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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_96.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

1211 lines
86 KiB (Stored with Git LFS)
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Raw Blame History

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<g clip-path="url(#clip_29)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 128.25 227)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="84.501 90.999 98.496 104.499 107.001 114.498 120.996">DMA MUX</tspan></text>
<g clip-path="url(#clip_30)">
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<g clip-path="url(#clip_31)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 242.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="28.746 33.75">57</tspan></text>
<g clip-path="url(#clip_32)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 128.25 242.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="84.501 90.999 98.496 104.499 107.001 114.498 120.996">DMA MUX</tspan></text>
<g clip-path="url(#clip_33)">
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<g clip-path="url(#clip_34)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 258)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="28.746 33.75">58</tspan></text>
<g clip-path="url(#clip_35)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 128.25 258)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="84.501 90.999 98.496 104.499 107.001 114.498 120.996">DMA MUX</tspan></text>
<g clip-path="url(#clip_36)">
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<g clip-path="url(#clip_37)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 273.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="28.746 33.75">59</tspan></text>
<g clip-path="url(#clip_38)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 128.25 273.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="84.501 90.999 98.496 104.499 107.001 114.498 120.996">DMA MUX</tspan></text>
<g clip-path="url(#clip_39)">
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<g clip-path="url(#clip_40)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 289)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="28.746 33.75">60</tspan></text>
<g clip-path="url(#clip_41)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 128.25 289)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="84.501 90.999 98.496 104.499 107.001 114.498 120.996">DMA MUX</tspan></text>
<g clip-path="url(#clip_42)">
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<g clip-path="url(#clip_43)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 304.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="28.746 33.75">61</tspan></text>
<g clip-path="url(#clip_44)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 128.25 304.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="84.501 90.999 98.496 104.499 107.001 114.498 120.996">DMA MUX</tspan></text>
<g clip-path="url(#clip_45)">
<path transform="matrix(1,0,0,1,54,302.25)" d="M288.25 .25H503.75V15.25H288.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<g clip-path="url(#clip_46)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 320)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="28.746 33.75">62</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 128.25 320)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="84.501 90.999 98.496 104.499 107.001 114.498 120.996">DMA MUX</tspan></text>
<g clip-path="url(#clip_48)">
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<g clip-path="url(#clip_50)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 128.25 335.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="84.501 90.999 98.496 104.499 107.001 114.498 120.996">DMA MUX</tspan></text>
<g clip-path="url(#clip_51)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 366)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">1.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 69.12 366)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.506 19.008002 21.006 26.010003 31.014004 34.011007 36.009008 41.01301 46.01701 48.51901 53.52301 56.02501 62.52301 70.02001 76.02301 78.52501 83.02501 88.02901 93.033008 98.037 103.041 108.045 110.043 112.545 115.047 120.050998 122.55299 127.05299 132.05699 134.055 139.05899 143.55899 146.06099 148.56299 153.06299 158.06699 163.07099 166.06798 170.56798 175.57198 178.07398 183.07798 185.57997 190.58397 193.58097 196.08296 201.08696 206.09096 210.59096 213.09296 218.09696 220.59896 223.10095 225.60295 230.60695 235.61095 238.11295 241.10994 246.11394 250.61394 255.61794 258.61494 263.11494 268.11894 273.12294 275.62495 280.12495 285.12895 290.13294 293.12995 297.62995 302.63395 307.13395 309.63597 314.63996 316.63795 321.13795 326.14195 331.14595 333.14393 338.14793 342.64793 345.14994 347.65196 352.65596 357.65995 360.16197 362.66398 369.16197 376.65898 382.66197 385.16398 389.66398 394.66798 399.67198 404.67597 409.67997 414.68397 416.68196">Configuring a DMA channel to select source 0 or any of the reserved sources disables that DMA channel.