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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_64.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

802 lines
78 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 156)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 23.013 28.017003 31.014002 33.012 38.016004 43.020006 48.024007 51.021009 56.02501 58.02301 60.52501 65.52901 68.52601 70.52401 75.52801 80.532009 85.536 88.038 92.538 97.542 102.546 107.046 112.049999 115.047 117.548999 122.048999 124.550998 127.05299 132.05699 137.06099 139.56299 144.06299 147.05998 152.06398 156.56398 161.06398 166.06798 171.07198 174.06897 176.57097 181.07097 187.56897 189.56697 192.06897 196.56897 201.57297 204.07497 206.07297 211.07697 213.57897 218.58296 221.57996 224.08196 229.08596 233.58596 238.58995 241.09195 243.59395 248.59795 251.09995 256.10395 261.10795 263.60997 265.60795 270.61195 273.11396 278.11796 281.11497 283.61698 288.62098 293.12098 298.12498 300.62699 303.129">The peripheral bridge converts the crossbar switch interface to an interface to</tspan><tspan y="18.83789" x="0 5.0040009 9.504001 14.004001 19.008002 23.508002 28.008002 30.510003 35.514005 38.016004 45.513006 50.517007 52.515008 57.51901 60.51601 62.51401 65.016017 69.516017 72.01801 77.02201 79.52401 82.02601 87.03001 92.034008 95.031009 97.02901 102.033008 107.037 112.041 115.038 120.042 122.04 126.54 129.042 134.046 139.05 141.552 144.054 149.058 154.062 156.564 161.568 166.57199 171.07199 173.06999 177.56999 182.57399">access a majority of peripherals on the device.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 182.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 24.507002 32.004 38.007005 40.509004 48.006006 53.010007 55.008008 57.510007 59.508008 64.51201 66.51001 71.51401 76.01401 81.018009 84.01501 86.517009 91.017009 96.021 98.019008 103.023 107.523 110.025 114.525 117.027 119.529 122.526 127.53 135.027 137.52899 145.02599 150.02999 155.03398 159.53398 162.03598 168.53398 176.03098 182.03398 184.53598 187.53298 192.53697 197.54097 202.54497 207.54897 212.04897 214.55097 219.05097 221.55297 226.55696 231.56096 238.05896 243.06296 245.56496 248.06696 253.07096 255.57295 260.57698 263.07899 267.57899 275.076 280.08 282.07798 284.07597 289.07997 292.07698 294.57899 299.58299 304.58699 312.08399 317.08799 322.09199">The DMA multiplexer selects from many DMA requests down to a smaller number</tspan><tspan y="18.83789" x="0 2.5020004 7.506001 10.503001 13.005001 15.507002 20.511002 25.515004 28.017004 34.515005 42.012006 48.015008 50.517007 55.017007 60.021009 65.02501 67.52701 70.52401 75.52801 77.52601 79.52401 84.52801 87.52501">for the DMA controller.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 209)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 24.507002 32.004 38.007005 40.509004 45.009004 50.013006 55.017007 57.519006 60.516008 65.520008 67.518009 69.51601 74.520008 77.517009 80.019008 85.023 88.020008 93.024 97.524 99.522 104.526 109.53 114.03 116.532 121.535999 124.533 129.537 134.541 137.538 142.54199 150.03899 157.53598 162.53998 167.54398 169.54198 174.54598 177.04798 181.54798 186.55197 191.55597 196.55997 201.56397 206.56797 208.56597 213.06597 215.56797 222.06597 224.06397 226.56597 231.56996 234.07196 236.57396 239.57096 244.57495 249.57895 254.07895 256.58097 261.58497 264.58198 267.08399 271.58399 276.58799 281.59199 284.094 287.091 292.095">The DMA controller provides programmable channels with transfer control</tspan><tspan y="18.83789" x="0 5.0040009 10.008001 14.508001 19.008002 22.005002 24.003003 29.007004 31.509005 36.513006 39.510007 44.010007 46.512006 49.014005 54.018007 57.015008 59.517007 64.521 69.525 72.027 77.031 79.533 87.03 92.034 96.534 101.537998 109.034999 114.038997 119.04299 121.54499 124.04699 128.547 130.545 135.549 138.051 143.055 