Ryan Malloy
5252d1d73c
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.
116 lines
28 KiB (Stored with Git LFS)
XML
116 lines
28 KiB (Stored with Git LFS)
XML
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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="61.096 72.002 81.34 87.556 94.556 98.448 105.448 112.448 115.948 121.394 125.285999 131.502 137.718 143.164 146.664 152.88 159.09601 166.09601 169.59601 176.59601 182.81201 187.47402 194.47402 197.97402 202.63602 207.29802 214.29802 225.19002 228.69002 235.69002 242.69002 246.19002 253.19002 260.19 264.082 270.298 275.74403 279.24403 283.13603 290.13603 293.63603 300.63603 304.13603 314.24403 321.24403 328.24403 332.13603 338.35203">•Region sizes can vary from 32 bytes to 4 Gbytes</tspan><tspan y="36.25" x="37.1 48.006 56.56 66.668 73.668 77.168 83.384 89.600009 95.81601 102.03201 107.47801 112.92401 116.42401 122.640018 129.64002 136.64002 140.53202 145.19402 152.19402 156.08602 159.58602 166.58602 172.80202 177.46402 188.35602 192.24802 197.69402 203.14002 207.03202 214.03202 221.03202 226.47801 229.97801 236.97801 243.19402 247.85602 251.74802 258.74803 264.96403 271.96403 275.46403 279.35603 286.35603 289.85603 296.07203 299.57203 305.01805 308.91004 315.91004 322.91004 326.80204 333.01805 336.51805 343.51805 349.73405 355.18006 361.39607 366.05805 369.95005 376.95005 380.84205 387.84205 392.50404 396.00404 406.11204 413.11204 417.77403">•Two access control permissions defined in a single descriptor word</tspan><tspan y="60.65" x="61.09604 72.002048 84.448047 90.66405 96.11005 100.002048 106.21805 110.88005 116.32605 119.82605 126.82605 133.82605 140.82605 144.71805 148.21805 152.88005 159.09606 165.31206 172.31206 175.81206 179.31206 189.42006 194.08206 197.97406 201.86606 208.08206 211.58206 215.08206 221.29807 228.29807 235.29807 238.79807 245.01407 252.01407 258.23008 264.44609 271.44609 275.33808 281.55409 285.05409 291.27009 295.16209 299.05409 303.71607 307.60807 314.60807 321.60807 325.50007 331.71607 337.16209 340.66209 345.32408 352.32408 356.98606 360.48606 365.93208 372.93208 379.93208 386.14808 390.81007 397.81007 401.70207 407.14808 414.14808 418.81007 422.31007 428.52607 435.52607 442.52607 446.02607 453.02607 458.47209 464.68809">•Masters 0–3: read, write, and execute attributes for supervisor and user</tspan><tspan y="76.65" x="72.00206 78.21806 84.43407 90.65007 96.86607 102.31207 107.75807 113.974079">accesses</tspan><tspan y="101.05" x="61.09606 72.00206 84.44806 90.66406 96.11006 100.00206 106.21806 110.880069 116.326068 119.826068 126.826068 133.82607 140.82607 144.71807 148.21807 152.88007 159.09607 165.31208 172.31208 175.81208 182.02808 189.02808 196.02808 199.52808 209.63608 214.29808 218.19008 222.08208 228.29808 231.79808 238.01409 241.90608 245.79808 250.46009 254.35208 261.35209 268.35209 272.24409 278.46009">•Masters 4–7: read and write attributes</tspan><tspan y="125.450008" x="37.10003 48.00603 58.114034 64.33003 68.992038 75.992038 86.10004 92.31604 96.97804 103.194049 107.85605 114.07205 119.51805 124.96405 128.85605 134.30205 138.19405 144.41005 151.41005 154.91005 165.80205 172.01805 175.91005 182.91005 186.80205 193.01805 200.01805 206.23406 213.23406 219.45006 225.66606 229.16606 236.16606 240.82807 244.32807 248.22006 255.22006 261.43608 264.93608 271.93608 278.15208 283.59809 289.8141 294.47608 298.36808 305.36808 309.26008 316.26008 320.92207 324.42207 331.42207 337.63807 341.53007 345.42207 352.42207 355.92207 362.92207 366.81407 370.70606 374.20606 385.09806 388.99006 395.99006 399.88206 410.77406 414.66606 420.88206 427.09806 432.54408 436.04408 442.26008 449.26008 456.26008 462.47608 467.13807 