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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_400.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

305 lines
46 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 73 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="15.3 22.632 29.304 36.636 39.972 46.644 49.980005 56.652006 63.324007 67.32001 73.992008 80.664 93 101.664 108.996 118.332 121.668 130.332 138.336 147 155.004 158.34 165.672 170.34 177.012 184.344 188.34 195.012 198.34799 205.01999 212.35199 219.68399 223.68 228.34799 235.68 239.01599 242.35199 249.68399 253.68 257.016 263.688 267.024 273.69599 277.03199 283.70399 290.37599 297.04798 300.38398 307.71598 315.04798 319.71598 323.71199 327.04798 331.04399 338.37599 341.71199 348.38398 351.71998 362.38798 369.05998 375.73197 379.72798 386.39997 391.06797 394.40397 398.39997 405.07197 412.40397 419.73597 423.73197 427.06797 434.39997 441.73197 448.40397 455.73597">Table 18-29.How AXBS grants control of a slave port to a master (continued)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 76)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="112.24799 120.743999 126.243 131.247">When</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.5 76)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="14.733 20.232 25.731 30.735 36.234 38.736 45.234 51.237 57.735 63.738 66.24 71.739 75.24 80.243999 85.743 88.74 93.743999 96.245998 101.24999 106.74899 112.24799 115.244998 118.745998 124.244998 126.746997 129.249 132.24599 137.74498 140.24698 143.24398 148.74297 153.74697 156.24897 159.74997 164.75397 170.25296 175.75196 180.75595 185.75995 188.75695 191.25894 196.75794 202.25693 204.75893 212.75994 217.76393 222.76793 225.76493 230.76892">Then AXBS grants control to the requesting master</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 92)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 13.509001 18.513 21.015002 26.019001 28.521002 31.023003 33.525 38.529005 43.533006 46.035005 48.537004 53.541006 55.539007 57.537008 62.541009 69.03901 71.03701 76.04101 81.045009 83.547008 88.551 91.548007 96.552 99.054 101.556 104.553 109.557 114.561">Both of the following are true:</tspan><tspan y="18.83789" x="14.85001 24.00301 29.50201 34.506013 39.510015 42.012014 46.512014 51.516016 54.513017 57.510019 62.51402 67.51802 70.02002 72.52202 80.01902 85.02302 89.52302 92.02502 97.029018 100.02602 102.528018 104.52602 109.02602 111.528018 114.52502 119.529018 124.53301 129.53702 131.53502 136.53902 141.54302 144.04502 149.04901 151.55101 154.05301 156.05101 160.55101 165.55501 170.559 173.061 175.059 180.063 185.067 190.071 192.573 197.577 200.079 205.083 210.08699 213.08399 217.58399">&#x2022;The current master is running a fixed length burst</tspan><tspan y="29.83789" x="24.00301 26.50501 29.50201 34.506013 39.510015 44.010015 46.512014 51.516016 54.513017 57.015016 62.019018 65.016017 67.51801 72.52201 75.02401 77.02201 82.02601 86.52601 91.02601 96.03001 101.034008 103.536 106.038 109.035 114.039 119.043 123.543 126.045 131.049 134.04599">transfer or a locked transfer.