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.
113 lines
26 KiB (Stored with Git LFS)
XML
113 lines
26 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="HelveticaLTStd" font-weight="bold"><tspan y="11.13672" x="0 7.784001 15.568002 19.460003 27.244004 31.136004 38.920007 46.704008 50.59601 58.38001 62.27201">29.4.10.1.3</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 138.22925 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.13672" x="0 10.108001 18.662 31.108002 43.554 51.338 59.892004 68.446 72.338 81.675998 89.46 97.244 105.02801 113.58201 118.24401 122.13601 130.69 139.244 143.136 150.92 159.474 168.028 171.92 181.258 186.704 192.15 200.704 206.15 210.04199 220.15 227.93399 236.48799 245.04199 250.48799 255.15 259.042 267.59599">Command Execution and Error Reporting</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="35.25" x="0 8.554 15.554 21.77 25.27 31.486 38.486 49.378004 60.270006 66.48601 73.48601 80.48601 83.98601 90.98601 95.64801 102.64801 108.86401 115.08002 120.52602 125.972019 129.86402 136.86402 143.86402 147.36402 154.36402 160.58002 166.02602 169.52602 174.97202 181.18802 188.18802 194.40402 199.06603 205.28203 209.17403 212.67403 218.12003 222.01203 228.22803 235.22803 240.67403">The command processing has several steps:</tspan><tspan y="59.65" x="7.50399 14.50399 23.99599 32.54999 39.54999 45.76599 49.26599 53.92799 57.819993 64.035999 69.481998 76.481998 79.981998 90.87399 97.09 107.981998 114.981998 119.644 126.644 130.144 141.036 148.036 155.036 162.036 165.928 172.144 175.644 180.306 186.522 192.738 199.738 205.184 208.684 212.576 219.576 225.792 229.292 235.50801 242.50801 253.40001 264.29203 270.50804 277.50804 284.50804 288.00804 294.22404 301.22404 308.22404 314.44004 317.94004 324.15605 331.15605 338.15605 341.65605 348.65605 354.87205 359.53404 364.196 371.196 375.858 386.75 392.196 395.696 401.91203 405.41203 410.85804 417.07405 421.73603 425.62803 431.84403 437.29005 440.79005 447.79005">1.The flash memory module reads the command code and performs a series of</tspan><tspan y="75.65" x="23.99601 30.99601 37.21201 41.87401 48.090009 58.98201 65.19801 69.09001 75.306018 79.96802 83.46802 89.68402 96.68402 102.900028 109.11603 116.11603 121.56203 125.06203 131.27803 138.27803 145.27803 148.77803 155.77803 160.44004 167.44004 171.33203 177.54804 183.76404 187.65604 191.54804 198.54804 205.54804 209.04804 215.26404 222.26404 228.48004 234.69605 241.69605 247.14205 250.64205 254.14205 258.03407 262.69606 266.19606 272.41206 279.41206 286.41206 290.30406 294.19606 300.41206 306.62806 313.62806 317.52006 323.73606 327.23606 330.73606 340.84407 347.84407 351.73606 357.95207 364.95207 368.45207 374.66807 379.33006 385.54606 389.04606 396.04606 403.04606 406.93806 413.93806 420.93806 427.15406 430.65406 434.54606 441.54606 445.04606 451.26206 457.47807 463.69407">parameter checks and protection checks, if applicable, which are unique to each</tspan><tspan y="91.65" x="23.99601 30.21201 37.21201 48.10401 58.996015 65.21201 72.21201 79.21201">command.</tspan><tspan y="116.05" x="23.99601 28.65801 33.32001 36.82001 40.712015 47.712015 53.928014 57.428014 64.42801 70.64401 75.306018 81.52202 92.41402 98.63002 102.52202 108.73802 113.400028 116.900028 123.11603 130.11603 136.33203 142.54804 149.54804 153.04804 157.71004 163.92604 167.81804 171.71004 177.15604 180.65604 184.15604 188.04804 195.04804 201.26404 204.76404 212.54804 220.33203 228.88603 238.99404 247.54804 252.21004 262.31803 271.65605 280.99406 289.54804 298.88606 308.22407 312.88606 316.38606 321.04804 327.26405 333.48005 339.69606 345.91206 351.35807 356.80409 360.30409 366.52009 371.18208 375.84407 382.84407 387.50605 392.16804 395.66804 400.33003 404.22203 410.43803 417.43803 420.93803 424.83003 430.27604 433.77604 439.22206 445.43806 449.33006">If the parameter check fails, the FSTAT[ACCERR] (access error) flag is set.