•Meets jitter requirements for: AT&T TR62411
Stratum 3, 4 and Stratum 4 Enhanced for DS1
interfaces; and for ETSI ETS 300 011, TBR 4,
TBR 12 and TBR 13 for E1 interfaces
•Selectable 1.544MHz, 2.048MHz or 8kHz input
reference signals
•Accepts reference inputs from two independent
sources
•Provides bit error free reference switching meets phase slope and MTIE requirements
•Operates in either Normal, Holdover and
Freerun modes
Applications
•Synchronization and timing control for
multitrunk T1 and E1 systems
•ST-BUS clock and frame pulse sources
•Primary Trunk Rate Converters
DS5144ISSUE 2September 1999
Ordering Information
MT9042CP28 Pin PLCC
-40°C to +85°C
Description
The MT9042C Multitrunk System Synchronizer
contains a digital phase-locked loop (DPLL), which
provides timing and synchronization signals for
multitrunk T1 and E1 primary rate transmission links.
The MT9042C generates ST-BUS clock and framing
signals that are phase locked to either a 2.048MHz,
1.544MHz, or 8kHz input reference.
The MT9042C is compliant with AT&T TR62411
Stratum 3, 4 and 4 Enhanced, and ETSI ETS 300
011. It will meet the jitter tolerance, jitter transfer,
intrinsic jitter, frequency accuracy, holdover
accuracy, capture range, phase slope and MTIE
requirements for these specifications.
OSCi
OSCo
PRI
SEC
RSEL
LOS1
LOS2
TRST
Virtual
Refer-
State
Select
ence
DPLL
State
Select
Input
Impairment
Monitor
Guard Time
Circuit
Master
Clock
Selected
Reference
Select
MUX
Reference
Select
Automatic/Manual
Control State Machine
MS1MS2GToGTi
Refer-
Corrector
Enable
TIE
Corrector
Circuit
ence
TIE
RST
Figure 1 - Functional Block Diagram
VDDVSS
Feedback
Output
Interface
Circuit
Frequency
Select
MUX
FS1FS2
C1.5o
C3o
C2o
C4o
C8o
C16o
F0o
F8o
F16o
1
MT9042CAdvance Information
VSS
TRST
SEC
PRI
RST
FS1
FS2
VDD
OSCo
OSCi
F16o
F0o
F8o
C1.5o
432
5
6
7
8
9
10
11
12 13 14 15 16 17 18
C2o
C3o
1
C4o
28
VSS
27
C8o
26
25
RSEL
24
MS1
23
MS2
22
LOS1
21
LOS2
20
GTo
GTi
19
VDD
C16o
Figure 2 - Pin Connections
Pin Description
Pin #NameDescription (see notes 1 to 5)
1,15V
2TRSTTIE Circuit Reset (TTL Input). A logic low at this input resets the Time Interval Error (TIE)
3SECSecondary Reference (TTL Input). This is one of two (PRI & SEC) input reference
Ground. 0 Volts.
SS
correction circuit resulting in a re-alignment of input phase with output phase as shown in
Figure 19. The TRST pin should be held low for a minimum of 300ns.
sources (falling edge) used for synchronization. One of three possible frequencies (8kHz,
1.544MHzMHz, or 2.048MHz) may be used. The selection of the input reference is based
upon the MS1, MS2, LOS1, LOS2, RSEL, and GTi control inputs (Automatic or Manual).
4PRIPrimary Reference (TTL Input). See pin description for SEC.
5,18V
Positive Supply Voltage. +5VDC nominal.
DD
6OSCoOscillator Master Clock (CMOS Output). For crystal operation, a 20MHz crystal is
connected from this pin to OSCi, see Figure 10. For clock oscillator operation, this pin is left
unconnected, see Figure 9.
7OSCiOscillator Master Clock (CMOS Input). For crystal operation, a 20MHz crystal is
connected from this pin to OSCo, see Figure 10. For clock oscillator operation, this pin is
connected to a clock source, see Figure 9.
8F16oFrame Pulse ST-BUS 16.384Mb/s (CMOS Output). This is an 8kHz 61ns active low
framing pulse, which marks the beginning of an ST-BUS frame. This is typically used for
ST-BUS operation at 16.384Mb/s. See Figure 20.
