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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_508.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

271 lines
39 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.3" x="81.65999 90.32399 100.31999 108.98399 115.65599 122.98799 131.652">DMA_TCD</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.3" x="147.64798 154.31998 162.98398 166.31998 173.65198 181.65598 190.31998 196.99198 204.99597 212.32798 215.66397 224.32798 232.99198 241.65598 250.99198 254.32798 258.32398 261.65998 268.33198 271.66798 278.99998 282.33598 289.66798 296.33998 303.01197 309.68397 314.35197 317.68797 325.01997 329.01597 332.35197 339.68397 347.01597 353.68797 357.02397 361.01997 367.69197 375.02397 382.35597 386.35197 389.68797 397.01997 404.35197 411.02397 418.35597">_BITER_ELINKNO field descriptions (continued)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.1 76.18281)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="187.94699 194.44499 199.44899 204.45299 209.45699 212.958 215.45999 220.95899 223.95598 226.45798 231.95697">Description</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 90.182819)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 10.503 13.005001 15.507002 20.511002 25.515004 28.017004 32.517007 37.521009 42.52501 47.52901 52.533014 57.537015 59.535017 62.037015 66.53702 71.541019 79.03802 84.042018 86.040019 91.044017 93.54601 98.55001 103.05001 105.55201 108.05401 113.05801 118.062007 120.564 128.061 130.059 135.063 140.067 143.064 145.566 147.564 152.568 157.57199 162.57599 165.07799 167.57999 170.08199 175.08599 177.08399 181.58399 184.08599 186.58798 188.58599 193.58998 198.59398 201.09598 206.09998 211.10398 216.10797 221.11197 223.10997 228.11397 232.61397 235.11597 237.61797 242.62197 247.62596 250.12796 252.12596 254.12397 259.12797 263.62797 265.62596 270.62995 275.63395 278.13597 280.63798 285.64198 288.14399 293.14799 298.15199 303.15599 305.658 310.662 315.666 318.663 321.165 325.665 330.669 335.673 340.677 345.681 350.685 352.68299 355.185 357.687 362.691 367.695 370.19703 372.195 377.199 382.203 387.207 389.709 394.713">As the channel completes the minor loop, this flag enables the linking to another channel, defined by</tspan><tspan y="18.83789" x=".00004 6.0030405 8.505041 14.004042 20.007042 26.505043 29.007044 34.011045 36.513044 43.011045 49.014047 55.512048 62.010049 64.51205 67.014049 69.516048 75.015048 80.01904 85.02304 87.52504 89.52304 91.52104 96.52504 101.02504 103.52704 106.02904 111.033039 114.03004 119.034038 124.03803 126.54003 129.04204 133.54204 138.54604 143.55004 148.55403 153.55803 158.56203 160.56003 163.06203 165.06003 170.06403 172.06203 174.56403 176.56203 181.56603 184.06803 189.07202 193.57202 196.07402 201.07802 203.58002 208.08002 213.08402 218.08802 223.09201 228.09601 233.1 235.098 237.6 242.1 247.104 250.101 254.601 256.599 261.099 266.103 268.605 271.60203 276.60603 281.61003 286.614 291.618 296.118 298.62004 301.12205 305.62205 307.62004 312.62403 315.12605 320.13005 325.13404 327.63606 329.63404 334.63804 337.14006 342.14405 345.14106 350.14506 355.14906 357.14704 359.64906 367.14607 372.15007 376.65007 381.65406 386.65806 391.66206 393.66004 398.16004 405.65705 408.15907 410.66108 415.66508 420.66908">BITER[LINKCH]. The link target channel initiates a channel service request via an internal mechanism that</tspan><tspan y="29.83789" x=".00004 4.50004 9.504041 12.006041 16.50604 19.008042 21.510043 26.514042 31.518044 34.020044 39.519044 46.017045 52.515047 57.519048 62.52305 69.02105 75.02405 81.52205 84.02405 90.02705 95.52605 101.529048 108.02705 113.52605 116.028049 118.530048 123.53404 125.53204 128.03404 130.53604 135.54004 138.04204 140.54404 143.04604 148.05004 153.05403 155.55603 160.05603 165.06003 170.06403 174.56403 176.56203 179.06403 181.06203 186.06603 191.07003 193.57202 198.07202 203.07602 208.08002 213.08402 218.08802 223.09201 225.09001 227.59201 230.09401 232.59601 235.098 237.6 242.1 247.104 252.108 257.112 262.116 267.12 269.11799 271.62 273.61799 275.61598 280.61997 285.11997 287.11796 292.12196 297.12596 299.62797 301.62596 306.12596 308.62797 313.63197 315.62995 320.12995 325.13395 330.13795 332.13594 337.13993 342.14393 344.64595 347.14796 349.64997 354.65397 359.65797 362.15998 368.16297 370.66499 376.16398 382.16697 388.66496 391.16697 395.66697 400.67097 402.66896 407.67295">sets the TCDn_CSR[START] bit of the specified channel. If channel linking is disabled, the BITER value</tspan><tspan y="40.83789" x=".00004 5.0040409 9.504041 12.006041 17.01004 22.014042 27.018044 31.518044 34.020044 36.52204 41.526044 44.02804 49.032045 54.036046 56.538045 61.542047 63.540048 66.042049 70.542049 73.044048 75.042049 80.04604 82.54804 87.55204 89.55004 94.55404 99.05404 104.05804 