birdcage/docs/K60-refman-vectors/K60-reference-manual_page_383.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

991 lines
83 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 427.25)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="172.99198 182.98798 191.65198 201.64798 208.31998 211.65598 219.65998 228.32398 231.65998 235.65598 238.99198 245.66397 248.99997 256.33198 259.66798 266.99998 273.67198 280.34397 287.01597 291.68397 295.01997 302.35197 306.34797 309.68397 317.01597 324.34797">MCM_ISR field descriptions</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.50003 449)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="25.79401 31.29301 33.79501 38.79901 41.30101">Field</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.10004 449)" 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 56.250024 465)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="25.54199 30.54599 35.54999 40.553995">31&#x2013;4</tspan><tspan y="18.83789" x="16.29 22.788002 27.792004 32.292005 37.296007 40.293008 44.793008 49.79701">Reserved</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 465)" 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 56.250024 491.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">3</tspan><tspan y="18.83789" x="19.296002 25.794003 32.292005 38.790006 44.793008">DHREQ</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 491.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.506 21.510003 26.514004 29.016005 35.514005 40.518007 42.516008 45.018007 47.520006 54.018007 59.022008 64.02601 69.03001 74.034008 78.534008 81.036 83.538 86.04 91.044 96.048 98.046 102.546 107.549999 110.051998 115.05599">Debug Halt Request Indicator</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 63.540006 68.54401 73.548007 78.552 83.556 88.56 91.062 96.065998 101.06999 103.06799 105.56999 108.07199 111.06899 116.07299 121.07699 126.080989 131.08499 135.58499 138.08699 140.58899 142.58699 147.08699 149.58899 151.58699 156.59099 158.58899 161.09099 163.08899 168.09299 170.59499 175.59899 180.60298 183.10498 188.10898 193.11298 198.11698 200.61898 203.12097 208.12497 210.62697 215.63097 218.13297 224.13597 229.63497 235.63797 238.13997 242.63997 247.64397 252.64797 257.65199 260.154 265.158 268.155 270.657 275.661 280.161 285.165 287.163 290.16 295.164 297.66603 299.664 304.668 309.672 312.174 314.67604 320.67903 326.178 332.181 338.679 345.17698 347.679 352.68299 355.185 360.189 362.691 365.19303 370.44905 372.95106 377.95506 382.95906 387.96305 392.96705 397.97105 400.47306">Indicates that a debug halt request is initiated due to a ETB counter expiration, ETBCC[2:0] = 3b111 &#x0026;</tspan><tspan y="39.83789" x=".00003 6.0030305 11.50203 17.505032 24.003033 30.006033 32.508035 37.512037 42.516038 45.018037 50.022039 52.524038 55.026037 60.282037 62.784036 67.78803 72.79203 77.79603 82.800029 85.302028 87.80402 93.303028 98.30702 100.30502 104.80502 107.30702 112.31102 114.30902 116.81102 119.31302 121.31102 125.81102 128.31302 132.81302 134.81102 139.81502 144.81902 147.81601 152.82 157.824 160.326 166.824 171.828 176.832 181.836 184.338 186.84 191.844 196.84799 199.34999 203.84999 208.85399 213.85799 218.86199 221.36399 226.36798 229.36498 231.86698 233.86498 238.36498 240.86698 245.87097 247.86898 252.36898 257.373 262.37699 264.37498 269.37898 274.38298 276.88499 281.88899 284.886 287.388 293.886 298.88999 303.89399 308.89799 311.4 313.902 318.906 323.91 326.41203 332.415 337.914 343.917 346.419 350.919 355.923 360.927 365.931 368.433 373.437 376.43403 378.93605 380.93403">ETBCV[10:0] = 11h0. This bit is cleared when the counter is disabled or when the ETB counter is</tspan><tspan y="50.83789" x=".00003 2.99703 8.001031 9.999031 15.003032 20.007033 25.011033 30.015034 35.019037">reloaded.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 555.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08045 555.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 6.4980409 11.502041 14.004042 19.008042 24.012043 29.016045 34.020048 39.024049 41.526048 46.53005 51.53405 53.53205 56.03405 58.53605 61.53305 66.53705 71.541049 76.545047 81.54904 86.04904">No debug halt request</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 566.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08045 566.