birdcage/docs/K60-refman-vectors/K60-reference-manual_page_409.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

1382 lines
117 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 83.64708 224.18283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.92901 14.821011">31</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 113.29414 224.18283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.92901 14.821011">30</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 142.9412 224.18283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.92901 14.821011">29</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 172.58824 224.18283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.92901 14.821011">28</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 202.2353 224.18283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.92901 14.821011">27</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 231.88237 224.18283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.92901 14.821011">26</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 261.52943 224.18283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.92901 14.821011">25</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 291.17649 224.18283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.81001 14.70201">24</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 469.05888 224.18283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.934 14.826">18</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 323.07359 237.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.08789" x="10.06901">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 352.72065 237.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.08789" x="39.715">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 441.66184 237.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.08789" x="48.04 54.538003 61.036005">HRL</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 402.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.001 13.005001 17.505002 22.509003 25.011004 31.014004 36.018007 39.015008 41.517007 44.019006 49.023008 51.525007 57.528009 60.52501 63.52201 68.52601">Slave Port n Error</tspan><tspan y="26.83789" x="0 2.5020004 7.506001 12.510002 14.508002 19.008004 24.012005 26.514006 31.518006 36.018007 38.520006 43.524007 46.026006 50.526006 55.530008 60.534009 63.036008 68.04001 71.03701 76.04101 81.045009 83.547008 88.551 91.548007 94.545009 99.549 102.546009 105.048007 107.046009 112.05 114.552 120.555 126.558 133.056 138.06 140.562 145.566 150.56999 155.57399 158.07599 164.079 170.577 177.075 182.079 184.581 187.083 192.58199 197.58599 199.58399 204.08399 206.58599 211.58998 213.58798 216.08998 218.59198 220.58998 225.08998 227.59198 232.09198 237.09598 239.59798 242.09998 248.59798 253.60198 258.606 263.61 266.112 268.614 273.618 278.622 281.12403 286.12803 291.13203 294.12904 299.13304 305.631 310.635 313.63203 318.63603 321.13804 326.14204 331.14604 333.64805 338.65205 343.15205 345.65406 350.15406 352.65608 357.66007 362.66407 365.16609 370.17008 373.16709 376.1641 381.1681 384.1651 386.6671 391.6711 396.6751">Indicates a captured error in EARn and EDRn. This bit is set when the hardware detects an error and</tspan><tspan y="37.83789" x="0 2.997 8.001 12.501 17.505002 20.502 25.506 30.006 32.508 35.01 40.014 45.018 47.52 50.022 55.026 60.030004 62.028005 64.53001 66.52801 71.532009 76.536 79.038 84.042 89.046 94.049999 97.047 102.050998 106.550998 111.050998 113.55299 118.55699 123.56099 128.56499 131.06699 136.07099 138.57299 141.07498 144.07198 146.06998 151.07398 156.07798 158.57997 163.58397 168.08397 170.58597 173.08797 