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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_651.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

204 lines
39 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 35.89879 -258.8334)" font-size="12" font-family="TimesLTStd" font-weight="bold"><tspan y="491.54966" x="447.94798">1</tspan><tspan y="545.2465" x="243.312 250.644 255.972 261.972 267.972 273.3 279.3 289.296 299.292 302.628 309.3">Programming</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 35.89879 -258.8334)" font-size="12" font-family="TimesLTStd" font-weight="bold"><tspan y="575.2465" x="264.984 273.648 282.312">RAM</tspan><tspan y="360.02967" x="414.12 421.452 426.78 432.78 438.78 444.108 450.108 460.104 463.104 467.1 470.436 476.436 481.104">Program flash</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 35.89879 -258.8334)" font-size="12" font-family="TimesLTStd"><tspan y="360.02967" x="486.276"> </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 35.89879 -258.8334)" font-size="12" font-family="TimesLTStd" font-weight="bold"><tspan y="375.02967" x="447.948">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 35.89879 -258.8334)" font-size="9.6" font-family="TimesLTStd"><tspan y="440.18968" x="59.272737 65.138339 69.93834 72.33834 80.87274 87.27594 94.20714 95.935138">To MCU's</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 35.89879 -258.8334)" font-size="9.6" font-family="TimesLTStd"><tspan y="371.1573" x="149.36632 152.56311 156.82552 161.62552 164.29431 168.02872 170.69751 174.95992 178.15671">registers</tspan><tspan y="366.58967" x="40.473497 46.876699 51.1391 55.9391 58.6079 62.3423 65.0111 69.2735 72.4703 74.8703 79.1327 83.395099 87.65749 91.91989 95.65429">Register access</tspan><tspan y="384.86216" x="241.48792 250.02231 254.28472 261.7535 266.5535 269.7503 274.5503 276.9503 281.21269 286.01268 290.81266 293.48146 296.67826 301.47825 304.14704 306.81584 311.07823">Memory controller</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="287.91838" x="157.30799 164.63999 167.97599 175.30799 182.63999 187.30799 193.97998 197.31598 203.98798 210.65998 214.65598 221.32798 224.66397 227.99997 235.33197 238.66797 245.33997 252.01197 259.34397 262.67997 271.34397 274.67997 282.01197 288.68397 295.35597 298.69197 307.35597 310.69197 317.36396 324.69596 329.36396 336.03596">Figure 29-2. Flash Block Diagram</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 385.5012)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00003 8.895971 17.791974 22.239974 31.135975 35.583978">29.1.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 385.5012)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00003 12.447971 16.895972 26.67197 35.56797 44.46397 53.35997 59.58397">Glossary</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd" font-weight="bold"><tspan y="368.7512" x=".00597 10.113971 17.113972 28.775973 40.437974 47.437974 55.221975 63.005975 66.505977 76.613979 82.82998 86.72198 91.38398 97.59998 101.09998 106.54598 112.761989 120.54599 128.32999 134.54599 142.32999 148.54599">Command write sequence</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="368.7512" x="154.76197 158.26197 172.26197 175.76197 185.86997 189.36997 194.81597 201.03197 205.69397 209.58597 215.80197 221.24797 224.74797 231.74797 236.40998 239.90998 252.35597 261.69398 271.80198 275.30198 285.40998 290.07197 293.96397 297.85597 304.07197 309.51799 313.01799 316.90998 323.90998 327.40998 331.30198 338.30198 344.51799 348.01799 352.67997 356.57197 362.78797 368.23399 375.23399 378.73399 386.51799 395.856 405.194 415.302 424.64 428.14 432.802 439.018 446.018 449.91 455.35603 459.24803 465.46403"> &#x2014; A series of MCU writes to the flash FCCOB register</tspan><tspan y="384.79319" x=".005996704 7.0059969 11.667997 18.667998 25.667998 32.668 36.168 40.06 47.06 53.276 57.168004 60.668004 64.560009 71.560009 75.452 79.344 83.236 89.452 93.344 99.560009 105.006008 108.506008 114.72201 121.72201 128.72202 132.22202 138.43802 145.43802 152.43802 156.33002 160.99202 167.99202 171.88402 177.33002 180.83002 184.72202 191.72202 197.93802 201.43802 207.65402 214.65402 220.87003 227.08603 234.08603 237.97803 241.87003 248.87003 255.87003 259.37004 266.37004 271.032 274.532 279.194 283.086 289.302 294.74803 301.74803 305.24803 311.46403 315.35603 322.35603 329.35603 334.018 337.91 341.802 348.802 359.694 365.14 368.64 372.532 379.532 385.74803 389.64 393.14 399.35603 404.018 410.234 413.734 420.734 427.734 431.626 435.518 439.41 442.91 446.802 453.802 457.694 464.694 468.194 472.086 479.086">group that initiates and controls the execution of flash algorithms that are built into the</tspan><tspan y="400.79319" x=".005996704 4.667997 8.559998 14.775998 20.221999 27.221999 30.721999 41.614 47.829999 58.722 65.722 70.384 77.384 80.884 91.776 98.776 105.776 112.776 116.668 122.884">flash memory module.