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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_117.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

141 lines
23 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="11.85" x="0 8.554 15.554 21.77 26.432002 32.648004 37.31 44.31 48.972 55.188 58.688 62.188 69.188 74.634 80.850009 84.350009 88.242008 95.242008 101.45801 104.95801 114.296009 122.08001 129.86402 142.31002 151.64801 160.98601 164.48601 170.70201 177.70201 184.70201 188.20201 195.20201 202.20201 206.86402 210.75601 214.25601 220.47202 227.47202 234.47202 238.36402 243.02602 250.02602 253.91802 257.41804 262.08003 268.29603 275.29603 279.18803 284.63404 288.52604 294.74205 299.40403 304.85005 308.35005 312.24205 319.24205 322.74205 328.95805 335.95805 342.95805 347.62004 351.51203 358.51203 365.51203 370.174 376.39 379.89 389.99803 396.99803 400.89 407.10603 414.10603 417.60603 423.82203 430.82203 437.82203 441.71403 446.376 453.376 457.268 460.768 466.21403 470.10603 477.10603 484.10603 490.32203">Therefore, use the CSPMCR and port control registers to configure which control signal</tspan><tspan y="27.85" x="0 3.8920005 9.338001 12.838001 19.054 26.054 32.27 36.162004 40.054006 46.270006 53.270006 57.162008 63.378007 66.878009 73.878009 80.878009 84.378009 88.270008 95.270008 101.48601 104.98601 111.20201 118.20201 122.09401 128.31002 132.97202 139.97202 146.18802 150.08002 153.58002 160.58002 164.47202 171.47202 174.97202 178.47202 188.58002 192.47202 196.36402 199.86402 206.08002 213.08002 220.08002 223.97202 228.63402 235.63402 239.52602 243.02602 248.47202 252.36402 259.364 266.364 272.58003 276.47203 281.91804 285.41804 288.91804 295.13404 302.13404 308.35005 314.56605 321.56605 325.45805 328.95805 333.62004 340.62004 345.282">is available on the external pin. All control signals, except for </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="27.85" x="348.782 356.566 365.90403 372.90403 381.458 391.566 395.066 398.566 404.782 409.444 415.66 419.16 425.376 430.82203 436.26805 440.16004 447.16004 454.16004 460.37605 467.37605 470.87605 474.76805 481.76805 485.26805 489.16004 496.16004">FB_TA, are assigned to the</tspan><tspan y="43.85" x="0 10.108001 18.662 27.216 34.216 37.716 42.378 49.378 56.378 62.593999 66.486 70.378 77.378 84.378 87.878 91.77 98.77 102.27 106.161998 113.161998 119.378 122.878 129.87799 136.87799 141.54 145.43199 148.93199 155.148 162.148 169.148 173.04 177.702 184.702 188.594 192.094 202.986 209.986 216.986 223.986 227.87799 234.094 237.594 241.094 248.87799 252.76999 259.77 265.986 272.202 275.702 279.202 286.202 293.202 297.094 300.986 307.986 314.202 317.702 321.594 328.594 334.81 338.31 345.31 349.202 356.202 362.418 367.08 370.58 376.796 383.796 390.796 394.688 399.34999 406.34999 410.24198 413.74198 419.188 423.08 430.08 437.08 443.296 447.188 452.634 456.134">ALT5 function in the port control module. Since, unlike the other control signals, </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="43.85" x="459.634 467.418 476.756 483.756 492.31">FB_TA</tspan><tspan y="59.85" x="0 3.8920005 9.338001 12.838001 19.054 26.054 29.554 33.446004 40.446004 47.446004 54.446004 58.338006 61.838006 67.284008 71.176 78.176 85.176 91.392009 95.284008 98.784008 102.284008 106.176 110.068 113.568 117.46 122.906 126.406 132.622 138.068 143.51399 147.40599 154.40599 161.40599 167.622 174.622 178.122 182.01399 189.01399 192.51399 196.40599 203.40599 209.622 213.122 223.23 231.784 240.338 247.338 250.838 255.5 262.5 269.5 275.716 279.608 283.5 290.5 297.5">is an input signal, it is assigned to the ALT6 function.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 154.4)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00501 8.334991 12.504992 20.844994 25.014994 33.354997 37.524999">3.5.8.