birdcage/docs/K60-refman-vectors/K60-reference-manual_page_604.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

671 lines
78 KiB (Stored with Git LFS)
XML

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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="11.85" x="0 7.784001 14.784 21.784 28 31.892 35.784 42.784 49.784 56 59.892004 63.392004 73.5 79.716 85.162 91.378009 96.04001 99.93201 106.93201 110.824008 114.716 121.716">Functional Description</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="11.85" x="128.716 132.216 139.216 145.432 150.878 157.09401 161.75601 165.64801 172.64801 178.86402 184.31002 187.81002 191.70201 198.70201 204.91802 208.41802 219.31002 226.31002 233.31002 240.31002 244.20201 250.41802 252.93802 258.38404 261.88404 268.88404 275.88404 282.10005 286.76203 292.97804 296.87004 300.76203 307.76203 314.76203 318.26203 322.15403 329.15403 332.65403 343.54603 350.54603 355.208 361.424 364.924 371.924 378.14 382.032 388.24803 392.14 396.032"> describes the module's operation in more detail.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 112.2)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00195 9.45005 18.90205 23.62805">26.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 112.2)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00196 12.272041 16.998042 27.38504 36.83704 46.28904 51.01504 63.289045 68.015048 77.46705 87.85405 94.46705 103.91905">Block Diagram</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 53.999998)" font-size="14" font-family="TimesLTStd"><tspan y="95.45" x=".00403 8.55803 15.55803 21.77403 25.27403 35.38203 43.16603 52.504034 56.004034 66.896038 73.896038 80.896038 87.896038 91.78803 98.004039 101.504039 108.504039 113.950038 120.16604 125.61204 129.11203 135.32804 138.82804 145.04404 149.70604 156.70604 162.15204 166.04404 172.26004 176.15204 179.65204 186.65204 191.31404 194.81404 199.47605 205.69205 211.13805 218.13805 225.13805 231.35405 235.24605 242.24605 246.90805 250.40805 254.30005 261.30006 264.80006 271.80006 278.01606 285.01606 291.23207 295.89405 302.11006 306.00205 312.21806 315.71806 319.61006 326.61006 331.27204 337.48805 343.70405 347.20405 351.86604 355.75804 359.65003 363.54203 369.75804 374.42 380.63603 387.63603 391.13603 398.13603 403.58204 409.79804 413.69004 417.58204 421.47404 427.69004 431.58204 438.58204 443.24403 446.74403 452.96003 456.85203 463.85203 470.06803">The OSC module uses a crystal or resonator to generate three filtered oscillator clock</tspan><tspan y="111.45" x=".00404 5.4500405 9.342041 16.342041 23.342041 29.55804 33.450044 38.89604 42.39604 45.89604 54.450044 61.450044 66.112049 72.32805 78.54405 82.04405 88.260059 92.152057 99.152057 105.36806 112.36806 117.81406 121.31406 127.53006 132.19207 138.40807 141.90807 148.90807 155.90807 159.80007 166.80007 173.80007 177.69207 181.19207 185.85407 190.51607 197.51607 208.40807 211.90807 222.01607 229.80007 239.13806 242.63806 253.53006 260.53007 267.53007 274.53007 278.42207 284.63807 288.53007 292.03007 302.13807 309.92207 319.26008 328.59809 337.15208 347.26008 350.76008 355.42207 362.42207 367.08406 370.58406 383.03007 392.36808 402.47608 405.97608 411.4221 418.4221 423.8681 427.7601 433.9761 444.8681">signals. Three clocks are output from OSC module: OSCCLK for MCU system,</tspan><tspan y="127.45" x=".0040700004 10.112071 17.896073 27.234074 35.788076 45.126077 54.464078 63.018079 73.126079 76.626079 81.28808 88.28808 92.95008 96.45008 103.45008 110.45008 115.11208 121.32809 128.3281 132.2201 139.2201 142.7201 149.7201 155.9361 160.5981 