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IC-TW11 10-bit ultra low power magnetic absolute rotary encoder rev b1, page 1/ 25 features 10-bit angle resolution split power supplies for 1.8 v i/o applications sampling initiated via spi command or dedicated pin maximum sampling frequency of up to 20 khz 21 a typical supply current at 10 hz sampling frequency low power mode reduces current to 3 a at 10 hz automatic power-down to 100 na between samples standard 4-wire spi communication automatic hall array gain control (agc) digital flter to reduce measurement noise operational temperature range of -40 to +125 c space-saving, rohs compliant 4x4 mm qfn16 package applications battery-powered equipment digital potentiometers front panel controls servo or stepper motor control assembly robots and autonomous vehicles offce equipment and household appliances packages qfn16 4 mm x 4 mm x 0.9 mm rohs compliant block diagram copyright ? 2014, 2017 ic-haus http://www.ichaus.com p r e l i m i n a r y p r e l i m i n a r y IC-TW11 hall-sensors timing and power control sample irq_in irq_out timing spi xss sclk si so v_core v_io gnd xrst angle calculation spi communication configuration memory power reset
IC-TW11 10-bit ultra low power magnetic absolute rotary encoder rev b1, page 2/ 25 description the IC-TW11 is a single-chip magnetic rotary encoder for low voltage (1.8-3.3 v) and low-power end-of-shaft applications. it includes three hall elements, auto- matic power management features, and offers 10-bit resolution in a space-saving 4x4 mm qfn package with 16 pins. built-in automatic gain control (agc) assures optimum analog-to-digital conversion under all conditions with no setup. a noise flter improves measurement stability, and can be disabled to reduce power consumption. the IC-TW11 supports a maximum conversion rate of up to 4 khz (4 000 samples per second) with power consumption proportional to the conversion rate. low power mode reduces the supply current by a factor of 7 while increasing the maximum sampling rate to up to 20 khz. sampling is initiated over the spi interface or via a dedicated pin for application versatility. communication and control of the IC-TW11 is via a 4-wire spi interface and multiple devices can be chained together for effcient usage. absolute posi- tion angle, angle-equivalent sine and cosine values, and the three raw hall element voltages can all be read over the spi interface allowing both simple and sophisticated applications to be implemented easily. p r e l i m i n a r y p r e l i m i n a r y
IC-TW11 10-bit ultra low power magnetic absolute rotary encoder rev b1, page 3/ 25 contents packaging information 4 pin configuration qfn16-4x4 (top view) . . . . . . . . . . . . . . . . . 4 pin functions . . . . . . . . . . . . . . . 4 package dimensions qfn16 4x4 . . . . 5 absolute maximum ratings 6 thermal data 6 electrical characteristics 7 operating requirements 8 spi interface . . . . . . . . . . . . . . . . . . 8 functional block diagram 9 hall array . . . . . . . . . . . . . . . . . . . . 9 programmable gain amplifers . . . . . . . . 9 filters . . . . . . . . . . . . . . . . . . . . . . 9 analog-to-digital converters (adcs) . . . . . 9 3?/2? transform . . . . . . . . . . . . . . . . 9 arc-tangent . . . . . . . . . . . . . . . . . . . 9 spi port . . . . . . . . . . . . . . . . . . . . . 9 automatic gain control . . . . . . . . . . . . 9 sample timing . . . . . . . . . . . . . . . . . 9 hall sensors 10 electrical connections 11 spi communication 12 spi command and response packet format 12 command packet format . . . . . . . . . . . 12 response packet format . . . . . . . . . . . . 12 register map 13 angle register . . . . . . . . . . . . . . . . 14 sin register . . . . . . . . . . . . . . . . . . 14 cos register . . . . . . . . . . . . . . . . . . 14 hall registers . . . . . . . . . . . . . . . . . 15 device register . . . . . . . . . . . . . . . . 15 config register . . . . . . . . . . . . . . . 15 status register . . . . . . . . . . . . . . . . 16 gain register . . . . . . . . . . . . . . . . . 16 reading registers 17 writing registers 18 startup (default configuration) 19 conversion warnings 19 using interrupts 20 using the sample input 20 using low power mode 21 calculating current consumption 21 determining the magnetic airgap 21 bussing multiple ics 22 chaining multiple ics 23 design review: function notes 24 revision history 24 p r e l i m i n a r y p r e l i m i n a r y
IC-TW11 10-bit ultra low power magnetic absolute rotary encoder rev b1, page 4/ 25 packaging information pin configuration qfn16-4x4 (top view) pin functions no. name function 12 v_io +1.8 v to +3.3 v io power supply 15 v_core +3.3 v main power supply 16 gnd ground ep 1) exposed pad 1) the backside paddle may have a single link to gnd. a current fow across the paddle is not permissible. pin functions no. name i/o function description 1 tp1 analog i/o test pin do not use. connect to gnd for normal operation. 2 tm1 3 tp0 4 tm0 5 si digital input spi slave input connect to spi master output (mosi). 6 testen digital input test enable do not use. connect to gnd for normal operation. 7 so digital output spi slave output connect to spi master input (miso). 8 irq_out digital output interrupt request output connect to host input or irq_in of another IC-TW11. 9 irq_in digital input interrupt request input used only in multiple IC-TW11 device chains. connect to gnd for single device operation. 10 sclk digital input with hysteresis spi clock input connect to spi master clock output. 11 xss digital input (active low) spi slave select input connect to spi master slave (chip) select output. 12 v_io supply io power supply +1.8 v to +3.3 v power supply input. determines the operating voltage of all IC-TW11 digital i/o. 13 sample digital input external sample input initiates sampling and conversion of magnet position. connect to gnd if using spi sampling. 14 xrst digital input (active low) reset input connect to host output or other reset source. IC-TW11 is in low-power sleep mode if xrst is low. 15 v_core supply main power supply +3.3 v power supply input. connect to 3.3 v power supply. 16 gnd ground power supply common circuit common for all i/o. p r e l i m i n a r y p r e l i m i n a r y 1 2 3 4 5 6 7 8 9 10 1 1 12 13 14 15 16 tw1 1 tp1 tm1 tp0 tm0 v_io xss sclk irq_in gnd v_core xrst sample si testen so irq_out
IC-TW11 10-bit ultra low power magnetic absolute rotary encoder rev b1, page 5/ 25 package dimensions qfn16 4x4 p r e l i m i n a r y p r e l i m i n a r y 4 4 2 120 (3x) top 2.70 2.70 0.65 0.27 0.40 bottom 0.90 0.10 0.42 side r 0.175 2.70 2.70 3.90 3.90 0.65 0.35 0.70 recommended pcb-footprint dra_qfn16-4x4-2_tw11_c2_pack_1, 15:1 all dimensions given in mm. tolerances of form and position according to jedec mo-220. positional tolerance of sensor pattern: 0.1mm / 1 (with respect to backside pad).
