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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_457.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

499 lines
69 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 183 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="13.968 21.3 27.972 35.304 38.64 45.312 48.648004 55.320005 61.992006 65.98801 72.66 84.996 91.668 100.332 110.328 118.992008 122.328 129 136.332 143.664 147 154.332 161.004 164.34 171.012 178.344 185.676 196.344 203.676 211.008 218.34 221.676 228.34799">Table 22-1.eDMA engine submodules</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 164.5 76)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="177.49799 182.99698 188.49597 193.99497 198.99897 201.99596 204.49796 209.99695">Function</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 164.25 92)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 24.507 26.505002 31.509003 36.009004 40.509004 43.011 45.009004 52.506006 57.510007 59.508008 64.51201 72.00901 77.01301 82.017009 84.519008 89.019008 91.521 94.518009 99.522 104.526 106.524 111.024 113.526 118.53 121.527 126.531 131.535 134.037 138.537 143.541 146.538 151.038 153.036 158.04 163.04399 167.54399 170.04599 175.04999 177.55199 180.05399 182.55599 189.05399 194.05799 196.55998 201.05998 206.06398 211.06798 216.07198 221.07598 226.07997 228.07798 230.57997 233.08197 236.07897 241.08296 246.08696 250.58696 253.08896 258.09297 261.08998 263.59199 268.09199 273.09599 278.09999 280.602 283.599 288.603 290.60099 293.103 298.107 303.111 307.611 312.111 315.108 317.106 322.11 324.612 329.616 332.613 337.113 339.61503 342.11705 346.61705 351.62104 356.62504 361.62904 366.63304 371.63703 373.635 376.13703">This block implements registered versions of two channel transfer control descriptors, channel x</tspan><tspan y="18.83789" x="0 5.0040009 10.008001 15.012002 17.514002 22.014002 27.018002 32.022005 37.026006 42.030008 47.034009 49.03201 51.534009 56.034009 58.536008 61.038007 66.04201 71.046009 76.05 78.552 86.049 91.053 96.057 101.061 106.064998 111.06899 115.56899 118.07099 123.07499 125.07299 127.07099 129.573 137.06999 142.07399 146.57399 149.07599 154.07999 157.07698 159.57898 164.58298 169.58698 174.08698 177.08397 182.08797 187.09197 192.09597 195.09296 200.09696 204.59696 209.09696 211.59896 216.09896 221.10295 223.10095 227.60095 232.60495 234.60295 239.60695 242.10895 244.10695 249.11095 254.11495 258.61494 261.11695 263.61897 269.62196 271.61994 273.61793 276.11994 278.62196 283.62596 288.62995 291.13197 295.63197 300.63597 305.63996 310.64396 315.64796 320.65196 322.64994 327.14994 329.65196 334.65596 337.65296 342.65696 347.15696 349.15495 354.15895 359.16294 361.66496 364.16697 369.17097">and channel y, and manages all master bus-address calculations. All the channels provide the</tspan><tspan y="29.83789" x="0 4.5 9.504001 17.001002 22.005002 24.507002 27.009003 32.013006 37.017007 41.517007 44.019006 46.017007 51.021009 56.02501 61.02901 63.02701 65.02501 67.52701 72.02701 74.52901 77.031009 82.53001 87.534008 89.532009 94.032009 96.534008 101.034008 103.536 106.533008 111.537 116.037 118.539 123.543 126.54 131.544 134.046 139.05 141.048 143.046 148.05 154.548 159.048 161.55 166.554 171.558 174.06 179.064 181.566 184.068 187.06499 192.06899 197.07299 201.57299 204.07498 209.07898 212.07598 216.57598 219.07798 224.08197 228.58197 233.08197 238.08597 242.58597 244.58397 249.58797 252.08997 257.09397 262.09797 264.59999 271.09797 273.09596 275.59797 280.60197 283.10398 288.10798 293.11198 298.11598 300.61799 305.11799 