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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_522.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

148 lines
34 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="7.504 14.504 23.996 30.212002 40.320005 52.766008 62.87401 66.37401 72.59001 79.59001 86.59001 90.48201 97.48201 103.69801 107.19801 111.860019 118.07602 124.29202 131.29203 136.73802 140.63002 144.13002 150.34603 157.34603 163.56203 170.56203 177.56203 183.77803 187.67003 191.17003 199.72403 209.06203 219.17003 222.67003 229.67003 235.88603 239.77803 245.99404 249.49404 254.15604 258.81803 265.81803 276.71003 280.21003 284.10203 291.10203 297.31803 303.53404 307.42604 310.92604 321.81803 328.03404 338.92604 345.92604 350.588 357.588 361.088 364.98 371.98 375.48 379.372 386.372 390.264 396.48 401.142 408.142 414.358 418.25 421.75 426.412 432.628 439.628 443.52 448.966 452.858 459.074 463.736 467.236 471.89799 475.78999 479.68199 485.89799">4.eDMA engine reads: channel TCD data from local memory to internal register file.</tspan><tspan y="36.25" x="7.5040504 14.50405 23.996052 32.550054 39.550054 45.766054 49.266054 54.71205 61.71205 68.71205 73.374057 79.59006 85.80606 90.46806 94.36006 101.36006 106.022068 113.022068 119.23807 124.68407 128.57607 132.46807 139.46807 145.68407 149.57607 153.46807 160.46807 167.46807 170.96807 174.86006 179.52207 185.73807 192.73807 198.18407 202.84607 209.06208 213.72408 219.17008 222.67008 228.88608 233.54808 239.76409 243.26409 249.48009 256.4801 262.6961 268.9121 275.9121 279.8041 286.0201 293.0201 296.5201 302.7361 308.18214 311.68214 316.34413 323.34413 327.2361 331.1281 338.1281 348.2361 353.68214">5.The source-to-destination transfers are executed as follows:</tspan><tspan y="60.65" x="32.28406 38.50006 48.00606 57.344064 63.560064 69.77606 76.77606 80.27606 87.27606 94.27606 98.16806 104.38406 107.88406 112.54607 117.20807 124.20807 135.10007 138.60007 142.49207 149.49207 155.70807 161.92407 165.81607 169.70807 176.70807 183.70807 187.20807 194.20807 201.20807 208.20807 215.20807 222.20807 229.20807 232.70807 236.20807 240.87007 247.08608 253.30208 260.30207 263.80207 270.80207 277.80207 281.69407 287.91007 291.41007 296.07206 300.73405 307.73405 318.62605 322.12605 326.01805 333.01805 339.23405 345.45005 349.34205 353.23405 360.23405 367.23405 370.73405 377.73405 384.73405 391.73405 398.73405 405.73405 412.73405 416.23405 419.73405 424.39604 430.61204 436.82804 443.82804 447.32804 454.32804 461.32804 465.22004 471.43605 474.93605 479.59803 484.26 491.26">a.Read byte from location 0x1000, read byte from location 0x1001, read byte from</tspan><tspan y="76.65" x="48.00605 55.00605 62.00605 69.00605 76.00605 83.00605 90.00605 93.50605 97.00605 101.66805 107.884059 114.10006 121.10006 124.60006 131.60007 138.60007 142.49207 148.70807 152.20807 156.87007 161.53208 168.53208 179.42407 182.92407 189.92407 196.92407 203.92407 210.92407 217.92407 224.92407">0x1002, read byte from 0x1003.