</tspan><tspan y="132.05" x="23.996029 34.10403 43.44203 52.780035 61.334035 70.672039 80.01004 83.51004 88.17204 94.38805 101.38805 108.38805 113.05005 116.94205 122.38805 125.88805 129.78005 136.78005 143.78005 149.99605 153.88805 157.78005 164.78005 168.28005 172.17205 179.17205 184.61804 188.51004 193.17205 200.17205 206.38805 210.28005 214.17205 221.17205 228.17205 231.67205 237.88805 244.88805 251.88805 258.10404 263.55006 267.05006 273.26606 280.26606 287.26606 290.76606 297.76606 304.76606 308.65806 313.32005 320.32005 324.98204 328.48204 335.48204 342.48204 349.48204 356.48204 363.48204 368.92805 372.42805 378.64405 385.64405 392.64405 397.30604 403.52204 408.96806 414.41407 420.63008 426.07609 429.57609 433.07609 443.18409 448.6301 455.6301 461.8461 465.7381 469.6301 476.6301">ACCERR reports invalid instruction codes and out-of bounds addresses. Usually,</tspan><tspan y="148.05002" x="23.99606 30.212059 36.42806 42.64406 48.860059 54.306058 59.752058 63.252058 69.468059 74.13006 78.79206 85.79206 90.45406 95.90006 99.40006 104.84606 111.84606 118.84606 125.84606 132.06206 137.50806 141.40006 144.90006 148.79206 155.79206 162.00806 165.90006 169.40006 173.29206 180.29206 186.50806 190.00806 196.22406 203.22406 214.11606 225.00806 231.22406 238.22406 245.22406 248.72406 258.83207 265.04808 270.49409 273.99409 280.99409 287.99409 291.88609 295.38609 300.8321 307.0481 310.9401 315.60209 322.60209 329.60209 333.10209 343.21009 347.10209 350.99409 357.99409 361.49409 368.49409 374.71009 378.60209 382.49409 389.49409 392.99409 399.99409 406.21009 410.87208 417.08808 427.98008 434.19609 438.08808 444.30409 448.96607 454.41209 457.91209 461.80409 468.80409 472.30409 476.19609 483.19609">access errors suggest that the command was not set-up with valid parameters in the</tspan><tspan y="164.05002" x="23.99606 31.78006 41.11806 50.456064 60.564065 69.90207 73.40207 78.06407 84.280078 91.280078 95.17207 100.61807 104.51007 110.726078 115.38808 118.88808 125.88808 130.55008 137.55008 144.55008 151.55008">FCCOB register group.</tspan><tspan y="188.45001" x="23.99606 31.78006 36.44206 43.44206 50.44206 55.104059 61.320058 72.21206 75.71206 81.92806 88.92806 95.92806 99.42806 105.644069 110.30607 116.52207 121.96807 128.18407 131.68407 137.90007 144.90007 155.79207 166.68407 172.90007 179.90007 186.90007 192.34607 195.84607 202.06208 205.95407 211.40007 218.40007 221.90007 228.11608 235.11608 241.33208 247.54808 254.54808 258.0481 261.9401 268.9401 275.1561 278.6561 284.8721 291.8721 298.8721 303.5341 309.7501 315.1961 320.64213 324.14213 328.03413 335.03413 338.53413 345.53413 351.75013 355.64213 361.85813 366.5201 377.4121 381.3041 388.3041 394.5201 398.0201 401.9121 406.5741 410.0741 413.9661 420.9661 427.1821 430.6821 437.6821 444.6821 450.8981 455.5601 461.7761 465.6681 469.5601 476.5601 483.5601 487.0601 490.9521">Program and erase commands also check the address to determine if the operation is</tspan><tspan y="204.45001" x="23.99606 28.65806 34.87406 41.87406 48.87406 55.09006 60.53606 64.42806 70.644069 77.644069 81.144069 85.036067 92.036067 95.536067 101.75207 108.75207 114.96807 121.184078 128.18408 132.07608 