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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_397.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

117 lines
39 KiB (Stored with Git LFS)
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Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 17.792002 22.240002 31.136002 35.584005">18.3.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 54)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 12.448001 21.344002 31.120003 40.016004 46.24 55.136 59.584005 64.032009 73.80801 83.58401 92.48001 98.70401 107.60001 112.92802 117.376018 127.152019">General operation</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="37.25" x="-.006 13.210001 20.210001 26.426003 33.426004 36.926004 43.142004 46.642004 57.534006 63.750005 69.19601 73.088008 79.30401 83.96601 87.46601 93.682018 99.89802 106.11402 112.330028 117.776027 123.22202 129.43802 134.88402 138.38402 142.27602 149.27602 155.49202 158.99202 165.20803 169.87003 176.87003 182.31603 187.76203 194.76203 200.97803 205.64003 209.14003 214.58603 224.69403 228.58603 232.47803 238.69403 245.69403 249.19403 253.08603 260.08604 266.30204 269.80204 276.01805 282.23405 288.45005 294.66606 300.11207 305.55809 309.05809 312.95008 318.3961 321.8961 325.7881 336.68009 347.57209 353.7881 360.7881 364.68009 370.8961 374.7881 381.0041 384.8961 391.8961 395.3961 399.2881 405.5041 412.5041 418.7201 425.7201 429.2201 432.7201 437.38209 442.04408 445.54408 449.43608 456.43608">When a master accesses the crossbar switch the access is immediately taken. If the</tspan><tspan y="53.25" x="-.00601 3.8859905 10.101991 14.76399 21.76399 27.979992 31.871993 38.087995 45.087995 48.587995 54.033994 57.925996 64.142 71.142 77.358 80.858 87.858 94.858 99.520008 103.412 106.912 113.912 118.574008 122.074008 125.966 132.966 139.182 142.682 148.89801 155.11402 161.33002 167.54602 172.99202 178.43802 181.93802 185.83002 191.27602 194.77602 200.99202 207.99202 214.20803 218.10002 221.99202 228.20803 235.20803 239.10002 245.31603 248.81603 252.31603 256.20805 263.20805 269.42405 276.42405 279.92405 283.81605 290.81605 297.03205 300.53205 306.74806 312.96406 319.18006 325.39607 330.84208 336.2881 339.7881 343.68009 349.1261 352.6261 356.5181 367.4101 378.3021 384.5181 391.5181 395.4101 401.6261 405.5181 411.7341 415.6261 422.6261 426.1261 433.1261 437.7881 444.0041 449.4501 455.6661 462.6661 466.5581 472.7741 479.7741 483.2741 490.2741">targeted slave port of the access is available, then the access is immediately presented on</tspan><tspan y="69.25" x="-.00601 3.8859905 10.88599 17.10199 20.60199 26.04799 29.939991 36.15599 43.15599 49.37199 52.87199 59.87199 66.871997 71.534 75.425998 78.925998 82.425998 90.21 94.102 101.102 108.102 111.993999 118.21 122.872 129.088 132.98 139.98 146.196 153.196 156.696 160.196 167.196 171.858 175.358 180.02 186.23601 192.45201 197.11402 204.11402 208.77602 218.88402 225.10002 228.99202 232.88402 236.38402 241.83002 245.72202 251.93802 255.83002 262.04603 265.54603 269.04603 275.26203 281.47804 287.69404 293.91004 299.35606 304.80207 311.01808 316.46409 319.96409 326.18009 330.84208 337.05809 340.55809 347.55809 354.55809 360.0041 365.4501 369.3421 376.3421 380.2341 386.4501 389.9501 393.8421 400.8421 405.5041 412.5041 419.5041 426.5041 433.5041 437.0041 440.8961 447.8961">the slave port. Single-clock, or -zero-wait state, accesses are possible through the</tspan><tspan y="85.25" x="-.00598 6.2100207 10.872021 17.87202 23.318022 28.764023 35.764024 41.980024 46.64202 50.14202 53.64202 58.30402 62.96602 66.46602 70.35802 77.35802 83.57402 87.07402 90.96602 97.18202 101.844028 108.844028 115.06003 118.95203 125.16803 132.16803 135.66803 141.11403 145.00603 151.22203 158.22203 164.43804 167.93804 174.93804 181.93804 186.60004 190.49204 