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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_419.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

350 lines
47 KiB (Stored with Git LFS)
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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="119.66399 129.65999 137.66399 146.32799 152.99999 161.66399 170.99999 179.66399 188.32799 196.99199">MPU_RGDAAC</tspan></text>
<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="205.65598">n</tspan></text>
<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="212.98798 216.32398 220.31998 223.65598 230.32798 233.66397 240.99597 244.33197 251.66397 258.33598 265.00798 271.67997 276.34797 279.68397 287.01597 291.01197 294.34797 301.67997 309.01197 315.68397 319.01997 323.01597 329.68797 337.01997 344.35197 348.34797 351.68397 359.01597 366.34797 373.01997 380.35197"> field descriptions (continued)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.1 76.182819)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="187.94699 194.44499 199.44899 204.45299 209.45699 212.958 215.45999 220.95899 223.95598 226.45798 231.95697">Description</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 90.182819)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 16.011002 18.513003 26.010003 31.014004 37.017007 44.514009 47.016008 52.020009 57.02401 61.52401 66.02401 69.02101 71.01901 76.02301 78.52501 80.52301 85.52701 90.531009">See M3SM description.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 191.98282)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 9.452001 18.904002 23.630002">19.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25536 191.98282)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 10.387 20.774 31.161 40.613 46.274 51 61.387 71.774 81.226009 85.952 90.678 101.065 110.517009 119.96901 129.421 136.03401 140.76001 151.147 156.808 161.534 171.92099">Functional description</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54)" font-size="14" font-family="TimesLTStd"><tspan y="175.23282" x="0 4.662 11.662001 15.162001 19.054 26.054 29.946002 35.392004 38.892004 44.338 50.554 56.77 60.662004 64.554 71.554 78.554 82.054 85.554 89.446 96.446 102.662 106.162 110.824008 117.824008 124.824008 131.04001 134.932 138.824 145.824 152.824 159.04001 162.932 166.432 173.432 180.432 186.64801 191.31002 197.52602 201.41802 205.31002 212.31002 219.31002 222.81002 229.81002 234.47202 237.97202 241.86402 248.86402 255.08002 258.58003 271.02604 278.81004 288.91804 292.41804 296.31004 301.75605 305.25605 312.25605 318.47206 322.36405 328.58006 332.47206 336.36405 342.58006 349.58006 353.08006 356.58006 360.47206 367.47206 373.68806 377.58006 384.58006 391.58006 395.47206 402.47206 409.47206 412.97206 416.86405 423.86405 430.08006 433.58006 440.58006 447.58006 453.79606 458.45805 464.67405 468.56605 472.45805 479.45805 486.45805 489.95805 496.95805">In this section, the functional operation of the MPU is detailed, including the operation of</tspan><tspan y="191.23282" x="0 3.8920005 10.892 17.108002 20.608002 26.824002 33.04 39.256 45.472 50.918 56.364 59.864 66.08 73.08 79.296009 83.188 90.188 96.40401 100.296009 104.188 111.188 118.188 121.688 132.58 138.796 145.01201 149.67401 156.67401 160.17401 166.39002 173.39002 180.39002 183.89002 187.78202 194.78202 200.99802 204.49802 211.49802 217.71402 224.71402 231.71402 235.60602 239.49802 246.49802 253.49802 256.99803 263.99803 268.66 272.16 278.376 283.038 287.69999 294.69999 299.36198 304.02397 307.91596 314.13197 318.79396 329.68595 333.57795 340.57795 346.79396 350.68595 356.90196 363.90196 367.40196 374.40196 381.40196 386.84797 390.34797 396.56398 403.56398 409.77998 413.67198 419.88798 425.33399">the access evaluation macro and the handling of error-terminated bus cycles.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 112.65331 286.7828)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".002 11.554001 20.45 29.346 38.242 47.138 56.034 60.482004 69.378009 78.27401 87.17001 91.61801 101.39401 110.290019 115.61802 120.06602 129.84201 139.61801 144.06601 158.29001 167.186 176.082 182.306">Access evaluation macro</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54)" font-size="14" font-family="TimesLTStd" font-style="italic"><tspan y="318.0328" x="208.014">n</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999986 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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