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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_472.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

502 lines
55 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 101.182819)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.0030004 8.505001 16.002003 18.000004 23.004006 28.008008 31.005007 33.507009 35.50501 40.50901 45.513013 50.517015 53.019014 57.519014 62.523015 67.527019 72.53101 77.53501 82.53901 84.53701 87.03901 89.03701 91.03501 96.03901 100.53901 103.04101 110.53801 115.54201 120.546009 125.55 128.052 130.554 135.558 138.06 140.058 142.56 147.06 152.064 154.062 156.564 159.066 164.06999 169.07399 174.07799 178.57799 181.07999 186.08399 191.08798 193.58998 196.09198 201.09598 206.09998 208.60198 211.10398 216.10797 219.10497 224.10897 229.11296 234.11696 239.12096 241.62296 246.12296 251.12696 256.13096 261.13496 266.13896 271.14295 273.14094 275.64295 280.64695 283.64396 288.64796 290.64595 293.14796 296.14497 301.14897 303.65098 305.64897 310.65296 315.65696 318.15898 323.16297 328.16697 330.66899 335.67298 338.66999 343.67399 346.176 351.18 356.184 358.18199 363.18598 368.18998 370.692 375.69599 380.19599 382.698 384.69599 389.19599 394.19999 396.702 401.706">A minor loop channel link made to itself does not go through channel arbitration before being activated</tspan><tspan y="20.83789" x="0 5.0040009 10.008001 15.012002 17.010003 22.014004 24.516005 27.018006 33.516008 38.520009 43.52401 48.52801 51.03001 58.52701 60.525014 65.529018 70.53301 73.530017 76.03201 78.030017 83.03401 88.03801 93.04201 95.54401 100.04401 105.048007 112.545009 117.549 119.547008 124.551 127.053 129.051 134.055 139.05899 141.56099 144.06299 146.56499 151.56899 156.57299 159.07498 163.57498 168.57898 173.58298 178.58698 183.59098 188.59497 190.59297 193.09497 198.09897 202.59897 205.10097 207.09897 211.59897 216.60297 219.10497 224.10897 228.60897 231.11096 236.11496 241.11896 246.12296 248.12096 253.12496 255.62696 257.62495 260.12696 262.62898 265.13099 270.13499 275.13899 277.641 280.143 284.643 289.647 294.651 299.655 304.659 309.663 311.66099 314.163 319.167 324.171 328.671 331.173 336.177 338.67903 346.17604 348.174 353.178 358.182 361.17903 363.68104 365.67903 370.683 375.687">again. Upon minor loop completion, the channel activates again if that channel has a minor loop</tspan><tspan y="31.83789" x=".00004 4.50004 9.504041 14.508041 19.512043 24.516045 29.520047 31.518048 34.020048 36.018049 38.01605 43.02005 47.52005 50.02205 55.02605 60.030054 65.03405 70.03805 72.03605 77.04005 82.044048 84.54604 89.55004 94.55404 99.55804 102.060039 104.562038 109.56603 114.57003 117.07203 119.07003 121.06803 126.07203 130.57202 133.07402 137.57402 142.57802 147.58202 152.58602 157.59001 162.59401 164.59201 167.09401 169.09201 173.59201 176.09401 178.09201 180.59401 185.09401 190.098 192.09601 194.598 197.1 199.602 205.101 210.105 212.103 216.603 219.105 224.109 226.611 229.11299 234.11699 238.61699 241.11899 243.11699 247.61699 252.62099 254.61899 259.119 261.621 266.625 271.629 276.633 278.63099 280.62898 285.63298 290.13298 292.63499 295.137 300.141 305.145 307.647 315.144 317.142 322.146 327.15 330.147 332.64903 334.647 339.651 344.655 349.659 352.161 357.165 359.66703 362.16905 366.66905 371.67304 374.17506 378.67506 381.17707 386.18107 391.18507">channel link enabled and the link channel is itself. This effectively applies the minor loop offsets and</tspan><tspan y="42.83789" x=".00004 2.99704 8.00104 12.50104 15.00304 20.007042 23.004042 25.506043 30.006043 32.50804 35.01004 40.01404 45.018045 47.520044 52.524045 57.528047 62.028047 64.530048 67.03204 74.529048 76.52705 81.531047 86.53504 89.53204 92.03404 94.03204 99.03604 104.04004 109.04404">restarts the next minor loop.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 151.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">5</tspan><tspan y="18.83789" x="24.048 30.546002 36.549005 41.553007">HALT</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 151.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 13.500001 16.002 18.504002 25.002003 32.499006 38.502008 41.004007 48.006006 53.010007 58.014009 61.01101 66.01501 68.517009 70.51501 75.519008 80.523">Halt DMA Operations</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 172.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 172.68283)" 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 1 148.08042 183.