birdcage/docs/K60-refman-vectors/K60-reference-manual_page_104.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

840 lines
80 KiB (Stored with Git LFS)
XML

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<text xml:space="preserve" transform="matrix(1 0 0 1 488.25 217.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="2.00403 7.008031 11.508031 16.512032 21.516034 26.520035 31.524037 36.528039 41.53204 46.53604 51.540044 56.544046 59.046045">0x1400_0000 &#x2013;</tspan><tspan y="18.83789" x="2.00403 7.008031 11.508031 16.512032 21.516034 26.520035 31.524037 36.528039 41.53204 47.03104 52.53004">0x1400_0FFF</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 200.25 244.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="2.00404 7.0080406 11.50804 16.512042 21.51604 26.520043 31.524044 36.528047 41.532049 46.53605 51.54005 56.544054 59.04605">0x0000_0000 &#x2013;</tspan><tspan y="18.83789" x="2.00404 7.0080406 11.50804 16.512042 21.51604 26.520043 31.524044 36.528047 42.027048 47.526048 53.025049">0x0003_FFFF</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 416.25 244.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="2.00406">4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 488.25 244.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="2.00406 7.0080606 11.50806 16.512063 21.516064 26.520066 31.524067 36.52807 41.53207 46.53607 51.540075 56.544076 59.046075">0x1400_0000 &#x2013;</tspan><tspan y="18.83789" x="2.00406 7.0080606 11.50806 16.512063 21.516064 26.520066 31.524067 36.52807 41.53207 47.03107 52.53007">0x1400_0FFF</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 416.25 270.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="2.00409">4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 488.25 270.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="2.00409 7.008091 11.508091 16.512093 21.516095 26.520096 31.524098 36.5281 41.5321 46.536104 51.540105 56.544107 59.046106">0x1400_0000 &#x2013;</tspan><tspan y="18.83789" x="2.00409 7.008091 11.508091 16.512093 21.516095 26.520096 31.524098 36.5281 41.5321 47.0311 52.5301">0x1400_0FFF</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 416.25 297.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="2.00412">4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 488.25 297.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="2.00412 7.0081207 11.508121 16.512122 21.51612 26.520123 31.524125 36.528127 41.532129 46.53613 51.54013 56.544134 59.04613">0x1400_0000 &#x2013;</tspan><tspan y="18.83789" x="2.00412 7.0081207 11.508121 16.512122 21.51612 26.520123 31.524125 36.528127 41.532129 47.031129 52.53013">0x1400_0FFF</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 391.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">1.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 69.12 391.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 13.5 16.002 21.006 24.003 29.007 34.011 37.008005 42.012006 49.509008 52.011007 54.513006 56.511007 61.515008 66.01501 71.019008 73.521 78.525 83.529 85.527 90.027 92.529 97.533 102.536998 107.036998 109.034999 113.534999 118.538997 123.038997 125.54099 128.043 133.54199 138.54599 143.54999 146.05199 151.05599 156.05998 161.06398 164.06098 169.06497 173.56497 178.06497 183.06897 187.56897 190.07097 194.57097 199.57497 204.57897 211.07697 216.08097 218.58296 223.58696 228.08696 232.58696 237.59096 245.08795 250.09195 252.59395 257.59797 260.59498 265.59898 270.60298 273.59999 278.60398 286.10099 288.603 291.105 293.103 298.107 302.607 307.611 310.113 314.613 321.111 326.115 331.119 333.621 335.619 340.119 342.621 347.625 349.623 354.123 359.12699 364.13099 366.12898 371.13298 376.13697 378.63899 381.636 386.63999 391.64399 394.146 399.15 404.154 406.15199 408.654 411.156 415.656 420.66 425.664 428.16603 430.164 435.168 440.172 443.169 448.173 450.67503 452.673 457.677 462.681 465.678">For program flash only devices: The addresses shown assume program flash swap is disabled (default configuration).</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 439.15)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00003 8.339972 12.509972 20.849972 25.019972 33.359975 37.529977">3.5.1.