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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_619.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

320 lines
37 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="20" font-family="HelveticaLTStd" font-weight="bold"><tspan y="88.19531" x="0 14.4400019 26.660002 37.780004 50.000005 56.660005 67.78001 75.560009 81.12 92.240009">Chapter 28</tspan><tspan y="110.19531" x="0 12.22 17.78 28.900002 40.020006 52.240007 57.800008 74.46001 85.58001 103.36001 115.58001 123.36001 134.48001 140.04001 154.48001 166.70001 178.92002 185.58002 193.36002 205.58002 211.14002 216.70001 227.82 235.6 241.16 247.82 260.04 276.7 291.14">Flash Memory Controller (FMC)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00601 9.445991 18.897992 23.623991">28.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00601 4.7199904 15.106991 20.76799 27.380991 37.76799 48.15499 58.541994 67.993999 73.655 78.381 88.768">Introduction</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="186.83672" x="232.561 242.669 253.561 262.115">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="211.45" x="71.99498 79.778987 86.778987 91.44099 94.94099 98.832988 105.832988 112.04899 115.54899 121.76499 128.76499 132.65699 139.65699 144.31899 149.76499 156.76499 162.98099 169.19699 173.08899 177.75099 181.64299 187.859 191.359 195.25099 206.14299 213.14299 217.03499 223.25099 234.14299 240.359 247.359 251.25099 257.46699 261.35899 265.25099 272.25099 279.25099 282.75099 289.75099 295.96699 299.85899 306.07499 309.96699 313.85899 319.305 322.805 329.805 334.46699 337.96699 341.85899 348.85899 352.75099 358.197 361.697 372.589 379.589 386.589 393.589 397.481 403.697 406.21699">For the chip-specific implementation details of this module's</tspan><tspan y="227.45" x="71.995 75.887 82.887 88.333 92.225 98.441 105.441 111.657009 117.87301 123.31901 126.81901 132.26502 138.48102 144.69702 148.19702 152.08902 159.08902 165.30503 168.80503 175.02103 182.02103 185.91303 192.91303 196.41303 202.62903 209.62903 216.62903 221.29103 225.18303 232.18303 239.18303 243.84503 250.06104 253.95304 257.84504 264.84504 271.84504 275.34504 279.23704 286.23704 290.89903 297.89903 302.561 313.453 319.669 323.561 327.453 334.453 341.453">instances see the chip configuration information.</tspan><tspan y="251.84999" x="71.99503 79.77904 89.88704 99.22504 107.77904 112.44104 121.77904 131.88704 140.44104 145.10305 155.21105 165.31905 168.81905 177.37305 186.71105 196.04904 206.15705 215.49504 219.38704 222.88704 227.54904 234.54904 238.04904 248.94104 255.94104 262.94105 269.94105 273.83305 280.04905 283.54905 294.44105 300.65705 311.54905 318.54905 323.21104 330.21104 333.71104 344.60304 350.81904 357.81904 361.31904 365.21104 371.42704 378.42704 382.31904 388.53504 393.98106">PUBLICATION ERROR: In module memory map tables,</tspan><tspan y="267.85" x="71.99503 76.657039 82.87304 89.87304 93.76504 99.21104 103.103038 109.31904 113.98104 117.48104 122.14304 128.35904 133.80504 140.02104 143.91304 147.41304 154.41304 160.62905 164.52104 171.52104 177.73705 183.18305 186.68305 197.57505 203.79105 210.79105 214.29105 221.29105 227.50705 231.00705 234.89905 241.89905 248.11505 255.11505 259.77705 264.43904 270.65504 276.87104 280.76304 284.26304 287.76304 295.54704 301.76304 307.97904 311.47904 315.37104 322.37104 328.58705 332.08705 335.97904 342.97904 349.97904 353.87104 360.87104 364.76304 371.76304 378.76304 384.97904">register reset values may be incorrect. See the individual</tspan><tspan y="283.85" x="71.995059 76.65706 82.87306 89.87306 93.76506 99.21106 103.10306 109.31906 113.981067 117.481067 124.481067 128.37306 134.58907 141.58907 146.25107 152.46707 163.35907 168.80507 172.30507 176.96707 183.96707 188.62908 192.12908 198.34508 204.56108 210.77709 217.77709 222.43909 228.65509 232.54709 238.76309 242.26309 246.9251 253.1411 258.5871 264.8031 268.6951 272.1951 276.0871 283.0871 287.74909 294.74909 299.41108 310.30308 316.51908 320.41108 324.30308 331.30308 338.30308">register diagrams for accurate reset information.