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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_474.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

463 lines
56 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 1 131.85 90.182819)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 90.182819)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 14.004002 19.008004 24.012005 28.512005 31.014006 33.012006 38.016008 43.020009 45.522008 47.520009 52.52401 57.52801 60.03001 65.03401 70.03801 75.04201 78.03901 83.04301 87.54301 92.04301 94.545009 99.045009 104.049 109.053 111.555 113.553 118.557 123.561 126.558 131.562 134.064 136.062 141.066 146.06999 148.57199 153.57599 156.57299 159.56998 164.57398">No destination address configuration error</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 101.182819)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 15.507001 18.009 20.007 25.011002 29.511002 32.013 34.515 37.512 42.516004 47.016004 52.020006 55.017007 60.021009 65.02501 70.02901 72.531009 77.535 80.532009 83.52901 88.533008 91.53001 94.032009 100.53001 105.534008 110.034008 112.536 117.54 120.042 124.542 129.546 134.55 137.052 139.05 144.054 149.058 152.055 157.05899 159.56099 161.55899 166.56299 171.56699 174.06899 179.07299 182.06998 185.06697 190.07097 193.06797 195.56996 200.57396 205.57796 208.07996 213.08396 217.58396 220.08596 225.08995 230.09395 232.59595 234.59395 239.59795 242.09995 244.60195 249.60594 254.60994 257.11195 262.61094 269.10893 275.6069 280.6109 285.6149 292.11289 298.11589 304.61387 311.11186 317.60984 320.11186 322.61387 324.61186 329.61585 331.61384 336.61784 339.11985 341.62187 347.12086 353.61885 360.11683 365.12083 370.12483 376.6228 382.6258 389.12379 395.62178">The last recorded error was a configuration error detected in the TCDn_DADDR field. TCDn_DADDR</tspan><tspan y="20.83789" x="0 1.9980002 6.498 9 10.998 16.002 20.502 25.506 30.510003 35.010004 37.008005 41.508005 44.010004 49.014005 54.018007 56.520006 59.022005 65.520008 67.518009 70.020008 75.024 77.526 83.025 89.523 96.021 101.025 106.029 112.032 117.531 123.03 129.528 132.03 138.528 144.531 147.033 152.532 158.535 161.037">is inconsistent with TCDn_ATTR[DSIZE].</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 129.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">4</tspan><tspan y="18.83789" x="25.803002 32.301004 39.303">DOE</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 129.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.002 18.504002 20.502003 25.506005 30.510006 33.012006 35.010007 40.014009 45.01801 47.520009 54.522008 57.024007 59.526006 64.026 69.03 71.532 74.034 80.036998 83.034 86.031 91.034999">Destination Offset Error</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 150.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 150.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 14.004002 19.008004 24.012005 28.512005 31.014006 33.012006 38.016008 43.020009 45.522008 47.520009 52.52401 57.52801 60.03001 65.03401 67.53601 70.03801 74.53801 79.54201 82.04401 84.546009 89.046009 94.05 99.054 101.556 103.554 108.558 113.562 116.559 121.562999 124.064998 126.062999 131.067 136.071 138.573 143.577 146.57399 149.57099 154.57498">No destination offset configuration error</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 161.