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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_196.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

181 lines
36 KiB (Stored with Git LFS)
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Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 83)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 13.344002 22.240002 26.688002 35.584005">5.7.11</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 83)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0">I</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="66.25" x="-.00399 8.55001 15.55001 21.76601 25.26601 31.48201 38.48201 45.48201 49.374013 56.374013 59.874013 70.766017 76.98202 82.42802 86.320018 92.53602 97.19802 100.69802 106.914028 110.80602 117.80602 124.022029 131.02204 134.52204 139.18404 151.63004 160.96804 169.52204 179.63004 184.29204 187.79204 191.68404 197.13004 200.63004 207.63004 213.07604 219.29204 226.29204 229.79204 233.68404 240.68404 244.18404 251.18404 257.40003 264.40003 270.61604 275.278 281.49403 285.38603 291.60203 295.10203 298.99403 305.99403 312.21003 315.71003 322.71003 326.60203 330.49403 333.99403 340.21003 344.10203 351.10203 357.31803 364.31803 367.81803 377.92604 384.92604 391.14204 398.14204 401.64204 405.53404 412.53404 418.75004 422.25004 426.91203 433.12803 439.34403 445.56004 449.45204 456.45204 462.66804 467.33003 470.83003 477.83003">The audio master clock (MCLK) is used to generate the bit clock when the receiver or</tspan><tspan y="82.25" x="-.00399 3.8880106 8.550011 14.766011 21.76601 27.212012 38.10401 41.996015 45.888017 49.780019 55.996019 60.658018 64.15802 68.05002 73.49602 76.99602 83.21202 90.21202 97.21202 101.87402 105.76602 112.76602 119.76602 124.428028 130.64403 137.64403 141.14403 145.80603 152.80603 157.46804 160.96804 167.18404 174.18404 177.68404 181.57604 188.57604 192.46804 198.68404 203.34604 210.34604 216.56204 220.45404 224.34604 231.34604 234.84604 241.84604 248.06204 255.06204 261.27806 265.94004 272.15605 276.04804 282.26405 289.26405 292.76405 299.76405 303.65605 307.54804 311.04804 317.26405 321.15605 328.15605 334.37205 341.37205 344.87205 348.37205 356.92604 363.92604 370.14204 373.64204 379.85804 386.85804 393.85804 397.75004 404.75004 408.25004 419.14204 425.35804 430.80406 434.69606 440.91206 445.57405 449.07405 455.29005 459.18205 466.18205 472.39805 479.39805 482.89805 489.11405 495.33006">transmitter is configured for an internally generated bit clock. The audio master clock can</tspan><tspan y="98.25" x="-.00399 6.2120106 10.104011 15.550011 22.55001 26.05001 33.05001 39.26601 42.76601 49.76601 56.76601 60.658014 67.65801 74.65801 78.55001 82.05001 85.94201 92.94201 96.44201 103.44201 108.10401 111.60401 115.49601 122.49601 129.496 136.496 140.388 143.888 148.55 153.212 160.212 171.104 174.604 180.82 184.32 191.32 195.212 202.212 205.712 209.212 217.766 224.766 230.98201 234.48201 238.37401 243.03601 249.25202 256.252 261.69804 272.59004 276.48204 280.37403 284.26603 290.48204 295.144 298.644 304.86003 311.86003 318.86003 322.36003 327.022 333.238 339.454 345.67 349.562 356.562 362.778 367.44 370.94 377.94 384.156 391.156 397.372 400.872 404.764 411.764 417.98 421.48 426.92604 433.14204 444.03404 450.25004 453.75004 459.96604 466.96604 473.96604 477.85804">also be output to or input from a pin. The transmitter and receiver have the same audio</tspan><tspan y="114.25" x="-.00399 10.888011 17.104012 22.550013 26.442013 32.658014 37.32001 40.82001 47.03601 50.928014 57.928014 64.14401 71.14401 74.64401 78.53601 85.53601 92.53601 99.53601 103.42801 108.87401">master clock inputs.