Air Data System User Manual
Contents
1. 0xA1 0x01 0x00 or 0x01 Optional value CSO CST 0x81 0xA1 0x03 0x01 0x00 0x26 0x14 0x81 0xA1 0x03 0x03 0x01 2 byte value CSO CST 0x81 0xA1 0x03 0x05 0x02 4 byte value CSO CS1 0x81 0xA1 0x03 0x01 0x07 0x2D 0x1B Update altitude required value in meters x 1 or feet x 1 Poll data values optional va ue sets output message interval in units of 50 ms or off if zero Update effective sea level pressure P required value in KPa x 100 or in Hg x 100 Value interval in 50 ms 0 off Value KPa x 100 in Hg x 100 Value meters x 100 feet x 100 P Absolute Pressure KPa x 100 in Hg x 100 P Effective Sea Level Pressure KPa x 100 in Hg x 100 H Altitude meters x 10 feet x 10 Tint Internal Temperature C x10 Fx 10 Toa External Temperature Cx10 Cx10 32768 Sensor not present rho Dry Air Density kg cu meter x 1000 Ib cu ft x 100 P Differential Pressure KPa x 1000 in_hg x 1000 V Airspeed KPH x10 Knots x 10 Status System Status 16 bit bit field Value dependent upon system status UTime Free Running Timer Unsigned 16 bit value Number of 50 ms periods since reset Binary Output Data in sequence Status 2 bytes 16 bit bit field UTime 2 bytes 16 bit unsigned integer P 2 bytes 16 bit unsigned integer P 2 bytes 16 bit unsigned integer H 4 bytes 32 bit signed integer To 2 bytes 16 bit signed integer T 2 bytes 16 bit signed integer rho 2 bytes 16 bit unsi2. Customer will provide Microbotics the right to inspect any Products which Customer claims do not conform to the Microbotics Warranty THE EXCLUSIVE REMEDIES FOR NONCOMPLIANCE WITH ANY MICROBOTICS WARRANTY SHALL BE IN MICROBOTICS SOLE AND ABSOLUTE DISCRETION EITHER REPAIR OF THE NONCONFORMING PRODUCTS REPLACEMENT OF THE NONCONFORMING PRODUCTS OR RETURN OF SAME FOR REPAYMENT OF THE PURCHASE PRICE MISUSE Microbotics shall have no liability or obligation to Customer with respect to any of the Products which have been subject to abuse misuse improper use negligence accident modification alteration tampering any use of the Products outside their normal environment or any alteration of any literature with respect to the Products LIMITATION OF DAMAGES RECOVERABLE BY CUSTOMER WITHOUT LIMITATION OF ANY OTHER PROVISION IN THESE TERMS AND CONDITIONS LIMITING OR EXCLUDING LIABILITY OF MICROBOTICS THE EXCLUSIVE DAMAGES RECOVERABLE BY CUSTOMER FOR ANY CLAIM OF ANY KIND WHATSOEVER ARISING FROM OR IN ANY WAY CONNECTED TO THE PRODUCTS REGARDLESS OF THE LEGAL THEORY SHALL NOT BE GREATER THAN THE ACTUAL PURCHASE PRICE OF THE PRODUCTS PAID BY CUSTOMER WITH RESPECT TO WHICH SUCH CLAIM IS MADE AND IN NO EVENT SHALL MICROBOTICS BE LIABLE FOR ANY SPECIAL INDIRECT OR INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND INCLUDING WITHOUT LIMITATION ANY DAMAGES WITH RESPECT TO LOSS OF INCOME COMPENSATION OR PROSPECTIVE PROFITS ANY EXPENDITURES INVESTMENTS O
3. 240 10165 10133 263 245 32768 1188 14 172 0 280 10165 10133 263 246 32768 1188 14 172 0 320 These output values are in sequence 4 SPA20422 Air Data System User Manual V1 0 0 Data Item Description SI Units US Units Example Above P Absolute Pressure KPa x 100 in Hg x 100 10165 101 64 KPa P Effective Sea Level Pressure KPa x 100 in Hg x 100 10133 101 33 KPa H Altitude meters x 10 feet x 100 260 26 0 meters Ta Internal Temperature Cx10 Fx 10 244 24 4 C Ta External Temperature Cx10 Cx10 32768 Sensor not present rho Dry Air Density kg cu meter x 1000 Ib cu ft x 100 1188 1 188 kg cu meter P Differential Pressure KPa x 1000 in_hg x 1000 14 014 KPa V Airspeed KPH x10 Knots x 10 172 17 2 KPH Status System Status 16 bit bit field Value dependent upon system status UTime Free Running Timer Unsigned 16 bit value Number of 50 ms periods since reset The T and T values can be negative however a value of 32768 indicates a missing or faulty temperature sensor The P value can be negative due to sensor offset this offset can be reset by the user with the airspeed being clamped at zero in this event Status is a bit field providing certain operational indicators discussed in Paragraph 4 6 UTime is a free running recirculating 16 bit counter modulo 65536 indicating the number of 50 millisecond periods since power was applied and is provided as an interval counter and missed packet indicator Note tha
4. Not used 0 Bit 3 EE Write Error 1 EEPROM write operation failed EEPROM exhausted or EEPPOM invalid at power up Bit 2 EE_Needs_ Update 1 parameter was changed EEPROM may need to be updated Bit 1 EE_Status_1 See Paragraphs 4 2 6 and 4 5 2 4 Bit 0 EE Status 0 See Paragraphs 4 2 6 and 4 5 2 4 If the SV power supply used to power the on board sensors of the SPA20422 is out of range the 5V_error bit is set in Status In this case neither P nor P can be properly measured nor can the altitude and speed calculations be performed Therefore the P _error P_error altitude_error rho error and speed error bits will also be set in Status If the absolute pressure sensor is faulty or the 5V_error bit is set the P _error bit is set in Status Altitude and speed cannot be properly calculated therefore the altitude_error rho_error and speed_error bits will also be set in Status If the differential pressure sensor is faulty or teh 5V_error bit is set the P _error bit is set in Status Speed cannot be calculated setting the speed_error bit in Status If the differential pressure is measured as negative due to an offset in the sensor when the vehicle is stopped the P Neg bit is set in Status while the airspeed V is forced to zero If the 2 5V reference of the SPA20422 is out of range the 2 5V_error bit is set in Status In this case neither T nor T can be properly measured and speed calculations cannot be performed Therefore th
5. SPA20422 immediately sends a data output message using whichever output data transmission protocol has be set If no interval value is included in the command the message update rate is not affected and message updates continue at the currently set interval If the optional interval value is included the interval value changes the output data message rate in units of 50 milliseconds 0x01 to 0x64 1 to 100 interval value entries over 0x64 are forced to 0x64 netting intervals from 50 milliseconds to 5 seconds or turns the output transmissions off if the interval value is 0x00 This new message update rate becomes effective immediately after the polled data message is sent Whenever the data transmission rate is set an actual value received the SPA20422 sets the EE_Needs_Update bit in Status Writing to the User EEPROM is optional but if the EEPROM is not written before power down after the data transmission rate has been set the SPA20422 will revert to the rate stored in the EEPROM at the next power up 4 5 2 Update Commands The Update Commands are used to reset the differential pressure update the effective sea level pressure P update the current altitude and write to the EEPROM An Update Command takes the basic form 0x81 0xA1 0x03 Payload_count Sub_command update value if any CS0 CS1 All Update Commands use a Packet ID of 0x03 The first byte of the payload is the Sub command defining the particular update