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.49902 10.503021 15.507022 18.009022 20.007023 25.011025 29.511025 32.013025 34.515024 37.512025 42.516027 47.016027 52.020029 55.01703 60.02103 65.02503 70.02903 72.53103 77.53503 80.53203 83.52903 88.53303 91.53003 94.03203 100.53003 105.53403 110.03403 112.536029 117.54002 120.04202 124.54202 129.54602 134.55002 137.05202 139.05002 144.05402 149.05802 152.05501 157.059 159.561 161.559 166.563 171.567 174.069 179.073 182.06999 185.06699 190.07099 193.06798 195.56998 200.57398 205.57798 208.07997 213.08397 217.58397 220.08597 225.08997 230.09397 232.59597 234.59397 239.59796 242.09996 244.60196 249.60596 254.60996 257.11198 262.61097 269.10896 275.60694 280.61094 285.61494 292.1129 299.11494 304.61393 310.1129 312.61494 315.11695 317.11494 322.11894 324.1169 329.1209 331.62294 334.12495 339.62394 346.12193 352.6199 357.6239 362.6279 369.1259 376.1279 381.6269 387.1259 389.6279 391.6259">The last recorded error was a configuration error detected in the TCDn_DOFF field. TCDn_DOFF is</tspan><tspan y="20.83789" x=".00004 1.9980402 7.002041 11.502041 16.506043 21.510045 26.010045 28.008046 32.508047 35.010046 40.014047 45.018049 47.520048 50.022047 56.520048 58.518049 61.020048 66.02405 68.52605 74.02505 80.52305 87.02105 92.02505 97.029048 103.03204 108.531047 114.030048 120.528049 123.030048 129.52805 135.53105 138.03305 143.53205 149.53505 152.03705">inconsistent with TCDn_ATTR[DSIZE].</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 190.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">3</tspan><tspan y="18.83789" x="26.046002 32.544004 39.042005">NCE</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 190.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 12.501001 18.504002 24.003003 30.006003 36.009004 38.511 45.009004 47.511 53.010004 59.013 65.511 68.013 74.511 79.515 84.519 87.020999 89.019 94.022998 99.02699 102.023998 107.02799 109.52999 111.52799 116.53199 121.53599 124.03799 130.04099 133.03798 136.03498 141.03897">NBYTES/CITER Configuration Error</tspan></text>
<path transform="matrix(1,0,0,1,131.85,190.18283)" d="M0 21H423.90003V89H0Z" fill="#ffffff" fill-rule="evenodd"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 211.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 211.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 14.004002 20.502003 26.505003 32.508005 38.007005 44.010004 50.013 52.515 59.013 61.515 67.014 73.017 79.515 82.017 86.517 91.520999 96.524997 99.02699 101.024997 106.02899 111.03299 114.02999 119.03399 121.53599 123.53399 128.538 133.54199 136.04399 141.04799 144.04499 147.04198 152.04598">No NBYTES/CITER configuration error</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 222.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 222.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 15.507001 18.009 20.007 25.011002 29.511002 32.013 34.515 37.512 42.516004 47.016004 52.020006 55.017007 60.021009 65.02501 70.02901 72.531009 77.535 80.532009 83.52901 88.533008 91.53001 94.032009 100.53001 105.534008 110.034008 112.536 117.54 120.042 124.542 129.546 134.55 137.052 139.05 144.054 149.058 152.055 157.05899 159.56099 161.55899 166.56299 171.56699 174.06899 179.07299 182.06998 185.06697 190.07097 193.06797 195.56996 200.57396 205.57796 208.07996 213.08396 217.58396 220.08596 225.08995 230.09395 232.59595 234.59395 239.59795 242.09995 244.60195 249.60594 254.60994 257.11195 262.61094 269.10893 275.6069 280.6109 285.6149 292.11289 298.11589 304.11888 309.61787 315.62086 321.62385 324.12586 329.12986 332.12687 334.62889 340.12788 346.62586 353.12385 358.12785 363.13185 369.62983 372.13185 377.63084 383.63383">The last recorded error was a configuration error detected in the TCDn_NBYTES or TCDn_CITER</tspan><tspan y="20.83789" x="0 2.5020004 4.5000007 9.504002 11.502002 16.506003 21.006003">fields.