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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_357.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

159 lines
27 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="20" font-family="HelveticaLTStd" font-weight="bold"><tspan y="88.19531" x="0 14.4400019 26.660002 37.780004 50.000005 56.660005 67.78001 75.560009 81.12 92.240009">Chapter 16</tspan><tspan y="110.19531" x="0 12.22 24.44 40 46.66 58.88 70 81.12 92.240009 103.36001 115.58001 126.70001 132.26001 151.14002 162.26001 173.38 184.5 196.72 208.94 214.5 228.94 241.16 246.72 253.38 258.94 265.6 277.82 290.04 308.92 323.36003">Low-Leakage Wakeup Unit (LLWU)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.001 9.451 18.903 23.629">16.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00099 4.7250106 15.112011 20.77301 27.386012 37.77301 48.16001 58.547014 67.999019 73.66002 78.38602 88.77302">Introduction</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="186.83672" x="232.55202 242.66002 253.55202 262.10603">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="211.45" x="72 79.784008 86.784008 91.44601 94.94601 98.838008 105.838008 112.05401 115.55401 121.77001 128.77002 132.66202 139.66202 144.32402 149.77002 156.77002 162.98603 169.20203 173.09403 177.75603 181.64803 187.86403 191.36403 195.25603 206.14803 213.14803 217.04003 223.25603 234.14803 240.36403 247.36403 251.25603 257.47203 261.364 265.256 272.256 279.256 282.756 289.756 295.97203 299.864 306.08003 309.97203 313.864 319.31004 322.81004 329.81004 334.47203 337.97203 341.864 348.864 352.756 358.20204 361.70204 372.59403 379.59403 386.59403 393.59403 397.48603 403.70204 406.22203">For the chip-specific implementation details of this module's</tspan><tspan y="227.45" x="72 75.892 82.892 88.338 92.229999 98.446 105.446 111.662 117.878009 123.324008 126.824008 132.27 138.48601 144.70201 148.20201 152.09401 159.09401 165.31002 168.81002 175.02602 182.02602 185.91802 192.91802 196.41802 202.63402 209.63402 216.63402 221.29602 225.18802 232.18802 239.18802 243.85002 250.06603 253.95803 257.85005 264.85005 271.85005 275.35005 279.24205 286.24205 290.90403 297.90403 302.566 313.458 319.674 323.566 327.458 334.458 341.458">instances see the chip configuration information.</tspan><tspan y="251.84999" x="72.00003 79.784038 89.89204 99.23004 107.78404 112.446048 121.78404 131.89205 140.44605 145.10805 155.21605 165.32405 168.82405 177.37805 186.71605 196.05405 206.16205 215.50005 219.39205 222.89205 227.55405 234.55405 238.05405 248.94605 255.94605 262.94606 269.94606 273.83805 280.05406 283.55406 294.44606 300.66206 311.55406 318.55406 323.21604 330.21604 333.71604 344.60804 350.82405 357.82405 361.32405 365.21604 371.43205 378.43205 382.32405 388.54005 393.98606">PUBLICATION ERROR: In module memory map tables,</tspan><tspan y="267.85" x="72.00003 76.66203 82.87804 89.87804 93.770038 99.216037 103.10803 109.324039 113.98604 117.48604 122.14804 128.36405 133.81005 140.02605 143.91805 147.41805 154.41805 160.63405 164.52605 171.52605 177.74205 183.18805 186.68805 197.58005 203.79605 210.79605 214.29605 221.29605 227.51206 231.01206 234.90406 241.90406 248.12006 255.12006 259.78205 264.44404 270.66004 276.87605 280.76805 284.26805 287.76805 295.55204 301.76805 307.98405 311.48405 315.37605 322.37605 328.59205 332.09205 