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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_111.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

668 lines
58 KiB (Stored with Git LFS)
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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">3.5.3.5</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 62.505006 71.670009 75.840007 80.83501 86.670009 95.01001 100.00501 104.17501 113.34001 122.50501 126.67501 135.01502 144.18001 153.345 157.515 166.68 172.515 176.685 185.84999 191.685 195.855 200.84999 209.18999 213.35999 221.69998 230.86498 240.02997 245.02497 250.85997 260.02497">SRAM arbitration and priority control</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="64.25" x=".00101 8.55501 15.55501 21.771012 25.271012 37.71701 47.05501 59.501016 62.021017 67.46702 70.96702 78.75102 88.08902 98.19702 110.64302 120.75102 128.53502 132.03502 136.69702 142.91303 149.91303 153.80503 159.25102 163.14302 169.35903 174.02103 177.52103 183.73703 190.73703 197.73703 201.62903 206.29103 213.29103 217.18303 222.62903 226.12903 230.02103 237.02103 243.23703 246.73703 252.95304 257.61503 264.61503 268.50703 272.39903 277.061 283.277 287.169 291.061 298.061 305.061 308.561 314.777 321.777 328.777 332.277 339.277 343.939 347.831 354.831 359.49299 363.38499 367.27699 374.27699 377.77699 383.223 389.439 396.439 402.655 413.547 419.763 425.209 428.709 433.371 440.371 445.033 448.533 452.425 459.425 465.641 469.141 473.033 483.141">The MCM's SRAMAP register controls the arbitration and priority schemes for the two</tspan><tspan y="80.25" x=".00104 7.785041 17.123044 27.231045 39.677049 43.177049 49.393049 54.055047 58.717046 64.933048 71.933048 77.37904">SRAM arrays.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 175.8)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00096 8.8950409 13.34304 22.23904 26.68704">3.5.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.75732 175.8)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00096 10.671041 22.223042 33.775045 47.103044 51.551046 63.103048 72.87904 82.655048 87.98305 94.20705 103.98305 108.431049 112.87904 121.77505 127.99905 132.44705 143.99906 153.77506 163.55106 168.87906 173.32706 183.10306 192.87906 199.10306 207.99906 213.32706 217.77506 227.55106">SRAM Controller Configuration</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="159.05" x="-.00096 8.55304 15.55304 19.44504 24.89104 28.39104 33.83704 40.05304 46.26904 50.16104 54.053045 61.053045 68.05304 71.55304 76.99904 83.99904 94.89104 105.783039 111.99904 116.66104 120.55304 126.76904 132.98505 138.43105 141.93105 148.93105 155.93105 166.03905 169.53905 173.43105 180.43105 186.64705 190.14705 201.03905 208.03905 215.03905 222.03905 225.93105 232.14705 235.64705 242.64705 248.86305 254.30905 257.80906 264.80906 271.02507 277.24107 284.24107 287.74107 293.95707 300.95707 307.95707 312.61906 316.51106 323.51106 330.51106 335.17304 341.38905 348.38905 351.88905 355.78105 362.78105 366.28105 370.17304 377.17304 383.38905 386.88905 393.10505 400.10505 403.99705 410.99705">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 54 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="279.33848" x="129.6426 136.9746 140.3106 147.6426 154.9746 159.6426 166.31459 169.65059 176.32259 180.31859 186.99059 193.66259 196.99858 200.33458 208.33858 217.00258 225.66658 235.66259 238.99858 245.67058 253.00258 260.33457 264.33058 268.99858 276.33058 279.66658 283.00257 289.67457 294.34257 297.67857 304.35057 311.68257 319.01457 323.01057 326.34657 333.67857 341.01057 345.67857 352.35057 356.34657 359.68257 367.01457">Figure 3-27. SRAM controller configuration</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 559.42129)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 13.344002 22.240002 26.688002">3.5.5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.757328 559.42129)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 10.672001 19.568 28.464 33.792 42.688 56.912004 61.360006 72.912 81.80801 91.58401 96.032009 104.92801 110.25601 119.152019 125.376018 129.82402 139.60002 144.04802 148.49602 157.39202 161.84001 173.39202 183.16802 192.94402 198.27202 202.72002 212.49602 222.27202 228.49602 237.39202 242.72002 247.16802 256.944">System Register File Configuration</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 53.99997)" font-size="14" font-family="TimesLTStd"><tspan y="542.67129" 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">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 54.000005 17.99997)" 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>
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<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32 751.7559)" 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>
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