</tspan><tspan y="40.83789" x="14.85001 24.00301 29.50201 34.506013 39.510015 42.012014 45.009016 50.013017 55.017019 60.02102 65.02502 69.52502 72.027019 74.02502 79.029018 84.03301 86.53501 94.03201 99.03601 103.53601 106.03801 111.04201 114.03901 115.75801 120.25801 122.76001 127.76401 130.761 132.759 137.763 140.76 142.758 145.26 149.76 152.262 154.26 159.26399 163.76399 168.76799 170.76599 173.26799 175.26599 179.76599 182.26799 187.27199 189.26999 194.27399 199.27799 204.28199 207.27898 209.78098 212.28298 217.28697 222.29097 227.29497 229.79697 232.29897 237.30297 242.30696">&#x2022;The requesting master's priority level is higher than that</tspan><tspan y="51.83789" x="24.00301 29.007012 31.509013 34.011014 36.513013 41.517015 46.521017 49.023015 53.523015 58.527017 61.524019 64.52102 69.52502 74.529018 77.03101 79.53301 87.030017 92.03401 96.53401 99.03601 104.04001 107.03701">of the current master.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 92)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.505001 11.007002 13.509003 18.513005 23.517006 26.019007 31.023007 36.027009 41.03101 43.53301 48.53701 51.03901 53.541009 56.043008 61.04701 66.05101 68.55301 73.55701 78.561008 81.55801 86.05801 88.560009 91.062007 93.564 96.561008 101.565 106.569 111.069 113.571 118.575 121.572 124.074 129.078 132.075 134.577 136.575 141.579 146.079 150.579 155.583 160.58699 163.08899 165.59099 168.58798 173.59198 178.59598 183.09598 185.59798 190.60198">At the end of the burst transfer or locked transfer</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 151.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 13.509001 18.513 21.015002 26.019001 28.521002 31.023003 33.525 38.529005 43.533006 46.035005 48.537004 53.541006 55.539007 57.537008 62.541009 69.03901 71.03701 76.04101 81.045009 83.547008 88.551 91.548007 96.552 99.054 101.556 104.553 109.557 114.561">Both of the following are true:</tspan><tspan y="18.83789" x="14.85001 24.00301 29.50201 34.506013 39.510015 42.012014 46.512014 51.516016 54.513017 57.510019 62.51402 67.51802 70.02002 72.52202 80.01902 85.02302 89.52302 92.02502 97.029018 100.02602 102.528018 104.52602 109.02602 111.528018 114.52502 119.529018 124.53301 129.53702 131.53502 136.53902 141.54302 144.04502 149.04901 154.05301 156.55501 161.559 166.563 171.567 176.571 179.073 181.071 186.075 191.079 196.083 198.58499 200.583 205.58699 210.59099 215.59499 218.09699 223.10099 225.60298 230.60698 235.61098 238.60797 243.10797">&#x2022;The current master is running an undefined length burst</tspan><tspan y="29.83789" x="24.00301 26.50501 29.50201 34.506013 39.510015 44.010015 46.512014 51.516016 54.513017">transfer.</tspan><tspan y="40.83789" x="14.85001 24.00301 29.50201 34.506013 39.510015 42.012014 45.009016 50.013017 55.017019 60.02102 65.02502 69.52502 72.027019 74.02502 79.029018 84.03301 86.53501 94.03201 99.03601 103.53601 106.03801 111.04201 114.03901 115.75801 120.25801 122.76001 127.76401 130.761 132.759 137.763 140.76 142.758 145.26 149.76 152.262 154.26 159.26399 163.76399 168.76799 170.76599 173.26799 175.26599 179.76599 182.26799 187.27199 189.26999 194.27399 199.27799 204.28199 207.27898 209.78098 212.28298 217.28697 222.29097 227.29497 229.79697 232.29897 237.30297 242.30696">&#x2022;The requesting master's priority level is higher than that</tspan><tspan y="51.83789" x="24.00301 29.007012 31.509013 34.011014 36.513013 41.517015 46.521017 49.023015 53.523015 58.527017 61.524019 64.52102 69.52502 74.529018 77.03101 79.53301 87.030017 92.03401 96.53401 99.03601 104.04001 107.03701">of the current master.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 151.