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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_358.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

150 lines
29 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="11.85" x="13.104 23.996003 28.658003 35.658006 42.658006 49.658006 53.550008 57.050008 62.496007 69.496 76.496 81.158008 87.37401 93.59001 99.03601 102.53601 113.42801 119.64401 126.64401 130.14402 137.14402 143.36002 146.86002 153.07602 160.07602 163.96802 170.18402 174.84603 181.84603 188.06203 191.95403 195.45403 202.45403 206.34603 213.34603 218.79203 222.29203 229.29203 233.95403 237.45403 242.11603 246.77803 253.77803 264.67005 268.17005 272.06205 279.06205 282.95405 289.17005 293.83204 300.83204 307.04804 310.94004 314.44004 321.44004 327.65605 332.31803 336.21003 343.21003 350.21003 356.42604 361.088 367.30403 371.196 376.64204 380.14204 386.35804 392.57405 399.57405 405.79005 412.79005 416.68205 422.89805 426.39805 433.39805 438.06004 441.56004 446.22203 453.22203 460.22203 467.22203 471.114 478.114 485.114 488.614 492.506">&#x2022;Input sources may be external pins or from internal peripherals capable of running in</tspan><tspan y="27.85" x="23.99601 32.55001 41.10401 48.888013 52.388013 59.388013 64.05001 67.55001 77.65801 86.21201 94.766017 102.55002 106.05002 109.55002 117.33402 123.550029 129.76602 133.26602 137.15802 144.15802 150.37403 153.87403 160.09003 167.09003 170.98203 177.98203 181.48203 187.69803 194.69803 201.69803 206.36003 210.25203 217.25203 224.25203 228.91403 235.13004 239.02204 242.91403 249.91403 256.91404 260.41404 264.30604 271.30604 275.96803 282.96803 287.63 298.522 304.738 308.63 312.522 319.522 326.522 330.022 334.684 341.684 346.34599 349.84599 359.95399 366.16999 373.16999 379.386 386.386 393.386 396.886 400.77799 407.77799 414.77799 421.77799 425.66999 429.16999 434.616 441.616 448.616 453.27799 459.494 465.71 471.156 474.656 479.318 486.318">LLS or VLLS. See the chip configuration information for wakeup input sources for</tspan><tspan y="43.85" x="23.99601 27.88801 34.88801 38.78001 44.22601 47.72601 54.72601 60.94201 67.94201 71.83401 78.05001 84.266017">this device.</tspan><tspan y="59.85" x="13.10402 23.996022 32.550024 39.550024 43.442026 49.658025 54.320024 61.320024 67.536029 71.428028 74.928028 81.928028 85.82002 92.82002 96.32002 106.428028 112.64403 119.64403 125.86003 132.86003 139.86003 143.36003 147.25203 154.25203 161.25203 168.25203 172.14403 177.59003 181.09003 184.59003 190.80603 197.02204 203.23804 210.23804 213.73804 220.73804 225.40004 228.90004 239.00804 246.00804 249.90004 256.11604 263.11604 266.61604 270.50804 275.95405 279.45405 286.45405 291.11604 298.11604 305.11604 309.778 315.99403 326.88603 337.778 343.99403 350.99403 354.88603 361.10203 364.60203 370.81803 376.26405 379.76405 384.42604 390.64204 394.53404 398.42604 402.31803 409.31803 416.31803 420.98 427.196 434.196 441.196 447.41203 450.91203 454.41203 459.074 462.966 468.41203 472.30403 479.30403 486.30403">&#x2022;External pin wakeup inputs, each of which is programmable as falling-edge, rising-</tspan><tspan y="75.85" x="23.99606 30.212059 37.21206 44.21206 50.42806 53.92806 57.42806 64.428058 69.09006 72.59006 78.80606 85.80606 92.80606 96.30606 102.522068 109.522068 115.73807 122.73807 129.73807">edge, or any change</tspan><tspan y="91.85" x="13.10407 23.99607 37.21207 43.42807 50.42807 56.64407 63.64407 70.64407 74.14407 78.03607 85.03607 92.03607 99.03607 102.92807 108.37407 111.87407 115.76607 122.76607 128.98207 132.87407 136.37407 142.59008 147.25208 153.46808 156.96808 163.18408 169.40009 173.29209 177.18408 184.18408 190.40009 194.29209 200.50809 207.50809 211.00809 214.90009 219.56209 223.06209 229.27809 236.27809 242.4941 249.4941 253.3861 259.60209 266.60209 270.10209 276.31809 280.98008 284.87208 291.08808 295.75007 299.25007 311.69609 321.0341 331.1421 334.6421 340.8581 347.8581 351.7501 357.9661 362.62809 368.0741 