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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_512.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

111 lines
40 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="14" font-family="TimesLTStd"><tspan y="11.85" x="13.104 23.996003 34.104005 37.996007 41.88801 45.38801 50.834009 57.834009 64.83401 69.49601 75.71201 81.92802 85.42802 90.09002 96.30602 102.522029 109.522029 114.968029 118.468029 124.68403 131.68402 138.68402 142.18402 149.18402 155.40003 160.84603 164.73802 168.63002 175.63002 181.84603 185.73802 189.63002 196.63002 203.63002 207.13002 217.23802 221.90003 225.79203 229.68402 235.90003 241.34603 244.84603 255.73802 262.73805 268.18406 272.07606 275.57606 282.57606 288.79206 292.29206 298.50807 305.50807 312.50807 317.17005 321.06205 328.06205 335.06205 339.72404 345.94004 352.94004 356.44004 360.33204 367.33204 370.83204 374.72404 381.72404 387.94004 391.44004 398.44004 404.65605 408.54804 415.54804 420.21003 426.42604 430.31803 433.81803 440.81803 447.81803 454.81803 461.81803 468.81803 475.03404 479.696 486.696 490.196 497.196">&#x2022;All source reads and destination writes must be configured to the natural boundary of</tspan><tspan y="27.85" x="23.99601 27.88801 34.88801 41.104009 44.604009 51.604009 56.266008 63.266008 70.26601 74.92801 81.14401 92.03601 102.92801 109.14401 116.14401 119.64401 123.53601 128.19802 134.41402 141.41402 146.86002 151.52202 157.73802 162.40003 165.90003 171.34603 175.23802 181.45403 187.67003 191.17003 195.83203 202.04804 207.49404 214.49404 220.71004 226.92604 230.81804 234.71004 241.71004 247.92604 251.81804 258.81806">the programmed transfer size respectively.</tspan><tspan y="43.85" x="13.10402 23.996022 28.658022 35.65802 39.15802 43.82002 47.71202 54.71202 60.92802 67.928028 71.428028 77.64403 82.30603 89.30603 93.19803 97.09003 101.75203 107.96803 111.86003 115.75203 122.75203 129.75203 133.25203 144.14403 151.14403 158.14403 164.36003 167.86003 171.36003 177.57604 181.07604 187.29204 194.29204 201.29204 205.95404 209.84604 216.84604 223.84604 228.50804 234.72405 238.61605 242.50804 249.50804 256.50807 260.00807 266.22407 270.88606 275.54804 282.54804 287.21003 290.71003 294.60203 300.04804 303.54804 309.76405 315.98005 322.98005 328.42607 334.64207 341.64207 345.14207 352.14207 359.14207 362.64207 368.85807 375.85807 382.85807 386.35807 390.25007 400.35807 407.35807 410.85807 417.07408 424.07408 430.29008 437.29008 444.29008 450.50608">&#x2022;In fixed arbitration mode, a configuration error is caused by any two channel</tspan><tspan y="59.85" x="23.99606 30.99606 35.65806 39.55006 46.55006 51.21206 55.10406 58.996065 62.888067 69.104068 74.550067 78.050067 85.050067 91.26607 95.158069 102.158069 109.158069 112.658069 118.87407 125.87407 132.87407 139.09008 142.98207 146.48207 149.98207 160.09008 163.98207 167.87407 171.37407 177.59008 184.59008 190.80608 197.80608 204.80608 211.02208 214.91408 218.41408 225.41408 230.07608 233.96808 240.96808 245.63008 249.52208 253.41408 260.41407 263.91407 267.80607 274.02207 281.02207 287.23808 291.13008 296.57609 300.07609 310.96809 317.96809 323.4141 327.3061 330.8061 337.8061 344.0221 347.5221 354.5221 361.5221 365.4141 372.4141 379.4141 385.6301 389.1301 399.2381 406.2381 412.4541 419.4541 422.9541 427.6161 431.5081 438.5081 444.7241">priorities being equal. All channel priority levels must be unique when fixed</tspan><tspan y="75.85" x="23.99606 30.212059 34.874059 41.874059 45.76606 49.658063 54.32006 60.53606 64.42806 68.32006 75.32006 82.32006 85.82006 96.71206 103.71206 110.71206 116.92806 120.42806 124.32006 129.76607 133.26607 139.48207 146.48207 152.69808 159.69808 163.59008 169.80608 176.80608">arbitration mode is enabled.