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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

120 lines
23 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">Chapter 8</tspan><tspan y="110.19531" x="0 13.340001 24.460003 35.58 47.800004 55.58 61.140005 67.8">Security</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=".006 9.458 14.184">8.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 91.80322 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".006 4.7320005 15.119 20.78 27.393002 37.780004 48.167005 58.554006 68.006008 73.66701 78.393009 88.78001">Introduction</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 72)" font-size="14" font-family="TimesLTStd"><tspan y="187.05" x=".00501 8.55901 15.55901 19.45101 24.89701 28.39701 35.39701 41.61301 48.61301 52.505014 58.721014 64.93701 68.43701 72.32901 83.22101 90.22101 94.11301 100.32901 111.22101 117.43701 124.43701 128.32901 133.77501 137.27501 142.72101 148.93701 155.15302 162.15302 166.81502 170.70702 174.59902 181.59902 185.09902 192.09902 198.31502 203.76102 209.97702 216.97702 220.47702 227.47702 234.47702 237.97702 241.86902 248.86902 255.08502 258.58503 269.47703 276.47703 283.47703 289.69303 293.19303 298.63905 304.85505 308.74705 314.96305 321.17906 325.07106 331.28706 338.28706 341.78706 346.44905 351.11103 358.11103 369.00303 372.50303 376.39503 383.39503 389.61103 393.11103 397.773 401.665 407.881 413.32704 420.32704 423.82704 434.71903 441.71903 448.71903 455.71903 459.61103 465.82704 469.32704 472.82704 481.381 488.381">This device implements security based on the mode selected from the flash module. The</tspan><tspan y="203.05" x=".00503 4.6670305 11.66703 15.559031 19.45103 26.45103 36.559034 40.451036 47.451036 54.451036 57.951036 63.397035 69.61304 75.82904 79.72104 83.61304 90.61304 97.61304 103.05904 106.55904 113.55904 118.22104 125.22104 132.22104 136.11304 143.11304 149.32904 152.82904 159.04505 166.04505 169.54505 176.54505 183.54505 189.76105 194.42305 201.42305 205.31505 211.53105 221.63906 225.13906 232.13906 236.80106 240.30106 244.96306 248.85506 255.07106 260.51707 267.51707 271.01707 276.46308 282.67909 288.89509 295.89509 300.55708 304.44908 308.34107 315.34107 318.84107 325.05708 332.05708 339.05708 342.55708 349.55708 355.77308 359.66508 365.88108 369.77308 373.66508 379.11109 382.61109 386.50309 393.50309 399.7191 403.2191 409.4351 414.09709 418.75907 424.97508 431.19108 435.08308 440.52909 444.02909 451.02909 455.69108 459.19108 464.6371 470.8531 477.0691 484.0691 488.73109 492.62309 496.51509">following sections provide an overview of flash security and details the effects of security</tspan><tspan y="219.05" x=".00508 7.00508 14.00508 17.505082 24.505082 31.505082 38.50508 43.16708 47.82908 51.72108 57.93708 63.38308 70.38308 73.88308 84.77508 91.77508 98.77508 105.77508 109.667079 115.88308 121.32908">on non-flash modules.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 337.4)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00191 9.45009 14.17609">8.