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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_451.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

121 lines
38 KiB (Stored with Git LFS)
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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">21.5.1</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 29.344002 38.24">Reset</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="0 8.554 15.554 21.77 25.27 29.932002 36.148004 41.594 47.81 51.702005 55.202005 60.648004 64.54 70.756008 74.648 80.864009 84.364009 91.364009 96.02601 99.52601 105.74201 111.958019 118.17402 125.17402 128.67401 132.56601 139.56601 146.56601 150.45801 157.45801 161.35 168.35 175.35 181.56601 185.45801 188.95801 195.95801 199.85 203.742 207.242 211.134 216.58 220.08 225.526 232.526 239.526 249.634 256.634 260.134 264.026 271.026">The reset state of each individual bit is shown in </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="66.25" x="274.526 286.97203 293.18803 304.08003 311.08003 315.742 322.742 326.242 337.134 343.35 350.35 354.242 358.904 365.12 372.12 376.012 381.458 385.35 391.566 396.228 399.728 406.728 412.944 417.606 421.498 428.498 432.38999 436.28199 440.17399 447.17399">Memory map/register definition</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="454.174 457.674 461.174 465.836">. In</tspan><tspan y="82.25" x="0 5.4460008 12.446001 23.338002 34.230005 40.446004 45.108 52.108 55.608 59.108 65.324008 69.98601 73.878009 80.09401 84.75601 88.25601 92.918018 99.13402 104.58002 110.79602 114.68802 118.18802 121.68802 127.90402 131.79602 135.68802 139.18802 145.40402 152.40402 158.62003 165.62003 172.62003 178.83603 182.72803 188.17403 191.67403 197.89003 202.55204 208.76804 212.26804 219.26804 223.16004 228.60604 234.82204 241.82204 245.71404 251.93004 258.93006 262.43006 268.64607 275.64607 282.64607 286.14607 297.03807 304.03807 309.48408 313.37608 316.87608 323.87608 330.09208 333.59208 339.80809 346.80809 353.80809 357.70008 361.59208 367.80809 371.70008 375.59208 379.48408 386.48408 389.98408 396.20008 403.20008 409.41609 416.41609 420.30809 426.52409 433.52409 437.02409 444.02409 450.24009 454.90208 461.90208 466.56407 472.78007 476.28007 483.28007 488.72608 494.94209">summary, after reset, all channels are disabled and must be explicitly enabled before use.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 177.8)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.006 8.890001 17.786004 22.234004 31.130005 35.578008">21.5.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 177.8)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.006 10.666001 20.442002 29.338002 39.114004 43.562005 48.010007 57.786008 67.562007 72.01 80.906009 90.68201 100.45801 104.906009 113.80201 123.57801 133.354 138.682 143.13 152.906 162.682 168.906 173.354 183.13 192.906 197.354 206.25 216.026 225.802 232.026 240.922 249.818">Enabling and configuring sources</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="161.05" x="-.00602 8.54798 15.54798 19.047982 25.26398 32.26398 38.47998 45.47998 49.371984 55.587984 59.087984 65.303989 68.803989 74.249988 81.249988 88.249988 92.91199 99.12799 105.343997 108.843997 118.951999 122.843997 126.73599 133.736 137.236 144.236 150.452 155.114 159.006 166.006 173.006 176.898 183.114 186.614 190.506 195.168 199.06 206.06 213.06 219.276 223.938 227.83 234.83 241.83">To enable a source with periodic triggering:</tspan><tspan y="185.45" x="7.498 14.498 24.004002 34.112005 40.328004 44.220006 50.436006 55.098005 65.990009 69.882 76.882 83.09801 86.59801 96.70601 100.59801 104.490009 111.490009 114.990009 125.09801 132.098 135.99 142.20601 149.20601 152.70601 162.81401 175.26001 185.36801 188.86801 195.08402 202.08402 208.30002 215.30002 222.30002 228.51602 232.40802 235.90802 