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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

117 lines
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="20" font-family="HelveticaLTStd" font-weight="bold"><tspan y="88.19531" x="0 14.4400019 26.660002 37.780004 50.000005 56.660005 67.78001 75.560009 81.12 92.240009">Chapter 30</tspan><tspan y="110.19531" x="0 13.340001 24.460003 31.120003 42.240007 50.020006 62.240007 73.36001 78.920009 84.48 98.920009 111.14001 122.26001 127.82001 133.38 145.6 152.26001 163.38 171.16 177.82 188.94 200.06 211.18 216.73999 223.4 235.62 241.18 252.29999 263.41999 277.86 290.08 301.19999">External Bus Interface (FlexBus)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".00701 9.459011 18.91101 23.63701">30.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".00701 4.7330105 15.12001 20.78101 27.39401 37.78101 48.16801 58.55501 68.00701 73.668018 78.39401 88.78101">Introduction</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="195.23671" x="232.56002 242.66802 253.56002 262.114">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="219.84999" x="71.994 79.77801 86.77801 91.44001 94.94001 98.83201 105.83201 112.04801 115.54801 121.764019 128.764 132.656 139.656 144.31801 149.764 156.764 162.98001 169.19602 173.08802 177.75002 181.64202 187.85802 191.35802 195.25002 206.14202 213.14202 217.03401 223.25002 234.14202 240.35802 247.35802 251.25002 257.466 261.358 265.25 272.25 279.25 282.75 289.75 295.966 299.858 306.074 309.966 313.858 319.30403 322.80403 329.80403 334.466 337.966 341.858 348.858 352.75 358.196 361.696 372.588 379.588 386.588 393.588 397.48 403.696 406.216">For the chip-specific implementation details of this module's</tspan><tspan y="235.84999" x="71.99398 75.88598 82.88598 88.33198 92.223979 98.43998 105.43998 111.65598 117.87199 123.317989 126.817989 132.26399 138.48 144.696 148.196 152.088 159.088 165.304 168.804 175.02 182.02 185.912 192.912 196.412 202.628 209.628 216.628 221.29001 225.182 232.182 239.182 243.84401 250.06002 253.95201 257.84403 264.84403 271.84403 275.34403 279.23603 286.23603 290.898 297.898 302.56 313.452 319.668 323.56 327.452 334.452 341.452">instances see the chip configuration information.</tspan><tspan y="260.24998" x="71.994 79.77801 89.88601 99.224018 107.778018 112.44002 121.778018 131.88602 140.44002 145.10202 155.21002 165.31803 168.81803 177.37203 186.71002 196.04802 206.15602 215.49402 219.38602 222.88602 227.54802 234.54802 238.04802 248.94002 255.94002 262.94 269.94 273.832 280.048 283.548 294.44 300.656 311.548 318.548 323.21 330.21 333.71 344.602 350.818 357.818 361.318 365.21 371.426 378.426 382.318 388.534 393.98">PUBLICATION ERROR: In module memory map tables,</tspan><tspan y="276.24998" x="71.994 76.656009 82.87201 89.87201 93.76401 99.21001 103.102008 109.31801 113.98001 117.48001 122.14201 128.35802 133.80402 140.02002 143.91202 147.41202 154.41202 160.62802 164.52002 171.52002 177.73603 183.18202 186.68202 197.57402 203.79003 210.79003 214.29003 221.29003 227.50603 231.00603 234.89803 241.89803 248.11403 255.11403 259.77604 264.43803 270.65403 276.87004 280.76203 284.26203 287.76203 295.54603 301.76203 307.97804 311.47804 315.37004 322.37004 328.58604 332.08604 335.97804 342.97804 349.97804 353.87004 360.87004 364.76203 371.76203 378.76203 384.97804">register reset values may be incorrect. See the individual</tspan><tspan y="292.24998" x="71.99403 76.65604 82.87204 89.87204 93.76404 99.21004 103.102039 109.31804 113.98004 117.48004 124.48004 128.37204 134.58805 141.58805 146.25005 152.46605 163.35805 168.80405 172.30405 176.96605 183.96605 188.62805 192.12805 198.34406 204.56006 210.77606 217.77606 222.43807 228.65407 232.54607 238.76207 242.26207 246.92407 253.14008 258.5861 264.8021 268.6941 272.1941 276.0861 283.0861 287.74809 294.74809 299.41007 310.30207 316.51808 320.41007 324.30207 331.30207 338.30207">register diagrams for accurate reset information.