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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

116 lines
35 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="14" font-family="TimesLTStd"><tspan y="11.85" x="13.104 23.996003 31.780003 37.996004 42.658 47.32 54.32 58.982 69.874 73.766 80.766 87.766 91.266 101.374 113.82 123.928 127.428 131.32 135.98201 142.19802 149.19802 154.64402 159.30602 165.52202 170.18402 175.63002 179.13002 183.02202 190.02202 193.91402 198.57602 203.23802 210.23802 221.13002 224.63002 234.73802 242.52202 247.18402 257.29203 271.29203 283.73805 290.73805 297.73805 301.63005 308.63005 315.63005 319.13005 326.13005 332.34605 336.23805 342.45405 345.95405 350.61604 355.278 362.278 373.17 377.062 380.954 387.954 391.454 398.454 405.454 411.67 415.17 422.17 426.832 430.332 441.224 448.224 452.886 459.102 462.602 472.71 480.494 485.15599">&#x2022;Performing DMA transfers to/from GPIO&#x2014;Moving data from/to one or more GPIO</tspan><tspan y="27.85" x="23.99601 30.99601 34.888013 41.888013 47.33401 50.83401 54.33401 60.55001 64.44201 68.33401 75.33401 81.55001 86.21201 89.71201 96.71201 103.71201 107.60401 114.60401 119.266017 126.266017 130.15802 134.05002 137.94202 144.15802 151.15802 154.65802 159.32003 163.21202 170.21202 176.42803 180.32003 183.82003 187.71202 193.15802 196.65802 202.87403 208.32003 211.82003 216.48203 222.69803 228.14403 232.03603 235.53603 241.75203 247.19803 250.69803 257.69804 264.69804 270.14405 275.59007 279.48207 286.48207 290.37406 296.59007 301.25205 304.75205 308.25205 315.25205 319.91404 323.41404 330.41404 336.63005 341.29203 345.18403 352.18403 359.18403 363.07603 369.29203 375.50804 379.40003 383.29203 390.29203 393.79203 398.454 405.454 410.90003 414.79203 421.79203 428.79203 432.29203 436.18403 443.18403 449.40003 452.90003 463.00804 475.45405">pins, either unthrottled (that is as fast as possible), or periodically (using the DMA</tspan><tspan y="43.85" x="23.99601 27.88801 32.55001 36.442014 43.442014 50.442014 56.658014 61.32001 65.21201 72.21201 79.21201 82.71201 88.92802 95.14402 102.14402 108.36002 115.36002 119.25202 123.14402 127.03602 130.92803 137.92803 142.59003">triggering capability).</tspan><tspan y="68.25" x="13.10399 23.99599 31.779992 37.99599 42.65799 47.31999 54.31999 58.981988 69.873989 73.76598 80.76598 87.76598 91.26598 101.373989 113.819988 123.927989 127.427989 131.31999 135.982 142.198 149.198 154.644 159.306 165.522 170.184 175.63 179.13 183.792 188.45401 195.45401 206.34601 209.84601 220.738 226.95401 237.84601 244.84601 249.50801 256.508 260.008 263.9 270.9 274.4 285.292 291.508 302.4 309.4 314.06199 321.06199 335.06199 347.508 354.508 361.508 365.4 372.4 379.4 382.9 389.9 396.116 400.008 406.224 409.724 414.386 419.04798 426.04798 436.93998 440.43998 451.33198 457.54798 468.43998 475.43998 480.10197 487.10197 490.60197 494.49397">&#x2022;Performing DMA transfers from memory to memory&#x2014;Moving data from memory to</tspan><tspan y="84.25" x="23.99601 34.888013 41.10401 51.996015 58.996015 63.658014 70.65801 74.15801 77.65801 81.55001 88.55001 95.55001 99.44201 105.65801 111.874019 115.766017 119.65801 126.65801 130.15802 136.37403 141.82003 145.32003 149.98203 156.19803 161.64403 165.53603 169.03603 175.25203 180.69803 184.19803 191.19803 198.19803 203.64403 209.09003 212.98203 219.98203 223.87403 230.09003 233.59003 237.09003 242.53603 249.53603 260.42805 266.64405 270.53605 274.42805 285.32005 291.53605 296.98207 300.48207 310.59007 314.48207 318.37406 325.37406 328.87406 334.32008 341.32008 345.98207 349.87406 359.98207 366.19807 370.86006 377.07606 380.57606 386.79206 393.00807 396.90007 400.79206 407.79206 414.00807 417.90007 421.79206 428.79206 435.79206">memory, typically as fast as possible, sometimes with software activation.