Ryan Malloy
5252d1d73c
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.
113 lines
28 KiB (Stored with Git LFS)
XML
113 lines
28 KiB (Stored with Git LFS)
XML
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 17.792002 22.240002 31.136002 35.584005">22.1.3</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 54)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 9.776 18.672 27.568 32.896 42.672 48.896 57.792">Features</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="37.25" x=".00601 8.56001 15.56001 21.77601 25.27601 31.492012 41.600015 54.046014 64.154018 67.654018 71.54601 76.99201 80.49201 86.708019 90.208019 97.208019 101.10001 108.10001 115.10001 118.99201 125.99201 130.654 137.654 142.31601 149.31601 156.31601 160.97801 167.19402 178.08602 188.97801 195.19402 202.19402 206.08602 212.30202 215.80202 222.80202 229.01802 232.91002 239.12602 243.78803 247.68003 252.34203 258.558 265.558 271.00404 275.66603 281.88203 286.544 290.044 296.26 303.26 310.26 314.152 321.152 327.368 330.868 337.868 344.868 348.76 352.652 363.544 367.436 373.652 379.868 386.868 390.368 394.26 401.26 404.76 415.652 419.544 426.544 430.436 441.328 445.22 451.436 457.652 461.152 465.044 472.044">The eDMA is a highly-programmable data-transfer engine optimized to minimize the</tspan><tspan y="53.25" x=".00601 4.66801 10.88401 17.88401 24.88401 28.77601 33.43801 39.65401 46.65401 50.15401 54.046014 61.046014 64.93801 71.154018 75.81602 82.81602 89.03202 96.03202 99.92402 103.81602 110.81602 117.81602 121.31602 125.97802 130.64002 137.64002 148.53202 152.03202 155.92401 162.92401 169.14002 172.64002 179.64002 186.64002 192.08602 195.97801 199.47801 206.47801 211.14002 218.14002 224.35602 230.57202 236.01802 241.46402 248.46402 253.12602 256.62605 260.12605 264.78804 268.68003 272.18003 276.07203 281.51805 285.01805 288.91004 295.91004 299.80204 306.01805 313.01805 320.01805 326.23405 333.23405 336.73405 341.39604 348.39604 353.058 356.558 363.558 369.00404 375.22004 378.72004 382.61204 389.61204 393.11204 399.32804 406.32804 413.32804 417.22004 421.11204 427.32804 433.54405 437.43605 441.32804 448.32804 455.32804 460.77406 464.27406 474.38206 481.38206 487.59806 492.26005">required intervention from the host processor. It is intended for use in applications where</tspan><tspan y="69.25" x=".00601 3.8980106 10.89801 17.11401 20.61401 27.61401 33.83001 37.72201 43.93801 47.43801 52.88401 56.776014 62.992013 69.208019 72.708019 76.60001 83.60001 87.10001 94.10001 100.31602 103.81602 107.708019 112.37002 118.58602 125.58602 131.03203 135.69403 141.91004 146.57204 151.23404 157.45005 164.45005 167.95005 171.84204 177.28804 180.78804 186.23404 190.12604 196.34204 200.23404 204.12604 210.34204 216.55805 220.45005 224.34204 231.34204 234.84204 241.84204 248.84204 255.84204 265.95005 272.95005 276.45005 282.66606 289.66606 296.66606 300.16606 307.16606 314.16606 318.05805 321.55805 328.55805 334.77406 339.43605 343.32804 350.32804 356.54405 363.54405 367.04405 377.15205 381.04405 384.93605 391.93605 395.82804 402.82804 406.32804 410.22004 417.22004 423.43605 426.93605 433.93605 440.15205 444.04405 450.26005 453.76005 460.76005 466.97605 473.19206 480.19206 486.40806">the data