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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

316 lines
32 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="20" font-family="HelveticaLTStd" font-weight="bold"><tspan y="88.19531" x="0 14.4400019 26.660002 37.780004 50.000005 56.660005 67.78001 75.560009 81.12">Chapter 1</tspan><tspan y="110.19531" x="0 14.4400019 26.660002 38.88 51.100004 57.760004 63.320005 75.54 87.76 93.32 104.44 110 124.44 136.66 147.78 160 177.78 188.9 201.12">About This Document</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".00601 9.458011 14.184011">1.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 91.80322 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".00601 13.232011 22.684012 32.136014 38.749013 48.20101 52.927015 62.379014">Overview</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 267.8)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00501 8.9010109 13.34901 22.24501 26.69301">1.1.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.757328 267.8)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00501 10.677011 20.45301 26.677012 36.45301 46.22901 55.12501">Purpose</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 71.999988)" font-size="14" font-family="TimesLTStd"><tspan y="233.05" x="-.00099 8.55301 15.55301 19.445012 24.891013 28.391013 35.391016 42.391016 48.607015 55.607015 66.499019 72.71502 79.71502 83.60702 87.10702 94.10702 100.32302 105.76902 111.98502 116.647029 120.539028 127.539028 133.75502 139.20102 142.70102 146.59302 153.59302 159.80902 163.30902 167.97103 174.18703 180.40303 184.29503 191.29503 195.95703 202.17304 207.61904 211.11904 214.61904 220.83504 225.49704 231.71305 238.71305 242.60504 246.49704 252.71305 258.92906 262.82106 269.82106 274.48304 280.69905 284.19905 287.69905 293.91505 300.91505 307.91505 311.41505 318.41505 323.07704 330.07704 337.07704 341.739 347.95503 358.84703 369.739 373.631 380.631 387.631 391.131 402.023 409.023 416.023 422.239 426.131 429.631 436.631 441.293 444.793 448.685 455.685">This document describes the features, architecture, and programming model of the</tspan><tspan y="249.05" x="-.00093 7.783071 12.445071 18.661072 24.877072 30.323073 36.539075 42.755075 46.647077 52.863077 56.363077 66.47108 73.47108 80.47108 83.97108 94.863079 98.75507 104.97108 109.63308 116.63308 122.84908 129.84909 136.84909 140.74109 145.40309 152.40309 156.29509 160.18709 166.40309 171.0651">Freescale K60 microcontroller.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 362.59999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00506 8.901061 13.349062 22.245064 26.693064">1.1.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.757328 362.59999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00506 11.557061 21.333062 31.109063 35.557065 44.453065 54.229066 63.125066">Audience</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 71.99997)" font-size="14" font-family="TimesLTStd"><tspan y="327.85" x=".00507 8.55907 15.55907 19.45107 24.897072 28.397072 35.39707 42.39707 48.61307 55.61307 66.50507 72.72108 79.72108 83.613079 87.113079 91.00507 96.45107 99.95107 106.95107 111.613079 115.50507 126.39707 132.61307 137.27507 141.16707 145.05907 152.05907 155.55907 160.22107 167.22107 171.88307 175.38307 180.82907 187.82907 193.27507 197.16707 203.38307 214.27507 217.77507 223.99108 228.65308 234.86908 241.86908 245.76108 249.65308 255.86908 262.08509 265.97709 271.4231 274.9231 281.1391 288.1391 295.1391 298.6391 304.0851 311.0851 315.7471 319.6391 329.7471 335.9631 340.6251 346.8411 350.3411 356.5571 363.5571 370.5571 374.4491 378.3411 384.5571 390.7731 394.6651 398.5571 405.5571 412.5571 416.0571 423.0571 429.2731 436.2731 442.4891 446.3811 453.3811 460.3811 466.5971 471.2591">This document is primarily for system architects and software application developers</tspan><tspan y="343.85" x=".00509 10.1130909 17.11309 24.11309 27.61309 33.82909 38.49109 44.70709 48.20709 55.20709 60.653089 64.54509 71.54509 78.54509 82.04509 89.04509 93.70709 97.20709 103.423099 110.423099 117.423099 122.869098 126.76109 133.7611 139.9771 144.6391 148.5311 155.5311 162.5311 166.0311 173.0311 178.4771 182.3691 189.3691 196.3691 199.8691 203.7611 210.7611 216.9771 220.4771 230.5851 237.5851 244.5851 248.0851 258.9771 262.8691 269.0851 273.7471 280.7471 286.9631 293.9631 300.9631 304.8551 309.5171 316.5171 320.4091 324.3011 330.5171 335.17909 338.67909 342.57109 349.57109 353.07109 359.28709 362.78709 368.2331 375.2331 380.6791 384.5711 390.7871 401.6791">who are using or considering using the K60 microcontroller in a system.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 462.19996)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".0011 9.4531 14.1791">1.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 91.80322 462.19996)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".0011 12.275101 22.662102 33.049104 42.501104 51.953104 62.340105 68.00111 72.727108 83.114109 93.50111">Conventions</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 508.19996)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.0069 8.889101 13.337101 22.2331 26.6811">1.2.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.757328 508.19996)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.0069 11.545101 21.321103 35.545106 45.321107 54.217107 60.441106 64.88911 74.66511 84.44111 88.88911 97.78511 106.681118 115.57712 120.90512 129.80112 144.02512">Numbering systems</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 71.99997)" font-size="14" font-family="TimesLTStd"><tspan y="473.44999" x="-.0009 8.5531 15.5531 21.7691 25.2691 29.9311 36.9311 40.8231 44.715105 51.715105 61.823106 65.7151 72.7151 79.7151 83.2151 88.6611 95.6611 100.323108 104.98511 108.877109 115.877109 122.09311 127.53911 131.03911 134.9311 141.9311 148.14711 155.14711 159.03911 162.9311 167.59311 174.59311 178.09311 185.09311 188.9851 193.64711 198.30912 204.52512 209.18712 215.40312 222.40312 226.29512 229.79512 236.79512 243.79512 254.68712 261.68714 267.90315 272.56513 276.45713 283.45713 290.45713 293.95713 299.40315 306.40315 311.84916 315.74116 321.95716 332.84916 338.29518">The following suffixes identify different numbering systems:</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 729.26937)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.01001 137.23001 142.79001 148.35 151.13 157.8 163.91 170.02 173.35 179.46 185.02 193.91 196.69 199.47 205.03 207.81 215.03 220.59 223.92 229.48 233.37 238.93 245.04 250.59999 256.16 258.94 267.27 272.83 278.93998 285.04997 290.60997 293.38996 296.16996 298.94996 306.16996 311.72996 317.28996 320.06996 322.84996 328.40995 331.18995 336.74995 342.85993 348.9699 351.7499 357.3099 362.8699 368.4299">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 746.0867)" 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 1 220.32 746.0867)" 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 1 391.68 746.0867)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="156.312 161.316">59</tspan></text>
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