106.560039 111.56403 114.06603 116.56803 121.57203 124.07403 126.07203 128.07003 133.07402 137.57402 140.07602 144.57602 149.58002 154.58402 159.58802 164.59201 169.59601 171.59401 174.09601 179.1 184.104 191.601 196.605 201.609 204.60599 207.10799 209.60999 212.11199 214.61399 217.11598 219.61798 224.62198 229.62598 232.12798 239.62497 244.62897 246.62697 251.63097 254.62796 257.12998 259.12797 264.13197 269.13597 274.13996 276.64198 278.63996 283.13996 285.64198 290.64598 295.14598 300.14997 305.15397 310.15797 314.65797 317.15998 322.16398 327.16798 329.66999 332.172 334.674 339.678 341.676 346.176 348.678 350.676 352.67399 357.67799 362.17799 364.68 372.177 377.181 381.681 386.685 391.689 396.693 398.69099 403.19099 410.688 413.19 415.188">extends to 15 bits in place of a link channel number. If the major loop is exhausted, this link mechanism is</tspan><tspan y="51.83789" x=".00004 4.50004 9.504041 14.508041 19.512043 22.509043 27.513043 32.013044 36.513044 41.517045 46.521047 49.023046 51.021047 56.025049 58.527048 61.029047 66.03304 70.53304 75.53704 78.53404 81.03604 86.04004 88.54204 91.04404 93.546039 98.55003 103.55403 106.05603 113.55303 119.55603 124.05603 131.05803 137.55603 143.55904 148.56304 151.06504 157.56304 163.56604 166.06804 170.56804 175.57204 180.57604 185.58003 190.58403 195.58803 197.58603 200.08803 202.08603 204.08403 209.08803 213.58803 215.58603 220.59003 225.59403">suppressed in favor of the MAJORELINK channel linking.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 382.9828)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 9.452001 18.904002 23.630002">22.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25536 382.9828)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 10.387 20.774 31.161 40.613 46.274 51 61.387 71.774 81.226009 85.952 90.678 101.065 110.517009 119.96901 129.421 136.03401 140.76001 151.147 156.808 161.534 171.92099">Functional description</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 428.9828)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".004 8.900001 17.796002 22.244002 31.140004 35.588006">22.4.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65331 428.9828)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".004 8.900001 20.452002 33.780004 45.332006 49.780008 59.556009 68.45201 77.348018 81.79601 90.69202 95.140018 104.916019 113.81202 119.14002 128.03603 132.48403 137.81203 142.26003 152.03603">eDMA basic data flow</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54)" font-size="14" font-family="TimesLTStd"><tspan y="412.2328" x="-.002 8.552 15.552 21.768002 25.268002 32.268 38.484 43.93 47.822004 54.038003 57.538003 62.2 66.092 73.092 83.200008 86.700008 93.700008 98.36201 101.86201 108.07801 111.57801 118.57801 124.794017 128.68602 134.90203 138.40203 142.29402 146.95603 153.17203 160.17203 165.61803 170.28003 176.49604 181.15804 184.65804 190.87404 197.09004 204.09004 207.59004 214.59004 220.80605 224.30605 231.30605 237.52205 242.18405 246.07605 249.96805 253.86005 257.75205 264.75205 271.75205 277.96806 284.96806 288.46806 292.36006 299.36006 303.25205 310.25205 313.75205 317.64405 324.64405 329.30604 335.52204 341.73805 345.23805 350.68406 356.90007 363.90007 374.79206 381.00807 388.00807 391.90007 397.34608">The basic flow of a data transfer can be partitioned into three segments.</tspan><tspan y="436.63279" x="-.00197 10.10603 15.552031 19.05203 24.498032 31.498032 38.49803 48.606035 55.606035 59.106035 62.998037 69.99803 73.49803 77.39003 84.39003 90.60603 94.10603 98.768039 105.768039 109.660037 113.55203 120.55203 130.66004 134.55204 141.55204 148.55204 152.05204 159.05204 162.94403 169.16004 176.16004 180.82204 187.03804 197.93004 201.43004 204.93004 208.82204 215.82204 222.03804 225.53804 230.20005 234.09204 238.75405 244.20005 248.09204 251.59204 257.03807 263.25407 270.25407 281.14607 287.36207 294.36207 298.25407 301.75407 305.64607 312.64607 319.64607 326.64607 330.53807 337.53807 343.75407 349.20008 352.70008 356.59208 363.59208 369.80809 373.30809 379.52409 386.52409 392.74009 399.74009 406.74009 412.9561 416.84809 420.34809 426.5641 432.7801 436.6721 440.5641 447.5641 453.7801 457.6721 461.5641 468.5641 475.5641">As shown in the following diagram, the first segment involves the channel activation:</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 5.499 10.998 16.497 21.501 24.498 27 32.499 37.998 43.002004 45.504 48.006 53.505 58.509004 63.513006 68.517009 72.018009 74.520008 80.019008 83.01601 85.518009 91.017009">Functional description</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 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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<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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