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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_727.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

1462 lines
126 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 166.93558 321.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 15.507001 20.511002 25.515004 30.015004 35.019006 37.521005 40.023004 45.027006 50.031007 52.533006 58.032007 60.030008 65.034008 69.534008 75.537 80.541 85.041 87.543 95.04 100.044 105.048 110.051998 112.049999 117.05399 119.55599 121.55399 126.05399 128.556 133.56 138.564 143.568 146.06999 151.07399 153.57599 156.07799 158.57999 163.58399 168.58798 171.08998 175.58998 177.58798 182.59198 187.09198 192.09598 196.59598 199.09798 203.59798 208.60198 213.60597 218.60997 223.61397 228.11397 230.61597 235.61997 240.62397 243.12596 245.62796 250.63196 253.13396 255.63596 260.63996 265.64396 268.14598 272.64598 275.64299 280.64698 285.14698 289.64698 294.65098 299.65498 302.65199 305.154 309.654 316.15199 318.14997 320.65199 325.15199 330.15599 332.658 335.16 337.158 339.66 342.16203 344.16 348.66 351.16203 356.16603 361.17 363.168">Because the FlexBus module is one of the slaves connected to the crossbar switch, it is only</tspan><tspan y="18.83789" x="0 5.0040009 9.504001 14.004001 19.008002 23.508002 28.008002 30.006 35.010004 37.008005 42.012006 44.514005 51.012006 53.010007 55.512006 60.516008 62.514009 67.518009 70.020008 75.024 77.526 82.026 87.03 90.027 92.529 97.533 99.531 104.534999 107.036998 114.534 119.537998 127.034999 132.039 135.036 139.536 142.038 145.03499 150.03899 155.04299 160.04698 165.05098 167.55298 170.05498 176.05799 181.06198 186.06598 188.56798 191.06998 196.07398 201.07798 203.57997 208.07997 213.08397 215.08197 220.08597 222.58797 230.08496 235.08896 242.58596 247.58995 250.58695 255.08695 257.58897 265.08598 270.08998 275.09397 277.59599 280.098 285.102 288.099 290.601 293.10304 298.10704 303.11103 305.61305 310.61705 315.62104 320.62504 322.62303 324.621 329.121 334.125 339.129 341.12699 346.13099 348.633 354.132 356.12998 361.13398 365.63398 371.63697 376.64097">accessible within a certain memory range. See the chip memory map for the applicable FlexBus</tspan><tspan y="29.83789" x="0 3.1950002 8.199001 12.699001 17.703003 22.707005 27.711007 32.211008 34.209009 39.21301 44.21701 47.41201 49.91401 54.91801 59.922014 64.92601 67.92301 72.92701 77.42701 81.92701 84.42901 87.42601 92.43001 97.434009 102.438 107.442 109.944 112.446 117.45 120.447 122.949 129.44699 134.45099 136.44899 140.94899 145.95299 148.45499 150.95699 155.96099 160.96498 163.46698 167.96698 172.97098 174.96898 179.97298 182.96997 187.46997 192.47397 194.47197 199.47597 203.97597 206.47797 210.97797 213.47997 217.97997 222.98397 227.98796 230.48996 235.49396 240.49796 242.99996 248.00395 252.50395 255.00595 257.00395 261.50395 266.50794 269.00996 271.51197 277.51496 282.51896 285.02098 287.52299 290.025 295.029 300.033 302.535 309.033 315.03599 321.03898 327.53697 332.54096 335.04298 340.04698 345.05097 350.05497 352.55699 359.05497 365.05796 372.55497 379.05296">"expansion" address range for which the chip-selects can be active. Set the CSARn and CSMRn</tspan><tspan y="40.83789" x=".00004 2.99704 8.00104 13.005041 15.003041 19.50304 22.005042 27.00904 30.00604 34.506044 37.00804 42.012044 47.016046 52.020048 55.017049 60.02105 65.02505 68.02205 70.02005 75.02405 77.52605 82.530048 84.528049 89.028049 91.530048 96.53404 101.53804 104.04004 109.04404 112.04104 117.04504 119.547039 124.55103 129.05103 133.55103 138.55503 143.05503 147.55503 149.55303 154.55702 159.56102 162.06302 164.56502 169.56902 171.56702 176.06702 178.56902 181.56601 186.57 191.574 193.572 198.576 203.58">registers appropriately before accessing this region.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.99993 440.8)" 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">30.3.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 109.87322 440.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.830001 19.995 24.165 33.33 37.500005 47.505006 55.845006 60.015008 68.35501 76.695018 81.69002 85.860019 98.35502 106.69502 115.03503 123.37503 127.54503 138.37503 146.71503 155.88002 160.05002 168.39002 173.38501 181.725 187.56002 191.73001 196.725 205.89 216.72 225.06 235.89 245.895 258.39">Chip Select Mask Register (FB_CSMR</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 109.87322 440.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="269.22">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 109.87322 440.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="278.385">)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.99993 54)" font-size="14" font-family="TimesLTStd"><tspan y="447.44999" x=".00601 7.790011 14.79001 21.006012 27.222012 31.114012 35.776014 39.668016 45.884016 51.330015 54.830015 58.722017 65.722019 71.93802 75.43802 81.65402 88.65402 95.65402 100.316028 106.53203 111.97803 117.42403 120.92403 131.81603 138.03203 143.47803 150.47803 153.97803 160.19403 167.19403 174.19403 177.69403 183.91004 187.80204 191.69403 198.69403 208.80204 215.01804 222.01804 225.91004 232.12604 235.62604 241.84204 248.05805 254.27405 260.49006 265.93608 271.38209 274.88209 278.77409 285.77409 292.77409 298.99009 304.4361 307.9361 312.59809 319.59809 324.26008 327.76008 331.65208 338.65208 344.86808 348.36808 354.58409 360.0301 365.4761 372.4761 378.6921 382.5841 388.8001 392.6921 398.9081 405.9081 409.4081 415.6241 422.6241 426.5161 433.5161 438.1781 443.6241 449.84013 453.73213 459.94813 466.16413 470.05613">Specifies the address mask and allowable access types for the associated chip-select.