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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_491.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

658 lines
62 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 113.182819)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 13.509001 18.513 21.51 24.507 29.511002 32.508005 35.010004 37.008005 42.012006 44.514005 47.016004 52.020006 57.024007 59.526006 64.026 69.03 72.027 75.024 80.028 84.528 89.532 94.535999 99.53999 104.54399 106.54199 111.54599 116.54999 119.05199 123.55199 128.55599 133.55998 138.56398 143.56798 148.57198 150.56998 153.07198 158.07598 163.07997 167.57997 170.08197 175.08597 180.08997 182.59197 185.09397 190.09796 194.59796 199.09796 204.10196 207.09896 210.09595 215.09995">An error in the corresponding channel has not occurred</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 124.182819)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 124.182819)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 6.0030205 11.007021 13.509022 18.513024 21.510024 24.507023 29.511025 32.508028 35.010026 37.008028 42.012029 44.514028 47.016027 52.020029 57.02403 59.526029 64.02603 69.03003 72.02703 75.02403 80.02803 84.52803 89.53203 94.536029 99.54002 104.54402 106.54202 111.54602 116.55002 119.05202 123.55202 128.55602 133.56002 138.56401 143.56801 148.572 150.57 153.072 158.076 163.08 167.58 170.082 175.086 179.586 184.086 189.09 192.08699 195.08399 200.08798">An error in the corresponding channel has occurred</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 141.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">8</tspan><tspan y="18.83789" x="23.553002 29.556002 36.054 42.552003">ERR8</tspan></text>
<g clip-path="url(#clip_6)">
<path transform="matrix(1,0,0,1,53.999994,139.43283)" d="M75.85001 .25H503.75004V49.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 141.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 9 11.997 17.001 19.998 22.5 25.002 30.006 32.508 39.006 44.010004 49.014005 54.018007 59.022008 64.02601 66.02401 68.52601">Error In Channel 8</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 162.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 162.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 13.509001 18.513 21.51 24.507 29.511002 32.508005 35.010004 37.008005 42.012006 44.514005 47.016004 52.020006 57.024007 59.526006 64.026 69.03 72.027 75.024 80.028 84.528 89.532 94.535999 99.53999 104.54399 106.54199 111.54599 116.54999 119.05199 123.55199 128.55599 133.55998 138.56398 143.56798 148.57198 150.56998 153.07198 158.07598 163.07997 167.57997 170.08197 175.08597 180.08997 182.59197 185.09397 190.09796 194.59796 199.09796 204.10196 207.09896 210.09595 215.09995">An error in the corresponding channel has not occurred</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 173.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 173.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 6.0030205 11.007021 13.509022 18.513024 21.510024 24.507023 29.511025 32.508028 35.010026 37.008028 42.012029 44.514028 47.016027 52.020029 57.02403 59.526029 64.02603 69.03003 72.02703 75.02403 80.02803 84.52803 89.53203 94.536029 99.54002 104.54402 106.54202 111.54602 116.55002 119.05202 123.55202 128.55602 133.56002 138.56401 143.56801 148.572 150.57 153.072 158.076 163.08 167.58 170.082 175.086 179.586 184.086 189.09 192.08699 195.08399 200.08798">An error in the corresponding channel has occurred</tspan></text>
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<path transform="matrix(1,0,0,1,53.999994,188.93283)" d="M.25 .25H75.35001V49.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 191.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">7</tspan><tspan y="18.83789" x="23.553002 29.556002 36.054 42.552003">ERR7</tspan></text>
<g clip-path="url(#clip_8)">
<path transform="matrix(1,0,0,1,53.999994,188.93283)" d="M75.85001 .25H503.75004V49.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 191.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 9 11.997 17.001 19.998 22.5 25.002 30.006 32.508 39.006 44.010004 49.014005 54.018007 59.022008 64.02601 66.02401 68.52601">Error In Channel 7</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 212.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 212.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 13.509001 18.513 21.51 24.507 29.511002 32.508005 35.010004 37.008005 42.012006 44.514005 47.016004 52.020006 57.024007 59.526006 64.026 69.03 72.027 75.024 80.028 84.528 89.532 94.535999 99.53999 104.54399 106.54199 111.54599 116.54999 119.05199 123.55199 128.55599 133.55998 138.56398 143.56798 148.57198 150.56998 153.07198 158.07598 163.07997 167.57997 170.08197 175.08597 180.08997 182.59197 185.09397 190.09796 194.59796 199.09796 204.10196 207.09896 210.09595 215.09995">An error in the corresponding channel has not occurred</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 223.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 223.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 6.0030205 11.007021 13.509022 18.513024 21.510024 24.507023 29.511025 32.508028 35.010026 37.008028 42.012029 44.514028 47.016027 52.020029 57.02403 59.526029 64.02603 69.03003 72.02703 75.02403 80.02803 84.52803 89.53203 94.536029 99.54002 104.54402 106.54202 111.54602 116.55002 119.05202 123.55202 128.55602 133.56002 138.56401 143.56801 148.572 150.57 153.072 158.076 163.08 167.58 170.082 175.086 179.586 184.086 189.09 192.08699 195.08399 200.08798">An error in the corresponding channel has occurred</tspan></text>
