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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_509.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

212 lines
42 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1.007208 0 0 .992844 62.66123 54.74424)" font-size="8.8534" font-family="HelveticaLTStd"><tspan y="367.52867" x="259.36405 264.28654 270.67869 278.05357 283.95878 286.42 292.32524 297.2477 300.1959 302.16136 307.08384 312.00633 316.9288 319.87699 324.79948">eDMA Peripheral</tspan></text>
<text xml:space="preserve" transform="matrix(1.007208 0 0 .992844 62.66123 54.74424)" font-size="8.8534" font-family="HelveticaLTStd"><tspan y="378.00416" x="276.5219 282.91407 287.83656 292.75904 297.68153 302.604 307.0307">Request</tspan></text>
<text xml:space="preserve" transform="matrix(1.007208 0 0 .992844 62.66123 54.74424)" font-size="8.8534" font-family="HelveticaLTStd"><tspan y="373.26228" x="338.2794 343.20188 349.59403 356.9689 362.8741 365.33537 371.7275 376.65 381.57249">eDMA Done</tspan></text>
<text xml:space="preserve" transform="matrix(1.033949 0 0 .967166 62.66123 54.74424)" font-size="8.70116" font-family="HelveticaLTStd"><tspan y="143.51186" x="269.97767 275.29408 278.19157 283.02943 287.86729 292.21788 294.63679 299.47465">Transfer</tspan><tspan y="154.3883" x="269.97767 276.2599 281.09776 285.9356 288.35453 291.252 296.08988">Control</tspan><tspan y="165.26476" x="269.97767 276.2599 281.09776 285.44834 289.79893 292.6964 294.62809 299.46595 301.88487 306.72273 309.6202 312.03913 314.9366 320.25303 326.53526 332.81748">Descriptor (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="396.55729" x="144.303 151.635 154.971 162.303 169.635 174.303 180.97499 184.31099 190.98299 197.65499 201.65099 208.32299 214.99498 221.66698 225.00298 228.33898 235.01097 243.67498 253.67098 262.33497 265.67097 273.00297 280.33497 287.00697 291.67497 298.34696 302.34297 305.67897 313.01097 320.34297 323.67897 327.01496 334.34696 341.01896 345.68696 349.68296 353.01896">Figure 22-289. eDMA operation, part 1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="422.9901" x=".0029754639 8.556975 15.556975 19.448977 24.894978 28.394978 34.610979 41.610979 47.826978 58.71898 65.71898 69.61098 75.82698 79.32698 86.32698 91.77298 97.98898 103.43498 106.93498 110.82698 117.82698 124.042987 127.542987 133.75899 139.20499 144.65099 150.86699 155.52899 159.42099 163.31299 170.31299 177.31299 180.81299 187.81299 192.47499 195.97499 199.86699 206.86699 213.083 216.583 222.799 232.907 245.353 255.461 258.961 265.961 272.177 276.839 280.731 287.731 294.731 300.947 305.60899 311.82499 315.71699 319.21699 323.87898 330.09498 337.09498 344.09498 350.31098 355.757 359.649 363.149 368.595 372.487 379.487 386.487 392.703 396.595 400.095 403.987 410.987 414.487 419.149 425.365 432.365 439.365 445.581 451.027 454.919 458.419 463.86503 470.08103 474.743 481.743 485.635 491.851">This example uses the assertion of the eDMA peripheral request signal to request service</tspan><tspan y="438.9901" x=".0030054639 4.6650059 11.665006 16.327006 19.827006 26.043007 33.043008 39.259008 46.259008 53.259008 59.475008 63.36701">for channel </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="438.9901" x="73.867008 77.367008 80.867008 90.205 97.205 103.421009 110.421009 117.421009 123.63701 127.52901 131.029 137.24501 143.46102 147.35301 151.24501 158.24501 164.46102 168.35301 172.24501 179.24501 186.24501 189.74501 196.74501 200.63701 206.85301 210.35301 215.79901 222.79901 227.46102 231.35301 241.46102 247.67702 252.33902 258.55503 262.05503 268.27104 275.27104 282.27104 285.77104 289.66304 296.66304 302.87904 306.37904 314.933 324.27104">. Channel activation via software and the TCD</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="438.9901" x="341.37898 348.37898 357.71699 365.50099 374.839 379.50099 387.28498 395.83897 405.94697 415.28498 423.83897 428.50096 