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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_628.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

506 lines
62 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)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.3" x="129.65999 136.99199 146.98799 155.652 162.32399 170.32799 177.65999 186.32399 194.32799 202.99199 206.32799 210.32399 213.65999 220.33199 223.66799 230.99999 234.33599 241.66799 248.33998 255.01198 261.684 266.352 269.688 277.02 281.016 284.352 291.684 299.016 305.688 309.024 313.02 319.692 327.024 334.356 338.352 341.688 349.02 356.352 363.024 370.356">FMC_PFAPR field descriptions (continued)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 173.43283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.4970009 12.501001 17.001002 19.503003 24.507004 27.504004 30.006005 35.010007 37.512006 43.515008 46.51201 51.51601 54.01801 59.02201 61.52401 66.02401 71.02801 73.53001 80.02801 82.02601 86.52601 91.53001 96.534008 98.532009">Master 2 Prefetch Disable</tspan><tspan y="28.83789" x="0 5.499 10.503 15.507001 20.007 25.011002 27.513003 32.517004 34.515005 37.017004 41.517004 44.019 48.519 53.523004 58.527006 61.029005 64.026 69.03 71.028 73.53 80.028 85.032 90.035999 92.537998 97.54199 102.54599 105.54299 108.04499 113.04899 116.04599 121.04999 123.55199 128.55599 131.05799 135.55799 140.56198 142.55998 147.56398 152.56798 155.06998 157.06798 161.56798 164.06998 169.07398 174.07798 179.08197 184.08597 186.08397 191.08797 196.09197 198.59397 203.59796 208.60196 213.10196 218.10596 223.10996 225.61196 230.61595 235.61995 238.12195 240.62395 245.62795 250.63195 253.13394 255.13195 260.13597 265.13996 267.13795 271.63795 276.64195 278.63993 281.14195 286.14595 291.14994 298.64695 303.65095 308.65495 311.65196 314.15397 319.15797 321.65998 324.162 326.664 331.668 336.672 339.174 342.17103 347.17503 352.17903 357.183 362.187 366.687 369.18904 371.187 376.191 381.195 383.69703 388.19703 391.19404 396.19804 400.69804 405.19804 410.20204 415.20603">These bits control whether prefetching is enabled based on the logical number of the requesting crossbar</tspan><tspan y="39.83789" x="0 4.5 10.998001 12.996001 15.498001 19.998002 25.002003 27.504004 35.001005 40.005006 44.505006 47.007005 52.011007 55.008008 57.510007 60.012006 65.511 70.515 72.513 77.013 79.515 82.017 84.015 89.019 91.017 96.020999 98.522998 100.520999 105.020999 107.522998 110.024997 115.02899 118.02599 120.52799 125.53199 130.536 133.53299 136.03499 141.03899 146.04299 151.04698 153.04499 155.04299 157.54499 159.54299 164.54698 169.55098 172.05298 177.05698 181.55698 184.05898 186.56098 191.56497 196.56897 199.07097 205.07398 210.57297 216.57598 221.57997 228.07798 234.57598 237.07798 243.08098 247.58098 254.07898 260.08198 266.08497 268.58699 274.58998 279.08998 281.59199 287.59498 293.59797 296.09999 298.602 303.606 305.60398 308.106 312.606">switch master. This field is further qualified by the PFBnCR[BxDPE,BxIPE] bits.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 226.43283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 226.43283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 9 14.004001 16.506 21.510003 24.012003 28.512003 33.516004 35.514005 40.518007 45.522008 48.024007 50.526006 55.530008 58.527009 61.029008 63.531007 68.535 70.533008 75.033008 77.535 85.032009 90.036 94.536 97.038 102.042 105.039 107.541 109.539 114.039 116.541 121.545 126.548999 131.553 136.55699 138.555 143.55899 148.56299">Prefetching for this master is enabled.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 237.43283)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 237.43283)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.0030004 9 14.004001 16.506 21.510003 24.012003 28.512003 33.516004 35.514005 40.518007 45.522008 48.024007 50.526006 55.530008 58.527009 61.029008 63.531007 68.535 70.533008 75.033008 77.535 85.032009 90.036 94.536 97.038 102.042 105.039 107.541 109.539 114.039 116.541 121.545 123.543 128.043 133.047 138.051 140.049 145.053 150.05699">Prefetching for this master is disabled.