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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_114.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

466 lines
46 KiB (Stored with Git LFS)
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Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 207)" 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">3.5.7.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 207)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 17.505002 28.335003 40.005006 44.175008 48.34501 57.51001 65.85001 70.84502 76.680019 85.84502 94.18502 99.18002 103.35002 112.51502">JTAG instruction</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="189.25" x=".006 8.559999 15.559999 21.776001 25.276001 30.722002 37.722 43.168 47.06 53.276 64.168 67.668 73.114 81.668 91.776 101.884 105.384 111.600009 118.600009 125.600009 129.492 134.154 141.154 145.046 148.938 155.154 159.81601 163.31601 167.20801 178.1 185.1 188.992 195.20801 206.1 212.31601 219.31601 223.20801 228.654 232.154 238.37001 245.37001 248.87001 257.424 265.978 273.762 283.87 293.208 301.762 305.262 309.154 316.154 321.6 325.492 330.154 337.154 343.37 347.262 351.154 358.154 365.154 368.654 372.154 385.37 392.37 398.586 405.586 409.086 415.302 422.302 428.518 434.734 441.734 445.626 449.518 456.518 463.518 467.018 470.91 477.91 481.802">The system JTAG controller implements an EZPORT instruction. When executing this</tspan><tspan y="205.25" x=".00601 3.8980106 10.89801 16.344012 20.236012 24.898013 31.898013 38.114015 42.006017 45.898019 52.898019 59.898019 63.398019 66.89802 70.790019 77.790019 84.00602 87.50602 92.95202 101.50602 111.61402 121.72202 125.22202 131.43802 138.43802 145.43802 149.33002 153.99202 160.99202 164.88402 168.77602 174.99202 179.65402 183.15402 187.81603 194.03203 199.47803 205.69403 209.58603 215.03203 218.53203 222.42403 229.42403 235.64003 239.14003 245.35604 252.35604 257.01805 263.23405 266.73405 270.62605 277.62605 284.62605 288.51805 294.73405 298.23405 304.45005 311.45005 318.45005 321.95005 328.16606 333.61207 339.05809 345.27409 349.93608 353.82807 359.27409 362.77409 366.66609 373.66609 379.88209 383.38209 391.93608 398.15208 405.93608 412.93608 417.59806 421.49006 424.99006 431.20606 438.20606 442.09806 449.09806 452.59806 458.04408 464.26008 468.15208 474.36808 480.58409">instruction, the JTAG controller resets the core logic and asserts the EzPort chip select</tspan><tspan y="221.25" x=".00601 5.4520108 9.344011 16.344012 23.344012 29.560013 33.452016 36.952016 40.844018 47.844018 51.344018 56.006017 63.006017 67.668018 73.88402 80.10002 83.60002 87.49202 94.49202 100.70802 104.20802 111.20802 115.870029 122.870029 129.08603 135.30204 140.74803 146.19403 153.19403 157.85604 161.35604 165.24803 172.24803 176.14003 183.14003 186.64003 195.19403 201.41004 209.19403 216.19403 220.85604 224.74803 228.24803 239.14003 246.14003 253.14003 259.35603">signal to force the processor into EzPort mode.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 315.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00398 8.336021 12.5060219 20.846024 25.016024 33.356027 37.526029">3.5.7.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 315.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00398 9.16102 13.33102 21.67102 30.01102 39.17602 43.346025 55.016027 64.18102 69.176029 73.34602 82.511028 91.676029 95.84602 106.676029 115.01603 124.18103 128.35103 136.69103 141.68602 150.02602 155.86103 160.03102 165.02602 174.19101 185.86101 195.86602 205.031">Flash Option Register (FOPT)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="298.05" x="-.00198 8.55202 15.55202 21.76802 25.26802 33.05202 43.160024 50.944025 59.498025 64.16003 72.71403 81.26803 89.05203 99.160037 108.49803 117.05203 124.05203 134.16004 138.82204 146.60604 151.26804 154.76804 161.76804 165.66004 169.55204 173.05204 179.26804 185.48404 192.48404 195.98404 202.98404 209.20005 212.70005 219.70005 225.14604 231.36205 238.36205 241.86205 245.75405 252.75405 256.25404 263.25404 267.91603 274.13203 281.13203 287.34803 294.34803 298.24003 301.74003 307.95603 314.95603 318.84803 323.51 330.51 334.01 337.902 344.902 348.794 355.794 359.294 367.848 374.064 381.848 388.848 393.50999 397.40199 400.90199 411.79399 418.79399 425.79399 432.00999 435.50999 442.50999 449.50999 454.17198 458.06398 465.06398">The FOPT[EZPORT_DIS] bit can be used to prevent entry into EzPort mode during</tspan><tspan y="314.05" x="-.0019699999 