</tspan><tspan y="108.65" x="13.10399 23.99599 31.779992 37.99599 42.65799 47.31999 54.31999 58.981988 69.873989 73.76598 80.76598 87.76598 91.26598 101.373989 113.819988 123.927989 127.427989 131.31999 135.982 142.198 149.198 154.644 159.306 165.522 170.184 175.63 179.13 183.792 188.45401 195.45401 206.34601 209.84601 220.738 226.95401 237.84601 244.84601 249.50801 256.508 260.008 263.9 270.9 274.4 278.292 285.292 291.508 295.008 301.224 308.224 312.116 318.332 322.994 329.994 336.21 340.102 343.602 350.602 357.602 363.048 366.548 370.048 377.048 381.71 385.21 392.21 396.102 402.318 408.534 413.19599 420.19599 426.412 431.07398 436.52 442.736 456.736 464.52 468.412 479.304 483.19599 487.08799 493.304">&#x2022;Performing DMA transfers from memory to the external bus, or vice-versa&#x2014;Similar</tspan><tspan y="124.65" x="23.99601 27.88801 34.88801 38.38801 49.28001 55.49601 66.38801 73.38801 78.05001 85.05001 88.55001 92.44201 99.44201 102.94201 113.83401 120.05001 130.94202 137.94202 142.60402 149.60402 153.10402 156.99602 161.65802 167.87403 174.87403 180.32003 184.98203 191.19803 195.86003 201.30603 204.80603 208.30603 212.19803 219.19803 223.09003 228.53603 232.03603 235.92803 241.37403 244.87403 248.76602 255.76602 262.76603 266.65803 272.87403 279.09004 282.98204 286.87403 293.87403 297.37403 304.37403 311.37403 318.37403 324.59004 328.09004 334.30604 339.75205 343.25205 350.25205 357.25205 361.14405 367.36006 374.36006 378.25205 385.25205 388.75205 394.96806 400.41407 403.91407 410.91407 417.91407 423.36009 428.8061 432.6981 439.6981 443.5901 449.8061">to memory to memory transfers, this is typically done as quickly as possible.</tspan><tspan y="149.05" x="13.10402 23.996022 34.104024 41.104024 48.104024 51.604024 61.712026 74.15803 84.26603 87.76603 91.65803 96.32003 102.53603 109.53603 114.98203 119.644039 125.86004 130.52204 134.02204 137.91403 144.91403 151.13004 155.02204 158.52204 163.18404 169.40004 176.40004 183.40004 187.29204 191.95404 198.17005 203.61605 207.11605 212.56204 219.56204 224.22405 228.11605 238.22405 244.44005 249.10205 255.31806 258.81806 265.03407 271.25007 275.14207 279.03407 286.03407 292.25007 296.14207 300.03407 307.03407 314.03407 328.03407 338.14207 345.14207 352.14207 355.64207 365.75007 378.19609 388.30409 391.80409 395.69609 400.35807 406.57408 413.57408 419.02009 423.68208 429.89808 434.56007 438.06007 441.95207 448.95207 455.16807 459.06007 462.56007 468.00608 475.00608 482.00608 489.00608 492.89808">&#x2022;Any DMA transfer that requires software activation&#x2014;Any DMA transfer that should</tspan><tspan y="165.05" x="23.99606 30.99606 37.21206 40.71206 46.92806 53.92806 60.92806 64.82006 68.71206 74.92806 78.82006 82.71206 86.60406 93.60406 97.10406 102.55006 106.442058 112.65806 117.32006 121.21206 127.42806 134.42807 137.92807 144.92807 151.92807 155.42807 160.87407 167.87407 172.53607 176.42807 186.53607 192.75208 197.41408 203.63008">be explicitly started by software.