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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_184.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

758 lines
101 KiB (Stored with Git LFS)
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Raw Blame History

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<path transform="matrix(-.37087015,0,0,-.37087015,192.4463,392.22434)" d="M0 0 4-4-10 0 4 4 0 0Z" fill-rule="evenodd"/>
<path transform="matrix(-.37087015,0,0,-.37087015,192.4463,392.22434)" stroke-width="1" stroke-linecap="butt" stroke-miterlimit="4" stroke-linejoin="miter" fill="none" stroke="#000000" d="M0 0 4-4-10 0 4 4 0 0Z"/>
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<path transform="matrix(-.37087015,0,0,-.37087015,303.9816,273.50425)" d="M0 0 4-4-10 0 4 4 0 0Z" fill-rule="evenodd"/>
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<path transform="matrix(.988987,0,0,.988987,110.40829,107.71689)" stroke-width=".72" stroke-linecap="round" stroke-linejoin="round" fill="none" stroke="#000000" d="M363.81138 97.2267H244.96273"/>
<path transform="matrix(-.35603533,0,0,-.35603533,467.36473,203.87284)" d="M0 0 4-4-10 0 4 4 0 0Z" fill-rule="evenodd"/>
<path transform="matrix(-.35603533,0,0,-.35603533,467.36473,203.87284)" stroke-width="1" stroke-linecap="butt" stroke-miterlimit="4" stroke-linejoin="miter" fill="none" stroke="#000000" d="M0 0 4-4-10 0 4 4 0 0Z"/>
<text xml:space="preserve" transform="matrix(.9899166 0 0 .9880583 110.40829 107.71689)" font-size="9.10464" font-family="HelveticaLTStd"><tspan y="81.1384" x="379.8769 386.45045 388.47169 393.53388 398.08619 402.6385 405.1696 410.23179 415.29399 417.82508 419.8463 424.9085 429.9707 434.523 437.0541 439.5852 444.6474 447.67927">Clock options for </tspan><tspan y="92.51919" x="379.87693 384.42924 389.49143 397.0756 402.1378 404.66889 409.73109 414.79328 417.82514 419.84638 424.90858 429.97077 435.03297 438.06483 443.127 445.14826 449.70057">some peripherals </tspan><tspan y="103.899997" x="379.87693 382.90876 387.46107 392.52326 397.58546 400.11656 405.17875 410.24095 412.77204 417.83424">(see note)</tspan></text>
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<path transform="matrix(.988987,0,0,.39717225,177.957,167.73577)" stroke-width=".9468" stroke-linecap="square" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M301.35203 76.636V96.2272"/>
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<text xml:space="preserve" transform="matrix(.9899166 0 0 .9880583 110.40829 107.71689)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="234.95928" x="300.38124 306.3788 311.5772 317.1788 321.9812 325.9844 329.9876 335.186 339.1892 343.9916">MCGPLLCLK/</tspan></text>
<text xml:space="preserve" transform="matrix(.988987 0 0 .988987 110.40829 107.71689)" font-size="9.6" font-family="HelveticaLTStd" font-weight="bold"><tspan y="418.81275" x="38.198 45.129205 50.994806 54.191606 59.529207 62.726007">Note: </tspan></text>
<text xml:space="preserve" transform="matrix(.988987 0 0 .988987 110.40829 107.71689)" font-size="9.6" font-family="HelveticaLTStd"><tspan y="418.81275" x="65.394809 71.798007 77.135608 82.473209 85.142009 89.94201 95.27961 100.61721 105.41721 110.754817 116.092418 121.430019 126.76762 132.10523 134.77402 137.44281 142.24282 147.58042 152.38042 155.04923 157.18042 162.51802 167.85562 172.65563 175.32444 177.99323 183.33083 186.52762 189.19641 194.53401 199.87162 202.5404 207.878 210.0092 212.1404 216.9404 219.60919 224.9468 230.2844 232.95319 239.88439 245.22199 250.55959 253.75638 259.094 261.7628 264.43159 269.76918 275.10676 279.90675 285.24433 287.91313 292.7131 294.8443 300.1819 304.98188 309.78187 314.58186 317.25065 322.58827 325.78507 331.12269 333.79148 339.1291 343.92909 349.26667 354.60426">See subsequent sections for details on where these clocks are used.</tspan></text>
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<path transform="matrix(.988987,0,0,.988987,110.40829,107.71688)" stroke-width=".75" stroke-linecap="round" stroke-miterlimit="8" stroke-linejoin="miter" fill="none" stroke="#000000" d="M273.3248 357.42247V379.10664H324.00559V357.42247H273.3248Z"/>
<text xml:space="preserve" transform="matrix(.9899107 0 0 .98806336 110.40829 107.71688)" font-size="8" font-family="HelveticaLTStd"><tspan y="370.68089" x="279.87199 285.20799 291.87199 297.64799 299.87199 301.64799 306.09599 310.54399 312.31999">PMC logic</tspan></text>