</tspan><tspan y="101.05" x="31.50005 38.50005 48.00605 61.22205 65.88405 69.77605 73.668048 79.88405 83.38405 90.38405 97.38405 102.04605 109.04605 112.93805 116.83005 122.27605 125.77605 129.66805 136.66805 140.16805 144.06005 151.06005 157.27605 163.49205 167.38405 171.27605 178.27605 185.27605 188.77605 195.77605 202.77605 209.77605 216.77605 223.77605 230.77605">b.Write 32-bits to location 0x2000 </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="ZapfDingbatsStd"><tspan y="101.05" x="234.27605">&#x2192;</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="101.05" x="246.00804 249.50804 254.17005 258.06205 262.72404 268.17005 272.06205 275.56205 279.45405 283.34605 289.56205 294.22404 300.44004 304.33204 308.22404 315.22404 322.22404 325.72404 332.72404 337.38603 340.88603 344.778 351.778 357.99403 361.49403 372.38603 376.278 383.278 390.278 394.94 398.44 402.332 409.332 416.332 423.332"> first iteration of the minor loop.</tspan><tspan y="125.450008" x="32.284059 38.500059 48.006059 57.34406 63.56006 69.77606 76.77606 80.27606 87.27606 94.27606 98.16806 104.38406 107.88406 112.54607 117.20807 124.20807 135.10007 138.60007 142.49207 149.49207 155.70807 161.92407 165.81607 169.70807 176.70807 183.70807 187.20807 194.20807 201.20807 208.20807 215.20807 222.20807 229.20807 232.70807 236.20807 240.87007 247.08608 253.30208 260.30207 263.80207 270.80207 277.80207 281.69407 287.91007 291.41007 296.07206 300.73405 307.73405 318.62605 322.12605 326.01805 333.01805 339.23405 345.45005 349.34205 353.23405 360.23405 367.23405 370.73405 377.73405 384.73405 391.73405 398.73405 405.73405 412.73405 416.23405 419.73405 424.39604 430.61204 436.82804 443.82804 447.32804 454.32804 461.32804 465.22004 471.43605 474.93605 479.59803 484.26 491.26">c.Read byte from location 0x1004, read byte from location 0x1005, read byte from</tspan><tspan y="141.45001" x="48.00604 55.00604 62.00604 69.00604 76.00604 83.00604 90.00604 93.50604 97.00604 101.668048 107.88405 114.10005 121.10005 124.60005 131.60005 138.60005 142.49205 148.70806 152.20806 156.87006 161.53206 168.53206 179.42406 182.92406 189.92406 196.92406 203.92406 210.92406 217.92406 224.92406">0x1006, read byte from 0x1007.</tspan><tspan y="165.85" x="31.500039 38.50004 48.00604 61.22204 65.88404 69.77604 73.66804 79.88404 83.38404 90.38404 97.38404 102.04604 109.04604 112.93804 116.83004 122.27604 125.77604 129.66805 136.66805 140.16805 144.06005 151.06005 157.27605 163.49205 167.38405 171.27605 178.27605 185.27605 188.77605 195.77605 202.77605 209.77605 216.77605 223.77605 230.77605">d.Write 32-bits to location 0x2004 </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="165.85" x="246.00803 249.50803 254.95403 261.17 267.38603 274.38603 281.38603 288.38603 291.88603 295.778 299.67 305.88603 310.548 316.764 320.656 324.548 331.548 338.548 342.048 349.048 353.71 357.21 361.102 368.102 374.318 377.818 388.71 392.602 399.602 406.602 411.26399 414.76399 418.65599 425.65599 432.65599 439.65599"> second iteration of the minor loop.</tspan><tspan y="190.25" x="32.284044 38.500043 48.006044 57.344045 63.560045 69.77605 76.77605 80.27605 87.27605 94.27605 98.168048 104.38405 107.88405 112.54605 117.20805 124.20805 135.10005 138.60005 142.49205 149.49205 155.70806 161.92406 165.81606 169.70806 176.70806 183.70806 187.20806 194.20806 201.20806 208.20806 215.20806 222.20806 229.20806 232.70806 236.20806 240.87006 247.08606 253.30207 260.30207 263.80207 270.80207 277.80207 281.69407 287.91007 291.41007 296.07206 300.73405 307.73405 318.62605 322.12605 326.01805 333.01805 339.23405 345.45005 349.34205 353.23405 360.23405 367.23405 370.73405 377.73405 384.73405 391.73405 398.73405 405.73405 412.73405 416.23405 419.73405 424.39604 430.61204 436.82804 443.82804 