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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_404.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

213 lines
42 KiB (Stored with Git LFS)
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Raw Blame History

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<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 2.2742768 592.3148)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="-295.01005" x="297.61195 302.78874 306.77754 310.75914 312.39353 316.37513">Region</tspan><tspan y="-286.70628" x="287.58235 292.79515 296.77674 300.39836 304.01277 306.36717 307.97996 311.96876 313.98475 317.96635 320.38557">Descriptor </tspan></text>
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<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 2.2742768 592.3148)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="-390.91404" x="191.58475 196.33675 199.94396 203.55117 207.56157 211.11838">Access</tspan><tspan y="-383.3778" x="185.48639 190.27439 193.86719 197.85599 199.49039 203.47919 207.46799 209.46239 211.04639 215.04239 219.0672">Evaluation </tspan><tspan y="-375.8898" x="193.16881 199.15921 203.15522 206.75522 209.14562">Macro</tspan></text>
<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 2.2742768 592.3148)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="-351.50608" x="191.58483 196.33683 199.94403 203.55124 207.56165 211.11846">Access</tspan><tspan y="-343.96983" x="185.48647 190.27446 193.86727 197.85607 199.49047 203.47927 207.46807 209.46247 211.04647 215.03527 219.06726">Evaluation </tspan><tspan y="-336.4818" x="193.16887 199.15927 203.15528 206.75528 209.14568">Macro</tspan></text>
<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 2.2742768 592.3148)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="-297.8901" x="191.58489 196.32968 199.94409 203.5513 207.5617 211.11852">Access</tspan><tspan y="-290.40214" x="185.48653 190.27452 193.86733 197.85613 199.48332 203.47933 207.46813 209.46253 211.04653 215.03533 219.06732">Evaluation </tspan><tspan y="-282.8659" x="193.16173 199.15933 203.15534 206.75534 209.14574">Macro</tspan></text>
<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 2.2742768 592.3148)" font-size="5.568" font-family="HelveticaLTStd"><tspan y="-225.89005" x="250.04251 254.70293 257.821">Mux</tspan></text>
<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 2.2742768 592.3148)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="-416.06608" x="110.701 115.9354 120.2986 124.7194 127.4986 131.4874 135.4762 139.5082 141.4738 146.2618 150.6826 154.6714 158.6602 162.68502 164.65782 169.44582 171.43302 175.81781 180.23142 184.22022 186.20742">Address Phase Signals</tspan></text>
<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 2.2742768 592.3148)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="-416.06608" x="324.9226 329.7178 333.7138 336.50743 338.5018 342.8866 347.2786 351.2746 354.0682 358.0642 360.0514 362.02418 367.21537 371.60017">Peripheral Bus</tspan></text>
<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 2.2742768 592.3148)" font-size="5.568" font-family="HelveticaLTStd"><tspan y="-261.12205" x="135.37201 140.03243 143.76856 147.80536 150.92345 154.62059 158.36229">MPU_EAR</tspan></text>
<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 2.2742768 592.3148)" font-size="5.568" font-family="HelveticaLTStd"><tspan y="-261.12205" x="162.38239">n</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="313.7846" x="160.97054 168.30254 171.63854 178.97054 186.30254 190.97054 197.64253 200.97853 207.65053 214.32253 218.31853 224.99053 228.32653 231.66252 241.65853 249.66252 258.3265 261.6625 268.9945 272.3305 279.6625 286.3345 293.0065 296.3425 303.6745 307.0105 313.6825 321.0145 325.6825 332.3545">Figure 19-1. MPU block diagram</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54)" font-size="14" font-family="TimesLTStd"><tspan y="340.21745" x="-.0054473879 8.5485529 15.5485529 21.764554 25.264554 32.264554 38.480554 43.14255 50.14255 60.250555 66.46655 71.128559 77.34456 79.864559 85.310558 88.810558 92.70255 102.810558 109.810558 114.47256 