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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_747.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

178 lines
30 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="326.9672" x="141.64394 148.97594 152.31194 159.64394 166.97594 171.64394 178.31594 181.65193 188.32393 194.99593 198.99193 205.66393 212.33592 215.67192 219.00792 226.33992 233.67192 241.00392 248.33592 257.67195 265.00395 269.67195 277.00395 280.99995 292.32795 296.99595 300.33195 304.32795 310.99995 314.33595 321.66795 326.33595 333.00794 340.33995 347.01194 351.00794 357.67994">Figure 30-34. Longword-Write Transfer</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 138.22925 519.35)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.13672" x="-.00206 13.213941 20.997942 24.889943 29.551943 33.443944 42.781946 47.443944 55.227945 59.889944 67.67394">Wait States</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 53.99997)" font-size="14" font-family="TimesLTStd"><tspan y="500.6" x="-.00206 13.213941 19.429942 23.321942 27.213942 30.713942 36.159944 40.051946 46.267946 50.159948 56.375947 61.821947 65.321949 71.53795 77.75395 84.75395 88.25395 95.25395 101.469959 104.969959 108.86195 115.86195 121.30795 127.52396 132.18596 136.07796 142.29396 149.29396 152.79396 159.79396 166.00997 170.67197 177.67197 182.33397 188.54998 192.04998 198.26598 204.48198 210.69799 217.69799 221.19799 228.19799 234.41399 240.62999 244.52199 248.02199 255.02199 259.684 263.184 269.4 272.9 276.792 281.45399 287.66999 294.66999 300.116 304.77799 310.994 315.65599 319.15599 326.15599 333.15599 336.65599 343.65599 348.31797 355.31797 362.31797 366.97996 373.19596 384.08796 394.97996 398.87196 405.87196 412.87196 416.37196 420.26396 427.26396 433.47996 436.97996 446.31797 454.10197 463.43998">Wait states can be inserted before each beat of a transfer by programming the CSCR</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 53.99997)" font-size="14" font-family="TimesLTStd" font-style="italic"><tspan y="500.6" x="472.77793">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 53.99997)" font-size="14" font-family="TimesLTStd"><tspan y="516.6" x="-.0020751954 4.659925 10.875925 17.875926 21.767926 27.213927 31.105927 37.321928 41.983926 47.429925 50.929925 54.429925 67.64593 73.86193 77.75393 81.64593 85.14593 90.59193 94.483928 100.69993 104.59193 110.80793 116.25393 119.75393 125.96993 132.18593 139.18593 142.68593 149.68593 153.57793 160.57793 166.79393 170.29393 174.18593 181.18593 187.40193 190.90193 197.90193 204.11794 208.77994 212.67194 219.67194 226.67194 232.88794 237.54994 243.76595 247.65795 251.15795 258.15797 262.81996 266.31996 277.21195 283.42796 294.31996 301.31996 305.98194 312.98194 316.48194 327.37394 334.37394 339.03593 345.25193 348.75193 352.64393 356.53593 367.42793 373.64393 377.14393 381.03593 388.03593 391.53593 396.1979 402.4139 406.3059 413.3059 417.9679 424.9679 428.4679 433.12989 439.3459 445.5619 452.5619 456.0619 463.0619 469.2779 473.1699 479.3859 482.8859 489.8859">registers. Wait states can give the peripheral or memory more time to return read data or</tspan><tspan y="532.6" x="-.0020751954 5.4439256 11.659925 22.551926 29.551926 33.443929 39.659929 43.159929 53.26793 57.929929 61.82193 65.71393 71.92993 75.42993 82.42993 88.645938 92.53793 98.75394">sample write data.</tspan><tspan y="557" x="-.0020751954 8.551925 15.551925 21.767926 25.267926 29.929926 36.929925 40.821928 44.71393 51.71393 61.82193 65.71393 72.71393 79.71393 83.21393 87.87593 91.76793 98.76793 105.76793 110.42993 116.645938 122.091938 125.591938 131.03794 138.03794 145.03794 155.14594 158.64594 162.53794 169.53794 175.75394 179.25394 186.25394 192.46994 197.91594 201.80794 208.02394 211.52394 216.18595 222.40195 228.61795 235.61795 239.11795 245.33396 252.33396 259.33396 262.83396 272.94197 277.60395 281.49595 285.38795 291.60395 295.10395 302.10395 309.10395 314.54997 318.04997 324.26597 331.26597 337.48197 341.37397 347.58998 353.03599 356.53599 361.19798 367.41398 371.30598 376.75199 383.75199 387.25199 392.698 399.698 406.698 416.806 423.806 427.306 431.198 438.198">The following figures show the basic read and write bus cycles (also shown in </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 54 53.99997)" font-size="14" font-family="TimesLTStd"><tspan y="557" x="441.69795 449.48194 453.37394 460.37394 467.37394 472.03593">Figure</tspan><tspan y="573" x="-.0020751954 6.997925 13.997925 18.659926 25.659926">30-26</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 53.99997)" font-size="14" font-family="TimesLTStd"><tspan y="573" x="32.659917 36.159917 42.375917 49.375917 56.375917"> and </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 54 53.99997)" font-size="14" font-family="TimesLTStd"><tspan y="573" x="59.875917 67.65992 71.55192 78.55192 85.55192 90.21392 96.429927 99.929927 106.929927 113.929927 118.59193 125.59193">Figure 30-31</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 53.99997)" font-size="14" font-family="TimesLTStd"><tspan y="573" x="132.59192 137.25392 140.75392 150.86193 154.75392 158.64592 165.64592 169.14592 173.03792 180.03792 186.25392 189.75392 196.75392 202.96993 207.63193 213.84793 220.84793 224.73993 228.63193 232.13193 239.13193 243.79393 247.29393 254.29393 261.29396 264.79396 274.90196 281.11796 285.00996 288.90196 292.40196 297.84797 301.73997 307.95597 311.84797 318.06398 323.50999 327.00999 331.67198 337.88798 343.33399 350.33399 356.55 362.766 366.658 370.55 377.55 383.766 387.658 394.658">) with the default of no wait states respectively.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 17.99997)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01031" x="316.44898 322.94697 328.44596 333.44996 338.94895 341.94596 346.94996 350.45097 352.95298 357.95698 362.96098 365.46299 371.46598 376.46998 379.46699 384.47099 387.972 393.47099 398.47499 400.977 403.479 409.977 415.47599 420.47999 422.982 425.484 430.983 433.98 438.984 442.48503 445.48204 450.48603 455.49003 460.49403 462.99604 465.99305 471.49205 473.99406 478.99806 484.00205 490.50004 495.99903 501.00303">Chapter 30 External Bus Interface (FlexBus)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 751.7559)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00401 5.5030105 8.5000109 13.504011 18.50801 23.00801 27.50801 32.512014 34.510015 39.514017 42.016016 48.019014 53.023015 60.520017 62.518018 67.01802 72.02202 77.02602 82.030017 87.03401 91.53401 94.03601 99.04001 102.03701 104.53901 107.04101 109.54301 114.547008 119.047008">Freescale Semiconductor, Inc.</tspan></text>
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<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54 763.7559)" 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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