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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_447.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

271 lines
43 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 1 148.08042 90.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 8.496 10.494 15.498001 20.502003 25.506005 28.503005 30.501004 35.505006 40.509008 43.011007 45.009008 49.509008 52.011007 57.015008 59.01301 63.51301 68.517009 73.521 75.519008 80.523 85.527 88.029 90.531 93.033 95.534999 98.036998 100.538997 103.535999 105.534 110.537998 115.54199 120.54599 123.54299 125.54099 130.545 135.549 138.051 140.049 144.549 147.051 152.055 154.053 158.553 163.55699 168.56099 170.55899 175.56299 180.56699 183.06899 185.57099 190.57498 195.57898 200.58298 203.08498 205.58698 210.59098 215.59497 218.09697 224.09998 230.59798 236.60099 241.60498 244.10698 249.11098 251.10898 253.61098 256.11299 258.11097 262.61097 265.11299 269.61299 274.61698 277.119 279.621 282.12303 284.62504 289.62904 294.63304 297.13505 303.63304 311.13005 317.13304 319.63505 326.13304 331.13703 336.14103 341.14503 346.14903 351.153 353.151 355.653 362.151 364.149 366.14698 368.14497 370.64698 375.14698 377.14497 384.64198 389.64598 391.64396">Triggering is disabled. If triggering is disabled, and the ENBL bit is set, the DMA Channel will simply</tspan><tspan y="18.83789" x=".00003 2.99703 8.001031 13.005032 15.507032 20.511033 23.013033 25.515034 30.519036 35.523038 38.025037 42.525037 47.529039 52.53304 57.03304 59.03104 61.53304 63.53104 68.53504 73.53904 76.04104 80.54104 85.54504 90.549037 93.546039 98.046039 103.05003 105.55203 108.05403 113.05803 115.56003 118.06203 123.066028 128.07003 130.57202 137.07003 144.56702 150.57003 153.07202 157.57202 162.57602 167.58002 172.58402 177.58802 182.59201 184.59001 187.09201 189.59401 192.591 199.089 204.093 207.09 214.58699 219.59099 221.58899 224.09099 231.58798 236.59198 241.59598 246.59998">route the specified source to the DMA channel. (Normal mode)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 237.98284)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 9.452001 18.904002 23.630002">21.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25536 237.98284)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 10.387 20.774 31.161 40.613 46.274 51 61.387 71.774 81.226009 85.952 90.678 101.065 110.517009 119.96901 129.421 136.03401 140.76001 151.147 156.808 161.534 171.92099">Functional description</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54.000017)" font-size="14" font-family="TimesLTStd"><tspan y="221.23282" x="0 8.554 15.554 21.77 25.27 32.27 36.932 40.824 51.716005 57.932004 62.594 69.594 73.094 80.094 87.094 91.756008 98.756008 105.756008 111.202 117.41801 120.91801 127.91801 132.58 136.08 139.972 146.972 153.188 156.688 166.796 179.242 189.35 192.85 205.296 215.404 225.51201 229.01201 232.904 238.35 241.85 245.742 252.742 256.242 263.242 267.904 274.904 281.904 285.796 292.796 299.012 302.512 307.17399 311.06599 317.28199 324.28199 328.17399 335.17399 339.06599 342.95799 346.84999 350.74198 357.74198 361.24198 365.13398 372.13398 375.63398 379.52598 386.52598 392.74198 396.24198 401.688 408.688 414.134 418.026 424.242 435.134 437.654 443.1 446.6 453.6 459.04603 465.26203 468.76203 475.76203 480.424 483.924 487.816 494.816">The primary purpose