User's Guide SLVU772A – August 2013 – Revised November 2013 DRV411EVM User's Guide This user's guide describes the characteristics, operation, and use of the DRV411 Evaluation Module (EVM). The DRV411 is a signal conditioning and 250-mA full-bridge drive circuit for closed-loop Hall effect sensors. A complete circuit description, schematic diagram, and bill of materials (BOM) are included. 6 Contents EVM Overview ............................................................................................................... 1.1 Features ............................................................................................................. 1.2 Introduction ......................................................................................................... DRV411EVM Hardware .................................................................................................... 2.1 Default Jumper Settings ........................................................................................... 2.2 Available Test Points .............................................................................................. Power Supply, Reference, and Gain Options ........................................................................... 3.1 Reference Voltage Selection ..................................................................................... 3.2 Gain Setting and Compensation Frequency ................................................................... EVM Operation .............................................................................................................. DRV411EVM Schematic and Bill of Materials .......................................................................... 5.1 DRV411EVM Schematic .......................................................................................... 5.2 DRV411EVM Bill of Materials .................................................................................... Related Documentation from Texas Instruments ....................................................................... 1 DRV411EVM Board 1 2 3 4 5 2 2 2 2 3 3 3 3 4 4 4 4 6 7 List of Figures 2 ........................................................................................................ DRV411EVM Schematic ................................................................................................... 2 5 List of Tables 1 Jumper Descriptions ........................................................................................................ 2 Test Point (TP) Descriptions............................................................................................... 3 3 Voltage Selection Options ................................................................................................. 3 4 Gain and Compensation Frequency Settings ........................................................................... 4 5 DRV411EVM Bill of Materials ............................................................................................ 6 SLVU772A – August 2013 – Revised November 2013 Submit Documentation Feedback Copyright © 2013, Texas Instruments Incorporated DRV411EVM User's Guide 3 1 EVM Overview 1 EVM Overview 1.1 Features • • • 1.2 www.ti.com Full-featured evaluation board for the DRV411 Pin sockets for easily changing Hall sensor devices Built-in reference Introduction This document provides the information needed to set up and operate the DRV411 evaluation module (EVM), a test platform for the DRV411 full-bridge drive integrated circuit for closed loop Hall-sensor devices. For a more detailed description of the DRV411, please refer to the product data sheet, SBOS693. Additional support documents are listed in Related Documents from Texas Instruments. Throughout this document, the abbreviation EVM and the term evaluation module are synonymous with the DRV411EVM. 2 DRV411EVM Hardware Figure 1 shows the complete DRV411EVM hardware. The evaluation kit consists of a single printed-circuit board with a variety of test points (to monitor supply, reference, and output voltages) and jumpers to enable or disable various features of the DRV411 device. Figure 1. DRV411EVM Board 2 DRV411EVM User's Guide SLVU772A – August 2013 – Revised November 2013 Submit Documentation Feedback Copyright © 2013, Texas Instruments Incorporated Power Supply, Reference, and Gain Options www.ti.com 2.1 Default Jumper Settings