239.80002 246.80002 253.01602 256.51603 261.96205 268.96205 275.96205 280.62403 286.84004 293.05604 296.55604 306.66404 310.55604 314.44804 318.34004 321.84004 328.84004 335.05604 338.55604 344.77204 350.21806 355.66407 362.66407 368.88008 372.77207 378.98808 382.88008 389.09608 396.09608 399.59608 403.09608 413.20408 420.20408 424.09608 430.31208 433.81208 437.70408 444.70408 450.92008 454.81208 458.31208 465.31208 472.31208 476.20408 483.20408 486.70408 490.59608 497.59608">1.Determine with which DMA channel the source will be associated. Note that only the</tspan><tspan y="201.45" x="24.00404 28.66604 32.55804 37.22004 42.66604 46.55804 50.05804 57.05804 60.55804 70.66604 83.11204 93.22004 96.72004 102.93604 109.93604 116.15205 123.15205 130.15204 136.36804 140.26004 145.70604 149.20604 156.20604 162.42205 169.42205 175.63805 179.13805 186.13805 192.35405 197.01605 200.90805 207.90805 214.90805 218.80005 225.01605 228.51605 232.40805 237.07006 240.96205 247.96205 254.96205 261.17805 265.84004 269.73204 276.73204 283.73204 287.23204 293.44804 299.66404 306.66404 312.88005 319.88005 323.77204 327.66404 331.55604 335.44804 342.44804">first 4 DMA channels have periodic triggering capability.</tspan><tspan y="217.45" x="7.4980509 14.498051 24.004052 33.342054 37.234056 43.450056 49.666055 54.328054 57.828054 61.720056 68.720058 74.93606 78.43606 87.77406 97.882068 107.22006 115.00407 125.11207 129.77407 138.32807 148.43607 157.77407 166.32807 170.99007 174.49007 180.70607 187.70607 194.70607 198.20607 207.54407 217.65207 226.99007 234.77407 244.88207 249.54407 258.09806 267.43608 272.09806 282.20606 286.86805 290.36805 297.36805 301.26005 305.15205 310.59806 314.09806 321.09806 325.76005 329.26005 333.15205 340.15205 346.36805 349.86805 359.97605 372.42207 382.53007 386.03007 392.24607 399.24607 405.46208 412.46208 419.46208 425.67808 429.57008">2.Clear the CHCFG[ENBL] and CHCFG[TRIG] bits of the DMA channel.</tspan><tspan y="233.45" x="7.4980809 14.498081 24.004082 32.558084 39.558084 45.00408 52.00408 56.66608 62.88208 66.38208 70.27408 77.27408 83.49008 87.38208 90.88208 94.77408 101.77408 107.99008 111.49008 121.59808 134.04409 144.15209 147.65209 153.86809 160.86809 167.08409 174.08409 181.08409 187.3001 191.1921 194.6921 198.58409 204.03009 207.53009 214.53009 219.1921 226.1921 233.1921 239.4081 244.0701 247.9621 254.9621 258.4621 264.6781 271.6781 278.6781 283.3401 287.2321 294.2321 301.2321 305.89408 312.11009 319.11009 322.61009 326.50209 333.50209 337.00209 340.89408 347.89408 354.11009 357.61009 367.71809 380.1641 390.2721 393.7721 397.2721 405.82609 412.82609 419.04209 422.54209 432.6501 445.0961 455.2041 458.7041 464.9201 471.9201 478.1361 485.1361 492.1361 498.3521">3.Ensure that the DMA channel is properly configured in the DMA. The DMA channel</tspan><tspan y="249.45" x="24.0041 34.896104 41.112104 48.112104 51.612104 58.612104 64.8281 68.3281 74.544109 81.544109 87.76011 94.76011 98.65211 104.86811 111.86811 115.36811 121.584117 125.47611 128.9761 132.8681 139.8681 143.7601 149.2061 152.7061 159.7061 166.7061 170.5981 177.5981 181.4901">may be enabled at this point.</tspan><tspan y="265.44999" x="7.4981005 14.4981 24.0041 33.342103 40.342103 47.342103 52.0041 55.896104 62.896104 69.8961 74.558109 80.77411 84.27411 88.16611 95.16611 101.38211 104.88211 111.098117 118.098117 122.76012 127.42212 133.63813 139.08412 146.08412 153.08412 160.08412 167.08412 170.97612 177.97612 184.97612 188.47612 192.36812 196.26012 207.15212 213.36812 218.03012">4.Configure the corresponding timer.