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.505001 11.007002 13.509003 18.513005 23.517006 26.019007 31.023007 36.027009 40.527009 43.029008 45.531007 50.535009 53.53201 58.53601 60.53401 63.03601 66.03301 71.03701 73.53901 75.53701 80.54101 85.545009 88.047008 93.051 98.055 100.053 105.057 107.559 110.061 112.562999 117.56699 120.563999 123.065998 125.56799 130.57199 135.57599 138.07799 143.08199 148.08599 153.08998 158.09398 160.59598 162.59398 167.59798 172.60198 177.60597 180.10797 182.10597 187.10997 192.11397 197.11797 199.61997 204.62397 207.12596 212.12996 217.13396 220.13095 224.63095">At the next arbitration point for the undefined length burst</tspan><tspan y="18.83789" x="0 2.5020004 5.4990007 10.503001 15.507002 20.007002 22.509003 27.513005">transfer</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 181.5)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="0 6.4980008 13.500001 18.999 25.002">NOTE:</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 343.33564 181.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 9 14.004001 16.002 18.504002 21.501002 26.505002 29.007002 31.005002 36.009004 41.013006 43.515005 48.519006 53.523008 55.521009 60.52501 63.027009 67.52701 70.02901 72.531009 77.535 80.532009 83.034008 88.038 93.042 95.544 100.548 105.551998 110.55599 115.55999 118.06199 120.05999 125.06399 130.068 135.07199 137.57399 139.57199 144.57599 149.57999 154.58399 157.08599 162.08998 164.59198 169.59598 174.59998 177.59697 182.09697 184.59897 187.10097 192.10497 195.10196">Arbitration points for an undefined length burst are</tspan><tspan y="18.83789" x=".00001 5.0040109 10.008011 12.510012 14.508012 19.512013 24.516015 29.520016 32.022016 34.020017 39.024019 41.526018 44.028017 49.032018 54.03602 56.538019 64.03502 71.03702 77.040019 83.53802 90.03602 92.53802 95.040019 100.044017 103.041019 105.543018 110.54701 115.55101 120.05101 125.05501 127.55701 135.054 140.058 144.558 147.06 152.064 155.06099">defined in the MGPCR for each master.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 211)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 21.006 26.010003 31.014004 36.018007 41.022008 45.522008 48.024007 50.022008 55.02601 60.03001 62.53201 70.02901 75.033008 79.533008 82.035 87.039 90.036 91.755008 96.255008 98.757 103.761 106.758 108.756008 113.76 116.757 118.755008 121.257 125.757 128.259 130.257 135.261 139.761 144.765 146.763 149.265 151.263 155.763 158.265 160.263 165.267 171.765 176.769 179.76599 182.26799 184.76999 189.77399 194.77799 199.78199 202.28398 204.78598 209.78998 214.79398 217.29598 221.79598 226.79998 229.79697 232.79396 237.79796 242.80196">The requesting master's priority level is lower than the current</tspan><tspan y="18.83789" x="0 7.4970009 12.501001 17.001002 19.503003 24.507004 27.504004">master.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 211)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.505001 11.007002 13.509003 18.513005 23.517006 26.019007 30.519007 35.523008 40.527009 45.027009 47.02501 52.02901 56.52901 58.52701 63.531015 68.53501 71.03701 76.04101 78.54301 81.045009 86.049 91.053 96.057 98.559 103.562999 106.064998 108.56699 111.06899 116.07299 121.07699 123.57899 126.080989 131.08499 133.083 135.081 140.08499 146.583 148.581 153.58499 158.58899 161.09099 165.59099 170.09099 174.59099 176.58899 181.59299 186.09299">At the conclusion of one of the following cycles:</tspan><tspan y="18.83789" x="14.85 24.003 30.006 35.010004 37.512 40.014 46.512 51.516004 57.519006 60.021005 64.521 69.021 73.521 75.519008">&#x2022;An IDLE cycle</tspan><tspan y="29.83789" x="14.85 24.003 30.006 32.508 