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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_335.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

654 lines
59 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.63672" x="232.554 242.662 253.554 262.108">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="27.849999" x="72.002 80.556 87.556 91.448 96.894 100.394 105.056 111.272 118.272 122.164 127.61 131.502 137.718 142.38 145.88 149.772 155.218 158.718 163.38 169.59601 175.042 181.25801 185.15001 188.65001 195.65001 202.65001 206.15001 215.488 222.488 226.38 233.38 236.88 244.664 254.772 264.11003 267.61003 274.61003 281.61003 285.502 289.002 299.11003 307.664 316.218 324.00199 327.50199 333.718 340.718 347.718 351.218 358.218 365.218 368.718 373.37998 379.59599 385.042 391.258 395.15 398.65 402.542 409.542 416.542 422.758">This register is reset on Chip POR not VLLS and by reset types</tspan><tspan y="43.85" x="72.002 75.894 82.894 89.11 93.002 96.502 100.394 105.056 108.948 115.948 122.948 129.164 133.826 137.326 146.664 153.664 157.556 164.556 168.056 175.84 185.948 195.286 198.786 205.786 212.786 216.678 220.178 230.286 238.84 247.394 255.178 258.67799 262.17799 266.83998 270.73197 274.23197 278.12397 283.56999 287.06999 294.06999 301.06999 307.28599 311.94798 316.60997 322.82597 329.04197 332.93397 339.14997 346.14997 349.64997 356.64997 363.64997 367.14997 371.81196 378.02796 383.47398 389.68998 393.58198 397.08198 400.97398 407.97398 414.97398 421.18998">that trigger Chip POR not VLLS. It is unaffected by reset types</tspan><tspan y="59.85" x="72.002 75.894 82.894 89.11 93.002 96.502 103.502 110.502 114.002 121.002 128.002 131.894 135.394 139.286 143.948 147.84 154.84 161.84 168.056 172.718 176.218 185.556 192.556 196.448 203.448 206.948 214.732 224.84 234.178 237.678 244.678 251.678 255.56999 259.07 269.178 277.732 286.28599 294.06999 297.56999 301.06999 308.85398 315.06999 321.28599 324.78599 328.67799 335.67799 341.89399 345.39399 354.732 360.948 366.394 372.61003 376.502 380.002 385.44804 391.66404 397.88005 401.77204 405.66404 412.66404">that do not trigger Chip POR not VLLS. See the Reset section</tspan><tspan y="75.85" x="72.00197 79.00197 85.21797 89.10997 95.32597 99.21797 103.10997 108.55597 112.05597 116.71797 123.71797 128.37998 131.87998 142.77198 149.77198 154.43398 160.64998 164.14998 168.04198 175.04198 179.70398 186.70398 191.36598 202.25798 208.47399 212.36598 216.25798 223.25798 230.25798">details for more information.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 146)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00097 6.00397 11.007971 16.01197 19.00897 24.01297 28.51297 33.01297 35.51497">Address: </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 92.01611 146)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00097 5.0049707 10.008971 15.012972 20.016972 25.020974 31.023974 36.027975 41.031976 46.035978 51.039979 53.541978 58.54598 63.54998 68.04998 73.05398 75.55598 80.81198 83.31398 88.31798 93.321979 95.823978 100.82797 103.32997 105.83197 110.33197 115.33597 117.83797 120.339969 125.59596 128.09796 133.10196 138.10596 143.10996 148.11396 153.11795 159.12096 164.12496 169.12895 174.13295">4007_E000h base + 2h offset = 4007_E002h</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 110 165)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.05397">7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 166 165)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.05397">6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 222 165)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.05397">5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 278 165)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="25.92797">4</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 334 165)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.054">3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 390 165)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.054">2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 446 165)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.054">1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 178.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="23.25">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 280.25 178.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="12.33789" x="6.744 13.242001 19.245 26.742 31.746003 37.749">RAM2PO</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 224)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="152.65198 160.65598 170.65198 179.31598 185.98798 193.99198 201.32398 208.65598 216.65998 225.32398 232.65598 241.31998 248.65198 251.98798 255.98398 259.31999 265.99198 269.32798 276.65998 279.99598 287.32798 293.99998 300.67198 307.34397 312.01197 315.34797 322.67997 326.67597 330.01197 337.34397 344.67597">SMC_VLLSCTRL field descriptions</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 262)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="28.04401 33.04801 38.052015">7&#x2013;6</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>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 262)" 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 56.249994 288.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">5</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>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 288.5)" 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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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 315)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">4</tspan><tspan y="18.83789" x="16.542 23.04 29.043002 36.54 41.544004 47.547006">RAM2PO</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 315)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 12.501001 19.998002 25.002003 27.504004 33.507005 38.511007 45.009008 50.01301 53.01001 55.51201 62.514009 67.518009 70.020008 72.018009 77.022">RAM2 Power Option</tspan><tspan y="26.83789" x="0 6.4980008 11.502001 16.506 19.008002 22.005002 27.009003 29.007004 33.507005 36.009004 41.013006 46.017007 52.515008 57.51901 60.51601 62.51401 67.51801 72.52201 75.02401 80.02801 82.53001 85.032009 91.53001 97.533008 105.03001 107.532009 112.536 117.54 120.537 123.039 125.037 127.539 129.537 134.541 139.545 142.047 147.051 149.553 151.551 156.555 159.05699 165.06 170.064 175.068 181.071 186.075 188.577 196.07399 201.07799 206.08199 211.08599">Controls powering of RAM partition 2 in VLLS2 mode.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 166.93564 353)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 16.011002 18.513003 21.015004 26.019005 31.023007 33.525007 38.529008 43.53301 48.03301 50.03101 54.53101 59.53501 61.254014 65.75401 68.25601 72.75601 77.76001 79.75801 84.76201 87.26401 91.76401 96.768009 101.772 104.274 106.272 111.276 116.28 119.277 124.281 126.783 128.78099 133.78499 138.78899 141.29099 146.29499 151.29898 153.80098 158.80498 160.80298 162.80098 167.30098 169.80298 172.30498 177.30898 180.30597 182.80797 185.30997 190.31397 195.31797 197.81996 202.31996 204.31797 208.81797 213.82196 216.32396 221.32796 226.33196 231.33596 233.83795 235.83596 240.83995 245.33995 250.34395 252.84595 254.84395 259.84797 264.85197 267.35398 272.35798 274.86 277.362 283.86 289.86299 297.36 299.862 304.866 309.87 312.867 314.865 317.367 319.365 324.369 329.373 331.875">See the device's chip configuration details for the size and location of RAM parition 2</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="26.01031" x="351.468 357.96598 363.46498 368.46897 373.96797 376.96498 381.96897 385.46998 387.972 392.97599 397.97999 400.482 406.485 411.48899 416.49299 419.49 424.494 432.495 434.997 442.49403 447.993 453.492 458.496 460.99803 467.496 472.995 478.494 481.491 484.992 490.491 492.993 495.49504 500.49903">Chapter 14 System Mode Controller</tspan></text>
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