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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_421.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

126 lines
26 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="11.85" x="13.104 23.996003 28.658003 33.320005 36.820005 40.712007 47.712007 53.928007 57.428007 63.644006 69.86001 76.07601 82.292018 87.738018 93.18401 96.68401 103.68401 110.68401 116.90002 122.346019 125.846019 132.84601 139.84601 143.738 147.238 154.238 158.13 162.022 165.522 169.414 176.414 179.914 186.13 193.13 200.13 203.63 208.292 214.50801 221.50801 225.40001 232.40001 239.40001 242.90001 249.90001 256.116 261.562 267.778 272.44 276.332 283.332 287.224 294.224 298.886 302.386 305.886 312.102 315.602 322.602 327.26399 334.26399 338.15599 344.37199 350.58799 354.47999 358.37199 365.37199 372.37199 375.87199 382.08799 386.74998 391.41197 398.41197 403.07395 406.57395 410.46595 415.91197 419.41197 424.07395 430.28996 437.28996 444.28996 448.95195 452.84394 459.05995 466.05995">&#x2022;If the access does not hit in any region descriptor, a protection error is reported.</tspan><tspan y="36.25" x="13.104 23.996003 28.658003 33.320005 36.820005 40.712007 47.712007 53.928007 57.428007 63.644006 69.86001 76.07601 82.292018 87.738018 93.18401 96.68401 103.68401 107.57601 111.46801 116.91401 120.41401 124.30601 131.306 134.806 141.022 144.522 149.968 153.86 160.86 167.86 171.752 177.968 181.468 186.13 192.34601 199.34601 203.238 210.238 217.238 220.738 227.738 233.95401 239.40001 245.61602 250.27802 254.17002 261.17 265.062 272.062 276.724 280.224 286.44 293.44 300.44 303.94 307.832 314.832 321.048 324.94 328.44 333.102 339.318 346.318 350.21 357.21 364.21 367.71 373.156 377.048 384.048 391.048 397.264 401.156 406.60203 410.10203 416.31803 419.81803 426.81803 431.48 438.48 442.372 448.588 454.80403 458.696 462.588 469.588">&#x2022;If the access hits in a single region descriptor and that region signals a protection</tspan><tspan y="52.25" x="23.99604 30.99604 34.888044 41.888044 45.780046 51.996046 55.888048 59.78005 66.780048 73.780048 77.280048 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355.278 361.49403 368.49403 372.38603 379.38603 386.38603 391.83204 395.33204 400.77806 404.67005 411.67005 418.67005 424.88606 428.77806 432.27806 439.27806 443.94004 450.94004 454.83204 461.04804 467.26405 471.15605 475.04804 482.04804">&#x2022;If the access hits in multiple (overlapping) regions and all regions signal protection</tspan><tspan y="92.65" x="23.99607 30.99607 34.888074 41.888074 45.780076 51.996076 55.888078 59.78008 66.780078 73.780078 79.226078 82.726078 86.226078 92.44208 95.94208 102.94208 107.60408 114.60408 118.49608 124.71208 130.92809 134.82009 138.71208 145.71208 152.71208 156.21208 162.42809 167.09009 171.75209 178.75209 183.4141 186.9141 190.80609 196.25209 199.75209 204.4141 210.6301 217.6301 224.6301 229.2921 233.1841 239.4001 246.4001">violations, a protection error is reported.</tspan><tspan y="127.05" x=".000091552738 10.108092 15.554092 19.054093 24.500094 31.500094 38.50009 48.608095 55.608095 59.108095 63.000097 70.00009 73.50009 77.39209 84.39209 90.60809 94.10809 98.00009 105.00009 108.89209 113.55409 120.55409 124.05409 130.2701 137.2701 144.2701 151.2701 155.1621 159.0541 162.94609 169.94609 176.94609 180.44609 183.94609 190.94609 195.6081 201.8241 208.8241 212.7161 216.6081 223.6081 230.6081 234.1081 241.1081 247.3241 251.9861 262.8781 266.7701 272.21614 277.66215 281.55415 288.55415 295.55415 299.05415 302.94615 308.39216 311.89216 318.10816 321.60816 328.60816 332.50016 339.50016 346.50016 352.71617 357.37815 360.87815 367.87815 372.54014 376.43214 383.43214 388.09413 391.9861 395.8781 402.8781 406.3781 410.2701 417.2701 423.4861 430.4861 433.9861 440.9861 447.20213 454.20213 461.20213 465.09413 472.09413">As shown in the third condition, granting permission is a higher priority than denying</tspan><tspan y="143.05002" x=".00012155273 6.216122 12.432123 18.648125 24.864125 30.310126 35.756128 39.256128 43.918127 50.918127 55.580125 59.080125 66.080127 73.080127 79.29613 83.95813 87.85013 94.06613 101.06613 108.06613 111.95813 118.95813 125.95813 129.45813 134.12014 140.33614 147.33614 151.22814 158.22814 165.22814 