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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_506.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

712 lines
74 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 132.1 76.18282)" 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 56.249994 92.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">1</tspan><tspan y="18.83789" x="12.546 15.048 21.546002 27.045002 34.542005 40.545007 45.045007 52.047006">INTMAJOR</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 92.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 16.011002 21.015004 23.013005 28.017006 30.519007 35.523008 40.527009 43.029008 45.027009 50.03101 52.53301 57.53701 60.53401 63.531015 68.53501 73.53901 76.04101 78.54301 85.04101 90.045009 95.049 100.053 102.555 110.052 115.056 117.054 122.058 125.055 127.557 129.555 132.05699 137.06099 140.05799 145.06198 147.56398 149.56198 154.56598 159.56998 162.07198 166.57198 171.57598 176.57997 181.58397 184.08597 186.58797 191.08797 196.09197 203.58896 208.59296 210.59096 215.59496 218.09696 223.10095">Enable an interrupt when major iteration count completes</tspan><tspan y="28.83789" x="0 2.5020004 5.0040009 7.506001 10.008001 15.012002 17.010003 21.510003 24.012003 26.514004 28.512005 33.516008 38.520009 41.022008 43.020009 47.520009 50.022008 54.522008 59.52601 62.028009 64.53001 67.032009 69.534008 74.538 79.542 82.044 86.544 91.548 96.551998 101.55599 106.55999 111.56399 113.56199 116.06399 121.067989 126.07198 131.07599 136.07999 139.07698 144.08098 146.58298 151.58698 156.08698 158.58898 163.59297 168.59697 171.09897 173.09697 178.10097 180.60297 185.60697 188.60396 191.60095 196.60495 201.60895 204.11095 206.61295 209.60994 214.61394 219.61794 224.62194 229.62593 234.12593 236.62793 239.12993 244.13393 248.63393 251.13593 255.63593 260.63993 263.14195 265.64396 267.64195 272.64595 277.64994 280.15196 282.65397 287.65797 292.66197 295.16398 300.16798 305.17198 310.17597 313.17298 318.17698 323.18098 326.17799 328.17597 333.17997 335.68199 340.68598 343.188 348.192 350.18998 352.692 355.194 357.192 362.19599 364.698 367.2 372.204 377.208 379.71003 382.21205 388.71003 394.209 396.71104 403.209 408.213 413.217">If this flag is set, the channel generates an interrupt request by setting the appropriate bit in the INT when</tspan><tspan y="39.83789" x=".00004 2.5020405 7.506041 12.510042 15.012043 19.512043 24.516045 27.513045 30.510045 35.514047 40.518049 43.020048 45.522047 53.019048 58.02305 60.02105 65.02505 68.02205 70.52405 72.52205 75.02405 80.028049 83.02505 88.029048 90.531047 92.529048 97.53304 102.53704 105.03904 109.53904 114.54304 119.547039 124.55103 127.05303 129.55504 132.55204 137.55603 142.56003 147.06003 152.06403 157.06803 161.56803 164.07003 168.57003 173.57402 176.57102 181.57501">the current major iteration count reaches zero.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 145.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 145.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 5.49904 10.50304 15.507041 18.00904 23.013043 28.017045 33.021047 36.018049 41.02205 43.524049 46.52105 54.01805 59.022054 61.020055 66.024059 69.02106 71.523059 73.52106 78.525058 83.52905 88.53305 91.03505 93.03305 98.03705 100.53905 105.543048 108.54005 111.53705 116.541049 121.545047 124.04704 126.54904 128.54705 133.04705 135.54904 140.55304 142.55104 147.05104 152.05504 157.05904 159.05704 164.06104">The end-of-major loop interrupt is disabled</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 156.