193.99204 200.99204 205.65404 209.15404 213.04604 220.04604 226.26204 229.76204 235.97805 242.19405 248.41005 254.62606 260.07206 265.51808 269.01808 272.91007 278.35609 281.85609 288.85609 295.85609 301.3021 308.3021 311.8021 318.8021 323.46409 326.96409 333.96409 340.18009 344.84208 351.84208 358.05809 365.05809 368.55809 375.55809 382.55809 386.05809 392.27409 395.77409 402.77409 406.66609 411.32807 415.99006 422.20606 426.86805 433.08406 440.08406 443.97605 447.47605 458.36805 464.58406 470.03007 473.92207 480.13807">crossbar. If the targeted slave port of the access is busy or parked on a different master</tspan><tspan y="101.25" x="-.0059499999 6.99405 13.99405 18.65605 22.54805 26.04805 29.54805 33.440053 40.440053 46.65605 50.15605 54.81805 61.03405 68.03405 75.03405 81.25005 86.69605 90.58805 94.48005 101.48005 108.48005 111.98005 122.87205 129.08805 134.53404 138.42604 144.64205 149.30405 152.80405 158.25005 162.14205 173.03404 180.03404 183.92604 190.92604 194.42604 199.87204 206.08805 212.30405 217.75005 221.25005 231.35805 237.57405 241.46605 245.35805 248.85805 254.30405 258.19606 264.41206 268.30406 274.52006 279.96607 283.46607 287.35807 294.35807 299.80409 306.02009 310.68208 314.57408 320.79008 327.79008 331.29008 338.29008 345.29008 349.18208 353.07408 356.96607 360.46607 364.35807 371.35807 377.57408 381.07408 384.96607 391.18208 395.84407 402.84407 409.06007 412.95207 419.16807 426.16807 429.66807 435.11408 439.00608 445.22209 452.22209 458.43809 461.93809 468.93809 475.93809 480.60008">port, the requesting master simply sees wait states inserted until the targeted slave port</tspan><tspan y="117.25" x="-.0059499999 6.2100508 12.426051 19.426053 22.926053 28.372054 34.588056 39.250055 46.250055 50.142057 56.358057 62.574056 66.07405 69.96605 76.96605 83.18205 86.68205 97.57405 103.790058 109.23605 113.12805 119.344058 124.00606 126.526058 131.97206 135.47206 140.13407 146.35007 153.35007 160.35007 166.56607 172.01207 175.90407 179.40407 182.90407 191.45807 198.45807 204.67407 208.17407 212.06607 218.28208 222.17407 228.39008 235.39008 241.60608 248.60608 252.10608 255.99808 262.99809 266.49809 271.9441 278.1601 282.82209 289.82209 293.71409 299.93009 303.82209 310.82209 317.82209 321.32209 325.21409 332.21409 338.43009 341.93009 346.59208 352.80809 359.80809 366.80809 373.02409 378.4701 382.3621 385.8621 392.8621 399.0781 406.0781 412.2941 419.2941 426.2941 431.7401 435.2401 442.2401 449.2401 452.7401 458.95613 465.17213 471.38813">can service the master's request. The latency in servicing the request depends on each</tspan><tspan y="133.25" x="-.0058999999 10.886101 17.1021 22.548102 26.440102 32.6561 37.3181 39.8381 45.2841 48.7841 55.7841 60.4461 64.3381 71.3381 76.0001 79.8921 83.784099 90.784099 94.284099 98.176097 104.3921 111.3921 117.6081 121.5001 125.0001 131.2161 138.2161 145.2161 148.7161 152.6081 159.6081 165.8241 169.3241 173.9861 180.2021 185.6481 192.6481 199.6481 206.6481 213.6481 217.5401 224.5401 231.5401 235.0401 242.0401 248.2561 252.9181 256.81013 263.81013 270.81013 277.02613 281.6881 287.9041 291.7961 294.3161 299.76213 303.26213 309.47813 315.69413 321.91014 328.12614 333.57215 339.01817 342.51817 346.41017 350.30216 361.19416 367.41017">master's priority level and the responding peripheral's access time.</tspan><tspan y="157.65" x="-.00593 9.332071 15.548072 21.764073 27.980072 34.980073 40.42607 46.64207 50.14207 54.034074 61.034074 67.25008 70.75008 76.96608 81.62808 88.62808 94.07408 99.52008 106.52008 112.736087 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155.52011 161.73612 168.73612 175.73612 181.95212 185.45212 192.45212 197.11412 200.61412 210.72212 217.72212 223.93813 227.83013 234.83013 241.04613 245.70813 249.20813 253.10013 256.99214 260.49214 266.70814 272.92414 276.81614 283.81614 290.03215 293.92414 297.81614 304.81614 308.31614 315.31614 325.42414 332.42414 337.87016 341.37016 345.26216 352.26216 358.47816 361.97816 367.42417 371.31617 377.53218 384.53218 390.74818 394.24818 401.24818 408.24818 412.91017 416.80216 420.30216 424.19416 428.08616 431.58616 435.47816 440.92417 444.42417 448.31617 454.53218 459.19416 466.19416 472.41017 476.30216 480.19416 487.19416 494.19416">master device has no knowledge of whether it actually owns the slave port it is targeting.