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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_129.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

555 lines
50 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="14" font-family="TimesLTStd"><tspan y="11.85" x="13.104 23.996003 34.104005 43.442007 51.996007 59.780008 66.78001 76.88801 86.99601 95.55001 99.05001 103.71201 107.21201">&#x2022;VREF_OUT - V</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="10.5" font-family="TimesLTStd"><tspan y="14.650001" x="117.32001 120.239009 125.489009">in1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="11.85" x="130.73902 134.23902 138.13101 145.13101 152.13101 159.13101"> input</tspan><tspan y="27.85" x="13.097 24.003003 34.111005 44.219007 54.327009 57.827009 62.489007 65.989009">&#x2022;VDD - V</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="10.5" font-family="TimesLTStd"><tspan y="30.65" x="76.097 79.016 84.266">in2</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="27.85" x="89.516 93.016 96.908 103.908 110.908 117.908"> input</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 124)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00002 8.339981 12.509981 20.849984 25.019984 33.359987 37.529989">3.7.2.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 124)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="-.00002 10.004981 18.344983 23.339982 31.679982 37.51498 46.67998 55.01998 59.189985 63.359987 75.02998 79.19998 88.36498 97.52998 106.694988 118.36498 122.53498 130.87499 139.21498 152.54999 161.71498 165.88498 174.22498 178.39498 182.56497 191.72997 200.89496 210.05995">External window/sample input</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="106.25" x=".00098 4.66298 11.66298 18.66298 22.55498 29.55498 33.44698 40.44698 47.44698 53.66298 57.55498 61.05498 68.83898 78.94698 88.28499 91.78499 98.78499 105.78499 109.67699 115.122989 121.33899 126.00099 133.00099 140.00099 143.89299 147.39299 152.83899 156.73099 163.73099 170.73099 176.94699 180.83899 186.28499 189.78499 196.00099 203.00099 210.00099 213.89299 218.555 225.555 229.44699 232.94699 239.163 245.379 251.595 258.595 262.095 271.433 283.87904 291.66304 295.16304 302.94703 309.16304 320.05503 327.05503 330.94703 337.16304 341.05503 354.27104 358.16304 365.16304 372.16304 379.16304 389.27104 392.77104 396.66304 400.55503 411.44703 415.33903 422.33903 429.33903">Individual PDB pulse-out signals control each CMP Sample/Window timing.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 201.8)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".007 8.903001 13.351002 22.247002 26.695002">3.7.3</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 103.75732 201.8)" font-size="16" font-family="HelveticaLTStd" font-weight="bold"><tspan y="12.65625" x=".007 8.903001 17.799002 23.127003 32.903005 37.351007 42.679006 47.127008 58.67901 70.23101 81.78301 86.23101 97.78301 107.55901 117.335018 122.66302 127.111019 136.88701 146.66301 152.88701 161.783 167.11101 171.559 181.335">12-bit DAC Configuration</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="185.05" x="-.00298 8.55102 15.55102 19.44302 24.88902 28.38902 33.835023 40.05102 46.26702 50.159025 54.051027 61.051027 68.051029 71.551029 76.997028 83.997028 94.88902 105.78102 111.997028 116.65903 120.551029 126.76703 132.98303 138.42903 141.92903 148.92903 155.92903 166.03704 169.53704 173.42903 180.42903 186.64504 190.14504 201.03704 208.03704 215.03704 222.03704 225.92903 232.14504 235.64504 242.64504 248.86104 254.30704 257.80705 264.80705 271.02305 277.23905 284.23905 287.73905 293.95506 300.95506 307.95506 312.61705 316.50904 323.50904 330.50904 335.17103 341.38703 348.38703 351.88703 355.77903 362.77903 366.27903 370.17103 377.17103 383.38703 386.88703 393.10304 400.10304 403.99504 410.99504 414.49504 417.99504 425.77903 432.77903 437.441 440.941">This section summarizes how the module has been configured in the chip. For a</tspan><tspan y="201.05" x="-.00298 6.2130205 13.21302 24.105023 31.105023 35.76702 41.98302 48.98302 55.19902 62.19902 67.64502 71.53702 78.53702 84.75302 88.25302 95.25302 101.469028 106.91502 113.13103 117.79303 121.68503 128.68503 132.57703 136.46903 143.46903 150.46903 153.96903 160.96903 165.63103 169.13103 173.02303 180.02303 186.23903 189.73903 200.63103 207.63103 214.63103 221.63103 225.52303 231.73903 235.23903 239.13103 243.02303 248.46903 254.68503 258.57704 263.239 266.739 270.239 275.68504 281.90104 288.11705 291.61705 295.50904 302.50904 308.72505 312.22505 323.11705 330.11705 337.11705 344.11705 348.00904 354.22505 358.88703 364.33305 367.83305 374.83305 381.04905 388.04905 391.94105 398.15705 404.37306 408.26506 414.48106 421.48106 424.98106 431.19706 438.19706 444.41307 451.41307 455.30506 461.52107 466.18305">comprehensive description of the module itself, see the module&#x2019;s dedicated chapter.</tspan></text>
