birdcage/docs/K60-datasheet-vectors/K60-datasheet_page_33.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

1513 lines
114 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-715.762" x="54 59.004 69.12 75.618007 78.615009 83.115009 87.615009 90.117008 95.121 97.119 99.621 104.121 106.623 111.627 114.624 117.126 122.13 127.133998 129.636 132.138 134.136 141.633 146.637 149.13899 151.137 155.637 158.13899 163.14299 168.14699 170.64899 172.64699 177.65099 182.65499 187.65898 190.16098 195.16498 199.66498 202.16698 204.66898 209.67298 214.67697 217.17897 219.68097 221.67897 229.17597 234.17996 236.68196 241.68596 246.68996 249.19196 255.68996 260.69398 265.69798 270.70198 273.20399 275.706 280.71 285.714 288.216 293.22 297.72 302.22 304.218 306.21598 308.21397 313.21797 315.71998 320.72398 323.72099 326.223 331.227 336.231 338.22898 343.23298 348.23698 350.73899 355.74299 360.74699 365.75099 370.75498 372.75297 377.75697 382.76097 385.26298 390.26698 395.27098 400.27497 402.77699 405.279 410.283 415.287 417.789 424.79103 430.794 437.292 439.794 446.292 448.794 454.293 456.795 461.799 463.797 466.299 468.80104 470.799 475.803 478.30503 480.80705 485.81105 490.81504 493.31706 500.81407 507.31205 514.314 519.31808 525.32107 527.82308 530.82009 535.8241 540.8281 542.8261 547.3261 549.8281 554.83218">4.Crystal startup time is defined as the time between the oscillator being enabled and the OSCINIT bit in the MCG_S register</tspan><tspan y="-704.762" x="69.12 74.124 79.128 81.126 86.13 91.133998 93.635997 98.135997 103.13999 105.64199">being set.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="14" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-679.963" x="286.56 296.668 307.56 316.11399">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="14" font-family="Times LT Std"><tspan y="-663.75" x="125.994 134.548 141.548 147.764 151.264 158.264 165.264 168.764 175.764 185.87201 192.08802 195.58802 202.58802 208.03401 214.25002 218.14202 222.03401 225.92601 232.14202 236.03401 243.03401 247.69602 251.19602 261.30403 268.30403 272.966 279.966 285.41203 288.91203 292.80403 299.80403 303.30403 307.196 314.196 324.30403 327.80403 334.80403 341.80403 351.91203 358.12803 362.79 366.29 377.182 384.182 391.182 397.398 400.898 407.898 414.898 418.398 425.398 431.614 436.276 442.492 449.492 453.384 457.276 460.776 466.992 473.992">The 32 kHz oscillator works in low power mode by default and</tspan><tspan y="-647.75" x="125.994 132.21 138.42601 145.42601 152.42601 159.42601 163.31801 166.81801 173.81801 180.03401 183.53401 194.42601 201.42601 208.42601 214.64202 221.64202 225.14202 229.03401 236.03401 239.92601 246.92601 250.42601 257.42604 261.31803 268.31803 275.31803 278.81803 285.81803 292.81803 302.92604 309.14204 313.80403 317.696 324.696 330.91203 334.80403 341.80403 345.30403 356.196 363.196 370.196 376.41203">cannot be moved into high power/gain mode.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="15" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-595.304" x="54.007005 62.347005 66.517009 74.85701 79.02701 101.542018 109.88202 118.22202 122.39202 130.73203 141.56203 149.06203 153.23203 162.39702 170.73702 179.07701 183.24701 187.417 191.587 199.927 204.922 214.08699 219.922 224.092 232.43199 236.60199 244.94199 253.28199 258.27699 264.11198 268.28199 276.62199 284.96199 289.132 293.302 301.642 310.807 319.147 324.982 333.322 341.662 346.65699 354.99699 360.83198 365.00199 373.34199 378.33699 382.507 390.847">6.3.332 kHz oscillator electrical characteristics</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="14" font-family="Times LT Std"><tspan y="-570.95" x="53.998006 62.552007 69.552 73.444 78.89 82.39 87.836 94.052 100.268009 104.16 108.052 115.052 122.052 125.552 132.552 138.768 144.214 150.43001 155.09201 158.98401 165.98401 172.20001 177.64601 181.14601 185.03801 192.03801 198.25402 201.75402 212.64601 219.64601 226.64601 233.64601 237.53801 243.75402 247.25402 253.47002 257.36204 263.57804 269.79405 273.68605 278.34803 282.24003 288.45603 294.67204 298.56404 302.06404 308.28004 315.28004 321.49604 326.15803 332.37403 338.59004 342.48204 348.69804 353.36003 357.252 362.69804 366.59004 370.48204 376.69804 382.14405">This section describes the module electrical characteristics.