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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_483.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">22.3.9</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 52.515008 64.185009 75.01501 85.020008 89.19 99.19501 104.19001 112.530017 117.52502 126.69002 135.03002 139.20001 150.03002 154.20001 159.195 163.365 174.195 182.535 191.7 195.87 204.20999 209.20499 217.54499 223.37999 227.54999 232.54499 243.37499 255.86998 266.69999 275.03999 285.86997 296.69996 307.52995 317.53495">Clear DONE Status Bit Register (DMA_CDNE)</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 44.714006 54.822008 63.376008 66.87601 73.87601 78.53801 85.53801 92.53801 96.43001 103.43001 109.64601 115.09201 118.59201 124.808017 128.30802 133.75402 137.64601 148.53801 155.53801 159.43001 165.64601 169.14601 180.03801 186.25402 197.14601 204.14601 208.80802 215.80802 220.47002 231.36202 237.57802 244.57802 251.57802 257.794 264.794 268.294 279.186 285.402 291.618 298.618 304.834 311.834 315.726 321.17204 332.06404 335.56404 339.45603 346.45603 349.95603 356.17204 360.06404 366.28004 372.49604 377.15803 380.65803 384.55003 391.55003 397.76603 401.26603 411.37403 421.48204 431.59004 440.144 443.644 450.644 454.536 458.428 461.928 465.82 472.82 476.32 480.212 487.212">The CDNE provides a simple memory-mapped mechanism to clear the DONE bit in the</tspan><tspan y="104.65" x="-.00197 8.55203 17.89003 27.998032 31.498032 38.49803 43.16003 46.66003 50.552034 57.552034 63.768033 67.268039 74.268039 78.160037 85.160037 91.37604 98.37604 101.87604 108.09204 115.09204 121.308048 128.30805 135.30805 141.52405 145.41605 148.91605 152.41605 160.97005 167.97005 174.18605 177.68605 184.68605 190.90206 194.79405 201.01006 204.51006 211.51006 217.72606 221.61806 228.61806 234.83406 238.33406 245.33406 252.33406 255.83406 262.05006 265.55006 270.21205 276.42805 283.42805 287.32005 292.76606 296.65806 302.87406 307.53605 311.03605 321.14405 325.80604 329.69804 333.59004 339.80604 343.30604 349.52204 355.73805 362.73805 368.18406 374.40007 379.84608 383.34608 387.23808 394.23808 400.45408 403.95408 414.06208 424.17008 434.27809 442.83207 446.33207 453.33207 457.22407 461.11607 464.61607 468.50807 475.50807 479.00807 482.90007 489.90007">TCD of the given channel. The data value on a register write causes the DONE bit in the</tspan><tspan y="120.65" x="-.00197 6.2140309 13.214031 17.876032 22.538033 28.754033 34.20003 41.20003 48.20003 55.20003 62.20003 66.09203 73.09203 80.09203 83.59203 87.48403 92.146038 98.36204 105.36204 110.80804 115.47004 121.68604 126.348049 129.84806 136.06406 143.06406 150.06406 153.95606 158.61806 165.61806 169.51006 173.01006 180.01006 186.22606 191.67206 197.88806 202.55007 206.44207 213.44207 217.33406 224.33406 228.99607 232.49607 236.38806 243.38806 246.88806 253.88806 260.10408 263.60408 269.82008 273.71208 279.92808 286.14408 290.80607 297.02207 304.02207 307.52207 311.02207 318.80607 325.02207 328.91407 332.80607 336.69807 343.69807 350.69807 354.19807 358.09007 365.09007 371.30607 374.80607 384.14408 394.25209 404.36009 414.46809 417.96809 424.96809 428.86009 432.75209 436.25209 443.25209 447.91407 454.91407 461.91407 465.80607 472.80607 479.02207 484.46809 487.96809">corresponding transfer control descriptor to be cleared. Setting the CADN bit provides a</tspan><tspan y="136.65001" x="-.00197 6.99803 10.890031 17.89003 24.89003 31.10603 34.99803 38.49803 44.71403 48.606035 54.822034 61.038034 65.700038 69.200038 73.86204 80.86204 87.86204 94.07804 97.97004 101.86204 108.86204 115.86204 119.36204 122.86204 127.52404 134.52405 139.18605 145.40206 149.29405 156.29405 163.29405 166.79405 173.01006 176.90206 180.79405 184.29405 194.40206 204.51006 214.61806 223.17206 226.67206 233.67206 237.56406 241.45606 246.90206 250.40206 254.29405 261.29408 264.79408 271.79408 278.01008 281.51008 287.72608 291.61808 297.83409 304.05009 308.71208 314.92808 321.92808 325.42808 328.92808 333.59007 338.25205 341.75205 345.64405 352.64405 358.86006 362.36006 372.46806 382.57606 390.36006 393.86006 400.86006 404.75205 408.64405 412.14405 416.03605 421.48207 424.98207 430.42808 436.64408 440.53608 444.03608 447.53608 451.42808 