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.
814 lines
63 KiB (Stored with Git LFS)
XML
814 lines
63 KiB (Stored with Git LFS)
XML
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<text xml:space="preserve" transform="matrix(1 0 0 1 48.884004 -190.25585)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="253.90564" x="241.12079 245.92319 249.92639 252.32399 253.9224 257.9256 261.9288 265.932 268.32963 272.33283">Peripheral</tspan><tspan y="262.90565" x="247.5216 251.52481 253.92241 255.52082 259.52403 263.52723">bridge</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 41.591073 -190.25585)" font-size="9.6" font-family="HelveticaLTStd"><tspan y="344.78318" x="254.17679 261.108 268.0392">CRC</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="146.2786" x="163.65598 170.98798 174.32398 181.65598 188.98798 193.65598 200.32798 203.66397 210.33597 214.33197 221.00397 227.67597 231.01197 234.34796 243.01197 251.67597 260.33998 263.67597 270.34797 277.67997 285.01197 289.00798 292.34397 299.67597 307.00798 311.67597 318.34797 322.34397 325.67997 333.01197">Figure 3-33. CRC configuration</tspan></text>
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<g clip-path="url(#clip_4)">
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<g clip-path="url(#clip_5)">
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<g clip-path="url(#clip_7)">
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<g clip-path="url(#clip_9)">
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 257.85 268.3614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="106.443 112.446 116.946 121.446 123.948 128.952 136.44899 138.95099 146.44799 151.45198 158.94898 163.95298 166.94997 171.44997 173.95197 181.44896 186.45296">System memory map</tspan></text>
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<g clip-path="url(#clip_12)">
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 257.85 283.8614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="108.684 114.687 119.690998 126.188999 131.193 134.18999 136.69199 144.18898 149.19298 154.19698 159.20098 164.20497 169.20897 176.70597 181.70996 186.71396">Power management</tspan></text>
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<path transform="matrix(1,0,0,1,54,281.6114)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M504.25004 15.5H201.5"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 353.3614)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 8.896001 13.344002 22.240002 26.688002">3.6.2</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 103.757328 353.3614)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="0 13.328001 26.656002 38.208005 49.760007 61.312009 65.76001 77.31201 87.08801 96.86401 102.19202 106.640018 116.416019 126.19202 132.41602 141.31201 146.64002 151.08802 160.86402">MMCAU Configuration</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="336.6114" x="-.006 8.548 15.548 19.44 24.886002 28.386002 33.832 40.048 46.264 50.156003 54.048006 61.048006 68.048007 71.548007 76.994 83.994 94.886 105.778 111.994 116.656009 120.548007 126.76401 132.98001 138.42601 141.92601 148.92601 155.92601 166.03401 169.53401 173.42601 180.42601 186.64202 190.14202 201.03401 208.03401 215.03401 222.03401 225.92601 232.14202 235.64202 242.64202 248.85802 254.30402 257.80403 264.80403 271.02003 277.23603 284.23603 287.73603 293.95204 300.95204 307.95204 312.614 316.506 323.506 330.506 335.168 341.384 348.384 351.884 355.776 362.776 366.276 370.168 377.168 383.384 386.884 393.1 400.1 403.992 410.992 414.492 417.992 425.776 432.776 437.438 440.938">This section summarizes how the module has been configured in the chip. For a</tspan><tspan y="352.6114" x="-.00599 6.2100107 13.210011 24.102013 31.102013 35.76401 41.98001 48.98001 55.19601 62.19601 67.64201 71.53401 78.53401 84.750019 88.250019 95.250019 101.46602 106.91202 113.12802 117.79002 121.68202 128.68202 132.57402 136.46602 143.46602 150.46602 153.96602 160.96602 165.62802 169.12802 173.02002 180.02002 186.23603 189.73603 200.62802 207.62802 214.62802 221.62802 225.52002 231.73603 235.23603 239.12802 243.02002 248.46602 254.68202 258.57405 263.23603 266.73603 270.23603 275.68205 281.89805 288.11405 291.61405 295.50605 302.50605 308.72206 312.22206 323.11405 330.11405 337.11405 344.11405 348.00605 354.22206 358.88404 364.33006 367.83006 374.83006 381.04606 388.04606 391.93806 398.15406 404.37007 408.26206 414.47807 421.47807 424.97807 431.19407 438.19407 444.41007 451.41007 455.30207 461.51808 466.18006">comprehensive description of the module itself, see the module’s dedicated chapter.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 40.023775 177.70555)" font-size="9.6" font-family="HelveticaLTStd"><tspan y="282.96128" x="240.11524 248.11203 256.10884 263.04005 269.44325">MMCAU</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 40.023775 177.70555)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="291.73387" x="165.42964 169.82884 172.22644 176.22965 180.23285 183.83286 185.83446 189.83766 192.23526">Transfers</tspan></text>
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<path transform="matrix(0,-1,1,0,40.023775,177.70555)" stroke-width=".504" stroke-linecap="butt" stroke-miterlimit="3" stroke-linejoin="miter" fill="none" stroke="#000000" d="M-312.31526 137.6596H-250.04969V158.39368H-312.31526Z"/>
