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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_560.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

627 lines
62 KiB (Stored with Git LFS)
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Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 285.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 8.001 13.005001 15.003001 17.505002 20.007002 25.011002 28.008002 33.012 37.512 42.012 47.016004 49.014005 54.018007 57.015008 59.517007 62.019006 67.023 70.020008 72.522 75.024 80.028 85.032 87.534 94.032 99.035999 101.537998 106.037998 111.04199 116.04599 121.04999 126.053989 128.55599 133.05599 135.05399 140.05799 144.55799 149.05799 151.55998 156.05998 161.06398 166.06798 169.06497 173.56497 178.56897 181.07097 183.57297 189.57598 192.07798 196.57798 201.58197 203.57997 208.58397 213.58797 216.08997 221.09397 223.59597 226.09796 230.59796 235.60196 238.59896 243.60295 246.10495 248.10295 253.10695 258.11097 260.10896 264.60896 269.61296 272.11497 277.11897 281.61897 284.12098 289.12498 294.12898 296.63099 301.63499 303.63298 308.13298 310.13096 314.63096 316.62895 321.63294 326.63694 329.13896 334.14295 336.64497 339.14698 341.649 346.65299 351.65699 354.159 356.15699 361.16099 366.16499 371.16899 373.671 376.173 384.669 391.167 398.169">3-bit prescaler for the watchdog clock source. A value of zero indicates no division of the input WDOG</tspan><tspan y="18.83789" x="0 4.5 6.498 11.502001 16.002 20.502 23.004002 25.506003 31.005003 36.009004 41.013006 43.515005 50.013006 55.017007 57.519006 62.019006 67.023 72.027 77.031 82.034999 84.536998 89.036998 91.034999 96.038997 100.538997 105.038997 107.54099 109.538997 114.038997 116.54099 121.54499 123.54299 128.043 130.041 135.045 140.049 145.053 147.555 152.55899 157.05899 159.56099 162.55799 168.56099 175.05899 181.062 187.065 193.563 199.56601 205.56902 210.57302 213.07501 218.33101 220.83301 225.837 228.834 231.336 233.838 238.842 241.344 246.34799 249.34499 254.34899 258.849 260.847 265.85099 270.85499 273.357 275.859 280.863 285.867 288.36903 293.37303 296.37004 301.37403 305.87403 310.37403 315.37803 317.376 322.38 327.384 329.88603 338.38203 344.88 351.88203 358.88404 363.88804 370.38603 375.39 381.393">clock. The watchdog clock is divided by (PRESCVAL + 1) to provide the prescaled WDOG_CLK.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 311.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 40.509008 45.009008 47.511007 50.508008 55.51201 60.01201 65.01601 68.01301 72.51301 77.517009 82.521">This field is reserved.</tspan><tspan y="18.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 80.523 85.023 87.525 90.522 95.526 100.026 105.03 108.027 112.527 117.531 122.534999 125.036998 130.041 135.045 140.049 142.551 147.555 149.553 156.051 161.055 165.555 170.055 172.55699 177.56099 182.56499 187.06499 189.56699 192.06899 197.07299 202.07698 204.57898 209.07898 214.08298 216.08098 221.08498 226.08898 228.59098 233.59497">This read-only field is reserved and always has the value 0.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 388.09999)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 9.452001 18.904002 23.630002">24.8</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.255397 388.09999)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 16.048 25.5 31.161 40.613 51 61.387 71.774 82.161 86.887 97.274 107.661 117.11301 123.726009 133.17801 138.839 143.565 153.952 164.33899 169.06499 182.29099 187.01699 192.67798 203.06497 207.79097 217.24297 222.90396 233.29096 238.01696 243.67795 248.40395 257.85597 267.30796 276.75996 286.21195 295.66395">Watchdog operation with 8-bit access</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 434.09999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.004 8.892001 17.788002 22.236002 31.132004 35.580007">24.8.