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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_494.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

668 lines
67 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 113.182819)" 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 113.182819)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.505001 13.509002 18.513003 21.510003 26.514004 33.012006 38.016008 41.01301 46.01701 48.51901 53.01901 58.02301 61.02001 65.52001 67.51801 72.01801 77.02201 79.52401 82.52101 87.52501 92.52901 97.533008 102.537 107.037 109.539 112.041 114.543 119.547 122.544 125.046 127.548 132.552 137.556 140.058 144.558 149.562 152.55899 155.55599 160.55998 165.05998 170.06398 175.06798 180.07198 185.07598 187.07398 192.07798 197.08197 199.58397 204.08397 209.08797 214.09197 219.09597 224.09996 229.10396 231.10196 233.60396 235.60196 240.10196 242.60396 247.60796 252.61196 255.11396 257.61598 262.61997 265.61698 270.62098 275.12098 280.12498 285.12898">A hardware service request for the corresponding channel is not present</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 124.182819)" 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 124.182819)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 6.0030205 8.50502 13.509021 18.513022 21.510022 26.514023 33.012025 38.016027 41.013029 46.01703 48.519029 53.019029 58.02303 61.02003 65.520038 67.518039 72.018039 77.02203 79.52403 82.521038 87.52503 92.52903 97.53303 102.537029 107.037029 109.539028 112.04102 114.54302 119.54702 122.54402 125.04602 127.54802 132.55202 137.55602 140.05802 144.55802 149.56201 152.559 155.556 160.56 165.06 170.064 175.068 180.07199 185.07599 187.07399 192.07799 197.08199 199.58399 204.08399 209.08798 214.09198 219.09598 224.09998 229.10398 231.10198 233.60398 235.60198 240.10198 242.60398 247.60797 250.60497 255.60897 260.10896 265.11296 270.11695">A hardware service request for the corresponding channel is present</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 185.68283)" 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">22.3.16</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 118.21337 185.68283)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.830001 19.995 28.335003 37.500005 46.665006 55.005006 59.175008 63.34501 72.51001 76.68001 86.68501 92.52001 96.69001 105.85501 111.69001 115.86001 120.85501 129.195 133.365 144.195 152.535 161.7 165.87 174.20999 179.20499 187.54499 193.37999 197.54999 202.54499 213.37499 225.86998 236.69998 245.03998 255.86998 266.69999 277.52998 287.53498 298.36497">Channel n Priority Register (DMA_DCHPRI</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 118.21337 185.68283)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="302.535">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 118.21337 185.68283)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="311.7">)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54.000017)" font-size="14" font-family="TimesLTStd"><tspan y="192.33281" x=".00101 13.2170109 20.21701 26.43301 33.43301 36.93301 41.59501 45.48701 52.48701 58.70301 65.70301 70.36501 77.36501 82.027019 85.919017 92.919017 97.58102 101.473018 105.36501 112.36501 115.86501 122.08102 129.08103 135.29703 142.29703 149.29703 155.51303 159.40503 162.90503 169.12104 173.78304 180.78304 184.67504 188.56703 193.22904 199.44504 203.33704 207.22904 214.22904 221.22904 224.72904 228.62104 234.06703 237.56703 243.78304 250.78304 256.99903 263.99903 267.89103 274.10704 281.10704 284.60704 289.269 298.60704 307.94505 312.60704 321.161 330.49903 339.83705 349.94505 354.60704 358.10704 366.00303 369.50303 376.50303 381.165 384.665 388.165 392.057 399.057 405.273 408.773 414.989 421.989 428.989 432.881 439.09703 446.09703 449.989 455.43504 458.93504 465.93504 470.59703 474.09703 477.989 484.989 491.20503 496.65104">When fixed-priority channel arbitration is enabled (CR[ERCA] = 0), the contents of these</tspan><tspan y="208.33281" x=".00104 4.66304 10.879041 17.87904 21.77104 27.217041 31.109042 37.325044 41.98704 47.43304 50.93304 57.93304 64.14904 68.81104 72.70304 79.70304 85.919048 89.419048 93.31104 100.31104 106.52705 110.02705 117.02705 124.02705 127.919048 134.91904 141.91904 148.13504 151.63504 158.63504 163.29705 167.18904 174.18904 178.85105 182.74304 186.63504 190.52704 196.74304 202.18904 205.68904 211.90505 217.35105 222.79705 229.79705 236.01305 239.90505 246.12105 250.01305 256.22904 263.22904 266.72904 276.83705 280.72904 284.62104 291.62104 295.12104 301.33705 307.55305 313.76905 320.76905 324.26905 330.48506 337.48506 343.70106 350.70106 357.70106 363.91706 