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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_471.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

1112 lines
101 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 132.10004 352)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="187.94699 194.44499 199.44899 204.45299 209.45699 212.958 215.45999 220.95899 223.95598 226.45798 231.95697">Description</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250024 394.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.546 35.55">17</tspan><tspan y="18.83789" x="29.303999 35.802">CX</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 415.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08045 498)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 14.499001 21.996003 27.000004 28.998005 31.500006 36.504007 41.508008 46.51201 49.50901 54.513013 57.01501 59.013013 64.01701">Normal operation</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08045 509)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.4980008 11.502001 16.506 21.006 26.010003 28.008004 30.510004 33.012006 38.016008 43.020009 45.522008 48.51901 53.52301 61.02001 66.02401 68.02201 73.02601 75.02401 80.02801 85.032009 87.534008 92.538 97.542 100.044 105.048 107.549999 110.051998 113.048999 118.05299 123.05699 127.55699 130.05899 135.06299 138.05998 140.56198 142.55998 147.56398 150.06598 152.56798 157.57198 162.57598 165.07798 169.57798 174.58197 182.07897 187.08296 189.58496 192.08696 197.09096 201.59096 206.59496 208.59296 213.59696 218.60095 221.10295 226.10695 230.60695 233.10895 235.61095 240.61495 245.61894 248.12094 254.61894 260.62196 263.12397 268.12797 270.12596 272.62797 275.12998 277.632 283.63499 286.137 291.141 296.145 298.647 301.14903 306.153 311.157 313.65904 318.66304 323.16304 328.16703 332.66703 337.67103 340.17304 342.17103 347.17503 352.17903 354.68104 359.18104 364.18504 369.18904 374.19303 379.19703 384.20103 386.199 388.70103 393.70503 398.709">Cancel the remaining data transfer in the same fashion as the CX bit. Stop the executing channel and</tspan><tspan y="20.83789" x=".00003 2.5020304 7.506031 10.503031 15.003031 20.00703 22.509032 25.011033 30.015034 35.019037 37.521036 45.018037 47.016038 52.02004 57.02404 60.02104 62.52304 64.52104 69.52504 74.52904 79.533039 82.035037 84.53703 89.54103 92.04303 94.54503 96.54303 101.54703 103.54503 108.04503 113.04903 115.551029 118.053028 123.552028 128.55603 133.56003 136.06203 140.56203 145.56603 150.57003 155.07003 160.07402 162.07202 164.57402 167.07602 172.08002 176.58002 181.58402 186.08402 188.58602 193.59001 196.09201 198.59401 203.598 208.098 210.6 213.102 218.106 220.608 223.11 228.114 231.111 233.61299 236.11499 241.11899 246.12299 248.62499 250.62299 255.62699 260.12699 262.629 265.131 271.629 274.626 276.624 279.126 284.13 286.63203 291.63603 294.13804 296.64006 299.14207 304.14607 309.15007 311.65208 316.15208 321.15608 324.15309 327.1501 332.15409 337.15809 339.6601 342.1621 345.15913 350.16313 355.1671 360.1711 362.67314 369.1711 372.16813 374.1661 376.66813">force the minor loop to finish. The cancel takes effect after the last write of the current read/write</tspan><tspan y="31.83789" x=".00003 4.50003 9.50403 14.508031 19.512032 24.516034 29.520035 34.020036 39.024038 41.526037 44.028036 49.527036 54.531038 59.535039 62.037038 68.04004 74.53804 80.54104 83.04304 88.047039 90.04504 92.547039 95.049037 99.549037 101.547039 106.55103 111.55503 114.55203 119.05203 121.55403 123.55203 126.05403 130.55403 135.55803 137.55603 140.05803 142.56003 147.56403 150.06603 152.56803 157.57202 160.56902 163.07102 165.57302 170.57701 175.58101 178.08301 182.58301 187.587 192.591 197.091 202.095 204.093 206.595 208.593 213.093 215.595 220.599 225.603 230.607 235.611 238.60799 243.61199 248.61598 251.11798 253.61998 256.12199 261.12599 263.628 268.632 273.636 278.63999 280.63798 283.13999 285.13798 290.14198 295.14598 297.64799 300.15 305.154 307.656 312.156 317.16 322.164 326.664 331.668 333.666 335.66398 337.66197 342.66596 347.66996 350.17198 352.67399 357.67799 362.68199 365.184 367.686 370.683 375.687 380.691 385.191 387.69303 392.69703 395.69404">sequence. The ECX bit clears itself after the cancel is honored. In addition to cancelling the transfer,</tspan><tspan y="42.83789" x=".000069999998 6.0030705 12.501071 