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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_673.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

152 lines
30 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="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 17.792002 22.240002 31.136002 35.584005">29.4.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 54)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 9.776 14.224001 23.120003 32.016004 43.568006 54.240007 67.56801 72.01601 83.56801 92.46401 101.360019 110.25602 116.48002 120.92802 130.70401 136.03202 140.48001 150.25601">FlexNVM Description</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="37.25" x="-.002 8.552 15.552 19.444 24.890002 28.390002 33.836004 40.052003 46.268 50.160005 54.052007 61.052007 68.052 71.552 78.552 84.768009 90.214008 96.43001 101.09201 104.98401 111.98401 118.20001 123.64601 127.14601 131.03801 138.03801 144.25402 147.75402 155.53801 159.43001 165.64601 172.64601 182.75402 192.86202 205.30802 208.80802 219.70001 225.91602 236.80802 243.80802 248.47002 255.47002 258.97004 262.47004 271.02403 278.02403 281.91603 287.36204 290.86204 296.30805 302.52406 308.74006 312.63206 316.52406 323.52406 330.52406 334.02406 341.02406 348.02406 354.24006 359.68608 363.18608 370.18608 377.18608 381.07807 384.57807 390.79408 397.79408 404.79408 408.68608 415.68608 419.18608 423.84806 430.84806 435.51005 439.01005 446.01005 452.22605 459.22605 463.11805 469.33406 475.55006">This section describes the FlexNVM memory. This section does not apply for devices</tspan><tspan y="53.25" x="-.00197 3.8900305 10.89003 17.10603 20.99803 24.49803 30.714032 37.71403 44.71403 48.606035 54.822034 58.714036 65.714038 69.214038 76.214038 83.214038 87.10603 94.10603 97.60603 104.60603 109.268039 116.268039 123.268039 127.93004 134.14604 145.03804 148.53804 153.20005 157.09204 163.30805 168.75405 175.75405 179.25405 190.14604 196.36205 207.25405 214.25405 218.91605 225.91605">that contain only program flash memory.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 147.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00602 8.346021 16.686022 20.856022 29.196022 33.366025 41.706026 45.876028">29.4.3.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 147.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00602 9.17102 13.341021 21.681023 30.021023 40.851026 50.856027 63.35103 67.52103 78.35103 82.52103 91.68603 100.02603 108.366039 112.53603 122.54103 130.88103 136.71604 141.71103 145.88103 150.87602 155.04602 164.21102 173.376 177.546 186.711 195.87599 200.04599 205.04099 214.20598 220.04099 224.21099 233.37598 237.54598 245.88597 254.22597 265.05598 275.88597">FlexNVM Block Partitioning for FlexRAM</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="130.05" x="-.00498 8.54902 15.54902 21.76502 25.26502 32.265024 37.71102 43.92702 48.58902 52.08902 58.30502 64.52102 71.52102 75.02102 81.23702 88.23702 95.23702 99.899028 103.79102 110.79102 117.79102 122.453029 128.66902 132.16902 136.06102 143.06102 149.27703 152.77703 160.56102 164.45302 170.66902 177.66902 187.77703 197.88503 210.33103 213.83103 220.83103 224.72303 231.72303 237.93903 244.93903 248.43903 254.65503 260.10105 263.60105 269.81706 273.70906 277.60105 284.60105 290.81706 295.47904">The user can configure the FlexNVM block as either:</tspan><tspan y="154.45001" x="13.09904 24.005042 33.34304 39.55904 45.00504 48.89704 55.11304 58.61304 65.61304 71.82904 75.72104 81.93704 85.43704 90.099048 93.99104 100.20705 105.653049 112.653049">&#x2022;Basic data flash,</tspan><tspan y="170.45001" x="13.09904 24.005042 32.55904 41.11304 48.89704 58.235044 68.34304 80.78904 84.28904 88.95104 92.84304 99.059047 104.50504 111.50504 115.00504 119.667049 125.88305 132.09905 139.09905 143.76105 150.76105 156.20705 159.70705 163.59905 170.59905 174.09905 179.54505 186.54505 193.54505 200.54505 207.54505 212.20705 216.09905 219.59905 223.49105 230.49105 236.70705 240.20705 247.20705 254.20705 258.09907 261.99107 265.88307 270.54505 274.43705 281.43705 284.93705 293.49104 302.045 309.829 319.16703 329.27503 341.72105 345.22105 349.88304 356.09904 362.31504 366.20704 373.20704 377.86903 384.08503 387.58503 391.08503 398.08503">&#x2022;EEPROM flash records to support the built-in EEPROM feature, or</tspan><tspan y="186.45001" x="13.09904 24.005042 34.11304 37.61304 43.82904 50.82904 61.721044 68.72104 72.61304 79.61304 85.82904 89.72104 93.61304 100.61304 107.61304 111.11304 118.11304 122.77504 126.27504 133.27504 140.27504 144.16704 151.16704">&#x2022;A combination of both.