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 254.93283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.546 35.55">17</tspan><tspan y="18.83789" x="20.304 27.801003 32.805006 38.808008 44.307008">M1PFD</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 254.93283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.4970009 12.501001 17.001002 19.503003 24.507004 27.504004 30.006005 35.010007 37.512006 43.515008 46.51201 51.51601 54.01801 59.02201 61.52401 66.02401 71.02801 73.53001 80.02801 82.02601 86.52601 91.53001 96.534008 98.532009">Master 1 Prefetch Disable</tspan><tspan y="28.83789" x="0 5.499 10.503 15.507001 20.007 25.011002 27.513003 32.517004 34.515005 37.017004 41.517004 44.019 48.519 53.523004 58.527006 61.029005 64.026 69.03 71.028 73.53 80.028 85.032 90.035999 92.537998 97.54199 102.54599 105.54299 108.04499 113.04899 116.04599 121.04999 123.55199 128.55599 131.05799 135.55799 140.56198 142.55998 147.56398 152.56798 155.06998 157.06798 161.56798 164.06998 169.07398 174.07798 179.08197 184.08597 186.08397 191.08797 196.09197 198.59397 203.59796 208.60196 213.10196 218.10596 223.10996 225.61196 230.61595 235.61995 238.12195 240.62395 245.62795 250.63195 253.13394 255.13195 260.13597 265.13996 267.13795 271.63795 276.64195 278.63993 281.14195 286.14595 291.14994 298.64695 303.65095 308.65495 311.65196 314.15397 319.15797 321.65998 324.162 326.664 331.668 336.672 339.174 342.17103 347.17503 352.17903 357.183 362.187 366.687 369.18904 371.187 376.191 381.195 383.69703 388.19703 391.19404 396.19804 400.69804 405.19804 410.20204 415.20603">These bits control whether prefetching is enabled based on the logical number of the requesting crossbar</tspan><tspan y="39.83789" x="0 4.5 10.998001 12.996001 15.498001 19.998002 25.002003 27.504004 35.001005 40.005006 44.505006 47.007005 52.011007 55.008008 57.510007 60.012006 65.511 70.515 72.513 77.013 79.515 82.017 84.015 89.019 91.017 96.020999 98.522998 100.520999 105.020999 107.522998 110.024997 115.02899 118.02599 120.52799 125.53199 130.536 133.53299 136.03499 141.03899 146.04299 151.04698 153.04499 155.04299 157.54499 159.54299 164.54698 169.55098 172.05298 177.05698 181.55698 184.05898 186.56098 191.56497 196.56897 199.07097 205.07398 210.57297 216.57598 221.57997 228.07798 234.57598 237.07798 243.08098 247.58098 254.07898 260.08198 266.08497 268.58699 274.58998 279.08998 281.59199 287.59498 293.59797 296.09999 298.602 303.606 305.60398 308.106 312.606">switch master. This field is further qualified by the PFBnCR[BxDPE,BxIPE] bits.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 307.93284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 307.93284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 9 14.004001 16.506 21.510003 24.012003 28.512003 33.516004 35.514005 40.518007 45.522008 48.024007 50.526006 55.530008 58.527009 61.029008 63.531007 68.535 70.533008 75.033008 77.535 85.032009 90.036 94.536 97.038 102.042 105.039 107.541 109.539 114.039 116.541 121.545 126.548999 131.553 136.55699 138.555 143.55899 148.56299">Prefetching for this master is enabled.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 318.93284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 318.93284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.0030004 9 14.004001 16.506 21.510003 24.012003 28.512003 33.516004 35.514005 40.518007 45.522008 48.024007 50.526006 55.530008 58.527009 61.029008 63.531007 68.535 70.533008 75.033008 77.535 85.032009 90.036 94.536 97.038 102.042 105.039 107.541 109.539 114.039 116.541 121.545 123.543 128.043 133.047 138.051 140.049 145.053 150.05699">Prefetching for this master is disabled.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 336.4328)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.546 35.55">16</tspan><tspan y="18.83789" x="20.304 27.801003 32.805006 38.808008 44.307008">M0PFD</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 336.4328)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.4970009 12.501001 17.001002 19.503003 24.507004 27.504004 30.006005 35.010007 37.512006 43.515008 46.51201 51.51601 54.01801 59.02201 61.52401 66.02401 71.02801 73.53001 80.02801 82.02601 86.52601 91.53001 96.534008 98.532009">Master 0 Prefetch Disable</tspan><tspan y="28.83789" x="0 5.499 10.503 15.507001 20.007 25.011002 27.513003 32.517004 34.515005 37.017004 41.517004 44.019 48.519 53.523004 58.527006 61.029005 64.026 69.03 71.028 73.53 80.028 85.032 90.035999 92.537998 97.54199 102.54599 105.54299 108.04499 113.04899 116.04599 121.04999 123.55199 128.55599 131.05799 135.55799 140.56198 142.55998 147.56398 152.56798 155.06998 157.06798 161.56798 164.06998 169.07398 174.07798 179.08197 184.08597 