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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_161.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

610 lines
57 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 398.8614)" 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">3.9.7.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 398.8614)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.005001 20.835003 31.665005 42.495008 46.66501 55.00501 59.17501 68.34001 76.680019 85.02002 89.19002 98.35502">SDHC clocking</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="381.1114" x="0 4.662 11.662001 15.162001 21.378003 28.378003 35.378004 39.270006 43.162008 47.05401 54.05401 61.05401 64.55401 68.44601 75.44601 78.94601 82.838008 89.838008 96.05401 99.55401 105.00001 112.00001 117.44601 121.338008 127.55401 138.44602 141.94602 148.16202 152.05402 159.05402 165.27002 172.27002 175.77002 179.27002 183.16202 190.16202 196.37802 199.87802 207.66202 217.77002 227.87802 237.21602 240.71602 247.71602 253.93202 260.148 267.148 272.59403 276.09403 282.31004 285.81004 292.02604 295.91804 302.91804 309.13404 316.13404 319.63404 324.29603 331.29603 335.958 339.458 343.35 350.35 356.566 360.066 367.066 373.282 378.72804 384.94404 388.44404 393.10603 400.10603 404.768 408.268 412.16 419.16 425.376 428.876 435.092 442.092 445.984 452.2 456.862 463.862 470.078 473.97 477.47 483.686 489.902 494.564">In addition to the system clock, the SDHC needs a clock for the base for the external card</tspan><tspan y="397.1114" x="0 6.2160007 10.108001 17.108002 23.324002 30.324002 33.824 37.324 45.878004 52.878004 59.094 63.756 69.972 73.472 79.688 84.350009 90.56601 94.06601 98.72801 105.72801 112.72801 117.390018 120.890018 127.890018 134.89002 140.33602 145.78202 149.67401 156.67401 160.56601 166.78202 170.28202 176.49802 180.39002 187.39002 193.60602 200.60602 204.10602 209.55202 216.55202 223.55202 228.21402 234.43003 240.64603 246.09203 249.59203 254.25403 261.25404 265.91603 269.41603 273.308 280.308 284.2 289.64604 293.14604 299.36204 303.25404 310.25404 316.47004 323.47004 326.97004 330.47004 335.91606 342.13206 346.02406 352.24006 358.45606 362.34806 368.56407 375.56407 379.06407 386.06407 393.06407 396.56407 400.45606 407.45606 413.67207 417.17207 424.95606 429.61805 442.06407 446.72605 452.17207 455.67207 463.45606 473.56407 481.34806 489.90205">clock. There are four possible clock sources for this clock, selected by the SIM&#x2019;s SOPT2</tspan><tspan y="413.1114" x="0 4.662 10.878 17.878 21.77 27.216002 31.108002 37.324 41.986">register:</tspan><tspan y="437.51139" x="13.104 23.996003 33.334005 40.334005 44.996004 51.212 55.104005 60.550004 67.55 72.996 76.888 83.104007 93.996 97.496 103.712009 107.604007 114.604007 120.82001">&#x2022;Core/system clock</tspan><tspan y="453.51139" x="13.104 23.996003 36.442 45.780004 55.888006 63.672006 72.226009 80.78001 90.11801 98.67201 108.780017 112.280017 119.280017 123.94202 127.44202 139.88802 149.22602 159.33402 167.11801 175.67201 184.22602 193.56401 202.11801">&#x2022;MCGPLLCLK or MCGFLLCLK</tspan><tspan y="469.51139" x="13.103991 23.99599 32.54999 42.657995 51.211996 61.319997">&#x2022;EXTAL</tspan><tspan y="485.51139" x="13.103991 23.99599 33.333993 40.333993 47.333993 53.54999 58.99599 64.44199 67.94199 74.158 78.049999 85.049999 91.266 98.266 101.766 106.428 111.090007 118.090007 128.98201 132.48201 139.48201 144.14402 148.80602 153.46802 159.68402 166.68402 170.57602 177.57602 181.07602 185.73802 193.52202 203.63002 213.73802 223.07602 230.07602 237.07602 246.41402 254.96802 265.07603 269.738 279.846">&#x2022;Bypass clock from off-chip (SDHC0_CLKIN)</tspan></text>
