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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_682.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

186 lines
30 KiB (Stored with Git LFS)
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Raw Blame History

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<text xml:space="preserve" transform="matrix(.958657 0 0 1.043126 -21.464219 -173.32215)" font-size="7.65008" font-family="TimesLTStd"><tspan y="518.07009" x="251.986 257.1192 259.2459 262.6349 266.01625 268.55607 270.49153 272.61058 276.42796 279.8093 281.7524 286.83973 291.97294 294.51277 298.75856 300.6328 302.75187 306.63047 308.50474 310.62379 314.00514 317.89137 321.70875 325.0901 328.90748 330.84294 332.96199 336.77937 340.1607 342.10383 345.48518 349.30256 355.3155 361.25959 364.64857 368.4583">Clear the CCIF to launch the command</tspan></text>
<text xml:space="preserve" transform="matrix(.958657 0 0 1.043126 -21.464219 -173.32215)" font-size="11.50388" font-family="TimesLTStd"><tspan y="518.07009" x="372.28337"> </tspan></text>
<text xml:space="preserve" transform="matrix(.958657 0 0 1.043126 -21.464219 -173.32215)" font-size="7.65008" font-family="TimesLTStd"><tspan y="524.79989" x="251.9854 258.93168 261.5021 263.62117 265.7402 269.12919 271.00346 274.88969 278.70707 282.52445 286.34184 288.27729 290.404 294.22138 296.09565 300.34144 304.58723 308.65705 313.3542 318.04368 319.92558 322.4654 325.90794 329.7253 331.84437 334.8126 336.93165 340.37419">Write 0x80 to FSTAT register</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -21.464219 -173.32215)" font-size="7.98" font-family="TimesLTStd"><tspan y="392.45256" x="382.51045 387.82514 390.0356 393.63459 397.1777 399.8271 401.80613 404.0166 408.0385 411.57368 413.61656 417.59858 419.80906 423.83097 425.81 429.34516 432.0424 434.69178 438.71369 441.36308">Clear the old errors</tspan><tspan y="385.91294" x="170.58571 176.34728 179.94626 183.4814 187.02452 190.12076 193.217 195.20401 200.07181 202.76905 205.42638 209.44033 212.09766 214.07669 217.67568 221.63376">Access Error and</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -21.464219 -173.32215)" font-size="12" font-family="TimesLTStd"><tspan y="385.91294" x="225.62377"> </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -21.464219 -173.32215)" font-size="7.98" font-family="TimesLTStd"><tspan y="392.93296" x="170.58522 175.0221 177.71933 181.70136 183.9198 187.45494 191.0619 193.27237 195.48284 199.47284 203.49477 205.4738 210.81243 213.03087 217.02088 219.23134 222.77446 224.98493 227.26721 231.2253">Protection Violation</tspan><tspan y="399.95249" x="170.58528 175.91593 179.91391 183.47299 187.0241">Check</tspan></text>
<text xml:space="preserve" transform="matrix(1.012353 0 0 .987798 -21.464219 -173.32215)" font-size="7.83561" font-family="TimesLTStd"><tspan y="291.6715" x="144.43924 148.78017 153.983 159.19368 164.82749">FCCOB</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -21.464219 -173.32215)" font-size="7.98" font-family="TimesLTStd"><tspan y="389.21244" x="285.18928 290.97477 296.32136 301.60414 306.5278 311.8744 317.22099">ACCERR/</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -21.464219 -173.32215)" font-size="12" font-family="TimesLTStd"><tspan y="389.21244" x="319.43943"> </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -21.464219 -173.32215)" font-size="7.98" font-family="TimesLTStd"><tspan y="396.6522" x="292.92939 297.3583 301.78724 307.54084 310.19023 316.00764">FPVIOL</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -21.464219 -173.32215)" font-size="12" font-family="TimesLTStd"><tspan y="396.6522" x="320.88343"> </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -21.464219 -173.32215)" font-size="7.98" font-family="TimesLTStd"><tspan y="403.6714" x="292.92903 297.3659 300.90904 303.12748">Set?