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 154.4)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00501 9.15999 13.32999 21.66999 30.00999 40.839994 50.004995 58.344995 62.514997 73.34499 83.34999 94.17999 105.009998 113.35 117.52 123.354999 131.69499 140.03499 148.37499 153.36998 157.53998 165.87998 174.21997 178.38997 187.55496">FlexBus CSCR0 reset value</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 53.999994)" font-size="14" font-family="TimesLTStd"><tspan y="136.65001" x="-.007 10.101001 17.101002 20.601002 24.493002 31.493002 35.385004 40.831 44.331 51.331 57.547 64.547 68.438999 74.655 80.871 84.371 88.263 95.263 101.479007 104.979007 114.317 122.101009 131.43901 140.77701 147.77701 151.27701 155.93901 162.15502 167.60102 173.81702 177.70902 183.15502 186.65502 190.54701 197.54701 201.04701 208.04701 215.04701 222.04701 229.04701 236.04701 243.83101 250.83101 258.61503 267.95304 274.95304 281.95304 285.45304 288.95304 298.29106 305.29106 312.29106 316.95304 320.84504 327.84504 334.84504 339.50703 345.72303 349.22303 353.11503 360.11503 364.00703 369.45304 372.95304 377.61503 383.83103 390.83103 394.72303 400.16905 404.06105 410.27705 414.93904 418.43904 424.65504 430.10105 433.60105 440.60105 446.81706 453.03306 460.03306 466.24906">On this device the CSCR0 resets to 0x003F_FC00. Configure this register as needed</tspan><tspan y="152.65001" x="-.0069500005 6.99305 13.209051 17.871052 24.871052 29.533053 35.749055 39.249055 46.249055 52.465055 57.127054 61.78905 68.78905 73.45105 84.34305 88.23505 95.23505 102.23505 105.73505 111.95105 118.95105 125.95105 129.45105 137.23505 141.12705 147.34305 154.34305 163.68105 170.68105 176.12705 179.62705 185.84305 192.05905 198.27506 204.49106 209.93706 215.38306">before performing any FlexBus access.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 247.19998)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00305 8.343051 12.513052 20.853055 25.023055 33.363058 37.53306">3.5.8.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 247.19998)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00305 9.16805 13.338051 21.678051 30.018052 40.848054 50.013055 58.353055 62.523057 72.52806 80.868068 89.20807 98.37307 104.20807 108.37807 113.37307">FlexBus Security</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 53.999986)" font-size="14" font-family="TimesLTStd"><tspan y="229.45" x="-.00295 13.213051 20.21305 26.42905 33.42905 36.92905 42.37505 48.59105 54.80705 61.80705 66.46905 70.361049 74.253047 81.253047 84.753047 88.64504 94.09104 97.59104 103.807048 110.807048 117.02305 124.02305 127.91505 134.13105 141.13105 144.63105 151.63105 158.63105 162.13105 166.02304 173.02304 179.23905 182.73905 189.73905 195.95505 202.95505 206.84705 213.06305 219.27906 222.77906 226.27906 234.06305 237.95505 244.17105 251.17105 260.50907 267.50907 272.95509 276.45509 282.67109 288.8871 295.1031 301.3191 306.7651 312.21113 318.42713 323.87315 327.37315 338.26515 344.48115 351.48115 354.98115 361.98115 368.19715 371.69715 376.35914 382.57514 388.02116 391.91316 396.57514 400.46714 406.68315 410.57514 416.79115 423.79115 427.29115 434.29115">When security is enabled on the device, FlexBus accesses may be restricted by</tspan><tspan y="245.45" x="-.00295 6.2130506 13.213051 20.21305 24.875052 28.767052 35.76705 42.76705 47.42905 51.321054 58.321054 65.32105 68.82105 72.71305 79.71305 85.929058 89.429058 97.21306 106.551059 114.33506 122.88906 126.38906 131.05106 134.94306 141.15906 145.05106 152.05106 155.55106 159.44306 166.44306 169.94306 173.83506 180.83506 187.05106 190.55106 198.33506 202.99706 215.44306 217.96306 223.40906 226.90906 234.69306 244.80106 252.58506 261.13905 268.13905 271.63905 276.30104 282.51704 289.51704 293.40904 298.85505 302.74705 308.96305 313.62504 317.12504 320.62504 328.40904 334.62504 340.84104">configuring the FBSL field in the SIM's SOPT2 register. See </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 53.999998 53.999986)" font-size="14" font-family="TimesLTStd"><tspan y="245.45" x="344.34104 352.12504 359.12504 364.57106 368.46305 374.67906 385.57106 389.07106 393.73304 400.73304 404.62504 410.84104 417.84104 422.50303 428.71903 432.61103 436.50303 443.50303 450.50303 454.00303 466.44905 473.44905 480.44905 487.44905 491.34104">System Integration Module</tspan><tspan y="261.44999" x="-.002960205 4.65904 12.443041 17.105042 29.551043">(SIM)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 53.999986)" font-size="14" font-family="TimesLTStd"><tspan y="261.44999" x="34.21305 37.71305 42.37505 49.37505 54.03705 57.53705 64.53705 70.75305 74.64505 80.86105 84.75305 88.64505 94.09105"> for details.