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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_504.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

795 lines
78 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="162.98398 169.65598 178.31998 185.65198 194.31598 202.31998 209.65198 217.65598 226.99198 235.65598 238.99198 242.98798 246.32398 252.99597 256.33198 263.66398 266.99998 274.33198 281.00398 287.67597 294.34797 299.01597 302.35197 309.68397 313.67997 317.01597 324.34797 331.67997 338.35197 341.68797 345.68397 352.35597 359.68797 367.01997 371.01597 374.35197 381.68397 389.01597 395.68797 403.01997">_DLASTSGA field descriptions (continued)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 110 246.08283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="24.107 27.999">15</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 166 246.08283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="24.107 27.999">14</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 222 246.08283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="24.107 27.999">13</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 278 246.08283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="23.981 27.873002">12</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 334 246.08283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="24.108 28">11</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 390 246.08283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="24.108 28">10</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 446 246.08283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.054">9</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 502 246.08283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.054">8</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 260.58283)" font-size="9" font-family="HelveticaLTStd"><tspan y="6.83789" x="30.243 36.741 41.745004 46.749006">Read</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 259.58283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="51.249">0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 110 295.08283)" font-size="7" font-family="HelveticaLTStd"><tspan y="17.06836" x="26.054">7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 166 295.08283)" font-size="7" font-family="HelveticaLTStd"><tspan y="17.06836" x="26.054">6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 222 295.08283)" font-size="7" font-family="HelveticaLTStd"><tspan y="17.06836" x="26.054">5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 278 304.83283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="25.928">4</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 334 295.08283)" font-size="7" font-family="HelveticaLTStd"><tspan y="17.06836" x="26.054">3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 390 295.08283)" font-size="7" font-family="HelveticaLTStd"><tspan y="17.06836" x="26.054">2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 446 295.08283)" font-size="7" font-family="HelveticaLTStd"><tspan y="17.06836" x="26.054">1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85002 445.58283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 16.011002 21.015004 27.513005 29.511006 34.515008 37.017007 42.021009 44.523008 51.021009 56.02501 61.02901 63.53101 66.52801 71.532009">Bandwidth Control</tspan><tspan y="26.83789" x="0 5.499 10.503 13.5 18.504002 21.006003 23.508004 25.506005 30.510006 35.010007 37.512006 40.014005 45.018007 50.022008 52.524007 57.528009 65.02501 70.02901 75.033008 80.037 82.539 85.041 90.045 92.547 95.048999 100.05299 105.05699 109.55699 112.05899 117.06299 122.066989 127.070987 132.07498 138.57299 140.57099 145.57498 148.07698 153.08098 155.58298 160.08298 165.08698 170.09098 174.59098 179.59497 187.09197 192.09597 197.09996 199.60196 204.60596 209.10596 211.60796 214.10996 219.11396 224.11795 226.61995 231.62395 238.12195 245.61894 251.62195 254.12395 256.62596 259.12797 264.13197 266.63398 271.63798 276.64198 281.64598 286.64997 289.64698 294.65098 296.64897 299.15098 301.65299 306.65699 311.15699 313.659 316.161 321.165 326.169 328.67103 333.67503 340.173 347.67 353.673 356.17503 361.17903 364.17604 369.18003 373.68003 378.68403 383.18403 387.68403 392.68803 397.18803 399.69004 402.19206 407.19606">Throttles the amount of bus bandwidth consumed by the eDMA. In general, as the eDMA processes the</tspan><tspan y="37.83789" x=".00004 7.4970409 9.495041 14.499042 19.503043 22.500042 25.002043 27.000042 32.004045 37.008047 42.012048 44.514047 47.016046 49.014047 51.516046 54.018045 58.518045 63.522047 68.52605 71.028049 73.02605 78.030048 83.03404 88.03804 93.04204 97.54204 99.54004 104.04004 106.54204 111.546039 116.55003 121.55403 126.55803 129.55503 134.55902 137.06102 142.06502 146.56502 149.06702 152.06401 157.06801 162.072 167.076 169.578 176.076 179.073 