</tspan><tspan y="138.65001" x="-.00399 8.55001 14.76601 20.98201 27.98201 31.48201 39.26601 49.374013 54.03601 57.53601 64.53601 70.752017 75.41402 79.306018 86.306018 93.306018 99.52202 104.18402 110.400028 114.29202 117.79202 124.008029 130.22403 137.22403 140.72403 146.94004 153.94004 160.94004 164.83203 169.49404 176.49404 180.38603 183.88603 187.77803 194.77803 200.99404 204.49404 208.38603 215.38603 222.38603 229.38603 233.27803 236.77803 242.99404 246.88603 253.88603 260.10203 267.10203 270.60203 276.04804 282.26405 286.15605 292.37205 298.58805 302.48005 306.37205 313.37205 320.37205 323.87205 327.37205 334.37205 338.26405 345.26405 348.76405 355.76405 359.65605 364.31803 370.53404 376.75004 380.64204 384.53404 391.53404 398.53404 402.03404 408.25004 415.25004 422.25004 425.75004 432.75004 436.64204 443.64204 447.53404 454.53404 460.75004 464.25004 468.91203 475.12803 479.02003 482.91203">Each SAI peripheral can control the input clock selection, pin direction and divide ratio</tspan><tspan y="154.65001" x="-.00399 6.99601 11.6580109 15.1580109 22.15801 29.15801 35.374013 38.874013 45.09001 52.09001 59.09001 62.982015 69.98201 73.48201 84.37401 90.59001 96.03601 99.92801 106.14401 110.806018 114.306018 120.52202 124.41402 131.41402 137.63002 144.63002">of one audio master clock.</tspan><tspan y="179.05" x="-.00399 8.55001 15.55001 21.76601 25.26601">The I</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="179.05" x="35.17801 42.96201 46.85401 54.638013 64.74601 69.40801 72.90801 76.80001 81.46201 87.67802 94.67802 100.124019 111.016017 114.90801 118.80001 122.69201 128.908 133.57 137.07 143.28601 150.28601 157.28601 160.78601 165.44802 171.66402 177.88002 184.09603 187.98802 194.98802 201.20403 205.86603 209.36603 214.81203 221.81203 228.81203 235.81203 242.81203 247.47403 251.36603 254.86603 261.08204 266.52806 273.52806 280.52806 286.74406 293.74406 298.40605 305.40605 312.40605 319.40605 326.40605 331.85206 335.35206 342.35206 346.24406 350.13606 353.63606 359.85206 363.74406 370.74406 376.96006 383.96006 389.40608 392.90608 397.56806 406.90608 416.24409 424.79808 434.90608 440.35209 445.01408 448.51408 452.40608 459.40608 465.62208 469.51408 473.01408 479.23008 485.44609">S/SAI transmitter and receiver support asynchronous bit clocks (BCLKs) that can</tspan><tspan y="195.05" x="-.0039901735 6.99601 13.21201 16.71201 23.71201 29.928009 36.92801 43.14401 47.806009 54.022008 57.91401 64.13001 71.13001 74.63001 78.52201 85.52201 89.41401 95.63001 100.292018 107.292018 113.50802 117.40002 121.292018 128.29203 131.79203 136.45403 141.11603 148.11603 159.00803 162.50803 166.40003 173.40003 179.61603 183.11603 189.33203 196.33203 203.33203 207.22403 214.22403 217.72403 228.61603 234.83203 240.27803 244.17003 250.38603 255.04804 258.54804 264.76405 268.65605 275.65605 281.87205 288.87205 292.37205 299.37205 304.03404 307.53404 312.98005 319.98005 326.98005 333.98005 337.87205 341.76405 347.98005 354.98005 358.48005 364.69606 371.69606 375.58805 381.80406 386.46604 393.46604 399.68205 403.57405 407.46604 414.46604 417.96604 421.46604 430.02003 437.02003 443.23603 446.73603 457.62803 464.62803 471.62803 478.62803 482.52003">be generated internally from the audio master clock or supplied externally. The module</tspan><tspan y="211.05" x="-.0039901735 6.2120106 10.104011 15.550011 22.55001 26.05001 31.496012 38.49601 45.49601 52.49601 59.49601 64.15801 68.05001 73.49601 76.99601 80.88801 87.88801 94.10401 97.60401 104.60401 111.60401 115.49601 119.38801 126.38801 133.388 136.888 141.55 148.55 153.212 156.712 162.158 169.158 176.158 182.37401 189.37401 194.03601 201.03601 208.03601 215.03601 222.03601 227.48201 230.98201 237.98201 244.98201 251.19802 255.86002 262.07603 265.96803 269.86003 276.86003 283.86003 287.36003 294.36003 300.57603 304.46803 314.57603 320.79203 327.00804 334.00804 337.50804 341.40003 348.40003 354.61604 358.11604 362.778 368.99403 375.21003 381.42604 385.31803 392.31803 398.53404 403.196 406.696 412.91203 419.91203">also supports the option for synchronous operation between the receiver and</tspan><tspan y="227.05" x="-.0039901735 3.8880103 8.550011 14.766011 21.76601 27.212012 38.10401 41.996015 45.888017 49.780019 55.996019 60.658018 67.65802 72.32002 79.32002 86.32002 93.32002 99.536029 103.428028">transmitterproduct.