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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_557.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

844 lines
78 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 262.3)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="161.98798 173.31598 181.97998 191.31598 200.65198 207.32398 218.65198 221.98798 230.65198 239.31598 242.65198 246.64798 249.98398 256.65599 259.99198 267.32398 270.65998 277.99198 284.66398 291.33598 298.00798 302.67597 306.01197 313.34397 317.33998 320.67597 328.00798 335.33998">WDOG_WINH field descriptions</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.10004 284.3)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="187.94699 194.44499 199.44899 204.45299 209.45699 212.958 215.45999 220.95899 223.95598 226.45798 231.95697">Description</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250024 300.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="25.54199 30.54599 35.54999 40.553995">15&#x2013;0</tspan><tspan y="18.83789" x="15.552 24.048 26.550002 33.048 39.546 42.048 49.05">WINHIGH</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 300.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 14.004002 16.002003 21.006005 26.010006 30.510006 33.012006 35.514005 40.518007 45.522008 48.024007 53.028009 58.03201 63.03601 68.04001 71.03701 73.53901 78.54301 83.547008 86.049 91.053 93.051 95.553 100.053 102.555 107.559 110.061 112.562999 115.064998 120.06899 125.07299 127.57499 132.579 137.583 140.57999 145.58399 147.58199 150.08399 152.58599 159.08399 161.08199 166.08599 171.08998 176.09398 182.59198 185.09398 187.59598 192.59998 195.59697 198.09897 200.60097 205.60497 210.60897 213.11096 219.60897 221.60697 226.61096 231.61496 236.61896 243.11696 248.12096 253.12496 255.62696 263.12397 268.12797 273.13197 278.13597 280.63798 285.64198 288.14399 290.646 295.65 300.654 305.658 308.655 313.659 316.161 318.159 323.163 328.167 330.669 335.673 338.17503 340.67704 343.17906 348.18305 353.18705 355.68907 362.18705 367.19105 369.69306 374.19306 379.19706 384.20106 389.20506 394.20906 396.71107 399.21308 401.7151 404.2171 406.71913 408.7171">Defines the upper 16 bits of the 32-bit window for the windowed mode of operation of the watchdog. It is</tspan><tspan y="18.83789" x=".00004 5.0040409 10.008041 12.510042 14.508042 19.512043 24.516045 29.520047 32.022047 34.020048 39.024049 41.526048 44.028047 49.032049 52.02905 59.52605 64.02605 66.528049 71.53204 74.03404 76.53604 81.03604 85.53604 90.03604 92.03404 97.03804 101.53804 104.04004 109.04404 111.546039 114.048038 116.55003 121.55403 126.55803 129.06003 135.55803 140.56203 143.06403 147.56403 152.56803 157.57202 162.57602 167.58002 170.08202 174.58202 176.58002 181.58402 186.08402 190.58402 193.08602 195.58802 198.09001 203.09401 205.59601 208.098 213.102 215.1 219.6 222.102 229.599 234.603 239.607 244.611 247.11299 249.61499 252.11699 257.121 262.125 264.627 271.125 276.129 278.631 283.131 288.135 293.139 298.143 303.147 305.64903 310.14903 315.153 320.157 322.65904 327.66304 332.66703 335.16905 338.16606 343.17005 345.67207 348.66908 353.67308 358.17308 363.17707 368.18107 373.18507 375.68708 380.69108 385.69508 387.69306 392.19306 394.69508 401.19306 406.19706 411.20106">defined in terms of cycles of the watchdog clock. In this mode, the watchdog can be refreshed only when</tspan><tspan y="29.83789" x=".00004 2.5020405 7.506041 12.510042 15.012043 17.514044 19.512043 27.009045 32.013048 35.010049 37.512048 42.51605 47.52005 52.02005 54.52205 57.51905 62.523054 67.527057 72.027057 77.03105 82.03505 87.03905 89.541049 94.545047 97.04704 101.54704 106.55104 108.54904 113.55304 118.55704 121.05904 126.063037 129.06003 134.06403 139.06803 141.57003 146.57402 149.57102 152.07302 154.57501 159.57901 164.58301 169.587 172.089 177.093 180.09 182.592 187.596 192.59999 197.60399 202.60799 204.60599 207.10799 209.60999 214.61399 217.11598 219.61798 224.62198 226.61998 231.11998 233.62198 240.11998 242.11798 247.12198 252.12598 257.12998 263.62797 266.12998 268.12797 273.13197 278.13597 283.13996 285.64198 290.64598 293.14799 295.65 301.65299 304.155 307.152 312.156 314.65803 317.65504 322.65904 327.15904 332.16304 334.66505 339.66905 344.67304 347.17506 351.67506 353.67304 358.67704 363.68104 366.18305 368.68507 373.68907 375.68705 380.18705 382.68907 389.18705 391.18504 396.18904 401.19303 406.19703">the timer has reached a value greater than or equal to this window length. A refresh outside this window</tspan><tspan y="40.83789" x=".00004 2.99704 8.00104 12.50104 17.505042 20.007042 24.507042 27.009043 29.511044 34.515047 39.519048 42.021047 46.521047 51.021047 55.521047 58.023046 63.027048 70.52405 73.02605 78.030048 81.02705 83.529048 85.52705 88.029048 90.531047 93.03304 99.531047 106.53304 113.031047 119.03404 124.53304 130.53604 137.03404 139.53604 141.53404 146.03404 148.53604 153.03604 158.04004 160.54204 163.04404 165.54604 167.54404 170.04604 172.54804 174.54604 179.55004 182.05204 187.05603 190.05303 193.05002 198.05402 203.05802 205.56002 210.06002 212.56201 217.56601 222.57 227.574 230.076 232.578 237.582 242.586 247.59 250.092 253.08899 258.093 262.593 267.597 270.099 274.599 277.101 279.60304 284.60704 289.61103 292.11305 296.61305 301.11305 305.61305 308.11506 313.11906 320.61607">resets the system or if IRQRSTEN is set, it interrupts and then resets the system.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 392.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 16.680003 20.850003 29.190003 33.360006">24.7.6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 109.873317 392.