birdcage/docs/K60-refman-vectors/K60-reference-manual_page_431.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

1583 lines
123 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54.000017)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.3" x="128.31598 136.97998 140.31598 148.31998">AIPS</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54.000017)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.3" x="156.32398">x</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54.000017)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.3" x="162.32398 168.99597 178.99198 186.99597 195.65998 204.32398 207.65998 211.65598 214.99198 221.66397 224.99997 232.33197 235.66797 242.99997 249.67197 256.34397 263.01597 267.68397 271.01997 278.35197 282.34797 285.68397 293.01597 300.34797 307.01997 310.35597 314.35197 321.02397 328.35597 335.68797 339.68397 343.01997 350.35197 357.68397 364.35597 371.68797">_MPRA field descriptions (continued)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 92.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">9</tspan><tspan y="18.83789" x="22.302 29.799 35.298 43.794">MTW5</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 92.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.4970009 12.501001 17.001002 19.503003 24.507004 27.504004 30.006005 35.505006 38.502008 43.50601 48.00601 50.508008 55.51201 60.51601 63.01801 68.517009 73.521 76.518009 79.020008 87.51601 90.51301 92.51101 95.01301 100.017009">Master Trusted For Writes</tspan><tspan y="28.83789" x="0 6.4980008 11.502001 14.004002 19.008004 22.005003 29.502003 31.500004 36.504007 41.508008 46.008008 48.510007 55.008008 60.01201 65.01601 67.518009 72.522 77.526 80.523 83.025 85.527 90.531 95.534999 98.036998 105.534 110.537998 115.037998 117.53999 122.54399 125.54099 128.043 130.041 134.541 137.043 139.545 142.54199 147.54599 152.04599 154.54799 159.55199 164.55599 167.05799 169.55998 174.56398 177.56098 180.06298 186.56098 189.55797 191.55597 194.05797 199.06197 201.56397 206.56797 211.06797 215.56797 220.57196 225.07196 229.57196 234.57596 239.07596">Determines whether the master is trusted for write accesses.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 134.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00002">0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 328.1828)" 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">20.2.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 109.87328 328.1828)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.005001 18.345002 24.180003 28.350003 37.515005 46.680006 55.020006 60.855005 69.19501 73.365009 77.535 88.365009 96.70501 105.04501 113.38502 121.72502 130.06502 134.23502 145.06502 154.23001 163.395 168.39 174.225 183.39 187.56 191.73 202.56 210.9 220.06499 224.23499 232.57498 237.56998 245.90998 251.74498 255.91498 260.90998 271.73997 275.90998 285.91499">Peripheral Access Control Register (AIPS</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 109.87328 328.1828)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="295.92">x</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 109.87328 328.1828)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="303.42 311.76 321.765 332.595 343.425">_PACR</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 109.87328 328.1828)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="354.255">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 109.87328 328.1828)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="363.42">)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54)" font-size="14" font-family="TimesLTStd"><tspan y="310.4328" x=".00504 8.55904 14.775041 20.991042 27.991042 31.491042 38.491044 43.15304 46.65304 50.545045 57.545045 63.761045 67.26105 74.26105 80.47705 85.13905 89.03105 96.03105 103.03105 109.247058 113.90906 120.12506 124.01706 129.46306 132.96306 139.96306 146.17906 151.62506 155.12506 161.34107 164.84107 171.84107 176.50307 183.50307 187.39507 191.28707 194.78707 202.57106 212.67906 222.01706 231.35506 236.01706 243.01706 246.90906 250.40906 257.40907 264.40907 271.40907 274.90907 279.57106 283.07106 287.73304 291.62504 297.84104 301.73304 308.73304 312.23304 322.34104 329.34104 333.23304 339.44905 346.44905 349.94905 356.94905 363.16505 367.82704 371.71903 378.71903 384.93504 390.38105 393.88105 397.77305 404.77305 410.98905 414.48905 420.70506 426.92106 433.13706 439.35307 444.79908 450.2451 453.7451 457.6371 463.8531 470.8531 477.0691 480.9611">Each of the peripherals has a 4-bit PACR[0: 127 ] field which defines the access levels</tspan><tspan y="326.4328" x=".00504 5.4510409 12.45104 19.45104 26.45104 33.451044 38.11304 42.005044 48.221044 55.221044 58.721044 65.72104 72.72104 76.22104 80.11304 87.11304 93.32904 96.82904 103.82904 107.72104 114.72104 120.93704 127.93704 131.43704 142.32904 149.32904 156.32904 163.32904 167.22104 173.43704 176.93704 180.43704 188.99105 192.88304 199.88304 206.88304 210.77504 214.27504 222.05904 232.16704 241.50504 250.84304 254.34304 259.00505 262.89704 269.11305 273.00505 280.00505 285.45106 288.95106 295.16706 299.82905 306.04505 309.54505 316.54505 321.20704 328.20704 335.20704 342.20704 348.42304 355.42304 358.92304 362.81504 369.81504 376.81504 383.03105 386.92304 393.92304 400.13905 404.80104 408.30104 412.19303 419.19303 422.69303 427.355 434.355 439.017 449.909 453.409 459.625 463.125 470.125 477.125 481.787 488.787 492.679">supported