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.043468 439.15)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00003 9.16497 13.33497 21.674973 30.014973 39.179975 43.349977 55.84498 64.18498 77.51998 86.68498 92.51998 100.859989 105.02998 115.03499 119.20499 126.70499 135.04499 139.21498 150.04499 159.20998 168.37497 176.71497 180.88497 190.04996 198.38996 204.22496 212.56496 217.55995 221.72995 230.89495 240.05994">Flash Memory Size Considerations</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="421.4" x="-.00202 7.781981 11.673982 18.67398 24.88998 31.10598 34.60598 38.497983 45.497983 49.389986 54.835985 58.335985 65.33598 72.33598 78.55199 85.55199 96.443988 102.65999 109.65999 113.55199 117.05199 123.26799 130.26799 137.26799 143.484 148.146 153.592 157.092 164.092 170.308 177.308 181.2 187.416 193.632 199.078 202.578 206.47 213.47 219.686 223.578 227.078 233.294 240.294 247.294 251.186 257.402 261.294 268.294 271.794 278.794 283.456 290.456 297.456 302.11799 308.33399 319.22599 322.72599 327.38798 331.27998 337.49598 342.942 349.942 353.442 360.442 367.442 371.33399 378.33399 381.83399 388.05 395.05 402.05 405.55 412.55 418.766 425.766 429.658 435.874 442.09 447.536 451.036 454.928 461.928 468.144">Since this document covers devices that contain program flash only and devices that</tspan><tspan y="437.4" x="-.00202 6.2139809 13.213981 20.213982 24.105982 30.321984 34.213987 41.213987 44.713987 51.713987 56.375986 63.375986 70.375988 75.03799 81.25399 92.14599 95.64599 100.30799 104.19999 110.41599 115.86199 122.86199 126.36199 132.57799 139.57799 146.57799 150.07799 157.86199 161.75399 167.96999 174.96999 185.07799 195.18599 207.63199 211.13199 214.63199 218.52399 225.52399 231.73999 236.402 242.618 246.118 252.334 256.996 263.212 266.712 272.15803 279.15803 290.05003 296.26603 299.76603 303.65803 307.55003 313.76603 324.65803 330.10404 333.60404 337.49604 344.49604 347.99604 354.21205 361.21205 368.21205 373.65806 377.55006 384.55006 390.76606 395.42805 398.92805 409.03605 416.03605 422.25205 429.25205 432.75205 437.41404 443.63005 449.84605 456.84605 460.73805 467.73805 474.73805 478.23805 482.13005 489.13005">contain program flash and FlexNVM, there are some items to consider when reading the</tspan><tspan y="453.4" x="-.00202 4.6599805 8.551981 14.767982 20.213982 27.213982 30.713982 41.605985 47.821985 58.713987 65.71399 70.37599 77.37599 80.87599 87.091999 94.091999 100.308 107.308 111.2 117.416 122.078">flash memory chapter.</tspan><tspan y="477.8" x="13.10199 23.993992 32.547994 39.547994 45.763994 49.263994 53.92599 57.817995 64.034 69.479999 76.479999 79.979999 90.871997 97.088 107.979999 114.979999 119.642 126.642 130.142 136.358 143.358 149.574 156.574 160.466 166.682 171.34401 174.84401 180.29001 187.29001 194.29001 204.39801 209.84401 213.34401 219.56002 223.06002 233.95201 237.84401 244.84401 248.73601 255.73601 260.398 266.614 270.114 277.114 281.776 285.276 289.168 296.168 300.83 307.83 312.49198 323.38398 329.59999 333.49198 337.38398 344.38398 351.38398 354.88398 361.88398 368.09999 375.09999 381.31599 388.31599 395.31599 399.20799 406.20799 413.20799 416.70799 423.70799 430.70799 434.20799 438.09999 445.09999 451.31599 454.81599 461.81599 468.03199 475.03199 478.92399 485.13999">&#x2022;The flash memory chapter shows a mixture of information depending on the device</tspan><tspan y="493.8" x="23.99399 30.99399 37.993989 44.993989 48.493989 54.709989 59.371988 65.58799 69.08799 76.08799 81.53399 85.42599 92.42599 99.42599">you are using.</tspan><tspan y="509.8" x="13.102 23.994002 31.778002 38.778 43.44 46.94 50.832 57.832 64.048007 67.548007 74.548007 79.21001 86.21001 93.21001 97.87201 104.08801 114.98001 118.48001 123.14201 127.03401 133.25002 138.69602 145.69602 149.19602 156.19602 163.19602 167.08802 174.08802 177.58802 184.58802 190.80402 197.80402 201.69602 207.91202 214.12802 219.57402">&#x2022;For the program flash only devices:</tspan><tspan y="525.7999" x="37.09801 48.004014 56.558015 66.666019 73.666019 77.166019 84.166019 88.82802 95.82802 102.82802 107.49002 113.706027 124.59802 128.09803 132.76003 136.65203 142.86803 148.31403 155.31403 158.81403 165.81403 169.70603 176.70603 182.92203 189.92203 195.36803 198.86803 205.08403 209.74604 215.96204 219.46204 224.90804 231.90804 238.90804 245.90804 252.90804 257.57005 261.46205 267.67805 274.67805 278.57005 282.07005 289.07005 293.73204 300.73204 307.73204 312.394 318.61003 329.502 333.002 337.664 341.556 347.772 353.21803 360.21803 363.71803 370.71803 374.21803 380.43403 387.43403 394.43403 397.93403 404.93403 409.596 416.596 423.596 428.258 434.474 445.366 448.866 453.52799 457.41999 463.636 469.082 476.082 479.582 486.582">&#x2022;Two program flash blocks are supported: program flash 1 and program flash 2.