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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_154.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

417 lines
40 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 82)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 12.510002 20.850003 25.020003 33.360006 37.530008">3.9.4.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 82)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.005001 20.010003 24.180003 28.350003 40.845 50.010004 59.175004 68.340007 72.51 80.850009 89.19001 93.36001 104.19001 113.35501 122.52001 127.515018 131.68502 140.85 150.015 155.85 164.19 169.185 173.355 182.51999">SPI Modules Configuration</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="64.25" x="-.00299 8.55101 15.55101 19.44301 24.889012 28.389012 35.38901 41.60501 48.60501 52.497014 58.713014 64.929019 68.429019 74.64502 81.64502 88.64502 92.53702 98.75302 102.64502 109.64502 115.09102 118.59102 122.48302 129.48302 134.14502 140.36103 146.57703 150.07703 157.86103 165.64502 170.30702 173.80702 184.69902 191.69902 198.69902 205.69902 209.59102 215.80702 221.25302">This device contains three SPI modules.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 158.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00699 8.333011 12.503012 20.843014 25.013014 33.353017 37.523019">3.9.4.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 158.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00699 9.998011 20.003012 24.173012 28.343012 36.683015 40.853017 50.018018 58.358018 66.69802 70.86802 80.03302">SPI clocking</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="141.05" x=".00401 8.55801 15.55801 21.77401 25.27401 33.05801 40.84201 45.50401 49.00401 59.89601 66.89601 73.89601 80.89601 84.78801 91.00401 94.50401 98.39601 103.84201 107.34201 113.558017 117.45001 124.45001 130.66602 137.66602 143.88202 150.88202 154.38202 161.38202 168.38202 171.88202 175.77402 182.77402 188.99002 192.49002 196.38202 203.38202 207.27402 213.49002 218.15203 225.15203 231.36803 235.26003 238.76003 245.76003 252.76003 258.20603 261.70603 267.92204 271.81404 278.81404 285.03004 292.03004 295.53004 300.19203 304.084 311.084 317.30003 320.80003 330.90803 338.69203 346.476 351.138 354.638 359.3 365.516 370.17799 376.39399 381.05598 386.50199 390.00199 393.89399 400.89399 404.39399 408.28599 412.17799 415.67799 421.89399 427.34 430.84 436.286 443.286 448.73204 452.62403 458.84004">The SPI module is clocked by the internal bus clock (the DSPI refers to it as system</tspan><tspan y="157.05" x=".0039899998 6.2199909 10.111991 17.111992 23.327992 30.327992 34.98999 38.48999 41.98999 50.54399 57.54399 63.75999 67.259998 78.15199 85.15199 92.15199 99.15199 103.04399 109.259998 112.759998 119.759998 125.976 131.422 134.922 141.138 148.138 151.638 155.53 162.53 166.422 172.638 177.3 184.3 190.516 194.408 197.908 204.908 208.8 215.8 219.692 226.692 232.908 237.57 241.07 244.57 254.67801 258.57 262.462 269.462 272.962 279.178 282.678 293.57 297.462 304.462 308.354 319.246 326.246 337.138 340.638 347.638 351.53 358.53 362.422 369.422 375.638 379.138 383.03 388.476 391.976 395.868 405.976 412.976 416.476 419.976 427.76 434.76 438.26 441.76 445.652 452.652 458.868 462.368 470.152 477.936">clock). The module has an internal divider, with a minimum divide is two. So, the SPI</tspan><tspan y="173.05" x=".0039899998 6.2199909 12.435991 19.435992 22.935992 27.597992 34.597993 41.597993 45.097993 51.31399 55.205995 58.705995 64.922 68.422 79.313999 85.53 92.53 96.422 107.313999 114.313999 125.20599 128.706 133.368 138.03 144.246 151.246 158.246 164.462 171.462 177.67801 184.67801 188.17801 195.17801 199.84001 203.34001 210.34001 217.34001 222.78601 226.28601 232.50202 236.39402 243.39402 249.61002 256.61003 260.502 267.502">can run at a maximum frequency of bus clock/2.