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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_448.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

205 lines
36 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 7.9912569 -67.74945)" font-size="9" font-family="HelveticaLTStd"><tspan y="420.12913" x="143.86484"> </tspan><tspan y="351.43397" x="324.15284 328.53584 331.71284 333.6928 338.6878 343.6738 348.7138 351.7018 354.1588 359.1628">Trigger #4</tspan><tspan y="331.1102" x="101.11481 107.1088 112.1038 117.09879 120.08679 124.58679 129.58179 132.10179">Source #</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 7.9912569 -67.74945)" font-size="9" font-family="HelveticaLTStd"><tspan y="331.1102" x="137.10579">x</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 7.9912569 -67.74945)" font-size="9" font-family="HelveticaLTStd"><tspan y="331.1102" x="141.60579"> </tspan><tspan y="218.3864" x="324.88179 329.31877 332.44178 334.42176 339.39875 344.43876 349.41575 352.42176 354.94178 359.94578">Trigger #1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="342.42109" x="129.31198 136.64398 139.97998 147.31198 154.64398 159.31198 165.98398 169.31998 175.99198 182.66397 186.65998 193.33197 200.00397 203.33997 206.67597 215.33997 225.33597 233.99997 237.33597 247.33197 255.99597 263.99998 267.33598 271.33198 275.99998 279.33598 286.66798 293.99998 300.67198 305.33998 312.01197 319.34397 322.67997 329.35197 336.68397 343.35597 350.68797 358.01997 364.69197 368.02796">Figure 21-19. DMA MUX triggered channels</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="368.8539" x=".0039978029 8.557998 15.557998 21.773999 25.273999 35.382 47.828004 57.936006 61.436006 67.65201 74.65201 80.86801 87.86801 94.86801 101.084018 104.97601 108.47601 112.36801 117.030017 120.92201 127.92201 134.92201 141.13802 145.80002 149.69202 156.69202 163.69202 167.19202 173.40802 179.62403 186.62403 192.84003 199.84003 203.73203 207.62403 211.51602 215.40802 222.40802 225.90802 232.12403 236.01602 239.90802 246.90802 257.01603 262.46205 265.96205 269.85404 276.85404 283.07005 286.57005 292.01606 299.01606 304.46208 308.35408 314.57008 325.46208 328.96208 332.85408 339.85408 343.35408 349.06608 354.5121 360.7281 367.7281 373.9441 380.9441 387.9441 391.8361 398.0521 403.7641 407.2641 411.9261 418.1421 425.1421 432.1421 436.0341 442.2501 446.91209 450.41209 460.52009 472.9661">The DMA channel triggering capability allows the system to "schedule" regular DMA</tspan><tspan y="384.8539" x=".0040478028 3.8960484 8.558048 14.774049 21.774048 27.220049 31.88205 38.09805 42.760049 48.206048 51.706048 55.206048 62.206048 67.65205 74.65205 80.86805 84.76005 88.65205 95.65205 99.15205 106.15205 113.15205 116.65205 120.544048 127.544048 133.76004 137.26004 141.15204 145.81404 152.03005 159.03005 164.47605 175.36804 179.26004 183.15204 186.65204 192.09804 195.99004 202.99004 209.20604 212.70604 219.70604 224.36804 227.86804 234.08405 240.30005 244.96205 248.85405 255.07006 258.96208 265.96208 269.46208 276.46208 282.67808 287.34007 291.23207 298.23207 305.23207 311.44807 316.11006 322.32606 326.21806 331.66407 335.16407 338.66407 348.77207 352.66407 356.55607 363.55607 370.55607 377.55607 381.44807 384.94807 388.84007 395.84007 402.05607 405.55607 409.44807 416.44807 420.34007 426.55607 431.21806 438.21806 444.43406 451.43406 455.32606 459.21806 466.21806 473.21806 476.71806 483.71806">transfers, usually on the transmit side of certain peripherals, without the intervention of</tspan><tspan y="400.8539" x=".0040978027 3.8960982 10.896098 17.112099 20.612099 27.612099 32.274099 39.274099 45.490098 51.706098 57.152097 62.598096 69.5981 74.2601 77.7601 81.2601 89.8141 96.8141 100.7061 106.1521 109.6521 113.5441 118.2061 122.0981 129.0981 136.0981 142.3141 146.9761 150.4761 160.5841 167.5841 172.24611 179.24611 184.69211 188.19211 195.19211 202.19211 205.69211 