</tspan><tspan y="91.85" x="13.104059 23.99606 28.65806 33.32006 36.82006 43.03606 46.53606 51.98206 58.19806 64.41406 68.30606 72.19806 78.41406 83.076068 86.96806 93.96806 100.18407 104.076068 111.076068 117.29207 121.95407 125.45407 132.45407 139.45407 145.67008 150.33208 156.54808 160.44008 164.33208 171.33208 178.33208 181.83208 185.72408 191.17008 194.67008 200.88608 207.88608 214.10208 221.10208 224.99408 231.21009 238.21009 241.71009 248.71009 255.71009 262.71009 269.71009 273.21009 279.4261 286.4261 292.6421 299.6421 306.6421 312.8581 316.7501 320.2501 326.4661 333.4661 344.3581 351.3581 355.2501 361.4661 365.3581 369.2501 376.2501 383.2501 386.7501 390.2501 396.4661 399.9661 406.1821 413.1821 420.1821 424.8441 428.73609 435.73609 442.73609 447.39808 453.61408 457.50608 461.39808 468.39808">&#x2022;If a scatter/gather operation is enabled upon channel completion, a configuration</tspan><tspan y="107.85" x="23.99609 30.21209 34.87409 39.536088 46.536088 51.198087 54.698087 58.590089 64.03609 67.53609 72.19809 78.41409 85.41409 92.41409 97.076099 100.968097 107.1841 114.1841 117.6841 121.576099 126.2381 129.7381 133.6301 140.6301 146.8461 150.3461 155.7921 162.0081 168.2241 172.1161 176.0081 182.2241 186.88611 190.7781 197.7781 203.99411 207.88611 214.88611 221.10211 225.76412 229.26412 235.48012 242.48012 249.48012 254.14212 260.35813 265.80415 271.25016 274.75016 279.41215 289.52015 298.07414 308.18214 315.96614 324.5201 331.5201 339.3041 349.4121 359.5201 364.1821 367.6821 371.5741 377.0201 380.5201 387.5201 394.5201 398.4121 401.9121 408.1281 412.0201 415.9121 422.9121 429.9121 436.1281 443.1281 446.6281 453.6281 460.6281 464.1281 470.34413 473.84413 480.84413 487.84413">error is reported if the scatter/gather address (DLAST_SGA) is not aligned on a 32-</tspan><tspan y="123.85" x="23.99612 30.99612 37.99612 41.888124 48.104124 51.604124 58.604124 65.604129 72.604129 79.604129 86.604129 92.82013 97.48213 104.48213">byte boundary.</tspan><tspan y="139.85" x="13.104131 23.996132 28.658133 33.320135 36.820135 47.712137 51.604139 58.604139 65.60414 70.26614 73.76614 77.65814 84.65814 91.65814 98.65814 102.15814 108.374149 115.374149 121.59015 128.59015 135.59015 141.80615 145.69815 149.19815 153.09015 156.98215 163.98215 170.98215 174.87415 181.87415 188.87415 192.37415 196.26615 201.71215 205.21215 211.42815 218.42815 224.64415 231.64415 235.53615 241.75215 248.75215 252.25215 259.25215 266.25215 273.25215 280.25215 283.75215 289.96815 296.96815 303.18415 310.18415 317.18415 323.40016 327.29216 330.79216 337.00816 344.00816 354.90016 361.90016 365.79216 372.00816 375.90016 379.79216 386.79216 393.79216 397.29216 400.79216 407.00816 410.50816 416.72416 423.72416 430.72416 435.38615 439.27815 446.27815 453.27815 457.94013 464.15614 468.04814 471.94013 478.94013">&#x2022;If minor loop channel linking is enabled upon channel completion, a configuration</tspan><tspan y="155.85" x="23.99612 30.21212 34.87412 39.536119 46.536119 51.198118 54.698118 58.59012 64.03612 67.53612 72.19812 78.41412 85.41412 92.41412 97.076129 100.968128 107.18413 114.18413 117.68413 127.79213 134.79213 141.00814 148.00814 151.50814 155.40013 162.40013 168.61614 172.11614 176.00814 179.90013 186.90013 193.90013 197.40013 201.29213 206.73813 210.23813 216.45413 220.34613 224.23813 230.45413 241.34613 248.34613 252.23813 258.45414 265.45414 268.95414 272.84614 277.50813 281.00813 284.90013 291.90013 298.11613 301.61613 310.1701 319.50813 329.61613 336.61613 343.61613 352.95414 357.61613 366.1701 374.7241 384.0621 388.7241 397.27809 404.27809 412.83207 417.49406 427.60206 437.71006 442.37205 445.87205 452.87205 456.76405 460.65605 464.15605 471.15605 478.15605 484.37205">error is reported when the link is attempted if the TCDn_CITER[E_LINK] bit does</tspan><tspan y="171.85" x="23.99612 30.99612 37.99612 41.888124 45.388124 51.604124 58.604124 65.604129 71.82013 75.71213 79.21213 83.104129 90.104129 96.32013 99.82013 108.37413 117.71213 127.82013 134.82013 141.82013 151.15813 155.82013 164.37413 172.92813 182.26613 186.92813 195.48213 202.48213 211.03614 215.69814 225.80614 235.91414 240.57614 244.07614 251.07614 254.96814 258.86015">not equal the TCDn_BITER[E_LINK] bit.