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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

135 lines
28 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 54 54)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.63672" x="236.446 246.554 255.108 259.77">Note</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="36.25" x="72.002 82.11 89.11 96.11 99.61 110.502 117.502 122.948 126.84 130.34 137.34 144.34 151.34 157.556 161.448 167.664 171.164 175.056 182.056 188.272 191.772 201.11 213.556 221.34 231.448 234.948 241.164 248.164 255.164 258.664 268.002 280.44804 288.23204 296.786 300.286 304.948 311.164 318.164 322.056 327.502 331.394 337.61003 342.272 347.71803 351.21803 358.21803 362.88 366.772 373.772 378.434 381.934 385.826">You must update the CMPH and CMPL registers prior to</tspan><tspan y="52.25" x="72.002 78.218 85.218 91.434009 98.434009 102.326007 106.218 113.218 120.218 123.718 127.61 134.61 140.826 144.326 152.88 166.09601 178.542 182.042 185.542 195.65001 200.31201 204.20401 210.42002 215.08202 218.58202 224.79802 231.79802 238.01403 245.01403 248.90602 252.79802 259.79804 266.79804 270.29804 274.19004 281.19004 287.40605 290.90605 299.46003 312.67604 325.12205 328.62205 332.12205 336.01405 343.01405 349.23005 352.73005 358.94606 365.94606 372.94606 379.94606 383.83805 390.05406 394.71604 398.21604 402.87803 409.09403 414.54005 420.75605 424.64805">enabling the EWM. After enabling the EWM, the counter resets</tspan><tspan y="68.25" x="72.002 75.894 82.894 86.394 92.61 98.826007 103.48801 110.48801 113.98801 117.48801 121.380008 128.38 134.59601 139.25801 145.47402 150.13602 157.13602 161.79802 168.01403 171.51403 178.51403 183.17603 190.17603 197.17603 201.06803 208.06803 211.96002 218.96002 225.96002 229.46002 235.67603 239.17603 243.83803 250.05403 256.27003 261.71604 268.71604 275.71604 281.93205 288.93205 292.82405 299.04005 302.54005 306.43205 310.32405 321.21604 327.43205 330.93205 337.14805 341.81004 345.70204 351.91804 356.58003 360.08003 366.29603 369.79603 376.79603 383.79603 393.90403 400.12004 404.782 409.444 416.444">to zero, therefore providing a reasonable time after a power-on</tspan><tspan y="84.25" x="72.00197 76.66397 82.879978 88.32597 94.54198 98.433979 101.933979 106.59598 113.59598 118.25798 121.75798 125.64998 132.64998 138.86598 142.36598 148.58199 155.58199 159.47399 165.68999 170.35199 177.35199 183.568 187.45999 190.95999 201.85199 208.85199 215.85199 219.74399 223.63599 230.63599 235.29799 239.18999 246.18999 253.18999 256.69 262.906 266.798 271.46 277.676 284.676 288.568 292.46 295.96 299.852 306.852 310.352 315.798 319.69 325.906 332.906 336.798 340.69 344.582 350.798 357.014 360.514 366.73 373.73 380.73 384.23 390.446 397.446 402.89204 409.89204 414.55403">reset for the external monitoring circuit to stabilize and ensure</tspan><tspan y="100.25" x="72.002 75.894 82.894 89.11 93.002 96.502 100.394 107.394 113.61 117.11 125.664 138.88 151.326 158.326 162.218 169.218 172.718 179.718 183.61 190.61 194.11 198.002 203.448 206.948 213.948 220.164 226.38 231.826 237.272 243.488 248.15001 252.042 258.258 265.258">that the EWM_in pin is deasserted.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 195.8)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00597 8.901971 17.797972 22.245972 31.141972 35.589975">23.4.