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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

132 lines
22 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 83)" 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">29.4.5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 83)" 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 77.36001 83.58401 92.48001 97.808017 102.25601 112.03201 121.808017 126.25601 130.70401 140.48001 144.92801 154.70401 164.48001 176.92801 182.25601 192.92801 202.70401 215.15201 224.048 230.272 234.72 248.048 257.824 267.6 276.496">Flash Operation in Low-Power Modes</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 144.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00199 8.341991 16.681992 20.851992 29.191994 33.361997 41.701997 45.871999">29.4.5.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 144.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00199 14.161991 22.501992 26.671992 31.666993 35.836996 48.331995 57.496995 66.661998">Wait Mode</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="127.05" x=".00399 13.219991 20.21999 26.43599 33.43599 36.93599 40.82799 47.82799 54.04399 57.54399 69.98999 79.32799 89.43599 92.93599 99.15199 106.15199 110.04399 116.259998 120.922 126.368 129.868 139.976 146.192 150.084 153.976 157.476 168.368 175.368 182.368 188.584 192.084 195.584 199.476 206.476 212.692 216.192 220.854 224.746 230.962 236.408 243.408 246.908 257.80003 264.01603 274.90803 281.90803 286.57 293.57 297.07 307.962 314.962 321.962 328.962 332.854 339.07 342.57 346.462 351.90803 355.40803 362.40803 369.40803 373.30003 376.80003 383.01603 387.678 392.34 398.556 404.772 408.664 414.88 421.88 425.38 428.88 437.434 444.434 450.65 454.15 458.81199 462.70399 468.91999 474.366">When the MCU enters wait mode, the flash memory module is not affected. The flash</tspan><tspan y="143.05002" x=".00399 10.895991 17.111992 28.003994 35.003995 39.665994 46.665994 50.165994 61.057996 68.058 75.058 82.058 85.95 92.166 95.666 101.882 108.09801 115.09801 118.59801 123.26001 129.47602 135.69202 142.69202 149.69202 155.90802 160.57003 164.07003 167.96202 174.96202 181.17803 184.67803 197.12403 206.46202 216.57003 220.07003 224.73203 229.39403 236.39403 247.28603 250.78603 260.894 267.11003 271.002 274.894 278.394 285.394 289.286 295.502 299.002 302.894 309.894 316.11003 319.61003 325.82603 332.82603 343.71803 354.61003 360.82603 367.82603 374.82603 378.32603 384.54203 391.54203 402.43403 409.43403 413.32603 419.54203 423.43403 429.65003 433.15003 437.04203 444.04203 447.93403 454.15003 458.812 463.474 470.474 477.474">memory module can recover the MCU from wait via the command complete interrupt</tspan><tspan y="159.05002" x=".00399 4.6659905 10.111991 16.327992 22.543992">(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="159.05002" x="26.043992 30.705992 37.705995 41.597997 47.813997 52.475996 57.137994 64.13799 71.13799 75.02999">Interrupts</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="159.05002" x="80.47599 85.13799">).</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 253.6)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00299 8.342991 16.682991 20.852992 29.192994 33.362997 41.702997 45.872999">29.4.5.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 253.6)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00298 10.007981 15.002981 24.16798 33.33298 37.502985 49.997987 59.162988 68.32799">Stop Mode</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="235.85" x=".00399 13.219991 20.21999 26.43599 33.43599 36.93599 40.82799 47.82799 54.04399 57.54399 69.98999 79.32799 89.43599 92.93599 97.59799 103.813999 110.813999 117.813999 124.03 129.476 133.368 138.814 142.314 147.76 151.652 158.652 165.652 169.152 180.04399 187.04399 194.04399 200.26 203.76 207.26 211.152 215.814 219.314 225.53 229.03 233.692 237.584 243.8 249.246 256.246 259.746 265.962 272.962 283.854 294.746 300.962 307.962 314.962 318.462 322.354 327.80003 331.30003 337.51603 343.73204 347.62403 351.51603 358.51603 364.73204 368.23204 372.894 382.23204 391.57005 396.23204 404.01603 407.51603 415.41203 418.91203 425.91203 430.574 434.074 437.966 444.966">When the MCU requests stop mode, if a flash