310.12199 315.12599 320.12998 325.13398 330.13798 332.13597 334.63798 337.13999 342.14399 344.646 349.65">same functionality. This structure allows data transfers associated with one channel to be</tspan><tspan y="40.83789" x="0 5.0040009 8.001 13.005001 18.009003 25.506005 30.510006 33.012006 38.016008 43.020009 45.522008 50.52601 53.028009 55.530008 60.534009 63.53101 66.03301 68.53501 73.53901 78.54301 81.045009 85.545009 90.549 98.046009 103.05 105.048007 110.052 112.554 114.552 119.556 124.56 127.062 132.066 134.568 137.06999 142.07399 144.57599 147.57299 152.57698 157.58098 162.58498 165.08698 171.58498 174.58197 176.57997 179.08197 184.08597 186.58797 191.08797 196.09197 201.09597 206.09996 211.10396 216.10796 220.60796 225.61196 228.11396 230.11196 232.61396 235.11595 240.11995 242.62195 247.62595 249.62395 254.62795 259.63197 264.63597 267.63298 270.13499 275.13899 278.136 280.13398 285.13798 288.13499 290.13298 292.63499 297.13499 299.637 304.137 309.141 314.145 319.149 324.15299 329.15699 331.15498 333.65699 338.66099 343.16099 345.663 347.66099 352.16099 357.16499 359.667 361.66499 366.66899 371.67298 374.175 376.17298">preempted after the completion of a read/write sequence if a higher priority channel activation is</tspan><tspan y="51.83789" x="0 5.0040009 9.504001 14.004001 19.008002 22.005002 24.507002 29.511002 34.515005 37.017004 43.515005 48.519006 50.517007 52.515008 57.51901 60.021009 62.523008 67.52701 72.531009 75.033008 77.535 79.533008 82.53001 87.03001 89.532009 92.034008 96.534008 101.538 106.542 111.546 116.549999 121.55399 123.551998 126.05399 128.05199 132.55199 135.05399 140.05799 144.55799 147.05998 149.05799 153.55799 158.56198 161.06398 163.56598 169.56899 172.07099 174.57299 179.57698 182.57398 185.07598 190.07997 192.58197 197.08197 202.08597 207.08997 212.09397 217.09796 222.10196 224.09996 226.60196 228.59996 233.09996 235.60196 240.60596 245.10596 247.60796 249.60596 254.10596 259.10997 261.61198 266.61598 271.61997 274.12199 276.624 278.62199 281.124 283.626 286.62303 291.627 296.631 301.131 303.63304 308.63703 313.64103 316.14305 318.14103 320.139 322.64103 325.14305 330.14704 335.15104 337.65306 345.15007 347.14805 352.15205 357.15605 360.15306 362.65507 364.65306 369.65705 374.66105 379.66505 382.16706 384.16505">asserted while the first channel is active. After a channel is activated, it runs until the minor loop is</tspan><tspan y="62.83789" x=".00004 4.50004 9.504041 17.001042 22.005043 24.003045 29.007046 31.509047 36.513048 41.517049 44.019048 46.521047 51.525049 56.52905 58.52705 63.53105 68.03105 72.53105 75.03305 80.03705 83.03405 88.03805 93.042049 100.53905 105.543048 108.045047 113.04904 118.05304 120.55504 125.55904 130.05904 132.56104 137.56504 140.06703 145.07103 147.06903 152.07303 157.07703 162.08103 165.07802 167.58002 172.58402 175.58101 177.57901 182.58301 185.58 187.578 190.08 194.58 197.082 201.582 206.586 211.59 216.594 221.59799 226.60199 228.59999 231.10199 233.60399 239.10298 244.10698 246.10498 250.60498 253.10698 258.111 261.108 266.112 270.612 272.61 277.61399 282.61799 287.11799 289.62 294.624 297.126 304.62303 309.627 314.127 319.131 324.135 329.139 331.137 335.637 343.134 345.63603 348.63304 353.63703 358.64103 363.64503 368.64903 370.647 375.651">completed, unless preempted by a higher priority channel. This provides a mechanism (enabled</tspan><tspan y="73.83789" x=".00004 5.0040409 9.504041 12.006041 18.504042 25.002043 31.500044 37.503046 44.001047">by DCHPRI</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 164.25 