18.50407 21.006072 23.508072 26.505072 31.509072 36.513074 39.01507 43.51507 46.01707 48.51907 53.52307 58.527074 61.02907 65.52907 70.533069 75.53706 80.03706 85.04106 87.03906 89.54106 94.54506 99.04506 101.54706 106.551059 111.55505 114.05705 119.06105 122.05805 125.05505 130.05905 133.05605 135.55805 140.05805 145.06204 150.06604 155.07004 157.06804 159.57004 161.56804 166.57204 171.57604 174.07804 176.58003 179.08203 184.08603 189.09003 193.59003 196.09203 201.09603 206.10002 211.10402 216.10802 218.61002 220.60802 225.61202 230.61602 233.11801 235.62001 240.62401 245.628 248.13 254.13301 260.13603 262.63804 265.63505 270.63905 275.64305 277.64103 282.14103 284.64305 289.64704 292.64405 295.14607 300.15007 305.15406 310.15806 312.66007 317.66407 322.66807 327.67207 332.67607 335.67308 340.67707 343.17909 345.17707 350.18107 355.18507 357.68708 362.69108 367.69508 370.19709 375.20109 380.20509 382.7071 384.70509 389.70909 394.71308 399.71708">ECX treats the cancel as an error condition, thus updating the ES register and generating an optional</tspan><tspan y="53.83789" x=".000069999998 5.0040709 8.001071 10.998071 16.002072 18.999072 21.501072 23.499073 28.503075 31.005076 36.009077 39.006078 42.00308 47.00708 52.01108 54.51308">error interrupt.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250024 570.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="25.542 30.546002 35.550004 40.554006">15&#x2013;8</tspan><tspan y="18.83789" x="16.29 22.788002 27.792004 32.292005 37.296007 40.293008 44.793008 49.79701">Reserved</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 570.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 40.509008 45.009008 47.511007 50.508008 55.51201 60.01201 65.01601 68.01301 72.51301 77.517009 82.521">This field is reserved.</tspan><tspan y="18.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 80.523 85.023 87.525 90.522 95.526 100.026 105.03 108.027 112.527 117.531 122.534999 125.036998 130.041 135.045 140.049 142.551 147.555 149.553 156.051 161.055 165.555 170.055 172.55699 177.56099 182.56499 187.06499 189.56699 192.06899 197.07299 202.07698 204.57898 209.07898 214.08298 216.08098 221.08498 226.08898 228.59098 233.59497">This read-only field is reserved and always has the value 0.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250024 597)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">7</tspan><tspan y="18.83789" x="22.554 28.557002 36.054 41.058004">EMLM</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 597)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 16.011002 21.015004 23.013005 28.017006 30.519007 38.016008 40.014009 45.01801 50.02201 53.019014 55.52101 60.525014 65.529018 70.53301 75.53701 78.03901 85.53601 90.54001 95.54401 100.548007 102.546009 107.55">Enable Minor Loop Mapping</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 618)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08045 618)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 8.496 12.996 18 23.004002 25.002003 30.006005 35.010007 37.512006 40.014005 45.513006 52.011007 58.509008 63.51301 66.01501 72.51301 77.517009 80.51401 85.518009 90.522 93.024 95.022 99.522 102.024 107.028 112.032 114.534 116.532 121.535999 126.53999 131.54399 134.04599 139.04999 143.54999 146.05199 151.05599 153.55799 158.56198 163.56598 166.56298 171.56697 173.56497 176.06697 178.56897 185.06697 191.06998 197.07299 202.57198 208.57498 214.57799 217.07999 219.58199 221.57999 226.58399 228.58199 233.58599">Disabled. TCDn.word2 is defined as a 32-bit NBYTES field.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08045 629)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.0030004 11.007001 16.011002 21.015004 23.013005 28.017006 33.021009 35.523008 38.025007 43.524007 50.022008 56.520009 61.52401 64.02601 70.52401 75.52801 78.52501 83.52901 88.533008 91.035 93.033008 97.533008 100.035 103.032009 108.036 113.04 118.044 120.546 122.544 127.548 132.552 137.556 140.058 142.56 147.564 150.066 152.064 157.068 161.568 163.566 168.56999 173.57399 178.57799 181.07999 183.07799 188.08199 193.08599 195.08399 199.58399 201.58199 206.58599 211.58998 216.59398 218.59198 221.09398 226.09798 231.10198 236.10597 241.10997 243.10797 248.11197 250.61397 253.11597 255.11397 260.11799 262.11598 267.11997 271.61997 274.12199 276.624 281.628 286.632 289.134 294.138 296.64 