birdcage/docs/K60-refman-vectors/K60-reference-manual_page_311.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

997 lines
87 KiB (Stored with Git LFS)
XML

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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 92)" 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>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 118.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">2</tspan><tspan y="18.83789" x="25.551 33.048 39.051004">MPU</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 118.21337 374)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.005001 18.345002 26.685002 31.68 40.02 53.355005 57.525007 68.355 72.525 81.69 90.03001 98.37001 102.54001 113.37001 117.54001 125.88001 130.05002 139.21501 147.55501 153.39002 157.56002 168.39002 176.73001 185.895 190.065 198.405 203.4 211.73999 217.575 221.745 230.08499 234.25499 239.24999 249.25499 253.42499 265.91999 274.25999 285.08998 294.25498 305.08497 315.91496 320.08497 330.08998 338.42997">System Clock Divider Register 1 (SIM_CLKDIV1)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54)" font-size="14" font-family="TimesLTStd"><tspan y="396.65" x="71.993 80.547 87.547 93.763 97.263 106.601 115.155 125.263 135.371 140.033 150.141 157.141 160.641 165.30301 171.51902 178.51902 182.41101 187.85701 191.74901 197.96501 202.62702 206.12702 212.34302 218.55902 225.55902 232.55902 239.55902 243.45102 246.95102 253.95102 260.16703 263.66703 273.77503 278.437 282.329 286.221 290.113 296.329 303.329 306.829 310.721 317.721 321.221 331.329 338.329 344.545 351.545 355.045 358.937 365.937 372.153 375.653 382.653 388.86903 395.86903 399.76103 405.97703 412.19303 415.69303 419.58503">The CLKDIV1 register cannot be written to when the device is</tspan><tspan y="412.65" x="71.99303 75.885028 82.885028 86.385028 96.49303 105.04703 112.83103 122.16904 125.66904 136.56104 143.56104 150.56104 156.77704">in VLPR mode.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 92.0161 482.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="-.00397 5.0000307 10.004031 15.008032 20.012032 25.016034 30.020035 35.024038 40.028039 45.03204 50.03604 52.53804 57.54204 62.546045 67.04604 72.05004 74.55204 79.808048 82.31004 87.31404 92.31804 97.32204 102.326038 107.33003 109.83203 114.83603 117.33803 119.84003 124.34003 129.34403 131.84603 134.34803 139.60402 142.10602 147.11002 152.11402 157.11801 162.12201 167.126 172.13 177.134 182.138 187.142">4004_7000h base + 1044h offset = 4004_8044h</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 501.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.10403 7.7730305 9.32703">Bit</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 69.27273 501.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74103 7.6330306">31</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 84.54545 501.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74103 7.6330306">30</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 405.27275 501.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">9</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 420.54548 501.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">8</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 435.8182 501.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 451.09095 501.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 466.36369 501.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 481.6364 501.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 496.90916 501.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 512.1819 501.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 527.4546 501.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 542.7273 501.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.99994 516.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="6.31836" x="5.971">R</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.99994 528.55)" font-size="7" font-family="HelveticaLTStd"><tspan y="6.31836" x="4.416">W</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999948 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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