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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_321.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

879 lines
70 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="20" font-family="HelveticaLTStd" font-weight="bold"><tspan y="88.19531" x="0 14.4400019 26.660002 37.780004 50.000005 56.660005 67.78001 75.560009 81.12 92.240009">Chapter 13</tspan><tspan y="110.19531" x="0 14.4400019 25.560002 36.68 47.800004 54.460004 60.020006 74.46001 86.68001 98.90001 105.56001 113.34001 125.56001 131.12001 136.68001 153.34001 165.56002 177.78002 190.00002 195.56002 206.68001 212.24 218.90001 233.34001 247.78002 264.44">Reset Control Module (RCM)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".00101 9.453011 18.90501 23.63101">13.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 221.8)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x=".00101 4.7270104 15.11401 20.77501 27.38801 37.77501 48.16201 58.54901 68.001018 73.66202 78.388019 88.77502">Introduction</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="187.05" x=".00002 8.55402 15.55402 19.44602 24.892022 28.392022 34.60802 41.60802 47.82402 54.82402 58.716024 64.93202 69.594028 73.094028 80.094028 86.31003 91.75603 97.97203 102.63403 106.52603 113.52603 119.742038 125.188037 128.68804 132.58003 139.58003 145.79604 149.29604 153.95804 160.17404 167.17404 171.06604 176.51204 180.40404 186.62004 191.28205 196.72805 200.22805 207.22805 211.89005 215.39005 219.28205 226.28205 232.49805 235.99805 245.33605 251.55205 256.99806 263.21406 267.10606 270.60606 279.94407 286.94407 293.94407 297.83607 302.49806 309.49806 313.39006 316.89006 329.33607 336.33607 343.33607 350.33607 354.22807 360.44407 363.94407 368.60606 377.94407 387.28208 399.7281 404.39009 407.89009 411.39009 419.94407 426.94407 433.16007 436.66007 445.99809 455.3361">This chapter describes the registers of the Reset Control Module (RCM). The RCM</tspan><tspan y="203.05" x=".00005 3.8920506 14.784052 21.784052 25.676053 31.892052 42.784055 49.000055 56.000055 59.892057 65.33806 68.83806 79.73006 85.94606 92.94606 99.94606 103.44606 110.44606 115.10806 118.60806 122.50006 129.50006 135.71607 139.21607 143.87807 150.09407 155.54007 161.75608 165.64807 169.14807 173.81008 180.81008 187.81008 194.02608 197.91808 201.81008 208.81008 215.81008 221.25608 224.75608 229.41808 236.41808 241.08008 244.58008 248.47208 255.47208 261.68809 265.18809 271.40409 278.40409 282.29609 289.29609 292.79609 296.29609 304.08009 310.29609 316.5121 320.0121 323.90409 330.90409 337.1201 340.6201 346.8361 353.8361 357.7281 364.7281 367.24809 372.6941 376.1941 380.85609 387.07209 392.5181 398.7341 402.6261 406.1261 412.3421 419.3421 425.5581 432.5581 436.4501 442.6661 447.3281 450.8281 455.49009 462.49009 467.15208 470.65208 481.54408 488.54408 493.20606">implements many of the reset functions for the chip. See the chip's reset chapter for more</tspan><tspan y="219.05" x=".00005 3.8920506 10.892051 15.55405 22.55405 27.216052 38.10805 44.32405 48.216054 52.108057 59.108057 66.108058">information.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 337.4)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00694 9.445061 18.89706 23.62306">13.2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 101.25537 337.4)" font-size="17" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.91602" x="-.00694 12.267061 21.719063 31.171063 40.623064 46.28406 51.010065 66.12306 75.575069 90.688068 101.075069 107.688068 117.14007 121.866069 136.97907 146.43106 156.81806 161.54405 170.99605 181.38304 191.77004 196.49604 203.10904 212.56104 222.94803 227.67403 237.12602 242.78702 252.23902 258.85203 263.57804 273.96504 283.41703 292.86903 302.321 308.93403 313.66004 324.04704 329.70805 334.43406 344.82106 355.20805">Reset memory map and register descriptions</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="311.05" x=".00208 8.55608 15.55608 21.77208 25.27208 34.61008 40.82608 46.27208 52.48808 56.38008 59.88008 69.21808 76.21808 83.21808 87.11008 91.77208 98.77208 102.66408 106.16408 118.61008 125.61008 132.61008 139.61008 143.50208 149.71808 153.21808 157.88008 167.21808 176.55608 189.00208 193.66408 197.16408 201.82608 208.04209 215.04209 218.93408 224.38008 228.27208 234.48809 239.15009 244.59609 248.09609 255.09609 259.7581 266.7581 273.7581 277.6501 284.6501 290.8661 294.3661 299.02809 305.24409 310.6901 316.9061 320.7981 324.2981 329.7441 333.6361 339.8521 343.7441 350.7441 356.19013 359.69013 363.58213 370.58213 375.2441 382.2441 386.9061 397.7981 404.0141 407.9061 411.7981 418.7981 425.7981 429.2981 435.5141 442.5141 449.5141 453.0141 457.6761 463.8921 469.3381 475.5541">The Reset Control Module (RCM) registers provide reset status information and reset</tspan><tspan y="327.05" x=".00208 4.66408 8.556081 12.448081 16.340083 22.556084 27.218085 30.718085 36.934087 43.934087 50.934087 54.826089 59.488088 66.48808 70.38008">filter control.