birdcage/docs/K60-refman-vectors/K60-reference-manual_page_674.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

123 lines
28 KiB (Stored with Git LFS)
XML

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="11.85" x="23.996 30.212002 37.212 44.212 48.874 52.766004 59.766004 66.76601 71.42801 77.64401 84.64401 88.14401 92.806018 99.806018 104.46802 107.96802 116.52202 125.07602 132.86002 142.19802 152.30602 164.75202 168.25202 172.91402 178.36002 184.57602 190.79203">configured for EEPROM (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="11.85" x="194.292 202.076 208.292 212.184 215.684 223.468 227.36 233.576 240.576 249.914 260.022 272.46803 275.96803 283.752 290.752 297.752 303.96803 307.86003 311.752 318.752 325.752 329.252 338.59004 345.59004 356.48204 367.37403 373.59004 380.59004">Set FlexRAM Function Command</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="11.85" x="387.59004 392.252 395.752 399.252 407.806 414.806 421.022 424.522 433.076 441.62998 449.41398 458.75199 468.86">). The EEPROM</tspan><tspan y="27.85" x="23.996033 30.996033 37.212034 41.87403 45.766035 49.658037 53.550039 57.44204 64.44204 71.44204 74.94204 81.94204 86.60404 93.60404 103.71204 109.15804 112.65804 119.65804 126.65804 136.76604 142.98204 147.64405 154.64405 158.14405 162.80605 167.46805 174.46805 185.36005 188.86005 192.75205 199.75205 205.96805 209.46805 216.46805 223.46805 227.36005 231.25205 238.25205 249.14405 252.64405 259.64405 264.30604 267.80604 271.69804 278.69804 284.91404 288.41404 296.19804 300.09004 306.30604 313.30604 322.64405 332.75205 345.19807 348.69807 354.91407 361.91407 368.91407 373.57606 379.79206 385.23808 390.68409 394.18409 399.6301 406.6301 412.8461 419.0621 425.2781">partition grows upward from the bottom of the FlexRAM address space.</tspan><tspan y="43.85" x="7.5040438 14.504044">2.</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="43.85" x="23.996045 34.104047 41.104047 45.766046 52.766046 56.266046 60.928045 64.820049 71.820049 77.266048 85.05005 88.55005 96.33405 103.33405 109.55006 114.21206 118.10406 122.76606 126.65806 133.65805">Data flash partition</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="43.85" x="141.44205 144.94205 149.60405 159.71205 168.26605 176.05005 186.15805 195.49605 204.05005 208.71205 212.21205 226.21205 229.71205 238.26605 245.26605 251.48206 254.98206 261.19807 272.09007 279.09007 286.09007 293.09007 296.98207 300.48207 307.48207 312.14405 315.64405 323.42805 327.32005 333.53605 340.53605 350.64405 360.75205 373.19807 376.69807 387.59007 393.80607 404.69807 411.69807 416.36006 423.36006 426.86006 433.86006 439.30607 445.52207 452.52207 456.02207 460.68406 467.68406 472.34605 475.84605 482.84605 489.06205 492.95405"> (DEPART) &#x2014; The amount of FlexNVM memory used for data</tspan><tspan y="59.892" x="23.99607 28.658072 32.55007 38.76607 44.21207 51.21207 54.71207 60.92807 67.14407 74.14407 77.64407 84.64407 90.86008 94.36008 101.36008 106.02208 113.02208 120.02208 124.68408 130.90009 141.79209 152.68408 158.90009 165.90009 169.40009 174.06209 178.72409 185.72409 196.61609 200.11609 207.11609 210.61609 217.61609 224.61609 228.50809 234.72409 240.17009 243.67009 248.33209 254.5481 258.4401 262.3321 265.8321 272.8321 277.49409 280.99409 284.88609 291.88609 298.10209 301.60209 309.38609 313.27809 319.49409 326.49409 336.60209 346.71009 359.1561 362.6561 369.6561 373.5481 380.5481 386.7641 393.7641 397.2641 401.1561 406.6021 410.1021 416.3181 423.3181 429.53413 433.42613 