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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

307 lines
36 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="20" font-family="HelveticaLTStd" font-weight="bold"><tspan y="88.19531" x="0 14.4400019 26.660002 37.780004 50.000005 56.660005 67.78001 75.560009 81.12">Chapter 7</tspan><tspan y="110.19531" x="0 13.340001 25.560002 41.120004 52.240007 60.020006 65.58 82.240009 93.36001 105.58001 116.70001 128.92002 140.04001 157.82 168.94 181.16">Power Management</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".00402 9.45602 14.18202">7.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 91.80322 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".00402 4.7300207 15.117021 20.77802 27.391022 37.778024 48.165025 58.552026 68.00403 73.66503 78.39103 88.77803">Introduction</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 72)" font-size="14" font-family="TimesLTStd"><tspan y="187.05" x=".00303 8.55703 15.55703 19.44903 24.895031 28.395031 34.61103 41.61103 47.82703 54.82703 58.719034 64.935039 69.59704 73.09704 80.09704 86.31304 91.75904 97.975048 102.63705 106.529048 113.529048 119.74505 125.19105 128.69104 132.58304 139.58304 145.79904 149.29904 156.29904 162.51505 167.17705 171.06905 178.06905 185.06905 190.51505 194.01505 200.23105 207.23105 211.12305 218.12305 221.62305 228.62305 235.62305 245.73105 251.94705 256.60905 260.10905 271.00105 278.00105 285.00105 291.21705 296.66307 300.16307 306.37907 313.37907 320.37907 323.87907 328.54106 335.54106 342.54106 348.75706 352.64906 356.54106 363.54106 370.54106 376.75706 380.64906 384.54106 388.43305 395.43305 398.93305 405.93305 410.59504 414.09504 417.98704 424.98704 431.20304 434.70304 438.59504 445.59504 452.59504 456.48704 463.48704 467.37904 474.37904 481.37904 487.59504">This chapter describes the various chip power modes and functionality of the individual</tspan><tspan y="203.05" x=".00306 10.8950619 17.895062 24.895062 31.895062 35.787065 42.003065 47.449064 50.949064 54.841066 61.841066 65.341068 69.23306 76.23306 82.449069 87.895069 94.11107 97.61107 108.50307 115.50307 122.50307 128.71907 134.16507">modules in these modes.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 321.4)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00092 9.45108 14.17708">7.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 91.80322 321.4)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00092 11.33808 21.72508 34.95108 44.40308 51.01608 55.74208 70.85508 81.24208 91.62908 101.081089">Power modes</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 72)" font-size="14" font-family="TimesLTStd"><tspan y="286.65" x=".00308 8.55708 15.55708 21.77308 25.27308 32.27308 39.27308 49.38108 55.59708 60.25908 63.75908 74.65108 80.86708 87.86708 94.083087 101.083087 107.29909 118.191089 124.40709 131.40709 135.29909 138.79909 145.01509 152.01509 159.01509 162.90709 167.56909 174.56909 178.46109 182.35309 188.56909 193.2311 196.7311 201.3931 209.1771 221.6231 230.96109 235.6231 239.1231 246.1231 250.7851 257.7851 264.7851 268.6771 275.6771 281.8931 287.3391 290.8391 301.7311 308.7311 312.6231 316.5151 320.4071 327.4071 331.2991 337.5151 341.0151 348.0151 355.0151 365.1231 371.3391 376.0011 379.5011 386.5011 393.5011 397.3931 401.2851 408.2851 415.2851 420.7311 424.2311 428.1231 435.1231 438.6231 444.8391 448.7311 452.6231 459.6231 469.7311 473.2311 477.1231 484.1231">The power management controller (PMC) provides multiple power options to allow the</tspan><tspan y="302.65" x=".00312 7.00312 12.4491209 18.665122 23.327122 26.827122 30.719122 37.719125 