birdcage/docs/K60-refman-vectors/K60-reference-manual_page_501.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

924 lines
83 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000036 223.5)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="147.99599 156.65999 166.65599 175.31999 181.99199 189.32399 197.98799">DMA_TCD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000036 223.5)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="206.65198">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000036 223.5)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="213.98398 220.65598 229.31998 238.65598 245.98798 253.31998 256.65599 260.65199 263.98799 270.65998 273.99598 281.32798 284.66398 291.99598 298.66798 305.33998 312.01197 316.67997 320.01597 327.34797 331.34397 334.67997 342.01197 349.34397">_DOFF field descriptions</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.500036 245.5)" 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 1 132.10005 245.5)" 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>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25004 261.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="25.54199 30.54599 35.54999 40.553995">15&#x2013;0</tspan><tspan y="18.83789" x="23.301 29.799002 36.801004 42.300004">DOFF</tspan></text>
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<path transform="matrix(1,0,0,1,54.00004,259)" d="M75.85001 .5H503.75004V47.5H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85005 261.5)" 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 53.52301 58.52701 63.531015 66.528018 71.53201 76.03201 80.53201 83.03401 89.03701 91.03501 96.03901 101.04301 106.047008 111.051 113.553 118.557 121.059 123.561 128.061 133.065">Destination Address Signed offset</tspan><tspan y="28.83789" x="0 6.0030004 8.001 13.005001 18.009003 21.006003 26.010003 30.510003 33.012 38.016004 43.020006 48.024007 53.028009 58.03201 60.534009 65.53801 68.04001 70.54201 75.04201 80.046009 82.548007 85.05 90.054 95.058 100.062 102.06 104.058 109.062 114.065998 116.56799 119.06999 124.07399 126.57599 129.07799 134.08199 139.08599 141.58798 146.08798 151.09198 154.08898 157.08597 162.08997 167.09397 169.59597 172.09796 177.10196 182.10596 186.60596 189.10796 191.10596 196.10996 201.11396 203.61595 205.61396 210.61795 215.62195 218.12395 223.12795 228.13195 233.13594 236.13294 241.13694 245.63694 250.13694 252.63893 255.14093 260.14494 262.64695 265.14897 270.15296 273.14997 280.64698 283.149 285.651 290.655 295.659 298.161 303.165 308.169 312.669 315.17103 318.16804 322.66804 325.17005 330.17405 332.67607 337.68006 340.18208 344.68208 349.68608 351.68406 356.68806 361.69206 364.19407 369.19807 373.69807 376.20008 381.20408 386.20808 390.70808">Sign-extended offset applied to the current destination address to form the next-state value as each</tspan><tspan y="39.83789" x=".00003 5.0040309 10.008032 14.508032 17.010033 19.008034 24.012036 29.016037 31.518038 33.516038 38.52004 43.52404 46.02604 52.52404 55.52104 57.519044 60.02104 65.02504 67.52704 69.52504 74.02504 76.52704 81.02704 86.03104 93.52804 98.532039 100.53004 105.534038 108.03603 113.04003 118.04403">destination write is completed.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.00004 353)" 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">22.3.26</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 118.21342 353)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 9.165 19.995 30.825 34.995004 45.825006 54.990007 60.825006 66.66 75.00001 84.16501 89.16001 93.33001 105.82501 109.99501 119.16001 128.32501 134.16002 138.33002 147.49501 156.66 165.825 174.98999 179.15999 188.32498 192.49498 201.65998 209.99997 214.16997 218.33997 230.83496 239.17496 243.34496 252.50995 258.34495 262.51496 271.67997 280.84498 290.00999 299.175 303.345 314.175 323.34 332.505 341.67 346.665 350.83503 355.83003 366.66 375.825 384.165 393.33003 402.49504 410.83503">TCD Current Minor Loop Link, Major Loop Count (Channel</tspan><tspan y="27.89648" x="0 9.165 13.335001 22.5 30.84 35.010004 44.175004 53.340005 57.510007 67.51501 76.68001 85.02001 94.18501 98.35501 106.695018 115.860019 120.85502 125.02502 130.02002 140.85002 153.34502 164.17502 172.51502 181.68001 192.51001">Linking Enabled) (DMA_TCD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 118.21342 353)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="27.89648" x="203.34">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 118.21342 353)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="27.89648" x="212.50499 220.84499 231.67499 235.84499 245.00998 255.01499 265.84498 274.18498 284.18998 293.35499 297.525 308.35499 319.18498 329.18998 339.19499 349.19999">_CITER_ELINKYES)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.00004 54)" font-size="14" font-family="TimesLTStd"><tspan y="375.65" x="-.00497 4.65703 9.319031 12.819031 21.373032 30.711033 40.819036 47.819036 54.819036 64.157039 68.81904 77.37304 85.92704 95.265048 99.92705 108.48105 117.03505 121.69705 131.80506 141.91306 146.57506 150.07506 153.96706 159.41306 162.91306 168.35906 174.57506 178.46706 181.96706 185.46706 189.35906 196.35906 202.57506 206.07506 214.62906 223.96706 234.07506 241.07506 248.07506 257.41307 262.07505 270.62904 279.183 288.52104 292.02104 296.683 302.89903 309.89903 313.79103 319.23704 323.12904 329.34504 334.00703 337.50703 341.39903 346.84504 350.34504 357.34504 363.56105 368.22303 372.11503 379.11503 385.33103 392.33103 395.83103 402.04704 407.49305 410.99305 415.65504 422.65504 426.54704 430.43904 437.43904 447.54704 452.99305">If TCDn_CITER[ELINK] is set, the TCDn_CITER register is defined as follows.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 92.01614 445.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00404 5.0080406 10.012041 15.016042 20.020043 25.024044 30.028046 35.032049 40.03605 45.04005 50.044054 52.54605 57.550054 62.554056 67.054058 72.05805 74.56005 79.816059 82.318058 87.32205 92.32605 97.33005 102.334049 107.33804 109.84004 114.84404 117.34604 119.84804 124.34804 129.35204 131.85404 134.35604 139.61203 142.11403 145.11103 150.11502 155.11902 160.12302 162.62502 167.88101 170.38301 172.38101 175.378 177.88 180.382 186.88 191.884 196.888 199.885 204.88899 207.39099 209.38899 214.64499 219.64899 224.65299 227.15499 229.65699 234.66098 237.16298 242.16698 247.17098">4000_8000h base + 1016h offset + (32d &#x00d7; i), where i=0d to 15d</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 464.