birdcage/docs/K60-refman-vectors/K60-reference-manual_page_391.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

1835 lines
140 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 116.729999 140.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 9 10.998 16.002 18.999 20.997002 23.499003 27.999003 30.501004 36.999006 42.003007 47.007009 49.00501 53.50501 56.007009 61.01101 64.00801 68.50801 71.01001 77.01301 79.01101 84.01501 88.51501 93.519008 96.021 99.018009 105.021 111.024 117.027 123.03 128.034 134.037 140.535 146.53801 151.542">Priority Registers Slave (AXBS_PRS6)</tspan></text>
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<path transform="matrix(1,0,0,1,53.999998,138.43283)" d="M307.69 .25H347.51V15.25H307.69Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 363.69 140.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="12.906 17.91">32</tspan></text>
<g clip-path="url(#clip_16)">
<path transform="matrix(1,0,0,1,54,138.43283)" d="M348.01 .25H387.83003V15.25H348.01Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 404.01 140.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="9.162 15.66 18.162">R/W</tspan></text>
<g clip-path="url(#clip_17)">
<path transform="matrix(1,0,0,1,54,138.43283)" d="M388.33003 .25H448.31004V15.25H388.33003Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 444.33003 140.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="4.482 10.485001 15.489001 20.493002 22.995003 27.495003 32.499006 36.999006 39.501005 41.499006 46.503007">See section</tspan></text>
<g clip-path="url(#clip_18)">
<path transform="matrix(1,0,0,1,54,138.43283)" d="M448.81004 .25H503.75004V15.25H448.81004Z" fill="#ffffff" fill-rule="evenodd"/>
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 504.81004 140.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="4.203 9.207001 14.211001 16.713002 21.717003 24.219004 29.223004 31.725005 36.729005 41.733007">18.2.1/391</tspan></text>
<g clip-path="url(#clip_19)">
<path transform="matrix(1,0,0,1,54,153.93283)" d="M.25 .25H60.23V26.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 156.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="5.472 10.476001 15.480001 20.484002 25.488003 30.492005 35.496007 40.500009 45.50401">4000_4610</tspan></text>
<g clip-path="url(#clip_20)">
<path transform="matrix(1,0,0,1,54,153.93283)" d="M60.73 .25H307.19V26.25H60.73Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 116.729999 156.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="0 6.4980008 11.502001 16.506 19.008002 22.005002 27.009003 29.007004 31.509005 38.007005 43.011007 48.015008 50.01301 54.51301 57.015008 62.01901 65.01601 67.518009 70.51501 76.518009 82.521 88.524 94.527 99.531 106.029 112.527 118.53 123.534">Control Register (AXBS_CRS6)</tspan></text>
<g clip-path="url(#clip_21)">
<path transform="matrix(1,0,0,1,53.999998,153.93283)" d="M307.69 .25H347.51V26.25H307.69Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 363.69 156.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="12.906 17.91">32</tspan></text>
<g clip-path="url(#clip_22)">
<path transform="matrix(1,0,0,1,54,153.93283)" d="M348.01 .25H387.83003V26.25H348.01Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 404.01 156.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="9.162 15.66 18.162">R/W</tspan></text>
<g clip-path="url(#clip_23)">
<path transform="matrix(1,0,0,1,54,153.93283)" d="M388.33003 .25H448.31004V26.25H388.33003Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 444.33003 156.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="12.978 17.982 22.986 27.990002 32.994005 37.998006">0_0000</tspan><tspan y="18.83789" x="12.978 17.982 22.986 27.990002 32.994005 37.998006">_0000h</tspan></text>
<g clip-path="url(#clip_24)">
<path transform="matrix(1,0,0,1,54,153.93283)" d="M448.81004 .25H503.75004V26.25H448.81004Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 504.81004 156.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="4.203 9.207001 14.211001 16.713002 21.717003 24.219004 29.223004 31.725005 36.729005 41.733007">18.2.2/394</tspan></text>
<g clip-path="url(#clip_25)">
