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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_505.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

504 lines
68 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 54 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.3" x="175.97998">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.3" x="183.31198 189.98398 198.64798 206.65198 215.31598 218.65198 222.64798 225.98398 232.65598 235.99198 243.32398 246.65998 253.99198 260.66398 267.33598 274.00798 278.67597 282.01197 289.34397 293.33998 296.67597 304.00798 311.33998 318.01197 321.34797 325.34397 332.01597 339.34797 346.67997 350.67597 354.01197 361.34397 368.67597 375.34797 382.67997">_CSR field descriptions (continued)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 116.182819)" 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 42.516008 47.520009 52.52401">Channel Done</tspan><tspan y="26.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 34.011007 36.513006 38.511007 43.515008 48.51901 50.51701 55.01701 60.02101 62.52301 67.52701 72.02701 74.52901 77.031009 82.035 87.039 89.541 94.545 101.043 108.54 114.543 117.045 122.048999 127.05299 131.553 134.055 138.555 143.55899 151.05599 156.05998 158.05799 163.06198 165.56398 170.56798 175.57198 178.07398 180.57598 185.57997 190.58397 193.08597 200.58296 205.58696 207.58496 212.58896 215.58596 218.08795 220.08596 225.08995 230.09395 235.09795 237.59995 240.10195 245.60094 250.60494 255.60894 258.11094 263.11494 269.6129 277.10993 283.1129 285.61494 290.61894 295.62294 300.62693 302.6249 307.6289 312.6329 315.13493 319.63493 324.63893 327.14094 331.64094 334.14295 336.14094 338.64295 341.14497 346.14897 350.64897 353.15098 355.65299 360.65699 365.66099 368.163 374.66099 377.163 382.662 388.66499 395.16297 397.66499 402.16499 407.16899 412.17298 417.17698">This flag indicates the eDMA has completed the major loop. The eDMA engine sets it as the CITER count</tspan><tspan y="37.83789" x="0 2.997 8.001 13.005001 17.505002 22.509003 27.513005 32.013006 34.515005 39.015005 44.019006 47.016008 52.020009 54.522008 57.024007 62.523008 67.52701 72.531009 75.033008 79.533008 84.537 87.039 89.541 96.039 101.043 104.04 109.044 111.546 116.046 118.044 123.048 128.052 131.049 135.549 138.051 140.049 142.551 145.053 147.555 152.55899 155.55599 158.05799 160.55998 165.56398 170.56798 173.06998 178.07398 183.07798 186.07497 191.07897 197.57697 202.58097 205.57796 210.58196 213.08396 219.58196 224.58596 229.58995 234.59395 237.09595 239.59795 244.60195 249.60594 252.10794 256.60795 261.61195 266.61595 271.61994 276.62394 281.62794 283.62593 286.12794 288.12593 292.62593 295.12794 300.13194 304.63194 307.13395 309.13194 313.63194 318.63594 321.13795 326.14195 331.14595">reaches zero; The software clears it, or the hardware when the channel is activated.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 166.93564 165.18282)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 5.49904 10.50304 12.50104 17.001042 19.503043 24.507042 26.505043 29.007044 31.509045 39.006048 44.010049 48.510049 51.012048 53.514047 58.518049 63.52205 66.02405 70.52405 72.52205 77.52605 82.530048 85.52705 90.531047 95.53504 98.03704 100.53904 105.54304 108.04504 114.54304 117.54004 119.53804 122.04004 127.04404 129.54604 132.04804 137.05204 142.05603 144.55803 152.05503 158.05803 162.55803 169.56003 176.05803 182.06104 187.06504 189.56703 196.06504 202.06804 204.57004 209.57404 212.57103 215.07303 221.07604 227.07904 234.08104 236.58304 241.58704 243.58504 246.08704 250.58704">This bit must be cleared to write the MAJORELINK or ESG bits.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 180.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">6</tspan><tspan y="18.83789" x="19.296002 25.299002 31.797003 37.296 39.798 45.801004">ACTIVE</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 180.68283)" 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 42.021005 46.521005 49.023004 51.021005 55.521005">Channel Active</tspan><tspan y="28.