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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_497.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

714 lines
75 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 118.21338 82)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="27.89648" x="87.48 95.82001 106.65001 117.48001 127.485019 136.65001 146.65502 156.66002 165.00002 177.49501 186.66 197.49 209.16">_NBYTES_MLNO)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="104.65" x="-.00299 8.55101 17.889012 27.997014 31.497014 41.605016 48.605016 53.267015 60.267015 63.767015 70.76701 73.28701 78.73301 82.23301 86.89501 93.111019 100.111019 104.00301 109.44901 113.34101 119.557018 124.21902 127.71902 134.71903 140.93503 145.59703 149.48903 156.48903 160.38103 164.27303 168.16503 175.16503 182.16503 185.66503 192.66503 198.88103 205.88103 212.09703 219.09703 226.09703 231.54303 235.04303 242.04303 249.04303 252.54303 256.43504 263.43504 269.65104 273.15104 278.59706 282.48905 288.70506 292.59706 299.59706 305.04307 308.54307 315.54307 320.20506 323.70506 334.59706 338.48905 345.48905 352.48905 357.15104 360.65104 364.54304 371.54304 378.54304 385.54304 389.04304 399.93504 406.15104 413.15104 420.15104 424.04304 431.04304 438.04304 441.54304 445.04304 449.70503 454.367 457.867 468.759 472.651 479.651 486.651">TCD word 2's register definition depends on the status of minor loop mapping. If minor</tspan><tspan y="120.65" x="-.0029499999 3.8890506 10.8890509 17.88905 24.88905 28.38905 39.28105 45.49705 52.49705 59.49705 63.389055 70.38905 77.38905 80.88905 84.78105 90.22705 93.72705 100.72705 104.61905 110.06505 116.28105 123.28105 127.17305 133.38906 140.38906 143.88906 148.55106 157.88906 167.22705 171.88906 180.44306 192.88906 201.44306 213.88906 218.55106 222.05106 229.94705 233.44705 240.44705 245.10906 248.60906 252.10906 260.66307 270.00108 280.10908 283.60908 293.71708 300.71708 305.37907 312.37907 315.87907 322.87907 326.37907 330.27107 335.71708 339.21708 346.21708 352.43309 357.09507 360.98707 367.98707 374.20307 381.20307 384.70307 390.91908 396.36509 399.86509 404.52708 411.52708 415.41908 419.31108 426.31108 436.41908 441.86509 445.36509 448.86509 453.52708 458.18907 461.68907 472.58106 476.47306 483.47306 490.47306">loop mapping is disabled (CR[EMLM] = 0), TCD word 2 is defined as follows. If minor</tspan><tspan y="136.65001" x="-.0029499999 3.8890506 10.8890509 17.88905 24.88905 28.38905 39.28105 45.49705 52.49705 59.49705 63.389055 70.38905 77.38905 80.88905 84.78105 90.22705 93.72705 99.943058 106.943058 113.15906 120.15906 124.051059 130.26706 137.26706 140.76706 144.26706 149.71306 155.92906 162.14507 165.64507 169.53707 176.53707 182.75307 186.25307 194.80707 204.14507 214.25307 221.25307 231.36107 240.69907 250.80707 259.36106 267.91505 275.69905 282.69905 295.14506 303.69905 313.80705 321.59104 329.37504 339.48304 349.59104 353.09104 359.30705 366.30705">loop mapping is enabled, see the TCD_NBYTES_MLOFFNO and</tspan><tspan y="152.65001" x="-.0029499999 8.55105 17.889052 27.997052 34.99705 45.105054 54.443056 64.551059 73.10506 81.65906 89.44306 96.44306 108.88906 117.44306 127.55106 135.33507 143.11907 153.22707 161.78107 169.56507 173.06507 177.72707 183.94307 190.94307 194.83507 200.28107 204.17307 210.38907 215.05107 218.55107 225.55107 231.76708 237.21308 243.42908 248.09108 251.98308 258.9831 262.8751 266.7671 273.7671 280.7671 286.2131 289.7131 294.3751 301.3751 306.03709 309.53709 318.09107 327.42909 337.53709 341.03709 351.14509 358.14509 362.80708 369.80708 373.30708 380.30708 382.82707 388.27308 391.77308 396.43507 402.65107 409.65107 413.54307 418.98908 422.88108 429.09709 433.75907 437.25907 444.25907 450.47508 455.13706 459.02906 466.02906 469.92106 473.81306 477.70506 484.70506 491.70506">TCD_NBYTES_MLOFFYES register descriptions for TCD word 2's register definition.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 222.79999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="-.00193 6.00107 11.005071 16.009072 19.006072 24.01007 28.51007 33.01007 35.51207">Address: </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 92.01611 222.79999)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="-.00193 5.0020706 10.006071 15.010072 20.014073 25.018074 30.022076 35.026079 40.03008 45.03408 50.038084 52.54008 57.544084 62.548086 67.04808 72.05208 74.55408 79.810077 82.31207 87.31607 92.32007 97.324069 102.328067 107.33206 109.83406 114.83806 117.34006 119.84206 124.34206 129.34606 131.84806 134.35005 139.60605 142.10805 145.10504 150.10904 155.11304 160.11704 162.61904 167.87503 170.37703 172.37503 175.37203 177.87403 180.37602 186.87403 191.87802 196.88202 199.87902 204.88301 207.38501 209.38301 214.639 219.643 224.647 227.149 229.651 234.655 237.157 242.161 247.165">4000_8000h base + 1008h offset + (32d &#x00d7; i), where i=0d to 15d</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.10209 7.7710907 9.32509">Bit</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 69.27273 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74609 7.63809">31</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 