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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_200.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

123 lines
26 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 87.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 9.452001 14.178001">6.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 91.80322 87.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 12.274001 21.726002 31.178002 40.63">Reset</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54.000005)" font-size="14" font-family="TimesLTStd"><tspan y="71.05" x="-.007 8.547 15.547 19.439002 24.885003 28.385003 33.831 40.047 46.263 50.155004 54.047006 61.047006 68.047008 71.547008 78.547008 82.439 87.885 94.101009 101.101009 106.547008 111.993007 118.20901 123.65501 127.15501 134.155 140.371 145.817 149.709 155.925 159.425 164.087 170.30301 175.74901 181.96501 185.85701 189.35701 200.24901 206.46501 212.68102 219.68102 225.89702 232.89702 236.78902 242.23502 253.12702 258.57304 262.07304 268.28904 275.28904 282.28904 285.78904 291.23506 298.23506 305.23506 309.89704 316.11305 322.32905 327.77507 331.27507 334.77507 342.55906 349.55906 360.45106 366.66706 370.16706 381.05906 388.05906 395.05906 402.05906 405.95106 412.16706 417.61308 421.11308 425.00508 432.00508 438.22108 442.11308 445.61308 451.82908 458.04508 465.04508 470.4911">This section discusses basic reset mechanisms and sources. Some modules that cause</tspan><tspan y="87.049999" x="-.007 4.655 10.871 16.317002 22.533 26.425002 31.871003 35.371004 41.587 47.803 54.803 58.303 65.303 71.519008 75.019008 81.23501 88.23501 95.23501 99.89701 103.78901 110.78901 117.78901 122.45101 128.667 135.667 139.167 143.059 150.059 153.559 159.77501 165.99102 172.99102 178.43701 184.65302 188.15302 192.04502 199.04502 202.93701 209.15302 213.81502 218.47702 225.47702 232.47702 236.36902 241.81502 245.31502 249.20702 256.20704 261.65306 265.54505 271.76106 277.97706 284.97706 288.47706 291.97706 301.31507 308.31507 315.31507 320.76109 327.76109 331.65309 335.54508 339.04508 342.93708 349.93708 356.15309 359.65309 363.54508 370.54508 377.54508 381.43708 388.43708 392.32908 399.32908 406.32908 412.54508 416.43708 419.93708 426.93708 433.15309 437.81507 441.70707 448.70707 455.70707 461.92308 466.58506 472.80107">resets can be configured to cause interrupts instead. Consult the individual peripheral</tspan><tspan y="103.049999" x="-.0069500005 6.2090508 13.209051 19.425053 26.425053 30.317053 36.533056 41.195055 46.641054 50.141054 54.80305 61.80305 66.46505 69.96505 80.85705 87.85705 92.51905 98.735057 102.235057 106.12705 113.12705 117.789058 124.789058 129.45105 140.34305 146.55905 150.45105 154.34305 161.34305 168.34305">chapters for more information.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 198.6)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00306 8.899061 13.347061 22.243062 26.691061">6.2.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.757328 198.6)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00306 10.675061 20.451062 32.899065 41.795064 48.019063 53.34706 63.123064 72.89906 77.34706 83.57106 92.467067 101.36307 110.25907 115.587078 120.03507 125.363079 136.03508 148.48308 160.03508">Power-on reset (POR)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="181.85" x="-.00492 13.211081 20.21108 26.427083 33.427083 36.927083 43.927083 50.927083 61.035085 67.25108 71.913089 75.413089 79.305088 84.75108 88.25108 92.14308 99.14308 103.03508 106.92708 110.81908 117.03508 120.92708 124.81908 131.81908 135.31908 141.53508 148.53508 155.53508 159.42708 