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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_398.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

194 lines
44 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 83)" 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">18.3.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 83)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 11.552001 20.448002 30.224003 34.672006 43.568006 48.896005 57.792005 64.01601 68.464008 77.36001 87.13601 96.91201 105.808017 112.03201 120.92802 130.70401 139.6">Register coherency</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="66.25" x="-.002 8.552 15.552 21.768002 25.268002 32.268 39.268 45.484 50.146 56.362 60.254 64.146 71.146 78.146 81.646 88.646 93.30801 96.80801 100.700008 107.700008 113.91601 117.41601 123.63201 128.294 135.294 140.74 146.186 153.186 159.40201 164.06401 167.56401 171.45601 176.90201 180.40201 186.61801 191.28002 195.94202 202.15802 208.37403 212.26602 218.48203 225.48203 228.98203 235.19803 240.64403 244.14403 249.59003 256.59004 263.59004 270.59004 274.09004 280.30604 285.75205 289.25205 295.46806 298.96806 303.63005 309.84605 316.84605 320.73805 326.18406 330.07606 336.29206 340.95405 344.45405 348.34605 353.79206 357.29206 367.40007 372.06205 375.95405 379.84605 383.73805 389.95405 396.95405 400.45405 403.95405 412.50804 419.50804 425.72404 429.22404 436.22404 442.44004 446.33204 453.33204 459.54804 464.99406 468.49406 475.49406 480.15605 483.65605 487.54804 494.54804">The operation of the crossbar is affected as soon as a register is written. The values of the</tspan><tspan y="82.25" x="-.00197 4.6600306 10.876031 17.87603 21.76803 27.214032 31.106032 37.322034 41.98403 47.43003 50.93003 57.93003 64.93003 68.43003 75.43003 82.43003 86.32203 89.82203 93.71403 98.37603 104.59203 110.80804 117.80804 121.30804 131.41603 135.30803 139.20003 146.20003 149.70003 155.14603 159.03803 165.25403 172.25403 178.47003 183.13204 190.13204 197.13204 201.79404 205.68604 210.34804 215.01004 221.22605 225.11804 231.33405 235.22605 241.44205 248.44205 251.94205 262.83406 269.05006 274.49607 278.38807 284.60408 289.26606 292.76606 298.98207 305.19807 311.41407 317.63008 323.07609 328.5221 334.7381 340.1841 343.6841 347.1841 354.1841 361.1841 365.0761 368.5761 372.4681 379.4681 384.91413 388.80613 395.02214 401.23814 408.23814 411.73814 415.63014 420.2921 426.50813 432.72413 439.72413 443.22413 450.22413 457.22413 461.11613 468.11613 471.61613 481.72413 485.61613 489.50813">registers do not track with slave-port-related master accesses, but instead track only with</tspan><tspan y="98.25" x="-.00197 5.444031 9.336031 15.5520319 22.552033 28.768033 32.268033 38.48403 44.70003 50.91603 57.13203 62.57803 68.02403 74.240039 79.686038">slave accesses.