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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_260.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

697 lines
63 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 186 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="15.3 22.632 29.304 36.636 39.972 46.644 49.980005 56.652006 63.324007 67.32001 73.992008 80.664 93 101.664 108.996 117.66 120.996 129 132.336 139.668 147 153.672 157.008 160.344 169.008 175.68 182.35199 189.02399 193.69199 197.02799 204.35999 208.35599 211.69199 219.02399 226.35599">Table 10-26.RTC Signal Descriptions</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 194.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="2.002 8.500001 13.504002 18.508004 21.010004 26.014004 29.011004 34.015005 36.517004 41.017004 46.021005 53.518007 58.522008 63.52601 66.52301 71.52701 74.02901 79.033008 81.031009 86.035 90.535 95.035 97.537 99.535 104.539 109.543 114.547 117.048999">Capture/compare block input/</tspan><tspan y="18.83789" x="2.00201 7.006011 12.010012 14.5120129 19.516015 24.520016 27.022017 29.524018 34.52802 39.02802 44.03202 49.036024 51.53802 54.04002 59.04402 64.04802 68.54802 71.05002 73.55202 82.04802 87.05202 92.056018">output event bus. When</tspan><tspan y="29.83789" x="2.00201 6.5020105 11.506011 16.510012 19.012013 21.010014 26.014016 31.018017 34.01502 39.01902 44.02302 46.52502 49.02702 54.03102 57.028024 59.53002 64.03002 69.03402 74.03802 76.540019 81.544017 84.541019 89.54501 92.04701 97.05101 102.05501 107.059009 109.561008">configured for capture and a</tspan><tspan y="40.83789" x="2.00201 4.99901 6.99701 11.49701 13.49501 18.499012 23.503014 26.005015 31.009015 36.013017 41.017019 46.02102 48.523019 50.52102 55.02102 57.523019 62.52702 67.53102 70.03302 75.03702 79.53702 82.03902 87.043018 92.04701 94.54901 97.05101 99.55301 104.55701">rising edge is detected, the</tspan><tspan y="51.83789" x="2.00201 6.5020105 11.506011 14.503011 17.500012 22.504014 27.508015 30.010016 32.512018 35.014017 37.012018 44.509019 49.51302 52.51002 55.01202 59.51202 64.51602 66.51402 71.51802 76.52202 79.02402 81.02202 85.52202 88.02402 90.02202 95.02602 97.528018 102.028018 107.03201 112.03601">current timer value is latched</tspan><tspan y="62.83789" x="2.00201 7.006011 12.010012 17.014012 19.516013 22.018013 25.015013 30.019013 35.023015 39.523015 42.025014 47.029016 50.026018 53.023019 58.02702 63.03102 65.53302 67.53102 72.53502 75.03702 80.041019 82.543018 85.04501 90.04901">and transferred into the</tspan><tspan y="73.83789" x="2.00201 6.5020105 11.506011 14.503011 17.500012 22.504014 27.004014 32.008016 37.012018 42.016019 47.02002 49.01802 54.022024 59.026025 61.528024 67.53102 74.02902 80.03202 85.53102 90.53502 96.03402 102.53202 109.03002">corresponding ENET_TCCR</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 194.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="73.83789" x="115.52801">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 194.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="84.83789" x="2.0020066 4.9990065 10.003007 15.007008 17.005009 21.505009 24.00701 29.01101 32.00801 34.51001 37.01201 42.01601 45.013013 47.51501 49.513013 54.517015 59.017015 64.02101 69.02501 73.52501 76.02701 78.02501 83.02901 88.033008 90.535 95.539">register for inspection by</tspan><tspan y="95.83789" x="2.0020066 6.5020067 11.506007 14.008007 16.510008 23.008009 28.012009 31.009009 36.01301">software.</tspan><tspan y="112.23789" x="2.0020066 10.498007 15.5020079 20.506009 25.51001 28.01201 32.51201 37.51601 42.52001 45.02201 47.02001 52.024015 57.028017 60.025018 65.029018 70.03301 72.53501 75.03701 80.04101">When configured for</tspan><tspan y="123.23789" x="2.0020066 6.5020067 11.506007 19.003008 24.007008 29.01101 32.00801 37.012014 39.51401 42.01601 44.51801 49.52201 54.526014 57.02801 61.52801 66.53201 69.529018 72.52602 77.530017 82.030017 87.03401 92.03801 97.04201 102.046009 104.04401 109.048007">compare, the corresponding</tspan><tspan y="134.23789" x="2.0020066 6.5020067 8.500007 13.504007 18.508008 23.512009 25.51001 28.01201 33.01601 38.02001 43.024015 48.028017 53.032018 58.531019 66.028018">signal 1588_TMR</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 194.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="134.23789" x="72.52601">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 194.