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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_369.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

416 lines
49 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.3" x="138.65999 145.99199 153.32399 164.652 173.316 179.98799 187.31999 193.99199 197.32799 201.32399 204.65999 211.33199 214.66799 221.99999 225.33599 232.66799 239.33998 246.01198 252.68398 257.352 260.688 268.02 272.016 275.352 282.684 290.016 296.688 300.024 304.02 310.692 318.024 325.356 329.352 332.688 340.02 347.352 354.024 361.356">LLWU_F1 field descriptions (continued)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.1 76.18281)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="187.94699 194.44499 199.44899 204.45299 209.45699 212.958 215.45999 220.95899 223.95598 226.45798 231.95697">Description</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 92.182819)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">4</tspan><tspan y="18.83789" x="22.797 31.293002 37.791 43.29">WUF4</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 92.182819)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 8.496 13.500001 18 23.004002 28.008004 33.012006 35.514005 41.013006 43.011007 48.015008 53.01901 55.521009 61.020009 66.02401 69.02101 71.52301 76.52701 81.531009 90.02701 96.52501 101.52901 107.532009">Wakeup Flag For LLWU_P4</tspan><tspan y="28.83789" x="0 2.5020004 7.506001 12.510002 14.508002 19.008004 24.012005 26.514006 31.518006 36.018007 38.520006 41.022005 46.026006 51.030008 53.532007 56.034006 61.038007 66.04201 68.54401 73.548007 78.552 83.556 88.56 90.558 95.562 100.565998 103.06799 108.07199 112.57199 115.07399 120.07799 123.07499 128.079 133.083 135.081 137.583 144.081 149.08499 153.58499 158.58899 163.59299 168.59699 171.09899 176.10298 178.10099 183.10498 185.60698 192.10498 197.10898 201.60898 204.11098 209.11498 211.61698 216.11698 221.12097 226.12497 229.12197 233.62197 238.62596 241.12796 246.13196 248.63396 251.13596 256.13996 260.63996 262.63795 265.13996 267.13795 272.14195 277.14595 279.64796 284.65196 287.15397 289.15196 294.15596 300.65394 303.65095 305.64894 310.65293 315.65693 320.15693 325.16093 330.16493 335.1689 337.67094 342.67494 347.67893 354.1769 359.1809 362.17793 364.67994 372.17695 377.18095 382.18495 387.18894 389.69096 392.19297 397.69197">Indicates that an enabled external wakeup pin was a source of exiting a low-leakage power mode. To</tspan><tspan y="39.83789" x=".00003 4.50003 6.49803 11.502031 16.506031 19.50303 22.005032 24.507033 29.511033 34.515035 37.017034 39.51903 41.517034 46.521036 51.525037 54.027036 60.525037 63.522039 65.520038 68.02203 73.02603 75.52803 80.53203 83.03403 88.038028 93.04202 98.04602 100.54802 103.05002 108.054019 110.556018 119.05202 125.55002 131.04901 136.05301">clear the flag write a one to WUF4.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 173.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">3</tspan><tspan y="18.83789" x="22.797 31.293002 37.791 43.29">WUF3</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 255.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">2</tspan><tspan y="18.83789" x="22.797 31.293002 37.791 43.29">WUF2</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 255.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 8.496 13.500001 18 23.004002 28.008004 33.012006 35.514005 41.013006 43.011007 48.015008 53.01901 55.521009 61.020009 66.02401 69.02101 71.52301 76.52701 81.531009 90.02701 96.52501 101.52901 107.532009">Wakeup Flag For LLWU_P2</tspan><tspan y="28.83789" x="0 2.5020004 7.506001 12.510002 14.508002 19.008004 24.012005 26.514006 31.518006 36.018007 38.520006 41.022005 46.026006 51.030008 53.532007 56.034006 61.038007 66.04201 68.54401 73.548007 78.552 83.556 88.56 90.558 95.562 100.565998 103.06799 108.07199 112.57199 115.07399 120.07799 123.07499 128.079 133.083 135.081 137.583 144.081 149.08499 153.58499 158.58899 163.59299 168.59699 171.09899 176.10298 178.10099 183.10498 185.60698 192.10498 197.10898 201.60898 204.11098 209.11498 211.61698 216.11698 221.12097 226.12497 229.12197 233.62197 238.62596 241.12796 246.13196 248.63396 251.13596 256.13996 260.63996 262.63795 265.13996 267.13795 272.14195 277.14595 279.64796 284.65196 287.15397 289.15196 294.15596 300.65394 303.65095 305.64894 310.65293 315.65693 320.15693 325.16093 330.16493 335.1689 337.67094 342.67494 347.67893 354.1769 359.1809 362.17793 364.67994 372.17695 377.18095 382.18495 387.18894 389.69096 392.19297 397.69197">Indicates that an enabled external wakeup pin was a source of exiting a low-leakage power mode. To</tspan><tspan y="39.83789" x=".00003 4.50003 6.49803 11.502031 16.506031 19.50303 22.005032 24.507033 29.511033 34.515035 37.017034 39.51903 41.517034 46.521036 51.525037 54.027036 60.525037 63.522039 65.520038 68.02203 73.02603 75.52803 80.53203 83.03403 88.038028 93.04202 98.04602 100.54802 103.05002 108.054019 110.556018 119.05202 125.55002 131.04901 136.05301">clear the flag write a one to WUF2.