</tspan><tspan y="212.45001" x="-.004969597 8.54903 15.54903 21.76503 25.26503 32.26503 37.71103 43.92703 48.589029 51.109029 56.555028 60.055028 67.83903 71.731029 77.94703 84.94703 95.05503 105.16303 117.60903 121.10903 127.325038 134.32505 141.32505 145.98705 149.87905 156.87905 163.87905 168.54105 174.75705 178.64905 182.54105 189.54105 196.54105 200.04105 206.25705 213.25705 220.25705 224.14905 230.36505 236.58106 240.08106 243.97306 249.41905 252.91905 258.36506 265.36506 271.58106 277.79707 281.68907 286.35105 290.24305 296.45906 303.45906 306.95906 313.95906 319.40507 323.29707 330.29707 337.29707 340.79707 344.68907 351.68907 357.90507 361.40507 369.18907 373.85105 380.85105 387.85105 392.51304 398.72904 409.62104 413.12104 420.90504 427.12104 431.78303 435.67503 439.56703 443.459 447.351 454.351">The user's FlexNVM configuration choice is specified using the Program Partition</tspan><tspan y="228.45001" x="-.004979597 6.211021 13.211021 24.103024 34.995027 41.211027 48.211027 55.211027 58.711027 65.71103 71.92703 77.37303 83.589038 88.25104 92.143039 99.143039 105.35904 112.35904 115.85904 119.75104 126.75104">command described in </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="228.45001" x="130.25102 138.03502 142.69702 149.69702 156.69702 161.35903 167.57503 178.46703 181.96703 189.75102 195.96703 200.62903 204.52103 208.41303 212.30503 216.19702 223.19702 230.19702 233.69702 243.03502 250.03502 260.92704 271.81904 278.03504 285.03504">Program Partition Command</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="228.45001" x="292.03504">.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="252.63672" x="220.11704 230.22504 240.33304 250.44104 258.99504 262.88703 273.77903">CAUTION</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="277.25" x="71.99707 85.21307 92.21307 96.10507 99.99707 106.21307 109.71307 116.71307 120.60507 125.267078 129.92908 136.14508 140.80709 147.02309 154.02309 157.91509 161.41509 168.41509 174.63109 179.29309 183.18509 187.07709 190.96909 194.86109 201.86109 208.86109 214.30709 217.80709 224.80709 229.46909 232.96909 236.86109 243.86109 250.07709 253.57709 261.36109 265.25309 271.4691 278.4691 288.5771 298.6851 311.1311 314.6311 321.6311 325.5231 332.5231 338.7391 345.7391 349.2391 355.4551 360.1171 366.3331 369.8331 376.0491 383.0491 389.2651 393.1571 397.0491 403.2651 410.2651 414.1571 420.3731">While different partitions of the FlexNVM block are available,</tspan><tspan y="293.25" x="71.9971 75.8891 82.8891 89.1051 92.6051 96.4971 103.4971 107.3891 113.6051 120.6051 124.4971 128.3891 135.3891 142.3891 145.8891 149.7811 155.2271 158.7271 162.6191 169.6191 175.8351 179.7271 183.2271 189.4431 192.9431 198.3891 202.2811 209.2811 216.2811 220.1731 226.3891 229.8891 236.8891 243.1051 247.7671 251.6591 255.5511 259.4431 263.3351 270.3351 277.3351 280.8351 287.05113 294.05113 301.05113 304.9431 311.15913 317.37513 320.87513 324.76713 330.21315 333.71315 340.71315 346.15916 352.37516 359.37516 362.87516 366.76716 373.76716 378.42915 385.42915 392.42915 399.42915 406.42915 413.42915 420.42915">the intention is that a single partition choice is used throughout</tspan><tspan y="309.25" x="71.99713 75.88913 82.88913 89.10513 92.60513 98.82114 105.82114 109.713138 113.60513 118.267139 124.48314 127.98314 131.87514 135.76714 140.42914 146.64514 150.53714 154.42914 165.32114 171.53714 175.03714 182.03714 186.69915 190.19915 196.41515 199.91515 206.91515 210.80715 217.80715 224.02315 231.02315 234.52315 240.73915 247.73915 254.73915 258.63117 262.52317 268.73918 274.95518 278.84718 282.73918 289.73918 296.73918 300.23918 303.73918 312.29316 319.29316 325.50917 329.00917 336.79316 340.68516 