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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_91.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

540 lines
51 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 176)" 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">3.3.7.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 176)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.830001 19.170002 27.510003 35.850004 40.845 45.015005 55.020006 63.360006 67.53001 76.69501 85.03501 93.375019 97.54501 102.540019 111.70502 117.540019 121.710018 132.54001 144.21 155.04001 163.38 167.55 178.38 186.72 195.885 200.055 208.39499 213.38999 221.72998 227.56499">Reset Values for RGD0 Registers</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="158.25" x=".005 10.113001 14.005001 17.505002 22.167002 28.383004 33.829004 40.045003 43.937005 47.437005 50.937005 54.829008 61.829008 68.045009 71.545009 83.991008 91.77501 101.88301 105.38301 109.27501 114.72101 118.22101 124.43701 131.43701 137.65302 144.65302 148.54502 154.76102 161.76102 165.26102 175.36902 179.26102 183.15302 190.15302 193.65302 199.86902 203.36902 208.81502 212.70702 219.70702 226.70702 230.59902 236.81502 240.31502 244.97702 251.19303 258.19303 262.08503 269.08503 276.08503 279.58503 286.58503 292.80104 298.24705 304.46305 309.12504 313.01704 320.01704 323.90904 330.90904 335.571 339.071 343.733 353.071 363.17903 373.28703 380.28703 384.949 388.449 392.341 399.341 405.557 409.449 412.949 423.841 430.057 437.057 442.50303 446.00303 449.89503 456.89503 463.11103 466.61103 472.82704 479.82704 483.71903 487.61103 492.273">At reset, the MPU is enabled with a single region descriptor (RGD0) that maps the entire</tspan><tspan y="174.25" x=".00503 7.00503 10.50503 20.61303 29.95103 33.45103 39.66703 46.66703 53.66703 58.32903 64.54503 69.99103 75.43703 78.93703 84.383029 91.383029 97.59903 103.81503 110.03104 113.53104 123.63904 127.53104 131.42304 138.42304 141.92304 146.58504 152.80104 159.01705 166.01705 169.51705 173.01705 183.12505 187.78705 191.67905 195.57105 201.78705 205.28705 211.50305 218.50305 225.50305 229.00305 235.21906 242.21906 248.43506 254.65106 261.65107 265.54307 271.75907 275.25907 282.25907 288.47508 293.13706 304.02906 307.92106 313.36708 318.81309 322.70509 329.70509 336.70509 342.1511 345.6511 352.6511 356.5431 363.5431 369.7591 376.7591 380.2591 384.1511 391.1511 394.6511 398.5431 405.5431 411.7591 415.2591 421.4751 428.4751 433.1371 439.3531 442.8531 446.3531 453.3531 459.5691 466.5691 473.5691 480.5691 487.5691 493.7851">4 GB address space with read, write and execute permissions given to the core, debugger</tspan><tspan y="190.25" x=".00503 6.2210309 13.221031 20.221032 23.721032 27.613032 34.61303 40.82903 44.32903 54.43703 66.88303 76.991039 80.491039 87.491039 94.491039 99.937038 103.437038 114.32903 120.54504 125.991039 129.88304 136.09905 140.76105 146.20705">and the DMA bus masters.</tspan><tspan y="214.65" x=".00503 8.55903 15.55903 21.77503 25.27503 29.93703 36.93703 40.829034 44.721036 51.721036 61.829038 65.72104 72.72104 79.72104 83.22104 87.11304 93.32904 100.32904 104.22104 110.43704 113.93704 119.38304 126.38304 133.38304 143.49105 148.93704 152.43704 156.32904 163.32904 169.54505 173.04505 179.26105 186.26105 190.15305 197.15305 201.81505 207.26105 214.26105 220.47705 226.69306 230.58506 235.24706 239.13906 245.35506 248.85506 253.51706 259.73307 265.17909 271.39509 275.28709 278.78709 285.78709 292.00309 295.89509 302.89509 309.11109 314.5571 318.0571 322.7191 329.7191 334.38108 337.88108 347.2191 357.3271 367.4351 374.4351 377.9351 384.1511 391.1511 398.1511 401.6511 410.9891 421.0971 431.2051 441.3131 451.4211 460.75914 467.75914">The following table shows the chip-specific reset values for RGD0 and RGDAAC0.