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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_63.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

628 lines
70 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 92)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 24.012001 30.510003 38.007005 40.509004 47.007005 52.011007 55.008008 57.510007 62.514009 67.01401 70.01101 77.50801 82.51201 85.01401 87.01201 91.51201 94.01401 96.51601 101.520008 106.524 109.026 114.03 119.034 125.532 130.536 135.036 137.538 140.04 147.53699 152.54099 160.03798 165.04198 170.04598 173.04297 175.54497 180.54897 183.05097 185.55297 188.05496 193.05896 198.06296 200.56496 207.06296 212.06696 215.06395 217.56595 222.56995 227.06995 229.57195 237.06894 239.57094 245.57395 250.57794 253.57494 255.57294 260.57695 265.07695 267.57896 272.58296 275.08497 277.58699 282.59098 285.58799 290.59199 295.09199 300.09599 304.59599 309.09599 314.09999 317.097">The ARM Cortex-M4 is the newest member of the Cortex M Series of processors</tspan><tspan y="18.83789" x="0 2.5020004 7.506001 10.503001 15.507002 20.511002 23.013003 25.011002 30.015004 35.019006 37.521005 45.018007 47.016008 51.516008 54.51301 59.51701 64.01701 69.02101 74.02501 76.52701 79.52401 84.52801 86.52601 88.52401 93.52801 96.52501 99.02701 103.52701 108.531009 111.52801 116.532009 121.032009 123.534008 126.036 131.04001 135.54001 140.544 145.044 150.048 155.052 157.554 162.558 167.562 170.064 174.564 179.568 182.56499 187.06499 189.56699 194.06699 199.07099 203.57099 206.07299 208.57498 213.07498 218.07898 223.08298 227.58298 229.58098 232.08298 234.08098 238.58098 243.58498 246.08698 248.58898 253.59297 258.597 261.099 266.103 269.1 276.59703 278.595 283.599 285.597 290.097 292.599 294.597 299.097">targeting microcontroller cores focused on very cost sensitive, deterministic,</tspan><tspan y="29.83789" x="0 1.9980002 7.002001 9.504002 14.508002 17.505003 20.502003 25.506005 30.510006 33.012006 35.514005 40.518007 43.515008 45.51301 50.01301 55.01701 60.02101 62.52301 67.52701 72.531009 77.031009 79.02901 82.02601 87.03001 92.034008 99.531009 104.535 109.539 112.041 116.541 119.043 121.545 127.044 132.048 137.052 139.554 146.052 151.056 154.053 156.555 161.55899 166.05899 168.56099 176.05799 181.06198 183.56398 188.56798 191.56497 196.56897 201.06897 206.07297 210.57297 215.07297 220.07697 223.07396 225.57596 227.57396 232.07396 234.57596 239.57996 244.58396 249.08396 254.08795 259.09196 261.59397 266.59797 271.60197 274.10398 276.606 281.61 286.61399 289.116 295.119 301.61698 309.11399 313.61399">interrupt driven environments. The Cortex M4 processor is based on the ARMv7</tspan><tspan y="40.83789" x=".00004 6.0030405 9.00004 13.50004 18.50404 20.50204 23.004042 28.008042 32.50804 35.01004 40.01404 43.011045 48.015047 50.517045 55.521047 60.525049 65.529048 68.031047 73.530048 78.53404 83.53804 91.03504 96.03904 102.67204 105.669048 110.67304 113.17504 115.67704 121.68004 127.68304 130.18505 135.18904 140.19304 145.19704 147.69904 149.69704 154.19704 156.69904 161.70304 166.70703 173.20503 178.20903 181.20603 186.21002 188.71202 193.21202 198.21602 205.71302 210.71701 215.72101 218.223 220.22101 225.225 227.223 232.227 234.729 241.227 243.225 245.727 250.731 253.233 255.735 260.739 265.743 268.24504 274.743 279.747 282.74403 285.24604 290.25004 294.75004 297.25205 304.74906 309.75306">Architecture and Thumb&#x00ae;-2 ISA and is upward compatible with the Cortex