</tspan><tspan y="281.44999" x="7.4981105 14.49811 24.00411 31.78811 38.004114 41.896116 48.112115 54.328115 58.220117 61.720117 65.612117 72.612117 78.82812 82.32812 87.77412 94.77412 101.77412 106.43612 112.65212 118.868129 122.368129 126.260128 133.26013 136.76013 143.76013 149.97614 153.47614 158.13814 165.13814 172.13814 176.03014 182.24614 189.24614 192.74614 196.63814 203.63814 207.13814 211.03014 218.03014 224.24614 227.74614 237.85414 250.30014 260.40815 263.90815 270.12416 277.12416 283.34016 290.34016 297.34016 303.55616 307.44816 310.94816 314.44816 327.66416 332.32615 336.21815 340.11015 346.32615 349.82615 353.71815 360.71815 364.21815 368.11015 375.11015 381.32615 384.82615 391.04216 398.04216 402.70414 407.36613 413.58213 419.02815 426.02815 433.02815 440.02815 447.02815 450.92015 457.92015">5.Select the source to be routed to the DMA channel. Write to the corresponding</tspan><tspan y="297.44999" x="24.00413 33.342134 43.450136 52.788137 60.572137 70.68014 74.18014 78.84214 85.05814 92.05814 95.95014 101.39614 105.28814 111.50414 116.166149 119.666149 123.166149 129.38214 136.38214 141.82814 148.82814 153.49015 157.38214 164.38214 171.38214 174.88214 178.77414 185.77414 191.99015 195.88214 199.38214 203.27414 210.27414 216.49015 219.99015 229.32814 239.43614 248.77414 256.55815 266.66615 271.32814 279.8821 289.9901 299.32814 307.8821 312.5441 316.0441 322.2601 329.2601 336.2601 339.7601 349.0981 359.20613 368.54414 376.32814 386.43614 391.0981 399.6521 408.9901 413.6521 423.7601 428.4221 431.9221 438.9221 442.8141 446.7061 452.1521 455.6521 461.8681 466.5301 472.7461 476.2461 481.6921 487.9081 491.8001">CHCFG register, ensuring that the CHCFG[ENBL] and CHCFG[TRIG] bits are set.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="323.2367" x="232.5481 242.6561 253.5481 262.10209">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="339.44999" x="71.99608 80.55008 87.55008 93.76608 97.26608 101.928089 108.928089 112.82008 116.71208 123.71208 133.82009 137.71208 144.71208 151.71208 155.21208 159.10408 164.55008 168.05008 174.26609 181.26609 184.76609 190.98209 197.98209 204.19809 215.09009 222.09009 225.98209 232.19809 235.69809 239.19809 246.98209 253.19809 259.4141 262.9141 272.2521 279.2521 283.1441 290.1441 293.6441 299.8601 306.8601 313.8601 318.5221 322.4141 329.4141 336.4141 341.07609 347.29209 351.18409 355.07609 362.07609 369.07609 372.57609 378.0221 384.2381 390.4541 394.3461 398.2381 405.2381">The following is an example. See Chip configuration section</tspan><tspan y="355.44999" x="71.99608 76.65808 83.65808 88.32008 91.82008 95.71208 102.71208 108.928089 112.428089 119.428089 126.428089 137.32009 144.32009 150.53609 155.19809 158.69809 165.69809 170.36009 173.86009 177.75209 184.75209 188.64409 194.09009 197.59009 204.59009 210.80609 217.80609 221.69809 227.9141 234.1301 236.6501 242.0961 245.5961 255.7041 268.15013 278.25813 281.75813 287.97413 294.97413 301.19013 308.19013 315.19013 321.40614 325.29814 330.74415 334.24415 338.13615 345.13615 351.35215 355.24415 358.74415 365.74415 371.96015 378.96015">for the number of this device's DMA channels that have</tspan><tspan y="371.44999" x="71.99608 75.88808 80.55008 84.44208 91.44208 98.44208 104.65808 109.32008 113.21208 120.21208 127.21208 130.71208 136.92809 143.14409 150.14409 156.36009 163.36009 167.25209 171.14409 175.03609 178.92809 185.92809">triggering capability.</tspan><tspan y="395.84999" x="-.0059051516 8.548095 15.548095 19.048096 25.264096 32.264097 39.264097 43.926095 47.818098 54.818098 61.818098 66.480098 72.6961 76.1961 81.6421 88.6421 95.6421 100.3041 106.5201 112.73611 116.23611 123.23611 130.23612 133.73612 137.62812 142.29012 148.50612 155.50612 160.95212 171.84412 175.73612 179.62812 183.12812 187.79012 194.79012 199.45212 202.95212 209.95212 215.39812 221.61412 225.11412 235.22212 239.11412 243.00612 250.00612 253.50612 263.6141 276.06013 286.16813 289.66813 295.88414 302.88414 309.10014 316.10014 323.10014 329.31614 333.20814 336.70814 343.70814 347.20814 350.70814 360.81614 364.70814 368.60014 375.60014 379.10014 386.10014 392.31614 396.97813 