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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_525.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

969 lines
78 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 273.5)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.007 8.333001 16.673003 20.843003 29.183003 33.353006 41.693006 45.863008">22.5.5.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 273.5)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00701 9.1579899 17.49799 25.83799 30.832989 35.00299 44.16799 53.332994 57.502996 62.497995 71.662998 77.49799 81.66799 95.00299 99.17299 108.33799 117.50299 123.33799 127.50799 131.678 140.84299 150.00798 159.17298 163.34297 171.68297 180.84796 194.18297 203.34796 207.51796 215.85796 220.85295 225.02295 234.18795">Testing for minor loop completion</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="255.75" x=".005 8.559 15.559 21.775002 26.437003 32.653005 36.153005 42.369005 47.031003 53.247 56.747 60.639005 70.747 77.747 81.247 92.139 98.355 102.247 109.247 116.247 123.247 128.69301 132.19301 136.085 143.085 146.585 150.477 156.69301 162.139 166.031 169.531 174.19301 181.19301 185.85501 189.35501 200.24701 204.139 211.139 218.139 222.80101 226.30101 230.19301 237.19301 244.19301 251.19301 254.69301 260.909 267.909 278.801 285.801 289.693 295.909 299.801 303.693 310.693 317.693 321.193 331.301 338.301 344.517 351.517 355.017 362.017 367.463 371.355 378.355 385.355 388.855 394.30104 401.30104 405.963 409.855 419.963 426.17903 430.841 437.057 440.557 444.449 451.449 455.341 459.233 463.125 469.341 473.233 479.449">There are two methods to test for minor loop completion when using software initiated</tspan><tspan y="271.75" x=".00503 5.4510309 11.667031 16.329031 23.329031 27.221032 33.43703 39.65303 43.15303 47.81503 54.03103 61.03103 68.03103 74.24703 79.69303 83.58503 89.03103 92.53103 96.03103 104.58503 111.58503 117.80103 121.30103 125.963039 129.85504 134.51705 139.96305 143.85504 147.35504 151.24704 156.69304 160.19304 164.08504 171.08504 174.58504 179.24704 185.46305 191.67905 198.67905 202.17905 206.07105 213.07105 219.28705 222.78705 231.34105 240.67905">service requests. The first is to read 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="271.75" x="250.78704">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="271.75" x="257.78703 264.78703 274.12504 278.78703 287.341 295.895 305.233 308.733 313.395 317.287 323.503 327.395 334.395 337.895 344.111 351.111 358.111 361.611 365.503 371.719 377.165 381.057 384.557 389.219 396.219 400.88099 404.38099 410.597 414.097 420.313 427.313 433.529 440.529 447.529 453.745">_CITER field and test for a change.</tspan><tspan y="287.75" x=".0050354006 10.113036 17.113038 24.113038 28.005038 35.005037 41.221036 45.883035 49.383035 60.275037 66.491039 70.38303 77.38303 84.38303 91.38303 94.88303 105.77503 111.991039 118.991039 122.491039 129.49103 135.70703 139.20703 145.42304 152.42304 156.31504 160.97704 167.19304 173.40904 177.30104 183.51705 190.51705 194.01705 198.67905 203.34105 210.34105 221.23305 224.73305 228.62505 235.62505 241.84105 245.34105 250.78705 257.00306 264.00306 271.00306 277.21907 284.21907 290.43507 296.65107 300.15107 305.59709 312.59709 319.59709 329.70509 336.70509 340.20509 347.20509 353.42109 357.31309 364.31309 374.42109 377.92109 381.42109 389.97508 396.97508 403.19108 406.69108 412.1371 418.3531 424.5691 431.5691 438.5691 445.5691 449.0691 459.9611 466.1771 470.0691 477.0691 484.0691 491.0691 494.5691 498.4611">Another method may be extracted from the sequence shown below. The second method is</tspan><tspan y="303.75" x=".0050854005 3.897086 10.897086 14.397086 18.289088 24.505089 29.95109 33.84309 37.34309 41.235094 48.235094 54.45109 57.95109 66.50509 75.843097">to test 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="303.75" x="85.95109">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="303.75" x="92.95109 99.95109 109.28909 117.0731 126.4111 131.0731 138.8571 147.4111 157.5191 166.8571 175.4111 180.0731 183.5731 190.5731 194.4651 198.3571 201.8571 208.0731 215.0731 222.0731 225.5731 229.4651 236.4651 242.6811 246.1811 254.7351 264.07313">_CSR[START] bit and 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="303.75" x="274.1811">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="303.75" x="281.1811 288.1811 297.5191 305.3031 314.6411 319.3031 329.4111 338.7491 347.3031 351.9651 