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The SDHC also provides a feature of detecting card insertion/removal, by</tspan><tspan y="595.9114" x="-.0049199999 6.99508 13.211081 17.10308 23.31908 29.53508 33.427083 37.319086 44.319086 51.319086 54.819086 61.819086 68.819087 72.71108 76.60308 82.819087 89.819087 96.03509 99.53509 103.427089 109.64309 116.64309 122.85909 126.75109 130.2511 136.4671 143.4671 149.6831 156.6831 163.6831 169.89911 175.34511 178.84511 185.84511 192.84511 196.34511 206.45311 216.56111 225.11511 229.77712 236.77712 241.43912 244.93912 251.93912 256.6011 260.1011 263.9931 270.9931 277.2091 280.7091 288.4931 298.6011 302.1011 309.1011 316.1011 321.54713 325.04713 328.54713 337.1011 344.1011 347.6011 353.04713 360.04713 367.04713 374.04713 381.04713 385.7091 389.6011 393.1011 396.9931 403.9931 407.8851 413.33113 416.83113 426.93913 437.04713 445.6011 450.2631 457.2631 461.92509 465.42509 476.31709 483.31709 488.7631">detecting voltage level changes on DAT[3] of the SD bus. 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To avoid a situation where the SDHC detects voltage changes due to</tspan><tspan y="627.9114" x="-.00487 6.99513 13.995131 18.657132 29.549134 35.765134 39.657136 43.157136 50.157136 56.373136 60.265138 66.48114 69.98114 73.87314 78.53514 84.751148 91.751148 97.19714 101.859149 108.07515 112.73715 118.18315 121.68315 128.68315 135.68315 139.18315 143.07515 150.07515 156.29116 159.79116 167.57515 177.68315 181.18315 188.18315 195.18315 200.62915 204.12915 210.34516 215.79116 219.29116 225.50716 231.72316 236.38516 243.38516 246.88516 250.77716 257.77717 263.22319 269.43919 274.10118 277.99317 281.88517 288.88517 295.88517 299.77717 304.43916 310.65516 321.54716 328.54716 335.54716 341.76316 345.65516 349.15516 352.65516 356.54716 363.54716 369.76316 373.26316 377.15516 384.15516 388.04716 394.26316 398.92515 403.58714 410.58714 417.58714 421.47914 424.97914 429.6411 435.85713 439.7491 445.96513 449.85713 453.7491 460.7491 467.7491 471.2491 475.1411">normal data transfers on the SD bus as card insertion/removal, the interrupt relating to</tspan><tspan y="643.9114" x="-.00487 3.8871306 10.887131 14.779131 20.225132 23.725132 29.941132 36.94113 43.15713 50.15713 54.049135 57.549135 68.44113 75.44113 80.88713 84.77913 88.27913 95.27913 101.49513 104.99513 111.99513 115.88713 121.33313 127.54913 134.54914 138.44113 144.65714 151.65714 155.15714 161.37314 166.03514 169.92714 176.14315 180.80515 184.30515 188.19715 195.19715 201.41315 204.91315 211.12915 217.34516 222.00716 229.00716 232.50716 239.50716 245.72316 251.16916 254.66916 261.66917 267.88517 274.10118 281.10118 284.60118 288.49317 295.49317 300.93919 307.15519 311.81718 315.70918 321.92518 328.92518 332.42518 338.64118 345.64118 352.64118 356.14118 363.14118 369.35719 373.24919 379.46519 385.68119 389.57319 395.78919 402.78919 406.28919 409.78919 414.45118 418.34318 421.84318 428.05918 434.27519 441.27519 444.77519 451.77519 457.99119 461.49119 466.15318 472.36918">this event must be disabled after the card has been inserted and detected. It can be re-</tspan><tspan y="659.9114" x="-.00482 6.2111809 13.211181 19.427182 26.427182 30.319182 36.535184 43.535184 47.035184 53.251184 57.91318 61.805185 68.02119 72.68319 76.18319 80.07519 87.07519 93.29119 96.79119 103.007198 109.2232 113.8852 120.8852 124.3852 128.2772 133.7232 137.2232 141.88521 148.10121 158.99321 165.99321 172.99321 179.20922 186.20922">enabled after the card is removed.</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>
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