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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

133 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="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">16.1.2.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 54)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.830001 19.995 29.16 34.155 38.325 47.49 59.160005 63.330007 67.50001 75.84001 84.180019 92.52002 100.86002 110.025028 118.36503 122.53503 135.87003 145.03502 154.20001 162.54001">Non-low leakage modes</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="36.25" x="-.00399 8.55001 15.55001 21.76601 25.26601 33.82001 42.374013 55.59001 65.69801 69.19801 73.09001 78.53601 82.03601 89.03601 96.03601 99.92801 103.42801 109.64401 115.860019 119.752017 123.64401 130.64402 136.86002 140.36002 144.25202 151.25202 154.75202 160.96802 164.86002 168.75202 172.25202 179.25202 186.25202 193.25202 197.91402 201.80602 208.80602 218.91402 222.41402 226.30602 232.52202 238.73802 245.73802 251.95403 258.95405 265.17005 268.67005 279.56205 286.56205 293.56205 299.77806 305.22407 308.72407 318.83207 325.83207 332.04808 336.71006 342.92607 346.42607 353.42607 359.64207 363.53407 369.75007 375.96607 379.85807 383.75007 390.75007 397.75007 401.25007 407.46607 414.46607 421.46607 424.96607 431.18208 438.18208 445.18208 449.07408 453.73606 460.73606 464.62806 468.12806 472.02006 479.02006 486.02006 489.91206">The LLWU is not active in all non-low leakage modes where detection and control logic</tspan><tspan y="52.25" x="-.00399 6.2120106 10.87401 17.090012 20.590012 24.482012 31.482012 34.98201 41.19801 44.69801 50.14401 54.03601 60.25201 64.14401 68.03601 74.252017 77.752017 83.19801 87.09001 93.306018 97.19801 103.41402 106.91402 110.41402 118.96802 125.96802 132.18402 135.68402 144.23802 152.79203 166.00803 176.11603 179.61603 184.27803 190.49404 197.49404 201.38603 206.83203 210.72403 216.94004 221.60204 227.04804 230.54804 236.76404 241.42604 247.64205 251.14205 257.35804 263.57405 269.79005 276.00605 281.45207 286.89808 290.79008 297.79008 301.68208 307.89808 311.39808 315.29008 322.29008 325.79008 332.79008 339.79008 346.79008 351.45207 355.34407 362.34407 372.45207 375.95207 379.84407 386.06007 392.27607 399.27607 405.49208 412.49208 418.70808 422.20808 433.10008 440.10008 447.10008 453.31608 458.7621 462.2621 468.4781 475.4781 482.4781 485.9781 492.1941 496.85609">are in a static state. The LLWU registers are accessible in non-low leakage modes and are</tspan><tspan y="68.25" x="-.00399 6.2120106 13.21201 19.42801 23.320012 27.212012 33.428014 40.428014 44.320016 50.536016 54.036016 58.698015 65.69801 70.360019 73.860019 80.07602 87.07602 94.07602 98.73802 102.63002 109.63002 116.63002 121.29202 125.18402 132.18402 139.18402 142.68402 148.90003 155.90003 162.90003 166.40003 171.06203 177.27803 183.49404 190.49404 194.38603 201.38603 208.38603 211.88603 217.33203 221.22403 227.44004 231.33203 238.33203 243.77803 247.27803 257.38603 264.38603 270.60203 277.60203 281.10203 288.10203 295.10203 300.54804 304.04804 307.94004 312.60203 318.81803 325.81803 331.26405 337.48005 343.69606 347.58805 351.48005 358.48005 365.48005 370.92607 374.42607 380.64207 385.30406 391.52006 395.02006 402.02006 409.02006 414.46607 419.91209 423.80409 430.80409 434.69609 440.91209">available for configuring and reading status when bus transactions are possible.</tspan><tspan y="92.65" x="-.00399 13.21201 20.21201 26.428009 33.42801 36.92801 40.82001 47.82001">When the</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="92.65" x="54.03601 63.374013 71.92801 79.71201 88.266017 96.820018 100.320018 107.320018 111.21201 118.21201 121.71201 126.374019 130.26602 134.15802 138.05002 144.26602 148.92803 152.42803 159.42803 164.09003 167.59003 177.69803 183.91403 190.91403 197.13004 204.13004 211.13004 214.63004 221.63004 225.52204 232.52204 236.02204 240.68404 244.57604 248.46804 252.36003 258.57603 263.238 268.68403 272.18403 278.40003 283.062 289.278 292.778 298.99403 305.99403 312.21003 319.21003 323.10203 329.31803 336.31803 339.81803 343.31803 347.98 351.872 