92)" font-size="9" font-family="HelveticaLTStd"><tspan y="73.83789" x="51.50704 54.009038 60.01204 66.51004 72.51304 75.01504 78.01204 80.51404 87.01204 92.01604 97.020038 100.01704 105.021038 107.52303 112.52703 115.02903 117.02703 122.03103 125.02803 130.03203 135.03603 137.53803 142.54203 147.54602 150.04802 155.05202 157.55402 165.05101 170.05501 174.55501 179.559 182.061 187.065 192.069 197.073 200.06999 205.07399 207.57599 209.57399 214.57799 219.58199 222.08399 226.58399 231.58798 236.59198 239.09398 244.09798 249.10198 251.60398 256.60798 259.60499 264.60899 269.61299 277.11 282.11399 284.616 289.62 294.624 297.126 299.62803 304.63203 307.13404 314.63105 316.62904 321.63304 323.631 331.12803 333.126 337.626 342.63 345.13203 347.63404 352.63804 357.64204 360.14405 362.64607 364.64405 372.14106">[ECP]) where a large data move operation can be preempted to minimize the time</tspan><tspan y="84.83789" x=".000038146974 5.004039 10.008039 15.01204 17.51404 22.51804 27.522042 30.519042 33.02104 37.52104 42.525045 47.529047 52.533048 57.53705 62.54105 64.53905 67.041049 69.03905 73.53905 76.041049 81.045047 83.043048 88.04704 92.54704 97.04704 102.05104 107.05504 109.55704 112.05904 115.05604 120.060039 127.55704 130.05904 135.06304 139.56304 144.56703 149.06703 154.07103 156.57303 158.57103 163.57503 168.57903">another channel is blocked from execution.</tspan><tspan y="101.23789" x=".000038146974 8.496038 13.500039 18.50404 23.508042 26.010043 31.014042 36.018045 40.518045 43.020044 47.520044 52.524045 57.528047 62.532049 67.53605 72.54005 74.53805 77.04005 79.03805 83.53805 86.04005 90.54005 95.544048 97.542049 102.54604 107.04604 109.54804 114.55204 119.55604 122.05804 124.560039 129.56404 132.06604 137.07004 141.57004 146.57404 151.07404 156.07804 158.58003 163.58403 166.08603 168.58803 171.09003 176.09403 181.09803 183.60002 188.10002 193.10402 198.10802 200.61002 205.61402 210.61801 213.12001 217.62001 220.12201 225.126 227.628 230.13 232.128 234.63 239.13 241.632 247.131 253.629 260.12699 262.629 267.633 270.63 275.634 278.13603 281.13304 286.13703 291.14103 296.14503 298.64704 301.14906 304.14607 309.15007 316.64707 319.14909 321.14707 326.15107 330.65107 335.65507 337.65306 340.15507 347.65208 352.65608 360.15309 365.15708 368.15409 372.65409 375.1561 380.1601 385.1641">When any channel is selected to execute, the contents of its TCD are read from local memory and</tspan><tspan y="112.23789" x=".000038146974 1.9980383 7.002039 12.00604 17.01004 22.014042 27.018044 29.520045 31.518044 36.522047 39.024045 44.028047 46.530046 49.032045 54.036046 59.040048 61.542047 66.54604 71.55004 76.55404 79.55104 84.55504 89.05504 93.55504 96.05704 101.061038 106.06503 108.56703 113.57103 116.07303 120.57303 125.57703 130.58103 135.58502 140.58902 145.59302 147.59102 150.09302 154.59302 157.09502 160.09201 165.09601 170.1 172.098 176.598 179.1 184.104 187.101 191.601 194.103 196.605 201.609 204.60599 207.10799 212.11199 214.61399 219.61798 224.62198 227.61898 235.11597 240.11997 242.11797 244.61997 249.11997 251.62197 256.62599 259.623 262.125 264.627 269.631 274.635 279.639 282.14103 284.139 289.143 291.64503 296.64903 299.15104 303.65104 308.65504 313.65904 318.66304 323.66703 328.67103 330.669 333.17103 337.67103 340.17304 343.17005 348.17405 353.17805 355.17604 359.67604 362.17805 367.18205 370.17906 374.67906 377.18107 379.68309 384.68708">loaded into the address path channel x registers for a normal start and into channel y registers for</tspan><tspan y="123.23789" x=".000038146974 5.004039 7.506039 12.51004 15.50704 20.51104 25.515042 33.012044 