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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_297.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

1037 lines
90 KiB (Stored with Git LFS)
XML
Raw Blame History

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<path transform="matrix(1,0,0,1,54.00003,323)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M414.95887 0H444.80595"/>
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<g clip-path="url(#clip_91)">
<path transform="matrix(1,0,0,1,54.00003,323)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M444.60594 0H474.453"/>
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<g clip-path="url(#clip_92)">
<path transform="matrix(1,0,0,1,54.00003,323)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M474.253 0H504.25007"/>
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<path transform="matrix(1,0,0,1,54.00003,54)" d="M0 292.25H504V659H0Z" fill="#ffffff" fill-rule="evenodd"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 346.25)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="166.97998 174.98398 178.31998 188.31598 194.98798 202.99198 212.32798 220.33197 227.66397 234.33597 237.67197 241.66797 245.00397 251.67597 255.01197 262.34397 265.67997 273.01197 279.68397 286.35597 293.02796 297.69596 301.03196 308.36396 312.35997 315.69596 323.02796 330.35997">SIM_SOPT7 field descriptions</tspan></text>
<g clip-path="url(#clip_93)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.50003 368)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="30.564 36.063 38.565 43.569 46.071">Field</tspan></text>
<g clip-path="url(#clip_94)">
<path transform="matrix(1,0,0,1,54.00003,365.5)" d="M85.63513 .5H503.5V15.5H85.63513Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 141.63516 368)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="183.177 189.675 194.679 199.683 204.687 208.188 210.69 216.189 219.18599 221.68799 227.18698">Description</tspan></text>
<g clip-path="url(#clip_95)">
<path transform="matrix(1,0,0,1,54.00003,381.5)" d="M.25 .5H84.88513V26.5H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25003 384)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="27.81 32.814 37.818 42.822004 47.826005">31&#x2013;16</tspan><tspan y="18.83789" x="21.060009 27.55801 32.56201 37.06201 42.066015 45.063016 49.563016 54.567018">Reserved</tspan></text>
<g clip-path="url(#clip_96)">
<path transform="matrix(1,0,0,1,54.00003,381.5)" d="M85.38513 .5H503.75V26.5H85.38513Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 141.38516 384)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 40.509008 45.009008 47.511007 50.508008 55.51201 60.01201 65.01601 68.01301 72.51301 77.517009 82.521">This field is reserved.</tspan><tspan y="18.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 80.523 85.023 87.525 90.522 95.526 100.026 105.03 108.027 112.527 117.531 122.534999 125.036998 130.041 135.045 140.049 142.551 147.555 149.553 156.051 161.055 165.555 170.055 172.55699 177.56099 182.56499 187.06499 189.56699 192.06899 197.07299 202.07698 204.57898 209.07898 214.08298 216.08098 221.08498 226.08898 228.59098 233.59497">This read-only field is reserved and always has the value 0.</tspan></text>
<g clip-path="url(#clip_97)">
<path transform="matrix(1,0,0,1,54.00003,408.25)" d="M.25 .25H84.88513V70.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25003 410.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="35.316 40.320005">15</tspan><tspan y="18.83789" x="4.3110029 10.314003 16.812005 23.310006 28.314007 34.31701 39.32101 44.82001 50.31901 56.817014 63.81901 69.822017">ADC1ALTTRGEN</tspan></text>
<g clip-path="url(#clip_98)">
<path transform="matrix(1,0,0,1,54.00003,408.25)" d="M85.38513 .25H503.75V70.25H85.38513Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 141.38516 410.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 12.501001 18.999003 24.003003 26.505003 31.509003 33.507005 36.009004 41.013006 44.010007 49.014009 54.01801 56.520009 61.52401 64.02601 66.52801 69.52501 71.52301 76.52701 81.531009 86.535 89.532009 92.034008 97.038 102.042 107.046 112.049999 114.048">ADC1 alternate trigger enable</tspan><tspan y="28.83789" x="0 6.0030004 11.007001 16.011002 21.015004 23.013005 28.017006 30.519007 35.523008 37.521009 40.023008 45.027009 48.02401 53.02801 58.032014 60.53401 62.532014 67.03201 72.03601 74.53801 79.03801 84.04201 89.046009 93.546009 98.55 101.547008 106.047008 108.045009 113.049 118.053 120.555 123.057 126.054 128.052 133.056 138.06 143.064 146.06099 150.56099 153.06299 155.56499 160.56899 163.56598 166.06798 172.07099 178.56899 185.06699 190.07099">Enable alternative conversion triggers for ADC1.</tspan></text>
