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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_489.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

367 lines
49 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54.000017)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.3" x="137.98799 146.652 156.648 165.312 171.984 175.31999 178.65599 187.31999 194.652 197.98799 201.984 205.31999 211.99199 215.32799 222.65999 225.99599 233.32799 239.99999 246.67198 253.34398 258.012 261.348 268.68 272.676 276.012 283.344 290.676 297.348 300.684 304.68 311.352 318.684 326.016 330.012 333.348 340.68 348.012 354.684 362.016">DMA_ INT field descriptions (continued)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 76.18282)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="25.794 31.293002 33.795003 38.799005 41.301004">Field</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.1 76.18282)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="187.94699 194.44499 199.44899 204.45299 209.45699 212.958 215.45999 220.95899 223.95598 226.45798 231.95697">Description</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 92.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">3</tspan><tspan y="18.83789" x="25.803002 28.305003 34.803 40.302003">INT3</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 92.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 2.5020004 7.506001 10.008001 15.012002 18.009003 21.006003 26.010003 31.014004 33.516004 36.018 42.516004 47.520006 52.524007 57.528009 62.53201 67.03201 69.53401 72.03601">Interrupt Request 3</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 113.18283)" 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 113.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 20.007 25.011002 27.513003 32.517004 35.514005 38.511007 43.515008 48.51901 51.021009 53.523008 56.520009 61.52401 66.52801 71.532009 76.536 81.036 83.538 86.04 88.542 93.546 96.543 99.045 103.545 108.548999 111.546 114.543 119.547 124.047 129.051 134.055 139.05899 144.06299 146.06099 151.06499 156.06899 158.57099 163.07099 168.07498 173.07898 178.08298 183.08698 188.09098 190.08898 192.59098 194.58898 199.08898 201.59098 206.09098 208.08898 213.09297 218.09697 221.09397 226.09796">The interrupt request for corresponding channel is cleared</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 124.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 124.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.49902 10.503021 15.507022 18.009022 20.007023 25.011025 27.513026 32.517026 35.514028 38.51103 43.51503 48.51903 51.02103 53.52303 56.52003 61.524034 66.52803 71.53203 76.536029 81.036029 83.538028 86.04002 88.54202 93.54602 96.54302 99.04502 103.54502 108.54902 111.54602 114.54302 119.54702 124.04702 129.05103 134.05503 139.05902 144.06302 146.06102 151.06502 156.06902 158.57102 163.07102 168.07501 173.07901 178.08301 183.087 188.091 190.089 192.591 194.589 199.089 201.591 206.595 211.095 213.597 215.595 220.095">The interrupt request for corresponding channel is active</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 141.68285)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">2</tspan><tspan y="18.83789" x="25.803002 28.305003 34.803 40.302003">INT2</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 141.68285)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 2.5020004 7.506001 10.008001 15.012002 18.009003 21.006003 26.010003 31.014004 33.516004 36.018 42.516004 47.520006 52.524007 57.528009 62.53201 67.03201 69.53401 72.03601">Interrupt Request 2</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 162.68285)" 