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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_271.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

1120 lines
89 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54.000009)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="163.73673" x="232.55399 242.66199 253.55399 262.10798">NOTE</tspan></text>
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</g>
<g clip-path="url(#clip_72)">
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<g clip-path="url(#clip_73)">
<path transform="matrix(1,0,0,1,53.999986,413.25004)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M252.10002 53.9H151.1"/>
</g>
<g clip-path="url(#clip_74)">
<path transform="matrix(1,0,0,1,53.999986,413.25004)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M151.20001 54.15V-.1"/>
</g>
<g clip-path="url(#clip_75)">
<path transform="matrix(1,0,0,1,53.999986,413.25004)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M504-.1V54.15"/>
</g>
<g clip-path="url(#clip_76)">
<path transform="matrix(1,0,0,1,53.999986,413.25004)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M504.25 53.9H251.90001"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999986 528.2001)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 9.452001 18.904002 23.630002">11.5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.255359 528.2001)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="0 14.161001 23.613003 38.726007 49.113008 55.726007 65.17801 69.90401 85.017009 94.46901 104.85601 109.58201 119.03401 129.421 139.808 144.534 151.147 160.599 170.986 175.71199 185.16399 190.82498 200.27698 206.88999 211.61598 222.00298 231.45497 237.11597 241.84197 252.22896 256.95497 262.61598 267.34199 277.72898">Memory map and register definition</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999986 54.00006)" font-size="14" font-family="TimesLTStd"><tspan y="511.45" x="-.00399 10.104011 17.104012 24.104012 27.604012 32.26601 38.48201 44.69801 51.69801 55.19801 62.19801 66.86001 70.36001 80.46801 85.13001 89.02201 92.91401 99.13001 102.63001 108.846019 115.06202 121.27802 127.494029 132.94004 138.38603 141.88603 145.77803 152.77803 156.27803 160.17003 167.17003 173.38603 176.88603 184.67003 194.77803 204.11603 212.67003 216.17003 227.06203 233.27803 244.17003 251.17003 255.83203 262.83204 266.33204 271.77806 278.77806 284.99406 291.21006 297.42607 300.92607 304.81806 311.81806 318.03407 321.92607 325.42607 329.31806 334.76408 338.26408 345.26408 352.26408 356.15608 361.60209 365.49409 372.49409 378.71009 382.21009 386.10209 393.10209 399.31809 402.81809 409.81809 416.0341 419.9261 423.81809 430.81809 434.31809 445.21009 451.4261 462.31809 469.31809 473.98008">Any read or write access to the PORT memory space that is outside the valid memory</tspan><tspan y="527.44998" x="-.00399 10.888011 17.104012 24.104012 27.604012 32.26601 38.48201 43.92801 50.92801 54.82001 58.712015 64.15801 67.65801 71.55001 78.55001 82.05001 88.266017 91.766017 98.766017 105.766017 111.21201 114.71201 120.92802 125.59002 130.25202 137.25202 141.91402 145.41402 148.91402 159.02202 162.91402 166.80602 170.30602 174.96802 181.18402 188.18402 192.07602 197.52202 201.41402 207.63002 212.29203 215.79203 222.00803 228.22403 234.44004 240.65604 246.10204 251.54804 257.76405 263.21006 266.71006 272.92607 279.92607 290.81806 297.81806 301.71006 307.92607 311.81806 318.03407 321.53407 331.64207 335.53407 339.42607 346.42607 349.92607 356.14207 362.35807 367.02006 374.02006 377.52006 387.62806 393.84407 397.73606 401.62806 405.12806 410.57408 414.46607 420.68208 424.57408 430.79008 436.23609">map results in a bus error. All register accesses complete with zero wait states.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999986 595.60006)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="196.31603 204.32003 213.65602 222.32003 229.65203 232.98802 243.65602 250.32802 260.99604 268.32804 272.99604 279.66804 283.00404 293.67204 300.34403">PORT memory map</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.499986 617.35006)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="8.487 14.985001 20.484002 25.488003 30.987004 33.489004 38.988004 41.985006">Absolute</tspan><tspan y="18.83789" x="10.485001 15.489001 20.988 26.487002 29.988 34.992 39.996004">address</tspan><tspan y="29.83789" x="16.992 19.989 25.488 30.492 35.496004">(hex)</tspan></text>
<g clip-path="url(#clip_78)">
<path transform="matrix(1,0,0,1,53.999986,614.85006)" d="M60.98 .5H306.94V37.5H60.98Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 116.97998 617.35006)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="18.83789" x="89.973 96.471 101.475 106.974 109.476 114.479999 117.477 122.480998 125.981998 128.484 133.98299 138.98699 146.98799">Register name</tspan></text>
<g clip-path="url(#clip_79)">
<path transform="matrix(1,0,0,1,53.99998,614.85006)" d="M307.94 .5H347.26V37.5H307.94Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 363.93998 617.35006)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="13.33789" x="5.166 13.662001 16.164002 21.663002 24.660002">Width</tspan><tspan y="24.33789" x="1.4129999 4.41 6.912 12.411 14.913 20.412 22.914002 25.911002 30.915">(in bits)</tspan></text>