</tspan><tspan y="122.65" x="-.00197 8.55203 15.55203 21.76803 25.26803 37.71403 47.822034 55.606035 64.94403 74.28203 81.28203 85.94403 96.05203 106.160037 114.714038 124.05203 128.71404 132.21404 139.21404 143.10604 146.99803 152.44403 155.94403 162.16004 166.82204 173.03804 176.53804 180.43004 187.43004 193.64604 197.14604 203.36205 210.36205 216.57805 222.79405 229.79405 233.68605 237.57805 244.57805 251.57805 255.07805 258.97007 265.97007 269.47007 273.36207 280.36207 284.25407 289.70008 293.20008 297.86207 304.86207 308.75407 314.97007 318.47007 321.97007 330.52406 337.52406 343.74006 347.24006 354.24006 361.24006 368.24006 374.45606 378.34806 384.56407 388.06407 395.06407 399.72605 403.22605 407.11805 414.11805 420.33406 425.78007 431.99607 435.49607 442.49607 446.38807 450.28007 455.72608 459.22608 463.11808 468.5641 472.0641 479.0641 486.0641 489.9561">The MGPCRx[AULB] bits are the exception to this rule. The update of these bits is only</tspan><tspan y="138.65001" x="-.0019200001 4.66008 10.8760809 17.092082 24.092082 31.092082 38.09208 41.98408 48.20008 54.41608 61.41608 64.91608 75.02408 82.02408 88.24008 95.24008 98.74008 102.63208 109.63208 115.84808 119.34808 130.24008 136.45609 141.90209 145.79409 152.01009 156.67209 160.17209 167.17209 174.17209 177.67209 181.56409 188.56409 194.78009 198.67209 202.17209 213.06409 219.28009 224.72609 228.61809 234.83409 239.4961 242.9961 249.9961 256.9961 261.65809 265.55009 269.05009 273.71208 280.71208 287.71208 293.15809 296.65809 302.87409 309.87409 313.37409 318.03608 328.14408 336.69807 345.25205 348.75205 354.96806 361.96806 368.18406 372.07606 378.29206 381.79206 385.29206 391.50807 398.50807 404.72407 411.72407 415.22407 419.11607 426.11607 433.11607 440.11607 447.11607 454.11607 457.61607 461.50807 468.50807">recognized when the master on that master port runs an IDLE cycle, even though the</tspan><tspan y="154.65001" x="-.0019200001 5.4440805 9.336081 15.552081 22.552083 28.768082 32.26808 39.26808 46.26808 51.71408 55.21408 61.43008 68.430088 74.64609 78.538089 84.75409 88.25409 92.14609 99.14609 102.64609 112.75409 117.41609 121.30809 125.20009 131.41609 134.91609 138.80809 145.80809 152.0241 162.91609 166.41609 176.5241 180.41609 184.30809 188.20009 191.70009 198.70009 204.91609 211.91609 218.1321 221.6321 227.8481 231.7401 236.4021 242.6181 248.8341 255.8341 262.8341 266.3341 270.2261 276.4421 281.1041 291.9961 295.8881 302.8881 309.1041 312.9961 319.2121 326.2121 329.7121 335.1581 342.1581 348.3741 354.59013 360.80613 366.25215 371.69816 376.36015 383.36015 387.25215 391.14414 398.14414 401.64414 405.14414 409.80613 414.4681 417.9681 421.8601 428.8601">slave bus cycle to write them will have already terminated successfully. If the</tspan><tspan y="170.65001" x="-.0019200001 12.444081 22.552083 30.336083 39.674085 49.012086 56.012086 60.674085 70.78208 80.89008 89.444087 98.78209 103.44409 106.94409 113.94409 117.83609 121.72809 127.17409 130.67409 136.89009 141.5521 147.7681 151.2681 161.3761 166.0381 169.9301 173.8221 177.7141 183.9301 190.9301 194.4301 201.4301 207.6461 211.5381 221.6461 227.8621 234.07811 241.07811 244.57811 248.47011 258.5781 265.5781 269.0781 276.0781 283.0781 287.74009 293.1861 297.0781 300.5781 306.7941 313.0101 319.2261 325.4421 330.88813 336.33415 342.55015 347.99617 351.49617 354.99617 358.88816 365.88816 372.10417 375.60417 382.60417 388.82017 398.92817 402.42817 412.53617 422.64418 431.19816 440.53617 444.03617 450.25218 457.25218 463.46818 470.46818 477.46818 481.36018 488.36018 495.36018">MGPCRx[AULB] bits are written between two burst accesses, the new AULB encodings</tspan><tspan y="186.65001" x="-.0019200001 6.99808 13.998079 17.49808 24.49808 31.49808 35.39008 38.89008 42.78208 48.99808 55.99808 62.21408 65.71408 71.930088 