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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

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.13672" x="0 7.784001 15.568002 19.460003 27.244004 31.136004 38.920007 42.812009 50.59601 54.48801">22.5.7.3.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 130.44532 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.13672" x="0 11.662001 19.446002 24.108002 32.662004 41.216005 49.770006 53.662008 61.446008 65.338008 70.00001 77.78401 86.33801 94.12202 102.67602 111.23002 119.01402 122.90602 126.79802 135.35202 143.13602 147.02802 155.58202 164.13602 168.02802 180.47402 188.25801 192.15001 200.70401 206.15001 210.042 213.934 222.488 231.042 239.59601 243.488 251.272 259.826 267.61 276.16398 284.71797 292.50196 296.39396 300.28596 304.17796 308.06996 316.62394 324.40794 328.29994 336.8539 345.4079">Method 2 (channel using major loop channel linking)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="59.65" x=".00003 7.784031 14.784031 19.446032 22.946032 29.162034 32.662034 38.878034 45.878034 52.094034 59.094034 66.09403 72.310039 76.202037 79.702037 86.702037 92.14803 96.04003 103.04003 110.04003 113.54003 124.43203 130.64803 134.54003 141.54003 146.20203 149.70203 153.59403 160.59403 167.59403 174.59403 178.09403 184.31003 191.31003 197.52603 204.52603 211.52603 217.74204 221.63404 225.13404 229.02603 232.91803 239.91803 246.91803 250.81003 257.81004 264.81004 268.31004 271.81004 275.70204 282.70204 288.91804 292.41804 298.63404 305.63404 312.63404 318.85005 323.51203 329.72804 336.72804 342.94404 349.94404 353.44404 364.33604 371.33604 378.33604 384.55204 388.44404 391.94404 398.94404 405.16004 410.60606 416.82206 421.48405 425.37605 432.37605 438.59205 445.59205 449.09205 456.09205 462.30805 466.97004 473.18605 476.68605 487.57804 493.79405">For a channel using major loop channel linking, the coherency model described here may</tspan><tspan y="75.65" x=".00006 7.00006 13.216061 16.71606 23.71606 29.162062 35.378065 42.378065 45.878065 50.540063 57.540063 62.20206 65.70206 71.91806 75.41806 82.41806 89.41806 96.41806 102.63406 113.52606 117.41806 123.63406 127.13406 132.58007 138.79607 145.01207 148.90407 152.79607 159.01207 163.67407 167.56607 174.56607 180.78208 184.67407 191.67407 197.89008 202.55208 206.05208 210.71408 216.93009 223.93009 230.93009 237.14609 242.59209 246.48409 249.98409 253.48409 262.0381 269.0381 272.93009 278.3761 281.8761 292.7681 298.9841 302.8761 309.8761 316.8761 323.8761 327.3761 334.3761 339.8221 346.03813 351.48414 354.98414 358.87614 365.87614 372.09214 375.59214 384.14613 393.48414 403.59214 407.09214 414.09214 417.98414 424.20014 429.64616 433.53816 440.53816 445.98417 452.98417 459.20018 462.70018 467.36216 471.25416 477.47016 481.36216 488.36216 491.86216 498.07817">be used for a dynamic scatter/gather request. This method uses the TCD.dlast_sga field as</tspan><tspan y="91.65" x=".00006 6.2160608 9.716061 18.270062 27.608063 37.716066 41.216066 45.108068 52.108068 59.108068 65.324069 72.324069 76.216068 80.10806 84.770069 88.66206 94.87807 101.09407 104.98607 108.87807 115.87807 122.87807 126.37807 131.04007 135.70207 145.81008 150.47208">a TCD indentification (ID).</tspan><tspan y="107.65" x="7.5040705 14.50407 23.99607 37.21207 41.87407 45.76607 49.658075 55.874074 59.374074 66.37407 73.37407 76.87407 80.76607 87.76607 91.26607 95.158069 102.158069 108.37407 111.87407 120.42807 129.76607 139.87407 143.37407 150.37407 157.37407 162.03607 168.25208 175.25208 178.75208 185.75208 189.64408 193.53607">1.Write 1b to the TCD.d_req bit.