<g clip-path="url(#clip_80)">
<path transform="matrix(1,0,0,1,53.99997,614.85006)" d="M348.26 .5H387.58003V37.5H348.26Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 404.25999 617.35006)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="18.83789" x="1.899 8.397 13.401001 18.405003 23.409005 28.413006">Access</tspan></text>
<g clip-path="url(#clip_81)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 444.58 617.35006)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="18.83789" x="2.727 9.225 14.229001 19.233002 24.237004 27.234004 29.736004 34.740007 39.744009 42.246007 47.745008">Reset value</tspan></text>
<g clip-path="url(#clip_82)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 505.06 617.35006)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="13.33789" x="7.713 13.716 18.720002 23.724003 26.721003 29.223004 34.722005 40.221006">Section/</tspan><tspan y="24.33789" x="14.715 20.214 25.218003 30.717003">page</tspan></text>
<g clip-path="url(#clip_83)">
<path transform="matrix(1,0,0,1,53.99997,652.85006)" d="M.25 .5H60.23V15.5H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.24997 655.35006)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="5.472 10.476001 15.480001 20.484002 25.488003 30.492005 35.496007 40.500009 45.50401">4004_9000</tspan></text>
<g clip-path="url(#clip_84)">
<path transform="matrix(1,0,0,1,53.99997,652.85006)" d="M60.73 .5H307.19V15.5H60.73Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 116.729969 655.35006)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.001 13.005001 15.507002 22.005003 27.009003 32.013006 34.515005 37.512006 42.516008 44.514009 47.016008 53.514009 58.51801 63.52201 65.52001 70.02001 72.52201 77.52601 80.52301 83.02501 88.02901 90.531009 93.52801 99.531009 106.533008 113.031009 118.53001 124.533008 129.537 135.54001 142.03801 148.53601 153.54001">Pin Control Register n (PORTA_PCR0)</tspan></text>
<g clip-path="url(#clip_85)">
<path transform="matrix(1,0,0,1,53.999967,652.85006)" d="M307.69 .5H347.51V15.5H307.69Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 363.68998 655.35006)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="12.906 17.91">32</tspan></text>
<g clip-path="url(#clip_86)">
<path transform="matrix(1,0,0,1,53.99997,652.85006)" d="M348.01 .5H387.83003V15.5H348.01Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 404.00999 655.35006)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="9.162 15.66 18.162">R/W</tspan></text>
<g clip-path="url(#clip_87)">
<path transform="matrix(1,0,0,1,53.99997,652.85006)" d="M388.33003 .5H448.31004V15.5H388.33003Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 444.33 655.35006)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="4.482 10.485001 15.489001 20.493002 22.995003 27.495003 32.499006 36.999006 39.501005 41.499006 46.503007">See section</tspan></text>
<g clip-path="url(#clip_88)">
<path transform="matrix(1,0,0,1,53.99997,652.85006)" d="M448.81004 .5H503.75004V15.5H448.81004Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 504.81 655.35006)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="4.203 9.207001 14.211001 16.713002 21.717003 24.219004 29.223004 31.725005 36.729005 41.733007">11.5.1/277</tspan></text>
<g clip-path="url(#clip_89)">
<path transform="matrix(1,0,0,1,53.99997,668.60006)" d="M.25 .25H60.23V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.24997 670.85006)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="5.472 10.476001 15.480001 20.484002 25.488003 30.492005 35.496007 40.500009 45.50401">4004_9004</tspan></text>
<g clip-path="url(#clip_90)">
<path transform="matrix(1,0,0,1,53.99997,668.60006)" d="M60.73 .25H307.19V15.25H60.73Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 116.729969 670.85006)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.001 13.005001 15.507002 22.005003 27.009003 32.013006 34.515005 37.512006 42.516008 44.514009 47.016008 53.514009 58.51801 63.52201 65.52001 70.02001 72.52201 77.52601 80.52301 83.02501 88.02901 90.531009 93.52801 99.531009 106.533008 113.031009 118.53001 124.533008 129.537 135.54001 142.03801 148.53601 153.54001">Pin Control Register n (PORTA_PCR1)</tspan></text>
<g clip-path="url(#clip_91)">
<path transform="matrix(1,0,0,1,53.999967,668.60006)" d="M307.69 .25H347.51V15.25H307.69Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 363.68998 670.85006)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="12.906 17.91">32</tspan></text>
<g clip-path="url(#clip_92)">
<path transform="matrix(1,0,0,1,53.99997,668.60006)" d="M348.01 .25H387.83003V15.25H348.01Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 404.00999 670.85006)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="9.162 15.66 18.162">R/W</tspan></text>
<g clip-path="url(#clip_93)">
<path transform="matrix(1,0,0,1,53.99997,668.60006)" d="M388.33003 .25H448.31004V15.25H388.33003Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 444.33 670.85006)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="4.482 10.485001 15.489001 20.493002 22.995003 27.495003 32.499006 36.999006 39.501005 41.499006 46.503007">See section</tspan></text>