</tspan><tspan y="251.45" x="-.0039901735 8.55001 15.55001 21.76601 25.26601 29.15801 33.82001 40.03601 47.03601 52.48201 63.374013 67.266017 71.15801 75.05001 81.266017 85.92802 89.42802 95.64402 102.64402 109.64402 113.14402 117.80602 124.022029 130.23802 136.45403 140.34603 147.34603 153.56203 158.22403 161.72403 167.94004 174.15604 181.15604 184.65604 188.54804 195.54804 202.54804 208.76404 215.76404 221.98004 228.98004 235.98004 242.19605 249.19605 253.08805 256.98005 263.98005 267.48005 272.92607 279.14207 283.03407 289.25007 295.46607 299.35807 302.85807 309.85807 316.07408 319.96607 330.07408 336.29008 342.50608 349.50608 353.00608 356.89808 363.89808 370.11408 373.61408 380.61408 387.61408 393.0601 396.5601 402.7761 406.6681 413.6681 419.8841 426.8841 430.3841 436.6001 443.6001 450.6001 454.1001 457.9921 464.9921">The transmitter and receiver can independently select between the bus clock and the</tspan><tspan y="267.44999" x="-.0039901735 6.2120106 13.21201 20.21201 24.10401 31.10401 34.60401 45.496015 51.712015 57.158014 61.050016 67.266017 71.92802 75.42802 81.64402 85.53602 92.53602 98.75202 105.75202 109.25202 113.14402 120.14402 123.64402 130.64402 136.86002 143.86002 150.07602 154.73802 160.95403 164.84603 171.06203 174.56203 178.45403 185.45403 191.67003 195.17003 202.17003 206.06203 209.95403 213.45403 219.67003 223.56203 230.56203 236.77803 243.77803">audio master clock to generate the bit clock.</tspan><tspan y="291.84999" x="-.0039901735 8.55001 15.55001 21.76601 25.26601 37.712015 47.050016 55.604017 65.71201 69.21201 75.42802 82.42802 89.42802 92.92802 102.26602 111.60402 120.15802 130.26602 133.76602 139.21202 146.21202 153.21202 157.87403 164.09003 170.30603 173.80603 180.80603 187.80603 191.69803 195.59003 202.59003 209.59003 215.03603 218.53603 224.75203 231.75203 238.75203 244.96804 251.18404 255.84604 259.34605 263.23805 270.23805 273.73805 277.63005 284.63005 290.84605 294.34605 299.00804 306.00804 309.90003 313.79203 320.79203 330.90003 334.79203 341.79203 348.79203 352.29203 356.954 360.846 367.846 374.846 379.508 385.724">The MCLK and BCLK source options appear in the following figure.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54.00003)" font-size="14" font-family="TimesLTStd"><tspan y="546.0123" x=".001 4.663 11.663 15.163 21.379002 27.595002 31.487002 35.379 42.379 48.595 52.095 62.987005 69.987 76.987 83.203 86.703 90.203 94.095 101.095 107.311008 110.811008 119.365009 127.14901 131.811 135.311 141.52701 147.74301 154.74301 158.24301 165.24301 171.45902 174.95902 181.17502 185.06702 192.06702 198.28302 205.28302 211.49903 218.49903 221.99903 228.21503 233.66103 237.16103 242.60703 249.60703 256.60704 266.71504 273.71504 277.21504 281.10704 288.10704 291.60704 295.49903 302.49903 308.71504 312.21504 316.877 323.877 327.769 331.661 338.661 348.769 352.661 359.661 366.661 370.161 374.823 378.715 385.715 392.715 397.37699 403.593">In active mode, the TSI 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 18.00003)" 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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<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54 763.75607)" 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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