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<path transform="matrix(1,0,0,1,58.11992,26.14415)" d="M204.69905 311.4808H310.7226V371.31587H204.69905Z" fill="#ffffff"/>
<path transform="matrix(1,0,0,1,58.11992,26.14415)" stroke-width=".504" stroke-linecap="butt" stroke-miterlimit="3" stroke-linejoin="miter" fill="none" stroke="#000000" d="M204.69905 311.4808H310.7226V371.31587H204.69905Z"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 58.11992 26.14415)" font-size="9.6" font-family="HelveticaLTStd"><tspan y="342.83909" x="236.72396 242.06156 247.39916 250.59595 255.93355 258.06477 260.73356 263.40235 270.33357 276.73677">12-bit DAC</tspan></text>
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<path transform="matrix(1,0,0,1,58.11992,26.14415)" stroke-width=".504" stroke-linecap="butt" stroke-miterlimit="3" stroke-linejoin="miter" fill="none" stroke="#000000" d="M226.57796 245.50785H288.84355V266.2419H226.57796Z"/>
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<path transform="matrix(-.3,0,0,-.3,259.8225,366.39363)" d="M0 0 4-4-10 0 4 4 0 0Z" fill-rule="evenodd"/>
<path transform="matrix(-.3,0,0,-.3,259.8225,366.39363)" 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"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 58.11992 26.14415)" font-size="7.2" font-family="HelveticaLTStd"><tspan y="334.92185" x="165.71033 170.10953 172.50713 176.51033 180.51354 184.11354 186.11515 190.11835 192.51595">Transfers</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="362.6786" x="145.99198 153.32398 156.65998 163.99198 171.32398 175.99198 182.66397 185.99997 192.67197 196.66797 203.33997 210.01197 213.34796 216.68396 223.35596 230.02796 234.02396 241.35596 244.69196 248.68796 252.02396 260.68797 269.35197 278.01597 281.35197 288.02397 295.35597 302.68797 306.68397 310.01997 317.35197 324.68397 329.35197 336.02397 340.01997 343.35597 350.68797">Figure 3-41. 12-bit DAC configuration</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 149.50002 431.2614)" 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 93.66 100.332 104.328 111 115.668 122.34 129.672 136.344 143.01599 146.35199 149.68799 153.02399 160.35599 167.02799 173.69998 177.03598 181.03199 188.36399 191.69998 196.36798 203.03998 206.37598 213.04798 217.04398 223.71598 231.04798 234.38397 237.71997 245.05197 249.04798 256.37998 261.04798 271.71598 278.38798 282.38398 285.71998 293.05198">Table 3-49.Reference links to related information</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 453.2614)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="36.9 42.399003 47.898004 53.397005 55.899003">Topic</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.3 453.2614)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="15.39 21.888 26.892003 29.394003 34.398004 37.395006 42.399007 47.898008 50.400007 58.401006 63.900007 69.399 74.898 77.4">Related module</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 258.1 453.2614)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="127.944 134.442 139.446 142.443 147.44699 150.948 155.952 161.45099 166.45499">Reference</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 469.2614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="17.892 23.391 28.395 30.393002 32.391004 34.893 39.897005 44.901006 49.401006 53.901006 56.898008 58.896009 63.90001 66.40201 68.40001 73.40401">Full description</tspan></text>
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<path transform="matrix(1,0,0,1,54,466.7614)" d="M101.05 .5H201.35V15.5H101.05Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 469.2614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="26.145 31.149003 36.153005 39.150007 44.154008 46.152009 48.654008 51.156007 57.654008 63.657007">12-bit DAC</tspan></text>
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 257.85 469.2614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="126.94501 131.949 136.953 139.95 144.954 146.952 149.454 151.956 158.454 164.457">12-bit DAC</tspan></text>
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 257.85 484.7614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="106.443 112.446 116.946 121.446 123.948 128.952 136.44899 138.95099 146.44799 151.45198 158.94898 163.95298 166.94997 171.44997 173.95197 181.44896 186.45296">System memory map</tspan></text>
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<path transform="matrix(1,0,0,1,54,498.0114)" d="M.25 .25H100.55V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<g clip-path="url(#clip_12)">
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<path transform="matrix(1,0,0,1,54,498.0114)" d="M201.85 .25H503.75004V15.25H201.85Z" fill="#ffffff" fill-rule="evenodd"/>
