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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

433 lines
50 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-499.662" x="54 59.004 69.12 74.619 79.623 84.627 87.129 92.132999 97.13699 102.14099 104.13899 109.14299 114.14699 116.64899 121.14899 126.152988 131.15699 136.16098 138.15898 142.65898 145.16098 149.66098 154.66498 157.66197 160.65897 165.66297 170.66696 173.16896 175.67096 177.66896 182.16896 184.67096 187.17296 192.17696 197.18096 199.68296 204.18296 209.18695 216.68395 219.18595 224.18994 226.69194 229.19394 231.69594 236.69994 241.70394 244.20594 249.20993 253.70993 256.21195 258.20994 262.70994 267.71394 270.21595 275.21995 278.21696 280.71897 285.72297 287.72096 292.22096 297.22496 302.22895 304.22694 309.23094 314.23493 316.73695 321.23695 326.24095 329.23796 332.23497 337.23896 342.24296 344.74497 347.24699 349.749 354.753 357.75 360.252 365.256 370.26 374.76 379.764 382.26603 387.27003 389.77204 392.27406 394.77607 399.78007 404.78407 407.28608 412.29008 417.29408 422.29808 424.29606 429.30006 434.30406 436.80607 444.30308 449.30708 454.31108 459.31507 461.31306 466.31706 470.81706 473.31907 478.32307 483.32707 485.82908 488.3311 493.33509 498.33909 500.8411 505.8451 510.8491 515.3491 517.3471 521.8471 526.85116 529.35317 531.85519 537.85818 542.8622">1.The analog supply current is the sum of the active or disabled current for each of the analog modules on the device. See</tspan><tspan y="-488.662" x="69.12 74.124 79.128 83.628 88.631999 91.133998 98.631 103.634998 108.63899 113.64299 115.64099 120.64499 122.36399 126.86399 129.366 133.866 138.87 143.874 148.374 150.372 152.874 154.872 159.372 164.37599 166.87799 168.87599 173.87999 178.88399 181.38599 183.88799 188.89199 191.88898 194.39098 196.38898 198.89098 203.39098 205.89298 210.39298 215.39698 220.40097 225.40497 227.40297 231.90297 234.40497 238.90497 243.90897 246.90596 249.90296 254.90695 259.91096 262.41297">each module's specification for its supply current.</tspan><tspan y="-477.662" x="54.000005 59.004007 69.12 74.124 79.128 84.131999 91.629 98.127 102.627 105.129 109.629 114.632999 117.63 122.633998 125.135997 130.14 135.144 140.148 142.65 147.15 151.65 156.15 158.652 163.65599 171.15299 173.65499 178.15499 180.15299 185.15699 189.65699 194.15699 196.65898 199.16098 204.16498 209.16898 216.66597 223.16397 227.66397 230.16597 235.16997 240.17397 244.67397 247.17597 252.17996 257.18397 262.18797 264.68998 270.18898 272.18696 277.19096 281.69096 287.69395 292.69795 297.19795 299.69996 304.19996 306.19795 311.20195 315.70195 320.20195 322.70396 325.20597 330.20997 335.21397 340.21797 342.71998 347.72398 352.72798 360.22499 366.72297 371.22297 373.72499 376.227 378.22499 383.22898 387.72898 392.73298 395.235 399.735 401.73298 406.73698 411.23698 415.73698 418.23899 420.741 423.243 430.74003 437.238 444.24003 446.74205 451.24205 456.24604 461.25004 463.75205 465.75004 470.75404 475.75804 478.75505 483.75904 488.76304 491.26506 493.76707 498.77107 501.76808 504.27009 509.76908 515.7721 518.2741 520.7761 528.27316 533.27719 538.2812 543.2852">2.100MHz core and system clock, 50MHz bus and FlexBus clock, and 25MHz flash clock . MCG configured for FEI mode.