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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_316.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

466 lines
50 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 292.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 40.509008 45.009008 47.511007 50.508008 55.51201 60.01201 65.01601 68.01301 72.51301 77.517009 82.521">This field is reserved.</tspan><tspan y="18.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 80.523 85.023 87.525 90.522 95.526 100.026 105.03 108.027 112.527 117.531 122.534999 125.036998 130.041 135.045 140.049 142.551 147.555 149.553 156.051 161.055 165.555 170.055 172.55699 177.56099 182.56499 187.06499 189.56699 192.06899 197.07299 202.07698 204.57898 209.07898 214.08298 216.08098 221.08498 226.08898 228.59098 233.59497">This read-only field is reserved and always has the value 0.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 319.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="25.542 30.546002 35.550004 40.554006">11&#x2013;8</tspan><tspan y="18.83789" x="17.298 23.796002 29.799002 35.802003 41.805 48.303">DEPART</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 319.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 7.497 12.501001 17.001002 23.499003 29.502003 36.999006 39.501005 44.505006 49.509008 52.50601 55.008008 57.00601 59.508008 61.50601 66.51001">FlexNVM partition</tspan><tspan y="26.83789" x="0 5.499 10.503 13.5 16.002 21.006 26.010003 30.510003 32.508005 37.008005 42.012006 46.512006 49.014005 55.512006 57.510007 60.012006 65.01601 67.518009 73.017009 75.01501 80.019008 84.519008 91.017009 97.020008 104.517009 107.019008 109.521 116.019008 121.023 123.525 128.529 131.031 133.533 135.531 140.535 145.035 150.039 152.541 155.043 157.545 163.548 169.55101 175.55402 182.05202 189.05402 196.55101 199.05301 204.057 209.061 213.561 218.061 223.065 228.069 230.571 235.071 240.075 242.073 244.071 246.573 249.075 251.577 254.079 260.082 265.086 270.09 272.592 279.09 285.093 291.09599 297.09898 303.59696 309.09596 311.59797 316.60197 318.59996 321.10197 323.60398 328.60798 333.61198 338.11198 342.61198 345.60899 347.60697 352.61097 355.11299 357.11097 362.11497 367.11897 369.62098 371.61897 376.62297 379.12498 384.62397 390.12297 395.62196">For devices with FlexNVM: Data flash / EEPROM backup split . See DEPART bit description in FTFL</tspan><tspan y="37.83789" x=".00004 4.50004 9.504041 14.508041 19.512043 22.014044 27.018044 30.015044">chapter.</tspan><tspan y="54.237894" x=".00004 5.49904 10.50304 13.50004 16.00204 21.006043 26.010045 30.510045 32.508047 37.008047 42.012048 46.512048 49.014047 55.512048 57.510049 60.012048 65.016048 70.02004 75.02404 77.52604 80.02804 85.52704 87.52504 92.52904 97.02904 103.52704 109.53004 117.02704 119.52904 122.03104 128.52904 133.53304 138.03304 143.03704 146.03403 150.53403 155.53803">For devices without FlexNVM: Reserved</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 381.0828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="28.044 33.048 38.052003">7&#x2013;2</tspan><tspan y="18.83789" x="16.299 22.797 27.801003 32.301004 37.305006 40.302007 44.802007 49.806009">Reserved</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 381.0828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 40.509008 45.009008 47.511007 50.508008 55.51201 60.01201 65.01601 68.01301 72.51301 77.517009 82.521">This field is reserved.</tspan><tspan y="18.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 80.523 85.023 87.525 90.522 95.526 100.026 105.03 108.027 112.527 117.531 122.534999 125.036998 130.041 135.045 140.049 142.551 147.555 149.553 156.051 161.055 165.555 170.055 172.55699 177.56099 182.56499 187.06499 189.56699 192.06899 197.07299 202.07698 204.57898 209.07898 214.08298 216.08098 221.08498 226.08898 228.59098 233.59497">This read-only field is reserved and always has the value 0.