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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_510.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

195 lines
40 KiB (Stored with Git LFS)
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Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 62.34923 55.02015)" font-size="7.98" font-family="HelveticaLTStd"><tspan y="97.21442" x="415.31074">2</tspan><tspan y="221.97403" x="260.21147 265.981 270.41789 274.85478 279.29963 283.80036 288.23725 290.0088 292.2352 297.55787 300.2152 304.66007 306.4316 308.65803 311.23558 315.67247 317.89888 319.6704 324.11528">Channel Arbitration</tspan><tspan y="252.33768" x="226.36824 231.70687 236.15172 240.59658 243.26987 247.71472 251.7127 255.71868 257.9371 262.97248 267.41734 269.64375">Address Path</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="396.5573" x="144.30368 151.63568 154.97168 162.30368 169.63568 174.30368 180.97568 184.31168 190.98368 197.65567 201.65167 208.32367 214.99567 221.66767 225.00366 228.33966 235.01166 243.67566 253.67166 262.33567 265.67167 273.00367 280.33567 287.00767 291.67567 298.34767 302.34367 305.67967 313.01167 320.34367 323.67967 327.01567 334.34767 341.01966 345.68766 349.68367 353.01966">Figure 22-290. eDMA operation, part 2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="422.99015" x=".003692627 8.557693 15.557693 21.773694 25.273694 36.165697 43.165697 50.165697 57.165697 61.057699 67.2737 72.719699 76.219699 82.4357 87.8817 93.3277 100.3277 106.5437 110.4357 116.6517 120.5437 126.759708 133.7597 137.2597 147.3677 151.2597 155.1517 162.1517 165.6517 169.5437 176.5437 182.7597 186.2597 193.2597 199.47571 203.3677 209.58371 213.08371 216.97571 221.63771 227.85372 234.85372 240.29972 244.96172 251.17772 255.83972 259.33973 264.0017 270.2177 277.2177 284.2177 288.8797 295.0957 300.54173 305.98774 309.48774 316.48774 322.70375 326.59574 333.59574 337.09574 340.59574 347.59574 353.81175 357.70375 363.91975 367.41975 374.41975 380.63575 384.52775 391.52775 395.02775 398.52775 404.74375 411.74375 418.74375 422.24375 428.45976 435.45976 442.45976 446.35176 451.01374 458.01374 461.90574">The modules associated with the data transfer (address path, data path, and control)</tspan><tspan y="438.99015" x=".003722627 5.4497234 11.665724 18.665724 25.665724 31.881726 38.881727 45.097726 51.313726 54.813726 58.705728 65.70573 70.36773 77.36773 84.36773 91.36773 98.36773 101.86773 105.75973 112.75973 118.97573 122.47573 127.13773 133.35373 140.35373 147.35373 151.24573 155.90773 162.12374 169.12374 172.62374 178.06974 185.06974 192.06974 196.73174 202.94774 209.16374 212.66374 217.32575 223.54175 229.75775 236.75775 242.20375 245.70375 251.91976 258.91975 265.91975 269.41975 276.41975 282.63575 288.08177 291.97377 295.86576 302.86576 309.08177 312.97377 316.86576 323.86576 330.86576 334.36576 344.47377 349.13575 353.02775 356.91975 363.13575 368.58177 372.08177 375.97377 382.97377 386.47377 393.47377 399.68977 404.35176 409.01374 416.01374 420.67573 431.56773 435.06773 438.95973 445.95973 452.17573 455.67573 461.89173 468.10774 471.99974 478.99974 485.21574">sequence through the required source reads and destination writes to perform the actual</tspan><tspan y="454.99015" x=".003722627 7.0037229 13.219723 17.111723 23.327725 26.827725 37.719728 44.719728 51.719728 57.935728 68.82773 75.04373 82.04373 85.93573 89.43573 92.93573 101.48973 108.48973 114.705738 118.205738 123.65173 130.65174 137.65174 142.31374 148.52974 154.74575 158.24575 162.90775 169.12375 175.33975 182.33975 187.78575 191.28575 197.50176 202.16376 208.37976 211.87976 215.77176 222.77176 226.66376 230.55576 234.44776 240.66376 244.55576 250.77176 257.77177 261.27177 