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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_487.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

1067 lines
98 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 82)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 16.680003 20.850003 29.190003 33.360006 41.700006">22.3.13</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 118.21338 82)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 4.1700007 13.335001 18.330002 26.670002 32.505 38.34 47.505 56.670003 61.665 65.835 76.665 85.005008 94.170009 103.33501 111.67501 120.015018 125.01002 129.18003 140.01003 148.35002 157.51502 161.68502 170.02501 175.02 183.36 189.195 193.365 198.36 209.19 221.685 232.515 240.855 245.025 249.19499 260.025 269.19 273.36003">Interrupt Request Register (DMA_ INT )</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="64.25" x="-.00697 8.5470299 15.5470299 21.763031 25.263031 29.925032 40.03303 48.587034 52.087034 56.74903 62.96503 69.96503 73.857028 79.303028 83.19502 89.411029 94.07303 97.57303 104.57303 109.23503 116.23503 123.23503 127.12703 134.12703 140.34304 145.78903 149.28903 155.50504 159.00504 166.00504 169.89704 173.78903 177.28903 188.18103 194.39704 201.39704 204.89704 209.55904 216.55904 221.22104 224.72104 228.61304 235.61304 241.82904 245.32904 252.32904 259.32905 262.82905 269.04505 276.04505 282.26106 289.26106 296.26106 302.47706 306.36906 311.81507 315.31507 320.76109 324.65309 331.65309 338.65309 344.86909 348.76109 352.65309 359.65309 366.65309 370.15309 374.04508 381.04508 387.26109 390.76109 397.76109 402.42308 408.63908 414.08509 420.3011 427.3011 433.5171 439.7331 443.2331 450.2331 454.89509 458.39509 464.61109">The INT register provides a bit map for the 16 channels signaling the presence of an</tspan><tspan y="80.25" x="-.0069399999 3.8850606 10.88506 14.7770609 20.993062 25.655062 30.317063 37.317064 44.317064 48.209066 51.709066 56.371065 62.587064 69.58707 76.58707 82.80307 88.24907 92.14107 95.64107 100.30307 107.30307 111.96507 115.46507 121.681079 127.89708 134.11309 141.11309 144.61309 150.82909 157.82909 164.04509 171.04509 178.04509 184.2611 188.15309 191.65309 195.15309 205.2611 211.4771 218.4771 224.6931 231.6931 238.6931 242.5851 249.5851 256.58509 260.08509 267.08509 274.08509 277.58509 281.47709 288.47709 294.69309 298.19309 304.4091 311.4091 318.4091 323.07109 330.07109 337.07109 341.73307 345.62507 351.84107 355.73307 361.94908 365.44908 372.44908 376.34107 380.23307 383.73307 389.17909 395.39509 399.28709 403.17909 407.07109 414.07109 421.07109 424.57109 428.46308 435.46308 438.96308 442.85508 449.85508">interrupt request for each channel. Depending on the appropriate bit setting in the</tspan><tspan y="96.25" x="-.0069399999 3.8850606 8.547061 14.763062 21.763062 27.209063 31.871064 38.087064 42.74906 47.41106 53.62706 60.62706 67.62706 71.51906 76.18106 83.18106 87.07306 90.57306 97.57306 103.78906 109.23506 115.451068 120.11307 124.005069 131.00507 134.89707 141.89707 146.55907 152.00507 155.50507 159.00507 162.89707 169.89707 176.11307 179.61307 185.82907 195.93708 208.38307 218.49108 221.99108 228.20708 235.20708 242.20708 246.09908 253.09908 259.31507 262.81507 269.81507 276.03108 283.03108 289.24708 293.90907 300.12507 304.01707 310.23307 315.67909 319.17909 325.39509 332.39509 335.89509 339.78709 346.78709 350.67909 356.89509 361.55708 366.21907 373.21907 380.21907 384.11106 387.61106 394.61106 401.61106 405.11106 412.11106 418.32707 422.21907 428.43507 431.93507 435.82707 440.48905 446.70506 453.70506 459.15107 463.81306 470.02906">transfer-control descriptors, the eDMA engine generates an interrupt on data transfer</tspan><tspan y="112.25" x="-.0069399999 6.2090609 13.209061 24.101063 31.101063 34.993066 41.209066 45.101068 48.99307 55.99307 62.99307 66.49307 69.99307 78.54707 85.54707 91.76308 95.26308 102.26308 109.26308 113.155078 120.155078 127.155078 131.04708 136.49308 139.99308 146.99308 151.65508 155.15508 159.04708 166.04708 169.93907 175.38507 178.88507 183.54708 189.76308 196.76308 200.65508 206.10108 209.99308 216.20908 220.87108 224.37108 230.58708 235.24909 241.46509 244.96509 251.96509 255.85709 260.51908 266.73509 272.95109 276.84309 280.73509 287.73509 291.23509 295.89707 302.89707 309.89707 313.78907 320.00508 327.00508 330.50508 334.39707 341.39707 344.89707 348.78907 355.78907 362.00508 365.50508 369.39707 376.39707 380.28907 386.50508 391.16706 395.82905 402.82905 409.82905 413.72105 417.22105 423.43705 430.43705 437.43705 441.32905 445.99104 452.99104 456.88304 460.77503 466.99104">completion. The outputs of this register are directly routed to the interrupt controller</tspan><tspan y="128.25" x="-.0069399999 4.6550605 9.31706 19.42506 27.979062 37.317064 41.97906 45.47906 48.97906 59.087064 66.08707 70.74907 74.64107 81.64107 88.64107 92.14107 96.033069 103.033069 109.24907 112.74907 116.64107 123.64107 127.533069 133.74907 