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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_322.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

798 lines
73 KiB (Stored with Git LFS)
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Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 235.5)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="167.98798 176.65198 185.31598 195.31198 201.98398 209.98798 218.65198 226.65598 233.32798 236.66397 240.65998 243.99597 250.66797 254.00397 261.33598 264.67198 272.00398 278.67597 285.34797 292.01997 296.68797 300.02397 307.35597 311.35197 314.68797 322.01997 329.35197">RCM_SRS0 field descriptions</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 257.25)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="25.79401 31.29301 33.79501 38.79901 41.30101">Field</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.1 257.25)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="187.94699 194.44499 199.44899 204.45299 209.45699 212.958 215.45999 220.95899 223.95598 226.45798 231.95697">Description</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 273.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">7</tspan><tspan y="18.83789" x="25.803002 31.806002 38.808004">POR</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 273.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 17.505002 22.509003 25.506003 28.503003 35.505 40.509004 43.011 49.509004 54.513006 59.013006 64.017009">Power-On Reset</tspan><tspan y="28.83789" x="0 2.5020004 7.506001 12.510002 14.508002 19.008004 24.012005 26.514006 31.518006 36.018007 38.520006 43.524007 46.026006 49.023008 54.027009 58.527009 63.53101 66.03301 68.53501 73.53901 78.54301 83.04301 85.545009 90.549 95.553 100.557 105.561 108.062999 112.562999 117.56699 122.57099 127.07099 132.075 137.079 139.581 144.58499 149.08499 151.58699 154.08899 159.09299 164.09699 166.59899 171.60298 176.60698 183.10498 188.10898 191.10597 194.10297 199.10697 204.11096 206.61296 211.61696 216.62096 219.12296 224.12696 228.62696 231.12895 233.12696 238.13095 243.13495 245.63695 247.63495 252.63895 257.64295 259.64094 264.14094 266.64295 269.14497 275.14796 280.15196 284.65196 289.65596 294.65995 299.15995 304.16395 306.66596 309.16798 314.17198 319.17597 321.67799 323.67597 328.67997 331.18199 336.18598 339.18299 344.18699 349.19099 351.18898 353.69099 358.19099 363.19499 368.19898 373.20298 375.20097 379.70097 382.20298 386.70298 391.70698 393.70497 396.20698 401.21098 406.21498">Indicates a reset has been caused by the power-on detection logic. Because the internal supply voltage</tspan><tspan y="39.83789" x="0 6.4980008 11.502001 16.002 18.504002 21.501002 26.505002 34.002004 39.006006 41.004007 46.008008 51.01201 53.514009 58.51801 63.52201 66.02401 71.02801 73.53001 76.032009 78.534008 83.538 88.542 91.044 93.546 95.544 103.041 108.045 110.547 113.048999 115.550998 120.55499 125.55899 128.06099 130.05899 135.06299 141.56099 144.55799 149.05799 154.06198 156.05998 158.56198 163.56598 168.56998 173.57398 176.07598 179.07297 184.07697 188.57697 193.58097 196.08296 198.58496 201.58196 206.58596 212.58896 219.08696 222.08396 224.58596 229.08596 231.58795 236.59195 239.09395 244.09795 248.59795 251.09995 256.10395 258.10194 260.60395 263.10597 265.10395 269.60395 272.10597 277.10997 279.10795 283.60795 288.61195 291.11396 295.61396 300.61796 303.11997 305.62199 308.124 313.128 315.63 317.628 322.632 327.636 329.63398 334.13398 339.13798 341.63999 346.64399 349.146 351.648 356.652 361.656 364.15803 366.66004 369.16206 374.16606 379.17005 381.67207 384.66908 389.67308 394.17308 399.17707">was ramping up at the time, the low-voltage reset (LVD) status bit is also set to indicate that the reset</tspan><tspan y="50.83789" x="0 5.0040009 9.504001 14.004001 19.008002 22.005002 25.002 30.006 35.010004 37.512 44.010004 49.014005 51.012006 53.010007 58.014009 60.516008 63.018007 68.022 73.026 75.528 77.526 82.53 85.032 90.035999 93.033 98.036998 103.04099 105.038997 107.54099 112.04099 117.04499 122.04899 127.052989 129.05098 133.55098 136.05298 142.55098 147.55498 152.05498 154.55698 159.56098 164.56497 166.56298 171.56697 178.06497 180.56697 183.06897 188.07297 193.07697 195.57897 200.58296 206.58597 213.08397 215.58597 218.08797 223.09197 226.08896 231.09296 235.59296 240.59696 245.60095 247.59896 252.60295">occurred while the internal supply was below the LVD threshold.