birdcage/docs/K60-refman-vectors/K60-reference-manual_page_573.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

1328 lines
109 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="113.05" x="71.998 81.336 87.552 92.998 99.214008 103.106 106.606 113.606 119.82201 123.714008 130.714 136.93001 142.376 145.876 150.53801 157.53801 162.20001 165.70001 175.80802 185.14601 192.93001 201.48401 204.98401 211.20001 218.20001 225.20001 228.70001 238.80802 251.25402 261.362 268.362 275.362 278.862 285.862 289.754 293.646 299.092 302.592 308.808 313.47 319.686 323.186 330.186">Reset values for DRST and DMX32 bits are 0.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 92.01611 183.20001)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00197 5.0059707 10.009972 15.013972 20.017973 25.021973 30.025975 35.029977 40.033979 45.03798 50.04198 52.54398 57.54798 62.551984 67.05199 72.055988 74.55798 79.81398 82.31598 87.31998 92.323978 94.82597 99.82997 102.33197 104.83397 109.33397 114.33797 116.839969 119.341968 124.59796 127.09996 132.10396 137.10796 142.11196 147.11595 152.11995 157.12395 162.12795 167.13195 172.13594">4006_4000h base + 3h offset = 4006_4003h</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000017 202.20001)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="43.83197 48.50097 50.05497">Bit</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 110.000019 202.20001)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.05197">7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 166.00002 202.20001)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.05197">6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 222.00002 202.20001)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.05197">5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 278 202.20001)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="25.92597">4</tspan></text>
<g clip-path="url(#clip_1)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 334 202.20001)" 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 1 390 202.20001)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.054">2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 446 202.20001)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.054">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 502 202.20001)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.054">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 213.45001)" font-size="9" font-family="HelveticaLTStd"><tspan y="6.83789" x="30.243 36.741 41.745004 46.749006">Read</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.25 215.70001)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.08789" x="10.749 17.247 24.744 30.747 35.751">DMX32</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 168.25 215.70001)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.08789" x="29.496 35.994 42.492 48.495004 53.994005 58.998006 65.496 71.994">DRST_DRS</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 280.25 215.70001)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.08789" x="92.757 98.256008 104.754009 110.253009 116.75101 119.253009">FCTRIM</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 504.25 215.70001)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.08789" x="5.75401 11.75701 18.25501 23.754012 29.253012 35.75101 38.25301">SCFTRIM</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 222.45001)" font-size="9" font-family="HelveticaLTStd"><tspan y="6.83789" x="30.75602 39.25202 42.249025 44.247026 46.749025">Write</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 231.45001)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="28.48802 34.98602 39.99002 44.49002 49.494024">Reset</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 110 231.70001)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="25.50002">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 166 231.70001)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="25.50002">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 222 231.70001)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="25.50002">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 278 231.70001)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="23.87102 28.37102">x*</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 334 231.70001)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="24.003 28.503">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 390 231.70001)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="24.003 