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="134.23789" x="77.53001 80.032009 82.03001"> is</tspan><tspan y="145.23789" x="2.0020066 7.006007 11.506007 16.006009 21.01001 24.00701 26.50901 31.513012 36.517015 39.019014 41.52101 46.525014 49.522016 52.024015 57.028017 62.032018 67.03602 69.53802 74.03802 78.53802 83.03802 85.03602 90.040019 92.542018 99.040019 104.044017 109.04801">asserted for one cycle when</tspan><tspan y="156.23789" x="2.0020066 4.504007 9.508007 14.512008 17.014008 19.516009 21.514008 29.01101 34.01501 37.012014 39.51401 42.511014 47.515016 52.519018 57.019018 62.023019 67.027019 71.527019 74.029018 76.53101 81.53501">the timer reaches the</tspan><tspan y="167.23789" x="2.0020066 6.5020067 11.506007 19.003008 24.007008 29.01101 32.00801 37.012014 39.51401 44.01401 49.018014 51.016016 56.020017 61.024019 63.526018 68.530017 71.527019 76.53101 81.53501 84.53201 89.53601 97.03301 104.530017 109.53401">compare value programmed</tspan><tspan y="178.23789" x="2.0020066 4.0000069 9.004007 11.506008 14.503008 19.507008 24.51101 26.50901 31.00901 33.51101 38.51501 41.512014 44.01401 50.017015 56.515016 62.518014 68.01701 73.02101 78.52001 85.01801 91.516017">in register ENET_TCCR</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 194.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="178.23789" x="98.01401">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 194.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="178.23789" x="103.018009">.</tspan><tspan y="194.63788" x="2.0020066 8.005007 13.009007 15.511007 17.509007 22.513009 25.015009 30.019009 33.01601 36.013013 41.017015 46.021017 48.523015 51.025014 56.029016 59.026018 61.528017 68.02602 75.52302 81.52602 84.028018 87.02502 92.029018 97.03301 102.03701 107.04101 111.54101">An interrupt or DMA request</tspan><tspan y="205.63788" x="2.0020066 6.5020067 11.506007 16.510008 19.012009 24.01601 29.020012 31.522013 34.024015 37.021017 39.019018 44.023019 49.02702 54.03102 57.028024 62.032026 67.036029 69.538028 71.536029 74.038028 76.54002 79.04202 84.04602">can be triggered if the</tspan><tspan y="216.63788" x="2.0020066 6.5020067 11.506007 14.503007 17.500008 22.50401 27.00401 32.00801 37.012014 42.016016 47.020017 49.018018 54.02202 59.02602 61.52802 66.53202 68.53002 71.03202 73.53402 75.53202">corresponding bit in</tspan><tspan y="227.63788" x="2.0020066 8.005007 14.503008 20.506009 26.005009 31.00901 36.50801 43.006013 49.00901">ENET_TCSR</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 194.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="227.63788" x="55.507009">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 194.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="227.63788" x="60.51101 63.01301 68.51201 71.01401 77.017009 79.519008 82.021 87.025">[TIE] or</tspan><tspan y="238.63788" x="2.0020104 8.005011 14.503012 20.506012 26.005013 31.009015 36.508016 43.006017 49.009019">ENET_TCSR</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 194.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="238.63788" x="55.50701">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 194.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="238.63788" x="60.511014 63.013013 68.51201 75.01001 81.50801 87.51101 90.01301 92.51501 94.51301 99.01301 101.51501 106.01501 111.019008 113.521">[TDRE] is set.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 434.25 194.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="2.00206 4.5040605 7.0060608">I/O</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 440.55)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="2.00206 8.00506 14.503061 20.506062 26.005063 31.009064 36.013067 41.017068 46.02107 51.02507 56.02907 62.527074 67.531078 73.53407 76.03607">ENET_1588_CLKIN</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 182.25 440.55)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="2.00206 7.0060608 12.010061 17.014061 22.018063 27.022065 32.521066 40.018068">1588_TMR</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 182.25 440.55)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="46.51606">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 440.55)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="2.00206 8.500061 13.504062 18.508063 21.010064 