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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_242.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

329 lines
37 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 188)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 17.792002 22.240002 31.136002 35.584005">10.2.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 188)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 10.672001 20.448002 26.672003 32.000005 36.448007 45.344007 55.120008 64.896 70.22401 76.448009 86.22401 90.672008 95.12 104.01601 113.79201 123.56801 128.016 132.464 142.24 147.56801 156.464 162.688 168.912 178.688 188.464 193.792 198.24 212.464 222.24 232.016 241.792 246.24 255.136 259.584 264.91203 273.808 282.704 288.032 297.808 304.032 312.928">Port control and interrupt module features</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="167.85" x="13.09601 24.00201 31.78601 35.678014 42.678014 48.894014 52.394014 59.394014 66.39401 71.056018 78.056018 81.94801 88.94801 92.44801 99.44801 106.44801 111.110019 115.002017">&#x2022;Five 32-pin ports</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="192.03672" x="244.55802 254.66602 265.558 274.112">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="208.25" x="96.004 106.112 113.112 117.004 120.504 126.72 130.612 134.504 138.004 145.004 148.896 155.896 161.342 164.842 171.058 175.72 181.936 185.436 191.65201 198.65201 204.86801 208.76001 212.65201 218.86801 225.86801 229.76001 235.97602 239.47602 246.47602 253.47602 256.976 260.868 267.868 274.084 277.584 284.584 290.80003 297.80003 301.69203 307.90803 314.12403 317.62403 321.12403 328.90803 335.12403 341.34004 344.84004 348.73204 355.73204 361.94804 365.44804 370.11003 377.11003 381.002 384.894 391.894 402.002 405.894 412.894">Not all pins are available on the device. See the following</tspan><tspan y="224.25" x="96.00402 101.45002 107.66602 113.88203 117.774028 121.66602 128.66602 135.66602 139.16602 143.82802 150.82802 155.49002 158.99002 165.99002 172.20603 176.09803 182.31403 186.20603 190.09803 195.54402">section for details.</tspan><tspan y="248.65" x="13.096024 24.002026 32.556028 38.772027 44.988027 51.988027 55.488027 62.488027 69.48802 74.150028 81.150028 85.04202 92.04202 95.54202 102.54202 109.54202 114.204029 118.09602 121.59602 125.48802 130.93402 134.43402 140.65003 146.09603 151.54203 155.43402 162.43402 169.43402 175.65003 182.65003 186.15003 193.15003 200.15003 206.36603 209.86603 213.75803 220.75803 224.65003 230.86603 235.52803 240.19004 247.19004 254.19004 258.08204">&#x2022;Each 32-pin port is assigned one interrupt.</tspan><tspan y="264.65" x="13.096033 24.002034 32.556035 39.556035 45.772035 49.272035 56.272035 60.164037 67.16403 71.05603 74.94803 81.16403 85.05603 88.55603 93.21803 97.11003 101.00203 104.89403 111.11003 115.77203 119.27203 126.27203 133.27204 137.16403 141.05603 148.05603 155.05603 158.55603 165.55603 171.77204 177.21804 180.71804 184.61003 194.71804 201.71804 205.21804 211.43404 215.32604 222.32604 228.54204 235.54204 239.04204 244.48804 251.48804 258.48805 263.15003 269.36604 275.58204 279.08204 286.08204 293.08204 296.97404 300.86604 307.86604 314.86604 320.31205 324.20405 327.70405 334.70405 341.70405 347.15007 350.65007 356.86607 360.75807 367.75807 373.97407 380.97407 384.47407 390.69007 397.69007 404.69007 408.19007 415.19007 419.85206 426.85206 436.96006 443.17607 446.67607 455.23005 463.01405 473.12205 476.62205 480.12205 488.67604 495.67604">&#x2022;The digital filter option has two clock source options: