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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_309.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

693 lines
62 KiB (Stored with Git LFS)
XML
Raw Blame History

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<g clip-path="url(#clip_4)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 89.682819)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 89.682819)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 8.496 13.500001 18 22.5 25.002 30.006 32.004 36.504 41.508005 46.512006 48.510007 53.514009">Clock disabled</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 100.682819)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.4980008 8.496 13.500001 18 22.5 25.002 30.006 35.010004 40.014005 45.018007 47.016008 52.020009">Clock enabled</tspan></text>
<g clip-path="url(#clip_5)">
<path transform="matrix(1,0,0,1,53.999994,115.932819)" d="M.25 .25H75.35001V70.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 118.182819)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.546 35.55">23</tspan><tspan y="18.83789" x="28.548 34.551004 37.053">PIT</tspan></text>
<g clip-path="url(#clip_6)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 118.182819)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.505001 14.004002 16.506003 23.004004 25.002003 30.006005 34.506006 39.006006 41.508005 48.510004 53.514005 56.016004 61.020006 63.522005 70.020008 75.024 80.028 82.53 85.527 90.531">PIT Clock Gate Control</tspan><tspan y="28.83789" x="0 5.499 10.503 12.501 17.001 19.503 24.507 26.505002 29.007002 31.509003 36.009004 41.013006 46.017007 48.519006 51.516008 56.520009 58.51801 63.01801 65.52001 68.02201 73.02601 78.03001 80.532009 85.032009 87.03001 92.034008 96.534008 101.034008 103.536 108.54 113.544 116.046 121.049999 123.551998 126.05399 131.058 133.56 136.062 141.066 146.06999 148.57199 154.575 157.077 162.57599 165.07799 172.57498 177.57898 182.58298 187.58698 189.58498 194.58898">This bit controls the clock gate to the PIT module.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 160.18282)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00002">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 160.18282)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00002 6.4980208 8.496021 13.500022 18.000023 22.500023 25.002024 30.006024 32.004026 36.504026 41.508028 46.512029 48.51003 53.51403">Clock disabled</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 171.18282)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 171.18282)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 6.4980208 8.496021 13.500022 18.000023 22.500023 25.002024 30.006024 35.010026 40.014028 45.01803 47.01603 52.02003">Clock enabled</tspan></text>
<g clip-path="url(#clip_7)">
<path transform="matrix(1,0,0,1,53.999994,186.43282)" d="M.25 .25H75.35001V70.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 188.68282)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.546 35.55">22</tspan><tspan y="18.83789" x="26.298 32.301004 38.799005">PDB</tspan></text>
<g clip-path="url(#clip_8)">
<path transform="matrix(1,0,0,1,53.999994,186.43282)" d="M75.85001 .25H503.75004V70.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 188.68282)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 12.501001 18.504002 21.006003 27.504004 29.502003 34.506006 39.006006 43.506006 46.008005 53.010004 58.014005 60.516004 65.520008 68.022 74.520008 79.524 84.528 87.03 90.027 95.031">PDB Clock Gate Control</tspan><tspan y="28.83789" x="0 5.499 10.503 12.501 17.001 19.503 24.507 26.505002 29.007002 31.509003 36.009004 41.013006 46.017007 48.519006 51.516008 56.520009 58.51801 63.01801 65.52001 68.02201 73.02601 78.03001 80.532009 85.032009 87.03001 92.034008 96.534008 101.034008 103.536 108.54 113.544 116.046 121.049999 123.551998 126.05399 131.058 133.56 136.062 141.066 146.06999 148.57199 154.575 161.073 167.076 169.578 177.075 182.079 187.083 192.08699 194.08499 199.08899">This bit controls the clock gate to the PDB module.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 230.68282)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00002">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 230.68282)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00002 6.4980208 8.496021 13.500022 18.000023 22.500023 25.002024 30.006024 32.004026 36.504026 41.508028 46.512029 48.51003 53.51403">Clock disabled</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 241.68282)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 241.68282)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 6.4980208 8.496021 13.500022 18.000023 22.500023 25.002024 30.006024 35.010026 40.014028 45.01803 47.01603 52.02003">Clock enabled</tspan></text>
<g clip-path="url(#clip_9)">
<path transform="matrix(1,0,0,1,53.999994,256.9328)" d="M.25 .25H75.35001V70.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 259.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.546 35.55">21</tspan><tspan y="18.83789" x="16.550999 23.049 29.052 35.055 41.553 48.051004">USBDCD</tspan></text>
