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Place oats in blender and blend until finely ground. In a large bowl, mix oats, all-purpose and whole wheat flour, brown sugar, baking powder, pumpkin pie spice, baking soda and salt, breaking up any lumps of brown sugar.
In a medium bowl, stir together soy milk, oil and vanilla until smooth. Add to dry ingredients and stir just until blended.
Spray waffle iron with nonstick cooking spray and preheat. Spoon batter into waffle iron and cook according to manufacturer's directions until browned and crisp. When waffle is done, remove and serve with maple syrup, as desired.
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