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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

408 lines
50 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 92.240009">Chapter 10</tspan><tspan y="110.19531" x="0 13.340001 18.900002 31.120003 43.340005 54.460008 60.020009 65.58001 82.24001 94.460018 100.02001 106.68001 112.240009 124.46001 130.02 141.14 152.26 157.81999 170.04 182.26 187.81999 198.93999 211.15999 223.37999 228.93999 242.27999 247.83998 260.05998 272.27998 283.39997 288.95997 294.51997 308.95997 320.07997 331.19996 342.31996 350.09996 355.65995 367.87995 374.53996 380.09996 392.31996 404.53996">Signal Multiplexing and Signal Descriptions</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="-.00697 9.44503 18.89703 23.62303">10.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00697 4.7190306 15.10603 20.76703 27.380032 37.767034 48.154035 58.541036 67.993038 73.65404 78.380039 88.76704">Introduction</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="187.05" x=".00604 8.5600399 15.5600399 19.06004 26.06004 33.06004 36.95204 40.844045 51.736047 55.628049 61.844049 68.06005 71.56005 76.22205 83.22205 90.22205 96.43806 100.330059 104.22205 111.22205 118.22205 124.43806 128.33007 132.22206 136.11406 143.11406 146.61406 150.50606 157.50606 161.00606 166.45206 177.34406 183.56006 187.45206 191.34406 194.84406 201.84406 208.06006 214.27606 221.27606 227.49207 234.49207 240.70807 246.15407 249.65407 253.15407 260.15406 264.04606 271.04606 276.49208 279.99208 286.99208 293.20808 300.20808 306.42408 309.92408 315.3701 321.5861 328.5861 334.8021 339.46409 345.68009 349.57209 353.07209 357.73408 364.73408 371.73408 377.95008 381.84208 385.73408 392.73408 399.73408 405.18009 408.68009 414.8961 421.8961 428.1121 432.0041 435.8961 442.1121 449.1121 453.0041 459.2201 462.7201 469.7201 473.6121">To optimize functionality in small packages, pins have several functions available via</tspan><tspan y="203.05" x=".00607 5.4520709 9.344071 16.34407 23.34407 29.56007 33.452074 36.952074 47.844076 54.844076 58.736078 62.62808 66.52008 73.52008 77.41208 83.62808 90.62808 94.52008 101.52008 108.52008 112.02008 115.52008 124.07408 131.07408 134.96608 140.41208 143.91208 150.12808 157.12808 163.34409 170.34409 174.23609 180.45209 185.11409 188.61409 192.50609 196.39809 200.29009 207.29009 212.73609 216.62808 221.29009 227.50609 231.39809 237.61409 243.06009 246.56009 256.6681 263.6681 267.5601 273.7761 280.7761 284.2761 291.2761 295.93809 299.43809 303.33009 310.33009 314.22209 319.6681 323.1681 330.1681 336.3841 343.3841 347.2761 353.4921 359.7081 362.2281 367.6741 371.1741 376.62013 380.51213 387.51213 394.51213 400.72813 404.62013 410.06614 413.56614 419.78215 424.44413 430.66014 434.16014 445.05213 452.05213 455.94413 459.83613 463.72813 470.72813 474.62013 480.83613 487.83613 494.05213">signal multiplexing. This chapter illustrates which of this device's signals are multiplexed</tspan><tspan y="219.05" x=".00607 7.00607 14.00607 17.50607 27.61407 34.61407 38.506074 44.722074 51.722074 55.222074 61.438074 68.43807 72.33007 78.546077 83.20808 90.20808 96.42408 100.31608 103.81608 110.81608 114.70808 121.70808">on which external pin.</tspan><tspan y="243.45" x=".00608 8.56008 15.56008 21.776082">The </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="243.45" x="25.276082 33.06008 40.06008 44.72208 48.614084 52.114084 61.452085 68.45209 75.45209 79.344089 84.00609 91.00609">Port Control</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="243.45" x="94.89809 98.39809 105.39809 109.290088 116.290088 122.50609 129.50609 133.00609 139.22209 146.22209 153.22209 157.11409 161.7761 168.7761 172.66809 178.11409 181.61409 191.72209 198.72209 202.61409 208.8301 215.8301 219.3301 224.7761 228.66809 235.66809 242.66809 248.8841 252.7761 256.2761 260.1681 265.6141 269.1141 276.1141 280.7761 286.9921 292.4381 298.6541 305.6541 309.5461 313.0461 320.0461 327.0461 330.5461 334.4381 341.4381 347.6541 351.1541 357.37013 364.37013 368.26213 374.47813 379.1401 386.1401 392.3561 396.2481 399.7481 406.7481 410.6401 417.6401 421.1401 424.6401 433.97813 440.19413 444.8561 451.0721 455.7341 461.9501 468.9501 475.1661"> block controls which signal is present on the external pin. Reference</tspan><tspan y="259.44999" x=".006072998 3.8980735 10.898073 17.114075 