400.87013 407.87013 414.87013 418.76213 424.97813 428.47813 432.37013 437.0321 440.9241 447.9241 454.9241 461.1401 465.8021 469.6941 476.6941">To configure source #5 transmit for use with DMA channel 2, with periodic triggering</tspan><tspan y="411.84999" x="-.0058651517 6.2101356 12.426136 19.426136 25.642136 32.642137 36.534139 40.42614 44.318143 48.210145 55.210145">capability:</tspan><tspan y="427.84999" x="7.498135 14.498135 24.004136 37.220136 41.882135 45.774137 49.666139 55.882139 59.382139 66.38214 73.38214 80.38214 87.38214 90.88214 94.77414 101.77414 105.27414 114.61214 124.72014 134.05814 141.84214 151.95014 158.95014 162.45014 167.11214 174.11214 180.32814 185.77414 191.99015 195.49015 201.70615 208.70615 215.70615 220.36815 226.58415 232.03015 237.47615 240.97615 248.87215 252.37215 259.37214 266.37214 273.37214 280.37214 285.03413">1.Write 0x00 to CHCFG2 (base address + 0x02).</tspan><tspan y="443.84999" x="7.498155 14.498156 24.004157 33.342157 40.342157 47.342157 52.004156 55.896158 62.896158 69.89616 74.55816 80.77416 84.27416 90.490169 97.490169 103.70617 110.70617 117.70617 123.92217 127.81417 131.31418 138.31418 141.81418 145.70618 152.70618 156.20618 160.09818 167.09818 173.31418 176.81418 186.92218 199.36818 209.47618 212.97618 216.47618 220.36818 227.36818 233.58419 237.47618 244.47618 251.47618 255.36818 262.36817 269.36817 272.86817 279.08418 286.08418 292.30018 299.30018 303.19218 307.08418 314.08418 321.08418 324.58418 328.47618 335.47618 341.69218 345.19218 351.40818 358.40818 364.62419 371.62419 378.62419 384.84019 388.73219">2.Configure channel 2 in the DMA, including enabling the channel.</tspan><tspan y="459.84999" x="7.498185 14.498185 24.004185 33.342187 40.342187 47.342187 52.004186 55.896188 62.896188 69.89619 74.55819 80.77419 84.27419 90.4902 93.9902 97.882198 101.77419 112.66619 118.882198 123.5442 127.0442 131.70619 138.70619 143.3682 146.8682 150.7602 157.7602 163.9762 167.4762 174.4762 180.6922 186.1382 190.0302 194.6922 200.9082 207.9082 211.4082 215.3002 219.9622 223.8542 230.8542 237.8542 244.0702 248.73221 252.23221 256.1242 263.1242 267.0162 273.2322 277.8942 284.8942 291.1102 295.0022">3.Configure a timer for the desired trigger interval.</tspan><tspan y="475.84999" x="7.498155 14.498156 24.004157 37.220159 41.882158 45.77416 49.66616 55.88216 59.38216 66.38216 73.38216 82.72015 89.72015 93.22015 97.11215 104.11215 107.61215 116.95015 127.05815 136.39615 144.18015 154.28815 161.28815 164.78815 169.45015 176.45015 182.66616 188.11215 194.32816 197.82816 204.04416 211.04416 218.04416 222.70616 228.92217 234.36817 239.81417 243.31417 251.21016 254.71016 261.71015 268.71015 275.71015 282.71015 287.37214">4.Write 0xC5 to CHCFG2 (base address + 0x02).</tspan><tspan y="501.84999" x="-.0058050157 8.548195 15.548195 21.764195 25.264195 29.926196 36.926195 40.818197 44.710199 51.710199 61.8182 65.7102 72.7102 79.7102 83.2102 89.4262 96.4262 103.4262 109.642208 113.142208 119.35821 126.35821 132.5742 143.4662 150.4662 154.3582 160.5742 164.0742 167.9662 171.8582 175.7502 182.7502 188.1962 192.0882 196.7502 202.9662 206.8582 213.0742 218.5202 222.0202 227.4662 231.3582 237.5742 244.5742 250.0202 253.5202 260.5202 264.0202 270.2362 277.2362 284.2362 287.7362 294.7362 298.2362 304.4522 311.4522 318.4522 325.4522 331.6682">The following code example illustrates steps 1 and 4 above:</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="9" font-family="CourierStd"><tspan y="523.82" x=".0042149845 5.404215 10.8042149 16.204215 21.604214 27.004214 32.404214 37.804216 43.204217 48.604219 54.00422 59.40422 64.80422 70.20422 75.604228 81.00423 86.40423 91.80423 97.20423 102.60423">In File registers.h:</tspan><tspan y="533.36007" x=".0042149845 5.404215 10.8042149 16.204215 21.604214 27.004214 32.404214 37.804216 43.204217 48.604219 54.00422 