76.59209 81.25409 87.47009 93.6861 97.578098 101.078098 108.078098 115.078098 118.97009 122.86209 126.75409 130.25409 136.4701 143.4701 146.9701 151.6321 161.7401 170.2941 178.8481 182.3481 188.5641 195.5641 201.7801 205.6721 211.8881 215.3881 219.2801 224.7261 228.2261 232.1181 239.1181 243.0101 246.9021 250.7941 257.0101 260.9021 267.1181 274.1181 277.6181 284.6181 291.6181 295.1181 299.0101 306.0101 312.2261 315.7261 326.6181 332.8341 338.28013 342.17213 348.38813 353.0501 356.5501 363.5501 370.5501 374.0501 377.9421 384.9421 391.1581 395.0501 398.5501 409.4421 415.6581 421.10414 424.99613 431.21214 435.8741 439.3741 446.3741 453.3741 458.0361 461.9281">do not take effect until an IDLE cycle is initiated by the master on that master port.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 282.2)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00406 11.556061 17.780062 27.55606 32.004064 37.33206 43.55606 52.45206 57.78006 62.22806 72.00406">Arbitration</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54.000017)" font-size="14" font-family="TimesLTStd"><tspan y="265.44999" x=".00606 8.56006 15.56006 21.77606 25.27606 31.492062 36.15406 43.15406 48.60006 54.04606 61.04606 67.26206 71.924068 75.424068 80.87006 90.978069 94.87006 98.76206 104.978069 111.978069 115.478069 120.924068 127.924068 134.92407 141.92407 148.92407 153.58608 157.47808 162.92407 166.42407 170.31607 180.42407 187.42407 190.92407 197.14008 201.80208 208.80208 212.69408 216.58608 221.24808 227.46408 231.35608 235.24808 242.24808 249.24808 252.74808 258.1941 264.4101 271.4101 277.6261 288.5181 294.7341 300.1801">The crossbar switch supports two arbitration schemes:</tspan><tspan y="289.84999" x="13.096089 24.00209 34.110094 37.610094 42.27209 46.164094 53.164094 59.380094 66.3801 71.0421 78.0421 82.7041 86.5961 93.5961 98.2581 102.1501 106.0421 113.0421 116.5421 122.7581 129.7581 140.6501 147.6501 153.8661 158.5281 162.4201 167.8661 174.8661 181.8661 185.3661 191.5821 195.4741 202.4741 209.4741 214.13611 218.0281 221.9201 228.9201">&#x2022;A fixed-priority comparison algorithm</tspan><tspan y="305.84999" x="13.096089 24.00209 34.110094 37.610094 42.27209 49.27209 56.27209 63.27209 70.272098 74.9341 79.5961 86.5961 93.5961 97.4881 104.4881 107.9881 112.6501 118.866107 122.7581 127.420108 134.4201 140.63611 146.0821 151.5281 155.0281 161.24411 165.13611 172.13611 179.13611 183.79811 187.69011 191.5821 198.5821">&#x2022;A round-robin fairness algorithm</tspan><tspan y="331.84999" x=".006099701 8.5601 15.5601 21.7761 25.2761 31.4921 36.1541 43.1541 47.0461 50.938104 55.6001 61.8161 65.7081 69.6001 76.6001 83.6001 87.1001 92.5461 98.7621 105.7621 111.9781 122.8701 129.0861 132.5861 136.4781 141.9241 145.4241 149.3161 156.3161 163.3161 169.5321 176.5321 182.74811 189.74811 196.74811 202.96411 209.96411 213.85611 217.74811 224.74811 228.24811 235.24811 239.91011 246.91011 253.91011 258.5721 264.78813 275.6801 286.5721 292.78813 299.78813 303.6801 309.89613 313.39613 318.0581 325.0581 329.7201 333.2201 339.4361 345.6521 351.8681 358.8681 362.3681 367.81413 371.70613 377.92213 384.92213 391.13813 394.63813 401.63813 408.63813 413.3001 417.1921">The arbitration scheme is independently programmable for each slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 426.39997)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00208 8.342081 16.682084 20.852084 29.192086 33.362089 41.702089 45.87209">18.3.3.