birdcage/docs/K60-refman-vectors/K60-reference-manual_page_633.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

983 lines
85 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 483.05)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="160.31998 167.65198 177.64798 186.31198 192.98398 200.98798 208.31998 216.98398 223.65598 232.31998 240.98398 244.31998 248.31598 251.65198 258.32398 261.65998 268.99198 272.32798 279.65998 286.33198 293.00398 299.67597 304.34397 307.67997 315.01197 319.00798 322.34397 329.67597 337.00798">FMC_PFB1CR field descriptions</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.50003 504.8)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="25.79401 31.29301 33.79501 38.79901 41.30101">Field</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.10004 504.8)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="187.94699 194.44499 199.44899 204.45299 209.45699 212.958 215.45999 220.95899 223.95598 226.45798 231.95697">Description</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250024 520.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="23.03999 28.043992 33.047994 38.051996 43.055997">31&#x2013;28</tspan><tspan y="18.83789" x="7.542 13.545 18.549 25.047 33.543 39.545999 46.044 48.545999 53.55 56.052 61.056">B1RWSC[3:0]</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 520.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 16.011002 20.511002 23.013003 28.017003 30.519003 37.017004 42.021005 47.025007 52.029008 54.531007 63.027009 68.031009 70.02901 72.531009 75.033008 81.036 83.538 88.542 91.044 96.048 98.549999 105.048 110.051998 115.05599 117.55799 120.55499 125.55899">Bank 1 Read Wait State Control</tspan><tspan y="26.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 83.529 88.533 91.034999 93.033 98.036998 103.04099 107.54099 110.04299 112.54499 117.54899 122.552989 125.054988 130.05899 135.06299 142.55998 147.56398 152.56798 155.56497 158.06697 163.07097 165.57297 168.07497 174.57297 179.57697 181.57497 184.07697 186.57897 191.07897 193.58097 198.58496 201.08696 206.09096 210.59096 213.09296 216.08995 221.09395 226.09795 231.10195 233.09995 236.09694 241.10094 246.10494 248.60694 251.10894 256.11296 258.61497 263.61897 268.11897 272.61897 277.62297 282.12297 286.62297 289.12498 291.62699 296.63099 301.63499 304.137 309.141 314.145 319.149 323.649 326.151 331.155 333.657 336.15904 338.157 343.161 347.661 352.665 355.16703 362.66404 367.66804 375.16505 380.16905 383.16606 387.66606">This read-only field defines the number of wait states required to access the bank 1 flash memory.</tspan><tspan y="43.237894" x="0 5.499 10.503 15.507001 18.009 21.006 26.010003 28.008004 33.012006 35.514005 37.512006 42.516008 47.520009 52.020009 57.02401 59.02201 64.02601 66.52801 71.532009 76.536 79.038 85.536 90.54 95.544 100.548 103.049999 105.551998 110.55599 115.55999 118.06199 121.05899 126.06299 131.06699 136.07099 138.57299 143.57698 148.07698 152.57698 157.58098 162.08098 166.58098 169.08298 171.58498 173.58298 181.07997 186.08397 188.58597 193.58997 196.09197 198.59397 201.09597 206.09996 211.10396 213.60596 216.10796 218.10596 223.10996 227.60996 232.61396 235.11595 240.11995 243.11695 246.11394 251.11794 255.61794 258.11994 261.11695 266.12095 270.62095 275.62495 278.62196 283.62596 288.12596 292.62596 297.62995 302.63395 305.13597 307.13395 312.13795 314.63996 319.13996 323.63996 328.13996 330.64198 335.64598 343.14299 345.645 350.145 352.14299 357.14698 361.64698 366.14698 368.649 373.149 377.649 382.149 384.14698 389.15098 393.65098 396.64799 399.15 404.154 409.158">The relationship between the read access time of the flash array (expressed in system clock cycles) and</tspan><tspan y="54.237894" x="0 6.4980008 14.994001 20.997002 27.495003 29.997004 31.995003 36.495004 38.997 44.001005 49.005006 51.507005 53.505006 58.509008 63.51301 68.517009 71.019008 76.023 80.523">RWSC is defined as:</tspan><tspan y="70.63789" x="0 6.0030004 10.503 15.003 20.007 24.507 29.007 31.509 34.011 36.009004 43.506006 48.510007 51.012006 56.016008 58.518007 61.020006 63.522005 65.520008 70.524 75.024 80.028 82.53 87.534 90.531 93.528 98.532 103.032 105.534 108.035999 112.535999 117.035999 121.535999 124.037998 129.04199 136.53899 139.04099 143.54099 145.53899 150.54299 155.04299 159.54299 164.04299 166.54499 169.04698 174.30298 176.80498 183.30298 191.79898 197.80199 204.29999 206.80199 212.05799 214.55998">Access time of flash array [system clocks] = RWSC + 1</tspan><tspan y="87.037899" x="0 5.499 10.503 15.507001 18.009 23.508002 31.005002 37.503004 40.005 45.009004 