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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_699.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

271 lines
52 KiB (Stored with Git LFS)
XML
Raw Blame History

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<path transform="matrix(1,0,0,1,-19.912896,-67.31979)" stroke-width=".48" stroke-linecap="butt" stroke-dasharray="1.92,3.84" stroke-dashoffset=".864" stroke-miterlimit="4" stroke-linejoin="miter" fill="none" stroke="#000000" d="M361.91526 185.60042C361.91526 180.62985 365.9447 176.60042 370.91526 176.60042H559.9176C564.8882 176.60042 568.9176 180.62985 568.9176 185.60042V635.55557C568.9176 640.5261 564.8882 644.55557 559.9176 644.55557H370.91526C365.9447 644.55557 361.91526 640.5261 361.91526 635.55557V185.60042Z"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="9" font-family="TimesLTStd"><tspan y="178.03977" x="226.84774 232.34673 238.34973 243.35373 248.35773 254.35173 260.35475 262.57774 268.58073 273.08073 280.08274 287.08476 291.08076 295.51777">ERSSCR Command</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="12" font-family="TimesLTStd"><tspan y="178.03977" x="300.01777"> </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="9" font-family="TimesLTStd"><tspan y="189.01976" x="226.85077 229.85677 237.95677 240.96277 243.47377 245.97577 249.98078 252.20378 257.2168 263.1568 269.1688 275.67579 281.61579">(Write FCCOB)</tspan><tspan y="227.53978" x="222.35077 227.84076 231.82776 236.32776 240.81876 244.80576 249.29676 251.79875 257.79277 261.77976 265.28077 269.77177 276.76478 280.75178 283.03779 289.03178 293.52278 300.52479 307.5178 311.5048 316.0048">Launch/Resume Command</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="12" font-family="TimesLTStd"><tspan y="227.53978" x="320.5048"> </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="9" font-family="TimesLTStd"><tspan y="238.51976" x="222.34479 225.34178 231.34479 233.85579 237.85179 241.8478 244.84479 247.12178 253.12479 259.0648 262.0618 267.0658">(Clear CCIF)</tspan><tspan y="286.03977" x="244.8448 250.84781 256.8508 259.8478 264.8518 267.0748 272.14179 274.36479 278.86479">CCIF = 1?</tspan><tspan y="407.53977" x="222.34479 228.33879 232.31679 236.80779 241.28978 245.31278 248.80478 251.28878 253.56577 258.56077 263.04277 266.53477 271.01676 275.03977 279.53977">Request Suspend</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="12" font-family="TimesLTStd"><tspan y="407.53977" x="284.0398"> </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="9" font-family="TimesLTStd"><tspan y="418.51979" x="222.3478 225.32678 230.30379 234.32678 236.79279 239.06978 244.55077 250.52678 255.51277 260.5528 267.03279 272.00978 276.99577">(Set ERSSUSP)</tspan><tspan y="340.03977" x="244.84777 247.84476 252.34476 254.85576 258.85176 261.84877 264.84577 269.28279 273.79179 276.2938">Interrupt?</tspan><tspan y="484.03977" x="244.8478 250.8508 256.8538 259.8508 264.8548 267.0688 272.14479 274.36778 278.86778">CCIF = 1?</tspan><tspan y="533.5397" x="235.84777 240.86077 244.86577 247.86277 252.30876 254.81076 258.81578 262.77577 265.06178 267.9958 272.4958 275.0068 278.9668 281.9728 284.97883 289.48783 293.99684">Service Interrupt</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="12" font-family="TimesLTStd"><tspan y="533.5397" x="296.49885"> </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="9" font-family="TimesLTStd"><tspan y="544.5197" x="235.85085 238.82984 244.81484 248.79283 252.81583 257.30683 259.5208 264.5158 267.03584 271.01383 274.55085 279.04185">(Read Flash)</tspan><tspan y="592.0397" x="235.85088 241.30487 247.30788 252.33887 257.31587 263.79585 268.77284 273.79484 278.8348 283.36183">ERSSUSP=0?