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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_630.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

1009 lines
87 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 418.24998)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="160.31998 167.65198 177.64798 186.31198 192.98398 200.98798 208.31998 216.98398 223.65598 232.31998 240.98398 244.31998 248.31598 251.65198 258.32398 261.65998 268.99198 272.32798 279.65998 286.33198 293.00398 299.67597 304.34397 307.67997 315.01197 319.00798 322.34397 329.67597 337.00798">FMC_PFB0CR field descriptions</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.50003 439.99998)" 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>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.10004 439.99998)" 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 56.250024 455.99998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="23.03999 28.043992 33.047994 38.051996 43.055997">31&#x2013;28</tspan><tspan y="18.83789" x="7.542 13.545 18.549 25.047 33.543 39.545999 46.044 48.545999 53.55 56.052 61.056">B0RWSC[3:0]</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 455.99998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 16.011002 20.511002 23.013003 28.017003 30.519003 37.017004 42.021005 47.025007 52.029008 54.531007 63.027009 68.031009 70.02901 72.531009 75.033008 81.036 83.538 88.542 91.044 96.048 98.549999 105.048 110.051998 115.05599 117.55799 120.55499 125.55899">Bank 0 Read Wait State Control</tspan><tspan y="26.83789" 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 83.529 88.533 91.034999 93.033 98.036998 103.04099 107.54099 110.04299 112.54499 117.54899 122.552989 125.054988 130.05899 135.06299 142.55998 147.56398 152.56798 155.56497 158.06697 163.07097 165.57297 168.07497 174.57297 179.57697 181.57497 184.07697 186.57897 191.07897 193.58097 198.58496 201.08696 206.09096 210.59096 213.09296 216.08995 221.09395 226.09795 231.10195 233.09995 236.09694 241.10094 246.10494 248.60694 251.10894 256.11296 258.61497 263.61897 268.11897 272.61897 277.62297 282.12297 286.62297 289.12498 291.62699 296.63099 301.63499 304.137 309.141 314.145 319.149 323.649 326.151 331.155 333.657 336.15904 338.157 343.161 347.661 352.665 355.16703 362.66404 367.66804 375.16505 380.16905 383.16606 387.66606">This read-only field defines the number of wait states required to access the bank 0 flash memory.</tspan><tspan y="43.237894" x="0 5.499 10.503 15.507001 18.009 21.006 26.010003 28.008004 33.012006 35.514005 37.512006 42.516008 47.520009 52.020009 57.02401 59.02201 64.02601 66.52801 71.532009 76.536 79.038 85.536 90.54 95.544 100.548 103.049999 105.551998 110.55599 115.55999 118.06199 121.05899 126.06299 131.06699 136.07099 138.57299 143.57698 148.07698 152.57698 157.58098 162.08098 166.58098 169.08298 171.58498 173.58298 181.07997 186.08397 188.58597 193.58997 196.09197 198.59397 201.09597 206.09996 211.10396 213.60596 216.10796 218.10596 223.10996 227.60996 232.61396 235.11595 240.11995 243.11695 246.11394 251.11794 255.61794 258.11994 261.11695 266.12095 270.62095 275.62495 278.62196 283.62596 288.12596 292.62596 297.62995 302.63395 305.13597 307.13395 312.13795 314.63996 319.13996 323.63996 328.13996 330.64198 335.64598 343.14299 345.645 350.145 352.14299 357.14698 361.64698 366.14698 368.649 373.149 377.649 382.149 384.14698 389.15098 393.65098 396.64799 399.15 404.154 409.158">The relationship between the read access time of the flash array (expressed in system clock cycles) and</tspan><tspan y="54.237894" x="0 6.4980008 14.994001 20.997002 27.495003 29.997004 31.995003 36.495004 38.997 44.001005 49.005006 51.507005 53.505006 58.509008 63.51301 68.517009 71.019008 76.023 80.523">RWSC is defined as:</tspan><tspan y="70.63789" x="0 6.0030004 10.503 15.003 20.007 24.507 29.007 31.509 34.011 36.009004 43.506006 48.510007 51.012006 56.016008 58.518007 61.020006 63.522005 65.520008 70.524 75.024 80.028 82.53 87.534 90.531 93.528 98.532 103.032 105.534 108.035999 112.535999 117.035999 121.535999 124.037998 129.04199 136.53899 139.04099 143.54099 145.53899 150.54299 155.04299 159.54299 164.04299 166.54499 169.04698 174.30298 