186.08397 191.08797 196.09197 198.59397 203.59796 208.60196 213.10196 218.10596 223.10996 225.61196 230.61595 235.61995 238.12195 240.62395 245.62795 250.63195 253.13394 255.13195 260.13597 265.13996 267.13795 271.63795 276.64195 278.63993 281.14195 286.14595 291.14994 298.64695 303.65095 308.65495 311.65196 314.15397 319.15797 321.65998 324.162 326.664 331.668 336.672 339.174 342.17103 347.17503 352.17903 357.183 362.187 366.687 369.18904 371.187 376.191 381.195 383.69703 388.19703 391.19404 396.19804 400.69804 405.19804 410.20204 415.20603">These bits control whether prefetching is enabled based on the logical number of the requesting crossbar</tspan><tspan y="39.83789" x="0 4.5 10.998001 12.996001 15.498001 19.998002 25.002003 27.504004 35.001005 40.005006 44.505006 47.007005 52.011007 55.008008 57.510007 60.012006 65.511 70.515 72.513 77.013 79.515 82.017 84.015 89.019 91.017 96.020999 98.522998 100.520999 105.020999 107.522998 110.024997 115.02899 118.02599 120.52799 125.53199 130.536 133.53299 136.03499 141.03899 146.04299 151.04698 153.04499 155.04299 157.54499 159.54299 164.54698 169.55098 172.05298 177.05698 181.55698 184.05898 186.56098 191.56497 196.56897 199.07097 205.07398 210.57297 216.57598 221.57997 228.07798 234.57598 237.07798 243.08098 247.58098 254.07898 260.08198 266.08497 268.58699 274.58998 279.08998 281.59199 287.59498 293.59797 296.09999 298.602 303.606 305.60398 308.106 312.606">switch master. This field is further qualified by the PFBnCR[BxDPE,BxIPE] bits.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 389.4328)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 389.4328)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 9 14.004001 16.506 21.510003 24.012003 28.512003 33.516004 35.514005 40.518007 45.522008 48.024007 50.526006 55.530008 58.527009 61.029008 63.531007 68.535 70.533008 75.033008 77.535 85.032009 90.036 94.536 97.038 102.042 105.039 107.541 109.539 114.039 116.541 121.545 126.548999 131.553 136.55699 138.555 143.55899 148.56299">Prefetching for this master is enabled.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 400.4328)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 400.4328)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.0030004 9 14.004001 16.506 21.510003 24.012003 28.512003 33.516004 35.514005 40.518007 45.522008 48.024007 50.526006 55.530008 58.527009 61.029008 63.531007 68.535 70.533008 75.033008 77.535 85.032009 90.036 94.536 97.038 102.042 105.039 107.541 109.539 114.039 116.541 121.545 123.543 128.043 133.047 138.051 140.049 145.053 150.05699">Prefetching for this master is disabled.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 417.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="23.04 28.044003 33.048006 38.052007 43.056009">15&#x2013;14</tspan><tspan y="18.83789" x="14.535011 22.032013 27.036015 33.039018 39.042016 41.544015 46.548017 49.050016 54.054018">M7AP[1:0]</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 417.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.4970009 12.501001 17.001002 19.503003 24.507004 27.504004 30.006005 35.010007 37.512006 43.515008 48.015008 52.515008 57.51901 62.01901 66.51901 69.02101 75.02401 78.02101 83.02501 85.52701 90.531009 95.031009 97.533008 99.531009 104.535">Master 7 Access Protection</tspan><tspan y="28.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 43.011007 48.015008 53.01901 55.521009 58.51801 63.52201 65.52001 70.02001 72.52201 79.02001 84.02401 89.02801 91.53001 96.534008 101.538 104.535 107.037 110.034008 115.038 120.042 125.046 127.548 132.552 137.556 142.56 145.062 151.56 154.55699 156.555 159.05699 164.06099 166.56299 171.56699 176.06699 180.56699 185.57099 190.07099 194.57099 197.07299 199.57498 204.57898 207.08098 209.58298 214.58698 219.59098 222.09297 224.59497 226.59297 231.59697 236.09697 241.10097 243.60297 248.60697 251.60396 256.60798 259.11 264.11399 266.11198 268.10997 273.11396 279.61195 284.61595 289.61994 292.12196 297.12596 302.12995 306.62995 311.63395 316.63795 319.13996 324.14396 329.14796 331.64997 334.15199 339.15599 344.15998 346.662 348.65998 353.66398 358.66798 360.66596 365.16596 370.16996 372.16795 374.66996 382.16697 387.17097 391.67097 394.17298 399.17698">This field controls whether read and write access to the flash are allowed based on the logical master</tspan><tspan y="39.83789" x=".00003 5.0040309 10.008032 17.505032 22.509034 27.513035 30.510035 33.012037 38.016038 40.518037 43.020036 45.522035 50.526037 55.530038 58.032037 61.029039 66.033039 71.03703 76.04103 81.04503 85.54503 88.04703 90.04503 95.04903 100.053028 102.55502 107.05502 110.052028 115.05602 119.55602 124.05602 129.06003 134.06403 137.06102 139.56302 144.06302 150.56102 152.55902 155.06102 159.56102 164.56502 167.06702 174.56401 179.56801 184.06801 186.57 191.574 194.571">number of the requesting crossbar switch master.