138.29209 141.79209 148.79209 155.79209 159.29209 166.29209 170.95409 177.95409 181.84609 188.06209 194.27809 198.17009 204.3861 211.3861 214.8861 221.1021 225.7641 231.9801 238.1961 243.6421 247.1421 250.6421 255.30411 259.9661 263.4661 267.3581 274.3581 280.5741 284.0741 291.0741 295.73609 302.73609 306.62809 312.8441 319.0601 322.9521 326.8441 333.8441 340.8441 344.3441 350.5601 357.5601 363.7761 369.9921 376.9921 380.4921 385.15409 391.3701 395.2621 399.15409 404.6001 408.1001 411.6001 415.4921 422.4921">requested to execute on protected areas. If the protection check fails, the</tspan><tspan y="220.45001" x="23.99609 31.78009 39.56409 48.11809 58.226095 66.78009 71.44209 79.2261 87.0101 97.1181 101.780109 111.88811 120.44211 125.10411 128.60411 133.26612 140.26612 144.92812 151.92812 155.82012 162.03612 168.25212 172.14412 176.03612 183.03612 190.03612 193.53612 199.75212 204.41413 209.07613 216.07613 220.73813 225.40013 228.90013 233.56214 237.45413 243.67014 250.67014 254.17014 258.06214 263.50816 267.00816 272.45417 278.67018 282.56217">FSTAT[FPVIOL] (protection error) flag is set.</tspan><tspan y="244.85" x="23.99612 33.33412 40.33412 51.226125 62.118127 68.33413 75.33413 82.33413 85.83413 92.83413 97.49613 104.49613 110.712139 116.92814 122.37414 127.82014 131.71215 138.71215 145.71215 149.21215 156.21215 162.42815 169.42815 175.64415 180.30615 183.80615 190.80615 195.46816 202.46816 208.68416 214.90016 221.11617 228.11617 233.56217 237.06217 240.95417 247.95417 251.45417 257.67018 264.67018 270.88618 277.10218 284.10218 287.99418 291.88618 298.88618 305.88618 309.38618 319.49418 326.49418 332.71018 339.71018 343.21018 347.10218 354.10218 360.31819 363.81819 370.81819 377.03419 381.69618 387.91218 398.80418 405.02018 408.91218 415.12818 419.79017 423.29017 430.29017 434.95216 438.45216 445.45216 450.11415 457.11415 461.00614 467.22215 473.43815 477.33015 481.22215 488.22215">Command processing never proceeds to execution when the parameter or protection</tspan><tspan y="260.85" x="23.99618 29.44218 33.334184 39.550184 46.550184 50.050184 54.71218 60.92818 64.82018 68.71218 74.15818 77.65818 81.15818 85.82018 92.82018 98.26618 102.15818 108.37418 114.59019 121.59019 125.09019 128.59018 134.80619 141.80619 152.69818 163.59018 169.80619 176.80619 183.80619 187.30619 194.30619 198.96819 205.96819 212.18419 218.40019 223.84619 229.29219 233.18419 240.18419 247.18419 250.68419 254.57619 260.0222 263.5222 267.41419 273.6302 278.29219 289.18418 293.07618 300.07618 306.29219 310.18418 316.40019 323.40019 326.90019 333.11619 337.77818 341.67018 347.88618 352.54817 356.04817 361.49418 367.71018 371.60218 375.49418 379.38618 386.38618 393.38618 396.88618 400.77818 407.77818 413.99418 417.49418 425.27818 433.06217 441.61616 451.72416 460.27815 464.94013 474.27815 483.61616 488.27815 496.06214">step fails. Instead, command processing is terminated after setting the FSTAT[CCIF]</tspan><tspan y="276.85" x="23.99618 30.99618 34.88818 38.78018">bit.</tspan><tspan y="301.25" x="7.504179 14.504179 23.99618 28.65818 33.32018 36.82018 40.71218 47.71218 53.92818 57.42818 64.42818 70.64418 75.30618 81.52219 92.414188 98.63019 102.52219 108.73819 113.40019 116.90019 123.116199 130.1162 137.1162 140.6162 147.6162 152.2782 159.2782 163.1702 169.3862 175.6022 179.4942 183.3862 190.3862 197.3862 200.8862 207.1022 214.1022 220.3182 226.53421 233.53421 238.98021 242.48021 249.48021 255.69622 261.1422 266.58824 270.08824 273.58824 277.48023 284.48023 290.69624 294.19624 300.41224 307.41224 318.30424 329.19624 335.41224 342.41224 349.41224 352.91224 359.91224 364.57423 371.57423 377.79023 384.00624 390.22224 397.22224 402.66825 406.16825 410.06025 417.06025 420.56025 426.77626 433.77626 439.99226 446.20826 453.20826 457.10026 460.99226 467.99226 474.99226">2.If the parameter and protection checks pass, the command proceeds to execution.