164.4901 171.4901 178.4901 184.7061 189.3681 195.5841 199.4761 204.9221 208.4221 211.9221 218.1381 225.1381 232.1381 235.6381 245.74611 253.5301 262.8681 269.8681 276.8681 286.9761 296.31413 304.8681 314.9761 318.4761 321.9761 330.5301 337.5301 343.7461 347.2461 357.3541 365.1381 374.4761 383.81413 392.3681 402.4761 405.9761 412.1921 418.4081 425.4081 428.9081 435.9081 442.9081 446.8001 453.8001 457.3001 467.4081 474.4081 479.0701 486.0701 489.5701 493.4621">OSCERCLK for on-chip peripherals, and OSC32KCLK. The OSCCLK can only work in</tspan><tspan y="143.45001" x=".0041000007 4.6661 11.6661 18.6661 22.1661 33.0581 40.0581 47.0581 53.2741 56.7741 60.2741 70.3821 78.16611 87.504108 96.058109 105.3961 114.7341 123.2881 133.3961 136.8961 143.1121 150.1121 157.1121 160.6121 170.72011 178.5041 187.8421 194.8421 201.8421 211.9501 221.2881 229.8421 239.9501 243.4501 249.6661 255.88211 262.8821 266.3821 276.4901 283.4901 288.1521 295.1521 298.6521 302.5441 309.5441 313.0441 316.9361 323.9361 334.0441 337.5441 344.5441 351.5441 361.6521 367.8681 372.5301 376.0301 386.9221 393.9221 400.9221 407.1381 412.5841 416.0841 419.5841 427.3681 434.3681 439.0301 442.5301 446.4221 453.4221 459.6381 463.1381 469.3541 473.2461 480.2461 486.4621">run mode. OSCERCLK and OSC32KCLK can work in low power modes. For the clock</tspan><tspan y="159.45001" x=".0041000007 5.4501006 12.4501 19.4501 24.1121 30.328103 36.5441 40.0441 46.2601 51.7061 57.1521 61.0441 68.0441 75.0441 85.9361 92.1521 99.1521 103.0441 108.4901 111.9901 115.4901 120.1521 126.3681 131.0301 137.24611 141.90811 145.40811 149.30011 156.30011 159.80011 163.69211 170.69211 176.90811 180.40811 186.62412 190.51612 197.51612 203.73212 210.73212 214.23212 221.23212 225.12412 230.57012 234.46212 239.12412 243.01612 250.01612 257.0161 260.9081 264.8001 271.8001 278.8001 282.3001 286.1921 293.1921 297.8541 304.8541 309.51609 320.40809 326.62409 330.51609 334.40809 341.40809 348.40809 351.90809 358.90809 363.57008 367.07008 370.96208 377.96208 381.85408 387.30009 390.80009 403.2461 412.5841 422.6921">source assignments, refer to the clock distribution information of this MCU.</tspan><tspan y="183.85" x=".0041000007 9.342101 15.558102 20.220103 26.436104 31.098105 34.598108 38.49011 45.49011 48.99011 52.88211 59.88211 66.098117 69.598117 75.81412 82.81412 86.706119 93.706119 97.206119 103.42212 110.42212 117.42212 122.08412 125.97612 132.97612 139.97612 144.63813 150.85413 154.74613 158.63813 165.63813 172.63813 176.13813 182.35413 189.35413 195.57013 202.57013 206.46213 212.67813 217.34014 220.84014 225.50214 232.50214 237.16414 240.66414 244.55614 251.55614 257.77214 261.27214 267.48814 274.48814 278.38014 284.59614 289.25813 296.25813 302.47413 306.36613 309.86613 314.5281 320.7441 325.4061 331.6221 336.2841 342.5001 349.5001 355.7161 361.9321 365.4321 371.6481 375.5401 382.5401 388.7561 395.7561 399.2561 404.70213 411.70213 418.70213 423.3641 429.5801 435.7961 439.2961 443.1881 450.1881 453.6881 457.5801 464.5801 468.4721">Refer to the chip configuration chapter for the external reference clock source in this</tspan><tspan y="199.85" x=".0041000007 12.450101 21.788102 31.896103">MCU.</tspan><tspan y="224.25" x=".0041000007 8.5581 15.5581 21.774102 25.274102 29.936102 36.936105 40.828107 44.720109 51.720109 61.82811 65.72011 72.72011 79.72011 83.22011 87.88211 91.77411 98.77411 105.77411 110.43611 116.652118 120.152118 125.598117 132.59812 139.59812 149.70612 155.15212 158.65212 162.54412 169.54412 175.76012 179.26012 186.26012 190.15212 197.15212 203.36812 210.36812 213.86812 220.86812 224.76012 230.97612 237.97612 242.63813 248.85413 259.74613 263.24613 270.24613 274.9081 278.4081 282.3001 289.3001 295.5161 299.0161 309.1241 316.9081 326.24613 329.74613 340.63813 347.63813 354.63813 361.63813 365.53013 371.74613">The following figure shows the block diagram of the OSC module.