346.90116 353.90116 364.00917 374.11717">the entire lifetime of a given application. The FlexNVM</tspan><tspan y="325.25" x="71.997158 78.997158 85.21316 89.87516 93.76716 97.65916 101.551158 105.44315 112.44315 119.44315 122.94315 129.15915 136.15915 143.15915 149.37516 152.87516 159.09116 166.09116 173.09116 176.98316 183.19916 189.41516 194.86116 198.36116 204.57717 209.23917 213.90117 220.11717 226.33318 230.22518 233.72518 237.61717 244.61717 250.83318 254.33318 260.54917 267.54917 274.54917 281.54917 286.21116 292.42716 299.42716 305.64317 311.85917 315.35917 321.57518 328.57518 335.57518 339.07518 346.07518 352.29118 356.18318 362.39918 365.89918 370.56117 376.77717 380.66917 386.88517 393.88517 397.77717 401.66917 408.66917">partition code choices affect the endurance and data retention</tspan><tspan y="341.25" x="71.997158 78.21316 85.21316 91.42916 96.09116 102.30717 108.52317 112.41517 118.63117 123.293178 127.18517 132.63118 136.52318 140.41518 146.63118 152.07718 155.57718 162.57718 167.23918 170.73918 174.63118 181.63118 187.84719 191.34719 198.34719 204.56319 211.56319 215.45519 221.67119 227.88719">characteristics of the device.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 435.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00284 8.337161 16.677163 20.847163 29.187165 33.357168 41.697168 45.86717">29.4.3.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 435.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00285 10.0021519 20.007153 30.012154 40.842157 52.512159 65.00716 69.177158 80.00716 88.34716 96.687168 102.52216 106.69216 116.69716 125.03716 130.87216 139.21216 148.37715 156.71715 165.05715 170.05214 174.22214 182.56214">EEPROM User Perspective</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="418.05" x="-.00183 8.55217 15.55217 21.76817 25.26817 33.82217 42.37617 50.16017 59.498174 69.60617 82.05217 85.55217 90.99817 97.99817 103.44417 107.33617 113.55217 124.44417 127.94417 131.83617 137.28217 140.78217 146.22817 153.22817 160.22817 170.33617 177.33617 180.83617 184.72817 191.72817 195.22817 199.12017 206.12017 212.33617 215.83617 220.49817 227.49817 231.39017 235.28217 242.28217 252.39017 256.28218 263.28218 270.28218 273.78218 278.44416 282.33616 289.33616 296.33616 300.99815 307.21415">The EEPROM system is shown in the following figure.</tspan></text>
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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="549.37527" x="120.63598 127.96798 131.30399 138.63599 145.96799 150.63599 157.30799 160.64398 167.31598 173.98798 177.98398 184.65598 191.32798 194.66397 197.99997 205.33197 212.66397 219.99597 223.33197 230.66397 237.33597 244.00797 250.67996 254.01596 257.35197 265.35597 273.35997 281.36396 290.02796 299.36396 309.35997 312.69596 321.35997 326.02796 332.69996 340.03196 343.36796 347.36396 354.03596 360.70796 364.70396 372.03596 376.70396">Figure 29-31. Top Level EEPROM Architecture</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="575.80807" x="0 8.554 15.554 19.054 26.054 32.27 39.27 46.27 50.162004 56.378004 59.878004 66.878009 73.09401 77.75601 84.75601 88.64801 95.64801 102.64801 106.14801 112.36401 119.36401 124.81001 128.70201 135.70201 146.59401 152.81002 157.47202 160.97202 165.63402 171.85002 178.85002 185.85002 189.74202 194.40402 200.62003 211.51203 217.72803 224.72803 228.62003 234.06603 237.56603 241.06603 244.95803 251.95803 258.174 261.674 269.458 273.35 279.566 286.566 295.90403 306.01203 318.45805 321.95805 328.17405 335.17405 342.17405 345.67405 353.45805 357.35005 363.56605 370.56605 380.67405 390.78205 403.22807 406.72807 413.72807 417.62007 424.62007 430.83607 437.83607 443.28208 446.78208 452.99809 459.21409 466.21409 469.71409 476.71409">To handle varying customer requirements, the FlexRAM and FlexNVM blocks can be</tspan><tspan y="591.80807" x="0 5.4460008 12.446001 16.338002 20.230002 24.122002 27.622002 31.514002 38.514 42.406003 49.406003 52.906003 59.906003 66.122 70.784008 74.676 78.568 82.46 86.352 93.352 100.352 105.798 109.298 115.514 120.96 124.46 129.906 136.906 143.906 154.014 161.014 164.514 168.406 175.406 178.906 182.798 189.798 196.014 199.514 204.17601 208.06801 215.06801 222.06801 226.73001 232.94602 236.44602 243.44602 249.66202 253.55402 260.55403 270.66203">split into partitions as shown in the figure below.