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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_209.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

403 lines
53 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 117)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 10.008001 16.506003 19.503003 24.507004 29.511006 36.009008 41.01301 44.01001 46.51201 51.51601 56.52001 61.524015 64.02602 66.528018 69.030017 76.03201 82.530017 88.029018 94.527019 97.029018 103.03201 107.53201 110.03401 114.53401 119.53801 121.53601 126.54001 131.544 136.044 138.546 140.544 145.548 148.05 154.05301 156.55501 164.052 169.056 175.554 180.558 186.561 193.059 195.561 201.56401 206.56801 209.07 212.067 217.071 222.075 224.073 228.573 231.075 236.079 239.07599 241.57799 246.58199 249.57898 254.58298 257.085 262.089 267.093 269.595 274.599 277.596 282.096 287.1 292.104 294.60603 296.604 301.608 306.612 309.609 314.613 319.617 322.11903 327.12303">Low-power boot: OUTDIVx values in SIM_CLKDIV1 register are auto-configured at</tspan><tspan y="18.83789" x="0 2.997 8.001 12.501 17.505002 20.007002 22.509003 27.513005 32.013006 34.011007 36.513006 39.015005 41.517004 46.521005 49.518007 52.020006 57.024007 59.022008 64.02601 69.03001 74.034008 77.031009 79.533008 84.537 86.535 91.035 93.033008 98.037 103.041 105.543 110.043 115.047 117.045 122.048999 127.05299 131.553 134.055 136.55699 141.56099 146.56499 149.06699 151.56899 156.57299 159.56998 164.57398 169.57798 174.58197 179.08197 184.08597 186.58797 188.58597 193.58997 200.08797 205.09197 208.08896 210.59096 215.59496 220.59896 227.09696 232.10095 235.09795 237.59995 242.09995 247.10395 252.10794 256.60795 261.61195 269.10896 274.11296 276.61497 278.61296 283.61695 288.62095 291.12297 296.12696 298.62898 301.13099 304.128 309.132 313.632 318.636">reset exit for higher divide values that produce lower power consumption at reset</tspan><tspan y="29.83789" x="0 5.0040009 9.504001 11.502001 14.004002">exit.</tspan><tspan y="40.83789" x="14.85 24.003 30.501002 35.505 38.502004 43.506006 46.008005 51.012006 56.016008 61.020009 63.522008 68.022 72.522 77.022 79.524 84.528 92.025 94.527 99.027 101.025 106.029 110.529 115.029 117.531 122.534999 124.533 129.03299 131.03099 136.03499 141.03899 144.03598 146.53798 149.53498 156.53697 163.03498 168.53397 175.03197 177.53397 183.53697 188.54097 191.53797 194.03997 199.04396 204.04796 209.05196 211.55396 216.55796 221.56195 226.06195 228.56395 233.06395 235.06195 240.06595 244.56595 249.06595 251.56795 256.57197 258.56996 263.06996 265.06794 270.07194 275.07594 278.07295 280.57496 283.57197 290.57398 297.07197 302.57096 309.06895 311.57096 317.57395 322.57795">&#x2022;Core and system clock divider (OUTDIV1) and bus clock divider (OUTDIV2)</tspan><tspan y="51.83789" x="24.00299 29.006993 32.003995 37.007997 39.509996 44.513998 49.013998 54.017999 56.519998 59.517 64.520999 66.519 71.019 73.017 78.020999 83.024997 85.52699 90.53099 95.03099 97.53299 102.53699">are 0x7 (divide by 8)</tspan><tspan y="62.83789" x="14.849991 24.00299 29.501992 31.499993 36.503995 41.003995 46.007997 48.509996 53.009996 55.007997 60.011999 64.51199 69.01199 71.51399 76.51799 78.51599 83.01599 85.01399 90.01799 95.02199 98.01899 100.52099 103.51799 110.51999 117.01799 122.51699 129.01499 131.51699 137.51999 142.52399 145.52098 148.02298 153.02698 158.03098 163.03498 165.53697 171.03597 173.03397 178.03797 182.53797 188.54097 193.54497 198.04497 200.54697 