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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_528.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

415 lines
46 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 230)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 17.792002 22.240002 31.136002 35.584005">22.5.7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 230)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 11.552001 20.448002 30.224003 39.120004 53.344 57.792005 66.688 71.136 80.912 87.136 96.912 106.688 112.912 121.80801 136.03202 150.25601 154.70401 164.48001">Dynamic programming</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 280)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".001 8.3410019 16.681004 20.851004 29.191006 33.361009 41.701009 45.87101">22.5.7.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 280)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00099 10.830991 19.170992 28.33599 36.67599 50.010995 54.180997 62.520998 70.861 75.031 79.201 87.541 91.711 100.051 109.216 117.55601 126.72101 135.886 140.056 149.221 158.38599 162.55599 167.55098 176.71598 185.05597 189.22597 197.56597 206.73096 215.07096 224.23595 233.40094 241.74094 245.91094 250.08094 259.24595 265.08094 269.25096 278.41596 284.25096 288.42097 293.41596">Dynamically changing the channel priority</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="262.25" x=".00003 8.554029 15.554029 21.770031 25.270031 29.932032 36.93203 40.82403 44.716035 51.716035 61.824037 65.716037 72.716037 79.716037 83.216037 87.10803 97.216037 104.216037 107.716037 114.716037 121.716037 125.60803 129.50003 136.50003 143.50003 148.94603 152.44603 158.66204 163.32404 169.54004 173.04004 177.70204 183.91805 190.13405 197.13405 208.02605 218.91805 225.13405 232.13405 239.13405 245.35005 252.35005 255.85005 260.51206 267.51206 272.17405 275.67405 282.67405 289.67405 296.67405 302.89006 313.78205 317.67405 323.89006 330.10606 333.99806 337.89006 344.89006 348.39006 354.60606 361.60606 367.82206 374.82206 381.82206 385.71406 392.71406 399.71406 403.21406 409.43006 416.43006 422.64607 429.64607 436.64607 442.86207 446.75407 450.25407 457.25407 461.91606 465.80805 472.80805 477.47004 481.36204 485.25404">The following two options are recommended for dynamically changing channel priority</tspan><tspan y="278.25" x=".00006 3.8920606 10.108061 17.10806 23.324063 27.216063 32.662065">levels:</tspan><tspan y="302.65" x="7.5040605 14.504061 23.996062 31.780062 41.88806 45.780065 49.672067 55.888067 62.888067 66.38806 70.28006 77.28006 80.78006 90.11806 97.11806 104.11806 111.11806 118.11806 122.78006 132.11806 139.11806 146.11806 150.01006 157.01006 160.51006 169.84806 176.84806 183.06406 190.06406 197.06406 203.28006 207.17206 210.67206 220.78006 225.44207 232.44207 236.33406 240.22606 244.88806 251.10407 254.99607 258.88807 265.88807 272.88807 276.38807 287.28007 294.28007 301.28007 307.49607 310.99607 314.49607 320.71208 327.71208 333.92808 340.92808 347.92808 354.14408 357.64408 361.53608 368.53608 374.75209 378.25209 384.46809 391.46809 397.68409 404.68409 411.68409 417.9001 421.79209 425.29209 432.29209 436.95408 440.84608 447.84608 452.50807 456.40007 460.29206 464.18406 470.40007 475.84608">1.Switch to Round-Robin Channel Arbitration mode, change the channel priorities,</tspan><tspan y="318.65" x="23.996102 27.888102 34.8881 41.1041 48.1041 51.6041 57.0501 67.1581 71.050098 74.94209 81.1581 88.1581 91.6581 98.6581 104.8741 111.0901 118.0901 121.5901 125.4821 132.4821 135.9821 143.7661 147.6581 154.6581 160.8741 167.8741 171.3741 181.4821 