267.48777 274.48777 281.48777 284.98777 288.87977 295.87977 302.09577 305.59577 310.25776 316.47377 320.36576 326.58177 333.58177 339.79777 346.79777 350.29777 357.29777 363.51377 367.40577 373.62178 377.12178 381.01377 386.45979 389.95979 393.85179 400.06779 410.95979 417.95979 424.95979 429.62178 435.83778 440.49977 444.39176 448.28376 455.28376 458.78376 464.22978 468.12178 475.12178 479.78376 485.99977">data movement. The source reads are initiated and the fetched data is temporarily stored</tspan><tspan y="470.99015" x=".003722627 3.895723 10.895723 14.395723 18.287724 25.287724 31.503724 35.003725 42.003725 48.219724 52.111726 58.327726 61.827726 68.82773 75.04373 78.93573 85.93573 89.43573 96.43573 100.32773 107.32773 113.54373 120.54373 124.04373 131.04373 138.04373 141.93573 145.82773 149.71973 153.21973 157.11173 161.00373 164.50373 168.39572 173.84172 177.34172 184.34172 190.55773 194.44972 200.66573 207.66573 211.16573 218.16573 225.16573 229.05773 236.05773 239.55773 243.44972 250.44972 256.6657 260.1657 264.0577 271.0577 274.9497 281.1657 285.8277 292.8277 299.0437 302.9357 306.4357 313.4357 320.4357 325.8817 329.3817 336.3817 343.3817 348.0437 351.9357 358.9357 365.9357 369.4357 373.3277 380.3277 386.5437 390.0437 397.0437 403.2597 408.70573 412.59773 416.48973 423.48973 429.70573 433.59773 437.48973 444.48973 451.48973 454.98973 465.09773 469.7597 473.6517 477.5437 483.7597">in the data path block until it is gated onto the internal bus during the destination write.</tspan><tspan y="486.99015" x=".003722627 8.557722 15.557722 19.449723 24.895724 28.395724 33.841726 40.841726 47.841726 52.503725 58.719724 64.93572 68.43572 73.097728 79.31373 85.52973 92.52973 96.42173 103.42173 109.63773 115.08373 118.97573 122.86773 129.86774 136.08374 139.97574 143.86774 150.86774 157.86774 161.36774 171.47574 176.13774 180.02974 183.92174 190.13774 193.63774 200.63774 205.29975 212.29975 218.51575 224.73175 230.17775 235.62375 239.51575 246.51575 253.51575 257.01576 263.23176 270.23176 277.23176 281.12376 285.01576 292.01576 299.01576 305.23176 310.67778 314.17778 321.17778 328.17778 332.06977 335.96177 339.85377 343.35377 347.24577 354.24577 360.46177 363.96177 374.85377 378.74577 385.74577 392.74577 397.40776 400.90776 407.90776 414.90776 418.79975 425.01576 428.51576 434.73176 441.73176 448.73176 455.73176 459.62376 463.12376 470.12376 476.33976">This source read/destination write processing continues until the minor byte count has</tspan><tspan y="502.99015" x=".0037726269 3.8957732 8.557774 14.773774 21.773774 27.219775 31.881775 38.097776 42.759775 47.421773 53.63777 60.63777">transferred.</tspan><tspan y="527.39016" x=".0037726269 10.1117739 14.773773 18.665774 24.881775 29.543776 33.043779 36.93578 43.93578 50.15178 53.65178 64.54378 68.435779 75.435779 82.435779 87.09778 90.59778 97.59778 104.59778 108.48978 114.70578 118.20578 124.42178 131.42179 138.42179 145.42179 149.31378 152.81378 159.81378 166.02979 171.47579 174.97579 185.86779 192.86779 199.86779 206.08379 213.08379 216.58379 220.08379 223.97579 230.97579 237.19179 240.69179 245.35379 249.24579 256.2458 262.4618 266.3538 269.8538 276.8538 283.8538 290.0698 295.5158 301.7318 305.2318 312.2318 316.8938 320.3938 324.2858 331.2858 337.5018 341.0018 348.0018 354.2178 359.66383 363.55583 369.77183 373.27183 380.27183 386.48783 390.37983 396.59584 400.09584 404.7578 408.6498 415.6498 425.7578 429.2578 433.1498 438.59584 442.09584 449.09584 455.31184 459.97383 464.6358 471.6358 476.2978 487.1898 493.4058 500.4058">After the minor byte count has moved, the final phase of the basic data flow is performed.