 48.219015 54.435014 57.935014 62.59701 68.81301 74.25901 78.15101 84.36701 89.81301 93.70501 97.20501 102.65101 109.65101 116.65101 123.65101 130.651 135.313 139.205 145.421 152.421 155.921 163.705 167.597 173.813 180.813 190.151 200.259 210.367 213.867 217.759 222.421 228.63701 235.63701 241.08301 245.74501 251.96102 256.62303 260.12303 264.785 271.001 274.893 281.109 284.609 288.501 293.94703 297.44703 304.44703 311.44703 318.44703 321.94703 328.94703 335.94703 342.94703 348.39305 351.89305 355.39305 363.94703 370.94703 377.16304 380.66304 387.66304 391.55503 395.44703 398.94703 402.83903 406.73103 417.62303 421.515 428.515 435.515 439.015 446.015 452.23103 456.893 463.109 474.001 480.217 484.109 490.325 494.987">clock, the fastest supported FlexCAN transfer rate is 256 kbps. The bit timing parameters</tspan><tspan y="96.25" x=".00301 3.8950105 10.89501 14.39501 18.28701 25.28701 31.50301 35.00301 45.89501 52.89501 59.89501 66.89501 70.78701 77.00301 80.50301 91.39501 98.39501 103.84101 107.73301 111.23301 118.23301 124.44901 127.94901 134.16501 141.16501 145.057 152.057 157.503 161.395 167.61101 174.61101 178.11101 182.77301 189.77301 194.43502 197.93502 201.82701 208.82701 215.04302 218.54302 225.54302 231.75902 241.86702 245.36702 250.02902 254.69103 260.907 267.907 274.907 281.12303 288.12303 294.33903 301.33903 304.83903 308.33903 315.33903 322.33903 326.23103 329.73103 334.393 341.393 345.285 349.177 352.677 357.339 364.339 371.339 377.555 381.447 385.339 392.339 399.339 405.555 409.447 413.339 417.231 424.231 427.731 431.623 437.069 440.569 447.569 454.569 460.015 465.46104 469.35304 476.35304 480.24504 486.46104">in the module must be adjusted for the new frequency, but full functionality is possible.</tspan><tspan y="120.65" x=".00306 8.55706 15.55706 21.77306 25.27306 33.05706 36.949064 43.165063 50.165063 59.503065 69.61106 79.71906 83.21906 94.11106 101.11106 108.11106 115.11106 119.00306 125.21906 128.71906 134.93506 141.15106 148.15106 151.65106 158.65106 164.86707 168.36707 174.58307 181.58307 188.58307 193.24507 197.13707 204.13707 211.13707 215.79907 222.01508 229.01508 232.51508 236.40708 243.40708 246.90708 253.90708 260.12309 267.12309 273.33909 278.00108 284.21708 288.10908 294.32508 297.82508 304.04109 307.54109 317.64909 323.86509 330.86509 337.0811 344.0811 351.0811 354.5811 358.47309 365.47309 369.36509 375.5811 380.24308 384.90507 391.90507 398.90507 402.79707 406.29707 410.18907 417.18907 420.68907 428.47306 437.02705 447.13505 454.91905 458.41905 464.63505 471.63505">The FlexCAN module can be configured to generate a wakeup interrupt in STOP and</tspan><tspan y="136.65001" x=".00306 10.111061 18.665062 26.449063 34.233064 37.733064 48.625066 55.625066 62.625066 68.841068 74.28706 77.78706 81.28706 94.50307 101.50307 107.71907 114.71907 118.21907 122.11107 129.11107 135.32707 138.82707 146.61107 150.50307 156.71907 163.71907 173.05707 183.16507 193.27307 196.77307 200.66507 206.11107 209.61107 215.82707 222.82707 229.82707 234.48908 238.38108 245.38108 252.38108 257.04307 263.25907 270.25907 273.75907 277.65107 284.65107 288.15107 295.15107 301.36708 308.36708 314.58308 319.24507 325.46107 329.35307 335.56907 339.06907 345.28507 348.78507 358.89308 365.10908 372.10908 378.32508 385.32508 392.32508 395.82508 399.32508 405.54109 409.04109 413.70307 419.91908 426.13508 432.35108 437.7971 443.2431 447.1351 454.1351 460.3511 463.8511 467.7431">VLPS modes. When the FlexCAN is configured to generate a wakeup, a recessive to</tspan><tspan y="152.65001" x=".00306 7.00306 14.003059 24.895062 28.787062 35.787065 42.003065 49.003065 52.895067 56.395067 60.287069 64.949069 71.16507 78.16507 83.61107 87.50307 91.395069 95.28706 102.28706 109.28706 112.78706 119.78706 126.78706 130.28707 134.17906 141.17906 147.39507 150.89507 160.23307 170.34107 180.44907 183.94907 190.94907 197.94907 203.39507 206.89507 213.89507 220.11107 227.11107 233.32707 237.98908 244.20508 248.09708 254.31308 259.7591 263.2591 269.4751 276.4751 279.9751 283.8671 290.8671 294.7591 300.9751 305.6371 310.29908 317.29908 324.29908 328.19108">dominant transition on the CAN bus generates an interrupt.