</tspan><tspan y="197.85" x=".0001411438 4.6621415 9.3241419 12.8241419 19.040143 26.040143 32.25614 39.25614 43.148145 49.364145 56.364145 59.864145 63.364145 69.58015 73.472148 77.36414 80.86414 87.08015 94.08015 101.08015 105.74215 109.63415 116.63415 123.63415 128.29615 134.51215 138.40415 142.29615 149.29615 156.29615 159.79615 166.01215 170.67415 175.33615 182.33615 186.99816 190.49816 196.71416 203.71416 210.71416 217.71416 221.60616 225.49816 229.39015 236.39015 243.39015 248.83615 252.33615 255.83615 262.05216 269.05216 275.26817 281.48417 288.48417 292.37617 295.87617 299.76817 306.76817 312.98417 316.48417 321.93019 328.14619 334.36219 338.25419 342.14619 348.36219 353.02418 356.91618 363.91618 370.13218 374.02418 381.02418 387.24018 391.90217 395.40217 401.61817 408.61817 415.61817 419.11817 430.01017 433.90217 440.90217 447.90217 452.56416 457.22615 461.11814 468.11814 475.11814">If enabled, all configuration error conditions, except the scatter/gather and minor-loop</tspan><tspan y="213.85" x=".0001711438 3.8921717 7.784172 14.784172 21.784173 25.284173 31.500172 36.16217 40.82417 47.82417 52.486169 57.932168 61.432168 64.93217 69.59417 75.81017 82.81017 89.81017 94.472179 98.364177 101.864177 108.08018 113.52618 117.02618 120.918178 127.918178 134.13417 137.63417 143.85018 150.85018 157.06618 164.06618 171.06618 177.28218 181.17418 184.67418 190.89019 197.10619 200.99819 204.89019 211.89019 218.10619 221.99819 228.21419 233.66019 237.16019 243.37619 250.37619 257.3762 260.8762 267.0922 272.5382 277.98423 284.20024 288.8622 292.7542 298.20024 301.70024 307.91624 314.91624 318.41624 324.63224 329.29423 333.9562 340.9562 345.6182 349.1182 353.0102 360.0102 363.9022 370.1182 374.78019 379.44218 386.44218 393.44218 397.33418 400.83418 405.49617 411.71217 418.71217 425.71217 431.92817 437.37419 441.26618 444.76618 448.26618 458.37419 461.87419 467.3202 473.5362 479.7522 483.6442 487.5362 493.7522 498.41419">link errors, report as the channel activates and asserts an error interrupt request. A scatter/</tspan><tspan y="229.85" x=".0001711438 7.000171 13.216171 17.108172 24.108172 30.324173 34.98617 38.48617 44.70217 51.70217 58.70217 63.36417 67.25617 74.25617 81.25617 85.918178 92.13418 96.02618 99.918178 106.918178 113.918178 117.418178 123.63418 128.29618 132.95818 139.95818 144.62018 148.12018 152.01218 157.45818 160.95818 165.62018 171.83618 178.83618 185.83618 190.49819 194.39019 200.60619 207.60619 211.10619 221.21419 228.21419 234.43019 241.43019 244.93019 248.82219 255.82219 262.03819 265.53819 270.9842 277.2002 283.4162 287.3082 291.2002 297.4162 302.0782 305.97019 312.97019 319.1862 323.0782 330.0782 336.2942 340.95619 344.45619 351.45619 358.45619 364.67219 369.33418 375.55018 379.44218 383.33418 390.33418 397.33418 400.83418 407.83418 414.05018 421.05018 424.94218 431.94218 437.38819 440.88819 447.1042 450.9962 454.4962 465.38819 471.6042 475.4962 482.4962">gather configuration error is reported when the scatter/gather operation begins at major</tspan><tspan y="245.85" x=".0001711438 3.8921717 10.892172 17.892172 24.892172 28.392172 34.608175 41.608175 52.500177 59.500177 63.392179 69.60818 73.500179 77.39217 84.39217 91.39217 94.89217 105.000179 112.000179 118.21618 125.21618 128.71619 135.71619 140.37819 147.37819 154.37819 160.5942 165.2562 169.1482 176.1482 179.6482 185.8642 192.8642 199.0802 206.0802 209.9722 216.1882 223.1882 226.6882 230.1882 240.2962 243.7962 254.6882 258.5802 265.5802 272.5802 277.2422 280.7422 284.6342 291.6342 298.6342 305.6342 309.1342 315.3502 322.3502 328.5662 335.5662 342.5662 348.7822 352.6742 356.1742 360.0662 363.9582 370.9582 377.9582 381.4582 387.6742 394.6742 401.6742 406.33619 410.22819 417.22819 424.22819 428.89018 435.10618 438.99818 442.89018 449.89018 456.89018 460.39018 466.60618 471.26817 475.93016 482.93016 487.59214 491.09214 494.98414">loop completion when properly enabled. A minor loop channel link configuration error is</tspan><tspan y="261.85" x=".0001711438 4.6621716 10.878172 17.878172 24.878172 29.540173 33.432176 39.648176 46.648176 50.148176 60.256177 67.25618 73.47218 80.47218 83.97218 87.86418 94.86418 101.080188 104.580188 108.47218 112.36418 119.36418 126.36418 129.86418 136.86418 143.86418 150.08019 154.74219 160.95819 164.85019 168.74219 175.74219 182.74219 186.24219 190.13419 195.58019 199.08019 204.52619 210.74219 215.40419 222.40419 226.29619 232.51219 238.7282 245.7282 249.2282 255.4442 259.3362 262.8362 273.7282 277.6202 284.6202 291.6202 296.2822 299.7822 303.6742 310.6742 317.6742 324.6742 328.1742 334.3902 341.3902 352.2822 359.2822 363.1742 369.3902 373.2822 377.1742 384.1742 391.1742">reported when the link operation is serviced at minor loop completion.