<path transform="matrix(1,0,0,1,54,180.43283)" d="M.25 .25H60.23V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 182.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="5.472 10.476001 15.480001 20.484002 25.488003 30.492005 35.496007 40.500009 45.50401">4000_4700</tspan></text>
<g clip-path="url(#clip_26)">
<path transform="matrix(1,0,0,1,54,180.43283)" d="M60.73 .25H307.19V15.25H60.73Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 116.729999 182.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 9 10.998 16.002 18.999 20.997002 23.499003 27.999003 30.501004 36.999006 42.003007 47.007009 49.00501 53.50501 56.007009 61.01101 64.00801 68.50801 71.01001 77.01301 79.01101 84.01501 88.51501 93.519008 96.021 99.018009 105.021 111.024 117.027 123.03 128.034 134.037 140.535 146.53801 151.542">Priority Registers Slave (AXBS_PRS7)</tspan></text>
<g clip-path="url(#clip_27)">
<path transform="matrix(1,0,0,1,53.999998,180.43283)" d="M307.69 .25H347.51V15.25H307.69Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 363.69 182.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="12.906 17.91">32</tspan></text>
<g clip-path="url(#clip_28)">
<path transform="matrix(1,0,0,1,54,180.43283)" d="M348.01 .25H387.83003V15.25H348.01Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 404.01 182.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="9.162 15.66 18.162">R/W</tspan></text>
<g clip-path="url(#clip_29)">
<path transform="matrix(1,0,0,1,54,180.43283)" d="M388.33003 .25H448.31004V15.25H388.33003Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 444.33003 182.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="4.482 10.485001 15.489001 20.493002 22.995003 27.495003 32.499006 36.999006 39.501005 41.499006 46.503007">See section</tspan></text>
<g clip-path="url(#clip_30)">
<path transform="matrix(1,0,0,1,54,180.43283)" d="M448.81004 .25H503.75004V15.25H448.81004Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 504.81004 182.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="4.203 9.207001 14.211001 16.713002 21.717003 24.219004 29.223004 31.725005 36.729005 41.733007">18.2.1/391</tspan></text>
<g clip-path="url(#clip_31)">
<path transform="matrix(1,0,0,1,54,195.93283)" d="M.25 .25H60.23V26.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 198.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="5.472 10.476001 15.480001 20.484002 25.488003 30.492005 35.496007 40.500009 45.50401">4000_4710</tspan></text>
<g clip-path="url(#clip_32)">
<path transform="matrix(1,0,0,1,54,195.93283)" d="M60.73 .25H307.19V26.25H60.73Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 116.729999 198.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="0 6.4980008 11.502001 16.506 19.008002 22.005002 27.009003 29.007004 31.509005 38.007005 43.011007 48.015008 50.01301 54.51301 57.015008 62.01901 65.01601 67.518009 70.51501 76.518009 82.521 88.524 94.527 99.531 106.029 112.527 118.53 123.534">Control Register (AXBS_CRS7)</tspan></text>
<g clip-path="url(#clip_33)">
<path transform="matrix(1,0,0,1,53.999998,195.93283)" d="M307.69 .25H347.51V26.25H307.69Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 363.69 198.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="12.906 17.91">32</tspan></text>
<g clip-path="url(#clip_34)">
<path transform="matrix(1,0,0,1,54,195.93283)" d="M348.01 .25H387.83003V26.25H348.01Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 404.01 198.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="9.162 15.66 18.162">R/W</tspan></text>
<g clip-path="url(#clip_35)">
<path transform="matrix(1,0,0,1,54,195.93283)" d="M388.33003 .25H448.31004V26.25H388.33003Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 444.33003 198.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="12.978 17.982 22.986 27.990002 32.994005 37.998006">0_0000</tspan><tspan y="18.83789" x="12.978 17.982 22.986 27.990002 32.994005 37.998006">_0000h</tspan></text>
<g clip-path="url(#clip_36)">
<path transform="matrix(1,0,0,1,54,195.93283)" d="M448.81004 .25H503.75004V26.25H448.81004Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 504.81004 198.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="4.203 9.207001 14.211001 16.713002 21.717003 24.219004 29.223004 31.725005 36.729005 41.733007">18.2.2/394</tspan></text>