command is active (CCIF = 0) the</tspan><tspan y="251.85" x=".0040200005 6.220021 13.22002 24.112023 35.004026 41.220026 48.220026 55.220026 58.720026 64.93603 71.93603 78.15203 84.368038 91.368038 95.26003 99.15203 106.15203 113.15203 116.65203 122.868038 129.86804 140.76004 147.76004 151.65204 157.86804 161.76004 167.97605 173.42205 176.92205 183.92205 190.13805 194.80005 201.80005 206.46205 212.67806 216.17806 220.07006 227.07006 233.28606 236.78606 249.23206 258.57008 268.67808 272.17808 276.07008 281.51609 285.01609 291.2321 295.12409 299.01609 306.01609 316.12409 322.3401 329.3401 332.8401 336.7321 343.7321 347.2321 353.4481 360.4481 364.3401 370.5561 375.21809 378.71809 384.1641 388.0561 395.0561 402.0561 405.5561 416.4481 423.4481 430.4481 436.6641">command execution completes before the MCU is allowed to enter stop mode.</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="276.0367" x="220.11205 230.22005 240.32805 250.43605 258.99006 262.88206 273.77406">CAUTION</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="292.25" x="72.00606 80.56006 87.56006 93.77606 97.27606 109.72206 119.06006 129.16806 132.66806 138.11406 145.11406 152.11406 159.11406 163.00606 170.00606 173.50606 180.50606 186.72206 193.72206 199.93807 204.60007 208.10007 214.31607 221.31607 225.20807 231.42407 236.08608 239.58608 245.03208 248.92407 255.92407 262.92408 266.42408 277.31608 284.31608 291.31608 297.53208 301.03208 311.14009 318.14009 322.03208 325.92408 332.14009 335.64009 341.85609 348.85609 355.85609 359.35609 364.01808 367.91007 374.12608 379.57209">The MCU should never enter stop mode while any flash</tspan><tspan y="308.25" x="72.00608 78.222087 85.222087 96.11408 107.00608 113.222087 120.222087 127.222087 130.72208 134.61408 140.06008 143.56008 148.22208 155.22208 162.22208 169.22208 173.11408 180.11408 187.11408 190.61408 195.27608 204.61408 213.95207 218.61408 226.39807 229.89807 237.79407 241.29407 248.29407 252.95607">command is running (CCIF = 0).</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="332.4367" x="232.5581 242.6661 253.5581 262.1121">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="348.65" x="72.0061 85.22211 92.22211 96.114109 100.0061 106.22211 109.72211 113.614109 120.614109 126.83011 130.33011 142.77611 152.1141 162.2221 165.7221 169.6141 175.0601 178.5601 182.4521 189.4521 192.9521 199.9521 206.1681 210.83011 217.83011 222.49211 226.38411 233.38411 243.49211 248.15412 255.15412 262.1541 272.26213 278.47813 283.1401 286.6401 297.5321 304.5321 311.5321 317.7481 323.19413 326.69413 331.3561 341.4641 350.0181 357.8021 367.1401 370.6401 374.1401 384.2481 392.8021 400.5861 413.8021">While the MCU is in very-low-power modes (VLPR, VLPW,</tspan><tspan y="364.65" x="72.00608 82.11408 90.66808 98.45209 106.23609 110.898097 114.398097 117.898097 121.79009 128.7901 135.0061 138.5061 143.1681 147.0601 153.27611 158.7221 165.7221 169.2221 180.1141 186.33011 197.2221 204.2221 208.88411 215.88411 219.38411 230.27611 237.27611 244.27611 251.27611 255.1681 261.3841 264.8841 271.8841 278.8841 285.1001 290.5461 294.0461 301.0461 308.0461 311.9381 315.4381 321.6541 327.87013 334.08613 340.30213 347.30213 351.19413 354.69413 359.3561 363.2481 369.4641 374.91014">VLPS), the flash memory module does not accept flash</tspan><tspan y="380.65" x="72.00608 78.222087 85.222087 96.11408 107.00608 113.222087 120.222087 127.222087 132.66809">commands.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 476.19999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00792 8.888081 17.78408 22.23208 31.128083 35.576086">29.4.6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 476.19999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00792 9.76808 19.544079 29.32008 38.21608 43.54408 47.99208 57.76808 67.54408 76.44009 80.888088 85.33608 98.664089 108.44009 118.21609 127.11209 136.00809 140.45609 150.23209 155.56009 160.00809 172.45609 182.23209 191.12808 197.35208 206.24808 211.57608 216.02408 225.80008">Functional Modes of Operation</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="459.44999" x="-.00191 8.55209 15.55209 21.76809 25.26809 29.93009 33.82209 40.03809 45.48409 52.48409 55.98409 66.87609 73.092098 83.98409 90.98409 