Ryan Malloy
5252d1d73c
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.
111 lines
23 KiB (Stored with Git LFS)
XML
111 lines
23 KiB (Stored with Git LFS)
XML
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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="37.1 48.006 58.114004 65.114 69.006 72.897998 79.897998 86.897998 90.397998 94.28999 101.28999 104.78999 111.78999 116.451999 122.668 129.668 135.884 142.884 146.776 150.276 158.06 166.614 175.168 178.668 183.33 187.992 194.992 205.884 209.384 214.046 220.26201 225.70801 231.92401 235.81601 239.70801 243.6 250.6 257.6 261.1 264.992 268.884 274.33003 277.83003 284.04603 291.04603 295.708 300.37 306.586 313.586 317.478 320.978 324.87 331.87 338.086 345.086 351.302 358.302 361.802 366.464 371.12599 377.34199 384.34199 391.34199 397.55799 404.55799 410.774 417.774 421.274 431.382 438.382 444.598">•Option to prevent FLL from resetting its current locked frequency when</tspan><tspan y="27.85" x="48.00604 53.452039 63.56004 67.45204 71.34404 77.56004 84.56004 88.45204 95.45204 102.45204 105.95204 112.168048 116.06004 123.06004 129.27605 136.27605 139.77605 150.66805 157.66805 164.66805 170.88405 176.33005 179.83005 183.72205 188.38405 191.88405 199.66805 208.22205 216.77605 220.27605 224.93805 231.15406 235.81606 242.03206 246.69406 252.91007 259.91007 266.12608 272.34208 275.84208 280.50407 285.16606 291.38206 298.38206 305.38206 311.59806 318.59806 324.81407 331.81407 335.31407 339.20606 344.65208 348.15208 355.15208 362.15208 366.04408 369.54408 375.76008 382.76008 388.97608 395.97608 402.97608 409.19209 416.19209">switching clock modes if FLL reference frequency is not changed.</tspan><tspan y="52.25" x="37.100049 48.00605 52.66805 59.66805 63.56005 69.776058 74.43806 81.43806 87.65406 91.54606 95.04606 102.04606 106.70806 110.20806 116.424068 123.424068 127.31606 133.53206 138.19406 145.19406 151.41007 155.30207 158.80207 163.46407 169.68007 174.34207 180.55808 185.22008 191.43608 198.43608 204.65209 210.86809 214.36809 220.58409 224.47609 231.47609 237.6921 244.6921 248.1921 254.4081 260.62409 267.62409 271.12409 278.12409 284.3401 287.8401 294.8401 300.2861 306.5021 313.5021 317.0021 323.2181 328.66413 332.16413 336.05613 343.05613 349.27214 352.77214 360.55613 369.1101 377.6641 381.1641 386.6101 393.6101 400.6101 405.2721 411.4881 417.7041">•Internal or external reference clock can be used as the FLL source.</tspan><tspan y="76.65" x="37.100049 48.00605 57.34405 63.56005 70.56005 74.06005 81.06005 87.276058 90.776058 97.776058 103.22205 109.43806 116.43806 119.93806 126.15406 131.60007 135.10007 141.31607 144.81607 151.03208 154.92407 161.92407 168.14008 175.14008 178.64008 184.08608 191.08608 198.08608 202.74808 208.96408 215.18009 218.68009 223.34209 230.34209 235.00409 238.50409 245.50409 249.39609 256.3961 262.6121 267.27409 270.77409 277.77409 284.77409 289.43608 295.65208 302.65208 306.54408 313.54408 317.04408 324.04408 330.26008 334.92207 338.81407 345.81407 352.81407 359.03007 363.69206 369.90806 373.80006 379.24607">•Can be used as a clock source for other on-chip peripherals.</tspan><tspan y="101.05" x="13.104038 23.99604 31.78004 38.78004 44.99604 50.44204 56.65804 61.320039 65.212039 72.212039 78.42804 85.42804 91.64404 98.64404 102.14404 106.03604 113.03604 120.03604 127.03604 130.53604 135.19805 142.98204 151.53604 160.09004 164.75205">•Phase-locked loop (PLL):</tspan><tspan y="125.450008" x="37.10003 48.00603 58.114034 65.11403 69.00603 72.898029 79.11403 86.11403 92.33003 96.992038 103.20804 110.20804 117.20804 121.10004 125.76204 132.76204 136.65404 140.54604 146.76204 153.76204 157.26204 164.26204 169.70804 175.92404 179.81604 183.70804 187.60004 193.81604 197.70804 204.70804 209.37004 212.87004 217.53205 227.64005 236.97805 247.08605">•Voltage-controlled oscillator (VCO)</tspan><tspan y="149.85" x="37.10003 48.00603 56.56003 63.56003 67.452037 73.66804 78.33004 85.33004 91.54604 95.43804 98.93804 103.600048 109.81605 114.47805 120.69405 125.35606 131.57205 138.57205 144.78806 151.00406 154.50406 160.72006 164.61206 171.61206 177.82807 184.82807 188.32807 192.22006 197.66606 201.16606 208.16606 213.61206 219.82807 226.82807 230.32807 236.54407 241.99007 245.49007 249.38207 256.38209 262.59809 266.09809 273.88209 282.43608 290.99006 294.49006 299.93608 306.93608 313.93608 318.59806 324.81407 331.03007">•External reference clock is used as the PLL source.