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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

120 lines
26 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="220.122 230.23 240.338 250.446 259 262.892 273.784">CAUTION</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 85.61 90.272 94.164 100.380008 105.826007 112.826007 116.326007 127.218 133.434 144.326 151.326 155.988 162.988 166.488 170.38 177.38 183.59601 189.81201 193.70401 197.59601 204.59601 211.59601 215.09601 225.988 232.988 238.434 242.326 245.826 252.826 259.042 262.542 266.434 273.434 276.934 280.826 287.826 294.042 297.542 303.758 308.41999 314.636 320.082 326.298 333.298 336.798 342.24403 346.13603 352.35203 356.24403 362.46003 365.96003 372.96003 379.17604 383.838 390.838 395.5">A flash memory location must be in the erased state before</tspan><tspan y="52.25" x="72.00202 79.00202 85.218029 89.11002 96.11002 103.11002 106.61002 113.61002 118.272029 125.272029 132.27204 136.93404 143.15004 154.04204 164.93404 171.15004 178.15004 181.65004 185.15004 194.48804 201.48804 212.38004 219.38004 223.27204 229.48804 233.38004 237.27204 244.27204 250.48804 253.98804 260.98805 265.65003 272.65003 279.65003 284.312 290.528 301.42 312.312 316.204 323.204 330.204 333.704 340.704 345.366 348.866 355.866 359.758 363.65 369.096 372.596 377.258 384.258 390.474 396.69 403.69 408.352 412.244 419.244">being programmed. Cumulative programming of bits (back-to-</tspan><tspan y="68.25" x="72.00202 79.00202 85.218029 91.43403 98.43403 101.93403 108.93403 113.59603 120.59603 127.59603 132.25803 138.47403 149.36603 152.86603 159.86603 166.86603 173.08203 177.74404 183.96004 187.85204 191.74404 198.74404 205.74404 211.19004 214.69004 224.79804 228.69004 232.58203 239.58203 246.58203 253.58203 257.47404 260.97404 267.19004 274.19004 277.69004 281.58204 288.58204 292.47404 298.69004 303.35203 310.35203 316.56803 323.56803 327.46003 334.46003 341.46003 344.96003 351.17604 355.838 362.05403 367.50004 373.71604 378.37803 381.87803 391.98603 395.87803 399.77003 406.77003 410.66203 417.66203 421.16203">back program operations without an intervening erase) within a</tspan><tspan y="84.25" x="72.00202 76.664028 80.55602 86.772029 92.218029 99.218029 102.718029 113.61002 119.82603 130.71804 137.71804 142.38004 149.38004 152.88004 156.77204 163.77204 169.98804 176.20404 180.09604 183.98804 190.98804 197.98804 201.48804 205.38004 210.82604 214.32604 221.32604 228.32604 232.21804 235.71804 241.93404 245.82604 249.71804 256.71803 266.82603 273.04203 280.04203 283.54203 287.04203 296.38005 302.59605 307.25804 314.25804 318.92 325.92 332.92 337.582 343.798 354.69 365.582 369.474 376.474 383.474 386.974 393.974">flash memory location is not allowed. Re-programming of</tspan><tspan y="100.25" x="72.00202 78.218029 85.218029 89.11002 94.55602 98.44802 102.34002 109.34002 116.34002 119.84002 126.84002 132.28603 135.78603 139.67803 146.67803 150.17803 157.17803 160.67803 164.57003 170.01602 173.51602 180.51602 187.51602 191.40802 194.90802 201.12403 205.01602 208.90802 215.90802 226.01602 232.23203 239.23203 242.73203 248.94803 254.39403 257.89405 261.78605 268.78605 272.67805 278.12406 281.62406 288.62406 295.62406 301.84007 306.50205 311.94807 315.84007 320.50205 326.71806 332.16407 337.61009 343.82609 349.2721 352.7721 356.6641 363.6641 369.8801 373.3801 380.3801 386.5961 393.5961 397.4881 403.7041 409.9201">existing 0s to 0 is not allowed as this overstresses the device.