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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_254.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

1281 lines
109 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 239.5227 260.49998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">O</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 514.4318 260.49998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="4.401 9.9 11.898 16.902 21.402 27.405 32.409">FlexBus</tspan><tspan y="18.83789" x="9.405001 15.903002 17.901001 22.905003 27.405003">Clock</tspan><tspan y="29.83789" x="7.146001 14.148001 19.152 21.654002 26.658 31.662003">Output</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 297.99998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="18.549 24.048 30.051 35.055 41.058 43.559999 48.564 53.568 56.07 61.074 66.078">FB_A[29:16]</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 239.5227 297.99998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 16.011002 19.008002 24.012001 28.512001 33.012 35.514 41.517 46.521">Address Bus</tspan><tspan y="24.23789" x="0 8.496 13.500001 18.504002 23.508004 26.010004 31.509005 33.507005 38.511007 43.011007 49.014009 54.01801 58.51801 61.020009 63.01801 67.518009 70.020008 75.024 79.524 84.528 89.532 92.034 94.032 99.035999 101.537998 106.54199 109.04399 114.04799 119.05199 124.055988 131.55298 136.55698 138.55498 141.05698 143.05498 148.05898 150.05698 155.06098 159.56098 164.56497 169.56897 172.07097 176.57097 181.57497 186.57897 189.08097 191.07897 196.08296 201.08696 204.08396 209.08795 211.58995 213.58795 218.59195 223.59595 226.09795 228.59995 231.10195 236.10594 238.10395 242.60395 245.10594 247.10395 251.60395 254.10594 256.60795 261.61195">When FlexBus is used in a nonmultiplexed configuration, this is the</tspan><tspan y="35.237894" x="0 5.0040009 10.008001 15.012002 18.009003 23.013005 27.513005 32.013006 34.515005 39.519006 44.523008 49.023008 51.525007 54.027006 62.523004 67.527 72.531 77.534999 80.036998 85.535999 87.534 92.537998 97.037998 103.04099 108.04499 112.54499 115.04699 117.04499 121.54499 124.04699 129.051 133.551 138.555 143.55899 146.06099 148.05899 153.06299 155.56499 160.56899 163.07099 170.56798 175.57198 177.56998 180.07198 182.06998 187.07398 189.07198 194.07598 198.57598 203.57997 208.58397 211.08597 215.58597 220.58997 225.59397 228.09597 230.09397 235.09796 240.10196 243.09896 248.10295 250.60495 252.60295 257.60697 262.61097">address bus. When FlexBus is used in a multiplexed configuration,</tspan><tspan y="46.237894" x=".00002 2.5020204 7.506021 9.504021 14.004021 16.506022 21.510022 26.514023 31.014023 33.51602 35.514024 40.014024 42.51602 47.520025 52.524026 55.026025 57.528024 62.532026 67.03203 72.036029 77.04002">this bus is not used.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 514.4318 297.99998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="17.154">O</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 351.89997)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="17.802 23.301 29.304 34.308004 40.311006 46.809007 49.311006 54.315008 59.319009 61.821008 66.825008">FB_AD[31:0]</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 147.88636 351.89997)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="10.557 16.056 22.059 27.063 33.561 38.565004 43.569005 48.573007 54.072008 60.075006 65.079 71.577">FB_D31&#x2013;FB_D0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 239.5227 351.89997)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 14.004002 19.008004 21.510004 27.513005 32.517007 37.017007 46.017007 52.515008 57.51901 60.51601 62.51401 67.51801 72.52201 75.02401 