</tspan><tspan y="-466.662" x="69.12 75.123 77.121 79.119 81.621 86.625 91.629 94.626 96.624 101.628 106.631999 111.635997 114.632999 119.63699 121.634998 124.13699 128.637 130.635 135.63899 140.13899 144.63899 149.13899 151.64099 156.64499 158.64299 163.14299 168.14699 173.15099 175.14899 180.15299 185.15699">All peripheral clocks disabled.</tspan><tspan y="-455.662" x="54.000005 59.004007 69.12 74.124 79.128 84.131999 91.629 98.127 102.627 105.129 109.629 114.632999 117.63 122.633998 125.135997 130.14 135.144 140.148 142.65 147.15 151.65 156.15 158.652 163.65599 171.15299 173.65499 178.15499 180.15299 185.15699 189.65699 194.15699 196.65898 199.16098 204.16498 209.16898 216.66597 223.16397 227.66397 230.16597 235.16997 240.17397 244.67397 247.17597 252.17996 257.18397 262.18797 264.68998 270.18898 272.18696 277.19096 281.69096 287.69395 292.69795 297.19795 299.69996 304.19996 306.19795 311.20195 315.70195 320.20195 322.70396 325.20597 330.20997 335.21397 340.21797 342.71998 347.72398 352.72798 360.22499 366.72297 371.22297 373.72499 376.227 378.22499 383.22898 387.72898 392.73298 395.235 399.735 401.73298 406.73698 411.23698 415.73698 418.23899 420.741 428.238 434.736 441.738 444.24003 448.74003 453.74403 458.74803 461.25004 463.24803 468.252 473.256 476.25303 481.25703 486.26103 488.76304 491.26506 496.26905 499.26606 501.76808 507.26707 513.2701 515.7721 518.2741 525.7711 530.77517 535.7792 540.7832 543.2852 545.78726 551.7902 553.7882">3.100MHz core and system clock, 50MHz bus and FlexBus clock, and 25MHz flash clock. MCG configured for FEI mode. All</tspan><tspan y="-444.662" x="69.12 74.124 79.128 82.125 84.123 89.127 94.131 99.134998 102.131999 107.135997 109.133998 111.635997 116.135997 118.133998 123.13799 127.63799 132.138 136.638 139.14 144.144 149.148 154.152 159.15599 161.15399 166.15799 171.16199">peripheral clocks enabled.</tspan><tspan y="-433.662" x="54.000005 59.004007 69.12 76.617008 81.621 86.121 88.623 93.123 98.127 100.125 105.129 110.132999 114.632999 117.134998 122.13899 125.135997 130.14 132.642 140.13899 145.14299 150.14699 154.64699 159.65099 162.64798 167.65198 172.65598 175.15798 181.65598 183.65398 186.15598 191.15998 193.66197 200.15998 206.16298 212.66098 215.16298 220.16698 224.66698 229.67098 234.17098 239.17498 241.67697 243.67498 248.67897 253.68297 256.18498 262.68296 268.68595 274.68894 277.19096 279.18894 284.19294 288.69294 291.19496 294.19197 299.19596 303.69596 306.19798 308.19596 313.19996 318.20396 322.70396">4.Max values are measured with CPU executing DSP instructions.</tspan><tspan y="-422.662" x="54.000005 59.004007 69.12 74.124 79.128 86.625 93.123 97.623 100.125 104.625 109.629 112.626 117.63 120.131999 125.135997 130.14 135.144 137.646 142.146 146.646 151.146 153.648 158.652 166.14899 168.65099 173.15099 175.14899 180.15299 184.65299 189.15299 191.65499 194.15699 199.16098 204.16498 211.66197 218.15998 222.65998 225.16197 230.16597 235.16997 239.66997 242.17197 246.67197 248.66997 253.67397 258.17396 262.67396 265.17597 267.67799 272.68199 277.68598 282.68998 285.192 290.19599 295.19999 297.702 302.706 310.203 316.701 321.201 323.703 329.202 331.19999 336.20399 340.70399 346.70698 351.71098 356.21098 