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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_323.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

770 lines
70 KiB (Stored with Git LFS)
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Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 53.999986)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.3" x="133.65599 142.31999 150.984 160.98 167.652 175.65599 184.31999 192.32399 198.99599 202.33199 206.32799 209.66399 216.33599 219.67198 227.00399 230.33998 237.67198 244.34398 251.01598 257.688 262.356 265.692 273.024 277.02 280.356 287.688 295.02 301.692 305.02799 309.024 315.69599 323.02799 330.36 334.356 337.692 345.024 352.356 359.02799 366.36">RCM_SRS0 field descriptions (continued)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 76.18279)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="25.794 31.293002 33.795003 38.799005 41.301004">Field</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.1 76.18279)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="187.94699 194.44499 199.44899 204.45299 209.45699 212.958 215.45999 220.95899 223.95598 226.45798 231.95697">Description</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 90.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 90.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.002 21.006 23.508002 26.010003 31.014004 36.018007 38.520006 41.022005 45.522005 50.526006 55.530008 60.030008 65.034008 70.038 72.54 77.544 82.044 84.546 89.549999 92.051998 94.049999 99.05399 103.55399 108.05399 110.55599 115.55999 118.06199 120.56399 125.567989 130.068 132.56999 137.57399 140.57099 145.57498 150.57898 152.57698 155.07898 159.57898 161.57698 166.58098 171.08098 175.58098">Reset not caused by a loss of external clock.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 101.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.4980008 11.502001 16.002 21.006 23.508002 26.010003 30.510003 35.514005 40.518007 45.018007 50.022008 55.02601 57.528009 62.53201 67.03201 69.53401 74.53801 77.04001 79.03801 84.04201 88.54201 93.04201 95.54401 100.548007 103.05 105.552 110.556 115.056 117.558 122.562 125.559 130.563 135.567 137.565 140.067 144.567 146.565 151.569 156.069 160.569">Reset caused by a loss of external clock.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 118.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">1</tspan><tspan y="18.83789" x="26.793 31.797 37.800004">LVD</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 118.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 10.008001 16.506003 19.503003 25.506003 30.510003 32.508005 35.010004 40.014005 45.018007 50.022008 52.524007 59.022008 64.02601 66.52801 71.532009 76.032009 78.534008 81.036 87.534008 92.538 97.038 102.042">Low-Voltage Detect Reset</tspan><tspan y="28.83789" x="0 2.5020004 5.0040009 7.506001 10.008001 15.012002 20.016003 22.518004 27.522004 33.525 40.023004 46.521005 52.524003 55.026 60.030004 62.028005 64.53001 67.032009 69.03001 73.53001 76.032009 80.532009 85.536 88.038 90.54 95.544 100.548 105.551998 108.05399 110.55599 115.55999 120.56399 123.06599 127.56599 132.56999 137.57399 142.57799 144.57599 149.07599 151.57799 156.58199 159.57898 164.58298 169.58698 174.08698 176.58898 181.59297 186.59697 188.59497 193.59897 200.09697 202.59897 205.10097 210.10497 215.10897 217.61096 222.61496 228.61797 235.11597 237.61797 240.11997 243.11696 245.11496 250.11896 252.62096 257.12098 262.12498 264.12297 266.62498 271.62898 276.63298 281.63697 284.13899 286.641 291.645 296.649 299.151 304.155 310.158 316.65599 319.158 322.155 327.159 331.659 336.663 339.165 341.66703 346.67103 351.17103 355.67103 360.67503 363.67204 368.17204 370.67405 373.17607 378.67506 383.67906 385.67704 390.17704 392.67906 397.68305 399.68104 402.18305 404.68507 406.68305">If the LVDRE bit is set and the supply drops below the LVD trip voltage, an LVD reset occurs. This bit is</tspan><tspan y="39.83789" x=".00004 5.0040409 7.002041 11.502041 16.506043 19.008044 23.508044 28.512043 31.014044 33.516046 38.520048 43.020048 45.522047 51.525049 58.527048 65.02505">also set by POR.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 171.