138.41107 143.07308 150.07308 157.07308 160.96508 165.62708 171.07308 177.28908 181.95108 188.95108 192.84308 199.05908 205.27509 208.77509 213.43709 220.43709 227.43709 231.32909 235.22109 242.22109 248.43709 251.93709 258.15309 263.5991 269.0451 276.0451 282.2611 286.1531 292.3691 296.2611 302.4771 309.4771 312.9771 323.0851 326.9771 330.8691 337.8691 341.3691 347.5851 354.5851 361.5851 365.0851 372.0851 375.9771 382.9771 389.1931 396.1931 399.6931 405.90913 412.90913 419.12513 426.12513 433.12513 439.34114 443.23313 446.73313 450.23313 454.12513 458.01713 461.51713 465.40913 470.85514 474.35514 478.24714 485.24714">(INTC). During the interrupt-service routine associated with any given channel, it is the</tspan><tspan y="144.25" x="-.0069399999 5.4390609 12.43906 17.10106 20.993062 31.101063 37.317064 41.97906 48.19506 52.85706 58.30306 61.80306 66.46506 72.68106 78.12706 85.12706 92.12706 99.12706 104.57306 108.46506 115.46506 119.357059 123.249057 127.14105 131.03305 138.03305 141.53305 145.42505 152.42505 155.92505 162.14105 166.03305 172.24906 178.46506 183.12706 186.62706 190.51906 197.51906 203.73506 207.23506 213.45107 220.45107 227.45107 232.11307 239.11307 246.11307 250.77507 254.66707 260.88307 264.77507 270.99107 274.49107 281.49107 285.38307 289.27507 292.77507 296.27507 303.27507 309.49107 316.49107 322.70707 326.59907 330.49107 337.49107 344.49107 347.99107 351.88307 358.88307 365.09907 368.59907 372.49107 379.49107 383.38307 389.59907 394.26106 398.92304 405.92304 412.92304 416.81504 420.31504 424.97703 431.19303 438.19303 445.19303 451.40904 456.85505 460.74705">software&#x2019;s responsibility to clear the appropriate bit, negating the interrupt request.</tspan><tspan y="160.25" x="-.0069399999 8.54706 15.54706 22.54706 26.43906 32.65506 38.87106 42.76306 46.655065 53.655065 57.155065 60.655065 66.87106 70.37106 80.479068 85.14107 89.033069 92.925067 99.14107 102.64107 106.533069 113.533069 117.033069 120.925067 127.925067 134.14107 137.64107 146.97907 151.64107 161.74907 170.30307 173.80307 178.46508 184.68108 191.68108 195.57308 201.01908 204.91107 211.12708 215.78908 219.28908 223.18108 230.18108 233.68108 237.57308 244.57308 250.78908 254.28908 258.1811 265.1811 269.0731 275.2891 279.95109 284.61308 291.61308 298.61308 302.50508 306.00508 311.45109 317.66709 322.32908 329.32908 333.22108 339.43708 345.65309 349.15309 353.81507 360.81507 367.81507 371.70707 375.59907 382.59907 388.81507 392.31507 396.20707 401.65309 405.15309 412.15309 417.5991 423.8151 430.8151 434.3151 438.97709 445.97709 450.63908 454.13908 458.03108 465.03108 468.92308">Typically, a write to the CINT register in the interrupt service routine is used for this</tspan><tspan y="176.25" x="-.0069399999 6.99306 13.99306 18.65506 25.65506 32.65506 38.10106 44.31706">purpose.</tspan><tspan y="200.65" x="-.0069399999 8.54706 15.54706 21.763062 25.263062 30.709063 34.601064 40.817064 44.709066 50.925065 54.425065 61.425065 66.08707 69.58707 75.80307 82.80307 89.80307 93.30307 100.30307 104.19507 111.19507 117.41107 124.41107 127.91107 134.12708 141.12708 147.34308 154.34308 161.34308 167.55908 171.45108 176.11309 181.55908 185.05908 188.95108 195.95108 199.84308 206.05908 210.72109 215.38309 222.38309 229.38309 233.27509 236.77509 241.43709 247.65309 254.65309 261.65309 267.86909 273.3151 277.2071 280.7071 284.5991 290.0451 293.5451 300.5451 304.4371 309.0991 315.3151 321.5311 325.4231 329.3151 336.3151 339.8151 346.0311 350.69309 355.35508 361.57109 367.78709 371.67909 377.89509 384.89509 388.39509 395.39509 402.39509 405.89509 416.00309 420.66508 424.55708 428.44908 434.66508 440.11109 443.61109 447.50309 454.50309 458.00309 461.89509 468.89509 472.78709">The state of any given channel&#x2019;s interrupt request is directly affected by writes to this</tspan><tspan y="216.65" x="-.0069399999 4.6550605 10.871061 17.871062 21.763062 27.209063 31.101063 37.317064 41.97906 45.871065 49.371065 53.263067 57.155069 60.655069 64.547069 69.993068 73.493068 79.70907 83.60107 89.047069 96.047069 99.547069 105.76307 110.42507 115.087078 121.30308 127.51908 131.41109 137.62709 144.62709 148.12709 155.12709 162.12709 165.62709 175.73509 180.3971 184.2891 188.18109 194.3971 199.8431 203.3431 207.23509 214.23509 217.73509 221.62709 228.62709 234.8431 238.3431 247.68109 252.3431 262.45109 271.00508 274.50508 279.16706 285.38307 292.38307 296.27507 301.72108 305.61308 311.82908 316.49107 319.99107 323.49107 333.59907 340.59907 344.09907 354.20707 358.86906 362.76106 366.65306 372.86906 378.31507 381.81507 385.70707 392.70707 396.20707 400.86906 410.97706 419.53105 423.03105 426.53105 432.74705 436.24705 443.24705 446.74705 450.63905 457.63905 461.13905 467.35505 474.35505 481.35505 484.85505 491.85505 495.74705">register; it is also affected by writes to the CINT register. On writes to INT, a 1 in any bit</tspan><tspan y="232.65" x="-.0069399999 6.99306 13.99306 19.43906 23.33106 27.22306 