6. The required value is the new P in KPa x 100 if SI units are set or in in Hg x 100 if US units are set e g 10133 is 101 33 KPa for SI units or 2992 is 29 92 in Hg for US units The input range for the new P is restricted to 90 110 KPa 26 57 32 48 in Hg and if the value is out of range or missing the command is ignored If the command is successful the EE_Needs_Update bit in Status is set Note that as this command explicitly sets P it will supercede any previous changes made with the h value command If both commands are needed the r value command should be used before the h value fk command No confirmation of success or failure of the operation is sent by the SPA20422 when this command is used With either of these commands writing to the User EEPROM is optional but if the EEPROM is not written before power down after the P value has been set the SPA20422 will revert to the P value stored in the EEPROM at the next power up 4 2 5 Reset Differential Pressure With the differential pressure readings quite low long term sensor drift can create an offset in the actual value read by the SPA20422 either positive or negative and will affect the airspeed calculation While the board will report a negative pressure reading also setting the P _Neg bit in Status this negative value for P is clipped to zero for the airspeed calculation 1 e the airspeed will be set to zero When the vehicle as at a know
7. UTime is a free running recirculating 16 bit counter modulo 65536 indicating the number of 50 millisecond periods since power was applied and is provided as an interval counter and missed packet indicator Sub_command is the Sub_command of the Update Command that is being confirmed see 8 SPA20422 Air Data System User Manual V1 0 0 Paragraph 4 5 2 for valid Sub_commands Update_status is the execution status of the command and is presented as an 8 bit bit field see the individual sub commands below for a description of Update_status 4 5 Binary Input Protocol User input can use the binary input protocol at any time regardless of which protocol is set for data transmission The binary input protocol uses only two messages one to poll the data values and set the update interval Packet ID of 0x01 and the other to update system parameters Packet ID of 0x03 0x81 0xA1 0x01 Payload_count 0x00 or 0x01 Optional interval value 0x00 0x64 CS0 CS1 0x81 0xA1 0x03 Payload_count Sub_command update value if any CS0 CS1 Any other binary input message is ignored with no error indicator sent by the SPA20422 4 5 1 Poll Data Values and Set Update Interval A message with Packet ID of 0x01 is used to poll the current values and optionally set the output data message rate 0x81 0xA1 0x01 Payload_count 0x00 or 0x01 Optional interval value 0x00 0x64 CS0 CS1 Whenever this command is received the
8. if the EEPROM is not written before power down after the P value has been reset the SPA20422 will revert to the P offset value stored in the EEPROM at the next power up The Update_status byte in the Reset_P Confirm Message indicates 0x00 Successful operation P reset to zero 0x08 P too high to be reset command ignored 4 5 2 2 Update Altitude Weather induced barometric changes as well as long term drift in the absolute barometer output affect the altitude calculations of the SPA20422 These effects can be compensated by updating the current altitude e g as derived from a known location a GPS reading or an external sensor by using Update_Altitude Sub_command 0x02 0x81 0xA1 0x03 0x05 0x02 4 byte value CS0 CS1 The required 4 byte value parameter is the new altitude in meters x 100 if SI units are set or in feet x 100 if US units are set and may be negative Thus if SI units are set a 4 byte value of 0x0000 7D14 reflects a new altitude request of 320 20 meters while a 4 byte value of OXFFFF FBOA reflects a new altitude request of 12 70 meters If the value is missing it is assumed to be zero This command attempts to reset the current altitude by changing the effective sea level pressure P setting used for the altitude calculation If the command is successful the EE_Needs_Update bit in Status is set If the 4 byte value entered is out of range or if it attempts to create an invalid P setting the co
9. issued a Confirm Message is sent at its completion Note that any command sent using the ASCII input protocol does not cause a Confirm Message transmission If several commands have been executed their Confirm Messages will queue up to transmit in the subsequent 50 millisecond processing period Confirm Messages are sent at the first 50 millisecond processing period after completion or queuing and are sent regardless of the output message update rate setting If a Confirm Messages are being sent during the same 50 millisecond processing as a Data Message the Confirm Messages will follow the Data Message A Confirm Message has a Packet_ID of 0x03 and a fixed Payload_count of 0x06 6 bytes in the payload with the following format 0x81 0xA1 0x03 0x06 6 byte payload 4 data items CSO CS1 The payload is a sequence of binary data values sent in big endian format 1 e the most significant byte of a data value is sent first in the following order Data Item Data Size Description Value Status 2 bytes 16 bit bit field System Status Value dependent upon system status UTime 2 bytes 16 bit unsigned integer Running Timer Number of 50 ms periods since reset Sub_command 1 byte 8 bit unsigned integer Sub_command confirmed Sub_command number of Update Command Update_status 1 byte 8 bit bit field Execution status Value dependent upon execution status Status is a bit field providing certain operational indicators discussed in Paragraph 4 6
10. R COMMITMENTS OF CUSTOMER ANY LOSS WITH RESPECT TO THE ESTABLISHMENT DEVELOPMENT OR MAINTENANCE OF BUSINESS REPUTATION OR GOOD WILL OR ANY LOSS INCURRED IN OBTAINING SUBSTITUTE PRODUCTS OR SERVICES OR ARISING FROM THE CLAIMS OF THIRD PARTIES INCLUDING CUSTOMERS FORCE MAJEURE Without limitation of any clause herein limiting or exculpating Microbotics from liability Microbotics shall not be responsible or liable for any failure to perform or any delay in supplying if occasioned in whole or in part by act of God or the public enemy fire explosion perils of the sea flood drought war riots civil insurrection sabotage accident embargo governmental priority requisition or allocation or any action of any governmental authority or any refusal of such governmental authority to provide necessary authorization or shortage or failure of supply materials fuel transportation or labor or strikes or other labor trouble or any occurrence act cause or thing beyond the reasonable control of Microbotics all of which shall excuse any failure or delay on the part of Microbotics and Microbotics shall have no obligation or liability whatsoever arising out of or in connection with any such failure or delay POLICY ON RETURNS In the event of any shortage damage defect or discrepancy in or to a shipment of Products Customer shall promptly report the same to Microbotics and furnish such written evidence or other documentation as Microbotics may reas