of the DMA MUX is to provide flexibility in the system's use of the</tspan><tspan y="237.23282" x=".00005 6.2160508 13.216051 19.432053 23.324053 27.216053 33.432054 40.432054 44.324056 50.540056 54.040056 64.148059 76.594058 86.70206 90.20206 96.41806 103.41806 109.63406 116.63406 123.63406 129.85007 133.74207 139.18807 142.68807 146.18807 156.29607 161.74207 165.24207 170.68807 177.68807 183.90407 190.90407 194.40407 197.90407 204.12007 211.12007 218.12007 222.78208 226.67407 233.67407 240.67407 245.33608 251.55208 255.44408 259.3361 266.3361 273.3361 276.8361 283.8361 288.49809 291.99809 295.89009 302.89009 309.10609 312.60609 322.71409 335.1601 345.2681 348.7681 361.2141 371.3221 381.4301 384.9301 388.8221 394.26814 397.76814 401.66014 408.66014 412.55213 418.76814 425.76814 432.76814 438.98414 445.98414 449.48414 453.37614 460.37614 463.87614 470.87614 477.09214 480.59214">available DMA channels. As such, configuration of the DMA MUX is intended to be a</tspan><tspan y="253.23282" x=".0001 5.4461009 9.338101 15.554102 19.446103 23.338103 29.554104 33.054105 40.054105 44.716104 51.716104 57.932104 64.1481 71.1481 78.1481 82.810108 89.02611 92.52611 99.52611 106.52611 113.52611 119.74211 123.24211 130.24211 137.24211 141.90412 145.79611 152.79611 159.79611 163.29611 169.51212 176.51212 182.72812 188.94412 195.94412 199.83612 203.72812 210.72812 217.72812 221.22812 228.22812 232.89012 236.39012 240.28212 247.28212 253.49813 256.9981 262.44413 269.44413 274.89015 278.78215 284.99815 295.89015 299.39015 306.39015 313.39015 320.39015 324.28215 327.78215 333.99815 340.99815 347.99815 354.21415 357.71415 361.21415 371.32215 378.32215 388.43016 394.64616 401.64616 407.86216 412.52415 416.02415 419.52415 423.41615 428.07814 431.57814 435.47013 442.47013">static procedure done during execution of the system boot code. However, if the</tspan><tspan y="269.23283" x=".00013 7.00013 11.66213 18.66213 24.878132 31.094132 38.09413 45.09413 49.75613 55.97213 59.47213 66.47213 73.47213 77.36413 81.25613 85.148128 92.148128 98.36413 105.36413 108.86413 112.75613 119.75613">procedure outlined in </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54.000017)" font-size="14" font-family="TimesLTStd"><tspan y="269.23283" x="123.25613 131.81012 138.81012 145.02613 152.02613 155.91812 159.81012 166.81012 173.81012 177.31012 183.52613 190.52613 197.52613 201.02613 207.24213 214.24213 221.24213 225.90413 229.79613 236.79613 243.79613 248.45813 252.35013 259.35014 266.35014 269.85014 275.29615 282.29615 289.29615 293.95814 300.17414 306.39015">Enabling and configuring sources</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54.000017)" font-size="14" font-family="TimesLTStd"><tspan y="269.23283" x="311.83613 315.33613 319.22813 324.67414 328.17414 332.83613 339.83613 343.72813 347.62013 354.62013 364.72813 370.94413 377.94413 381.44413 384.94413 388.83613 395.83613 402.05213 405.55213 411.76814 418.76814 425.76814 430.4301 434.3221 441.3221 448.3221 452.9841 459.2001 463.0921 466.9841 473.9841 480.9841 484.4841 491.4841"> is followed, the configuration of</tspan><tspan y="285.23283" x=".00012207031 3.8921226 10.892122 17.108124 20.608124 30.716126 43.162126 53.270128 56.770128 69.216129 79.32413 89.43213 92.93213 103.82413 110.04013 117.04013 120.54013 127.54013 133.75614 137.25614 143.47214 150.47214 156.68814 163.68814 