26.014065 29.011065 34.015066 36.517065 41.017065 46.021066 53.518068 58.522069 63.52607 66.52307 71.52707 74.02907 79.033069 81.03107 86.035068 90.535068 95.035068 97.53706 99.535068 104.53906 109.54306 114.54706 117.04906">Capture/compare block input/</tspan><tspan y="18.83789" x="2.00206 7.0060608 12.010061 14.512062 19.516064 24.520066 27.022067 29.524067 34.52807 39.02807 44.03207 49.03607 51.53807 54.04007 59.04407 64.04807 68.54807 71.05007 73.55207 82.04807 87.05207 92.05607">output event bus. When</tspan><tspan y="29.83789" x="2.00206 6.50206 11.506061 16.510062 19.012063 21.010064 26.014065 31.018067 34.015069 39.01907 44.02307 46.52507 49.02707 54.03107 57.028074 59.53007 64.030078 69.03407 74.03807 76.54007 81.54407 84.54107 89.54507 92.047069 97.05106 102.05506 107.05906 109.56106">configured for capture and a</tspan><tspan y="40.83789" x="2.00206 4.9990599 6.99706 11.49706 13.49506 18.499062 23.503064 26.005064 31.009064 36.013067 41.017068 46.02107 48.523069 50.52107 55.02107 57.523069 62.52707 67.53107 70.033069 75.03706 79.53706 82.03906 87.04306 92.04706 94.54906 97.051059 99.553058 104.55705">rising edge is detected, the</tspan><tspan y="51.83789" x="2.00206 6.50206 11.506061 14.50306 17.500061 22.504063 27.508065 30.010066 32.512067 35.014066 37.012067 44.509069 49.51307 52.51007 55.01207 59.51207 64.51607 66.51407 71.51807 76.522068 79.02406 81.022068 85.522068 88.02406 90.022068 95.02606 97.52806 102.02806 107.03206 112.03606">current timer value is latched</tspan><tspan y="62.83789" x="2.00206 7.0060608 12.010061 17.014061 19.516062 22.018063 25.015063 30.019062 35.023065 39.523065 42.025064 47.029066 50.026067 53.023069 58.02707 63.03107 65.53307 67.531078 72.53507 75.03707 80.04107 82.54307 85.04507 90.049068">and transferred into the</tspan><tspan y="73.83789" x="2.00206 6.50206 11.506061 14.50306 17.500061 22.504063 27.004063 32.008066 37.012067 42.016069 47.02007 49.01807 54.02207 59.026075 61.528074 67.531078 74.029079 80.032077 85.531078 90.53507 96.03407 102.532077 109.030078">corresponding ENET_TCCR</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 440.55)" font-size="9" font-family="HelveticaLTStd"><tspan y="73.83789" x="115.52806">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 440.55)" font-size="9" font-family="HelveticaLTStd"><tspan y="84.83789" x="2.00206 4.9990599 10.00306 15.007061 17.005063 21.505063 24.007063 29.011063 32.008066 34.510065 37.012063 42.016065 45.013067 47.515066 49.513067 54.517068 59.017068 64.021068 69.02506 73.52506 76.02706 78.02506 83.02906 88.03306 90.53506 95.539058">register for inspection by</tspan><tspan y="95.83789" x="2.00206 6.50206 11.506061 14.00806 16.510062 23.008063 28.012063 31.009062 36.01306">software.</tspan><tspan y="112.23789" x="2.00206 10.49806 15.502061 20.506062 25.510064 28.012064 32.512063 37.516065 42.520067 45.022066 47.020067 52.024068 57.02807 60.02507 65.02907 70.033069 72.535068 75.03706 80.04106">When configured for</tspan><tspan y="123.23789" x="2.00206 6.50206 11.506061 19.003062 24.007061 29.011063 32.008066 37.012067 39.514066 42.016065 44.518064 49.522066 54.526067 57.028066 61.528066 66.53207 69.52907 72.52607 77.53007 82.03007 87.034069 92.03806 97.04206 102.04606 104.04406 109.04806">compare, the corresponding</tspan><tspan y="134.23789" x="2.00206 6.50206 8.50006 13.504061 18.50806 23.512063 25.510064 28.012064 33.016065 38.020067 43.024068 48.02807 53.03207 58.53107 66.02807">signal 1588_TMR</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 440.55)" font-size="9" font-family="HelveticaLTStd"><tspan y="134.23789" x="72.52606">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 440.55)" font-size="9" font-family="HelveticaLTStd"><tspan y="134.23789" x="77.53006 80.03206 82.03006"> is</tspan><tspan y="145.23789" x="2.00206 7.0060608 11.506061 16.006062 21.010064 24.007063 26.509064 31.513066 36.517068 39.019067 41.521066 46.525068 49.522069 52.024068 57.02807 62.03207 67.03607 69.53807 74.03807 78.53807 83.03807 85.03607 90.04007 92.54207 99.04007 104.04407 109.048069">asserted for one cycle when</tspan><tspan y="156.23789" x="2.00206 4.5040605 9.50806 14.512061 17.014061 19.516062 21.514061 29.011063 34.015066 37.012067 39.514066 42.511068 47.515069 52.51907 57.01907 62.02307 67.02707 71.52707 74.02907 76.53107 81.535068">the timer reaches the</tspan><tspan