84.54545 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74608 7.6380808">30</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 99.81818 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74608 7.6380808">29</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 115.09091 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74608 7.6380808">28</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 130.36363 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74608 7.6380808">27</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 145.63636 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74608 7.6380808">26</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 160.90909 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74608 7.6380808">25</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 176.18183 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74608 7.6380808">24</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 191.45455 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74608 7.6380808">23</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 206.72727 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74608 7.6380808">22</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 221.99999 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74608 7.6380808">21</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 237.2727 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74608 7.6380808">20</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 252.54543 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74608 7.6380808">19</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 267.81816 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74608 7.6380808">18</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 283.09089 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.74608 7.6380808">17</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 298.3636 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.62008 7.51208">16</tspan></text>
<g clip-path="url(#clip_1)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 313.63633 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.745 7.637">15</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 328.90907 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.745 7.637">14</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 344.1818 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.745 7.637">13</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 359.45454 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.745 7.637">12</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 374.72727 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.745 7.637">11</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 390 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="3.745 7.637">10</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 405.27275 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">9</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 420.54548 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">8</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 435.8182 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 451.09095 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 466.36369 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 481.6364 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 496.90916 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 512.1819 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 527.4546 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 542.7273 241.79999)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="5.691">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.99994 253.04999)" font-size="7" font-family="HelveticaLTStd"><tspan y="6.31836" x="5.971">R</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 71.52267 255.29999)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.08789" x="224.10898 230.60698 236.60999 242.61299 248.11199 254.11499">NBYTES</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.99994 262.05)" font-size="7" font-family="HelveticaLTStd"><tspan y="6.31836" x="4.41498">W</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.99994 271.05)" font-size="7" font-family="HelveticaLTStd"><tspan y="9.31836" x="-3.01203 2.0419706 5.933971 9.433971 13.325972">Reset</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 69.27267 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.63497 8.13497">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 84.54539 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.63497 8.13497">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 99.818119 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.63498 8.13498">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 115.09085 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.63498 8.13498">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 130.36357 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.63498 8.13498">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 145.63629 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.63498 