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<text xml:space="preserve" transform="matrix(0 -1 1 0 40.023775 177.70555)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="146.05168" x="-306.81117 -302.00877 -296.81037 -290.81278 -288.8112 -283.6128 -279.6096 -277.21199 -275.2104 -271.20719 -267.60719 -265.6056 -259.608">ARM Cortex M4</tspan><tspan y="155.05168" x="-289.01274 -283.81434 -279.81114 -277.4135">Core</tspan></text>
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<path transform="matrix(.3,0,0,.3,202.49556,458.888)" d="M0 0 4-4-10 0 4 4 0 0Z" fill-rule="evenodd"/>
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<path transform="matrix(.3,0,0,.3,202.49556,458.888)" stroke-width="1" stroke-linecap="butt" stroke-miterlimit="4" stroke-linejoin="miter" fill="none" stroke="#000000" d="M0 0 4-4-10 0 4 4 0 0Z"/>
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<path transform="matrix(-.3,0,0,-.3,240.69286,458.888)" d="M0 0 4-4-10 0 4 4 0 0Z" fill-rule="evenodd"/>
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<path transform="matrix(-.3,0,0,-.3,240.69286,458.888)" stroke-width="1" stroke-linecap="butt" stroke-miterlimit="4" stroke-linejoin="miter" fill="none" stroke="#000000" d="M0 0 4-4-10 0 4 4 0 0Z"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 40.023775 177.70555)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="275.73387" x="174.1921 178.99449 183.79689">PPB</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="459.72859" x="153.65998 160.99198 164.32798 171.65998 178.99198 183.65998 190.33197 193.66797 200.33997 204.33597 211.00797 217.67996 221.01596 224.35196 234.34796 244.34397 253.00797 261.67198 270.33598 273.67198 280.34397 287.67597 295.00798 299.00398 302.33998 309.67198 317.00398 321.67198 328.34397 332.33998 335.67597 343.00798">Figure 3-34. MMCAU configuration</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 149.50003 528.3114)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="13.968 21.3 27.972 35.304 38.64 45.312 48.648004 55.320005 59.316 65.98801 72.66 84.996 93.66 100.332 104.328 111 115.668 122.34 129.672 136.344 143.01599 146.35199 149.68799 153.02399 160.35599 167.02799 173.69998 177.03598 181.03199 188.36399 191.69998 196.36798 203.03998 206.37598 213.04798 217.04398 223.71598 231.04798 234.38397 237.71997 245.05197 249.04798 256.37998 261.04798 271.71598 278.38798 282.38398 285.71998 293.05198">Table 3-44.Reference links to related information</tspan></text>
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<g clip-path="url(#clip_47)">
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<path transform="matrix(1,0,0,1,54,547.8114)" d="M101.3 .5H201.1V15.5H101.3Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.3 550.3114)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="15.39 21.888 26.892003 29.394003 34.398004 37.395006 42.399007 47.898008 50.400007 58.401006 63.900007 69.399 74.898 77.4">Related module</tspan></text>
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<g clip-path="url(#clip_48)">
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<path transform="matrix(1,0,0,1,54,547.8114)" d="M202.1 .5H503.50004V15.5H202.1Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 258.1 550.3114)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="127.944 134.442 139.446 142.443 147.44699 150.948 155.952 161.45099 166.45499">Reference</tspan></text>
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<g clip-path="url(#clip_49)">
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<path transform="matrix(1,0,0,1,54,563.8114)" d="M.25 .5H100.55V15.5H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 566.3114)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="17.892 23.391 28.395 30.393002 32.391004 34.893 39.897005 44.901006 49.401006 53.901006 56.898008 58.896009 63.90001 66.40201 68.40001 73.40401">Full description</tspan></text>
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<g clip-path="url(#clip_50)">
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<path transform="matrix(1,0,0,1,54,563.8114)" d="M101.05 .5H201.35V15.5H101.05Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 566.3114)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="31.158 38.655004 46.152006 52.650007 58.653009">MMCAU</tspan></text>
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<g clip-path="url(#clip_51)">
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<path transform="matrix(1,0,0,1,54,563.8114)" d="M201.85 .5H503.75004V15.5H201.85Z" fill="#ffffff" fill-rule="evenodd"/>
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 257.85 566.3114)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="131.958 139.45499 146.95198 153.44998 159.45299">MMCAU</tspan></text>
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<g clip-path="url(#clip_52)">
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<path transform="matrix(1,0,0,1,54,579.5614)" d="M.25 .25H100.55V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 581.8114)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="5.643 11.646 16.146 20.646 23.148 28.152 35.649003 38.151 45.648004 50.652006 58.149007 63.153009 66.15001 70.65001 73.15201 80.64901 85.65301">System memory map</tspan></text>
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<g clip-path="url(#clip_53)">
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<path transform="matrix(1,0,0,1,54,579.5614)" d="M101.05 .25H201.35V15.25H101.05Z" fill="#ffffff" fill-rule="evenodd"/>
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<g clip-path="url(#clip_54)">