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 5.49904 10.50304 15.507041 18.00904 23.013043 28.017045 33.021047 36.018049 41.02205 43.524049 46.52105 54.01805 59.022054 61.020055 66.024059 69.02106 71.523059 73.52106 78.525058 83.52905 88.53305 91.03505 93.03305 98.03705 100.53905 105.543048 108.54005 111.53705 116.541049 121.545047 124.04704 126.54904 128.54705 133.04705 135.54904 140.55304 145.55704 150.56104 155.56504 157.56304 162.56703">The end-of-major loop interrupt is enabled</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 173.68285)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">0</tspan><tspan y="18.83789" x="20.799 26.802 32.301 38.304 44.802003">START</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 173.68285)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.506 21.510003 26.514004 31.518006 33.516008 36.018007 42.021005 44.523004 49.527006 52.524007">Channel Start</tspan><tspan y="28.83789" x="0 2.5020004 5.0040009 7.506001 10.008001 15.012002 17.010003 21.510003 24.012003 26.514004 28.512005 33.516008 38.520009 41.022008 43.020009 47.520009 50.022008 54.522008 59.52601 62.028009 64.53001 67.032009 69.534008 74.538 79.542 82.044 86.544 91.548 96.551998 101.55599 106.55999 111.56399 113.56199 116.06399 118.06199 122.56199 125.06399 128.06099 133.06499 138.06899 143.07299 148.07698 152.57698 155.07898 157.07698 162.08098 167.08498 169.58698 174.08698 179.09098 182.08797 186.58797 188.58597 193.08597 198.08997 200.59197 203.09397 208.59296 213.59696 218.60095 221.10295 226.10695 232.60495 240.10195 246.10495 248.60695 253.61095 258.61497 261.61198 266.61598 273.11396 278.11796 281.11497 286.11897 288.62098 293.62498 298.62898 301.13099 306.13499 313.632 318.636 321.138 323.136 327.636 332.63999 334.63798 336.63597 341.13597 343.63798 348.13798 350.13597 355.13996 360.14396 363.14097 367.64097 370.14299 372.645 377.649 379.64698 384.14698 386.649 389.151 391.149 396.15299 401.15699 403.659 408.663 411.165 413.66703 418.67103">If this flag is set, the channel is requesting service. The eDMA hardware automatically clears this flag after</tspan><tspan y="39.83789" x="0 2.5020004 7.506001 12.510002 15.012003 19.512003 24.516003 29.520005 34.524007 39.528009 44.53201 46.53001 49.03201 54.03601 59.040014 64.044017 66.042018 71.04601 75.54601 78.04801 83.05201 87.55201 92.55601 97.05601 102.060009 104.562007 106.560009 111.564 116.568">the channel begins execution.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 226.68285)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 226.68285)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 22.509 27.513 32.517004 37.521005 42.525007 47.529008 49.527009 52.029008 54.027009 58.527009 61.029008 66.033008 71.037 73.539 76.041 81.045 85.545 90.548999 92.547 94.545 99.045 101.043 103.545 105.543 110.043 112.545 117.045 119.547 124.550998 127.548 130.05 135.054">The channel is not explicitly started</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 237.68285)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 15.507001 18.009 22.509 27.513 32.517004 37.521005 42.525007 47.529008 49.527009 52.029008 54.027009 58.527009 61.029008 66.033008 70.533008 75.537 77.535 79.533008 84.033008 86.031009 88.533008 90.531009 95.031009 97.533008 102.033008 104.535 109.539 112.536 115.038 120.042 125.046 127.548 132.048 134.046 139.05 141.552 146.556 149.058 153.558 158.562 161.064 163.566 170.064 175.068 178.06499 183.06899 185.57099 187.56899 192.57299 194.57099 197.07299 199.07099 204.07498 206.57698 211.58098 216.58498 219.08698 223.58698 228.59098 231.58797 236.08797 238.08597 242.58597 247.58997 250.09197 253.08896 258.09297 263.09696 268.10096 273.10496 277.60496">The channel is explicitly started via a software initiated service request</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 299.18284)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 16.680003 20.850003 29.190003 33.360006 41.700006">22.3.30</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 118.21337 