358.71299 363.71699 368.72099 373.72499 376.227 378.729 380.727 385.731 390.231 395.235 397.737 402.237 404.235 409.23899 413.73899 418.23899 420.741 423.243 430.74003 437.238 444.24003 446.74205 451.24205 456.24604 461.25004 463.75205 465.75004 470.75404 475.75804 478.75505 483.75904 488.76304 491.26506 493.76707 498.77107 501.76808 504.27009 509.76908 515.7721 518.2741 520.7761 528.27316 533.27719 538.2812 543.2852">5.25MHz core and system clock, 25MHz bus clock, and 12.5MHz FlexBus and flash clock. MCG configured for FEI mode.</tspan><tspan y="-411.662" x="54.000005 59.004007 69.12 74.124 76.626 84.123 90.621 95.121 97.623 102.123 107.127 110.124 115.128 117.63 120.131999 124.631999 129.13199 133.63199 136.13399 141.13799 148.63498 151.13698 153.63898 159.13797 161.13597 166.13997 170.63997 176.64298 181.64698 186.14698 188.64897 191.15097 196.15497 201.15897 206.16297 208.66497 213.66896 218.67296 223.17296 225.67496 230.17496 232.17296 237.17696 241.67696 246.17696 248.67896 253.68296 258.68696 263.69096 266.19297 271.19697 278.69398 285.19197 289.69197 292.19398 294.69599 296.69398 301.69798 306.19798 311.20198 313.70399 318.20399 320.20198 325.20597 329.70597 334.20597 336.70799 339.21 346.707 353.205 360.207 362.709 367.209 372.213 377.217 379.71903 381.717 386.721 391.725 394.72203 399.726 404.73 407.23204 409.73405 414.73805 417.73506 420.23707 426.24006 431.24406 437.24705 443.25004 445.75205 453.24906 458.25306 463.25706 468.26106 470.76307 473.26509 479.26808 481.26606 483.26405 485.76606 490.77006 495.77406 498.77107 500.76905 505.77305 510.77705 515.78109 518.7781 523.7821 525.7801 528.2821 532.7821 534.7801 539.7841 544.2841 548.7841">6.4 MHz core, system, FlexBus, and bus clock and 1MHz flash clock. MCG configured for BLPE mode. All peripheral clocks</tspan><tspan y="-400.662" x="69.12 74.124 76.122 80.622 85.626 90.63 92.628 97.631999 102.635997 105.13799 107.63999 114.13799 119.14199 124.14599 129.15 131.652 136.65599 141.15599 146.15999 150.65999 155.66399 158.16599 160.16399 165.16799 170.17198 172.67398 175.17598 178.17298 183.17697 190.67397 193.17597 195.67797 197.67597 202.67996 207.17996 212.18396">disabled. Code executing from flash.</tspan><tspan y="-389.662" x="54.000005 59.004007 69.12 74.124 76.626 84.123 90.621 95.121 97.623 102.123 107.127 110.124 115.128 117.63 120.131999 124.631999 129.13199 133.63199 136.13399 141.13799 148.63498 151.13698 153.63898 159.13797 161.13597 166.13997 170.63997 176.64298 181.64698 186.14698 188.64897 191.15097 196.15497 201.15897 206.16297 208.66497 213.66896 218.67296 223.17296 225.67496 230.17496 232.17296 237.17696 241.67696 246.17696 248.67896 253.68296 258.68696 263.69096 266.19297 271.19697 278.69398 285.19197 289.69197 292.19398 294.69599 296.69398 301.69798 306.19798 311.20198 313.70399 318.20399 320.20198 325.20597 329.70597 334.20597 336.70799 339.21 346.707 353.205 360.207 362.709 367.209 372.213 377.217 379.71903 381.717 386.721 391.725 394.72203 399.726 404.73 407.23204 409.73405 414.73805 417.73506 420.23707 426.24006 431.24406 437.24705 443.25004 445.75205 453.24906 458.25306 463.25706 468.26106 470.76307 473.26509 479.26808 481.26606 483.26405 485.76606 490.77006 495.77406 498.77107 500.76905 505.77305 