181.071 183.573 188.577 191.079 195.579 200.583 205.58699 210.59099 215.59499 220.59899 225.09899 230.10298 234.60298 237.10498 242.10898 247.11298 249.61498 251.61298 253.61098 256.11299 258.615 263.619 268.623 271.125 278.622 280.62 285.624 290.628 293.625 296.127 300.627 305.631 310.635 315.639 318.14103 320.64305 322.64103 327.14103 329.64305 334.64704 339.14704 344.15104 349.15504 354.15904 358.65904 361.16105 366.16505 371.16905 373.67106 376.17308 381.67207 386.67607 388.67405 393.17405 395.67607 398.17808 400.17607 405.18006 407.17805">minor loop, it continuously generates read/write sequences until the minor count is exhausted. This field</tspan><tspan y="48.83789" x=".00004 2.5020405 7.506041 10.503041 15.003041 20.007042 24.507042 27.009043 29.511044 34.515047 39.519048 42.021047 47.025049 53.52305 61.02005 67.02305 69.52505 72.02705 77.031047 79.53304 84.03304 86.53504 91.53904 93.53704 95.53504 98.03704 103.04104 105.54304 108.04504 113.049037 116.046039 118.548038 121.05003 126.05403 131.05803 133.56003 138.06003 143.06403 150.56102 155.56502 157.56302 162.56702 165.06902 167.06702 172.07102 177.07501 179.57701 184.58101 187.08301 189.585 194.589 199.593 204.093 209.097 211.599 214.596 219.59999 224.60399 229.60799 232.10999 238.60799 241.60498 243.60298 246.10498 251.10898 253.61098 258.615 263.115 267.615 272.619 277.119 281.619 284.121 286.62303 291.627 294.12904 298.62904 303.63304 308.63703 311.13905 314.13606 319.14006 321.13804 323.64006 326.14207 331.14607 336.15007 338.65208 343.65608 348.66007 353.16007 355.66209 358.6591 363.6631 368.66709 373.67109 378.67509 383.17509">forces the eDMA to stall after the completion of each read/write access to control the bus request</tspan><tspan y="59.83789" x=".00004 5.0040409 10.008041 15.012042 20.016043 26.514044 28.512043 33.516046 36.018045 41.022047 43.524045 48.024045 53.028047 58.032049 63.03605 65.53805 70.542049 75.042049 77.544048 80.04604 85.05004 90.05404 92.55604 97.05604 100.05304 105.05704 109.55704 114.05704 119.061038 124.06503 127.062038 129.56404 134.06404 140.56204 142.56005 145.06204 149.56204 154.56604">bandwidth seen by the crossbar switch.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 166.93567 516.5828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 2.5020405 5.0040409 7.506041 10.008041 15.012042 20.016043 22.518044 27.018044 32.022047 37.026048 40.02305 44.52305 49.52705 52.02905 57.03305 62.037054 67.04105 69.54305 74.54705 79.55105 84.05105 86.55305 88.55105 93.555049 98.559047 101.06104 103.059047 108.06304 113.06704 115.56904 120.06904 122.06704 126.56704 131.57105 136.07105 138.57305 143.57704 146.57404 151.57804 154.08003 159.08403 164.08803 169.09203 174.09603 176.09403 178.59603 181.09803 183.60002 188.60402 190.60202 195.10202 197.60402 200.10602 202.10402 207.10802 209.10602 214.11002 216.61202 218.61002 223.11002 225.61202 227.61002 232.61402 237.61801 242.62201 245.619 250.623 255.627 258.129 263.133 268.137 270.639 277.137 282.141 287.145 292.149 294.651 297.153 302.157 307.161 309.66304 312.16505 314.16304 317.16004 321.66004 324.16206 326.66407 331.66807 336.67207 341.67607 344.17808 348.67808 353.68208 358.18208 363.18608 368.19007">If the source and destination sizes are equal, this field is ignored between the first and second</tspan><tspan y="18.83789" x=".00004 2.5020405 5.4990408 10.503041 15.507042 20.007042 22.509043 27.513043 30.510043 35.01004 37.51204 42.51604 47.520044 52.524045 55.026044 60.030046 62.532045 65.03404 70.03804 73.03504 75.53704 78.03904 83.04304 88.047039 90.549037 92.547039 97.55103 102.05103 104.55303 107.05503 113.55303 116.55003 118.548038 121.05003 126.05403 128.55603 133.56003 136.06203 138.56403 143.56803 148.57202 153.07202 158.07602 160.57802 168.07501 170.07302 175.07701 180.08101 183.078 185.58 187.578 192.582 197.586 202.59 205.092 207.594 213.09299 218.09699 220.09499 224.59499 227.09699 232.10099 237.10498 242.10898 247.11298 251.61298 253.61098 258.615 261.612 264.114 266.112 270.612 273.114 278.118 280.62004 285.12004 287.118 292.122 297.126 299.62803 304.63203 307.13404 309.63606 314.64006 319.14006 321.64207 324.14408 329.14808 331.6501 334.1521 337.1491 342.1531 347.1571 352.1611 356.6611 358.6591 363.6631">transfers and after the last write of each minor loop. This behavior is a side effect of reducing</tspan><tspan y="29.83789" x=".00004 4.50004 7.0020406 12.006041 15.00304 17.505042 20.50204 25.506043 30.510045 33.012044 35.010046 40.014047 42.516046 47.520048 52.524049 57.024049 61.524049">start-up latency.