IC-TW11 10-bit ultra low power magnetic absolute rotary encoder rev b1, page 6/ 25 absolute maximum ratings these ratings do not imply operating conditions; functional operation is not guaranteed. beyond these values damage may occur. item symbol parameter conditions unit no. min. max. g001 v() voltage at v_core -0.3 4 v g002 v() voltage at v_io -0.3 4 v g003 v() voltage at any pin -0.3 v_io + 0.3 v g004 i() input current at any pin (except v_core or v_io) -10 10 ma g005 vd() esd susceptibility at all pins hbm, 100 pf discharged through 1.5 k ? 2 kv g006 tj junction temperature -40 150 c g007 ts storage temperature -40 150 c thermal data item symbol parameter conditions unit no. min. typ. max. t01 ta operating ambient temperature range -40 125 c t02 rthja thermal resistance chip to ambient qfn16 surface mounted to pcb according to jedec 51 40 k/w all voltages are referenced to ground unless otherwise stated. all currents fowing into the device pins are positive; all currents fowing out of the device pins are negative. p r e l i m i n a r y p r e l i m i n a r y
IC-TW11 10-bit ultra low power magnetic absolute rotary encoder rev b1, page 7/ 25 electrical characteristics operating conditions: v_core = 3.0 to 3.6 v, v_io = 1.7 to v_core, tj = -40 to +125 c. item symbol parameter conditions unit no. min. typ. max. total device 001 v_core main supply voltage 3.0 3.3 3.6 v 002 v_io i/o supply voltage 1.7 1.8 v_core v 003 i(v_core) main supply current xrst high and conversion in progress (see elec. char. 105), not including i/o current 10 ma 004 i(v_core) main supply current, normal mode config.lpwr = 0, not including i/o current; fs = 10 hz 21 a fs = 1 khz 2100 a fs = 4 khz 8200 a 005 i(v_core) main supply current, low power mode config.lpwr = 1, not including i/o current; fs = 10 hz 2.6 a fs = 1 khz 260 a fs = 20 khz 5200 a 006 i(v_core) main supply current, sleep mode xrst low or no conversion in progress, not including i/o current; tj = 25 c 100 na tj = 125 c 1000 na hall sensors and angle calculation 101 hext permissible magnetic field strength at chip surface 25 150 ka/m 102 dsens diameter of hall sensor circle 2 mm 103 res angle resolution 10 bits 104 aaabs absolute angle accuracy bomatec bmn-35h diametric ndfeb magnet of ?4x4mm, centered on package at 0.5 mm airgap, quasi static 1 105 tconv conversion time normal mode: config.lpwr = 0 225 300 s low power mode: config.lpwr = 1 40 54 s digital inputs (si, irq_in, sclk, xss, sample, xrst) 301 vt()hi threshold voltage hi v(v_io) = 3.0...3.6 v 2.48 v v(v_io) = 1.7...2.0 v 1.44 v 302 vt()lo threshold voltage lo v(v_io) = 3.0...3.6 v 0.82 v v(v_io) = 1.7...2.0 v 0.36 v 303 fn(sclk) permissible clock frequency at sclk pin 16 mhz 304 tw (sample) permissible pulse width at sample pin 10 ns digital outputs (so, irq_out) 401 vs()hi saturation voltage hi vs()hi = v(v_io) ? v(); v(v_io) > 3.0 v, i() = -4 ma 0.8 v v(v_io) > 1.7 v, i() = -2 ma 0.7 v 402 vs()lo saturation voltage lo v(v_io) > 3.0 v, i() = 4 ma 0.4 v v(v_io) > 1.7 v, i() = 2 ma 0.4 v reset and start-up 501 tstart startup time device operational after xrst lo hi 1 s p r e l i m i n a r y p r e l i m i n a r y
IC-TW11 10-bit ultra low power magnetic absolute rotary encoder rev b1, page 8/ 25 operating requirements: spi interface operating conditions: v_core = 3.0 to 3.6 v, v_io = 1.7 to v_core, tj = -40 to +125 c. item symbol parameter conditions unit no. min. max. spi interface timing i001 t c1 permissible clock cycle time see elec. char. no.: 303 1/f(sclk) i002 t d1 clock signal lo level duration 15 ns i003 t d2 clock signal hi level duration 15 ns i004 t s1 setup time: xss lo before sclk lo hi 50 ns i005 t h1 hold time: xss lo after sclk hi lo 50 ns i006 t w1 wait time: between xss lo hi and xss hi lo sup = 1 (no measurement) 5 s sup = 0 (refer to table 22 ) 300 s i007 t w2 wait time: between irq_out notifcation and xss hi lo 1 s i008 t s2 setup time: si stable before sclk lo hi 5 ns i009 t h2 hold time: si stable after sclk lo hi 10 ns i010 t p1 propagation delay: so stable after xss hi lo 25 ns i011 t p2 propagation delay: so high impedance after xss lo hi 25 ns i012 t p3 propagation delay: so stable after sclk hi lo 25 ns figure 1: spi timing p r e l i m i n a r y p r e l i m i n a r y x s s s c l k s i s o t w 1 t d 1 t d 2 t s 1 t h 2 t s 2 t p 3 t h 1 t p 2 h i - z t p 1 t c 1
IC-TW11 10-bit ultra low power magnetic absolute rotary encoder rev b1, page 9/ 25 functional block diagram figure 2: block diagram hall array three hall effect sensors are integrated into the IC-TW11 to directly sense the angular position of a dipole permanent magnet positioned over the chip. the three sensors are equally spaced (120 apart) on a ? 2 mm circle centered on the 4x4 mm package. programmable gain amplifers three programmable gain amplifers condition and am- plify the signals from the three hall sensors. 18 gain values in steps of approximately 1.5 db are available to properly match the sensor voltages to the adcs for highest conversion accuracy. filters the three conditioned hall signals are each fltered by frst-order 10 khz flters to reduce sampling noise and improve measurement stability and accuracy. these flters can be disabled to lower power consumption and to allow faster sampling rates. analog-to-digital converters (adcs) three adcs convert the conditioned and fltered hall signals into 10-bit digital values. the remainder of the signal path is completely digital. 3?/2? transform the three-phase hall signals are next converted to equivalent sine and cosine values using a clarke trans- form algorithm. arc-tangent finally, a cordic arc-tangent algorithm calculates the angular position of the permanent magnet based on the converted sin and cos values. spi port the IC-TW11 uses a standard spi (serial peripheral in- terface) slave port for all communication. this includes sampling and reading the angular position as well as reading and writing internal registers. automatic gain control by default, the IC-TW11 automatically sets and main- tains the optimum gain value for all three hall channels to ensure accurate conversion. the agc can be dis- abled and the gain set manually via spi commands if required for special applications. sample timing by default, sampling is initiated by a rising edge on the xss pin or a falling edge on the sample pin. sampling powers up the hall array and analog circuitry, measures p r e l i m i n a r y p r e l i m i n a r y h a l l a r r a y a r c t a n g e n t a d c p g a p g a a d c a m p l i f i e r s f i l t e r s 3 ? / 2 ? t r a n s f o r m a n a l o g - t o - d i g i t a l c o n v e r t e r s s a m p l e t i m i n g s p i p o r t a u t o m a t i c g a i n c o n t r o l ( a g c ) x s s s c l k s i s o s a m p l e i r q _ i n a n g l e a d c p g a s i n c o s 1 2 0 0 2 4 0 i r q _ o u t
