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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_672.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

164 lines
26 KiB (Stored with Git LFS)
XML
Raw Blame History

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<path transform="matrix(1,0,0,1,84.564128,41.50657)" stroke-width=".8" stroke-linecap="butt" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M104.18832 28.55099H177.07457V57.22744H104.18832Z"/>
<path transform="matrix(1,0,0,1,84.564128,41.50657)" stroke-width=".8" stroke-linecap="butt" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M104.18835 114.58063H177.0746V143.25708H104.18835Z"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 84.564128 41.50657)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="45.40559" x="131.85359 135.8568 139.86 144.6624">32KB</tspan><tspan y="45.47399" x="184.2624 189.4608 194.2632 199.4616 205.06319 209.46239">DPROT0</tspan><tspan y="30.7252" x="71.02799 75.03119 78.63119 82.634387 86.63758 90.64078 94.643978 98.64717">0x0_0000</tspan><tspan y="74.15055" x="184.2624 189.4608 194.2632 199.4616 205.06319 209.46239">DPROT1</tspan><tspan y="102.82709" x="184.2624 189.4608 194.2632 199.4616 205.06319 209.46239">DPROT2</tspan><tspan y="131.50363" x="184.2624 189.4608 194.2632 199.4616 205.06319 209.46239">DPROT3</tspan><tspan y="188.84737" x="184.2624 189.4608 194.2632 199.4616 205.06319 209.46239">DPROT5</tspan><tspan y="217.52989" x="184.2624 189.4608 194.2632 199.4616 205.06319 209.46239">DPROT6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 84.564128 41.50657)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="18.733857" x="111.7656 115.7688 119.771999 123.77519 128.97359 134.17198 136.17359 140.57279 144.57599 146.97359 150.97679 152.9784 155.37599 157.3776 161.3808 165.384">224KB data flash</tspan></text>
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<path transform="matrix(1,0,0,1,84.564128,41.50657)" stroke-width=".8" stroke-linecap="butt" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M104.18837 171.9337H177.07462V200.61016H104.18837Z"/>
<path transform="matrix(1,0,0,1,84.564128,41.50657)" stroke-width=".8" stroke-linecap="butt" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M104.18837 143.25717H177.07462V171.93363H104.18837Z"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 84.564128 41.50657)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="74.08214" x="131.8536 135.85681 139.86002 144.66242">32KB</tspan><tspan y="102.75868" x="131.8536 135.85681 139.86002 144.66242">32KB</tspan><tspan y="131.43523" x="131.8536 135.85681 139.86002 144.66242">32KB</tspan><tspan y="160.11176" x="131.8536 135.85681 139.86002 144.66242">32KB</tspan><tspan y="188.7883" x="131.8536 135.85681 139.86002 144.66242">32KB</tspan><tspan y="217.46485" x="131.8536 135.85681 139.86002 144.66242">32KB</tspan><tspan y="160.18016" x="184.26242 189.46082 194.26322 199.46161 205.0632 209.4624">DPROT4</tspan></text>
<text fill="#919191" xml:space="preserve" transform="matrix(1 0 0 1 84.564128 41.50657)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="241.98111" x="131.65923 135.66243 139.66564 144.46804">32KB</tspan><tspan y="250.98111" x="112.25523 117.05763 121.86003 126.66243 131.86083 137.46242 143.46002 145.46163 149.46483 153.46804 157.06804 160.66805 164.67125">EEPROM backup</tspan><tspan y="253.16985" x="69.38643 73.389629 76.989627 80.99282 84.99602 89.39522 93.79442 98.19362">0x3_FFFF</tspan></text>
<path transform="matrix(1,0,0,1,84.564128,41.50657)" stroke-width=".8" stroke-linecap="butt" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M264.18833 57.22754H337.0746V85.90399H264.18833Z"/>
<path transform="matrix(1,0,0,1,84.564128,41.50657)" stroke-width=".8" stroke-linecap="butt" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M264.18833 85.90408H337.0746V114.580539H264.18833Z"/>
<path transform="matrix(1,0,0,1,84.564128,41.50657)" stroke-width=".8" stroke-linecap="butt" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M264.18833 28.55099H337.0746V57.22744H264.18833Z"/>
