Freescale Semiconductor RS08 User manual

RS08
Microcontrollers
freescale.com
DRM079
Rev. 0
5/2006
Designer Reference Manual
Variable Speed DC Fan Control
using the MC9RS08KA2

Variable Speed DC Fan Control using the MC9RS08KA2, Rev. 0
Freescale Semiconductor 3
Variable Speed DC Fan Control using the MC9RS08KA2
Designer Reference Manual
by: Vincent Ko
Freescale Semiconductor, Inc.
Hong Kong
To provide the most up-to-date information, the revision of our documents on the World Wide Web will be
the most current. Your printed copy may be an earlier revision. To verify that you have the latest
information available, refer to http://www.freescale.com
The following revision history table summarizes changes contained in this document. For your
convenience, the page number designators have been linked to the appropriate location.
Revision History
Date Revision
Level Description Page Number(s)
05/2006 0 Initial release N/A

Revision History
Variable Speed DC Fan Control using the MC9RS08KA2, Rev. 0
4Freescale Semiconductor

Variable Speed DC Fan Control using the MC9RS08KA2, Rev. 0
Freescale Semiconductor 5
Table of Contents
Chapter 1
Introduction
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2 Freescale’s New Generation Ultra Low Cost MCU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3 DC Fan Reference Design Targets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.4 Bi-Phase BLDC Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 2
Motor Control
2.1 Commutation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2 Rotor Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.3 Commutation Waveforms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.4 Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.5 Motor Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.6 Fault Detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Chapter 3
Implementation
3.1 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.2 Hardware Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.3 Control Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.4 Temperature Sensor Measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.4.1 Temperature Conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Appendix A.
Schematic
Appendix B.
Program Listing

Table of Contents
Variable Speed DC Fan Control using the MC9RS08KA2, Rev. 0
6Freescale Semiconductor

Variable Speed DC Fan Control using the MC9RS08KA2, Rev. 0
Freescale Semiconductor 7
Chapter 1
Introduction
1.1 Introduction
This document describes the implementation of a DC brushless fan controller using the Freescale ultra
low cost MC9RS08KA2 8-bit microcontroller (MCU). The design contains a temperature sensor the MCU
reads with control on fan speed against the ambient temperature. Complete coding and schematic are
included.
Figure 1-1. The MC9RS08KA2 DC Fan Reference Design
The DC fan used is a brushless DC motor fan. It is widely used in chip cooling or system ventilation
applications. In the market, most of the DC fans are of the constant air flow design. As the high
performance electronic products continue to increase, cooling requirement becomes more and more
sophisticated. MCU approach provides a cost effective solution to this application. There are several
advantages of a MCU based design over traditional solutions.
1. Instead of having a constant air flow the MCU provides enough processing power to modify the fan
speed according to environment changes such as the temperature of the target system.
2. Fault detection can easily be implemented by the MCU. For example, the MCU can detect for the
air flow blocking or motor jam, the motor driver can be stopped completely to avoid further damage.
3. Buzzer alarm or digital output acknowledgement can be generated under the faulty situation.
The MCU chosen for this purpose must be low cost and it must provide small geometry package to
integrate into the fan controller printed circuit board (PCB). The MC9RS08KA2 is ideal for this application.
MC9RS08KA2
MCU IN 8-PIN NARROW BODY
SOIC PACKAGE
BUZZER
VARIABLE RESISTOR
(TO EMULATE A TEMPERATURE SENSOR)

