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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_318.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

958 lines
91 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 54 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.3" x="132.64798 140.65198 143.98798 153.98398 160.65598 167.98798 176.65198 183.98398 193.31998 199.99198 203.32798 207.32398 210.65998 217.33197 220.66797 227.99997 231.33597 238.66797 245.33997 252.01197 258.68397 263.35197 266.68797 274.01997 278.01597 281.35197 288.68397 296.01597 302.68797 306.02397 310.01997 316.69197 324.02397 331.35597 335.35197 338.68797 346.01997 353.35197 360.02397 367.35597">SIM_FCFG2 field descriptions (continued)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 90.182819)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 43.011007 48.015008 53.01901 57.51901 62.52301 65.02501 70.02901 75.033008 80.037 82.539 87.543 92.547 95.048999 101.547 103.545 106.047 111.050998 113.55299 115.550998 120.55499 125.55899 130.56299 132.56099 137.56499 142.56899 145.07099 149.57099 154.57498 157.57198 162.57598 167.07598 169.57798 171.57598 176.57997 181.58397 183.58197 188.08197 193.08597 195.58797 200.59197 205.09197 207.59397 210.09597 215.09996 220.10396 222.60596 225.10796 227.10596 230.10295 234.60295 237.10495 239.60695 241.60495 246.60895 251.10895 256.11296 258.11094 260.10893 265.1129 267.61494 272.61894 277.62294 282.62693 285.62394 290.62794 295.12794 299.62794 302.12995 307.13395 309.63597 312.13798 314.63999 316.63798 321.64198 326.14198 331.14598 333.64799 338.65199 340.64997 345.65397 350.15397 354.65397 357.15599 362.15998 364.662 367.659 372.663 375.66 380.664 385.668 388.665 393.669 401.16603 403.66804 406.17005 408.16804 413.17204 417.67204">This field concatenated with leading zeros indicates the first invalid address of flash block 0 (program flash</tspan><tspan y="18.83789" x="0 5.0040009 8.001">0).</tspan><tspan y="35.237894" x="0 5.499 10.503 13.5 16.002 21.006 25.506 30.510003 38.007005 43.011007 45.009008 50.01301 52.515008 55.017007 57.015008 59.517007 62.019006 69.51601 75.519008 81.522 87.525 94.023 100.521 107.019008 112.023 114.525 119.781009 122.283008 127.287 131.787 136.791 141.795 144.297 146.799 151.803 156.80699 159.30899 161.81099 163.80899 166.80599 171.30599 173.80799 176.30998 178.30799 183.31198 187.81198 192.81598 194.81398 196.81198 201.81598 204.31798 209.32198 214.32598 219.32997 222.32697 227.33097 231.83097 236.33097 238.83296 243.83696 246.33896 248.84096 251.34296 253.34096 258.34498 262.84498 267.84898 270.35099 275.35499 277.35298 282.35697 286.85697 291.35697 293.85899 298.86299 301.365 303.36299 307.86299 310.365 315.369 319.869 324.873 329.87699 334.88099 339.88499 344.88899 349.89299 354.89698 359.90098 364.90498 367.40699 369.909 375.408 380.412 382.40998 386.90998 389.412 395.90998 400.91398 405.91798 407.91596">For example, if MAXADDR0 = 0x20 the first invalid address of flash block 0 is 0x0004_0000. This would</tspan><tspan y="46.237894" x=".00003 5.0040309 10.008032 12.510033 15.012033 20.016034 25.020035 27.522036 35.019037 41.022035 47.025033 53.02803 59.52603 66.02403 72.52203 77.52603 80.02803 84.52803 89.53203 91.53003 96.53403 101.538028 104.04002 106.54202 111.54602 114.54302 117.04502 122.04902 124.55102 129.55503 134.55902 139.05902 141.05702 145.55702 150.56102 153.06302 159.56102 161.55902 164.06102 169.06502 171.56702 176.57102 181.57501 186.57901 189.08101 195.08402 201.08702 203.58902 208.59302 211.59001 216.59401 221.598 224.595 229.599 237.096 239.59799 242.09999 244.09799 249.10199 253.60199 258.606 261.108 263.106 268.11 270.612 273.114 275.112 280.116 284.616 289.62 292.122 297.126 299.124 304.128 308.628 313.128 315.63 320.634">be the MAXADDR0 value for a device with 256 KB program flash in flash block 0.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 144.08281)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 9 14.004001 19.008002 22.005002 27.009003 34.506006 37.008005 39.510004 41.508005 46.512006 51.012006">Program flash</tspan><tspan y="26.83789" x="0 5.499 10.503 13.5 16.002 21.006 26.010003 30.510003 32.508005 37.008005 42.012006 46.512006 49.014005 55.512006 57.510007 60.012006 65.01601 67.518009 73.017009 75.01501 80.019008 84.519008 91.017009 97.020008 104.517009 107.019008 109.521 112.023 117.027 119.025 123.525 126.027 131.031 133.029 135.531 138.033 140.031 144.531 147.033 152.037 154.035 160.533 165.537 170.037 174.537 177.039 181.539 183.537 188.541 193.545 196.54199">For devices with FlexNVM, this bit is always clear.