birdcage/docs/K60-refman-vectors/K60-reference-manual_page_80.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

933 lines
80 KiB (Stored with Git LFS)
XML

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<text xml:space="preserve" transform="matrix(1 0 0 1 103.757328 54)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 11.552001 20.448002 29.344002 39.120004 48.016004 57.792005 64.01601 73.79201 83.56801 93.34401 103.12001 112.016017 116.46401 131.56801 140.464 149.36 158.256 163.584 173.36 183.136 187.584 192.032 201.808 207.136 216.032 222.256 228.48 238.256 248.032 253.36 257.808 269.36003 279.13603 288.91203 294.24003 300.46403 310.24003 314.68803 319.13603 328.032 334.256 338.704 344.032 355.584 370.68803 375.13603 386.68803">Asynchronous Wake-up Interrupt Controller (AWIC)</tspan><tspan y="29.65625" x="0 11.552001 21.328001 31.104 36.432 40.88 50.656003 60.432004 66.656009 75.55201 80.88001 85.32801 95.10401">Configuration</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="54.25" x=".006 8.559999 15.559999 19.452 24.898 28.398 33.844 40.06 46.276 50.168004 54.060007 61.060007 68.060009 71.560009 77.006008 84.006008 94.898 105.79 112.006008 116.66801 120.560009 126.77601 132.992 138.438 141.938 148.938 155.938 166.046 169.546 173.438 180.438 186.654 190.154 201.046 208.046 215.046 222.046 225.938 232.154 235.654 242.654 248.87001 254.31601 257.816 264.816 271.032 277.24803 284.24803 287.74803 293.96403 300.96403 307.96403 312.626 316.518 323.518 330.518 335.18 341.396 348.396 351.896 355.788 362.788 366.288 370.18 377.18 383.396 386.896 393.112 400.112 404.004 411.004 414.504 418.004 425.788 432.788 436.68">This section summarizes how the module has been configured in the chip. Full</tspan><tspan y="70.25" x=".00604 7.00604 14.006041 20.222043 27.222043 38.114046 44.330045 51.330045 55.222047 61.438047 65.33005 69.222049 76.222049 83.222049 86.722049 91.38405 98.38405 103.04605 106.54605 110.43805 117.43805 121.33005 126.77605 130.27605 141.16805 148.16805 155.16805 162.16805 166.06005 172.27605 175.77605 179.66805 185.11405 188.61405 195.61405 200.27605 207.27605 214.27605 218.16805 225.16805 231.38405 238.38405 241.88405 248.88405 255.88405 259.38404 269.49205 278.83006 291.27607 294.77607 300.99208 307.99208 314.99208 318.49208 324.70808 330.92408 337.92408 341.42408 348.42408 354.64009 358.14009 362.80207 369.80207 376.80207 383.80207 390.80207 394.30207 400.51808 404.41007">documentation for this module is provided by ARM and can be found at </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="488.7984" x=".006 8.559999 15.559999 21.776001 25.276001 32.276 38.492 45.492 49.384004 55.600004 61.816 65.316 72.316 77.762 83.978008 89.424 92.924 96.816 103.816 110.032009 113.532009 118.19401 125.19401 129.08602 132.97801 139.97801 150.08602 153.97801 160.97801 167.97801 171.47801 175.37001 182.37001 186.26201 192.47801 197.14002 204.14002 210.35602 214.24802 217.74802 223.96402 230.96402 237.96402 241.46402 247.68003 254.68003 258.57203 264.78804 269.45 276.45 282.66603 286.558 290.058 293.95 300.95 307.95 314.95 318.842 324.28804 327.78804 331.68003 338.68003 342.18003 346.07203 353.07203 359.28804 362.78804 372.89604 386.11204 390.77403 400.11204 403.61204 414.50404 421.50404 428.50404 435.50404 439.39604 445.61204">The device uses the following internal and external inputs to the AWIC module.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 152 555.3484)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="12.648 19.98 26.652 33.984 37.32 43.992 47.328004 54.000005 57.996004 64.668 77.004 85.668 96.996 100.332 108.996 112.332 120.336 124.332 131.664 138.996 142.332 149.004 156.336 163.668 167.004 175.008 182.34 190.344 198.34799 201.68399 213.012 219.68399 226.35599 233.02799 237.02399 244.35599 251.68799 255.02399 263.02799 270.36 277.692 282.36 289.03199 295.70399">Table 3-7.AWIC Stop and VLPS Wake-up Sources</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 576.8484)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="26.739 35.235 40.239004 45.243005 50.247007 53.244009 58.743009 64.242008 66.744 71.748 77.247 82.746 86.247 91.251">Wake-up source</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 182.5 576.8484)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="162.747 169.245 174.249 179.25299 184.25699 187.758 190.26 195.75899 198.75598 201.25798 206.75698">Description</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 592.8484)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 10.503 15.507001 17.505002 19.503003 24.507004 29.511006 31.509007 