11. RED Figure 3 RS 422 Wiring to User Port 2 3 Connections to RS 232 Systems A serial voltage level converter such as the Microbotics SLC10232 may be used to interface the SPA20422 to an RS 232 port like those used on a PC or laptop computer A typical connection to a PC style serial port using an SLC10232 Serial Voltage Level Converter is shown in Figure 4 SPA20422 SLC10232 TO USER PC 6 R TxD Mm 2 FROM MCU a d gt DATE IN 5 R E cl 4 com T T DE9S L FEMALE CONNECTOR Figure 4 RS 422 to RS 232 PC Wiring Using an SLC10232 Signal Level Converter 2 4 Connections to TTL Level Systems Additionally the SPA20422 can be used directly with a TTL compatible serial port such as a user microprocessor by using T line for data transmission to the user system the Ta line is unused and R for data receipt from the user system The on board V signal is used to bias the R signal to allow the SPA20422 to effectively receive the SPA20422 6 Hm DATA FROM MCU IN 3 ia DATA A TO MCU p OUT R 2 USER TTL SYSTEM Figure 5 RS 422Wiring to TTL Port Using V to Bias RS 422 Receiver 2 SPA20422 Air Data System User Manual V1 0 0 TTL input as a differential signal see Figure 5 In each of the these wiring examples the COM line must be connected to the Ground of the user port 2 5 External Temperature Sensor An AD590 style external t
12. SPA20422 AIR DATA SYSTEM USER MANUAL V1 0 0 October 2008 1 Introduction The Microbotics SPA20422 Air Data System is a microprocessor controlled system meant to provide basic altitude and airspeed information for unmanned vehicles It consists of an absolute barometer for static pressure a differential barometer for pitot pressure and temperature sensors both on board and external to assist in the airspeed determinations An on board microprocessor reads the sensor values calibrates the readings and then calculates the target parameters altitude airspeed etc A non volatile EEPROM is available to maintain user settings during power down This capability is attained on a circuit board only 1 05 x 1 15 inches 75 inches thick 1 050 26 7 gt 6 7 096 2 44 DIA Les TE 1 150 29 2 Dre g E 500 12 7 dire PIN 1 A y ja 1 Vref 1 5V PITOT PRESSURE 2 Ra neg 3 Rb pos 4 COM 5 Ta neg 6 Tb mn PITOT STATIC A E D NIPPLES FOR 1 8 INCH TEMO 100 2 54 gt lt 850 21 6 gt FLEXIBLE TUBING 9 PWR_RTN AESA enn IS PLACES ALTITUDE STATIC 10 PWR_IN Figure 1 SPA20422 Physical Dimensions Figure 2 Connector Pin Out and Ports Locations g inch tubing is used for connections to Static Air for altitude measurement as well as for the pitot static and dynamic ports for airspeed measurement Optional Industry standard temperature probes employing
13. absolute pressure P is the calibrated pressure reading from the MPX6115 absolute barometer the sensor with the single pressure port with an effective range of 15 to 115 KPa 4 43 to 33 96 in Hg The differential pressure P is the calibrated pressure reading from the MPX5010 differential barometer the sensor with two pressure ports with an effective range of 0 to 10 KPa 0 to 2 95 in Hg Due to its low pressure range and environmental effects this differential sensor can have a zero offset and actually present a negative reading to the microprocessor The user can reset this pressure reading i e adjust the sensor offset when the vehicle is at a known stop The on board temperature T is obtained from an LM50 sensor mounted near the pressure sensors With an effective range of 40 to 85 C 40 to 185 F External temperature T is provided by a probe using an ADS590 sensor with an effective range of 55 to 85 C 67 to 185 F The microprocessor uses these measurements along with the effective sea level pressure P explicitly set by the user or derived when adjusting altitude to calculate altitude H dry air density rho and airspeed V While the SPA20422 can provide altitude solutions from approximately 1100 to 13750 meters 3600 to 45000 feet the effective range is 500 to 7500 meters 1640 to 24600 feet Altitude calculations H in meters use P in KPa and P in KPa to solve the standard altitude e
14. checks whether the parameters stored in the EEPROM match the current status If they do no EEPROM write is actually performed If any parameter has been changed the new values are saved to the EEPROM If an error occurs during the writing process the EE_Write_Error bit in Status is set until another write is attempted or power is removed from the board Upon a successful write the EE Needs Update bit is reset The EEPROM has a limited erase write life of over two million cycles more than adequate for the service life of the SPA20422 Two bits in Status are used to keep track of the approximate life left on the EEPROM EE Status 1 and EE_Status_0 which indicate the remaining EEPROM life EE Status 1 EE_Status_0 0 0 Over half of EEPROM life remaining EE Status 1 EE_Status_0 0 1 Less than half of EEPROM life remaining EE Status_1 EE Status 0 1 0 Less than 10 of EEPROM life remaining EE Status 1 EE Status 0 1 1 EEPROM exhausted no more writing allowed Even when the EEPROM is exhausted the board will still operate properly 1 e output mode units and message rate can be changed P and altitude can be updated and the differential pressure can be reset but the changes cannot be updated in EEPROM to effect power up defaults No confirmation of success or failure of the write operation is sent by the SPA20422 when this command is used 4 3 Microbotics Standard Binary Protocol Both the binary output protocol and the binary input protocol us
15. d If the user is not careful of the order of the Update Commands when not waiting for confirmations it is possible the commands may be processed in a different order than received and the execution of these commands may not result in the desired updates Since the Update Commands are processed during each 50 millisecond processing interval multiple issues of the same command before its Confirm Message is sent will result in only the last command being executed and only one Confirm Message will be issued 4 5 2 1 Reset Differential Pressure With the differential pressure readings quite low long term sensor drift can create an offset in the actual value read by the SPA20422 either positive or negative and will affect the airspeed calculation While the board will report a negative pressure reading also setting the P Neg bit in Status the negative value is clipped to zero for the airspeed calculation the airspeed will be forced to zero When the vehicle as at a known stop the P reading can be forced to zero by using Reset_P Sub_command 0x00 0x81 0xA1 0x03 0x01 0x00 0x26 0x1 4 If the command is successful P is reset to zero resetting the airspeed Vto zero and the EE_Needs_Update bit in Status is set If the command cannot reset P to zero e g the vehicle is actually moving when the command is issued P is not changed and the EE_Needs_Update bit in Status is not set Writing to the User EEPROM is optional but