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 426.39997)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00208 10.832081 16.667082 25.83208 30.00208 34.99708 40.83208 49.17208 54.16708 58.337083 67.50208 76.66708 80.83708 90.00208 99.16708 105.00208 109.17208 118.33708 127.50208 131.67209 140.83708 150.00208 159.16707 167.50707 172.50206 176.67206 185.83705 194.17705 203.34204 207.51204 211.68204 220.02204 229.18703 238.35202 243.34702 252.51201 256.682 265.84703 275.01203 280.84703 289.187 294.182">Arbitration during undefined length bursts</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="408.64997" x="-.00394 10.104061 14.766062 21.766062 25.658062 29.550063 34.212064 40.428064 44.320066 48.212068 55.212068 62.212068 65.71207 72.71207 79.71207 83.604068 90.604068 94.49606 99.94206 103.44206 110.44206 117.44206 122.104068 125.99606 132.99607 139.99607 143.49607 149.71207 156.71207 160.21207 167.21207 174.21207 181.21207 187.42807 192.09008 195.98207 202.98207 209.19808 216.19808 219.69808 223.59008 229.80608 236.80608 243.80608 247.69808 254.69808 258.19807 265.19807 272.19807 276.86006 282.30607 286.19807 289.69807 295.91407 300.57606 306.79206 310.29206 317.29206 323.50807 328.17005 332.06205 339.06205 345.27806 352.27806 355.77806 362.77806 369.77806 373.27806 377.17005 384.17005 390.38606 393.88606 400.10206 407.10206 411.76405 416.42604 422.64204 429.64204 433.53404 437.03404 447.92604 454.14204 459.58805 463.48005 469.69606 474.35804 476.87803">Arbitration points during an undefined length burst are defined by the current master's</tspan><tspan y="424.64997" x="-.00394 12.442061 22.550063 30.334063 39.672067 49.010068 53.672067 63.780069 73.88807 82.44207 91.780078 96.44208 99.94208 104.60408 108.49608 114.71208 118.60408 125.60408 129.10408 134.55008 140.76609 144.65808 148.55008 152.44208 159.44208 166.44208 169.94208 173.44208 186.65808 193.65808 199.87409 206.87409 210.37409 216.59009 220.09009 227.09009 233.30609 237.9681 241.86009 248.86009 255.0761 262.0761 265.5761 269.4681 275.6841 282.6841 289.6841 293.5761 300.5761 304.0761 307.9681 313.41413 316.91413 320.80613 331.69813 338.69813 345.69813 351.14414 357.36015 364.36015 367.86015 374.86015 381.86015 385.36015 389.25215 396.25215 402.46815 405.96815 412.96815 419.96815 424.63014 430.07615 433.96815 437.46815 444.46815 448.36015 454.57615 458.07615 461.96815 468.96815">MGPCR[AULB] field setting. When a defined length is imposed on the burst via the</tspan><tspan y="440.64997" x="-.00394 10.104061 20.212063 28.766064 38.104066 41.604066 48.604066 52.496068 56.38807 61.83407 65.33407 68.83407 72.72607 79.72607 85.94207 89.44207 96.44207 103.44207 110.44207 116.65807 121.320079 125.212078 132.21207 138.42807 145.42807 148.92807 152.82007 159.03607 166.03607 173.03607 176.92807 183.92807 187.42807 194.42807 201.42807 206.09008 211.53607 215.42807 218.92807 222.82007 228.26607 231.76607 235.65807 240.32007 246.53607 252.75208 256.64408 262.86009 269.86009 273.36009 279.57609 285.0221 288.5221 294.7381 298.2381 303.6841 307.5761 314.5761 321.5761 325.4681 331.6841 335.1841 342.1841 346.8461 350.3461 355.7921 362.00813 366.6701 370.5621 