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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

117 lines
29 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 171.4)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00183 9.77417 18.67017 27.56617 32.89417 42.67017 48.89417 57.79017">Features</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 53.999994)" font-size="14" font-family="TimesLTStd"><tspan y="151.25" x=".00418 8.55818 15.55818 21.774182 25.274182 33.05818 45.50418 54.842184 57.362184 62.80818 66.30818 70.970188 77.18619 83.40219 87.29419 94.29419 98.95619 105.172199 110.618198 114.118198 118.01019 125.01019 131.2262 135.1182 142.1182 149.1182 155.3342">The FMC's features include:</tspan><tspan y="167.25" x="13.09418 24.000182 28.662182 35.66218 39.554185 45.770185 50.432184 55.09418 61.31018 67.526187 73.74219 77.24219 84.24219 90.45819 94.35019 104.45819 110.674198 116.8902 123.8902 127.3902 131.2822 138.2822 144.4982 147.9982 154.9982 161.2142 168.2142 172.1062 178.3222 184.53821 188.03821 194.25421 201.25421 208.25421 211.75421 215.64621 222.64621 228.86222 232.36222 239.36222 246.36222 252.57822 256.4702 261.1322 268.1322 274.3482 281.3482 288.3482 291.8482 296.5102 300.4022 306.6182 312.0642 319.0642 322.5642 333.4562 339.6722 350.5642 357.5642 362.2262 369.2262 372.7262 378.9422 385.9422 392.9422 396.4422 404.2262 408.1182 414.3342 421.3342 433.7802 439.99623 450.8882 457.8882 462.5502 469.5502">&#x2022;Interface between the device and the dual-bank flash memory and FlexMemory:</tspan><tspan y="183.25" x="37.10421 47.996213 54.996213 59.65821 66.65821 70.55021 74.44221 77.94221 81.44221 88.44221 95.44221 100.10421 107.10421 110.99621 114.88821 118.38821 121.88821 128.1042 135.1042 142.1042 145.6042 152.6042 159.6042 164.2662 171.2662 175.1582 179.0502 182.5502 187.2122 193.4282 199.64421 206.64421 210.14421 217.14421 224.14421 230.36022 235.02222 241.23822 245.13022 249.02222 256.02223 263.02223 268.46824 271.96824 275.86024 282.86024 286.36024 293.36024 298.02223 305.02223 312.02223 316.6842 322.9002 333.7922 337.2922 341.9542 345.8462 352.0622 357.5082 364.5082 368.0082 378.9002 385.1162 396.0082 403.0082 407.6702 414.6702 418.1702 424.3862 431.3862 438.3862 441.8862 449.6702 453.5622 459.7782 466.7782 476.8862 486.9942">&#x2022;8-bit, 16-bit, and 32-bit read operations to program flash memory and FlexNVM</tspan><tspan y="199.25" x="47.99623 54.99623 60.44223 66.65823 73.65823 77.15823 83.37424 88.82024 92.32024 99.32024 105.53624 109.42824 115.64424 119.14424 123.806247 127.69824 133.91425 139.36025 146.36025 149.86025 160.75225 166.96825 177.86025 184.86025 189.52225 196.52225">used as data flash memory.</tspan><tspan y="215.25" x="37.10425 47.996255 54.996255 59.658254 66.65825 70.55025 74.442249 77.942249 81.442249 88.442249 95.442249 100.10425 107.10425 110.99625 114.888248 118.388248 121.888248 128.10425 135.10425 142.10425 145.60425 152.60425 159.60425 164.26625 171.26625 175.15825 179.05025 182.55025 187.21225 193.42826 199.64426 206.64426 210.14426 216.36026 223.36026 230.36026 233.86026 243.96826 248.63027 252.52227 256.41429 262.63029 266.13029 273.13029 280.13029 286.34629 291.00828 297.22428 301.11628 305.00828 312.00828 319.00828 324.45429 327.95429 331.84629 338.84629 342.34629 350.13029 354.02229 360.23829 367.23829 377.34629 387.45429 399.9003 403.4003 409.6163 416.6163 423.6163 427.1163 434.9003 438.7923 445.0083 452.0083 461.3463 471.4543">&#x2022;8-bit, 16-bit, and 32-bit read and write operations to FlexNVM and FlexRAM</tspan><tspan y="231.25" x="47.996255 54.996255 60.442255 66.65826 73.65826 77.15826 83.37426 88.82026 92.32026 100.87426 109.42826 117.212268 126.55026 136.65827 149.10427">used as EEPROM.