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 407.5828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">1</tspan><tspan y="18.83789" x="8.541 14.040001 19.044003 25.047003 31.050004 37.548006 44.046007 51.048006 56.547006">FLASHDOZE</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 407.5828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 7.497 12.501001 17.001002 22.005002 24.507002 31.005003 36.009004 40.509004">Flash Doze</tspan><tspan y="28.83789" x="0 8.496 13.500001 18.504002 23.508004 26.010004 30.510004 35.514005 38.016004 40.518 43.02 48.519 50.517004 55.521005 60.021005 65.025 67.527 75.024 80.028 87.525 92.529 95.526 100.026 102.528 104.526 109.026 111.528 116.532 118.53 123.03 128.034 133.038 135.036 140.04 145.04399 147.54599 150.04799 155.05199 158.04898 160.55098 163.05298 168.05698 173.06098 175.56298 180.56697 185.57097 188.56797 193.57196 196.07396 198.07196 203.07596 208.07996 210.58196 215.58596 218.08795 220.58995 229.08596 234.08995 236.08795 238.58995 241.09195 248.58895 253.59294 258.59696 263.60096 266.10298 268.60499 274.60798 279.61198 282.11399 287.11799 289.62 292.122 297.126 304.62303 309.627 312.12904 314.63105 319.63505 324.13505 326.63706 329.13908 334.14308 339.14707 341.64909 348.14707 355.64408 361.64707 364.14909 369.15309 372.1501 374.6521 379.6561 382.1581 387.1621 392.1661 395.16313 397.66514 402.66914 407.67314">When set, Flash memory is disabled for the duration of Wait mode. An attempt by the DMA or other bus</tspan><tspan y="39.83789" x="0 7.4970009 12.501001 17.001002 19.503003 24.507004 27.504004 30.006005 32.508005 37.512006 40.014005 45.018007 49.518007 54.018007 59.022008 63.522008 68.022 70.524 73.026 78.03 83.034 85.535999 91.034999 93.033 98.036998 102.536998 107.54099 110.04299 116.54099 121.54499 126.54899 131.553 134.055 136.55699 141.56099 146.56499 149.06699 154.56598 156.56398 161.56798 166.06798 171.07198 173.57398 175.57198 180.07198 182.57398 187.57798 189.57598 194.07598 199.07997 204.08397 206.08197 211.08597 216.08997 218.59197 225.08997 227.08797 229.08597 231.08397 233.58597 236.58296 241.58696 246.08696 251.09096 253.08896 255.59096 258.09297 260.09095 265.09495 267.59696 272.60096 275.10298 280.10697 285.11097 289.61097 292.11299 297.11698 300.11399 303.111 308.115 311.112 313.614 316.11604 321.61503 326.61903 328.617 333.117 335.61903 340.62303 342.621 345.12303 347.62504 352.12504 357.12904 362.13304 367.13703 369.135 374.139 376.64103 381.64503 386.64903 389.15104 393.65104 395.64903 400.653 405.657">master to access the Flash when the Flash is disabled will result in a bus error. This bit should be clear</tspan><tspan y="50.83789" x="0 5.0040009 10.008001 13.005001 15.003001 20.007002 25.011002 27.513003 33.516004 38.520006 44.523004 47.025 54.522005 59.526006 64.53001 69.534008 74.034008 76.536 79.038 84.537 89.541 94.545 97.047 102.546 104.544 109.548 114.048 119.051998 121.55399 128.05199 130.04999 132.04799 134.04599 136.54799 141.55199 146.55599 149.05799 154.06198 159.06598 161.56798 166.57198 174.06897 179.07297 181.57497 183.57297 188.07297 193.07697 195.07497 197.07297 201.57297 204.07497 209.07897 214.08296 219.08696 224.09096 226.08896 231.09296 236.09696 238.59896 243.60295 248.60695 253.61095 255.60895 260.61296 263.11497 268.11897 270.62098 273.123 275.625 280.629 285.633 288.135 293.139 298.143 303.147 305.64903 310.653 313.15504 315.65705 324.15306 329.15705 331.15504 333.65705 336.15907 343.65608 348.66007 353.66407 358.66807 361.17008 365.67008 370.67408 373.1761 375.17408 380.17808 382.68009 387.68409 390.6811 393.6781 398.6821 403.6861">during VLP modes. The Flash will be automatically enabled again at the end of Wait mode so interrupt</tspan><tspan y="61.83789" x="0 