473.35408 480.35408 486.57008">•Hardware-assisted maintenance of the descriptor valid bit minimizes coherency</tspan><tspan y="141.45001" x="48.00602 51.89802 57.34402 62.79002 69.79002 76.00603">issues</tspan><tspan y="165.85" x="37.10002 48.006025 58.114027 62.006029 65.898029 72.11403 76.77603 83.77603 89.992038 93.88403 100.10004 103.60004 110.60004 115.26204 122.26204 129.26204 133.92404 140.14005 151.03205 161.92404 165.81604 172.81604 179.81604 183.31604 194.20804 201.20804 208.20804 214.42404 218.31604 221.81604 228.81604 232.70804 238.92404 249.03205 252.53205 259.53205 264.19404 267.69404 271.58604 278.58604 284.80204 288.30204 294.51805 300.73405 306.95005 313.16606 318.61207 324.05809 327.55809 333.77409 340.77409 347.77409 351.66609 356.32807 363.32807 367.22007 370.72007 377.72007 383.93608 388.59806 399.49006 403.38206 408.82807 414.27409 418.16609 425.16609 432.16609 437.6121 441.1121 451.2201 458.2201 462.88209">•Alternate programming model view of the access control permissions word</tspan><tspan y="190.25" x="37.100034 48.006036 55.790037 60.452035 64.34403 71.34403 76.006038 79.89803 83.79003 90.79003 94.29003 101.29003 105.18203 112.18203 118.39803 125.39803 128.89804 132.79004 139.79004 143.29004 150.29004 154.95204 161.16805 168.16805 172.06005 175.95204 182.95204 189.95204 193.45204 200.45204 206.66805 211.33005 222.22205 226.11405 231.56005 237.00605 240.89804 247.89804 254.89804 258.39805 265.39805 272.39805 278.61405 283.27604 286.77604 293.77604 299.99205 306.99205 313.99205 317.88404 324.88404 331.88404 335.38404 341.60005 347.81605 354.03205 360.24806 365.69407 371.14009 374.64009 379.30207 386.30207 390.96406 394.46406 401.46406 408.46406 414.68006 419.34205 423.23405 429.45005 436.45005 443.45005 447.34205 454.34205 461.34205 464.84205 469.50404 475.72004 482.72004 486.61204 493.61204">•Priority given to granting permission over denying access for overlapping region</tspan><tspan y="206.25" x="48.006025 55.006025 61.222024 66.66802 72.884029 77.54603 81.43803 88.43803 92.330028 99.330028 103.99203">descriptors</tspan><tspan y="230.65" x="13.104023 23.996026 34.104028 40.320028 44.21203 50.42803 56.644029 60.53603 65.98203 69.48203 75.69804 81.91404 88.13004 94.34605 99.792049 105.238048 108.738048 115.738048 120.40005 127.40005 131.29206 137.50806 143.72406 147.61606 151.50806 158.50806 165.50806 169.00806 175.22406 179.88607 184.54807 191.54807 196.21007 201.65607 205.15607 209.04807 213.71007 217.21007 223.42607 226.92607 237.81807 244.03408 254.92607 261.9261 266.58808 273.58808 277.08808 281.75007 287.96607 292.62806 298.84407 303.50605 309.72206 316.72206 322.93806 329.15406 332.65406 339.65406 346.65406 352.87007 358.31608 361.81608 368.81608 375.81608 379.70808 383.20808 390.20808 394.10008 397.99208 401.49208 405.38407 412.38407 415.88407 422.10008 429.10008 436.10008 439.60008 450.49208 456.70808 467.60008 474.60008 479.26206">•Detects access protection errors if a memory reference does not hit in any memory</tspan><tspan y="246.65" x="23.996014 28.658015 34.874017 41.874017 45.766019 52.766019 59.766019 63.266019 66.76602 73.76602 78.428028 81.928028 85.82002 90.482028 93.982028 97.87402 104.87402 111.09003 114.59003 119.25203 125.46803 130.13004 136.34604 141.00804 147.22405 154.22405 160.44005 166.65605 170.15605 174.04805 179.49405 182.99405 186.88605 190.77805 194.67005 200.88605 207.88605 214.10205 217.99405 221.49405 225.38605 232.38605 235.88605 242.10205 245.99405 249.88605 253.38605 260.38606 264.27806 268.17005 271.67005 282.56205 288.77806 299.67005 306.67005 311.33204 318.33204 321.83204 326.49403 332.71003 339.71003 343.60203 350.60203 357.60203 363.04804 