38.016046 40.518045 42.516046 47.520048 52.524049 55.026048 59.526048 62.028047 67.03204 70.029048 72.531047 75.03304 77.53504 83.53804 86.04004 88.54204 93.546039 96.54304 99.04504 101.547039 106.55103 111.55503 114.05703 121.55403 123.55203 128.55603 133.56003 136.55702 139.05902 141.05702 146.06102 151.06502 156.06902 158.57102 163.07102 168.07501 175.572 180.576 182.574 187.578 190.08 195.084 199.584 202.086 207.09 211.59 216.594 221.094 226.09799 228.59999 230.59799 235.60199 240.60599 243.10799 245.60999 248.11199 253.11598 258.12 260.622 265.626 270.63 275.634 278.631 283.635 288.135 292.635 295.13703 300.14103 305.14503 307.64704 312.65104 315.15306 320.15705 325.16105 328.15806 333.16206 339.66004 344.66404 347.66105 352.66505 355.16706 361.66505 364.66206 366.66004 369.16206 374.16606">a preemption start. After the minor loop completes execution, the address path hardware writes</tspan><tspan y="134.23789" x=".000038146974 2.5020385 7.506039 12.51004 15.012041 20.01604 25.020043 31.518044 34.020044 38.520044 43.524045 45.522047 50.526048 55.53005 60.03005 62.532049 65.03405 70.03805 73.03505 75.53705 78.03905 83.043048 88.04704 90.54904 96.04804 102.54604">the new values for the TCD</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 164.25 92)" font-size="9" font-family="HelveticaLTStd"><tspan y="134.23789" x="114.048038 119.05203 122.05803 128.06104 134.06404 140.56204 147.06005 153.55805 156.06005 158.56204 165.06005 171.06305 177.56105 184.05905 190.55706 193.05905 195.56105 202.05905 204.56105 210.06005 216.06305 222.56105 225.56705 228.06905 233.07305 238.07704 242.57704 247.07704 249.57904 252.08104 257.08506 259.58708 261.58506 266.58906 271.08906 276.09306 278.09104 280.59306 288.09007 293.09407 300.59107 305.59507 308.59208 313.09208 315.5941 318.0961 320.5981 323.10014 325.60215 328.10417 333.10816 338.11216 340.61418 348.11119 353.11518 355.11317 360.11717">_{SADDR, DADDR, CITER} back to local memory. If the major</tspan><tspan y="145.23789" x=".000038146974 1.9980383 4.5000388 9.50404 12.5010399 17.50504 20.00704 22.00504 27.00904 32.013044 34.51504 39.01504 44.019044 49.023046 54.027048 56.529047 59.031045 61.029047 65.529048 68.031047 73.03504 77.53504 82.53904 87.54304 92.547039 97.047039 99.549037 104.55303 109.55703 112.05903 114.56103 119.565029 124.56902 129.57303 131.57103 134.07303 136.07103 141.07503 146.07903 151.08303 153.08103 155.58303 160.58702 163.58402 168.58802 173.08802 178.09201 182.59201 187.09201 189.09001 194.09401 199.098 201.6 203.598 208.098 210.6 215.604 220.608 223.605 226.107 231.111 234.10799 241.60498 246.60898 251.61298 254.11498 256.61698 258.61497 263.61897 268.11897 270.11695 275.12095 280.12495 282.12294 287.12693 292.13093 294.63294 297.13496 302.13896 307.14295 309.64497 312.14698 314.14497 319.14897 324.15296 326.15095 328.65296 333.65696 338.66096 343.66496 346.66197 351.66596 356.16596 360.66596 363.16798 368.17198 373.17597 375.17396 380.17796 382.67997 387.68397">iteration count is exhausted, additional processing is performed, including the final address pointer</tspan><tspan y="156.23789" x=".000038146974 5.004039 10.008039 15.01204 20.01604 22.518042 27.522042 32.02204 34.52404 37.02604 40.02304 45.027044 47.025045 52.029047 57.033048 62.03705 64.03505 69.03905 74.043048 76.545047 79.04704 84.05104 89.05504 91.55704 97.05604 103.55404">updates, reloading the TCD</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 164.25 92)" font-size="9" font-family="HelveticaLTStd"><tspan y="156.23789" x="115.05604 120.060039 126.55804 129.06005 134.55904 140.56204 