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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

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="20" font-family="HelveticaLTStd" font-weight="bold"><tspan y="88.19531" x="0 14.4400019 26.660002 37.780004 50.000005 56.660005 67.78001 75.560009 81.12 92.240009">Chapter 20</tspan><tspan y="110.19531" x="0 13.340001 24.460003 32.240007 37.800008 50.020009 62.24001 73.36001 81.14001 92.26001 97.82001 103.380008 117.82001 125.600009 131.16 143.38 155.6 166.72 172.28 178.94 193.38 198.94 212.28 225.62 232.28 244.5 250.06 256.72 267.84">Peripheral Bridge (AIPS-Lite)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".00101 9.453011 18.90501 23.63101">20.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".00101 4.7270104 15.11401 20.77501 27.38801 37.77501 48.16201 58.54901 68.001018 73.66202 78.388019 88.77502">Introduction</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="186.83672" x="232.55402 242.66202 253.55402 262.108">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="211.45" x="72.002 79.786 86.786 91.448009 94.948009 98.840007 105.840007 112.05601 115.55601 121.77201 128.772 132.664 139.664 144.326 149.772 156.772 162.988 169.20401 173.09601 177.75801 181.65001 187.86602 191.36602 195.25801 206.15001 213.15001 217.042 223.25801 234.15001 240.36602 247.36602 251.25801 257.474 261.366 265.258 272.258 279.258 282.758 289.758 295.974 299.866 306.082 309.974 313.866 319.312 322.812 329.812 334.474 337.974 341.866 348.866 352.758 358.204 361.704 372.596 379.596 386.596 393.596 397.488 403.704 406.224">For the chip-specific implementation details of this module's</tspan><tspan y="227.45" x="72.002 75.894 82.894 88.34 92.231998 98.448 105.448 111.664 117.880008 123.326007 126.826007 132.272 138.488 144.70401 148.20401 152.09601 159.09601 165.31201 168.81201 175.02802 182.02802 185.92002 192.92002 196.42002 202.63602 209.63602 216.63602 221.29802 225.19002 232.19002 239.19002 243.85202 250.06803 253.96002 257.85203 264.85203 271.85203 275.35203 279.24403 286.24403 290.906 297.906 302.568 313.46 319.676 323.568 327.46 334.46 341.46">instances see the chip configuration information.</tspan><tspan y="251.84999" x="72.002 79.786 89.894008 99.23201 107.78601 112.44801 121.78601 131.89402 140.44802 145.11002 155.21802 165.32602 168.82602 177.38002 186.71802 196.05602 206.16402 215.50202 219.39402 222.89402 227.55602 234.55602 238.05602 248.94802 255.94802 262.948 269.948 273.84 280.056 283.556 294.448 300.664 311.556 318.556 323.218 330.218 333.718 344.61 350.826 357.826 361.326 365.218 371.434 378.434 382.326 388.542 393.988">PUBLICATION ERROR: In module memory map tables,</tspan><tspan y="267.85" x="72.002 76.664 82.880008 89.880008 93.772 99.218 103.11 109.326007 113.98801 117.48801 122.15001 128.36602 133.81201 140.02802 143.92002 147.42002 154.42002 160.63602 164.52802 171.52802 177.74402 183.19002 186.69002 197.58202 203.79802 210.79802 214.29802 221.29802 227.51403 231.01403 234.90602 241.90602 248.12203 255.12203 259.78404 264.446 270.66203 276.87803 280.77003 284.27003 287.77003 295.55403 301.77003 307.98603 311.48603 315.37803 322.37803 328.59403 332.09403 335.98603 342.98603 349.98603 353.87803 360.87803 364.77003 371.77003 378.77003 384.98603">register reset values may be incorrect. See the individual</tspan><tspan y="283.85" x="72.002 76.664 82.880008 89.880008 93.772 99.218 103.11 109.326007 113.98801 117.48801 124.48801 128.38 134.59601 141.59601 146.25801 152.47402 163.36602 168.81201 172.31201 176.97402 183.97402 188.63602 192.13602 198.35202 204.56803 210.78403 217.78403 222.44603 228.66204 232.55403 238.77004 242.27004 246.93204 253.14804 258.59407 264.81007 268.70207 272.20207 276.09407 283.09407 287.75605 294.75605 299.41804 310.31004 316.52604 320.41804 324.31004 331.31004 338.31004">register diagrams for accurate reset information.</tspan><tspan y="308.25" x="0 8.554 15.554 21.77 25.27 32.27 38.486 43.148 47.04 54.04 61.04 67.256008 71.91801 78.13401 82.02601 85.52601 92.52601 97.18801 101.08001 108.08001 115.08001 121.29601 124.79601 131.01201 138.01201 145.01201 152.01201 158.22801 162.89002 166.78202 172.22801 175.72801 179.62001 186.62001 192.83602 196.33602 202.55202 207.21402 214.21402 219.66002 225.10602 232.10602 238.32202 242.98403 246.48403 251.93003 262.03804 265.93003 269.82203 276.03804 283.03804 286.53804 290.43003 297.43003 301.32203 307.53804 312.2 316.862 323.078 329.294 335.51 339.01 342.902 349.902 353.402 359.618 366.618 370.118 374.01 381.01 384.902 391.118 395.78 400.442 406.658 412.874 419.09 422.59 426.482 433.482 439.698 443.59 447.09 453.306 459.522">The peripheral bridge converts the crossbar switch interface to an interface that can</tspan><tspan y="324.25" x="0 6.2160007 12.432001 18.648003 24.864003 30.310004 35.756006 39.256006 45.472005 48.972005 59.864007 66.08001 69.97201 76.97201 81.63401 85.52601 89.41801 96.41801 99.91801 106.91801 111.58001 115.08001 120.52601 124.41801 130.634 137.634 143.85 147.35 154.35 160.56601 165.22801 169.12001 176.12001 183.12001 189.33602 193.99802 200.21402 204.10602 209.55202 213.05202 220.05202 227.05202 230.55202 234.44402 241.44402 247.66002 251.16002 258.16004 264.37605 271.37605 275.26805 281.48405 287.70005">access a majority of slave peripherals on the device.