447.32804 454.32804 461.32804 465.22004 471.43605 474.93605 479.59803 484.26 491.26">e.Read byte from location 0x1008, read byte from location 0x1009, read byte from</tspan><tspan y="206.25" x="48.006025 55.006025 62.006025 69.00603 76.00603 83.00603 93.11403 96.61403 100.11403 104.77603 110.992038 117.20804 124.20804 127.70804 134.70804 141.70804 145.60004 151.81604 155.31604 159.97805 164.64005 171.64005 182.53205 186.03205 193.03205 200.03205 207.03205 214.03205 221.03205 230.37004">0x100A, read byte from 0x100B.</tspan><tspan y="230.65" x="33.838037 38.500036 48.006036 61.222036 65.88403 69.77603 73.66803 79.88403 83.38403 90.38403 97.38403 102.046039 109.046039 112.938037 116.83003 122.27603 125.77603 129.66803 136.66803 140.16803 144.06003 151.06003 157.27603 163.49204 167.38404 171.27603 178.27603 185.27603 188.77603 195.77603 202.77603 209.77603 216.77603 223.77603 230.77603">f.Write 32-bits to location 0x2008 </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="ZapfDingbatsStd"><tspan y="230.65" x="234.27603">&#x2192;</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="230.65" x="246.00803 249.50803 253.40003 260.40003 264.29203 268.954 275.954 279.454 283.346 287.238 293.454 298.116 304.332 308.224 312.116 319.116 326.116 329.616 336.616 341.27799 344.77799 348.66999 355.66999 361.886 365.386 376.27799 380.16999 387.16999 394.16999 398.83198 402.33198 406.22398 413.22398 420.22398 427.22398"> third iteration of the minor loop.</tspan><tspan y="255.04999" x="31.500046 38.500047 48.006048 57.344049 63.560049 69.77605 76.77605 80.27605 87.27605 94.27605 98.168048 104.38405 107.88405 112.54605 117.20805 124.20805 135.10005 138.60005 142.49205 149.49205 155.70806 161.92406 165.81606 169.70806 176.70806 183.70806 187.20806 194.20806 201.20806 208.20806 215.20806 222.20806 231.54605 235.04605 238.54605 243.20806 249.42406 255.64006 262.64009 266.14009 273.14009 280.14009 284.03208 290.24809 293.74809 298.41007 303.07206 310.07206 320.96406 324.46406 328.35606 335.35606 341.57206 347.78807 351.68006 355.57206 362.57206 369.57206 373.07206 380.07206 387.07206 394.07206 401.07206 408.07206 418.18006 421.68006 425.18006 429.84205 436.05805 442.27406 449.27406 452.77406 459.77406 466.77406 470.66606">g.Read byte from location 0x100C, read byte from location 0x100D, read byte</tspan><tspan y="271.05" x="48.006067 52.668066 57.330064 64.33006 75.22206 78.72206 85.72206 92.72206 99.72206 106.72206 113.72206 122.27606 125.77606 129.27606 133.93807 140.15407 146.37007 153.37007 156.87007 163.87007 170.87007 174.76207 180.97808 184.47808 189.14008 193.80208 200.80208 211.69408 215.19408 222.19408 229.19408 236.19408 243.19408 250.19408 257.9781">from 0x100E, read byte from 0x100F.</tspan><tspan y="295.44999" x="31.500056 38.500055 48.006055 61.222055 65.884059 69.776058 73.66805 79.884059 83.384059 90.384059 97.384059 102.04606 109.04606 112.93806 116.830059 122.276058 125.776058 129.66806 136.66806 140.16806 144.06006 151.06006 157.27606 163.49207 167.38407 171.27606 178.27606 185.27606 188.77606 195.77606 202.77606 209.77606 216.77606 223.77606 233.11406">h.Write 32-bits to location 0x200C </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="ZapfDingbatsStd"><tspan y="295.44999" x="236.61408">&#x2192;</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="295.44999" x="248.34607 251.84607 255.73807 261.95408 267.4001 