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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_518.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

132 lines
30 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 87.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 9.452001 18.904002 23.630002">22.5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 87.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 4.7260005 15.113001 19.839 25.5 30.226 39.678 44.404005 49.130006 57.630006 67.08201 72.74301 77.46901 87.85601 98.24301 102.96901 112.42101 122.808017 133.195 137.921 142.647 152.099 161.551 167.21199 171.93799 182.32498 192.71198 197.43798 202.16397 212.55097 218.21196 228.59896 235.21196 250.32497 259.77699 265.438 270.164 280.551">Initialization/application information</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54.000005)" font-size="14" font-family="TimesLTStd"><tspan y="71.05" x=".00399 8.55799 15.55799 21.77399 25.27399 29.935992 36.93599 40.82799 44.719995 51.719995 61.827997 65.71999 72.71999 79.71999 83.21999 88.66599 94.881999 101.098 104.99 108.881999 115.881999 122.881999 128.328 131.828 138.828 142.72 148.166 154.382 161.382 166.828 172.274 175.774 179.666 186.666 190.558 194.45 198.342 204.558 208.45 212.342 218.558 224.774 228.666 232.558 239.558 246.558 250.058 257.05799 261.71998 265.21998 269.11198 276.11198 282.32798 285.82798 292.04399 302.15199 314.598 324.706 328.206 334.422 341.422 348.422 351.922 358.922 363.58399 370.58399 377.58399 382.24598 388.46199 399.35398 410.24598 414.13798 421.13798">The following sections discuss initialization of the eDMA and programming</tspan><tspan y="87.049999" x=".0040200005 6.220021 13.22002 20.22002 25.666022 29.558022 36.55802 42.77402 47.43602 53.65202 57.54402 61.436025 68.43602 75.43602 80.88202">considerations.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 182.6)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00198 8.894021 17.790022 22.238022 31.134022 35.582025">22.5.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 182.6)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00198 8.894021 20.446022 33.774026 45.326028 49.77403 54.22203 63.99803 68.44603 73.77403 78.22203 87.118038 91.56603 96.01403 104.01403 112.910037 118.23804 122.686038 132.46204">eDMA initialization</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="165.85" x="-.00197 8.55203 15.55203 19.052029 22.944029 29.944029 33.83603 37.72803 41.620035 47.836034 51.728036 55.620038 61.836038 68.05204 71.55204 75.44404 82.44404 88.66004 92.16004 98.376049 108.48405 120.930049 131.03804">To initialize the eDMA:</tspan><tspan y="190.25" x="7.5020406 14.502041 23.994042 37.21004 41.87204 45.76404 49.656045 55.872045 59.372045 63.264047 70.264049 73.764049 77.656047 84.656047 90.87205 94.37205 103.71005 113.04805 116.54805 120.44005 125.10205 128.60205 134.81806 138.31806 144.53406 151.53406 158.53406 163.19606 167.08806 174.08806 181.08806 185.75006 191.96607 195.85807 199.75006 206.75006 213.75006 217.25006 224.25006 228.14206 235.14206 241.35807 246.02007 249.52007 253.41207 260.41206 266.62806 273.62806 277.12806 281.02006 288.02006 294.23606 297.73606 304.73606 310.95207 315.61405 321.83006 328.83006 332.72206 336.61405 340.11405 344.00605 349.45207 352.95207 359.95207 366.16807 371.61408 375.50608 380.16807 386.38407 393.38407">1.Write to the CR if a configuration other than the default is desired.