Table 1 provides descriptions of the jumpers on the EVM and their function: Table 1. Jumper Descriptions 2.2 Jumper Default State GSEL1 Open Description Gain select options, selects the gain of the Hall amplifier GSEL2 Open Gain select options, selects the gain of the Hall amplifier REFSEL1 Open Reference select options, selects the reference mode REFSEL2 Open Reference select options, selects the reference mode Available Test Points Table 2 provides descriptions of the test points on the EVM and their functions: Table 2. Test Point (TP) Descriptions TP Name EVM power, monitor with respect to GND test point GND System ground, there are 5 GND test points for ease of monitoring IAIN1 Inverting input of the differential amplifier IAIN2 Non-inverting input of the differential amplifier ERROR OR 3 Description VCC Error flag output (open drain output with 10-kΩ pull-up) Over Range Indicator (open drain output with 10-kΩ pull-up) VOUT Output of the differential amplifier REFIN Input for zero reference to differential amplifier Other There are four additional test points for use in monitoring the state of the reference select pins as well as the gain select pins Power Supply, Reference, and Gain Options The EVM requires a single power supply in the range of +2.7-V to +5.5-V DC, for proper operation of the device. The EVM (without a Hall sensor installed) draws less than 10 mA at 5.5 V. Power can be applied to the EVM via the banana jacks labeled VCC and GND, or through clip leads directly to the VCC and GND test points. When operating the EVM, TI recommends to use a linear DC bench supply, current limited to 50 mA. 3.1 Reference Voltage Selection The EVM provides two jumpers to configure the reference voltage output selection. The reference selection input pins are pulled to ground, or logic ‘0’ by default (jumpers ‘open’). Closing the jumpers places the associated REFSEL pin at the applied Vcc potential (logic ‘1’). Table 3 provides a description of the available options: Table 3. Voltage Selection Options Mode REFSEL1 REFSEL2 Description REF = 2.5 V Open Open Used with Hall-sensor supply of 5 V REF = 1.65 V Closed Open Used with Hall-sensor supply of 3.3 V Ratiometric Output Closed Closed Provides a reference output centered on VCC/2 SLVU772A – August 2013 – Revised November 2013 Submit Documentation Feedback Copyright © 2013, Texas Instruments Incorporated DRV411EVM User's Guide 3 EVM Operation 3.2 www.ti.com Gain Setting and Compensation Frequency The DRV411EVM provides two jumpers to configure the gain and sensor excitation frequency selection. The gain selection input pins are pulled to ground, or logic ‘0’ by default (jumpers ‘open’). Closing the jumpers places the associated GSEL pin at the applied Vcc potential (logic ‘1’). Table 4 provides a description of the available options: Table 4. Gain and Compensation Frequency Settings Mode 4 GSEL1 GSEL2 Gain_1 Open Open Description G = 250 V/V, Compensation frequency set to 3.8 kHz Gain_2 Open Closed G = 250 V/V, Compensation frequency set to 7.2 kHz Gain_3 Closed Open G = 1000 V/V, Compensation frequency set to 3.8 kHz External Gain / Compensation Closed Closed Excitation/chopping circuitry switched off. The gain and compensation is set by using external resistors and capacitors (R3/C3 and R4/C4). EVM Operation There are four pin sockets on the left side of the EVM for mounting the user-supplied Hall-sensor. Besides indium antimonide (InSb) Hall elements, the DRV411 can also be connected to symmetrical gallium arsenide (GaAs) Hall elements such as the HG-302C from AKM Semiconductor. With a Hall sensor mounted to the DRV411, the user is then free to mount their compensation coil to the ‘drilling area’ noted on the EVM. The area inside the silkscreen is free of any copper and can be used as needed to provide a means of securing the coil to the EVM. Connectors J1 and J2 are provided to terminate the compensation coil. Pins 1 and 2 of both J1 and J2 are connected together and then back to the ICOMP and IAIN pins of the DRV411 (please refer to the DRV411EVM Schematic, for details). The coil can be terminated at either the J1 or the J2 location, or between J1 and J2, if necessary. Once the sensor and compensation coil are mounted to the EVM, apply a current limited (50 mA max) 5-V DC source to the banana jacks or test points labeled VCC and GND. The current to be monitored by the DRV411 can then be applied through the compensation coil primary winding. 