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 34.011007 36.513006 41.013006 43.011007 48.015008 53.01901 58.02301 60.02101 64.52101 67.02301 69.52501 74.52901 79.533008 82.035 86.535 91.539 96.543 101.547 106.550998 111.55499 113.55299 116.05499 118.05299 122.55299 125.05499 129.555 134.55899 137.55599 140.55298 145.55698 150.56098 153.06298 155.06098 159.56098 162.06298 164.06098 169.06497 171.56697 176.57097 181.07097 186.07497 190.57497 195.57897 198.08097 200.07897 205.08296 210.08696 212.58896 215.09096 217.59296 220.09496 222.59696 224.59496 229.09496 231.59696 236.09696 241.10095 243.60295 246.10495 252.60295 257.60697 262.61097 267.61497 270.11698 274.61698 279.62098 284.62498 289.62898 294.63298 299.63697 301.63496 304.13697 308.63697 313.64097 316.63798 321.13798 323.13597 327.63597 332.63996 335.14198 340.14598 345.14997 350.15397 352.15196 357.15596 361.65596 364.15797 366.65998 371.66398 376.66798 381.67198 384.17399 386.676 391.68">This flag signals the channel is currently in execution. It is set when channel service begins, and the</tspan><tspan y="39.83789" x="0 5.0040009 11.502001 18.999 25.002 27.504002 32.004 34.002004 39.006006 44.010007 47.007009 51.507009 54.009008 56.007009 58.509008 61.011007 66.01501 70.51501 73.017009 75.519008 80.523 85.527 88.029 95.526 97.524 102.528 107.532 110.529 113.031 115.029 120.033 125.036998 130.041 132.543 137.043 142.047 149.54399 154.54799 156.54599 161.54999 164.05199 169.05599 173.55599 176.05799 181.06198 184.05898 186.56098 188.55898 191.06098 193.56298 198.56697 203.57097 208.07097 210.57297 215.57697 218.57396 221.57096 226.57495 229.57195 232.07395 236.57395 241.57794 246.58194 251.58594 253.58394 256.08595 258.08393 263.08793 268.09193 270.59394 272.59193 277.09193 279.59394 284.59794 289.60194 292.10395 297.10795 301.60795 304.10997 309.11396 314.11796 316.61997 319.12199 324.62098 329.62498 331.62297 336.12297 338.62498 343.62898 345.62696 348.12898 350.63099 353.628 358.632 363.132 368.136 370.638 375.138 377.64 380.14204 385.14604 387.64805 392.14805 397.15205 400.14906 405.15306">eDMA clears it as the minor loop completes or if any error condition is detected. This bit resets to zero.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 228.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">5</tspan><tspan y="18.83789" x="6.795 14.292001 20.295002 24.795002 31.797003 38.295003 44.298006 49.302007 51.804006 58.302007">MAJORELINK</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 228.18283)" 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 35.019006 40.023008 45.027009 50.03101 55.03501 60.039014 62.037015 65.03401 67.53601 72.54001 75.53701 80.03701 85.04101 90.045009 95.049 100.053 105.057 107.055 109.557 111.555 113.553 118.557 123.057 125.055 130.059 135.063 137.565 142.569 147.573 150.075 157.57199 162.57599 164.57399 169.57799 172.57498 175.07698 177.07498 182.07898 187.08298 192.08698 194.58898 199.08898 204.09297 211.58997 216.59397 218.59197 223.59597 226.09796">Enable channel-to-channel linking on major loop complete</tspan><tspan y="26.83789" x=".00002 6.0030205 10.50302 13.00502 15.507021 20.51102 25.515023 28.017024 32.51702 37.521024 42.525026 47.529027 52.533029 57.53703 59.53503 62.03703 66.53703 71.54103 79.03803 84.04203 86.04003 91.04403 93.54603 98.550029 103.050029 105.552028 108.05402 113.05802 118.06202 120.56402 128.06102 133.06502 135.06302 140.06702 143.06401 145.56601 147.56401 152.56801 157.572 162.576 165.078 167.58 170.082 175.086 177.084 181.584 184.086 186.588 188.586 193.59 198.594 201.096 206.09999 211.10399 216.10799 221.11199 223.10999 228.11399 232.61399 235.11598 237.61798 242.62198 247.62598 250.12798 252.12598 254.12398 259.128 263.628 265.62599 270.62998 275.63398 278.136 280.638 285.642 288.144 293.148 298.152 303.156 305.65803 310.66203 