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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

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25 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 -1.6716766 -344.5762)" font-size="7.98" font-family="HelveticaLTStd"><tspan y="429.49937" x="129.3558 133.79268 136.01113 138.22957 143.55223 147.9891 150.20755 152.426 157.30178 162.62444 167.06131 172.82288 175.04132 182.57445 184.7929 187.01134 191.44821 193.66666 199.42823 202.08556 203.85712 206.07556 210.51244">1. Set FB_R/W to write.</tspan></text>
<text xml:space="preserve" transform="matrix(.998837 0 0 1.001164 -1.6716766 -344.5762)" font-size="7.97072" font-family="HelveticaLTStd"><tspan y="441.68458" x="129.10205 133.53377 135.74964 137.9655 143.28197 145.05147 149.48319 153.46855 157.90027 160.11614 164.54785 168.97957 173.41129 176.06554 180.49726 184.48262 188.46799 190.68386 195.11557 199.54729 201.76316 203.97902 208.41074 212.84246 215.05832 219.49004 223.4754 225.69127 230.12299 232.77724 237.20896 241.64067 243.41017 245.62604 250.05776 254.48947 258.9212 261.57545 266.00718 269.99253 273.97789 276.19374 280.17909 281.94859 286.3803 290.81205 295.24378 297.01329 300.99864">2. Place address on the external address signals.</tspan></text>
<text xml:space="preserve" transform="matrix(.996953 0 0 1.003057 -1.6716766 -344.5762)" font-size="7.95568" font-family="HelveticaLTStd"><tspan y="454.71763" x="130.1545 134.57785 136.78954 139.00122 144.30767 148.2855 152.26335 156.6867 159.33596 161.54764 163.75933 165.97101 168.62026 173.04361 177.46697 181.44481 183.6565 188.07985 190.7291 192.94078 196.91863 199.13031 203.55367 206.20291 208.4146 210.62628">3. Assert transfer start. </tspan></text>
<text xml:space="preserve" transform="matrix(.996953 0 0 1.003057 -1.6716766 -344.5762)" font-size="7.95568" font-family="HelveticaLTStd"><tspan y="465.78733" x="342.1178 346.54118 348.75285 350.9645 356.7085 361.13188 365.1097 369.53309 373.95646 378.37983 380.5915 385.01487 389.43824 393.8616 396.51084 400.9342 404.91206 408.8899">1. Decode address.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -1.6716766 -344.5762)" font-size="7.98" font-family="HelveticaLTStd"><tspan y="625.24099" x="129.43146 133.86833 136.08678 138.30522 143.62789 145.84633 150.2832 152.94054 155.15898 157.37743 161.8143 166.25118 170.24118 172.45963 174.67807 178.66808 182.65808 186.64809 188.41965 192.85652">1. Start next cycle.</tspan><tspan y="578.2736" x="128.62549 133.06237 135.2808 137.49925 139.7177 145.04036 149.47724 156.12458 160.56145 162.33301 166.76988 168.98833 173.8641 179.18677 183.62364 188.49942 193.82209 196.04053 197.81209 202.24897 208.01053">2. Sample FB_TA low.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -1.6716766 -344.5762)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="406.2091" x="358.63899 364.64198 369.64598 372.64299 377.64698 381.14799 386.65599 391.65998 394.162 396.619 404.116 409.129 417.13 422.593 426.193 431.16999 433.672 439.369 444.382 447.883 450.34 455.839 461.33799 466.35099 469.852 474.856">External Memory/Peripheral</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -1.6716766 -344.5762)" font-size="7.98" font-family="HelveticaLTStd"><tspan y="565.6231" x="340.30949 344.75434 346.97279 349.13539 353.58024 358.01713 360.24354 364.23353 368.67839 370.77714 375.27787 379.71476 381.94117 386.38603 388.48478 392.92167 397.4224 399.64085 401.85929 406.29618 410.73307 412.9515 417.3884 421.3784 423.59684 428.03373 430.69108 435.12797 439.56486 441.3364 443.55485 447.99174 452.42863 456.8655 459.52287 463.95976 467.94975 471.93974 474.15818 478.14817 479.9197 484.3566 488.7935 493.23039 495.00193 498.9919">2. Latch data on the external address signals.