4.6600306 10.876031 16.322031 22.538033 26.430033 29.930033 33.43003 38.09203 42.75403 46.25403 50.14603 57.14603 63.36203 66.86203 74.646038 84.754039 92.53804 101.09204 105.75404 114.308048 122.862049 130.64604 140.75405 150.09204 158.64604 165.64604 175.75405 180.41605 188.20005 192.86205 196.36205 203.36205 207.25405 211.14604 214.64604 218.53804 223.98404 227.48404 233.70005 237.59204 243.80805 250.02405 254.68605 260.90205 267.90205 271.40205 274.90205 278.79405 285.79405 292.01005 299.01005 302.51005 306.40205 313.40205 319.61805 323.11805 328.56407 332.45606 338.67207 342.56407 348.78007 352.28007 359.28007 363.94206 367.44206 371.33406 378.33406 384.55006 388.05006 394.26606 401.26606 405.15806 412.15806 415.65806 421.10408 427.32008 431.21208 437.42808 443.64408 447.53608 451.03608 456.4821 460.37409 467.37409 474.37409 480.5901">reset. If the FOPT[EZPORT_DIS] bit is cleared, then the state of the chip select signal</tspan><tspan y="330.05" x="-.0019699999">(</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="330.05" x="4.66003 13.214029 21.768029 29.552029 36.55203 45.89003 53.67403 58.33603 61.83603 65.72803 71.17403 74.67403 78.566028 85.566028 92.566028 99.566028 104.22803 110.44403 117.44403 120.94403 127.160037 134.16004 141.16004 144.66004 148.55204 155.55204 161.76804 165.26804 177.71404 187.05204 197.16004 200.66004 206.87604 210.76804 220.87604 227.09204 234.09204 239.53804 243.03804 250.03804 257.03804 264.03804 267.93003 273.37605 276.87605 280.76805 287.76805 291.26805 298.26805 305.26805 309.93003 320.82203 327.03804 330.93003 334.43003 345.32203 352.32203 359.32203 365.53804">EZP_CS) is ignored and the MCU always boots in normal mode.</tspan><tspan y="354.44999" x="-.0019402504 8.552059 15.552059 19.44406 24.89006 28.39006 35.39006 42.39006 46.282064 50.174066 57.174066 64.174068 67.674068 71.56606 77.01206 80.51206 87.51206 92.95806 99.174068 103.83607 110.83607 114.728069 118.228069 122.89007 129.89008 134.55208 138.05208 143.49808 150.49808 155.94408 159.83608 166.05208 176.94408 182.39008 185.89008 189.78208 196.78208 202.99808 206.89008 210.39008 217.39008 222.83608 229.05208 232.55208 236.44408 243.44408 249.66008">This option is useful for systems that use the </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="354.44999" x="253.16007 261.71406 270.26805 278.05204 285.05204 294.39006 302.17405 306.06605 316.17405 328.62007 333.28205 336.78205 342.22807 346.12007 353.12007 360.12007 366.33607 370.22807 373.72807 379.94407 386.94407 393.94407 398.60606 402.49806 409.49806 416.49806 421.16004 427.37605 434.37605 437.87605 442.53804 449.53804 454.2 457.7 461.592 465.484 470.93003 474.43003 484.53804 496.98405">EZP_CS/NMI signal configured for its NMI</tspan><tspan y="370.44999" x="-.0019073486 4.660093 11.660093 18.660094 24.876095 28.768095 32.660097 39.660097 46.660097 50.160097 53.660097 63.768098 67.660099 73.106098 79.3221 86.3221 90.214099 94.106098 101.106098 108.106098 111.606098 120.160099 126.3761 134.1601 141.1601 145.8221 149.7141 153.2141 164.1061 171.1061 178.1061 184.3221 187.8221 194.8221 199.4841 205.7001 212.7001 218.9161 225.9161 229.8081 235.2541 238.7541 245.7541 252.7541 258.2001 263.64613 267.53813 274.53813 278.4301 284.64613 288.14613 295.14613 302.14613 312.25413 318.47013 325.47013 329.36213 335.57814 342.57814 346.07814 352.29414 359.29414 363.18614 367.8481 374.8481 378.3481 382.2401 389.2401 393.1321 400.1321 403.6321 412.1861 418.4021 426.1861 433.1861 437.84809 441.74009 445.24009 456.13209 463.13209 470.13209 476.34809 479.84809 483.74009">function. Disabling EzPort mode prevents possible unwanted entry into EzPort mode if</tspan><tspan y="386.44999" x="-.0019073486 3.890093 10.890093 17.106095 20.606095 26.822094 33.822095 37.714097 43.930097 48.592096 55.592096 61.808095 65.700099 69.200099 75.4161 79.3081 83.9701 90.186107 97.186107 101.0781 104.9701 108.4701 112.3621 119.3621 125.5781 129.47011 132.97011 139.97011 144.63211 148.52411 155.52411 161.74011 167.18611 170.68611 174.57811 181.57811 187.79412 191.29412 201.40212 213.84812 218.51012 222.01012 227.45612 231.34812 238.34812 245.34812 251.56412 255.45612 258.95613 265.17213 270.61814 276.06416 282.28016 286.94215 290.83415 296.28016 299.78016 303.67216 307.56416 311.06416 318.06416 325.06416 329.72615 333.61814 340.61814 347.61814 351.11814 355.78013 361.99613 367.44215 373.65815 377.55015">the external circuit that drives the NMI signal asserts it during reset.