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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_367.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

560 lines
56 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 162.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 8.496 13.500001 18 23.004002 28.008004 33.012006 35.514005 43.011007 48.015008 53.01901 58.02301 60.02101 65.02501 67.52701 73.53001 78.534008 83.538 88.542 90.54 95.544 98.046 103.545 108.548999 111.546 114.048 121.545 126.548999 131.553 136.55699 138.555 143.55899 146.06099">Wakeup Module Enable For Module 6</tspan><tspan y="28.83789" x="0 6.0030004 11.007001 16.011002 21.015004 23.013005 28.017006 32.517007 35.019006 40.023008 45.027009 47.529008 49.527009 54.53101 57.03301 62.03701 65.03401 70.03801 75.04201 77.04001 79.54201 87.03901 92.04301 97.047008 102.051 104.049 109.053 111.555 116.559 121.059 123.561 128.565 131.067 137.565 142.569 147.069 152.073 157.077 162.081 164.583 169.083 174.08699 179.09099 182.08798 186.58798 191.59198 194.09398 196.09198 201.09598 206.09998 211.10398 213.60597">Enables an internal module as a wakeup source input.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 204.5)" 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 204.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 2.5020004 7.506001 10.008001 15.012002 18.009003 23.013005 28.017006 30.015007 32.517007 40.014009 45.01801 50.02201 55.026014 57.024015 62.028017 64.530017 67.03201 69.030017 74.03401 79.03801 81.54001 86.54401 91.548007 94.05 96.552 101.556 106.056 111.06 116.063999 118.565998 123.56999 128.06999 130.57199 137.06999 142.07399 146.57399 151.57799 156.58199 161.58599 164.08798 168.58798 173.59198 178.59598 181.59297 186.09297">Internal module flag not used as wakeup source</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 215.5)" 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 215.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 2.5020004 7.506001 10.008001 15.012002 18.009003 23.013005 28.017006 30.015007 32.517007 40.014009 45.01801 50.02201 55.026014 57.024015 62.028017 64.530017 67.03201 69.030017 74.03401 79.03801 81.54001 86.54401 91.04401 96.048007 101.052 103.554 108.558 113.058 115.56 122.058 127.062 131.562 136.566 141.56999 146.57399 149.07599 153.57599 158.57999 163.58399 166.58098 171.08098">Internal module flag used as wakeup source</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 233)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">5</tspan><tspan y="18.83789" x="18.801 27.297 33.795003 41.292005 47.295007">WUME5</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 233)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 8.496 13.500001 18 23.004002 28.008004 33.012006 35.514005 43.011007 48.015008 53.01901 58.02301 60.02101 65.02501 67.52701 73.53001 78.534008 83.538 88.542 90.54 95.544 98.046 103.545 108.548999 111.546 114.048 121.545 126.548999 131.553 136.55699 138.555 143.55899 146.06099">Wakeup Module Enable For Module 5</tspan><tspan y="28.83789" x="0 6.0030004 11.007001 16.011002 21.015004 23.013005 28.017006 32.517007 35.019006 40.023008 45.027009 47.529008 49.527009 54.53101 57.03301 62.03701 65.03401 70.03801 75.04201 77.04001 79.54201 87.03901 92.04301 97.047008 102.051 104.049 109.053 111.555 116.559 121.059 123.561 128.565 131.067 137.565 142.569 147.069 152.073 157.077 162.081 164.583 169.083 174.08699 179.09099 182.08798 186.58798 191.59198 194.09398 196.09198 201.09598 206.09998 211.10398 213.60597">Enables an internal module as a wakeup source input.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 275)" 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 275)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 2.5020004 7.506001 10.008001 15.012002 18.009003 23.013005 28.017006 30.015007 32.517007 40.014009 45.01801 50.02201 55.026014 57.024015 62.028017 64.530017 67.03201 69.030017 74.03401 79.03801 81.54001 86.54401 91.548007 94.05 96.552 101.556 106.056 111.06 116.063999 118.565998 123.56999 128.06999 130.57199 137.06999 142.07399 146.57399 151.57799 156.58199 161.58599 164.08798 168.58798 173.59198 178.59598 181.59297 186.09297">Internal module flag not used as wakeup source</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 286)" 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 286)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 2.5020004 7.506001 10.008001 15.012002 18.009003 23.013005 28.017006 30.015007 32.517007 40.014009 45.01801 50.02201 55.026014 57.024015 62.028017 64.530017 67.03201 69.030017 74.03401 79.03801 81.54001 86.54401 91.04401 96.048007 101.052 103.554 108.558 113.058 115.56 122.058 127.062 131.562 136.566 141.56999 146.57399 149.07599 153.57599 158.57999 163.58399 166.58098 171.08098">Internal module flag used as wakeup source</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 303.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">4</tspan><tspan y="18.83789" x="18.801 27.297 33.795003 41.292005 47.295007">WUME4</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 303.