148.05899 153.06299 155.06099 158.05799 163.06198 168.06598 173.06998 176.06697 181.07097 185.57097 190.07097 192.57297 195.07497 198.07196 203.07596 208.07996 212.57996 215.08196 220.08596 223.08295 227.58295 230.08495 232.58695 237.59095 240.58794 243.08994 248.09394 251.09093 253.59293 256.09495 261.09895 266.10295 269.09996 271.60197 274.10398 279.10798 284.11198 287.10899 289.611 294.615 299.619 304.623 307.125 312.129 317.133 322.137">descriptors for data movement via dual-address transfers for 8-, 16-, 32- and 128-</tspan><tspan y="29.83789" x="0 5.0040009 7.002001 9.504002 12.006002 17.010003 22.014004 24.516005 29.520005 32.022005 36.522005 41.526006 43.524007 48.528009 53.53201 58.03201">bit data values.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 375.5)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 13.344002 22.240002 26.688002">2.2.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.757328 375.5)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 13.328001 22.224003 36.448007 46.224008 52.448007 56.896009 65.79201 74.68801 79.13601 88.03201 97.808017 107.584018 112.03201 125.360019 134.25601 148.48001 158.25601 164.48001 173.376 177.824 182.272 192.048 197.376 206.272 212.496 217.824 226.72 235.616 244.512">Memories and Memory Interfaces</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="358.75" x="-.00599 8.54801 15.54801 21.764012 25.264012 29.926012 36.92601 40.818014 44.710016 51.710016 61.818017 65.710018 72.710018 79.710018 83.210018 94.10201 100.318019 111.210018 118.210018 122.87202 126.764019 132.98001 138.42601 141.92601 148.14202 155.14202 162.14202 165.64202 176.53401 182.75002 193.64202 200.64202 205.30402 212.30402 215.80402 219.69602 226.69602 230.58802 236.80402 241.46602 246.12802 252.34403 258.56004 264.77604 270.22206 273.72206 279.93806 284.60005 290.81605 294.31605 300.53205 307.53205 313.74806 317.64006 321.53205 327.74806 334.74806 338.64006 344.85606 348.35606 355.35606 362.35606 365.85606 369.74806 376.74806 380.64006 386.08607 389.58607 396.58607 402.80207 409.80207 413.69407 419.91007 426.12608">The following memories and memory interfaces are available on this device.</tspan></text>
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encompasses the following memory types:</tspan><tspan y="40.83789" x="38.85298 47.996984 53.495985 58.499986 61.496988 63.998987 69.00298 74.00698 78.50698 80.50498 85.00498 90.00898 94.50898 97.01098 103.50898 105.50698 108.00898 113.01298 115.51498 121.01398 123.01198 128.01598 132.51598 139.01398 145.01699 152.51398 155.01598 157.51798 163.01697 165.01497 170.01897 174.51897 181.01697 187.01998 194.51697 197.01897 206.01897 208.52097 215.01897 220.02297 225.02696 228.02396 232.52396 237.52796 239.52596 244.52996 247.03195 249.02996 251.02796 256.03196 258.53398 261.03599 263.03398 268.03797 272.53797 277.54197 280.04399 287.541 292.54499 300.042 305.046 308.043 312.543 315.045 317.54704 322.55104 327.55503">&#x2022;For devices with FlexNVM: FlexNVM &#x2014; Non-volatile flash memory that</tspan><tspan y="51.83789" x="47.99701 52.49701 57.50101 62.505014 65.00701 70.01101 74.51101 79.51501 84.01501 89.019008 91.521 96.525 99.027 104.031 107.028 112.032 117.035999 120.033 125.036998 132.534 135.036 139.536 144.54 149.54399 154.54799 157.04999 159.55199 164.05199 166.55399 171.55799 174.55498 179.55898 182.06098 187.06497 192.06897 194.57097 199.57497 202.07697 204.57897 209.58296 212.57996 215.08196 220.08596 225.08995 229.58995 234.08995 239.09395 244.09795 246.59995 252.60295 258.60597 264.60896 271.10694 278.10896 285.60597 288.10798 293.11198 298.11598 300.61799">can execute program code, store data, or backup EEPROM data</tspan><tspan y="62.83789" x="38.853 47.997 53.496004 58.500005 61.497007 63.999006 69.003009 74.007 78.507 80.505008 85.005008 90.009 94.509 97.011 103.509 105.507 108.009 