Introduction
Variable Speed DC Fan Control using the MC9RS08KA2, Rev. 0
8Freescale Semiconductor
1.2 Freescale’s New Generation Ultra Low Cost MCU
The MC9RS08KA2 microcontroller unit (MCU) is an extremely low cost, small pin count device for home
appliances, toys, and small geometry applications, such as a DC fan controller. This device is composed
of standard on-chip modules including a very small and highly efficient RS08 CPU core, 62 bytes RAM,
2K bytes FLASH, an 8-bit modulo timer, keyboard interrupt, and analog comparator. The device is
available in small 6- and 8-pin packages.
Features of the MC9RS08KA2 include:
• 8-bit RS08 core
– Up to 10 MHz (bus frequency) at 1.8V for 100 ns minimum instruction time
– RS08 instruction set
– Supports tiny/short address mode
– 14-byte fast-access RAM
– Allows emulation of HC08/HCS08 zero-offset index addressing mode instructions
• Third-generation Flash and RAM (extremely fast, byte writable programming)
– 63 Byte RAM
– 2K Byte Flash
• Flexible clock options
• 4 Bidirectional I/O lines with software selectable pull-up (eliminates need for external resistors)
• Analog comparator
• Real time interrupt
• 8-bit timer with 8-bit prescale
• System protection
– Resets in instance of runaways or corrupted code
– Low voltage detection
– Illegal opcode and illegal address detection
– Flash security feature
• Single wire debugging and emulation interface; eliminates need for expensive emulation tools or
development hardware
1.3 DC Fan Reference Design Targets
Table 1-1. Design Targets
Item Requirement
Motor Type Bi-phase BLDC motor
Fan Dimensions 60mm x 60mm x 25mm
Operating Voltage 12V
Current Rating 0.18A (max.)
Speed 1000 to 4000 RPM
Temperature Feedback Yes
Fault Detection Air flow blocking (motor jam)
Fault Notification Buzzer alarm

Bi-Phase BLDC Motor
Variable Speed DC Fan Control using the MC9RS08KA2, Rev. 0
Freescale Semiconductor 9
1.4 Bi-Phase BLDC Motor
The brushless DC motor (BLDC) design for DC fan is commonly consist of a permanent magnet attached
on the rotor and the stator phase coil windings are mounted on the motor shaft as illustrated in Figure 1-2.
The BLDC has no brushes on the rotor and the commutation is performed electronically at certain rotor
positions.
Figure 1-2. Bi-Phase BLDC Motor Diagram
Fan Hub
Permanent
Magnets
Axle
Hall Effect
Sensor Stator
Coil

Introduction
Variable Speed DC Fan Control using the MC9RS08KA2, Rev. 0
10 Freescale Semiconductor

Commutation
Variable Speed DC Fan Control using the MC9RS08KA2, Rev. 0
Freescale Semiconductor 11
Chapter 2
Motor Control
2.1 Commutation
The typical bi-phase BLDC has one pole-pair per phase. Each commutation rotates the rotor by 90
degrees and four commutation steps complete a mechanical revolution. Each pole-pair is implemented
by two coils, with four coils in total for a bi-phase motor. Energizing a pair of coils, either coil A & C or coil
B & D as shown in Figure 2-1, induces magnetic fields that push the equal polarity rotor magnets away
from the energized coils and at the same time the opposite polarity rotor magnets are pulled toward the
coils. Rotation starts and this is called a commutation step. When the rotor magnetic pole is aligned with
the energized coils, the coils are deactivated and the previously un-energized pair of coils are then
energized. As the magnetic field switches to the next motor position or pole, the inertia of the rotor keeps
the motor running. As a result, two commutation steps moves the rotor by 180 degrees or one motor
phase. One mechanical revolution is contributed by four commutation steps.
To avoid conflict to the magnetic field, adjacent coils cannot be energized at the same time. Dead-time,
where all coils are un-energized must be added between each commutation step.
Figure 2-1. Bi-phase BLDC Motor Schematic
2.2 Rotor Position Control
The key idea to prevent a motor lockup concerns rotor position detection. The time to switch the
commutation is critical. Energizing coil-pair for too long will kill the rotor inertia and the motor stops
running. This is called motor lockup. Switching the commutation too soon will lose control to the rotor and
eventually stall the motor. The rotor position in this design is determined by a hall sensor which will
respond to the change in magnetic field. Hall sensor output toggles when the magnetic field changes its
polarity. Positioning the hall sensor between the coils at 45 degree to the stator coils, as shown in
Figure 2-1, can effectively detect the rotor position. In this case the hall sensor output toggles when the
rotor magnets is aligned to the coils. Commutation should switch at this time from one coil-pair to the next
coil-pair.
N
S
S
N
L1
L1
L2
L2
HALL
Coil A
Coil C
Coil B
Coil D