</tspan><tspan y="214.65" x="7.5020806 14.502081 23.994082 37.210084 41.87208 45.764085 49.656087 55.872087 59.372087 63.264089 70.264087 76.48009 79.98009 86.19609 93.19609 99.412097 106.412097 113.412097 119.6281 123.520099 127.020099 134.0201 138.6821 142.5741 149.5741 154.2361 158.1281 162.0201 169.0201 172.5201 176.4121 182.6281 189.6281 195.8441 199.7361 205.1821 208.6821 212.5741 219.5741 223.0741 226.9661 233.9661 240.1821 243.6821 253.7901 263.1281 273.2361 281.0201 290.35813">2.Write the channel priority levels to the DCHPRI</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="214.65" x="302.02009 305.52009 310.18208 316.39808 323.39808 327.29008 332.73609 336.62809 342.8441 347.50608 352.9521 356.4521 360.3441 365.00608 368.50608 374.72209 378.22209 384.43809 391.43809 398.43809 403.10008 406.99208 413.99208 420.99208 425.65406 431.87007 435.76206 439.65406 446.65406 453.65406 457.15406 464.15406 468.04606 475.04606 481.26206"> registers if a configuration other</tspan><tspan y="230.65" x="23.99408 27.88608 34.886079 41.102079 48.102079 51.602079 55.49408 62.49408 68.71008 72.21008 79.21008 85.42609 90.08809 96.30409 103.30409 107.19609 111.08809 114.58809 118.48009 123.92609 127.42609 134.42609 140.64209 146.08809 149.98009 154.64209 160.8581 167.8581">than the default is desired.</tspan><tspan y="255.04999" x="7.5020906 14.50209 23.994091 32.54809 39.54809 45.76409 52.76409 56.656095 62.872095 66.37209 72.5881 77.2501 81.9121 88.9121 93.574108 97.074108 100.9661 107.9661 111.8581 118.074108 122.73611 127.39811 134.3981 141.3981 145.2901 150.7361 154.2361 158.1281 165.1281 168.6281 172.5201 179.5201 185.7361 189.2361 197.7901 206.3441 211.0061 214.5061 219.1681 225.38411 232.38411 236.27611 241.7221 245.6141 251.83011 256.4921 259.9921 263.8841 268.54609 272.04609 277.4921 284.4921 287.9921 294.9921 301.2081 306.6541 310.5461 315.2081 321.4241 328.4241">3.Enable error interrupts in the EEI register if so desired.</tspan><tspan y="279.44999" x="7.5020806 14.502081 23.994082 37.210084 41.87208 45.764085 49.656087 55.872087 59.372087 63.264089 70.264087 76.48009 79.98009 86.98009 93.98009 98.64209 105.64209 112.64209 116.53409 122.75009 126.25009 134.8041 144.14209 154.25009 157.75009 162.4121 169.4121 174.0741 177.5741 183.7901 190.0061 196.2221 203.2221 206.7221 212.93811 219.93811 226.15412 233.15412 240.15412 246.37012 250.26212 253.76212 257.6541 264.6541 270.87013 274.76213 278.26213 289.1541 295.37013 302.37013 305.87013 310.5321 316.7481 323.7481 330.7481 336.9641 342.41014 346.30213 349.80213 355.24815 361.46415 366.12614 373.12614 377.01814 383.23414 389.45014">4.Write the 32-byte TCD for each channel that may request service.</tspan><tspan y="303.84999" x="7.5020806 14.502081 23.994082 32.54808 39.54808 45.76408 52.76408 56.656084 62.87208 66.372089 72.58809 79.58809 86.58809 90.08809 97.08809 103.30409 107.966098 114.966098 125.0741 131.2901 135.9521 142.1681 145.6681 151.1141 157.33011 161.99211 168.99211 172.88411 179.10012 185.31612 188.81612 193.47812 199.69412 206.69412 213.69412 219.91013 225.35613 229.24813 234.69412 238.19412 245.19412 249.08612 255.30213 258.80213 262.69413 269.69413 275.91014 279.41014 287.9641 297.30213 307.41014 310.91014 315.5721 321.78813 328.78813 332.6801 338.12614 342.01814 348.23414 352.89613">5.Enable any hardware service requests via the ERQ register.