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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_511.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

207 lines
38 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(0 -.997533 1.002473 0 -.54142 -68.67162)" font-size="8.97779" font-family="HelveticaLTStd"><tspan y="546.7174" x="-311.0138 -308.51799 -303.52635 -301.03053 -296.03889 -293.0493 -288.05766 -283.066 -281.07295 -278.57713 -272.58894 -267.5973 -264.6077 -262.61463 -257.623 -252.63134 -247.63968 -244.65007 -239.65842 -237.66535 -235.16953 -229.18134 -224.18968">Internal Peripheral Bus</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="144.30724 151.63924 154.97524 162.30724 169.63924 174.30724 180.97924 184.31523 190.98723 197.65923 201.65523 208.32723 214.99922 221.67122 225.00722 228.34322 235.01522 243.67922 253.67522 262.3392 265.6752 273.0072 280.3392 287.0112 291.6792 298.3512 302.3472 305.6832 313.0152 320.3472 323.6832 327.0192 334.3512 341.0232 345.6912 349.6872 353.0232">Figure 22-291. eDMA operation, part 3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 494.14015)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00075 8.895251 17.791253 22.239253 31.135254 35.583257">22.4.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 494.14015)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00075 10.671251 16.895253 23.119254 32.895254 39.11925 43.567255 49.791254 58.687253 68.46325 78.23925 84.46325 89.79125 94.23925 104.01525 113.79125 118.23925 127.135257 136.91126 146.68726 151.13526 160.91126 169.80725 179.58325 189.35926 193.80725 198.25525 208.03125">Error reporting and handling</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="477.39015" x="-.00474 9.3332619 16.333262 22.549263 29.549263 36.549264 42.765264 46.657266 50.157266 56.373266 61.035264 65.697269 72.697269 77.35927 82.80527 86.30527 92.52127 97.18327 103.39928 106.89928 111.56128 117.77728 124.77728 131.77729 136.43929 140.33129 146.54729 153.54729 157.04729 160.93929 167.93929 171.43929 175.33129 182.33129 188.54729 192.04729 200.60129 208.38529 211.88529 216.54729 222.76329 229.76329 233.65529 239.10129 242.99329 249.20929 253.87129 257.37129 263.58729 270.58729 277.58729 281.08729 287.30329 293.5193 300.5193 304.0193 311.0193 317.2353 320.7353 326.9513 333.1673 340.1673 345.6133 351.8293 358.8293 362.3293 369.3293 376.3293">Channel errors are reported in the ES register and can be caused by:</tspan><tspan y="501.79014" x="13.09929 24.005291 34.113294 37.613294 43.829294 50.829294 57.829294 62.49129 66.38329 73.38329 80.38329 85.045299 91.2613 95.1533 99.045299 106.045299 113.045299 116.545299 122.7613 127.4233 132.0853 139.0853 143.7473 147.2473 150.7473 160.8553 167.8553 171.7473 177.9633 184.9633 188.4633 192.3553 197.8013 201.3013 207.5173 214.5173 218.0173 221.9093 225.8013 229.6933 235.9093 242.9093 249.1253 253.0173 256.5173 261.96333 268.17933 272.07133 275.96333 279.85533 286.85533 293.85533 297.35533 301.2473 308.2473 311.7473 315.6393 322.6393 328.85533 332.35533 336.2473 340.9093 347.1253 354.1253 359.57133 364.2333 370.4493 375.1113 379.7733 385.9893 392.9893 399.9893 403.8813 408.54328 415.54328 419.43528 422.93528 429.93528 436.15129 441.5973 447.8133 452.47529 456.36729 463.36729 467.25929 474.25929 478.92127 482.42127 489.42127">&#x2022;A configuration error, which is an illegal setting in the transfer-control descriptor or</tspan><tspan y="517.7901" x="24.005299 30.221299 37.2213 40.7213 44.6133 48.505304 52.397306 58.613306 65.613307 71.82931 75.721309 79.221309 86.221309 90.88331 94.77531 101.77531 106.43731 110.32931 114.221309 121.221309 124.721309 129.3833 135.5993 142.5993 146.4913 151.9373 155.8293 162.0453 166.7073 170.2073 175.6533 181.86931 185.7613 189.6533 193.5453 200.5453 207.5453 211.0453 214.9373 221.9373 225.4373 233.2213 237.1133 244.1133 250.3293 257.32929 261.99128 272.09928 276.76127 283.76127 287.65327 291.54527 296.20726 302.42326 306.31526 310.20726 317.20726 324.20726 327.70726 338.59925 345.59925 352.59925 358.81526 362.31526 365.81526 372.81526">an illegal priority register setting in Fixed-Arbitration mode, or</tspan><tspan y="533.7901" x="13.099289 24.005291 34.113294 41.113294 44.613294 50.829294 55.49129 60.15329 67.15329 71.81529 75.31529 79.20729 85.423297 90.0853 100.977298 104.86929 111.86929 118.0853 121.977298 125.86929 132.8693 139.8693 143.3693 147.26129 154.26129 157.76129 163.9773 167.4773 174.4773 181.4773 186.9233 190.4233 201.31529 207.5313 212.9773 216.8693 223.0853 227.7473 231.2473 235.9093 242.1253 248.34131 255.34131 258.8413 265.8413 270.5033 274.0033 284.1113 288.7733 292.66529 296.55729 302.7733 306.2733 312.4893 319.4893 325.7053 329.5973">&#x2022;An error termination to a bus master read or write