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 53.999986)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="533.9272" x="137.308 144.64 147.976 155.308 162.64 167.308 173.98 177.316 183.98799 190.65999 194.65599 201.32799 204.66399 207.99999 217.33599 225.33998 234.00399 237.33998 247.33599 254.66799 261.99998 269.33198 272.66798 279.33998 282.67597 291.33998 294.67597 302.00798 308.67997 315.35197 318.68797 327.35197 330.68797 337.35997 344.69197 349.35997 356.03196">Figure 26-1. OSC Module Block Diagram</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="619.56" x="0 8.554 15.554 21.77 25.27 29.932002 36.932 40.824 44.716005 51.716005 61.824007 65.716 72.716 79.716 83.216 87.108 93.324008 100.324008 104.216 110.43201 113.93201 119.378009 126.378009 133.378 143.48601 148.932 152.432 156.324 163.324 169.54001 173.04001 180.04001 185.48601 191.70201 196.36402 201.02602 207.24202 213.45803 219.67403 225.89003 231.33603 236.78203 240.67403 247.67403 251.56603 257.782 261.282 266.72804 270.62004 277.62004 284.62004 290.83604 294.72804 300.17405 303.67405 309.89006 316.89006 323.10606 326.99806 330.89006 337.10606 344.10606 347.99806 354.21406 357.71406 362.37605 369.37605 374.03804 377.53804 381.43003 388.43003 394.64604 398.14604 408.25404 416.03804 425.37605 428.87605 439.76805 446.76805 453.76805 460.76805 464.66004 470.87605">The following table shows the user-accessible signals available for the OSC module.</tspan><tspan y="635.56" x="0 9.338001 15.554002 20.216002 26.432003 31.094004 34.594 38.486005 45.486005 48.986005 54.432004 58.324007 65.324008 72.324008 78.54001 82.43201 85.93201 96.824008 103.824008 107.716 111.608 115.5 122.5 126.392 132.608 139.608 143.5 150.5 157.5 161 164.892 171.892 176.554 183.554 188.216 199.108 205.324 209.216 213.108 220.108 227.108 230.608 235.27 242.27 246.932 250.432 254.324 261.324 265.216 270.66203 274.16203 286.60804 295.94606 306.05406 309.55406 314.21604 321.21604 325.87803 329.37803 340.27003 347.27003 351.932 358.148 361.648 368.648 374.864 378.756 384.97203 388.864 392.756 398.20204">Refer to signal multiplexing information for this MCU for more details.</tspan></text>
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<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="130.00801 137.22801 142.78801 148.348 151.128 157.798 163.908 170.018 173.348 179.45801 185.018 193.908 196.688 199.468 205.028 207.808 215.028 220.588 223.918 229.478 233.368 238.928 245.038 250.59799 256.158 258.938 267.26799 272.82798 278.93797 285.04795 290.60795 293.38795 296.16795 298.94795 306.16795 311.72795 317.28794 320.06794 322.84794 328.40794 331.18794 336.74794 342.8579 348.9679 351.7479 357.3079 362.8679 368.4279">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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<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="44.775 50.274003 53.271005 58.275007 63.279008 67.77901 72.27901 77.283008 79.281009 84.285 86.787 92.79 97.794 105.291 107.289 111.789 116.793 121.797 126.800998 131.805 136.305 138.80699 143.81099 146.80799 149.30998 151.81198 154.31398 159.31798 163.81798">Freescale Semiconductor, Inc.</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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