170.67414 174.17414 177.67414 186.22814 193.22814 197.12014 202.56613 206.06613 212.28214 219.28214 226.28214 230.94414 237.94414 244.16014 250.37615 257.37617 260.87617 264.76817 270.21418 273.71418 284.60618 291.60618 296.26817 302.48417 305.98417 310.64616 314.53816 320.75416 327.75416 331.64616 338.64616 342.53816 348.75416 352.25416 356.14616 363.14616 366.64616 372.09217 379.09217 384.53819 388.43019 394.64619 405.53819 409.03819 414.4842 421.4842 426.14619 430.03819 440.14619 446.36219 451.02418 457.24018 460.74018 464.63218">access for overlapping regions. This approach is more flexible to system software in</tspan><tspan y="159.05002" x=".00012155273 4.662122 10.878122 17.878123 21.770123 28.770123 35.770124 39.270124 46.270124 52.486124 57.93212 64.148128 68.81013 72.702129 79.702129 83.594127 90.594127 95.25613 98.75613 104.97213 110.41813 115.86413 119.75613 126.75613 133.75614 144.64813 150.86414 157.86414 161.75614 167.20214 170.70214 174.20214 181.98613 188.98613 193.64813 197.14813 203.36414 210.36414 213.86414 220.08014 227.08014 233.29615 244.18814 251.18814 255.08014 261.29615 264.79615 271.79615 276.45814 279.95814 283.85014 290.85014 297.06614 300.56614 307.56614 313.01216 319.22816 322.72816 329.72816 334.39015 337.89015 344.89015 351.89015 358.10615 362.76814 366.66014 372.87614 379.87614 386.87614 390.76814 397.76814 404.76814 408.26814 412.9301 419.14613 426.14613 430.03813 437.03813">region descriptor assignments. For an example of the use of overlapping region</tspan><tspan y="175.05002" x=".00015155273 7.0001518 13.216152 18.662154 24.878155 29.540156 33.432157 40.432157 44.324159 51.324159 55.986158 61.432157 64.93216 68.43216 73.87816 80.09416 86.310169">descriptors, see </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="175.05002" x="225.52616">.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 270.6)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00214 8.898141 17.794142 22.242142 31.138142 35.586145">19.4.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 270.6)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00214 10.674141 20.450142 32.898145 41.794145 48.018144 52.466146 66.69015 75.58615 85.36215 94.258159 104.03416 112.93016 127.15416 136.05016 145.82616">Power management</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="253.85" x="-.00387 10.104131 13.996131 19.442131 25.65813 32.65813 36.550134 40.442136 47.442136 54.442136 57.942136 61.834138 68.83414 75.05014 78.55014 90.99614 98.78014 108.888149 112.388149 119.388149 126.388149 129.88816 136.10416 139.99616 146.21216 152.42816 157.09017 160.98217 167.98217 174.98217 178.48217 187.82016 196.37416 204.15816 213.49616 218.15816 228.26616 236.82016 246.92816 251.59017 255.09017 265.98219 269.87419 276.87419 280.76618 291.65818 295.55018 301.76618 307.98219 313.4282 316.9282 323.9282 330.9282 341.0362 347.2522 351.91419 355.41419 362.41419 366.30619 371.7522 377.1982 381.0902 388.0902 394.3062 398.1982 402.0902 409.0902 416.0902 419.5902 423.0902 431.6442 438.6442 442.1442 453.0362 456.9282 463.9282 467.8202 478.7122 482.6042 488.8202">Disabling the MPU by clearing CESR[VLD] minimizes power dissipation. To minimize</tspan><tspan y="269.85" x="-.0038299999 3.8881705 10.88817 17.104172 20.604172 27.604172 34.60417 44.712175 50.928174 55.59017 59.09017 66.09017 69.98217 75.42817 80.87417 84.76617 91.76617 97.98217 101.87417 105.76617 112.76617 119.76617 123.26617 130.26618 134.92818 138.42818 144.64418 151.64418 155.14418 161.36019 168.36019 174.57619 181.57619 185.46819 191.68419 198.68419 202.18419 214.63019 222.41419 232.52219 236.02219 239.52219 243.41419 250.41419 257.41419 263.6302 267.5222 271.41419 278.41419 284.6302 288.5222 294.7382 298.2382 305.2382 312.2382 319.2382 324.6842 330.9002 337.9002 341.4002 346.0622 352.2782 359.2782 363.1702 370.1702 377.1702 380.6702 387.6702 393.8862 399.3322 405.54823 410.2102 414.1022 421.1022 424.9942 431.9942 436.6562 442.1022 445.6022 452.6022">the power dissipation of an enabled MPU, invalidate unused region descriptors by</tspan><tspan y="285.85" x="-.0038299999 6.2121708 10.104171 16.320172 22.536171 27.198172 31.090172 38.09017 45.09017 48.59017 52.482175 59.482175 65.69817 69.19817 75.41418 80.860179 86.306179 93.306179 99.52218 103.41418 109.63018 113.52218 119.73818 126.73818 130.23819 139.57619 149.68419 159.79219 166.79219 173.79219 187.0082 194.0082 198.6702 205.6702 212.6702 217.3322 227.4402 235.9942 246.1022 250.7642 254.2642 261.26423 265.15623 269.04823 274.49424">clearing the associated RGDn_Word3[VLD] bits.