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<path transform="matrix(1,0,0,1,53.999994,238.43283)" d="M.25 .25H75.35001V49.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 240.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">6</tspan><tspan y="18.83789" x="23.553002 29.556002 36.054 42.552003">ERR6</tspan></text>
<g clip-path="url(#clip_10)">
<path transform="matrix(1,0,0,1,53.999994,238.43283)" d="M75.85001 .25H503.75004V49.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 240.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 9 11.997 17.001 19.998 22.5 25.002 30.006 32.508 39.006 44.010004 49.014005 54.018007 59.022008 64.02601 66.02401 68.52601">Error In Channel 6</tspan></text>
<path transform="matrix(1,0,0,1,131.85,240.68283)" d="M0 21H423.90003V45H0Z" fill="#ffffff" fill-rule="evenodd"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 261.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 261.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 13.509001 18.513 21.51 24.507 29.511002 32.508005 35.010004 37.008005 42.012006 44.514005 47.016004 52.020006 57.024007 59.526006 64.026 69.03 72.027 75.024 80.028 84.528 89.532 94.535999 99.53999 104.54399 106.54199 111.54599 116.54999 119.05199 123.55199 128.55599 133.55998 138.56398 143.56798 148.57198 150.56998 153.07198 158.07598 163.07997 167.57997 170.08197 175.08597 180.08997 182.59197 185.09397 190.09796 194.59796 199.09796 204.10196 207.09896 210.09595 215.09995">An error in the corresponding channel has not occurred</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 272.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 272.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 6.0030205 11.007021 13.509022 18.513024 21.510024 24.507023 29.511025 32.508028 35.010026 37.008028 42.012029 44.514028 47.016027 52.020029 57.02403 59.526029 64.02603 69.03003 72.02703 75.02403 80.02803 84.52803 89.53203 94.536029 99.54002 104.54402 106.54202 111.54602 116.55002 119.05202 123.55202 128.55602 133.56002 138.56401 143.56801 148.572 150.57 153.072 158.076 163.08 167.58 170.082 175.086 179.586 184.086 189.09 192.08699 195.08399 200.08798">An error in the corresponding channel has occurred</tspan></text>
<g clip-path="url(#clip_11)">
<path transform="matrix(1,0,0,1,53.999994,287.93284)" d="M.25 .25H75.35001V49.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 290.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">5</tspan><tspan y="18.83789" x="23.553002 29.556002 36.054 42.552003">ERR5</tspan></text>
<g clip-path="url(#clip_12)">
<path transform="matrix(1,0,0,1,53.999994,287.93284)" d="M75.85001 .25H503.75004V49.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 290.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 9 11.997 17.001 19.998 22.5 25.002 30.006 32.508 39.006 44.010004 49.014005 54.018007 59.022008 64.02601 66.02401 68.52601">Error In Channel 5</tspan></text>
<path transform="matrix(1,0,0,1,131.85,290.18284)" d="M0 21H423.90003V45H0Z" fill="#ffffff" fill-rule="evenodd"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 311.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 311.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 13.509001 18.513 21.51 24.507 29.511002 32.508005 35.010004 37.008005 42.012006 44.514005 47.016004 52.020006 57.024007 59.526006 64.026 69.03 72.027 75.024 80.028 84.528 89.532 94.535999 99.53999 104.54399 106.54199 111.54599 116.54999 119.05199 123.55199 128.55599 133.55998 138.56398 143.56798 148.57198 150.56998 153.07198 158.07598 163.07997 167.57997 170.08197 175.08597 180.08997 182.59197 185.09397 190.09796 194.59796 199.09796 204.10196 207.09896 210.09595 215.09995">An error in the corresponding channel has not occurred</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 322.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 322.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 6.0030205 11.007021 13.509022 18.513024 21.510024 24.507023 29.511025 32.508028 35.010026 37.008028 42.012029 44.514028 47.016027 52.020029 57.02403 59.526029 64.02603 69.03003 72.02703 75.02403 80.02803 84.52803 89.53203 94.536029 99.54002 104.54402 106.54202 111.54602 116.55002 119.05202 123.55202 128.55602 133.56002 138.56401 143.56801 148.572 150.57 153.072 158.076 163.08 167.58 170.082 175.086 179.586 184.086 189.09 192.08699 195.08399 200.08798">An error in the corresponding channel has occurred</tspan></text>
<g clip-path="url(#clip_13)">
<path transform="matrix(1,0,0,1,53.999994,337.4328)" d="M.25 .25H75.35001V49.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 339.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">4</tspan><tspan y="18.83789" x="23.553002 29.556002 36.054 42.552003">ERR4</tspan></text>
<g clip-path="url(#clip_14)">
<path transform="matrix(1,0,0,1,53.999994,337.4328)" d="M75.85001 .25H503.75004V49.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 339.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 9 11.997 17.001 19.998 22.5 25.002 30.006 32.508 39.006 44.010004 49.014005 54.018007 59.022008 64.02601 66.02401 68.52601">Error In Channel 4</tspan></text>
