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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_79.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

449 lines
46 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.13672" x="0 7.784001 11.676002 19.460003 23.352004 31.136004 35.028005 42.812005 46.704008">3.2.2.3.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.66138 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.13672" x="0 10.108001 17.892003 22.554003 30.338004 35.784006 48.230005 52.122007 60.676008 64.56801 73.12201 81.67601 85.56801 90.23001 98.78401 106.568019 110.460018 119.014019 122.90601 127.568019 132.23001 136.12201 143.906 147.798 156.352 160.244 168.028 176.582 185.136 189.028 194.474 202.258 210.812 214.704 222.48799 227.15 234.93399 240.37999 244.27199 248.16399 256.718 264.50199 272.28599 276.94798 280.83998 289.39396 297.94795 301.83995 306.50193 315.0559 320.50193 324.39393 332.17793 340.7319 349.2859 353.94789 357.83988 366.39387 374.94786 380.39387 384.28587 392.83985 401.39384 405.28584">Determining the bitfield and register location for configuring a</tspan><tspan y="26.136719" x=".00003 8.554029 16.33803 21.78403 26.446032 30.338032 38.122034 46.676034 50.568037 58.352037 63.798036 67.69003 71.58203 80.13603 84.798038 92.58204 98.02804 103.47404 112.02804 120.58204">particular interrupt</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="50.25" x=".00004 7.784041 14.78404 21.78404 28.78404 35.784044 41.23004 47.44604 50.94604 57.94604 64.946048 71.946048 75.446048 82.446048 88.66205 94.87805 101.87805 105.37805 109.27005 116.27005 119.77005 125.98605 132.98606 139.98606 144.64806 148.54006 155.54006 162.54006 167.20206 173.41806 176.91806 180.81006 187.81006 194.02606 197.52606 201.41806 208.41806 218.52606 223.18807 230.18807 237.18807 247.29607 253.51207 258.17408 261.67408 265.56608 269.45808 280.35008 286.56608 291.22807 294.72807 299.39006 307.94404 315.72804 324.282 336.72804 346.06605 350.72804 354.22804 358.12004 365.12004 369.01203 375.22804 379.89 384.552 391.552 398.552 402.444 405.944 409.444 417.998 424.998 431.214 434.714 439.37599 446.37599 450.26799 454.15998 461.15998 471.26799 475.15998 482.15998">Suppose you need to configure the low-power timer (LPTMR) interrupt. The following</tspan><tspan y="66.25" x=".00005 3.8920506 10.108051 17.108052 21.000052 27.216053 30.716053 34.608057 40.054056 43.554056 49.770055 56.770055 60.270055 66.48605 73.48605 79.70206 85.91806 90.58006 97.58006 101.47206 104.97206 111.97206 116.63406 120.13406 124.02606 131.02606 137.24207 140.74207 149.29607 157.08007 165.63407 178.08007 187.41806 190.91806 195.58007 202.58007 212.68807 216.18807 220.85007 225.51207 232.51207 243.40407">table is an excerpt of the LPTMR row from </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="66.25" x="246.90406 251.56606 258.56605 262.45805 268.67405 273.33604 277.99803 284.99803 291.99803 295.89 299.39 305.60603 312.60603 318.82203 325.82203 332.82203 339.03804 342.93003 346.43003 352.64604 358.09205 363.53807 367.43006 374.43006 381.43006 392.32206 398.53807 405.53807 409.43006">Interrupt channel assignments</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 182.25 214.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">85</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 214.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">2</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 392.25 214.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">&#x2014;</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 245.3)" 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 69.12 245.3)" 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 256.3)" 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 69.12 256.3)" 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 278.3)" 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 69.12 278.3)" 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 53.999986)" font-size="14" font-family="TimesLTStd"><tspan y="257.15" x="13.10503 23.997033 32.551034 39.551034 45.767034 49.267034 59.375036 69.48303 74.145038 83.48303 