IC-TW11 10-bit ultra low power magnetic absolute rotary encoder rev b1, page 10/ 25 the three hall voltages, calculates the angle, adjusts the gain and offset values (for the next measurement) as required, signals that the conversion is complete by asserting an interrupt request on the irq_out pin, and then powers down the hall array and analog circuitry. by default, the interrupt input (irq_in) and output (irq_out) pins are active-low and the interrupt logic is and . this means that the irq_in pin must be active (low) and the sampling complete to assert the interrupt output (irq_out low). the sense of the interrupt logic can be changed to or via spi commands. hall sensors IC-TW11 has three hall sensors which convert the mag- netic feld into measurable hall voltages. the arrange- ment of the array has been specifcally selected to allow a very tolerant assembly of IC-TW11 to the magnet axis. solely the magnetic felds z-component is evaluated at which the feld lines pass through the sensors. a diametrically magnetized, cylindrical permanent mag- net made of neodymium iron boron (ndfeb) or samar- ium cobalt (smco) generates optimum sensor signals. the magnet cylinders diameter should be in the range of 3 mm to 6 mm. the three hall sensors are placed in the center of the qfn16 package on a circle of 2 mm in diameter and have a 120 angle distance to one another (figure 3 ). the diametric magnet is to be placed centrically above the device package. figure 3: position of the hall sensors in the qfn package (top view); counting direction vs. magnet rotation p r e l i m i n a r y p r e l i m i n a r y
IC-TW11 10-bit ultra low power magnetic absolute rotary encoder rev b1, page 11/ 25 electrical connections the basic electrical connections for the IC-TW11 are shown in figure 4 . only a host microprocessor or micro- controller and a few passive components are required for operation. figure 4: basic electrical connections the IC-TW11 has two power supply inputs. v_core (pin 15) is the main 3.3v power supply input and it must be well bypassed to provide a low impedance power source. this is important because the current consump- tion of the IC-TW11 is approximately 10 ma while active and current is drawn in short pulses. depending on the quality of the v_core supply it may be necessary to use additional capacitors and/or supply fltering to achieve the required stability. v_io (pin 12) is a separate power supply input that sets the operating level of the i/o signals. v_io can range from 1.8 v up to v_core and it should also be well bypassed. typically, a 1.8 v supply would be used to power the host microprocessor and the IC-TW11 v_io input as shown in figure 4 . the IC-TW11 reset input xrst (pin 14) is typically driven from the host p as shown. alternatively, a suffciently slow rc network can be connected to xrst for use as a reset source. r = 47 k ? and c = 100 nf pro- vide about a 5 millisecond time constant which should be adequate for most applications. the four spi lines should be connected to their corre- sponding pins on the host p as shown. to use the IC-TW11 in its default condition (i.e. without any confguration), it is necessary to connect irq_in (pin 9) to ground as shown to allow proper interrupt gen- eration at irq_out. if external sampling is not used, sample (pin 13) should also be tied to ground as shown to avoid spurious samples. the fve reserved pins (1-4 and 6) must also be tied to ground for proper operation (not shown above). p r e l i m i n a r y p r e l i m i n a r y d d
IC-TW11 10-bit ultra low power magnetic absolute rotary encoder rev b1, page 12/ 25 spi communication the IC-TW11 spi port is a 4-wire slave interface which operates in cpol = 0 and cpha = 0 mode only (spi mode 0). this means that the base (resting) value of sclk (pin 10) is low, si (pin 5) is sampled on the rising edge of sclk, and so (pin 7) is changed on the falling edge of sclk. the active-low slave select input, xss (pin 11), is used by the host p to enable the spi port to initiate communication. data is transferred with msb frst. spi communication uses an overlapped packet struc- ture where the response to a command is returned while the next command is being sent. figure 5 shows this for a single-device application (where the host controls a single IC-TW11 slave). see bussing multiple ics on page 22 and chaining multiple ics on page 23 for multiple device applications. figure 5: spi overlapped packet structure spi command and response packets are always 16 bits long. the host initiates communication with the IC-TW11 by driving slave select (xss) low and then clocking a 16-bit command (1) to the slave input, si. the serial clock (sclk) signal is not shown in figure 5 . the host drives xss high at the end of the command packet and the IC-TW11 executes the command. after waiting for the command to be executed (or for the IC-TW11 to assert irq_out), the host again drives xss low and sends the next command packet (2) to si while at the same time reading the 16-bit response (1) to the initial command (1) on the slave output, so. the IC-TW11 always returns a response packet while reading a command packet. the response packet (0) returned while writing the frst command packet (1) is not defned. likewise, the response packet returned after a register write command is not defned. spi command and response packet format command packet format command packets sent to the IC-TW11 by the host are formatted as shown in table 6 . command packet bit name description 15 sup suppress new sample 14 wr write data to address 13:8 address 6-bit register address 7:0 data 8-bit register data table 6: command packet format a read command is one in which the write bit, wr, (bit 14) is 0. the register at the specifed address (bits 13-8) is read and its contents returned in the next response packet. data (bits 7-0) are ignored. a write command is one in which wr (bit 14) is 1. the data (bits 7-0) is written to the register at the specifed address (bits 13-8). the suppress bit, sup (bit 15), when set (1) suppresses the next sample. this is useful when using external sampling or when reading sine and cosine data to en- sure simultaneously-sampled values. normally, sup = 0. response packet format the format of response packets depends on the spe- cifc register that is read (see table 8 on the following page). the response packet returned following a write command is undefned. p r e l i m i n a r y p r e l i m i n a r y r e s p o n s e r e s p o n s e r e s p o n s e r e s p o n s e s i s o x s s 1 6 b i t s 1 6 b i t s 1 6 b i t s 1 6 b i t s 1 6 b i t s c o m m a n d c o m m a n d c o m m a n d c o m m a n d 1 1 2 2 3 0 4 4 5 c o m m a n d 3
