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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_293.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

1235 lines
105 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 132.55408 354.5)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="187.72199 194.21999 199.22399 204.22798 209.23198 212.73299 215.23499 220.73398 223.73097 226.23297 231.73197">Description</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25003 370.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="23.265 28.269001 33.273004 38.277006 43.281007">31&#x2013;30</tspan><tspan y="18.83789" x="16.523999 23.022 28.026001 32.526 37.530004 40.527006 45.027006 50.031007">Reserved</tspan></text>
<g clip-path="url(#clip_121)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.30408 370.5)" 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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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25003 397)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.771 35.775">29</tspan><tspan y="18.83789" x="2.5289994 8.028 13.527 21.024003 26.028004 31.527005 38.025007 45.027006 50.031007 56.034006 62.532007">FTM0TRG1SRC</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.30408 397)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 7.497 12.501001 17.001002 22.500002 24.498002 31.995003 36.999006 39.996007 42.498006 47.502008 50.004007 56.502008 61.50601 64.503009 69.507 76.005008 81.009 84.006008 89.01 91.512 97.011 100.008 102.006008 107.01 112.014 117.018 120.015 122.517 127.520999 130.023 136.026 141.03 146.034 149.03099 153.53099 158.53499 161.03699 167.04 172.04399 174.04199 179.04599 183.54599">FlexTimer 0 Hardware Trigger 1 Source Select</tspan><tspan y="28.83789" x=".00002 6.0030205 11.007021 13.005021 18.009022 22.509022 25.011023 29.511023 32.013025 34.515024 39.519025 44.523027 47.025026 51.525026 56.529027 61.533029 64.53003 69.03003 74.03403 76.536029 81.54002 84.04202 86.54402 92.04302 97.54202 105.039028 110.04302 112.54502 117.54902 122.55302 125.55002 130.55402 137.05202 142.05602 145.05301 150.057 152.559 155.061 158.058 160.056 165.06 170.064 175.068 178.06499 180.56699 185.57099">Selects the source of FTM0 hardware trigger 1.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.30408 439)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00002">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.49993 439)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00002 6.0030205 12.50102 18.50402 21.006022 26.010022 31.014023 33.51602 38.520025 43.524026 46.026025 48.528024 51.03002 54.027025 56.025026 61.029027 66.03303 71.037029 74.03403 76.536029 81.54002 84.04202 89.04602 92.04302 94.04102 98.54102 103.54502 108.04502 110.54702 116.04602 121.54502 129.04203 134.04602 136.54802 141.55202 146.55602 149.55301 154.557 161.05501 166.059 169.056 174.06 176.562 179.064 182.06099 184.05899 189.06299 194.06699 199.07099 202.06798 204.56998">PDB output trigger 1 drives FTM0 hardware trigger 1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 132.30408 450)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.49993 450)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 5.49904 10.99804 18.49504 23.499043 26.001044 30.501044 35.505044 40.509046 45.513048 50.517049 55.52105 57.51905 60.02105 67.51805 72.52205 75.02405 79.52405 84.528049 87.030048 92.03404 95.031047 97.029048 101.529048 106.53304 111.03304 113.53504 119.03404 124.53304 132.03005 137.03404 139.53604 144.54004 149.54404 152.54103 157.54503 164.04303 169.04703 172.04402 177.04802 179.55002 182.05202 185.04901 187.04701 192.05101 197.05501 202.059 205.056 207.558">FTM2 channel match drives FTM0 hardware trigger 1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25003 467.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.771 35.775">28</tspan><tspan y="18.83789" x="2.5289994 8.028 13.527 21.024003 26.028004 31.527005 38.025007 45.027006 50.031007 56.034006 62.532007">FTM0TRG0SRC</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.30408 467.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 7.497 12.501001 17.001002 22.500002 24.498002 31.995003 36.999006 39.996007 42.498006 47.502008 50.004007 56.502008 61.50601 64.503009 69.507 76.005008 81.009 84.006008 89.01 91.512 97.011 100.008 102.006008 107.01 112.014 117.018 120.015 122.517 127.520999 130.023 136.026 141.03 146.034 149.03099 153.53099 158.53499 161.03699 167.04 172.04399 174.04199 179.04599 183.54599">FlexTimer 0 Hardware Trigger 0 Source Select</tspan><tspan y="28.83789" x=".00002 6.0030205 11.007021 13.005021 18.009022 22.509022 25.011023 29.511023 32.013025 34.515024 39.519025 44.523027 47.025026 51.525026 56.529027 61.533029 64.53003 69.03003 74.03403 76.536029 81.54002 84.04202 86.54402 92.04302 97.54202 105.039028 110.04302 112.54502 117.54902 122.55302 125.55002 130.55402 137.05202 142.05602 145.05301 150.057 152.559 155.061 158.058 160.056 165.06 170.064 175.068 178.06499 180.56699 185.57099">Selects the source of FTM0 hardware trigger 0.