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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_675.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

164 lines
35 KiB (Stored with Git LFS)
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Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 19.976708 -89.717578)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="401.86393" x="180.13732 184.93972 189.74211 194.54451 199.34691 204.1493 208.15251 210.15412 214.55332 216.55492 220.75972 222.76132 226.76453 228.76613 232.76934 234.77094 236.77254 240.77574 242.77735 246.78055 248.78215 250.78376 254.78696 257.18458 259.18617 263.18937 265.19096">EEESPLIT = 1/8, 1/4, or 1/2</tspan><tspan y="419.61833" x="180.41089 185.21329 186.81169 190.4117 194.4149 196.4165 200.41971 202.42131 204.42292 209.22531 214.02771 218.83011 224.0285 229.6301 235.6277 237.6293 241.6325 245.63571 248.03331 250.03491 251.63332 253.63492 255.23332 259.2365 263.23973 265.2413 270.0437 272.0453 276.2501 278.25169 283.05409 287.85649 292.65888 297.46128 299.46287 303.86207 308.66447 310.66606 314.26606 316.26765 318.66526 322.66847 324.67005 327.06767 329.06925 333.87165 338.67405 343.47645 348.27885 353.08125 357.08445 359.08604 363.48524">Size of EEPROM partition B = EEESIZE x (1 - EEESPLIT)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="303.11253" x="44.62799 51.95999 55.29599 62.62799 69.95999 74.62799 81.29999 84.63599 91.30798 97.97998 101.97598 108.64798 115.31998 118.655979 121.991977 129.32398 132.65998 139.33197 146.00397 154.66797 163.33197 173.32798 176.66397 180.65998 187.99198 191.32798 198.65998 201.99597 208.66797 215.33997 224.00397 232.00797 242.00397 245.33997 255.33597 262.00798 272.67597 280.00798 284.67597 291.34797 294.68397 304.67997 311.35197 318.68397 326.01597 329.35197 336.68397 344.01597 347.35197 356.68797 360.02397 364.01997 371.35197 374.68797 381.35997 384.69596 392.69996 400.03196 407.36396 411.35997 418.03196 424.70396 431.37596 435.37196 442.04396 452.71195">Figure 29-32. FlexRAM to FlexNVM Memory Mapping with 2 Sub-systems</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 399.69535)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.006 8.334002 16.674004 20.844004 29.184006 33.354009 41.694009 45.86401">29.4.3.3</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="381.94535" x=".005 10.113001 17.113 21.005002 24.505002 31.505002 36.167 39.667 44.329 50.545 55.990999 62.206998 66.099 69.599 79.707 83.599 87.491 94.491 97.991 101.882999 108.882999 115.099 118.599 126.383 134.167 142.72101 152.82901 161.38301 166.04502 175.38301 184.72101 189.38301 197.167 201.82901 205.32901 212.32901 216.22101 220.113 223.613 229.82901 233.72101 239.93701 246.15302 250.81502 254.31502 257.815 261.707 268.707 274.923 278.423 285.423 291.639 296.301 300.193 304.085 307.977 311.869 318.869 325.869 329.369 334.815 341.031 344.923 348.815 352.707 359.707 366.707 372.153 375.653 380.315 388.869 397.42298 405.97697 413.76097 418.42295 426.97694 435.5309 439.0309 442.5309 452.63893 461.1929 468.9769 479.0849 488.4229 496.9769">Out of reset with the FSTAT[CCIF] bit clear, the partition settings (EEESIZE, DEPART,</tspan><tspan y="397.94535" x=".00503 