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 171.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 6.4980409 11.502041 16.00204 21.006043 23.508044 26.010045 31.014046 36.018049 38.520048 41.022047 45.522047 50.526048 55.53005 60.03005 65.03405 70.03805 72.54005 77.544048 82.044048 84.54604 89.55004 95.55304 102.05104 104.55304 107.05504 110.05204 112.05004 117.05404 119.55604 124.560039 127.55704 130.05904 136.06204 143.06404">Reset not caused by LVD trip or POR</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 182.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00005">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 182.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00005 6.4980509 11.502051 16.002053 21.006054 23.508055 26.010056 30.510056 35.514059 40.51806 45.01806 50.02206 55.026063 57.52806 62.532064 67.03206 69.53406 74.538059 80.54105 87.039058 89.54105 92.04305 95.040058 97.038059 102.04205 104.54405 109.54805 112.54505 115.04705 121.05005 128.05205">Reset caused by LVD trip or POR</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 200.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">0</tspan><tspan y="18.83789" x="16.047 24.543002 30.546002 36.549005 42.552003 49.050004">WAKEUP</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 200.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 10.008001 16.506003 19.008004 24.012005 29.016007 34.020009 38.520009 43.52401 48.52801 53.532014 56.03401 64.530017 69.53401 74.03401 79.03801 84.04201 89.046009 91.548007 98.046009 103.05 107.55 112.554">Low Leakage Wakeup Reset</tspan><tspan y="28.83789" x="0 2.5020004 7.506001 12.510002 14.508002 19.008004 24.012005 26.514006 31.518006 36.018007 38.520006 43.524007 46.026006 49.023008 54.027009 58.527009 63.53101 66.03301 68.53501 73.53901 78.54301 83.04301 85.545009 90.549 95.553 100.557 105.561 108.062999 112.562999 117.56699 122.57099 127.07099 132.075 137.079 139.581 144.58499 149.08499 151.58699 156.59099 161.59499 164.09699 169.10099 174.10498 179.10898 184.11298 186.11098 191.11498 196.11898 198.62097 203.62497 208.62897 217.12497 223.62297 226.12497 233.62197 238.62596 243.62996 248.63396 250.63196 255.63596 258.13798 264.63597 269.63996 274.13996 279.14396 284.14796 289.15196 291.65397 296.15397 301.15797 306.16197 309.15898 313.65898 318.66297 321.16499 327.66297 332.66697 334.66496 336.66294 341.66694 344.16896 346.67097 351.67497 356.67897 359.18098 363.68098 368.68498 370.68296 375.68696 378.18898 384.68696 389.69096 394.19096 396.69297 398.69096 403.69496 406.19697">Indicates a reset has been caused by an enabled LLWU module wakeup source while the chip was in a</tspan><tspan y="39.83789" x="0 1.9980002 7.002001 13.500002 16.002003 18.000004 23.004006 28.008008 32.508008 37.51201 42.51601 47.52001 50.02201 57.519014 62.523015 67.527019 72.53101 75.03301 77.53501 80.03701 85.04101 87.54301 92.547008 97.551 103.554 106.056 113.553 118.557 123.561 128.565 131.067 133.569 136.071 141.075 146.079">low leakage mode. In LLS mode, the </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 200.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="39.83789" x="148.581 155.079 161.082 167.085 173.08802 178.587 181.089 186.093 188.091 193.095 195.597 197.595 202.095 204.597 207.099 212.103 217.107 219.609 224.61299 229.61699 231.61499 236.11499 238.61699 245.11499 250.11899 254.61899 259.623 264.62699 269.63099 272.133 276.633 281.637 286.641 289.638 294.138 299.142 301.644 304.14604 309.15003 314.15403 316.65605 319.15806 323.65806 328.66206 333.66606 336.16807 340.66807 345.67207 350.67607 355.17607 360.18006 362.68208 365.18409 370.18809 372.18608 376.68608 379.18809 382.1851 387.1891 391.6891 396.69309 399.1951 401.6971 404.19914 410.20213 415.20613">RESET pin is the only wakeup source that can cause this reset. Any</tspan><tspan y="50.83789" x="-.000030517579 5.00397 10.007971 15.011971 20.015973 22.013974 27.017975 32.021978 34.523977 41.021978 46.025979 50.525979 55.52998 60.53398 65.53798 68.03998 72.53998 77.543979 82.54797 85.544979 90.044979 95.04897 97.55097 99.54897 104.55297 107.05497 112.05897 114.56097 120.563968 125.56796 130.57196 136.57497 141.07497 143.57697 151.07396 156.07796 161.08196 166.08596 168.58795 