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 162.68285)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 20.007 25.011002 27.513003 32.517004 35.514005 38.511007 43.515008 48.51901 51.021009 53.523008 56.520009 61.52401 66.52801 71.532009 76.536 81.036 83.538 86.04 88.542 93.546 96.543 99.045 103.545 108.548999 111.546 114.543 119.547 124.047 129.051 134.055 139.05899 144.06299 146.06099 151.06499 156.06899 158.57099 163.07099 168.07498 173.07898 178.08298 183.08698 188.09098 190.08898 192.59098 194.58898 199.08898 201.59098 206.09098 208.08898 213.09297 218.09697 221.09397 226.09796">The interrupt request for corresponding channel is cleared</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 173.68285)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.49902 10.503021 15.507022 18.009022 20.007023 25.011025 27.513026 32.517026 35.514028 38.51103 43.51503 48.51903 51.02103 53.52303 56.52003 61.524034 66.52803 71.53203 76.536029 81.036029 83.538028 86.04002 88.54202 93.54602 96.54302 99.04502 103.54502 108.54902 111.54602 114.54302 119.54702 124.04702 129.05103 134.05503 139.05902 144.06302 146.06102 151.06502 156.06902 158.57102 163.07102 168.07501 173.07901 178.08301 183.087 188.091 190.089 192.591 194.589 199.089 201.591 206.595 211.095 213.597 215.595 220.095">The interrupt request for corresponding channel is active</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 191.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">1</tspan><tspan y="18.83789" x="25.803002 28.305003 34.803 40.302003">INT1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 191.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 2.5020004 7.506001 10.008001 15.012002 18.009003 21.006003 26.010003 31.014004 33.516004 36.018 42.516004 47.520006 52.524007 57.528009 62.53201 67.03201 69.53401 72.03601">Interrupt Request 1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 212.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 20.007 25.011002 27.513003 32.517004 35.514005 38.511007 43.515008 48.51901 51.021009 53.523008 56.520009 61.52401 66.52801 71.532009 76.536 81.036 83.538 86.04 88.542 93.546 96.543 99.045 103.545 108.548999 111.546 114.543 119.547 124.047 129.051 134.055 139.05899 144.06299 146.06099 151.06499 156.06899 158.57099 163.07099 168.07498 173.07898 178.08298 183.08698 188.09098 190.08898 192.59098 194.58898 199.08898 201.59098 206.09098 208.08898 213.09297 218.09697 221.09397 226.09796">The interrupt request for corresponding channel is cleared</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 223.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.49902 10.503021 15.507022 18.009022 20.007023 25.011025 27.513026 32.517026 35.514028 38.51103 43.51503 48.51903 51.02103 53.52303 56.52003 61.524034 66.52803 71.53203 76.536029 81.036029 83.538028 86.04002 88.54202 93.54602 96.54302 99.04502 103.54502 108.54902 111.54602 114.54302 119.54702 124.04702 129.05103 134.05503 139.05902 144.06302 146.06102 151.06502 156.06902 158.57102 163.07102 168.07501 173.07901 178.08301 183.087 188.091 190.089 192.591 194.589 199.089 201.591 206.595 211.095 213.597 215.595 220.095">The interrupt request for corresponding channel is active</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 261.68284)" 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 261.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 20.007 25.011002 27.513003 32.517004 35.514005 38.511007 43.515008 48.51901 51.021009 53.523008 56.520009 61.52401 66.52801 71.532009 76.536 81.036 83.538 86.04 88.542 93.546 96.543 99.045 103.545 108.548999 111.546 114.543 119.547 124.047 129.051 134.055 139.05899 144.06299 146.06099 151.06499 156.06899 158.57099 163.07099 168.07498 173.07898 178.08298 183.08698 188.09098 190.08898 192.59098 194.58898 199.08898 201.59098 206.09098 208.08898 213.09297 218.09697 221.09397 226.09796">The interrupt request for corresponding channel is cleared</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 272.