8.55903 17.11303 25.66703 33.45103 41.23503 49.789033 54.45103 63.00503 67.66703 71.16703 77.38303 82.04504 88.26104 91.76104 96.42304 102.639049 108.85505 115.85505 119.35505 124.01705 128.67905 135.67905 146.57105 150.07105 153.96305 160.96305 167.17905 170.67905 177.67905 183.89505 187.78705 194.00305 197.50305 202.16506 206.05706 212.27306 217.71906 224.71906 228.21906 232.88106 240.66506 250.00305 253.50305 259.71907 266.71907 273.71907 277.21907 281.11106 288.11106 294.32707 297.82707 306.38105 314.93504 322.71903 332.05705 342.16505 354.61106 358.11106 362.77305 366.66505 370.55705 376.77305 380.27305 385.71907 392.71907 398.16508 402.05708 408.27308 419.16508 422.66508 426.55708 432.00309 435.50309 439.39509 446.39509 450.28709 454.17909 458.07109 464.28709 468.17909 472.07109 478.28709 484.50309">EEESPLIT) are read from the data flash IFR and the EEPROM file system is initialized</tspan><tspan y="413.94535" x=".00503 6.2210309 12.437031 18.65303 25.65303 30.315032 37.315034 41.207036 48.207036 55.207036 59.099039 66.09904 69.59904 73.09904 81.65304 88.65304 94.86904 98.36904 106.92304 115.47704 123.26105 132.59905 142.70705 155.15305 158.65305 163.31505 167.20705 171.09905 177.31505 180.81505 186.26105 193.26105 198.70705 202.59905 208.81505 219.70705 223.20705 227.09905 234.09905 240.31505 246.53105 250.42305 256.63905 262.08506 265.58506 271.80107 275.69306 279.58506 283.08506 290.08506 296.30107 300.19306 304.08506 311.08506 314.58506 323.13905 331.69303 339.47703 348.81504 358.92304 371.36906 374.86906 381.86906 388.08506 391.97706 398.19306 401.69306 406.35505 412.57106 418.78706 425.78706 430.44905 437.44905 442.89506 446.39506 450.28706">accordingly. The EEPROM file system locates all valid EEPROM data records in</tspan><tspan y="429.94535" x=".0050600005 8.55906 17.11306 24.89706 34.23506 44.343065 56.789064 60.289064 67.28906 73.505069 79.72107 86.72107 93.72107 100.72107 104.22107 110.43707 117.43707 124.43707 127.93707 134.15308 141.15308 148.15308 152.04508 158.26108 163.70708 167.20708 171.09908 178.09908 184.31508 187.81508 194.81508 201.03108 211.13909 217.35509 222.80109 226.69309 230.19309 237.19309 243.40909 247.30109 253.51709 257.0171 260.9091 267.9091 271.4091 279.19309 283.08509 289.3011 296.3011 305.6391 315.7471 328.1931 331.6931 335.1931 343.7471 350.7471 356.9631 360.4631 368.2471 376.0311 384.58509 394.69309 403.24708 407.90907 417.24708 426.58509 431.24708 439.03108 443.69306 447.19306 453.40907 460.40907">EEPROM backup and copies the newest data to FlexRAM. The FSTAT[CCIF] and</tspan><tspan y="445.94535" x=".0050900008 7.789091 17.127093 27.235093 35.019094 45.127096 49.789094 58.343095 66.897098 75.451099 84.78909 94.897098 105.0051 109.6671 113.1671 120.1671 124.0591 127.951099 133.3971 136.8971 143.1131 147.7751 153.9911 157.4911 162.9371 169.1531 173.0451 176.5451 182.76111 187.42311 191.31511 197.53112 202.19312 205.69312 212.69312 218.90912 222.80112 229.01712 232.51712 237.17913 241.84113 248.84113 259.73313 263.23313 269.44914 273.34114 277.23313 280.73313 287.73313 293.94914 297.84114 301.73313 308.73313 312.23313 320.7871 329.3411 337.1251 346.4631 356.5711 369.01713 372.51713 379.51713 385.73313 389.62513 395.84114 