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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

111 lines
22 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="11.85" x="13.104 23.996003 33.334005 37.226007 42.672006 46.564008 53.564008 60.564008 64.06401 70.280017 77.280017 84.280017 90.49602 93.99602 99.44202 105.65802 112.65802 118.10402 121.99602 125.888019 129.78002 136.78002 142.99602 146.49602 150.38802 157.38802 161.28002 167.49602 172.15802 176.82003 183.82003 190.82003">&#x2022;Rising edge sensitive interrupt</tspan><tspan y="27.85" x="13.104 23.996003 31.780003 37.996004 41.888006 45.780008 49.67201 56.67201 63.67201 67.17201 73.388019 80.388019 87.388019 93.60402 97.10402 102.55002 108.76602 115.76602 121.21202 125.10402 128.99602 132.88802 139.88802 146.10402 149.60402 153.49602 160.49602 164.38802 170.60402 175.26602 179.92803 186.92803 193.92803">&#x2022;Falling edge sensitive interrupt</tspan><tspan y="43.85" x="13.104 23.996003 33.334005 37.226007 42.672006 46.564008 53.564008 60.564008 64.06401 70.280017 77.280017 84.280017 87.780017 92.44202 98.65802 102.55002 106.44202 110.334018 117.334018 124.334018 127.834018 134.05002 141.05002 148.05002 154.26602 157.76602 163.21202 169.42803 176.42803 181.87403 185.76602 189.65802 193.55002 200.55002 206.76602 210.26602 214.15802 221.15802 225.05002 231.26602 235.92803 240.59003 247.59003 254.59003">&#x2022;Rising and falling edge sensitive interrupt</tspan><tspan y="59.85" x="13.103991 23.99599 33.333993 37.225996 42.671995 46.563997 53.563997 60.563997 64.063999 70.28 77.28 84.28 90.496 93.996 99.442 105.658008 112.658008 118.104007 121.996 125.888 129.78 136.78 142.996 146.496 156.604 169.05 179.158 182.658 187.32 193.53601 200.53601 207.53601 213.75202 219.19802">&#x2022;Rising edge sensitive DMA request</tspan><tspan y="75.85" x="13.103981 23.995984 31.779984 37.995985 41.887987 45.779989 49.67199 56.67199 63.67199 67.17199 73.38799 80.38799 87.38799 93.604 97.104 102.549999 108.766 115.766 121.212 125.104 128.996 132.888 139.888 146.104 149.604 159.712 172.158 182.266 185.766 190.42801 196.64402 203.64402 210.64402 216.86002 222.30602">&#x2022;Falling edge sensitive DMA request</tspan><tspan y="91.85" x="13.1039719 23.995972 33.333974 37.225976 42.671976 46.563978 53.563978 60.563978 64.06398 70.27998 77.27998 84.27998 87.77998 92.441989 98.65799 102.54999 106.441989 110.333988 117.333988 124.333988 127.833988 134.04999 141.04999 148.04999 154.26599 157.76599 163.21199 169.428 176.428 181.874 185.76599 189.65799 193.54999 200.54999 206.76599 210.26599 220.374 232.81999 242.928 246.428 251.09 257.306 264.306 271.306 277.522 282.96803">&#x2022;Rising and falling edge sensitive DMA request</tspan><tspan y="117.85" x=".000011444092 8.554011 15.554011 21.770012 25.270012 29.162013 36.16201 40.054014 46.27001 50.93201 55.59401 62.59401 69.59401 73.48601 76.98601 82.43201 86.324008 92.54001 96.43201 103.43201 108.878009 112.378009 117.04001 120.93201 127.14801 134.14801 137.64801 141.54001 146.98601 150.48601 155.932 162.14801 166.04001 169.54001 179.64801 186.64801 192.86402 199.86402 203.36402 207.25601 214.25601 220.47202 223.97202 230.18802 237.18802 244.18802 248.85002 252.74202 259.742 266.742 271.404 277.62 284.62 288.12 294.336 301.336 308.336 314.552 318.052 325.052 329.714 333.214 337.106 343.322 350.322 356.538 360.43 363.93 367.822 373.268 376.768 383.768 389.984 393.876 400.092 406.308 410.2 416.41603 423.41603 426.91603 433.91603 440.91603 444.41603 448.308 455.308 461.52403 465.02403 472.02403 479.02403 482.91603 489.91603 496.91603">The interrupt status flag is set when the configured edge or level is detected