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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_158.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

535 lines
50 KiB (Stored with Git LFS)
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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="365.6114" x=".00401 8.55801 15.55801 19.45001 24.896012 28.396012 35.39601 41.61201 48.61201 52.504014 58.720014 64.93601 68.43601 74.652019 81.652019 88.652019 92.544017 98.76002 102.652019 109.652019 115.098018 118.598018 124.044017 127.93601 134.936 138.436 148.544 158.65201 167.99 176.544 180.044 190.936 197.936 204.936 211.936 215.828 222.044 227.49 230.99 234.49 243.044 250.044 253.936 259.38203 262.88203 268.32804 274.54405 280.76005 284.65205 288.54405 295.54405 302.54405 306.04405 313.04405 319.26005 324.70606 330.92207 335.58406 339.47605 346.47605 352.69206 358.13807 361.63807 368.63807 375.63807 385.74607 389.24607 395.46208 401.67808 407.89408 414.89408 418.39408 429.28608 436.28608 443.28608 450.28608 454.17808 460.39408 463.89408 467.78608">This device contains six UART modules. This section describes how each module is</tspan><tspan y="381.6114" x=".0039999999 6.2200009 13.220001 20.220002 24.882002 28.774003 35.774003 42.774003 47.436 53.652 60.652 64.152 71.152 78.152 81.652 85.544 92.544 96.436 101.881999 105.381999 112.381999 118.598 125.598 129.49 135.70601 141.92201">configured on this device.</tspan><tspan y="406.01139" x="7.49401 14.49401 24.000012 31.784012 35.676015 41.892015 48.892015 55.892015 62.108015 66.77001 73.77001 77.27001 81.932018 88.14802 94.36402 98.25602 105.25602 109.91802 116.134029 121.580028 125.080028 132.08002 136.74202 140.24202 146.45803 150.35002 154.24202 157.74202 167.85002 177.95803 187.29602 195.85002 201.29602">1.Standard features of all UARTs:</tspan><tspan y="422.01139" x="37.10403 47.996034 57.334035 65.118038 69.78004 76.78004 83.78004 90.78004 94.28004 99.726039 106.726039 113.726039 120.726039 127.726039 132.38803">&#x2022;RS-485 support</tspan><tspan y="438.01139" x="37.10403 47.996034 58.104036 64.32004 68.98204 75.98204 86.09004 92.306049 96.96805 103.18405 106.68405 111.346057 115.23805 122.23805 132.34606 135.84606 142.06206 149.06206 156.06206 159.95406 164.61606 171.61606 175.50806 179.00806 183.67006 193.00806 201.56206 209.34606 213.23805 222.57605 231.13005 238.91405">&#x2022;Hardware flow control (RTS/CTS)</tspan><tspan y="454.01139" x="37.10403 47.996034 54.996034 59.65803 66.658039 70.55003 74.44203 77.94203 88.05003 98.158039 107.49603 116.05003 119.55003 123.44203 130.44203 133.94203 139.38803 146.38803 153.38803 160.38803 167.38803 172.05004 175.94203 179.44203 185.65804 192.65804 199.65804 204.32004 210.53604 215.98204 221.42804 224.92804 235.82004 242.03604 246.69805 253.69805 257.19807 267.30607 271.19807 275.09007 282.09007 285.59007 292.59007 298.80607 303.46806 307.36006 311.25205">&#x2022;9-bit UART to support address mark with parity</tspan><tspan y="470.01139" x="37.10406 47.996065 60.442064 68.22607 77.56407 81.45607 90.01007 97.794078 107.13208 110.63208 116.84808 123.84808 130.84809 135.51009 139.40209 146.40209 153.40209 158.06409 164.28009 168.17209 172.06409 179.06409 186.06409 189.56409 196.56409 