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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_206.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

167 lines
29 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 66)" 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">6.2.3.7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 66)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.830001 19.995 24.165 33.33 37.500005 48.330007 56.670007 65.01001 73.35001">Chip Reset</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="48.25" x=".001 9.339002 16.339 20.231 27.231 30.731 40.069 46.285 51.731 57.947 61.839 65.339008 71.55501 77.00101 82.44701 88.66301 93.32501 97.21701 102.66301 106.16301 113.16301 120.16301 123.66301 129.87902 133.77101 137.66301 141.16301 145.82501 152.04102 157.48702 163.70302 167.59502 171.09502 176.54102 183.54102 190.54102 195.20302 201.41902 207.63503 213.08103 216.58103 222.79703 229.79703 236.79703 240.29703 247.29703 254.29703 258.18904 265.18904 268.68904 275.68904 281.90504 288.90504 295.12104 299.01304 305.22904 310.67506 314.17506 320.39106 325.05305 328.94505 335.16105 339.82304 343.32304 347.98503 351.877 358.09303 363.53904 370.53904 374.03904 377.93104 384.93104 388.82304 392.71504 396.60704 402.82304 406.71504 410.60704 416.82304 423.03904 426.93104 430.82304 437.82304 444.82304 448.32304 455.32304 461.53904">Chip Reset asserts on all reset sources and only negates after flash initialization has</tspan><tspan y="64.25" x=".00103 6.2170307 13.217031 24.109032 31.109032 35.001035 41.217035 45.109037 51.325037 58.325037 61.825037 68.04104 75.04104 82.04104 85.54104 89.43304 96.43304 102.64904">completed and the </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="64.25" x="106.14904 115.487049 124.041049 131.82505 140.37905 148.93305 152.43305 159.43305 163.32505 170.32505 173.82505 180.82505 187.04105 192.48705 195.98705 202.20305 206.09505 211.54105 218.54105 222.04105 229.04105 235.25705 242.25705 248.47306 252.36505 258.58106 265.58106 269.08106 272.58106 277.24305 281.13505 284.63505 289.29704 295.51304 300.95906 307.17506 311.06706 316.51307 320.01307 323.90507 330.90507 337.12107 340.62107 345.28306 351.49906 362.39106 368.60707 372.49906 379.49906 383.39106 390.39106 397.39106 400.89106 411.78306 418.78306 425.78306 432.78306 436.67506 442.89106 448.33708 451.83708 456.49906 460.39106 467.39106">RESET pin has also negated. It resets the remaining modules (the</tspan><tspan y="80.25" x=".0010910034 10.893092 17.893094 24.893094 31.893094 35.785097 42.001096 47.447095 50.947095 57.947095 64.9471 68.839099 72.339099 77.0011 83.2171 88.6631 94.879108 98.7711 102.2711 109.2711 116.2711 119.7711 126.7711 130.6631 137.6631 143.8791 148.5411 152.0411 156.70311 162.91912 168.36511 174.58112 178.47312 181.97312 185.86511 192.86511 199.86511 206.08112 211.52712 216.18912">modules not reset by other reset types).</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="159.05" x="-.00688 7.777121 14.777121 19.439122 22.939122 29.15512 33.047124 36.939126 40.439126 45.101125 51.317125 56.763124 62.979124 66.871128 70.371128 75.81712 82.81712 89.81712 94.479129 100.69513 106.91113 112.35713 115.85713 122.073139 129.07314 135.28914 141.50514 148.50514 152.39714 155.89714 162.11315 165.61315 175.72115 184.27515 192.82915 200.61315 204.11315 217.32915 223.54515 230.54515 236.76116 243.76116 250.76116 254.26116 258.15318 265.15318 271.36918 275.26118 278.76118 285.76118 292.76118 298.97718 304.4232 307.9232 314.9232 321.9232 325.8152 329.3152 336.3152 342.5312 348.7472 355.7472 360.40919 363.90919 370.90919 374.80119 381.01719 384.51719 388.40919 395.40919 401.62519">For all reset sources except a VLLS Wakeup that does not occur via the </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="175.05" x="0 9.338001 17.892003 25.676003 34.230005 42.784006 46.284006 53.284006 57.176008 64.17601 67.67601 71.56801 77.01401 80.51401 87.51401 92.17601 96.06801 103.06801 109.28401 116.28401 119.78401 123.67601 130.67601 140.78401 144.28401 151.28401 158.28401 161.78401 165.67601 172.67601 178.89202 