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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_552.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

117 lines
26 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="0 7 10.892 17.892 24.108002 28.770003 32.270006 37.716005 41.608007 47.824007 54.824007 61.040006 66.48601 69.98601 73.48601 83.59401 87.09401 94.09401 97.59401 104.59401 108.09401 111.59401 121.70201 125.20201 132.20201 135.70201 142.70201 146.20201 149.70201 153.20201 156.70201 162.91802 169.91802 176.91802 180.41802 190.52602 194.02602 201.92201 205.42201 212.42201 215.92201 219.42201 229.53002 233.03002 240.92601 244.42601 251.42601 254.92601 258.42604 261.92604 265.42604 271.64204 276.30403 282.52003 286.02003 292.23603 299.23603 305.45204 312.45204 316.34403 322.56004 329.56004 333.06004 337.72203 344.72203 349.384 352.884 356.776 363.776 369.992 373.492 377.384 383.6 389.04603 392.93803 396.43803 403.43803 410.43803 413.93803 420.93803 427.93803 431.83003 438.04603 441.54603 451.65403 455.15403 458.65403 467.208 474.208 480.424 485.87004">other stages, N &#x2013; 2, N &#x2013; 3... and N + 1, N + 2... are enabled for the test on byte N. These</tspan><tspan y="27.85" x="0 7 10.892 16.338002 22.554 29.554 33.446004 39.662004 46.662004 50.162004 55.608 59.500005 65.716 72.716 78.93201 84.378009 87.878009 91.378009 97.59401 104.59401 110.81001 117.02602 124.02602 127.918018 131.41802 135.31002 142.31002 148.52602 152.02602 162.91802 169.91802 175.36402 179.25601 182.75601 188.20201 192.09401 199.09401 206.09401 209.98601 214.64801 218.54001 224.75601 230.97202 237.97202 241.86402 245.36402 250.81002 254.70201 260.918 267.918 274.134 277.634 284.634 289.296 292.796 296.688 303.688 309.904 313.404 319.62 326.62 333.62 340.62 344.512 350.728 355.38999 358.88999 362.38999 368.606 373.26799 379.48399 382.98399 386.87599 393.87599 400.09199 407.09199 413.30799 420.30799 423.80799 433.916 437.80799 441.69999 448.69999 452.19999 458.416 461.916 468.916 475.132 479.024 486.024">disabled stages, except the most significant stage of the counter, are loaded with a value</tspan><tspan y="43.85" x="0 7 11.662001 15.162001 22.162 29.162 36.946004 44.730005">of 0xFF.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 144.2)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".001 9.453001 18.905003 23.631003">24.5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 144.2)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".001 12.275002 21.727002 31.179 40.631 51.018 61.405004 66.131008 72.744 82.19601 91.64801 101.10001 106.76102 111.487018 121.874019 131.32602 141.71302 151.16501 157.77802 167.23001 172.891 183.278">Backup reset generator</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="127.45" x="-.00499 8.54901 15.54901 21.76501 25.26501 32.26501 38.48101 44.69701 51.69701 58.69701 65.69701 69.19701 73.85901 80.07501 85.52101 91.737018 95.62901 99.12901 106.12901 112.34502 119.34502 125.56102 130.22303 136.43903 140.33103 147.33103 151.99303 155.49303 162.49303 168.70903 175.70903 181.92504 186.58704 192.80304 196.69504 202.91104 208.35704 211.85704 215.74904 222.74904 228.96504 232.46504 237.12705 241.01905 248.01905 254.23505 258.12705 261.62705 266.28904 272.50505 277.95106 284.16706 288.05906 291.55906 301.66706 308.66706 312.55906 318.77507 325.77507 329.27507 336.27507 343.27507 349.49107 354.93708 358.43708 365.43708 372.43708 376.32908 379.82908 383.72108 390.72108 394.22108 398.11308 405.11308 411.32908 414.82908 420.2751 427.2751 432.7211 436.6131 442.8291 453.7211 