121.47256 125.364559 136.25656 142.47257 149.47257 154.91857 158.81056 165.81056 172.81056 179.02657 182.91857 186.41857 192.63457 199.63457 206.63457 213.63457 219.85057 226.06658 229.95858 233.85057 240.85057 247.85057 251.35057 262.24259 268.4586 272.3506 277.01258 280.90458 287.90458 291.40458 295.29658 300.74259 304.24259 310.4586 314.3506 320.5666 326.7826 331.44459 335.33659 342.33659 345.83659 352.83659 356.72859 362.1746 366.0666 373.0666 376.9586 383.1746 386.6746 396.7826 400.6746 404.5666 411.5666 415.0666 418.9586 425.9586 432.1746 435.6746 442.6746 448.8906 454.3366 458.2286 464.4446 467.9446 474.1606 480.37663 486.59263 492.80863 498.25465">The hardware's two-dimensional connection matrix is clearly visible with the basic access</tspan><tspan y="356.21745" x="-.0054173876 6.210583 13.210583 19.426583 23.318583 30.318583 36.534585 40.426588 44.31859 51.31859 58.31859 61.81859 72.71059 78.92659 85.14259 89.804599 96.804599 100.304599 105.750598 112.750598 119.750598 129.8586 136.8586 140.3586 146.5746 152.0206 155.5206 159.4126 166.4126 172.6286 176.1286 180.7906 187.0066 194.0066 197.8986 201.7906 208.0066 214.22261 218.11461 224.33061 231.33061 234.83061 240.27661 247.27661 254.27661 265.1686 272.1686 279.1686 286.1686 290.0606 296.2766 299.7766 306.7766 310.6686 317.6686 323.8846 330.8846 334.3846 337.8846 346.4386 353.4386 359.6546 363.1546 369.3706 374.0326 381.0326 386.4786 391.92463 398.92463 405.14064 409.8026 413.3026 418.74864 428.85664 432.74864 436.64064 442.85664 449.85664 453.35664 458.80265 462.69465 468.91065 475.91065">evaluation macro shown as the replicated submodule block. The crossbar switch slave</tspan><tspan y="372.21745" x="-.0054173876 6.9945828 13.994583 18.656584 22.548584 27.994585 31.494585 37.710588 42.372587 48.588586 52.088586 57.534585 64.534587 71.534587 81.642589 88.642589 92.142589 99.142589 106.142589 109.642589 113.534587 120.534587 126.75059 130.25058 134.14258 140.35858 145.02059 148.91259 152.41259 155.91259 159.80458 166.80458 173.02059 176.52059 181.18259 187.39859 194.39859 198.29059 205.29059 212.29059 215.79059 222.79059 229.00659 234.45259 240.6686 245.3306 249.2226 256.2226 260.1146 267.1146 271.77659 275.27659 279.93858 286.15458 293.15458 297.04658 302.49259 306.38459 312.6006 317.26258 322.7086 326.2086 330.1006 337.1006 340.6006 344.49259 351.49259 357.7086 361.2086 372.1006 375.99259 382.99259 389.99259 393.88459 400.1006 403.6006 407.1006 413.3166 420.3166 427.3166 430.8166 434.7086 441.7086">ports are shown on the left, the region descriptor registers in the middle, and the</tspan><tspan y="388.21745" x="-.0053873874 6.9946129 13.210613 17.872614 21.764615 28.764615 35.764616 41.980615 46.642614 52.858613 56.750616 60.250616 67.25061 74.25061 79.69661 83.19661 87.08861 94.08861 97.980609 104.19661 108.85861 113.520618 119.73662 125.95262 132.16863 135.66863 142.66863 149.66863 153.16863 157.06063 164.06063 170.27663 173.77663 178.43863 182.33063 189.33063 196.33063 200.22263 203.72263 209.16863 213.06063 220.06063 226.27663 229.77663 233.27663 241.83063 248.83063 255.04663 258.54664 264.76264 271.76264 277.97865 281.87065 288.87065 295.08665 298.97865 302.87065 309.87065 316.87065 320.37065 331.26264 337.47865 343.69465 348.35664 355.35664 358.85664 365.07264 372.07264 379.07264 382.96464 389.18064 393.07264 400.07264 405.51866 409.01866 412.91065 423.01866 430.01866 433.51866 444.41065 450.62666 457.62666 464.62666 468.51866 472.41065 479.41065 486.41065">peripheral bus interface on the right side. The evaluation macro contains two magnitude</tspan><tspan y="404.21745" x="-.0054173876 6.210583 13.210583 24.102585 31.102585 37.318586 41.980585 48.196584 52.088586 59.088586 63.750585 69.19659 72.69659 78.91259 85.91259 92.91259 99.91259 106.12859 112.3446 116.236598 122.4526 129.4526 132.9526 136.8446 143.8446 147.3446 151.2366 158.2366 164.4526 167.9526 173.3986 177.2906 183.5066 188.16861 192.06061 195.56061 201.77661 208.77661 215.77661 219.27661 225.49262 232.49262 239.49262 242.99262 249.20862 256.20863 263.20863 267.8706 274.0866 279.53263 284.97865 288.47865 293.14064 299.35664 306.35664 310.24864 315.69465 