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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_441.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

276 lines
37 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 315.98286)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 9.452001 18.904002 23.630002">20.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25536 315.98286)" 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 54.00003)" font-size="14" font-family="TimesLTStd"><tspan y="299.23283" x="0 8.554 15.554 21.77 25.27 32.27 38.486 43.148 47.04 54.04 61.04 67.256008 71.91801 78.13401 82.02601 85.52601 92.52601 97.18801 101.08001 108.08001 115.08001 121.29601 124.79601 129.45801 136.45801 143.45801 149.67401 153.56601 157.45801 164.45801 171.45801 176.904 180.404 186.62001 192.06601 195.56601 201.78202 205.28202 212.28202 219.28202 224.72801 228.22801 235.22801 239.89002 246.89002 250.78202 257.782 263.99803 270.99803 274.89 278.39 282.282 286.944 293.16 300.16 305.60603 309.49803 315.71403 319.60603 326.60603 331.268 334.768 341.768 347.984 351.876 361.984 368.2 374.41603 381.41603 384.91603 388.808 395.808 402.02403 405.52403 411.74003 416.402 423.402 428.84803 434.29405 441.29405 447.51005 452.17204 455.67204 461.11805 471.22605 475.11805 479.01005 485.22605">The peripheral bridge functions as a bus protocol translator between the crossbar switch</tspan><tspan y="315.23283" x="0 6.2160007 13.216001 20.216 23.716 27.608 34.608 40.824 44.324 49.77 53.662004 59.878004 66.878009 73.09401 76.59401 83.59401 89.81001 94.472019 98.36401 105.36401 112.36401 118.58002 123.24202 129.45803 133.35002 136.85002 143.85002 150.85002 156.29602">and the slave peripheral bus.</tspan><tspan y="339.6328" x=".00001 8.554009 15.554009 21.77001 25.27001 32.27001 38.48601 43.14801 47.040014 54.040014 61.040014 67.25601 71.918018 78.13402 82.02602 85.52602 92.52602 97.18802 101.08002 108.08002 115.08002 121.29602 124.79602 135.68802 141.90402 148.90402 155.12003 162.12003 168.33603 173.78203 177.28203 183.49803 187.39003 191.28203 194.78203 198.67403 203.33603 209.55204 216.55204 221.99803 228.21404 234.43004 238.32204 242.21404 249.21404 256.21406 261.66007 265.16007 272.16007 278.37608 283.82209 287.71409 291.60609 298.60609 304.82209 311.82209 315.32209 319.98408 326.98408 331.64607 335.14607 339.03807 346.03807 352.25407 355.75407 361.97007 365.86207 369.75407 375.97007 382.18608 389.18608 395.40208 402.40208 405.90208 411.34809 415.24009 421.4561 428.4561 434.6721 438.1721 445.1721 451.3881 458.3881 462.2801 468.4961 474.7121 480.1581 483.6581 489.8741 496.8741">The peripheral bridge manages all transactions destined for the attached slave devices and</tspan><tspan y="355.6328" x="0 7 13.216001 20.216 26.432 31.094 37.31 41.202005 47.418004 52.864004 56.364004 61.81 68.026 71.918 78.134 84.350009 88.242008 91.742008 97.188 101.08 108.08 115.08 121.296009 125.188 130.634 134.134 138.796 145.796 150.45801 153.95801 164.85 171.85 178.85 185.85 189.742 195.95801 201.404 204.904 211.904 218.904 222.404 226.296 233.296 239.51201 243.01201 250.01201 256.228 260.88999 264.78199 271.78199 278.78199 284.998 289.65998 295.87599 299.76799 303.26799 310.26799 317.26799 322.714 326.214 333.214 340.214 343.714 350.714 356.93 363.146 370.146 377.146 381.038 388.038 395.038 398.538 404.754 410.97 417.186 423.402 428.84803 434.29405 440.51005 445.95606 449.45606 459.56407 463.45606 467.34806 474.34806 478.24006">generates select signals for modules on the peripheral bus by decoding accesses within</tspan><tspan y="371.6328" x="0 3.8920005 10.892 17.108002 20.608002 26.824002 30.716002 34.608 40.824 47.04 54.04 60.256 67.256 70.756 76.972 83.972 90.972 95.634 101.850009 107.296009 112.742008 116.242008 121.688 128.688 134.904 141.12001 147.33602">the attached address space.