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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_479.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

602 lines
54 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 82)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 16.680003 20.850003 29.190003 33.360006">22.3.5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 109.87329 82)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.830001 15.000002 23.340004 31.680005 37.515005 41.685007 51.690008 60.855009 69.19501 78.36001 82.53001 90.87001 95.04001 105.04501 110.88001 116.71501 125.88001 131.71501 135.88501 140.05501 149.22 154.215 162.555 168.39 174.225 183.39 192.555 197.54999 201.71999 212.54999 220.88999 230.05498 234.22498 242.56497 247.55997 255.89997 261.73497 265.90498 270.89997 281.72996 294.22496 305.05494 313.39494 324.2249 334.22993 344.23493 348.40495">Clear Enable Error Interrupt Register (DMA_CEEI)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="88.65" x="-.002 8.552 15.552 21.768002 25.268002 34.606004 43.160005 51.714006 56.376005 59.876005 66.87601 71.53801 78.53801 85.53801 89.43001 96.43001 102.64601 108.09201 111.59201 117.808017 121.308017 126.75401 130.64601 141.53801 148.53801 152.43001 158.64601 162.14601 173.03801 179.25402 190.14601 197.14601 201.80802 208.80802 213.47002 224.36202 230.57802 237.57802 244.57802 250.79402 257.794 261.294 272.186 278.402 284.618 291.618 297.834 304.834 308.726 314.17204 325.06404 328.56404 332.45603 339.45603 342.95603 349.17204 353.06404 359.28004 365.49604 370.15803 373.65803 379.87403 383.37403 390.37403 394.26603 401.26603 407.48204 414.48204 417.98204 424.98204 428.87403 432.76603 436.26603 440.15803 447.15803 450.65803 454.55003 461.55003 467.76603 471.26603 479.82 488.374">The CEEI provides a simple memory-mapped mechanism to clear a given bit in the EEI</tspan><tspan y="104.65" x="-.00197 3.8900305 10.89003 14.39003 21.39003 25.28203 30.728032 36.94403 43.94403 47.836034 54.052034 57.552034 61.444036 68.44403 74.660037 78.160037 84.37604 89.03804 93.70004 100.70004 105.362049 108.862049 112.75404 119.75404 123.64604 129.86205 134.52405 139.18605 146.18605 153.18605 157.07805 160.57805 165.24005 172.24005 176.90206 180.40206 186.61806 190.11806 197.11806 201.01006 208.01006 214.22606 221.22606 224.72606 230.94207 237.94207 244.15807 251.15807 258.15809 264.37409 268.26609 271.76609 275.26609 283.82008 290.82008 297.03608 300.53608 307.53608 313.75209 317.64408 323.86009 327.36009 334.36009 340.57609 344.46809 351.46809 357.68409 361.18409 368.18409 375.18409 378.68409 384.9001 388.4001 393.06208 399.27809 406.27809 410.17008 415.6161 419.5081 425.7241 430.38609 433.88609 443.99409 448.65608 452.54808 456.44007 462.65608 466.15608 472.37208 478.58808 485.58808 491.0341 497.2501">to disable the error interrupt for a given channel. The data value on a register write causes</tspan><tspan y="120.65" x="-.00197 3.8900305 10.89003 17.10603 20.60603 26.82203 33.82203 38.484029 43.146028 49.362028 54.808027 61.808027 68.80803 75.80803 82.80803 86.70003 93.70003 100.70003 104.20003 111.20003 115.092029 118.984027 122.484027 126.37602 133.37602 136.87602 140.76802 147.76802 153.98403 157.48403 166.03803 174.59203 179.25403 182.75403 186.64603 193.64603 197.14603 204.14603 210.36203 213.86203 220.07804 223.97003 230.18604 236.40204 241.06404 247.28005 254.28005 257.78004 261.28004 269.06404 275.28004 279.17204 283.06404 286.95603 293.95603 300.95603 304.45603 308.34803 315.34803 321.56404 325.06404 334.40205 344.51005 353.06404 361.618 365.118 372.118 376.01 379.902 383.402 390.402 395.064 402.064 409.064 412.956 419.956 426.172 431.618 435.118 441.334 444.834 451.834 455.726 462.726 469.726 475.94203">the corresponding bit in the EEI to be cleared. Setting the CAEE bit provides a global</tspan><tspan y="136.65001" x="-.00197 6.2140309 10.106031 16.322033 22.538033 27.200034 30.700034 35.362035 42.362035 49.362035 55.578035 59.470037 63.362039 70.36204 77.36204 80.86204 84.36204 89.02404 96.02404 100.68604 106.90205 110.794048 117.794048 124.794048 128.29404 132.18604 139.18604 145.40204 148.90204 157.45604 166.01004 170.67205 174.17205 180.38805 187.38805 194.38805 198.28005 204.49605 211.49605 215.38805 220.83405 224.33405 228.22605 235.22605 238.72605 245.72605 251.94205 255.44205 261.65806 265.55006 271.76606 277.98207 282.64405 288.86006 295.86006 299.36006 302.86006 309.86006 313.75205 319.19807 325.41407 332.41407 336.30607 340.19807 347.19807 354.19807 357.69807 363.91407 367.80607 371.69807 375.19807 385.30607 397.75209 407.86009 411.36009 416.02207 422.23808 429.23808 436.23808 442.45408 447.9001 451.79209 455.29209 459.18409 466.18409 473.18409 480.18409 484.07609 489.5221">clear function, forcing the EEI contents to be cleared, disabling all DMA request inputs.