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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

120 lines
26 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="14" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-712.463" x="54 61.784 65.676 73.46001 77.352008 85.13601 89.02801 110.98001 124.196018 129.64202 133.53401 138.19602 145.98001 149.87201 157.656 166.21 174.764 183.31801 188.764 196.548 205.102 212.886 220.67 224.562 229.224 237.778 241.67 250.224 254.116 261.9 269.684 279.792 289.9 301.56199 305.45399 310.11598 318.66996 324.11598 328.00798 337.34599 346.684 356.022 366.13 377.022">6.4.1.5Write endurance to FlexRAM for EEPROM</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="14" font-family="Times LT Std"><tspan y="-688.35006" x="54 67.216 74.216 80.43201 87.43201 90.93201 94.824008 101.824008 108.04001 111.54001 119.32401 123.21601 129.432 136.432 146.54001 156.64801 169.09401 172.59401 179.59401 185.81002 190.47202 194.36402 198.25601 202.14801 206.04001 213.04001 220.04001 223.54001 229.75601 236.75601 243.75601 249.97202 253.47202 257.364 262.81004 266.31004 273.31004 280.31004 284.20204 287.70204 293.14805 299.36405 303.25605 306.75605 310.64805 317.64805 321.14805 325.81004 332.81004 336.70204 340.59403 344.09403 351.09403 357.31004 361.20204 367.41804 370.91804 375.58003 379.47203 385.68803 391.13404 398.13404 401.63404 405.13404 409.02604 416.02604 422.24205 425.74205 434.29603 442.85 450.634 459.97203 470.08003 482.52604 486.02604 493.02604 499.24205 503.13404 509.35005 512.85006 518.296 524.512 528.40408 531.90408 537.35006 541.24209 547.45809">When the FlexNVM partition code is not set to full data flash, the EEPROM data set size</tspan><tspan y="-672.35006" x="54 60.216 66.432 73.432 76.932 83.932 90.148 93.648 99.094 105.310009 109.202 112.702 116.594 123.594 127.094 133.31 140.31 147.31 150.81 157.81 162.472 165.972 171.418 177.634 184.634 190.85 195.51201 201.72801 205.62001 209.12001 216.12001 223.12001 230.12001 234.78202 240.99802 247.21402 251.87602 258.87605 262.37605 269.37605 275.59205 279.48405 286.48405 292.70005 298.14607">can be set to any of several non-zero values.</tspan><tspan y="-647.95" x="54 62.554 69.554 75.770008 79.270008 86.270008 93.270008 97.162 103.378009 108.824008 112.324008 119.324008 126.324008 130.216 133.716 139.932 145.378 150.824 154.716 161.716 168.716 174.932 181.932 185.432 189.324 196.324 199.824 206.824 213.04001 216.932 223.14801 226.64801 231.31002 235.20201 241.41802 246.86402 253.86402 257.364 264.364 268.256 274.47203 277.97203 281.864 288.864 295.08003 298.58003 306.364 310.256 316.47203 323.47203 333.58003 343.68803 356.13404 359.63404 366.63404 372.85005 377.51203 381.40403 385.29603 389.18803 393.08003 400.08003 407.08003 410.58003 416.79603 423.79603 430.79603 437.01203 440.51203 446.72804 451.39 457.60603 461.10603 468.10603 473.55204 479.76805 486.76805 490.26805 497.26805 504.26805 507.76805 511.66004 518.66006 524.87606 528.37606 533.038 536.93008 543.14608 548.59207">The bytes not assigned to data flash via the FlexNVM partition code are used by the flash</tspan><tspan y="-631.95" x="54 64.892 71.108 82 89 93.662 100.662 104.162 115.054 122.054 129.054 136.054 139.946 146.162 149.662 153.554 160.554 164.054 171.054 178.054 181.946 188.162 192.054 199.054 202.554 208.77 215.77 219.27 225.48601 230.14801 234.81002 