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 308.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00003">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 308.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00003 5.0040309 10.008032 18.504033 25.002034 30.006035 36.009035 41.013036 43.515035 45.513036 50.517038 55.521039 60.52504 63.02704 65.52904 72.02704 77.03104 81.53104 84.033039 89.03703 94.04103 96.54303 99.04503 104.04903 106.551029 113.04903 118.053028 122.553028 127.55702 132.56102 137.56502 140.06702 144.56702 149.57102 154.57501 157.572 162.072">LLWU_P2 input was not a wakeup source</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 319.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 5.0040409 10.008041 18.504042 25.002043 30.006043 36.00904 41.013044 43.51504 45.513044 50.517045 55.521047 60.525049 63.027048 65.529048 72.02705 77.031047 81.531047 84.03304 89.03704 91.53904 98.03704 103.04104 107.54104 112.54504 117.549037 122.55303 125.05503 129.55503 134.55902 139.56302 142.56002 147.06002">LLWU_P2 input was a wakeup source</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 336.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">1</tspan><tspan y="18.83789" x="22.797 31.293002 37.791 43.29">WUF1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 389.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00003">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 389.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00003 5.0040309 10.008032 18.504033 25.002034 30.006035 36.009035 41.013036 43.515035 45.513036 50.517038 55.521039 60.52504 63.02704 65.52904 72.02704 77.03104 81.53104 84.033039 89.03703 94.04103 96.54303 99.04503 104.04903 106.551029 113.04903 118.053028 122.553028 127.55702 132.56102 137.56502 140.06702 144.56702 149.57102 154.57501 157.572 162.072">LLWU_P1 input was not a wakeup source</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 400.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 400.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 5.0040409 10.008041 18.504042 25.002043 30.006043 36.00904 41.013044 43.51504 45.513044 50.517045 55.521047 60.525049 63.027048 65.529048 72.02705 77.031047 81.531047 84.03304 89.03704 91.53904 98.03704 103.04104 107.54104 112.54504 117.549037 122.55303 125.05503 129.55503 134.55902 139.56302 142.56002 147.06002">LLWU_P1 input was a wakeup source</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 418.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">0</tspan><tspan y="18.83789" x="22.797 31.293002 37.791 43.29">WUF0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 471.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00003">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 471.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00003 5.0040309 10.008032 18.504033 25.002034 30.006035 36.009035 41.013036 43.515035 45.513036 50.517038 55.521039 60.52504 63.02704 65.52904 72.02704 77.03104 81.53104 84.033039 89.03703 94.04103 96.54303 99.04503 104.04903 106.551029 113.04903 118.053028 122.553028 127.55702 132.56102 137.56502 140.06702 144.56702 149.57102 154.57501 157.572 162.072">LLWU_P0 input was not a wakeup source</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 482.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 482.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 5.0040409 10.008041 18.504042 25.002043 30.006043 36.00904 41.013044 43.51504 45.513044 50.517045 55.521047 60.525049 63.027048 65.529048 72.02705 77.031047 81.531047 84.03304 89.03704 91.53904 98.03704 103.04104 107.54104 112.54504 117.549037 122.55303 125.05503 129.55503 134.55902 139.56302 142.56002 147.06002">LLWU_P0 input was a wakeup source</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 543.6828)" 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">16.3.7</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="525.9328" x=".00301 8.55701 17.11101 30.327012 40.435014 47.435014 55.219015 62.219015 65.71901 71.93501 78.93501 85.93501 89.82701 96.043018 99.93501 106.93501 112.38101 115.88101 119.77301 126.77301 132.98902 136.48902 146.59702 152.81302 159.81302 166.02902 173.02902 180.02902 183.52902 188.19103 192.08303 198.29903 205.29903 210.74503 214.24503 218.13703 225.13703 232.13703 236.02902 242.24503 248.46103 252.35303 256.24504 263.24504 