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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_94.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

1279 lines
99 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 149.50003 215.57453)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="13.96809 21.30009 27.972092 35.304094 38.64009 45.31209 48.648096 55.320096 59.316095 65.9881 72.660099 84.99609 93.660099 100.33209 104.328098 111.00009 115.66809 122.34009 129.67209 136.34409 143.01609 146.35208 149.68808 153.02408 160.35608 167.02808 173.70008 177.03607 181.03208 188.36408 191.70008 196.36808 203.04007 206.37607 213.04807 217.04407 223.71607 231.04807 234.38407 237.72006 245.05207 249.04807 256.38008 261.04808 271.71607 278.38807 282.38407 285.72007 293.05207">Table 3-23.Reference links to related information</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 237.57453)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="36.9 42.399003 47.898004 53.397005 55.899003">Topic</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 253.57453)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="21.897 28.395 35.892004 41.895006 44.397005 47.394006 52.398008 57.402009 62.40601 67.41001 71.91001">DMA request</tspan><tspan y="18.83789" x="26.397 33.894 38.898004 40.896005 43.398004 45.396005 50.400007 52.398008 57.402009 61.902009 66.906009">multiplexer</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 311.07453)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="7.884 13.887 18.891 25.389002 30.393002 33.390005 35.892004 43.389005 48.393007 53.397008 58.40101 63.40501 68.40901 75.90601 80.91001 85.91401">Power management</tspan></text>
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 257.85 311.07453)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="108.684 114.687 119.690998 126.188999 131.193 134.18999 136.69199 144.18898 149.19298 154.19698 159.20098 164.20497 169.20897 176.70597 181.70996 186.71396">Power management</tspan></text>
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<path transform="matrix(1,0,0,1,54,324.32453)" d="M.25 .25H100.55V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 326.57453)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="15.138 21.636 26.64 31.644001 36.648004 41.652006 46.656007 48.654008 51.156007 54.153009 59.15701 64.16101 69.16501 74.16901 78.66901">Channel request</tspan></text>
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<path transform="matrix(1,0,0,1,54,324.32453)" d="M101.05 .25H201.35V15.25H101.05Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 326.57453)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="18.396 24.894001 32.391004 38.394006 40.896005 45.396005 50.400007 55.404008 57.906007 60.903009 65.907009 67.90501 69.90301 74.907009">DMA controller</tspan></text>
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 257.85 326.57453)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="118.19699 124.69499 132.19199 138.19499 140.69699 147.19499 152.19899 157.20299 159.70499 162.70198 167.70598 169.70398 171.70198 176.70598">DMA Controller</tspan></text>
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<path transform="matrix(1,0,0,1,54,339.82453)" d="M.25 .25H100.55V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 410.57453)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.830001 23.325 34.155004 38.325006 50.820009 61.65001 71.655017 75.82501 81.66001 90.000019 99.165019 108.33002 116.67002 125.010028 130.00502 134.17502 142.51502 151.68001 160.845 166.68001 175.02 183.36">DMA MUX request sources</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="392.82453" x="-.002 8.552 15.552 19.444 24.890002 28.390002 35.39 41.606 48.606 52.498 58.714 64.93 68.43 72.322 79.322 85.538 89.43 96.43 103.43 109.646 115.092 118.592 124.80801 128.30802 138.41602 150.86202 160.97002 164.47002 169.13202 175.34803 182.34803 189.34803 195.56403 201.01003 204.90203 208.40203 219.29402 226.29402 233.29402 236.79402 240.68602 247.68602 253.90203 257.79405 261.29405 267.51005 271.40205 275.29405 282.29405 292.40205 297.84806 301.34806 308.34806 315.34806 318.84806 322.74006 329.74006 333.24006 340.24006 347.24006 350.74006 360.84806 373.29408 383.40208 386.90208 391.56407 397.78007 404.78007 411.78007 417.99607 423.44209 427.33409 430.83409 436.2801 440.1721 447.1721 454.1721 460.3881 464.2801 469.7261 473.2261 477.1181 484.1181 487.6181 494.6181">This device includes a DMA request mux that allows up to 63 DMA request signals to be</tspan><tspan y="408.82453" x="-.00197 10.890031 17.106032 24.106032 31.106032 37.322034 44.322034 47.822034 51.714036 58.714036 62.214036 68.43004 75.43004 82.43004 85.93004 92.93004 97.59204 101.09204 104.98404 111.98404 118.20004 121.70004 128.70005 135.70005 139.20005 149.30805 161.75405 171.86205 175.36205 181.57805 188.57805 194.79405 201.79405 208.79405 215.01006 218.90206 224.34806">mapped to any of the 16 DMA channels.</tspan><tspan y="433.22453" x="-.0019400001 9.3360619 15.552062 21.768063 27.984063 34.984064 40.43006 46.64606 50.14606 57.14606 61.80806 65.30806 69.20006 76.20006 82.41606 85.91606 96.80806 103.80806 110.80806 114.30806 118.20006 125.20006 131.41606 136.07807 142.29407 145.79407 149.68607 155.13207 158.63207 165.63207 172.63207 176.52407 180.02407 186.24007 189.74007 196.74007 202.95607 207.61808 214.61808 218.11808 224.33408 231.33408 235.99608 240.65808 246.87409 250.76609 256.9821 260.87409 264.76609 271.76609 278.76609 282.26609 289.26609 295.4821 299.37409 309.4821 315.6981 321.9141 328.9141 332.4141 338.6301 345.6301 352.6301 356.1301 363.1301 367.79209 371.29209 375.18409 382.18409 388.4001 391.9001 402.0081 414.4541 424.5621 428.0621 432.7241 438.9401 445.9401 452.9401 459.1561 464.6021">Because of the mux there is not a hard correlation between any of the DMA request</tspan><tspan y="449.22453" x="-.0019100001 5.4440906 12.44409 19.44409 24.10609 30.32209 36.53809 41.98409 45.48409 51.70009 58.70009 65.70009 69.20009 75.41609 78.91609 84.36209 91.36209 97.578098 103.7941 107.6861 112.3481 116.2401 122.4561 125.9561 136.0641 148.5101 158.6181 162.1181 168.3341 175.3341 181.55011 188.55011 195.55011 201.76612 205.65811">sources and a specific DMA channel.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 18.00003)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 6.0030004 11.007001 16.011002 19.008002 24.012001 32.013 34.515 42.516 48.015 53.514 59.013 61.515 66.519">System modules</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.9387)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.013 137.233 142.793 148.353 151.133 157.803 163.913 170.023 173.353 179.463 185.023 193.913 196.693 199.47299 205.03299 207.81299 215.03299 220.59299 223.92299 229.48299 233.37299 238.93299 245.04299 250.60298 256.163 258.943 267.27299 272.83299 278.94297 285.05296 290.61296 293.39295 296.17295 298.95295 306.17295 311.73295 317.29295 320.07295 322.85295 328.41294 331.19294 336.75294 342.8629 348.9729 351.7529 357.3129 362.8729 368.4329">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 391.68 751.75607)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="44.775 50.274003 53.271005 58.275007 63.279008 67.77901 72.27901 77.283008 79.281009 84.285 86.787 92.79 97.794 105.291 107.289 111.789 116.793 121.797 126.800998 131.805 136.305 138.80699 143.81099 146.80799 149.30998 151.81198 154.31398 159.31798 163.81798">Freescale Semiconductor, Inc.</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54 763.75607)" 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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