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.49902 10.503021 15.507022 18.009022 20.007023 25.011025 27.513026 32.517026 35.514028 38.51103 43.51503 48.51903 51.02103 53.52303 56.52003 61.524034 66.52803 71.53203 76.536029 81.036029 83.538028 86.04002 88.54202 93.54602 96.54302 99.04502 103.54502 108.54902 111.54602 114.54302 119.54702 124.04702 129.05103 134.05503 139.05902 144.06302 146.06102 151.06502 156.06902 158.57102 163.07102 168.07501 173.07901 178.08301 183.087 188.091 190.089 192.591 194.589 199.089 201.591 206.595 211.095 213.597 215.595 220.095">The interrupt request for corresponding channel is active</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 334.1828)" 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 41.700006">22.3.14</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 118.21337 334.1828)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.005001 15.840002 21.675004 30.840004 36.675004 40.845006 51.675008 60.015008 69.18001 73.350009 81.69001 86.68501 95.02502 100.860019 105.030017 110.02502 120.85502 133.35002 144.18003 152.52002 156.69002 166.69503 177.52503 188.35503 192.52503">Error Register (DMA_ ERR )</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54)" font-size="14" font-family="TimesLTStd"><tspan y="316.4328" x="-.00599 8.54801 15.54801 21.764012 25.264012 33.818014 43.156015 52.494016 55.994016 62.994016 67.65601 74.65601 81.65601 85.54801 92.54801 98.764019 104.210018 107.710018 113.92602 117.42602 124.42602 128.31803 132.21002 135.71002 146.60202 152.81803 159.81803 163.31803 167.98003 174.98003 179.64203 183.14203 187.03403 194.03403 200.25003 203.75003 210.75003 217.75003 221.25003 227.46604 234.46604 240.68204 247.68204 254.68204 260.89805 264.79005 270.23606 273.73606 277.23606 282.68208 286.57408 293.57408 300.57408 306.79008 310.68208 314.57408 321.57408 328.57408 332.07408 335.96607 342.96607 349.18208 352.68208 359.68208 364.34407 370.56007 376.00608 382.22209 389.22209 395.43809 401.65409 405.15409 412.15409 416.81608 420.31608 426.53208 433.53208 437.03208 443.24809 447.91007 452.57206 459.57206 464.23405 467.73405 472.39604 479.39604">The ERR provides a bit map for the 16 channels, signaling the presence of an error for</tspan><tspan y="332.4328" x="-.0059599999 6.2100408 12.426041 18.64204 25.64204 29.14204 35.35804 42.35804 48.57404 55.57404 62.57404 68.79004 72.68204 76.18204 79.68204 88.23604 95.23604 101.45204 104.95204 111.168048 121.27605 133.72205 143.83005 147.33005 153.54605 160.54605 167.54605 171.43805 178.43805 184.65406 188.15406 193.60005 197.49205 204.49205 211.49205 217.70806 221.60005 227.04605 230.54605 234.43805 241.43805 247.65406 251.15406 258.15406 264.37007 270.58607 277.58607 282.24806 286.91004 293.12605 300.12605 306.34205 312.55805 316.05805 323.05805 327.72004 331.22004 337.43605 344.43605 347.93605 354.15205 358.81404 363.476 370.476 375.138 378.638 384.854 391.854 398.854 405.854 409.746 413.638 417.53 424.53 431.53 435.03 442.03 449.03 452.53 457.976 464.19203 468.084 471.976 475.868 482.868">each channel. The eDMA engine signals the occurrence of an error condition by setting</tspan><tspan y="348.4328" x="-.0059599999 3.8860405 10.886041 17.102042 20.602042 26.818043 33.818044 40.818044 45.48004 52.48004 59.48004 64.142047 68.03404 74.250049 78.142047 84.35805 87.85805 94.85805 98.750049 