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Merge master to Futurev5

Michal Mazurek requested to merge mimazure-merge-v56r5-to-Futurev5 into Futurev5

@gcorti This is the solution I found to keep Futurev5 up-to-date with master. Unfortunately, the changes date back to v56r0, and a lot of new features from master need manual porting to Sim11 or Gaussino at some later point in the future... :( Commits in this MR must not be squashed.

Edited by Michal Mazurek

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