birdcage/docs/K60-refman-vectors/K60-reference-manual_page_571.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

765 lines
75 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.3" x="141.32399 151.31999 159.984 169.31999 175.99199 184.65599 191.32799 194.66399 198.65999 201.99599 208.66799 212.00399 219.33599 222.67198 230.00399 236.67598 243.34798 250.01998 254.68798 258.024 265.356 269.352 272.688 280.02 287.352 294.024 297.36 301.356 308.02799 315.36 322.692 326.688 330.024 337.356 344.688 351.36 358.692">MCG_C1 field descriptions (continued)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 90.182819)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 90.182819)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.4970009 13.995001 20.997002 23.499003 29.997004 36.495004 41.499006 47.502008 50.004007 52.002008 57.00601 62.01001 66.51001 69.01201 71.01001 75.51001 80.51401">MCGIRCLK inactive.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 101.182819)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 7.4970009 13.995001 20.997002 23.499003 29.997004 36.495004 41.499006 47.502008 50.004007 55.008008 59.508008 62.010007 64.008 68.508 73.512">MCGIRCLK active.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 118.682819)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">0</tspan><tspan y="18.83789" x="13.293001 15.795002 22.293004 28.296004 33.795003 39.798006 45.297006 51.300004">IREFSTEN</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 160.68282)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 160.68282)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 2.5020405 7.506041 10.008041 15.012042 18.009043 23.013043 28.017045 30.015046 32.517045 35.514047 40.518049 43.020048 48.024049 51.02105 56.02505 61.029054 65.52905 70.53305 73.03505 77.53505 79.53305 84.53705 89.03705 93.53705 96.03905 98.03705 102.53705 105.03905 110.043048 112.041049 116.541049 121.545047 126.54904 128.54705 133.55104 138.55504 141.05704 143.05504 148.05904 150.56104 156.56404 159.06604 164.07004 169.07404 171.57604 179.07303 184.07703 189.08103 194.08502">Internal reference clock is disabled in Stop mode.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 171.68282)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 2.5020405 7.506041 10.008041 15.012042 18.009043 23.013043 28.017045 30.015046 32.517045 35.514047 40.518049 43.020048 48.024049 51.02105 56.02505 61.029054 65.52905 70.53305 73.03505 77.53505 79.53305 84.53705 89.03705 93.53705 96.03905 98.03705 102.53705 105.03905 110.043048 115.04704 120.05104 125.05504 127.05304 132.05704 137.06104 139.56304 141.56104 146.56504 149.06703 155.07004 157.57204 162.57604 167.58003 170.08203 177.57903 182.58303 187.58702 192.59102 195.09302 197.09102 199.59302 202.09502 204.59702 211.09502 217.59302 222.59702 228.60002 234.60303 241.10103 243.60303 245.60103 250.10103 252.60303 257.10304 262.10704 264.60905 267.11106 272.11506 275.11207 277.61408 279.61207 282.11408 284.6161 292.1131 298.61109 305.6131 308.1151 310.1131 314.6131 317.1151 319.1131 324.1171 326.6191 332.1181 338.1211 340.6231 343.12513 345.62715 351.12614 357.12913 359.63114 362.13316 364.63517 369.63917 372.63618 375.13819 381.14118 386.14518 392.14817">Internal reference clock is enabled in Stop mode if IRCLKEN is set or if MCG is in FEI, FBI, or BLPI</tspan><tspan y="20.83789" x=".00004 7.4970409 12.501041 17.505043 22.509045 27.009045 29.511046 34.515047 39.519048 42.021047 47.025049 50.02205 55.02605 57.52805 62.53205 67.53605 70.03805 75.042049 78.03905 80.03705 85.041049 90.045047 92.54704 98.55004 101.05204 106.05604 111.060039 113.562038 121.05904 126.063037 131.06703 136.07103">modes before entering Stop mode.