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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

184 lines
28 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 311.67808)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00362 8.899621 13.347622 22.243622 26.691622">5.7.7</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="335.11479" x="232.55367 242.66167 253.55367 262.10768">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="351.32807" x="72.00166 79.78567 86.78567 91.44767 94.94767 98.83967 105.83967 112.05567 115.55567 125.66367 133.44768 142.78568 146.28568 154.06967 161.85367 165.35367 175.46167 184.01567 194.12368 197.62368 203.83968 210.83968 217.83968 221.73168 226.39368 233.39368 237.28568 241.17768 247.39368 252.05568 255.55568 259.4477 266.4477 269.9477 276.9477 283.9477 290.1637 294.82569 301.0417 304.9337 311.1497 314.6497 318.1497 322.0417 329.0417 335.2577 338.7577 349.6497 353.5417 360.5417 364.4337 375.32569 382.32569">For the USB FS OTG controller to operate, the minimum</tspan><tspan y="367.32807" x="72.00166 77.44766 84.44766 89.89366 93.78566 100.00166 110.89366 114.39366 120.609668 124.50166 131.50167 137.71767 144.71767 148.21767 152.87967 157.54167 163.75768 170.75768 177.75768 183.97368 190.97368 197.18968 204.18968 207.68968 211.58168 217.02768 220.52768 227.52768 234.52768 238.02768 250.47368 260.58168 266.79768">system clock frequency is 20 MHz.</tspan><tspan y="391.72807" x="-.00030517579 8.553695 15.553695 21.769696 25.269696 35.377698 43.161699 52.4997 55.9997 66.1077 74.6617 84.7697 88.2697 94.4857 101.4857 108.4857 112.3777 117.0397 124.0397 127.9317 131.8237 138.0397 142.7017 146.2017 152.41771 156.30971 161.7557 168.7557 172.2557 176.91771 183.13372 190.13372 197.13372 201.02571 205.68772 211.90372 217.34972 220.84972 227.06572 230.56572 237.56572 244.56572 248.06572 260.51173 270.61973 276.83573 280.33573 286.55174 290.44374 297.44374 303.65974 310.65974 314.15974 317.65974 326.2137 333.2137 339.42973 342.92973 349.14573 353.03773 360.03773 366.25373 373.25373 376.75373 382.19975 389.19975 396.19975 400.86174 407.07774 413.29374 416.79374 423.79374 430.79374 434.68574 438.57774 445.57774 452.57774 458.02375 461.52375 467.73976 472.40174">The USB OTG controller also requires a 48 MHz clock. The clock source options are</tspan><tspan y="407.72807" x="-.00028517578 5.4457156 12.445715 19.445715 29.553715 36.553716 40.053716 47.053716 53.269716 57.161718 64.16171 74.269718">shown below.</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="583.8576" x="146.63999 153.97199 157.30799 164.63999 171.97199 176.63999 183.31198 186.64798 193.31998 197.31598 203.98798 207.32398 210.65998 219.32398 227.32798 235.99198 239.32798 245.99997 252.67197 256.00798 266.00398 274.66798 280.66798 284.00398 290.67597 294.01197 301.34397 308.01597 314.68797 318.02397 324.69596 332.02796 339.35997 344.02796 350.69996">Figure 5-7. USB 48 MHz clock source</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="610.07717" x="232.54798 242.65598 253.54798 262.10197">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="626.2904" x="71.99597 80.54997 87.54997 93.765979 97.265979 109.711978 119.04997 129.15798 136.94197 145.49597 154.04998 163.38797 171.94197 182.04998 185.54998 192.54998 199.54998 205.76598 211.21198 214.71198 221.71198 228.71198 232.60398 236.10398 246.99597 253.21198 259.42799 263.31999 266.81999 270.71199 277.71199 283.92799 287.42799 297.53599 305.31999 314.658 318.158 322.05 325.942 329.83399 333.72599 339.942 344.60398 348.10398 353.55 360.55 366.766 372.982 376.874 381.53599 385.42799 391.64399 397.86 401.75199 405.64399 412.64399 419.64399">The MCGFLLCLK does not meet the USB jitter specifications</tspan><tspan y="642.2904" x="71.99597 76.657978 83.657978 88.31998 91.81998 98.03598 104.25198 108.91399 112.805988 116.69798 121.359989 125.25198 131.46799 137.68399 141.57599 145.46799 152.46799 159.46799">for certification.</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>
<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="130.009 137.229 142.789 148.349 151.129 157.799 163.909 170.019 173.349 179.459 185.019 193.909 196.689 199.469 205.02899 207.80899 215.02899 220.58899 223.91899 229.47899 233.36899 238.92899 245.03899 250.59899 256.159 258.939 267.26899 272.82899 278.93898 285.04896 290.60896 293.38896 296.16896 298.94895 306.16896 311.72895 317.28895 320.06895 322.84895 328.40895 331.18894 336.74894 342.85893 348.9689 351.7489 357.3089 362.8689 368.4289">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=".00299 5.0069906 10.010991">194</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="44.775 50.274003 53.271005 58.275007 63.279008 67.77901 72.27901 77.283008 79.281009 84.285 86.787 92.79 97.794 105.291 107.289 111.789 116.793 121.797 126.800998 131.805 136.305 138.80699 143.81099 146.80799 149.30998 151.81198 154.31398 159.31798 163.81798">Freescale Semiconductor, Inc.</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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