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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_382.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

873 lines
76 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 206.75)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="174.32398 184.31998 192.98398 202.97998 209.65198 218.31598 226.97998 230.31598 234.31198 237.64798 244.31998 247.65598 254.98798 258.32398 265.65599 272.32798 278.99998 285.67198 290.33998 293.67597 301.00798 305.00398 308.33998 315.67198 323.00398">MCM_CR field descriptions</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.50003 228.75)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="25.79401 31.29301 33.79501 38.79901 41.30101">Field</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.10004 228.75)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="187.94699 194.44499 199.44899 204.45299 209.45699 212.958 215.45999 220.95899 223.95598 226.45798 231.95697">Description</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250024 244.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.54601 35.55001">31</tspan><tspan y="18.83789" x="16.29901 22.79701 27.80101 32.30101 37.30501 40.302015 44.802015 49.806016">Reserved</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 244.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 40.509008 45.009008 47.511007 50.508008 55.51201 60.01201 65.01601 68.01301 72.51301 77.517009 82.521">This field is reserved.</tspan><tspan y="18.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 80.523 85.023 87.525 90.522 95.526 100.026 105.03 108.027 112.527 117.531 122.534999 125.036998 130.041 135.045 140.049 142.551 147.555 149.553 156.051 161.055 165.555 170.055 172.55699 177.56099 182.56499 187.06499 189.56699 192.06899 197.07299 202.07698 204.57898 209.07898 214.08298 216.08098 221.08498 226.08898 228.59098 233.59497">This read-only field is reserved and always has the value 0.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250024 271.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.546 35.55">30</tspan><tspan y="18.83789" x="12.798 18.801 25.299002 31.302002 38.799005 43.803007 52.299005">SRAMLWP</tspan></text>
<g clip-path="url(#clip_48)">
<path transform="matrix(1,0,0,1,54.000024,269)" d="M75.85001 .25H503.75004V36.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 271.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 12.501001 18.504002 26.001004 31.005005 36.009008 38.511007 47.007005 50.004007 52.002008 54.504007 59.508008 62.010007 68.01301 71.01001 76.01401 78.51601 83.520008 88.020008">SRAM_L Write Protect</tspan><tspan y="28.83789" x="0 8.496 13.500001 18.504002 23.508004 26.010004 28.512005 33.516008 35.514009 40.014009 42.516008 47.520009 49.51801 52.020009 54.522008 56.520009 61.020009 63.522008 68.022 73.026 75.528 78.03 80.532 87.03 90.027 92.025 94.527 99.531 104.031 106.533 109.034999 114.038997 116.54099 122.54399 129.04199 135.045 142.54199 147.54599 152.54999 155.05199 160.05599 163.05298 166.04998 171.05397 175.55397 178.05597 183.05997 188.06397 193.06797 198.07196 201.06896 206.07295 208.57495 213.57895 218.07895 220.58095 225.58495 228.08695 233.09095 238.09494 242.59494 245.09694 250.10094 253.09793 256.09495 261.09895 264.09596">When this bit is set, writes to SRAM_L array generates a bus error.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250024 307.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="23.04 28.044003 33.048006 38.052007 43.056009">29&#x2013;28</tspan><tspan y="18.83789" x="14.049001 20.052002 26.550004 32.553 40.050004 45.054006 51.057008">SRAMLAP</tspan></text>
<g clip-path="url(#clip_50)">
