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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_664.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

547 lines
58 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 144.68285)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 7.497 12.501001 17.001002 22.005002 24.507002 30.510003 35.514005 40.014005 45.018007 48.015008 50.01301 52.515008">Flash Security</tspan><tspan y="26.83789" x="0 5.499 10.503 15.507001 20.007 25.011002 27.513003 32.517004 34.515005 37.017004 41.517004 44.019 49.023004 54.027006 56.529005 58.527006 63.531007 68.535 71.037 73.539 78.543 83.547 86.048999 90.548999 95.55299 100.05299 105.05699 108.05399 110.051998 112.55399 117.05399 119.55599 124.05599 126.55799 131.562 134.064 139.068 141.56999 146.57399 149.07599 151.57799 154.07999 159.08399 164.08798 166.58998 174.08698 180.58498 187.08298 189.58498 192.08698 194.58898 199.59297 202.09497 204.59697 209.60097 214.60497 217.10697 221.60697 226.61096 231.11096 236.11496 239.11196 244.11595 246.61795 251.11795 253.61995 258.62397 261.12599 266.12998 268.632 271.134 273.63603 278.64 283.644 286.14604 293.64305 300.14103 306.639 309.14103 311.139 313.137 320.634 322.632 325.134 329.634 332.13603 337.14 341.64 346.14 351.144 355.644 360.144 362.64604 365.14805 370.15205 372.65406 375.15608 377.15406 382.15806 386.65806">These bits define the security state of the MCU. In the secure state, the MCU limits access to flash</tspan><tspan y="37.83789" x="0 7.4970009 12.501001 19.998002 25.002003 27.999003 32.499 35.001 42.498 47.502004 52.506006 57.510007 59.508008 64.51201 67.01401 70.01101 75.01501 79.51501 84.519008 89.523 92.520008 97.020008 102.024 106.524 109.026 111.528 117.027 122.031 127.034999 129.537 131.535 133.533 141.03 143.028 145.53 150.534 153.036 155.034 160.038 165.04199 169.54199 172.04399 177.04799 180.04499 185.04898 187.55098 192.55498 197.55898 200.06098 202.05898 207.06298 212.06697 217.07097 219.57297 224.57697 229.58097 232.57796 235.07996 240.08396 245.08795 249.58795 251.58596 256.08595 261.08995 263.59196 268.59596 273.59996 278.60395 281.10597 286.10997 289.10697 294.11097 296.61299 301.61698 306.62098 309.123 314.12699 316.12498 318.12297 323.12696 328.13096 330.63298 332.63096 337.63496 340.13697 342.63899 347.64299 352.64698 355.149 361.64698 366.65098 368.64897">memory module resources. The limitations are defined per device and are detailed in the Chip</tspan><tspan y="48.83789" x=".00004 6.4980409 11.502041 16.506043 19.008044 21.006043 26.010045 31.014046 34.011049 39.01505 41.517049 43.51505 48.51905 53.523054 56.02505 61.029054 66.03305 68.53505 73.53905 75.53705 77.53505 82.03505 84.53705 87.03905 89.541049 92.043048 94.545047 97.04704 102.05104 107.05504 109.55704 112.05904 114.05704 119.061038 123.561038 128.56504 131.06703 138.56403 143.56803 151.06502 156.06902 159.06601 163.56601 166.06801 173.565 178.569 183.573 188.577 190.575 195.579 198.081 200.079 204.579 207.081 212.08499 217.08899 221.58899 226.59299 231.09299 236.09699 239.09398 244.09798 249.10198 251.60398 256.60798 261.10798 263.10597 268.10997 273.11396 275.61598 280.61997 285.62397 290.12397 294.62397 299.62797 304.63197 309.63597 312.63298 315.13499 319.63499 324.63899 329.13899 331.641 336.645 341.145 345.645 350.649 355.149 359.649 362.151 364.653 367.15504 372.15904 377.16304 379.66505 385.66804 391.67103 398.169 400.67103 405.67503 407.673 410.17503">Configuration details. If the flash memory module is unsecured using backdoor key access, the SEC bits</tspan><tspan y="59.83789" x=".00004 5.0040409 8.00104 13.005041 15.507042 18.009043 23.013043 26.010043 30.510043 35.51404 40.518045 43.020044 45.52204 50.526044 53.02804 58.032045 63.036046 68.04005">are forced to 10b.