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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_413.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

610 lines
62 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 130)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x=".00004 6.4980409 13.500041 18.99904 25.00204">NOTE:</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 166.93564 130)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 5.49904 10.50304 15.507041 18.00904 25.506043 31.509043 38.007043 40.50904 45.513044 50.517045 55.521047 60.021047 62.523046 67.52705 72.531047 75.03304 77.53504 82.03504 87.03904 90.03604 92.03404 94.53604 99.03604 101.53804 104.04004 109.04404 114.048038 116.55003 119.05203 125.05503 131.55303 138.05103 144.05403 150.55204 157.05004 163.54804 166.05004 171.45003 173.95203 179.95503 186.45304 191.95203 197.95503 204.45304 210.95104 217.44904">The MPU does not verify that ENDADDR &#x2265; SRTADDR.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 145.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="28.044 33.048 38.052003">4&#x2013;0</tspan><tspan y="18.83789" x="16.299 22.797 27.801003 32.301004 37.305006 40.302007 44.802007 49.806009">Reserved</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 216)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 16.680003 20.850003 29.190003 33.360006">19.3.6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 109.87328 216)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.830001 19.170002 28.335003 32.505006 41.670007 50.835008 55.00501 65.83501 74.17501 82.515018 90.85502 96.69002 100.860019 110.02502 115.02002 124.18502 130.02002 134.19002 143.35501 147.52501 151.695 165.85501 175.02 180.85501 190.02 194.19 202.53 206.7 211.69499 224.18999 234.19499 245.025 253.36499 264.19499 275.865">Region Descriptor n, Word 2 (MPU_RGD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 109.87328 216)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="286.695">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 109.87328 216)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="295.86003 304.2 318.36003 330.03004 340.86003 351.69 360.03">_WORD2)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54)" font-size="14" font-family="TimesLTStd"><tspan y="198.25" x=".00302 8.55702 15.55702 21.773022 25.273022 29.165022 36.165025 40.057027 44.719026 51.719026 55.219026 65.32703 72.32703 76.98903 83.98903 87.48903 94.48903 99.15103 102.65103 106.54303 113.54303 119.75903 123.25903 127.921039 134.13704 141.13704 145.02904 152.02904 159.02904 162.52904 169.52904 175.74504 181.19104 187.40705 192.06905 195.96105 202.96105 206.85305 213.85305 218.51505 222.01505 229.01505 235.23105 239.89305 243.78505 250.78505 257.00105 262.44706 265.94706 269.83906 276.83906 283.05506 286.55506 292.77107 298.98707 305.20307 311.41908 316.86509 322.3111 325.8111 332.0271 339.0271 346.0271 349.9191 354.5811 361.5811 365.47309 368.97309 373.63508 377.52708 384.52708 391.52708 395.41908 400.86509 404.36509 411.36509 416.02708 419.52708 423.41908 430.41908 436.63508 440.13508 451.02708 457.24308 468.13508 475.13508 479.79707">The third word of the region descriptor defines the access control rights of the memory</tspan><tspan y="214.25" x=".00306 4.66506 10.881061 17.881062 21.773062 28.773062 35.773065 39.273065 42.773065 51.327066 58.327066 64.54307 68.04307 74.25907 80.475078 86.69108 92.90708 98.35308 103.79908 107.29908 113.51508 120.51508 