28.503">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 446 231.70001)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="24.003 28.503">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 502 231.70001)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="24.003 28.503">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 244.70001)" font-size="9" font-family="HelveticaLTStd"><tspan y="15.83789" x="0 3.5010002 6.0030004 12.501001 17.505002 20.007002 25.011002 29.511002">* Notes:</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 68.2366 263.7)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 4.5 7.0020005 12.258001 14.760002 21.258004 26.262005 31.266007 36.270009 38.772008 40.770009 45.77401 50.77801 55.782014 58.28401 63.288015 65.790019 68.292018 71.28902 76.293018 80.793018 85.79701 88.29901">x = Undefined at reset.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 263.7)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">&#x2022;</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 64.2366 274.7)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.505001 13.005001 18.009003 20.007004 25.011006 30.015007 32.517007 35.019006 40.023008 43.020009 45.522008 51.021009 57.51901 63.01801 69.51601 72.018009 79.51501 82.017009 84.01501 88.51501 91.017009 93.01501 98.019008 103.023 108.027 113.031 118.034999 120.536998 125.54099 130.545 133.54199 135.54 140.54399 145.54799 148.04999 151.04698 156.05098 160.55098 165.55498 168.05698 170.55898 173.06098 176.05797 181.06197 188.55896 191.06096 196.06496 198.56696 201.06896 206.07295 210.57295 213.07495 218.07895 221.07595 225.57595 228.07794 233.08194 236.07894 241.08293 246.08693 249.08393 254.08792 261.58494 269.08195 274.08595 279.08995 281.59196 283.58995 288.59394 293.09394 298.09794 300.59996 302.59794 307.60194 312.60594 315.10795 317.60997 320.11198 324.61198 327.11399 332.37 334.872 341.37 346.374 351.378 356.382 358.884 360.882 365.886 370.88999 375.89399 378.396 383.4 385.902 388.40403 391.40104 396.40504 400.90504 405.90904 408.41105">A value for FCTRIM is loaded during reset from a factory programmed location . x = Undefined at reset.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 274.7)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">&#x2022;</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 295.69999)" 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_C4 field descriptions</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.500005 317.44999)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="25.79401 31.29301 33.79501 38.79901 41.30101">Field</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.10002 317.44999)" 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 56.250009 333.44999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">7</tspan><tspan y="18.83789" x="20.547 27.045002 34.542005 40.545007 45.549009">DMX32</tspan></text>
<g clip-path="url(#clip_28)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85002 333.44999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 12.996001 19.998002 22.500002 29.997002 35.001005 39.501005 41.499006 48.996007 54.000009 61.49701 63.99901 69.49801 72.49501 77.49901 82.503009 87.507 92.511 97.515 102.015 106.515 109.017 115.515 117.513 120.015 125.019 127.520999 132.525 137.52899 140.03099 145.03499 150.03899 155.04299 157.54499 162.04499 168.54299 173.04299 175.54499 182.04299 187.04698 189.54898 194.55298 197.54998 202.55397 207.55797 212.05797">DCO Maximum Frequency with 32.768 kHz Reference</tspan><tspan y="26.83789" x="0 5.499 10.503 15.507001 18.009 24.507002 32.004 38.007005 43.011007 48.015008 50.517007 55.521009 57.51901 60.021009 62.523008 67.02301 72.02701 77.031009 79.533008 82.53001 87.534008 89.532009 94.032009 96.534008 103.032009 108.036 113.04 115.542 120.546 125.549999 128.547 131.049 133.551 138.555 143.55899 146.06099 152.55899 159.05699 166.05899 168.56099 171.06299 174.05998 179.06398 184.06798 189.07198 194.07598 199.07997 203.57997 208.07997 210.58197 213.57897 218.58296 223.58696 228.59096 233.59496 236.09696 238.09496 242.59496 245.09696 250.10095 255.10495 258.10197 261.09898 266.10298 272.60096 277.60496 282.60896 285.11097 287.61299 292.61698 295.119 297.11698 299.619 304.119 306.621 314.118 319.122 323.622 325.62 333.117 338.121 345.618 348.12004 350.62205 353.61906 358.62306 363.62705 368.63105 373.63505 378.63905 383.13905 387.63905 390.14106 396.63905 398.63703 401.13905 406.14305 408.64506">The DMX32 bit controls whether the DCO frequency range is narrowed to its maximum frequency with a</tspan><tspan y="37.83789" x="0 5.0040009 10.008001 12.510002 17.514004 22.518006 27.522007 30.024008 34.52401 41.02201 45.52201 48.02401 51.02101 56.025014 58.52701 63.531015 66.528018 71.53201 76.53601 81.03601 86.04001">32.768 kHz reference.