175.58997 178.09197 180.59397 182.59197 187.09197 189.59397 194.09397 196.09197 201.09597 206.09996 209.09696 214.10095 219.10495 221.60695 226.61095 231.11095 233.61295 240.11095 243.10794 245.10594 247.60794 249.60594 254.60994 259.61396 262.11598 267.11997 272.12397 277.12797 279.62998 282.132 287.136 289.638 291.636 294.138 296.64 299.14204 301.64405 304.14607 306.64808 311.65208 316.65608 321.66007 324.16209 329.16609 334.17008 337.16709 339.6691 344.6731 347.6701 350.6671 355.6711 358.66813 361.17015 363.16813 367.66813 370.17015 374.67015 379.67414 384.67814 387.18016 392.18415 395.18116 400.18516 405.18916 407.69117 412.69517">records the faulting address and attributes. It is cleared by writing one to it. If another error is captured at</tspan><tspan y="48.83789" x="0 2.5020004 7.506001 12.510002 15.012003 20.016003 24.516003 29.520005 34.020006 36.522005 39.024003 43.524003 48.528005 56.025007 61.029008 63.531007 68.031009 72.531009 77.031009 79.02901 84.033008 86.535 91.539 96.039 98.541 101.043 106.047 111.050998 113.55299 120.050998 123.048 125.046 127.548 132.552 135.054 137.556 140.058 145.062 150.066 152.568 155.06999 157.068 162.07199 167.07599 169.57799 172.57498 177.57898 185.07598 190.07997 192.07798 197.08197 201.58197 204.08397 208.58397 213.58797 216.08997 218.59197 221.09397 227.09697 229.59897 232.10097 234.09897 239.10297 244.10697 247.10396 249.60596 251.60396 254.60095 259.10096 261.60298 264.59999 269.60398 274.60798 279.61198 282.11399 284.11198 289.11598 293.61598 296.11799 299.115 304.119 308.619 311.121 313.119 318.123 323.12699 325.629 330.633 333.63 336.13203 341.13603 346.14 351.144 353.142 357.642 362.646 364.64399 369.64799 374.65199 377.154 379.656 384.156 389.16 394.164 396.66603 401.67 406.674 409.17604 414.18003 418.68003">the exact same cycle as the write, the flag remains set. A find-first-one instruction or equivalent can detect</tspan><tspan y="59.83789" x=".00004 2.5020405 7.506041 12.510042 15.012043 20.016045 23.013045 28.017045 32.517045 37.521047 42.525049 47.025049 52.02905 54.531049 59.53505 62.03705 64.53905 69.543048 72.045047 76.545047 81.54904 86.55304 89.05504 94.05904 97.05604 102.060039 107.06403 109.56603 114.57003 117.56703 120.56403 125.56803 128.56504">the presence of a captured error.</tspan><tspan y="76.23789" x=".00004 5.49904 10.50304 15.507041 18.00904 20.511042 25.515042 27.513043 29.511044 34.515047 41.013048 43.011049 48.01505 53.01905 55.52105 60.02105 65.02505 70.029048 76.52705 81.02705 83.529048 86.031047 91.03504 96.03904 98.54104 103.04104 108.04504 111.04204 114.03904 119.04304 123.54304 128.54705 133.55104 138.55504 143.55904 148.56304 153.56703 158.06703 163.07103 165.57303 170.57703 175.58103 178.08303 184.58103 189.58502 194.58902 199.59302 202.09502 204.59702 209.60102 214.60501 217.10701 222.11101 224.10901 226.61101 229.113 234.117 239.121 246.618 251.622 256.626 259.62303 262.12504 267.12904 272.13304 277.13703 279.63905 284.13905 286.13703 291.14103 295.64103 300.64503 303.14704 308.15104 313.15504 316.15205 318.65406 321.15608 326.16007 331.16407 338.66108 343.66508 348.66908 351.66609">The following shows the correspondence between the bit number and slave port number:</tspan><tspan y="92.63789" x="14.85004 24.00304 30.00604 32.00404 34.50604 37.008039 42.01204 47.01604 49.51804 54.01804 59.02204 62.019044 65.016048 70.02004 74.52004 79.52404 84.52804 89.532039 94.53603 99.03603 101.53803 104.04003 109.04403 111.54603 116.04603 118.04403 123.04803 127.54803 132.55204 135.05403 140.05803 145.06203 148.05902 150.56102 153.06302 158.06702">&#x2022;Bit 31 corresponds to slave port 0.