9F0oFrame Pulse ST-BUS 2.048Mb/s (CMOS Output). This is an 8kHz 244ns active low
framing pulse, which marks the beginning of an ST-BUS frame. This is typically used for
ST-BUS operation at 2.048Mb/s and 4.096Mb/s. See Figure 20.
10F8oFrame Pulse ST-BUS 8.192Mb/s (CMOS Output). This is an 8kHz 122ns active high
framing pulse, which marks the beginning of an ST-BUS frame. This is used for ST-BUS
operation at 8.192Mb/s. See Figure 20.
11C1.5oClock 1.544MHz (CMOS Output). This output is used in T1 applications.
12C3oClock 3.088MHz (CMOS Output). This output is used in T1 applications.
13C2oClock 2.048MHz (CMOS Output). This output is used for ST-BUS operation at 2.048Mb/s.
14C4oClock 4.096MHz (CMOS Output). This output is used for ST-BUS operation at 2.048Mb/s
and 4.096Mb/s.
2
Advance InformationMT9042C
Pin Description
Pin #NameDescription (see notes 1 to 5)
16C8oClock 8.192MHz (CMOS Output). This output is used for ST-BUS operation at 8.192Mb/s.
17C16oClock 16.384MHz (CMOS Output). This output is used for ST-BUS operation at 16.384Mb/
s.
19GTiGuard Time (Schmitt Input). This input is used by the MT9042B state machine in both
Manual and Automatic modes. The signal at this pin affects the state changes between
Primary Holdover Mode and Primary Normal Mode, and Primary Holdover Mode and
Secondary Normal Mode. The logic level at this input is gated in by the rising edge of F8o.
See Tables 4 and 5.
20GToGuard Time (CMOS Output). The LOS1 input is gated by the rising edge of F8o, buffered
and output on GTo. This pin is typically used to drive the GTi input through an RC circuit.
21LOS2Secondary Reference Loss (TTL Input). This input is normally connected to the loss of
signal (LOS) output signal of a Line Interface Unit (LIU). When high, the SEC reference
signal is lost or invalid. LOS2, along with the LOS1 and GTi inputs control the MT9042B
state machine when operating in Automatic Control. The logic level at this input is gated in
by the rising edge of F8o.
22LOS1Primary Reference Loss (TTL Input). Typically , external equipment applies a logic high to
this input when the PRI reference signal is lost or inv alid. The logic le vel at this input is gated
in by the rising edge of F8o. See LOS2 description.
23MS2Mode/Control Select 2 (TTL Input). This input, in conjunction with MS1, determines the
device’ s mode (Automatic or Manual) and state (Normal, Holdover or F reerun) of operation.
The logic level at this input is gated in by the rising edge of F8o. See Table 3.
24MS1Mode/Control Select 1 (TTL Input). The logic level at this input is gated in by the rising
edge of F8o. See pin description for MS1.
25RSELReference Source Select (TTL Input). In Manual Control, a logic low selects the PRI
(primary) reference source as the input reference signal and a logic high selects the SEC
(secondary) input. In Automatic Control, this pin must be at logic low. The logic level at this
input is gated in by the rising edge of F8o. See Table 2.
26FS2Frequency Select 2 (TTL Input). This input, in conjunction with FS1, selects which of three
possible frequencies (8kHz, 1.544MHz, or 2.048MHz) may be input to the PRI and SEC
inputs. See Table 1.
27FS1Frequency Select 1 (TTL Input). See pin description for FS2.
28RSTReset (Schmitt Input). A logic low at this input resets the MT9042B. To ensure proper
operation, the device must be reset after changes to the method of control, reference signal
frequency changes and power-up. TheRST pin should be held low for a minim um of 300ns.
While the RST pin is low, all frame and clock outputs are at logic high. F ollowing a reset, the
input reference source and output clocks and frame pulses are phase aligned as shown in
Figure 19.
Notes:
1. All inputs are CMOS with either TTL compatible logic levels, CMOS compatible logic levels or Schmitt trigger compatible logic levels
as indicated in the Pin Description.
2. All outputs are CMOS with CMOS compatible logic levels.
3. See DC Electrical Characteristics for static logic threshold values.
4. See AC Electrical Characteristics - Timing Parameter Measurement Voltage Levels for dynamic logic threshold values.
5. Unless otherwise stated, all unused inputs should be connected to logic high or logic low and all unused outputs should be left open
circuit.