16. e temp_error rho_error and speed_error bits will also be set in Status If the external temperature sensor is present its value will be used in speed calculations regardless of the status of the internal temperature sensor If the external temperature sensor is not present the value of internal temperature sensor will be used If either sensor is faulty or the 2 5V reference is out of range the faulty sensor reading will be reported as 0x8000 The temp error bit in Status is set only when neither temperature sensor is available e g having a faulty internal temperature sensor with the external temperature sensor operating properly is not flagged with the temp_error bit If the temp_error bit is set neither air density nor airspeed can be calculated and the rho_error and speed_error bits will also be set in Status 12 SPA20422 Air Data System User Manual V1 0 0 The EE Needs Update bit in Status is set whenever P is adjusted either explicitly or via an altitude update P is reset the output data transmission protocol is set the units used for output data transmission is set or the output data update rate is updated A successful EEPROM write will automatically clear this flag and at the next power up the SP A20422 will default to these stored values Ifan EEPROM write is not performed while the EE_Needs_Update bit is set the SPA20422 will continue to use the new values until power down Then at the next power up the SPA20422 will rev
17. e the standard Microbotics Binary Protocol This is a serial data stream of 8 bit bytes with the following basic format Sync0 Sync1 Packet_ID Payload_count Payload bytes if any CS0 CS1 The Sync0 and Sync1 bytes are used to indicate the beginning of a specific message and have the binary values of 0x81 and OxA1 respectively The Packet_ID is an unsigned 8 bit integer identifying the command type The Payload_count is an unsigned 8 bit integer indicating the number of bytes in the payload to follow This count can be 0x00 no payload through OxFF 255 theoretic maximum bytes in the payload The payload format is specific to the Packet ID with the payload being any mix of bytes 16 bit words or 32 bit words Payload values are sent in big endian format the first byte of each multi byte value contains the most significant bits of that value The CS0 and CS1 form a two byte Fletcher checksum of all bytes between Sync and CS0 i e the checksum includes Packet ID Payload_count and all payload bytes The Fletcher checksum is calculated in the following manner CSO and CS1 are initially both set to zero CS0 CS1 0 The next byte is added to the current CSO value to form the new CSO value modulo 256 CS0 byte_value The new CSO value is added to the current CST value to form the new CS7 value modulo 256 CS1 CSO Continue for all bytes loop CSO is sent first followed by CS1 CSO CST 4 4 Binary Output Protoc
18. emperature sensor can be wired to the SPA20422 SPA20422 di TEMPERATURE This type of sensor has a current output of approximately 7 PROBE l 3 wi ia 5v SENSOR_POS 1 microamp K The sensor is a polarized two wire device BrTP N SENSOR NEG the negative side of the sensor is connected to the EXT TEMP 1 8 signal while the positive side of the sensor is connected to the 5V signal see Figure 6 Figure 6 Wiring to External Temperature Probe 3 Data Provided by the SPA20422 Physical measurements are made for absolute pressure differential pressure internal temperature and external temperature if an external temperature probe is present The on board microprocessor then calculates altitude dry air density and airspeed based on these measurements and the currently set effective sea level pressure The user can choose whether the data values are output in SI metric or US units The SPA20422 provides the following air data information to the user SI units are used to represent the values Parameter Description SI Units US Units P Absolute barometer pressure KPa x 100 in Hg x 100 P Differential barometer pressure KPa x 1000 in Hg x 1000 P Effective sea level air pressure KPa x 100 in Hg x 100 Tint On board temperature Cx10 Fx10 E External temperature C x 10 if sensor present F x 10 if sensor present H Altitude meters x 10 feet x 10 rho Dry air density kg cu meter x 1000 lb cu ft x 1000 V Airspeed KPH x 10 knots x 10 The
19. ert to the values last stored in the EEPROM Any attempt to write to the EEPROM without the EE Needs Update bit set will be ignored The SPA20422 is originally shipped with the following system defaults set in the EEPROM Binary output data transmission protocol is set Sl units are set for data Output data transmission rate is set for 10 intervals 5 second P is set to the standard value of 101 33 KPa The EEPROM has a limited erase write life of over two million cycles more than adequate for the service life of the SPA20422 The EE_Status_1 and EE_Status_0 bits in Status are used to keep track of the approximate life left on the EEPROM and indicate the remaining EEPROM life EE Status 1 EE_Status_0 0 0 Over half of EEPROM life remaining EE Status 1 EE_Status_0 0 1 Less than half of EEPROM life remaining EE Status 1 EE_Status_0 1 0 Less than 10 of EEPROM life remaining EE Status_1 EE Status 0 1 1 EEPROM exhausted no more writing allowed Even when the EEPROM is exhausted the board will still operate properly 1 e output mode units and message rate can be changed P and altitude can be updated and the differential pressure can be reset but these changes cannot be updated in EEPROM to effect power up defaults If the EE_Needs_Update bit is set in Status and an EEPROM write operation fails the EE_Write_Error bit will be set in Status and except in the case of an exhausted EEPROM both EE_Status_1 and EE_Status_0 bits