376.7781 382.22413 385.72413 392.72413 397.3861 400.8861 406.33213 410.22413 417.22413 424.22413 428.11613 434.33213 437.83213 444.83213 451.04814 457.26414 464.26414 468.92613 472.8181 479.8181">AULB bits, the undefined length burst is treated as a single or series of single back-to-</tspan><tspan y="456.64997" x="-.00394 6.99606 13.212061 19.428063 26.428063 29.928063 34.59006 38.482065 45.482065 51.698064 58.698064 63.36006 67.25206 73.46806 80.46806 87.46806 91.36006 98.36006 101.86006 108.86006 115.86006 120.522068 125.96806 129.86006 133.36006 139.57607 145.79207 152.00807 158.22408 163.67008 169.11608 175.33208 180.77808">back fixed-length burst accesses.</tspan><tspan y="481.04997" x="-.00394 8.55006 15.55006 21.76606 25.26606 29.92806 36.928064 40.820066 44.712068 51.712068 61.82007 65.71207 72.71207 79.71207 83.21207 87.87407 91.76607 98.76607 105.76607 110.42807 116.64407 120.14407 124.03607 127.92807 131.82007 138.82007 144.26607 148.15807 152.82007 159.03607 162.92807 169.14408 174.59008 178.09008 184.30608 191.30608 194.80608 201.02208 208.02208 214.23809 225.13008 232.13008 236.02208 242.23809">The following figure illustrates an example:</tspan></text>
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<path transform="matrix(.921503,0,0,.921503,48.32206,564.6204)" stroke-width=".24" stroke-linecap="butt" stroke-miterlimit="4" stroke-linejoin="miter" fill="none" stroke="#000000" d="M532.98269 54.4V34.4"/>
<text xml:space="preserve" transform="matrix(.921503 0 0 .921503 48.32206 564.6204)" font-size="6.4" font-family="TimesLTStd"><tspan y="64.10119" x="97.43686 100.636859 102.236858 105.43685 108.27845 111.12005 123.03685 126.23685 127.836849 131.03685 133.87845 136.72005 329.44966 332.64967 335.84968 337.44969 340.6497 343.4913 346.33293 348.11213 349.71214 352.91215 356.11216 358.24336 360.73295">1 beat1 beat12 beat burst</tspan></text>
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<path transform="matrix(.921503,0,0,.921503,48.32206,564.6204)" stroke-width=".24" stroke-linecap="butt" stroke-miterlimit="4" stroke-linejoin="miter" fill="none" stroke="#000000" d="M92.70776 8.15297H191.28345V15.96629H92.70776Z"/>
<text xml:space="preserve" transform="matrix(.921503 0 0 .921503 48.32206 564.6204)" font-size="6.4" font-family="TimesLTStd"><tspan y="14.31276" x="122.74886 127.36967 130.56967 132.16968 135.01128 137.14247 140.34247 142.12168 143.90088 146.03208 148.87368 150.65288 152.43209 155.63208">No arbitration</tspan></text>
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<text xml:space="preserve" transform="matrix(.921503 0 0 .921503 48.32206 564.6204)" font-size="6.4" font-family="TimesLTStd"><tspan y="14.31276" x="201.87206 206.49286 208.62406 211.82405 213.60326 215.38246 217.51366 220.35526 222.13446 223.91367 227.11367 230.31366 231.91367 234.75527 236.53447 238.31368 241.51367 246.13448 248.97608">Arbitration allowed</tspan></text>
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<path transform="matrix(.921503,0,0,.921503,48.32206,564.6204)" stroke-width=".24" stroke-linecap="butt" stroke-miterlimit="4" stroke-linejoin="miter" fill="none" stroke="#000000" d="M309.46479 8.15297H408.04048V15.96629H309.46479Z"/>