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 8.496 13.500001 18 23.004002 28.008004 33.012006 35.514005 43.011007 48.015008 53.01901 58.02301 60.02101 65.02501 67.52701 73.53001 78.534008 83.538 88.542 90.54 95.544 98.046 103.545 108.548999 111.546 114.048 121.545 126.548999 131.553 136.55699 138.555 143.55899 146.06099">Wakeup Module Enable For Module 4</tspan><tspan y="28.83789" x="0 6.0030004 11.007001 16.011002 21.015004 23.013005 28.017006 32.517007 35.019006 40.023008 45.027009 47.529008 49.527009 54.53101 57.03301 62.03701 65.03401 70.03801 75.04201 77.04001 79.54201 87.03901 92.04301 97.047008 102.051 104.049 109.053 111.555 116.559 121.059 123.561 128.565 131.067 137.565 142.569 147.069 152.073 157.077 162.081 164.583 169.083 174.08699 179.09099 182.08798 186.58798 191.59198 194.09398 196.09198 201.09598 206.09998 211.10398 213.60597">Enables an internal module as a wakeup source input.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 345.5)" 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 345.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 2.5020004 7.506001 10.008001 15.012002 18.009003 23.013005 28.017006 30.015007 32.517007 40.014009 45.01801 50.02201 55.026014 57.024015 62.028017 64.530017 67.03201 69.030017 74.03401 79.03801 81.54001 86.54401 91.548007 94.05 96.552 101.556 106.056 111.06 116.063999 118.565998 123.56999 128.06999 130.57199 137.06999 142.07399 146.57399 151.57799 156.58199 161.58599 164.08798 168.58798 173.59198 178.59598 181.59297 186.09297">Internal module flag not used as wakeup source</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 356.5)" 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 356.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 2.5020004 7.506001 10.008001 15.012002 18.009003 23.013005 28.017006 30.015007 32.517007 40.014009 45.01801 50.02201 55.026014 57.024015 62.028017 64.530017 67.03201 69.030017 74.03401 79.03801 81.54001 86.54401 91.04401 96.048007 101.052 103.554 108.558 113.058 115.56 122.058 127.062 131.562 136.566 141.56999 146.57399 149.07599 153.57599 158.57999 163.58399 166.58098 171.08098">Internal module flag used as wakeup source</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 374)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">3</tspan><tspan y="18.83789" x="18.801 27.297 33.795003 41.292005 47.295007">WUME3</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 374)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 8.496 13.500001 18 23.004002 28.008004 33.012006 35.514005 43.011007 48.015008 53.01901 58.02301 60.02101 65.02501 67.52701 73.53001 78.534008 83.538 88.542 90.54 95.544 98.046 103.545 108.548999 111.546 114.048 121.545 126.548999 131.553 136.55699 138.555 143.55899 146.06099">Wakeup Module Enable For Module 3</tspan><tspan y="28.83789" x="0 6.0030004 11.007001 16.011002 21.015004 23.013005 28.017006 32.517007 35.019006 40.023008 45.027009 47.529008 49.527009 54.53101 57.03301 62.03701 65.03401 70.03801 75.04201 77.04001 79.54201 87.03901 92.04301 97.047008 102.051 104.049 109.053 111.555 116.559 121.059 123.561 128.565 131.067 137.565 142.569 147.069 152.073 157.077 162.081 164.583 169.083 174.08699 179.09099 182.08798 186.58798 191.59198 194.09398 196.09198 201.09598 206.09998 211.10398 213.60597">Enables an internal module as a wakeup source input.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 416)" 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 416)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 2.5020004 7.506001 10.008001 15.012002 18.009003 23.013005 28.017006 30.015007 32.517007 40.014009 45.01801 50.02201 55.026014 57.024015 62.028017 64.530017 67.03201 69.030017 74.03401 79.03801 81.54001 86.54401 91.548007 94.05 96.552 101.556 106.056 111.06 116.063999 118.565998 123.56999 128.06999 130.57199 137.06999 142.07399 146.57399 151.57799 156.58199 161.58599 164.08798 168.58798 173.59198 178.59598 181.59297 186.09297">Internal module flag not used as wakeup source</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 427)" 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 427)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 2.5020004 7.506001 10.008001 15.012002 18.009003 23.013005 28.017006 30.015007 32.517007 40.014009 45.01801 50.02201 55.026014 57.024015 62.028017 64.530017 67.03201 69.030017 74.03401 79.03801 81.54001 86.54401 91.04401 96.048007 101.052 103.554 108.558 113.058 115.56 122.058 127.062 131.562 136.566 141.56999 146.57399 149.07599 153.57599 158.57999 163.58399 166.58098 171.08098">Internal module flag used as wakeup source</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 444.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">2</tspan><tspan y="18.83789" x="18.801 27.297 33.795003 41.292005 47.295007">WUME2</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 444.