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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_738.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

182 lines
32 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 17.792002 22.240002 31.136002 35.584005 44.480005">30.4.11</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 121.54932 54)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 9.776 14.224001 23.120003 32.016004 43.568006 53.344007 62.240007 66.688 76.464008 80.912 95.136 99.584 109.36 119.136 123.584 134.256 143.152 152.04799 166.27199 176.04799 180.49599 189.39199">FlexBus Timing Examples</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="37.03672" x="236.452 246.56 255.114 259.776">Note</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="61.65" x="71.99397 80.54797 87.54797 93.76398 97.26398 101.155979 105.04797 115.93997 119.83197 126.83197 133.83197 137.33197 144.33197 148.22397 154.43997 161.43997 166.10198 172.31798 183.20998 188.65598 192.15598 196.04798 203.04798 207.70998 214.70998 221.70998 228.70998 235.70998 242.70998 249.70998 253.60198 257.102 260.994 267.994 271.886 277.332 280.832 286.278 292.49403 298.71003 302.60203 306.49403 313.49403 320.49403 323.99403 330.99403 336.44004 342.65605 346.15605 351.60206 355.49406 362.49406 369.49406 375.71006 379.60206 383.10206 390.10206 396.31806 407.21006 413.42607">The timing diagrams throughout this section use signal names</tspan><tspan y="77.65" x="71.99395 75.88595 82.88595 89.10195 92.99395 96.49395 107.38595 113.60195 120.60195 124.10195 131.10196 138.10196 141.99396 145.49396 152.49396 158.70996 162.20996 166.10196 173.10196 179.31797 183.20996 190.20996 197.20996 203.42597 210.42597 213.92597 220.92597 227.92597 231.42597 238.42597 245.42597 252.42597 257.08796 260.58796 267.58796 273.80397 278.46595 282.35795 286.24995 292.46595 299.46595 303.35795 309.57395 314.23594 317.73594 324.73594 330.95195 337.95195 341.84394 348.05995 354.27595 357.77595 361.27595 365.93794 372.93794 379.93794 386.93794 391.5999 397.81593 401.31593 405.20793 412.20793 418.42393 423.86994">that may not be included on your particular device. Ignore these</tspan><tspan y="93.65" x="71.99398 78.209987 85.209987 89.10198 93.763988 99.97999 106.97999 113.19599 120.19599 127.19599 132.642 136.142 141.588 145.48 152.48 159.48 165.696 169.588 175.034">extraneous signals.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="117.83672" x="236.452 246.56 255.114 259.776">Note</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="142.45001" x="71.99397 80.54797 87.54797 92.20998 99.20998 106.20998 113.20998 120.20998 127.20998 134.20998 138.10198 141.60198 145.49398 152.49398 156.38597 161.83197 165.33197 170.77797 176.99398 183.20998 187.10198 190.99398 197.99398 204.99398">Throughout this section:</tspan><tspan y="166.85" x="85.09798 96.00398 103.78799 113.12599 120.12599 130.234">&#x2022;FB_D[</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd" font-style="italic"><tspan y="166.85" x="134.89598">X</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="166.85" x="143.44998 148.11199 151.61199 155.50399 162.50399 169.50399 173.39598 179.61199 185.82799 189.71999 195.93599 201.38199 204.88199 211.09799 214.59799 221.59799 228.59799 233.26 236.76 240.26 247.26 254.26 258.922 262.422 265.922 272.922 277.58399 281.08399 288.08399 292.74598 299.74598 303.63798 307.52998 311.02998 321.13798 325.02998 332.02998 338.24598 341.74598 348.74598 354.96199 358.85398 365.06999 368.56999 375.56999 382.56999">] indicates a 32-, 16-, or 8-bit wide data bus</tspan><tspan y="182.85" x="85.09801 96.00401 103.78802 113.12602 120.12602 130.23403">&#x2022;FB_A[</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd" font-style="italic"><tspan y="182.85" x="134.89601">Y</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="182.85" x="142.68001 147.34201 150.84201 154.73401 161.73401 168.73401 172.626 178.84201 185.05802 188.95001 