</tspan><tspan y="31.83789" x="14.85 24.003 29.502 36 42.498 47.502004 52.506006 59.004007 65.007 71.01 76.509 82.512 88.515 91.017 93.015 97.515 100.017 105.020999 110.024997 112.52699 115.02899 120.03299 122.53499 130.03199 135.03598 137.03398 139.53598 141.53398 146.53798 148.53598 153.53998 156.04198 161.04598 163.54798 166.04998 171.54897 178.04697 184.54497 189.54897 194.55297 200.55597 206.05496 211.55396 218.05196 220.55396 226.55696 232.55997 235.06197 240.56096 246.56397 249.06597 251.56797 256.57197 261.57597 266.57997 269.08198 274.58097 281.07896 287.57695 292.58094 297.58494 303.58793 309.0869 314.5859 321.0839 323.5859 330.0839 336.08689 338.5889 344.0879 350.09089 352.5929 355.0949 357.59693 362.60093">&#x2022;TCDn_NBYTES is not a multiple of TCDn_ATTR[SSIZE] and TCDn_ATTR[DSIZE], or</tspan><tspan y="42.83789" x="14.85 24.003 29.502 36 42.498 47.502004 52.506006 59.004007 61.506006 67.005008 73.008 79.506008 82.008 88.506008 91.008 96.507 102.51 109.008 111.51 114.012 116.01 120.51 123.012 128.016 133.02 138.024 143.028 145.026 147.528 150.03 155.034 157.536 162.036 167.04 170.03699 175.04099 177.54299 180.04499 185.04898">&#x2022;TCDn_CITER[CITER] is equal to zero, or</tspan><tspan y="53.83789" x="14.85 24.003 29.502 36 42.498 47.502004 52.506006 59.004007 61.506006 67.005008 73.008 79.506008 82.008 88.011 93.015 95.517 102.015 108.018 110.52 113.021999 115.02 119.52 122.021999 127.02599 132.03 134.532 137.034 142.038 147.04199 152.04599 157.04999 159.04799 161.54999 164.05199 169.05599 171.55799 177.05698 183.55498 190.05298 195.05698 200.06098 206.06398 208.56598 214.06497 220.06798 226.56598 229.06798 235.07099 240.07498 242.57698 249.07498 255.07799">&#x2022;TCDn_CITER[ELINK] is not equal to TCDn_BITER[ELINK]</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 283.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">2</tspan><tspan y="18.83789" x="26.046002 32.049005 39.051004">SGE</tspan></text>
<g clip-path="url(#clip_10)">
<path transform="matrix(1,0,0,1,53.999994,281.43284)" d="M75.85001 .25H503.75004V71.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 283.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 10.503 15.507001 18.009 20.511002 25.515004 28.512003 31.014004 38.016004 43.020006 45.522005 50.526006 55.530008 58.527009 61.029008 67.52701 72.531009 77.535 80.037 82.035 87.039 92.043 95.04 100.044 102.546 104.544 109.548 114.551998 117.05399 123.05699 126.05399 129.051 134.055">Scatter/Gather Configuration Error</tspan></text>
<path transform="matrix(1,0,0,1,131.85,283.68284)" d="M0 21H423.90003V67H0Z" fill="#ffffff" fill-rule="evenodd"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 304.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 304.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 14.004002 18.504002 23.004002 28.008004 30.510004 33.012006 38.016008 41.01301 43.515008 48.51901 53.52301 56.02501 61.02901 66.03301 69.030017 71.53201 76.03201 81.03601 86.04001 88.54201 90.54001 95.54401 100.548007 103.545009 108.549 111.051 113.049 118.053 123.057 125.559 130.563 133.56 136.55699 141.56099">No scatter/gather configuration error</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 315.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 315.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 15.507001 18.009 20.007 25.011002 29.511002 32.013 34.515 37.512 42.516004 47.016004 52.020006 55.017007 60.021009 65.02501 70.02901 72.531009 77.535 80.532009 83.52901 88.533008 91.53001 94.032009 100.53001 105.534008 110.034008 112.536 117.54 120.042 124.542 129.546 134.55 137.052 139.05 144.054 149.058 152.055 157.05899 159.56099 161.55899 166.56299 171.56699 174.06899 179.07299 182.06998 185.06697 190.07097 193.06797 195.56996 200.57396 205.57796 208.07996 213.08396 217.58396 220.08596 225.08995 230.09395 232.59595 234.59395 239.59795 242.09995 244.60195 249.60594 254.60994 257.11195 262.61094 269.10893 275.6069 280.6109 285.6149 292.11289 297.11689 303.11988 309.12287 314.62187 320.62486 327.62687 333.62986 336.13188 338.63389 340.63188 345.63587 347.63386 352.63786 355.13987 357.64189 363.14088 368.14488 370.14286 374.64286 377.14488 379.64689 381.64488 386.64888 388.64686 393.65086 396.15287 398.15086">The last recorded error was a