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 109.999988 291.1828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.05402">7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 165.99999 291.1828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.05402">6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 221.99999 291.1828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.05402">5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 278 291.1828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="25.92802">4</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 334 291.1828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.054">3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 390 291.1828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.054">2</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 350.1828)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="175.65598 185.65198 194.31598 203.65198 210.32398 218.98798 225.65998 228.99597 232.99198 236.32798 242.99997 246.33597 253.66797 257.00398 264.33598 271.00798 277.67997 284.35197 289.01997 292.35597 299.68797 303.68397 307.01997 314.35197 321.68397">MCG_C2 field descriptions</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.1 371.9328)" 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 56.249994 387.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">7</tspan><tspan y="18.83789" x="17.541 22.545002 29.547003 36.045003 42.543004 48.546007">LOCRE0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 387.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 10.008001 14.508001 19.008002 21.510003 26.514004 29.016005 31.518006 38.016008 40.014009 45.01801 49.51801 54.01801 56.520009 63.01801 68.02201 72.52201 77.52601 80.02801 82.53001 88.533008 93.537 98.541 103.545 105.543">Loss of Clock Reset Enable</tspan><tspan y="28.83789" x="0 6.4980008 11.502001 14.004002 19.008004 22.005003 29.502003 31.500004 36.504007 41.508008 46.008008 48.510007 55.008008 60.01201 65.01601 67.518009 72.522 77.526 80.523 83.025 88.029 93.033 95.534999 97.533 102.536998 105.038997 110.04299 113.03999 116.036998 121.04099 126.04499 128.547 131.049 136.053 139.04999 141.55199 146.55599 149.05799 152.05498 157.05898 161.55898 166.56298 169.06497 171.56697 174.56397 179.56797 184.57196 189.57596 194.57996 199.07996 201.58196 204.08396 206.08196 210.58196 213.08396 220.58095 225.58495 230.58895 235.59294 238.09494 240.59694 245.60094 247.59894 249.59694 254.60094 261.09895 263.09693 268.10093 273.10493 275.60694 280.61094 283.11296 285.11094 290.11494 294.61494 299.11494 301.61695 306.62095 309.12297 311.62498 318.62699 324.62998 331.12797 336.13197 338.63398 343.63798 348.13798 350.63999 355.64399 358.641 363.645 368.649 370.64698 373.149 376.146 381.15 383.652 388.656 391.653 396.657 401.661 406.161">Determines whether an interrupt or a reset request is made following a loss of OSC0 external reference</tspan><tspan y="39.83789" x=".00004 4.50004 6.49804 11.502041 16.00204 20.50204 23.004042 25.506043 31.005043 36.009046 41.013048 43.515047 48.519048 55.521047 62.019048 68.517047 74.52004 79.52404 82.02604 87.03004 92.034038 94.032039 98.532039 101.034038 106.03803 111.04203 115.54203 118.04403 123.04803 128.05204 130.55403 135.55803 138.06003 140.56203 145.56603 150.06603 152.56803 155.07003 161.56803 166.57202 171.57602 176.58002 179.08202 185.58002 193.07701 199.08002 204.08402 206.58602 208.58402 213.08402 215.58602 220.08602 225.09001 227.59201">clock. The LOCRE0 only has an affect when CME0 is set.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 440.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 440.