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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_81.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

889 lines
67 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 316.5)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 13.344002 22.240002 26.688002">3.2.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.757328 316.5)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 18.672 30.224003 42.672006 47.120008 58.67201 68.448009 78.22401 83.55201 89.77601 99.55201 104.00001 108.448009 117.34401 123.56801 128.016 139.56801 149.34401 159.12001 164.44802 168.89601 178.67201 188.44802 194.67201 203.56801 208.89601 213.34401 223.12001">JTAG Controller Configuration</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="299.75" x=".00602 8.5600199 15.5600199 19.45202 24.898022 28.398022 33.84402 40.06002 46.27602 50.168024 54.060026 61.060026 68.06003 71.56003 77.00603 84.00603 94.898029 105.79002 112.00603 116.66803 120.56003 126.77603 132.99204 138.43804 141.93804 148.93804 155.93804 166.04604 169.54604 173.43804 180.43804 186.65404 190.15404 201.04604 208.04604 215.04604 222.04604 225.93804 232.15404 235.65404 242.65404 248.87004 254.31604 257.81605 264.81605 271.03205 277.24806 284.24806 287.74806 293.96406 300.96406 307.96406 312.62605 316.51805 323.51805 330.51805 335.18003 341.39604 348.39604 351.89604 355.78804 362.78804 366.28804 370.18003 377.18003 383.39604 386.89604 393.11204 400.11204 404.00404 411.00404 414.50404 418.00404 425.78804 432.78804 437.45 440.95">This section summarizes how the module has been configured in the chip. For a</tspan><tspan y="315.75" x=".00602 6.2220208 13.222021 24.114022 31.114022 35.77602 41.99202 48.99202 55.20802 62.20802 67.65402 71.54602 78.54602 84.762027 88.262027 95.262027 101.47803 106.92403 113.14003 117.80203 121.69403 128.69403 132.58603 136.47803 143.47803 150.47803 153.97803 160.97803 165.64003 169.14003 173.03203 180.03203 186.24803 189.74803 200.64003 207.64003 214.64003 221.64003 225.53203 231.74803 235.24803 239.14003 243.03203 248.47803 254.69403 258.58604 263.24803 266.74803 270.24803 275.69404 281.91004 288.12605 291.62605 295.51805 302.51805 308.73405 312.23405 323.12605 330.12605 337.12605 344.12605 348.01805 354.23405 358.89604 364.34205 367.84205 374.84205 381.05805 388.05805 391.95005 398.16606 404.38206 408.27406 414.49006 421.49006 424.99006 431.20606 438.20606 444.42207 451.42207 455.31407 461.53007 466.19206">comprehensive description of the module itself, see the module&#x2019;s dedicated chapter.</tspan></text>
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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="413.63679" x="129.32398 136.65598 139.99198 147.32398 154.65598 159.32398 165.99597 169.33197 176.00397 179.99997 186.67197 190.00797 193.34397 200.01596 207.34796 216.01197 225.34796 234.01197 237.34796 246.01197 253.34397 260.67597 264.67198 269.33998 276.67198 280.00798 283.34397 290.01597 294.68397 298.01997 304.69197 312.02397 319.35597 323.35197 326.68797 334.01997 341.35197 346.01997 352.69197 356.68797 360.02397 367.35597">Figure 3-4. JTAGC Controller configuration</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 610.0196)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 9.452001 14.178001">3.3</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01034" x="378.495 384.99299 390.49198 395.49598 400.99497 403.99198 408.99598 412.49699 414.999 420.003 422.505 429.003 434.50199 437.004 442.503 445.005 451.503 457.00199 462.50099 465.498 468 473.499 478.998 482.499 487.503 490.5 493.002 498.501">Chapter 3 Chip Configuration</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 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 54.000005 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="156.312 161.316">81</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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