configuration error detected in the TCDn_DLASTSGA field. This field is</tspan><tspan y="20.83789" x="0 4.5 9.504001 14.508001 19.008002 23.508002 28.512001 33.516004 36.018 41.022005 43.524003 46.026 48.528 53.532 58.536005 61.038003 66.042 71.046 76.049999 78.048 83.051998 88.05599 90.05399 95.05799 100.06199 102.56399 107.567989 110.069988 112.57198 117.57598 120.07798 124.57798 129.07798 134.08197 136.58397 139.08597 144.08997 147.08696 149.58896 154.59296 159.59696 162.09896 167.10295 172.10695 175.10395 177.60594 182.60994 187.61394 192.61794 195.61493 200.61893 203.12093 205.11893 210.12293 215.12693 217.62892 222.63292 225.13492 227.63692 232.64092 235.63791 238.13991 245.6369 250.6409 252.6389 257.6429 260.63993 263.14195 265.13993 270.14393 275.14793 280.15193 282.65394 287.15394 292.15794 299.65495 304.65895 306.65693 311.66093 314.16294 316.16093 321.16493 326.1689 328.67094 330.6689 333.17094 335.67295 341.17195 347.66993 354.1679 359.1719 364.1759 370.6739 376.67689 383.17488 385.67689 391.67988 397.68287 404.68489">checked at the beginning of a scatter/gather operation after major loop completion if TCDn_CSR[ESG]</tspan><tspan y="31.83789" x=".00004 1.9980402 6.49804 9.00004 14.004041 19.008042 24.012043 29.016045 31.014046 36.018049 41.02205 43.524049 46.026048 51.525049 58.02305 64.52105 69.52505 74.529048 81.02705 86.031047 92.03404 98.03704 103.53604 109.53904 116.54104 122.54404 125.046039 127.04404 131.54404 134.04604 139.05004 144.05403 146.55603 149.05803 154.06203 159.06603 161.56803 166.57202 169.07402 174.07802 179.08202 181.58402 186.58802 191.08802 193.59001 198.59401 201.09601 206.1 211.104 216.108 221.112 226.116 231.12 234.11699 238.61699">is enabled. TCDn_DLASTSGA is not on a 32 byte boundary.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 355.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">1</tspan><tspan y="18.83789" x="26.55 32.553 38.556">SBE</tspan></text>
<g clip-path="url(#clip_12)">
<path transform="matrix(1,0,0,1,53.999994,352.9328)" d="M75.85001 .25H503.75004V49.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 355.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 16.011002 19.008002 23.508002 28.512001 31.014002 37.017004 42.021005 46.521005 49.023004 55.026 58.023004 61.020006 66.024">Source Bus Error</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 376.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 376.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 14.004002 18.504002 23.508004 28.512005 31.509005 36.009004 41.013006 43.515005 48.519006 53.523008 58.023008 60.525007 65.52901 68.52601 71.52301 76.52701">No source bus error</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 387.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 387.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 15.507001 18.009 20.007 25.011002 29.511002 32.013 34.515 37.512 42.516004 47.016004 52.020006 55.017007 60.021009 65.02501 70.02901 72.531009 77.535 80.532009 83.52901 88.533008 91.53001 94.032009 100.53001 105.534008 110.034008 112.536 117.54 120.042 125.046 130.05 134.55 137.052 142.056 145.053 148.04999 153.05399 156.05098 158.55298 163.55698 168.56098 171.06298 176.06697 178.56897 183.06897 188.07297 193.07697 196.07396 200.57396 205.57796 208.07996 211.07695 216.08095 221.08495">The last recorded error was a bus error on a source read</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 404.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">0</tspan><tspan y="18.83789" x="26.298 32.796 38.799005">DBE</tspan></text>
<g clip-path="url(#clip_14)">
<path transform="matrix(1,0,0,1,53.999994,402.4328)" d="M75.85001 .25H503.75004V49.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 404.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.002 18.504002 20.502003 25.506005 30.510006 33.012006 35.010007 40.014009 45.01801 47.520009 53.52301 58.52701 63.02701 65.529018 71.53201 74.529018 77.52602 82.530017">Destination Bus Error</tspan></text>