<path transform="matrix(1,0,0,1,54.000024,305.5)" d="M75.85001 .25H503.75004V107.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 307.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 12.501001 18.504002 26.001004 31.005005 36.009008 38.511007 43.515008 46.51201 51.51601 53.51401 56.01601 59.013013 64.01701 66.51901 68.51701 73.52101 78.52501 81.02701 86.031009 89.02801 91.02601 96.03001 99.02701 101.02501 103.52701">SRAM_L arbitration priority</tspan><tspan y="28.83789" x="0 6.4980008 11.502001 14.004002 16.002003 21.006005 26.010006 30.510006 33.012006 35.514005 40.518007 45.522008 48.024007 53.028009 56.02501 61.02901 63.02701 65.529018 68.52602 73.530017 76.03201 78.030017 83.03401 88.03801 90.54001 95.04001 99.54001 104.54401 109.548007 117.045009 122.049 124.551 129.55501 134.559 139.563 142.065 147.069 150.066 152.064 157.068 160.06499 162.06299 164.56499 169.06499 171.56699 174.06899 179.07299 182.06998 184.57198 187.07398 192.07798 197.08197 199.58397 204.58797 207.58496 212.58896 217.08896 222.09296 226.59296 231.09296 236.09696 239.09395 241.59595 246.59995 251.60395 256.60795 259.10997 265.11296 271.61094 277.61393 285.11094 287.61296 292.61695 297.62095 302.12095 306.62095 311.62495 316.62895 321.63294 324.62995 327.13197 332.13597 336.63597 341.13597 346.13996 350.63996 355.13996 360.14396 364.64396 367.14598 369.64799 374.65199 377.154 379.656 384.66">Defines the arbitration scheme and priority for the processor and SRAM backdoor accesses to the</tspan><tspan y="39.83789" x="0 6.0030004 12.501001 18.504002 26.001004 31.005005 36.009008 38.511007 43.515008 46.51201 49.50901 54.513013 59.013013">SRAM_L array.</tspan></text>
<path transform="matrix(1,0,0,1,131.85004,307.75)" d="M0 53H423.90003V103H0Z" fill="#ffffff" fill-rule="evenodd"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 360.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">00</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 152.94957 360.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.506 21.510003 26.514004 29.016005 32.013006 37.017007 42.021009 44.01901">Round robin</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 371.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009">01</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 152.94957 371.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.0030004 11.007001 16.011002 20.511002 22.509003 27.513005 29.511006 32.013006 35.010007 40.014009 45.01801 50.02201 55.026014 57.52801 60.525014 65.529018 70.53301 72.53101 77.53501 80.03701 83.03401 85.53601 90.54001 95.04001 100.04401 103.04101 107.54101 110.04301 116.046009 122.54401 128.54701 136.044 138.546 143.55 148.554 153.054 157.554 162.558 167.562 170.55899 173.06099 178.06499 182.56499 187.06499 192.06899 196.56899 201.06899 206.07299 210.57299 213.07498 218.07898 222.57898 227.58298 230.57997 233.08197 235.58397 240.58797 245.59197 248.09397 253.09796 256.09498 261.09898 265.59898 270.60298 275.10298 279.60298 284.60697 287.60398">Special round robin (favors SRAM backoor accesses over the processor)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 384.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.0040209">10</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 152.94957 384.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.49902 7.4970204 11.997021 17.001023 22.005024 24.507025 29.511025 32.508028 34.506029 39.51003 42.50703 44.50503 47.00703 51.50703 54.00903 56.51103 62.51403 65.51103 70.51503 75.01503 80.01903 84.51903 89.01903 94.023029 97.02003 99.522029 104.526027 109.53002 114.03002 116.53202 121.53602 123.53402 128.53803 133.54203 138.54602 143.04602 145.54802 148.05002 150.55202 155.55602 160.56002 165.06002 169.56002 174.56401 179.56801 184.572 187.569 190.071 195.075 200.079 204.579 207.081 209.079 214.083 220.581 225.58499 230.08499">Fixed priority. Processor has highest, backdoor has lowest</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 397.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 5.0040409">11</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 152.94957 397.