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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_526.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

694 lines
66 KiB (Stored with Git LFS)
XML
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="144.35" x="0 7.784001 14.784 19.446002 22.946002 29.946002 36.946 40.838 47.838 51.338 57.554 63.77 67.662 71.554 78.554 84.770008 88.662 92.554 99.554 106.554 110.054 113.946 120.946 127.946 134.162 139.608 143.108 146.608 150.5 157.5 163.716 167.216 178.108 184.324 188.216 195.216 199.878 204.54001 208.432 215.432 222.432 229.432 234.09401 240.31002 247.31002 258.20204 265.20204 269.09403 275.31004 279.20204 285.41804 288.91804 294.36405 298.25605 304.47206 308.36405 315.36405 320.81007 324.31007 328.20207 333.64808 337.14808 343.36408 350.36408 357.36408 361.25608 365.14808 371.36408 375.25608 379.14808 383.04008 390.04008 393.54008 397.43208 404.43208 411.43208 415.32408 421.54008 427.75608 431.64808 437.86408 444.86408 448.36408 455.36408 459.25608 465.47209 468.97209 472.86408 479.86408">For both activation types, the major-loop-complete status is explicitly indicated via the</tspan><tspan y="160.35" x="0 8.554 17.892003">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="160.35" x="28">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="160.35" x="35 42 51.338 59.122 68.46001 73.12201 83.23001 93.33801 103.446018 112.000019 116.66202 120.16202 127.16202 131.05402 134.94602">_CSR[DONE] bit.</tspan><tspan y="184.75" x="0 8.554 15.554 21.77 25.27 33.824 43.162004">The 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="184.75" x="53.27">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="184.75" x="60.27 67.270008 76.608 84.392009 93.73001 98.39201 106.17602 114.73002 124.83802 134.17603 142.73003 147.39203 150.89203 157.89203 161.78403 165.67603 169.17603 173.06803 178.51403 182.01403 188.23003 192.12203 198.33803 204.55403 209.21604 215.43204 222.43204 225.93204 232.14804 239.14804 243.04004 250.04004 260.93205 267.14805 271.04005 274.93205 281.14805 287.36405 291.25605 295.14805 302.14805 305.64805 315.75605 322.75605 328.97206 335.97206 339.47206 343.36405 350.36405 356.58006 360.08006 366.29606 373.29606 379.51206 386.51206 393.51206 399.72807 403.62007 407.12007 414.12007 420.33607 427.33607 431.22807 438.22807 443.67408 447.17408 453.39009 460.39009 466.60609 472.82209 479.82209 483.71409 487.60609 494.60609">_CSR[START] bit is cleared automatically when the channel begins execution</tspan><tspan y="200.75" x="0 4.662 10.878 17.878 24.094002 28.756003 35.756006 39.648008 45.864007 51.310007 56.756006 60.256006 67.256008 71.91801 75.41801 82.41801 89.41801 99.52601 103.02601 106.91801 113.91801 120.13401 123.63401 129.85 136.85 143.06601 150.06601 157.06601 163.28202 167.17401 170.67401 176.89002 183.10602 186.99802 190.89002 197.89002 204.10602 207.99802 214.21402 219.66002">regardless of how the channel activates.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 295.3)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".005 8.345001 16.685002 20.855002 29.195004 33.365007 41.705007 45.875009">22.5.5.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 295.3)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00499 10.8349909 19.174992 27.514992 36.679994 40.849996 50.014997 59.179998 63.35 68.345 77.51 85.850009 90.020008 95.01501 100.850009 109.19001 118.35501 126.695018 131.69002 140.03002 145.86502 150.03502 159.20001 167.54001 175.88 184.22 190.05501 194.225 203.39 208.385 217.54999 223.385 231.72499 235.89499 245.05998 250.05498 254.22498 262.56498 270.90498 275.89997 280.06999 288.40998 296.74998 300.91999 309.25999 318.425 326.76499 335.93 345.095 353.435 357.605">Reading the transfer descriptors of active channels</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="277.55" x="-.00098 8.55302 15.55302 21.76902 25.26902 31.48502 41.59302 54.039026 64.147029 67.647029 72.30903 78.52503 84.741039 91.741039 97.187038 100.687038 107.687038 113.90304 