</tspan><tspan y="247.25" x="37.104257 47.996259 55.78026 62.78026 67.44226 70.94226 77.94226 84.158267 91.158267 98.158267 101.658267 108.658267 112.158267 118.37427 125.37427 132.37427 135.87427 142.87427 149.09027 156.09027 163.09027 166.59027 173.59027 177.48227 180.98227 190.32027 196.53627 202.75228 209.75228 213.25228 219.46828 225.68428 231.90029 238.11629 243.56229 249.00829 255.22429 260.6703 264.1703 268.0623 275.0623 278.5623 284.7783 291.7783 298.7783 304.2243 310.4403 316.6563 323.6563 327.5483 331.4403 338.4403 344.6563 348.1563 355.1563 362.1563 366.8183 373.8183 377.7103 381.6023 385.1023 390.5483 397.5483 403.7643 409.98033 416.19633 421.64234 425.14234 429.03434 436.03434 439.53434 450.42634 456.64234 467.53434 474.53434 479.19633">&#x2022;For bank 0 and bank 1: Read accesses to consecutive 32-bit spaces in memory</tspan><tspan y="263.25" x="47.996255 52.658254 58.874254 62.766256 69.76625 74.42825 81.42825 84.92825 88.82025 95.82025 102.036258 105.536258 110.982257 117.19826 123.41426 130.41426 137.41426 144.41426 147.91426 152.57627 158.79227 165.00827 172.00827 175.50827 182.50827 188.72428 192.61627 198.83228 202.33228 212.44028 216.33228 220.22428 227.22428 230.72428 237.72428 244.72428 248.22428 258.33229 264.54829 268.44029 272.33229 275.83229 281.2783 285.1703 291.3863 295.2783 301.4943 306.9403 310.4403 313.9403 322.4943 329.4943 335.7103 339.2103 350.1023 356.3183 367.2103 374.2103 378.87229 385.87229 389.37229 394.03428 400.25028 404.14228 411.14228 415.80427 422.80427 428.25028 431.75028 438.75028 445.75028 449.25028 456.25028 460.14228 464.03428 469.4803 472.9803 479.9803 483.87229">return the second read data with no wait states. The memory returns 64 bits via</tspan><tspan y="279.25" x="47.996286 51.888288 58.888288 65.10429 68.60429 75.60429 82.60429 87.26629 94.26629 98.15829 102.050289 105.550289 112.550289 119.550289 124.996288 128.49628 134.71228 140.92829 147.14429 153.36029 158.80629 164.25229">the 32-bit bus access.</tspan><tspan y="295.25" x="37.104295 47.996297 57.334299 61.996297 68.99629 74.44229 79.88829 86.88829 93.104297 97.7663 101.2663 112.158298 118.3743 123.8203 127.712299 133.9283 138.5903 142.0903 148.3063 154.52231 160.73831 166.95432 172.40032 177.84632 181.34632 188.34632 193.00832 200.00832 203.90032 210.11632 216.33232 220.22432 224.11632 231.11632 238.11632 241.61632 246.27832 253.27832 257.9403 261.4403 266.88633 273.10234 276.99433 280.88633 284.77833 291.77833 298.77833 302.27833 309.27833 316.27833 319.77833 325.99433 332.21034 338.42634 344.64234 350.08836 355.53437 359.03437 362.53437 367.19636 373.41236 379.62837 386.62837 391.29035 398.29035 405.29035 409.18235 416.18235 419.68235 425.89836 432.11436 438.33036 444.54637 449.99238 455.4384 458.9384 462.4384 472.5464 477.20838 481.10038 484.99238 491.20838">&#x2022;Crossbar master access protection for setting no access, read-only access, write-</tspan><tspan y="311.25" x="47.996286 54.996286 61.996286 65.88828 72.88828 76.38828 82.60429 88.82029 95.03629 101.2523 106.698299 112.144298 115.644298 119.144298 126.144298 130.80629 134.30629 138.96829 145.1843 151.4003 158.4003 162.2923 172.4003 177.0623 180.9543 184.8463 191.0623 194.5623 200.7783 206.99431 213.21031 219.42632 224.87232 230.31832 233.81832 238.48032 245.48032 250.14232 253.64232 259.8583 266.0743 272.2903 279.2903 282.7903 289.00633 293.6683 300.6683 306.11433 311.56034 318.56034 324.77635 329.43833 332.93833 343.83033 350.04634 355.49235 359.38435 365.60035 370.26234">only access, or read/write access for each crossbar master.