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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_728.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

433 lines
49 KiB (Stored with Git LFS)
XML
Raw Blame History

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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="10.3" x="198.984 202.31999 206.316 209.652 216.32399 219.65999 226.99199 230.32799 237.65999 244.33199 251.00399 257.676 262.344 265.68 273.012 277.008 280.344 287.676 295.008 301.68 305.016 309.012 315.684 323.016 330.348 334.344 337.68 345.012 352.344 359.016 366.348"> field descriptions (continued)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.1 76.18281)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="187.94699 194.44499 199.44899 204.45299 209.45699 212.958 215.45999 220.95899 223.95598 226.45798 231.95697">Description</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 90.182819)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 15.507001 18.009 22.509 27.513 30.51 33.507 38.511 43.011 48.015005 53.019006 58.023008 63.027009 65.02501 70.02901 75.033008 77.535 82.539 87.543 92.547 95.544 100.548 105.048 109.548 112.049999 117.05399 119.051998 121.55399 124.05599 126.05399 131.058 133.56 140.058 146.061 152.06401 158.56201 161.06401 163.06201 167.56201 170.06401 175.06801 179.56801 184.572 189.576 192.078 194.076 199.08 201.582 204.084 209.088 214.092 216.594 221.094 226.09799 228.096 233.09999 236.09699 240.59699 245.60099 247.59899 252.60298 257.10298 259.60499 262.107 267.111 272.115 276.615 281.619 286.623 291.62699">The corresponding address bit in CSAR is used in the chip-select decode.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 198.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 8.496 11.493 13.491 15.993 20.997002 23.499003 28.503003 33.003004 37.503004 42.507005 47.007005 51.507005 56.511007 61.011007 63.513006 68.517009 71.51401 76.518009 79.020008 84.024 89.028 91.53 94.032 99.035999 101.034 103.032 108.035999 114.534 119.537998 124.54199 127.04399 129.54599 135.549 138.051 140.553 145.55699 153.05399 158.05799 160.55998 162.55799 167.56198 172.56598 175.06798 177.56998 182.57398 185.07598 191.57398 194.57097 196.56897 199.07097 204.07497 206.57697 209.07897 214.08296 216.58496 219.08696 224.09096 229.09496 231.59696 234.59395 239.59795 244.60195 249.60594 254.60994 257.11195 262.11595 264.61796 267.11997 272.12397 277.12797 282.13197 285.12898 290.13298 294.63298 299.13298 304.13697 308.63697 311.13899 313.641 318.645 321.642 324.144 330.642 335.646 337.64399 342.14399 347.14799 349.65 352.152 357.156 362.16 364.66203 373.15803 379.161 381.66304 386.66703 388.665 391.16703 393.66905 395.66703">Write accesses are not allowed. Attempting to write to the range of addresses for which the WP bit is</tspan><tspan y="20.83789" x="0 4.5 9.504001 12.0060009 14.508001 17.505002 22.509003 27.009003 32.013006 34.011007 36.513006 41.013006 43.515005 45.513006 50.517007 53.019006 58.023008 60.525007 65.52901 70.533008 75.033008 77.535 82.539 85.536 88.533008 93.537 96.534008 99.036 101.538 106.542 109.539 117.036 119.034008 124.038 129.042 131.544 133.542 138.546 143.55 146.052 151.056 153.558 156.06 158.562 163.566 168.56999 171.07199 173.06999 178.07399 180.57599 185.57999 188.57698 193.58098 198.58498 200.58298 203.08498 207.58498 212.08498 216.58498 218.58298 223.58698 226.08898 231.09297 236.09697 241.10097 243.60297 248.60697 253.61096 256.11299 261.11698 265.61698 268.119 273.123 276.12 281.124 286.128 288.12599 290.628 295.128 299.628 304.128 306.12599 311.12998">set results in a bus error termination of the internal cycle and no external cycle.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 226.68283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 40.509008 45.009008 47.511007 50.508008 55.51201 60.01201 65.01601 68.01301 72.51301 77.517009 82.521">This field is reserved.</tspan><tspan y="18.