147.06005 149.56204 152.06404 154.06204 159.06604 161.06404 166.06804 168.57004 171.07204 176.07604 181.08003 186.08403 188.58603 193.59003 196.09203 201.09603 206.10002 210.60002 215.10002 217.09803 222.10202 224.10002 229.10402 231.60602 234.10802 239.11202 241.61402 246.11402 251.11801 253.62001 258.62403 261.12605 263.62806 266.13008 271.13407 276.13807 278.64009 283.64408 288.64808 293.14808 295.6501 298.1521 303.6511 310.14909">_CITER field, and a possible fetch of the next TCD</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 164.25 92)" font-size="9" font-family="HelveticaLTStd"><tspan y="156.23789" x="321.65104 324.15306 326.65507 329.65208 334.65608 342.15309 344.6551 352.1521 357.1561 364.6531 369.6571 372.6541 377.1541 379.65614 384.66014"> from memory as</tspan><tspan y="167.23789" x=".000030517579 5.004031 10.008032 13.005032 15.507032 18.009034 23.013035 25.515036 28.017037 33.021039 35.523038 40.023038 44.523038 49.52704 52.029039 54.531038 59.535039 62.53204 65.03404 70.03804 75.04204 77.54404 82.548038 87.55203 90.549037 93.05103 98.05503 103.05903 108.06303 111.06003 116.064029 118.566028 120.564029 125.56802 130.57202">part of a scatter/gather operation.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 266.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 14.004002 19.008004 21.510004 26.514004 31.518006 34.020006">Data path</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 164.25 266.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 24.507 26.505002 31.509003 36.009004 40.509004 43.011 45.009004 52.506006 57.510007 59.508008 64.51201 72.00901 77.01301 82.017009 84.519008 89.019008 91.521 94.023 99.027 104.031 106.533 111.536998 116.54099 121.04099 123.54299 131.04 136.04399 140.54399 143.04599 148.04999 151.04698 153.54898 156.54598 161.54998 166.55397 171.55797 174.05997 180.55797 183.55496 185.55297 188.05496 193.05896 195.56096 200.56496 205.56896 208.07096 213.07495 218.07895 223.08295 225.58495 230.58895 233.09095 235.59294 238.09494 240.59694 243.09894 245.09694 250.10094 254.60094 256.59895 261.60295 266.60694 271.61094 276.11094 278.61296 283.61695 288.62095 291.12297 296.12696 300.62696 303.12898 308.13298 312.63298 315.13499 320.13899 322.641 325.143 328.14 333.144 338.148 340.146 344.646 347.148 352.152 355.14903 357.65104 362.15104 364.65306 369.65705 372.65406 377.65806 382.66206">This block implements the bus master read/write datapath. It includes 16 bytes of register storage</tspan><tspan y="18.83789" x=".00004 5.0040409 10.008041 15.012042 17.514042 20.016043 25.020043 30.024044 32.526044 37.530046 42.534048 47.034048 52.038049 56.538049 61.038049 66.042049 69.03905 73.53905 76.041049 83.53805 88.542049 90.54005 93.042049 95.04005 100.044048 102.042049 107.04604 111.54604 114.04804 116.04604 121.05004 126.05404 128.05204 132.55204 135.05403 137.55603 142.56003 145.06203 149.56203 154.56603 159.57003 164.57402 169.57802 172.57501 175.07701 177.57901 182.58301 187.587 192.087 194.589 197.586 202.59 207.594 212.59799 214.596 217.59299 222.59699 227.60099 230.10298 235.10698 240.11098 242.61298 247.61698 250.11898 255.12297 257.12098 259.11897 264.12297 269.12696 276.62397 281.62797 286.63197 289.13398 291.636 294.138 299.637 304.641 309.645 312.147 314.145 319.149 321.651 326.655 329.652 334.656 339.66 341.658 344.16 347.157 352.161 357.165 362.169 364.67103 369.67503 374.67903 377.18104">and the necessary multiplex logic to support any required data alignment. The internal read data</tspan><tspan y="29.83789" x=".00004 5.0040409 10.008041 14.508041 17.010043 19.008042 