371.5741 377.7901 381.2901 385.1821 392.1821 402.2901 406.9521 410.8441 417.0601 423.2761 430.2761 436.4921 443.4921 449.7081 453.2081 460.2081 467.2081 477.3161 483.5321">&#x2022;Wakeup inputs that are activated if enabled after MCU enters a low-leakage power</tspan><tspan y="107.85" x="23.99606 34.88806 41.88806 48.88806">mode</tspan><tspan y="123.85" x="13.104059 23.99606 34.10406 41.10406 44.996065 48.888067 55.888067 62.888067 69.104068 72.99606 76.49606 83.49606 87.38806 94.38806 98.28006 102.17206 108.38806 112.28006 115.78006 120.44206 124.33406 128.22606 132.11806 138.33406 142.99607 148.44207 151.94207 158.94207 163.60407 170.60407 177.60407 181.49607 188.49607 194.71207 201.71207 205.21207 209.10407 216.10407 219.60407 226.60407 233.60407 239.82007 243.71207 247.60407 252.26607 259.26606 262.76606 268.98207 275.98207 279.48207 285.69807 292.69807 296.59007 302.80607 307.46806 314.46806 320.68406 324.57606 328.07606 335.07606 338.96806 345.96806 349.46806 356.46806 362.68406 366.57606 372.79206 379.00807 382.90007 386.40007 392.61607 399.61607 406.61607">&#x2022;Optional digital filters provided to qualify an external pin detect and </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 237)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00006 8.896061 17.79206 22.24006 31.136063 35.584066">16.1.2</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="220.25" x="-.00595 8.54805 15.54805 21.76405 25.26405 33.81805 42.37205 55.58805 65.69605 69.19605 80.08805 87.08805 94.08805 101.08805 104.98005 111.19605 114.69605 121.69605 127.912059 134.12805 141.12805 152.02005 158.23606 163.68206 167.18206 171.84406 178.84406 185.84406 192.06006 195.95206 199.84406 206.84406 213.84406 220.06006 223.95206 227.45206 234.45206 241.45206 244.95206 251.16806 258.16807 262.06007 266.72206 273.72206 277.22206 281.11405 288.11405 292.00605 299.00605 302.50605 308.72206 312.22206 316.11405 323.11405 333.22206 337.88404 341.77604 347.99205 354.20805 361.20805 367.42405 374.42405 380.64006 384.14006 391.14006 398.14006 408.24806 414.46406 419.12605 422.62605 433.51805 440.51805 447.51805 453.73405 457.23405 460.73405 470.84205 475.50404 479.39604 485.61204">The LLWU module becomes functional on entry into a low-leakage power mode. After</tspan><tspan y="236.25" x="-.00596 4.65604 10.872041 17.088042 24.088042 31.088042 37.304044 41.96604 48.96604 52.46604 57.12804 61.79004 68.79004 79.68204 83.18204 91.73604 100.29004 108.07404 111.57404 115.07404 118.96604 125.96604 132.18204 135.68204 144.23604 152.79004 166.00605 176.11405 179.61405 183.50605 188.95204 192.45204 196.34404 207.23604 218.12804 224.34404 231.34404 235.23604 241.45204 245.34404 251.56005 255.45204 262.45204 265.95204 272.95204 276.84403 282.29005 288.50605 295.50605 299.39805 305.61405 312.61405 316.11405 319.61405 329.72206 334.38404 338.27604 344.49205 349.15403 352.65403 357.316 363.532 369.74803 376.74803 383.74803 389.96403 394.626 401.626 405.126 409.788 414.44999 421.44999 432.34199 435.84199 445.94999 454.50398 463.05796 470.84196 474.34196 477.84196 481.73396 488.73396">recovery from LLS, the LLWU is immediately disabled. After recovery from VLLS, the</tspan><tspan y="252.25" x="-.00596 8.548039 17.10204 30.318039 40.42604 43.92604 50.14204 57.14204 64.142047 68.03404 71.92604 78.92604 85.92604 92.142047 97.58804 101.08804 104.98004 111.98004 115.48004 122.48004 128.69605 132.58805 138.80405 145.02005 148.91205 152.41205 162.52005 168.73606 175.73606 181.95206 188.95206 195.95206 199.45206 205.66806 212.66806 218.88407 225.88407 229.77606 235.22206 238.72206 245.72206 252.72206 256.61408 260.50608 264.39808 267.89808 271.79008 278.79008 285.00608 288.50608 295.50608 300.9521 307.1681 311.83009 315.33009 322.33009 328.54609 333.9921 337.4921 343.7081 349.9241 356.9241 363.9241 370.9241 381.0321 384.9241 391.1401 398.1401 405.1401 411.3561 418.3561 421.8561 425.7481 432.7481 438.9641 442.4641 452.5721 458.78813 465.78813 472.00413 479.00413">LLWU continues to detect wakeup events until the user has acknowledged the wakeup</tspan><tspan y="268.25" x="-.0059100005 6.99409 10.88609 17.10209 20.60209 26.818093 30.318093 40.426095 45.088094 48.980096 52.872098 59.088098 62.588098 66.480098 73.480098 76.980098 80.87209 87.87209 94.0881 97.5881 105.3721 117.8181 127.1561 134.1561 143.4941 152.0481 162.1561 169.9401 179.27809 183.9401 194.0481 203.3861 213.4941 218.1561 225.9401 236.0481 240.7101 244.2101 251.2101 255.1021 258.9941">via a write to the PMC_REGSC[ACKISO] bit.