31.11506 38.11506 45.11506 48.61506 54.83106 58.72306 64.939067 71.15507 75.81707 81.26307 84.76307 88.65507 95.65507 101.87107 105.37107 111.587078 118.587078 123.24908 127.91108 134.12708 139.57308 146.57308 153.57308 160.57308 167.57308 171.46508 178.46508 185.46508 188.96508 195.18108 202.18108 208.39708 215.39708 222.39708 228.61309 232.50508 237.16709 242.61309 246.11309 250.00508 257.00508 260.89707 267.11308 271.77507 276.43705 283.43705 290.43705 294.32905 297.82905 302.49104 308.70704 315.70704 322.70704 328.92304 334.36906 338.26106 341.76106 345.26106 355.36906 358.86906 365.08506 371.30107 375.96305 382.96305 386.46305 390.35505 397.35505 400.85505 407.07106 414.07106 421.07106 424.57106 431.57106 435.46305 439.35505 442.85505 449.85505 456.85505 462.30107 466.19306 470.08506 473.97706 480.97706">position clears the corresponding channel&#x2019;s interrupt request. A zero in any bit position</tspan><tspan y="248.65" x="-.0069399999 6.99306 13.209061 18.655062 22.155062 29.155062 36.15506 39.65506 45.87106 50.53306 55.195058 61.411058 67.62706 71.51906 75.01906 82.01906 89.01906 92.51906 96.41106 103.41106 109.62706 113.12706 119.34306 126.34306 131.00507 135.66707 141.88307 147.32907 154.32907 161.32907 168.32907 175.32907 179.22107 186.22107 193.22107 196.72107 202.93708 209.93708 216.15308 223.15308 230.15308 236.36908 240.26108 244.92308 250.36908 253.86908 260.08509 267.08509 271.74708 276.40907 282.62507 289.62507 293.51707 297.01707 300.90907 307.90907 311.80107 318.01707 322.67906 327.34104 334.34104 341.34104 345.23304 348.73304 354.17906 358.07106 364.28706 368.17906 375.17906 380.62507 384.12507 387.62507 396.17906 403.17906 409.39506 412.89506 422.23307 426.89506 437.00306 445.55705 449.05705 453.71903 459.93504 466.93504 470.82704 476.27305 480.16505 486.38105 491.04304 494.54304 498.43504">has no affect on the corresponding channel&#x2019;s current interrupt status. The CINT register is</tspan><tspan y="264.65" x="-.0069399999 6.99306 11.65506 18.65506 25.65506 29.54706 36.54706 42.763059 49.763059 53.263059 58.709058 65.70906 69.20906 73.10106 80.10106 86.31706 89.81706 93.70906 100.70906 104.60106 110.81706 115.479068 120.14107 127.14107 134.14107 138.03307 141.53307 146.19507 152.41107 159.41107 166.41107 172.62708 178.07308 181.96508 185.46508 190.12708 197.12708 201.78908 205.28908 211.50508 215.00508 220.45108 224.34308 231.34308 238.34308 242.23508 248.45108 251.95108 258.16709 265.16709 271.3831 278.3831 285.3831 291.5991 295.4911 298.9911 305.2071 311.4231 318.4231 321.9231 328.1391 334.3551 339.80113 343.6931 347.5851 354.5851 358.0851 365.0851 371.30113 374.80113 381.01713 384.90913 391.12513 397.34114 402.0031 408.21913 415.21913 418.71913 428.82713 432.71913 436.6111 443.6111 450.6111 457.6111 461.5031 465.0031 468.8951 475.8951">provided so the interrupt request for a single channel can easily be cleared without the</tspan><tspan y="280.65" x="-.0069399999 6.99306 13.209061 19.42506 26.42506 29.92506 33.817064 40.817064 44.317064 51.317064 57.533063 62.19506 66.85706 73.85706 78.519069 89.411067 92.911067 99.12707 102.62707 107.28907 113.50507 119.72108 126.72108 131.38307 142.27507 149.27507 156.27507 160.16707 164.82907 171.82907 176.49108 186.59908 191.26108 195.15308 199.04508 205.26108 208.76108 214.20708 220.42308 227.42308 234.42308 240.63909 247.63909 253.85509 260.07109 263.57109 267.46308 274.46308 277.96308 281.85508 288.85508 295.07109 298.57109 303.23307 313.34107 321.89506 325.39506 330.05705 336.27305 343.27305 347.16505 352.61106 356.50306 362.71907 367.38105">need to perform a read-modify-write sequence to the INT register.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 350.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00007 6.0030705 11.007071 16.01107 19.00807 24.01207 28.51207 33.01207 35.51407">Address: </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 92.01611 350.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00007 5.0040709 10.008072 15.012073 20.016074 25.020073 30.024075 35.028078 40.032079 45.03608 50.04008 52.54208 57.54608 62.550085 67.05008 72.05408 74.556079 79.81207 82.31407 87.31807 92.32207 97.326068 99.828067 104.83206 107.33406 109.83606 114.33606 119.34006 121.84206 124.344058 129.60005 132.10205 137.10605 142.11005 147.11405 152.11804 157.12204 162.12604 167.13004 172.13404 177.13803">4000_8000h base + 24h offset = 4000_8024h</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 369.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="17.48108 22.15008 23.70408">Bit</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 83.647068 369.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.92908 14.82108">31</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 113.29413 369.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.92908 14.82108">30</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 142.9412 369.