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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_716.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

642 lines
59 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 134)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 11.997001 18.495 25.497002 31.500002 36.504 39.006 44.010004 46.512 51.516004 54.018 56.52 59.022 64.278 66.78 71.784 76.787998 81.79199">FCCOB5[7:4] != 0000</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 434.25 134)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="24.993 30.492 36.495004 41.994005 47.997 53.496004 55.998 62.001 68.499 74.997 81 87.498 93.996">FSTAT[ACCERR]</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 149.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 15.507001 18.009 23.013 26.01 29.007 34.011 37.008005 41.508005 44.010004 49.014005 54.018007 58.518007 63.522008 66.02401 71.02801 76.032009 81.036 86.04 88.542 93.546 98.549999 103.049999 108.05399 113.05799 118.06199 120.56399 125.567989 128.56499 133.56899 138.57299 141.07498 146.07898 151.08298 154.07997 156.07798 161.08197 166.08597 168.58797 171.08997 176.09397 181.09796 183.59996 188.09996 193.10396 196.10095 198.09896 200.60095 205.10095 207.60295 212.60695 217.61095 222.61495 225.61194 230.61594 233.11794 235.11594 240.11994">Any errors have been encountered during the verify operation</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 218)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 16.680003 20.850003 29.190003 33.360006 41.700006 50.040006 54.210008 62.550008">29.4.12.16</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 139.06324 218)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.005001 18.345002 23.34 27.51 36.675 40.845 49.185 57.525 68.355 79.185009 91.68001 95.850009 105.01501 114.18001 123.34501 131.68502 136.68001 140.85 150.015 159.18 163.34999 174.18 183.34499 196.68 210.015 218.355 227.51999">Set FlexRAM Function Command</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="193.85" x=".00101 8.55501 15.55501 21.771012 25.271012 33.05501 39.27101 43.163015 46.663015 54.447015 58.339017 64.555019 71.555019 80.89302 91.00102 103.44702 106.94702 114.731029 121.731029 128.73102 134.94702 138.83902 142.73102 149.73102 156.73102 160.23102 166.44702 173.44702 184.33902 195.23102 201.44702 208.44702 215.44702 218.94702 225.16303 232.16303 238.37903 245.37903 252.37903 258.59504 264.04106 267.54106 271.43305 278.43305 284.64906 288.14906 292.81105 299.81105 306.81105 313.02705 316.91905 320.81105 327.81105 334.81105 338.31105 345.31105 349.97303 353.47303 357.36503 364.36503 370.58103 374.08103 381.86503 385.75703 391.97303 398.97303 408.31105 418.41905 430.86506">The Set FlexRAM Function command changes the function of the FlexRAM:</tspan><tspan y="209.85" x="13.10503 23.997033 37.21303 44.21303 50.42903 57.42903 60.92903 67.92903 74.92903 78.82103 82.32103 89.32103 95.53703 100.199039 104.091037 107.98303 111.87503 115.76703 122.76703 129.76703 135.98303 142.98303 146.48303 151.14504 158.14504 162.80704 166.30704 174.86104 183.41504 191.19904 200.53704 210.64504 223.09104 226.59104 230.09104 233.98303 240.98303 247.19904 250.69904 258.48304 262.37504 268.59104 275.59104 284.92906 295.03706 307.48307 310.98307 314.87507 320.32109 323.82109 327.71308 334.71308 341.71308 345.60508 351.82109 358.03709 361.92909 365.82109 372.82109 376.32109 383.32109 388.7671 394.9831 401.9831 405.4831 411.6991 417.1451 420.6451 424.5371 429.1991 435.4151 442.4151 446.3071 450.1991 454.0911 461.0911 468.0911 474.3071">&#x2022;When not partitioned for EEPROM, the FlexRAM is typically used as traditional</tspan><tspan y="225.85" x="23.997052 33.335054 43.443056 55.889055">RAM.