77.52601 82.53001 87.534008 90.036 92.538 94.536 97.533008 102.033008 104.535 107.037 111.537 116.037 120.537 122.535 127.539 130.041 132.543 135.045 140.049 142.047 146.547 149.049 154.053 159.05699 163.55699 166.05899 171.06299 174.05998 176.05799 180.55799 185.56198 190.06198 192.56398 195.06598 200.06998 205.07398 207.57598 212.57997 217.58397 222.58797 227.59197 230.58896 233.09096 238.09496 243.09896 248.10295 251.09995 256.10395 260.60395">Data Bus&#x2014;During the first cycle, this bus drives the upper address</tspan><tspan y="18.83789" x=".00002 5.0040209 9.504021 12.0060219 17.010022 19.512022 22.014023 27.018025 32.022027 37.026029 40.02303 42.52503 47.52903 52.53303 55.03503 60.039033 65.04303 67.54503">byte, addr[31:24].</tspan><tspan y="35.237894" x=".00002 8.49602 13.500021 18.50402 23.508023 26.010024 31.509024 33.507024 38.511026 43.011026 49.014024 54.018026 58.518026 61.020025 63.018026 67.51802 70.02002 75.02402 79.52402 84.528018 89.53201 92.03401 94.03201 99.03601 101.53801 106.54201 109.04401 114.048007 119.052 124.056 131.553 136.55699 138.555 141.05699 143.055 148.05899 150.05699 155.06099 159.56099 164.56499 169.56899 172.07099 176.57099 181.57498 186.57898 189.08098 191.07898 196.08298 201.08698 204.08397 209.08797 211.58997 213.58797 218.59197 223.59597 226.09796 228.59996 231.10196 236.10596 238.10396 242.60396 245.10596 247.10396 251.60396 254.10596 256.60798 261.61198">When FlexBus is used in a nonmultiplexed configuration, this is the</tspan><tspan y="46.237894" x=".00001 5.0040109 10.008011 12.510012 17.514012 20.016013 25.020012 30.024014 34.524015 37.026014 39.52801 45.02701 51.030015 56.034017 62.532018 65.03402 67.53602 76.03202 81.03602 86.040019 91.044017 93.54601 99.04501 101.043018 106.04701 110.54701 116.55001 121.55401 126.05401 128.55602 130.55402 135.05402 137.55602 142.56002 147.06002 152.06401 157.06801 159.57 161.56801 166.572 169.074 174.078 176.58 184.077 189.081 191.079 193.581 195.579 200.583 202.581 207.58499 212.08499 217.08899">data bus, FB_D. When FlexBus is used in a multiplexed</tspan><tspan y="57.237894" x=".00003 4.50003 9.50403 14.508031 17.01003 19.00803 24.012032 29.016034 32.013036 37.017038 39.519037 41.517038 46.521039 51.52504 54.02704 56.529039 59.031038 64.035037 66.033039 70.533039 73.035037 75.033039 79.533039 82.035037 84.53703 89.54103 94.54503 97.04703 102.051029 107.05502 112.05902 115.05602 120.06002 124.56002 129.06003 131.56203 136.56603 141.57003 146.57402 149.07602 154.08002 159.08402 161.58602 166.59001 169.09201 174.09601 179.1 183.6 186.102 188.604 194.103 200.106 205.11 211.113 217.61101">configuration, this is the address and data bus, FB_AD.</tspan><tspan y="73.63789" x=".00005 5.49905 10.503051 15.507051 18.009053 23.013054 28.017056 35.514059 40.51806 45.52206 48.519063 51.02106 56.025064 58.52706 61.02906 66.03306 70.53306 73.03506 78.039058 80.54105 82.539058 87.54305 92.54705 97.55105 102.05105 104.55305 109.05305 114.057048 117.05405 120.05105 124.55105 126.54905 131.55306 136.55706 139.05905 141.56105 146.56505 151.56905 154.07105 159.07505 164.07904 166.58104 171.58504 174.08704 176.08504 180.58504 183.08704 188.09104 193.09503 195.59703 200.60103 203.59803 211.09502 213.09302 218.09702 223.10102 228.10501 230.60701 235.61101 240.11101 242.613 245.115 250.119">The number of byte lanes carrying the data is determined by the</tspan><tspan y="84.63789" x=".00005 5.0040509 10.008051 13.005051 15.507051 18.009053 22.509053 24.507054 29.007054 34.011056 36.513055 41.517057 46.017057 50.517057 55.521059 60.021059 62.01906 67.023059 69.525058 74.52905 79.53305 82.03505 88.53305 90.53105 93.03305 98.03705 100.53905 103.041049 108.045047 113.04904 115.55104 123.04804 128.05205 130.55405 135.05405 140.05805 142.05605 147.06005 152.06404 154.56604 159.06604 164.07004 166.06804 171.07204 174.06903 178.56903 183.57303 185.57103 190.57503 195.07503 197.57703">port size associated with the matching chip-select.