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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_527.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

153 lines
36 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 17.792002 22.240002 31.136002 35.584005">22.5.6</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 54)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 11.552001 21.328001 30.224003 40.000005 49.776006 58.672006 63.120008 67.56801 77.34401 81.79201 91.56801 100.46401 104.91201 114.68801">Channel Linking</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="37.25" x=".00401 9.342011 16.34201 22.55801 29.55801 36.55801 42.77401 46.66601 50.16601 54.058015 57.950017 64.95001 71.95001 75.84201 82.84201 89.84201 93.34201 98.00401 105.00401 109.666019 113.166019 119.38202 126.38202 132.59803 136.49002 143.49002 147.38202 154.38202 161.38202 166.04402 169.54402 173.43602 178.88202 182.38202 188.59803 192.09803 202.99002 209.20603 215.42203 222.42203 228.63803 235.63803 239.53003 244.97603 255.86803 259.36805 269.47605 276.47605 282.69206 287.35404 293.57005 297.07005 304.07005 311.07005 317.28605 320.78605 327.00205 334.00205 340.21806 347.21806 354.21806 360.43406 364.32606 367.82606 373.27207 379.48808 383.38008 388.82609 392.32609 396.21809 403.21809">Channel linking (or chaining) is a mechanism where one channel sets the</tspan><tspan y="53.25" x=".0039999999 8.558 17.896">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="53.25" x="28.004">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="53.25" x="35.003999 42.003999 51.342 59.126 68.464008 73.12601 80.91001 89.46401 99.572017 108.91002 117.46402 122.12602 125.62602 132.62602 136.51802 140.41002 143.91002 150.91002 155.57202 159.07202 165.28803 172.28803 179.28803 183.18003 190.18003 196.39603 201.05803 204.55803 210.77404 217.77404 223.99004 230.99004 237.99004 244.20604 248.09804 251.59804 256.26005 263.26005 267.92204 271.42204 275.31404 279.20603 284.65205 290.86805 294.76005 299.42204 304.084 307.584 311.084 314.976 321.976 328.19203 332.854 339.07 343.732 350.732 355.39399 361.61 365.11 369.00199 376.00199 379.89399 383.78599 387.67799 393.89399 397.78599 401.67799 408.67799 415.67799 419.17799 425.39399 428.89399 434.34 440.556 445.218 452.218 456.11 462.326">_CSR[START] bit of another channel (or itself), therefore initiating a service</tspan><tspan y="69.25" x=".0039978029 4.665998 10.881998 17.881999 24.881999 31.098 36.544 40.436 43.936 48.598 55.598 60.26 63.76 67.652 74.652 80.868007 84.76 88.26 94.476009 101.476009 107.69201 114.69201 121.69201 127.90801 131.80002 135.30002 138.80002 152.01602 159.01602 165.23203 172.23203 175.73203 182.73203 187.39403 194.39403 201.39403 207.61003 212.27204 216.16403 223.16403 226.66403 232.88004 239.88004 246.09604 253.09604 256.98805 263.20405 270.20405 273.70405 277.20405 281.09605 288.09605 294.31205 297.81205 306.36604 316.47404 328.92005 339.02806 342.52806 348.74406 355.74406 362.74406 366.63606 373.63606 379.85206 383.35206 389.56806 396.56806 400.46006 407.46006 418.35206 424.56806 428.46006 432.35206 438.56806 444.78407 448.67607 452.56806">request for that channel. When properly enabled, the EDMA engine automatically</tspan><tspan y="85.25" x=".0039978029 7.003998 13.219998 17.881999 22.543999 29.543999 34.205999 45.098 50.544 54.044 57.936 64.936008 68.828 74.274 77.774 84.774 91.774 97.990009 102.65201 108.86801 112.76001 116.65201 123.65201 130.65201 134.15201 140.36801 144.26001 147.76001 151.65201 158.65201 164.86801 168.36801 179.26001 185.47602 189.36801 196.36801 201.03002 204.53002 211.53002 216.19202 219.69202 230.58402 234.47602 241.47602 248.47602 253.13802 256.638 260.53 267.53 274.53 281.53 285.03 291.246 298.246 309.138 316.138 320.03 326.246 330.138 334.03 341.03 348.03">performs this operation at the major or minor loop completion.