59.40422 64.80422 70.20422 75.604228 81.00423 86.40423 91.80423 97.20423 102.60423 108.004238 113.404239 118.80424 124.20424 129.60424 135.00423 140.40422 145.80422 151.20421 156.6042 162.0042 167.40419 172.80419 178.20418 183.60417 189.00417 194.40416 199.80416 205.20415 210.60414 216.00414 221.40413 226.80413 232.20412 237.60411 243.0041 248.4041 253.8041 259.2041 264.6041 270.0041 275.40409 280.80409 286.20408 291.60408 297.00407 302.40406 307.80406 313.20405">#define DMAMUX_BASE_ADDR 0xFC084000/* Example only ! */</tspan><tspan y="542.9001" x=".0042149845 5.404215 10.8042149 16.204215 21.604214 27.004214 32.404214 37.804216 43.204217 48.604219 54.00422 59.40422 64.80422 70.20422 75.604228 81.00423 86.40423 91.80423 97.20423 102.60423 108.004238 113.404239 118.80424 124.20424 129.60424 135.00423 140.40422 145.80422 151.20421 156.6042 162.0042 167.40419 172.80419 178.20418 183.60417 189.00417 194.40416 199.80416 205.20415 210.60414 216.00414 221.40413 226.80413 232.20412 237.60411 243.0041">/* Following example assumes char is 8-bits */</tspan><tspan y="552.4401" x=".0042149845 5.404215 10.8042149 16.204215 21.604214 27.004214 32.404214 37.804216 43.204217 48.604219 54.00422 59.40422 64.80422 70.20422 75.604228 81.00423 86.40423 91.80423 97.20423 102.60423 108.004238 113.404239 118.80424 124.20424 129.60424 135.00423 140.40422 145.80422 151.20421 156.6042 162.0042 167.40419 172.80419 178.20418 183.60417 189.00417 194.40416 199.80416 205.20415 210.60414 216.00414 221.40413 226.80413 232.20412 237.60411 243.0041 248.4041 253.8041 259.2041 264.6041 270.0041 275.40409 280.80409 286.20408 291.60408 297.00407 302.40406 307.80406 313.20405 318.60404 324.00404 329.40403 334.80403 340.204 345.604 351.004 356.404 361.804 367.20399 372.60398 378.00398 383.40397 388.80397 394.20396 399.60395 405.00395 410.40394 415.80393 421.20393 426.6039 432.0039 437.4039 442.8039 448.2039 453.60389 459.00389 464.40388 469.80387 475.20387">volatile unsigned char *CHCONFIG0 = (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x0000);</tspan><tspan y="561.98019" x=".0042149845 5.404215 10.8042149 16.204215 21.604214 27.004214 32.404214 37.804216 43.204217 48.604219 54.00422 59.40422 64.80422 70.20422 75.604228 81.00423 86.40423 91.80423 97.20423 102.60423 108.004238 113.404239 118.80424 124.20424 129.60424 135.00423 140.40422 145.80422 151.20421 156.6042 162.0042 167.40419 172.80419 178.20418 183.60417 189.00417 194.40416 199.80416 205.20415 210.60414 216.00414 221.40413 226.80413 232.20412 237.60411 243.0041 248.4041 253.8041 259.2041 264.6041 270.0041 275.40409 280.80409 286.20408 291.60408 297.00407 302.40406 307.80406 313.20405 318.60404 324.00404 329.40403 334.80403 340.204 345.604 351.004 356.404 361.804 367.20399 372.60398 378.00398 383.40397 388.80397 394.20396 399.60395 405.00395 410.40394 415.80393 421.20393 426.6039 432.0039 437.4039 442.8039 448.2039 453.60389 459.00389 464.40388 469.80387 475.20387">volatile unsigned char *CHCONFIG1 = (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x0001);</tspan><tspan y="571.5202" x=".0042149845 5.404215 10.8042149 16.204215 21.604214 27.004214 32.404214 37.804216 43.204217 48.604219 54.00422 59.40422 64.80422 70.20422 75.604228 81.00423 86.40423 91.80423 97.20423 102.60423 108.004238 113.404239 118.80424 124.20424 129.60424 135.00423 140.40422 145.80422 151.20421 156.6042 162.0042 167.40419 172.80419 178.20418 183.60417 189.00417 194.40416 199.80416 205.20415 210.60414 216.00414 221.40413 226.80413 232.20412 237.60411 243.0041 248.4041 253.8041 259.2041 264.6041 270.0041 275.40409 280.80409 286.20408 291.60408 297.00407 302.40406 307.80406 313.20405 318.60404 324.00404 329.40403 334.80403 340.204 345.604 351.004 356.404 361.804 367.20399 372.60398 378.00398 383.40397 388.80397 394.20396 399.60395 405.00395 410.40394 415.80393 421.20393 