173.08795 178.09195 183.09595 187.59595 192.59995 197.09995 199.60195 204.60594 207.10794 210.10494 215.10894 219.60894 224.61293 227.11493 229.61693 232.11893 237.61792 242.62192 244.61992 249.11992 251.62192 256.62593 258.6239 261.12593 263.62794 265.62593 270.12593 272.62794 277.12794 279.12593 284.1299 289.1339 292.13093 297.13493 302.13893 304.64094 309.64494 314.14494 316.64695 321.65095 326.65495 331.15495 333.65696 336.65397 341.65797 346.15797 351.16197 353.66398 356.166 361.16999 365.66999 370.16999 375.17399 380.17799">enabled wakeup source in a VLLSx mode causes a reset. This bit is cleared by any reset except</tspan><tspan y="61.83789" x="-.000030517579 8.49597 14.49897 20.50197 26.50497 33.00297 39.005975">WAKEUP.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 275.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="-.00004">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 275.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="-.00004 6.4979608 11.501961 16.00196 21.005963 23.507964 26.009964 31.013966 36.017969 38.519968 41.021966 45.521966 50.525968 55.52997 60.02997 65.033969 70.037967 72.53996 77.54396 82.04396 84.54596 89.54996 94.553958 103.04996 109.54796 112.04996 119.54696 124.55096 129.55496 134.55896 136.55696 141.56096 144.06296 150.56096 155.56496 160.06496 165.06896 170.07295 175.07695 177.57895 182.07895 187.08295 192.08695 195.08394 199.58394">Reset not caused by LLWU module wakeup source</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 286.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="-.00004">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 286.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="-.00004 6.4979608 11.501961 16.00196 21.005963 23.507964 26.009964 30.509964 35.513967 40.517969 45.017969 50.02197 55.02597 57.52797 62.53197 67.03197 69.533969 74.537967 79.54196 88.037967 94.535968 97.037967 104.534969 109.53896 114.54296 119.54696 121.54496 126.54896 129.05097 135.54897 140.55297 145.05297 150.05696 155.06096 160.06496 162.56696 167.06696 172.07096 177.07495 180.07195 184.57195">Reset caused by LLWU module wakeup source</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 347.6828)" 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">13.2.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 109.87328 347.6828)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.005001 18.345002 26.685002 31.68 40.02 53.355005 57.525007 68.355 76.69501 85.03501 93.375019 98.37002 102.540019 112.54501 117.540019 125.88002 130.87502 140.04001 148.38 152.55 163.38 171.72 180.885 185.055 193.39499 198.38999 206.72998 212.56499 216.73499 225.07498 229.24498 234.23998 245.06998 255.89998 268.395 276.735 286.74 297.56999 307.57499 315.91499">System Reset Status Register 1 (RCM_SRS1)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 92.0161 536.4828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="-.00098 5.003021 10.007021 15.011022 20.015023 25.019024 30.518025 35.522027 40.526029 45.53003 50.53403 53.03603 58.04003 63.044034 67.54404 72.548038 75.05003 80.30603 82.80803 87.81203 92.816028 95.31802 100.32202 102.82402 105.32602 109.82602 114.83002 117.332019 119.834018 125.09001 127.59201 132.59601 137.6 142.604 147.608 152.612 158.111 163.11499 168.11899 173.12299">4007_F000h base + 1h offset = 4007_F001h</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 166 555.4828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.05203">6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 222 555.4828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.05203">5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 278 555.4828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="25.92603">4</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01034" x="332.991 339.48899 344.98799 349.99198 355.49098 358.48799 363.49198 366.99299 369.495 374.499 379.503 382.005 388.503 393.507 398.511 403.51499 406.512 409.014 415.512 421.011 426.50999 429.507 433.008 438.507 441.009 443.51103 451.00804 456.50703 462.006 467.505 470.00703 475.01103 477.51304 480.51005 487.00804 493.506 501.00303">Chapter 13 Reset Control Module (RCM)</tspan></text>
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