3
MT9042CAdvance Information
Functional Description
The MT9042C is a Multitrunk System Synchronizer,
providing timing (clock) and synchronization (frame)
signals to interface circuits for T1 and E1 Primary
Rate Digital Transmission links.
Figure 1 is a functional block diagram which is
described in the following sections.
Reference Select MUX Circuit
The MT9042C accepts two simultaneous reference
input signals and operates on their falling edges.
Either the primary reference (PRI) signal or the
secondary reference (SEC) signal can be selected
as input to the TIE Corrector Circuit. The selection is
based on the Control, Mode and Reference
Selection of the device. See Tables 1, 4 and 5.
Frequency Select MUX Circuit
The MT9042C operates with one of three possible
input reference frequencies (8kHz, 1.544MHz or
2.048MHz). The frequency select inputs (FS1 and
FS2) determine which of the three frequencies may
be used at the reference inputs (PRI and SEC). Both
inputs must have the same frequency applied to
them. A reset (RST) must be performed after every
frequency select input change. Operation with FS1
and FS2 both at logic low is reserved and must not
be used. See Table 1.
FS2FS1Input Frequency
00Reserved
018kHz
101.544MHz
112.048MHz
Table 1 - Input Frequency Selection
Time Interval Error (TIE) Corrector Circuit
The TIE corrector circuit, when enabled, prevents a
step change in phase on the input reference signals
(PRI or SEC) from causing a step change in phase at
the input of the DPLL block of Figure 1.
During reference input rearrangement, such as
during a switch from the primary reference (PRI) to
the secondary reference (SEC), a step change in
phase on the output signals will occur. A phase step
at the input of the DPLL will lead to unacceptable
phase changes in the output signal.
As shown in Figure 3, the TIE Corrector Circuit
receives one of the two reference (PRI or SEC)
signals, passes the signal through a programmable
delay line, and uses this delayed signal as an
internal virtual reference, which is input to the DPLL.
Therefore, the virtual reference is a delayed version
of the selected reference.
During a switch, from one reference to the other, the
State Machine first changes the mode of the device
TRST
Resets Delay
PRI or SEC
from
Reference
Select Mux
Control
Circuit
Programmable
Delay Circuit
TIE Corrector
Enable
from
State Machine
Control Signal
Delay Value
Virtual
Reference
to DPLL
Compare
Circuit
Feedback
Signal from
Frequency
Select MUX
Figure 3 - TIE Corrector Circuit
4
Advance InformationMT9042C
Virtual Reference
from
TIE Corrector
Frequency Select MUX
Phase
Detector
Feedback Signal
from
LimiterLoop Filter
State Select
Input Impairment Monitor
Figure 4 - DPLL Block Diagram
from Normal to Holdover. In Holdover Mode, the
DPLL no longer uses the virtual reference signal, but
generates an accurate clock signal using storage
techniques. The Compare Circuit then measures the
phase delay between the current phase (feedback
signal) and the phase of the new reference signal.
This delay value is passed to the Programmable
Delay Circuit (See Figure 3). The new virtual
reference signal is now at the same phase position
as the previous reference signal would have been if
the reference switch not taken place. The State
Machine then returns the device to Normal Mode.
The DPLL now uses the new virtual reference signal,
and since no phase step took place at the input of
the DPLL, no phase step occurs at the output of the
DPLL. In other words, reference switching will not
create a phase change at the input of the DPLL, or at
the output of the DPLL.
DPLL Reference
to
Output Interface Circuit
from
State Select
from
State Machine
Digitally
Controlled
Oscillator
Control
Circuit
The state diagrams of Figure 7 and 8 indicate under
which state changes the TIE Corrector Circuit is
activated.
Digital Phase Lock Loop (DPLL)
As shown in Figure 4, the DPLL of the MT9042C
consists of a Phase Detector, Limiter, Loop Filter,
Digitally Controlled Oscillator, and a Control Circuit.
Phase Detector - the Phase Detector compares the
virtual reference signal from the TIE Corrector circuit
with the feedback signal from the Frequency Select
MUX circuit, and provides an error signal
corresponding to the phase difference between the
two. This error signal is passed to the Limiter circuit.
The Frequency Select MUX allows the proper
feedback signal to be externally selected (e.g., 8kHz,
1.544MHz or 2.048MHz).