M3,</tspan><tspan y="51.83789" x=".00004 6.4980409 11.502041 14.499041 17.001042 22.005043 26.505043 29.007044 36.504045 41.508047 44.010046 46.512044 51.516046 56.520048 61.524049 64.02605 70.52405 75.528049 78.52505 81.02705 86.031047 90.531047 93.03304 100.530048 105.53404 108.03604 113.04004 116.03704 120.53704 125.54104 127.53904 130.04105 135.04505 139.54505 142.04705 147.05104 150.04804 155.05204 159.55204 162.05403 164.55603 171.05403 176.05803 179.05503 181.55702 186.56102 191.06102 193.56302 201.06002 206.06401 208.56601 210.56401 218.061 223.065 226.062 231.066 235.566 240.56999 248.06699 253.07099 258.07499 260.577 265.077 267.579 269.577 274.581 279.081 281.07899 286.08299 291.08699 296.09098 298.593 303.597">Cortex M1, and Cortex M0 architectures. Cortex M4 improvements include an</tspan><tspan y="62.83789" x=".00008 6.0030806 12.501081 19.998082 24.498082 29.502083 32.00408 37.503084 42.507085 47.511087 55.008089 60.01209 63.00909 68.01309 70.51509 77.01309 83.01609 89.01909 91.52109 94.51809 99.52209 104.526088 107.52309 110.025089 115.02908 120.03308 122.53508 125.03708 128.03408 133.03807 140.53507 143.03707 145.53907 150.54306 155.54706 158.04906 164.05207 170.55007 178.04706 182.54706 187.55106 190.54805 196.55106 199.05306 205.55106 208.05306 213.05706 216.05405 221.05805 223.56005 225.55805 227.55605 232.56005 235.06204 240.06604 243.06304 247.56304 252.56703 254.56504 257.06706 262.07106 266.57106 269.07307 274.07707 277.07408 282.07807 286.57807 289.57508 292.0771 297.0811 300.0781 305.0821 309.5821 311.58009 316.58409 318.58207 323.58607">ARMv7 Thumb-2 DSP (ported from the ARMv7-A/R profile architectures) providing</tspan><tspan y="73.83789" x=".00008 5.004081 10.008081 13.005081 18.009083 20.007084 22.509085 25.011086 27.009087 32.01309 36.51309 39.015089 42.01209 47.01609 51.51609 54.01809 56.01609 61.020093 66.02409 70.52409 73.02609 79.52409 81.522098 84.02409 89.02809 91.53009 97.53309 100.03509 107.53209 114.03009 116.53209 119.52909 124.02909 126.02709 131.0311 136.0351 138.0331 143.0371 145.5391 147.5371 152.54109 157.04109 159.54309 162.54009 167.54409 172.04409 174.54608 176.54409 181.54808 186.55208 189.05408 196.55107 201.55507 203.55307 206.05507 208.05307 213.05707 215.05507 220.05907 222.56107 227.56507 232.56906 235.07106 240.07506 243.07205 245.57405 252.07205 258.07505 264.07804 266.58006 271.08006 273.58207 278.08207 280.08006 285.08406 287.58607 295.08308 300.08708 302.08506 304.58708 306.58506 311.58906 313.58705 318.08705">32-bit instructions with SIMD (single instruction multiple data) DSP style multiply-</tspan><tspan y="84.83789" x=".00008 5.004081 9.504081 14.004081 19.008082 26.505082 31.509083 33.507085 38.511087 41.013086 46.017087 50.517087 53.019086 58.023088 63.02709 68.03109 70.53309 75.03309 80.03709 82.539089 87.54308 90.540088 95.54408 98.04608 100.04408 105.04808 110.05208 112.55408 117.558078 120.55508 122.55308 125.05508 130.05908 137.55608 142.56008 145.06208 147.06008 151.56008">accumulates and saturating arithmetic.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 184.