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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_496.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

657 lines
65 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 153.76111 293.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 24.003 29.007 31.005002 36.009004 41.013006 43.515005 48.519006 53.523008 56.025007 58.023008 63.027009 68.031009 72.531009 75.033008 80.037 82.539 87.039 92.043 97.047 101.547 103.545 106.047 108.045 112.545 115.047 120.050998 125.05499 130.05899 133.05599 138.05998 142.55998 147.05998 149.56198 152.55898 157.56298 162.56697 167.57097 172.57497 175.07697 179.57697 184.58097 189.58496 194.08496 196.08296 198.58496 200.58296 205.58696 210.59096 213.09296 215.59496 220.59896 223.10095 228.10495 233.10895 235.61095 238.11295 243.11695 248.12094 250.62294 255.12294 260.12696 262.12495 267.12895 272.13294 274.63496 279.63896 282.14097 284.64299 289.64698 292.64399 295.146 301.149 307.15199 313.64997 320.14796 326.64595 329.14796 334.40397 336.90599 342.90898 349.91099 355.40998">This value defines a specific address range specified to be the value after SADDR + SOFF</tspan><tspan y="20.83789" x="0 4.5 9.504001 11.502001 16.002 21.006 23.004002 28.008004 30.510004 32.508005 37.512006 42.516008 45.018007 47.016008 51.516008 54.018007 59.022008 64.02601 67.02301 69.52501 74.52901 77.52601 85.02301 90.02701 95.031009 97.533008 102.537 105.534008 108.036 110.538 115.542 120.546 123.048 128.052 131.049 133.047 138.051 140.049 145.053 150.05699 152.055 154.55699 157.55399 162.55799 167.56198 169.55998 174.05998 176.56198 181.56598 184.56298 187.06497 191.56497 196.56897 198.56697 203.57097 208.57497 211.07697 213.57897 219.07796 224.08196 229.08596 231.58795 236.08795 241.09195 243.59395 246.09595 248.09395 253.09795 258.10197 260.60398 265.60798 268.11 270.612 273.114 278.118 280.116 284.616 287.118 289.62004 291.618 296.622 298.62 303.624 306.126 311.13 314.127 319.131 323.631 325.629 330.633 335.637 340.137 342.639 345.14103 350.14503 355.14903 357.65104 362.65504 367.65904 369.657 371.655 373.65299 376.155 380.655 383.157 385.65904">calculation is performed or the original register value. The setting of this field provides the ability to</tspan><tspan y="31.83789" x="0 1.9980002 9.495001 14.4990019 16.497002 21.501004 28.998005 34.002008 39.00601 41.508008 44.010007 49.014009 51.516008 56.016008 58.014009 61.01101 65.51101 70.51501 72.51301 77.517009 80.51401 83.01601 88.020008 93.024 95.526 100.53 103.032 108.035999 113.03999 118.04399 123.04799 128.05199 130.55399 135.55799 140.56198 145.06198 147.05998 149.05799 153.55799 156.05998 158.56198 164.06098 169.06497 172.06197 174.56397 179.56797 184.57196 187.07396 192.07796 194.57996 199.58396 204.58795 209.59195 214.59595 219.59995 224.09995 226.60195 229.59894 234.60294 239.60694 244.61093 246.60894 249.60593 251.60393 256.60795 261.61195 264.11396 269.11796 274.12196 280.61994 285.62394 288.62095 291.61796 296.62196 299.12397 302.12098 307.12498 309.62699 314.12699 316.12498 320.62498 325.62898 328.13099 333.13499 337.63499 340.137 345.141 349.641 352.143 354.64503 357.14704 362.15104 367.15504 369.65705 374.66105 379.66505 384.66905 389.67304">implement a circular data queue easily. For data queues requiring power-of-2 size bytes, the queue</tspan><tspan y="42.83789" x="0 4.5 9.504001 14.508001 19.512001 21.510003 26.514004 29.016005 33.516008 36.018007 41.022008 44.01901 46.521009 49.023008 54.027009 56.529008 59.031007 64.035 66.537 71.541 74.538 82.035 87.039 92.043 97.047 99.045 104.048999 107.046 111.546 113.544 118.044 123.048 125.549999 130.554 135.558 140.562 143.55899 148.56299 153.06299 157.56299 160.06499 165.06899 170.07299 175.07698 177.57898 180.08098 185.08498 190.08898 192.59098 198.59398 206.09098 213.09297 219.59098 222.09297 224.59497 226.59297 231.59697 233.59497 238.59897 241.10097 245.60097 250.60497 255.60897 260.61299 262.61097 267.61497 270.11698 275.12098 280.12498 282.62699 287.12699 292.13099 294.633 297.135 299.63703 304.64103 307.14305 309.64506 314.64906 319.65306 322.15507 327.15907 332.16307 337.16706 340.16407 345.16807 350.17207 353.16908 355.16706 360.17106 362.67308 367.67707 370.17909 374.67909 379.68309 381.68107 386.68507">should start at a 0-modulo-size address and the SMOD field should be set to the appropriate value</tspan><tspan y="53.83789" x="0 2.5020004 7.506001 10.503001 13.005001 15.507002 20.511002 25.515004 28.017004 33.021005 38.025007 43.029008 48.03301 53.03701 55.53901 58.041009 60.543008 63.54001 68.54401 73.548007 78.048007 80.046009 85.05 90.054 92.556 95.058 100.062 105.065998 107.56799 112.57199 117.57599 122.07599 124.07399 127.07099 132.075 137.079 139.581 144.58499 149.58899 157.08599 162.08998 167.09398 170.09098 172.59297 177.59697 180.09897 182.60097 187.60497 192.60897 197.61296 202.61696 205.61396 208.11595 213.11995 218.12395 223.12795 226.12494 231.12894 235.62894 240.12894 242.63094 247.63494 