birdcage/docs/K60-refman-vectors/K60-reference-manual_page_692.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

722 lines
64 KiB (Stored with Git LFS)
XML

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 82)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 16.680003 20.850003 29.190003 33.360006 41.700006 50.040006 54.210008">29.4.12.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 130.72339 82)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.005001 15.840002 25.005002 34.170003 40.005 48.345 61.68 65.85 76.68 85.845 94.185009 102.52501 110.86501 115.03501 125.86501 135.03002 148.36502 161.70003 170.04003 179.20502">Program Check Command</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="64.25" x="0 8.554 15.554 21.77 25.27 33.054 37.716 44.716 51.716 56.378 62.593999 73.486 76.986 86.324008 93.324008 99.54001 105.75601 112.75601 116.25601 122.472019 129.47202 140.36402 151.25601 157.47202 164.47202 171.47202 174.97202 178.86402 185.08002 190.52602 194.41802 199.86402 203.36402 209.58002 213.08002 220.08002 224.74202 230.95803 237.95803 241.85002 248.85002 255.85002 261.29603 265.18803 272.18803 275.68803 282.68803 287.35 294.35 301.35 306.012 312.228 323.12 334.012 340.228 347.228 350.728 357.728 362.38999 369.38999 376.38999 381.05198 387.26799 398.15998 401.65998 406.32197 410.21397 416.42997 421.87599 428.87599 432.37599 439.37599 444.03797 447.53797 454.53797 460.75398 464.64598 470.86198 474.36198 479.02397 482.91596 489.13197 494.57798">The Program Check command tests a previously programmed program flash or data flash</tspan><tspan y="80.25" x="0 3.8920005 10.892 17.892 24.892 35 42 46.662 53.662 57.162 61.054 68.054 71.554 77 83.216 89.43201 92.93201 96.824008 101.48601 104.98601 108.878009 112.770008 116.270008 120.93201 127.14801 133.36402 140.36402 145.81002 149.31002 155.52602 162.52602 167.18802 171.85002 178.06603 184.28203 188.17403 192.06603 199.06603 202.56603 208.78203 212.67403 216.17403 220.06603 227.06603 233.28203 236.78203 242.22803 249.22803 255.44403 261.66004 265.55204 270.21403 274.10603 280.32203 287.32203 290.82203 301.71403 307.93003 312.592 319.592 323.484 330.484 333.984 337.876 344.092 351.092 357.308 361.2">longword to see if it reads correctly at the specified margin level.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 115.5 146.79999)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="15.29607 22.62807 29.300072 36.632074 39.96807 46.64007 49.976076 56.648077 63.320077 67.31608 73.98808 80.66008 92.99608 101.00008 105.668079 113.00008 120.33208 125.00008 131.67208 142.34008 145.67607 154.34008 161.67208 168.34407 175.01607 181.68807 185.02407 193.68807 201.02007 211.68807 222.35607 229.02806 236.36006 243.69207 247.02806 254.36006 263.02406 271.68806 281.02406 289.68806 293.02406 301.68806 308.36006 315.69206 323.02406 326.36006 331.02806 337.70005 348.36805 355.04005 362.37205 366.36805">Table 29-40.Program Check Command FCCOB Requirements</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 246.79999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="45.64799">4</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 339.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">1.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 69.12 339.