</tspan><tspan y="124.65" x="72.00202 80.55602 87.55602 93.772029 97.272029 102.718029 106.61002 112.82603 119.82603 126.82603 133.04203 137.70403 144.70403 148.20403 153.65003 160.65003 164.54203 171.54203 178.54203 182.43402 189.43402 196.43402 199.93402 206.15003 213.15003 220.15003 227.15003 231.04203 234.93402 238.82602 245.82602 252.82602 256.32603 260.988 267.988 272.65 276.15 280.81199 284.70399 290.91999 296.366 303.366 306.866 317.758 323.974 334.866 341.866 346.52799 353.52799 357.02799 360.91999 366.366 369.866 376.082 380.744 386.96 392.406 398.622">The standard shipping condition for flash memory is erased</tspan><tspan y="140.65001" x="72.00202 82.11002 86.00202 89.89402 96.89402 100.39402 105.84002 112.05602 118.272029 125.272029 129.93402 133.82602 137.71802 144.71802 148.21802 155.21802 159.11002 164.55602 170.77202 177.77202 181.66402 187.88002 194.88002 198.38002 201.88002 211.98802 218.20403 222.09603 228.31203 231.81203 235.70403 242.70403 248.15003 253.59603 257.096 264.096 271.096 277.312 281.974 285.474 289.366 293.258 304.15 310.366 313.866 324.758 330.974 337.974 341.474 348.474 354.69 360.906 367.906 372.568 376.068 383.068 390.068 396.284 399.784 403.676">with security disabled. Data loss over time may occur due to</tspan><tspan y="156.65001" x="72.00202 79.00202 85.218029 92.218029 96.88003 103.09603 110.09603 116.312038 120.20403 124.09603 131.09604 138.09604 141.59604 148.59604 153.25804 156.75804 160.65004 167.65004 173.86605 177.36605 183.58205 188.24405 194.46006 199.90605 206.12206 213.12206 216.62206 221.28406 223.80406 230.80406 233.32407 237.98607 241.48607 246.93207 250.82407 257.04008 260.93208 267.14808 272.5941 276.0941 282.3101 289.3101 296.3101 300.2021 307.2021 311.86408 315.36408 322.36408 327.02607 334.02607 341.02607 345.68806 351.90406 362.79606 373.68806 379.90406 386.90406 390.40406 395.06605 397.58604 404.58604 407.10603">degradation of the erased ('1') states and/or programmed ('0')</tspan><tspan y="172.65001" x="72.00202 77.44802 81.34002 87.55602 91.44802 97.664028 103.11002 106.61002 110.11002 118.664028 125.664028 131.88002 136.54203 142.75803 147.42003 154.42003 159.08203 165.29804 168.79804 172.29804 176.19004 180.08203 183.58203 187.47403 192.92003 196.42003 201.08203 207.29804 213.51404 220.51404 231.40604 242.29804 248.51404 255.51404 262.51405 268.73005 275.73005 279.23005 283.12205 290.12205 296.33805 300.23005 303.73005 309.94606 316.16206 322.37806 329.37806 332.87806 337.54005 341.43205 347.64805 353.09407 360.09407 363.59407 370.59407 374.48606 381.48606 387.70207 394.70207 398.20207 405.20207">states. Therefore, it is recommended that each flash block or</tspan><tspan y="188.65001" x="72.00202 77.44802 83.664028 89.88003 93.772029 100.772029 105.43403 108.93403 115.93403 122.15003 125.65003 130.31203 136.52803 141.19004 147.40604 152.06804 158.28404 163.73004 169.94605 176.94605 180.44605 184.33805 195.23004 206.12204 212.33805 219.33805 223.23004 229.44605 233.33805 239.55405 243.44605 250.44605 253.94605 260.94606 265.60804 269.50004 276.50004 281.16203 284.66203 288.55403 295.55403 299.05403 303.716 309.932 316.148 320.04 327.04 331.702 338.702 342.202 349.202 353.86399 360.86399 367.86399 372.52598 378.74198 389.63398 400.52598 404.41798 411.41798">sector be re-erased immediately prior to factory programming</tspan><tspan y="204.65001" x="72.00202 75.89402 82.89402 86.39402 92.61002 99.61002 105.05602 112.05602 116.718029 122.93403 126.43403 130.32604 137.32604 143.54204 147.43404 150.93404 154.82604 161.82604 168.04204 171.54204 176.20404 183.20404 187.09604 190.98804 194.48804 201.48804 207.70404 211.59604 217.81204 221.31204 225.97405 232.19005 236.08205 242.29805 249.29805 253.19005 257.08207 264.08207 271.08207 274.58207 280.79808 287.01408 294.01408 300.23008 307.23008 311.12208 315.01408 318.90608 322.79808 329.79808 333.29808 337.19007 342.63609 346.13609 352.35209 358.56809 365.56809 369.46009 375.6761 382.6761 388.8921 395.8921">to ensure that the full data retention capability is achieved.