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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_107.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

687 lines
61 KiB (Stored with Git LFS)
XML
Raw Blame History

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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="146.2786" x="106.62716 113.95916 117.29516 124.62716 131.95915 136.62715 143.29915 146.63515 153.30715 157.30315 163.97515 170.64714 173.98314 177.31914 184.65114 187.98714 194.65914 201.33113 208.66313 211.99913 222.66713 229.33913 240.00713 247.33913 252.00713 258.67915 262.01515 268.68714 276.01914 283.35115 287.34715 292.01515 299.34715 302.68315 306.01914 312.69114 317.35914 320.69514 327.36714 334.69914 342.03114 346.02714 349.36314 356.69514 364.02714 368.69514 375.36714 379.36314 382.69914 390.03114">Figure 3-23. Flash memory controller configuration</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 149.50003 214.86139)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="13.97521 21.307209 27.97921 35.31121 38.64721 45.31921 48.655214 55.327215 59.32321 65.99521 72.667209 85.003208 93.667209 100.3392 104.335208 111.0072 115.6752 122.3472 129.6792 136.3512 143.0232 146.35919 149.69519 153.03119 160.36319 167.03519 173.70719 177.04319 181.03919 188.37119 191.70719 196.37519 203.04718 206.38318 213.05518 217.05118 223.72318 231.05518 234.39118 237.72718 245.05918 249.05518 256.38719 261.05519 271.72319 278.39518 282.39118 285.72718 293.05918">Table 3-36.Reference links to related information</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 236.86139)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="36.9 42.399003 47.898004 53.397005 55.899003">Topic</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.3 236.86139)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="15.39 21.888 26.892003 29.394003 34.398004 37.395006 42.399007 47.898008 50.400007 58.401006 63.900007 69.399 74.898 77.4">Related module</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 258.1 236.86139)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="127.944 134.442 139.446 142.443 147.44699 150.948 155.952 161.45099 166.45499">Reference</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 252.86139)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="17.892 23.391 28.395 30.393002 32.391004 34.893 39.897005 44.901006 49.401006 53.901006 56.898008 58.896009 63.90001 66.40201 68.40001 73.40401">Full description</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 252.86139)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="19.647 25.146 27.144001 32.148004 36.648004 41.652006 44.154005 51.651006 56.655008 64.15201 69.156009 72.15301">Flash memory</tspan><tspan y="18.83789" x="29.646 34.146 39.15 44.154005 46.656003 49.653005 54.657007 56.655008 58.653009 63.65701">controller</tspan></text>
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 257.85 252.86139)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="100.692 106.191 108.189 113.193 117.693 122.697 125.199 132.696 137.7 145.19699 150.20099 153.19799 157.69799 160.19998 164.69998 169.70398 174.70798 177.20998 180.20697 185.21097 187.20897 189.20697 194.21097">Flash memory controller</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 279.3614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="5.643 11.646 16.146 20.646 23.148 28.152 35.649003 38.151 45.648004 50.652006 58.149007 63.153009 66.15001 70.65001 73.15201 80.64901 85.65301">System memory map</tspan></text>
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 257.85 279.3614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="106.443 112.446 116.946 121.446 123.948 128.952 136.44899 138.95099 146.44799 151.45198 158.94898 163.95298 166.94997 171.44997 173.95197 181.44896 186.45296">System memory map</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 294.8614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.897 37.395 39.393 44.397005 48.897005 53.397005 55.395006 60.399007">Clocking</tspan></text>