432.00096 439.00096 442.89295 446.78495 450.28495 454.94694 461.94694 465.83894 469.73094 476.73094 486.83894">_CSR[START] bit follows</tspan><tspan y="454.9901" x=".0030212403 3.8950217 10.895021 17.111023 20.611023 26.057024 32.273027 43.165029 49.381029 52.881029 59.881029 66.09703 71.54303 75.43503 81.65103 85.15103 89.813037 93.70503 100.70503 110.813037 114.313037 120.52904 125.97504 129.47504 136.47504 142.69104 147.35305 151.24504 158.24504 165.24504 171.46105 176.12305 182.33905 186.23105 189.73105 194.39305 200.60906 207.60906 214.60906 220.82506 226.27106 230.16306 235.60906 239.10906 242.60906 251.16306 258.16307 264.37907 267.87907 274.09507 284.20307 296.64909 306.75709 310.25709 314.91908 321.13508 328.13508 335.13508 341.35108 346.7971 350.6891 354.1891 358.0811 365.0811 372.0811 379.0811 382.97309 386.47309 391.9191 395.8111 402.8111 409.8111 416.0271 419.9191 423.4191 427.3111 432.7571 436.2571 440.9191 447.1351 454.1351 458.0271 463.4731 467.3651 473.58113 478.2431 484.4591">the same basic flow as peripheral requests. The eDMA request input signal is registered</tspan><tspan y="470.9901" x=".0030112402 3.8950117 10.895012 14.787012 21.003014 25.665015 32.665018 38.881017 42.773019 46.66502 53.66502 57.16502 63.38102 70.38102 77.38102 80.88102 84.77302 91.77302 97.98902 104.98902 108.48902 113.151027 120.151027 127.151027 131.04303 137.25904 144.25904 147.75904 151.65103 158.65103 163.31304 170.31304 177.31304 184.31304 191.31304 194.81304 198.70503 205.70503 211.92104 215.42104 221.63704 231.74504 244.19104 254.29904 257.79905 264.01506 271.01506 278.01506 281.90705 288.90705 295.12306 299.01506 302.51506 307.17704 311.06904 315.73103 321.17704 325.06904 328.56904 332.46104 339.46104 344.12303 351.12303 358.12303 365.12303 372.12303 375.62303 379.515 386.515 392.73103 396.23103 402.44703 409.44703 416.44703 420.33903 425.001 432.001 435.893 439.393 450.285 457.285 464.285 471.285 475.177 481.393">internally and then routed through the eDMA engine: first through the control module,</tspan><tspan y="486.9901" x=".00306124 3.8950618 10.8950619 17.111062 24.111062 27.611062 31.503062 38.50306 42.39506 49.39506 52.89506 56.787065 63.787065 70.00307 73.50307 80.50307 85.16507 92.16507 99.16507 103.82707 110.043079 120.935077 124.435077 135.32707 142.32707 149.32707 155.54308 159.43508 162.93508 169.15108 176.15108 183.15108 186.65108 192.86708 199.86708 206.08309 213.08309 220.08309 226.29909 230.19109 233.69109 239.90709 244.56909 251.56909 255.46109 259.3531 264.01509 270.23109 274.12309 278.01509 285.01509 292.01509 295.51509 299.01509 303.67707 310.67707 314.17707 318.06907 325.06907 331.28507 334.78507 341.78507 348.00108 355.00108 358.89308 362.39308 368.60908 375.60908 381.82508 385.71708 391.93309 395.43309 398.93309 402.82508 409.82508 416.04109 419.54109 425.75709 432.75709 438.97309 445.97309 452.97309 459.1891">then into the program model and channel arbitration. In the next cycle, the channel</tspan><tspan y="502.9901" x=".00306124 6.219062 10.881062 17.881062 21.773062 25.665062 30.327063 36.543066 40.435068 44.32707 51.32707 58.32707 61.82707 68.82707 75.043079 79.70508 84.36708 91.36708 96.02908 106.92108 112.36708 115.86708 119.36708 126.36708 131.81308 135.70508 142.70508 149.70508 153.20508 157.09708 164.09708 170.31308 173.81308 178.47509 182.36708 189.36708 195.58309 202.58309 207.24509 214.24509 218.90709 222.79909 229.79909 234.46109 238.35309 242.24509 249.24509 252.74509 259.7451 264.40708 267.90708 272.56907 279.56907 286.56907 293.56907 300.56907 305.23106 309.89305 316.89305 323.89305 327.78504 334.78504 338.28504 344.50105 348.39305 355.39305 362.39305 367.05503 370.94703 374.83903 381.83903 392.73103 396.23103 399.73103 409.83903 414.501 418.393 424.609 429.271 432.771 438.987 443.649 450.649 454.541 458.43299 463.09498 469.31098 473.20298 477.09498 484.09498 491.09498 494.59498 498.48698">arbitration performs, using