399.34114 404.0031 410.21913 416.43513 423.43513 428.0971 435.0971 440.54313 444.04313 447.93513 453.38114 456.88114 463.09715 470.09715 477.09715 480.98915 487.20515">FCNFG[EEERDY] bits are set after data from all valid EEPROM data records is copied</tspan><tspan y="461.94535" x=".0051400007 3.8971406 10.8971409 14.3971409 18.28914 25.28914 31.505143 35.005144 42.789144 46.681146 52.897146 59.897146 69.235149 79.34315 91.78915 95.28915 98.78915 108.89715 113.55915 117.45115 123.66715 128.32915 131.82915 135.72115 142.72115 148.93715 152.43715 161.77515 171.11315 175.77515 183.55915 187.05915 194.05915 197.95114 201.84314 205.34314 209.23514 214.68114 218.18114 223.62714 229.84314 233.73514 237.23514 240.73514 244.62714 251.62714 257.84315 261.34315 269.12715 273.01914 279.23515 286.23515 295.57316 305.68116 318.12718 321.62718 325.51918 330.96519 334.46519 340.68119 347.68119 353.8972 357.78919 361.68119 367.8972 374.8972 378.78919 385.0052 388.5052 393.16719 400.16719 404.82917 408.32917 412.99116 419.20716 425.42317 432.42317 435.92317 442.92317 447.58515 451.08515 461.19316 465.85514 469.74714 473.63914">to the FlexRAM. After the CCIF bit is set, the FlexRAM is available for read or write</tspan><tspan y="477.94535" x=".0051400007 6.2211406 12.437141 18.653141 24.86914 30.315142 35.761144">access.</tspan><tspan y="502.34535" x=".0051400007 13.221141 20.221142 26.437142 33.43714 36.93714 43.15314 50.15314 57.15314 61.81514 65.70714 72.70714 79.70714 84.36914 90.585147 97.585147 101.085147 105.74715 112.74715 117.40915 120.90915 129.46315 138.01715 145.80115 155.13915 165.24715 177.69315 181.19315 188.19315 193.63915 199.85515 203.35515 206.85515 216.96315 221.62516 225.51715 229.40915 235.62516 241.07115 244.57115 248.46315 255.46315 258.96315 265.17915 272.17915 275.67915 282.67915 289.67915 296.67915 301.34114 308.34114 312.23313 318.44914 324.66514 328.55714 334.77314 341.77314 345.27314 349.16514 356.16514 362.38114 368.59715 372.48915 376.38114 383.38114 390.38114 393.88114 397.77314 404.77314 408.27314 416.05714 419.94914 426.16514 433.16514 442.50315 452.61116">When configured for EEPROM use, writes to an unprotected location in FlexRAM</tspan><tspan y="518.34536" x=".0051900006 3.8971904 10.89719 17.89719 24.89719 31.89719 38.11319 43.55919 47.05919 50.95119 57.95119 64.16719 67.66719 76.22119 84.77519 92.5592 101.8972 112.0052 124.4512 127.9512 132.6132 136.5052 140.3972 146.6132 150.1132 155.5592 162.5592 168.0052 171.8972 178.1132 189.0052 192.5052 196.3972 203.3972 206.8972 213.8972 218.5592 225.5592 232.5592 237.2212 243.43721 254.32921 257.82923 264.04524 267.54524 274.54524 280.76124 290.86924 294.36924 302.92323 311.4772 319.2612 328.5992 338.7072 351.15324 354.65324 361.65324 367.86924 371.76124 377.97724 381.47724 386.13923 392.35523 398.57124 405.57124 410.23323 417.23323 420.73323 424.6252 431.6252 435.1252 439.0172 446.0172">invokes the EEPROM file system to program a new EEPROM data record in the</tspan><tspan y="534.34536" x=".0051900006 8.55919 17.11319 24.89719 34.23519 44.343194 56.789194 60.289194 67.28919 73.505199 79.7212 86.7212 93.7212 100.7212 104.2212 115.1132 121.3292 132.2212 139.2212 143.88321 150.88321 154.38321 158.2752 165.2752 