</tspan><tspan y="286.25" x=".0001711438 4.6621716 9.324171 12.824171 19.040173 22.540173 27.986174 34.986177 40.432176 44.324178 50.540178 61.43218 64.932178 71.932178 78.932178 84.378177 87.878177 92.54018 98.75618 104.97218 111.97218 115.47218 122.47218 127.134189 130.63419 140.74219 145.40419 149.29619 153.18819 159.40419 162.90419 166.79619 172.24219 175.74219 179.63419 185.85019 190.51219 201.40419 205.29619 212.29619 218.51219 222.40419 228.6202 235.6202 239.1202 249.2282 253.1202 257.0122 264.0122 267.5122 273.7282 280.7282 284.2282 290.4442 295.1062 299.7682 306.7682 311.43019 314.93019 318.43019 322.32218 329.32218 335.53819 339.03819 346.03819 352.25419 356.14619 362.36219 365.86219 369.75419 374.41618 380.63218 387.63218 393.0782 397.74018 403.95619 408.61817 412.11817 416.01017 421.45619 424.95619 430.4022 434.2942 441.2942 448.2942 455.2942 461.5102 468.5102 472.0102 478.2262 485.2262">If a system bus read or write is terminated with an error, the data transfer is stopped and</tspan><tspan y="302.25" x=".0001711438 3.8921717 10.892172 17.108174 20.608174 26.824173 33.824174 40.824174 45.48617 52.48617 59.48617 64.14817 68.04017 74.25617 78.14817 84.364177 87.864177 94.864177 101.864177 107.31017 110.81017 117.02618 121.68818 126.35018 133.35019 138.01219 141.51219 146.1742 150.0662 156.2822 163.2822 166.7822 172.2282 178.4442 182.3362 185.8362 189.3362 193.9982 200.9982 204.4982 208.3902 215.3902 219.2822 224.7282 228.2282 234.4442 240.6602 246.1062 252.3222 255.8222 259.3222 263.2142 270.2142 276.4302 279.9302 285.37623 289.26823 295.48423 299.37623 305.59223 309.09223 316.09223 320.7542 324.2542 328.1462 335.1462 341.3622 344.8622 351.07823 358.07823 364.29423 371.29423 378.29423 384.51023 388.40223 390.9222 396.36824 399.86824 403.76023 408.4222 414.6382 421.6382 427.08424 431.74623 437.96223 442.6242 446.1242 452.3402 459.3402 466.3402 470.2322 474.8942 481.8942">the appropriate bus error flag set. In this case, the state of the channel's transfer control</tspan><tspan y="318.25" x=".0001711438 7.000171 13.216171 18.662173 24.878174 29.540175 33.432176 40.432176 44.324178 51.324178 55.986177 59.486177 63.378179 68.82418 72.32418 79.32418 86.32418 93.32418 99.540187 103.43218 109.648189 116.648189 120.148189 127.148189 134.1482 137.6482 141.54019 148.54019 154.7562 158.2562 164.4722 174.5802 187.0262 197.1342 200.6342 206.8502 213.8502 220.8502 224.7422 231.7422 237.9582 241.4582 251.56621 255.4582 259.35023 266.35023 269.85023 273.74223 280.74223 286.95823 290.45823 296.67424 303.67424 308.3362 312.9982 319.2142 326.2142 330.1062 333.6062 339.05223 346.05223 353.05223 357.7142 363.9302 370.1462 373.6462 379.8622 386.8622 393.8622 398.5242 404.7402 410.18623 415.63224 419.13224 422.63224 429.63224 435.84825 441.29426 445.18626 449.07826 456.07826 462.29426 466.18626 470.07826 477.07826">descriptor is updated by the eDMA engine with the current source address, destination</tspan><tspan y="334.25" x=".0001711438 6.2161719 13.216171 20.216172 24.878172 31.094174 36.540174 41.98617 45.48617 48.98617 55.20217 62.20217 69.20217 72.70217 78.918178 85.918178 90.58018 95.24218 101.45818 108.45818 112.35018 115.85018 119.74218 123.63418 129.85018 134.51218 140.72818 144.62018 148.51218 155.51218 162.51218 166.01218 172.22818 179.22818 186.22818 193.22818 197.12018 200.62018 206.83618 210.72818 214.22818 218.12018 225.12018 231.33618 234.83618 241.83618 248.83618 252.72818 259.72819 263.62019 267.12019 274.12019 278.78218 282.28218 286.17417 293.17417 299.39018 302.89018 307.55216 313.76817 320.76817 324.66017 328.55216 332.05216 335.55216 348.76817 355.76817 361.98417 368.98417 372.48417 378.70018 382.20018 387.64619 394.64619 400.0922 403.9842 410.2002 421.0922 424.5922 431.5922 438.5922 444.0382 447.5382 453.7542 458.4162 463.0782 470.0782">address, and current iteration count at the point of the fault. When a system bus error</tspan><tspan y="350.25" x=".0001711438 7.000171 13.216171 19.43217 26.43217 31.094172 36.540174 40.040174 43.540174 47.432176 54.432176 60.648176 64.14818 70.36418 77.36418 83.580188 90.580188 97.580188 103.79619 107.68819 