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 413.19996)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="199.32807 207.99207 216.65607 226.65207 229.98807 240.65607 247.32807 257.99607 265.32807 269.99607 276.66807 280.00407 290.67207 297.34407">RCM memory map</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 435.19996)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="8.487 14.985001 20.484002 25.488003 30.987004 33.489004 38.988004 41.985006">Absolute</tspan><tspan y="18.83789" x="10.485001 15.489001 20.988 26.487002 29.988 34.992 39.996004">address</tspan><tspan y="29.83789" x="16.992 19.989 25.488 30.492 35.496004">(hex)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 116.979999 435.19996)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="18.83789" x="89.973 96.471 101.475 106.974 109.476 114.479999 117.477 122.480998 125.981998 128.484 133.98299 138.98699 146.98799">Register name</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 363.94 435.19996)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="13.33789" x="5.166 13.662001 16.164002 21.663002 24.660002">Width</tspan><tspan y="24.33789" x="1.4129999 4.41 6.912 12.411 14.913 20.412 22.914002 25.911002 30.915">(in bits)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 404.26 435.19996)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="18.83789" x="1.899 8.397 13.401001 18.405003 23.409005 28.413006">Access</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 444.58003 435.19996)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="18.83789" x="2.727 9.225 14.229001 19.233002 24.237004 27.234004 29.736004 34.740007 39.744009 42.246007 47.745008">Reset value</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 505.06004 435.19996)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="13.33789" x="7.713 13.716 18.720002 23.724003 26.721003 29.223004 34.722005 40.221006">Section/</tspan><tspan y="24.33789" x="14.715 20.214 25.218003 30.717003">page</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 473.19996)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="5.229 10.233001 15.237001 20.241002 25.245003 30.249005 35.748006 40.752008 45.75601">4007_F000</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 116.729999 473.19996)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 10.503 15.003 17.505002 22.509003 30.006005 32.508005 39.006006 44.010007 48.510007 53.514009 56.016008 58.518007 64.521 67.023 72.027 74.529 79.533 84.033 86.534999 93.033 98.036998 103.04099 105.038997 109.538997 112.04099 117.04499 120.04199 122.54399 127.54799 130.04999 133.04698 139.54499 146.04299 153.53998 158.54398 164.54698 171.04499 177.04799 182.05199">System Reset Status Register 0 (RCM_SRS0)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 363.69 473.19996)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="15.408">8</tspan></text>
<g clip-path="url(#clip_10)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 404.01 473.19996)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="14.661">R</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 444.33003 473.19996)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="15.48 20.484002 25.488003 30.492005 35.496007">8282h</tspan></text>
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</g>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 504.81004 473.19996)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="4.203 9.207001 14.211001 16.713002 21.717003 24.219004 29.223004 31.725005 36.729005 41.733007">13.2.1/321</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 116.729999 488.69996)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 10.503 15.003 17.505002 22.509003 30.006005 32.508005 39.006006 44.010007 48.510007 53.514009 56.016008 58.518007 64.521 67.023 72.027 74.529 79.533 84.033 86.534999 93.033 98.036998 103.04099 105.038997 109.538997 112.04099 117.04499 120.04199 122.54399 127.54799 130.04999 133.04698 139.54499 146.04299 153.53998 158.54398 164.54698 171.04499 177.04799 182.05199">System Reset Status Register 1 (RCM_SRS1)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 363.69 488.69996)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="15.408">8</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 404.01 488.69996)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="14.661">R</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 444.33003 488.69996)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="17.982 22.986 27.990002 32.994005">000h</tspan></text>
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</g>
<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 504.81004 488.69996)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="4.203 9.207001 14.211001 16.713002 21.717003 24.219004 29.223004 31.725005 36.729005 41.733007">13.2.2/323</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 504.19996)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="5.229 10.233001 15.237001 20.241002 25.245003 30.249005 35.748006 40.752008 45.75601">4007_F004</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 116.729999 504.19996)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 16.002 21.006 23.508002 26.010003 32.013 34.011 39.015005 41.517004 47.016004 49.014005 51.012006 53.514005 58.518007 61.515008 64.017009 70.51501 75.519008 80.523 83.025 86.022 91.026 93.024 95.526 98.523 103.527 108.531 110.529 115.029 117.531 122.534999 125.532 128.034 131.03099 137.52899 144.027 151.52399 156.52799 163.02599 169.02899 174.52799 181.02599">Reset Pin Filter Control register (RCM_RPFC)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 363.69 504.19996)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="15.408">8</tspan></text>