</tspan><tspan y="189.65" x="-.0058999999 13.2101 20.2101 24.1021 27.9941 34.210103 37.710103 41.602106 48.602106 54.818105 58.318105 69.210109 75.42611 80.87211 84.76411 90.98011 95.64211 99.14211 106.14211 113.14211 119.358119 124.804119 128.30411 135.30411 142.30411 146.1961 149.6961 156.6961 162.91211 169.91211 176.12812 179.62812 185.84412 192.84412 199.84412 203.73612 208.39812 215.39812 219.29012 222.79012 229.79012 234.45212 237.95212 241.84412 248.84412 255.06012 258.56013 264.00614 267.89814 274.11415 281.11415 287.33015 290.83015 297.83015 304.83015 309.49214 313.38414 316.88414 320.77613 324.66813 328.16813 332.06013 337.50614 341.00614 344.89814 351.11415 355.77613 362.77613 368.99214 372.88414 376.77613 383.77613 390.77613 394.27613 397.77613 401.66813 405.56013 409.06013 414.50614 418.39814 429.29014 436.29014 440.18214 447.18214 450.68214 460.79014 467.00614 470.89814 474.79014 480.23616">While the master does not have control of the slave port it is targeting, it simply waits.</tspan><tspan y="214.04999" x="-.0058999999 10.1021 13.6021 24.494103 30.710103 36.1561 40.048105 46.264104 50.9261 54.4261 58.318105 63.764104 67.2641 74.2641 78.1561 85.1561 91.3721 98.3721 101.8721 108.088108 115.088108 122.088108 125.9801 130.6421 137.6421 141.5341 145.0341 152.0341 156.6961 160.1961 164.0881 171.0881 177.30411 180.80411 184.6961 190.91211 195.57411 202.57411 208.79012 212.68212 218.89812 225.89812 229.39812 234.84412 238.73612 244.95212 251.95212 258.16813 261.66813 268.66813 275.66813 280.3301 284.2221 287.7221 294.7221 301.7221 305.6141 312.6141 316.1141 322.3301 326.9921 330.8841 337.1001 341.7621 345.2621 351.4781 354.9781 361.9781 366.64009 372.85609 379.85609 383.74809 390.74809 397.74809 403.1941 406.6941 412.9101 419.1261 425.3421 431.5581 437.00413 442.45014 445.95014 449.84214 456.84214 460.34214">A master is given control of the targeted slave port only after a previous access to a</tspan><tspan y="230.04999" x="-.0058999999 6.9941 10.886101 15.548101 20.210103 26.426102 31.088103 37.304105 44.304105 48.196107 51.696107 57.142107 61.034109 67.25011 74.25011 80.46611 83.96611 90.96611 97.96611 102.62811 106.52011 110.02011 116.236118 123.236118 134.12812 141.12812 145.02011 151.23612 155.12812 161.34412 166.79012 170.29012 173.79012 178.45212 184.66812 191.66812 197.88413 202.54613 209.54613 213.43813 219.65413 225.10013 230.54613 234.04613 241.04613 245.70813 249.20813 253.10013 256.99214 262.43815 265.93815 272.93815 277.60014 281.49214 288.49214 293.1541 297.0461 300.9381 307.9381 311.4381 318.4381 325.4381 328.9381 332.8301 339.8301 346.0461 349.5461 356.5461 362.76213 372.87013 376.76213 383.76213 387.26213 391.1541 397.37013 402.0321 409.0321 415.2481 419.1401 425.3561 432.3561 435.8561 441.30213 445.19413 451.41014 458.41014 464.62614 468.12614 475.12614 482.12614 486.78813 490.6801">different slave port completes, regardless of its priority on the newly targeted slave port.