Since internal delay circuitry maintains the alignment
between the old virtual reference and the new virtual
reference, a phase error may exist between the
selected input reference signal and the output signal
of the DPLL. This phase error is a function of the
difference in phase between the two input reference
signals during reference rearrangements. Each time
a reference switch is made, the delay between input
signal and output signal will change. The value of
this delay is the accumulation of the error measured
during each reference switch.
The programmable delay circuit can be zeroed by
applying a logic low pulse to the TIE Circuit Reset
(TRST) pin. A minimum reset pulse width is 300ns.
This results in a phase alignment between the input
reference signal and the output signal as shown in
Figure 20. The speed of the phase alignment
correction is limited to 5ns per 125us, and
convergence is in the direction of least phase travel.
Limiter - the Limiter receives the error signal from the
Phase Detector and ensures that the DPLL responds
to all input transient conditions with a maximum
output phase slope of 5ns per 125us. This is well
within the maximum phase slope of 7.6ns per 125us
or 81ns per 1.326ms specified by AT&T TR62411.
Loop Filter - the Loop Filter is similar to a first order
low pass filter with a 1.9 Hz cutoff frequency for all
three reference frequency selections (8kHz,
1.544MHz or 2.048MHz). This filter ensures that the
jitter transfer requirements in ETS 300 011 and AT&T
TR62411 are met.
Control Circuit - the Control Circuit uses status and
control information from the State Machine and the
Input Impairment Circuit to set the mode of the
DPLL. The three possible modes are Normal,
Holdover and Freerun.
5
MT9042CAdvance Information
Digitally Controlled Oscillator (DCO) - the DCO
receives the limited and filtered signal from the Loop
FIlter, and based on its value, generates a
corresponding digital output signal. The
synchronization method of the DCO is dependent on
the state of the MT9042C.
In Normal Mode, the DCO provides an output signal
which is frequency and phase locked to the selected
input reference signal.
In Holdover Mode, the DCO is free running at a
frequency equal to the last (less 30ms to 60ms)
frequency the DCO was generating while in Normal
Mode.
In Freerun Mode, the DCO is free running with an
accuracy equal to the accuracy of the OSCi 20MHz
source.
Output Interface Circuit
The output of the DCO (DPLL) is used by the Output
Interface Circuit to provide the output signals shown
in Figure 5. The Output Interface Circuit uses two
Tapped Delay Lines followed by a T1 Divider Circuit
and an E1 Divider Circuit to generate the required
output signals.
C1.5o
C3o
C2o
C4o
C8o
C16o
F0o
F8o
F16o
From
DPLL
Tapped
Delay
Line
Tapped
Delay
Line
T1 Divider
12MHz
E1 Divider
16MHz
The T1 Divider Circuit uses the 12.384MHz signal to
generate two clock outputs. C1.5o and C3o are
generated by dividing the internal C12 clock by four
and eight respectively. These outputs have a
nominal 50% duty cycle.
The frame pulse outputs (F0o, F8o, F16o) are
generated directly from the C16 clock.
The T1 and E1 signals are generated from a
common DPLL signal. Consequently, the clock
outputs C1.5o, C3o, C2o, C4o, C8o, C16o, F0o and
F16o are locked to one another for all operating
states, and are also locked to the selected input
reference in Normal Mode. See Figures 20 & 21.
All frame pulse and clock outputs hav e limited driving
capability, and should be buffered when driving high
capacitance (e.g., 30pF) loads.
Input Impairment Monitor
This circuit monitors the input signal to the DPLL and
automatically enables the Holdover Mode
(Auto-Holdover) when the frequency of the incoming
signal is outside the auto-holdover capture range (See
AC Electrical Characteristics - Performance). This
includes a complete loss of incoming signal, or a large
frequency shift in the incoming signal. When the
incoming signal returns to normal, the DPLL is
returned to Normal Mode with the output signal locked
to the input signal. The holdover output signal is
based on the incoming signal 30ms minimum to 60ms
prior to entering the Holdover Mode. The amount of
phase drift while in holdover is negligible because the
Holdover Mode is very accurate (e.g.,±0.05ppm). The
the Auto-Holdover circuit does not use TIE correction.
Consequently, the phase delay between the input and
output after switching back to Normal Mode is
preserved (is the same as just prior to the switch to
Auto-Holdover).
