
The operating system on iOS devices can be updated through iTunes, or, on iOS 5 or later, using firmware-over-the-air (FOTA). A major version of iOS tends to be released every time a new type of iPhone is launched, (about once a year) and is normally free, although iPod Touch users were formerly required to pay for the update. Apple upgrades its products' hardware periodically (approximately yearly). There have been six generations of iPhone (original iPhone, iPhone 3G, iPhone 3GS, iPhone 4, iPhone 4S and iPhone 5), five of iPod Touch (1st to 5th generations), and four of iPad (iPad (1st generation), iPad 2, iPad (3rd generation) and iPad (4th generation)).
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