</tspan><tspan y="328.24998" x="7.5021107 14.5021109 23.99411 33.33211 39.54811 46.54811 53.54811 59.76411 65.21011 69.10211 72.60211 78.818119 85.818119 92.03412 99.03412 106.03412 112.25012 116.14212 119.64212 125.08812 131.30413 135.96613 142.96613 146.85813 153.07413 159.29013 162.79013 169.79013 173.68213 179.89813 183.39813 189.61414 193.50614 197.39813 204.39813 210.61414 215.27614">6.Request channel service via either:</tspan><tspan y="344.24998" x="37.09813 48.00413 55.78813 62.78813 67.450138 71.34213 81.450138 87.66614 92.32814 98.54414 102.43614 105.93614 111.38214 117.598148 121.49014 125.38214 129.27414 136.27414 143.27414 146.77414 150.66614 157.66614 163.88214 167.38214 175.93614 185.27414">&#x2022;Software: setting the TCD</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="344.24998" x="202.38213 209.38213 218.72013 226.50412 235.84212 240.50412 248.28812 256.8421 266.9501 276.28813 284.8421">_CSR[START]</tspan><tspan y="360.24998" x="37.098115 48.004117 58.112119 64.32812 68.99012 75.99012 86.09812 92.314128 96.97613 103.19213 107.08413 110.58413 116.03013 119.92213 126.13813 133.13813 139.35413 142.85413 149.85413 156.07013 163.07013 166.96213 173.17813 179.39414 182.89414 189.11014 194.55614 200.00214 206.21814 210.88014 214.77214 218.66414 225.66414 232.66414 236.16414 240.05614 243.94814 249.39414 252.89414 259.11015 269.21815 281.66416 291.77217 295.27217 302.27217 308.48817 313.15016 317.04216 324.04216 331.04216 337.25816 341.92015 348.13615 352.02815 355.52815 360.19013 366.40614 373.40614 380.40614 386.62214 392.06816 395.96015 399.46015 404.90617 408.79817 415.79817 422.79817 429.01417">&#x2022;Hardware: slave device asserting its eDMA peripheral request signal</tspan><tspan y="386.24998" x="-.0018577576 10.106143 14.768143 18.660143 24.876145 29.538146 33.038148 39.254148 46.254148 53.254148 56.754148 62.970148 69.970149 76.18615 83.18615 90.18615 96.40215 100.29415 103.79415 108.456157 114.67216 121.67216 128.67215 134.88816 140.33415 144.22615 149.67215 153.17215 158.61815 164.83415 169.49616 176.49616 180.38816 186.60416 192.82016 196.32016 199.82016 206.03617 209.53617 215.75217 222.75217 228.96817 235.96817 242.96817 249.18418 253.07617 256.57618 260.46818 265.91419 269.41419 274.8602 281.0762 284.9682 291.1842 297.4002 301.2922 307.5082 314.5082 318.0082 322.6702 329.6702 334.33219 337.83219 344.0482 351.0482 357.2642 363.4802 370.4802 374.3722 378.2642 385.2642 392.2642 395.7642 402.7642 408.9802 414.4262 420.6422 427.6422 431.1422 438.1422 445.1422 448.6422 452.5342 459.5342">After any channel requests service, a channel is selected for execution based on the</tspan><tspan y="402.24998" x="-.0018577576 6.214143 10.8761429 17.876143 21.768143 25.660143 30.322144 36.538145 40.430147 44.322149 51.322149 58.322149 61.822149 68.03815 75.03815 82.03815 85.53815 92.53815 97.20015 101.09215 108.09215 112.75415 116.64615 120.53815 127.53815 131.03815 134.93015 141.14615 148.14615 154.36215 158.25415 163.70015 167.20015 177.30815 181.97016 185.86215 189.75415 193.64615 199.86215 206.86215 210.36215 214.25415 221.25415 225.14615 232.14615 235.64615 239.53815 246.53815 252.75415 256.25416 263.25416 267.91615 274.91615 281.91615 286.57814 292.79414 303.68614 314.57814 320.79414 325.45613 327.9761 333.42213 336.92213 347.81413 354.81413 361.81413 368.03013 371.92213 375.42213 378.92213 387.4761 394.4761 400.6921 404.1921 410.4081 420.5161 432.96214 443.07014 446.57014 452.78614 459.78614 466.78614 470.67814 477.67814">arbitration and priority levels written