366.54804 370.04804 374.71003 379.372 382.872 389.088 396.088 399.588 405.80403 412.02003 418.23603 424.45204 429.89805 435.34407 438.84407 445.06007 449.72206 454.38404 461.38404">region, or if the reference is illegal in all hit memory regions. If an access error</tspan><tspan y="262.65" x="23.996014 30.996014 37.212015 43.428014 50.428014 55.09001 60.53601 64.03601 67.53601 71.42801 78.42801 84.64401 88.14401 92.806018 99.02202 103.68402 109.900028 114.56203 120.77803 127.77803 133.99404 140.21004 143.71004 147.60204 153.04804 156.54804 160.44004 166.65604 171.31804 182.21004 186.10204 193.10204 199.31804 203.21004 209.42604 216.42604 219.92604 230.03404 233.92604 237.81804 244.81804 248.31804 254.53404 261.53407 265.03407 271.25007 275.91206 280.57405 287.57405 292.23603 295.73603 300.398 306.614 312.06004 319.06004 326.06004 333.06004 338.50605 344.72206 348.22206 351.72206 357.93806 364.93806 371.93806 375.43806 379.33006 386.33006 392.54606 396.04606 408.49208 416.27607 426.38407 429.88407 433.77607 440.77607 447.77607 451.66807 458.66807 462.56007 466.45207 471.89808 475.39808 479.29008 486.29008">occurs, the reference is terminated with an error response, and the MPU inhibits the</tspan><tspan y="278.65" x="23.996014 30.996014 37.996015 43.442014 46.942014 53.158014 60.158014 66.374019 70.266017 76.48202 79.98202 86.98202 93.19802 97.09002 104.09002 111.09002 114.59002 120.03602 126.25202 133.25202 137.14402 140.64402 144.53601 151.53601 155.03601 158.92801 165.92801 172.14402 175.64402 179.53601 185.75202 190.41402 197.41402 203.63002 207.52202 213.73802 220.73802 224.23802 229.68402 233.57602 239.79203 246.79203 253.00803 256.50804 263.50804 269.72404 276.72404 280.61604 286.83204 293.04804">bus cycle being sent to the targeted slave device.</tspan><tspan y="303.05" x="13.104024 23.996026 32.550027 37.212026 41.874025 48.874025 53.536024 57.036024 61.69802 67.914028 74.914028 78.80602 84.25202 88.14402 94.36002 99.022029 104.468029 107.968029 111.468029 118.468029 124.68403 129.34603 132.84603 138.29203 142.18402 148.40003 155.40003 161.61603 165.11603 172.11603 179.11603 183.77803 187.67003 191.17003 194.67003 200.88603 207.10204 214.10204 217.99404 224.99404 229.65604 235.87204 239.37204 243.26404 250.26404 256.48005 259.98005 263.87205 270.08805 275.53407 279.42607 282.92607 287.58805 293.80406 300.80406 304.69606 308.58805 312.48005 319.48005 326.48005 329.98005 336.19606 343.19606 350.19606 354.85804 361.07405 366.52006 371.96607 375.46607 378.96607 385.18208 389.07408 392.96607 397.62806 401.52006 408.52006 415.52006 419.41206 425.62806 431.07408 434.57408 438.07408 444.29008 451.29008 458.29008 461.79008 468.79008 472.68208 479.68208 485.89808">•Error registers, per slave port, capture the last faulting address, attributes, and other</tspan><tspan y="319.05" x="23.996064 27.888064 34.88806 39.55006 46.55006 51.21206 62.10406 68.32006 72.21206 76.10406 83.10406">information</tspan><tspan y="343.44999" x="13.104063 23.996064 34.104066 37.996068 44.996068 51.996068 58.212068 62.10407 65.604068 78.050067 85.83407 95.94207 99.44207 105.65807 112.65807 118.87408 125.87408 129.76609 135.98209 139.87409 146.87409 150.76609 156.21208 162.42809 169.42809 173.32009 179.53609 183.03609 189.25209 196.25209 203.25209 207.14409 211.80609 218.80609 222.69809 226.19809 233.19809 237.09009">•Global MPU enable/disable control bit</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 453.79997)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".00707 9.45907 18.911072 23.637072">19.3</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 453.79997)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".00707 