457.2211 460.7211 465.3831 469.2751 472.7751 479.7751 485.9911 491.4371 494.9371">The backup reset generator generates the final reset which goes out to the system. It has a</tspan><tspan y="143.45001" x="-.0049799999 6.99502 13.21102 19.427021 26.427021 33.42702 40.42702 43.92702 54.819025 61.035024 67.25102 74.25102 80.467029 87.467029 91.359027 96.80502 107.69702 111.19702 121.30502 128.30503 132.19702 138.41303 145.41303 148.91303 155.12903 162.12903 167.57503 174.57503 179.23703 185.45304 190.89904 194.39904 198.29103 205.29103 211.50704 215.39904 218.89904 222.79103 229.79103 233.29103 239.50704 245.72304 251.16904 257.38505 260.88505 264.77705 271.77705 277.99305 281.49305 288.49305 295.49305 300.93907 304.43907 310.65507 314.54707 321.54707 327.76307 334.76307 338.26307 343.70909 347.60108 354.60108 361.60108 367.0471 370.5471 376.7631 383.7631 390.7631 394.2631 401.2631 405.92509 412.14109 419.14109 425.3571 432.3571 436.24909 441.6951 445.1951 449.0871 456.0871 462.3031 465.8031 476.6951 482.9111 486.8031">backup mechanism which ensures that in case the bus clock stops and prevents the main</tspan><tspan y="159.45001" x="-.00493 5.4410707 9.333071 15.549071 19.441073 25.657074 29.157074 40.049077 46.265077 52.481077 59.481077 63.373079 70.37308 76.58908 80.08908 84.75108 89.413089 96.413089 107.305088 110.805088 117.805088 124.02109 131.02109 137.23709 141.8991 148.1151 152.0071 155.8991 162.8991 169.8991 173.3991 179.6151 183.1151 187.7771 193.9931 199.4391 205.6551 209.5471 213.0471 219.2631 226.2631 232.47911 238.69512 245.69512 249.58712 253.47911 260.47914 267.47914 271.37113 275.26313 282.26313 286.15513 292.37113 297.0331 301.6951 308.6951 315.6951 319.5871 323.0871 326.5871 330.4791 337.4791 343.6951 347.1951 357.3031 363.5191 367.4111 373.6271 380.6271 387.6271 394.6271 401.6271 405.1271 409.0191 412.9111 423.8031 430.0191 434.6811 437.20109 442.6471 446.1471 450.0391 453.9311 464.8231 471.0391 475.70109 482.70109 489.70109">state machine from generating a reset exception/interrupt, the watchdog timer's time-out</tspan><tspan y="175.45001" x="-.00493 3.8870705 9.333071 12.833071 18.279072 24.495072 31.495072 37.71107 42.37307 48.58907 52.48107 58.69707 62.589075 69.58907 73.08907 77.751079 84.751079 91.751079 95.643077 101.85908 108.85908 112.35908 119.35908 126.35908 130.25109 133.75109 139.96709 145.41309 148.91309 155.12909 158.62909 163.29109 169.5071 174.9531 181.1691 185.0611 188.5611 192.4531 199.4531 202.9531 206.8451 213.8451 220.0611 223.5611 229.0071 236.0071 241.4531 245.3451 251.5611 262.4531 265.9531 269.4531 278.00709 288.11509 295.11509 298.61509 304.0611 311.0611 317.2771 323.4931 329.7091 335.15513 340.60115 344.49314 351.49314 357.70915 361.20915 365.10115 368.99314 379.88514 386.10115 390.76313 394.26313 398.15513 402.04713 412.93913 419.15513 423.8171 430.8171 437.8171 441.7091 447.15513 450.65513 460.76313 464.65513 468.54713 475.54713 482.54713 489.54713">is separately routed out as a reset to the system. Two successive timer time-outs without</tspan><tspan y="191.45001" x="-.00493 6.2110707 13.211071 16.711071 20.603072 27.603072 31.495072 37.71107 42.37307 49.37307 55.58907 62.58907 66.48107 73.48107 80.48107 83.98107 89.42707 96.42707 101.87307 105.76507 111.98107 122.87307 126.37307 131.03507 137.25107 142.69707 148.91307 152.80507 156.30507 160.96707 167.18308 172.62908 179.62908 183.52108 187.41307 190.91307 194.80507 201.80507 205.30507 209.19707 216.19707 222.41307 225.91307 232.91307 239.12908 245.34508 252.34508 259.3451 266.3451 269.8451 274.50709 280.72309 