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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

120 lines
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="20" font-family="HelveticaLTStd" font-weight="bold"><tspan y="88.19531" x="0 14.4400019 26.660002 37.780004 50.000005 56.660005 67.78001 75.560009 81.12 92.240009">Chapter 11</tspan><tspan y="110.19531" x="0 13.340001 25.560002 33.340005 40.000005 45.560007 56.680009 68.90001 81.12001 87.780017 95.56001 107.780017 113.34001 118.90001 130.02 142.24 154.46 160.02 165.58 177.8 184.46 195.58 203.36 211.14 223.36 235.58 242.24 253.36 258.92 265.58003 278.92 294.48 308.92 321.14">Port control and interrupts (PORT)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".00601 9.458011 18.910012 23.636012">11.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".00601 4.7320106 15.119011 20.78001 27.393012 37.78001 48.16701 58.554014 68.00601 73.667018 78.39301 88.780017">Introduction</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="186.83672" x="232.559 242.667 253.559 262.113">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="211.45" x="71.993 79.777 86.777 91.439 94.939 98.831 105.831 112.047008 115.547008 121.76301 128.763 132.655 139.655 144.317 149.763 156.763 162.979 169.195 173.087 177.74901 181.641 187.85701 191.35701 195.24901 206.141 213.141 217.033 223.24901 234.141 240.35701 247.35701 251.24901 257.465 261.357 265.249 272.249 279.249 282.749 289.749 295.965 299.857 306.073 309.965 313.857 319.303 322.803 329.803 334.465 337.965 341.857 348.857 352.749 358.195 361.695 372.587 379.587 386.587 393.587 397.479 403.695 406.215">For the chip-specific implementation details of this module's</tspan><tspan y="227.45" x="71.99303 75.885028 82.885028 88.331027 92.22302 98.439029 105.439029 111.65503 117.87103 123.31703 126.81703 132.26303 138.47904 144.69504 148.19504 152.08704 159.08704 165.30304 168.80304 175.01905 182.01905 185.91104 192.91104 196.41104 202.62705 209.62705 216.62705 221.28905 225.18105 232.18105 239.18105 243.84305 250.05905 253.95105 257.84306 264.84306 271.84306 275.34306 279.23506 286.23506 290.89704 297.89704 302.55903 313.45103 319.66703 323.55903 327.45103 334.45103 341.45103">instances see the chip configuration information.</tspan><tspan y="251.84999" x="71.99306 79.77706 89.88506 99.22307 107.77707 112.43907 121.77707 131.88507 140.43907 145.10108 155.20908 165.31708 168.81708 177.37108 186.70908 196.04708 206.15508 215.49308 219.38507 222.88507 227.54708 234.54708 238.04708 248.93907 255.93907 262.9391 269.9391 273.8311 280.0471 283.5471 294.4391 300.6551 311.5471 318.5471 323.20909 330.20909 333.70909 344.60108 350.81709 357.81709 361.31709 365.20909 371.42509 378.42509 382.31709 388.53309 393.9791">PUBLICATION ERROR: In module memory map tables,</tspan><tspan y="267.85" x="71.99306 76.65506 82.87106 89.87106 93.76306 99.20906 103.10106 109.31706 113.979068 117.479068 122.14107 128.35707 133.80307 140.01908 143.91107 147.41107 154.41107 160.62708 164.51908 171.51908 177.73508 183.18108 186.68108 197.57308 203.78908 210.78908 214.28908 221.28908 227.50508 231.00508 234.89708 241.89708 248.11309 255.11309 259.7751 264.43708 270.65309 276.86909 280.76109 284.26109 287.76109 295.54508 301.76109 307.97709 311.47709 315.36909 322.36909 328.58509 332.08509 335.97709 342.97709 349.97709 353.86909 360.86909 364.76109 371.76109 378.76109 384.97709">register reset values may be incorrect. See the individual</tspan><tspan y="283.85" x="71.99306 76.65506 82.87106 89.87106 93.76306 99.20906 103.10106 109.31706 113.979068 117.479068 124.479068 128.37107 134.58707 141.58707 146.24907 152.46508 163.35707 168.80307 172.30307 176.96508 183.96508 188.62708 192.12708 198.34308 204.55908 210.77509 217.77509 222.43709 228.65309 232.54509 238.7611 242.2611 246.9231 253.1391 258.5851 264.80113 268.6931 272.1931 276.0851 283.0851 287.7471 294.7471 299.4091 310.3011 316.5171 320.4091 324.3011 331.3011 338.3011">register diagrams for accurate reset information.