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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_583.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

208 lines
36 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 54 54)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="46.71601" x="47.26 57.647 68.034 78.421 87.873 93.534008 98.26 108.647 119.034008 128.48601 133.212 137.938 150.212 159.664 169.116 178.568 185.181 189.907 200.29399 205.95499 210.68099 221.06798">Functional Description</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="115.05" x=".00699 8.56099 15.56099 21.77699 25.27699 32.276994 36.168996 43.168996 49.384996 52.884996 58.330995 62.222997 68.438999 72.33099 78.547 83.993 87.493 94.493 99.155 102.655 106.547 113.547 119.763 123.263 135.709 145.047 155.155 158.655 164.871 169.533 175.74901 179.24901 184.695 191.695 198.695 208.80301 215.80301 219.30301 223.195 230.195 233.695 237.587 244.587 250.80301 254.30301 258.965 265.965 269.857 273.749 280.749 290.857 294.749 301.749 308.749 312.249 316.91099 320.80299 327.80299 334.80299 339.46498 345.68098 349.18098 355.39698 362.39698 369.39698 372.89698 379.11299 383.77497 389.99098 393.49098 400.49098 406.70698 412.15299 418.369 423.03099 426.92298 433.92298 440.13899 447.13899 450.63899 454.53099 461.53099">The nine states of the MCG are shown in the following figure and are described in </tspan></text>
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<path transform="matrix(-.479992,-.0027984002,.0027984002,-.479992,312.88633,281.5525)" stroke-width="1" stroke-linecap="butt" stroke-miterlimit="4" stroke-linejoin="miter" fill="none" stroke="#000000" d="M0 0 4-4-10 0 4 4 0 0Z"/>
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<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 328.5503 220.76345)" font-size="5.568" font-family="HelveticaLTStd"><tspan y="0" x="0 3.418752 7.1548807">FEE</tspan></text>
<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 265.91029 220.76345)" font-size="5.568" font-family="HelveticaLTStd"><tspan y="0" x="0 3.418752 7.1548807">FEI</tspan></text>
<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 190.13028 220.52346)" font-size="6.384" font-family="HelveticaLTStd"><tspan y="0" x=".00139 4.617022 8.172911 11.371294 14.927182">Reset</tspan></text>
<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 199.79029 317.78346)" font-size="5.568" font-family="HelveticaLTStd"><tspan y="0" x="-.00206 3.7396363 6.8632848 10.560437">BLPI</tspan></text>
<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 265.91029 284.78346)" font-size="5.568" font-family="HelveticaLTStd"><tspan y="0" x="-.00206 3.39442 7.1027085">FBI</tspan></text>
<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 328.5503 284.78346)" font-size="5.568" font-family="HelveticaLTStd"><tspan y="0" x="-.00206 3.42226 7.15282">FBE</tspan></text>
<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 389.39027 316.76344)" font-size="5.568" font-family="HelveticaLTStd"><tspan y="0" x="-.00206 3.7396363 6.8632848 10.560437">BLPE</tspan></text>
<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 328.3703 348.80335)" font-size="5.568" font-family="HelveticaLTStd"><tspan y="0" x="-.00206 3.7452043 7.486901">PBE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -1.4497223 -164.07656)" font-size="6.96" font-family="HelveticaLTStd"><tspan y="576.84" x="329.8226 334.49974 339.17686">PEE</tspan><tspan y="635.8799" x="283.9771 288.59858 290.5752 294.4171">Stop</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -1.4497223 -164.07656)" font-size="7.98" font-family="HelveticaLTStd"><tspan y="622.9197" x="341.26716 347.02873 351.47358 353.69203 358.1289 361.0097 365.4466 