<path transform="matrix(1,0,0,1,84.564128,41.50657)" stroke-width=".8" stroke-linecap="butt" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M264.18833 114.58063H337.0746V143.25708H264.18833Z"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 84.564128 41.50657)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="45.40559" x="291.85206 295.85527 299.85847 304.66087">32KB</tspan><tspan y="45.47398" x="344.26808 349.46647 354.26887 359.46726 365.06886 369.46806">DPROT0</tspan><tspan y="30.72519" x="231.02648 235.02968 238.62969 242.63289 246.6361 250.6393 254.6425 258.6457">0x0_0000</tspan><tspan y="74.15054" x="344.26808 349.46647 354.26887 359.46726 365.06886 369.46806">DPROT1</tspan><tspan y="102.82709" x="344.26808 349.46647 354.26887 359.46726 365.06886 369.46806">DPROT2</tspan><tspan y="131.50363" x="344.26808 349.46647 354.26887 359.46726 365.06886 369.46806">DPROT3</tspan><tspan y="188.84737" x="344.26808 349.46647 354.26887 359.46726 365.06886 369.46806">DPROT5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 84.564128 41.50657)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="18.733857" x="271.76408 275.76728 279.77049 283.77369 288.97209 294.17048 296.17207 300.57127 304.57447 306.97209 310.97529 312.97688 315.37449 317.37608 321.37928 325.38249">192KB data flash</tspan></text>
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<path transform="matrix(1,0,0,1,84.564128,41.50657)" stroke-width=".8" stroke-linecap="butt" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M264.1884 171.9337H337.07466V200.61016H264.1884Z"/>
<path transform="matrix(1,0,0,1,84.564128,41.50657)" stroke-width=".8" stroke-linecap="butt" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M264.1884 143.25717H337.07466V171.93363H264.1884Z"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 84.564128 41.50657)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="74.08214" x="291.85206 295.85527 299.85847 304.66087">32KB</tspan><tspan y="102.75868" x="291.85206 295.85527 299.85847 304.66087">32KB</tspan><tspan y="131.43523" x="291.85206 295.85527 299.85847 304.66087">32KB</tspan><tspan y="160.11176" x="291.85206 295.85527 299.85847 304.66087">32KB</tspan><tspan y="188.7883" x="291.85206 295.85527 299.85847 304.66087">32KB</tspan><tspan y="160.18016" x="344.26808 349.46647 354.26887 359.46726 365.06886 369.46806">DPROT4</tspan></text>
<text fill="#919191" xml:space="preserve" transform="matrix(1 0 0 1 84.564128 41.50657)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="226.11995" x="291.65769 295.6609 299.6641 304.4665">64KB</tspan><tspan y="235.11995" x="272.2537 277.0561 281.8585 286.6609 291.85929 297.46089 303.45848 305.46006 309.46327 313.46647 317.06648 320.66648 324.66969">EEPROM backup</tspan><tspan y="253.16985" x="229.39208 233.39528 236.99529 240.99849 245.0017 249.4009 253.8001 258.19929">0x3_FFFF</tspan></text>
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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="263.1485" x="105.29998 112.63198 115.96798 123.29998 130.63198 135.29998 141.97197 145.30797 151.97997 158.65196 162.64797 169.31996 175.99196 179.32796 182.66396 191.32796 197.99996 201.99596 208.66796 212.00395 215.99996 219.33596 226.00795 232.67995 240.01195 243.34795 250.67995 255.34795 262.67994 266.67594 273.34794 280.01994 284.01594 287.35194 294.68394 302.01594 305.35194 309.34794 316.01994 322.69194 329.36393 332.69993 339.37193 346.70393 354.03593 357.37193 364.0439 370.7159 377.3879 386.0519 394.7159">Figure 29-29. Data flash protection (192 and 224KB)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="278.38133" x="13.095978 24.00198 31.78598 40.33998 48.12398 57.461984 67.569988 76.123989 79.623989 93.623989 97.123989 104.90799 109.56999 116.56999 120.46199 126.67799 132.894 136.786 142.232 145.732 151.948 155.84 162.84 169.84 173.732 177.232 181.894 188.11 195.11 199.002 206.002 213.002 218.448 221.948 228.948 233.61 237.11 241.002 248.002 254.218 257.71803 266.272 274.826 282.61 291.948 302.056 314.502 318.002 328.894 335.11003 346.002 353.002 357.664 364.664 368.164 374.38 379.82603 383.32603 388.77204 395.77204 402.77204 412.88005 419.88005 423.38005 427.27204 434.27204 437.77204 441.66404 448.66404">&#x2022;FEPROT &#x2014; Protects eight regions of the EEPROM memory as shown in the</tspan><tspan y="294.38133" x="24.001999 28.664 35.664 39.556005 43.448007 50.448007 60.556009 64.448009 71.448009 78.448009 81.948009 86.61001 90.50201 97.50201 104.50201 109.16401">following figure</tspan></text>
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<path transform="matrix(1,0,0,1,101.19526,351.67936)" stroke-width=".8" stroke-linecap="butt" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M160.0001 103.53811H304.00013V128.68097H160.0001Z"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.19526 351.67936)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="43.26279" x="203.8392 208.6416 213.444 218.2464 223.4448 229.04639 235.04399 237.0456 240.6456 242.244 245.84401 249.84722 251.84882 253.85042 255.85202">EEPROM size / 8</tspan><tspan y="43.26548" x="313.87684 318.67924 323.48164 328.68003 334.28163 338.68083">EPROT0</tspan><tspan y="30.28349" x="115.63922 119.64242 123.24242 127.24561 131.24881 135.25202 139.25522 143.25843">0x0_0000</tspan><tspan y="68.40841" x="313.87684 318.67924 323.48164 328.68003 334.28163 338.68083">EPROT1</tspan><tspan