205.04697 207.04497 212.04897 216.54897 221.04897 223.55097 228.55496 230.55297 235.05297 237.05097 242.05496 247.05896 250.05596 252.55796 255.55495 262.55696 269.05494 274.55393 281.0519 283.55393 289.55693 294.5609 297.55793 300.05995 305.06394 308.06095 313.06495 315.56697 320.57096 325.07096">&#x2022;Flash clock divider (OUTDIV4) and FlexBus clock divider (OUTDIV3) are 0xF</tspan><tspan y="73.83789" x="24.003022 27.000021 32.00402 34.00202 38.50202 40.500024 45.504026 50.508028 53.010026 58.014028 62.514028 65.01603 70.02003 75.024028">(divide by 16)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 339.4)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 13.344002 22.240002 26.688002">6.3.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.757328 339.4)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 11.552001 21.328001 31.104 36.432 40.88 49.776 58.672 68.448 78.224 87.12 96.896 105.79201">Boot sequence</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="322.65" x=".00001 10.10801 14.0000109 17.500012 24.500012 31.500012 41.608015 47.824014 52.48601 55.98601 62.98601 69.98601 73.48601 76.98601 80.878009 87.878009 94.09401 97.59401 104.59401 111.59401 116.25601 122.472019 129.47202 133.36402 140.36402 143.86402 148.52602 154.74202 161.74202 168.74202 172.63402 178.85002 182.74202 189.74202 194.40402 197.90402 204.90402 211.90402 215.79602 222.79602 228.24202 231.74202 235.63402 242.63402 248.85002 252.35002 257.79603 264.79603 270.24205 274.13404 280.35005 291.24205 294.74205 298.63404 305.63404 309.13404 315.35005 318.85005 326.63404 336.74205 346.08006 349.58006 355.02607 358.91807 365.13407 369.02607 375.24208 378.74208 385.74208 392.74208 396.63407 400.52607 404.41807 407.91807 411.81007 418.81007 425.02607 428.52607 432.41807 439.41807 446.41807 453.41807 457.31007 460.81007 466.25608 473.25608 480.25608 487.25608 491.14808">At power up, the on-chip regulator holds the system in a POR state until the input supply</tspan><tspan y="338.65" x="0 3.8920005 9.338001 12.838001 19.054 26.054 33.054 40.054 46.27 49.77 53.662004 60.662004 66.878009 70.378009 78.16201 88.27001 97.60802 101.10802 105.000019 112.000019 116.66202 122.87802 128.32402 135.32402 142.32402 146.21602 153.21602 156.71602 160.21602 168.77002 175.77002 181.98603 185.48603 190.93202 197.93202 203.37802 207.27002 213.48603 224.37802 227.87802 234.09403 241.09403 248.09403 251.98603 255.87802 262.87803 269.87803 276.09403 281.54005 285.04005 288.93205 295.93205 299.43205 306.43205 312.64805 316.14805 323.14805 329.36405 333.25605 340.25605 343.75605 347.64805 354.64805 358.14805 362.04005 369.04005 372.93205 378.37806 381.87806 387.32408 391.21607 397.43208 401.32408 405.21607 411.43208 414.93208 420.37809 424.27009 430.48609 434.37809 440.5941 444.0941 451.0941 458.0941 461.98609 465.87809 469.77009 473.27009 477.16209 484.16209">is above the POR threshold. The system continues to be held in this static state until the</tspan><tspan y="354.65" x="0 3.8920005 10.892 14.784 21 25.662 32.662004 38.878004 42.770006 46.662008 53.662008 57.162008 61.824007 68.04001 75.04001 82.04001 85.93201 92.14801 96.04001 102.25601 109.25601 112.75601 118.20201 125.20201 132.20201 139.20201 143.09401 146.98601 153.20201 158.64801 162.14801 169.14801 175.36402 182.36402 188.58002 192.08002 196.74202 202.95803 209.17403 215.39003 222.39003 228.60604 235.60604 239.10604 245.32204 248.82204 254.26804 260.48405 265.14604 271.36204 274.86204 281.86204 