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65334 434.09999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.004 12.444001 21.340003 31.116002 40.012 46.236 55.132 59.58 64.028 73.804 83.58 88.028 97.804 106.700008 111.148 115.596 125.372">General guideline</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 54)" font-size="14" font-family="TimesLTStd"><tspan y="417.34999" x="-.00599 13.210011 20.21001 26.42601 33.42601 36.92601 43.92601 50.14201 54.80401 59.466009 66.466 71.128009 82.020008 85.912 92.912 99.912 103.412 110.412 115.074008 122.074008 125.966 129.858 133.358 139.574 145.79001 152.00601 158.22202 163.66802 169.11402 175.33002 180.77602 184.27602 188.16802 195.16802 198.66802 202.56002 209.56002 215.77602 219.27602 229.38402 235.60002 239.49202 245.70803 252.70803 259.708 266.708 273.708 276.228 281.674 285.174 292.174 299.174 303.836 310.836 314.728 318.62 322.12 326.78199 332.998 339.998 343.88999 349.336 353.228 359.444 364.106 369.552 373.052 383.16 390.16 396.376 401.038 407.254 410.754 414.646 421.646 427.862 431.362 435.254 442.254 446.146 452.362 459.362 463.254 467.146 474.146 481.146 484.646 488.538">When performing 8-bit accesses to the watchdog's 16-bit registers where the intention is</tspan><tspan y="433.34999" x="-.0059599999 3.8860405 10.886041 14.386041 20.602042 26.818043 33.034044 39.250043 44.69604 50.14204 53.64204 60.64204 67.642047 71.53404 78.53404 82.03404 85.92604 92.92604 99.142047 102.642047 109.642047 116.642047 120.53404 126.750049 132.19605 135.69605 142.69605 147.35805 150.85805 157.07405 160.57405 165.23606 171.45206 178.45206 182.34406 187.79006 191.68206 197.89806 202.56006 206.06006 209.56006 216.56006 220.45206 226.66806 232.88407 239.10007 242.60007 246.49207 253.49207 259.70808 263.20808 267.10008 277.20808 284.20808 287.70808 294.70808 299.37007 306.37007 310.26206 314.15406 317.65406 323.87007 330.08607 336.30207 342.51808 347.96409 353.4101 359.6261 365.0721 368.5721 375.5721 382.5721 388.78813 392.28813 398.50413 403.1661 407.0581 413.2741 417.9361 421.4361 425.3281 432.3281 438.5441 442.0441 449.0441 452.9361 459.9361 466.1521 470.8141 474.3141 478.2061">to access both the bytes of a register, place the two 8-bit accesses one after the other in</tspan><tspan y="449.34999" x="-.00591 6.99409 13.99409 20.994091 25.656092 29.156092 35.372095 42.372095 49.372095 55.588094">your code.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 544.89999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".0001 8.896101 17.792103 22.240103 31.136105 35.584108">24.8.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65334 544.89999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".0001 11.552101 20.448101 25.7761 32.0001 40.8961 49.7921 59.5681 64.0161 72.9121 82.6881 92.4641 96.9121 106.6881 116.4641 120.9121 130.6881 139.58409 148.48009 152.92809 162.70409 172.48009 181.37609 187.60009 196.49608 201.82408 206.27208 216.04808 225.82408 234.72008 239.16808 251.61608 256.0641 261.3921 271.1681 275.6161 284.5121 289.8401 299.6161 304.0641 309.3921 313.8401 322.73609 331.63209 340.52809 349.42408 358.32008">Refresh and unlock operations with 8-bit access</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 54)" font-size="14" font-family="TimesLTStd"><tspan y="528.14999" x="-.00388 10.104121 17.104123 23.320122 26.820122 33.03612 40.03612 46.25212 52.46812 59.46812 63.360124 67.25212 74.25212 81.25212 84.75212 90.968128 97.968128 104.968128 111.968128 115.86012 119.75212 123.64412 130.64412 137.64412 141.14412 145.03612 152.03612 158.25212 162.14412 165.64412 172.64412 178.86013 185.86013 192.07613 196.73813 202.95413 206.84613 213.06214 218.50814 222.00814 228.22414 231.72414 236.38614 242.60214 248.04814 254.26415 258.15617 261.65617 265.54817 272.54817 276.04817 279.94017 286.94017 293.15617 296.65617 302.10218 309.10218 314.5482 318.4402 324.6562 335.5482 339.0482 342.9402 348.3862 351.8862 355.7782 362.7782 368.9942 372.4942 382.6022 387.2642 391.1562 395.0482 401.2642 404.7642 411.7642 416.42619 419.92619 426.14219 433.14219 440.14219 443.64219 450.64219 456.8582 460.75019 467.75019">One exception condition that generates a reset to the system is the write of any value</tspan><tspan y="544.14999" x="-.00388 6.99612 10.888121 17.88812 24.104123 28.766123 32.26612 36.158124 43.158124 49.374124 56.374124 59.874124 63.766126 70.76613 77.76613 83.21213 89.42813 92.92813 97.59013 103.80614 110.80614 117.80614 121.698139 126.36014 132.57614 139.57614 143.07614 147.73815 154.73815 159.40015 162.90015 169.11615 172.61615 176.50815 182.72415 189.72415 195.94016 199.83216 203.33216 207.99416 214.21016 218.87216 223.53417 229.75017 235.19617 242.19617 246.08817 253.08817 260.08818 267.08818 273.30418 277.19618 283.41218 286.91218 292.3582 298.5742 305.5742 312.5742 318.7902 325.7902 332.0062 338.2222 341.7222 345.6142 352.6142 356.1142 360.0062 367.0062 373.2222 376.7222 381.3842 387.6002 393.0462 400.0462 406.2622 412.4782 416.3702 420.2622 427.2622 433.4782 436.9782 441.6402 447.8562 452.5182 457.18019 463.39619 468.8422 475.8422 479.3422 485.5582 492.5582">other than those required for a legal refresh/update sequence to the respective refresh and</tspan><tspan y="560.14999" x="-.00383 6.99617 13.99617 17.88817 24.88817 31.104172 38.10417 41.60417 46.26617 52.48217 59.48217 63.374174 68.820178 72.71217 78.92818 83.59018 89.03618">unlock registers.