IC-TW11 10-bit ultra low power magnetic absolute rotary encoder rev b1, page 13/ 25 register map the IC-TW11 contains 10 user-accessible registers, all of which can be read and two of which can be written. each of these registers is explained in detail in the following sections. address name description access 0x00 angle sampled angle read 0x01 sin sine of angle read 0x02 cos cosine of angle read 0x03 hall0 0 hall voltage read 0x04 hall120 120 hall voltage read 0x05 hall240 240 hall voltage read 0x06-0x1f - reserved none 0x20 device device information read 0x21 config confguration bits r/w 0x22 status conversion status read 0x23 gain hall array gain r/w 0x24-0x3f - reserved none table 7: register map overview addr 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 angle 0x00 busy warn gain (4:1) angle sin 0x01 busy warn reserved (0) sine cos 0x02 busy warn reserved (0) cosine hall0, hall120, hall240 0x03 busy warn reserved (0) hall0 0x04 busy warn reserved (0) hall120 0x05 busy warn reserved (0) hall240 device 0x20 not used rev id config 0x21 not used 0 spol smod 0 imod noagc 0 lpwr status 0x22 not used reserved (0) ufo ofo busy gain 0x23 not used reserved (0) gain (4:0) command packet format - sup wr address data table 8: register layout p r e l i m i n a r y p r e l i m i n a r y
IC-TW11 10-bit ultra low power magnetic absolute rotary encoder rev b1, page 14/ 25 angle register the angle register is a 16-bit read-only register that contains the most recently converted angular position of the magnet. angle register addr. 0x00 bit name description 15 busy busy; angle is undefned 14 warn conversion warning 13:10 gain 4 msbs of hall array gain 9:0 angle 10-bit angle table 9: angle register the angle is returned as a positive integer in the range of 0-1023 (0x000-0x3ff). the magnet angle in degrees is calculated as angle [ ? ] = sampled angle 360 1024 angle.gain (bits 13-10) is the 4 most signifcant bits of the current hall array gain and is returned as a positive integer in the range 0-8. hall array gain is proportional to the airgap between the magnet and the IC-TW11 (a larger airgap requires more gain) and thus gain can be used in pushbutton applications to detect if the knob is pressed or released. the full 5-bit gain value is avail- able in the gain register (0x23). the busy bit, busy (bit 15) indicates whether or not a conversion is in process. if angle.busy = 0, the conversion is complete and angle.angle is valid. if angle.busy = 1, the conversion is in process and an- gle.angle is undefned. the conversion warning bit, warn (bit 14) shows whether an adc over- or underfow occurred during the conversion. if angle.warn = 0, no over- or under- fow occurred. if angle.warn = 1, one of the following occurred: 1. adc overfow. the measured hall signal ampli- tudes were too high. the agc lowers the hall sensor gain for the next conversion. an adc overfow status bit is also available. see status register on page 16 for more information. 2. adc underfow. the measured hall signal am- plitudes were too low. the agc raises the hall sensor gain for the next conversion. an adc un- derfow status bit is also available. see status register on page 16 for more information. depending on the application requirements, if an- gle.warn = 1, the conversion may need to be per- formed again. typically, occasional or random con- version warnings may be safely ignored; consistent warnings may indicate a misaligned magnet or loss of magnet (airgap too large). sin register the sin register is a 16-bit read-only register that con- tains the sine component used to calculate the most recently converted angular position of the magnet. when reading the sin register, it is recommended to suppress the next sample by setting sup = 1 in the com- mand packet. this ensures that the sine value read is consistent with the angle calculated from the previous (most recent) sample. sin register addr. 0x01 bit name description 15 busy busy; sine is undefned 14 warn conversion warning 13:12 - reserved (0) 11:0 sine 12-bit sine of angle table 10: sin register sin.sine is returned as a signed 2s complement value in the range 1533 ( 0x5fd). the magnitude of sin.sine depends on the strength of the magnetic feld and the gain in use when the sample was taken. the busy bit, busy (bit 15) indicates whether or not a conversion is in process. if sin.busy = 0, the conver- sion is complete and sin.sine is valid. if sin.busy = 1, the conversion is in process and sin.sine is undefned. the conversion warning bit, warn (bit 14) shows whether an adc over- or underfow occurred during the conversion. if sin.warn = 0, no over-or underfow occurred. if sin.warn = 1, an adc over- or underfow occurred. see angle register for more information. cos register the cos register is a 16-bit read-only register that con- tains the cosine component used to calculate the most recently converted angular position of the magnet. when reading the cos register, it is recommended to suppress the next sample by setting sup = 1 in the command packet. this ensures that the cosine value read is consistent with the angle calculated from the previous (most recent) sample. p r e l i m i n a r y p r e l i m i n a r y
IC-TW11 10-bit ultra low power magnetic absolute rotary encoder rev b1, page 15/ 25 cos register addr. 0x02 bit name description 15 busy busy; cosine is undefned 14 warn conversion warning 13:12 - reserved (0) 11:0 cosine 12-bit cosine of angle table 11: cos register cos.cosine is returned as a signed 2s complement value in the range 1533 ( 0x5fd). the magnitude of cos.cosine depends on the strength of the magnetic feld and the gain in use when the sample was taken. the busy bit, busy (bit 15) indicates whether or not a conversion is in process. if cos.busy = 0, the conver- sion is complete and cos.cosine is valid. if cos.busy = 1, the conversion is in process and cos.cosine is un- defned. the conversion warning bit, warn (bit 14) shows whether an adc over- or underfow occurred during the conversion. if cos.warn = 0, no over-or underfow occurred. if cos.warn = 1, an adc over- or underfow occurred. see angle register for more information. hall registers the three hall registers (hall0, hall120, and hall240) are 16-bit read-only registers that contain the sampled signal amplitude of the three hall sensors used to calculate the most recently converted angular position of the magnet. when reading the hall registers, it is recommended to suppress the next sample by setting sup = 1 in the com- mand packet. this ensures that the values read are consistent with the angle calculated from the previous (most recent) sample. hall registers hall0 addr. 0x03 hall120 addr. 0x04 hall240 addr. 0x05 bit name description 15 busy busy; hall data undefned 14 warn conversion warning 13:10 - reserved (0) 9:0 hall 10-bit hall signal amplitude table 12: hall registers the hall signal amplitudes are returned as signed 2s complement values in the range of 511 ( 0x1ff). the actual magnitude of the hall signals depends on the strength of the magnetic feld and the gain in use when the sensors were sampled. the busy bit, busy (bit 15) indicates whether or not a conversion is in process. if busy = 0, the conversion is complete and the hall data is valid. if busy = 1, the conversion is in process and the hall data is undefned. the conversion warning bit, warn (bit 14) shows whether an adc over- or underfow occurred during the conversion. if warn = 0, no over-or underfow oc- curred. if warn = 1, an adc over- or underfow occurred. see angle register for more information. device register the