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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_164.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

131 lines
28 KiB (Stored with Git LFS)
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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">3.9.8.2.5</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 14.000001 22.554 30.338002 38.122 42.014005 50.568006 58.352006 63.014005 66.906009 75.46001 84.01401 87.906009 95.69001 104.24401 112.79801 116.69001">Clock gating and I</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.66138 54)" font-size="10.5" font-family="HelveticaLTStd" font-weight="bold"><tspan y="6.47005" x="120.582">2</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="126.42 135.758 139.65 148.98799 159.096 162.98799 166.87999 170.77199 179.32599 183.21799 187.87999 191.77199 199.55599 203.44799 207.33998 214.33998 222.12398 226.78598 230.67798 239.23198">S/SAI initialization</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="35.25" x="0 8.554 15.554 21.77 25.27 31.486 35.378004 42.378004 48.594 55.594 59.094 62.986005 69.98601 73.48601 77.378009 84.378009 90.59401 94.09401">The clock to the I</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="10.5" font-family="TimesLTStd"><tspan y="30.58333" x="98.756">2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="35.25" x="104.006 111.79 115.682 123.466 133.574 138.23601 141.73601 152.628 159.628 166.628 173.628 177.52 183.73601 187.23601 193.45201 199.66802 206.66802 210.16802 217.16802 223.38402 226.88402 233.88402 240.10002 243.99202 250.20803 257.208 260.708 267.708 273.15403 277.04603 284.04603 291.04603 294.54603 300.76203 304.26203 311.26203 315.15403 319.04603 322.54603 326.43803 333.43803 336.93803 340.83003 347.83003 354.04603 357.54603 365.33003 369.992 382.43803 385.93803 389.43803 397.992 404.992 408.492 419.384 423.276 430.276 434.168 445.06 448.952 455.168 461.384 464.884 471.884 478.884 488.992 495.208">S/SAI module can be gated using a bit in the SIM. To minimize power</tspan><tspan y="51.25" x="0 6.2160007 13.216001 20.216 25.662 32.662004 43.554006 50.554006 54.446008 58.33801 65.33801 72.33801 75.83801 79.33801 83.23001 90.23001 96.446018 101.89201 108.10802 111.60802 118.60802 122.500019 126.39201 131.83802 135.33802 141.55402 146.21602 152.43202 155.93202 162.14803 166.04003 172.25603 178.47203 183.13404 189.35004 196.35004 199.85004 206.06604 210.72805 214.62004 220.83605 225.49805 228.99805 235.21405 242.21405 249.21405 252.71405 257.37605 263.59205 269.03807 275.25407 279.14607 282.64607 286.14607 296.25407 303.25407 307.14607 313.36207 320.36207 323.86207 330.86207 334.75407 340.20008 346.41609 353.41609 357.30809 363.52409 368.9701 372.4701 376.3621 383.3621 389.5781 393.0781 399.2941 403.1861 410.1861 416.4021 423.4021 426.9021 430.7941 437.7941 441.2941 445.1861 452.1861">consumption, these bits are cleared after any reset, which disables the clock to the</tspan><tspan y="67.25" x=".00003 6.2160308 13.21603 17.87803 22.540032 28.756031 34.20203 41.20203 48.20203 55.20203 62.20203 66.09403 73.09403 80.09403 83.59403 94.48603 101.48603 108.48603 115.48603 119.37803 125.59403 129.09403 132.59403 141.14803 148.14803 154.36403 157.86403 164.08003 167.97203 174.97203 181.18804 188.18804 191.68804 197.90404 204.90404 211.12004 218.12004 222.01204 228.22805 231.72805 238.72805 242.62004 246.51204 250.01204 255.45804 262.45805 269.45805 276.45805 280.35005 287.35005 290.85005 297.85005 304.06605 307.56605 313.01206 319.22807 323.12007 326.62007 333.62007 340.62007 344.12007 349.56608 356.56608 361.22807 365.12007 375.22807 381.44407 386.10606 392.32206 395.82206 402.03807 405.93006 409.43006 413.32206 420.32206 426.53807 430.03807 437.03807 443.25407 450.25407 454.14607 461.14607 468.14607 472.03807 479.03807 486.03807 489.53807 496.53807">corresponding module. The clock enable bit should be set by software at the beginning of</tspan><tspan y="83.25" x=".00006 3.8920606 10.89206 17.10806 20.60806 31.500061 38.50006 45.50006 