birdcage/docs/K60-refman-vectors/K60-reference-manual_page_627.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

1054 lines
96 KiB (Stored with Git LFS)
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<g clip-path="url(#clip_78)">
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<path transform="matrix(1,0,0,1,54.00003,287)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M148.13529 0H177.98236"/>
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<path transform="matrix(1,0,0,1,54.00003,287)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M177.78235 0H207.62943"/>
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<path transform="matrix(1,0,0,1,54.00003,287)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M237.07648 0H266.92356"/>
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<g clip-path="url(#clip_85)">
<path transform="matrix(1,0,0,1,54.00003,287)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M266.72355 0H296.57063"/>
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<g clip-path="url(#clip_86)">
<path transform="matrix(1,0,0,1,54.00003,287)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M296.3706 0H326.21769"/>
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<g clip-path="url(#clip_87)">
<path transform="matrix(1,0,0,1,54.00003,287)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M326.01768 0H355.86476"/>
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<g clip-path="url(#clip_88)">
<path transform="matrix(1,0,0,1,54.00003,287)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M355.66474 0H385.5118"/>
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<path transform="matrix(1,0,0,1,54.00003,287)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M385.3118 0H415.15888"/>
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<g clip-path="url(#clip_90)">
<path transform="matrix(1,0,0,1,54.00003,287)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M414.95887 0H444.80595"/>
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<g clip-path="url(#clip_91)">
<path transform="matrix(1,0,0,1,54.00003,287)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M444.60594 0H474.453"/>
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<g clip-path="url(#clip_92)">
<path transform="matrix(1,0,0,1,54.00003,287)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M474.253 0H504.25007"/>
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<path transform="matrix(1,0,0,1,54.00003,54)" d="M0 256.25H504.00004V661.5H0Z" fill="#ffffff" fill-rule="evenodd"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 310.25)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="163.99198 171.32398 181.31998 189.98398 196.65598 204.65998 211.99198 220.65598 228.65998 237.32398 240.65998 244.65598 247.99198 254.66397 257.99998 265.33198 268.66798 275.99998 282.67198 289.34397 296.01597 300.68397 304.01997 311.35197 315.34797 318.68397 326.01597 333.34797">FMC_PFAPR field descriptions</tspan></text>
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<path transform="matrix(1,0,0,1,54.00003,329.5)" d="M.5 .5H75.10001V15.5H.5Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.50003 332)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="25.79401 31.29301 33.79501 38.79901 41.30101">Field</tspan></text>
<g clip-path="url(#clip_94)">
<path transform="matrix(1,0,0,1,54.00003,329.5)" d="M76.10001 .5H503.50004V15.5H76.10001Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.10004 332)" 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>
<g clip-path="url(#clip_95)">
<path transform="matrix(1,0,0,1,54.000024,345.5)" d="M.25 .5H75.35001V26.5H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250024 348)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="23.03999 28.043992 33.047994 38.051996 43.055997">31&#x2013;24</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>
<g clip-path="url(#clip_96)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 348)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 40.509008 45.009008 47.511007 50.508008 55.51201 60.01201 65.01601 68.01301 72.51301 77.517009 82.521">This field is reserved.</tspan><tspan y="18.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 80.523 85.023 87.525 90.522 95.526 100.026 105.03 108.027 112.527 117.531 122.534999 125.036998 130.041 135.045 140.049 142.551 147.555 149.553 156.051 161.055 165.555 170.055 172.55699 177.56099 182.56499 187.06499 189.56699 192.06899 197.07299 202.07698 204.57898 209.07898 214.08298 216.08098 221.08498 226.08898 228.59098 233.59497">This read-only field is reserved and always has the value 0.</tspan></text>
<g clip-path="url(#clip_97)">
<path transform="matrix(1,0,0,1,54.000024,372.25)" d="M.25 .25H75.35001V81.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250024 374.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.546 35.55">23</tspan><tspan y="18.83789" x="20.304 27.801003 32.805006 38.808008 44.307008">M7PFD</tspan></text>
<g clip-path="url(#clip_98)">