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 355.99995)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00105 8.341051 12.511051 20.851052 25.021052 33.361055 37.531057">3.5.8.5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 355.99995)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00105 9.16605 13.33605 21.676053 30.016053 40.846055 50.011056 58.351057 62.521059 66.691059 70.86105 80.026058 88.36606 92.53606 97.53106 103.36606 111.70606 120.87106 129.21106 134.20606 142.54605 148.38106">FlexBus line transfers</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 53.99997)" font-size="14" font-family="TimesLTStd"><tspan y="338.24998" x=".00506 8.55906 12.45106 19.451062 25.66706 29.16706 33.059064 37.72106 43.93706 50.93706 56.38306 61.04506 67.26106 71.923069 77.369068 80.869068 87.08507 91.74707 97.96307 101.46307 108.46307 115.46307 119.35507 122.85507 129.85507 136.85507 142.30107 147.74707 151.63907 158.63907 162.53107 168.74707 172.24707 176.90908 181.57108 188.57108 199.46308 202.96308 206.85507 213.85507 220.07108 223.57108 233.67908 243.01708 255.46308 258.96308 268.3011 275.3011 279.96308 283.85508 290.07109 297.07109 301.73307 314.17909 321.17909 324.67909 330.89509 337.89509 342.55708 348.77308 352.27308 355.77308 360.43507 367.43507 374.43507 381.43507 386.09706 392.31306 395.81306 402.02906 409.02906 416.02906 419.52906 424.19105 430.40705 435.06904 441.28504 445.94703 452.16304 459.16304 465.37904 471.59504 477.04106 480.54106 484.43305">Line transfers are not possible from the ARM Cortex-M4 core. Ignore any references to</tspan><tspan y="354.24998" x=".00509 3.8970905 7.789091 14.789091 21.005093 24.505093 28.397093 33.059095 39.275094 46.275094 51.721094 56.38309 62.59909 67.26109 72.70709 76.20709 80.09909 87.09909 90.59909 94.49109 101.49109 107.70709 111.20709 118.9911 122.883098 129.09909 136.09909 145.43709 152.43709 157.88309 161.38309 167.59909 174.59909 180.8151 187.8151 191.70709 197.9231 202.5851">line transfers in the FlexBus chapter.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 91.803218 454.5999)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00591 11.333091 20.785092 30.237092 40.624094 47.23709 51.963094 57.624094">Security</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 517.3999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00409 8.900091 13.348091 22.244091 26.692091">3.6.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.75732 517.3999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00409 11.556091 23.108094 34.660097 39.108098 50.6601 60.4361 70.2121 75.5401 79.9881 89.7641 99.5401 105.7641 114.6601 119.988109 124.436107 134.2121">CRC Configuration</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 53.99997)" font-size="14" font-family="TimesLTStd"><tspan y="500.64994" x="-.00191 8.55209 15.55209 19.44409 24.89009 28.39009 33.83609 40.05209 46.26809 50.16009 54.052095 61.052095 68.05209 71.55209 76.99809 83.99809 94.89009 105.78209 111.99809 116.660099 120.55209 126.7681 132.9841 138.4301 141.9301 148.9301 155.9301 166.0381 169.5381 173.4301 180.4301 186.6461 190.1461 201.0381 208.0381 215.0381 222.0381 225.9301 232.1461 235.6461 242.6461 248.8621 254.3081 257.8081 264.8081 271.0241 277.2401 284.2401 287.7401 293.95613 300.95613 307.95613 312.6181 316.5101 323.5101 330.5101 335.1721 341.3881 348.3881 351.8881 355.7801 362.7801 366.2801 370.1721 377.1721 383.3881 386.8881 393.1041 400.1041 403.9961 410.9961 414.4961 417.9961 425.7801 432.7801 437.44209 440.94209">This section summarizes how the module has been configured in the chip. For a</tspan><tspan y="516.6499" x="-.00191 6.2140905 13.21409 24.10609 31.10609 35.76809 41.98409 48.98409 55.20009 62.20009 67.64609 71.538089 78.538089 84.75409 88.25409 95.25409 101.47009 106.91609 113.132099 117.7941 121.6861 128.6861 132.5781 136.4701 143.4701 150.4701 153.9701 160.9701 165.6321 169.1321 173.0241 180.0241 186.2401 189.7401 200.6321 207.6321 214.6321 221.6321 225.5241 231.7401 235.2401 239.1321 243.0241 248.4701 254.6861 258.5781 263.24009 266.74009 270.24009 275.6861 281.9021 288.1181 291.6181 295.5101 302.5101 308.7261 312.2261 323.1181 330.1181 337.1181 344.1181 348.0101 354.2261 358.8881 364.3341 367.8341 374.8341 381.0501 388.0501 391.9421 398.1581 404.3741 408.2661 414.48213 421.48213 424.98213 431.19813 438.19813 444.41413 451.41413 455.30613 461.52214 466.1841">comprehensive description of the module itself, see the module&#x2019;s dedicated chapter.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 17.99997)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01035" 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 54 763.7559)" 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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