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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_156.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

226 lines
28 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 76.664 80.556 84.056 87.948 93.394 96.894 100.785999 104.67799 111.67799 117.894 121.785999 128.786 132.286 136.178 143.178 149.394 153.286 156.786 160.678 167.678 171.178 178.178 183.624 187.51599 194.51599 201.51599 205.01599 208.90799 215.90799 219.79999 225.24599 228.74599 234.96199 241.96199 248.96199 253.624 260.624 266.84 273.056 280.056 283.556 287.448 294.448 300.664 304.164 308.826 312.718 317.37998 322.826 326.718 330.218 340.326 347.326 351.98799 358.98799 362.48799 369.48799 374.14997 377.64997 384.64997 390.86598 394.75798 400.97398 404.47398 409.13597 413.79795 420.79795">It is likely that in using this approach the first word of data from</tspan><tspan y="43.85" x="72.002 75.894 82.894 89.11 92.61 100.394008 108.17801 112.84001 116.34001 123.34001 130.34001 135.78601 139.67801 143.17801 154.07 157.962 164.962 171.962 175.854 179.354 186.354 193.354 197.246 200.746 207.746 213.962 217.462 222.12401 228.34001 234.55602 240.77202 244.66402 251.66402 257.88 264.88 268.38 274.596 281.596 286.258 290.91999 297.136 303.352 307.244 311.136 318.136 321.636 325.136 333.68998 340.68998 344.58198 350.02799 353.52799 357.41999 362.866 366.366 373.366 379.582 386.582 392.798 399.798 406.798 413.014 420.014">the SPI host might not be received correctly. This is dependent</tspan><tspan y="59.85" x="72.002 79.002 86.002 89.502 93.394 100.394 106.61 110.11 114.002 118.664 124.880008 131.88 137.326 141.988 148.20401 152.86602 156.36602 161.02802 167.24402 171.13602 177.35202 180.85202 187.85202 193.29802 199.51403 206.51403 210.01403 214.67603 221.67603 226.33803 229.83803 233.73003 240.73003 246.94603 250.44603 258.23005 266.01405 270.67604 274.17604 277.67604 281.56803 288.56803 294.78404 298.28404 305.28404 311.50004 315.39204 321.60804 328.60804 332.10804 339.10804 345.32405 349.21604 359.32405 365.54005 371.75605 378.75605 382.25605 388.47206 395.47206 399.36405">on the transfer rate used for the SPI, the delay between chip</tspan><tspan y="75.85" x="72.002 77.448 83.664 87.556 93.772 99.98801 103.880008 107.380008 113.59601 119.04201 124.48801 130.70401 135.36602 139.25801 143.15001 150.15001 157.15001 160.65001 166.86602 173.86602 180.86602 184.36602 191.36602 196.02802 202.24402 207.69002 213.90602 220.90602 224.79802 231.01403 234.90602 238.79802 245.79802 252.79802 256.29804 263.29804 267.96003 271.46003 278.46003 284.67604 288.56803 294.78404 298.28404 301.78404 308.00004 315.00004 322.00004 325.50004 329.39204 336.39204 342.60804 346.10804 351.55406 358.55406 364.00007 367.89207 374.10807">select assertion and presentation of data, and the system</tspan><tspan y="91.85" x="72.00197 75.89397 82.89397 86.785968 93.00197 97.66397 102.32597 109.32597 116.32597 120.21797 123.71797 127.60997 133.82598 137.71797 143.93398 150.93398 157.14998 164.14998">interrupt latency.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 186.4)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00503 8.334971 12.504972 20.844975 25.014975 33.354978 37.52498">3.9.4.8</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 186.4)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00503 9.999971 20.004973 24.174973 28.344973 39.174974 48.339975 55.839975 64.17998 68.349979 80.84498 90.00998 99.17498">SPI 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="168.65" x="-.00503 8.54897 15.54897 21.76497 25.26497 35.37297 42.37297 48.58897 54.80497 58.30497 69.19697 76.19697 83.19697 89.41297 92.91297 97.574977 104.574977 109.23698 112.73698 116.628978 123.628978 129.84497 133.34497 141.12897 148.91297 153.57497 157.07497 167.96697 174.96697 181.96697 188.96697 192.85897 199.07497 202.57497 206.46697 211.91297 215.41297 219.30496 226.30496 232.52097 236.02097 241.46697 247.68297 258.57499 264.791 268.291 274.507 279.953 283.453 287.345 294.345 300.561 304.061 317.277 323.493 327.385 331.277 334.777 340.993 347.993 354.993 358.493 368.601 377.155 384.939 398.155 401.655 412.547 419.547 426.547 432.763 438.209 441.709 446.371 453.371 458.033 461.533 465.425 472.425">The Doze mode for the SPI module is the same as the Wait and VLPW modes for the</tspan><tspan y="184.65" x="-.00503 6.2109706 13.21097 17.10297 24.10297">chip.