<path transform="matrix(1,0,0,1,54.000024,372.25)" d="M75.85001 .25H503.75004V81.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 374.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.4970009 12.501001 17.001002 19.503003 24.507004 27.504004 30.006005 35.010007 37.512006 43.515008 46.51201 51.51601 54.01801 59.02201 61.52401 66.02401 71.02801 73.53001 80.02801 82.02601 86.52601 91.53001 96.534008 98.532009">Master 7 Prefetch Disable</tspan><tspan y="28.83789" x="0 5.499 10.503 15.507001 20.007 25.011002 27.513003 32.517004 34.515005 37.017004 41.517004 44.019 48.519 53.523004 58.527006 61.029005 64.026 69.03 71.028 73.53 80.028 85.032 90.035999 92.537998 97.54199 102.54599 105.54299 108.04499 113.04899 116.04599 121.04999 123.55199 128.55599 131.05799 135.55799 140.56198 142.55998 147.56398 152.56798 155.06998 157.06798 161.56798 164.06998 169.07398 174.07798 179.08197 184.08597 186.08397 191.08797 196.09197 198.59397 203.59796 208.60196 213.10196 218.10596 223.10996 225.61196 230.61595 235.61995 238.12195 240.62395 245.62795 250.63195 253.13394 255.13195 260.13597 265.13996 267.13795 271.63795 276.64195 278.63993 281.14195 286.14595 291.14994 298.64695 303.65095 308.65495 311.65196 314.15397 319.15797 321.65998 324.162 326.664 331.668 336.672 339.174 342.17103 347.17503 352.17903 357.183 362.187 366.687 369.18904 371.187 376.191 381.195 383.69703 388.19703 391.19404 396.19804 400.69804 405.19804 410.20204 415.20603">These bits control whether prefetching is enabled based on the logical number of the requesting crossbar</tspan><tspan y="39.83789" x="0 4.5 10.998001 12.996001 15.498001 19.998002 25.002003 27.504004 35.001005 40.005006 44.505006 47.007005 52.011007 55.008008 57.510007 60.012006 65.511 70.515 72.513 77.013 79.515 82.017 84.015 89.019 91.017 96.020999 98.522998 100.520999 105.020999 107.522998 110.024997 115.02899 118.02599 120.52799 125.53199 130.536 133.53299 136.03499 141.03899 146.04299 151.04698 153.04499 155.04299 157.54499 159.54299 164.54698 169.55098 172.05298 177.05698 181.55698 184.05898 186.56098 191.56497 196.56897 199.07097 205.07398 210.57297 216.57598 221.57997 228.07798 234.57598 237.07798 243.08098 247.58098 254.07898 260.08198 266.08497 268.58699 274.58998 279.08998 281.59199 287.59498 293.59797 296.09999 298.602 303.606 305.60398 308.106 312.606">switch master. This field is further qualified by the PFBnCR[BxDPE,BxIPE] bits.</tspan></text>
<path transform="matrix(1,0,0,1,131.85004,374.5)" d="M0 53H423.90003V77H0Z" fill="#ffffff" fill-rule="evenodd"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 427.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08045 427.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 9 14.004001 16.506 21.510003 24.012003 28.512003 33.516004 35.514005 40.518007 45.522008 48.024007 50.526006 55.530008 58.527009 61.029008 63.531007 68.535 70.533008 75.033008 77.535 85.032009 90.036 94.536 97.038 102.042 105.039 107.541 109.539 114.039 116.541 121.545 126.548999 131.553 136.55699 138.555 143.55899 148.56299">Prefetching for this master is enabled.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 438.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08045 438.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.0030004 9 14.004001 16.506 21.510003 24.012003 28.512003 33.516004 35.514005 40.518007 45.522008 48.024007 50.526006 55.530008 58.527009 61.029008 63.531007 68.535 70.533008 75.033008 77.535 85.032009 90.036 94.536 97.038 102.042 105.039 107.541 109.539 114.039 116.541 121.545 123.543 128.043 133.047 138.051 140.049 145.053 150.05699">Prefetching for this master is disabled.</tspan></text>
<g clip-path="url(#clip_99)">
<path transform="matrix(1,0,0,1,54.000024,453.75)" d="M.25 .25H75.35001V81.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.250024 456)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.546 35.55">22</tspan><tspan y="18.83789" x="20.304 27.801003 32.805006 38.808008 44.307008">M6PFD</tspan></text>
<g clip-path="url(#clip_100)">
<path transform="matrix(1,0,0,1,54.000024,453.75)" d="M75.85001 .25H503.75004V81.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 456)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.4970009 12.501001 17.001002 19.503003 24.507004 27.504004 30.006005 35.010007 37.512006 43.515008 46.51201 51.51601 54.01801 59.02201 61.52401 66.02401 71.02801 73.53001 80.02801 82.02601 86.52601 91.53001 96.534008 98.532009">Master 6 Prefetch Disable</tspan><tspan y="28.83789" x="0 5.499 10.503 15.507001 20.007 25.011002 27.513003 32.517004 34.515005 37.017004 41.517004 44.019 48.519 53.523004 58.527006 61.029005 64.026 69.03 71.028 73.53 80.028 85.032 90.035999 92.537998 97.54199 102.54599 105.54299 108.04499 113.04899 116.04599 121.04999 123.55199 128.55599 131.05799 135.55799 140.56198 142.55998 147.56398 152.56798 155.06998 157.06798 161.56798 164.06998 169.07398 174.07798 179.08197 184.08597 186.08397 191.08797 196.09197 198.59397 203.59796 208.60196 213.10196 218.10596 223.10996 225.61196 230.61595 235.61995 238.12195 240.62395 245.62795 250.63195 253.13394 