</tspan><tspan y="132.05" x="23.99607 31.780072 38.78007 45.78007 52.78007 56.672075 63.672075 67.17207 73.38808 76.88808 83.88808 90.88808 97.88808 104.10408 114.99608 118.88808 125.10408 128.60408 134.05008 140.26609 146.48209 150.37409 154.26609 160.48209 165.14409 169.03609 176.03609 182.25209 186.14409 193.14409 199.36009 204.0221 207.5221 213.7381 217.6301 221.5221 227.7381 238.6301 245.6301 249.5221 253.0221 257.68409 263.9001 267.79209 271.68409 275.18409 278.68409 284.1301 290.3461 294.2381 298.1301 302.0221 309.0221 316.0221 319.5221 323.4141 330.4141 336.6301 340.1301 347.1301 354.1301 358.79209 365.0081 372.0081 375.5081 382.5081 386.4001 390.29209 393.79209 403.9001 407.79209 411.68409 415.57609 419.07609 426.07609 430.73808 436.95408 443.95408 450.17008 457.17008 461.06208 464.56208">Should a dynamic scatter/gather attempt fail, setting the d_req bit will prevent a</tspan><tspan y="148.05002" x="23.996102 28.658102 35.658105 39.550107 46.550107 51.212106 57.428106 60.928106 67.9281 74.144107 78.80611 85.80611 95.91411 102.13011 106.792118 113.00812 116.50812 122.72412 128.94013 132.83213 136.72412 143.72412 149.94013 153.83213 157.72412 164.72412 171.72412 175.22412 182.22412 186.88613 190.38613 194.27812 201.27812 205.17012 210.61612 214.11612 220.33213 227.33213 233.54813 240.54813 247.54813 253.76413 257.65614 261.15614 264.65614 273.2101 280.2101 284.1021 289.54814 293.04814 298.49415 302.38615 309.38615 316.38615 321.83216 325.33216 329.22416 336.22416 342.44017 345.94017 352.15617 359.15617 365.37217 372.37217 379.37217 385.58818 389.48017 392.98017 397.64216 402.30415 409.30415 420.19615 423.69615 429.91215 436.91215 443.12815 449.34416 456.34416 460.23616 464.12815 471.12815">future hardware activation of this channel. This stops the channel from executing</tspan><tspan y="164.05002" x="23.996102 34.104104 37.996107 41.888109 48.888109 52.388109 58.604108 62.104108 69.10411 75.320117 80.76611 84.65811 88.55011 95.55011 101.76611 105.65811 109.55011 116.55011 123.55011 127.05011 133.26612 140.26612 147.26612 151.92812 158.14412 163.59012 169.03612 172.53612 177.19812 184.19812 190.41413 197.41413 204.41413 209.07613 213.73813 217.23813 221.13013 228.13013 234.34613 238.23813 241.73813 251.84613 258.06214 263.50816 267.00816 273.22416 279.44017 283.33216 289.54817 296.54817 300.44017 306.65617 310.54817 316.76417 323.76417 327.26417 334.26417 339.71018 343.60218 350.60218 357.60218 361.10218 367.31819 370.81819 376.2642 382.4802 388.6962 392.5882 396.4802 402.6962 407.3582 411.25019 418.25019 424.4662 428.3582 435.3582 441.5742 446.23619 449.73619 455.95219 462.95219 469.95219 474.61418 480.83018 486.27619">with a destination address (daddr) that was calculated using a scatter/gather address</tspan><tspan y="180.05002" x="23.996132 28.658133 38.766134 43.42813 47.320135 51.212137 55.104139 61.320138 68.32014 71.82014 75.712139 82.712139 86.212139 90.10413 97.10413 103.32014 106.82014 113.82014 120.03614 127.03614 130.92815 134.42815 139.87415 143.76615 149.98215 156.98215 161.64415 165.14415 169.03615 176.03615 181.48215 185.37415 191.59015 197.80615 204.80615 208.30615 215.30615 219.96816 223.46816 229.68416 233.18416 240.18416 244.07616 250.29216 255.73816 259.63017 263.13017 267.79216 271.68415 278.68415 284.90016 288.79216 292.29216 299.29216 303.95414 308.61613 314.83213 320.27815 324.17015 327.67015 334.67015 340.88615 344.77815 351.77815 357.99415">(written in the next step) instead of a dlast final offest value.