195.16602 200.61202 204.11202 210.32802 217.32802 220.82802 227.04402 234.04402 241.04402 245.70603 251.92203 257.36805 262.81407 266.31407 273.31407 280.31407 285.76008 289.26008 293.15208 300.15208 306.36808 310.26008 313.76008 319.97608 326.19209 333.19209 336.69209 343.69209 349.90809 353.40809 360.40809 367.40809 370.90809 374.40809 381.40809 388.40809 391.90809 395.40809 402.40809 407.07008 410.57008 417.57008">] indicates an address bus that can be 32, 24, or 16</tspan><tspan y="198.85" x="96.00404 103.00404 106.89604 110.78804 116.23404 119.73404 129.84204 133.73404 140.73404 146.95005">bits wide.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 295)" 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 50.040006 54.210008">30.4.11.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 130.72339 295)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.830001 19.170002 27.510003 31.680003 40.020006 44.190008 55.020009 63.36001 71.70001 80.86501 85.03501 95.86501 105.030017 113.37002 117.540019 128.37001 136.71 145.05 149.22">Basic Read Bus Cycle</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="277.25" x=".00401 10.112011 17.112011 21.774012 25.666012 32.66601 39.66601 43.16601 49.38201 52.88201 57.54401 63.76001 69.97601 76.97601 80.47601 86.69202 93.69202 99.90802 103.80002 110.01602 113.51602 117.01602 120.90802 127.90802 134.12403 137.62403 150.07003 159.40802 169.51602 173.01602 177.67803 183.89403 190.11003 196.32604 200.21804 207.21804 213.43404 218.88004 222.38004 229.38004 235.59604 239.48804 245.70404 249.20404 253.86605 258.52806 265.52806 276.42005 279.92005 290.81205 297.02806 307.92005 314.92005 319.58204 326.58204 330.08204 337.08204 341.74403 345.24403 351.46003 354.96003 361.96003 368.17604 372.838 376.73 383.73 390.73 396.946 401.608 407.824 411.716 415.216 422.216 428.432 435.432 439.324 445.54 451.756 455.256 458.756 467.31 474.31">During a read cycle, the MCU receives data from memory or a peripheral device. The</tspan><tspan y="293.25" x=".0039999999 4.6660006 11.666 15.558001 19.45 26.45 36.558004 40.450006 47.450006 54.450006 57.950006 62.612005 66.504009 73.504009 80.504009 85.16601 91.38201 94.88201 100.32801 107.32801 114.32801 124.43601 129.88202 133.38202 139.59803 143.09803 147.76003 153.97603 160.19203 167.19203 170.69203 176.90804 183.90804 190.12404 194.01604 200.23204 203.73204 208.39405 212.28604 219.28604 229.39405 235.61005 242.61005 248.82605 253.48805 257.38008">following figure shows a read cycle flowchart.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 -.6990738 279.0329)" font-size="7.98" font-family="HelveticaLTStd"><tspan y="152.31403" x="335.168 339.6049 341.82334 344.04179 349.80335 354.24024 358.23023 362.6671 367.104 371.5409 373.75935 378.19624 382.63313 387.07 389.72737 394.16426 398.15425 402.14424">1. Decode address.</tspan><tspan y="254.00159" x="334.9845 339.4214 341.63984 343.85829 349.18095 353.17094 357.16093 361.5978 364.25517 366.4736 368.69206 373.56785 378.8905 383.3274 388.2032 393.52586 395.7443 398.40165 402.83854 406.82853 409.04698 413.48387 416.1412 420.5781 425.01499 426.78654 429.00498 431.22343 435.6603 438.31767 444.965 446.73655 451.17344 455.61033 457.82878 459.6003 464.0372 468.4741 471.13145">3. Assert FB_TA (external termination).</tspan><tspan y="298.29844" x="334.80104 339.2379 341.46434 343.68278 349.44435 353.8892 358.32609 362.77095 364.98939 369.42628 371.70857 376.63224 381.97087 386.40776 390.30998 395.63264 397.85108 400.50843 404.9453 408.9353 411.15376 415.59065 418.248 422.68489 427.12178 428.8933 431.11177 433.3302 437.7671 440.42445 447.07179 448.84333 453.2802 457.7171 459.93556 461.7071 466.14399 470.58088 473.23823">1. Negate FB_TA (external termination).</tspan><tspan y="114.561588" x="127.08969 131.52657 133.74501 135.96346 141.28612 145.72299 147.94144 150.15988 155.03566 160.35832 164.7952 170.55677 172.7752 180.30834 182.52678 184.74523 189.1821 191.40055 194.05788 198.49475 202.93163 207.3685">1. Set FB_R/W to read.</tspan><tspan y="182.97843" x="127.28921 131.72609 133.94454 136.16298 141.48564 145.47565 149.46566 153.90253 156.55986 158.7783 160.99675 165.87253 171.19519 175.63207 181.39363">2. Assert FB_CS</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -.6990738 279.0329)" font-size="7.98" font-family="HelveticaLTStd"><tspan y="182.97843" x="186.71628">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -.6990738 279.0329)" font-size="7.98" font-family="HelveticaLTStd"><tspan y="182.97843" x="191.15316">.</tspan></text>