size to be transferred is statically known and not defined within the data packet</tspan><tspan y="85.25" x=".00601 3.8980106 7.790011 13.2360119 19.452012 23.344012 28.006012 31.506012 35.006013 43.560014 50.560014 56.776014 60.276014 66.49201 76.60001 89.04601 99.154018 102.654018 113.54601 120.54601 127.54601 134.54602 138.43802 144.65402 148.15402 152.81603 159.03203 165.24803 169.14003 176.14003 180.80204 187.01804 192.46404">itself. The eDMA module features:</tspan><tspan y="109.65" x="13.09602 24.002022 34.110025 38.002027 41.894029 45.394029 52.394029 58.610029 62.50203 68.71803 72.21803 83.11003 90.11003 97.11003 103.326038 114.21803 120.43404 127.43404 131.32604 134.82604 141.82604 145.71804 151.93404 155.43404 162.43404 169.43404 175.65004 179.54204 184.20404 190.42005 197.42005 204.42005 209.08205 215.29805 220.74405 226.19005 229.69005 233.58205 238.24405 244.46006 251.46006 256.90608 261.56806 267.78407 272.44606 277.89207 281.78407 285.28407 289.94606 296.16206 302.37806 309.37806 312.87806 317.54005 322.20204 329.20204 340.09403 343.59403 349.04005 356.04005 363.04005 367.70204 373.91804 380.13404 383.63404 387.13404 397.24205 401.90403 405.79603 409.68803 415.90403 419.40403 423.29603 430.29603 433.79603 440.79603 447.01203 452.45805 456.35005 460.24205 467.24205 473.45805 477.35005 481.24205 488.24205">•All data movement via dual-address transfers: read from source, write to destination</tspan><tspan y="134.05" x="37.10601 47.998014 55.782014 60.44401 67.444019 74.444019 79.10602 85.32202 96.21402 107.10602 113.32202 120.32202 124.21402 130.43003 133.93003 139.37602 146.37602 153.37602 158.03803 164.25403 170.47003 173.97003 180.18604 187.18604 194.18604 197.68604 204.68604 210.90204 216.34804 220.24004 224.13204 231.13204 237.34804 241.24004 245.13204 252.13204 259.13203 262.63203 268.84803 275.84803 282.84803 287.51 293.726 299.17204 304.61805 310.83406 316.28007 319.78007 325.99607 332.99607 339.99607 343.49607 347.38807 352.05006 358.26606 365.26606 370.71208 375.37406 381.59007 386.25205 389.75205 395.19807 399.09007 405.30607">•Programmable source and destination addresses and transfer size</tspan><tspan y="158.45001" x="37.10601 47.998014 55.782014 62.782014 69.78201 76.78201 83.78201 88.444019 92.33601 95.83601 100.49802 107.49802 112.16002 115.66002 121.87602 128.87602 135.87602 142.09203 149.09203 155.30803 161.52404 168.52404 172.02404 178.24004 185.24004 192.24004 196.90204 203.11804 208.56404 214.01004 217.90204 224.90204 231.90204 235.40204 246.29404 253.29404 260.29405 266.51005">•Support for enhanced addressing modes</tspan><tspan y="174.45001" x="13.096031 24.002034 31.002034 38.002035 42.664033 48.88003 55.88003 62.09603 69.09603 76.09603 82.312038 86.20403 89.70403 93.59603 104.48803 111.48803 115.38003 121.59603 132.48804 138.70404 145.70404 149.59604 155.81204 159.70404 163.59604 170.59604 177.59604 181.09604 184.98804 191.98804 198.20404 202.09604 205.59604 212.59604 218.81204 223.47405 228.13605 235.13605 239.79805 250.69005 256.13606 259.63606 265.85206 272.85206 283.74406 290.74406 294.63606 300.85206 307.85206 311.35206 318.35206 324.56806 328.46006 334.67607 338.17607 342.06806 346.73005 352.94606 359.94606 