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 257.85 294.8614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="113.949 120.447 122.445 127.449 131.949 136.449 138.951 145.449 147.447 151.947 154.449 157.446 159.444 164.448 169.452 171.954 173.952 178.956">Clock Distribution</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 310.3614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="29.151 34.649999 37.647 42.651 47.655004 52.155004 54.657 59.661005 62.658006">Transfers</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 310.3614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="19.647 25.146 27.144001 32.148004 36.648004 41.652006 44.154005 51.651006 56.655008 64.15201 69.156009 72.15301">Flash memory</tspan></text>
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 257.85 310.3614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="120.44701 125.94601 127.94401 132.94802 137.44802 142.45201 144.95401 152.451 157.455 164.952 169.956 172.95299">Flash memory</tspan></text>
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<path transform="matrix(1,0,0,1,54,323.6114)" d="M.25 .25H100.55V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 325.8614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="29.151 34.649999 37.647 42.651 47.655004 52.155004 54.657 59.661005 62.658006">Transfers</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 325.8614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="38.151 45.648004 51.651">MPU</tspan></text>
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 257.85 325.8614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="138.95099 146.44799 152.45099">MPU</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 425.3614)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 12.510002 20.850003 25.020003 33.360006 37.530008">3.5.2.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 425.3614)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.830001 19.995 33.33 42.495004 50.835004 56.670003 60.840005 70.005008 75.00001 79.170009 92.505008 100.84501 109.18501 114.180019 122.52002 128.35503">Number of masters</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="407.6114" x="-.00098 8.55302 15.55302 21.76902 25.26902 33.05302 36.945024 43.161024 48.60702 55.60702 59.10702 71.553028 77.76903 88.661029 95.661029 100.32303 107.32303 110.82303 120.161029 127.161029 134.16103 138.05303 142.71503 149.71503 153.60703 157.49903 163.71503 168.37703 171.87703 177.32303 184.32303 191.32303 198.32303 205.32303 209.98503 213.87703 219.32303 222.82303 229.82303 236.82303 240.32303 244.21503 251.21503 254.71503 260.93104 264.82304 271.82304 278.82304 282.71504 286.21504 292.43104 297.09303 304.09303 309.53904 314.98506 321.98506 328.20106 332.86305 336.36305 341.80906 351.91706 355.80906 359.70106 365.91706 372.91706 376.41706 387.30906 393.52507 398.97108 402.86308 409.07908 413.74107 419.18708 422.68708 426.18708 436.29508 443.29508 453.40309 459.61909 466.61909 472.83509 477.49708">The Flash Memory Controller supports up to eight crossbar switch masters. However,</tspan><tspan y="423.6114" x="-.00098 3.8910206 10.891021 14.783021 20.229022 23.729022 30.729022 36.945024 43.945024 47.837026 54.053026 60.269025 63.769025 70.76903 76.98503 82.43103 85.93103 92.14703 95.64703 102.64703 106.53903 111.201038 115.86304 122.07904 126.74104 132.95705 139.95705 143.84905 147.34905 154.34905 161.34905 172.24105 179.24105 185.45705 190.11905 193.61905 200.61905 205.28105 208.78105 214.99706 219.65906 226.65906 232.10506 237.55106 244.55106 250.76706 255.42906 258.92909 264.3751 274.4831 278.3751 282.2671 288.4831 295.4831 298.9831 309.8751 316.0911 321.5371 325.4291 331.6451 336.3071 341.7531 345.2531 348.7531 356.5371 362.7531 368.96913">this device has a different number of crossbar switch masters. See </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="423.6114" x="372.46903 381.80705 386.46903 393.46903 398.91505 404.36106 411.36106 417.57707 422.23905 425.73905 433.52305 443.63105 447.52305 451.41505 457.63105">Crossbar Switch</tspan><tspan y="439.6114" x="-.00091552737 9.337086 16.337086 23.337086 27.999087 31.891087 38.891088 45.891088 50.553087 56.769086 60.661088 64.553089 71.553089">Configuration</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="439.6114" x="78.55308 82.05308 86.71508 93.71508 98.37708 101.87708 108.87708 115.09309 118.985088 125.20109 129.0931 132.98509 138.43109 141.93109 148.93109 155.93109 159.43109 163.32309 170.32309 176.5391 180.0391 190.93109 197.1471 202.5931 206.48509 212.7011 217.3631 220.8631 227.8631 234.8631 239.5251 243.4171 246.9171 253.1331 258.5791 264.02513 267.9171 274.9171 281.9171 292.8091 299.02513 306.02513 309.9171 315.36314"> for details on the master port assignments.