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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_695.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

802 lines
69 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 231)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009">1.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 69.12 231)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.4970009 12.501001 17.001002 19.503003 22.005003 27.009003 32.013006 34.515005 36.513006 41.517007 46.521009 51.52501 58.02301 63.02701 66.02401 71.02801 73.53001 78.534008 80.532009 82.53001 87.534008 92.538 97.542 102.546 105.048 108.045 113.544 115.542 120.546 125.046 130.05 132.552 137.556 142.56 147.564 150.56099 155.56499 160.06499 164.56499 167.06699 169.56899 174.57299 177.07498 182.07898 184.58098 187.08298 192.33898 194.84098 199.84497 204.84897 207.84597">Must be longword aligned (Flash address [1:0] = 00).</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54.000005 54)" font-size="14" font-family="TimesLTStd"><tspan y="209.85" x="-.00198 10.106021 17.106022 24.106022 31.106022 34.60602 40.82202 44.714025 50.930025 57.146024 61.80802 65.70002 72.70002 79.70002 83.20002 92.538028 101.87602 106.538028 114.32203 117.82203 121.71403 128.71402 132.21402 136.10602 142.32202 149.32202 156.32202 162.53803 169.53803 173.03803 176.93003 183.93003 190.14603 193.64603 201.43003 206.09203 213.09203 220.09203 224.75403 230.97003 241.86203 245.36203 253.91603 260.91603 267.91603 274.91603 285.02403 292.02403 296.686 303.686 307.186 313.402 320.402 331.294 342.186 348.402 355.402 362.402 365.902 369.402 373.294 380.294 386.51 390.01 394.672 398.564 404.78 410.226 417.226 420.726 431.618 437.834 448.726 455.726 460.388">Upon clearing CCIF to launch the Program Longword command, the flash memory</tspan><tspan y="225.85" x="-.0019699999 10.890031 17.89003 24.89003 31.89003 35.782033 41.99803 45.49803 52.49803 57.16003 64.160037 71.160037 75.82204 82.03804 92.93004 98.37604 101.87604 105.768039 112.768039 118.98404 122.48404 129.48404 135.70005 139.59204 145.80805 149.30805 156.30805 163.30805 167.20005 173.41605 178.86205 182.36205 186.25405 193.25405 197.14604 204.14604 207.64604 211.53804 218.53804 224.75405 228.25405 232.91605 236.80805 243.02405 248.47005 255.47005 258.97004 265.97004 271.41606 275.30805 282.30805 289.30805 292.80805 296.70005 303.70005 309.91606 313.41606 318.86207 325.86207 332.86207 339.86207 343.75407 347.64607 353.86207 360.86207 364.36207 370.57807 377.57807 384.57807 389.24006 395.45606 400.90208 406.34809 409.84809 413.34809 421.90208 428.90208 435.11808 438.61808 444.0641 454.1721 460.3881">module programs the data bytes into the flash using the supplied address. The swap</tspan><tspan y="241.85" x="-.0019699999 3.8900305 10.89003 17.89003 21.78203 27.998032 34.21403 38.106035 45.106035 49.768033 53.268033 59.48403 66.48403 73.48403 78.146038 84.36204 89.80804 95.254039 98.754039 102.646038 109.646038 113.146038 119.36204 125.57804 131.79404 138.79404 142.29404 149.29404 153.95604 160.95604 167.95604 172.61804 178.83405 189.72605 193.22605 197.88805 201.78005 207.99605 213.44205 220.44205 223.94205 230.94205 234.83405 241.83405 248.05005 255.05005 258.55006 262.44206 267.88807 271.38807 275.28007 286.17207 293.17207 297.06407 300.95606 307.17207 311.06407 314.95606 318.84806 325.84806 329.34806 336.34806 341.01005 348.01005 351.90205 358.11805 364.33406 368.22605 374.44206 381.44206 384.94206 389.60404 394.26603 401.26603 412.15803 415.65803 422.65803 427.32 434.32 441.32 445.982 452.198 463.09 473.982 477.874 484.874 491.874">indicator address in each program flash block is implicitly protected from programming.