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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

120 lines
18 KiB (Stored with Git LFS)
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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 17</tspan><tspan y="110.19531" x="0 16.660002 22.220002 33.340005 44.460008 55.58001 61.14001 66.70001 77.820018 90.040019 101.16002 113.38002 125.60002 136.72002 142.28002 156.72002 168.94002 181.16002 187.82003 195.60002 207.82003 213.38002 218.94002 235.60002 247.82003 260.04 272.26 277.82 288.94 294.5 301.16 317.82 332.26 348.92">Miscellaneous Control Module (MCM)</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=".008 9.460001 18.912003 23.638003">17.1</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=".00801 4.73401 15.12101 20.78201 27.39501 37.78201 48.16901 58.55601 68.00801 73.669017 78.39501 88.78201">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="232.561 242.669 253.561 262.115">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="71.99498 79.778987 86.778987 91.44099 94.94099 98.832988 105.832988 112.04899 115.54899 121.76499 128.76499 132.65699 139.65699 144.31899 149.76499 156.76499 162.98099 169.19699 173.08899 177.75099 181.64299 187.859 191.359 195.25099 206.14299 213.14299 217.03499 223.25099 234.14299 240.359 247.359 251.25099 257.46699 261.35899 265.25099 272.25099 279.25099 282.75099 289.75099 295.96699 299.85899 306.07499 309.96699 313.85899 319.305 322.805 329.805 334.46699 337.96699 341.85899 348.85899 352.75099 358.197 361.697 372.589 379.589 386.589 393.589 397.481 403.697 406.21699">For the chip-specific implementation details of this module's</tspan><tspan y="227.45" x="71.995 75.887 82.887 88.333 92.225 98.441 105.441 111.657009 117.87301 123.31901 126.81901 132.26502 138.48102 144.69702 148.19702 152.08902 159.08902 165.30503 168.80503 175.02103 182.02103 185.91303 192.91303 196.41303 202.62903 209.62903 216.62903 221.29103 225.18303 232.18303 239.18303 243.84503 250.06104 253.95304 257.84504 264.84504 271.84504 275.34504 279.23704 286.23704 290.89903 297.89903 302.561 313.453 319.669 323.561 327.453 334.453 341.453">instances see the chip configuration information.</tspan><tspan y="251.84999" x="71.99503 79.77904 89.88704 99.22504 107.77904 112.44104 121.77904 131.88704 140.44104 145.10305 155.21105 165.31905 168.81905 177.37305 186.71105 196.04904 206.15705 215.49504 219.38704 222.88704 227.54904 234.54904 238.04904 248.94104 255.94104 262.94105 269.94105 273.83305 280.04905 283.54905 294.44105 300.65705 311.54905 318.54905 323.21104 330.21104 333.71104 344.60304 350.81904 357.81904 361.31904 365.21104 371.42704 378.42704 382.31904 388.53504 393.98106">PUBLICATION ERROR: In module memory map tables,</tspan><tspan y="267.85" x="71.99503 76.657039 82.87304 89.87304 93.76504 99.21104 103.103038 109.31904 113.98104 117.48104 122.14304 128.35904 133.80504 140.02104 143.91304 147.41304 154.41304 160.62905 164.52104 171.52104 177.73705 183.18305 186.68305 197.57505 203.79105 210.79105 214.29105 221.29105 227.50705 231.00705 234.89905 241.89905 248.11505 255.11505 259.77705 264.43904 270.65504 276.87104 280.76304 284.26304 287.76304 295.54704 301.76304 307.97904 311.47904 315.37104 322.37104 328.58705 332.08705 335.97904 342.97904 349.97904 353.87104 360.87104 364.76304 371.76304 378.76304 384.97904">register reset values may be incorrect. See the individual</tspan><tspan y="283.85" x="71.995059 76.65706 82.87306 89.87306 93.76506 99.21106 103.10306 109.31906 113.981067 117.481067 124.481067 128.37306 134.58907 141.58907 146.25107 152.46707 163.35907 168.80507 172.30507 176.96707 183.96707 188.62908 192.12908 198.34508 204.56108 210.77709 217.77709 222.43909 228.65509 232.54709 238.76309 242.26309 246.9251 253.1411 258.5871 264.8031 268.6951 272.1951 276.0871 283.0871 287.74909 294.74909 299.41108 310.30308 316.51908 320.41108 324.30308 331.30308 338.30308">register diagrams for accurate reset information.</tspan><tspan y="308.25" x="-.0069122316 8.547088 15.547088 21.763089 25.263089 37.70909 41.601095 47.047094 53.263093 59.47909 63.371095 67.26309 73.479099 80.479099 86.6951 93.6951 100.6951 106.1411 109.6411 118.979099 125.979099 132.9791 136.8711 141.5331 148.5331 152.4251 155.9251 168.3711 175.3711 182.3711 189.3711 193.26309 199.4791 202.9791 207.6411 220.0871 229.4251 241.8711 246.5331 250.0331 257.03309 261.69508 268.69508 275.69508 279.58708 286.58708 292.80308 298.24909 301.74909 307.9651 311.4651 322.3571 329.3571 334.01908 337.91108 344.12709 351.12709 354.62709 361.62709 366.28907 369.78907 380.68107 384.57307 390.01908 396.23509 402.45109 406.34309 410.23509 416.45109 423.45109 429.66709 436.66709 443.66709 449.1131 452.6131 458.8291 465.8291 472.8291 476.7211 481.3831 488.3831">The Miscellaneous Control Module (MCM) provides a myriad of miscellaneous control</tspan><tspan y="324.25" x="-.006882231 4.655118 11.655118 18.655117 24.871117 28.763117 32.655118 39.655118 46.655118 52.101118">functions.