</tspan><tspan y="308.25" x="-.0069122316 8.547088 15.547088 21.763089 25.263089 33.04709 36.93909 43.15509 48.60109 55.60109 59.10109 71.54709 77.76309 88.65509 95.65509 100.31709 107.31709 110.81709 120.15509 127.15509 134.15509 138.04709 142.70909 149.70909 153.60109 157.49309 163.70909 168.3711 171.8711 176.5331 184.3171 196.76309 206.10109 210.76309 214.26309 218.15509 223.60109 227.10109 233.3171 236.8171 247.70909 253.9251 264.8171 271.8171 276.4791 283.4791 286.9791 293.1951 299.4111 305.6271 311.8431 315.7351 321.9511 326.6131 332.8291 336.7211 340.6131 347.6131 354.6131 358.1131 365.1131 372.1131 376.0051 379.8971 383.3971 387.2891 394.2891 400.5051 404.3971 407.8971 414.8971 419.55909 426.55909 433.55909 437.45109 444.45109 450.66709 456.1131">The Flash Memory Controller (FMC) is a memory acceleration unit that provides:</tspan><tspan y="324.25" x="13.097077 24.003079 30.219079 37.219079 40.719079 44.61108 51.61108 55.503084 61.71908 66.38108 71.04308 77.25909 83.47509 89.69109 93.19109 100.19109 106.4071 110.299098 120.4071 126.6231 132.8391 139.8391 143.3391 147.2311 154.2311 160.4471 163.9471 170.9471 177.1631 184.1631 188.0551 194.2711 200.4871 203.9871 210.20311 217.20311 224.20311 227.70311 231.59511 238.59511 244.81111 248.31111 255.31111 262.3111 268.5271 272.4191 277.0811 284.0811 290.2971 297.2971 304.2971 307.7971 314.7971 321.7971 328.7971 335.7971 342.7971 346.6891 352.9051 356.7971 360.6891 364.5811 370.7971 374.2971 385.1891 391.4051 402.2971 409.2971 413.95909 420.95909 424.45909 427.95909 437.2971 443.5131 450.5131 457.5131 461.0131">&#x2022;an interface between the device and the dual-bank nonvolatile memory. Bank 0</tspan><tspan y="340.25" x="24.003067 30.219067 37.219068 44.219068 49.665067 53.557069 59.003068 62.89507 68.34107 71.84107 78.84107 83.503078 87.003078 94.003078 98.66508 105.66508 112.66508 117.32708 123.54308 134.43509 137.93509 142.59709 146.48909 152.7051 158.1511 165.1511 168.6511 179.54309 185.7591 196.6511 203.6511 208.3131 215.3131 218.8131 222.3131 228.5291 235.5291 242.5291 246.0291 253.0291 259.2451 266.2451 273.2451 276.7451 283.7451 287.2451 293.4611 300.4611 307.4611 312.9071 316.7991 322.24513 326.13713 331.58314 335.08314 342.08314 346.74513 350.24513 358.0291 361.9211 368.13713 375.13713 385.24513 395.35313 407.79914">consists of program flash memory, and bank 1 consists of FlexNVM.</tspan><tspan y="356.25" x="13.097047 24.003048 31.003048 38.003049 42.665048 47.327047 53.543046 58.205045 63.651044 67.15105 71.043048 78.043048 84.25905 88.15105 91.65105 97.86705 104.08305 111.08305 114.58305 120.79906 127.01506 133.23107 139.44707 143.33907 149.55507 154.21707 160.43308 164.32508 170.54108 174.04108 178.70308 182.59508 188.81108 194.25708 201.25708 204.75708 215.64908 221.86508 232.75708 239.75708 244.41909 251.41909 254.91909 261.13508 268.13508 275.13508 278.63508 286.41908 290.31108 296.52708 303.52708 313.63508 323.74308 336.1891 339.6891 346.6891 352.9051 356.7971 363.0131 366.5131 370.4051 375.06709 381.28309 388.28309 393.7291 398.39109 404.6071 409.26908 414.7151">&#x2022;buffers that can accelerate flash memory and FlexNVM data transfers.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 471.4)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00706 8.903061 17.79906 22.24706 31.143063 35.591066">28.1.