299.14204 303.64204 308.64604 311.14805 313.65007 316.15208 318.15007 323.15406 325.15205 330.15605 332.65806 335.16007 340.16407 345.16807 350.17207 352.67408 355.1761 360.18009 365.18409 367.6861 374.18409 380.18708 386.19007 391.68907 397.69206">Enabled. TCDn.word2 is redefined to include individual enable fields, an offset field, and the NBYTES</tspan><tspan y="20.83789" x=".00003 2.5020304 4.5000307 9.504031 11.502031 16.506031 19.008032 21.510033 27.009034 32.013036 37.017038 39.519037 41.517038 46.521039 51.52504 53.52304 58.02304 60.02104 65.02504 70.02904 75.033039 77.03104 79.533039 84.53703 89.54103 94.54503 99.54903 101.54703 106.551029 109.053028 111.55502 113.553028 118.55702 120.55502 125.55902 130.05902 132.56102 137.56502 139.56302 141.56102 146.56502 153.06302 155.56502 158.06702 163.07102 168.07501 170.57701 178.074 180.072 185.076 190.08 193.077 195.579 197.577 202.581 207.58499 212.58899 215.09099 220.09499 222.59699 225.09899 229.59899 234.60298 237.10498 239.60698 242.10898 247.11298 249.61498 254.61898 259.623 262.125 267.129 272.133 277.137 279.13499 281.13298 286.13697 291.14097 293.64299 296.145 301.149 303.651 306.153 311.157 316.161 318.66304 323.16304 328.16703 333.17103 336.16804 340.66804 345.67204 348.17405 353.17805 358.18205 363.18605 366.18305 371.18705 375.68705 380.18705 382.68907 385.19108 387.69309 392.69709">field. The individual enable fields allow the minor loop offset to be applied to the source address, the</tspan><tspan y="31.83789" x=".00003 5.0040309 10.008032 14.508032 17.010033 19.008034 24.012036 29.016037 31.518038 33.516038 38.52004 43.52404 46.02604 51.03004 56.034044 61.038045 64.03504 69.03904 73.53904 78.03904 80.54104 83.04304 88.047039 91.04404 93.546039 98.55003 103.55403 106.05603 111.06003 113.56203 116.064029 121.56303 126.567028 131.57103 134.07303 140.57103 146.57404 152.57704 158.07604 164.07904 170.08205 172.58405 175.08605 177.08405 182.08805 184.08605 189.09004 191.59204 193.59004 198.09004 200.59204 203.58904 208.59304 213.59703 218.60103 223.10103 228.10503 233.10903 235.61103 242.10903 247.11302 252.11702 257.12104 259.62306 264.62705 266.62504 269.12705 274.13105 279.13505 282.13206 284.63407 289.63807 292.14009 294.6421 299.1421 304.1461 306.6481 309.15013 311.1481 315.6481 318.15013 323.1541 328.1581 333.1621 338.1661 340.1641 345.1681 350.1721">destination address, or both. The NBYTES field is reduced when either offset is enabled.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250024 668.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">6</tspan><tspan y="18.83789" x="26.046002 32.544004 37.548006">CLM</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 668.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.506 19.008002 21.006 26.010003 31.014004 36.018007 41.022008 45.522008 48.024007 53.028009 55.02601 60.03001 64.530017 67.03201 74.529018 79.53301 84.53701">Continuous Link Mode</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 696.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="180.963 185.967 190.971 196.46999 198.46799 203.47199 205.97399 210.97798 215.98198 220.98598 223.48798 225.48598 230.48998 235.49398 240.49797 244.99797 247.49997 252.50397 257.50798 260.00999 262.512 267.516 272.52 275.022 280.026 285.03 289.53 292.032 294.53404 300.03303 305.03703 310.536 315.54 318.04203 320.54405">Table continues on the next page...</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01034" x="278.955 285.45298 290.95198 295.95597 301.45497 304.45198 309.45597 312.95698 315.45899 320.46299 325.46699 327.969 334.46699 336.969 340.47 345.474 350.478 353.475 355.97703 363.47404 368.47804 376.47904 381.97804 385.47904 390.48304 392.98506 399.48304 404.48704 409.49104 414.49504 419.49903 424.50303 427.00505 433.50303 439.002 444.501 447.49803 450.99903 456.49803 459.00004 461.50205 466.50605 470.00706 472.50907 475.50608 480.51008 487.00807 494.50508 501.00306">Chapter 22 Direct Memory Access Controller (eDMA)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 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 54.000024 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 1 220.32004 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 1 391.68003 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">471</tspan></text>
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