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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_426.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

637 lines
60 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 83)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 17.792002 22.240002 31.136002 35.584005">20.1.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 83)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 12.448001 21.344002 31.120003 40.016004 46.24 55.136 59.584005 64.032009 73.80801 83.58401 92.48001 98.70401 107.60001 112.92802 117.376018 127.152019">General operation</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="62.85" x="-.006 8.548 15.548 21.764 25.264 30.710001 34.602 40.818 47.818 54.034 57.534 64.534 70.75 77.75 81.642 87.858 94.074008 99.520008 103.020008 109.23601 116.23601 123.23601 130.23601 136.45201 142.66802 146.56002 152.77602 159.77602 163.27602 167.16802 174.16802 177.66802 181.56002 188.56002 194.77602 198.27602 205.27602 211.49202 216.15402 220.04602 227.04602 234.04602 240.26203 244.92403 251.14003 255.03203 258.53205 265.53205 270.19404 274.08604 281.08604 288.08604 294.30204 297.80204 304.01805 308.68003 314.89604 318.39604 329.28804 336.28804 343.28804 350.28804 354.18003 360.39604 365.84205 369.34205 379.45005 386.45005 390.34205 396.55805 403.55805 407.05805 413.27406 420.27406 427.27406 431.16606 437.38206 441.27406 448.27406 451.77406">The slave devices connected to the peripheral bridge are modules which contain a</tspan><tspan y="78.85" x="-.00599 6.99401 11.65601 18.65601 25.65601 30.31801 36.53401 47.426015 58.318017 62.21002 69.21002 76.21002 79.71002 90.60202 97.60202 104.60202 110.81802 114.71002 118.21002 125.21002 129.87203 133.37203 139.58803 146.58803 153.58803 157.48003 162.14203 169.14203 173.03403 176.53403 182.75003 189.75003 196.75003 200.25003 205.69603 209.58803 215.80403 219.69603 226.69603 232.14203 235.64203 240.30403 246.52004 253.52004 257.41206 262.85807 266.75007 272.96607 277.62806 283.07408 286.57408 290.07408 298.62806 305.62806 311.84407 315.34407 320.79008 327.79008 333.23609 337.12809 343.3441 354.23609 357.73609 368.62809 374.8441 380.2901 384.1821 390.3981 395.0601 400.5061 404.0061 408.6681 414.8841 421.1001 428.1001 431.6001 437.8161 444.8161 451.8161 455.3161 465.4241 470.0861 473.9781 477.8701">programming model of control and status registers. The system masters read and write</tspan><tspan y="94.85" x="-.0059599999 3.8860405 10.886041 17.102042 22.548043 28.764042 32.26404 36.92604 43.14204 50.14204 54.034044 59.48004 63.372045 69.58804 74.250049 79.696048 83.196048 87.08804 94.08804 98.750049 105.750049 112.750049 119.750049 126.750049 130.25005 134.14205 141.14205 147.35805 150.85805 157.85805 164.07405 168.73606 172.62805 179.62805 186.62805 192.84406 197.50606 203.72206 207.61406 211.11406 218.11406 222.77606 226.66806 233.66806 240.66806 246.88407 250.38407 253.88407 262.43806 269.43806 275.65406 279.15406 286.15406 292.37007 297.03205 300.92405 307.92405 314.92405 321.14006 325.80204 332.01805 335.91004 339.41004 346.41004 351.07203 354.96403 361.96403 368.96403 375.18003 378.68003 385.68003 391.89604 396.558 401.22 408.22 412.882 423.774 429.22 432.72 438.936 442.436 449.436 456.436">these registers through the peripheral bridge. The peripheral bridge performs a bus</tspan><tspan y="110.85" x="-.0059599999 6.99404 11.65604 18.65604 22.54804 29.54804 35.76404 42.76404 46.656045 