bus clock and 1-kHz LPO. The</tspan><tspan y="280.65" x="24.002074 31.002074 35.664075 42.664075 52.772077 58.988077 62.488077 71.042079 78.82608 88.93408 92.43408 99.43408 106.43408 110.32608 114.21808 121.21808 128.21808 131.71808 138.71808 142.61008 149.61008 155.82608 161.27208 164.77208 171.77208 177.21808 183.43408 188.09609 193.54209 197.04209 200.93408 207.93408 211.82608 217.27208 220.77208 225.43408 231.65009 237.86609 241.75809 248.75809 253.42009 259.63609 263.13609 267.02809 274.02809 277.52809 281.42008 288.42008 298.52809 302.02809 309.02809 316.02809 326.13609 332.35209 337.01408 340.51408 351.40608 358.40608 365.40608 371.62208 377.06809">1-kHz LPO option gives users this feature in low power modes.</tspan><tspan y="296.65" x="13.096084 24.002085 32.556085 39.556085 45.772085 49.272085 56.272085 60.164087 67.164089 71.05608 74.94808 81.164089 85.05608 88.55608 93.21809 97.110088 101.00208 104.89408 111.110088 115.77209 119.27209 123.164089 128.61009 132.11009 138.3261 145.3261 152.3261 156.9881 160.8801 167.8801 174.8801 179.5421 185.7581 192.7581 196.6501 202.8661 206.3661 211.0281 215.69011 222.69011 233.5821 237.0821 244.0821 247.5821 251.4741 258.47413 261.97413 268.97413 275.97413 279.47413 285.69013 289.58213 296.58213 302.79814 309.79814 313.29814 319.51414 326.51414 332.73014 336.62214 342.83815 348.28416 351.78416 361.89216 368.89216 375.10816 382.10816 385.60816 391.82417 398.82417 405.04017 412.04017 415.93217 422.14817 429.14817">&#x2022;The digital filter is configurable from 1 to 32 clock cycles when enabled.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 393.8)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00794 8.888061 17.784062 22.232062 31.128064 35.576066">10.2.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 393.8)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00794 10.664061 22.21606 33.768064 43.544065 47.992067 54.216066 63.112066 72.008068 80.90407 86.23207 90.68007 99.57607 108.47208 112.920078 122.696079 131.59207 140.48807 144.93607 150.26407 160.04007 166.26407 170.71207 180.48807 190.26407 196.48807 201.81607 206.26407">PCRn reset values for port A</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="377.05" x=".00407 7.7880709 17.126072 26.464074 33.464075 36.964075 43.964075 47.856077 51.748079 55.248079 59.910078 66.126079 71.572078 77.78808 81.68008 85.18008 92.18008 98.39608 102.28808 109.28808 115.50408 120.95008 124.45008 129.11208 136.11208 140.77408 144.27408 151.27408 158.27408 162.93608 166.82808 170.32808 180.43608 183.93608 190.15209 194.81409 201.03009 204.53009 211.53009 215.03009 219.6921 226.6921 231.3541 234.8541 238.7461 245.7461 251.9621 255.4621 260.12409 267.12409 271.01609 274.90809 281.90809 292.01609 295.90809 302.90809 309.90809 313.40809 320.40809 324.30009 328.19209 333.6381">PCRn bit reset values for port A are 1 for the following bits:</tspan><tspan y="401.44999" x="13.09409 24.000092 31.784092 38.784093 43.44609 46.94609 54.73009 64.06809 73.4061 80.4061 84.298099 87.798099 94.798099 98.690097 102.58209 108.02809 111.52809 118.52809 122.02809 125.52809 132.52809 136.02809 139.52809 146.52809 150.02809 153.52809 160.52809 164.02809 167.52809 173.7441 180.7441 187.7441 191.2441 198.2441 205.2441">&#x2022;For PCR0: bits 1, 6, 8, 9, and 10.</tspan><tspan y="417.44999" x="13.09409 24.000092 31.784092 38.784093 43.44609 46.94609 54.73009 64.06809 73.4061 80.4061 83.9061 87.798099 94.798099 98.298099 106.0821 115.420108 124.7581 131.7581 135.6501 139.1501 146.1501 150.0421 153.9341 159.3801 162.8801 169.8801 173.3801 176.8801 183.8801 187.3801 190.8801 197.8801 201.3801 204.8801 211.8801 215.3801 218.8801 225.8801 229.3801 232.8801 239.0961 246.0961 253.0961 256.5961 263.5961 270.5961">&#x2022;For PCR1 to PCR4: bits 0, 1, 6, 8, 9, and 10.