</tspan><tspan y="579.8343" x="340.5968 345.0337 347.25215 349.47059 354.79325 358.78324 362.77323 367.2101 369.86747 372.0859 374.30436 379.18016 384.5028 388.9397 393.8155 399.13816 401.3566 404.01396 408.45085 412.44084 414.65928 419.09617 421.7535 426.1904 430.6273 432.39884 434.61729 436.83573 441.2726 443.92997 450.5773 452.34886 456.78575 461.22264 463.44108 465.21263 469.6495 474.0864 476.74375">3. Assert FB_TA (external termination).</tspan><tspan y="624.17318" x="340.0223 344.4592 346.67765 348.8961 354.65766 359.09455 363.53144 367.96833 370.18678 374.62367 376.8421 381.7179 387.04057 391.47746 396.35325 401.6759 403.89436 406.5517 410.9886 414.97859 417.19703 421.6339 424.29127 428.72816 433.16505 434.93659 437.15504 439.37348 443.81037 446.4677 453.11506 454.8866 459.3235 463.76039 465.97883 467.75038 472.18727 476.62416 479.2815">1. Negate FB_TA (external termination).</tspan><tspan y="553.5164" x="341.2433 345.68019 347.89863 350.11708 355.43974 359.87663 361.64817 366.08506 370.07505 372.2935 374.51194 376.73039 381.16728 385.60417 387.8226 392.2595 396.69639 401.13328 403.79063 408.2275 412.6644 415.32176 417.0933 421.53019 423.74864 428.18553 430.40397 434.39396 436.1655 440.6024 444.59239 449.02928 451.2477 455.6846 460.1215 464.11149 465.88304 469.87303 474.3099">1. Select the appropriate slave device.</tspan><tspan y="483.01939" x="129.2067 133.64357 135.87 138.08844 143.91385 148.35073 152.79558 157.24044 159.45888 163.90373 166.12218 168.3486 170.92613 175.37099 179.81584 183.80585 185.79288 190.22975 192.89507 195.11351 199.1115 201.32994 205.7748 208.77527 211.0017 213.22014">1. Negate transfer start. </tspan><tspan y="495.71873" x="130.01268 134.44956 136.668 138.88645 144.2091 148.19911 152.18912 156.62599 159.28333 161.50177 163.72022 168.596 173.91866 178.35553 184.1171">2. Assert FB_CS</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -1.6716766 -344.5762)" font-size="7.98" font-family="HelveticaLTStd"><tspan y="495.71873" x="189.43976">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -1.6716766 -344.5762)" font-size="7.98" font-family="HelveticaLTStd"><tspan y="495.71873" x="193.87664">.</tspan><tspan y="509.6275" x="129.60572 134.04259 136.26103 138.47948 144.24105 146.89838 148.66994 152.65995 157.09682 159.31526 163.75214 168.18901 170.40746 174.84433 177.06278">3. Drive data. </tspan><tspan y="555.1839" x="129.40624 133.84311 136.06156 138.28 143.15578 144.92734 149.36421 153.35422 158.67688 163.11376 167.10376 169.3222 173.75908 177.74909 181.73909 186.17597 188.8333 191.05175 195.04175 197.2602 199.03176 203.46863 205.68708 210.12395 212.78128 217.21816 221.65503 223.42659 225.64504 230.52082 235.84348 240.28035 245.15613">1. FlexBus asserts internal FB_TA</tspan><tspan y="565.1589" x="129.40625 131.6247 133.84314 136.06159 138.28003 140.93737 145.37424 149.81111 152.02956 156.46643 158.68488 163.12175 167.11176 171.10176 175.53864 179.97551 185.73708 187.50864 191.94551 196.38239 200.81926 205.25614 207.47458 209.24614 213.68302 215.90146 220.33834 222.99567 227.43254 231.86942 233.64098 235.85942 238.07787 242.51474 245.17208 251.81941 253.59098 258.02787 262.46476 264.6832 266.45475 270.89164 275.32853 277.98588"> (auto acknowledge/internal termination).