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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_703.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

859 lines
70 KiB (Stored with Git LFS)
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Raw Blame History

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</defs>
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<text xml:space="preserve" transform="matrix(1 0 0 1 125.5 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="15.3 22.632 29.304 36.636 39.972 46.644 49.980005 56.652006 63.324007 67.32001 73.992008 80.664 93 101.664 108.336 115.007999 122.34 125.675998 132.34799 139.01999 142.35599 151.01999 154.35599 157.69199 161.02799 169.69199 173.02799 180.35999 187.03199 193.70398 200.37598 203.71198 212.37598 219.70798 230.37598 241.04398 247.71598 255.04798 262.37998 265.71598 273.71998 278.38798 283.05598 290.38798 295.05598 298.39198 307.05598 313.72798 321.05998 328.39198 331.72798 335.06398 342.39598">Table 29-56.Read 1s All Blocks Command Error Handling</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 76)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="1.998 8.001 11.502001 15.003001 20.502 24.003 26.505002 33.003004 38.502004 44.001005 49.500005 52.002004 54.999006 57.501005 63.000005">Error Condition</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 434.5 76)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="43.245 49.248 52.749 56.25 61.749 65.25 67.752 74.25 76.752">Error Bit</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 92)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 13.509001 15.507001 20.511002 25.011002 30.015004 32.013006 34.011007 39.015008 41.517007 49.014009 54.01801 57.01501 62.019014 64.01701 69.02101 71.52301 76.02301 81.02701 86.031009 88.02901 92.52901 97.533008 100.035 102.033008 106.533008 109.035 113.535 118.539 123.543 128.043 130.041 132.543 134.541 139.545">An invalid margin choice is specified</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 434.25 92)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="24.993 30.492 36.495004 41.994005 47.997 53.496004 55.998 62.001 68.499 74.997 81 87.498 93.996">FSTAT[ACCERR]</tspan></text>
<g clip-path="url(#clip_5)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 107.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.506 21.510003 24.507002 29.511002 34.011 36.513 39.015 44.019 46.017004 48.015005">Read-1s fails</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 434.25 107.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="22.743 28.242 34.245004 39.744005 45.747 51.246004 53.748 61.245004 68.247 74.25 79.749 85.752 91.251 96.255">FSTAT[MGSTAT0]</tspan></text>
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<path transform="matrix(1,0,0,1,54,105.25)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M504.25 15.5H377.9"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 176)" 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 50.040006 54.210008 62.550008">29.4.12.10</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 139.06324 176)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.830001 19.170002 27.510003 36.675004 40.845006 52.515008 61.680009 70.02001 78.360019 82.530017 93.360019 102.52502 115.860019 129.19503 137.53502 146.70001">Read Once Command</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="158.25" x=".00299 8.55699 15.55699 21.772992 25.272992 34.610994 40.826993 47.04299 54.04299 57.54299 67.65099 74.65099 80.867 87.083 90.583 96.799 103.799 114.691 125.583 131.799 138.799 145.799 149.299 156.299 160.961 167.961 174.961 178.853 185.853 192.069 197.515 201.015 205.677 211.893 218.10901 225.10901 228.60901 234.82501 241.04102 247.25702 253.47303 258.91905 264.36506 267.86506 271.75706 278.75706 282.25706 288.47306 291.97306 296.63505 302.85105 308.29707 314.51307 319.17506 326.17506 332.39106 339.39106 342.89106 349.89106 356.89106 361.55305 368.55305 375.55305 379.44505 385.66105 389.16105 393.82304 397.71504 403.93104 407.82304 414.82304 418.32304 422.21504 429.21504 435.43104 441.64704 445.53904 451.75505 458.75505 462.25505 466.14704 473.14704 476.64704 480.53904 487.53904">The Read Once command provides read access to a reserved 64-byte field located in the</tspan><tspan y="174.25" x=".003 7.003 11.665 18.665 25.665 30.327002 36.543004 47.435007 50.935007 