<text xml:space="preserve" transform="matrix(.921503 0 0 .921503 48.32206 564.6204)" font-size="6.4" font-family="TimesLTStd"><tspan y="14.31276" x="339.50407 344.12486 347.32487 348.92488 351.76649 353.89768 357.0977 358.8769 360.6561 362.7873 365.6289 367.4081 369.18733 372.38734">No arbitration</tspan></text>
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<path transform="matrix(.921503,0,0,.921503,48.32206,564.6204)" d="M477.00328 8.15297H534.1832V15.96629H477.00328Z" fill="#d3d3d3"/>
<path transform="matrix(.921503,0,0,.921503,48.32206,564.6204)" stroke-width=".24" stroke-linecap="butt" stroke-miterlimit="4" stroke-linejoin="miter" fill="none" stroke="#000000" d="M477.00328 8.15297H534.1832V15.96629H477.00328Z"/>
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<path transform="matrix(0,.921503,-1.6415379,0,299.4185,274.81297)" stroke-width=".44955" stroke-linecap="square" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M313.11363 76.636V96.2272"/>
<text xml:space="preserve" transform="matrix(.921503 0 0 .921503 48.32206 564.6204)" font-size="6.4" font-family="TimesLTStd"><tspan y="-9.68724" x="120.02249 125.71209 130.33289 133.89128 138.16008 142.42888 144.56008 149.18088 153.80168 157.71208 161.98088">MGPCR[AULB]</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="588.5262" x="121.96799 129.29999 132.63599 139.96799 147.29999 151.96799 158.63999 161.97599 168.64798 175.31998 179.31598 185.98798 192.65998 195.99597 199.33197 207.99597 215.32798 222.65998 229.33197 233.32798 236.66397 243.99597 250.66797 257.99998 261.33598 264.67198 271.34397 278.67597 286.00798 290.00398 297.33598 300.67198 308.00398 315.33598 320.00398 326.67597 330.67198 334.00798 340.67997 347.35197 354.02397 364.69197 372.02397 375.35997">Figure 18-28. Undefined length burst example</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="614.959" x="0 4.662 11.662001 15.162001 19.054 26.054 29.946002 35.392004 38.892004 45.108 52.108 58.324 69.216 76.216 80.108 86.324008 89.824008 93.324008 99.54001 103.04001 113.93201 120.14801 125.59401 129.48601 135.70201 140.36402 143.86402 148.52602 155.52602 162.52602 167.97202 171.47202 177.68802 184.68802 188.18802 195.18802 202.18802 209.18802 215.40402 220.06603 223.95803 230.95803 237.17403 244.17403 247.67403 251.56603 257.782 264.782 271.782 275.674 282.674 286.174 293.174 300.174 304.836 310.282 314.174 317.674 323.89 330.89 337.89 341.39 345.282 352.282 358.49803 361.99803 374.44404 384.55204 392.33604 401.67405 411.01206 415.67405 425.78205 435.89006 444.44404 453.78205 458.44404 461.94404 468.94404 472.83604 476.72804">In this example, a master runs an undefined length burst and the MGPCR[AULB] bits</tspan><tspan y="630.959" x="0 3.8920005 10.892 17.892 21.784 28 34.216 38.108 44.324 47.824 54.04 58.702 65.701999 69.593997 73.48599 78.147998 84.364 88.256 92.147998 99.147998 106.147998 109.647998 116.647998 122.864 129.08 136.08 140.742 146.188 149.688 155.904 160.56601 164.45801 170.67401 175.33602 178.83602 182.72801 189.72801 195.94402 199.44402 204.10602 211.10602 218.10602 222.76802 226.66002 233.66002 237.16002 244.16002 250.37602 256.592 260.484 263.984 270.984 275.646 279.146 283.038 290.038 296.254 299.754 306.754 313.754 318.416 323.862 327.754 331.254 334.754 343.30799 350.30799 356.524 360.024 370.916 377.132 382.578 386.47 392.686 397.348 400.848 405.50999 412.50999 419.50999 