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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_110.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

202 lines
39 KiB (Stored with Git LFS)
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Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 82)" 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">3.5.3.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 82)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.005001 20.835003 31.665005 44.160005 48.330007 56.670007 65.01001 73.35001 81.69002 90.03002 98.370029 106.71003">SRAM accesses</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="57.85" x="-.002 8.552 15.552 21.768002 25.268002 33.052003 42.390005 52.498006 64.94401 68.44401 72.336009 77.782009 81.282009 86.728008 93.728008 97.62 101.512 105.404 108.904 112.796 119.796 123.687999 130.68799 134.18799 138.07999 148.18799 155.18799 158.68799 162.57999 169.57999 176.57999 180.47199 186.68799 192.90399 196.79599 200.29599 206.512 211.174 215.836 222.052 229.052 234.498 237.998 241.89 248.89 255.106 258.99803 262.49803 268.71403 273.376 279.592 283.092 290.092 297.092 301.754 308.754 312.646 316.538 321.984 325.484 335.592 339.484 346.484 352.7">The SRAM is split into two logical arrays that are 32-bits wide.</tspan><tspan y="73.85" x="13.10202 23.994023 31.778023 41.116025 51.224027 63.67003 70.67003 79.22403 82.72403 96.72403 100.22403 110.33203 116.548038 122.76404 128.98004 134.42604 139.87204 143.76404 150.76404 154.65604 160.87204 164.37204 171.37204 178.37204 181.87204 185.76404 192.76404 198.98004 202.48004 208.69605 215.69605 222.69605 228.91205 232.41205 239.41205 246.41205 251.85805 255.35805 262.35804 267.02003 270.52003 274.41203 281.41203 287.62803 291.12803 300.46604 307.46604 312.12803 316.02003 322.23603 329.23603 333.898 346.34403 353.34403 356.84403 363.06004 370.06004 374.72203 380.93803 384.43803 390.65403 397.65403 404.65403 408.15403 415.15403 422.15403 425.65403 429.54603 436.54603 442.76203 446.26203 453.26203 459.47804 465.69404 472.69404 479.69404 486.69404 493.69404">&#x2022;SRAM_L &#x2014; Accessible by the code bus of the Cortex-M4 core and by the backdoor</tspan><tspan y="89.85" x="23.994042 30.994042 37.99404 42.65604 46.548044">port.</tspan><tspan y="105.85" x="13.102041 23.994042 31.778042 41.116044 51.224046 63.670045 70.670047 80.778049 84.278049 98.278049 101.778049 111.88605 118.10205 124.318058 130.53406 135.98006 141.42606 145.31806 152.31806 156.21006 162.42606 165.92606 172.92606 179.92606 183.42606 187.31806 194.31806 200.53406 204.03406 209.48006 216.48006 221.92606 225.81806 232.03406 242.92606 246.42606 253.42606 260.42607 265.87208 269.37208 276.37208 281.03407 284.53407 288.42607 295.42607 301.64207 305.14207 314.48008 321.48008 326.14207 330.03407 336.25007 343.25007 347.91206 360.35807 367.35807 370.85807 377.07408 384.07408 388.73606 394.95207 398.45207 404.66807 411.66807 418.66807 422.16807 429.16807 436.16807 439.66807 443.56007 450.56007">&#x2022;SRAM_U &#x2014; Accessible by the system bus of the Cortex-M4 core and by the</tspan><tspan y="121.85" x="23.994072 30.994072 37.21007 43.42607 50.42607 57.42607 64.42607 71.42607 76.08807 79.58807 86.58807 93.58807 98.25008 102.142078">backdoor port.</tspan><tspan y="147.85" x="-.0019187927 8.552081 15.552081 21.768082 25.268082 32.26808 38.48408 44.70008 51.70008 58.70008 65.70008 72.70008 77.36208 80.86208 87.86208 94.86208 99.524089 103.416088 106.916088 117.80808 124.024089 131.02408 137.24008 142.68608 146.18608 150.07808 157.07808 163.29409 166.79409 174.57808 183.91608 194.02408 206.47008 209.97008 216.18608 222.40209 228.61809 234.83409 240.28009 245.72609 249.61809 256.6181 260.5101 266.7261 270.2261 274.1181 281.1181 284.6181 288.5101 295.5101 301.7261 305.2261 312.2261 319.2261 326.2261 330.8881 337.1041 344.1041 348.76609 354.9821 358.4821 365.4821 372.4821 377.9281 381.4281 392.3201 398.5361 403.98213 407.8741 414.09013 418.7521 424.19813 427.69813 432.3601 437.80613 444.80613 451.02214 458.02214 461.52214 467.73814">The backdoor port makes the SRAM accessible to the non-core bus masters (such as</tspan><tspan y="163.85" x="-.0019087928 10.1060919 22.552094 32.660097 37.322095">DMA).