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.
921 lines
80 KiB (Stored with Git LFS)
XML
921 lines
80 KiB (Stored with Git LFS)
XML
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 199)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 16.680003 20.850003 29.190003 33.360006">17.2.8</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 109.87328 199)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.005001 15.840002 25.005002 33.345 41.685 50.025 58.365 62.535005 66.705 77.535 81.705 87.54 95.880008 105.045009 109.215007 117.55501 122.55001 130.89002 136.72502 140.89502 145.89002 158.38501 169.21501 181.71 190.05 200.05501 204.225 215.05501">Process ID register (MCM_PID)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54)" font-size="14" font-family="TimesLTStd"><tspan y="181.25" x="-.002 8.552 15.552 19.444 24.890002 28.390002 33.052003 39.268 46.268 50.160005 55.606004 59.498006 65.714008 70.37601 73.87601 80.87601 85.53801 89.43001 96.43001 102.64601 108.09201 111.59201 115.48401 122.48401 128.70001 132.20001 144.64601 151.64601 158.64601 166.43001 171.09201 181.20001 184.70001 190.91602 197.91602 204.91602 208.41602 220.86202 227.86202 234.86202 242.64601 247.30802 257.41603 260.91603 267.91603 274.13203 278.02403 285.02403 291.24003 296.68605 300.18605 304.07804 311.07804 314.57804 318.47004 325.47004 331.68605 335.18605 347.63206 353.84806 364.74006 371.74006 376.40205 383.40205 386.90205 394.68605 399.34803 406.34803 410.24003 416.45603 422.67204 426.56404 430.45603 437.45603">This register drives the M0_PID and M1_PID values in the Memory Protection</tspan><tspan y="197.25" x="-.00197 10.10603 17.10603 20.99803 24.89003 29.55203 41.99803 49.782033 59.890035 64.55203 68.05203 71.55203 79.33604 86.33604 91.782039 95.674037 101.89004 112.782039 116.282039 121.728038 128.72803 133.39003 137.28203 147.39003 153.60604 158.26804 164.48404 167.98404 171.87604 178.87604 185.09204 192.09204 197.53804 201.03804 204.93004 211.93004 215.82204 221.26804 224.76804 229.43004 235.64604 242.64604 246.53804 251.98404 255.87604 262.09205 266.75404 270.25404 277.25404 283.47004 288.13203 295.13203 299.794 306.01 309.51 316.51 322.726 328.17204 333.61805 337.51005 344.51005 351.51005 355.01005 361.22605 368.22605 375.22605 379.11805 383.78004 390.78004 394.67204 398.17204 402.06404 409.06404 412.56404 418.78004 422.28004 429.28004 433.17204 440.17204 446.38804 453.38804 456.88804 463.88804 469.33406 475.55006">Unit(MPU). System software loads this register before passing control to a given user</tspan><tspan y="213.25" x="-.00197 10.890031 17.89003 24.89003 31.10603 34.60603 41.60603 46.26803 53.26803 59.484029 65.70003 71.14603 76.592029 80.092029 83.592029 88.25403 92.91603 96.41603 100.30803 107.30803 113.52403 117.02403 124.80804 129.47003 139.57804 143.07804 150.07804 154.74004 158.24004 162.13204 169.13204 175.34804 178.84804 185.84804 190.51004 197.51004 203.72605 209.94205 215.38805 220.83405 224.33405 231.33405 238.33405 244.55005 249.99605 253.49605 260.49604 267.49604 271.38804 274.88804 285.78004 291.99604 295.88804 302.10404 309.10404 312.60404 316.49604 323.49604 329.71205 333.21205 340.21205 346.42805 350.32005 357.32005 363.53605 367.03605 370.92805 377.92805 381.42805 385.32005 392.32005 396.21205 401.65806 405.15806 409.82005 416.03605 423.03605 426.92805 432.37406 436.26606 442.48207 447.14405 450.64405 454.14405 460.36006 463.86006 470.86006 477.86006">mode process. If the PID of the process does not match the value in this register, a bus</tspan><tspan y="229.25" x="-.00197 6.2140309 10.876031 15.538031 22.53803 27.200032 30.700032 37.70003 43.91603 50.13203 57.13203 61.79403 67.24003 70.74003 74.24003 82.02403 88.240039 94.45604 97.95604 101.84804 108.84804 115.06404 118.56404 131.01004 138.79404 148.90204 152.40204 158.61804 165.61804 171.83405 178.83405 182.72605 188.94205 193.60405 197.10405 201.76605 208.76605 213.42806 216.92806 227.82006 234.82006 239.48206 245.69806 249.19806 256.19807 262.41407 266.30607 272.52207 276.41407 280.30607 285.75209">error occurs. See the MPU chapter for more details.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 92.0161 299.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00102 6.00402 11.00802 16.01202 21.016022 26.020024 31.024025 36.028028 41.03203 46.03603 51.04003 53.54203 58.546033 63.550035 68.05003 73.05403 75.55603 80.81203 83.314029 88.31802 93.32202 98.32602 100.82802 105.832019 108.334018 110.83601 115.33601 120.34001 122.84201 125.34401 130.6 133.102 139.10501 144.10901 149.113 154.117 159.121 164.125 169.129 174.133 179.137">E008_0000h base + 30h offset = E008_0030h</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.99994 345.15)" font-size="7" font-family="HelveticaLTStd"><tspan y="6.31836" x="4.41698">W</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.84995 415.4)" 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 56.24993 441.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="28.044 33.048 38.052003">7–0</tspan><tspan y="18.83789" x="28.053002 34.056 36.558">PID</tspan></text>
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<g clip-path="url(#clip_102)">