</tspan><tspan y="584.55" x="-.00383 7.780171 14.78017 19.442172 22.942172 29.158173 36.158174 39.658174 46.658174 51.32017 58.32017 62.212175 66.10417 69.60417 75.820178 82.03618 88.25218 94.468189 99.914188 105.36018 108.86018 112.75218 119.75218 123.25218 127.14418 134.14418 140.36019 145.80619 152.02219 155.52219 160.18419 166.40019 173.40019 177.29219 182.73819 186.63019 192.84619 197.5082 202.9542 206.4542 209.9542 220.0622 224.7242 228.6162 232.5082 236.40019 243.40019 250.40019 253.90019 260.11619 263.61619 269.83219 276.83219 281.49418 286.15617 292.37217 298.58818 302.48017 305.98017 312.98017 319.19618 323.08818 330.08818 336.30418 339.80418 344.46617 350.68217 357.68217 364.68217 368.57417 373.23616 379.45216 384.89817 388.39817 394.61418 398.50617 402.00617 405.89817 412.11418 418.33018 423.77619 427.66819 431.16819 435.06019 445.16819 452.16819 455.66819 462.66819 469.66819">For an 8-bit access to these registers, writing a correct value requires at least two bus</tspan><tspan y="600.55" x="-.0037800002 6.2122209 10.104221 17.104222 23.32022 30.32022 33.82022 40.03622 47.03622 53.25222 57.144224 63.36022 68.80622 72.30622 75.80622 80.46822 86.68423 92.130229 99.130229 103.022228 106.91422 110.80622 117.80622 124.80622 128.30622 132.19821 139.19821 142.69821 148.91422 155.91422 159.41422 163.30622 170.30622 177.30622 183.52222 187.41422 191.30622 198.30622 201.80622 208.80622 215.02222 218.91422 225.91422 232.13022 235.63022 239.52222 246.52222 250.02222 253.91422 260.9142 267.13023 270.63023 275.2922 281.5082 288.5082 292.4002 297.84623 301.73823 307.95423 312.6162 318.06224 321.56224 326.2242 333.2242 337.8862 341.3862 348.3862 355.3862 361.6022 365.1022 371.3182 378.3182 384.5342 388.4262 394.6422 398.1422 401.6422 410.1962 417.1962 423.4122 428.0742 434.2902 438.95219 445.95219 450.61418 456.83018 460.33018 463.83018 467.72218 474.72218">clock cycles, resulting in an invalid value in the registers for one cycle. Therefore, the</tspan><tspan y="616.55" x="-.0037800002 5.4422209 12.442221 17.888222 21.780222 27.996224 38.888227 42.388227 46.280229 51.726228 55.226228 59.888227 66.104228 71.550228 77.76623 81.658229 85.158229 91.37423 98.37423 104.59023 111.59023 115.09023 118.98223 123.64423 127.14423 131.03624 138.03624 144.25225 147.75225 151.64424 158.64424 162.53624 168.75225 175.75225 179.64424 183.53624 190.53624 197.53624 201.03624 204.92824 210.37424 213.87424 217.76624 224.76624 228.26624 238.37424 243.03624 246.92824 250.82024 257.03623 260.53623 266.75224 270.25224 276.46824 283.46824 288.13023 292.7922 299.0082 305.2242 309.1162 312.6162 319.6162 325.8322 329.7242 336.7242 342.94023 346.44023 350.3322 357.3322 360.8322 364.7242 371.7242 377.94023 381.44023 386.1022 392.3182 396.9802 401.64219 407.8582 413.3042 420.3042 424.1962 431.1962 438.1962 442.0882 449.0882 455.3042">system is reset even if the intention is to write a correct value to the refresh/unlock</tspan><tspan y="632.55" x="-.0037800002 4.6582205 10.874221 17.874222 21.766222 27.212224 31.104224 37.320226 41.982225 45.482225 48.982225 59.090227 65.30623 71.52223 78.52223 82.41423 89.41423 96.41423 99.91423 103.80623 110.80623 114.69823 120.144229 123.644229 127.536228 134.53623 138.03623 148.92823 152.82022 159.82022 166.82022 170.32022 173.82022 177.71222 184.71222 190.92823 194.42823 200.64423 207.64423 213.86023 220.07624 227.07624 230.96823 234.86023 241.86023 248.86023 252.36023 258.57624 265.57624 272.57624 279.57624 283.46824 287.36024 291.25224 298.25224 305.25224 308.75224 313.4142 320.4142 325.0762 328.5762 335.5762 340.2382 347.2382 351.1302 355.0222 358.5222 364.7382 370.9542 377.1702 383.3862 388.8322 394.27824 400.49424 405.94026 409.44026 413.33226 418.77827 422.27827 427.72428 431.61628 435.50828 442.50828 449.50828 453.40028 457.29228">register. Keeping this in mind, the exception condition for 8-bit accesses is slightly</tspan><tspan y="648.55" x="-.0037800002 10.888221 17.888222 24.888222 28.780222 33.442224 37.334226 43.550226 50.550226">modified.</tspan></text>
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