the fixed-priority or round-robin algorithm. After arbitration is</tspan><tspan y="518.9901" x=".00306124 6.219062 13.219062 24.111063 31.111063 35.003065 41.219064 45.111066 51.327066 54.827066 58.327066 62.219068 69.21907 75.435077 78.935077 85.15108 91.36708 95.25908 99.15108 106.15108 112.36708 116.25908 122.47508 129.47509 132.97509 139.19109 146.19109 152.40709 159.40709 166.40709 172.6231 176.51509 180.01509 187.01509 194.01509 204.90709 211.90709 218.1231 222.7851 226.2851 230.1771 235.6231 239.1231 244.56909 250.7851 257.7851 261.6771 265.1771 269.0691 276.0691 280.73109 287.73109 294.73109 301.73109 308.73109 312.23109 316.12309 323.12309 329.33909 332.83909 339.05509 346.05509 353.05509 357.71708 363.93309 369.3791 374.8251 378.3251 385.3251 391.5411 395.4331 402.4331 405.9331 412.1491 419.1491 426.1491 429.6491 435.8651 442.8651 449.8651 456.8651 463.08113 467.7431 471.6351 477.8511">complete, the activated channel number is sent through the address path and converted</tspan><tspan y="534.9901" x=".00306124 3.8950618 10.8950619 14.787062 21.787062 25.287062 29.179062 36.17906 42.39506 45.89506 50.55706 56.77306 63.77306 70.773059 74.665058 79.32706 85.54306 92.54306 96.04306 102.25906 109.25906 116.25906 120.92107 127.13707 132.58307 138.02907 141.52907 145.42107 152.42107 155.92107 162.13707 168.35308 174.56908 180.78508 186.23108 191.67708 195.17708 199.06908 206.06908 212.28508 215.78508 219.67708 226.67708 232.89308 239.10909 243.00109 246.50109 257.3931 263.6091 274.5011 281.5011 286.1631 293.1631 296.6631 301.32508 308.32508 312.98707 316.48707 325.04106 334.37907">into the required address to access the local memory for TCD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd" font-style="italic"><tspan y="534.9901" x="344.48707">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="534.9901" x="351.48707 354.98707 358.48707 368.59507 374.81108 381.81108 385.70307 389.20307 392.70307 396.59507 403.59507 409.81108 413.31108 421.86506 431.20307 441.31108 444.81108 455.70307 461.91908 472.81108 479.81108 484.47306">. Next, the TCD memory</tspan><tspan y="550.9901" x=".0030517579 3.8950523 9.341053 12.841053 19.057053 25.273053 31.489052 37.70505 43.15105 48.59705 54.81305 61.81305 65.31305 71.52905 78.52905 85.52905 89.02905 92.92105 99.92105 106.137058 109.637058 114.29906 120.51506 127.51506 134.51506 138.40706 143.06906 149.28507 156.28507 159.78507 166.78507 173.00107 178.44707 184.66307 189.32508 193.21707 200.21707 204.10907 211.10907 215.77108 219.27108 223.93308 230.14908 236.36508 243.36508 246.86508 251.52709 256.1891 263.1891 274.0811 277.5811 281.47309 288.47309 294.6891 298.1891 302.0811 309.0811 315.2971 321.5131 325.4051 328.9051 339.7971 346.0131 356.9051 363.9051 368.56709 375.56709 379.06709 385.28309 392.28309 399.28309 402.78309 406.67509 413.67509 419.89109 426.89109 433.1071 440.1071 443.6071 447.49909 454.49909 458.39109 465.39109 468.89109 472.78309 479.78309">is accessed and the required descriptor read from the local memory and loaded into the</tspan><tspan y="566.9901" x=".003061758 6.2190625 16.327063 28.773064 38.881067 42.381067 48.597066 55.597066 62.597066 66.48907 73.48907 79.70507 83.20507 89.421077 96.421077 103.421077 108.08308 114.29908 119.74508 125.19108 128.69107 135.69107 141.90708 145.79907 152.79907 156.29907 162.51508 169.51508 175.73108 182.73108 189.73108 195.94709 199.83908 203.33908 210.33908 213.83908 220.83908 225.50109 229.00109 236.00109 239.50109 244.16309 250.37909 257.3791 261.2711 266.7171 270.6091 276.8251 281.4871 286.9331 290.4331 293.9331 302.4871 309.4871 315.7031 319.2031 327.75709 337.0951 347.2031 350.7031 361.5951 367.8111 378.7031 385.7031 390.36509 397.36509 400.86509 404.75709 410.2031 413.7031 420.7031 427.7031 431.2031 438.2031 442.0951 445.9871 451.4331 454.9331 465.0411 468.9331 475.9331 482.1491 485.6491 489.5411">eDMA engine address path channel x or y registers. The