<g clip-path="url(#clip_10)">
<path transform="matrix(1,0,0,1,53.999994,256.9328)" d="M75.85001 .25H503.75004V70.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 259.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 12.501001 18.504002 21.006003 27.504004 34.002004 40.500005 43.002004 49.500005 51.498006 56.502008 61.002008 65.50201 68.004009 75.006008 80.01 82.512 87.516 90.018 96.516 101.52 106.523998 109.02599 112.022998 117.02699">USB DCD Clock Gate Control</tspan><tspan y="28.83789" x="0 5.499 10.503 12.501 17.001 19.503 24.507 26.505002 29.007002 31.509003 36.009004 41.013006 46.017007 48.519006 51.516008 56.520009 58.51801 63.01801 65.52001 68.02201 73.02601 78.03001 80.532009 85.032009 87.03001 92.034008 96.534008 101.034008 103.536 108.54 113.544 116.046 121.049999 123.551998 126.05399 131.058 133.56 136.062 141.066 146.06999 148.57199 155.06999 161.073 167.076 169.578 176.076 182.574 189.072 191.574 199.071 204.075 209.079 214.083 216.081 221.08499">This bit controls the clock gate to the USB DCD module.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 301.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 301.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 6.4980409 8.49604 13.500041 18.000042 22.500042 25.002043 30.006043 32.004045 36.504045 41.508047 46.512048 48.510049 53.51405">Clock disabled</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 312.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 312.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 6.4980409 8.49604 13.500041 18.000042 22.500042 25.002043 30.006043 35.010046 40.014047 45.018049 47.01605 52.02005">Clock enabled</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 329.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="23.04 28.044003 33.048006 38.052007 43.056009">20&#x2013;19</tspan><tspan y="18.83789" x="16.299 22.797 27.801003 32.301004 37.305006 40.302007 44.802007 49.806009">Reserved</tspan></text>
<g clip-path="url(#clip_12)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 329.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 40.509008 45.009008 47.511007 50.508008 55.51201 60.01201 65.01601 68.01301 72.51301 77.517009 82.521">This field is reserved.</tspan><tspan y="18.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 80.523 85.023 87.525 90.522 95.526 100.026 105.03 108.027 112.527 117.531 122.534999 125.036998 130.041 135.045 140.049 142.551 147.555 149.553 156.051 161.055 165.555 170.055 172.55699 177.56099 182.56499 187.06499 189.56699 192.06899 197.07299 202.07698 204.57898 209.07898 214.08298 216.08098 221.08498 226.08898 228.59098 233.59497">This read-only field is reserved and always has the value 0.</tspan></text>
<g clip-path="url(#clip_13)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 356.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.546 35.55">18</tspan><tspan y="18.83789" x="25.803 32.301 38.799">CRC</tspan></text>
<g clip-path="url(#clip_14)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 356.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 12.996001 19.494002 21.996003 28.494004 30.492005 35.496007 39.996007 44.496007 46.998006 54.000005 59.004007 61.506006 66.51 69.012 75.51 80.514 85.518 88.02 91.017 96.020999">CRC Clock Gate Control</tspan><tspan y="28.83789" x="0 5.499 10.503 12.501 17.001 19.503 24.507 26.505002 29.007002 31.509003 36.009004 41.013006 46.017007 48.519006 51.516008 56.520009 58.51801 63.01801 65.52001 68.02201 73.02601 78.03001 80.532009 85.032009 87.03001 92.034008 96.534008 101.034008 103.536 108.54 113.544 116.046 121.049999 123.551998 126.05399 131.058 133.56 136.062 141.066 146.06999 148.57199 155.06999 161.568 168.066 170.568 178.06499 183.06899 188.07299 193.07698 195.07498 200.07898">This bit controls the clock gate to the CRC module.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 398.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 398.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 8.496 13.500001 18 22.5 25.002 30.006 32.004 36.504 41.508005 46.512006 48.510007 53.514009">Clock disabled</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 409.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 409.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.4980008 8.496 13.500001 18 22.5 25.002 30.006 35.010004 40.014005 45.018007 47.016008 52.020009">Clock enabled</tspan></text>
<g clip-path="url(#clip_15)">
<path transform="matrix(1,0,0,1,53.999994,424.4328)" d="M.25 .25H75.35001V26.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 426.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="23.04 28.044003 33.048006 38.052007 43.056009">17&#x2013;16</tspan><tspan y="18.83789" x="16.299 22.797 27.801003 32.301004 37.305006 40.302007 44.802007 49.806009">Reserved</tspan></text>