</tspan><tspan y="543.39016" x=".0038226268 4.665823 11.665823 15.165823 19.057824 26.057824 29.949824 35.395826 38.895826 44.341825 50.557825 57.557825 68.44982 74.665828 81.665828 85.55782 89.05782 92.55782 96.44982 103.44982 109.665828 113.165828 119.38183 126.38183 133.38184 138.04384 144.25984 149.70584 155.15184 158.65184 165.65184 171.86785 175.75984 182.75984 186.25984 190.15184 197.15184 204.15184 208.04384 214.25984 217.75984 224.75984 230.97585 235.63785 240.29985 247.29985 251.96186 262.85386 268.29988 271.79988 275.69187 282.69187 288.90788 292.40788 297.06986 303.28587 310.28587 317.28587 321.17787 325.83985 332.05586 339.05586 342.55586 349.55586 356.55586 363.55586 369.77186 373.66386 379.87986 385.32588 388.82588 392.71788 399.71788 403.21788 409.43388 415.64988 420.31187 424.20387 430.41987 434.31187 441.31187 444.81187 449.47386 453.36585 459.58186 463.47386 470.47386 475.91987 479.41987 483.31187">In this segment, the address path logic performs the required updates to certain fields in</tspan><tspan y="559.39016" x=".0038226268 3.895823 10.895823 17.111824 20.611824 26.827824 33.827825 40.827825 45.489824 52.489824 59.489824 64.151828 68.04382 74.25983 78.151828 84.36783 87.86783 96.42183 105.75983 115.86783 119.36783 122.86783 129.08383 132.58383 139.58383 143.08383 146.58383 150.08383 157.86783 167.97583 178.08383 188.19184 197.52983 201.02983 204.52983 214.63784 224.74584 234.85384 244.96184 254.29984 257.79985 261.29985 270.63786 275.29985 283.85383 292.4078 301.74583 305.24583 308.74583 313.4078 318.0698 321.5698 325.4618 332.4618 338.6778 342.1778 353.0698 359.2858 363.1778 370.1778 374.83979 378.33979 382.23179 386.12379 392.33979 397.00178 403.21778 407.10978 411.00178 418.00178 425.00178 428.50178 434.71778 441.71778 448.71778 455.71778 459.60978 463.10978 467.00178">the appropriate TCD, e.g., SADDR, DADDR, CITER. If the major iteration count is</tspan><tspan y="575.39016" x=".0038226268 6.2198235 13.219824 20.219824 26.435826 33.435827 38.881826 42.773828 48.989828 55.989828 59.489828 62.989828 69.205829 76.205829 83.205829 87.097827 90.98982 94.88182 101.88182 108.88182 115.097827 118.98982 122.48982 129.48983 136.48983 142.70583 147.36783 153.58383 157.47583 161.36783 168.36783 175.36783 180.81383 184.31383 190.52983 195.19184 201.40784 204.90784 211.90784 218.12384 222.78585 227.44785 234.44785 239.10985 250.00185 256.21784 263.21784 266.71784 270.21784 278.77183 285.77183 291.98783 297.43385 303.64985 307.14985 311.04185 318.04185 324.25785 328.14985 335.14985 342.14985 348.36585 351.86585 355.75785 362.75785 368.97386 372.47386 377.13584 381.02784 388.02784 394.24385 398.13584 401.63584 407.85185 414.85185 421.85185 426.51383 432.72984 438.17585">exhausted, additional operations are performed. These include the final address</tspan><tspan y="591.39016" x=".0038226268 6.2198235 13.219824 17.111824 24.111824 29.557826 33.449827 44.341829 50.557828 57.557828 61.44983 66.89583 70.39583 76.61183 83.61183 90.61183 94.11183 98.773838 104.98984 108.881839 115.881839 122.09784 129.09784 132.98984 139.98984 146.98984 150.48984 157.48984 162.15184 165.65184 169.54384 176.54384 182.75984 186.25984 195.59784 200.25984 208.81385 217.36785 226.70584 230.20584 234.86785 238.75984 244.97585 248.86785 255.86785 259.36787 263.25987 270.25987 274.15187 281.15187 284.65187 288.54386 295.54386 301.75987 305.25987 314.59788 319.25987 327.81385 336.36784 345.70585 349.20585 352.70585 362.81385 368.25987 373.70588 379.92189 384.58387 388.47587 392.36787 399.36787 406.36787 409.86787 416.86787 421.52986 425.02986 431.24586 438.24586 441.74586 448.74586 455.74586 459.63786 463.52986 470.52986 477.52986 483.74586">adjustments and reloading of the BITER field into the CITER. Assertion of an optional</tspan><tspan y="607.39016" x=".0038226268 3.895823 10.895823 14.787823 