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 534.1614)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00694 8.333061 12.503061 20.843064 25.013064 33.353067 37.523069">3.5.2.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 534.1614)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00695 9.998051 15.833052 24.99805 34.16305 39.99805 48.33805 61.67305 65.84305 75.00805 79.17805 87.51805 95.858058 105.023059 109.193058 119.19806 130.86806 139.20806">Program Flash Swap</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="516.4114" x=".00107 10.109071 17.10907 20.60907 27.60907 33.82507 40.82507 44.71707 50.93307 57.14907 62.59507 66.09507 69.98707 76.98707 83.20307 87.09507 90.59507 96.81107 103.81107 110.81107 114.70307 120.919078 124.81107 131.81107 135.31107 142.31107 146.97307 153.97307 160.97307 165.63507 171.85108 182.74308 186.24308 190.90508 194.79708 201.01308 206.45908 213.45908 216.95908 227.85108 234.06708 244.95908 251.95908 256.62107 263.62107 267.12107 274.12107 281.12107 285.01307 292.01307 295.51307 299.01307 302.90507 309.90507 316.12107 319.62107 326.62107 331.28306 338.28306 345.28306 349.94505 356.16105 367.05305 370.55305 375.21504 379.10704 385.32304 390.76905 397.76905 401.26905 412.16105 418.37705 429.26905 436.26905 440.93104 447.93104 451.43104 458.43104 462.32304 469.32304 475.53904 482.53904">On devices that contain program flash memory only, the program flash memory blocks</tspan><tspan y="532.4114" x=".0011 10.893101 17.1091 24.1091 27.6091 33.0551 43.1631 49.3791 56.3791 59.8791 63.771104 70.7711 76.98711 80.879108 85.54111 89.04111 96.04111 102.25711 107.70311 113.91911 117.41911 123.63512 130.63512 137.63512 142.29712 148.51313 153.95912 159.40512 165.62113 171.06713">may swap their base addresses.</tspan><tspan y="556.8114" x=".0011 13.2171 20.2171 24.1091 28.0011 34.217103 37.717103 44.717103 51.717103 55.609106 59.109106 66.1091 71.5551 75.4471 82.4471 89.4471 92.9471 98.3931 108.5011 114.7171 121.7171">While not using swap:</tspan><tspan y="581.2114" x=".0011 4.6631004 9.3251 12.8251 18.271101 28.3791 34.5951 41.5951 45.0951 48.987104 54.4331 57.9331 64.933109 70.379108 76.59511 83.59511 87.09511 90.59511 94.48711 101.48711 107.70311 111.20311 118.20311 125.20311 132.20311 139.20311 144.64911 148.5411 152.4331 158.64911 162.14911 166.0411 171.4871 174.9871 178.8791 183.5411 190.5411 196.75711">If swap is used, the opposite is true:</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 676.7615)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00691 8.889091 13.337091 22.233094 26.681094">3.5.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.75732 676.7615)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00691 10.665091 22.21709 33.769094 47.09709 51.545095 63.097097 72.87309 82.64909 87.9771 92.425098 102.201099 111.9771 118.201099 127.0971 132.4251 136.8731 146.6491">SRAM Configuration</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="660.0115" x=".0031 8.5571 15.5571 19.4491 24.895102 28.395102 33.841104 40.057104 46.2731 50.165105 54.057107 61.057107 68.057109 71.557109 77.003108 84.003108 94.8951 105.7871 112.003108 116.66511 120.557109 126.77311 132.9891 138.4351 141.9351 148.9351 155.9351 166.0431 169.5431 173.4351 180.4351 186.65111 190.15111 201.0431 208.0431 215.0431 222.0431 225.9351 232.15111 235.65111 242.65111 248.86711 254.31311 257.8131 264.8131 271.0291 277.24513 284.24513 287.74513 293.96113 300.96113 307.96113 312.6231 316.5151 323.5151 330.5151 335.1771 341.3931 348.3931 351.8931 355.7851 362.7851 366.2851 370.1771 377.1771 383.3931 386.8931 393.1091 400.1091 404.0011 411.0011">This section summarizes how the module has been configured in the chip.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01031" 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 53.999998 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 53.999998 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="151.308 156.312 161.316">107</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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