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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_298.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

450 lines
47 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 295.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="32.814 37.818 42.822004">6&#x2013;5</tspan><tspan y="18.83789" x="21.06 27.558 32.562 37.062 42.066 45.063005 49.563005 54.567007">Reserved</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 141.38513 295.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 40.509008 45.009008 47.511007 50.508008 55.51201 60.01201 65.01601 68.01301 72.51301 77.517009 82.521">This field is reserved.</tspan><tspan y="18.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 80.523 85.023 87.525 90.522 95.526 100.026 105.03 108.027 112.527 117.531 122.534999 125.036998 130.041 135.045 140.049 142.551 147.555 149.553 156.051 161.055 165.555 170.055 172.55699 177.56099 182.56499 187.06499 189.56699 192.06899 197.07299 202.07698 204.57898 209.07898 214.08298 216.08098 221.08498 226.08898 228.59098 233.59497">This read-only field is reserved and always has the value 0.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 321.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="37.818">4</tspan><tspan y="18.83789" x="1.0620003 7.0650007 13.563002 20.061003 25.065003 31.068003 37.566 43.569 49.068 55.566 62.568 68.571 74.574">ADC0PRETRGSEL</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 141.38513 321.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 12.501001 18.999003 24.003003 26.505003 31.509003 34.506006 39.510007 42.012006 45.009008 47.007009 52.01101 57.01501 62.019014 65.016017 67.51801 72.01801 77.02201 79.02001 84.02401 88.52401">ADC0 pretrigger select</tspan><tspan y="28.83789" x="0 6.0030004 11.007001 13.005001 18.009003 22.509003 25.011004 29.511004 32.013006 34.515005 39.519006 44.523008 47.025007 53.028009 59.52601 66.02401 71.02801 73.53001 78.534008 81.531009 86.535 89.532009 92.034008 95.031009 97.02901 102.033008 107.037 112.041 115.038 117.54 122.04 127.044 132.048 135.045 139.545 144.549 147.051 153.549 158.553 163.55699 168.56099 171.06299 176.06699 178.06499 180.56699 185.57099 188.56798 193.57198 198.57598 201.07798 203.07598 207.57598 212.57997 215.08197 217.58397 220.58097 222.57897 227.58296 232.58696 237.59096 240.58795 245.08795 247.58995 252.59395 255.59095 260.59495 263.09696 268.10096 273.10496 278.10896 283.11296 285.11094 290.11494 295.11894 297.62095 300.12297 305.12696 308.12397 313.12797 318.13197 323.13597 328.13996 330.64198 336.64497 343.14295 349.64094 354.64494 360.64793 365.65193 371.1509 376.6499 383.1479 390.1499 396.1529 402.65089">Selects the ADC0 pre-trigger source when alternative triggers are enabled through ADC0ALTTRGEN.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 141.38513 363.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 156.89734 363.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 6.0030405 9.00004 14.004041 17.001042 19.503043 22.500042 24.498044 29.502045 34.506048 39.510049 42.50705 45.00905">Pre-trigger A</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 141.38513 374.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 156.89734 374.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 6.0030405 9.00004 14.004041 17.001042 19.503043 22.500042 24.498044 29.502045 34.506048 39.510049 42.50705 45.00905">Pre-trigger B</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 392.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="32.814 37.818 42.822004">3&#x2013;0</tspan><tspan y="18.83789" x="10.313999 16.317 22.815 29.313002 34.317 39.816 46.314004 53.316 59.319 65.322">ADC0TRGSEL</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 141.38513 392.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 12.501001 18.999003 24.003003 26.505003 29.007004 32.004007 34.002008 39.00601 44.01001 49.01401 52.011014 54.513013 59.013013 64.01701 66.015018 71.01901 75.51901">ADC0 trigger select</tspan><tspan y="28.83789" x="0 6.0030004 11.007001 13.005001 18.009003 22.509003 25.011004 29.511004 32.013006 34.515005 39.519006 44.523008 47.025007 53.028009 59.52601 66.02401 71.02801 73.53001 76.032009 79.02901 81.02701 86.031009 91.035 96.039 99.036 101.538 106.038 111.042 116.046 119.043 123.543 128.547 131.049 137.547 142.551 147.555 152.55899 155.06099 160.06499 162.06299 164.56499 169.56899 172.56598 177.56998 182.57398 185.07598 187.07398 191.57398 196.57798 199.07997 201.58197 204.57897 206.57697 211.58097 216.58496 221.58896 224.58596 229.08596 231.58795 236.59195 239.58895 244.59294 247.09494 249.59694 254.60094 259.60496 264.10496 266.60697 268.60496 273.60896 278.61296 283.61695 285.61494 288.11695 290.11494 295.11894 297.62095 302.12095 304.62297 309.62696 314.63096 317.13298 322.13697 327.14097 332.14497 334.64698 340.64997 345.65397 351.65696 357.65995 360.16197 367.65898 372.66297 377.66697 382.67097 387.17097 389.67298 392.175">Selects the ADC0 trigger source when alternative triggers are functional in stop and VLPS modes. .