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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_540.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

199 lines
35 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="11.85" 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 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="11.85" 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 117.432 121.324 124.824 128.716 134.162 137.662 143.878 149.324 154.77 160.98601 165.64801 169.54001 175.75601 182.75601 186.25601 190.14801 197.14801 200.64801 206.86402 213.86402 220.86402 224.36402 231.36402 236.02602 239.52602 243.41802 250.41802 256.634 260.134 264.796 271.796 275.688 279.58 286.58 296.688 300.58 307.58 314.58 318.08 324.296 331.296 338.296 345.296 349.188 353.08 356.972 363.972 370.972 376.418">EWM_out signal is asserted in any of the following conditions:</tspan><tspan y="36.25" x="13.103991 23.99599 31.779992 37.99599 42.65799 49.65799 53.54999 59.76599 63.657995 70.65799 77.65799 81.15799 85.04999 92.04999 98.26599 101.76599 110.31999 123.535999 135.982 139.482 149.59 156.59 162.806 169.806 173.306 177.198 184.198 190.414 193.914 200.13 207.13 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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="181.85" x="440.41203 448.966 462.182 474.62803 481.62803 488.62803 495.62803">EWM_out</tspan><tspan y="197.85" x="23.996003 30.996003 34.888006 41.888006">pin)</tspan><tspan y="232.25" x=".000011444092 10.108012 17.108014 20.608014 26.824013 30.324013 37.324014 44.324014 48.98601 59.878015 66.09402 69.986019 73.486019 78.14802 84.36402 89.81002 96.026027 99.91802 103.41802 106.91802 110.81002 117.81002 124.026027">On a normal reset, 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="232.25" x="127.52601 136.08 149.296 161.742 168.742 175.742 182.742 186.634 190.134 194.026 199.472 202.972 209.188 214.634 220.08 226.296 230.95801 234.85 241.06601 248.06601 251.56601 255.06601 263.62 270.62 274.12 281.12 287.336 293.552 298.99803 304.44404 310.66004 315.32203 319.21403 322.71403 326.60603 333.60603 339.82203">EWM_out is asserted. To deassert 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="232.25" x="343.32203 351.876 365.092 377.53804 384.53804 391.53804 398.53804 402.43003 405.93003 409.43003 414.87605 421.09205 424.98405 428.48405 437.03804 450.25404 462.70005 471.25404 481.36204 484.86204 491.86204 495.75404">EWM_out, set EWMEN bit</tspan><tspan y="248.25" x=".000061035159 3.8920615 10.892061 14.392061 18.284062 25.284062 31.500061 35.00006 44.338064 52.892065 62.230066 70.784069 74.284069 78.94607 85.16207 92.16207 96.05407 101.50007 105.39207 111.60807 116.27007 119.77007 123.66207 130.66208 134.16208 140.37808 147.37808 153.59409 160.59409 164.48609 170.70209 174.20209 178.09409 185.09409 191.31009 194.81009 203.36409 216.5801 229.0261">in the CTRL register to enable the EWM.</tspan><tspan y="272.65" x=".000081035159 4.6620814 9.324081 12.824081 16.716082 23.716082 29.932084">If 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="272.65" x="33.43208 41.98608 55.20208 67.64808 74.64808 81.64808 88.64808 92.54008 96.04008 101.48608 105.378078 112.378078 119.378078 125.59408 129.48609 132.98609 138.43209 145.43209 151.64809 156.31009 162.5261 167.97209 171.47209 175.36409 179.25609 184.70209 188.20209 195.20209 201.41809 208.41809 211.91809 222.0261 225.91809 229.81009 236.81009 240.31009 246.5261 250.0261 257.0261 260.9181 267.9181 271.8101 275.7021 281.9181 285.8101 289.3101 293.97209 297.86408 307.97209 311.47209 318.47209 322.36408 329.36408 332.86408 336.36408 343.36408 350.36408 353.86408 358.52607 364.74208 370.18809 376.40409 380.29609 383.79609 387.68809 394.68809 398.58009 404.0261 407.5261 413.7421 419.9581 423.8501 430.8501 437.0661 440.9581 444.4581 451.4581 457.6741 464.6741 468.1741 475.1741 481.3901 486.0521 492.2681 496.93009">EWM_out signal shares its pad with a digital I/O pin, on reset this actual pad defers</tspan><tspan y="288.65" x=".00011062622 3.892111 10.892111 14.392111 21.39211 27.608113 31.500113 38.500116 45.500116 49.000116 55.216115 