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 386.19999)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00682 9.445181 18.897183 23.623183">19.5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 386.19999)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00682 4.71918 15.10618 19.83218 25.49318 30.21918 39.67118 44.397184 49.123186 57.623186 67.07519 72.73619 77.46219 87.84919 98.23619 102.96219 107.68819 118.07519 123.73619 134.12319 140.73619 155.8492 165.3012 170.96219 175.68819 186.07518">Initialization information</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="369.44999" x=".00018 10.108181 14.000181 17.500182 22.946183 29.946183 35.39218 39.284185 45.500185 56.392187 59.892187 65.33819 69.23019 75.44619 80.10819 84.00019 91.00019 98.00019 101.50019 105.00019 108.89219 115.89219 122.10819 129.10819 132.60819 136.50019 143.50019 149.71619 153.21619 159.43219 166.43219 173.43219 178.0942 185.0942 192.0942 196.7562 200.6482 206.8642 210.7562 216.9722 220.4722 227.4722 234.4722 245.3642 252.3642 258.5802 263.2422 266.7422 273.7422 278.40419 281.90419 286.56617 292.78218 299.78218 303.67417 310.67417 317.67417 321.17417 328.17417 334.39018 339.83619 346.0522 350.71418 354.60618 361.60618 365.49818 372.49818 377.16017 382.60618 386.10618 389.60618 393.49818 400.49818 406.71418 410.60618 417.60618 424.60618 428.49818 435.49818 442.49818 445.99818 451.44419 457.6602 461.5522 465.44419 469.33619 476.33619">At system startup, load the appropriate number of region descriptors, including setting</tspan><tspan y="385.44999" x=".00022 9.338222 19.446223">RGD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd" font-style="italic"><tspan y="385.44999" x="29.55422">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="385.44999" x="36.554224 43.554224 56.77022 63.77022 68.43222 75.43222 82.43222 87.09422 97.202228 105.756229 115.86423 120.52623 124.02623 127.52623 135.31023 141.52623 145.41823 149.31023 153.20223 160.20223 167.20223 170.70223 180.04022 188.59423 196.37822 205.71622 210.37822 220.48622 229.04022 239.14823 243.81023 247.31023 253.52623 260.52626 266.74226 273.74226 277.63426 283.85026 289.29627 292.79627 296.68827 303.68827 309.90428 313.40428 324.29627 331.29627 338.29627 345.29627 349.18827 355.40428">_Word3[VLD]. Setting CESR[VLD] enables the module.</tspan><tspan y="409.84999" x=".00022125244 4.6622216 9.324222 12.824222 16.716223 23.716223 29.932225 33.432226 38.878225 45.878225 51.324224 55.216226 61.432226 72.32423 75.82423 80.48623 86.70223 93.70223 100.70223 104.59423 109.25623 115.47224 120.918239 124.418239 128.31024 135.31024 141.52625 145.41825 148.91825 155.13425 159.02625 162.91825 166.41825 170.31024 177.31024 183.52625 187.02625 190.91825 197.91825 204.13425 211.13425 217.35025 224.35025 227.85025 232.51226 238.72826 245.72826 249.62026 256.62025 263.62025 267.12025 274.12025 280.33625 285.78227 291.99827 296.66026 300.55226 307.55226 311.44425 318.44425 323.10624 328.55226 332.05226 339.05226 345.26826 348.76826 354.98426 361.98426 368.20027 375.20027 379.09226 385.30827 392.30827 395.80827 401.25428 405.14628 416.03828 423.03828 426.93028 430.82228 437.03828 444.03828 450.25428 457.25428 464.25428 469.7003 473.5923 480.5923">If the system requires that all the loaded region descriptors be enabled simultaneously,</tspan><tspan y="425.84999" x=".00022125244 4.6622216 8.554222 13.216223 18.662224 22.554224 26.054224 32.270227 39.270227 44.716226 51.716226 56.378225 62.594224 66.09422 69.98622 76.98622 83.202228 87.09422 90.59422 94.48622 101.48622 107.702228 111.202228 117.41823 124.41823 128.31023 132.20223 136.86423 143.08023 146.58023 159.02623 166.81023 176.91823 180.41823 184.31023 189.75623 193.25623 200.25623 204.14823 209.59423 215.81023 222.81023 226.70223 232.91823 239.91823 243.41823 248.08023 257.41825 265.97224 273.75624 283.09425 287.75624 297.86424 306.4182 316.5262 321.1882 329.0842 336.0842 340.7462">first ensure that the entire MPU is disabled (CESR[VLD]=0).