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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_337.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

454 lines
48 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 90 55)" font-size="8" font-family="HelveticaLTStd"><tspan y="175.252" x="43.728 51.280004 56.616006 58.840005">WAIT</tspan><tspan y="271.252" x="42.84 48.176004 53.064004 59.288003">STOP</tspan><tspan y="224.852" x="190.664 196.44 202.216">RUN</tspan><tspan y="368.85203" x="157.016 161.464 165.912">LLS</tspan><tspan y="368.19114" x="272.344 277.68 282.128 286.576 291.912">VLLSx</tspan><tspan y="276.99113" x="333.104 338.44 342.888 348.224">VLPS</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 90 55)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="107.05886" x="355.92155">4</tspan><tspan y="224.73082" x="346.61195">6</tspan><tspan y="257.32344" x="278.03916">7</tspan><tspan y="215.84195" x="267.45518">3</tspan><tspan y="165.89485" x="134.12557">1</tspan><tspan y="265.36576" x="132.43357">2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 169.14896 55)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="297.53507" x="181.10556">8</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 17.659569 57.55319)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="290.76258" x="252.33516 256.33836">10</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 126.59576 82.23404)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="333.09059" x="357.7288 361.732">11</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 31.276589 53.29787)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="349.5985" x="404.176">9</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 90.00001 55)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="129.49272" x="221.74239">5</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="451.76719" x="140.30399 147.63599 150.97199 158.30399 165.63599 170.30399 176.97599 180.31198 186.98398 193.65598 197.65198 204.32398 207.65998 210.99597 218.99997 226.33197 235.66797 242.33997 247.00797 250.34397 261.01197 268.34397 275.67597 282.34797 285.68397 292.35597 296.35197 303.02397 307.01997 313.69197 317.02796 324.35997 327.69596 334.36796 341.69996 346.36796 353.03996">Figure 14-5. Power mode state diagram</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="478.2" x=".002029419 8.556029 15.556029 21.77203 25.27203 29.93403 36.93403 40.82603 44.718034 51.718034 61.826036 65.71803 72.71803 79.71803 83.21803 87.11003 93.326038 100.326038 104.21803 110.43404 113.93404 120.93404 127.15004 131.81204 135.70404 142.70404 148.92005 154.36605 157.86605 161.75804 166.42005 170.31204 177.31204 184.31204 190.52805 195.19005 200.63605 204.13605 208.79805 215.79805 220.46006 223.96006 227.85205 234.85205 241.06806 244.56806 251.56806 257.78407 262.44606 266.33805 273.33805 280.33805 285.78407 289.28407 294.73008 298.62208 304.83808 308.73008 314.94609 318.44609 322.33808 327.00007 333.21607 340.21607 345.66209 349.55409 353.44609 357.33808 364.33808 371.33808 376.7841 380.2841 385.7301 392.7301 399.7301 409.8381 416.8381 420.3381 424.2301 431.2301 434.7301 438.6221 445.6221 451.8381 455.3381 462.3381 467.0001 473.2161 480.2161 484.1081 491.1081 498.1081">The following table defines triggers for the various state transitions shown in the previous</tspan><tspan y="494.2" x=".002029419 4.6640298 8.55603 15.55603 22.55603 27.21803 33.434034">figure.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 169.5 560.75)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="13.96602 21.29802 27.97002 35.30202 38.638025 45.310026 48.646028 55.318029 61.99003 65.98603 72.658039 84.99403 92.99803 100.33003 109.66603 116.33803 121.00603 124.342029 135.01003 142.34203 149.67403 156.34603 159.68202 163.67803 168.34603 175.01802 182.35002 189.02202 192.35802 196.35402 199.69002 207.02202 214.35402 217.69002 221.68602 226.35402 229.69002 237.02202 244.35402 251.02602 255.69402">Table 14-7.Power mode transition triggers</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 224.5 582.25)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="35.001 40.5">To</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.5 582.25)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="1.998 7.497 10.998 13.5 18.999 24.498002 29.502003 33.003004 35.505 40.509004 46.008005 51.507005 57.006006 59.508005 62.505006 65.007 70.506008 76.005008">Trigger conditions</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 598.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="37.251">1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 140.25 598.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.006 36.504 43.002004">RUN</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 598.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="28.503 36.999 43.002 45.503999">WAIT</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 598.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.001 13.005001 18.009003 23.013005 26.010004 31.014004 36.018007 42.516008 45.018007 50.022008 53.01901 55.521009 60.021009 62.01901 67.02301 72.02701 77.031009 80.02801 85.032009 90.036 93.033008 98.037 102.537 104.535 107.037 109.539 117.036 122.04 127.044 132.048 136.548 139.05 144.054 149.058 151.56 156.564 159.56099 164.56499 169.56899 172.07099 178.56899 180.56699 183.06899 188.07299 190.57498 196.57799 201.58199 207.58499 213.588 219.591 226.089 232.09201 238.09502">Sleep-now or sleep-on-exit modes entered with SLEEPDEEP</tspan><tspan y="18.83789" x=".00002 4.50002 6.49802 11.502021 16.506022 19.503022 22.005023 24.507023 29.007023 34.011026 39.015027 41.517026 44.514028 49.51803 51.51603 53.51403 58.518033 63.522035 66.02403 68.02203 73.02603 75.52803 81.53103 86.03103 90.53103 93.03303 98.037029 105.53403 108.036029 114.53403 119.538028 124.54202 127.04402 130.04102 135.04502 137.04302 139.54502 146.04302 151.04701 156.05101 158.04901 162.54901 165.05101 170.05501 173.052 175.554 177.552 182.556 185.058 191.061 197.559 205.056 207.558 212.058 217.062 220.05899 225.06299">clear, controlled in System Control Register in ARM core.</tspan><tspan y="35.237894" x=".00002 6.0030205 11.007021 16.01102 18.513022 23.517022 28.521023 31.023024 36.027025">See note.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 140.25 641.15)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="28.503 36.999 43.002 45.503999">WAIT</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 641.15)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.006 36.504 43.002004">RUN</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 641.15)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 2.5020004 7.506001 10.008001 15.012002 18.009003 21.006003 26.010003 31.014004 33.516004 36.018 41.022005 44.019006 46.521005 53.019006 58.023008 62.523008 67.52701">Interrupt or Reset</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 659.65)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="180.963 185.967 190.971 196.46999 198.46799 203.47199 205.97399 210.97798 215.98198 220.98598 223.48798 225.48598 230.48998 235.49398 240.49797 244.99797 247.49997 252.50397 257.50798 260.00999 262.512 267.516 272.52 275.022 280.026 285.03 289.53 292.032 294.53404 300.03303 305.03703 310.536 315.54 318.04203 320.54405">Table continues on the next page...</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01034" 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>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.93869)" 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 54 751.756)" 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 1 220.32 751.756)" 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 1 391.68 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">337</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54 763.756)" 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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