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd" font-weight="bold"><tspan y="425.19319" x=".005996704 10.113997 17.113999 21.776 28.776 32.276 36.938 40.83 47.83 53.276 61.06 64.56 76.222 82.438 94.100009 101.100009 107.31601">Data flash memory</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="425.19319" x="114.315998 117.815998 131.816 135.316 143.09999 149.316 153.978 157.87 161.762 165.65399 169.54599 176.54599 183.54599 189.762 196.762 200.262 204.924 209.586 216.586 227.478 230.978 234.87 241.87 248.086 251.586 259.37 263.262 269.478 276.478 286.586 296.694 309.14 312.64 319.64 323.532 330.532 336.74803 343.74803 347.24803 350.74803 354.64 361.64 367.85603 371.35603 378.35603 384.57203 388.46403 394.68003 398.18003 402.842 406.734 412.95 418.39604 425.39604 428.89604 439.78804 446.00404 456.89604 463.89604 468.558"> &#x2014; Partitioned from the FlexNVM block, the data flash memory</tspan><tspan y="441.23518" x=".005996704 7.0059969 11.667997 18.667998 25.667998 29.559998 36.559999 42.775999 48.221998 51.721998 58.721998 65.722 72.722 79.722 86.722 90.614 96.83 100.722 104.614 108.506 114.722 118.222 123.668 127.56 134.56 139.222 145.438 152.438 158.654 162.154 166.81601 173.81601 178.47801 181.97801 188.97801 194.42401 200.64002 205.30202 208.80202 215.80202 222.01802 225.91002 232.12602 235.62602 239.12602 246.12602 253.12602 260.12605 264.01805 267.51805 273.73405 280.73405 287.73405 293.95005 297.45005 300.95005 307.16606 314.16606 321.16606 324.66606 330.88206 337.88206 344.88206 348.77406 352.66606 356.55805 363.55805 370.55805 376.77406 380.66606 384.16606 390.38206 397.38206 404.38206 410.59806 414.09806 419.54408 423.43608 430.43608 435.09806 441.31407">provides nonvolatile storage for user data, boot code, and additional code store.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd" font-weight="bold"><tspan y="465.63517" x=".0060267045 10.114027 17.114027 21.776028 28.776028 32.276029 36.938028 40.83003 47.83003 53.276029 61.060029 64.56003 70.00603 76.22203 82.438037 87.10004 94.10004">Data flash sector</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="465.63517" x="100.316028 103.816028 117.816028 121.316028 129.87003 136.87003 143.08603 146.58603 153.58603 159.80204 163.69403 169.91004 173.41004 178.07204 181.96404 188.18004 193.62604 200.62604 204.12604 209.57204 215.78804 222.00405 225.89604 232.89604 237.55805 241.05805 244.95005 250.39604 253.89604 257.78807 264.78807 271.00407 274.50407 279.95008 290.84208 297.05809 300.95008 304.84208 311.05809 316.5041 320.3961 323.8961 330.8961 337.8961 342.55809 346.45008 350.34208 357.34208 364.34208 367.84208 374.84208 379.50407 383.00407 386.89607 393.89607 400.11207 403.61207 410.61207 416.82807 420.72007 426.93608 430.43608 435.09806 438.99006 445.20606 450.65208"> &#x2014; The data flash sector is the smallest portion of the data flash</tspan><tspan y="481.67716" x=".0060272219 10.898028 17.114029 28.006031 35.00603 39.66803 46.66803 50.16803 54.06003 61.06003 67.27603 71.16803 74.66803 80.88403 87.10004 94.10004 97.60004 104.60004 110.81604 114.31604 120.53204 125.194049 131.41005 136.85605 143.07205 150.07205">memory that can be erased.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd" font-weight="bold"><tspan y="506.07716" x=".0060272219 9.344028 18.68203 27.23603 37.344034 48.236036">EEPROM</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="506.07716" x="61.452028 64.95203 78.95203 82.45203 92.56003 98.00603 101.898029 108.898029 115.898029 119.398029 125.61403 129.11403 136.11403 143.11403 147.00603 150.89803 154.79003 159.45203 163.34403 170.34403 173.84403 178.50603 182.39803 186.29003 190.18202 197.18202 204.18202 207.68202 213.12802 220.12802 225.57402 229.46602 235.68202 246.57402 250.07402 253.57402 257.46604 264.46604 270.68205 274.18205 278.84403 282.73603 288.95204 294.39805 301.39805 304.89805 315.79005 322.00605 332.89805 339.89805 344.56004 351.56004 355.06004 365.95204 372.95204 379.95204 386.95204 390.84403 397.06004 400.56004 406.77604 417.66804 424.66804 428.56004 434.77604 438.66804 444.88404 450.33006 