on the output</tspan><tspan y="133.85" x=".000061444097 7.0000617 11.662062 15.162062 19.054062 26.054062 32.27006 35.77006 42.77006 46.662065 53.662065 57.162065 60.662065 73.87807 80.87807 87.09407 94.09407 97.59407 104.59407 111.59407 115.48607 118.98607 122.87807 129.87807 133.37807 141.16207 145.05406 152.05406 159.05406 162.55406 173.44606 180.44606 187.44606 193.66207 197.16207 200.66207 204.55406 211.55406 217.77007 221.27007 225.16207 232.16207 239.16207 246.16207 250.05406 253.55406 257.44609 262.8921 266.3921 271.05409 274.94609 279.60807 285.05409 288.94609 292.44609 297.8921 304.8921 311.8921 318.1081 325.1081 329.77009 336.77009 343.77009 347.66209 353.87809 360.0941 367.0941 370.5941 374.48609 381.48609 384.98609 388.87809 395.87809 402.0941 405.5941 412.5941 419.5941 425.0401 428.5401 434.7561 438.6481 445.6481 451.8641 458.8641 462.3641 466.2561">of the pin. When not in Stop mode, the input is first synchronized to the bus clock to</tspan><tspan y="149.85" x=".0001114441 7.0001118 13.216112 17.108113 23.324112 29.540112 33.432115 36.932115 40.824117 47.824117 54.040117 57.540117 63.756116 70.75612 77.75612 82.41812 86.31012 93.31012 100.31012 104.97212 111.188129 118.188129 121.688129 125.580127 131.79613 138.79613 145.01213 148.90413 152.40413 159.40413 164.06613 167.56613 173.78214 180.78214 187.78214 193.99814 197.49814 201.39014 206.05214 212.26815 219.26815 224.71414 228.60614 232.49814 236.39014 243.39014 250.39014">detect the configured level or edge transition.</tspan><tspan y="174.25" x=".0001114441 8.5541119 15.5541119 21.770112 25.270112 33.05411 43.162115 52.500116 61.054117 64.554119 75.44611 82.44611 89.44611 96.44611 100.33811 106.554119 110.054119 117.054119 123.27012 130.27011 136.48612 141.14812 147.36412 151.25612 157.47212 162.91812 166.41812 172.63413 176.13413 181.58013 185.47212 192.47212 199.47212 203.36412 209.58013 213.08013 216.97212 223.97212 227.86412 234.08013 238.74213 243.40413 250.40413 257.4041 261.2961 264.7961 268.6881 275.6881 281.9041 285.7961 289.2961 295.51213 300.95814 306.40415 312.62016 317.28215 321.17414 326.62016 330.12016 340.22816 347.22816 353.44416 360.44416 363.94416 367.83616 374.83616 381.05216 384.55216 388.44416 395.44416 399.33616 405.55216 410.21415 414.87614 421.87614 428.87614 432.76814 436.26814 441.71415 445.60615 451.82215 455.71415 462.71415 468.16017 471.66017 476.32215 480.21415 486.43016">The PORT module generates a single interrupt that asserts when the interrupt status flag</tspan><tspan y="190.25" x=".0001114441 3.8921118 9.338112 12.838112 18.284113 24.500115 28.392115 31.892115 36.554117 43.554117 48.216115 51.716115 57.932115 64.93211 71.93211 75.43211 81.64812 88.64812 94.86412 101.86412 105.75612 111.97212 118.97212 122.47212 126.36412 133.36412 137.25612 143.47212 148.13413 152.79613 159.79613 166.79613 170.68813 174.18813 178.85013 185.85013 190.51213 194.01213 197.90413 204.90413 211.12014 215.01213 218.51213 225.51213 232.51213 237.17414 241.06613 244.56613 248.06613 256.62013 263.62013 269.83613 273.33613 277.22813 284.22813 288.12013 294.33613 298.9981 303.6601 310.6601 317.6601 321.5521 325.0521 332.0521 338.2681 345.2681 351.4841 355.3761 361.5921 367.03813 370.53813 376.75413 381.4161 385.3081 391.5241 396.1861 399.6861 403.5781 410.5781 416.7941 420.2941 424.1861 431.1861 435.0781 441.2941 445.9561 450.61808 457.61808 464.61808 468.51008 472.01008 477.4561 481.34809 487.5641 491.4561 498.4561">is set for any enabled interrupt for that port. The interrupt negates after the interrupt status</tspan><tspan y="206.25" x=".0001614441 4.662162 8.554162 14.770163 21.770163 27.216164 30.716164 35.378164 42.378164 