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 437.8)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00111 8.897111 17.793112 22.241112 31.137112 35.585115">17.1.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 437.8)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00111 9.77711 18.673111 27.56911 32.89711 42.67311 48.89711 57.79311">Features</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="403.05" x="-.00688 8.54712 15.54712 21.76312 25.26312 37.70912 47.047124 59.493127 62.993127 66.885128 73.885128 80.10113 83.993129 90.993129 97.993129 104.20913 109.65513 113.15513 117.04713 124.04713 130.26313 133.76313 138.42513 145.42513 149.31713 153.20912 160.20912 170.31713 174.20912 181.20912 188.20912 191.70912 196.37113 202.58713 208.80313 212.69513 219.69513 224.35713 230.57314 236.01914">The MCM includes the following features:</tspan><tspan y="427.44999" x="13.09712 24.00312 31.78712 36.44912 43.44912 50.44912 55.11112 61.327119 72.21912 76.88112 83.88112 87.77312 93.21912 97.111118 104.111118 108.00311 114.21912 117.71912 121.611118 128.61112 133.27312 140.27312 144.93512 155.82712 162.04312 165.93512 169.82712 176.82712 183.82712 187.32712 194.32712 201.32712 204.82712 208.71912 215.71912 221.93512 225.43512 232.43512 236.32712 242.54312 246.43512 251.09712 258.0971 262.7591 273.6511 277.1511 283.3671 290.3671 297.3671 302.02909 305.92109 312.92109 319.92109 324.58308 330.79908 334.69108 338.58308 345.58308 352.58308 356.08308 362.29908 369.29908 376.29908 379.79908 384.46107 390.67707 397.67707 401.56907 407.01509 410.90708 417.90708">&#x2022;Program-visible information on the platform configuration and revision</tspan><tspan y="443.44999" x="13.097111 24.003113 33.341115 40.341115 47.341115 51.233118 55.895116 62.895116 66.78712 70.28712 76.50312 83.50312 90.50312 94.00312 100.219127 107.219127 114.219127 121.219127 125.11112 129.00313 136.00313 143.00313 146.50313 150.39513 157.39513 164.39513 168.28713 174.50313 178.00313 182.66513 189.66513 194.32714 197.82714 204.04314 214.93514 221.93514 228.15114 235.15114 242.15114 248.36714 255.36714 258.86714 262.75914 267.4211 273.63713 279.85313 286.06913 289.56913 296.56913 303.56913 308.2311 312.8931 319.1091 323.7711 327.2711 331.93309 340.48707 349.04106 358.37907 363.04106 366.54106 372.75706 376.64906 387.54106 394.54106 399.98707 403.87907 407.37907 412.04106 419.04106 422.93305">&#x2022;Control and counting logic for embedded trace buffer (ETB) almost full</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 563.39999)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".00611 9.458111 18.91011 23.63611">17.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 563.39999)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".00611 14.167111 23.619112 38.732114 49.119115 55.732114 65.18411 69.91011 85.02311 94.47511 104.862117 109.58811 116.20111 125.653118 136.04012 140.76612 150.21811 155.8791 165.3311 171.9441 176.6701 187.0571 196.5091 205.96109 215.41309 222.0261 226.75209 237.13909 242.80008 247.52608 257.9131 268.30009">Memory map/register descriptions</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="528.64999" x=".00612 8.56012 15.56012 21.77612 25.27612 36.16812 42.38412 53.276124 60.276124 64.938129 71.938129 75.438129 86.330127 92.54613 99.54613 103.04613 109.26213 116.26213 123.26213 126.76213 131.42414 137.64014 144.64014 148.53214 153.97814 157.87014 164.08614 168.74814 172.24814 179.24814 185.46414 190.91014 197.12615 201.78815 205.68015 212.68015 216.57215 220.46414 227.46414 234.46414 239.91014 243.41014 250.41014 256.62614 260.51814 267.51814 277.62614 281.12614 288.12614 294.34214 299.78816 306.00416 310.66615 314.55815 321.55815 327.77415 331.27415 335.16615 342.16615 348.38215 351.88215 356.54414 362.76014 369.76014 373.65214 379.09815 382.99015 389.20616 393.86814 399.31416 402.81416 409.81416 415.26017 419.15217 426.15217 433.15217 436.65217 443.65217 450.65217 454.54417">The memory map and register descriptions below describe the registers using byte</tspan><tspan y="544.64999" x=".00612 6.222121 13.22212 20.22212 24.88412 31.10012 36.54612 41.99212 48.20812 53.654119">addresses.</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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