186.1441 193.1441 197.0361 200.9281 205.5901 211.8061 215.6981 219.5901 226.5901 233.5901 237.0901 247.9821 254.9821 261.98213 268.19813">then switch back to Fixed Arbitration mode,</tspan><tspan y="343.05" x="7.5041124 14.504112 23.996113 34.104116 37.996118 43.442117 49.658117 56.658117 60.550119 66.76612 70.26612 76.482128 80.37412 84.26612 87.76612 91.65812 98.65812 104.87412 108.37412 114.590129 121.590129 127.80613 134.80612 141.80612 148.02213 151.91413 157.36013 160.86013 164.36013 170.57613 177.57613 183.79213 190.79213 197.79213 204.00814 207.50814 211.40013 218.40013 224.61614 228.11614 234.33214 241.33214 247.54814 254.54814 261.54817 267.76417 271.65617 275.15617 282.15617 286.81816 290.71015 297.71015 302.37214 306.26414 310.15614 314.04814 320.26414 325.71015 329.21015 332.71015 336.60215 343.60215 349.81816 356.81816 360.31816 366.53416 373.53416 379.75016 386.75016 390.64216 396.85816 400.35816 404.25016 411.25016 417.46617 420.96617 427.18217 434.18217 441.18217 445.84416 452.84416 459.84416 464.50614 468.39814 474.61415 478.50614">2.Disable all the channels, change the channel priorities, then enable the appropriate</tspan><tspan y="359.05" x="23.996132 30.212132 37.21213 43.42813 50.42813 57.42813 63.64413 67.53613 72.98213">channels.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 463.59999)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00289 8.337111 16.677113 20.847113 29.187115 33.357118 41.697118 45.86712">22.5.7.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 463.59999)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00289 10.827111 19.167113 28.332112 36.67211 50.00711 54.177114 62.517114 66.68711 75.027118 84.192119 92.53212 101.69712 110.86212 119.202129 123.37212 127.54212 131.71213 135.88213 145.04712 153.38712 157.55712 166.7221">Dynamic channel linking</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="445.84999" x=".00513 10.113131 17.11313 24.11313 30.329133 41.221136 45.113138 51.329137 54.829137 61.045137 68.045139 74.26114 81.26114 88.26114 94.47714 98.36914 101.86914 105.76114 109.65314 116.65314 123.65314 127.545139 134.54514 141.54514 145.04514 148.93714 154.38314 157.88314 161.77513 168.77513 174.99114 178.49114 185.49114 190.15314 197.15314 203.36914 209.58515 215.03115 220.47714 223.97714 230.97714 235.63915 239.13915 244.58515 250.80115 254.69315 258.58515 262.47715 269.47715 276.47715 279.97715 283.86915 290.86915 297.08515 300.58515 309.13914 318.47715 328.58515 332.08515 342.97715 349.19316 353.08515 360.08515 364.74714 368.24714 374.46315 381.46315 385.35514 389.24714 396.24714 403.24714 406.74714 413.74714 417.63914 421.53114 425.03114 432.03114 439.03114 443.6931 447.5851 454.5851">Dynamic channel linking is the process of setting the TCD.major.e_link bit during</tspan><tspan y="461.84999" x=".00514 6.2211406 13.22114 19.437142 26.437142 33.43714 39.65314 43.545145 47.045145 53.261144 60.261144 66.47714 72.693149 79.693149 83.585147 87.47714 94.47714 101.47714 104.97714 108.47714 117.03114 124.03114 127.92314 133.36914 136.86914 143.86914 147.76114 151.65314 155.15314 159.04514 164.49114 167.99114 172.65314 178.86914 185.08515 192.08515 195.58515 200.24715 204.90915 211.90915 222.80115 226.30115 230.19315 237.19315 243.40915 246.90915 255.46315 264.80116 274.90916 278.40916 282.30116 289.30116 295.51716 301.73316 305.62516 309.12516 320.01716 326.23316 337.12516 344.12516 348.78715 355.78715 359.28715 365.50315 369.39515 372.89515 376.78715 383.78715 390.00315 393.50315 399.71916 406.71916 413.71916 417.21916 424.21916 428.88114 432.38114 438.59715 445.59715 451.81315 458.81315 