355.764 359.656 365.872 370.534 374.034 381.034 388.034 394.25 398.912 405.128 409.02 412.912 419.912 426.912 430.412 437.412 443.628 450.628 454.52 461.52">RESET pin filter or wakeup pin filters are enabled, filter operation begins</tspan><tspan y="108.65" x="-.0039901735 3.8880103 14.780011 25.672013 31.888012 38.888013 42.780015 48.996015 52.888017 59.104017 62.996019 69.99602 73.49602 76.99602 81.65802 86.32002 89.82002 96.036029 99.536029 103.428028 110.428028 120.536029 124.036029 127.928028 134.14403 140.36003 147.36003 153.57604 160.57604 166.79204 170.29204 181.18404 188.18404 195.18404 201.40004 204.90004 208.79204 214.23804 217.73804 223.95404 230.95404 234.84604 241.06204 245.72405 251.94005 258.94007 262.44007 272.54808 276.44007 280.33207 287.33207 291.22407 298.22407 301.72407 308.72407 312.22407 320.77806 328.56205 338.67005 342.17005 348.38606 352.27806 359.27806 365.49406 372.49406 375.99406 382.21006 389.21006 395.42607 399.31806 405.53407 410.98008 414.48008 421.48008 426.14207 429.64207 435.85807 442.85807 446.35807 452.57408 458.79008 462.68208 466.57408 473.57408">immediately. If a low leakage mode is entered within 5 LPO clock cycles of an active</tspan><tspan y="124.65" x="-.0039901735 6.2120106 13.21201 20.21201 26.428009 29.928009 33.42801 37.32001 44.32001 50.53601 54.03601 60.25201 67.252017 74.252017 80.46802 83.96802 90.18402 97.18402 103.400028 110.400028 114.29202 117.79202 127.900028 131.79203 135.68402 139.57602 143.07602 150.07602 156.29203 159.79203 166.79203 173.00803 176.90003 183.11603 189.33203 193.22403 199.44004 206.44004 209.94004 216.94004 223.94004 227.44004 231.33203 238.33203 244.54804 248.04804 256.60203 265.156 278.372 288.48 291.98 295.48 303.264 310.264 314.926">edge, the edge event will be detected by the LLWU. For </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="124.65" x="318.426 327.764 336.318 344.102 352.65599 361.20997 364.70997 371.70997 375.60197 382.60197 386.10197 390.76396 394.65596 398.54795 402.43995 408.65596 413.31794 417.20994 424.20994 431.20994 434.70994 438.20994 442.10194 449.10194 452.99394 458.43995 461.93995 472.83195 479.04795 485.26396 492.26396">RESET pin filtering, this means</tspan><tspan y="140.65001" x="-.0039978029 3.8880027 10.888002 17.104004 20.996005 24.496005 28.388005 35.388006 41.604005 46.266004 52.482004 55.982004 59.874006 65.32001 68.82001 75.82001 82.82001 86.32001 90.98201 97.19801 102.64401 106.53601 112.752017 117.41402 121.306018 124.806018 128.69802 135.69802 139.19802 143.09001 150.09001 156.30602 159.80602 170.69802 174.59001 181.59001 185.48201 196.37401 203.37401 214.266 217.766 226.32 234.104 244.212 247.712 253.92801 260.928 267.144 271.036 277.252 280.752 287.752 294.752 299.414 305.63 309.522 313.414 320.414 327.414 330.914 337.13 342.57603 346.07603 349.96803 356.96803 363.18403 366.68403 371.346 375.238 379.13 383.022 389.238 393.9 397.792 404.792 411.792 415.292 419.184 423.84599 430.06199 437.06199 442.508 446.4 450.292 454.184 461.184 468.184">that there is no restart to the minimum LPO cycle duration as the filtering transitions</tspan><tspan y="156.65001" x="-.0039978029 4.6580026 9.320003 16.320004 27.212006 30.712006 36.928007 40.428007 47.428007 54.428007 61.428007 66.090007 69.982 76.982 87.090007 90.590007 94.482 100.698009 106.91401 113.91401 120.13001 127.13001 133.34601 136.84601 141.50801 145.40001 149.292 153.184 159.40001 164.06201 167.56201 171.06201 181.17002 188.17002 192.06201 198.27802 205.27802 208.77802 212.67002 218.11602 221.61602 225.50801 236.40001 243.40001 247.292 253.50801 264.40003 270.61604 277.61604 281.50804 287.72404 294.72404 298.22404 302.11604 309.11604 312.61604 316.50804 323.50804 329.72404 333.22404 342.56205 351.90007 364.34608 367.84608 371.34608 375.23808 382.23808 385.73808 389.63008 396.63008 402.84608 406.34608 414.90007 423.45405 436.67005 446.77806 450.27806 454.94004 458.83204 462.72404 466.61604 472.83204 477.49403">from a non-low leakage filter, which is implemented in the RCM, to the LLWU filter.