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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_498.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

854 lines
83 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08046 387.25004)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 5.49904 10.50304 15.507041 18.00904 25.506043 27.504044 32.508047 37.512048 40.50905 43.011049 45.00905 50.01305 55.01705 60.021055 62.523054 67.527057 70.02905 72.53105 77.03105 82.03505 84.53705 87.03905 89.03705 93.53705 96.03905 101.043048 106.04704 111.05104 113.04904 115.04704 120.05104 125.05504 127.55704 130.05904 135.06304 137.56504 140.06703 145.07103 150.07503 152.57703 158.58003 164.58304 171.08104 177.57904">The minor loop offset is applied to the SADDR</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85005 404.75004)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.002 18.504002 20.502003 25.506005 30.510006 33.012006 35.010007 40.014009 45.01801 47.520009 55.01701 57.01501 62.019014 67.02301 70.02001 72.52201 77.52601 82.53001 87.534008 92.538 95.04 102.042 104.544 107.046 111.546 116.549999 119.051998 121.55399 126.55799 131.562 136.566 141.56999 143.568">Destination Minor Loop Offset enable</tspan><tspan y="28.83789" x=".00002 6.0030205 11.007021 13.005021 18.009022 22.509022 25.011023 29.511023 32.013025 38.511026 43.515027 48.519029 51.021028 56.02503 61.02903 64.02603 66.52803 69.03003 74.03403 79.038028 81.54002 89.037029 91.03503 96.039028 101.04302 104.04002 106.54202 108.54002 113.54402 118.54802 123.55202 126.054019 131.05802 133.56002 136.06201 140.56201 145.56601 148.06801 150.57 152.56801 157.06801 159.57 164.574 169.578 174.582 176.58 178.578 183.582 188.586 191.088 193.59 198.594 201.096 203.59799 208.60199 213.60599 216.10799 221.11199 226.11598 230.61598 233.11798 235.11598 240.11998 245.12398 247.62598 249.62398 254.62798 259.632 262.134 267.138 272.142 277.146 280.143 285.147 289.647 294.147 296.64903 301.653 306.657 311.661 316.665 319.16703 326.66404 328.66203 333.66603 338.67 341.66703 344.16905 346.16703 351.17103 356.17503 361.17903 363.68104 368.18104 373.18504 380.68205 385.68605 387.68403 392.68803 395.19004 397.18803 402.19203 407.196">Selects whether the minor loop offset is applied to the destination address upon minor loop completion.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08046 446.75004)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 5.49904 10.50304 15.507041 18.00904 25.506043 27.504044 32.508047 37.512048 40.50905 43.011049 45.00905 50.01305 55.01705 60.021055 62.523054 67.527057 70.02905 72.53105 77.03105 82.03505 84.53705 87.03905 89.03705 93.53705 96.03905 101.043048 106.04704 108.54904 111.05104 116.05504 121.05904 126.063037 128.06104 130.05904 135.06304 140.06703 142.56903 145.07103 150.07503 152.57703 155.07903 160.08303 165.08702 167.58902 174.08702 180.09003 186.58803 193.08603">The minor loop offset is not applied to the DADDR</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08046 457.75004)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 5.49904 10.50304 15.507041 18.00904 25.506043 27.504044 32.508047 37.512048 40.50905 43.011049 45.00905 50.01305 55.01705 60.021055 62.523054 67.527057 70.02905 72.53105 77.03105 82.03505 84.53705 87.03905 89.03705 93.53705 96.03905 101.043048 106.04704 111.05104 113.04904 115.04704 120.05104 125.05504 127.55704 130.05904 135.06304 137.56504 140.06703 145.07103 150.07503 152.57703 159.07503 165.07804 171.57604 178.07404">The minor loop offset is applied to the DADDR</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85005 