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 362.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00592 8.334081 16.674082 20.844082 29.184082 33.354085 41.694086 45.864088">16.1.2.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 362.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00592 9.15908 18.32408 28.32908 32.49908 45.834085 54.999086 64.164089">LLS mode</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="345.05" x="-.00191 8.55209 15.55209 21.76809 25.26809 33.82209 42.37609 55.59209 65.70009 69.20009 80.09209 87.09209 94.09209 101.09209 104.984088 111.20009 114.70009 121.70009 126.36209 133.36209 140.36209 144.25409 151.25409 157.4701 162.91609 166.41609 173.41609 180.41609 183.91609 187.80809 194.80809 198.30809 205.30809 212.30809 215.80809 222.0241 229.0241 232.91609 239.1321 243.7941 250.7941 257.0101 260.9021 264.4021 274.5101 280.7261 287.7261 293.9421 300.9421 307.9421 311.4421 315.3341 322.3341 329.3341 336.3341 340.2261 345.67213 349.17213 355.38813 362.38813 369.38813 372.88813 379.88813 386.88813 390.38813 394.28013 401.28013 404.78013 411.78013 415.28013 419.17213 426.17213 430.06413 436.28013 440.9421 447.9421 454.1581 458.0501 461.5501 472.4421 479.4421 486.4421 493.4421 497.3341">The LLWU module provides up to 16 external wakeup inputs and up to 8 internal module</tspan><tspan y="361.05" x="-.00191 10.106091 16.32209 23.32209 29.53809 36.53809 43.53809 47.03809 50.93009 57.93009 64.93009 71.93009 75.82209 81.26809 84.76809 88.26809 98.37609 105.37609 108.87609 117.43009 125.98409 133.7681 137.2681 141.9301 148.1461 153.5921 159.8081 163.7001 167.2001 173.4161 180.4161 186.63211 193.63211 197.52411 201.02411 207.24011 213.45612 220.45612 223.95612 230.95612 237.17212 240.67212 244.56412 251.56412 255.45612 259.3481 263.2401 269.45613 273.3481 279.56413 286.56413 290.06413 297.06413 300.95613 307.17213 310.67213 316.88813 322.33415 327.78016 333.99617 338.65815 342.55015 346.44215 353.44215 360.44215 363.94215 370.94215 375.60414 379.10414 382.99613 389.99613 396.21214">wakeup inputs. An LLS reset event can be initiated via assertion of the </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="361.05" x="399.71208 409.05009 417.60408 425.38807 433.94206 442.49604 445.99604 452.99604 456.88804 463.88804">RESET pin.</tspan><tspan y="385.44999" x="-.0019226074 13.214078 19.430079 26.430079 32.64608 39.64608 46.64608 50.14608 56.36208 63.36208 69.57808 76.57808 80.47008 85.91608 89.41608 96.41608 103.41608 109.63208 113.13208 117.02408 124.02408 127.52408 133.74008 140.74008 144.63208 150.84809 155.51009 162.51009 168.72609 172.61809 176.11809 186.22609 192.4421 199.4421 205.6581 212.6581 219.6581 223.1581 227.0501 234.0501 241.0501 248.0501 251.9421 257.3881 260.8881 267.1041 274.1041 281.1041 284.6041 288.4961 295.4961 299.3881 305.6041 310.26609 317.26609 323.4821 327.37409 330.87409 341.76609 348.76609 355.76609 362.76609 366.65809 372.87409 376.37409 386.4821 392.6981 399.6981 405.9141 412.9141 419.9141 423.4141 427.3061 434.3061 441.3061 448.3061 452.1981 457.6441 461.1441 465.8061 472.0221 477.4681 484.4681 488.3601">Wakeup events due to external wakeup inputs and internal module wakeup inputs result</tspan><tspan y="401.44999" x="-.0019226074 3.8900779 10.890078 14.390078 20.60608 27.60608 31.10608 34.99808 41.99808 45.890085 52.106084 56.76808 61.43008 68.430088 75.430088 79.32208 