TCD memory is 64 bits wide to</tspan><tspan y="582.9901" x=".003061758 10.895062 14.787063 21.787064 25.679064 36.571065 40.463068 46.679067 52.895067 56.395067 60.287069 67.28706 73.50307 77.00307 80.895069 84.78706 95.67906 101.895069 105.395069 112.395069 118.61107 124.82707 131.82707 138.04308 145.04308 148.54308 152.43508 159.43508 162.93508 167.59708 173.81308 177.70508 183.92108 190.92108 194.42108 198.31308 205.31308 211.52909 215.02909 221.24509 227.46109 231.35309 235.24509 242.24509 248.46109 252.35309 258.5691 265.5691 269.0691 275.2851 282.2851 288.5011 295.5011 302.5011 308.7171 312.6091 316.1091 323.1091 329.3251 334.77113 340.98713 345.6491 349.5411 356.5411 360.4331 367.4331 372.0951 375.5951 381.8111 388.8111 395.8111 399.3111 403.2031 410.2031 416.4191 423.4191 426.9191 430.8111 434.7031 438.2031 442.0951 449.0951 452.9871 459.9871 463.4871 467.3791 474.3791">minimize the time needed to fetch the activated channel descriptor and load it into the</tspan><tspan y="598.9901" x=".003061758 6.2190625 13.219063 20.219063 24.881064 31.097065 36.543066 41.989065 45.489065 52.489065 58.705064 62.597066 69.59706 73.09706 79.313068 86.313068 92.52907 99.52907 106.52907 112.74507 116.63707 120.13707 127.13707 130.63707 137.63707 142.29907 145.79907 152.79907 156.29907 160.96108 167.17708 174.17708 178.06908 183.51508 187.40708 193.62308 198.28508 203.73108">address path channel x or y registers.</tspan><tspan y="623.39016" x=".003071758 8.557072 15.557072 21.773072 25.273072 29.935072 36.935075 40.827077 44.719079 51.719079 61.82708 65.71908 72.71908 79.71908 83.21908 90.21908 94.11108 100.32708 107.32708 111.98908 118.205089 129.09709 132.59709 136.48909 140.38109 144.27309 151.27309 156.71909 160.61109 165.27309 171.48909 175.38109 181.59709 187.04309 190.54309 194.43509 201.43509 207.6511 211.1511 216.59709 222.8131 229.0291 236.0291 243.0291 250.0291 253.5291 260.5291 266.74513 271.4071 275.2991 278.7991 285.7991 290.4611 293.9611 297.8531 304.8531 311.0691 314.5691 321.5691 327.7851 333.2311 337.1231 343.3391 346.8391 353.8391 360.0551 363.9471 370.16313 373.66313 378.3251 382.2171 389.2171 399.3251">The following diagram illustrates the second part of the basic data flow:</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="26.01031" x="278.955 285.45298 290.95198 295.95597 301.45497 304.45198 309.45597 312.95698 315.45899 320.46299 325.46699 327.969 334.46699 336.969 340.47 345.474 350.478 353.475 355.97703 363.47404 368.47804 376.47904 381.97804 385.47904 390.48304 392.98506 399.48304 404.48704 409.49104 414.49504 419.49903 424.50303 427.00505 433.50303 439.002 444.501 447.49803 450.99903 456.49803 459.00004 461.50205 466.50605 470.00706 472.50907 475.50608 480.51008 487.00807 494.50508 501.00306">Chapter 22 Direct Memory Access Controller (eDMA)</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="130.01 137.23 142.79 148.34999 151.12999 157.79999 163.90999 170.01999 173.34999 179.45999 185.01999 193.90999 196.68999 199.46999 205.02999 207.80998 215.02999 220.58998 223.91999 229.47998 233.36998 238.92998 245.03998 250.59998 256.15998 258.93998 267.26997 272.82997 278.93995 285.04994 290.60993 293.38993 296.16993 298.94993 306.16993 311.72993 317.28993 320.06993 322.8499 328.4099 331.1899 336.7499 342.8599 348.96989 351.74989 357.30989 362.86988 368.42988">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=".00401 5.5030105 8.5000109 13.504011 18.50801 23.00801 27.50801 32.512014 34.510015 39.514017 42.016016 48.019014 53.023015 60.520017 62.518018 67.01802 72.02202 77.02602 82.030017 87.03401 91.53401 94.03601 99.04001 102.03701 104.53901 107.04101 109.54301 114.547008 119.047008">Freescale Semiconductor, Inc.</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>
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<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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