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 337.25)" 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 337.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.002 21.006 23.508002 26.010003 31.014004 36.018007 38.520006 41.022005 45.522005 50.526006 55.530008 60.030008 65.034008 70.038 72.54 77.544 82.044 84.546 90.548999 97.550998">Reset not caused by POR</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 348.25)" 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 348.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.4980008 11.502001 16.002 21.006 23.508002 26.010003 30.510003 35.514005 40.518007 45.018007 50.022008 55.02601 57.528009 62.53201 67.03201 69.53401 75.53701 82.53901">Reset caused by POR</tspan></text>
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<path transform="matrix(1,0,0,1,53.999994,363.5)" d="M.25 .25H75.35001V70.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 365.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">6</tspan><tspan y="18.83789" x="28.053002 34.056 36.558">PIN</tspan></text>
<g clip-path="url(#clip_59)">
<path transform="matrix(1,0,0,1,53.999994,363.5)" d="M75.85001 .25H503.75004V70.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 365.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 10.503 13.005001 18.009003 21.006003 26.010003 31.014004 33.012006 35.514005 42.012006 47.016008 51.516008 56.520009 59.022008 61.524007 67.52701 69.52501">External Reset Pin</tspan><tspan y="28.83789" x="0 2.5020004 7.506001 12.510002 14.508002 19.008004 24.012005 26.514006 31.518006 36.018007 38.520006 43.524007 46.026006 49.023008 54.027009 58.527009 63.53101 66.03301 68.53501 73.53901 78.54301 83.04301 85.545009 90.549 95.553 100.557 105.561 108.062999 112.562999 117.56699 122.57099 127.07099 132.075 137.079 139.581 144.58499 149.08499 151.58699 156.59099 161.59499 164.09699 169.10099 173.60099 176.10298 178.10099 182.60099 187.60498 190.60198 192.59998 197.60398 204.10198 206.60398 208.60198 213.60597 218.10597 223.10997 225.10797 227.60997 232.61397 237.61797 240.11997 242.62197 247.62596 252.62996 255.13196 260.13597 264.63597 267.13798 272.14198 275.13899 280.14299 285.14698 287.14497">Indicates a reset has been caused by an active-low level on the external </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 365.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="28.83789" x="289.647 296.145 302.14799 308.15098 314.15397 319.65296 322.15498 327.15898 329.15696 334.16096">RESET pin.</tspan></text>
<path transform="matrix(1,0,0,1,131.85,365.75)" d="M0 42H423.90003V66H0Z" fill="#ffffff" fill-rule="evenodd"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 407.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00003">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 407.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 6.4980409 11.502041 16.00204 21.006043 23.508044 26.010045 31.014046 36.018049 38.520048 41.022047 45.522047 50.526048 55.53005 60.03005 65.03405 70.03805 72.54005 77.544048 82.044048 84.54604 89.55004 94.05004 96.55204 101.55604 104.55304 109.55704 114.561038 116.55904 119.061038 122.05804 127.062038 131.56204 136.56604 139.06804 141.57004 146.57404 148.57204">Reset not caused by external reset pin</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 418.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 418.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 6.4980409 11.502041 16.00204 21.006043 23.508044 26.010045 30.510045 35.514047 40.518049 45.018049 50.02205 55.02605 57.52805 62.53205 67.03205 69.53405 74.53805 79.03805 81.54005 86.544048 89.541049 94.545047 99.54904 101.54704 104.04904 107.04604 112.05004 116.55004 121.55404 124.05604 126.55804 131.56204 133.56005">Reset caused by external reset pin</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 436.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">5</tspan><tspan y="18.83789" x="21.051 29.547 36.045003 43.047">WDOG</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 436.