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birdcage/docs/K60-datasheet-vectors/K60-datasheet_page_66.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

927 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 0 777.6)" font-size="6.4" font-family="Times LT Std"><tspan y="-711.8" x="246 249.5584 254.1792 214 217.5584 222.1792 326 329.5584 334.1792">SD2SD3SD1</tspan><tspan y="-679" x="216.4 219.95839 224.5792">SD6</tspan><tspan y="-607.437" x="284.042 287.6004 292.2212">SD8</tspan><tspan y="-607.817" x="255.26099 258.8194 263.4402">SD7</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.6)" font-size="8" font-family="Helvetica LT Std"><tspan y="-688.601" x="93.999988 99.33598 105.111988 110.887989 116.66399 121.111988 126.887989 131.33599">SDHC_CLK</tspan><tspan y="-653.401" x="93.999988 100.22398 104.67198 106.89598 111.34398 115.79198 118.015979 120.239978 125.57597 131.35198 137.12798 142.90398 147.35198 153.12798 159.79198">Output SDHC_CMD</tspan><tspan y="-618.201" x="93.999988 100.22398 104.67198 106.89598 111.34398 115.79198 118.015979 120.239978 125.57597 131.35198 137.12798 142.90398 147.35198 153.12798 158.46398 163.35198 165.57598 170.02397 172.24797 176.69597">Output SDHC_DAT[3:0]</tspan><tspan y="-583.001" x="93.999988 96.22398 100.67198 105.11998 109.56798 111.79198 114.015979 119.351978 125.127979 130.90398 136.67998 141.12798 146.90398 153.56798">Input SDHC_CMD</tspan><tspan y="-547.80099" x="93.999988 96.22398 100.67198 105.11998 109.56798 111.79198 114.015979 119.351978 125.127979 130.90398 136.67998 141.12798 146.90398 152.23998 157.12798 159.35198 163.79998 166.02397 170.47197">Input SDHC_DAT[3:0]</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="-511.033" x="239.32 246.65201 249.988 257.32 264.652 269.32 275.992 279.328 286 292.672 296.008 299.344 307.348 316.012 324.676 333.34 336.676 340.672 344.008 354.676 358.012 365.344">Figure 27. SDHC timing</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="-456.554" x="54.001008 62.341009 66.51101 74.85101 79.02101 87.361019 109.87602 114.04602 122.386028 132.39102 136.56102 146.56603 157.39603 161.56603 165.73603 174.07602 185.74602 189.91602 194.91101 203.251 212.416 216.586 225.75099 234.91599 239.08599 247.42598 256.59098 264.93098 273.27098 277.44099 282.43598 286.606 294.94599 303.28599 308.28099 312.451 321.616 330.781">6.8.11I2S/SAI switching specifications</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="-432.19999" x="53.996007 62.550008 69.55 73.442 78.888 82.388 87.834 94.05 100.26601 104.158008 108.05 115.05 122.05 125.55 132.55 137.212 144.212 151.212 155.104 162.104 168.32 173.766 177.266 181.158 188.158 194.37401 197.87401 207.98201 217.32 220.82 224.712 228.604 239.496 243.388 250.388 257.388 260.888 265.55 272.55 277.21199 280.71199 284.60398 291.60398 297.81999 301.31999 305.98197 312.98197 320.76597 324.65797 332.44197 342.54997 347.21195 350.71195 361.60395 368.60395 375.60395 382.60395 386.49595 392.71195 396.21195 400.10395 407.10395 410.60395 421.49595 427.71195 433.15797 437.04997 443.26597 447.92796 451.42796 462.31996 469.31996 476.31996 482.53596 486.03596 490.69795 496.91395 500.80595 507.80595 514.0219 521.0219 526.4679 529.9679 536.1839 540.8459">This section provides the AC timing for the I2S/SAI module in master mode (clocks are</tspan><tspan y="-416.19999" x="53.996007 60.996007 65.658008 69.55 76.55 82.76601 89.76601 94.42801 97.92801 104.14401 111.14401 118.14401 121.64401 127.09001 130.98201 137.19802 144.19802 150.41402 153.91402 164.80602 171.80602 178.80602 185.02202 188.52202 193.18402 199.40003 203.29203 210.29203 216.50803 223.50803 228.95403 232.45403 238.67003 243.33203 249.54804 253.04804 256.94004 263.94004 270.94004 277.94004 281.83204 286.49403 289.99403 293.49403 303.60203 307.49403 311.38603 314.88603 318.778 322.67 333.562 337.454 344.454 351.454 354.954 358.846 364.29203 367.79203 374.79203 378.68403 385.68403 391.90003 398.90003 402.40003 407.062 414.062 418.724 422.224 429.224 436.224 443.224 447.116 454.116 461.116 467.332 471.994 475.886 482.102 489.102 492.602 498.048 504.264 508.926 512.818 519.034 522.926 526.426 532.642 536.53408 543.53408 549.75009">driven) and slave mode (clocks are input). All timing is given for