335.98405 342.98405 349.98405 353.87605 360.87605 364.76805 371.76805 378.76805 384.98405">register reset values may be incorrect. See the individual</tspan><tspan y="283.85" x="72.00005 76.662059 82.87806 89.87806 93.77006 99.21606 103.108058 109.32406 113.98606 117.48606 124.48606 128.37807 134.59407 141.59407 146.25608 152.47208 163.36408 168.81008 172.31008 176.97208 183.97208 188.63408 192.13408 198.35009 204.56609 210.78209 217.78209 222.44409 228.6601 232.5521 238.7681 242.2681 246.9301 253.1461 258.5921 264.8081 268.7001 272.2001 276.0921 283.0921 287.7541 294.7541 299.41609 310.30809 316.52409 320.41609 324.30809 331.30809 338.30809">register diagrams for accurate reset information.</tspan><tspan y="308.25" x="-.001914978 8.552085 15.552085 21.768086 25.268086 33.822088 42.376089 55.592088 65.70009 69.20009 80.09209 87.09209 94.09209 101.09209 104.984088 111.20009 114.70009 120.91609 124.80809 128.70009 135.70009 145.80809 151.25409 154.75409 158.64609 165.64609 171.86209 175.36209 182.36209 187.80809 194.0241 198.6861 202.1861 206.0781 213.0781 216.5781 222.0241 228.2401 232.1321 238.3481 244.5641 248.4561 251.9561 258.95613 265.95613 269.45613 273.3481 280.3481 283.8481 290.8481 297.8481 301.3481 307.56413 314.56413 318.45613 324.67213 329.3341 336.3341 342.5501 346.4421 349.9421 356.9421 360.8341 367.8341 371.3341 376.78013 383.78013 390.78013 395.4421 401.6581 407.8741 413.32014 416.82014 423.03614 430.03614 437.03614 440.53614 447.53614 454.53614 458.03614 461.92814 468.92814 472.42814">The LLWU module allows the user to select up to 16 external pin sources and up to 8</tspan><tspan y="324.25" x="-.001914978 3.8900855 10.890085 14.782085 20.998085 25.660086 32.660089 38.876089 42.76809 46.26809 57.16009 64.160099 71.160099 78.160099 82.05209 88.2681 93.714099 97.214099 103.4301 108.8761 112.3761 118.5921 122.0921 132.2001 138.4161 145.4161 151.63211 158.63211 165.63211 169.13211 174.57811 181.57811 188.57811 193.24011 199.45612 205.67212 209.17212 213.83412 218.49613 225.49613 236.38813 239.88813 243.78012 250.78012 260.88813 265.5501 269.4421 275.6581 281.8741 288.8741 295.09013 302.09013 308.30613 311.80613 318.80613 325.80613 335.91413 342.13014 346.7921 350.2921 361.1841 368.1841 375.1841 381.40013 386.84614 390.34614 393.84614 402.40013 409.40013 415.61613 419.11613 423.00813 430.00813 437.00813 444.00813 447.90013 451.40013 456.84614 463.84614 470.84614 475.50813 481.72413 487.94013">internal modules as a wakeup source from low-leakage power modes. The input sources</tspan><tspan y="340.25" x="-.001914978 6.2140858 10.876085 17.092087 20.592087 27.592087 33.808088 39.254087 45.470087 50.132085 54.024087 61.024087 67.24009 74.24009 77.74009 81.63209 88.63209 92.13209 96.024089 103.024089 109.24009 112.74009 119.74009 125.95609 132.95609 136.84809 143.06409 149.28009 151.8001 157.2461 160.7461 166.9621 173.9621 177.8541 184.8541 188.3541 194.5701 201.5701 208.5701 213.2321 217.1241 224.1241 231.1241 235.7861 242.0021 245.8941 249.7861 256.7861 263.7861 267.2861 274.2861 280.5021 284.3941 290.6101 294.5021 298.3941 303.84013 307.34013 310.84013 319.3941 325.6101 331.8261 338.8261 342.3261 349.3261 353.9881 357.4881 361.3801 368.3801 374.5961 378.0961 384.3121 391.3121 397.5281 401.4201 405.3121 411.5281 418.5281 422.4201 428.6361 432.1361 442.2441 448.4601 455.4601 461.67613 