into the programmer's model. The eDMA engine</tspan><tspan y="418.24998" x="-.0018577576 4.6601426 10.8761429 17.092144 24.092144 29.538146 33.038148 36.93015 43.93015 50.14615 53.64615 59.86215 66.86215 70.75415 74.64615 79.30815 85.524158 89.024158 97.578159 106.91615 117.024158 120.524158 124.024158 127.91615 134.91616 141.13216 145.02416 152.02416 159.02416 162.91616 169.91616 176.91616 180.41616 184.30815 191.30815 197.52416 201.02416 209.57816 218.91616 229.02416 232.52416 238.74016 245.74016 252.74016 256.63218 261.29417 268.29417 272.18617 275.68617 281.90217 288.90217 295.90217 299.40217 304.84819 308.74018 314.95619 318.84819 325.84819 331.2942 334.7942 339.45619 343.34819 349.56419 353.45619 360.45619 365.9022 369.4022 372.9022 379.1182 384.5642 388.0642 393.51023 400.51023 407.51023 417.61824 424.61824 428.11824 432.01023 439.01023 442.51023 446.40223 453.40223">reads the entire TCD, including the TCD control and status fields, as shown in the</tspan><tspan y="434.24998" x="-.0018577576 4.6601426 11.660143 15.552143 19.444144 26.444144 36.552145 40.444147 47.444147 54.444147 57.944147 61.836149 68.05215 75.05215 78.944149 85.16015 88.66015 92.16015 96.82215 103.82215 108.48415 111.98415 115.87615 122.87615 129.09215 132.59215 138.03815 144.25415 148.14615 154.36215 160.57816 164.47016 170.68616 177.68616 181.18616 187.40216 194.40216 200.61817 207.61817 214.61817 220.83417 224.72617 228.22617 232.11817 239.11817 243.01016 250.01016 253.51016 257.40217 261.29417 266.74018 270.24018 274.13218 281.13218 285.02418 291.24018 295.90217 302.90217 309.11817 313.01017 316.51017 322.72618 329.72618 336.72618 341.38816 347.60417 353.05018 358.4962 361.9962 368.9962 375.2122 379.1042 386.1042 389.6042 400.4962 407.4962 414.4962 421.4962 425.38819 431.6042">following table, for the selected channel into its internal address path module.</tspan><tspan y="458.64997" x="-.0018577576 10.106143 15.552143 19.052144 22.944144 29.944144 36.160146 39.660146 48.214147 57.552148 67.66015 71.16015 75.05215 80.498149 83.998149 88.66015 94.87615 101.092159 108.092159 111.592159 115.092159 118.98415 125.98415 132.20015 135.70015 140.36215 144.25415 148.91616 154.36215 158.25415 161.75415 165.64615 170.30815 176.52416 183.52416 188.97016 193.63216 199.84816 204.51016 208.01016 211.90216 217.34816 220.84816 224.74016 231.74016 235.63216 239.52416 243.41616 249.63216 253.52416 259.74015 266.74015 270.24015 277.24015 284.24015 287.74015 291.63215 298.63215 304.84815 308.34815 312.24015 319.24015 323.13215 329.34815 334.01014 341.01014 347.22615 351.11814 354.61814 361.61814 368.61814 374.06416 377.56416 381.06416 388.06416 395.06416 398.95616 405.17216 410.61817 416.06419 419.56419">As the TCD is read, the first transfer is initiated on the internal bus, unless a</tspan><tspan y="474.64997" x="-.0018277576 6.214173 13.214172 20.214173 24.876173 28.768174 35.768175 42.768175 47.430173 53.64617 57.538175 61.430177 68.430179 75.430179 78.930179 85.14618 89.80818 94.470188 101.470188 106.13219 109.63219 113.524188 118.970188 122.470188 129.47019 135.68619 139.57819 145.79419 152.0102 155.90219 162.1182 169.1182 172.6182 176.1182 184.6722 189.3342 195.5502 202.5502 207.9962 212.6582 218.8742 223.53621 228.98221 232.48221 237.14421 241.80622 248.80622 259.6982 263.1982 267.0902 274.0902 280.3062 283.8062 289.25224 296.25224 303.25224 307.9142 314.13023 320.34623 323.84623 327.34623 333.56224 339.00825 342.50825 349.50825 