</tspan><tspan y="588.4726" x="292.9849 297.84474 303.66215 306.30354">EXIT</tspan><tspan y="436.85255" x="231.12397 238.65709 241.31443 243.53287 245.75131 249.29444 251.28943 253.50788 257.49787 259.49287 261.7113 265.7013 269.24443 271.2394 275.6763 280.99897 286.32164 292.0832 297.40586 299.40086 302.0582 305.60133 309.5913 311.80976 314.91398 317.13243 320.67555 323.3329">Write to the FCCOB registers</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -21.464219 -173.32215)" font-size="12" font-family="TimesLTStd"><tspan y="436.85255" x="326.43708"> </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -21.464219 -173.32215)" font-size="7.98" font-family="TimesLTStd"><tspan y="446.82756" x="231.12348 233.34192 237.33193 239.32692 241.54537 245.53537 249.07849 253.0685 255.06349 257.28193 261.2719 264.81504 266.81004 269.46739 273.0105 277.0005 280.99049 283.20893 285.86628 289.4094 293.39939 295.39439 298.9375 302.9275 309.13594 315.34437 318.88749 322.87748 326.86747 328.86247 332.85246 336.39558 339.05293 342.59605 348.80448 352.3476 354.56605 358.10917 360.7665">to load the required command parameter.</tspan><tspan y="485.212" x="297.7245 304.81074 308.83265 311.47404">More</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -21.464219 -173.32215)" font-size="12" font-family="TimesLTStd"><tspan y="485.212" x="315.01716"> </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -21.464219 -173.32215)" font-size="7.98" font-family="TimesLTStd"><tspan y="493.25187" x="287.8288 292.25773 295.79289 298.4901 302.03324 308.2337 311.83268 314.05113 317.58628 320.23567 323.3319">Parameters?</tspan></text>
<text xml:space="preserve" transform="matrix(1.012353 0 0 .987798 -21.464219 -173.32215)" font-size="7.83561" font-family="TimesLTStd"><tspan y="299.56785" x="144.44638 149.47686 153.39466 156.8815 159.02062 161.20676 164.64658 168.57222 170.76619 172.89748 175.09145 177.27759 181.21106 183.16997 188.32579 192.23575 195.7226 199.16242">Availability Check</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -21.464219 -173.32215)" font-size="7.98" font-family="TimesLTStd"><tspan y="362.81254" x="349.09028 354.36506 357.97203 361.02836 365.05027 367.2687 369.48716 372.59138 374.5704 377.26765 379.90904 383.89903 390.10746 392.15034 396.14033 398.83757 402.38865 406.37864 408.66093 412.619 416.60899 419.7132 421.69224 425.23536 429.22535 435.43379 441.6422 445.1933 449.1833">Results from previous command</tspan><tspan y="283.91255" x="262.57099 267.89366 271.44474 275.0437 279.00178 281.22819 283.26307 287.70793 292.1448 296.40614 301.26597 306.1258 308.16868 310.82603 314.3771 318.3671 320.5935 323.69773 325.92414 329.46726">Read: FSTAT register</tspan><tspan y="400.49143" x="382.5103 389.76414 392.40553 394.62397 396.8424 400.44938 402.4284 406.4184 410.4084 414.39839 418.38838 420.42326 422.6417 426.63169 428.67457 433.11146 437.54835 441.80967 446.6695 451.52934 453.5722 456.22956 459.77268 463.76268 465.9811 469.08534 471.30378 474.8469">Write 0x30 to FSTAT register</tspan><tspan y="515.0923" x="289.6311 293.64503">no</tspan><tspan y="485.63255" x="358.3309 362.32887 365.88795">yes</tspan><tspan y="417.6526" x="286.20765 290.22956">no</tspan><tspan y="387.35255" x="350.94938 354.9234 358.45057">yes</tspan><tspan y="328.85179" x="359.40818 363.85304 366.55027 370.10136 374.0993 376.3816 380.33967 384.33763 387.4498 389.42884 392.97993 396.97789 403.19429 409.4027 412.9538 416.95176 420.9497 422.92875 426.47984 430.47779 436.69419 440.69215 442.91856 446.46965 448.69606 452.24714">Previous command complete?</tspan><tspan y="319.85194" x="235.63002 239.64397">no</tspan><tspan y="326.45219" x="291.96885 297.29948 302.62214 305.28746">CCIF</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -21.464219 -173.32215)" font-size="12" font-family="TimesLTStd"><tspan y="326.45219" x="309.72434"> </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -21.464219 -173.32215)" font-size="7.98" font-family="TimesLTStd"><tspan y="333.89195" x="291.48957 296.04615 298.02519 300.66658 304.68849 307.32987">= &#x2018;1&#x2019;?