</tspan><tspan y="199.45" x=".00006866455 4.662069 11.662069 15.162069 21.37807 27.59407 33.04007 39.25607 44.70207 48.20207 58.31007 65.310077 71.52608 76.18808 82.40408 85.90408 91.35008 98.35008 103.012088 106.90408 117.012088 123.22809 127.89009 134.1061 137.6061 143.0521 150.0521 157.0521 164.0521 167.94409 174.94409 178.44409 182.33609 189.33609 193.22809 197.12009 201.01209 207.22809 211.12009 217.33609 220.83609 224.72809 231.72809 237.94409 241.44409 246.89009 250.78209 256.99809 261.66007 265.55207 269.05207 276.05207 280.71406 284.21406 290.43006 293.93006 304.03807 316.48408 326.59208 330.09208 333.98408 338.64607 344.86207 351.86207 357.30809 361.97007 368.18608 372.84806 376.34806 379.84806 386.06407 393.06407 396.56407 402.27607 408.49208 412.38407 422.49208 428.70808 435.70808 441.15409 444.65409 450.8701 457.8701 464.0861 471.0861 474.9781 481.1941 488.1941">In cases where software should initiate the start of a DMA transfer, an "always enabled"</tspan><tspan y="215.45" x=".00005866455 10.10806 22.554062 32.662065 36.162065 41.608064 48.608064 55.608064 60.27006 66.48606 72.702068 76.202068 82.41807 88.63407 95.63407 99.13407 106.13407 112.350078 115.850078 122.850078 128.29608 134.51209 141.51209 145.01209 148.90409 155.90409 159.40409 166.40409 171.06609 178.06609 185.06609 188.95809 195.95809 202.17409 205.67409 216.56609 222.78209 229.78209 233.67409 244.56609 251.56609 262.4581 265.9581 270.6201 274.5121 280.7281 287.7281 291.6201 298.6201 302.5121 306.40409 310.29609 314.18809 321.18809 324.68809 328.18809 341.40409 348.40409 354.6201 361.6201 365.1201 371.3361 377.5521 381.4441 385.3361 392.3361 398.5521 402.4441 406.3361 413.3361 420.3361 423.8361 430.0521 433.5521 443.6601 456.1061">DMA source can be used to provide maximum flexibility. When activating a DMA</tspan><tspan y="231.45" x=".00005866455 6.216059 13.216059 19.43206 26.43206 33.43206 39.64806 43.540063 47.040063 54.040063 57.932065 64.14806 67.64806 73.09406 80.09406 84.756069 88.64806 98.756069 104.97207 109.63407 115.850078 119.350078 122.850078 128.29608 135.29608 142.29608 147.74208 153.95809 160.95809 167.95809 174.17409 181.17409 185.06609 188.56609 194.78209 201.78209 207.9981 214.2141 221.2141 225.1061 228.9981 235.9981 242.9981 248.44409 251.94409 258.9441 263.60609 267.10609 270.99809 277.99809 284.21409 287.71409 298.60609 302.49809 309.49809 316.49809 321.16007 324.66007 328.55207 335.55207 342.55207 349.55207 353.05207 357.71406 363.93006 370.93006 377.93006 381.82206 386.48405 392.70005 396.20005 402.41606 405.91606 412.91606 419.13206 429.24006 432.74006 438.45207 443.89808 447.79008 454.00608 458.66807 462.56007 468.27207 471.77207 477.98808 484.98808 491.20408 498.20408">channel via software, subsequent executions of the minor loop require a new "start" event</tspan><tspan y="247.45" x=".00010866455 7.0001089 13.216109 16.71611 22.162112 28.378113 35.378114 39.270116 42.770116 46.270116 54.824117 61.824117 65.71612 71.16212 74.66212 80.87812 87.094127 94.094127 97.594127 103.81013 107.702129 111.594127 118.594127 124.81013 129.47212 132.97212 139.97212 146.18813 149.68813 155.90413 159.40413 166.40413 172.62014 182.72814 186.22814 191.67414 198.67414 203.33614 207.22814 217.33614 223.55214 228.21414 234.43015 237.93015 244.14615 250.36215 254.25415 258.14616 265.14616 271.36216 275.25416 279.14616 286.14616 293.14616 296.64616 300.14616 307.14616 311.80815 315.30815 321.52415 325.02415 328.91615 333.57814 339.79414 346.79414 352.24015 356.90214 363.11814 367.78013 371.28013 375.9421 382.1581 389.1581 396.1581 402.3741 407.82014 411.71214 415.21214 419.8741 424.5361 431.5361 442.4281 445.9281 449.8201 456.8201 463.0361 466.5361 476.6441 489.09013">be sent. This can