426.6039 432.0039 437.4039 442.8039 448.2039 453.60389 459.00389 464.40388 469.80387 475.20387">volatile unsigned char *CHCONFIG2 = (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x0002);</tspan><tspan y="581.06027" x=".0042149845 5.404215 10.8042149 16.204215 21.604214 27.004214 32.404214 37.804216 43.204217 48.604219 54.00422 59.40422 64.80422 70.20422 75.604228 81.00423 86.40423 91.80423 97.20423 102.60423 108.004238 113.404239 118.80424 124.20424 129.60424 135.00423 140.40422 145.80422 151.20421 156.6042 162.0042 167.40419 172.80419 178.20418 183.60417 189.00417 194.40416 199.80416 205.20415 210.60414 216.00414 221.40413 226.80413 232.20412 237.60411 243.0041 248.4041 253.8041 259.2041 264.6041 270.0041 275.40409 280.80409 286.20408 291.60408 297.00407 302.40406 307.80406 313.20405 318.60404 324.00404 329.40403 334.80403 340.204 345.604 351.004 356.404 361.804 367.20399 372.60398 378.00398 383.40397 388.80397 394.20396 399.60395 405.00395 410.40394 415.80393 421.20393 426.6039 432.0039 437.4039 442.8039 448.2039 453.60389 459.00389 464.40388 469.80387 475.20387">volatile unsigned char *CHCONFIG3 = (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x0003);</tspan><tspan y="590.6003" x=".0042149845 5.404215 10.8042149 16.204215 21.604214 27.004214 32.404214 37.804216 43.204217 48.604219 54.00422 59.40422 64.80422 70.20422 75.604228 81.00423 86.40423 91.80423 97.20423 102.60423 108.004238 113.404239 118.80424 124.20424 129.60424 135.00423 140.40422 145.80422 151.20421 156.6042 162.0042 167.40419 172.80419 178.20418 183.60417 189.00417 194.40416 199.80416 205.20415 210.60414 216.00414 221.40413 226.80413 232.20412 237.60411 243.0041 248.4041 253.8041 259.2041 264.6041 270.0041 275.40409 280.80409 286.20408 291.60408 297.00407 302.40406 307.80406 313.20405 318.60404 324.00404 329.40403 334.80403 340.204 345.604 351.004 356.404 361.804 367.20399 372.60398 378.00398 383.40397 388.80397 394.20396 399.60395 405.00395 410.40394 415.80393 421.20393 426.6039 432.0039 437.4039 442.8039 448.2039 453.60389 459.00389 464.40388 469.80387 475.20387">volatile unsigned char *CHCONFIG4 = (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x0004);</tspan><tspan y="600.1403" x=".0042149845 5.404215 10.8042149 16.204215 21.604214 27.004214 32.404214 37.804216 43.204217 48.604219 54.00422 59.40422 64.80422 70.20422 75.604228 81.00423 86.40423 91.80423 97.20423 102.60423 108.004238 113.404239 118.80424 124.20424 129.60424 135.00423 140.40422 145.80422 151.20421 156.6042 162.0042 167.40419 172.80419 178.20418 183.60417 189.00417 194.40416 199.80416 205.20415 210.60414 216.00414 221.40413 226.80413 232.20412 237.60411 243.0041 248.4041 253.8041 259.2041 264.6041 270.0041 275.40409 280.80409 286.20408 291.60408 297.00407 302.40406 307.80406 313.20405 318.60404 324.00404 329.40403 334.80403 340.204 345.604 351.004 356.404 361.804 367.20399 372.60398 378.00398 383.40397 388.80397 394.20396 399.60395 405.00395 410.40394 415.80393 421.20393 426.6039 432.0039 437.4039 442.8039 448.2039 453.60389 459.00389 464.40388 469.80387 475.20387">volatile unsigned char *CHCONFIG5 = (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x0005);</tspan><tspan y="609.68038" x=".0042149845 5.404215 10.8042149 16.204215 21.604214 27.004214 32.404214 37.804216 43.204217 48.604219 54.00422 59.40422 64.80422 70.20422 75.604228 81.00423 86.40423 91.80423 97.20423 102.60423 108.004238 113.404239 118.80424 124.20424 129.60424 135.00423 140.40422 145.80422 151.20421 156.6042 162.0042 167.40419 172.80419 178.20418 183.60417 189.00417 194.40416 199.80416 205.20415 210.60414 216.00414 221.40413 226.80413 232.20412 237.60411 243.0041 248.4041 253.8041 259.2041 264.6041 270.0041 275.40409 280.80409 286.20408 291.60408 297.00407 302.40406 307.80406 313.20405 318.60404 324.00404 329.40403 334.80403 340.204 345.604 