271.29209 274.79209 278.68409 282.57609 288.79209 293.45408 299.67008 303.56208 307.45408 314.45408 321.45408 324.95408 331.95408 336.61607 340.11607 344.00807 351.00807 357.22407 360.72407 371.61607 375.50807 382.50807 389.50807 394.17005 397.67005 401.56205 408.56205 415.56205 422.56205"> last iteration of the minor loop </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="ZapfDingbatsStd"><tspan y="295.44999" x="426.06208">&#x2192;</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="295.44999" x="437.79408 441.29408 452.18608 458.40208 462.29408 469.29408 473.95606 477.45606 481.34806 488.34806 495.34806"> major loop</tspan><tspan y="311.44999" x="48.006074 54.222074 61.222074 72.114078 79.114078 83.00607 89.22208 93.114078 99.33008">complete.</tspan><tspan y="335.84999" x="7.5040819 14.504082 23.996083 32.550085 39.550085 45.766084 49.266084 55.482084 65.59008 78.03608 88.14408 91.64408 97.860088 104.860088 111.860088 115.75208 122.75208 128.96808 132.46808 142.57608 147.23809 151.13008 155.02208 161.23809 166.68408 170.57608 174.07608 182.63008 191.96808">6.The eDMA engine writes: TCD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd" font-style="italic"><tspan y="335.84999" x="202.07608">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="335.84999" x="209.07608 216.07608 223.86008 233.96808 244.07608 254.18408 263.5221 267.0221 274.9181 278.4181 285.4181 292.4181 299.4181 306.4181 313.4181 320.4181 323.9181 327.4181 335.97209 345.3101">_SADDR = 0x1000, TCD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd" font-style="italic"><tspan y="335.84999" x="355.4181">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="335.84999" x="362.4181 369.4181 379.5261 389.6341 399.7421 409.8501 419.1881 422.6881 430.5841 434.0841 441.0841 448.0841 455.0841 462.0841 469.0841 476.0841">_DADDR = 0x2000,</tspan><tspan y="351.84999" x="23.996125 32.550127 41.888128">TCD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd" font-style="italic"><tspan y="351.84999" x="51.996118">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="351.84999" x="58.996118 65.99612 75.33412 79.996128 88.550128 97.104129 106.44212 109.94212 117.83812 121.33812 128.33812 131.83812 136.50012 145.05413 154.39212">_CITER = 1 (TCD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd" font-style="italic"><tspan y="351.84999" x="164.50012">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="351.84999" x="171.50012 178.50012 187.83812 192.50012 201.05413 209.60813 218.94612 223.60813">_BITER).</tspan><tspan y="376.24998" x="7.504135 14.504135 23.996136 32.550138 39.550138 45.766138 49.266138 55.482137 65.59013 78.03613 88.144138 91.644138 97.86014 104.86014 111.86014 115.75214 122.75214 128.96814 132.46814 142.57614 147.23815 151.13014 155.02214 161.23815 166.68415 170.57614 174.07614 182.63014 191.96814">7.The eDMA engine writes: TCD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd" font-style="italic"><tspan y="376.24998" x="202.07613">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="376.24998" x="209.07613 216.07613 225.41413 233.19812 242.53612 247.19812 257.30613 266.64414 275.19813 279.8601 289.9681 298.5221 303.18409 306.68409 314.58009 318.08009 325.08009 328.58009 332.08009 340.63407 349.97209">_CSR[ACTIVE] = 0, TCD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd" font-style="italic"><tspan