286.1691 292.3851 296.2771 299.7771 306.7771 312.9931 319.9931 326.2091 330.8711 337.0871 340.9791 347.9791 352.64109 356.14109 360.80308 367.80308 374.80308 378.69508 382.58708 389.58708 396.58708 400.08708 407.08708 414.08708 417.97908 421.47908 425.37107 432.37107 438.58708 442.08708 445.97908 449.87107 460.76307 466.97908 471.64106 478.64106 485.64106">an intervening system reset result in the backup reset generator routing out the time-out</tspan><tspan y="207.45001" x="-.00493 5.4410707 9.333071 16.33307 23.33307 29.549073 33.441076 36.941076 43.157075 48.603075 52.103075 58.319074 61.819074 66.48107 72.697078 78.143077 84.35908 88.251079 91.751079 95.643077 102.643077 106.143077 110.03507 117.03507 123.251079 126.751079 132.19709 139.19709 144.64308 148.53508 154.75109 165.64308">signal as a reset to the system.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 307.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00692 9.445081 18.897082 23.623082">24.6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 307.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00692 13.219081 22.671082 33.058084 42.510084 49.12308 58.57508 64.236087 73.68809 84.07509 88.80109 95.414089 104.86609 114.31809 123.770099 129.43109 138.88309 143.60909 153.06108 163.44808 173.83507 178.56107 183.28707 193.67406 199.33506 208.78705 215.40006 222.01306 232.40006 242.78705 248.44805">Generated resets and interrupts</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 53.999986)" font-size="14" font-family="TimesLTStd"><tspan y="291.05" x=".0061 8.5601 15.5601 21.7761 25.2761 35.3841 41.6001 45.492105 51.708105 58.708105 65.7081 72.7081 79.7081 83.2081 90.2081 96.4241 103.4241 109.64011 114.30211 120.51811 124.41011 130.62612 136.07212 139.57212 145.78812 149.28812 153.95012 160.16613 165.61212 171.82813 175.72013 179.22013 183.11212 190.11212 193.61212 197.50412 204.50412 210.72013 214.22013 218.88213 225.88213 229.77413 233.66613 240.66613 250.77413 254.66613 261.66615 268.66615 272.16615 278.38215 285.38215 291.59815 298.59815 302.49015 307.93617 311.43617 314.93617 321.15217 325.04417 330.49018 337.49018 340.99018 345.65217 351.86817 356.53016 362.74617 367.40815 372.07014 378.28614 385.28614 388.78614 392.67814 399.67814 403.17814 409.39414 414.84016 418.34016 424.55616 431.55616 437.77217 443.98817 450.98817 454.88017 458.77217 465.77217 472.77217 478.21818">The watchdog generates a reset in the following events, also referred to as exceptions:</tspan><tspan y="315.44999" x="13.09612 24.002121 34.110124 37.610124 47.718126 53.934125 57.826128 64.04213 71.04213 78.04213 85.04213 92.04213 95.54213 99.43413 103.326129 114.218128 120.43413 125.09613 132.09613 139.09613">&#x2022;A watchdog time-out</tspan><tspan y="339.84999" x="13.09612 24.002121 31.786122 38.00212 41.894124 45.786127 52.786127 57.448125 63.664125 67.16412 71.05612 78.05612 81.55612 88.55612 95.55612 99.44812 106.44812 112.66412 119.66412 123.16412 127.05612 134.05612 140.27213 143.77213 153.88013 160.09613 163.98813 170.20413 177.20413 184.20413 191.20413 198.20413 201.70413 211.81214 215.70413 219.59613 226.59613 230.48813 237.48813 240.98813 254.20413 263.54216 272.09614 275.59614 279.48814 283.38014 294.27214 300.48814 303.98814 310.20414 314.86613 318.75813 324.97413 329.6361 333.1361 338.58213 345.58213 351.02815 354.92015 361.13615 372.02815 375.52815 380.19013 386.40614 391.85215 398.06816 401.96015 405.46015 412.46015 418.67616 424.89216 430.33818 435.78419 442.00019 446.66218 450.55418 454.44618 461.44618">&#x2022;Failure to unlock the watchdog