either be a new software activation, or a transfer request from the DMA</tspan><tspan y="263.44999" x=".00010866455 6.2161095 13.216109 19.43211 26.43211 33.43211 39.64811 43.54011 47.04011 59.486116 69.59412 79.70212 83.20212 86.70212 95.25612 102.25612 108.47212 111.97212 118.97212 125.97212 129.86412 133.75612 140.75612 147.75612 153.20212 156.70212 161.36412 168.36412 173.02613 176.52613 183.52613 190.52613 194.41812 201.41812 208.41812 211.91812 215.81012 222.81012 226.70212 232.14812 235.64812 241.86412 246.52613 252.74213">channel MUX. The options for doing this are:</tspan><tspan y="287.84999" x="13.104129 23.99613 32.55013 37.212129 43.428129 50.428129 55.874128 60.536127 66.75213 71.41413 74.91413 81.130138 85.02213 88.91413 92.41413 99.41413 105.630138 109.52213 115.73814 119.23814 123.130138 130.13013 133.63013 139.84613 143.34613 148.79213 152.68413 159.68413 166.68413 170.57613 176.79213 180.29213 191.18413 195.07613 202.07613 209.07613 213.73813 217.23813 221.13013 228.13013 235.13013 242.13013 245.63013 249.13013 258.46815 265.46815 268.96815 275.18415 282.18415 289.18415 293.84614 297.73814 304.73814 311.73814 316.40013 320.2921 327.2921 334.2921 337.7921 341.6841 348.6841 354.90013 358.40013 368.50813 380.95414 391.06214 394.56214 398.45414 405.45414 408.95414 412.84614 417.50813 423.72413 430.72413 436.17015 440.83213 447.04814 451.7101 455.2101 461.42613 465.3181 469.2101 472.7101 479.7101">&#x2022;Transfer all data in a single minor loop. By configuring the DMA to transfer all of</tspan><tspan y="303.84999" x="23.99617 27.88817 34.88817 41.104169 44.604169 51.604169 57.820169 61.71217 67.92817 71.42817 75.32017 82.32017 85.82017 92.03617 95.53617 100.98217 104.87417 111.87417 118.87417 122.76617 128.98217 132.48217 143.37416 147.26616 154.26616 161.26616 165.92816 169.42816 173.32016 180.32016 187.32016 194.32016 197.82016 202.48217 206.37416 213.37416 219.59017 223.48217 226.98217 230.87416 236.32016 239.82016 250.71216 256.92817 260.82017 267.82017 272.48216 275.98216 279.87416 286.87416 293.87416 300.87416 304.37416 310.59016 317.59016 324.59016 331.59016 335.48216 341.69816 346.36015 349.86015 357.75614 361.25614 368.25614 372.91813 376.41813 379.91813 386.91813 393.91813 397.41813 402.0801 408.2961 414.51213 420.72813 424.62013 428.51213 435.51213 441.72813 445.62013 449.51213 456.51213 463.51213 467.01213 474.01213 478.6741 482.1741 486.0661 493.0661">the data in a single minor loop (that is major loop counter = 1), no reactivation of the</tspan><tspan y="319.84999" x="23.99623 30.21223 37.21223 43.42823 50.42823 57.42823 63.64423 67.53623 71.03623 74.92823 80.37423 83.87423 90.87423 97.09023 103.30624 109.52224 114.96824 120.41424 126.63024 131.29224 138.29224 141.79224 145.29224 153.84624 160.84624 167.06224 170.56224 177.56224 181.45424 186.90024 193.11624 200.11624 207.11624 213.33225 220.33225 224.22425 230.44025 237.44025 243.65625 247.15625 251.04825 258.04826 261.54826 265.44026 272.44026 276.33226 281.77827 285.27827 292.27827 299.27827 303.17027 307.06227 314.06227 321.06227 324.56227 328.45426 333.90028 337.40028 341.29228 348.29228 354.50828 358.00828 362.67027 368.88627 375.88627 382.88627 389.10227 395.31828 402.31828 405.81828 412.81828 417.48027 423.69627 430.69627 437.69627 441.58827 447.80427 452.46626 456.35826 460.25025 467.25025 470.75025 474.64225">channel is necessary. The disadvantage to this option is the reduced granularity in</tspan><tspan y="335.84999" x="23.99623 30.99623 37.21223 41.104234 