y="376.24998" x="360.0801">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="376.24998" x="367.0801 374.0801 383.41813 391.20213 400.54014 405.20213 415.31013 425.41813 435.52613 444.0801 448.7421 452.2421 460.1381 463.6381 470.6381">_CSR[DONE] = 1,</tspan><tspan y="392.24998" x="23.996125 28.658125 38.766126 47.320127">INT[</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd" font-style="italic"><tspan y="392.24998" x="51.982118">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="392.24998" x="58.982118 63.644117 67.14412 75.040119 78.540119 85.540119">] = 1.</tspan><tspan y="416.64997" x="7.504116 14.504116 23.996117 32.550119 39.550119 45.766119 49.266119 55.482118 62.482118 68.69812 75.69812 82.69812 88.91412 92.80612 96.30612 100.968128 107.18413 111.076129 114.968128 119.63013 125.84613 131.29213 134.79213 141.00814 148.00814 155.00814 158.50814 162.40013 169.40013 175.61614 179.11614 185.33214 195.44014 207.88614 217.99414 221.49414 228.49414 235.49414 241.71015 247.15615 250.65615 254.54814 261.54817 265.44017 271.65617 275.15617 282.15617 286.81816 290.31816 295.76417 301.98017 306.64216 313.64216 317.53416 323.75016 329.96617 335.41218 338.91218 342.80418 349.80418 356.02018 359.52018 366.52018 372.73619 379.73619 383.62818 387.12818 393.34419 400.34419 406.56019 413.56019 420.56019 426.77619 430.66819">8.The channel retires and the eDMA goes idle or services the next channel.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 521.19998)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00688 8.333121 16.673123 20.843123 29.183125 33.353128 41.693128 45.86313">22.5.4.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 521.19998)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00689 12.488111 21.65311 25.82311 30.818112 34.988115 44.153116 48.323118 56.663118 60.83312 66.66812 75.008129 84.17313 93.33813 101.67813 110.018138 115.01314">Multiple requests</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="503.44996" x="-.00089 8.55311 15.55311 21.769112 25.269112 29.931113 36.931116 40.823118 44.71512 51.71512 61.82312 65.71512 72.71512 79.71512 83.21512 89.43112 96.43112 102.647129 113.53912 120.53912 124.43112 130.64713 134.14713 138.03913 142.70113 148.91713 155.91713 161.36313 166.02513 172.24114 176.90314 182.34914 185.84914 192.84914 199.84914 203.34914 210.34914 217.34914 221.24114 227.45714 232.90314 236.40314 243.40314 247.29514 253.51114 257.01115 260.90315 271.01115 278.01115 281.51115 288.51115 294.72715 299.38914 306.38914 316.49714 322.71315 327.37513 333.59114 337.09114 341.7531 347.96913 354.96913 361.96913 368.18513 373.63114 377.52314 382.96916 386.46916 389.96916 396.96916 403.96916 407.86116 411.36116 415.25315 420.69917 424.19917 431.19917 435.09117 442.09117 448.30717 452.96916 463.07716 466.96916 472.41517 478.63117 482.13117 486.02317 493.02317">The following example transfers 32 bytes via two hardware requests, but is otherwise the</tspan><tspan y="519.44998" x="-.00088 5.445121 11.661121 22.553124 28.769124 32.269124 38.485124 43.93112 47.43112 51.323125 58.323125 64.53912 68.03912 75.03912 79.701129 85.91713 92.91713 96.80913 103.80913 110.80913 116.25513 119.75513 125.97113 132.97113 139.18714 150.07913 157.07913 160.97113 167.18714 170.68714 174.18714 182.74114 189.74114 195.95714 199.45714 206.45714 213.45714 217.34914 224.34914 227.84914 232.51114 236.40314 242.61914 246.51114 