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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_520.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

177 lines
46 KiB (Stored with Git LFS)
XML
Raw Blame History

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107.240009 109.01601 113.464008 117.912">current address after major loop</tspan><tspan y="536.9052" x="23.656 26.32 28.544 32.544 36.992 38.768 42.768 47.216005 48.992006 50.768007 54.768007 56.992006 61.440008 65.44 69.888 74.336 76.56 78.784 83.231998 85.45599 87.231998 91.67999 96.12799 100.57599 102.79999 107.247989 111.695987 115.695987 119.695987">(typically used to loop back)</tspan><tspan y="322.69779" x="244.744 251.408 253.184 257.63203 262.08003 264.74403 266.96803 268.74403 273.19203 277.64">Minor loop</tspan><tspan y="332.69779" x="241.856 244.52 250.296 255.632 260.96803 265.85603 271.19203 276.528 278.752 280.528">(NBYTES in</tspan><tspan y="342.69779" x="243.632 250.296 252.072 256.52003 260.96803 263.63203 265.85603 267.63203 272.08003 276.528 280.976">minor loop,</tspan><tspan y="352.69779" x="236.95999 241.40799 243.63199 245.85599 250.30399 254.75199 256.97599 259.19999 263.64799 268.09599 270.31999 274.31999 278.76799 285.43199">often the same</tspan><tspan 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419.67985">Each DMA source (S) and </tspan><tspan y="393.49778" x="324.98387 329.43186 333.87986 337.87986 340.10386 341.87986 346.32786 350.77586 352.99986 354.77586 359.22386 363.67185 365.89585 368.55986 374.33586 376.99986 379.22386 383.67185 388.11985 392.11985 394.34385 396.11985 398.34385 402.34385 404.56785 409.01585 414.79185 419.23985">destination (D) has its own:</tspan><tspan y="403.49778" x="341.43983 346.77583 351.22383 355.6718 358.33583 362.7838 366.7838 370.7838 373.0078 375.6718 379.6718 385.0078 390.7838 396.5598 402.33583">Address (xADDR)</tspan><tspan y="413.49778" x="350.77583 356.11183 357.88783 361.88783 366.33583 368.5598 371.22383 375.22383 380.5598 382.7838 387.6718 393.0078">Size (xSIZE)</tspan><tspan y="423.49778" x="348.77583 354.99983 357.22383 359.4478 363.4478 367.8958 370.1198 372.3438 375.0078 379.0078 385.2318 390.1198 395.0078">Offset (xOFF)</tspan><tspan y="433.49778" x="344.99983 351.66383 356.11183 360.5598 365.0078 366.7838 371.2318 373.4558 376.1198 380.1198 386.7838 393.0078 398.7838">Modulo (xMOD)</tspan><tspan y="443.49778" x="312.9758 317.4238 321.8718 325.8718 328.0958 330.3198 335.6558 340.1038 344.5518 347.2158 351.6638 355.6638 359.6638 361.8878 367.2238 371.67179 373.44779 377.89579 381.89579 384.11979 390.78379 395.23179 399.67979 401.90379 404.12779 406.79179 410.79179 415.23979 420.57579 425.91178 430.79978">Last Address Adjustment (xLAST)</tspan><tspan y="453.49778" x="343.31977 349.09577 353.54377 357.99177 360.65577 365.10377 367.32777 371.32777 373.55177 378.22377 380.44776 385.78376 388.00776 392.45576 395.11976 397.34376">where x = S or D</tspan><tspan y="473.49778" x="325.42375 330.75975 335.20774 337.87174 339.64775 344.09574 348.54374 352.99174 355.65574 360.10374 361.87974 364.10374 368.55174 372.99974 377.44773 381.89573 386.34373 390.34373 392.56773 394.79173 398.79173 403.23973 405.01573 409.01573 413.4637 415.23973 417.01573 421.01573">Peripheral queues typically </tspan><tspan y="483.49778" 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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="263.76719" x="152.62798 159.95998 163.29598 170.62798 177.95998 182.62798 189.29998 192.63597 199.30797 205.97997 209.97597 216.64797 223.31996 229.99196 233.32796 236.66396 246.65996 253.33196 263.99998 271.33198 275.99998 282.67198 286.00798 292.67997 297.34797 302.01597 308.68797 315.35997 318.69596 322.69197 329.36396 334.03196 344.69996">Figure 22-293. Memory array terms</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 361.35)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.004 8.892001 17.788002 22.236002 31.132004 35.580007">22.5.