<path transform="matrix(1,0,0,1,131.85,404.6828)" d="M0 21H423.90003V45H0Z" fill="#ffffff" fill-rule="evenodd"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 425.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 425.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 14.004002 19.008004 24.012005 28.512005 31.014006 33.012006 38.016008 43.020009 45.522008 47.520009 52.52401 57.52801 60.03001 65.03401 70.03801 74.53801 77.04001 82.04401 85.04101 88.03801 93.04201">No destination bus error</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 436.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 436.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 15.507001 18.009 20.007 25.011002 29.511002 32.013 34.515 37.512 42.516004 47.016004 52.020006 55.017007 60.021009 65.02501 70.02901 72.531009 77.535 80.532009 83.52901 88.533008 91.53001 94.032009 100.53001 105.534008 110.034008 112.536 117.54 120.042 125.046 130.05 134.55 137.052 142.056 145.053 148.04999 153.05399 156.05098 158.55298 163.55698 168.56098 171.06298 176.06697 178.56897 183.57297 188.57697 193.07697 195.57897 197.57697 202.58097 207.58496 210.08696 212.08496 217.08896 222.09296 224.59496 231.09296 234.08995 236.08795 238.58995">The last recorded error was a bus error on a destination write</tspan></text>
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<path transform="matrix(1,0,0,1,53.999994,89.682819)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M504.25004 37.75H75.25001"/>
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<path transform="matrix(1,0,0,1,53.999994,127.43283)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M75.60001-.35V60.85"/>
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<g clip-path="url(#clip_37)">
<path transform="matrix(1,0,0,1,53.999994,281.43284)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M75.60001-.35V71.85"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 498.1828)" 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">22.3.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 109.87328 498.1828)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.005001 19.170002 27.510003 36.675004 40.845006 49.185007 53.355009 64.185009 72.52501 81.69001 90.85501 99.195018 107.53502 112.53002 116.70002 127.53002 135.87003 145.03502 149.20502 157.54502 162.54001 170.88 176.71501 180.88501 185.88 196.71 209.205 220.035 228.375 232.545 242.55 253.38 265.05003 269.22004">Enable Request Register (DMA_ ERQ )</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54)" font-size="14" font-family="TimesLTStd"><tspan y="480.4328" x="-.00301 8.55099 15.55099 21.76699 25.26699 33.82099 43.158994 53.266996 56.766996 61.428995 67.645 74.645 78.536998 83.982997 87.87499 94.090999 98.753 102.253 109.253 113.915 120.915 127.915 131.807 138.807 145.02301 148.52301 153.96901 157.46901 163.68502 167.18502 174.18502 178.07701 181.96901 185.46901 196.36101 202.57701 209.57701 213.07701 217.73902 224.73902 229.40102 232.90102 236.79302 243.79302 250.00902 253.50902 260.50904 267.50904 271.00904 274.90104 285.79304 292.79304 296.68504 302.90104 313.79304 320.00904 327.00904 330.90104 337.11705 344.11705 347.61705 353.83305 360.83305 367.04905 374.04905 381.04905 387.26506 391.15705 396.60307 400.10307 403.99507 410.99507 414.49507 420.71107 427.71107 433.92707 440.92707 444.81907 451.03507 454.53507 458.42707 465.42707">The ERQ register provide s a bit map for the 16 implemented channels to enable the</tspan><tspan y="496.4328" x="-.0029600003 4.65904 10.87504 17.87504 24.87504 31.091042 36.53704 40.429044 43.929044 49.375043 53.267045 60.267045 67.267047 73.48305 77.375049 80.875049 85.53705 92.53705 