50.013006 52.515005 57.519006 65.01601 70.020008 72.522 74.520008 79.020008 84.024 86.022 88.020008 92.520008 95.022 99.522 104.526 106.524 111.024 116.028 118.026 123.03 125.532 130.536 135.036 137.538 140.04 145.04399 147.04199 151.54199 154.04399 158.54399 163.54799 165.54599 170.54999 175.55399 178.05599 183.05998 188.06398 192.56398 197.56798 202.57198 205.07398 210.07798 215.08197 217.58397 220.08597 225.08997 230.09397 232.59597 235.59296 240.59696 243.09896 245.09696 250.10095 252.60295 257.60697 260.10899 262.611 265.113 270.117 275.121 277.62303 282.12303 286.62303 291.12303 293.62504 298.62904 306.12605 308.62806 313.12806 315.12605 320.13005 324.63005 329.13005 331.63206 336.13206 341.13606 346.14006 351.14405 356.14805 358.65007 361.15208 366.15608 368.65809 371.1601 376.1641 381.1681 383.6701 386.17213 388.1701 393.1741 397.6741">The FMC automatically calculates this value based on the ratio of the system clock speed to the flash</tspan><tspan y="98.037899" x=".00004 4.50004 6.49804 11.502041 16.00204 20.50204 23.004042 27.504042 32.50804 37.512044 42.516046 47.520048 50.022047 52.524045 58.023046 63.027048 66.02405 68.52605 73.530048 78.030048 83.03404 90.531047 95.53504 97.53304 102.53704 105.03904 107.54104 114.03904 119.04304 124.047039 129.05104 131.55304 134.05504 139.05904 141.05704 145.55704 148.05904 151.05603 156.06003 158.56203 160.56003 165.56403 168.06603 170.06403 174.56403 177.06603 182.07003 184.57202 189.57602 192.07802 194.58002 197.08202 202.08602 207.09001 209.59201 212.09401 214.09201 219.09601 221.09401 226.098 227.817 232.317 234.819 239.319 244.323 246.321 251.325 256.329 258.83103 260.829 265.329 267.83103 272.83503 277.83903">clock speed. For example, when this ratio is 4:1, the field's value is 3h.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 626.5)" 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 40.509008 45.009008 47.511007 50.508008 55.51201 60.01201 65.01601 68.01301 72.51301 77.517009 82.521">This field is reserved.</tspan><tspan y="18.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 80.523 85.023 87.525 90.522 95.526 100.026 105.03 108.027 112.527 117.531 122.534999 125.036998 130.041 135.045 140.049 142.551 147.555 149.553 156.051 161.055 165.555 170.055 172.55699 177.56099 182.56499 187.06499 189.56699 192.06899 197.07299 202.07698 204.57898 209.07898 214.08298 216.08098 221.08498 226.08898 228.59098 233.59497">This read-only field is reserved and always has the value 0.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 653)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 16.011002 20.511002 23.013003 28.017003 30.519003 38.016004 43.020006 50.517007 55.521009 58.51801 63.01801 65.52001 74.016017 76.014019 81.01801 83.52001">Bank 1 Memory Width</tspan><tspan y="28.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 83.529 88.533 91.034999 93.033 98.036998 103.04099 107.54099 110.04299 112.54499 117.54899 122.552989 125.054988 131.55298 133.55098 138.55498 141.05698 146.06098 148.56298 153.56697 156.06897 158.57097 161.07297 166.07697 171.08097 173.58296 178.58696 183.59096 188.59496 193.09496 195.59696 200.60095 203.10295 210.59995 215.60395 223.10094 228.10494 231.10193 235.60193">This read-only field defines the width of the bank 1 memory.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 691)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="180.96303 185.96703 190.97103 196.47002 198.46802 203.47202 205.97402 210.97801 215.98201 220.98601 223.488 225.48601 230.49 235.494 240.498 244.998 247.5 252.504 257.508 260.01 262.51203 267.51603 272.52003 275.02204 280.02604 285.03004 289.53004 292.03205 294.53407 300.03306 305.03706 310.53605 315.54005 318.04206 320.54408">Table continues on the next page...</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01034" x="320.97599 327.47398 332.97297 337.97697 343.47596 346.47297 351.47697 354.97798 357.47999 362.48399 367.48799 369.99 375.48899 377.991 382.995 387.999 393.498 396 403.497 408.501 416.502 422.001 425.502 430.506 433.00804 439.506 445.005 450.504 453.501 457.002 462.501 465.00303 467.50505 472.50904 476.01005 478.51206 481.50907 487.00807 494.50508 501.00306">Chapter 28 Flash Memory Controller (FMC)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 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 54.000024 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 1 220.32004 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 1 391.68003 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">633</tspan></text>
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