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 195.8)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00597 10.677971 25.781971 39.10997 43.557973 55.109975 64.88597 74.66197 84.43797 89.765979 98.66198">EWM Counter</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="179.05" x="-.00203 4.6599705 8.5519709 12.0519709 15.943971 21.38997 24.88997 31.105973 38.105974 41.605974 48.605974 53.26797 60.26797 64.15997 68.05197 71.55197 76.213977 80.10597 87.10597 94.10597 97.99797 104.213977 107.713977 113.92998 120.92998 127.92998 134.92998 138.82198 145.03798 149.69998 153.19998 157.86199 164.07799 171.07799 174.57799 179.23999 183.902 190.902 201.79399 205.29399 211.51 215.01 221.226 225.118 232.118 238.334 245.334 248.834 254.28 261.28 268.28 272.942 279.158 285.374 288.874 292.766 299.766 305.982 309.874 313.374 317.266 322.712 326.212 330.104 337.104 344.104 350.32 357.32 363.536 370.536 377.536 383.752 390.752 394.644 398.144 405.144 409.806 413.306 417.198 424.198 430.414 433.914 440.914 447.13 451.792 455.684 462.684 469.684 475.9 480.56199 486.77799">It is an 8-bit ripple counter fed from a clock source that is independent of the peripheral</tspan><tspan y="195.05" x="-.00203 6.99797 13.997971 19.443972 22.943972 29.159974 33.051977 40.051977 46.267976 53.267976 56.767976 62.213975 69.213977 76.213977 80.87598 87.09198 93.30798 96.80798 100.30798 110.415988 115.861988 119.361988 123.25398 130.25399 136.46999 139.96999 146.96999 151.63199 157.84799 162.51 168.726 173.388 178.05 184.266 191.266 194.766 198.658 202.55 213.442 219.658 224.32 231.32 238.32 242.212 245.712 249.604 255.05 258.55 265.55 271.766 275.658 285.766 291.982 298.198 305.198 308.698 315.698 319.198 330.09 335.536 339.036 345.252 352.252 359.252 362.752 369.752 376.752 383.752 387.252 398.144 403.59004 407.09004 410.98204 417.98204 424.19804 427.69804 433.91404 440.13005 444.02204 451.02204 457.23805 461.13005 464.63005 470.84605 474.73805 481.73805 487.95405">bus clock source. As the preferred time-out is between 1 ms and 100 ms the actual clock</tspan><tspan y="211.05" x="-.00203 5.4439709 12.443971 19.44397 24.10597 30.321972 36.53797 40.03797 45.48397 52.48397 59.48397 66.48397 70.37597 77.37597 80.87597 87.87597 94.09197 97.59197 101.48397 108.48397 111.98397 115.87597 122.87597 129.09197 132.59197 139.59197 149.69997 155.91597 159.41597 164.07798 170.29398 177.29398 184.29398 190.50998">source should be in the kHz range.</tspan><tspan y="235.45" x="-.00203 8.55197 15.55197 21.767971 25.267971 31.48397 38.48397 45.48397 52.48397 56.375974 62.591974 67.253978 70.753978 74.64597 80.09197 83.59197 88.253978 94.46998 99.91598 106.13198 110.02398 113.52398 117.41598 124.41598 127.91598 134.13198 140.34798 145.00998 152.00998 155.50998 159.00998 165.22599 169.88799 173.77999 179.99599 184.65799 188.15799 194.374 197.874 207.21199 214.99599 225.10399 228.60399 233.26599 239.482 244.928 251.144 255.036 258.536 262.036 269.036 273.698 277.198 283.414 286.914 295.468 308.684 321.13 324.63 329.292 335.508 340.16999 344.83198 351.04798 356.494 363.494 366.994 373.21 380.21 386.426 390.318 396.534 400.034 403.534 412.08799 419.08799 425.304 428.804 435.02 442.02 449.02 456.02 459.912 466.128">The counter is reset to zero, after a CPU reset, or a EWM refresh cycle. The counter</tspan><tspan y="251.45" x="-.00203 6.99797 13.21397 17.10597 24.10597 30.321972 33.82197 37.713975 43.159975 46.659975 53.659975 60.659975 64.55197 68.05197 74.267978 80.48398 86.69998 92.915988 98.361988 103.80798 107.69998 114.69998 118.59198 124.80798 128.30799 132.19998 139.19998 142.69998 146.59198 153.59198 159.80799 163.30799 172.64598 180.42998 190.53798">value is not accessible to the CPU.