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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_76.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

4477 lines
292 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 213.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 13.995001">DMA</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 229.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 13.995001">DMA</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 244.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 13.995001">DMA</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 260.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
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<g clip-path="url(#clip_62)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 260.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 13.995001">DMA</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 140.25 275.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">33</tspan></text>
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<g clip-path="url(#clip_67)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 275.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 275.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.4970009 13.995001">MCM</tspan></text>
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<g clip-path="url(#clip_79)">
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<g clip-path="url(#clip_81)">
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</g>
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<g clip-path="url(#clip_87)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 322.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 392.25 322.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 10.008001 16.506003 19.503003 24.003003 29.007004 31.005005 33.507005 38.511007 43.515008 48.51901 51.021009 56.02501 61.02901 63.53101 68.53501 73.03501 75.53701 78.03901 80.54101 82.53901 87.54301 94.04101 97.03801 101.53801 106.54201 108.54001 111.04201 116.046009 121.05 126.054 128.556 135.054 140.058 143.055 148.05899 150.05699 155.06099">Low-voltage detect, low-voltage warning</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 140.25 337.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">37</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 140.25 419.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">38</tspan></text>
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<g clip-path="url(#clip_112)">
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<g clip-path="url(#clip_113)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 461.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">I</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 392.25 461.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">&#x2014;</tspan></text>
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<g clip-path="url(#clip_133)">
<path transform="matrix(1,0,0,1,54,490.15)" d="M336.25 .25H503.75V15.25H336.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 392.25 492.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.001 13.005001 18.009003 20.007004 25.011006 27.513007 29.511006 34.515008 37.017007 42.021009 45.01801 48.01501 53.019014 58.023015 60.525014 63.02701 67.52701 72.531009 77.031009 79.533008 84.537 87.534008 90.036 92.538 97.542 100.539 103.041 108.045 110.043 112.041 114.543 119.043 124.047 129.051 132.04799 136.54799 141.55199">Single interrupt vector for all sources</tspan></text>
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<g clip-path="url(#clip_135)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 140.25 507.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">43</tspan></text>
<g clip-path="url(#clip_136)">
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<g clip-path="url(#clip_137)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 507.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<g clip-path="url(#clip_138)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 266.25 507.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">6</tspan></text>
<g clip-path="url(#clip_139)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 507.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 12.0060009 14.508001">SPI1</tspan></text>
<g clip-path="url(#clip_140)">
<path transform="matrix(1,0,0,1,54,505.65)" d="M336.25 .25H503.75V15.25H336.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 392.25 507.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.001 13.005001 18.009003 20.007004 25.011006 27.513007 29.511006 34.515008 37.017007 42.021009 45.01801 48.01501 53.019014 58.023015 60.525014 63.02701 67.52701 72.531009 77.031009 79.533008 84.537 87.534008 90.036 92.538 97.542 100.539 103.041 108.045 110.043 112.041 114.543 119.043 124.047 129.051 132.04799 136.54799 141.55199">Single interrupt vector for all sources</tspan></text>
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<g clip-path="url(#clip_142)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 140.25 523.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">44</tspan></text>
<g clip-path="url(#clip_143)">
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<g clip-path="url(#clip_144)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 523.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<g clip-path="url(#clip_145)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 266.25 523.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">7</tspan></text>
<g clip-path="url(#clip_146)">
<path transform="matrix(1,0,0,1,54,521.15)" d="M252.25 .25H335.75V15.25H252.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 523.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 12.0060009 14.508001">SPI2</tspan></text>
<g clip-path="url(#clip_147)">
<path transform="matrix(1,0,0,1,54,521.15)" d="M336.25 .25H503.75V15.25H336.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 392.25 523.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 8.001 13.005001 18.009003 20.007004 25.011006 27.513007 29.511006 34.515008 37.017007 42.021009 45.01801 48.01501 53.019014 58.023015 60.525014 63.02701 67.52701 72.531009 77.031009 79.533008 84.537 87.534008 90.036 92.538 97.542 100.539 103.041 108.045 110.043 112.041 114.543 119.043 124.047 129.051 132.04799 136.54799 141.55199">Single interrupt vector for all sources</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 538.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 9.504001 14.508001 19.512001 24.516003 29.520005 34.524007 39.528009 44.53201 50.53501">0x0000_00B4</tspan></text>
<g clip-path="url(#clip_149)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 140.25 538.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">45</tspan></text>
<g clip-path="url(#clip_150)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 182.25 538.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">29</tspan></text>
<g clip-path="url(#clip_151)">
<path transform="matrix(1,0,0,1,54,536.65)" d="M168.25 .25H209.75V15.25H168.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 538.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<g clip-path="url(#clip_152)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 266.25 538.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">7</tspan></text>
<g clip-path="url(#clip_153)">