20. gned integer P 2 bytes 16 bit signed integer V 2 bytes 16 bit unsigned integer SPA20422 Air Data System Reference V1 0 0 External Temperature System Status Running Timer Absolute Pressure Effective Sea Level Pressure Altitude Internal Temperature Value dependent upon system status Recirculating count of 50 ms periods since reset KPa x100 or in Hg x 100 KPa x100 or in Hg x 100 meters x10 or feet x 10 C x10 or F x10 C x10 or F x10 0x8000 Sensor not present Dry Air Density kg cu meter x1000 or Ib cu ft x 1000 Differential Pressure KPa x1000 or in Hg x 1000 Airspeed KPH x10 or knots x 10 CONVERSION FACTORS Multiply By To Get KPa 2953 in Hg in Hg 3 3867 KPa meters 3 2808 feet feet 3048 meters kg cu meter 061785 Ib cu ft Ib cu ft 16 185 kg cu ft KPH 5409 knots knots 1 8486 KPH knots 8696 MPH MPH 1 15 knots C x 9 5 32 F F 32 x 5 9 C C 273 15 K SPA20422 Air Data System Reference V1 0 0 WARRANTY DISCLAIMER AND LIMITATION OF REMEDIES MICROBOTICS WARRANTS ITS PRODUCTS AGAINST DEFECTS IN MATERIALS AND WORKMANSHIP UNDER NORMAL USAGE FOR A PERIOD OF ONE YEAR AFTER DELIVERY TO THE END USER MICROBOTICS MAKES NO ADDITIONAL WARRANTIES WHATSOEVER WITH RESPECT TO ITS PRODUCTS EXPRESS OR IMPLIED INCLUDING WITHOUT LIMITATION ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR ANY PURPOSE OR AGAINST INFRINGEMENTS OF PATENT OR OTHER RIGHTS OF THIRD PARTIES IN THE PRODUCTS
21. in units of 50 ms or off if zero r value Update effective sea level pressure P required value in KPa x 100 or in Hg x 100 st Set SI metric units su Set US units Ve Reset differential pressure P Invalid commands or commands with invalid values are ignored No confirmation of success or failure of any operation is sent by the SPA20422 when an ASCII input command is used 4 2 1 Set Output Data Transmission Protocol Two ASCII input commands are used to set the output data transmission protocol the a command sets the ASCII output protocol the original shipped default while the b command sets the binary output protocol Any value entered is ignored The new output protocol becomes active at the next output message and remains in effect SPA20422 Air Data System User Manual V1 0 0 5 until explicitly changed or power is cycled turned off then on for the board Whenever a command for data transmission protocol is received the SPA20422 sets the EE_Needs_Update bit in Status Writing to the User EEPROM is optional but if the EEPROM is not written before power down after the data transmission protocol has been changed the SPA20422 will revert to the protocol stored in the EEPROM at the next power up 4 2 2 Set Output Data Transmission Units The output data may be transmitted in either SI metric the original shipped default or US units Two ASCII commands are used to set the units used in the output data
22. mmand is ignored Writing to the User EEPROM is optional but if the EEPROM is not written before power down after the P value has been set the SPA20422 will revert to the P value stored in the EEPROM at the next power up The Update_status byte in the Update_Altitude Confirm Message indicates 0x00 Successful operation P adjusted 0x01 New altitude request trying to force P too low command ignored 0x02 New altitude request trying to force P too high command ignored 0x04 New altitude request too low command ignored 0x08 New altitude request too high command ignored 10 SPA20422 Air Data System User Manual V1 0 0 4 5 2 3 Update Effective Sea Level Pressure An alternate method of correcting altitude is by using Update P Sub command 0x02 to explicitly change the P value used in the calculations 0x81 0xA1 0x03 0x03 0x01 2 byte value CSO CS1 The required 2 byte value is the new P in KPa x 100 if SI units are set or in in Hg x 100 if US units are set e g if SI units are set a 2 byte value of 0x2795 is 101 33 KPa The input range for the new P is restricted to 90 110 KPa 26 57 32 48 in Hg and if the value is out of range or missing the command is ignored If the command is successful the EE_Needs_Update bit in Status is set Note that as this command explicitly sets P it will supercede any previous changes made with the Update_Altitude command If both commands are needed the Update_P command sh
23. n 9 must be used for the board power return negative side of power source While the PWR_RTN and COM lines as well as the two mounting holes are electrically connected to the board Ground the COM line Pin 4 is used to maintain signal Ground reference for the RS 422 communications and is not designed nor sized for returning the power supply current DO NOT USE THE COM SIGNAL LINE FOR POWER RETURN 2 2 RS 422 Connections The SPA20422 uses an RS 422 differential mode asynchronous serial data stream for communications to and from the user system Five signal lines are used for serial communications T T R R and COM The T and T pair are the signals transmitted from the SPA20422 to the user system while the R and R pair are the signals received by the SPA20422 from the user system The COM line is a signal Ground return for the RS 422 signals and must be connected to the Ground of the user SPA20422 Air Data System User Manual V1 0 0 1 RS 422 port Figure 3 shows a typical connection for the RS 422 signals FAILURE TO CONNECT THE COM LINE TO THE USER PORT GROUND CAN CAUSE ELECTRICAL FAILURE OF THE SPA20422 BOARD AND VOIDS THE BOARD WARRANTY 120 Q TERMINATION SPA20422 IF REQUIRED USER SYSTEM 6 TWISTED PAIR NN m R FROM MCU e 4 gt a DAIA 5 o RA JR als MM TTT z WT DATA TO MCU i iN OUT 2 Ew YA sten par MM T Lal T a 4 GND 120 Q TERMINATION IF REQUI
24. n Units Status 2 bytes 16 bit bit field System Status Value dependent upon system status UTime 2 bytes 16 bit unsigned integer Running Timer Recirculating count of 50 ms periods since reset P 2 bytes 16 bit unsigned integer Absolute Pressure KPa x100 or in Hg x 100 P 2 bytes 16 bit unsigned integer Effective Sea Level Pressure KPa x100 or in Hg x 100 H 4 bytes 32 bit signed integer Altitude meters x10 or feet x 10 Tint 2 bytes 16 bit signed integer Internal Temperature C x10 or F x10 T 2 bytes 16 bit signed integer External Temperature C x10 or F x10 0x8000 Sensor not present rho 2 bytes 16 bit unsigned integer Dry Air Density kg cu meter x1000 or Ib cu ft x 1000 P 2 bytes 16 bit signed integer Differential Pressure KPa x1000 or in Hg x 1000 V 2 bytes 16 bit unsigned integer Airspeed KPH x10 or knots x 10 Status is a bit field providing certain operational indicators discussed in Paragraph 4 6 UTime is a free running recirculating 16 bit counter modulo 65536 indicating the number of 50 ms periods since power was applied and is provided as an interval counter and missed packet indicator The T and T values can be negative however a value of 0x8000 indicates a missing or faulty temperature sensor The P value can be negative due to sensor offset with the airspeed being clamped at zero in this event Note that the P P rho and V values can never be negative 4 4 2 Confirm Message Whenever a binary Update Command is
