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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_314.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

875 lines
77 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 348.25)" 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 1 131.85004 374.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 12.501001 18.504002 21.006003 25.506003 27.504002 32.508005 37.008005 41.508005 44.010004 49.014005 51.012006 55.512006 57.510007 62.514009 67.518009 70.51501 73.017009 78.021 80.019008 84.519008 86.517009 91.017009 96.021">USB clock divider divisor</tspan><tspan y="26.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 43.011007 48.015008 50.517007 55.017007 57.519006 60.021005 65.025 70.029 72.531 77.534999 79.533 84.033 86.031 91.034999 96.038997 98.54099 103.04099 108.04499 110.04299 115.04699 120.05099 122.552989 125.054988 130.05899 133.05599 135.55799 138.05998 143.06398 148.06798 150.56998 153.07198 156.06897 161.07297 165.57297 168.07497 170.07297 175.07697 180.08097 185.08496 187.08296 189.58496 194.08496 196.08296 201.08696 205.58696 210.08696 212.58896 217.59296 219.59096 224.09096 226.08896 231.09296 236.09696 239.09395 241.59595 248.09395 253.09795 258.10197 263.10597 265.60798 268.11 273.11399 278.11799 280.62 288.117 294.615 301.617 307.116 312.12 317.124 323.62199 328.62599 334.62898 337.13099 344.628 351.12599 358.128 364.13099 369.13499 374.13899 380.63697 385.64097 391.64396 394.14598 398.64598 400.64396 405.64796 410.14796 414.64796 417.14997 419.14796">This field sets the divide value for the fractional clock divider when the MCGFLLCLK/MCGPLLCLK clock is</tspan><tspan y="37.83789" x=".00004 2.5020405 7.506041 12.510042 15.012043 21.510045 27.513045 33.516046 36.018045 40.518045 42.516046 47.520048 52.020048 56.520048 59.022047 63.522047 68.52605 73.530048 76.52705 81.02705 86.031047 88.53304 91.530048 97.53304 104.53504 110.53804 116.03704 121.04104 123.54304 130.04103 136.04404 142.04705 148.05005 154.54805 161.04605 163.54805 166.05005 171.30605 173.80805 178.81204 181.80904">the USB clock source (SOPT2[USBSRC] = 1).</tspan><tspan y="54.237894" x=".00004 6.4980409 8.49604 12.99604 14.9940409 19.998042 25.00204 27.99904 30.501042 35.505044 40.509046 43.011045 48.015047 53.019048 55.521047 58.023046 62.523046 64.52104 69.52504 74.02504 78.52504 81.02704 86.283039 88.785037 95.283039 97.28104 101.78104 103.77904 108.783039 113.78703 116.784038 119.28603 121.284038 126.28803 131.29204 136.29604 138.79804 141.30004 145.80004 147.79804 152.80204 157.30204 161.80204 164.30403 169.56003 172.06203 174.56403 177.06603 180.06302 186.56102 192.56403 198.56703 204.06603 210.56403 216.56703 223.06504 228.32103 233.32503 236.32202 238.82402 241.32602 243.82802 246.82501 253.32302 259.32603 265.329 271.827 274.329 280.332 285.588 290.592 293.58903 296.09104">Divider output clock = Divider input clock &#x00d7; [ (USBFRAC+1) / (USBDIV+1) ]</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250024 436.65)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">0</tspan><tspan y="18.83789" x="14.049 20.547 26.550002 32.553 38.052003 44.550004 50.553">USBFRAC</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 436.65)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 12.501001 18.504002 21.006003 25.506003 27.504002 32.508005 37.008005 41.508005 44.010004 49.014005 51.012006 55.512006 57.510007 62.514009 67.518009 70.51501 73.017009 75.519008 78.51601 83.520008 88.020008 90.522 92.520008 97.524">USB clock divider fraction</tspan><tspan y="26.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 43.011007 48.015008 50.517007 55.017007 57.519006 60.021005 65.025 70.029 72.531 75.033 78.03 83.034 87.534 90.035999 92.034 97.037998 102.04199 104.54399 112.04099 117.04499 119.04299 121.54499 123.54299 128.547 130.545 135.045 137.547 142.047 147.051 149.049 154.053 159.05699 161.55899 164.06099 169.06499 172.06198 174.56398 177.06598 182.06998 187.07398 189.57598 192.07798 195.07497 200.07897 204.57897 207.08097 209.07897 214.08296 219.08696 224.09096 226.08896 228.59096 233.09096 235.08896 240.09296 244.59296 249.09296 251.59496 256.59898 258.59696 263.09696 265.09495 270.09895 275.10295 278.09996 280.60197 287.09996 292.10395 297.10795 302.11195 304.61396 307.11598 312.11997 317.12397 319.62599 327.123 333.62098 340.623 346.12199 351.12599 356.12998 362.62797 367.63197 373.63496">This field sets the fraction multiply value for the fractional clock divider when the MCGFLLCLK/</tspan><tspan y="37.83789" x="0 7.4970009 13.995001 20.997002 27.000002 32.004 37.008005 43.506006 48.510007 54.51301 57.015008 61.515008 63.51301 68.517009 73.017009 77.517009 80.019008 82.017009 86.517009 89.019008 91.521 96.525 101.529 104.031 110.529 116.532 122.534999 125.036998 129.53699 131.53499 136.53899 141.03899 145.53899 148.04099 152.54099 157.54499 162.54898 165.54598 170.04598 175.04998 177.55197 180.54897 186.55197 193.55397 199.55698 205.05597 210.05997 212.56197 219.05997 225.06298 231.06598 237.06899 243.56699 250.06499 252.56699 255.06899 260.32499 262.827 267.831 270.828">MCGPLLCLK clock is the USB clock source (SOPT2[USBSRC] = 1).