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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_73.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

442 lines
47 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 56.5)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="39.996 46.494 51.993 56.997 59.499 64.998 70.002 78.003">Bus name</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 182.5 56.5)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="162.747 169.245 174.249 179.25299 184.25699 187.758 190.26 195.75899 198.75598 201.25798 206.75698">Description</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 72.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 2.5020004 7.506001 12.0060009 14.508001 17.505002 22.509003 27.009003 29.511004 31.509003 36.513006 41.517007 44.019006 48.519006 53.523008 58.527009 63.53101 66.03301 69.030017 71.53201 78.030017 85.03201 91.530017 97.53301 100.530017 103.03201 108.03601 113.04001">Instruction code (ICODE) bus</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 182.25 72.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 20.511002 27.009003 34.011 40.509004 46.512 49.014 54.018 59.022005 64.026 66.528 73.026 79.524 86.526 93.024 99.027 101.529 106.533 111.536998 116.036998 121.04099 125.54099 128.043 133.047 136.04399 141.04799 143.54999 151.04698 156.05098 160.55098 165.55498 170.55898 173.06098 175.56298 181.06197 186.06597 188.06397 192.56397 195.06597 202.56296 207.56696 212.06696 217.07096 222.07495 224.57695 229.58095 234.58495 239.08495 241.58695 243.58495 248.08495 250.58695 255.08695 260.09095 262.08894 264.0869 269.0909 274.0949 276.59693 279.09895 284.10295 289.10694 291.60896 298.10694 305.10896 311.60694 317.60993 320.11195 325.11595 330.11994 334.61994 337.12196 342.12596 347.12995 352.13395 354.63597 356.63395">The ICODE and DCODE buses are muxed. This muxed bus is called the CODE bus and is</tspan><tspan y="18.83789" x="0 4.5 9.504001 14.508001 19.512001 24.516003 29.016003 31.518004 36.522005 41.526006 44.028005 46.530004 51.534006 54.036005 56.538003 61.542005 66.546009 69.048007 73.548007 76.545009 81.549 86.049 90.549 95.553 100.557 103.554 106.056 110.556 117.054 119.052 121.554 126.054 131.058 133.56 138.06 140.058 145.062 147.564 152.568 155.06999 159.56999 161.568 166.57199 171.57599 173.57399 178.57799 181.07999 188.57698 193.58098 198.08098 200.58298 205.58698 208.58397 211.08597 216.08997 221.09397 224.09096 226.59296 229.09496 231.59696 234.09896 239.10295 241.60495 246.60895 251.61295 256.61695 258.61494 261.11695 263.11494 268.11894 273.12294 275.62495 278.12696 280.62898 285.63298 290.63697 293.13899 299.63697 306.63899 313.13697 319.13996 321.64198 326.64598 331.64997 336.14997 338.65199 340.64997 345.14997 347.65199 352.65599 354.65397 359.15397">connected to the crossbar switch via a single master port. In addition, the CODE bus is also</tspan><tspan y="29.83789" x=".00004 2.5020405 4.5000407 9.504042 14.508042 17.010043 19.008042 23.508042 26.010043 30.510043 35.51404 40.518045 45.522047 47.520048 52.524049 57.52805 60.03005 62.532049 67.53605 70.03805 72.54005 77.544048 82.54804 85.05004 87.04804 92.05204 98.55004 103.55404 106.55104 109.05304 114.05704 119.061038 121.05904 123.561038 126.063037 131.06703 133.56903 136.07103 138.57303 143.57703 148.58103 151.08303 155.58303 160.08303 164.58303 167.08502 172.08902 179.58602 182.08802 188.58602 194.58902 202.08602 204.58802 207.585 213.58802 220.08602 226.08902 233.58602 238.59001 243.59401 246.591">tightly coupled to the lower half of the system RAM (SRAM_L).