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 361.35)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.004 10.668001 16.892003 26.668004 36.444005 42.668004 51.564004 65.788 80.012 84.46 94.236 104.012 108.46 117.356 123.58 129.804 139.58 145.804">Programming errors</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="344.6" x="0 8.554 15.554 21.77 25.27 31.486 41.594 54.04 64.148 67.648 74.648 80.864009 85.52601 90.18801 97.18801 101.85001 112.74201 118.18801 121.68801 128.68802 134.90402 139.56603 143.45803 150.45803 157.45803 162.90402 166.40402 170.29602 176.51203 181.95803 185.85002 191.29602 194.79602 201.79602 208.79602 212.29602 216.18802 223.18802 229.40402 232.90402 236.79602 241.45803 247.67403 254.67403 260.12004 264.782 270.99803 275.66 279.16 285.376 292.376 299.376 303.268 307.93 314.93 318.822 322.322 329.322 335.538 340.984 347.2 351.862 355.754 362.754 366.646 373.646 378.30799 381.80799 385.69999 392.69999 396.19999 403.19999 409.416 414.07798 417.96998 422.63197 429.63197 433.13197 439.34797 446.34797 453.34797 458.79399 462.68598 468.132 472.024 478.24 485.24 491.456">The eDMA performs various tests on the transfer control descriptor to verify consistency</tspan><tspan y="360.6" x="0 3.8920005 10.892 14.392 18.284 25.284 31.5 35 42 48.216 53.662 59.878 64.54 68.432 75.432 79.324 86.324 90.986 94.486 101.486 107.702 111.594 117.810009 121.310009 124.810009 137.25601 144.25601 149.70201 153.59401 157.09401 164.09401 168.75601 175.75601 182.75601 187.41802 193.63402 204.52602 215.41802 219.31002 226.31002 233.31002 236.81002 243.02602 247.68802 252.35002 259.35005 264.01203 269.45805 272.95805 279.17405 283.83604 290.05204 293.55204 298.21403 304.43003 311.43003 318.43003 323.092 326.984 333.2 340.2 343.7 350.7 357.7 361.2 367.41603 370.91603 377.91603 384.13203 388.794 392.294 398.51 405.51 411.726 418.726 425.726 431.94203 435.834 439.334 446.334 452.55003 457.99604 461.88804 467.33406 470.83406 480.94206 484.83406 488.72605">in the descriptor data. Most programming errors are reported on a per channel basis with</tspan><tspan y="376.6" x=".00005 3.8920506 10.892051 17.108052 20.608052 26.82405 33.82405 40.04005 46.25605 53.25605 57.148054 61.040056 68.040058 75.040058 78.540058 85.540058 90.20206 93.70206 99.91806 106.91806 113.13406 120.13406 127.13406 133.35007 137.24207 140.74207 147.74207 152.40407 156.29607 163.29607 167.95807 171.85007 175.74207 182.74207 186.24207 192.45807 197.12007 201.78208 208.78208 213.44408 216.94408 221.60608 230.16008 237.94408 242.60608 251.94408 259.7281 268.28208 272.94407 277.60606">the exception of channel priority error (ES[CPE]).</tspan><tspan y="401" x=".00005 7.784051 14.784051 19.44605 22.94605 29.162053 33.054056 36.946058 40.446058 46.662057 51.324056 55.986055 62.986055 67.648059 71.148059 75.040058 82.040058 89.040058 95.25606 100.70206 104.20206 111.20206 115.094058 122.094058 128.31006 132.97206 136.47206 140.36406 147.36406 153.58007 160.58007 164.08007 170.29607 177.29607 183.51207 190.51207 197.51207 203.72808 207.62007 211.12007 218.12007 222.78208 226.67407 233.67407 238.33608 242.22808 246.12007 253.12007 256.62007 262.83607 267.49806 272.16004 279.16004 283.82203 287.32203 290.82203 294.71403 301.71403 307.93003 311.43003 317.64604 324.64604 330.86204 337.86204 344.86204 351.07804 354.97004 358.47004 365.47004 372.47004 383.36204 390.36204 396.57804 401.24003 404.74003 410.95603 