Motor Control
Variable Speed DC Fan Control using the MC9RS08KA2, Rev. 0
12 Freescale Semiconductor
2.3 Commutation Waveforms
In general, in a bi-phase motor design, alternate coils are tied together and give a single connection to
the driver. In this design, the driver connection for coil A and coil C is called L1 (see Figure 2-1). Similarly,
the driver connection for coil B and coil D is called L2. Driving to either of the connections will energize a
coil-pair. The commutation waveform is shown in Figure 2-2. The coil driving period is aligned with the
Hall sensor output. When the sensor output toggles, coil driving is stopped, the coils are de-energized for
a period of time before the next coil-pair is energized.
Figure 2-2. Bi-Phase BLDC Motor Commutation Waveform
2.4 Speed Control
Motor speed is normally defined as the mechanical revolution per one minute of time (rpm). In electrical
terms, one commutation contributes to 90 degrees of a revolution. Thus, control the time taken per
commutation can effectively control the overall speed. One commutation step includes a dead-time
(where the coils are not energized) and the coils energization time. The whole commutation period could
be considered as a pulse width modulation (PWM) output cycle. The PWM period defines the motor speed
in this case. The coils energization time is, in fact, the PWM driving period which is defined by the time
that the coils are energized until the Hall sensor is toggled. The Hall sensor output indicates the position
of the rotor and defines the time to switch to the next commutation step.
In this design the motor speed or the PWM period is continuously monitored. It is a closed-loop control
design. If the motor speed is faster (PWM period is shorter) than the target value, the dead-time duration
is extended until the target PWM period is reached. Similarly, when the motor speed is slower than the
target value, the dead-time duration is shortened.
The rotor starts off at the slowest speed. Shortening the dead-time causes the coils to energize earlier
and the rotor is pushed/pulled to the next pole position sooner, causing motor speed to increase. Similarly,
when the dead-time is extended the rotor hangs loose for a longer time before it is pushed/pulled to the
next pole position. As a result the motor speed decreases. The target motor speed against temperature
is predefined. It is updated periodically based on the information from the temperature sensor.
t
t
t
L1
L2
Hall
Output
Dead
Zone
Dead
Zone
Dead
Zone
Dead
Zone
Dead
Zone
90° of rotation

Motor Startup
Variable Speed DC Fan Control using the MC9RS08KA2, Rev. 0
Freescale Semiconductor 13
Dramatic changes in the dead-time value will cause the motor to stall. In this design a software loop in the
MCU will control the dead-time variation. Even with the dramatic change in the temperature sensor
reading, the software loop will only allow the dead-time to change to the new value gradually.
2.5 Motor Startup
In this DC fan application, it is desirable to only allow the motor to operate in an uni-direction, such that
the airflow to the target system will always be in one direction. With the bi-phase motor design it is difficult
to guarantee the direction of rotation. Commutation order or the coil energizing sequence happens to be
the same for both directions of rotation. The rotor position or axis must initially be known in order to
guarantee the direction of rotation. When the first commutation step is activated where the adjacent
coil-pair to the initial axis is energized, the rotor starts to move. Since the adjacent coil-pairs are
connected together and energized at the same time, there are equal pulling/pushing force induced on the
rotor in both directions. There is chance for the rotor to startup in either direction. It is necessary to monitor
the initial direction of rotation. If the direction is not correct, the motor must be locked back to the startup
axis again and the commutation step repeated. The direction of rotation can be detected by the Hall
sensor output. If the initial rotor axis is known, the output edge polarity, rising edge or falling edge,
determines the direction of rotation.
In the modern bi-phase motor design the direction of rotation is normally defined by the manufacturer. The
stator design is not symmetric such that the motor will have a high tendency to rotate in one direction than
the other. However, the direction of rotation cannot be guaranteed without proper monitoring techniques
in place.
2.6 Fault Detection
Motor fault is identified as the rotor not moving, which is normally the case when the rotor is jammed (may
be cause by blocked airflow). During each commutation step, the Hall sensor output is monitored. If it is
not toggled within a defined duration, commutation sequence is terminated, all coils are de-energized. In
this design, when a motor fault occurs, a buzzer is activated as the alarm.