50.156045 56.372045 63.372045 70.37204 77.37204 83.58804 88.250049 93.696048 97.58804 104.58804 111.58804 115.08804 122.08804 126.750049 130.25005 134.14205 141.14205 147.35805 150.85805 161.75005 167.96605 173.41205 177.30405 183.52005 188.18206 191.68206 195.57405 200.23606 206.45206 213.45206 218.89806 225.11406 231.33007 235.22206 239.11406 246.11406 253.11406 258.56007 262.06007 268.27607 275.27607 282.27607 285.77607 292.77607 298.99208 305.99208 312.20808 316.87007 323.08607 326.97807 333.19407 338.64009 342.14009 346.03208 353.03208 359.24809 362.74809 367.41007 374.41007 378.30207 382.19407 389.19407 399.30207 403.19407 410.19407 417.19407 420.69407 426.91007 432.35609 435.85609 439.74809 446.74809 453.74809 460.74809 464.64009 470.0861 473.5861 477.4781">protocol conversion of the master transactions and generates the following as inputs to</tspan><tspan y="126.85" x="-.00591 3.8860906 10.88609 17.10209 20.60209 27.60209 33.818094 38.48009 42.372095 49.372095 56.372095 62.588094 67.25009 73.466098 77.35809 82.80409">the peripherals:</tspan><tspan y="142.85" x="13.0981 24.0041 36.450105 43.450105 50.450105 57.450105 61.342107 67.558109 71.058109 77.27411 84.27411 90.49011 97.49011 101.38211 107.598117">&#x2022;Module enables</tspan><tspan y="158.85" x="13.0981 24.0041 36.450105 43.450105 50.450105 57.450105 61.342107 67.558109 71.058109 77.27411 84.27411 91.27411 95.93611 102.152118 107.598117 113.04411 119.26012">&#x2022;Module addresses</tspan><tspan y="174.85" x="13.0981 24.0041 32.5581 37.2201 43.4361 50.4361 55.8821 60.544099 66.7601 71.422107 74.922107 81.13811 85.030109 88.922107 93.58411 97.476108 104.476108 111.476108 115.3681 121.58411">&#x2022;Transfer attributes</tspan><tspan y="190.85" x="13.0981 24.0041 33.342103 40.342103 44.234106 50.450105 53.950105 60.166105 67.16611 73.38211 80.38211 84.27411 90.49011">&#x2022;Byte enables</tspan><tspan y="206.85" x="13.0981 24.0041 37.2201 41.8821 45.7741 49.666105 55.882104 59.382104 66.3821 72.59811 76.490108">&#x2022;Write data</tspan><tspan y="232.85" x="-.0059099199 8.54809 15.54809 21.764092 25.264092 32.26409 38.48009 43.14209 47.034093 54.034093 61.034093 67.25009 71.912097 78.1281 82.020099 85.520099 92.520099 97.1821 101.0741 108.0741 115.0741 121.2901 124.7901 130.2361 136.4521 140.3441 146.5601 152.77611 156.6681 162.1141 165.6141 171.83011 178.83011 185.83011 189.33011 195.54611 201.76212 208.76212 212.65412 219.65412 224.31612 230.53212 235.97812 239.47812 244.14012 250.35613 256.5721 263.5721 267.0721 274.0721 280.28813 284.1801 290.39613 293.89613 298.5581 303.2201 310.2201 321.1121 324.6121 328.5041 335.5041 341.7201 345.2201 352.2201 358.4361 363.09809 366.99009 373.99009 380.99009 387.2061 391.86808 398.08409 401.97608 405.47608 409.36808 416.36808 420.26008 426.47608 431.13807 435.80006 442.01606 448.23207 454.44807 457.94807 464.16407 471.16407">The peripheral bridge selects and captures read data from the peripheral interface and</tspan><tspan y="248.85" x="-.00586992 4.6561305 10.872131 14.764132 21.764132 26.426133 33.426134 38.87213 42.37213 46.264135 50.156137 53.656137 57.548139 64.54814 68.04814 71.94014 78.94014 85.15614 88.65614 94.87215 99.53415 106.53415 111.98015 117.42615 124.42615 130.64215 135.30416 138.80416 144.25016 154.35816 158.25016 162.14215 168.35816 175.35816">returns it to the crossbar switch.