47.04016 50.54016 56.75616 60.648164 64.54016 68.04016 74.256168 81.256168 87.47217 94.47217 98.36417 104.58017 111.58017 115.08017 118.97217 125.97217 129.86417 136.08017 140.74217 145.40418 152.40418 159.40418 163.29618 168.74217 172.24217 179.24217 185.45818 192.45818 198.67418 202.17418 209.17418 215.39019 221.60619 228.60619 232.10619 238.32219 242.21419 248.43019 254.6462 259.3082 265.5242 272.5242 276.0242 283.0242 290.0242 293.5242 303.6322 308.2942 312.1862 316.0782 319.97019 326.97019 333.97019 337.47019 343.6862 347.1862 351.0782 358.0782 365.0782 368.97019 375.1862 378.6862 385.6862 389.1862 393.0782 400.0782 403.5782 407.47019 414.47019 420.6862 424.1862 428.84819 436.63218 444.41618 447.91618 452.57817 456.47016 462.68617 469.68617 473.18617 477.07817">flags for all enabled interrupts have been cleared by writing a logic 0 to the ISF flag in</tspan><tspan y="222.25" x=".0001614441 3.8921619 10.892162 17.108162 20.608162 28.392163 38.500165 47.838167 56.392168 63.392168 71.17617 80.514179 89.85217 96.85217 100.35217 105.014179 111.23018 118.23018 122.12218 127.56818 131.46018 137.67618 142.33818">the PORT_PCRn register.</tspan><tspan y="246.65" x=".0001614441 8.554161 15.554161 21.77016 25.27016 33.05416 43.162164 52.500165 61.054166 64.55417 75.44617 82.44617 89.44617 96.44617 100.338169 106.55417 110.05417 117.05417 123.27017 130.27017 136.48618 141.14818 147.36418 151.25618 157.47219 162.91819 166.41819 172.63419 176.13419 181.58019 185.47219 192.47219 199.47219 203.36418 209.58019 213.08019 223.18819 235.63419 245.74219 249.24219 253.90419 260.12019 267.12019 274.12019 280.33619 285.7822 289.6742 293.1742 297.0662 304.0662 310.2822 314.1742 317.6742 323.8902 329.3362 334.78224 340.99824 345.66023 349.55223 354.99824 358.49824 368.60624 375.60624 381.82225 388.82225 392.32225 396.21424 403.21424 409.43025 412.93025 416.82225 423.82225 427.71424 433.93025 438.59223 443.2542 450.2542 457.2542 461.1462 464.6462 470.09223 473.98423 480.20024 484.09223 491.09223">The PORT module generates a single DMA request that asserts when the interrupt status</tspan><tspan y="262.65" x=".0001614441 4.662162 8.554162 14.770163 21.770163 25.270163 29.162163 34.608163 38.108163 43.55416 49.77016 53.662164 57.162164 61.82416 68.82416 73.48616 76.98616 83.20216 90.20216 97.20216 100.70216 106.91817 113.91817 120.13417 127.13417 131.02617 137.24217 144.24217 147.74217 157.85018 170.29618 180.40418 183.90418 188.56618 194.78218 201.78218 208.78218 214.99819 220.44419 224.33618 227.83618 231.72818 238.72818 242.22818 246.12018 253.12018 259.33619 263.22819 266.72819 273.72819 280.72819 285.39018 289.28218 292.78218 296.28218 304.83616 311.83616 318.05216 321.55216 331.66017 344.10618 354.21418 357.71418 362.37617 368.59217 375.59217 382.59217 388.80818 394.25419 398.14619 401.64619 408.64619 414.86219 421.86219 428.0782 431.97019 438.1862 443.6322 447.1322 453.3482 458.0102 461.9022 468.1182 472.78019 476.28019 480.17219 487.17219">flag is set for any enabled DMA request in that port. The DMA request negates after the</tspan><tspan y="278.65" x=".0001614441 10.108162 22.554163 32.662164 36.162164 40.054166 44.716165 50.932165 57.932165 63.378164 68.04016 74.256168 78.91817 82.41817 86.310169 91.756168 95.256168 101.47217 108.47217 119.36417 126.36417 130.25617 136.47217 140.36417 146.58017 153.58017 157.08017 160.58017 167.58017 173.79618 180.01218 186.22818 193.22818 198.67418 204.89019 208.39019 212.28218 219.28218 225.49819 229.39019 232.89019 239.10619 242.99819 249.21419 255.43019 260.0922 265.5382 269.0382 272.9302 279.9302 286.1462 289.6462 293.5382 300.5382 304.4302 310.6462 315.3082 319.97019 326.97019 333.97019 337.86219 341.36219 346.8082 350.7002 356.9162 360.8082 367.8082 373.2542 376.7542 381.4162 385.3082 391.5242 398.5242 403.9702 407.4702 412.1322 419.1322 423.7942 427.2942 433.5102 437.4022 441.2942 444.7942 451.0102 458.0102 464.2262 471.2262 475.1182 481.3342">DMA transfer is completed, because that clears the interrupt status flags for all enabled</tspan><tspan y="294.65" x=".0001614441 10.108162 22.554163 32.662164 36.162164 40.82416 47.04016 54.04016 61.04016 67.256168 72.70216 76.59416 82.04016">DMA requests.