120.11904 127.11904 130.61905 134.51105 141.51105 147.72705 151.22705 155.11905 159.78105 166.78105 172.99706 176.49706 185.05106 194.38906">The eDMA reads back the true 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="277.55" x="204.49703">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="277.55" x="211.49703 218.49703 226.28102 236.38903 246.49703 256.605 265.94303 269.44303 272.94303 281.497 290.83503">_SADDR, 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="277.55" x="300.943">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="277.55" x="307.943 314.943 325.051 335.159 345.267 355.375 364.713 368.213 371.713 377.92903 384.92903 391.92903 395.42903 403.983 413.321">_DADDR, and 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="277.55" x="423.429">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="277.55" x="430.429 437.429 447.537 456.875 466.983 475.537 484.09098">_NBYTES</tspan><tspan y="293.55" x="-.0010375977 6.9989626 13.214963 17.106965 24.106965 30.322964 35.768964 39.268964 43.160966 47.822965 51.322965 55.984964 62.200963 68.41696 75.41696 78.91696 89.02496 96.02496 99.91696 103.80896 110.02496 113.52496 119.74097 123.24097 129.45697 136.45697 142.67298 149.67298 156.67298 162.88898 166.78098 170.28098 176.49698 183.49698 189.71298 195.92899 202.92899 206.82099 213.03699 218.48299 221.98299 225.48299 234.03699 241.03699 247.25299 250.75299 254.64499 259.30699 266.30699 272.52299 276.02299 283.02299 289.23899 293.13099 300.13099 306.347 311.793 315.293 322.293 326.955 330.455 334.347 341.347 347.563 351.063 358.847 368.955 379.063 389.171 398.509 402.009 405.509 415.617 425.725 435.833 445.941 455.27903 458.77903 462.27903 468.49504 475.49504">values if read while a channel executes. The true values of the SADDR, DADDR, and</tspan><tspan y="309.55" x="-.0010375977 10.106963 19.444966 29.552968 38.106969 46.66097 54.44497 57.94497 64.16097 68.822978 75.03898 78.53898 82.43098 89.43098 95.64698 99.14698 106.14698 112.36298 116.25498 123.25498 129.47098 134.91698 138.41698 142.30898 149.30898 155.52498 159.02498 165.24098 175.34899 187.79499 197.90299 201.40299 207.61899 214.61899 221.61899 225.51099 232.51099 238.72699 242.22699 248.443 255.443 260.10499 264.76698 270.98298 277.98298 281.87498 285.76698 292.76698 296.26698 303.26698 308.71299 314.929 320.375 323.875 327.767 334.767 338.267 342.159 346.051 351.497 354.997 358.889 365.889 369.781 375.997 380.659 387.659 393.875 397.767 401.267 405.929 412.145 419.145 423.037 428.483 432.375 438.591 443.253 446.753 451.41499 455.30699 459.19898 465.41499 468.91499 475.13099 482.13099">NBYTES are the values the eDMA engine currently uses in its internal register file and</tspan><tspan y="325.55" x="-.0010375977 6.9989626 13.998962 17.890963 21.390963 25.282963 32.282964 38.498964 41.998964 48.998964 55.214963 59.106966 66.106967 72.32297 77.76897 81.26897 85.160968 92.160968 95.660968 99.55296 106.55296 112.76897 116.26897 124.82297 134.16097 144.26897 147.76897 151.66097 158.66097 164.87697 171.09297 174.98497 178.48497 189.37697 195.59297 206.48497 213.48497 218.14698 225.14698 228.64698 233.30898 240.30898 244.97098 248.47098 252.36298 259.36299 265.57899 269.47099 272.97099 279.18699 286.18699 292.40299 299.40299 306.40299 312.619 316.511 320.011 323.511 332.06498 339.06498 345.28099 348.78099 354.99699 361.99699 368.99699 373.65898 379.87498 385.32099 390.767 396.983 402.42903 405.92903 409.42903 417.213 427.321 437.42903 447.53703 456.87504 460.37504 466.59104 473.59104">not the values in the TCD local memory for that channel. The addresses, SADDR and</tspan><tspan y="341.55" x="-.0010375977 10.106963 20.214964 30.322964 40.430967 49.768968 53.268968 56.768968 62.984968 69.98497 76.98497 80.48497 90.59297 99.93097 110.03897 118.59297 127.14697 134.93097 138.43097 141.93097 152.03897 159.03897 162.93097 169.14698 176.14698 179.64698 186.64698 192.86298 199.07898 203.74098 209.95699 220.84899 227.06499 234.06499 237.95699 241.45699 245.34899 252.34899 