<text xml:space="preserve" transform="matrix(.9899107 0 0 .98806336 210.19266 117.12002)" font-size="9.6" font-family="HelveticaLTStd" font-weight="bold"><tspan y="345.22776" x="186.80637 193.20957 201.20636">PMC</tspan></text>
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<path transform="matrix(.988987,0,0,.988987,320.19264,-58.720239)" d="M112.40842 291.1917V302.2501H125.80349V291.1917H112.40842Z" fill="#ffffff"/>
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<path transform="matrix(.988987,0,0,.988987,320.19264,-33.91349)" d="M112.40842 291.1917V302.2501H125.80349V291.1917H112.40842Z" fill="#ffffff"/>
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<path transform="matrix(.988987,0,0,.988987,320.19264,15.700035)" d="M112.40842 291.1917V302.2501H125.80349V291.1917H112.40842Z" fill="#ffffff"/>
<path transform="matrix(.988987,0,0,.988987,320.19264,15.700035)" stroke-width=".75" stroke-linecap="round" stroke-miterlimit="8" stroke-linejoin="miter" fill="none" stroke="#000000" d="M112.40842 291.1917V302.2501H125.80349V291.1917H112.40842Z"/>
<text xml:space="preserve" transform="matrix(.9899107 0 0 .98806336 320.19264 15.700035)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="299.58567" x="113.6376 118.836009">CG</tspan></text>
<text xml:space="preserve" transform="matrix(.988987 0 0 .988987 110.408267 120.494609)" font-size="9.6" font-family="HelveticaLTStd"><tspan y="394.69297" x="38.2008 45.132005 52.600805 55.269605 64.869609 67.53841 74.469608 76.60081 81.93841 86.73841 91.538417 94.207218 99.544818 104.882419 107.551219">CG &#x2014; Clock gate</tspan></text>
<text xml:space="preserve" transform="matrix(.9899166 0 0 .9880583 110.264698 109.33435)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="394.92967" x="315.48243 320.68083 325.08003 330.2784 332.28 335.88 337.4784 341.4816 345.0816">RTC clock</tspan></text>
<path transform="matrix(.988987,0,0,.988987,110.264698,109.33435)" stroke-width=".75" stroke-linecap="round" stroke-linejoin="round" fill="none" stroke="#000000" d="M189.55577 339.52873V396.6653"/>
<text xml:space="preserve" transform="matrix(0 -.9899166 .9880583 0 110.264698 109.33435)" font-size="9.10464" font-family="HelveticaLTStd"><tspan y="392.9061" x="-350.94636 -344.3728 -342.35157 -337.28938 -332.73707 -328.18476 -325.65367 -320.59147 -315.52928 -312.99818 -310.97694 -305.91474 -300.85255 -296.30024 -293.76914 -291.23805 -286.17585 -283.14399 -280.61289 -276.06059 -270.99839 -263.4142 -259.61756">Clock options for some </tspan><tspan y="404.2869" x="-348.92509 -343.86289 -338.8007 -335.76887 -333.74763 -328.68544 -323.62324 -318.56105 -315.52919 -310.46699 -308.44575 -303.89344 -301.36235 -298.3305 -293.7782 -288.716 -283.6538 -281.1227 -276.06053 -270.99833 -268.46723 -263.40504">peripherals (see note)</tspan></text>
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<path transform="matrix(.988987,0,0,.988987,109.936779,136.76972)" stroke-width=".72" stroke-linecap="round" stroke-linejoin="round" fill="none" stroke="#000000" d="M64.38879 45.06366H74.09975"/>
<path transform="matrix(-.35603533,0,0,-.35603533,180.37218,181.3371)" d="M0 0 4-4-10 0 4 4 0 0Z" fill-rule="evenodd"/>
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<path transform="matrix(.988987,0,0,.988987,109.936779,136.76972)" stroke-width=".75" stroke-linecap="round" stroke-miterlimit="8" stroke-linejoin="miter" fill="none" stroke="#000000" d="M74.94976 38.06448V50.86788H101.51216V38.06448H74.94976Z"/>
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<path transform="matrix(-.35603533,0,0,-.35603533,215.62094,181.32018)" d="M0 0 4-4-10 0 4 4 0 0Z" fill-rule="evenodd"/>
<path transform="matrix(-.35603533,0,0,-.35603533,215.62094,181.32018)" stroke-width="1" stroke-linecap="butt" stroke-miterlimit="4" stroke-linejoin="miter" fill="none" stroke="#000000" d="M0 0 4-4-10 0 4 4 0 0Z"/>
<path transform="matrix(.988987,0,0,.988987,120.905338,135.82706)" d="M269.48936 139.50395V160.84296H299.36396V139.50395H269.48936Z" fill="#ffffff"/>
<path transform="matrix(.988987,0,0,.988987,120.905338,135.82706)" stroke-width=".75" stroke-linecap="round" stroke-miterlimit="8" stroke-linejoin="miter" fill="none" stroke="#000000" d="M269.48936 139.50395V160.84296H299.36396V139.50395H269.48936Z"/>
