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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_341.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

125 lines
30 KiB (Stored with Git LFS)
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Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 82)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 16.680003 20.850003 29.190003 33.360006 41.700006 45.870008">14.4.2.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 82)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.005001 15.000001 24.165 33.33 37.500005 50.835008 60.000009 69.16501 77.50501 81.67501 90.015018 98.35502 102.52502 107.52002 111.69002 120.03002 128.37003 137.53502 146.70001 155.04001 164.205 172.545">Stop mode exit sequence</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="57.85" x=".005 8.559 15.559 19.451 23.343 26.843 31.505002 36.167 43.167 54.059003 57.559003 63.775 67.275 71.167 78.167 88.275 92.937007 99.937007 106.937007 117.045009 123.26101 127.92301 131.423 136.869 140.761 147.761 154.761 158.261 169.153 176.153 183.153 189.369 192.869 196.761 202.207 205.707 209.599 216.599 220.491 224.383 228.275 234.491 238.383 244.599 251.599 255.099 261.315 265.207 269.099 276.099 282.315 286.977 290.477 297.477 304.477 307.977 314.193 317.693 322.35499 328.57099 334.017 340.233 344.125 347.625 354.625 359.287 362.787 369.003 376.003 379.503 383.395 390.395 394.287 400.503 405.16499 409.82698 416.82698 423.82698 427.71897 431.21897 437.43498 444.43498 450.65098 457.65098 461.54298 465.04298 468.54298 477.09696 484.09696">Exit from a low-power stop mode is initiated either by a reset or an interrupt event. The</tspan><tspan y="73.85" x=".00503 4.6670305 11.66703 15.559031 19.45103 26.45103 36.559034 40.451036 47.451036 54.451036 57.951036 63.397035 69.61304 76.61304 83.61304 89.82904 96.82904 103.045047 109.26105 112.76105 116.653049 123.653049 129.86905 136.86905 140.36905 146.58506 153.58506 159.80106 166.01706 173.01706 176.90906 183.12506 188.57106 192.07106 195.96306 202.96306 206.46306 211.12506 217.34107 222.78707 226.67906 233.67906 238.34107 244.55707 248.05707 251.94907 258.94908 265.16508 268.66508 274.11109 281.11109 286.5571 290.4491 296.6651 307.5571 311.0571 314.9491 321.9491 325.4491 331.6651 335.1651 339.8271 346.8271 353.8271 357.3271 368.2191 375.2191 382.2191 388.4351 391.9351 396.59709 405.9351 416.0431 426.1511 429.6511 436.6511 441.31309 444.81309 454.92109 463.47508 471.25907 480.59709 485.25907">following sequence then executes to restore the system to a run mode (RUN or VLPR):</tspan><tspan y="89.85" x="7.4950206 14.49502 24.00102 32.55502 39.55502 45.77102 49.27102 56.27102 63.27102 67.93302 74.149028 81.149028 85.04102 92.04102 95.54102 100.203029 106.41903 113.41903 120.41903 124.31103 130.52703 134.41902 141.41902 146.08103 149.58103 153.47303 160.47303 163.97303 167.86502 174.86502 181.08103 184.58103 192.36502 204.81102 214.14902 217.64902 223.86502 230.86502 237.86502 241.36502 245.25702 252.25702 256.14903 262.36503 267.027 274.027 280.243 284.135 287.635 294.635 301.635 311.743 317.959 322.621 326.121 331.56703 341.67503 345.56703 349.459 355.67503 362.67503 368.89103 374.33705 377.83705 384.05305 388.71504 394.93104 398.43104 403.09303 409.30903 414.75505 418.64704 425.64704 430.30903 436.52503 443.52503">1.The on-chip regulator in the PMC and internal power switches are restored.</tspan><tspan y="105.85" x="7.4950506 14.49505 24.00105 33.33905 37.231054 44.231054 50.447053 57.447053 60.947053 67.94705 74.163059 81.163059 87.37906 92.04106 98.257068 102.14906 109.14906 113.811069 119.257068 122.757068 128.97307 133.63507 139.85108 143.35108 149.56708 156.56708 162.78308 169.78308 173.67508 179.89109 186.89109 190.39109 194.28308 201.28308 204.78308 208.67508 215.67508 221.89109 225.39109 237.83708 247.17508 257.28309">2.Clock generators are enabled in the MCG.