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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_486.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
54 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">22.3.12</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 45.855009 55.020009 60.015008 68.35501 74.19001 80.02501 89.19001 98.35501 103.35001 107.52001 118.35001 126.69002 135.85501 145.02 153.36 161.7 166.69499 170.86499 181.69499 190.03499 199.19998 203.36998 211.70998 216.70497 225.04497 230.87998 235.04998 240.04497 250.87497 263.36997 274.19996 282.53996 293.36994 297.53996 308.36994 317.53495">Clear Interrupt Request Register (DMA_CINT)</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 39.268 49.376005 57.930006 61.430006 68.43001 73.09201 80.09201 87.09201 90.98401 97.98401 104.20001 109.64601 113.14601 119.362018 122.862018 128.30802 132.20001 143.09201 150.09201 153.98401 160.20001 163.70001 167.20001 178.09201 184.30802 195.20001 202.20001 206.86202 213.86202 218.52402 229.41602 235.63202 242.63202 249.63202 255.84803 262.84803 266.34803 277.24003 283.45603 289.67204 296.67204 302.88804 309.88804 313.78004 319.22605 330.11805 333.61805 337.51005 344.51005 348.01005 354.22605 358.11805 364.33406 370.55006 375.21205 378.71205 384.92805 388.42805 395.42805 399.32005 406.32005 412.53605 419.53605 423.03605 430.03605 433.92805 437.82005 441.32005 445.21205 452.21205 455.71205 459.60404 466.60404 472.82005 476.32005 480.98204 491.09004">The CINT provides a simple, memory-mapped mechanism to clear a given bit in the INT</tspan><tspan y="104.65" x="-.00197 3.8900305 10.89003 14.39003 21.39003 25.28203 30.728032 36.94403 43.94403 47.836034 54.052034 57.552034 61.444036 68.44403 74.660037 78.160037 82.05203 89.05203 92.94403 99.160037 103.82204 108.48404 115.48404 122.48404 126.37604 129.87604 134.53804 140.75405 147.75405 154.75405 160.97005 166.41605 170.30805 173.80805 178.47005 185.47005 190.13205 193.63205 199.84806 203.34806 210.34806 214.24005 221.24005 227.45606 234.45606 237.95606 244.17206 251.17206 257.38807 264.38807 271.38807 277.60408 281.49607 284.99607 288.49607 297.05006 304.05006 310.26606 313.76606 320.76606 324.65806 331.65806 337.87406 344.87406 348.37406 355.37406 361.59007 365.48207 372.48207 378.69807 382.19807 389.19807 396.19807 399.69807 405.91407 409.41407 414.07606 420.29206 427.29206 431.18406 436.63008 440.52207 446.73808 451.40007 454.90007 465.00807 469.67005 473.56205 477.45405">to disable the interrupt request for a given channel. The given value on a register write</tspan><tspan y="120.65" x="-.00197 6.2140309 12.430031 19.43003 24.876032 31.092034 36.538034 40.038034 43.930036 50.930036 57.146036 60.646036 66.86204 73.86204 78.52404 83.18604 89.40205 94.848049 101.848049 108.848049 115.848049 122.848049 126.74004 133.74005 140.74005 144.24005 151.24005 155.13205 159.02405 162.52405 166.41605 173.41605 176.91605 180.80805 187.80805 194.02405 197.52405 202.18605 212.29405 220.84806 224.34806 228.24005 235.24005 238.74005 245.74005 251.95606 255.45606 261.67207 265.56407 271.78007 277.99607 282.65806 288.87406 295.87406 299.37406 302.87406 310.65806 316.87406 320.76606 324.65806 328.55006 335.55006 342.55006 346.05006 349.94206 356.94206 363.15806 366.65806 375.99607 386.10408 390.76606 400.10408 403.60408 410.60408 414.49607 418.38807 421.88807 428.88807 433.55006 440.55006 447.55006 451.44206 458.44206 464.65806 470.10408 473.60408">causes the corresponding bit in the INT to be cleared. Setting the CAIR 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 170.68605 177.68605 183.90206 187.40206 193.61806 200.61806 204.51006 208.40206 213.06406 219.28006 222.78006 228.99607 235.99607 242.99607 246.88806 253.10407 260.10408 263.99607 269.44209 272.94209 279.94209 284.60408 288.10408 291.99607 298.99607 305.21208 308.71208 313.37406 323.48207 332.03605 335.53605 339.42805 346.42805 349.92805 356.92805 363.14405 366.64405 372.86006 376.75205 382.96806 389.18406 393.84605 400.06205 407.06205 410.56205 414.06205 421.06205 424.95405 430.40007 436.61607 443.61607 447.50807 451.40007 458.40007 465.40007 468.90007 475.11607 479.00807">global