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.30408 509.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00002">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.49993 509.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00002 6.4980208 12.50102 18.999022 26.496022 32.499025 37.503026 40.005025 45.009027 50.013029 52.515027 57.519029 62.52303 65.02503 67.52703 72.53103 75.52803 77.52603 82.02603 87.03003 91.53003 94.03203 99.53103 105.03003 112.52703 117.53103 120.03303 125.037029 130.04103 133.03803 138.04203 144.54003 149.54402 152.54102 157.54502 160.04701 162.54901 165.546 167.544 172.548 177.552 182.556 185.553 188.055">HSCMP0 output drives FTM0 hardware trigger 0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 132.30408 520.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.49993 520.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 5.49904 10.99804 18.49504 23.499043 26.001044 30.501044 35.505044 40.509046 45.513048 50.517049 55.52105 57.51905 60.02105 67.51805 72.52205 75.02405 79.52405 84.528049 87.030048 92.03404 95.031047 97.029048 101.529048 106.53304 111.03304 113.53504 119.03404 124.53304 132.03005 137.03404 139.53604 144.54004 149.54404 152.54103 157.54503 164.04303 169.04703 172.04402 177.04802 179.55002 182.05202 185.04901 187.04701 192.05101 197.05501 202.059 205.056 207.558">FTM1 channel match drives FTM0 hardware trigger 0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25003 538)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.771 35.775">27</tspan><tspan y="18.83789" x="16.524 23.022002 28.026001 32.526 37.530004 40.527006 45.027006 50.031007">Reserved</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.30408 538)" 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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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25003 564.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.771 35.775">26</tspan><tspan y="18.83789" x="6.7679998 12.267 17.766 25.263 30.267003 36.765005 41.769006 47.772005 53.775 59.778">FTM2CLKSEL</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.30408 564.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 7.497 12.501001 17.001002 22.500002 24.498002 31.995003 36.999006 39.996007 42.498006 47.502008 50.004007 56.007005 60.507005 63.009004 68.013 71.01 76.014 81.018 83.016 85.518 92.016 94.014 99.018 103.518 108.018 110.52 116.522998 118.520999 123.524997 126.02699 132.03 137.034 139.032 144.036 148.536">FlexTimer 2 External Clock Pin 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 52.029008 56.529008 59.031007 64.035 67.032009 72.036 77.04 79.038 81.54 86.544 88.542 93.546 96.048 101.051998 105.551998 110.55599 115.55999 118.06199 120.56399 125.567989 128.06999 133.07399 136.07099 138.06899 142.56899 147.57299 150.07498 152.57698 157.58098 162.58498 165.08698 169.58698 171.58498 176.58898 181.08898 185.58898 188.09098 190.59297 195.59697 198.09897 200.60097 205.60497 210.60897 213.11096 218.60996 224.10895 231.60594 236.60994 239.11194 246.60894 251.61293 256.61695 261.62095 263.61894 268.62294">Selects the external pin used to drive the clock to the FTM2 module.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 167.38971 604.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 22.509 27.513 29.511002 34.515005 39.015005 41.517004 46.521005 51.525007 54.027006 59.031007 61.029008 66.033008 68.535 76.032009 81.036 85.536 88.038 90.54 95.544 97.542 102.042 107.046 109.548 114.551998 119.55599 122.05799 126.55799 131.562 136.566 139.068 141.066 146.06999 151.07399 154.07099 159.07498 164.07898 166.58098 169.08298 174.08698 177.08397 179.58597 182.08797 187.09197 192.09597 194.59796 200.09696 205.59595 213.09294 218.09694 220.59894 228.09593 233.09993 238.10393 243.10793 245.10593 250.10993 252.61193 257.61595 262.11595 264.61796 269.62196 272.61897 277.62297 282.62696 284.62495 287.12696 291.62696 293.62495 298.62895 303.12895 307.62895 310.13096 312.63298 317.63697 322.64097 327.14097 329.64299 331.64097 336.64497 341.64897 344.15098 346.65299 351.65699 354.654 359.658 364.662 369.666">The selected pin must also be configured for the FTM2 module external clock function through</tspan><tspan