315.66603 318.66304 321.16505 325.66505 330.66905 335.67304 340.67704 345.68104 350.68504 352.683 355.18504 357.68705 362.69105 367.69505 370.19706 372.19505 377.19905 382.20304 387.20704 389.70906 394.71305">As the channel completes the major loop, this flag enables the linking to another channel, defined by</tspan><tspan y="37.83789" x=".000069999998 7.497071 13.500071 18.00007 25.002072 31.500073 36.504076 39.006074 45.504076 51.507074 58.005075 64.503078 67.00507 69.50707 75.00607 80.01007 85.01407 87.51607 89.51407 91.51207 96.51607 101.01607 103.51807 106.020069 111.02406 114.021068 119.02506 124.02906 126.53106 129.03307 133.53307 138.53707 143.54106 148.54506 153.54906 158.55306 160.55106 163.05306 165.05106 170.05506 172.05306 174.55506 176.55306 181.55706 184.05905 189.06305 193.56305 196.06505 201.06905 203.57105 208.07105 213.07505 218.07904 223.08304 228.08704 233.09104 235.08904 237.59104 242.09104 247.09503 250.09203 254.59203 256.59004 261.09004 266.09403 268.59605 271.59306 276.59706 281.60105 286.60505 291.60905 296.10905 298.61106 301.11308 305.61308 307.61106 312.61506 315.11708 320.12107 325.12507 327.62709 329.62507 334.62907 337.13108 342.13508 345.13209 350.13609 355.14009 357.13807 359.64009 367.1371 372.14109 376.64109 381.64509 386.64909 391.65309 393.65107 398.15107 405.64808 408.1501 410.6521 415.6561 420.6601">MAJORLINKCH. The link target channel initiates a channel service request via an internal mechanism that</tspan><tspan y="48.83789" x=".000069999998 4.50007 9.50407 12.006071 16.506072 19.008072 21.510073 26.514073 31.518074 34.020074 39.519075 46.017076 52.515077 57.519079 62.52308 69.02108 75.02408 81.52208 84.02408 90.02708 95.52608 101.529079 108.02708 113.52608 116.028079 118.530078 123.53407 125.532077 128.03408 130.53607 135.54007 138.04207 140.54407 143.04607 148.05007 153.05406 155.55606 160.05606 165.06006 170.06406 174.56406 176.56206 179.06406 181.06206 186.06606 191.07006 193.57205 198.07205 203.07605 208.08005 213.08405 218.08805 223.09204 225.09004">sets the TCDn_CSR[START] bit of the specified channel.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 166.93564 288.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00007 5.49907 10.503071 13.005072 17.505072 22.509072 27.513073 32.517076 37.521078 40.518079 43.020078 45.522077 48.024076 53.028078 58.032079 60.534078 65.53808 70.03808 75.042079 80.046077 87.543079 89.54108 94.04108 96.543079 98.54108 100.53908 105.543079 110.043079 112.04108 117.045078 122.04907 124.55107 129.05107 134.05507 139.05907 144.06307 147.06006 152.06406 157.06806 161.56806 166.06806 168.57006 176.06705 181.07105 186.07505 191.07904 193.07704 195.57904 198.08104 200.58304 205.58704 207.58504 212.08504 214.58704 217.08904 219.08704 224.09104 226.08904 231.09304 233.59503 235.59304 240.09304 242.59503 245.09703 250.10103 253.09803 257.59803 262.60203 267.60603 270.10804 272.61006 277.61405 280.11607 284.61607 289.62007 292.61708 297.62107 300.12309 306.62107 311.62507 316.62907 321.63307 324.13508 330.63307 333.63008 335.62806 338.13008 340.63209 345.63609 350.64009 353.1421 355.6441 360.6481 363.15013 369.6481 374.6521 376.6501 378.64808">To support the dynamic linking coherency model, this field is forced to zero when written to while</tspan><tspan y="18.83789" x=".00007 2.5020705 7.506071 12.510072 15.012072 20.511073 27.009074 33.507074 38.511075 43.515077 50.013078 56.016077 62.514078 65.016078 71.51408 78.516078 85.01408 91.017078 93.51907 96.02107 101.02507 103.02307 105.52507 108.02707 110.02507 114.52507 117.02707 121.52707 126.53107 129.03307">the TCDn_CSR[DONE] bit is set.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 320.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 22.509 27.513 32.517004 37.521005 42.525007 47.529008 49.527009 52.52401 55.02601 60.03001 63.02701 67.52701 72.531009 77.535 82.539 87.543 92.547 94.545 97.047 99.045 101.043 106.047 110.547 112.545 117.548999 122.55299 125.05499 127.05299 131.553 134.055 139.05899 141.05699 145.55699 150.56099 155.56499 157.56299 162.56699">The channel-to-channel linking is disabled</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 331.