<g clip-path="url(#clip_94)">
<path transform="matrix(1,0,0,1,53.99997,668.60006)" d="M448.81004 .25H503.75004V15.25H448.81004Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 504.81 670.85006)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="4.203 9.207001 14.211001 16.713002 21.717003 24.219004 29.223004 31.725005 36.729005 41.733007">11.5.1/277</tspan></text>
<g clip-path="url(#clip_95)">
<path transform="matrix(1,0,0,1,53.99997,684.10006)" d="M.25 .25H60.23V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.24997 686.35006)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="5.472 10.476001 15.480001 20.484002 25.488003 30.492005 35.496007 40.500009 45.50401">4004_9008</tspan></text>
<g clip-path="url(#clip_96)">
<path transform="matrix(1,0,0,1,53.99997,684.10006)" d="M60.73 .25H307.19V15.25H60.73Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 116.729969 686.35006)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.001 13.005001 15.507002 22.005003 27.009003 32.013006 34.515005 37.512006 42.516008 44.514009 47.016008 53.514009 58.51801 63.52201 65.52001 70.02001 72.52201 77.52601 80.52301 83.02501 88.02901 90.531009 93.52801 99.531009 106.533008 113.031009 118.53001 124.533008 129.537 135.54001 142.03801 148.53601 153.54001">Pin Control Register n (PORTA_PCR2)</tspan></text>
<g clip-path="url(#clip_97)">
<path transform="matrix(1,0,0,1,53.999967,684.10006)" d="M307.69 .25H347.51V15.25H307.69Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 363.68998 686.35006)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="12.906 17.91">32</tspan></text>
<g clip-path="url(#clip_98)">
<path transform="matrix(1,0,0,1,53.99997,684.10006)" d="M348.01 .25H387.83003V15.25H348.01Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 404.00999 686.35006)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="9.162 15.66 18.162">R/W</tspan></text>
<g clip-path="url(#clip_99)">
<path transform="matrix(1,0,0,1,53.99997,684.10006)" d="M388.33003 .25H448.31004V15.25H388.33003Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 444.33 686.35006)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="4.482 10.485001 15.489001 20.493002 22.995003 27.495003 32.499006 36.999006 39.501005 41.499006 46.503007">See section</tspan></text>
<g clip-path="url(#clip_100)">
<path transform="matrix(1,0,0,1,53.99997,684.10006)" d="M448.81004 .25H503.75004V15.25H448.81004Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 504.81 686.35006)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="4.203 9.207001 14.211001 16.713002 21.717003 24.219004 29.223004 31.725005 36.729005 41.733007">11.5.1/277</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.99997 700.35006)" font-size="9" font-family="HelveticaLTStd"><tspan y="11.85" x="180.963 185.967 190.971 196.46999 198.46799 203.47199 205.97399 210.97798 215.98198 220.98598 223.48798 225.48598 230.48998 235.49398 240.49797 244.99797 247.49997 252.50397 257.50798 260.00999 262.512 267.516 272.52 275.022 280.026 285.03 289.53 292.032 294.53404 300.03303 305.03703 310.536 315.54 318.04203 320.54405">Table continues on the next page...</tspan></text>
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</g>
<g clip-path="url(#clip_102)">
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</g>
<g clip-path="url(#clip_103)">
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</g>
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</g>
<g clip-path="url(#clip_105)">
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</g>
<g clip-path="url(#clip_106)">
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</g>
<g clip-path="url(#clip_107)">
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</g>
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</g>
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</g>
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</g>
<g clip-path="url(#clip_111)">
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</g>
<g clip-path="url(#clip_112)">
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</g>
<g clip-path="url(#clip_113)">
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</g>
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</g>
<g clip-path="url(#clip_115)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.99997 18.000061)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01034" x="307.47599 313.97398 319.47297 324.47697 329.97596 332.97297 337.97697 341.47798 343.97999 348.98399 353.98799 356.49 362.49299 367.99198 371.49299 374.49 376.992 381.996 387.495 392.994 395.991 399.492 404.991 407.493 409.99504 414.99903 420.49803 425.997 428.49903 431.00105 436.50004 439.49705 444.50105 448.00205 451.50306 457.00205 462.50105 465.49806 470.50205 473.00407 476.00108 482.00407 489.00608 495.50407 501.00306">Chapter 11 Port control and interrupts (PORT)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.99997 734.9387)" 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>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.99997 751.75607)" 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 1 220.31998 751.75607)" 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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