97.19905 100.69905 106.915058 113.13106 119.34706 126.34706 129.84706 136.06307 143.06307 149.27907 156.27907 163.27907 169.49507 173.38707 176.88707 180.38707 188.94107 195.94107 202.15708 205.65708 211.10308 214.99507 221.21108 225.10308 231.31908 234.81908 241.81908 246.48108 249.98108 256.19709 263.19709 270.19709 273.69709 280.69709 284.58909 291.58909 297.80509 304.80509 308.30509 314.5211 321.5211 327.7371 334.7371 341.7371 347.9531 351.8451 355.3451 361.5611 368.5611 374.7771 381.7771 385.6691 391.8851 395.3851 399.2771 404.7231 408.2231 415.2231 419.1151 423.7771 429.9931 436.2091 440.1011 443.9931 450.9931 454.4931 460.7091 465.3711 470.03309 476.24909 482.4651 486.3571 492.5731">request signal for each channel. The state of any given channel enable is directly affected</tspan><tspan y="512.4328" x="-.0029600003 6.99704 13.99704 17.49704 27.605042 32.26704 36.159044 40.051046 46.267045 51.713045 55.213045 59.105047 66.10504 69.60504 73.49704 80.49704 84.38904 89.83504 93.33504 97.99704 104.21304 111.21304 115.10504 120.55104 124.44304 130.65904 135.32105 139.21305 142.71305 146.60504 150.49704 153.99704 157.88904 163.33504 166.83504 173.05104 176.94304 182.38904 189.38904 192.88904 199.10504 203.76705 208.42905 214.64505 220.86106 224.75305 230.96906 237.96906 241.46906 248.46906 255.46906 258.96907 269.07707 273.73905 277.63105 281.52305 287.73905 293.18507 296.68507 300.57707 307.57707 311.07707 314.96907 321.96907 328.18507 331.68507 339.46907 348.02305 357.36106 367.46907 370.96907 377.18507 384.18507 391.18507 394.68507 404.02308 412.57707 421.91508 432.02308 435.52308 439.02308 447.57707 454.57707">by writes to this register; it is also affected by writes to the SERQ and CERQ. The</tspan><tspan y="528.43276" x="-.0029600003 6.71704 14.501041 18.001042 27.339043 34.059045 42.613046 51.951047 62.059049 65.55905 70.221057 76.43706 83.43706 87.329059 92.775058 96.66705 102.88306 107.54506 112.99106 116.49106 122.70706 127.369068 133.58507 137.08507 144.08507 148.74707 155.74707 162.74707 166.63907 173.63907 179.85507 186.85507 190.35507 195.80107 202.80107 206.30107 210.19307 217.19307 223.40908 226.90908 231.57108 237.78708 244.78708 251.78708 258.00309 263.4491 267.3411 270.8411 277.0571 284.0571 290.2731 297.2731 301.1651 307.3811 310.8811 315.5431 322.5431 327.20509 330.70509 336.92109 340.42109 345.8671 349.7591 356.7591 363.7591 367.6511 373.8671 377.3671 383.5831 390.5831 396.7991 403.7991 410.7991 417.0151 420.9071 424.4071 430.6231 436.8391 443.8391 447.3391 453.5551 459.77113 465.21714 469.10914 473.00114 480.00114 483.50114 490.50114">{S,C}ERQ registers are provided so the request enable for a single channel can easily be</tspan><tspan y="544.43276" x="-.0029600003 10.889041 17.889042 24.889042 28.781043 33.443044 37.335046 43.551046 50.551046 54.051046 64.15904 68.05104 71.94304 78.94304 85.94304 92.94304 96.83504 100.33504 107.33504 113.55104 119.767047 126.767047 130.65904 137.65904 144.65904 148.15904 152.05104 159.05104 162.55104 169.55104 175.76705 180.42905 185.09105 192.09105 196.75305 207.64505 211.14505 217.36106 220.86106 225.52306 231.73906 237.95507 244.95507 249.61707 260.50907 267.50907 274.50907 278.40107 283.06306 290.06306 294.72505 304.83305 309.49504 313.38703 317.27903 323.49504 326.99504 332.44105 338.65705 345.65705 352.65705 358.87306 365.87306 372.08906 378.30506 381.80506 385.69706 392.69706 396.19706 400.08906 407.08906 413.30506 416.80506 425.35905 434.69706 444.80506 448.30506">modified without needing to perform a read-modify-write sequence to the ERQ .