4.5 9.504001 14.004001 16.506 21.510003 24.507002 29.007002 31.509003 36.513006 41.517007 44.019006 49.023008 54.027009 56.529008 59.031007 64.035 69.039 74.043 79.047 81.548999 84.050998 89.05499 91.55699 96.56099 101.56499 104.066989 107.06399 112.067989 114.06599 119.069988 123.569988 128.57399 131.07599 136.07999 141.08399 143.58599 148.58998 153.59398 156.09598 158.59798 163.60198 166.10398 168.60597 174.10497 176.10297 181.10697 185.60697 190.61096 193.11296 200.60996 205.61396 213.11095 218.11495 221.11194 225.61194 228.11394 230.61594 236.11493 241.11893 246.12293 248.62493 255.12293 260.12693 264.62693 269.63093 274.63493 279.63893 282.14094 284.64295 286.64094 294.13795 299.14195 301.64396 304.14598 307.14299 312.14698 319.64399 322.146 330.642 335.646 337.64399 340.146 342.648 350.14503 355.14903 360.153 365.157 367.65904 369.657 374.157 376.65904 381.66304 386.16304 388.66505 393.66905 398.67304 403.67704 408.68104">vectors do not need to be relocated out of Flash memory. The wakeup time from Wait mode is extended</tspan><tspan y="72.83789" x="0 6.4980008 11.502001 16.506 21.510003 24.012003 26.514004 31.518006 33.516008 38.016008 40.518007 45.522008 47.520009 50.022008 52.524007 54.522008 59.022008 61.524007 66.024 71.028 73.53">when this bit is set.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 493.5828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 493.5828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 7.497 12.501001 17.001002 22.005002 24.507002 27.504002 32.508005 40.005006 45.009008 47.007009 52.01101 56.51101 59.01301 64.017009 69.021 74.025 79.029 81.027 86.031 91.034999 93.536998 98.54099 103.54499 106.54199 108.53999 113.54399 118.54799 121.04999 129.54599 134.54999 136.54799 139.04999 141.55199 149.04898 154.05298 159.05698">Flash remains enabled during Wait mode</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 504.5828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 504.5828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.49902 7.4970204 12.50102 17.00102 22.00502 24.50702 26.50502 31.00502 33.50702 38.51102 40.50902 45.00902 50.013025 55.017026 57.015027 62.019029 67.023029 69.525028 72.02702 77.03102 80.02802 82.53002 85.03202 90.03602 95.040019 97.542018 102.54601 107.55001 110.54701 115.55101 118.05301 120.05101 125.05501 130.059 132.561 137.565 140.067 142.569 151.065 156.069 158.067 160.569 163.071 170.568 175.57199 180.57599">Flash is disabled for the duration of Wait mode</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 522.08279)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">0</tspan><tspan y="18.83789" x="13.545 19.044 24.048 30.051 36.054 42.552003 49.050004 51.552003">FLASHDIS</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 522.08279)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 7.497 12.501001 17.001002 22.005002 24.507002 31.005003 33.003004 37.503004 42.507005 47.511007 49.509008">Flash Disable</tspan><tspan y="28.83789" x="0 5.499 7.497 12.501001 17.001002 22.005002 24.507002 29.511002 34.011 38.511 43.515005 48.015005 52.515005 57.519006 62.019006 64.521 69.525 72.522 77.526 80.028 85.032 87.03 91.53 96.534 101.537998 103.535999 108.53999 113.54399 116.04599 119.04299 124.04699 129.051 134.055 136.55699 141.56099 146.56499 151.56899 156.57299 159.56998 164.57398 167.07598 172.07997 174.58197 179.58597 182.08797 187.09197 192.09597 196.59597 199.09796 204.10196 207.09896 210.09595 215.09995 218.09694 221.09394 223.59593 228.59993 233.60393 238.60793 241.10993 243.61193 248.61592 253.61992 256.12193 261.6209 263.6189 268.6229 273.1229 278.1269 280.6289 288.12593 293.1299 300.62693 305.63093 308.62794 313.12794 315.62995 317.62794 322.12794 324.62995 329.63395 331.63194 336.63594 341.13594 346.13993 351.14393 353.64595 355.64393 360.64793 363.14994 368.15394 