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 6.4980409 11.502041 16.506043 21.510045 26.514046 29.016047 34.020048 39.024049 41.02205 43.524049 46.026048 49.02305 54.02705 59.03105 64.03505 69.03905 73.53905 76.041049 78.543048 80.541049 85.545047 87.543048 90.045047 92.043048 97.04704 99.54904 104.55304">Debug halt request initiated</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250024 584)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">2</tspan><tspan y="18.83789" x="27.297 33.795003 41.292005">NMI</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 584)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.506 19.503 27 32.004 36.504 41.004 46.008005 51.012006 53.010007 58.014009 60.516008 63.018007 68.022 70.524 75.528 78.525 81.522 86.526 91.53 94.032 96.534 102.536998 107.54099 112.54499 117.54899 119.54699 124.55099">Non-maskable Interrupt Pending</tspan><tspan y="28.83789" x="0 2.5020004 5.0040009 7.506001 13.509001 19.008002 25.011002 31.509003 38.007005 40.509004 47.007005 53.010004 59.013 64.512 67.014 69.516 71.514 76.014 78.516 83.016 88.02 90.521999 93.023998 95.52599 100.52999 103.03199 108.03599 113.039989 118.04398 120.54598 123.04798 125.54998 130.55399 132.55199 137.05199 139.55399 144.55799 146.55599 149.05799 151.55998 153.55799 158.05799 160.55998 165.05998 170.06398 172.56598 175.06798 181.56598 186.56998 191.57398 196.57798 199.07997 201.58197 206.58597 211.58997 214.09197 220.09497 225.59397 231.59697 234.09897 238.59897 243.60297 248.60697 253.61096 256.11299 261.11698 264.11399 266.616 271.62 276.12 281.124 283.12199 286.119 291.123 295.623">If ETBCC[RSPT] is set to 10b, this bit is set when the ETB counter expires.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 626)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08045 626)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 14.004002 19.008004 24.012005 29.016007 34.020009 36.01801 41.02201 46.026014 48.52801 55.026014 62.523015">No pending NMI</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 637)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08045 637)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.4980008 11.502001 16.506 19.008002 21.510003 26.514004 29.016005 31.518006 36.522008 41.52601 44.028009 50.031007 55.530008 61.533006 64.035 68.535 73.539 78.543 83.547 86.048999 91.05299 94.049999 96.551998 101.55599 106.05599 111.05999 113.05799 116.05499 118.05299 123.05699 128.06099 130.56299 133.06499 138.06899 143.07299 145.57498 152.07299 159.56998 162.07198 164.57398 166.57198 171.07198 173.57398 178.57798 183.58197 188.58597 193.58997 195.58797 200.59197">Due to the ETB counter expiring, an NMI is pending</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250024 654.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">1</tspan><tspan y="18.83789" x="27.549 30.051 36.549">IRQ</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 654.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 14.499001 21.996003 27.000004 28.998005 31.500006 34.002008 39.00601 41.508008 46.51201 49.50901 52.506013 57.510015 62.514017 65.016017 67.51801 73.52101 78.52501 83.52901 88.533008 90.531009 95.535">Normal Interrupt Pending</tspan><tspan y="28.83789" x="0 2.5020004 5.0040009 7.506001 13.509001 19.008002 25.011002 31.509003 38.007005 40.509004 47.007005 53.010004 59.013 64.512 67.014 69.516 71.514 76.014 78.516 83.016 88.02 90.521999 93.023998 95.52599 100.52999 103.03199 108.03599 113.039989 118.04398 120.54598 123.04798 125.54998 130.55399 132.55199 137.05199 139.55399 144.55799 146.55599 149.05799 151.55998 153.55799 158.05799 160.55998 165.05998 170.06398 172.56598 175.06798 181.56598 186.56998 191.57398 196.57798 199.07997 201.58197 206.58597 211.58997 214.09197 220.09497 225.59397 231.59697 234.09897 238.59897 243.60297 248.60697 253.61096 256.11299 261.11698 264.11399 266.616 271.62 276.12 281.124 283.12199 286.119 291.123 295.623">If ETBCC[RSPT] is set to 01b, this bit is set when the ETB counter expires.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 692.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="180.963 185.967 190.971 196.46999 198.46799 203.47199 205.97399 210.97798 215.98198 220.98598 223.48798 225.48598 230.48998 235.49398 240.49797 244.99797 247.49997 252.50397 257.50798 260.00999 262.512 267.516 272.52 275.022 280.026 285.03 289.53 292.032 294.53404 300.03303 305.03703 310.536 315.54 318.04203 320.54405">Table continues on the next page...</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01034" x="294.97499 301.47297 306.97196 311.97596 317.47496 320.47196 325.47596 328.97697 331.47898 336.48298 341.48698 343.98899 351.486 353.988 358.992 363.996 369 371.502 374.00404 379.00804 384.50703 389.51103 395.01 400.509 405.513 408.015 414.513 420.012 425.511 428.508 432.009 437.508 440.01 442.51203 450.00904 455.50804 461.00703 466.506 469.00804 474.01203 476.51405 479.51106 487.00807 493.50605 501.00306">Chapter 17 Miscellaneous Control Module (MCM)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 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>
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<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32004 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 1 391.68003 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">383</tspan></text>
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