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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

114 lines
23 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="20" font-family="HelveticaLTStd" font-weight="bold"><tspan y="88.19531" x="0 14.4400019 26.660002 37.780004 50.000005 56.660005 67.78001 75.560009 81.12 92.240009">Chapter 29</tspan><tspan y="110.19531" x="0 12.22 17.78 28.900002 40.020006 52.240007 57.800008 74.46001 85.58001 103.36001 115.58001 123.36001 134.48001 140.04001 156.70001 168.92002 181.14002 193.36002 198.92002 210.04001 215.6 222.26001 234.48001 246.70001 258.92 271.14">Flash Memory Module (FTFL)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".003 9.455001 18.907002 23.633002">29.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".00301 4.72901 15.116011 20.777012 27.390013 37.77701 48.164014 58.551015 68.00301 73.66402 78.390018 88.777019">Introduction</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="186.83672" x="232.55602 242.66402 253.55602 262.11003">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="211.45" x="72.00401 79.78802 86.78802 91.45002 94.95002 98.84202 105.84202 112.05802 115.55802 121.774028 128.77402 132.66602 139.66602 144.32802 149.77402 156.77402 162.99002 169.20603 173.09803 177.76003 181.65203 187.86803 191.36803 195.26003 206.15203 213.15203 217.04402 223.26003 234.15203 240.36803 247.36803 251.26003 257.476 261.368 265.26 272.26 279.26 282.76 289.76 295.976 299.868 306.084 309.976 313.868 319.31404 322.81404 329.81404 334.476 337.976 341.868 348.868 352.76 358.20603 361.70603 372.59803 379.59803 386.59803 393.59803 397.49003 403.70603 406.226">For the chip-specific implementation details of this module's</tspan><tspan y="227.45" x="72.00401 75.89601 82.89601 88.34201 92.23401 98.45001 105.45001 111.666019 117.88202 123.32802 126.82802 132.27402 138.49002 144.70603 148.20603 152.09803 159.09803 165.31403 168.81403 175.03003 182.03003 185.92203 192.92203 196.42203 202.63803 209.63803 216.63803 221.30004 225.19203 232.19203 239.19203 243.85404 250.07004 253.96204 257.85404 264.85404 271.85404 275.35404 279.24604 286.24604 290.90803 297.90803 302.57 313.462 319.678 323.57 327.462 334.462 341.462">instances see the chip configuration information.</tspan><tspan y="251.84999" x="72.004039 79.78804 89.89604 99.23404 107.78804 112.45004 121.78804 131.89604 140.45005 145.11205 155.22005 165.32805 168.82805 177.38205 186.72005 196.05805 206.16605 215.50405 219.39604 222.89604 227.55805 234.55805 238.05805 248.95005 255.95005 262.95005 269.95005 273.84205 280.05805 283.55805 294.45005 300.66606 311.55805 318.55805 323.22004 330.22004 333.72004 344.61204 350.82804 357.82804 361.32804 365.22004 371.43605 378.43605 382.32804 388.54405 393.99006">PUBLICATION ERROR: In module memory map tables,</tspan><tspan y="267.85" x="72.00407 76.66607 82.88207 89.88207 93.77407 99.22007 103.11207 109.32807 113.990077 117.490077 122.15208 128.36808 133.81407 140.03008 143.92208 147.42208 154.42208 160.63808 164.53008 171.53008 177.74608 183.19208 186.69208 197.58408 203.80008 210.80008 214.30008 221.30008 227.51609 231.01609 234.90808 241.90808 248.12409 255.12409 259.78608 264.44807 270.66407 276.88008 280.77207 284.27207 287.77207 295.55607 301.77207 307.98808 311.48808 315.38008 322.38008 328.59608 332.09608 335.98808 342.98808 349.98808 353.88008 360.88008 364.77207 371.77207 378.77207 384.98808">register reset values may be incorrect. See the individual</tspan><tspan y="283.85" x="72.0041 76.6661 82.8821 89.8821 93.7741 99.2201 103.1121 109.3281 113.990108 117.490108 124.490108 128.38211 134.59812 141.59812 146.26012 152.47612 163.36812 168.81412 172.31412 176.97612 183.97612 188.63813 192.13813 198.35413 204.57013 210.78614 217.78614 222.44814 228.66414 232.55614 238.77214 242.27214 246.93415 253.15015 258.59617 264.81217 268.70417 272.20417 276.09617 283.09617 287.75816 294.75816 299.42015 310.31214 316.52815 320.42015 324.31214 331.31214 338.31214">register diagrams for accurate reset information.