</tspan><tspan y="327.25" x="13.0942959 24.000298 31.784298 38.784299 43.446298 46.946298 53.946298 60.162298 67.16229 74.16229 77.66229 84.66229 88.16229 94.378299 101.378299 108.378299 111.878299 118.878299 125.0943 132.0943 139.0943 142.5943 149.5943 153.4863 156.9863 167.0943 173.3103 179.5263 185.74231 189.63431 195.85031 200.51232 206.72832 210.62032 214.51232 221.51232 228.51232 232.01232 239.01232 243.67432 247.17432 254.17432 260.39033 264.28233 270.49833 273.99833 277.89033 282.5523 288.7683 295.7683 301.21434 305.8763 312.09233 316.7543 320.2543 324.9163 329.57829 336.57829 347.47029 350.97029 357.97029 362.63227 369.63227 376.63227 381.29426 387.51026 398.40226 401.90226 406.56425 410.45625 416.67225 422.11827 429.11827 432.61827 443.51026 449.72627 460.61827 467.61827 472.28025 479.28025 482.78025 488.99626 495.99626">&#x2022;For bank 0 and bank 1: Acceleration of data transfer from program flash memory and</tspan><tspan y="343.25" x="24.000275 31.784276 35.676279 41.892278 48.892278 61.33828 67.55428 78.44628 85.44628 90.108287 97.108287 100.608287 104.50028 111.50028 115.00028 118.89228 125.89228 132.10828 135.60828 142.60828 148.82428 155.82428 159.71628 165.93228 172.14829">FlexMemory to the device:</tspan><tspan y="359.25" x="37.104288 47.99629 54.99629 61.99629 66.65829 73.65829 77.550289 81.44228 84.94228 91.94228 96.60429 102.82029 107.48229 113.698299 117.590297 123.8063 130.8063 134.3063 139.7523 146.7523 152.9683 159.18431 166.18431 170.07631 176.29232 180.18431 184.07631 191.07631 198.07631 201.57631 208.57631 215.57631 220.23831 224.90032 231.11632 235.77832 239.27832 249.38632 253.27832 257.17033 264.17033 267.67033 273.88633 280.88633 287.88633 291.77833 296.4403 303.4403 307.3323 312.77833 316.27833 320.9403 327.9403 332.6023 336.1023 339.9943 346.9943 352.4403 356.3323 360.9943 367.9943 374.2103 378.1023 381.9943 388.9943 395.9943 399.8863 406.8863 413.1023 416.9943 423.2103 426.7103 432.9263 439.1423 445.3583 451.5743 457.02033 462.46635 465.96635 472.96635 479.18235">&#x2022;64-bit prefetch speculation buffer with controls for instruction/data access per</tspan><tspan y="375.25" x="47.996286 58.888288 65.10429 70.550289 74.44228 80.65829 85.32029 88.82029 95.03629 102.03629 109.03629 112.53629 119.53629 125.7523 132.75229">master and bank</tspan><tspan y="391.25" x="37.104295 47.996297 54.996297 59.658296 69.7663 75.9823 82.9823 86.4823 89.9823 96.9823 101.6443 107.0903 113.306308 117.1983 120.6983 124.1983 131.1983 138.1983 142.8603 149.8603 153.7523 157.6443 161.1443 165.0363 168.9283 175.9283 182.1443 185.6443 191.0903 194.9823 201.1983 207.4143 210.9143 217.13031 223.34632 229.56232 236.56232 242.77832 246.27832 250.94033 257.9403 262.6023 266.1023 272.3183 275.8183 279.7103 286.7103 290.6023 296.8183 300.7103 304.2103 311.2103 315.87229 319.37229 323.26429 330.26429 334.15629 338.81828 342.71028 349.71028 354.37226 358.26426 368.37226 375.37226 378.87226 385.87226 392.87226 397.53425 404.53425 408.42625 412.31825 415.81825 422.03425 429.03425 432.92625 437.58824 441.48023 447.69624 453.14225 456.64225 466.75025 470.64225 474.53425">&#x2022;4-way, 8-set, 64-bit line size cache for a total of thirty-two 64-bit entries with</tspan><tspan y="407.25" x="47.996316 54.212316 61.212316 68.21231 72.10431 76.76631 83.76631 87.65831 93.10431 96.60431 101.26631 108.26631 112.928318 116.428318 