37.512 42.516004 47.520006 50.517007 53.019006 59.517007 64.521 70.524 73.026 77.526 82.026 86.526 88.524 93.528 96.03 98.532 103.535999 106.037998 111.04199 113.54399 115.54199 120.54599 125.04599 130.04999 132.55199 134.54999 139.55399 144.55799 147.05998 152.06398 154.56598 159.56998 164.57398 167.57097 170.07297 172.57497 177.57897 182.58296 187.58696 190.08896 192.59096 197.59496 202.59896 205.10095 209.60095 214.60495 217.60195 220.59894 225.60294 230.60694">&#x2022;A non-IDLE cycle to a location other than the current</tspan><tspan y="40.83789" x="24.003022 28.503022 30.501023 35.505025 40.005025 45.009027 47.511026 52.515027 57.519029 60.51603">slave port</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 312.5)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 16.680003 20.850003 29.190003 33.360006 41.700006 45.870008">18.3.3.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 312.5)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.830001 19.995 29.16 38.325 47.49 52.485 58.32 67.485 76.65 80.82 89.985 94.155 103.32 109.155 113.325 122.49 128.325 132.495 137.48999 145.82999 149.99999 159.16498 168.32997 176.66997 182.50498 190.84497 195.83997 200.00997 209.17496">Round-robin priority operation</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="294.75" x="-.00399 13.21201 20.21201 26.428009 33.42801 36.92801 43.92801 50.92801 57.14401 61.806009 68.02201 71.91401 75.80601 82.80601 89.80601 93.30601 97.198009 104.198009 107.698009 117.03601 124.03601 131.03601 138.03601 145.03601 149.69802 159.03601 166.03601 173.03601 176.92801 183.92801 187.42801 198.32 205.32 212.32 218.53601 222.03601 225.53601 231.75202 237.96802 244.18402 251.18402 254.68402 265.57603 271.79203 277.23805 281.13005 287.34605 292.00804 295.50804 299.40003 304.84605 308.34605 314.56205 320.00807 325.45408 329.34608 336.34608 343.34608 349.56208 356.56208 360.06208 366.27809 369.77809 374.44007 380.65608 384.54808 390.76408 394.65608 398.54808 405.54808 411.76408 415.26408 422.26408 426.92607 430.81806 437.81806 442.48005 446.37205 450.26405 457.26405 460.76405 467.76405 473.98005 479.42607 485.64207">When operating in Round-Robin mode, each master is assigned a relative priority based</tspan><tspan y="310.75" x="-.00399 6.99601 13.99601 17.49601 21.38801 28.38801 34.60401 38.10401 48.996015 55.212015 60.658014 64.55001 70.766017 75.42802 78.92802 85.92802 92.92802 97.59002 101.48202 104.98202 111.98202 118.98202 129.87403 136.87403 143.09003 147.75203 151.25203 154.75203 163.30603 170.30603 174.19803 179.64403 183.14403 187.80603 194.02204 197.91403 204.13004 208.02204 211.91403 218.91403 225.13004 228.63004 235.63004 240.29204 244.18404 251.18404 255.84604 259.73805 263.63005 270.63005 274.13005 278.02204 283.46806 286.96806 293.18406 300.18406 311.07606 318.07606 324.29206 328.95405 335.17005 342.17005 345.67005 349.56205 356.56205 360.06205 363.95405 370.95405 377.17005 380.67005 391.56205 397.77806 403.22407 407.11607 413.33207 417.99406 421.49406 428.49406 435.49406 440.15605 444.04804 447.54804 454.54804 461.54804 472.44004 479.44004 485.65605">on the master port number. This relative priority is compared to the master port number</tspan><tspan y="326.75" x="-.00399 4.65801 9.32001 19.42801 24.090012 27.590012 34.59001 39.25201 42.75201 46.644014 53.644014 59.860013 63.360013 67.252017 73.46802 78.91402 82.806018 86.306018 97.19801 103.41402 108.860019 112.752017 118.96802 123.63002 127.13002 131.02202 