Ryan Malloy
5252d1d73c
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.
141 lines
26 KiB (Stored with Git LFS)
XML
141 lines
26 KiB (Stored with Git LFS)
XML
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="11.85" x="13.104 23.996003 31.780003 41.118005 51.226007 63.672006 70.672008 79.226009 82.726009 86.618007 92.064 95.564 101.78001 108.78001 114.99601 121.99601 128.996 133.658 139.87401 146.87401 150.37401 154.266 161.266 164.766 171.766 178.766 185.766 193.55 201.334 209.118 216.118 223.902 231.68599 239.46999 247.25399 250.75399 256.96998 263.96998 270.96998 274.46998 281.46998 287.68598 293.90199 300.90199 307.90199 311.79399 318.00999 323.456 326.956 330.848 337.848 344.064 347.564 353.01 360.01 366.226 372.44203 378.65803 382.15803 389.15803 395.37403 400.036 407.036 411.698 417.914 421.414 425.306 432.306 436.198 441.644 445.144 451.36003 458.36003 465.36003 469.252 476.252">•SRAM_L is anchored to 0x1FFF_FFFF and occupies the space before this ending</tspan><tspan y="27.85" x="23.99601 30.21201 37.21201 44.21201 48.87401 55.090009 60.536008 65.98201">address.</tspan><tspan y="43.85" x="13.10402 23.996022 31.780022 41.118024 51.226026 63.672029 70.67203 80.78003 84.28003 88.17203 93.61803 97.11803 103.33403 110.33403 116.55003 123.55003 130.55004 135.21204 141.42804 148.42804 151.92804 155.82004 162.82004 166.32004 173.32004 180.32004 187.32004 194.32004 201.32004 208.32004 215.32004 222.32004 229.32004 236.32004 243.32004 246.82004 253.03604 260.03605 267.03605 270.53605 277.53605 283.75205 289.96806 296.96806 303.96806 307.86006 314.07606 319.52207 323.02207 326.91407 333.91407 340.13008 343.63008 349.07609 356.07609 362.29209 368.5081 374.7241 378.2241 384.4401 389.10209 392.99409 399.21009 403.87208 407.37208 411.26408 418.26408 422.15608 427.60209 431.10209 438.10209 444.31809 451.31809 455.21009 462.21009 469.21009 473.10209 480.10209">•SRAM_U is anchored to 0x2000_0000 and occupies the space after this beginning</tspan><tspan y="59.85" x="23.99601 30.21201 37.21201 44.21201 48.87401 55.090009 60.536008 65.98201">address.</tspan><tspan y="85.85" x=".000019073487 10.10802 16.32402 20.21602 24.10802 31.10802 34.60802 40.82402 47.82402 54.82402 59.48602 65.70202 71.14802 76.59402 80.09402 84.75602 90.97202 97.97202 104.97202 111.18803 116.634029 120.134029 124.79603 131.79602 136.45803 139.95803 147.74202 157.08002 167.18802 179.63402 186.63402 195.18802 198.68802 204.90402 211.90402 218.90402 222.40402 230.18802 239.52602 249.63402 262.08003 269.08003 279.18803 282.68803 288.90403 293.566 299.782 303.282 307.174 314.174 320.39 327.39 330.89 337.89 344.10603 348.768 352.66 359.66 365.876 372.876 376.376 382.592 388.03804">Valid address ranges for SRAM_L and SRAM_U are then defined as:</tspan><tspan y="110.25" x="13.103999 23.996 31.78 41.118005 51.226007 63.672006 70.672008 79.226009 82.726009 90.62201 94.12201 98.78401 105.78401 112.78401 119.78401 126.78401 133.78401 140.78401 147.78401 154.78401 161.78401 168.78401 175.78401 182.78401 187.44602 195.23001 204.56801 214.67601 227.12201 234.12201 239.56801 243.46 249.67601 255.89202 259.78404 266.78404 271.446 276.108 279.608 283.5 290.5 294 301 308 315 322.784 330.568 338.352 345.352 353.136 360.91999 368.70399">•SRAM_L = [0x2000_0000–(SRAM_size/2)] to 0x1FFF_FFFF</tspan><tspan y="126.25" x="13.104029 23.996029 31.78003 41.11803 51.226034 63.672037 70.672039 80.78004 84.28004 92.17604 95.67604 102.67604 109.67604 116.67604 123.67604 130.67604 137.67604 144.67604 151.67604 158.67604 165.67604 172.67604 176.17604 180.06804 187.06804 190.56804 195.23004 202.23004 209.23004 216.23004 223.23004 230.23004 237.23004 244.23004 251.23004 258.23005 265.23005 272.23005 280.12605 284.78804 292.57203 301.91004 312.01805 324.46406 331.46406 336.91007 340.80207 347.01808 353.23408 357.12608 364.12608 368.78807 373.45005 380.45005">•SRAM_U = 0x2000_0000 to [0x2000_0000+(SRAM_size/2)-1]</tspan><tspan y="152.25" x=".000059127809 8.554059 15.554059 19.44606 24.892062 28.392062 32.28406 37.73006 41.23006 45.122064 49.014066 52.906068 59.906068 65.352069 69.244068 73.90607 80.12207 84.01407 90.23007 97.23007 100.73007 104.62207 111.62207 115.12207 119.01407 126.01407 132.23007 135.73007 140.39208 147.39208 151.28408 155.17607 162.17607 172.28408 176.17607 183.17607 190.17607 193.67607 198.33808 202.23007 209.23007 216.23007 220.89208 227.10808">This is illustrated in the following figure.</tspan></text>