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 114.04347 449.69999)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 14.160001 19.995 24.165 29.16 37.5 41.670003 52.500005 60.840005 69.18001 77.52001 85.860019 94.20002 98.37002 109.20002 117.54002 125.88003 130.87503 136.71004 140.88004 149.22003 154.21503 158.38503 167.55002 176.71501 185.05501 189.225 194.22 203.385 209.22 213.39 224.22 235.89 246.72 255.06 259.23 270.06 278.4 287.565 291.73503 300.075 305.07 313.41 319.245">Write Access Restrictions for RGD0 Registers</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.00001 54)" font-size="14" font-family="TimesLTStd"><tspan y="431.94999" x="-.00101 4.66099 11.66099 15.16099 21.376992 28.376992 35.37699 39.268995 43.160997 47.052999 54.052999 61.052999 64.55299 68.44499 75.44499 78.94499 85.160999 92.160999 99.160999 103.823 107.715 114.715 121.715 126.377 130.269 137.269 144.269 147.769 151.661 158.661 164.877 168.377 172.269 179.269 183.161 187.053 190.94499 197.161 201.053 204.553 209.999 213.89099 220.107 223.999 230.215 233.715 240.715 245.377 248.877 258.215 268.323 278.431 285.431 288.931 292.431 296.323 303.323 309.539 313.039 325.48503 333.269 343.377 346.877 350.769 361.661 368.661 372.553 378.769 389.661 395.877 402.877 406.769 412.21504 415.71504 420.377 427.377 432.039 435.931 442.931 449.147 453.809 457.309 463.525 469.741 475.957 482.173 487.61903">In addition to configuring the initial state of RGD0, the MPU implements further access</tspan><tspan y="447.94999" x="-.00098 6.2150208 13.215021 20.215022 24.107022 28.769022 35.76902 39.661024 43.161024 50.161024 57.161024 60.661024 70.76902 75.43102 79.32302 83.21502 89.43102 94.87702 98.37702 102.26902 109.26902 112.76902 116.66102 123.66102 129.87702 133.37702 142.71501 152.82302 162.93102 169.93102 173.43102 178.09302 184.30902 191.30902 195.20102 200.64702 204.53902 210.75502 215.41703 220.86302 224.36302 227.86302 235.64702 242.64702 248.86302 255.07903 258.97105 263.63304 267.52503 273.74104 279.95704 283.84904 287.74104 294.74104 298.24104 301.74104 305.63304 312.63304 318.84904 322.34904 334.79505 342.57905 352.68705 356.18705 362.40306 367.84907 373.29508 377.18708 384.18708 391.18708 396.6331 400.1331 406.3491 409.8491 416.8491 421.51109 425.40309 432.40309 437.06507 440.95707 444.84907 451.84907 455.34907 460.79508 467.01109 474.01109 480.22709 491.11909">control on writes to the RGD0 registers. Specifically, the MPU assigns a priority scheme</tspan><tspan y="463.94999" x="-.00098 10.10702 17.107022 23.32302 27.985022 34.201025 37.701025 41.593027 48.593027 54.809026 58.309026 65.30902 71.525028 78.525028 85.525028 92.525028 99.525028 105.74103 110.40303 113.90303 117.79503 123.24103 126.74103 130.63303 135.29503 141.51103 147.72704 151.61904 157.83504 164.83504 168.33504 174.55104 179.99704 183.49704 187.38904 194.38904 200.60504 204.10504 211.10504 214.99704 221.99704 228.99704 235.21305 240.65904 244.55104 248.05104 255.05104 259.71305 263.60505 270.60505 275.26704 279.15904 283.05104 290.05104 293.55104 304.44303 310.65904 316.10505 319.99705 326.21305 330.87504 334.37504 339.03703 346.03703 349.92903 353.821 360.821 370.92903 377.14503 384.14503 387.64503 394.64503 401.64503 405.14503 409.03703 416.03703 422.25303 425.75303 431.96903 438.96903 443.631 449.84703 453.34703 459.56303 466.56303 473.56303 477.06303 480.95503 487.95503 494.17103">where the debugger is treated as the highest priority master followed by the core and then</tspan><tspan y="479.94999" x="-.00098 6.2150208 10.107021 13.999022 17.499022 21.391022 28.391022 34.60702 38.10702 42.76902 48.98502 59.87702 66.093029 69.98502 76.98502 80.87702 87.87702 94.87702 98.37702 109.26902 115.48502 120.93102 124.82302 131.03902 135.70102 141.14702">all the remaining masters.</tspan><tspan y="504.34999" x="-.00099 8.55301 15.55301 21.76901 25.26901 37.71501 45.499013 55.607015 59.107015 66.10701 73.10701 79.32301 84.76901 88.26901 95.26901 102.26901 106.16101 109.66101 115.877017 119.76901 123.66101 130.66101 140.76902 144.26902 154.37702 159.03902 162.93102 166.82302 173.03902 178.48502 181.98502 186.64702 191.30902 198.30902 209.20102 212.70102 216.59302 223.59302 229.80902 233.30902 239.52503 246.52503 251.18703 257.403 260.903 264.795 271.795 275.295 281.51103 286.173 290.835 297.051 303.267 307.159 310.659 314.551 321.551 327.767 331.267 340.605 350.713 360.821 367.821 371.321 376.76704 380.65904 386.87504 391.53703 395.42903 398.92903 405.92903 