</tspan><tspan y="152.65001" x="-.00197 4.6600306 9.322031 12.822031 16.714032 23.714032 29.93003 33.43003 43.538034 53.646036 61.430036 64.93004 71.93004 75.82204 79.714038 83.214038 87.10603 92.55203 96.05203 101.49803 107.714038 111.60603 115.10603 118.60603 122.49803 129.49803 135.71404 139.21404 145.43004 152.43004 163.32204 174.21404 180.43004 187.43004 194.43004 197.93004 201.82204 207.26804 210.76804 214.66004 221.66004 228.66004 235.66004 240.32204 246.53804 253.53804 257.03804 260.53804 269.092 276.092 279.984 285.43003 288.93003 295.14604 299.03804 302.93003 309.93003 320.03804 325.48405 328.98405 335.98405 342.98405 349.98405 353.48405 357.37605 364.37605 367.87605 377.98405 382.64604 386.53804 390.43003 396.64604 400.14604 411.03804 418.03804 421.93003 425.82203 429.71403 436.71403 440.60603 446.82203 451.484 458.484 465.484 469.376">If the NOP bit is set, the command is ignored. This allows you to write multiple-byte</tspan><tspan y="168.65001" x="-.00197 4.6600306 10.876031 17.87603 21.76803 27.214032 31.106032 37.322034 41.98403 47.43003 50.93003 57.14603 62.59203 66.092029 72.30803 75.80803 82.80803 89.80803 94.47003 101.47003 105.36203 109.25403 112.75403 122.86203 129.86203 134.52404 141.52404 145.02404 148.52404 157.86203 164.07804 170.29404 177.29404 182.74004 186.24004 193.24004 197.90204 201.40204 205.29404 212.29404 216.18604 221.63204 225.13204 229.79404 236.01004 243.01004 246.90204 252.34804 256.24006 262.45606 267.11805 270.61805 275.28004 281.49604 285.38804 292.38804 297.05003 304.05003 307.55003 313.76603 317.65803 321.55003 325.05003 331.26603 337.48204 342.144 349.144 355.36003 360.80604">registers as a 32-bit word. Reads of this register return all zeroes.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 238.79999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00404 6.00704 11.011041 16.015042 19.012042 24.01604 28.51604 33.01604 35.51804">Address: </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 92.01611 238.79999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00404 5.0080406 10.012041 15.016042 20.020043 25.024044 30.028046 35.032049 40.03605 45.04005 50.044054 52.54605 57.550054 62.554056 67.054058 72.05805 74.56005 79.816059 82.318058 87.32205 92.32605 97.33005 99.83205 104.836048 107.33804 109.84004 114.34004 119.34404 121.84604 124.34804 129.60404 132.10604 137.11003 142.11403 147.11803 152.12203 157.12602 162.13002 167.13402 172.13802 177.14202">4000_8000h base + 18h offset = 4000_8018h</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 110.000019 257.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.05304">7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 166.00002 257.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.05304">6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 222.00002 257.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.05304">5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 278 257.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="25.92704">4</tspan></text>
<g clip-path="url(#clip_1)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 334 257.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.054">3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 390 257.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.054">2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 446 257.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.054">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 502 257.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.054">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 269.05)" font-size="9" font-family="HelveticaLTStd"><tspan y="11.33789" x="30.243 36.741 41.745004 46.749006">Read</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 110.25 269.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="11.08789" x="25.245">0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 334.25 269.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="11.08789" x="109.25099">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 287.05)" font-size="9" font-family="HelveticaLTStd"><tspan y="11.33789" x="30.753 39.249 42.246004 44.244005 46.746004">Write</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 110.25 287.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="11.08789" x="18 24.498002 31.500002">NOP</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 166.25 287.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="11.08789" x="15.498 21.996 27.999 34.002">CAEE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 222.25 287.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="11.08789" x="53.244">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 334.25 287.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="11.08789" x="101.25 107.748 113.751 119.754">CEEI</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 110 305.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="25.49701">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 166 305.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="25.49701">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 222 305.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="25.49701">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 278 305.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="25.37102">0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 334 305.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="25.497">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 390 305.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="25.497">0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 502 305.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="25.497">0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 328.3)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="169.65598 178.31998 188.31598 196.97998 203.65198 212.31598 220.31998 228.32398 231.65998 234.99597 238.99198 242.32798 248.99997 252.33597 259.66798 263.00398 270.33598 277.00798 283.67997 290.35197 295.01997 298.35597 305.68797 309.68397 313.01997 320.35197 327.68397">DMA_CEEI field descriptions</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 350.3)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="25.79401 31.29301 33.79501 38.79901 41.30101">Field</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 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>
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