</tspan><tspan y="348.65" x=".00003 8.554029 15.554029 21.770031 25.270031 32.27003 38.48603 43.14803 47.04003 54.04003 61.04003 67.256038 71.91804 78.13404 82.02604 85.52604 92.52604 97.18804 101.08004 108.08004 115.08004 121.29604 124.79604 130.24205 137.24205 144.24205 151.24205 158.24205 162.90406 166.79605 172.24205 175.74205 182.74205 189.74205 193.24205 197.13405 204.13405 207.63405 214.63405 221.63405 228.63405 232.13405 239.13405 245.35005 250.01206 253.90406 260.90406 267.90406 274.12007 278.78205 284.99806 288.89006 294.33607 297.83607 301.33607 307.55207 313.76808 319.98408 326.98408 330.48408 340.59208 344.48408 348.37608 355.37608 358.87608 365.09208 368.59208 375.59208 385.70008 390.36207 397.36207 404.36207 408.25407 414.47007 417.97007 424.18608 431.18608 438.18608 442.84806 449.06407 454.51008 459.9561 463.4561 468.9021 475.9021 482.1181 488.3341 494.5501">The peripheral bridge supports up to 128 peripherals, each with a 4K-byte address space.</tspan><tspan y="364.65" x=".00006 4.6620604 14.7700619 21.770062 25.662062 29.162062 35.378065 39.270067 43.162069 46.662069 53.662069 59.878068 64.54007 68.43207 75.43207 82.43207 88.64807 93.310077 99.52608 103.418079 106.918079 112.364078 116.25607 123.25607 127.14807 132.59407 136.09407 146.98607 150.87807 157.87807 164.87807 168.77007 172.27007 179.27007 185.48607 188.98607 195.98607 201.43207 207.64807 214.64807 218.14807 221.64807 229.43207 235.64807 241.86408 245.36408 249.25608 256.25608 262.47209 265.97209 272.18809 279.18809 283.08009 290.08009 293.58009 299.79609 306.79609 313.79609 318.45808 322.35008 329.35008 336.35008 341.01206 347.22807 351.12007 355.01206 362.01206 369.01206 372.51206 378.72807 385.72807 391.94407 398.94407 402.83607 409.05207 413.71406 417.21406 423.43006 430.43006 437.43006 440.93006 451.82206 458.03807 468.93006 475.93006 480.59205">(Not all peripheral slots might be used. See the chip configuration chapter and memory</tspan><tspan y="380.65" x=".00010999999 10.892111 17.108113 24.108113 27.608113 33.824113 40.824113 47.04011 54.04011 57.932115 64.14812 68.81012 72.31012 76.97212 83.97212 88.634128 92.134128 99.134128 105.35013 109.24213 115.45813 119.35013 123.24213 128.68813 132.18813 139.18813 146.18813 149.68813 155.13413 159.02613 166.02613 169.91812 173.41812 179.63413 185.08013 190.52613 194.41812 201.41812 208.41812 219.31012 225.52613 232.52613 236.41812 239.91812 244.58013 248.08013 256.63414 263.63414 269.85014 273.35014 280.35014 285.01213 288.9041 295.9041 302.9041 309.12013 312.62013 316.51213 323.51213 329.72813 333.62013 340.62013 347.62013 353.83613 359.28215 362.78215 368.22816 374.44416 381.44416 387.66017 392.32215 398.53816 402.43016 408.64616 412.14616 418.36216 422.25416 429.25416 435.47016 442.47016 445.97016 452.18617 459.18617 465.40217 472.40217 476.29417">map chapter for details on slot assignment.) The bridge includes separate clock enable</tspan><tspan y="396.65" x=".00016 3.8921605 10.89216 17.89216 24.89216 28.78416 34.23016 37.73016 42.39216 49.39216 54.054159 57.554159 63.770158 69.98616 76.20216 83.20216 86.70216 93.70216 98.36417 101.86417 105.756168 112.756168 118.97217 122.47217 127.91817 131.81017 138.81017 142.70217 148.14817 151.64817 155.54016 162.54016 166.04016 172.25617 178.47217 184.68817 191.68817 202.58017 213.47217 220.47217 227.47217 233.68817 237.58017 243.79618 247.29618 252.74217 256.6342 263.6342 273.7422 279.9582 284.62019 288.12019 295.12019 301.33619 305.99818 309.89018 316.89018 323.89018 330.10618 334.76817 340.98417 344.87617 350.32218">inputs for each of the slots to accommodate slower peripherals.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 510.19999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00184 9.77416 18.670163 27.566163 32.89416 42.670164 48.89416 57.79016">Features</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 729.26937)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.01001 137.23001 142.79001 148.35 151.13 157.8 163.91 170.02 173.35 179.46 185.02 193.91 196.69 199.47 205.03 207.81 215.03 220.59 223.92 229.48 233.37 238.93 245.04 250.59999 256.16 258.94 267.27 272.83 278.93998 285.04997 290.60997 293.38996 296.16996 298.94996 306.16996 311.72996 317.28996 320.06996 322.84996 328.40995 331.18995 336.74995 342.85993 348.9699 351.7499 357.3099 362.8699 368.4299">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 391.68 746.0867)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">425</tspan></text>
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