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birdcage/docs/K60-datasheet-vectors/K60-datasheet_page_53.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

1120 lines
123 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(.99999997 0 -0 .99999997 0 777.60006)" font-size="8.8548" font-family="Helvetica LT Std"><tspan y="-429.4255" x="96.59612"> </tspan></text>
<text xml:space="preserve" transform="matrix(.99999997 0 -0 .99999997 0 777.60006)" font-size="10.360116" font-family="Helvetica LT Std"><tspan y="-461.21424" x="77.726367 82.95822 85.61041 90.83191">0.02</tspan></text>
<text xml:space="preserve" transform="matrix(.99999997 0 -0 .99999997 0 777.60006)" font-size="8.8548" font-family="Helvetica LT Std"><tspan y="-461.21424" x="96.59213"> </tspan></text>
<text xml:space="preserve" transform="matrix(.99999997 0 -0 .99999997 0 777.60006)" font-size="10.360116" font-family="Helvetica LT Std"><tspan y="-493.09153" x="77.733 82.9545 85.60669 90.828189">0.04</tspan></text>
<text xml:space="preserve" transform="matrix(.99999997 0 -0 .99999997 0 777.60006)" font-size="8.8548" font-family="Helvetica LT Std"><tspan y="-493.09153" x="96.59741"> </tspan></text>
<text xml:space="preserve" transform="matrix(.99999997 0 -0 .99999997 0 777.60006)" font-size="10.360116" font-family="Helvetica LT Std"><tspan y="-524.88027" x="77.72783 82.95969 85.61188 90.833377">0.06</tspan><tspan y="-556.7575" x="77.72783 82.95969 85.61188 90.833377">0.08</tspan></text>
<text xml:space="preserve" transform="matrix(.99999997 0 -0 .99999997 0 777.60006)" font-size="11.776884" font-family="Helvetica LT Std"><tspan y="-410.122" x="104.648639 110.58419 113.587299 143.07662 149.01216 152.01526 181.50458 187.44013 190.44322 224.45487 258.3605 264.29606 267.31095 296.78849 302.72404 305.73893 335.21647 341.152 344.1669 373.64445 379.58 382.59489 412.07243 418.00798 421.02287 450.5004 456.43595 459.45085 488.92839 494.86393 497.8788">0.10.40.711.31.61.92.22.52.83.1</tspan></text>
<text xml:space="preserve" transform="matrix(0 -.99999997 .99999997 0 0 777.60006)" font-size="7.3494846" font-family="Helvetica LT Std" font-weight="bold"><tspan y="70.2038" x="546.8344 550.7297 557.1975">CMP</tspan></text>
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<text xml:space="preserve" transform="matrix(.99999997 0 -0 .99999997 0 777.60006)" font-size="7.3494846" font-family="Helvetica LT Std"><tspan y="-541.7895" x="543.1263 546.8451">11</tspan></text>
<text xml:space="preserve" transform="matrix(.99999997 0 -0 .99999997 0 777.60006)" font-size="8.146416" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-400.11268" x="287.3133 292.0871 294.13188 298.46577 300.24168 302.2783 306.3515 310.2455 314.31059 316.35536 318.0335 320.6078 325.38975">Vin level (V)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="12" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-379.946" x="121.584 128.916 132.252 139.584 146.916 151.584 158.256 161.592 168.26399 174.93599 178.27199 181.60799 188.93999 195.61199 202.94399 206.27999 212.95198 219.62398 222.95998 226.29598 233.62798 240.29998 246.97197 250.96797 257.63999 262.30799 268.97999 275.65199 278.98799 285.65998 288.99598 295.66798 302.33998 305.67597 309.01197 317.01597 320.35197 327.68397 331.01997 334.35597 341.02796 347.69996 354.37196 357.70796 361.04396 365.03996 373.04396 381.70796 390.37196 397.37995 404.05195 407.38795 414.05995 422.06394 425.39994 428.73594 436.73994 446.73594 456.07194 464.73594 472.73994 479.74794 486.41993">Figure 17. Typical hysteresis vs. Vin level (VDD=3.3V, PMODE=1)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="15" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-325.467" x="54.005998 62.345998 66.516 74.856 79.026 101.54101 109.88101 118.221019 123.21602 132.38101 136.55101 141.546 145.716 156.546 167.376 178.20601 182.376 190.716 194.886 203.226 211.566 216.56099 222.396 226.566 234.90599 243.24599 247.41599 251.58599 259.926 269.091 277.431 283.266 291.606 299.94599 304.94099 313.28099 319.11598 323.28599 331.62599 336.62098 340.791 349.13099">6.6.312-bit DAC electrical characteristics</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="14" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-293.22703" x="54.001996 61.785997 65.67799 73.462 77.354 85.138 89.03 110.982 118.76601 126.55001 131.212 139.766 143.658 148.32 152.212 162.32 172.42801 182.53601 186.42801 194.98201 203.53601 211.32 216.766 224.55 229.212 233.104 241.658 250.212 254.104 259.55003 267.334 275.888 284.442 288.33399 293.78 301.564 314.01 321.794 330.348 335.00999">6.6.3.112-bit DAC operating requirements</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="12" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-279.246" x="171.636 178.968 185.64 192.972 196.308 202.98 206.316 212.98799 219.65999 231.99599 238.66799 245.33998 249.33599 256.66798 260.00398 263.99998 267.33598 275.99998 284.66398 293.32798 296.66398 303.99598 311.32798 317.99998 322.66798 329.33998 333.33598 336.67198 344.00398 351.33598 354.67198 359.33998 366.01197 373.34397 380.67597 384.01197 388.67997 395.35197 406.01997 412.69197 420.02397 424.01997">Table 32.12-bit DAC operating requirements</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-259.525" x="66.742 72.744998 77.74899 85.74999 91.24899 96.74799">Symbol</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-259.525" x="114.498 120.996 126 131.004 136.008 138.51 144.00899 147.00598 149.50798 155.00698">Desciption</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-259.525" x="353.996 361.493 363.99504 369.49403">Min.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-259.525" x="408.997 416.49403 421.49803 426.502">Max.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-259.525" x="466.248 472.74598 478.24497 480.74699">Unit</tspan></text>