<g clip-path="url(#clip_37)">
<path transform="matrix(1,0,0,1,54,222.43283)" d="M.25 .25H60.23V26.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 224.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="5.472 10.476001 15.480001 20.484002 25.488003 30.492005 35.496007 40.500009 45.50401">4000_4800</tspan></text>
<g clip-path="url(#clip_38)">
<path transform="matrix(1,0,0,1,54,222.43283)" d="M60.73 .25H307.19V26.25H60.73Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 116.729999 224.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="0 7.4970009 12.501001 17.001002 19.503003 24.507004 27.504004 30.006005 37.008005 42.012006 47.016008 52.020009 55.01701 60.02101 62.019014 64.52101 70.52401 75.52801 78.52501 83.52901 88.533008 93.033008 98.037 100.539 107.037 112.041 117.045 119.547 122.544 127.548 129.54599 132.04799 138.54599 143.54999 148.55399 150.55199 155.05199 157.55399 162.55799 165.55498 168.05698 171.05397 177.05698 183.05998 189.06299 195.066 200.06999 207.56699 214.56899 220.57199 227.06999 233.568 238.57199">Master General Purpose Control Register (AXBS_MGPCR0)</tspan></text>
<g clip-path="url(#clip_39)">
<path transform="matrix(1,0,0,1,53.999998,222.43283)" d="M307.69 .25H347.51V26.25H307.69Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 363.69 224.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="12.906 17.91">32</tspan></text>
<g clip-path="url(#clip_40)">
<path transform="matrix(1,0,0,1,54,222.43283)" d="M348.01 .25H387.83003V26.25H348.01Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 404.01 224.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="9.162 15.66 18.162">R/W</tspan></text>
<g clip-path="url(#clip_41)">
<path transform="matrix(1,0,0,1,54,222.43283)" d="M388.33003 .25H448.31004V26.25H388.33003Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 444.33003 224.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="12.978 17.982 22.986 27.990002 32.994005 37.998006">0_0000</tspan><tspan y="18.83789" x="12.978 17.982 22.986 27.990002 32.994005 37.998006">_0000h</tspan></text>
<g clip-path="url(#clip_42)">
<path transform="matrix(1,0,0,1,54,222.43283)" d="M448.81004 .25H503.75004V26.25H448.81004Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 504.81004 224.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="4.203 9.207001 14.211001 16.713002 21.717003 24.219004 29.223004 31.725005 36.729005 41.733007">18.2.3/396</tspan></text>
<g clip-path="url(#clip_43)">
<path transform="matrix(1,0,0,1,54,248.93283)" d="M.25 .25H60.23V26.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 251.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="5.472 10.476001 15.480001 20.484002 25.488003 30.492005 35.496007 40.500009 45.50401">4000_4900</tspan></text>
<g clip-path="url(#clip_44)">
<path transform="matrix(1,0,0,1,54,248.93283)" d="M60.73 .25H307.19V26.25H60.73Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 116.729999 251.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="0 7.4970009 12.501001 17.001002 19.503003 24.507004 27.504004 30.006005 37.008005 42.012006 47.016008 52.020009 55.01701 60.02101 62.019014 64.52101 70.52401 75.52801 78.52501 83.52901 88.533008 93.033008 98.037 100.539 107.037 112.041 117.045 119.547 122.544 127.548 129.54599 132.04799 138.54599 143.54999 148.55399 150.55199 155.05199 157.55399 162.55799 165.55498 168.05698 171.05397 177.05698 183.05998 189.06299 195.066 200.06999 207.56699 214.56899 220.57199 227.06999 233.568 238.57199">Master General Purpose Control Register (AXBS_MGPCR1)</tspan></text>
<g clip-path="url(#clip_45)">
<path transform="matrix(1,0,0,1,53.999998,248.93283)" d="M307.69 .25H347.51V26.25H307.69Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 363.69 251.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="12.906 17.91">32</tspan></text>
<g clip-path="url(#clip_46)">
<path transform="matrix(1,0,0,1,54,248.93283)" d="M348.01 .25H387.83003V26.25H348.01Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 404.01 251.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="9.162 15.66 18.162">R/W</tspan></text>
<g clip-path="url(#clip_47)">