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<path transform="matrix(1,0,0,1,53.99993,439.65)" 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 1 131.84995 441.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.4970009 12.501001 17.505002 23.508002 26.010003 32.508005 35.010004 41.013 46.017004 51.021005 53.523004 61.020006 66.024 71.028 77.031 79.533 86.031 88.533 94.032 99.035999 102.033 104.534999 112.032 118.034999">M0_PID And M1_PID For MPU</tspan><tspan y="28.83789" x="0 6.4980008 9.495001 11.493001 15.993001 20.997002 25.497002 27.999003 30.501004 35.505006 40.509008 43.011007 50.508008 55.51201 60.51601 66.51901 69.02101 75.51901 78.02101 83.02501 88.02901 93.033008 95.535 103.032009 108.036 113.04 119.043 121.545 128.043 130.545 135.045 140.049 142.047 147.051 152.055 156.555 159.05699 161.055 166.05899 168.56099 171.06299 176.06699 181.07099 183.57299 191.06998 197.07299 203.57099">Drives the M0_PID and M1_PID values in the MPU.</tspan></text>
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<path transform="matrix(1,0,0,1,53.99993,439.65)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M504.25004 36.5H75.50001"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.99993 528.19998)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 9.452001 18.904002 23.630002">17.3</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 101.2553 528.19998)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 10.387 20.774 31.161 40.613 46.274 51 61.387 71.774 81.226009 85.952 90.678 101.065 110.517009 119.96901 129.421 136.03401 140.76001 151.147 156.808 161.534 171.92099">Functional description</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.99993 53.99997)" font-size="14" font-family="TimesLTStd"><tspan y="511.44999" x="0 8.554 15.554 19.446002 24.892003 28.392003 33.838 40.054 46.27 50.162004 54.054006 61.054006 68.054 71.554 78.554 84.770008 90.216 96.43201 101.09401 104.98601 111.98601 118.20201 123.64801 127.14801 131.04001 138.04001 144.25601 147.75601 152.41802 159.41802 166.41802 172.63402 176.52602 180.41802 187.41802 194.41802 200.63402 204.52602 208.02602 215.02602 221.24202 226.68802 232.90402 237.56603 241.45803 248.45803 252.35002 256.24205 263.24205 270.24205 273.74205 280.74205 285.40403 288.90403 301.35005 310.68806 323.13407 326.63407 337.52607 344.52607 351.52607 358.52607 362.41807 368.63407">This section describes the functional description of MCM module.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.99993 607)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".006 8.902 17.798 22.246 31.142003 35.590005">17.3.1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 112.65325 607)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".006 4.4540007 14.2300009 19.558 28.454003 34.678 40.902 50.678 60.454004 65.782009">Interrupts</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.99993 54)" font-size="14" font-family="TimesLTStd"><tspan y="590.25" x=".002 8.556 15.556 21.772 25.272 37.718004 47.056005 59.502008 63.002008 70.00201 76.21801 83.21801 89.43401 94.096019 100.31202 104.20402 110.42002 115.86602 119.36602 123.25802 133.36602 140.36602 143.86602 147.75801 154.75801 158.65001 164.86602 169.52802 174.19002 181.19002 188.19002 192.08202 195.58202 200.24402 206.46002 213.46002 220.46002 226.67603 232.12203 236.01403 241.46002">The MCM generates two interrupt requests:</tspan><tspan y="614.65" x="13.10602 23.99802 34.10602 41.10602 48.10602 52.76802 63.660024 69.87602 75.32202 82.32202 88.538028 95.538028 99.43002 105.64603 109.14603 113.038028 120.038028 123.93002 130.14603 134.80803 139.47003 146.47003 153.47003">•Non-maskable interrupt</tspan><tspan y="630.65" x="13.10602 23.99802 34.10602 41.10602 45.76802 56.660024 62.876024 66.76802 70.26802 74.16002 81.16002 85.05202 91.26802 95.93002 100.592029 107.592029 114.592029">•Normal interrupt</tspan></text>
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<path transform="matrix(1,0,0,1,53.99993,24.56929)" stroke-width=".8" stroke-linecap="butt" stroke-miterlimit="4" stroke-linejoin="miter" fill="none" stroke="#666666" d="M16-6.4 536.8 0V16H-6.4L16-6.4Z"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.99993 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 5.499 10.998 16.497 21.501 24.498 27 32.499 37.998 43.002004 45.504 48.006 53.505 58.509004 63.513006 68.517009 72.018009 74.520008 80.019008 83.01601 85.518009 91.017009">Functional description</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.99993 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.006 137.226 142.786 148.346 151.12599 157.79599 163.90599 170.01599 173.346 179.456 185.01599 193.90599 196.68599 199.46599 205.02599 207.80599 215.02599 220.58599 223.91599 229.47599 233.36598 238.92598 245.03598 250.59598 256.15599 258.93598 267.26597 272.82597 278.93595 285.04594 290.60594 293.38594 296.16593 298.94593 306.16593 311.72593 317.28593 320.06593 322.84593 328.4059 331.1859 336.7459 342.8559 348.96589 351.74589 357.30589 362.86589 368.42588">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.99993 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 10.008001">386</tspan></text>
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<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.31995 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>
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<text xml:space="preserve" transform="matrix(1 0 0 1 391.67994 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>
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<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 53.99994 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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