212.69211 218.90811 222.80011 226.69211 233.69211 240.69211 244.19211 248.0841 255.0841 261.3001 264.8001 269.4621 275.6781 282.6781 289.6781 295.8941 301.34013 305.23213 308.73213 313.3941 318.0561 325.0561 335.9481 339.4481 343.3401 350.3401 356.5561 360.0561 367.0561 373.2721 377.93409 381.82609 388.82609 395.82609 402.04209 406.70408 412.92008 416.81208 420.31208 424.20408 431.20408 434.70408 438.59608 445.59608 451.81208 455.31208 465.42008 477.8661">the processor. This trigger works by gating the request from the peripheral to the DMA</tspan><tspan y="416.8539" x=".0040978027 7.004098 14.004098 17.8961 21.7881 25.6801 29.1801 35.3961 38.8961 42.7881 47.4501 51.342103 58.342103 65.3421 71.558109 76.22011 79.72011 85.93611 92.93611 99.152118 106.152118 110.04411 113.54411 120.54411 126.76012 132.20612 135.70612 142.70612 148.92212 155.13813 162.13813 165.63813 171.08412 177.30013 183.51613 190.51613 194.01613 197.51613 206.07013 213.07013 216.96213 222.40813 225.90813 229.80013 235.24613 238.74613 242.63813 246.53012 250.42212 257.42213 262.86814 266.76014 271.42213 277.63813 281.53013 287.74613 294.74613 298.24613 302.13813 309.13813 312.63813 316.53013 323.53013 329.74613 333.24613 337.9081 344.9081 348.8001 352.6921 359.6921 369.8001 373.6921 380.6921 387.6921 391.1921 395.8541 399.7461 406.7461 413.7461 418.40809 424.62409">until a trigger event has been seen. This is illustrated in the following figure.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 20.288819 -33.571535)" font-size="9" font-family="HelveticaLTStd"><tspan y="591.7404" x="86.841 93.33 100.818 106.803 109.269 115.803 120.798 125.79299 130.788 135.82799 140.30998">DMA Request</tspan><tspan y="529.3407" x="66.383998 71.964 76.940998 80.063999 82.044 87.084 92.006999 96.98399 99.963 104.949 106.992 109.51199 115.982997 120.968997 125.954998 130.995 135.972 140.454">Peripheral Request</tspan><tspan y="562.6407" x="115.34399 119.78099 122.90399 124.883998 129.86101 134.901 139.887">Trigger</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="533.9445" x="77.97599 85.30799 88.64399 95.97599 103.30799 107.97599 114.647998 117.98399 124.65599 131.32799 135.32399 141.99599 148.66799 152.00399 155.33998 164.00399 173.99999 182.66399 185.99999 195.99599 204.65999 212.66399 215.99999 222.67198 230.00399 236.67598 244.00798 251.33998 258.012 261.348 264.684 268.68 273.348 276.684 284.016 291.348 298.02 302.688 306.024 313.356 320.688 324.684 328.02 335.352 342.684 347.352 358.02 364.692 368.02799 371.36399 378.69599 386.02799 392.69999 397.36799 404.03999 408.03599 411.37199 418.70399">Figure 21-20. DMA MUX channel triggering: normal operation</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="560.3773" x=".0019989014 10.11 14.771999 18.664 24.880002 29.542002 33.042 36.934003 43.934003 50.15 53.65 63.758005 76.204 86.312007 89.812007 94.47401 100.69001 107.69001 114.69001 120.90601 126.35201 130.24402 133.74402 140.74402 146.96002 152.40602 155.90602 162.90602 169.12203 175.33803 182.33803 185.83803 191.28403 197.50003 202.16204 209.16204 213.05403 219.27004 225.48604 232.48604 235.98604 239.48604 243.37804 250.37804 256.59403 260.09403 267.09403 273.31004 277.97203 281.864 288.864 295.864 302.08003 306.742 312.958 316.85 320.35 330.458 334.35 338.242 342.134 345.634 352.634 358.85 365.85 372.066 375.958 382.174 385.674 389.566 393.458 398.90403 402.40403 407.066 413.282 420.282 427.282 433.49803 438.94404 442.83604">After the DMA request has been serviced, the peripheral will negate its request,</tspan><tspan y="576.3773" x=".0020189014 6.2180197 10.88002 15.542021 21.758023 27.974022 31.866023 35.758024 42.758024 48.974023 52.866025 59.866025 63.366025 68.02802 74.244029 79.690029 85.90603 89.79803 93.690029 97.58202 104.58202 111.58202 115.08202 118.97402 125.97402 132.19002 135.69002 142.69002 148.90602 152.79802 156.69002 163.69002 170.69002 174.19002 