within WCT time after system reset deassertion</tspan><tspan y="364.24998" x="13.09612 24.002121 34.110124 41.110124 44.610124 51.610124 58.610124 65.61012 71.826129 75.718128 81.93413 85.43413 92.43413 97.09613 100.59613 104.48813 111.48813 117.70413 121.20413 127.420139 134.42014 141.42014 145.31214 149.97414 156.97414 160.86614 164.36614 170.58214 177.58214 184.58214 188.08214 194.29814 201.29814 208.29814 212.96015 216.85214 223.85214 230.85214 235.51415 241.73015 245.62215 249.51415 256.51417 263.51417 267.01417 271.67616 277.89216 284.89216 288.78416 294.23017 298.12217 304.33818 309.00016 314.44618 317.94618 328.05418 331.94618 335.83818 342.83818 346.73017 353.73017 357.23017 361.12217 368.12217 374.33818 377.83818 391.05418 400.39219 408.94618 412.44618 422.55418 426.44618 433.44618 440.44618 447.44618 457.55418 461.05418 467.27018 471.93217 475.82417 482.04017">&#x2022;No update of the control and configuration registers within the WCT window after</tspan><tspan y="380.24998" x="24.002129 31.002129 38.00213 41.89413 48.89413 55.11013 62.11013 66.00213 73.00213 80.00213 83.50213 87.00213 97.11013 101.00213 104.50213 108.39413 114.61013 120.82613 126.27213 130.16414 133.66414 140.66414 147.66414 153.88014 157.38014 164.38014 169.04215 172.54215 176.43415 183.43415 189.65015 193.15015 197.81215 204.81215 208.70415 212.59615 219.59615 229.70415 233.59615 240.59615 247.59615 251.09615 255.75815 261.97416 268.97416 272.86616 278.31217 282.20417 288.42018 293.08216 298.52818 302.02818 312.92018 319.92018 325.36619 329.25819 332.75819 339.75819 345.97419 349.47419 359.58219 364.24418 368.13618 372.02818 375.92018 382.13618 389.13618 392.63618 396.52818 403.52818 407.02818 417.13618 421.02818 424.92018 431.92018 435.81217 442.81217 446.31217 450.20417 457.20417 463.42018 466.92018 480.13618 489.47419">unlocking. At least one of the following registers must be written to within the WCT</tspan><tspan y="396.24998" x="24.002129 34.11013 38.002134 45.002134 52.002134 59.002134 69.11013 72.61013 76.50213 83.50213 87.00213 93.21813 100.21813 107.21813 111.11013 118.11013 121.61013 126.27213 132.48813 137.93413 144.15013 148.04213">window to avoid reset:</tspan><tspan y="420.64997" x="37.106149 47.99815 61.21415 71.32215 81.43015 91.538158 98.538158 106.32216 114.87616 121.87616 131.21416 139.76816 149.10616 157.66016 164.66016 174.76816 178.26816 181.76816 194.98416 205.09217 215.20017 225.30817 232.30817 240.09217 248.64617 255.64617 264.98417 273.53816 282.87617 291.43016 298.43016">&#x2022;WDOG_ST_CTRL_H, WDOG_ST_CTRL_L</tspan><tspan y="445.04997" x="37.106119 47.99812 61.21412 71.32212 81.43012 91.538127 98.538127 107.092128 117.20013 124.20013 134.30812 144.41613 152.97013 159.97013 170.07813 173.57813 177.07813 190.29413 200.40213 210.51013 220.61814 227.61814 236.17214 246.28014 253.28014 263.38813 273.49613 282.0501 289.0501">&#x2022;WDOG_TO_VAL_H, WDOG_TO_VAL_L</tspan><tspan y="469.44996" x="37.106149 47.99815 61.21415 71.32215 81.43015 91.538158 98.538158 111.75416 116.41616 126.52416 133.52417 143.63217 147.13217 150.63217 163.84818 173.95618 184.06418 194.17218 201.17218 214.38819 219.05019 229.15819 236.15819">&#x2022;WDOG_WIN_H, WDOG_WIN_L</tspan><tspan y="493.84996" x="37.106149 47.99815 61.21415 71.32215 81.43015 91.538158 98.538158 106.32216 115.66016 124.21416 131.99816 141.33615 151.44416 159.99816 168.55216">&#x2022;WDOG_PRESCALER</tspan><tspan y="518.24996" x="13.096138 24.00214 34.11014 37.61014 44.61014 50.82614 54.718145 61.718145 67.93414 71.43414 78.43414 82.32614 89.32614 95.542148 100.20415 