</tspan><tspan y="308.25" x=".0020980836 8.556098 15.556098 21.772099 25.272099 29.9341 33.8261 40.0421 45.4881 52.4881 55.9881 66.8801 73.0961 83.9881 90.9881 95.6501 102.6501 106.1501 117.0421 124.0421 131.0421 138.0421 141.9341 148.1501 151.6501 155.5421 162.5421 168.7581 172.6501 179.6501 186.6501 192.8661 198.3121 201.8121 205.7041 212.7041 218.9201 222.4201 227.0821 234.0821 237.9741 241.8661 248.8661 258.9741 262.8661 269.8661 276.8661 280.3661 286.5821 292.7981 299.0141 305.2301 310.67613 316.12214 320.01414 327.01414 330.90614 337.12214 340.62214 351.51414 357.73014 368.62214 375.62214 380.28413 387.28413 390.78413 395.4461 401.6621 408.6621 412.5541 419.5541 426.5541 432.00013">The flash memory module includes the following accessible memory regions:</tspan><tspan y="332.65" x="13.106118 23.99812 31.78212 36.44412 43.44412 50.44412 55.106119 61.322118 72.21412 75.71412 80.37612 84.26812 90.48412 95.93012 102.93012 106.43012 117.32212 123.538127 134.43013 141.43013 146.09214 153.09214 156.59214 161.25414 168.25414 172.91614 176.41614 183.41614 189.63214 195.84815 199.74015 206.74015 211.40215 214.90215 220.34815 227.34815 233.56415 239.78015 245.99616 249.49616 255.71216 262.71217 269.71217 273.21217 279.42817 286.42817 293.42817 299.64418 303.14418 308.59019 312.48219 319.48219 324.14418">&#x2022;Program flash memory for vector space and code store</tspan><tspan y="348.65" x="13.106148 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214.1462 218.8082 225.8082 232.8082 237.4702 243.6862 254.5782 265.4702 269.3622 276.3622 283.3622 286.8622 293.07823 299.29423 305.51023 311.72624 315.61824 321.83424 326.49623 332.71223 336.60423 340.49623 347.49623 354.49623 357.99623 367.33424 377.44224 389.88825 393.38825 397.28025 404.28025 407.78025 413.22627 420.22627 426.44227 432.65827 439.65827 443.15827 447.82026 451.71226 457.92826 463.37428">&#x2022;For program flash only devices: Programming acceleration RAM to speed flash</tspan><tspan y="396.65" x="23.998198 30.998198 35.6602 42.6602 49.6602 54.322198 60.538198 71.4302 82.3222 86.214199 93.214199">programming</tspan><tspan y="422.65" x=".0022068024 7.7862079 11.678208 17.894209 23.34021 30.34021 33.84021 44.732213 50.94821 61.840215 68.84021 73.50221 80.50221 84.00221 87.89421 93.34021 96.84021 100.73221 107.73221 113.94821 120.164218 124.05621 127.55621 132.21822 139.21822 143.88022 147.38022 152.82622 156.71822 163.71822 170.71822 174.61022 180.82622 185.48822 190.93422 197.93422 204.93422 211.93422 215.82622 222.82622 226.32622 232.54222 239.54222 246.54222 250.43422 254.32622 260.5422 266.7582 270.6502 274.5422 281.5422 288.5422 293.98823 297.48823 300.98823 307.98823 314.20423 318.8662 329.7582 333.6502 337.5422 341.4342 345.3262 352.3262 359.3262 362.8262 366.7182 373.7182 378.3802 382.2722 389.2722 395.4882 400.15019 404.81217 408.70417 414.92018 418.81217 425.81217 429.31217 435.52818 440.19017 446.40617 451.85218 458.06819 461.56819 467.78419 474.78419">Flash memory is ideal for single-supply applications, permitting in-the-field erase and</tspan><tspan y="438.65" x=".0022468025 4.664247 10.880247 17.880248 22.542248 29.542248 36.542249 41.204248 47.420248 58.31225 69.20425 73.096248 80.096248 87.096248 90.596248 97.596248 104.596248 110.81225 115.47425 121.690258 125.58225 129.47426 136.47426 143.47426 148.92026 152.42026 162.52826 166.42026 170.31226 177.31226 184.31226 191.31226 195.20426 198.70426 202.59626 209.59626 215.81226 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292.19627 299.19627 301.71626 305.21626 311.43226 318.43226 325.43226 328.93226 335.14826 338.64826 345.64826 350.31025 357.31025 364.31025 368.97224 375.18824 386.08024 396.97224 403.18824 410.18824 413.68824 420.68824 424.58024 428.47224 431.97224 436.63423 442.85023 449.06623 456.06623 461.51225 465.01225 467.53224 474.53224 477.05223">modify flash memory contents. An erased bit reads '1' and a programmed bit reads '0'.