203.56409 207.06409 214.06409 220.28009 224.17209">&#x2022;MSB/LSB configuration on data</tspan><tspan y="486.01139" x="7.494072 14.494072 24.000073 34.108076 44.216077 53.554079 62.108079 69.10808 72.60808 78.82408 85.82408 92.82408 96.32408 106.43208 116.540088 125.87808 134.43209 141.43209 144.93209 151.14809 155.81009 162.0261 165.5261 171.7421 175.6341 182.6341 188.8501 195.8501 202.0661 209.0661 212.5661 217.2281 221.8901 228.8901 239.7821 243.2821 247.1741 254.1741 260.3901 263.8901 270.1061 277.1061 281.7681 287.9841 291.4841 297.7001 301.5921 308.5921 314.8081 321.8081 325.3081 328.8081 332.7001 339.7001 345.9161 349.4161 354.0781 360.2941 371.1861 377.4021 381.2941 388.2941 392.1861 399.1861 406.1861 409.6861 419.7941 429.9021 439.2401 447.7941 453.2401 456.7401 462.95613 467.6181">2.UART0 and UART1 are clocked from the core clock, the remaining UARTs are</tspan><tspan y="502.01139" x="24.000102 30.216103 34.108106 41.108106 47.324106 54.324106 60.540105 67.5401 71.0401 78.0401 85.0401 88.5401 92.4321 99.4321 105.6481 109.1481 116.1481 123.1481 128.5941 132.0941 138.3101 142.2021 149.2021 155.4181 162.4181 165.9181 169.4181 177.9721 184.9721 191.18811 194.68811 205.58011 211.79611 218.79611 222.68811 233.58011 240.58011 251.4721 254.9721 261.9721 268.1881 275.1881 282.1881 285.6881 290.3501 296.5661 300.4581 306.6741 310.1741 314.0661 319.51213 323.01213 330.01213 333.9041 340.9041 347.9041 351.4041 358.4041 363.0661 366.5661 371.2281 377.4441 381.3361 387.5521 391.4441 397.6601 404.6601 408.1601 413.6061 420.6061 427.6061 432.2681 438.4841 444.7001 448.2001 454.4161 458.3081 465.3081 471.5241">clocked on the bus clock. The maximum baud rate is 1/16 of related source clock</tspan><tspan y="518.01138" x="24.000102 28.662102 33.3241 39.5401 46.5401 53.5401 59.7561 66.7561 72.97211 79.97211">frequency.</tspan><tspan y="534.01138" x="7.494112 14.494112 24.000113 28.662114 33.324113 43.432115 53.540117 57.040117 60.932119 66.37812 69.87812 76.094127 83.094127 89.31013 93.202129 97.094127 103.31013 110.31013 114.202129 120.41813 123.91813 130.91812 137.91812 141.41812 147.63413 151.52613 155.41812 158.91812 169.02613 179.13413 188.47212 197.02613">3.IrDA is available on all UARTs</tspan><tspan y="550.01138" x="7.494112 14.494112 24.000113 34.108114 44.216115 53.554117 62.108118 69.108119 72.608119 78.82412 85.82412 92.82412 96.71612 102.93212 106.82412 113.82412 119.27012 122.77012 126.66212 133.66211 139.87812 143.37812 148.82411 152.71611 158.93212 165.93212 172.93212 179.14812 183.81012 190.81012 194.31012 198.97212 205.18813 211.40413 215.29613 222.29613 226.95813 233.17414 238.62014 242.12014 249.12014 253.01213 260.01216 265.45817 268.95817 273.62016 281.40415 291.51216 298.51216 305.51216 312.51216">4.UART0 contains the standard features plus ISO7816</tspan><tspan y="566.01138" x="7.494112 14.494112 24.000113 34.108114 46.554117 55.892118 59.392118 64.83812 71.83812 78.83812 85.83812 92.83812 97.50012 101.39212 104.89212 111.89212 118.89212 122.39212 128.60813 132.50012 136.39212 139.89212 150.00012 160.10813 169.44612 178.00012 183.44612 186.94612 190.44612 199.00012 206.00012 212.21613 215.71613 222.71613 226.60813 233.60813 237.10813 243.32413 250.32413 257.32414 261.21614 265.8781 272.8781 