</tspan><tspan y="281.53977" x="87.350849 93.83984 97.82684 102.32684 104.81984 107.04284 113.036838 117.536838 124.52983 131.52283 135.51883 140.00983">Next Command</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="12" font-family="TimesLTStd"><tspan y="281.53977" x="144.50984"> </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="9" font-family="TimesLTStd"><tspan y="292.51976" x="87.34484 90.34184 98.44184 101.42984 103.93184 106.424839 110.411838 112.634838 117.63883 123.63283 129.62683 136.12483 142.11884">(Write FCCOB)</tspan><tspan y="691.0397" x="226.84485 232.83885 235.33185 239.31885 243.30585 246.29384 248.57083 254.06082 260.0548 265.0498 270.0448 276.53379 281.51979">Clear ERSSUSP</tspan><tspan y="142.0398" x="222.34477 227.83477 232.32576 234.82776 238.81476 241.80275 244.07975 250.56874 253.06174 255.55474 260.04576 262.33177 268.27177 274.26576 277.26277 282.25776 284.47175 289.53874 291.82475">Enter with CCIF = 1</tspan><tspan y="245.53977" x="510.34474 516.33877 520.3167 523.8087 528.2907 535.28378">Resume</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="12" font-family="TimesLTStd"><tspan y="245.53977" x="539.2797"> </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="9" font-family="TimesLTStd"><tspan y="256.51976" x="510.34773 515.86477 521.80477 526.8268 531.80386 537.8248">ERSSCR</tspan><tspan y="619.03976" x="271.84785 278.32783">No</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="9.96" font-family="TimesLTStd"><tspan y="196.69977" x="420.34556 429.2199 433.66209 441.43089 446.44078 449.77738 454.7773 457.23744 463.90068 468.9006 473.90055 476.68937 480.02598 485.0259 487.81474 490.6135 495.05567">Memory Controller</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="12" font-family="TimesLTStd"><tspan y="196.69976" x="498.37236"> </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="9.96" font-family="TimesLTStd"><tspan y="208.69957" x="420.34776 427.001 431.99098 439.78965 447.58833 452.0305 457.02046 462.0104 464.53028 470.06803 473.39466 478.3846 482.8168 487.249 491.12345 495.00785 497.78669 502.77665">Command Processing</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="9" font-family="TimesLTStd"><tspan y="268.03977" x="406.84867 411.84367 418.32365 423.36366 427.50364 433.9926 439.9866 446.4756 451.53358">SUSPACK=1</tspan><tspan y="493.03977" x="478.84858 484.84257 487.33558 491.32258 495.31858 498.2526 500.5386 506.0286 512.02267 517.0177 522.01278 528.51077 533.5058">Clear ERSSUSP</tspan><tspan y="349.03977" x="420.34883 425.8568 430.29383 434.29884 438.30384 442.81285 445.32386">Execute</tspan><tspan y="263.53977" x="478.84886 484.42884 488.44285">Yes</tspan><tspan y="394.03977" x="420.34886 426.83784 433.3268 439.8158 445.3058">DONE?</tspan><tspan y="421.03977" x="442.8488 449.32878">No</tspan><tspan y="448.03977" x="406.84877 412.36576 418.30577 423.33677 428.31376 434.79374 439.77073 444.80174 449.8417 454.3597">ERSSUSP=1?</tspan><tspan y="493.03977" x="388.84873 393.8257 397.84873 402.32173 406.2907 408.56773 414.0397 417.0097 421.0327 424.51573 428.4847 430.76173 437.2327 439.7077 444.1807">Save Erase Algo</tspan><tspan y="592.0397" x="445.1257 450.1297 454.1167 456.6187 458.8417 464.8357 470.83869 473.8267">Set CCIF</tspan><tspan y="443.53977" x="474.3487 480.82868">No</tspan><tspan y="389.53977" x="474.34867 479.92866 483.94267">Yes</tspan><tspan y="304.03977" x="402.34867 407.20866 409.66566 413.68867 416.68568">Start</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="12" font-family="TimesLTStd"><tspan y="304.03977" x="419.18769"> </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="9" font-family="TimesLTStd"><tspan y="315.01976" x="402.34269 408.84968 412.84568">New</tspan><tspan y="646.0397" x="235.84267 241.87267 245.83267 249.35169 253.79769 260.8177 264.8407 267.0547 272.51768 275.51469 279.5377 283.0117 287.0347">Resume Erase?