111.18819 115.080188 121.29619 125.95819 136.85019 140.74219 147.74219 153.95819 157.85019 164.0662 169.51219 173.01219 179.2282 183.8902 187.7822 193.9982 198.6602 202.1602 206.0522 213.0522 219.2682 222.7682 229.7682 235.9842 242.9842 246.8762 250.3762 254.2682 258.9302 265.1462 272.1462 277.59223 282.2542 288.4702 293.1322 296.6322 300.1322 310.2402 317.2402 323.4562 326.9562 330.8482 337.8482 341.3482 348.3482 352.2402 359.2402 365.4562 369.3482 373.2402 380.2402 386.4562 389.9562 396.1722 400.8342 405.4962 411.7122 417.9282 421.8202 425.3202 428.8202 432.7122 439.7122 445.9282 449.4282 456.4282 462.6442 469.6442">occurs, the channel terminates after the next transfer. Due to pipeline effect, the next</tspan><tspan y="366.25" x=".0001711438 3.8921717 8.554172 14.770172 21.770173 27.216174 31.878174 38.094175 42.756174 46.256174 50.148176 55.594175 59.094175 65.31017 69.20217 73.864177 80.08018 86.29618 93.29618 100.29618 103.79618 107.68818 114.68818 118.18818 125.18818 129.85018 136.85018 143.85018 148.51218 154.72818 160.17418 165.62018 169.12018 179.22818 186.22818 192.44419 199.44419 202.94419 206.83618 213.83618 220.05219 223.55219 230.55219 237.55219 242.99819 246.49819 252.71419 257.3762 262.03819 269.03819 273.70018 277.20018 281.09217 286.53819 290.03819 294.70018 300.91618 307.13218 313.34819 317.24018 324.24018 330.45619 337.45619 340.95619 347.95619 354.95619 358.45619 362.34819 369.34819 375.56419 379.06419 385.28019 395.38819 407.8342 417.9422 421.4422 424.9422 429.6042 434.26618 437.76618 443.98219 447.48219 454.48219 461.48219 466.9282 470.4282 476.6442 481.30619 485.96818 492.96818">transfer is already in progress when the bus error is received by the eDMA. If a bus error</tspan><tspan y="382.25" x=".0001711438 7.000171 13.216171 19.43217 26.43217 31.094172 36.540174 40.040174 47.040174 54.040174 57.540174 61.432176 68.432178 74.64818 78.14818 82.04018 88.25618 93.70218 97.59418 101.09418 105.75618 111.97218 118.18819 125.18819 128.68819 135.68819 140.35019 144.24219 151.24219 155.90419 159.40419 163.29619 170.29619 173.79619 180.79619 187.01219 194.01219 197.90419 204.90419 211.90419 215.79619 222.79619 229.79619 233.29619 237.18819 244.18819 250.40419 253.90419 264.01219 268.67417 272.56617 276.45817 282.67417 286.17417 291.62019 297.83619 304.83619 311.83619 318.0522 325.0522 331.2682 337.4842 340.9842 344.4842 348.3762 355.3762 361.5922 365.0922 375.2002 379.86219 383.75419 387.64619 393.86219 397.36219 403.5782 410.5782 416.7942 423.0102 430.0102 433.9022 440.1182 445.5642 449.0642 456.0642 461.51023 465.40223 472.40223 479.40223 482.90223 486.79423 493.79423">occurs on the last read prior to beginning the write sequence, the write executes using the</tspan><tspan y="398.25" x=".0001711438 7.000171 13.216171 17.108172 23.324173 26.824173 33.040174 39.256174 46.256174 50.148176 57.148176 61.810174 68.02618 75.02618 78.52618 85.52618 92.52618 97.18818 101.08018 108.08018 115.08018 118.58018 122.472179 129.47217 135.68817 139.18817 146.18817 153.18817 158.63417 162.13417 168.35018 173.01218 177.67418 184.67418 189.33618 192.83618 196.33618 200.99819 205.66019 209.16019 215.37619 218.87619 225.87619 232.87619 238.32219 241.82219 248.0382 252.7002 257.36219 264.36219 269.02418 272.52418 279.52418 285.74018 291.95619 298.95619 303.61817 309.06419 312.56419 319.56419 326.56419 330.06419 333.95619 340.95619 347.17219 350.67219 354.56419 360.78019 366.2262 370.1182 373.6182 383.7262 388.38819 392.28019 396.17219 402.38819 405.88819 412.88819 417.55018 421.44218 428.44218 433.10417 436.60417 440.49617">data captured during the bus error. If a bus error occurs on the last write prior to</tspan><tspan y="414.25" x=".0001711438 5.4461719 15.5541729 19.446173 23.338173 29.554173 36.554174 40.446176 47.446176 54.446176 57.946176 61.838178 68.83818 72.33818 76.23018 83.23018 89.44618 92.94618 99.94618 106.162189 113.162189 117.054187 120.554187 125.21619 131.43219 137.6482 144.6482 148.1482 153.5942 159.8102 166.8102 173.8102 180.0262 187.0262 193.2422 199.4582 202.9582 206.4582 210.3502 217.3502 223.56621 227.06621 231.72821 237.94422 244.16022 251.16022 254.66022 260.10624 266.32225 273.32225 280.32225 286.53825 293.53825 