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 471.4)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00706 12.455061 21.351063 30.247063 36.47106 45.36706 49.815065 58.711065">Overview</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="433.25" x="-.00293 8.55107 15.55107 21.76707 25.26707 33.05107 36.943075 43.159074 48.605073 55.605073 59.105073 71.55107 77.767078 88.65907 95.65907 100.321079 107.321079 110.821079 120.15907 127.15907 134.15908 138.05107 142.71308 149.71308 153.60507 157.49707 163.71308 168.37508 171.87508 182.76708 188.98308 195.98308 202.19908 209.19908 215.41509 220.86109 224.36109 228.25308 235.25308 241.46909 244.96909 248.86109 255.86109 259.75309 265.9691 270.63108 275.29307 281.50907 287.72508 293.94108 297.44108 304.44108 310.65708 314.54908 324.65708 330.87309 337.08909 344.08909 347.58909 351.48109 358.48109 364.69709 368.19709 375.19709 381.4131 388.4131 392.30509 398.5211 404.7371 408.2371 414.4531 421.4531 428.4531 431.9531 435.8451 442.8451 449.0611 452.5611 459.5611 466.5611 472.7771 476.6691">The Flash Memory Controller manages the interface between the device and the dual-</tspan><tspan y="449.25" x="-.0029 6.9971 13.2131 20.2131 27.2131 30.7131 35.3751 39.2671 45.4831 50.9291 57.9291 61.4291 72.3211 78.5371 89.4291 96.4291 101.0911 108.0911 111.5911 115.0911 123.6451 130.64511 136.86112 140.36112 148.14511 160.59111 169.92911 173.42911 178.09111 184.30712 190.52312 196.73912 200.63112 207.63112 213.84712 219.29312 222.79312 228.23912 232.13112 238.34712 242.23912 249.23912 254.68512 258.18513 262.07713 269.07713 273.7391 280.7391 285.4011 296.2931 302.5091 306.4011 310.2931 317.2931 324.2931 327.7931 334.7931 341.0091 344.9011 351.1171 355.0091 358.9011 362.7931 369.7931 376.7931 380.2931 384.1851 391.1851 397.4011 400.9011 407.1171 414.1171 421.1171 425.77909 429.67109 436.67109 443.67109 448.33308 454.54908 458.44108 462.33308 469.33308 476.33308 479.83308 486.83308">bank flash memory. The FMC receives status information detailing the configuration of</tspan><tspan y="465.25" x="-.0029 3.8891006 10.889101 17.105103 20.605103 31.497105 37.713106 48.605108 55.605108 60.267107 67.267108 70.767108 76.98311 83.98311 90.98311 94.48311 101.48311 106.92911 113.14511 118.59111 122.09111 125.98311 132.98311 136.8751 142.3211 145.8211 149.7131 156.7131 161.3751 168.3751 173.03711 183.92911 190.14511 194.03711 197.92911 204.92911 211.92911 215.42911 219.3211 226.3211 229.8211 236.03711 243.03711 248.48311 255.48311 260.1451 266.3611 269.8611 276.07713 279.57713 286.57713 291.2391 298.2391 305.2391 311.4551 316.1171 319.6171 323.5091 330.5091 334.4011 340.6171 345.27909 349.94108 356.15708 362.37309 368.58909 372.08909 375.58909 384.14308 391.14308 397.35908 400.85908 405.52107 412.52107 416.41307 420.30506 427.30506 437.41307 441.30506 448.30506 455.30506 458.80506 462.69706 468.91307 475.91307 479.80506">the memory and uses this information to ensure a proper interface. The following table</tspan><tspan y="481.25" x="-.0029 5.4431006 12.4431 19.4431 29.551102 34.9971 38.4971 42.389104 49.389104 55.605104 59.105104 64.5511 71.5511 78.5511 85.5511 92.5511 97.213108 101.1051 107.321109 114.321109 117.821109 122.48311 128.69911 134.91512 141.91512 145.80712 155.91512 160.57712 164.46912 168.36112 174.57712 178.07712 185.07712 192.07712 198.29312 202.95513 209.17113 213.06313 216.95513 223.95513 230.95513 236.40113">shows the supported read/write operations.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 659.65)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">1.</tspan></text>
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