253.51114 258.95716 262.45716 266.34916 273.34916 279.56517 283.45716 286.95716 293.17317 300.17317 306.38917 313.38917 320.38917 326.60517 330.10517 336.32118 340.98316 347.19917 350.69917 354.59117 361.59117 367.80717 371.30717 382.19917 388.41517 392.30717 399.30717 403.96916 407.46916 411.36116 418.36116 425.36116 432.36116 435.86116 439.75315 443.64515 449.86116 454.52314 460.73915 464.63114 468.52314 475.52314">same as the previous example. The only fields that change are the major loop iteration</tspan><tspan y="535.44998" x="-.00088 6.215121 13.21512 20.21512 27.21512 31.10712 34.60712 40.82312 47.82312 54.82312 58.32312 62.215124 69.21512 75.43112 78.93112 83.593128 87.48512 94.48512 100.701129 104.593128 108.093128 114.30913 121.30913 128.30913 132.97113 139.18714 144.63314 150.07913 153.57913 160.57913 165.24114 169.90314 175.34914 181.56514 185.45714 190.90314 194.40314 197.90314 206.45714 213.45714 219.67314 223.17314 229.38915 239.49715 251.94315 262.05116 265.55116 269.44316 274.88917 278.38917 285.38917 290.05116 297.05116 304.05116 308.71315 314.92915 325.82115 336.71315 342.92915 349.92915 353.42915 358.09114 365.09114 369.7531 373.2531 377.1451 387.2531 394.2531 397.7531 401.6451 405.5371 411.7531 416.4151 422.6311 426.5231 430.4151 437.4151 444.4151 449.8611 453.3611 460.3611 465.0231 468.5231 472.4151 479.4151">count and the final address offsets. The eDMA is programmed for two iterations of the</tspan><tspan y="551.44998" x="-.00088 10.891121 17.10712 20.99912 27.99912 32.66112 36.16112 40.053125 47.053125 54.053125 61.053125 64.55312 68.44512 73.107128 79.32313 86.32313 91.76913 96.43113 102.64713 107.309139 111.97114 115.86314 122.86314 129.86313 133.36313 140.36313 147.36313 150.86313 157.86313 164.86313 168.75513 174.97113 180.41713 183.91713 190.91713 197.13314 201.79514 205.29514 209.18714 213.07913 219.29514 223.95714 230.17314 234.06514 237.95714 244.95714 251.95714 255.45714 258.95716 269.06517 273.72715 277.61915 283.83515 288.49714 291.99714 295.88914 302.88914 309.10514 312.60514 318.82115 325.82115 332.03715 339.03715 346.03715 352.25315 356.14515 358.66514 364.11116 367.61116 374.61116 380.82716 385.48915 392.48915 402.59715 408.81315 413.47514 419.69114 423.19114 427.85313 434.06913 441.06913 448.06913 454.28514 459.73115 463.62315 469.06916 472.56916 478.78517 483.44715">major loop transferring 16 bytes per iteration. After the channel's hardware requests are</tspan><tspan y="567.44998" x="-.00088 6.215121 13.21512 19.431122 26.431122 30.323122 36.539125 43.539125 47.039125 50.931127 57.931127 61.431127 65.32313 72.32313 78.53913 82.03913 90.59313 99.93114 110.03914 113.53914 118.20114 124.417148 131.41715 135.30915 140.75514 144.64714 150.86315 155.52515 159.02515 162.52515 166.41715 173.41715 179.63315 183.13315 188.57915 192.47115 198.68715 205.68715 211.90316 215.40316 222.40316 228.61916 235.61916 239.51116 245.72716 251.94316 255.44316 259.33518 266.33518 270.22718 274.11918 278.01118 284.22718 288.11918 294.33518 299.7812 303.2812 309.4972 316.4972 322.7132 329.7132 336.7132 342.9292 346.8212 350.3212 355.7672 361.98323 366.6452 373.6452 377.5372 383.7532 389.9692 393.4692 398.1312 404.3472 411.3472 418.3472 424.5632 430.00923 433.9012 439.34724">enabled in the ERQ register, the slave device initiates channel service requests.