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 402.19999)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00093 9.451071 18.903073 23.629073">11.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 402.19999)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00093 13.225071 22.67707 32.12907 38.74207 48.19407 52.92007 62.37207">Overview</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="367.44999" x="-.00193 8.55207 15.55207 21.76807 25.26807 32.26807 39.26807 43.93007 47.82207 51.32207 57.53807 64.53807 71.53807 75.43007 80.09207 87.09207 90.98407 94.48407 100.70007 107.70007 114.70007 118.20007 122.09207 129.09207 132.98407 139.20008 143.86208 148.52408 155.52408 162.52408 166.41608 169.91608 174.57808 182.36208 192.47008 201.80808 210.36208 215.02408 218.52408 229.41608 236.41608 243.41608 250.41608 254.30808 260.52409 264.02409 271.02409 275.68608 282.68608 289.68608 293.57807 300.57807 306.79408 312.24009 315.74009 321.1861 328.1861 335.1861 342.1861 349.1861 353.84809 357.74009 361.24009 365.90208 372.90208 377.56407 381.06407 388.06407 395.06407 399.72605 403.61805 407.11805 413.33406 420.33406 427.33406 431.22605 435.88804 442.88804 446.78004 450.28004 453.78004 459.99604 466.99604">The port control and interrupt (PORT) module provides support for port control, and</tspan><tspan y="383.44999" x="-.0019200001 6.2140805 13.214081 17.106081 23.322083 27.984084 34.984086 41.200086 45.092088 48.592088 52.48409 59.48409 63.37609 69.592098 74.2541 78.9161 85.9161 92.9161 96.8081 100.3081 104.9701 111.9701 118.9701 125.186107 129.07811 132.97011 139.97011 146.97011 152.4161 155.9161 159.4161 171.8621 178.8621 184.3081 188.2001 191.7001 196.3621 203.3621 210.3621 216.57811 220.47011 224.3621 231.3621 238.3621 243.8081 247.3081 253.52411 259.7401 266.7401 270.2401 277.2401 283.45613 286.95613 293.17213 300.17213 307.17213 311.8341 315.7261 322.7261 329.7261 334.3881 340.6041 347.6041 351.1041 354.9961 361.9961 368.9961 375.2121 382.2121 388.4281 395.4281 402.4281 408.6441 415.6441 419.5361 423.4281 430.4281 433.9281 438.5901 445.5901 450.25209 453.75209 459.96809 466.18409 472.4001 479.4001 482.9001 489.9001 493.79209">external interrupt functions. Most functions can be configured independently for each pin</tspan><tspan y="399.44999" x="-.0019200001 3.8900805 10.89008 14.39008 18.282082 25.282082 31.498082 34.99808 41.99808 48.99808 53.66008 60.66008 64.55208 68.44408 71.94408 78.94408 85.94408 90.60608 94.49808 97.99808 104.21408 111.21408 118.21408 121.71408 127.930088 132.59209 137.25409 143.4701 149.6861 153.5781 157.0781 160.9701 167.9701 174.1861 177.6861 184.6861 188.5781 195.5781 199.0781 203.7401 209.9561 216.9561 223.1721 227.8341 234.8341 238.7261 244.94211 250.3881 255.8341 259.3341 266.3341 270.9961 274.4961 278.3881 282.2801 287.7261 291.2261 298.2261 302.1181 309.1181 312.6181 323.5101 330.5101 337.5101 341.4021 348.4021 355.4021 358.9021 364.3481 368.2401 374.45613 378.3481 384.56413">in the 32-bit port and affect the pin regardless of its pin muxing state.</tspan><tspan y="423.84999" x="-.0019200001 8.55208 15.55208 21.768082 26.430083 32.646085 36.146085 40.038087 45.484086 48.984086 55.984086 62.984086 69.20009 72.70009 76.59209 83.59209 89.038089 92.930088 99.14609 106.14609 112.36209 118.578098 122.078098 129.0781 133.7401 137.2401 141.1321 148.1321 154.3481 157.8481 165.6321 175.7401 185.0781 193.6321 197.1321 208.0241 215.0241 222.0241 229.0241 232.91609 239.1321 242.6321 247.2941 254.2941 258.9561 262.4561 268.6721 274.8881 281.1041 288.1041 291.6041 298.6041 305.6041 310.26609 314.15809 317.65809 321.15809 331.26609 338.26609 342.15809 345.65809 351.87409 355.76609 359.65809 363.15809 370.15809 374.05009 381.05009 386.4961 389.9961 400.1041 403.9961 407.8881 414.8881 418.7801 