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 257.85 500.2614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="114.696 121.194 123.192 128.196 132.696 137.196 139.698 144.702 146.7 151.2 153.702 156.69899 158.69699 163.70099 168.70499 171.20699 173.20499 178.20899">Clock distribution</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 515.7614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="7.884 13.887 18.891 25.389002 30.393002 33.390005 35.892004 43.389005 48.393007 53.397008 58.40101 63.40501 68.40901 75.90601 80.91001 85.91401">Power management</tspan></text>
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 257.85 515.7614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="108.684 114.687 119.690998 126.188999 131.193 134.18999 136.69199 144.18898 149.19298 154.19698 159.20098 164.20497 169.20897 176.70597 181.70996 186.71396">Power management</tspan></text>
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<path transform="matrix(1,0,0,1,54,529.0114)" d="M.25 .25H100.55V15.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 531.2614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="10.638 16.640999 18.639 23.643002 28.647004 33.651006 35.649007 38.151006 45.648008 50.652009 52.65001 55.152009 57.15001 62.15401 64.15201 69.156009 73.656009 75.65401 80.658008">Signal multiplexing</tspan></text>
<g clip-path="url(#clip_18)">
<path transform="matrix(1,0,0,1,54,529.0114)" d="M101.05 .25H201.35V15.25H101.05Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 157.05 531.2614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="25.146 31.149 36.153 39.15 41.652 44.154 48.654 53.658 58.662004 61.164 64.161 69.165">Port control</tspan></text>
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 0 1 257.85 531.2614)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="111.43799 117.44099 119.43899 124.442989 129.44699 134.45099 136.44899 138.95099 146.44799 151.45198 153.44998 155.95198 157.94998 162.95398 164.95198 169.95598 174.45598 176.45398 181.45798">Signal multiplexing</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 599.7614)" 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">3.7.3.1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 114.04346 599.7614)" font-size="15" font-family="HelveticaLTStd" font-weight="bold"><tspan y="11.89648" x="0 8.340001 16.680003 21.675004 30.840004 35.010007 40.005006 44.175008 55.00501 65.83501 76.66501 80.83501 92.505008 100.84501 109.18501 115.02001 123.360019 127.530017 135.87001">12-bit DAC Overview</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 54)" font-size="14" font-family="TimesLTStd"><tspan y="582.0114" x="-.006 8.548 15.548 19.44 24.886002 28.386002 35.386 41.602 48.602 52.494005 58.710004 64.926 68.426 74.642009 81.642009 88.642009 92.534008 98.75001 102.642009 109.642009 115.088008 118.588008 122.48 132.588 139.588 143.088 150.088 157.088 161.75 168.75 172.642 176.534 180.034 187.034 190.926 197.926 201.818 205.70999 211.926 215.818 220.48 224.372 231.372 236.034 242.25 249.25 255.466 259.358 266.358 273.358 276.858 283.074 290.074 297.074 304.074 310.29 314.952 318.844 325.06 329.722 335.168 338.668 343.33 353.438 363.546 372.884 377.546 381.046 391.154 395.046 398.938 405.938 409.438 416.438 421.09999 428.09999 435.09999 439.76197 445.97798 456.86997 467.76197 473.97798 480.97798 484.86997">This device contains two 12-bit digital-to-analog converters (DAC) with programmable</tspan><tspan y="598.0114" x="-.00596 4.65604 10.872041 15.53404 21.750042 26.412043 32.628046 39.628046 45.844045 52.060045 55.560045 62.560045 68.77605 75.77605 81.99205 86.65405 92.870059 96.762058 103.762058 108.42406 111.92406 118.92406 125.92406 129.81606 136.81606 143.81606 147.70806 151.20806 154.70806 163.26206 170.26206 176.47806 179.97806 190.08606 200.19406 209.53206 213.03206 216.92406 223.92406 230.14006 234.03206 241.03206 248.03206 254.24806 259.69407 263.19407 269.41007 272.91007 280.69407 285.35606 293.14006 303.24806 306.74806 311.41004 318.41004 323.07203 326.57203 336.68003 349.12605 359.23405 362.73405 368.18006 375.18006 382.18006 389.18006 396.18006 400.84205 404.73405">reference generator output. The DAC includes a FIFO for DMA support.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01031" x="378.495 384.99299 390.49198 395.49598 400.99497 403.99198 408.99598 412.49699 414.999 420.003 422.505 429.003 434.50199 437.004 442.503 445.005 451.503 457.00199 462.50099 465.498 468 473.499 478.998 482.499 487.503 490.5 493.002 498.501">Chapter 3 Chip Configuration</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 734.93869)" 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>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999998 751.756)" 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 1 220.32 751.756)" 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="151.308 156.312 161.316">129</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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