355.72425 360.38624 364.27824 371.27824 377.49424 384.49424 387.99424 394.99424 401.99424 405.49424 414.04823 423.38624">configuration error is detected. Transfers from the source, as defined by TCD</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="474.64997" x="440.49418 447.49418 455.27818 465.38618 475.49418 485.60218 494.9402">_SADDR,</tspan><tspan y="490.64997" x="-.0018005371 3.8902 10.8902 14.3902 18.2822 25.2822 31.4982 34.9982 41.9982 48.2142 53.6602 57.5522 61.444204 68.4442 74.6602 78.5522 82.4442 89.4442 96.4442 99.9442 103.4442 109.6602 115.1062 118.6062 125.6062 131.8222 136.4842 140.3762 147.3762 153.59221 160.59221 164.09221 171.09221 178.09221 181.59221 190.14621 199.4842">to the destination, as defined by TCD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd" font-style="italic"><tspan y="490.64997" x="209.5922">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="490.64997" x="216.5922 223.5922 233.7002 243.8082 253.9162 264.0242 273.3622 276.8622 280.3622 286.57823 293.57823 300.57823 304.4702 308.3622 315.3622 322.3622 328.57823 332.07823 339.07823 346.07823 349.9702 353.8622 357.7542 361.2542 365.1462 372.1462 378.3622 381.8622 388.8622 395.8622 406.7542 413.7542 419.9702 424.6322 428.1322 435.1322 439.7942 443.2942 450.2942 457.2942 461.1862 467.4022">_DADDR, continue until the number of bytes</tspan><tspan y="506.64997" x="-.0018005371 5.4442 12.4442009 18.660202 24.876202 28.768202 33.430204 37.322206 43.538206 50.538206 54.038206 61.038206 68.03821 71.53821 80.09221 89.43021">specified by TCD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd" font-style="italic"><tspan y="506.64997" x="99.53819">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="506.64997" x="106.53819 113.53819 123.646198 132.98419 143.0922 151.6462 160.2002 167.98419 171.48419 177.7002 182.3622 188.5782 192.0782 195.9702 200.6322 206.8482 213.8482 219.2942 223.9562 230.17221 234.83422 239.49622 245.71222 252.71222">_NBYTES are transferred.</tspan><tspan y="531.0499" x="-.0018081665 13.214192 20.214192 26.430191 33.43019 36.93019 40.822195 47.822195 54.038194 57.538194 61.430196 66.09219 72.3082 79.3082 84.754199 89.4162 95.6322 100.294208 103.794208 107.6862 113.1322 116.6322 122.848209 129.8482 140.7402 147.7402 151.6322 157.8482 161.7402 167.9562 171.4562 174.9562 178.8482 185.8482 192.06421 195.56421 201.78022 211.88822 224.33422 234.44222 237.94222 244.15822 251.15822 258.1582 262.0502 269.0502 275.2662 277.7862 283.2322 286.7322 290.6242 297.6242 303.8402 310.0562 313.9482 317.4482 326.0022 335.3402">When the transfer is complete, the eDMA engine's local TCD</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="531.0499" x="352.4482 359.4482 367.2322 377.3402 387.4482 397.5562 406.89424">_SADDR,</tspan><tspan y="547.0499" x="-.001739502 8.55226 17.890263">TCD</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.006 137.226 142.786 148.346 151.12599 157.79599 163.90599 170.01599 173.346 179.456 185.01599 193.90599 196.68599 199.46599 205.02599 207.80599 215.02599 220.58599 223.91599 229.47599 233.36598 238.92598 245.03598 250.59598 256.15599 258.93598 267.26597 272.82597 278.93595 285.04594 290.60594 293.38594 296.16593 298.94593 306.16593 311.72593 317.28593 320.06593 322.84593 328.4059 331.1859 336.7459 342.8559 348.96589 351.74589 357.30589 362.86589 368.42588">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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