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 347)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00597 8.901971 17.797972 22.245972 31.141972 35.589975">23.4.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 347)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00597 10.677971 25.781971 39.10997 43.557973 55.109975 64.88597 79.10997 88.88597 97.781978 104.005977 112.90198 117.349979 128.90198 137.79798 147.57398 152.02198 160.91797 166.24597 175.14197 181.36597">EWM Compare Registers</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="330.25" x=".00197 8.55597 15.55597 21.77197 25.27197 31.487973 38.487974 49.379976 56.379976 62.595975 67.25797 73.473979 76.973979 81.63598 87.85198 94.85198 98.74398 104.18998 108.08198 114.29798 118.959987 124.40598 127.90598 137.24399 149.68999 157.47399 166.02799 169.52799 175.74399 182.74399 189.74399 193.24399 202.58199 215.02799 222.81198 232.91999 236.41999 242.63599 247.29799 253.51399 257.01399 267.12199 271.78398 275.67597 279.56797 285.78398 290.44596 297.44596 304.44596 310.66197 316.87797 320.37797 326.59397 331.25596 335.14796 341.36396 346.02595 349.52595 355.74195 359.24195 368.57997 376.36396 386.47196 389.97196 394.63395 400.84996 406.29597 412.51197 416.40397 419.90397 426.11997 433.11997 440.11997 443.61997 449.83598 456.05198 463.05198 470.05198 477.05198 480.94398 484.44398 491.44398">The compare registers CMPL and CMPH are write-once after a CPU reset and cannot be</tspan><tspan y="346.25" x=".00197 10.893971 17.89397 24.89397 28.78597 33.44797 37.339975 43.555974 50.555974 54.055974 61.055974 68.05597 71.94797 75.839969 79.731967 83.231967 89.44797 96.44797 103.44797 107.339969 114.339969 120.55597 125.21797 128.71797 138.05597 145.83997 155.94797 159.44797 164.10997 170.32598 175.77198 181.98798 185.87998 189.37998 196.37998 202.59598 208.81198 215.81198 220.47399 225.91999">modified until another CPU reset occurs.</tspan><tspan y="370.65" x=".00197 8.55597 15.55597 21.77197 25.27197 33.82597 47.04197 59.48797 62.98797 69.20397 76.20397 87.09597 94.09597 100.31197 104.973979 111.18998 114.68998 119.35198 125.567989 132.568 136.45999 141.90599 145.79799 152.01399 156.676 162.122 165.622 171.838 176.5 182.716 186.216 193.216 198.662 204.878 211.878 215.378 219.27 226.27 229.77 235.98601 240.64801 246.86402 253.08002 256.97203 263.18803 266.68803 272.90403 276.40403 281.85005 288.06605 292.72804 299.72804 303.62004 309.83604 316.05204 319.55204 329.66004 333.55204 340.55204 347.55204 354.55204 364.66004 368.16004 371.66004 381.76805 388.76805 392.66004 398.87605 405.87605 409.37605 413.26805 418.71406 422.21406 429.21406 434.66007 440.87608 447.87608 451.37608 458.37608 465.37608 468.87608 472.76808 479.76808">The EWM compare registers are used to create a service window, which is used by the</tspan><tspan y="386.65" x=".00197 9.339972 17.123972 27.231972 30.731972 34.623975 41.623975 45.123975 50.569974 56.785974 61.44797 68.44797 72.339969 78.55597 84.77197 88.66397 93.32597 99.54198 104.20398 108.86598 115.081989 120.527988 127.527988 131.02799 134.91999 141.91999 148.13599 151.63599 160.18999 173.40599 185.85199 189.35199 200.24399 207.24399 214.24399 221.24399 225.13599 231.35199">CPU to service/refresh the EWM module.