437.3181 443.53413 450.53413 454.42613 460.64213 464.14213 468.8041 475.8041">flash can be programmed from 0 bytes (all of the FlexNVM block is available for</tspan><tspan y="75.892" x="23.996102 32.550104 41.104104 48.888105 58.226106 68.33411 80.780109 84.280109 91.280109 97.49611 103.71211 110.71211 117.71211 124.71211 129.37412 132.87412 136.76612 143.76612 147.26612 151.15811 158.15811 164.37412 167.87412 178.76612 184.98212 191.98212 195.87412 206.76612 213.76612 224.65811 228.15811 233.60411 237.49611 243.71212 249.92812 253.42812 260.4281 265.0901 268.5901 272.4821 279.4821 285.6981 289.1981 296.9821 300.87409 307.0901 314.0901 324.1981 334.3061 346.7521 350.2521 357.2521 361.1441 368.1441 374.3601 381.3601 384.8601 389.5221 394.9681 401.1841 407.40013">EEPROM backup) to the maximum size of the FlexNVM block (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="75.892" x="410.9001 419.45408 425.67008 432.67008 436.56208 442.77809 446.27809 453.27809 460.27809 464.94007">Table 29-4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="75.892" x="471.9401 476.60209">).</tspan><tspan y="91.892" x="7.5040895 14.504089">3.</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="91.892" x="23.9961 32.5501 36.4421 42.6581 49.6581 59.7661 69.8741 83.0901 86.5901 95.9281 105.2661 113.8201 123.9281 134.8201 148.0361 151.5361 159.3201 166.3201 172.5361 177.1981 181.0901 185.7521 189.6441 196.6441">FlexNVM EEPROM partition</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="91.892" x="204.4281 207.9281 221.9281 225.4281 233.9821 240.9821 247.1981 250.6981 256.9141 267.8061 274.8061 281.8061 288.8061 292.6981 296.1981 303.1981 307.86009 311.36009 319.14408 323.03608 329.25209 336.25209 346.36009 356.46809 368.9141 372.4141 383.3061 389.5221 400.4141 407.4141 412.07609 419.07609 422.57609 429.57609 435.0221 441.2381 448.2381 451.7381 456.4001 463.4001"> &#x2014; The amount of FlexNVM memory used for</tspan><tspan y="107.934" x="23.996125 32.550127 41.104127 48.888128 58.226129 68.33413 80.78013 84.28013 91.28013 97.49613 103.712139 110.712139 117.712139 124.712139 128.21213 131.71213 141.82013 148.82013 152.71213 158.92813 165.92813 169.42813 173.32013 178.76613 182.26613 188.48213 195.48213 202.48213 208.69814 212.59014 216.09014 219.98213 226.98213 230.48213 234.37413 241.37413 247.59014 251.09014 258.87416 262.76615 268.98216 275.98216 286.09016 296.19816 308.64418 312.14418 319.14418 323.03617 330.03617 336.25218 343.25218 346.75218 352.19819 356.09019 362.30619 368.5222 372.0222 382.91419 386.80619 393.80619 400.80619 406.2522 409.7522 413.6442 420.6442 426.8602 430.3602 437.3602 443.5762 447.4682 453.6842 457.1842 461.8462 465.7382 471.9542 477.4002">EEPROM backup, which is equal to the FlexNVM block size minus the data flash</tspan><tspan y="123.934" x="23.996125 34.888128 41.104127 51.996129 58.996129 63.658128 70.65813 74.15813 81.15813 87.37413 92.03613 95.92813 99.82013 103.71213 107.604129 114.604129 121.604129 125.104129 130.55013 134.44213 140.65813 146.87413 150.37413 153.87413 162.42813 169.42813 175.64414 179.14414 187.69814 196.25214 204.03614 213.37413 223.48213 235.92813 239.42813 246.42813 252.64414 258.86015 265.86015 272.86015 279.86015 283.36015 288.80616 292.69816 298.91416 305.13017 308.63017 319.52217 326.52217 331.96818 335.86018 339.36018 346.36018 352.57618 356.07618 362.29219 366.18418 369.68418 373.57618 379.79219 386.00819 391.4542 395.3462 398.8462 405.8462 412.8462 416.3462 420.2382 424.1302 435.0222 441.2382 446.6842 450.1842 454.0762 461.0762">memory partition size. The EEPROM backup size must be at least 16 times the</tspan><tspan y="139.934" x="23.996125 32.550127 41.104127 48.888128 58.226129 68.33413 80.78013 84.28013 91.28013 97.49613 102.158138 106.05013 109.94213 113.83413 117.72613 124.72613 131.72614 135.22614 140.67214 144.56414 150.78014 156.99614 160.49614 164.38814 171.38814 174.88814 182.67214 186.56414 192.78014 199.78014 209.11814 219.22614 231.67214">EEPROM partition size in FlexRAM.