birdcage/docs/K60-refman-vectors/K60-reference-manual_page_340.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

196 lines
38 KiB (Stored with Git LFS)
XML

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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="401.9463" x="75.95999 83.29199 86.62799 93.95999 101.29199 105.95999 112.63199 115.96799 122.639987 129.31198 133.30799 139.97998 143.31598 146.65198 153.98398 161.31598 170.65198 174.64798 181.97998 189.31198 198.64798 205.31998 209.98798 213.32398 219.99597 226.66797 233.33997 237.33597 244.00797 254.67597 258.01197 264.68397 272.01597 282.68397 290.01597 297.34797 304.67997 311.35197 318.68397 322.67997 329.35197 332.68797 339.35997 346.69197 354.02397 357.35997 364.03196 371.36396 378.69596 386.02796 392.69996 399.37196 403.36796 406.70396 414.03596 421.36796">Figure 14-6. Low-power system components and connections</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 498.5291)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00003 8.339972 16.679974 20.849974 29.189976 33.359979 41.699979 45.86998">14.4.2.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 498.5291)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00003 10.0049719 14.999971 24.16497 33.32997 37.499975 50.834978 59.999979 69.16498 77.50498 81.67498 90.014987 99.179988 104.17499 110.00999 118.34999 122.51999 130.85999 139.19998 148.36498 157.52997 165.86997 175.03496 183.37496">Stop mode entry sequence</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="480.7791" x="-.00103 8.55297 15.55297 19.444972 24.106972 31.106972 34.60697 38.498975 45.498975 49.390977 56.390977 59.890977 66.10698 69.60698 73.49898 80.49898 90.60698 95.26898 102.26898 109.26898 119.37698 125.59299 130.25499 133.75499 139.20099 143.09299 150.09299 157.09299 160.59299 171.48499 178.48499 185.48499 191.70099 195.20099 199.86299 207.64699 211.53899 218.53899 225.53899 229.03899 232.53899 242.64699 251.20099 258.985 266.76899 270.26899 273.76899 282.32298 290.87696 298.66096 302.16096 305.66096 315.76896 324.32295 332.87693 340.66093 347.66093 352.3229 355.8229 359.7149 365.16093 368.66093 372.55293 379.55293 383.44493 387.3369 391.2289 397.44493 401.3369 407.55293 414.55293 418.05293 425.05293 432.05293 435.55293 444.89094 452.67494">Entry into a low-power stop mode (Stop, VLPS, LLS, VLLSx) is initiated by CPU</tspan><tspan y="496.7791" x="-.00104 6.2149608 13.21496 19.430962 25.646962 32.64696 36.538965 40.430967 47.430967 54.430967 57.930967 64.93097 69.59297 73.09297 76.98497 83.98497 90.20097 93.70097 106.91698 114.70098 119.36298 122.86298 126.75498 133.75498 139.20098 143.09297 147.75498 154.75498 160.97098 164.86298 168.75498 175.75498 182.75498 186.25498 189.75498 199.86298 204.52498 208.41698 214.63298 219.29499 222.79499 226.68698 233.68698 239.90299 243.40299 247.29499 254.29499 259.741 263.633 268.29499 275.29499 281.511 285.40299 289.29499 296.29499 303.29499 306.79499 310.68699 316.133 319.633 325.849 332.849 339.065 345.281 352.281 356.173 362.389 369.389 372.889 376.389 380.281 387.281 393.497 396.997 401.659 408.659 412.551 416.443 423.443 433.551 437.443 444.443">execution of the WFI instruction. After the instruction is executed, the following</tspan><tspan y="512.7791" x="-.00101 5.4449908 11.660992 18.660992 25.660992 31.876992 38.87699 45.09299 51.30899 54.80899 61.80899 68.024997 74.241 81.241 85.903 91.349">sequence occurs:</tspan><tspan y="537.1791" x="7.5029904 14.502991 23.994992 32.548994 39.548994 45.76499 49.26499 58.602994 66.38699 76.494998 79.994998 86.211 90.103 97.103 103.319 110.319 113.819 117.711 123.157 126.657 133.657 139.873 143.765 149.981 156.981 160.481 167.481 172.143 176.80501 180.30501 184.197 195.089 205.981 212.197 219.197 223.089 229.30501 233.197 239.41301 243.30501 250.30501">1.The CPU clock is gated off immediately.</tspan><tspan y="553.1791" x="7.5029904 14.502991 23.994992 33.332994 39.548994 46.548994 53.548994 59.76499 65.21099 69.10299 74.54899 78.04899 84.26499 88.926998 95.143 98.643 109.534999 115.751 122.751 128.967 132.467 136.359 143.359 146.859 153.075 156.967 160.859 164.359 171.359 178.359 185.359 190.021 199.359 207.14299 217.25099 220.75099 227.75099 234.75099 240.19699 243.69699 254.58899 260.805 266.251 270.143 276.359 281.021 286.467 289.967 293.859 300.859 304.359 310.575 317.575 321.467 327.683 332.345 335.845 343.629 347.521 354.521 361.521 365.021 375.913 382.913 389.913 396.129">2.Requests are made to all non-CPU bus masters to enter Stop mode.