8.13498">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 160.90903 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.63498 8.13498">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 176.18177 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.63498 8.13498">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 191.45449 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.63498 8.13498">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 206.7272 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.63498 8.13498">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 221.99993 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.63498 8.13498">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 237.27265 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.63498 8.13498">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 252.54537 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.63498 8.13498">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 267.81809 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.63498 8.13498">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 283.09083 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.63498 8.13498">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 298.36354 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.50898 8.00898">x*</tspan></text>
<g clip-path="url(#clip_2)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 313.63627 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.636 8.136">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 328.909 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.636 8.136">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 344.18174 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.636 8.136">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 359.45448 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.636 8.136">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 374.7272 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.636 8.136">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 389.99995 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.636 8.136">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 405.27268 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.636 8.136">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 420.5454 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.636 8.136">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 435.81816 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.636 8.136">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 451.09089 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.636 8.136">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 466.36363 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.636 8.136">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 481.63636 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.636 8.136">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 496.9091 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.636 8.136">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 512.1818 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.636 8.136">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 527.4546 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.636 8.136">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 542.7273 271.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="3.636 8.136">x*</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.99994 284.3)" 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 68.23654 303.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 4.5 7.0020005 12.258001 14.760002 21.258004 26.262005 31.266007 36.270009 38.772008 40.770009 45.77401 50.77801 55.782014 58.28401 63.288015 65.790019 68.292018 71.28902 76.293018 80.793018 85.79701 88.29901">x = Undefined at reset.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999944 303.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">&#x2022;</tspan></text>
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As a channel activates, the</tspan><tspan y="37.83789" x="0 5.0040009 10.008001 15.012002 18.009003 23.013005 28.017006 31.014006 33.012006 38.016008 40.518007 45.522008 48.024007 53.523008 60.021009 66.519008 69.021 73.521 78.525 83.529 86.031 91.034999 96.038997 98.54099 103.04099 105.54299 107.54099 112.54499 117.54899 122.552989 125.054988 127.052989 132.05699 134.55899 139.56299 142.06499 144.56699 149.57099 154.57498 157.07698 162.08098 168.57898 176.07598 182.07898 184.58098 189.58498 194.58898 199.59297 201.59098 206.59497 211.59897 214.10097 216.60297 221.60697 226.61096 231.61496 234.11696 236.61896 241.62296 246.62696 249.12895 254.13295 259.13697 264.14097 267.13798 272.14198 277.14598 280.14299 282.14097 287.14497 289.64698 294.65098 297.15299 300.15 305.154 310.158 315.162 319.662 322.164 327.168 332.172 337.176 339.678 346.176 349.173 351.171 353.673 358.677 363.177 365.67903 370.683 375.687 378.68403 381.18605 386.19004 389.18705 396.68406 399.18608 404.19007 409.19407 411.69609 413.69407">appropriate TCD contents