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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_558.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

1103 lines
99 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 133.43923 219.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 8.496 13.500001 16.002 20.502 25.506 30.510003 35.514005 40.518007 43.020006 46.017007 51.021009 53.523008 56.520009 61.52401 66.02401 71.02801 73.53001 76.52701 81.531009 86.535 88.533008 93.033008 95.535 100.539 103.536 106.038 108.54 114.543 117.045 121.545 126.548999 131.553 136.55699 141.56099 146.56499 151.06499 156.06899 158.57099 163.57498 166.07698 168.57898 173.58298 178.08298 184.08599 189.08998 194.09398 199.09798 201.59998 204.10198 209.10597 211.10398 213.10198 218.10597 224.60398 229.60797 234.61197 237.11397 242.11797 246.61797 249.11997 254.12397 258.62397 264.62696 269.63096 274.63496 279.63896 282.14097 288.63896 290.63694 293.13896 298.14295 300.14094 305.14494 307.64695 312.65095 317.65495 320.15696 325.16096 330.16496 334.66496 337.16697 341.66697 343.66496 348.66896 353.16896 357.66896 360.17097 364.67097 369.17097 373.67097 375.66896 380.67295 385.17295 387.67497 394.17295 397.16996 399.16795 401.66996 404.17198 409.17597">Watchdog refresh register. A sequence of 0xA602 followed by 0xB480 within 20 bus clock cycles written</tspan><tspan y="18.83789" x="0 2.5020004 7.506001 10.008001 12.510002 17.514004 19.512005 24.012005 26.514006 29.511006 34.515008 39.51901 41.51701 46.01701 48.51901 53.52301 56.52001 59.02201 62.019014 67.02301 69.52501 72.52201 77.52601 82.02601 87.03001 92.034008 96.534008 99.036 101.538 106.542 111.546 114.048 122.544 129.04199 136.04399 143.04599 145.54799 150.55199 155.55599 160.55998 163.06198 168.06598 171.06298 176.06697 180.56697 185.57097 190.57497 193.07697 197.57697 200.07897 202.07697 204.57897 207.08097 209.58296 212.57996 217.58396 225.08095 227.58295 230.57994 235.58394 240.08394 245.08794 247.58994 250.09194 252.08994 257.09394 262.09794 264.59996 267.10197 272.10597 277.10997 279.61198 284.11198 288.61198 293.11198 295.61399 300.61799 308.115 310.617 313.11903 321.61503 324.61204 326.61003 329.11204 331.11003 336.114 341.118 343.62004 348.62403 351.12605 355.62605 360.63005 362.62803 367.63203 372.63603 375.13804 380.14204 382.64405 387.64805 392.65205 395.64906 398.15107 400.65309 405.65708 410.66108">to this register refreshes the WDOG and prevents it from resetting the system. Writing a value other than</tspan><tspan y="29.83789" x=".00004 2.5020405 7.506041 12.510042 15.012043 20.016045 25.020047 30.024048 34.524049 39.52805 42.03005 49.52705 54.53105 59.535055 62.037054 64.03505 69.03905 74.043048 79.04704 84.05104 86.55304 91.05304 96.05704 101.061038 106.06503 111.06903 116.07303 120.57303 125.57703 128.07903 133.08303 136.08002 138.58202 140.58002 143.08202 145.58402 148.08602 153.09001 158.09401 160.59601 165.09601 170.1 175.104 180.108 185.112 190.116 194.616 199.62 202.122 204.12 208.62 211.122 213.12 218.124 223.12799 228.13199 233.13599 236.13298 238.63498 241.13698 246.14098 251.14498 256.149 258.651 263.655 268.659 271.161 276.165 281.169 285.669 288.17103 292.67103 297.17103 301.67103 303.669 308.673 313.173 315.67503 318.17704 321.17405 326.17805 330.67805 335.68205 338.18406 342.68406 345.18608 347.68809 352.69209 357.69609 360.1981 364.6981 369.1981 373.6981 376.2001 381.2041 388.7011 391.20314 393.70515 398.70915 401.70616 404.20817 406.20616">the above mentioned sequence or if the sequence is longer than 20 bus cycles, resets the system, or if</tspan><tspan y="40.83789" x=".00004 2.5020405 9.000041 16.00204 22.500042 28.503043 34.00204 40.005044 46.503046 49.005044 51.003046 55.503046 58.005044 62.505044 67.50904 70.01104 72.51304 75.01504 77.01304 79.51504 82.01704 84.01504 89.019039 91.521038 96.52503 99.52203 102.519039 107.52303 112.52703 115.02903 119.52903 122.03103 127.03503 132.03903 137.04303 139.54503 142.04703 147.05103 152.05503 157.05902 159.56102 162.55802 167.56201 172.06201 177.06601 179.56801 184.06801 186.57 189.072 194.076 199.08 201.582 206.082 210.582 215.082 217.584 222.588 230.08499">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 54.00003 312)" 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">24.7.8</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 109.87332 312)" 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 87.495 96.66 100.83 109.995 118.33501 126.67501 130.84502 136.68003 145.02002 154.18502 158.35501 166.695 171.69 180.03 185.865 190.035 195.03 209.19 220.02 231.69 243.36 251.7 262.53 273.36 282.525 294.195 305.025 315.85499">Watchdog Unlock register (WDOG_UNLOCK)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 92.01614 340)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 10.008001 15.012002 20.016003 25.020005 30.024006 35.028009 40.03201 45.03601 50.040014 52.54201 57.546014 62.550016 67.05002 72.054019 74.556018 79.81201 82.31401 88.31701 93.32101 95.823009 100.827 103.329 105.831 110.331 115.335 117.837 120.339 125.595 128.097 133.101 138.105 143.109 148.11299 153.11699 158.12099 163.12499 168.12899 174.13199">4005_2000h