23.508042 26.010043 28.512043 33.516046 38.520048 41.022047 46.026048 49.02305 51.02105 58.51805 63.522054 66.51905 71.01905 73.52105 75.51905 80.52305 85.52705 90.531047 93.03304 95.53504 98.03704 103.04104 108.04504 113.049037 115.55103 118.05303 123.05703 128.06104 130.56304 132.56104 137.56504 140.06703 145.07103 148.06803 153.07202 158.07602 160.07402 162.57602 169.07402 172.07102 174.06902 176.57102 181.57501 184.07701 189.08101 194.085 196.587 201.591 204.093 209.097 214.101 218.601 221.103 223.101 227.601 230.103 232.605 237.609 242.61299 245.11499 250.11899 253.11598 255.11399 262.611 267.615 270.612 275.112 277.614 282.618 287.622 290.12403 295.12803 300.13203 302.63404">bus is the primary input, and the internal write data bus is the primary output.</tspan><tspan y="46.237894" x=".00008 5.49908 10.50308 15.507081 18.00908 23.01308 28.017083 33.021085 36.018087 41.022089 45.522089 50.022089 52.524087 57.528089 62.53209 67.53609 70.038089 75.04208 80.04608 82.54808 87.55208 90.05408 95.058078 100.06207 102.56407 107.56807 110.07007 117.56707 122.57107 127.575069 132.57907 134.57707 139.58107 144.08107 146.58307 151.58707 153.58507 156.58206 161.58606 166.08606 168.58806 170.58606 175.08606 177.58806 182.08806 187.09206 192.09606 197.10005 202.10405 205.10105 207.60305 210.10504 212.60704 217.61104 222.61504 225.11704 230.12104 233.11803 237.61803 240.12003 245.12403 250.12802 255.13202 257.63404 262.63804 264.63603 269.64 274.644 276.642 278.63999 283.64399 288.64799 293.65199 296.154 298.15199 303.15599 305.658 310.662 313.659 318.663 323.667 325.66499 328.167 333.171 338.175 342.675 345.177 347.67903 353.178 358.182">The address and data path modules directly support the 2-stage pipelined internal bus. The</tspan><tspan y="57.237894" x=".00008 5.004081 10.008081 15.012082 18.009083 23.013085 27.513085 32.013086 34.515085 39.519086 44.523088 47.025087 52.029088 54.531087 62.028089 67.03209 72.03609 77.040088 79.038089 84.04208 86.54408 89.541088 94.54508 99.54908 102.54608 107.55008 112.05008 117.05408 122.058078 124.560077 129.06008 131.56208 134.06407 139.06807 144.07207 146.57407 151.57807 156.07807 158.58007 161.08206 165.58206 168.08406 173.08806 178.09206 183.09606 185.59806 190.60205 193.10405 195.60605 198.10805 203.11205 208.11605 210.61804 215.62204 220.62604 225.12604 227.62804 232.63204 234.63004 239.63404 244.63803 246.63603 248.63404 253.63803 258.64204 261.14405 264.14106 269.14506 274.14906 279.15306 282.15007 287.15406 291.65406 296.15406 298.65608 303.66007 308.66407 313.66807 318.16807 323.17207 326.16908 328.67109 331.1731 337.67109 342.67509 344.67308 346.67106 351.67506 354.17707 356.67909 361.68309 366.68708 369.1891 374.19309 379.19709 381.6991">address path module represents the 1st stage of the bus pipeline (address phase), while the data</tspan><tspan y="68.23789" x=".00008 5.004081 10.008081 12.510082 17.514084 20.016085 27.513085 32.517087 37.521089 42.52509 44.52309 49.527093 52.02909 54.027093 61.524095 66.52809 68.52609 73.53009 81.02709 86.03109 91.03509 93.53709 98.03709 100.539089 103.041088 108.04508 113.04908 115.55108 120.55508 125.559078 130.56308 133.06508 137.56508 140.06708 145.07108 150.07508 155.07907 157.58107 162.58507 165.08707 167.58907 170.09107 175.09506 180.09906 182.60106 187.60506 189.60306 194.60706 199.61106 201.60906 203.60706 208.61106 213.61505 216.11705 219.11405 224.11804 229.12204 231.62404 236.62804 239.13004 244.13404 249.13803 254.14203 258.64204 263.64604 266.64305">path module implements the 2nd stage of the pipeline (data phase).</tspan></text>
