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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_484.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 41.700006">22.3.10</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 118.21338 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 57.510004 68.340007 77.505008 81.675 92.505008 96.675 101.670009 105.840007 116.670009 125.01001 134.175 138.345 146.685 151.68 160.01999 165.855 170.025 175.01999 185.84999 198.34499 209.17499 217.51499 227.51999 237.525 248.355 257.52">Set START Bit Register (DMA_SSRT)</tspan></text>
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The data value on a register write causes the START bit in the</tspan><tspan y="120.65" x=".00104 6.2170407 13.217041 17.879042 22.541043 28.757042 34.20304 41.20304 48.20304 55.20304 62.20304 66.09504 73.09504 80.09504 83.59504 87.48704 92.14904 98.36504 105.36504 110.81104 115.473049 121.68905 126.35105 129.85105 136.06705 143.06705 150.06705 153.95905 158.62105 165.62105 169.51305 173.01305 180.01305 186.22905 191.67505 197.89105 202.55306 206.44506 213.44506 217.33705 224.33705 228.99906 232.49906 236.39105 243.39105 246.89105 253.89105 260.10707 263.60707 269.05308 275.26908 279.16108 282.66108 286.16108 293.94508 300.16108 304.05308 307.94508 311.83708 318.83708 325.83708 329.33708 333.22908 340.22908 346.44508 349.94508 357.72908 367.83708 375.62107 384.17506 387.67506 394.67506 398.56706 402.45906 405.95906 412.95906 417.62104 424.62104 431.62104 435.51304 442.51304 448.72904 454.17506 457.67506 463.89106 467.39106 474.39106 478.28306 485.28306 492.28306 498.49906">corresponding transfer control descriptor to be set. Setting the SAST bit provides a global</tspan><tspan y="136.65001" x=".00109 5.4470908 11.663092 15.555092 19.055092 23.717093 30.717093 37.717096 43.933095 47.825098 51.7171 58.7171 65.7171 69.2171 72.7171 77.379108 84.379108 89.04111 95.25711 99.14911 106.14911 113.14911 116.64911 122.86511 126.75711 130.64911 134.14911 141.9331 150.4871 160.59511 169.9331 178.4871 181.9871 188.9871 192.8791 196.7711 202.2171 205.7171 209.6091 216.6091 220.1091 227.1091 233.3251 236.8251 242.2711 248.4871 252.3791 255.8791 259.3791 264.04109 268.70307 272.20307 276.09507 283.09507 289.31108 292.81108 302.91908 313.02708 320.81108 324.31108 331.31108 335.20307 339.09507 342.59507 346.48707 351.93309 355.43309 360.8791 367.0951 370.9871 374.4871 377.9871 381.8791 388.8791 395.0951 398.5951 404.8111 411.8111 422.7031 433.5951 439.8111 446.8111 453.8111 457.3111 461.2031">set function, forcing all START bits to be set. If the NOP bit is set, the command is</tspan><tspan y="152.65001" x=".0011400001 3.8931406 10.893141 17.89314 24.89314 29.555142 35.77114 42.77114 46.27114 49.77114 58.32514 65.32514 69.21714 74.66314 78.16314 84.37914 88.27114 92.16314 99.16314 109.27114 114.71714 118.21714 125.21714 132.21714 139.21714 142.71714 146.60913 153.60913 157.10913 167.21714 171.87914 175.77114 179.66313 185.87914 189.37914 200.27114 207.27114 211.16313 215.05513 218.94713 225.94713 229.83913 236.05513 240.71714 247.71714 254.71714 258.60914 264.82514 268.32514 272.98713 279.20314 286.20314 290.09513 295.54115 299.43315 305.64915 310.31114 315.75715 319.25715 325.47315 330.91917 334.41917 340.63517 344.13517 351.13517 358.13517 362.79716 369.79716 373.68916 377.58116 381.08116 391.18916 398.18916 402.85115 409.85115 413.35115 416.85115 426.18916 432.40516 438.62117 445.62117 451.06718 454.56718 461.56718 466.22917 469.72917 473.62117 480.62117 484.51316">ignored. This allows you to write multiple-byte registers as a 32-bit word. Reads of this</tspan><tspan y="168.65001" x=".0011900001 4.6631906 10.87919 17.87919 21.77119 27.217192 31.109192 37.32519 41.98719 45.48719 50.14919 56.36519 60.25719 67.25719 71.91919 78.91919 82.41919 88.63519 92.52719 96.41919 99.91919 106.13519 112.3512 117.0132 124.0132 130.2292 135.6752">register return all zeroes.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 166 257.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.05423">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="26.05423">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="25.92823">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>
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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="99.747 105.75 111.753 118.251">SSRT</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 1 132.1 350.3)" 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)">
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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 1 131.85 387.3)" 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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