</tspan><tspan y="155.934" x="7.504135 14.504135">4.</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="155.934" x="23.996136 33.334138 42.67214 51.22614 61.33414 72.22614 85.44215 88.94215 94.388149 102.17215 106.06415 109.95615 114.61815 118.11815 122.78015 129.78015 135.99616 140.65816 147.65816">EEPROM split factor</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="155.934" x="153.87415 157.37415 162.03615 170.59015 179.14415 187.69815 195.48215 203.26615 211.82015 216.48215 225.03615 229.69815 233.19815 247.19815 250.69815 259.25215 266.25215 272.46815 275.96815 283.75215 287.64414 293.86015 300.86015 310.19816 320.30616 332.75218 336.25218 343.25218 349.46818 354.13017 358.02217 361.91416 365.80616 369.69816 376.69816 383.69816 389.91416 396.91416 400.41416 405.07615 412.07615 416.73814 420.23814 428.7921 437.3461 445.1301 454.4681 464.5761 477.02214 480.52214 486.73814 492.95414"> (EEESPLIT) &#x2014; The FlexRAM partitioned for EEPROM can</tspan><tspan y="171.97602" x="23.996125 30.996125 37.212125 40.712125 47.712125 51.604127 58.604127 62.496129 69.496128 75.71213 82.71213 86.21213 90.104129 97.104129 100.996128 107.996128 111.496128 115.38812 125.496128 132.49613 135.99613 141.44213 148.44213 155.44213 160.88813 167.88813 173.33412 177.22612 183.44213 194.33412 199.78012 203.28012 206.78012 212.99613 219.21213 225.42813 232.42813 235.92813 242.92813 249.14414 255.36014 262.36015 268.57615 275.57615 279.07615 286.07615 293.07615 296.57615 303.57615 309.79216 313.68415 318.34614 321.84614 328.84614 333.50813 337.00813 340.90013 347.90013 354.11613 357.61613 364.61613 370.83213 375.4941 379.3861 383.2781 387.1701 391.0621 398.0621 405.0621 411.2781 418.2781 421.7781 430.3321 438.88609 446.67008 456.0081 466.1161">be divided into two subsystems, each backed by half of the partitioned EEPROM</tspan><tspan y="187.97602" x="23.996165 30.996165 37.212167 43.428167 50.428167 57.428167 64.42816 67.92816 71.42816 81.53616 88.53616 94.75217 98.25217 103.698169 110.698169 117.698169 123.144168 130.14417 135.59017 139.48217 145.69817 156.59017 160.09017 164.75217 174.86017 179.52217 183.02217 186.91417 192.36017 195.86017 202.86017 206.75217 213.75217 217.25217 220.75217 227.75217 231.64417 238.64417 242.14417 245.64417 252.64417 257.30616 260.80616 267.80616 271.69816 278.69816 282.19816 289.19816 293.86015 297.36015 301.25215 308.25215 314.46815 317.96815 324.96815 331.18415 335.84614 339.73814 343.63014 347.52214 351.41413 358.41413 365.41413 371.63014 378.63014 382.13014 389.91413 393.80613 400.02214 407.02214 416.36015 426.46815 438.91416 442.41416 452.52217 456.41416 460.30616 467.30616 470.80616 474.69816 481.69816">backup. One subsystem (A) is 1/8, 1/4, or 1/2 of the partitioned FlexRAM with the</tspan><tspan y="203.97602" x="23.996195 28.658196 34.874197 45.766199 51.982198 55.8742 62.8742 69.8742 76.0902 80.752208 84.252208 91.252208 97.46821 101.36021 108.36021 115.36021 122.36021 126.252208 133.2522 140.2522 143.7522 147.6442 154.6442 158.1442 162.0362 169.0362 175.2522 178.7522 185.7522 189.6442 196.6442 202.8602 207.5222 211.0222 216.4682 223.4682 230.4682 235.9142 242.9142 248.3602 252.2522 258.4682 269.3602 272.8602 277.5222 286.8602 291.5222">remainder belonging to the other subsystem (B).