</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 182.25 110)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 22.509 27.009 31.509 34.011 39.015005 46.512006 49.014005 54.018007 59.022008 63.522008 66.02401 68.02201 72.52201 75.02401 79.52401 84.52801 89.532009 94.536 99.54 104.04 106.542 111.546 116.549999 119.051998 121.55399 126.55799 129.06 134.064 136.566 141.066 146.06999 151.07399 156.07799 159.07498 164.07898 166.58098 171.58498 174.08698 181.58397 186.58797 191.08797 193.58997 198.59397 201.59096 204.09296 209.09696 214.10095 217.09795 219.59995 222.10195 227.10594 232.10994 234.61194 237.11394 242.11794 247.12194 249.62393 254.12393 257.12095 262.12495 266.62495 271.12495 276.12895 281.13294 284.12995 286.63197 289.13398 291.636 296.63999 299.142 304.146 309.15 314.154 316.15199 318.654 320.65199 325.65599 330.65998 333.162 335.664 338.16603 343.17">The system bus is connected to a separate master port on the crossbar. In addition, the</tspan><tspan y="18.83789" x=".00004 4.50004 9.00004 13.50004 16.00204 21.006043 28.503045 31.005045 36.009046 41.013048 45.513048 48.015047 50.013048 54.513048 57.015047 59.517045 61.515047 66.51904 71.52304 74.02504 76.02304 80.52304 83.02504 87.52504 92.52904 97.533039 102.53703 104.535037 109.53903 114.54303 117.04503 119.54703 124.551029 127.053028 129.55503 134.55902 139.56302 142.06502 147.06902 152.07302 157.07701 162.08101 165.078 167.58 172.584 177.588 179.586 182.088 184.59 189.09 193.59 198.09 200.592 205.596 213.09299 215.59499 222.09299 228.096 235.59299 238.09499 241.09198 247.09499 253.59299 259.59599 267.093 272.097 278.59498 281.59199">system bus is tightly coupled to the upper half system RAM (SRAM_U).</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 136.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 9 10.998 15.498 20.502 23.004002 28.008004 30.510004 35.514005 40.518007 43.515008 45.51301 50.51701 55.52101 60.525014 63.522016 68.52602 70.52402 73.02602 76.02302 82.02602 88.029018 94.03201 97.029018 99.53101 104.53501 109.53901">Private peripheral (PPB) bus</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 238)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 12.510002 20.850003 25.020003 33.360006 37.530008">3.2.1.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 238)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.005001 18.345002 26.685002 31.68 40.02 53.355005 57.525007 66.69 70.86 79.200008 87.54001 91.71001 100.87501 105.045009 118.380008 126.72001">System Tick Timer</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="220.25" x=".00299 8.55699 15.55699 21.772992 25.272992 33.05699 40.05699 45.50299 49.394994 55.610994 66.50299 70.00299 78.55699 82.44899 88.66499 95.66499 99.16499 107.718997 111.61099 122.50299 128.719 133.381 135.901 141.347 144.847 151.063 154.955 161.955 168.171 175.171 178.671 184.117 191.117 198.117 202.779 208.99501 215.21102 218.71102 222.60301 228.04901 231.54901 237.76502 241.65702 251.76502 257.98103 264.98103 270.42704 273.92704 277.81904 284.81904 291.03504 294.53504 300.75105 307.75105 312.41304 318.62904 322.12904 328.34504 332.23704 339.23704 345.45304 352.45304 355.95304 359.45304 367.23704 376.57505 385.12904 395.23704 398.73704 402.23704 410.79103 417.79103 421.683 427.12904 430.62904 435.29103 441.50703 446.95304 453.95304 457.84504 461.73704 467.18305 470.68305 474.57505 481.57505 485.07505 488.96705 