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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_292.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

468 lines
49 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 1 134.57434 189.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 7.497 12.501001 17.001002 23.004002 28.008004 32.508005 35.010004 39.510004 44.514005 49.014005 54.018007 57.015008 59.01301 61.515008 66.01501 68.517009 70.51501 75.519008 80.019008 85.023">FlexBus security level</tspan><tspan y="28.83789" x="0 2.5020004 5.0040009 7.506001 10.008001 12.006001 17.010003 21.510003 26.514004 29.016005 33.516008 38.520009 43.020009 48.02401 51.02101 53.019014 55.52101 60.02101 62.52301 64.52101 69.02101 71.52301 76.52701 81.531009 86.535 91.539 93.537 98.541 103.545 106.047 108.548999 111.050998 116.05499 121.05899 126.06299 128.56499 131.06699 136.07099 138.06899 142.56899 145.07099 147.57299 149.57099 154.57498 156.57299 161.57698 164.07898 169.08298 171.58498 174.08698 179.09098 183.59098 186.09297 190.59297 193.09497 199.59297 204.59697 209.60097 212.10297 214.60497 221.10297 227.10597 233.60398 236.10597 241.10997 246.11397 251.11797 254.11496 259.11897 261.62098 263.61897 268.62297 273.62696 278.12696 280.62898 285.12898 290.13298 295.13697 297.63899 302.64299 307.14299 311.64299 316.64698 321.14698 325.64698 328.149 333.15299 335.655 338.157 341.15403 345.65403 350.65803 352.656 357.66 360.16203 364.66203 366.66 371.664 374.16603 376.66804 381.67204">If flash security is enabled, then this field affects what CPU operations can access off-chip via the</tspan><tspan y="39.83789" x="0 5.499 7.497 12.501001 17.001002 23.004002 28.008004 32.508005 35.010004 37.008005 42.012006 44.514005 49.518007 52.515008 55.017007 60.021009 64.52101 69.52501 72.02701 74.52901 80.02801 85.032009 87.03001 91.53001 94.032009 96.534008 98.532009 103.536 105.534008 110.538 113.04 118.044 123.048 127.548 130.05 135.054 140.058 142.56 147.564 150.066 152.568 157.57199 162.07199 164.57399 167.07599 169.07399 171.57599 174.07799 176.57999 178.57799 183.58199 188.08199 193.08599 195.58798 200.08798 205.09198 209.59198 214.59598 217.59297 219.59098 222.09297 226.59297 229.09497 231.09297 235.59297 238.09497 243.09897 248.10297 250.60497 253.10697 258.11097 263.11497 268.11897 273.12297 275.12095 280.12495 285.12895">FlexBus interface. This field has no effect if flash security is not enabled.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 134.57434 242.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00002 5.0040209">00</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 155.40496 242.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00002 6.0030205 8.00102 9.999021 12.50102 17.50502 20.00702 22.509022 25.506022 30.006022 35.01002 37.008024 42.012025 44.514024 49.518026 54.018026 58.518026 63.522027 68.022029 72.522029 77.526027 82.026027 84.52802 87.525028 89.523029 94.52702 99.02702 101.52902 104.526027 109.53002 114.03002 116.53202 118.53002 123.53402 128.53803 131.04003 136.04402 141.04802 146.05202 148.55402 153.55802 158.56201 161.06401 166.06801 169.065 171.567 176.067 178.065 183.069 185.571 188.073 193.077 198.081 200.583 206.08199 208.07999 213.08399 217.58399 223.58699 228.59099 233.09099 235.59299 240.59699 243.59398 248.59798 251.09998 256.10398 258.10197 262.60197 267.60597 269.60395 271.60194 276.60594 283.1039 288.1079 293.1119">All off-chip accesses (instruction and data) via the FlexBus are disallowed.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 134.57434 253.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00007 5.0040709">01</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 155.40496 253.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00007 6.0030705 8.00107 9.99907 12.50107 17.50507 20.00707 22.509072 25.506072 30.006072 35.01007 37.00807 42.012075 44.514074 49.518075 54.018075 58.518075 63.522077 68.02208 72.52208 77.52608 82.02608 84.528079 87.52508 89.52308 94.52708 99.02708 101.529079 104.52608 109.530078 114.030078 116.532077 118.530078 123.53407 128.53807 131.04007 136.04407 141.04807 146.05207 148.55406 153.55806 158.56206 161.06406 166.06806 169.06505 171.56705 176.06705 178.06505 183.06905 185.57105 188.07305 193.07704 198.08104 200.58304 206.08203 208.08003 213.08403 217.58403 223.58704 228.59104 233.09104 235.59304 240.59703 243.59403 248.59803 251.10002 256.10404 258.10203 262.60203 267.60603 269.604 271.602 276.606 283.10398 288.10798 293.11198">All off-chip accesses (instruction and data) via the FlexBus are disallowed.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 134.57434 266.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00007 5.0040709">10</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 155.40496 266.