5 DRV411EVM Schematic and Bill of Materials Section 5.1 contains the schematic for this EVM and Section 5.2 presents the BOM for this EVM. 5.1 DRV411EVM Schematic Figure 2 illustrates the EVM schematic. 4 DRV411EVM User's Guide SLVU772A – August 2013 – Revised November 2013 Submit Documentation Feedback Copyright © 2013, Texas Instruments Incorporated DRV411EVM Schematic and Bill of Materials www.ti.com 1 VCC A 2 3 4 5 6 VCC C6 10μF A GND VCC GND VCC J4 VCC C1 0.01μF X1 B VCC_JMP 2 1 VCC_JMP GSEL1 R16 10.0k GND_JMP R5 0 R7 0 R8 20 19 18 17 0 R9 0 Gsel1 Gsel2 15 14 RefSel2 Error 2 1 VCC_JMP GSEL2 R17 10.0k GND_JMP D1 ICOMP1 ICOMP2 REFOUT REFIN GSEL1 GSEL2 ERROR OR RefSel1 3 RefSel2 2 REFSEL1 REFSEL2 D2 J1 IAIN1 IAIN2 HALL1 HALL2 HALL3 HALL4 21 GND 1 2 3 4 R4 DNP R1 1.00k GND GND IN+ OUT+ O INOUT- R14 0 R15 0 R3 DNP U1 DRV411RGP GND GND_JMP C4 DNP C2 1μF VOUT 8 7 12 11 4 5 R2 10.0 IAIN1 IAIN2 1 2 R6 0 J3 R12 VCC 1 2 3 39.2 Vref J2 D4 D3 1 2 B R10 R11 10.0k 10.0k 16 Error 1 OR 6 GND R13 0 Vout C5 DNP 10 VCC C3 DNP 13 GND VDD Vout Vref PAD 1 2 3 4 9 1 2 3 4 GND OR GND Vout Vref REFSEL1 RefSel1 VCC VCC 17 Gsel2 R18 10.0k GND_JMP VCC REFSEL2 GND R19 10.0k GND_JMP GND 0 GND VCC_JMP 2 1 GND GND VCC ProtoBoard 17 Gsel1 C VCC_JMP 2 1 ProtoBoard VCC IAIN2 GND IAIN1 0 C GND GND GND D Texas Instruments and/or its licensors do not warrant the accuracy or completeness of this specification or any information contained therein. Texas Instruments and/or its licensors do not warrant that this design will meet the specifications, will be suitable for your application or fit for any particular purpose, or will operate in an implementation. Texas Instruments and/or its licensors do not warrant that the design is product ion worthy. You should completely validate and test your design implementation to confirm the system functionality for your application. 1 2 3 4 D Designed for:Public Release Mod. Date: 3/13/2013 Project: Change in menu Project|Project Options|Parameters Sheet Title: Complete Schematic Sheet: 1 of 1 Size: B Schematic: 870PRJ_BasePN Rev: E1 Assembly Variant:001 File: DRV411_b.SchDoc Contact:http://www.ti.com/support 5 http://www.ti.com © Texas Instruments 2012 6 Figure 2. DRV411EVM Schematic SLVU772A – August 2013 – Revised November 2013 Submit Documentation Feedback DRV411EVM User's Guide Copyright © 2013, Texas Instruments Incorporated 5 DRV411EVM Schematic and Bill of Materials 5.2 www.ti.com DRV411EVM Bill of Materials Table 5 is the complete BOM for this EVM. Table 5. DRV411EVM Bill of Materials 6 Item Qty Ref Des Value Description Manufacturer Part Number 1 1 C1 0.01uF CAP CER 10000PF 50V 5% NP0 0805 Murata GRM2195C1H103JA01D 2 1 C2 1uF CAP CER 1UF 25V 10% X7R 0805 Taiyo Yuden TMK212B7105KG-T 3 0 C3, C4, C5 4 1 C6 CAP TANT 10UF 20V 20% 1210 AVX TPSB106M020R1000 5 4 D1, D2, D3, D4 DIODE SCHOTTKY 350MA SGL SOD-323, 40V ST Micro. BAT48JFILM 6 6 J1, J2, GSEL1, GSEL2, REFSEL1, REFSEL2 CONN HEADER VERT SGL 2POS GOLD 3M 961102-6404-AR 7 1 J3 CONN HEADER VERT SGL 3POS GOLD 3M 961103-6404-AR 8 1 J4 CONN HEADER 4POS 2MM VERT SMD 3M 951104-2530-AR-PR 9 2 VCC, GND JACK NON-INSULATED .218" Keystone 575-4 10 1 R1 1.00kohm RES 1.0K OHM 1/8W .1% 0805 SMD Susumu RG2012P-102-B-T5 11 1 R2 10.0 ohm RES 10.0 OHM 1W .1% 1206 Vishay PHP01206E10R0BST5 12 0 R3, R4 13 8 R5, R6, R7, R8, R9, R13, R14, R15 0ohm RES 0.0 OHM 1/8W 0805 SMD Vishay-Dale CRCW08050000Z0EA 14 6 R10, R11, R16, R17, R18, R19 10.0kohm RES 10.0K OHM 1/8W 1% 0805 SMD Vishay-Dale CRCW080510K0FKEA 15 1 R12 39.2 ohm RES 39.2 OHM 1/8W 1% 0805 SMD Vishay-Dale CRCW080539R2FKEA 16 10 IAIN1, IAIN2, ERROR, OR, VOUT, REFIN, GSEL1, GSEL2, REFSEL1, REFSEL2 TEST POINT PC COMPACT .063"D YLW Keystone 5009 17 2 VCC TEST POINT PC COMPACT .063"D RED Keystone 5005 18 6 GND TEST POINT PC COMPACT .063"D BLK Keystone 5006 19 1 U1 Hall Effect IC, QFN-20 Texas Instruments DRV411RGP 20 4 X1-pin sockets CONN SOCKET MINI SPRING TIN TE Connectivity 5050935-2 21 0 X1-device Not Installed 22 5 NA SHUNT LP W/HANDLE 2 POS 30AU TE Connectivity 881545-2 23 4 NA STANDOFF HEX 4-40THR ALUM 1"L Keystone 2205 24 4 NA MACHINE SCREW PAN PHILLIPS 4-40 B&F Fastener Supply PMSSS 440 0025 PH 25 1 NA Printed Circuit Board TI 6570099 Not Installed 10uF Not Installed DRV411EVM User's Guide SLVU772A – August 2013 – Revised November 2013 Submit Documentation Feedback