<path transform="matrix(1,0,0,1,131.85,339.6828)" d="M0 21H423.90003V45H0Z" fill="#ffffff" fill-rule="evenodd"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 360.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 360.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 13.509001 18.513 21.51 24.507 29.511002 32.508005 35.010004 37.008005 42.012006 44.514005 47.016004 52.020006 57.024007 59.526006 64.026 69.03 72.027 75.024 80.028 84.528 89.532 94.535999 99.53999 104.54399 106.54199 111.54599 116.54999 119.05199 123.55199 128.55599 133.55998 138.56398 143.56798 148.57198 150.56998 153.07198 158.07598 163.07997 167.57997 170.08197 175.08597 180.08997 182.59197 185.09397 190.09796 194.59796 199.09796 204.10196 207.09896 210.09595 215.09995">An error in the corresponding channel has not occurred</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 371.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 371.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 6.0030205 11.007021 13.509022 18.513024 21.510024 24.507023 29.511025 32.508028 35.010026 37.008028 42.012029 44.514028 47.016027 52.020029 57.02403 59.526029 64.02603 69.03003 72.02703 75.02403 80.02803 84.52803 89.53203 94.536029 99.54002 104.54402 106.54202 111.54602 116.55002 119.05202 123.55202 128.55602 133.56002 138.56401 143.56801 148.572 150.57 153.072 158.076 163.08 167.58 170.082 175.086 179.586 184.086 189.09 192.08699 195.08399 200.08798">An error in the corresponding channel has occurred</tspan></text>
<g clip-path="url(#clip_15)">
<path transform="matrix(1,0,0,1,53.999994,386.9328)" d="M.25 .25H75.35001V49.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 389.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">3</tspan><tspan y="18.83789" x="23.553002 29.556002 36.054 42.552003">ERR3</tspan></text>
<g clip-path="url(#clip_16)">
<path transform="matrix(1,0,0,1,53.999994,386.9328)" d="M75.85001 .25H503.75004V49.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 389.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 9 11.997 17.001 19.998 22.5 25.002 30.006 32.508 39.006 44.010004 49.014005 54.018007 59.022008 64.02601 66.02401 68.52601">Error In Channel 3</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 410.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 410.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 13.509001 18.513 21.51 24.507 29.511002 32.508005 35.010004 37.008005 42.012006 44.514005 47.016004 52.020006 57.024007 59.526006 64.026 69.03 72.027 75.024 80.028 84.528 89.532 94.535999 99.53999 104.54399 106.54199 111.54599 116.54999 119.05199 123.55199 128.55599 133.55998 138.56398 143.56798 148.57198 150.56998 153.07198 158.07598 163.07997 167.57997 170.08197 175.08597 180.08997 182.59197 185.09397 190.09796 194.59796 199.09796 204.10196 207.09896 210.09595 215.09995">An error in the corresponding channel has not occurred</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 421.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 421.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 6.0030205 11.007021 13.509022 18.513024 21.510024 24.507023 29.511025 32.508028 35.010026 37.008028 42.012029 44.514028 47.016027 52.020029 57.02403 59.526029 64.02603 69.03003 72.02703 75.02403 80.02803 84.52803 89.53203 94.536029 99.54002 104.54402 106.54202 111.54602 116.55002 119.05202 123.55202 128.55602 133.56002 138.56401 143.56801 148.572 150.57 153.072 158.076 163.08 167.58 170.082 175.086 179.586 184.086 189.09 192.08699 195.08399 200.08798">An error in the corresponding channel has occurred</tspan></text>
<g clip-path="url(#clip_17)">
<path transform="matrix(1,0,0,1,53.999994,436.4328)" d="M.25 .25H75.35001V49.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 438.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">2</tspan><tspan y="18.83789" x="23.553002 29.556002 36.054 42.552003">ERR2</tspan></text>
<g clip-path="url(#clip_18)">
<path transform="matrix(1,0,0,1,53.999994,436.4328)" d="M75.85001 .25H503.75004V49.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 438.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 9 11.997 17.001 19.998 22.5 25.002 30.006 32.508 39.006 44.010004 49.014005 54.018007 59.022008 64.02601 66.02401 68.52601">Error In Channel 2</tspan></text>
<path transform="matrix(1,0,0,1,131.85,438.6828)" d="M0 21H423.90003V45H0Z" fill="#ffffff" fill-rule="evenodd"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 459.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 459.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 13.509001 18.513 21.51 24.507 29.511002 32.508005 35.010004 37.008005 42.012006 44.514005 47.016004 52.020006 57.024007 59.526006 64.026 69.03 72.027 75.024 80.028 84.528 89.532 94.535999 99.53999 104.54399 106.54199 111.54599 116.54999 119.05199 123.55199 128.55599 133.55998 138.56398 143.56798 148.57198 150.56998 153.07198 158.07598 163.07997 167.57997 170.08197 175.08597 180.08997 182.59197 185.09397 190.09796 194.59796 199.09796 204.10196 207.09896 210.09595 215.09995">An error in the corresponding channel has not occurred</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 470.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002">1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01034" 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 53.999994 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>
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<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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