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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_634.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

596 lines
59 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 144.68283)" 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>
<g clip-path="url(#clip_7)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 171.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="25.542 30.546002 35.550004 40.554006">15&#x2013;8</tspan><tspan y="18.83789" x="16.29 22.788002 27.792004 32.292005 37.296007 40.293008 44.793008 49.79701">Reserved</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 171.18283)" 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 56.249994 197.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="28.044 33.048 38.052003">7&#x2013;5</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>
<g clip-path="url(#clip_10)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 197.68283)" 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>
<g clip-path="url(#clip_11)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 224.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">4</tspan><tspan y="18.83789" x="20.547 26.550002 31.554 38.052003 44.550004">B1DCE</tspan></text>
<g clip-path="url(#clip_12)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 224.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 16.011002 20.511002 23.013003 28.017003 30.519003 37.017004 42.021005 44.523004 49.527006 52.029005 58.527006 63.531007 68.031009 73.035 78.039 80.541 86.544 91.548 96.551998 101.55599 103.55399">Bank 1 Data Cache Enable</tspan><tspan y="28.83789" x="0 5.499 10.503 12.501 17.001 19.503 24.507 26.505002 29.007002 31.509003 36.009004 41.013006 46.017007 48.519006 51.516008 56.520009 58.51801 63.01801 65.52001 72.01801 77.02201 82.02601 84.52801 89.532009 94.536 97.533008 100.035 105.039 110.043 112.545 117.548999 120.050998 123.048 128.052 130.554 135.558 138.555 143.55899 148.56299 153.06299 158.06699 162.56699 165.06899 170.07299 173.06998 178.07398 180.57598 182.57398 187.57798 192.58197 197.58597 202.58997 207.59397 210.09597 212.09397 217.09796 219.59996 224.60396 227.10596 229.60796 234.61196 239.61595 242.11795 246.61795 251.62195 256.12196 261.12596 266.12995">This bit controls whether data references are loaded into the cache.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 266.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 266.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 14.004002 19.008004 24.012005 26.514006 29.016007 33.516008 38.520009 43.020009 48.02401 53.02801 55.53001 60.53401 65.53801 68.04001 73.04401 75.546009 78.54301 83.547008 86.049 91.053 94.05 99.054 104.058 108.558 113.562 118.062">Do not cache data references.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 277.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 277.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.4980008 11.502001 16.002 21.006 26.010003 28.512003 33.516004 38.520006 41.022005 46.026006 48.528005 51.525007 56.529008 59.031007 64.035 67.032009 72.036 77.04 81.54 86.544 91.044">Cache data references.</tspan></text>
<g clip-path="url(#clip_13)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 294.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">3</tspan><tspan y="18.83789" x="22.545 28.548 33.552003 36.054 42.552003">B1ICE</tspan></text>
<g clip-path="url(#clip_14)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 294.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 16.011002 20.511002 23.013003 28.017003 30.519003 33.021005 38.025007 42.525007 45.027006 48.024007 53.028009 57.528009 60.030008 62.028009 67.032009 72.036 74.538 81.036 86.04 90.54 95.544 100.548 103.049999 109.05299 114.05699 119.06099 124.06499 126.06299">Bank 1 Instruction Cache Enable</tspan><tspan y="28.83789" x="0 5.499 10.503 12.501 17.001 19.503 24.507 26.505002 29.007002 31.509003 36.009004 41.013006 46.017007 48.519006 51.516008 56.520009 58.51801 63.01801 65.52001 72.01801 77.02201 82.02601 84.52801 89.532009 94.536 97.533008 100.035 102.033008 107.037 111.537 114.039 117.036 122.04 126.54 129.042 131.04001 136.044 141.048 143.55 146.052 151.056 153.558 158.058 163.062 168.066 172.566 175.068 180.07199 183.06899 188.07299 190.57498 192.57299 197.57698 202.58098 207.58498 212.58898 217.59297 220.09497 222.09297 227.09697 229.59897 234.60297 237.10497 239.60697 244.61096 249.61496 252.11696 256.61695 261.62095 266.12095 271.12495 276.12895">This bit controls whether instruction fetches are loaded into the cache.