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 217.68286)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 5.0040409">00</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 152.94954 217.68286)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 7.4970409 13.995041 20.493042 22.995043 27.495043 32.499044 36.999044 42.003046 45.000047 46.998048 49.500047 54.000047 56.502046 61.002046 63.504045 68.50804 71.01004 76.01404 80.51404 83.01604 85.01404 89.51404 92.01604 96.51604 101.520038 106.020038 111.02403 114.021038">MCU security status is secure</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 152.94954 228.68286)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00005 7.497051 13.995051 20.493052 22.995053 27.495053 32.499055 36.999055 42.003057 45.000059 46.99806 49.500059 54.000059 56.502058 61.002058 63.504056 68.50806 71.010059 76.01405 80.51405 83.01605 85.01405 89.51405 92.01605 96.51605 101.52005 106.02005 111.02405 114.02105">MCU security status is secure</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 241.68286)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00005 5.0040509">10</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 152.94954 241.68286)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00005 7.497051 13.995051 20.493052 22.995053 27.495053 32.499055 36.999055 42.003057 45.000059 46.99806 49.500059 54.000059 56.502058 61.002058 63.504056 68.50806 71.010059 76.01405 80.51405 83.01605 85.01405 89.51405 92.01605 97.02005 102.02405 106.52405 111.528049 116.028049 121.03204 124.029048 129.03305 131.53505 134.53205 140.03104 145.03504 150.03903 152.54103 157.04103 159.54303 164.54703 169.55103 174.55503 179.55902 182.55602 187.56002 190.06201 194.56201 199.56601 201.56401 206.56801 211.572 213.57 218.574 223.578 226.08 230.58 235.584 240.588 245.592 247.59 250.092 252.09 257.094 262.098 264.6 269.604 272.10603 274.60804 277.11006 282.11405 287.11805 289.62007 292.12208 294.12007 299.12406 303.62406 308.62806 311.13008 318.62709 323.63108 331.12809 336.13209 339.1291 343.6291 346.1311 353.6281 358.6321 363.6361 368.6401 370.6381 375.6421 378.1441 380.1421">MCU security status is unsecure (The standard shipping condition of the flash memory module is</tspan><tspan y="20.83789" x=".000069999998 5.0040709 10.008072 14.508072 19.512074 24.012074 29.016076 32.013078 37.01708 39.519079">unsecure.)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 152.94954 265.68287)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00007 7.497071 13.995071 20.493073 22.995074 27.495074 32.499074 36.999074 42.003076 45.000078 46.998079 49.500078 54.000078 56.502077 61.002077 63.504076 68.50807 71.01007 76.01407 80.51407 83.01607 85.01407 89.51407 92.01607 96.51607 101.520069 106.020069 111.02406 114.021068">MCU security status is secure</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 328.18287)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 17.792002 22.240002 31.136002 40.032 44.480005">29.34.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 121.54931 328.18287)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 9.776 14.224001 23.120003 32.016004 41.792005 46.240007 58.688009 68.464008 73.79201 78.240009 88.01601 97.79201 102.240009 113.79201 122.68801 132.464 136.912 145.808 151.136 160.032 166.256 170.704 176.032 185.808 195.584 205.36 215.136 224.032 233.808 246.256 256.928 266.704">Flash Option Register (FTFL_FOPT)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54.00006)" font-size="14" font-family="TimesLTStd"><tspan y="311.4328" x="-.00197 8.55203 15.55203 21.76803 25.26803 29.93003 33.822034 40.038034 45.48403 52.48403 55.98403 62.98403 69.98403 73.87603 77.76803 84.76803 91.76803 95.26803 99.93003 106.146038 113.146038 117.03803 122.48403 126.37603 132.59203 137.25403 140.75403 146.97003 150.86203 154.75403 161.75403 171.86203 177.30803 180.80803 184.70003 191.70003 197.91603 201.41603 213.86203 223.20003 233.30803 236.80803 240.70003 247.70003 251.20003 257.41603 264.41603 269.86204 273.75404 280.75404 291.64604 295.53804 301.75404 307.97004 311.47004 315.36204 319.25404 324.70005 328.20005 335.20005 342.20005 348.41606 353.07804 359.29405 363.18605 367.07804 374.07804 381.07804 386.52406 