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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_396.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

899 lines
84 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54.000009)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.3" x="202.65598 205.99198 209.98798 213.32398 219.99597 223.33197 230.66397 233.99997 241.33197 248.00397 254.67597 261.34797 266.01597 269.35197 276.68397 280.67997 284.01597 291.34797 298.67997 305.35197 308.68797 312.68397 319.35597 326.68797 334.01997 338.01597 341.35197 348.68397 356.01597 362.68797 370.01997"> field descriptions (continued)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.99994 363.4828)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="239.32799">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.99994 363.4828)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="246.65999 249.99599 253.99199 257.328 264 267.336 274.668 278.004 285.336 292.008 298.68 305.352 310.02 313.356 320.688 324.684 328.02 335.352 342.684"> field descriptions</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.84995 427.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 9 14.004001 16.002 18.504002 21.501002 26.505002 29.007002 34.011 38.511 41.013 48.015 53.019 55.521 62.019 67.023 72.027 77.031 79.533 81.531 86.534999 91.538997 96.54299 99.04499 104.04899 109.052989 114.056987 119.06098 121.56298 126.56698 129.06899 135.07199 140.07599 143.07299 147.57299 150.07498">Arbitrates On Undefined Length Bursts</tspan><tspan y="28.83789" x="0 6.4980008 11.502001 14.004002 19.008004 22.005003 29.502003 31.500004 36.504007 41.508008 46.008008 48.510007 55.008008 60.01201 65.01601 67.518009 72.522 77.526 80.523 83.025 85.527 90.531 95.534999 100.538997 103.04099 109.538997 114.54299 119.54699 124.55099 127.052989 129.555 132.05699 137.06099 142.06499 144.56699 149.06699 152.06398 157.06798 161.56798 166.06798 171.07198 176.07598 179.07297 181.57497 186.07497 192.57297 194.57097 197.07297 201.57297 206.57697 209.07897 214.08296 217.07996 222.08396 224.08196 226.58396 229.58095 234.58495 237.08695 242.09095 246.59095 249.09294 254.09694 260.59495 265.59895 270.09895 272.60096 275.10298 280.10697 285.11097 287.61299 292.11299 294.11097 299.11497 303.61497 308.61897 311.12098 316.12498 321.12898 324.12599 326.628 329.13 331.63203 336.63603 341.64 344.14204 351.63905 356.64305 361.14305 363.64506 368.64906 371.64607 374.14808 379.15208 385.65007 390.65406 395.15406 397.65608 404.15406 409.15806 414.16206">Determines whether, and when, the crossbar switch arbitrates away the slave port the master owns when</tspan><tspan y="39.83789" x="0 2.5020004 7.506001 12.510002 15.012003 22.509003 27.513005 32.013006 34.515005 39.519006 42.516008 45.018007 47.016008 51.516008 54.018007 59.022008 64.02601 67.02301 69.52501 74.52901 77.52601 85.02301 87.02101 92.02501 97.02901 99.531009 104.535 109.539 114.543 119.547 122.048999 124.047 129.051 134.055 139.05899 141.56099 143.55899 148.56299 153.56699 158.57099 161.07299 166.07698 168.57898 173.58298 178.58698 181.58397 186.08397 188.58597 191.08797 196.09197 200.59197 205.09197 210.09597 214.59597 219.09597 224.09996 228.59996">the master is performing undefined length burst accesses.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.84995 480.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00002 5.0040209 10.008021">000</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.8186 480.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00002 6.4980208 11.502022 14.004023 19.008023 22.005023 27.009022 29.007023 31.509024 34.506025 39.510026 42.012025 44.010026 49.014028 54.01803 56.520029 58.51803 63.01803 65.52003 70.524028 72.522029 74.52003 79.524028 86.022029 91.026027 96.03002 98.53202 103.53602 108.540019 111.53702 113.53502 118.53902 123.543018 126.04501 131.04901 136.05301 138.55501 143.559 148.563 153.567 158.571 161.073 163.071 168.075 173.079 178.083 180.58499 182.583 187.58699 192.59099 197.59499 200.09699 205.10099 207.60298 212.60698 217.61098 220.60797 225.10797">No arbitration is allowed during an undefined length burst</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.84995 491.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.0040209 10.008021">001</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.8186 491.