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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

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="20" font-family="HelveticaLTStd" font-weight="bold"><tspan y="88.19531" x="0 14.4400019 26.660002 37.780004 50.000005 56.660005 67.78001 75.560009 81.12 92.240009">Chapter 21</tspan><tspan y="110.19531" x="0 14.4400019 20.000002 27.780003 38.9 50.020006 56.680006 62.240007 78.90001 90.02001 107.80001 120.02001 127.80001 138.92002 144.48001 158.92002 170.04001 181.16 192.28 203.4 214.51999 220.07999 236.73999 248.95999 254.51999 261.18 266.74 278.96 284.52 295.63999 306.75999 317.87998 325.65998 331.21998 337.87998 352.31999 368.97999 383.41999 400.08 414.52 427.86">Direct Memory Access Multiplexer (DMAMUX)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 9.452001 18.904002 23.630002">21.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 4.7260005 15.113001 20.774003 27.387003 37.774003 48.161005 58.548006 68.00001 73.66101 78.38701 88.77401">Introduction</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="186.83672" x="232.553 242.661 253.553 262.107">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="211.45" x="72.00099 79.784999 86.784999 91.447 94.947 98.839 105.839 112.055 115.555 121.771 128.771 132.663 139.663 144.325 149.771 156.771 162.987 169.203 173.095 177.757 181.649 187.865 191.365 195.257 206.149 213.149 217.041 223.257 234.149 240.365 247.365 251.257 257.473 261.365 265.257 272.257 279.257 282.757 289.757 295.973 299.865 306.081 309.973 313.865 319.311 322.811 329.811 334.473 337.973 341.865 348.865 352.757 358.203 361.703 372.595 379.595 386.595 393.595 397.487 403.703 406.223">For the chip-specific implementation details of this module's</tspan><tspan y="227.45" x="72.00099 75.89299 82.89299 88.33899 92.23099 98.44699 105.44699 111.662998 117.879 123.325 126.825 132.271 138.487 144.703 148.203 152.095 159.095 165.311 168.811 175.02701 182.02701 185.919 192.919 196.419 202.63501 209.63501 216.63501 221.29701 225.18901 232.18901 239.18901 243.85102 250.06702 253.95902 257.851 264.851 271.851 275.351 279.243 286.243 290.905 297.905 302.567 313.45899 319.675 323.567 327.45899 334.45899 341.45899">instances see the chip configuration information.</tspan><tspan y="251.84999" x="72.00099 79.784999 89.893 99.231 107.785 112.44701 121.785 131.893 140.447 145.10901 155.21701 165.32501 168.82501 177.37902 186.71701 196.05501 206.16301 215.501 219.393 222.893 227.55501 234.55501 238.05501 248.947 255.947 262.94703 269.94703 273.83903 280.05503 283.55503 294.44703 300.66304 311.55503 318.55503 323.217 330.217 333.717 344.609 350.825 357.825 361.325 365.217 371.433 378.433 382.325 388.54103 393.98704">PUBLICATION ERROR: In module memory map tables,</tspan><tspan y="267.85" x="72.00099 76.662998 82.879 89.879 93.770999 99.216999 103.10899 109.325 113.987 117.487 122.149 128.365 133.811 140.02701 143.919 147.419 154.419 160.63501 164.52701 171.52701 177.74301 183.18901 186.68901 197.58101 203.79701 210.79701 214.29701 221.29701 227.51302 231.01302 234.90502 241.90502 248.12102 255.12102 259.78303 264.445 270.661 276.877 280.769 284.269 287.769 295.553 301.769 307.98503 311.48503 315.377 322.377 328.59303 332.09303 335.98503 342.98503 349.98503 353.877 360.877 364.769 371.769 378.769 384.98503">register reset values may be incorrect. See the individual</tspan><tspan y="283.85" x="72.00099 76.662998 82.879 89.879 93.770999 99.216999 103.10899 109.325 113.987 117.487 124.487 128.379 134.595 141.595 146.257 152.473 163.365 168.811 172.311 176.973 183.973 188.63501 192.13501 198.35102 204.56702 210.78302 217.78302 222.44503 228.66103 232.55303 238.76903 242.26903 246.93103 253.14704 258.59306 264.80906 268.70106 272.20106 276.09306 283.09306 287.75505 294.75505 299.41703 310.30903 316.52503 320.41703 324.30903 331.30903 338.30903">register diagrams for accurate reset information.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 397.4)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".001 12.449001 21.345002 30.241002 36.465 45.361 49.809003 58.705">Overview</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="362.65" x=".005 8.559 15.559 21.775002 25.275002 32.275 36.167005 40.829004 47.045003 53.261 57.153005 60.653005 71.545009 77.76101 88.65301 95.65301 100.31501 107.31501 110.81501 117.03101 123.24702 129.46302 135.67902 141.12502 146.57102 150.07102 160.96302 167.96302 171.85501 175.74701 179.639 186.639 190.531 196.74701 203.74701 209.96302 214.62502 218.12502 222.78702 232.89502 245.34102 255.44902 267.89503 278.00303 288.11103 292.773 296.273 300.935 307.935 314.935 318.827 325.043 330.489 333.989 344.09703 356.54304 366.65104 370.15104 375.59706 382.59706 389.59706 394.25904 400.47505 406.69105 412.13706 415.63706 419.13706 425.35307 431.56907 435.46107 439.35307 445.56907 452.56907 456.06907 461.51509 465.40708 472.40708 476.29908 481.7451 485.2451 488.7451 492.6371">The direct memory access multiplexer (DMAMUX) routes DMA sources, called slots, to</tspan><tspan y="378.65" x=".00503 6.2210309 13.221031 20.221032 23.721032 30.721032 35.38303 38.88303 42.775033 49.775033 55.99103 59.49103 66.49103 73.49103 76.99103 87.09903 99.54503 109.65303 113.15303 119.36903 126.36903 132.58504 139.58504 146.58504 152.80104 156.69304 162.13904 165.63904 169.13904 177.69304 184.69304 188.58504 194.03104 197.53104 204.53104 209.19304 216.19304 222.40904 228.62505 234.07105 239.51705 243.01705 246.90904 252.35504 255.85504 259.74705 263.63905 267.53105 274.53105 279.97706 283.86906 288.53105 294.74705 298.63905 304.85505 311.85505 315.35505 319.24705 326.24705 329.74705 333.63905 340.63905 346.85505 350.35505 355.01704 362.01704 365.90904 369.80104 376.80104 386.90904 390.80104 397.80104 404.80104 408.30104 412.963 416.855 423.855 430.855 435.517 441.733">any of the 16 DMA channels. This process is illustrated in the following figure.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 729.26937)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.01001 137.23001 142.79001 148.35 151.13 157.8 163.91 170.02 173.35 179.46 185.02 193.91 196.69 199.47 205.03 207.81 215.03 220.59 223.92 229.48 233.37 238.93 245.04 250.59999 256.16 258.94 267.27 272.83 278.93998 285.04997 290.60997 293.38996 296.16996 298.94996 306.16996 311.72996 317.28996 320.06996 322.84996 328.40995 331.18995 336.74995 342.85993 348.9699 351.7499 357.3099 362.8699 368.4299">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32 746.0867)" 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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