</tspan><tspan y="433.44999" x="13.09409 24.000092 31.784092 38.784093 43.44609 46.94609 54.73009 64.06809 73.4061 80.4061 83.9061 87.798099 91.298099 98.298099 102.190097 106.08209 111.52809 115.02809 122.02809 125.52809 129.02809 136.02809 139.52809 143.02809 149.2441 156.2441 163.2441 166.7441 173.7441">&#x2022;For PCR5 : bits 0, 1, and 6.</tspan><tspan y="459.44999" x=".0041007997 10.112102 14.004102 17.896103 21.396103 28.396103 32.288106 39.288106 45.504106 50.166105 53.666105 61.450105 70.7881 80.1261 87.1261 90.6261 97.6261 101.5181 105.410099 108.910099 113.5721 119.7881 125.2341 131.4501 135.3421 138.8421 145.8421 152.0581 155.9501 162.9501 169.1661 174.6121 178.1121 182.77411 189.77411 194.43611 197.93611 204.93611 211.93611 216.59812 220.49011 223.99011 234.09812 237.59812 243.81412 248.47612 254.69213 258.19215 265.19215">All other PCRn bit reset values for port A are 0.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 555)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00406 8.900061 17.796063 22.244063 31.140065 35.588068">10.2.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 555)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00406 11.556061 16.00406 25.78006 34.67606 43.57206 48.02006 57.796064 66.69206 72.020069 76.46806 86.244068">Clock gating</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54.00003)" font-size="14" font-family="TimesLTStd"><tspan y="538.25" x="-.00594 8.548059 15.548059 21.764061 25.264061 31.48006 35.372064 42.372064 48.588064 55.588064 59.088064 62.980066 69.980068 73.480068 77.37206 84.37206 90.588069 94.088069 101.088069 108.088069 112.75007 116.64207 120.14207 126.35807 133.35807 140.35807 144.25006 148.91207 155.91207 159.80406 163.30406 174.19606 181.19606 188.19606 195.19606 199.08806 205.30406 208.80406 215.02007 221.23607 228.23607 231.73607 238.73607 244.95207 248.45207 255.45207 261.66807 265.56007 271.77607 278.77607 282.27607 289.27607 296.27607 299.77607 305.99208 312.99208 319.99208 323.49208 330.49208 335.15406 339.81605 343.31605 350.31605 355.76206 359.65406 366.65406 373.65406 377.15406 381.04606 388.04606 394.26206 397.76206 405.54606 414.88407 424.99208 434.33009 441.33009 445.99208 453.77607 463.88407 473.22209 481.77607 488.77607">The clock to the port control module can be gated on and off using the SCGC5[PORTx]</tspan><tspan y="554.25" x="-.00596 6.99404 10.886041 14.778041 20.224041 23.724041 27.616042 34.616044 38.116044 42.008047 49.008047 55.224046 58.724046 66.50805 71.17005 83.61605 87.11605 98.00805 105.00805 112.00805 119.00805 122.90005 129.11605 132.61605 136.11605 144.67005 151.67005 157.88605 163.33205 169.54805 173.04805 180.04805 183.94005 187.83205 193.27805 196.77805 202.99405 207.65605 213.87206 217.37206 223.58806 227.48006 233.69606 239.91207 244.57407 250.79007 257.79008 261.29008 267.50608 272.16807 276.06007 282.27607 286.93806 290.43806 296.65406 303.65406 310.65406 314.15406 318.81605 325.03205 330.47807 336.69407 340.58607 344.08607 347.58607 357.69407 364.69407 368.58607 374.80207 381.80207 385.30207 392.30207 396.19407 401.64009 407.85609 414.85609 418.74809 424.96409 430.4101 433.9101 437.8021 444.8021 451.0181 454.5181 460.7341 464.6261 471.6261 477.8421 484.8421 488.3421 492.2341">bits in the SIM module. These bits are cleared after any reset, which disables the clock