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="9" font-family="CourierStd"><tspan y="589.42" x=".0021000002 5.4021 10.8021 16.2021 21.6021 27.0021 32.4021 37.8021"> TCD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="9" font-family="CourierStd" font-style="italic"><tspan y="589.42" x="43.202104">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="9" font-family="CourierStd"><tspan y="589.42" x="48.602106 54.002107 59.402109 64.80211 70.20211 75.60211 81.00211 86.402118 91.80212 97.20212 102.60212 108.00212">_CITER = TCD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="9" font-family="CourierStd" font-style="italic"><tspan y="589.42" x="113.40211">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="9" font-family="CourierStd"><tspan y="589.42" x="118.80211 124.20211 129.60211 135.0021 140.4021 145.8021 151.20209 156.60208 162.00208 167.40207">_BITER = 2</tspan><tspan y="598.96" x=".0020980836 5.402098 10.802098 16.202099 21.602099 27.002099 32.4021 37.8021"> TCD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="9" font-family="CourierStd" font-style="italic"><tspan y="598.96" x="43.2021">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="9" font-family="CourierStd"><tspan y="598.96" x="48.6021 54.0021 59.402105 64.8021 70.2021 75.602108 81.002109 86.40211 91.80211 97.20211 102.60211 108.00211">_SLAST = &#x2013;32</tspan><tspan y="608.50009" x=".0021095277 5.4021098 10.80211 16.20211 21.60211 27.00211 32.40211 37.802114"> TCD</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="9" font-family="CourierStd" font-style="italic"><tspan y="608.50009" x="43.20211">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="9" font-family="CourierStd"><tspan y="608.50009" x="48.60211 54.002115 59.402116 64.80212 70.20212 75.60212 81.00212 86.40212 91.802127 97.202129 102.60213 108.00213 113.40213 118.80213 124.20213 129.60213">_DLAST_SGA = &#x2013;32</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="631.2701" x=".00011062622 8.554111 15.554111 19.446112 24.892113 28.392113 38.500116 45.500116 52.500116 56.392118 63.392118 66.89212 73.89212 80.10812 87.10812 93.32413 97.98613 104.20213 108.09413 114.310138 117.810138 121.70213 128.70214 134.91814 138.41814 143.08014 150.08014 153.97214 157.86414 164.86414 174.97214 178.86414 185.86414 192.86414 196.36414 201.81014 208.02614 215.02614 222.02614 228.24214 235.24214 241.45815 247.67415 251.17415 258.17414 262.83613 266.33613 272.55213 279.55213 285.76814 292.76814 296.66014 302.10615">This would generate the following sequence of events:</tspan><tspan y="655.6701" x="7.504121 14.504121 23.99612 31.78012 35.672124 40.33412 45.78012 49.672124 53.172124 60.172124 66.38812 71.050128 78.050128 88.15813 94.37413 99.03613 105.25214 108.75214 112.25214 116.144138 123.144138 129.36014 133.25214 136.75214 140.64414 146.09014 149.59014 153.09014 159.30614 169.41414 181.86014 191.96814 195.46814 202.46814 208.68415 213.34615 217.23815 224.23815 231.23815 237.45415 242.11615 248.33216 252.22415 255.72415 259.22416 263.88615 270.10215 277.10215 284.10215 290.31816 295.76417 299.65617 303.15617 307.81816 314.81816 319.48014 322.98014 329.19615 336.19615 342.41215 349.41215 356.41215 362.62815 366.52015 370.02015 375.46617 381.68217 386.34416 393.34416 397.23616 403.45216 409.66816">1.First hardware, that is, eDMA peripheral, request for channel service.</tspan></text>
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