95.646099 102.646099 106.146099 117.03809 124.03809 131.03809 138.03809 141.93009 148.14609 151.64609 158.64609 164.86209 170.30809 173.80809 177.70009 187.80809 194.80809 198.30809 205.30809 212.30809 218.5241 223.1861 229.4021 233.2941 237.1861 244.1861 251.1861 254.6861 265.5781 272.5781 279.5781 285.7941 291.2401 295.1321 298.6321 308.7401 318.8481 331.29414 334.79414 344.90214 351.90214 356.56413 367.45613 373.67213 377.56413 381.06413 387.28013 394.28013 401.28013 404.78013 414.88813 424.99613 437.44215 440.94215 448.72615 455.72615 461.94215 468.15815 472.05015 478.26615 482.15815">The flash memory module has two operating modes: NVM Normal and NVM Special.</tspan><tspan y="475.44999" x="-.00191 8.55209 15.55209 21.76809 25.26809 32.26809 39.26809 45.48409 50.146089 56.362089 60.25409 64.14609 71.14609 78.14609 81.64609 92.538089 99.538089 106.538089 112.75409 116.25409 122.47009 127.132099 131.7941 138.0101 144.2261 148.1181 153.5641 157.0641 160.9561 167.9561 174.1721 177.6721 183.8881 190.8881 201.7801 212.6721 218.8881 225.8881 232.8881 236.3881 241.8341 248.05011 251.94211 255.44211 261.6581 268.6581 274.8741 278.7661 282.6581 288.8741 295.8741 299.7661 303.6581 307.5501 311.4421 318.4421 321.9421 326.6041 332.0501 338.2661 344.48213">The operating mode affects the command set availability (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="475.44999" x="347.9821 356.53608 362.75209 369.75209 373.64408 379.86009 383.36009 390.36009 397.36009 402.02207 409.02207">Table 29-31</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="475.44999" x="416.0221 420.68409 424.18409 427.68409 437.0221 443.2381 447.9001 454.1161 458.77809 462.27809 466.17008 473.17008 476.67008 480.56208 487.56208">). Refer to the</tspan><tspan y="491.44999" x="-.0018615723 9.33614 16.33614 20.22814 27.22814 30.72814 40.06614 47.06614 54.06614 58.728139 62.62014 69.62014 76.62014 81.28214 87.498149 91.390148 95.28214 102.28214 109.28214 112.78214 119.78214 125.998149 129.89015 136.10616 139.99816 143.89015 149.33615 152.83615 159.83615 164.49816 167.99816 171.89015 178.89015 182.78215 188.22815 191.72815 198.72815 204.94416 211.94416 215.83615 222.05216 228.26816 231.76816 236.43016 243.43016 248.09217 251.59217 258.59217 265.59217 275.70018 279.20018 283.09217 290.09217 293.59217 299.80818 306.02418 309.91618 313.80818 320.80818 327.02418 330.91618 337.13218 340.63218 346.84819 353.06419 359.28019 366.28019 369.78019 380.67219 387.67219 394.67219 400.88819">Chip Configuration details of this device for how to activate each mode.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 587)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00416 8.900161 17.796162 22.244162 31.140164 35.588167">29.4.7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 587)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00416 9.78016 14.228161 23.12416 32.02016 41.79616 46.244165 57.796167 66.69217 75.58817 85.364177 94.26018 98.708179 107.60418 117.38018 127.15618 131.60419 136.05219 145.82819 155.60419 165.38019 171.60419 180.50019 190.27619 194.72418 209.82819 216.05219 220.50019 225.82819 234.72418">Flash Reads and Ignored Writes</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="570.25" x=".00615 8.56015 15.56015 21.77615 25.27615 29.93815 33.83015 40.04615 45.49215 52.49215 55.99215 66.88415 73.10015 83.99215 90.99215 95.65415 102.65415 106.15415 117.04615 124.04615 131.04615 138.04615 141.93814 148.15415 151.65415 156.31615 162.53215 169.53215 176.53215 180.42415 185.08615 191.30216 196.74816 200.24816 207.24816 214.24816 218.14015 225.14015 228.64015 232.53215 239.53215 245.74816 249.24816 253.91016 257.80216 264.01817 269.46418 276.46418 279.96418 286.18019 293.18019 300.18019 304.84217 311.05818 316.50419 321.9502 325.4502 329.3422 336.3422 339.8422 346.0582 353.0582 359.2742 365.4902 372.4902 376.3822 382.5982 386.0982 392.3142 395.8142 400.4762 404.3682 410.5842 416.0302 423.0302 426.5302 437.4222 443.6382 454.5302 461.5302 466.1922">The flash memory module requires only the flash address to execute a flash memory</tspan><tspan y="586.25" x=".00618 4.66818 10.88418 17.100182 24.100182">read.</tspan></text>
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