<g clip-path="url(#clip_7)">
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-259.525" x="518.495 524.993 530.492 533.489 538.49307">Notes</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-243.525" x="71.874">V</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-241.72499" x="77.877 82.750499 87.62399">DDA</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-243.525" x="112.25 118.253 123.256999 128.261 133.265 135.263 139.763 142.265 146.765 151.769 153.767 156.269 161.273 166.277">Supply voltage</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-243.525" x="353.242 358.246 360.74803 365.752">1.71</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-243.525" x="411.744 416.748 419.25">3.6</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-228.025" x="411.744 416.748 419.25">3.6</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-228.025" x="471.002">V</tspan></text>
<g clip-path="url(#clip_19)">
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-212.525" x="76.995">T</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-210.72499" x="82.501">A</tspan></text>
<g clip-path="url(#clip_21)">
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<g clip-path="url(#clip_24)">
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<g clip-path="url(#clip_25)">
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-184.22499" x="83.368999">L</tspan></text>
<g clip-path="url(#clip_26)">
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-186.025" x="357.499">&#x2014;</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-186.025" x="410.493 415.497 420.501">100</tspan></text>
<g clip-path="url(#clip_29)">
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-186.025" x="468.752 473.756">pF</tspan></text>
<g clip-path="url(#clip_30)">
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<g clip-path="url(#clip_31)">
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-168.72499" x="81.371">L</tspan></text>
<g clip-path="url(#clip_32)">
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<g clip-path="url(#clip_34)">
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-170.525" x="415.497">1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-140.025" x="54 59.004 69.12 74.619 79.623 84.627 87.129 93.627 99.63 106.128 108.63 111.627 116.631 119.132999 124.13699 127.133998 132.138 137.142 141.642 146.646 149.148 153.648 158.652 163.65599 166.15799 171.16199 176.16599 178.66799 183.16799 188.17198 190.16999 195.17398 199.67398 202.17598 207.17998 212.18398 214.68598 217.18798 222.19197 224.69397 229.69797 234.70197 237.20397">1.The DAC reference can be selected to be V</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-140.025" x="257.456 259.958 264.962 267.959 270.46104 272.96305 277.96705 282.97105 285.47306 289.97306 294.97706 296.97505 299.47706 304.48106 309.48506 314.48905 316.99107 321.99507 326.99906 329.50108 334.50508 339.50907 342.01109 344.5131 349.5171 352.0191 354.52113 357.02314 362.02714 367.03114 369.53315 375.53614 382.03413 388.0371 393.5361 396.03813 403.53514 408.53913 413.54313 418.54713 420.5451 425.5491 428.05113 431.04814 437.05113 443.5491 449.5521 455.0511 460.05509 467.0571 473.55509 479.05409"> or the voltage output of the VREF module (VREF_OUT)</tspan><tspan y="-129.025" x="54.002 59.006 69.122 75.125 77.627 82.127 89.624 94.628 96.626 98.624 101.126 103.124 108.128 113.131999 118.135997 120.63799 125.13799 130.142 135.146 140.15 144.65 146.648 149.15 154.15399 159.15799 163.65799 168.66199 171.16399 174.16098 179.16498 184.16898 186.67098 191.67498 197.17397 200.17096 202.67296 207.17296 212.17696 217.18096 219.68296 221.68096 229.17795 234.18195 237.17894 242.18294 246.68294 251.68694 254.18894 256.69096 261.69496 266.69895 269.20097 274.20497 279.20896 284.21296 289.21696 295.71495 297.71293 302.71693 305.21894 310.22294 312.72496 317.72895 322.73295 325.72996 328.23197 333.23597 336.23298 343.72999 348.73399 353.73799 358.23799 363.24198 365.744 370.748 373.25 375.752 378.25404 383.25804 388.26203 390.76405 397.26203 403.265">2.A small load capacitance (47 pF) can improve the bandwidth performance of the DAC</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-733.727" x="347.436 353.439 358.443 361.944 364.446 369.945 375.444 380.448 383.949 388.953 391.45503 393.95704 399.45603 404.95503 409.959 413.46003 418.46403 421.46104 423.96305 429.46205 434.96104 437.46305 440.96406 445.96806 451.46705 456.96604 459.46806 462.96907 467.97306 475.97407 480.97807 486.47706 489.47407 494.47807 496.98008 501.98408 507.48307 512.98208 515.4841 520.9831 525.9871 531.48617 536.4902 541.4942 543.9962 549.49526 552.9962">Peripheral operating requirements and behaviors</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="10" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-34.063966" x="204.29001 211.51001 217.07 222.63 225.41 232.08 238.19 244.3 247.63 253.74 259.30003 268.19004 270.97004 273.75004 279.31004 282.09004 289.31004 294.87004 298.2 303.76 306.54 313.21003 319.32 324.88 330.44 333.77 336.55 339.33 346.55 352.11 357.66999 360.44999 363.22999 368.78999 371.56999 374.34999 379.90998 382.68998 388.24998 393.80998 399.36997 404.92997">K60 Sub-Family Data Sheet, Rev. 3, 6/2013.</tspan></text>
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