465.81315 472.02915">channel execution. This bit is read from the TCD local memory at the end of channel</tspan><tspan y="477.84999" x=".00514 6.2211406 13.22114 19.437142 25.653141 32.65314 36.545145 40.437147 47.437147 54.437147 57.937147 61.437147 65.32915 72.32915 79.32915 84.77515 88.27515 94.49115 98.38315 102.27515 109.27515 119.38315 123.27515 130.27515 137.27515 140.77515 144.66715 151.66715 157.88315 161.38315 168.38315 173.82915 180.04515 184.70716 188.20716 192.09915 199.09915 202.59915 208.81516 215.81516 222.03116 229.03116 232.92316 239.13916 242.63916 246.53116 253.53116 259.74717 263.24717 267.90916 274.12516 280.34117 284.23316 291.23316 295.89515 302.11116 305.61116 312.61116 319.61116 324.27314 328.16514 335.16514 342.16514 345.66514 351.88114 358.88114 365.09715 372.09715 379.09715 385.31315 389.20515 392.70515 398.92115 405.92115 412.13716 418.35316 425.35316 429.24516 433.13716 440.13716 447.13716">execution, thus allowing the user to enable the feature during channel execution.</tspan><tspan y="502.24998" x=".00514 9.343142 15.559142 21.775143 27.991143 34.991144 40.43714 46.65314 50.15314 54.045145 61.045145 67.26115 70.76115 77.76115 83.207149 89.42315 94.08515 97.58515 101.47715 106.92315 110.42315 116.63915 120.53115 124.42315 131.42316 141.53116 147.74716 154.74716 158.24716 162.13916 169.13916 172.63916 178.85517 185.85517 192.07117 199.07117 206.07117 212.28717 215.78717 219.67917 226.67917 232.89517 236.39517 242.61118 249.61118 256.61119 261.27317 265.16517 272.16517 279.16517 283.82716 290.04316 293.93516 297.82716 304.82716 311.82716 315.32716 322.32716 329.32716 333.98915 337.88114 344.88114 351.88114 355.38114 361.59715 368.59715 374.81315 381.02915 388.02915 391.92115 395.81315 402.81315 409.81315 413.31315 416.81315 423.02915 426.52915 432.74516 439.74516 446.74516 452.96116 457.62315 463.83915 470.83915 477.05516">Because the user is allowed to change the configuration during execution, a coherency</tspan><tspan y="518.24996" x=".00514 10.897141 17.89714 24.89714 31.11314 35.005144 38.505144 42.397146 47.843145 51.343145 58.343145 64.55914 70.77515 77.77515 83.99115 90.99115 94.49115 97.99115 107.32915 114.32915 121.32915 126.77515 130.66715 137.66715 143.88315 148.54515 152.04515 155.93715 162.93715 169.15316 172.65316 178.09915 184.31516 190.53116 197.53116 203.74716 208.40917 212.30117 219.30117 222.80117 232.90917 239.90917 246.12517 250.78717 257.00318 260.50318 264.39518 271.39518 277.61119 281.11119 288.11119 293.5572 299.7732 304.43519 307.93519 314.15119 318.04319 321.93519 328.15119 339.04319 346.04319 349.93519 355.3812 358.8812 362.7732 369.7732 373.2732 379.4892 386.4892 392.7052 398.9212 405.9212 409.8132 416.0292 419.5292 425.7452 429.2452 436.2452 443.2452 450.2452 456.4612 467.3532 471.2452">model is needed. Consider the scenario where the user attempts to execute a dynamic</tspan><tspan y="534.24996" x=".00514 6.2211406 13.22114 19.437142 26.437142 33.43714 39.65314 43.545145 47.045145 50.937147 54.829149 61.829149 68.82915 72.32915 79.32915 86.32915 89.82915 96.04515 103.04515 109.261157 116.261157 120.15315 124.04515 131.04515 138.04515 141.54515 145.43715 152.43715 158.65316 162.15316 170.70716 180.04515 190.15316 193.65316 204.54515 210.76116 214.65316 221.65316 226.31516 229.81516 236.03116 243.03116 246.92316 250.81516 257.81517 264.81517 268.31517 275.31517 279.20716 283.09916 286.59916 292.81517 296.70716 300.20716 304.09916 311.09916 317.31517 320.81517 326.26118 332.47718 343.36918 349.58518 353.08518 356.97718 360.86918 371.76118 377.97718 381.47718 385.36918 392.36918 398.58518 402.08518 