255.84899 262.06498 268.28099 272.94297 279.94297 283.44297 289.65898 295.10499 298.60499 302.49699 309.49699 315.71299 319.21299 323.10499 327.76698 333.98298 340.98298 346.429 351.09098 357.30699 361.96897 365.46897 372.46897 377.13096 384.13096 391.13096 395.79295 402.00895 407.45497 412.90098 419.11698 424.563 428.063 431.563 437.779 443.995 450.995 454.495 461.495 465.387 472.387 478.603 482.103 488.319">DADDR, and NBYTES, which decrement to zero as the transfer progresses, can give an</tspan><tspan y="357.55" x="-.0010375977 3.8909629 10.890963 17.890963 21.782963 27.998963 34.214963 38.106966 41.998968 48.998968 55.998968 59.498968 66.49896 71.160968 74.660968 78.55296 85.55296 91.76897 95.26897 102.26897 106.93097 113.93097 120.93097 125.59297 131.80898 137.25498 142.70098 146.20098 153.20098 157.86298 161.36298 165.25498 172.25498 178.47098 181.97098 185.86298 190.52498 196.74098 203.74098 209.18698 213.84899 220.06499 224.72699 228.22699 231.72699 241.83499 245.72699 249.61899 253.11899 260.119 264.011 271.011 277.227 281.88899 285.38899 292.38899 298.60499 302.49699 309.49699 315.71299 321.159 324.659 330.875 335.537 341.753 345.253 349.91499 356.13099 362.347 369.347 372.847 379.847 386.063 392.279 399.279 402.779 407.44099 412.10298 419.10298 429.99497 433.49497 437.38697 444.38697 450.60298 454.10298 462.65696 471.99497">indication of the progress of the transfer. All other values are read back from the TCD</tspan><tspan y="373.55" x="-.0010375977 3.8909629 10.890963 17.106965 23.322964 27.214964 30.714964 41.606966 47.822965 58.714967 65.714969 70.37697 77.37697">local memory.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 468.09999)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00304 8.336961 16.676962 20.846962 29.186963 33.356966 41.696966 45.866968">22.5.5.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 468.09999)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00304 10.826961 19.99196 28.331963 36.671964 45.011964 49.181966 58.346967 67.51196 71.68196 80.021968 89.186969 97.52697 106.69197 115.85697 124.196979 128.36698 132.53697 141.70197 147.53697 155.87697 164.21697 177.55197 186.71697 191.71196 195.88196 205.04695 214.21195 218.38195 226.72194 231.71694 240.05693 245.05193 254.21692">Checking channel preemption status</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="450.34999" x=".00096 7.7849609 12.44696 18.66296 24.87896 35.77096 42.77096 46.662965 50.554967 57.554967 64.55496 68.05496 71.94696 77.39296 80.89296 87.10896 94.10896 100.32497 104.216968 108.10896 114.32497 121.32497 125.216968 131.43297 134.93297 141.93297 148.93297 152.82497 159.82497 163.32497 173.43297 180.43297 186.64897 193.64897 197.14897 201.81098 205.70298 212.70298 218.91898 225.91898 229.41898 235.63498 240.29698 247.29698 251.18898 255.08098 259.74299 265.95899 269.85099 273.74299 280.74299 287.74299 291.24299 295.13499 300.581 304.081 309.527 315.743 319.635 325.851 332.06703 335.959 342.17503 349.17503 352.67503 358.89103 364.33705 367.83705 371.72904 378.72904 384.94505 388.44505 394.66105 401.66105 407.87705 414.87705 421.87705 428.09306 431.98506 435.48506 441.70106 446.36305 453.36305 457.25505 461.14704 465.80903 472.02503 475.91703 479.80903 486.80903">Preemption is available only when fixed arbitration is selected as the channel arbitration</tspan><tspan y="466.34999" x=".00099 10.892991 17.89299 24.89299 31.10899 34.60899 38.10899 48.21699 51.71699 58.71699 63.37899 69.59499 75.811 86.702999 93.702999 97.59499 101.48699 108.48699 114.702999 118.202999 123.648998 127.54099 131.433 138.433 144.649 148.541 152.433 159.433 166.433 169.933 173.825 179.271 182.771 189.771 196.771 202.987 206.487 210.379 217.379 220.879 230.987 237.987 241.879 248.095 255.095 258.595 264.811 268.311 275.311 279.973 286.189 292.405 303.297 310.297 314.189 318.85099 325.067 332.067 338.283 345.283 349.175 355.391 362.391 365.891 372.107 379.107 385.323 392.323 399.323 405.539 409.431 412.931 417.593 424.593 431.593 437.039 440.539 446.755 