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 415)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00604 8.3339619 12.503962 20.843964 25.013964 33.353967 37.523969">3.3.9.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.043468 415)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00604 10.823961 23.318963 34.148965 38.318967 43.313966 49.148965 57.488965 66.65396 74.993968 79.98897 88.32897 94.16397 102.503978 106.67397 115.01398 119.183979 127.52398 131.69399 141.69899 145.86899 155.03398 159.20398 164.19898 170.03398 174.20398 183.36898 192.53397 200.87397">DMA transfers via PIT trigger</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="397.25" x="-.00104 8.552959 15.552959 21.768959 25.268959 33.05296 37.71496 46.26896 49.76896 60.66096 67.660968 74.660968 81.660968 85.55296 91.76897 95.26897 101.48497 107.70097 114.70097 118.20097 122.09297 126.754978 130.64698 137.64698 144.64698 150.86298 155.52498 159.02498 165.24098 168.74098 178.84899 191.29499 201.40299 204.90299 208.79499 213.45699 219.67299 226.67299 232.11899 236.78099 242.997 247.659 251.159 258.159 265.159 268.659 272.551 279.551 285.767 289.267 293.929 297.82099 302.48298 307.929 311.82099 315.32099 319.98298 326.98298 333.98298 338.64497 342.14497 352.25297 364.69898 374.80699 378.30699 384.52299 391.52299 397.73899 404.73899 411.73899 417.955 421.847 427.293 430.793 434.293 442.847 449.847">The PIT module can trigger a DMA transfer on the first four DMA channels. The</tspan><tspan y="413.25" x="-.00104 6.2149608 11.660961 17.106963 20.998963 27.998963 34.998964 45.890966 52.106966 59.106966 62.998968 68.44497 71.94497 78.16097 82.822978 89.03898 92.53898 99.53898 105.75498 109.64698 115.86298 119.75498 123.64698 129.86298 136.86298 140.36298 146.57898 150.47098">assignments are detailed at </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="413.25" x="153.97097 161.75496 166.41696 174.97097 178.86296 188.97097 201.41696 211.52497 215.02497 222.80896 229.02497 233.68697 237.57897 244.57897 251.57897 255.47097 261.68696 265.18696 273.74095 278.40293 282.29493 289.29493 296.29493 302.51094 307.1729 310.6729 320.7809 326.22694 331.67295 335.56495 342.56495 349.56495 360.45695 366.67295 373.67295 377.56495 383.01097">PIT/DMA Periodic Trigger Assignments </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="413.25" x="386.51097">.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 508.8)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00504 8.890961 13.338961 22.234963 26.682963 35.578966">3.3.10</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 508.8)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00503 11.546971 24.874974 36.426977 40.874979 52.42698 62.20298 71.97898 77.306987 83.53098 93.306987 97.75498 102.20298 111.09898 117.32298 121.77098 133.32299 143.09899 152.87499 158.20299 162.65099 172.42699 182.20299 188.42699 197.32299 202.65099 207.09899 216.87499">DMA Controller Configuration</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="492.05" x=".00498 8.55898 15.55898 19.450982 24.896983 28.396983 33.842985 40.058984 46.274984 50.166986 54.058988 61.058988 68.05899 71.55899 77.00499 84.00499 94.89699 105.78899 112.00499 116.66699 120.55899 126.774997 132.991 138.437 141.937 148.937 155.937 166.045 169.545 173.437 180.437 186.653 190.153 201.045 208.045 215.045 222.045 225.937 232.153 235.653 242.653 248.869 254.315 257.815 264.815 271.031 277.247 284.247 287.747 293.963 300.963 307.963 312.625 316.517 323.517 330.517 335.179 341.395 348.395 351.895 355.787 362.787 366.287 370.179 377.179 383.395 386.895 393.111 400.111 404.003 411.003 414.503 418.003 425.787 432.787 437.44898 440.94898">This section summarizes how the module has been configured in the chip. For a</tspan><tspan y="508.05" x=".0050100006 6.2210109 13.22101 24.11301 31.11301 35.77501 41.99101 48.99101 55.20701 62.20701 67.65301 71.545009 78.545009 84.76101 88.26101 95.26101 101.47701 106.92301 113.139019 117.80102 121.693019 128.69303 132.58502 136.47702 143.47702 150.47702 153.97702 160.97702 165.63903 169.13903 173.03102 180.03102 186.24703 189.74703 200.63903 207.63903 214.63903 221.63903 225.53102 231.74703 235.24703 239.13903 243.03102 248.47702 254.69303 258.58503 263.247 266.747 270.247 275.69303 281.90904 288.12504 291.62504 295.51704 302.51704 308.73304 312.23304 323.12504 330.12504 337.12504 344.12504 348.01704 354.23304 358.89503 364.34104 367.84104 374.84104 381.05705 388.05705 391.94905 398.16505 404.38105 408.27305 414.48905 421.48905 424.98905 431.20506 438.20506 444.42106 451.42106 455.31306 461.52906 466.19105">comprehensive description of the module itself, see the module&#x2019;s dedicated chapter.</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="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 54 734.93869)" 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>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="-.00197 5.002031">96</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="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 54 763.756)" 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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