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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_482.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
52 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">22.3.8</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 91.695 100.035 109.200008 118.365009 126.70501 135.04502 140.04001 144.21 155.04001 163.38 172.545 176.715 185.055 190.04999 198.38999 204.22499 208.39499 213.38999 224.21999 236.71498 247.54499 255.88498 265.88999 275.895 286.72499 298.395">Set Enable Request Register (DMA_SERQ)</tspan></text>
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The data value on a register write causes</tspan><tspan y="120.65" x="-.0038799998 3.8881205 10.888121 17.104123 20.604123 26.820122 33.82012 38.48212 43.14412 49.36012 54.806119 61.806119 68.80612 75.80612 82.80612 86.69812 93.69812 100.69812 104.19812 111.19812 115.09012 118.98212 122.48212 126.374118 133.37412 136.87412 140.76612 147.76612 153.98212 157.48212 166.03612 175.37412 185.48212 188.98212 192.87412 199.87412 203.37412 210.37412 216.59012 220.09012 225.53612 231.75212 235.64412 239.14412 242.64412 250.42812 256.6441 260.5361 264.4281 268.3201 275.3201 282.3201 285.8201 289.7121 296.7121 302.9281 306.4281 314.2121 324.3201 332.87409 342.2121 345.7121 352.7121 356.6041 360.4961 363.9961 370.9961 375.65809 382.65809 389.65809 393.55009 400.55009 406.76609 412.2121 415.7121 421.9281 425.4281 432.4281 436.3201 443.3201 450.3201 456.5361 460.4281 463.9281 469.3741 475.59013">the corresponding bit in the ERQ to be set. Setting the SAER bit provides a global set</tspan><tspan y="136.65001" x="-.0038799998 4.65812 11.65812 18.65812 24.874119 28.766119 32.65812 39.65812 46.65812 50.15812 53.65812 58.320119 65.320117 69.98212 76.19812 80.09012 87.09012 94.09012 97.59012 101.48212 108.48212 114.69812 118.19812 124.41412 131.41413 135.30612 139.19812 143.86013 150.07613 153.57613 159.79213 166.79213 173.79213 177.68413 183.90013 190.90013 194.79213 200.23813 203.73813 210.73813 215.40013 218.90013 227.45413 236.79213 246.90013 250.40013 254.29213 261.2921 264.7921 271.7921 278.00813 281.50813 286.95414 293.17015 297.06214 300.56214 304.06214 308.72413 313.3861 316.8861 320.7781 327.7781 333.9941 337.4941 347.6021 357.7101 365.4941 368.9941 375.9941 379.8861 383.7781 387.2781 391.1701 396.61613 400.11613 405.56214 411.77815 415.67015 419.17015 422.67015 426.56214 433.56214 439.77815 443.27815 449.49415 456.49415 467.38615 478.27815 484.49415 491.49415">function, forcing the entire contents of ERQ to be set. If the NOP bit is set, the command</tspan><tspan y="152.65001" x="-.0038299999 3.8881705 9.334171 12.834171 16.726172 23.726172 30.726172 37.726175 42.388174 48.60417 55.60417 59.10417 62.60417 71.15817 78.15817 82.05017 87.49617 90.99617 97.21217 101.10417 104.99617 111.99617 122.10417 127.55017 131.05017 138.05017 145.05017 152.05017 155.55017 159.44217 166.44217 169.94217 180.05017 184.71218 188.60417 192.49617 198.71218 202.21218 213.10417 220.10417 223.99617 227.88817 231.78017 238.78017 242.67217 248.88817 253.55017 260.55018 267.55018 271.44218 277.65818 281.15818 285.82017 292.03617 299.03617 302.92817 308.37419 312.26618 318.48219 323.14418 328.59019 332.09019 338.30619 343.7522 347.2522 353.4682 356.9682 363.9682 370.9682 375.6302 382.6302 386.5222 390.41419 393.91419 404.0222 411.0222 415.68418 422.68418 426.18418 429.68418 439.0222 445.2382 451.4542 458.4542 463.9002 467.4002 474.4002 479.0622 482.5622 486.4542 493.4542 497.3462">is ignored. This allows you to write multiple-byte registers as a 32-bit word. Reads of this</tspan><tspan y="168.65001" x="-.0038299999 4.65817 10.87417 17.87417 21.76617 27.212172 31.104172 37.32017 41.98217 45.48217 50.14417 56.36017 60.25217 67.25217 71.91417 78.91417 82.41417 88.63017 92.52217 96.41417 99.91417 106.13017 112.346179 117.00818 124.00818 130.22418 135.67018">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=".00317 5.0071709 10.011171 15.015172 20.019173 25.023175 30.027176 35.031179 40.03518 45.03918 50.043184 52.54518 57.549184 62.553186 67.053188 72.05718 74.55918 79.815189 82.317188 87.32118 93.32418 98.32818 100.83018 105.834178 108.336177 110.83817 115.33817 120.34217 122.84417 125.34617 130.60218 133.10417 138.10817 143.11217 148.11617 153.12017 158.12416 163.12816 168.13216 173.13616 179.13916">4000_8000h base + 1Bh offset = 4000_801Bh</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="26.05517">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="26.05517">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="26.05517">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="25.92917">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>
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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="15.498 21.501 27.504 33.507">SAER</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="99 105.003 111.006 117.504">SERQ</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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<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="166.65598 175.31998 185.31598 193.97998 200.65198 208.65598 216.65998 225.32398 234.65998 237.99597 241.99198 245.32798 251.99997 255.33597 262.66798 266.00398 273.33598 280.00798 286.67997 293.35197 298.01997 301.35597 308.68797 312.68397 316.01997 323.35197 330.68397">DMA_SERQ 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"/>
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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>
<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"/>
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<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>
<g clip-path="url(#clip_40)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 366.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 14.004002 21.006003 26.010003 28.512003 33.516004 38.520006 43.524007 48.528009 50.52601">No Op enable</tspan></text>
<path transform="matrix(1,0,0,1,131.85,366.3)" d="M0 21H423.90003V45H0Z" fill="#ffffff" fill-rule="evenodd"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 387.3)" 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 387.3)" 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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