to</tspan><tspan y="570.25" x="-.00596 3.8860405 10.886041 17.102042 20.602042 26.818043 33.818044 38.48004 43.14204 49.35804 54.80404 61.80404 68.80404 75.80404 82.80404 86.69604 93.69604 100.69604 104.19604 115.088039 122.088039 129.08805 136.08805 139.98004 146.19605 149.69605 153.58805 160.58805 164.08805 170.30405 177.30405 184.30405 189.75005 195.96605 200.62805 207.62805 213.84406 217.34406 224.34406 231.34406 241.45206 247.66806 252.33007 255.83007 259.33009 267.11408 271.77607 275.66807 282.66807 287.33006 290.83006 294.72206 301.72206 305.22206 309.11405 316.11405 320.00605 323.89805 327.79005 334.00605 337.89805 341.79005 348.00605 351.89805 358.89805 365.89805 369.39805 373.29005 380.29005 386.50605 390.00605 396.22206 403.22206 407.88404 412.54603 418.76203 424.20805 431.20805 438.20805 445.20805 452.20805 456.10005 463.10005">the corresponding module to conserve power. Prior to initializing the corresponding</tspan><tspan y="586.25" x="-.00596 10.886041 17.88604 24.88604 31.88604 35.77804 41.99404 45.49404 48.99404 54.44004 60.65604 64.54804 68.04804 75.83205 85.170047 95.278049 104.61604 111.61604 116.278049 124.06205 134.17005 143.50804 152.06204 159.06204 163.72405 167.22405 171.11605 178.11605 181.61605 185.50804 192.50804 198.72405 202.22405 210.00804 214.67005 227.11605 230.61605 241.50804 248.50804 255.50804 262.50807 266.40007 272.61607 276.11607 280.00807 287.00807 290.50807 296.72407 303.72407 309.94007 316.94007 320.83207 327.04808 330.54808 334.44007 341.44007 347.65608 351.15608 357.37208 361.26408 368.26408 374.48008 381.48008 384.98008 388.48008 397.81809 404.0341 408.69609 415.69609 420.35807 426.57408 430.07408 433.96607 440.96607 445.62806 452.62806 456.52006 463.52006 470.52006 474.02006 481.02006 485.68205">module, set SCGC5[PORTx] in the SIM module to enable the clock. Before turning off</tspan><tspan y="602.25" x="-.0059100005 3.8860906 10.88609 17.10209 20.60209 26.818093 30.710093 37.71009 43.92609 50.92609 54.42609 57.92609 68.81809 75.034099 82.034099 88.2501 91.7501 97.1961 104.1961 108.8581 115.074108 118.574108 122.4661 129.4661 132.9661 139.9661 143.8581 149.3041 155.5201 162.5201 166.4121 172.6281 176.1281 180.0201 187.0201 193.2361 196.7361 207.6281 214.6281 221.6281 228.6281 232.5201 238.7361 242.2361 245.7361 253.5201 260.52009 265.18208 268.68208 279.57408 286.57408 291.23606 297.45207 300.95207 307.95207 314.16807 318.06007 324.27607 328.16807 332.06007 337.50608 341.00608 344.50608 349.16807 355.38407 360.04606 366.26206 370.92405 374.42405 378.31605 385.31605 388.81605 392.70805 399.70805 405.92405 409.42405 415.64006 419.53205 426.53205 432.74806">the clock, make sure to disable the module. For more details, refer to the clock</tspan><tspan y="618.25" x="-.0059100005 6.99409 10.88609 16.33209 20.22409 24.886092 28.778092 35.77809 42.77809 46.670095 50.562097 57.562097 64.562099 68.062099 74.2781 81.2781 87.4941 94.4941 98.3861 104.602108 109.26411">distribution chapter.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 18.00003)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 6.0030004 8.505001 14.004002 19.503003 24.507004 27.009005 29.511006 37.008008 42.507009 45.009008 48.00601 50.508008 56.007009 58.509008 63.51301 68.517009 71.019008 76.518009 82.017009 84.519008 87.021 92.520008 95.517009 100.521 106.020008 109.521 114.525 117.522 120.024 125.523">Signal Multiplexing Integration</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.9387)" 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>
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