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 91.80322 337.4)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00191 10.38509 15.11109 24.563092 34.01509 44.402093 49.128095 60.467096 69.9191 79.3711 89.7581 96.3711 101.0971 106.7581">Flash Security</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 72)" font-size="14" font-family="TimesLTStd"><tspan y="302.65" x="-.00391 8.55009 15.55009 21.76609 25.26609 29.928092 33.82009 40.03609 45.48209 52.48209 55.98209 66.87409 73.87409 80.87409 87.87409 91.76609 97.98209 101.48209 108.48209 113.1441 120.1441 127.1441 131.0361 138.0361 144.2521 149.6981 153.1981 158.6441 164.8601 171.07611 178.07611 182.73812 186.63011 190.52211 197.52211 201.02211 204.91411 211.91411 216.57611 223.57611 228.23812 239.13011 245.34612 249.23812 253.13011 260.13014 267.13014 270.63014 274.52214 281.52214 285.02214 288.91413 295.91413 302.13014 305.63014 318.07615 327.41416 337.52217 341.02217 348.02217 354.23817 359.68418 365.90019 372.90019 376.40019 383.40019 390.40019 393.90019 397.79219 404.79219 411.00819 414.50819 419.9542 423.8462 430.0622 433.9542 440.1702 443.6702 450.6702 456.8862 460.7782 467.7782 471.2782 478.2782">The flash module provides security information to the MCU based on the state held by</tspan><tspan y="318.65" x="-.00388 3.8881205 10.888121 17.104123 20.604123 28.388123 36.172124 44.726125 54.064126 58.726125 66.510128 75.064128 84.40213 89.06413 92.56413 99.56413 103.45613 107.34813 112.79413 116.29413 119.79413 128.34813 135.34813 141.56414 145.06414 157.51013 166.84813 176.95613 180.45613 183.95613 187.84813 194.84813 198.34813 202.24013 209.24013 213.90213 220.90213 224.40213 227.90213 234.11814 241.11814 248.11814 252.78014 256.67216 261.33415 272.22615 277.67216 281.17216 285.06416 292.06416 298.28016 301.78016 307.22618 313.44218 319.65818 326.65818 331.32017 335.21217 339.10417 346.10417 349.60417 354.26615 360.48216 367.48216 374.48216 380.69816 386.14418 390.03617 393.53617 399.75218 406.75218 413.75218 417.25218 421.14418 425.03617 435.92817 439.82017 443.71217 449.15818 452.65818 458.87419 465.09019 471.30619 477.5222 482.9682 488.4142 491.9142 495.8062">the FSEC[SEC] bits. The MCU, in turn, confirms the security request and limits access to</tspan><tspan y="334.65" x="-.00388 4.65812 8.55012 14.766121 20.212122 27.212122 30.712122 35.374124 41.590124 47.03612 54.03612 61.03612 65.69812 71.91412 78.13013 83.576129 87.076129 90.576129 100.68413 107.68413 112.34613 116.23813 123.23813 130.23813 133.73813 138.40013 144.61614 150.06214 156.27814 160.17014 163.67014 167.17014 171.06214 178.06214 184.27814 187.77814 192.44014 196.33214 202.54814 207.99414 214.99414 218.49414 229.38614 236.38614 243.38614 250.38614 254.27814 260.49415 263.99415 267.88615 274.88615 278.77815 282.67015 286.56214 292.77815 296.67015 300.56214 306.77815 312.99415 318.44017 321.94017 325.83216 332.83216 339.04817 342.54817 350.33216 358.11616 366.67015 376.00816 379.50816 384.17015 390.38615 397.38615 401.27815 406.72416 410.61616 416.83216 421.49415 424.99415 431.99415 437.44017 441.33216 448.33216 455.33216 458.83216 465.83216 472.04817 475.94017">flash resources. During reset, the flash module initializes the FSEC register using data</tspan><tspan y="350.65" x="-.00388 4.65812 10.874121 17.090123 24.090123 27.590123 32.25212 36.91412 43.91412 54.80612 58.30612 62.198125 69.19812 75.41412 78.91412 84.36012 90.576129 96.79213 103.79213 108.45413 112.34613 116.23813 123.23813 126.73813 133.73813 140.73813 144.63013 150.84613 154.34613 161.34613 166.00814 169.50814 173.40013 180.40013 186.61614 190.11614 194.77814 198.67014 204.88614 210.33214 217.33214 220.83214 227.04814 234.04814 241.04814 245.71015 249.60214 256.60215 263.60215 268.26414 274.48014 278.37214 282.26414 289.26414 296.26414 299.76414 304.42613 308.3181 314.53413 318.42613 325.42613">read from the security byte of the flash configuration field.