Automatic/Manual Control State Machine
Figure 5 - Output Interface Circuit Block
Diagram
Two tapped delay lines are used to generate a
16.384MHz signal and a 12.352MHz signal.
The E1 Divider Circuit uses the 16.384MHz signal to
generate four clock outputs and three frame pulse
outputs. The C8o, C4o and C2o clocks are
generated by simply dividing the C16o clock by two,
four and eight respectively. These outputs have a
nominal 50% duty cycle.
6
The Automatic/Manual Control State Machine allows
the MT9042C to be controlled automatically (i.e.,
LOS1, LOS2 and GTi signals) or controlled manually
(i.e., MS1, MS2, GTi and RSEL signals). With
manual control a single mode of operation (i.e.,
Normal, Holdover and Freerun) is selected. Under
automatic control the state of the LOS1, LOS2 and
GTi signals determines the sequence of modes that
the MT9042C will follow.
As shown in Figure 1, this state machine controls the
Reference Select MUX, the TIE Corrector Circuit, the
Advance InformationMT9042C
DPLL and the Guard Time Circuit. Control is based
on the logic levels at the control inputs LOS1, LOS2,
RSEL, MS1, MS2 and GTi of the Guard Time Circuit
(See Figure 6).
RSEL
LOS1
LOS2
To
Reference
Select MUX
Automatic/Manual Control
MS1
To TIE
Corrector
Enable
State Machine
MS2
To DPLL
State
Select
To
and From
Guard Time
Circuit
Figure 6 - Automatic/Manual Control State
Machine Block Diagram
All state machine changes occur synchronously on
the rising edge of F8o. See the Controls and Modes
of Operation section for full details on Automatic
Control and Manual Control.
Guard Time Circuit
Control and Modes of Operation
The MT9042C can operate either in Manual or
Automatic Control. Each control method has three
possible modes of operation, Normal, Holdover and
Freerun.
As shown in Table 3, Mode/Control Select pins MS2
and MS1 select the mode and method of control.
ControlRSELInput Reference
MANUAL0PRI
1SEC
AUTO0State Machine Control
1Reserved
Table 2 - Input Reference Selection
MS2MS1ControlMode
00MANUALNORMAL
The GTi pin is used by the Automatic/Manual Control
State Machine in the MT9042C under either Manual
or Automatic control. The logic level at the GTi pin
performs two functions, it enables and disables the
TIE Corrector Circuit (Manual and Automatic), and it
selects which mode change takes place (Automatic
only). See the Applications - Guard Time section.
For both Manual and Automatic control, when
switching from Primary Holdover to Primary Normal,
the TIE Corrector Circuit is enabled when GTi=1, and
disabled when GTi=0.
Under Automatic control and in Primary Normal
Mode, two state changes are possible (not counting
Auto-Holdover). These are state changes to Primary
Holdover or to Secondary Normal. The logic level at
the GTi pin determines which state change occurs.
When GTi=0, the state change is to Primary
Holdover. When GTi=1, the state change is to
Secondary Normal.
Master Clock
The MT9042C can use either a clock or crystal as
the master timing source. For recommended master
timing circuits, see the Applications - Master Clock
section.
01MANUALHOLDOVER
10MANUALFREERUN
11AUTOState Machine Control
Table 3 - Operating Modes and States
Manual Control
Manual Control should be used when either very
simple MT9042C control is required, or when
complex control is required which is not
accommodated by Automatic Control. For example,
very simple control could include operation in a
system which only requires Normal Mode with
reference switching using only a single input stim ulus
(RSEL). Very simple control would require no
external circuitry. Complex control could include a
system which requires state changes between
Normal, Holdover and Freerun Modes based on
numerous input stimuli. Complex control would
require external circuitry, typically a microcontroller.
Under Manual Control, one of the three modes is
selected by mode/control select pins MS2 and MS1.
The active reference input (PRI or SEC) is selected
by the RSEL pin as shown in Table 2. Refer to Table
4 and Figure 7 for details of the state change
sequences.
7
MT9042CAdvance Information
Automatic Control
Automatic Control should be used when simple
MT9042C control is required, which is more complex
than the very simple control provide by Manual
Control with no external circuitry, but not as complex
as Manual Control with a microcontroller. For
example, simple control could include operation in a
system which can be accommodated by the
Automatic Control State Diagram shown in Figure 8.