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.4970009 12.501001 17.001002 19.503003 22.005003 27.009003 32.013006 34.515005 36.513006 41.517007 46.521009 51.52501 58.02301 63.02701 66.02401 71.02801 73.53001 78.534008 80.532009 82.53001 87.534008 92.538 97.542 102.546 105.048 108.045 113.544 115.542 120.546 125.046 130.05 132.552 137.556 142.56 147.564 150.56099 155.56499 160.06499 164.56499 167.06699 169.56899 174.57299 177.07498 182.07898 184.58098 187.08298 192.33898 194.84098 199.84497 204.84897 207.84597">Must be longword aligned (Flash address [1:0] = 00).</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="318.15" x="-.00198 10.106021 17.106022 24.106022 31.106022 34.60602 40.82202 44.714025 50.930025 57.146024 61.80802 65.70002 72.70002 79.70002 83.20002 92.538028 101.87602 106.538028 114.32203 117.82203 121.71403 128.71402 132.21402 136.10602 142.32202 149.32202 156.32202 162.53803 169.53803 173.03803 176.93003 183.93003 190.14603 193.64603 201.43003 206.09203 213.09203 220.09203 224.75403 230.97003 241.86203 245.36203 254.70003 261.7 267.91603 274.13203 281.13203 284.63203 290.84803 297.84803 308.74003 319.63203 325.84803 332.84803 339.84803 343.34803 346.84803 350.74003 357.74003 363.95603 367.45603 372.118 376.01 382.226 387.67204 394.67204 398.17204 409.06404 415.28004 426.17204 433.17204 437.834 444.834 448.334 459.226 466.226 473.226 480.226 484.118">Upon clearing CCIF to launch the Program Check command, the flash memory module</tspan><tspan y="334.15" x="-.0019699999 5.444031 11.660031 15.5520319 20.998032 24.498032 28.390032 35.39003 41.60603 45.10603 49.76803 55.984029 62.200029 69.20003 72.70003 83.592029 89.80803 94.47003 101.47003 105.36203 112.36203 115.86203 120.52403 127.52403 132.18604 135.68604 142.68604 148.13204 151.63204 157.84804 164.06404 170.28005 177.28005 181.94205 188.94205 192.83405 199.83405 206.83405 210.33405 214.22605 221.22605">sets the read margin for 1s according to </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="334.15" x="224.72603 233.28003 239.49604 246.49604 250.38803 256.60404 260.10404 267.10404 274.10404 278.76603 285.76603">Table 29-41</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="334.15" x="292.76606 296.26606 299.76606 304.42805 310.64405 316.86006 323.86006 329.30607 332.80607 336.69807 343.69807 349.91407 353.41407 358.86009 365.86009 372.07609 378.29209 382.18409 386.84608 390.73808 396.95408 403.95408 407.45408 411.34608 418.34608 425.34608 432.34608 442.45408 449.45408 454.11607 461.11607 464.61607 468.11607 474.33207 481.33207">, reads the specified longword, and</tspan><tspan y="350.15" x="-.0019836426 6.214017 13.214017 24.106019 31.106019 37.322019 41.984018 48.200017 53.646017 57.146017 61.038019 68.03802 74.25402 77.75402 83.970027 90.18603 94.078029 101.078029 107.29403 111.18603 114.68603 119.34803 125.56403 131.78003 138.78003 142.28003 149.28003 155.49604 159.38803 165.60404 169.10404 172.99604 179.99604 183.49604 187.38803 194.38803 200.60404 204.10404 210.32004 217.32004 224.32004 230.53604 236.75205 240.64405 246.86005 253.86005 257.36006 264.36006 270.57606 274.46806 280.68406 284.18406 291.18406 295.84605 302.84605 309.84605 313.73805 320.73805 326.95405 333.95405 337.45405 344.45405 351.45405 354.95405 358.84605 365.84605 372.06205 375.56205 383.34605 392.68406 402.02207 412.13008 421.46809 424.96809 428.46809 433.13008 437.79206 441.29206 445.18406 452.18406">compares the actual read data to the expected data provided by the FCCOB. If the</tspan><tspan y="366.15" x="-.0019736426 