362.0731 370.62709 375.28907 378.78907 385.78907 389.68107 393.57307 397.07307 400.57307 409.12705 416.12705 422.34306 425.84306 436.73506 440.62705 447.62705 454.62705 459.28904 463.95103 467.84303 474.84303 481.84303 488.84303">_CSR[ACTIVE] bit. The minor-loop-</tspan><tspan y="319.75" x=".0050964357 6.221097 13.221097 24.113099 31.113099 35.0051 41.2211 45.113103 51.3291 54.8291 61.0451 68.045108 75.045108 82.045108 85.9371 89.8291 93.7211 100.7211 107.7211 111.2211 115.1131 120.5591 124.0591 127.951099 134.9511 141.9511 145.8431 152.0591 158.2751 162.1671 168.3831 175.3831 178.8831 185.8831 192.8831 196.3831 203.3831 210.3831 214.2751 221.2751 224.7751 231.7751 235.6671 239.5591 245.0051 248.5051 253.1671 259.3831 265.5991 272.5991 276.4911 283.4911 290.4911 293.9911 300.2071 306.4231 311.08509 318.08509 321.58509 327.8011 332.46308 336.35508 342.57109 347.23307 350.73307 354.62507 361.62507 367.84107 371.34107 379.89506 389.23307">complete condition is indicated by both bits reading zero after 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="319.75" x="399.3411">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="319.75" x="406.3411 413.3411 422.6791 430.4631 439.80113 444.4631 452.2471 460.8011 470.9091 480.2471 488.8011">_CSR[START]</tspan><tspan y="335.75" x=".005126953 10.113128 16.329129 21.77513 25.27513 30.72113 36.93713 40.829133 44.329133 47.829133 55.613134 62.613134 66.505138 70.39713 74.28913 81.28913 88.28913 91.78913 95.68113 102.68113 108.89713 112.39713 120.95113 130.28914">was set. Polling 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="335.75" x="140.39714">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="335.75" x="147.39714 154.39714 163.73514 171.51914 180.85713 185.51914 195.62714 204.96514 213.51914 218.18114 228.28914 236.84314 241.50514 245.00514 252.00514 255.89714 259.78916 263.28916 274.18116 280.39717 287.39717 290.89717 297.89717 304.11317 307.61317 311.50517 318.50517 324.72117 331.72117 338.72117 344.93717 348.82917 355.82917 361.27519 365.16719 372.16719 378.38319 381.88319 385.38319 392.38319 398.59919 404.8152 411.0312 418.0312 423.4772 429.6932 433.1932 437.0852 444.0852 450.3012 453.8012 460.0172 466.23323 470.1252 474.0172 481.0172">_CSR[ACTIVE] bit may be inconclusive, because the active</tspan><tspan y="351.75" x=".0051879885 5.4511888 9.343189 15.55919 19.45119 26.45119 31.897192 35.397195 46.289197 52.505197 59.505197 63.005197 70.005199 76.2212 79.7212 90.6132 94.505199 99.951198 105.397197 111.6132 118.6132 122.1132 126.005199 130.66719 134.16719 138.05919 145.05919 151.27519 154.77519 160.9912 167.9912 174.2072 181.2072 188.2072 194.4232 198.3152 201.8152 208.0312 215.0312 221.24721 227.46321 234.46321 238.35521 242.24721 249.24721 256.2472 259.7472 263.6392 269.0852 272.5852 278.03123 285.03123 292.03123 296.6932 300.5852 304.0852 307.9772 314.9772 318.4772 325.4772 332.4772 337.1392 343.3552 347.2472 351.1392 358.1392 365.1392">status may be missed if the channel execution is short in duration.</tspan><tspan y="376.15" x=".0051879885 8.559188 15.559188 21.775189 25.275189 33.82919 43.16719 53.275194 56.775194 62.22119 66.11319 72.32919 76.22119 83.22119 88.66719 92.16719 99.16719 103.05919 106.95119 112.39719 115.89719 122.11319 129.11319 135.3292 141.5452 148.5452 152.4372 158.6532 162.1532 166.0452 173.0452 179.2612 182.7612 187.4232 194.4232 198.3152 202.2072 209.2072 219.3152 223.2072 230.2072 237.2072 240.7072 246.1532 252.3692 259.3692 266.3692 272.5852 279.5852 285.8012 292.0172 295.5172 300.1792 307.1792 311.8412 315.3412 321.5572 325.0572 330.5032 337.5032 342.1652 346.0572 356.1652 362.3812 367.04319 373.2592 376.7592 382.9752 389.1912 393.0832 396.9752 403.9752 410.1912 414.0832 420.2992 427.2992 430.7992 437.0152 444.0152 450.2312 457.2312 464.2312 470.4472 474.3392">The TCD status bits execute the following sequence for a software activated channel:</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 448.8)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="15.83789" x="11.44622 17.44922 20.44622 25.450222 30.949223">Stage</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 106.9 448.8)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="78.65099 84.149997 90.647998">TCD</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 106.9 448.8)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="102.645 107.648998 114.146999 120.149997 126.647998 129.15 134.64899 137.15099 