369.44456 371.00065 373.22706 377.66395 379.22004 381.44645 385.88334 390.32023 391.8843 395.8743 398.09275 402.5376 404.75605 409.19294 410.75703 412.97547 417.41236 421.8572 424.07566 425.6956 431.33747 435.77436 439.76435 441.38429 445.82914 449.81913 452.03758 453.81709 457.5916 462.03648 463.59257 468.0374 472.53016 474.51719 478.95408 481.61143 486.05628">Returns to the state that was active before </tspan><tspan y="632.9394" x="341.26716 343.4856 347.93046 352.36735 354.5858 361.23313 367.00267 372.76423 374.98268 379.4834 383.9203 386.1467 390.5836 393.24095 397.6858 402.12269 404.34114 409.6638 411.8902 416.3271 420.82783 423.04627 429.6936 434.13847 438.57536 442.89256 445.11897 447.3374 451.7743 456.21916 457.9907 462.42759 466.41758 470.41554 472.63398 477.07087">the MCU entered Stop mode, unless a </tspan><tspan y="642.95907" x="341.2672 343.92457 348.36943 352.3594 356.80427 359.0227 361.2491 365.686 369.68397 373.67396 378.1188 380.77616 384.7741 387.0484 392.81794 397.25483 399.03434 400.80589 405.25074 407.46919 409.2487 413.68559 415.90403 421.23466 423.4531 427.89796 432.33485 434.55329 441.2086 445.64549 450.09034 454.40754">reset occurs while in Stop mode.</tspan><tspan y="626.93997" x="128.70384 134.0265 138.46338 140.68183 145.1187 147.77603 152.2129 156.64978 158.86823 161.08667 163.744 168.18088 174.82822 177.04666 181.48354 185.92041 189.91042 192.12886 196.11887 198.33731 202.77419 204.99263 209.4295 211.64795 217.40952 221.84639 226.28327 230.72014">Entered from any state when </tspan><tspan y="636.915" x="128.70388 130.92232 135.35919 139.79607 142.01451 148.66185 154.42342 160.18498 162.40343 166.8403 171.27718 173.49562 177.9325 180.58983 184.57984 186.79828 192.12094 194.33939 198.77626 203.21314 205.43158 212.07892 216.5158 220.95267">the MCU enters Stop mode</tspan></text>
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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="449.40596" x="140.97599 148.30799 151.64398 158.97599 166.30799 170.97599 177.64798 180.98398 187.65598 194.32798 198.32398 204.99597 211.66797 215.00397 218.33997 228.33597 236.99997 246.33597 249.67197 260.33998 267.67198 275.00398 281.67597 285.01197 291.68397 295.67997 302.35197 306.34797 313.01997 316.35597 323.68797 327.02397 333.69596 341.02796 345.69596 352.36796">Figure 25-16. MCG mode state diagram</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="475.6255" x="232.55599 242.66399 253.55599 262.11">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="491.83879" x="85.09398 95.999988 106.10799 113.10799 117.76999 121.66199 128.66199 135.66199 139.16199 145.37799 152.37799 156.26999 160.16199 165.60799 169.10799 173.76999 178.43199 185.43199 196.32399 199.82399 208.37799 216.93199 224.71599 228.21599 235.21599 239.87799 243.37799 253.486 262.03999 269.82398 277.60798 281.10798 291.21598 298.21598 304.43199 311.43199 314.93199 318.82398 325.82398 332.03999 335.53999 347.986 357.324 367.432 370.932 374.824 380.27003 383.77003 387.66203 394.66203 398.16203 405.946 414.5">&#x2022;During exits from LLS or VLPS when the MCG is in PEE</tspan><tspan y="507.83879" x="95.99997 106.89197 113.89197 120.89197 127.10797 130.60797 134.10797 137.99997 144.99997 151.21598 154.71598 167.16197 176.49997 186.60797 190.10797 200.21598 204.10797 207.99997 211.89197 215.39197 220.05397 226.26998 231.71598 237.93198 241.82398 245.32398 249.21598 256.21598 259.71598 267.49998 276.83799 285.39198 288.89198 295.10798 298.99998 305.99998 312.21598 319.21598 322.71598 333.60798 340.60798 347.60798 353.82398 357.32398 363.53999 370.53999 377.53999 381.03999 384.93199 391.93199">mode, the MCG will reset to PBE clock mode and the</tspan><tspan y="523.83877" x="96 105.338 112.338 117 126.338 134.892 145 152.784 157.446 160.946 167.162 174.162 181.162 184.662 192.446 197.108 206.446 215 225.108 232.892 241.446 246.108 249.608 259.716 263.608 267.5 271.392 274.892 281.108 288.108 292 299 309.892 316.108 320 323.892 330.108 336.324 340.216 344.108 351.108 354.608 361.608 367.824 371.324 376.77003 382.98603 386.87803 390.37803 394.27003">C1[CLKS] and S[CLKST] will automatically be set to</tspan><tspan y="539.83877" x="96 103 107.662 114.662 121.662 128.662">2&#x2019;b10.