185.08202 191.29802 197.51403 204.51403 210.73003 217.73003 221.62203 227.06803 237.96002 241.46002 248.46002 255.46002 259.35203 263.24403 267.13603 270.63603 274.528 281.528 287.74403 291.24403 298.24403 304.46003 309.122 313.014 320.014 327.014 333.23 337.892 344.108 348 351.5 356.162 362.378 367.03999 373.25599 378.702 384.148 390.364 395.026 398.918 404.364 407.864 411.756 415.648 421.09403 424.59403 429.256 435.47203 442.47203 449.47203 455.68803 461.13404 465.02604 468.52604 478.63404 488.74205">effectively resetting the gating mechanism until the peripheral re-asserts its request AND</tspan><tspan y="592.3773" x=".0020189014 3.8940194 10.894019 17.11002 20.61002 27.61002 33.82602 40.82602 44.71802 48.21802 52.110025 56.772024 60.664026 67.664028 74.664028 80.88003 85.54203 89.04203 95.25803 102.25803 108.47404 115.47404 119.366039 122.866039 126.75803 132.20404 135.70404 141.15004 147.36605 153.58205 160.58205 164.08205 167.58205 176.13605 183.13605 187.02805 192.47405 195.97405 206.86605 213.08205 219.29805 226.29805 231.74405 235.24405 239.13605 246.13605 252.35205 256.24406 259.74406 263.63606 268.29804 271.79804 278.01405 281.51405 285.40605 290.06803 293.96003 300.96003 307.96003 314.17604 318.838 322.338 326.23 331.67604 335.17604 340.62205 346.83805 353.05406 360.05406 363.55406 367.05406 374.05406 381.05406 384.94606 388.44606 392.33805 399.33805 405.55406 409.05406 416.05406 422.27006 426.93205 430.82405 437.82405 444.82405 451.04005 455.70204 461.91804 465.81004 469.31004 473.20204 478.64805 482.14805 489.14805 496.14805">the next trigger event is seen. This means that if a trigger is seen, but the peripheral is not</tspan><tspan y="608.3773" x=".0020189014 4.664019 10.88002 17.88002 24.88002 31.09602 36.54202 40.43402 44.326025 51.326025 58.326025 61.826025 68.04202 71.54202 75.43402 80.09602 86.31203 93.31203 98.758029 103.42003 109.63603 114.298038 117.798038 121.298038 125.19003 132.19004 138.40604 145.40604 148.90604 152.79804 159.79804 166.01404 169.90604 173.40604 177.29804 181.96004 185.85204 192.85204 199.85204 206.06804 210.73004 214.23004 224.33805 228.23004 232.12204 236.01404 239.51404 246.51404 252.73004 256.23005 260.12205 267.12205 274.12205 281.12205 285.78404 292.00004 299.00004 302.50004 306.00004 314.55403 321.55403 325.446 330.89204 334.39204 339.83805 343.73005 347.62205 354.62205 360.83805 364.73005 368.62205 375.62205 382.62205 386.12205 390.01405 395.46006 398.96006 402.85206 406.74406 410.63606 417.63606 423.08207 426.97407 431.63606 437.85206 441.74406 447.96006 454.96006 458.46006 462.35206 469.35206 472.85206 476.74406 483.74406">requesting a transfer, then that trigger will be ignored. This situation is illustrated in the</tspan><tspan y="624.3773" x=".0020189014 4.664019 11.664019 15.556019 19.448019 26.448019 36.55602 40.44802 47.44802 54.44802 57.94802 62.61002 66.50202 73.50202 80.50202 85.164028 91.38003">following figure.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 18)" 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 53.505 58.509004 63.513006 68.517009 72.018009 74.520008 80.019008 83.01601 85.518009 91.017009">Functional description</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.006 137.226 142.786 148.346 151.12599 157.79599 163.90599 170.01599 173.346 179.456 185.01599 193.90599 196.68599 199.46599 205.02599 207.80599 215.02599 220.58599 223.91599 229.47599 233.36598 238.92598 245.03598 250.59598 256.15599 258.93598 267.26597 272.82597 278.93595 285.04594 290.60594 293.38594 296.16593 298.94593 306.16593 311.72593 317.28593 320.06593 322.84593 328.4059 331.1859 336.7459 342.8559 348.96589 351.74589 357.30589 362.86589 368.42588">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 1 220.32 751.756)" 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>
<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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