</tspan><tspan y="241.85" x="13.105051 23.997052 37.21305 44.21305 50.42905 57.42905 60.92905 67.92905 74.14505 78.80705 82.69905 86.59105 90.48305 94.375049 101.375049 108.375049 114.59105 121.59105 125.09105 129.75305 136.75305 141.41506 144.91506 153.46906 162.02306 169.80706 179.14505 189.25305 201.69905 205.19905 208.69905 212.59105 219.59105 225.80706 229.30706 237.09105 240.98305 247.19905 254.19905 263.53706 273.64506 286.09107 289.59107 293.48307 298.92909 302.42909 306.32109 313.32109 320.32109 324.21308 330.42909 336.64509 340.53709 344.42909 351.42909 354.92909 361.92909 367.3751 373.5911 380.5911 384.0911 387.9831 394.9831 398.4831 403.9291 407.8211 414.8211 419.4831 425.6991 429.1991 437.75309 446.30708 454.09107 463.42909 473.53709">&#x2022;When partitioned for EEPROM, the FlexRAM is typically used to store EEPROM</tspan><tspan y="257.85" x="23.997052 30.997052 37.21305 41.105054 47.321054">data.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 99 326)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="15.30105 22.633049 29.30505 36.63705 39.973054 46.645055 49.981058 56.653059 63.325059 67.32106 73.99306 80.665058 93.00105 101.00505 107.67705 111.67305 115.00905 122.34105 125.67705 132.34905 139.02104 147.68505 156.34905 166.34505 169.68105 177.01305 184.34505 191.67705 198.34905 202.34505 205.68105 213.01305 220.34505 223.68105 232.34505 239.67705 250.34505 261.01307 267.68507 275.01707 282.34907 285.68507 293.01707 301.68107 310.34507 319.68107 328.34507 331.68107 340.34507 347.01707 354.34907 361.68107 365.01707 369.68507 376.35707 387.02507 393.69706 401.02906 405.02507">Table 29-73.Set FlexRAM Function Command FCCOB Requirements</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.3 348)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="152.604 158.103 164.601 171.099 178.101 184.599 187.101 193.599 199.09799 204.59699 207.59398 212.59798 218.09697 221.09397 226.09796 228.59996 231.59696 236.60095 239.59795 244.60195">FCCOB Contents [7:0]</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 364)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="45.64799">0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 364)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="166.599 171.603 176.103 181.107 186.111 188.61299 191.60999 197.61299 203.616 209.11499 215.61299 221.616 229.11299">0x81 (SETRAM)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 379.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="16.03789" x="45.64799">1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 379.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="134.586 140.08499 142.083 147.08699 151.58699 158.08499 164.088 171.58499 174.08699 179.58599 184.58998 189.59398 194.09398 196.59598 198.59398 203.59798 208.60198 211.10398 217.60198 222.60597 227.60997 230.11197 233.10897 238.11296 240.11096 242.61296 249.11096 254.11496 259.11897">FlexRAM Function Control Code</tspan><tspan y="24.23789" x="163.83602 166.83301 171.33301 176.337 181.341">(see </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 157.05 379.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="24.23789" x="183.84302 189.34201 194.34601 199.35 201.348 206.352 208.854 213.858 218.862 221.859 226.86299">Table 29-74</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 379.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="24.23789" x="231.86702">)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 485.40003)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.4970009 12.501001 17.001002 22.005002 24.507002 30.006003 32.004 37.008005 41.508005 48.006006 54.009004 61.506006 64.008 69.012 73.512 78.516 80.514 82.512 87.516 92.52 94.518 99.521999 102.023998 107.02799 111.52799 114.02999 120.52799 126.53099 134.02799">Make FlexRAM available as RAM:</tspan><tspan y="24.23789" x="14.85 24.003 30.501002 32.499 37.503004 42.507005 45.504007 48.006006 50.508005 55.512006 60.516008 63.018007 68.517009 75.01501 81.51301 87.01201 94.01401 96.51601 102.519008 108.522 114.525 121.023 127.521 133.524 136.026 138.528 143.532 148.536 153.54 156.04199 161.54099 168.03899 174.53699 180.03598 187.03798 189.53998 196.03798 202.04099 209.53798 216.03598 222.53398 228.53699 231.03899 233.54099 236.04299 238.04099 243.04499 248.04898">&#x2022;Clear the FCNFG[EEERDY] and FCNFG[RAMRDY] flags</tspan><tspan y="35.237894" x="14.85002 24.003022 32.499025 35.496026 37.494028 39.996026 45.000028 47.502027 52.506029 55.008028 60.012029 65.01603 69.51603 74.01603 79.02003 82.01703 87.02103 92.025028 