</tspan><tspan y="568.83279" x="-.0029300003 10.105071 22.551072 32.659074 36.159074 40.82107 47.03707 54.03707 61.03707 67.253078 72.69907 76.59107 80.09107 83.98307 90.98307 97.98307 104.98307 108.87507 112.37507 117.82107 121.713069 128.71308 135.71308 141.92908 145.82108 151.26708 154.76708 160.98308 167.98308 174.98308 178.48308 182.37508 189.37508 193.26708 198.71308 202.21308 208.42908 215.42908 221.64508 228.64508 232.53708 238.75308 242.25308 246.91509 253.13109 260.1311 267.1311 273.3471 278.79313 282.68513 286.18513 290.8471 294.7391 300.9551 307.9551 311.4551 322.3471 329.3471 334.79313 338.68513 342.18513 349.18513 355.40113 358.90113 365.11714 370.56315 376.00917 382.22517 386.88716 390.77915 396.99516 403.99516 407.49516 414.49516 420.71116 425.37315 432.37315 437.03514 443.25114 446.75114">DMA request input signals and this enable request flag must be asserted before a</tspan><tspan y="584.83279" x="-.0029300003 6.2130706 13.21307 19.42907 26.42907 33.42907 39.64507 43.53707 48.19907 53.64507 57.14507 64.145069 70.36107 75.02307 82.02307 92.13107 98.34708 103.00908 109.22508 112.72508 118.17108 124.387088 129.04909 136.04909 139.94109 146.15709 152.3731 155.8731 160.5351 166.7511 173.7511 180.7511 186.9671 192.4131 196.3051 199.8051 203.6971 209.1431 212.6431 218.8591 225.0751 231.2911 237.50711 244.50711 248.39911 254.61511 261.6151 265.1151 268.6151 277.1691 284.1691 290.3851 293.8851 299.33113 303.2231 309.43913 313.33113 319.54713 323.04713 330.04713 334.7091 338.2091 342.1011 349.1011 355.3171 358.8171 368.9251 381.37113 391.47914 394.97914 401.19514 408.19514 414.41114 421.41114 425.30314 431.51914 435.01914 439.68113 445.89714 452.89714 459.89714 466.11314 471.55915 475.45115 478.95115 483.61314 487.50514 493.72114">channel&#x2019;s hardware service request is accepted. The state of the DMA enable request flag</tspan><tspan y="600.83279" x="-.0029000003 6.9971 13.9971 20.2131 25.659102 29.159102 36.159105 43.159105 47.051107 50.551107 56.767107 61.429105 66.0911 72.307109 78.52311 82.41511 85.91511 92.13111 95.63111 101.847118 108.847118 115.06312 122.06312 129.06311 135.27912 139.17111 142.67111 148.11711 154.33312 158.99512 165.99512 169.88712 176.10312 182.31912 185.81912 190.48113 196.69713 203.69713 210.69713 216.91313 222.35913 226.25113 229.75113 240.64313 246.85913 253.85913 260.07514 263.57514 269.79115 276.79115 283.79115 287.68315 291.57514 297.79115 301.68315 305.57514 309.46714 316.46714 319.96714 323.85914 330.85914 335.52113 342.52113 349.52113 356.52113 363.52113 367.02113 372.46714 379.46714 384.12913 388.02113 398.12913 404.34513 409.0071 415.2231 418.7231 425.7231 430.3851 433.8851 440.1011 443.6011 447.4931 451.3851 458.3851 465.3851 471.6011">does not affect a channel service request made explicitly through software or a linked</tspan><tspan y="616.83279" x="-.0029000003 6.2131006 13.2131 19.4291 26.4291 33.4291 39.6451 43.5371 47.0371 51.6991 57.9151 64.9151 71.9151 78.1311 83.5771 87.4691">channel request.</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="25.87323" x="0 7.4970009 12.501001 20.502003 26.001004 29.502003 34.506006 37.008005 45.009004 50.013006 55.512006 58.014005 61.515005 66.519008 72.018009 74.520008 79.524 82.521 87.525 91.026 93.528 99.027 104.031 107.028 109.53 115.029 117.531 120.528 123.03 128.52899">Memory map/register definition</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="130.008 137.228 142.788 148.34799 151.12799 157.79799 163.90799 170.01799 173.34799 179.458 185.01799 193.90799 196.68799 199.46799 205.02799 207.80799 215.02799 220.58798 223.91799 229.47798 233.36798 238.92798 245.03798 250.59798 256.158 258.938 267.26799 272.82798 278.93797 285.04795 290.60795 293.38795 296.16795 298.94795 306.16795 311.72795 317.28794 320.06794 322.84794 328.40794 331.18794 336.74794 342.8579 348.9679 351.7479 357.3079 362.8679 368.4279">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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<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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