</tspan><tspan y="616.20809" x="7.50399 14.50399">1.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd" font-weight="bold"><tspan y="616.20809" x="23.99599 33.333993 42.671995 51.225996 61.333997 72.226 85.442 88.942 96.726009 103.726009 109.94201 114.60401 118.49601 123.15801 127.05001 134.05002">EEPROM partition</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="616.20809" x="141.83399 145.33399 149.99599 158.54999 167.10399 175.65799 183.44199 188.10399 196.65799 205.21199 209.874 213.374 227.374 230.874 239.428 246.428 252.644 256.14399 262.36 273.25199 280.25199 287.25199 294.25199 298.14399 301.64399 308.64399 313.30598 316.80598 324.58998 328.48197 334.69798 341.69798 351.03599 361.14399 373.59 377.09 384.09 389.536 395.752 402.752 406.252 410.914 417.914 422.576 426.076 434.62998 443.18397 450.96797 460.30598 470.41398"> (EEESIZE) &#x2014; The amount of FlexRAM used for EEPROM</tspan><tspan y="632.25009" x="23.996018 30.212018 36.428018 43.428018 46.928018 53.928018 60.144018 63.644018 69.09002 75.30602 79.19802 82.69802 87.36002 92.022029 99.022029 109.914028 113.414028 120.414028 123.914028 133.25203 140.25203 144.14403 150.36003 155.80603 159.30603 163.96804 170.96804 177.96804 181.46804 190.02204 198.57604 206.36003 215.69803 225.80603 238.25203 242.91403 246.41403 250.30603 257.30604 260.80604 264.69804 271.69804 277.91404 281.41404 292.30604 298.52204 305.52204 309.41404 320.30604 327.30604 338.19804 341.69804 349.48204 353.37403 359.59004 366.59004 375.92805 386.03605 398.48207 401.98207 407.42808 411.32008 417.53608 423.75209 427.25209 431.91407 437.36009 443.57609 449.79209">can be set from 0 Bytes (no EEPROM) to the maximum FlexRAM size (see </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="632.25009" x="453.292 461.84599 468.06199 475.06199 478.95399">Table</tspan><tspan y="648.25009" x="23.996003 30.996003 37.996004 42.658">29-2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="648.25009" x="49.658014 54.32001 57.82001 61.32001 69.87401 76.87401 83.09001 86.59001 91.252017 97.46802 108.360019 114.57602 118.46802 125.46802 132.46802 138.68402 143.34603 146.84603 153.84603 158.50803 162.00803 165.90003 172.90003 179.11603 182.61603 190.40003 194.29203 200.50803 207.50803 216.84603 226.95403 239.40003 242.90003 246.79203 252.23802 255.73802 262.73805 269.73805 273.63005 277.13005 283.34605 289.56205 295.77806 301.99406 307.44007 312.88609 316.77809 323.77809 327.67008 333.88609 337.38609 347.49409 354.49409 358.38609 362.27809 368.49409 371.99409 375.88609 382.88609 389.10209 392.60209 400.38609 404.27809 410.49409 417.49409 426.8321 436.9401 449.3861 452.8861 456.7781">). The remainder of the FlexRAM is not accessible while the FlexRAM is</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01031" x="329.97599 336.47398 341.97297 346.97697 352.47596 355.47297 360.47697 363.97798 366.47999 371.48399 376.48799 378.99 384.48899 386.991 391.995 396.999 402.498 405 412.497 417.501 425.502 431.001 434.502 439.506 442.00804 449.50505 455.00404 460.50303 466.002 468.50404 473.50804 476.01005 479.00706 484.50605 490.00505 495.50404 501.00303">Chapter 29 Flash Memory Module (FTFL)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.93869)" 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 54 751.756)" 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 1 220.32 751.756)" 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="151.308 156.312 161.316">673</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54 763.756)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="180.87 188.65 194.20999 200.31999 205.87999 209.76999 215.32999 218.10999 220.88999 228.10999 234.21999 239.77999 242.55998 248.66999 254.22998 259.78999 265.34999 268.12998 270.90998 277.01997 280.34996 286.45994 290.34996 299.23997 304.79997 308.12995 310.90995 317.01994">General Business Information</tspan></text>
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