25. n stop the P reading can be forced to zero by using the v command Any value entered is ignored the P is reset to zero resetting the airspeed V to zero and the EE_Needs_Update bit in Status is set If the command cannot reset P to zero e g the vehicle is actually moving when the command is issued P is not changed and the EE_Needs_Update bit in Status is not set No confirmation of success or failure of the operation is sent by the SPA20422 when this command is used Writing to the User EEPROM is optional but if the EEPROM is not written before power down after the P value has been reset the SPA20422 will revert to the P offset value stored in the EEPROM at the next power up 4 2 6 Write to EEPROM A non volatile EEPROM is used to maintain certain system information while the SPA20422 is not powered These data include user changeable parameters output data transmission protocol output data transmission units output 6 SPA20422 Air Data System User Manual V1 0 0 message rate current effective sea level pressure P and the offset value for the differential sensor Whenever any of these parameters have been changed or updated during operation the EE_Needs_Update bit in Status is set to indicate the values in the EEPROM might not reflect the current status The e command is used to write the updated values to the EEPROM Any value included in the command is ignored When the SPA20422 starts the write operation it
26. nly one Confirm Message SPA20422 Air Data System User Manual V1 0 0 11 The Update_status byte in the Write_to_EEPROM Confirm Message indicates 0x00 Successful operation EEPROM values have been updated 0x01 EE Needs Updatein Status not set command ignored 0x02 Current status matches stored status command ignored 0x03 Confirms still pending from other Update Status commands command ignored EE_Needs_Update in Status set 0x04 Write verify of EEPROM failed contents of EEPROM may be invalid both EE_Write_Error and EE_Needs_Update in Status set 0x05 EEPROM exhausted command ignored EE Needs Update bit in Status remains set 4 6 Status Bit Fields The current status of the SPA20422 system operation is maintained in Status This 16 bit bit field parameter is sent with each ASCII output data message and each binary message Many of the status bits affect other bits in Status The meanings of these bits are Bit 15 is the most significant bit Bit Indicator Value Bit 15 Units 0 SI units 1 US units Bit14 5V error 1 5V power supply out of range Bit13 2 5V error 1 2 5V reference out of range Bit 12 Temp_error 1 Cannot determine temperature Bit 11 altitude_error 1 Cannot calculate altitude Bit10 rho_error 1 Cannot calculate air density Bit 9 speed_error 1 Cannot calculate airspeed Bit 8 P _error 1 Cannot determine P Bit 7 P error 1 Cannot determine P Bit 6 P Neg 1 P has negative value Bit 5 Not used Bit 4
27. nternal Temperature C Altitude sea level uncompensated 125 meters Altitude sea level with updates meters Airspeed sea level 3 SPA20422 Air Data System Specifications V1 0 0 Max Typ Min Power Input Voltage 32 6 V Dissipation 200 150 mW RS 422 Signals 38400 Baud 8 n 1 Differential Driver Output No Termination 3 3 V Differential Driver Output 120Q Termination 2 0 V Receiver Input Voltage 12 0 7 0 V Receiver Differential Threshold 200 200 mV Receiver Input Hysteresis 50 mV Input Resistance 12 KQ TTL Level Conversions 38400 Baud 8 n 1 VR Out Connected to RA 1 5 V V RB 5 5 2 0 V V RB 8 0 V Vo TB 3 3 2 0 V V TB 4 0 V la TB 8 ma l TB 8 ma Physical Size 1 05 26 7 mm W x 1 15 29 2 mm L x 75 19 1 mm T Weight 9 g 32 oz Environment Operating Temperature 40 to 85 C Storage Temperature 55 to 125 C Vibration 6 Jims Shock 100 g 8 ms 2 sine SPA20422 Air Data System Specifications V1 0 0 SPA20422 INPUT COMANDS AND OUTPUT DATA ASCII Protocol Input Commands at Set ASCII output protocol b r Set binary output protocol e fr Write to EEPROM h value m value fst r value st Set SI metric units U r Set US units Ve Reset differential pressure P Binary Protocol Input Commands Poll Data Set Interval Reset P Update P Update Altitude Write to EEPROM ASCII Output Data in sequence 0x81
28. ol If the binary output protocol is currently set and the output message interval is not zero the SPA20422 will transmit binary Data Messages at the output message interval Additionally if any Update Commands have been sent using the binary input protocol the Confirm Messages for these commands will be sent at the next 50 millisecond processing period regardless of the output message interval commands sent using the ASCII input protocol do not have associated Confirm Messages Note that the output message protocol can only be changed by using the ASCII input messages a to set the ASCII output protocol or b to set the binary output protocol The ASCII output protocol is the original shipped default SPA20422 Air Data System User Manual V1 0 0 7 4 4 1 Data Message At each output message interval a Data Message is sent This message has a Packet_ID of 0x01 and a fixed Payload_count of 0x16 22 bytes in the payload with the following format 0x81 0xA1 0x01 0x16 22 byte payload 10 data items CS0 CS1 The payload is a sequence of binary data values sent in big endian format i e the most significant byte of a multi byte data value is sent first The data in either SI or US units The output units can only be set by using the ASCII input messages s to set SI units for the data values or u to set US units for the data values The data are output in the following order Data Item Data Size Descriptio
29. onably require Except as specifically authorized in the Warranty provisions above Microbotics shall not be liable for any such shortage damage defect or discrepancy unless Microbotics has received notice and substantiating evidence thereof from Customer within five 5 days of arrival of the Products If the substantiating evidence delivered by Customer demonstrates to Microbotics reasonable satisfaction that Microbotics is responsible for such shortage damage defect or discrepancy Microbotics shall deliver additional or substitute Products to Customer in accordance with the delivery terms otherwise set forth herein provided however that in no event shall Microbotics be liable for any additional costs expenses or damages incurred by Customer directly or indirectly a result of such shortage damage defect or discrepancy in or to a shipment All returns of Products by Customer for whatever reason shall be made at Customer s sole expense DDP Microbotics headquarters office in Hampton Virginia USA INCOTERMS 2000 All sales to Customer are final and Microbotics will not accept any returns of Products unless and until prior written authorization is received by Customer from Microbotics Microbotics will not accept returns based upon delays in shipment by Microbotics or receipt by Customer or market conditions including changes in demand for or popularity of any of the Products Warranty