<path transform="matrix(1,0,0,1,54,248.93283)" d="M388.33003 .25H448.31004V26.25H388.33003Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 444.33003 251.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="12.978 17.982 22.986 27.990002 32.994005 37.998006">0_0000</tspan><tspan y="18.83789" x="12.978 17.982 22.986 27.990002 32.994005 37.998006">_0000h</tspan></text>
<g clip-path="url(#clip_48)">
<path transform="matrix(1,0,0,1,54,248.93283)" d="M448.81004 .25H503.75004V26.25H448.81004Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 504.81004 251.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="4.203 9.207001 14.211001 16.713002 21.717003 24.219004 29.223004 31.725005 36.729005 41.733007">18.2.3/396</tspan></text>
<g clip-path="url(#clip_49)">
<path transform="matrix(1,0,0,1,54,275.43284)" d="M.25 .25H60.23V26.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 277.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="4.977 9.981001 14.985002 19.989003 24.993004 29.997006 35.001008 41.004007 46.008008">4000_4A00</tspan></text>
<g clip-path="url(#clip_50)">
<path transform="matrix(1,0,0,1,54,275.43284)" d="M60.73 .25H307.19V26.25H60.73Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 116.729999 277.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="0 7.4970009 12.501001 17.001002 19.503003 24.507004 27.504004 30.006005 37.008005 42.012006 47.016008 52.020009 55.01701 60.02101 62.019014 64.52101 70.52401 75.52801 78.52501 83.52901 88.533008 93.033008 98.037 100.539 107.037 112.041 117.045 119.547 122.544 127.548 129.54599 132.04799 138.54599 143.54999 148.55399 150.55199 155.05199 157.55399 162.55799 165.55498 168.05698 171.05397 177.05698 183.05998 189.06299 195.066 200.06999 207.56699 214.56899 220.57199 227.06999 233.568 238.57199">Master General Purpose Control Register (AXBS_MGPCR2)</tspan></text>
<g clip-path="url(#clip_51)">
<path transform="matrix(1,0,0,1,53.999998,275.43284)" d="M307.69 .25H347.51V26.25H307.69Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 363.69 277.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="12.906 17.91">32</tspan></text>
<g clip-path="url(#clip_52)">
<path transform="matrix(1,0,0,1,54,275.43284)" d="M348.01 .25H387.83003V26.25H348.01Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 404.01 277.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="9.162 15.66 18.162">R/W</tspan></text>
<g clip-path="url(#clip_53)">
<path transform="matrix(1,0,0,1,54,275.43284)" d="M388.33003 .25H448.31004V26.25H388.33003Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 444.33003 277.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="12.978 17.982 22.986 27.990002 32.994005 37.998006">0_0000</tspan><tspan y="18.83789" x="12.978 17.982 22.986 27.990002 32.994005 37.998006">_0000h</tspan></text>
<g clip-path="url(#clip_54)">
<path transform="matrix(1,0,0,1,54,275.43284)" d="M448.81004 .25H503.75004V26.25H448.81004Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 504.81004 277.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="4.203 9.207001 14.211001 16.713002 21.717003 24.219004 29.223004 31.725005 36.729005 41.733007">18.2.3/396</tspan></text>
<g clip-path="url(#clip_55)">
<path transform="matrix(1,0,0,1,54,301.93284)" d="M.25 .25H60.23V26.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 304.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="13.33789" x="4.977 9.981001 14.985002 19.989003 24.993004 29.997006 35.001008 41.004007 46.008008">4000_4B00</tspan></text>
<g clip-path="url(#clip_56)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="455.4328" x=".00003 8.554029 15.554029 21.770031 25.270031 32.27003 36.93203 40.82403 47.82403 52.48603 56.378034 60.270036 67.270038 70.770038 75.43204 81.64804 88.64804 92.54004 97.98604 101.87804 108.09404 112.75604 118.20204 121.70204 126.364048 134.14804 143.48604 151.27004 158.27004 162.93204 166.43204 171.87804 178.09404 181.98604 185.48604 189.37804 196.37804 202.59404 206.09404 213.09404 217.75605 221.64804 228.64804 233.31005 237.20204 241.09404 248.09404 251.59404 258.59407 263.25605 266.75605 272.97206 279.18806 285.40406 292.40406 295.90406 306.79606 313.01206 318.45808 322.35008 328.56608 333.22807 336.72807 343.72807 350.72807 355.39006 359.28205 