device register is an 8-bit read-only register that contains identifying information about the device. the device register value is returned in the lower byte of the response packet. device register addr. 0x20 bit name description 7:4 rev chip revision current: rev = 6 for IC-TW11 z 3:0 id chip identifcation (11, 0xb) table 13: device register config register the config register is an 8-bit read/write register that can be used to confgure the IC-TW11. when writing the config register, it is recommended to suppress the next sample by setting sup = 1 in the command packet to avoid sampling with an undefned confguration. when reading the config register, the value is returned in the lower byte of the response packet. config register addr. 0x21 bit name description 7 - reserved (must be 0) 6 spol sample input polarity 5 smod sampling mode 4 - reserved (must be 0) 3 imod interrupt request (irq) mode 2 noagc agc disable 1 - reserved (must be 0) 0 lpwr low power mode table 14: config register the default value of the config register at power-up is 0x00. the sample input polarity bit, spol (bit 6) determines which edge of the sample input is used to sample the hall array and do a new conversion. p r e l i m i n a r y p r e l i m i n a r y
IC-TW11 10-bit ultra low power magnetic absolute rotary encoder rev b1, page 16/ 25 config.spol addr. 0x20; bit 6 0 sample on falling edge (default) 1 sample on rising edge table 15: sample input polarity the sampling mode bit, smod (bit 5) is used to disable sampling on the rising edge of xss at the end of an spi command packet. config.smod addr. 0x21; bit 5 0 spi sampling enabled (default) 1 disable spi sampling table 16: sampling mode config.smod should be set when using the sample pin instead of spi sampling. see using the sample input on page 20 for more information. the irq mode bit, imod (bit 3) determines the logic used to activate irq_out. config.imod addr. 0x21; bit 3 0 irq_out = irq_in and conversion complete (default) 1 irq_out = irq_in or conversion complete table 17: irq mode see using interrupts on page 20 for more infor- mation on using config.imod. the agc disable bit, noagc (bit 2) is used to disable au- tomatic control of the hall sensor gain. the agc should only be disabled if an alternate gain control system is implemented in the host p. config.noagc addr. 0x21; bit 2 0 automatic gain control active (default) 1 disable automatic gain control table 18: agc disable if config.noagc = 1, proper hall array gain must be set by writing the appropriate value to the gain regis- ter (0x23). the low power mode bit, lpwr (bit 0) is used to reduce the power consumption of the chip by disabling the hall sensor flters and shortening the conversion time. config.lpwr addr. 0x21; bit 0 0 normal power operating mode (default) 1 enable low power mode table 19: low power mode see using low power mode on page 21 for more information on using config.lpwr and low power mode. status register the status register is an 8-bit read-only register that shows the status of the most recent sample. when reading the status register, it is recommended to suppress the next sample by setting sup = 1 in the command packet. this ensures that the status read is consistent with the previous (most recent) sample. the status register value is returned in the lower byte of the response packet. status register addr. 0x22 bit name description 7:3 - not used (0) 2 ufo adc underfow 1 ofo adc overfow 0 busy busy table 20: status register the adc underfow bit, ufo (bit 2) indicates that the hall signal levels for the most recent sample were too low. specifcally, status.ufo = 1 if the magnitude of all three hall signals was less than 50% of the adc full-scale value (256 = 0x100). the adc overfow bit, ofo (bit 1) indicates that the hall signal levels for the most recent sample were too high. specifcally, status.ofo = 1 if the magnitude of any hall signal was more than 99% of the adc full-scale value (506 = 0x1fa). the busy bit, busy (bit 0) indicates whether or not a conversion is in process. if status.busy = 0, the con- version is complete and status.ufo and status.ofo are valid. if status.busy = 1, the conversion is in pro- cess and status.ufo and status.ofo are undefned. gain register the gain register is an 8-bit read/write register that determines the hall array gain. when reading the gain register, it is recommended to suppress the next sample by setting sup = 1 in the command packet. this ensures that the gain value read is the actual gain that was used with the previous (most p r e l i m i n a r y p r e l i m i n a r y
IC-TW11 10-bit ultra low power magnetic absolute rotary encoder rev b1, page 17/ 25 recent) sample. the gain register value is returned in the lower byte of the response packet. gain register addr. 0x23 bit name description 7:5 - not used (0) 4:0 gain hall array gain table 21: gain register the hall array gain is returned as a positive integer in the range 0-17 (0x00-0x11). gain.gain = 0 is the lowest gain and gain.gain = 17 is the highest gain. each lsb change in gain.gain represents a change of approximately 1.5 db in the hall array gain. normally (i.e. in default mode; config.noagc = 0), the gain register is updated automatically by the agc and it is not necessary to access it. the gain register should only be written if the agc is disabled (con- fig.noagc = 1). when writing to the gain register, it is recommended to suppress the next sample by setting sup = 1 in the command packet to avoid sampling with improper hall array gain. reading registers a single register read requires two spi transactions. the frst transaction sends the read command packet containing the register address, and the second trans- action reads the response packet containing the re- quested data. if the next command is sent while read- ing the response packet from the frst command, only one additional spi transaction is required for the next register read. for example, the two spi transactions to read the an- gle register are shown below. figure 6: reading the angle register the host initiates reading the angle register by ac- tivating slave select (xss) and sending a command packet with the suppress (sup) and write (wr) bits reset, followed by the angle register address (0x00). the data byte in the command packet is ignored but must be provided to fll out the 16-bit packet. ? after sending the command packet, the host deacti- vates xss to start the sample and conversion process. the host must then wait for the IC-TW11 to sample the hall array and convert the angle before reading the re- sponse packet. the actual wait time, t wait , depends on the confguration and the suppress bit in the command packet, as shown in table 22 . suppress t wait config.lpwr bit (s) typ. max. 0 0 225 s 300 s (default) 1 5 s 1 0 40 s 54 s 1 5 s table 22: wait time for reading registers after waiting the appropriate amount of time, the host again activates xss and reads the response packet while sending the next command packet. note that the wait times shown are valid when reading any register, not just the angle register. in speed criti- cal applications it is recommended to set the suppress ? note that when the ignored data byte is 0x00, the complete read angle register command packet is 16 zeros. thus, in simple applications using the default confguration where it is only necessary to read the angle, si can be permanently tied low, further simplifying the spi interface with the host. p r e l i m i n a r y p r e l i m i n a r y nnn nn n nw. n nnn nnn nnnnnnn nnnn n