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 8.496 13.500001 18 23.004002 28.008004 33.012006 35.514005 43.011007 48.015008 53.01901 58.02301 60.02101 65.02501 67.52701 73.53001 78.534008 83.538 88.542 90.54 95.544 98.046 103.545 108.548999 111.546 114.048 121.545 126.548999 131.553 136.55699 138.555 143.55899 146.06099">Wakeup Module Enable For Module 2</tspan><tspan y="28.83789" x="0 6.0030004 11.007001 16.011002 21.015004 23.013005 28.017006 32.517007 35.019006 40.023008 45.027009 47.529008 49.527009 54.53101 57.03301 62.03701 65.03401 70.03801 75.04201 77.04001 79.54201 87.03901 92.04301 97.047008 102.051 104.049 109.053 111.555 116.559 121.059 123.561 128.565 131.067 137.565 142.569 147.069 152.073 157.077 162.081 164.583 169.083 174.08699 179.09099 182.08798 186.58798 191.59198 194.09398 196.09198 201.09598 206.09998 211.10398 213.60597">Enables an internal module as a wakeup source input.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 486.5)" 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 486.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 2.5020004 7.506001 10.008001 15.012002 18.009003 23.013005 28.017006 30.015007 32.517007 40.014009 45.01801 50.02201 55.026014 57.024015 62.028017 64.530017 67.03201 69.030017 74.03401 79.03801 81.54001 86.54401 91.548007 94.05 96.552 101.556 106.056 111.06 116.063999 118.565998 123.56999 128.06999 130.57199 137.06999 142.07399 146.57399 151.57799 156.58199 161.58599 164.08798 168.58798 173.59198 178.59598 181.59297 186.09297">Internal module flag not used as wakeup source</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 497.5)" 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 497.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 2.5020004 7.506001 10.008001 15.012002 18.009003 23.013005 28.017006 30.015007 32.517007 40.014009 45.01801 50.02201 55.026014 57.024015 62.028017 64.530017 67.03201 69.030017 74.03401 79.03801 81.54001 86.54401 91.04401 96.048007 101.052 103.554 108.558 113.058 115.56 122.058 127.062 131.562 136.566 141.56999 146.57399 149.07599 153.57599 158.57999 163.58399 166.58098 171.08098">Internal module flag used as wakeup source</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 515)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">1</tspan><tspan y="18.83789" x="18.801 27.297 33.795003 41.292005 47.295007">WUME1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 515)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 8.496 13.500001 18 23.004002 28.008004 33.012006 35.514005 43.011007 48.015008 53.01901 58.02301 60.02101 65.02501 67.52701 73.53001 78.534008 83.538 88.542 90.54 95.544 98.046 100.548 105.551998 108.548999 111.050998 118.548 123.551998 128.556 133.56 135.558 140.562 143.064">Wakeup Module Enable for Module 1</tspan><tspan y="28.83789" x="0 6.0030004 11.007001 16.011002 21.015004 23.013005 28.017006 32.517007 35.019006 40.023008 45.027009 47.529008 49.527009 54.53101 57.03301 62.03701 65.03401 70.03801 75.04201 77.04001 79.54201 87.03901 92.04301 97.047008 102.051 104.049 109.053 111.555 116.559 121.059 123.561 128.565 131.067 137.565 142.569 147.069 152.073 157.077 162.081 164.583 169.083 174.08699 179.09099 182.08798 186.58798 191.59198 194.09398 196.09198 201.09598 206.09998 211.10398 213.60597">Enables an internal module as a wakeup source input.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 557)" 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 557)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 2.5020004 7.506001 10.008001 15.012002 18.009003 23.013005 28.017006 30.015007 32.517007 40.014009 45.01801 50.02201 55.026014 57.024015 62.028017 64.530017 67.03201 69.030017 74.03401 79.03801 81.54001 86.54401 91.548007 94.05 96.552 101.556 106.056 111.06 116.063999 118.565998 123.56999 128.06999 130.57199 137.06999 142.07399 146.57399 151.57799 156.58199 161.58599 164.08798 168.58798 173.59198 178.59598 181.59297 186.09297">Internal module flag not used as wakeup source</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 568)" 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 568)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 2.5020004 7.506001 10.008001 15.012002 18.009003 23.013005 28.017006 30.015007 32.517007 40.014009 45.01801 50.02201 55.026014 57.024015 62.028017 64.530017 67.03201 69.030017 74.03401 79.03801 81.54001 86.54401 91.04401 96.048007 101.052 103.554 108.558 113.058 115.56 122.058 127.062 131.562 136.566 141.56999 146.57399 149.07599 153.57599 158.57999 163.58399 166.58098 171.08098">Internal module flag used as wakeup source</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 585.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">0</tspan><tspan y="18.83789" x="18.801 27.297 33.795003 41.292005 47.295007">WUME0</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="26.01034" x="306.477 312.97499 318.47398 323.47798 328.97697 331.97398 336.97798 340.47898 342.981 347.985 352.98899 355.491 360.99 366.48899 373.491 376.488 381.987 386.991 391.995 396.999 402.003 407.50199 412.50599 415.008 423.504 428.508 433.512 438.516 444.01499 449.51399 452.016 458.51399 464.01298 466.51499 469.512 472.014 475.01103 480.51 486.009 494.505 501.003">Chapter 16 Low-Leakage Wakeup Unit (LLWU)</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="130.01 137.23 142.79 148.34999 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 53.999994 751.756)" 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 1 220.32 751.756)" 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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