birdcage/docs/K60-refman-vectors/K60-reference-manual_page_90.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

1162 lines
87 KiB (Stored with Git LFS)
XML

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 266.5)" 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">3.3.7.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 266.5)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 12.495001 22.500002 33.33 37.500005 46.665006 55.830007 64.995 69.165 77.505008 85.84501 90.01501 94.185009 105.01501 114.18001 122.52001 126.69001 139.18502 147.52501 155.865 160.86 169.2 175.035 179.205 190.035 198.375 206.715 210.885 220.04999 229.21498 242.54999 250.88999 260.055 265.05">MPU Logical Bus Master Assignments</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="242.35" x="-.00197 8.55203 15.55203 21.76803 25.26803 29.16003 36.16003 43.16003 47.052034 53.268033 59.48403 63.376035 66.87604 73.87604 80.87604 86.32204 89.82204 100.714038 106.93004 112.37604 116.268039 122.48404 127.14604 130.64604 136.86205 142.30805 147.75405 151.64604 158.64604 165.64604 176.53804 182.75405 189.75405 193.64604 199.09204 202.59204 207.25405 214.25405 218.91605 222.41605 226.30805 233.30805 239.52405 243.02405 255.47005 263.25407 273.36207 276.86207 283.07807 287.74006 293.95606">The logical bus master assignments for the MPU are:</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 152.49997 310.5)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="13.968 21.3 27.972 35.304 38.64 45.312 48.648004 55.320005 59.316 65.98801 72.66 84.996 94.992008 102.996 111.66 114.996 122.328 129.66 136.992 140.328 147 153.672 157.008 160.344 169.008 176.34 183.012 186.34799 196.344 203.01599 209.68799 213.68399 220.35599 225.02399 228.35999 237.02399 243.69599 250.36798 253.70398 261.03599 268.36799 279.03599 285.70799 293.03999 297.03599">Table 3-18.MPU Logical Bus Master Assignments</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 332.5)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="53.739 61.236 67.239 73.737 76.239 81.738 87.237 92.736 95.238 100.242 105.245998 107.74799 110.24999 116.74799 122.246997 127.25099 129.75299 137.24999 142.25399 147.25798 150.25498 155.25897 158.75998 161.26198 167.75998 173.25897 181.25998 186.75897 191.76297">MPU Logical Bus Master Number</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.5 332.5)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="100.242 106.74 112.239 117.243 119.744998 127.242 132.246 137.25 140.247 145.25099">Bus Master</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250017 348.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<g clip-path="url(#clip_67)">
<path transform="matrix(1,0,0,1,54.000017,346)" d="M252.24999 .5H503.74998V15.5H252.24999Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 348.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 14.499001">Core</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250017 364)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 364)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.506 21.510003 26.514004 31.518006 36.522008">Debugger</tspan></text>
<g clip-path="url(#clip_70)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.250017 379.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">2</tspan></text>
<g clip-path="url(#clip_71)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 379.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 13.995001">DMA</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.250017 395)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">3</tspan></text>
<g clip-path="url(#clip_73)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 395)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 12.501001 18.504002">ENET</tspan></text>
<g clip-path="url(#clip_74)">
<path transform="matrix(1,0,0,1,54.000017,408.25)" d="M.25 .25H251.74999V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.250017 410.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">4</tspan></text>
<g clip-path="url(#clip_75)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 410.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 12.501001">USB</tspan></text>