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 267.59999)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00302 8.336981 12.506981 20.846982 25.016982 33.356985 37.526987">3.9.4.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 267.59999)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00302 10.826981 19.991982 33.32698 42.49198 50.83198 56.66698 60.836984 70.00198 74.99699 79.166988 89.99699 99.16199 109.99199 120.82199">Number of CTARs</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 53.999986)" font-size="14" font-family="TimesLTStd"><tspan y="249.84999" x="-.00202 7.781981 15.565982 20.227982 23.727982 33.065984 41.619985 51.727987 61.065988 64.56599 69.22799 75.44399 82.44399 86.33599 91.78199 95.67399 101.88999 106.551998 111.99799 115.49799 122.49799 128.71399 133.37599 137.26799 144.26799 150.484 153.984 160.984 164.87599 169.538 174.2 180.416 185.078 191.294 198.294 202.186 205.686 209.578 214.24 220.45601 227.45601 232.90201 237.56401 243.78002 248.44202 251.94202 258.15803 262.05003 265.94203 270.604 274.496 281.496 288.496 292.388 298.604 302.104 308.32 315.32 322.32 326.982 330.874 337.874 344.874 349.53599 355.75199 359.64399 363.53599 370.53599 377.53599 382.982 386.482 389.982 398.53599 405.53599 411.75199 415.25199 423.03599 430.81999 435.48197 438.98197 449.87397 456.87397 463.87397 470.87397 474.76597">SPI CTAR registers define different transfer attribute configurations. The SPI module</tspan><tspan y="265.84999" x="-.00197 5.444031 12.444031 19.44403 26.44403 33.44403 38.10603 41.99803 47.44403 50.94403 57.94403 64.94403 68.44403 72.33603 79.33603 82.83603 89.05203 92.94403 99.94403 106.94403 110.83603 114.33603 123.67403 132.22803 142.33603 151.67403 155.17403 159.83603 166.05204 173.05204 176.94403 182.39003 186.28203 192.49803 197.16004 202.60604 206.10604 209.60604 218.16004 225.16004 229.05204 234.49803 237.99803 244.99803 251.21404 258.21406 262.10606 268.32206 274.53807 278.03807 283.48408 290.48408 297.48408 304.48408 311.48408 316.14607 320.03807 325.48408 328.98408 332.87608 342.98408 349.98408 353.48408 362.82209 371.37608 381.48408 390.82209 396.2681 399.7681 406.7681 413.7681 417.2681 423.4841 427.3761 431.2681 434.7681 438.6601 445.6601 451.1061 454.9981 461.2141 468.2141 474.4301 480.64613 486.09214 489.59214 496.59214">supports up to eight CTAR registers. This device supports two CTARs on all instances of</tspan><tspan y="281.85" x="-.00197 3.8900305 10.89003 17.10603 20.60603 28.39003 36.17403 40.83603">the SPI.</tspan><tspan y="306.25" x="-.00197 4.6600306 11.66003 15.16003 26.052033 32.268033 37.71403 41.606035 47.822034 52.48403 55.98403 66.87603 73.87603 80.87603 87.09203 90.59203 94.09203 97.98403 104.98403 111.200038 114.700038 124.03804 132.59204 142.70005 152.03804 155.53804 160.20005 166.41605 173.41605 177.30805 182.75405 186.64604 192.86205 197.52405 202.97005 206.47005 213.47005 219.68605 224.34806 228.24005 235.24005 241.45606 244.95606 251.17206 258.17207 269.06407 276.06407 279.95606 286.95606 293.17207 297.06407 300.95606 307.95606 314.95606 320.40208 323.90208 330.90208 335.56407 339.06407 342.95606 347.61805 353.83406 360.83406 366.28007 370.94206 377.15806 381.82005 385.32005 391.53605 395.42805 399.32005 403.98204 407.87403 414.87403 421.87403 425.76603 431.98204 437.42805 440.92805 444.42805 449.87406 456.87406 463.09007 470.09007 473.59007 479.80607">In master mode, the CTAR registers define combinations of transfer attributes, such as</tspan><tspan y="322.25" x="-.0019200001 4.66008 9.322081 15.538081 26.430083 32.646085 36.146085 41.592084 45.484086 51.700086 57.916086 61.416086 64.916088 71.13209 75.024089 82.024089 88.24009 95.24009 98.74009 105.74009 112.74009 118.95609 124.40209 130.61809 134.11809 137.61809 143.83409 147.72609 154.72609 160.9421 167.9421 171.4421 178.4421 185.4421 189.33409 195.5501 200.2121 204.1041 207.9961 214.9961 218.4961 221.9961 228.9961 235.2121 239.1041 245.3201 248.8201 255.8201 259.7121 263.6041 267.1041 