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 300.2)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00003 8.89603 17.79203 22.24003 31.136033 35.584035">29.1.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 112.65332 300.2)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".00003 9.77603 18.672032 27.568032 32.89603 42.67203 48.89603 57.79203">Features</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54.000017)" font-size="14" font-family="TimesLTStd"><tspan y="283.45" x=".00604 8.5600399 15.5600399 21.77604 25.27604 29.93804 33.83004 40.04604 45.49204 52.49204 55.99204 66.88404 73.100048 83.99204 90.99204 95.654048 102.654048 106.154048 117.04604 124.04604 131.04605 138.04605 141.93805 148.15406 151.65406 155.54605 162.54605 168.76206 172.65406 179.65406 186.65406 192.87006 198.31606 201.81606 205.70806 212.70806 218.92406 222.42406 227.08606 234.08606 237.97806 241.87006 248.87006 258.97807 262.87007 269.87007 276.87007 280.37007 285.03205 291.24806 297.46406 301.35606 308.35606 313.01805 319.23405 324.68006">The flash memory module includes the following features.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54.000017)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="307.63673" x="232.56006 242.66806 253.56006 262.11405">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54.000017)" font-size="14" font-family="TimesLTStd"><tspan y="323.85" x="71.99405 79.77805 85.99406 92.21006 95.71006 99.60206 106.60206 112.81806 116.31806 123.31806 129.53406 136.53406 140.42606 146.64206 152.85807 155.37807 160.82407 164.32407 173.66207 180.66207 184.55406 191.55406 195.05406 204.39206 211.39206 218.39206 223.05406 226.94606 233.94606 240.94606 245.60807 251.82407 255.71607 259.60807 266.60807 273.60807 277.10807 284.10807 290.32408 294.21607 300.43208 304.32408 308.21607 313.66209 317.16209 321.82408 328.82408 333.48606 336.98606 340.87806 347.87806 354.09407 357.59407 363.81007 370.81007 377.02607 383.24208">See the device's Chip Configuration details for the exact</tspan><tspan y="339.85" x="71.99407 78.210079 89.10207 96.10207 103.10207 110.10207 113.99407 117.49407 124.49407 129.15607 132.65607 137.31807 141.21007 147.42607 152.87207 159.87207 163.37207 174.26407 180.48007 191.37207 198.37207 203.03408 210.03408 213.53408 219.75008 226.75008 232.96608 236.85808 240.75008 246.96608 253.96608 257.8581 264.0741 267.5741 274.5741 281.5741 285.0741 292.0741 299.0741 306.0741 310.73609 314.23609 321.23609 327.4521 334.4521 338.3441 344.5601 350.7761">amount of flash memory available on your device.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 434.40003)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00607 8.346071 16.686074 20.856074 29.196076 33.366079 41.706079 45.87608">29.1.1.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 122.3833 434.40003)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00606 10.011061 15.846062 25.011063 34.176065 40.011064 48.351064 61.686067 65.856067 75.021068 79.19106 87.53107 95.87107 105.03607 109.20607 121.70107 130.04108 143.37609 152.54108 158.37609 166.71608 170.88608 180.05107 188.39107 196.73107 201.72606 210.89105 216.72606 225.06606">Program Flash Memory Features</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54.00003)" font-size="14" font-family="TimesLTStd"><tspan y="410.25" x="13.10205 23.994051 31.778052 37.994054 44.210054 48.102056 55.102056 59.764055 63.264055 68.71005 72.60205 78.818058 85.03406 88.53406 95.53406 100.19606 103.69606 110.69606 114.19606 