41.219125 48.219125 55.219125 59.111127 63.003129 73.89513 77.787128 84.00313 90.21913 93.71913 100.71913 107.71913 117.82713 124.04314 128.70514 132.20514 138.42115 145.42115 152.42115 157.86714 164.86714 175.75914 182.75914 186.65114 190.54314 197.54314 204.54314 208.04314 212.70514 219.70514 224.36714 227.86714 231.75914 238.75914 244.97515 248.47515 252.36714 258.58314 265.58314 271.79914 275.69114 279.19114 286.19114 290.85313 294.35313 299.0151 306.0151 313.0151 319.2311 323.1231 327.0151 334.0151 341.0151 347.2311 351.1231 355.0151 358.9071 365.9071 369.4071 376.4071 382.6231 388.8391 395.8391 402.0551 409.0551">user to optimize power consumption for the level of functionality needed.</tspan><tspan y="327.05" x=".00312 10.111121 16.327122 23.327122 29.543122 36.54312 43.54312 47.435125 54.435125 61.435125 64.93512 71.93512 78.93512 82.43512 86.32712 93.32712 99.54312 103.04312 108.48912 112.38112 119.38112 126.38112 129.88112 134.54312 140.75913 147.75913 154.75913 158.65113 163.31313 169.52913 180.42113 186.63713 193.63713 197.52913 202.97513 206.47513 213.47513 218.13713 221.63713 225.52913 232.52913 238.74514 242.24514 249.24514 254.69113 260.90715 265.56913 269.06913 275.28514 282.28514 289.28514 293.17713 297.06913 303.28514 309.50114 313.39314 317.28514 324.28514 331.28514 334.78514 338.28514 344.50114 348.00114 355.00114 361.21714 365.87913 369.77113 375.98713 379.87913 386.87913 390.37913 397.37913 402.0411 405.5411 410.98713 414.87913 421.87913 428.87913 432.37913 443.27113 450.27113 457.27113 463.48713 468.93315 472.43315 478.64915 483.31114">Depending on the stop requirements of the user application, a variety of stop modes are</tspan><tspan y="343.05" x=".00312 6.2191207 13.21912 19.43512 23.32712 27.21912 33.43512 40.43512 44.32712 50.54312 54.04312 57.935125 64.93512 71.15112 75.04312 78.54312 85.54312 90.205127 97.205127 104.205127 108.09712 115.09712 121.313129 124.813129 130.25913 134.15113 140.36713 144.25913 150.47513 153.97513 158.63713 164.85314 168.74514 174.96114 181.96114 185.85314 189.74514 196.74514 203.74514 207.24514 210.74514 217.74514 223.96114 228.62314 232.51514 236.40714 242.62314 246.51514 250.01514 257.01515 264.01515 274.12315 280.33915 285.00114 288.50114 295.50114 302.50114 312.60914 319.60914 323.10914 330.10914 334.77113 338.27113 342.9331 349.9331 353.8251 357.7171 361.2171 368.2171 375.2171 385.3251 391.5411 396.2031 399.7031 406.7031 413.7031 423.8111 430.8111 434.3111 441.3111 445.97309 449.47309 455.6891 461.9051 466.56709 470.45909 476.67509 480.56709">available that provide state retention, partial power down or full power down of certain</tspan><tspan y="359.05" x=".00312 3.8951205 10.895121 17.89512 21.78712 28.00312 31.50312 37.71912 44.71912 51.71912 55.611124 62.611124 67.273128 70.773128 81.66512 87.88113 98.773128 105.773128 110.43513 117.43513 120.93513 124.43513 129.09712 132.98912 143.09712 146.59712 152.04312 155.93512 162.15113 166.04312 172.25913 177.70513 181.20513 187.42113 192.08313 198.29914 201.79914 208.79914 215.01514 218.90714 225.90714 229.40714 233.29914 240.29914 243.79914 250.01514 253.90714 257.79914 261.29914 272.19114 279.19114 286.19114 292.40715 297.85316 301.35316 308.35316 313.01515 316.51515 323.51515 330.51515 336.73115 341.39314 347.60914 351.50114 355.39314 362.39314 369.39314 372.89314 376.39314 384.9471 391.9471 398.16313 401.66313 406.3251 413.3251 417.2171 421.1091 428.1091 438.2171 442.1091 449.1091 456.1091 459.6091 463.5011 469.7171 476.7171 480.6091">logic and/or memory. I/O states are held in all modes of operation. The following table</tspan><tspan y="375.05" x=".00312 6.2191207 13.21912 24.111123 31.111123 37.32712 41.98912 48.20512 53.65112 57.15112 61.04312 68.04312 74.259128 77.759128 84.759128 90.97513 95.63713 99.52913 106.52913 113.52913 118.97513 122.47513 129.47513 136.47513 146.58313 152.79914 157.46114 160.96114 171.85314 178.85314 185.85314 192.06914 197.51514 201.01514 207.23114 214.23114 220.44715 224.33914 228.23114 234.44715 241.44715 245.33914 251.55515">compares the various power modes available.