170.68814 176.90415 183.90415 187.40415 194.40415 201.40415 206.06615 209.95815 216.95815 223.95815 227.45815 231.35015 238.35015 244.56615 248.06615 255.06615 262.06617 266.72816 277.62016 283.83616 287.72816 291.22816 298.22816 305.22816 311.44416 316.10615 322.32215 326.21415 330.10615 337.10615 344.10615 347.60615 354.60615 359.26814 362.76814 366.66014 373.66014 379.87614 383.37614 388.82215 395.82215 401.26817 405.16017 411.37617 422.26817">the DMA MUX may be changed during the normal operation of the system.</tspan><tspan y="309.6328" x=".00013207032 7.784133 14.784133 21.784134 28.000134 31.892134 35.784135 42.784135 49.784135 56.000135 59.892137 63.784139 70.784137 74.284137 77.784137 81.67613 88.67613 94.892139 98.392139 108.50014 120.94614 131.05414 134.55414 147.00014 157.10814 167.21614 170.71614 176.93215 183.93215 190.14815 197.14815 204.14815 210.36415 214.25615 219.70215 223.20215 234.09415 240.31015 247.31015 250.81015 257.81016 264.02616 267.52616 274.52616 278.41816 285.41816 289.31016 296.31016 302.52616 309.52616 313.02616 316.91816 323.91816 327.81016 334.81016 338.31016 342.20216 352.31016 359.31016 362.81016 369.02616 372.91816 379.13417 384.58018 390.02619 396.2422 401.6882">Functionally, the DMA MUX channels may be divided into two classes:</tspan><tspan y="334.0328" x="13.104101 23.996102 33.334104 40.334104 46.550104 53.550104 60.550104 66.766109 70.658107 76.1041 79.6041 89.712108 96.712108 100.6041 106.82011 113.82011 117.32011 121.212108 132.10411 139.10411 142.99611 149.21212 160.10411 166.32012 173.32012 177.21212 180.71212 184.60411 191.60411 197.82012 201.32012 208.32012 215.32012 219.98212 230.87412 237.09012 240.98212 244.48212 249.14412 256.1441 263.1441 267.0361 270.9281 277.9281 284.9281 288.4281 293.0901 300.0901 307.0901 313.3061 317.1981 321.0901 328.0901 335.0901 341.3061 345.1981 349.0901 352.9821 359.9821 363.4821 370.4821 374.37409 381.37409 386.8201 390.3201 397.3201 403.5361 408.1981 412.0901 419.0901 426.0901 429.9821 436.1981 439.6981 443.5901 448.25209 452.14408 459.14408 466.14408 472.36009 477.02207 480.91407 487.91407">&#x2022;Channels which implement the normal routing functionality plus periodic triggering</tspan><tspan y="350.0328" x="23.99611 30.212113 36.428113 43.428113 49.64411 56.64411 60.536115 64.428119 68.320117 72.21211">capability</tspan><tspan y="366.0328" x="13.104121 23.996123 33.33412 40.33412 46.55012 53.55012 60.55012 66.76612 70.65812 76.10412 79.60412 89.71212 96.71212 100.60412 106.82012 113.82012 117.32012 121.21212 132.10413 139.10413 142.99613 149.21213 160.10413 166.32013 173.32013 177.21213 180.71213 187.71213 194.71213 198.60413 205.60413 209.10413 212.99613 219.99613 226.21213 229.71213 236.71213 243.71213 248.37413 259.26615 265.48216 269.37416 272.87416 277.53614 284.53614 291.53614 295.42814 299.32014 306.32014 313.32014 316.82014 321.48213 328.48213 335.48213 341.69813 345.59013 349.48213 356.48213 363.48213 369.69813 373.59013 377.48213 381.3741">&#x2022;Channels which implement only the normal routing functionality</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 463.1828)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00613 8.902131 17.798132 22.246132 31.142132 35.590135">21.4.