425.7801 429.2801 435.4961 441.7121 447.9281 454.9281 458.4281 465.4281 472.4281 477.0901 480.9821 484.4821 490.6981 495.36009">There is one instance of the PORT module for each port. Not all pins within each port are</tspan><tspan y="439.84999" x="-.0019200001 3.8900805 14.782082 21.782082 25.674082 31.890084 42.782087 48.998086 55.998086 59.890089 66.10609 73.10609 76.60609 83.60609 90.60609 94.10609 100.32209 103.82209 109.26809 116.26809 122.48409 128.70009 132.59209 137.25409 141.14609 147.36209 150.86209 157.86209 164.0781 171.0781 174.9701 181.1861 187.4021">implemented on a specific device.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 553.39999)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00609 9.78209 18.678092 27.574093 32.902093 42.678094 48.902093 57.79809">Features</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="518.64999" x="-.00191 8.55209 15.55209 21.76809 25.26809 33.05209 43.16009 52.498094 61.052095 64.55209 75.44409 82.44409 89.44409 96.44409 100.33609 106.55209 110.05209 117.05209 123.2681 128.7141 132.2141 136.1061 143.1061 149.3221 152.8221 157.4841 164.4841 168.3761 172.2681 179.2681 189.3761 193.2681 200.2681 207.2681 210.7681 215.4301 221.6461 227.8621 231.7541 238.7541 243.4161 249.63211 255.07811">The PORT module has the following features:</tspan><tspan y="543.0499" x="13.102099 23.9941 31.778101 35.6701 42.6701 46.1701 50.062105 57.062105 60.954107 67.170108 71.83211 76.49411 83.49411 90.49411">&#x2022;Pin interrupt</tspan><tspan y="559.0499" x="37.0981 48.0041 52.6661 59.6661 63.5581 69.7741 74.436107 79.09811 86.09811 93.09811 96.990108 100.490108 105.15211 109.044109 115.26011 122.26011 125.76011 131.9761 138.9761 145.9761 149.4761 155.69211 162.69211 168.90811 175.90811 179.80011 186.01612 189.51612 194.17812 200.39412 207.39412 211.28612 216.73212 220.62412 226.84012 231.50212 236.94812 240.44812 245.11013 252.11013 256.77214 260.27214 266.48814 272.70414 278.92015 285.92015 289.42015 296.42015 300.31214">&#x2022;Interrupt flag and enable registers for each pin</tspan><tspan y="575.0499" x="37.0981 48.0041 55.7881 62.7881 69.7881 76.7881 83.7881 88.4501 92.3421 95.8421 100.504108 107.504108 112.16611 115.66611 121.88211 128.88211 135.88211 142.09812 145.59812 151.04412 157.26012 164.26012 169.70612 173.59812 177.49011 181.38211 188.38211 194.59812 198.09812 202.76012 207.42212 211.31412 216.76012 220.65212 227.65212 234.65212 238.15212 241.65212 246.31412 252.53012 256.42213 260.31413 264.20613 271.20613 278.20613 281.70613 285.20613 292.20613 299.20613 303.0981 310.0981 314.7601 318.2601 325.2601 329.9221 333.4221 337.3141 343.5301 350.5301 356.7461 360.6381 364.1381 369.5841 375.8001 382.8001 388.24613 392.13813 396.03013 399.92213 406.92213 413.13813 416.63813 421.3001 425.1921 432.1921 442.3001 445.8001 449.3001 456.3001 460.1921 467.1921 474.1921">&#x2022;Support for edge sensitive (rising, falling, both) or level sensitive (low, high)</tspan><tspan y="591.0499" x="48.00412 54.22012 61.22012 68.22012 72.882129 76.774127 83.774127 90.774127 95.43613 101.65213 108.65213 112.15213 119.15213 125.36813 130.03014 133.53014 140.53014 144.42214">configured per pin</tspan><tspan y="607.0499" x="37.09813 48.00413 55.78813 62.78813 69.78813 76.78813 83.78813 88.450138 92.34213 95.84213 100.504138 107.504138 112.16614 115.66614 119.558139 126.558139 130.45014 136.66614 141.32814 145.99015 152.99015 159.99015 163.88214 167.38214 174.38214 179.04415 182.54415 192.65215 205.09815 215.20615 218.70615 223.36815 229.58415 236.58415 243.58415 249.80016 255.24616 259.13816 262.63816 268.85417 275.85417 282.85417 287.51615 291.40815 298.40815 305.40815 310.07014 316.28614 323.28614 326.78614 333.78614 340.00215 344.66413 348.16413 355.16413 359.05613">&#x2022;Support for interrupt or DMA request configured per pin</tspan></text>
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