</tspan><tspan y="673.0397" x="271.8427 278.3317 282.8227 285.0637 287.3407 293.82969 298.31169 302.80268 305.79069">No, Abort</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="9.96" font-family="TimesLTStd"><tspan y="709.69967" x="87.350009 94.54113 98.42553 102.85773 106.17441 108.69428 115.34756 123.14623 128.1362 130.65608 133.97277 138.96273 141.7814 146.22356 149.5502 152.86688 157.85684 162.83684 165.61568 168.43436 173.95221 178.99196 182.83652 187.87627 192.31842 197.29842">User Cmd Interrupt/Suspend</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="9" font-family="TimesLTStd"><tspan y="533.5397" x="379.8484 384.82539 388.8484 391.3234 393.6004 398.5774 405.04838 410.08839 414.22837 420.69935 426.67533 433.1463 435.4323 440.4813 442.7583">Set SUSPACK = 1</tspan><tspan y="619.0397" x="177.3483 182.84729 188.8503 193.8543 198.85829 204.8613 210.8643 213.08731 218.09131 222.59131 226.09232 230.52931 234.52532 239.02532 243.52532 247.52132">ERSSCR Suspended</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="9.96" font-family="TimesLTStd"><tspan y="160.69977" x="91.844608 98.52776 103.50777 111.30644 119.045368 123.50745 128.52729 133.50728 136.02716 139.33388 144.31388 147.12259 149.8815 152.64041 157.08257 159.90125 162.66016 167.64015">Command Initiation</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="9" font-family="TimesLTStd"><tspan y="599.29977" x="203.32816 208.90816 212.92217">Yes</tspan><tspan y="295.03367" x="442.83619 449.33418">No</tspan><tspan y="475.03977" x="442.84516 448.42515 452.44816">Yes</tspan><tspan y="641.5397" x="199.84519 205.42519 209.44818">Yes</tspan><tspan y="569.5397" x="181.84519 187.33518 193.32918 198.36017 203.34616 209.33116">ERSSCR</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="12" font-family="TimesLTStd"><tspan y="569.5397" x="215.33417"> </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="9" font-family="TimesLTStd"><tspan y="580.5197" x="181.84818 187.86019 192.37819 199.33519 203.83519 206.3552 210.3152 212.8262 216.78621">Completed</tspan><tspan y="556.0397" x="370.8482 376.3112 382.30519 387.32719 392.30418 398.32518 404.33717 406.56016 411.57316 416.01918 419.52919 424.04719 428.00718 432.51618 437.03419 440.99418">ERSSCR Suspended</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="12" font-family="TimesLTStd"><tspan y="556.0397" x="445.49418"> </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="9" font-family="TimesLTStd"><tspan y="567.0197" x="370.85118 376.30516 382.30815 387.34815 392.32514 398.8051 403.7821 408.8221 413.8621">ERSSUSP=1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="9" font-family="TimesLTStd"><tspan y="664.0397" x="375.3511 380.80509 386.80809 391.83009 396.80708 403.28706 408.26405 413.28605 415.74305 418.02906 424.04106 426.50706 429.02708 431.24107 433.76109 438.27909 440.50209 445.52409 451.53608 458.01606 462.99305 469.47303 471.75004 474.76506 478.72505 483.24305 485.76307 489.24607 491.76609 495.72608">ERSSUSP: Bit in FCNFG register</tspan></text>