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 336.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00002">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 336.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00002 6.4980208 11.502022 14.004023 19.008023 24.012024 26.514025 29.016026 33.516027 38.520029 43.020029 48.02403 53.02803 55.53003 57.52803 62.532033 67.03203 69.53403 72.53103 77.53503 82.03503 84.537029 86.53503 91.539028 96.54302 99.04502 101.54702 106.55102 109.05302 113.55302 118.557018 123.56101 128.061">Do not cache instruction fetches.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 347.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00003">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 347.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00003 6.4980309 11.502031 16.002032 21.006031 26.010033 28.512034 30.510033 35.514036 40.014036 42.516035 45.513036 50.517038 55.017038 57.519037 59.517038 64.521038 69.52503 72.02703 74.52903 79.53303 82.03503 86.53503 91.539028 96.54302 101.04302">Cache instruction fetches.</tspan></text>
<g clip-path="url(#clip_15)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 365.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">2</tspan><tspan y="18.83789" x="20.79 26.793002 31.797 38.295003 44.298006">B1DPE</tspan></text>
<g clip-path="url(#clip_16)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 365.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 16.011002 20.511002 23.013003 28.017003 30.519003 37.017004 42.021005 44.523004 49.527006 52.029005 58.032007 61.029008 66.033008 68.535 73.539 76.041 80.541 85.545 88.047 94.049999 99.05399 104.05799 109.06199 111.05999">Bank 1 Data Prefetch Enable</tspan><tspan y="28.83789" x="0 5.499 10.503 12.501 17.001 19.503 24.507 26.505002 29.007002 31.509003 36.009004 41.013006 46.017007 48.519006 51.516008 56.520009 58.51801 63.01801 65.52001 72.01801 77.02201 82.02601 84.52801 89.532009 94.536 97.533008 100.035 105.039 108.036 113.04 115.542 120.546 123.048 127.548 132.552 137.556 142.056 144.558 147.555 152.55899 155.55599 158.05799 162.55799 167.56198 172.56598 177.06598 182.06998 184.06798 189.07198 191.57398 193.57198 198.07198 203.07598 205.57798 210.58197 215.08197 219.58197 224.58597 229.08597 233.58597 238.58997 243.08997 246.08696 248.58896 253.59296 256.58998 261.59397 264.09599 266.09397 271.09797 273.09596 275.59797 277.59596 282.59996 285.10197 290.10597 295.10997 297.61198 299.60997 304.61396 307.11598 310.11299 315.11698 319.61698 324.62098 329.62498 334.62898 339.12898 344.13298 346.63499 349.137 354.141 356.643 361.647 366.651 369.153 374.157 376.65904 379.65605 384.66004 387.16206 392.16606 395.16307 400.16706 405.17106 409.67106 414.67506 419.17506">This bit controls whether prefetches (or speculative accesses) are initiated in response to data references.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 407.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 407.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 14.004002 19.008004 24.012005 26.514006 29.016007 34.020009 37.01701 42.02101 44.52301 49.52701 52.02901 56.52901 61.533014 64.03501 66.03301 71.03701 73.53901 76.53601 81.54001 86.04001 91.04401 96.048007 101.052 105.552 110.556 113.058 115.56 120.563999 123.065998 128.06999 133.07399 135.57599 140.57999 143.08199 146.07898 151.08298 153.58498 158.58898 161.58597 166.58997 171.59397 176.09397 181.09796 185.59796">Do not prefetch in response to data references.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 418.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 418.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 6.0030205 11.007021 16.01102 21.015023 23.013024 28.017025 30.519026 35.523027 38.520029 43.52403 46.026029 51.03003 53.53203 58.03203 63.03603 68.04003 72.54003 75.04203 77.04003 82.04403 84.54603 87.54303 92.54703 97.04703 102.051029 107.05502 112.05902 116.55902 121.56302 124.06502 126.56702 131.57102 134.07302 139.07701 144.08101 146.58301 151.587 154.089 157.086 162.09 164.592 169.596 172.59299 177.59699 182.60099 187.10099 192.10498 196.60498">Enable prefetches in response to data references.</tspan></text>
<g clip-path="url(#clip_17)">
<path transform="matrix(1,0,0,1,53.999994,433.4328)" d="M.25 .25H75.35001V79.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 435.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">1</tspan><tspan y="18.83789" x="22.797 28.800002 33.804 36.306 42.309">B1IPE</tspan></text>