390.02406 397.02406 404.02406 407.52406 413.74006 420.74006 426.95606 437.84806 441.74006 448.74006 452.63206 459.63206 466.63206 470.13206 474.02406 481.02406">The flash option register allows the MCU to customize its operations by examining the</tspan><tspan y="327.4328" x="-.00197 5.444031 9.336031 15.5520319 19.444033 25.660035 29.160035 36.160036 40.822034 44.322034 48.214036 55.214036 61.430036 66.87604 73.09204 76.59204 81.25404 87.47005 93.68605 100.68605 105.34805 112.34805 119.34805 123.24005 130.24005 133.74005 140.74005 144.63205 148.52405 153.97005 157.47005 160.97005 171.07805 178.07805 181.97005 188.18605 195.18605 198.68605 204.90206 209.56406 215.78006 219.28006 223.17206 230.17206 236.38806 243.38806 249.60407 256.60408 260.10408 264.76606 269.42805 276.42805 287.32005 290.82005 300.92805 311.03605 323.48207 326.98207 333.19807 337.09007 340.59007 345.25205 351.46806 356.91407 363.13008 367.02207 370.52207 374.02207 382.57606 389.57606 395.79206 399.29206 403.95405 410.95405 417.95405 424.17005 428.06205 431.95405 438.95405 445.95405 449.45405 456.45405 461.11604 464.61604 468.50804 475.50804">state of these read-only bits, which are loaded from NVM at reset. The function of the</tspan><tspan y="343.4328" x="-.00197 6.99803 10.890031 14.782031 20.228032 23.728032 27.620032 33.066034 36.566034 43.566034 49.782033 54.44403 58.336034 65.33603 71.55203 78.55203 82.05203 85.94403 92.94403 96.44403 100.33603 107.33603 113.55203 117.05203 124.05203 130.26804 137.26804 141.16004 147.37604 153.59204 156.11205 161.55805 165.05805 174.39604 181.39604 185.28804 192.28804 195.78804 205.12604 212.12604 219.12604 223.78804 227.68004 234.68004 241.68004 246.34204 252.55805 256.45005 260.34205 267.34205 274.34205 277.84205 284.84205 291.05805 294.95005 301.16606 305.05805 308.95005 314.39607">bits is defined in the device's Chip Configuration details.</tspan><tspan y="367.8328" x="-.00197 10.10603 13.998031 17.890032 21.390032 28.390032 32.282033 36.174036 41.620035 45.120035 49.012037 56.012037 59.512037 63.404039 70.40404 76.62004 80.12004 84.78204 90.99805 97.99805 101.890048 107.336048 111.22804 117.444049 122.10605 125.60605 131.82205 136.48406 142.70006 146.20006 150.86206 157.07807 163.29407 170.29407 174.95607 181.95607 188.95607 192.84807 199.84807 203.34807">All bits in the register are read-only .</tspan><tspan y="392.2328" x="-.00196 10.106041 17.106041 21.768042 25.660042 32.66004 39.66004 43.16004 47.052045 54.052045 60.268045 63.768045 68.430049 74.64605 80.09205 86.30805 90.20005 93.70005 99.14605 105.36205 112.36205 119.36205 125.57806 132.57807 138.79407 145.01007 148.51007 152.01007 155.90207 162.90207 169.11808 172.61808 177.28008 183.49608 190.49608 194.38808 199.83408 203.72608 209.94208 214.60408 218.10408 221.99608 227.44208 230.94208 234.83408 241.83408 248.05008 255.05008 261.26609 268.26609 271.76609 276.42808 281.09007 288.09007 298.98207 302.48207 306.37406 313.37406 319.59007 323.09007 327.75205 331.64405 337.86006 343.30607 350.30607 353.80607 360.80607 367.80607 374.80607 381.80607 388.80607 392.69807 398.91407 402.80607 406.69807 410.59007 416.80607 420.30607 427.30607 434.30607 438.19807 442.09007 449.09007 456.09007 459.59007 466.59007 473.59007 477.48207 483.69807 487.19807 491.09007">During the reset sequence, the register is loaded from the flash nonvolatile option byte in</tspan><tspan y="408.2328" x="-.0019200001 3.8900805 10.89008 17.106081 20.606081 28.390082 32.28208 38.49808 43.94408 50.94408 54.44408 63.78208 70.78208 77.78208 82.444087 86.33608 93.33608 100.33608 104.998088 111.21409 115.10609 118.998088 125.998088 132.99808 136.49808 144.28208 148.17407 154.39008 158.28208 165.28208 168.78208 172.67407 179.67407 185.89008 192.10608 195.99808 202.21408 209.21408 212.71408 216.60608 223.60608 227.10608 234.10608 238.76808 245.76808 252.76808 257.43009 263.6461 274.5381 278.0381 282.70008 286.59208 292.80809 298.2541 305.2541 308.7541 319.6461 325.8621 336.7541 343.7541 348.41609 355.41609 