14.168071 23.620072 38.73307 49.12007 55.73307 65.185077 69.91107 85.02407 94.476078 104.863079 109.58907 116.20207 125.654079 136.04108 140.76708 150.21907 155.88007 165.33206 171.94507 176.67107 187.05806 196.51006 202.17105 206.89705 217.28404 222.01004 227.67104 232.39704 242.78403">Memory map/register definition</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="437.04997" x="-.00492 8.54908 15.54908 21.76508 25.26508 32.26508 36.92708 43.92708 50.92708 55.589078 61.805078 72.697078 83.58907 87.48107 94.48107 101.48107 104.98107 115.87307 122.87307 129.87308 136.08908 139.98108 143.48108 147.37308 152.81908 156.31908 163.31908 169.53508 174.19709 178.08908 181.98108 185.87308 189.76508 196.76508 203.76508 209.98108 216.98108 220.48108 224.37308 231.37308 235.26508 242.26508 245.76508 249.65708 256.65708 261.31907 267.53507 273.75108 277.25108 284.25108 288.91307 295.91307 302.91307 309.91307 315.35908">The programming model is partitioned into three groups:</tspan><tspan y="461.44996" x="13.0991 24.0051 33.3431 40.3431 47.3431 51.235105 55.897104 62.897104 66.7891 70.6811 76.1271 80.0191 86.2351 90.1271 97.1271 102.5731 106.0731 110.7351 116.9511 123.9511 127.8431 133.28911 137.1811 143.39711 148.05912">•Control/status registers</tspan><tspan y="477.44996" x="13.0991 24.0051 32.5591 39.5591 45.7751 49.2751 56.2751 62.4911 66.3831 72.599109 76.099109 81.545108 85.4371 90.099109 97.099109 103.31511 107.20711 114.20711 118.86911 125.08511 128.58512 134.80112 141.80112 148.80112 152.69312 158.90912 162.80112 169.80112 173.69312 180.69312 187.69312 191.19312 195.08512 202.08512 208.30112 211.80112 216.46312 222.67913 229.67913 233.57112 240.57112 247.57112 251.07112 258.0711 264.2871 269.73313 275.94914 280.6111 284.5031 291.5031 295.3951 302.3951 307.0571">•The data structure containing the region descriptors</tspan><tspan y="493.44996" x="13.0991 24.0051 32.5591 39.5591 45.7751 49.2751 55.4911 59.383104 63.275106 69.491107 74.15311 81.15311 87.36911 91.26111 97.47711 100.97711 107.97711 111.86911 118.08511 128.19312 131.69312 138.69312 143.35512 146.85512 150.74712 157.74712 163.96312 167.46312 172.12512 178.34113 185.34113 189.23313 196.23313 203.23313 206.73313 213.73313 219.94913 225.39513 231.61113 236.27313 240.16513 247.16513 251.05713 258.05714 262.71913 266.21913 272.43513 278.65113 284.86714 291.08314 296.52915 301.97517 305.47517 311.69117 318.69117 325.69117 329.58317 334.24516 341.24516 345.13716 348.63716 355.63716 361.85316 365.74516 372.74516 378.96116">•The alternate view of the region descriptor access control values</tspan><tspan y="527.8499" x="-.004889488 8.54911 15.54911 21.76511 25.26511 32.26511 36.92711 43.92711 50.92711 55.589109 61.805109 72.697109 83.5891 87.4811 94.4811 101.4811 104.9811 115.8731 122.8731 129.87311 136.08911 139.98111 143.48111 149.69712 155.91312 162.91312 166.41312 173.41312 180.41312 184.30512 191.30512 194.80512 201.80512 208.02112 211.52112 216.18312 222.39913 227.06113 233.27713 237.93914 244.15514 251.15514 257.37113 263.58714 270.58714 274.08714 281.08714 286.53315 290.42515 297.42515 304.42515 307.92515 314.92515 321.92515 326.58714 333.58714 337.47914 341.37113 344.87113 351.08714 357.30314 363.51914 369.73515 375.18116 380.62718 386.84318 392.28919 395.78919 399.28919 409.3972 413.28919 417.18119 423.3972 434.28919 441.28919 445.18119 451.3972">The programming model can only be referenced using 32-bit accesses. Attempted</tspan><tspan y="543.8499" x="-.004859488 4.6571409 10.873141 15.535141 21.75114 26.413142 32.629144 39.629144 45.845144 52.061143 57.50714 61.00714 68.00714 73.45314 77.34514 84.34514 91.34514 94.84514 101.84514 105.73714 110.39914 