</tspan><tspan y="188.25" x="-.0019087928 8.552091 15.552091 21.768092 25.268092 29.930092 36.93009 40.822095 44.714097 51.714097 61.822099 65.714099 72.714099 79.714099 83.214099 87.8761 91.7681 98.7681 105.7681 110.4301 116.6461 120.1461 124.0381 127.9301 131.8221 138.8221 144.2681 148.1601 152.8221 159.0381 162.9301 169.1461 174.5921 178.0921 181.9841 188.9841 195.2001 198.7001 206.4841 215.8221 225.9301 238.3761 241.8761 248.0921 254.3081 260.5241 266.7401 272.18614 277.63215 283.84815 289.29417 292.79417 302.90217 306.79417 310.68617 317.68617 321.57817 328.57817 332.07817 335.97016 342.97016 349.18617 352.68617 359.68617 365.90217 372.90217 376.79417 383.01017 389.22618">The following figure illustrates the SRAM accesses within the device.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 53.999986)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="395.9836" x="152.30399 159.63599 162.97199 170.30399 177.63599 182.30399 188.97599 192.31198 198.98398 202.97998 209.65198 216.32398 219.65998 222.99597 230.99997 239.66397 248.32798 258.32398 261.65998 268.33198 275.00398 281.67597 288.34797 295.01997 301.69197 305.02796 312.35997 315.69596 322.36796 329.69996 334.36796 341.03996">Figure 3-26. SRAM access diagram</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 53.999986)" font-size="14" font-family="TimesLTStd"><tspan y="422.41645" x=".000030517579 8.55403 15.55403 21.770031 25.270031 29.932032 36.93203 40.82403 44.716035 51.716035 61.824037 65.716037 72.716037 79.716037 83.216037 88.66203 92.55403 103.44603 110.44603 114.33803 118.23003 124.44603 131.44603 137.66204 144.66204 151.66204 157.10803 160.60803 166.82404 173.04004 179.25605 185.47205 190.91805 196.36405 202.58005 208.02605 211.52605 217.74205 223.95806 230.95806 234.45806 241.45806 247.67406 251.17406 262.06608 268.28208 275.28208 281.49809 284.99809 288.89009 295.89009 299.39009 306.39009 310.28208 314.94407 319.60606 325.82206 330.48405 336.70005 343.70005 347.59205 351.09205 354.98405 361.98405 368.98405 372.87605 379.09205 385.30805 389.20005 392.70005 399.70005 405.91606 409.80805 416.80805 423.02406 428.47007 431.97007 438.97007 443.63206 447.13206 451.02406 458.02406">The following simultaneous accesses can be made to different logical halves of the</tspan><tspan y="438.41645" x=".000050517579 7.7840516 17.122054 27.230053 39.676057">SRAM:</tspan><tspan y="454.41645" x="13.104051 23.996052 33.334054 40.334054 44.99605 51.21205 54.71205 60.92805 67.928058 74.928058 81.14406 84.64406 90.86006 97.86006 104.86006 108.36006 114.576068 121.576068 126.23807 132.45407 135.95407 141.40007 148.40007 153.84607 157.73807 163.95407">&#x2022;Core code and core system</tspan><tspan y="470.41645" x="13.104051 23.996052 33.334054 40.334054 44.99605 51.21205 54.71205 60.92805 67.928058 74.928058 81.14406 84.64406 90.86006 97.86006 104.86006 108.36006 115.36006 122.36006 129.36006 134.02207 140.23807 147.23807 151.90007 158.11608 161.61608 172.50807 178.72408 184.17008 188.06208 194.27808">&#x2022;Core code and non-core master</tspan><tspan y="486.41645" x="13.104051 23.996052 33.334054 40.334054 44.99605 51.21205 54.71205 60.15805 67.15805 72.60405 76.49605 82.71205 93.60405 97.10405 103.32005 110.32005 117.32005 120.82005 127.82005 134.82006 141.82006 146.48206 152.69806 159.69806 164.36006 170.57607 174.07607 184.96807 191.18407 196.63007 200.52207 206.73807">&#x2022;Core system and non-core master</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 17.999985)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 7.4970009 12.501001 20.502003 26.001004 29.502003 32.004 37.008005 42.012006 44.514005 49.518007 55.017007 60.516008 63.018007 71.019008 76.023 84.024 89.523 93.024 98.028 100.53 103.032 108.531 111.528 116.532 120.033 123.03 128.034 133.038 138.04199">Memories and memory interfaces</tspan></text>
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