</tspan><tspan y="54.237894" x="0 5.499 10.503 15.507001 18.009 20.511002 25.515004 27.513005 29.511006 34.515008 41.01301 43.01101 48.01501 53.019014 55.52101 58.02301 63.02701 68.03101 70.029018 75.03301 77.53501 79.53301 84.53701 89.54101 94.545009 97.047008 99.045009 101.547008 103.545009 108.549 113.049 115.551 120.051 125.055 127.557 130.059 132.057 137.061 142.065 146.565 149.067 151.569 156.573 159.56999 162.07199 164.57399 169.57799 174.58199 177.08399 183.58199 190.07999 197.08199 199.58399 202.08599 205.08298 210.08698 215.09098 220.09497 225.09897 230.10297 234.60297 239.10297 241.60497 244.60196 249.60596 254.60996 259.61396 264.61796">The following table identifies settings for the DCO frequency range.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 166.93567 398.84999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 22.509 27.009 31.509 34.011 39.015005 46.512006 49.014005 53.514005 55.512006 60.516008 65.01601 69.51601 74.01601 76.518009 81.522 86.526 89.523 91.521 96.021 101.025 106.029 108.531 111.033 114.03 119.034 126.531 129.033 131.535 136.539 138.537 143.037 145.539 150.039 155.043 160.047 163.04399 167.54399 172.54799 175.04999 179.54999 184.55399 189.55799 194.56198 196.55998 201.56398 204.06598 209.06998 214.07398 216.57598 219.07798 224.08197 228.58197 233.08197 238.08597 243.08997 248.09397 250.59597 253.09796 258.10197 263.10597 265.10395 268.10096 270.60298 275.10298 280.10697 285.11097 289.61097 291.60896 294.11097 296.10896 301.11296 306.11695 308.61897 316.11598 321.11997 325.61997 327.61796 335.11497 340.11897 347.61598 352.11598">The system clocks derived from this source should not exceed their specified maximums.</tspan></text>
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<path transform="matrix(1,0,0,1,131.85002,468.34999)" d="M254.59003 .25H338.87004V15.25H254.59003Z" fill="#ffffff" fill-rule="evenodd"/>
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<g clip-path="url(#clip_50)">
<path transform="matrix(1,0,0,1,131.85004,483.84999)" d="M169.81002 .25H254.09003V15.25H169.81002Z" fill="#ffffff" fill-rule="evenodd"/>
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<g clip-path="url(#clip_52)">
<path transform="matrix(1,0,0,1,131.85004,499.34999)" d="M.25 .25H84.53001V30.75H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 134.10004 501.59999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">10</tspan></text>
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<g clip-path="url(#clip_55)">
<path transform="matrix(1,0,0,1,131.85002,499.34999)" d="M254.59003 .25H338.87004V15.25H254.59003Z" fill="#ffffff" fill-rule="evenodd"/>
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<g clip-path="url(#clip_57)">
<path transform="matrix(1,0,0,1,131.85004,514.85)" d="M.25 .25H84.53001V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 134.10004 517.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">1</tspan></text>
<g clip-path="url(#clip_58)">
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<g clip-path="url(#clip_59)">
<path transform="matrix(1,0,0,1,131.85004,514.85)" d="M169.81002 .25H254.09003V15.25H169.81002Z" fill="#ffffff" fill-rule="evenodd"/>
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<g clip-path="url(#clip_61)">
<path transform="matrix(1,0,0,1,131.85004,530.35)" d="M.25 .25H84.53001V30.75H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 134.10004 532.6)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">11</tspan></text>
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<g clip-path="url(#clip_64)">
<path transform="matrix(1,0,0,1,131.85002,530.35)" d="M254.59003 .25H338.87004V15.25H254.59003Z" fill="#ffffff" fill-rule="evenodd"/>
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<path transform="matrix(1,0,0,1,131.85004,545.85)" d="M.25 .25H84.53001V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<g clip-path="url(#clip_68)">
<path transform="matrix(1,0,0,1,131.85004,545.85)" d="M169.81002 .25H254.09003V15.25H169.81002Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 17.99997)" 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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