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00007 7.0020706 9.50407 12.006071 15.003071 19.50307 24.507073 26.505074 31.509076 34.011075 36.009077 41.013078 45.513078 48.015077 51.012079 56.01608 60.51608 63.018079 65.016078 70.02007 75.02407 77.52607 82.53007 87.03007 91.53007 96.534069 101.034069 105.534069 110.53806 115.03806 117.54006 122.54406 125.54106 130.54506 133.04706 138.05106 140.04906 144.54906 149.55306 151.55106 153.54906 158.55306 165.05106 170.05506 175.05905 177.56105 180.06305 186.56105 191.56505 194.06705 199.07105 201.57305 206.57704 211.07704 215.57704 220.58104 225.08104 229.58104 234.58504 239.08504 241.58704 246.59104 249.58803 254.59203 257.09403 262.09803 264.096 266.094 271.098 277.59599 282.59999 287.60398">Off-chip instruction accesses are disallowed. Data accesses are allowed.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 134.57434 279.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00005 5.0040509">11</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 155.40496 279.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00005 7.0020506 9.504051 12.006052 15.003052 19.503052 24.507054 26.505055 31.509057 34.011056 36.009057 41.013059 45.513059 48.015058 51.01206 56.01606 60.51606 63.01806 65.01606 70.02006 75.024059 77.526058 82.53005 87.03005 91.53005 96.53405 101.03405 105.53405 110.53805 115.03805 117.54005 122.544048 127.54804 132.55205 135.05405 140.05805 145.06204 147.56404 152.56804 155.07004 160.07404 164.57404 169.07404 174.07804 178.57804 183.07804 188.08203 192.58203 195.08403 200.08803 203.08502 208.08902 210.59102 215.59502 217.59302 219.59102 224.59502 231.09302 236.09702 241.10102">Off-chip instruction accesses and data accesses are allowed.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250009 296.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="29.403 34.407 39.411005">7&#x2013;5</tspan><tspan y="18.83789" x="10.152 16.650002 21.654004 27.657004 34.659006 41.157007 46.656007 52.659006 58.662004">CLKOUTSEL</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 134.57434 296.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 17.505002 24.507002 31.005003 36.504 39.006 43.506 48.510004 50.508005 55.512006 60.012006">CLKOUT select</tspan><tspan y="28.83789" x="0 6.0030004 11.007001 13.005001 18.009003 22.509003 25.011004 29.511004 32.013006 34.515005 39.519006 44.523008 47.025007 51.525007 53.523008 58.527009 63.027009 67.52701 70.02901 72.531009 77.535 80.037 85.041 90.045 92.547 97.550998 102.55499 105.05699 107.55899 112.56299 117.566989 120.068988 122.570987 127.57498 132.57898 135.08098 141.57898 146.58298 152.58599 159.58798 166.08599 171.58498 174.08698 179.09098 181.08898 186.09297">Selects the clock to output on the CLKOUT pin.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 134.57434 338.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 10.008001">000</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 160.212 338.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 7.497 12.501001 17.001002 23.004002 28.008004 32.508005 35.010004 41.508005 46.512006 52.515008 59.517007 66.01501">FlexBus CLKOUT</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 134.57434 349.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">001</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 160.212 349.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.4980008 11.502001 16.002 21.006 24.003 28.503 33.507">Reserved</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 134.57434 362.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">010</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 160.212 362.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 7.497 12.501001 17.001002 22.005002 24.507002 29.007002 31.005002 36.009004 40.509004">Flash clock</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 134.57434 375.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">011</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 160.212 375.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 11.007001 18.009 20.511002 25.011002 27.009003 32.013006 36.513006 41.013006 43.515005 46.512006 51.516008 54.018007 58.518007 65.01601 69.51601">LPO clock (1 kHz)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 134.57434 388.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">100</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 160.212 388.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 7.4970009 13.995001 20.997002 23.499003 29.997004 36.495004 41.499006">MCGIRCLK</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 134.57434 401.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">101</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 160.212 401.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.4980008 11.997001 18.495 20.997002 26.001004 31.005005 33.507005 38.511007 43.515008 48.51901 53.01901 59.51701 64.01701 66.51901 71.01901 73.01701 78.02101 82.52101">RTC 32.768kHz clock</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 134.57434 414.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.0040209 10.008021">110</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 160.212 414.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 7.0020205 13.00502 19.503022 25.506022 32.00402 38.50202 43.506025 49.509027">OSCERCLK0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 134.57434 427.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 5.0040209 10.008021">111</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 160.212 427.68284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 6.4980208 11.502022 16.002022 21.006024 24.003024 28.503024 33.507024">Reserved</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250009 445.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="34.407">4</tspan><tspan y="18.83789" x=".90901187 7.4070127 12.906013 19.404013 25.902014 30.906014 36.90901 43.91101 50.40901 55.908014 61.91101 67.91401">RTCCLKOUTSEL</tspan></text>