<text xml:space="preserve" transform="matrix(.9899166 0 0 .9880583 120.905338 135.82706)" font-size="6.4" font-family="HelveticaLTStd"><tspan y="152.57392" x="270.27626 275.25544 279.87623 283.78663 288.4074 290.1866 294.4554">OUTDIV3</tspan></text>
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<path transform="matrix(.988987,0,0,.988987,320.19264,-9.106461)" stroke-width=".75" stroke-linecap="round" stroke-miterlimit="8" stroke-linejoin="miter" fill="none" stroke="#000000" d="M112.40842 291.1917V302.2501H125.80349V291.1917H112.40842Z"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="488.57136" x="169.64037 176.97237 180.30837 187.64037 194.97237 199.64037 206.31237 209.64836 216.32036 220.31636 226.98836 230.32436 233.66036 242.32436 245.66036 252.99236 259.66438 266.33638 269.67237 277.00437 284.33638 287.67237 295.00437 298.34037 305.01237 312.34437 317.01237 323.68437">Figure 5-1. Clocking diagram</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 590.95419)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00359 9.448411 14.174412">5.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 91.80322 590.95419)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00359 12.2704119 16.996413 27.383412 36.83541 46.28741 51.013414 61.400415 70.85242 76.51342 81.23942 91.62642 96.35242 102.01342 106.73942 117.12642 127.51342">Clock definitions</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="574.20419" x=".00342 8.55742 15.55742 21.77342 25.27342 29.935421 36.93542 40.827425 44.719427 51.719427 61.827428 65.71943 72.71943 79.71943 83.21943 87.11143 93.32743 100.32743 104.21943 110.43543 113.93543 120.93543 127.151439 132.59745 138.81345 143.47545 147.36745 154.36745 160.58345 166.02945 169.52945 173.42145 180.42145 186.63745 190.13745 196.35346 200.24546 207.24546 213.46146 220.46146 225.90746 229.40746 233.29946 240.29946 243.79946 247.69145 254.69145 260.90745 264.40745 271.40745 276.06944 282.28544 289.28544 293.17744 300.17744 307.17744 312.62345 316.12345 323.12345 327.01545 334.01545 340.23146 347.23146 350.73146 357.73146 361.62345 367.83946 374.83946 379.50144 385.71745 396.60945">The following table describes the clocks in the previous block diagram.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 58.250005 646.6042)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.09766" x="2 9.220001 12.000002 18.110003 23.670002 29.230004 32.010004 38.120004 43.680006 52.570005">Clock name</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 310.25 646.6042)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.09766" x="2 9.220001 14.780002 20.340003 25.900002 29.79 32.57 38.68 42.010004 44.79 50.9">Description</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 662.1042)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="2.002 8.500001 13.504002 16.501002 21.505002 24.007002 28.507002 30.505002 35.509004 40.009004">Core clock</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 662.1042)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="2.002 9.499001 15.997002 22.999003 30.001004 36.499006 41.998006 48.496007 53.500009 59.503007 62.005006 67.009 69.007 73.507 75.505008 80.509 85.513 90.517 93.019 98.022998 102.522998 105.024997 112.02699 118.524997 124.023998 130.52199 133.02399 139.027 144.03099 146.53299 151.03299 153.03099 158.03499 162.53499 167.03499 171.53499 174.03699 176.53899 181.54299 186.54698 189.04898 195.05199 201.54999 209.04698 211.54898 218.04698 223.05098 226.04798 228.54998 233.55397 238.05397">MCGOUTCLK divided by OUTDIV1 clocks the ARM Cortex-</tspan><tspan y="18.83789" x="2.002 9.499001 14.503001 17.005002 21.505002 26.509003 29.506003">M4 core</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 691.6042)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="180.95801 185.962 190.966 196.465 198.463 203.467 205.969 210.97299 215.97699 220.98099 223.48299 225.48099 230.48499 235.48899 240.49298 244.99298 247.49498 252.49898 257.503 260.005 262.50703 267.51103 272.515 275.01704 280.02104 285.02503 289.52503 292.02705 294.52906 300.02806 305.03205 310.53105 315.53504 318.03706 320.53907">Table continues on the next page...</tspan></text>
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