load into the eDMA engine, and the appropriate reads and writes perform until</tspan><tspan y="48.83789" x="0 2.5020004 7.506001 12.510002 15.012003 22.509003 24.507004 29.511006 34.515008 37.51201 40.014009 45.01801 49.51801 52.020009 57.02401 59.52601 62.028009 65.02501 70.02901 75.033008 79.533008 82.035 87.039 90.036 92.538 97.038 102.042 107.046 112.049999 114.551998 117.05399 122.05799 127.06199 131.56198 134.06398 136.56598 139.56298 144.56697 149.57097 154.07097 156.57297 161.57697 164.57396 167.57096 172.57495 177.57895 180.08095 182.58295 188.08194 193.08594 195.08394 199.58394 202.08594 204.08394 208.58394 211.08594 216.08994 221.09394 223.59593 225.59394 230.59793 235.60193 237.59993 242.09993 244.09793 248.59793 250.59593 255.59993 257.59794 262.60194 265.10395 270.10795 275.11195 280.11595 283.11296 288.11695 290.61897 292.61695 297.62095 302.62495 305.12696 310.13096 315.13496 320.13896 322.64097 327.14097 332.14497 337.14897 342.15296 347.15696 349.65898 352.16099 357.16499 362.16899 364.671 369.675 374.679 376.67698 379.179 384.18299 389.18699">the minor byte transfer count has transferred. This is an indivisible operation and cannot be halted.</tspan><tspan y="59.83789" x="0 2.997 9 10.998 13.5 18.504002 23.508004 28.512005 33.516008 38.520009 41.022008 43.524007 45.522008 48.024007 50.526006 58.023008 63.027009 67.52701 70.02901 75.033008 80.037 82.539 87.039 89.541 94.545 96.543 98.541 103.545 108.548999 111.050998 116.05499 120.55499 123.05699 128.06099 132.56099 134.55899 139.56299 144.56699 147.06899 149.57099 154.57498 159.57898 162.08098 167.08498 172.08898 177.09297 182.09697 188.59497 190.59297 195.59697 198.09897 203.10297 205.60497 210.10497 215.10897 220.11296 222.61496 225.61196 230.61595 232.61396 235.11595 237.61795 239.61595 244.61995 246.61795 251.62195 254.12395 256.62596 261.62995 264.62696 267.12898 271.62898 273.62696 278.63096 281.13298 286.13697 289.13398 294.13798 299.14198 306.63899 311.64299 314.145 316.14299 321.14698 326.15098 328.65299 331.65 334.152 340.155 342.657 345.15904 350.16304 353.16004 355.66206 358.16407 363.16807 368.17207 370.67408 378.17109 380.16908 385.17308 390.17707 393.17408 395.6761 400.1761 405.18009 410.18409 415.18809">(Although, it may be stalled by using the bandwidth control field, or via preemption.) After the minor count</tspan><tspan y="70.83789" x="0 1.9980002 6.498 9 14.004001 18.504002 23.508004 28.512005 33.516008 38.016008 40.518007 45.522008 50.52601 53.028009 55.530008 58.032007 63.036008 68.04001 70.54201 76.545009 82.548007 89.046009 95.54401 102.04201 104.54401 109.548007 114.552 119.556 122.058 128.556 134.559 141.057 147.55501 154.05301 156.55501 161.05501 166.059 168.057 173.061 178.065 182.565 185.067 190.071 193.068 198.07199 200.57399 207.07199 210.06899 212.06699 214.56899 217.07099 222.07498 227.07898 229.58098 234.58498 239.58898 244.08898 248.58898 251.09098 253.08898 258.093 260.595 265.599 268.101 270.60304 275.60704 280.61103 283.11305 288.61204 295.11003 301.608 304.11003 311.60704 316.61103 324.10804 329.11204 332.10905 336.60905 339.11106 341.61308 344.11509 349.11909 354.12309 356.6251 364.1221 369.1261 371.12409 376.12809 379.1251 381.6271 383.6251 386.1271 391.1311 394.1281 399.1321 401.63414 403.6321 408.6361">is exhausted, the SADDR and DADDR values are written back into the TCD memory, the major iteration</tspan><tspan y="81.83789" x=".00004 4.50004 9.504041 14.508041 19.512043 22.014044 24.516045 26.514046 31.014046 33.516046 38.520048 43.524049 48.024049 51.02105 56.02505 63.522054 68.526058 73.53005 76.03205 81.03605 86.04005 88.542049 93.54604 98.55004 103.55404 106.05604 109.05304 114.05704 118.55704 121.05904 126.063037 129.06003 134.06403 139.06803 141.57003 144.07202 149.07602 151.57802 154.08002 159.08402 164.08802 166.59001 172.089 178.587 185.085 187.587 195.084 200.088 207.58499 212.58899 215.58599 220.08599 222.58798 225.08998 227.59198 230.09398 232.59598 235.09798 240.10198 245.10597 247.60797 255.10497 260.10899 262.10697 267.11097 270.10798 272.61 274.60798 277.11 282.11399 285.111 290.115 292.617 294.615 299.619 304.623 307.125 311.625 316.629 321.633 326.637 329.139 331.64103 333.639 338.139 340.64103 345.14103 350.14503 357.64204 362.64604 364.644 369.648 372.15003 377.15403 382.15803">count is decremented and restored to the TCD memory. If the major iteration count is completed,</tspan><tspan y="92.83789" x=".00004 5.0040409 10.008041 15.012042 17.010043 19.512043 21.510045 26.514046 31.518048 36.52205 38.52005 41.02205 46.02605 49.023054 54.027055 58.527055 63.531057 68.03105 72.53105 74.52905 79.53305 84.53705 87.03905 89.03705 93.53705 96.03905 101.043048 106.04704 109.044048 111.54604 116.55004 119.54704 127.044048 132.04805 137.05205">additional processing is performed.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 166.93561 478.