</tspan><tspan y="109.65" x=".004027803 8.558027 15.558027 21.774029 25.274029 36.16603 40.058034 47.058034 54.058034 58.72003 62.22003 66.11203 73.11203 80.11203 87.11203 90.61203 96.82803 103.82803 110.04404 117.04404 124.04404 130.26004 134.15204 137.65204 141.54404 145.43604 152.43604 159.43604 163.32804 170.32804 177.32804 180.82804 187.82804 194.04404 200.26004 207.26004 211.92205 217.36804 220.86804 227.08405 230.97605 234.47605 238.36804 245.36804 251.58405 255.08405 261.30006 268.30006 279.19206 286.19206 290.08406 296.30006 300.19206 304.08406 311.08406 318.08406 321.58406 328.58406 333.24604 336.74604 340.63804 347.63804 353.85404 357.35404 368.24604 372.13804 379.13804 386.13804 390.80003 394.30003 398.19203 405.19203 412.19203 419.19203 422.69203 427.354 434.354 439.016 442.516 449.516 456.516">The minor loop channel linking occurs at the completion of the minor loop (or one</tspan><tspan y="125.65" x=".004057803 3.8960584 7.7880589 14.004059 18.66606 24.882061 28.774062 32.66606 39.66606 46.66606 50.16606 57.16606 61.82806 65.328067 69.22006 76.22006 82.436069 85.936069 96.828067 103.04407 106.936069 113.936069 118.59807 122.09807 125.99007 132.99007 139.99007 146.99007 151.65207 155.15207 158.65207 167.20607 174.20607 180.42208 183.92208 192.47608 201.81407">iteration of the major loop). The 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="125.65" x="218.92206 225.92206 235.26006 239.92206 248.47606 257.03007 266.36808 271.03007 279.58406 286.58406 295.13804 299.80003 309.90803 320.01603 324.678 328.178 332.84 336.732 342.948 346.84 353.84 357.34 364.34 370.556 374.448 380.664 385.326 396.218 400.11 407.11 413.326 418.772 422.272 432.38 439.38 445.596 449.488 456.488 462.704 467.366 470.866">_CITER[E_LINK] field determines whether a</tspan><tspan y="141.65001" x=".004058838 10.89606 14.78806 21.78806 28.78806 33.450059 36.950059 40.84206 47.84206 54.84206 61.84206 65.34206 69.234058 73.12605 80.12605 87.12605 90.62605 94.51805 99.96405 103.46405 108.12605 114.34206 121.34206 128.34206 134.55806 140.00406 143.89606 150.11206 157.11206 160.61206 164.11206 177.32807 184.32807 190.54407 197.54407 201.04407 207.26007 214.26007 220.47608 227.47608 231.36808 237.58408 244.58408 248.08408 251.58408 255.47608 262.47608 268.69209 272.19209 278.40809 285.40809 291.62409 298.62409 305.62409 311.8401 315.7321 319.2321 323.12409 327.01609 334.01609 341.01609 344.51609 348.40809 353.8541 357.3541 368.2461 374.4621 381.4621 387.6781 391.1781 397.3941 402.0561 405.9481 412.1641 416.82609 420.32609 426.54209 432.7581 438.9741 445.9741 449.4741 453.3661 457.2581 463.4741 468.13609 474.35209 478.24409 482.13609 489.13609">minor loop link is requested. When enabled, the channel link is made after each iteration</tspan><tspan y="157.65001" x=".004058838 7.004059 11.6660599 15.1660599 19.05806 26.05806 32.27406 35.77406 46.66606 52.88206 56.774065 63.774065 68.436069 71.936069 75.828067 82.828067 89.828067 96.828067 100.328067 106.54407 113.54407 119.76007 125.976078 132.97608 136.86808 140.36808 145.03008 152.03008 156.69208 160.19208 164.08408 171.08408 177.30008 180.80008 184.69208 190.90808 196.35408 200.24608 203.74608 207.24608 220.46208 227.46208 233.67809 240.67809 244.17809 248.07009 255.07009 261.28608 264.78608 275.67808 281.89408 285.78608 292.78608 297.44807 300.94807 304.84007 311.84007 318.84007 325.84007 