</tspan><tspan y="246.04999" x="-.0058999999 8.5480999 15.5480999 19.4401 24.8861 28.3861 35.3861 40.0481 46.2641 53.2641 59.4801 66.4801 70.3721 75.8181 79.3181 86.3181 92.5341 98.75011 105.75011 109.642108 116.642108 122.85811 129.85811 133.35811 138.02011 142.68212 149.68212 160.57411 164.07411 171.07411 177.29012 183.50612 190.50612 195.16812 199.83013 203.72212 210.72212 217.72212 221.22212 231.33013 238.33013 244.54613 251.54613">This prevents deadlock from occurring when:</tspan><tspan y="270.44999" x="13.098089 24.00409 34.11209 37.61209 44.61209 48.504095 55.504095 62.504095 68.72009 73.382099 76.882099 83.882099 88.5441 92.4361 99.4361 104.0981 107.9901 111.882099 118.882099 122.382099 133.2741 139.4901 144.9361 148.8281 155.0441 159.7061 163.2061 170.2061 176.4221 181.8681">&#x2022;A higher priority master has:</tspan><tspan y="286.44999" x="37.0941 48.000104 58.108106 65.10811 68.60811 75.60811 82.60811 86.50011 91.946109 95.838108 102.05411 109.05411 116.05411 119.946109 126.946109 133.9461 137.4461 142.10811 148.32411 155.32411 162.32411 168.54012 173.98612 177.87812 181.37812 185.27011 192.27011 195.77011 202.77011 209.77011 215.98612 219.48612 224.93212 228.82411 235.04012 242.04012 248.25612 251.75612 258.7561 265.7561 270.4181 274.3101 277.8101 281.7021 288.7021 294.9181 298.8101 302.3101 309.3101 315.5261 320.9721 324.4721 330.6881 334.1881 338.0801 345.0801 352.0801 359.0801 362.5801 367.2421 373.4581 378.9041 385.9041 392.9041 399.9041 405.35014 411.56614 415.06614 418.95814 422.85014 433.74214 439.95814 443.45814 449.67414 456.67414">&#x2022;An outstanding request to one slave port that has a long response time and</tspan><tspan y="302.44999" x="37.09413 48.000135 58.108137 61.608137 68.60814 74.82414 81.82414 88.82414 92.71614 99.71614 106.71614 110.21614 116.432147 122.64815 128.86415 135.08016 140.52616 145.97216 149.47216 153.36415 160.36415 163.86415 170.08016 173.58016 180.58016 184.47216 189.13416 193.79616 200.01216 204.67417 210.89017 217.89017 221.78217 225.28217 230.72817 234.62017 240.83617 247.83617 254.05217 257.5522 264.5522 271.5522 276.21418 280.10618 283.60618 287.10618 293.32218 300.32218">&#x2022;A pending access to a different slave port, and</tspan><tspan y="318.44999" x="13.098122 24.004124 34.112127 37.612127 41.504129 48.504129 58.61213 64.82813 69.490139 72.990139 79.990139 84.65214 88.544139 95.544139 100.20614 104.09814 107.990139 114.990139 118.490139 129.38214 135.59815 141.04415 144.93614 151.15215 155.81415 159.31415 163.20615 168.65215 172.15215 178.36815 182.26015 187.70615 194.70615 198.20615 209.09815 215.31415 222.31415 226.20615 233.20615 240.20615 243.70615 249.92215 253.42215 258.08415 264.30015 271.30015 278.30015 284.51615 289.96217 293.85417 297.35417 301.24617 308.24617 311.74617 315.63816 322.63816 328.85417 332.35417 337.80018 344.01618 354.90818 361.12419 364.62419 370.0702 373.9622 380.1782 387.1782 393.3942 396.8942 403.8942 410.8942 415.55619 419.44819 422.94819 429.16419 434.6102 438.1102 442.0022 449.0022 455.2182 458.7182 465.7182 471.9342 478.9342 485.9342 489.8262 496.8262">&#x2022;A lower priority master is also making a request to the same slave port as the pending</tspan><tspan y="334.44999" x="24.004113 30.220112 36.43611 42.65211 48.86811 54.31411 59.76011 63.26011 70.26011 74.92211 78.42211 82.31411 89.31411 95.53011 99.03011 106.03011 109.92211 116.92211 123.92211 130.1381 134.80011 138.30011 145.30011 149.96212 153.85411 160.85411 165.51612 169.40811 173.30011 180.30011 183.80011 194.69211 200.90811 206.35411 210.24611 216.46212 221.12412">access of the higher priority master.</tspan><tspan y="360.44999" x="-.0058784487 10.102122 14.764122 18.656123 24.872124 29.534125 33.034128 36.92613 43.92613 50.142129 53.642129 64.53413 70.75013 76.19613 80.08813 86.30413 90.96613 94.46613 101.46613 107.68214 113.128139 116.628139 122.84414 129.84415 136.84415 140.73615 145.39815 152.39815 156.29015 159.79015 166.79015 171.45215 174.95215 178.84415 185.84415 192.06015 195.56015 201.00615 204.89815 211.11415 218.11415 224.33016 227.83016 234.83016 241.83016 246.49216 250.38416 253.88416 257.77616 261.66816 265.16816 269.06016 274.50617 278.00617 281.89817 