458.42808">global clear function, forcing all DONE bits to be cleared. If the NOP bit is set, the</tspan><tspan y="152.65001" x="-.00197 6.2140309 13.214031 24.106034 34.998037 41.214036 48.214036 55.214036 58.714036 62.606039 68.05204 71.55204 75.44404 82.44404 89.44404 96.44404 101.10604 107.322048 114.322048 117.822048 121.322048 129.87604 136.87604 140.76804 146.21404 149.71404 155.93004 159.82204 163.71404 170.71404 180.82204 186.26804 189.76804 196.76804 203.76804 210.76804 214.26804 218.16004 225.16004 228.66004 238.76804 243.43004 247.32204 251.21404 257.43003 260.93003 271.82203 278.82203 282.71403 286.60603 290.49803 297.49803 301.39 307.60603 312.268 319.268 326.268 330.16 336.376 339.876 344.538 350.754 357.754 361.646 367.092 370.984 377.2 381.862 387.308 390.808 397.02403 402.47004 405.97004 412.18605 415.68605 422.68605 429.68605 434.34803 441.34803 445.24003 449.13203 452.63203 462.74003 469.74003 474.402 481.402">command is ignored. This allows you to write multiple-byte registers as a 32-bit word.</tspan><tspan y="168.65001" x="-.00197 9.336031 15.5520319 21.768033 28.768033 34.21403 37.71403 44.71403 49.37603 52.87603 56.768033 63.768033 67.660037 73.10603 76.60603 81.268039 87.48404 94.48404 98.37604 103.82204 107.714038 113.93004 118.59204 122.09204 126.75404 132.97005 136.86205 143.86205 148.52405 155.52405 159.02405 165.24005 169.13205 173.02405 176.52405 182.74005 188.95606 193.61806 200.61806 206.83406 212.28006">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="-.00397 5.0000307 10.004031 15.008032 20.012032 25.016034 30.020035 35.024038 40.028039 45.03204 50.03604 52.53804 57.54204 62.546045 67.04604 72.05004 74.55204 79.808048 82.31004 87.31404 93.81204 98.81604 101.31804 106.32204 108.824039 111.326038 115.826038 120.83003 123.33203 125.83403 131.09003 133.59203 138.59603 143.60002 148.60402 153.60802 158.61202 163.61602 168.62001 173.62401 180.12201">4000_8000h base + 1Ch offset = 4000_801Ch</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 257.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="43.83105 48.500055 50.054056">Bit</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 110 257.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.05105">7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 166 257.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.05105">6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 222 257.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.05105">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="25.93205">4</tspan></text>
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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>
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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 1 334.25 287.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="11.08789" x="99.00001 105.49801 111.99601 118.49401">CDNE</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 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 209.31598 217.97998 226.64398 234.64798 237.98398 241.97998 245.31598 251.98798 255.32398 262.65599 265.99198 273.32398 279.99598 286.66798 293.33998 298.00798 301.34397 308.67597 312.67198 316.00798 323.33998 330.67198">DMA_CDNE 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>
<g clip-path="url(#clip_38)">
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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>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 398.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0">1</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>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.01 137.23 142.79 148.34999 151.12999 157.79999 163.90999 170.01999 173.34999 179.45999 185.01999 193.90999 196.68999 199.46999 205.02999 207.80998 215.02999 220.58998 223.91999 229.47998 233.36998 238.92998 245.03998 250.59998 256.15998 258.93998 267.26997 272.82997 278.93995 285.04994 290.60993 293.38993 296.16993 298.94993 306.16993 311.72993 317.28993 320.06993 322.8499 328.4099 331.1899 336.7499 342.8599 348.96989 351.74989 357.30989 362.86988 368.42988">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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