176.80498 183.30298 191.79898 197.80199 204.29999 206.80199 212.05799 214.55998">Access time of flash array [system clocks] = RWSC + 1</tspan><tspan y="87.037899" x="0 5.499 10.503 15.507001 18.009 23.508002 31.005002 37.503004 40.005 45.009004 50.013006 52.515005 57.519006 65.01601 70.020008 72.522 74.520008 79.020008 84.024 86.022 88.020008 92.520008 95.022 99.522 104.526 106.524 111.024 116.028 118.026 123.03 125.532 130.536 135.036 137.538 140.04 145.04399 147.04199 151.54199 154.04399 158.54399 163.54799 165.54599 170.54999 175.55399 178.05599 183.05998 188.06398 192.56398 197.56798 202.57198 205.07398 210.07798 215.08197 217.58397 220.08597 225.08997 230.09397 232.59597 235.59296 240.59696 243.09896 245.09696 250.10095 252.60295 257.60697 260.10899 262.611 265.113 270.117 275.121 277.62303 282.12303 286.62303 291.12303 293.62504 298.62904 306.12605 308.62806 313.12806 315.12605 320.13005 324.63005 329.13005 331.63206 336.13206 341.13606 346.14006 351.14405 356.14805 358.65007 361.15208 366.15608 368.65809 371.1601 376.1641 381.1681 383.6701 386.17213 388.1701 393.1741 397.6741">The FMC automatically calculates this value based on the ratio of the system clock speed to the flash</tspan><tspan y="98.037899" x=".00004 4.50004 6.49804 11.502041 16.00204 20.50204 23.004042 27.504042 32.50804 37.512044 42.516046 47.520048 50.022047 52.524045 58.023046 63.027048 66.02405 68.52605 73.530048 78.030048 83.03404 90.531047 95.53504 97.53304 102.53704 105.03904 107.54104 114.03904 119.04304 124.047039 129.05104 131.55304 134.05504 139.05904 141.05704 145.55704 148.05904 151.05603 156.06003 158.56203 160.56003 165.56403 168.06603 170.06403 174.56403 177.06603 182.07003 184.57202 189.57602 192.07802 194.58002 197.08202 202.08602 207.09001 209.59201 212.09401 214.09201 219.09601 221.09401 226.098 227.817 232.317 234.819 239.319 244.323 246.321 251.325 256.329 258.83103 260.829 265.329 267.83103 272.83503 277.83903">clock speed. For example, when this ratio is 4:1, the field's value is 3h.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 561.69998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.002 21.006 26.010003 28.512003 33.516004 38.520006 43.020006 47.520006 50.022005 58.518007 63.522008 68.022 70.524">Cache Lock Way x</tspan><tspan y="26.83789" x="0 5.499 10.503 15.507001 20.007 25.011002 27.513003 32.517004 34.515005 37.017004 41.517004 44.019 49.023004 54.027006 56.529005 61.533006 64.53001 72.02701 74.02501 79.02901 84.033008 86.535 88.533008 91.035 93.537 96.039 101.043 106.047 108.548999 113.55299 115.550998 120.050998 125.05499 130.05899 132.56099 137.06099 142.06499 146.56499 151.56899 156.57299 159.07498 165.57299 170.57698 175.07698 177.57898 179.57698 184.07698 186.57898 188.57698 193.58098 198.08098 202.58098 207.58498 212.58898 215.09098 219.59098 224.59497 229.09497 234.09897 236.60097 239.10297 244.10697 249.11096 251.61296 254.11496 256.11296 258.61497 263.11497 265.61698 270.11698 275.12098 280.12498 282.62699 287.63099 292.63499 295.137 299.637 302.139 308.637 310.63499 312.63298 314.63096 317.13298 322.13697 327.14097 329.64299 332.145 337.149 342.15299 344.655 349.659 351.65699 356.15699 361.16099 363.15898 368.16297 372.66297 377.66697 382.67097 385.17298 390.17698 394.67698 397.179 399.681 404.685 407.187 412.191 415.18803">These bits determine if the given cache way is locked such that its contents will not be displaced by future</tspan><tspan y="37.83789" x="0 7.4970009 9.495001 13.995001 18.495 23.499 27.999">misses.</tspan><tspan y="54.237894" x="0 5.499 10.503 15.507001 18.009 23.013 25.011002 27.513003 30.015004 34.515005 39.519006 42.021005 44.523004 46.521005 51.525007 56.529008 59.031007 64.035 69.039 71.541 73.539 78.543 80.541 83.043 85.041 90.045 95.048999 99.548999 102.050998 107.05499 110.051998 115.05599 117.55799 120.05999 125.06399 128.06099 130.56299 135.56699 140.57099 145.07099 150.07498 152.57698 157.58098 159.57898 162.08098 164.58298 166.58098 171.58498 174.08698 176.58898 181.59297 186.59697 189.09897 191.60097 193.59897 198.60297 200.60097 205.60497">The bit setting definitions are for each bit in the field.</tspan></text>
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