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 15.507001 18.009 22.509 27.513 32.517004 37.521005 42.525007 47.529008 49.527009 52.52401 55.02601 60.03001 63.02701 67.52701 72.531009 77.535 82.539 87.543 92.547 94.545 97.047 99.045 101.043 106.047 110.547 112.545 117.548999 122.55299 125.05499 127.05299 131.553 134.055 139.05899 144.06299 149.06699 154.07099 156.06899 161.07299">The channel-to-channel linking is enabled</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 348.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">4</tspan><tspan y="18.83789" x="26.046002 32.049005 38.052003">ESG</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 348.6828)" 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 36.522008 41.022008 46.02601 48.528009 51.030008 56.034009 59.03101 61.53301 68.53501 73.53901 76.04101 81.045009 86.049 89.046009 91.548007 97.551 100.548007 105.552 110.052 115.056 119.556 124.056 126.054 131.058">Enable Scatter/Gather Processing</tspan><tspan y="26.83789" x="0 6.0030004 10.503 13.005001 15.507002 20.511002 25.515004 28.017004 32.517007 37.521009 42.52501 47.52901 52.533014 57.537015 59.535017 62.037015 66.53702 71.541019 79.03802 84.042018 86.040019 91.044017 93.54601 98.55001 103.05001 105.55201 108.05401 113.05801 118.062007 120.564 128.061 133.065 135.063 140.067 143.064 145.566 147.564 152.568 157.57199 162.57599 165.07799 167.57999 170.08199 175.08599 177.08399 181.58399 184.08599 186.58798 188.58599 193.58998 198.59398 201.09598 206.09998 211.10398 216.10797 221.11197 223.10997 228.11397 232.61397 235.11597 239.61597 244.11597 249.11997 251.62197 254.12397 259.12797 262.12498 264.62699 269.63099 274.63499 277.137 282.141 287.145 290.142 292.644 297.648 300.64503 305.64903 310.14903 315.153 319.653 324.153 326.151 331.155 336.159 338.661 340.659 345.663 348.165 350.66703 355.67103 360.67503 363.17704 367.67704 372.68104 375.67805 378.67506 383.67906 388.68305">As the channel completes the major loop, this flag enables scatter/gather processing in the current</tspan><tspan y="37.83789" x="0 4.5 9.504001 14.508001 19.512001 24.516003 29.520005 31.518006 34.020006 36.522005 39.024003 41.526 44.028 49.032 54.036005 59.040006 64.04401 66.04201 71.046009 76.05 78.552 81.054 83.556 88.56 93.563999 96.065998 101.06999 107.56799 115.064998 121.06799 123.56999 128.57399 133.57799 138.58199 140.57999 145.58399 150.58798 153.08998 158.09398 162.59398 167.59798 172.09798 174.59998 181.09798 186.10198 192.10498 198.10799 203.60698 209.60999 216.61199 222.61499 225.11699 230.12099 234.62099 237.12299 242.12699 244.62899 252.12598 257.12998 264.62699 269.63099 272.628 277.128 279.63 284.634 289.638 291.636 296.63999 299.142 304.146 307.143 309.64503 312.14704 317.15104 319.65306 324.65705 327.15907 332.16307 335.16007 342.65708 347.66108 352.66508 357.66908 359.66706 364.67106 367.66807 372.67207 377.67607 380.17808 385.18208 390.18608 395.19007 398.18708 403.19108 407.69108">channel. If enabled, the eDMA engine uses DLASTSGA as a memory pointer to a 0-modulo-32 address</tspan><tspan y="48.83789" x=".00004 4.50004 9.504041 14.508041 17.010043 22.014042 24.012043 29.016045 31.014046 36.018049 41.02205 43.524049 48.52805 51.03005 56.03405 61.03805 64.03505 69.03905 73.53905 76.041049 81.045047 83.54704 88.55104 93.55504 96.05704 101.061038 103.563037 108.063037 110.56503 113.562038 118.56603 123.06603 125.56803 130.57204 133.56903 138.57303 141.07503 143.07303 148.07703 153.08103 158.08502 163.08902 168.09302 170.59502 175.59902 180.09902 182.60102 185.10301 190.10701 195.11101 197.613 200.115 203.112 208.116 213.12 217.62 220.122 225.12599 228.12299 230.62499 235.12499 240.12899 245.13298 247.63498 250.63198 255.63597 257.63398 260.136 265.13999 270.14399 274.64399 279.14399 282.141 284.13899 289.14299 291.645 296.649 299.646 302.148 304.146 309.15 311.652 316.656 319.15803 321.66004 326.66404 331.66804 334.17005 336.16804 341.17204 345.67204 350.67604 352.674 355.17604 362.67304 367.67704 375.17405 380.17805 383.17506 387.67506">containing a 32-byte data structure loaded as the transfer control descriptor into the local memory.