</tspan><tspan y="396.0328" x="0 9.338001 16.338002 19.838002 26.838002 33.054 37.716 43.932 50.932 54.824 58.716005 62.216005 65.716 70.378009 76.59401 82.81001 89.81001 95.25601 98.75601 104.972019 111.972019 118.972019 122.472019 132.58002 137.24202 141.13402 145.02602 151.24202 156.68802 160.18802 167.18802 174.18802 177.68802 181.58002 188.58002 194.79602 198.29602 204.51203 209.17403 216.17403 221.62003 227.06603 234.06603 240.28203 244.94403 248.44403 253.89003 257.78205 264.78205 270.99806 274.49806 281.49806 286.16004 289.66004 293.55204 300.55204 306.76805 310.26805 317.26805 323.48405 328.14604 332.03804 339.03804 346.03804 352.25404 356.91603 363.13203 367.02403 370.52403 377.52403 382.186 386.078 393.078 400.078 406.294 409.794 413.686 419.902 426.902 433.118 436.618 440.51 450.618 457.618 461.118 468.118 474.334 478.226 484.44203">By default, reads and writes on the crossbar side of the peripheral bridge take two data-</tspan><tspan y="412.0328" x="0 7 14 20.216 25.662 31.878003 35.378004 41.594 48.594 54.81 58.702005 64.91801 70.364009 73.864009 77.364009 87.47201 94.47201 97.97201 101.864009 108.864009 115.08001 118.58001 123.24201 131.02602 138.81002 142.31002 147.75601 151.64801 158.64801 164.86402 168.36402 171.86402 178.08002 184.29602 190.51203 196.72803 202.17403 207.62003 213.83603 219.28203 222.78203 228.99803 235.99803 246.89003 253.89003 257.78205 263.99806 267.89006 274.10606 277.60606 281.49806 288.49806 291.99806 298.99806 305.99806 312.21406 315.71406 321.93006 328.93006 335.14607 339.03807 345.25407 348.75407 352.25407 356.91606 361.57804 365.07804 375.18605 381.40205 385.29405 389.18605 392.68605 398.13206 402.02406 408.24006 412.13206 418.34806 423.79408 427.29408 433.51008 438.17207 444.38807 447.88807 451.78007 458.78007 464.22608 470.44209 475.10408 478.99607 485.21208">phase cycles. On the IPS side, accesses complete in one cycle. If wait states are inserted</tspan><tspan y="428.0328" x="0 7 14 17.5 21.392 28.392 34.608 38.108 43.554 47.446004 53.662004 60.662004 66.878009 70.378009 77.378009 83.59401 88.25601 92.14801 99.14801 106.14801 112.36401 117.02602 123.24202 127.13402 130.63402 134.13402 140.35002 146.56603 152.78203 158.99803 164.44403 169.89003 173.39003 177.28203 181.17403 192.06603 198.28203 201.78203 211.89003 215.78203 219.67403 223.56603 227.06603 234.06603 240.28203 243.78203 249.99803 256.99806 260.89006 267.10606 274.10606 281.10606 287.32206 294.32206 297.82206 304.03807 310.25407 316.47007 323.47007 328.13206 335.13206 339.02406 346.02406 353.02406 356.91606 363.91606">by the slave peripheral, access time will be extended accordingly.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 112.65331 523.5828)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.008 11.544001 20.440003 29.336003 38.232004 47.128004 56.024003 60.472005 69.368007 79.144008 88.920009 98.69601 108.47201 114.69601">Access support</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 18.00003)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01031" x="331.461 337.95899 343.45799 348.46199 353.96098 356.95799 361.96199 365.46299 367.965 372.969 377.973 380.475 386.478 391.482 394.983 397.48503 402.984 408.483 413.487 416.988 421.992 424.49403 426.99604 433.49403 436.99504 439.49705 444.99604 450.49504 455.49903 458.00105 460.99806 467.49604 469.99806 476.00105 482.00404 485.00105 490.50004 493.00205 495.99906 501.00306">Chapter 20 Peripheral Bridge (AIPS-Lite)</tspan></text>
<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="130.01 137.23 142.79 148.34999 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>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 751.75607)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00401 5.5030105 8.5000109 13.504011 18.50801 23.00801 27.50801 32.512014 34.510015 39.514017 42.016016 48.019014 53.023015 60.520017 62.518018 67.01802 72.02202 77.02602 82.030017 87.03401 91.53401 94.03601 99.04001 102.03701 104.53901 107.04101 109.54301 114.547008 119.047008">Freescale Semiconductor, Inc.</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32 751.75607)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="58.45 65.12 69.01 74.57 77.35 80.13 89.02 91.799999 97.909999 103.46999 107.35999">Preliminary</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 391.68 751.75607)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">441</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54 763.75607)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="180.87 188.65 194.20999 200.31999 205.87999 209.76999 215.32999 218.10999 220.88999 228.10999 234.21999 239.77999 242.55998 248.66999 254.22998 259.78999 265.34999 268.12998 270.90998 277.01997 280.34996 286.45994 290.34996 299.23997 304.79997 308.12995 310.90995 317.01994">General Business Information</tspan></text>
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