<g clip-path="url(#clip_22)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 587.19998)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 16.680003 20.850003 29.190003 33.360006">13.2.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 109.87329 587.19998)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.005001 18.345002 26.685002 31.68 40.02 53.355005 57.525007 68.355 76.69501 85.03501 93.375019 98.37002 102.540019 112.54501 117.540019 125.88002 130.87502 140.04001 148.38 152.55 163.38 171.72 180.885 185.055 193.39499 198.38999 206.72998 212.56499 216.73499 225.07498 229.24498 234.23998 245.06998 255.89998 268.395 276.735 286.74 297.56999 307.57499 315.91499">System Reset Status Register 0 (RCM_SRS0)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="551.44998" x=".00202 8.55602 15.55602 19.44802 24.894022 28.394022 33.056024 39.272024 46.272024 50.164026 55.610025 59.502027 65.718029 70.38003 73.88003 77.772029 84.772029 90.98803 94.88003 101.88003 108.88003 115.09603 120.54203 124.04203 128.70403 134.92003 141.13603 148.13603 152.79804 159.79804 166.79804 170.69004 177.69004 181.19004 186.63603 190.52803 196.74404 200.63603 207.63603 213.08203 216.58203 221.24404 225.13603 231.35204 238.35204 243.79804 247.29804 251.19004 258.19004 261.69004 265.58204 272.58204 279.58204 283.47404 289.69004 295.90605 299.79804 306.01405 309.51405 313.40605 320.40605 326.62205 330.12205 335.56806 342.56806 349.56806 354.23005 360.44606 366.66206 370.16206 377.16206 381.82405 385.32405 389.21604 396.21604 402.43205 405.93205 416.82405 423.82405 429.27006 433.16206 436.66206 441.32405 447.54005 453.75605 459.97206 466.97206">This register includes read-only status flags to indicate the source of the most recent</tspan><tspan y="567.44998" x=".00202 4.66402 10.88002 16.326022 22.542023 26.434023 29.934023 33.43402 41.98802 48.98802 55.20402 58.70402 63.36602 69.58202 75.02802 81.244029 85.136028 88.636028 94.08202 97.97402 104.190029 108.08202 114.29803 117.79803 124.79803 129.46002 132.96002 136.85202 143.85202 150.06803 155.51403 161.73003 165.23003 172.23003 176.12203 180.01403 185.46002 188.96002 195.96002 202.17603 209.17603 215.39203 222.39203 229.39203 234.83803 238.33803 245.33803 252.33803 255.83803 265.946 272.946 279.16203 283.05403 286.55403 292.77003 298.98603 305.98603 311.43205 317.64805 324.64805 328.14805 332.04005 339.04005 345.25605 348.75605 361.20207 370.54008 380.64808 384.14808 388.04008 395.04008 398.54008 403.20207 409.41807 414.86408 421.08009 424.97209">reset. The reset state of these bits depends on what caused the MCU to reset.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="HelveticaLTStd" font-weight="bold"><tspan y="591.6367" x="232.55602 242.66402 253.55602 262.11003">NOTE</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 72)" font-size="14" font-family="TimesLTStd"><tspan y="607.85" x="72.00398 80.55798 87.55798 93.77399 97.27399 101.93599 108.15199 113.59799 119.813999 123.70599 127.20599 134.206 140.422 144.314 151.314 157.53 161.03 168.03 172.692 176.192 180.084 187.084 190.976 196.422 199.922 204.584 210.8 217.8 221.692 227.138 231.03 237.246 241.908 245.408 252.408 258.624 265.624 271.84 278.84 285.84 291.286 294.786 301.786 308.786 312.286 316.178 323.178 329.394 332.894 337.556 343.772 349.21803 355.43403 359.32603 362.82603 368.27204 375.27204 382.27204 386.93403 393.15003 399.36604">The reset value of this register depends on the reset source:</tspan><tspan y="623.85" x="85.093997 96 103.784008 113.892009 123.23001 126.73001 131.39202 135.28401 142.28401 148.50002 152.39202 159.39202 166.39202 170.28401 177.28401 184.28401 187.78401 196.33802 206.44602 216.55402 221.21602 224.71602 238.71602 242.21602 249.21602 256.216 263.216">&#x2022;POR (including LVD) &#x2014; 0x82</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 729.26937)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.01001 137.23001 142.79001 148.35 151.13 157.8 163.91 170.02 173.35 179.46 185.02 193.91 196.69 199.47 205.03 207.81 215.03 220.59 223.92 229.48 233.37 238.93 245.04 250.59999 256.16 258.94 267.27 272.83 278.93998 285.04997 290.60997 293.38996 296.16996 298.94996 306.16996 311.72996 317.28996 320.06996 322.84996 328.40995 331.18995 336.74995 342.85993 348.9699 351.7499 357.3099 362.8699 368.4299">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 746.0867)" 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 1 220.32 746.0867)" 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 1 391.68 746.0867)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">321</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54 758.0867)" 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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