424.956 428.456 432.348 442.456">indicate arbitration occurs after the fourth beat of the burst. The master runs two</tspan><tspan y="646.959" x="0 5.4460008 11.662001 18.662 25.662 31.878003 38.878004 42.770006 46.662008 52.878007 56.770009 60.270009 67.270008 73.48601 79.70201 83.59401 89.04001 92.54001 98.75601 105.75601 112.75601 116.25601 120.14801 127.14801 133.36402 140.36402 143.86402 149.31002 153.20201 159.41802 164.08002 167.97202 173.41802 176.91802 187.02602 194.02602 200.24202 204.13402 207.63402 217.74202 221.63402 225.52602 229.41802 232.91802 239.91802 246.13402 249.63402 255.85002 259.35005 266.35005 273.35005 278.01203 285.01203 291.22804 297.44404 301.33604 304.83604 311.83604 318.83604 325.83604 332.05204 336.71403 340.60603 347.60603 353.82203 360.82203 364.32203 368.21403 374.43003 381.43003 388.43003 392.32203 399.32203 402.82203 409.82203 416.82203 421.484 426.93003 430.82203 434.32203 440.53804 446.75404 452.97004 459.18605 464.63206 470.07807 473.57807 477.47007 484.47007 487.97007">sequential beats and then starts what will be a 12-beat undefined length burst access to a</tspan><tspan y="662.959" x="0 7 13.216001 23.324002 26.824002 33.04 40.04 47.04 51.702 57.918 63.364 68.81 72.31 82.418 86.31 90.201999 97.201999 101.093997 108.093997 111.593997 115.48599 122.48599 128.702 132.202 137.648 143.864 154.756 160.972 164.472 169.918 173.81 180.026 187.026 193.242 196.742 203.742 210.742 215.404 219.296 222.796 227.45801 233.67401 240.67401 244.56601 251.56601 258.566 262.066 268.282 273.72804 277.22804 281.12004 288.12004 294.33604 297.83604 304.83604 309.49803 315.71403 322.71403 326.60603 333.60603 340.60603 346.05204 349.55204 355.76805 361.98405 368.20005 374.41606 379.86207 385.30809 388.80809 392.30809 400.86207 407.86207 414.07807 417.57807 423.79408 428.45606 435.45606 440.90208 446.34809 453.34809 459.5641 464.22608 467.72608 474.72608 481.72608 487.94209">new address within the same slave port region as the previous access. The crossbar does</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="25.87323" x="0 5.499 10.998 16.497 21.501 24.498 27 32.499 37.998 43.002004 45.504 48.006 54.504 59.508005 64.512 69.516 73.017 75.519 81.018 84.015 86.517 92.016">Functional Description</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="130.005 137.225 142.785 148.345 151.125 157.795 163.905 170.015 173.345 179.455 185.015 193.905 196.685 199.465 205.025 207.805 215.025 220.58499 223.915 229.47499 233.36499 238.92499 245.03499 250.59499 256.155 258.935 267.26499 272.82499 278.93498 285.04496 290.60496 293.38496 296.16496 298.94496 306.16496 311.72496 317.28495 320.06495 322.84495 328.40495 331.18495 336.74494 342.85493 348.9649 351.7449 357.3049 362.8649 368.4249">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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<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="44.775 50.274003 53.271005 58.275007 63.279008 67.77901 72.27901 77.283008 79.281009 84.285 86.787 92.79 97.794 105.291 107.289 111.789 116.793 121.797 126.800998 131.805 136.305 138.80699 143.81099 146.80799 149.30998 151.81198 154.31398 159.31798 163.81798">Freescale Semiconductor, Inc.</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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