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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_609.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

158 lines
32 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 17.792002 22.240002 31.136002 35.584005">26.8.1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 13.2814869 44.49917)" font-size="9.6" font-family="HelveticaLTStd"><tspan y="194.75597" x="338.59275 344.99595 350.33357 352.46476 357.80238 362.60237 365.27116 367.93995 372.73994 374.87113 380.20875 385.00874 389.80873 392.4775 395.1463 398.3431 403.68074 411.67753 414.3463 420.7495 427.1527 433.0183 439.4215 444.7591 447.4279 452.22789 454.35908 459.69667 465.03425 470.37184">Select clock from EXTAL signal</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="428.22544" x="138.97199 146.30399 149.63999 156.97199 164.30399 168.97199 175.64398 178.97998 185.65198 192.32398 196.31998 202.99198 206.32798 209.66397 218.99997 227.00397 235.66797 239.00397 248.99997 256.33198 263.66398 270.99598 274.33198 281.00398 284.33998 292.34397 296.33998 303.01197 307.00798 313.67997 317.01597 325.67997 329.01597 335.68797 343.01997 347.68797 354.35997">Figure 26-7. OSC Module 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="454.44499" x="232.56002 242.66802 253.56002 262.114">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="479.05827" x="71.994 82.102008 90.656009 99.21001 106.21001 115.548007 124.102008 134.21 137.71 141.602 147.048 150.548 154.44 161.44 167.656 171.156 177.37201 181.264 188.264 194.48001 201.48001 204.98001 211.98001 218.19602 225.19602 231.41202 236.07402 242.29003 246.18202 252.39803 259.398 262.898 266.79 273.79 277.682 283.898 288.56 295.56 301.776 305.668 309.56 316.56 320.06 324.722 329.38398 336.38398 347.27598 350.77598 360.88398 368.66798 378.00599 381.50599 387.722 391.61399 396.27598 402.49198 409.49198 413.38398 417.27598 422.722">XTL_CLK is the clock generated internally from OSC circuits.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 573.6083)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00302 8.336981 16.676983 20.846983 29.186985 33.356988 41.696989 45.86699">26.8.1.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 573.6083)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00302 11.666981 16.66198">Off</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="555.8583" x="-.00102 8.552979 15.552979 21.76898 25.26898 35.37698 43.16098 52.49898 55.99898 62.21498 69.21498 73.10698 79.32298 83.984989 89.430988 92.930988 96.82298 103.82298 110.03899 113.53899 123.64699 128.30899 132.971 136.471 141.91699 145.80899 152.025 155.91699 162.133 165.633 175.741 182.741 188.957 195.957 199.457 203.349 210.349 216.565 220.065 225.511 232.511 237.957 241.849 248.065 258.957 262.457 269.457 276.457 282.673 288.11903 291.61903 298.61903 305.61903 309.51103 313.01103 317.673 323.889 330.889 337.889 341.781 346.443 352.659 356.159 366.267 374.051 383.389 386.889 393.105 396.997 403.997 410.213 417.213 422.65904 426.15904 429.65904 439.76704 446.76704 453.76704">The OSC enters the Off state when the system does not require OSC clocks. Upon</tspan><tspan y="571.8583" x="-.00098 6.2150208 13.215021 17.107022 23.32302 27.985022 31.877022 38.87702 45.87702 49.37702 53.269025 60.269025 64.161029 69.607028 73.107028 78.553028 82.44502 88.661029 92.553028 98.76903 102.26903 105.76903 115.87703 124.43103 132.98503 139.98503 149.32303 157.87703 167.98503 171.48503 175.37703 180.82303 184.32303 189.76903 193.66103 199.87703 203.76903 207.66103 213.87703 217.37703 224.37703 231.37703 235.26903 241.48503 246.93103 252.37703 255.87703 265.98503 273.769 283.10704 286.60704 290.49903 295.94505 299.44505 305.66105 312.66105 319.66105 324.32304 328.21504 335.21504 342.21504 346.877 353.09303 360.09303 363.59303 367.48503 374.48503 377.98503 383.43104 389.64704 393.53904 399.75505 405.97105 409.86305 413.36305 417.25505 424.25505 430.47105 433.97105 440.18705 444.07905 451.07905 457.29505 464.29505 467.79505 472.45704 477.11903 484.11903">entering this state, XTL_CLK is static unless OSC is configured to select the clock from</tspan><tspan y="587.8583" x="-.00098 