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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_539.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

404 lines
44 KiB (Stored with Git LFS)
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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">23.3.5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 109.87329 82)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.830001 15.000002 24.165 32.505 40.845 45.015005 55.020006 60.855005 69.19501 77.53501 85.875019 94.21502 98.38502 106.72502 112.56002 116.73002 127.56002 135.90003 145.06502 149.23502 157.57501 162.57 170.91 176.74501 180.91501 185.91 195.91501 210.07501 222.57 230.91 241.74 250.905 261.735 271.74 282.56999 292.57499 302.58 313.40998 324.23997 333.40498 343.40998 354.23997">Clock Prescaler Register (EWM_CLKPRESCALER)</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 8.549 15.549 19.441 24.887001 28.387001 37.725004 46.279005 56.387006 64.171009 73.509 82.063 89.84701 99.18501 109.293018 117.847019 126.40102 135.73902 139.23902 143.90102 150.11702 157.11702 161.00902 166.45502 170.34702 176.56302 181.22502 184.72502 188.61702 194.06302 197.56302 202.22502 208.44103 213.88703 220.10303 223.99503 227.49503 231.38703 238.38703 241.88703 248.88703 255.88703 262.88703 269.88703 273.38703 279.60304 284.265 288.157 294.37303 299.035 302.535 308.751 312.251 321.58903 329.37303 339.48103 342.98103 347.643 353.859 359.30503 365.52104 369.41304">This CLKPRESCALER register is reset to 0x00 after a CPU reset.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="154.4367" x="232.54898 242.65699 253.54898 262.10298">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="170.65" x="71.99698 85.21298 89.874988 93.76698 97.65898 103.874988 107.374988 111.26698 118.26698 124.48299 127.98299 132.64499 138.861 145.861 152.861 156.75299 161.415 167.631 174.631 178.131 185.131 189.793 196.009 201.455 207.671 213.88701 217.779 223.99501 228.65702 232.15702 239.15702 245.37302 249.26502 256.265 262.48103 265.98103 272.98103 279.19703 283.859 290.859 295.521 301.737 305.237 311.453 318.453 324.669 331.669 335.561 339.453 346.453 353.453 356.953 360.845 367.845 374.061 377.561 386.115 399.331 411.777">Write the required prescaler value before enabling the EWM.</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="211.04999" x="71.99698 80.55098 87.55098 93.76698 97.26698 101.15898 112.05098 119.05098 122.94298 129.15898 140.05098 146.26699 153.26699 157.15898 163.37499 167.26699 171.15898 178.15898 185.15898 188.65898 195.65898 200.32099 203.82099 207.71298 214.71298 218.60498 224.05098 227.55098 232.21298 238.42899 245.42899 249.32099 254.76699 258.659 264.875 269.537 273.037 276.929 282.375 285.875 292.091 299.091 302.983 309.983 314.645 320.091 327.091 333.307 339.523 343.415 348.077 351.969 358.185 361.685 365.185 372.969 379.185 385.401 388.901 392.793 399.793">The implementation of this register is chip-specific. See the</tspan><tspan y="227.04999" x="71.997 81.33501 88.33501 92.227008 99.227008 102.727008 112.065 119.065 126.065 130.727 134.619 141.619 148.619 153.281 159.49701 163.389 167.281 174.281 181.281 184.781 191.781 197.99701 201.889 208.10501 211.99701 215.889 221.335">Chip Configuration details.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 368.69999)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="133.31998 141.32398 152.65198 162.64798 169.31998 177.98398 185.31598 193.97998 201.98398 210.64798 218.65198 226.65598 235.31998 243.98398 251.31598 259.31999 267.98399 271.31999 275.31599 278.65199 285.32398 288.65998 295.99198 299.32798 306.65998 313.33198 320.00398 326.67597 331.34397 334.67997 342.01197 346.00798 349.34397 356.67597 364.00798">EWM_CLKPRESCALER field descriptions</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 390.69999)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="25.794 31.293002 33.795003 38.799005 41.301004">Field</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.1 390.69999)" 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 406.69999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="28.04401 33.04801 38.052015">7&#x2013;0</tspan><tspan y="18.83789" x="16.794 23.292002 28.296002 34.299005 39.303007 45.801008 48.303007">CLK_DIV</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 406.69999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 13.005001 18.009003 22.509003 25.011004 30.015004 35.019006 37.521005 39.519006 44.523008 51.021009 53.523008 58.527009 