124.30406 131.30406 138.30406 142.19606 148.41207">&#x2022;Sector size of 2 Kbytes</tspan><tspan y="434.65" x="13.10205 23.994051 31.778052 36.440053 43.440053 50.440053 55.10205 61.31805 72.21005 75.71005 80.372058 84.26405 90.48006 95.926059 102.926059 106.426059 113.426059 118.08806 125.08806 128.98006 135.19606 141.41207 145.30406 149.19606 156.19606 163.19606 166.69606 172.14206 178.35807 185.35807 191.57407 202.46607 208.68207 212.18207 219.18207 223.84407 230.06008 237.06008 243.27608 250.27608 254.16808 259.61408 263.11408 269.33009 275.54609 281.7621 285.65409 292.65409 298.8701 305.8701 309.7621 315.9781 319.8701 323.3701 330.3701 335.03208 342.03208 349.03208 353.69407 359.91007 370.80207 374.30207 381.30207 385.96406 389.46406 395.68006 400.34205 406.55805 412.00407 418.22007 421.72007 428.72007 433.38206 436.88206 442.32807 446.22007 453.22007 457.88206 464.09806 471.09806 474.59806 481.59806 487.81407 491.70606">&#x2022;Program flash protection scheme prevents accidental program or erase of stored data</tspan><tspan y="459.05" x="13.102079 23.99408 34.10208 41.10208 44.994085 51.994085 62.886087 69.10209 72.99409 79.21009 86.21009 89.71009 93.21009 100.21009 107.21009 111.10209 114.99409 118.886089 123.54809 127.44009 134.4401 137.9401 141.4401 148.4401 153.1021 160.1021 167.1021 171.7641 177.9801 188.8721 192.3721 198.5881 205.5881 212.5881 216.0881 222.30411 226.96611 233.18212 238.62812 244.84412 248.34412 254.56012 258.45213 265.45213 272.45213 277.1141 281.0061 284.8981 291.8981 302.7901 308.2361 311.7361 321.84413 325.7361 329.6281 336.6281 340.1281 347.1281 353.34413 358.0061 361.8981 366.5601">&#x2022;Automated, built-in, program and erase algorithms with verify</tspan><tspan y="483.44999" x="13.102109 23.99411 31.77811 37.99411 44.21011 48.10211 51.994115 58.994115 65.99411 69.49411 76.49411 81.15611 88.15611 95.15611 99.818119 106.03412 116.92612 127.818119 131.71012 138.71012 145.71012 149.21012 153.87212 160.87212 165.53412 169.03412 173.69612 179.91213 185.35813 189.25012 195.46613 200.12813 203.62813 210.62813 217.62813 221.52013 228.52013 232.02013 239.02013 243.68213 250.68213 257.68214 262.34413 268.56013 279.45213 290.34413 294.2361 301.2361 308.2361 311.7361 315.6281 319.5201 330.4121 336.6281">&#x2022;Section programming for faster bulk programming times</tspan><tspan y="507.84999" x="13.102109 23.99411 31.77811 38.77811 43.44011 46.94011 53.94011 60.15611 67.15611 71.04811 77.264118 83.48012 88.92612 92.42612 98.64212 105.64212 112.64212 116.53412 122.75012 126.64212 133.64212 137.53412 144.53412 151.53412 155.03412 162.03412 169.03412 172.92612 179.92612 183.42612 190.42612 195.08812 202.08812 209.08812 213.75012 219.96613 230.85813 234.35813 239.02013 242.91213 249.12813 254.57413 261.57414 265.07414 275.96614 282.18214 293.07414 300.07414 304.7361 311.7361 315.6281 319.1281 328.46614 334.68214 340.89814 347.89814 351.39814 357.61415 363.83015 370.04615 376.26216 381.70817 387.15419 390.65419 394.54618 401.54618 405.04618 412.04618 419.04618 425.26219 428.76219 432.65419 439.65419 446.65419 450.54618 456.76219 462.97819">&#x2022;For devices containing only program flash memory: Read access to one logical</tspan><tspan y="523.85" x="23.99413 30.99413 35.656129 42.656129 49.656129 54.318128 60.534128 71.426128 74.926128 79.58813 83.480129 89.69613 95.14213 102.14213 105.64213 112.64213 116.53413 123.53413 129.75012 136.75012 140.25012 144.14212 149.58812 153.08812 160.08812 167.08812 172.53412 177.98012 181.87212 188.87212 192.76412 198.98012 202.48012 212.58812 219.58812 223.48012 227.37212 233.58812 237.08812 244.08812 248.75012 255.75012 262.75013 267.4121 273.6281 284.5201 