52.50006 56.392065 62.608064 66.10806 70.00006 77.00006 80.89206 84.78406 88.676059 94.89206 98.78406 102.676059 108.89206 115.10806 119.00006 122.89206 129.89206 136.89206 140.39206 145.05406 152.05406 159.05406 162.94606 166.83806 173.83806 180.05406 183.55406 187.44606 194.44606 197.94606 204.16207 211.16207 217.37807 224.37807 228.27007 234.48607 237.98607 241.87807 248.87807 255.09407 258.59407 269.48606 276.48606 283.48606 290.48606 294.37806 300.59407 304.09407 310.31007 314.20207 321.20207 327.41807 334.41807 337.91807 344.91807 351.13407 355.79606 362.79606 367.45805 373.67405 377.17405 381.06605 388.06605 391.95805 395.85005 399.74205 405.95805 409.85005 413.74205 419.95805 426.17405 430.06605 433.95805 440.95805 447.95805 451.45805 458.45805 463.12004 466.62004 472.83604 479.83604 486.83604 490.33604 497.33604">the module initialization routine to enable the module clock before initialization of any of</tspan><tspan y="99.25" x=".00006 3.8920606 10.89206 17.10806 20.60806">the I</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="10.5" font-family="TimesLTStd"><tspan y="94.58333" x="25.27006">2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="99.25" x="30.52006 38.30406 42.196065 49.980066 60.088068 64.75007 68.25007 72.91207 79.128078 86.128078 90.02007 95.46607 99.35807 105.57407 110.23608 115.682079">S/SAI registers.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 193.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00705 8.347051 12.517052 20.857052 25.027052 33.367055 37.537057">3.9.8.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 193.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00704">I</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 193.8)" font-size="11.25" font-family="HelveticaLTStd" font-weight="bold"><tspan y="6.8964798" x="4.16579">2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 193.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="10.42079 20.42579 24.59579 34.600793 45.430795 49.600797 53.770799 62.9358 72.1008 80.4408 86.2758 94.61581 99.61081 103.78081 112.94581 122.11081 126.28081 130.4508 139.6158 143.7858 147.9558 157.12079 168.79079 172.96079 182.12578 191.29077 202.96077 211.30077 217.13578 221.30577 234.64078 243.80577 252.97077 261.31077">S/SAI operation in low power modes</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 234.2)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.13672" x="-.0032 7.780801 11.672801 19.456803 23.348803 31.132803 35.024805 42.808805 46.700807">3.9.8.3.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.66138 234.2)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.13672" x="-.0032 9.334802 13.996801 22.5508 31.104802 34.996805 42.780805 51.334806 59.888807 63.780809 71.56481 79.348819 84.794818 92.57882 96.47082 100.362819 108.91682 119.808818 123.70081 132.2548 140.8088 151.7008 159.4848 164.9308 168.8228 181.2688 189.8228 198.3768 206.1608">Stop and very low power modes</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="215.45" x="-.0032 4.6588 11.6588 15.1588 25.2668 33.8208 41.6048 49.3888 52.8888 63.780805 70.78081 77.78081 83.99681 87.49681 90.99681 94.88881 101.88881 108.10481 111.60481 122.49681 129.49681 136.49681 143.49681 147.38881 153.60482 157.10482 164.10482 170.32082 177.32082 183.53682 190.53682 196.75283 202.19882 205.69882 211.91483 217.36083 220.86083 224.75283 228.64482 232.14482 239.14482 246.14482 252.36083 257.80683 261.30683 265.19883 272.19883 275.69883 281.14485 285.03684 292.03684 299.03684 302.53684 313.42884 320.42884 327.42884 333.64485 337.14485 341.03684 345.69883 349.19883 359.30683 367.8608 375.6448 383.4288 386.9288 397.8208 404.8208 411.8208 418.0368 421.5368 425.4288 430.87483 434.37483 440.59083 447.59083 451.48283 457.69883 462.3608 468.5768">In VLPS mode, the module behaves as it does in stop mode if VLPS mode is entered</tspan><tspan y="231.45" x="-.00323 4.65877 9.32077 16.32077 27.212773 30.712773 35.37477 42.37477 49.37477 52.87477 63.766775 70.76677 77.76677 83.98277 87.48277 90.98277 101.090778 108.090778 118.19878 