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 166.93564 408.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 5.49904 10.50304 13.005041 17.505042 22.50904 27.513043 32.517045 37.521047 40.518049 43.020048 45.522047 48.024045 53.028047 58.032049 60.534048 65.53805 70.03805 75.042049 80.04604 87.543048 89.541049 94.041049 96.543048 101.043048 105.543048 110.54704 113.04904 115.55104 120.55504 123.55204 126.05404 131.05805 136.06204 138.56404 143.56804 148.57204 151.56903 154.07103 158.57103 163.57503 168.57903 173.58303 176.58002 181.58402 186.58802 191.08802 195.58802 198.09001 205.587 210.591 215.595 220.599 222.597 225.099 227.601 230.103 235.107 237.105 241.605 244.107 246.609 248.607 253.611 255.609 260.613 263.11503 265.113 269.613 272.11503 274.61705 279.62104 282.61805 287.11805 292.12205 297.12605 299.62806 302.13008 307.13407 309.63609 314.13609 319.14009 322.1371 327.14109 329.6431 336.14109 341.14509 346.14909 351.15309 353.6551 360.15309 363.1501 365.14808 367.6501 370.1521 375.1561">To support the dynamic scatter/gather coherency model, this field is forced to zero when written</tspan><tspan y="18.83789" x=".00004 2.5020405 7.506041 10.008041 16.506043 21.510045 23.508046 25.506047 30.510048 33.012048 35.514047 40.518049 45.52205 48.024049 53.52305 60.02105 66.51905 71.52305 76.52705 83.02505 89.028049 95.52605 98.028049 104.52605 111.528049 118.02605 124.029048 126.531047 129.03305 134.03705 136.03505 138.53705 141.03905 143.03705 147.53705 150.03905 154.53905 159.54305 162.04505">to while the TCDn_CSR[DONE] bit is set.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 440.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 22.509 27.513 30.51 33.507 38.511 43.515005 46.017004 48.519 53.019 58.023004 63.027006 68.031009 73.035 78.039 80.037 82.035 86.535 89.037 94.536 101.034008 107.532009 110.034008 112.032009 116.532009 119.034008 124.038 129.042 132.039 139.536 144.54 146.538 149.04 151.54199 156.54599 159.54299 167.03998 172.04398 174.54598">The current channel&#x2019;s TCD is normal format.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 451.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.49902 10.503021 15.507022 18.009022 22.509022 27.513024 30.510024 33.507024 38.511026 43.515027 46.017026 48.519025 53.019025 58.023027 63.027029 68.03103 73.03503 78.039028 80.037029 82.03503 86.53503 89.037029 94.536029 101.03403 107.53203 110.03403 114.53403 119.538028 124.54202 129.04203 131.04003 133.54203 135.54003 140.54402 145.04402 147.54602 152.55002 155.05202 159.55202 164.05202 169.05602 171.55802 174.06002 179.06401 182.061 184.563 189.567 194.571 197.073 202.077 207.081 210.07799 212.57999 215.08199 220.08599 223.08298 230.57997 235.58397 238.08597 240.58797 243.08997 248.58896 253.59296 258.59696 261.09898 267.59696 272.60096 278.60395 284.60694 290.10594 296.10893 303.11094 309.11393 311.61595 314.11796 316.11595 321.11994 323.11793 328.12193 330.62394 335.62794 338.62495 343.62895 348.12895 350.12693 355.13093 360.13493 364.63493 367.13694 372.14094 374.64295 382.13996 387.14396 394.64097 399.64497 402.64198">The current channel&#x2019;s TCD specifies a scatter gather format. The DLASTSGA field provides a memory</tspan><tspan y="20.83789" x=".00004 5.0040409 10.008041 12.006042 17.010043 19.512043 24.516045 27.513045 30.015046 32.517045 37.521047 40.023046 42.525045 47.529047 52.533048 55.035047 60.039049 65.043048 69.543048 72.045047 74.54704 80.04604 86.544048 93.042049 95.544048 98.04604 103.05004 105.55204 110.55604 115.560039 