163.31908 169.53508 176.53508 180.03508 183.92708 190.92708 194.42708 198.31908 205.31908 211.53508 215.03508 227.48108 236.81908 246.92708 250.42708 257.42707 262.08906 265.58906 275.69706 282.69706 288.91307 295.91307 299.41307 303.30506 310.30506 316.52107 320.02107 325.46708 332.46708 339.46708 346.46708 350.35908 357.35908 360.85908 367.85908 374.85908 378.75108 382.64308 388.85908 395.85908 402.07508 405.57508 412.57508 417.23707 424.23707 431.23707 436.68309 440.18309 447.18309 453.39909 457.29109 464.29109 474.39909 477.89909 481.79109 488.79109">When power is initially applied to the MCU or when the supply voltage drops below the</tspan><tspan y="197.85" x="-.00492 6.99508 13.99508 24.10308 30.31908 34.98108 39.643079 46.643079 53.643079 57.143079 61.805078 68.02108 73.46708 79.68308 83.57508 87.07508 91.73708 97.95309 102.61509 108.83109 113.493099 124.38509 127.88509 134.8851 141.8851 145.7771 149.6691 155.8851 162.8851 169.1011 172.6011 176.4931 182.7091 189.7091 195.92511 199.81711 203.31711 207.97911">power-on reset re-arm voltage level (V</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="10.5" font-family="TimesLTStd"><tspan y="200.65001" x="218.08708 223.92508 231.50608">POR</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="197.85" x="238.50959 243.17159 246.67159 250.17159 254.06359 261.0636 267.2796 270.7796 278.5636 288.6716 298.0096 301.5096 307.72563 311.6176 316.2796 322.4956 329.4956 333.3876 337.2796 340.7796 346.9956 353.2116 360.2116 365.65763 371.87364 377.31965 380.81965 387.03565 390.53565 398.31965 408.42765 417.76567 421.26567 425.92765 432.14366 437.58967 443.80567">), the POR circuit causes a POR reset</tspan><tspan y="213.85" x=".0055999758 6.2216007 13.221601 20.2216 27.2216 31.1136 35.0056 38.897603 45.897603 52.897603">condition.</tspan><tspan y="238.25" x=".0055999758 10.113601 15.559601 19.0596 22.951601 29.951601 36.167604 39.667604 45.1136 52.1136 59.1136 66.1136 70.0056 77.0056 80.5056 87.5056 94.5056 98.3976 102.2896 108.5056 115.5056 121.7216 125.2216 129.8836 133.7756 139.2216 145.4376 150.8836 154.3836 157.8836 161.7756 168.7756 174.99161 178.49161 187.04561 197.15361 207.26161 210.76161 216.97762 220.86962 225.53162 231.74762 238.74762 242.63962 246.53162 250.03162 257.03163 264.03163 267.9236 274.9236 280.36964 283.86964 287.76164 294.76164 300.97764 304.47764 316.92366 326.26167 336.36967 339.86967 343.76167 350.76167 354.26167 358.92366 365.13966 370.58567 376.80168 380.69367 384.19367 391.19367 398.19367 402.08567 405.97767 409.86967 413.36967 417.26167 424.26167 430.47767 433.97767 439.42369 446.42369 453.42369 460.42369 464.31568 471.31568 474.81568 481.81568 488.03169">As the supply voltage rises, the LVD circuit holds the MCU in reset until the supply has</tspan><tspan y="254.25" x=".0055999758 4.6676 8.559601 14.005602 20.221604 27.221604 30.721604 36.937604 43.937604 50.937604 57.937604 64.1536 67.6536 71.5456 78.5456 84.761608 88.261608 96.815608 106.92361 117.03161 120.53161 124.42361 131.42362 141.53162 145.03162 148.92362 155.92362 160.58562 166.80162 172.24762 179.24762 186.24762 190.13962 197.13962 200.63962 205.30162">risen above the LVD low threshold (V</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="10.5" font-family="TimesLTStd"><tspan y="257.05" x="215.39911 221.8146 229.3956 236.9766">LVDL</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="254.25" x="243.3921 248.05411 251.55411 255.05411 263.6081 270.6081 276.8241 280.3241 288.1081 298.2161 307.5541 311.0541 317.2701 324.2701 331.2701 334.7701 343.3241 353.4321 363.5401 367.0401 374.0401 377.9321 381.8241 387.2701 390.7701 394.6621 401.6621 405.1621 412.9461 422.28413 430.0681 437.0681 440.5681 445.2301 451.4461 458.4461 462.3381 467.78413 471.67613 477.89213 482.5541 486.0541 492.2701 496.9321">). The POR and LVD bits in SRS0 register are</tspan><tspan y="270.25" x=".0021514893 5.448152 11.664152 15.556152 19.056153 23.718153 30.718153 34.610155 38.502157 45.502157 55.610158 59.50216 66.50216 73.50216 77.00216 83.21816 86.71816 94.50217 104.61017 113.948169">set following a POR.