</tspan><tspan y="411.05" x="13.10598 23.997982 28.659983 33.321985 36.821985 40.713987 47.713987 53.929986 57.429986 66.76799 74.551998 84.659999 88.159999 93.605998 99.822 104.484 111.484 115.376 121.592 127.80801 133.25402 136.75402 140.64601 147.64601 153.86202 157.36202 165.91602 179.13202 191.57802 195.07802 205.18602 212.18602 218.40203 225.40203 228.90203 232.79402 239.79402 246.01003 249.51003 255.72603 262.726 269.726 276.726 280.618 286.834 291.496 294.996 301.996 308.212 312.104 319.104 325.32 328.82 332.712 336.604 342.82 348.26603 351.76603 358.76603 364.98204 368.87403 378.98204 385.19804 391.41404 398.41404 401.91404 411.25205 423.69807 431.48207 440.03605 443.53605 450.53605 456.75205 460.64405 467.64405 473.86006 477.36006 483.57606 490.57606">&#x2022;If the CPU services the EWM when the counter value lies between CMPL value and</tspan><tspan y="427.05" x="23.99798 33.335985 45.781984 53.565984 63.673986 67.17398 74.17398 80.389987 84.28198 91.28198 97.497989 100.997989 104.497989 108.389987 115.389987 121.60599 125.10599 131.32199 138.32199 145.32199 152.32199 156.21399 162.43 167.092 170.592 174.484 179.93 183.43 188.092 194.308 199.754 205.97 209.862 213.362 217.254 224.254 227.754 233.97 240.186 244.848 251.848 255.348 258.84803 267.402 274.402 278.294 283.74003 287.24003 291.13203 296.57804 300.07804 306.29405 309.79405 313.68605 319.90205 326.90205 333.11805 337.01005 340.51005 345.95606 352.17207 356.83406 363.83406 367.72605 373.94206 380.15806 383.65806 390.65806 397.65806 403.87406 408.53605 414.75205 418.64405 422.53605 429.53605 436.53605">CMPH value, the counter is reset to zero. This is a legal service operation.</tspan><tspan y="451.44999" x="13.10599 23.997992 28.659993 33.32199 36.82199 40.713994 47.713994 53.929994 57.429994 66.76799 74.551998 84.659999 88.159999 94.376 101.376 107.592 113.80801 120.80801 124.700008 130.916 136.362 139.862 146.078 149.578 158.132 171.348 183.794 187.294 192.74 198.95601 203.61801 210.61801 214.51001 220.72602 226.94202 230.83402 235.49602 241.71202 246.37403 251.03603 257.252 262.69804 269.69804 273.19804 279.41404 285.63005 289.52204 293.41404 300.41404 307.41404 310.91404 317.91404 324.91404 328.80604 334.25205 338.14405 345.14405 351.36006 354.86006 358.75205 365.75205 371.96806 375.46806 379.36006 385.57606 392.57606 398.79206 402.68406 406.18406 411.63008 417.84608 422.50807 429.50807 433.40007 439.61607 445.83207 449.33207 459.44007 463.33207 470.33207 477.33207 484.33207 494.44007">&#x2022;If the CPU executes a EWM service/refresh action outside the legal service window,</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 613.4)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x="-.00203 10.6699709 25.773972 39.101976 43.549978 55.10198 63.99798 69.32598 75.54998 84.445987 93.34199 103.11799 107.56599 120.89399 129.79 138.68599 148.46199 157.35799 167.13399 171.58199 180.47798">EWM Refresh Mechanism</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="596.65" x=".00396 10.11196 14.003961 21.00396 27.21996 31.88196 35.381959 39.27396 46.27396 52.48996 59.48996 62.98996 66.88196 73.88196 80.09796 83.59796 87.48996 94.48996 98.38196 102.27396 106.165958 112.38196 116.27396 119.77396 125.98996 132.98996 139.98996 144.65196 148.54396 155.54396 162.54396 167.20597 173.42197 177.31397 181.20597 188.20597 195.20597 198.70597 205.70597 210.36797 213.86797 217.75997 224.75997 230.97597 234.47597 243.02997 256.24598 268.692 272.192 275.692 279.58399 286.58399 292.8 296.3 305.638 313.422 323.53 327.03 333.246 339.462 346.462 349.962 356.962 363.962 367.854 374.854 378.354 384.57 390.786 397.002 403.21803 