<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 135.26093 518.19296)" font-size="6.384" font-family="HelveticaLTStd"><tspan y="0" x=".00024 2.126112 5.6756165 9.225121 10.999872 14.5493769 16.67525 20.224755 23.416754 26.608754 30.158257 33.70776 38.31701 39.734258 43.28376 46.833265 50.382768 53.93227 55.707025 57.12427 60.673776 62.44853 65.99803 68.1239 71.67341 75.222919 76.64017 78.41492 80.18967 83.739177 85.86504 91.182918 92.60017 96.14967 99.69918 101.47393 102.89118 106.44069 109.9902 112.116069">(auto-acknowledge/internal termination).</tspan></text>
<text xml:space="preserve" transform="matrix(.996143 0 0 1.003872 -.6990738 279.0329)" font-size="7.94922" font-family="HelveticaLTStd"><tspan y="251.12602" x="127.38859 131.80835 134.01824 136.22812 141.53025 145.95001 152.57172 156.99149 158.75621 163.17598 165.38587 170.24285 175.54497 179.96474 184.82172 190.12384 192.33373 194.09845 198.51822 204.25756 206.46744 210.8872 215.30698 219.72675 221.93663 223.70136 228.12113 230.33101 234.30562 238.72539 240.93527 245.35504 249.77481 251.9847 256.40446">2. Sample FB_TA low and latch data.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -.6990738 279.0329)" font-size="7.98" font-family="HelveticaLTStd"><tspan y="298.83845" x="126.68893 131.12581 133.34426 135.5627 140.88536 143.1038 147.54068 150.19802 152.41646 154.6349 159.07178 163.50865 167.49866 169.7171 171.93555 175.92555 179.91556 183.90557 185.67713 190.114">1. Start next cycle.</tspan></text>
<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 174.68094 370.2329)" font-size="7.2" font-family="HelveticaLTStd" font-weight="bold"><tspan y="0" x="176.98923 181.78443 185.78043 189.77643 192.16683 196.16283">System</tspan></text>
<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 125.900928 405.6329)" font-size="6.384" font-family="HelveticaLTStd"><tspan y="0" x="-.0007 3.5551882 5.336324 6.6769645 10.941477 12.3651089 15.920997 19.112998 22.713574 24.060597 27.616484 31.165989 34.721879 36.854139 40.410028 43.608415 46.800416 48.14744 51.70333 55.25922 56.59986 58.381 61.93689 65.4864 66.878108 70.24248 73.38979 75.17093 78.72682 81.03144 84.58095 88.13684 89.56048 90.901119 94.45701 98.0129 101.56241 103.694667 107.25056 110.44256 113.640949 114.98797 118.17997 119.60361 123.1595 126.76008 130.30959 131.73322 134.855">2. Place address on the external address signals.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -.6990738 279.0329)" font-size="7.98" font-family="HelveticaLTStd"><tspan y="240.6" x="334.79707 339.2419 341.46037 343.6788 349.44834 352.2094 353.98097 357.76347 362.20036 364.4188 368.91954 373.36439 375.58283 380.0197 382.24613 386.683 391.1199 393.3463 395.56477 400.00166 404.4465 406.66496 410.86244 414.88435 417.11076 421.54765 424.42845 428.86534 433.31019 435.08174 437.30018 441.74504 446.18193 448.40037 452.8452 455.06367 459.05366 460.83317 465.27006 469.77079 474.21565 475.98719 479.8894">2. Drive data on the external data signals.</tspan><tspan y="227.49752" x="334.79704 339.23393 341.45237 343.6708 348.99348 353.43037 355.2019 359.6388 363.62879 365.84724 368.06568 370.28413 374.721 379.1579 381.37635 385.81324 390.25013 394.687 397.34437 401.78126 406.21815 408.8755 410.64704 415.08393 417.30238 421.73927 423.9577 427.9477 429.71925 434.15614 438.14613 442.583 444.80146 449.23835 453.67524 457.66523 459.43678 463.42677 467.86366">1. Select the appropriate slave device.</tspan></text>