367.80906 371.30906 374.80906 378.30906 386.86305 393.86305 400.07905 403.57905 409.79505 416.79505 423.01106 430.01106 437.01106 443.22706 447.11906 450.61906 457.61906 462.28105 466.17304 473.17304 477.83503 481.72703 485.61903 489.51103 495.72703">registers define the unique priorities associated with each channel . The channel priorities</tspan><tspan y="224.33281" x=".00104 6.2170407 10.879041 17.095042 20.595042 26.811043 33.811044 40.027044 43.919046 50.919046 57.135046 61.027048 67.24305 74.24305 77.74305 84.74305 91.74305 95.24305 102.24305 109.24305 120.13505 126.35105 131.01305 134.90505 141.12105 144.62105 151.62105 157.83705 161.72905 168.72905 174.94506 178.83705 182.33705 186.99906 193.99906 198.66106 202.16106 208.37706 215.37706 221.59307 232.48506 239.48506 243.37706 249.59307 253.09307 256.59309 263.59309 267.09309 270.98509 276.4311 279.9311 283.8231 290.8231 297.0391 300.5391 304.4311 311.4311 321.5391 327.7551 333.2011 337.0931 340.5931 347.5931 352.2551 356.1471 363.1471 367.80909 371.70109 375.59309 382.59309 386.09309 389.59309 396.59309 400.09309 403.98509 409.4311 412.9311 416.8231 423.8231 430.0391 433.5391 440.5391 446.7551 453.7551">are evaluated by numeric value; for example, 0 is the lowest priority, 1 is the next</tspan><tspan y="240.33281" x=".00104 7.00104 11.66304 15.55504 22.55504 27.217041 31.109042 35.00104 42.00104 45.50104 49.00104 52.893045 59.893045 66.10905 73.10905 76.60905 83.60905 87.10905 90.60905 97.60905 101.10905 104.60905 110.82505 114.71705 120.93305 124.43305 127.93305 135.71706 142.71706 147.37906 151.27106 161.37906 167.59506 172.25707 178.47307 181.97307 192.86507 199.86507 205.31107 209.20307 212.70307 219.70307 224.36507 231.36507 238.36507 243.02707 249.24308 260.13508 263.63508 267.52708 274.52708 280.74308 284.24308 290.45909 297.45909 303.67509 310.67509 317.67509 323.89109 327.78309 331.28309 338.28309 342.94508 346.83708 353.83708 358.49906 362.39106 366.28306 370.17506 376.39106 381.83708 385.33708 395.44508 399.33708 403.22908 410.22908 413.72908 420.72908 427.72908 431.62107 438.62107 445.62107 451.83708 455.33708 462.33708 468.55308 472.44508 479.44508 485.66108 491.1071">priority, then 2, 3, etc. Software must program the channel priorities with unique values;</tspan><tspan y="256.3328" x=".00104 7.00104 10.893041 17.89304 24.10904 28.77104 38.87904 42.77104 48.21704 54.43304 57.93304 61.43304 67.64904 71.14904 77.36504 84.36504 91.36504 96.02705 99.919048 106.919048 113.919048 118.58105 124.79705 128.68906 132.58106 139.58106 146.58106 150.08106 156.29706 160.95906 165.62107 172.62107 177.28307 180.78307 184.67507 190.12107 193.62107 198.28307 204.49907 211.49907 218.49907 223.16107 227.05307 233.26908 240.26908 243.76908 247.26908 255.82308 262.82307 269.03907 272.53907 277.20106 283.41706 290.41706 297.41706 303.63307 307.13307 314.13307 318.79505 322.29505 326.18705 333.18705 339.40306 342.90306 349.90306 354.56504 358.45704 365.45704 370.11903 374.01103 377.903 384.903 388.403 395.403 401.61903 405.51103 412.51103 418.72703 422.22703 426.11903 431.56504 435.06504 438.95704 442.84904 453.74104 457.63304 461.52503 467.74104 474.74104 478.24104 482.13304">otherwise, a configuration error is reported. The range of the priority value is limited to</tspan><tspan y="272.3328" x=".00104 3.8930405 10.893041 17.109042 20.609042 27.609042 33.825044 37.717046 44.717046 50.933046 56.379045 59.879045 66.87904 71.541049 75.041049 82.041049 85.541049 89.433048 96.433048 101.09505 108.09505 115.09505 122.09505 129.09505 132.59505 139.59505 146.59505 150.09505">the values of 0 through 15 .</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 92.0161 342.4828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00104 5.0050408 10.009041 15.0130419 20.017043 25.021042 30.025044 35.029047 40.033048 45.03705 50.04105 52.54305 57.54705 62.551054 67.051059 72.05505 74.55705 79.81305 82.31505 87.319049 92.323047 97.32704 102.33104 104.83304 109.837039 112.339038 114.841037 119.341037 124.34503 126.84703 129.34903 134.60503 137.10703 140.10402 145.10802 150.11202 152.61402 157.87001 160.37201 162.37001 165.367 167.869 170.371 176.869 181.873 186.877 189.874 194.87799 197.37999 199.37799 204.63399 209.63799 214.64199 217.14398 219.64598 224.64998 227.15198 232.15598 237.15998">4000_8000h base + 100h offset + (1d &#x00d7; i), where i=0d to 15d</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 361.4828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="43.83305 48.502054 50.056055">Bit</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 110 361.4828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.05305">7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 