241.02602 247.24202 251.13402 255.02602 262.026 268.242 271.742 277.958 284.958 291.958 298.958 303.62 309.836 316.836 323.052 329.268 332.768 336.66 343.66 349.876 354.538 360.754 366.97 372.41603 378.63203 382.13203 386.794 393.794 398.456 401.956 405.848 412.848 419.064 422.564 431.11799 439.67198 447.45597 456.79399 466.90199 479.348 482.848 489.848 496.064 499.956 506.172 509.672 513.172 521.726 528.726">memory module to obtain an effective endurance increase for the EEPROM data. The</tspan><tspan y="-615.95" x="54 61 68 71.892 75.784 79.675998 84.338 88.229999 95.229999 98.729999 107.284 115.838 123.622 132.96 143.06801 155.514 159.014 163.67601 169.89202 176.10802 183.10802 187.77002 194.77002 198.27002 209.16202 215.37802 222.37802 228.59403 235.59403 241.81003 252.70203 258.91804 265.91804 269.81004 273.31004 278.75605 285.75605 291.20207 295.09407 301.31007 312.20207 315.70207 320.36405 326.58006 330.47206 335.91807 342.13407 347.58009 351.08009 354.97209 361.97209 368.18809 371.68809 378.68809 385.68809 396.58009 403.58009 409.79609 414.45808 417.95808 424.95808 429.62007 433.12007 440.12007 444.78205 451.78205 458.78205 463.44404 469.66004 480.55204 484.44404 490.66004 495.32203 501.53804 506.98405 513.2 516.7 522.916 529.916 536.132 540.02407 546.24008">built-in EEPROM record management system raises the number of program/erase cycles</tspan><tspan y="-599.95" x="54 57.892004 64.892 71.108 75 78.5 84.716 90.93201 97.93201 101.43201 108.43201 114.64801 118.14801 124.36401 128.25601 132.14801 138.36402 142.25601 149.25601 155.47202 162.47202 165.97202 172.97202 177.63402 181.52602 188.52602 193.18802 196.68802 200.58002 207.58002 211.08002 218.08002 224.29602 231.29602 235.18802 241.40402 247.62003 251.12003 261.22804 267.44404 273.66004 278.32203 282.984 289.984 296.984 300.876 304.376 311.376 318.376 321.876 328.092 335.092 341.308 345.2 349.092 356.092 363.092 366.592 370.484 377.484 383.7 387.2 395.754 404.30799 412.09199 421.43 431.538 443.984 447.484 454.484 460.7 464.592 470.808 474.308 478.2 485.2 489.862 496.862 503.862 510.862 517.862 521.362">that can be attained prior to device wear-out by cycling the EEPROM data through a</tspan><tspan y="-583.95" x="54 57.892004 64.108 68.770008 75.770008 81.98601 86.64801 90.14801 98.70201 107.25601 115.040019 124.37802 134.48603 146.93202 150.43202 160.54003 170.64803 183.09403 186.59403 192.04003 195.93202 202.93202 207.59403 213.81003 220.81003 227.02603 230.52603 235.97203 242.97203 249.18804 255.40404 261.62004">larger EEPROM NVM storage space.</tspan><tspan y="-559.55" x="54 67.216 74.216 78.108 82 88.216 91.716 98.716 102.608 107.270008 111.93201 118.14801 122.81001 129.02602 136.02602 139.91802 143.41802 150.41802 156.63402 161.29602 165.18802 169.08002 172.97202 176.86402 183.86402 190.86402 196.31002 199.81002 206.81002 211.47202 214.97202 218.86402 225.86402 232.08002 235.58002 243.36402 247.25601 253.47202 260.47203 270.58003 280.68803 293.13404 296.63404 302.85005 307.51203 313.72804 317.22804 323.44404 330.44404 336.66004 340.55204 344.44404 350.66004 357.66004 361.55204 367.76805 371.26805 374.76805 378.66004 385.66004 391.87605 395.37605 399.26805 406.26805 410.16004 416.37605 423.37605 427.26805 431.16004 438.16004 445.16004 448.66004 452.55204 457.99806 461.49806 465.39006 472.39006 478.60606 482.49806 485.99806 492.21406 495.71406 501.16007 