475.25004)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.4970009 9.495001 14.4990019 19.503003 22.500002 25.002003 31.005003 35.505006 38.007005 43.011007 45.513006 51.012006 54.009008 59.01301 64.017009 68.517009 71.019008 76.023 79.020008 81.522 88.020008 93.024 98.028 103.032">Minor Byte Transfer Count</tspan><tspan y="26.83789" x="0 6.4980008 11.502001 18.999 24.003003 29.007004 32.004007 34.506006 39.510007 42.012006 44.514005 49.518007 54.018007 56.520006 61.524007 66.024 68.526 71.028 76.032 78.534 83.537998 88.54199 91.04399 93.54599 96.54299 101.54699 106.55099 111.05099 113.552989 118.556987 121.553989 124.55099 129.555 134.55899 137.06099 139.05899 144.06299 146.56499 151.56899 156.57299 161.07299 166.07698 168.57898 173.07898 178.08298 181.07997 185.57997 187.57798 192.07798 197.08197 199.58397 202.58097 207.58496 212.58896 217.59296 222.59696 227.09696 229.59896 232.10095 237.10495 239.60695 242.10895 244.61095 249.61495 254.61894 257.12095 261.62095 266.62495 271.62895 276.63294 281.63694 286.64094 288.63893">Number of bytes to be transferred in each service request of the channel.</tspan><tspan y="43.237894" x="0 6.0030004 10.503 13.005001 18.009003 20.511004 25.011004 30.015004 35.019006 40.023008 45.027009 50.03101 52.02901 54.53101 59.53501 64.03501 66.53701 68.53501 73.03501 78.03901 80.54101 85.545009 90.045009 92.547008 95.049 97.551 102.555 107.559 110.061 115.064998 120.06899 125.07299 128.06999 133.07399 138.07799 141.07498 143.07299 148.07698 150.57898 155.58298 158.08498 163.58397 170.08197 176.57997 179.08197 183.58197 188.58597 193.58997 196.09197 201.09597 206.09996 208.60196 213.10196 215.60396 217.60196 222.60596 227.60996 232.61396 235.11595 237.11396 242.11795 244.61995 249.62395 252.12595 254.62795 259.63197 264.63597 267.13798 272.14198 278.63996 286.13697 292.13996 294.64198 299.64598 304.64997 309.65397 311.65196 316.65596 321.65995 324.16197 326.66398 331.66798 336.67198 341.67597 344.17799 346.68 351.684 356.688 359.19 364.194 369.198 374.202 377.199 382.203 387.207 390.204 392.202 397.206 399.708">As a channel activates, the appropriate TCD contents load into the eDMA engine, and the appropriate</tspan><tspan y="54.237894" x=".00004 2.99704 8.00104 13.005041 18.00904 22.50904 25.011042 30.015042 35.019044 40.023046 42.525045 49.023046 52.020048 54.018049 56.520048 61.524049 66.02405 68.52605 73.530048 78.53404 81.531047 84.03304 89.03704 92.03404 99.531047 102.03304 107.03704 112.04104 114.54304 116.54104 118.53904 121.04104 123.54304 128.54705 133.55104 136.05304 143.55004 145.54804 150.55204 155.55603 158.55303 161.05503 166.05902 170.55902 173.06102 178.06502 180.56702 183.06902 186.06601 191.07 196.074 200.574 203.076 208.08 211.077 213.579 218.079 223.083 228.08699 233.09099 235.59299 238.09499 243.09899 248.10298 252.60298 255.10498 257.607 260.604 265.608 270.612 275.112 277.614 282.618 285.61503 288.61204 293.61604 298.62004 301.12205 303.62406 309.12306 314.12705 316.12504 320.62504 323.12705 325.12504 329.62504 332.12705 337.13105 342.13505 344.63706 346.63505 351.63905 356.64305 358.64103 363.14103 365.139 369.639 371.637 376.641 378.63899 383.64299 386.145 391.149 396.15299 401.15699 404.154 409.158 411.66 413.658 418.662">reads and writes perform until the minor byte transfer count has transferred. This is an indivisible operation</tspan><tspan y="65.23789" x=".00004 5.0040409 10.008041 15.012042 17.514042 22.014042 27.018044 32.022047 37.026048 42.03005 44.532049 47.034048 52.038049 57.04205 59.54405 64.54805 69.55205 71.55005 74.05205 79.056049 84.06004 86.56204 89.06404 94.06804 96.06604 98.56804 103.57204 108.576038 113.58003 