Motor Control
Variable Speed DC Fan Control using the MC9RS08KA2, Rev. 0
14 Freescale Semiconductor

Block Diagram
Variable Speed DC Fan Control using the MC9RS08KA2, Rev. 0
Freescale Semiconductor 15
Chapter 3
Implementation
3.1 Block Diagram
The block diagram of the DC fan design is illustrated in Figure 3-1. A 12V low cost bi-phase BLDC motor
is used in this application. The MCU performs alternate outputs to the two NPN transistors that drive the
motor coils. Open drain output Hall sensor is required and positioned close the rotor. The device responds
to magnetic field changes during the motor operation, digitizing output feedback of the rotor position to
the MCU for close loop motor control and fault detection. Ambient temperature information is measured
from an external temperature sensor. In the faulty situation, such as motor jam, the buzzer alarm is driven
by the MCU through a pulse width modulated (PWM) output.
Figure 3-1. DC Fan Design Block Diagram
3.2 Hardware Resources
In this application, the low cost MC9RS08KA2 MCU is used. The device has a built-in 8-bit modulo timer
which is used to control the timing for the PWM drive. Bus frequency is chosen to be 4MHz. The design
target for the maximum motor speed is 4000 rpm, the timer must have enough resolution to measure the
shortest PWM period that is less the 3.75ms per commutation step. Timer prescalar is selected as 256
and the timer resolution becomes 64µs.
Table 3-1. Hardware Configuration
Bus Frequency 4MHz
Timer Clock for motor speed monitoring 4MHz/256 = 16kHz
Timer Resolution 64µs
BI-PHASE
MOTOR
HALL
VOLTAGE
REGULATION
12V
+
–TEMP
SENSOR
RC
BUZZER
MC9RS08KA2
VDD
L1
L2
PTA2
PTA4
PTA5
PTA3
ACMP+
ACMP–

Implementation
Variable Speed DC Fan Control using the MC9RS08KA2, Rev. 0
16 Freescale Semiconductor
Hall sensor output is connected to the MCU’s GPIO port, PTA2, which has a programmable edge trigger
keyboard interrupt (KBI). The programmable edge trigger feature provides an effective way to monitor the
Hall sensor signal. As mentioned in the previous section, the direction of rotation can be detected by the
polarity of the Hall sensor output edge. Monitoring the signal edge is achieved by altering the KBI edge
trigger polarity for each commutation step.
Ambient temperature reading is taken from a temperature sensor which is equivalent to a diode.
Temperature variation alters the diode channel current as well as the effective channel resistance. The
temperature sensor is combined with a 7.5kΩ resistor in a potential divider arrangement. The built-in
analog comparator is used to compare the temperature sensor ladder voltage with an defined RC network
to deduce the absolute temperature.
As described in the previous section, the motor speed is controlled by varying the absolute dead-time.
This is updated every 128ms in the application. As in all RS08/S08 devices, the MC9RS08KA2 MCU has
a programmable real time interrupt (RTI) feature. In this case, it is used to notify the MCU to refresh the
target PWM period every 128ms.
3.3 Control Loop
Figure 3-2 shows the firmware control loop flow chart. The KBI or Hall sensor output is continuously
monitored for trigger signals within a defined time. A motor fault condition occurs when there are no trigger
signal, and the firmware goes into a forever loop. Commutation is stopped and the buzzer is alarmed.
The target PWM period based on the temperature sensor reading is updated every 128ms. And on each
180 degrees rotation of the rotor (two commutation steps) the actual PWM period is compared with the
target PWM period. If they are different, the absolute dead-time will be altered, and the actual PWM period
will gradually change towards the target PWM period.
On each commutation step, reading of the temperature sensor contributes a delay to the actual dead-time
duration. This delay is deterministic such that the software control loop can easily deduce the actual
speed of the motor. Hence, this delay can be considered as a part of the total dead-time delay for each
commutation.

