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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_642.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

814 lines
78 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="238.65598">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="245.98798 254.65198 257.98799 261.98399 265.31999 271.99198 275.32798 282.65998 285.99598 293.32798 299.99998 306.67198 313.34397 318.01197 321.34797 328.67997 332.67597 336.01197 343.34397 350.67597">U field descriptions</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 162.5)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 16.680003 20.850003 29.190003 33.360006 41.700006">28.4.15</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54)" font-size="14" font-family="TimesLTStd"><tspan y="169.15" x="-.00598 8.54802 15.54802 21.76402 25.26402 31.480023 37.696023 43.91202 50.91202 57.12802 60.62802 67.62802 72.29002 75.79002 82.79002 89.79002 94.45203 101.45203 105.344028 109.23602 112.73602 118.95203 125.95203 129.84403 134.50603 138.39803 144.61403 150.06003 153.56003 157.45203 162.89803 166.39803 172.61403 176.11403 183.11403 187.77603 197.88404 204.10004 211.10004 214.60004 218.10004 223.54604 229.76204 233.65404 238.31604 244.53205 249.97805 255.42404 262.42405 268.64006 272.53205 278.74806 282.64006 286.53205 293.53205 299.74806 303.24806 309.46406 315.68006 321.89607 328.89607 335.11207 338.61207 348.72007 352.61207 356.50407 363.50407 367.00407 374.00407 377.50407 382.95008 389.16609 393.05809 398.5041 402.0041 405.5041 414.05809 421.05809 427.27409 430.77409 440.88209 447.09809 454.09809 459.5441 463.0441 469.2601 473.9221">The cache of 64-bit entries is a 4-way, set-associative cache with 8 sets. The ways are</tspan><tspan y="185.15" x="-.0059599999 6.99404 13.99404 24.88604 31.88604 38.10204 42.764039 48.980039 55.980039 59.480039 66.48004 71.142047 78.142047 81.642047 87.85805 94.85805 101.85805 105.35805 109.250049 116.250049 122.46605 125.96605 131.41205 137.62805 141.52005 146.96605 150.46605 156.68206 161.34406 167.56006 171.06006 178.06006 185.06006 195.95206 202.95206 209.16806 213.83007 220.04607 227.04607 230.54607 237.54607 242.20807 249.20807 252.70807 256.20808 260.87007 267.87007 271.37007 281.47807 291.58607 300.14006 310.24806 323.46406 330.46406 338.24806 345.24806 355.35606 358.85606 365.07206 372.07206 379.07206 382.57206 392.68006 402.78807 411.34205 421.45005 434.66606 441.66606 449.45005 456.45005 465.00404 468.50404 472.00404">numbered 0-3 and the sets are numbered 0-7. In DATAWxSyU and DATAWxSyL, x</tspan><tspan y="201.15" x="-.0059599999 6.99404 13.210041 20.210041 27.210041 31.102042 37.318044 42.76404 46.26404 50.156045 57.156045 63.372045 66.87204 76.98004 83.196048 90.196048 93.696048 97.196048 104.196048 107.696048 114.696048 120.91205 127.91205 134.91205 138.80405 145.02005 150.46605 153.96605 157.85805 164.85805 171.07405 174.57405 180.02005 186.23606 190.12805 193.62805 197.12805 203.34406 210.34406 217.34406 220.84406 230.95206 234.45206 240.66806 247.66806 254.66806 258.16807 266.72206 270.22206 274.88404 281.10005 288.10005 292.76203 298.97804 304.42405 310.64006 317.64006 321.53205 325.03205 332.03205 339.03205 346.03205 352.24806 356.91004 360.41004 366.62605 373.62605 380.62605 384.12605 388.01805 395.01805 405.12605 411.34205 416.00404 419.50404 429.61204 436.61204 441.27403 448.27403">denotes the way, y denotes the set, and U and L represent upper and lower word,</tspan><tspan y="217.15" x="-.0059299997 4.65607 10.87207 16.318072 23.318072 29.534073 35.750074 39.642076 43.534078 50.534078 56.750078 60.64208 67.642078 71.142078 74.642078 83.196079 90.196079 94.08807 99.53407 103.03407 108.48007 114.696079 120.91208 124.80408 128.69608 135.69608 142.69608 