362.78205 369.78205 376.78205 380.28205 386.49806 389.99806 396.99806 403.21406 407.87605 411.37605 416.82206 420.71406 426.93006 433.93006 440.14607 443.64607 450.64607 457.64607 462.30805 466.20005 469.70005 476.70005 482.91606 488.36207 492.25407">The priority registers (PRSn) set the priority of each master port on a per slave port basis</tspan><tspan y="471.4328" x=".00005 6.2160508 13.216051 20.216052 23.716052 28.378052 34.59405 40.04005 43.932054 50.932054 57.148054 60.648054 64.540058 71.540058 75.040058 81.25606 87.47206 93.688068 100.688068 104.188068 109.63406 113.52606 119.742069 126.742069 132.95807 136.45807 143.45807 150.45807 155.12007 159.01207 162.51207 166.01207 174.56607 181.56607 187.78208 191.28208 198.28208 202.94408 206.83608 213.83608 218.49808 222.39008 226.28208 233.28208 236.78208 241.44408 247.66008 254.66008 258.5521 263.9981 267.8901 274.1061 278.7681 282.2681 288.4841 294.7001 301.7001 305.2001 312.2001 318.4161 321.9161 328.1321 334.3481 340.56413 346.78013 352.22615 357.67216 363.88816 370.88816 374.38816 381.38816 388.38816 392.28016 399.28016 402.78016 412.88816 416.78016 420.67216 427.67216 431.17216 438.17216 445.17216 449.83415 456.83415 460.72615">and reside in each slave port. The priority register can be accessed only with 32-bit</tspan><tspan y="487.4328" x=".0001 6.2161009 12.432101 18.648102 24.864102 30.310103 35.756105 41.972105 47.418104 50.918104 54.418104 64.5261 69.1881 73.0801 79.296108 83.95811 87.45811 91.350109 98.350109 104.56611 108.06611 117.40411 126.74211 134.52611 141.52611 146.18811 155.52611 165.63411 170.29611 173.79611 180.79611 184.68811 188.58011 192.08011 195.9721 201.4181 204.9181 210.3641 216.58011 220.4721 223.9721 227.4721 231.3641 238.3641 244.58011 248.08011 255.8641 265.20213 272.9861 279.9861 283.4861 288.1481 294.3641 301.3641 305.2561 310.70213 314.59413 320.81013 325.4721 328.9721 335.1881 341.4041 348.4041 351.9041 358.9041 365.9041 369.7961 376.7961 380.2961 387.2961 393.51213 397.01213 401.6741 407.8901 414.1061 421.1061 424.9981 428.4981 434.7141 438.6061 442.4981 448.7141 459.6061 466.6061 470.4981 475.94413 479.44413 483.33613">accesses. After the CRSn[RO] bit is set, the PRSn register can only be read; attempts to</tspan><tspan y="503.4328" x=".0001 10.108101 14.770102 18.662102 22.554102 28.770104 32.270105 36.162107 43.162107 46.662107 50.554109 54.44611 57.94611 64.946109 71.16211 78.16211 84.37811 87.87811 94.87811 101.87811 105.37811 111.59412 116.25612 120.91812 127.134128 133.35013 137.24213 140.74213 147.74213 154.74213 158.24213 166.02613 175.36412 183.14812 190.14812 193.64812 199.86412 206.86412 213.86412 217.36412 222.02613 228.24213 233.68813 240.68813 244.58013 248.47212 251.97212 255.86412 262.86415 266.36415 272.58015 276.08015 283.08015 290.08015 295.52616 300.18815 306.40415 311.06614 315.72813 322.72813 327.3901 330.8901 335.5521 341.7681 347.2141 354.2141 361.2141 368.2141 373.66014 379.87614 383.37614 387.26814 394.26814 397.76814 401.66014 408.66014 414.87614 418.37614 429.26814 435.48414 440.93016 444.82215 451.03816">write to it have no effect on PRSn and result in a bus-error response to the master</tspan><tspan y="519.4328" x=".00013 3.8921304 10.89213 14.78413 18.67613 22.56813 28.78413 32.676134 36.568136 43.568136 50.568136 54.068136 57.960138 64.96014 71.17614 74.67614 84.78414 89.446147 93.33814 97.23014 103.446147">initiating the write.</tspan><tspan y="543.83279" x=".00013 10.10813 17.108132 20.608132 24.500132 34.60813 41.60813 45.10813 51.32413 58.32413 64.54013 68.43213 72.32413 78.54013 85.54013 89.43213 95.64813 99.14813 110.04013 116.256137 121.70213 125.59413 131.81014 136.47214 139.97214 146.97214 153.97214 158.63414 162.52614 167.97214 171.47214 182.36414 188.58014 195.58014 199.08014 206.08014 212.29615 215.79615 222.79615 227.45815 234.45815 241.45815 246.12015 252.33615 263.22816 274.12016 280.33616 287.33616 290.83616 300.94416 304.83616 308.72816 315.72816 319.22816 323.12016 330.12016 336.33616 339.83616 345.28218 351.49818 362.39018 368.60618 372.10618 379.10618 383.76817 387.66017 394.66017 399.32215 403.21415 407.10615 414.10615 417.60615 421.49815 427.71415 434.71415 440.93016 444.82215 448.32215 