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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_218.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

125 lines
24 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">3.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 69.12 54)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 7.497 12.501001 17.001002 23.499003 29.502003 36.999006 39.501005 44.505006 49.509008 54.51301 59.51701 61.51501 66.51901 71.52301 74.02501 79.02901 83.52901 86.031009 92.034008 98.037 104.04 110.538 117.54 125.037 127.539 129.537 134.037 136.539 141.543 146.547 149.049 151.551 158.049 161.04599 163.04399 165.54599 170.54999 175.55399 177.55199 182.55599 185.05799 187.05599 192.05998 194.56198 200.56499 205.56899 211.57199 218.06999 220.57199 225.57599 230.57999 235.58399 238.08599 244.58399 247.58098 249.57898 252.08098 257.085 261.585 264.087 269.091 272.088 277.092 279.59403 281.592 286.596 291.6 296.604 299.601 304.605 309.609 312.11103 314.61305 321.11103 326.11503 331.11903 336.12303 338.62504 343.62904 348.12904 352.62904 357.63304 362.13304 366.63304 371.63703 376.13703 378.63905 381.14106 386.14506 388.64707 394.14607 396.14405 401.14805 405.64805 412.14604 418.14903 425.64604 428.14805 433.15205 437.65205 440.15406 446.15705 452.16004 458.16304 464.661 471.66304">FlexRAM enabled as EEPROM is not writable in VLPR and writes are ignored. Read accesses to FlexRAM as EEPROM</tspan><tspan y="18.83789" x=".00004 6.4980409 11.502041 13.500041 15.498041 20.50204 23.004042 25.00204 30.006043 32.50804 38.51104 43.51504 49.518045 56.016046 58.518045 63.522047 66.51904 71.52304 74.02504 79.02904 81.02704 83.02504 88.02904 94.52704 99.53104 104.535037 107.03703 109.53903 115.03803 120.04203 125.04603 128.04303 133.04703 135.54903 140.55303 143.55002 148.55402 151.05602 156.06002 161.06401 163.56601 168.57 173.07 177.57 182.574 187.074 191.574 194.076 197.073 202.077 206.577 209.079 212.07599 214.07399 218.57399 221.07599 223.07399 228.07799 233.08199 237.58199 240.08399 242.58599 247.58998 250.58698 253.08898 258.58799 260.58598 265.58998 270.08998 276.58796 282.59095 290.08796 292.58998 297.08998 302.09397 307.09797 309.59999 311.59797 316.60197 321.60597 324.60298 329.60697 334.61097 337.11299 342.11698 346.61698 349.119 351.621 354.618 359.622 364.626 366.624 369.126 371.124 376.128 381.132 386.136 388.13398 390.636 397.13398 403.13697 410.63398">while in VLPR are allowed. There are no access restrictions for FlexRAM configured as traditional RAM.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 76)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 5.0040409">4.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 69.12 76)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 5.49904 10.50304 15.507041 20.007042 25.011044 27.513045 32.013048 37.017049 44.51405 49.51805 54.522054 59.526056 64.53005 69.53405 72.03605 76.53605 79.03805 82.03505 87.03905 94.53605 99.54005 101.53805 106.542049 109.044048 114.04804 119.05204 125.55004 130.55405 133.55104 138.55504 143.55904 146.06104 148.05904 153.06304 155.56504 161.56804 167.57105 173.07004 175.57204 180.57604 185.58003 192.07804 197.08203 200.07903 202.58103 210.07802 215.08202 220.08602 225.09001">These components remain powered in BAT power mode.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 87)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 5.0040409">5.