370.65596 372.65394 377.65794 384.1559 386.65794 391.66194 396.66593 403.1639 408.1679">Flash accesses are disabled (and generate a bus error) and the Flash memory is placed in a low power</tspan><tspan y="39.83789" x=".00004 4.50004 7.0020406 12.006041 14.508041 19.512043 22.014044 24.516045 30.015046 35.019048 37.017049 41.517049 44.019048 49.02305 51.02105 53.52305 56.025049 60.525049 65.529048 70.53304 75.53704 77.53504 82.53904 85.04104 90.04504 95.049037 97.55103 100.05303 105.05703 110.06103 112.56303 117.06303 122.067028 127.07102 132.07503 137.07903 142.08303 147.08702 149.58902 154.59302 159.59702 162.59401 164.59201 169.59601 174.6 177.102 183.10501 188.10901 194.11202 196.61402 204.11101 209.115 214.119 219.123 223.623 226.125 228.627 235.125 240.129 242.127 247.131 251.631 256.635 259.13703 264.14103 266.64305 269.14506 274.14906 279.15306 281.65507 283.65306 288.65705 291.15907 296.16307 299.16007 302.15708 307.16108 312.16508 314.66709 317.1691 321.6691 326.6731 331.1731 333.6751 338.6791 341.67613 346.17613 348.67814 353.68214 358.68614 361.18815 363.69017 368.69416 371.19618 373.69819 379.19718 381.19517 386.19917 390.69917">state. This bit should not be changed during VLP modes. Relocate the interrupt vectors out of Flash</tspan><tspan y="50.83789" x=".00004 7.4970409 12.501041 19.998044 25.002045 27.999045 32.499048 35.001047 40.005048 45.00905 47.511049 52.51505 55.51205 60.516054 63.01805 68.02205 70.02005 74.52005 79.52405 84.528049 86.52605 88.52405 93.528049 98.53204 101.03404 103.53604 108.54004 113.54404 116.046039 121.54504 123.54304 128.54705 133.04705 138.05104">memory before disabling the Flash.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 586.08279)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00003">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 586.08279)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00003 5.49903 7.4970304 12.501031 17.00103 22.005032 24.507033 26.505032 31.005032 33.50703 38.511034 43.515035 48.519037 53.523038 55.521039 60.52504">Flash is enabled</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 597.08279)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00003 5.49903 7.4970304 12.501031 17.00103 22.005032 24.507033 26.505032 31.005032 33.50703 38.511034 40.509035 45.009035 50.013036 55.017038 57.015039 62.01904">Flash is disabled</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 7.4970009 12.501001 20.502003 26.001004 29.502003 34.506006 37.008005 45.009004 50.013006 55.512006 58.014005 63.018007 68.517009 74.01601 76.518009 80.019008 85.023 90.522 93.024 98.028 101.025 106.029 109.53 112.032 117.531 122.534999 125.532 128.034 133.53299 136.03499 139.03199 141.53398 147.03298">Memory map and register definition</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.012 137.232 142.79199 148.35199 151.13199 157.80199 163.91199 170.02199 173.35199 179.46199 185.02199 193.91199 196.69199 199.47199 205.03199 207.81198 215.03199 220.59198 223.92198 229.48198 233.37198 238.93198 245.04198 250.60198 256.162 258.942 267.27198 272.83198 278.94197 285.05195 290.61195 293.39195 296.17195 298.95195 306.17195 311.73194 317.29194 320.07194 322.85194 328.41194 331.19194 336.75193 342.8619 348.9719 351.7519 357.3119 362.8719 368.4319">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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<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="44.775 50.274003 53.271005 58.275007 63.279008 67.77901 72.27901 77.283008 79.281009 84.285 86.787 92.79 97.794 105.291 107.289 111.789 116.793 121.797 126.800998 131.805 136.305 138.80699 143.81099 146.80799 149.30998 151.81198 154.31398 159.31798 163.81798">Freescale Semiconductor, Inc.</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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