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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_336.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

471 lines
45 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 235.5)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="159.32398 167.32798 177.32398 185.98798 192.65998 200.66397 210.65998 218.66397 225.99597 234.65998 241.99198 245.32798 249.32398 252.65998 259.33198 262.66798 269.99998 273.33598 280.66798 287.33998 294.01197 300.68397 305.35197 308.68797 316.01997 320.01597 323.35197 330.68397 338.01597">SMC_PMSTAT field descriptions</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 257.5)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="25.79401 31.29301 33.79501 38.79901 41.30101">Field</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.1 257.5)" 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 56.249994 273.5)" 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>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 273.5)" 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 300)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="28.044 33.048 38.052003">6&#x2013;0</tspan><tspan y="18.83789" x="17.298 23.301 30.798 36.801004 42.300004 48.303">PMSTAT</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 311)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="0 6.4980008 13.500001 18.999 25.002">NOTE:</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 166.93564 311)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 8.496 13.500001 18.504002 23.508004 26.010004 31.014004 36.018007 41.022008 46.02601 51.03001 53.53201 55.53001 60.03001 62.53201 67.53601 72.54001 77.54401 82.548007 84.546009 89.55 94.554 97.056 99.558 102.06 107.063999 112.06799 114.56999 120.57299 128.06999 134.073 139.57199 145.575 151.07399 153.57599 160.07399 162.07199 164.06999 166.068 168.56999 173.57399 178.57799 181.07999 183.58199 188.58599 193.58998 198.59398 203.59798 206.09998 211.10398 213.60597 216.10797 221.11197 223.61397 229.61698 235.11597 242.11797 248.12097 250.62297 255.62697 258.62397 261.12599 267.12898 272.13298 278.13597">When debug is enabled, the PMSTAT will not update to STOP or VLPS</tspan></text>
<path transform="matrix(1,0,0,1,131.85,300)" d="M0 32H423.90003V121H0Z" fill="#ffffff" fill-rule="evenodd"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 332)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 10.008001 15.012002 20.016003 25.020005 30.024006 35.028009">000_0001</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 181.35276 332)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 14.499001 17.496 22.5 27.504002 30.006003 32.508005 37.512006 42.516008 49.014009 54.01801 57.01501 59.51701 67.01401 72.018009 77.022 82.026 84.528 86.526 91.026 93.528 100.026 106.524">Current power mode is RUN</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 343)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.0040209 10.008021 15.012022 20.016022 25.020024 30.024025 35.028028">000_0010</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 181.35276 343)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 6.4980208 11.502022 14.499022 17.496022 22.500023 27.504025 30.006026 32.508028 37.512029 42.51603 49.01403 54.018033 57.015035 59.517034 67.01403 72.01803 77.022029 82.026027 84.52802 86.526027 91.026027 93.52802 99.53102 105.03002 112.03202">Current power mode is STOP</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 356)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00003 5.0040309 10.008032 15.0120329 20.016034 25.020035 30.024037 35.028039">000_0100</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 181.35276 356)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00003 6.4980309 11.502031 14.499031 17.49603 22.50003 27.504033 30.006033 32.508035 37.512037 42.516038 49.014039 54.01804 57.01504 59.51704 67.01404 72.018039 77.02203 82.02603 84.52803 86.52603 91.02603 93.52803 99.53103 104.53503 110.538028">Current power mode is VLPR</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 369)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 5.0040409 10.008041 15.012042 20.016043 25.020043 30.024044 35.028047">000_1000</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 181.35276 369)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 6.4980409 11.502041 14.499041 17.49604 22.500042 27.504044 30.006045 32.508047 37.512048 42.51605 49.01405 54.01805 57.015054 59.51705 67.01405 72.01805 77.02205 82.02605 84.528049 86.52605 91.02605 93.528049 99.531047 104.53504 110.53804">Current power mode is VLPW</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 382)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 5.0040409 10.008041 15.012042 20.016043 25.020043 30.024044 35.028047">001_0000</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 181.35276 382)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 6.4980409 11.502041 14.499041 17.49604 22.500042 27.504044 30.006045 32.508047 37.512048 42.51605 49.01405 54.01805 57.015054 59.51705 67.01405 72.01805 77.02205 