495.96705">The System Tick Timer's clock source is always the core clock, FCLK. This results in the</tspan><tspan y="236.25" x=".003 4.665 11.665 15.557 19.449002 26.449002 36.557004 40.449007 47.449007 54.449007">following:</tspan><tspan y="260.65" x="13.093 23.999 32.553 39.553 45.769 49.269 58.607004 67.161 77.269008 85.05301 95.16101 105.26901 114.60701 123.94501 132.49901 135.99901 142.99901 146.891 150.783 154.283 158.175 165.175 168.675 176.459 183.459 188.905 197.459 201.351 207.567 214.567 218.067 227.405 234.405 241.405 245.297 249.959 256.95899 260.85099 264.35099 270.567 277.567 284.567 288.067 295.85099 299.74299 305.95899 309.85099 316.85099 322.297 325.797 330.45899 336.675 343.675 347.567 353.013 356.905 363.121 367.783 371.283 375.175 380.621 384.121 390.337 394.229 404.337 410.553 417.553 422.99903 426.49903 431.94505 438.16105 442.05305 445.55305 449.44505 456.44505 459.94505 465.39106 471.60707 475.49906 481.71507 487.93107">&#x2022;The CLKSOURCE bit in SysTick Control and Status register is always set to select</tspan><tspan y="276.65" x="23.99901 27.89101 34.89101 41.10701 44.60701 50.82301 57.82301 62.48501 68.70101 72.20101 78.417018 82.30901 89.30901 95.52502 102.52502">the core clock.</tspan><tspan y="292.65" x="13.09301 23.999012 33.337015 39.553014 45.769014 51.985013 58.985013 64.431018 70.64702 74.14702 78.03902 85.03902 91.25502 94.75502 98.64702 102.53902 113.431018 117.32301 124.32301 131.32302 134.82302 139.48502 145.70102 150.36302 156.57903 161.24103 167.45703 174.45703 180.67304 186.88904 190.38904 195.05104 202.83504 212.17304 220.72704 230.83504 235.49704 238.99704 242.88904 248.33504 251.83504 258.05104 261.55104 268.55104 274.76704 279.42903 283.321 289.53703 296.53703 300.42903 306.64503 310.14503 314.807 319.469 325.685 332.685 339.685 345.901 352.901 359.117 366.117 369.617 373.117 377.009 384.009 390.225 393.725 402.279 410.83299 420.94099 433.387 441.171 444.671 451.671 455.563 459.455 462.955 466.847 473.847 477.347 481.23899 488.23899">&#x2022;Because the timing reference (FCLK) is a variable frequency, the TENMS bit in the</tspan><tspan y="308.65" x="23.99901 31.78301 38.783014 44.22901 52.783014 56.675016 62.891016 69.891017 73.391017 82.72902 88.94502 92.83702 96.72902 103.72902 108.39102 114.607028 118.49902 122.39102 129.39102 136.39102 139.89102 149.99903 156.21503 160.10703 167.10703 173.32303 176.82303 186.16103 192.37703 199.37703 203.26903 208.71503 212.60703 218.82303 223.48503 226.98503 230.87703 236.32303 239.82303 246.03903 249.93103 260.03904 266.25505 273.25505 278.70106 282.20106 288.41706 294.63307 299.29505 306.29505">SysTick Calibration Value Register is always zero.</tspan><tspan y="324.65" x="13.09302 23.999022 32.55302 39.55302 45.76902 49.26902 59.37702 69.48502 78.82303 87.37703 95.16103 98.66103 105.66103 109.55303 113.44503 116.94503 120.83703 127.83703 131.33704 139.12104 146.12104 151.56703 160.12104 164.01303 170.22904 177.22904 180.72904 190.06703 196.28304 200.17504 204.06703 211.06703 215.72904 221.94504 225.83704 229.72904 236.72904 243.72904 247.22904 257.33705 263.55305 267.44505 274.44505 280.66105 284.16105 293.49906 299.71507 306.71507 310.60707 316.05308 319.94508 326.16108 330.82307 334.32307 338.21507 343.66108 347.16108 353.37709 357.26908 367.37709 373.59309 380.59309 386.0391 389.5391 394.9851 401.2011 405.0931 408.5931 412.0931 415.9851 426.8771 433.8771 437.7691 444.7691 448.6611 455.6611 462.6611 466.1611 470.0531 477.0531 483.2691">&#x2022;The NOREF