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 80.523 85.023 87.525 90.522 95.526 100.026 105.03 108.027 112.527 117.531 122.534999 125.036998 130.041 135.045 140.049 142.551 147.555 149.553 156.051 161.055 165.555 170.055 172.55699 177.56099 182.56499 187.06499 189.56699 192.06899 197.07299 202.07698 204.57898 209.07898 214.08298 216.08098 221.08498 226.08898 228.59098 233.59497">This read-only field is reserved and always has the value 0.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 253.18283)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 13.005001 15.003001">Valid</tspan><tspan y="26.83789" x="0 6.0030004 11.007001 16.011002 20.511002 22.509003 25.011004 27.009003 32.013006 36.513006 39.015005 45.513006 50.517007 55.521009 58.023008 63.027009 68.031009 71.02801 73.53001 76.032009 81.036 86.04 88.542 93.042 98.046 101.043 104.04 109.044 113.544 118.548 123.551998 128.556 133.56 135.558 140.562 145.566 148.068 154.566 160.569 166.572 173.07 175.572 178.074 184.572 190.57501 198.072 204.57 207.072 209.574 214.578 219.582 224.586 227.088 233.586 239.589 246.087 252.585 255.087 259.587 264.591 269.595 272.09703 277.101 282.105 284.60704 289.10704 291.60905 296.61305 299.61006 304.61405 307.11607 311.61607 316.62007 318.61805 320.61604 325.62004 328.12205 330.62406 336.62705 339.62406 344.62806 349.63206 352.62907 357.63307 365.13008 372.62709 377.63108 382.63508 385.1371 389.6371 394.64109 396.63908 401.64308">Specifies whether the corresponding CSAR, CSMR, and CSCR contents are valid. Programmed chip-</tspan><tspan y="37.83789" x=".00004 4.50004 9.504041 11.502041 16.506043 21.006043 23.508044 28.008044 30.510045 35.514047 40.518049 43.020048 48.024049 53.02805 55.53005 58.032049 63.03605 67.53605 72.03605 77.04005 80.03705 82.53905 85.041049 90.045047 95.04904 97.55104 99.54904 101.54704 104.04904 106.55104 111.55504 116.55904 119.061038 125.06403 127.56603 132.57004 134.56804 137.07004 139.57204 141.57004 146.07004 148.57204 153.57604 158.58003 161.08203 164.07903 169.08303 173.58303 178.08303 183.08702 188.09102 190.59302 193.09502 195.59702 200.60102 203.598 206.1 211.599 217.602 222.606 229.104 235.10701 240.11101 242.613 245.115 251.613 256.617 258.615 263.115 268.119 270.621 275.625 280.125 282.627 287.127 289.62904 294.63304 299.13304 301.63505 304.13706 309.14106 314.14506 316.64707 321.65107 323.64906 328.65306 333.65705 338.66105 340.65904 343.16105 347.66105 352.66505 354.66304 359.66703 362.66404 367.16404 372.16804 374.16603 379.17 383.67 386.17204 389.16905">selects do not assert until the V bit is 1b (except for FB_CS0, which acts as the global chip-select).</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 166.93564 302.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 6.0030405 8.505041 11.007042 14.004042 19.008042 23.508042 28.512043 31.014044 33.516046 36.018045 41.022047 46.026048 48.528047 53.028047 58.032049 60.03005 65.03405 68.03105 72.53105 77.53505 79.53305 84.53705 89.03705 91.53905 94.041049 99.045047 101.54704 106.55104 111.55504 114.55204 117.05404 119.55604 124.560039 129.56404 134.56804">At reset, no chip-select other than </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 166.93564 302.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="137.06999 142.56899 148.57199 153.57599 160.07399 166.077 171.081 173.583 178.083 183.08699 188.09099 190.59299 195.59699 200.60099 203.10298 208.10698 212.60698 217.61098 222.61498 225.11698 230.12097 235.12497 237.62697 239.62497 241.62297 244.12497 250.62297 256.62599 264.123 270.62098 275.62498 278.12699 284.12998 286.632 289.134 291.132 295.632 298.134 303.138 308.142 310.644 313.14604 319.14903 321.65104 324.15306 329.15705 332.15406 338.65205 343.65605 346.65306 351.65705 354.15907 356.66108 359.1631 364.16709">FB_CS0 can be used until CSMR0[V] is 1b. Afterward, the</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 166.93564 302.