47.320234 51.98223 62.874235 66.766239 73.766239 77.65823 84.65823 91.65823 95.15823 99.05023 106.05023 112.266239 115.766239 119.65823 126.65823 132.87424 139.87424 143.37424 147.26624 154.26624 160.48224 164.37424 167.87424 171.76624 178.76624 184.98224 188.48224 198.59024 211.03624 221.14424 224.64424 228.53624 233.19824 239.41425 246.41425 251.86025 256.52226 262.73826 267.40025 270.90025 281.00825 284.90025 288.79225 292.68424 296.18424 300.07624 307.07624 313.29225 320.29225 324.95423 328.45423 335.45423 342.45423 345.95423 349.84623 356.84623 363.06224 366.56224 372.00825 379.00825 384.45426 388.34626 394.56227 405.45426 408.95426 412.45426 420.23826 427.23826 431.90025 435.40025 439.29225 446.29225 450.18424 455.63026 459.13026 466.13026 473.13026 477.02226 480.91426 487.91426 494.91426">determining the load that the DMA transfer will incur on the system. For this option,</tspan><tspan y="351.84999" x="23.99623 27.88823 34.88823 41.10423 44.60423 54.71223 67.15823 77.266239 80.766239 86.98224 93.98224 100.19824 107.19824 114.19824 120.414249 124.306247 127.806247 138.69824 145.69824 151.14424 155.03624 158.53624 165.53624 171.75225 175.25225 182.25225 186.14424 191.59024 197.80625 204.80625 208.69824 214.91425 221.91425 225.41425 229.30625 236.30625 239.80625 243.69824 250.69824 256.91426 260.41426 270.52226 282.96827 293.07627 296.57627 302.79228 309.79228 316.00828 323.00828 330.00828 336.22428 340.11628 343.61628 356.0623 366.1703 376.2783">the DMA channel must be disabled in the DMA channel MUX.</tspan><tspan y="376.24998" x="13.104239 23.99624 34.10424 39.55024 45.76624 49.26624 55.48224 62.48224 69.48224 73.37424 77.266239 83.48224 87.37424 91.266239 94.766239 100.212238 107.212238 111.87424 115.766239 125.87424 132.09024 136.75225 142.96825 146.46825 151.13025 157.34626 163.56226 169.77826 173.67026 177.56226 184.56226 190.77826 194.67026 198.56226 205.56226 212.56226 216.06226 219.56226 224.22426 231.22426 234.72426 238.61626 245.61626 249.50826 254.95426 258.45426 265.45426 272.45426 276.34626 280.23826 287.23826 294.23826 297.73826 301.23826 305.13026 312.13026 318.34626 321.84626 331.95426 344.40028 354.50828 358.00828 361.90028 367.34629 370.84629 377.0623 384.0623 391.0623 395.72428 399.61628 406.61628 413.61628 418.27827 424.49427 431.49427 434.99427 438.88627 445.88627 449.38627 453.27827 457.94026 464.15626 471.15626 476.60227 481.26426 487.48027">&#x2022;Use explicit software reactivation. In this option, the DMA is configured to transfer</tspan><tspan y="392.24998" x="23.99628 27.88828 34.888284 41.104284 44.604284 51.604284 57.820283 61.712285 67.92828 71.42828 78.42828 83.87428 87.76628 94.76628 101.76628 105.26628 112.26628 119.26628 123.15828 130.15828 133.65828 144.55028 148.44228 155.44228 162.44228 167.10428 170.60428 176.82028 183.82028 190.82028 194.32028 205.21228 211.42829 215.32028 222.32028 226.98229 230.48229 234.37429 241.37429 248.37429 255.37429 260.82029 264.32029 267.82029 274.82029 281.82029 285.71229 289.21229 293.10429 300.10429 306.32029 309.82029 316.82029 321.48228 328.48228 334.69828 340.91429 346.3603 351.8063 358.8063 363.4683 366.9683 370.8603 376.3063 379.8063 384.4683 390.6843 397.6843 404.6843 408.5763 413.23829 419.45429 426.45429 429.95429 433.84629 440.84629 444.34629 449.00828 455.22428 461.44029 467.65629 471.54829 475.44029 482.44029 488.65629 492.54829">the data using both minor and major loops, but the processor is required to reactivate</tspan><tspan y="408.24998" x="23.99628 