</tspan><tspan y="204.45001" x="7.5041429 14.504143 23.996144 37.212144 41.87414 45.766145 49.658147 55.874147 59.374147 63.266149 70.26614 76.48215 85.03615 94.374149 104.48215 107.98215 114.98215 118.874149 125.09015 130.53615 134.42815 141.42815 146.87415 153.87415 160.09015 163.59015 168.25215 172.14415 178.36016 182.25215 189.25215 192.75215 202.86016 206.75215 210.64415 217.64415 221.14415 225.03615 232.03615 238.25215 241.75215 247.19815 253.41416 259.63017 263.52217 267.41416 273.63017 278.29216 282.18415 289.18415 295.40016 299.29216 306.29216 312.50816 317.17015 320.67015 326.88615 333.88615 340.88615 345.54814 351.76414 357.21015 362.65617">2.Write theTCD.dlast_sga field with the scatter/gather address.</tspan><tspan y="220.45001" x="7.5041429 14.504143 23.996144 37.212144 41.87414 45.766145 49.658147 55.874147 59.374147 66.374149 73.374149 76.874149 80.76614 87.76614 91.26614 95.15814 102.15814 108.374149 111.874149 120.42815 129.76615 139.87415 143.37415 149.59015 156.59015 162.03615 169.03615 172.53615 179.53615 183.42815 187.32015">3.Write 1b to the TCD.e_sg bit.</tspan><tspan y="236.45001" x="7.5041429 14.504143 23.996144 33.334146 39.550146 45.766145 52.766145 56.266145 63.266145 69.48215 75.69815 82.69815 86.19815 90.09015 97.09015 103.30615 106.80615 115.36015 124.69815 134.80615 138.30615 144.52216 151.52216 156.96816 163.96816 167.46816 174.46816 178.36016 182.25215">4.Read back the TCD.e_sg bit.</tspan><tspan y="252.45001" x="7.5041429 14.504143 23.996144 32.550146 38.766145 44.212144 48.104146 51.604146 55.496149 62.496149 68.71215 72.21215 80.76615 90.10416 100.21216 103.71216 109.92816 116.92816 122.37416 129.37416 132.87416 137.53617 143.75217 150.75217 157.75217 163.96817 169.41417 173.30617 176.80617 182.25217 186.14417 192.36017 196.25217 203.25217 208.69817">5.Test the TCD.e_sg request status:</tspan><tspan y="276.85" x="23.996144 28.658144 33.320146 36.820146 43.036146 50.036146 55.482145 62.482145 65.98215 73.87814 77.37814 84.37814 91.37814 94.87814 98.37814 102.27014 109.27014 115.486148 118.986148 125.986148 132.98615 139.98615 146.20215 157.09415 160.98615 167.20215 170.70215 174.59415 178.48615 185.48615 192.48615 195.98615 202.20215 206.09415 209.98615 216.20215 227.09415 234.09415 237.98615 241.48615 251.59415 257.81016 263.25617 266.75617 272.20219 279.20219 285.41819 291.6342 297.8502 303.2962 308.74223 313.4042 320.4042 324.2962">If e_sg = 1b, the dynamic link attempt was successful.</tspan><tspan y="301.25" x="23.996134 28.658135 33.320135 36.820135 43.036134 50.036134 55.482133 62.482133 65.98213 73.87813 77.37813 84.37813 91.37813 94.87813 98.37813 103.04013 109.256137 115.47214 122.47214 125.97214 129.86414 136.86414 143.08014 146.58014 153.58014 160.58014 164.08014 171.08014 174.97214 178.86414 182.36414 190.91814 200.25614 210.36414 213.86414 220.86414 224.75614 230.97214 236.41814 240.31014 247.31014 252.75614 259.75614 265.97215 269.47215 274.13414 278.02613 284.24214 288.13414 295.13414">If e_sg = 0b, read the 32 bit TCD dlast_sga field.