</tspan><tspan y="121.85" x="7.4950206 14.49502 24.00102 31.78502 38.78502 44.231019 48.12302 54.33902 65.23102 68.73102 74.94702 81.94702 88.94702 92.44702 99.44702 106.44702 111.89302 115.39302 121.609027 125.50102 132.50102 138.71703 145.71703 151.16303 154.66303 160.87903 165.54103 171.75704 175.25704 181.47304 188.47304 194.68904 201.68904 205.58104 211.79705 218.79705 222.29705 226.18904 233.18904 236.68904 242.90505 246.79705 250.68904 254.18904 265.08106 271.29707 276.74308 280.63508 286.85108 291.51307 296.95909 300.45909 306.67509 313.67509 320.67509 324.17509 329.6211 333.5131 339.7291 346.7291 352.9451 358.3911">3.System and bus clocks are enabled to all masters and slaves.</tspan><tspan y="137.85" x="7.4950506 14.49505 24.00105 32.55505 39.55505 45.77105 49.27105 58.60905 66.39305 76.50105 80.00105 86.21706 90.109058 97.109058 103.32506 110.32506 113.82506 117.71706 123.163059 126.663059 132.87906 139.87906 146.09506 153.09506 156.98706 163.20307 170.20307 173.70307 179.91907 186.91907 193.91907 197.41907 201.31107 208.31107 214.52707 218.02707 227.36507 235.14907 245.25707 248.75707 255.75707 261.97306 268.97306 272.86506 279.86506 285.31108 288.81108 294.25709 300.47309 305.13508 312.13508 316.02708 322.24308 326.13508 333.13508 340.13508 343.63508 347.52708 354.52708 360.74308 364.24308 368.90507 375.12107 380.56709 386.78309 390.67509 394.17509 401.17509 405.83708 409.33708 413.22908 420.22908 424.12107 430.33708 434.99906 439.66105 446.66105 453.66105 457.55305 461.05305 464.94505 471.94505 478.16105">4.The CPU clock is enabled and the CPU begins servicing the reset or interrupt that</tspan><tspan y="153.85" x="24.00107 27.89307 34.89307 38.785074 42.677076 46.569078 52.785078 56.67708 62.893079 69.89308 73.39308 77.28508 84.28508 90.50108 94.00108 100.21709 107.21709 111.109088 115.00108 118.50108 123.163089 127.82509 134.82509 145.71709 149.21709 153.10909 160.10909 166.32509 169.82509 173.71709 180.71709 190.82509 195.48709 202.48709 209.48709 219.5951 225.8111 230.4731 233.9731 239.4191 243.3111 250.3111 257.3111 260.8111 271.7031 278.7031 285.7031 291.9191">initiated the exit from the low-power stop mode.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 250)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00595 8.334051 16.674054 20.844054 29.184056 33.354059 41.694059 45.86406">14.4.2.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 250)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00595 10.824051 19.989052 29.154053 34.98905 39.98405 48.32405 57.48905 61.659055 69.999057 74.99406 84.15906 93.32406 97.49406 110.829059 119.99406 129.15906 137.49906 141.66905 150.00905 159.17404 164.16904 170.00405">Aborted stop mode entry</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="232.25" x="-.00194 4.6600606 9.322061 12.822061 19.038062 26.038062 29.538062 33.43006 40.43006 44.322065 50.538064 55.20006 59.86206 66.86206 73.86206 77.75406 81.25406 88.25406 92.91606 96.41606 102.632068 106.132068 110.79407 117.01007 122.45607 128.67208 132.56407 136.06407 143.06407 149.28008 155.49608 162.49608 167.15808 172.60408 176.10408 183.10408 190.10408 194.76609 198.65808 205.65808 212.65808 216.15808 222.37409 225.87409 231.32009 235.21208 242.21208 249.21208 252.71208 258.92808 265.92808 269.82008 274.48207 281.48207 284.98207 290.42808 296.64408 303.64408 310.64408 316.86009 323.86009 330.07609 336.29209 339.79209 343.29209 347.18409 354.18409 360.4001 363.9001 371.68409 384.1301 393.4681 396.9681 403.1841 409.40013 416.40013 419.90013 426.11613 433.11613 440.11613 444.7781 448.6701 452.1701 456.0621 463.0621">If an interrupt or a reset occurs during a stop entry sequence, the SMC can abort the</tspan><tspan y="248.25" x="-.00191 3.8900905 8.552091 14.768091 21.768092 27.214093 31.106093 34.998094 38.890096 45.890096 52.890096 56.390096 62.606096 68.8221 73.4841 77.3761 84.3761 87.8761 94.0921 101.0921 108.0921 111.5921 116.254108 122.47011 126.36211 133.3621 138.02411 145.02411 148.52411 152.4161 159.4161 162.9161 172.2541 182.3621 192.47011 195.97011 206.8621 213.8621 220.8621 227.07811 230.57811 240.68611 244.57811 248.47011 255.47011 262.4701 269.4701 273.3621 276.8621 283.0781 290.0781 300.9701 307.9701 311.8621 318.0781 321.9701 328.1861 332.0781 339.0781 342.5781 348.7941 355.7941 359.6861 365.9021 370.5641 374.4561 