103.70415 107.596149 114.596149 120.81215 127.81215 131.31215 135.20415 142.20415 148.42015 151.92015 158.92015 165.92015 169.81215 176.81215 183.02816 190.02816 193.52816 198.97415 205.19016 212.19016 219.19016 225.40616 232.40616 238.62216 244.83817 248.33817 255.33817 260.00016 263.50016 267.39216 274.39216 280.60816 284.10816 288.77015 294.98616 299.64814 304.31013 310.52613 315.97215 322.97215 326.47215 331.91816 338.13417 345.13417 352.13417 358.35017 365.35017 371.56617 377.78218 381.28218 385.17417 390.62019 394.12019 404.22819 408.89018 412.78218 416.67417 420.56617 426.78218 433.78218 437.28218 441.17417 448.17417 451.67417 455.56617 462.56617">&#x2022;A value other than the unlock sequence or the refresh sequence is written to the</tspan><tspan y="534.2499" x="24.00216 31.00216 38.00216 41.89416 48.89416 55.11016 62.11016 65.61016 71.826168 78.826168 85.826168 89.71816 96.71816 101.380168 104.880168 109.54217 115.75817 120.42017 125.08218 131.29817 136.74417 143.74417 147.24417 151.90618 158.12218 165.12218 169.01418 174.46018 178.35218 184.56818 189.23018 194.67618 198.17618 201.67618 206.33818 212.55419 218.00019 225.00019 231.21619 237.43219 241.32419 245.21619 252.21619 258.4322 262.3242 269.3242">unlock and/or refresh registers, respectively.</tspan><tspan y="558.6499" x="13.096199 24.002202 34.110204 37.610204 44.610204 50.826204 57.826204 61.326204 68.3262 72.988208 76.488208 87.3802 94.3802 99.042209 105.25821 108.75821 112.65021 119.65021 125.86621 132.86621 136.36621 143.36621 150.36621 153.86621 160.86621 167.86621 173.31221 176.81221 183.02822 190.02822 196.24422 200.13622 206.35222 211.79822 215.29822 221.51422 228.51422 232.40622 237.85222 241.74422 247.19022 250.69022 257.69023 263.90623 267.79823 277.90623 284.12223 290.33824 297.33824 300.83824 304.73023 311.73023 317.94624 321.44624 331.55424 336.21623 340.10823 344.0002 350.21623 355.66224 359.16224 366.16224 370.82423 374.32423 378.21623 388.32423 395.32423 398.82423 405.82423 412.04023 415.93223 422.93223 429.14823 434.59425 438.09425 445.09425 449.75624 453.25624 457.14823 464.14823">&#x2022;A gap of more than 20 bus cycles exists between the writes of two values of the</tspan><tspan y="574.6499" x="24.002209 31.002209 38.00221 41.89421 48.89421 55.11021 62.11021 65.610218 71.05621 77.27222 84.27222 91.27222 97.48822 104.48822 110.70422 116.92023">unlock sequence.</tspan><tspan y="599.0499" x="13.096219 24.00222 34.11022 37.61022 44.61022 50.82622 57.82622 61.32622 68.32622 72.98822 76.48822 87.38022 94.38022 99.04222 105.258228 108.758228 112.65022 119.65022 125.86623 132.86623 136.36623 143.36623 150.36623 153.86623 160.86623 167.86623 173.31223 176.81223 183.02823 190.02823 196.24423 200.13623 206.35224 211.79824 215.29824 221.51424 228.51424 232.40624 237.85224 241.74423 247.19023 250.69023 257.69026 263.90626 267.79826 277.90626 284.12226 290.33827 297.33827 300.83827 304.73027 311.73027 317.94627 321.44627 331.55427 336.21626 340.10826 344.00025 350.21626 355.66227 359.16227 366.16227 370.82426 374.32426 378.21626 388.32426 395.32426 398.82426 405.82426 412.04026 415.93226 422.93226 429.14826 434.59428 438.09428 445.09428 449.75627 453.25627 457.14826 464.14826">&#x2022;A gap of more than 20 bus cycles exists between the writes of two values of the</tspan><tspan y="615.0499" x="24.002209 28.66421 34.88021 39.54221 44.20421 50.420209 55.866209 62.866209 66.36621 71.81221 78.02821 85.02821 92.02821 98.24422 105.24422 111.46022 117.67622">refresh sequence.</tspan></text>
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