118.062038 120.060039 125.06403 130.06804 135.07204 140.07604 145.08003 147.58203 149.58003 154.58403 157.08603 162.09003 164.59203 167.09403 172.09803 174.09603 178.59603 181.09803 185.59803 190.60202 195.60602 200.61002 205.61402 210.61801 212.61602 215.11801 220.12201 222.62401 225.126 230.13 233.127 235.629 238.131 243.135 248.13899 250.64099 258.138 263.142 265.13999 270.14399 273.141 275.643 277.641 282.645 287.649 292.65299 295.155 299.655 304.659 312.156 317.16 319.158 324.162 326.664 331.668 336.168 338.67 340.668 343.17 347.67 350.17204 355.17604 359.67604 364.68003 369.18003 374.18403 376.68605 378.68403 383.68803 388.69203">pointer to the next TCD to be loaded into this channel after the major loop completes its execution.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 480.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">3</tspan><tspan y="18.83789" x="22.554 29.052002 35.550004 41.553">DREQ</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 480.1828)" 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 39.006006 44.010007 49.014009 54.01801 59.02201 63.52201">Disable Request</tspan><tspan y="28.83789" x="0 2.5020004 5.0040009 7.506001 10.008001 15.012002 17.010003 21.510003 24.012003 26.514004 28.512005 33.516008 38.520009 41.022008 43.020009 47.520009 50.022008 54.522008 59.52601 62.028009 64.53001 67.032009 69.534008 74.538 79.542 82.044 87.048 93.546 101.043 107.046 109.548 114.551998 119.55599 122.55299 127.55699 134.055 139.05899 142.05599 147.05998 149.56198 154.56598 159.56998 162.07198 167.07598 174.57297 179.57697 182.07897 184.07697 188.57697 193.58097 195.57897 197.57697 202.07697 204.57897 209.07897 211.07697 216.08097 221.08496 224.08196 228.58196 231.08396 233.58596 238.58995 243.59395 246.09595 250.59595 255.59995 258.59696 261.59397 266.59797 271.09797 276.10197 281.10597 286.10997 291.11396 293.11195 298.11595 303.11994 305.62196 311.62495 318.12294 325.12495 327.62696 332.63096 334.62895 337.13096 339.63298 346.13096 351.13496 356.13896 361.14295 363.64497 366.14698 371.15098 376.15498 378.65699 383.15699 388.16099 391.158 394.155 399.159 404.163">If this flag is set, the eDMA hardware automatically clears the corresponding ERQ bit when the current</tspan><tspan y="39.83789" x=".00003 7.4970309 12.501032 14.499032 19.503033 22.500033 25.002034 27.000035 29.502036 34.506036 37.503038 42.50704 45.009038 47.00704 52.01104 57.01504 59.51704 64.017047 69.02104 74.02504 79.02904 81.53104 84.033039 87.03004 92.034038 97.03803 101.53803 106.54203 111.54603 116.04603 118.54803 123.04803 128.05204 131.04903 136.05303">major iteration count reaches zero.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 533.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00003">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 533.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00003 5.49903 10.503031 15.507031 18.009032 22.509032 27.513031 32.517034 37.521036 42.525037 47.529039 49.52704 51.52504 56.02504 58.52704 64.53004 71.02804 78.03004 80.532039 85.53603 87.534038 90.03603 92.53803 94.53603 99.03603 101.53803 106.54203 111.54603 114.04803 116.550029 121.55402 124.05602 126.55802 131.56203 136.06203 138.56403 143.56803">The channel&#x2019;s ERQ bit is not affected</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 544.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 5.49904 10.50304 15.507041 18.00904 22.50904 27.513043 32.517045 37.521047 42.525049 47.52905 49.52705 51.52505 56.02505 58.52705 64.53005 71.02805 78.03005 80.53205 85.53605 87.53405 90.03605 92.53805 94.53605 99.03605 101.53805 106.03805 108.03605 113.04005 118.044048 121.041049 126.045047 131.04904 133.55104 140.04904 145.05304 150.05704 155.06104 157.56304 160.06504 165.06903 170.07303 172.57503 180.07202 185.07602 187.07402 192.07802 195.07501 197.57701 199.57501 204.57901 209.58301 214.587 217.089 219.087 223.587 226.089 230.589 235.593 243.09 248.094 250.092 255.096 257.598">The channel&#x2019;s ERQ bit is cleared when the major loop is complete</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 561.