168.7752 174.99121 178.49121 183.15322 190.15322 197.15322 204.15322 211.15322 215.81522 220.47722 227.47722 234.47722 238.36922 245.36922 248.86922 253.53122 259.74723 265.19325 272.19325 276.08525 283.08525 290.08525 293.58525 297.08525 307.19325 312.63926 316.13926 323.13926 329.35527 335.57127 342.57127 348.78727 355.78727 359.28727 362.78727 366.67927 373.67927 379.89527 383.39527 391.94926 400.50325 408.28724 417.62525 427.73326 440.17927 443.67927 448.34126 452.23326 456.12525">EEPROM backup memory in a round-robin fashion. As needed, the EEPROM file</tspan><tspan y="550.34536" x=".0051900006 5.4511907 12.451191 17.897192 21.789193 28.005192 38.897195 42.397195 46.289197 53.289197 59.505197 66.505199 70.397197 74.28919 78.951198 82.84319 89.0592 94.505199 98.005199 101.897197 108.897197 115.1132 118.6132 127.1672 135.72119 143.50519 152.84319 162.95119 175.39719 178.89719 185.89719 192.11319 198.3292 205.3292 212.3292 219.3292 222.8292 228.27519 234.4912 240.7072 244.5992 251.5992 256.2612 259.7612 263.6532 270.6532 276.8692 280.7612 284.2612 288.1532 293.5992 297.0992 304.0992 310.31523 314.2072 321.2072 328.2072 331.7072 337.92323 342.5852 348.8012 354.24723 360.46324 367.46324 370.96324 375.6252 382.6252 387.2872 390.7872 395.4492 402.4492 406.3412 413.3412 418.00318 424.21919 427.71919 434.71919 440.1652 446.3812 449.8812 456.0972 463.0972">system identifies the EEPROM backup sector that is being erased for future use and</tspan><tspan y="566.34536" x=".0051900006 7.00519 13.22119 17.88319 21.77519 25.66719 31.88319 35.775194 39.667196 46.667196 50.167196 56.383195 61.045194 67.26119 72.70719 78.923198 84.369197 87.869197 91.76119 98.76119 104.977199 108.869197 112.369197 120.923198 129.47719 137.26119 146.59918 156.70719 169.15319 172.65319 179.65319 185.86919 192.08519 199.08519 206.08519 213.08519 216.58519 222.03119 228.2472 234.4632 238.3552 245.3552 250.0172 253.5172 257.0172 267.1252 271.7872 275.6792 281.8952 286.5572 290.0572 296.2732 299.7732 309.8812 314.54319 318.43519 322.32719 328.54319 332.04319 335.93519 342.93519 346.43519 350.32719 357.32719 363.54319 367.04319 374.82719 378.71919 384.93519 391.93519 401.2732 411.3812 423.8272 427.3272 430.8272 434.7192 441.7192">partially erases that EEPROM backup sector. After a write to the FlexRAM, the</tspan><tspan y="582.34536" x=".0051900006 7.789191 11.681191 17.897192 24.897192 34.23519 44.343194 56.789194 60.289194 64.18119 69.62719 73.12719 80.12719 87.12719 91.01919 94.51919 100.73519 106.951198 113.1672 119.3832 124.8292 130.2752 134.1672 141.1672 145.0592 151.2752 154.7752 161.7752 168.7752 172.6672 176.5592 180.4512 183.9512 187.8432 194.8432 201.0592 204.5592 212.3432 220.1272 228.6812 238.7892 247.3432 252.0052 261.3432 270.6812 275.3432 283.1272 287.78919 291.28919 298.28919 302.18119 306.07319 309.57319 313.46519 318.9112 322.4112 327.8572 334.0732 337.9652 341.4652 344.9652 353.5192 360.5192 366.7352 370.2352 378.0192 387.3572 397.4652 405.2492 415.3572 420.0192 428.57319 437.12718 445.68116 455.01918 465.12718 475.23518 479.89717 483.39717 490.39717 494.28916">FlexRAM is not accessible until the FSTAT[CCIF] bit is set. The FCNFG[EEERDY] bit</tspan><tspan y="598.34536" x=".0051900006 