410.591 414.091 420.307 427.307 434.307 437.807 444.023 451.023 458.023 462.685 468.901 474.34703 479.79304 486.00904">The MPU does not allow writes from the core to affect the RGD0 start or end addresses</tspan><tspan y="520.35" x="-.00098 6.99902 13.99902 18.66102 22.16102 26.05302 33.05302 39.26902 42.76902 49.76902 55.98502 60.64702 71.53902 75.431018 80.877017 86.32301 90.21501 97.21501 104.21501 109.66101 113.16101 119.377017 124.82301 130.26902 137.26902 143.48502 147.37702 153.59302 157.48502 163.70102 170.70102 174.20102 184.30902 188.20102 192.09302 199.09302 202.59302 206.48502 213.48502 219.70102 223.20102 230.20102 236.41703 243.41703 250.41703 257.41703 264.41703 270.63304 275.295 279.187 282.687 286.579 290.471 293.971 300.187 306.403 313.403 316.903 323.903 330.903 334.795 341.795 345.295 355.403 360.065 363.957 367.849 374.065 377.565 381.457 388.457 394.673 398.173 405.173 411.389 416.051 426.943 430.835 436.281 441.72703 445.61903 452.61903 459.61903 463.11903 467.781 471.673 477.889 481.781 488.781">nor the permissions associated with the debugger; it can only write the permission fields</tspan><tspan y="536.35" x="-.00098 6.2150208 11.661021 17.107022 24.107022 30.32302 34.215024 40.431024 44.323026 50.539026 57.539026 61.039026 71.147029 75.039028 78.93102 85.93102 89.43102 93.32302 100.32302 106.539028 110.039028 117.039028 120.93102 127.93102 134.14702 138.80902 142.30902 153.20102 159.41703 164.86302 168.75502 174.97103 179.63303 185.07903">associated with the other masters.</tspan><tspan y="560.75" x="-.00098 8.55302 15.55302 21.76902 27.215022 33.431024 36.931024 43.931024 48.59302 55.59302 59.485025 65.70103 71.91703 75.80903 79.70103 86.70103 93.70103 99.147029 102.647029 107.30903 112.75503 119.75503 130.64704 141.53903 147.75504 152.41704 156.30904 162.52504 168.74105 175.74105 179.24105 186.24105 192.45705 196.34905 203.34905 213.45705 218.11905 221.61905 228.61905 235.61905 241.83506 246.49706 252.71306 259.71308 263.60508 269.82109 276.03709 279.53709 283.42909 290.42909 296.64509 300.53709 304.03709 307.92909 314.92909 321.14509 324.64509 331.64509 337.86109 344.86109 351.86109 358.86109 365.86109 372.0771 376.73908 380.23908 386.45509 390.34709 400.45509 406.67109 413.67109 419.1171 422.6171 429.6171 435.8331 441.2791 444.7791 450.99513 457.21113 463.42713 469.64314 475.08915 480.53517 484.03517 487.92716">These protections (summarized below) guarantee that the debugger always has access to</tspan><tspan y="576.75" x="-.00093000006 3.8910704 10.89107 17.10707 20.60707 26.82307 33.82307 37.715074 41.607076 46.269075 52.485074 55.985074 62.201074 69.20107 76.20107 80.863079 87.07908 92.52508 97.97108 101.47108 106.917079 113.917079 120.13308 126.34908 132.56508 136.06508 142.28108 149.28108 156.28108 159.78108 163.67308 170.67308 177.67308 183.11908 189.33509 192.83509 197.49709 201.38909 208.38909 215.38909 219.28108 224.72708 228.22708 234.44309 240.65909 247.65909 254.65909 261.6591 265.5511 269.0511 276.0511 282.2671 285.7671 291.9831 298.9831 305.1991 312.1991 319.1991 325.4151 332.4151 335.9151 342.9151 349.9151 353.4151 357.3071 364.3071 370.5231 374.0231 380.2391 387.2391 391.9011 398.1171 401.6171 408.6171 413.27909 416.77909 422.9951 429.9951 436.9951 440.4951 447.4951 451.3871 458.3871 464.6031 469.26509 472.76509 479.76509 486.76509">the entire address space and those rights cannot be changed by the core or any other bus</tspan><tspan y="592.75" x="-.00088000009 10.891121 17.10712 22.553122 26.445122 32.66112 37.32312">master.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.00001 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01031" 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 54.00001 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>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.00001 751.756)" 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>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32003 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="156.312 161.316">91</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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