510.77705 515.78109 518.7781 523.7821 525.7801 528.2821 532.7821 534.7801 539.7841 544.2841 548.7841">7.4 MHz core, system, FlexBus, and bus clock and 1MHz flash clock. MCG configured for BLPE mode. All peripheral clocks</tspan><tspan y="-378.662" x="69.12 74.124 79.128 84.131999 89.135997 91.133998 96.13799 101.14199 103.64399 108.64799 113.651988 116.153987 118.65598 123.65998 128.66399 131.66098 133.65898 138.66298 143.66698 148.67098 151.66797 156.67197 158.66997 163.16997 165.67197 170.67597 173.67296 178.67696 181.17896 186.18296 191.18695 193.68895 196.19095 198.18895 203.19295 205.69495 210.69895 215.19895 217.70095 219.69895 224.19895 229.20294 231.70494 236.70894 241.71294 246.71694 249.71393 254.71793 257.21995 259.21794 264.22193 269.22593 271.72795 274.22996 280.72795 285.73194 290.73594 295.73994 298.24195 303.24595 307.74595 312.74995 317.24995 322.25395 324.75596 326.75395 331.75794 336.76194 339.26396 341.76597 344.76298 349.76698 357.26399 359.766 362.268 364.266 369.27 373.77 378.774">enabled but peripherals are not in active operation. Code executing from flash.</tspan><tspan y="-367.662" x="54.000005 59.004007 69.12 74.124 76.626 84.123 90.621 95.121 97.623 102.123 107.127 110.124 115.128 117.63 120.131999 124.631999 129.13199 133.63199 136.13399 141.13799 148.63498 151.13698 153.63898 159.13797 161.13597 166.13997 170.63997 176.64298 181.64698 186.14698 188.64897 191.15097 196.15497 201.15897 206.16297 208.66497 213.66896 218.67296 223.17296 225.67496 230.17496 232.17296 237.17696 241.67696 246.17696 248.67896 253.68296 258.68696 263.69096 266.19297 271.19697 278.69398 285.19197 289.69197 292.19398 294.69599 296.69398 301.69798 306.19798 311.20198 313.70399 318.20399 320.20198 325.20597 329.70597 334.20597 336.70799 339.21 346.707 353.205 360.207 362.709 367.209 372.213 377.217 379.71903 381.717 386.721 391.725 394.72203 399.726 404.73 407.23204 409.73405 414.73805 417.73506 420.23707 426.24006 431.24406 437.24705 443.25004 445.75205 453.24906 458.25306 463.25706 468.26106 470.76307 473.26509 479.26808 481.26606 483.26405 485.76606 490.77006 495.77406 498.77107 500.76905 505.77305 510.77705 515.78109 518.7781 523.7821 525.7801 528.2821 532.7821 534.7801 539.7841 544.2841 548.7841">8.4 MHz core, system, FlexBus, and bus clock and 1MHz flash clock. MCG configured for BLPE mode. All peripheral clocks</tspan><tspan y="-356.662" x="69.12 74.124 76.122 80.622 85.626 90.63 92.628 97.631999 102.635997">disabled.</tspan><tspan y="-345.662" x="54.000005 59.004007 69.12 75.618007 80.622 83.124 88.128 90.63 93.627 98.631 101.132999 103.131 108.134998 112.634998 115.13699 119.63699 122.13899 127.14299 132.14699 136.64699 138.64499 143.14499 148.14899 152.64899 155.15099 161.64899 163.64699 166.14899 171.15299 173.65499 178.65898 183.66298 188.66698 191.16898 197.17198 203.17499 205.67699 210.68099 213.18299 215.68498 222.18299 228.18599 235.68299 238.18498 240.68698 246.18598 251.18997 254.18697 256.68898 261.69297 266.69697 271.19697 273.19496 277.69496 282.69895 287.19895 289.70097 296.19895 298.19694 300.69895 305.70295 308.20497 313.20896 318.21296 320.71498 326.71797 332.72096 335.22297 340.22697 342.72898 345.231 351.72898 357.73197 365.22898 367.731 370.233 375.237 380.241 386.73899 391.74299 394.74 397.242 401.742 406.746 411.75 416.25 421.254 428.751 433.755 436.25703 438.255 443.259 448.263 450.765 452.763 457.263 459.765 462.76203 467.76603 472.77003 477.77403 482.27403 487.278 492.282 494.78404 499.78804 504.28804 506.79005 511.79405 514.296 519.49807 525.50106">9.Data reflects devices with 128 KB of RAM. For devices with 64 KB of RAM, power consumption is reduced by 2 &#x03bc;A.