288.11418 292.77616 299.77616 305.99217 309.88417 313.77616 320.77616 327.77616 331.27616 334.77616 338.66816 345.66816 351.88417 355.38417 366.27616 372.49217 377.93818 381.83018 388.04618 392.70817 396.20817 400.87016 407.08616 417.97816 424.19416 428.08616 435.08616 440.53218 444.03218 447.92417 454.92417 458.42417 464.64018 471.64018 478.64018 482.53218 487.19416 494.19416">After the master has control of the slave port it is targeting, the master remains in control</tspan><tspan y="376.44999" x="-.0058384488 6.9941618 11.656162 15.156162 19.048163 26.048163 32.264165 36.156167 39.656167 45.102167 48.994169 55.210168 62.210168 68.42617 71.92617 78.92617 85.92617 90.58817 94.48017 97.98017 104.98017 111.98017 115.87217 119.76417 123.656169 127.156169 131.04817 134.94017 138.44017 145.44017 149.33217 156.33217 162.54817 167.99417 171.49417 178.49417 185.49417 188.99417 192.88617 199.88617 206.10218 209.60218 215.04817 218.94017 225.15618 232.15618 238.37218 241.87218 248.87218 255.87218 260.53419 264.42619 267.92619 274.92619 281.92619 285.42619 290.08818 297.08818 304.08818 311.08818 314.98017 321.98017 328.98017 332.48017 338.69618 345.69618 349.19618 353.85816 363.96617 372.52015 381.07414 384.57414 390.79014 397.79014 404.00614 407.89814 414.11415 417.61415 424.61415 429.27613 432.77613 439.77613 446.77613 450.27613 454.16813 460.38414 466.60014 473.60014 477.49214 484.49214">of that slave port until it gives up the slave port by running an IDLE cycle or by leaving</tspan><tspan y="392.44999" x="-.0058384488 3.886162 10.886162 17.102162 20.994162 24.494162 29.940163 33.832166 40.048166 47.048166 53.264165 56.764165 63.764165 70.76416 75.42616 79.31816 82.81816 87.48016 94.48016 99.142169 102.642169 106.534168 110.42616 115.87216 119.37216 126.37216 132.58817 139.58817 143.48017 146.98017 153.19617 159.41217 165.62818 171.84418 177.29018 182.73618">that slave port for its next access.</tspan><tspan y="416.84999" x="-.0058284488 8.548171 15.548171 21.764172 25.264172 36.156175 42.372175 47.818174 51.710176 57.926176 62.588174 66.08817 72.30418 79.30418 86.30418 90.196178 97.196178 100.696178 106.91218 110.80418 116.250179 123.250179 126.750179 130.64218 137.64218 143.08818 149.30419 152.80419 159.02019 166.02019 173.02019 176.91219 181.57419 188.57419 192.46619 195.96619 202.96619 207.62819 211.12819 215.02019 222.02019 228.23619 231.73619 237.18219 241.07419 247.29019 254.29019 260.5062 264.0062 271.0062 278.0062 282.66819 286.56019 290.06019 293.95219 298.61418 302.11418 308.33018 315.33018 322.33018 326.22218 333.22218 339.43818 344.10017 347.60017 354.60017 358.49217 365.49217 372.49217 378.70817 383.37016 386.87016 393.87016 398.53215 402.42414 409.42414 414.08613 417.97813 421.87013 428.87013 432.37013 443.26213 449.47813 454.92414 458.81614 465.03215">The master could also lose control of the slave port if another higher priority master</tspan><tspan y="432.84999" x="-.0057884489 10.886212 17.102213 24.102213 30.318215 35.764215 39.264215 45.480215 48.980215 53.642213 59.85821 66.858219 73.858219 80.07422 85.52022 89.41222 92.91222 96.804218 103.804218 107.304218 111.19621 118.19621 124.41222 127.91222 133.35822 137.25022 143.46622 150.46622 156.68222 160.18222 167.18222 174.18222 178.84423 182.73622 186.62822 190.12822 197.12822 204.12822 214.23622 220.45223 227.45223 233.66823 238.33023 241.83023 245.33023 249.22223 253.88423 257.38423 261.2762 268.2762 274.49223 277.99223 288.88423 295.10023 300.54624 304.43824 310.65425 315.31623 318.81623 322.70823 328.15425 331.65425 336.31623 343.31623 350.31623 357.31623 361.20823 368.20823 375.20823 378.70823 384.92424 388.42424 393.0862 396.9782 403.9782 410.1942 417.1942 421.8562 425.7482 431.9642 438.9642 445.9642 449.8562 456.8562 460.3562 467.3562 474.3562 479.0182 484.4642">makes a request