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 2.5020405 7.506041 10.008041 15.012042 18.009043 21.006043 26.010045 31.014046 33.516046 36.018045 39.015047 44.019048 49.02305 54.02705 59.03105 63.53105 66.03305 68.53505 70.53305 75.03305 77.53505 82.53905 87.543048 92.54704 97.55104 100.54804 105.55204 108.05404 113.05804 118.062038 120.56403 125.56803 130.57204 133.07404 138.07804 140.58003 142.57804 147.58203 152.08203 156.58203 159.08403 164.08803 166.59003 169.09203 176.09403 182.09703 188.59503 193.59903 196.10103 201.10503 205.60503 208.10703 213.11103 216.10802 221.11202 226.11602 228.11402 230.61602 233.613 238.617 241.119 246.123 249.12 254.124 259.128 263.628 268.632 271.134 275.634 277.632 282.636 287.136 291.636">Interrupt request is generated on a loss of OSC0 external reference clock.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 451.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 7.0020406 12.006041 17.01004 22.014042 25.011042 30.015042 32.51704 37.52104 40.02304 45.027044 47.52904 50.526044 55.530046 60.030046 65.03404 67.53604 70.03804 73.03504 78.03904 83.04304 88.047039 93.05103 97.55103 100.05303 102.55503 107.55903 112.56303 115.065029 120.06902 122.57102 124.56902 129.57303 134.07303 138.57303 141.07503 146.07903 148.58103 151.08303 158.08502 164.08803 170.58603 175.59003 178.09203 183.09603 187.59603 190.09803 195.10202 198.09902 203.10301 208.10701 210.10501 212.60701 215.604 220.608 223.11 228.114 231.111 236.11499 241.11899 245.61899 250.62299 253.12499 257.625 259.623 264.62699 269.12699 273.62699">Generate a reset request on a loss of OSC0 external reference clock.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 469.4328)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">6</tspan><tspan y="18.83789" x="16.299 22.797 27.801003 32.301004 37.305006 40.302007 44.802007 49.806009">Reserved</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 469.4328)" 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 56.249994 495.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="28.044 33.048 38.052003">5&#x2013;4</tspan><tspan y="18.83789" x="17.046002 23.544003 29.547003 36.045003 43.047 49.050004">RANGE0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 495.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 8.496 13.500001 18.504002 23.508004 28.512005 33.516008 38.016008 42.516008 45.018007 51.516008 56.520009 61.52401 66.52801 71.532009 74.034008 80.037 85.041 87.039 92.043 96.543">Frequency Range Select</tspan><tspan y="28.83789" x="0 6.0030004 11.007001 13.005001 18.009003 22.509003 25.011004 29.511004 32.013006 34.515005 39.519006 44.523008 47.025007 49.527006 52.524007 57.528009 62.53201 67.53601 72.54001 77.54401 82.04401 86.54401 89.046009 92.04301 97.047008 102.051 107.055 112.059 114.561 117.062999 122.06699 125.063999 127.565998 130.068 135.07199 140.07599 142.57799 147.07799 150.07498 154.57498 159.07498 161.57698 166.58098 168.57898 171.08098 176.08498 180.58498 185.08498 187.08298 189.08098 191.07898 196.08298 198.58498 203.58898 206.58597 209.08797 214.09197 217.08896 219.59096 224.59496 229.09496 231.59696 236.60095 239.59795 244.60195 249.60594 251.60395 254.10594 258.60597 260.60395 265.60795 270.10795 274.60795 277.10997 281.60997 286.61396 291.61796 294.61497 299.11497 304.11897 306.62098 309.123 315.12599 320.12998 325.13398 327.636 330.138 335.142 340.146 342.648 349.65003 354.15003 358.65003 360.648 362.646 364.64399 369.64799 372.15 377.154 380.151 382.653 385.65003 392.65205 398.65504 405.153">Selects the frequency range for the crystal oscillator or external clock source. See the Oscillator (OSC)</tspan><tspan y="39.83789" x="0 4.5 9.504001 14.508001 19.512001 22.014002 27.018002 30.015002 32.517004 35.019 40.023004 43.020006 45.522005 53.019006 58.023008 61.020009 66.02401 68.52601 73.53001 78.534008 81.036 86.04 88.038 90.036 94.536 97.038 102.042 107.046 112.049999 114.551998 117.05399 122.05799 127.06199 129.564 134.568 139.57199 144.07199 146.06999 150.56999 155.57399 158.07599 163.07999 168.08399 170.58599 175.58998 178.09198 182.59198 187.59598 192.59998 197.60398 200.10597 202.60797 205.10997 210.11397 213.11096 215.61296 218.11496 223.11896 228.12296 230.62496 233.12696 236.12395 241.12795 246.13195 251.13594 256.13996 261.14396 265.64396 270.14396 272.64598 275.64299 280.64698 285.65098 290.65498 295.65898 300.15898 302.66099 307.66499 312.16499 317.16899 322.17298">chapter for more details and the device data sheet for the frequency ranges used.