<g clip-path="url(#clip_76)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250017 426)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">5</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000017 525.5)" 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">3.3.7.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04347 525.5)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 12.495001 22.500002 33.33 37.500005 48.330007 56.670007 65.01001 73.35001 81.69002 90.03002 94.20002 104.20502 108.375019 117.540019 121.710018 130.05002 135.04502 139.21501 148.38 157.545 161.715 165.885 175.04999 184.21498 188.38498 196.72498 205.06497 210.05997 214.22997 223.39496 232.55995">MPU Access Violation Indications</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.00001 54)" font-size="14" font-family="TimesLTStd"><tspan y="501.35" x=".002 10.110001 16.326 22.542 28.758 34.204 39.649999 43.149999 50.149999 54.042 61.042 64.934 71.15 75.042 78.934 85.934 92.934 98.38 101.88 108.88 115.096 118.988 125.204 131.42 135.312 141.528 148.528 152.028 159.028 166.028 169.528 173.42 180.42 186.636 190.136 202.582 210.366 220.474 223.974 230.19 234.852 241.06801 244.56801 250.014 253.906 260.906 267.906 274.122 278.014 284.23 291.23 294.73 298.622 305.622 309.122 313.014 320.014 326.23 329.73 335.946 342.946 349.946 354.608 361.608 368.608 373.27 377.162 383.378 387.27 393.486 396.986 403.986 410.986 416.432 419.932 430.824 437.04 442.48603 446.37803 452.59403 457.256 460.756 466.97203">Access violations detected by the MPU are signaled to the appropriate bus master as</tspan><tspan y="517.35" x=".00197 5.4479706 12.44797 19.447972 29.555974 36.555974 40.055974 47.055974 53.271974 57.163976 64.16397 74.27197">shown below:</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 179.50002 585.5)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="13.97598 21.30798 27.97998 35.31198 38.64798 45.31998 48.655984 55.327985 59.323984 65.99599 72.667987 85.00398 93.667987 100.33998 107.01198 113.683979 120.35597 127.02797 130.36397 138.36797 141.70397 149.03597 152.37197 159.04396 163.03997 166.37596 173.70796 181.03997 184.37596 187.71196 195.04396 202.37596 205.71196 212.38396 219.05596 223.05196 226.38796 233.71996 241.05196">Table 3-19.Access Violation Indications</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 623)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 15.507001 18.009 20.511002 25.515004 30.519005 32.517007 35.019006 37.521005 40.518007 42.516008 47.520009 50.022008 55.02601 58.02301 61.02001 66.02401 71.02801 73.53001 76.032009 80.532009 85.536 90.036 92.538 97.542 100.539 103.041 108.045 113.048999 116.046 118.548 125.046 130.05 132.552 137.556 140.058 142.56 148.05899 153.06299 155.56499 160.56899 165.57299 170.57698 175.58098 177.57898 182.58298 185.08498 190.08898 195.09297 199.59297 202.09497 204.59697 209.60097 214.60497 216.60297 219.10497 223.60497 226.10697 230.60697 235.61096 238.11296 240.61496 243.11696 248.12096 253.12496 255.62696 260.12696 265.13096 268.12797 273.13197 274.85096 279.35096 281.85298 287.85597 292.35597 296.85597 299.35798 304.36198">Bus fault (interrupt vector #5) Note: To enable bus faults set the core's System</tspan><tspan y="18.83789" x=".00004 6.4980409 11.502041 16.506043 21.510045 23.508046 28.512047 31.509047 34.011049 40.50905 45.51305 50.51705 53.01905 56.016054 61.020055 63.018056 65.52006 70.524059 75.52805 80.53205 83.03405 89.03705 91.53905 96.543048 99.045047 104.04904 106.55104 113.04904 118.05304 123.05704 125.05504 129.55504 132.05704 137.06104 140.05803 141.77703 146.27703 148.77902 154.78203 161.28003 167.28304 172.78203 178.78504 185.28304 190.28704 195.78603 201.78903 208.28704 214.29004 216.79204 221.79604 223.79404 226.29604 228.79804 231.30004 233.80204 236.30403 238.80603 241.30803 246.31203 248.31003 252.81003 255.31203 260.31605 262.31404 264.81605 267.31806 269.31605 273.81605 276.31806 281.32206 286.32606 288.82807 291.33009 295.83009 300.83409 303.3361 305.8381 308.34013 315.83714 321.84013">Handler Control and State Register's BUSFAULTENA bit. If this bit is not set, MPU</tspan><tspan y="29.83789" x=".00008 4.50008 6.4980804 11.502081 13.500081 18.504082 21.006083 23.004082 28.008084 33.012086 37.512086 40.014085 43.011087 48.015089 52.515089 57.51909 59.51709 62.01909 64.52109 66.51909 71.52309 74.025089 79.02908 81.53108 86.53508 91.53908 94.53608 99.54008 102.042079 104.544078 109.54807 114.55207 116.55007 119.05207 121.55407 124.55107 126.54907 131.55307 134.05507 139.05907 142.05606 145.05306 150.05706 155.06105 157.56305 160.06505 164.56505 169.56905 174.06905 176.57105 181.57505 184.57204 187.07404 192.07804 197.08203 200.07903">violations result in a hard fault (interrupt vector #3).</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="25.87323" x="0 6.0030004 11.007001 16.011002 19.008002 24.012001 32.013 34.515 42.516 48.015 53.514 59.013 61.515 66.519">System modules</tspan></text>
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