IC-TW11 10-bit ultra low power magnetic absolute rotary encoder rev b1, page 18/ 25 bit in the command packet whenever possible to take advantage of the reduced wait time. alternatively, the host can wait for the IC-TW11 to acti- vate its interrupt request output (irq_out) before read- ing the response packet. see using interrupts on page 20 for more information. the sine and cosine of the sampled angle can be read from the sin and cos registers respectively. this is useful, for example, for calculating sin 2 + cos 2 in the host as a more accurate measure of magnetic feld strength or for implementing automatic gain control in the host. reading the sine and cosine values takes three spi transactions. first, the host sends a sin register read command packet with or without the suppress bit set. after waiting the appropriate amount of time, the host reads the sine value from the response packet while simultaneously writing the cos register read command packet with the suppress bit set to ensure simultane- ously-sampled values. after waiting the appropriate amount of time, the host reads the cosine value from the response packet while writing the next command. likewise, the raw sampled hall effect sensor signals can be read from the hall0, hall120, and hall240 registers respectively. this data can be analyzed in the host for quality and integrity to provide general system health status. reading the hall register values takes four spi trans- actions. first, the host sends a hall0 register read command packet with or without the suppress bit set. after waiting the appropriate amount of time, the host reads the 0 hall sensor value from the response packet while simultaneously writing a hall120 register read command packet with the suppress bit set to ensure simultaneously-sampled values. after waiting the ap- propriate amount of time, the host reads the 120 hall sensor value from the response packet while simultane- ously writing a hall240 register read command packet with the suppress bit set to ensure simultaneously-sam- pled values. after waiting the appropriate amount of time, the host reads the 240 hall sensor value from the response packet while writing the next command. the chip identifcation, confguration, status, and hall sensor gain may be read from the device, config, status, and gain registers respectively. reading each of these registers requires two spi transactions, similar to reading the angle register as explained previously. writing registers the chip confguration and the hall array gain of the IC-TW11 can be changed by writing to the config or gain registers respectively. a register write requires a single spi transaction. for example, the spi transaction to write to the con- fig register is shown below. figure 7: writing the config register the host initiates writing to the config register by activating slave select (xss) and sending a command packet with the suppress (sup) and write (wr) bits set, followed by the config register address (0x21) and the required data. the host then deactivates xss and the data is written to the config register. the host should then wait 5 s before sending the next command. note that the response packet returned while sending the next command is undefned and should be ignored by the host. it is only necessary to write to the config register if the default confguration of the IC-TW11 must be changed. the default confguration is: p r e l i m i n a r y p r e l i m i n a r y 111 1 1 1111 11111 1 1 1111111
IC-TW11 10-bit ultra low power magnetic absolute rotary encoder rev b1, page 19/ 25 ? sample input samples on falling edge. ? spi sampling enabled. ? irq_out = irq_in and conversion complete. ? automatic gain control (agc) enabled. ? normal power operating mode. when using the default confguration, it is not neces- sary to write to the gain register since the IC-TW11s agc is enabled. if the agc is disabled by setting con- fig.noagc = 1, proper hall array gain must be set by writing the appropriate value to the gain register. startup (default configuration) at power-up or after the external reset input, xrst, has been deactivated, the IC-TW11 is in its default state with all registers at 0x00. specifcally, the default state is: ? sample input samples on falling edge. ? spi sampling enabled. ? irq_out = irq_in and conversion complete. ? automatic gain control (agc) enabled. ? normal power operating mode. ? lowest hall array gain. at startup with the default confguration, the agc is en- abled and the hall array gain is at its lowest value. the frst sample (initiated by a command packet with sup = 0 or a falling edge on the sample input) uses this default gain. after the conversion, the agc determines whether the hall signal amplitudes were in the proper range and sets the conversion warning bit (warn) of the response packet and the adc overfow (status.ofo) and underfow (status.ufo) bits accordingly. typically, the default gain used for the frst sample and conversion is too low, resulting in a conversion warning (warn = 1) due to adc underfow (status.ufo = 1). in this case, the agc increments the gain register value by 1 to increase the gain for the next sample by ap- proximately 1.5 db. the next sample uses this new gain and the agc again increments (or decrements) the gain register value by 1 depending on the conversion status after the conversion is complete. this process is repeated for all subsequent samples. thus, after startup it can take up to 18 samples for the agc to determine the proper hall array gain. therefore, it is recommended to implement one of the following techniques in the host at startup: 1. take 20 samples and discard the results. 2. sample until a response packet with no conver- sion warning (warn = 0) is returned or until the status register has a value of 0x00. 3. write the known gain value for your application (determined by experimentation) to the gain reg- ister before initiating sampling. conversion warnings when reading the angle, sin, cos, hall0, hall120, or hall240 registers, the status of the most recent conversion is given by the busy (busy) and con- version warning (warn) bits in the response packet. if the busy bit is set, the angle information should be dis- carded and a new sample initiated. depending on the application requirements, if the conversion warning bit is set, the conversion may need to be performed again. typically, occasional or random conversion warnings may be safely ignored; consistent warnings may indi- cate a misaligned magnet or loss of magnet (airgap too large). conditions that set the conversion warning (warn) bit are: 1. adc overfow. the measured hall signal ampli- tudes were too high. the agc lowers the hall sensor gain for the next conversion. an adc overfow status bit is also available. see status register on page 16 for more information. 2. adc underfow. the measured hall signal am- plitudes were too low. the agc raises the hall sensor gain for the next conversion. an adc un- derfow status bit is also available. see status register on page 16 for more information. p r e l i m i n a r y p r e l i m i n a r y