408.30119 418.40919 430.8552 440.9632 444.4632 450.6792 457.6792 464.6792 468.5712 475.5712 481.7872 485.2872 489.1792">channel link by enabling the TCD.major.e_link bit at the same time the eDMA engine is</tspan><tspan y="550.24996" x=".00514 4.66714 10.883141 14.775141 18.667141 23.329142 27.221142 34.22114 41.22114 44.72114 48.613145 55.613145 61.829145 65.32915 71.54515 78.54515 84.761157 91.761157 98.761157 104.97716 108.869159 112.369159 115.869159 124.42316 131.42316 137.63916 141.13916 149.69316 159.03116 169.13916 172.63916 183.53116 189.74716 193.63916 200.63916 205.30117 208.80117 215.01717 222.01717 225.90917 229.80117 236.80117 243.80117 247.30117 257.40916 264.40916 271.40916 275.30116 282.30116 285.80116 292.80116 299.01716 302.51716 307.96318 314.17918 318.07118 321.57118 325.46318 332.46318 335.96318 339.85517 346.85517 353.07118 356.57118 363.57118 368.23316 375.23316 382.23316 386.89515 393.11116 404.00315 414.89515 421.11116 425.77314 430.43513 435.88114 439.38114 450.27314 457.27314 464.27314 470.48915 474.38114 477.88114 481.38114 488.38114 495.38114">retiring the channel. The TCD.major.e_link would be set in the programmer&#x2019;s model, but</tspan><tspan y="566.24996" x=".00514 3.8971406 7.7891409 11.289141 21.39714 28.39714 35.39714 39.289144 46.289144 49.789144 56.789144 63.005144 66.50514 73.50514 80.50514 86.721149 90.613147 96.82915 103.04515 107.70715 111.20715 121.315158 128.31516 134.53116 138.42316 145.42316 151.63916 156.30117 159.80117 163.69316 170.69316 176.90917 180.40917 186.62517 192.84117 196.73317 203.73317 209.94918 213.84117 217.34117 221.23317 225.12517 232.12517 239.12517 242.62517 252.73317 258.94917 264.39518 267.89518 278.78718 285.00318 292.00318 298.21919 301.71919 308.71919 314.93519 319.59718 326.59718 331.25917 337.47517 340.97517 344.86717 351.86717 358.08317 361.58317 367.79917 374.79917 381.01518 388.01518 395.01518 401.23118 405.12318 408.62318 413.28517 419.50117 423.39317 427.28517 431.94715 438.16316 445.16316">it would be unclear whether the actual link was made before the channel retired.</tspan><tspan y="590.64999" x=".00514 8.55914 15.55914 21.77514 25.27514 29.937142 36.93714 40.829145 44.721147 51.721147 61.829149 65.721149 72.721149 79.721149 83.221149 89.43715 96.43715 103.43715 109.65315 114.315158 120.53116 127.53116 133.74716 140.74716 144.24716 155.13916 162.13916 169.13916 175.35517 179.24716 182.74716 186.63916 192.08516 195.58516 200.24716 206.46317 212.67917 219.67917 230.57117 241.46317 247.67917 254.67917 261.67918 267.89518 274.89518 278.39518 288.50318 295.50318 301.71919 308.71919 312.21919 318.43519 325.43519 331.65119 337.8672 344.8672 348.7592 352.65119 359.65119 366.65119 370.15119 376.3672 379.8672 386.8672 393.8672 400.8672 407.0832 417.9752 421.8672 428.0832 431.5832 437.7992 444.7992 451.0152 458.0152 465.0152 471.2312 475.1232 478.6232 482.5152 486.4072 493.4072">The following coherency model is recommended when executing a dynamic channel link</tspan><tspan y="606.64999" x=".00514 4.66714 10.883141 17.88314 24.88314 31.09914 36.54514 40.43714">request.</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 2.5020004 8.001 10.503 13.5 16.002 21.006 23.508002 26.010003 30.510003 35.514005 38.511007 41.013006 46.512006 52.011007 54.513006 59.517007 65.01601 70.51501 73.017009 75.519008 80.523 85.527 88.524 91.026 96.525 102.024 104.526 107.028 112.527 115.524 121.023 124.524 132.52501 137.529 140.526 143.028 148.527">Initialization/application information</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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