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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_597.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

221 lines
35 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 381.17536 149.42548)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="0" x="-.00357 2.01243">IN</tspan><tspan y="9.02376" x="-19.19877 -14.40357 -10.40037 -5.6051695 -.8027692 1.2132309 7.160431 12.776431 17.97483 22.770031 24.786032">BLPE MODE ?</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -.9646454 -11.794533)" font-size="9" font-family="HelveticaLTStd"><tspan y="111.40689" x="368.42225 374.91123 379.90623 382.42625 387.67326 390.17527 395.17927 399.67927 404.68327">C6 = 0x40</tspan><tspan y="147.18795" x="185.49727 191.99527 196.99927 199.50127 204.75727 207.25926 212.26326 216.76326 221.76726">C2 = 0x1C</tspan><tspan y="83.7076" x="185.20026 191.20326 196.70226 202.70526 209.20326">START</tspan><tspan y="99.90761" x="172.44725 174.94925 181.44725 183.94925 189.44824 195.45125 197.95325 200.45525 207.95224 214.95424 221.45224">IN FEI MODE</tspan><tspan y="274.48374" x="249.43325 255.93125">NO</tspan><tspan y="365.5402" x="251.08026 257.57826">NO</tspan><tspan y="447.36256" x="251.38626 257.88426">NO</tspan><tspan y="587.1503" x="251.98926 258.48725">NO</tspan><tspan y="530.09408" x="438.97325 445.47123">NO</tspan><tspan y="400.69355" x="439.57624 446.07423">NO</tspan><tspan y="313.7194" x="437.45225 443.95024">NO</tspan><tspan y="168.25743" x="436.54325 443.04124">NO</tspan><tspan y="214.32036" x="394.28825 400.29124 406.29423">YES</tspan><tspan y="355.0775" x="405.19624 411.19923 417.2022">YES</tspan><tspan y="404.02705" x="220.34525 226.34825 232.35126">YES</tspan><tspan y="320.24366" x="213.54125 219.54425 225.54726">YES</tspan><tspan y="496.75904" x="213.06426 219.06726 225.07027">YES</tspan><tspan y="447.27384" x="397.50126 403.50425 409.50724">YES</tspan><tspan y="635.33468" x="212.46126 218.46427 224.46727">YES</tspan><tspan y="580.43649" x="398.92326 404.92625 410.92924">YES</tspan><tspan y="275.3099" x="189.14226 195.64026 202.13826 208.14127 214.63927">CHECK</tspan><tspan y="209.47379" x="185.11026 191.60826 196.61226 199.11426 204.37026 206.87226 211.87625 216.37625 221.38025">C1 = 0x90</tspan></text>
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<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 187.37537 352.46549)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="0" x=".00185 5.1858508 10.369851 15.1650509 20.34905">CHECK</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -.9646454 -11.794533)" font-size="9" font-family="HelveticaLTStd"><tspan y="585.61666" x="187.86244 193.86545 200.36345 205.85344 211.85645">ENTER</tspan><tspan y="598.3966" x="174.36244 180.37445 185.38745 191.39946 197.33946 199.85947 207.37447 214.38547 220.89247 226.83248 229.35248">BLPE MODE ?</tspan><tspan y="661.3781" x="177.62949 184.12749 189.13149 191.63349 196.88948 199.39148 204.39548 208.89548 213.89948">C2 = 0x1E</tspan><tspan y="672.6281" x="174.38048 177.37747 183.87548 188.87947 191.38147 196.38547 202.38848 204.89048 207.39247 212.64847 215.15047 220.15447">(C2[LP] = 1)</tspan></text>
<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 373.85536 301.22547)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="0" x=".00188 5.1858808 10.369882 15.165081 20.349081">CHECK</tspan></text>
<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 372.35536 386.72547)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="0" x=".00188 5.1858808 10.369882 15.165081 20.349081">CHECK</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -.9646454 -11.794533)" font-size="9" font-family="HelveticaLTStd"><tspan y="474.78" x="370.60749 377.08747 382.05546 384.57548 389.8585 392.3605 397.3645 401.8645 406.8685">C1 = 0x10</tspan></text>
<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 373.85536 520.22549)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="0" x="-.00351 5.1876909 10.371692 15.159692 20.350893">CHECK</tspan></text>
<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 365.75538 604.70547)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="0" x="-.00351 5.1876909 10.774892 16.009293 20.372494 22.359694 27.550894 32.734895">CONTINUE</tspan><tspan y="12.24" x="-2.4011 -.4066999 4.7845008 6.7501008 11.5453009 16.3405 21.1357 23.151701 29.106102 34.722105 39.913305">IN PEE MODE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -.9646454 -11.794533)" font-size="8.8" font-family="HelveticaLTStd"><tspan y="323.66685" x="365.6693 371.5389 373.98533 379.85493 384.7477 389.6405 395.5101 400.8869 403.3333 405.77973 410.9189 413.36534 418.25813">S[PLLST] = 1?</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 155.27822 55)" font-size="8.8" font-family="HelveticaLTStd"><tspan y="344.17359" x="212.68134 218.55094 220.99733 225.89014 232.73654 239.09015 244.95975 247.40615 249.85254 254.99175 257.43815 262.33094">S[LOCK] = 1?</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -.9646454 -11.794533)" font-size="8.8" font-family="HelveticaLTStd"><tspan y="458.7981" x="172.03415 177.90375 180.35015 186.70375 191.59656 197.46616 203.33576 208.71256 211.15895 213.60535 218.74456 221.19095 229.01415 233.90695 238.79976">S[CLKST] = %10?</tspan><tspan y="544.7129" x="354.46696 360.33656 362.78297 369.13658 374.02937 379.89897 385.76856 391.14537 393.59178 396.03819 401.17738 403.62379 411.447 416.33979 421.23258">S[CLKST] = %11?</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="677.7858" x="32.60854 39.94054 43.276544 50.608545 57.940546 62.608545 69.28055 72.61655 79.28854 85.96054 89.95654 96.62854 103.30054 106.636539 109.972537 117.304538 120.64053 127.972537 137.30854 143.98053 151.31253 157.98453 162.65253 166.64853 169.98453 177.31653 181.31253 184.64853 191.98053 199.98453 203.32053 206.65653 210.65253 217.98453 221.32053 229.32453 237.32852 245.33252 248.66852 259.33653 266.66853 274.00053 280.67253 284.0085 288.00453 292.67253 299.3445 306.6765 313.3485 316.6845 320.6805 324.0165 331.3485 338.6805 342.0165 349.3485 356.0205 359.3565 366.6885 374.0205 377.3565 384.0285 391.3605 394.6965 401.3685 404.7045 414.7005 423.3645 429.3645 432.7005 439.3725 444.0405 450.7125 457.3845 461.3805 468.0525">Figure 25-17. Flowchart of FEI to PEE mode transition using an 4 MHz crystal</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="26.01031" 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>
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