</tspan><tspan y="174.25" x="37.10001 48.006013 60.45201 67.45201 74.45201 81.45201 85.34401 92.34401 95.84401 105.95201 115.29001 125.39801 128.89801 133.56002 138.22202 144.43802 151.43802 158.43802 164.65402 171.65402 177.87003 184.87003 188.37003 195.37003 199.26203 206.26203 210.15402 217.15402 223.37003">•Modulo VCO frequency divider</tspan><tspan y="198.65" x="37.10003 48.00603 55.79003 62.79003 69.006038 74.452037 80.66804 84.560039 92.34404 97.00604 103.222049 110.222049 117.222049 123.43805 130.43805 136.65406 143.65406 147.15406 154.15406 160.37006 164.26206 170.47806 176.69406 180.58606 187.58606">•Phase/Frequency detector</tspan><tspan y="223.04999" x="37.10003 48.00603 52.66803 59.66803 63.56003 69.77603 76.77603 81.438037 87.65404 91.546039 97.76204 104.76204 108.26204 112.15404 119.15404 126.15404 133.15404 136.65404 141.31604 145.20804 149.10004 152.99204 159.20804">•Integrated loop filter</tspan><tspan y="247.44998" x="37.10003 48.00603 57.344034 63.56003 70.56003 74.06003 81.06003 87.27603 90.77603 97.77603 103.22203 109.438037 116.438037 119.938037 126.15404 131.60004 135.10004 141.31604 144.81604 151.03205 154.92404 161.92404 168.14005 175.14005 178.64005 184.08605 191.08605 198.08605 202.74805 208.96405 215.18006 218.68006 223.34206 230.34206 235.00406 238.50406 245.50406 249.39606 256.39607 262.61207 267.27406 270.77406 277.77406 284.77406 289.43605 295.65205 302.65205 306.54405 313.54405 317.04405 324.04405 330.26005 334.92204 338.81404 345.81404 352.81404 359.03004 363.69203 369.90803 373.80003 379.24604">•Can be used as a clock source for other on-chip peripherals.</tspan><tspan y="271.84999" x="13.104038 23.99604 28.658041 35.658044 39.550046 45.766046 50.428045 57.428045 63.644044 67.53604 71.03604 75.698047 81.91405 86.57605 92.79205 97.454059 103.67006 110.67006 116.88606 123.102069 126.602069 132.81807 136.71007 143.71007 149.92607 156.92607 160.42607 167.42607 173.64208 180.64208 186.85808 191.52008 197.73609 201.62808 208.62808 213.29009">•Internal reference clock generator:</tspan><tspan y="296.24998" x="37.10006 48.00606 55.790063 59.682065 66.68207 76.79007 80.29007 86.50607 90.39807 97.39807 103.614078 110.614078 114.114078 124.22208 128.11408 132.00608 139.00608 142.50608 149.50608 153.39807 160.39807 166.61408 170.11408 174.00608 178.66808 182.56008 193.45207 196.95207 203.95207 207.84407 211.73607 217.18207 220.68207 225.34407 232.34407 237.00608 240.50608 246.72208 252.93808 259.15409 266.15409 270.81608 277.03208 283.24809">•Slow clock with nine trim bits for accuracy</tspan><tspan y="320.64997" x="37.10008 48.00608 55.79008 62.00608 67.45208 71.34408 74.84408 81.06008 84.95208 91.95208 98.16808 105.16808 108.66808 118.776088 122.66808 126.56008 133.56009 137.06009 141.72209 148.72209 155.72209 160.3841 163.8841 167.7761 172.4381 176.3301 187.22209 190.72209 197.72209 201.61409 205.50609">•Fast clock with four trim bits</tspan><tspan y="345.04997" x="37.10008 48.00608 57.34408 63.56008 70.56008 74.06008 81.06008 87.276088 90.776088 97.776088 103.222087 109.43809 116.43809 119.93809 126.15409 131.6001 135.1001 140.5461 147.5461 154.5461 159.2081 165.4241 171.6401 175.1401 181.35611 185.24811 192.24811 198.46411 205.46411 208.96411 213.62612 220.62612 225.28812 228.78812 232.68012 239.68012 245.89612 249.39612 257.1801 265.7341 274.2881 277.7881 281.2881 285.95008 292.95008 296.45008 304.23408 312.78807 317.45005 