115.06114 121.277149 125.93915 132.15515 139.15515 143.04715 146.54715 152.76316 158.97916 165.19516 171.41117 176.85717 182.30316 185.80316 191.24916 195.14116 201.35717 207.57317 213.01917 216.51917 220.01917 223.91117 230.91117 234.41117 241.41117 248.41117 255.41117 261.62718 266.28916 270.18116 277.18116 283.39717 290.39717 293.89717 297.39717 301.28916 308.28916 314.50517 318.39717 321.89717 325.78916 331.23518 334.73518 338.23518 342.89717 349.11317 354.55918 360.77519 365.43717 372.43717 378.65318 385.65318 389.15318 392.65318 398.86918 405.86918 412.86918 417.53117 423.74717 429.19319 434.6392 440.8552 446.3012 449.8012 453.3012 460.3012 464.9632 468.4632 478.5712 482.4632 486.3552 493.3552 496.8552">references using different access sizes, to undefined, that is, reserved, addresses, or with a</tspan><tspan y="559.8499" x="-.004859488 6.9951407 13.99514 20.99514 25.65714 31.103142 38.10314 45.10314 52.10314 59.10314 63.76514 67.65714 73.873149 80.873149 84.373149 90.58915 96.80515 103.02116 109.23716 114.68316 120.12916 123.62916 127.52116 134.52115 141.52115 147.73715 151.23715 154.73715 160.18315 167.18315 173.39916 180.39916 183.89916 190.11516 195.56116 199.06116 205.27716 208.77716 218.88516 223.54717 227.43917 231.33116 237.54717 241.04717 244.93917 251.93917 255.43917 261.65516 265.15516 269.81715 276.03315 282.24916 289.24916 293.91114 300.91114 307.91114 311.80314 318.80314 322.30314 326.96513 333.18113 340.18113 344.07313 349.51914 353.41114 359.62715 364.28913 367.78913 371.28913 378.28913 382.9511 386.4511 392.6671 396.1671 400.8291 407.0451 413.2611 420.2611 423.7611 430.7611 435.4231 438.9231 445.1391 448.6391 458.7471 463.4091 467.3011 471.19309 477.4091">non-supported access type, such as a write to a read-only register, or a read of a write-</tspan><tspan y="575.8499" x="-.004859488 6.9951407 13.99514 17.88714 24.88714 28.38714 33.04914 39.26514 46.26514 50.157144 55.60314 59.495145 65.71114 70.373149 73.873149 77.373149 84.373149 90.58915 97.58915 103.80515 108.467159 114.68316 118.57516 124.79116 128.29117 134.50717 141.50717 145.00717 151.22318 155.88518 160.54718 167.54718 172.20919 175.70919 179.60118 185.81719 190.47919 201.37119 205.26319 212.26319 218.47919 222.37119 226.26319 233.26319 240.26319">only register, generate an error termination.</tspan><tspan y="600.24996" x="-.004859488 8.54914 15.54914 21.76514 25.26514 32.26514 36.92714 43.92714 50.92714 55.589139 61.805139 72.697139 83.589138 87.48113 94.48113 101.48113 104.98113 115.87313 122.87313 129.87314 136.08914 139.98114 143.48114 149.69715 155.91315 162.91315 166.41315 173.41315 179.62915 183.12915 189.34516 195.56116 201.77716 207.99317 213.43917 218.88516 225.10117 232.10117 235.60117 242.60117 249.60117 253.49317 260.49317 263.99317 267.88517 274.88517 278.38517 283.83119 290.83119 297.83119 304.04719 308.70918 315.70918 319.60118 325.04719 332.04719 336.70918 340.20918 351.10118 358.10118 365.10118 371.31718">The programming model can be accessed only in supervisor mode.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="624.4367" x="232.54917 242.65717 253.54917 262.10316">NOTE</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01031" x="324.981 331.47898 336.97798 341.98197 347.48097 350.47798 355.48197 358.98298 361.485 366.48899 371.49299 373.995 381.492 386.496 394.497 399.996 403.497 408.501 411.00303 417.006 420.50703 426.006 429.00303 434.00703 439.01103 442.00804 444.51005 450.00904 455.50804 458.01005 464.50804 470.00703 472.50904 475.50605 478.00807 481.00508 488.50209 494.50508 501.00306">Chapter 19 Memory Protection Unit (MPU)</tspan></text>
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