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 470.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 5.0040409">00</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 152.94954 470.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 6.4980409 11.502041 14.004042 19.008042 23.508042 28.008042 33.012044 37.512044 42.012044 44.51404 52.011045 57.015047 61.515047 64.017047 69.02104 74.02504 76.52704 81.53104 86.535037 89.532039 92.034038 97.03803 100.035037 107.532039 112.53603 117.54003 120.04203 125.04603 129.54602 132.04802 134.55002 139.55402 141.55202 146.05202 148.55402 156.05101 161.05501 165.55501 168.057 173.061 176.058">No access may be performed by this master.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 481.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 5.0040409">01</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 152.94954 481.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 7.0020406 12.006041 14.004041 18.50404 21.00604 24.00304 29.007042 34.011045 39.015047 41.517045 46.521047 51.021047 55.521047 60.525049 65.02505 69.52505 74.529048 79.029048 81.531047 89.028049 94.03204 98.53204 101.03404 106.03804 111.04204 113.54404 118.548038 123.55203 126.549037 129.05104 134.05504 137.05204 144.54903 149.55303 154.55702 157.05902 162.06302 166.56302 169.06502 171.56702 176.57102 178.56902 183.06902 185.57102 193.06801 198.072 202.572 205.074 210.078 213.075">Only read accesses may be performed by this master.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 494.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 5.0040409">10</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 152.94954 494.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 7.0020406 12.006041 14.004041 18.50404 21.00604 27.504042 30.501042 32.499044 35.00104 40.005044 42.507043 47.511045 52.011045 56.511045 61.515047 66.015048 70.515048 75.51904 80.01904 82.52104 90.01804 95.02204 99.52204 102.02404 107.02804 112.032039 114.534038 119.53803 124.54203 127.53903 130.04103 135.04503 138.04203 145.53902 150.54302 155.54701 158.04901 163.05301 167.55301 170.05501 172.557 177.561 179.559 184.059 186.561 194.058 199.062 203.562 206.064 211.068 214.06499">Only write accesses may be performed by this master.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 507.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 5.0040409">11</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 152.94954 507.9328)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 6.0030405 11.007041 13.509041 18.513043 21.015044 24.012043 29.016045 34.020048 39.024049 41.526048 46.53005 51.53405 56.53805 59.04005 65.53805 68.53505 70.53305 73.03505 78.03905 80.541049 85.545047 90.045047 94.545047 99.54904 104.04904 108.54904 113.55304 118.05304 120.55504 128.05204 133.05603 137.55603 140.05803 145.06203 150.06603 152.56803 157.57202 162.57602 165.57302 168.07501 173.07901 176.076 183.573 188.577 193.581 196.083 201.08699 205.58699 208.08899 210.59099 215.59499 217.59299 222.09299 224.59499 232.09198 237.09598 241.59598 244.09798 249.10198 252.09897">Both read and write accesses may be performed by this master.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 525.4328)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="23.04 28.044003 33.048006 38.052007 43.056009">13&#x2013;12</tspan><tspan y="18.83789" x="14.535011 22.032013 27.036015 33.039018 39.042016 41.544015 46.548017 49.050016 54.054018">M6AP[1:0]</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 7.4970009 12.501001 20.502003 26.001004 29.502003 34.506006 37.008005 45.009004 50.013006 55.512006 58.014005 63.018007 68.517009 74.01601 76.518009 80.019008 85.023 90.522 93.024 98.028 101.025 106.029 109.53 112.032 117.531 122.534999 127.538997 132.543 136.044 138.546 144.045 147.04199 149.54399 155.04299 160.54198">Memory map and register descriptions</tspan></text>
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