274.1041 278.76609 285.76609 291.9821 296.64408 300.53608 307.53608 314.53608 318.03608 321.53608 328.53608 334.75209 341.75209 348.75209 352.25209 356.91407 363.13008 367.02207 373.23808 376.73808 380.23808 386.45408 393.45408 400.45408 403.95408 410.95408 417.17008 421.83207 425.72407 432.72407 439.72407 445.17008 448.67008 455.67008 461.88609 465.77809 471.99409 478.99409 484.4401 487.9401 491.4401 496.10209">frame size, clock phase, clock polarity, data bit ordering, baud rate, and various delays. In</tspan><tspan y="338.25" x="-.0019200001 5.4440805 9.336081 15.552081 22.552083 28.768082 32.26808 43.160085 50.160085 57.160085 63.376085 66.87608 73.87608 80.87608 84.76808 91.76808 95.26808 104.60608 113.16008 123.26808 132.60608 139.60608 143.10608 146.99808 152.44408 155.94408 162.94408 168.39008 174.60608 181.60608 185.10608 188.60608 194.82209 201.82209 208.82209 212.32209 218.53809 222.03809 227.48409 234.48409 241.48409 246.93009 253.14609 257.0381 260.5381 267.5381 272.20008 275.70008 279.59208 283.48408 288.93009 292.43009 299.43009 303.32209 307.21409 311.87608 315.76808 321.98408 325.87608 332.87608 338.32209 341.82209 347.2681 353.4841 357.3761 362.8221 366.3221 370.2141 377.2141 383.4301 386.9301 392.37614 396.26814 402.48414 409.48414 415.70014 419.20014 423.09214 427.75413 433.97013 440.97013 446.41615 451.07814 457.29414">slave mode only CTAR0 is used, and a subset of its bitfields sets the slave transfer</tspan><tspan y="354.25" x="-.0019200001 6.2140805 10.106081 13.998081 18.660082 22.552083 29.552083 36.552083 40.444086 46.660085 52.106084">attributes.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 448.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00108 8.341081 12.511082 20.851082 25.021082 33.361085 37.531087">3.9.4.4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 448.8)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00108 9.1660799 19.171082 23.341082 32.50608 36.676084 45.841085 57.511087 61.681089 70.02109 74.191089 81.691089">TX FIFO size</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 197 466.8)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="13.968 21.3 27.972 35.304 38.64 45.312 48.648004 55.320005 59.316 65.98801 72.66 84.996 93 101.004 104.34 107.675998 111.672 116.34 123.01199 130.344 137.01599 147.68399 151.01999 155.01599 158.35199 165.68399 169.01999 176.35199 185.68799 189.02399 195.69599 199.03199 205.03199">Table 3-68.SPI transmit FIFO size</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 488.8)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="100.242 106.244998 112.24799 114.74999 117.25199 124.74899 130.24799 135.74698 141.24597 143.74797">SPI Module</tspan></text>
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<path transform="matrix(1,0,0,1,54,486.3)" d="M252.5 .5H503.5V15.5H252.5Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.5 488.8)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="84.24 89.739 93.24 98.243999 103.743 108.746997 116.74799 119.24999 122.246997 124.74899 130.24799 132.74999 138.24898 145.25098 147.75298 152.75698 155.25897 159.75897">Transmit FIFO size</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 504.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="113.994 119.997 126 128.502">SPI0</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 504.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="121.24799">4</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 520.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="113.994 119.997 126 128.502">SPI1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 520.3)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="121.24799">4</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 535.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="113.994 119.997 126 128.502">SPI2</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 535.8)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="121.24799">4</tspan></text>