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">2</tspan><tspan y="18.83789" x="16.803 19.305 25.803002 31.302002 37.800004 43.803 48.807004">INTHALF</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 561.6828)" 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 35.523008 40.527009 43.029008 45.027009 50.03101 52.53301 57.53701 60.53401 63.531015 68.53501 73.53901 76.04101 78.54301 85.04101 90.045009 95.049 100.053 102.555 110.052 115.056 117.054 122.058 125.055 127.557 132.057 137.061 142.065 147.069 149.571 154.575 157.57199 160.07399 162.07199 166.57199 169.07399 174.07799 179.08199 181.07999 183.58199 186.08399 190.58399 195.58798 203.08498 208.08898 210.08698 215.09098 217.59297 222.59697">Enable an interrupt when major counter is half complete.</tspan><tspan y="28.83789" x="0 2.5020004 5.0040009 7.506001 10.008001 15.012002 17.010003 21.510003 24.012003 26.514004 28.512005 33.516008 38.520009 41.022008 43.020009 47.520009 50.022008 54.522008 59.52601 62.028009 64.53001 67.032009 69.534008 74.538 79.542 82.044 86.544 91.548 96.551998 101.55599 106.55999 111.56399 113.56199 116.06399 121.067989 126.07198 131.07599 136.07999 139.07698 144.08098 146.58298 151.58698 156.08698 158.58898 163.59297 168.59697 171.09897 173.09697 178.10097 180.60297 185.60697 188.60396 191.60095 196.60495 201.60895 204.11095 206.61295 209.60994 214.61394 219.61794 224.62194 229.62593 234.12593 236.62793 239.12993 244.13393 248.63393 251.13593 255.63593 260.63993 263.14195 265.64396 267.64195 272.64595 277.64994 280.15196 282.65397 287.65797 292.66197 295.16398 300.16798 305.17198 310.17597 313.17298 318.17698 323.18098 326.17799 328.17597 333.17997 335.68199 340.68598 343.188 348.192 350.18998 352.692 355.194 357.192 362.19599 364.698 367.2 372.204 377.208 379.71003 382.21205 388.71003">If this flag is set, the channel generates an interrupt request by setting the appropriate bit in the INT</tspan><tspan y="39.83789" x=".00004 2.99704 8.00104 13.005041 15.003041 19.50304 22.005042 27.00904 30.00604 32.50804 39.006044 44.010046 49.014047 54.018049 56.520048 59.022047 64.02605 69.030048 71.53204 76.03204 81.03604 84.03304 87.030048 92.03404 97.03804 99.54004 102.04204 109.53904 114.54304 116.54104 121.54504 124.54204 127.04404 129.04204 131.54404 136.54804 139.54503 144.54903 147.05103 149.04903 154.05303 159.05702 161.55902 166.05902 171.06302 176.06702 181.07102 183.57302 186.07501 189.072 194.076 199.08 203.58 208.584 213.588 218.088 220.59 223.092 228.096 233.09999 235.60199 240.60599 245.60999 247.60799 250.10999 256.60798 261.61198 266.11198 268.61399 273.61799 278.62199 280.61997 285.62397 288.12599 290.628 293.13 299.133 304.137 309.141 313.641 315.63899 318.141 320.13899 324.63899 329.64299 331.64097 333.63896 338.13896 340.64097 343.14299 345.645 350.649 355.65299 358.155 362.655 367.659 375.156 380.16 385.164 388.161 390.159 394.659 399.663">register when the current major iteration count reaches the halfway point. Specifically, the comparison</tspan><tspan y="50.83789" x=".00004 5.0040409 10.008041 13.005041 15.507042 20.511044 23.508044 31.005043 36.009046 41.013048 43.515047 48.519048 53.019048 55.521047 58.023046 63.027048 68.031047 70.53304 75.53704 82.03504 89.53204 95.53504 98.03704 103.04104 108.04504 113.049037 115.047039 120.05103 125.05503 127.55703 129.55503 134.05503 136.55702 139.55402 146.05202 148.55402 154.05301 160.05602 166.55402 169.05602 174.31201 179.56801 182.07 185.067 191.07 193.572 199.071 205.074 211.572 214.074 219.33 224.586 227.088 232.092 235.08899 238.08599 240.58798 243.08998 248.58898 253.59297 255.59098 260.09098 262.593 267.597 272.60099 274.59898 277.10099 283.59898 288.60298 293.10298 295.60499 300.60899 305.61299 307.61097 312.61497 315.11698 317.619 319.61698 324.62098 327.123 332.12699 