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 6.0030405 11.007041 13.509041 20.007042 26.010043 32.013044 37.512044 43.515047 49.518045 52.020044 56.520044 61.524045 63.522047 68.52605 73.530048 76.03204 81.03604 83.53804 86.04004 91.04404 95.54404 100.548038 105.55203 110.55603 115.56003 120.564029 125.56802 130.57202 135.57602 140.58002 143.08202 145.08002 149.58002 152.08202 154.08002 159.08402 161.58602 166.59001 169.587 174.591 177.588 182.592 185.094 190.09799 195.10199 197.60399 202.60799 207.10799 209.60999 214.61399 217.11598 222.11998 224.62198 231.62398 237.62699 240.12899 242.63098 245.62798 250.63198 255.63597 260.136 262.638 267.642 270.639">An NBYTES value of 0x0000_0000 is interpreted as a 4 GB transfer.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.99996 537.8)" 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">22.3.21</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 118.21334 537.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 9.165 19.995 30.825 34.995004 45.000005 49.170007 58.335008 67.50001 75.84001 85.00501 89.17501 101.67001 105.84001 115.00501 124.17001 130.00502 134.17502 143.34001 152.505 161.67 170.83499 175.00499 186.67499 191.66999 196.66498 205.00498 213.34497 218.33997 222.50997 227.50496 239.99996 244.16996 253.33495 262.49995 268.33494 272.50495 281.66996 290.83497 299.99998 309.16499 313.335 323.34 332.505 340.845 350.01 354.18003 362.52003 371.68504 375.85505 384.19505 393.36006">TCD Signed Minor Loop Offset (Minor Loop Enabled and</tspan><tspan y="27.89648" x="-.00003 11.669971 16.66497 21.65997 29.99997 38.33997 43.33497 47.50497 58.334974 62.504976 70.84498 79.18498 88.34998 92.51998 100.859989 110.02499 115.01999 119.18999 124.18499 135.01499 147.50998 158.33998 166.67998 175.84497 186.67498">Offset Disabled) (DMA_TCD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 118.21334 537.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="27.89648" x="197.50498">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 118.21334 537.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="27.89648" x="206.66997 215.00997 225.83997 236.66997 246.67498 255.83997 265.84498 275.84999 284.18998 296.68498 305.84999 317.52 326.685 335.85 346.68 358.35">_NBYTES_MLOFFNO)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.99996 54)" font-size="14" font-family="TimesLTStd"><tspan y="536.05" x=".00298 8.55698 17.894982 28.002984 31.502984 41.610986 48.610986 53.272985 60.272985 63.772985 70.77298 74.27298 78.16498 83.61098 87.11098 94.11098 100.32698 104.98898 108.88098 115.88098 122.096988 129.09699 132.59699 138.81299 144.25899 147.75899 152.42099 159.42099 163.31299 167.20499 174.20499 184.31299 189.75899 193.25899 197.15099 201.81299">TCD word 2 is defined as follows if:</tspan><tspan y="560.45" x="13.10698 23.998982 36.444986 40.336988 47.336988 54.336988 58.998987 62.498987 66.39098 73.39098 80.39098 87.39098 90.89098 101.78298 107.998989 114.998989 121.998989 125.89098 132.89099 139.89099 143.39099 147.28299 152.72899 156.22899 162.44499 169.44499 175.661 182.661 186.553 192.769 199.769 203.269 207.931 217.269 226.607 231.269 239.823 252.269 260.823 273.269 277.931 281.431 289.327 292.827 299.827 304.48899 307.98899 314.205 321.205">&#x2022;Minor loop mapping is enabled (CR[EMLM] = 1) and</tspan><tspan y="576.45" x="13.10698 23.998982 31.782982 44.22898 52.78298 62.890985 71.444988 74.944988 82.84099 86.34099 93.34099 96.84099 103.05699 110.05699 117.05699 120.55699 130.665 143.111 151.665 161.773 170.327 173.827 181.72299 185.22299">&#x2022;SMLOE = 0 and DMLOE = 0</tspan><tspan y="602.45" x=".0029907227 4.664991 9.326991 12.826991 23.718993 27.610993 34.610994 41.610994 46.27299 49.77299 53.664995 60.664995 67.66499 74.66499 78.16499 89.05699 95.272998 102.272998 109.272998 113.16499 120.16499 127.16499 130.665 134.55699 140.00299 143.50299 149.719 156.719 162.935 169.935 173.827 180.043 187.043 190.543 196.759 203.759 210.759 214.259 222.043 234.489 243.043 253.151 261.705 265.205 272.205 276.86698 280.36698 290.47499 302.921 311.47499 321.58299 330.13697 333.63697 337.52897 342.97499 346.47499 351.921 358.137 362.029 365.529 369.421 376.421 382.637 389.637 393.137 397.79899 404.01499 408.67698 414.89299 419.55497 423.05497 426.94697 433.94697 437.44697 441.33897 448.33897">If minor loop mapping is enabled and SMLOE or DMLOE is set then refer to the</tspan><tspan y="618.45" x=".0030207227 8.55702 17.895022 28.003022 35.00302 45.111024 54.449026 64.55702 73.11102 81.66502 89.44903 96.44903 108.89503 117.44903 127.55703 135.34104 143.12503 153.23303 161.78704 169.57103 173.07103 177.73303 183.94904 190.94904 194.84104 200.28704 204.17903 210.39504 215.05704 218.55704 225.55704 231.77304 237.21904 243.43505 248.09705 251.98905 258.98905 262.88105 266.77305 273.77305 280.77305">TCD_NBYTES_MLOFFYES register description.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.99996 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 53.99996 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 53.99996 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 1 220.31998 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 1 391.67997 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">497</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 53.99997 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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