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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_408.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

2909 lines
208 KiB (Stored with Git LFS)
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<g clip-path="url(#clip_34)">
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<g clip-path="url(#clip_40)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 116.729999 272.93284)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="0 6.4980008 11.502001 16.506 18.504002 23.508004 28.512005 31.014006 37.512006 42.516008 47.016008 51.516008 54.51301 56.51101 61.51501 64.01701 69.02101 72.01801 74.52001 79.52401 82.02601 84.52801 93.02401 98.02801 101.02501 106.02901 108.531009 113.535 116.037 119.034008 126.531009 132.53401 139.03202 144.03601 150.53401 157.53601 164.03401 169.03801 174.042 179.046 187.542 194.544 201.042 207.54001 212.544">Region Descriptor n, Word 3 (MPU_RGD10_WORD3)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 363.69 272.93284)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="12.906 17.91">32</tspan></text>
<g clip-path="url(#clip_46)">
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<g clip-path="url(#clip_47)">
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<g clip-path="url(#clip_50)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 116.729999 299.43284)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="0 6.4980008 11.502001 16.506 18.504002 23.508004 28.512005 31.014006 37.512006 42.516008 47.016008 51.516008 54.51301 56.51101 61.51501 64.01701 69.02101 72.01801 74.52001 79.52401 82.02601 84.52801 93.02401 98.02801 101.02501 106.02901 108.531009 113.535 116.037 119.034008 126.531009 132.53401 139.03202 144.03601 150.53401 157.53601 164.03401 169.03801 174.042 179.046 187.542 194.544 201.042 207.54001 212.544">Region Descriptor n, Word 0 (MPU_RGD11_WORD0)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 363.69 299.43284)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="12.906 17.91">32</tspan></text>
<g clip-path="url(#clip_52)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 404.01 299.43284)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="9.162 15.66 18.162">R/W</tspan></text>
<g clip-path="url(#clip_53)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 116.729999 325.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="0 6.4980008 11.502001 16.506 18.504002 23.508004 28.512005 31.014006 37.512006 42.516008 47.016008 51.516008 54.51301 56.51101 61.51501 64.01701 69.02101 72.01801 74.52001 79.52401 82.02601 84.52801 93.02401 98.02801 101.02501 106.02901 108.531009 113.535 116.037 119.034008 126.531009 132.53401 139.03202 144.03601 150.53401 157.53601 164.03401 169.03801 174.042 179.046 187.542 194.544 201.042 207.54001 212.544">Region Descriptor n, Word 1 (MPU_RGD11_WORD1)</tspan></text>
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<g clip-path="url(#clip_58)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 404.01 325.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="9.162 15.66 18.162">R/W</tspan></text>
<g clip-path="url(#clip_59)">
<path transform="matrix(1,0,0,1,54,323.6828)" d="M388.33003 .25H448.31004V26.25H388.33003Z" fill="#ffffff" fill-rule="evenodd"/>
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<g clip-path="url(#clip_62)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 116.729999 352.4328)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="0 6.4980008 11.502001 16.506 18.504002 23.508004 28.512005 31.014006 37.512006 42.516008 47.016008 51.516008 54.51301 56.51101 61.51501 64.01701 69.02101 72.01801 74.52001 79.52401 82.02601 84.52801 93.02401 98.02801 101.02501 106.02901 108.531009 113.535 116.037 119.034008 126.531009 132.53401 139.03202 144.03601 150.53401 157.53601 164.03401 169.03801 174.042 179.046 187.542 194.544 201.042 207.54001 212.544">Region Descriptor n, Word 2 (MPU_RGD11_WORD2)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 363.69 352.4328)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="12.906 17.91">32</tspan></text>
<g clip-path="url(#clip_64)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 404.01 352.4328)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="9.162 15.66 18.162">R/W</tspan></text>
<g clip-path="url(#clip_65)">
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<g clip-path="url(#clip_67)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 116.729999 378.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="0 6.4980008 11.502001 16.506 18.504002 23.508004 28.512005 31.014006 37.512006 42.516008 47.016008 51.516008 54.51301 56.51101 61.51501 64.01701 69.02101 72.01801 74.52001 79.52401 82.02601 84.52801 93.02401 98.02801 101.02501 106.02901 108.531009 113.535 116.037 119.034008 126.531009 132.53401 139.03202 144.03601 150.53401 157.53601 164.03401 169.03801 174.042 179.046 187.542 194.544 201.042 207.54001 212.544">Region Descriptor n, Word 3 (MPU_RGD11_WORD3)</tspan></text>
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<g clip-path="url(#clip_71)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 116.729999 458.4328)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.506 18.504002 23.508004 28.512005 31.014006 37.512006 42.516008 47.016008 51.516008 54.51301 56.51101 61.51501 64.01701 69.02101 72.01801 74.52001 80.52301 82.52101 85.02301 90.02701 93.02401 98.02801 103.032009 105.534008 110.538 113.04 119.043 123.543 128.043 133.047 137.547 142.047 144.549 151.047 156.051 161.055 163.55699 166.55399 171.55799 173.55599 176.05799">Region Descriptor Alternate Access Control n</tspan><tspan y="18.83789" x="0 2.997 10.494 16.497002 22.995003 27.999005 34.497007 41.499006 47.997007 54.000009 60.003007 66.50101 71.505008">(MPU_RGDAAC2)</tspan></text>