276.7701 280.2701 286.4861 293.4861 300.4861 303.9861 307.8781 314.8781 318.7701 324.9861 329.6481 334.3101 341.3101 348.3101 352.2021 357.6481 361.1481 365.8101 373.5941 383.7021 393.0401 401.5941 406.25608 409.75608 420.64808 427.64808 434.64808 441.64808 445.54008 451.75608 455.25608 460.7021 467.7021 474.7021 481.7021 488.7021 493.36408 497.25608">5.AMR support on all UARTs. The pin control and interrupts (PORT) module supports</tspan><tspan y="582.01138" x="24.000132 31.000132 38.00013 44.21613 51.21613 55.878129 62.878129 67.54013 73.756137 77.64813 84.64813 88.14813 92.810138 99.810138 104.47214 107.97214 114.18814 118.08014 121.97214 125.47214 130.13414 134.02614 144.13414">open-drain for all I/O.</tspan><tspan y="598.01138" x="7.494131 14.494131 24.000132 34.10813 44.216135 53.554136 62.108137 69.10814 72.60814 78.82414 85.82414 92.82414 96.32414 106.432147 116.540149 125.87814 134.43215 141.43215 144.93215 151.14815 158.14815 165.14815 169.04015 175.25615 179.14815 186.14815 191.59415 195.09415 202.09415 206.75615 212.97216 219.97216 223.86415 228.52616 235.52616 239.02616 242.91815 247.58016 253.79616 260.79615 266.24217 277.13417 281.02616 284.91816 288.41816 294.63417 301.63417 308.63417 312.13417 319.13417 323.79615 330.01216 337.01216 340.90415 345.56614 352.56614 356.06614 360.72813 366.94413 373.16014 379.37614 383.26814 390.26814 396.48414 399.98414 407.76814 412.4301 420.2141 430.3221">6.UART0 and UART1 contains 8-entry transmit and 8-entry receive FIFOs</tspan><tspan y="614.01138" x="7.494141 14.494141 24.000142 34.108144 38.000146 41.892148 45.392148 52.392148 56.28415 63.28415 69.50015 74.162158 77.662158 87.77016 97.87816 107.216159 115.77016 121.216159 124.716159 130.93216 137.93216 144.93216 148.82416 155.04016 158.93216 165.93216 169.43216 175.64817 179.14817 186.14817 190.81017 197.02617 204.02617 207.91817 212.58017 219.58017 223.08017 226.97217 231.63417 237.85018 244.85018 250.29618 261.18818 265.08018 268.97218 272.47218 278.68818 285.68818 292.68818 296.18818 300.85017 307.06617 313.28218 319.49818 323.39018 330.39018 336.60618 340.10618 347.89018 352.55216 360.33616 370.44416">7.All other UARTs contain a 1-entry transmit and receive FIFOs</tspan><tspan y="630.01138" x="7.494171 14.494171 24.000172 33.338174 41.892175 52.000177 59.000177 66.000179 73.000179 76.500179 83.500179 88.16218 97.50018 101.00018 105.662189 114.21619 124.32419 134.43219 139.0942 142.5942 146.48619 151.93219 155.43219 161.6482 168.6482 174.8642 178.7562 182.6482 188.8642 195.8642 199.7562 205.9722 209.4722 213.3642 220.3642 223.8642 233.9722 244.0802 253.4182 261.9722">8.CEA709.1-B (LON) is available in UART0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 6.4980008 11.997001 19.998002 27.999 33.498 38.997 41.499 46.503004 51.507005 54.504007 57.006006 62.505006 68.004009 70.506008 73.008 78.507 81.504009 86.508 90.009 93.006008 98.01 103.014 108.018">Communication interfaces</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 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 53.999998 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="-.00299 5.001011 10.005012">158</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>
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