249.63294 252.13494 256.63496 259.13697 261.63899 267.13798 272.14198 277.14598 279.64799 284.14799 289.15199 291.14997 296.15397 301.15797 303.65998 308.66398 311.66099 316.66499 321.66899 324.666 329.66999 337.167 344.664 349.668 354.672 357.174 359.172 364.176 366.678 371.682 374.18403 376.68605 381.69004 383.68803">for the queue, freezing the desired number of upper address bits. The value programmed into this</tspan><tspan y="64.83789" x="0 2.5020004 4.5000007 9.504002 11.502002 16.506003 19.008004 23.508004 28.512005 33.516008 38.016008 40.014009 42.516008 44.514009 49.51801 54.01801 56.520009 59.022008 64.02601 69.03001 71.532009 76.536 81.54 89.037 94.041 99.045 102.042 104.544 109.548 112.049999 114.551998 116.549999 121.55399 128.05199 133.05599 136.05298 138.55498 143.55898 148.56298 153.56697 156.56397 161.56797 166.06797 170.56797 173.06996 178.07396 180.07196 182.57396 187.07396 189.57596 194.57996 196.57796 198.57596 203.57996 210.07796 215.08196 220.08596 222.58795 225.08995 230.09395 232.59595 237.09595 242.09995 247.10395 252.10794 257.11195 262.11595 264.61796 267.11997 272.61897 277.62297 280.61997 283.12199 288.12599 290.628 295.128 297.12599 300.123 304.623 309.62699 311.62498 316.62898 319.62599 322.128 327.132 332.136 337.13999 342.14399 347.14799 349.65 354.654 359.658 364.662 366.65998 368.65797 373.15797 378.16197 380.66398 382.66197 387.66596 392.66996">field specifies the number of lower address bits allowed to change. For a circular queue application,</tspan><tspan y="75.83789" x="0 2.5020004 7.506001 12.510002 15.012003 21.015004 28.017004 33.516004 39.015005 41.517004 43.515005 48.015005 50.517004 53.019 57.519 62.523004 64.521 69.021 74.025 76.023 78.021 82.521 85.023 89.523 94.527 97.029 99.531 102.033 107.036998 109.538997 112.04099 117.04499 122.04899 124.55099 127.052989 130.04999 135.05399 140.05799 144.55799 147.05998 152.06398 155.06098 157.56298 162.06298 164.06098 168.56098 173.56497 176.06697 178.56897 183.57297 186.07497 188.07297 195.56996 200.57396 202.57196 207.57596 215.07295 220.07695 225.08095 227.58295 230.08495 235.08895 240.09294 244.59294 247.09494 250.09194 252.08994 257.09394 261.59394 264.59095 269.59495 277.09196 282.09596 287.09996 289.60197 292.10398 297.10798 302.11198 307.11598 310.11299 315.11698 319.61698 324.11698 326.11497 331.11897 336.12297 338.62498 345.12297 347.12095 349.62297 354.62696 357.12898 359.63099 364.63499 369.63899 372.141 378.14399 385.641 392.643">the SOFF is typically set to the transfer size to implement post-increment addressing with the SMOD</tspan><tspan y="86.83789" x="0 2.5020004 7.506001 12.510002 17.010003 19.512003 21.510003 26.514004 31.518006 34.020006 38.520006 43.524007 48.528009 53.028009 55.530008 58.527009 63.53101 65.52901 70.533008 72.531009 77.535 82.539 85.041 87.543 92.547 97.550998 100.05299 105.05699 110.06099 115.06499 118.06199 123.06599 127.56599 132.06598 137.06998 141.56998 144.07198 146.57398 151.57798 154.07997 159.08397 161.58597 166.58997 169.58696 177.08396 182.08795 187.09195 192.09595 194.09395 199.09795 202.09494 206.59494 208.59294 213.09294 218.09694 220.59894 223.59593 228.59993 233.60393 238.60793 243.61193">function constraining the addresses to a 0-modulo-size range.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25004 388)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="25.542 30.546002 35.550004 40.554006">10&#x2013;8</tspan><tspan y="18.83789" x="22.545 28.548 34.551004 37.053 42.552003">SSIZE</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85005 388)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 16.011002 19.008002 23.508002 28.512001 31.014002 36.018 41.022005 43.524003 48.528005 51.030004 53.532 56.529005 61.533006 66.537 71.037 73.539 78.543 81.54 84.042 88.542 90.54 95.04">Source data transfer size</tspan><tspan y="28.83789" x="0 5.499 10.503 15.507001 18.009 23.013 25.515002 28.017003 33.021005 40.518007 45.522008 48.024007 53.028009 58.03201 60.534009 65.53801 70.03801 75.04201 77.54401 82.548007 85.05 87.552 92.556 95.058 101.556 106.56 111.06 116.063999 119.061 123.561 128.565 133.569 136.071 141.075 146.079 150.579 155.583 160.58699 162.58499 167.58899 172.59299 175.09499 179.59499 184.59899 189.60298 194.10298 199.10698 203.60698 206.10898 211.11298 213.61498 218.11498 223.11898 228.12297 230.62497 232.62297 237.62697 242.63097 245.62796 250.63196 253.13396 255.13196 260.13597 265.13996 267.64198 272.64598 275.64299 278.63999 283.64399 286.641">The attempted use of a Reserved encoding causes a configuration error.