6.214027 13.214027 24.10603 31.10603 37.32203 41.984029 45.87603 51.32203 58.32203 65.32203 68.82203 75.03803 78.93003 82.43003 93.32203 99.53803 104.200038 111.200038 115.09203 122.09203 126.754039 133.75403 137.25403 141.91603 148.13204 152.02404 155.91603 161.36203 164.86203 168.36203 172.25403 179.25403 185.47003 188.97003 196.75403 204.53803 213.09203 223.20003 231.75403 236.41603 248.86203 258.97004 266.75404 275.308 285.41603 293.97 300.97 305.632 309.132 316.132 320.024 323.916 327.416 331.30799 336.754 340.254 345.7 351.91603 355.808">comparison at margin-1 fails, the FSTAT[MGSTAT0] bit is set.</tspan><tspan y="390.55" x="-.0019736426 8.552026 15.552026 21.768027 25.268027 29.930027 33.82203 40.03803 45.484029 52.484029 55.984029 66.87603 73.09203 83.98403 90.98403 95.646038 102.646038 106.146038 117.03803 124.03803 131.03803 138.03803 141.93003 148.14603 151.64603 155.53803 162.53803 168.75403 175.75403 179.25403 184.70003 190.91603 194.80803 200.25403 203.75403 207.64603 214.64603 220.86203 224.36203 229.02404 235.24004 241.45604 248.45604 251.95604 262.84806 269.06407 273.72605 280.72605 284.61805 291.61805 295.11805 299.78004 306.78004 311.44203 314.94203 321.94203 327.38804 330.88804 334.38804 339.05003 345.26603 349.928 354.59 360.806 367.022 374.022 379.46803 382.96803 386.46803 392.68403 399.68403 406.68403 410.18403 416.40003 423.40003 434.29203 441.29203 447.50804 452.17 458.38603 463.83204 467.33204 473.54804 480.54804 486.76405 490.65605 497.65605">The flash memory module then sets the read margin for 0s, re-reads, and compares again.</tspan><tspan y="406.55" x="-.0019736426 4.6600267 9.322027 12.822027 16.714028 23.714028 29.930027 33.430028 39.646028 46.646028 57.53803 64.538028 70.75403 75.41603 79.30803 84.75403 91.75403 98.75403 102.25403 108.47003 112.36203 115.86203 126.75403 132.97003 137.63204 144.63204 148.52404 155.52404 160.18604 167.18604 170.68604 175.34804 181.56404 185.45604 189.34804 194.79404 198.29404 201.79404 205.68604 212.68604 218.90204 222.40204 230.18604 237.97003 246.52404 256.63203 265.186 269.848 282.294 292.402 300.186 308.74 318.848 327.40199 334.40199 339.06398 342.56398 349.56398 353.45597 357.34797 360.84797 364.73997 370.18598 373.68598 379.132 385.348 389.24 392.74 396.24 404.79399 411.79399 418.00999 421.50999 430.848 440.186 444.848 452.632 456.132 460.79399 464.68598 470.90199 477.90199 481.40199 485.29399">If the comparison at margin-0 fails, the FSTAT[MGSTAT0] bit is set. The CCIF flag is</tspan><tspan y="422.55" x="-.0019736426 5.444027 11.6600279 15.552028 19.052029 25.268029 29.930029 33.82203 40.03803 44.700029 48.200029 52.09203 59.09203 65.30803 68.80803 76.59203 81.254039 88.254039 95.254039 99.91604 106.13204 117.02404 120.52404 129.86205 136.86205 143.07805 149.29405 156.29405 159.79405 166.79405 173.79405 180.01006 184.67206 190.88806 194.78006 198.67206 205.67206 212.67206 216.17206 222.38806 229.38806 240.28006 247.28006 251.17206 257.38807 261.28007 267.49607 272.94209">set after the Program Check operation completes.