</tspan><tspan y="541.7999" x="48.004034 56.558034 63.558034 69.77403 73.27403 77.16603 87.27403 94.27403 97.77403 104.77403 108.66603 115.66603 121.882038 128.88204 134.32804 137.82804 144.04404 148.70604 154.92205 158.42205 164.63805 171.63805 178.63805 182.53005 186.42205 193.42205 200.42205 207.42205 214.42205 219.86804 223.36804 227.26004 234.26004 237.76004 241.65204 248.65204 254.86804 258.36805 263.81407 270.81407 276.26008 280.15208 286.36808 297.26008 300.76008 311.65208 317.86808 328.76008 335.76008 340.42207 347.42207 350.92207 361.81407 368.03007 375.03007">The two blocks are contiguous in the system memory map.</tspan><tspan y="557.7999" x="37.09804 48.004045 56.558046 63.558046 69.77405 73.27405 80.27405 84.93605 91.93605 98.93605 103.59805 109.81406 120.706058 124.206058 128.86806 132.76006 138.97606 144.42206 151.42206 154.92206 161.92206 165.81406 172.81406 179.03006 186.03006 191.47606 194.97606 200.42206 207.42206 214.42206 221.42206 228.42206 233.08406 236.97606 240.47606 246.69207 250.19207 255.63806 265.74607 271.96208 278.96208 282.46208 287.12406 293.34007 299.55607 303.44807 310.44807 315.11006 321.32606 324.82606 328.71806 335.71806 339.21806 349.32606 356.32606 360.21806 366.43406 373.43406 376.93406 380.82606 387.82606 394.04206 397.54206 402.98808 406.88008 413.09608 417.75807 421.65007 425.54206 432.54206 439.54206 443.04206 449.25807 456.25807 463.25807 467.92005 474.13606 479.58207 485.02809 488.52809 495.52809">&#x2022;The program flash blocks support a swap feature in which the starting address of</tspan><tspan y="573.7999" x="48.004064 51.896066 58.896066 65.11207 68.61207 75.61207 80.27407 87.27407 94.27407 98.93607 105.15208 116.044078 119.544078 124.20608 128.09809 134.31409 139.76009 146.76009 150.26009 157.26009 161.15209 168.15209 174.36809 181.36809 186.81409 190.31409 196.53009 202.7461 209.7461 213.2461 220.2461 226.4621 229.9621 235.4081 245.5161 251.7321 258.73213 265.73213 271.94813 278.94813">the program flash blocks can be swapped.</tspan><tspan y="589.7999" x="37.098073 48.004076 56.558076 63.558076 69.77408 73.27408 80.27408 84.93608 91.93608 98.93608 103.59808 109.81409 120.706089 131.59809 135.49008 142.49008 149.49008 152.99008 159.20609 165.42209 171.63809 177.8541 181.7461 187.9621 192.6241 198.8401 202.7321 206.6241 213.6241 220.6241 224.1241 233.4621 243.5701 256.0161 259.5161 263.4081 268.85414 272.35414 279.35414 284.80015 291.01615 298.01615 301.51615 306.17814 313.17814 317.84013 321.34013 325.23213 332.23213 338.44813 341.94813 349.73213 354.3941 361.3941 368.3941 373.0561 379.2721 390.1641 393.6641 401.4481 407.6641 413.8801 417.7721 421.6641 428.6641 435.6641 439.1641 445.3801 452.3801 463.2721 474.1641 480.3801 487.3801 494.3801">&#x2022;The programming acceleration RAM is used for the Program Section command.</tspan><tspan y="605.7999" x="13.102093 23.994095 31.778096 38.778097 43.440095 46.940095 50.832098 57.832098 64.048099 67.548099 74.548099 80.7641 87.7641 91.6561 97.8721 104.088108 109.5341 113.0341 119.25011 126.25011 133.2501 137.1421 143.35811 147.2501 154.2501 158.1421 165.1421 172.1421 175.6421 182.6421 187.30411 194.30411 201.30411 205.96611 212.18212 223.07411 226.57411 231.23612 235.12812 241.34412 246.79012 253.79012 257.2901 263.5061 270.5061 277.5061 281.0061 288.7901 292.6821 298.8981 305.8981 316.0061 326.1141 338.56013">&#x2022;For the devices containing program flash and FlexNVM:</tspan><tspan y="621.7999" x="37.098104 48.004106 55.788106 59.680109 66.68011 72.89611 79.112117 82.612117 86.50411 93.50411 99.720119 104.38212 110.59812 114.09812 117.99012 123.43612 126.93612 133.93613 140.93613 144.82813 151.82813 155.32813 162.32813 169.32813 175.54413 179.04413 186.04413 190.70613 197.70613 204.70613 209.36814 215.58414 226.47614 229.97614 234.63814 238.53014 244.74614 250.19214 257.19215 260.69215 267.69215 271.58415 278.58415 284.80015 291.80015 295.30015 298.80015 302.69215 309.69215 315.90815 319.40815 326.40815 331.07014 338.07014 345.07014 349.73213 355.94813 366.84013 370.34013 375.0021 378.8941 385.1101 390.55613 397.55613 401.05613 406.50215 416.61015 422.82615 429.82615 433.32615 437.98814 444.20414 450.42015 454.31214 461.31214 465.97413 472.19013 475.69013 479.58213">&#x2022;Since there is only one program flash block, the program flash swap feature is</tspan><tspan y="637.7999" x="48.004125 55.004125 62.004125 65.896129 69.396129 75.61213 82.61213 88.82813 92.72013 96.61213 102.82813 109.82813 113.72013 119.936138">not available.</tspan></text>
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