124.41478 131.41478 137.63079 142.29279 145.79279 149.29279 153.18479 157.84679 161.34679 171.45479 180.00879 187.79279 195.57678 199.07678 209.96878 216.96878 223.96878 230.18479 233.68479 237.57678 243.02278 246.52278 252.73879 259.73878 263.63078 269.84678 274.50877 280.72477 287.72477 291.22477 295.88676 300.54875 307.54875 318.44075 321.94075 332.04875 340.60273 348.38673 357.72474 361.22474 372.11674 379.11674 386.11674 392.33274 395.83274 399.33274 403.22474 410.22474 416.44075 419.94075 427.72474 432.38673 440.17073 450.27873 453.77873 464.67073 468.5627 475.5627 482.5627">from run mode. However, if VLPS mode is entered from VLPR mode, the FIFO might</tspan><tspan y="247.45" x="-.00323 6.99677 13.99677 20.996769 27.212769 31.87477 36.53677 40.428773 47.428773 57.536775 61.036775 68.03677 72.69878 76.19878 83.19878 90.19878 96.41478 101.07678 105.738788 109.63078 116.63078 126.738788 130.23879 137.23879 143.45479 148.11679 155.11679 159.7788 165.9948 169.4948 179.6028 185.8188 192.8188 199.0348 206.0348 213.0348 216.5348 221.19681 225.85881 232.85881 243.75081 247.25081 252.69681 256.5888 263.5888 270.5888 274.0888 284.9808 291.9808 298.9808 305.1968 308.6968 315.6968 322.6968 328.9128 332.4128 336.3048 343.3048 346.8048 350.6968 357.6968 363.9128 367.4128 371.3048 375.1968 386.0888 389.9808 393.8728 399.31883 402.81883 406.71083 413.71083 417.21083 424.21083 431.21083 436.65684 440.15684 447.15684 453.37284 460.37284 467.37284 477.48085 481.37284 488.37284 492.26484 499.26484">underflow or overflow before wakeup from stop mode due to the limits in bus bandwidth.</tspan><tspan y="263.44999" x="-.00323 4.65877 11.65877 15.15877 25.26677 33.82077 41.60477 54.82077 58.32077 64.53677 71.53677 78.53677 82.03677 92.144779 100.69878 108.48278 117.820789 121.320789 132.21279 139.21279 146.21279 152.42879 157.87479 161.37479 164.87479 168.76679 175.76679 181.98279 185.48279 196.37479 203.37479 210.37479 217.37479 221.26679 227.48279 230.98279 234.87479 240.32079 243.82079 247.71279 251.60478 262.4968 266.3888 270.2808 276.4968 283.4968 286.9968 293.9968 300.9968 304.4968 308.3888 315.3888 321.6048 325.1048 335.9968 342.2128 349.2128 353.1048 363.9968 370.9968 381.8888 385.3888 392.3888 399.3888 404.8348 408.3348 414.5508 418.4428 425.4428 431.6588">In VLPW and VLPR modes, the module is limited by the maximum bus clock</tspan><tspan y="279.44999" x="-.00323 4.65877 9.32077 15.536771 22.53677 29.53677 35.75277 42.75277 48.96877 52.86077 59.07677 64.52277">frequencies.</tspan><tspan y="303.84999" x="-.00323 13.21277 20.21277 26.428772 33.428773 36.928773 43.928773 50.928773 57.14477 61.80677 68.02277 71.91477 75.80677 82.80677 89.80677 93.30677 97.96877 102.630779 109.630779 120.52277 124.02277 130.23877 137.23877 140.73877 144.63077 151.63077 155.52277 161.73877 166.40077 173.40077 179.61678 183.50878 187.40077 194.40077 197.90077 204.90077 211.11678 218.11678 224.33278 228.99478 235.21079 239.10279 245.31879 252.31879 255.81879 262.8188 266.7108 270.60279 274.10279 280.3188 284.2108 291.2108 297.4268 304.4268 307.9268 314.9268 319.58879 323.08879 333.19679 340.19679 347.19679 351.08879 358.08879 361.58879 374.0348 380.2508 385.6968 389.5888 395.8048 400.4668 403.9668 413.3048 417.1968 424.1968 430.4128 437.4128 440.9128 444.8048 451.8048 458.0208 461.9128 465.4128 469.3048">When operating from an internally generated bit clock or Audio Master Clock that is</tspan><tspan y="319.84999" x="-.00323 6.99677 10.88877 16.33477 22.55077 29.55077 33.442773 39.65877 46.65877 50.15877 54.050775 61.050775 64.55077 69.99677 73.88877 80.88877 87.88877 91.38877 102.28077 109.28077 116.28077 122.49677 127.94277">disabled in stop modes:</tspan><tspan y="344.24998" x="-.0032199999 4.65878 11.65878 15.15878 22.942782 26.834782 33.83478 40.83478 44.33478 55.226785 62.226785 69.22678 75.44279 78.94279 82.44279 86.334789 93.334789 99.55079 103.05079 106.94279 111.60479 117.82079 124.82079 130.2668 141.1588 145.0508 148.9428 152.8348 159.0508 163.7128 167.2128 171.1048 176.5508 180.0508 187.0508 190.9428 196.3888 202.6048 