<text fill="#ff6500" xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="12" font-family="TimesLTStd"><tspan y="664.0397" x="498.72309"> </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="9" font-family="TimesLTStd"><tspan y="675.0197" x="375.3451 380.3491 386.84709 391.85108 396.85508 403.35307 409.35606 415.85404 418.35606 420.60606 423.60307 428.10307 430.60508 434.60108 437.59809 442.09809 446.0941 448.5961 450.8461 455.8501 460.3501 463.8511 468.3511 472.3471 476.8471 481.3471 483.5971 490.0951 494.0911 498.5911 503.0911 507.5911 514.0891 516.5911 520.5871 525.0871 529.5871">SUSPACK: Internal Suspend Acknowledge</tspan></text>
<text fill="#ff6500" xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="9" font-family="TimesLTStd"><tspan y="675.0197" x="533.583"> </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 -19.912896 -67.31979)" font-size="9" font-family="TimesLTStd"><tspan y="475.03977" x="204.345 210.825">No</tspan><tspan y="511.03977" x="271.845 277.425 281.448">Yes</tspan><tspan y="385.03977" x="271.845 277.425 281.448">Yes</tspan><tspan y="335.53977" x="199.845 206.325">No</tspan><tspan y="281.53977" x="199.845 205.425 209.448">Yes</tspan><tspan y="313.03977" x="271.845 278.32499">No</tspan></text>
<text xml:space="preserve" transform="matrix(.976172 0 0 1.02441 -19.912896 -67.31979)" font-size="8.10711" font-family="TimesLTStd"><tspan y="542.80966" x="499.23625 504.18968 509.5971 514.1047 518.61227 524.0197 529.4272 531.454 536.86148 540.915 547.2223 551.2758 553.5296 557.12918 559.38296 562.9825 567.036">ERSSCR Completed </tspan><tspan y="552.94357" x="499.23625 504.18968 509.5971 514.1047 518.61227 524.4656 528.97317 533.4807 538.0531">ERSSUSP=0</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="614.2421" x="57.60666 64.93866 68.27466 75.60666 82.93866 87.60666 94.278659 97.614658 104.28665 110.95865 114.95465 121.62665 128.29865 131.63465 134.97064 142.97464 150.30664 156.97864 164.31064 170.98264 178.31464 185.64664 188.98264 195.65464 202.98664 210.31864 213.65464 222.31864 228.99063 235.66263 242.99463 253.66263 260.33464 263.67063 271.00263 274.99864 278.33464 286.33863 291.00663 297.67863 304.35063 311.0226 314.3586 321.6906 325.0266 331.6986 338.3706 345.7026 349.0386 357.0426 363.7146 370.3866 374.3826 381.7146 386.3826 389.7186 399.0546 406.3866 413.0586 417.7266 424.3986 428.3946 431.7306 439.0626">Figure 29-35. Suspend and Resume of Erase Flash Sector Operation</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="26.01031" 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>
<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="130.01 137.23 142.79 148.34999 151.12999 157.79999 163.90999 170.01999 173.34999 179.45999 185.01999 193.90999 196.68999 199.46999 205.02999 207.80998 215.02999 220.58998 223.91999 229.47998 233.36998 238.92998 245.03998 250.59998 256.15998 258.93998 267.26997 272.82997 278.93995 285.04994 290.60993 293.38993 296.16993 298.94993 306.16993 311.72993 317.28993 320.06993 322.8499 328.4099 331.1899 336.7499 342.8599 348.96989 351.74989 357.30989 362.86988 368.42988">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=".00401 5.5030105 8.5000109 13.504011 18.50801 23.00801 27.50801 32.512014 34.510015 39.514017 42.016016 48.019014 53.023015 60.520017 62.518018 67.01802 72.02202 77.02602 82.030017 87.03401 91.53401 94.03601 99.04001 102.03701 104.53901 107.04101 109.54301 114.547008 119.047008">Freescale Semiconductor, Inc.</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32 751.756)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="58.45 65.12 69.01 74.57 77.35 80.13 89.02 91.799999 97.909999 103.46999 107.35999">Preliminary</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 391.68 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">699</tspan></text>
<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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