</tspan><tspan y="446.94999" x="-.0019436425 8.552056 15.552056 21.768057 25.268057 30.714058 37.714059 44.714059 51.714059 55.60606 59.498064 65.714069 72.714069 76.214069 82.43007 89.43007 96.43007 101.09207 107.308078 112.754077 118.20007 121.70007 132.59207 139.59207 145.03807 148.93007 152.43007 159.43007 165.64608 169.14608 173.03807 180.03807 187.03807 194.03807 204.14608 211.14608 215.80808 222.80808 226.30808 232.52408 236.41608 240.30808 247.30808 254.30808 260.52409 267.52409 271.02409 275.68608 279.57807 286.57807 292.79408 296.29408 300.18608 307.18608 317.29408 323.51008 328.9561 332.84809 336.34809 340.24009 350.34809 357.34809 360.84809 367.84809 371.74009 375.63209 381.0781 384.5781 391.5781 396.24009 399.74009 403.63209 410.63209 416.84809 420.34809 427.34809 434.34809 438.24009 444.4561 447.9561 454.1721 461.1721 468.1721 472.83409 479.05009 484.4961">The supplied address must be longword aligned (the lowest two bits of the byte address</tspan><tspan y="462.94999" x="-.0019136425 10.890087 17.890088 23.336089 27.228089 30.728089 37.72809 43.944089 47.444089 54.444089 61.444089 66.10609">must be 00):</tspan><tspan y="478.94999" x="13.102086 23.994088 33.33209 40.33209 44.22409 50.44009 53.94009 60.94009 64.440097 71.440097 77.6561 81.548099 87.7641 91.2641 95.1561 100.6021 104.1021 114.2101 118.8721 122.7641 126.6561 130.5481 136.7641 143.7641 147.2641 151.1561 158.1561 161.6561 165.5481 172.5481 178.7641 182.2641 187.7101 194.7101 201.7101 208.7101 212.6021 216.4941 222.7101 229.7101 233.2101 240.2101 247.2101 251.1021 257.31809 260.81809 267.0341 274.0341 281.0341 285.69609 291.91209 297.3581 302.8041 306.3041 310.9661 313.48609 318.9321 322.8241 329.0401 333.7021 337.5941 340.11408 344.77607">&#x2022;Byte 3 data is written to the supplied byte address ('start'),</tspan><tspan y="494.94999" x="13.102106 23.994107 33.332109 40.332109 44.22411 50.44011 53.94011 60.94011 64.44011 71.44011 77.65611 81.54811 87.764118 91.264118 95.15611 100.60211 104.10211 111.10211 115.764118 122.764118 129.76412 134.42612 140.64212 151.53412 162.42612 168.64212 175.64212 179.14212 183.03412 190.03412 193.53412 200.53412 207.53412 211.42612 217.64212 221.14212 227.35813 234.35813 241.35813 246.02013 252.23613 257.68214 263.12815 266.62815 272.07417 275.96617 282.18217 286.84416 290.73616 298.63215 305.63215 312.63215 319.63215 326.63215">&#x2022;Byte 2 data is programmed to byte address start+0b01,</tspan><tspan y="510.94999" x="13.102077 23.994078 33.332078 40.332078 44.22408 50.44008 53.94008 60.94008 64.44008 71.44008 77.65608 81.54808 87.764087 91.264087 95.15608 100.60208 104.10208 111.10208 115.764087 122.764087 129.76409 134.42609 140.64209 151.53409 162.42609 168.64209 175.64209 179.14209 183.03409 190.03409 193.53409 200.53409 207.53409 211.42609 217.64209 221.14209 227.3581 234.3581 241.3581 246.0201 252.2361 257.6821 263.1281 266.6281 272.07414 275.96614 282.18214 286.84413 290.7361 298.6321 305.6321 312.6321 319.6321 326.6321">&#x2022;Byte 1 data is programmed to byte address start+0b10,</tspan><tspan y="526.94998" x="13.102077 23.994078 33.332078 40.332078 44.22408 50.44008 53.94008 60.94008 64.44008 71.44008 77.65608 81.54808 87.764087 91.264087 95.15608 100.60208 104.10208 111.10208 115.764087 122.764087 129.76409 134.42609 140.64209 151.53409 162.42609 168.64209 175.64209 179.14209 183.03409 190.03409 193.53409 200.53409 207.53409 211.42609 217.64209 221.14209 227.3581 234.3581 241.3581 246.0201 252.2361 257.6821 263.1281 266.6281 272.07414 275.96614 282.18214 286.84413 290.7361 298.6321 305.6321 312.6321 319.6321 326.6321">&#x2022;Byte 0 data is programmed to byte address start+0b11.