</tspan><tspan y="399.44999" x=".00312 7.787121 14.787121 19.449122 22.949122 29.165123 35.381124 41.597124 48.597124 52.097124 56.75912 63.75912 70.759128 74.259128 85.15112 92.15112 99.15112 105.36713 108.86713 112.759128 119.759128 125.97513 130.63713 136.85314 140.35314 144.24514 149.69113 153.19113 159.40714 162.90714 169.12314 176.12314 180.78514 185.44715 191.66315 197.10915 204.10915 211.10915 218.10915 225.10915 229.00115 236.00115 243.00115 246.50115 256.60914 262.82514 266.71714 270.60914 274.10914 280.32514 287.32514 294.32514 297.82514 303.27116 307.16316 314.16316 321.16316 324.66316 335.55516 342.55516 349.55516 355.77116 359.27116 362.77116 375.98716 382.20317 386.09516 389.98716 393.48716 404.37916 411.37916 418.37916 424.59516 430.04118 433.54118 439.75718 444.41917 450.63517 454.13517 459.58119 463.47319 474.36518 478.25718 482.14918 488.36518">For each run mode there is a corresponding wait and stop mode. Wait modes are similar</tspan><tspan y="415.44999" x=".00312 3.8951205 10.895121 14.395121 24.50312 33.84112 46.287126 49.787126 55.233125 59.125127 65.341129 71.55713 78.55713 82.05713 92.94913 99.94913 106.94913 113.16513 118.61113 122.11113 125.61113 133.39513 137.28713 144.28713 151.28713 154.78713 165.67913 172.67913 179.67913 185.89513 191.34113 194.84113 199.50313 209.61113 218.16513 225.94913 233.73313 237.23313 240.73313 248.51712 257.0711 267.1791 274.9631 279.6251 283.1251 289.3411 294.00309 300.2191 303.7191 309.1651 313.0571 323.9491 327.8411 331.7331 337.9491 342.61109 346.11109 350.00309 357.00309 360.50309 370.61109 379.9491 392.3951 395.8951 401.34114 405.23313 411.44914 417.66514 424.66514 428.16514 435.16514 441.38114 447.59715 454.59715 458.09715 468.98915 475.98915 482.98915 489.20515">to ARM sleep modes. Stop modes (VLPS, STOP) are similar to ARM sleep deep mode.</tspan><tspan y="431.44999" x=".00312 8.55712 15.55712 21.77312 25.27312 32.27312 38.48912 43.15112 50.15112 53.65112 57.54312 64.54312 74.65112 78.15112 85.15112 92.15112 102.259128 108.47513 113.13713 116.63713 121.29913 128.29914 135.29914 138.79914 143.46114 153.56914 162.12314 169.90714 179.24514 183.90714 187.40714 194.40714 201.40714 207.62314 212.28514 218.50115 222.39315 226.28514 233.28514 240.28514 243.78514 254.67714 261.67713 268.67713 274.89314 278.39314 284.60914 290.82514 297.82514 301.32514 308.32514 312.98713 319.20314 324.64915 328.54115 332.43315 338.64915 344.86515 348.75715 352.64915 359.64915 363.14915 367.81114 374.02714 381.02714 388.02714 394.24314 400.45915 403.95915 408.62113 415.62113 422.62113 426.51313 430.40513 441.29713 447.51313 451.01313 458.01313 465.01313 475.12113 481.33714">The very low power run (VLPR) operating mode can drastically reduce runtime power</tspan><tspan y="447.44999" x=".00312 10.111121 17.111123 23.327122 30.327122 33.82712 37.719125 44.719125 50.935125 54.435125 65.327129 71.54313 78.54313 82.43513 93.327129 100.327129 111.219127 114.719127 121.719127 128.71912 134.16512 137.66512 142.32712 146.98912 153.20513 160.20513 167.20513 173.42113 180.42113 186.63713 193.63713 197.13713 201.02913 206.47513 209.97513 216.97513 223.97513 227.86713 231.36713 236.02913 242.24514 249.24514 256.24513 260.13713 264.7991 271.0151 278.0151 281.5151 285.4071 292.4071 295.9071 302.9071 309.1231 316.1231 323.1231 327.0151 333.2311 336.7311 340.6231 347.6231 353.8391 357.3391 363.5551 370.5551 377.5551 381.4471 385.3391 391.5551 397.77113 401.66313 405.5551 412.5551 419.5551 423.0551 430.0551 436.27113 442.48713 449.48713 454.93315">when the maximum bus frequency is not required to handle the application needs.