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 24.012001 30.510003 38.007005 42.507005 47.511007 50.508008 58.00501 60.507009 65.51101 70.01101 74.51101 79.51501 84.519008 87.021 89.019008 94.023 99.027 101.529 109.026 114.03 119.034 124.037998 126.035999 128.538 133.54199 138.54599 143.54999 146.05199 151.05599 156.05998 160.55998 163.06198 168.06598 173.06998 176.06697 180.56697 185.57097 190.07097 192.57297 197.57697 200.57396 205.57796 210.58196 213.08396 215.08196 220.08596 222.58795 227.59195 230.58895 233.58594 238.58994 243.59394 246.09593 248.59793 253.09793 258.10194 263.10594 265.60795 268.60496 273.60896 275.60694 277.60493 282.60893 285.60594 288.10795 291.10496 297.60295 303.60594 306.10795 312.60594">The ARMv7-M exception model and nested-vectored interrupt controller (NVIC)</tspan><tspan y="18.83789" x="0 1.9980002 9.495001 14.4990019 16.497002 21.501004 28.998005 34.002008 39.00601 41.508008 44.010007 49.014009 51.516008 54.51301 59.51701 61.51501 66.51901 71.01901 76.02301 78.52501 83.52901 88.533008 90.531009 95.535 98.037 102.537 107.541 112.041 114.543 119.547 122.544 125.046 127.548 132.552 137.556 139.554 144.558 147.06 151.56 156.564 161.568 166.57199 171.57599 174.57299 177.07498 179.07299 184.07698 189.08098 191.58298 199.07997 204.08397 209.08797 213.58797 216.08997 221.09397 225.59397 228.09597 233.09996 236.09696 241.10095 246.10495 248.10295 250.60495 252.60295 257.60697 260.10899 265.11299 268.11 271.107 276.111 281.115 283.617 288.117 290.61903 293.12104 298.12504 300.62705 305.12705 307.12504 312.12904 317.13304 319.131">implement a relocatable vector table supporting many external interrupts, a single</tspan><tspan y="29.83789" x=".00004 5.0040409 10.008041 15.012042 18.009043 25.506043 30.510045 35.010046 39.510046 44.514047 49.518049 51.51605 56.52005 59.02205 61.02005 66.02405 68.52605 73.530048 76.52705 79.52405 84.528049 89.53204 92.03404 94.53604 97.53304 104.031047 111.528049 114.030048 117.02705 119.529048 122.031047 127.03504 132.03905 137.04305 139.54505 144.54904 147.54604 149.54404 154.54804 157.54503 159.54303 162.04503 166.54503 169.04703 171.04503 176.04903 180.54903 185.55303 187.55103 192.05103">non-maskable interrupt (NMI), and priority levels.</tspan><tspan y="46.237894" x=".00004 5.49904 10.50304 15.507041 18.00904 24.507042 30.510043 33.012044 39.510046 42.012044 45.009046 50.013048 55.017049 57.01505 62.01905 66.51905 71.52305 76.02305 78.52505 83.02505 88.029048 93.03304 98.03704 103.04104 109.53904 112.04104 115.03804 120.04204 125.046039 127.04404 131.54404 134.04604 139.05004 142.04703 146.54703 149.04903 155.54703 157.54503 160.04703 165.05103 167.55303 172.55702 177.56102 182.56502 184.56302 189.06302 194.06702 196.06502 201.06902 206.07302 208.57501 211.07701 215.57701 220.07701 224.57701 227.07901 232.08301 239.58 242.082 247.086 252.09 257.094 259.596 264.096 266.094 273.591 278.595 280.593 282.59098 285.093 287.09098 292.09498">The NVIC replaces shadow registers with equivalent system and simplified</tspan><tspan y="57.237894" x=".00004 5.0040409 8.00104 13.005041 18.00904 21.00604 26.01004 33.507043 41.004045 46.008047 51.012048 53.010049 55.00805 57.00605 59.50805 64.00805 66.51005 69.01205 74.51105 79.515048 84.51904 87.02104 93.51904 99.52204 102.02404 108.52204 111.02404 115.52404 120.52804 125.532039 128.03404 133.03804 135.03604 140.04004 144.54004 147.04204 149.54404 154.54804 159.55204 162.05403 167.05803 172.06203 177.06603 180.06302 185.06702 189.56702 194.06702 196.56902 201.57302 204.07501 206.57701 209.07901 214.08301 219.087 221.589 224.091 229.095 234.099 238.599 241.101 243.099 248.103 253.107 255.609 258.111 263.115 265.617 270.621 275.121 280.125 284.625 289.629 292.131 297.135 299.63703 302.13905 307.14305 310.14006 312.64207">programmability. The NVIC contains the address of the function to execute for