21.006075 24.506075 30.722077 37.722078 43.938077 50.938077 54.83008 61.046079 65.70808 69.20808 73.100078 80.100078 83.600078 88.26208 92.154079 99.154079 106.154079 109.654079 119.76208 126.76208 130.65409 136.87009 143.87009 147.37009 152.03209 158.2481 165.2481 169.14009 174.58609 178.47809 184.69409 189.3561 192.8561 199.0721 206.0721 213.0721 216.9641 221.6261 228.6261 232.5181 237.9641 241.4641 245.3561 252.3561 258.57209 262.07209 269.07209 276.07209 282.2881 286.95008 293.16609 297.05809 300.95008 307.95008 314.95008 318.45008 325.45008 330.11207 333.61207 339.82807 343.32807 348.77409 355.77409 361.99009 368.2061 372.09809 376.76008 380.65208 386.86808 390.36808 397.36808 401.26008 408.26008">that chapter to find which register controls the operation of a specific pin.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 377.79997)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".00309 9.4550909 18.907092 23.633091">10.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 377.79997)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".00309 11.342091 16.06809 26.45509 36.84209 46.29409 51.020093 55.746095 69.9071 80.2941 85.020099 90.6811 95.4071 105.7941 110.520099 119.9721 129.4241 134.1501 144.5371 154.92409 159.65009 164.37609 174.76308 180.42407 189.87607 200.26306 206.87607 216.32807 221.98906 226.71506 237.10205">Signal Multiplexing Integration</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="343.04997" x="-.00293 8.55107 15.55107 19.443072 24.889073 28.389073 33.83507 40.05107 46.26707 50.159074 54.051076 61.051076 68.05107 71.55107 76.99707 83.99707 94.88907 105.78107 111.99707 116.65907 120.55107 126.767078 132.98308 138.42908 141.92908 148.92908 155.92908 166.03708 169.53708 173.42908 180.42908 186.64508 190.14508 201.03708 208.03708 215.03708 222.03708 225.92908 232.14508 235.64508 239.53708 244.98308 248.48308 252.37508 259.37507 263.26707 269.48307 276.48307 281.14506 287.36106 291.25306 297.46907 304.46907 307.96907 311.86106 318.86106 322.75306 329.75306 333.25306 337.14506 344.14506 350.36106 353.86106 360.86106 367.07707 374.07707 377.96907 384.18507 390.40107 393.90107 397.40107 405.18507 412.18507 416.84706 420.34706">This section summarizes how the module is integrated into the device. For a</tspan><tspan y="359.04997" x="-.0029 6.2131006 13.2131 24.105103 31.105103 35.7671 41.9831 48.9831 55.1991 62.1991 67.6451 71.5371 78.5371 84.753108 88.253108 95.253108 101.46911 106.91511 113.13111 117.79311 121.68511 128.68512 132.57712 136.46912 143.46912 150.46912 153.96912 160.96912 165.63112 169.13112 173.02312 180.02312 186.23912 189.73912 200.63112 207.63112 214.63112 221.63112 225.52312 231.73912 235.23912 239.13112 243.02312 248.46912 254.68512 258.57713 263.2391 266.7391 270.2391 275.68513 281.90113 288.11714 291.61714 295.50914 302.50914 308.72514 312.22514 323.11714 330.11714 337.11714 344.11714 348.00914 354.22514 358.88713 364.33314 367.83314 374.83314 381.04914 388.04914 391.94114 398.15715 404.37315 408.26515 414.48115 421.48115 424.98115 431.19715 438.19715 444.41316 451.41316 455.30516 461.52116 466.18315">comprehensive description of the module itself, see the module&#x2019;s dedicated chapter.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="521.4998" x="128.97599 136.30799 139.64398 146.97599 154.30799 158.97599 165.64798 168.98398 175.65598 182.32798 186.32398 192.99597 196.33197 199.66797 207.67197 211.00797 218.33997 225.67197 232.34397 235.67996 239.01596 249.68396 257.01597 260.35197 264.34797 267.68397 275.01597 278.35197 285.02397 291.69596 295.03196 302.36396 309.69596 313.03196 316.36796 323.69996 327.69596 334.36796 341.69996 346.36796 353.03996 357.03596 360.37196 367.70396">Figure 10-1. Signal multiplexing integration</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.3 629.58267)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="15.39 21.888 26.892003 29.394003 34.398004 37.395006 42.399007 47.898008 50.400007 58.401006 63.900007 69.399 74.898 77.4">Related module</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 258.1 629.58267)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="127.944 134.442 139.446 142.443 147.44699 150.948 155.952 161.45099 166.45499">Reference</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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