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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

176 lines
25 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 83)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 13.344002 22.240002 26.688002">5.7.8</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.757328 83)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 9.776 14.224001 23.120003 32.016004 43.568006 55.120008 66.672008 71.12 80.01601 84.464008 94.240009 103.13601 112.03201 116.48001 126.25601">FlexCAN clocking</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="66.25" x="-.006 8.548 15.548 21.764 25.264 31.48 35.372 42.372 48.588 55.588 59.088 63.75 70.75 75.412 78.912 82.804 89.804 96.020008 99.520008 107.30401 111.19601 117.41201 124.41201 133.75002 143.85802 153.96602 156.48603 161.93202 165.43202 172.43202 177.09403 184.09403 187.98603 194.98603 201.20203 208.20203 212.09403 215.59403 221.81003 228.81003 235.81003 239.70203 246.70203 252.91803 256.41804 262.63404 268.85005 275.85005 279.35005 286.35005 292.56605 296.06605 301.51206 307.72807 311.62007 317.83607 324.05207 327.94407 334.16007 341.16007 344.66007 350.87608 356.32209 359.82209 365.2681 372.2681 379.2681 389.3761 396.3761 399.8761 403.7681 410.7681 414.2681 418.1601 425.1601 431.3761 434.8761 439.5381 446.5381 450.43009 454.32209 461.32209 471.43009 475.32209 482.32209">The clock for the FlexCAN's protocol engine can be selected as shown in the following</tspan><tspan y="82.25" x="-.00601 4.65599 8.547991 15.547991 22.54799 27.209992 33.42599">figure.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="263.2321" x="145.64398 152.97599 156.31198 163.64398 170.97599 175.64398 182.31598 185.65198 192.32398 196.31998 202.99198 206.32798 209.66397 216.99597 220.33197 227.00397 233.67597 242.33997 251.00397 259.66798 263.00398 269.67597 273.01197 280.34397 287.01597 293.68797 297.02397 304.35597 311.02796 318.35997 325.03196 329.69996 336.37196 340.36796 343.70396 351.03596">Figure 5-8. FlexCAN clock generation</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 360.8149)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00003 8.895971 13.343971 22.239972 26.687972">5.7.9</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="344.0649" x="-.00003 10.107971 20.215973 29.553975 38.107976 45.107976 48.607976 54.823976 61.823976 68.823978 72.323978 82.43198 92.53998 101.877979 110.43198 117.43198 120.93198 131.82398 138.82398 145.82398 152.82398 156.71598 162.93198 168.37798 171.87798 178.87798 185.87798 192.09398 196.75598 202.97199 206.86399 213.07999 216.57999 221.24199 225.90399 232.90399 243.79599 247.29599 251.18799 258.188 264.404 267.904 274.12 281.12 285.78199 291.998 295.88999 301.336 308.336 313.782 317.674 323.89 334.782 338.282 344.49803 348.39 355.39 361.60603 368.60603 372.10603 375.60603 385.71403 392.71403 396.60603 402.82203 409.82203 413.32203 420.32203 424.984 431.984 438.984 442.876 449.876 456.092 461.53804 465.03804 472.03804 475.93003 482.93003 489.93003 496.14604">UART0 and UART1 modules operate from the core/system clock, which provides higher</tspan><tspan y="360.0649" x="0 7 13.216001 17.878 22.54 29.54 34.202 45.094 51.31 58.31 64.526 70.742008 74.242008 78.134 84.350009 91.350009 97.56601 101.45801 104.95801 109.62001 116.62001 121.28201 124.78201 128.67401 135.67401 141.89002 147.33602 153.55202 157.05202 167.94402 174.94402 181.94402 188.94402 192.83602 199.05202 204.49802 207.99802 211.49802 221.60602 225.49802 229.39002 232.89002 239.89002 243.78202 250.78202 256.99803 261.66 265.16 275.268 285.376 294.71403 303.268 306.768 317.66 324.66 331.66 338.66 342.552 348.768 354.21403 357.71403 364.71403 371.71403 377.93003 382.592 388.808 392.7 398.91603 402.41603 407.078 411.74 418.74 429.632 433.132 437.024 444.024 450.24 453.74 460.74 467.74">performance level for these modules. All other UART modules operate from the bus</tspan><tspan y="376.0649" x="0 6.2160007 10.108001 17.108002 23.324002 30.324002">clock.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 471.6149)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 13.344002 22.240002 26.688002 35.584005">5.7.10</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 471.6149)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 10.672001 22.224003 33.776006 45.328008 49.77601 58.67201 63.12001 72.89601 81.792018 90.68802 95.13602 104.91202">SDHC clocking</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="454.8649" x=".00001 8.554009 15.554009 21.77001 25.27001 33.054014 43.162015 53.270017 62.608018 66.10802 77.000019 84.000019 91.000019 98.000019 101.89201 108.10802 111.60802 118.60802 124.82402 130.27002 133.77002 138.43202 145.43202 152.43202 157.09403 160.59403 167.59403 174.59403 180.04003 185.48603 189.37802 196.37802 200.27002 206.48603 209.98603 216.20203 220.09403 227.09403 233.31003 240.31003 243.81003 249.25603 256.25605 263.25605 267.91804 274.13404 280.35005 285.79606 289.29606 293.95805 300.95805 305.62004 309.12004 313.01203 320.01203 326.22804 329.72804 335.94404 342.94404 346.83604 353.05204 357.71403 364.71403 370.93003 374.82203 378.32203 384.53804 388.43003 395.43003 401.64604 408.64604 412.14604 417.59205 424.59205 431.59205 436.25404 442.47004 448.68605 452.18605 455.68605 461.90205">The SDHC module has four possible clock sources for the external clock source, as</tspan><tspan y="470.8649" x="0 5.4460008 12.446001 19.446002 29.554 36.554 40.054 43.946004 50.946004 54.446004 58.338006 65.338008 71.55401 75.05401 79.71601 86.71601 90.60801 94.50001 101.50001 111.60801 115.50001 122.50001 129.5 133 137.662 141.554 148.554 155.554 160.216 166.432">shown in the following figure.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="651.85446" x="153.64798 160.97998 164.31598 171.64798 178.97998 183.64798 190.31998 193.65598 200.32798 204.32398 210.99597 214.33197 217.66797 225.67197 234.33597 242.99997 251.66397 254.99997 261.67198 265.00798 272.33998 279.01197 285.68397 289.01997 296.35197 303.02397 310.35597 317.02796 321.69596 328.36796 332.36396 335.69996 343.03196">Figure 5-9. SDHC clock generation</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="26.01031" x="382.482 388.97999 394.47898 399.48298 404.98197 407.97898 412.98298 416.48399 418.986 423.99 426.492 432.99 435.492 440.991 445.995 450.999 453.501 459.999 462.501 467.505 470.502 474.00303 476.50505 482.00404 487.50303 490.50004 493.00205 498.50105">Chapter 5 Clock Distribution</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.93869)" 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 54 751.756)" 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="151.308 156.312 161.316">195</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54 763.756)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="180.87 188.65 194.20999 200.31999 205.87999 209.76999 215.32999 218.10999 220.88999 228.10999 234.21999 239.77999 242.55998 248.66999 254.22998 259.78999 265.34999 268.12998 270.90998 277.01997 280.34996 286.45994 290.34996 299.23997 304.79997 308.12995 310.90995 317.01994">General Business Information</tspan></text>
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