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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

111 lines
16 KiB (Stored with Git LFS)
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131.48809 135.38008 138.88008 143.54209 149.75809 154.42009 160.6361 165.2981 171.5141 178.5141 184.7301 190.9461">the internal reference.</tspan><tspan y="92.65" x="31.500084 38.500085 48.006086 56.560087 63.560087 70.56009 77.56009 81.06009 88.06009 95.06009 98.95209 102.844089 106.736087 110.236087 118.02009 122.68209 127.34409 136.6821 145.2361 153.0201 160.8041 169.3581 174.0201 177.5201 181.4121 186.8581 190.3581 197.3581 200.8581 204.3581 208.25009 215.25009 222.25009 226.14209 232.3581 238.5741 242.4661 246.3581 253.3581 260.3581 263.8581 267.7501 274.7501 280.9661 284.4661 288.3581 295.3581 299.2501 305.4661 310.12809 317.12809 323.3441 327.23609 330.73609 335.39808 341.61408 346.27607 352.49208 357.15406 363.37007 370.37007 376.58607 382.80207 386.30207 392.51808 396.41007 403.41007 409.62608 416.62608 420.12608 427.12608 433.34208 438.7881 442.2881 449.2881 455.5041 461.7201">b.Loop until S[IREFST] is 1, indicating the internal reference clock has been</tspan><tspan y="108.65" x="48.006074 53.452074 59.66807 63.560075 69.77608 75.99208 79.88408 86.10008 93.10008 96.60008 102.816089 108.262088 111.762088 115.65408 122.65408 128.87009 132.37009 137.03209 143.2481 147.9101 154.1261 158.7881 165.0041 172.0041 178.22011 184.43611 187.93611 194.15212 198.04412 205.04412 211.26012 218.26012 221.76012 227.20612 234.20612 241.20612 245.86812 252.08412 258.3001">selected as the reference clock source.</tspan><tspan y="133.05" x="32.284093 38.50009 48.006093 56.560094 63.560094 70.56009 77.56009 81.06009 88.06009 95.06009 98.95209 102.844089 106.736087 110.236087 118.02009 122.68209 132.0201 140.5741 150.6821 158.4661 167.0201 171.6821 175.1821 181.3981 186.0601 192.27611 195.77611 202.77611 205.29611 212.29611 219.29611 226.29611 229.79611 233.29611 237.18811 244.18811 251.18811 255.08011 261.2961 267.51213 271.4041 275.2961 282.2961 289.2961 292.7961 296.6881 303.6881 309.9041 313.7961 317.2961 321.1881 328.1881 334.4041 337.9041 341.7961 348.7961 352.6881 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223.1321 230.1321 237.1321 243.3481">4.Lastly, FBI transitions into BLPI mode.</tspan><tspan y="197.85" x="32.28411 38.50011 48.00611 57.344114 64.34412 67.84412 75.74011 79.24011 86.24011 93.24011 100.24011">a.C2 = 0x02</tspan><tspan y="222.25" x="61.09611 72.002109 81.3401 88.3401 93.002109 101.55611 109.34011 114.00211 117.50211 121.39411 126.84011 130.34012">&#x2022;C2[LP] is 1</tspan><tspan y="246.65" x="61.096124 72.00212 81.34012 88.34012 93.00212 102.34012 112.44812 122.55612 132.66413 141.21813 148.21813 152.88013 156.38013 159.88013 169.21813 176.21813 180.88013 190.98813 201.09613 211.20413 218.20413 222.86614 226.36614 229.86614 239.20413 246.20413 250.86614 259.42015 268.75816 277.31214 285.09614 292.88014 299.88014 304.5421 308.0421 311.5421 320.88014 327.88014 332.5421 337.2041 346.5421 355.88014 364.4341 374.5421 383.0961 393.2041 397.8661 401.3661 404.8661 411.0821 418.0821">&#x2022;C2[RANGE0], C2[HGO0], C2[EREFS0], C1[IRCLKEN], and</tspan><tspan y="262.65" x="72.00214 81.34013 88.34013 93.00214 97.66414 107.00214 115.55614 123.34014 131.12415 139.67815 148.23215 158.34015 163.00215 166.50215 173.50215 177.39415 181.28615 186.73215 190.23215 196.44815 201.11016 207.32616 210.82616 214.71816 221.71816 228.71816 235.71816 240.38016 246.59616 253.59616 257.09617 267.20417 274.20417 280.42018 287.42018 290.92018 294.81217 301.81217 308.02818 311.52818 320.86619 327.86619 332.52818 337.19017 346.52818 355.08216 362.86616 370.65016 375.31214 378.81214 385.81214 389.70414 393.59614 397.09614 400.98814 406.43415 409.93415 415.38017 421.59617 425.48817 428.98817 432.48817 441.04216 448.04216 454.25816 461.25816 464.75816 470.97416 477.19017">C1[IREFSTEN] bits are ignored when the C1[IREFS] bit is set. They can</tspan><tspan y="278.65" x="72.00214 76.66414 82.88014 93.77214 99.988147 103.88014 110.88014 114.38014 119.82614 126.042148 129.93415 133.43415 136.93415 143.93415 148.59615 152.09615 159.09615 165.31215 168.81215 175.02816 178.92015 185.13616 191.35216 196.01416 202.23017 209.23017 212.73017 218.94617 222.83817 226.33817 230.23017 237.23017 241.12216 246.56816 250.06816 257.06819 264.06819 267.96018 274.96018 278.85218">remain set, or be cleared at this point.</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="26.01035" 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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<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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