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 559.5828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">00</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 152.94957 559.5828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 14.004002 19.008004 25.506005 33.003007 39.006006 41.508005 46.512006 51.516008 56.520009 58.51801 63.52201 68.52601 71.02801 75.52801 78.03001 83.034008 85.032009 87.03001">No eDMA engine stalls</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 152.94957 570.5828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.4980008 11.502001 16.002 21.006 24.003 28.503 33.507">Reserved</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 583.5828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009">10</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 152.94957 583.5828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 11.502001 18.999 25.002 27.504002 32.508005 37.512006 42.516008 44.514009 49.51801 54.52201 57.02401 61.52401 64.02601 69.03001 71.02801 73.02601 77.52601 80.02801 82.53001 87.534008 90.531009 93.033008 98.037 100.539 105.039 109.539 114.039 116.037 121.041 125.541 128.043 133.047 135.549 138.051 143.055 146.05199 148.55399 153.55799 158.56198 163.06198 168.06598 170.56798 173.56497 176.06697">eDMA engine stalls for 4 cycles after each r/w</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 596.5828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009">11</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 152.94957 596.5828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 11.502001 18.999 25.002 27.504002 32.508005 37.512006 42.516008 44.514009 49.51801 54.52201 57.02401 61.52401 64.02601 69.03001 71.02801 73.02601 77.52601 80.02801 82.53001 87.534008 90.531009 93.033008 98.037 100.539 105.039 109.539 114.039 116.037 121.041 125.541 128.043 133.047 135.549 138.051 143.055 146.05199 148.55399 153.55799 158.56198 163.06198 168.06598 170.56798 173.56497 176.06697">eDMA engine stalls for 8 cycles after each r/w</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250024 614.0828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="23.04 28.044003 33.048006 38.052007 43.056009">13&#x2013;12</tspan><tspan y="18.83789" x="16.299 22.797 27.801003 32.301004 37.305006 40.302007 44.802007 49.806009">Reserved</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 614.0828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 40.509008 45.009008 47.511007 50.508008 55.51201 60.01201 65.01601 68.01301 72.51301 77.517009 82.521">This field is reserved.</tspan><tspan y="18.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 80.523 85.023 87.525 90.522 95.526 100.026 105.03 108.027 112.527 117.531 122.534999 125.036998 130.041 135.045 140.049 142.551 147.555 149.553 156.051 161.055 165.555 170.055 172.55699 177.56099 182.56499 187.06499 189.56699 192.06899 197.07299 202.07698 204.57898 209.07898 214.08298 216.08098 221.08498 226.08898 228.59098 233.59497">This read-only field is reserved and always has the value 0.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250024 640.5828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="25.542 30.546002 35.550004 40.554006">11&#x2013;8</tspan><tspan y="18.83789" x="3.2940007 10.791001 16.794003 21.294003 28.296004 34.794004 39.798006 42.300004 48.798006 54.801004 61.299005">MAJORLINKCH</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85004 640.5828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 7.002001 12.006001 16.506 19.008002 25.506003 30.510003 35.514005 40.518007 45.522008 50.52601 52.52401 55.02601 61.52401 66.52801 74.02501 79.02901 84.033008">Link Channel Number</tspan><tspan y="26.83789" x="0 2.5020004 5.0040009 7.506001 10.503001 18.000002 24.003003 28.503003 35.505 42.003004 48.006006 53.010007 55.512006 62.010007 68.01301 70.51501 75.77101 78.27301 83.27701 86.27401 88.77601 91.27801 96.282009 101.286">If (MAJORELINK = 0) then</tspan><tspan y="37.83789" x="14.85001 24.00301 30.50101 35.505014 38.00701 42.50701 47.511014 52.515016 57.519018 62.523019 67.527019 69.52502 72.52202 75.02402 80.028018 83.02502 87.52502 92.529018 97.53301 102.53701 107.54101 112.545009 114.54301 117.045009 119.04301 121.04101 126.045009 130.54502 132.54302 137.54701 142.55101 145.05301 148.05 153.054 156.051 158.553 163.053 168.05699 173.06099 175.05899 180.06299 182.06099 187.06499 192.06899 195.06598 197.56798 199.56598 204.06598 206.56798 211.57198 216.57598 219.57297 222.07497 227.07897 230.07596 237.57295 242.57695 247.58095 250.08295 255.08695 257.58897 260.09098 265.09498 268.09199 270.594 273.096 278.1 283.104 285.60603 293.10304 298.10704 300.105 305.109 308.10603 310.60804 312.60603 317.61003 322.614 327.618 330.12004 334.62004 339.62403 344.62803 349.63203 352.13404 357.13804 360.13505 362.63706 364.63505 369.13505 371.63706 376.64106 381.14106 386.14506 391.14906 396.15306 400.65306 403.15507 408.15907 413.16307">&#x2022;No channel-to-channel linking (or chaining) is performed after the major loop counter is exhausted.</tspan><tspan y="58.83789" x=".00004005432 5.0040409 7.002041 11.502041">else</tspan></text>
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