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 14.160001 22.500002 27.495003 35.835004 45.000005 54.165006 63.330007 72.495 76.665 90.825008 94.995 104.16 113.325008 122.490009 134.16 138.33 149.16 157.5 166.665 170.83499 179.17499 184.16999 192.50998 198.34499 202.51499 211.67998 220.84497 232.51497 236.68497 241.67996 255.83997 266.66996 278.33998 290.00999 298.34999 312.50999 316.68 327.50999 336.675">Watchdog Window Register Low (WDOG_WINL)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="399.2367" x="232.55402 242.66202 253.55402 262.108">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 54)" font-size="14" font-family="TimesLTStd"><tspan y="415.44999" x="72.002 82.11 89.11 96.11 99.61 110.502 117.502 122.948 126.84 130.34 135.786 142.002 145.894 149.394 153.286 160.286 166.502 170.002 183.218 187.11 194.11 201.11 208.11 218.218 221.718 231.056 237.272 244.272 248.164 253.61 257.502 263.71803 268.38 271.88 278.88 285.096 288.988 295.988 302.204 305.704 309.596 316.596 326.704 332.92 337.582 341.082 344.974 351.974 358.19 365.19 368.69 372.582 379.582 385.798 389.298 397.852 401.744 412.636 418.852">You must set the Window Register value lower than the Time-</tspan><tspan y="431.44999" x="72.002 79.002 86.002 89.894 93.394 103.502 109.718 113.61 120.61 126.826007 130.326 139.664 145.88 152.88 156.772 162.218 166.11 172.326 176.988">out Value Register.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 92.01613 501.59999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".002 5.0060007 10.010001 15.014002 20.018002 25.022004 30.026005 35.030008 40.034009 45.03801 50.04201 52.54401 57.54801 62.552015 67.05202 72.056018 74.558017 79.81401 82.31601 88.31901 93.323009 95.825008 100.829 103.331 105.833 110.333 115.337 117.839 120.340999 125.597 128.099 133.103 138.107 143.111 148.11499 153.11899 158.12299 163.12699 168.13098 174.13399">4005_2000h base + Ah offset = 4005_200Ah</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 83.64708 520.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.935 14.827001">15</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 113.29414 520.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.935 14.827001">14</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 142.9412 520.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.935 14.827001">13</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 172.58824 520.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.935 14.827001">12</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 202.2353 520.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.935 14.827001">11</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 231.88237 520.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.935 14.827001">10</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 261.52943 520.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="12.881">9</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 291.17649 520.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="12.755">8</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 320.82356 520.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="12.88">7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 350.4706 520.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="12.88">6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 380.11769 520.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="12.88">5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 409.76475 520.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="12.88">4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 439.4118 520.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="12.88">3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 469.05888 520.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="12.88">2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 498.70594 520.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="12.88">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 528.353 520.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="12.88">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 531.85)" font-size="9" font-family="HelveticaLTStd"><tspan y="6.83789" x="3.884 10.382001 15.386002 20.390004">Read</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 113.29416 550.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.326">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 142.94123 550.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.326">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 172.58827 550.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.326">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 202.23534 550.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.326">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 231.8824 550.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.326">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 261.52949 550.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.326">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 291.17655 550.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.2">0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01034" x="346.986 353.48399 358.98298 363.98698 369.48597 372.48298 377.48698 380.98799 383.49 388.494 393.498 396 404.496 409.5 412.497 417.501 423 428.499 433.998 439.49699 441.999 447.498 450 458.001 463.005 466.506 469.00804 472.00505 480.50105 486.99903 494.00105 501.00306">Chapter 24 Watchdog Timer (WDOG)</tspan></text>
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<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32004 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>
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