</tspan><tspan y="103.63789" x="14.85004 24.00304 30.00604 32.00404 34.50604 37.008039 42.01204 47.01604 49.51804 54.01804 59.02204 62.019044 65.016048 70.02004 74.52004 79.52404 84.52804 89.532039 94.53603 99.03603 101.53803 104.04003 109.04403 111.54603 116.04603 118.04403 123.04803 127.54803 132.55204 135.05403 140.05803 145.06203 148.05902 150.56102 153.06302 158.06702">&#x2022;Bit 30 corresponds to slave port 1.</tspan><tspan y="114.63789" x="14.85004 24.00304 30.00604 32.00404 34.50604 37.008039 42.01204 47.01604 49.51804 54.01804 59.02204 62.019044 65.016048 70.02004 74.52004 79.52404 84.52804 89.532039 94.53603 99.03603 101.53803 104.04003 109.04403 111.54603 116.04603 118.04403 123.04803 127.54803 132.55204 135.05403 140.05803 145.06203 148.05902 150.56102 153.06302 158.06702">&#x2022;Bit 29 corresponds to slave port 2.</tspan><tspan y="125.63789" x="14.85004 24.00304 30.00604 32.00404 34.50604 37.008039 42.01204 47.01604 49.51804 54.01804 59.02204 62.019044 65.016048 70.02004 74.52004 79.52404 84.52804 89.532039 94.53603 99.03603 101.53803 104.04003 109.04403 111.54603 116.04603 118.04403 123.04803 127.54803 132.55204 135.05403 140.05803 145.06203 148.05902 150.56102 153.06302 158.06702">&#x2022;Bit 28 corresponds to slave port 3.</tspan><tspan y="136.6379" x="14.85004 24.00304 30.00604 32.00404 34.50604 37.008039 42.01204 47.01604 49.51804 54.01804 59.02204 62.019044 65.016048 70.02004 74.52004 79.52404 84.52804 89.532039 94.53603 99.03603 101.53803 104.04003 109.04403 111.54603 116.04603 118.04403 123.04803 127.54803 132.55204 135.05403 140.05803 145.06203 148.05902 150.56102 153.06302 158.06702">&#x2022;Bit 27 corresponds to slave port 4.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 660.4828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 14.499001 19.503003 26.001004 31.005005 34.002008 39.00601 41.508008 48.00601 53.01001 57.51001 59.50801 64.00801 66.00601 71.01001 76.01401 78.51601 83.520008 88.524 93.024 98.028">Hardware Revision Level</tspan><tspan y="28.83789" x="0 6.0030004 11.007001 16.011002 20.511002 22.509003 25.011004 27.009003 32.013006 36.513006 39.015005 41.517004 46.521005 51.525007 54.027006 61.524007 67.52701 74.02501 76.02301 80.52301 83.02501 88.02901 93.033008 96.03001 101.034008 107.532009 112.536 115.533008 120.537 123.039 128.043 133.047 138.051 140.553 145.55699 150.56099 153.06299 155.06099 160.06499 162.06299 164.56499 166.56299 171.56699 176.57099 179.07299 182.06998 187.07398 191.57398 193.57198 198.07198 200.06998 205.07398 210.07798 212.57997 214.57798 219.58197 224.08197 229.08597 231.08397 233.58597 236.08797 238.58997 241.09197 243.59397 248.09397 253.09796 258.10197 260.60398 265.60798 270.61198 273.11399 276.111 281.115 286.119 291.123 293.625 298.629 303.129 305.631 310.131 315.135 317.63703 320.13905 326.63703 331.64103 334.63804 339.64204 342.14405 344.64607 349.65007 352.15208 357.15608 362.16007 364.66209 369.66609 372.6631 380.1601 382.15809 387.16209 392.16609 394.6681 397.1701 402.1741">Specifies the MPU&#x2019;s hardware and definition revision level. It can be read by software to determine the</tspan><tspan y="39.83789" x=".00004 2.5020405 7.506041 12.510042 17.010043 19.512043 21.510045 26.514046 31.518048 36.52205 38.52005 41.02205 46.02605 51.030054 53.53205 55.530054 60.534055 62.532056 65.03406 67.03206 72.03606 77.040058 79.54205 84.54605 87.04805 89.55005 92.05205 97.056049 102.06004 104.56204 112.059047 117.06304 122.06704 127.07104 129.06903 134.07303">functional definition of the module.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01034" 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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