97.02902 102.03302 104.53502 109.53902 112.041019 114.543018 119.54701 124.55101 129.55501 134.05501 136.557 139.059 144.063 146.565 151.569 153.567 155.565 158.067 163.566 165.564 170.568 175.068 181.566 187.569 195.066 197.568 199.566 204.56999 209.06999 214.07399 216.57599 218.57399 223.57799 228.58199">&#x2022;Write a background of ones to all FlexRAM locations</tspan><tspan y="46.237894" x="14.85002 24.003022 30.006022 35.01002 37.51202 40.01402 42.516019 47.52002 52.52402 55.02602 60.52502 67.02302 73.52102 79.02002 86.02202 88.52402 95.02202 101.02502 108.52202 115.02002 121.51802 127.52102 130.02303 132.52503 135.02703 137.02503 142.02902">&#x2022;Set the FCNFG[RAMRDY] flag</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 539.30007)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.4970009 12.501001 17.001002 22.005002 24.507002 30.006003 32.004 37.008005 41.508005 48.006006 54.009004 61.506006 64.008 69.012 73.512 78.516 80.514 82.512 87.516 92.52 94.518 99.521999 102.023998 104.52599 109.52999 112.52699 115.02899 121.03199 127.03499 133.038 139.536 146.538 154.03499">Make FlexRAM available for EEPROM:</tspan><tspan y="24.23789" x="14.85 24.003 30.501002 32.499 37.503004 42.507005 45.504007 48.006006 50.508005 55.512006 60.516008 63.018007 68.517009 75.01501 81.51301 87.01201 94.01401 96.51601 102.519008 108.522 114.525 121.023 127.521 133.524 136.026 138.528 143.532 148.536 153.54 156.04199 161.54099 168.03899 174.53699 180.03598 187.03798 189.53998 196.03798 202.04099 209.53798 216.03598 222.53398 228.53699 231.03899 233.54099 236.04299 238.04099 243.04499 248.04898">&#x2022;Clear the FCNFG[EEERDY] and FCNFG[RAMRDY] flags</tspan><tspan y="35.237894" x="14.85002 24.003022 32.499025 35.496026 37.494028 39.996026 45.000028 47.502027 52.506029 55.008028 60.012029 65.01603 69.51603 74.01603 79.02003 82.01703 87.02103 92.025028 97.02902 102.03302 104.53502 109.53902 112.041019 114.543018 119.54701 124.55101 129.55501 134.05501 136.557 139.059 144.063 146.565 151.569 153.567 155.565 158.067 163.566 165.564 170.568 175.068 181.566 187.569 195.066 197.568 199.566 204.56999 209.06999 214.07399 216.57599 218.57399 223.57799 228.58199">&#x2022;Write a background of ones to all FlexRAM locations</tspan><tspan y="46.237894" x="14.85002 24.003022 30.501023 35.505025 40.509027 45.009027 48.006029 53.01003 58.01403 64.51203 69.51603 72.01803 77.022029 81.522029 83.52003 88.02003 90.522029 92.52003 97.524028 102.52802 105.03002 111.03302 117.03602 123.03902 129.53702 136.53902 144.03601 146.53801 151.542 156.546 159.048 164.052 166.554 169.056 174.06 176.562 182.06099 184.05899 189.06299 193.56299 200.06099 206.064">&#x2022;Copy-down existing EEPROM data to FlexRAM</tspan><tspan y="57.237894" x="14.85002 24.003022 30.006022 35.01002 37.51202 40.01402 42.516019 47.52002 52.52402 55.02602 60.52502 67.02302 73.52102 79.02002 86.02202 88.52402 94.527019 100.530017 106.53301 113.03101 119.529018 125.53201 128.03401 130.53601 133.03801 135.03601 140.04001">&#x2022;Set the FCNFG[EEERDY] flag</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54.000154)" font-size="14" font-family="TimesLTStd"><tspan y="587.05" x="0 10.108001 14.77 18.662 24.878003 29.540003 33.04 39.256 43.148004 49.364004 55.58 60.242 64.134 71.134 78.134 81.634 90.972 100.31 104.972 112.756008 116.256008 120.148 127.148 130.64801 134.54001 140.75601 147.75601 154.75601 160.97202 167.97202 171.47202 175.36402 182.36402 188.58002 192.08002 199.86402 206.08002 209.97202 213.47202 221.25601 225.14801 231.36402 238.36402 247.70201 257.81 270.256 273.756 281.54 288.54 295.54 301.756 305.648 309.54 316.54 323.54 327.04 333.256 340.256 351.148 362.04 368.256 375.256 382.256 385.756 389.256 393.148 400.148 406.364 409.864 414.526 418.418 424.634 430.08003 437.08003 440.58003 451.47203 457.68803 468.58003 475.58003 480.242">After clearing CCIF to launch the Set FlexRAM Function command, the flash memory</tspan><tspan y="603.05" x="0 10.892001 17.892003 24.892003 31.892003 35.784006 42.000005 45.500005 50.946004 57.162004 61.054006 66.50001 70.00001 73.892009 80.892009 87.10801 90.60801 95.27001 102.27001 109.27001 