21.003823 25.665823 30.327824 37.327825 44.327825 48.219827 51.719827 56.381826 62.597826 69.597827 76.597827 82.81383 88.25983 92.151828 95.651828 101.86783 105.75983 111.205829 118.205829 121.705829 128.70583 134.92183 141.13784 148.13784 152.79984 158.24584 161.74584 167.96184 171.85384 175.35384 179.24584 186.24584 190.13784 195.58383 199.08383 202.97583 206.86783 217.75983 223.97583 227.47583 230.97583 237.19184 242.63784 246.13784 253.13784 260.13783 266.35383 271.79985 275.29985 281.51585 285.01585 292.01585 299.01585 304.46186 309.90788 313.79988 320.79988 324.69187 330.90788 334.40788 339.06986 345.28587 349.17787 355.39387 362.39387 365.89387 372.89387 377.55586 381.05586 387.27186 390.77186 397.77186 403.98786 414.09587 417.59587 426.14985 435.48786 445.59587 449.09587 453.75785 458.41984 465.41984">interrupt request also occurs at this time, as does a possible fetch of a new TCD from</tspan><tspan y="623.39016" x=".0038226268 10.8958239 17.111824 28.003827 35.003828 39.665826 46.665826 50.165826 57.165826 62.611825 66.50382 73.50382 80.50382 84.00382 87.89582 94.89582 101.111827 104.611827 110.05782 116.27383 122.48983 126.38183 130.27384 136.48984 141.15184 145.04384 152.04384 158.25984 162.15184 169.15184 175.36785 180.02985 183.52985 189.74585 196.74585 203.74585 208.40785 214.62386 220.06986 225.51586 229.01586 236.01586 243.01586 246.90785 253.90785 257.79988 264.01588 268.67787 272.17787 276.06986 283.06986 289.28587 293.17787 300.17787 307.17787 313.39387 320.39387 323.89387 327.78587 334.78587 338.28587 342.17787 349.17787 355.39387 358.89387 365.89387 372.10987 377.55589 383.77189 388.43388 392.32588 399.32588 403.21788 410.21788 414.87986 418.37986 423.04185 426.93385 431.59584 435.09584 440.54185 446.75785 452.97386 456.86585 460.75785 466.97386 471.63584">memory using the scatter/gather address pointer included in the descriptor (if scatter/</tspan><tspan y="639.39016" x=".0038226268 7.003823 13.219824 17.111824 24.111824 30.327824 34.989824 38.489824 42.381826 47.827825 51.327825 57.543825 64.54382 70.75983 77.75983 81.651828 87.86783 94.86783 99.52983 103.02983 106.52983 115.08383 122.08383 128.29984 131.79984 138.79984 145.79984 152.79984 159.01584 162.90784 169.12384 174.56984 178.06984 181.96184 188.96184 192.46184 196.35384 203.35384 209.56984 213.06984 221.62384 230.96184 241.06984 244.56984 255.46184 261.67784 272.56983 279.56983 284.2318 291.2318 294.7318 300.9478 307.9478 314.9478 318.4478 322.3398 329.3398 335.55583 339.05583 345.27183 350.71784 356.16386 362.37986 367.04185 370.93385 374.82585 381.82585 388.82585 392.32585 399.32585 403.98783 407.48783 413.70384 420.70384 424.20384 428.09584 435.09584 438.98783 445.20384 449.8658 454.5278 461.5278 468.5278">gather is enabled). The updates to the TCD memory and the assertion of an interrupt</tspan><tspan y="655.39016" x=".0038226268 4.665823 10.881824 17.881825 24.881825 31.097825 36.543825 40.435827 43.935827 50.151826 54.813825 61.029825 64.52982 69.97582 76.97582 83.97582 94.083827 101.083827 104.583827 108.47582 115.47582 118.97582 122.86782 129.86783 136.08383 139.58383 144.24584 151.24584 155.13784 159.02983 166.02983 176.13784 180.02983 187.02983 194.02983 197.52983 204.52983 208.42183 214.63784 221.63784 226.29984 232.51584 243.40784">request are shown in the following diagram.</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="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 54 734.93869)" 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>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 10.008001">510</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>
<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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