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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_88.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

1296 lines
96 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="428.6867" x="232.554 242.662 253.554 262.108">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="444.9" x="72.002 80.556 87.556 93.772 97.272 107.380008 119.826007 129.934 133.434 139.65001 146.65001 153.65001 157.15001 165.70401 171.92002 179.70401 186.70401 191.36602 195.25801 198.75801 204.20401 211.20401 217.42002 222.08202 228.29802 231.79802 238.01403 241.51403 252.40602 258.622 264.06803 267.96003 274.17604 278.838 282.338 289.338 296.338 301 304.892 308.392 311.892 319.676 323.568 330.568 336.784 343 346.5 350.392 357.392 363.608 369.05403 375.27003 378.77003 389.66203 396.66203 403.66203 410.66203 414.55403 420.77003">The DMA and EzPort share a master port. Since these modules</tspan><tspan y="460.9" x="72.002 79.002 85.218 92.218 98.434009 103.09601 106.59601 113.59601 120.59601 126.81201 131.47402 137.69002 141.58202 147.79802 151.29802 157.51403 161.40602 164.90602 168.79802 175.79802 182.01403 185.51403 190.96002 197.17603 208.06803 214.28403 217.78403 221.67603 225.56803 236.46002 242.67603 246.17603 249.67603 256.67604 263.67604 267.17604 273.39204 280.39204 287.39204 292.05403 295.946 302.946 309.946 314.608 320.824 324.716 328.608 335.608 342.608 346.108 353.108 357.77 361.27 367.486 372.14799 379.14799 383.03999 386.93199 391.59397 397.80998 401.70198 405.59397 412.59397">never operate at the same time, no configuration or arbitration</tspan><tspan y="476.9" x="72.002 78.218 85.218 92.218 96.11 102.326007 109.326007 115.54201 119.434009 123.326007 130.326 137.326 142.772 146.272 152.488 157.15001 163.36602 166.86602 173.86602 180.08202 186.29802 192.51403 197.96002 203.40602 209.62203 214.28403 221.28403">explanations are necessary.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 571.44998)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.006 8.334002 12.504002 20.844002 25.014002 33.354005 37.524007">3.3.6.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 571.44998)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00601 10.823991 16.65899 25.82399 34.16399 42.50399 51.66899 60.00899 65.843997 70.01399 80.019 91.688999 95.85899 100.854 109.194 118.359 122.529 132.534 136.704 145.04399 153.38399 161.72399 165.89398 176.72399 185.06398 193.40398 197.57398 206.73897 215.90396 229.23897 237.57897 246.74396 251.73896">Crossbar Switch Slave Assignments</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="553.69998" x=".00098 8.55498 15.55498 21.77098 25.27098 30.716982 34.608983 40.82498 47.82498 54.04098 59.48698 62.98698 69.20298 76.20298 83.20298 90.20298 96.41898 102.63499 106.526988 112.74299 119.74299 123.24299 127.13499 134.13498 137.63498 141.52698 148.52698 154.74298 158.24298 164.45899 169.12099 176.12099 181.56699 187.01299 194.01299 200.22899 204.89099 208.39099 213.83699 223.94499 227.83699 231.72899 237.94499 244.94499 248.44499 254.661 259.323 265.539 269.039 275.255 280.70103 286.14704 290.03904 297.03904 304.03904 310.25505 317.25505 320.75505 326.97105 332.41706 335.91706 340.57905 347.57905 351.47105 355.36305 362.36305 372.47105 377.91706">The slaves connected to the crossbar switch are assigned as follows:</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 58.249998 626.1)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.09766" x="2 8.67 11.450001 17.010003 22.570004 28.130005 30.910006 39.800008 45.910009 52.020009 58.13001 60.910009">Slave module</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 226.25 626.1)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.09766" x="2 8.67 11.450001 17.010003 22.570004 28.130005 30.910006 37.020006 43.130006 47.020006 50.350008 53.130006 59.240007 65.350009 74.240009 80.350009 85.91">Slave port number</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 394.25 626.1)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.09766" x="1.99999 8.669991 12.559991 18.66999 21.99999 27.55999 33.11999 36.44999 42.00999 48.11999 50.89999 57.00999 62.569993 65.34999 73.67999 80.34999 87.56999">Protected by MPU?</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 641.6)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.99699 7.49599 9.49399 14.497991 18.99799 24.001992 26.503993 34.00099 39.004995 46.501996 51.505998 54.503 59.003 61.504999 66.005 71.008998 76.01299 78.51499 81.51199 86.51599 88.51399 90.51199 95.51599">Flash memory controller</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 641.6)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.99699">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 392.25 641.6)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.99699 7.9999907 13.003991">Yes</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 657.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.99699 7.9999907 14.497992 20.500992 27.997994 30.499995 35.503995 40.507997 45.007997 49.507997 54.511999 59.516 64.52">SRAM backdoor</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 657.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.99699">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 392.25 657.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.99699 7.9999907 13.003991">Yes</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 672.6)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.99699 7.9999907 13.003991 16.000992 17.998993 23.002995 28.006997 33.010999 36.008 41.012 43.010004 45.512 50.516004 53.513006 55.511007 60.515008 65.519008 70.523 73.025">Peripheral bridge 0</tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 56.25 672.6)" font-size="6.75" font-family="HelveticaLTStd"><tspan y="4.83789" x="78.02998">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 672.6)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.998">2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 392.25 672.6)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.998 8.496 13.500001 16.002 18.504002 24.507002 27.504002 32.508005 35.010004 40.014005 44.514005 47.016004 49.014005 54.018007 59.022008 61.524007 66.52801 71.532009 73.53001 75.52801 78.03001 80.532009 82.53001 87.534008 90.036 95.04 97.542 102.546 105.543 107.541 112.545 117.548999 122.55299">No. Protection built into bridge.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 688.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.998 8.001 13.005001 16.002 18 23.004002 28.008004 33.012006 36.009008 41.01301 43.01101 45.51301 50.51701 53.51401 55.512014 60.516016 65.52001 70.52401 73.02601 78.03001 80.532009 87.534008 93.537 96.039">Peripheral bridge 1/GPIO</tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 56.25 688.1)" font-size="6.75" font-family="HelveticaLTStd"><tspan y="4.83789" x="103.045497">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 688.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.998">3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 392.25 688.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.998 8.496 13.500001 16.002 18.504002 24.507002 27.504002 32.508005 35.010004 40.014005 44.514005 47.016004 49.014005 54.018007 59.022008 61.524007 66.52801 71.532009 73.53001 75.52801 78.03001 80.532009 82.53001 87.534008 90.036 95.04 97.542 102.546 105.543 107.541 112.545 117.548999 122.55299">No. Protection built into bridge.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 703.6)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.998 7.497 9.495001 14.4990019 18.999 25.002 30.006">FlexBus</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 703.6)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.998">4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 392.25 703.6)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="1.99801 8.00101 13.005011">Yes</tspan></text>
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