299.75425 305.97026 309.47026 315.68626 322.68626 328.90226 335.11827 342.11827 346.01026 352.22627 357.67228 361.17228 368.17228 374.38829 379.05027 386.05027 390.71226 396.92826 400.42826 404.32026 411.32026 417.53627 421.03627 427.25227 434.25227 440.46827 447.46827 454.46827 460.68428">switching to the next read sequence, the read sequence executes before the channel</tspan><tspan y="430.25" x=".0001711438 3.8921717 10.108172 14.770172 25.662175 29.554175 36.554178 42.770177 46.662179 52.878179 58.324178 61.824178 68.82417 75.82417 82.04018 85.54018 89.432178 96.432178 99.932178 103.82417 110.82417 117.04018 120.54018 127.54018 133.75618 139.20218 143.09418 146.98618 153.98618 160.20218 164.09418 167.98618 174.98618 181.98618 185.48618 192.48618 199.48618 204.93218 208.43218 214.64818 219.31018 223.97219 230.97219 235.63419">terminates due to the destination bus error.</tspan><tspan y="454.65" x=".00020114379 10.108202 13.608202 17.500203 22.162203 28.378205 35.378206 40.824205 45.486204 51.7022 56.3642 59.8642 70.7562 76.972209 83.972209 87.472209 94.472209 100.68821 104.18821 110.40421 116.62022 123.62022 129.83621 136.05222 139.94422 143.83621 150.05222 157.05222 160.55222 167.55222 174.55222 178.05222 183.49822 190.49822 195.16022 199.05222 209.16022 215.37622 220.03823 226.25423 229.75423 239.86223 243.75423 247.64623 254.64623 258.14625 262.03825 269.03825 275.25425 278.75425 288.09226 297.43028 302.09226 311.43028 321.53828 326.20027 329.70027 336.70027 340.59226 344.48426 347.98426 351.48426 364.70027 371.70027 377.91627 384.91627 388.41627 394.63227 398.13227 404.34828 410.56428 417.56428 423.78028 429.99629 433.88829 437.38829 441.28028 445.94227 452.15827 459.15827 464.60429 469.26628 475.48228">A transfer may be cancelled by software with the CR[CX] bit. When a cancel transfer</tspan><tspan y="470.65" x=".00023114379 4.6622316 10.878232 17.878232 24.878232 31.09423 36.54023 40.43223 43.93223 47.824235 53.270235 56.770235 61.43223 67.64823 73.864238 80.864238 87.864238 94.864238 98.75623 104.97224 111.18824 118.18824 121.68824 125.18824 129.08025 136.08025 142.29625 145.79625 155.90425 168.35025 178.45825 181.95825 188.17426 195.17426 202.17426 206.06626 213.06626 219.28226 222.78226 228.22826 232.12026 239.12026 246.12026 251.56626 255.06626 262.06626 266.72825 273.72825 279.94425 286.16026 291.60627 297.05229 300.94429 307.94429 314.94429 318.44429 322.33628 329.33628 335.55229 339.05229 345.26829 352.26829 358.48429 365.48429 372.48429 378.7003 382.5923 386.0923 389.5923 398.14628 405.14628 411.36228 414.86228 421.07829 428.07829 432.74028 437.40226 443.61827 450.61827 454.51026 458.01026 462.67225 468.88825 475.10426 482.10426">request is recognized, the DMA engine stops processing the channel. The current read-</tspan><tspan y="486.65" x=".00023114379 10.108232 14.770231 18.662232 22.554232 28.770234 32.270235 37.716234 43.93223 50.93223 57.93223 64.14823 71.14823 77.364238 83.58024 87.08024 90.97224 96.418239 99.918239 106.13424 110.02624 113.918239 120.918239 131.02623 137.24224 144.24224 147.74224 151.63423 158.63423 162.13423 166.79624 170.68824 177.68824 181.58023 187.02623 194.02623 197.52623 201.02623 205.68824 210.35024 213.85024 217.74224 224.74224 230.95824 234.45824 240.67424 246.89025 253.89025 260.10624 266.32225 270.21424 273.71424 280.71424 286.93025 293.14625 300.14625 304.80824 310.25425 313.75425 320.75425 327.75425 331.25425 335.14625 342.14625 348.36225 351.86225 355.75425 361.97026 367.41627 371.30827 374.80827 379.47026 385.68626 391.90226 398.90226 403.56425 413.67225 418.33424 422.22624 426.11824 432.33424 435.83424 441.28025 447.49626 454.49626 461.49626 467.71226 474.71226 480.92826 487.14427 490.64427 497.64427">write sequence is allowed to finish. If the cancel occurs on the last read-write sequence of</tspan><tspan y="502.65" x=".00023114379 6.216232 9.716232 20.608235 26.824234 30.716235 37.716234 42.37823 45.87823 52.87823 57.54023 61.04023 71.93223 75.82423 82.82423 89.82423 94.48623 97.98623 101.87823 108.87823 115.87823 122.87823 126.37823 129.87824 133.77024 140.77024 146.98624 150.48624 156.70224 162.91825 169.91825 176.13425 182.35025 186.24225 189.74225 194.40425 200.62026 207.62026 214.62026 220.83626 226.28226 230.17426 233.67426 237.56626 243.01226 246.51226 253.51226 257.40428 262.85029 269.06629 275.2823 279.94429 286.94429 293.16029 300.16029 303.66029 309.87629 316.87629 323.87629 327.37629 331.26829 338.26829 344.48429 347.98429 354.2003 361.2003 367.4163 374.4163 381.4163 387.6323 391.5243 395.0243 399.68629 405.90229 409.79429 413.68629 418.34828 424.56428 430.01029 433.51029 440.51029 447.51029 452.17228 463.06428 469.28028 473.17228 477.06428 484.06428">a major or minor loop, the cancel request is discarded and the channel retires normally.