182.39202 194.83802 204.17601 214.28401 217.78401 222.44602 229.44602 234.10802 237.60802 243.82402 247.71602 251.21602 255.10802 261.324 267.54 272.98603 276.87803 280.37803 287.37803 294.37803 301.37803 304.87803 311.87803 318.87803 324.32405 327.82405 334.04005 337.93205 344.93205 351.14805 358.14805 361.64805 367.86405 374.86405 381.08006 384.97206 391.18806 396.63407 400.13407 406.35008 413.35008 420.35008 423.85008 430.85008 437.85008 441.74208 445.63407 449.52607 453.02607 457.68806 461.58006 467.79606 473.24208">RESET pin is driven low by the MCU for at least 128 bus clock cycles and until flash</tspan><tspan y="191.05" x="0 3.8920005 10.892 14.784 18.676 22.568 28.784 32.676004 36.568006 42.784006 49.000005 52.892007 56.784009 63.784009 70.78401 74.28401 81.28401 87.500019 92.946018 96.446018 102.66202 109.66202 120.554019 127.554019 131.44602 137.66202 141.55402 147.77002 154.77002">initialization has completed.</tspan><tspan y="215.45" x=".00001 10.10801 14.77001 18.66201 24.87801 29.54001 33.04001 37.702009 41.59401 47.81001 53.25601 60.25601 63.75601 67.64801 74.64801 78.54001 82.43201 86.324008 92.54001 96.43201 100.324008 106.54001 112.75601 116.64801 120.54001 127.54001 134.54001 138.04001 145.04001 151.25601 156.70201 160.20201 166.41802 173.41802 184.31002 191.31002 195.20201 201.41802 205.31002 211.52602 218.52602 222.02602 225.52602 229.41802 236.41802 242.63402">After flash initialization has completed, the </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="215.45" x="246.13402 255.47202 264.026 271.81 280.36399 288.91798 292.41798 299.41798 303.30998 310.30998 313.80998 317.70198 323.14799 326.64799 331.30998 337.52598 341.41798 347.63398 353.84999 359.296 365.512 372.512 376.012 379.512 385.728 392.728 399.728 403.228 407.12 414.12 420.336 423.836 427.728 434.728 438.62 444.836 449.498 456.498 462.714 466.606 470.106 479.444 486.444 490.336">RESET pin is released, and the internal Chip</tspan><tspan y="231.45" x=".000061035159 9.338062 15.554063 21.000063 27.216065 31.108065 34.608064 41.608064 47.824064 54.824064 61.040063 64.93206 71.14806 76.59406 80.09406 86.31007 90.97207 94.86407 101.08007 105.74207 109.24207 113.13407 120.13407 126.350078">Reset negates after the </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="231.45" x="352.29609 361.6341 370.18809 377.97209 386.52607 395.08006 398.58006 405.58006 409.47206 416.47206 419.97206 426.18806 431.63407 437.08009 443.29609 447.95808 451.85008 458.06608">RESET pin asserted</tspan><tspan y="247.45" x=".00012207031 6.2161228 13.216123 17.108124 23.324124 27.986124 34.986124 41.20212 45.094125 48.986127 55.986127 59.486127 66.48613 72.70213 76.59413 82.810138 89.810138 95.256137 98.756137 102.64813 109.64813 115.864139 119.364139 126.364139 132.58014 139.58014 145.79615 149.68814 153.58014 160.58014 167.58014 171.08014 178.08014 182.74214 186.24214 190.13414 197.13414 203.35015 206.85015 210.74214 217.74214 221.63414 227.85015 232.51215 239.51215 245.72815 249.62015 253.12015 262.45817 269.45817 273.35017 280.35017 283.85017 293.18818 299.40419 304.8502 311.0662 314.9582">externally delays the negation of the internal Chip Reset.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 343)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00587 8.890131 13.338131 22.23413 26.68213">6.2.5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.75732 343)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00587 11.546131 20.442131 30.218132 39.994134 49.770135 54.218137 60.442136 69.338138 78.23414 87.13014 92.458148">Debug resets</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="326.25" x="-.00587 8.54813 15.54813 21.76413 25.26413 29.92613 36.926134 40.818136 44.710138 51.710138 61.81814 65.71014 72.71014 79.71014 83.21014 88.656139 94.87214 101.08814 104.98014 108.87214 115.87214 122.87214 128.31815 131.81815 138.81815 145.03415 148.92615 155.14215 159.03415 162.92615 166.42615 170.31815 177.31815 183.53415 187.03415 194.03415 200.25016 207.25016 214.25016 221.25016 224.75016 229.41216 235.62816 241.07416 247.29016 251.18216 256.62818 260.12818 266.34419 273.34419 279.56019 283.45219 287.34419 293.56019 300.56019 304.45219 310.66819 314.16819 321.16819 328.16819 331.66819 335.56019 342.56019 348.77619 352.27619 359.27619 365.4922 372.4922 376.3842 382.6002 388.8162">The following sections detail the debug resets available on the device.