140.14798">_CSR bits</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 333.7 448.8)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="15.83789" x="1.998 8.001 10.998 16.002 18.999">State</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 106.9 464.8)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="21.303 27.306 32.805 39.303 45.801004">START</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 182.5 464.8)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="19.8 26.298 32.796 38.295003 40.797 46.800004">ACTIVE</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 258.1 464.8)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="23.301 29.799002 36.801004 43.299005">DONE</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 480.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="20.448">1</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 106.65 480.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">1</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 182.25 480.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">0</tspan></text>
<g clip-path="url(#clip_54)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 257.85 480.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">0</tspan></text>
<g clip-path="url(#clip_55)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 333.45 480.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.506 21.510003 26.514004 31.518006 33.516008 36.018007 40.518007 45.522008 48.51901 53.01901 55.01701 59.51701 64.52101 67.02301 70.02001 75.02401 80.02801 85.032009 90.036 94.536 97.038 99.54 104.04 106.038 111.042 113.544 118.044 123.048 125.549999 128.052 134.55 139.554 142.551">Channel service request via software</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 496.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="20.448">2</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 106.65 496.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">0</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 182.25 496.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">1</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 257.85 496.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">0</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 333.45 496.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.506 21.510003 26.514004 31.518006 33.516008 36.018007 38.016008 42.516008 45.018007 50.022008 54.522008 59.52601 64.02601 69.03001 71.532009 73.53001 78.534008">Channel is executing</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 511.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="17.946 22.95">3a</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 106.65 511.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">0</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 182.25 511.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">0</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 257.85 511.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">0</tspan></text>
<g clip-path="url(#clip_65)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 333.45 511.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.506 21.510003 26.514004 31.518006 33.516008 36.018007 41.022008 46.02601 50.52601 53.028009 57.528009 62.53201 70.02901 75.033008 77.031009 82.035 84.537 89.541 94.545 97.047 99.548999 104.55299 109.55699 112.05899 119.55599 121.55399 126.55799 131.562 134.55899 137.06099 139.05899 144.06299 149.06699 154.07099 156.57299 161.57698 166.58098 171.58498 174.08698 176.08498 180.58498 183.08698 185.08498 190.08898 192.08698">Channel has completed the minor loop and is idle</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 527.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="17.946 22.95">3b</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 106.65 527.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">0</tspan></text>
<g clip-path="url(#clip_68)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 182.25 527.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">0</tspan></text>