381.4561 388.4561 391.9561 395.84809 402.84809 409.0641 412.5641 418.0101 421.9021 428.9021 435.9021 439.4021 450.2941 457.2941 464.2941 470.5101 474.0101 477.5101 487.6181">transition early and return to RUN mode without completely entering the stop mode. An</tspan><tspan y="264.25" x="-.00191 6.2140905 13.21409 20.21409 24.876091 28.768092 34.984094 41.984094 45.484094 51.700094 58.700094 62.592096 67.2541 74.2541 77.7541 81.646099 87.092098 90.592098 97.592098 104.592098 110.03809 115.48409 119.37609 126.37609 130.2681 136.4841 139.9841 146.9841 153.9841 157.8761 164.8761 168.3761 172.2681 176.9301 180.4301 184.3221 191.3221 197.5381 201.0381 205.7001 211.9161 217.3621 223.57811 227.47011 230.97011 237.97011 242.63211 246.13211 250.02411 257.0241 260.9161 267.1321 271.7941 276.4561 283.4561 290.4561 294.34809 297.84809 304.84809 311.0641 317.2801 324.2801 328.94209 334.3881 337.8881 344.8881 351.1041 355.76609 362.76609 367.42808 373.64408 377.14408 381.03608 388.03608 394.25209 397.75209 405.53608 417.9821 427.3201 430.8201 437.8201 444.0361 451.0361 454.9281 461.9281 467.3741 470.8741 474.7661 481.7661">aborted entry is possible only if the reset or interrupt occurs before the PMC begins the</tspan><tspan y="280.25" x="-.00191 3.8900905 8.552091 14.768091 21.768092 27.214093 31.106093 34.998094 38.890096 45.890096 52.890096 56.390096 60.282098 67.2821 70.7821 76.228099 80.120098 87.120098 94.120098 97.620098 108.51209 115.51209 122.51209 128.72809 132.22809 136.89009 143.1061 150.1061 157.1061 160.9981 167.2141 171.1061 174.9981 181.9981 188.9981 192.4981 195.9981 206.1061 210.7681 214.6601 220.8761 225.5381 229.0381 232.9301 239.9301 243.8221 249.2681 252.7681 259.7681 266.7681 270.6601 277.6601 281.5521 285.0521 288.5521 292.4441 299.4441 305.6601 309.1601 313.0521 320.0521 323.9441 330.1601 334.82209 339.48408 346.48408 353.48408 357.37608 360.87608 367.87608 372.53807 376.03807 380.70005 386.91606 392.36207 398.57807 402.47007 405.97007 409.86207 415.30809 418.80809 422.70008 429.70008 436.70008 443.70008 448.36207 454.57807 461.57807 465.07807 472.07807 479.07807 482.97007 486.86207">transition to stop mode regulation. After this point, the interrupt or reset is ignored until</tspan><tspan y="296.25" x="-.00191 3.8900905 10.890091 17.10609 20.60609 28.39009 40.83609 50.17409 53.67409 60.67409 66.89009 72.33609 75.83609 82.05209 89.05209 99.94409 106.94409 110.83609 117.05209 120.94409 127.160099 134.1601 137.6601 141.5521 145.44409 150.89009 154.39009 158.28209 162.94409 169.1601 176.1601 181.6061 185.4981 189.39009 193.28209 200.28209 207.28209 210.78209 214.67409 221.67409 225.17409 230.62009 234.51209 241.51209 248.51209 252.01209 262.90409 269.90409 276.90409 283.1201 286.6201 291.28208 297.49809 304.49809 311.49809 315.39009 321.60609 325.49809 329.39009 336.39009 343.39009 346.89009 350.39009 363.60609 370.60609 376.82209 383.82209 387.32209 393.5381 400.5381 404.0381 410.2541 417.2541 424.2541 428.91609 432.80809 439.02409 446.02409 449.52409 454.9701 458.8621 465.8621">the PMC has completed its transition to stop mode regulation. When an aborted stop</tspan><tspan y="312.25" x="-.00191 10.890091 17.89009 24.89009 31.10609 34.60609 40.82209 47.82209 51.714094 56.37609 63.37609 66.87609 72.32209 78.53809 85.53809 92.53809 98.7541 105.7541 111.9701 118.186107 121.686107 128.6861 134.9021 141.1181 148.1181 152.7801 158.2261 161.7261 165.2261 169.1181 176.1181 182.3341 185.8341 193.6181 206.0641 215.4021 217.9221 223.3681 226.8681 234.6521 247.0981 256.4361 264.99009 274.3281 282.88209 287.54408 295.32807 303.88206 313.99006 321.77406 331.88206 336.54405 340.04405 343.93605 349.38206 352.88206 358.32807 364.54408 368.43608 371.93608 375.82807 382.82807 386.32807 393.32807">mode entry sequence occurs, the SMC's PMCTRL[STOPA] is set to 1.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 406.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00305 8.343051 16.683053 20.853053 29.193055 33.363058 41.703058 45.87306">14.4.2.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 406.