351.004 356.404 361.804 367.20399 372.60398 378.00398 383.40397 388.80397 394.20396 399.60395 405.00395 410.40394 415.80393 421.20393 426.6039 432.0039 437.4039 442.8039 448.2039 453.60389 459.00389 464.40388 469.80387 475.20387">volatile unsigned char *CHCONFIG6 = (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x0006);</tspan><tspan y="619.2204" x=".0042149845 5.404215 10.8042149 16.204215 21.604214 27.004214 32.404214 37.804216 43.204217 48.604219 54.00422 59.40422 64.80422 70.20422 75.604228 81.00423 86.40423 91.80423 97.20423 102.60423 108.004238 113.404239 118.80424 124.20424 129.60424 135.00423 140.40422 145.80422 151.20421 156.6042 162.0042 167.40419 172.80419 178.20418 183.60417 189.00417 194.40416 199.80416 205.20415 210.60414 216.00414 221.40413 226.80413 232.20412 237.60411 243.0041 248.4041 253.8041 259.2041 264.6041 270.0041 275.40409 280.80409 286.20408 291.60408 297.00407 302.40406 307.80406 313.20405 318.60404 324.00404 329.40403 334.80403 340.204 345.604 351.004 356.404 361.804 367.20399 372.60398 378.00398 383.40397 388.80397 394.20396 399.60395 405.00395 410.40394 415.80393 421.20393 426.6039 432.0039 437.4039 442.8039 448.2039 453.60389 459.00389 464.40388 469.80387 475.20387">volatile unsigned char *CHCONFIG7 = (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x0007);</tspan><tspan y="628.76046" x=".0042149845 5.404215 10.8042149 16.204215 21.604214 27.004214 32.404214 37.804216 43.204217 48.604219 54.00422 59.40422 64.80422 70.20422 75.604228 81.00423 86.40423 91.80423 97.20423 102.60423 108.004238 113.404239 118.80424 124.20424 129.60424 135.00423 140.40422 145.80422 151.20421 156.6042 162.0042 167.40419 172.80419 178.20418 183.60417 189.00417 194.40416 199.80416 205.20415 210.60414 216.00414 221.40413 226.80413 232.20412 237.60411 243.0041 248.4041 253.8041 259.2041 264.6041 270.0041 275.40409 280.80409 286.20408 291.60408 297.00407 302.40406 307.80406 313.20405 318.60404 324.00404 329.40403 334.80403 340.204 345.604 351.004 356.404 361.804 367.20399 372.60398 378.00398 383.40397 388.80397 394.20396 399.60395 405.00395 410.40394 415.80393 421.20393 426.6039 432.0039 437.4039 442.8039 448.2039 453.60389 459.00389 464.40388 469.80387 475.20387">volatile unsigned char *CHCONFIG8 = (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x0008);</tspan><tspan y="638.3005" x=".0042149845 5.404215 10.8042149 16.204215 21.604214 27.004214 32.404214 37.804216 43.204217 48.604219 54.00422 59.40422 64.80422 70.20422 75.604228 81.00423 86.40423 91.80423 97.20423 102.60423 108.004238 113.404239 118.80424 124.20424 129.60424 135.00423 140.40422 145.80422 151.20421 156.6042 162.0042 167.40419 172.80419 178.20418 183.60417 189.00417 194.40416 199.80416 205.20415 210.60414 216.00414 221.40413 226.80413 232.20412 237.60411 243.0041 248.4041 253.8041 259.2041 264.6041 270.0041 275.40409 280.80409 286.20408 291.60408 297.00407 302.40406 307.80406 313.20405 318.60404 324.00404 329.40403 334.80403 340.204 345.604 351.004 356.404 361.804 367.20399 372.60398 378.00398 383.40397 388.80397 394.20396 399.60395 405.00395 410.40394 415.80393 421.20393 426.6039 432.0039 437.4039 442.8039 448.2039 453.60389 459.00389 464.40388 469.80387 475.20387">volatile unsigned char *CHCONFIG9 = (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x0009);</tspan><tspan y="647.8405" x=".0042149845 5.404215 10.8042149 16.204215 21.604214 27.004214 32.404214 37.804216 43.204217 48.604219 54.00422 59.40422 64.80422 70.20422 75.604228 81.00423 86.40423 91.80423 97.20423 102.60423 108.004238 113.404239 118.80424 124.20424 129.60424 135.00423 140.40422 145.80422 151.20421 156.6042 162.0042 167.40419 172.80419 178.20418 183.60417 189.00417 194.40416 199.80416 205.20415 210.60414 216.00414 221.40413 226.80413 232.20412 237.60411 243.0041 248.4041 253.8041 259.2041 264.6041 270.0041 275.40409 