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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_480.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
53 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">22.3.6</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 10.005001 18.345002 23.34 27.51 37.515 46.68 55.02 64.185 68.354999 76.695 80.865 90.869998 96.704998 102.53999 111.704998 117.53999 121.70999 125.87999 135.04499 140.03998 148.37998 154.21498 160.04999 169.21498 178.37998 183.37497 187.54497 198.37497 206.71497 215.87996 220.04996 228.38996 233.38495 241.72495 247.55995 251.72995 256.72496 267.55494 280.04994 290.8799 299.2199 309.2249 319.22993 329.23493 333.40495">Set Enable Error Interrupt Register (DMA_SEEI)</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=".00602 8.5600199 15.5600199 21.77602 25.27602 33.06002 41.61402 50.168024 54.83002 58.33002 65.33002 69.99202 76.99202 83.99202 87.88402 94.88402 101.10002 106.54602 110.04602 116.262027 119.762027 125.20802 129.10002 139.99202 146.99202 150.88402 157.10002 160.60002 171.49202 177.70803 188.60002 195.60002 200.26203 207.26203 211.92403 222.81603 229.03203 236.03203 243.03203 249.24803 256.24806 259.74806 270.64006 276.85606 283.07206 290.07206 296.28807 303.28807 307.18006 312.62608 323.51808 327.01808 330.91007 337.91007 341.41007 346.85609 353.07209 356.96409 360.46409 366.68009 370.18009 377.18009 381.07209 388.07209 394.2881 401.2881 404.7881 411.7881 415.68009 419.57209 423.07209 426.96409 433.96409 437.46409 441.35609 448.35609 454.57209 458.07209 466.62608 475.18006 479.84205 483.34205 487.23405">The SEEI provides a simple memory-mapped mechanism to set a given bit in the EEI to</tspan><tspan y="104.65" x=".00602 6.2220208 13.222021 19.438023 26.438023 30.330023 36.546026 40.046026 43.938028 50.938028 57.154027 60.654027 66.870029 71.53203 76.19403 83.19403 87.85603 91.35603 95.24803 102.24803 106.14003 112.35603 117.018039 121.68004 128.68004 135.68004 139.57204 143.07204 147.73404 154.73404 159.39604 162.89604 169.11205 172.61205 179.61205 183.50405 190.50405 196.72005 203.72005 207.22005 213.43605 220.43605 226.65206 233.65206 240.65206 246.86806 250.76006 254.26006 257.76008 266.31407 273.31407 279.53007 283.03007 290.03007 296.24607 300.13807 306.35408 309.85408 316.85408 323.07008 326.96208 333.96208 340.17808 343.67808 350.67808 357.67808 361.17808 367.39408 370.89408 375.55607 381.77207 388.77207 392.66407 398.11009 402.00209 408.21809 412.88008 416.38008 426.48808 431.15007 435.04206 438.93406 445.15007 448.65007 454.86607 461.08207 468.08207 473.52809 479.74409">enable the error interrupt for a given channel. The data value on a register write causes</tspan><tspan y="120.65" x=".00602 3.8980206 10.898021 17.114022 20.614022 26.83002 33.83002 38.49202 43.15402 49.370019 54.816019 61.816019 68.81602 75.81602 82.81602 86.708019 93.708019 100.708019 104.208019 111.208019 115.10001 118.99201 122.49201 126.38401 133.384 136.884 140.776 147.776 153.992 157.492 166.046 174.6 179.26201 182.76201 186.654 193.654 197.154 204.154 210.37001 213.87001 219.31601 225.53202 229.42401 232.92401 236.42401 244.20801 250.42401 254.31601 258.208 262.1 269.1 276.1 279.6 283.492 290.492 296.708 300.208 307.992 318.1 326.654 335.20799 338.70799 345.70799 349.59999 353.49198 356.99198 363.99198 368.65397 375.65397 382.65397 386.54597 393.54597 399.76197 405.20799 408.70799 414.92399 418.42399 425.42399 429.31599 436.31599 443.31599 449.53199 453.42399 456.92399 462.37 468.586">the corresponding bit in the EEI to be set. Setting the SAEE bit provides a global set</tspan><tspan y="136.65001" x=".00602 4.6680204 11.66802 18.66802 24.884022 28.776022 32.668024 39.668024 46.668024 50.168024 53.668024 58.33002 65.33002 69.99202 76.20802 80.10002 87.10002 94.10002 97.60002 101.49202 108.49202 114.70802 118.20802 124.42403 131.42403 135.31603 139.20803 143.87003 150.08603 153.58603 162.14003 170.69403 175.35604 178.85604 185.07204 192.07204 199.07204 202.96404 209.18004 216.18004 220.07204 225.51804 229.01804 232.91004 239.91004 243.41004 250.41004 256.62605 260.12605 265.57206 271.78807 275.68006 279.18006 282.68006 287.34205 292.00404 295.50404 299.39604 306.39604 312.61204 316.11204 326.22004 336.32804 344.11204 347.61204 354.61204 358.50404 362.39604 365.89604 369.78804 375.23405 378.73405 384.18006 390.39607 394.28807 397.78807 401.28807 405.18006 412.18006 418.39607 421.89607 428.11207 435.11207 446.00407 456.89607 463.11207 470.11207 477.11207 480.61207 484.50407">function, forcing the entire EEI contents to be set. If the NOP bit is set, the command is</tspan><tspan y="152.65001" x=".00602 3.8980206 10.898021 17.898022 24.898022 29.560023 35.776025 42.776025 46.276025 49.776025 58.330026 65.330028 69.22202 74.66802 78.16802 84.384029 88.276027 92.16802 99.16802 109.276027 114.72202 118.22202 125.22202 132.22202 