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Three Technotes provide an introduction to Open Firmware on the Macintosh platform. They are:
TN 1061: Open Firmware, Part ., available on the Technote web site at
http://developer.apple.com/technotes/tn/tn1061.html
TN 1062: Open Firmware, Part II. available on the Technote web site at
http://developer.apple.com/technotes/tn/tn1062.html
TN 1044: Open Firmware, Part III. available on the Technote web site at
http://developer.apple.com/technotes/tn/tn1044.html
Another Technote tells how to debug open firmware code. Please refer to TN 2004: Debugging Open Firmware Using Telnet. available on the Technote web site at
http://developer.apple.com/technotes/tn/tn2004.html