138.02202 141.52202 148.52202 154.73802 159.40003 164.06203 171.06203 175.72403 186.61603 190.11603 196.33203 199.83203 203.72403 208.38603 214.60204 221.60204 227.04804 231.71004 237.92604 242.58805 246.08805 253.08805 260.08805 263.58805 267.48005 274.48005 280.69606 284.19606 289.64207 293.53407 299.75007 306.75007 312.96607 316.46607 323.46607 330.46607 335.91209 339.41209 342.91209 351.46607 358.46607 364.68208 368.18208 375.18208 379.07408 386.07408 393.07408 399.29008 404.73609 408.62809 412.12809 419.12809 423.79008 427.68208 434.68208 439.34407 443.23606 447.12806">(ID) of the last master to perform a transfer on the slave bus. The highest priority</tspan><tspan y="342.75" x="-.00399 4.65801 10.87401 17.87401 24.87401 31.090012 36.53601 40.428014 44.320016 51.320016 58.320016 61.820016 72.71201 78.92802 84.374019 88.266017 94.48202 99.14402 102.64402 109.64402 115.86002 122.07603 129.07602 139.96802 146.18402 151.63002 155.13002 162.13002 172.23802 179.23802 185.45403 190.11603 193.61603 200.61603 205.27803 208.77803 212.67003 219.67003 225.88603 229.38603 234.83203 238.72403 244.94004 251.94004 258.15605 261.65605 268.65605 275.65605 281.10206 284.60206 290.81806 294.71006 298.21006 302.10206 309.10206 315.31806 318.81806 325.81806 332.03407 339.03407 342.92607 346.42607 350.31806 354.98005 361.19606 368.19606 373.64207 378.30406 384.52006 389.18205 392.68205 399.68205 406.68205 413.68205 420.68205 427.68205 433.89805 438.56004 445.56004">requesting master becomes owner of the slave bus at the next transfer boundary,</tspan><tspan y="358.75" x="-.00399 6.2120106 12.428011 18.644013 25.644013 32.644014 39.644014 43.536016 47.428018 54.428018 61.428018 64.92802 69.59002 76.59002 81.25202 84.75202 88.64402 95.64402 101.86002 108.86002 115.07603 122.07603 125.57603 131.79203 138.79203 145.79203 149.29203 153.95403 157.84603 164.84603 171.06203 178.06203 182.72403 186.61603 192.83203 199.83203 206.83203 210.72403 217.72403 221.22403 228.22403 235.22403 239.88603 245.33203 249.22403 252.72403 256.61604 261.278 267.49403 274.49403 279.94004 284.60203 290.81803 295.48 300.92604 304.42604 307.92604 315.71003 320.372 324.264 331.264 335.926 339.818 343.71 350.71 354.21 358.102 363.548 367.048 374.048 380.264 385.71003 391.92604 398.92604 402.42604 409.42604 416.42604 419.92604 426.92604 433.92604 444.03404 447.53404 452.196 458.41203 463.074 466.574 472.79 479.79 486.006 492.22203">accounting for locked and fixed-length burst transfers. Priority is based on how far ahead</tspan><tspan y="374.75" x="-.00399 3.8880106 10.88801 17.104012 20.604012 25.266013 35.374013 38.874013 45.874013 50.53601 54.03601 57.928014 64.92801 71.14401 74.64401 79.306018 85.52202 92.52202 99.52202 105.73802 111.18402 115.07602 118.96802 125.96802 132.96802 136.46802 147.36002 153.57602 159.02202 162.91402 169.13002 173.79203 177.29203 181.18402 186.63002 190.13002 194.02202 201.02202 204.52202 208.41402 215.41402 221.63002 225.13002 229.79203 239.90003 243.40003 250.40003 255.06203 258.562 262.454 269.454 275.67 279.17 283.062 289.278 294.72404 298.61604 302.11604 313.00804 319.22404 324.67005 328.56205 334.77806 339.44004">the ID of the requesting master is to the ID of the last master.