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85005 430)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00002 5.0040209 10.008021">000</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.8187 430)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00002 5.0040209 8.00102 13.005021 15.003021">8-bit</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 441)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.0040209 10.008021">001</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.8187 441)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.0040209 10.008021 13.005021 18.009022 20.007023">16-bit</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 454)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.0040209 10.008021">010</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.8187 454)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.0040209 10.008021 13.005021 18.009022 20.007023">32-bit</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 467)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.0040209 10.008021">011</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.8187 467)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 6.4980208 11.502022 16.002022 21.006024 24.003024 28.503024 33.507024">Reserved</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 480)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.0040209 10.008021">100</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.8187 480)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.0040209 10.008021 13.005021 18.009022 22.509022 25.011023">16-byte</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 493)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.0040209 10.008021">101</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.8187 493)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.0040209 10.008021 13.005021 18.009022 22.509022 25.011023">32-byte</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 506)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.0040209 10.008021">110</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.8187 506)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 6.4980208 11.502022 16.002022 21.006024 24.003024 28.503024 33.507024">Reserved</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 519)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00003 5.0040309 10.008032">111</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.8187 519)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00003 6.4980309 11.502031 16.002032 21.006031 24.00303 28.50303 33.50703">Reserved</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250024 536.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="28.044 33.048 38.052003">7&#x2013;3</tspan><tspan y="18.83789" x="21.807002 28.305003 35.802003 42.804">DMOD</tspan></text>
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<path transform="matrix(1,0,0,1,54.000024,534.25)" d="M75.85001 .25H503.75004V36.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 536.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.002 18.504002 20.502003 25.506005 30.510006 33.012006 35.010007 40.014009 45.01801 47.520009 53.52301 58.52701 63.531015 66.528018 71.53201 76.03201 80.53201 83.03401 90.53101 95.53501 100.53901 105.54301 107.54101">Destination Address Modulo</tspan><tspan y="28.83789" x="0 6.0030004 11.007001 16.011002 18.513003 21.015004 26.019005 31.023007 33.525007 39.528009 47.02501 54.027009 60.52501 63.027009 68.031009 73.035 75.537 77.535 82.539 84.537 87.039 89.037 94.041">See the SMOD definition</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250024 573)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="28.044 33.048 38.052003">2&#x2013;0</tspan><tspan y="18.83789" x="22.302 28.800002 34.803 37.305 42.804">DSIZE</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 573)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.002 18.504002 20.502003 25.506005 30.510006 33.012006 35.010007 40.014009 45.01801 47.520009 54.01801 59.02201 61.52401 66.52801 69.03001 74.52901 77.52601 82.53001 87.534008 92.034008 94.536 99.54 102.537 105.039 111.042 113.04 117.54">Destination Data Transfer Size</tspan><tspan y="28.83789" x="0 6.0030004 11.007001 16.011002 18.513003 21.015004 26.019005 31.023007 33.525007 39.528009 45.531007 48.033006 53.532007 59.535005 62.037004 67.041 72.045 74.547 76.545 81.548999 83.547 86.048999 88.047 93.050998">See the SSIZE definition</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="25.87323" x="0 7.4970009 12.501001 20.502003 26.001004 29.502003 34.506006 37.008005 45.009004 50.013006 55.512006 58.014005 61.515005 66.519008 72.018009 74.520008 79.524 82.521 87.525 91.026 93.528 99.027 104.031 107.028 109.53 115.029 117.531 120.528 123.03 128.52899">Memory map/register definition</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.008 137.228 142.788 148.34799 151.12799 157.79799 163.90799 170.01799 173.34799 179.458 185.01799 193.90799 196.68799 199.46799 205.02799 207.80799 215.02799 220.58798 223.91799 229.47798 233.36798 238.92798 245.03798 250.59798 256.158 258.938 267.26799 272.82798 278.93797 285.04795 290.60795 293.38795 296.16795 298.94795 306.16795 311.72795 317.28794 320.06794 322.84794 328.40794 331.18794 336.74794 342.8579 348.9679 351.7479 357.3079 362.8679 368.4279">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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