</tspan><tspan y="54.237894" x="0 6.4980008 8.496 12.996 14.994 19.998002 25.002003 27.999003 30.501004 35.505006 40.509008 43.011007 48.015008 53.01901 55.521009 58.023008 62.523008 64.521 69.525 74.025 78.525 81.027 86.283008 88.785 95.283008 97.281009 101.781009 103.77901 108.783008 113.787 116.784008 119.286 121.284008 126.288 131.292 136.296 138.798 141.3 145.8 147.798 152.802 157.302 161.802 164.304 169.56 172.062 174.564 177.066 180.06299 186.56099 192.564 198.567 204.066 210.564 216.567 223.065 228.321 233.325 236.32199 238.82399 241.32599 243.82799 246.82498 253.32299 259.326 265.32899 271.82698 274.32899 280.33198 285.58799 290.59199 293.589 296.091">Divider output clock = Divider input clock &#x00d7; [ (USBFRAC+1) / (USBDIV+1) ]</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 542.55)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 16.680003 20.850003 29.190003 33.360006 41.700006">12.2.17</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 118.2134 542.55)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 9.165 13.335001 21.675004 30.015004 39.180006 43.350008 54.180009 63.34501 72.51001 77.50501 81.67501 90.84001 100.00501 105.84001 114.180019 119.17502 123.34502 132.51001 141.675 145.845 156.675 165.015 174.18 178.34999 186.68999 191.68498 200.02498 205.85999 210.02999 218.36998 222.53998 227.53498 237.53998 241.70998 254.20497 262.54499 271.71 282.53999 291.705 303.375 311.715">Flash Configuration Register 1 (SIM_FCFG1)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 54)" font-size="14" font-family="TimesLTStd"><tspan y="524.8" x=".002 7.7860009 14.786001 19.448002 22.948002 29.948002 36.164 43.164 47.056005 53.272005 59.488004 64.934009 68.434009 78.54201 82.434009 86.326007 93.326007 96.826007 104.61001 108.50201 114.71801 121.71801 131.826 141.934 154.38 158.272 161.772 170.326 177.326 183.542 187.042 191.70401 197.92002 203.36602 209.58202 213.47402 216.97402 223.97402 230.19002 234.08202 241.08202 247.29802 250.79802 257.79804 262.46003 265.96003 274.514 283.068 290.852 295.51399 304.06797 312.62196 316.12196 322.33796 329.33796 336.33796 339.83796 349.94596 358.49995 366.28395 376.39195 385.72996 394.28395 397.78395 403.99995 408.66194 414.87794 418.37794 425.37794 431.59394 437.03996 443.25596 450.25596 453.75596 460.75596 467.75596 471.25596 478.25596 483.70198 489.91798">For devices with FlexNVM: The reset value of EESIZE and DEPART are based on user</tspan><tspan y="540.8" x=".00203 7.00203 11.66403 18.66403 25.66403 30.32603 36.54203 47.434034 58.326036 62.218038 69.21803 76.21803 79.71803 83.61003 90.61003 94.11003 101.11003 106.55603 112.77203 117.43404 120.93404 125.59604 133.38004 142.71804 146.21804 153.21804 157.11003 163.32604 166.82604 170.71804 177.71804 183.93404 187.43404 195.21804 205.32604 217.77204 225.55603 235.66403 245.00203 253.55603 257.05604 261.71803 265.61003 271.82603 277.27204 284.27204 287.77204 293.98805 300.98805 311.88005 322.77204 328.98805 335.98805 342.98805">programming in user IFR via the PGMPART flash command.</tspan><tspan y="565.2" x=".00203 7.786031 14.786031 19.44803 22.94803 29.94803 36.164033 43.164033 47.056035 53.272035 59.488035 64.93404 68.43404 78.54204 82.43404 86.326038 93.326038 96.826038 103.826038 108.48804 115.48804 122.48804 127.15004 133.36605 144.25804 147.75804 152.42005 156.31204 162.52805 167.97405 174.97405 178.47405 185.47405 192.47405 196.36605 203.36605 207.25804 210.75804 219.31204 226.31204 232.52805 236.02805 244.58205 253.13605 260.92005 265.58204 274.13603 282.69 286.19 292.406 299.406 306.406 309.906 320.014 328.568 336.352 346.46 355.798 364.352 367.852 372.51399 376.40599 380.29798 386.51399 390.40599 397.40599 402.852 406.352 412.568 417.22999 423.44599 426.94599 433.94599 440.94599">For devices with program flash only: The EESIZE and DEPART filelds are not</tspan><tspan y="581.2" x=".00203 6.2180306 13.218031 20.21803 24.110032 28.002032 34.218034 40.434034 47.434034 51.326036 57.542036">applicable.</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="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 54.000024 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 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="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 54.00003 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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