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<path transform="matrix(1,0,0,1,-53.69626,-32.755754)" stroke-width="1.6" stroke-linecap="butt" stroke-miterlimit="4" stroke-linejoin="miter" fill="none" stroke="#e27690" d="M216.69644 348.15669H317.78633V440.14567H216.69644Z"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 -53.69626 -32.755754)" font-size="14.98062" font-family="HelveticaLTStd"><tspan y="398.7352" x="237.03838 247.03046 257.84648 267.83854 280.31739 288.6466">SRAM_U</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 -53.69626 -32.755754)" font-size="11.9845" font-family="HelveticaLTStd"><tspan y="358.71907" x="358.3784 365.04179 371.03404 377.69743 384.3608 391.0242 397.6876 404.35099 411.01438 417.67778 424.34117">0x2000_0000</tspan></text>
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<text xml:space="preserve" transform="matrix(0 -1 1 0 -53.69626 -32.755754)" font-size="11.9845" font-family="HelveticaLTStd"><tspan y="195.93419" x="-340.2698 -332.27616 -323.62336 -315.6297 -305.6466 -302.3149 -296.32267 -293.6621 -287.66987 -281.00648 -277.67478 -274.34309 -271.01139">SRAM size / 2</tspan></text>
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<path transform="matrix(1,0,0,1,-53.69626,-32.755754)" d="M216.69644 256.15574H317.78633V348.1447H216.69644Z" fill="#f7f7ff"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 -53.69626 -32.755754)" font-size="14.98062" font-family="HelveticaLTStd"><tspan y="306.73426" x="235.19576 245.18784 256.00386 265.9959 278.47477 286.804">SRAM_L</tspan></text>
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<path transform="matrix(.0000208,-.8,.8,.0000208,150.91176,386.51835)" d="M0 0 4-4-10 0 4 4 0 0Z" fill-rule="evenodd"/>
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<path transform="matrix(.0000208,-.8,.8,.0000208,150.91176,386.51835)" stroke-width="1" stroke-linecap="butt" stroke-miterlimit="4" stroke-linejoin="miter" fill="none" stroke="#000000" d="M0 0 4-4-10 0 4 4 0 0Z"/>
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<text xml:space="preserve" transform="matrix(0 -1 1 0 -53.69626 -32.755754)" font-size="11.9845" font-family="HelveticaLTStd"><tspan y="195.93419" x="-433.15269 -425.15904 -416.50624 -408.51258 -398.52949 -395.19779 -389.20555 -386.54499 -380.55274 -373.88935 -370.55766 -367.22596 -363.89427">SRAM size / 2</tspan></text>
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<path transform="matrix(1,0,0,1,-53.69626,-32.755754)" stroke-width="1.6" stroke-linecap="butt" stroke-miterlimit="4" stroke-linejoin="miter" fill="none" stroke="#000000" d="M346.42835 348.15397 188.0544 348.15599"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 -53.69626 -32.755754)" font-size="11.9845" font-family="HelveticaLTStd"><tspan y="264.1882" x="358.37538 365.03877 371.031 377.6944 384.3578 391.02119 397.68458 404.34797 411.01136 417.67475 424.33815 431.00154 434.33323 440.9966 444.3283 452.32197 460.97477 468.9684 478.9515 485.6149 491.60716 494.2677 500.25996 506.92335 510.25505">0x2000_0000 – SRAM_size/2</tspan><tspan y="439.4476" x="358.37538 365.03877 371.031 377.6944 384.3578 391.02119 397.68458 404.34797 411.01136 417.67475 424.33815 431.00154 434.33323 441.33219 444.66389 452.65754 461.31034 469.304 479.28709 485.95048 491.94273 494.60328 500.59553 507.2589 510.5906 517.25399 520.58566 524.5765 527.90817">0x2000_0000 + SRAM_size/2 - 1</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="372.9571" x="139.30799 146.63999 149.97599 157.30799 164.63999 169.30799 175.97998 179.31598 185.98798 189.98398 196.65598 203.32798 206.66397 209.99997 218.00397 226.66797 