166 361.4828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.05305">6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 222 361.4828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.05305">5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 278 361.4828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="25.92705">4</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 334 361.4828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.054">3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 390 361.4828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.054">2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 446 361.4828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.054">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 502 361.4828)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="26.054">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 375.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="6.83789" x="30.243 36.741 41.745004 46.749006">Read</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.25 374.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="12.33789" x="16.5 22.503 29.001002">ECP</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 168.25 374.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="12.33789" x="16.5 22.998002 29.001002">DPA</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 374.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="51.249">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 336.25 374.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="12.33789" x="95.754 102.252 108.75 114.753 121.251">CHPRI</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 388.2328)" font-size="9" font-family="HelveticaLTStd"><tspan y="6.83789" x="30.756 39.252 42.249 44.247 46.749">Write</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 397.2328)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="28.494 34.992 39.996004 44.496004 49.500005">Reset</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 110 397.4828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="25.497">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 166 397.4828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="25.497">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 222 397.4828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="25.497">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 278 397.4828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="25.371">0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 334 397.4828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="26.253">*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 390 397.4828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="26.253">*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 446 397.4828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="26.253">*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 502 397.4828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="26.253">*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 410.4828)" font-size="9" font-family="HelveticaLTStd"><tspan y="15.83789" x="0 3.5010002 6.0030004 12.501001 17.505002 20.007002 25.011002 29.511002">* Notes:</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 64.2366 429.4828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 12.996001 18.999 25.497002 27.999003 30.501004 33.003004 35.001005 40.005006 42.003007 47.007009">CHPRI field:</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 117.745639 429.4828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 16.011002 18.513003 23.517003 25.515004 28.017004 30.519005 33.021005 35.019006 40.023008 42.021009 47.02501 49.527009 54.53101 59.53501 64.03501 68.53501 71.53201 73.530017 78.53401 81.03601 83.03401 88.03801">See bit field description</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 429.4828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">&#x2022;</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 462.4828)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="156.99599 165.65999 175.65599 184.31999 190.99199 199.65599 208.31999 216.984 224.98799 233.652">DMA_DCHPRI</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 462.4828)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="236.98798">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 462.4828)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="244.31998 247.65598 251.65198 254.98798 261.65998 264.99598 272.32798 275.66398 282.99598 289.66798 296.33998 303.01197 307.67997 311.01597 318.34797 322.34397 