358.91609 362.41609 370.97007 377.97007 384.18608 387.68608 392.34806 396.24006 402.45606 407.90208 414.90208 418.40208 425.40208 431.61808 437.0641 440.9561 446.4021 449.9021 454.5641 461.5641 466.22608 469.72608 473.61808 480.61808">the Flash Configuration Field located in program flash memory. The flash basis for the</tspan><tspan y="424.2328" x="-.0019200001 6.99808 13.214081 17.106081 24.106081 30.322083 35.76808 39.26808 43.160085 48.606084 52.106084 57.552083 61.444086 68.444087 75.444087 79.33608 83.998088 87.89008 94.10609 101.10609 104.60609 111.60609 118.60609 122.10609 132.21408 135.71408 139.60608 146.60608 150.10608 153.99808 160.99808 167.21408 170.71408 175.37609 181.59209 187.03809 193.25409 197.14609 200.64609 207.64609 213.86209 217.75409 224.75409 230.9701">values is signified by X in the reset value.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 92.0161 494.3828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00209 5.0060908 10.010092 15.014092 20.018094 25.022095 30.026097 35.030099 40.0341 45.0381 50.042104 52.5441 57.548105 62.552106 67.05211 72.05611 74.558109 79.8141 82.3161 87.3201 92.3241 94.826099 99.83009 102.33209 104.83409 109.33409 114.33809 116.84009 119.34209 124.59808 127.10008 132.10408 137.10808 142.11208 147.11608 152.12007 157.12407 162.12807 167.13207 172.13607">4002_0000h base + 3h offset = 4002_0003h</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999986 513.3828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="43.83208 48.501085 50.055086">Bit</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 109.999988 513.3828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.05208">7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 165.99999 513.3828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.05208">6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 221.99999 513.3828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.05208">5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 278 513.3828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="25.92608">4</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 334 513.3828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.054">3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 390 513.3828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.054">2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 446 513.3828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.054">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 502 513.3828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.054">0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000009 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 7.4970009 12.501001 20.502003 26.001004 29.502003 34.506006 37.008005 44.505006 49.509008 55.008008 57.510007 62.514009 68.01301 73.51201 76.01401 82.51201 87.51601 93.01501 95.517009 100.521 103.518009 108.522 112.023">Memory Map and Registers</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000009 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.007 137.227 142.787 148.347 151.127 157.797 163.907 170.017 173.347 179.457 185.017 193.907 196.687 199.467 205.027 207.80699 215.027 220.58699 223.91699 229.47699 233.36699 238.92699 245.03699 250.59699 256.15699 258.93699 267.26698 272.82698 278.93696 285.04695 290.60694 293.38694 296.16694 298.94694 306.16694 311.72694 317.28694 320.06694 322.84693 328.40693 331.18693 336.74693 342.8569 348.9669 351.7469 357.3069 362.86689 368.42689">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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<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="44.775 50.274003 53.271005 58.275007 63.279008 67.77901 72.27901 77.283008 79.281009 84.285 86.787 92.79 97.794 105.291 107.289 111.789 116.793 121.797 126.800998 131.805 136.305 138.80699 143.81099 146.80799 149.30998 151.81198 154.31398 159.31798 163.81798">Freescale Semiconductor, Inc.</tspan></text>
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