417.17204 424.17204 429.61805 433.51005 440.51005 447.51005 451.01005 454.90205 461.90205 468.11805 471.61805 477.83406 482.49604 487.15803 494.15803">For all error types other than channel priority error, the channel number causing the error</tspan><tspan y="417" x=".0001 3.8921004 9.3381 12.8381 17.500102 23.716103 29.932103 36.932104 41.5941 48.5941 54.8101 61.8101 65.310108 69.2021 76.2021 79.7021 83.5941 90.5941 96.810108 100.310108 108.864109 116.64811 120.14811 124.81011 131.02611 138.02611 141.9181 147.3641 151.2561 157.4721 162.13411 165.63411 169.13411 173.79611 178.45812 181.95812 185.85012 192.85012 199.06612 202.56612 208.78212 213.44412 218.10613 225.10613 229.76813 233.26813 238.71413 245.71413 252.71413 257.37614 263.59214 269.80815 273.30815 277.20014 282.64616 286.14616 293.14616 300.14616 304.03816 307.53816 312.20014 318.41615 329.30815 336.30815 343.30815 349.52415 356.52415 360.02415 367.02415 373.24015 377.90214 384.90214 389.56413 395.78013 399.28013 403.17213 410.17213 416.38813 419.88813 426.88813 433.10414 440.10414 443.99613 447.49613 453.71214 459.92814 463.82014 467.71214 474.71214 480.92814 484.82014 488.71214 495.71214">is recorded in the ES register. If the error source is not removed before the next activation</tspan><tspan y="433" x=".00014999999 7.00015 11.66215 15.16215 19.054152 26.054152 32.270154 35.770154 42.770154 47.43215 54.43215 61.43215 65.32415 71.54015 82.43215 85.93215 92.148159 99.148159 105.36416 112.36416 119.36416 125.58016 129.47217 132.97217 136.47217 140.36417 147.36417 153.58017 157.08017 163.29618 167.95818 172.62018 179.62018 184.28218 187.78218 191.67418 197.12018 200.62018 207.62018 213.83618 217.72818 223.94419 230.16019 234.05219 240.26819 247.26819 250.76819 256.9842 263.9842 270.9842 274.4842 279.14619 285.36219 291.5782 298.5782 303.24018 310.24018 316.45619 323.45619 326.95619 333.17219 340.17219 346.38819 350.28019 357.28019">of the problem channel, the error is detected and recorded again.</tspan><tspan y="457.4" x=".00014999999 4.6621506 9.32415 12.82415 19.82415 24.48615 28.37815 35.37815 40.04015 43.93215 47.824155 54.824155 58.324155 62.216157 68.43216 75.43216 81.64816 85.54016 90.98616 94.48616 100.70216 105.36417 111.58017 115.08017 122.08017 129.08017 132.97217 136.47217 143.47217 150.47217 154.36417 161.36417 168.36417 174.58017 178.08017 181.58017 191.68817 198.68817 204.90418 211.90418 215.40418 221.62018 228.62018 235.62018 239.12018 245.33618 252.33618 258.5522 265.5522 272.5522 278.7682 282.6602 286.1602 290.82218 297.03819 304.03819 311.03819 317.25419 322.7002 326.5922 332.0382 335.5382 340.98423 347.20024 351.8622 358.8622 362.7542 368.9702 375.18623 378.68623 382.18623 388.40223 391.90223 398.11824 405.11824 411.33424 418.33424 425.33424 431.55024 435.44224 438.94224 445.94224 450.60423 454.49623 461.49623 466.1582 470.0502 473.9422">If priority levels are not unique, when any channel requests service, a channel priority</tspan><tspan y="473.4" x=".00014999999 6.2161509 10.878151 15.540152 22.540152 27.202153 30.702153 34.594156 40.040155 43.540155 48.202154 54.41815 61.41815 68.41815 73.080158 76.97215 83.188159 90.188159 93.688159 97.188159 105.74216 112.74216 118.95816 122.45816 129.45816 133.35016 140.35016 147.35016 153.56616 159.01216 162.90416 166.40416 172.62017 179.62017 185.83617 192.83617 199.83617 206.05217 209.94417 213.44417 220.44417 225.10617 228.99817 235.99817 240.66017 244.55217 248.44417 255.44417 258.94416 269.05216 272.94416 276.83616 283.83616 287.33616 293.55216 300.55216 304.05216 310.26817 316.48417 320.37617 324.26817 331.26817 337.48417 340.98417 345.64616 351.86216 358.86216 365.86216 372.07817 377.52418 381.41618 384.91618 