</tspan><tspan y="-334.662" x="54.000005 59.004007 64.008 71.64 74.142 79.145999 83.645999 85.644 90.647998 95.65199 100.65599 105.15599 107.65799 112.66199 117.665988 122.165988 128.66399 133.16399 135.66599 140.66999 145.16999 149.66999 151.66799 153.66599 155.66399 160.66799 163.16999 168.17398 171.17098 173.67298 178.17298 183.17697 186.17397 189.17096 194.17496 199.17896 201.68096 204.18296 209.18695 214.19095 219.19495 221.69695 228.19495 233.69394 240.19194 242.69394 247.69794 252.70194 257.70594 260.70295 265.70695 268.20896 270.20695 275.21095 280.21495">10.Includes 32kHz oscillator current and RTC operation.</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="-295.36299" x="53.999006 61.783006 65.675 73.45901 77.351009 85.13501 89.02701 110.97901 121.08701 124.97901 132.76302 141.31702 146.76302 154.54701 166.99301 171.65502 175.54701 184.10102 191.88501 200.43901 204.33101 212.115 219.899 223.791 227.683 231.575 241.683 251.791 259.575 269.683 279.79103 289.89903 293.79103 302.345 310.899 318.68299 324.129 331.913 336.57499 340.46699 349.02098 357.57496 361.46696 370.02095 377.80494 386.35893 394.1429 401.9269 405.8189 414.3729">5.2.5.1Diagram: Typical IDD_RUN operating behavior</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="-271.24998" x="53.999006 62.553007 69.55301 75.76901 79.26901 83.931018 90.931018 94.82301 98.71501 105.71501 115.82301 119.71501 126.71501 133.71501 137.21501 144.21501 150.43102 154.32302 160.53902 164.03902 174.14702 180.36302 185.80902 189.30902 200.20102 206.41703 212.63303 218.07903 225.07903 229.74103 235.95703 242.95703 246.45703 253.45703 260.45704 267.45704 273.67304 278.33503 281.83503 285.72703 292.72703 298.94303 304.38905 310.60505 314.10505 320.32106 327.32106 334.32106 341.32106 345.21305 349.10505 352.99705 359.99705 366.99705 372.44306">The following data was measured under these conditions:</tspan><tspan y="-246.84998" x="67.103008">&#x2022;</tspan><tspan y="-246.85" x="77.995 90.441 99.77901 109.88701 113.38701 117.27901 124.27901 127.77901 135.563 144.901 153.455 156.955 167.847 174.847 181.847 188.063 191.563 196.225 203.225 207.88701 211.38701 218.38701 225.38701 228.88701 241.33301 251.44101 257.657 261.157 267.37303 274.37303 281.37303 284.87303 288.765 295.765 305.87303 312.08903 316.751 320.251 324.913 329.57499 335.791 342.791 349.791 356.007 363.007 369.223 373.115 379.331 384.777 388.277 391.777 404.22303 413.56105 423.66905 427.16905 431.06105 438.06105 441.56105 449.34504 457.89903 466.453 469.953 480.845 487.845 494.845 501.061 504.561 510.777 514.669 518.169 525.169 529.831 536.047 542.263 546.155 552.37106">MCG in FBE mode for 50 MHz and lower frequencies. MCG in FEE mode at greater</tspan><tspan y="-230.85" x="77.995 81.887 88.887 95.103008 102.103008 105.603008 112.603008 119.603008 123.103008 135.54901 145.65702 151.87302 155.37302 160.03502 164.69702 170.91303 177.91303 184.91303 191.12903 198.12903 204.34503 208.23703 214.45304 219.89904">than 50 MHz frequencies.