299.18284)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 9.165 19.995 30.825 34.995004 45.825006 54.165006 63.330007 67.50001 76.66501 85.83001 90.00001 99.16501 108.33001 112.50001 124.99501 129.16501 138.33 147.495 153.33 157.5 166.665 175.82999 184.99498 194.15998 198.32997 207.49497 211.66497 220.82996 229.16996 233.33995 237.50995 250.00495 258.34495 262.51496 271.67997 277.51496 281.68498 290.84999 300.01499 309.18 318.345 322.515 333.345 342.51 351.67503 360.84004 365.83503 370.00505 375.00004 385.83003 394.99504 403.33503 412.50004 421.66505 430.00505">TCD Beginning Minor Loop Link, Major Loop Count (Channel</tspan><tspan y="27.89648" x="-.00003 9.16497 13.33497 22.49997 30.83997 35.00997 44.174974 53.339975 57.509977 67.51498 76.67998 85.01998 94.18498 98.35498 106.694988 115.859989 120.85499 125.02499 130.01999 140.84999 153.34499 164.17499 172.51499 181.67998 192.50998">Linking Enabled) (DMA_TCD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 118.21337 299.18284)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="27.89648" x="203.33997">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 118.21337 299.18284)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="27.89648" x="212.50496 220.84496 231.67496 235.84496 245.00995 255.01496 265.84495 274.18495 284.18995 293.35496 297.52497 308.35496 319.18495 329.18995 339.19496 349.19996">_BITER_ELINKYES)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54.000017)" font-size="14" font-family="TimesLTStd"><tspan y="297.4328" x="-.005 4.657 9.319 12.819 16.711 23.711 29.927002 33.427003 41.981004 51.319005 61.427007 68.427 75.427 84.765 89.427 97.981 106.535 115.873 120.535 129.089 137.643 142.30501 152.41301 162.52101 167.18302 170.68302 177.68302 181.57501 185.46701 188.96701 192.85901 198.30501 201.80501 207.251 213.46701 217.35901 220.85901 224.35901 228.251 235.251 241.46701 244.96701 253.52101 262.859 272.967 279.967 286.967 296.30503 300.967 309.521 318.07499 327.413 330.913 335.57499 341.791 348.791 352.68299 358.129 362.021 368.237 372.899 376.399 380.291 385.737 389.237 396.237 402.453 407.115 411.007 418.007 424.223 431.223 434.723 440.939 446.385 449.885 454.547 461.547 465.439 469.331 476.331 486.439 491.885">If the TCDn_BITER[ELINK] bit is set, the TCDn_BITER register is defined as follows.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 92.0161 367.58283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="-.00197 5.002031 10.006031 15.010032 20.014033 25.018033 30.022034 35.026037 40.030038 45.03404 50.03804 52.54004 57.54404 62.548044 67.04804 72.05204 74.55404 79.81004 82.31204 87.31604 92.32004 97.324039 103.327037 108.33103 110.83303 115.83703 118.33903 120.84103 125.34103 130.34503 132.84703 135.34903 140.60503 143.10703 146.10402 151.10802 156.11202 161.11602 163.61801 168.87401 171.376 173.37401 176.371 178.873 181.375 187.873 192.877 197.881 200.87799 205.88199 208.38399 210.38199 215.63799 220.64199 225.64598 228.14798 230.64998 235.65398 238.15598 243.15998 248.16397">4000_8000h base + 101Eh offset + (32d &#x00d7; i), where i=0d to 15d</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 386.58283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="43.83304 48.502038 50.056039">Bit</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 110 386.58283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="24.10704 27.99904">15</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 166 386.58283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="24.10704 27.99904">14</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 222 386.58283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="24.10704 27.99904">13</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 278 386.58283)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="23.98104 