</tspan><tspan y="564.2388" x="85.094 96 100.662 105.324008 108.824008 115.04001 122.04001 125.93201 132.14801 136.81002 140.70201 147.70201 154.70201 158.20201 168.31002 175.31002 179.97202 190.86402 197.08002 200.97202 204.47202 212.25601 216.14801 223.14801 230.14801 233.64801 244.54001 251.54001 258.54 264.756 268.256 278.364 285.364 291.58003 298.58003 302.08003 305.97203 312.97203 319.18803 322.68803 335.13404 344.47206 354.58006 358.08006 361.97206 367.41807 370.91807 374.81007 381.81007 385.31007 393.09407 401.64805">&#x2022;If entering Normal Stop mode when the MCG is in PEE</tspan><tspan y="580.2388" x="96 106.892 113.892 120.892 127.108 130.608 140.716 144.608 148.5 155.5 159 168.338 175.338 180 187.784 196.338 204.892 212.676 221.23 229.784 239.892 244.554 252.45 259.45 262.95 266.45 270.342 277.342 283.558 287.058 299.50404 308.84205 318.95005 322.45005 332.55805 336.45005 340.34205 344.23405 347.73405 352.39604 358.61204 364.05805 370.27406 374.16606 377.66606 381.55805 388.55805 392.05805 399.84205 409.18006">mode with C5[PLLSTEN]=0, the MCG will reset to PBE</tspan><tspan y="596.2388" x="96.00003 102.216037 106.10803 113.10803 119.324039 126.324039 129.82404 140.71604 147.71604 154.71604 160.93204 164.43204 170.64804 177.64804 184.64804 188.14804 197.48604 204.48604 209.14804 218.48604 227.04004 237.14804 244.93204 249.59404 253.09404 259.31004 266.31004 273.31004 276.81004 284.59403 289.256 298.59403 307.148 317.256 325.04 333.594 338.25599 341.75599 351.86399 355.75599 359.64799">clock mode and C1[CLKS] and S[CLKST] will</tspan><tspan y="612.2388" x="96.00005 102.21606 109.21606 113.108058 120.108058 131.00006 137.21607 141.10807 145.00006 151.21607 157.43207 161.32407 165.21607 172.21607 175.71607 182.71607 188.93207 192.43207 197.87807 204.09407 207.98607 211.48607 215.37807 222.37807 225.87807 232.87807 237.54007 244.54007 251.54007 258.54008">automatically be set to 2&#x2019;b10.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 18.000004)" 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>
<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="130.01 137.23 142.79 148.34999 151.12999 157.79999 163.90999 170.01999 173.34999 179.45999 185.01999 193.90999 196.68999 199.46999 205.02999 207.80998 215.02999 220.58998 223.91999 229.47998 233.36998 238.92998 245.03998 250.59998 256.15998 258.93998 267.26997 272.82997 278.93995 285.04994 290.60993 293.38993 296.16993 298.94993 306.16993 311.72993 317.28993 320.06993 322.8499 328.4099 331.1899 336.7499 342.8599 348.96989 351.74989 357.30989 362.86988 368.42988">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00401 5.5030105 8.5000109 13.504011 18.50801 23.00801 27.50801 32.512014 34.510015 39.514017 42.016016 48.019014 53.023015 60.520017 62.518018 67.01802 72.02202 77.02602 82.030017 87.03401 91.53401 94.03601 99.04001 102.03701 104.53901 107.04101 109.54301 114.547008 119.047008">Freescale Semiconductor, Inc.</tspan></text>
<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>
<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="151.308 156.312 161.316">583</tspan></text>
<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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