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 365.8)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00787 8.888131 13.336132 22.232132 26.680132">6.2.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.757328 365.8)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00787 10.664131 19.560132 28.456131 33.78413 42.68013 56.90413 61.35213 67.57613 76.47214 85.36814 94.264148 99.59215 104.040149 112.93615 122.71215 132.48815 138.71215 147.60814 156.50414">System reset sources</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="345.65" x=".00414 9.342141 15.558142 21.004143 27.220143 31.112143 35.004144 38.896146 45.896146 52.896146 56.396146 60.288148 67.28815 73.50415 77.00415 89.45015 98.78815 108.89615 112.39615 119.39615 124.05815 131.05815 138.05815 141.95015 148.95015 155.16616 160.61215 164.11215 170.32816 173.82816 183.93616 190.15216 197.15216 200.65216 204.54416 211.54416 215.04416 220.49016 224.38216 230.59816 235.26016 239.15216 242.65216 249.65216 254.31417 261.31416 267.53016 273.74617 279.19218 284.63819 288.53019 295.53019 302.53019 306.03019 310.69218 315.35417 322.35417 333.24617 336.74617 342.96217 346.46217 353.46217 360.46217 367.46217 377.57017 384.57017 388.07017 393.51618 399.73219 403.62419 407.12419 414.12419 418.78617 422.28617 426.17817 433.17817 437.07017 440.96217 444.85417 451.07017">Resetting the MCU provides a way to start processing from a known set of initial</tspan><tspan y="361.65" x=".0041799999 6.2201807 13.2201809 20.22018 27.22018 31.11218 35.00418 38.896184 45.896184 52.896184 58.342184 61.842184 65.34218 73.12618 80.12618 85.57218 89.46418 95.68018 106.57218 110.07218 114.734188 120.95019 126.39619 132.61219 136.50418 140.00418 147.00418 153.22019 160.22019 164.11219 171.11219 176.55818 180.05818 190.16619 194.05818 197.95018 204.95018 208.45018 212.34218 219.34218 225.55818 229.05818 236.05818 243.05818 247.72019 253.93619 260.9362 264.8282 271.8282 275.3282 279.99018 286.20619 293.20619 300.20619 304.09819 310.31419 314.20619 321.20619 325.86817 329.36817 333.26017 340.26017 343.76017 348.42216 355.42216 359.31416 363.20616 366.70616 371.36814 377.58415 384.58415 391.58415 395.47615 401.69215 405.58415 409.47615 416.47615 423.47615 426.97615 433.19215 440.19215 447.19215 450.69215 456.13816 463.13816 468.58418 472.47618 478.69218">conditions. System reset begins with the on-chip regulator in full regulation and system</tspan><tspan y="377.65" x=".0041499997 6.2201507 10.112151 17.112153 23.328152 30.328152 34.220155 41.220155 48.220155 51.720155 58.720155 64.93616 71.93616 78.15216 82.81416 89.03017 92.922168 96.81416 103.81416 110.81416 114.31416 118.976169 123.63817 130.63817 141.53017 145.03017 151.24617 158.24617 161.74617 165.63817 172.63817 176.53017 182.74617 187.40818 194.40818 200.62418 204.51618 208.01618 212.67818 218.89418 223.55619 229.77219 234.43419 240.65019 247.65019 253.8662 260.08219 263.58219 267.08219 280.2982 287.2982 293.5142 300.5142 304.0142 307.9062 314.9062 321.1222 324.6222 331.6222 336.28419 343.28419 349.50019 355.7162 361.1622 366.60823 373.60823 378.2702 381.7702 387.9862 394.9862 398.8782 402.7702 408.21623 