noninverted serial clock</tspan><tspan y="-400.19999" x="53.996007 60.996007 67.996 71.888 78.104007 82.76601 86.658008 90.55 97.55 101.05 105.712009 114.26601 123.604007 132.942 139.942 144.604 153.942 163.28 171.064 175.726 179.226 183.118 188.564 192.064 199.064 202.564 206.064 215.402 224.73999 234.07799 241.07799 245.73999 255.07799 264.416 272.19999 276.86198 280.36198 284.25398 289.69999 293.19999 300.19999 304.86198 308.36198 314.57798 321.57798 328.57798 332.07798 338.29399 341.79399 348.79399 355.79399 362.79399 366.68598 373.68598 380.68598 386.90199 391.56398 395.45597 401.67198 408.67198 412.17198 416.83396 421.49595 427.71195 438.60395 444.81996 448.31996 453.76597 460.76597 467.76597 473.98197 477.48197 482.14396 490.69795 500.03596 509.37397 516.37399 521.03598 528.81997 536.60397 544.38796">polarity (TCR2[BCP] is 0, RCR2[BCP] is 0) and a noninverted frame sync (TCR4[FSP]</tspan><tspan y="-384.19999" x="53.996007 57.88801 63.334009 66.83401 73.83401 77.33401 80.83401 90.17201 99.51001 108.84801 115.84801 120.51001 128.294 136.078 143.862 148.524 152.024 155.916 161.362 164.862 171.862 176.524 180.024 183.524 188.186 192.848 196.348 200.24 207.24 213.45601 216.95601 223.95601 230.95601 234.848 241.06401 245.72602 249.61801 253.51001 260.51 264.01 271.01 275.672 279.172 283.064 290.064 296.28 299.78 305.996 309.888 316.888 323.104 330.104 333.604 339.82 346.82 353.82 357.712 364.712 369.374 372.874 376.766 383.766 389.982 393.482 398.14399 402.80598 409.02198 419.91398 426.12998 429.62998 435.076 442.076 449.076 455.292 458.792 465.792 472.008 479.008 485.224 488.724 495.724 501.94 508.156">is 0, RCR4[FSP] is 0). If the polarity of the clock and/or the frame sync have been</tspan><tspan y="-368.19999" x="53.996007 57.88801 64.88801 71.88801 78.10401 82.766017 86.65801 92.874019 99.874019 103.374019 106.874019 113.09002 116.98202 120.874019 124.374019 128.26602 135.26602 141.48203 144.98203 148.87403 152.76602 163.65802 167.55002 174.55002 181.55002 185.05002 189.71202 195.92803 206.82003 213.03603 216.92803 223.92803 229.37403 232.87403 239.87403 246.09003 249.98203 253.87403 260.87403 264.37403 271.37403 278.37403 281.87403 285.76603 292.76603 299.76603 305.98204 310.644 314.536 318.428 325.428 332.428 335.928 339.82 346.82 353.036 356.536 363.536 367.428 371.32 374.82 381.036 384.928 391.928 398.144 405.144 408.644 414.09004 417.98204 424.98204 431.98204 438.19804 442.09004 445.59004 450.252 459.59004 468.92805 477.48204 487.59004 492.252 495.752 501.96803 508.96803 515.968 519.86007 526.86007 531.52206 535.02206 538.91409 545.91409">inverted, all the timing remains valid by inverting the bit clock signal (BCLK) and/or the</tspan><tspan y="-352.19999" x="53.996007 58.658006 63.320005 69.536 80.428 86.644008 90.144008 95.590007 102.590007 109.590007 115.80601 119.30601 123.96801 131.75202 139.53601 144.19802 147.69802 153.14402 157.03601 164.03601 171.03601 177.25202 181.14402 184.64402 190.09001 197.09001 204.09001 214.19802 221.19802 224.69802 228.59001 235.59001 239.09001 242.98201 249.98201 256.198 259.698 264.36 271.36 275.25199 279.14399 286.14399 296.25199 300.14399 307.14399 314.14399 317.64399 322.30598 326.19798 333.19798 340.19798 344.85997 351.07597 356.52198">frame sync (FS) signal shown in the following figures.</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="-313.51298" x="53.996007 61.780008 65.672008 73.45601 77.34801 85.13201 92.916019 96.808017 118.76002 128.86801 137.42201 142.86801 155.31401 163.098 166.99 170.882 180.99 189.544 198.098 201.99 205.882 219.098 226.882 230.774 235.436 239.328 247.112 255.666 264.22 268.112 277.45 282.112 290.666 299.21998 303.11198 315.55799 324.11198 332.66596 340.44996 344.34196 352.89595 360.67994 366.12596 370.78794 379.34193 384.78794 397.23396 405.01795 413.57194 421.35594 429.13993 433.03193 441.5859 449.3699 457.1539 462.5999 466.4919 474.2759 478.1679 482.0599 485.9519 498.39793 502.28993 506.9519 514.7359">6.8.11.1Normal Run, Wait and Stop mode performance over a limited</tspan><tspan y="-298.51298" x="118.765 127.319 135.873 143.657 149.103 156.887 161.549 165.441 173.995 182.549 186.441 194.22499 202.77899 206.67099 211.333 219.11699 227.67099 235.45499 239.34699 244.79299 252.57698 261.13099 