IC-TW11 10-bit ultra low power magnetic absolute rotary encoder rev b1, page 20/ 25 using interrupts the interrupt request output can be used to notify the host p when a sample and conversion is complete by connecting irq_out (pin 8) to a digital input on the host. in this case, after sending the command packet, the host waits for the interrupt request from the IC-TW11 before reading the response packet. this provides faster communication than just waiting for the maximum wait time, t wait . in the default confguration, irq_out = irq_in and conversion complete. therefore, irq_in must be ac- tive (low) in order to generate an interrupt output when the conversion is complete. this is typically accom- plished by connecting irq_in to ground. the interrupt logic can be changed to or by setting the interrupt mode bit in the config register (con- fig.imod = 1). in this case, irq_out = irq_in or conversion complete, which is the required logic for multiple bussed devices (see bussing multiple ics on page 22 ). the complete interrupt operation of the IC-TW11 is sum- marized in the table below. config.imod irq_in irq_out 0 (default) low high low on conversion complete 0 (default) high high 1 low low 1 high high low on conversion complete table 23: interrupt operation in all cases irq_out is deactivated on the falling edge of slave select, xss. using the sample input the sample input (pin 13) allows an external device to initiate sampling and angle conversion in the IC-TW11. in the default confguration, sampling occurs on the falling edge of the sample input. to sample on the rising edge of the sample input, set the sample polar- ity bit (config.spol) by writing 0x40 to the config register (page 15 ). when using the sample input, it is recommended to disable spi sampling completely by setting the sam- ple mode bit (config.smod) by writing 0x20 to the config register (page 15 ). spi sampling can also be disabled by setting the suppress bit (s) in every command packet (page 12 ). it is also recommended to use the interrupt request output (irq_out) to notify the host processor that a new sample is ready when using the sample input. in this case, the host waits for an interrupt request from the IC-TW11 and then sends a read angle register command to fetch the new sample. since in the default confguration sampling occurs on the falling edge of the sample input, connecting the sample input to xss simulates sampling on the falling edge of xss. in this case, disable spi sampling by setting the sample mode bit (config.smod) in the config register (page 15 ). p r e l i m i n a r y p r e l i m i n a r y
IC-TW11 10-bit ultra low power magnetic absolute rotary encoder rev b1, page 21/ 25 using low power mode for extremely low-power applications, low power mode can be enabled by setting the low power mode bit (con- fig.lpwr) in the config register (see page 15 ). low power mode imposes certain performance restrictions, so its use should be carefully considered. low power mode operates by disabling the low-pass flters on the three hall sensors (see page 9 ). without having to wait for the flters to settle, sampling can oc- cur much faster thus using less power. however, the converted angle and other sampled values are much noisier without the flters, limiting useable resolution compared to normal power mode. in low power mode, the maximum sampling rate is in- creased from 4 k samples per second to 20 k samples per second. likewise, typical current consumption is reduced from 2.05 a per sample per second to 260 na per sample per second. calculating current consumption current consumption in the IC-TW11 is directly propor- tional to the sampling frequency, f s . lower sampling frequencies use less current and higher frequencies use more current. in normal power mode (the default confguration) the typical current is calculated as shown below. i [ ma ] = 2.05 f s [ khz ] for example, at a sampling frequency of 1,000 samples per second, f s = 1 khz and i = 2.05 ma. at 10 samples per second, i = 20.5 a. in low power mode the typical current is calculated as shown below. i [ a ] = 260 f s [ khz ] for example, at a sampling frequency of 1,000 samples per second, f s = 1 khz and i = 260 a. at 10 samples per second, i = 2.6 a. determining the magnetic airgap with agc enabled (default confguration), the relative airgap between magnet and IC-TW11 can be deter- mined by reading the hall array gain. this is useful for verifying that the magnet is the right distance from IC-TW11, or to implement a button push/knob turn appli- cation to determine when the button is pushed. the four most signifcant bits of the 5-bit gain value are available in angle register for this purpose. the full 5-bit gain value can be read from the gain register (see page 16 ). because the lsb is missing, the gain value in angle register is half the value in gain register. for example, the typical relationship between hall ar- ray gain and magnetic airgap for the ?4x4 mm magnet used on the IC-TW11_1c demo board is shown in fig- ure 8 . figure 8: typical hall array gain vs. airgap notice that the gain saturates at larger gaps before an adc underfow condition (x) is indicated at a gap of 3.5 mm. p r e l i m i n a r y p r e l i m i n a r y airgap (mm) 0 2 4 6 8 10 12 14 16 18 0,0 0,5 1,0 1,5 2,0 2,5 3,0 3,5 4,0 gain register value airgap (mm) ic - tw11 gain register vs. airgap with ?4x4 magnet
IC-TW11 10-bit ultra low power magnetic absolute rotary encoder rev b1, page 22/ 25 bussing multiple ics multiple IC-TW11 slaves can be used with a single spi host in a traditional spi bus connection. in this case, sclk, si, and so on all devices are connected to- gether and each device uses a separate slave select (xss) signal, as shown in figure 9 . figure 9: spi bus connection of multiple IC-TW11s in operation, the host initiates a sample of one of the IC-TW11s by activating the appropriate chip se- lect (xcs) and sending the appropriate read register command. the host then either waits the appropriate amount of time (see figure 6 page 17 ) or waits for the interrupt request (irq) to be received to read the sampled angle. in this case, the interrupt logic in all IC-TW11s must be set to or to ensure that the host receives an interrupt request when any of the tw11 asserts its irq_out. this is accomplished by setting the interrupt mode bit in the config register (con- fig.imod = 1). see using interrupts on page 20 for more information. note that in a bussed confguration, only one IC-TW11 can be active at a time: the host must activate only one chip select at a time. because of this, simultaneous sampling of multiple IC-TW11s in a bussed confgura- tion is only possible using the sample input. p r e l i m i n a r y p r e l i m i n a r y x s s s c l k s i x s s s c l k s i x s s s c l k s i x c s 1 s c l k m o i r q h o s t p i c - t w 1 1 1 i c - t w 1 1 2 i c - t w 1 1 3 i r q _ i n s o i r q _ i n s o i r q _ i n s o m i x c s 2 x c s 3 i r q _ o u t i r q _ o u t i r q _ o u t v _ i o