</tspan><tspan y="257.85" x="-.0019699999 8.55203 15.55203 21.76803 25.26803 29.16003 35.37603 40.03803 47.03803 53.25403 57.14603 63.36203 70.36203 73.86203 78.52403 82.41603 88.632038 94.07803 101.07803 104.57803 108.47003 115.47003 121.686038 127.90204 131.79404 135.68604 142.68604 149.68604 155.13204 158.63204 169.52404 176.52404 181.97003 185.86203 189.36203 196.36203 202.57804 206.07804 212.29404 219.29404 223.95604 228.61804 234.83405 241.83405 245.72605 249.61804 256.61805 260.11805 267.11805 274.11805 281.11805 285.78004 292.78004 296.67204 302.88804 309.10404 312.99604 319.21205 326.21205 329.71205 334.37403 339.82005 346.03605 352.25205 355.75205 359.64405 366.64405 372.86006 376.36006 383.36006 389.57606 395.02207 401.23808 405.90007 409.79206 416.79206 420.68406 424.57606 431.57606 438.57606 442.07606 449.07606 453.73805 457.23805 461.13005 468.13005">The targeted flash locations must be currently unprotected (see the description of the</tspan><tspan y="273.85" x="-.0019699999 7.782031 15.566032 24.904034 35.012037 43.566038 47.066038 53.282037 60.282037 67.282039 70.782039 78.56604 88.67404 96.458049 105.79605 115.90405 124.45805 127.95805 132.62006 138.83606 145.83606 149.72806 155.17406 159.06606 165.28206 169.94406 175.39006 180.05207 183.55207 187.44406 194.44406 197.94406 204.94406 211.16007 215.82207 226.71407 230.60607 234.49806 237.99806 244.21407 251.21407 257.43006 263.64607 270.64607 274.53807 278.43006 285.43006 292.43006 295.93006 302.93006 307.59205 311.09205 314.98405 321.98405 328.20005 331.70005 339.48405 344.14604 351.14604 358.14604 362.808 369.02403 379.91603 383.41603 391.97 398.97 405.97 412.97 423.078 430.078 434.74 441.74 445.24 452.24 459.24 465.456 470.11799 476.33399 480.22599 484.11799 491.11799 498.11799">FPROT and FDPROT registers) to permit execution of the Program Longword operation.</tspan><tspan y="298.25" x="-.0019699999 8.55203 15.55203 21.76803 25.26803 32.26803 36.930028 43.930028 50.930028 55.592027 61.808027 72.70003 83.592029 87.484027 94.484027 101.484027 104.984027 111.984027 118.984027 125.20003 129.86203 136.07804 139.97003 143.86203 150.86203 157.86203 161.36203 165.25403 170.70003 174.20003 181.20003 188.20003 192.09203 199.09203 202.98403 207.64603 213.86203 220.07804 223.97003 227.86203 234.86203 241.86203 248.07804 251.97003 255.47003 258.97004 263.63203 267.52403 271.02403 277.24003 283.45603 290.45603 293.95603 300.95603 307.95603 311.84803 318.84803 322.34803 333.24003 340.24003 347.24003 353.45603 356.95603 367.06404 377.17204 389.61805 393.11805 400.11805 404.01005 407.90205 413.34806 416.84806 421.51005 426.17204 433.17204 444.06404 447.56404 451.45603 458.45603 464.67204 468.17204 474.38804 479.05003 485.26603 490.71205 496.92805">The programming operation is unidirectional. It can only move NVM bits from the erased</tspan><tspan y="314.25" x="-.0019699999 5.444031 9.336031 15.5520319 19.444033 25.660035 29.160035 33.822034 36.342035 43.342035 45.862035 50.524034 54.024034 57.916036 64.91603 68.41603 72.30803 79.30803 85.52403 89.02403 96.02403 100.686038 107.686038 114.686038 119.34804 125.56404 136.45604 147.34804 153.56404 160.56404 164.06404 169.51004 173.40204 179.61804 183.51004 189.72605 193.22605 197.88805 200.40805 207.40805 209.92806 214.59006 218.09006 221.59006 230.14406 234.80606 241.02207 246.46807 252.68407 259.68409 263.18409 270.18409 274.07609 277.96809 283.4141 286.9141 290.8061 297.8061 304.0221 307.9141 311.4141 316.07609 322.29209 326.18409 330.07609 333.57609 337.46809 344.46809 347.96809 354.96809 359.63008 366.63008 373.63008 378.29206 384.50807 395.40007 398.90007 402.79206 409.79206 413.29206 417.18406 424.18406 430.40007 433.90007 436.42005 443.42005 445.94004 449.44004 454.88606 458.77806 464.99406 468.88606 475.10206 478.60206 484.81806 489.48005">state ('1') to the programmed state ('0'). Erased bits that fail to program to the '0' state are</tspan><tspan y="330.25" x="-.0019699999 4.6600306 8.552031 14.768031 21.768033 28.768033 34.98403 41.98403 45.48403 51.70003 57.14603 60.64603 66.86203 71.52403 76.186038 83.186038 87.84804 93.29404 96.79404 100.686038 107.686038 111.186038 118.97004 126.75404 135.30805 145.41605 153.97005 158.63205 171.07805 181.18605 188.97005 197.52405 207.63205 216.18605 223.18605 227.84806 231.34806 234.84806 243.40206 250.40206 256.61805 260.11805 269.45606 278.79408 283.45606 291.24006 294.74006 299.40205 303.29405 309.51005 316.51005 320.01005 323.90205 329.34806 332.84806 338.29408 344.51008 348.40208 351.90208 358.11808 362.78007 366.67207 372.88807 377.55006 381.05006 384.94206 391.94206 398.15806 401.65806 409.44206 414.10404 421.10404 428.10404 432.76603 438.98204">flagged as errors in FSTAT[MGSTAT0]. The CCIF flag is set after the Program</tspan><tspan y="346.25" x="-.0019699999 8.55203 15.55203 22.552029 29.552029 39.66003 46.66003 51.32203 58.32203 61.82203 68.82203 75.82203 82.03803 86.700038 92.91604 96.80804 100.700038 107.700038 114.700038 118.200038 124.41604 131.41605 142.30805 149.30805 153.20005 159.41605 163.30805 169.52405 174.97005">Longword operation completes.