235.33197 245.32798 248.66397 255.99597 259.33198 266.66398 273.33598 280.00798 286.67997 290.01597 300.68397 307.35597 318.02397 325.35597 330.02397 336.69596 340.03196 350.69996 357.37196">Figure 3-25. SRAM blocks memory map</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="399.38993" x=".0039978029 7.7879989 14.787998 19.449999 22.949999 29.166 36.166 42.382 53.274003 60.274003 64.166 70.382 73.882 77.382 82.04401 89.04401 93.70601 97.20601 103.42201 106.92201 113.92201 120.138019 127.138019 131.03002 137.24602 143.46202 146.96202 153.17803 160.17803 167.17803 171.07003 177.28603 181.17803 188.17803 192.07003 199.07003 206.07003 209.57003 216.57003 223.57003 227.07003 237.17803 246.51602 250.01602 257.01603 261.678 265.178 272.962 282.30003 292.40803 304.85404 308.35404 312.24604 319.24604 325.46205 328.96205 333.62403 339.84004 346.84004 353.84004 360.05604 365.50205 369.00205 375.21806 379.88005 386.09605">For example, for a device containing 64 KB of SRAM the ranges are:</tspan><tspan y="423.78993" x="13.0940079 24.000008 31.784008 41.12201 51.23001 63.67601 70.67601 79.23001 83.12201 86.62201 93.62201 100.62201 107.62201 115.40601 123.19002 130.97402 137.97402 144.97402 151.97402 158.97402 165.97402 169.47402 176.47402 179.97402 186.97402 193.97402 200.97402 208.75801 216.542 224.326 231.326 239.11 246.894 254.678">•SRAM_L: 0x1FFF_8000 – 0x1FFF_FFFF</tspan><tspan y="439.78993" x="13.0940079 24.000008 31.784008 41.12201 51.23001 63.67601 70.67601 80.78401 84.67601 88.17601 95.17601 102.17601 109.17601 116.17601 123.17601 130.17601 137.17601 144.17601 151.17601 158.17601 165.17601 168.67601 175.67601 179.17601 186.17601 193.17601 200.17601 207.17601 214.17601 221.17601 228.17601 235.17601 242.96 250.744">•SRAM_U: 0x2000_0000 – 0x2000_7FFF</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 535.93997)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00302 8.343021 12.513021 20.853024 25.023024 33.363027 37.533029">3.5.3.3</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 535.93997)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x=".00301 10.008011 20.838013 31.668015 44.163019 48.33302 54.16802 62.50802 67.50302 75.843029 85.008029 90.00303 94.17303 103.33803 112.50303 116.67303 120.843029 130.00803 134.17803 138.34803 147.51302 159.18302 163.35301 172.518 181.683 193.353 201.693 207.528 211.698 225.033 234.198 243.36299 251.70299">SRAM retention in low power modes</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54.00003)" font-size="14" font-family="TimesLTStd"><tspan y="518.1899" x="-.00697 8.5470299 15.5470299 21.763031 25.263031 33.04703 42.385034 52.493036 64.93903 68.43903 72.33103 77.77703 81.27703 85.93903 92.15504 96.047039 102.26304 106.15504 113.15504 119.37104 126.37104 129.87104 136.87104 143.87104 153.97904 160.97904 164.47904 168.37104 175.37104 178.87104 188.97904 197.53304 206.08704 213.87104 220.87104 224.37104 235.26303 242.26303 249.26303 255.47904">The SRAM is retained down to VLLS3 mode.</tspan><tspan y="542.5899" x="-.0069399999 4.6550605 11.65506 15.15506 25.263062 33.817064 42.371065 50.155065 57.155065 60.655065 64.547069 71.547069 77.76307 81.26307 88.26307 91.76307 98.76307 103.42507 106.92507 113.92507 120.92507 124.42507 134.53307 143.87107 147.37107 152.03307 159.03307 164.47907 170.69507 175.35707 178.85707 185.85707 192.85707 196.74907 200.64107 207.64107 214.64107 219.30307 222.80307 227.46508 233.68108 240.68108 244.57308 251.57308 258.57307 262.07307 269.07307 273.73506 277.23506 285.01905 294.35707 304.46507 316.91108 323.91108 334.01908 337.51908 342.18107 346.84306 353.84306 364.73506 368.23506 375.23506 382.23506 389.23506 396.23506 403.23506 410.23506 417.23506 424.23506 431.23506 438.23506 445.23506 448.73506 452.62705">In VLLS2 the 4 or 16 KB (user option) region of SRAM_U from 0x2000_0000 is</tspan><tspan y="558.5899" x="-.0069099997 6.99309 13.99309 24.10109 30.31709 34.979089 41.195089 48.195089 51.695089 55.195089 63.74909 70.749088 76.96509 82.41109 88.62709 92.12709 99.12709 103.01909 