365.39207 370.05406 376.27006 380.93205 386.37806 389.87806 399.98606 403.87806 407.77006 414.77006 418.27006 429.16206 433.05406 440.05406 443.94606 454.83805 461.05406">•16-channel implementation that performs complex data transfers with minimal</tspan><tspan y="190.45001" x="24.002053 27.894053 34.89405 38.786054 45.002054 49.66405 56.66405 62.88005 69.88005 73.77205 77.66405 84.66405 91.66405 95.16405 99.82605 104.48805 111.48805 122.38005 125.88005 132.09606 135.59606 142.59606 149.59606 155.04206 158.93405 162.43405 169.43405 174.09606 181.09606 187.31206 193.52806 198.97406 204.42006 211.42006">intervention from a host processor</tspan><tspan y="214.85" x="37.106065 47.998067 52.660066 59.660066 63.552068 69.76807 74.43007 81.43007 87.64607 91.53807 95.03807 102.03807 108.254077 112.14607 118.362079 121.862079 128.86208 135.86208 140.52408 145.18608 151.40209 156.06409 159.56409 163.06409 170.06409 175.51009 181.72609 188.72609 192.22609 198.4421 203.88809 207.38809 211.28009 217.4961 228.38809 235.38809 242.38809 247.0501 253.2661 257.9281 264.9281 268.4281 273.8741 277.7661 284.7661 289.4281 295.6441 302.6441 308.8601 312.3601 316.2521 323.2521 326.7521 332.19813 339.19813 346.19813 353.19813 360.19813 364.8601 368.7521 372.2521 379.2521 386.2521 390.9141 397.9141 404.9141 408.8061 415.0221 418.5221 422.4141 427.07609 433.29209 440.29209 445.7381 450.4001 456.6161 461.27809">•Internal data buffer, used as temporary storage to support 16-byte transfers</tspan><tspan y="239.25" x="37.106077 47.998079 57.33608 64.336078 71.336078 78.336078 84.55208 90.76808 94.66008 98.55208 105.55208 112.55208 117.99808 121.49808 125.390079 132.39008 135.89008 139.78208 146.78208 152.99808 156.49808 162.71408 167.37609 174.37609 179.82209 185.26808 192.26808 198.48409 203.14609 206.64609 212.09209 222.20009 226.09209 229.98409 236.20009 243.20009 246.70009 251.36209 258.3621 263.02409 266.52409 273.52409 280.52409 285.9701 289.4701 300.3621 306.5781 312.0241 315.9161 322.1321 326.7941 330.6861 337.6861 344.6861 348.1861 352.0781 359.0781 365.2941 368.7941 375.7941 382.0101 385.9021 392.1181 395.6181 406.5101 413.5101 420.5101 426.7261 437.6181 443.8341 450.8341">•Connections to the crossbar switch for bus mastering the data movement</tspan><tspan y="263.65" x="13.096096 24.002099 32.5561 37.218099 43.434099 50.434099 55.880098 60.542097 66.758098 71.4201 74.9201 81.1361 88.1361 95.1361 99.0281 103.6901 110.6901 114.5821 118.0821 125.0821 131.2981 136.7441 142.9601 147.6221 151.5141 158.5141 162.4061 169.4061 174.0681 177.5681 182.2301 190.7841 200.1221 210.2301 214.8921 218.3921 225.3921 230.05411 237.05411 243.27011 250.27011 254.16211 260.3781 266.59413 273.59413 277.09413 280.9861 287.9861 291.4861 296.93214 303.93214 310.93214 317.93214 324.93214 329.59413 333.4861 336.9861 340.8781 350.9861 357.9861 362.6481 369.6481 375.8641 382.0801 389.0801 392.5801 396.0801 403.0801 409.2961 414.74214 418.63414 424.85014 431.85014 435.35014 439.24214 443.9041 450.12013 457.12013 462.56614 467.22813 473.44413">•Transfer control descriptor (TCD) organized to support two-deep, nested transfer</tspan><tspan y="279.65" x="24.002118 31.002118 38.002119 44.218118 48.880117 55.096117 