</tspan><tspan y="495.05" x=".0022468025 8.556247 15.556247 21.772248 25.272248 32.272249 36.934247 43.934247 50.934247 55.596246 61.812246 72.70425 83.596248 87.48824 94.48824 101.48824 104.98824 111.98824 118.98824 125.20425 129.86624 136.08225 139.97425 143.86624 150.86624 157.86624 161.36624 165.25824 170.70424 174.20424 181.20424 188.20424 192.09624 199.09624 202.98824 207.65024 213.86624 220.08225 223.97425 227.86624 234.86624 241.86624 248.08225 251.97425 255.86624 259.36625 263.25825 267.15025 270.65025 276.86625 283.08226 290.08226 293.58226 300.58226 307.58226 311.47425 318.47425 321.97425 332.86625 339.86625 346.86625 353.08226 356.58226 363.58226 367.47425 371.36625 376.81227 380.31227 384.97425 389.63624 396.63624 407.52824 411.02824 414.92024 421.92024 428.13624 431.63624 434.15623 441.15623 443.6762 447.1762 452.62223 456.51423 462.73023 466.62223">The programming operation is unidirectional; it can only move bits from the '1' state</tspan><tspan y="511.05" x=".0022468025 4.664247 10.880247 15.542248 21.758248 27.204249 33.42025 40.42025 45.08225 48.58225 52.47425 59.47425 62.97425 66.86625 73.86625 80.08225 83.58225 86.10225 93.10225 95.622249 99.122249 104.568248 108.46024 114.67625 118.568248 124.78425 128.28424 132.94625 139.94625 144.60825 151.60825 158.60825 163.27025 169.48625 180.37825 191.27025 197.48625 204.48625 209.14826 212.64826 216.14826 226.25626 233.25626 237.14826 244.14826 247.64826 251.54026 258.54026 264.75627 268.25627 274.47227 279.13426 285.35026 290.79627 297.01228 300.51228 307.51228 314.51228 320.72828 325.39027 331.60627 335.49827 339.39027 346.39027 353.39027 356.89027 361.55226 367.76826 373.21427 377.10627 384.10627 388.76826 394.98426 400.43028 403.93028 410.93028 414.82228 418.71427 424.16029 427.66029 432.32228 436.98426 443.98426 454.87626 458.37626 460.89625 467.89625 470.41624 473.91624 477.80824">(erased) to the '0' state (programmed). Only the erase operation restores bits from '0' to</tspan><tspan y="527.0499" x=".0022468025 2.5222469 9.522247 12.042248 15.934248 19.434248 26.434248 30.326249 34.21825 39.66425 43.16425 49.38025 55.59625 62.59625 69.59625 76.59625 80.48825 83.98825 90.98825 97.204257 100.704257 107.704257 112.36626 119.36626 126.36626 131.02826 137.24427 148.13626 159.02826 165.24427 172.24427 175.74427 180.40627 185.06827 192.06827 202.96027 206.46027 212.67627 216.17627 218.69628 225.69628 228.21628 231.71628 235.60828 242.60828 246.10828 252.32428 255.82428 258.34428 265.34428 267.86427">'1'; bits cannot be programmed from a '0' to a '1'.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 729.26937)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.01001 137.23001 142.79001 148.35 151.13 157.8 163.91 170.02 173.35 179.46 185.02 193.91 196.69 199.47 205.03 207.81 215.03 220.59 223.92 229.48 233.37 238.93 245.04 250.59999 256.16 258.94 267.27 272.83 278.93998 285.04997 290.60997 293.38996 296.16996 298.94996 306.16996 311.72996 317.28996 320.06996 322.84996 328.40995 331.18995 336.74995 342.85993 348.9699 351.7499 357.3099 362.8699 368.4299">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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