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 8.496 13.500001 16.002 20.502 25.506 30.510003 35.514005">Watchdog</tspan><tspan y="28.83789" x="0 2.5020004 7.506001 12.510002 14.508002 19.008004 24.012005 26.514006 31.518006 36.018007 38.520006 43.524007 46.026006 49.023008 54.027009 58.527009 63.53101 66.03301 68.53501 73.53901 78.54301 83.04301 85.545009 90.549 95.553 100.557 105.561 108.062999 112.562999 117.56699 122.57099 127.07099 132.075 137.079 139.581 144.58499 149.08499 151.58699 154.08899 159.09299 164.09699 166.59899 173.09699 178.10099 180.60298 185.10298 190.10698 195.11098 200.11498 205.11898 207.62097 210.12297 212.12097 219.61797 224.62197 227.61896 230.12096 232.62296 234.62096 242.11795 244.11595 249.11995 254.12395 256.62596 261.62995 266.63395 269.13597 271.63798 274.13999 279.63899 284.64299 286.64097 291.14097 293.64299 296.63999 301.64399 306.14399 311.14799 313.65 316.152 320.652 325.656 330.66 333.657 338.157 343.161 345.66304 350.16304 355.16703 360.17103 362.67304 367.67704 372.68104 375.18305 380.18705 382.18504 387.18904 391.68904 396.18904 401.19303 406.19703 408.69905 413.70304">Indicates a reset has been caused by the watchdog timer timing out. This reset source can be blocked by</tspan><tspan y="39.83789" x="0 5.0040009 7.002001 11.502001 16.506 21.510003 23.508004 25.506005 30.510006 35.514009 38.016008 40.518007 45.522008 50.52601 53.028009 59.52601 64.53001 67.032009 71.532009 76.536 81.54 86.544 91.548">disabling the watchdog.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 489.25)" 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 489.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.002 21.006 23.508002 26.010003 31.014004 36.018007 38.520006 41.022005 45.522005 50.526006 55.530008 60.030008 65.034008 70.038 72.54 77.544 82.044 84.546 91.044 96.048 98.549999 103.049999 108.05399 113.05799 118.06199 123.06599 125.567989 128.06999 130.068 137.56499 142.56899 147.57299 152.57698">Reset not caused by watchdog timeout</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 500.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 500.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 6.4980208 11.502022 16.002022 21.006024 23.508025 26.010025 30.510025 35.514028 40.51803 45.01803 50.02203 55.02603 57.52803 62.532033 67.03203 69.53403 76.03203 81.036029 83.538028 88.038028 93.04202 98.04602 103.05002 108.054019 110.556018 113.058017 115.056018 122.55302 127.557018 132.56102 137.56502">Reset caused by watchdog timeout</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 517.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">4</tspan><tspan y="18.83789" x="16.299 22.797 27.801003 32.301004 37.305006 40.302007 44.802007 49.806009">Reserved</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 517.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 40.509008 45.009008 47.511007 50.508008 55.51201 60.01201 65.01601 68.01301 72.51301 77.517009 82.521">This field is reserved.</tspan><tspan y="18.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 80.523 85.023 87.525 90.522 95.526 100.026 105.03 108.027 112.527 117.531 122.534999 125.036998 130.041 135.045 140.049 142.551 147.555 149.553 156.051 161.055 165.555 170.055 172.55699 177.56099 182.56499 187.06499 189.56699 192.06899 197.07299 202.07698 204.57898 209.07898 214.08298 216.08098 221.08498 226.08898 228.59098 233.59497">This read-only field is reserved and always has the value 0.</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 544.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">3</tspan><tspan y="18.83789" x="27.045 32.049 39.051">LOL</tspan></text>
<g clip-path="url(#clip_66)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 544.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 10.008001 14.508001 19.008002 22.005002 27.009003 29.511004 32.508005 37.512006 42.516008 47.016008 51.516008 54.018007 60.516008 65.520008 70.020008 75.024">Loss-of-Lock Reset</tspan><tspan y="28.83789" x="0 2.5020004 7.506001 12.510002 14.508002 19.008004 24.012005 26.514006 31.518006 36.018007 38.520006 43.524007 46.026006 49.023008 54.027009 58.527009 63.53101 66.03301 68.53501 73.53901 78.54301 83.04301 85.545009 90.549 95.553 100.557 105.561 108.062999 112.562999 117.56699 122.57099 127.07099 132.075 137.079 139.581 144.58499 149.08499 151.58699 156.59099 159.09299 161.09099 166.09499 170.59499 175.09499 177.59699 182.60099 185.10298 187.60498 189.60298 194.60698 199.10698 203.60698 206.10898 208.10698 213.11098 215.61298 218.11498 223.11898 228.12297 230.62497 238.12197 244.61997 251.62197 