329.34007 333.23207 338.67808 342.17808 348.39408 355.39408 362.39408 368.61009 375.61009 381.0561 384.9481 391.1641 398.1641 401.6641 405.1641 412.1641 419.1641 423.0561 430.0561 433.5561 437.4481 444.4481 450.6641 454.1641 465.0561 471.2721 475.1641 482.1641">of the major loop except for the last. When the major loop is exhausted, only the major</tspan><tspan y="173.65001" x=".004058838 3.8960593 10.896059 17.896059 24.896059 28.396059 34.61206 41.61206 47.82806 54.82806 61.82806 68.04406 71.93606 75.43606 79.32806 83.220058 90.220058 97.220058 100.720058 105.38206 109.274059 115.49006 119.38206 126.38206 131.82807 135.32807 141.54407 146.20607 152.42208 155.92208 162.92208 168.36808 174.58408 181.58408 185.08408 188.97608 195.97608 199.47608 206.47608 212.69208 216.58408 222.80008 227.46208 238.35408 242.24608 249.24608 255.46208 258.9621 262.8541 267.51609 271.01609 277.2321 280.7321 286.9481 293.9481 300.1641 307.1641 314.1641 320.3801 324.2721 327.7721 331.6641 335.5561 342.5561 349.5561 353.0561 358.5021 365.5021 372.5021 379.5021 383.3941 390.3941 393.8941 400.8941 407.1101 410.6101 421.5021 427.7181 434.7181 440.9341 444.4341 447.9341 455.7181 462.7181">loop channel link fields are used to determine if a channel link should be made. For</tspan><tspan y="189.65001" x=".004108838 6.2201097 13.22011 19.436112 30.328114 37.328115 41.220117 47.436117 50.936117 54.436117 58.328119 65.32812 71.54412 75.04412 78.93612 85.93612 89.82812 93.720119 97.612117 103.82812 107.720119 111.220119 115.88212 119.77412 125.99012 129.88213 136.88213 142.32813 145.82813 152.82813 157.49013">example, the initial fields of:</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="9" font-family="CourierStd"><tspan y="221.16002" x=".0031188378 5.403119 10.80312 16.20312 21.603119 27.003119 32.40312 37.80312"> 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="221.16002" x="43.20312">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="9" font-family="CourierStd"><tspan y="221.16002" x="48.603124 54.003126 59.403127 64.80312 70.203128 75.60313 81.00313 86.40313 91.80313 97.20313 102.603137 108.003139 113.40314 118.80314 124.20314 129.60314 135.00313 140.40312">_CITER[E_LINK] = 1</tspan><tspan y="230.70003" x=".0031318665 5.403132 10.803132 16.203133 21.603133 27.003132 32.403135 37.803136"> 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="230.70003" x="43.203134">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="9" font-family="CourierStd"><tspan y="230.70003" x="48.603136 54.003137 59.403139 64.80314 70.20314 75.60314 81.00314 86.403148 91.80315 97.20315 102.60315 108.00315 113.40315 118.803157 124.203159 129.60315 135.00315 140.40314 145.80313 151.20313">_CITER[LINKCH] = 0xC</tspan><tspan y="240.24004" x=".0031433106 5.4031436 10.8031439 16.203145 21.603144 27.003144 32.403146 37.803148"> 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="240.24004" x="43.203145">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="9" font-family="CourierStd"><tspan y="240.24004" x="48.603147 54.003149 59.40315 64.80315 70.20315 75.60315 81.00315 86.40315 91.803157 97.203159 102.60316 108.00316 113.40316 118.80316 124.20316 129.60317 135.00316 140.40316 145.80315 151.20314 156.60314 162.00313 167.40312 172.80312 178.20311">_CITER[CITER] value = 0x4</tspan><tspan y="249.78005" x=".0031661988 5.4031665 10.803166 16.203167 21.603167 27.003167 32.403169 37.80317"> 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="249.78005" x="43.203168">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="9" font-family="CourierStd"><tspan y="249.78005" x="48.60317 54.00317 59.40317 