411.71623 416.3782 422.5942 428.04023 434.25624 438.14823 441.64823 445.14823 449.04023">clocking generation from an internal reference. When the processor exits reset, it</tspan><tspan y="393.65" x=".0041799999 7.00418 13.2201809 17.882182 22.544182 29.544182 34.20618 45.098184 50.54418 54.04418 57.936185 64.93619 71.15219 74.65219 79.31419 86.31419 90.20619 94.09819 101.09819 111.20619 115.09819 122.09819 129.09819">performs the following:</tspan><tspan y="409.65" x="13.09417 24.000172 33.338174 39.554174 45.770174 52.770174 58.21617 61.71617 65.60817 72.60817 78.82417 82.32417 87.77017 91.66217 97.878177 102.54018 106.432178 109.932178 117.71618 125.50018 129.00019 133.66219 141.44618 149.23018 156.23018 167.12218 173.33818 177.23018 184.23018 188.89218 192.39218 197.05419 201.71619 208.71619 219.60819 223.10819 230.10819 236.32419 242.54019 246.43219 253.43219 258.09419 262.75617 266.64817 272.86418 279.86418 283.75617 289.97218 293.47218 300.47218 305.13417 309.79615 315.24217 321.45817 325.35017 328.85017">&#x2022;Reads the start SP (SP_main) from vector-table offset 0</tspan><tspan y="425.65" x="13.094199 24.0002 33.338205 39.554204 45.770204 52.770204 58.2162 61.7162 65.6082 72.6082 78.8242 82.3242 87.7702 91.6622 97.878208 102.54021 106.432209 109.932209 117.71621 127.054218 130.55422 135.21622 139.87822 146.87822 157.77022 161.27022 168.27022 174.48622 180.70223 184.59423 191.59423 196.25623 200.91823 204.81023 211.02623 218.02623 221.91823 228.13423 231.63423 238.63423 243.29624 247.95824 253.40424 259.62025 263.51225 267.01225">&#x2022;Reads the start PC from vector-table offset 4</tspan><tspan y="441.65" x="13.094199 24.0002 32.5542 41.8922 45.3922 49.284204 54.7302 58.2302 63.6762 69.892208 73.7842 77.2842 81.1762 88.1762 91.6762 98.6762 105.6762 113.460208 121.24421 129.02822 136.81221 143.81221 151.5962 159.3802 167.1642">&#x2022;LR is set to 0xFFFF_FFFF</tspan><tspan y="467.65" x=".0041894915 8.558189 15.558189 21.774189 25.274189 32.27419 39.27419 43.936189 50.152189 57.152189 61.04419 68.04419 71.54419 78.54419 84.76019 89.422199 93.31419 100.31419 107.31419 113.5302 118.1922 124.4082 128.3002 131.8002 142.6922 149.6922 156.6922 163.6922 167.5842 173.8002 179.2462 182.7462 188.9622 193.6242 199.84021 203.34021 210.34021 214.23221 219.6782 225.89421 232.89421 236.78621 243.00222 250.00222 253.50222 259.7182 266.7182 273.7182 277.2182 281.1102 288.1102 294.3262 297.8262 304.8262 311.8262 318.8262 323.4882 329.7042 336.7042 342.9202 346.8122 353.8122 360.8122 364.3122 368.97419 372.86619 382.97419 386.47419 393.47419 397.36619 404.36619 409.8122 413.3122 419.5282 424.1902 430.4062 433.9062 437.7982 444.7982 448.6902 452.58219 456.47419 462.6902 466.58219 470.47419">The on-chip peripheral modules are disabled and the non-analog I/O pins are initially</tspan><tspan y="483.65" x=".0041994915 6.2202 13.2202 20.2202 24.8822 28.7742 35.7742 42.7742 47.4362 53.6522 60.6522 64.1522 70.3682 75.8142 79.3142 86.3142 90.2062 95.6522 101.8682 108.8682 112.7602 118.976207 125.976207 129.4762 132.9762 141.5302 148.5302 154.7462 158.2462 165.2462 169.1382 176.1382 181.5842 185.0842 195.1922 199.0842 202.9762 209.9762 213.4762 219.6922 226.6922 232.9082 236.8002 243.8002 250.8002 254.3002 258.9622 265.9622 272.9622 279.1782 283.0702 286.9622 293.9622 300.9622 306.4082 309.9082 316.1242 321.57023 327.01625 330.90824 337.90824 344.90824 351.12425 358.12425 361.62425 365.51625 372.51625 376.01625 379.90824 386.90824 393.12425 404.01625 407.51625 414.51625 420.73225 425.39424 431.61024 438.61024 442.50224 446.39424 449.89424 453.78623 460.78623 464.28623 468.17823 475.17823 481.39424 485.28623">configured as disabled. The pins with analog functions assigned to them default to their</tspan><tspan y="499.65" x=".0041994915 6.2202 13.2202 19.4362 23.3282 30.3282 37.3282 40.8282 45.4902 52.4902 59.4902 65.7062 69.5982 73.4902 80.4902 87.4902 90.9902 97.2062 101.8682 105.7602 111.976207 116.63821 120.13821 124.80021 131.0162 136.4622 142.6782 146.5702">analog function after reset.