320.95005 331.84205 338.84205 345.84205 352.05805 355.55805 359.05805 366.05805 373.05805 376.95005 383.95005 387.45005 391.34205 398.34205 404.55805 408.05805 413.50407 417.39607 424.39607 434.50407 438.00407 442.66606 449.66606 453.55805 459.77406 464.43605 471.43605 477.65205">•Can be used as source clock for the FLL. In FEI mode, only the slow Internal</tspan><tspan y="361.04997" x="48.00607 57.34407 63.56007 68.22207 74.43807 79.100078 85.31608 92.31608 98.53208 104.748088 108.248088 117.58609 121.47809 128.47809 134.69409 141.69409 145.19409 149.8561 154.5181 163.8561 173.19409 177.8561 181.3561 187.5721 193.7881 200.7881 204.2881 211.2881 217.5041 221.0041 228.0041 233.4501 239.6661 246.6661 250.1661 256.3821 261.82814 265.32814 269.22013 276.22013 282.43614 285.93614 293.72013 302.2741 310.8281 314.3281 319.7741 326.7741 333.7741 338.4361 344.6521 350.8681">Reference Clock (IRC) can be used as the FLL source.</tspan><tspan y="385.44996" x="37.10008 48.00608 56.56008 60.452085 64.344089 71.344089 77.56009 82.22209 85.72209 89.61409 96.61409 102.83009 106.33009 111.77609 115.66809 122.66809 132.7761 136.2761 143.2761 147.9381 151.4381 155.3301 162.3301 168.5461 172.0461 176.7081 182.9241 188.3701 192.2621 195.7621 201.9781 205.8701 212.8701 219.0861 226.0861 229.5861 235.80211 242.01811 249.01811 252.51811 259.51814 265.73414 269.23414 274.68016 280.89616 284.78816 291.00416 297.22016 301.11216 307.32817 314.32817 317.82817 324.04417 329.49018 332.99018 336.88218 343.88218 350.09819 353.59819 359.81419 363.70619 370.70619 376.92219 383.92219 387.42219 392.8682 399.8682 406.8682 411.53019 417.7462 423.9622 427.4622 432.12419 439.12419 443.78617 447.28617 451.17817 458.17817 464.39418 467.89418 480.34019 489.6782 499.7862">•Either the slow or the fast clock can be selected as the clock source for the MCU.</tspan><tspan y="409.84996" x="37.100049 48.00605 57.34405 63.56005 70.56005 74.06005 81.06005 87.276058 90.776058 97.776058 103.22205 109.43806 116.43806 119.93806 126.15406 131.60007 135.10007 141.31607 144.81607 151.03208 154.92407 161.92407 168.14008 175.14008 178.64008 184.08608 191.08608 198.08608 202.74808 208.96408 215.18009 218.68009 223.34209 230.34209 235.00409 238.50409 245.50409 249.39609 256.3961 262.6121 267.27409 270.77409 277.77409 284.77409 289.43608 295.65208 302.65208 306.54408 313.54408 317.04408 324.04408 330.26008 334.92207 338.81407 345.81407 352.81407 359.03007 363.69206 369.90806 373.80006 379.24607">•Can be used as a clock source for other on-chip peripherals.</tspan><tspan y="434.24995" x="13.104038 23.99604 33.33404 40.33404 47.33404 51.226045 55.888044 62.888044 66.780048 70.280048 75.72604 79.61804 86.61804 93.61804 99.834049 103.72604 109.17204 112.67204 117.334049 124.334049 128.99605 132.49605 136.38805 143.38805 149.60405 153.10405 165.55005 174.88805 184.99605 188.49605 194.71205 201.71205 205.60405 211.82006 216.48206 223.48206 229.69806 233.59006 237.09006 241.75206 247.96807 252.63007 258.84608 263.50807 269.72407 276.72407 282.94007 289.15608 292.65608 296.54808 303.54808 313.65608 317.15608 324.15608 331.15608 341.26408 347.48008 352.14207 355.64207 362.64207 368.08808 374.30409 378.19609 382.08808 385.98008 392.19609 396.08808 403.08808 407.75007 411.25007 417.46607 421.35807 428.35807 434.57408 441.57408 445.07408 452.07408 458.29008 465.29008 471.50608 476.16807 482.38407 486.27607 493.27607 497.93806">•Control signals for the MCG external reference low power oscillator clock generators</tspan><tspan y="450.24995" x="23.99606 30.212059 34.874059 41.090059 44.590059 51.590059 56.252058 63.252058 70.25206 74.14406 81.14406 87.36006 94.36006">are provided:</tspan><tspan y="474.64994" x="37.10006 48.00606 58.114065 68.22206 78.33006 85.33006 88.83006 92.33006 101.66806 111.77606 121.88406 131.99207 140.54607 147.54607 151.04607 154.54607 163.10007 172.43807 180.99207 188.77606 196.56006">•HGO0, RANGE0, EREFS0</tspan><tspan