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 6.0030205 9.00002 14.004021 16.002022 18.504023 21.501023 26.505024 29.007025 31.005024 36.009027 41.013029 43.515027 45.513029 50.013029 52.515027 57.519029 59.51703 61.51503 66.51903 73.01703 78.02103 83.025028 85.52702 90.53102 93.03302 95.53502 100.53902 105.543018 110.043018 112.54501 115.04701 117.04501 124.542018 129.54602 132.04802 137.05202 142.05602 145.05301 147.05101 152.05501 157.059 159.561 164.565 169.569 172.071 177.075 182.079 187.083 192.08699 194.58899 196.58699 201.59099 206.59499 211.59899 214.10099 216.09899 221.10298 226.10698 231.11098 233.61298 238.61698 241.11898 246.12297 251.12697 254.12397 258.62397">Arbitration is allowed at any time during an undefined length burst</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.8186 504.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00005 6.0030505 9.000051 14.004051 16.002053 18.504054 21.501053 26.505055 29.007056 31.005055 36.009057 41.013059 43.515058 45.513059 50.013059 52.515058 57.51906 59.51706 61.51506 66.51906 73.01706 78.02106 83.025058 85.527057 90.53105 93.03305 95.53505 100.53905 103.53605 106.03805 108.54005 113.544048 118.54804 121.545047 124.04704 129.05104 134.05504 139.05904 141.56104 146.06104 148.56304 153.56703 156.06903 158.57103 163.57503 168.57903 171.08103 176.08502 181.08902 186.09302 191.09702 193.59902 195.59702 200.60102 205.60501 210.60901 213.11101 215.10901 220.113 225.117 230.121 232.623 237.627 240.129 245.133 250.137 253.13399 257.63398">Arbitration is allowed after four beats of an undefined length burst</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.8186 517.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00005 6.0030505 9.000051 14.004051 16.002053 18.504054 21.501053 26.505055 29.007056 31.005055 36.009057 41.013059 43.515058 45.513059 50.013059 52.515058 57.51906 59.51706 61.51506 66.51906 73.01706 78.02106 83.025058 85.527057 90.53105 93.03305 95.53505 100.53905 103.53605 106.03805 111.042049 113.04005 118.044048 123.04804 125.55004 128.05205 133.05605 138.06005 143.06404 145.56604 150.06604 152.56804 157.57204 160.07404 162.57604 167.58003 172.58403 175.08603 180.09003 185.09403 190.09803 195.10202 197.60402 199.60202 204.60602 209.61002 214.61402 217.11602 219.11402 224.11801 229.12201 234.126 236.628 241.632 244.134 249.138 254.142 257.139 261.639">Arbitration is allowed after eight beats of an undefined length burst</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.84995 530.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00005 5.0040509 10.008051">100</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.8186 530.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00005 6.0030505 9.000051 14.004051 16.002053 18.504054 21.501053 26.505055 29.007056 31.005055 36.009057 41.013059 43.515058 45.513059 50.013059 52.515058 57.51906 59.51706 61.51506 66.51906 73.01706 78.02106 83.025058 85.527057 90.53105 93.03305 95.53505 100.53905 103.53605 106.03805 111.042049 116.04604 118.54804 123.55204 128.55605 133.56005 136.06204 140.56204 143.06404 148.06804 150.57004 153.07204 158.07604 163.08003 165.58203 170.58603 175.59003 180.59403 185.59803 188.10002 190.09803 195.10202 200.10602 205.11002 207.61202 209.61002 214.61402 219.61801 224.62201 227.12401 232.128 234.63 239.634 244.638 247.635 252.135">Arbitration is allowed after 16 beats of an undefined length burst</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.8186 543.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00005 6.4980509 11.502051 16.002053 21.006054 24.003054 28.503054 33.507055">Reserved</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.84995 556.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00006 5.0040609 10.008061">110</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.8186 556.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00006 6.4980609 11.502062 16.002062 21.006062 24.003062 28.503062 33.50706">Reserved</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.84995 569.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00006 5.0040609 10.008061">111</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.8186 569.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00006 6.4980609 11.502062 16.002062 21.006062 24.003062 28.503062 33.50706">Reserved</tspan></text>
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