10.113191 14.005191 17.897192 21.789193 25.289193 31.505192 35.397195 40.843194 47.843194 51.343194 58.343194 64.5592 68.0592 73.505199 79.7212 83.6132 87.1132 90.6132 95.2752 99.9372 103.4372 109.653209 116.653209 122.86921 129.8692 133.7612 139.9772 146.9772 150.4772 153.9772 157.8692 164.8692 171.0852 174.5852 178.4772 185.4772 189.3692 195.5852 200.24721 204.90921 211.90921 218.90921 222.80121 226.30121 232.51721 237.96321 243.40921 250.40921 256.6252 260.5172 266.73323 270.6252 276.84123 283.84123 287.34123 297.44923 301.34123 305.23323 312.23323 315.73323 319.6252 326.6252 332.84123 336.34123 344.1252 351.9092 360.4632 370.5712 379.12519 383.78718 393.12519 402.4632 407.12519 414.90919 419.57118 423.07118 430.07118 433.96318 437.85517 441.35517 447.57118 453.78718 460.78718 464.28718 471.28718">will also be set. If enabled, the interrupt associated with the FSTAT[CCIF] bit can be</tspan><tspan y="614.34536" x=".0051900006 7.00519 12.451191 18.66719 25.66719 29.16719 33.059194 40.059194 43.559194 50.559194 56.775194 60.667196 66.883197 71.5452 82.437198 86.32919 93.32919 99.5452 103.0452 113.1532 120.1532 126.3692 133.3692 136.8692 140.7612 147.7612 153.9772 157.4772 165.2612 169.1532 175.3692 182.3692 191.7072 201.8152 214.2612 217.7612 221.6532 227.0992 230.5992 236.8152 243.8152 250.0312 253.9232 257.81523 264.03123 271.03123 274.92323 281.13923 284.63923 289.3012 296.3012 300.9632 304.4632 309.12519 315.3412 321.5572 328.5572 332.0572 339.0572 343.71919 347.21919 357.32719 361.98918 365.88117 369.77317 375.98918 379.48918 385.70518 391.92118 398.13719 404.35319 409.7992 415.2452">used to determine when the FlexRAM is available for read or write access.</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="329.97599 336.47398 341.97297 346.97697 352.47596 355.47297 360.47697 363.97798 366.47999 371.48399 376.48799 378.99 384.48899 386.991 391.995 396.999 402.498 405 412.497 417.501 425.502 431.001 434.502 439.506 442.00804 449.50505 455.00404 460.50303 466.002 468.50404 473.50804 476.01005 479.00706 484.50605 490.00505 495.50404 501.00303">Chapter 29 Flash Memory Module (FTFL)</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>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00401 5.5030105 8.5000109 13.504011 18.50801 23.00801 27.50801 32.512014 34.510015 39.514017 42.016016 48.019014 53.023015 60.520017 62.518018 67.01802 72.02202 77.02602 82.030017 87.03401 91.53401 94.03601 99.04001 102.03701 104.53901 107.04101 109.54301 114.547008 119.047008">Freescale Semiconductor, Inc.</tspan></text>
<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>
<text xml:space="preserve" transform="matrix(1 0 0 1 391.68 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">675</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54 763.756)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="180.87 188.65 194.20999 200.31999 205.87999 209.76999 215.32999 218.10999 220.88999 228.10999 234.21999 239.77999 242.55998 248.66999 254.22998 259.78999 265.34999 268.12998 270.90998 277.01997 280.34996 286.45994 290.34996 299.23997 304.79997 308.12995 310.90995 317.01994">General Business Information</tspan></text>
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