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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_192.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

180 lines
26 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 13.344002 22.240002 26.688002">5.7.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.757328 54)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 11.552001 20.448002 30.224003 40.000005 49.776006 54.224008 59.552007 65.77601 74.67201 83.568019 92.46402 96.91202 105.80802 110.25602 120.03202 128.92803">Debug trace clock</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="37.25" x="-.00599 8.54801 15.54801 21.764012 25.264012 32.26401 38.48001 45.48001 52.48001 59.48001 62.98001 66.87201 71.53401 77.750019 83.96602 90.18202 93.68202 99.898029 103.79002 110.79002 117.00603 124.00603 127.50603 132.95203 139.95203 146.95203 151.61403 157.83003 164.04604 167.54604 173.76204 179.97805 186.97805 190.47805 197.47805 203.69405 207.19405 213.41005 217.30205 224.30205 230.51805 237.51805 243.73406 250.73406 254.23406 260.45005 265.89607 269.39607 274.84208 281.84208 288.84208 298.95008 305.95008 309.45008 313.34208 320.34208 323.84208 327.73408 334.73408 340.95008 344.45008 349.11207 356.11207 360.00407 363.89607 370.89607 381.00407 384.89607 391.89607 398.89607 402.39607 407.05805 410.95005 417.95005 424.95005 429.61204 435.82804">The debug trace clock source can be clocked as shown in the following figure.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 53.999998)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="218.2321" x="154.63607 161.96807 165.30406 172.63607 179.96807 184.63607 191.30806 194.64406 201.31606 205.31206 211.98406 215.32006 218.65605 225.98805 230.65605 237.32805 244.00005 250.67205 254.00804 260.68006 264.01606 271.34806 278.02006 284.69206 288.02806 295.36006 302.03205 309.36405 316.03605 320.70405 327.37605 331.37205 334.70805 342.04005">Figure 5-3. Trace clock generation</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 53.999998)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="244.45163" x="232.55608 242.66408 253.55608 262.11009">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 53.999998)" font-size="14" font-family="TimesLTStd"><tspan y="260.66493" x="72.00406 80.55806 87.55806 93.77406 97.27406 101.16606 105.828067 112.04407 118.26007 124.476078 127.976078 134.19208 138.08408 145.08408 151.30008 158.30008 161.80008 166.46208 171.12409 177.34009 184.34009 191.34009 197.55609 204.55609 210.7721 217.7721 221.2721 228.2721 235.2721 240.7181 246.9341 251.5961 258.5961 264.8121 271.8121 275.3121 281.5281 285.4201 288.9201 292.8121 299.8121 306.0281 309.5281 318.0821 327.4201 337.5281 346.86613 355.4201 362.4201 371.75813 380.3121 390.4201 400.5281 410.6361">The trace clock frequency observed at the TRACE_CLKOUT</tspan><tspan y="276.66493" x="72.00408 79.00408 82.89608 89.89608 93.39608 103.50408 107.39608 111.28808 115.18008 118.68008 125.68008 131.89608 135.39608 142.39608 148.61208 152.50408 157.16608 160.66608 164.55808 171.55808 177.77408 181.66608 185.16608 192.16608 196.82808 200.32808 204.22008 211.22008 217.43608 220.93608 226.38208 232.59809 236.49008 242.70609 248.92209 252.81409 259.0301 266.0301 269.5301 275.7461 279.6381 286.6381 292.8541 299.8541 303.3541 308.8001 315.8001 322.8001 327.4621 333.6781 339.8941">pin will be half that of the selected clock source.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 372.2149)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00209 8.898091 13.346092 22.242093 26.690093">5.7.