<g clip-path="url(#clip_18)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 435.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 16.011002 20.511002 23.013003 28.017003 30.519003 33.021005 38.025007 42.525007 45.027006 48.024007 53.028009 57.528009 60.030008 62.028009 67.032009 72.036 74.538 80.541 83.538 88.542 91.044 96.048 98.549999 103.049999 108.05399 110.55599 116.55899 121.56299 126.566989 131.57099 133.56899">Bank 1 Instruction Prefetch Enable</tspan><tspan y="26.83789" x="0 5.499 10.503 12.501 17.001 19.503 24.507 26.505002 29.007002 31.509003 36.009004 41.013006 46.017007 48.519006 51.516008 56.520009 58.51801 63.01801 65.52001 72.01801 77.02201 82.02601 84.52801 89.532009 94.536 97.533008 100.035 105.039 108.036 113.04 115.542 120.546 123.048 127.548 132.552 137.556 142.056 144.558 147.555 152.55899 155.55599 158.05799 162.55799 167.56198 172.56598 177.06598 182.06998 184.06798 189.07198 191.57398 193.57198 198.07198 203.07598 205.57798 210.58197 215.08197 219.58197 224.58597 229.08597 233.58597 238.58997 243.08997 246.08696 248.58896 253.59296 256.58998 261.59397 264.09599 266.09397 271.09797 273.09596 275.59797 277.59596 282.59996 285.10197 290.10597 295.10997 297.61198 299.60997 304.61396 307.11598 310.11299 315.11698 319.61698 324.62098 329.62498 334.62898 339.12898 344.13298 346.63499 349.137 354.141 356.643 358.641 363.645 368.145 370.647 373.644 378.648 383.148 385.65003 387.648 392.652">This bit controls whether prefetches (or speculative accesses) are initiated in response to instruction</tspan><tspan y="37.83789" x=".00004 2.5020405 7.506041 10.008041 14.508041 19.512043 24.516045 29.016045">fetches.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 486.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 486.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 6.4980409 11.502041 14.004042 19.008042 24.012043 26.514044 29.016045 34.020048 37.017049 42.02105 44.52305 49.52705 52.02905 56.52905 61.53305 64.03505 66.03305 71.03705 73.53905 76.53605 81.54005 86.04005 91.044048 96.04804 101.05204 105.55204 110.55604 113.05804 115.560039 120.56403 123.06603 125.06403 130.06804 134.56804 137.07004 140.06703 145.07103 149.57103 152.07303 154.07103 159.07503 164.07903 166.58103 169.08303 174.08702 176.58902 181.08902 186.09302 191.09702 195.59702">Do not prefetch in response to instruction fetches.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 497.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 497.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 6.0030405 11.007041 16.011042 21.015042 23.013043 28.017045 30.519045 35.523046 38.520048 43.524049 46.026048 51.03005 53.532049 58.032049 63.03605 68.04005 72.54005 75.042049 77.04005 82.044048 84.54604 87.543048 92.54704 97.04704 102.05104 107.05504 112.05904 116.55904 121.563037 124.06503 126.56703 131.57103 134.07303 136.07103 141.07503 145.57503 148.07703 151.07402 156.07802 160.57802 163.08002 165.07802 170.08202 175.08602 177.58802 180.09001 185.09401 187.59601 192.09601 197.1 202.104 206.604">Enable prefetches in response to instruction fetches.</tspan></text>
<g clip-path="url(#clip_19)">
<path transform="matrix(1,0,0,1,53.999994,512.9328)" d="M.25 .25H75.35001V95.65H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 515.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">0</tspan><tspan y="18.83789" x="18.036 24.039 29.043 35.045999 41.048997 47.051996">B1SEBE</tspan></text>
<g clip-path="url(#clip_20)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 7.4970009 12.501001 20.502003 26.001004 29.502003 34.506006 37.008005 45.009004 50.013006 55.512006 58.014005 63.018007 68.517009 74.01601 76.518009 80.019008 85.023 90.522 93.024 98.028 101.025 106.029 109.53 112.032 117.531 122.534999 127.538997 132.543 136.044 138.546 144.045 147.04199 149.54399 155.04299 160.54198">Memory map and register descriptions</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.00601 137.22602 142.78601 148.34601 151.126 157.796 163.906 170.016 173.34601 179.45601 185.016 193.906 196.686 199.466 205.026 207.806 215.026 220.586 223.916 229.476 233.366 238.926 245.036 250.596 256.156 258.936 267.266 272.826 278.93598 285.04597 290.60597 293.38597 296.16596 298.94596 306.16596 311.72596 317.28596 320.06596 322.84596 328.40596 331.18595 336.74595 342.85594 348.9659 351.7459 357.3059 362.8659 368.4259">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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