288.86204 295.07804 299.74003 305.95603 309.84803 313.74003 320.74003 327.74003 331.24003 338.24003 345.24003 349.13203 353.02403 359.24003 366.24003 372.45603 375.95603 382.17204 387.61805 391.11805 398.11805 404.33406 408.22605 414.44206 419.10404 429.99604 433.88804 440.88804 447.10404 454.10404 457.60404 464.60404 471.60404 475.10404 478.99604 485.99604">internally regulated supplies have reached a safe operating voltage as determined by the</tspan><tspan y="370.65" x="0 8.554 18.662 28.77 32.27 35.77 44.324 51.324 57.54 61.04 73.486 80.486 87.486 93.702 97.202 106.54001 113.54001 120.54001 124.43201 129.09401 136.09401 139.98601 143.878 150.09401 154.75601 158.25601 162.91802 169.13402 174.58002 180.79602 184.68802 188.18802 192.08002 199.08002 206.08002 209.97202 216.18802 219.68802 223.58002 230.58002 236.79602 243.79602 247.29602 253.51203 260.51203 267.51203 271.40403 276.066 283.066 286.958 292.40403 295.90403 302.12004 305.62004 311.06605 317.28205 324.28205 331.28205 337.49806 344.49806 350.71406 356.93006 360.43006 364.32206 371.32206 374.82206 381.03807 388.03807 391.93006 395.82206 399.32206 403.98405 410.20005 415.64607 421.86207 425.75407">LVD. The Mode Controller reset logic then controls a sequence to exit reset.</tspan><tspan y="395.05" x="7.50402 14.504021 23.996022 34.104024 37.604024 43.050024 50.050024 55.49602 59.388025 65.60403 76.496028 79.996028 84.65803 90.87403 96.32003 102.53603 106.42803 109.92803 113.82003 119.26603 122.76603 129.76602 135.98203 139.87403 146.87403 150.37403 157.37403 164.37403 167.87403 171.76602 178.76602 182.65802 188.87403 193.53603 200.53603 206.75203 210.64403 214.14403 218.03603 225.03603 232.03603 235.92803 242.14403 245.64403 249.14403 253.03603 260.036 266.252">1.A system reset is held on internal logic, the </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="395.05" x="269.752 279.09004 287.644 295.428 303.982 312.53599 316.03599 323.03599 326.92799 333.92799 337.42799 341.31999 346.766 350.266 357.266 361.92799 365.81999 372.81999 379.03599 386.03599 389.53599 396.53599 403.53599 407.42799 410.92799 414.81999 421.81999 431.92799 435.42799 438.92799 445.14399 452.14399 459.14399 462.64399 466.53599 473.53599">RESET pin is driven out low, and the</tspan><tspan y="411.05" x="23.996033 36.44203 45.780035 55.888036 59.388036 63.280038 68.726039 72.226039 78.44204 85.44204 91.65804 98.65804 102.55004 108.766048 115.766048 119.266048 123.15804 130.15805 133.65805 137.55005 141.44205 146.88805 150.38805 157.38805 163.60405 168.26605 174.48206 181.48206 185.37406 189.26605 192.76605 198.98206 202.87406 209.87406 216.09006 223.09006 226.98206 233.98206 240.98206 244.48206 255.37406 262.37406 269.37406 275.59007">MCG is enabled in its default clocking mode.</tspan><tspan y="427.05" x="7.5040438 14.504044 23.996045 33.334047 39.550046 46.550046 53.550046 57.442049 62.104047 68.320049 75.320049 78.820049 85.03605 88.92805 95.92805 102.14405 109.14405 114.59005 118.09005 124.30605 128.96805 135.18405 138.68405 144.90006 151.90006 158.11606 165.11606 169.00806 175.22406 182.22406 185.72406 190.38607 199.72406 206.72406 211.38607 217.60207 221.10207 230.44007 234.33206 241.33206 247.54807 254.54807 258.04808 261.54808 269.33207 276.33207 281.77809 285.67008 291.88609 302.77809 306.27809 315.6161 319.5081 326.5081 332.7241 339.7241 343.2241 346.7241 354.5081 358.4001 364.6161 370.0621 377.0621 380.5621 389.90013 393.7921 400.7921 407.00813 414.00813 417.50813 