55.597005 59.489007 65.70501 71.15101 78.15101 81.65101 88.65101 92.15101 96.81301 104.597019 113.93501 117.43501 122.097019 127.543018 133.75902 139.97502">program flash 0 IFR (see </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="174.25" x="143.475 151.259 155.921 162.921 169.921 174.58301 180.79901 191.69101 195.19101 202.975 206.867 213.08301 218.529 225.529 229.029 233.69101 241.475 250.813 254.313 266.759 272.975">Program Flash IFR Map</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="174.25" x="279.975 283.475 289.691 296.691 303.691"> and </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="174.25" x="307.191 314.975 319.637 326.637 333.637 338.29899 344.51499 355.40699 358.90699 369.01499 376.01499 382.231 388.447 391.947 399.731 403.623 409.839 413.731">Program Once Field</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="174.25" x="420.731 425.39299 428.89299 432.39299 442.50099 448.71699 454.93299 461.149 466.595 472.04103 475.54103 479.433">). Access to</tspan><tspan y="190.25" x=".0030212403 3.8950217 10.895021 14.787022 20.233023 23.733023 28.395024 32.287027 38.503026 42.395029 49.395029 52.895029 56.78703 62.23303 65.73303 72.73303 76.62503 82.841037 86.341037 93.341037 100.341037 103.841037 108.50304 114.71904 120.93504 127.93504 132.59705 139.59705 145.04305 148.54305 152.04305 158.25905 164.47505 170.69106 177.69106 181.19106 188.19106 191.69106 198.69106 205.69106 209.58306 215.79906 221.24506 224.74506 228.63706 235.63706 242.63706 249.63706 253.13706 256.63706 265.19105 272.19105 278.40705 281.90705 291.24507 297.46107 303.67707 310.67707 314.17707 324.28507 331.28507 337.50108 343.71708 347.21708 351.87907 355.77107 361.98707 365.87907 372.87907 376.37907 380.27107 385.71708 389.21708 396.21708 400.87907 407.87907 414.87907 419.54106 425.75706 436.64906 447.54106 453.75706 460.75706 464.25706 471.25706 476.70307 480.59507 487.59507">this field is via 16 records, each 4 bytes long. The Read Once field is programmed using</tspan><tspan y="206.25" x=".0030612404 3.8950618 10.8950619 17.111062 20.611062 28.395062 33.05706 40.05706 47.05706 51.71906 57.93506 68.82706 72.32706 82.43506 89.43506 95.65106 101.867069 105.367069 111.58307 118.58307 129.47507 140.36707 146.58307 153.58307 160.58307 164.08307 171.08307 177.29907 182.74507 188.96108 193.62308 197.51508 204.51508 210.73108 217.73108 221.23108 225.12308 232.12308">the Program Once command described in </tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="206.25" x="235.62305 243.40705 248.06905 255.06905 262.06904 266.73103 272.94703 283.83903 287.33903 297.44703 304.44703 310.66304 316.87904 320.37904 329.71705 336.71705 347.60905 358.50105 364.71705 371.71705">Program Once Command</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="206.25" x="378.71705">.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 128 272.8)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="15.30511 22.63711 29.30911 36.64111 39.97711 46.649114 49.985116 56.657117 63.329118 67.32512 73.997119 80.66911 93.00511 101.66911 108.34111 115.01311 122.34511 125.68111 135.0171 142.3491 149.0211 155.6931 159.0291 167.6931 175.0251 185.6931 196.3611 203.0331 210.3651 217.6971 221.0331 228.3651 237.0291 245.6931 255.0291 263.69309 267.02909 275.69309 282.36509 289.69709 297.02909 300.36509 305.03309 311.70509 322.37309 329.04508 336.37709 340.37309">Table 29-57.Read Once Command FCCOB Requirements</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.3 294.8)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="152.604 158.103 164.601 171.099 178.101 184.599 187.101 193.599 199.09799 204.59699 207.59398 212.59798 218.09697 221.09397 226.09796 228.59996 231.59696 236.60095 239.59795 244.60195">FCCOB Contents [7:0]</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 310.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="45.64799">0</tspan></text>