209.6048 213.4968 219.7128 226.7128 230.2128 236.4288 241.0908 244.9828 251.1988 255.86081 259.3608 265.5768 272.5768 283.4688 290.4688 294.3608 300.5768 304.4688 308.3608 315.3608 322.3608 325.8608 329.7528 336.7528 342.9688 346.4688 352.6848 359.6848 364.3468 369.0088 375.2248 382.2248 386.1168 389.6168 393.5088 398.17079 404.38679 411.38679 416.8328 427.7248 431.6168 435.5088 439.0088 443.67079 448.33277 454.54878 465.44078 471.65678 475.15678 478.65678 484.87278 491.87278 498.87278">In Stop mode, the transmitter is disabled after completing the current transmit frame, and,</tspan><tspan y="360.24998" x="-.0031799998 3.8888205 10.888821 17.10482 20.60482 25.26682 31.482823 37.698823 43.91482 47.806825 54.806825 61.022825 65.68482 69.18482 73.07682 78.52282 82.02282 89.02282 92.91482 98.36082 104.57682 111.57682 115.46882 121.68482 128.68482 132.18482 138.40082 143.06282 146.95482 153.17082 157.83283 161.33283 167.54883 174.54883 185.44083 192.44083 196.33283 202.54883 206.44083 210.33283 217.33283 224.33283 227.83283 231.72483 238.72483 244.94083 248.44083 254.65683 261.65684 266.31883 270.9808 277.1968 284.1968 288.0888 291.5888 296.2508 302.4668 308.6828 314.8988 318.7908 325.7908 332.0068 335.5068 340.1688 344.83079 351.04679 361.93879 368.1548 371.6548 375.1548 383.70878 390.70878 394.60078 399.26277 406.26277 409.76277 413.65476 420.65476 424.54676 431.54676 435.04676 442.83076 446.72276 453.72276 460.72276 464.22276 475.11476 482.11476 489.11476">the receiver is disabled after completing the current receive frame. Entry into Stop mode</tspan><tspan y="376.24998" x="-.0031299999 3.8888705 9.334871 12.834871 19.834872 24.496872 30.712872 37.71287 43.92887 50.92887 54.820875 61.036874 68.03687 75.03687 82.03687 89.03687 92.92887 96.42887 102.644878 108.86088 115.86088 122.86088 129.86087 139.96887 143.86087 150.07688 157.07688 164.07688 170.29288 177.29288 184.29288 194.40088 201.40088 205.29288 209.18488 215.40088 218.90088 229.00888 235.22489 239.11688 243.00888 246.90088 253.90088 260.90089 264.40089 269.06288 276.06288 280.72486 284.22486 288.11686 295.11686 301.33287 304.83287 308.72486 313.38685 319.60285 326.60285 332.04887 342.94087 346.83287 350.72486 354.61686 360.83287 365.49485 368.99485 375.21086 382.21086 389.21086 392.71086 397.37284 403.58885 409.80485 416.02085 419.91285 426.91285 433.12886 437.79084 441.29084 445.18284 452.18284 455.68284 462.68284">is prevented&#x2013;not acknowledged&#x2013;while waiting for the transmitter and receiver to be</tspan><tspan y="392.24998" x="-.0031299999 6.99687 10.88887 16.334872 22.550873 29.550873 33.442876 39.658876 46.658876 50.158876 56.374876 60.266878 63.766878 67.658878 74.658878 80.87488 84.37488 90.59088 97.59088 104.59088 108.09088 115.09088 119.752887 123.252887 127.14488 134.14488 140.36089 143.86089 150.07689 157.07689 161.73889 166.4009 172.6169 179.6169 183.5089 187.0089 191.6709 196.3329 202.5489 213.4409 219.6569">disabled at the end of the current frame.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 492.59996)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00209 9.44991 14.175911 23.62791">3.10</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 492.59996)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00209 12.271911 22.65891 37.77191 47.22391 57.610914 63.27191 78.38491 87.836917 97.28892 107.67592 112.40192 122.78892 132.24092 136.96692 141.69292 152.07991 157.7409 167.1929 173.80591 179.4669 188.9189 198.3709 207.82289">Human-machine interfaces</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 555.3999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00509 8.890911 13.338911 22.234913 31.130913 35.578916">3.10.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 555.3999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00509 12.442911 23.114912 27.562912 40.010915 44.458917 53.354917 63.130918 72.90691 78.23492 82.682918 92.458919 102.23492 108.458919 117.35492 122.68292 127.13092 136.90692">GPIO configuration</tspan></text>
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