58.988119 62.88012 69.88012 76.88012">operations</tspan><tspan y="304.05" x="37.106126 47.998128 54.998128 61.998128 66.660129 73.660129 80.660129 84.552127 90.76813 94.26813 102.82213 112.160129 122.26813 125.76813 131.21413 135.10613 142.10613 146.76813 152.98413 159.98413 163.48413 167.37613 174.37613 177.87613 181.76813 188.76813 194.98413 201.20014 205.09214 208.59214 219.48413 225.70014 236.59214 243.59214 248.25414 255.25414 258.75416 263.41615 270.41615 275.07814 278.57814 284.79414 291.01014 297.22615 304.22615 307.72615 313.94215 320.94215 327.15815 334.15815 341.15815 347.37416">•32-byte TCD stored in local memory for each channel</tspan><tspan y="328.44999" x="37.106138 47.99814 58.10614 65.10614 68.60614 72.49814 79.49814 86.49814 92.71414 97.376148 100.876148 107.876148 114.09215 117.984149 124.20015 127.70015 131.59215 136.25415 142.47016 149.47016 154.91616 159.57816 165.79416 170.45616 173.95616 177.84816 184.84816 191.84816 198.84816 202.34816 209.34816 215.56417 220.22617 224.11817 231.11817 237.33417 244.33417 247.83417 254.83417 261.83418 265.33418 271.55018 275.05018 285.94218 289.83418 296.83418 303.83418 308.49617 311.99617 318.99617 325.99617 329.88816 336.10417 339.60417 343.49617 348.15815 354.37416 361.37416 366.82017 371.48216 377.69816 382.36015 385.86015 392.07615 399.07615 406.07615 413.07615">•An inner data transfer loop defined by a minor byte transfer count</tspan><tspan y="352.84999" x="37.106168 47.99817 58.10617 65.10617 68.60617 75.60617 82.60617 86.49817 92.71417 97.376178 100.876178 107.876178 114.09218 117.98418 124.20018 127.70018 131.59218 136.25418 142.47019 149.47019 154.91619 159.57819 165.79419 170.45619 173.95619 177.84819 184.84819 191.84819 198.84819 202.34819 209.34819 215.5642 220.2262 224.1182 231.1182 237.3342 244.3342 247.8342 254.8342 261.8342 265.3342 271.5502 275.0502 285.9422 292.1582 296.0502 303.0502 307.7122 311.2122 315.1042 318.9962 325.2122 329.87419 336.09019 339.98219 343.87419 350.87419 357.87419 361.37419 367.59019 374.59019 381.59019 388.59019">•An outer data transfer loop defined by a major iteration count</tspan><tspan y="377.24998" x="13.096157 24.00216 33.34016 40.34016 46.55616 53.55616 60.55616 66.77216 70.66416 74.16416 80.380168 86.59617 90.48817 94.380168 101.380168 107.59617 111.48817 115.380168 122.380168 129.38016 132.88016 139.88016 143.77216 149.98816 153.48816 160.48816 167.48816 173.70417 177.20417 184.20417 188.86617 192.36617 196.25817 203.25817 207.92017 214.13617 220.35218 223.85218 234.74417 240.96018 244.85218 251.85218 258.85218 265.85218 271.2982">•Channel activation via one of three methods:</tspan><tspan y="401.64997" x="37.106138 47.99814 56.55214 63.55214 70.55214 74.44414 78.336139 84.55214 88.44414 92.336139 95.836139 101.282138 108.282138 112.94414 116.836139 126.94414 133.16014 137.82215 144.03815 147.53815 151.43015 158.43015 162.32215 166.21414 170.10614 176.32215 180.21414 184.10614 191.10614">•Explicit software initiation</tspan><tspan y="426.04997" x="37.106149 47.99815 52.66015 59.66015 63.55215 67.44415 71.33615 77.552158 81.44415 85.33615 92.33615 99.33615 102.83615 109.83615 113.72815 119.94415 123.44415 129.66016 133.16016 139.37616 146.37616 152.59217 