451.82215 461.93016 465.82215 469.71415 475.93016 486.82215 493.82215 497.71415">No two available master ports may be programmed with the same priority level. Attempts</tspan><tspan y="559.83279" x=".00016 3.8921605 10.89216 14.39216 21.39216 26.054162 33.05416 40.05416 44.71616 50.93216 61.82416 65.32416 69.216159 79.32416 86.32416 89.82416 96.82416 101.48616 104.98616 115.87816 122.87816 127.54016 133.75617 137.25617 148.14817 154.36417 159.81017 163.70217 169.91817 174.58017 180.02617 183.52617 193.63417 197.52617 201.41817 208.41817 211.91817 215.81017 222.81017 229.02617 232.52617 237.97217 244.18817 255.08017 261.29618 264.79618 271.79618 276.45817 280.35017 287.35017 292.01216 295.90415 299.79615 306.79615 310.29615 314.18815 320.40415 327.40415 333.62016 337.51216 341.01216 345.67414 351.89015 357.33616 364.33616 368.22816 372.12016 375.62016 379.51216 386.51216 390.01216 396.22816 399.72816 406.72816 413.72816 419.17417 423.83616 430.05216 434.71415 439.37614 446.37614 451.03813 454.53813 459.2001 465.4161 470.86213 477.86213 484.86213 491.86213 497.30815">to program two or more masters with the same priority level result in a bus-error response</tspan><tspan y="575.83279" x=".00016 6.216161 13.216161 20.21616 23.71616 27.60816 34.608163 40.82416 44.32416 52.108163 61.446165 69.23016 76.23016 79.73016 83.62216 89.06816 92.56816 99.56816 106.56816 110.46016 113.96016 120.96016 127.96016 134.96016 141.17617 145.06816 151.28417 158.28417">and the PRSn is not updated.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="600.01956" x="232.55416 242.66216 253.55416 262.10816">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="616.2328" x="72.00212 80.55612 87.55612 93.772129 97.272129 104.272129 111.272129 116.718128 122.16412 126.05612 133.05612 136.94812 143.16413 146.66413 153.66413 159.88013 163.77213 170.77213 176.98813 182.43413 185.93413 190.59613 197.59613 202.25814 205.75814 209.65013 216.65013 222.86614 226.36614 234.15013 243.48813 251.27213 258.27214 261.77214 266.4341 270.3261 276.5421 280.4341 287.4341 292.88014 296.38014 303.38014 309.59614 316.59614 322.81214 329.81214 336.81214 340.31214 347.31214 354.31214 357.81214 361.70414 368.70414 374.92015 378.42015 385.42015 392.42015 403.31214 410.31214 416.52815">The possible values for the PRSn fields depend on the number</tspan><tspan y="632.2328" x="72.00212 79.00212 83.66412 87.16412 98.05612 104.272129 109.718128 113.61012 119.826129 124.48813 129.93413 133.43413 139.65013 146.65013 152.86614 156.75814 160.65013 166.86614 173.86614 177.75814 183.97414 187.47414 194.47414 201.47414 204.97414 208.86614 215.86614 222.08214 225.58214 232.58214 238.79814 245.79814 249.69014 255.90615 262.12214 265.62214 269.12214 276.90614 283.12214 289.33815 292.83815 296.73014 303.73014 309.94615 313.44615 320.44615 326.66215 333.66215 337.55415 343.77015 349.98616 352.50614 357.95216 361.45216 367.66816 374.66816 378.56016">of masters available on the device. See the device's chip</tspan><tspan y="648.2328" x="72.002147 78.21815 85.21815 92.21815 96.88015 100.77215 107.77215 114.77215 119.43415 125.650157 129.54216 133.43416 140.43416 147.43416 150.93416 157.93416 164.15016 168.04216 174.25817 178.15016 182.04216 187.48816 190.98816 195.65016 202.65016 207.31217 210.81217 214.70417 221.70417 227.92017 231.42017 238.42017 245.42017 256.31217 263.31217 269.52818 274.19017 277.69017 284.69017 289.35215 292.85215 303.74415 309.96015 315.40617 319.29817 325.51417 330.17616 335.62217 339.12217 344.56819 351.56819 358.56819 365.56819 372.56819 377.23017 381.12217 387.33818 394.33818">configuration details for the number of masters supported.</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="350.469 356.96699 362.46598 367.46998 372.96897 375.96598 380.96998 384.47099 386.973 391.977 396.981 399.483 405.981 409.482 414.981 419.985 424.98899 430.48799 435.49198 438.99299 441.495 447.498 454.5 457.002 459.99903 465.00303 470.502 473.00404 476.00105 482.49903 488.502 495 501.003">Chapter 18 Crossbar Switch (AXBS)</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">391</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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