408.66404 414.11006 417.61006 421.50205 428.50205 434.71806 438.21806 446.77204 459.98805 472.43406 475.93406 482.93406">Other than the initial configuration of the EWM, the CPU can only access the EWM by</tspan><tspan y="612.65" x=".00399 3.8959904 10.89599 17.111992 20.611992 29.165993 42.381994 54.827997 58.327997 66.112 72.328 76.990009 83.990009 87.882 94.09801 100.31401 103.81401 113.15201 119.36801 126.36801 130.26001 135.70601 139.598 145.81401 150.47602 153.97602 157.47602 166.03002 173.03002 179.24602 182.74602 192.08402 199.86801 209.97602 213.47602 224.36801 231.36801 236.81401 240.70601 244.20601 250.42201 256.638 262.854 269.07 274.51603 279.96205 283.46205 287.35404 294.35404 300.57005 304.07005 312.62403 325.84004 338.28605 341.78605 347.23207 353.44807 358.11006 365.11006 369.00205 375.21806 381.43406 384.93406 389.59605 395.81205 402.81205 406.70405 412.15007 416.04206 422.25807 426.92005 430.42005 440.52806 444.42005 448.31205 455.31205 458.81205 465.02806 472.02806 476.69004 481.35203 487.56803 493.78404">the EWM Service Register. The CPU must access the EWM service register with correct</tspan><tspan y="628.65" x=".00399 10.111991 14.773991 18.66599 22.557991 28.77399 32.27399 39.27399 43.93599 47.43599 54.43599 61.43599 65.32799 72.32799 79.32799 85.54399 89.04399 96.04399 102.259998 106.15199 112.368 115.868 125.976 129.868 133.76 140.76 144.652 151.652 155.152 159.04399 166.04399 172.26 175.76 185.868 189.76 196.76 203.76 210.76 220.868 227.084 234.084 237.584 241.476 245.368 256.26 262.476 265.976 270.638 275.3 281.516 292.408 298.624 302.124 308.34 313.786 317.286 324.286 330.502 334.394 340.61003 345.272 356.164 360.056 367.056 373.272 380.272 383.772 390.772 397.772 401.272 405.164 412.164 418.38 421.88 431.21803 443.66404 451.44804 460.002 463.502 469.71803 476.71803">write of unique data within the windowed time frame as determined by the CMPL and</tspan><tspan y="644.65" x=".00399 9.341991 21.787993 29.571993 39.679994 43.179994 47.84199 54.05799 61.05799 64.94999 70.39599 74.28799 80.50399 85.16599 90.61199 94.11199 97.61199 106.16599 113.16599 119.381999 124.044 130.26 134.922 141.922 146.584 152.8 156.3 159.8 163.692 170.692 175.354 181.57 187.78601 191.28601 198.28601 205.28601 210.73201 216.17801 220.07 227.07 230.962 237.17801 240.67801 246.89402 253.89402 260.894 267.894 271.786 275.678 279.57 286.57 293.57 299.01603 302.51603 308.73204 314.94804 321.94804 325.44804 332.44804 338.66404 344.88005 351.88005 356.54203">CMPH registers. Therefore, three possible conditions can occur:</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01031" x="307.485 313.98298 319.48197 324.48597 329.98497 332.98197 337.98597 341.48698 343.98899 348.99299 353.99699 356.499 362.50199 367.50599 370.503 375.507 379.008 384.507 389.511 392.013 394.515 403.01103 408.015 411.01203 416.01603 421.515 427.014 432.513 438.012 440.514 448.01103 453.51 459.009 461.51103 464.50804 470.00703 473.50804 476.01005 479.00706 485.01005 493.50605 501.00306">Chapter 23 External Watchdog Monitor (EWM)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.93869)" 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 54 751.756)" 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 1 220.32 751.756)" 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 1 391.68 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">541</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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