</tspan><tspan y="101.037899" x=".00005 8.49605 13.500051 18.504052 23.508053 26.010054 31.509055 33.507055 38.511056 43.011056 49.014055 54.018056 58.518056 61.020055 63.018056 67.51805 70.02005 75.02405 79.52405 84.528049 89.53204 92.03404 94.03204 99.03604 101.53804 106.54204 109.04404 116.54104 121.54504 123.54304 126.04504 128.04303 133.04703 135.04503 140.04903 144.54903 149.55303 154.55702 157.05902 161.55902 166.56302 171.56702 174.06902 176.06702 181.07102 186.07501 189.072 194.076 196.578 198.576 203.58 208.584 211.086 213.588 216.09 221.094 226.09799 228.59999 231.10199 236.10599 238.10399 240.10199 242.60399 247.60799 252.61199 255.60898 260.61299 262.61097">When FlexBus is used in a multiplexed configuration, the full 32-bit</tspan><tspan y="112.037899" x=".000069999998 5.0040709 10.008072 15.012073 18.009074 23.013073 27.513073 32.013074 34.51507 36.513074 41.013074 43.51507 48.519075 51.516077 53.514078 58.014078 63.018079 68.02208 70.52408 75.528079 80.532077 83.03407 85.53607 90.54007 95.54407 98.04607 100.548069 102.54607 105.54307 110.04307 112.54507 115.047069 119.547069 121.54507 126.549068 131.04907 135.54907 138.05107 143.05507 145.55707 148.05907 153.06307 155.56507 160.56906 165.57306 170.07306 172.57506 177.07506 181.57506 186.07506 188.07306 193.07706 195.57906 198.57605 203.58005 208.58405 213.58805 216.58504 221.58904 226.08904 230.58904 233.09104 238.09503 243.09903 248.10303 252.60303 257.60704 260.60404">address is driven on the first clock of a bus cycle (address phase).</tspan><tspan y="123.037899" x=".000069999998 6.0030705 8.505071 11.007071 16.01107 19.00807 21.51007 24.012072 29.016072 34.020074 36.52207 39.02407 41.02207 44.019075 48.519075 51.021074 53.52307 58.02307 60.021074 65.02507 69.52507 74.02507 76.52707 79.02907 81.53107 86.535068 91.53906 94.04106 99.04506 104.04906 106.551059 111.55505 114.05705 116.05505 120.55505 123.05705 128.06105 131.05805 133.05605 137.55605 142.56005 147.56404 150.06604 155.07004 160.07404 162.57604 165.07804 170.08203 175.08603 177.58803 182.59203 187.59603 192.09603 194.59803 197.59502 202.59902 207.60301 210.10501 215.10901 217.61101 222.615 227.619 232.623 237.123 242.127 245.124">After the first clock, the data is driven on the bus (data phase).</tspan><tspan y="134.0379" x=".000069999998 6.4980709 11.502071 14.499071 16.49707 21.501072 26.505074 29.007075 31.509076 36.513078 41.51708 44.019079 49.02308 54.02708 56.52908 61.53308 64.03508 69.03908 74.043079 79.04707 83.54707 88.55107 91.05307 93.55507 96.05707 101.061069 106.06506 108.56706 113.57106 118.57506 123.579059 126.57606 131.58007 136.08007 140.58007 143.08206 145.08007 149.58007 152.08206 157.08606 160.08306 162.08106 166.58106 171.58506 176.58905 179.09105 184.09505 189.09905 191.60105 194.10305 199.10704 204.11104 206.61304 211.61704 213.61504 218.61904 223.11904 225.62104 230.62503 235.62903 238.13103 240.63303 245.63703 250.13703 255.14102">During the data phase, the address is driven on the pins not used</tspan><tspan y="145.0379" x=".000069999998 2.5020705 7.506071 10.503071 13.005072 18.009072 23.013073 25.515074 30.519074 33.021074 35.52307 41.02207 46.026075 49.023077 51.525075 56.529077 61.029077 66.03307 73.530078 78.53407 80.532077 85.53607 88.03807 90.54007 92.53807 97.54207 100.04407 105.048069 110.05206 113.049068 118.05306 120.05106 122.55306 125.05506 132.55207 137.55606 142.56006 147.56406 