468.67613">are described in the device's chip configuration details. Each of the available wakeup</tspan><tspan y="356.25" x="-.001914978 5.4440858 12.444086 19.444087 24.106087 30.322087 36.538087 41.984086 45.484086 51.700086 57.916086 64.916088 68.416088 75.416088 81.63209 85.13209 89.024089 96.024089 103.024089 106.916088 113.916088 117.80808 124.80808 131.80808 138.02408 141.91608 145.80808 152.80808 156.30808 162.52408 169.52408 175.74008 182.74008 186.63208 192.84809 199.84809">sources can be individually enabled.</tspan><tspan y="380.65" x="-.0019049781 8.552094 15.552094 21.768095">The </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="380.65" x="25.2681 34.606103 43.160104 50.944105 59.498106 68.0521 71.5521 78.5521 82.4441 89.4441 92.9441 96.8361 102.2821 105.7821 111.9981 118.9981 122.4981 128.7141 135.7141 142.7141 146.6061 150.4981 154.39009 161.39009 168.39009 174.6061 178.4981 181.9981 187.44409 194.44409 201.44409 206.1061 212.3221 218.5381 222.0381 226.7001 233.7001 238.3621 241.8621 245.7541 250.4161 254.3081 261.3081 268.3081 274.5241 279.1861 283.0781 290.0781 297.0781 300.5781 306.7941 313.7941 317.2941 323.5101 330.5101 334.4021 338.2941 341.7941 346.4561 351.11808 358.11808 369.01008 372.51008 376.40208 383.40208 393.51008 398.17207 402.06407 408.28007 414.49607 421.49607 427.71208 434.71208 440.92808 444.42808 451.42808 458.42808 468.53608 474.75209">RESET pin is an additional source for triggering an exit from low-leakage power</tspan><tspan y="396.65" x="-.0019187927 10.890082 17.890084 24.890084 31.106083 36.552083 40.052083 43.552083 49.76808 56.76808 63.76808 67.26808 73.484088 79.70009 86.70009 92.14609 98.36209 103.80809 107.30809 111.20009 118.20009 124.41609 127.91609 140.36209 149.70009 159.80809 163.30809 167.20009 174.20009 177.70009 183.91609 190.91609 194.80809 198.70009 202.20009 209.20009 216.20009 220.09209 227.09209 230.59209 239.14609 247.70009 255.48409 258.98408 265.20008 272.20008 279.20008 282.70008 292.80809 301.36207 309.91606 317.70005 321.20005 325.09205 332.09205 336.75404 343.75404 350.75404 357.75404 364.75404 368.25404 374.47004 377.97004 382.63203 388.84803 394.29405 400.51005 404.40205 407.90205 412.56404 416.45603 423.45603 433.56404 437.06404 440.56404 449.118 456.118">modes, and causes the MCU to exit both LLS and VLLS through a reset flow. The</tspan><tspan y="412.65" x="-.0019187927 8.552081 17.106081 30.322083 40.430086 47.430086 56.768087 64.552089 73.10609 77.76809 86.32209 94.87609 104.214099 111.9981 120.5521 129.1061 133.7681 137.2681 144.2681 148.1601 152.0521 155.5521 166.44409 173.44409 178.89009 182.78209 186.28209 193.28209 199.4981 202.9981 208.44409 214.6601 218.5521 222.0521 225.94409 232.94409 236.44409 242.6601 246.5521 250.44409 257.4441 267.5521 271.0521 277.2681 284.2681 287.7681 293.9841 300.9841 304.8761 308.7681 312.2681 316.93009 321.59208 328.59208 339.48408 342.98408 346.87608 353.87608 363.98408 368.64607 372.53807 378.75407 384.97007 391.97007 398.18608 405.18608 411.40208 414.90208 425.79408 432.79408 439.79408 446.01008 451.4561 454.9561 461.9561 465.84809 472.0641 475.5641 479.4561 486.4561">LLWU_RST[LLRSTE] bit must be set to allow an exit from low-leakage modes via the</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="428.65" x="199.84809 209.18608 217.74008 225.52408 234.07808 242.63208 