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="18.83789" x="0 5.499 11.502001 16.506 23.004002 29.007002 31.509003 34.011 39.015005 41.517004 46.521005 49.023004 51.525 56.025 58.023004 63.027006 68.031009 73.035 75.033008 79.533008 82.035 84.537 89.541 94.545 99.045 101.547 103.545 108.548999 113.55299 116.05499 121.05899 125.55899 128.06099 133.06499 136.06198 141.06598 146.06998 149.06697 154.07097 161.56797 169.06496 174.06896 179.07295">FB_CS [5:0] signals function as programmed.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 334.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 334.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 13.500001 18.504002 21.501002 26.001002 31.005002 33.003004 38.007005 42.507005 45.009004 47.511 49.509004 54.009004 56.511 58.509004 63.513006 68.013 73.017 75.015 77.013 82.017">Chip-select is invalid.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 345.18284)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.4980008 11.502001 13.500001 18.504002 21.501002 26.001002 31.005002 33.003004 38.007005 42.507005 45.009004 47.511 49.509004 54.009004 56.511 61.011 66.015 68.013 70.011 75.015">Chip-select is valid.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 109.87328 406.6828)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 10.830001 19.995 24.165 33.33 37.500005 47.505006 55.845006 60.015008 68.35501 76.695018 81.69002 85.860019 96.69002 105.85502 115.02002 120.01502 125.85002 135.01502 139.18502 143.35501 154.18502 162.52501 171.69 175.86 184.2 189.19499 197.53499 203.37 207.54 212.53499 221.69998 232.52999 240.86998 251.69998 261.705 272.53498">Chip Select Control Register (FB_CSCR</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 109.87328 406.6828)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="283.365">n</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 109.87328 406.6828)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="292.53">)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54)" font-size="14" font-family="TimesLTStd"><tspan y="388.9328" x="-.00302 9.334981 16.33498 23.33498 27.22698 31.88898 38.88898 42.780984 48.226984 51.726984 55.618986 62.618986 68.834987 72.334987 78.55099 85.55099 89.442989 96.442989 101.10499 107.32099 113.536998 120.536998 127.536998 134.53699 144.64499 148.53699 154.75299 161.75299 168.75299 174.969 178.469 181.969 188.185 195.185 202.185 206.847 213.063 218.509 223.955 227.455 232.901 239.117 243.009 250.009 257.009 260.509 266.725 273.725 280.725 284.225 291.225 298.225 302.117 309.117 312.617 316.509 320.401 331.293 337.509 342.95503 346.45503 349.95503 356.95503 363.95503 368.617 372.509 376.009 381.45503 385.34703 391.56303 397.77903 401.27903 404.77903 411.77903 418.77903 423.441 428.88703 432.77903 436.27903 442.49504 448.71104 455.71104 461.92704 468.92704 472.81904 476.71104 480.60304 484.49504 491.49504">Controls the auto-acknowledge, address setup and hold times, port size, burst capability,</tspan><tspan y="404.9328" x="-.0030099999 6.2129909 13.212991 20.21299 23.71299 30.71299 37.71299 48.604993 55.604993 61.82099 66.482997 69.982997 76.982997 81.645 85.145 95.253 101.469 105.361 109.253 112.753 118.199 122.090999 128.30699 132.19899 138.415 143.861 147.361 152.023 159.023 163.685 167.185 171.077 178.077 184.293 187.793 194.009 199.455 204.901 211.901 218.117 222.009 228.225 232.117 238.33301 245.33301 248.83301 255.04901 262.049 265.941 272.941 276.441 281.88703 288.10304 291.99504 298.21104 304.42704 308.31904">and number of wait states for the associated chip select.