102.642047 106.142047 110.03404 117.03404 120.53404 124.42604 131.42604 135.31804 140.76404 144.26404 148.92604 155.14205 162.14205 166.03404 171.48004 175.37204 181.58805 186.25005 189.75005 193.25005 201.80405 208.80405 215.02005 218.52005 225.52005 232.52005 236.41205 243.41205 250.41205 254.30405 259.75007 263.25007 270.25007 274.91206 278.41206 282.30406 289.30406 293.19606 298.64207 302.14207 306.80406 313.02006 320.02006 323.91206 329.35807 333.25007 339.46607 344.12806 347.62806 353.84407 358.50605 364.72206 368.22206 374.43806 381.43806 387.65406 394.65406 398.54606 404.76206 411.76206 415.26206 422.26206 429.26206 432.76206 436.65406 443.65406 449.87007 453.37007 459.58607 466.58607 473.58607 477.47807 483.69407 490.69407 494.58607">the appropriate bit in this register. The outputs of this register are enabled by the contents</tspan><tspan y="364.4328" x="-.0059599999 6.99404 11.65604 15.15604 19.04804 26.04804 32.26404 35.76404 44.318044 52.872045 57.534044 61.034044 64.53404 70.750049 77.750049 84.750049 88.250049 92.142047 99.142047 105.35805 112.35805 115.85805 120.52005 127.52005 134.52005 138.41205 144.62805 151.62805 155.12805 159.02005 166.02005 169.52005 173.41205 180.41205 186.62805 190.12805 194.02005 201.02005 204.91205 211.12805 215.79006 220.45206 227.45206 234.45206 238.34406 241.84406 248.06006 255.06006 262.06007 265.95207 270.61405 277.61405 281.50605 285.39805 291.61405 296.27604 299.77604 303.27604 313.38404 320.38404 325.04603 328.93803 335.93803 342.93803 346.43803 350.33003 357.33003 363.54603 367.04603 373.26203 380.26203 386.47804 392.69404 399.69404 403.58604 407.47804 414.47804 421.47804 424.97804 431.97804 436.64 440.14 444.032 451.032">of the EEI, and then routed to the interrupt controller. During the execution of the</tspan><tspan y="380.4328" x="-.0059299997 3.8860706 10.88607 14.77807 20.994072 25.656073 30.318074 37.318075 44.318075 48.210077 52.872076 58.318075 64.53407 69.196079 76.196079 80.08807 86.30408 92.52008 96.02008 100.68208 107.68208 114.68208 118.57408 122.46608 129.46608 135.68209 139.18209 145.39809 150.84409 156.29009 163.29009 169.50609 173.39809 179.61409 183.50609 189.72209 196.72209 200.22209 210.3301 214.22209 218.11409 225.11409 228.61409 234.8301 241.8301 248.8301 252.3301 262.43809 274.8841 284.9921 288.4921 294.7081 299.3701 304.03208 311.03208 315.69407 321.14009 324.64009 328.14009 332.03208 335.92408 339.42408 343.31608 348.7621 352.2621 357.7081 364.7081 369.3701 373.2621 383.3701 389.5861 394.24809 400.46409 405.12608 410.57209 414.07209 418.73408 424.95008 430.3961 437.3961 444.3961 451.3961 456.8421 460.7341 467.7341 471.6261 475.5181 479.4101 483.3021">interrupt-service routine associated with any DMA errors, it is software&#x2019;s responsibility</tspan><tspan y="396.4328" x="-.0058999995 3.8861006 10.886101 14.386101 20.6021 24.4941 30.710103 36.9261 41.5881 45.0881 48.980104 55.980104 62.196104 65.696109 71.91211 78.91211 85.91211 90.57411 97.57411 104.57411 109.236118 113.12811 119.34412 123.236118 129.45212 132.95212 139.95212 143.84412 147.73612 151.23612 154.73612 161.73612 167.95212 174.95212 181.16812 185.06012 188.95212 195.95212 202.95212 206.45212 210.34412 217.34412 223.56012 227.06012 233.27613 237.93813 242.60013 249.60013 254.26213 258.92414 262.81614 269.81614 273.70814 279.92414 284.58613 289.2481 296.2481 303.2481 307.1401 310.6401 315.3021 321.5181 328.5181 335.5181 341.7341 347.1801 351.0721 354.5721 358.0721 366.6261 373.6261 380.6261 384.5181 390.7341 396.9501 400.8421 404.7341 411.7341 415.2341 418.7341 424.9501 428.4501 438.5581 443.2201 447.1121 451.0041 457.2201 460.7201 464.6121 471.6121 475.1121 