clear function, forcing the entire contents of the INT to be cleared, disabling all</tspan><tspan y="152.65001" x="-.00197 10.10603 22.552033 32.660036 36.160036 40.052038 47.052038 50.94404 57.160039 61.822038 66.48404 73.48404 80.48404 84.37604 87.87604 92.53804 98.75404 105.75404 112.75404 118.97005 124.416049 128.30805 133.75405 137.25405 140.75405 145.41605 150.07805 153.57805 157.47005 164.47005 170.68605 174.18605 184.29405 194.40206 202.18605 205.68605 212.68605 216.57805 220.47005 223.97005 227.86205 233.30805 236.80805 242.25405 248.47005 252.36205 255.86205 259.36207 263.25407 270.25407 276.47007 279.97007 286.18608 293.18608 304.07807 314.97007 321.18608 328.18608 335.18608 338.68608 342.57807 348.02409 351.52409 355.41609 362.41609 369.41609 376.41609 381.07807 387.29408 394.29408 397.79408 401.29408 409.84806 416.84806 420.74006 426.18608 429.68608 435.90208 439.79408 443.68608 450.68608 460.79408 466.24009 469.74009 476.74009 483.74009">DMA interrupt requests. If the NOP bit is set, the command is ignored. This allows you</tspan><tspan y="168.65001" x="-.00197 3.8900305 10.89003 14.39003 24.498032 29.160033 33.052034 36.944036 43.160036 46.660036 57.552038 64.55203 68.44403 72.33603 76.22803 83.22803 87.120029 93.33603 97.99803 104.99803 111.99803 115.89003 122.10603 125.60603 130.26804 136.48404 143.48404 147.37604 152.82204 156.71404 162.93004 167.59204 173.03804 176.53804 182.75405 188.20005 191.70005 197.91605 201.41605 208.41605 215.41605 220.07805 227.07805 230.97005 234.86205 238.36205 248.47005 255.47005 260.13206 267.13206 270.63206 274.13206 283.47007 289.68608 295.90208 302.90208 308.34809 311.84809 318.84809 323.51008 327.01008 330.90208 337.90208 341.79408 347.24009 350.74009 355.40208 361.61808 368.61808 372.51008 377.9561 381.84809 388.0641 392.72608 396.22608 400.88807 407.10408 410.99607 417.99607 422.65806 429.65806 433.15806 439.37406 443.26606 447.15806 450.65806 456.87406 463.09007 467.75205 474.75205 480.96806 486.41407">to write 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="-.00098 6.0020205 11.0060219 16.010022 19.00702 24.01102 28.51102 33.01102 35.51302">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="-.00098 5.003021 10.007021 15.011022 20.015023 25.019024 30.023026 35.027029 40.03103 45.03503 50.039033 52.54103 57.545034 62.549036 67.049037 72.05303 74.55503 79.811038 82.313037 87.31703 92.81603 97.82003 100.32203 105.32603 107.828029 110.330028 114.830028 119.83402 122.33602 124.83802 130.09403 132.59603 137.60002 142.60402 147.60802 152.61202 157.61602 162.62001 167.62401 172.628 178.127">4000_8000h base + 1Fh offset = 4000_801Fh</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="43.83103 48.50003 50.05403">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="26.05103">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="26.05103">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="26.05103">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="25.93203">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>
<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>
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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>
<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="17.001 23.499 29.502 32.004">CAIR</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="101.25001 107.74801 110.25001 116.74801">CINT</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="169.65598 178.31998 188.31598 196.97998 203.65198 212.31598 215.65198 224.31598 231.64798 234.98398 238.97998 242.31598 248.98798 252.32398 259.65599 262.99198 270.32398 276.99598 283.66798 290.33998 295.00798 298.34397 305.67597 309.67198 313.00798 320.33998 327.67198">DMA_CINT field descriptions</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="25.87323" x="0 7.4970009 12.501001 20.502003 26.001004 29.502003 34.506006 37.008005 45.009004 50.013006 55.512006 58.014005 61.515005 66.519008 72.018009 74.520008 79.524 82.521 87.525 91.026 93.528 99.027 104.031 107.028 109.53 115.029 117.531 120.528 123.03 128.52899">Memory map/register definition</tspan></text>
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