146.19608 150.85808 157.07408 164.07408 168.73609 174.95209 180.39809 186.61409 193.61409 197.50609 202.95209 206.45209 213.45209 219.66809 223.56009 229.7761 233.2761 237.9381 244.9381 249.6001 253.1001 256.9921 263.9921 270.2081 273.7081 277.6001 284.6001 294.7081 300.9241 305.5861 309.0861 319.1941 326.1941 330.85609 337.85609 341.35609 346.01808 353.01808 356.91007 360.80207 366.24809 369.74809 374.41007 381.41007 388.41007 392.30207 399.30207 403.96406 408.62605 412.12605 419.12605 423.78804 427.28804 433.50404 437.39604 441.28804 444.78804 450.23405 456.45005 460.34205 465.78807 469.28807 473.18006 480.18006 483.68006 487.57206 494.57206">respectively. This section represents data for the lower word (bits [31:0]) of all sets in the</tspan><tspan y="233.15" x="-.0058999995 3.8861006 10.886101 17.8861 21.778101 27.994103 34.210103 38.102106 44.318105 51.318105 54.818105 64.9261 71.142108 78.142108">indicated way.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 84.54545 318.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74111 7.6331107">30</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 115.09091 318.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74111 7.6331107">28</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 130.36363 318.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74111 7.6331107">27</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 145.63636 318.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74111 7.6331107">26</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 160.90909 318.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74111 7.6331107">25</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 466.36369 318.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">5</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 496.90916 318.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">3</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 527.4546 318.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.99994 370.8)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="239.31598">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.99994 370.8)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="246.64798 253.97998 257.31599 261.31199 264.64799 271.31999 274.65599 281.98799 285.32398 292.65599 299.32798 305.99998 312.67198 317.33998 320.67597 328.00798 332.00398 335.33998 342.67198 350.00398">L field descriptions</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.24993 408.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="25.54199 30.54599 35.54999 40.553995">31&#x2013;0</tspan><tspan y="18.83789" x="15.534 20.538002 25.542004 28.044005 33.048006 35.550004 40.554006 45.558008 48.060007 53.064008">data[31:0]</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.99993 485.09999)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 9.452001 18.904002 23.630002">28.5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.2553 485.09999)" 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 53.99993 54)" font-size="14" font-family="TimesLTStd"><tspan y="468.34999" x="0 8.554 15.554 21.77 25.27 33.054 45.5 54.838 58.338 62.230005 67.676 71.176 77.392009 80.892009 85.55401 89.44601 95.66201 101.10801 108.10801 111.60801 117.82401 124.040019 130.25601 136.47202 140.36402 146.58002 151.24202 157.45803 161.35002 165.24202 172.24202 179.24202 182.74202 189.74202 196.74202 200.63402 204.52602 208.02602 218.13402 222.02602 225.91802 232.91802 236.41802 241.08002 244.97202 251.18802 258.18803 262.08003 269.08003 272.97203 279.18803 282.68803 289.68803 296.68803 301.35 306.012 312.228 316.88999 322.336 325.836 330.498 337.498 342.15998 345.65998 352.65998 358.106 364.322 368.98399 372.48399 378.69999 385.69999 392.69999 397.36198 401.25398 