y="18.83789" x=".00003 2.5020304 7.506031 12.510032 15.012032 20.016034 25.020035 30.024037 33.021039 38.02504 43.02904 46.026044 48.024045 53.028047 55.530046 60.534048 63.036046 68.04005 70.03805 75.042049 77.544048 82.044048 87.04804 92.05204 94.55404 97.55104 102.55504 104.55304 107.05504 110.05204 115.05604 120.060039 122.05804 126.55804 129.06005 134.06404 137.06104 139.56304 141.56104 146.56504 149.06703 151.56903 156.57303 161.57703 164.07903 169.08303 174.08702 177.08402 179.58602 182.08802 186.58802 191.59201 196.59601 199.098 202.095 207.099 209.097 211.599 219.096 224.09999 229.10399 234.10799 236.10599 241.10999">the appropriate pin control register in the port control module.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.30408 636.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.49993 636.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.998 18.495 23.499 26.001002 31.005002 35.505 38.007 43.011 46.008005 51.012006 56.016008 58.014009 60.516008 65.01601 67.01401 72.018009 76.518009 81.018009 83.520008 88.524 91.521 93.519008 98.019008 103.023 108.027 110.529 115.533 120.033 122.534999 128.034 133.53299 141.02999 146.03398 152.53199 157.53598 163.53899 168.54299 171.04499 176.04898 178.04698 183.05098">FTM2 external clock driven by FTM_CLK0 pin.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.49993 647.5)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.998 18.495 23.499 26.001002 31.005002 35.505 38.007 43.011 46.008005 51.012006 56.016008 58.014009 60.516008 65.01601 67.01401 72.018009 76.518009 81.018009 83.520008 88.524 91.521 93.519008 98.019008 103.023 108.027 110.529 115.533 120.033 122.534999 128.034 133.53299 141.02999 146.03398 152.53199 157.53598 163.53899 168.54299 171.04499 176.04898 178.04698 183.05098">FTM2 external clock driven by FTM_CLK1 pin.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25003 665)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.771 35.775">25</tspan><tspan y="18.83789" x="6.7679998 12.267 17.766 25.263 30.267003 36.765005 41.769006 47.772005 53.775 59.778">FTM1CLKSEL</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.30408 665)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.998 18.495 23.499 26.001002 32.004 36.504 39.006 44.010004 47.007005 52.011007 57.015008 59.01301 61.515008 68.01301 70.01101 75.01501 79.51501 84.01501 86.517009 92.520008 94.518009 99.522 102.024 108.027 113.031 115.029 120.033 124.533">FTM1 External Clock Pin 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 52.029008 56.529008 59.031007 64.035 67.032009 72.036 77.04 79.038 81.54 86.544 88.542 93.546 96.048 101.051998 105.551998 110.55599 115.55999 118.06199 120.56399 125.567989 128.06999 133.07399 136.07099 138.06899 142.56899 147.57299 150.07498 152.57698 157.58098 162.58498 165.08698 169.58698 171.58498 176.58898 181.08898 185.58898 188.09098 190.59297 195.59697 198.09897 200.60097 205.60497 210.60897 213.11096 218.60996 224.10895 231.60594 236.60994 239.11194 246.60894 251.61293 256.61695 261.62095 263.61894 268.62294">Selects the external pin used to drive the clock to the FTM1 module.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 703)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="180.95401 185.95801 190.962 196.461 198.459 203.463 205.965 210.969 215.97299 220.97699 223.47899 225.47699 230.48099 235.48499 240.48899 244.98899 247.49098 252.49498 257.499 260.001 262.50303 267.50703 272.51103 275.01304 280.01704 285.02104 289.52104 292.02305 294.52507 300.02406 305.02806 310.52705 315.53105 318.03306 320.53507">Table continues on the next page...</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01034" x="315.468 321.96598 327.46498 332.46897 337.96797 340.96498 345.96897 349.46998 351.972 356.97599 361.97999 364.482 370.485 375.48899 380.49299 383.49 388.494 396.495 398.997 401.49903 406.99803 409.99504 414.99903 420.49803 423.99903 429.00303 432.00004 434.50205 440.00105 445.50004 448.00205 455.49906 460.99806 466.49705 471.99604 474.49806 479.50205 482.00407 485.00108 491.00407 493.50608 501.00309">Chapter 12 System Integration Module (SIM)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.00003 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 54.00003 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 1 220.32004 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>
<text xml:space="preserve" transform="matrix(1 0 0 1 391.68003 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">293</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54.00003 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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