</tspan><tspan y="319.05" x=".0001614441 10.108162 17.108162 21.770163 25.662163 32.662164 39.662164 43.162164 50.946165 54.838167 61.838167 68.838169 72.338169 83.23016 90.23016 97.23016 103.44617 106.94617 110.44617 114.338169 121.338169 127.55417 131.05417 134.94617 141.94617 145.83817 152.05417 156.71617 161.37818 168.37818 175.37818 179.27017 182.77017 188.21617 192.10817 198.32418 202.21617 209.21617 214.66217 218.16217 222.82418 226.71617 232.93218 239.93218 243.43218 248.09418 255.09418 259.75617 263.25617 269.47218 276.47218 283.47218 286.97218 293.18818 300.18818 306.40419 313.40419 317.29618 323.51219 330.51219 334.01219 337.90419 344.90419 348.79618 355.01219 359.67417 364.33616 371.33616 378.33616 382.22816 385.72816 389.62016 395.06617 398.56617 404.78218 410.22819 417.22819 424.22819 430.44419 437.44419 442.10618 449.10618 456.10618 463.10618 470.10618 475.5522 479.44419">During Stop mode, the interrupt status flag for any enabled interrupt is asynchronously</tspan><tspan y="335.05" x=".0002114441 5.446212 11.662212 15.554213 19.054213 22.946213 27.608214 31.108214 35.000215 42.000215 48.216215 51.716215 56.378213 62.59421 69.59421 76.59421 80.486209 85.14821 91.36421 98.36421 101.86421 105.75621 111.97221 118.97221 125.18822 129.08022 132.58022 139.58022 144.24222 147.74222 153.95822 160.95822 167.95822 174.17423 177.67423 181.56623 187.01222 190.51222 197.51222 203.72823 207.62023 213.83623 220.05223 223.94423 230.16024 237.16024 240.66024 244.16024 252.71424 259.71424 263.60624 269.05226 272.55226 278.76826 282.66026 288.10627 295.10627 298.60627 305.60627 311.82228 318.82228 325.03828 329.70027 335.91627 339.80827 346.02427 351.47029 354.97029 361.18629 368.18629 371.68629 377.90229 383.3483 390.3483 397.3483 403.5643 410.5643 415.2263 422.2263 429.2263 436.2263 443.2263 448.6723 452.1723 462.2803 468.4963 475.4963 481.7123 488.7123">set if the required level or edge is detected. This also generates an asynchronous wakeup</tspan><tspan y="351.05" x=".0002114441 5.446212 9.338212 16.338212 23.338212 29.55421 33.446214 36.946214 40.838216 47.838216 51.338216 57.554216 64.554218 68.44621 72.33821 75.83821 79.73021 86.73021 92.94621 96.44621 105.00021 112.00021 122.108219 126.77022 134.55422 141.55422 151.66222 157.87822 162.54022 166.04022 176.93222 183.93222 190.93222 197.14823">signal to exit the Low-Power mode.</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="26.01035" x="307.47599 313.97398 319.47297 324.47697 329.97596 332.97297 337.97697 341.47798 343.97999 348.98399 353.98799 356.49 362.49299 367.99198 371.49299 374.49 376.992 381.996 387.495 392.994 395.991 399.492 404.991 407.493 409.99504 414.99903 420.49803 425.997 428.49903 431.00105 436.50004 439.49705 444.50105 448.00205 451.50306 457.00205 462.50105 465.49806 470.50205 473.00407 476.00108 482.00407 489.00608 495.50407 501.00306">Chapter 11 Port control and interrupts (PORT)</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>
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<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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