27.88828 34.888284 41.104284 44.604284 50.820283 57.820283 64.036289 71.036289 78.036289 84.25229 88.14429 91.64429 98.64429 105.64429 109.14429 119.25229 123.91429 127.80629 131.69829 135.59029 142.59029 149.59029 153.09029 156.98229 163.98229 167.48229 171.37429 178.37429 184.59029 188.09029 198.19829 210.64429 220.75229 224.25229 228.91429 235.1303 242.1303 246.0223 251.46829 255.36029 261.5763 266.23829 271.6843">the channel by writing to the DMA registers </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="408.24998" x="275.18428 282.18428 286.07627 289.96827 296.18428 301.63029 305.13029 311.34629 317.5623 323.7783 329.2243 335.4403 338.9403 349.0483 352.9403 359.9403 366.9403 372.38633 375.88633 379.77833 386.77833 393.77833">after every minor loop</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="408.24998" x="400.77827 404.27827 407.77827 415.56227 422.56227 427.22425 430.72425 434.61625 441.61625 445.50825 450.95426 454.45426 461.45426 468.45426 472.34626 476.23826 483.23826 490.23826">. For this option,</tspan><tspan y="424.24998" x="23.996277 27.888278 34.888277 41.104276 44.604276 54.712278 67.15828 77.26628 80.76628 86.982288 93.982288 100.19829 107.19829 114.19829 120.41429 124.30629 127.80629 138.69829 145.69829 151.14429 155.03629 158.53629 165.53629 171.75229 175.25229 182.25229 186.14429 191.59029 197.80629 204.80629 208.69829 214.91429 221.91429 225.41429 229.30629 236.30629 239.80629 243.69829 250.69829 256.91429 260.41429 270.52229 282.9683 293.0763 296.5763 302.7923 309.7923 316.0083 323.0083 330.0083 336.2243 340.1163 343.6163 356.06233 366.17033 376.27833">the DMA channel must be disabled in the DMA channel MUX.</tspan><tspan y="448.64997" x="13.104297 23.996298 34.104299 39.550298 45.766298 49.266298 55.482297 62.482297 65.9823 71.6943 77.9103 81.8023 91.9103 98.126308 105.126308 110.5723 114.0723 120.28831 127.28831 133.5043 140.5043 144.3963 150.6123 157.6123 163.32431 166.82431 176.93231 189.37831 199.48632 202.98632 208.43231 215.43231 222.43231 227.09432 233.31032 239.52632 243.02632 246.52632 251.18833 258.18833 261.68833 265.58033 272.58033 276.47233 281.91835 285.41835 292.41835 299.41835 303.31034 307.20234 314.20234 321.20234 324.70234 328.20234 332.09434 339.09434 345.31034 348.81034 358.91835 371.36436 381.47236 384.97236 388.86436 394.31037 397.81037 404.02638 411.02638 418.02638 422.68836 426.58036 433.58036 440.58036 445.24235 451.45835 458.45835 461.95835 465.85035">&#x2022;Use an "always enabled" DMA source. In this option, the DMA is configured to</tspan><tspan y="464.64997" x="23.996338 27.888339 32.55034 38.76634 45.76634 51.212339 55.874338 62.090337 66.752338 70.252338 74.14433 81.14433 87.36034 90.86034 97.86034 104.07634 107.96834 114.18434 117.68434 124.68434 130.13034 134.02234 141.02234 148.02234 151.52234 158.52234 165.52234 169.41434 176.41434 179.91434 190.80634 194.69834 201.69834 208.69834 213.36034 216.86034 223.07634 230.07634 237.07634 240.57634 251.46834 257.68434 261.57633 268.57633 273.2383 276.7383 280.6303 287.6303 294.6303 301.6303 307.07633 310.57633 314.07633 320.29234 327.29234 334.29234 337.79234 341.68434 348.68434 354.90034 358.40034 368.50834 380.95436 391.06236 394.56236 400.77836 407.77836 413.99436 420.99436 427.99436 434.21037 438.10237 441.60237 454.04838 464.15638 474.26438 477.76438 484.76438 491.76438 497.98039">transfer the data using both minor and major loops, and the DMA channel MUX does</tspan><tspan y="480.64997" x="23.996338 27.888339 34.888338 