505.05207 512.05209 519.05209 522.9441">While different partitions of the FlexNVM are available, the intention is that a single</tspan><tspan y="-543.55" x="54 60.216 67.216 74.216 78.108 84.324008 90.54001 94.04001 98.70201 105.70201 110.36401 113.86401 117.75601 124.75601 130.97202 134.47202 142.25601 146.14801 152.36402 159.36402 169.47202 179.58002 192.02602 195.52602 202.52602 208.74202 213.40402 217.29602 221.18802 225.08002 228.97202 235.97202 242.97202 246.47202 252.68802 259.68803 266.68803 272.90403 276.40403 282.62004 289.62004 296.62004 300.12004 308.674 317.228 325.012 334.35 344.458 356.90403 360.40403 367.40403 373.62004 377.51203 383.72804 387.22804 392.67405 398.89006 402.78205 406.28205 411.72807 415.62007 421.83607 428.05207 431.55207 435.44407 440.89009 444.39009 451.39009 456.8361 463.0521 470.0521 473.5521 477.4441 484.4441 489.10609 496.10609 503.10609 510.10609 517.1061 524.1061 531.1061 534.9981 538.4981 542.39016 549.39016">choice for the FlexNVM partition code and EEPROM data set size is used throughout the</tspan><tspan y="-527.55" x="54 60.216 67.216 71.108 75 79.662 85.878009 89.378009 93.270008 97.162 101.824008 108.04001 111.93201 115.824008 126.716 132.932 136.432 143.432 148.09401 151.59401 157.81002 161.31002 168.31002 172.20201 179.20201 185.41802 192.41802 195.91802 202.13402 209.13402 216.13402 220.02602 223.91802 230.13402 236.35002 240.24202 244.13402 251.13402 258.13404 261.63404 265.13404 273.68803 280.68803 286.90403 290.40403 298.958 307.512 315.296 324.634 334.742 347.18803 350.68803 356.90403 363.90403 370.90403 377.90403 382.566 388.782 395.782 401.99803 408.21403 411.71403 417.93003 424.93003 431.93003 438.14604 442.03804 445.93003 452.93003 459.93003 463.43003 469.64604 476.64604 483.64604 487.14604 494.14604 498.808 505.02403 512.02407">entire lifetime of a given application. The EEPROM endurance equation and graph</tspan><tspan y="-511.55" x="54 59.446 66.446 73.446 83.554 90.554 94.054 101.054 107.270008 111.162 118.162 128.27 131.77 137.98601 143.432 148.878 155.878 166.77 172.98601 176.48601 180.378 187.378 193.59401 197.48601 200.98601 207.98601 214.98601 218.878 225.878 229.378 236.378 243.378 249.59401 253.09401 259.31 266.31 273.31 277.972 281.86399 288.86399 295.86399 300.52598 306.74198 310.63398 314.52598 321.52598 328.52598 332.02598 335.91798 341.36399 344.86399 351.08 358.08 364.296 368.95799 372.45799 379.45799 384.904 391.12 398.12">shown below assume that only one configuration is ever used.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="14" font-family="Times LT Std"><tspan y="-445.058" x="54.006 64.114 71.114 77.33 81.992008">where</tspan><tspan y="-420.65803" x="67.096">&#x2022;</tspan><tspan y="-420.6577" x="78.0018 91.217807 95.87981 99.771808 103.6638 109.87981 115.325809 122.325809 127.771808 134.7718 141.7718 147.2178 154.2178 159.6638 163.5558 169.7718 180.6638 184.1638 198.1638 201.6638 212.5558 216.4478 223.4478 227.3398 238.2318 245.2318 256.1238 259.6238 266.6238 273.6238 284.5158 291.5158 297.7318 302.3938 305.8938 312.8938 317.5558 321.0558 331.1638 335.82579 339.71778 343.60978 349.82579 355.2718 358.7718 362.6638 369.6638 373.1638 379.3798 385.5958 391.8118 398.8118 402.3118 410.0958 413.9878 420.2038 427.2038 436.5418 446.6498 459.09584 462.59584 466.48783 473.48783 479.70384 485.91984 489.81184 493.70384 500.70384 507.70384 511.20384 