3.8910206 10.891021 17.107022 20.607022 29.161023 39.269025 47.823026 57.931028 66.48502 69.98502 76.98502 83.20103 90.20103 93.70103 100.70103 107.70103 111.20103 117.41703 121.30903 127.52503 133.74103 138.40303 142.29503 149.29503 156.29503 159.79503 163.68703 170.68703 176.90303 180.40303 186.61904 193.61904 197.51103 203.72704 208.38904 215.38904 221.60504 225.49704 228.99704 233.65904 239.87505 244.53705 250.75305 255.41506 261.63105 268.63105 274.84706 281.06306 284.56306 290.77906 294.67106 301.67106 307.88706 314.88706 318.38706 323.83308 330.04908 333.94108 340.15708 346.37309 350.26509 354.15708 361.15708 368.15708 371.65708 378.65708 382.54908 386.44108 389.94108 393.44108 401.22508 408.22508 412.88706 416.38706 423.38706 429.60307 433.49507 439.71107 443.60307 447.49507">the EXTAL pad by clearing the external reference clock selection bit. For details</tspan><tspan y="603.8583" x="-.00098 4.6610205 10.877021 17.877022 24.093022 28.755023 35.75502 39.647024 46.647024 53.647024 57.147024 61.039026 68.039028 74.25503 77.75503 83.97103 90.97103 94.86303 101.07903 105.741039 112.741039 118.95704 122.84904 126.34904 131.01103 137.22704 141.88904 148.10504 152.76705 158.98305 165.98305 172.19905 178.41506 181.91506 188.13106 192.02306 199.02306 205.23906 212.23906 215.73906 221.18506 228.18506 235.18506 239.84706 246.06307 252.27907 255.77907 259.67109 266.67109 270.17109 274.06309 281.06309 284.95509 290.4011 293.9011 306.3471 315.68513 325.79313 329.29313 332.79313 337.4551 343.6711 348.3331 354.5491 359.2111 362.7111 366.6031 373.6031 377.1031 380.9951 387.9951 394.2111 397.7111 403.9271 410.9271 414.8191 421.8191 425.3191 431.5351 438.5351 445.5351 450.19709 454.08909 461.08909 468.08909 472.75108 478.96708 482.85908 486.75108 493.75108">regarding the external reference clock source in this MCU, refer to the chip configuration</tspan><tspan y="619.8583" x="-.00093000006 6.2150709 13.215071 19.431073 26.431073 30.323073 36.539075 41.201074 44.701074 48.201074 56.755075 63.755075 69.97108 73.47108 82.02508 92.13308 100.68708 110.79508 119.34908 122.84908 129.06508 136.06508 143.06508 146.56508 156.67308 165.22708 175.33509 183.88909 187.38909 194.38909 198.28108 205.28108 210.72708 214.22708 220.44309 225.10509 231.32109 234.82109 241.0371 244.9291 250.37509 257.3751 260.8751 267.8751 274.0911 280.3071 287.3071 294.3071 301.3071 305.1991 311.4151 318.4151 321.9151 326.5771 331.23908 338.23908 349.13108 352.63108 358.84709 362.73908 366.63108 370.13108 377.13108 381.02308 388.02308 394.23908 398.90107 402.40107 409.40107 414.84709 421.06309 424.95509 428.84709 432.73908 438.95509 442.84709 449.84709">chapter. The EXTAL and XTAL pins are also decoupled from all other oscillator</tspan><tspan y="635.8583" x="-.00090000007 6.215101 10.107101 14.769102 20.985104 27.985104 31.877104 35.769105 40.431104 47.431104 50.931104 54.823106 61.823106 65.323108 69.2151 76.2151 80.1071 85.5531 89.0531 94.4991 98.3911 104.6071 108.4991 114.7151 118.2151 121.7151 130.2691 137.2691 143.4851 146.9851 157.09311 164.8771 174.2151 177.7151 188.6071 195.6071 202.6071 209.6071 213.4991 219.7151 223.2151 229.4311 233.3231 237.9851 244.20111 251.20111 255.09311 258.9851 263.6471 270.6471 274.1471 278.0391 283.4851 286.9851 293.2011 300.2011 307.2011 311.8631 315.7551 322.7551 329.7551 334.41709 340.6331 347.6331 351.1331 355.0251 362.0251 365.5251 372.5251 377.18708 383.40309 393.51109 397.01109 407.90309 411.79508 418.79508 422.68708 433.57908 439.79508 443.68708 447.18708 453.40309 460.40309 465.06507 469.72706 475.94306 482.94306 486.83506">circuitry in this state. The OSC module circuitry is configured to draw minimal current.</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="385.47 391.968 397.46699 402.47099 407.96998 410.96699 415.97099 419.472 421.974 426.978 431.982 434.484 441.48603 446.49003 451.49403 453.99604 456.49806 459.00007 464.00407 467.00108 472.50007 476.00108 478.50309 481.5001 488.5021 494.5051 501.00309">Chapter 26 Oscillator (OSC)</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">609</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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