127.51508 131.40709 136.06909 143.06909 146.96109 150.46109 157.46109 162.1231 166.01509 173.01509 176.90709 180.79909 187.01509 194.01509 200.2311 205.6771 209.1771 216.1771 222.3931 229.3931 235.6091 242.6091 249.6091 253.1091 260.1091 267.1091 270.6091 274.5011 284.6091 291.6091 295.1091 302.1091 306.7711 313.7711 319.9871 326.9871 330.4871 336.7031 340.5951 346.8111 352.2571 357.70314 361.59513 366.2571 370.1491 376.3651 382.58113 386.4731 390.3651 397.3651 404.3651 409.81114 413.31114 420.31114 424.9731 428.4731 435.4731 442.4731 447.91914 451.41914 462.31114 468.52714 473.97315 477.86515 484.08116 488.74314 494.18916">region. The access control privileges depend on two broad classifications of bus masters:</tspan><tspan y="238.65" x="13.09305 23.99905 33.33705 40.33705 45.78305 49.28305 60.175054 66.39105 71.83705 75.72905 81.94505 86.607059 92.053058 95.553058 102.553058 109.553058 116.553058 120.053058 127.053058 133.26906 140.26906 146.48506 149.98506 156.20107 159.70107 166.70107 171.36307 178.36307 182.25507 186.14707 189.64707 194.30907 198.20107 204.41707 208.30907 215.30907 218.80907 225.80907 232.02507 236.68708 240.57907 247.57907 251.47107 258.47108 265.47108 268.97108 274.41709 280.6331 287.6331 293.8491 298.51109 304.72709 308.61909 314.83509 318.33509 325.33509 329.99708 333.88908 340.88908 344.78108 348.67308 354.88908 361.88908 368.10508 371.60508 376.26707 380.15907 387.15907 394.15907 398.05107 403.49708 406.99708 411.65907 418.65907 423.32106 426.82106 433.82106 439.26707 445.48307 450.14506 453.64506 459.86106 466.86106">&#x2022;Bus masters 0&#x2013;3 have a 5-bit field defining separate privilege rights for user and</tspan><tspan y="254.65" x="23.99907 29.44507 36.44507 43.44507 49.661069 54.323068 61.323068 65.215068 70.661067 77.661067 82.32307 85.82307 96.715068 103.715068 110.715068 116.93107 120.43107 126.64707 132.86307 139.07907 145.29508 150.74108 156.18708 162.40308 167.84908">supervisor mode accesses.</tspan><tspan y="270.65" x="13.093069 23.99907 33.33707 40.33707 45.78307 49.28307 60.17507 66.391078 71.837078 75.72907 81.945079 86.60708 92.05308 95.55308 102.55308 109.55308 116.55308 120.05308 126.26908 130.93108 137.14708 140.64708 144.53908 148.43108 159.32308 163.21508 167.10707 173.32308 180.32308 183.82308 187.71508 194.71508 198.21508 203.66107 209.87708 216.87708 223.09308 227.75508 233.97109 237.86309 244.07909 247.57909 252.24109 258.4571 264.6731 271.6731 275.1731 281.3891 288.3891 295.3891 298.8891 308.9971 313.6591 317.5511 321.44309 327.6591 331.1591 338.1591 344.3751 349.03709 359.92909 363.82109 369.2671 374.7131 378.6051 385.6051 392.6051 398.05113">&#x2022;Bus masters 4&#x2013;7 are limited to separate read and write permissions.</tspan><tspan y="296.65" x=".0030593873 7.7870604 14.78706 19.44906 22.94906 26.84106 33.84106 40.05706 43.55706 50.55706 55.21906 59.11106 66.11106 70.00306 73.89506 80.11106 87.11106 93.327068 96.827068 101.48907 105.381069 112.381069 119.381069 123.27306 128.71907 132.21907 139.21907 143.88108 147.38108 154.38108 161.38108 166.82707 170.32707 181.21907 187.43508 192.88108 196.77307 202.98908 207.65108 213.09708 216.59708 223.59708 230.59708 237.59708 241.09708 244.59708 248.48908 255.48908 261.70509 266.36708 272.58308 276.08308 282.29908 286.96107 293.17707 296.67707 300.56907 307.56907 312.23106 318.44706 324.66307 328.16307 332.82505 336.71705 342.93305 349.93305 355.37907 358.87907 365.09507 370.54109 375.9871 382.9871 389.2031 393.0951 399.3111 