bit in SysTick Calibration Value Register is always set, implying that</tspan><tspan y="340.65" x="23.99901 31.78301 41.12101 49.67501 59.783014 63.283014 67.17501 72.62101 76.12101 80.01301 87.01301 93.22901 96.72901 103.72901 110.72901 114.62101 121.62101 125.12101 131.337 138.337 144.55301 148.445 152.337 158.55301 165.55301 169.445 175.66101 179.16101 184.60701 191.60701 198.60701 203.26902 209.48502 215.70102 219.20102 226.20102 230.86302 234.36302 239.02503 245.24103 249.90303 256.11903 260.781 266.997 273.997 280.213 286.42903 289.92903 293.821 297.713 308.605 312.497 319.497 326.497">FCLK is the only available source of reference timing.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 436.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00302 8.336981 12.506981 20.846982 25.016982 33.356985 37.526987">3.2.1.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 436.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00302 10.826981 19.16698 28.331982 37.496984 46.661985 50.831987 55.826986 64.166988 72.50699 76.67699 80.846988 85.01698 90.011989 94.181987 102.52199">Debug facilities</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="419.05" x="-.00402 8.54998 15.54998 19.44198 24.887982 28.387982 35.38798 41.60398 48.60398 52.495985 58.711984 64.927989 68.427989 75.427989 81.64399 87.08999 90.58999 96.80599 103.80599 107.69799 113.913997 120.913997 126.35999 130.252 137.252 143.468 146.968 153.968 160.184 167.184 174.184 181.184 184.684 190.90001 197.11602 204.11602 210.33202 217.33202 221.22402 225.11602 229.00801 232.90001 236.792 243.00801 248.45401 251.95401 255.84601 262.846 269.062 272.954 279.954 286.954 290.846 297.846 304.846 308.346 313.008 320.008 327.008 330.508 336.724 343.724 350.724 354.616 359.27799 366.27799 370.16999 373.66999 379.886 386.886 393.886 397.386 401.27799 405.93998 412.15599 418.37199 422.26399 429.26399">This device has extensive debug capabilities including run control and tracing</tspan><tspan y="435.05" x="-.00402 6.2119805 12.42798 19.42798 25.643982 32.643983 36.535985 40.427988 44.31999 48.21199 52.103994 58.319993 63.76599 67.26599 70.76599 79.31999 86.31999 92.535999 96.035999 101.481998 105.37399 111.59 118.59 125.59 131.806 136.468 143.468 146.968 157.076 166.414 178.86 182.36 189.36 195.576 202.576 209.576 216.576 220.076 227.076 234.076 238.738 242.63 246.13 250.022 257.022 263.238 267.13 270.63 276.07603 283.07603 290.07603 297.07603 304.07603 308.738 312.63 318.07603 321.57603 327.02204 335.57603 345.68403 355.79203 359.29203 365.50804 372.50804 379.50804 383.00804 390.79203 404.00804 414.11604 417.61604 421.50804 428.50804 432.40003 438.61604 443.278 447.94 454.156 460.372 466.588 472.03404">capabilities. The standard ARM debug port that supports JTAG and SWD interfaces.</tspan><tspan y="451.05" x="-.0039899998 10.104011 13.996011 19.44201 26.44201 29.94201 33.83401 40.83401 47.05001 50.55001 56.76601 62.21201 70.76601 80.87401 90.98201 94.48201 98.37401 105.37401 109.26601 115.48201 120.14401 124.806018 131.02202 137.23802 143.45403 146.95403 150.84603 156.29203 159.79203 165.23802 172.23802 179.23802 186.23802 193.23802 197.90003 201.79203 208.00803 215.00803 218.50803 225.50803 232.50803 236.00803 239.90003 246.90003 250.79203 256.23805 259.73805 266.73805 272.95405 279.95405 283.84605 290.06205 296.27806">Also the cJTAG interface is supported on this device.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 545.6)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00302 8.343021 12.513021 20.853024 25.023024 33.363027 37.533029">3.2.1.