269.68498">operating voltage range</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="-274.39997" x="53.996004 62.550004 69.55 73.442 78.888 82.388 87.834 94.05 100.26601 104.158008 108.05 115.05 122.05 125.55 132.55 137.212 144.212 151.212 155.104 162.104 168.32 173.766 177.266 181.158 188.158 194.37401 197.87401 204.87401 211.87401 218.09001 222.75202 228.96802 232.86002 236.75202 243.75202 250.75202 254.25202 261.252 267.46803 272.13 276.792 283.792 288.45399 299.34599 305.56199 312.56199 318.77799 324.994 328.494 335.494 342.494 348.71 353.37199 356.87199 363.08799 366.58799 370.47999 374.37199 385.26399 389.15599 393.04798 399.26399 406.26399 409.76399 416.76399 423.76399 429.97999 434.64198 440.85798 444.74998 448.64198 455.64198 462.64198 466.14198 473.14198 480.14198 484.03398 487.92597 494.14198 501.14198 507.35798 510.85798 515.51998 522.51998 527.18197 530.68197 534.574 541.574">This section provides the operating performance over a limited operating voltage for the</tspan><tspan y="-258.39997" x="53.996004 60.996004 67.212009 74.212009 78.104007 84.32001 90.53601 94.03601 97.92801 104.92801 108.42801 118.53601 125.53601 130.19802 141.09001 147.30602 151.19802 154.69802 164.03601 171.03601 178.03601 181.53601 185.03601 198.25202 204.46802 208.36002 212.25202 215.75202 221.96802 228.96802 235.96802 239.46802 247.25202 251.14402 258.144 265.144 268.644 279.536 286.536 293.536 299.752 305.19804">device in Normal Run, Wait and Stop modes.</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="-235.733" x="91.634 98.966 105.638 112.97 116.306 122.978 126.313999 132.986 139.65799 151.99399 155.32999 162.00199 170.00598 173.34198 181.34598 190.00998 193.34598 196.68198 207.34998 214.02198 220.69397 224.68997 231.36197 236.02997 239.36597 250.03397 257.36598 264.69798 271.36997 274.70597 278.70198 282.03797 292.70597 296.04197 303.37397 310.70597 314.04197 317.37797 324.70997 328.04597 336.70997 344.04197 348.70997 359.37797 366.04997 369.38597 372.72196 381.38597 388.71797 396.04997 399.38597 402.72196 414.04997 420.72196 424.05796 428.05397 431.38996 438.06196 445.39396 452.72596 456.06196 464.06596 468.06196 475.39396 482.72596 486.06196 496.72996 504.06196 511.39396 518.066">Table 48.I2S/SAI master mode timing in Normal Run, Wait and Stop modes</tspan><tspan y="-221.733" x="151.994 155.99 159.326 162.662 173.33 176.666 180.662 187.334 194.666 198.002 204.674 212.006 215.342 219.338 226.01 233.342 240.01399 243.34999 248.01799 254.68999 262.02198 269.35398 276.02598">(limited voltage range)</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="-202.512" x="71.746 78.244 83.743007 91.744">Num.</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" font-weight="bold"><tspan y="-202.512" x="192.987 199.485 204.984 209.98799 213.489 218.493 223.497 226.49399 231.49799 234.999 237.50099 242.50499 245.50199 248.00399">Characteristic</tspan></text>
<g clip-path="url(#clip_4)">
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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" font-weight="bold"><tspan y="-202.512" x="353.996 361.493 363.99504 369.49403">Min.</tspan></text>
<g clip-path="url(#clip_5)">
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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" font-weight="bold"><tspan y="-202.512" x="408.997 416.49403 421.49803 426.502">Max.</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" font-weight="bold"><tspan y="-202.512" x="494.256 500.754 506.253 508.755">Unit</tspan></text>
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</g>
<g clip-path="url(#clip_8)">
<path transform="matrix(1,0,0,1,54,580.75)" d="M56.25 .5H279.75V15.5H56.25Z" 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="-186.512" x="112.25 119.252 124.256 129.26 132.25699 137.26099 139.76299 141.76099 146.76499 151.76898 154.27098 158.77098 163.77498 165.77298 168.27498 173.27898 178.28298">Operating voltage</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="-186.512" x="336.25 341.254 343.756">2.7</tspan></text>
<g clip-path="url(#clip_10)">
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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="-186.512" x="392.25 397.254 399.756">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="-186.512" x="448.25">V</tspan></text>
