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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_485.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">22.3.11</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 10.830001 15.000002 23.340004 31.680005 37.515005 41.685007 51.690008 57.525007 63.360006 72.525 78.36 82.53 93.36 101.700008 110.865009 115.035 123.37501 128.37001 136.71 142.54502 146.71501 151.71 162.54001 175.035 185.865 194.205 205.035 215.04001 225.87001 236.70001">Clear Error Register (DMA_CERR)</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="-.00098 8.55302 15.55302 21.76902 25.26902 34.60702 43.161024 52.499025 61.837026 65.33702 72.33702 76.99902 83.99902 90.99902 94.89102 101.89102 108.107028 113.553028 117.053028 123.26903 126.76903 132.21503 136.10703 146.99903 153.99903 157.89102 164.10703 167.60703 178.49903 184.71503 195.60703 202.60703 207.26903 214.26903 218.93103 229.82303 236.03903 243.03903 250.03903 256.25505 263.25505 266.75505 277.64704 283.86305 290.07905 297.07905 303.29505 310.29505 314.18705 319.63307 330.52507 334.02507 337.91706 344.91706 348.41706 354.63307 358.52507 364.74107 370.95707 375.61906 379.11906 385.33506 388.83506 395.83506 399.72706 406.72706 412.94306 419.94306 423.44306 430.44306 434.33506 438.22706 441.72706 445.61906 452.61906 456.11906 460.01106 467.01106 473.22706 476.72706 485.28105 494.61906">The CERR provides a simple memory-mapped mechanism to clear a given bit in the ERR</tspan><tspan y="104.65" x="-.00093000006 3.8910704 10.89107 14.39107 21.391072 25.283072 30.729073 36.945074 43.945074 47.837076 54.053075 57.553075 61.445077 68.445079 74.66108 78.16108 84.37708 89.039089 93.70109 100.70109 105.36309 108.86309 115.079097 122.079097 129.0791 136.0791 139.9711 143.8631 147.7551 154.7551 161.7551 165.2551 169.9171 173.8091 180.0251 187.0251 190.5251 195.1871 202.1871 206.8491 210.3491 216.56511 220.06511 227.06511 230.9571 237.9571 244.17311 251.17311 254.67311 260.8891 267.8891 274.1051 281.1051 288.1051 294.3211 298.2131 301.7131 305.2131 313.7671 320.7671 326.9831 330.4831 337.4831 341.3751 348.3751 354.5911 361.5911 365.0911 372.0911 378.3071 382.1991 389.1991 395.4151 398.9151 405.9151 412.9151 416.4151 422.6311 426.1311 430.7931 437.0091 444.0091 447.9011 453.3471 457.2391 463.4551 468.1171 471.6171 481.7251 486.3871 490.27909 494.17109">to disable the error condition flag for a given channel. The given value on a register write</tspan><tspan y="120.65" x="-.00088000009 6.215121 12.431122 19.431122 24.877123 31.093125 36.539125 40.039125 43.931127 50.931127 57.147127 60.647127 66.86313 73.86313 78.52513 83.18713 89.40314 94.84914 101.84914 108.84914 115.84914 122.84914 126.741138 133.74114 140.74114 144.24114 151.24114 155.13314 159.02513 162.52513 166.41713 173.41713 176.91713 180.80913 187.80913 194.02513 197.52513 206.07913 215.41713 224.75513 228.25513 232.14713 239.14713 242.64713 249.64713 255.86313 259.36314 265.57914 269.47114 275.68714 281.90315 286.56513 292.78114 299.78114 303.28114 306.78114 314.56513 320.78114 324.67314 328.56513 332.45713 339.45713 346.45713 349.95713 353.84913 360.84913 367.06513 370.56513 379.90315 390.01115 398.56513 403.2271 406.7271 413.7271 417.6191 421.5111 425.0111 432.0111 436.6731 443.6731 450.6731 454.5651 461.5651 467.7811 473.2271 476.7271">causes the corresponding bit in the ERR to be cleared. Setting the CAEI bit provides a</tspan><tspan y="136.65001" x="-.00088000009 6.99912 10.891121 17.89112 24.89112 31.10712 34.999124 38.499124 44.715124 48.607126 54.823125 61.039125 65.701129 69.201129 73.86313 80.86313 87.86313 94.07913 97.97113 101.86313 108.86313 115.86313 119.36313 122.86313 127.52513 134.52513 139.18714 145.40314 149.29514 156.29514 163.29514 166.79514 170.68714 177.68714 183.90314 187.40314 195.95714 205.29514 214.63314 218.13314 224.34914 231.34914 238.34914 242.24114 248.45714 255.45714 259.34916 264.79518 268.29518 272.18717 279.18717 282.68717 289.68717 295.90318 299.40318 305.61918 309.51118 315.72718 321.94319 326.60517 332.82118 339.82118 343.32118 346.82118 353.03718 356.92918 363.14518 369.36119 374.02317 377.91517 384.91517 391.91517 395.41517 401.63117 405.52317 409.41517 412.91517 419.13117 426.13117 432.34718 439.34718 446.34718 452.56318 456.45518 459.95518 466.17118 470.83317 475.49516 482.49516">global clear