421.00813 427.22413 434.22413 441.22413 444.72413 450.94013 457.94013 464.94013 468.44013 477.77815 484.77815">2.Required clocks are enabled (Core Clock, System Clock, Flash Clock, and any Bus</tspan><tspan y="443.05" x="23.996064 33.334066 37.226068 44.226068 50.442068 57.442068 62.888067 66.38806 70.28006 77.28006 83.49606 87.38806 90.88806 97.88806 104.88806 108.38806 115.38806 122.38806 126.28006 129.78006 136.78006 142.99607 149.99607 156.21207 159.71207 165.92807 169.82007 176.82007 183.03607 190.03607 193.53607 200.53607 206.75208 210.64408 216.86008 220.36008 226.57608 233.57608 240.57608 244.46808 249.13008 256.13008 260.02207 264.68406">Clocks that do not have clock gate control).</tspan><tspan y="459.05" x="7.5040438 14.504044 23.996045 32.550046 39.550046 45.766046 49.266046 54.712045 61.712045 67.15804 71.05004 77.266048 88.15804 91.65804 96.320049 102.53605 107.98205 114.19805 118.09005 121.59005 128.59006 135.59006 139.09006 142.98206 149.98206 153.87406 160.09006 164.75206 171.75206 177.96807 181.86006 185.36006 189.25206 196.25206 203.25206 207.14406 213.36006 216.86006 223.07607 230.07607 237.07607 240.96807 244.86006 251.86006 258.86006 265.07606 270.52207 274.02207 277.91407 284.91407 288.41407 295.41407 301.63008 305.13008 312.13008 318.34608 322.23808 329.23808 332.73808 336.23808 343.23808 350.23808 354.13008 357.63008 361.52207 368.52207 374.73808 378.23808 386.02207 389.91407 396.13008 401.57609 408.57609 412.07609 421.4141 428.4141 435.4141 439.3061 443.96809 450.96809 454.86009 458.75209 464.96809 469.63008 473.13008 477.02207">3.The system reset on internal logic continues to be held, but the Flash Controller is</tspan><tspan y="475.05" x="23.996033 28.658034 34.874036 38.766038 44.982038 51.198038 56.644037 62.860036 69.86003 73.36003 78.02203 82.68404 89.68404 100.576038 104.076038 108.73804 114.95404 120.40004 126.61604 130.50804 134.00804 140.22405 147.22405 154.22405 157.72405 164.72405 170.94005 177.94005 181.83205 188.83205 194.27805 197.77805 201.67005 208.67005 212.56204 216.45404 220.34604 226.56204 230.45404 234.34604 240.56204 246.77805 250.67005 254.56204 261.56205 268.56205 272.06205 279.06205 286.06205 292.27806 296.94004 303.15605 307.04804 310.94004 317.94004 324.94004 328.44004 338.54804 345.54804 349.44004 353.33204 359.54804 363.04804 366.94004 373.94004 380.15605 383.65605 396.10206 403.10206 410.10206 416.31806 419.81806 429.15608 436.15608 443.15608 447.04808 451.71006 458.71006 462.60206 466.10206 469.99406 476.99406 483.99406 487.88606">released from reset and begins initialization operation while the Mode Control logic</tspan><tspan y="491.05" x="23.996003 30.212002 37.212 44.212 48.104005 51.996007 58.996007 65.996 72.212009 77.658008 81.158008 85.05 92.05 95.55 102.55 107.212009 111.104007 118.104007 124.32001 127.82001 131.712 138.712 144.92801">continues to drive the </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="587.0499" x="405.07609 414.4141 422.96809 430.75209 439.30607">RESET</tspan><tspan y="603.0499" x="23.996094 30.212094 37.212095 44.212095 48.104097 51.996099 58.996099 65.99609 72.2121 77.6581 81.1581 85.050098 92.050098 95.550098 102.550098 108.7661 112.2661 118.4821 123.9281 129.3741 135.5901 140.2521 144.1441 150.3601 157.3601 160.8601 165.52211 171.73812 178.73812 182.23812 186.13011 193.13011 200.13011 204.02211 210.23812 216.45412 220.34612 224.23812 231.23812 238.23812 241.73812 248.73812 253.40012 256.90013 263.11613 266.61613 