62.216115 65.71611 69.60811 76.60811 83.60811 90.60811 94.50011 98.00011 103.446109 107.338108 114.338108 121.338108 127.55411 131.4461 134.9461 138.4461 143.10811 147.0001 150.5001 154.3921 160.60811 167.60811 173.82411 179.27011 182.77011 186.66211 193.66211 199.87812">to being an input signal. It takes 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="288.65" x="203.37812 211.93212 225.14812 237.59412 244.59412 251.59412 258.59413 262.4861 265.9861 272.9861 279.9861 283.8781 290.8781 297.8781 301.7701 305.2701 311.4861 318.4861 325.4861 332.4861 336.3781 340.2701 344.1621 351.1621 358.1621 361.6621 368.6621 375.6621 379.5541 386.5541 390.0541 396.2701 400.9321 404.8241 411.0401 415.7021 419.2021 426.2021 433.2021 440.2021 443.7021 449.9181 456.9181 463.1341 470.1341 474.0261 480.2421 483.7421 487.6341 494.6341">EWM_out output condition only after you enable the</tspan><tspan y="304.65" x=".00016784668 8.554168 21.770169 34.21617 37.71617 44.71617 51.71617 55.21617 59.108175 66.10817 72.32417 75.82417 84.378177 97.59418 110.04018 118.59418 128.70218 132.20218 139.20218 143.09418 146.98618 150.48618 154.37818 161.37818 164.87818 168.77017 175.77017 181.98618 185.48618 194.82418 203.37818 212.71617 221.27017 224.77017 229.43218 235.64818 242.64818 246.54018 251.98618 255.87818 262.09419 266.75617">EWM by the EWMEN bit in the CTRL register.</tspan><tspan y="329.05" x=".00016784668 13.216168 20.216168 26.432168 33.432168 36.932168 40.82417 47.82417 54.04017">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="329.05" x="57.54016 66.09416 79.310169 91.756168 98.756168 105.756168 112.756168 116.64816 120.14816 127.14816 131.04016 138.04016 141.54016 145.43216 150.87816 154.37816 160.59416 166.04016 171.48616 177.70217 182.36417 186.25617 192.47217 199.47217 202.97217 206.47217 210.36417 214.25617 217.75617 223.97217 230.18817 237.18817 240.68817 247.68817 254.68817 258.58018 265.58018 269.08018 276.08018 282.29618 285.79618 292.79618 299.01219 305.22819 310.6742 316.1202 322.3362 326.9982 330.8902 337.1062 344.1062 347.6062 354.6062 361.6062 365.1062 369.7682 376.7682 381.43019 387.64619 391.53819 398.53819 405.53819 409.03819 415.25419 418.75419 431.2002 440.5382 450.6462 454.1462 458.8082 465.0242 470.4702 476.68623 480.57823">EWM_out pin is asserted, it can only be deasserted by forcing a MCU reset.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 489.39997)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00015 8.896151 17.792153 22.240153 31.136155 35.584157">23.4.2</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="633.44998" x="176.90418 185.45818 198.67418 211.12018 218.12018 225.12018 232.12018 236.01218 239.51218 246.51218 250.40418 257.40419 260.90419 264.79618 270.2422 273.7422 279.9582 285.4042 290.85023 297.06623 301.7282 305.6202 311.8362 318.8362">EWM_out pin is asserted.</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="25.87323" x="0 5.499 10.998 16.497 21.501 24.498 27 32.499 37.998 43.002004 45.504 48.006 54.504 59.508005 64.512 69.516 73.017 75.519 81.018 84.015 86.517 92.016">Functional Description</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="130.005 137.225 142.785 148.345 151.125 157.795 163.905 170.015 173.345 179.455 185.015 193.905 196.685 199.465 205.025 207.805 215.025 220.58499 223.915 229.47499 233.36499 238.92499 245.03499 250.59499 256.155 258.935 267.26499 272.82499 278.93498 285.04496 290.60496 293.38496 296.16496 298.94496 306.16496 311.72496 317.28495 320.06495 322.84495 328.40495 331.18495 336.74494 342.85493 348.9649 351.7449 357.3049 362.8649 368.4249">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="-.00102 5.0029809 10.006981">540</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="44.775 50.274003 53.271005 58.275007 63.279008 67.77901 72.27901 77.283008 79.281009 84.285 86.787 92.79 97.794 105.291 107.289 111.789 116.793 121.797 126.800998 131.805 136.305 138.80699 143.81099 146.80799 149.30998 151.81198 154.31398 159.31798 163.81798">Freescale Semiconductor, Inc.</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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