a</tspan><tspan y="68.23789" x=".00004 5.0040409 10.008041 13.005041 15.507042 17.505043 22.005043 27.009045 29.007046 34.011049 37.00805 39.510049 44.51405 49.51805 54.522054 59.526056 61.524057 66.52805 69.525058 72.027057 74.52905 80.02805 85.03205 90.03605 92.53805 97.542049 102.54604 107.55004 110.54704 115.55104 120.05104 124.55104 127.05304 129.05104 133.55104 136.05304 138.55504 143.55904 146.06104 150.56104 155.56504 160.56903 165.57303 168.07503 172.57503 174.57303 179.57703 182.07903 184.58103 189.58502 194.58902 197.09102 199.08902 204.09302 208.59302 211.09502 214.09201 219.09601 223.59601 226.098 228.09601 233.1 238.104 240.606 245.61 250.614 253.611 256.113 258.61503 263.61903 265.617 267.615 272.619 279.11698 281.11497 286.11897 291.12297 293.62498 298.62898 303.63298 306.62998 311.63398 313.63197 315.62995 320.63395">particular handler. The address is fetched via the instruction port allowing parallel</tspan><tspan y="79.23789" x=".00004 2.99704 8.00104 13.005041 15.003041 19.50304 22.005042 27.00904 30.00604 32.50804 37.00804 39.51004 44.51404 49.01404 53.51404 55.512044 60.516046 65.52004 68.02204 73.02604 78.03004 83.034038 85.53603 87.534038 92.53803 97.54203 102.04203 105.03903 110.04303 115.04703 117.54903 120.051029 125.550029 130.55403 135.55803 138.06003 140.56203 142.56003 145.55702 150.05702 152.55902 155.06102 159.56102 161.55902 166.05902 168.56102 173.56502 178.56902 183.57302 186.07501 191.07901 196.08301 198.585 201.582 203.58 208.584 213.084 215.586 220.59 223.58699 228.59099 231.09299 236.09699 238.09499 240.09299 245.09699 249.59699 254.60099 257.103 262.107 267.111 269.613 272.11503 277.11903 279.62104 285.62403 292.122">register stacking and look-up. The first sixteen entries are allocated to ARM</tspan><tspan y="90.23789" x=".00004 1.9980402 7.002041 9.504042 14.508042 17.505043 22.509045 27.513047 29.511048 32.013048 36.513048 41.517049 46.52105 49.51805 54.01805 59.022054 63.522054 66.024059 72.52206 74.52006 77.02206 82.026058 84.52805 87.03005 92.03405 97.03805 99.54005 104.544048 107.04604 112.05004 117.05404 120.05104 124.55104 127.05304 134.55004 139.55403 144.55803 149.56203 151.56003 156.56403 161.56803 164.07003 166.57202 171.57602 174.07802 181.57501 188.07302 194.57102 197.56801 202.572 207.576 210.078 212.076 217.08 222.084 227.088 229.59 231.588 236.592 239.094 244.09799 247.09499 250.09198 255.09598 260.09999 262.602 267.102">internal sources with the others mapping to MCU-defined interrupts.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 282.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 23.013 26.01 28.008 35.505 40.509004 43.506006 48.006006 50.508005 53.010004 58.014005 63.018007 67.518009 70.020008 72.018009 77.022 82.026 84.528 89.532 92.034 94.535999 97.037998 102.04199 107.04599 109.54799 115.55099 120.05099 124.55099 129.555 134.055 139.05899 142.05599 147.05998 152.06398 157.06798 162.07198 166.57198 169.07398 177.56998 182.57398 187.07398 192.07798 195.07497 200.07897 205.08296 207.58496 210.08696 215.09096 217.59296 222.59696 225.59395 228.59095 233.59494 238.59894 241.10094 243.60294 250.10094 255.10494 260.10896 262.61097 265.60798 270.61198 272.60997 274.60795 279.61195 282.60896 285.11097 288.10798 294.11097 302.60697 305.10899 311.60697 314.60398 317.106 319.10398">The primary function of the Asynchronous Wake-up Interrupt Controller (AWIC) is</tspan><tspan y="18.83789" x="0 2.5020004 7.506001 10.008001 15.012002 20.016003 22.518004 