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 69.12 87)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 6.4980409 10.998041 16.00204 18.504042 23.508042 28.512043 31.014044 36.018045 40.518045 43.020044 48.024045 51.021047 56.025049 61.02905 63.02705 65.02505 69.52505 72.02705 77.031047 82.03504 87.03904 92.04304 95.04004 100.04404 102.546039 107.55003 112.55403 115.05603 120.06003 122.05803 124.56003 127.06203 131.56203 133.56003 138.56403 143.06403 147.56403 150.06603 155.07003 158.06702 160.56902 165.57302 170.57701 173.07901 178.08301 182.58301 185.085 190.089 193.086 198.09 203.094 205.092 207.09 211.59 214.092 219.096 224.09999 229.10399 234.10799 237.10498 242.10898 244.61098 249.61498 254.61898 257.12098 262.12498 267.12898 272.13298 274.13096 279.13496 281.63697 289.13398 294.13798 298.63798 301.13999 306.14399 309.141 311.643 316.143 318.141 323.145 327.645 332.145 334.647 337.644 339.642 344.646 349.146 351.14399 356.14799 361.15199 363.14997 368.15397 373.15797 375.65998 381.66297 387.66596 393.16496 399.16795 404.17195 407.16896">Use an externally generated bit clock or an externally generated audio master clock (including EXTAL).</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 69.12 98)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 6.4980409 11.997041 18.49504 23.499043 29.997044 35.001047 41.004045 48.006044 54.504045 60.003046 62.505044 64.503047 69.003047 71.50504 76.50904 81.51304 84.01504 86.51704 91.521038 96.021038 101.02503 103.02303 105.021038 110.02503 115.02903 117.02703 122.03103">RTC_CLKOUT is not available.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 69.12 109)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 6.4980409 13.995041 19.998042 22.500042 24.498044 29.502045 32.004045 36.504045 39.006044 44.010046 49.014047 51.516046 56.520048 59.517049 62.019048 68.02205 73.02605 79.029048 85.03204 87.53404 92.03404 97.03804 102.04204 107.046039 112.05003 115.047039 117.549037 122.049037 124.55103 129.55504 131.55304 136.55704 141.56104 144.06304 148.56304 153.56703 158.57103 163.57503 168.57903 171.08103 176.08502 179.08202 181.58402 183.58202 188.58602 195.08402 197.58602 202.08602 207.09001 212.09401 217.098 222.102 224.604 229.608 234.108 236.61 241.614 244.611 249.61499 254.61899 256.61698 259.119 264.123 266.12098 271.12498 273.62699 276.129 281.133 283.635 288.639 290.637 295.641 298.143 303.147 306.144 308.64604 313.65003 318.15003 320.65205 325.65605 328.65306 333.65705 338.66105 340.65904 343.16105 348.16505 350.16304 355.16703 357.66905 360.17106 365.17506 367.67707 374.17506 380.17805 386.67604 389.17805 393.67805 398.68205 406.17906 411.18305 416.18705 419.18406 424.18806 428.68806 431.19007 433.69209 440.19007 447.68708 453.69007 456.19209 458.19007 463.19407 465.69609 470.70008 475.70408">CMP in stop or VLPS supports high speed or low speed external pin to pin or external pin to DAC compares. CMP in LLS</tspan><tspan y="18.83789" x=".00004 5.0040409 8.00104 10.50304 16.50604 21.51004 26.514042 32.517045 37.017045 39.519044 44.523046 49.527048 51.525049 56.025049 58.527048 63.027048 68.031047 73.03504 78.03904 83.04304 86.04004 88.54204 93.04204 95.54404 97.54204 102.546039 109.04404 111.546039 116.046039 121.05003 126.05403 131.05803 136.06203 138.56403 143.56803 148.06803 150.57003 155.57402 158.57102 163.57501 168.57901 170.57701 173.07901 178.08301 180.08101 185.085 187.587 190.089 195.093 197.595 202.599 204.597 209.601 212.103 217.107 220.10399 222.60599 227.60999 232.10999 234.61199 239.61598 242.61298 247.61698 252.62097 254.61898 257.12098 262.12498 264.12297 269.12696 271.62898 274.13099 279.13499 281.637 288.13499 294.13798 300.63597 303.13798 307.63798 312.64198 320.13899 325.14299 330.14698 333.14399 338.14799 342.64799 345.15 347.652 356.148 358.146 363.15 368.154 373.158 379.65599 384.65998 389.66398 392.166 394.668 399.168 404.172 411.669 416.673 418.671 423.675 428.679 431.181 437.184 439.686 442.18803 444.186 446.184 448.686 453.69 456.687 461.691">or VLLSx