319.58665 325.80265 330.46464 335.91065 339.41065 344.07264 348.73463 355.73463 366.62663 370.12663 376.34263 382.55863 388.77464 395.77464 399.27464 403.9366 410.15263 417.15263 421.04463 428.04463 435.04463 438.54463 445.54463 451.76063 457.20664 463.42265 468.08464 471.97663 478.97663 482.86863 489.86863">comparators connected to the start and end address registers from each region descriptor</tspan><tspan y="420.21745" x="-.0053673877 6.2106335 11.656633 15.156633 25.264634 31.480633 35.372636 39.264638 42.764638 48.980638 54.426637 57.926637 61.818639 68.818637 75.03464 78.53464 84.75064 91.75064 102.64264 109.64264 113.53464 120.53464 126.75064 130.64264 134.53464 141.53464 148.53464 154.75064 158.64264 162.14264 166.03464 173.03464 180.03464 183.92664 190.14264 193.64264 200.64264 204.53464 211.53464 217.75064 224.75064 230.19664 233.69664 237.58864 244.58864 248.08864 255.08864 261.30464 265.19664 271.41264 276.07463 286.9666 290.8586 297.8586 304.07463 307.57463 311.4666 318.4666 324.68263 328.18263 332.8446 339.0606 346.0606 349.9526 356.9526 363.9526 367.4526 374.4526 378.3446 382.2366 385.7366 391.9526 398.9526 405.9526 409.4526 413.3446 420.3446 426.5606 430.0606 436.2766 442.4926 448.70863 454.92463 460.37065">as well as the combinational logic blocks to determine the region hit and the access</tspan><tspan y="436.21745" x="-.0053673877 6.9946329 11.656633 18.656634 22.548634 28.764634 34.980634 38.872636 42.764638 49.764638 56.764638 60.264638 66.48064 71.14264 75.80464 82.80464 87.466648 90.966648 94.466648 102.25065 109.25065 113.91265 117.41265 124.41265 130.62865 134.52065 140.73665 144.62865 148.52065 153.96665 157.46665 164.46665 169.12865 172.62865 176.52065 183.52065 189.73665 193.23665 199.45265 205.66866 211.88466 218.10066 223.54666 228.99266 232.49266 238.70867 245.70867 251.92467 255.81667 262.81666 269.03266 272.92466 276.81666 283.81666 290.81666 294.31666 305.20866 311.42466 317.64067 322.30265 329.30265 332.80265 336.30265 341.74867 347.96467 354.18067">protection error. For details of the access evaluation macro, see </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54)" font-size="14" font-family="TimesLTStd"><tspan y="436.21745" x="357.68064 367.78865 374.00465 380.22065 386.43666 391.88267 397.32868 400.82868 407.04469 414.04469 420.26069 424.15269 431.15269 437.36869 441.26069 445.15269 452.15269 459.15269 462.65269 473.54469 479.76069 485.97669 490.63868">Access evaluation macro</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54)" font-size="14" font-family="TimesLTStd"><tspan y="436.21745" x="497.6386">.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 531.76748)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00262 8.898621 17.79462 22.24262 31.138623 35.586626">19.2.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65331 531.76748)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00262 9.77862 18.674622 27.570622 32.89862 42.67462 48.89862 57.79462">Features</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54.00003)" font-size="14" font-family="TimesLTStd"><tspan y="515.0174" x="-.00537 8.54863 15.54863 21.76463 25.26463 37.710634 45.494634 55.602636 59.102636 62.994638 73.886638 80.886638 84.77863 90.99464 101.886638 108.10264 115.10264 118.99464 124.440639 127.940639 134.15663 137.65663 141.54863 151.65663 158.65663 163.31864 170.31864 174.21063 185.10263 191.31864 198.31864 203.76464 207.65663 214.65663 221.65663 227.87264 231.76464 235.26464 242.26464 248.48064 253.14264 260.14265 270.25065 276.46665 281.12864 287.34465 290.84465 297.06065 301.72264 306.3846 312.60063 319.60063 323.10063 330.10063 334.7626 338.2626 349.1546 355.3706 366.2626 373.2626 377.9246 384.9246 388.4246 393.08659 399.30259 406.30259 410.19459 417.19459 424.19459 427.69459 434.69459 440.91059 446.3566 452.5726 457.2346 461.1266 468.1266 472.0186 479.0186 483.68058">The MPU implements a two-dimensional hardware array of memory region descriptors</tspan><tspan y="531.0174" x="-.00536 6.2106406 13.21064 20.21064 23.71064 27.60264 34.60264 40.818639 44.318639 50.534639 55.196638 62.196638 67.64264 73.08864 80.08864 86.30464 90.966648 94.466648 