</tspan><tspan y="569.1791" x="7.5030205 14.50302 23.995022 34.103025 38.765024 42.657026 48.873025 53.535024 57.035024 63.251024 67.14302 71.03502 74.53502 85.42702 91.64302 97.08902 100.98102 107.19702 111.859027 117.30502 120.80502 127.80502 134.02103 141.02103 147.23703 150.73703 156.95304 163.16904 170.16904 177.16904 184.16904 194.27704 198.16904 204.38504 211.38504 218.38504 224.60105 231.60105 235.10105 238.99304 245.99304 252.20905 259.20906 262.70906 268.92506 273.58705 279.80305 283.30305 287.96504 294.18104 300.39704 307.39704 314.39704 317.89704 321.78904 328.78904 332.28904 338.50505 345.50505 349.39704 355.61305 360.27503 363.77503 371.55903 375.45103 382.45103 389.45103 392.95103 403.84303 410.84303 417.84303 424.05903 427.55903 431.05903 435.721 441.937 448.937 455.937 462.153 467.59904 471.49104 476.93705 480.43705 486.65306 491.31504">3.After all masters have acknowledged they are ready to enter Stop mode, requests are</tspan><tspan y="585.1791" x="23.99504 34.887044 41.103044 48.103044 54.319044 57.819044 61.711046 68.711048 72.211048 78.42705 82.319049 86.211048 89.711048 96.711048 103.711048 109.15704 112.65704 118.10304 121.99504 128.21105 135.21105 141.42705 146.87305 150.37305 154.26505 161.26505 164.76505 170.98105 177.98105 181.87305 188.08905 192.75106 196.25106 204.03505 207.92705 214.92705 221.92705 225.42705 236.31905 243.31905 250.31905 256.53504">made to all bus slaves to enter Stop mode.</tspan><tspan y="601.1791" x="7.5030214 14.503021 23.995022 34.103025 38.765024 42.657026 48.873025 53.535024 57.035024 63.251024 67.14302 71.03502 74.53502 79.98102 83.87302 90.08902 97.08902 103.30502 108.75102 112.25102 119.25102 125.467029 132.46703 138.68303 142.18303 148.39904 154.61504 161.61504 168.61504 175.61504 185.72304 189.61504 195.83104 202.83104 209.83104 216.04705 223.04705 226.54705 230.43904 237.43904 243.65505 250.65505 254.15505 260.37104 265.03303 271.24903 274.74903 279.411 285.627 291.84303 298.84303 305.84303 309.34303 313.23503 320.23503 323.73503 329.95103 336.95103 340.84303 347.05903 351.721 355.221 363.005 366.897 373.897 380.897 384.397 395.289 402.289 409.289 415.505 419.005 422.505 428.721 432.613 436.505 440.005 445.45103 452.45103 457.89704 461.78904 468.00505 478.89704 482.39704 488.61305 495.61305">4.After all slaves have acknowledged they are ready to enter Stop mode, all system and</tspan><tspan y="617.1791" x="23.99504 30.99504 37.99504 43.44104 46.94104 53.15704 57.04904 64.04904 70.265048 77.265048 82.711048 86.211048 92.42705 97.08905 103.30505 106.80505 113.80505 120.02106 123.913059 130.12906 137.12906 140.62906 147.62906 152.29106 156.95307">bus clocks are gated off.</tspan><tspan y="633.1791" x="7.5030405 14.50304 23.99504 33.333044 37.225046 44.225046 50.441045 57.441045 60.941045 67.94104 74.15704 81.15704 87.37305 92.03505 98.25105 102.14305 109.14305 113.80505 119.25105 122.75105 128.96706 133.62906 139.84506 143.34506 150.34506 154.23706 159.68306 165.89907 172.89907 176.79106 183.00707 190.00707 193.50707 197.39907 204.39907 207.89907 211.79106 218.79106 225.00707 228.50707 240.95307 250.29106 260.39906">5.Clock generators are disabled in the MCG.</tspan><tspan y="649.1791" x="7.5030505 14.50305 23.99505 32.54905 39.54905 45.76505 49.26505 56.26505 63.26505 67.92705 74.14305 81.14305 85.03505 92.03505 95.53505 100.19705 106.413059 113.413059 120.413059 124.30505 130.52106 134.41306 141.41306 146.07506 149.57506 153.46706 160.46706 163.96706 167.85906 174.85906 181.07506 184.57506 192.35906 204.80506 214.14305 217.64305 223.85906 230.85906 237.85906 241.35906 245.25106 252.25106 256.14308 262.35908 267.02107 274.02107 280.23707 284.12907 287.62907 294.62907 301.62907 311.73707 317.95307 322.61506 326.11506 331.56108 341.66908 345.56108 349.45307 355.66908 362.66908 368.88508 374.3311 377.8311 384.0471 388.70909 394.92509 398.42509 404.64109 411.64109 418.64109 423.30308 427.19508 434.19508 441.19508 445.85707 452.07307 459.07307 462.57307 466.46507">6.The on-chip regulator in the PMC and internal power switches are configured to</tspan><tspan y="665.1791" x="23.99507 34.88707 41.10307 47.31907 51.21107 54.71107 58.603075 65.60307 71.81908 75.31908 82.31908 89.31908 99.42708 105.64308 110.305088 113.805088 120.02109 127.02109 134.02109 139.46709 146.46709 157.35909 164.35909 168.25109 172.14308 179.14308 186.14308 189.64308 196.64308 203.64308 209.85909 213.75109 219.19709 222.69709 227.35909 234.35909 239.02109 242.52109 246.41309 253.41309 259.6291 263.1291 267.0211 273.2371 277.89909 284.89909 291.11509 295.00709 301.22309 308.22309 311.72309 315.61509 322.61509 332.72309 337.38508 344.38508 351.38508 361.49308 367.70909 372.37107 375.87107 386.76307 393.76307 400.76307 406.97908">meet the power consumption goals for the targeted low-power mode.</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="25.87323" x="0 5.499 10.998 16.497 21.501 24.498 27 32.499 37.998 43.002004 45.504 48.006 53.505 58.509004 63.513006 68.517009 72.018009 74.520008 80.019008 83.01601 85.518009 91.017009">Functional description</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="130.006 137.226 142.786 148.346 151.12599 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>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 10.008001">340</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="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 54 763.756)" 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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