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54)" font-size="14" font-family="TimesLTStd"><tspan y="445.3328" x="71.99898 80.55298 87.55298 91.05298 96.49898 103.49898 110.49898 117.49898 124.49898 129.16098 133.05298 136.55298 140.44498 147.44498 153.66098 157.16098 164.16098 168.05298 175.05298 182.05298 188.26898 192.16098 195.66098 201.87699 208.87699 212.76898 219.76898 224.43099 229.87699 236.09299 239.98499 246.20099 252.41699 256.309 259.809 264.47099">To support the global chip-select ( </tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54)" font-size="14" font-family="TimesLTStd"><tspan y="445.3328" x="267.97096 275.75495 285.09297 292.09297 301.43098 309.21498 316.21498 319.71498 324.37696 327.87696 331.37696 335.26896 342.26896 348.48497 351.98497 361.32298 369.10697 378.44499 387.783 394.783 398.283 402.94499 409.16099 414.607 420.823">FB_CS0 ), the CSCR0 reset</tspan><tspan y="461.3328" x="71.99893 78.99893 85.214939 89.10693 96.10693 102.32294 107.768939 111.268939 118.268939 122.160938 126.82294 131.48494 137.70095 142.36295 145.86295 150.52495 155.18695 162.18695 173.07895 176.57895 180.47095 187.47095 193.68695 197.18695 204.18695 208.07895 215.07895 221.29496 225.95696 229.45696 238.79496 246.57895 255.91695 265.25495 270.70097 274.20097 277.70097 286.25495 293.25495 299.47096 302.97096 307.63294 313.84895 319.29496 325.51097 329.40296 332.90296 339.90296 346.11897 350.01097 357.01097 363.22697 366.72697 373.72697 378.38896 381.88896 391.22697 399.01097 408.34898 417.68699">values differ from the other CSCRs. The reset value of CSCR0</tspan><tspan y="477.3328" x="71.99893 75.89093 81.33693 84.83693 91.05293 96.49893 99.99893 104.660938 111.660938 115.55293 119.44493 126.44493 136.55294 141.99893">is as follows:</tspan><tspan y="493.3328" x="85.102939 95.994937 105.33293 109.22493 113.11693 118.56293 122.06293 129.06293 136.06293 143.06293 150.06293 157.06293 160.56293 166.77893 171.44094 177.65694 181.15694 188.15694">&#x2022;Bits 31&#x2013;24 are 0b</tspan><tspan y="509.3328" x="85.102939 95.994937 105.33293 109.22493 113.11693 116.61693 123.61693 130.61693 137.61693 144.61693 148.11693 154.33293 158.99494 165.21094 168.71094 174.92694 181.92694 185.81894 192.81894 197.48094 204.48094 210.69695 217.69695 223.91295 230.91295 237.91295 244.12895 251.12895">&#x2022;Bit 23&#x2013;3 are chip-dependent</tspan><tspan y="525.33279" x="85.102939 95.994937 105.33293 109.22493 113.11693 118.56293 122.06293 129.06293 136.06293 143.06293 146.56293 152.77893 157.44094 163.65694 167.15694 174.15694">&#x2022;Bits 3&#x2013;0 are 0b</tspan><tspan y="551.33279" x="71.99893 79.782939 85.99894 92.21494 95.71494 99.60694 106.60694 112.822948 116.322948 122.53895 129.53894 133.43094 140.43094 143.93094 150.14694 157.14694 164.14694 168.80895 172.70095 179.70095 186.70095 191.36295 197.57895 201.47095 205.36295 212.36295 219.36295 222.86295 229.86295 236.07895 239.97095 246.18695 250.07895 253.97095 259.41697 262.91697 267.57896 274.57896 279.24095 282.74095 289.74095 296.74095 303.74095 308.40293 311.90293 318.90293 325.11894 329.7809 333.6729 337.5649 343.7809 350.7809 354.6729 360.88893 365.5509 369.0509 375.2669 382.2669 386.1589 393.1589 396.6589 401.3209 408.3209">See the chip configuration details for your particular chip for</tspan><tspan y="567.33279" x="71.998958 75.89095 82.89095 87.552959 94.552959 99.21496 110.10696 116.32296 120.21496 124.10696 131.10697 138.10697 141.60697 148.60697 155.60697 159.10697 162.99897 169.99897 176.21497 179.71497 185.93097 192.93097 199.14698 205.36298 209.25498 212.75498 222.09297 229.87697 239.21497 248.55297 255.55297 259.05299 263.71498 269.93098 275.37699 281.593 285.485 288.985 295.985 302.201 306.093 313.093 319.309">information on the exact CSCR0 reset value.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="25.87323" x="0 7.4970009 12.501001 20.502003 26.001004 29.502003 34.506006 37.008005 44.505006 49.509008 55.008008 57.510007 64.008 69.012 74.511 77.013 82.017 85.014 90.018 93.519 96.020999 102.519 107.522998 110.52 113.021999 118.520999 121.022998 124.02 126.521999 132.021">Memory Map/Register Definition</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 734.93869)" 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 53.999994 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00401 5.008011 10.012012">728</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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