</tspan><tspan y="-214.85" x="67.103008 77.995 88.103008 95.88701 105.225009 108.725009 113.38701 119.60301 126.60301 133.60301 137.49501 143.71102 147.60301 154.60301 159.26502 162.76502 169.76502 173.65702 179.10301 185.31902 192.31902 196.21102 202.42702">&#x2022;USB regulator disabled</tspan><tspan y="-198.85" x="67.103008 77.995 88.103008 95.103008 98.603008 108.711009 116.49501 121.15701 131.26502 136.71102 140.21102 144.10301 151.10301 158.10301 165.10301 168.99501 175.21102">&#x2022;No GPIOs toggled</tspan><tspan y="-182.85" x="67.103008 77.995 87.33301 94.33301 101.33301 107.54901 111.04901 117.265018 124.265018 130.48102 136.69702 143.69702 147.58902 151.48102 158.48102 165.48102 168.98102 173.64302 178.30503 185.30503 196.19702 199.69702 204.35903 208.25102 214.46703 219.91303 226.91303 230.41303 240.52103 244.41303 248.30503 255.30503 258.80503 265.02104 271.23704 277.45304 284.45304 290.66905 294.16905 300.38505 307.38505 313.60105 320.60105 324.49305 330.70906">&#x2022;Code execution from flash with cache enabled</tspan><tspan y="-166.85" x="67.103008 77.995 85.77901 92.77901 97.44101 100.94101 104.83301 111.83301 118.04901 121.54901 131.65702 140.21102 148.76502 158.87302 166.65702 174.44101 177.94101 184.15702 191.15702 195.81902 202.81902 209.03502 212.53502 216.03502 222.25102 226.14302 230.03502 233.53502 240.53502 246.75102 251.41303 255.30503 262.30503 269.30503 275.52104 280.183 286.39903 290.29103 293.79103 300.00703 303.89903 310.89903 317.11503 324.11503 329.56105 333.06105 339.27705 343.93904 350.15504 353.65504 360.65504 364.54704 369.99305 376.20906 383.20906 387.10105 393.31706 400.31706 403.81706 410.03306 417.03306 423.24906 429.46507 436.46507 440.35707 443.85707 451.64106 460.19505 467.97904">&#x2022;For the ALLOFF curve, all peripheral clocks are disabled except FTFL</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="-733.727" x="524.484 531.486 536.49008 541.9891 546.9931 550.4941 555.4981">General</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="10" font-family="Helvetica LT Std" font-weight="bold"><tspan y="-34.063966" x="204.29001 211.51001 217.07 222.63 225.41 232.08 238.19 244.3 247.63 253.74 259.30003 268.19004 270.97004 273.75004 279.31004 282.09004 289.31004 294.87004 298.2 303.76 306.54 313.21003 319.32 324.88 330.44 333.77 336.55 339.33 346.55 352.11 357.66999 360.44999 363.22999 368.78999 371.56999 374.34999 379.90998 382.68998 388.24998 393.80998 399.36997 404.92997">K60 Sub-Family Data Sheet, Rev. 3, 6/2013.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 777.60006)" font-size="9" font-family="Helvetica LT Std"><tspan y="-18.005965" x="54.001008 59.500009 62.49701 67.50101 72.505008 77.005008 81.505008 86.509 88.507 93.511 96.013 102.016 107.02 114.517 116.515 121.015 126.019 131.023 136.027 141.03099 145.53099 148.03299 153.03699 156.03398 158.53598 161.03798 163.53998 168.54398 173.04398 547.99307 552.9971">Freescale Semiconductor, Inc.19</tspan></text>
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