115.486019 119.37801 123.27001 130.27002 137.27002 140.77002 147.77002 152.43202 155.93202 159.82402 166.82402 173.04003 176.54003 184.32402 188.21602 194.43202 201.43202 210.77002 220.87802 233.32402 236.82402 243.82402 250.04003 255.48603 261.70204 268.70204 272.20204 279.20204 286.20204 289.70204 293.59403 300.59403 306.81004 310.31004 318.09403 321.98603 328.20204 335.20204 344.54005 354.64805 367.09407 370.59407 378.37806 385.37806 392.37806 398.59407 402.48606 406.37806 413.37806 420.37806 423.87806 433.21607 440.21607 447.21607 451.10807 455.77006 462.77006 466.66206 470.16206 479.50007 486.50007 493.50007 499.71607">module sets the function of the FlexRAM based on the FlexRAM Function Control Code.</tspan><tspan y="627.45" x="0 13.216001 20.216 26.432 33.432 36.932 47.824 54.04 61.04 64.932 71.932 78.932 82.432 86.324 93.324 99.54 103.04 110.824008 114.716 120.93201 127.93201 137.27 147.378 159.824 163.324 169.54001 176.54001 182.75601 186.64801 190.54001 196.75601 203.75601 207.64801 213.86402 217.36402 223.58002 229.02602 232.52602 236.41802 241.08002 247.29602 254.29602 258.18803 262.08003 265.97203 272.97203 279.97203 286.18803 290.08003 293.58003 302.91804 313.02604 325.47206 328.97206 332.47206 336.36405 343.36405 349.58006 353.08006 357.74205 361.63404 367.85005 373.29606 380.29606 383.79606 394.68806 400.90406 411.79606 418.79606 423.45805 430.45805 433.95805 444.85005 451.85005 458.85005 465.85005 469.74205">When making the FlexRAM available as traditional RAM, the flash memory module</tspan><tspan y="643.45" x="0 6.2160007 10.108001 16.324002 22.54 27.202002 32.648004 36.148004 40.040006 47.040006 53.256006 56.756006 64.54001 73.878009 83.98601 91.77001 101.87801 106.540019 115.09402 123.64802 132.20201 141.54001 151.64801 161.75601 166.41802 169.91802 176.13402 183.13402 190.13402 193.63402 201.41802 210.75601 220.86402 228.64801 238.75601 243.41802 252.75601 262.864 275.31004 284.64805 294.75605 304.86405 309.52604 313.02604 317.68803 321.58003 327.79603 334.79603 340.24205 343.74205 347.24205 354.24205 361.24205 367.45805 372.12004 382.22804 386.89 390.782 394.674 400.89 406.33604 409.83604 413.72804 420.72804 426.94404 430.44404 436.66004 443.66004 450.66004 454.55204 460.76805 467.76805 471.66004 477.10606 480.60606 487.60606">clears the FCNFG[EEERDY] and FCNFG[RAMRDY] flags, overwrites the contents of</tspan><tspan y="659.45" x="0 3.8920005 10.892 17.108002 20.608002 26.824002 33.824 37.716005 41.608007 46.270006 52.486005 55.986005 63.770006 67.662 73.878009 80.878009 90.216 100.324008 112.770008 116.270008 126.378009 130.27 134.162 141.162 144.662 150.878 154.378 161.378 167.59401 173.81002 180.81002 187.81002 192.47202 199.47202 206.47202 213.47202 220.47202 223.97202 230.97202 237.18802 241.08002 244.97202 251.18802 255.85002 262.85005 266.35005 273.35005 278.01203 281.51203 287.72804 291.62004 295.51203 299.01203 306.01203 313.01203 319.22804 324.67405 328.17405 331.67405 337.89006 344.89006 351.89006 355.39006 360.83607 367.05207 370.94407 376.39009 379.89009 383.78208 390.78208">the entire FlexRAM with a background pattern of all ones, and sets the</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 18.000153)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 5.499 10.998 16.497 21.501 24.498 27 32.499 37.998 43.002004 45.504 48.006 54.504 59.508005 64.512 69.516 73.017 75.519 81.018 84.015 86.517 92.016">Functional Description</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.93887)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.005 137.225 142.785 148.345 151.125 157.795 163.905 170.015 173.345 179.455 185.015 193.905 196.685 199.465 205.025 207.805 215.025 220.58499 223.915 229.47499 233.36499 238.92499 245.03499 250.59499 256.155 258.935 267.26499 272.82499 278.93498 285.04496 290.60496 293.38496 296.16496 298.94496 306.16496 311.72496 317.28495 320.06495 322.84495 328.40495 331.18495 336.74494 342.85493 348.9649 351.7449 357.3049 362.8649 368.4249">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32 751.75619)" 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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