63.53101 70.02901 75.033008 78.03001 80.532009 85.032009 90.036 95.04 98.037 102.537 107.541 110.043 112.545 117.548999 120.546 123.048 126.045 131.049 136.053 141.05699 143.055 148.05899 153.06299 155.56499 158.06699 163.07099 168.07498 170.57698 176.57999 185.07599 192.57299 195.07498 199.57498 204.57898 209.58298 214.58698 217.08898 222.09297 225.08997 227.59197 232.09197 237.09597 242.09996 244.60196 249.60596 254.60996 257.11198 262.11598 265.11299 270.11698 274.61698 279.11698 284.12098 286.11897 291.12297 296.12696 298.62898 303.63298 308.13298 310.63499 315.63899 320.64299 322.64097 327.64497 334.14295">Selected low power source for running the EWM counter can be prescaled as below.</tspan><tspan y="18.83789" x="14.85 24.003 30.006 33.003004 38.007005 42.507005 47.007005 52.011007 54.009008 59.01301 64.017009 66.519008 71.019008 73.017009 78.021 82.521 87.021 89.523 92.025 95.022 100.026 105.03 110.034 115.037998 120.04199 124.54199 129.04199 131.54399 136.79999 139.30199 141.29999 146.30399 152.80199 155.30399 160.30799 165.31198 171.80998 176.81398 179.81098 182.31298 186.81298 188.81098 193.81497 198.31497 202.81497 205.31697 209.81697 214.82097 219.82497 222.82196 227.32196 232.32596 234.82796 237.32996 240.32695 245.33095 250.33495 255.33895 260.34297 265.34696 269.84696 274.34696 276.84898 279.35099 282.348 284.85 289.854 295.11003 297.61204 304.11003 309.114 315.117 320.121 326.619 329.121 335.124 337.626">&#x2022;Prescaled clock frequency = low power clock source frequency/ ( 1+ CLK_DIV )</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 482.99998)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 9.452001 18.904002 23.630002">23.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25536 482.99998)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 10.387 20.774 31.161 40.613 46.274 51 61.387 71.774 81.226009 85.952 90.678 102.952 112.40401 121.85601 131.30802 137.92102 142.64702 153.03401 158.695 163.421 173.808">Functional Description</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54)" font-size="14" font-family="TimesLTStd"><tspan y="466.24998" x="-.00298 8.55102 15.55102 21.767022 25.267022 29.929022 36.929025 40.821027 44.713029 51.713029 61.82103 65.71303 72.71303 79.71303 83.21303 88.65903 94.87503 101.091037 104.98303 108.87503 115.87503 122.87503 128.32103 131.82103 138.82103 145.03704 150.48303 156.69904 161.36104 165.25304 172.25304 178.46904 181.96904 186.63105 193.63105 200.63105 206.84705 210.73905 214.63105 221.63105 228.63105 234.84705 238.73905 242.23905 249.23905 255.45505 259.34706 265.56306 269.45506 273.34706 278.79307 282.29307 289.29307 293.95506 297.45506 301.34706 308.34706 314.56306 318.06306 326.61705 339.83305 352.27906 355.77906 366.67106 373.67106 380.67106 387.67106 391.56306 397.77906">The following sections describe functional details of the EWM module.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 112.65331 561.7999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="32.896 43.568 58.672 72 80.896 90.672008 100.448009 105.77601 110.22401 120.89601 125.34401 135.12001 144.89601 153.792">EWM_out Signal</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 53.99997)" font-size="14" font-family="TimesLTStd"><tspan y="545.0499" x="25.27 33.824 47.04 59.486 66.486 73.486 80.486 84.378 87.878 91.77 97.215999 100.715999 106.932 110.432 117.432 121.324 128.324 132.216 136.108 142.324 146.216 149.716 156.716 163.716 167.608 174.608 181.608 185.5 189 194.446 198.338 205.338 212.338 218.554 222.446 225.946 232.946 238.392 244.608 251.608 255.108 259 266 269.5 276.5 282.716 286.608 292.824 296.324 302.54 309.54 313.04 319.256 326.256 330.148 336.364 341.026 348.026 354.242 358.134 361.634 367.85 371.742 376.404 382.62 389.62 393.512 397.404 400.904 405.56599 411.78199 418.78199 425.78199 429.67399 433.56599 439.78199 445.998 449.88999 453.78199 460.78199">EWM_out is a digital output signal used to gate an external circuit (application</tspan><tspan y="561.0499" x="0 5.4460008 12.446001 18.662003 24.878003 28.770003 33.432004 37.324007 43.540006 48.202005 51.702005 55.594007 62.594007 68.810009 72.702 76.202 82.41801 89.41801 96.41801 100.310009 104.97201 111.97201 115.864009 121.310009 124.810009 131.026 135.688 139.58 143.472 147.364 153.58 159.796 163.688 167.188 172.634 178.85 183.51201 189.72801 193.62001 200.62001 204.12001 208.78202 215.78202 222.78202 228.99802 232.89002 236.78202 243.78202 250.78202 256.22804 259.72804 263.22804 271.01203 278.01203 282.674 286.174 292.39 299.39 