by the given module. Eight PACR fields are grouped together to form a 32-bit</tspan><tspan y="342.4328" x=".00509 7.789091 17.89709 27.235093 36.573095 41.235094 51.343095 55.235097 58.735097 66.5191 70.0191 74.6811 78.1811 82.8431 89.059108 96.059108 99.9511 105.3971 109.2891 115.505107 120.16711">PACR[A: P ] register:</tspan><tspan y="366.8328" x="13.09509 24.001091 31.785092 41.893095 51.231096 60.569097 70.67709 75.339099 78.839099 86.6231 90.1231 97.1231 103.3391 108.00111 111.893108 118.893108 125.10911 128.6091 132.5011 139.5011 145.7171 149.2171 155.4331 161.64911 167.86511 174.08112 179.52712 184.97312 188.47312 192.36511 198.58112 205.58112 211.79712 215.68912 221.13512 224.63512 229.29712 236.29712 240.95912 244.45912 248.35112 255.35112 261.5671 265.0671 272.0671 279.0671 286.0671 289.5671 296.5671 302.7831 307.4451 311.3371 318.3371 325.3371 331.5531 336.2151 342.4311 346.3231">&#x2022;PACRA- P define the access levels for the 128 peripherals</tspan><tspan y="392.8328" x=".00508976 8.55909 15.55909 21.77509 25.27509 32.27509 38.49109 43.153089 47.04509 54.04509 61.04509 67.26109 71.923099 78.1391 82.0311 85.5311 91.7471 97.1931 102.6391 106.5311 113.5311 120.5311 131.4231 137.6391 144.6391 148.5311 153.9771 157.4771 161.3691 168.3691 171.8691 178.0851 184.3011 190.5171 197.5171 201.0171 208.8011 218.9091 228.2471 237.5851 241.0851 247.3011 251.9631 258.1791 261.6791 268.6791 274.8951 279.5571 283.4491 290.4491 296.6651 303.6651 307.1651 314.1651 321.1651 324.6651 328.5571 335.5571 341.7731 345.2731 356.1651 362.3811 373.2731 380.2731 384.9351 391.9351 395.4351 406.3271 412.5431 419.5431 423.0431 428.4891 432.3811 439.3811 443.2731 446.7731 450.6651 457.6651 463.8811 467.7731 471.2731 475.1651 482.1651">The peripheral assignments to each PACR are defined by the memory map slot that the</tspan><tspan y="408.8328" x=".0051397599 7.00514 13.22114 17.88314 21.77514 28.77514 35.77514 41.99114 46.653139 52.869138 56.76114 62.207139 65.70714 71.92314 76.585147 82.80115 86.30115 92.51715 97.96315 103.40915 107.30115 114.30115 121.30115 127.51715 134.51715 138.01715 141.51715 149.30115 155.51715 161.73316 165.23316 169.12516 176.12516 182.34116 185.84116 192.84116 199.05716 206.05716 209.94916 216.16516 222.38117 224.90117 230.34717 233.84717 244.73917 250.95517 261.84718 268.84718 273.50917 280.50917 284.00917 294.90116 301.11717 308.11717 311.61717 318.61717 324.83317 328.72517 334.94117 338.83317 342.72517 348.17118 351.67118 356.33317 363.33317 367.99516 371.49516 375.38716 382.38716 388.60316 392.10316 398.31916 403.76518 409.21119 413.10319 420.10319 427.10319 437.99519 444.21119 451.21119 455.10319 460.5492 464.0492 468.71119 475.71119 480.37318 483.87318">peripherals are assigned. See the device's memory map details for the assignments for a</tspan><tspan y="424.8328" x=".0051397599 7.00514 13.22114 17.88314 21.77514 25.667141 31.88314 38.88314 42.775144 48.991144 53.65314 57.15314 64.15314 70.36914 77.36914 81.26114 87.47714 93.693149">particular device.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="449.0195" x="232.55915 242.66715 253.55915 262.11314">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54)" font-size="14" font-family="TimesLTStd"><tspan y="465.2328" x="71.99313 80.547138 87.547138 93.76314 97.26314 101.92514 108.14114 113.58714 119.80315 123.695148 127.195148 134.19515 140.41115 144.30315 151.30315 157.51915 161.01915 168.01915 172.68115 176.18115 183.96515 194.07315 203.41115 212.74915 217.41115 227.51915 231.41115 241.51915 246.18115 249.68115 253.57315 259.01918 262.51918 269.51918 276.51918 283.51918 290.51918 297.51918 304.51918 311.51918 318.51918 325.51918 332.51918 339.51918">The reset value of PACR[A:D] is 0x4444_4444.</tspan><tspan y="489.63279" x=".005142212 8.559142 15.559142 21.775143 25.275143 29.937144 36.93714 40.829145 44.721147 51.721147 61.829149 65.721149 72.721149 79.721149 83.221149 87.113147 93.32915 100.32915 104.221149 110.43715 113.93715 119.38315 126.38315 133.38315 143.49115 148.93715 152.43715 156.32915 163.32915 169.54515 173.04515 176.93715 183.93715 190.93715 195.59915 199.49115 205.70716 212.70716 218.92316 222.81516 226.31516 231.76116 235.65316 240.31516 247.31516 253.53116 257.42317 264.42317 269.08515 275.30116 278.80116 285.80116 290.46315 293.96315 301.74714 311.85514 321.19316 330.53117 335.97718">The following table shows the top-level structure of PACRs.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.99997 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01034" x="331.461 337.95899 343.45799 348.46199 353.96098 356.95799 361.96199 365.46299 367.965 372.969 377.973 380.475 386.478 391.482 394.983 397.48503 402.984 408.483 413.487 416.988 421.992 424.49403 426.99604 433.49403 436.99504 439.49705 444.99604 450.49504 455.49903 458.00105 460.99806 467.49604 469.99806 476.00105 482.00404 485.00105 490.50004 493.00205 495.99906 501.00306">Chapter 20 Peripheral Bridge (AIPS-Lite)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.99997 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 53.99997 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 1 220.31998 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 1 391.67997 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">431</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 53.99997 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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