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65331 463.1828)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00612 11.558121 24.886122 36.43812 40.886125 49.782125 59.558126 68.454128 78.230129 88.00613 96.90213 101.35013 110.24613 114.69413 127.14213 131.59014 136.91814 146.69414 151.14214 160.91814 169.81414 176.03813 180.48613 190.26213 200.03813 204.48613 213.38213 217.83013 223.15813 229.38213 233.83013 243.60613 253.38213 262.27815 268.50215 272.95014 282.72615 292.50215 296.95014 305.84614 314.74214 324.51814 333.41413 343.19013 347.63813 352.08613 356.53413 361.86213">DMA channels with periodic triggering capability</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54)" font-size="14" font-family="TimesLTStd"><tspan y="446.4328" x="-.00383 9.334171 15.550172 20.996172 24.888173 31.888173 38.10417 43.55017 47.05017 50.942174 57.942174 64.15817 67.65817 74.65817 81.65817 86.320178 97.21217 103.42818 107.320178 110.820178 115.48218 122.48218 129.48218 133.37418 137.26618 144.26618 151.26618 154.76618 159.42818 166.42818 173.42818 179.64418 183.53618 187.42818 194.42818 201.42818 207.64418 211.53618 215.42818 219.32018 226.32018 229.82018 233.32018 237.21218 244.21218 250.42818 253.92818 258.59019 262.48219 267.14418 272.59019 276.48219 279.98219 286.98219 290.48219 296.69819 303.69819 309.91419 316.91419 323.91419 330.1302 334.0222 339.4682 342.9682 349.9682 354.6302 358.1302 362.0222 369.0222 375.2382 378.7382 388.8462 401.2922 411.4002 414.9002 427.34623 437.45423 447.56224 451.06224 458.06224 462.7242 469.7242 476.7242 480.6162 487.6162 493.8322 497.3322">Besides the normal routing functionality, the first 4 channels of the DMA MUX provide a</tspan><tspan y="462.4328" x="-.00383 5.4421708 12.442171 18.658173 24.874173 28.766173 34.982175 38.874177 42.374177 49.374177 55.590177 60.252176 64.14417 71.14417 78.14417 82.03617 88.252178 91.752178 95.64417 100.306179 104.19817 111.19817 118.19817 124.41418 129.07617 132.96817 139.96817 146.96817 150.46817 156.68418 162.90018 169.90018 176.11618 183.11618 187.00818 190.90018 194.79218 198.68418 205.68418 209.18418 213.07617 220.07617 226.29218 230.18418 233.68418 239.90018 246.11618 253.11618 256.61619 263.61619 269.83219 273.33219 280.33219 285.7782 291.9942 298.9942 302.4942 306.3862 313.3862 316.8862 323.8862 328.5482 335.5482 342.5482 346.4402 353.4402 359.6562 363.1562 369.3722 376.3722 379.8722 386.0882 393.0882 396.9802 403.9802 414.8722 421.0882 424.9802 428.8722 435.0882 438.5882 449.4802 455.6962 461.9122 468.9122 475.1282 482.1282 486.0202 491.46623">special periodic triggering capability that can be used to provide an automatic mechanism</tspan><tspan y="478.4328" x="-.0037800002 3.8882206 10.888221 14.388221 18.280222 22.942223 29.158223 36.158224 41.60422 52.496225 56.388227 60.280229 63.780229 70.78023 77.78023 81.672229 87.88823 93.33423 96.83423 100.33423 104.99623 109.65823 115.87424 126.766239 132.98224 138.42824 141.92824 145.42824 152.42824 157.09024 160.59024 167.59024 173.80625 180.02225 187.02225 193.23825 197.13025 202.57625 206.07625 212.29225 216.18425 219.68425 224.34626 228.23825 235.23825 241.45426 248.45426 251.95426 255.84626 262.84626 266.73826 272.95426 277.61625 284.61625 290.83226 294.72425 300.17027 303.67027 313.77827 317.67027 321.56227 328.56227 335.56227 342.56227 346.45426 349.95426 353.84626 360.84626 367.06227 370.56227 377.56227 383.77827 389.99427 396.99427 400.49427 405.15626 412.15626 416.81825 420.31825 427.31825 