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="14" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-532.263" x="53.998006 61.782007 65.674 73.45801 77.350009 85.13401 89.02601 110.97801 118.76202 126.54602 130.43802 138.22202 148.33002 155.33002 159.22202 167.77602 175.56002 183.34401 187.23601 191.128 195.02 202.804 207.466 216.02 221.466 225.358 235.466 245.574 249.466 257.25 261.142 268.926 276.71 281.37199 286.818 290.71 298.494 306.27799 310.16999 314.06199 321.84599 330.39997 338.18397 345.96797 349.85997 354.52195 358.41395 366.19795 373.98194 378.64393 382.53593 391.0899 399.6439">6.3.3.132 kHz oscillator DC electrical specifications</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="12" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-518.283" x="149.636 156.968 163.64 170.972 174.308 180.98 184.316 190.98799 197.65999 209.99599 216.66799 223.33998 230.01198 238.67598 244.67598 248.01198 255.34398 262.016 268.688 272.024 275.36 278.69599 285.36799 289.36399 296.69599 301.36399 304.69999 313.36399 322.02799 325.36399 332.03599 335.37199 342.04399 348.71598 352.71199 357.37998 360.71598 367.38798 374.05998 377.39598 380.73197 387.40397 394.73597 401.40797 408.07997 411.41596 415.41197 418.74797 425.41996 432.09196 436.08796 439.42396 446.75596 454.08796">Table 18.32kHz oscillator DC electrical specifications</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-498.562" x="373.597 381.094 383.596 389.095">Min.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-498.562" x="423.745 429.244 434.248 439.74699">Typ.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-498.562" x="473.398 480.89503 485.89903 490.903">Max.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-498.562" x="525.049 531.547 537.046 539.54806">Unit</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-482.562" x="94.833">V</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-480.76203" x="100.836 105.33825 109.8405">BAT</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-482.562" x="157.05 163.05301 168.057 173.061 178.065 180.063 184.563 187.065 191.565 196.569 198.567 201.069 206.073 211.077">Supply voltage</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-482.562" x="372.843 377.847 380.349 385.353">1.71</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-482.562" x="427.5">&#x2014;</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-482.562" x="476.145 481.149 483.651">3.6</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-482.562" x="529.803">V</tspan></text>
<g clip-path="url(#clip_13)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-467.062" x="99.09">R</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-465.26203" x="105.588">F</tspan></text>
<g clip-path="url(#clip_14)">
<path transform="matrix(1,0,0,1,54,300.44999)" d="M101.05 .25H302.15003V15.25H101.05Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-467.062" x="157.05 159.552 164.556 167.058 172.062 175.05899 180.06299 185.06699 187.06499 189.56699 192.06899 197.07299 202.07698 207.08098 212.08498 217.08898 221.58898 226.08898 228.59098 231.58797 236.59197 241.09197 243.08997 247.58997 250.09197 255.09597">Internal feedback resistor</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-467.062" x="377.1">&#x2014;</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-467.062" x="424.494 429.498 434.50199">100</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-467.062" x="477.9">&#x2014;</tspan></text>
<g clip-path="url(#clip_18)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-467.062" x="525.825 533.322">M&#x03a9;</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-451.562" x="94.401">C</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-449.76203" x="100.899 104.652 108.405 110.65275">para</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-451.562" x="157.05 163.05301 168.057 171.054 176.058 180.558 182.556 185.058 187.056 191.556 196.56 198.558 201.06 205.56 210.564 215.568 220.57199 225.07199 227.06999 229.57199 234.57599 239.57999 244.07999 249.08399 251.58599 256.59 259.092 261.59403 267.59703 273.6 279.099 285.102 290.106 295.11 300.11399 302.616 307.62 312.624 317.628 320.13 326.133 331.632 337.63499 342.63899 347.64299">Parasitical capacitance of EXTAL32 and XTAL32</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-451.562" x="377.1">&#x2014;</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-451.562" x="429.498">5</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-451.562" x="479.898">7</tspan></text>
<g clip-path="url(#clip_24)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-451.562" x="527.553 532.557">pF</tspan></text>
<g clip-path="url(#clip_25)">
<path transform="matrix(1,0,0,1,54,331.44999)" d="M.25 .25H100.55V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-436.062" x="95.769">V</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-434.26203" x="101.771999 105.524997">pp</tspan></text>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-439.062" x="109.27799">1</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-436.062" x="157.05 163.05301 168.057 173.061 177.561 180.558 183.06 188.064 191.06099 196.06499 201.06899 206.07299 210.57299 213.07498 218.07898 225.57598 230.57997 232.57798 234.57598 237.07798 242.08197 247.08597 252.08997 254.59197 259.59599 262.098 264.6 269.604 274.104 278.604 280.602 282.59999 284.59797 289.60197 292.10398 294.10197 299.10597">Peak-to-peak amplitude of oscillation</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-436.062" x="377.1">&#x2014;</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-436.062" x="425.745 430.749 433.251">0.6</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-436.062" x="477.9">&#x2014;</tspan></text>