<path transform="matrix(1,0,0,1,141.38516,410.5)" d="M0 42H414.3649V66H0Z" fill="#ffffff" fill-rule="evenodd"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 141.38516 452.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00002">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 156.89737 452.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00002 6.0030205 12.50102 18.50402 21.006022 23.508023 26.505023 28.503022 33.507024 38.511026 43.515027 46.512029 49.014028 53.514028 58.51803 60.51603 65.52003 70.02003 72.522029 77.526027 82.53002 85.03202 87.53402 92.53802 95.53502 98.03702 104.040019 110.53802 117.03602">PDB trigger selected for ADC1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 141.38516 463.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 156.89737 463.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 6.0030205 8.00102 10.503021 15.507022 18.504023 23.508023 28.512024 31.014025 36.018026 38.520025 41.022024 44.019025 46.017026 51.021028 56.02503 61.02903 64.02603 66.52803 71.02803 76.03203 78.03003 83.03403 87.53403 90.036029 95.04002 100.04402 102.54602 105.04802 110.05202 113.04902 115.55102 121.554019 128.05202 134.55002 139.55402 142.05602 147.06002 151.56002 154.06201 159.06601 164.07 166.572 168.57 173.574 178.578 183.582 186.084 191.088 195.588 198.09 204.093 210.591 217.089 222.093 227.592 234.09 241.092 247.095 253.098 258.10203">Alternate trigger selected for ADC1 as defined by ADC1TRGSEL.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25003 481)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="27.81 32.814 37.818 42.822004 47.826005">14&#x2013;13</tspan><tspan y="18.83789" x="21.060009 27.55801 32.56201 37.06201 42.066015 45.063016 49.563016 54.567018">Reserved</tspan></text>
<g clip-path="url(#clip_100)">
<path transform="matrix(1,0,0,1,54.00003,478.75)" d="M85.38513 .25H503.75V26.25H85.38513Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 141.38516 481)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 40.509008 45.009008 47.511007 50.508008 55.51201 60.01201 65.01601 68.01301 72.51301 77.517009 82.521">This field is reserved.</tspan><tspan y="18.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 80.523 85.023 87.525 90.522 95.526 100.026 105.03 108.027 112.527 117.531 122.534999 125.036998 130.041 135.045 140.049 142.551 147.555 149.553 156.051 161.055 165.555 170.055 172.55699 177.56099 182.56499 187.06499 189.56699 192.06899 197.07299 202.07698 204.57898 209.07898 214.08298 216.08098 221.08498 226.08898 228.59098 233.59497">This read-only field is reserved and always has the value 0.</tspan></text>
<g clip-path="url(#clip_101)">
<path transform="matrix(1,0,0,1,54.00003,505.25)" d="M.25 .25H84.88513V70.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25003 507.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="35.316 40.320005">12</tspan><tspan y="18.83789" x="1.0620003 7.0650007 13.563002 20.061003 25.065003 31.068003 37.566 43.569 49.068 55.566 62.568 68.571 74.574">ADC1PRETRGSEL</tspan></text>
<g clip-path="url(#clip_102)">
<path transform="matrix(1,0,0,1,54.00003,505.25)" d="M85.38513 .25H503.75V70.25H85.38513Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 141.38516 507.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 12.501001 18.999003 24.003003 26.505003 31.509003 34.506006 39.510007 42.507009 45.009008 48.00601 50.00401 55.00801 60.012014 65.016017 68.013019 70.515018 75.015018 80.01901 82.01701 87.02101 91.52101">ADC1 pre-trigger select</tspan><tspan y="28.83789" x="0 6.0030004 11.007001 13.005001 18.009003 22.509003 25.011004 29.511004 32.013006 34.515005 39.519006 44.523008 47.025007 53.028009 59.52601 66.02401 71.02801 73.53001 78.534008 81.531009 86.535 89.532009 92.034008 95.031009 97.02901 102.033008 107.037 112.041 115.038 117.54 122.04 127.044 132.048 135.045 139.545 144.549 147.051 153.549 158.553 163.55699 168.56099 171.06299 176.06699 178.06499 180.56699 185.57099 188.56798 193.57198 198.57598 201.07798 203.07598 207.57598 212.57997 215.08197 217.58397 220.58097 222.57897 227.58296 232.58696 237.59096 240.58795 245.08795 247.58995 252.59395 255.59095 260.59495 263.09696 268.10096 273.10496 278.10896 283.11296 285.11094 290.11494 295.11894 297.62095 300.12297 305.12696 308.12397 313.12797 318.13197 323.13597 328.13996 330.64198 336.64497 343.14295 349.64094 354.64494 360.64793 365.65193 371.1509 376.6499 383.1479 390.1499 396.1529 402.65089">Selects the ADC1 pre-trigger source when alternative triggers are enabled through ADC1ALTTRGEN.