295.4121 299.3041 306.3041 313.3041 316.8041 323.8041 328.4661 331.9661 338.1821 342.8441 349.0601 354.5061 358.3981 365.3981 372.3981 375.8981 382.8981 389.1141 393.0061 399.2221 402.7221 406.6141 413.6141 417.1141 421.0061 428.0061 434.2221 437.7221 444.7221 448.6141 455.6141 461.8301">program flash block is possible while programming or erasing data in the other</tspan><tspan y="539.85" x="23.99413 27.88613 34.88613 41.88613 45.778135 51.994134 58.210134 62.102136 65.602138 72.602138 77.26414 84.26414 91.26414 95.92614 102.14214 113.03414 116.53414 121.196147 125.08814 131.30414 136.75014 143.75014 147.25014 154.25014 158.14214 165.14214 171.35814">logical program flash block</tspan><tspan y="564.25" x="13.102129 23.99413 31.77813 38.77813 43.44013 46.94013 53.94013 60.156129 67.15613 71.04813 77.26413 83.48013 88.92613 92.42613 98.642139 105.642139 112.642139 116.534137 122.75014 126.642139 133.64214 137.53414 144.53414 151.53414 155.03414 162.81813 166.71013 172.92613 179.92613 190.03414 200.14214 212.58814 216.08814 226.98014 233.19614 244.08814 251.08814 255.75014 262.75013 266.64213 270.14213 279.48014 285.69615 291.91215 298.91215 302.41215 308.62815 314.84416 321.06016 327.27616 332.72218 338.16819 341.66819 345.56019 352.56019 356.06019 363.06019 367.72218 374.72218 381.72218 386.38417 392.60017 403.49217 406.99217 411.65415 415.54615 421.76216 427.20817 434.20817 437.70817 448.60017 454.81617 465.70817 472.70817 477.37016">&#x2022;For devices containing FlexNVM memory: Read access to program flash memory</tspan><tspan y="580.25" x="23.99416 30.99416 37.99416 43.44016 48.886159 52.77816 59.77816 63.670164 69.88616 73.38616 83.49416 90.49416 94.38616 98.27816 104.49416 107.99416 114.99416 119.656169 126.656169 133.65616 138.31816 144.53417 155.42617 166.31816 170.21016 177.21016 184.21016 187.71016 194.71016 199.37216 202.87216 209.08817 213.75017 219.96617 225.41217 229.30417 236.30417 243.30417 246.80417 253.80417 260.02018 263.91218 270.12818 273.62818 277.52018 284.52018 288.02018 291.91218 298.91218 305.12818 308.62818 315.62818 321.84419 325.73619 331.95219 335.45219 340.11418 344.00617 350.22218 355.66819 362.66819 366.16819 377.06019 383.27619 394.16819 401.16819 405.83018 412.83018 416.33018 423.33018 427.99217 431.49217 439.27616 443.16816 449.38417 456.38417 465.72218 475.83018">possible while programming or erasing data in the data flash memory or FlexRAM</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 18.00003)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 2.5020004 8.001 10.998 14.499001 19.998002 25.497002 30.996003 36.000005 38.997007 41.499006 46.998006">Introduction</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.9387)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.007 137.227 142.787 148.347 151.127 157.797 163.907 170.017 173.347 179.457 185.017 193.907 196.687 199.467 205.027 207.80699 215.027 220.58699 223.91699 229.47699 233.36699 238.92699 245.03699 250.59699 256.15699 258.93699 267.26698 272.82698 278.93696 285.04695 290.60694 293.38694 296.16694 298.94694 306.16694 311.72694 317.28694 320.06694 322.84693 328.40693 331.18693 336.74693 342.8569 348.9669 351.7469 357.3069 362.86689 368.42689">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 751.75607)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00102 5.0050208 10.009022">648</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32 751.75607)" 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 1 391.68 751.75607)" 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 54 763.75607)" 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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