107.68109 112.343097 118.5591 123.2211 129.4371 136.4371 140.3291 143.8291 148.4911 154.7071 161.7071 165.5991 172.5991 179.5991 185.0451 188.5451 193.2071 200.2071 204.86911 208.36911 215.36911 221.58512 226.24712 230.13912 234.03112 237.92311 241.81511 248.81511 255.81511 261.2611 265.9231 269.4231 276.4231 281.08509 284.58509 292.36909 301.7071 311.8151 324.2611 327.7611 333.9771 338.6391 344.8551 348.3551 352.2471 358.4631 365.4631 371.6791 375.5711 381.7871 388.7871 392.2871 398.5031 403.94914 407.44914 412.1111 419.1111 423.0031 426.8951 433.8951 444.0031 449.44914">powered. These different regions (or partitions) of SRAM are labeled as follows:</tspan><tspan y="582.9899" x="13.097079 24.00308 33.34108 43.44908 55.89508 62.89508 66.78708 70.28708 74.17908 81.17908 87.39508 90.89508 97.89508 101.39508 111.50308 120.84108 124.34108 129.00308 135.21909 142.21909 146.11109 153.11109 160.11109 163.61109 169.82709 173.71909 183.82709 190.04309 197.04309 202.48909 205.98909 212.98909 219.98909 230.09709 236.3131 240.9751 247.1911 254.1911 257.6911 261.5831 268.5831 272.0831 282.1911 290.7451 299.29908 307.08308">•RAM1: the 4 KB region always powered in VLLS2</tspan><tspan y="598.9899" x="13.097079 24.00308 33.34108 43.44908 55.89508 62.89508 66.78708 70.28708 74.17908 81.17908 87.39508 90.89508 97.111087 104.111087 111.111087 115.00308 118.89508 122.78708 129.78708 136.78708 143.00308 146.89508 150.39508 157.39508 164.39508 167.89508 178.00308 187.34108 190.84108 195.50308 201.71909 208.71909 212.61109 219.61109 226.61109 230.11109 237.11109 244.11109 248.00308 251.89508 258.89509 265.89509 272.11109 276.00309 279.89509 286.89509 290.39509 297.39509 304.39509 314.50309 320.7191 325.38108 331.59709 338.59709 342.09709 345.98908 352.98908 356.48908 366.59709 375.15107 383.70506 391.48905">•RAM2: the additional 12 KB region optionally powered in VLLS2</tspan><tspan y="614.9899" x="13.097079 24.00308 33.34108 43.44908 55.89508 62.89508 66.78708 70.28708 74.17908 81.17908 87.39508 90.89508 95.55708 101.77309 107.219089 111.111087 114.611087 121.611087 126.27309 129.77309 135.21909 142.21909 147.66509 151.55709 157.77309 168.66509 172.16509 181.50308 191.61109">•RAM3: the rest of system RAM</tspan><tspan y="640.9899" x="-.0069303514 4.65507 11.655069 15.155069 25.26307 33.81707 42.37107 50.15507 57.15507 60.65507 67.655078 74.655078 78.155078 85.93908 95.277088 105.385089 117.831089 121.331089 125.22308 130.66909 134.16909 138.83109 145.04709 148.93909 155.15509 159.04709 166.04709 172.26309 179.26309 183.15509 186.65509 193.65509 200.65509 210.76309 216.9791 223.9791 230.1951 234.8571 238.3571 241.8571 245.7491 252.7491 258.9651">In VLLS1 no SRAM is retained; however, the </tspan></text>
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54.00003)" font-size="14" font-family="TimesLTStd"><tspan y="640.9899" x="262.46507 269.46507 276.46507 281.12705 288.12705 295.12705 299.01905 305.23506 308.73506 313.39704 319.61305 326.61305 330.50505 335.95106 339.84306 346.05906 350.72105 354.22105 358.88304 362.77503 366.66703">32-byte register file</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54.00003)" font-size="14" font-family="TimesLTStd"><tspan y="640.9899" x="372.88307 376.38307 380.27507 385.72108 389.22108 395.43708 402.43708 408.65309 412.54508 416.43708 422.65309 429.65309 433.54508 439.76109"> is available.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 734.9387)" 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>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 751.75607)" 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>
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<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>
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<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="151.308 156.312 161.316">109</tspan></text>
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<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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