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<path transform="matrix(1,0,0,1,54,579.5614)" d="M201.85 .25H503.75004V15.25H201.85Z" fill="#ffffff" fill-rule="evenodd"/>
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</g>
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 257.85 581.8114)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="106.443 112.446 116.946 121.446 123.948 128.952 136.44899 138.95099 146.44799 151.45198 158.94898 163.95298 166.94997 171.44997 173.95197 181.44896 186.45296">System memory map</tspan></text>
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<g clip-path="url(#clip_55)">
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<path transform="matrix(1,0,0,1,54,595.0614)" d="M.25 .25H100.55V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 597.3114)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.897 37.395 39.393 44.397005 48.897005 53.397005 55.395006 60.399007">Clocking</tspan></text>
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<g clip-path="url(#clip_56)">
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<path transform="matrix(1,0,0,1,54,595.0614)" d="M101.05 .25H201.35V15.25H101.05Z" fill="#ffffff" fill-rule="evenodd"/>
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</g>
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<g clip-path="url(#clip_57)">
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<path transform="matrix(1,0,0,1,54,595.0614)" d="M201.85 .25H503.75004V15.25H201.85Z" fill="#ffffff" fill-rule="evenodd"/>
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</g>
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 257.85 597.3114)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="113.949 120.447 122.445 127.449 131.949 136.449 138.951 145.449 147.447 151.947 154.449 157.446 159.444 164.448 169.452 171.954 173.952 178.956">Clock Distribution</tspan></text>
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<g clip-path="url(#clip_58)">
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<path transform="matrix(1,0,0,1,54,610.5614)" d="M.25 .25H100.55V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 612.8114)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="7.884 13.887 18.891 25.389002 30.393002 33.390005 35.892004 43.389005 48.393007 53.397008 58.40101 63.40501 68.40901 75.90601 80.91001 85.91401">Power Management</tspan></text>
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<g clip-path="url(#clip_59)">
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<path transform="matrix(1,0,0,1,54,610.5614)" d="M101.05 .25H201.35V15.25H101.05Z" fill="#ffffff" fill-rule="evenodd"/>
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</g>
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<g clip-path="url(#clip_60)">
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<path transform="matrix(1,0,0,1,54,610.5614)" d="M201.85 .25H503.75004V15.25H201.85Z" fill="#ffffff" fill-rule="evenodd"/>
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 257.85 612.8114)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="108.684 114.687 119.690998 126.188999 131.193 134.18999 136.69199 144.18898 149.19298 154.19698 159.20098 164.20497 169.20897 176.70597 181.70996 186.71396">Power Management</tspan></text>
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<g clip-path="url(#clip_61)">
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<path transform="matrix(1,0,0,1,54,626.0614)" d="M.25 .25H100.55V42.65H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 628.3114)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="29.151 34.649999 37.647 42.651 47.655004 52.155004 54.657 59.661005 62.658006">Transfers</tspan><tspan y="24.23789" x="3.3840085 9.387009 12.384008 14.382009 18.882008 23.88601 26.38801 31.39201 33.89401 39.89701 44.901014 47.898015 49.896017 54.900018 59.90402 64.90802 67.90502 72.90902 74.90702 77.40902 83.41202 88.416019">Private Peripheral Bus</tspan><tspan y="35.237894" x="36.14402 39.14102 45.14402 51.14702 57.150018">(PPB)</tspan></text>
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<g clip-path="url(#clip_62)">
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<path transform="matrix(1,0,0,1,54,626.0614)" d="M101.05 .25H201.35V42.65H101.05Z" fill="#ffffff" fill-rule="evenodd"/>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 628.3114)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="5.148 11.151 17.649 25.146 27.648 34.146 39.15 42.147005 44.649003 49.653005 54.153005 56.655004 64.152 69.156 71.658 78.156 83.159999 86.157">ARM Cortex M4 Core</tspan></text>
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<g clip-path="url(#clip_63)">
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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="25.87323" x="0 6.0030004 11.007001 16.011002 21.510003 25.011002 27.513003 30.510003">Security</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.01399 137.234 142.79399 148.35399 151.13399 157.80399 163.91399 170.02399 173.35399 179.46399 185.02399 193.91399 196.69399 199.47399 205.03398 207.81398 215.03398 220.59398 223.92398 229.48398 233.37398 238.93398 245.04398 250.60398 256.16398 258.94398 267.27397 272.83396 278.94395 285.05393 290.61393 293.39393 296.17393 298.95393 306.17393 311.73393 317.2939 320.0739 322.8539 328.4139 331.1939 336.7539 342.8639 348.97389 351.75389 357.31388 362.87388 368.43388">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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