</tspan><tspan y="317.25" x="23.99618 33.334184 40.334184 47.334184 51.99618 55.888185 59.780187 70.67219 76.88819 80.38819 86.604198 91.2662 95.9282 102.9282 107.5902 113.0362 116.5362 120.0362 125.4822 132.48221 138.69821 145.69821 149.19821 155.41422 160.86022 164.36022 169.02222 175.23822 179.13022 183.02222 190.02222 194.68422 200.90023 204.40023 208.29222 215.29222 218.79222 225.00823 229.67023 235.88623 241.33223 247.54824 251.04824 258.04823 264.26423 268.9262 272.8182 277.4802 284.4802 287.9802 291.4802 302.3722 308.5882 315.5882 319.0882 326.0882 332.3042 338.5202 345.5202 350.1822 353.6822 360.6822 367.6822 372.34419 376.23619 383.23619 390.23619 393.73619 397.62818 404.62818 410.84419 414.34419 420.56019 427.56019 433.77619 439.9922 446.9922 450.8842 454.77619 461.77619">Run-time errors, such as failure to erase verify, may occur during the execution</tspan><tspan y="333.25" x="23.99621 30.99621 37.99621 44.212209 49.658208 55.874208 59.374208 62.874208 72.212207 79.212207 86.212207 90.87421 94.766208 98.6582 109.5502 115.766208 119.266208 125.48221 130.14421 134.80622 141.80622 146.46822 151.91422 155.41422 161.63022 166.29222 172.50823 176.00823 180.67023 186.88623 193.88623 200.88623 205.54824 209.44023 215.65624 222.65624 226.15624 230.04824 237.04824 240.54824 244.44023 251.44023 257.65623 261.15623 268.94023 276.7242 285.2782 295.3862 303.9402 308.60218 321.0482 331.1562 338.9402 347.49418 357.60218 366.15617 373.15617 377.81816 381.31816 388.31816 392.21015 396.10215 399.60215 403.10215 413.21015 416.71015 422.92616 429.92616 440.81816 451.71015 457.92616 464.92616 471.92616 475.42616 486.31816 492.53416">phase. Run-time errors are reported in the FSTAT[MGSTAT0] bit. A command may</tspan><tspan y="349.25" x="23.99618 30.99618 37.21218 44.21218 50.42818 53.92818 60.14418 66.36018 72.57619 78.79219 84.23819 89.68419 93.18419 99.40019 104.062198 108.7242 115.7242 120.3862 125.8322 129.3322 132.8322 139.8322 144.4942 151.4942 155.3862 161.6022 167.8182 171.7102 175.6022 182.6022 189.6022 193.1022 199.3182 203.98021 208.64221 215.64221 220.30422 225.75022 229.25022 232.75022 238.96622 245.96622 252.96622 256.46623 261.1282 268.1282 275.1282 279.7902 283.6822 287.5742 298.4662 304.6822 308.1822 314.3982 319.06019 323.72218 330.72218 335.38417 340.83018 344.33018 347.83018 354.83018 361.83018 365.72218 369.22218 373.11418 380.11418 386.33018 389.83018 394.49217 401.49217 408.49217 413.15415 417.04615 420.93815 431.83015 438.04615 441.54615 447.76216 452.42414 457.08613 464.08613 468.7481 474.19413 477.69413 483.91014 488.5721">have access errors, protection errors, and run-time errors, but the run-time errors are</tspan><tspan y="365.25" x="23.99618 30.99618 37.996179 41.88818 45.38818 50.83418 57.05018 63.26618 70.266178 73.766178 80.766178 87.766178 91.65817 95.55017 99.44217 102.94217 109.15817 113.05017 116.94217 120.44217 126.65817 132.87418 139.09018 145.30619 150.75218 156.19818 159.69818 165.91419 172.91419 179.91419 183.41419 190.41419 195.07619 202.07619 205.96819 212.18419 218.40019 222.29219 226.18419 233.18419 240.18419 243.68419 249.90019 254.5622 259.22419 266.22419 270.88618 276.33219 279.83219 286.83219 293.0482 300.0482 306.2642 309.7642 316.7642 322.9802 329.1962 336.1962 339.6962 345.9122 352.9122 357.5742 362.23619 368.45219 374.66819 378.56019 384.77619 391.77619">not seen until all access and protection errors have been corrected.