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="552.7367" x="232.55208 242.66008 253.55208 262.10609">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="568.94998" x="72.00008 79.78408 86.000087 92.21609 95.71609 99.608089 106.608089 112.82409 116.32409 123.32409 129.54009 134.98609 141.20209 145.86409 149.75609 156.75609 160.64809 164.54009 171.54009 178.54009 182.04009 189.04009 193.70209 197.20209 208.09409 214.31009 218.97209 225.97209 229.86409 236.86409 240.36409 245.0261 251.2421 257.4581 264.4581 269.9041 273.4041">See the description of margin reads, </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="568.94998" x="276.90406 289.35008 295.56608 300.22807 307.22807 311.12007 318.12007 321.62007 330.95808 337.17408 343.39009 350.39009 353.89009 363.2281 370.2281 381.1201 392.0121 398.2281 405.2281 412.2281">Margin Read Commands</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 138 635.5)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="15.30215 22.63415 29.30615 36.63815 39.97415 46.646154 49.982156 56.654157 63.326158 67.32216 73.994159 80.66615 93.00215 102.99815 109.67015 114.33815 121.67015 125.00615 132.33815 135.67415 143.00615 149.67815 156.35015 163.02214 166.35814 169.69414 178.35814 185.69014 193.02214 196.35814 203.03014 209.70214 216.37413 219.71013 223.70613 231.03813 235.70613 239.04213 247.04613 251.71413 259.0461 266.3781 271.0461 277.7181 288.3861 291.7221 300.3861 307.7181 314.3901 321.0621">Table 29-41.Margin Level Choices for Program Check</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 657.5)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="5.643 12.141001 17.145 22.149003 27.648003 30.150004 37.647005 42.651006 46.152006 51.651006 54.153005 59.652006 62.154005 68.652 74.151 79.65 82.152 87.156">Read Margin Choice</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.3 657.5)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="146.583 154.07999 159.08399 162.58499 168.08399 170.58599 176.08498 178.58698 184.08597 189.08997 194.09397 199.09796 201.59996 204.10196 210.59996 215.60396 220.60796 225.61196 229.11296 231.61496 237.11396 240.11095 242.61295 248.11194">Margin Level Description</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 673.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="111.888 118.386 123.39 128.394 133.398 135.9 140.90399 143.40599 145.90799 147.62699 154.12499 158.62499 163.62899 166.62598 168.34497 170.84697 178.34397 183.34796 186.34496 191.34896 193.34696 198.35095 201.34795 206.35195 208.85395 213.85794 218.86194 223.86594 226.36794 228.08693 234.58493 239.08493 244.08893 247.08592 248.80492 251.30692 258.80393 263.80793 266.80494 271.80894 273.80693 278.8109 281.80793">Read at 'User' margin-1 and 'User' margin-0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 689)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="100.881 107.379 112.382999 117.38699 122.39099 124.89299 129.89699 132.39899 134.90099 136.61998 142.11898 147.12297 151.62297 154.12497 159.12897 162.12596 166.62596 168.34496 170.84696 178.34395 183.34795 186.34494 191.34894 193.34694 198.35094 201.34793 206.35193 208.85393 213.85793 218.86193 223.86592 226.36792 228.08692 233.5859 238.5899 243.0899 245.5919 250.5959 253.5929 258.0929 259.8119 262.3139 269.8109 274.8149 277.81193 282.81593 284.8139 289.8179 292.8149">Read at 'Factory' margin-1 and 'Factory' margin-0</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>
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