453.755 460.755 464.255">mode. A preemptive situation is one in which a preempt-enabled channel runs and a</tspan><tspan y="482.34999" x=".00099 7.00099 10.89299 17.89299 24.89299 31.10899 35.77099 39.27099 46.27099 50.932989 54.82499 61.82499 66.48699 70.37899 74.27099 81.27099 84.77099 89.43299 95.648998 102.648998 109.648998 115.865 121.311 125.202999 128.703 135.703 141.919 148.13501 155.13501 166.02701 172.24301 177.68901 181.18901 187.40502 193.62102 197.51302 201.40502 208.40502 214.62102 218.12102 221.62102 234.83702 241.83702 248.05303 255.05303 258.55305 262.44505 269.44505 275.66105 279.16105 285.37705 295.48506 307.93107 318.03907 321.53907 327.75508 334.75508 341.75508 345.64707 352.64707 358.86308 362.36308 366.25508 371.70109 375.20109 382.20109 389.20109 393.09309 396.59309 403.59309 410.59309 416.80909 421.47108 427.68708 431.57908 435.47108 442.47108 449.47108 452.97108 456.86308 463.86308 467.36308 472.02507 475.91706 482.91706 489.13307">higher priority request becomes active. When the eDMA engine is not operating in fixed</tspan><tspan y="498.34999" x=".00099 6.2169907 13.21699 19.432991 26.432991 33.43299 39.64899 43.540994 47.040994 53.256994 57.91899 64.91899 68.81099 72.70299 77.36499 83.58099 87.47299 91.36499 98.36499 105.36499 108.86499 119.75699 126.75699 133.75699 139.97299 143.47299 146.97299 150.86499 157.86499 164.081 167.581 174.581 180.797 184.689 190.905 195.567 206.459 210.351 217.351 223.567 227.459 231.351 238.351 245.351 248.851 255.851 260.513 264.013 267.905 274.905 281.121 284.621 290.837 297.053 300.945 304.837 311.837 318.053 321.945 328.945 332.445 337.107 344.107 351.107 358.107 361.999 368.999 375.999 379.499 384.16099 390.37699 394.26899 400.485 404.37699 408.26899 415.26899 421.485 424.985 431.985 436.64698 440.53898 447.53898 452.20097 456.09297 459.98497">channel arbitration mode, the determination of the actively running relative priority</tspan><tspan y="514.35" x=".00099 7.00099 14.00099 17.89299 23.338992 27.230992 33.44699 40.44699 47.44699 51.338994 58.338994 65.33899 68.83899 73.50099 79.716999 86.716999 93.716999 99.933 105.379 109.270999 114.716999 118.216999 125.216999 131.433 137.649 144.649 155.541 161.757 165.257 172.257 179.257 186.257 192.473 197.13501 201.02701 208.02701 214.24301 221.24301 224.74301 228.24301 237.58101 244.58101 250.79701 257.797 264.797 271.013 274.905 278.405 285.405 290.067 293.95899 300.95899 305.62098 309.51298 313.40498 317.29698 323.51298 328.95899 332.45899 338.675 343.33699 349.55299 353.05299 356.94499 361.60697 367.82298 374.03898 377.93098 384.14698 391.14698 394.64698 400.86299 406.309 409.809 416.025 423.025 430.025 436.241 440.133 443.633 447.133 451.025 458.025 464.241 468.133 471.633 475.525 480.971">outstanding requests become undefined. Channel priorities are treated as equal, that is,</tspan><tspan y="530.35" x=".00099 6.2169907 13.21699 20.216992 25.662993 29.554993 35.770994 42.770994 46.662996 50.554998 57.554998 61.054998 65.716999 72.716999 76.60899 82.825 86.716999 90.60899 97.60899 104.60899 108.10899 111.60899 121.716999 128.717 134.933 141.933 145.433 154.771 161.771 168.771 175.771 182.771 187.433 196.771 203.771 210.771 214.663 221.663 225.163 235.271 239.933 246.933 250.825 254.717 259.379 265.595 269.487 273.379 280.379 287.379 290.879 301.771 308.771 315.771 321.987 325.487 329.379 334.825 338.325 343.77104 349.98704 353.87904 360.09504 366.31105 370.20304 376.41905 383.41905">constantly rotating, when Round-Robin Arbitration mode is selected.