325.67997 333.01197 340.34397"> field descriptions</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.500005 484.4828)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="25.79399 31.29299 33.79499 38.798994 41.30099">Field</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.10002 484.4828)" 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 56.250009 500.4828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">7</tspan><tspan y="18.83789" x="26.298 32.301004 38.799005">ECP</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85002 500.4828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 16.011002 21.015004 23.013005 28.017006 30.519007 37.017007 42.021009 47.02501 52.02901 57.033014 62.037015 64.03501 66.53701 72.54001 75.53701 80.54101 85.545009 93.04201 98.046009 100.548007 102.546009 107.55">Enable Channel Preemption</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85002 521.4828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08043 521.4828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.506 21.510003 26.514004 31.518006 33.516008 36.018007 41.022008 43.524007 48.024007 53.028009 58.03201 63.03601 68.04001 70.54201 73.04401 78.048007 83.052 85.554 90.054 95.058 99.558 104.562 109.565998 114.56999 119.57399 124.57799 129.58199 132.08399 137.08798 141.58798 144.08998 149.09398 151.59598 156.59998 158.59798 163.60198 168.60597 173.60997 176.60697 179.10897 184.11296 187.10996 189.10796 194.11196 197.10895 199.10695 201.60895 206.10895 208.61095 213.11095 218.11495 223.11894 228.12294 233.12694 238.13094 240.12894 242.12694 246.62694 249.12894 253.62894 258.63294 261.62995 266.12995 268.12794 272.62794 277.63194 280.13395 283.13096 288.13496 293.13896 298.14295 303.14695 307.64695">Channel n cannot be suspended by a higher priority channel&#x2019;s service request</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85002 532.4828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08043 532.4828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.4980008 11.502001 16.506 21.510003 26.514004 31.518006 33.516008 36.018007 41.022008 43.524007 48.024007 53.028009 58.03201 60.534009 65.53801 70.54201 73.04401 75.546009 80.55 88.047008 93.051 98.055 101.052 106.056 109.053 111.051 113.049 117.549 120.051 124.551 129.55501 134.05501 139.059 144.063 149.067 154.071 159.075 164.079 166.581 171.58499 176.08499 178.58699 181.08899 186.09299 191.09699 193.59899 198.09899 203.10298 206.09998 210.59998 212.59798 217.09798 222.10198 224.60398 227.60097 232.60497 237.60897 242.61296 247.61696 252.11696 254.61896 257.12098 262.12498 264.62699 267.129 272.133 274.635 279.639 281.637 286.641 291.645 296.649 299.646 302.148 307.152 310.14903 312.147 317.151 320.148 322.146 324.648 329.148 331.65003 336.15003 341.15403 346.15803 351.16203 356.16603 361.17">Channel n can be temporarily suspended by the service request of a higher priority channel</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250009 549.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">6</tspan><tspan y="18.83789" x="26.298 32.796 38.799005">DPA</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85002 549.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 8.496 12.996 18 23.004002 25.002003 30.006005 32.508005 38.511 41.508005 46.512006 51.516008 59.01301 64.017009 66.519008 69.021 75.024 80.028 82.026 84.024 86.022 88.524">Disable Preempt Ability</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85002 570.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08043 570.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.506 21.510003 26.514004 31.518006 33.516008 36.018007 41.022008 43.524007 48.024007 53.028009 58.03201 60.534009 65.03401 70.03801 74.53801 79.54201 84.546009 89.55 94.554 97.056 102.06 104.562 106.56 111.563999 118.062 123.065998 126.062999 128.565 133.569 136.566 138.564 143.568 146.56499 148.56299 151.06499 155.56499 158.06699 162.56699 167.57099 172.57498 177.57898 182.58298 187.58698">Channel n can suspend a lower priority channel</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85002 581.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08043 581.