515.86587 522.86587">Writes_subsystem &#x2014; minimum number of writes to each FlexRAM location for</tspan><tspan y="-404.6577" x="78.0018 83.4478 90.4478 97.4478 102.8938 109.8938 115.3398 119.2318 125.4478 136.3398 139.8398 144.5018 150.7178 156.9338 163.14981 170.14981 173.64981 179.09581 186.09581 193.09581 198.54181 205.54181 210.98781 214.8798 221.09581 231.98781 235.48781 241.70381 247.91982 254.91982 258.4198 265.4198 271.6358 278.6358 284.8518 288.3518 295.3518 299.2438 303.9058 308.56779 314.78379 319.44578 325.66178 332.66178 336.55378 340.05378 346.26979 353.26979 360.26979 367.26979 371.93177 378.14778 385.14778 391.36378 397.57978">subsystem (each subsystem can have different endurance)</tspan><tspan y="-388.6577" x="67.0958 78.0018 86.5558 95.1098 102.89381 112.23181 122.33981 134.78582 138.28582 152.28582 155.78582 162.00182 165.89382 169.78582 176.78582 183.00182 189.21782 193.10982 199.32582 206.32582 209.82582 217.60982 221.50182 227.71782 234.71782 244.82582 254.93383 267.37983 270.87983 275.5418 282.5418 287.2038 290.7038 296.9198 303.1358 309.3518 316.3518 319.8518 328.4058 336.95979 344.74378 354.0818 364.1898 376.6358 380.1358 385.58183 392.58183 399.58183 405.02784 412.02784 417.47386 421.36585 427.58186 438.47386 441.97386 448.97386 455.18986 460.63587 466.85188 473.85188 477.35188 484.35188 491.35188 494.85188 504.95988 513.51388 521.29788 531.4058 540.74386 549.29788">&#x2022;EEPROM &#x2014; allocated FlexNVM for each EEPROM subsystem based on DEPART;</tspan><tspan y="-372.6577" x="78.0018 84.217807 91.217807 95.1098 101.325809 105.98781 112.20381 119.20381 122.70381 132.81182 136.70381 140.59581 147.59581 151.09581 154.98781 161.98781 168.20381 171.70381 179.48781 184.14981 191.14981 198.14981 202.81182 209.02782 219.91982 223.41982 231.20381 237.41982 242.08182 245.97382 249.86582 253.75782 257.6498 264.6498 271.6498 275.1498 281.3658 288.3658 299.2578 310.1498 316.3658 323.3658">entered with the Program Partition command</tspan><tspan y="-356.6577" x="67.0958 78.0018 86.5558 95.1098 103.6638 111.44781 119.23181 127.78581 132.44782 141.00182 144.50182 158.50182 162.00182 169.78582 173.67781 179.89382 186.89382 196.23181 206.33982 218.78582 222.28582 227.73181 234.73181 238.62381 242.51581 246.4078 249.9078 254.56981 260.7858 267.0018 270.8938 277.8938 282.5558 286.0558 290.71778 297.71778 302.37977 305.87977 311.32579 318.32579 325.32579 330.7718 337.7718 343.2178 347.1098 353.3258 364.2178 368.1098 371.6098 377.8258 384.8258 388.7178 394.9338 399.5958 405.8118 412.8118 416.3118 426.4198 430.3118 434.2038 441.2038 444.7038 448.5958 455.5958 461.8118 465.3118 473.0958 477.75779 484.75779 491.75779 496.41978 502.63578">&#x2022;EEESPLIT &#x2014; FlexRAM split factor for subsystem; entered with the Program</tspan><tspan y="-340.6577" x="78.0018 85.785808 92.00181 96.66381 100.55581 104.44781 108.339809 112.231807 119.231807 126.231807 129.73181 135.94782 142.94782 153.83982 164.73181 170.94782 177.94782">Partition command</tspan><tspan y="-324.6577" x="67.0958 78.0018 86.5558 95.1098 103.6638 111.44781 116.10981 124.66381 133.2178 136.7178 150.7178 154.2178 160.4338 164.3258 168.2178 175.2178 181.4338 187.64981 191.54181 197.75782 204.75782 208.25782 216.04181 219.9338 226.14981 233.14981 242.48781 252.59581 265.0418 268.5418 275.5418 281.7578 287.20384 293.41984 300.41984 303.91984 