cycle</tspan><tspan y="559.7901" x="-.0047006609 10.1033 13.6033 19.819302 26.819302 33.8193 38.4813 42.373304 49.373304 56.373304 61.0353 67.251308 71.1433 75.0353 82.0353 89.0353 92.5353 98.751308 103.41331 108.07531 115.07531 119.73731 123.23731 127.12931 132.57532 136.07532 140.73732 146.95333 153.95333 160.95333 165.61533 169.50733 175.72333 182.72333 186.22333 196.33133 203.33133 209.54734 216.54734 220.04734 223.93933 230.93933 237.15534 240.65534 246.10134 249.99333 256.20933 260.8713 264.7633 268.6553 275.6553 282.6553 286.1553 291.60133 298.60133 305.60133 310.2633 316.4793 322.6953 326.1953 333.1953 337.8573 341.3573 348.3573 354.5733 360.01933 363.91133 367.8033 374.8033 381.01933 384.91133 388.8033 395.8033 402.8033 406.3033 412.51933 419.51933 426.51933 431.1813 437.3973 442.84333 448.28935 451.78935 455.28935 460.73536 467.73536 474.73536 479.39735 485.61335">A configuration error is reported when the starting source or destination address, source</tspan><tspan y="575.7901" x="-.0046406609 6.9953596 11.65736 15.15736 22.15736 28.37336 33.81936 37.71136 41.603364 48.603364 54.819364 58.711366 62.603368 69.60336 76.60336 80.10336 87.10336 91.765369 96.42737 101.87337 108.08937 111.98137 117.42737 120.92737 124.42737 135.31937 139.21137 146.21137 153.21137 157.87337 161.37337 165.26537 172.26537 179.26537 186.26537 189.76537 196.76537 203.76537 207.65737 213.87337 217.37337 223.58937 230.58937 237.58937 244.58937 248.48137 251.98137 255.48137 262.48139 267.14338 270.64338 274.53538 281.53538 287.75138 291.25138 295.14338 299.80537 306.02137 313.02137 318.46739 323.12937 329.34538 334.00736 337.50736 342.95338 346.84538 353.06138 359.27738 362.77738 367.43937 373.65538 380.65538 385.31736 391.53337 396.97938 403.19538 410.19538 414.08738 417.58738 423.80339 430.80339 434.30339 438.19538 445.19538 451.41139 458.41139 465.41139 470.8574 474.7494 480.1954 484.0874 490.3034 497.3034">or destination offsets, minor loop byte count, or the transfer size represent an inconsistent</tspan><tspan y="591.7901" x="-.004590661 5.44141 9.33341 15.549411 19.441412 25.657414 29.157414 32.657415 41.211416 47.427415 53.643415 60.643415 64.14342 71.14342 75.80542 79.30542 83.19742 90.19742 96.41342 101.85942 108.075428 111.575428 118.575428 125.575428 131.02143 136.46743 140.35942 147.35942 151.25142 157.46743 160.96743 167.18343 173.39943 180.39943 185.84543 192.06143 197.50743 201.00743 207.22344 211.88544 218.10144 221.60144 228.60144 234.81745 238.70944 244.92545 248.81745 252.70944 258.92546 265.92546 269.42546 276.42546 282.64146 286.53346 293.53346 303.64146">state. Each of these possible causes are detailed below:</tspan><tspan y="616.1901" x="13.099399 24.0054 32.5594 39.5594 45.7754 49.2754 55.491399 62.491399 69.491397 74.1534 80.3694 85.8154 91.2614 97.4774 102.9234 106.4234 112.639408 119.639408 126.639408 130.1394 137.1394 141.8014 146.46341 151.90941 158.12541 162.01741 167.46341 170.96341 181.85541 188.85541 194.3014 198.1934 201.6934 208.6934 214.90941 218.40941 224.62541 228.51741 232.40941 239.40941 246.40941 252.62541 259.62544 263.12544 270.12544 277.12544 280.62544 287.62544 292.2874 303.1794 310.1794 317.1794 324.1794 328.0714 335.0714 339.7334 343.6254 348.28739 354.5034 361.5034 366.9494 371.6114 377.8274 382.48939 387.15138 392.59739 396.48939 402.70539 408.9214 412.4214 419.4214 426.4214 433.4214 440.4214 447.4214 453.6374 458.29939 462.19139 468.40739 473.8534">&#x2022;The addresses and offsets must be aligned on 0-modulo-transfer-size boundaries.</tspan><tspan y="632.1901" x="13.099399 24.0054 32.5594 39.5594 45.7754 49.2754 60.1674 64.0594 71.0594 78.0594 82.721408 86.221408 90.1134 97.1134 104.1134 111.1134 114.6134 121.6134 128.6134 132.5054 138.7214 142.2214 148.43741 155.43741 162.43741 169.43741 173.3294 176.8294 187.7214 194.7214 200.1674 204.0594 207.5594 214.5594 220.7754 224.2754 230.49141 233.99141 244.8834 251.8834 255.7754 259.66743 263.55943 270.55943 274.45143 280.66743 284.16743 291.16743 295.8294 299.3294 303.2214 310.2214 316.4374 319.9374 325.38343 332.38343 339.38343 344.0454 350.2614 356.47743 359.97743 366.19343 373.19343 380.19343 383.69343 390.69343 396.90943 402.35545 406.24745 410.13945 417.13945 423.35545 427.24745 431.13945 438.13945 445.13945 448.63945 452.53144 457.19343 463.40943 470.40943 475.85545 480.51744 486.73344">&#x2022;The minor loop byte count must be a multiple of the source and destination transfer</tspan><tspan y="648.1901" x="24.005419 29.45142 33.343423 39.55942 45.77542 51.22142">sizes.</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>
<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="151.308 156.312 161.316">511</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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