408.25398 415.25398 419.91596 426.13197 430.02397 433.91596 440.91596 447.91596 451.41596 454.91596 464.25398 470.46998 475.916 479.80799 486.80799 493.024">The FMC is a flash acceleration unit with flexible buffers for user configuration. Besides</tspan><tspan y="484.34999" x="0 10.892001 17.108002 24.108002 30.324002 37.324 41.216005 48.216005 55.216005 58.716005 62.608007 69.608 75.824008 79.324008 83.216 90.216 94.108 100.324008 104.98601 109.64801 115.86401 122.08002 128.29602 131.79602 138.79602 145.01203 148.90402 159.01203 165.22803 171.44403 178.44403 181.94403 185.83603 192.83603 199.05204 202.55204 209.55204 215.76804 222.76804 226.66004 232.87604 239.09204 242.59204 248.80805 255.80805 262.80805 266.30805 270.20005 277.20005 283.41606 286.91606 291.57804 295.47004 301.68605 307.13206 314.13206 317.63206 328.52406 334.74006 345.63206 352.63206 357.29405 364.29405 367.79405 374.01005 381.01005 388.01005 391.51005 399.29405 403.18605 409.40205 416.40205 428.84806 435.06407 445.95606 452.95606 457.61805 464.61805 468.11805 471.61805 475.51005 482.51005">managing the interface between the device and the flash memory and FlexMemory, the</tspan><tspan y="500.34999" x=".00005 7.784051 20.230053 29.568055 33.068056 39.284055 45.500055 52.500055 56.000055 63.000055 69.21606 72.71606 79.71606 85.162059 91.37806 98.37806 101.87806 105.77006 112.77006 116.27006 120.93206 127.14806 132.59407 136.48607 141.14807 145.04007 151.25608 155.14807 158.64807 164.86408 171.08008 177.29608 183.51209 188.95809 194.40409 197.90409 202.56609 207.22809 214.22809 225.12009 228.62009 234.83609 239.4981 246.4981 251.94409 257.3901 264.3901 270.6061 275.2681 278.7681 284.2141 294.3221 298.2141 302.1061 308.3221 315.3221 318.8221 329.7141 335.9301 341.37614 345.26814 351.48414 356.14613 361.59214 365.09214 371.30815 378.30815 385.30815 388.80815 395.02415 402.02415 407.47016 411.36216 418.36216 429.25416 433.14616 439.36216 445.57817 449.07817 452.97016 459.97016 466.18617 469.68617 475.90217 482.11817 488.33418 495.33418">FMC can be used to restrict access from crossbar switch masters and customize the cache</tspan><tspan y="516.35" x=".00005 6.2160508 13.216051 20.216052 23.716052 30.716052 37.71605 42.378049 47.040048 53.256048 57.918046 63.364046 66.864048 70.75604 77.75604 81.25604 88.25604 92.918048 99.918048 106.918048 110.81004 117.81004 124.02605 127.52605 132.97205 136.86405 143.86405 150.86405 154.75605 160.97205 165.63405 171.85005 178.85005 185.06606 188.95806 195.17406 198.67406 204.12006 211.12006 216.56606 220.45806 226.67406 237.56606 242.22806 248.44406 252.33606 259.33607 265.55207 272.55207 276.05207 283.05207 289.26808 293.16007 299.37608 304.03807 310.25407 316.47007 322.68608 328.90208 334.34809 339.7941 343.2941 347.1861 351.0781 361.9701 368.1861 373.6321 377.1321 380.6321 393.8481 400.8481 407.06413 414.06413 420.28013 427.28013 433.49613 438.1581 441.6581 447.8741 451.3741 458.3741 462.2661">and buffers to provide single-cycle system-clock data-access times. Whenever a hit</tspan><tspan y="532.35" x=".00005 7.00005 13.216051 19.432053 26.432053 31.094054 36.540056 40.040056 44.702054 51.702054 56.36405 59.86405 63.756055 70.75606 76.97206 80.47206 87.47206 92.13406 98.35007 103.01207 109.22807 113.12007 119.336078 126.336078 129.83608 135.28208 142.28208 148.49808 154.71408 161.71408 165.60608 171.82209 175.71408 179.60608 186.60608 193.60608 197.10608 204.10608 211.10608 215.76808 220.43009 226.64609 231.30809 234.80809 238.30809 242.20009 249.20009 255.41609 258.91609 265.13209 271.34809 277.5641 284.5641 290.7801 294.2801 297.7801 304.7801 309.44209 312.94209 316.83409 323.83409 330.05009 333.55009 338.9961 342.8881 349.8881 356.8881 360.7801 366.9961 371.65809 377.87409 384.87409 388.76609 393.42808 