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.757328 372.2149)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00209 10.674091 23.122094 34.674097 44.450098 48.898099 58.6741 63.1221 72.8981 77.3461 82.6741 91.57011 96.018108 100.4661 105.794109 110.2421 114.6901 120.018108 128.91411 135.1381 139.5861 148.4821 152.9301 162.7061 171.6021 180.4981 184.94609 194.72209">PORT digital filter clocking</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="355.4649" x=".0001 8.5541 15.5541 21.7701 25.2701 32.2701 36.1621 43.1621 47.054105 50.946107 57.162107 61.054109 64.55411 69.21611 73.10811 77.00011 80.892108 87.10811 91.77011 97.21611 100.71611 104.60811 111.60811 115.10811 121.32411 127.540119 133.75612 140.75612 144.25612 151.25612 155.91812 159.41812 163.31012 170.31012 176.52613 180.02613 187.81012 197.91812 207.25612">The digital filters in each of the PORT</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd" font-style="italic"><tspan y="355.4649" x="215.8101">x</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="355.4649" x="222.02611 225.52611 236.4181 243.4181 250.4181 257.4181 261.3101 267.5261 272.9721 276.4721 282.6881 288.9041 295.9041 299.4041 306.4041 312.62013 316.12013 322.33613 326.22813 333.22813 339.44413 346.44413 352.66014 359.66014 363.16014 369.37614 374.82215 378.32215 383.76817 390.76817 397.76817 407.87617 414.87617 418.37617 422.26817 429.26817 432.76817 436.66017 443.66017"> modules can be clocked as shown in the</tspan><tspan y="371.4649" x=".00012207031 4.6621224 11.662123 15.554123 19.446124 26.446124 36.554124 40.446126 47.446126 54.446126 57.946126 62.608125 66.50012 73.50012 80.50012 85.162128 91.37813">following figure.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="395.6516" x="232.55411 242.66211 253.55411 262.1081">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="411.8649" x="72.00209 76.66409 83.66409 87.16409 92.61009 96.50209 103.50209 110.50209 114.00209 124.89409 131.89409 138.89409 145.11009 148.61009 152.11009 156.00209 163.00209 169.2181 172.7181 179.7181 183.61009 190.61009 194.50209 198.39409 204.61009 208.50209 212.00209 215.89409 222.89409 229.89409 236.89409 240.78609 244.28609 248.94809 252.84009 256.7321 260.62409 266.8401 271.50209 276.9481 280.4481 286.6641 291.32609 297.54209 301.04209 308.04209 315.04209 322.04209 328.2581 333.7041 339.15013 345.36613 352.36613 355.86613 362.86613 369.86613 373.75813 379.97413 385.42015 390.86616 394.36616 398.25816 405.25816 411.47416">In stop mode, the digital input filters are bypassed unless they</tspan><tspan y="427.8649" x="72.00209 78.218097 82.8801 89.0961 92.5961 98.8121 105.8121 112.8121 117.474109 121.366107 128.3661 135.3661 140.0281 146.24411 153.24411 156.74411 160.63611 167.63611 171.13611 175.79811 182.79811 189.79811 193.29811 197.96012 202.62212 209.62212 220.51412 224.01412 227.90612 234.90612 241.12212 244.62212 251.62212 255.12212 262.12214 272.23014 278.44615 281.94615 290.50013 298.28413 308.39213 311.89213 318.10813 322.00013 329.00013 335.21614 342.21614 345.71614 351.16215 358.16215 365.16215 369.82414 376.04014 382.25614">are configured to run from the 1 kHz LPO clock source.</tspan></text>
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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="609.16519" x="100.63199 107.96399 111.29999 118.63199 125.96399 130.63199 137.30399 140.63999 147.31198 151.30799 157.97998 161.31598 164.65198 172.65598 181.99198 190.65598">Figure 5-4. PORT</tspan></text>
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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="609.16519" x="203.98799 207.32399 214.65599 217.99199 225.32399 228.65999 232.65599 239.32799 242.66399 245.99999 249.33599 256.66798 263.99998 271.33198 275.32798 278.66398 282.65998 285.99598 289.33198 293.32798 299.99998 304.66798 308.00398 314.67597 318.01197 325.34397 332.01597 338.68797 342.02397 349.35597 356.02796 363.35997 370.03196 374.69996 381.37196 385.36796 388.70396 396.03596"> digital input filter clock generation</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="25.87323" x="0 7.4970009 12.996 18.495 23.994002 26.496003 31.500004 34.002004 39.006006 41.508005 47.007005 52.011007 57.015008">Module clocks</tspan></text>
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