479.0041 486.0041">to clear the appropriate bit, negating the error-interrupt request. Typically, a write to the</tspan><tspan y="412.4328" x="-.0058999995 9.332101 17.8861 27.224102 36.562105 40.062105 43.954107 50.954107 54.454107 58.346109 65.34611 71.56211 75.06211 78.95411 85.95411 89.84611 96.06211 100.72411 105.386119 112.386119 119.386119 123.278118 127.94012 133.38613 139.60213 144.26413 151.26413 155.15613 161.37213 167.58814 171.08814 175.75014 182.75014 189.75014 193.64214 197.53414 204.53414 210.75014 214.25014 218.14214 223.58814 227.08814 234.08814 239.53414 245.75014 252.75014 256.25013 260.9121 267.9121 272.5741 276.0741 279.9661 286.9661 290.8581 296.3041 299.8041 306.8041 313.8041 318.4661 325.4661 332.4661 337.9121 344.1281 347.6281 351.1281 359.6821 366.6821 372.8981 376.3981 383.3981 390.3981 395.0601 405.9521 412.1681 416.0601 419.5601 429.6681 442.1141 452.2221 455.7221 461.9381 468.9381 475.1541 482.1541 489.1541 495.37013">CERR in the interrupt-service routine is used for this purpose. The normal DMA channel</tspan><tspan y="428.4328" x="-.0058999995 6.2101008 13.2101 24.1021 31.1021 34.994104 41.210103 45.102106 48.994108 55.994108 62.994108 66.49411 70.38611 77.38611 84.38611 88.27811 94.49411 100.71011 104.60211 111.60211 116.264118 121.71011 125.21011 129.87212 135.31812 141.53412 145.42612 149.31812 153.21012 160.21012 167.21012 170.71012 174.60211 181.60211 187.81812 191.31812 195.21012 199.87212 206.08812 213.08812 218.53412 223.19612 229.41213 234.07413 237.57413 243.79013 250.79013 257.79014 261.68214 266.34413 273.34413 277.2361 280.7361 287.7361 293.95213 299.39814 305.61415 310.27613 314.16813 321.16813 325.06013 332.06013 336.7221 340.2221 350.3301 360.4381 370.5461 379.1001 382.6001 387.2621 391.15409 397.3701 404.3701 407.8701 414.0861 421.0861 428.0861 431.5861 435.4781 442.4781 448.6941 452.1941 459.1941 466.1941 471.6401 477.08613 480.97813 487.97813 491.87013">completion indicators (setting the transfer control descriptor DONE flag and the possible</tspan><tspan y="444.4328" x="-.0058999995 6.2101008 11.656101 17.102103 23.318104 27.980105 31.872105 35.764108 42.764108 49.764108 53.264108 60.264108 64.92611 68.42611 74.64211 81.64211 85.14211 89.03411 96.03411 99.92611 106.14211 110.804119 115.46612 122.46612 129.46613 133.35813 136.85813 141.52013 147.73613 154.73613 161.73613 167.95214 173.39813 177.29013 181.95214 185.45214 191.66814 196.33014 202.54615 206.04615 213.04615 220.04615 223.93814 227.43814 233.65415 238.31615 242.97815 249.19416 255.41016 259.30216 265.51817 272.51817 276.01817 286.12617 293.12617 299.34217 306.34217 309.84217 316.05818 323.05818 326.55818 332.77418 337.43617 342.09815 349.09815 353.76014 357.26014 361.15214 366.59815 370.09815 377.09815 383.31416 387.20616 393.42216 399.63816 403.53016 409.74617 416.74617">assertion of an interrupt request) are not affected when an error is detected.</tspan><tspan y="468.8328" x="-.0058999995 8.5480999 15.5480999 21.7641 25.2641 31.480099 38.4801 45.4801 49.3721 55.5881 62.5881 66.4801 71.9261 75.4261 82.4261 87.088108 90.588108 94.4801 101.4801 105.3721 110.8181 114.3181 118.9801 125.196109 132.1961 136.0881 141.5341 145.4261 151.6421 156.30411 159.80411 166.02011 172.23612 179.23612 182.73612 188.95212 192.84412 198.29012 205.29012 208.79012 215.79012 222.00612 225.50612 232.50612 239.50612 243.39812 247.29012 253.50612 260.5061 264.0061 271.0061 277.2221 283.4381 289.6541 296.6541 302.10014 308.31614 311.81614 318.03215 321.53215 328.53215 335.53215 342.53215 347.19413 353.41014 359.62614 364.28813 371.28813 374.78813 381.78813 388.00413 391.89613 398.89613 405.11213 408.61213 