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.0030004 8.505001 13.509002 15.507002 17.505002 20.007002 22.509003 27.513005 32.517007 35.019006 39.519006 42.021005 47.025007 50.022008 52.524007 55.026006 60.030008 62.532007 65.034008 70.038 75.042 79.542 82.044 87.048 92.051998 98.549999 101.051998 105.551998 110.55599 115.55999 120.56399 125.567989 130.57199 132.56999 137.06999 139.57199 142.07399 148.077 152.577 157.581 162.081 167.08499 169.58699 171.58499 176.58899 181.59299 184.09499 188.59499 193.59899 198.60298 203.60698 208.61098 213.61498 215.61298 220.11298 222.61498 227.61898 230.61597 235.61997 238.12197 243.12596 245.12397 247.12197 252.12596 258.62397 263.62797 268.63197 271.13398 273.636 278.63999 281.142 285.642 290.646 298.143 303.147 305.145 310.149 312.651 317.655 320.157 322.65904 329.157 334.161 339.165 344.169 349.173 354.177 356.175 358.677 363.681 368.181 373.185 377.685 382.689 385.191 387.189 392.193">Stall the start of any new channels. Executing channels are allowed to complete. Channel execution</tspan><tspan y="20.83789" x="0 2.997 8.001 12.501 17.505002 25.002003 30.006005 34.506006 37.008005 43.506006 48.510007 53.514009 58.51801 61.020009 63.522008 68.52601 70.52401 75.02401 77.52601 82.53001 84.52801 87.03001 89.532009 91.53001 96.03001 98.532009 103.032009 105.03001 110.034008 115.038 118.035 123.039 128.043">resumes when this bit is cleared.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 212.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">4</tspan><tspan y="18.83789" x="25.803002 32.301004 39.303">HOE</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 212.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 13.500001 16.002 18.504002 25.506003 30.510003 33.012 39.015 42.012 45.009004 50.013006">Halt On Error</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 233.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 233.18283)" 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 1 148.08042 244.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.0030004 11.007001 15.507001 18.009 23.013 26.01 29.007 34.011 37.008005 39.510004 44.010004 49.014005 54.018007 58.518007 63.522008 68.022 70.524 73.026 78.03 83.034 85.535999 92.034 98.036998 103.04099 108.53999 111.04199 116.04599 118.04399 120.54599 123.04799 125.54999 130.55399 133.05599 137.55599 142.55998 145.06198 147.56398 150.06598 156.06899 161.07299 166.07698 170.57698 175.58098 180.58498 185.58898 190.59297 195.59697 198.09897 200.09697 204.59697 207.09897 209.60097 214.60497 216.60297 218.60097 221.10297 225.60297 230.60697 233.60396 238.10396 240.10196 244.60196 249.60596 252.10796 255.10495 260.10896 265.11296 270.11695 275.12095 279.62095 282.12297 286.62297 289.12498 294.12898 297.12599 302.12998 304.632 306.62998 311.63398 316.63798 321.64198 324.63899 329.64299 334.64698 337.149 342.15299 347.15699 349.659 351.65699 353.65498 356.15699 358.659 363.663 368.667 371.169 377.667 383.66999 388.67399 394.17298 396.675 401.679 403.67698">Any error causes the HALT bit to set. Subsequently, all service requests are ignored until the HALT bit</tspan><tspan y="20.83789" x="0 1.9980002 6.498 9 13.5 15.498 20.502 25.506 28.503 33.507 38.511">is cleared.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 272.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">3</tspan><tspan y="18.83789" x="16.299 22.797 27.801003 32.301004 37.305006 40.302007 44.802007 49.806009">Reserved</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 272.68284)" 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 56.249994 299.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">2</tspan><tspan y="18.83789" x="23.049 29.052 35.55 42.048">ERCA</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 299.18284)" 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 37.017007 42.021009 47.02501 52.02901 57.033014 59.53501 66.03301 71.03701 76.04101 78.03901 83.04301 85.545009 92.04301 97.047008 102.051 107.055 112.059 117.062999 119.061 121.562999 127.565998 130.56299 135.56699 137.56499 140.06699 143.06398 148.06798 150.56998 152.56798 157.57198">Enable Round Robin Channel Arbitration</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 320.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 320.