base + Eh offset = 4005_200Eh</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 83.64711 359)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.933 14.825">15</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 113.294178 359)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.933 14.825">14</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 142.94123 359)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.933 14.825">13</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 172.58827 359)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.933 14.825">12</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 202.23534 359)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.933 14.825">11</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 231.8824 359)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.933 14.825">10</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 261.52949 359)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="12.879">9</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 291.17655 359)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="12.753">8</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 320.8236 359)" 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 1 350.47068 359)" 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 1 380.11775 359)" 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 1 409.7648 359)" 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 1 439.41188 359)" 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 1 469.05894 359)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="12.88">2</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 449.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 8.496 11.493 13.491 15.993 17.991002 22.995003 27.999005 30.501006 33.003007 38.007009 43.01101 45.51301 50.51701 55.52101 57.519014 62.523015 67.02301 71.52301 74.02501 78.52501 83.52901 88.533008 93.537 98.541 103.545 108.045 113.048999 115.550998 120.050998 125.05499 127.05299 132.05699 137.06099 141.56099 144.06299 146.56499 151.56899 154.07099 156.57299 161.57698 163.57498 168.07498 170.57698 173.57398 178.57798 183.58197 185.57997 190.07997 192.58197 197.58597 200.58296 203.08496 205.58696 210.59096 213.09296 220.58995 225.59395 230.09395 235.09795 239.59795 242.09995 244.60195 249.60594 254.60994 257.11195 263.60993 268.61393 271.11595 275.61595 280.61994 285.62394 290.62794 295.63194 298.13395 304.63194 307.62895 309.62693 312.12895 317.13294 320.12995 325.13395 330.13795 334.63795 339.64195 342.14396 345.14097 350.14497 355.14897 357.14695 361.64695 364.14897 369.15296 372.14997 376.64997 379.15199 385.64997 388.64698 390.64497 393.14698 398.15098 403.15498 405.15296">Writing the unlock sequence values to this register to makes the watchdog write-once registers writable</tspan><tspan y="18.83789" x=".00004 5.0040409 10.008041 15.012042 17.010043 22.014042 24.516043 27.018044 32.517045 37.521047 42.525049 45.027048 48.024049 53.02805 58.03205 63.036054 65.03405 68.03105 73.03505 78.03905 80.541049 85.545047 90.54904 92.54704 97.55104 102.05104 106.55104 109.05304 113.55304 118.55704 123.561038 128.56504 133.56903 138.57303 143.07303 148.07703 150.57903 152.57703 157.07703 159.57903 164.58303 169.08303 175.58103 180.58502 185.58902 190.59302 193.09502 195.59702 200.60102 202.59902 204.59702 209.60102 216.09902 221.10301 226.10701 228.60901 233.613 238.113 240.615 245.619 250.119 256.617 261.621 266.625 271.629 274.131 280.629 282.62699 285.129 290.133 292.13099 297.13499 299.637 304.641 309.645 312.147 317.151 322.155 326.655 329.157 333.657 335.655 340.659 345.159 349.659 352.161 356.661 361.161 365.661 367.659 372.663 377.163 379.665 382.16703 388.17 390.67204 395.17204 400.17604 402.174 404.172">again. The required unlock sequence is 0xC520 followed by 0xD928 within 20 bus clock cycles. A valid</tspan><tspan y="29.83789" x=".00004 5.0040409 10.008041 12.006042 17.010043 21.510043 26.010043 28.512043 33.012044 38.016046 43.020048 48.024049 53.02805 58.03205 62.53205 67.53605 70.03805 75.042049 80.04604 85.05004 90.05404 94.55404 97.05604 102.060039 104.562038 111.060039 113.05804 118.062038 123.06603 128.07004 134.56804 137.07004 142.07404 147.07804 152.08203 157.08603 159.08403 161.58603 163.58403 168.58803 171.09003 173.08803 178.09203 183.09603 188.10002 190.60202 195.60602 198.10802 200.61002 205.61402 208.11602 210.61801 215.62201 220.626 223.128 231.62401 238.12201 243.621 246.123 252.621 254.619 257.121 262.125 264.123 269.12699 271.629 278.12699 283.13099 285.12898 289.62898 294.63298 297.13499 301.63499 306.63899 311.64299 314.145 318.645 323.649 328.65299 331.155 336.159 341.163 346.167 351.171 353.673 358.677 361.17903 363.68104 368.68504 373.68904 376.19105 379.18806 384.19206 389.19606 391.19404 395.69404 398.19606 403.20005 406.19706 410.69706">unlock sequence opens a window equal in length to the WCT within which you can update the registers.