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 72)" font-size="14" font-family="TimesLTStd"><tspan y="391.05" x="71.99812 80.552127 87.552127 93.76813 97.26813 102.71413 108.93013 115.14613 122.14613 126.808139 130.70014 134.59214 141.59214 145.09214 149.75414 155.97014 162.18614 166.07814 173.07814 177.74015 183.95615 189.40215 192.90215 199.11815 206.11815 213.11815 217.01015 224.01015 227.51015 234.51015 241.51015 245.40215 252.40215 255.90215 259.79417 266.79417 270.29417 276.51017 283.51017 287.40217 293.61817 298.28016 305.28016 311.49617 315.38816 318.88816 325.10417 331.32017 337.53617 343.75218 349.19819 354.6442 360.8602 366.3062 370.1982 373.6982 380.6982 386.9142 393.9142 400.9142 407.9142 411.4142 417.63023 424.63023">The security features apply only to external accesses: debug and</tspan><tspan y="407.05" x="71.99812 80.552127 86.76813 94.55213 101.55213 106.214138 110.10613 113.60613 117.10613 126.44414 134.22814 144.33614 147.83614 154.05214 160.26815 166.48415 172.70015 178.14615 183.59215 189.80815 195.25415 198.75415 202.64615 209.64615 213.14615 217.03815 224.03815 230.25415 233.75415 238.41616 242.30815 248.52416 253.97016 260.97016 264.47016 270.68617 275.34815 281.56416 285.06416 292.06416 299.06416 302.95616 306.45616 312.67216 317.33415 321.99613 328.21214 334.42814 338.32014 344.53614 351.53614 355.03614 362.03614 369.03614 372.53614 376.42814 383.42814 389.64414 393.14414 398.59016 402.48216 408.69816 412.59016 419.59016">EzPort. CPU accesses to the flash are not affected by the status</tspan><tspan y="423.05" x="71.99812 78.99812 83.660129 87.160129 94.94413 102.728137 111.282138 120.62013">of FSEC.</tspan><tspan y="447.44999" x="-.0038757325 4.6581246 11.658125 15.158125 19.050126 26.050126 32.266126 35.766126 42.766126 49.766126 55.212125 61.428125 67.64413 74.64413 79.30613 85.52213 92.52213 96.02213 101.46813 105.36013 111.57613 115.46813 121.684139 125.184139 131.40013 135.29213 139.18413 142.68413 147.34613 151.23813 157.45413 162.90013 169.90013 173.40013 179.61614 186.61614 197.50814 208.40013 214.61614 221.61614 228.61614 234.06214 237.56214 243.77814 248.44014 254.65615 258.15614 264.37214 271.37214 277.58815 281.48014 285.37214 291.58815 298.58815 302.48014 308.69615 312.19615 316.08815 323.08815 326.58815 330.48014 337.48014 343.69615 347.19615 354.19615 358.85813 365.85813 372.85813 377.5201 383.7361 394.6281 405.5201 409.4121 416.4121 423.4121 426.9121 430.8041 437.8041 441.6961 447.9121 452.5741 457.23609 463.4521 469.6681 475.8841">In the unsecured state all flash commands are available to the programming interfaces</tspan><tspan y="463.44999" x="-.0038157325 4.6581847 10.104185 18.658185 28.766186 38.874189 42.374189 48.590188 55.590188 62.590188 66.09019 74.64419 80.86019 88.644199 95.644199 100.3062 104.1982 108.8602 112.3602 115.8602 122.0762 127.5222 131.0222 141.1302 147.3462 151.2382 155.1302 158.6302 164.8462 170.2922 173.7922 180.7922 186.2382 192.45421 197.11621 200.61621 206.83222 213.83222 220.83222 227.04822 230.54822 236.76422 243.76422 249.98023 256.19624 263.19624 267.08824 270.98023 277.98023 284.98023 288.48023 295.48023 300.1422 303.6422 311.4262 315.3182 321.5342 326.98023 333.98023 337.48023 346.81825 353.81825 360.81825 364.71025 369.37223 