272.06214 275.95414 282.95414 293.06214 296.56214 301.22413 305.11613 310.56214 316.77815 320.27815 324.17015 328.06214 338.95414 345.17015 348.67015 355.67015 362.67015 366.17015 370.06214 377.06214 383.27815">continues to be asserted (an indication of a slow rise time on the </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="603.0499" x="386.7781 396.11613 404.6701 412.4541 421.0081 429.56208 433.06208 440.06208 443.95408 450.95408 454.45408 461.45408">RESET pin or</tspan><tspan y="619.0499" x="23.996094 30.212094 37.212095 41.104097 47.320096 51.982095 58.982095 65.1981 69.090099 72.590099 79.590099 84.2521 88.1441 95.1441 101.3601 104.8601 108.7521 115.7521 119.2521 123.1441 130.1441 140.2521 144.91411 148.41411 151.91411 155.8061 162.8061 169.02211 172.52211 177.96811 184.96811 190.41411 194.3061 200.52211 211.41411 214.91411 221.13011 228.13011 235.13011 239.02211 242.91411 249.91411 256.91413 263.13014 268.57615 272.07615 275.96815 282.96815 286.46815 293.46815 299.68415 303.18415 310.18415 316.40016 320.29216 327.29216 330.79216 334.68415 341.68415 345.18415 349.84614 356.06214 361.50816 367.72416 371.61616 375.11616 378.61616 388.72416 395.72416 401.94017 408.15617 411.65617 415.54817 422.54817 428.76417">external drive in low), the system continues to be held in reset. Once the </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="619.0499" x="432.2641 441.6021 450.1561 457.9401 466.49409 475.04808 478.54808 485.54808 489.44007">RESET pin</tspan><tspan y="635.0499" x="23.996125 27.888125 33.334127 36.834127 43.834127 50.050127 53.942129 60.158128 66.37413 70.26613 76.48213 83.48213 86.98213 93.98213 97.87413 104.87413 111.87413 115.37413 118.87413 122.76613 129.76613 135.98213 139.48213 144.92813 151.92813 157.37413 161.26613 167.48213 178.37413 181.87413 185.76613 191.21213 194.71213 199.37413 205.59014 209.48213 215.69814 221.91414 227.36014 233.57614 240.57614 244.07614 248.73815 253.40015 260.40016 271.29216 274.79216 279.45414 285.67015 291.11616 297.33216 301.22416">is detected high, the system is released from reset.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01031" x="393.98399 400.48197 405.98097 410.98497 416.48396 419.48097 424.48497 427.98597 430.48799 435.49198 437.994 444.49198 449.49598 454.49998 459.50398 462.50099 465.003 470.007 475.50599 481.00498 483.507 490.00498 495.50398 501.00297">Chapter 6 Reset and Boot</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.00998 137.22998 142.78998 148.34998 151.12998 157.79998 163.90998 170.01998 173.34998 179.45998 185.01998 193.90998 196.68997 199.46997 205.02997 207.80997 215.02997 220.58997 223.91997 229.47997 233.36997 238.92996 245.03997 250.59996 256.15998 258.93998 267.26997 272.82997 278.93995 285.04994 290.60993 293.38993 296.16993 298.94993 306.16993 311.72993 317.28993 320.06993 322.8499 328.4099 331.1899 336.7499 342.8599 348.96989 351.74989 357.30989 362.86988 368.42988">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00401 5.5030105 8.5000109 13.504011 18.50801 23.00801 27.50801 32.512014 34.510015 39.514017 42.016016 48.019014 53.023015 60.520017 62.518018 67.01802 72.02202 77.02602 82.030017 87.03401 91.53401 94.03601 99.04001 102.03701 104.53901 107.04101 109.54301 114.547008 119.047008">Freescale Semiconductor, Inc.</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="151.308 156.312 161.316">209</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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