</tspan><tspan y="554.75" x=".00099 8.55499 15.55499 21.77099 25.27099 33.82499 43.16299">The 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="554.75" x="53.270994">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="554.75" x="60.270994 67.270999 76.60899 84.393 93.731 98.393009 108.50101 117.839008 126.393009 131.05501 141.16301 149.71701 154.37902 157.87902 164.87902 168.77101 172.66301 176.16301 180.82501 187.82501 192.48702 195.98702 199.87902 206.87902 213.09502 216.59502 223.59502 228.25702 234.47303 240.68903 251.58103 258.58103 262.47303 268.68904 275.68904 279.18904 285.40504 292.40504 298.62104 305.62104 312.62104 318.83705 322.72904 326.22904 330.89103 337.10704 347.99903 354.21504 358.10704 365.10704 370.55305 374.05305 380.26905 385.71507 391.16108 397.37709 402.03907 405.93107 412.14707 419.14707 422.64707 426.53907 433.53907 438.20106 445.20106 452.20106 459.20106 466.20106 473.20106 480.20106">_CSR[ACTIVE] bit for the preempted channel remains asserted throughout</tspan><tspan y="570.75" x=".0009918213 3.8929923 10.892992 17.108994 20.608994 27.608994 32.270994 38.48699 44.70299 55.594995 62.594995 66.48699 70.37899 77.37899 84.37899 87.87899 91.37899 99.93299 106.93299 113.148998 116.648998 123.648998 128.31099 134.527 140.743 151.635 158.635 162.527 168.743 175.743 179.243 185.459 192.459 198.675 205.675 212.675 218.891 222.783 226.283 230.175 235.621 239.121 243.013 249.229 260.121 267.121 274.121 278.783 284.999 289.66099 293.55299 297.44499 304.44499 307.94499 313.391 320.391 325.837 332.837 339.053 346.053 353.053 359.269 366.269 369.769 379.877 386.877 390.769 394.661 400.877 404.377 408.269 415.269 421.48503 424.98503 431.98503 436.647 442.863 449.079 459.971 466.971 470.863 474.755 481.755">the preemption. The preempted channel is temporarily suspended while the preempting</tspan><tspan y="586.75" x=".0009918213 6.2169926 13.216992 19.432993 26.432993 33.43299 39.64899 43.540994 47.040994 53.256994 60.256994 66.47299 72.688999 79.688999 83.58099 89.797 95.243 98.743 105.743 112.743 118.959 122.459 133.351 139.567 143.459 150.459 155.121 158.621 162.513 169.513 176.513 183.513 187.013 190.905 194.797 201.013 205.675 211.891 215.783 219.675 226.675 233.675 237.175 240.675 245.337 249.99901 253.49901 257.39103 267.49903 274.49903 277.99903 286.553 295.89103">channel executes one major loop iteration. If two TCD</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="586.75" x="312.99897 319.99897 329.33699 337.12098 346.45899 351.12098 361.22898 370.567 379.12098 383.78297 393.89097 402.44496 407.10694 410.60694 417.60694 421.49894 425.39094 430.83695 434.33695 440.55296 445.21495 451.43095 454.93095 460.37696 466.59297">_CSR[ACTIVE] bits are set</tspan><tspan y="602.75" x=".0009765625 5.446977 9.338978 20.23098 27.23098 31.12298 35.01498 41.23098 48.23098 54.44698 61.44698 68.446979 73.892978 77.78497 84.78497 88.28497 92.17697 99.17697 102.67697 106.56897 113.56897 119.78497 123.28497 130.28498 134.17697 141.17697 148.17697 154.39298 158.28498 161.78498 170.33898 179.67697 189.78498 193.28498 204.17697 210.39298 217.39298 220.89298 224.39298 230.60898 234.10898 241.10898 245.00098 252.00098 259.00099 265.21699 269.87898 273.37898 280.37898 285.04096 288.93296 295.93296 300.59495 304.48695 308.37895 315.37895 318.87895 325.09495 332.09495 338.31095 345.31095 352.31095 358.52696 362.41896 365.91896 369.81095 375.25697 378.75697 384.97297 391.18898 395.08097 398.97297 405.97297 412.18898 416.08097 423.08097 426.58097 433.58097 438.24296 444.45896 450.67497 461.56697 468.56697 472.45896 476.35096 483.35096 490.35096 493.85096">simultaneously in the global TCD map, a higher priority channel is actively preempting a</tspan><tspan y="618.75" x=".0009765625 3.892977 10.892977 21.000977 27.216977 31.878977 35.378976 42.378976 47.040975 50.932977 57.932977 62.594976 66.48698 70.378978 77.378978 80.878978 87.09498 94.09498 100.31098 107.31098 114.31098 120.526988 124.41898">lower priority channel.</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 2.5020004 8.001 10.503 13.5 16.002 21.006 23.508002 26.010003 30.510003 35.514005 38.511007 41.013006 46.512006 52.011007 54.513006 59.517007 65.01601 70.51501 73.017009 75.519008 80.523 85.527 88.524 91.026 96.525 102.024 104.526 107.028 112.527 115.524 121.023 124.524 132.52501 137.529 140.526 143.028 148.527">Initialization/application information</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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