</tspan><tspan y="40.83789" x=".00004 8.49604 11.49304 13.49104 15.99304 17.99104 22.99504 27.999043 30.501044 35.505044 38.007043 42.507043 47.511045 49.509046 54.513048 59.517049 62.019048 67.02305 69.52505 74.529048 79.53304 82.530048 85.03204 87.53404 92.53804 97.54204 102.546039 105.048038 107.55003 112.55403 117.55803 120.06003 125.064029 130.06803 135.07202 139.57202 144.57602 147.07802 154.57501 159.57901 164.58301 167.085 169.08301 174.087 179.091 184.095 189.099 191.601 196.101 201.105 206.109 211.11299 216.11699 221.12099 225.62099 230.62499 233.12699 238.13098 241.12798 243.62998 245.62798 248.12998 250.63198 253.13397 258.13798 263.14198 265.64399 270.14399 275.14799 280.15199 285.15599 290.15998 295.16398 299.66398 304.66798 307.16999 309.16798 313.66798 316.16999 318.16798 323.17198 328.17597 333.17997 338.18397 341.18098 343.68299 346.185 351.189 356.193 361.197 363.699 368.703 373.707 376.209 381.213 386.217 390.717 393.21903 397.71903 402.21903 406.71903 408.717 413.721 418.221">Writing a value other than the above mentioned sequence or if the sequence is longer than 20 bus cycles,</tspan><tspan y="51.83789" 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 323.11808 325.6201 331.11909 336.12309 341.12709 343.6291 348.6331 353.6371 355.63508 360.63908 365.13908 369.63908 372.14109 376.64109 381.64509 386.64909 391.65309 396.65708 401.66108 406.16108 411.16508 413.66709 415.66508">resets the system or if IRQRSTEN is set, it interrupts and then resets the system. The unlock sequence is</tspan><tspan y="62.83789" x=".00004 5.0040409 7.506041 10.008041 15.012042 19.512043 22.014044 24.012043 28.512043 33.516046 36.018045 41.022047 46.026048 48.024049 52.524049 55.026048 57.024049 59.526048 62.028047 68.031047 73.03504 78.03904 85.04104 93.53704 100.03504 106.03804 112.53604 118.53904 124.03804 130.04105 132.54305 134.54105 139.04105 141.54305 146.04305 151.04705 153.54904">effective only if ALLOWUPDATE is set.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 564)" 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">24.7.9</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 92.01613 592)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="-.00299 5.001011 10.005012 15.009012 20.013012 25.017014 30.021016 35.025018 40.02902 45.03302 50.03702 52.53902 57.543024 62.547025 67.04703 72.051029 74.553028 79.80902 82.31102 87.31502 92.319019 97.32301 99.82501 104.82901 107.33101 109.83301 114.33301 119.337009 121.839008 124.341 129.597 132.099 137.103 142.107 147.111 152.11499 157.11899 162.12299 167.12699 172.13098 177.13498">4005_2000h base + 10h offset = 4005_2010h</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 83.647098 611)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.93302 14.82502">15</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 113.29416 611)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.93302 14.82502">14</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 142.94123 611)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.93302 14.82502">13</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 172.58827 611)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.93302 14.82502">12</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 202.23534 611)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.93302 14.82502">11</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 231.8824 611)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.93302 14.82502">10</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 261.52949 611)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="12.87902">9</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 291.17655 611)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="12.75302">8</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 320.8236 611)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="12.88">7</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 469.05894 611)" 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 1 498.706 611)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="12.88">1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 113.29416 640.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.32598">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 142.94123 640.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.32598">0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 7.4970009 12.501001 20.502003 26.001004 29.502003 34.506006 37.008005 45.009004 50.013006 55.512006 58.014005 63.018007 68.517009 74.01601 76.518009 80.019008 85.023 90.522 93.024 98.028 101.025 106.029 109.53 112.032 117.531 122.534999 125.532 128.034 133.53299 136.03499 139.03199 141.53398 147.03298">Memory map and register definition</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.012 137.232 142.79199 148.35199 151.13199 157.80199 163.91199 170.02199 173.35199 179.46199 185.02199 193.91199 196.69199 199.47199 205.03199 207.81198 215.03199 220.59198 223.92198 229.48198 233.37198 238.93198 245.04198 250.60198 256.162 258.942 267.27198 272.83198 278.94197 285.05195 290.61195 293.39195 296.17195 298.95195 306.17195 311.73194 317.29194 320.07194 322.85194 328.41194 331.19194 336.75193 342.8619 348.9719 351.7519 357.3119 362.8719 368.4319">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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