246.13208 253.13208 257.02409 264.02409 267.52409 271.41609 276.8621 280.3621 285.8081 292.8081 299.0241 303.6861 309.9021 316.9021 320.4021 330.5101 334.4021 338.2941 345.2941 348.7941 355.7941 359.6861 366.6861 372.9021 377.5641 381.0641 385.72608 392.72608 399.72608 405.94209 409.83409 413.72608 420.72608 427.72608 433.1721 436.6721 440.1721 444.0641 451.0641 457.2801 460.7801 466.9961 473.9961 480.9961 484.8881 488.7801 494.9961 498.8881">RESET pin is shared with other functions, the explicit</tspan><tspan y="444.65" x="-.0019073486 6.9980928 13.998093 18.660094 22.552094 26.052094 36.944097 43.944097 50.944097 54.444097 60.660097 67.660099 74.660099 78.55209 83.214099 90.214099 94.106098 97.606098 102.2681 108.4841 115.4841 119.3761 124.8221 128.7141 134.9301 139.5921 143.0921 153.9841 160.9841 166.4301 170.3221 173.8221 180.8221 187.0381 190.5381 195.9841 202.2001 206.0921 209.5921 214.2541 221.2541 225.9161 229.4161 233.3081 240.3081 246.52411">port mux control register must be set for the </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="444.65" x="377.5641 386.9021 395.4561 403.24009 411.79408 420.34806 423.84806 430.84806 434.74006 441.74006 445.24006 451.45606 457.67207 464.67207 468.17207 475.17207">RESET pin can be</tspan><tspan y="460.65" x="-.0019226074 6.9980776 12.444078 18.66008 25.66008 29.16008 35.37608 40.82208 44.32208 50.53808 54.03808 57.93008 64.930088 75.038089 79.70009 83.59209 89.80809 96.02409 103.02409 109.2401 116.2401 122.4561 125.9561 130.6181 136.8341 142.2801 148.49611 152.3881 155.8881 161.3341 168.3341 175.3341 179.99611 186.21212 192.42812">used as a low-leakage reset source.</tspan><tspan y="485.05" x="-.0019226074 8.552077 15.552077 21.768078 25.268078 33.82208 42.37608 55.59208 65.70008 69.20008 80.09208 87.09208 94.09208 101.09208 104.98408 111.20008 114.70008 120.916088 124.80808 130.25409 137.25409 140.75409 144.64609 151.64609 157.86209 161.75409 168.75409 175.75409 181.9701 187.41609 190.91609 194.80809 201.80809 206.4701 212.6861 218.9021 222.4021 229.4021 236.4021 240.2941 244.1861 251.1861 258.1861 264.4021 268.2941 271.7941 278.7941 282.6861 289.6861 293.5781 297.4701 303.6861 307.5781 311.0781 318.0781 321.9701 328.9701 332.4701 337.13209 341.02409 344.91609 348.80809 355.02409 359.68608 365.13209 369.02409 372.52409 376.41609 386.52409 393.52409 397.02409 401.68608 408.68608 413.34806 416.84806 420.74006 427.74006 433.95606 437.45606 443.67207 450.67207 454.56407 460.78007 465.44206 472.44206 478.65806">The LLWU module also includes three optional digital pin filters: two for the external</tspan><tspan y="501.05" x="-.0019226074 10.106078 16.322079 23.322079 29.538079 36.53808 43.53808 47.03808 54.03808 57.93008 64.930088 70.37608 73.87608 80.09209 87.09209 94.09209 97.59209 104.59209 111.59209 117.80809 121.30809 125.97009 132.9701 137.6321 141.1321 145.0241 152.0241 158.2401">wakeup pins and one for the </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="501.05" x="161.7401 171.0781 179.6321 187.41609 195.9701 204.5241 208.0241 215.0241 218.91609 225.91609">RESET pin.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 614.6)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00791 9.76809 18.664092 27.560093 32.888093 42.664094 48.888093 57.784093">Features</tspan></text>
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