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.99993 517.6)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00302 6.00602 11.010021 16.014023 19.011023 24.015023 28.515023 33.015024 35.51702">Address: </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 92.01604 517.6)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00302 5.0070207 10.011021 15.015021 20.019022 25.023022 31.521023 36.525026 41.529027 46.533029 51.53703 54.03903 59.04303 64.04703 68.54703 73.551029 76.053028 81.30902 83.81102 88.81502 93.819019 96.321018 101.32501 103.82701 106.32901 110.82901 115.83301 118.33501 120.837009 126.093 128.595 131.592 136.596 141.59999 146.60399 149.10599 154.36199 156.86399 158.86199 161.85898 164.36098 166.86298 173.36098 178.36498 183.36898 186.36597 191.36997 193.87197 195.86997 201.12596 206.12996 211.13396 213.63596 216.13796 221.14196 223.64395 228.64795">4000_C000h base + 4h offset + (12d &#x00d7; i), where i=0d to 5d</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.99994 532.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="17.47803 22.14703 23.70103">Bit</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 83.647 532.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.93303 14.82503">31</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 113.29407 532.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.93303 14.82503">30</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 142.94113 532.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.93303 14.82503">29</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 172.58818 532.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.93303 14.82503">28</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 202.23525 532.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.93303 14.82503">27</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 231.88231 532.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.93303 14.82503">26</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 261.52937 532.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.93303 14.82503">25</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 291.17643 532.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.80703 14.69903">24</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 320.8235 532.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.934 14.826">23</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 350.47056 532.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.934 14.826">22</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 380.1176 532.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.934 14.826">21</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 409.76469 532.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.934 14.826">20</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 439.41175 532.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.934 14.826">19</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 469.0588 532.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.934 14.826">18</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 498.70588 532.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.934 14.826">17</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 528.3529 532.6)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.934 14.826">16</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.99991 543.85)" font-size="7" font-family="HelveticaLTStd"><tspan y="6.31836" x="20.342">R</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 85.89697 546.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.08789" x="225.178 231.181 237.184">BAM</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999914 552.85)" font-size="7" font-family="HelveticaLTStd"><tspan y="6.31836" x="18.791">W</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999914 561.85)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="2.143 8.641001 13.645001 18.145 23.149003">Reset</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 83.64697 562.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.322">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 113.29404 562.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.322">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 142.9411 562.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.322">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 172.58815 562.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.322">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 202.23522 562.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.322">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 231.88228 562.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.322">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 261.52937 562.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.322">0</tspan></text>
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