</tspan><tspan y="471.84999" x=".00312 8.55712 15.55712 21.77312 25.27312 29.165122 36.165124 40.82712 47.04312 53.25912 56.75912 63.75912 68.42112 72.31312 83.20512 89.42112 94.08312 101.08312 104.58312 115.47512 122.47512 129.47513 135.69113 141.13713 144.63713 151.63713 156.29914 159.79914 166.79914 173.79914 180.01514 184.67714 190.89315 194.78514 198.67714 205.67714 212.67714 216.17714 222.39315 227.05515 233.27115 236.77115 241.43315 248.43315 255.43315 258.93318 262.43318 272.54118 278.75718 282.64918 286.54118 290.04118 296.25718 303.25718 310.25718 313.75718 319.2032 323.09519 330.09519 337.09519 340.59519 344.09519 352.64918 359.64918 365.86518 369.36518 382.58119 390.36518 395.02717 398.52717 402.41917 409.41917 414.86518 418.75718 423.41917 430.41917 436.63517 440.52717 444.41917 451.41917">The three primary modes of operation are run, wait and stop. The WFI instruction</tspan><tspan y="487.84999" x=".00312 3.8951205 10.895121 17.89512 24.89512 31.89512 38.111124 43.55712 47.05712 54.05712 61.05712 64.94912 71.94912 75.44912 85.55712 91.773128 95.66512 99.55712 103.05712 109.273128 116.273128 123.273128 126.773128 132.21913 136.11113 143.11113 150.11113 153.61113 164.50313 171.50313 178.50313 184.71913 190.16513 193.66513 198.32714 205.32714 209.98914 213.48914 217.38114 224.38114 230.59714 234.09714 240.31314 247.31314 251.20514 258.20515 261.70515 265.20515 273.75914 280.75914 286.97514 290.47514 297.47514 302.13713 306.0291 316.9211 323.13713 327.7991 334.7991 338.2991 349.1911 356.1911 363.1911 369.4071 374.85313 378.35313 384.56913 389.2311 395.4471 398.9471 405.16313 412.16313 419.16313 430.0551 436.27113 443.27113 447.16313 453.37913 460.37913 463.87913 467.77113 474.77113 478.27113">invokes both wait and stop modes for the chip. The primary modes are augmented in a</tspan><tspan y="503.84999" x=".00312 7.00312 14.00312 24.895123 31.895123 38.111124 42.77312 46.27312 53.27312 57.93512 61.43512 71.54312 77.759128 84.759128 90.205127 93.705127 97.59712 104.59712 108.09712 115.09712 119.759128 126.759128 133.75913 137.65113 144.65113 150.86713 154.36713 158.25913 165.25913 175.36713 181.58313 186.24514 189.74514 196.74514 203.74514 213.85314 220.06914 224.73114 228.23114 235.23114 241.44715 246.89315 253.10915 260.10914 263.60914 270.60914 277.60914 281.10914 287.32514 294.32514 301.32514 305.21714 309.10914 315.32514 321.54115 325.43315 329.32514 336.32514 343.32514 346.82514 353.82514 360.04115 366.25715 373.25715 378.70317">number of ways to provide lower power based on application needs.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 729.26937)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.01001 137.23001 142.79001 148.35 151.13 157.8 163.91 170.02 173.35 179.46 185.02 193.91 196.69 199.47 205.03 207.81 215.03 220.59 223.92 229.48 233.37 238.93 245.04 250.59999 256.16 258.94 267.27 272.83 278.93998 285.04997 290.60997 293.38996 296.16996 298.94996 306.16996 311.72996 317.28996 320.06996 322.84996 328.40995 331.18995 336.74995 342.85993 348.9699 351.7499 357.3099 362.8699 368.4299">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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