</tspan></text>
<path transform="matrix(1,0,0,1,141.38516,507.5)" d="M0 42H414.3649V66H0Z" fill="#ffffff" fill-rule="evenodd"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 141.38516 549.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 156.89737 549.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 6.0030405 9.00004 14.004041 17.001042 19.503043 22.500042 24.498044 29.502045 34.506048 39.510049 42.50705 45.00905 51.012048 53.514047 58.014047 63.018049 65.016048 70.02004 74.52004 77.02204 82.02604 87.03004 89.532039 92.034038 97.03803 100.035037 102.53703 108.54003 115.03803 121.53603 126.54003">Pre-trigger A selected for ADC1.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 141.38516 560.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 156.89737 560.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 6.0030405 9.00004 14.004041 17.001042 19.503043 22.500042 24.498044 29.502045 34.506048 39.510049 42.50705 45.00905 51.012048 53.514047 58.014047 63.018049 65.016048 70.02004 74.52004 77.02204 82.02604 87.03004 89.532039 92.034038 97.03803 100.035037 102.53703 108.54003 115.03803 121.53603 126.54003">Pre-trigger B selected for ADC1.</tspan></text>
<g clip-path="url(#clip_103)">
<path transform="matrix(1,0,0,1,54.00003,575.75)" d="M.25 .25H84.88513V120.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25003 578)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.312 35.316 40.320005 45.324007">11&#x2013;8</tspan><tspan y="18.83789" x="10.314011 16.31701 22.815012 29.313014 34.317014 39.816015 46.314016 53.316015 59.319017 65.322017">ADC1TRGSEL</tspan></text>
<g clip-path="url(#clip_104)">
<path transform="matrix(1,0,0,1,54.00003,575.75)" d="M85.38513 .25H503.75V120.25H85.38513Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 141.38516 578)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 12.501001 18.999003 24.003003 26.505003 29.007004 32.004007 34.002008 39.00601 44.01001 49.01401 52.011014 54.513013 59.013013 64.01701 66.015018 71.01901 75.51901">ADC1 trigger select</tspan><tspan y="28.83789" x="0 6.0030004 11.007001 13.005001 18.009003 22.509003 25.011004 29.511004 32.013006 34.515005 39.519006 44.523008 47.025007 53.028009 59.52601 66.02401 71.02801 73.53001 76.032009 79.02901 81.02701 86.031009 91.035 96.039 99.036 101.538 106.038 111.042 116.046 119.043 123.543 128.547 131.049 137.547 142.551 147.555 152.55899 155.06099 160.06499 162.06299 164.56499 169.56899 172.56598 177.56998 182.57398 185.07598 187.07398 191.57398 196.57798 199.07997 201.58197 204.57897 206.57697 211.58097 216.58496 221.58896 224.58596 229.08596 231.58795 236.59195 239.58895 244.59294 247.09494 249.59694 254.60094 259.60496 264.10496 266.60697 268.60496 273.60896 278.61296 283.61695 285.61494 288.11695 290.11494 295.11894 297.62095 302.12095 304.62297 309.62696 314.63096 317.13298 322.13697 327.14097 332.14497 334.64698 340.64997 345.65397 351.65696 357.65995 360.16197 367.65898 372.66297 377.66697 382.67097 387.17097">Selects the ADC1 trigger source when alternative triggers are functional in stop and VLPS modes.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01034" x="315.468 321.96598 327.46498 332.46897 337.96797 340.96498 345.96897 349.46998 351.972 356.97599 361.97999 364.482 370.485 375.48899 380.49299 383.49 388.494 396.495 398.997 401.49903 406.99803 409.99504 414.99903 420.49803 423.99903 429.00303 432.00004 434.50205 440.00105 445.50004 448.00205 455.49906 460.99806 466.49705 471.99604 474.49806 479.50205 482.00407 485.00108 491.00407 493.50608 501.00309">Chapter 12 System Integration Module (SIM)</tspan></text>
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