</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 141.38513 434.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 10.008001 15.012002">0000</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 170.8583 434.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 12.501001 18.504002 21.006003 26.010003 30.510003 33.012 38.016004 41.013006 46.017007 51.021009 53.01901 55.521009 58.023008 61.020009 63.01801 68.02201 73.02601 78.03001 81.02701 83.52901 88.533008 90.531009 95.535 98.037 100.035 105.039 110.043 115.047 117.548999 120.050998 123.048 129.051 135.549 141.552 146.556 151.56 157.563 163.56601 169.065 175.563 182.565">PDB external trigger pin input (PDB0_EXTRG)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 141.38513 445.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001 15.012002">0001</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 170.8583 445.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.4980008 8.496 13.500001 18.504002 21.006003 25.506003 30.510003 35.514005 40.518007 45.522008 48.024007 52.524007 57.528009 65.02501 70.02901 75.033008 78.03001 83.034008 85.536 90.54 93.537 96.039 101.043 103.545 108.548999 113.55299 116.05499 121.05899 126.06299">High speed comparator 0 output</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 141.38513 458.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001 15.012002">0010</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 170.8583 458.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00001 6.4980108 8.496011 13.500011 18.504014 21.006014 25.506014 30.510014 35.514017 40.518018 45.52202 48.024019 52.524019 57.52802 65.02502 70.029018 75.03301 78.030017 83.03401 85.53601 90.54001 93.53701 96.03901 101.04301 103.545009 108.549 113.553 116.055 121.059 126.062999">High speed comparator 1 output</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 141.38513 471.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.0040209 10.008021 15.012022">0011</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 170.8583 471.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 6.4980208 8.496021 13.500022 18.504023 21.006024 25.506024 30.510025 35.514028 40.51803 45.52203 48.02403 52.52403 57.52803 65.02503 70.02903 75.03303 78.03003 83.03403 85.536029 90.54002 93.537029 96.039028 101.04302 103.54502 108.54902 113.55302 116.055019 121.05901 126.06301">High speed comparator 2 output</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 141.38513 484.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.0040209 10.008021 15.012022">0100</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 170.8583 484.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 6.0030205 8.50502 14.004021 16.506022 19.008023 22.005023 24.003022 29.007023 34.011026 39.015027 42.012029 44.514028">PIT trigger 0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 141.38513 497.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.0040209 10.008021 15.012022">0101</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 170.8583 497.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 6.0030205 8.50502 14.004021 16.506022 19.008023 22.005023 24.003022 29.007023 34.011026 39.015027 42.012029 44.514028">PIT trigger 1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 141.38513 510.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00003 5.0040309 10.008032 15.0120329">0110</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 170.8583 510.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00003 6.0030305 8.505031 14.00403 16.506031 19.008032 22.005032 24.003033 29.007035 34.011037 39.015039 42.01204 44.514039">PIT trigger 2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 141.38513 523.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00003 5.0040309 10.008032 15.0120329">0111</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 170.8583 523.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00003 6.0030305 8.505031 14.00403 16.506031 19.008032 22.005032 24.003033 29.007035 34.011037 39.015039 42.01204 44.514039">PIT trigger 3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 141.38513 536.