118.58403 123.58803 126.09003 128.59203 130.59003 133.09203 135.59403 143.09102 148.09502 152.59502 155.09702 160.10102 165.10501 167.60701 172.10701 174.60901 179.613 181.61101 183.60901 188.613 193.617 196.119 201.123 205.623 208.125 213.129 217.629 219.627 224.631 229.635 232.137 234.63899 239.64299 244.64699 247.14899 252.15299 257.15699 262.16099 267.16499 273.66297 275.66096 280.66496 283.16697 288.17097 290.67298 295.17298 300.17698 305.18098 307.68299 310.68 315.684 317.68199 320.184 322.686 324.684 329.688 331.68598 336.68998 339.192 341.694 346.698 349.695 352.19703 356.69703 358.695 363.699 366.20103 371.20503 374.20204 379.20603 384.21003 391.70704 396.71104 399.21305 401.21104 406.21504 411.21903">and cannot be halted; although, it may be stalled by using the bandwidth control field, or via preemption.</tspan><tspan y="76.23789" x=".00004 6.0030405 8.505041 11.007042 16.011044 19.008044 21.510045 24.012045 29.016045 34.020048 36.522047 44.019048 46.017049 51.02105 56.02505 59.022054 61.52405 66.02405 71.028049 76.03204 81.03604 83.53804 86.04004 88.03804 92.53804 95.04004 100.04404 104.54404 109.548038 114.55203 119.55603 124.05603 126.55803 131.56203 136.56603 139.06803 141.57003 144.07202 149.07602 154.08002 156.58202 162.58502 168.58803 175.08603 181.58403 188.08203 190.58403 195.58803 200.59203 205.59603 208.09803 214.59603 220.59903 227.09703 233.59503 240.09304 242.59503 247.09503 252.09903 254.09703 259.10105 264.10505 268.60505 271.10707 276.11106 279.10807 284.11207 286.61408 293.11207 296.10908 298.10707 300.60908 303.11109 308.11509 313.11909 315.6211 320.6251 325.6291 330.1291 334.6291 337.1311 339.1291 344.1331 346.6351 351.6391 354.1411 356.64314 361.64714 366.65113 369.15315 374.65214 381.15013">After the minor count is exhausted, the SADDR and DADDR values are written back into the TCD</tspan><tspan y="87.23789" x=".00004 7.4970409 12.501041 19.998044 25.002045 27.999045 32.499048 35.001047 37.503046 40.005044 45.009046 50.013048 52.515047 60.012048 65.016048 67.014049 72.01804 75.015048 77.517047 79.515048 82.017047 87.02104 90.01804 95.02204 97.52404 99.52204 104.52604 109.53004 112.032039 116.532039 121.53603 126.54003 131.54404 134.04604 136.54804 138.54604 143.04604 145.54804 150.55204 155.55603 160.05603 163.05303 168.05702 175.55402 180.55802 185.56201 188.06401 193.06801 198.072 200.574 205.578 210.582 215.586 218.088 221.08499 226.08899 230.58899 233.09099 238.09499 241.09198 246.09598 251.09998 253.60198 256.10398 261.10798 263.61 266.112 271.116 276.12 278.622 284.121 290.619 297.11698 299.619 307.116 312.12 319.617 324.621 327.618 332.118 334.62004 337.12205 339.62406 342.12608 344.62809 347.1301 352.1341 357.1381 359.6401 367.13713 372.1411 374.1391 379.1431 382.1401 384.64213 386.6401 389.14213 394.14613 397.14314 402.14714 404.64915 406.64714 411.65113">memory, the major iteration count is decremented and restored to the TCD memory. If the major iteration</tspan><tspan y="98.23789" x=".00004 4.50004 9.504041 14.508041 19.512043 22.014044 24.516045 26.514046 31.014046 33.516046 38.016046 43.020048 50.517049 55.52105 57.51905 62.523054 65.025058 70.02905 75.03305 77.53505 80.03705 85.041049 90.045047 95.04904 97.04704 99.54904 101.54704 106.55104 111.55504 116.55904 118.55704 121.05904 126.063037 129.06003 134.06403 138.56403 143.56803 148.06803 152.56803 154.56603 159.57003 164.57402 167.07602 169.07402 173.57402 176.07602 181.08002 186.08402 189.08101 191.58301 196.587 199.584 207.081 212.08499 217.08899">count is completed, additional processing is performed.</tspan></text>
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