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 251.2)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00396 8.343961 16.683962 20.853962 29.193963 33.363965 41.703966 45.873968">16.1.2.4</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="233.45" x="-.00205 13.21395 20.213952 26.42995 33.42995 36.92995 40.821954 47.821954 54.037954 57.537954 63.753953 70.75395 74.64595 81.64595 85.14595 89.03795 94.48395 97.98395 101.875949 108.875949 112.375949 122.48395 128.69995 135.69995 142.69995 149.69995 153.19995 164.09195 171.09195 178.09195 184.30796 187.80796 194.02396 201.02396 208.02396 211.52396 215.41596 222.41596 228.63196 235.63196 239.13196 245.34796 252.34796 256.23997 262.45597 267.11796 272.56398 276.06398 284.61796 293.17195 300.95594 304.45594 311.45594 316.11793 319.61793 325.83393 329.33393 339.44194 347.9959 356.5499 364.3339 371.3339 374.8339 385.7259 392.7259 399.7259 405.9419 409.4419 412.9419 419.9419 426.9419 430.4419 437.4419 443.6579 450.6579 457.6579 464.6579 468.1579 472.0499 479.0499 486.0499 489.9419">When the chip is in Debug mode and then enters LLS or a VLLSx mode, no debug logic</tspan><tspan y="249.45" x="-.00202 10.105981 17.10598 21.76798 28.76798 34.21398 37.71398 41.605985 48.605985 52.105985 55.997987 62.997987 69.21399 72.71399 77.37599 84.37599 88.26799 92.15999 99.15999 103.82199 108.48399 115.48399 122.48399 128.7 132.592 136.484 143.484 150.484 156.7 160.592 164.092 167.984 174.984 185.092 189.754 193.646 199.862 206.078 213.078 219.294 226.294 232.51001 236.01001 246.90201 253.90201 260.902 267.118 270.618 274.118 284.226 291.226 298.226 305.226 308.726 314.94203 321.94203 325.44203 331.65803 338.65803 342.55003 346.44203 349.94203 354.604 359.266 366.266 377.158 380.658 384.55 391.55 397.766 401.266 409.81999 418.37397 426.15797 429.65797 436.65797 441.31996 444.81996 454.92796 463.48194 472.03593 479.81993">works in the fully-functional low-leakage mode. Upon an exit from the LLS or VLLSx</tspan><tspan y="265.44999" x="-.00197 10.890031 17.89003 24.89003 31.10603 34.60603 38.10603 41.99803 48.99803 55.21403 58.71403 67.26803 75.82203 89.03803 99.146038 102.646038 109.646038 115.86204 122.07804 129.07804 139.97003 146.18604 151.63204 155.13204 159.02404 166.02404 172.24004 178.45604 182.34804 186.24004 193.24004 199.45604">mode, the LLWU becomes inactive.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 360.99998)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00397 8.892031 17.788033 22.236033 31.132035 35.580038">16.1.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 360.99998)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00397 11.548031 15.996031 25.77203 34.66803 43.56403 48.01203 57.788034 62.236036 71.132038 80.908039 87.132038 96.02804">Block diagram</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="344.24998" x=".00203 8.55603 15.55603 21.77203 25.27203 29.93403 36.93403 40.82603 44.718034 51.718034 61.826036 65.71803 72.71803 79.71803 83.21803 87.880039 91.77203 98.77203 105.77203 110.43404 116.65004 120.15004 124.04204 129.48804 132.98804 136.88004 143.88004 150.09604 153.59604 160.59604 164.48804 171.48804 177.70404 184.70404 188.20404 195.20404 199.09604 205.31204 212.31204 216.97405 223.19005 234.08205 237.58205 242.24405 249.24405 253.90605 257.40608 261.29808 268.29808 274.51408 278.01408 286.56806 295.12205 308.33805 318.44606 321.94606 332.83805 339.83805 346.83805 353.83805 357.73005 363.94606">The following figure is the block diagram for the LLWU module.</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="306.477 312.97499 318.47398 323.47798 328.97697 331.97398 336.97798 340.47898 342.981 347.985 352.98899 355.491 360.99 366.48899 373.491 376.488 381.987 386.991 391.995 396.999 402.003 407.50199 412.50599 415.008 423.504 428.508 433.512 438.516 444.01499 449.51399 452.016 458.51399 464.01298 466.51499 469.512 472.014 475.01103 480.51 486.009 494.505 501.003">Chapter 16 Low-Leakage Wakeup Unit (LLWU)</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>
<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="151.308 156.312 161.316">359</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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