86.98303 91.645038 97.86104 104.86104 108.75304 114.199039 118.091037 124.30704 128.96904 134.41504 137.91504 144.91504 151.91504 158.91504 162.41504 172.52304 179.52304 186.52304 190.41504 197.41504 200.91504 207.91504 213.36104 219.57704 223.07704 226.96904 233.96904 237.46904 243.68505 250.68505 257.68507 262.34706 266.23905 273.23905 280.23905 284.90104 291.11705 294.61705 298.50904 305.50904 311.72505 315.22505 319.11705 326.11705 330.00904 336.22505 340.88703 345.549 352.549 359.549 363.441 366.941 373.157 377.819 384.035">&#x2022;The NVIC registers you would use to configure the interrupt are:</tspan><tspan y="273.15" x="37.10103 47.99303 58.101034 68.20903 72.87103 82.20903 86.87103 94.65504 103.20904 112.54704">&#x2022;NVICISER2</tspan><tspan y="289.15" x="37.10103 47.99303 58.101034 68.20903 72.87103 82.20903 86.87103 96.20903 104.76303 114.10103">&#x2022;NVICICER2</tspan><tspan y="305.15" x="37.10103 47.99303 58.101034 68.20903 72.87103 82.20903 86.87103 94.65504 102.43904 111.77704">&#x2022;NVICISPR2</tspan><tspan y="321.15" x="37.10103 47.99303 58.101034 68.20903 72.87103 82.20903 86.87103 96.20903 103.993038 113.33104">&#x2022;NVICICPR2</tspan><tspan y="337.15" x="37.10103 47.99303 58.101034 68.20903 72.87103 82.20903 86.87103 96.979038 106.31703 115.65503">&#x2022;NVICIABR2</tspan><tspan y="353.15" x="37.10103 47.99303 58.101034 68.20903 72.87103 82.20903 86.87103 94.65504 103.99304 110.99304">&#x2022;NVICIPR21</tspan><tspan y="369.15" x="13.105028 23.997029 32.55103 39.55103 43.05103 50.05103 56.26703 60.15903 66.37503 71.03703 81.92903 85.82103 92.82103 99.03703 102.53703 106.42903 113.42903 119.645038 123.145038 130.14504 136.36104 141.02304 144.91504 148.80704 155.02304 162.02304 165.91504 172.13105 176.79305 180.29305 184.95505 194.29305 204.40105 206.92105 212.36705 215.86705 222.86705 226.75905 230.65105 235.31305 239.20505 245.42105 249.31305 256.31306 259.81306 263.70506 270.70506 276.92106 283.13706 287.02906 290.92106 297.92106 304.92106 308.42106 318.52906 322.42106 326.31306 333.31306 337.20506 344.20506 347.70506 351.59706 358.59706 364.81306 370.25907 376.47508 379.97508 386.97508 393.19108 397.85307 401.74507 405.63706 411.85307 418.85307 422.74507 428.96107 433.62306 437.12306 441.78504 448.00105 455.00105 458.89305 464.33906 468.23106 474.44706 479.10905 484.55506">&#x2022;To determine the particular IRQ's bitfield location within these particular registers:</tspan><tspan y="385.15" x="37.10106 47.99306 58.101064 68.20906 72.87106 82.20906 86.87106 94.65507 103.20907 112.54707 119.54707 123.04707 126.54707 136.65508 146.76308 151.42508 160.76308 165.42508 174.76308 183.31708 192.65508 199.65508 203.15508 206.65508 216.76308 226.87108 231.53308 240.87108 245.53308 253.31708 261.10108 270.4391 277.4391 280.9391 284.4391 294.5471 304.6551 309.31709 318.6551 323.31709 332.6551 340.4391 349.7771 356.7771 360.2771 363.7771 373.8851 383.9931 388.6551 397.9931 402.6551 412.7631 422.1011 431.43913 438.43913 441.93913 448.93913 452.83113">&#x2022;NVICISER2, NVICICER2, NVICISPR2, NVICICPR2, NVICIABR2 bit</tspan><tspan y="401.15" x="47.9931 51.8851 58.8851 65.101108 71.31711 75.20911 79.101108 86.101108 93.101108 96.601108 104.4971 107.9971 112.6591 121.9971 132.1051 135.6051 146.4971 153.4971 160.4971 163.9971 170.9971 177.9971 181.4971 189.3931 192.8931 199.8931">location = IRQ mod 32 = 21</tspan><tspan y="417.15" x="37.101079 47.99308 58.10108 68.20908 72.871089 82.20909 86.87109 94.6551 103.9931 110.9931 117.9931 121.4931 128.4931 132.3851 136.2771 140.9391 144.8311 151.0471 154.9391 161.9391 165.4391 170.8851 174.7771 180.9931 185.6551 189.5471 193.4391 200.4391 207.4391 210.9391 214.8311 221.8311 228.0471 234.2631 238.1551 242.0471 249.0471 256.04713 259.54713 267.4431 270.9431 277.9431 281.4431 288.4431 291.9431 296.6051 301.2671 310.6051 320.7131 324.2131 335.1051 342.1051 349.1051 352.6051 359.6051 364.2671 367.7671 375.6631 379.1631 386.1631 389.6631 397.55909 401.05909 408.05909">&#x2022;NVICIPR21 bitfield starting location = 8 * (IRQ mod 4) + 4 = 12</tspan><tspan y="441.55" x="47.99312 55.77712 59.66912 66.66912 72.885128 79.10113 82.60113 