<g clip-path="url(#clip_27)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 310.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="165.852 170.856 175.356 180.36 185.355 187.866 190.86299 197.361 203.859 210.861 217.359 223.857 229.86">0x41 (RDONCE)</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 326.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="45.64799">1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 326.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="122.571 129.069 134.073 139.077 144.081 146.583 153.58499 158.58899 163.08899 168.09299 170.59499 173.59198 178.59598 183.09598 188.09998 191.09697 196.10097 198.60297 200.60097 205.60497 210.60897 215.61296 220.11296 222.61496 225.61196 230.61595 235.11595 240.11995 245.12395 247.62595 250.62294 253.12494 258.12895 262.62895 267.63294 273.13194">Read Once record index (0x00 - 0x0F)</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 341.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="45.64799">2</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 341.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="181.34099 187.83899 192.84299 195.34499 197.84699 202.85099 207.35099 212.35498">Not used</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 357.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="45.64799">3</tspan></text>
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<g clip-path="url(#clip_36)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 388.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.07399 157.57199 162.57599 167.57999 172.58399 175.08599 182.08798 187.09198 191.59198 196.59598 199.09798 204.10198 208.60198 211.10398 216.10797 218.60997 223.61397 226.11597 230.61597 235.61997 237.61797 242.62197">Read Once byte 0 value</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 403.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="45.64799">5</tspan></text>
<g clip-path="url(#clip_38)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 403.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.07399 157.57199 162.57599 167.57999 172.58399 175.08599 182.08798 187.09198 191.59198 196.59598 199.09798 204.10198 208.60198 211.10398 216.10797 218.60997 223.61397 226.11597 230.61597 235.61997 237.61797 242.62197">Read Once byte 1 value</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 419.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="45.64799">6</tspan></text>
<g clip-path="url(#clip_40)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 419.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.07399 157.57199 162.57599 167.57999 172.58399 175.08599 182.08798 187.09198 191.59198 196.59598 199.09798 204.10198 208.60198 211.10398 216.10797 218.60997 223.61397 226.11597 230.61597 235.61997 237.61797 242.62197">Read Once byte 2 value</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 434.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="45.64799">7</tspan></text>
<g clip-path="url(#clip_42)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 434.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.07399 157.57199 162.57599 167.57999 172.58399 175.08599 182.08798 187.09198 191.59198 196.59598 199.09798 204.10198 208.60198 211.10398 216.10797 218.60997 223.61397 226.11597 230.61597 235.61997 237.61797 242.62197">Read Once byte 3 value</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="433.15" x="0 10.108001 14.77 18.662 24.878003 29.540003 33.04 39.256 43.148004 49.364004 55.58 60.242 64.134 71.134 78.134 81.634 90.972 100.31 104.972 112.756008 116.256008 120.148 127.148 130.64801 134.54001 140.75601 147.75601 154.75601 160.97202 167.97202 171.47202 175.36402 182.36402 188.58002 192.08002 201.41802 207.63402 213.85002 220.85002 224.35002 234.45803 241.45803 247.67403 253.89003 257.39 263.60603 270.60603 281.49803 292.39 298.60603 305.60603 312.60603 316.10603 319.60603 325.82203 329.32203 336.32203 340.984 347.984 354.984 358.876 365.092 368.592 377.93003 384.14604 390.36204 397.36204 400.86204 410.97004 417.97004 424.18605 430.40205 433.90205 438.56404 444.78004 450.99604 457.99604 462.65803 469.65803 473.15803 477.05003">After clearing CCIF to launch the Read Once command, a 4-byte Read Once record is</tspan><tspan y="449.15" x="0 4.662 10.878 17.094002 24.094002 27.594002 32.256 36.918 43.918 54.81 58.31 62.202005 69.202 75.41801 78.91801 85.91801 90.58001 97.58001 104.58001 109.24201 115.458019 126.35001 129.85 134.51201 138.404 144.62001 150.06601 157.06601 160.56601 165.22801 173.01201 182.35 185.85 192.06601 199.06601 206.06601 209.56601 215.01201 218.904 225.904 230.56601 236.78202 243.78202 247.28202 251.17401 258.174 261.674 265.566 272.566 278.782 282.282 290.066 299.40403 308.74205 318.85005 328.18806 331.68806 336.35005 342.56605 349.56605 353.45805 358.90406 362.79606 369.01206 373.67405 377.17405 380.67405 