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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_481.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">22.3.7</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 105.87001 114.210018 123.375019 132.54001 140.88 149.22 154.215 158.385 169.215 177.555 186.71999 190.88999 199.22998 204.22498 212.56497 218.39998 222.56998 227.56497 238.39498 250.88997 261.71998 270.05998 280.88996 290.89497 301.72496 313.39497">Clear Enable Request Register (DMA_CERQ)</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=".00202 8.55602 15.55602 21.77202 25.27202 34.610025 43.164026 52.502027 62.610029 66.11003 73.11003 77.77203 84.77203 91.77203 95.66403 102.66403 108.880039 114.326038 117.826038 124.04204 127.54204 132.98804 136.88004 147.77204 154.77204 158.66403 164.88004 168.38004 179.27204 185.48804 196.38004 203.38004 208.04204 215.04204 219.70404 230.59604 236.81204 243.81204 250.81204 257.02806 264.02806 267.52806 278.42005 284.63606 290.85206 297.85206 304.06806 311.06806 314.96006 320.40608 331.29808 334.79808 338.69007 345.69007 349.19007 355.40608 359.29808 365.51408 371.73008 376.39207 379.89207 386.10807 389.60807 396.60807 400.50007 407.50007 413.71607 420.71607 424.21607 431.21607 435.10807 439.00007 442.50007 446.39207 453.39207 456.89207 460.78407 467.78407">The CERQ provides a simple memory-mapped mechanism to clear a given bit in the</tspan><tspan y="104.65" x=".00202 8.55602 17.89402 28.002022 31.502022 35.394025 42.394025 45.894025 52.894025 56.786027 62.232027 68.44803 75.44803 79.34003 85.55603 89.05603 92.94803 99.94803 106.16403 109.66403 119.77203 132.21804 142.32604 145.82604 150.48804 156.70404 163.70404 170.70404 176.92005 182.36605 186.25804 189.75804 194.42005 201.42005 206.08205 209.58205 215.79805 219.29805 226.29805 230.19005 237.19005 243.40605 250.40605 253.90605 260.12205 267.12205 273.33805 280.33805 287.33805 293.55406 297.44606 300.94606 304.44606 313.00004 320.00004 326.21604 329.71604 336.71604 342.93205 346.82405 353.04005 356.54005 363.54005 369.75605 373.64805 380.64805 386.86405 390.36405 397.36405 404.36405 407.86405 414.08006 417.58006 422.24205 428.45805 435.45805 439.35005 444.79606 448.68806 454.90406 459.56605 463.06605 473.17405 477.83604 481.72804 485.62004">ERQ to disable the DMA request for a given channel. The data value on a register write</tspan><tspan y="120.65" x=".00202 6.2180206 12.434021 19.434021 24.880023 31.096024 36.542024 40.042024 43.934026 50.934026 57.150026 60.650026 66.86603 73.86603 78.52803 83.19003 89.40604 94.852039 101.852039 108.852039 115.852039 122.852039 126.74403 133.74404 140.74404 144.24404 151.24404 155.13603 159.02803 162.52803 166.42003 173.42003 176.92003 180.81203 187.81203 194.02803 197.52803 206.08203 215.42003 225.52803 229.02803 232.92003 239.92003 243.42003 250.42003 256.63603 260.13603 266.35203 270.24403 276.46003 282.67604 287.338 293.55403 300.55403 304.05403 307.55403 315.338 321.55403 325.446 329.338 333.23 340.23 347.23 350.73 354.622 361.622 367.838 371.338 380.67604 390.78404 399.338 408.67604 412.17604 419.17604 423.06803 426.96003 430.46003 437.46003 442.122 449.122 456.122 460.014 467.014 473.23 478.67604 482.17604">causes the corresponding bit in the ERQ to be cleared. Setting the CAER bit provides a</tspan><tspan y="136.65001" x=".00202 7.00202 10.89402 17.89402 24.89402 31.11002 35.00202 38.50202 44.71802 48.610025 54.826025 61.042024 65.704029 69.204029 73.86603 80.86603 87.86603 94.08203 97.97403 101.86603 108.86603 115.86603 119.36603 122.86603 127.52803 134.52803 139.19004 145.40604 149.29804 156.29804 163.29804 166.79804 170.69004 177.69004 183.90604 187.40604 193.62204 200.62204 204.51404 208.40604 213.06804 219.28404 222.78404 229.00005 236.00005 243.00005 246.89205 253.10805 260.10804 264.00004 269.44606 272.94606 279.94606 284.60804 288.10804 