y="167.23789" x="2.00206 6.50206 11.506061 19.003062 24.007061 29.011063 32.008066 37.012067 39.514066 44.014066 49.018068 51.016069 56.02007 61.02407 63.52607 68.53007 71.52707 76.53107 81.535068 84.53207 89.536067 97.033069 104.53007 109.534069">compare value programmed</tspan><tspan y="178.23789" x="2.00206 4.00006 9.004061 11.506062 14.503061 19.507061 24.511063 26.509064 31.009064 33.511064 38.515066 41.512067 44.014066 50.017068 56.515069 62.518068 68.01707 73.021068 78.520069 85.01807 91.51607">in register ENET_TCCR</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 440.55)" font-size="9" font-family="HelveticaLTStd"><tspan y="178.23789" x="98.01406">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 440.55)" font-size="9" font-family="HelveticaLTStd"><tspan y="178.23789" x="103.01806">.</tspan><tspan y="194.63788" x="2.00206 8.00506 13.009061 15.511061 17.50906 22.513062 25.015063 30.019062 33.016065 36.013067 41.017068 46.02107 48.523069 51.025068 56.029069 59.02607 61.52807 68.02607 75.52307 81.52607 84.02807 87.02507 92.02907 97.033069 102.03706 107.04106 111.54106">An interrupt or DMA request</tspan><tspan y="205.63788" x="2.00206 6.50206 11.506061 16.510062 19.012063 24.016064 29.020066 31.522067 34.024068 37.02107 39.01907 44.02307 49.027074 54.031076 57.028078 62.032079 67.03608 69.53808 71.53608 74.03808 76.54008 79.042079 84.046077">can be triggered if the</tspan><tspan y="216.63788" x="2.00206 6.50206 11.506061 14.50306 17.500061 22.504063 27.004063 32.008066 37.012067 42.016069 47.02007 49.01807 54.02207 59.026075 61.528074 66.532077 68.530078 71.032077 73.53407 75.532077">corresponding bit in</tspan><tspan y="227.63788" x="2.00206 8.00506 14.503061 20.506062 26.005063 31.009064 36.508066 43.006067 49.009065">ENET_TCSR</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 440.55)" font-size="9" font-family="HelveticaLTStd"><tspan y="227.63788" x="55.50706">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 440.55)" font-size="9" font-family="HelveticaLTStd"><tspan y="227.63788" x="60.511064 63.01306 68.51206 71.01406 77.01706 79.51906 82.02106 87.025058">[TIE] or</tspan><tspan y="238.63788" x="2.0020638 8.005064 14.503065 20.506066 26.005066 31.009068 36.508069 43.00607 49.00907">ENET_TCSR</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 440.55)" font-size="9" font-family="HelveticaLTStd"><tspan y="238.63788" x="55.507066">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 440.55)" font-size="9" font-family="HelveticaLTStd"><tspan y="238.63788" x="60.511068 63.013067 68.51206 75.01006 81.508068 87.51106 90.01306 92.51506 94.51306 99.01306 101.51506 106.01506 111.01906 113.52106">[TDRE] is set.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 434.25 440.55)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="2.00212 4.5041205 7.0061209">I/O</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="25.87323" x="0 7.4970009 12.996 18.495 23.994002 26.496003 31.500004 34.002004 40.005006 42.507005 48.006006 53.505006 58.509008 61.011007 63.513006 70.011 75.015 80.019 85.022998 88.523998 91.02599 96.524997 99.521999 102.023998 107.522998 113.021999 115.523998 121.022998 126.02699 131.52599 134.02799 139.03199">Module Signal Description Tables</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="130.006 137.226 142.786 148.346 151.12599 157.79599 163.90599 170.01599 173.346 179.456 185.01599 193.90599 196.68599 199.46599 205.02599 207.80599 215.02599 220.58599 223.91599 229.47599 233.36598 238.92598 245.03598 250.59598 256.15599 258.93598 267.26597 272.82597 278.93595 285.04594 290.60594 293.38594 296.16593 298.94593 306.16593 311.72593 317.28593 320.06593 322.84593 328.4059 331.1859 336.7459 342.8559 348.96589 351.74589 357.30589 362.86589 368.42588">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="0 5.0040009 10.008001">260</tspan></text>
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<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="44.775 50.274003 53.271005 58.275007 63.279008 67.77901 72.27901 77.283008 79.281009 84.285 86.787 92.79 97.794 105.291 107.289 111.789 116.793 121.797 126.800998 131.805 136.305 138.80699 143.81099 146.80799 149.30998 151.81198 154.31398 159.31798 163.81798">Freescale Semiconductor, Inc.</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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