</tspan><tspan y="527.05" x=".00023114379 8.554231 15.554231 21.770232 25.270232 31.486233 36.14823 40.81023 47.81023 52.47223 55.97223 62.18823 68.40423 75.40423 81.62023 87.836238 91.72823 95.22823 99.12023 103.782238 109.99824 116.99824 122.44424 127.10624 133.32224 137.98424 141.48424 145.37624 150.82224 154.32224 158.21424 165.21424 171.43024 174.93024 180.37624 186.59224 197.48424 203.70024 207.20024 213.41625 218.86225 222.36225 228.57825 232.07825 238.29425 244.51026 251.51026 257.72627 263.94227 267.83427 271.33427 275.22627 279.88825 286.10426 293.10426 298.55027 303.21226 309.42826 314.09025 317.59025 323.80625 330.80625 337.02226 343.23826 350.23826 354.13026 357.63026 361.52226 368.52226 374.73826 378.23826 386.79225 394.57624 398.07624 402.73823 408.95423 415.95423 419.84623 425.29225 429.18424 435.40025 440.06224 443.56224 447.45423 452.90025 456.40025 463.40025 470.40025 477.40025 483.61625 487.50825 493.72425">The error cancel transfer is the same as a cancel transfer except the ES register is updated</tspan><tspan y="543.05" x=".00023114379 10.108232 14.000232 17.892233 24.892233 28.392233 32.284235 39.284235 45.500234 49.000234 55.216234 61.43223 68.432239 74.64824 80.86424 84.75624 88.64824 94.86424 101.86424 105.36424 111.580249 118.580249 124.79625 131.79625 138.79625 145.01226 148.90425 152.40425 159.40425 166.40425 177.29625 184.29625 190.51226 195.17426 198.67426 204.89026 211.89026 218.89026 222.39026 230.94426 240.28226 250.39026 253.89026 257.78227 263.22828 266.72828 272.1743 278.3903 282.2823 285.7823 289.2823 297.83628 304.83628 311.05229 314.55229 323.10627 332.44429 342.55229 346.05229 353.05229 357.71427 361.21427 367.43028 370.93028 377.14628 383.36228 390.36228 396.57829 402.79429 406.68629 410.57829 416.79429 423.79429 427.29429 433.51029 440.51029 446.7263 453.7263 460.7263 466.9423">with the cancelled channel number and ECX is set. The TCD of a cancelled channel</tspan><tspan y="559.05" x=".00023114379 6.216232 13.216232 20.216233 24.108233 30.324234 34.216238 41.216238 46.662237 50.162237 54.054239 61.054239 67.27024 70.77024 76.21624 83.21624 90.21624 94.87824 101.094249 107.31025 110.81025 117.02625 124.02625 131.02625 134.52625 141.52625 147.74225 153.18825 157.08025 160.97225 167.97225 174.18825 178.08025 181.97225 188.97225 195.97225 199.47225 205.68825 212.68825 219.68825 224.35025 230.56626 236.01226 241.45825 247.67426 253.12026 256.62025 263.62025 268.28224 271.78224 275.67424 282.67424 288.89024 292.39024 296.28224 302.49824 307.94425 311.83625 315.33625 319.22825 323.89024 330.10624 337.10624 342.55226 347.21424 353.43025 358.09223 361.59223 367.03825 373.25425 380.25425 386.47026 393.47026 396.97026 400.86225 407.86225 411.36225 415.25425 422.25425 428.47026 431.97026 440.52424 449.86225 459.97026 463.47026 466.97026 471.63224 476.29423 479.79423 483.68623 490.68623">contains the source and destination addresses of the last transfer saved in the TCD. If the</tspan><tspan y="575.05" x=".00023114379 6.216232 13.216232 19.432232 26.432232 33.43223 39.64823 43.540235 47.040235 54.040235 60.256235 66.47224 73.47224 78.918239 82.418239 86.310237 93.310237 96.810237 103.810237 110.02624 113.52624 118.18824 124.40424 129.85025 133.74225 139.95825 144.62026 148.51226 154.72826 161.72826 165.22826 168.72826 175.72826 182.72826 189.72826 193.22826 204.12026 211.12026 216.56626 220.45825 223.95825 228.62026 234.83626 239.49826 243.39026 250.39026 254.28226 258.17427 262.06626 268.28227 272.17427 276.06626 282.28227 288.49827 291.99827 295.89027 302.89027 309.10627 312.60627 321.16026 330.49827 340.60627 344.10627 351.10627 