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 5.49904 7.4970405 11.99704 17.001042 22.005043 24.507044 29.511044 32.508047 34.506048 39.510049 42.50705 44.50505 47.00705 51.50705 54.00905 56.511049 62.514047 67.51804 72.01804 76.51804 81.52204 86.52604 91.53004 94.52704 97.02904 102.033039 107.03703 111.53703 114.03903 119.04303 121.04103 126.04503 131.04903 136.05303 140.55303 143.05503 145.55702 148.05902 153.06302 156.06002 161.06401 165.56401 170.56801 175.06801 179.56801 184.572 187.569 190.071 195.075 200.079 204.579 207.081 209.079 214.083 220.581 225.58499 230.08499">Fixed priority. Backdoor has highest, processor has lowest</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250024 415.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.546 35.55">27</tspan><tspan y="18.83789" x="16.299 22.797 27.801003 32.301004 37.305006 40.302007 44.802007 49.806009">Reserved</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 415.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 40.509008 45.009008 47.511007 50.508008 55.51201 60.01201 65.01601 68.01301 72.51301 77.517009 82.521">This field is reserved.</tspan><tspan y="18.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 80.523 85.023 87.525 90.522 95.526 100.026 105.03 108.027 112.527 117.531 122.534999 125.036998 130.041 135.045 140.049 142.551 147.555 149.553 156.051 161.055 165.555 170.055 172.55699 177.56099 182.56499 187.06499 189.56699 192.06899 197.07299 202.07698 204.57898 209.07898 214.08298 216.08098 221.08498 226.08898 228.59098 233.59497">This read-only field is reserved and always has the value 0.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250024 441.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.546 35.55">26</tspan><tspan y="18.83789" x="12.050999 18.053999 24.552 30.555 38.052003 44.550004 53.046007">SRAMUWP</tspan></text>
<g clip-path="url(#clip_54)">
<path transform="matrix(1,0,0,1,54.000024,439.5)" d="M75.85001 .25H503.75004V36.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 441.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 12.501001 18.504002 26.001004 31.005005 37.503007 40.005006 46.503007 49.500009 51.49801 54.000009 59.00401 61.50601 66.51001 69.50701 74.51101 77.01301 82.017009 86.517009">SRAM_U write protect</tspan><tspan y="28.83789" x="0 8.496 13.500001 18.504002 23.508004 26.010004 28.512005 33.516008 35.514009 40.014009 42.516008 47.520009 49.51801 52.020009 54.522008 56.520009 61.020009 63.522008 68.022 73.026 75.528 78.03 80.532 87.03 90.027 92.025 94.527 99.531 104.031 106.533 109.034999 114.038997 116.54099 122.54399 129.04199 135.045 142.54199 147.54599 154.04399 156.54599 161.54999 164.54698 167.54398 172.54798 177.04798 179.54998 184.55397 189.55797 194.56197 199.56597 202.56296 207.56696 210.06896 215.07295 219.57295 222.07495 227.07895 229.58095 234.58495 239.58895 244.08895 246.59095 251.59494 254.59194 257.58894 262.59294 265.58995">When this bit is set, writes to SRAM_U array generates a bus error.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250024 478.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="23.04 28.044003 33.048006 38.052007 43.056009">25&#x2013;24</tspan><tspan y="18.83789" x="13.302001 19.305 25.803002 31.806002 39.303 45.801004 51.804">SRAMUAP</tspan></text>
<g clip-path="url(#clip_56)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 478.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 12.501001 18.504002 26.001004 31.005005 37.503007 40.005006 45.009008 48.00601 53.01001 55.00801 57.51001 60.50701 65.51101 68.01301 70.01101 75.01501 80.019008 82.521 87.525 90.522 92.520008 97.524 100.521 102.519008 105.021">SRAM_U arbitration priority</tspan><tspan y="28.83789" x="0 6.4980008 11.502001 14.004002 16.002003 21.006005 26.010006 30.510006 33.012006 35.514005 40.518007 45.522008 48.024007 53.028009 56.02501 61.02901 63.02701 65.529018 68.52602 73.530017 76.03201 78.030017 83.03401 88.03801 90.54001 95.04001 99.54001 104.54401 109.548007 117.045009 122.049 124.551 129.55501 