310.91984 317.91984 321.41984 331.52784 340.08183 347.8658 357.97383 367.31184 375.8658 379.7578 383.2578 389.47383 396.47383 400.3658 406.58183 411.2438 417.4598 424.4598 427.9598 438.0678 441.9598 445.8518 452.8518 456.3518 460.2438 467.2438 473.4598 476.9598 484.7438 489.4058 496.4058 503.4058 508.06779 514.28378">&#x2022;EEESIZE &#x2014; allocated FlexRAM based on DEPART; entered with the Program</tspan><tspan y="-308.6577" x="78.0018 85.785808 92.00181 96.66381 100.55581 104.44781 108.339809 112.231807 119.231807 126.231807 129.73181 135.94782 142.94782 153.83982 164.73181 170.94782 177.94782">Partition command</tspan><tspan y="-292.6577" x="67.0958 78.0018 91.217807 95.87981 99.771808 103.6638 109.87981 116.87981 123.09581 127.75781 132.41982 136.31182 142.52782 146.41982 152.63582 159.63582 165.85182 172.85182 176.35182">&#x2022;Write_efficiency &#x2014;</tspan><tspan y="-276.6577" x="91.105808 101.9978 108.9978 112.4978 119.4978 126.4978 129.9978 134.6598 141.6598 146.32181 149.82181 156.82181 161.48381 168.48381 172.37581 176.2678 179.7678 189.87581 194.53781 198.42981 202.32181 208.53781 213.98381 217.48381 221.37581 228.37581 231.87581 239.6598 243.5518 249.7678 256.76783 266.10585 276.21385">&#x2022;0.25 for 8-bit writes to FlexRAM</tspan><tspan y="-260.6577" x="91.105808 101.9978 108.9978 112.4978 119.4978 126.4978 129.9978 134.6598 141.6598 146.32181 149.82181 156.82181 163.82181 168.48381 175.48381 179.37581 183.2678 186.7678 193.7678 198.42981 201.92981 208.92981 215.92981 220.59181 227.59181 231.48381 235.37581 238.87581 248.98381 253.64582 257.5378 261.4298 267.6458 273.09184 276.59184 280.48384 287.48384 290.98384 298.76783 302.65983 308.87583 315.87583 325.21385 335.32185">&#x2022;0.50 for 16-bit or 32-bit writes to FlexRAM</tspan><tspan y="-244.65772" x="67.0958 78.0018">&#x2022;n</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="14" font-family="Times LT Std"><tspan y="-244.65772" x="123.4948 126.9948 140.9948 144.4948 151.4948 157.7108 161.6028 167.8188 171.3188 175.9808 179.8728 186.0888 191.5348 198.5348 202.0348 208.25081 215.25081 221.46681 225.35881 229.25081 236.25081 243.25081 246.75081 252.96681 259.9668 266.9668 273.9668 278.62879 284.8448 291.8448 298.0608 304.2768 307.7768 312.43879 316.33079 323.33079 329.54679 333.04679 337.70878 344.70878 348.60078 352.49278 359.49278 369.60078 373.49278 380.49278 387.49278 390.99278 397.99278 402.65476 408.87077 415.87077 422.87077 426.37077 432.58677 438.03279 443.4788 450.4788 461.3708 467.5868 473.0328 476.5328 483.5328 490.5328 494.0328 501.0328 508.0328"> &#x2014; data flash cycling endurance (the following graph assumes 10,000</tspan><tspan y="-228.65772" x="77.9948 84.2108 91.2108 97.4268 101.3188 107.534809 112.980808">cycles)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-733.727" x="347.436 353.439 358.443 361.944 364.446 369.945 375.444 380.448 383.949 388.953 391.45503 393.95704 399.45603 404.95503 409.959 413.46003 418.46403 421.46104 423.96305 429.46205 434.96104 437.46305 440.96406 445.96806 451.46705 456.96604 459.46806 462.96907 467.97306 475.97407 480.97807 486.47706 489.47407 494.47807 496.98008 501.98408 507.48307 512.98208 515.4841 520.9831 525.9871 531.48617 536.4902 541.4942 543.9962 549.49526 552.9962">Peripheral operating requirements and behaviors</tspan></text>
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