113.013 115.515 121.014 123.012 128.016 132.516 139.014 145.01702 152.514 155.016 157.518 163.017 165.015 170.019 174.519 181.017 187.02 194.517 197.019 206.019 208.521 215.019 221.022 228.519 231.021 238.51799 243.52199 251.01898 256.02299 259.02 263.52 266.022 268.52403 273.528 278.532 281.03404 283.53605 288.03605 293.04005 298.04405 300.54606 305.55006">&#x2022;For devices with FlexNVM: FlexRAM &#x2014; RAM memory that can be</tspan><tspan y="73.83789" x="47.99702 53.001024 57.501024 62.505025 67.509029 70.011028 75.01502 79.51502 82.01702 84.51902 87.51602 92.52002 97.52402 99.52202 102.02402 104.02202 109.02602 114.030017 119.03401 121.03201 123.53401 130.03202 136.03502 143.53202 146.03401 151.03801 154.035 156.537 161.541 166.041 168.543 173.547 175.545 180.549 185.553 188.54999 193.55399 198.55799 203.56198 208.56598 211.56298 216.56697 221.57097 226.07097 231.07497 233.57697 239.57997 245.58298 251.58599 258.08399 265.086 272.583 275.08503 279.58503 282.08705 287.09104 290.08805 295.09205 300.09605 305.10005 307.60206 310.10408 315.10807 320.11207">used as traditional RAM or as high-endurance EEPROM storage, and</tspan><tspan y="84.83789" x="47.99702 53.001024 54.999025 59.499025 64.50302 67.00502 72.00902 76.50902 81.00902 86.013019 88.01102 93.015018 96.01202 101.016017 103.51801 108.52201 113.02201 115.52401 118.02601 120.02401 125.02801 129.52802 134.53202 137.03401 142.03801 145.035 150.039 155.043 158.04 163.04399 170.54099 178.03798 180.03598 185.03998">also accelerates flash programming</tspan><tspan y="95.83789" x="38.85303 47.997034 53.496034 58.500036 61.497037 63.999036 69.00304 74.007038 78.507038 80.505039 85.005039 90.00903 94.50903 97.01103 103.50903 105.507038 108.00903 113.01303 115.51503 120.51903 125.523029 127.52103 132.02103 134.52303 139.52703 142.52402 147.52802 152.53202 155.529 160.533 168.03 170.532 173.034 175.032 180.036 184.536 189.54 192.04199 199.53899 204.54299 212.03998 217.04398 220.04097 224.54097 227.04297 229.54497 235.54798 238.54497 243.54897 248.55297 251.54996 256.55397 264.05097 271.54798 273.54597 278.54997">&#x2022;For devices with only program flash memory: Programming</tspan><tspan y="106.83789" x="47.99704 53.00104 57.50104 62.00104 67.00504 69.003047 74.00704 77.00404 82.00804 84.51004 86.50804 91.51204 96.51604 99.018039 105.51604 111.519039 119.01604 121.518039 130.51804 133.02004 139.51804 145.52104 153.01804 155.52004 163.01703 168.02103 175.51802 180.52202 183.51902 188.01902 190.52101 193.02301 198.02701 203.031 205.533 208.035 213.039 217.539 222.039 227.043 229.041 234.045 237.04199 242.04599 244.54799 249.55199 254.05199 256.554 259.056 261.054 266.05799 270.55799 275.56199 278.064 283.068 286.065 291.069 296.073 299.07 304.074 311.571 319.06803 321.066 326.07">acceleration RAM &#x2014; RAM memory that accelerates flash programming</tspan></text>
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 56.25 577.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 7.497 12.501001 17.001002 22.005002 24.507002 32.004 37.008005 44.505006 49.509008 52.50601 57.00601 59.508008 64.00801 69.01201 74.01601 76.518009 79.51501 84.519008 86.517009 88.51501 93.519008">Flash memory controller</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 577.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.4970009 12.501001 17.505002 22.509003 27.513005 32.517007 37.017007 39.519006 42.021005 47.025007 52.029008 54.531007 56.529008 61.53301 64.03501 69.03901 72.03601 74.53801 79.54201 84.04201 89.046009 91.548007 96.552 101.556 104.058 110.556 115.56 120.563999 125.56799 128.06999 130.57199 135.57599 140.57999 143.08199 148.08599 153.08998 157.58998 159.58798 164.08798 169.09198 171.59398 176.59798 181.60198 186.60597 189.10797 191.60997 196.61397 201.61797 204.11997 209.12397 214.12796 217.12496 221.62496 226.62895 228.62696 233.63095 236.13295 238.63495 240.63295 245.63695 250.13695 255.14095 257.64295 265.13996 270.14396 277.64097 282.64497 285.64198 290.14198">Manages the interface between the device and the on-chip flash memory.