30. ould be used before the Update_Altitude command Writing to the User EEPROM is optional but if the EEPROM is not written before power down after the P value has been set the SPA20422 will revert to the P value stored in the EEPROM at the next power up The Update_status byte in the Update_P Confirm Message indicates 0x00 Successful operation P adjusted 0x01 New P request too low command ignored 0x02 New P request too high command ignored 4 5 2 4 Write to EEPROM A non volatile EEPROM is used to maintain certain system information while the SPA20422 is not powered These data include user changeable parameters the output data transmission protocol the output message rate the current effective sea level pressure P and the offset value for the differential sensor Whenever any of these parameters have been changed or updated during operation the EE_Needs_Update bit in Status is set to indicate the values in the EEPROM might not reflect the current status The Write_to_EEPROM command is used to write to the EEPROM Sub_command 0x07 0x81 0xA1 0x03 0x01 0x07 0x2D 0x1B When the SPA20422 starts the write operation it checks to see if the EE_Needs_Update bit in Status is set and if so whether the values stored in the EEPROM match the current status If the EE_Needs_Update bit is not set or the current status matches the stored status no EEPROM write is actually performed If any parameter has been changed the new
31. quation log Pa Po 10 5 25588 meters 2 25574 x10 If T is available due to the presence of an external temperature probe this value is automatically used in the following calculations If it not available T is used In the equations below the temperature T in K is derived from T or T int SPA20422 Air Data System User Manual V1 0 0 3 or K T Tit 273 15 T Te 273 15 While humidity affects the actual velocity calculations the sensors used by the SPA20422 are not accurate enough to make the effects of humidity significant in the final results The dry air density rho is calculated for use in velocity calculations P rho kg cu meter 2869 x T The airspeed V is determined from P in KPa and rho in Kg cu meter by the standard velocity equation y 2000 x P meters sec rho 4 Serial Data Communications The SPA20422 uses an RS 422 asynchronous serial data port for reporting system values and receiving user inputs This port is formatted at a fixed 38400 Baud eight data bits no parity bit and one stop bit When the SPA20422 is initially powered it sends a title page similar to the following Microbotics Inc Air Data System Copyright 2008 Model Number SPA20422 Serial Number 00001234 Software Revision V1 0 0 System Build Standard After about six seconds this title block is followed by the system data at the rate and in the protocol set by the user as
32. saved in the non volatile EEPROM Both an ASCII and a binary protocol are supported by the SPA20422 The ASCII protocol is more applicable when using a data terminal or a terminal emulation program on a PC or when gathering data for applications where a string of readable digits can be entered into a spreadsheet type of program The binary protocol is better suited for embedded applications e g autopilots vehicle instrumentation where the values need to be transferred between sub systems in binary format with a minimum of translation The protocol used for output data transmissions can be set by the user while either binary or ASCII protocols can be employed for user inputs regardless of which output protocol is currently being used 4 1 ASCII Output Protocol When the ASCII Output Protocol mode is set the original shipped default the SPA20422 transmits the current data values in a SPACE delimited sequence The ASCII output is a free field 1 e leading zeros are not sent series of numbers each separated by a SPACE with the line terminated by a Carriage Return and Line Feed This output is easily viewed on a terminal device and the data can be directly input to an Excel file etc A typical output stream with SI units set would be similar to the following 10164 10133 260 244 32768 1188 15 180 O 120 10165 10133 263 244 32768 1188 15 176 O 160 10165 10133 263 245 32768 1188 15 176 0 200 10164 10133 259 245 32768 1188 14 172 0
33. set a new write operation must be attempted before removing power from the board to prevent the EEPROM data from being invalid at the next power up If the EEPROM data are invalid at power up e g an EEPROM write failed and power was removed before a successful write has been completed both EE _Write_Error and EE_Needs_Update bits are set in Status With invalid data in the EEPROM at power up the SP A20422 reverts to the original set of factory defaults SPA20422 Air Data System User Manual V1 0 0 13 14 SPA20422 Air Data System User Manual V1 0 0 GENERAL SPECIFICATIONS SPA20422 August 2008 All specifications subject to change without notice Max Typ Min Measurements Absolute Pressure 115 15 KPa 33 96 4 43 in Hg Differential Pressure 10 0 KPa 2 95 0 in Hg Internal Temperature 85 40 C 185 40 F External Temperature 1 microamp K from sensor 85 55 C 185 67 F Calculations Altitude calculated not guaranteed 13750 1100 meters 45000 3600 feet Altitude effective 7500 500 meters 24600 1640 feet Dry Air Density typical range 1 80 17 kg cu meter 11 011 lb cu ft Airspeed sea level typical range 465 0 KPH 250 0 knots Airspeed 5000 meters typical range 612 0 KPH 330 0 knots Accuracies Absolute Pressure 0 to 85 C 1 5 KPa 1 5 Absolute Pressure 40 to 0 C 4 5 KPa 4 5 Differential Pressure 0 to 85 C 5 KPa 5 Differential Pressure 40 to 0 C 1 5 KPa 15 I
34. t the P P rho and V values can never be negative 4 2 ASCII Input Protocol User input can use the ASCII input protocol at any time regardless of which protocol is set for data transmission Character echoing is not provided for ASCII input data streams nor are any confirmations transmitted for any command entered via the ASCII protocol Data values can be entered free field 1 e leading zeros do not need to be entered An ESC can be entered followed by a Carriage Return Line Feed sequence to abort a command in progress An ASCII input command has the following form Command_Letter Value if required or optional The tilde opens the command packet and indicates to the SPA20422 that an ASCII command is being entered The Command_Letter which immediately follows the tilde is a single alphabetic character and is case sensitive A Value when required or optional is a numeric entry up to 8 digits Negative values can be entered if needed and if a value is required but not included it has an assumed value of zero Values are ignored when entered for commands not requiring a value The Carriage Return Line Feed sequence completes the command Valid user commands are a Set ASCII output protocol be Set binary output protocol ea Write to EEPROM h value fs Update altitude required value in meters x 1 or feet x 1 m value Poll data values optional value sets output message interval