41.104337 44.604337 50.820337 57.820337 64.03634 71.03634 78.03634 84.25234 88.14434 91.64434 96.30634 102.52235 107.18435 113.40035 119.616359 123.508358 127.40035 134.40036 140.61637 144.50836 148.40036 155.40036 162.40036 165.90036 169.40036 177.18436 184.18436 188.84636 192.34636 196.23836 203.23836 207.13036 212.57636 216.07636 223.07636 230.07636 233.96836 237.86035 244.86035 251.86035 255.36035 258.86036 262.75236 269.75236 275.96836 279.46836 289.57637 302.02238 312.13038 315.63038 321.84638 328.84638 335.06239 342.06239 349.06239 355.27839 359.17039 362.67039 368.1164 375.1164 382.1164 389.1164 393.0084 400.0084 403.5084 410.5084 416.7244 420.2244 426.4404 433.4404 439.6564 446.6564 450.5484 456.7644 463.7644 467.2644 473.4804 480.4804">the channel re-activation. For this option, the DMA channel should be enabled and</tspan><tspan y="496.64997" x="23.996338 30.996338 37.996339 41.88834 48.88834 52.780344 56.672346 63.672346 70.67235 74.17235 78.06435 85.06435 88.56435 94.78035 101.78035 105.28035 110.99235 117.20835 121.10035 131.20835 137.42435 144.42435 149.87035 153.37035 159.58635 166.58635 172.80236 179.80236 183.69435 189.91036 196.91036 202.62236 206.12236 211.56836 218.56836 225.56836 230.23036 236.44637 242.66237 246.16237 249.66237 259.77037 266.77037 270.66236 276.87837 280.37837 284.27037 291.27037 297.48637 301.37837 304.87837 308.77037 315.77037 321.98637 325.48637 330.14836 336.36436 342.58036 348.79637 352.68836 356.58036 363.58036 369.79637 373.68836 377.58036 384.58036 391.58036 395.08036 402.08036 406.74235 410.24235 414.13435 421.13435 427.35035 430.85035 437.06636 444.06636 450.28236 457.28236 464.28236 470.49836 474.39036 477.89036 484.10636 490.32237">pointing to an "always enabled" source. Note that the reactivation of the channel can</tspan><tspan y="512.64999" x="23.996338 30.996338 37.212339 40.712339 46.928339 53.928339 60.928339 64.820339 68.71233 75.71233 82.71233 89.71233 96.71233 102.15833 105.65833 110.320339 120.42834 132.87435 142.98235 146.48235 150.37435 155.03635 158.92835 165.92835 172.92835 179.14435 183.80635 187.69835 194.69835 201.69835 205.19835 209.09035 214.53635 218.03635 225.03635 228.92835 234.37435 240.59035 247.59035 251.48235 257.69834 264.69834 269.36033 272.86033 279.86033 284.5223 288.0223 294.2383 300.4543 307.4543 310.9543 317.9543 323.40034 329.61634 333.11634 337.00834 344.00834 350.22434 353.72434 363.83235 376.27836 386.38636 389.88636 393.77836 398.44035 402.33235 409.33235 416.33235 422.54835 427.21034 431.10234 438.10234">be continuous (DMA triggering is disabled) or can use the DMA triggering</tspan><tspan y="528.6499" x="23.996338 30.212338 36.428339 43.428339 49.644338 56.644338 60.53634 64.42834 68.320339 72.21233 79.21233 82.71233 86.21233 90.87434 97.87434 101.37434 105.266338 112.266338 116.15833 121.60433 125.10433 135.99634 142.21234 149.21234 156.21234 162.42835 167.09035 170.59035 174.09035 177.98235 181.87435 185.37435 189.26634 194.71234 198.21234 205.21234 212.21234 217.65834 223.10434 226.99634 233.99634 237.88834 244.10434 247.60434 251.49634 258.49635 261.99635 268.21235 275.21235 281.42835 287.64436 294.64436 298.53636 304.75236 308.25236 315.25236 321.46836 326.13035 330.02235 337.02235 344.02235 347.91435 354.13035 357.63035 361.52235 366.18434 372.40034 379.40034 384.84635 389.50834 395.72434 400.38633 405.83235 409.33235 416.33235 420.99433 424.49433 431.49433 437.71034 443.92634 450.92634 457.14234 461.03434 466.48036 469.98036 476.98036">capability. In