to the slave port; however, if the master is running a fixed-length burst</tspan><tspan y="448.84999" x="-.0057884489 3.8862119 8.548212 14.764213 21.764214 27.210215 31.872216 38.088216 42.750215 46.250215 50.142217 54.034219 57.534219 62.196218 68.41222 72.304218 78.52022 82.41222 89.41222 94.858219 98.358219 104.57422 111.57422 118.57422 122.46622 127.12822 134.12822 138.02022 141.52022 148.52022 153.18222 156.68222 160.57422 167.57422 173.79022 177.29022 182.73622 186.62822 192.84423 199.84423 206.06023 209.56023 216.56023 223.56023 228.22223 232.11423 235.61423 242.61423 249.61423 253.50623 257.39823 261.29023 264.79023 268.68223 275.68223 281.89823 285.79023 289.29023 293.18223 297.8442 304.0602 311.0602 316.50624 321.1682 327.38423 332.0462 335.5462 341.7622 348.7622 359.6542 366.6542 370.5462 376.7622 380.6542 386.8702 392.31623 395.81623 399.31623 408.65425 414.87025 420.31626 426.53227 433.53227 437.03227 444.03227">transfer it retains control of the slave port until that transfer completes. Based on</tspan><tspan y="464.84999" x="-.0057884489 12.440212 22.548214 30.332215 39.670217 49.008218 53.670217 63.778219 73.886219 82.440219 91.77821 96.440219 99.940219 103.440219 107.332218 114.332218 120.54822 124.04822 134.94022 141.15622 146.60222 150.49422 156.71022 161.37223 164.87223 171.08823 174.98023 178.87223 185.87223 192.08823 196.75023 200.25023 204.91223 211.12824 215.02024 221.23624 225.12824 232.12824 237.57424 241.07424 247.29024 254.29024 261.29023 265.18223 269.8442 276.8442 280.7362 284.2362 291.2362 295.8982 299.3982 303.2902 310.2902 316.5062 320.0062 325.4522 329.3442 335.5602 342.5602 348.7762 352.2762 359.2762 366.2762 370.9382 374.8302 378.3302 388.4382 395.4382 401.6542 408.6542 412.1542 419.1542 426.1542 430.0462 437.0462 444.0462 447.5462 454.5462 461.5462 468.5462 474.7622 479.4242 483.3162 490.3162 496.5322">MGPCR[AULB], the master either retains control of the slave port when doing undefined</tspan><tspan y="480.84999" x="-.0057884489 3.8862119 10.102213 17.102213 24.102213 27.994214 34.994215 38.494215 42.386217 49.386217 55.602216 60.264215 66.48022 77.372219 83.58822 90.58822 94.48022 98.372219 105.372219 112.372219 115.872219 122.872219 129.87223 134.53423 139.98023 143.87223 147.37223 151.26422 155.92623 162.14223 169.14223 174.58823 179.25023 185.46623 190.12824 195.57424 199.07424 206.07424 210.73624 214.23624 218.12824 225.12824 230.57424 236.79024 242.23624 245.73624 249.62824 256.62825 262.84425 266.34425 273.34425 280.34425 285.79026 289.29026 293.18226 300.18226 303.68226 309.89826 313.39826 320.39826 324.29026 331.29026 338.29026 344.50627 349.16825 352.66825 359.66825 364.33024 368.22224 375.22224 379.88423 383.7762 387.6682 394.6682 398.1682 409.0602 415.2762 420.72224 424.61424 430.83024 435.49223">length incrementing burst transfers or loses the bus to a higher priority master.</tspan><tspan y="505.24998" x="-.0057884489 8.548211 15.548211 21.764212 25.264212 31.480214 36.142213 43.142213 48.58821 54.03421 61.03421 67.25021 71.91222 75.41222 79.304218 85.52022 90.18222 101.07422 104.96622 111.96622 118.18222 122.07422 128.29022 133.73622 137.23622 143.45223 147.34423 151.23622 154.73622 165.62822 171.84423 177.29022 181.18222 187.39823 192.06023 195.56023 200.22223 210.33023 218.88423 227.43824 230.93824 234.83023 239.49224 245.70824 252.70824 258.15425 262.81623 269.03224 273.6942 279.14024 282.64024 286.14024 292.35624 297.80226 301.30226 308.30226 315.30226 322.30226 329.30226 334.74827 340.96427 347.96427 351.46427 355.35627 362.35627 365.85627 372.07228 375.96427 379.85627 386.85627 396.96427 400.85627 407.85627 414.85627 418.35627 422.24827 429.24827 435.46427 438.96427 442.85627 449.07228 453.73426 464.62626 468.51826 475.51826 481.73426 485.62626 489.51826 496.51826">The crossbar terminates