36.51301 39.015008 43.515008 48.015008 52.515008 55.017007 60.021009 67.518009 70.020008 73.017009 78.021 82.521 87.525 90.027">Available system resets</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 182.25 592.8484)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 12.501001 18.504002 24.507002 30.006003 32.508005 37.512006 39.510007 44.514009 47.016008 52.020009 57.02401 62.02801 64.530017 73.02602 79.52402 86.52602 93.528018 96.030017 102.528018 107.53201 112.53601 117.54001 120.04201 125.046009 131.04901 138.05101 140.55301 142.55101 147.05101 149.55301 151.55101 154.05301 158.55301 161.05501 165.55501 167.55301 172.557 177.057 181.557 184.059 188.559 193.563 198.567 201.564 206.064 211.068 213.56999 216.07199 221.07599 226.07999 231.08399 233.58599 238.08599 243.58498 249.58798">RESET pin and WDOG when LPO is its clock source, and JTAG</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 623.8484)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 10.008001 16.506003 19.503003 24.003003 29.007004 31.005005 33.507005 38.511007 43.515008 48.51901 51.021009 57.51901 62.52301 65.52001 70.52401 72.52201 77.52601">Low-voltage warning</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 639.3484)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.001 13.005001 15.507002 17.505002 22.509003 25.011004 30.015004 33.012006 36.009008 41.01301 46.01701 48.51901">Pin interrupts</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 182.25 639.3484)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 14.004001 16.506 19.008002 25.506003 30.510003 35.514005 38.016004 41.013006 46.017007 48.015008 50.517007 58.014009 63.01801 68.02201 73.02601 75.02401 80.02801 82.53001 85.52701 88.02901 94.032009 99.036 103.536 106.038 111.042 116.046 121.049999 126.05399 128.05199 133.05599 138.05998 140.56198 145.56598 147.56398 152.56798 155.06998 157.06798 162.07198 164.57398 169.57798 172.57497 175.57196 180.57596 185.57996 188.08196 190.58396 192.58196 197.08196 199.58396 204.08396 209.08795 214.09195 219.09595 224.09995 226.09795 231.10195 233.60395 238.60794 241.10994 243.61194 250.10994 255.11394 259.61396 261.61195 266.61595 271.61994 274.12196 276.62397 281.62797 286.63197 289.13398 293.63398 298.13398 302.63398 305.136 310.13999">Port Control Module - Any enabled pin interrupt is capable of waking the system</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 182.25 654.8484)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 24.012001 30.510003 37.008005 39.510004 41.508005 46.008005 48.510004 51.012 56.016004 61.020006 65.520008 68.022 70.020008 75.024 80.028 85.032 87.03 89.532 96.03 101.034 106.037998 111.04199 113.54399 118.54799 123.04799 125.04599 130.04999 135.05399 137.55599 139.55399 144.55799 147.05998 152.06398 155.06098 160.06497 165.06897 167.06697 169.56897 174.06897 176.06697 181.07097 185.57097 190.07097 192.57297 197.07297 202.07697 207.08097 210.07796 214.57796">The ADC is functional when using internal clock source</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 182.25 670.3484)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.001 13.005001 17.505002 22.509003 25.011004 30.015004 35.019006 37.521005 42.021005 46.521005 51.021005 53.523004 58.527006 66.024 68.526 73.026 75.024 80.028 84.528 89.028 93.528 96.03 101.034 104.031 109.034999 111.536998 116.54099 121.04099 126.04499 128.04299 130.04099 135.04499 140.04898 142.04698 147.05098 149.55298 152.05498 154.55698 159.56098 164.56497 169.06497 171.56697 173.56497 178.56897 183.57297 188.57697 190.57497 192.57297 195.07497 199.57497 202.07697 204.07497 208.57497 211.07697 213.07497 215.07297 222.56996 224.56797 227.06996 232.07396">Since no system clocks are available, functionality is limited</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 685.8484)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">I</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 685.8484)" font-size="6.75" font-family="HelveticaLTStd"><tspan y="4.83789" x="2.502">2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 685.8484)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="6.255">C</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 182.25 685.8484)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 16.011002 19.008002 24.012001 28.512001 33.012 35.514 43.011 48.015005 50.517004 55.017004 60.021005 62.523004 69.021 74.025 78.525 83.529 88.533">Address match wakeup</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="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>
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