99.91264 103.80464 110.020648 117.020648 123.23665 126.73665 133.73665 140.73665 145.39865 149.29065 154.73665 158.23665 162.12865 169.12865 172.62865 178.84465 185.84465 192.84465 196.73665 200.62865 207.62865 214.62865 221.62865 228.62865 234.07465 237.96665 244.96665 248.46665 259.35865 266.35865 273.35865 277.25065 281.14265 288.14265 292.80464 296.30464 300.19664 307.19664 313.41264 316.91264 320.80464 327.02064 334.02064 340.23664 344.12864 348.02064 351.91264 358.91264 362.41264 369.41264 374.07463 377.57463 383.79063 390.79063 397.00663 401.6686 408.6686 412.1686 423.0606 429.2766 440.1686 447.1686 451.8306">and the crossbar slave ports to continuously monitor the legality of every memory</tspan><tspan y="547.0174" x="-.00536 4.65664 10.872641 15.534641 21.75064 26.412642 32.628644 39.628644 45.844644 52.060644 55.560644 62.560644 68.77664 75.77664 81.992649 86.65465 92.87065 96.76265 102.97865 109.97865 113.47865 120.47865 127.47865 130.97866 137.19466 143.41066 149.62667 156.62667 160.12667 167.12667 174.12667 179.57266 183.07266 193.96466 200.18067 205.62667 209.51866 215.73467 220.39667 223.89667 227.78867 234.78867 238.28867 242.18067 249.18067 255.39667 258.89668 264.34269 271.34269 276.7887 280.6807 286.8967 297.7887">reference generated by each bus master in the system.</tspan><tspan y="571.4174" x="-.00536 8.54864 15.54864 21.76464 25.26464 29.926642 36.142644 42.358644 46.250646 53.250646 57.912645 64.12865 67.62865 73.074649 79.29065 83.18265 86.68265 90.574649 97.574649 103.79065 107.68265 114.68265 121.68265 127.89865 133.34465">The feature set includes:</tspan><tspan y="595.81747" x="13.09866 24.004662 31.004662 38.00466 41.50466 48.50466 53.16666 60.16666 67.16666 71.82866 78.04466 88.93666 93.59866 100.59866 104.49066 109.93666 113.82866 120.82866 124.72066 130.93666 134.43666 141.43666 148.43666 155.43666 160.09867 167.09867 170.99066 174.88266 178.38266 183.04467 189.26067 196.26067 200.15267 207.15267 214.15267 217.65267 224.65267 230.86867 236.31467 242.53067 247.19268 251.08467 258.08467 261.97666 268.97666 273.63865 279.08467 282.58467 286.08467 292.30067 298.51667 304.73268 310.94868 316.39469 321.8407 325.7327 332.7327 336.6247 342.8407 346.3407 353.3407 360.3407 363.8407 368.5027 375.5027 382.5027 387.16468 390.66468 397.66468 404.66468 409.32667 416.32667 420.21867 424.11067 427.61067 437.71867 444.71867 449.38066 456.38066 461.82667 465.32667 471.54267 477.75868 483.97468">&#x2022;12 program-visible 128-bit region descriptors, accessible by four 32-bit words each</tspan><tspan y="620.21749" x="37.09467 48.00067 56.554674 62.77067 68.98667 75.98667 79.48667 84.148677 90.36468 97.36468 101.256679 108.256679 115.256679 118.756679 125.756679 131.97267 137.41867 143.63468 148.29668 152.18868 159.18868 163.08068 170.08068 174.74268 178.24268 185.24268 191.45868 196.12068 200.01268 207.01268 213.22869 218.67469 222.17469 228.39069 231.89069 242.78269 249.78269 256.78269 263.78269 267.67469 274.67469 279.33668 286.33668 293.33668 296.83668 303.83668 310.83668 314.72868 320.94468 324.44468 329.8907 336.8907 343.1067 349.3227 355.5387 359.0387 362.5387 368.7547 372.6467 376.5387 383.5387 390.5387 396.7547 403.7547 407.2547 413.4707 420.4707 427.4707 437.5787 444.5787 450.7947 455.4567 461.6727 465.1727 469.0647">&#x2022;Each region descriptor defines a modulo-32 byte space, aligned anywhere in</tspan><tspan y="636.21749" x="48.00069 58.892694 65.108699 76.000698 83.000698 87.6627">memory</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 734.9387)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.01299 137.23299 142.79299 148.35298 151.13298 157.80298 163.91298 170.02298 173.35298 179.46298 185.02298 193.91298 196.69298 199.47298 205.03298 207.81298 215.03298 220.59297 223.92298 229.48297 233.37297 238.93297 245.04297 250.60297 256.16297 258.94297 267.27296 272.83296 278.94294 285.05293 290.6129 293.3929 296.1729 298.9529 306.1729 311.7329 317.2929 320.0729 322.8529 328.4129 331.1929 336.7529 342.86289 348.97288 351.75288 357.31288 362.87287 368.43287">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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