this manner, it is possible to execute periodic transfers of packets of</tspan><tspan y="544.6499" x="23.996338 30.996338 37.212339 41.10434 47.32034 50.82034 55.482339 60.144338 67.14433 78.03633 81.53633 88.53633 95.53633 101.752338 105.252338 110.69833 117.69833 124.69833 129.36034 135.57634 141.79235 145.29235 149.18434 156.18434 159.68434 165.90035 172.90035 179.90035 183.79235 190.79235 197.00835 201.67035 205.17035 208.67035 218.77835 222.67035 226.56235 233.56235 240.56235 247.56235 251.45435 254.95435 261.95436 266.61634 273.61634 279.83235 286.04835 291.49436 296.94038 303.94038 308.60237 312.10237 315.99436 322.99436 326.88636 333.10237 337.76435 344.76435 350.98036 357.98036 361.87236 365.76435 372.76435 379.76435">data from one source to another, without processor intervention.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 654.99996)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00063 9.45137 18.90337 23.62937">21.5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 654.99996)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00063 4.7253706 15.1123709 19.838372 25.49937 30.22537 39.677373 44.403375 49.129377 57.629377 67.081378 72.74238 77.468379 87.85538 98.24238 102.968379 112.42038 122.80738 133.19438 137.92038 142.64638 152.09838 161.55037 167.21137 171.93737 182.32436 192.71135 197.43735 202.16335 212.55034 218.21134 228.59833 235.21134 250.32434 259.77635 265.43736 270.16337 280.55036">Initialization/application information</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="638.24996" x=".00336 8.55736 15.55736 19.44936 24.89536 28.39536 33.841363 40.05736 46.27336 50.165365 54.057367 61.057367 68.057369 71.557369 78.557369 83.21937 90.21937 97.21937 101.11137 108.11137 114.32737 119.77337 123.27337 127.16537 134.16538 139.61138 143.50337 148.16538 155.16538 161.38138 165.27338 169.16538 176.16538 183.16538 188.61138 192.11138 196.77338 203.77338 208.43538 211.93538 215.82738 222.82738 226.71938 230.61138 234.50337 240.71938 244.61138 248.50337 254.71938 258.6114 265.6114 272.6114 276.1114 280.0034 287.0034 293.2194 296.7194 306.8274 319.2734 329.3814 332.8814 339.0974 346.0974 352.31343 359.31343 366.31343 372.52943 376.42143 379.92143 392.36744 402.47544 412.58345">This section provides instructions for initializing the DMA channel MUX.</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 2.5020004 8.001 10.503 13.5 16.002 21.006 23.508002 26.010003 30.510003 35.514005 38.511007 41.013006 46.512006 52.011007 54.513006 59.517007 65.01601 70.51501 73.017009 75.519008 80.523 85.527 88.524 91.026 96.525 102.024 104.526 107.028 112.527 115.524 121.023 124.524 132.52501 137.529 140.526 143.028 148.527">Initialization/application information</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="130.006 137.226 142.786 148.346 151.12599 157.79599 163.90599 170.01599 173.346 179.456 185.01599 193.90599 196.68599 199.46599 205.02599 207.80599 215.02599 220.58599 223.91599 229.47599 233.36598 238.92598 245.03598 250.59598 256.15599 258.93598 267.26597 272.82597 278.93595 285.04594 290.60594 293.38594 296.16593 298.94593 306.16593 311.72593 317.28593 320.06593 322.84593 328.4059 331.1859 336.7459 342.8559 348.96589 351.74589 357.30589 362.86589 368.42588">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="0 5.0040009 10.008001">450</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="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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