</tspan><tspan y="273.25" x="-.00585992 8.54814 15.54814 21.764142 25.264142 29.926142 36.142145 43.142145 47.034147 52.480146 56.372148 62.588148 67.250148 70.750148 81.64214 87.85815 94.85815 100.304149 103.804149 110.804149 115.46615 118.96615 122.85815 129.85816 136.07416 139.57416 146.57416 152.79016 157.45217 161.34416 168.34416 175.34416 181.56017 186.22217 192.43817 196.33017 201.77617 205.27617 211.49217 216.15418 222.37018 225.87018 229.76218 236.76218 242.97818 249.19419 253.08618 259.3022 266.3022 269.8022 276.8022 283.8022 287.3022 294.3022 298.96418 309.07218 318.4102 321.9102 328.9102 335.9102 342.9102 349.9102 356.9102 363.1262 367.78819 371.68019 377.89619 383.3422 386.8422 390.3422 398.89619 405.11219 411.3282 418.3282 421.8282 428.8282 435.0442 439.70619 443.59819 450.59819 457.59819 463.81419 468.47618 474.69218 478.58418 482.08418 485.97618">The register maps of the peripherals are located on 4-KB boundaries. Each peripheral is</tspan><tspan y="289.25" x="-.00581992 6.2101809 10.102181 13.994182 20.994183 27.210183 33.42618 37.318185 43.534185 50.534185 54.034185 61.034185 68.03418 74.25018 77.75018 84.75018 89.412189 92.912189 103.804187 110.804187 115.46619 121.68219 125.18219 132.18219 136.8442 146.9522 156.29019 159.79019 166.79019 170.68219 177.68219 183.8982 190.8982 195.5602 201.0062 205.6682 209.1682 216.1682 220.8302 224.3302 228.2222 235.2222 241.4382 244.9382 255.8302 262.0462 272.9382 279.9382 284.6002 291.6002 295.1002 305.9922 312.2082 319.2082">allocated one or more 4-KB block(s) of the memory map.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 389.59999)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00279 9.44921 18.90121 23.62721">20.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 389.59999)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00279 14.158211 23.61021 38.723215 49.110216 55.723215 65.17522 69.901218 85.01421 94.46622 104.85322 109.579219 116.192218 125.64422 136.03122 140.75722 150.20922 155.87021 165.3222 171.93521 176.66121 187.0482 196.5002 202.1612 206.88719 217.27419 222.00019 227.66118 232.38718 242.77417">Memory map/register definition</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="372.84999" x="-.00079 8.55321 15.55321 21.76921 25.26921 32.26921 39.26921 43.93121 50.93121 54.82321 58.715215 62.215215 69.21521 75.43121 80.093219 83.985218 90.985218 97.985218 104.20122 108.86322 115.07922 118.97122 122.47122 129.47122 134.13323 138.02523 145.02523 152.02523 158.24123 161.74123 166.40323 172.61923 179.61923 183.51123 188.95723 192.84923 199.06523 203.72724 209.17324 212.67324 218.88924 225.10524 232.10524 235.60524 242.60524 248.82125 252.32125 258.53724 264.75325 270.96925 277.18525 282.63127 288.07728 294.29328 301.29328 304.79328 311.79328 318.79328 322.68528 329.68528 333.18528 337.07728 344.07728 347.57728 353.0233 360.0233 367.0233 373.2393 377.90129 384.90129 388.79328 394.2393 401.2393 405.90129 409.40129 420.29328 427.29328 434.29328 440.50929 444.00929 451.00929 458.00929 461.50929 465.40129 470.06327 477.06327 482.50929 486.40129 492.61729">The 32-bit peripheral bridge registers can be accessed only in supervisor mode by trusted</tspan><tspan y="388.84999" x="-.00082 6.99918 13.99918 19.44518 22.94518 33.83718 40.05318 45.49918 49.391183 55.60718 60.26918 65.71518 69.21518 72.71518 82.82318 89.82318 96.82318 100.71518 104.60718 108.499179 115.499179 122.499179 128.71518 132.60718 136.49918 143.49918 146.99918 150.49918 154.39118 161.39118 167.60718 173.05318 179.26918 182.76918 187.43119 193.64719 200.64719 