<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 125.900928 420.6329)" font-size="6.384" font-family="HelveticaLTStd"><tspan y="0" x=".00253 3.5456506 5.3204028 7.095155 11.353283 14.545282 17.737282 21.286786 23.731858 25.506609 27.287745 29.056113 31.124529 34.66765 38.268224 41.460226 43.043458 46.59296 48.750757 50.531896 53.71751 55.492265 59.09284 61.44215 63.216905">3. Assert transfer start.</tspan></text>
<text xml:space="preserve" transform="matrix(1.25 0 0 1.25 125.900928 447.6329)" font-size="6.384" font-family="HelveticaLTStd"><tspan y="0" x=".00256 3.5520642 5.3268167 7.1015689 11.717201 15.317778 18.867283 22.416787 24.197922 27.747426 29.522177 31.296929 33.365346 36.91485 40.46435 43.66274 45.24597 48.795476 50.92135 52.702489 55.89449 57.669244 61.218748 63.619134 65.40027">1. Negate transfer start.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -.6990738 279.0329)" font-size="7.98" font-family="HelveticaLTStd"><tspan y="229.39685" x="127.28835 131.72524 133.94368 136.16213 141.0379 142.80947 147.24634 151.23635 156.559 160.99588 164.98589 167.20433 171.6412 175.63121 179.62122 184.05809 186.71543 188.93387 192.92388 195.14232 196.91388 201.35076 203.5692 208.00608 210.6634 215.10028 219.53716 221.30872 223.52716 228.40294 233.7256 238.16248 243.03826">1. FlexBus asserts internal FB_TA</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="551.2479" x="150.97199 158.30399 161.63999 168.97199 176.30399 180.97199 187.64398 190.97998 197.65198 204.32398 208.31998 214.99198 221.66397 224.99997 228.33597 236.99997 243.67197 250.34397 257.67597 261.01197 269.67597 276.34797 283.01997 286.35597 293.02796 296.36396 303.69596 307.03196 314.36396 323.69996 330.37196 337.70396 344.37596 349.04396">Figure 30-25. Read Cycle Flowchart</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="626.4808" x="72.00398 79.78799 89.12599 96.12599 104.67999 114.787998 118.287998 125.287998 132.288 138.504 143.95 147.45 154.45 161.45 165.342 168.842 175.842 182.058 189.058 195.274 198.774 202.666 209.666 213.166 220.166 226.382 229.882 236.882 241.544 245.436 252.436 258.652 265.652 269.152 276.152 283.152 286.652 290.544 297.544 303.76 307.26 313.476 320.476 324.368 330.584 335.246 342.246 348.462 352.354 355.854 362.854 369.07 376.07 379.962 386.178 392.394 395.894 400.556 407.556">FB_TA does not have to be driven by the external device for</tspan><tspan y="642.4808" x="72.00396 75.89596 82.89596 86.78796 93.00396 97.66596 104.66596 110.881969 114.773967 118.66596 125.66596 130.32796 134.21996 140.43596 145.09796 155.98996 159.88196 166.88196 173.09796 176.98996 183.20597 190.20597 193.70597 200.70597 207.70597 213.15196 216.65196 222.86797 229.86797 236.08397 239.97597 246.19197 251.63797">internally-terminated bus cycles.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 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 53.505 58.509004 63.513006 68.517009 72.018009 74.520008 80.019008 83.01601 85.518009 91.017009">Functional description</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.006 137.226 142.786 148.346 151.12599 157.79599 163.90599 170.01599 173.346 179.456 185.01599 193.90599 196.68599 199.46599 205.02599 207.80599 215.02599 220.58599 223.91599 229.47599 233.36598 238.92598 245.03598 250.59598 256.15599 258.93598 267.26597 272.82597 278.93595 285.04594 290.60594 293.38594 296.16593 298.94593 306.16593 311.72593 317.28593 320.06593 322.84593 328.4059 331.1859 336.7459 342.8559 348.96589 351.74589 357.30589 362.86589 368.42588">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 10.008001">738</tspan></text>
<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>
<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>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54 763.756)" 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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