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For data transfers where the</tspan><tspan y="18.83789" x=".00004 4.50004 9.504041 14.508041 17.505042 22.005042 27.00904 29.511042 34.51504 39.519044 44.523046 47.025045 52.029047 57.033048 61.533048 64.03505 66.03305 71.03705 76.041049 78.543048 80.541049 85.545047 90.54904 93.05104 97.55104 99.54904 104.04904 109.05304 113.55304 116.05504 121.05904 124.05604 129.06005 131.56204 136.56604 141.57004 146.57404 151.57804 153.57604 156.07804 158.58003 161.08203 166.08603 171.09003 173.59203 178.59603 185.09403 192.59102 198.59403 201.09603 206.10002 211.10402 216.10802 218.10602 223.11002 228.11402 230.61602 235.62001 240.62401 243.621 246.123 251.127 254.124 261.621 266.121 268.62303 273.627 276.12904 280.62904 285.63304 288.63005 290.62803 295.63203 300.13203 302.63404 307.63804 310.14006 312.64207 317.14207 322.14607 327.15007 330.14707 334.64707 339.65107 342.15309 345.1501 350.15409 355.15809 360.16209">source and destination sizes are equal, the eDMA engine performs a series of source read/</tspan><tspan y="29.83789" x=".00004 5.0040409 10.008041 14.508041 17.010043 19.008042 24.012043 29.016045 31.518046 33.516046 38.520048 43.524049 46.026048 52.524049 55.52105 57.51905 60.02105 65.02505 67.52705 72.531047 77.53504 82.53904 85.53604 90.54004 93.04204 95.04004 100.04404 105.048038 109.548038 112.05003 117.05403 122.05803 124.56003 126.55803 128.55603 131.05803 133.56003 138.56403 143.56803 146.07003 151.07402 156.07802 163.57501 168.57901 173.58301 176.58 179.082 184.086 186.588 189.09 194.094 198.594 201.096 206.09999 210.59999 213.10199 217.60199 222.60599 227.60999 232.10999 234.10799 236.60999 238.60799 243.61199 248.61598 251.11798 253.11598 258.12 260.622 263.12403 268.12803 273.13203 275.63404 283.13105 285.12904 290.13304 295.13703 298.13404 300.63606 302.63404 307.63804 312.64204 317.64604 320.14805 325.15205 329.65205 332.15406 337.15806 339.66007 344.16007 349.16407 354.16807 359.17207 361.67408 364.1761 369.18009 374.18409">destination write operations until the number of bytes specified in the minor loop byte count has</tspan><tspan y="40.83789" x=".00004 7.4970409 12.501041 17.001042 22.005043 27.009045 29.511046 32.013048 37.512048 42.51605 45.51305 48.01505 53.01905 58.023054 62.523054 67.023059 70.02006 72.01806 77.02206 79.524059 84.52805 87.525058 92.025058 94.527057 101.025058 106.02905 111.03305 114.03005 119.03405 121.53605 124.03805 129.04206 134.04605 136.54805 141.04805 143.04605 147.54605 152.55005 157.05005 159.55205 164.55605 167.55304 172.55704 175.05904 180.06304 185.06703 187.56903 190.07103 195.07503 200.07903 205.08303 210.08702 212.08502 214.58702 217.08902 224.58602 229.59001 231.58802 234.09001 236.08802 241.09201 243.09001 248.09401 250.59601 255.6 260.1 264.6 269.604 274.104 278.604 283.608 288.108 290.61003 295.614 298.11604 300.61805 303.12007 308.12406 313.12806 315.63008 320.13008 327.62709 332.63108 334.62907 336.62705 341.63105 344.62806 347.13008 351.63008 353.62806 358.12806 363.13206 365.63407 370.63807 375.64207 378.14408">moved. For descriptors where the sizes are not equal, multiple accesses of the smaller size data</tspan><tspan y="51.83789" x=".00004 5.0040409 8.00104 13.005041 15.507042 18.504042 23.508042 28.512043 33.516046 35.514047 38.511049 43.51505 48.51905 51.02105 53.52305 58.52705 61.52405 64.026058 69.03005 74.03405 78.53405 83.53805 86.04005 89.03705 94.041049 96.543048 101.54704 104.544048 109.54804 114.55204 119.05204 124.05604 126.55804 131.56204 134.06404 136.56604 139.06804 144.07204 149.07604 151.57804 