all master IDLE transfers, as opposed to allowing the termination</tspan><tspan y="521.24996" x="-.0057884489 3.8862119 10.886211 14.386211 20.602211 27.602211 38.494215 44.710214 48.210214 52.87221 57.53421 64.53421 75.42621 78.92621 85.92621 92.92621 99.14221 102.64221 109.64221 114.304218 117.804218 121.69621 128.69622 134.91222 138.41222 143.85822 147.75022 153.96622 160.96622 167.18222 170.68222 177.68222 184.68222 190.12822 196.34423 201.79022 205.29022 208.79022 218.89823 225.89823 232.89823 236.79022 240.68222 244.57422 251.57422 258.57423 264.79023 268.68223 272.57423 279.57423 283.07423 286.57423 296.68223 303.68223 309.89823 316.89823 320.39823 327.39823 334.39823 337.89823 348.79023 355.00624 360.45225 364.34425 370.56025 375.22224 378.72224 382.61424 388.06025 391.56025 396.22224 402.43824 409.43824 416.43824 422.65425 428.10026 431.99226 435.88426 442.88426 449.88426 453.38426 459.60026 465.81626 472.03227 478.24827 483.69429 489.1403 492.6403 496.5323">to come from one of the slave buses. Additionally, when no master is requesting access to</tspan><tspan y="537.24996" x="-.0057884489 6.210212 9.710213 15.156214 19.048214 25.264214 32.264215 38.480215 41.980215 48.980215 55.980215 60.642213 64.53421 68.03421 71.53421 75.42621 82.42621 88.64221 92.14221 98.358219 103.02022 110.02022 115.46622 120.91222 127.91222 134.12822 138.79022 142.29022 149.29022 153.95223 157.84423 164.84423 171.06023 176.50623 180.00623 184.66823 194.77623 203.33023 211.88423 215.38423 219.27623 223.93824 230.15424 237.15424 242.60024 247.26224 253.47824 258.14024 263.58625 267.08625 274.08625 281.08625 284.97825 291.97825 295.47825 299.37025 306.37025 312.58625 316.08625 321.53227 325.42427 331.64027 338.64027 344.85627 348.35627 355.35627 362.35627 367.80229 371.30229 374.80229 381.01829 388.01829 394.23429 401.23429 404.73429 408.62629 415.62629 422.62629 429.62629 436.62629 443.62629 447.12629 453.3423 456.8423 463.8423 470.0583 474.72029 480.93629 487.93629 491.82829">a slave port, the crossbar drives IDLE transfers onto the slave bus, even though a default</tspan><tspan y="553.24996" x="-.0057884489 10.886212 17.102213 22.548214 26.440215 32.656217 37.318216 40.818216 51.710218 57.926218 64.926219 68.426219 75.426219 81.64222 85.14222 92.14222 96.80422 103.020229 110.020229 113.912227 120.12823 127.12823 130.62824 136.84424 143.06024 149.27625 155.49225 160.93825 166.38425 169.88425 173.77625 180.77625 184.27625 188.16825 195.16825 201.38425 204.88425 210.33025 214.22225 220.43825 227.43825 233.65425 237.15425 244.15425 251.15425 255.81626 259.70826">master may be granted access to the slave port.</tspan><tspan y="577.64999" x="-.0057884489 13.210212 20.210213 26.426213 33.426214 36.926214 43.142213 46.642213 52.08821 55.980215 62.196214 69.19621 75.41222 78.91222 85.91222 92.91222 98.358219 101.858219 105.75021 111.19621 114.69621 121.69621 127.91222 131.80422 138.80422 145.80422 149.30422 153.19622 160.19622 164.08821 170.30422 177.30422 180.80422 187.80422 194.80422 198.30422 202.19622 209.19622 215.41222 218.91222 225.12822 229.79022 236.79022 242.23622 247.68222 254.68222 260.89823 265.5602 269.0602 272.5602 276.4522 280.3442 283.8442 290.0602 296.2762 303.2762 306.7762 313.7762 319.99223 324.6542 331.6542 335.1542 339.0462 346.0462 352.2622 355.7622 361.20823 365.10023 371.31623 378.31623 384.53224 388.03224 395.03224 402.03224 406.6942 410.5862 414.0862 421.0862 428.0862 431.5862 435.4782 442.4782 448.6942 452.1942 463.0862 469.30223 474.74824 478.64024 484.85624">When a slave bus is being idled by the crossbar, it can park the slave port on the master</tspan><tspan y="593.64999" x="-.0057884489 6.9942119 13.994211 18.656212 22.548213 26.048213 29.940213 36.940214 43.940214 47.832216 54.048215 60.264215 64.15621 70.372219 77.372219 80.872219 87.872219 