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="43.83406 48.50306 50.05706">Bit</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 110.00003 464.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="24.10806 28.000061">15</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 166.00003 464.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="24.10806 28.000061">14</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 222.00003 464.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="24.10806 28.000061">13</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 278.00004 464.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="23.98207 27.874072">12</tspan></text>
<g clip-path="url(#clip_54)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 334.00004 464.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="24.108 28">11</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 390.00004 464.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="24.108 28">10</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 446.00004 464.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.054">9</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 502.00004 464.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.054">8</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 479.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="6.83789" x="30.243 36.741 41.745004 46.749006">Read</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.25003 478.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="12.33789" x="12.747 18.75 23.754002 26.256003 32.754">ELINK</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 168.25003 478.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="51.249">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 280.25004 478.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="12.33789" x="93.25201 98.256008 100.758 107.256008 113.259 119.757">LINKCH</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 504.25004 478.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="12.33789" x="12.25201 18.750012 21.252013 26.751013 32.754014">CITER</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 491.55)" font-size="9" font-family="HelveticaLTStd"><tspan y="6.83789" x="30.75601 39.25201 42.249013 44.247014 46.749013">Write</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 500.55)" 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 1 110.00003 500.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="24.003 28.503">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 166.00003 500.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="24.003 28.503">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 222.00003 500.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="24.003 28.503">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 278.00004 500.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="23.877 28.377">x*</tspan></text>
<g clip-path="url(#clip_56)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 334.00004 500.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="24.003 28.503">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 390.00004 500.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="24.003 28.503">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 446.00004 500.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="24.003 28.503">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 502.00004 500.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="24.003 28.503">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 523.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="43.834 48.503 50.057">Bit</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 110.00003 513.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="17.06836" x="26.054">7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 166.00003 513.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="17.06836" x="26.054">6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 222.00003 513.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="17.06836" x="26.054">5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 278.00004 523.55)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="25.928">4</tspan></text>
<g clip-path="url(#clip_57)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 334.00004 513.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="17.06836" x="26.054">3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 390.00004 513.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="17.06836" x="26.054">2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 446.00004 513.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="17.06836" x="26.054">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 502.00004 513.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="17.06836" x="26.054">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 534.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="6.83789" 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 1 278.00004 553.05)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="23.871 28.371">x*</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000036 618.05)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="171.63599">n</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.00004 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 54.00004 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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<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32004 751.756)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="58.45 65.12 69.01 74.57 77.35 80.13 89.02 91.799999 97.909999 103.46999 107.35999">Preliminary</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 391.68003 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">501</tspan></text>
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