</tspan><tspan y="381.25" x="7.5041906 14.50419 23.996191 33.33419 40.33419 51.226194 62.118196 68.3342 75.3342 82.3342 85.8342 92.0502 99.0502 105.266208 111.48221 118.48221 122.37421 126.266208 133.2662 140.2662 143.7662 148.4282 154.64421 160.09021 167.09021 170.98221 174.8742 180.3202 183.8202 187.3202 191.2122 195.8742 199.3742 205.59021 212.59021 219.59021 223.48221 227.3742 233.59021 239.80622 246.80622 250.69821 256.9142 260.4142 263.9142 270.13023 274.7922 281.0082 284.5082 289.1702 295.3862 302.3862 309.3862 314.0482 317.9402 324.1562 331.1562 334.6562 341.6562 347.8722 354.0882 361.0882 364.5882 368.4802 375.4802 378.9802 382.8722 389.8722 396.0882 399.5882 406.5882 412.0342 418.2502 422.9122 426.4122 433.4122 437.3042 443.5202 447.0202 450.9122 457.9122">3.Command execution results, if applicable, are reported back to the user via the</tspan><tspan y="397.25" x="23.99621 31.78021 41.11821 50.45621 60.564214 69.902217 73.402217 79.61822 86.61822 93.61822 97.11822 104.90222 112.686229 121.24023 131.34822 139.90222 143.40222 148.06423 154.28023 161.28023 165.17223 170.61823 174.51023 180.72623 185.38823 190.83423">FCCOB and FSTAT registers.</tspan><tspan y="413.25" x="7.5042097 14.5042099 23.99621 32.55021 39.55021 45.76621 49.26621 53.928209 57.82021 64.03621 69.48221 76.48221 79.98221 90.87421 97.09021 107.98221 114.98221 119.64421 126.64421 130.14421 141.03621 148.03621 155.03621 162.03621 165.9282 172.14421 175.64421 181.09021 187.30622 191.19821 196.64421 200.14421 204.03621 211.03621 217.25222 220.75222 228.53621 236.3202 244.8742 254.98221 263.5362 268.19819 277.5362 286.8742 291.5362 299.3202 303.98219 307.48219 314.48219 318.37419 322.26618 325.76618 331.2122 335.1042 342.1042 349.1042 352.9962 357.65818 364.65818 368.55018 375.55018 382.55018 386.05018 389.94218 396.94218 403.15818 407.05018 410.55018 414.44218 421.44218 427.65818 431.15818 437.37419 444.37419 455.26618 466.15818 472.37419 479.37419">4.The flash memory module sets the FSTAT[CCIF] bit signifying that the command</tspan><tspan y="429.25" x="23.99618 30.99618 37.21218 42.65818 46.15818 52.37418 59.37418 70.26618 77.26618 81.15818 87.37418 91.26618 97.482189 104.482189">has completed.</tspan><tspan y="455.25" x=".00017929077 8.554179 15.554179 21.77018 25.27018 29.93218 33.82418 40.82418 50.932184 54.432184 59.09418 66.09418 70.75618 74.25618 80.47218 83.97218 90.97218 97.18819 104.18819 110.40419 115.06619 118.95819 125.174198 128.6742 134.8902 141.8902 152.7822 163.6742 169.8902 176.8902 183.8902 187.3902 197.4982 202.1602 206.0522 209.9442 216.1602 219.6602 225.1062 231.3222 238.3222 245.3222 251.53821 258.5382 264.7542 270.9702 274.4702 278.3622 283.80824 287.30824 291.20024 295.09223 298.98423 305.98423 311.43025 315.32225 319.98423 326.20024 330.09223 336.30824 343.30824 346.80824 350.70024 357.70024 361.20024 365.09223 372.09223 378.30824 381.80824 386.4702 393.4702 397.3622 401.2542 408.2542 418.3622 422.2542 429.2542 436.2542 439.7542 444.4162 448.3082 455.3082 462.3082 466.97019 473.1862">The flow for a generic command write sequence is illustrated in the following figure.</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="26.01035" 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>
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