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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_299.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

1274 lines
104 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85005 349.5)" 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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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25004 376)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="23.04 28.044003 33.048006 38.052007 43.056009">15&#x2013;12</tspan><tspan y="18.83789" x="21.798 28.296002 34.299005 40.302003 42.804">REVID</tspan></text>
<g clip-path="url(#clip_114)">
<path transform="matrix(1,0,0,1,54.00004,373.75)" d="M75.85001 .25H503.75004V36.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85005 376)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.002 18 22.5 27.504002 30.006003 33.003004 38.007005 42.507005 44.505006 49.005006 51.003007 56.007009 61.01101 63.51301 68.517009 73.521 81.018009 86.022 91.026">Device revision number</tspan><tspan y="28.83789" x="0 6.0030004 11.007001 16.011002 20.511002 22.509003 25.011004 27.009003 32.013006 36.513006 39.015005 41.517004 46.521005 51.525007 54.027006 58.527006 60.525007 62.523008 64.521 69.021 74.025 79.029 81.531 83.529 91.026 96.03 98.028 103.032 110.529 115.533 120.536998 123.038997 128.043 130.545 132.543 137.547 142.551 145.053 150.05699 155.06099 162.55799 167.56198 172.56598 175.56298 178.06497 180.56697 185.57097 188.56797 191.06996 193.57196 198.57596 203.57996 206.08196 211.08596 216.08995 220.58995 222.58795 227.08795 232.09195">Specifies the silicon implementation number for the device.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25004 412.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.546 35.55">11</tspan><tspan y="18.83789" x="16.299 22.797 27.801003 32.301004 37.305006 40.302007 44.802007 49.806009">Reserved</tspan></text>
<g clip-path="url(#clip_116)">
<path transform="matrix(1,0,0,1,54.00004,410.25)" d="M75.85001 .25H503.75004V26.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85005 412.5)" 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>
<g clip-path="url(#clip_117)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25004 439)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.546 35.55">10</tspan><tspan y="18.83789" x="16.299 22.797 27.801003 32.301004 37.305006 40.302007 44.802007 49.806009">Reserved</tspan></text>
<g clip-path="url(#clip_118)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85005 439)" 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>
<g clip-path="url(#clip_119)">
<path transform="matrix(1,0,0,1,54.00004,463.25)" d="M.25 .25H75.35001V26.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25004 465.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">9</tspan><tspan y="18.83789" x="16.299 22.797 27.801003 32.301004 37.305006 40.302007 44.802007 49.806009">Reserved</tspan></text>
<g clip-path="url(#clip_120)">
<path transform="matrix(1,0,0,1,54.00004,463.25)" d="M75.85001 .25H503.75004V26.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85005 465.5)" 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>
<g clip-path="url(#clip_121)">
<path transform="matrix(1,0,0,1,54.00004,489.75)" d="M.25 .25H75.35001V26.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25004 492)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">8</tspan><tspan y="18.83789" x="16.299 22.797 27.801003 32.301004 37.305006 40.302007 44.802007 49.806009">Reserved</tspan></text>
<g clip-path="url(#clip_122)">
<path transform="matrix(1,0,0,1,54.00004,489.75)" d="M75.85001 .25H503.75004V26.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85005 492)" 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 1.</tspan></text>
<g clip-path="url(#clip_123)">
<path transform="matrix(1,0,0,1,54.00004,516.25)" d="M.25 .25H75.35001V26.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25004 518.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">7</tspan><tspan y="18.83789" x="16.299 22.797 27.801003 32.301004 37.305006 40.302007 44.802007 49.806009">Reserved</tspan></text>
<g clip-path="url(#clip_124)">
<path transform="matrix(1,0,0,1,54.00004,516.25)" d="M75.85001 .25H503.75004V26.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85005 518.5)" 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>
<g clip-path="url(#clip_125)">
<path transform="matrix(1,0,0,1,54.00004,542.75)" d="M.25 .25H75.35001V148.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25004 545)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="28.044 33.048 38.052003">6&#x2013;4</tspan><tspan y="18.83789" x="21.555 27.054 33.057 40.554 43.056">FAMID</tspan></text>
<g clip-path="url(#clip_126)">
<path transform="matrix(1,0,0,1,54.00004,542.75)" d="M75.85001 .25H503.75004V148.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85005 545)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.001 13.005001 18.009003 20.511004 22.509003 27.009003 29.511004 32.013006 37.017007 44.514009 46.51201 48.51001 53.01001 55.51201 57.51001 62.51401 67.51801 72.52201 75.02401 77.02201 79.52401 81.52201 86.02201 91.02601 93.52801 95.52601 100.53001">Kinetis family identification</tspan><tspan y="28.83789" x="0 6.0030004 11.007001 16.011002 20.511002 22.509003 25.011004 27.009003 32.013006 36.513006 39.015005 41.517004 46.521005 51.525007 54.027006 60.030008 62.028009 67.032009 72.036 74.538 76.536 81.036 83.538 86.04 91.044 98.541 100.539 102.537 107.037 109.539 114.543 117.045 119.547 122.048999 127.05299 132.05699 134.55899 139.56299 144.56699 149.06699 151.06499 155.56499 160.56899">Specifies the Kinetis family of the device.</tspan></text>
<path transform="matrix(1,0,0,1,131.85005,545)" d="M0 42H423.90003V144H0Z" fill="#ffffff" fill-rule="evenodd"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85005 587)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 10.008001">000</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.8187 587)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001">K10</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 598)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">001</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.8187 598)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.0030004 11.007001">K20</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 611)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">010</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.8187 611)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.0030004 11.007001">K30</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 624)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">011</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.8187 624)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.0030004 11.007001">K40</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 637)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">100</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.8187 637)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.0030004 11.007001">K60</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 650)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">101</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.8187 650)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.4980008 11.502001 16.002 21.006 24.003 28.503 33.507">Reserved</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 663)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">110</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.8187 663)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.0030004 11.007001 16.011002 21.015004 26.019005 31.023007 33.525007 39.528009 44.53201">K50and K52</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 676)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">111</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.8187 676)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.0030004 11.007001 16.011002 21.015004 26.019005 31.023007 33.525007 39.528009 44.53201">K51and K53</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 697.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="180.96302 185.96701 190.97101 196.47 198.468 203.472 205.974 210.978 215.982 220.986 223.48799 225.486 230.48999 235.49399 240.49799 244.99799 247.49999 252.50399 257.508 260.01 262.51203 267.51603 272.52003 275.02204 280.02604 285.03004 289.53004 292.03205 294.53407 300.03306 305.03706 310.53605 315.54005 318.04206 320.54408">Table continues on the next page...</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01034" x="315.468 321.96598 327.46498 332.46897 337.96797 340.96498 345.96897 349.46998 351.972 356.97599 361.97999 364.482 370.485 375.48899 380.49299 383.49 388.494 396.495 398.997 401.49903 406.99803 409.99504 414.99903 420.49803 423.99903 429.00303 432.00004 434.50205 440.00105 445.50004 448.00205 455.49906 460.99806 466.49705 471.99604 474.49806 479.50205 482.00407 485.00108 491.00407 493.50608 501.00309">Chapter 12 System Integration Module (SIM)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.01 137.23 142.79 148.34999 151.12999 157.79999 163.90999 170.01999 173.34999 179.45999 185.01999 193.90999 196.68999 199.46999 205.02999 207.80998 215.02999 220.58998 223.91999 229.47998 233.36998 238.92998 245.03998 250.59998 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 54.000024 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 1 220.32004 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 1 391.68003 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">299</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54.00003 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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