</tspan><tspan y="524.05" x=".0041994915 10.1122 17.1122 21.7742 25.6662 32.6662 39.6662 43.1662 49.3822 56.3822 63.3822 66.8822 71.544208 78.544208 82.4362 86.3282 93.3282 103.4362 107.3282 114.3282 121.3282 124.8282 131.0442 134.5442 139.2062 145.42221 150.86821 157.08422 160.97621 164.47621 167.97621 171.86821 178.86821 185.08422 188.58422 194.03022 202.58422 212.69222 222.80022 226.30022 233.30022 237.19222 244.19222 249.63822 253.13822 260.1382 266.35423 273.35423 279.57023 283.07023 286.96223 293.96223 300.17823 304.07023 308.7322 312.2322 318.4482 323.89424 329.34025 336.34025 342.55625 346.44825 352.66426 356.55625 362.77226 369.77226 373.27226 377.16426 384.16426 391.16426 398.16426 402.05625 405.55625 412.55625 416.44825 423.44825 428.89427 432.39427 438.61027 445.61027 452.61027 457.27226 461.16426 468.16426 475.16426 479.82624 486.04225">During and following a reset, the JTAG pins have their associated input pins configured</tspan><tspan y="540.05" x=".0041994915 6.2202 11.666201">as:</tspan><tspan y="564.45" x="13.094199 24.0002 32.5542 42.6622 47.3242 50.8242 54.7162 61.7162 65.2162 72.2162 79.2162 83.1082 87.0002 91.6622 98.6622 105.6622 109.1622 113.8242 121.60821 131.7162">&#x2022;TDI in pull-up (PU)</tspan><tspan y="580.45" x="13.094199 24.0002 32.5542 41.8922 52.000204 55.500204 59.392206 66.392208 69.892208 76.892208 83.892208 87.7842 91.6762 96.3382 103.3382 110.3382 120.446208 127.446208 130.9462 135.6082 143.3922 153.5002">&#x2022;TCK in pull-down (PD)</tspan><tspan y="596.45" x="13.094199 24.0002 32.5542 45.0002 52.7842 56.2842 60.1762 67.1762 70.6762 78.460208">&#x2022;TMS in PU</tspan><tspan y="622.45" x=".0042095186 6.22021 13.22021 20.220211 23.720211 29.93621 35.38221 40.82821 47.82821 54.04421 57.93621 64.152217 68.04421 74.260219 81.260219 84.760219 91.760219 98.760219 102.652217 109.652217 116.652217 120.54421 124.04421 131.04422 134.93622 141.93622 145.43622 151.65222 158.65222 165.65222 170.31423 174.20623 181.20623 188.20623 192.86823 199.08423 206.08423 209.58423 215.80023 221.24623">and associated output pin configured as:</tspan><tspan y="646.85006" x="13.094219 24.000222 32.554224 42.662225 52.770227 56.270227 66.37823 70.270229 74.162227 81.162227 84.662227 91.662227 98.662227 102.162227 109.162227 116.162227 120.05422 123.94622 128.60822 135.60822 142.60822 152.71622 159.71622 163.21622 170.21622 174.87822 178.37822 185.37822 192.37822 196.27022 200.16222 204.82422 211.82422">&#x2022;TDO with no pull-down or pull-up</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 6.4980008 11.502001 16.506 21.510003">Reset</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.007 137.227 142.787 148.347 151.127 157.797 163.907 170.017 173.347 179.457 185.017 193.907 196.687 199.467 205.027 207.80699 215.027 220.58699 223.91699 229.47699 233.36699 238.92699 245.03699 250.59699 256.15699 258.93699 267.26698 272.82698 278.93696 285.04695 290.60694 293.38694 296.16694 298.94694 306.16694 311.72694 317.28694 320.06694 322.84693 328.40693 331.18693 336.74693 342.8569 348.9669 351.7469 357.3069 362.86689 368.42689">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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