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<path transform="matrix(1,0,0,1,54,596.5)" d="M.25 .25H55.75V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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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="-171.012" x="56.25 62.253">S1</tspan></text>
<g clip-path="url(#clip_13)">
<path transform="matrix(1,0,0,1,54,596.5)" d="M56.25 .25H279.75V15.25H56.25Z" 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="-171.012" x="112.25 114.752 119.756 125.758998 130.763 138.26 144.758 149.762 155.765 158.267 162.767 167.267 171.767 173.765 178.769 181.271 183.773 185.771 193.26799">I2S_MCLK cycle time</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="-171.012" x="336.25 341.254">40</tspan></text>
<g clip-path="url(#clip_15)">
<path transform="matrix(1,0,0,1,54,596.5)" d="M336.25 .25H391.75V15.25H336.25Z" 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="-171.012" x="392.25">&#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="-171.012" x="448.25 453.254">ns</tspan></text>
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<path transform="matrix(1,0,0,1,54,612)" d="M.25 .25H55.75V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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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="-155.512" x="56.25 62.253">S2</tspan></text>
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<path transform="matrix(1,0,0,1,54,612)" d="M56.25 .25H279.75V15.25H56.25Z" 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="-155.512" x="112.25 114.752 119.756 125.758998 130.763 138.26 144.758 149.762 155.765 158.267 163.271 168.275 170.273 174.773 179.777 182.27899 188.777 190.775 195.77899 198.28099 203.28499 205.78699 210.79099 212.78899 217.79299 222.79698 225.29898 227.29698 232.30098">I2S_MCLK pulse width high/low</tspan></text>
<g clip-path="url(#clip_19)">
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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="-155.512" x="336.25 341.254 346.258">45%</tspan></text>
<g clip-path="url(#clip_20)">
<path transform="matrix(1,0,0,1,54,612)" d="M336.25 .25H391.75V15.25H336.25Z" 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="-155.512" x="392.25 397.254 402.258">55%</tspan></text>
<g clip-path="url(#clip_21)">
<path transform="matrix(1,0,0,1,54,612)" d="M392.25 .25H503.75V15.25H392.25Z" 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="-155.512" x="448.25 455.747 462.245 467.249 473.25199 475.754 480.758 485.762 488.759 490.757 495.761">MCLK period</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="-140.012" x="56.25 62.253">S3</tspan></text>
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<path transform="matrix(1,0,0,1,54,627.5)" d="M56.25 .25H279.75V15.25H56.25Z" 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="-140.012" x="112.25 114.752 119.756 125.758998 130.763 136.262 142.265 147.269 153.272 159.77 164.774 170.77701 173.279 175.781 180.785 186.78801 191.792 198.29001 204.29302 209.29701 215.30002 221.79802 226.80202 232.80503 235.30702 239.80702 244.30702 248.80702 250.80503 255.80902 258.31105 260.81306 262.81105 270.30805 275.31205 277.81407 280.81108 285.81507 290.81907 293.32109 298.32508 303.32908 305.8311">I2S_TX_BCLK/I2S_RX_BCLK cycle time (output)</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="-140.012" x="336.25 341.254">80</tspan></text>
<g clip-path="url(#clip_25)">
<path transform="matrix(1,0,0,1,54,627.5)" d="M336.25 .25H391.75V15.25H336.25Z" 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="-140.012" x="392.25">&#x2014;</tspan></text>
<g clip-path="url(#clip_26)">
<path transform="matrix(1,0,0,1,54,627.5)" d="M392.25 .25H503.75V15.25H392.25Z" 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="-140.012" x="448.25 453.254">ns</tspan></text>
<g clip-path="url(#clip_27)">
<path transform="matrix(1,0,0,1,54,643)" d="M.25 .25H55.75V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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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="-124.512" x="56.25 62.253">S4</tspan></text>
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