27.87304">12</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 334 386.58283)" 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 1 390 386.58283)" 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 1 446 386.58283)" 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 1 502 386.58283)" 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 54 401.08283)" 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 1 168.25 400.08283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="51.249">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 280.25 400.08283)" font-size="9" font-family="HelveticaLTStd"><tspan y="12.33789" x="93.25201 98.256008 100.758 107.256008 113.259 119.757">LINKCH</tspan></text>
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The link target channel initiates a channel service request via an internal mechanism that</tspan><tspan y="48.83789" x=".000069999998 4.50007 9.50407 12.006071 16.506072 19.008072 21.510073 26.514073 31.518074 34.020074 39.519075 46.017076 52.515077 57.519079 62.52308 69.02108 75.02408 81.52208 84.02408 90.02708 95.52608 101.529079 108.02708 113.52608 116.028079 118.530078 123.53407 125.532077 128.03408 130.53607 135.54007 138.04207 140.54407 143.04607 148.05007 153.05406 155.55606 160.05606 165.06006 170.06406 174.56406 176.56206 179.06406 181.06206 186.06606 191.07006 193.57205 198.07205 203.07605 208.08005 213.08405 218.08805 223.09204 225.09004 227.59204 230.09404 232.59604 235.09804 237.60004 242.10004 247.10404 252.10803 257.11204 262.11604 267.12004 269.118 271.62004 273.618 275.616 280.62 285.12 287.11799 292.12199 297.12599 299.628 304.632 306.62998 311.12998 316.13398 321.13798 323.13597 328.13996 332.63996 335.14198 337.64399 340.146 345.15 350.154 352.656 358.659 361.161 366.66 372.663 379.16099 381.663 386.163 391.167 393.16499 398.16899">sets the TCDn_CSR[START] bit of the specified channel. If channel linking disables, the BITER value</tspan><tspan y="59.83789" x=".000069999998 5.0040709 9.50407 12.006071 17.01007 22.014073 27.018074 31.518074 34.020074 36.52207 41.526075 44.028074 49.032075 54.036077 56.538076 61.542078 63.540079 66.042079 70.542079 73.044078 75.042079 80.046077 82.54807 87.55207 89.55007 94.55407 99.05407 104.05807 106.56007 111.564067 114.06606 116.56806 121.57206 124.07406 126.07206 128.07006 133.07405 137.57405 140.07605 144.57605 149.58005 154.58405 159.58805 164.59204 169.59604 171.59404 174.09604 179.10004 184.10404 191.60103 196.60503 201.60903 204.60602 207.10802 209.61002 212.11202 214.61402 217.11602 219.61801 224.62201 229.626 232.128 239.625 244.629 246.627 251.631 254.62799 257.13 259.128 264.132 269.136 274.13999 276.642 278.63999 283.13999 285.642 290.646 295.146 300.15 305.154 310.158 314.658 317.16 322.164 327.168 329.67 332.17204 334.67405 339.67805 341.67604 346.17604 348.67805 350.67604 352.674 357.678 362.178 364.68003 372.17704 377.18104 381.68104 386.68504 391.68904 396.69303 398.691 403.191 410.68803 413.19004 415.18803">extends to 15 bits in place of a link channel number. If the major loop is exhausted, this link mechanism is</tspan><tspan y="70.83789" x=".000069999998 4.50007 9.50407 14.508071 19.512072 22.509072 27.513073 32.013074 36.513074 41.517076 46.521078 49.023077 51.021078 56.025079 58.527078 61.029077 66.03307 70.53307 75.53707 78.53407 81.03607 86.04007 88.54207 91.04407 93.54607 98.550067 103.55406 106.05606 113.55306 119.55606 124.05606 131.05806 137.55606 143.55907 148.56307 151.06507 157.56307 163.56607 166.06807 170.56807 175.57207 180.57607 185.58007 190.58406 195.58806 197.58606 200.08806 202.08606 204.08406 209.08806 213.58806 215.58606 220.59006 225.59406">suppressed in favor of the MAJORELINK channel linking.</tspan></text>
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