403.2031 409.4191 416.4191 419.9191 430.0271 433.9191 437.8111 444.8111 448.3111 452.2031 459.2031 463.0951">For the privilege rights of bus masters 0&#x2013;3, there are three flags associated with this</tspan><tspan y="312.65" x=".0030593873 4.6650598 11.66506 18.66506 24.881062 28.773062 32.665063 39.665063 46.665063">function:</tspan><tspan y="337.05" x="13.09306 23.999062 33.337064 39.553064 45.769063 52.769063 56.269063 60.93106 65.59306 70.255069 73.755069 78.41707 84.63307 89.295078 95.51108 100.17308 105.61908 109.11908 113.01108 120.01108 123.51108 129.72708 135.94309 142.15909 148.37509 153.82109 159.26709 163.15909 170.15909 177.15909 180.65909 184.55109 191.55109 197.76709 201.26709 205.9291 212.1451 216.8071 223.0231 227.6851 233.90111 240.90111 247.11711 253.33312 260.33314 263.83314 274.72514 280.94114 291.83314 298.83314 303.49513 310.49513 313.99513 320.21113 327.21113 334.21113 338.8731 345.0891 350.53514 355.98115 359.48115 366.48115 371.92716 375.81916 382.81916 389.81916 393.31916 399.53517 406.53517 410.03517 417.03517 424.03517 430.25117 434.91316 441.12916 448.12916 455.12916 458.62916 463.29115 470.29115 476.50715 480.39915 486.61515">&#x2022;Read (r) refers to accessing the referenced memory address using an operand (data)</tspan><tspan y="353.05" x="23.99907 28.66107 34.87707 38.769075 44.985074">fetch</tspan><tspan y="369.05" x="13.093069 23.99907 37.21507 41.877069 45.76907 49.66107 55.87707 59.37707 64.03907 74.14707 78.809078 82.309078 86.97108 93.18708 97.84908 104.06509 108.72709 114.17309 117.67309 121.56509 128.5651 132.0651 139.0651 146.0651 153.0651 159.2811 163.1731 167.0651 174.0651 181.0651 184.5651 188.45709 195.45709 201.6731 205.1731 209.8351 216.0511 220.7131 226.92911 231.59111 237.80712 244.80712 251.02312 257.2391 264.2391 267.7391 278.6311 284.8471 295.7391 302.7391 307.4011 314.4011 317.9011 324.1171 331.1171 338.1171 342.77909 348.9951 354.4411 359.88713 363.38713 370.38713 375.83314 379.72514 386.72514 393.72514 397.22514 403.44114 406.94114 412.38716 416.27915 423.27915 427.94114 434.15715 437.65715 442.31913 449.31913 455.53514 459.42713 465.64314">&#x2022;Write (w) refers to updating the referenced memory address using a store (data)</tspan><tspan y="385.05" x="23.9991 27.8911 34.891099 40.337099 44.2291 48.891099 55.891099 62.107099 65.9991 69.8911 76.8911">instruction</tspan><tspan y="401.05" x="13.0931 23.9991 32.5531 39.5531 45.7691 51.9851 58.9851 62.8771 69.0931 72.5931 77.255107 84.255107 88.91711 92.41711 97.07911 103.29511 107.957118 114.17312 118.83512 124.28112 127.78112 131.67313 138.67313 142.17313 146.83513 153.05113 159.26714 166.26714 170.15914 177.15914 184.15914 187.65914 191.55113 198.55113 204.76714 208.26714 212.92914 219.14514 223.80715 230.02315 234.68515 240.90116 247.90116 254.11716 260.33317 267.33317 270.83317 281.72517 287.94117 298.83317 305.83317 310.49516 317.49516 320.99516 327.21116 334.21116 341.21116 345.87315 352.08915 357.53517 362.98118 366.48118 373.48118 378.9272 382.81919 389.81919 396.81919 400.31919 406.5352 413.5352 417.0352 420.9272 427.9272 433.3732 437.2652 441.9272 448.9272 455.1432 459.0352 462.9272 469.9272">&#x2022;Execute (x) refers to reading the referenced memory address using an instruction</tspan><tspan y="417.05" x="23.999119 28.66112 34.87712 38.769124 44.985124">fetch</tspan><tspan y="443.05" x=".003118515 13.219119 17.881119 21.773119 25.66512 31.881119 37.327119 40.827119 44.71912 51.71912 55.21912 64.55712 