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00304 9.16804 15.00304 23.34304 32.50804 40.84804 45.018045 50.013044 54.183046 63.348047 72.51305 76.683048 81.67805 90.84305 95.01305 106.683048 115.02305 119.19305 124.18805 128.35805 141.69306 150.85805 160.02304 168.36304">Transition to wait modes</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="389.05" x="-.00496 7.779041 14.779041 19.441042 22.941042 33.04904 39.26504 43.157045 47.049047 50.549047 61.441049 68.44105 75.44105 81.65705 87.10305 90.60305 95.26505 108.48106 118.58906 123.25106 131.80506 135.30506 141.52106 148.52106 155.52106 159.02106 169.12906 177.68306 185.46706 198.68306 203.34506 206.84506 210.34506 214.23706 221.23706 227.45307 230.95307 240.29106 248.07506 258.18305 261.68305 267.89906 271.79106 278.79106 285.00706 292.00706 295.50706 299.39906 304.84507 308.34507 315.34507 321.56108 325.45307 331.66908 338.66908 342.16908 349.16908 353.83106 358.49305 361.99305 372.10105 379.10105 382.99305 386.88505 393.10105 396.60105 402.81706 406.70906 410.60105 414.10105 421.10105 424.99305 431.99305 438.20906 442.87104 446.37104 452.58705 456.47904 463.47904 469.69505 476.69505 480.58705 487.58705">For wait modes (WAIT and VLPW), the CPU clock is gated off while all other clocking</tspan><tspan y="405.05" x="-.00492 6.2110807 13.211081 20.21108 24.10308 27.99508 34.99508 41.99508 48.21108 53.657079 57.157079 60.657079 66.87308 72.31908 75.81908 79.711078 86.711078 90.211078 99.54907 109.657077 119.765079 123.265079 129.48108 136.48108 143.48108 146.98108 157.08908 165.64308 173.42708 182.76508 186.26508 197.15708 204.15708 211.15708 217.37308 220.87308 227.87308 234.87308 241.08908 245.75109 251.96709 255.85909 259.7511 266.7511 273.7511 277.2511 280.7511 288.5351 295.5351 306.4271 312.6431 316.1431 327.0351 334.0351 341.0351 348.0351 351.9271 358.1431 363.5891 367.0891 370.9811 377.9811 384.1971 388.0891 391.5891 397.03514 404.03514 411.03514 418.03514 425.03514 429.6971 433.5891 437.0891 442.53514 446.42713 453.42713 460.42713 465.0891 468.9811 475.9811">continues, as in RUN and VLPR mode operation. Some modules that support stop-in-</tspan><tspan y="421.05" x="-.0048700005 10.10313 16.31913 20.21113 24.10313 27.60313 32.26513 39.26513 46.26513 52.48113 56.37313 60.265134 67.26514 74.26514 80.48114 84.37314 88.26514 92.157138 99.157138 102.657138 109.657138 115.87314 122.87314 129.08914 132.58914 136.48114 143.48114 149.69715 153.58914 158.25115 161.75115 167.96715 171.85915 178.85915 185.07515 192.07515 197.52115 201.02115 208.02115 211.91315 217.35915 223.57515 230.57515 234.46715 240.68315 247.68315 251.18315 255.07515 262.07514 265.57514 269.46714 276.46714 282.68315 288.12916 294.34516 297.84516 304.06117 311.06117 318.06117 322.72315 326.61515 333.61515 340.61515 345.27714 351.49314 355.38514 359.27714 366.27714 373.27714 378.72315">wait functionality have their clocks disabled in these configurations.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 515.6)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00686 8.333141 16.673142 20.843142 29.183144 33.353147 41.693147 45.863149">14.4.2.5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 515.6)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00686 9.15814 14.993141 23.333142 32.498144 40.838144 45.008146 50.003145 54.173147 63.338148 72.50314 76.67314 81.668148 87.50314 96.668148 110.00314 114.17314 122.513149 127.50815 136.67314 145.83814 150.00814 163.34314 172.50814 181.67313 190.01313 198.35312 202.52312 207.51811 216.6831 220.8531 231.6831 240.0231 249.1881 258.3531 267.5181 271.6881 285.0231 294.1881 303.35313">Transition from stop modes to Debug 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="26.01031" x="351.468 357.96598 363.46498 368.46897 373.96797 376.96498 381.96897 385.46998 387.972 392.97599 397.97999 400.482 406.485 411.48899 416.49299 419.49 424.494 432.495 434.997 442.49403 447.993 453.492 458.496 460.99803 467.496 472.995 478.494 481.491 484.992 490.491 492.993 495.49504 500.49903">Chapter 14 System Mode Controller</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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