y="93.551349" x="313.87684 318.67924 323.48164 328.68003 334.28163 338.68083">EPROT2</tspan><tspan y="168.97086" x="313.87684 318.67924 323.48164 328.68003 334.28163 338.68083">EPROT5</tspan><tspan y="219.26607" x="313.87684 318.67924 323.48164 328.68003 334.28163 338.68083">EPROT7</tspan><tspan y="194.11975" x="313.87684 318.67924 323.48164 328.68003 334.28163 338.68083">EPROT6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.19526 351.67936)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="18.292145" x="213.48001 217.87921 219.88082 223.88402 227.88722 233.08562 238.28401">FlexRAM</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.19526 351.67936)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="227.12816" x="66.43442 70.437618 74.44081 78.04081 80.04241 82.044017 86.84641 91.64881 96.45121 101.64961 107.25121 113.24881 115.25041 119.25361 123.256809 127.26 129.65761 133.66082 137.26082">Last EEPROM address</tspan></text>
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<path transform="matrix(1,0,0,1,101.19526,351.67936)" stroke-width=".8" stroke-linecap="butt" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M160.00017 128.68105H304.00019V153.8239H160.00017Z"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.19526 351.67936)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="219.26335" x="203.8392 208.6416 213.444 218.2464 223.4448 229.04639 235.04399 237.0456 240.6456 242.244 245.84401 249.84722 251.84882 253.85042 255.85202">EEPROM size / 8</tspan><tspan y="68.405719" x="203.83922 208.64162 213.44402 218.24642 223.44481 229.0464 235.044 237.04561 240.64562 242.24402 245.84403 249.84723 251.84883 253.85044 255.85204">EEPROM size / 8</tspan><tspan y="93.54866" x="203.83922 208.64162 213.44402 218.24642 223.44481 229.0464 235.044 237.04561 240.64562 242.24402 245.84403 249.84723 251.84883 253.85044 255.85204">EEPROM size / 8</tspan><tspan y="118.691608" x="203.83922 208.64162 213.44402 218.24642 223.44481 229.0464 235.044 237.04561 240.64562 242.24402 245.84403 249.84723 251.84883 253.85044 255.85204">EEPROM size / 8</tspan><tspan y="143.83454" x="203.83922 208.64162 213.44402 218.24642 223.44481 229.0464 235.044 237.04561 240.64562 242.24402 245.84403 249.84723 251.84883 253.85044 255.85204">EEPROM size / 8</tspan><tspan y="168.97748" x="203.83922 208.64162 213.44402 218.24642 223.44481 229.0464 235.044 237.04561 240.64562 242.24402 245.84403 249.84723 251.84883 253.85044 255.85204">EEPROM size / 8</tspan><tspan y="194.12042" x="203.83922 208.64162 213.44402 218.24642 223.44481 229.0464 235.044 237.04561 240.64562 242.24402 245.84403 249.84723 251.84883 253.85044 255.85204">EEPROM size / 8</tspan><tspan y="118.694309" x="313.87684 318.67924 323.48164 328.68003 334.28163 338.68083">EPROT3</tspan><tspan y="143.83725" x="313.87684 318.67924 323.48164 328.68003 334.28163 338.68083">EPROT4</tspan></text>
<text fill="#919191" xml:space="preserve" transform="matrix(1 0 0 1 101.19526 351.67936)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="267.58189" x="213.04082 218.23921 222.24242 226.24562 229.84563 233.84883 235.44724 237.04564 241.04885 245.05205 246.65045">Unavailable</tspan></text>
<text xml:space="preserve" transform="matrix(0 -1 1 0 101.19526 351.67936)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="150.72234" x="-170.3592 -165.55681 -160.75441 -155.95201 -150.75362 -145.15203 -139.15442 -137.15282 -133.55281 -131.9544 -128.3544 -124.351207 -122.3496 -119.952 -115.149608 -110.347209 -105.54481 -100.74241 -98.74081 -94.341609 -89.53921">EEPROM size (EEESIZE)</tspan></text>
<text fill="#919191" xml:space="preserve" transform="matrix(1 0 0 1 101.19526 351.67936)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="299.12815" x="67.23363 71.236827 75.24002 78.84002 80.84162 82.84322 87.242427 88.84082 92.84402 96.444019 101.64242 106.44482 112.44241 114.444019 118.44721 122.45041 126.453609 128.85121 132.85442 136.45442">Last FlexRAM address</tspan></text>
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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="617.4873" x="156.31198 163.64398 166.97998 174.31198 181.64398 186.31198 192.98398 196.31998 202.99198 209.66397 213.65998 220.33197 227.00397 230.33997 233.67597 241.67996 249.68396 257.68797 266.35197 275.68797 285.68397 289.01997 296.35197 301.01997 308.35197 312.34797 319.01997 325.69197 329.68797 333.02397 340.35597">Figure 29-30. EEPROM protection</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 5.499 10.998 16.497 21.501 24.498 27 32.499 37.998 43.002004 45.504 48.006 54.504 59.508005 64.512 69.516 73.017 75.519 81.018 84.015 86.517 92.016">Functional Description</tspan></text>
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