</tspan><tspan y="316.64997" x=".0060653688 8.560065 15.560065 19.452067 24.898068 28.398068 34.614068 41.614068 47.830068 54.830068 58.72207 64.93807 69.600078 73.100078 80.100078 86.31608 91.76208 97.97808 102.64008 106.53208 113.53208 119.748088 125.194087 128.69409 134.9101 141.9101 145.8021 152.0181 156.6801 163.6801 169.8961 173.7881 177.2881 184.2881 191.2881 196.7341 200.2341 207.2341 213.4501 217.3421 223.5581 227.0581 230.9501 235.6121 241.82811 248.82811 254.27411 258.9361 265.1521 269.8141 273.3141 280.3141 287.3141 293.5301 298.19209 304.40809 308.30009 312.19209 319.19209 326.19209 331.6381 335.1381 341.3541 348.3541 355.3541 358.8541 365.0701 369.7321 374.39408 381.39408 386.05607 389.55607 395.77207 402.77207 409.77207 416.77207 420.66407 424.55607 428.44807 435.44807 442.44807 447.89408 451.39408 454.89408 459.55607">This chapter describes external bus data transfer operations and error conditions. It</tspan><tspan y="332.64997" x=".0060653688 7.0060656 13.222066 18.668066 24.884068 29.546069 33.43807 40.43807 46.654069 52.100069 55.600069 59.49207 64.15407 70.37007 77.37007 82.81607 87.47807 93.69408 98.35608 103.80208 107.30208 111.19408 118.19408 122.086078 125.97807 129.87007 136.08608 139.97808 146.19408 153.19408 156.69408 163.69408 170.69408 174.19408 178.08608 185.08608 191.30208 194.80208 201.01808 208.01808 212.68009 218.89609 222.39609 229.39609 234.05809 241.05809 247.2741 253.4901 258.9361 264.3821 271.3821 276.0441 279.5441 284.2061 291.2061 295.86808 299.36808 305.58409 312.58409 319.58409 323.08409 330.08409 333.97608 340.97608 347.19209 351.85408 355.35408 362.35408 369.35408 374.80009 378.30009 389.19209 395.40809 400.8541 404.7461 410.9621 415.62409 420.28608 423.78608 430.00209 437.00209 444.00209 447.50209 451.39408 458.39408 464.61009 468.50209 475.50209 482.50209 488.71809">describes transfers initiated by the core processor (or any other bus master) and includes</tspan><tspan y="348.64997" x=".0060653688 7.0060656 13.222066 17.114068 23.330067 27.222067 31.114068 37.330068 44.330068 47.830068 51.72207 55.61407 66.50607 70.39807 77.39807 84.39807 87.89807 94.89807 98.79007 105.00607 112.00607 116.668079 122.88408 133.77608 139.22208 142.72208 148.16808 155.16808 162.16808 172.27608 176.16808 183.16808 190.16808 193.66808 197.56008 204.56008 210.77608 214.27608 218.16808 225.16808 229.06008 235.27608 239.93808 246.15409 252.37009 256.2621 260.15409 267.15409 274.15409 277.65409 284.65409 289.31608 292.81608 298.2621 302.15409 309.15409 316.15409 322.3701 326.2621 331.7081 335.2081 339.1001 346.1001 349.6001 355.0461 362.0461 369.0461 376.0461 383.0461 387.7081 391.6001 397.8161 404.8161 408.3161 415.3161 422.3161 427.76213 431.26213 438.26213 445.26213 451.47813 456.1401 462.3561 466.2481 470.1401 477.1401 484.1401 489.58613">detailed timing diagrams showing the interaction of signals in supported bus operations.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 470.59996)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00194 8.894061 17.790062 22.238062 31.134064 35.582067">30.1.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 470.59996)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00194 11.550061 20.446063 25.774064 30.222064 39.998064 44.446065 49.774065 54.222066 63.998067">Definition</tspan></text>
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