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 279.19999)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00297 8.342971 12.512972 20.852974 25.022974 33.362977 37.532979">3.9.4.9</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 279.19999)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00297 10.007971 20.012972 24.182972 28.352972 32.522974 41.687974 46.682973 55.022974 60.85797 66.69297 75.85797 85.02297 90.017978">SPI Interrupts</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="261.44999" x="-.00602 8.54798 15.54798 21.76398 25.26398 33.04798 40.83198 45.49398 48.99398 55.99398 62.20998 67.65598 71.15598 82.04798 89.04798 92.93998 96.83198 100.723979 107.723979 111.615978 117.83198 121.33198 126.77798 133.77799 140.77799 145.43999 151.65599 157.872 163.318 166.818 173.818 178.48 181.98 185.872 192.872 196.76399 202.98 207.642 212.304 219.304 226.304 230.196 233.696 238.358 244.574 251.574 258.574 264.79 270.23603 274.12803 279.57405 283.07405 286.57405 296.68205 303.68205 313.79005 320.00605 327.00605 333.22206 337.88404 341.38404 344.88404 348.77604 355.77604 361.99205 367.43806 373.65406 377.15406 382.60008 389.60008 396.60008 401.26206 407.47807 413.69407 419.14009 422.64009 428.85609 433.51808 439.73408 443.23408 453.34208 462.68009 465.20008">The SPI has multiple sources of interrupt requests. However, these sources are OR'd</tspan><tspan y="277.44999" x="-.00602 3.8859804 10.885981 17.88598 24.101983 27.993983 34.99398 41.20998 45.87198 49.37198 53.26398 60.26398 63.76398 70.76398 76.97998 83.97998 90.195987 94.85799 101.07399 104.96599 111.18199 114.68199 120.897998 124.397998 129.844 133.736 140.736 147.736 151.62799 157.844 161.344 165.236 172.236 176.12799 182.344 187.006 191.668 198.668 205.668 209.56 213.06 217.722 223.938 230.938 237.938 244.154 249.6 253.492 256.992 263.992 270.208 274.87 278.37 286.154 293.938 298.59999 302.09999 312.99198 319.99198 326.99198 333.99198 337.88398 344.09999 347.59999 351.49198 358.49198 361.99198 365.88398 372.88398 379.09999 382.59999 386.49198 393.49198 397.38398 403.59999 408.26197 412.92396 419.92396 426.92396 430.81596 434.31596 440.53196 447.53196 454.53196 458.42396 463.08595 470.08595 473.97795 477.86994 484.08595 488.74794">together to generate a single interrupt request per SPI module to the interrupt controller.</tspan><tspan y="293.44999" x="-.00602 13.209981 20.20998 26.42598 33.42598 36.92598 43.14198 50.14198 53.64198 61.42598 69.209987 73.87199 77.37199 81.263988 88.263988 92.15598 98.37199 103.03399 107.69599 114.69599 121.69599 125.58799 129.08798 136.08798 142.30399 148.51999 155.51999 160.18199 165.62799 169.12799 172.62799 177.29 183.506 189.722 196.722 200.222 204.114 211.114 217.33 220.83 228.614 236.398 241.06 248.06 255.844 265.182 268.682 272.574 279.574 283.074 290.074 296.29 300.182 306.398 311.06 321.952 325.844 332.844 339.06 342.56 346.452 353.452 359.668 363.168 369.384 376.384 382.6 388.816 392.708 396.208 400.1 407.1 410.992 417.208 421.87 426.53199 433.53199 440.53199 444.42399 447.92399 453.37 460.37 467.37 472.03199 478.248 484.464">When an SPI interrupt occurs, read the SPI_SR to determine the exact interrupt source.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 387.99998)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00103 8.338971 12.508972 20.848973 25.018973 33.358976 37.528978 45.868978">3.9.4.10</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 387.99998)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00103 10.003971 20.008973 24.178973 28.348973 36.688974 40.858976 50.023977 58.363977 66.70398">SPI clocks</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="370.24998" x=".00397 8.55797 15.55797 19.44997 24.895972 28.395972 32.28797 38.50397 45.50397 49.395975 55.611974 59.111974 64.557979 71.557979 78.557979 88.66598 94.11198 97.61198 101.503978 108.503978 114.71998 118.21998 126.00398 133.78798 138.44998 141.94998 152.84198 159.84198 166.84198 173.84198 177.73398 183.94998 187.44998 193.66599 197.55799 204.55799 210.77399 217.77399 223.21999 226.71999 232.93599 239.93599 246.93599 250.43599 254.32799 261.328 267.544 271.044 277.26 284.26 288.922 293.58399 299.8 305.246 312.246 319.246 326.246 333.246 337.138 344.138 351.138 354.638 360.854 367.854 371.746 378.746 382.246 388.462 392.354 399.354 405.57 412.57 418.01603">This table shows the SPI module clocks and the corresponding chip clocks.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 198 436.79997)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="13.968 21.3 27.972 35.304 38.64 45.312 48.648004 55.320005 59.316 65.98801 72.66 84.996 93 101.004 104.34 107.675998 114.34799 117.68399 125.01599 131.68799 138.35999 141.69599 148.36798 155.69998 163.03199 170.36399 177.03598 183.70798 187.70398 191.03998 198.37198 205.70398">Table 3-71.SPI clock connections</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 103.75729 534.2999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 4.4480006 13.344002 24.896004 29.344004 40.896005 50.672006 60.448007 65.77601 70.22401 80.00001 89.77601 96.00001 104.89601 110.224018 114.67201 124.44801">I2C Configuration</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999975 53.99997)" font-size="14" font-family="TimesLTStd"><tspan y="517.5499" 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="533.5499" 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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