400.42808 403.92808 410.92808 417.92808 422.59007 427.25205 433.46806 438.13005 441.63005 445.13005 449.02204 456.02204">occurs for the prefetch speculation buffer, the cache, or the single-entry buffer, the</tspan><tspan y="548.35" x=".00005 4.6620504 10.878051 17.878052 24.878052 31.094052 36.54005 40.432054 46.648054 53.648054 57.148054 64.148059 70.36406 74.25606 80.47206 83.97206 87.86406 93.31006 96.81006 100.70206 105.36406 111.58006 118.58006 124.02606 128.68807 134.90407 139.56607 144.22808 150.44408 157.44408 160.94408 171.05208 174.94408 178.83608 185.83608 189.72808 196.72808 200.22808 206.44408 209.94408 215.39008 219.28208 226.28208 233.28208 237.17407 243.39008 246.89008 252.33608 259.33607 264.78208 268.67408 274.89009 285.78208 289.28208 295.49809 299.39009 306.39009 312.60609 319.60609">requested data is transferred within a single system clock.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 112.65325 642.9)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00206 11.554061 20.450062 25.77806 34.67406 44.45006 48.898065 54.226064 58.674066 67.57007 77.34607 87.12207 92.45007 96.89807 106.67407 116.45007 122.67407 131.57007 136.89807 141.34607 151.12207">Default configuration</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.99993 54)" font-size="14" font-family="TimesLTStd"><tspan y="622.75" x="-.00394 10.104061 17.104062 24.104062 31.104062 34.60406 40.05006 47.05006 52.49606 56.38806 62.60406 73.49606 76.99606 81.658069 87.87407 93.32007 99.53607 103.42807 106.92807 110.42807 114.32007 121.32007 127.53607 131.03607 138.82007 151.26607 160.60407 164.10407 167.99607 173.44207 176.94207 183.15807 190.15807 197.15807 201.82007 205.71207 212.71207 219.71207 224.37407 230.59008 237.59008 241.09008 244.98207 251.98207 255.48207 262.48207 267.14405 274.14405 281.14405 285.03605 292.03605 298.25205 301.75205 307.96806 311.46806 316.91407 320.80607 327.80607 334.80607 338.69807 343.36006 347.25205 353.46806 359.68406 366.68406 370.57606 374.07606 377.96806 384.18406 391.18406 397.40007 401.29206 404.79206 411.79206 416.45405 419.95405 426.95405 433.95405 438.61604 443.278 449.49403 454.156 458.048 465.048 472.048 475.548 480.21 487.21">Upon system reset, the FMC is configured to provide a significant level of buffering for</tspan><tspan y="638.75" x="-.00394 3.8880604 8.55006 14.766061 21.76606 27.21206 31.874062 38.09006 42.75206 48.19806 51.69806 56.360059 61.022058 68.02206 78.914058 82.414058 86.30605 93.30605 99.52206 103.02206 107.68406 111.57606 117.79206 123.23806 130.23807 133.73807 144.63007 150.84607 161.73807 168.73807 173.40007 180.40007 183.90007 190.90007 195.56208 199.06208 206.84607 210.73807 216.95407 223.95407 236.40007 242.61608 253.50807 260.50807 265.17005 272.17005">transfers from the flash memory or FlexMemory:</tspan><tspan y="654.75" x="13.1000809 24.00608 33.34408 38.00608 45.00608 50.45208 55.89808 62.89808 69.11408 73.776088 77.276088 88.16808 94.38409 99.830089 103.722087 109.93809 114.60009 120.04609 123.54609 130.54608 134.04608 137.54608 144.54608 148.04608 151.54608 158.54608 162.04608 169.04608 175.26209 182.26209 188.47809 191.97809 196.64009 202.8561 209.0721 216.0721 219.5721 225.7881 232.0041 238.22011 244.43611 249.88211 255.32811 258.82814 262.72013 269.72013 273.22013 280.22013 286.43614 293.43614 300.43614 303.93614 310.93614 314.43614 320.65214 327.65214 334.65214 338.15214 345.15214 351.36814 358.36814 365.36814 368.86814 375.86814">&#x2022;Crossbar masters 0, 1, 2 have read access to bank 0 and bank 1.</tspan></text>
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<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 53.99994 763.756)" 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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