</tspan><tspan y="399.15" x="-.00399 10.104011 14.76601 18.65801 24.874012 29.536013 33.03601 40.03601 44.69801 50.91401 57.91401 61.80601 68.02201 75.02201 78.52201 84.738018 90.95402 97.17002 103.386028 108.83202 114.27802 117.77802 121.67002 128.67002 132.17002 138.38602 141.88602 147.33202 151.22402 157.44002 164.44002 170.65602 174.15602 181.15602 188.15602 192.81803 196.71002 200.21002 203.71002 209.92603 213.42603 224.31803 230.53403 235.98003 239.87203 246.08803 250.75003 254.25003 265.14204 271.35804 278.35804 281.85804 288.85804 295.07405 299.73603 304.398 311.398 316.06 326.952 330.452 336.668 342.114 345.614 356.506 362.72203 369.72203 376.72203 380.22203 384.114 388.776 394.992 401.992 407.43803 412.1 418.316 422.978 428.424 431.924 438.14 443.58604 447.08604 454.08604 460.30204 465.74806 469.64006 474.30204 480.51805 487.51805 491.01805 494.91004">After granted access to a slave port, a master may perform as many transfers as desired to</tspan><tspan y="415.15" x="-.00399 3.8880106 10.88801 17.104012 20.996012 24.496012 31.496012 38.49601 43.15801 47.05001 50.55001 57.55001 64.55001 68.44201 72.33401 76.226009 79.726009 85.94201 92.94201 99.94201 103.83401 110.83401 117.05001 121.71201 125.21201 136.10402 142.32003 147.76602 151.65802 157.87403 162.53603 166.03603 176.92803 183.14403 190.14403 196.36003 201.80603 205.30603 211.52204 215.02204 219.68404 225.90004 232.90004 239.90004 246.11605 251.56204 255.45404 258.95405 262.84605 269.84605 273.34605 277.23805 284.23805 290.45405 293.95405 299.40007 305.61607 316.50807 322.72407 326.22407 331.67008 335.56208 341.77809 348.77809 354.99409 358.49409 365.49409 372.49409 377.15608 381.04808 384.54808 388.04808 396.60206 403.60206 409.81806 413.31806 420.31806 426.53407 433.53407 437.42607 440.92607 451.81806 458.03407 463.48008 467.37208 473.58808 478.25007 481.75007 485.64207">that port until another master makes a request to the same slave port. The next master in</tspan><tspan y="431.15" x="-.00399 3.8880106 7.780011 14.780011 20.996012 24.496012 28.388012 33.83401 37.33401 44.33401 48.99601 55.21201 62.21201 66.10401 72.320018 79.320018 82.820018 89.03602 95.25202 101.468029 107.68403 113.13003 118.57603 122.07603 125.968029 132.96802 136.46802 140.36002 147.36002 153.57602 157.07602 162.52202 166.41402 172.63002 179.63002 185.84603 189.34603 196.34603 203.34603 208.00803 211.90003 215.40003 221.61603 225.50803 229.00803 232.90003 239.90003 246.11603 249.61603 256.61604 262.83204 269.83204 273.72404 277.22404 281.11604 285.778 291.99403 298.99403 304.44004 309.10203 315.31803 319.98 323.48 330.48 337.48 344.48 351.48 358.48 364.696 369.358 376.358 379.858 383.358 390.358 395.02 398.52 405.52 412.52 417.966 423.41203 427.30403 434.30403 438.196 445.196 448.696 455.696 462.696 466.196 470.088 477.088">line is granted access to the slave port at the next transfer boundary, or possibly on the</tspan><tspan y="447.15" x="-.00399 6.99601 13.21201 20.21201 24.10401 27.60401 33.82001 37.712015 44.712015 50.928014 57.928014 61.428014 67.64401 74.64401 80.860019 84.752017 90.96802 94.46802 98.360019 103.02202 106.52202 110.41402 117.41402 123.63002 127.13002 133.34603 140.34603 145.00803 149.67003 155.88603 162.88603 166.77803 170.27803 181.17003 187.38603 192.83203 196.72403 202.94004 207.60204 211.10204 218.10204 224.31804 229.76404 233.26404 240.26404 247.26404 250.76404 257.76405 263.98005 270.98005 277.98005 281.87205 288.87205 295.87205 299.37205 305.58805 311.80406 318.02006 324.23606 329.68208 335.12809 338.62809 343.29008 349.50608 356.50608 363.50608 369.72209 375.1681 379.0601">next clock cycle if the current master has no pending access request.