412.50413 419.50413 426.50413 430.39613 436.61213 442.82814 446.72013 452.93614 458.38215 461.88215 465.77415 472.77415">The contents of this register can also be polled because a non-zero value indicates the</tspan><tspan y="484.8328" x="-.0058999995 6.9941 11.6561 17.8721 23.318102 29.534104 36.534105 42.750104 48.966104 52.466104 59.466104 64.128108 67.628108 73.84411 77.34411 83.56011 90.56011 96.776119 103.776119 110.776119 116.99212 120.88412 124.38412 130.60012 135.26212 139.92412 146.92412 151.58612 155.08612 159.74813 165.96413 172.96413 179.18013 183.84214 190.84214 194.73413 200.95014 206.39614 211.84214 215.34214 222.34214 227.00414 230.50414 234.39614 241.39614 247.61214 251.11214 256.55815 260.45014 266.66615 270.55815 276.77415 280.27415 287.27415 291.93614 295.43614 299.32814 306.32814 312.54414 316.04414 324.5981 333.1521 337.8141 341.3141 344.8141 353.36808 360.36808 366.58409 370.08409 375.5301 379.4221 385.6381 389.5301 395.7461 399.2461 406.2461 410.90809 414.40809 420.62409 427.62409 434.62409 438.12409 445.12409 449.01609 456.01609 462.2321">presence of a channel error regardless of the state of the EEI. The state of any given</tspan><tspan y="500.8328" x="-.0058999995 6.2101008 13.2101 19.426102 26.426102 33.4261 39.6421 43.534105 48.196104 53.6421 57.1421 63.3581 68.0201 72.682109 79.682109 84.34411 87.84411 91.73611 98.73611 105.73611 109.628108 115.84411 122.06011 125.95211 132.95212 137.61412 143.06012 146.56012 150.45212 155.89812 159.39812 165.61412 170.27613 174.93813 181.15413 187.37014 191.26213 197.47814 204.47814 207.97814 214.97814 221.97814 225.47814 235.58614 240.24814 244.14014 248.03214 254.24814 259.69416 263.19416 267.08616 274.08616 277.58616 281.47816 288.47816 292.37016 297.81617 301.31617 305.97816 312.19416 319.19416 323.08616 328.53218 332.42417 338.64018 343.30216 347.19416 350.69416 354.58616 358.47816 361.97816 365.87016 371.31617 374.81617 381.03218 384.92417 390.37019 397.37019 400.87019 407.08619 411.74818 416.41017 422.62617 428.84217 432.73417 438.95018 445.95018 449.45018 456.45018 463.45018 466.95018 477.05818 481.72016 485.61216 489.50416 495.72016">channel&#x2019;s error indicators is affected by writes to this register; it is also affected by writes</tspan><tspan y="516.83279" x="-.0058999995 3.8861006 10.886101 14.386101 18.278101 25.278101 31.494103 34.994104 44.332105 52.886106 62.224107 71.5621 75.0621 78.5621 88.670108 95.670108 99.170108 109.27811 113.94011 117.83211 121.724109 127.94011 133.38611 136.88611 140.7781 147.7781 151.2781 155.1701 162.1701 168.38611 171.88611 180.44011 189.7781 199.1161 202.6161 206.1161 212.3321 215.8321 222.8321 229.8321 236.04811 239.54811 243.44011 250.44011 253.94011 260.1561 267.1561 274.1561 277.6561 284.6561 288.5481 292.4401 295.9401 302.9401 309.9401 315.3861 319.2781 323.1701 327.0621 334.0621 341.0621 344.5621 350.7781 354.6701 360.8861 367.1021 371.7641 377.2101 380.7101 384.6021 391.6021 397.8181 401.3181 407.53413 414.53413 419.1961 423.8581 430.0741 435.5201 442.5201 449.5201 456.5201 463.5201 467.4121 474.4121">to the CERR. On writes to the ERR, a one in any bit position clears the corresponding</tspan><tspan y="532.83279" x="-.0058999995 6.2101008 13.2101 19.426102 26.426102 33.4261 39.6421 43.534105 48.196104 53.6421 57.1421 63.3581 68.0201 72.682109 79.682109 84.34411 87.84411 93.29011 97.182109 103.39811 107.29011 114.29011 119.73611 123.23611 126.73611 136.8441 140.3441 146.5601 152.77611 157.43811 164.43811 167.93811 171.83011 178.83011 182.33011 188.54611 195.54611 202.54611 206.04611 213.04611 216.93811 220.83011 224.33011 231.33011 238.33011 243.77611 247.6681 251.5601 