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 247.2)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00398 8.336021 12.5060219 20.846024 25.016024 33.356027 37.526029">3.9.3.7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 247.2)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00398 9.16102 13.33102 21.67102 30.01102 40.841024 51.671026 62.501028 66.67103 77.50103 86.66603 94.16603 102.506038 106.67603 119.171039 128.33603 137.50102">FlexCAN Doze Mode</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="229.45" x=".00302 8.55702 15.55702 21.773022 25.273022 35.381025 42.381025 48.597024 54.813024 58.313024 69.205028 76.205028 83.205028 89.42103 92.92103 97.58303 104.58303 109.24503 112.74503 116.63703 123.63703 129.85303 133.35303 141.13703 145.02902 151.24503 158.24503 167.58303 177.69103 187.79903 191.29903 202.19103 209.19103 216.19103 223.19103 227.08303 233.29903 236.79903 240.69103 246.13703 249.63703 253.52902 260.52903 266.74504 270.24504 275.69105 281.90705 292.79905 299.01506 302.51506 308.73106 314.17707 317.67707 321.56907 328.56907 334.78507 338.28507 351.50108 357.71708 361.60908 365.50108 369.00108 375.21708 382.21708 389.21708 392.71708 402.82508 411.37907 419.16307 432.37907 435.87907 446.77107 453.77107 460.77107 466.98707 472.43309 475.93309 480.59507 487.59507">The Doze mode for the FlexCAN module is the same as the Wait and VLPW modes for</tspan><tspan y="245.45" x=".0030099999 3.8950105 10.89501 17.111012 20.611012 26.827012 33.82701 37.719015 44.719015">the chip.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 103.75732 341)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.005 10.667001 21.339 25.787 30.235 39.131 48.907 58.683004 64.011 68.459 78.235 88.011 94.235 103.131008 108.45901 112.907009 122.68301">SPI configuration</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="324.25" x=".00502 8.55902 15.55902 19.451022 24.897023 28.397023 33.84302 40.05902 46.27502 50.167024 54.059026 61.059026 68.05902 71.55902 77.00502 84.00502 94.89702 105.78902 112.00502 116.66702 120.55902 126.775028 132.99103 138.43703 141.93703 148.93703 155.93703 166.04503 169.54503 173.43703 180.43703 186.65303 190.15303 201.04503 208.04503 215.04503 222.04503 225.93703 232.15303 235.65303 242.65303 248.86904 254.31504 257.81504 264.81504 271.03105 277.24705 284.24705 287.74705 293.96305 300.96305 307.96305 312.62504 316.51704 323.51704 330.51704 335.17903 341.39503 348.39503 351.89503 355.78703 362.78703 366.28703 370.17903 377.17903 383.39503 386.89503 393.11103 400.11103 404.00303 411.00303 414.50303 418.00303 425.78703 432.78703 437.449 440.949">This section summarizes how the module has been configured in the chip. For a</tspan><tspan y="340.25" x=".00503 6.2210309 13.221031 24.113034 31.113034 35.775033 41.99103 48.99103 55.20703 62.20703 67.65303 71.54503 78.54503 84.76103 88.26103 95.26103 101.477039 106.923038 113.13904 117.80104 121.69304 128.69304 132.58504 136.47704 143.47704 150.47704 153.97704 160.97704 165.63904 169.13904 173.03104 180.03104 186.24704 189.74704 200.63904 207.63904 214.63904 221.63904 225.53104 231.74704 235.24704 239.13904 243.03104 248.47704 254.69304 258.58506 263.24705 266.74705 270.24705 275.69306 281.90907 288.12507 291.62507 295.51707 302.51707 308.73307 312.23307 323.12507 330.12507 337.12507 344.12507 348.01707 354.23307 358.89506 364.34107 367.84107 374.84107 381.05708 388.05708 391.94908 398.16508 404.38108 408.27308 414.48908 421.48908 424.98908 431.20509 438.20509 444.42109 451.42109 455.31309 461.52909 466.19108">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 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01034" 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 54 734.93869)" 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 54 751.756)" 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">153</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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