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<g clip-path="url(#clip_89)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 484.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="3.978 8.982 13.986001 18.990002 23.994004 28.998005 35.496007 40.500009 45.50401">4000_D80C</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 116.729999 484.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.506 18.504002 23.508004 28.512005 31.014006 37.512006 42.516008 47.016008 51.516008 54.51301 56.51101 61.51501 64.01701 69.02101 72.01801 74.52001 80.52301 82.52101 85.02301 90.02701 93.02401 98.02801 103.032009 105.534008 110.538 113.04 119.043 123.543 128.043 133.047 137.547 142.047 144.549 151.047 156.051 161.055 163.55699 166.55399 171.55799 173.55599 176.05799">Region Descriptor Alternate Access Control n</tspan><tspan y="18.83789" x="0 2.997 10.494 16.497002 22.995003 27.999005 34.497007 41.499006 47.997007 54.000009 60.003007 66.50101 71.505008">(MPU_RGDAAC3)</tspan></text>
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<g clip-path="url(#clip_95)">
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<g clip-path="url(#clip_97)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 511.4328)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="4.725 9.729 14.733001 19.737002 24.741002 29.745003 36.243005 41.247007 46.251008">4000_D810</tspan></text>
<g clip-path="url(#clip_98)">
<path transform="matrix(1,0,0,1,54,509.1828)" d="M60.73 .25H307.19V26.25H60.73Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 116.729999 511.4328)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.506 18.504002 23.508004 28.512005 31.014006 37.512006 42.516008 47.016008 51.516008 54.51301 56.51101 61.51501 64.01701 69.02101 72.01801 74.52001 80.52301 82.52101 85.02301 90.02701 93.02401 98.02801 103.032009 105.534008 110.538 113.04 119.043 123.543 128.043 133.047 137.547 142.047 144.549 151.047 156.051 161.055 163.55699 166.55399 171.55799 173.55599 176.05799">Region Descriptor Alternate Access Control n</tspan><tspan y="18.83789" x="0 2.997 10.494 16.497002 22.995003 27.999005 34.497007 41.499006 47.997007 54.000009 60.003007 66.50101 71.505008">(MPU_RGDAAC4)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 363.69 511.4328)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="12.906 17.91">32</tspan></text>
<g clip-path="url(#clip_100)">
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<g clip-path="url(#clip_101)">
<path transform="matrix(1,0,0,1,54,509.1828)" d="M388.33003 .25H448.31004V26.25H388.33003Z" fill="#ffffff" fill-rule="evenodd"/>
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<g clip-path="url(#clip_102)">
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<g clip-path="url(#clip_103)">
<path transform="matrix(1,0,0,1,54,535.6828)" d="M.25 .25H60.23V26.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 537.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="4.725 9.729 14.733001 19.737002 24.741002 29.745003 36.243005 41.247007 46.251008">4000_D814</tspan></text>
<g clip-path="url(#clip_104)">
<path transform="matrix(1,0,0,1,54,535.6828)" d="M60.73 .25H307.19V26.25H60.73Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 363.69 537.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="12.906 17.91">32</tspan></text>
<g clip-path="url(#clip_106)">
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<g clip-path="url(#clip_107)">
<path transform="matrix(1,0,0,1,54,535.6828)" d="M388.33003 .25H448.31004V26.25H388.33003Z" fill="#ffffff" fill-rule="evenodd"/>
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<g clip-path="url(#clip_109)">
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<g clip-path="url(#clip_110)">
<path transform="matrix(1,0,0,1,54,562.1828)" d="M60.73 .25H307.19V26.25H60.73Z" fill="#ffffff" fill-rule="evenodd"/>
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<g clip-path="url(#clip_128)">
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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 7.4970009 12.501001 20.502003 26.001004 29.502003 34.506006 37.008005 45.009004 50.013006 55.512006 58.014005 61.515005 66.519008 72.018009 74.520008 79.524 82.521 87.525 91.026 93.528 99.027 104.031 107.028 109.53 115.029 117.531 120.528 123.03 128.52899">Memory map/register definition</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.008 137.228 142.788 148.34799 151.12799 157.79799 163.90799 170.01799 173.34799 179.458 185.01799 193.90799 196.68799 199.46799 205.02799 207.80799 215.02799 220.58798 223.91799 229.47798 233.36798 238.92798 245.03798 250.59798 256.158 258.938 267.26799 272.82798 278.93797 285.04795 290.60795 293.38795 296.16795 298.94795 306.16795 311.72795 317.28794 320.06794 322.84794 328.40794 331.18794 336.74794 342.8579 348.9679 351.7479 357.3079 362.8679 368.4279">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".002 5.0060007 10.010001">408</tspan></text>
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<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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