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 6.4980208 11.502022 16.506024 21.510025 26.514027 31.518029 33.51603 36.01803 41.02203 43.52403 48.02403 53.02803 58.032033 63.036035 68.04003 70.54203 73.04403 77.54403 82.54803 87.04803 92.052028 97.05602 102.06002 107.06402 109.56602 114.570018 119.57401 124.07401 126.57601 131.07602 136.08002 141.08402 146.08802 151.09201 156.09601 158.09401 160.59601 163.098 166.095 171.099 176.103 181.107 184.10399 189.10799 191.10599 196.10999 200.60999 205.10999 207.61199 212.61598 215.11798 217.61998 222.11998 227.12398 232.12798 237.13198 242.13597 247.13997 249.13797 251.63997 256.64399 259.641 261.63899 266.64299 269.63999 271.63798 274.13999">Channel n cannot suspend any channel, regardless of channel priority</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250009 599.4828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="28.044 33.048 38.052003">5&#x2013;4</tspan><tspan y="18.83789" x="16.299 22.797 27.801003 32.301004 37.305006 40.302007 44.802007 49.806009">Reserved</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85002 599.4828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 40.509008 45.009008 47.511007 50.508008 55.51201 60.01201 65.01601 68.01301 72.51301 77.517009 82.521">This field is reserved.</tspan><tspan y="18.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 80.523 85.023 87.525 90.522 95.526 100.026 105.03 108.027 112.527 117.531 122.534999 125.036998 130.041 135.045 140.049 142.551 147.555 149.553 156.051 161.055 165.555 170.055 172.55699 177.56099 182.56499 187.06499 189.56699 192.06899 197.07299 202.07698 204.57898 209.07898 214.08298 216.08098 221.08498 226.08898 228.59098 233.59497">This read-only field is reserved and always has the value 0.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250009 625.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="28.044 33.048 38.052003">3&#x2013;0</tspan><tspan y="18.83789" x="21.555 28.053002 34.551004 40.554 47.052003">CHPRI</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85002 625.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.506 21.510003 26.514004 31.518006 33.516008 36.018007 41.022008 43.524007 49.527009 52.52401 57.52801 59.526014 62.02801 65.02501 70.02901 72.531009 74.52901 79.533008 84.537 87.039 93.042 96.039 98.037 103.041 106.038 108.036 110.538">Channel n Arbitration Priority</tspan><tspan y="26.83789" x="0 6.4980008 11.502001 16.506 21.510003 26.514004 31.518006 33.516008 36.018007 41.022008 44.01901 46.01701 51.02101 54.018014 56.016016 58.518014 63.018014 65.52001 72.01801 77.02201 82.02601 87.03001 89.532009 92.034008 94.032009 98.532009 103.536 108.54 111.537 116.541 119.538 121.536 126.54 129.537 131.535 134.037 138.537 141.039 146.043 149.04 154.04399 156.04199 158.54399 161.54099 166.54499 169.04698 171.04499 176.04898 181.05298 183.55498 185.55298 190.05298 192.55498 197.55898 202.56298 207.56697 212.57097 214.56897 219.57297">Channel priority when fixed-priority arbitration is enabled</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 166.93567 663.9828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00002 6.4980208 11.502022 16.002022 21.006024 23.508025 26.010025 30.510025 35.514028 37.512029 42.51603 47.52003 50.02203 52.52403 57.52803 60.525033 63.02703 65.52903 70.53303 75.537029 78.039028 82.539028 87.54302 92.54702 97.55102 102.555019 107.55901 109.557018 112.05901 117.06301 120.06001 122.058017 127.06201 130.059 132.057 134.559 139.059 141.561 144.063 146.061 151.065 153.063 158.067 162.567 165.069 167.571 174.069 180.567 186.57 193.06801 195.57 198.072 200.574 202.572 207.072 209.574 214.578 219.582 224.586 229.59 231.588 234.09 236.592 241.596 244.09799 246.59999 251.60399 256.608 259.11003 263.61003 268.614 271.61103 274.60804 279.61204 284.11204 289.11604 294.12004 299.12403 304.12803 306.126 311.13 316.134 318.63603 323.13603 328.14 333.144 338.148 343.152 348.156 350.154 352.656 357.66 362.664 370.161 375.165 380.169">Reset value for the channel priority fields, CHPRI, is equal to the corresponding channel number</tspan><tspan y="18.83789" x=".00004 2.5020405 7.506041 10.503041 13.005041 18.00904 23.013043 27.513043 32.517045 35.019044 40.023046 43.020048 45.018049 50.02205 53.01905 55.01705 57.51905 62.01905 64.52105 67.51805 72.52205 77.52605 79.52405 84.02405 86.52605 91.530048 94.52705 97.029048 99.531047 101.529048 104.031047 109.03504 111.53704 114.03904 116.54104 123.03904 129.53704 136.03504 142.03804 148.53604 151.03804 156.04204 161.04604 163.54804 170.04604 176.54404 182.54705 189.04505 191.54705 194.04904 196.55104 201.55504 206.55904 211.56304 216.56703 218.56504 223.06504 225.56703 230.57103 235.57503 240.57903 245.58303 250.58702 255.59102">for each priority register, i.e., DCHPRI15[CHPRI] equals 0b1111.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 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 54.000024 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 xml:space="preserve" transform="matrix(1 0 0 1 391.68003 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>
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