150.06606 152.56806 155.07006 160.07405 165.07805 167.58005 169.57805 174.58205 181.08005 186.08405 189.08104 191.58304 196.58704 201.59104 206.59503 209.59203 214.59603 219.09603 223.59603 226.09803 228.09603 232.59603 235.09803 240.10202 243.09902 245.09702 249.59702 254.60102">for data. For example, in 16-bit mode, the lower address is driven</tspan><tspan y="156.0379" x=".00010999999 5.004111 10.008112 12.510113 18.009114 24.012114 29.016114 35.01911 41.517114 46.521116 51.525117 56.529119 62.02812 68.03112 73.03512 79.03812 85.53612 90.540119 93.042118 95.54411 100.54811 105.55211 110.55611 113.058109 115.05611 120.060108 122.5621 127.5661 130.5631 135.5671 137.5651 140.0671 142.56909 150.06609 155.07009 160.07408 165.07808 167.58008 170.08208 172.58408 177.58808 182.59207 185.09407 187.09207 192.09607 198.59407 203.59807 206.59506 209.09706 214.10106 219.10506 224.10906 227.10605 232.11005 236.61005 241.11005 243.61205 245.61005">on FB_AD15&#x2013;FB_AD0, and in 8-bit mode, the lower address is</tspan><tspan y="167.0379" x=".00013 5.004131 8.001131 9.999131 14.499131 19.503132 24.507134 27.009135 32.013135 37.017137 39.519136 45.018136 51.021135 56.025136 62.028139 68.52614 73.530139 78.534137 83.53813 89.03713 95.04013 100.04413 106.04713 112.54513 117.549129">driven on FB_AD23&#x2013;FB_AD0.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 239.5227 575.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 10.503 13.005001 18.009003 20.511004 26.514004 31.518006 36.522008 41.52601 43.52401 48.52801 53.02801 62.02801 64.530017 69.53401 74.53801 76.53601 81.03601 86.04001 88.54201 93.546009 96.048007 98.55 103.554 108.558 111.06 113.562 118.565998 123.56999 126.07199 131.07599 133.57799 135.57599 140.07599 142.57799 145.07999 150.08399 152.58599 157.58998 162.59398 165.09598 167.09398 172.09798 174.59998 179.09998 184.10398 189.10797 194.11197 196.61397 201.61797 204.61496 207.11696 212.12096 215.11795 217.11595 221.61595 226.61995 231.62395 234.12595 239.12995 244.13394 246.63594 251.63994 254.14194">Byte Enables&#x2014;Indicate that data is to be latched or driven onto a</tspan><tspan y="18.83789" x="0 4.5 9.504001 14.508001 19.008002 21.006 23.508002 25.506 30.006 32.508 37.512 42.012 44.514 49.518 52.02 54.018 59.022005 64.026 69.03 71.532 76.535999 79.037998 81.53999 84.04199 89.04599 94.04999 96.55199 101.555988 106.55998 109.06198 114.06598 116.56798 121.571979 126.57597 131.07598 133.57798 136.07997 142.57798 148.58098 155.07898 161.57698 164.07898 170.08199 176.08499 183.58199 186.08399 188.58599 193.58998 198.59398 201.09598 206.09998 209.09697 216.59397 218.59197 223.59597 228.59996 233.09996 235.60196 237.59996 240.10196 242.60396 245.10596 250.10996 255.11396 259.61396">specific byte lane of the data bus. CSCR[BEM] determines if these</tspan><tspan y="29.83789" x=".00002 4.50002 6.49802 11.502021 16.506022 21.510022 23.508023 28.008023 30.510024 35.514024 38.511026 43.515027 46.017026 51.021028 55.521028 60.021028 65.025028 68.022029 70.524028 75.52802 80.53202 83.03402 88.03802 93.042018 95.544017 98.541019 103.54501 108.54901 113.55301 118.05301 120.55501 125.559009 130.563 135.567 138.069 144.567 147.564 149.562 152.064 157.068 161.568 164.06999 169.07399 172.07099 174.57299 179.57698 184.58098 187.08298 193.58098 196.57798 198.57598 201.07798 206.08197 210.58197 213.08397 218.08797 223.09197 225.08997 229.58997">signals are asserted on reads and writes or on writes only.