Copyright © 2013, Texas Instruments Incorporated Related Documentation from Texas Instruments www.ti.com 6 Related Documentation from Texas Instruments DRV411 product data sheet, SBOS693 SLVU772A – August 2013 – Revised November 2013 Submit Documentation Feedback Copyright © 2013, Texas Instruments Incorporated DRV411EVM User's Guide 7 Revision History www.ti.com Revision History Changes from Original (August 2013) to A Revision ..................................................................................................... Page • • Added link for the DRV411 data sheet ................................................................................................ 2 Updated Gain_1, Gain_2, and Gain_3 descriptions ................................................................................. 4 NOTE: Page numbers for previous revisions may differ from page numbers in the current version. 8 Revision History SLVU772A – August 2013 – Revised November 2013 Submit Documentation Feedback Copyright © 2013, Texas Instruments Incorporated EVALUATION BOARD/KIT/MODULE (EVM) ADDITIONAL TERMS Texas Instruments (TI) provides the enclosed Evaluation Board/Kit/Module (EVM) under the following conditions: The user assumes all responsibility and liability for proper and safe handling of the goods. Further, the user indemnifies TI from all claims arising from the handling or use of the goods. Should this evaluation board/kit not meet the specifications indicated in the User’s Guide, the board/kit may be returned within 30 days from the date of delivery for a full refund. THE FOREGOING LIMITED WARRANTY IS THE EXCLUSIVE WARRANTY MADE BY SELLER TO BUYER AND IS IN LIEU OF ALL OTHER WARRANTIES, EXPRESSED, IMPLIED, OR STATUTORY, INCLUDING ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE. EXCEPT TO THE EXTENT OF THE INDEMNITY SET FORTH ABOVE, NEITHER PARTY SHALL BE LIABLE TO THE OTHER FOR ANY INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES. Please read the User's Guide and, specifically, the Warnings and Restrictions notice in the User's Guide prior to handling the product. This notice contains important safety information about temperatures and voltages. For additional information on TI's environmental and/or safety programs, please visit www.ti.com/esh or contact TI. No license is granted under any patent right or other intellectual property right of TI covering or relating to any machine, process, or combination in which such TI products or services might be or are used. TI currently deals with a variety of customers for products, and therefore our arrangement with the user is not exclusive. TI assumes no liability for applications assistance, customer product design, software performance, or infringement of patents or services described herein. REGULATORY COMPLIANCE INFORMATION As noted in the EVM User’s Guide and/or EVM itself, this EVM and/or accompanying hardware may or may not be subject to the Federal Communications Commission (FCC) and Industry Canada (IC) rules. For EVMs not subject to the above rules, this evaluation board/kit/module is intended for use for ENGINEERING DEVELOPMENT, DEMONSTRATION OR EVALUATION PURPOSES ONLY and is not considered by TI to be a finished end product fit for general consumer use. It generates, uses, and can radiate radio frequency energy and has not been tested for compliance with the limits of computing devices pursuant to part 15 of FCC or ICES-003 rules, which are designed to provide reasonable protection against radio frequency interference. Operation of the equipment may cause interference with radio communications, in which case the user at his own expense will be required to take whatever measures may be required to correct this interference. General Statement for EVMs including a radio User Power/Frequency Use Obligations: This radio is intended for development/professional use only in legally allocated frequency and power limits. Any use of radio frequencies and/or power availability of this EVM and its development application(s) must comply with local laws governing radio spectrum allocation and power limits for this evaluation module. It is the user’s sole responsibility to only operate this radio in legally acceptable frequency space and within legally mandated power limitations. Any exceptions to this are strictly prohibited and unauthorized by Texas Instruments unless user has obtained appropriate experimental/development licenses from local regulatory authorities, which is responsibility of user including its acceptable authorization. For EVMs annotated as FCC – FEDERAL COMMUNICATIONS COMMISSION Part 15 Compliant Caution This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. Changes or modifications not expressly approved by the party responsible for compliance could void the user's authority to operate the equipment. FCC Interference Statement for Class A EVM devices This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications. Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense. FCC Interference Statement for Class B EVM devices This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures: • Reorient or relocate the receiving antenna. • Increase the separation between the equipment and receiver. • Connect the equipment into an outlet on a circuit different from that to which the receiver is connected. • Consult the dealer or an experienced radio/TV technician for help. For EVMs annotated as IC – INDUSTRY CANADA Compliant This Class A or B digital apparatus complies with Canadian ICES-003. Changes or modifications not expressly approved by the party responsible for compliance could void the user’s authority to operate the equipment. Concerning EVMs including radio transmitters This device complies with Industry Canada licence-exempt RSS standard(s). Operation is subject to the following two conditions: (1) this device may not cause interference, and (2) this device must accept any interference, including interference that may cause undesired operation of the device. Concerning EVMs including detachable antennas Under Industry Canada regulations, this radio transmitter may only operate using an antenna of a type and maximum (or lesser) gain approved for the transmitter by Industry Canada. To reduce potential radio interference to other users, the antenna type and its gain should be so chosen that the equivalent isotropically radiated power (e.i.r.p.) is not more than that necessary for successful communication. This radio transmitter has been approved by Industry Canada to operate with the antenna types listed in the user guide with the maximum permissible gain and required antenna impedance for each antenna type indicated. Antenna types not included in this list, having a gain greater than the maximum gain indicated for that type, are strictly prohibited for use with this device. Cet appareil numérique de la classe A ou B est conforme à la norme NMB-003 du Canada. Les changements ou les modifications pas expressément approuvés par la partie responsable de la conformité ont pu vider l’autorité de l'utilisateur pour actionner l'équipement. Concernant les EVMs avec appareils radio Le présent appareil est conforme aux CNR d'Industrie Canada applicables aux appareils radio exempts de licence. L'exploitation est autorisée aux deux conditions suivantes : (1) l'appareil ne doit pas produire de brouillage, et (2) l'utilisateur de l'appareil doit accepter tout brouillage radioélectrique subi, même si le brouillage est susceptible d'en compromettre le fonctionnement. Concernant les EVMs avec antennes détachables Conformément à la réglementation d'Industrie Canada, le présent émetteur radio peut fonctionner avec une antenne d'un type et d'un gain maximal (ou inférieur) approuvé pour l'émetteur par Industrie Canada. Dans le but de réduire les risques de brouillage radioélectrique à l'intention des autres utilisateurs, il faut choisir le type d'antenne et son gain de sorte que la puissance isotrope rayonnée équivalente (p.i.r.e.) ne dépasse pas l'intensité nécessaire à l'établissement d'une communication satisfaisante. Le présent émetteur radio a été approuvé par Industrie Canada pour fonctionner avec les types d'antenne énumérés dans le manuel d’usage et ayant un gain admissible maximal et l'impédance requise pour chaque type d'antenne. Les types d'antenne non inclus dans cette liste, ou dont le gain est supérieur au gain maximal indiqué, sont strictement interdits pour l'exploitation de l'émetteur. SPACER SPACER SPACER SPACER SPACER SPACER SPACER SPACER 【Important Notice for Users of EVMs for RF Products in Japan】 】 This development kit is NOT certified as Confirming to Technical Regulations of Radio Law of Japan If you use this product in Japan, you are required by Radio Law of Japan to follow the instructions below with respect to this product: 1. 