<g clip-path="url(#clip_16)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 426.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 40.509008 45.009008 47.511007 50.508008 55.51201 60.01201 65.01601 68.01301 72.51301 77.517009 82.521">This field is reserved.</tspan><tspan y="18.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 80.523 85.023 87.525 90.522 95.526 100.026 105.03 108.027 112.527 117.531 122.534999 125.036998 130.041 135.045 140.049 142.551 147.555 149.553 156.051 161.055 165.555 170.055 172.55699 177.56099 182.56499 187.06499 189.56699 192.06899 197.07299 202.07698 204.57898 209.07898 214.08298 216.08098 221.08498 226.08898 228.59098 233.59497">This read-only field is reserved and always has the value 0.</tspan></text>
<g clip-path="url(#clip_17)">
<path transform="matrix(1,0,0,1,53.999994,450.9328)" d="M.25 .25H75.35001V70.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 453.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.546 35.55">15</tspan><tspan y="18.83789" x="28.791 31.293002 36.297">I2S</tspan></text>
<g clip-path="url(#clip_18)">
<path transform="matrix(1,0,0,1,53.999994,450.9328)" d="M75.85001 .25H503.75004V70.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 453.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 2.5020004 7.506001 13.509001 16.011002 22.509003 24.507004 29.511006 34.011007 38.511007 41.013006 48.015005 53.019006 55.521005 60.525007 63.027006 69.525 74.529 79.533 82.034999 85.032 90.035999">I2S Clock Gate Control</tspan><tspan y="28.83789" x="0 5.499 10.503 12.501 17.001 19.503 24.507 26.505002 29.007002 31.509003 36.009004 41.013006 46.017007 48.519006 51.516008 56.520009 58.51801 63.01801 65.52001 68.02201 73.02601 78.03001 80.532009 85.032009 87.03001 92.034008 96.534008 101.034008 103.536 108.54 113.544 116.046 121.049999 123.551998 126.05399 131.058 133.56 136.062 141.066 146.06999 148.57199 151.07399">This bit controls the clock gate to the I </tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 453.1828)" font-size="6.75" font-family="HelveticaLTStd"><tspan y="25.83789" x="153.576">2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 453.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="28.83789" x="157.32901 159.83101 165.83402 168.33602 175.83301 180.837 185.841 190.845 192.843 197.847"> S module.</tspan></text>
<path transform="matrix(1,0,0,1,131.85,453.1828)" d="M0 42H423.90003V66H0Z" fill="#ffffff" fill-rule="evenodd"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 495.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00002">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 495.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00002 6.4980208 8.496021 13.500022 18.000023 22.500023 25.002024 30.006024 32.004026 36.504026 41.508028 46.512029 48.51003 53.51403">Clock disabled</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 506.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 506.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 6.4980208 8.496021 13.500022 18.000023 22.500023 25.002024 30.006024 35.010026 40.014028 45.01803 47.01603 52.02003">Clock enabled</tspan></text>
<g clip-path="url(#clip_19)">
<path transform="matrix(1,0,0,1,53.999994,521.4328)" d="M.25 .25H75.35001V26.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 523.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.546 35.55">14</tspan><tspan y="18.83789" x="16.299 22.797 27.801003 32.301004 37.305006 40.302007 44.802007 49.806009">Reserved</tspan></text>
<g clip-path="url(#clip_20)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 523.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 40.509008 45.009008 47.511007 50.508008 55.51201 60.01201 65.01601 68.01301 72.51301 77.517009 82.521">This field is reserved.</tspan><tspan y="18.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 80.523 85.023 87.525 90.522 95.526 100.026 105.03 108.027 112.527 117.531 122.534999 125.036998 130.041 135.045 140.049 142.551 147.555 149.553 156.051 161.055 165.555 170.055 172.55699 177.56099 182.56499 187.06499 189.56699 192.06899 197.07299 202.07698 204.57898 209.07898 214.08298 216.08098 221.08498 226.08898 228.59098 233.59497">This read-only field is reserved and always has the value 0.</tspan></text>
<g clip-path="url(#clip_21)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01034" x="315.468 321.96598 327.46498 332.46897 337.96797 340.96498 345.96897 349.46998 351.972 356.97599 361.97999 364.482 370.485 375.48899 380.49299 383.49 388.494 396.495 398.997 401.49903 406.99803 409.99504 414.99903 420.49803 423.99903 429.00303 432.00004 434.50205 440.00105 445.50004 448.00205 455.49906 460.99806 466.49705 471.99604 474.49806 479.50205 482.00407 485.00108 491.00407 493.50608 501.00309">Chapter 12 System Integration Module (SIM)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 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 1 220.32 751.756)" 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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