</tspan><tspan y="370.65" x="-.0019699999 8.55203 15.55203 21.76803 25.26803 30.714032 37.71403 44.71403 51.71403 55.606035 59.498037 65.714038 72.714038 76.214038 82.43004 89.43004 96.43004 101.09204 107.308048 112.75404 118.20004 121.70004 132.59204 139.59204 145.03804 148.93004 152.43004 159.43004 165.64604 169.14604 173.03804 180.03804 187.03804 194.03804 204.14604 211.14604 215.80805 222.80805 226.30805 232.52405 236.41605 240.30805 247.30805 254.30805 260.52406 267.52406 271.02406 275.68605 280.34803 284.24003 290.45603 295.90205 302.90205 306.40205 312.61805 319.61805 326.61805 331.28004 337.49604 342.94206 348.38807 351.88807 356.55006 363.55006 367.44206 374.44206 379.10404 382.60404 390.50004 394.00004 401.00004 408.00004 412.66203">The supplied address must be longword aligned (flash address [1:0] = 00):</tspan><tspan y="395.05" x="13.102019 23.99402 33.332025 40.332025 44.224027 50.440027 53.940027 60.940027 64.440029 71.440029 77.65603 81.54803 87.76403 91.26403 95.15603 100.60203 104.10203 114.21003 118.87203 122.76403 126.65603 130.54804 136.76404 143.76404 147.26404 151.15604 158.15604 161.65604 165.54804 172.54804 178.76404 182.26404 187.71004 194.71004 201.71004 208.71004 212.60204 216.49404 222.71004 229.71004 233.21004 240.21004 247.21004 251.10204 257.31803 260.81803 267.03404 274.03404 281.03404 285.696 291.91203 297.35804 302.80406 306.30406 310.96604 313.48603 318.93205 322.82405 329.04005 333.70204 337.59403 340.114 344.776">&#x2022;Byte 3 data is written to the supplied byte address ('start'),</tspan><tspan y="411.05" x="13.10199 23.993992 33.331995 40.331995 44.223997 50.439996 53.939996 60.939996 64.439998 71.439998 77.656 81.548 87.764 91.264 95.156 100.602 104.102 111.102 115.764 122.764 129.764 134.42601 140.64202 151.53401 162.42601 168.64202 175.64202 179.14202 183.03401 190.03401 193.53401 200.53401 207.53401 211.42601 217.64202 221.14202 227.35802 234.35802 241.35802 246.02002 252.23603 257.68205 263.12806 266.62806 272.07408 275.96607 282.18208 286.84407 290.73606 298.63206 305.63206 312.63206 319.63206 326.63206">&#x2022;Byte 2 data is programmed to byte address start+0b01,</tspan><tspan y="427.05" x="13.10199 23.993992 33.331995 40.331995 44.223997 50.439996 53.939996 60.939996 64.439998 71.439998 77.656 81.548 87.764 91.264 95.156 100.602 104.102 111.102 115.764 122.764 129.764 134.42601 140.64202 151.53401 162.42601 168.64202 175.64202 179.14202 183.03401 190.03401 193.53401 200.53401 207.53401 211.42601 217.64202 221.14202 227.35802 234.35802 241.35802 246.02002 252.23603 257.68205 263.12806 266.62806 272.07408 275.96607 282.18208 286.84407 290.73606 298.63206 305.63206 312.63206 319.63206 326.63206 330.13206 333.63206 339.84806 346.84806">&#x2022;Byte 1 data is programmed to byte address start+0b10, and</tspan><tspan y="443.05" x="13.10199 23.993992 33.331995 40.331995 44.223997 50.439996 53.939996 60.939996 64.439998 71.439998 77.656 81.548 87.764 91.264 95.156 100.602 104.102 111.102 115.764 122.764 129.764 134.42601 140.64202 151.53401 162.42601 168.64202 175.64202 179.14202 183.03401 190.03401 193.53401 200.53401 207.53401 211.42601 217.64202 221.14202 227.35802 234.35802 241.35802 246.02002 252.23603 257.68205 263.12806 266.62806 272.07408 275.96607 282.18208 286.84407 290.73606 298.63206 305.63206 312.63206 319.63206 326.63206">&#x2022;Byte 0 data is programmed to byte address start+0b11.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 124 511.19996)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.11719" x="15.3 22.632 29.304 36.636 39.972 46.644 49.980005 56.652006 63.324007 67.32001 73.992008 80.664 93 101.004 105.672 113.004 120.336 125.004 131.676 142.344 145.68 153.012 160.344 167.676 175.008 184.344 191.676 196.344 203.676 207.012 215.676 223.008 233.676 244.344 251.01599 258.348 265.68 269.016 277.02 281.688 286.356 293.688 298.356 301.692 310.356 317.02799 324.36 331.692 335.02799 338.36399 345.69599">Table 29-47.Program Longword Command Error Handling</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 533.19998)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="1.998 