64.80317 70.20317 75.60317 81.003177 86.403179 91.80318 97.20318 102.60318 108.00318 113.40318 118.803188 124.203189 129.60318 135.00318 140.40317 145.80316 151.20316 156.60315 162.00315">_CSR[MAJOR_E_LINK] = 1</tspan><tspan y="259.32008" x=".0031776429 5.4031779 10.803178 16.203179 21.603178 27.003178 32.40318 37.80318"> 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="259.32008" x="43.20318">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="9" font-family="CourierStd"><tspan y="259.32008" x="48.60318 54.00318 59.403184 64.803188 70.203189 75.60319 81.00319 86.40319 91.80319 97.20319 102.603199 108.0032 113.4032 118.8032 124.2032 129.6032 135.00319 140.40319 145.80318 151.20317 156.60317 162.00316 167.40316 172.80315">_CSR[MAJOR_LINKCH] = 0x7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="282.09007" x="-.0028190613 6.2131817 13.2131819 19.429183 25.645184 32.645185 36.537187 42.753187 48.199186 51.699186 57.915185 63.361185">executes as:</tspan><tspan y="306.49006" x="7.501181 14.501181 23.993182 36.439184 40.331186 47.331186 54.331186 58.993185 62.493185 66.385189 73.385189 80.385189 87.385189 90.885189 97.885189 104.885189 111.885189 118.10119">1.Minor loop done </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="ZapfDingbatsStd"><tspan y="306.49006" x="121.6012">&#x2192;</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="306.49006" x="133.33319 136.83319 142.27919 148.4952 152.38719 155.88719 164.4412 173.77919 183.88719 190.88719 197.88719 204.88719 214.22519 222.00919 231.34719 236.00919 243.79319 252.34719 262.45518 271.79319 280.34718 285.00917 288.50917 295.50917 299.40116"> set TCD12_CSR[START] bit</tspan><tspan y="330.89006" x="7.5011675 14.501167 23.993168 36.43917 40.331174 47.331174 54.331174 58.99317 62.49317 66.38517 73.38517 80.38517 87.38517 90.88517 97.88517 104.88517 111.88517 118.10117">2.Minor loop done </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="ZapfDingbatsStd"><tspan y="330.89006" x="121.60118">&#x2192;</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="330.89006" x="133.33318 136.83318 142.27918 148.49518 152.38718 155.88718 164.44118 173.77918 183.88718 190.88718 197.88718 204.88718 214.22518 222.00917 231.34717 236.00917 243.79317 252.34717 262.45518 271.79319 280.34718 285.00917 288.50917 295.50917 299.40116"> set TCD12_CSR[START] bit</tspan><tspan y="355.29005" x="7.501175 14.501175 23.993176 36.43918 40.33118 47.33118 54.33118 58.99318 62.49318 66.38518 73.38518 80.38518 87.38518 90.88518 97.88518 104.88518 111.88518 118.10118">3.Minor loop done </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="ZapfDingbatsStd"><tspan y="355.29005" x="121.60119">&#x2192;</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="355.29005" x="133.33318 136.83318 142.27918 148.49518 152.38718 155.88718 164.44118 173.77918 183.88718 190.88718 197.88718 204.88718 214.22518 222.00917 231.34717 236.00917 243.79317 252.34717 262.45518 271.79319 280.34718 285.00917 288.50917 295.50917 299.40116"> set TCD12_CSR[START] bit</tspan><tspan y="379.69004" x="7.501175 14.501175 23.993176 36.43918 40.33118 47.33118 54.33118 58.99318 62.49318 66.38518 73.38518 80.38518 87.38518 90.88518 97.88518 104.88518 111.88518 118.10118 121.60118 125.10118 135.99318 142.20919 146.10118 153.10118 157.76319 161.26319 165.15518 172.15518 179.15518 186.15518 189.65518 196.65518 203.65518 210.65518">4.Minor loop done, major loop done</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="ZapfDingbatsStd"><tspan y="379.69004" x="216.87119">&#x2192;</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="379.69004" x="228.60318 