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 5.0040409 10.008041 15.012042">1000</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 170.8583 536.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 5.49904 10.99804 18.49504 23.499043 26.001044 28.503045 31.500044 33.498044 38.502046 43.506048 48.510049">FTM0 trigger</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 141.38513 549.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 5.0040409 10.008041 15.012042">1001</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 170.8583 549.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00005 5.49905 10.998051 18.495053 23.499054 26.001055 28.503056 31.500056 33.498056 38.502058 43.506059 48.51006">FTM1 trigger</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 141.38513 562.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00005 5.0040509 10.008051 15.012052">1010</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 170.8583 562.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00005 5.49905 10.998051 18.495053 23.499054 26.001055 28.503056 31.500056 33.498056 38.502058 43.506059 48.51006">FTM2 trigger</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 141.38513 575.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00005 5.0040509 10.008051 15.012052">1011</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 170.8583 575.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00005 6.4980509 11.502051 16.506052 21.006052 26.010052">Unused</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 141.38513 588.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00006 5.0040609 10.008061 15.012062">1100</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 170.8583 588.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00006 6.4980609 11.997061 18.495062 20.997063 26.001065 27.999066 33.003068 36.00007">RTC alarm</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 141.38513 601.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00007 5.0040709 10.008072 15.012073">1101</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 170.8583 601.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00007 6.4980709 11.99707 18.495072 20.997073 25.497073 30.501072 35.001073 40.005075 45.009077 50.013078">RTC seconds</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 141.38513 614.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00007 5.0040709 10.008072 15.012073">1110</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 170.8583 614.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00007 5.0040709 10.008072 16.506073 19.503073 24.507073 29.511075 36.009077 41.013078 44.01008 46.512079 49.014078 51.012079 58.50908 63.51308 66.51008 69.01208 71.51408 74.51108 76.50908 81.51308 86.517078 91.52107">Low-power timer trigger</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 141.38513 627.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00008 5.004081 10.008081 15.012082">1111</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 170.8583 627.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00008 6.4980809 11.502081 16.50608 21.00608 26.010083">Unused</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 7.4970009 12.501001 20.502003 26.001004 29.502003 34.506006 37.008005 45.009004 50.013006 55.512006 58.014005 63.018007 68.517009 74.01601 76.518009 80.019008 85.023 90.522 93.024 98.028 101.025 106.029 109.53 112.032 117.531 122.534999 125.532 128.034 133.53299 136.03499 139.03199 141.53398 147.03298">Memory map and register definition</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.012 137.232 142.79199 148.35199 151.13199 157.80199 163.91199 170.02199 173.35199 179.46199 185.02199 193.91199 196.69199 199.47199 205.03199 207.81198 215.03199 220.59198 223.92198 229.48198 233.37198 238.93198 245.04198 250.60198 256.162 258.942 267.27198 272.83198 278.94197 285.05195 290.61195 293.39195 296.17195 298.95195 306.17195 311.73194 317.29194 320.07194 322.85194 328.41194 331.19194 336.75193 342.8619 348.9719 351.7519 357.3119 362.8719 368.4319">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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<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="44.775 50.274003 53.271005 58.275007 63.279008 67.77901 72.27901 77.283008 79.281009 84.285 86.787 92.79 97.794 105.291 107.289 111.789 116.793 121.797 126.800998 131.805 136.305 138.80699 143.81099 146.80799 149.30998 151.81198 154.31398 159.31798 163.81798">Freescale Semiconductor, Inc.</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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