8.001 11.502001 15.003001 20.502 24.003 26.505002 33.003004 38.502004 44.001005 49.500005 52.002004 54.999006 57.501005 63.000005">Error Condition</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 358.9 533.19998)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="81.045 87.048 90.548999 94.049999 99.548999 103.049999 105.551998 112.049999 114.551998">Error Bit</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 549.19998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 11.502001 18.999 26.496003 31.500004 36.504007 41.508008 44.010007 49.014009 54.01801 56.520009 59.022008 64.02601 68.52601 73.53001 75.52801 77.52601 82.53001 87.534008 89.532009 94.536 97.038 99.036 104.04 106.542 111.042 116.046 119.043 122.04 127.044 132.048 134.55 137.052 144.549 149.553 154.55699 159.56099 162.06299 166.56299 171.56699 176.06699 181.07099 184.06798 186.06598 188.56798">Command not available in current mode/security</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 358.65 549.19998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="62.80199 68.30099 74.303989 79.802989 85.805988 91.304988 93.806987 99.80998 106.30798 112.805988 118.80898 125.306987 131.80498">FSTAT[ACCERR]</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 564.69998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 13.509001 15.507001 20.511002 25.011002 30.015004 32.013006 34.011007 39.015008 41.517007 44.019006 46.017007 51.021009 55.521009 60.52501 63.027009 68.031009 73.035 78.039 81.036 86.04 90.54 95.04 97.542 99.54 104.04 106.542 111.042 116.046 121.049999 126.05399 128.05199 130.04999 135.05399">An invalid flash address is supplied</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 358.65 564.69998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="62.80199 68.30099 74.303989 79.802989 85.805988 91.304988 93.806987 99.80998 106.30798 112.805988 118.80898 125.306987 131.80498">FSTAT[ACCERR]</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 580.19998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 7.497 12.501001 17.001002 22.005002 24.507002 29.511002 34.515005 39.519006 42.516008 47.520009 52.020009 56.520009 59.022008 61.020009 65.520008 68.022 73.026 78.03 80.532 83.034 85.032 90.035999 95.03999 100.04399 106.54199 111.54599 114.54299 119.54699 122.04899 127.052989 129.05098 131.04898 136.05298 141.05698 146.06098">Flash address is not longword aligned</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 358.65 580.19998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="62.80199 68.30099 74.303989 79.802989 85.805988 91.304988 93.806987 99.80998 106.30798 112.805988 118.80898 125.306987 131.80498">FSTAT[ACCERR]</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.25 595.69998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 7.497 12.501001 17.001002 22.005002 24.507002 29.511002 34.515005 39.519006 42.516008 47.520009 52.020009 56.520009 59.022008 64.02601 69.03001 71.02801 76.032009 78.534008 83.034008 85.536 88.038 93.042 95.544 100.548 103.049999 108.05399 111.050998 116.05499 118.55699 123.56099 128.06099 130.56299 135.56699 140.57099 143.07299 148.07698 151.07398 156.07798">Flash address points to a protected area</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 358.65 595.69998)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="65.78999 71.288997 77.29199 82.79099 88.79399 94.29299 96.79499 102.29399 108.29699 114.29999 116.80199 123.803989 128.80799">FSTAT[FPVIOL]</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 17.99997)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01034" x="329.97599 336.47398 341.97297 346.97697 352.47596 355.47297 360.47697 363.97798 366.47999 371.48399 376.48799 378.99 384.48899 386.991 391.995 396.999 402.498 405 412.497 417.501 425.502 431.001 434.502 439.506 442.00804 449.50505 455.00404 460.50303 466.002 468.50404 473.50804 476.01005 479.00706 484.50605 490.00505 495.50404 501.00303">Chapter 29 Flash Memory Module (FTFL)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.9386)" 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 54 751.7559)" 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 1 220.32 751.7559)" 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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