389.22804 396.22804 402.44404 405.94404 415.28205 424.62007 429.28205 437.06605 440.56605 445.22804 449.12004 455.33604 462.33604 465.83604 469.72804 475.17405 478.67405 484.12007 490.33607">read from the program flash IFR and stored in the FCCOB register. The CCIF flag is set</tspan><tspan y="465.15" x="0 6.2160007 10.878 14.77 20.986 25.648 29.148 33.04 40.04 46.256 49.756 59.094 65.310009 71.52601 78.52601 82.02601 92.13401 99.13401 105.35001 111.56602 115.06602 122.06602 129.06601 135.28202 139.94402 146.16002 150.05202 153.94402 160.94402 167.94402 171.44402 177.66002 184.66002 195.55202 202.55202 206.44402 212.66002 216.55202 222.76802 228.21402 231.71402 235.21402 245.32202 251.53803 255.43003 259.32203 266.32203 269.82203 274.484 280.7 286.91603 293.91603 298.578 305.578 309.078 312.97 319.97 326.97 333.186 340.186 343.686 350.686 356.902 360.794 367.794 374.01 379.45603 382.95603 387.618 394.618 399.28 402.78 406.672 413.672 419.888 423.388 432.726 438.94203 445.15803 452.15803 455.65803 465.76603 472.76603 478.98204">after the Read Once operation completes. Valid record index values for the Read Once</tspan><tspan y="481.15" x="0 6.2160007 13.216001 24.108002 35.000005 41.216005 48.216005 55.216005 58.716005 63.378004 69.594 76.594 83.594 89.810009 93.310009 97.97201 102.63401 109.63401 120.52601 124.02601 131.026 138.026 145.026 152.026 155.526 159.418 166.418 169.918 176.918 183.918 190.918 198.702 202.202 205.702 215.81 222.81 227.472 231.364 238.364 245.364 248.864 255.08 262.08003 268.29603 274.51203 281.51203 285.40403 289.29603 296.29603 303.29603 306.79603 313.79603 318.458 321.958 325.85 332.85 339.066 342.566 351.90403 358.12004 364.33604 371.33604 374.83604 384.94404 391.94404 398.16004 404.37605 407.87605 414.09205 421.09205 431.98405 442.87605 449.09205 456.09205 463.09205 466.59205 470.09205 476.30805 483.30805">command range from 0x00 to 0x0F. During execution of the Read Once command, any</tspan><tspan y="497.15" x=".00005 6.2160508 10.108051 14.0000519 20.216053 31.108056 38.108057 42.000059 45.500059 49.39206 56.39206 59.89206 64.55406 70.770069 76.98607 83.98607 87.48607 93.70207 100.70207 107.70207 112.364078 118.58008 124.02608 129.47208 135.68808 141.13408 144.63408 154.74208 158.63408 162.52608 169.52608 173.41808 180.41808 183.91808 187.81008 194.81008 201.02608 204.52608 211.52608 216.18808 223.18808 230.18808 234.85009 241.06609 251.95809 255.45809 260.1201 264.0121 270.2281 275.6741 282.6741 286.1741 293.1741 297.0661 304.0661 310.2821 317.2821 320.7821 326.9981 333.9981 340.9981 344.8901 351.1061 354.9981 361.9981 365.8901 372.8901 379.8901 383.3901 387.2821 394.2821 398.1741 403.62013 407.12013 414.12013 421.12013 425.7821 432.7821 439.7821 443.6741 449.8901 453.3901 458.0521 461.9441 468.1601 472.0521">attempt to read addresses within the program flash block containing this 64-byte field</tspan><tspan y="513.14999" x=".00005 4.6620504 10.878051 14.770051 21.77005 26.43205 33.432054 38.87805 42.37805 46.270055 53.270055 60.270055 66.48605 70.37805 74.27005 81.27005 84.77005 91.77005 97.98605 101.87805 108.094058 111.594058 115.094058 123.648059 130.64806 136.86406 140.36406 149.70206 155.91806 162.13407 169.13407 172.63407 182.74207 189.74207 195.95807 202.17407 205.67407 211.89008 218.89008 229.78208 240.67407 246.89008 253.89008 260.89009 264.39009 270.60609 276.82209 283.82209 287.32209 294.32209 300.5381 304.0381 310.2541 317.2541 323.4701 329.6861 336.6861 340.5781 346.7941 353.7941 357.2941 363.5101 370.5101 377.5101 381.0101 388.0101 395.0101 405.9021 412.9021 419.1181 423.7801 427.2801 434.2801 438.94209 442.44209 446.33409 450.22608 461.11808 467.33409 472.7801">returns invalid data. The Read Once command can be executed any number of times.</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="26.01034" x="329.97599 336.47398 341.97297 346.97697 352.47596 355.47297 360.47697 363.97798 366.47999 371.48399 376.48799 378.99 384.48899 386.991 391.995 396.999 402.498 405 412.497 417.501 425.502 431.001 434.502 439.506 442.00804 449.50505 455.00404 460.50303 466.002 468.50404 473.50804 476.01005 479.00706 484.50605 490.00505 495.50404 501.00303">Chapter 29 Flash Memory Module (FTFL)</tspan></text>
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<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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