86.493129 93.493129 99.70913 103.20913 113.31713 123.42513 128.08713 137.42513 142.08713 149.87113 159.20912 162.70912 169.70912 173.60112 177.49312 182.15512 186.04712 192.26313 196.15512 203.15512 208.60112 212.10112 218.31713 222.97913 229.19513 232.69513 239.69513 244.35713 251.35713 255.24913 259.14115 262.64115 272.74916 276.64115 283.64115 289.85716 293.35716">Since the NVICIPR bitfields are 4-bit wide (</tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 54.000005 53.999986)" font-size="14" font-family="TimesLTStd"><tspan y="441.55" x="298.0191 305.0191 312.0191 315.5191 322.5191 327.1811 331.0731 338.0731 342.73509 346.62709 350.51908 357.51908 361.01908 364.91108 371.12709 378.12709 384.34309 388.23509">16 priority levels</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 53.999986)" font-size="14" font-family="TimesLTStd"><tspan y="441.55" x="393.6811 398.34309 401.84309 405.34309 409.23509 416.23509 422.45109 425.95109 436.05909 446.16709 450.82908 460.16709 464.82908 472.61308 481.95109 488.95109">), the NVICIPR21</tspan><tspan y="457.55" x="47.993104 54.993104 58.885107 62.777109 67.43911 71.33111 77.54711 81.43911 88.43911 91.93911 96.60111 102.817119 109.817119 116.817119 123.03312 126.53312 130.42513 135.87113 139.37113 146.37113 153.37113 158.03313 165.03313">bitfield range is 12-15</tspan><tspan y="491.94999" x=".0011138916 8.555114 15.555114 21.771115 26.433115 32.649118 37.311117 44.311117 48.973115 55.189115 58.689115 62.189115 66.081119 73.081119 79.29712 82.79712 87.45912 94.45912 98.35112 102.24312 109.24312 119.35112 123.24312 130.24312 137.24312 140.74312 147.74312 151.63512 155.52712 160.18912 164.08112 170.29712 174.18912 181.18912 184.68912 188.58112 195.58112 201.79712 208.01313 211.90512 215.79712 222.79712 229.79712 235.24312 238.74312 244.95912 249.62113 255.83713 259.33714 266.33714 271.78315 277.99916 284.99916 288.49916 292.39115 299.39115 302.89115 309.10716 316.10716 323.10716 327.76914 331.66114 338.66114 345.66114 350.32313 356.53913 360.03913 363.93113 370.93113 377.14714 380.64714 389.2011 396.9851 405.5391 417.9851 427.32313 430.82313 434.71513 441.71513 445.60713 451.82313 456.4851 461.1471 468.1471 475.1471 479.0391 484.4851">Therefore, the following bitfield locations are used to configure the LPTMR interrupts:</tspan><tspan y="516.35" x="13.105164 23.997166 34.105169 44.21317 48.875169 58.21317 62.875169 70.65917 79.21317 88.55118 95.55118 100.21318 107.21318 114.21318">&#x2022;NVICISER2[21]</tspan><tspan y="532.35" x="13.105164 23.997166 34.105169 44.21317 48.875169 58.21317 62.875169 72.213169 80.767169 90.10516 97.10516 101.767169 108.767169 115.767169">&#x2022;NVICICER2[21]</tspan><tspan y="548.35" x="13.105164 23.997166 34.105169 44.21317 48.875169 58.21317 62.875169 70.65917 78.44318 87.78117 94.78117 99.44318 106.44318 113.44318">&#x2022;NVICISPR2[21]</tspan><tspan y="564.35" x="13.105164 23.997166 34.105169 44.21317 48.875169 58.21317 62.875169 72.213169 79.99717 89.335178 96.335178 100.99718 107.99718 114.99718">&#x2022;NVICICPR2[21]</tspan><tspan y="580.35" x="13.105164 23.997166 34.105169 44.21317 48.875169 58.21317 62.875169 72.98317 82.32117 91.659168 98.659168 103.32117 110.32117 117.32117">&#x2022;NVICIABR2[21]</tspan><tspan y="596.35" x="13.105164 23.997166 34.105169 44.21317 48.875169 58.21317 62.875169 70.65917 79.99718 86.99718 93.99718 98.65918 105.65918 112.65918 116.55118 123.55118 130.55118">&#x2022;NVICIPR21[15:12]</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 17.999985)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01031" x="378.495 384.99299 390.49198 395.49598 400.99497 403.99198 408.99598 412.49699 414.999 420.003 422.505 429.003 434.50199 437.004 442.503 445.005 451.503 457.00199 462.50099 465.498 468 473.499 478.998 482.499 487.503 490.5 493.002 498.501">Chapter 3 Chip Configuration</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="130.01 137.23 142.79 148.34999 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 54.000005 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="156.312 161.316">79</tspan></text>
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