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I've spent a little time going through the excellent raspberry pi documentation site in order to build some man-pages for most of the utilities in the suite. Note that not all utilities are covered here (notably vchiq_test, mmal_vc_diag are missing) but I think it covers the most commonly used utilities. I've also included some auxilliary man-pages (in section 7) for information relevant to utilities like vcmailbox (covering things like the mailbox info from the wiki-page, and the OTP registers from the documentation site).