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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_78.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

4336 lines
283 KiB (Stored with Git LFS)
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Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 167)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.505001">PIT</tspan></text>
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<g clip-path="url(#clip_189)">
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<g clip-path="url(#clip_191)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 611.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">1.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 69.12 611.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 2.5020004 7.506001 12.510002 14.508002 19.008004 24.012005 26.514006 31.518006 36.018007 38.520006 41.022005 46.026006 51.030008 53.532007 60.030008 66.033008 68.535 75.033008 76.75201 81.25201 83.754009 85.75201 90.756008 93.258 98.262 101.259 104.256008 109.26 114.264 116.766 119.268 123.768 128.772 133.776 136.773 141.273 146.277 148.77899 153.78299 158.78699 166.28398 171.28798 176.29198 179.28897">Indicates the NVIC's interrupt source number.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 622.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">2.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 69.12 622.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 2.5020004 7.506001 12.510002 14.508002 19.008004 24.012005 26.514006 31.518006 36.018007 38.520006 41.022005 46.026006 51.030008 53.532007 60.030008 66.033008 68.535 75.033008 76.75201 81.25201 83.754009 86.256008 92.259 98.262 104.76 107.262 109.764 112.266 118.764 124.767 131.265 133.767 136.269 138.771 144.774 150.77701 157.27501 159.77701 162.279 164.781 171.279 177.28202 183.78002 186.28202 188.78401 193.78801 198.792 203.796 206.298 208.8 214.80301 220.80602 227.30402 229.80602 232.80301 237.807 242.811 244.809 249.309 251.811 256.815 259.812 262.31404 267.31803 272.32203 279.81904 284.82304 289.82704 292.82405 295.32606 300.33006 304.83006 309.83406 314.83805 317.34007 319.84208 324.84608 327.84309 330.3451 332.8471 337.8511 339.8491 344.3491 346.8511 349.35313 355.8511 362.85313 365.35514 367.85716 373.35615 378.36015 383.36415 385.86616 390.87016 395.87416 400.87815 405.88215 408.38417 410.38215 415.38615 420.39015 422.89216 425.39418 430.39817 432.90019 437.40019 442.40419 444.40217 448.90217 453.90617 455.90415 460.90815 463.41017 468.41416 470.91618 473.41819 478.42219 480.42018">Indicates the NVIC's ISER, ICER, ISPR, ICPR, and IABR register number used for this IRQ. The equation to calculate this</tspan><tspan y="18.83789" x=".00004 4.50004 9.504041 11.502041 16.506043 21.510045 24.012045 26.010045 30.510045 33.012044 35.51404 38.01604 44.51404 51.51604 54.01804 59.02204 61.020044 65.52004 68.02204 73.02604">value is: IRQ div 32</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 644.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 5.0040409">3.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 69.12 644.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 2.5020405 7.506041 12.510042 14.508042 19.008042 24.012043 26.514044 31.518044 36.018045 38.520044 41.02204 46.026044 51.030046 53.532045 60.030046 66.03304 68.53504 75.03304 76.752048 81.252048 83.75404 86.25604 92.25904 98.75704 101.25904 104.25604 109.26004 114.26404 116.26204 120.76204 123.26404 128.26804 131.26503 133.76703 138.77103 143.77503 151.27202 156.27602 161.28002 164.27701 166.779 171.783 176.283 181.287 186.291 188.793 191.295 196.299 199.29599 201.79799 204.29999 209.30399 211.30199 215.80199 218.30399 220.80599 227.30399 234.30599 236.80799 239.30998 244.80898 249.81298 254.81697 257.31898 262.32298 267.32698 272.33097 277.33497 279.83699 281.83497 286.83897 291.84297 294.34498 296.847 301.85099 304.353 308.853 313.857 315.85499 320.35499 325.35899 327.35697 332.36097 334.86299 339.86698 342.369 344.871 349.875 351.873 356.373 358.875 363.375 368.379 370.37699 375.38099 380.38499 382.887 384.88499 389.38499 391.887 394.389 396.89103 403.389 410.39103 412.89305 417.89704 419.89503 424.39503 426.89704">Indicates the NVIC's IPR register number used for this IRQ. The equation to calculate this value is: IRQ div 4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 655.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 5.0040409">4.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 69.12 655.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 5.49904 10.50304 12.50104 17.001042 19.503043 21.501042 26.505043 29.007044 34.011045 37.008047 40.005048 45.00905 50.01305 52.51505 55.017049 59.517049 64.52105 69.52505 72.02705 77.031047 82.03504 84.03304 88.53304 91.03504 96.03904 101.04304 103.54504 108.549037 113.55303 118.55703 123.56103 128.56504 133.56903 136.07103 141.07503 144.07202 146.57402 151.07402 153.07202 158.07602 163.08002 166.07701 171.08101 176.085 178.587 183.087 185.085 190.089 192.591 195.093 200.097 205.101 207.603 214.101 220.104 222.606 229.104 231.606 234.603 239.607 244.611 246.609 251.109 253.611 258.615 261.612 266.112">This interrupt can only be pended or cleared via the NVIC registers.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 6.4980008 11.997001 15.498001 20.502003 23.004004 31.005005 36.504007 42.003007 47.502008 50.004007 55.008008">Core modules</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.01201 137.23201 142.792 148.352 151.132 157.802 163.912 170.022 173.352 179.462 185.022 193.912 196.692 199.472 205.032 207.812 215.032 220.592 223.922 229.482 233.372 238.93199 245.04199 250.60199 256.162 258.942 267.27198 272.83198 278.94197 285.05195 290.61195 293.39195 296.17195 298.95195 306.17195 311.73194 317.29194 320.07194 322.85194 328.41194 331.19194 336.75193 342.8619 348.9719 351.7519 357.3119 362.8719 368.4319">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="-.00299 5.001011">78</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="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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