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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_456.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

210 lines
31 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(.973236 0 0 1.0275 62.68143 55.08155)" font-size="8.16809" font-family="HelveticaLTStd"><tspan y="30.64027" x="417.87953 425.59019 428.31016 430.12348 432.3942 436.93568 439.2064 445.10377 449.64524 451.91596">Write Data</tspan></text>
<text xml:space="preserve" transform="matrix(.973236 0 0 1.0275 62.68143 55.08155)" font-size="8.16809" font-family="HelveticaLTStd"><tspan y="13.92729" x="409.52357 417.23423 419.9542 421.76753 424.03825 428.5797 430.85044 436.29856 440.84004 445.3815 448.10148 452.64295 456.727">Write Address</tspan></text>
<text xml:space="preserve" transform="matrix(0 -.997533 1.002473 0 62.68143 55.08155)" font-size="8.97779" font-family="HelveticaLTStd"><tspan y="483.70924" x="-193.32862 -190.8328 -185.84114 -183.34532 -178.35367 -175.36406 -170.3724 -165.38076 -163.38768 -160.89186 -154.90367 -149.91202 -146.92241 -144.92934 -139.93769 -134.94603 -129.95438 -126.964778 -121.97312 -119.98005 -117.48422 -111.49603 -106.50438">Internal Peripheral Bus</tspan></text>
<text xml:space="preserve" transform="matrix(1.007208 0 0 .992844 62.68143 55.08155)" font-size="8.8534" font-family="HelveticaLTStd"><tspan y="329.38059" x="259.45094 264.3734 270.76557 278.14045 284.04566 286.5069 292.4121 297.3346 300.28279 302.24824 307.17073 312.0932 317.0157 319.96388 324.88636">eDMA Peripheral</tspan></text>
<text xml:space="preserve" transform="matrix(1.007208 0 0 .992844 62.68143 55.08155)" font-size="8.8534" font-family="HelveticaLTStd"><tspan y="339.7584" x="276.6088 283.00096 287.92344 292.84593 297.7684 302.6909 307.11759">Request</tspan></text>
<text xml:space="preserve" transform="matrix(1.007208 0 0 .992844 62.68143 55.08155)" font-size="8.8534" font-family="HelveticaLTStd"><tspan y="335.07823" x="338.3325 343.25498 349.64714 357.022 362.92723 365.38847 371.7806 376.7031 381.62559">eDMA Done</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="358.92256" x="157.3121 164.6441 167.9801 175.3121 182.6441 187.3121 193.9841 197.3201 203.9921 210.6641 214.6601 221.33209 224.66809 228.00409 234.67609 243.34009 253.33609 262.0001 265.3361 272.6681 276.0041 283.3361 290.0081 296.68009 300.01609 307.34809 310.68409 317.35609 324.68809 329.35609 336.02809">Figure 22-1. eDMA block diagram</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 456.50538)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.0079 8.888101 17.784102 22.232102 31.128102 35.576105">22.1.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 456.50538)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00791 11.544091 15.992092 25.768094 34.664094 43.560094 48.008096 57.784097 66.6801 72.9041 78.2321">Block parts</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="439.75538" x=".00609 8.56009 15.56009 21.77609 25.27609 31.492093 41.600095 54.046098 64.1541 67.6541 78.5461 85.5461 92.5461 99.5461 103.438098 109.6541 113.1541 117.0461 122.492099 125.992099 132.9921 139.2081 143.8701 147.7621 151.6541 155.5461 159.4381 166.4381 173.4381 179.6541 186.6541 190.1541 194.0461 201.0461 204.9381 211.9381 215.4381 219.3301 229.4381 236.4381 239.9381 250.8301 257.04609 260.93809 267.93809 272.60008 276.10008 286.99208 293.99208 300.99208 307.99208 311.88407 318.10008 323.54609 327.43809 330.93809 334.83009 341.83009 348.04609 351.54609 357.7621 367.8701 380.3161 390.4241 393.9241 400.1401 407.1401 414.1401 418.0321 425.0321 431.2481 434.7481 440.9641 447.9641 454.9641 458.4641 462.3561 469.3561">The eDMA module is partitioned into two major modules: the eDMA engine and the</tspan><tspan y="455.75538" x=".00612 3.8981205 8.560121 14.776121 21.776122 27.222123 31.884123 38.100126 42.762125 47.42412 53.64012 60.64012 67.64012 71.53212 76.19412 83.19412 87.08612 90.58612 97.58612 103.802127 109.24812 115.46413 120.12613 124.01813 131.01813 134.91013 141.91013 146.57213 150.07213 153.96413 160.96413 167.18013 173.39614 177.28813 180.78813 191.68013 197.89614 208.78813 215.78813 220.45014 227.45014">transfer-control descriptor local memory.</tspan><tspan y="480.15538" x=".00612 8.56012 15.56012 21.77612 25.27612 31.492119 41.60012 54.04612 64.15412 67.65412 73.870128 80.870128 87.870128 91.76212 98.76212 104.97813 108.47813 112.370128 117.816127 121.316127 125.97813 132.97812 137.64012 141.53212 148.53212 154.74813 159.41013 162.91013 169.91013 176.12613 180.78813 184.68013 188.57213 192.46413 196.35613 203.35613 210.35613 216.57213 223.57213 227.07213 230.96413 237.96413 241.85613 248.85613 252.35613 257.01814 264.01814 271.01814 275.6801 279.1801 284.62614 291.62614 298.62614 309.51814 316.51814 323.51814 330.51814 334.41014 340.62614 346.07215">The eDMA engine is further partitioned into four submodules:</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="25.87323" x="0 2.5020004 8.001 10.998 14.499001 19.998002 25.497002 30.996003 36.000005 38.997007 41.499006 46.998006">Introduction</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="130.007 137.227 142.787 148.347 151.127 157.797 163.907 170.017 173.347 179.457 185.017 193.907 196.687 199.467 205.027 207.80699 215.027 220.58699 223.91699 229.47699 233.36699 238.92699 245.03699 250.59699 256.15699 258.93699 267.26698 272.82698 278.93696 285.04695 290.60694 293.38694 296.16694 298.94694 306.16694 311.72694 317.28694 320.06694 322.84693 328.40693 331.18693 336.74693 342.8569 348.9669 351.7469 357.3069 362.86689 368.42689">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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