121.09032 127.30632 134.30632 138.19832 144.41432 150.63033 156.84633 167.73833 173.95433 180.95433 184.84633 188.34633 194.56233 198.45433 205.45433 212.45433 217.11634 221.00833 224.90033 231.90033 242.79233 246.29233 252.50833 259.50834 266.50834 270.00834 273.90034 280.90034 287.11634 294.11634 297.61634 304.61634 310.83235 315.49433 318.99433 329.10234 335.31834 342.31834 345.81834 350.48033 357.48033 362.1423 365.6423 371.8583 378.0743 384.2903 391.2903 394.7903 401.7903 408.00633 415.00633">controls for replacement algorithm and lock per way for each bank</tspan><tspan y="423.25" x="37.104295 47.996297 55.780298 59.6723 66.6723 73.6723 77.5643 83.780307 88.44231 94.65831 101.65831 105.55031 110.21231 117.21231 120.71231 127.71231 134.71231 139.37432 144.03632 150.25232 154.91432 158.41432 168.52233 172.41432 176.30632 183.30632 186.80632 193.02233 200.02233 206.23833 213.23833 217.13033 223.34633 226.84633 233.84633 240.06233 244.72434 248.22434 255.22434 261.44035 268.44035">&#x2022;Single-entry buffer with enable per bank</tspan><tspan y="439.25" x="37.104326 47.996328 52.658327 59.658327 66.658329 72.87433 76.76633 80.658329 87.658329 93.87433 97.76633 101.658329 108.658329 115.658329 119.158329 125.37433 132.37433 139.37433 143.26633 147.92833 154.92833 158.82033 162.32033 166.98233 173.98233 178.64434 182.14434 186.03633 193.03633 199.25234 202.75234 208.19834 215.19834 221.41434 227.63034 234.63034 238.52234 244.73834 248.63034 252.52234 259.52235 266.52235 270.02235 277.02235 284.02235 288.68434 293.3463 299.56233 304.2243 307.7243 313.9403 320.9403 327.9403 331.4403 335.3323 342.3323 348.5483 352.0483 357.49433 361.38633 368.38633 375.38633 379.27833 385.49433 390.1563 396.3723 403.3723 407.2643 411.9263 418.9263 422.4263 429.4263 436.4263 441.0883 445.75028 451.96629">&#x2022;Invalidation control for the speculation buffer and the single-entry buffer</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 541.19998)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".0083 14.169301 24.556302 34.943304 44.3953 53.8473 58.573305 68.960308 74.62131 79.347309 89.73431 100.12131 109.57331 116.18631 125.63831 131.29932 136.02532 146.41231">Modes of operation</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 17.99997)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 7.4970009 12.996 18.495 23.499 28.503003 31.005003 36.504 39.501005 42.003004 47.502004 53.001005 58.005006 61.506006 66.51 69.507 72.009 77.508">Modes of operation</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.9386)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.007 137.227 142.787 148.347 151.127 157.797 163.907 170.017 173.347 179.457 185.017 193.907 196.687 199.467 205.027 207.80699 215.027 220.58699 223.91699 229.47699 233.36699 238.92699 245.03699 250.59699 256.15699 258.93699 267.26698 272.82698 278.93696 285.04695 290.60694 293.38694 296.16694 298.94694 306.16694 311.72694 317.28694 320.06694 322.84693 328.40693 331.18693 336.74693 342.8569 348.9669 351.7469 357.3069 362.86689 368.42689">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 751.7559)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00102 5.0050208 10.009022">620</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32 751.7559)" 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>
<text xml:space="preserve" transform="matrix(1 0 0 1 391.68 751.7559)" 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 54 763.7559)" 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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