255.4521 262.4521 269.4521 272.9521 279.9521 286.1681 291.6141 295.1141 302.1141 309.1141 312.6141 318.8301 323.4921 328.15409 334.3701 340.5861 344.4781 347.9781 354.9781 361.9781 365.4781 369.3701 376.3701 382.5861 386.0861 392.3021 399.3021 403.96409 408.62608 414.84208 420.2881 427.2881 434.2881 441.2881 448.2881 452.18009 459.18009">channel&#x2019;s error status. A zero in any bit position has no affect on the corresponding</tspan><tspan y="548.83279" x="-.0058999995 6.2101008 13.2101 19.426102 26.426102 33.4261 39.6421 43.534105 48.196104 53.6421 57.1421 63.3581 70.3581 75.0201 79.682109 85.89811 92.89811 96.79011 100.29011 106.50611 111.16811 115.83012 122.83012 127.49212 130.99213 136.43813 140.33013 146.54613 150.43813 157.43813 162.88413 166.38413 169.88413 178.43813 185.43813 191.65413 195.15413 204.49213 213.04613 222.38413 231.72212 235.22212 239.11412 244.56012 248.06012 255.06012 259.7221 266.7221 273.7221 277.6141 284.6141 290.8301 297.8301 301.3301 306.77613 313.77613 317.27613 321.16813 328.16813 334.38414 337.88414 344.10014 348.76213 353.4241 360.4241 365.0861 368.5861 372.4781 379.4781 386.4781 390.3701 396.5861 402.8021 406.6941 413.6941 418.35609 421.85609 426.51808 433.51808 438.18006 441.68006 447.89607 451.39607 456.84208 460.73408 467.73408 474.73408 478.62608">channel&#x2019;s current error status. The CERR is provided so the error indicator for a single</tspan><tspan y="564.83279" x="-.0058999995 6.2101008 13.2101 19.426102 26.426102 33.4261 39.6421 43.534105 47.034105 53.250104 59.466104 66.4661 69.9661 76.182109 82.39811 87.84411 91.73611 95.628108 102.628108 106.128108 113.128108 119.34411 122.84411 129.0601 132.9521 139.1681 145.38411 150.04611 156.26212 163.26212">channel can easily be cleared.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01031" x="278.955 285.45298 290.95198 295.95597 301.45497 304.45198 309.45597 312.95698 315.45899 320.46299 325.46699 327.969 334.46699 336.969 340.47 345.474 350.478 353.475 355.97703 363.47404 368.47804 376.47904 381.97804 385.47904 390.48304 392.98506 399.48304 404.48704 409.49104 414.49504 419.49903 424.50303 427.00505 433.50303 439.002 444.501 447.49803 450.99903 456.49803 459.00004 461.50205 466.50605 470.00706 472.50907 475.50608 480.51008 487.00807 494.50508 501.00306">Chapter 22 Direct Memory Access Controller (eDMA)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.01 137.23 142.79 148.34999 151.12999 157.79999 163.90999 170.01999 173.34999 179.45999 185.01999 193.90999 196.68999 199.46999 205.02999 207.80998 215.02999 220.58998 223.91999 229.47998 233.36998 238.92998 245.03998 250.59998 256.15998 258.93998 267.26997 272.82997 278.93995 285.04994 290.60993 293.38993 296.16993 298.94993 306.16993 311.72993 317.28993 320.06993 322.8499 328.4099 331.1899 336.7499 342.8599 348.96989 351.74989 357.30989 362.86988 368.42988">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00401 5.5030105 8.5000109 13.504011 18.50801 23.00801 27.50801 32.512014 34.510015 39.514017 42.016016 48.019014 53.023015 60.520017 62.518018 67.01802 72.02202 77.02602 82.030017 87.03401 91.53401 94.03601 99.04001 102.03701 104.53901 107.04101 109.54301 114.547008 119.047008">Freescale Semiconductor, Inc.</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32 751.756)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="58.45 65.12 69.01 74.57 77.35 80.13 89.02 91.799999 97.909999 103.46999 107.35999">Preliminary</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 391.68 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">489</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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