</tspan><tspan y="229.97602" x=".0002155304 8.554215 15.554215 21.770216 25.270216 32.270219 38.486219 43.148218 47.04022 50.93222 54.824224 58.716226 65.716228 72.716228 76.216228 80.10822 87.10822 91.770229 98.770229 103.43223 114.32423 120.54023 124.43223 128.32424 135.32424 142.32424 145.82424 150.48624 159.04024 167.59424 176.14824 183.93224 188.59424 197.14824 205.70224 209.20224 212.70224 222.81024 231.36425 239.14824 249.25624 258.59425 267.14823 270.64823 274.14823 282.7022 291.2562 299.81019 307.59419 315.37818 323.93217 328.59416 337.14814 341.81013 345.31013 349.20213 354.64814 358.14814 363.59416 367.48616 374.48616 379.14814 385.36415 392.36415 395.86415 399.75614 406.75614 410.25614 414.14814 421.14814 427.36415 430.86415 437.86415 444.08015 447.97215 454.18815 457.68815 462.35014 466.24214 472.45814 477.90415">The partition information (EEESIZE, DEPART, EEESPLIT) is stored in the data flash</tspan><tspan y="245.97602" x=".0001855304 4.6621859 12.446186 21.784188 25.284188 31.500187 38.500188 45.500188 49.000188 52.89219 58.33819 61.83819 68.83819 73.50019 80.50019 87.50019 92.16219 98.3782 109.270198 120.16219 126.3782 133.3782 136.8782 143.8782 149.3242 153.2162 160.2162 167.2162 170.7162 174.6082 181.6082 187.8242 191.3242 199.1082 203.7702 210.7702 217.7702 222.4322 228.64821 239.5402 243.0402 250.8242 257.0402 261.70219 265.59419 269.48619 273.37818 277.27018 284.27018 291.27018 294.77018 300.98619 307.98619 318.87818 329.77018 335.98619 342.98619 349.98619 353.48619 358.14817 363.59419 369.81019 376.02619">IFR and is programmed using the Program Partition command (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="245.97602" x="379.52619 387.31019 391.97218 398.97218 405.97218 410.63417 416.85017 427.74217 431.24217 439.02616 445.24217 449.90415 453.79615 457.68815 461.58015 465.47215 472.47215">Program Partition</tspan><tspan y="261.976" x=".00018310547 9.338184 16.338185 27.230187 38.12219 44.33819 51.33819">Command</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="261.976" x="58.338193 63.00019 66.50019 70.00019 78.55419 85.55419 92.55419 96.44619 102.66219 108.8782 112.770198 116.66219 123.66219 127.16219 130.6622 134.5542 141.5542 147.7702 151.2702 159.0542 163.7162 170.7162 177.7162 182.3782 188.59421 199.4862 202.9862 210.7702 216.9862 221.64821 225.5402 229.4322 233.3242 237.2162 244.2162 251.2162 254.7162 260.9322 267.9322 278.8242 289.7162 295.9322 302.9322 309.9322 313.4322 317.3242 322.7702 326.2702 332.4862 339.4862 345.7022 351.9182 358.9182 362.8102 369.0262 376.0262 379.5262 386.5262 393.5262 397.4182 404.4182 407.9182 414.9182 421.9182 428.13423 434.35023 437.85023 441.74223 448.74223 452.24223 456.13423 463.13423">). Typically, the Program Partition command is executed only once in the</tspan><tspan y="277.976" x=".00019073487 3.8921912 7.7841918 12.446192 18.662194 22.554194 26.446194 37.338197 43.554197 47.054197 54.054197 58.716196 62.216196 66.10819 73.10819 79.324199 82.824199 89.824199 96.0402 103.0402 106.9322 113.1482 119.364208">lifetime of the device.