94.872219 98.372219 107.71022 117.04822">port indicated by CRS</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd" font-style="italic"><tspan y="593.64999" x="124.83221">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="593.64999" x="131.83222 136.49422 144.27822 154.38622 163.72422 173.83222 178.49422 181.99422 185.49422 194.04822 201.04822 204.94022 210.38622 213.88622 217.77822 223.22422 226.72422 233.72422 240.72422 247.72422 253.94022 257.44023 261.3322 268.3322 271.8322 277.27824 283.49424 290.49424 296.71025 300.21025 304.10224 311.10224 317.31825 320.81825 324.71025 331.71025 335.60224 339.49424 343.38624 349.60224 353.49424 356.99424 363.21025 367.10224 374.10224 380.31825 387.31825 390.81825 397.81825 402.48023 405.98023 412.19624 416.85823 423.85823 427.7502 431.6422 436.3042 442.5202 446.4122 450.3042 457.3042 464.3042 467.8042 474.8042 481.0202 484.9122 491.1282">[PARK]. This is done to save the initial clock of arbitration delay</tspan><tspan y="609.64999" x="-.005783081 3.8862174 10.886217 17.102219 20.994219 24.494219 31.494219 35.38622 42.38622 48.60222 53.264219 63.37222 67.26422 72.71022 78.92622 82.42622 92.534229 99.534229 106.534229 110.42622 117.42622 120.92622 127.92622 134.14223 137.64223 143.08823 149.30423 155.52024 162.52024 166.02024 169.91223 174.57424 178.07424 181.96623 188.96623 195.18224 198.68224 209.57424 215.79024 221.23624 225.12824 231.34424 236.00624 239.50624 246.50624 252.72225 259.72224 263.22224 267.11424 274.11424 277.61424 283.83024 288.49223 295.49223 299.38423 303.2762 307.9382 314.1542 318.0462 324.2622 327.7622 331.6542 338.6542 342.1542 349.1542 355.3702 359.2622 366.2622 369.7622 375.9782 382.9782 389.9782 393.8702 398.5322 405.5322 409.4242 412.9242 419.9242 424.58619 428.08619 431.97819 438.97819 445.19419 448.69419 454.1402 458.0322 464.2482 471.2482">that otherwise would be seen if the master had to arbitrate to gain control of the slave</tspan><tspan y="625.64999" x="-.005783081 6.994217 13.994217 18.656218 22.548218 26.048218 29.548218 38.10222 45.10222 51.31822 54.81822 60.264219 64.15622 70.37222 77.37222 83.58823 87.08823 94.08823 101.08823 105.75023 109.64223 113.14223 119.35823 125.574237 132.57424 136.07424 142.29024 146.18224 151.62824 158.62824 162.12824 169.12824 175.34424 178.84424 185.84424 192.84424 196.73624 200.23624 204.12824 211.12824 215.02024 222.02024 225.52024 234.07424 241.07424 251.18224 254.68224 262.46626 269.46626 279.57426 285.79026 290.45225 293.95225 301.73625 307.95225 312.61424 319.61424 323.11424 334.00624 341.00624 348.00624 354.22224 357.72224 361.61424 368.61424 372.11424 377.56025 383.77626 390.77626 396.99226 400.49226 407.49226 414.49226 424.60026 430.81626 435.47825 438.97825 442.47825 449.47825 456.47825 459.97825 466.97825 472.42427 476.31626 483.31626">port. The slave port can also be put into Low Power Park mode to save power, by using</tspan><tspan y="641.64999" x="-.005733081 9.332268 18.670269">CRS</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd" font-style="italic"><tspan y="641.64999" x="26.454266">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="641.64999" x="33.454267 38.116266 45.900266 55.238267 63.792268 72.34627 77.00827">[PCTL].</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>
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<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54 763.756)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="180.87 188.65 194.20999 200.31999 205.87999 209.76999 215.32999 218.10999 220.88999 228.10999 234.21999 239.77999 242.55998 248.66999 254.22998 259.78999 265.34999 268.12998 270.90998 277.01997 280.34996 286.45994 290.34996 299.23997 304.79997 308.12995 310.90995 317.01994">General Business Information</tspan></text>
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