function, forcing the ERR contents to be cleared, clearing all channel error</tspan><tspan y="152.65001" x="-.00088000009 3.8911205 10.891121 17.89112 21.783122 27.999123 34.215124 38.107126 45.107126 49.769124 55.215124 58.715124 62.215124 66.87712 71.53912 75.03912 78.93112 85.93112 92.147129 95.647129 105.75513 115.86313 123.64713 127.14713 134.14713 138.03913 141.93112 145.43112 149.32312 154.76912 158.26912 163.71512 169.93112 173.82312 177.32312 180.82312 184.71512 191.71512 197.93112 201.43112 207.64713 214.64713 225.53913 236.43112 242.64713 249.64713 256.64714 260.14714 264.03913 269.48515 272.98515 276.87715 283.87715 290.87715 297.87715 302.53913 308.75514 315.75514 319.25514 322.75514 331.3091 338.3091 342.2011 347.64714 351.14714 357.36314 361.25514 365.14714 372.14714 382.25514 387.70115 391.20115 398.20115 405.20115 412.20115 415.70115 419.59315 426.59315 430.09315 440.20115 444.86314 448.75514 452.64714">indicators. If the NOP bit is set, the command is ignored. This allows you to write</tspan><tspan y="168.65001" x="-.00088000009 10.891121 17.89112 21.783122 25.675122 29.567122 36.567125 40.459127 46.675127 51.337125 58.337125 65.33713 69.229129 75.44513 78.94513 83.60713 89.823139 96.823139 100.71513 106.16113 110.05313 116.269138 120.93114 126.37714 129.87714 136.09314 141.53914 145.03914 151.25514 154.75514 161.75514 168.75514 173.41715 180.41715 184.30915 188.20114 191.70114 201.80915 208.80915 213.47115 220.47115 223.97115 227.47115 236.80915 243.02515 249.24115 256.24116 261.68717 265.18717 272.18717 276.84916 280.34916 284.24116 291.24116 295.13316 300.57917 304.07917 308.74116 314.95716 321.95716 325.84916 331.29518 335.18717 341.40318 346.06517 349.56517 354.22715 360.44316 364.33515 371.33515 375.99714 382.99714 386.49714 392.71315 396.60514 400.49714 403.99714 410.21315 416.42915 421.09114 428.09114 434.30714 439.75315">multiple-byte registers as a 32-bit word. Reads of this 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=".00313 6.00613 11.010131 16.014132 19.011132 24.015133 28.515133 33.015134 35.51713">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=".00313 5.0071308 10.011131 15.015132 20.019133 25.023133 30.027134 35.031137 40.035139 45.03914 50.04314 52.54514 57.54914 62.553144 67.05315 72.057147 74.55914 79.81514 82.31714 87.32114 93.324138 98.32813 100.83013 105.83413 108.33613 110.83813 115.33813 120.342128 122.844127 125.34612 130.60213 133.10413 138.10813 143.11212 148.11612 153.12012 158.12412 163.12812 168.13211 173.13611 179.13912">4000_8000h base + 1Eh offset = 4000_801Eh</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="43.82814 48.49714 50.05114">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="26.05514">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="26.05514">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="26.05514">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="25.92914">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>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 269.05)" font-size="9" font-family="HelveticaLTStd"><tspan y="11.33789" x="30.243 36.741 41.745004 46.749006">Read</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="17.244 23.742 29.745 35.748">CAEI</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="99 105.498 111.501 117.999">CERR</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="28.494 34.992 39.996004 44.496004 49.500005">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="25.497">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 1 334 305.3)" 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>
<text xml:space="preserve" transform="matrix(1 0 0 1 446 305.3)" 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 1 502 305.3)" 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>
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</g>
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</g>
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</g>
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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 217.31998 225.98398 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_CERR 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>
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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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