</tspan><tspan y="43.237894" x=".00002 5.49902 10.503021 13.500021 16.002022 21.006024 26.010025 30.510025 32.508028 37.008028 42.012029 46.512029 49.014028 55.512029 57.51003 60.012029 65.01603 70.02003 75.024028 77.526027 80.02802 85.52702 87.525028 92.52902 97.02902 103.52702 109.53002 117.02702 119.52902 122.03102 124.53302 129.53702 131.53502 136.03502 138.53702 143.54102 145.53902 148.04102 150.54302 152.54102 157.04102 159.54302 164.54701 166.54502 173.04302 178.04701 182.54701 187.04701 189.54901 194.04901 199.05301 201.55501">For devices without FlexNVM, this bit is always set.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 200.48282)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 200.48282)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 6.0030405 11.007041 15.507041 20.007042 22.005043 26.505043 31.509045 33.507047 36.009046 38.511045 40.509046 45.513048 50.013048 55.017049 57.519048 62.52305 64.52105 69.52505 74.02505 78.52505 81.02705 86.031047 88.53304 90.531047 95.031047 97.53304 102.53704 107.03704 112.04104 117.04504 119.547039 124.55103 129.05103 131.55303 137.05202 139.05002 144.05402 148.55402 155.05202 161.05503">Physical flash block 1 is used as FlexNVM</tspan><tspan y="24.23789" x=".00004 6.4980409 11.502041 16.00204 21.006043 24.003043 28.503043 33.507043 38.511045 41.013044 43.51504 48.519044 51.516046 54.018045 59.022047 64.02605 68.52605 70.52405 75.02405 80.028049 84.528049 87.030048 93.528049 95.52605 98.028049 103.03204 108.03604 113.04004 115.54204 118.04404 123.54304 125.54104 130.54505 135.04505 141.54305 147.54605">Reserved for devices without FlexNVM</tspan></text>
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286.10099 291.10499 295.60499 298.107 300.609 305.613 310.617 313.11903 318.618 320.616 325.62 330.12 336.61799 342.62098 350.11799 352.62 357.624 362.628 367.128 372.132 374.634 379.638 384.642 389.646 392.643 397.647 402.147">For devices with FlexNVM: This field concatenated with leading zeros plus the FlexNVM base address</tspan><tspan y="37.83789" x="0 1.9980002 7.002001 12.006001 14.004002 18.504002 23.508004 26.010004 31.014004 35.514005 38.016004 40.518 45.522005 50.526006 53.028005 55.530004 57.528005 60.525007 65.02501 67.52701 70.02901 72.02701 77.031009 81.531009 86.535 88.533008 90.531009 95.535 98.037 103.041 108.045 113.048999 116.046 121.049999 125.549999 130.04999 132.55199 137.55599 140.05799 142.55998 145.06198 150.06598 155.06998 157.57198 163.07097 165.06897 170.07297 174.57297 181.07097 187.07398 194.57097 197.07297 200.06996 202.57196 204.56996 209.57396 214.07396 219.07796 221.57996 226.58396 228.58196 233.58596 238.08596 242.58596 245.08795 250.09195 253.08895">indicates the first invalid address of the FlexNVM (flash block 1).</tspan><tspan y="54.237894" x=".00002 5.49902 10.503021 13.500021 16.002022 21.006024 25.506024 30.510025 38.007028 43.01103 45.00903 50.01303 52.51503 55.01703 57.01503 59.51703 62.019029 69.51603 75.51903 81.522029 87.525028 94.023029 100.52103 107.01903 112.023029 114.525028 119.78102 122.28302 127.28702 131.78702 136.79102 141.79502 144.29701 146.79901 151.80301 156.807 159.309 161.811 163.809 166.806 171.306 173.808 176.31 178.308 183.312 187.812 192.816 194.814 196.812 201.816 204.318 209.32199 214.32599 219.32999 222.32698 227.33098 231.83098 236.33098 238.83298 243.83698 246.33898 248.84098 251.34297 253.34098 258.34498 262.84498 267.84898 270.35099 275.35499 277.35298 282.35697 286.85697 291.35697 293.85899 298.86299 301.365 303.36299 307.86299 310.365 315.369 319.869 324.873 329.87699 334.88099 339.88499 344.88899 349.89299 352.395 357.651 360.153 365.157 369.657 374.661 379.665 384.669 389.673 394.677 399.681 404.685 409.689 414.693 417.195">For example, if MAXADDR1 = 0x20 the first invalid address of flash block 1 is 0x4_0000 + 0x1000_0000 .