<g clip-path="url(#clip_69)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 257.85 527.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">1</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="525.64999" x="0 8.554 15.554 21.77 25.27 32.27 38.486 43.932 47.824 51.324 62.216005 68.43201 72.324008 79.324008 86.324008 93.324008 96.824008 100.716 107.716 111.216 115.108 121.324008 126.770008 130.662 134.162 138.824 145.824 150.48601 153.98601 164.878 168.77 175.77 182.77 187.432 192.09401 195.98601 202.98601 209.98601 216.98601 220.48601 226.70201 233.70201 244.59401 251.59401 255.48601 261.702 265.594 269.486 276.486 283.486 286.986 297.094 304.094 310.31 317.31 320.81 327.81 333.256 337.148 344.148 351.148 354.648 361.648 367.864 372.526 379.526 389.634 395.85 400.512 406.728 410.228 413.728 417.62 424.62 430.836 434.728 438.228 442.12 447.566">The best method to test for minor-loop completion when using hardware, that is,</tspan><tspan y="541.64999" x=".00003 7.00003 13.21603 17.87803 21.770031 28.770031 35.77003 41.98603 46.64803 52.86403 56.75603 60.25603 63.75603 67.64803 74.64803 78.54003 82.43203 86.32403 92.54003 96.43203 102.64803 109.64803 113.14803 118.59403 124.810039 129.47203 136.47203 140.36403 146.58003 152.79604 156.29604 160.95804 167.17404 174.17404 181.17404 187.39005 192.83605 196.72805 202.17404 205.67404 209.56604 215.01204 218.51204 222.40404 229.40404 232.90404 237.56604 243.78205 249.99805 256.99806 260.49806 264.39006 271.39006 277.60606 281.10606 289.66004 298.99806">peripheral, initiated service requests is to read 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="541.64999" x="309.10603">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="541.64999" x="316.10603 323.10603 332.44404 337.10603 345.66 354.214 363.552 367.052 371.714 375.606 381.822 385.714 392.714 396.214 402.43 409.43 416.43 419.93 423.822 430.038 435.484 439.376 442.876 447.538 454.538 459.19999 462.69999">_CITER field and test for a</tspan><tspan y="557.64999" x=".000061035159 6.2160618 13.216062 19.432063 26.432063 33.43206 39.64806 43.14806 46.64806 55.20206 62.20206 68.41806 71.91806 78.91806 85.13406 89.79607 96.79607 106.90407 113.12007 117.782077 123.99808 127.49808 132.16008 138.37609 145.37609 152.37609 158.59209 164.03809 167.93009 171.43009 177.64609 184.64609 191.64609 195.14609 201.36209 207.5781 214.5781 221.5781 228.5781 238.6861 242.5781 248.7941 255.7941 262.7941 269.0101 272.5101 279.5101 285.7261 292.7261 299.7261 305.17213 312.17213 318.38813 325.38813 331.60414 335.10414 340.55015 344.44215 351.44215 358.44215 364.65815 368.55015 373.99617 377.49617 383.71217 388.37416 394.59016 398.09016 405.09016 412.09016 415.98216 419.48216 426.48216 430.37416 435.82017 439.71217 446.71217 450.60417 456.82017 460.32017 464.21217 471.21217 474.71217 478.60417 485.60417">change. The hardware request and acknowledge handshake signals are not visible in the</tspan><tspan y="573.64999" x=".00011103516 7.000111 11.662111 18.662112 25.662112 30.324112 36.54011 47.432115 58.324117 64.540119 69.20212 71.722118 77.16811 80.66811 91.56011 98.56011 105.56011 111.776119 115.66811">programmer's model.</tspan><tspan y="598.05" x=".00011103516 8.554111 15.554111 21.770112 25.270112 33.824113 43.162115 53.270116 56.770116 62.216115 66.108119 72.32412 76.21612 83.21612 88.66212 92.16212 99.16212 103.054119 106.94611 112.39211 115.89211 122.108119 129.10813 135.32413 141.54013 148.54013 152.43213 158.64813 162.14813 166.04013 173.04013 179.25614 182.75614 187.41814 194.41814 198.31014 202.20214 209.20214 219.31014 223.20214 230.20214 237.20214 240.70214 246.14813 252.36414 259.36415 266.36415 272.58015 279.58015 285.79615 292.01216 295.51216 300.17414 307.17414 311.83613 315.33613 321.55213 325.05213 332.05213 338.26814 342.9301 349.9301 360.03813 366.25413 370.9161 377.1321 381.7941 388.0101 394.2261 398.1181 402.0101 409.0101 415.2261 419.1181 425.3341 432.3341 435.8341 442.0501 449.0501 455.2661 462.2661 469.2661 475.48213 479.3741">The TCD status bits execute the following sequence for a hardware-activated 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="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>
<text xml:space="preserve" transform="matrix(1 0 0 1 391.68 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">525</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54 763.756)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="180.87 188.65 194.20999 200.31999 205.87999 209.76999 215.32999 218.10999 220.88999 228.10999 234.21999 239.77999 242.55998 248.66999 254.22998 259.78999 265.34999 268.12998 270.90998 277.01997 280.34996 286.45994 290.34996 299.23997 304.79997 308.12995 310.90995 317.01994">General Business Information</tspan></text>
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