153.57604 158.58003 161.57703 166.58103 171.58502 174.58202 177.08402 181.58402 183.58202 188.08202 193.08602 195.58802 198.09001 204.09302 208.59302 211.09502 216.09902 221.10301 223.60501 228.60901 233.10901 238.113 245.61 250.614 252.612 257.616 260.118 262.62004 264.618 267.12004 269.62205 272.12406 277.12806 282.13206 284.63407 289.13407 294.13807 299.14207 302.13908 306.63908 311.64308 314.14509 318.64509 320.64308 325.14308 330.14707 332.64909 335.6461 340.6501 343.1521 348.1561 351.1531 356.1571 361.1611 365.6611 370.6651 375.1651 377.6671 382.6711 387.6751">are required for each reference of the larger size. As an example, if the source size references 16-</tspan><tspan y="62.83789" x=".00004 5.0040409 7.002041 9.504042 12.0060429 17.010045 22.014046 24.516047 29.520047 32.022047 37.026048 42.03005 47.03405 49.53605 52.038049 57.04205 62.04605 64.54805 69.55205 74.556049 79.056049 81.558048 83.556049 88.56004 93.56404 96.06604 98.06404 103.06804 108.07204 110.574039 112.57204 117.07204 119.574039 124.57803 129.58203 132.57903 137.58303 139.58103 142.08303 144.58502 149.58902 154.59302 157.09502 162.09902 164.60102 167.10301 169.60501 176.10301 181.10701 183.60901 186.606 191.61 196.614 201.618 206.118 208.62 213.624 216.62099 221.62499 224.12699 229.13098 234.13498 237.13198 239.63397 244.63797 247.63497 255.13196 260.13597 265.13996 267.64198 270.14399 272.646 277.65 282.654 287.658 290.16 295.164 300.168 305.172 307.674 312.678 317.682 320.67903 325.683 327.681 330.183 332.68504 339.183 342.18003 344.178 346.68003 351.68403">bit data and the destination is 32-bit data, two reads are performed, then one 32-bit write.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="444.65" x="0 8.554 15.554 21.77 25.27 29.162 33.824 40.04 47.04 52.486 57.148 63.364 68.026 72.688 78.90401 85.90401 92.90401 96.796009 101.45801 108.45801 112.350009 115.850009 122.850009 129.06601 134.51201 140.72801 145.39002 149.28202 156.28202 160.17401 167.17401 171.83602 175.33602 179.22801 186.22801 192.44402 198.66002 202.55202 206.05202 216.94402 223.16002 234.05202 241.05202 245.71402 252.71402 256.21403 260.10603 265.55204 269.05204 273.71403 280.71403 285.376 289.268 296.268 302.484 307.146 310.646 317.646 323.862 328.524 332.416 336.30799 340.19999 344.09199 351.09199 358.09199 364.30799 371.30799 374.80799 378.69999 385.69999 389.59199 396.59199">The transfer-control descriptor local memory is further partitioned into:</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 155 511.19996)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="13.968 21.3 27.972 35.304 38.64 45.312 48.648004 55.320005 61.992006 65.98801 72.66 84.996 92.328 96.996 103.668 111 117.672 121.668 128.34 133.008 136.344 143.01599 150.34799 157.68 161.676 166.344 173.676 177.012 180.34799 187.68 194.35199 201.02399 207.69599 212.36399 215.69998 223.03199 227.02799 234.35999 239.02799 242.36399 253.03199 259.70399 270.37199 277.70399 282.37199">Table 22-2.Transfer control descriptor memory</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 17.99997)" 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 54 734.9386)" 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 54 751.7559)" 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 1 220.32 751.7559)" 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 1 391.68 751.7559)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">457</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54 763.7559)" 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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