y="499.04994" x="13.104059 23.99606 32.55006 39.55006 43.442064 49.658063 54.32006 61.32006 67.536067 71.42806 74.92806 81.144069 85.036067 92.036067 98.25207 105.25207 108.75207 113.41407 118.07607 125.07607 135.96808 139.46808 143.36008 150.36008 156.57608 160.07608 169.41408 174.07608 181.07608 186.52208 190.41408 196.63008 200.52208 204.02208 214.13008 219.57608 225.79209 229.68408 233.57608 237.46808 243.68408 247.57608 254.57608 259.23808 262.73808">•External clock from the Crystal Oscillator :</tspan><tspan y="523.4499" x="37.10005 48.006055 57.344057 63.560056 70.56006 74.06006 81.06006 87.27606 90.77606 97.77606 103.22206 109.438068 116.438068 119.938068 126.15407 131.60007 135.10007 141.31607 144.81607 150.26207 157.26207 164.26207 168.92407 175.14008 181.35608 184.85608 189.51808 196.51808 201.18009 204.68009 208.57209 215.57209 221.78809 225.28809 233.07209 241.62609 250.18009 253.68009 259.8961 266.8961 273.8961 277.7881 284.7881 289.45008 292.95008 296.84208 303.84208 310.05809 313.55809 321.34208 329.89607 338.45005">•Can be used as a source for the FLL and/or the PLL.</tspan><tspan y="547.8499" x="37.10005 48.006055 57.344057 63.560056 70.56006 74.06006 81.06006 87.27606 90.77606 96.22206 102.438068 106.33006 112.54607 118.76207 122.65407 128.87007 135.87007 139.37007 145.58608 151.03208 154.53208 158.42407 165.42407 171.64008 175.14008 181.35608 185.24808 192.24808 198.46408 205.46408 208.96408 214.41008 221.41008 228.41008 233.07209 239.28809 245.50409 249.00409 253.66609 260.66609 265.32807 268.82807 272.72007 279.72007 285.93608 289.43608 301.88209 311.2201 321.3281">•Can be selected as the clock source for the MCU.</tspan><tspan y="572.24996" x="13.104042 23.996045 32.550046 39.550046 43.442049 49.658048 54.320047 61.320047 67.53605 71.42805 74.92805 81.14405 85.03605 92.03605 98.25205 105.25205 108.75205 113.414058 118.07606 125.07606 135.96807 139.46807 143.36006 150.36006 156.57607 160.07607 169.41407 175.63007 181.84607 185.73807 189.23807 197.79207 201.68407 212.57607 218.79207 222.29207 231.63007 238.63007 245.63007 252.63007 256.52207 262.73808 267.40007 270.90007 275.56205 284.90007 293.45405 302.79206 307.45405">•External clock from the Real Time Counter (RTC):</tspan><tspan y="596.64999" x="37.10005 48.006055 57.344057 63.560056 70.56006 74.06006 81.06006 88.06006 91.95206 98.95206 102.45206 109.45206 115.66806 119.16806 126.16806 131.61406 137.83007 144.83007 148.33007 154.54607 159.99207 163.49207 169.70807 173.20807 178.65407 185.65407 192.65407 197.31607 203.53208 209.74808 213.24808 217.91008 224.91008 229.57209 233.07209 236.96408 243.96408 250.18009 253.68009 261.46409 270.01808 278.57206">•Can only be used as a source for the FLL.</tspan><tspan y="621.05" x="37.10002 48.006025 57.344026 63.560026 70.56003 74.06003 81.06003 87.27603 90.77603 96.22203 102.438037 106.33003 112.546039 118.76204 122.65404 128.87004 135.87004 139.37004 145.58605 151.03205 154.53205 158.42404 165.42404 171.64005 175.14005 181.35605 185.24805 192.24805 198.46405 205.46405 208.96405 214.41005 221.41005 228.41005 233.07205 239.28806 245.50406 249.00406 253.66606 260.66609 265.32807 268.82807 272.72007 279.72007 285.93608 289.43608 301.88209 311.2201 321.3281">•Can be selected as the clock source for the MCU.</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>
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<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 xml:space="preserve" transform="matrix(1 0 0 1 54 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00102 5.0050208 10.009022">566</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>
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<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>
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<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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