35. the Analog Devices AD590 are supported for external air temperature measurements 2 Wiring the SPA20422 to the User System A singlel0 pin input output connector is used to provide power serial data communications and external temperature probe connections to the SPA20422 The mating connector is a JST Part Number ZHR 10 housing using JST Part Number SZH 002T P0 5 pins The pin out for this connector Figure 2 Pin 1 to the outside of the board is Pin 1 Vg Bias reference for RS 422 receiver when TTL communications are used Pin 2 R RS 422 negative data receipt into SPA20422 MARK Low Pin 3 R RS 422 positive data receipt into SPA20422 MARK High Pin 4 COM RS 422 Ground return tie to Ground of user serial port Pin 5 T RS 422 negative data transmit from SPS20422 MARK Low Pin 6 T RS 422 positive data transmit from SPA20422 MARK High Pin 7 5 Power source for external AD590 temperature sensor positive side of sensor Pin 8 EXT_TEMP Signal return from external AD590 temperature sensor negative side of sensor Pin 9 PWR_RTN Power Ground negative side Pin10 PWR_IN Board Power 6V to 32V input 2 1 Power Connection The SPA20422 requires a DC power source of 6 32 VDC with the positive side of the power source connected to PWR_IN and the negative side of the power source connected to PWR_RTN The board uses a switch mode power converter with a typical constant power dissipation of approximately 150 milliwatts The PWR_RTN signal Pi
36. transmissions the s r command sets SI units while the u command sets US units Any value entered is ignored The new units setting will become active at the next output message and remains in effect until explicitly changed or power is cycled turned off then on for the board Whenever a command for data transmission protocol is received the SPA20422 sets the EE Needs Update bit in Status Writing to the User EEPROM is optional but if the EEPROM is not written before power down after the units setting has been changed the SPA20422 will revert to the units setting stored in the EEPROM at the next power up 4 2 3 Poll Data Values and Set Output Message Interval The m value fs command is used to poll the current values and optionally set the output data message rate Whenever this command is received the SPA20422 immediately sends a data output message using whichever output data transmission protocol has be set If no value is included in the command the message update rate is not affected and message updates continue at the currently set interval If the optional value is included the value changes the output data message rate in units of 50 milliseconds from 1 to 100 value entries over 100 are forced to 100 netting intervals from 50 milliseconds to 5 seconds or turns the output transmissions off if the value is zero This new message update rate becomes effective immediately after the polled data message is sent Whene
37. values are saved to the EEPROM If an error occurs during the writing process the EE_Write_Error bit in Status is set until another write is attempted or power is removed from the board Upon a successful write the EE_Needs_Update fbit is reset The EEPROM has a limited erase write life of over two million cycles more than adequate for the service life of the SPA20422 Two bits in Status are used to keep track of the approximate life left on the EEPROM EE_Status_1 and EE_Status_0 which indicate the remaining EEPROM life EE_Status_1 EE_Status_0 0 0 Over half of EEPROM life remaining EE_Status_1 EE_Status_0 0 1 Less than half of EEPROM life remaining EE_Status_1 EE_Status_0 1 0 Less than 10 of EEPROM life remaining EE_Status_1 EE_Status_0 1 1 EEPROM exhausted no more writing allowed Even when the EEPROM is exhausted the board will still operate properly i e output mode units and message rate can be changed P and altitude can be updated and the differential pressure can be reset but the changes cannot be updated in EEPROM to effect power up defaults The Write_to_EEPROM command will not execute if any Confirm Message is pending or queued In this case the write operation is aborted but the EE_Needs_Update bit in Status remains set and the appropriate Confirm Message for this write error is sent Multiple Write_to_EEPROM commands received within the same 50 millisecond processing period will result in only one write operation and o
38. ver the data transmission rate is set an actual value received the SPA20422 sets the EE_Needs_Update bit in Status Writing to the User EEPROM is optional but if the EEPROM is not written before power down after the data transmission rate has been set the SPA20422 will revert to the rate stored in the EEPROM at the next power up 4 2 4 Update Altitude or Effective Sea Level Pressure Weather induced barometric changes as well as long term drift in the absolute barometer output affect the altitude calculations of the SPA20422 These effects can be compensated by updating the current altitude e g as derived from a known location a GPS reading or an external sensor by issuing the h value fr command The required value parameter is the new altitude in meters x 1 if SI units are set or in feet x 1 if US units are set and if it is missing the value is assumed to be zero This command attempts to reset the current altitude by changing the effective sea level pressure P setting used for the altitude calculation If the command is successful the EE_Needs_Update bit in Status is set If the value entered is out of range or if it attempts to create an invalid P setting the command is ignored No confirmation of success or failure of the operation is sent by the SPA20422 when this command is used An alternate method of correcting altitude is by using the r value r r command to explicitly change the P value used in the calculations
39. which may be followed by an update_value as needed The valid Update Commands are Reset_P Sub command 0x00 0x81 0xA1 0x03 0x01 0x00 0x26 0x14 Update_P Sub_command 0x01 0x81 0xA1 0x03 0x03 0x01 2 byte value CS0 CS1 Update_Altitude Sub_command 0x02 0x81 0xA1 0x03 0x05 0x02 4 byte value CS0 CS1 Write _to_EEPROM Sub_command 0x07 0x81 0xA1 0x03 0x01 0x07 0x2D 0x1B Note the Reset_P and Write to EEPROM commands are fixed format commands with only one payload byte the Sub command itself thus the CS0 and CST for these commands are known Valid Update Commands issue Confirm Messages upon completion or error Reset P 0x81 0xA1 0x03 0x06 UTime Status 0x00 Update status CS0 CS1 Update P 0x81 0xA1 0x03 0x06 UTime Status 0x01 Update status CS0 CS1 Update_Altitude 0x81 0xA1 0x03 0x06 UTime Status 0x02 Update_status CSO CS1 Write _to_EEPROM 0x81 0xA1 0x03 0x06 UTime Status 0x07 Update_status CSO CS1 SPA20422 Air Data System User Manual V1 0 0 9 A message with an invalid Sub_ command will be ignored without any error message sent Except for the Write to EEPROM command multiple Update Commands may be sent in any sequence without waiting for Confirm Messages However the commands are dealt with in priority with the lowest Sub command number having the highest priority at each 50 millisecond processing perio
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