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<path transform="matrix(1,0,0,1,54,533.55)" stroke-width=".5" stroke-linecap="round" stroke-miterlimit="10" stroke-linejoin="miter" fill="none" stroke="#000000" d="M504.25 15.5H251.9"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 604.3)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 12.510002 20.850003 25.020003 33.360006 37.530008">3.9.4.5</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 604.3)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.830001 20.835003 25.005003 34.170003 38.340005 47.505006 59.175008 63.34501 73.350009 77.520008 85.020008">RX FIFO Size</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="586.55" x="-.006 7.778001 15.562002 20.224003 23.724003 29.170004 36.170007 43.170007 50.170007 57.170007 61.832006 65.72401 71.170009 74.670009 81.670009 88.670009 92.170009 96.062007 103.062007 106.562007 113.562007 120.562007 125.22401 132.224 136.116 140.008 143.508 148.17 152.832 159.048 169.94 176.156 179.656 185.102 188.994 195.21 201.42601 204.92601 211.92601 218.92601 223.58802 227.48001 234.48001 241.48001 244.98001 249.64202 255.85802 262.074 268.29 275.29 279.182 283.074 290.074 297.074">SPI supports up to 16-bit frame size during reception.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 200 653.10006)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="13.968 21.3 27.972 35.304 38.64 45.312 48.648004 55.320005 59.316 65.98801 72.66 84.996 93 101.004 104.34 107.675998 112.343997 119.01599 125.68799 132.35999 135.69599 142.36798 149.03998 152.37598 159.70798 163.04398 170.37598 179.71198 183.04798 189.71997 193.05597 199.05597">Table 3-69.SPI receive FIFO size</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 674.60006)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="100.242 106.244998 112.24799 114.74999 117.25199 124.74899 130.24799 135.74698 141.24597 143.74797">SPI Module</tspan></text>
<g clip-path="url(#clip_32)">
<path transform="matrix(1,0,0,1,54,672.10006)" d="M252.5 .5H503.5V15.5H252.5Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.5 674.60006)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="86.229 92.727 97.730998 102.73499 107.73899 110.24099 115.24499 120.248989 122.750988 128.24999 130.75199 136.25098 143.25298 145.75498 150.75897 153.26097 157.76097">Receive FIFO size</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 690.60006)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="113.994 119.997 126 128.502">SPI0</tspan></text>
<g clip-path="url(#clip_34)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 308.25 690.60006)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="121.24799">4</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 709.10006)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="180.963 185.967 190.971 196.46999 198.46799 203.47199 205.97399 210.97798 215.98198 220.98598 223.48798 225.48598 230.48998 235.49398 240.49797 244.99797 247.49997 252.50397 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 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 6.4980008 11.997001 19.998002 27.999 33.498 38.997 41.499 46.503004 51.507005 54.504007 57.006006 62.505006 68.004009 70.506008 73.008 78.507 81.504009 86.508 90.009 93.006008 98.01 103.014 108.018">Communication interfaces</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="130.01201 137.23201 142.792 148.352 151.132 157.802 163.912 170.022 173.352 179.462 185.022 193.912 196.692 199.472 205.032 207.812 215.032 220.592 223.922 229.482 233.372 238.93199 245.04199 250.60199 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>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="-.00299 5.001011 10.005012">154</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="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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