82.02605 84.528049 86.52605 91.02605 93.528049 99.531047 104.53504 110.53804">Current power mode is VLPS</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 395)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 5.0040409 10.008041 15.012042 20.016043 25.020043 30.024044 35.028047">010_0000</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 181.35276 395)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00005 6.4980509 11.502051 14.499051 17.496052 22.500054 27.504055 30.006056 32.508058 37.51206 42.51606 49.01406 54.018064 57.015066 59.517065 67.01406 72.01806 77.02206 82.026058 84.52805 86.526058 91.026058 93.52805 98.53205 103.53605">Current power mode is LLS</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 408)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00005 5.0040509 10.008051 15.012052 20.016053 25.020054 30.024056 35.028059">100_0000</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 181.35276 408)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00006 6.4980609 11.502062 14.499062 17.496062 22.500061 27.504063 30.006064 32.508066 37.512067 42.516069 49.01407 54.01807 57.01507 59.51707 67.01407 72.01807 77.022068 82.02606 84.52806 86.52606 91.02606 93.52806 99.53106 104.53506 109.539058">Current power mode is VLLS</tspan></text>
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<path transform="matrix(1,0,0,1,53.999994,297.75)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M0 125.75V-.1"/>
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<path transform="matrix(1,0,0,1,53.999994,297.75)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M504.00004-.1V125.75"/>
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<path transform="matrix(1,0,0,1,53.999994,297.75)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M504.25004 125.5H75.50001"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 475.3)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 9.452001 18.904002 23.630002">14.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25536 475.3)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 10.387 20.774 31.161 40.613 46.274 51 61.387 71.774 81.226009 85.952 90.678 101.065 110.517009 119.96901 129.421 136.03401 140.76001 151.147 156.808 161.534 171.92099">Functional description</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 538.1)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".004 8.900001 17.796002 22.244002 31.140004 35.588006">14.4.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65331 538.1)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".004 10.676001 20.452 32.9 41.796 48.02 52.468004 66.692 76.468 86.244 95.14001 99.588008 104.91601 111.14001 120.03601 129.81201 138.70801 143.156 148.48401 152.932 162.70801 172.48401">Power mode transitions</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54)" font-size="14" font-family="TimesLTStd"><tspan y="521.35" x="-.00399 8.55001 15.55001 21.76601 25.26601 29.92801 36.92801 40.82001 44.712015 51.712015 61.820016 65.71201 72.71201 79.71201 83.21201 87.874019 91.766017 98.766017 105.766017 110.42802 116.64402 120.14402 125.59002 132.59003 139.59003 149.69803 155.14403 158.64403 162.53603 169.53603 175.75203 179.25203 186.25203 193.25203 203.36003 209.57604 214.23804 217.73804 228.63004 235.63004 242.63004 248.84604 252.34604 257.79206 261.68406 267.90007 271.79206 278.00807 281.50807 285.40007 290.06205 296.27806 303.27806 308.72407 312.61607 316.50807 320.40007 327.40007 334.40007 339.84608 343.34608 349.56208 356.56208 362.77809 366.67008 370.56208 376.77809 383.77809 387.67008 393.88609 397.38609 404.38609 411.38609 414.88609 418.77809 425.77809 431.99409 435.49409 441.71009 448.71009 452.60209 459.60209 463.10209 466.60209 476.71009 483.71009">The following figure shows the power mode state transitions available on the chip. Any</tspan><tspan y="537.35" x="-.00399 4.65801 10.87401 16.320012 22.53601 26.42801 29.92801 36.144014 40.036016 50.144018 56.360017 63.360017 68.806018 72.306018 79.306018 83.96802 87.860019 94.860019 101.860019 107.306018 110.806018 114.69801 121.69801 127.91402 131.41402 143.86002 153.19802 163.30602 166.80602 173.80602 180.02202 186.23802 193.23802 196.73802 200.63002 207.63002 211.13002 215.02202 222.02202 228.23802 231.73802 238.73802 245.73802 250.40003 261.29203 267.50804 271.40003 274.90003 279.562 286.562 293.562 297.062 302.50804 306.40003 312.61604 316.50804 322.72404">reset always brings the MCU back to the normal run state.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.006 137.226 142.786 148.346 151.12599 157.79599 163.90599 170.01599 173.346 179.456 185.01599 193.90599 196.68599 199.46599 205.02599 207.80599 215.02599 220.58599 223.91599 229.47599 233.36598 238.92598 245.03598 250.59598 256.15599 258.93598 267.26597 272.82597 278.93595 285.04594 290.60594 293.38594 296.16593 298.94593 306.16593 311.72593 317.28593 320.06593 322.84593 328.4059 331.1859 336.7459 342.8559 348.96589 351.74589 357.30589 362.86589 368.42588">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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