232.10318 237.54918 243.76519 247.65718 251.15718 259.71119 269.0492 279.1572 286.1572 293.1572 302.4952 310.2792 319.61723 324.2792 332.0632 340.6172 350.7252 360.0632 368.6172 373.27919 376.77919 383.77919 387.67118"> set TCD7_CSR[START] bit</tspan><tspan y="414.09004" x="-.0027923585 13.213208 20.213208 26.429207 33.429208 36.929208 47.82121 51.71321 58.71321 65.71321 70.37521 73.87521 77.76721 84.76721 91.76721 98.76721 102.26721 106.15921 110.05121 117.05121 124.05121 127.94321 134.9432 141.9432 145.4432 149.3352 154.7812 158.2812 164.49721 171.49721 177.71321 184.71321 188.60521 194.82122 201.82122 205.32122 209.98322 218.53722 227.87522">When minor loop linking is enabled (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="414.09004" x="237.9832">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="414.09004" x="244.9832 251.9832 261.3212 265.9832 274.53718 283.09117 292.42918 297.09117 305.64515 312.64515 321.19914 325.8611 335.96913 346.07713 350.7391 354.2391 362.1351 365.6351 372.6351 377.2971 380.7971 384.2971 388.1891 395.1891">_CITER[E_LINK] = 1), the</tspan><tspan y="430.09004" x="-.0027923585 8.551208 17.88921">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="430.09004" x="27.997218">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="430.09004" x="34.997217 41.997217 51.335218 55.997217 64.551219 73.10522 82.44322 87.105228 96.44322 101.105228 109.659229 118.21323 127.55122 132.21323 135.71323 140.37523 144.26723 150.48323 154.37523 161.37523 164.87523 171.87523 177.32123 183.53723 188.98323 192.48323 198.69924 202.19924 209.19924 213.09123 220.09123 226.30724 229.80724 236.80724 240.69924 244.59123 248.09123 255.09123 261.30723 267.52323 271.41523 278.41523 283.0772 286.5772 290.4692 297.4692 300.9692 305.6312 312.6312 317.29319 328.18519 331.68519 335.57719 342.57719 348.79319 352.29319 358.5092 365.5092 370.17118 374.83317 381.04917 388.04917 391.94117 395.44117 399.33317 403.22517 409.44117 414.10316 420.31916 424.21116 428.10316 435.10316 442.10316 445.60316 451.81916 458.81916 465.81916 472.81916 476.71116">_CITER[CITER] field uses a nine bit vector to form the current iteration count.</tspan><tspan y="446.09004" x="-.0027542115 13.213246 20.213246 26.429245 33.429246 36.929246 47.821249 51.71325 58.71325 65.71325 70.37525 73.87525 77.76725 84.76725 91.76725 98.76725 102.26725 106.15925 110.05125 117.05125 124.05125 127.943248 134.94324 141.94324 145.44324 149.33524 154.78124 158.28124 165.28124 169.17324 174.61923 180.83524 187.83524 191.72724 197.94324 204.94324 208.44324 213.10524 221.65924 230.99724">When minor loop linking is disabled (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="446.09004" x="241.10526">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="446.09004" x="248.10526 255.10526 264.44328 269.10527 277.65925 286.21324 295.55125 300.21324 308.7672 315.7672 324.3212 328.9832 339.0912 349.1992 353.86119 357.36119 365.25718 368.75718 375.75718 380.41917 383.91917 387.41917 391.31117 398.31117">_CITER[E_LINK] = 0), the</tspan><tspan y="462.09004" x="-.0027160645 8.551284 17.889286">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="462.09004" x="27.997284">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="462.09004" x="34.997285 41.997285 51.335287 55.997285 64.551288 73.105289 82.44328 87.105289 96.44328 101.105289 109.65929 118.21329 127.551288 132.21329 135.71329 140.37529 144.26729 150.48329 154.37529 161.37529 164.87529 171.87529 177.32129 183.5373 188.98329 192.48329 198.6993 202.1993 209.1993 216.1993 220.8613 227.8613 231.7533 235.6453 239.1453 246.1453 252.3613 258.5773 262.4693 