</tspan><tspan y="410.84999" x="-.0019073486 8.552093 15.552093 21.768094 25.268094 33.052095 43.160097 50.944097 59.498098 62.998098 67.660099 73.8761 80.8761 84.7681 90.214099 94.106098 100.3221 104.9841 108.4841 112.3761 117.8221 121.3221 125.214099 132.2141 138.4301 145.4301 151.6461 158.6461 162.1461 166.8081 171.47011 178.47011 189.3621 192.8621 196.7541 203.7541 209.97011 213.47011 218.13211 222.02411 228.24011 233.68611 240.68611 244.18611 251.18611 258.1861 262.0781 265.9701 272.9701 279.9701 283.4701 290.4701 297.4701 301.3621 307.5781 311.0781 314.5781 319.24009 323.90208 327.40208 331.29408 338.29408 344.51008 348.01008 352.67207 356.56407 362.78007 368.22608 375.22608 378.72608 385.72608 392.72608 396.61808 400.51008 407.51008 414.51008 418.01008 425.01008 432.01008 435.90208 442.11808 445.61808 449.51008">The FOPT register is loaded from the flash option byte. If the flash option byte is</tspan><tspan y="426.84999" x="-.0019073486 10.890094 17.890095 24.890095 28.782095 33.444097 37.336099 43.552099 50.552099 54.052099 57.9441 64.9441 71.1601 74.6601 81.6601 87.87611 97.98411 101.48411 108.48411 114.70011 118.59211 125.59211 131.8081 135.3081 139.2001 145.4161 152.4161 158.63211 164.07811 167.57811 173.79412 178.45612 183.11812 189.33412 195.55013 199.44213 202.94213 207.60413 214.60413 219.26613 222.76613 228.98213 235.98213 242.98213 246.48213 251.92813 258.92814 265.92814 271.37416 277.59016 284.59016 291.59016 297.80616 304.80616 308.69816 312.19816 316.86015 323.07615 328.52217 334.73817 338.63017 344.07618 347.57618 351.07618 358.07618 365.07618 368.96818 372.86018 376.75218 380.25218 384.14418 391.14418 397.36018 400.86018 407.86018 414.07618 417.96818 424.96818 431.18418 434.68418 438.57618 444.0222 447.5222 453.7382 460.7382 466.9542 473.9542 480.9542 487.1702">modified the new value takes effect for any subsequent resets, until the value is changed</tspan><tspan y="442.84999" x="-.0019073486 6.214093 13.214093 19.430094 23.322094 30.322094">again.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 538.39999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00191 8.894091 13.342091 22.23809 26.68609">3.5.8</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.75732 538.39999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00191 9.77409 14.22209 23.118092 32.01409 43.566095 53.342096 62.238096 66.6861 78.2381 88.0141 97.7901 103.1181 107.5661 117.3421 127.1181 133.3421 142.2381 147.5661 152.0141 161.7901">FlexBus Configuration</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="521.64999" x="-.00391 8.55009 15.55009 19.442091 24.888092 28.388092 33.83409 40.05009 46.26609 50.158094 54.050096 61.050096 68.050098 71.550098 76.99609 83.99609 94.88809 105.78009 111.99609 116.6581 120.550098 126.7661 132.9821 138.4281 141.9281 148.9281 155.9281 166.0361 169.5361 173.4281 180.4281 186.6441 190.1441 201.0361 208.0361 215.0361 222.0361 225.9281 232.1441 235.6441 242.6441 248.8601 254.3061 257.8061 264.8061 271.0221 277.2381 284.2381 287.7381 293.9541 300.9541 307.9541 312.6161 316.5081 323.5081 330.5081 335.17008 341.38609 348.38609 351.88609 355.77809 362.77809 366.27809 370.17008 377.17008 383.38609 386.88609 393.10209 400.10209 403.99409 410.99409 414.49409 417.99409 425.77809 432.77809 437.44007 440.94007">This section summarizes how the module has been configured in the chip. For a</tspan><tspan y="537.6499" x="-.00388 6.2121207 13.21212 24.104123 31.104123 35.76612 41.98212 48.98212 55.19812 62.19812 67.64412 71.53612 78.53612 84.75212 88.25212 95.25212 101.468128 106.91412 113.13013 117.79213 121.68413 128.68413 132.57613 136.46813 143.46813 150.46813 153.96813 160.96813 165.63013 169.13013 173.02213 180.02213 186.23813 189.73813 200.63013 207.63013 214.63013 221.63013 225.52213 231.73813 235.23813 239.13013 243.02213 248.46813 254.68413 258.57615 263.23814 266.73814 270.23814 275.68415 281.90016 288.11616 291.61616 295.50816 302.50816 308.72416 312.22416 323.11616 330.11616 337.11616 344.11616 348.00816 354.22416 358.88615 364.33216 367.83216 374.83216 381.04817 388.04817 391.94017 398.15617 404.37217 408.26417 414.48017 421.48017 424.98017 431.19618 438.19618 444.41218 451.41218 455.30418 461.52018 466.18217">comprehensive description of the module itself, see the module&#x2019;s dedicated chapter.</tspan></text>
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<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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