</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="450.03669" x="236.44623 246.55423 255.10823 259.77024">Note</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="474.64997" x="72.00223 82.11023 85.61023 90.27223 96.488239 103.488239 107.38023 114.38023 121.38023 124.88023 131.88024 138.09624 143.54224 149.75824 154.42024 158.31224 165.31224 169.20424 176.20424 180.86624 184.36624 195.25824 202.25824 207.70424 211.59624 215.09624 222.09624 228.31224 231.81224 237.25824 243.47425 247.36624 250.86624 254.75824 261.75825 265.25825 271.47425 275.36625 279.25825 286.25825 296.36625 299.86625 306.08226 312.29826 318.51426 324.73027 330.17628 335.62229 339.12229 343.01429 350.01429 353.51429 357.40629 364.40629 370.62229 374.12229 386.5683 394.3523">A region descriptor must be set to allow access to the MPU</tspan><tspan y="490.64997" x="72.00223 76.66423 82.88023 89.88023 93.77223 99.21823 103.11023 109.32623 113.988239 119.434238 122.934238 126.82623 131.48824 134.98824 139.65024 146.65024 151.31224 155.20424 162.20424 168.42024 173.08225 176.58225 182.79825 189.79825 196.01425 203.01425 210.01425 216.23026 221.67626 225.17626 231.39226 236.05426 242.27027 245.77027 252.77027 258.98628 265.20228 272.20228 278.41828 285.41828">registers if further changes are needed.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 590.99996)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".00325 9.455251 18.907252 23.633252">19.6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 590.99996)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".00326 12.277261 22.66426 33.05126 37.777265 42.503267 51.955266 61.407266 67.06827 71.794269 82.18127 92.56827 97.294269 102.02026 112.407268 118.06827 128.45526 135.06827 150.18128 159.63327 165.29427 170.02027 180.40726">Application information</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="574.24996" x=".00226 4.6642606 11.664261 15.164261 21.38026 28.38026 31.88026 38.88026 45.88026 52.09626 56.75826 62.97426 66.86626 70.758258 77.758258 84.758258 90.97426 94.86626 98.36626 103.812259 110.812259 116.258258 120.15025 126.36626 137.25826 140.75826 144.25826 148.15026 155.15026 159.04225 165.25826 169.92026 174.58226 180.79827 187.01427 190.90627 197.90627 204.90627 208.40627 218.51427 222.40627 226.29827 233.29827 236.79827 240.69026 247.69026 253.90627 257.40626 269.85227 277.63627 287.74427 291.24427 295.13627 300.58229 304.08229 311.08229 317.29829 324.29829 330.51429 335.17628 341.39228 345.28428 349.17628 356.17628 359.67628 365.89228 369.78428 376.00028 381.4463 386.8923 390.7843 395.4463 399.3383 405.5543 412.5543 416.0543 419.9463 426.9463 430.8383 437.8383 441.3383 445.2303 452.2303">In an operational system, interfacing with the MPU is generally classified into the</tspan><tspan y="590.24996" x=".00227 4.6642706 11.66427 15.556271 19.44827 26.44827 36.55627 40.448274 47.448274 54.448274 57.948274 64.164279 70.38028 74.27228 78.164279 85.164279 89.056278 92.94827 96.84027 103.056278 108.50227">following activities:</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01031" x="324.981 331.47898 336.97798 341.98197 347.48097 350.47798 355.48197 358.98298 361.485 366.48899 371.49299 373.995 381.492 386.496 394.497 399.996 403.497 408.501 411.00303 417.006 420.50703 426.006 429.00303 434.00703 439.01103 442.00804 444.51005 450.00904 455.50804 458.01005 464.50804 470.00703 472.50904 475.50605 478.00807 481.00508 488.50209 494.50508 501.00306">Chapter 19 Memory Protection Unit (MPU)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.01 137.23 142.79 148.34999 151.12999 157.79999 163.90999 170.01999 173.34999 179.45999 185.01999 193.90999 196.68999 199.46999 205.02999 207.80998 215.02999 220.58998 223.91999 229.47998 233.36998 238.92998 245.03998 250.59998 256.15998 258.93998 267.26997 272.82997 278.93995 285.04994 290.60993 293.38993 296.16993 298.94993 306.16993 311.72993 317.28993 320.06993 322.8499 328.4099 331.1899 336.7499 342.8599 348.96989 351.74989 357.30989 362.86988 368.42988">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32 751.756)" 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>
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