</tspan><tspan y="65.23789" x=".00004 5.49904 10.50304 12.50104 17.001042 19.503043 26.001044 31.005043 36.009046 38.007047 43.011049 45.513048 50.517049 55.52105 58.02305 60.525049 65.529048 70.53304 73.03504 80.53204 86.53504 92.53804 98.54104 105.03904 111.53704 118.03504 123.03904 125.54104 130.04105 135.04505 137.04305 142.04705 147.05104 149.55304 152.05504 157.05904 160.05603 162.55803 167.56203 170.06403 175.06803 180.07202 184.57202 186.57003 191.07003 196.07402 198.57602 205.07402 207.07202 209.57402 214.57802 217.08002 222.08402 227.08802 232.09201 234.59401 240.59702 246.60002 249.10202 254.60102 256.599 261.603 266.103 272.60099 278.60398 286.10099">This would be the MAXADDR1 value for a device with 256 KB FlexNVM.</tspan><tspan y="81.63789" x=".00004 5.49904 10.50304 13.50004 16.00204 21.006043 26.010045 30.510045 32.508047 37.008047 42.012048 46.512048 49.014047 55.512048 57.510049 60.012048 65.016048 67.51804 72.52204 75.51904 80.52304 85.52704 88.52404 93.52804 101.02504 103.52704 106.02904 108.02704 113.03104 117.53104 122.535037 125.03703 130.04103 135.04503 137.04303 141.54303 144.04503 146.54703 152.04602 157.05002 159.04802 163.54802 166.05002 168.55202 170.55002 175.55402 177.55202 182.55602 185.05802 189.55802 194.56201 199.56601 204.06601 209.07 211.572 216.576 221.58 226.584 229.086 234.09 239.094 241.596 248.094 250.092 252.594 257.598 260.1 262.098 267.102 272.106 277.11 279.10798 284.11198 289.11598 291.61799 296.11799 301.12199 304.119 309.123 313.623 316.125 321.129 323.12699 328.13099 332.63099 335.133 337.635 342.639 347.643 350.14503 354.64503 359.64903 361.647 366.651 371.655 374.157 379.161 381.66304 384.16505 386.66706 391.67106">For devices with program flash only: This field concatenated with leading zeros plus the value of the</tspan><tspan y="92.63789" x=".00008 7.497081 13.500081 19.503083 25.506083 32.00408 38.502084 45.000085 50.004087 52.506086 55.008085 57.006086 62.010087 64.00809 69.012088 71.514087 73.512088 78.51608 83.52008 85.51808 90.01808 95.02208 97.52408 102.528079 107.028079 109.530078 112.032077 117.03607 122.04007 124.54207 127.04407 129.04207 132.03907 136.53907 139.04106 141.54306 143.54106 148.54506 153.04506 158.04906 160.04706 162.04506 167.04906 169.55106 174.55506 179.55905 184.56305 187.56005 192.56404 197.06404 201.56404 204.06604 209.07004 211.57204 214.07404 216.57604 221.58003 226.58403 229.08603 233.58603 238.59003 243.09003 248.09403 253.09803 258.10203 260.60404 265.60804 268.60505 273.60905 278.61305 281.61006 286.61405 294.11106 296.61308 299.11509 301.11308 306.11708 310.61708 315.62107 318.12309 323.12709 325.12507 330.12907 334.62907 339.12907 341.63108 344.62809 347.1301 349.12809 354.13209 358.63209 363.63609 366.1381 371.1421 373.14009 378.14408 382.64408 387.14408 389.6461 394.6501 397.6471">MAXADDR1 field indicates the first invalid address of the second program flash block (flash block 1).</tspan><tspan y="109.037899" x=".00008 5.49908 10.50308 13.50008 16.00208 21.00608 25.50608 30.510083 38.007085 43.011087 45.009088 50.01309 52.515089 55.017087 57.015089 59.517087 62.019086 69.51608 75.51908 81.52208 87.52508 94.02308 100.52108 107.01908 112.02308 114.52508 119.78108 122.28308 129.78008 135.78308 141.78609 147.7891 154.2871 160.7851 167.2831 172.2871 174.7891 180.04509 182.54709 187.55109 192.05109 197.05509 202.05908 204.56108 207.06308 212.06708 217.07108 219.57308 222.07508 224.07308 227.07007 231.57007 234.07207 236.57407 238.57207 243.57607 248.07607 253.08007 255.07807 257.07606 262.08006 264.58207 269.58607 274.59007 279.59407 282.59107 287.59507 292.09507 296.59507 299.09709 304.10108 306.6031 309.1051 311.60713 313.6051 318.6091 323.1091 328.1131 330.6151 335.6191 337.6171 342.6211 347.1211 351.6211 354.1231 359.1271 361.62913 363.6271 368.1271 370.62913 375.63313 380.13313 385.13713 390.1411 395.1451 400.1491 405.1531 410.1571 412.65913">For example, if MAXADDR0 = MAXADDR1 = 0x20 the first invalid address of flash block 1 is 0x4_0000 +</tspan><tspan y="120.037899" x=".00008 5.004081 9.504081 14.508081 19.512082 24.516083 29.520085 34.524087 39.528089 42.030088 44.532087 50.031087 55.035089 57.03309 61.53309 64.03509 70.53309 75.53709 80.541088 82.539089 87.54308 90.04508 95.04908 100.05308 102.55508 105.057079 110.06107 115.06507 117.56707 125.06407 131.06708 