</tspan><tspan y="471.55" x="-.00399 10.104011 15.550011 19.05001 25.26601 32.26601 35.76601 41.98201 48.98201 55.19801 66.09001 73.09001 76.98201 83.19801 86.69801 93.69801 98.360019 101.860019 108.07602 112.73802 119.73802 123.63002 127.52202 132.18402 138.40003 142.29203 146.18402 153.18402 160.18402 163.68402 167.57602 174.57602 178.07602 187.41402 194.41402 201.41402 208.41402 215.41402 220.07602 229.41402 236.41402 243.41402 247.30602 254.30602 257.80604 268.69804 275.69804 282.69804 288.91404 292.41404 295.91404 302.13005 307.57606 313.02207 320.02207 330.91407 337.13008 340.63008 344.52207 351.52207 357.73808 361.23808 367.45408 372.11607 379.11607 384.56208 390.0081 397.0081 403.2241 407.88609 411.38609 415.27809 420.7241 424.2241 428.1161 439.0081 446.0081 449.9001 456.1161 467.0081 473.2241 480.2241 484.1161 490.3321">As an example of arbitration in Round-Robin mode, assume the crossbar is implemented</tspan><tspan y="487.55" x="-.00399 10.104011 13.996011 17.888012 24.888012 28.388012 39.280015 45.496015 50.942014 54.834016 61.050016 65.71201 69.21201 76.21201 83.21201 87.874019 91.766017 97.21201 100.71201 107.71201 111.21201 114.71201 121.71201 125.21201 128.712 135.712 139.212 142.712 148.92801 155.92801 162.92801 166.42801 173.42801 176.92801 180.42801 185.09001 189.75202 193.25202 197.14402 204.14402 210.36002 213.86002 217.75202 223.96802 229.41402 233.30602 236.80602 247.69802 253.91402 259.36003 263.252 269.46803 274.13 277.63 284.63 289.292 292.792 296.684 303.684 309.9 313.4 318.846 322.738 328.954 335.954 342.17 345.67 352.67 359.67 364.332 368.224 371.724 381.832 388.048 393.49403 396.99403 407.88603 414.10203 419.54804 423.44004 429.65605 434.31803 437.81803 444.81803 448.31803 451.81803 458.03404 465.03404">with master ports 0, 1, 4, and 5. If the last master of the slave port was master 1, and</tspan><tspan y="503.55" x="-.00399 10.888011 17.104012 22.550013 26.442013 32.658014 37.32001 40.82001 47.82001 51.32001 54.82001 61.82001 65.32001 71.53601 78.53601 85.53601 89.03601 96.03601 99.53601 110.42801 116.64401 123.64401 129.86002 133.36002 138.80602 142.69802 153.59001 160.59001 164.48201 168.37401 174.59001 181.59001 187.80602 194.80602 201.80602 207.25202 210.75202 215.41402 221.63002 228.63002 235.63002 241.84603 247.29203 251.18402 256.63005 260.13005 263.63005 267.52204 274.52204 280.73805 287.73805 291.23805 297.45405 302.11604 308.33204 311.83204 317.27806 323.49406 328.15605 335.15605 339.04804 345.26405 351.48005 358.48005 361.98005 365.87205 372.87205 376.37205 380.26405 387.26405 393.48005 396.98005 403.98005 408.64204 415.64204 421.85804 426.52003 430.02003 437.02003 440.52003 444.02003 451.02003 454.52003 458.02003 464.23603 471.23603">master 0, 4 and 5 make simultaneous requests, they are serviced in the order 4, 5, and</tspan><tspan y="519.55" x="-.00399 3.8880106 10.88801 17.104012 24.104012 27.604012 34.60401">then 0.</tspan><tspan y="543.94998" x="-.00399 7.7800109 13.996012 18.658013 25.658013 29.550013 36.55001 43.55001 47.05001 57.942014 64.15801 71.15801 74.65801 80.874019 87.874019 94.874019 98.766017 102.65801 109.65801 116.65801 122.874019 126.374019 130.26602 137.26602 140.76602 147.76602 153.98203 157.48203 164.48203 169.92803 176.14403 183.14403 186.64403 190.53603 197.53603 201.03603 207.25203 210.75203 215.41403 222.41403 229.41403 236.41403 243.41403 248.07604 252.73804 259.73805 266.73805 270.63005 277.63005 281.13005 292.02204 299.02204 306.02204 312.23805 315.73805 319.23805 326.23805 333.23805 