388.80818 394.25419 397.75419 403.2002 409.4162 413.3082 419.5242 425.7402 429.6322 435.8482 442.8482 446.3482 449.8482 456.8482 463.8482 467.7402 471.2402 475.1322 482.1322">error is reported. The highest channel priority with an active request is selected, but the</tspan><tspan y="489.4" x=".00014999999 3.8921505 10.892151 21.000153 27.216153 32.66215 36.554155 40.054155 47.054155 54.054155 64.94615 71.94615 78.162158 82.82416 89.04016 96.04016 99.54016 105.756168 112.756168 118.97217 125.97217 132.97217 139.18817 143.08017 146.58017 156.68817 160.58017 164.47217 171.47217 174.97217 178.86417 185.86417 192.08017 195.97217 199.47217 206.47217 211.13417 215.02617 222.02617 226.68817 230.58017 234.47217 241.47217 244.97217 248.86417 254.31017 257.81019 263.2562 269.4722 273.3642 279.5802 285.7962 289.6882 295.9042 302.9042 306.4042 313.4042 320.4042 323.9042 330.1202 334.7822 341.7822 345.6742 349.5662 354.22819 360.44419 364.33619 368.22819 375.22819 382.22819 385.72819 391.94419 398.94419 405.94419 409.44419 415.6602 422.6602 428.8762 435.0922 442.0922 445.9842 452.2002 459.2002 462.7002 469.7002 476.7002 480.2002 484.0922 491.0922">lowest numbered channel with that priority is selected by arbitration and executed by the</tspan><tspan y="505.4" x=".00014999999 6.2161509 16.324152 28.770153 38.878156 42.378156 48.594156 55.594156 62.594156 66.48615 73.48615 79.702159 83.202159 86.702159 95.25616 102.25616 108.47216 111.97216 118.97216 125.18816 129.85016 136.85016 146.95816 153.17417 157.83617 164.05217 167.55217 172.99817 179.21417 183.87618 190.87618 194.76818 200.98418 207.20018 210.70018 215.36219 221.57819 228.57819 235.57819 241.79419 247.24019 251.13219 254.63219 261.6322 267.8482 274.8482 281.8482 287.29423 294.29423 300.51023 307.51023 313.72624 317.22624 322.67225 326.56425 333.56425 340.56425 346.78025 350.67225 356.11827 359.61827 363.11827 369.33427 373.99626 378.65824 385.65824 390.32023 393.82023 397.71223 404.71223 408.60423 414.82023 419.4822 424.1442 431.1442 438.1442 442.0362 447.4822 450.9822 454.4822 460.6982 467.6982">eDMA engine. The hardware service request handshake signals, error interrupts, and</tspan><tspan y="521.39999" x=".00014999999 6.2161509 10.878151 15.540152 22.540152 27.202153 30.702153 35.36415 41.58015 48.58015 55.58015 60.24215 64.13415 68.026149 75.026149 82.026149 85.526149 89.418148 94.86414 98.36414 104.58015 110.026149 115.472148 122.472148 128.68814 132.58014 138.79615 142.68814 148.90415 155.90415 159.40415 169.51215 173.40415 177.29615 184.29615 187.79615 191.68814 198.68814 204.90415 208.40415 213.85015 220.06615 223.95815 230.17415 236.39015 240.28215 246.49816 253.49816 256.99818 263.21418 270.21418 276.43019 283.43019 290.43019 296.64619 300.53819">error reporting is associated with the selected channel.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 616.95)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00616 11.558161 17.782162 27.558163 32.006166 37.334165 43.558164 52.454164 57.78216 62.230165 72.006168 81.782169 86.23016 100.45416 110.23016 120.006168 128.90216 133.35016 142.24616 152.02216 161.79816 170.69416 175.14215 184.91815 193.81415 200.03815 208.93415 214.26215 218.71015 228.48615 238.26215">Arbitration mode considerations</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 666.95)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00313 9.16813 13.338131 21.678132 30.018132 39.183134 43.353136 51.693136 60.858137 69.198139 78.36314 87.52814 95.86814 100.03814 104.20814 112.54814 118.38314 127.54814 131.71814 136.71314 142.54814 150.88814 155.88314 160.05313 169.21813">Fixed channel arbitration</tspan></text>
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