IC-TW11 10-bit ultra low power magnetic absolute rotary encoder rev b1, page 23/ 25 chaining multiple ics multiple IC-TW11 slaves can also be chained together using a single spi host. in this case, all devices are accessed together as a group and all data is read back together by the host in an extended response packet. in a chained confguration, sclk and xss on all de- vices are connected together while si and so, and irq_in and irq_out are linked from one device to the next, as shown in figure 10 . figure 10: chained connection of multiple IC-TW11s in operation, the host initiates a sample of all of the IC-TW11s by activating the chip select output (xcs) and sending three consecutive read register commands by clocking 3 x 16 = 48 bits through the si/so chain. as long as the xss input of the IC-TW11s is held low, data is shifted through the chained devices from si to so. after all commands have been loaded to the chained devices, the host deactivates xss to execute the commands simultaneously. this extended packet communication structure is shown below. figure 11: extended communication packet structure with chained IC-TW11s the host then either waits the appropriate amount of time (see page 17 ) or waits for the interrupt request (irq) to be received to read the sampled angles as 48 consecutive bits over the si/so chain. in this case, the default interrupt logic of and is used so that the host receives an interrupt request only when all the IC-TW11 slaves have completed sampling and conversion. see using interrupts on page 20 for more information. p r e l i m i n a r y p r e l i m i n a r y x s s s c l k s i s o x s s s c l k s i s o x s s s c l k s i s o x c s s c l k m o m i h o s t p i c - t w 1 1 1 i c - t w 1 1 2 i c - t w 1 1 3 i r q _ i n i r q _ o u t i r q _ i n i r q _ o u t i r q _ i n i r q _ o u t i r q
IC-TW11 10-bit ultra low power magnetic absolute rotary encoder rev b1, page 24/ 25 design review: function notes IC-TW11 ... no. function, parameter/code description and application hints 1 for any former chip release, please refer to datasheet release a1. table 24: notes on chip functions regarding former IC-TW11 chip releases IC-TW11 z no. function, parameter/code description and application hints 1 no further notes at time of printing. table 25: notes on chip functions regarding IC-TW11 chip release z revision history rel. rel. date ? chapter modifcation page a1 14-06-11 initial release all rel. rel. date ? chapter modifcation page b1 2017-04-21 various parameter name changed: err warn (conversion warning) 13ff features features revised 1 block diagram block diagram updated 1 description chapter revised 2 electrical characteristics item 003: condition item 006: max. value 7 operating require- ments: spi interface item i007: new item 8 hall sensors chapter added 10 register map tables 8 and 13 updated 13 , 15 using interrupts table 23 updated 20 design review: function notes chip release z taken up 24 ic-haus expressly reserves the right to change its products and/or specifcations. an infoletter gives details as to any amendments and additions made to the relevant current specifcations on our internet website www.ichaus.com/infoletter and is automatically generated and shall be sent to registered users by email. copying C even as an excerpt C is only permitted with ic-haus approval in writing and precise reference to source. the data specifed is intended solely for the purpose of product description and shall represent the usual quality of the product. in case the specifcations contain obvious mistakes e.g. in writing or calculation, ic-haus reserves the right to correct the specifcation and no liability arises insofar that the specifcation was from a third party view obviously not reliable. there shall be no claims based on defects as to quality in cases of insignifcant deviations from the specifcations or in case of only minor impairment of usability. no representations or warranties, either expressed or implied, of merchantability, ftness for a particular purpose or of any other nature are made hereunder with respect to information/specifcation or the products to which information refers and no guarantee with respect to compliance to the intended use is given. in particular, this also applies to the stated possible applications or areas of applications of the product. ic-haus products are not designed for and must not be used in connection with any applications where the failure of such products would reasonably be expected to result in signifcant personal injury or death (safety-critical applications) without ic-haus specifc written consent. safety-critical applications include, without limitation, life support devices and systems. ic-haus products are not designed nor intended for use in military or aerospace applications or environments or in automotive applications unless specifcally designated for such use by ic-haus. ic-haus conveys no patent, copyright, mask work right or other trade mark right to this product. ic-haus assumes no liability for any patent and/or other trade mark rights of a third party resulting from processing or handling of the product and/or any other use of the product. software and its documentation is provided by ic-haus gmbh or contributors "as is" and is subject to the zvei general conditions for the supply of products and services with ic-haus amendments and the zvei software clause with ic-haus amendments ( www.ichaus.com/eula ). ? release date format: yyyy-mm-dd p r e l i m i n a r y p r e l i m i n a r y
IC-TW11 10-bit ultra low power magnetic absolute rotary encoder rev b1, page 25/ 25 ordering information type package options order designation IC-TW11 qfn16, 4 mm x 4 mm thickness 0.9 mm rohs compliant IC-TW11 qfn16-4x4 evaluation board pcb, 80 mm x 60 mm IC-TW11 eval tw11_1c IC-TW11 gui evaluation software for windows pc for download link refer to www.ichaus.com/tw11 please send your purchase orders to our order handling team: fax: +49 (0) 61 35 - 92 92 - 692 e-mail: dispo@ichaus.com for technical support, information about prices and terms of delivery please contact: ic-haus gmbh tel.: +49 (0) 61 35 - 92 92 - 0 am kuemmerling 18 fax: +49 (0) 61 35 - 92 92 - 192 d-55294 bodenheim web: http://www.ichaus.com germany e-mail: sales@ichaus.com appointed local distributors: http://www.ichaus.com/sales_partners p r e l i m i n a r y p r e l i m i n a r y

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