82.82208 87.484088 91.37608 98.37608 108.484088 111.984088 122.09209 129.09209 135.30809 142.30809 145.80809 152.0241 159.0241 162.91609 166.80809 170.70009 177.70009 184.70009 188.20009 196.75409 205.30809 213.09209 216.59209 220.09209 230.20009 233.70009 238.36209 244.5781 250.0241 256.24009 260.13209 263.63209 269.84809 276.84809 283.0641 290.0641 293.9561 297.4561 304.4561 311.4561 317.6721 321.1721 325.0641 332.0641">in an interrupt flow when exiting LLS. A reset event due to </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="401.44999" x="335.5641 344.9021 353.4561 361.24009 369.79408 378.34806 381.84806 388.84806 392.74006 399.74006 403.24006 409.45606 414.90208 420.34809 426.5641 431.22608 435.11808 439.01008 446.01008 453.01008 456.51008 461.17207 467.38807 472.83409 479.83409 483.72608 487.61808">RESET pin assertion results</tspan><tspan y="417.44999" x="-.0019226074 3.8900779 10.890078 14.390078 20.60608 24.10608 28.76808 34.98408 40.43008 46.64608 50.538084 54.038084 58.70008 62.592084 69.59209 79.70009 83.20009 93.30809 100.30809 106.52409 113.52409 117.02409 123.2401 130.2401 134.1321 138.0241 141.91609 148.91609 155.91609 159.41609 167.9701 176.5241 184.30809">in a reset flow when exiting LLS.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="441.6367" x="232.5521 242.6601 253.5521 262.10609">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="457.84999" x="72.00006 80.55406 87.55406 93.770069 97.270069 105.824069 114.37807 127.59407 137.70207 141.20207 145.09407 152.09407 155.98607 162.20207 166.86408 171.52608 178.52608 185.52608 189.41808 192.91808 203.81008 210.81008 216.25608 220.14807 223.64807 230.64807 237.64807 241.54007 245.04007 252.04007 258.25608 261.75608 272.64808 278.86408 284.3101 291.3101 297.5261 304.5261 308.0261 315.0261 322.0261 325.5261 329.4181 336.4181 342.6341 346.1341 350.0261 357.0261 360.9181 367.1341 371.79609 376.45808 383.45808 390.45808">The LLWU interrupt must not be masked by the interrupt</tspan><tspan y="473.84999" x="72.000087 78.21609 85.21609 92.21609 96.108089 100.77009 107.77009 111.66209 115.554088 121.77009 126.43209 129.9321 133.8241 140.8241 144.3241 150.5401 157.5401 164.5401 168.4321 175.4321 178.9321 185.1481 188.6481 194.0941 200.3101 206.52611 213.52611 219.74211 224.40412 228.29611 235.29611 238.79611 248.90412 255.90412 262.12013 266.7821 272.9981 276.4981 280.3901 287.3901 293.6061 297.1061 302.55213 309.55213 314.99815 318.89015 325.10615 335.99815 339.49815 346.49815 353.49815 359.71415 365.16017 368.66017 375.66017 382.66017 386.55216 390.05216 394.71415 401.71415 405.60615 409.49815">controller to avoid a scenario where the system does not fully</tspan><tspan y="489.84999" x="72.000087 78.21609 85.21609 89.108089 93.000087 96.500087 104.28409 108.17609 115.17609 122.17609 125.67609 136.56809 143.56809 150.56809 156.78409 160.28409 167.28409 174.28409 177.78409 184.00009 191.00009 194.50009 203.0541 211.6081 219.39209 222.89209 227.5541 233.7701 239.9861 246.9861 253.9861 260.2021 264.86408 271.86408">exit Stop mode on an LLS recovery.</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 2.5020004 8.001 10.998 14.499001 19.998002 25.497002 30.996003 36.000005 38.997007 41.499006 46.998006">Introduction</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="130.007 137.227 142.787 148.347 151.127 157.797 163.907 170.017 173.347 179.457 185.017 193.907 196.687 199.467 205.027 207.80699 215.027 220.58699 223.91699 229.47699 233.36699 238.92699 245.03699 250.59699 256.15699 258.93699 267.26698 272.82698 278.93696 285.04695 290.60694 293.38694 296.16694 298.94694 306.16694 311.72694 317.28694 320.06694 322.84693 328.40693 331.18693 336.74693 342.8569 348.9669 351.7469 357.3069 362.86689 368.42689">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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<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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