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 152.94954 548.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 15.507001 20.511002 25.515004 27.513005 32.517007 37.521009 40.023008 45.027009 47.529008 56.529008 59.031007 64.035 69.039 75.537 78.039 80.541 83.538 88.542 93.546 98.549999 103.55399 108.55799 113.05799 117.55799 120.05999 123.05699 128.06099 133.06499 138.06899 143.07299 145.57498 150.07498 155.07898 157.07698 162.08098 166.58098 169.08298 174.08698 179.09098 181.59297 184.09497 189.09897 192.09597 194.59796 197.09996 202.10396 207.10796 209.60996 214.10996 217.10695 221.60695 226.10695 228.60895 233.61295 235.61095 238.11295 243.11695 247.61695 252.11695 254.11495 256.11296 258.11094 263.11494 265.61695 270.62095 273.61796 276.11997">Encoding 0 &#x2014; Low frequency range selected for the crystal oscillator .</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 152.94954 559.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 6.0030205 11.007021 15.507021 20.51102 25.515023 27.513024 32.517026 37.521028 40.023027 45.027029 47.529027 56.529027 59.031026 65.52902 67.52702 72.53102 77.53502 80.03702 82.53902 85.53602 90.540019 95.544017 100.54801 105.55201 110.55601 115.05601 119.55601 122.05801 125.05501 130.059 135.063 140.067 145.071 147.573 152.073 157.077 159.075 164.079 168.579 171.081 176.08499 181.08899 183.59099 186.09299 191.09699 194.09398 196.59598 199.09798 204.10198 209.10597 211.60797 216.10797 219.10497 223.60497 228.10497 230.60697 235.61096 237.60897 240.11096 245.11496 249.61496 254.11496 256.11296 258.11094 260.10893 265.1129 267.61494 272.61894 275.61595 278.11796">Encoding 1 &#x2014; High frequency range selected for the crystal oscillator .</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 152.94954 572.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 6.0030405 11.007041 15.507041 20.511042 25.515042 27.513043 32.517045 37.521047 40.023046 45.027048 47.529047 56.529047 59.031045 65.03404 70.03804 73.03504 77.53504 80.03704 85.04104 87.03904 92.04304 97.047039 99.549037 102.05103 105.048038 110.05203 115.05603 120.06003 125.064029 130.06803 134.56803 139.06803 141.57003 144.56702 149.57102 154.57501 159.57901 164.58301 167.085 171.585 176.589 178.587 183.591 188.091 190.593 195.597 200.601 203.103 205.605 210.609 213.60599 216.10799 218.60999 223.61399 228.61798 231.11998 235.61998 238.61698 243.11698 247.61698 250.11898 255.12297 257.12098 259.623 264.62699 269.12699 273.62699 275.62498 277.62297 279.62095 284.62495 287.12696 292.13096 295.12797 297.62998">Encoding 2 &#x2014; Very high frequency range selected for the crystal oscillator .</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 590.4328)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">3</tspan><tspan y="18.83789" x="22.797 29.295002 36.297 43.299">HGO0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01034" x="296.469 302.96699 308.46598 313.46998 318.96897 321.96598 326.96998 330.47099 332.973 337.977 342.981 345.483 352.98 358.479 360.98103 363.97804 366.48005 371.97904 377.47804 380.97904 386.47804 391.97703 396.98103 401.98503 404.48704 410.98503 413.48704 418.98603 423.99003 428.99403 431.49604 438.49806 443.50205 449.00105 454.00505 457.50605 462.51005 465.50706 471.00605 474.50706 477.00907 480.00608 487.50309 494.00108 501.00309">Chapter 25 Multipurpose Clock Generator (MCG)</tspan></text>
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