137.07009 143.07309 149.57109 156.06909 162.5671 167.57109 170.07309 174.57309 179.57709 181.57509 186.57909 191.58309 194.08509 196.58708 201.59108 204.58808 207.09008 212.09407 214.59607 219.60007 224.60407 229.10407 231.10207 235.60207 240.60607 243.10807 249.60607 251.60407 254.10607 259.11009 261.6121 266.6161 271.6201 276.62409 279.1261 285.1291 291.13209 293.6341 298.6381 301.6351 306.6391 311.6431 314.6401 319.6441 327.1411 329.64314 332.14515 334.14314 339.14714 343.64714 348.65113 351.15315 358.65016 363.65415 371.15116 376.15516 379.15217 383.65217 386.15419 391.15818 396.16218 401.16618 403.66819 408.67219">0x4_0000. This would be the MAXADDR1 value for a device with 512 KB program flash memory and no</tspan><tspan y="131.0379" x=".00008 5.49908 7.4970805 12.501081 17.001082 23.499083 29.502083 36.999086">FlexNVM.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 118.21337 448.58283)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.830001 19.995 24.165 33.33 42.495004 50.835004 55.005006 59.175008 68.340007 76.68001 85.84501 90.84001 95.01001 100.00501 104.17501 112.515018 120.85502 125.85002 130.02002 139.18502 148.35 152.52 163.35 171.69 180.855 185.025 193.36499 198.35999 206.69998 212.53499 216.70499 227.53499 231.70499 240.86998 250.03498 254.20497 259.19999 269.205 273.375 285.87 294.21 305.03999 309.21 320.03999 330.86997">Unique Identification Register High (SIM_UIDH)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 92.0161 476.58283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00299 5.0069906 10.010991 15.014992 20.018994 25.022995 30.026997 35.031 40.035 45.039 50.043004 52.545003 57.549005 62.553007 67.05301 72.05701 74.559009 79.815 82.317 87.321 92.325 97.328998 102.33299 107.33699 109.83899 114.84299 117.344989 119.846988 124.346988 129.35099 131.85298 134.35498 139.61098 142.11298 147.11698 152.12097 157.12497 162.12897 167.13297 172.13697 177.14096 182.14496 187.14896">4004_7000h base + 1054h offset = 4004_8054h</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 495.58283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.10399 7.7729909 9.326991">Bit</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 69.27273 495.58283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74099 7.6329905">31</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 84.54545 495.58283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74099 7.6329905">30</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 99.81818 495.58283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74099 7.6329905">29</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 115.09091 495.58283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74099 7.6329905">28</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 130.36363 495.58283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74099 7.6329905">27</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 145.63636 495.58283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74099 7.6329905">26</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 176.18183 495.58283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74099 7.6329905">24</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 191.45455 495.58283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74099 7.6329905">23</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 206.72727 495.58283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74099 7.6329905">22</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 221.99999 495.58283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74099 7.6329905">21</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 237.2727 495.58283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74099 7.6329905">20</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 252.54543 495.58283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74099 7.6329905">19</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 267.81816 495.58283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74099 7.6329905">18</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 283.09089 495.58283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74099 7.6329905">17</tspan></text>
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