<g clip-path="url(#clip_30)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-436.062" x="529.803">V</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-405.562" x="54 59.004 69.12 77.616008 82.62 87.624 92.628 95.13 100.133998 102.635997 107.135997 110.132999 114.632999 119.132999 121.634998 126.63899 128.637 131.13899 133.137 137.637 140.13899 145.14299 150.14699 152.14499 157.14899 162.15299 164.65499 169.65898 174.15898 179.16298 184.16698 186.66898 193.16698 195.16498 197.66698 202.67098 205.17298 207.67498 212.67897 217.68297 220.18497 225.18897 230.19297 232.69496 237.19496 243.69297 248.19297 250.69496 255.69896 260.19898 264.69898 266.69697 268.69496 270.69294 275.69694 278.19895 283.20295 286.19996 288.70198 291.20399 293.706 298.71 303.714 306.216 312.219 318.222 323.72099 329.72398 334.72798 339.73197 344.73597 347.23799 352.24198 357.24598 362.24998 364.75199 370.75498 376.25398 382.25697 387.26097 392.26496 397.26896 399.77098 404.77497 406.77296 411.77696 416.27696 418.77897 423.27897 428.28297 433.28697 438.29096 440.28895 445.29295 447.79496 452.79896 457.80296 459.80094 464.30094 466.80296 471.80696 476.81095 479.31297 483.81297 488.81697 493.82096 498.82496 503.82896 508.32896 510.83097 515.83499 520.839 523.341 525.843">1.When a crystal is being used with the 32 kHz oscillator, the EXTAL32 and XTAL32 pins should only be connected to</tspan><tspan y="-394.562" x="69.12 72.117008 77.121 82.125 87.129 89.127 92.124 97.128 102.131999 104.633998 109.63799 114.13799 118.63799 120.635997 122.633998 124.631999 129.636 132.138 137.142 140.13899 142.64099 147.14099 152.14499 159.64199 164.64598 169.64998 174.65398 179.65798 184.66197 187.16397 191.66397 194.16597 199.16997 204.17397 209.17797 211.67996 219.17696 224.18096 228.68096 231.18296 233.68495 238.68895 243.69295 246.19495 248.69695 253.70095 258.70497 261.20698 265.70698 270.71098 275.71498 280.71897 285.72297 290.22297 292.72499 297.72898 302.73298 305.235 307.737 312.741 315.243 320.247 325.251 329.751 332.25303 337.25703 339.75904 344.76304 349.76704 352.76405 355.26606 360.27006 365.27406 369.77406 371.77204 376.27204 381.27604 385.77604">required oscillator components and must not be connected to any other devices.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="14" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-355.263" x="54.000005 61.784006 65.676 73.46001 77.352008 85.13601 89.02801 110.98001 118.764019 126.54802 130.44002 138.22402 148.33202 155.33202 159.22402 167.77802 175.56201 183.34601 187.238 191.13 195.022 202.806 207.468 216.022 221.468 225.36 230.022 235.468 243.252 251.806 260.36 268.14399 276.69798 284.48197 292.26597 296.15797 303.94197 312.49595 320.27995 328.06394 331.95594 336.61793 340.50993 348.2939 356.0779 360.7399 364.6319 373.18589 381.73988">6.3.3.232 kHz oscillator frequency specifications</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-321.562" x="323.197 330.694 333.196 338.695">Min.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-321.562" x="373.345 378.844 383.848 389.347">Typ.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-184.562" x="217.69004 220.19203 222.69403 227.69803 230.20003"> to V</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="6.75" font-family="Helvetica LT Std"><tspan y="-182.762" x="236.20304 240.70528 245.20752">BAT</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-184.562" x="249.33203">.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="16" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-129.74399" x="53.994035 62.890035 67.338039 90.41004 103.738048 112.63405 126.85805 136.63405 142.85805 147.30605 156.20204 165.09804 169.54604 178.44203 188.21804 197.99404 202.44203 216.66603 225.56203 239.78603 249.56203 255.78603 264.68205 269.13005 273.57804 283.35404 288.68205 297.57804 303.80204 309.13005 318.02604 326.92204 335.81803">6.4Memories and memory interfaces</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-733.727" x="347.436 353.439 358.443 361.944 364.446 369.945 375.444 380.448 383.949 388.953 391.45503 393.95704 399.45603 404.95503 409.959 413.46003 418.46403 421.46104 423.96305 429.46205 434.96104 437.46305 440.96406 445.96806 451.46705 456.96604 459.46806 462.96907 467.97306 475.97407 480.97807 486.47706 489.47407 494.47807 496.98008 501.98408 507.48307 512.98208 515.4841 520.9831 525.9871 531.48617 536.4902 541.4942 543.9962 549.49526 552.9962">Peripheral operating requirements and behaviors</tspan></text>
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