Automatic Control is also selected by mode/control
pins MS2 and MS1. However, the mode and active
reference source is selected automatically by the
internal Automatic State Machine (See Figure 6).
The mode and reference changes are based on the
logic levels on the LOS1, LOS2 and GTi control pins.
Refer to Table 5 and Figure 8 for details of the state
change sequences.
Normal Mode
Normal Mode is typically used when a slave clock
source, synchronized to the network is required.
In Normal Mode, the MT9042C provides timing
(C1.5o, C2o, C3o, C4o, C8o and C16o) and frame
synchronization (F0o, F8o, F16o) signals, which are
synchronized to one of two reference inputs (PRI or
SEC). The input reference signal may have a
nominal frequency of 8kHz, 1.544MHz or 2.048MHz.
From a reset condition, the MT9042C will take up to
25 seconds for the output signal to be phase locked
to the selected reference.
When in Normal Mode, and locked to the input
reference signal, a numerical value corresponding to
the MT9042C output frequency is stored alternately
in two memory locations every 30ms. When the
device is switched into Holdover Mode, the value in
memory from between 30ms and 60ms is used to set
the output frequency of the device.
The frequency accuracy of Holdover Mode is
±0.05ppm, which translates to a worst case 35 frame
(125us) slips in 24 hours. This exceeds the AT&T
TR62411 Stratum 3 requirement of ±0.37ppm (255
frame slips per 24 hours).
Two factors affect the accuracy of Holdover Mode.
One is drift on the Master Clock while in Holdover
Mode, drift on the Master Clock directly affects the
Holdover Mode accuracy. Note that the absolute
Master Clock (OSCi) accuracy does not affect
Holdover accuracy, only the change in OSCi
accuracy while in Holdover. For example, a ±32ppm
master clock may have a temperature coefficient of
±0.1ppm per degree C. So a 10 degree change in
temperature, while the MT9042C is in Holdover
Mode may result in an additional offset (over the
±0.05ppm) in frequency accuracy of ±1ppm. Which
is much greater than the ±0.05ppm of the MT9042C.
The other factor affecting accuracy is large jitter on
the reference input prior (30ms to 60ms) to the
mode switch. For instance, jitter of 7.5UI at 700Hz
may reduce the Holdover Mode accuracy from
0.05ppm to 0.10ppm.
Freerun Mode
The selection of input references is control
dependent as shown in state tables 4 and 5. The
reference frequencies are selected by the frequency
control pins FS2 and FS1 as shown in Table 1.
Holdover Mode
Holdover Mode is typically used for short durations
(e.g., 2 seconds) while network synchronization is
temporarily disrupted.
In Holdover Mode, the MT9042C provides timing and
synchronization signals, which are not locked to an
external reference signal, but are based on storage
techniques. The storage value is determined while
the device is in Normal Mode and locked to an
external reference signal.
8
Freerun Mode is typically used when a master clock
source is required, or immediately following system
power-up before network synchronization is
achieved.
In Freerun Mode, the MT9042C provides timing and
synchronization signals which are based on the
master clock frequency (OSCi) only, and are not
synchronized to the reference signals (PRI and
SEC).
The accuracy of the output clock is equal to the
accuracy of the master clock (OSCi). So if a ±32ppm
output clock is required, the master clock must also
be ±32ppm. See Applications - Crystal and Clock
Oscillator sections.
- No Change
/ Not Valid
MTIE State change occurs with TIE Corrector Circuit
Refer to Manual Control State Diagram for state changes to and from Auto-Holdover State
Table 4 - Manual Control State Table
S1
Normal
Primary
(000)
(GTi=0)
(GTi=1)
NOTES:
(XXX)MS2 MS1 RSEL
{A}Invalid Reference Signal
Movement to Normal State from any
state requires a valid input signal
{A}{A}
S1A
Auto-Holdover
Primary
(000)
S1H
Holdover
Primary
(010)
Phase Re-Alignment
Phase Continuity Maintained (without TIE Corrector Circuit)
Phase Continuity Maintained (with TIE Corrector Circuit)
S0
Freerun
(10X)
S2A
Auto-Holdover
Secondary
(001)
S2H
Holdover
Secondary
(011)
S2
Normal
Secondary
(001)
Figure 7 - Manual Control State Diagram
9
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