254.12397 260.12696 265.13096 270.13496 272.63697 275.13899 281.14198 286.14598 291.14997 293.65199 296.154 301.158 306.162 308.664 316.161 322.659 329.661 332.16304 337.16703 342.17103 346.67103 351.17103 354.16804 356.16603 361.17 363.67204 365.67 370.674 375.678 378.18003 380.68205 385.68605">Indicates a reset has been caused by a loss of lock in the MCG PLL. See the MCG description for</tspan><tspan y="39.83789" x=".00004 1.9980402 7.002041 9.504042 14.508042 17.505043 25.002045 30.006047 32.508047 34.506048 39.510049 44.51405 47.01605 52.02005 57.02405 59.52605 62.02805 67.03205 72.03605 74.53805 76.53605 81.54005 86.04005 90.54005 93.53705 98.541049 101.043048 104.04005 108.54005 110.53805 115.542049 120.042049 124.542049 127.044048 132.04805 136.54805 141.55205 146.55605 149.05805">information on the loss-of-clock event.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 597.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 597.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 6.4980409 11.502041 16.00204 21.006043 23.508044 26.010045 31.014046 36.018049 38.520048 41.022047 45.522047 50.526048 55.53005 60.03005 65.03405 70.03805 72.54005 77.544048 82.044048 84.54604 89.55004 92.05204 94.05004 99.05404 103.55404 108.05404 110.55604 115.560039 118.062038 120.56403 122.562038 127.56603 132.06604 136.56604 139.06804 141.06604 146.07004 148.57204 151.07404 156.07804 161.08203 163.58403 169.58704 174.59104">Reset not caused by a loss of lock in the PLL</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 608.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 608.25)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 6.4980409 11.502041 16.00204 21.006043 23.508044 26.010045 30.510045 35.514047 40.518049 45.018049 50.02205 55.02605 57.52805 62.53205 67.03205 69.53405 74.53805 77.04005 79.03805 84.042049 88.542049 93.042049 95.544048 100.54804 103.05004 105.55204 107.55004 112.55404 117.05404 121.55404 124.05604 126.05404 131.05805 133.56005 136.06204 141.06604 146.07004 148.57204 154.57505 159.57904">Reset caused by a loss of lock in the PLL</tspan></text>
<g clip-path="url(#clip_67)">
<path transform="matrix(1,0,0,1,53.999994,623.5)" d="M.25 .25H75.35001V56.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 625.75)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">2</tspan><tspan y="18.83789" x="26.298 31.302002 38.304">LOC</tspan></text>
<g clip-path="url(#clip_68)">
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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 6.4980008 11.502001 16.506 21.510003 24.507002 27.009003 35.010004 40.014005 48.015005 53.514005 57.015005 62.019006 64.521 72.522 77.526 83.025 85.527 90.531 96.03 101.529 104.031 107.532 112.535999 118.034999 120.536998 125.54099 128.538 133.54199 137.043 139.545 145.04399 150.04799 155.05199 160.05599 163.55699 166.05899 171.55799 174.55498 177.05698 182.55597 188.05496">Reset memory map and register descriptions</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.009 137.229 142.789 148.349 151.129 157.799 163.909 170.019 173.349 179.459 185.019 193.909 196.689 199.469 205.02899 207.80899 215.02899 220.58899 223.91899 229.47899 233.36899 238.92899 245.03899 250.59899 256.159 258.939 267.26899 272.82899 278.93898 285.04896 290.60896 293.38896 296.16896 298.94895 306.16896 311.72895 317.28895 320.06895 322.84895 328.40895 331.18894 336.74894 342.85893 348.9689 351.7489 357.3089 362.8689 368.4289">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 391.68 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="44.775 50.274003 53.271005 58.275007 63.279008 67.77901 72.27901 77.283008 79.281009 84.285 86.787 92.79 97.794 105.291 107.289 111.789 116.793 121.797 126.800998 131.805 136.305 138.80699 143.81099 146.80799 149.30998 151.81198 154.31398 159.31798 163.81798">Freescale Semiconductor, Inc.</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54 763.756)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="180.87 188.65 194.20999 200.31999 205.87999 209.76999 215.32999 218.10999 220.88999 228.10999 234.21999 239.77999 242.55998 248.66999 254.22998 259.78999 265.34999 268.12998 270.90998 277.01997 280.34996 286.45994 290.34996 299.23997 304.79997 308.12995 310.90995 317.01994">General Business Information</tspan></text>
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