204.53919 209.98519 213.87718 220.09319 224.75519 230.20119 233.70119 244.59319 251.59319 257.03919 260.93119 264.43119 271.43119 277.6472 281.1472 285.80918 292.02519 298.24119 305.24119 308.74119 313.40318 318.06517 325.06517 335.95716 339.45716 346.45716 351.11915 354.61915 364.72715 369.38914 373.28114 377.17314 381.06513 387.28114 394.28114 397.78114 401.67314 408.67314 412.17314 419.17314 426.17314 430.06513 437.06513 440.56513 447.56513 454.56513 458.06513 464.28114 467.78114 474.78114 481.78114 486.4431 493.4431 497.3351">bus masters. Additionally, these registers must be read from or written to only by a 32-bit</tspan><tspan y="404.84999" x="-.00082 6.2151806 10.107181 13.999181 20.99918 27.99918 34.21518 41.21518 44.71518 50.93118 57.14718 63.36318 69.57918 75.02518 80.471179 83.971179 87.471179 96.02518 103.02518 109.24118 112.74118 119.74118 125.957187 130.61919 134.51119 141.51119 148.51119 154.72719 159.38919 165.6052 169.4972 172.9972 179.9972 184.6592 188.5512 195.5512 202.5512 208.7672 212.2672 216.9292 223.1452 230.1452 234.0372 239.4832 243.3752 249.5912 254.2532 259.69923 263.19923 269.41523 274.0772 280.2932 283.7932 294.6852 300.9012 307.9012 314.9012 321.11723 328.11723 331.61723 335.50923 342.50923 346.4012 353.4012 356.9012 360.7932 367.7932 374.00923 377.50923 385.2932 395.4012 404.73924 414.07725 424.18525 428.84724 436.63124 446.73924 456.07725 465.41526 472.41526">aligned access. The peripheral bridge registers are mapped into the PACRA[PACR0]</tspan><tspan y="420.84999" x="-.00082 6.2151806 13.21518 20.21518 24.87718 31.093182 36.53918 41.98518 45.48518 50.93118 57.93118 64.14718 70.36318 76.579189">address space.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="445.03669" x="232.55316 242.66117 253.55316 262.10716">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="461.24998" x="72.00116 80.55516 87.55516 93.771167 97.271167 104.271167 111.271167 122.16316 129.16316 135.37917 140.04117 143.54117 150.54117 155.20317 158.70317 163.36518 167.25717 173.47318 177.36518 184.36518 189.81118 193.31118 199.52718 206.52718 213.52718 217.02718 221.68918 227.90518 234.90518 238.79718 244.24318 248.13518 254.35118 259.01319 264.4592 267.9592 274.1752 281.1752 287.3912 291.2832 295.1752 301.3912 308.3912 312.2832 318.4992 321.9992 328.9992 335.2152 342.2152 348.4312 355.4312 362.4312 367.87724 371.37724 378.37724 385.37724 388.87724 392.76924 399.76924">The number of fields and registers available depends on the</tspan><tspan y="477.24998" x="72.00118 79.00118 85.217189 92.217189 96.109188 102.32519 108.54119 113.20319 118.64919 125.64919 131.86519 138.08119 141.97319 146.6352 150.52719 156.7432 160.2432 164.1352 175.02719 182.02719 185.91919 192.1352 203.02719 209.2432 216.2432 220.1352 226.3512 230.2432 234.1352 241.1352 248.1352 251.6352 258.6352 263.29719 266.79719 270.68919 277.68919 283.90519 287.40519 294.40519 300.6212 305.28318 309.17518 316.17518 323.17518 329.39118 334.05317 340.26918 344.16117 347.66117 354.66117 359.32316 363.21516 370.21516 377.21516">device-specific implementation of the peripheral bridge</tspan><tspan y="493.24998" x="72.00121 82.89321 89.89321 96.89321 103.89321 107.78521 114.00121 117.50121 121.00121 128.78522 135.00122 141.21723 144.71723 148.60923 155.60923 161.82523 165.32523 171.54123 178.54123 182.43323 189.43323 192.93323 199.14923 206.14923 213.14923 217.81124 221.70323 228.70323 235.70323 240.36524 246.58124 250.47324 254.36524 261.36524 268.36524 271.86524 278.08125 285.08125 291.29725 298.29725 302.18925 308.40525 313.06724 316.56724 321.22923 328.22923 332.8912 336.3912 347.2832 354.2832 358.9452">module. See the chip configuration chapter for more</tspan><tspan y="509.24998" x="72.00121 75.89321 82.89321 87.555217 94.555217 99.21722 110.109218 116.32522 120.21722 124.109218 131.10923 138.10923">information.