</tspan><tspan y="357.59254" x="312.12586 316.1318 319.6909">yes</tspan><tspan y="244.79253" x="289.98933 294.4262 298.68754 304.4491 309.30894">START</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="389.5859" x="65.952 73.284008 76.62 83.952 91.284008 95.952 102.62401 105.96001 112.632 119.304 123.3 129.972 136.644 139.98 143.316 152.652 159.32399 166.65599 173.32799 177.99599 181.33199 188.00399 191.33998 198.67198 202.00798 208.67998 215.35198 222.68398 226.01998 234.68398 242.01598 252.68398 263.352 270.024 277.356 284.688 288.024 299.352 304.02 307.356 311.352 318.024 321.36 329.36399 336.03599 343.36799 350.69999 357.37199 364.70399 371.37599 378.04798 381.38398 388.71598 392.05198 399.38398 408.71998 415.39198 422.72398 429.39598 434.06398">Figure 29-34. Generic Flash Command Write Sequence Flowchart</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 486.16874)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00003 8.339972 16.679974 20.849974 29.189976 33.359979 41.699979 50.039979 54.20998">29.4.10.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 130.72339 486.16874)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00004 9.16496 13.334961 21.674962 30.014962 39.179964 43.349966 54.179967 63.344968 76.67997 90.01497 98.35497 107.51997 116.684978">Flash Commands</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="468.41874" x=".00496 8.55896 15.55896 21.77496 25.27496 29.93696 36.93696 40.82896 44.720964 51.720964 61.828966 65.72096 72.72096 79.72096 83.22096 87.11296 93.328968 100.328968 104.22096 110.436969 113.936969 119.382968 126.382968 137.27497 148.16696 154.38297 159.04497 162.93697 169.15297 175.36898 180.81497 184.31497 188.20697 195.20697 201.42298 204.92298 209.58498 216.58498 223.58498 229.80098 233.69298 237.58498 244.58498 251.58498 255.08498 262.08497 266.74696 270.24696 276.46296 280.35496 284.24696 287.74696 292.40895 296.30094 302.51695 307.96296 314.96296 318.46296 324.67897 331.67897 342.57096 353.46296 359.67897 366.67897 373.67897 379.12498 382.62498 386.12498 390.78697 395.44895 398.94895 402.84095 409.84095 416.05696 419.55696 426.55696 431.21894 438.21894 445.21894 449.88093 456.09693 466.98893 470.48893 475.1509 479.0429 485.2589 490.70494 497.70494">The following table summarizes the function of all flash commands. If the program flash,</tspan><tspan y="484.41874" x=".00497 7.00497 13.22097 17.11297 23.328972 26.828972 31.490973 35.382974 41.598974 47.04497 54.04497 57.54497 61.04497 68.04497 72.70697 76.20697 83.990978 87.88297 94.098979 101.098979 110.43698 120.54498 132.99098 136.49098 142.70699 149.70699 153.59899 160.59899 171.49098 178.49098 181.99098 185.88298 191.32898 194.82898 205.72098 211.93698 216.59899 223.59899 229.81499 236.81499 240.31499 250.42299 254.31499 258.207 265.207 268.707 274.923 281.923 285.423 287.943 298.051 300.57099 304.07099 307.57099 311.46299 318.46299 324.679 328.179 332.84098 336.73298 342.94898 348.395 355.395 358.895 365.111 372.111 383.003 393.895 400.111 407.111 414.111 417.611 421.503 426.949 430.449 435.111 441.327 445.219 451.435 458.435 464.651 471.651 475.543 479.043 482.935">data flash, or FlexRAM column is marked with an 'X', the flash command is relevant to</tspan><tspan y="500.41874" x=".00497 3.8969706 10.896971 17.112973 21.004973 24.504973 31.504973 37.720975 42.382974 46.274976 50.166978 56.382978 63.382978 67.27498 73.49098 78.152988 81.652988 92.54498 98.76099 109.652988 116.652988 121.31499 128.31499 131.81499 136.47699 142.693 148.13899 155.13899 162.13899 166.801 173.017 179.233">that particular memory resource.</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="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>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="-.00102 5.0029809 10.006981">682</tspan></text>
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<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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