453.83006 457.72206 464.72206"> &#x2014; Using a built-in filing system, the flash memory module emulates the</tspan><tspan y="522.11917" x=".0060577394 6.2220585 13.222058 19.438059 24.10006 30.31606 36.53206 40.42406 46.64006 51.30206 55.19406 60.64006 64.53206 68.42406 74.64006 80.08606 83.58606 90.58606 95.24806 98.74806 104.964069 111.964069 115.464069 124.01807 132.57207 140.35607 149.69406 159.80207 172.24806 175.74806 182.74806 189.74806 193.24806 199.46407 204.12607 208.78807 215.00408 221.22008 225.11208 229.00408 236.00408 242.22008 246.11208 253.11208 256.61207 263.61207 268.27406 275.27406 282.27406 286.16606 293.16606 297.05805 304.05805 311.05805 314.55805 320.77406 324.27406 331.27406 335.16606 342.16606 349.16606 353.82804 360.04405 367.04405 374.04405 381.04405 385.70603 391.92204 398.92204 405.13804 411.35404 414.85404 418.35404 425.35404 432.35404 436.24604 442.46205 447.12403 457.23204 461.894 465.786 469.678 475.894 482.11003 489.11003 493.002">characteristics of an EEPROM by effectively providing a high-endurance, byte-writeable</tspan><tspan y="538.11917" x=".0060577394 4.668058 11.668058 16.33006 23.33006 30.33006 34.992059 41.208059 52.10006 55.60006 61.81606 68.816059 75.816059 79.316059 85.53206 90.19406 96.410068 101.856067 108.07207 112.73407 116.23407 126.34207 136.45008 148.89608">(program and erase) NVM.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd" font-weight="bold"><tspan y="562.51919" x=".0060577394 9.344059 18.68206 27.236062 37.344064 48.236066 61.452066 64.952068 72.73607 79.73607 85.95207 93.73608 101.52008 109.304088 112.804088 120.58809 127.58809 132.25009 139.25009 142.75009 150.53409 156.75009 163.75009 171.53409 177.75009">EEPROM backup data header</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="562.51919" x="183.96607 187.46607 201.46607 204.96607 213.52007 220.52007 226.73607 230.23607 238.79007 247.34407 255.12807 264.46607 274.57408 287.02009 290.52009 297.52009 303.73609 309.9521 316.9521 323.9521 330.9521 334.4521 341.4521 347.6681 351.5601 357.7761 361.2761 368.2761 374.4921 380.7081 387.7081 393.9241 398.5861 402.0861 405.9781 411.4241 414.9241 421.1401 428.1401 439.0321 446.0321 450.6941 454.5861 460.0321 466.2481 473.2481 476.7481 483.7481 488.4101 491.9101"> &#x2014; The EEPROM backup data header is comprised of a</tspan><tspan y="578.56118" x=".0061035158 7.0061037 14.0061039 18.668105 25.668105 29.560105 33.452108 36.952108 41.614107 45.506109 51.722108 55.61411 62.61411 66.114109 70.77611 77.77611 84.77611 91.77611 98.77611 102.27611 106.168109 113.168109 116.668109 125.22211 133.77611 141.5601 150.8981 161.0061 173.4521 176.9521 183.9521 190.1681 196.38411 203.38411 210.38411 217.38411 220.88411 227.88411 234.10012 237.99211 244.20812 247.70812 258.60014 264.81614 275.70814 282.70814 287.37013 294.37013 297.87013 307.97813 314.97813 318.87013 325.08613 332.08613 335.58613 341.80213 348.80213 355.80213 359.69413 365.91014 369.80213 376.80213 382.24815 385.74815 389.64015 396.64015 401.30213 408.30213 412.9641 423.8561 430.0721 433.9641 437.8561 444.8561 451.8561 455.3561 462.3561 467.80213 474.01814 481.01814 484.51814 491.51814">32-bit field found in EEPROM backup data memory which contains information used by</tspan><tspan y="594.56118" x=".0061035158 3.898104 10.898104 17.114106 20.614106 29.168107 37.722108 45.506109 54.84411 64.95211 77.39811 80.89811 85.56011 89.45211 93.34411 97.23611 104.23611 111.23611 114.73611 120.182109 127.182109 132.62812 136.52011 142.73612 153.62812 157.12812 161.02011 168.02011 171.52011 178.52011 184.73612 188.62812 194.84412 199.50612 210.39812 214.29012 221.29012 227.50612 231.00612 234.89812 241.89812 248.11412 251.61412 257.06013 260.95213 267.16813 271.06013 278.06013 283.50614 287.00614 294.00614 298.66813 302.16813 308.38414 311.88414 317.33015 324.33015 330.54615 336.76216 340.65415 345.31614 349.20814 355.42414 358.92414 367.47813 376.0321 383.8161 393.1541 403.26213 415.70814 419.20814 426.20814 432.42414 438.64015 445.64015 452.64015 459.64015 463.14015 467.80213 471.69413 477.91014 483.35615">the EEPROM filing system to determine the status of a specific EEPROM backup flash</tspan><tspan y="610.56118" x=".0061535157 5.452154 11.668155 17.884156 21.776156 28.776156 33.438158">sector.</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>
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<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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