280.80409 286.20408 291.60408 297.00407 302.40406 307.80406 313.20405 318.60404 324.00404 329.40403 334.80403 340.204 345.604 351.004 356.404 361.804 367.20399 372.60398 378.00398 383.40397 388.80397 394.20396 399.60395 405.00395 410.40394 415.80393 421.20393 426.6039 432.0039 437.4039 442.8039 448.2039 453.60389 459.00389 464.40388 469.80387 475.20387">volatile unsigned char *CHCONFIG10= (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x000A);</tspan><tspan y="657.38058" x=".0042149845 5.404215 10.8042149 16.204215 21.604214 27.004214 32.404214 37.804216 43.204217 48.604219 54.00422 59.40422 64.80422 70.20422 75.604228 81.00423 86.40423 91.80423 97.20423 102.60423 108.004238 113.404239 118.80424 124.20424 129.60424 135.00423 140.40422 145.80422 151.20421 156.6042 162.0042 167.40419 172.80419 178.20418 183.60417 189.00417 194.40416 199.80416 205.20415 210.60414 216.00414 221.40413 226.80413 232.20412 237.60411 243.0041 248.4041 253.8041 259.2041 264.6041 270.0041 275.40409 280.80409 286.20408 291.60408 297.00407 302.40406 307.80406 313.20405 318.60404 324.00404 329.40403 334.80403 340.204 345.604 351.004 356.404 361.804 367.20399 372.60398 378.00398 383.40397 388.80397 394.20396 399.60395 405.00395 410.40394 415.80393 421.20393 426.6039 432.0039 437.4039 442.8039 448.2039 453.60389 459.00389 464.40388 469.80387 475.20387">volatile unsigned char *CHCONFIG11= (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x000B);</tspan><tspan y="666.9206" x=".0042149845 5.404215 10.8042149 16.204215 21.604214 27.004214 32.404214 37.804216 43.204217 48.604219 54.00422 59.40422 64.80422 70.20422 75.604228 81.00423 86.40423 91.80423 97.20423 102.60423 108.004238 113.404239 118.80424 124.20424 129.60424 135.00423 140.40422 145.80422 151.20421 156.6042 162.0042 167.40419 172.80419 178.20418 183.60417 189.00417 194.40416 199.80416 205.20415 210.60414 216.00414 221.40413 226.80413 232.20412 237.60411 243.0041 248.4041 253.8041 259.2041 264.6041 270.0041 275.40409 280.80409 286.20408 291.60408 297.00407 302.40406 307.80406 313.20405 318.60404 324.00404 329.40403 334.80403 340.204 345.604 351.004 356.404 361.804 367.20399 372.60398 378.00398 383.40397 388.80397 394.20396 399.60395 405.00395 410.40394 415.80393 421.20393 426.6039 432.0039 437.4039 442.8039 448.2039 453.60389 459.00389 464.40388 469.80387 475.20387">volatile unsigned char *CHCONFIG12= (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x000C);</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01031" x="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 54 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.01 137.23 142.79 148.34999 151.12999 157.79999 163.90999 170.01999 173.34999 179.45999 185.01999 193.90999 196.68999 199.46999 205.02999 207.80998 215.02999 220.58998 223.91999 229.47998 233.36998 238.92998 245.03998 250.59998 256.15998 258.93998 267.26997 272.82997 278.93995 285.04994 290.60993 293.38993 296.16993 298.94993 306.16993 311.72993 317.28993 320.06993 322.8499 328.4099 331.1899 336.7499 342.8599 348.96989 351.74989 357.30989 362.86988 368.42988">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00401 5.5030105 8.5000109 13.504011 18.50801 23.00801 27.50801 32.512014 34.510015 39.514017 42.016016 48.019014 53.023015 60.520017 62.518018 67.01802 72.02202 77.02602 82.030017 87.03401 91.53401 94.03601 99.04001 102.03701 104.53901 107.04101 109.54301 114.547008 119.047008">Freescale Semiconductor, Inc.</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32 751.756)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="58.45 65.12 69.01 74.57 77.35 80.13 89.02 91.799999 97.909999 103.46999 107.35999">Preliminary</tspan></text>
<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">451</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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