335.124 338.121 343.125 348.129 350.631 353.13304 356.13005 361.13404 366.13804 371.14204 376.14604 380.64604 383.14805 385.65007 387.64805">performed by the eDMA engine is (CITER == (BITER &#x003e;&#x003e; 1)). This halfway point interrupt request is</tspan><tspan y="61.83789" x=".00008 5.004081 8.0010809 13.005081 17.505082 19.503083 24.507084 29.511086 34.515089 37.017087 39.519086 44.523088 47.025087 51.525087 56.529088 61.53309 66.53709 71.541088 74.538089 77.040088 79.54208 84.54608 89.55008 94.55408 99.558078 101.556079 106.560077 109.557079 114.56107 119.56507 122.06707 124.56907 129.57308 132.57007 137.57407 142.57807 145.08007 148.07706 153.08106 157.58106 162.58506 165.08705 170.09105 172.08905 177.09305 182.09705 185.09404 190.09804 195.10204 200.10604 205.11003 208.10703 210.60903 215.10903 219.60903 224.61302 229.61702 237.11402 242.11801 246.61801 249.12001 254.12401 257.121 259.62303 264.627 267.12904 272.13304 277.13703 280.13404 282.63606 285.13807 289.63807 294.64207 299.64607 304.14607 306.64808 311.65208 314.15409 316.6561 321.6601 326.6641 329.1661 334.1701 336.67213 344.16914 349.17314 353.67314 358.67713 366.17414 371.17814 376.18214 378.68415 381.18617 387.68415 392.68815 397.69215 400.68916 405.69316 408.19517 410.69718 415.70118">provided to support double-buffered (aka ping-pong) schemes or other types of data movement where the</tspan><tspan y="72.83789" x=".00008 5.004081 8.0010809 13.005081 17.505082 22.509083 27.009083 31.509083 36.513086 39.510087 42.012086 47.016088 52.02009 57.02409 62.02809 66.52809 69.03009 74.03409 79.038089 81.540088 86.54408 91.54808 94.54508 96.54308 101.04308 103.54508 105.54308 110.54708 115.55108 117.54908 122.04908 127.05308 129.55509 131.55309 136.55709 141.56108 144.06308 149.06708 151.56908 154.07108 156.57308 161.57707 166.58107 169.08307 171.58507 174.58206 179.58606 184.59006 189.09006 191.59206 196.59606 199.59305 201.59105 206.09105 208.59305 213.59705 216.59404 221.59804 226.60204 229.59903 234.60303 239.10303 243.60303 246.10503 248.60703 251.10903 253.61103 256.11305 262.11604 264.61805 270.11705 276.12004 282.618 285.12004 287.118 291.618 294.12004 298.62004 303.62403 306.12605 308.62806 311.13008 316.13407 321.13807 323.64009 328.64408 333.64808 336.1501 338.6521 343.6561 348.1561 353.1601 355.6621 358.16413 364.6621 370.1611 376.6591 382.66209 387.66609 393.16508 395.66709 398.1691 404.66709 409.16709">processor needs an early indication of the transfer&#x2019;s progress. If BITER is set, do not use INTHALF. Use</tspan><tspan y="83.83789" x=".00008 2.5020805 9.000081 14.499081 21.996083 27.999083 32.499086 39.501085 45.999086 48.501085 50.499086 55.503087 60.003087 62.505086 67.50909 72.513088 77.51708">INTMAJOR instead.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 658.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00007 5.49907 10.503071 15.5070719 18.009072 23.013073 28.017075 30.015076 32.517076 35.514078 40.518079 45.52208 47.52008 52.524084 55.02608 57.52808 59.52608 64.53008 67.03208 72.03608 75.03308 78.03008 83.03408 88.03808 90.54008 93.042079 95.04008 99.54008 102.042079 107.046077 109.044078 113.544078 118.54807 123.55207 125.55007 130.55408">The half-point interrupt is disabled</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 669.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00008 5.49908 10.50308 15.507081 18.00908 23.01308 28.017083 30.015084 32.517084 35.514085 40.518087 45.522089 47.52009 52.52409 55.02609 57.528089 59.52609 64.53009 67.03209 72.03609 75.03309 78.03009 83.03409 88.038089 90.540088 93.04208 95.040088 99.540088 102.04208 107.04608 112.05008 117.05408 122.058078 124.056079 129.06008">The half-point interrupt is enabled</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="26.01034" 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">505</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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