431.98023 438.98023 445.19624 451.41224 456.85826 462.30427 469.30427">to transmit bytes, frames, or packets at fixed intervals without the need for processor</tspan><tspan y="494.4328" x="-.0037800002 3.8882206 10.888221 14.780221 20.996222 25.658223 32.658224 38.87422 45.87422 49.766225 53.658227 60.658227 67.658229 71.158229 74.658229 83.21223 90.21223 96.42823 99.92823 103.82023 108.48223 112.37423 119.37423 126.37423 132.59023 137.25223 140.75223 144.64423 150.09023 153.59023 160.59023 166.80623 173.80623 180.02223 184.68424 190.90024 194.79224 201.00824 208.00824 211.50824 218.50824 225.50824 229.00824 232.90024 239.90024 246.11624 249.61624 256.61625 262.83226 267.49424 271.38624 278.38624 285.38624 289.27824 295.49424 298.99424 302.88624 309.88624 313.77824 319.99424 324.65623 329.3182 336.3182 343.3182 347.2102 350.7102 354.6022 358.4942 369.3862 375.6022 380.2642 383.7642 388.42619 396.21018 400.87217 409.42616 414.08815 417.98014 421.48014 427.69615 433.14216 436.64216 442.08818 449.08818 455.30418 462.30418 465.80418 469.30418 473.19618 480.19618">intervention. The trigger is generated by the periodic interrupt timer (PIT); as such, the</tspan><tspan y="510.4328" x="-.0037800002 6.2122209 13.212221 20.212222 24.874222 28.766222 35.76622 42.76622 47.42822 53.64422 57.53622 61.428224 68.42822 75.42822 78.92822 85.92822 90.590229 94.090229 97.98222 104.98222 111.19823 114.69823 121.69823 127.91423 132.57624 136.46823 143.46823 150.46823 154.36023 160.57624 164.07624 167.96823 172.63024 176.52223 183.52223 190.52223 196.73824 201.40024 205.29224 212.29224 219.29224 222.79224 226.68424 233.68424 237.57624 243.79224 248.45424 255.45424 261.67024 265.56224 269.06224 272.95423 278.40025 281.90025 288.90025 295.90025 302.90025 309.11625 312.61625 319.61625 323.50825 329.72425 333.22425 339.44026 346.44026 353.44026 358.10224 361.99424 368.99424 375.99424 380.65623 386.87223 390.76423 394.65623 401.65623 408.65623 412.15623 416.8182 423.0342 430.0342 433.9262 439.37223 443.26423 449.48023 454.1422 459.58824 463.08824 466.98023 473.98023 477.48023 481.37223 488.37223">configuration of the periodic triggering interval is done via configuration registers in the</tspan><tspan y="526.43276" x="-.0037800002 7.780221 12.442221 20.99622 24.49622 27.99622 35.78022 41.99622 48.21222 51.71222 55.60422 62.60422 68.82022 72.32022 77.76622 83.98222 90.19823 94.090229 97.98222 104.98222 111.98222 115.48222 122.48222 129.48223 132.98223 139.98223 146.19823 150.86023 154.75223 161.75223 168.75223 172.64423 178.86023 182.36023 186.25223 193.25223 197.14423 203.36023 208.02223 212.68424 219.68424 226.68424 230.57624 234.07624 237.96823 241.86023 252.75223 258.96824 263.63023 267.13023 271.7922 278.7922 283.4542 286.9542 297.8462 304.8462 309.50819 315.72419 319.22419 323.11619 330.11619 334.77818 341.77818 346.44017 357.33216 363.54817 367.44017 371.33216 378.33216 385.33216 388.83216 395.83216 402.83216 406.33216 410.22416 417.22416 421.11616 426.56217 430.06217 433.95417 440.95417 447.95417 451.84617 458.06217">PIT. See the section on periodic interrupt timer for more information on this topic.