only supports low speed external pin to pin or external pin to DAC compares. Windowed, sampled &#x0026; filtered</tspan><tspan y="29.83789" x=".00004 7.4970409 12.501041 17.505043 22.509045 27.009045 29.511046 34.515047 37.017045 39.519044 44.523046 49.527048 54.531049 57.52805 62.53205 65.03405 67.03205 72.03605 77.04005 79.542049 84.54604 87.543048 92.54704 95.04904 100.05304 105.05704 107.55904 110.061038 115.06503 119.56503 124.56903 126.56703 128.56504 133.56903 138.57303 140.57103 145.57503 148.07703 154.57503 159.57903 161.57703 163.57503 168.57903 171.08103 173.07903 178.08303 180.58502 185.08502 187.58702 192.59102 197.59502 200.09702 202.59902 208.60202 213.60602 219.60903 225.61203 228.11403 230.61603 235.62003 240.62403 246.62703 249.12903 251.63103 256.63505 259.63206 262.13407 268.13706 273.14106 278.14506 284.14805 288.64805 291.15007 298.64707 303.65107 308.65507 313.65907 318.15907">modes of operation are not available while in stop, VLPS, LLS, or VLLSx modes.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 142)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 5.0040409">8.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 69.12 142)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 5.49904 11.502041 14.004042 16.506043 23.004044 28.008046 32.508047 37.512048 42.51605 47.52005 50.02205 52.524049 55.52105 60.52505 68.02205 70.52405 75.528049 80.53204 86.53504 89.03704 94.04104 99.04504 104.049037 106.55103 112.55403 117.55803 122.56203 128.56504 133.06504 135.56703 143.06403 148.06803 153.07202 158.07602 162.57602 165.07802 167.07602 171.57602 174.07802 176.07602 178.07402 185.57102 187.56902 190.07102 195.07501 200.07901 202.58101 205.08301 210.087 212.589 217.593 220.095 224.595 226.593 231.597 236.601 238.599 243.603 246.105 250.605 255.609 257.607 262.611 267.111 269.613 274.617 279.621 281.619 286.623 289.125 294.129 296.12699 301.13099">TSI wakeup from LLS and VLLSx modes is limited to a single selectable pin.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 196.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00395 9.4480509 14.174051">7.7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 91.80322 196.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00395 12.270051 16.996052 27.383053 36.835054 46.287054 51.013055 64.23905 73.691059 79.35206 84.07806 94.46506">Clock Gating</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="180.05" x=".00606 8.56006 15.56006 19.060059 25.276059 32.27606 39.27606 44.722059 50.938058 55.600057 62.600057 68.816059 72.316059 79.316059 86.316059 96.42406 102.64006 107.30206 110.80206 114.30206 118.19406 125.19406 131.41007 134.91007 141.12607 145.01807 152.01807 158.23407 165.23407 170.68007 174.18007 178.07207 185.07207 188.57207 199.46407 206.46407 211.91007 215.80207 219.30207 230.19406 237.19406 244.19406 251.19406 255.08606 261.30207 266.74809 270.24809 276.46409 282.68009 289.68009 293.18009 300.18009 306.3961 309.8961 313.7881 320.7881 325.45008 332.45008 338.66609 345.66609 349.16609 356.16609 360.82807 365.49006 368.99006 375.99006 381.43608 385.32807 392.32807 399.32807 402.82807 406.72007 413.72007 419.93608 423.43608 431.22007 440.55809 450.66609 460.0041">To conserve power, the clocks to most modules can be turned off using the SCGCx</tspan><tspan y="196.05" x=".00602 4.6680204 10.884021 17.884022 21.776022 27.222023 31.114024 37.330026 41.992025 47.438024 50.938024 54.830026 61.830026 65.330028 69.22202 76.22202 82.43803 85.93803 93.72203 98.38403 110.83003 114.33003 125.22203 132.22203 139.22203 146.22203 150.11403 156.33003 159.83003 163.33003 171.88404 178.88404 185.10004 190.54604 196.76204 200.26204 207.26204 211.15404 215.04604 220.49204 223.99204 230.20804 