292.00004 299.00004 305.21604 308.71604 317.27003 326.60804 336.71604 340.21604 344.10804 351.10804 354.60804 361.60804 367.82405 371.32405 377.54005 381.43205 387.64805 393.86405 398.52604 404.74205 411.74205 415.24205 418.74205 425.74205 429.63404 435.08006 441.29606 448.29606 452.18806 456.08006 463.08006 470.08006 473.58006 479.79606 483.68806">global clear function, forcing the entire contents of the ERQ to be cleared, disabling all</tspan><tspan y="152.65001" x=".00202 10.110021 22.556023 32.664026 36.164026 40.826025 47.042024 54.042024 61.042024 67.258029 72.704029 76.59602 80.09602 83.98802 90.98802 97.98802 104.98802 108.88002 114.32602 117.82602 121.32602 125.98802 130.65003 134.15003 144.25803 154.36603 162.15003 165.65003 169.54203 174.98802 178.48802 183.93402 190.15003 194.04203 197.54203 201.04203 204.93402 211.93402 218.15003 221.65003 227.86603 234.86603 245.75803 256.65003 262.86604 269.86604 276.86604 280.36604 284.25804 289.70405 293.20405 297.09605 304.09605 311.09605 318.09605 322.75804 328.97404 335.97404 339.47404 342.97404 351.528 358.528 362.42 367.86604 371.36604 377.58204 381.47404 385.36604 392.36604 402.47404 407.92005 411.42005 418.42005 425.42005 432.42005 435.92005 439.81205 446.81205 450.31205 460.42005 465.08204 468.97404 472.86604">DMA request inputs. If NOP is set, the command is ignored. This allows you to write</tspan><tspan y="168.65001" x=".00202 10.894021 17.89402 21.78602 25.67802 29.57002 36.570024 40.462026 46.678026 51.340024 58.340024 65.34003 69.232028 75.44803 78.94803 83.61003 89.826038 96.826038 100.71803 106.16403 110.05603 116.27203 120.93404 126.380039 129.88004 136.09604 141.54204 145.04204 151.25804 154.75804 161.75804 168.75804 173.42005 180.42005 184.31204 188.20404 191.70404 201.81204 208.81204 213.47405 220.47405 223.97405 227.47405 236.81204 243.02805 249.24405 256.24406 261.69007 265.19007 272.19007 276.85206 280.35206 284.24406 291.24406 295.13606 300.58207 304.08207 308.74406 314.96006 321.96006 325.85206 331.29808 335.19007 341.40608 346.06806 349.56806 354.23005 360.44606 364.33805 371.33805 376.00004 383.00004 386.50004 392.71604 396.60804 400.50004 404.00004 410.21604 416.43205 421.09403 428.09403 434.31004 439.75605">multiple-byte registers as a 32-bit word. Reads of this register return all zeroes.</tspan></text>
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<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="-.00299 5.001011 10.005012 15.009012 20.013012 25.017014 30.021016 35.025018 40.02902 45.03302 50.03702 52.53902 57.543024 62.547025 67.04703 72.051029 74.553028 79.80902 82.31102 87.31502 93.318019 98.322017 100.82401 105.82801 108.33001 110.83201 115.33201 120.336009 122.838008 125.340007 130.59601 133.098 138.102 143.106 148.11 153.114 158.118 163.122 168.12599 173.12999 179.133">4000_8000h base + 1Ah offset = 4000_801Ah</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="26.05601">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="26.05601">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="26.05601">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="25.93001">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 1 334.25 269.3)" 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>
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<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="98.748 105.246 111.249 117.747">CERQ</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="25.497">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="25.497">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="25.497">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="25.371">0</tspan></text>
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<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 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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