139.22202 142.72202 146.61402 153.61402 157.11402 167.22202 171.88402 175.77602 179.66802 185.88402 189.38402 200.27602 207.27602 211.16802 215.06002 218.95201 225.95201 229.84401 236.06002 240.72202 247.72202 254.72202 258.614 264.83003 268.33003 272.992 279.208 286.208 290.1 295.54603 299.43803 305.65403 310.316 315.76203 319.26203 325.47804 330.92405 334.42405 340.64006 344.14006 351.14006 358.14006 362.80204 369.80204 373.69404 377.58604 381.08604 391.19404 398.19404 402.85603 409.85603 413.35603 416.85603 426.19404 432.41004 438.62605 445.62605 451.07206 454.57206 461.57206 466.23405 469.73405 473.62605 480.62605 484.51805">ignored. This allows you to write multiple-byte registers as a 32-bit word. Reads of this</tspan><tspan y="168.65001" x=".00602 4.6680204 10.884021 17.884022 21.776022 27.222023 31.114024 37.330026 41.992025 45.492025 50.154024 56.37002 60.262025 67.262027 71.92403 78.92403 82.42403 88.64003 92.53203 96.42403 99.92403 106.14003 112.35603 117.018039 124.018039 130.23404 135.68004">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=".00401 6.0070106 11.011011 16.01501 19.01201 24.01601 28.51601 33.01601 35.51801">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=".00401 5.008011 10.012012 15.016012 20.020012 25.024014 30.028016 35.032018 40.03602 45.04002 50.04402 52.54602 57.550024 62.554025 67.05402 72.05802 74.56002 79.816028 82.31802 87.32202 92.32602 97.33002 99.832019 104.83601 107.33801 109.84001 114.34001 119.34401 121.84601 124.34801 129.604 132.106 137.11 142.114 147.118 152.122 157.12599 162.12999 167.13399 172.13799 177.14199">4000_8000h base + 19h offset = 4000_8019h</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000017 257.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="43.83301 48.502016 50.056016">Bit</tspan></text>
<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="26.05301">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="26.05301">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="26.05301">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="25.92701">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>
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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 1 166.25 269.3)" 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="15.741 21.744 27.747 33.75">SAEE</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="101.493 107.495998 113.49899 119.50199">SEEI</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 305.05)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="28.49401 34.992013 39.996015 44.496015 49.500017">Reset</tspan></text>
<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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</g>
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</g>
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</g>
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</g>
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</g>
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</g>
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</g>
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</g>
<g clip-path="url(#clip_36)">
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</g>
<path transform="matrix(1,0,0,1,54,53.999986)" d="M0 274.3H504.00004V478.3H0Z" fill="#ffffff" fill-rule="evenodd"/>
<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="169.97998 178.64398 188.63999 197.30399 203.97599 211.97998 219.98398 227.98798 231.32398 234.65998 238.65598 241.99198 248.66397 251.99997 259.33198 262.66798 269.99998 276.67198 283.34397 290.01597 294.68397 298.01997 305.35197 309.34797 312.68397 320.01597 327.34797">DMA_SEEI field descriptions</tspan></text>
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<path transform="matrix(1,0,0,1,54,347.8)" d="M.5 .5H75.10001V15.5H.5Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<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>
<g clip-path="url(#clip_38)">
<path transform="matrix(1,0,0,1,54,347.8)" d="M76.10001 .5H503.50004V15.5H76.10001Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 132.1 350.3)" 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>
<g clip-path="url(#clip_39)">
<path transform="matrix(1,0,0,1,53.999994,363.8)" d="M.25 .5H75.35001V49.5H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 366.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">7</tspan><tspan y="18.83789" x="25.803002 32.301004 39.303">NOP</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="25.87323" x="0 7.4970009 12.501001 20.502003 26.001004 29.502003 34.506006 37.008005 45.009004 50.013006 55.512006 58.014005 61.515005 66.519008 72.018009 74.520008 79.524 82.521 87.525 91.026 93.528 99.027 104.031 107.028 109.53 115.029 117.531 120.528 123.03 128.52899">Memory map/register definition</tspan></text>
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