305.60603 316.49803 323.49803 327.39 333.60603 337.10603 340.60603 344.49803 351.49803 357.71403">specific) that controls critical safety functions. For example, the </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 53.99997)" font-size="14" font-family="TimesLTStd"><tspan y="561.0499" x="361.214 369.76799 382.98399 395.43 402.43 409.43 416.43 420.322 423.822 430.038 437.038 444.038 447.93 454.93 458.43 465.43">EWM_out could be</tspan><tspan y="577.0499" x="0 6.2160007 13.216001 20.216 27.216 33.432 39.648 43.54 49.756 56.756 60.256 64.148 71.148 74.648 78.54 85.54 91.756008 95.256008 102.256008 106.148 113.148 120.148 123.648 130.64801 137.64801 141.54001 145.432 151.64801 158.64801 164.86402 168.36402 172.25601 176.91802 183.13402 190.13402 195.58002 199.47202 204.91802 208.81002 215.81002 220.47202 225.91802 229.41802 235.63402 239.52602 244.18802 250.40402 257.40403 261.29603 265.18803 270.63404 274.13404 278.02604 285.02604 291.24205 295.13404 298.63404 304.85005 311.85005 318.85005 322.74205 327.40403 334.40403 338.29603 341.79603 348.01203 355.01203 358.51203 368.62004 377.95805 381.45805 392.35005 399.35005 403.24205 410.24205 414.90403 418.40403 422.29603 429.29603 432.79603 439.01203 442.51203 446.40403 452.62004 457.282 464.282">connected to the high voltage transistors circuits that control an AC motor in a large</tspan><tspan y="593.0499" x="0 6.2160007 13.216001 20.216 24.108 28 34.216 41.216 47.432 53.648">appliance.</tspan><tspan y="617.44998" x="0 8.554 15.554 21.77">The </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 53.99997)" font-size="14" font-family="TimesLTStd"><tspan y="617.44998" x="25.27 33.824 47.04 59.486 66.486 73.486 80.486 84.378 87.878 93.324 97.215999 104.215999 111.215999 117.432 121.324 124.824 129.486 135.702 146.594 152.81 156.702 163.702 169.148 172.648 179.648 185.864 192.08 197.526 202.972 209.188 213.85 217.742 223.95801 230.95801 234.45801 244.56601 251.56601 257.782 264.782 268.282 272.174 279.174 285.39 288.89 297.444 310.66 323.10603 326.60603 330.49803 335.94404 339.44404 346.44404 352.66004 356.55204 363.55204 370.55204 374.05204 378.71403 384.93003 391.93003 398.93003 402.82203 409.03804 413.7 417.592 424.592 428.092 433.53804 439.75404 444.41603 451.41603 455.308 461.52403 467.74003 474.74003 478.24003 485.24003">EWM_out signal remains deasserted when the EWM is being regularly serviced by</tspan><tspan y="633.44998" x="0 3.8920005 10.892 17.108002 20.608002 29.946003 37.730005 47.838006 51.338006 61.446008 65.338008 69.23 76.23 80.122 87.122 90.622 94.514 101.514 107.73 111.23 118.23 122.892009 129.892 136.892 141.554 147.77 158.662 169.554 175.77 182.77 186.662 192.878 196.378 201.824 208.04001 212.70201 219.70201 223.59401 229.81002 236.02602 239.52602 249.63402 253.52602 260.526 267.526 274.526 284.634 288.134 291.634 295.526 302.526 309.526 313.418 319.634 325.85 329.742 333.634 340.634 347.634 351.134 355.026 362.026 368.242 372.134 375.634 379.526 386.526 392.742 396.242 402.458 409.458 416.458 420.35 424.242 430.458 436.674 440.566 444.458 451.458 458.458 461.958 468.174 475.174 482.174 488.39 491.89 495.782">the CPU within the programmable service window, indicating that the application code is</tspan><tspan y="649.44998" x="0 6.2160007 13.216001 19.432002 25.648003 32.648004 36.540006 42.756006 49.756006 53.256006 59.472005 64.91801 68.41801 74.63401 81.63401 88.63401 94.85001 101.06602 104.958019 111.17402 118.17402">executed as expected.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 17.99997)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01031" x="307.485 313.98298 319.48197 324.48597 329.98497 332.98197 337.98597 341.48698 343.98899 348.99299 353.99699 356.499 362.50199 367.50599 370.503 375.507 379.008 384.507 389.511 392.013 394.515 403.01103 408.015 411.01203 416.01603 421.515 427.014 432.513 438.012 440.514 448.01103 453.51 459.009 461.51103 464.50804 470.00703 473.50804 476.01005 479.00706 485.01005 493.50605 501.00306">Chapter 23 External Watchdog Monitor (EWM)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 734.9386)" 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 751.7559)" 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 1 220.32 751.7559)" 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 1 391.68 751.7559)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">539</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54 763.7559)" 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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