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 420.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00612 8.346121 17.51112 28.341122 40.011125 44.181127 50.016126 58.356126 66.69613 75.03613">JTAG reset</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="403.05" x="-.00688 8.54712 15.54712 21.76312 25.26312 30.709122 39.263124 49.371126 59.479127 62.979127 73.871128 80.871128 87.871128 94.871128 98.76312 104.979129 108.479129 115.479129 121.69513 128.69513 134.91114 139.57314 145.78914 149.68114 155.89714 159.39714 165.61315 169.11315 174.55915 181.55915 187.00514 190.89714 197.11315 208.00514 211.50514 216.16715 222.38315 227.82915 234.04515 237.93715 241.43715 251.54515 258.54518 264.76118 271.76118 275.26118 281.47718 287.69319 292.35517 296.24717 302.46318 306.35517 313.35517 316.85517 321.51716 330.85517 334.35517 340.57118 347.57118 354.57118 360.78718 366.2332 369.7332 375.9492 380.61119 386.82719 390.32719 395.7732 401.9892 405.8812 412.0972 418.3132 422.2052 428.4212 435.4212 438.9212 442.4212 450.9752 457.9752 461.8672">The JTAG module generate a system reset when certain IR codes are selected. This</tspan><tspan y="419.05" x="-.00684 4.65516 11.65516 18.655159 24.871159 28.763159 32.65516 39.65516 46.65516 52.87116 56.76316 60.26316 64.92516 71.14117 76.587169 82.80317 86.69517 90.19517 94.087169 99.533168 103.033168 109.24917 114.69517 120.14117 126.35717 131.01917 134.91117 141.12717 148.12717 151.62717 161.73517 168.73517 174.95117 181.95117 185.45117 194.00518 200.22118 208.00518 215.00518 219.66718 223.55918 227.05918 230.55918 239.11318 249.22118 257.77519 266.32917 274.11317 282.66716 286.16716 289.66716 299.77516 304.43714 314.54515 324.65315 333.20713 336.70713 342.92314 349.92314 356.92314 360.42314 369.76115 378.31513 388.42314 400.86915 408.65315 412.15315 416.04515 423.04515 428.49116 432.38316 437.04515 444.04515 450.26115 454.15315 458.04515 465.04515 472.04515 477.49116 480.99116 487.20716 491.86915">functional reset is asserted when EzPort, EXTEST, HIGHZ and CLAMP instructions are</tspan><tspan y="435.05" x="-.00684 6.2091605 12.425161 16.317162 20.209162 27.209162 33.425165 36.925165 40.425165 48.979166 55.979166 62.195165 65.69516 70.35716 76.573169 82.019168 88.23517 92.12717 95.62717 101.073169 108.073169 115.073169 119.73517 125.95117 132.16718 135.66718 140.32918 144.99118 151.99118 162.88318 166.38318 170.27518 177.27518 183.49118 186.99118 192.43718 200.99118 211.09918 221.20719 224.70719 235.59918 242.59918 249.59918 256.59919 260.49119 266.70719 270.20719 274.09919 279.5452 283.0452 287.70719 293.9232 297.8152 304.0312 310.2472 315.6932 321.9092 328.9092 332.4092 342.5172 349.5172 355.73323 362.73323 366.23323 372.44923 379.44923 386.44923 389.94923 396.94923 400.84123 407.84123 414.05723 418.7192 422.2192 426.8812 436.2192 439.7192 445.9352 452.9352 459.9352 466.1512 469.6512 473.5432">active. The reset source from the JTAG module is released when any other IR code is</tspan><tspan y="451.05" x="-.00684 5.4391605 11.655161 15.547161 21.76316 27.97916 31.87116 38.087163 45.087163 48.587163 52.087163 62.195165 65.69516 71.14116 79.69516 89.80316 99.91116 103.41116 108.073169 114.28917 119.73517 125.95117 129.84317 133.34317 139.55918 145.77518 152.77518 158.22118 164.43718 169.88318 173.38318 177.27518 184.27518 190.49118 193.99118 203.32918 212.66718 225.11318 227.63318 233.07918 236.57918 244.36318 253.70117 261.48518 268.48518 273.14717 278.59318 287.14717 297.25517 307.36317 312.02516 315.52516 322.52516 326.41716 330.30915 333.80915 337.70115 344.70115 348.20115 353.64717 359.86317 363.75517">selected. A JTAG reset causes the RCM's SRS1[JTAG] bit to set.