<g clip-path="url(#clip_12)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 134.57434 445.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.997001 18.495 20.997002 25.497002 27.495003 32.499006 36.999006 41.499006 44.001005 49.005006 54.009008 56.511007 59.013006 63.513006 68.517009 70.51501 75.519008 80.019008">RTC clock out select</tspan><tspan y="28.83789" x="0 6.0030004 11.007001 13.005001 18.009003 22.509003 25.011004 29.511004 32.013006 37.017007 39.015008 41.517007 46.521009 51.52501 54.52201 57.02401 59.52601 64.53001 69.534008 72.036 78.534008 84.033008 90.531009 93.033008 98.037 100.539 107.037 111.537 114.039 118.539 120.537 125.541 130.041 134.541 137.043 142.047 145.04399 147.54599 150.04799 155.05199 160.05599 162.55799 167.56198 172.56598 175.06798 180.07198 185.07598 190.07997 194.57997 201.07798 205.57798 208.07997 212.57997 214.57798 219.58197 224.08197 228.58197 231.08397 233.58597 238.58997 241.09197 246.09597 251.09996 253.60196 258.60597 263.60997 266.11198 271.11598 276.11997 278.62199 281.124 286.128 291.132 293.634 296.13603 301.14 306.144 308.64604 315.144 320.643 327.141 332.145 338.64299 343.64698 349.64997 356.65199 363.14997 368.64897 371.15098 376.15498 378.15296 383.15696">Selects either the RTC 1 Hz clock or the 32.768kHz clock to be output on the RTC_CLKOUT pin.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 134.57434 487.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 150.59789 487.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.997001 18.495 20.997002 26.001004 28.503005 35.001005 39.501005 42.003004 46.503004 48.501005 53.505006 58.005006 62.505006 65.007 67.005008 71.505008 74.007 79.011 84.015 86.517 91.520999 96.524997 99.02699 101.52899 106.53299 111.53699 114.03899 116.540988 121.54498 126.54898 129.05098 135.54898 141.04798 147.54598 152.54998 159.04798 164.05197 170.05498 177.05698 183.55498 189.05397 191.55597 196.55997 198.55797 203.56197">RTC 1 Hz clock is output on the RTC_CLKOUT pin.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 134.57434 498.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 150.59789 498.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.4980008 11.997001 18.495 20.997002 26.001004 31.005005 33.507005 38.511007 43.515008 48.51901 53.01901 59.51701 64.01701 66.51901 71.01901 73.01701 78.02101 82.52101 87.02101 89.52301 91.52101 96.02101 98.52301 103.52701 108.531009 111.033008 116.037 121.041 123.543 126.045 131.049 136.053 138.555 141.05699 146.06099 151.06499 153.56699 160.06499 165.56398 172.06198 177.06598 183.56398 188.56798 194.57099 201.57299 208.07099 213.56998 216.07198 221.07598 223.07398 228.07798">RTC 32.768kHz clock is output on the RTC_CLKOUT pin.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.250009 515.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="29.403 34.407 39.411005">3&#x2013;0</tspan><tspan y="18.83789" x="17.658 24.156002 29.160004 33.660005 38.664007 41.661008 46.161008 51.16501">Reserved</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 134.57434 515.6828)" 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>
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</g>
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</g>
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</g>
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</g>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.000009 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 7.4970009 12.501001 20.502003 26.001004 29.502003 34.506006 37.008005 45.009004 50.013006 55.512006 58.014005 63.018007 68.517009 74.01601 76.518009 80.019008 85.023 90.522 93.024 98.028 101.025 106.029 109.53 112.032 117.531 122.534999 125.532 128.034 133.53299 136.03499 139.03199 141.53398 147.03298">Memory map and register definition</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000009 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.012 137.232 142.79199 148.35199 151.13199 157.80199 163.91199 170.02199 173.35199 179.46199 185.02199 193.91199 196.69199 199.47199 205.03199 207.81198 215.03199 220.59198 223.92198 229.48198 233.37198 238.93198 245.04198 250.60198 256.162 258.942 267.27198 272.83198 278.94197 285.05195 290.61195 293.39195 296.17195 298.95195 306.17195 311.73194 317.29194 320.07194 322.85194 328.41194 331.19194 336.75193 342.8619 348.9719 351.7519 357.3119 362.8719 368.4319">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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