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="550.6195" x="236.44222 246.55022 255.10422 259.7662">Note</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54)" font-size="14" font-family="TimesLTStd"><tspan y="575.2328" x="71.998188 81.33618 87.552188 93.76819 99.98419 106.98419 112.43019 118.646198 122.146198 129.1462 133.8082 137.3082 141.2002 148.2002 154.4162 157.9162 164.9162 171.9162 178.9162 185.1322 196.0242 199.9162 206.1322 209.6322 216.6322 222.8482 226.7402 233.7402 238.4022 244.61821 248.11821 255.11821 259.7802 263.2802 267.1722 274.1722 280.3882 283.8882 289.33424 296.33424 301.78025 305.67225 311.88825 322.78025 326.28025 330.94224 334.83424 338.33424 344.55024 348.05024 351.55024 361.65824 374.10426 384.21226 387.71226 393.92826 400.92826 407.14427 414.14427 421.14427 427.36027">Because of the dynamic nature of the system (i.e. DMA channel</tspan><tspan y="591.2328" x="71.998188 78.998188 83.66019 87.552188 94.552188 99.21419 103.106189 106.998188 110.89018 117.106189 122.552188 126.052188 129.55219 136.55219 143.55219 148.99819 152.49819 158.71419 163.37619 170.37619 174.26819 178.16019 182.82219 189.0382 192.93019 196.82219 203.82219 210.82219 214.32219 217.82219 221.71419 228.71419 232.60619 238.82219 243.48419 248.1462 255.1462 262.14619 266.03819 269.53819 274.9842 281.2002 285.86219 292.86219 296.75419 302.97019 309.1862 312.6862 317.34819 324.34819 331.34819 335.24018 339.13218 346.13218 352.34819 355.84819 359.74018 365.95619 372.95619 379.95619 383.84819 390.84819 396.2942 399.7942 403.2942 409.5102 413.4022 419.6182 423.1182 427.78019">priorities, bus arbitration, interrupt service routine lengths, etc.),</tspan><tspan y="607.2328" x="71.998218 75.89021 82.89021 89.10622 92.60622 99.60622 106.60622 117.498218 124.498218 130.71422 135.37622 138.87622 145.87622 150.53823 154.03823 160.25423 164.14623 171.14623 177.36223 184.36223 187.86223 194.07823 201.07823 207.29424 211.18624 217.40224 222.84824 226.34824 233.34824 239.56424 243.45624 253.56424 259.78025 265.99626 272.99626 276.49626 282.71226 286.21226 290.10426 294.76625 298.65824 305.65824 312.65824 318.87425 323.53623 327.03623 333.25224 340.25224 347.25224 350.75224 354.64424 361.64424 367.86024 371.36024 377.57624 383.79225 387.68424 394.68424 400.90025">the number of clock cycles between a trigger and the actual</tspan><tspan y="623.2328" x="71.998249 82.10625 94.552249 104.66025 108.16025 112.052249 116.71425 122.93025 129.93025 135.37625 140.03826 146.25426 150.91626 154.41626 160.63227 166.84827 173.84827 180.84827 187.84827 191.74027 195.24027 202.24027 208.45627 211.95627 218.95627 225.95627 232.17227 236.83428 243.05028 250.05028 253.94228 260.15827 266.37428 273.37428">DMA transfer cannot be guaranteed.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01031" x="259.452 265.94999 271.44898 276.45298 281.95198 284.94898 289.95298 293.45399 295.956 300.96 305.964 308.466 314.964 317.466 320.967 325.971 330.975 333.97203 336.47404 343.97105 348.97505 356.97605 362.47505 365.97605 370.98005 373.48207 379.98005 384.98405 389.98805 394.99205 399.99604 405.00004 407.50205 414.99906 420.49806 423.00007 425.99708 428.49909 433.99809 436.5001 441.5041 446.5081 451.5121 455.0131 457.5151 460.51213 467.0101 474.5071 481.0051 488.5021 495.0001 501.00309">Chapter 21 Direct Memory Access Multiplexer (DMAMUX)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 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 53.999994 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">447</tspan></text>
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