234.87004 241.08605 244.58605 250.80205 254.69405 260.91004 267.12605 271.78804 278.00404 285.00404 288.50404 294.72004 299.38203 303.27403 309.49003 314.152 317.652 323.868 330.868 337.868 341.368 346.03 352.246 357.69203 363.90803 367.80003 371.30003 374.80003 384.90803 391.90803 395.80003 402.01603 409.01603 412.51603 419.51603 423.40803 428.85404 435.07005 442.07005 445.96205 452.17805 457.62406 461.12406 465.01606 472.01606">registers in the SIM module. These bits are cleared after any reset, which disables the</tspan><tspan y="212.05" x=".00602 6.2220208 10.114021 17.114022 23.33002 30.33002 33.83002 37.722024 44.722024 48.222024 52.114027 59.114027 65.330028 68.830028 75.04603 82.04603 86.70803 91.37003 97.58604 103.032039 110.032039 117.032039 124.032039 131.03205 134.92404 141.92404 148.92404 152.42404 163.31604 170.31604 177.31604 184.31604 188.20804 194.42404 197.92404 201.42404 209.20804 213.87004 217.76204 224.76204 229.42404 232.92404 236.81604 243.81604 247.31604 251.20804 258.20805 262.10005 265.99205 269.88404 276.10005 279.99205 283.88404 290.10005 293.99205 300.99205 307.99205 311.49205 317.70805 321.20805 332.10005 339.10005 346.10005 353.10005 356.99205 363.20805 366.70805 370.20805 375.65406 381.87007 385.76206 389.26206 393.15406 400.15406 406.37007 409.87007 416.08607 423.08607 427.74806 432.41004 438.62605 444.07206 451.07206 458.07206 465.07206 472.07206 475.96406 482.96406">clock to the corresponding module. Prior to initializing a module, set the corresponding</tspan><tspan y="228.05" x=".00602 7.00602 10.898021 14.790021 18.29002 22.18202 29.18202 32.682024 36.574026 43.574026 49.790025 53.290025 61.074026 70.412029 80.52003 89.85803 96.85803 100.35803 105.020038 111.23604 118.23604 122.12804 127.574039 131.46604 137.68204 142.34404 145.84404 149.73604 156.73604 160.23604 166.45204 173.45204 179.66805 186.66805 190.56005 196.77605 200.27605 204.16805 211.16805 217.38405 220.88405 227.10005 230.99205 237.99205 244.20806 251.20806 254.70806 258.20808 267.54609 273.7621 278.42408 285.42408 290.08607 296.30207 299.80207 303.69407 310.69407 315.35606 322.35606 326.24806 333.24806 340.24806 343.74806 350.74806 355.41004 360.07203 363.57203 367.46403 374.46403 380.68003 384.18003 390.39604 394.28804 401.28804 407.50404 414.50404 418.00404 421.50404 432.39604 438.61204 445.61204 451.82804 455.32804 460.77406 467.77406 472.43605 478.65205 482.15205 486.04405">bit in the SCGCx register to enable the clock. Before turning off the clock, make sure to</tspan><tspan y="244.05" x=".00602 7.00602 10.898021 16.34402 22.56002 29.56002 33.452024 39.668024 43.168024 47.060026 54.060026 60.276025 63.776025 74.66802 81.66802 88.66802 95.66802 99.56002 105.776027 109.276027 112.776027 120.56003 127.56003 132.22203 135.72203 146.61403 153.61403 158.27603 164.49204 167.99204 174.99204 181.20804 185.10004 191.31604 195.20804 199.10004 204.54604 208.04604 211.54604 216.20804 222.42404 227.08605 233.30205 237.96405 241.46405 245.35605 252.35605 255.85605 259.74806 266.74806 272.96406 276.46406 282.68006 286.57206 293.57206 299.78807 306.78807 310.28807 317.28807 321.18006 326.62608 330.51808 335.18006 339.07206 346.07206 353.07206 356.96406 360.85606 367.85606 374.85606 378.35606 384.57206 391.57206 398.57206 402.07206 409.85606 414.51805 426.96406 430.46406 436.68006 443.68006 449.89607 456.89607 460.78807 467.00407 471.66606 477.11207">disable the module. For more details, refer to the clock distribution and SIM chapters.</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 9.000001 14.499001 19.503003 24.507004 27.009005 34.011007 39.015008 42.01201 44.514009 50.01301">Clock Gating</tspan></text>
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