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 577.39999)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="198.9812 207.6452 210.9812 218.9852 226.9892 230.3252 240.9932 247.66519 258.3332 265.6652 270.3332 277.0052 280.3412 291.0092 297.68119">AIPS memory map</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 599.14999)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="8.487 14.985001 20.484002 25.488003 30.987004 33.489004 38.988004 41.985006">Absolute</tspan><tspan y="18.83789" x="10.485001 15.489001 20.988 26.487002 29.988 34.992 39.996004">address</tspan><tspan y="29.83789" x="16.992 19.989 25.488 30.492 35.496004">(hex)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 116.979999 599.14999)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="18.83789" x="89.973 96.471 101.475 106.974 109.476 114.479999 117.477 122.480998 125.981998 128.484 133.98299 138.98699 146.98799">Register name</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 363.94 599.14999)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="13.33789" x="5.166 13.662001 16.164002 21.663002 24.660002">Width</tspan><tspan y="24.33789" x="1.4129999 4.41 6.912 12.411 14.913 20.412 22.914002 25.911002 30.915">(in bits)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 404.26 599.14999)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="18.83789" x="1.899 8.397 13.401001 18.405003 23.409005 28.413006">Access</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 444.58003 599.14999)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="18.83789" x="2.727 9.225 14.229001 19.233002 24.237004 27.234004 29.736004 34.740007 39.744009 42.246007 47.745008">Reset value</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 505.06004 599.14999)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="13.33789" x="7.713 13.716 18.720002 23.724003 26.721003 29.223004 34.722005 40.221006">Section/</tspan><tspan y="24.33789" x="14.715 20.214 25.218003 30.717003">page</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 637.14999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="5.472 10.476001 15.480001 20.484002 25.488003 30.492005 35.496007 40.500009 45.50401">4000_0000</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 116.729999 637.14999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.4970009 12.501001 17.001002 19.503003 24.507004 27.504004 30.006005 36.009004 39.006006 41.004007 45.504007 47.502008 49.500009 54.50401 59.50801 64.51201 67.01401 73.51201 78.51601 83.520008 85.518009 90.018009 92.520008 97.524 100.521 103.023 109.026 111.528 114.525 120.528 123.03 129.033 135.03601 140.04001 145.044 152.541 158.544 165.042 171.04502">Master Privilege Register A (AIPS0_MPRA)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 363.69 637.14999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="12.906 17.91">32</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 404.01 637.14999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="9.162 15.66 18.162">R/W</tspan></text>
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