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 7.497 11.997 17.001 22.005002 24.507002 29.511002 32.508005 34.506006 39.510007 42.507009 44.50501 47.007009 51.507009 54.009008 59.01301 62.01001 67.01401 69.01201 71.51401 74.51101 79.51501 82.017009 84.01501 89.019008 94.023 96.525 98.523 103.023 105.525 110.529 115.029 120.033 125.036998 127.538997 130.041 135.045 138.04199 140.54399 145.04399 150.04799 155.05199 160.05599 165.05998 170.06398 172.06198 174.56398 179.06398 184.06798 186.06598 191.06998 195.56998 198.07198 200.06998 205.07398 210.07798 212.57997">Fixed priority arbitration is used for channel selection .</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 331.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.4980008 11.502001 16.506 21.510003 26.514004 29.016005 32.013006 37.017007 42.021009 44.01901 49.02301 51.52501 56.52901 59.526014 64.530017 66.528018 69.030017 72.027019 77.03101 79.53301 81.53101 86.53501 91.53901 94.04101 96.03901 100.53901 103.04101 108.045009 112.545009 117.549 122.553 125.055 127.557 132.561 135.558 138.06 142.56 147.564 152.568 157.57199 162.57599 167.57999 169.57799 172.07999 176.57999 181.58399 183.58199 188.58599 193.08599 195.58798 197.58599 202.58998 207.59398 210.09598">Round robin arbitration is used for channel selection .</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 348.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">1</tspan><tspan y="18.83789" x="22.797 28.800002 35.298 41.301004">EDBG</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 348.6828)" 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 37.017007 42.021009 47.02501 52.02901">Enable Debug</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 369.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 369.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 8.496 13.500001 18.504002 23.508004 26.010004 28.008004 33.012006 35.514005 40.518007 45.522008 50.52601 55.53001 60.53401 63.03601 70.53301 75.53701 80.54101 85.545009 88.047008 90.549 93.051 98.055 103.059 105.561 112.059 119.556 125.559 128.061 132.561 137.565 142.569 145.071 147.069 152.073 157.077 162.081 166.581 169.083 171.58499 176.58899 179.09099 184.09499 189.09899 194.10298 197.09998 202.10398 204.60597 209.60997">When in debug mode, the DMA continues to operate.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 380.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 8.496 13.500001 18.504002 23.508004 26.010004 28.008004 33.012006 35.514005 40.518007 45.522008 50.52601 55.53001 60.53401 63.03601 70.53301 75.53701 80.54101 85.545009 88.047008 90.549 93.051 98.055 103.059 105.561 112.059 119.556 125.559 128.061 132.561 135.063 140.067 142.065 144.063 148.563 151.065 153.567 158.571 163.575 166.077 170.577 173.079 178.083 181.07999 183.58199 186.08399 191.08798 193.58998 196.09198 201.09598 203.59798 208.60198 213.60597 220.10398 222.60597 227.10597 232.10997 237.11397 242.11797 247.12197 252.12596 254.12397 256.62599 259.128 265.13099 269.63099 274.63499 279.13499 284.13899 286.641 288.63899 293.64299 298.64698 301.149 305.649 310.65299 315.65699 320.66099 325.66499 330.66899 332.66697 337.16697 339.66899 344.67298 347.66999 352.67399 355.176 360.18 362.17799 364.17597 369.17997 375.67796 380.68196 385.68595 388.18797 390.68998">When in debug mode, the DMA stalls the start of a new channel. Executing channels are allowed to</tspan><tspan y="20.83789" x="-.00004 4.49996 9.503961 17.000962 22.004963 24.002964 29.006966 31.508967 36.512968 39.014966 41.516965 48.014966 53.018968 58.02297 63.02697 68.03097 73.034969 75.03297 77.534969 82.53896 87.03896 92.04296 96.54296 101.54696 104.04896 106.04696 111.05096 116.054958 118.55695 121.553958 126.55795 131.05796 136.06195 143.55895 148.56295 153.06295 155.56494 162.06295 167.06694 172.07094 177.07494 179.57694 182.07894 187.08293 192.08693 194.58893 199.08893 203.58893 208.08893 210.59093 215.59493 223.09192 225.59392 230.59792 235.09792 237.09592 239.59792 244.09792 246.59992 251.60391 256.6079 261.6119 266.6159 271.6199 274.12193 281.61894 286.62294 291.62693 296.63093 299.13294 304.13694 307.13395 309.63597 312.13798 317.14198 322.14598 324.64799 330.65098 337.14897 343.15196 350.15397 352.65599 357.65998 359.65797 362.15998 364.662 366.65998 371.15998 373.662 378.162 380.15998 385.16398 390.16798 393.16499 398.16899 403.17298">complete. Channel execution resumes when the system exits debug mode or the EDBG bit is cleared.</tspan></text>
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