255.13195 260.13597 265.13996 267.13795 271.63795 276.64195 278.63993 281.14195 286.14595 291.14994 298.64695 303.65095 308.65495 311.65196 314.15397 319.15797 321.65998 324.162 326.664 331.668 336.672 339.174 342.17103 347.17503 352.17903 357.183 362.187 366.687 369.18904 371.187 376.191 381.195 383.69703 388.19703 391.19404 396.19804 400.69804 405.19804 410.20204 415.20603">These bits control whether prefetching is enabled based on the logical number of the requesting crossbar</tspan><tspan y="39.83789" x="0 4.5 10.998001 12.996001 15.498001 19.998002 25.002003 27.504004 35.001005 40.005006 44.505006 47.007005 52.011007 55.008008 57.510007 60.012006 65.511 70.515 72.513 77.013 79.515 82.017 84.015 89.019 91.017 96.020999 98.522998 100.520999 105.020999 107.522998 110.024997 115.02899 118.02599 120.52799 125.53199 130.536 133.53299 136.03499 141.03899 146.04299 151.04698 153.04499 155.04299 157.54499 159.54299 164.54698 169.55098 172.05298 177.05698 181.55698 184.05898 186.56098 191.56497 196.56897 199.07097 205.07398 210.57297 216.57598 221.57997 228.07798 234.57598 237.07798 243.08098 247.58098 254.07898 260.08198 266.08497 268.58699 274.58998 279.08998 281.59199 287.59498 293.59797 296.09999 298.602 303.606 305.60398 308.106 312.606">switch master. This field is further qualified by the PFBnCR[BxDPE,BxIPE] bits.</tspan></text>
<path transform="matrix(1,0,0,1,131.85004,456)" d="M0 53H423.90003V77H0Z" fill="#ffffff" fill-rule="evenodd"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 509)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08045 509)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 9 14.004001 16.506 21.510003 24.012003 28.512003 33.516004 35.514005 40.518007 45.522008 48.024007 50.526006 55.530008 58.527009 61.029008 63.531007 68.535 70.533008 75.033008 77.535 85.032009 90.036 94.536 97.038 102.042 105.039 107.541 109.539 114.039 116.541 121.545 126.548999 131.553 136.55699 138.555 143.55899 148.56299">Prefetching for this master is enabled.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 520)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08045 520)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.0030004 9 14.004001 16.506 21.510003 24.012003 28.512003 33.516004 35.514005 40.518007 45.522008 48.024007 50.526006 55.530008 58.527009 61.029008 63.531007 68.535 70.533008 75.033008 77.535 85.032009 90.036 94.536 97.038 102.042 105.039 107.541 109.539 114.039 116.541 121.545 123.543 128.043 133.047 138.051 140.049 145.053 150.05699">Prefetching for this master is disabled.</tspan></text>
<g clip-path="url(#clip_101)">
<path transform="matrix(1,0,0,1,54.000024,535.25)" d="M.25 .25H75.35001V81.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.250024 537.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.546 35.55">21</tspan><tspan y="18.83789" x="20.304 27.801003 32.805006 38.808008 44.307008">M5PFD</tspan></text>
<g clip-path="url(#clip_102)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 590.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08045 590.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 9 14.004001 16.506 21.510003 24.012003 28.512003 33.516004 35.514005 40.518007 45.522008 48.024007 50.526006 55.530008 58.527009 61.029008 63.531007 68.535 70.533008 75.033008 77.535 85.032009 90.036 94.536 97.038 102.042 105.039 107.541 109.539 114.039 116.541 121.545 126.548999 131.553 136.55699 138.555 143.55899 148.56299">Prefetching for this master is enabled.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 672)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08045 672)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 9 14.004001 16.506 21.510003 24.012003 28.512003 33.516004 35.514005 40.518007 45.522008 48.024007 50.526006 55.530008 58.527009 61.029008 63.531007 68.535 70.533008 75.033008 77.535 85.032009 90.036 94.536 97.038 102.042 105.039 107.541 109.539 114.039 116.541 121.545 126.548999 131.553 136.55699 138.555 143.55899 148.56299">Prefetching for this master is enabled.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08045 683)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.0030004 9 14.004001 16.506 21.510003 24.012003 28.512003 33.516004 35.514005 40.518007 45.522008 48.024007 50.526006 55.530008 58.527009 61.029008 63.531007 68.535 70.533008 75.033008 77.535 85.032009 90.036 94.536 97.038 102.042 105.039 107.541 109.539 114.039 116.541 121.545 123.543 128.043 133.047 138.051 140.049 145.053 150.05699">Prefetching for this master is disabled.</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="320.97599 327.47398 332.97297 337.97697 343.47596 346.47297 351.47697 354.97798 357.47999 362.48399 367.48799 369.99 375.48899 377.991 382.995 387.999 393.498 396 403.497 408.501 416.502 422.001 425.502 430.506 433.00804 439.506 445.005 450.504 453.501 457.002 462.501 465.00303 467.50505 472.50904 476.01005 478.51206 481.50907 487.00807 494.50508 501.00306">Chapter 28 Flash Memory Controller (FMC)</tspan></text>
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