337.13005 340.63005 347.63005 354.63005 360.84605 366.29206 369.79206 376.79206 383.79206 387.68406 391.18406 397.40007 402.06205 406.72404 412.94004 419.15605 423.04804 426.54804 430.44004 437.44004 443.65605 447.15605 451.81803 458.81803 465.81803 472.81803 479.81803">Parking may continue to be used in a round-robin mode, but does not affect the round-</tspan><tspan y="559.94998" x="-.00399 4.65801 11.6580109 18.65801 22.55001 29.55001 33.05001 40.05001 47.05001 50.942014 57.942014 61.834016 68.05002 72.71202 76.21202 83.21202 90.21202 94.10402 100.32002 105.76602 111.21202 114.71202 118.60402 125.60402 131.82003 135.32003 142.32003 148.53603 153.19803 160.19803 166.41403 173.41403 176.91403 187.80603 194.02204 199.46804 203.36003 209.57604 214.23804 217.73804 223.95404 230.17005 234.06204 241.06204 247.27805 251.17005 255.06204 262.06205 265.56205 272.56205 278.77806 283.44004 288.10203 295.10203 299.764 310.656 316.10203 319.60203 325.81803 329.31803 333.21003 337.872 344.088 351.088 356.53404 361.196 367.41203 372.074 375.574 379.074 389.182 395.398 402.398 409.398 416.398 421.06 425.722 429.222 436.222 442.438 448.654 455.654 460.31599 465.762 469.262 473.154 480.154 483.654 487.546 494.546">robin pointer unless the parked master actually performs a transfer. Handoff occurs to the</tspan><tspan y="575.94998" x="-.00399 6.99601 13.21201 20.21201 24.10401 27.60401 38.49601 44.71201 50.15801 54.05001 60.26601 64.92801 68.42801 72.32001 79.32001 82.82001 86.712009 90.604007 97.604007 103.82001 107.32001 113.53601 118.19801 122.09001 128.30602 132.96802 136.46802 143.46802 150.46802 156.68402 160.18402 166.40003 173.40003 179.61603 183.50803 189.72403 193.22403 200.22403 204.88603 208.38603 214.60204 219.26404 226.26404 230.15604 234.04804 238.71004 244.92604 248.81804 252.71004 259.71003 266.71003 270.21003 273.71003 278.372 283.034 286.534 290.426 297.426 303.642 307.142 312.588 316.48 322.696 329.696 335.91203 339.41203 346.41203 353.41203 358.074 361.966 365.466 369.358 374.80403 378.30403 385.30403 392.30403 396.196 399.696 403.588 410.588 414.48 421.48 424.98 428.872 435.872 445.98 450.642 457.642 464.642 474.75 480.966">next master in line after one cycle of arbitration. If the slave port is put into low-power</tspan><tspan y="591.94998" x="-.00399 6.99601 13.21201 17.87401 24.87401 28.37401 39.26601 46.26601 53.26601 59.48201 62.98201 66.48201 70.37401 77.37401 83.59001 87.09001 91.752017 98.752017 105.752017 112.752017 119.752017 124.41402 129.07602 136.07602 143.07602 146.96802 153.96802 157.46802 164.46802 171.46802 175.36002 182.36002 186.25202 192.46802 197.13002 200.63002 204.52202 209.96802 213.46802 218.13002 224.34603 229.79203 236.00803 239.90003 243.40003 247.29203 254.29203 257.79203 264.79203 271.79203 275.68403 282.68403 286.57603 290.07603 296.29203 300.18403 303.68403 314.57603 320.79203 326.23805 330.13005 336.34605 341.00804 344.50804 351.50804 358.50804 363.17 367.062 370.562 377.562 381.062 384.562 391.562 395.454 402.454 406.346 413.346 420.346 423.846 427.738 431.63 435.13 439.022 446.022 452.238 455.738 462.738 466.63 473.63 480.63 486.846 492.29203">park mode, the round-robin pointer is reset to point at master port 0, giving it the highest</tspan><tspan y="607.94998" x="-.00399 6.99601 11.6580109 15.550011 22.55001 27.212012 31.104012 34.996015 41.996015">priority.</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>
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