270.24504 273.74504 283.85304 290.85304 294.74504 300.96104 307.96104 311.46104 321.56904 327.78504 334.78504 341.00105 348.00105 355.00105 358.50105 363.94706 370.94706 377.94706 382.60905 388.82505 395.04106 398.54106 404.75706 410.97306 417.97306 423.41908 429.63508 436.63508 440.13508 444.02708 451.02708 457.24308 460.74308 473.1891 482.5271">LLWU_F2 contains the wakeup flags indicating which wakeup source caused the MCU</tspan><tspan y="541.9328" x=".00301 3.8950105 10.89501 14.39501 20.611012 27.611012 31.503012 35.39501 38.89501 47.449014 56.003015 63.787015 67.28702 74.28702 78.94902 82.44902 92.55702 101.11102 109.66502 117.44903 120.94903 131.84104 138.84104 145.84104 152.05704 155.55704 159.05704 166.84104 173.84104 178.50304 182.00304 190.55704 199.11104 206.89504 210.39504 213.89504 217.78704 224.78704 228.67903 234.12503 237.62503 241.51703 246.96303 250.46303 254.35503 261.35505 267.57106 271.07106 276.51707 283.51707 290.51707 295.17906 301.39506 307.61106 311.11106 317.32707 323.54307 330.54307 335.98908 339.88108 346.88108 353.88108 357.38108 361.27308 368.27308 374.48908 377.98908 387.3271 395.11109 405.2191 408.7191 412.61109 419.61109 423.50309 429.7191 434.38108 439.04307 446.04307 453.04307 456.93507 460.43507 465.09706 468.98905 475.98905 486.09706">to exit LLS or VLLS mode. For LLS, this is the source causing the CPU interrupt flow.</tspan><tspan y="557.9328" x=".00301 7.7870109 14.78701 19.44901 22.94901 33.05701 41.61101 50.165014 57.949014 61.449014 64.94901 68.84101 75.84101 79.73301 85.17901 88.67901 92.57101 98.017009 101.517009 105.409008 112.409008 118.62501 122.12501 127.57101 134.57102 141.57102 146.23302 152.44902 158.66503 162.16503 168.38103 174.59703 181.59703 187.04303 190.93503 197.93503 204.93503 208.43503 212.32703 219.32703 225.54303 229.04303 241.48903 250.82703 260.93504 264.43504 269.09703 275.31303 280.75904 286.97505 290.86705 294.36705 299.02903 302.92103 309.92103 320.02903">For VLLS, this is the source causing the MCU reset flow.</tspan><tspan y="582.3328" x=".00304 8.55704 15.55704 21.77304 25.27304 31.48904 38.48904 42.381044 48.597043 53.25904 60.25904 66.475048 70.36704 73.86704 83.975048 90.19105 97.19105 103.40705 110.40705 117.40705 120.90705 125.56905 129.46106 135.67707 142.67707 148.12306 151.62306 157.83907 162.50107 168.71707 172.21707 176.87908 183.09508 189.31108 196.31108 200.97309 207.97309 214.97309 218.86508 225.86508 229.36508 235.58109 242.58109 249.58109 253.08109 259.2971 263.1891 269.4051 275.6211 280.28309 284.17509 291.17509 298.17509 301.67509 307.89109 311.39109 316.05308 319.94508 326.16108 333.16108 336.66108 340.55308 345.99909 349.49909 355.7151 361.9311 368.1471 375.1471 386.0391 393.0391 396.9311 400.8231 406.2691 413.2691 419.4851 426.4851 429.9851 436.9851 443.9851 447.4851 453.7011 457.2011 467.3091 471.9711 475.8631 479.7551 485.9711 489.4711 496.4711">The external wakeup flags are read-only and clearing a flag is accomplished by a write of</tspan><tspan y="598.3328" x=".00307 6.2190706 9.71907 16.71907 20.21907 24.11107 31.11107 34.61107 38.50307 45.50307 51.71907 55.21907 61.43507 68.435077 73.09708 77.75908 83.97508 89.42108 96.42108 103.42108 110.42108 117.42108 121.31308 128.31308 135.31308 138.81308 152.02909 162.13709 169.92108 176.92108 180.42108 187.42108 191.31308 195.20508 198.70508 202.20508 210.75908 217.75908 223.97509 227.47509 237.58309 243.79909 250.79909 257.01509 264.01509 271.01509 274.51509 279.17707 283.06907 289.28507 296.28507 299.78507 304.44706 317.66307 327.77107 335.55506 342.55506 347.21705 350.71705 354.21705 358.10905 362.77104 366.27104 371.71705 377.93305 381.82505 385.32505 388.82505 398.93305 402.82505 406.71705 410.60905 414.10905 418.77104 424.98704 435.87904 442.09504 445.98704 452.98704 456.48704 461.93305 468.14906 472.04106 475.54106 479.43305">a 1 to the corresponding WUFx bit. The wakeup flag (WUFx), if set, will remain set if</tspan><tspan y="614.3328" x=".00307 3.8950706 10.895071 17.111073 20.611073 26.827073 32.27307 37.71907 44.71907 50.93507 54.827074 61.04307 64.935077 71.15108 78.15108 81.65108 94.86708 104.97508 112.75909 121.31309 128.31308 131.81308 138.81308 142.70508 146.59708 150.09708 153.98908 159.43508 162.93508 169.15108 173.04308 179.25908 185.47509 190.13709 196.35309 203.35309">the associated WUPEx bit is cleared.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01031" 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 53.999994 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 53.999994 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">369</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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