269.4693 274.1313 277.6313 281.5233 288.5233 292.0233 296.68528 303.68528 308.34727 319.23927 322.73927 326.63127 333.63127 339.84727 343.34727 349.56327 356.56327 361.22526 365.88725 372.10325 379.10325 382.99525 386.49525 390.38725 394.27925 400.49525 405.15724 411.37324 415.26524 419.15724 426.15724 433.15724 436.65724 442.87324 449.87324 456.87324 463.87324 467.76524 471.26524 474.76524 483.3192 490.3192">_CITER[CITER] field uses a 15-bit vector to form the current iteration count. The</tspan><tspan y="478.09004" x="-.002746582 6.9972536 10.889254 14.781254 20.227255 23.727255 29.943257 35.389257 40.835256 47.835256 54.051256 57.943258 64.159259 68.051258 74.26726 81.26726 84.76726 94.87526 98.76726 102.659259 109.659259 113.159259 117.051258 124.051258 130.26726 133.76726 142.32126 151.65926">bits associated with 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="478.09004" x="161.76726">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="478.09004" x="168.76726 175.76726 185.10526 189.76726 198.32126 206.87526 216.21326 220.87526 229.42926 234.09127 244.19927 254.30727 263.64527 273.75328 278.41526 281.91526 286.57725 290.46925 296.68525 300.57725 307.57725 311.07725 317.29325 321.95524 328.17124 331.67124 337.88725 344.88725 351.88725 358.10325 364.31925 368.21125 374.42726 381.42726 387.64326 391.53526 397.75126 404.75126 408.25126 415.25126 422.25126 426.14326 433.14326 436.64326 440.53526 447.53526 453.75126 457.25126 466.58927 471.25126 479.80525 488.35923">_CITER[LINKCH] field are concatenated onto the CITER</tspan><tspan y="494.09004" x="-.002746582 6.9972536 13.213254 17.105256 24.105256 30.321255 33.821256 37.713258 44.713258 48.213258 52.10526 59.10526 65.32126 69.98326 76.199268 82.41527 87.86127 94.07727 97.57727 101.46927 108.46927 114.68527 118.18527 122.847278 129.06328 136.06328 143.06328 149.27928 152.77928 159.77928 164.44129 167.94129 171.83329 178.83329 185.04929 188.54929 197.88729 202.54929 211.10329 219.65729 228.99529">value to increase the range of the CITER.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="518.27676" x="236.44326 246.55126 255.10526 259.76725">Note</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="542.89" x="71.99927 80.55327 87.55327 93.76927 97.26927 105.82327 115.16127">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="542.89" x="125.26927">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="542.89" x="132.26927 139.26927 148.60727 153.26927 161.82328 170.37728 179.71527 184.37728 192.93128 199.93128 208.48528 213.14728 223.25528 233.36328 238.02529 241.52529 248.52529 252.41728 256.3093 259.8093 266.0253 273.0253 280.0253 283.5253 287.4173 294.4173">_CITER[E_LINK] bit and the</tspan><tspan y="558.89" x="71.99929 80.55329 89.8913">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="558.89" x="99.99929">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="558.89" x="106.99929 113.99929 123.337299 127.9993 136.5533 145.1073 154.4453 159.1073 167.6613 174.6613 183.2153 187.8773 197.9853 208.0933 212.75531 216.25531 223.25531 227.14731 231.0393 234.5393 245.4313 252.4313 257.87733 261.76933 265.26933 271.48533 278.48533 285.48533 291.70133 295.59333 299.09333 306.09333 310.7553 314.2553 320.4713 323.9713 330.18733 337.18733 344.18733 348.8493 352.7413 359.7413 366.7413 371.4033 377.6193 381.5113 385.4033 392.4033 399.4033 402.9033 409.1193 413.78129 418.44328 425.44328">_BITER[E_LINK] bit must equal or a configuration error</tspan><tspan y="574.89" x="71.99928 75.89128 81.33728 84.83728 89.49928 95.71529 102.71529 109.71529 114.37729 118.26929 124.48529 131.48529 134.98529 138.48529 