<path transform="matrix(1,0,0,1,54,536.65)" d="M252.25 .25H335.75V15.25H252.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 538.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 12.501001 18.999003">CAN0</tspan></text>
<g clip-path="url(#clip_154)">
<path transform="matrix(1,0,0,1,54,536.65)" d="M336.25 .25H503.75V15.25H336.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 392.25 538.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.0020005 13.500001 15.219001 20.223002 25.227002 27.729002 35.226 40.230005 44.730005 49.230005 54.234006 59.238008 64.242008 66.744 71.748 76.752 79.254 81.756 86.759998 89.756999 92.258998 95.256 100.259998 103.256999 108.260997 113.26499">OR'ed Message buffer (0-15)</tspan></text>
<g clip-path="url(#clip_155)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 554.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 9.504001 14.508001 19.512001 24.516003 29.520005 34.524007 39.528009 44.53201 50.53501">0x0000_00B8</tspan></text>
<g clip-path="url(#clip_156)">
<path transform="matrix(1,0,0,1,54,552.15)" d="M84.25 .25H125.75V15.25H84.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 140.25 554.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">46</tspan></text>
<g clip-path="url(#clip_157)">
<path transform="matrix(1,0,0,1,54,552.15)" d="M126.25 .25H167.75V15.25H126.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 182.25 554.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">30</tspan></text>
<g clip-path="url(#clip_158)">
<path transform="matrix(1,0,0,1,54,552.15)" d="M168.25 .25H209.75V15.25H168.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 554.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<g clip-path="url(#clip_159)">
<path transform="matrix(1,0,0,1,54,552.15)" d="M210.25 .25H251.75V15.25H210.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 266.25 554.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">7</tspan></text>
<g clip-path="url(#clip_160)">
<path transform="matrix(1,0,0,1,54,552.15)" d="M252.25 .25H335.75V15.25H252.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 554.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 12.501001 18.999003">CAN0</tspan></text>
<g clip-path="url(#clip_161)">
<path transform="matrix(1,0,0,1,54,552.15)" d="M336.25 .25H503.75V15.25H336.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 392.25 554.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 15.507001 18.009 25.011002 27.513003">Bus Off</tspan></text>
<g clip-path="url(#clip_162)">
<path transform="matrix(1,0,0,1,54,567.65)" d="M.25 .25H83.75V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 569.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 9.504001 14.508001 19.512001 24.516003 29.520005 34.524007 39.528009 44.53201 50.53501">0x0000_00BC</tspan></text>
<g clip-path="url(#clip_163)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 140.25 569.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">47</tspan></text>
<g clip-path="url(#clip_164)">
<path transform="matrix(1,0,0,1,54,567.65)" d="M126.25 .25H167.75V15.25H126.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 182.25 569.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">31</tspan></text>
<g clip-path="url(#clip_165)">
<path transform="matrix(1,0,0,1,54,567.65)" d="M168.25 .25H209.75V15.25H168.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 569.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<g clip-path="url(#clip_166)">
<path transform="matrix(1,0,0,1,54,567.65)" d="M210.25 .25H251.75V15.25H210.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 266.25 569.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">7</tspan></text>
<g clip-path="url(#clip_167)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 569.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 12.501001 18.999003">CAN0</tspan></text>
<g clip-path="url(#clip_168)">
<path transform="matrix(1,0,0,1,54,567.65)" d="M336.25 .25H503.75V15.25H336.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 392.25 569.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 9 11.997 17.001">Error</tspan></text>
<g clip-path="url(#clip_169)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 585.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 9.504001 14.508001 19.512001 24.516003 29.520005 34.524007 39.528009 44.53201 51.03001">0x0000_00C0</tspan></text>
<g clip-path="url(#clip_170)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 140.25 585.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">48</tspan></text>
<g clip-path="url(#clip_171)">
<path transform="matrix(1,0,0,1,54,583.15)" d="M126.25 .25H167.75V15.25H126.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 182.25 585.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">32</tspan></text>
<g clip-path="url(#clip_172)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 224.25 585.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">1</tspan></text>
<g clip-path="url(#clip_173)">
<path transform="matrix(1,0,0,1,54,583.15)" d="M210.25 .25H251.75V15.25H210.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 266.25 585.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">8</tspan></text>
<g clip-path="url(#clip_174)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 585.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 12.501001 18.999003">CAN0</tspan></text>
<g clip-path="url(#clip_175)">
<path transform="matrix(1,0,0,1,54,583.15)" d="M336.25 .25H503.75V15.25H336.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 392.25 585.4)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 8.496 13.500001 18.504002 23.004002 30.501004 32.499006 35.001005 37.503004 45.999 51.003004 54.000005 59.004007 61.002008 66.006008">Transmit Warning</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 600.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 9.504001 14.508001 19.512001 24.516003 29.520005 34.524007 39.528009 44.53201 51.03001">0x0000_00C4</tspan></text>
<g clip-path="url(#clip_177)">
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</g>
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<g clip-path="url(#clip_178)">
<path transform="matrix(1,0,0,1,54,598.65)" d="M126.25 .25H167.75V15.25H126.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<g clip-path="url(#clip_179)">
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</g>
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<g clip-path="url(#clip_180)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 266.25 600.9)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">8</tspan></text>
<g clip-path="url(#clip_181)">
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</g>
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<g clip-path="url(#clip_182)">
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</g>
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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="130.01201 137.23201 142.792 148.352 151.132 157.802 163.912 170.022 173.352 179.462 185.022 193.912 196.692 199.472 205.032 207.812 215.032 220.592 223.922 229.482 233.372 238.93199 245.04199 250.60199 256.162 258.942 267.27198 272.83198 278.94197 285.05195 290.61195 293.39195 296.17195 298.95195 306.17195 311.73194 317.29194 320.07194 322.85194 328.41194 331.19194 336.75193 342.8619 348.9719 351.7519 357.3119 362.8719 368.4319">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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