2. 3. Use this product in a shielded room or any other test facility as defined in the notification #173 issued by Ministry of Internal Affairs and Communications on March 28, 2006, based on Sub-section 1.1 of Article 6 of the Ministry’s Rule for Enforcement of Radio Law of Japan, Use this product only after you obtained the license of Test Radio Station as provided in Radio Law of Japan with respect to this product, or Use of this product only after you obtained the Technical Regulations Conformity Certification as provided in Radio Law of Japan with respect to this product. Also, please do not transfer this product, unless you give the same notice above to the transferee. Please note that if you could not follow the instructions above, you will be subject to penalties of Radio Law of Japan. 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It is intended solely for use for preliminary feasibility evaluation in laboratory/development environments by technically qualified electronics experts who are familiar with the dangers and application risks associated with handling electrical mechanical components, systems and subsystems. It should not be used as all or part of a finished end product. Your Sole Responsibility and Risk. You acknowledge, represent and agree that: 1. 2. 3. 4. You have unique knowledge concerning Federal, State and local regulatory requirements (including but not limited to Food and Drug Administration regulations, if applicable) which relate to your products and which relate to your use (and/or that of your employees, affiliates, contractors or designees) of the EVM for evaluation, testing and other purposes. You have full and exclusive responsibility to assure the safety and compliance of your products with all such laws and other applicable regulatory requirements, and also to assure the safety of any activities to be conducted by you and/or your employees, affiliates, contractors or designees, using the EVM. Further, you are responsible to assure that any interfaces (electronic and/or mechanical) between the EVM and any human body are designed with suitable isolation and means to safely limit accessible leakage currents to minimize the risk of electrical shock hazard. Since the EVM is not a completed product, it may not meet all applicable regulatory and safety compliance standards (such as UL, CSA, VDE, CE, RoHS and WEEE) which may normally be associated with similar items. You assume full responsibility to determine and/or assure compliance with any such standards and related certifications as may be applicable. You will employ reasonable safeguards to ensure that your use of the EVM will not result in any property damage, injury or death, even if the EVM should fail to perform as described or expected. You will take care of proper disposal and recycling of the EVM’s electronic components and packing materials. Certain Instructions. It is important to operate this EVM within TI’s recommended specifications and environmental considerations per the user guidelines. Exceeding the specified EVM ratings (including but not limited to input and output voltage, current, power, and environmental ranges) may cause property damage, personal injury or death. If there are questions concerning these ratings please contact a TI field representative prior to connecting interface electronics including input power and intended loads. Any loads applied outside of the specified output range may result in unintended and/or inaccurate operation and/or possible permanent damage to the EVM and/or interface electronics. Please consult the EVM User's Guide prior to connecting any load to the EVM output. If there is uncertainty as to the load specification, please contact a TI field representative. During normal operation, some circuit components may have case temperatures greater than 60°C as long as the input and output are maintained at a normal ambient operating temperature. These components include but are not limited to linear regulators, switching transistors, pass transistors, and current sense resistors which can be identified using the EVM schematic located in the EVM User's Guide. When placing measurement probes near these devices during normal operation, please be aware that these devices may be very warm to the touch. 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