</tspan><tspan y="302.376" x=".00019073487 10.1081919 16.324193 20.216193 26.432194 29.932194 34.594194 38.486196 44.702196 50.148195 57.148195 60.648195 71.54019 77.756198 88.64819 95.64819 100.310199 107.310199 110.810199 114.702198 120.14819 123.64819 130.6482 136.0942 142.3102 146.9722 153.9722 157.8642 161.3642 166.0262 173.0262 177.6882 181.1882 187.4042 194.4042 201.4042 205.2962 209.1882 215.4042 221.62021 225.5122 229.4042 236.4042 243.4042 248.8502 252.3502 256.24223 263.24223 269.45823 273.35023 276.85023 283.85023 290.06623 296.28224 303.28224 306.78224 310.67424 317.67424 321.17424 328.17424 335.17424 339.06623 345.28224 352.28224 356.17424 363.17424 366.67424 372.12025 376.01225 383.01225 387.67424 393.89024 397.39024 401.28224 407.49824 412.16023 419.16023 425.37623 428.87623 435.09223 445.98423 452.98423 459.98423 466.98423 470.87623 476.32225 479.82225 486.82225">Data flash memory is useful for applications that need to quickly store large amounts of</tspan><tspan y="318.376" x=".00019073487 7.0001909 13.216191 17.108193 23.324193 26.824193 33.824193 38.48619 41.98619 47.43219 51.324193 58.324193 62.98619 69.202198 72.702198 79.702198 85.9182 89.810199 96.0262 99.5262 103.4182 110.4182 116.6342 120.5262 124.0262 127.9182 133.3642 136.8642 142.3102 146.2022 152.4182 156.3102 160.2022 166.4182 169.9182 173.4182 181.9722 188.9722 195.1882 198.6882 207.2422 215.7962 223.5802 232.9182 243.0262 255.4722 258.9722 265.9722 272.1882 276.8502 280.7422 284.6342 288.52619 292.41819 299.41819 306.41819 309.91819 313.81019 320.81019 324.31019 332.09419 335.98619 342.20219 349.20219 358.5402 368.6482 381.0942 384.5942 388.4862 393.93223 397.43223 404.43223 409.87825 416.09425 420.75624 427.75624 431.64823 435.14823 439.8102 446.8102 451.4722 454.9722 460.4182 464.3102 471.3102 475.9722 479.8642 486.8642">data or store data that is static. The EEPROM partition in FlexRAM is useful for storing</tspan><tspan y="334.376" x=".00019073487 5.4461915 16.338192 22.554192 26.446192 30.338192 36.55419 41.21619 44.71619 50.93219 61.824193 68.82419 75.82419 82.82419 86.71619 92.162189 95.662189 102.662189 107.32419 110.82419 117.82419 124.04019 127.93219 134.1482 137.6482 141.54019 148.54019 154.7562 158.6482 162.1482 172.2562 176.1482 180.04019 183.93219 187.43219 194.43219 200.6482 204.1482 210.3642 217.3642 223.5802 230.5802 237.5802 243.7962 250.7962 254.2962 261.2962 265.9582 269.8502 276.0662 283.0662 286.5662 290.0662 298.62019 305.62019 311.83619 315.33619 323.89018 332.44416 340.22816 349.56617 359.67417 372.12019 375.62019 382.62019 388.83619 393.49818 397.39018 401.28218 405.17417 409.06617 416.06617 423.06617 426.56617 430.45817 437.45817 440.95817 448.74217 452.63417 458.85017 465.85017 475.18818 485.29618">smaller amounts of data that will be changed often. 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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="25.87323" x="0 5.499 10.998 16.497 21.501 24.498 27 32.499 37.998 43.002004 45.504 48.006 54.504 59.508005 64.512 69.516 73.017 75.519 81.018 84.015 86.517 92.016">Functional Description</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="130.005 137.225 142.785 148.345 151.125 157.795 163.905 170.015 173.345 179.455 185.015 193.905 196.685 199.465 205.025 207.805 215.025 220.58499 223.915 229.47499 233.36499 238.92499 245.03499 250.59499 256.155 258.935 267.26499 272.82499 278.93498 285.04496 290.60496 293.38496 296.16496 298.94496 306.16496 311.72496 317.28495 320.06495 322.84495 328.40495 331.18495 336.74494 342.85493 348.9649 351.7449 357.3049 362.8649 368.4249">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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