74.66512 84.773128 91.773128 98.773128 111.98913 122.09713 131.43514 141.54314 148.54314 152.04314 158.25914 162.15114 168.36714 174.58315 179.24515 182.74515 186.63715 193.63715 199.85315 203.35315 208.01515 214.23116 221.23116 225.12316 232.12316 239.12316 242.62316 249.62316 255.83916 261.28517 267.50117 272.16316 276.05516 283.05516 286.94715 293.94715 298.60914 303.27113 308.71714 312.21714 319.21714 325.43315 329.32514 333.21714 340.21714 343.71714 350.71714 354.60914">Writes to RGDn_WORD2 clear the region descriptor&#x2019;s valid bit</tspan><tspan y="459.05" x=".003108515 4.6651089 14.00311 24.11111 34.219114 41.219114 48.219114 61.435113 71.54311 80.88112 90.98912 97.98912 102.65112 112.759128 121.313129 131.42113 136.08313 140.74514 144.24514 147.74514 152.40714 157.06914 160.56914 167.56914 174.56914 178.46114 185.46114 188.96114 195.96114 202.96114 209.96114 216.17714 220.06914 223.96114 230.96114 237.96114 241.46114 245.35314 252.35314 258.56913 262.06913 268.28514 274.50114 280.71714 286.93315 292.37916 297.82518 301.32518 307.54118 314.54118 321.54118 325.43318 330.09516 337.09516 340.98716 346.43318 349.93318 353.43318 363.54118 368.20317 372.09516 375.98716 382.20317 385.70317 389.59516 396.59516 400.09516 409.43318 419.54118 429.64918 439.75718 449.86518 459.2032">(RGDn_WORD3[VLD]). If only updating the access controls, write to RGDAACn</tspan><tspan y="475.05" x=".003108515 3.895109 10.895109 16.34111 20.23311 26.449112 32.66511 39.66511 43.16511 50.16511 56.38111 62.59711 68.81311 75.81311 81.25911 87.47511 90.97511 96.42111 100.31311 107.31311 111.97511 118.19112 123.637119 127.137119 131.02912 138.02912 141.52912 145.42111 152.42111 158.63712 164.08312 170.29912 173.79912 177.69112 184.69112 190.90712 197.12313 201.01512 204.90712 211.90712 218.90712 224.35312 227.85312 234.85312 241.85312 245.35312 252.35312 259.35313 263.24513 266.74513 272.96113 277.6231 282.2851 288.5011 294.7171 298.6091 302.1091 306.0011 313.0011 319.2171 322.7171 329.7171 335.9331 341.37913 347.59513 352.2571 356.1491 363.1491 367.0411 374.0411 378.7031 383.36509 388.8111 392.3111 399.3111 405.5271 409.4191 413.3111 420.3111 423.8111 430.8111 434.7031 438.5951">instead because stores to these locations do not affect the descriptor&#x2019;s valid bit.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 17.99997)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01034" x="324.98097 331.47895 336.97795 341.98194 347.48094 350.47795 355.48194 358.98295 361.48497 366.48896 371.49296 373.99497 381.49198 386.49598 394.49699 399.99598 403.49699 408.50099 411.003 417.00599 420.507 426.00599 429.003 434.007 439.011 442.008 444.51 450.009 455.508 458.01 464.508 470.007 472.509 475.506 478.00804 481.00505 488.50205 494.50505 501.00303">Chapter 19 Memory Protection Unit (MPU)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 734.9386)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.01 137.23 142.79 148.34999 151.12999 157.79999 163.90999 170.01999 173.34999 179.45999 185.01999 193.90999 196.68999 199.46999 205.02999 207.80998 215.02999 220.58998 223.91999 229.47998 233.36998 238.92998 245.03998 250.59998 256.15998 258.93998 267.26997 272.82997 278.93995 285.04994 290.60993 293.38993 296.16993 298.94993 306.16993 311.72993 317.28993 320.06993 322.8499 328.4099 331.1899 336.7499 342.8599 348.96989 351.74989 357.30989 362.86988 368.42988">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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