376.37223 380.26423 384.15623 390.37223 395.0342 398.5342 404.7502 411.7502 422.6422 433.5342 439.7502 446.7502 453.7502 459.19624 462.69624 466.19624 479.41224 486.41224 492.62825">(JTAG and EzPort), as well as user code execution of Flash Controller commands. When</tspan><tspan y="479.44999" x="-.0038157325 3.8881849 10.888185 17.104186 20.604186 25.266186 29.158186 35.374189 40.820188 47.820188 51.320188 55.21219 60.658189 64.15819 69.60419 75.82019 82.036197 89.036197 93.6982 99.9142 106.9142 110.4142 115.0762 122.86021 130.64421 139.19821 148.53621 153.19821 160.98221 169.53621 178.8742 183.53621 187.03621 194.9322 198.4322 205.4322 212.4322 215.9322 219.4322 226.4322 233.4322 236.9322 240.4322 247.4322 252.09421 255.59421 262.5942 269.5942 274.2562 277.7562 281.2562 288.2562 292.91819 299.91819 306.91819 311.58018 317.79618 328.68818 339.58018 345.79618 350.45817 353.95817 357.85017 364.85017 368.74217 374.95817 379.62016 384.28215 390.49815 396.71415 402.93016 408.37617 411.87617 418.09217 422.75416 428.97016 432.47016 439.47016 446.47016 450.36216">the flash is secured (FSEC[SEC] = 00, 01, or 11), programmer interfaces are only</tspan><tspan y="495.44999" x="-.0037857325 6.212215 10.104216 13.996216 20.996216 31.104218 37.320219 44.320219 47.820219 51.71222 58.71222 62.21222 66.10422 72.32022 79.32022 86.32022 92.536228 99.536228 103.036228 113.92822 120.144229 125.590229 131.03623 134.53623 140.75223 145.41423 151.63024 157.07624 163.29224 166.79224 173.79224 180.79224 187.00824 191.67024 197.88625 201.77825 205.67024 212.67024 219.67024 225.11624 228.61624 234.83225 241.83225 248.83225 252.33225 259.33226 265.54826 272.54826 278.76426 282.26426 289.26426 296.26426 299.76426 305.98027 312.19627 318.41227 324.62828 330.07429 335.5203 339.0203 342.9123 349.9123 353.4123 364.3043 370.5203 381.4123 388.4123 393.07429 400.07429 403.57429 407.46629 414.46629 420.68229 426.8983 430.79029 434.68229 441.68229 448.68229 454.1283">allowed to launch mass erase operations and have no access to memory locations.</tspan><tspan y="519.85" x="-.0037857325 7.7802155 14.780215 19.442215 23.334216 30.334216 36.550218 41.212217 44.712217 48.604219 55.604219 60.266218 67.26622 71.92822 82.82022 89.036228 92.92822 96.82022 103.82022 110.82022 114.32022 118.98222 125.19823 132.19823 138.41423 143.07624 150.07624 153.96823 160.96823 167.96823 171.46823 175.36023 182.36023 188.57624 192.07624 196.73824 200.63024 206.84624 212.29224 219.29224 222.79224 228.23824 234.45424 240.67024 247.67024 252.33225 256.22425 260.11625 267.11625 270.61625 277.61625 284.61625 288.50825 292.40025 299.40025 306.40025 311.84626 315.34626 321.56227 328.56227 335.56227 339.06227 345.27827 352.27827 358.49427 365.49427 369.38627 373.27827 380.27827 387.27827 391.17027 398.17027 402.06227 407.50828 413.72428 420.72428 424.61628 428.50828 435.50828 442.50828 446.00828 450.67027 454.56227 460.77827 466.22428">Further information regarding the flash security options and enabling/disabling flash</tspan><tspan y="535.85" x="-.0038157325 5.442185 11.658186 17.874188 24.874188 29.536189 33.42819 37.32019 44.32019 47.82019 51.712194 57.15819 60.65819 66.87419 73.87419 80.090198 83.98219 87.87419 94.090198 101.090198 104.98219 111.1982 114.6982 118.590198 125.590198 129.0902 132.9822 139.9822 146.1982">security is available in the </tspan></text>
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