</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="253.83443" x="150.30437 157.63637 160.97237 168.30437 175.63637 180.30437 186.97637 190.31237 196.98436 203.65636 207.65236 214.32436 220.99636 224.33235 227.66835 238.99636 243.66436 247.00035 250.99636 257.66838 261.66438 270.32838 277.00038 283.67237 287.00837 293.68037 297.01637 304.34837 307.68437 315.01637 324.35237 331.02436 338.35636 345.02836 349.69636">Figure 30-27. Write-Cycle Flowchart</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="280.26725" x="-.0036315919 8.550368 15.550368 21.766369 25.266369 29.92837 36.928369 40.82037 44.71237 51.71237 61.820375 65.71237 72.71237 79.71237 83.21237 87.874378 91.76637 98.76637 105.76637 110.428379 116.64438 120.14438 125.59038 132.59038 139.59038 149.69838 155.14438 158.64438 162.53638 169.53638 175.75238 179.25238 189.36038 194.02239 197.91439 201.80638 208.02239 211.52239 217.73839 224.73839 230.95439 234.84639 241.0624 244.5624 248.45439 252.34639 263.2384 267.1304 274.1304 281.1304 284.6304 291.6304 295.5224 301.7384 308.7384 313.4004 319.6164 330.5084">The following figure shows the write cycle timing diagram.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="304.45396" x="236.44237 246.55037 255.10437 259.76637">Note</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="329.06724" x="71.99837 80.55237 87.55237 93.76837 97.26837 103.484378 110.484378 117.484378 122.14638 128.36238 133.80838 139.25438 142.75438 148.97039 155.97039 162.97039 166.47039 173.47039 179.68639 183.57839 189.79439 193.29439 200.29439 207.29439 212.74039 218.18639 224.40239 229.84839 233.34839 239.56439 244.2264 250.4424 253.9424 264.8344 271.8344 278.8344 285.0504 292.0504 295.5504 302.5504 308.76643 312.65843 322.76643 328.98243 335.19844 342.19844 345.69844 349.59043 356.59043 362.80644 366.30644 374.09043 377.98243 384.19844 391.19844 400.53645 407.53645">The address and data busses are muxed between the FlexBus</tspan><tspan y="345.06724" x="71.99837 78.21437 85.21437 92.21437 95.71437 101.930377 108.930377 115.930377 119.82237 126.82237 133.03838 137.70038 141.20038 152.09238 159.09238 166.09238 173.09238 176.98438 183.20038 186.70038 190.20038 200.30838 204.20038 207.70038 211.59238 218.59238 224.80838 228.30838 234.52439 241.52439 248.52439 252.02439 259.02439 263.68638 267.18638 271.07838 278.07838 284.29438 287.79438 297.90238 302.56437 306.45637 310.34837 316.56437 320.06437 327.06437 334.06437 339.51039 343.01039 349.22639 356.22639 362.44239 366.33439 372.55039 377.9964 381.4964 384.9964 388.8884 395.8884">and another module. At the end of the write bus cycles, the</tspan><tspan y="361.06724" x="71.99837 78.21437 85.21437 92.21437 96.87637 103.09238 108.538379 113.984378 117.484378 122.930377 126.82237 133.82238 140.82238 147.03838 150.93038 156.37638 159.87638 166.09238 170.75438 176.97039 180.47039 184.36238 191.36238 198.36238 204.57839 208.47039 214.68639 219.34839 230.24039 234.13239 241.13239 247.34839 251.24039 257.4564">address signals are indeterminate.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 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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