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 545.6)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00487 9.16013 18.32513 29.155133 39.160135 48.325136 52.495138 58.330137 66.670139 75.01014 83.35014">nTRST reset</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="527.85" x=".00513 8.55913 15.55913 21.775132 25.275132 32.27513 40.829133 50.167135 57.951135 66.505138 70.005138 77.005138 80.89713 87.89713 91.39713 97.61314 103.82914 110.82914 116.27514 122.49114 127.93714 131.43714 137.65314 141.15314 145.81514 152.03115 157.47714 163.69315 167.58515 171.08515 178.08515 182.74715 186.24715 190.13915 197.13915 203.35515 206.85515 212.30115 220.85515 230.96315 241.07115 244.57115 248.46315 255.46315 262.46315 266.35514 272.57115 276.07115 286.17915 293.17915 299.39515 306.39515 309.89515 316.11116 321.55717 327.00318 333.21919 337.88117 341.77317 347.98918 354.98918 358.48918 361.98918 372.09718 377.54319 382.9892 389.2052 393.8672 397.7592 401.65119 408.65119 415.65119 419.15119 423.04319 430.04319 436.2592 439.7592 446.7592 455.31318 464.65119 472.43519 480.98918 484.48918 491.48918 495.38117">The nTRST pin causes a reset of the JTAG logic when asserted. Asserting the nTRST pin</tspan><tspan y="543.85" x=".00513 6.2211306 10.113131 14.005131 21.00513 31.113133 36.55913 40.05913 43.951135 50.951135 57.167135 60.667135 67.66713 73.88313 80.88313 87.88313 94.88313 101.88313 108.09914 112.76114 116.26114 120.15314 127.15314 130.65314 137.65314 143.86914 147.76114 154.76114 158.26114 164.47714 171.47714 178.47714 182.36914 187.03115 194.03115 197.92314 201.42314 208.42314 213.08515 216.58515 220.47714 227.47714 233.69315 237.19315 245.74715 255.85515 263.63917 267.13917 273.35517 280.35517 287.35517 291.24717 295.90916 302.90916 306.80116 310.69316 316.90916 321.57115 325.07115 330.51716 334.40916 340.62516 344.51716 350.73316 354.23316 365.12516 371.34117 377.55717 384.55717 388.44917 395.44917 401.66517 405.16517 409.82716 416.04316 420.70515 424.59715 430.81315 435.47514 438.97514 445.19114 452.19114 456.08314 459.97514 463.86714 470.86714">allows the debugger to gain control of the TAP controller state machine (after exiting</tspan><tspan y="559.85" x=".00513 8.55913 17.113129 24.89713 28.39713 35.39713 40.059129 43.559129 53.66713 62.22113 70.77513 78.559139 85.559139 90.22114 93.72114 103.82914 107.72114 111.61314 118.61314 125.61314 132.61313 136.50513 140.00513 144.66713 150.88314 156.32913 162.54514 166.43714 170.32913 174.22113 181.22113 188.22113 191.72113 195.61313 202.61313 208.82913 212.32913 217.77513 221.66713 227.88314 231.77513 237.99114 241.49114 248.49114 253.15314 256.65315 260.54515 267.54515 273.76115 277.26115 284.26115 290.47715 297.47715 304.47715 311.47715 314.97715 325.86915 332.86915 339.86915 346.86915 350.76115 356.97715 362.42317">LLS or VLLSx) without resetting the state of the debug modules.</tspan><tspan y="584.25" x=".00513 8.55913 15.55913 21.775132 25.275132 32.27513 40.829133 50.167135 57.951135 66.505138 70.005138 77.005138 80.89713 87.89713 91.39713 98.39713 105.39713 111.61314 117.059139 120.559139 127.559139 134.55915 138.45114 141.95114 148.16715 154.38315 161.38315 166.82915 173.04515 176.54515 182.76116 186.26116 191.70716 198.70716 204.15316 208.04515 214.26116 225.15316 228.65316 233.31516 239.53116 244.97716 251.19316 255.08516">The nTRST pin does not cause a system reset.</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="25.87323" x="0 6.4980008 11.502001 16.506 21.510003">Reset</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.007 137.227 142.787 148.347 151.127 157.797 163.907 170.017 173.347 179.457 185.017 193.907 196.687 199.467 205.027 207.80699 215.027 220.58699 223.91699 229.47699 233.36699 238.92699 245.03699 250.59699 256.15699 258.93699 267.26698 272.82698 278.93696 285.04695 290.60694 293.38694 296.16694 298.94694 306.16694 311.72694 317.28694 320.06694 322.84693 328.40693 331.18693 336.74693 342.8569 348.9669 351.7469 357.3069 362.86689 368.42689">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00102 5.0050208 10.009022">206</tspan></text>
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<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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