159.59217 166.59217 172.80817 176.70017 181.36217 185.25417 192.25417 196.91617 203.13217 210.13217 216.34818 223.34818 230.34818 236.56418 240.45618 243.95618 247.84818 251.74018 258.74018 265.74018 269.63218 276.63218 283.63218 287.13218 298.02418 304.24018 310.45619 317.45619 323.67219 330.67219 334.56419 340.0102 350.9022 354.4022 359.06419 366.06419 370.72618 374.22618 380.44218 387.44218 394.44218 398.33418 402.22618 409.22618 416.22618 423.22618 430.22618 435.67219 439.17219 443.06419 447.72618 453.94218 460.94218 466.38819 471.05018 477.26618 481.92817">•Initiation via a channel-to-channel linking mechanism for continuous transfers</tspan><tspan y="450.44996" x="37.106168 47.99817 55.78217 61.99817 66.66017 70.55217 77.55217 84.55217 90.76817 95.430179 101.64618 105.53818 110.20018 117.20018 123.41618 129.63219 135.84819 142.84819 146.34819 153.34819 159.5642 164.2262 171.2262 181.3342 187.5502 192.2122 198.4282 201.9282 206.59021 212.80622 219.80622 226.80622 233.02222 238.46822 242.36022 247.80622 251.30622 254.80622 261.8062 268.8062 275.02223 278.52223 285.52223 291.73823 296.4002 299.9002 306.1162 313.1162 319.3322 326.3322 333.3322 339.54823">•Peripheral-paced hardware requests, one per channel</tspan><tspan y="474.84996" x="13.096136 24.002137 31.786137 35.67814 42.67814 48.89414 55.89414 60.556138 67.55614 72.21814 76.11014 83.11014 87.77214 91.66414 95.55614 102.55614 106.05614 112.27214 119.27214 126.27214 129.77214 134.43415 141.43415 148.43415 155.43415 162.43415 167.09615 171.75815 178.75815 185.75815 189.65015 196.65015 200.15015 206.36615 213.36615 219.58216 226.58216 233.58216 239.79816 243.69016 247.19016 253.40616 258.06816 265.06816 268.96015 272.85215 277.51414 283.73014 287.62214 291.51414 298.51414">•Fixed-priority and round-robin channel arbitration</tspan><tspan y="499.24995" x="13.096107 24.002108 33.34011 40.34011 46.55611 53.55611 60.55611 66.77211 70.66411 74.16411 80.38011 87.38011 98.27211 105.27211 109.16411 115.38011 119.27211 123.16411 130.16411 137.16411 140.66411 145.32611 151.54212 158.54212 165.54212 170.20412 174.09612 180.31212 187.31212 190.81212 197.81212 201.70412 207.92012 211.42012 218.42012 225.42012 229.31212 233.20412 240.20412 247.20412 253.42012 257.31214 260.81214 264.70414 271.70414 275.59614 281.81214 286.47413 291.1361 298.1361 305.1361 309.0281 312.5281 317.1901 323.4061 330.4061 337.4061 343.6221 349.0681 352.9601">•Channel completion reported via optional interrupt requests</tspan><tspan y="523.6499" x="37.106088 47.99809 58.10609 65.106098 71.3221 74.8221 78.714099 85.714099 89.606098 95.8221 100.4841 105.1461 112.1461 119.1461 123.0381 126.5381 133.5381 139.7541 144.4161 147.9161 154.13211 161.13211 167.34812 174.34812 181.34812 187.56412 191.45612 194.95612 198.45612 205.45612 212.45612 216.34812 220.24011 227.24011 234.24011 240.45612 244.34812 248.24011 255.24011 258.7401 264.95613 270.40214 275.84815 282.06416 286.72615 290.61814 296.83415 303.83415 307.33415 313.55015 317.44215 320.94215 327.15815 334.15815 345.05015 352.05015 355.94215 362.15815 366.05015 369.94215 376.94215 383.94215 387.44215 394.44215 399.10414 402.60414 413.49613 419.71214 423.60414 430.60414 435.2661 438.7661 