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 545.6)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00301 10.833011 19.99801 25.833012 34.17301 38.343015 47.508016 53.343015 57.513017 65.85302 70.02302 74.193019 82.53302 91.69802 100.038028 104.20802 108.37802 116.718029 125.05803 133.39803 137.56803">Core privilege levels</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="527.85" x=".00003 8.554029 15.554029 21.770031 25.270031 35.378034 44.716035 57.162034 60.662034 67.66203 74.66203 80.87804 87.87804 98.770038 104.98604 111.98604 115.87804 122.09404 125.98604 129.87804 136.87804 143.87804 147.37804 154.37804 159.82404 166.04004 171.48604 174.98604 181.98604 185.87804 190.54004 195.20204 201.41805 206.08005 212.29605 219.29605 223.18805 226.68805 230.58005 236.79605 241.45806 252.35005 257.79606 261.29606 265.18806 272.18806 278.40406 285.40406 288.90406 292.79606 299.79606 303.68806 309.13407 312.63407 319.63407 326.63407 332.85008 339.85008 350.74208 356.95808 363.95808 367.85008 371.35008 375.24208 382.24208 385.74208 392.74208 396.63407 402.08009 405.97209 409.86408 416.86408 423.86408 430.86408 434.75608 440.2021 447.2021 450.7021 457.7021 463.9181 467.8101 477.9181 484.1341 490.3501">The ARM documentation uses different terms than this document to distinguish between</tspan><tspan y="543.85" x=".00006 7.00006 11.66206 15.55406 22.55406 26.44606 30.33806 36.55406 43.55406 49.77006 53.27006 57.162065 63.378065 70.37807 76.59407 80.48607 85.93207">privilege levels.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 58.249998 616.25)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.09766" x="2.00205 4.78205 8.11205 10.89205 16.45205 22.56205 28.67205 31.452052 37.01205 42.572053 48.132055 50.912054 54.24205 60.35205 63.13205 68.69205 71.472049 74.80205 80.362049 84.252048 93.142047 95.92204 98.70204">If you see this term...</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 310.25 616.25)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.09766" x="2.00206 4.78206 8.112061 10.892061 16.45206 19.232062 24.79206 30.902062 33.68206 42.57206 48.13206 53.692064 59.802064 65.36206 68.14206 71.47206 77.58206 80.36206 85.92206 88.70206 92.03206 97.59206 101.482059 110.372058 113.152057 115.93205">it also means this term...</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="26.01034" x="378.495 384.99299 390.49198 395.49598 400.99497 403.99198 408.99598 412.49699 414.999 420.003 422.505 429.003 434.50199 437.004 442.503 445.005 451.503 457.00199 462.50099 465.498 468 473.499 478.998 482.499 487.503 490.5 493.002 498.501">Chapter 3 Chip Configuration</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.01 137.23 142.79 148.34999 151.12999 157.79999 163.90999 170.01999 173.34999 179.45999 185.01999 193.90999 196.68999 199.46999 205.02999 207.80998 215.02999 220.58998 223.91999 229.47998 233.36998 238.92998 245.03998 250.59998 256.15998 258.93998 267.26997 272.82997 278.93995 285.04994 290.60993 293.38993 296.16993 298.94993 306.16993 311.72993 317.28993 320.06993 322.8499 328.4099 331.1899 336.7499 342.8599 348.96989 351.74989 357.30989 362.86988 368.42988">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32 751.756)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="58.45 65.12 69.01 74.57 77.35 80.13 89.02 91.799999 97.909999 103.46999 107.35999">Preliminary</tspan></text>
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