357.32228 363.53828 369.75428 376.75428 382.2003 388.4163 391.9163 395.8083 402.8083 409.0243 412.5243 418.7403 423.40229 430.40229 435.06428 441.28028 452.17228 458.38829 465.38829 469.28028 473.17228 480.17228 487.17228 493.38829">channel needs to be restarted, you must re-initialize the TCD because the aforementioned</tspan><tspan y="591.05" x=".00023114379 4.6622316 8.554232 14.770232 18.662234 25.662234 31.108235 34.608236 41.608236 48.608236 52.108236 56.000238 63.000238 70.00024 77.00024 83.21624 87.87824 91.37824 96.040248 102.25625 109.25625 113.91825 120.134258 125.58025 131.79625 138.79625 142.68825 146.18825 150.08025 157.08025 163.29625 166.79625 173.79625 178.45825 182.35025 189.35025 193.24225 200.24225 206.45825 210.35025 213.85025 220.85025 227.06626 231.72826 237.94426 248.83626 255.05226 258.94429 265.16029 269.82228 275.26829 278.76829 282.26829 295.48429 302.48429 308.7003 315.7003 319.2003 325.4163 328.9163 332.8083 337.47029 343.68629 350.68629 356.1323 360.79429 367.01029 371.67228 375.17228 379.06428 384.51029 388.01029 394.2263 400.4423 407.4423 413.6583 419.8743 423.7663 427.6583 433.8743 440.8743 444.3743 451.3743 458.3743 461.8743 465.7663 472.7663">fields no longer represent the original parameters. When a transfer is cancelled by the</tspan><tspan y="607.05" x=".00023114379 6.216232 10.878232 15.540232 22.540232 27.202233 30.702233 36.918233 43.13423 50.13423 56.35023 62.56623 66.45823 69.95823 73.85023 78.51223 84.72823 91.72823 97.17423 101.836238 108.05224 112.71424 116.21424 127.10624 133.32224 139.53824 146.53824 152.75424 159.75424 163.64624 169.09224 179.98424 183.48424 186.98424 190.87624 197.87624 204.09224 207.59224 213.80825 220.80825 227.02425 234.02425 241.02425 247.24025 251.13225 254.63225 261.63227 268.63227 279.52427 286.52427 292.74028 297.40226 300.90226 304.79426 310.24028 313.74028 317.63227 324.63227 330.84828 337.84828 344.06428 351.06428 354.56428 358.45628 365.45628 369.34828 376.34828 379.84828 389.95628 402.40229 412.51029 419.51029 428.06428 435.84828 440.51026 449.06425 458.40226 467.74028 477.07829 487.18629 497.29429">error cancel transfer mechanism, the channel number is loaded into DMA_ES[ERRCHN]</tspan><tspan y="623.05" x=".00023114379 6.216232 13.216232 20.216233 23.716233 32.270235 41.608236 51.716238 55.216238 61.432237 68.432239 75.432239 78.932239 89.04024 97.59424 107.70224 111.20224 117.41824 122.080249 128.29625 131.79625 137.24225 143.45825 147.35025 150.85025 154.35025 159.01226 166.01226 169.51226 175.72826 182.72826 189.72826 193.62026 197.51226 201.40425 208.40425 215.40425 218.90425 222.40425 228.62026 235.62026 239.12026 245.33626 249.99826 254.66027 261.66029 266.32228 269.82228 273.71427 280.71427 284.60627 290.82228 295.48426 300.14625 307.14625 314.14625 318.03825 321.53825 332.43025 338.64625 345.64625 349.14625 356.14625 362.36225 365.86225 372.86225 379.07826 386.07826 392.29426 396.95625 403.17225 407.06425 413.28025 420.28025 423.78025 427.67225 432.33424 435.83424 442.05024 449.05024 455.26625 462.26625 466.15824 472.37425 479.37425">and ECX and VLD are set. In addition, an error interrupt may be generated if enabled.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 5.499 10.998 16.497 21.501 24.498 27 32.499 37.998 43.002004 45.504 48.006 53.505 58.509004 63.513006 68.517009 72.018009 74.520008 80.019008 83.01601 85.518009 91.017009">Functional description</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.006 137.226 142.786 148.346 151.12599 157.79599 163.90599 170.01599 173.346 179.456 185.01599 193.90599 196.68599 199.46599 205.02599 207.80599 215.02599 220.58599 223.91599 229.47599 233.36598 238.92598 245.03598 250.59598 256.15599 258.93598 267.26597 272.82597 278.93595 285.04594 290.60594 293.38594 296.16593 298.94593 306.16593 311.72593 317.28593 320.06593 322.84593 328.4059 331.1859 336.7459 342.8559 348.96589 351.74589 357.30589 362.86589 368.42588">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32 751.756)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="58.45 65.12 69.01 74.57 77.35 80.13 89.02 91.799999 97.909999 103.46999 107.35999">Preliminary</tspan></text>
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