27.522004 32.022005 34.524003 37.026 42.030004 46.530004 51.030004 56.034006 60.534006 65.538 68.535 73.539 78.543 83.547 88.550998 93.050998 95.55299 102.050998 107.05499 111.55499 116.55899 119.55599 124.55999 129.564 132.066 137.06999 141.56999 146.57399 151.57799 154.07999 158.57999 161.08199 163.07999 168.08399 170.58599 175.08599 177.58798 182.59198 187.59598 190.09798 197.59497 202.59897 207.60297 212.60697 217.10697 219.60897 224.61296 229.61696 234.62096 237.12296 241.62296 243.62096 248.62496 253.62895 258.63298 260.63096 263.13298 265.63499 270.63899 273.141 277.641 279.63899 284.64299 289.14299 293.64299 296.145 300.645 305.649 310.65299 313.155 316.152 321.156">to detect asynchronous wake-up events in stop modes and signal to clock control</tspan><tspan y="29.83789" x="0 1.9980002 7.002001 12.006001 14.004002 18.504002 21.006003 23.508004 28.512005 31.014006 34.011007 39.015008 43.515008 48.51901 56.01601 61.02001 63.52201 68.02201 72.52201 77.02201 79.52401 84.52801 92.02501 94.52701 99.02701 101.02501 106.02901 110.52901 115.02901 117.02701 122.031009 127.035 129.537 132.039 138.042 140.544 143.046 148.05 151.047 153.549 158.049 160.047 165.051 169.551 174.051 176.553 179.54999 184.55399 189.05399 191.55599 196.55998 199.55698 202.05898 204.56098 207.06298 209.56497 214.56897 219.57297 222.07497 228.57297 234.57598 237.07798 243.57598 246.07798 251.08197 256.08598 260.58598 265.58998 268.58699 273.08699 278.09098 282.59098 285.093 287.595 292.599">logic to resume system clocking. After clock restart, the NVIC observes the</tspan><tspan y="40.83789" x="0 5.0040009 10.008001 15.012002 20.016003 22.014004 27.018006 32.022008 34.524007 36.522008 41.52601 44.028009 49.03201 52.02901 55.026014 60.030015 65.03401 67.53601 70.03801 75.04201 80.046009 85.05 87.552 92.556 97.56 100.557 103.059 108.062999 111.06 118.557 123.057 125.559 128.061 133.065 138.069 140.571 145.575 150.579 153.57599 161.07299 166.07698 168.07498 170.57698 172.57498 177.57898 180.08098 185.08498 188.08197 191.07897 196.08296 201.08696 203.58896 206.09096 211.09496 214.09195 216.59395 221.59795 226.09795 231.10195 236.10594 238.60794 241.10994 246.11394 249.11093 254.11493 258.61494 263.61894 268.11894 272.61894 274.6169 279.6209 284.6249">pending interrupt and performs the normal interrupt or event processing.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 460.8)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 13.344002 22.240002 26.688002">2.2.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.757328 460.8)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 10.672001 19.568 28.464 33.792 42.688 56.912004 61.360006 74.688 84.464008 94.240009 104.01601 108.464008 117.36001">System Modules</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 224.5 532.1)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="141.75 148.248 153.252 158.256 163.26 166.761 169.263 174.762 177.75899 180.26099 185.75998">Description</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="26.01034" x="407.49299 413.99098 419.48997 424.49397 429.99296 432.98997 437.99397 441.49497 443.99699 449.00099 451.503 454.005 459.504 462.501 466.002 471.501 477 482.499 487.503 490.5 493.002 498.501">Chapter 2 Introduction</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="130.01001 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 54 751.756)" 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>
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