</tspan><tspan y="325.65" x="23.996165 28.658165 33.320165 36.820165 43.036165 50.036165 55.482164 62.482164 65.98216 73.87816 77.37816 84.37816 91.37816 94.87816 101.09416 108.09416 115.09416 118.59416 122.48616 129.48616 135.70217 139.20217 146.20217 150.09416 156.31017 161.75617 165.64817 172.64817 178.09416 185.09416 191.31017 194.81017 201.81017 205.70217 212.70217 216.20217 223.20217 230.20217 234.09416 237.59416 243.81017 250.81017 257.02616 264.02616 271.02616 277.24217 280.74217 284.24217 288.13417 295.13417 301.35017 304.85017 311.06617 314.95817 318.85017 325.06617 335.95817 342.95817 346.85017 353.06617 360.06617 363.56617 370.56617 377.56617 384.56617 390.78218 401.67417 405.56617 411.78218 415.28218 419.17417 423.06617 430.06617 437.06617 440.56617 447.56617 451.45817 458.45817 461.95817 468.95817 475.95817">If e_sg = 0b and the dlast_sga did not change, the attempted dynamic link did not</tspan><tspan y="341.65" x="23.996195 29.442196 36.442197 42.658197 48.874197 55.090196 61.306196 68.3062 71.8062 76.4682 80.3602 87.3602 93.5762 97.0762 103.292209 110.292209 116.50821 123.50821 130.50821 136.72422 140.61621 144.11621 154.22422 160.44022 165.88622 169.38622 175.60222 179.49422 184.15622 190.37223 196.58823 203.58823 210.58823 214.08823 218.75023 224.96623 228.85823 232.75023 237.41223 241.30423 248.30423 255.30423 259.96623">succeed (the channel was already retiring).</tspan><tspan y="366.05" x="23.996226 28.658226 33.320226 36.820226 43.036226 50.036226 55.482225 62.482225 65.98222 73.87822 77.37822 84.37822 91.37822 94.87822 101.09422 108.09422 115.09422 118.59422 122.48622 129.48622 135.70223 139.20223 146.20223 150.09423 156.31023 161.75623 165.64823 172.64823 178.09423 185.09423 191.31023 194.81023 201.02623 208.02623 214.24224 221.24224 228.24224 234.45824 241.45824 244.95824 248.45824 252.35024 259.35023 265.56623 269.06623 276.06623 283.06623 290.06623 296.28224 307.17424 311.06623 317.28224 320.78224 324.67424 328.56623 335.56623 342.56623 346.06623 352.28224 356.17424 360.06623 366.28224 377.17424 384.17424 388.06623 391.56623 401.67424 407.89024 413.33625 416.83625 422.28227 429.28227 435.49827 441.71427 447.93028 453.37629 458.8223 463.48429 470.48429 474.37629 477.87629 482.53828 486.43028 493.43028">If e_sg = 0b and the dlast_sga changed, the dynamic link attempt was successful (the</tspan><tspan y="382.05" x="23.996195 30.996195 37.212198 47.320199 50.820199 59.3742 68.712207 78.820209 83.48221 88.92821 92.42821 98.64421 105.64421 111.09021 118.09021 121.59021 128.59021 134.80622 138.69821 145.69821 151.91422 155.41422 161.63022 165.52222 171.73822 177.95423 182.61623 188.83223 195.83223 199.33223 203.22423 210.22423 216.44023 219.94023 226.15624 233.15624 238.60224 245.60224 249.10224 256.10224 259.99424 263.88624 268.54823">new TCD&#x2019;s e_sg value cleared the e_sg bit).</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01035" 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 54 734.93869)" 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>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00401 5.5030105 8.5000109 13.504011 18.50801 23.00801 27.50801 32.512014 34.510015 39.514017 42.016016 48.019014 53.023015 60.520017 62.518018 67.01802 72.02202 77.02602 82.030017 87.03401 91.53401 94.03601 99.04001 102.03701 104.53901 107.04101 109.54301 114.547008 119.047008">Freescale Semiconductor, Inc.</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32 751.756)" 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 1 391.68 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">531</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54 763.756)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="180.87 188.65 194.20999 200.31999 205.87999 209.76999 215.32999 218.10999 220.88999 228.10999 234.21999 239.77999 242.55998 248.66999 254.22998 259.78999 265.34999 268.12998 270.90998 277.01997 280.34996 286.45994 290.34996 299.23997 304.79997 308.12995 310.90995 317.01994">General Business Information</tspan></text>
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