442.6581 446.5501 452.7661 457.4281 463.6441 467.5361 471.4281 478.4281">•One interrupt per channel, optionally asserted at completion of major iteration</tspan><tspan y="539.6499" x="47.998109 54.214109 61.214109 68.21411 75.21411">count</tspan><tspan y="564.0499" x="37.106119 47.99812 58.10612 65.106128 68.99812 72.89012 79.89012 86.89012 93.106128 96.99812 100.49812 106.71413 111.37613 116.03813 123.03813 127.700138 131.20014 135.09214 141.30814 145.97014 156.86214 160.75414 167.75414 173.97014 177.86214 181.75414 188.75414 195.75414 201.20014 204.70014 211.70014 217.91614 222.57814 226.07814 232.29415 239.29415 245.51015 252.51015 259.51014 265.72615 269.61814 273.11814 279.33415 286.33415 293.33415 296.83415 300.72615 307.72615 314.72615 318.61814 324.83415 331.05015 334.94215 338.83415 345.83415 349.33415 354.78016 361.78016 372.67216 383.56416 389.78016 396.78016 400.28016 404.17216 411.17216 418.17216 424.38816 428.28016 435.28016 441.49617 446.15815 449.65815 453.55015 460.55015 464.05015 468.71214 475.71214 480.3741">•Optional error terminations per channel and logically summed together to form</tspan><tspan y="580.0499" x="47.998109 54.998109 61.998109 68.21411 71.71411 77.930118 82.59212 87.25412 94.25412 98.91612 102.41612 106.30812 113.30812 117.20012 123.41612 128.07813 132.74013 139.74013 146.74013 150.63213 154.13213 158.02413 165.02413 168.52413 172.41613 179.41613 185.63213 189.13213 193.02413 200.02413 203.91613 210.13213 214.79413 219.45613 226.45613 233.45613 237.34813 240.84813 247.06414 254.06414 261.06416 264.95616 269.61814 276.61814 280.51014 284.40214 290.61814">one error interrupt to the interrupt controller</tspan><tspan y="604.44998" x="13.096088 24.00209 34.110094 41.110094 45.002096 48.894098 55.894098 62.894098 69.1101 73.0021 76.5021 81.9481 88.9481 95.9481 102.9481 109.9481 114.6101 118.5021 122.0021 126.6641 133.6641 138.3261 141.8261 147.2721 153.4881 159.7041 163.5961 167.4881 173.7041 178.3661 182.2581 189.2581 195.4741 199.3661 206.3661 212.5821 217.24411 220.74411 230.85211 243.29811 253.40612 256.90614 263.90614 268.5681 275.5681 281.78413 288.00013 293.44615 298.89216 302.78416 309.78416">•Optional support for scatter/gather DMA processing</tspan><tspan y="628.85" x="13.096118 24.00212 31.78612 38.786119 45.786119 52.786119 59.786119 64.44812 68.34012 71.84012 76.50212 83.50212 88.16412 91.66412 97.88013 104.88013 115.772129 122.772129 126.66412 132.88013 139.88013 143.38013 150.38013 156.59613 160.48813 166.70413 170.20413 175.65013 179.54213 184.20413 191.20413 197.42014 201.31214 208.31214 212.97414 219.19014">•Support for complex data structures</tspan><tspan y="653.25" x="13.096118 24.00212 31.78612 38.786119 45.786119 52.786119 59.786119 64.44812 68.34012 71.84012 75.73212 82.73212 86.23212 92.44812 98.66412 105.66412 111.88013 118.09613 121.98813 125.48813 129.38013 134.04213 140.25814 147.25814 152.70413 157.36614 163.58214 168.24414 173.69014 177.19014 184.19014 188.08214 194.29814 197.79814 203.24414 210.24414 214.90615 218.79814 228.90615 235.12215 239.78415">•Support to cancel transfers via software</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>
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