134.559 139.563 142.065 147.069 150.066 152.064 157.068 160.06499 162.06299 164.56499 169.06499 171.56699 174.06899 179.07299 182.06998 184.57198 187.07398 192.07798 197.08197 199.58397 204.58797 207.58496 212.58896 217.08896 222.09296 226.59296 231.09296 236.09696 239.09395 241.59595 246.59995 251.60395 256.60795 259.10997 265.11296 271.61094 277.61393 285.11094 287.61296 292.61695 297.62095 302.12095 306.62095 311.62495 316.62895 321.63294 324.62995 327.13197 332.13597 336.63597 341.13597 346.13996 350.63996 355.13996 360.14396 364.64396 367.14598 369.64799 374.65199 377.154 379.656 384.66">Defines the arbitration scheme and priority for the processor and SRAM backdoor accesses to the</tspan><tspan y="39.83789" x="0 6.0030004 12.501001 18.504002 26.001004 31.005005 37.503007 40.005006 45.009008 48.00601 51.00301 56.00701 60.50701">SRAM_U array.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 531.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">00</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 152.94957 531.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.506 21.510003 26.514004 29.016005 32.013006 37.017007 42.021009 44.01901">Round robin</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 542.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009">01</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 152.94957 542.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.0030004 11.007001 16.011002 20.511002 22.509003 27.513005 29.511006 32.013006 35.010007 40.014009 45.01801 50.02201 55.026014 57.52801 60.525014 65.529018 70.53301 72.53101 77.53501 80.03701 83.03401 85.53601 90.54001 95.04001 100.04401 103.04101 107.54101 110.04301 116.046009 122.54401 128.54701 136.044 138.546 143.55 148.554 153.054 157.554 162.558 167.562 170.55899 173.06099 178.06499 182.56499 187.06499 192.06899 196.56899 201.06899 206.07299 210.57299 213.07498 218.07898 222.57898 227.58298 230.57997 233.08197 235.58397 240.58797 245.59197 248.09397 253.09796 256.09498 261.09898 265.59898 270.60298 275.10298 279.60298 284.60697 287.60398">Special round robin (favors SRAM backoor accesses over the processor)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 555.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.0040209">10</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 152.94957 555.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.49902 7.4970204 11.997021 17.001023 22.005024 24.507025 29.511025 32.508028 34.506029 39.51003 42.50703 44.50503 47.00703 51.50703 54.00903 56.51103 62.51403 65.51103 70.51503 75.01503 80.01903 84.51903 89.01903 94.023029 97.02003 99.522029 104.526027 109.53002 114.03002 116.53202 121.53602 123.53402 128.53803 133.54203 138.54602 143.04602 145.54802 148.05002 150.55202 155.55602 160.56002 165.06002 169.56002 174.56401 179.56801 184.572 187.569 190.071 195.075 200.079 204.579 207.081 209.079 214.083 220.581 225.58499 230.08499">Fixed priority. Processor has highest, backdoor has lowest</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 568.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 5.0040409">11</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 152.94957 568.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 5.49904 7.4970405 11.99704 17.001042 22.005043 24.507044 29.511044 32.508047 34.506048 39.510049 42.50705 44.50505 47.00705 51.50705 54.00905 56.511049 62.514047 67.51804 72.01804 76.51804 81.52204 86.52604 91.53004 94.52704 97.02904 102.033039 107.03703 111.53703 114.03903 119.04303 121.04103 126.04503 131.04903 136.05303 140.55303 143.05503 145.55702 148.05902 153.06302 156.06002 161.06401 165.56401 170.56801 175.06801 179.56801 184.572 187.569 190.071 195.075 200.079 204.579 207.081 209.079 214.083 220.581 225.58499 230.08499">Fixed priority. Backdoor has highest, processor has lowest</tspan></text>
<g clip-path="url(#clip_57)">
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