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 592.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 2.5020004 7.506001 10.008001 15.012002 18.009003 23.013005 28.017006 30.015007 32.517007 37.017007 41.517007 46.017007 48.519006 53.523008 61.020009 63.522008 70.020008 76.023 83.520008 86.022 88.524 94.527 99.531 102.528 105.03 107.028 112.032 114.03 116.532 122.534999 129.03299 135.036 142.53299 145.03499 149.53499 154.53899 159.54299 162.04499 164.54698 169.55098 174.55498 181.05298 186.05698 189.05397 194.05797 199.06197 201.56397 203.56197 208.56597 211.06797 217.07097 222.07497 227.07897 233.08197 238.08597 240.58797 242.58597 247.58997 254.08797 256.58998 258.58796 263.59196 268.59596 273.09596 278.09996 283.10395 288.10795 290.60997 298.10697 303.11097 308.11497 313.11897">Internal system RAM. Partial SRAM kept powered in VLLS2 low leakage mode.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 608.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.4970009 12.501001 17.505002 22.509003 27.513005 32.517007 37.017007 39.519006 44.019006 46.017007 53.514009 58.51801 60.51601 63.01801 68.02201 73.02601 78.03001 83.034008 88.038 92.538 95.04 100.044 104.544 109.044 114.048 118.548 123.048 128.052 132.552 135.054 137.556 142.56 145.062 149.562 154.062 158.562 161.064 166.068 173.56499 176.06699 182.56499 188.568 196.06499 198.56699 203.57099 208.07099 210.57299 218.06998 223.07398 225.07198 227.57398 229.57198 234.57598 236.57398 241.57798 244.07997 251.57697 256.58097 261.08097 263.58299 268.58699 271.58399 274.086 279.09 284.094 287.091 289.089 294.093 299.097 304.10099 307.098 312.102 314.09999">Manages simultaneous accesses to system RAM by multiple master peripherals</tspan><tspan y="18.83789" x="0 5.0040009 10.008001 15.012002 17.514002 22.014002 27.018002 30.015002 35.019">and core.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 661.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 10.008001 13.005001 18.009003 22.509003 25.011004 30.015004 32.517004 35.514005 40.518007 45.522008 47.520009 52.020009 54.522008 59.52601 62.52301 65.02501 67.52701 69.52501 71.52301 76.52701 79.02901 81.531009 86.535 91.539 94.041 96.543 98.541 103.041 105.543 110.547 115.047 119.547 124.550998 129.051 133.551 135.549 140.553 142.551 147.555 150.05699 155.06099 160.06499 163.06198 165.05998 170.06398 175.06798 177.56998 182.57398 184.57198 186.56998 189.07198 194.07598 199.07997 205.57798 210.58197 213.57897 216.08097 223.57796 228.58196 233.58596 238.58995 243.08995 245.59195 250.59595 255.59995 260.60395 263.10597 265.10395 269.60395 272.10597 277.10997 282.11396 288.61195 293.61595 296.61296 301.61695 306.62095 309.12297 314.12696">32-byte register file that is accessible during all power modes and is powered by</tspan><tspan y="18.83789" x=".00004 6.0030405 12.006041 18.00904 23.508042">VBAT.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 7.4970009 12.996 18.495 23.994002 26.496003 31.500004 34.002004 39.501005 45.000005 50.499006 55.503007 58.500009 61.002008 66.50101 72.00001 77.004009 79.506008 82.008 88.506008 93.51 96.507 101.511 107.01 112.509 116.01 118.512 123.516">Module Functional Categories</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 391.68 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="44.775 50.274003 53.271005 58.275007 63.279008 67.77901 72.27901 77.283008 79.281009 84.285 86.787 92.79 97.794 105.291 107.289 111.789 116.793 121.797 126.800998 131.805 136.305 138.80699 143.81099 146.80799 149.30998 151.81198 154.31398 159.31798 163.81798">Freescale Semiconductor, Inc.</tspan></text>
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