147.03929 154.03929 160.2553 163.7553 173.09329 177.7553 186.3093 194.8633 204.2013 207.7013 213.9173 220.9173 227.9173 231.4173 240.7553 245.4173 253.9713 262.5253 271.8633 275.3633 282.3633 288.5793 294.79533 298.68733 305.68733 310.3493 313.8493 323.9573 327.8493 334.8493 338.7413 345.7413 351.18733 354.68733 365.5793 372.5793 378.02534 381.91734 385.41734 392.41734">is reported. The CITER and BITER vector widths must be</tspan><tspan y="590.89" x="71.999309 78.21531 85.21531 92.21531 98.43131 102.32331 105.82331 109.71531 116.71531 120.21531 126.43131 132.64731 136.5393 142.75531 149.75531 153.64731 159.86331 163.75531 169.97132 173.47132 177.36331 184.36331 190.57932 194.07932 204.97132 211.18732 215.07932 222.07932 226.74132 230.24132 234.13332 241.13332 248.13332 255.13332 258.6333 262.1333 269.1333 275.3493 279.2413 283.9033 288.56529 298.67329 304.88929 311.88929 315.38929 322.38929 329.38929 336.38929 342.6053 346.1053 349.99729 356.99729 360.88929 367.1053 371.76728 376.42927 383.42927 390.42927 394.32127 397.82127 404.82127 411.82127 415.71327 422.71327 426.60527">equal to calculate the major loop, half-way done interrupt point.</tspan><tspan y="615.29006" x="-.0026855469 8.551314 15.551314 21.767315 25.267315 29.929316 36.929315 40.821317 44.713319 51.713319 61.82132 65.71332 72.71332 79.71332 83.21332 87.105319 93.32132 100.32132 104.21332 110.42932 113.92932 119.37532 126.37532 137.26732 148.15932 154.37532 159.03733 162.92932 169.14533 175.36133 180.80733 184.30733 191.30733 198.30733 208.41533 211.91533 218.13134 221.63134 231.73934 244.18534 254.29334 257.79335 264.00935 271.00935 277.22535 284.22535 291.22535 297.44136 301.33335 304.83335 311.04936 317.26536 324.26536 327.76536 331.65736 335.54936 342.54936 349.54936 353.04936 356.94136 363.94136 367.44136 373.65736 380.65736 387.65736 391.54936 398.54936 404.76536 409.42735 412.92735 423.03535 435.48136 445.58937 449.08937 455.30537 462.30537 468.52137 475.52137 482.52137 488.73738 492.62937">The following table summarizes how a DMA channel can link to another DMA channel,</tspan><tspan y="631.29006" x="-.0026855469 3.889315 7.3893148 13.605315 17.105317 20.605317 27.605317 33.051317 39.267316 42.767316 48.983316 55.983316 62.983316 66.87531 73.87531 80.09132 84.75332 88.25332 94.46932 101.46932 107.685329 114.685329 121.685329 127.90133 131.79334 134.31334 139.75934 143.25934 151.81334 161.15134 171.25934 174.75934 178.25934 184.47534 188.36734 191.86734 195.75934 202.75934 208.97534 212.47534 218.69135 225.69135 232.69135 236.19135 243.19135 247.85335 251.35335 257.56935 261.06935 264.96134 271.96134 278.96134 285.96134">i.e, use another channel's TCD, at the end of a loop.</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="26.01031" x="278.955 285.45298 290.95198 295.95597 301.45497 304.45198 309.45597 312.95698 315.45899 320.46299 325.46699 327.969 334.46699 336.969 340.47 345.474 350.478 353.475 355.97703 363.47404 368.47804 376.47904 381.97804 385.47904 390.48304 392.98506 399.48304 404.48704 409.49104 414.49504 419.49903 424.50303 427.00505 433.50303 439.002 444.501 447.49803 450.99903 456.49803 459.00004 461.50205 466.50605 470.00706 472.50907 475.50608 480.51008 487.00807 494.50508 501.00306">Chapter 22 Direct Memory Access Controller (eDMA)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.93869)" 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 54 751.756)" 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>
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<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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