</tspan><tspan y="46.237894" x=".00002 5.49902 10.503021 13.500021 16.002022 21.006024 25.506024 28.008025 33.012025 36.009027 41.013029 46.01703 48.01503 50.51703 56.520029 63.01803 69.02103 76.51803 79.02003 84.024028 87.02103 89.523029 92.025028 94.023029 99.02702 103.52702 108.53102 111.03302 116.03702 121.041019 125.541019 127.53902 132.03902 137.04302 141.54302 144.04502 146.54701 149.04901 154.05301 159.057">For external SRAM or flash devices, the </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 239.5227 667.6)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.0020005 12.0060009 14.508001 19.512001 24.516003 27.018004 29.520005 35.523004 40.527006 45.531007 50.535009 52.53301 57.53701 66.53701 72.54001 77.54401 82.548007 85.05 87.552 90.054 95.058 97.56 100.062 105.065998 110.06999 112.57199 117.57599 122.07599 124.57799 129.58199 132.57898 137.58298 142.58698 144.58498 147.08698 154.58397 159.58797 167.08496 172.08896 175.08596 179.58596 182.08795 187.09195 190.08895 192.59095 197.59494 202.59894 205.59593 207.59394 212.59793 217.60193 222.60593 225.60292 230.60692 232.60492 235.10692 237.60892">Output Enable&#x2014;Sent to the external memory or peripheral to</tspan><tspan y="18.83789" x=".00002 5.0040209 10.008021 15.012022 20.016022 22.014023 27.018025 29.520026 34.524026 37.026025 40.023027 45.027029 50.03103 55.03503 57.53703 60.03903 63.03603 68.04003 73.04403 77.54403 80.04603 85.050029 88.04703 90.54903 93.051029 98.550029 103.55402 105.552028 110.052028 112.55402 117.05402 119.052028 124.05602 129.06003 134.06403 136.06203 138.56403 140.56203 145.06203 147.56403 152.56803 157.06803 161.56803 166.57202 169.56902 172.07102 177.07501 182.07901 184.58101 189.585 194.589 197.586 199.584 204.588 209.592 212.094 215.09099 220.09499 225.09899 230.10298 232.60498 237.60898 242.10898 246.60898 251.61298 256.11299 260.61299 265.61698">enable a read transfer. This signal is asserted during read accesses</tspan><tspan y="29.83789" x=".00004 5.0040409 10.008041 12.006042 16.506043 19.008044 25.506045 30.510045 35.514047 40.518049 43.020048 48.024049 50.526048 55.026048 60.03005 62.02805 67.03205 70.02905 74.52905 79.53305 81.53105 86.53505 91.03505 93.53705 96.03905 103.53605 108.54005 111.042049 115.542049 120.54604 125.55004 130.05005 132.55205 135.05405 140.05805 145.06204 147.56404 152.06404 157.06804 160.06504 163.06203 168.06603 173.07003 175.57202 178.07402 183.07802 188.08202 193.08602 196.08301 201.087 205.587 210.087 212.589 217.593 222.597 227.097 232.101 237.105 242.109">only when a chip-select matches the current address decode.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 514.4318 667.6)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="17.154">O</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 708.1)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="180.96298 185.96698 190.97098 196.46997 198.46797 203.47197 205.97397 210.97797 215.98197 220.98596 223.48796 225.48596 230.48996 235.49396 240.49796 244.99796 247.49996 252.50395 257.50798 260.00999 262.512 267.516 272.52 275.022 280.026 285.03 289.53 292.032 294.53404 300.03303 305.03703 310.536 315.54 318.04203 320.54405">Table continues on the next page...</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 17.99997)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 7.4970009 12.996 18.495 23.994002 26.496003 31.500004 34.002004 40.005006 42.507005 48.006006 53.505006 58.509008 61.011007 63.513006 70.011 75.015 80.019 85.022998 88.523998 91.02599 96.524997 99.521999 102.023998 107.522998 113.021999 115.523998 121.022998 126.02699 131.52599 134.02799 139.03199">Module Signal Description Tables</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 391.68 751.7559)" 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 54 763.7559)" 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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