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.92908 14.82108">29</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 172.58824 369.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.92908 14.82108">28</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 202.2353 369.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.92908 14.82108">27</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 231.88237 369.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.92908 14.82108">26</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 261.52943 369.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.92908 14.82108">25</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 291.17649 369.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.80308 14.69508">24</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 409.76475 369.8)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="10.934 14.826">20</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 381.05)" font-size="7" font-family="HelveticaLTStd"><tspan y="24.31836" x="20.342">R</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 85.897098 383.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="22.58789" x="232.42299">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000036 426.05)" font-size="7" font-family="HelveticaLTStd"><tspan y="24.31836" x="18.78899">W</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 83.647098 471.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.321">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 113.29416 471.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.321">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 142.94123 471.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.321">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 172.58827 471.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.321">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 202.23534 471.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.321">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 231.8824 471.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.321">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 261.52949 471.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.321">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 291.17655 471.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.195">0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 320.8236 471.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.321">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 350.47068 471.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.321">0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 439.41188 471.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="12.321">0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 494.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="17.479 22.148 23.702002">Bit</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 83.647098 484.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="17.06836" x="10.934 14.826">15</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 113.29416 484.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="17.06836" x="10.934 14.826">14</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 142.94123 484.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="17.06836" x="10.934 14.826">13</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 231.8824 484.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="17.06836" x="10.934 14.826">10</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 261.52949 484.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="17.06836" x="12.88">9</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 291.17655 494.05)" font-size="7" font-family="HelveticaLTStd"><tspan y="7.31836" x="12.754">8</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 380.11775 484.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="17.06836" x="12.88">5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 409.7648 484.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="17.06836" x="12.88">4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 439.41188 484.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="17.06836" x="12.88">3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 469.05894 484.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="17.06836" x="12.88">2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 498.706 484.3)" font-size="7" font-family="HelveticaLTStd"><tspan y="17.06836" x="12.88">1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000024 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01034" 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 54.000024 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>
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<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32004 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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