Control Loop
Variable Speed DC Fan Control using the MC9RS08KA2, Rev. 0
Freescale Semiconductor 17
Figure 3-2. Firmware Control Loop
START
TargetPWMPeriod = Longest
ActualPWMPeriod = Longest
Drive L1
De-energized coils = DeadTime
Drive L2
Read Temp. Sensor
Read Temp. Sensor
128ms?
Update TargetPWMPeriod
Increment DeadTime
Target >
Actual?
Target =
Actual?
De-energized coils = DeadTime
N
Y
Y
NN
Y
During the dead time delay update PWM period for the next commutation
Modify Target PWM period value
every 128ms based on temperature
Hall
Edge?
Y
N
Energize L1 / L2
De-energize Coils
Timeout?
De-energize Coils
Sound Buzzer
N
Y
Fault
condition
detected.
Continuously monitor the hall sensor output
reading
Start Timer
Stop Timer
Record DriveTime
ActualPWMPeriod =
DriveTime + DeadTime
Decrement DeadTime

Implementation
Variable Speed DC Fan Control using the MC9RS08KA2, Rev. 0
18 Freescale Semiconductor
3.4 Temperature Sensor Measurement
The temperature sensor measurement is performed based on the methodology of an emulated ADC
described in the application note, AN3266 “Getting Started with RS08”.
Figure 3-3. Emulated ADC Schematic
The schematic of the emulated ADC in this application is shown in Figure 3-3. The ADC input is the
temperature sensor resistor ladder. When the comparator is not measuring, the capacitor, C, is fully
discharged where the positive terminal of the comparator is pulling low. When the temperature sensor
measurement is required, the comparator is then enabled and the terminal turns to analog input, voltage
across C starts to ramp up. The 8-bit internal modulo timer is used to monitor the time taken for the RC
to charge to a level that matches the voltage across the temperature sensor. The timer counter value is
captured and used as the basis for the emulated ADC conversion.
With a 10kΩtemperature sensor and 7.5kΩpullup resistor the ADC absolute dynamic range is from 0V
to about 0.57 ×VDD, i.e. about 2.85V. Timer clock is chosen to be eight times slower than the bus clock,
the timer resolution becomes 2µs. The RC charging profile follows EQ 3-1. Given the RC constant is
4K7Ω×22nF the timer counter value against the temperature sensor reading with 5V VDD is shown in
Table 3-2.
(EQ 3-1)
+
–
MCU BOUNDARY
VDD
ON-CHIP
COMPARATOR
22nF
C
4k7
RVDD
7k5
10k
TEMP SENSOR
VV
DD 1e
t
RC
--------–
–
⎝⎠
⎜⎟
⎛⎞
=

Temperature Sensor Measurement
Variable Speed DC Fan Control using the MC9RS08KA2, Rev. 0
Freescale Semiconductor 19
Table 3-2 shows the entire dynamic range of the temperature sensor voltage can be covered by about 44
timer counts. For convenience, the timer overflow period is set to 63, which is identical to the size of the
paging window ($00C0 to $00FF) in the MC9RS08KA2. The timer value captured can be used directly as
an index to the paging window for the target PWM period value lookup.
The code below shows how the timer value is captured using RS08 instructions.
ReadSensor:
mov #(MTIM_BUS_CLK|MTIM_DIV_8), MTIMCLK; Change Timer resolution
mov #63, MTIMMOD ; OF period
mov #(mMTIMSC_TRST|mMTIMSC_TOIE), MTIMSC; Reset and Start Timer
mov #(mACMPSC_ACME|mACMPSC_ACIE|ACMP_OUTPUT_RAISING), ACMPSC
; Enable ACMP, start RC rise
bset ACMPSC_ACF, ACMPSC ; Clear ACMP Flag
wait
brclr ACMPSC_ACF, ACMPSC, NoReading
mov MTIMCNT, SensorReading ; Capture timer count
bset ACMPSC_ACF, ACMPSC ; Clear ACMP Flag
clr ACMPSC ; disable ACMP
wait ; delay to OF and make the
; read process deterministic
mov #(mMTIMSC_TSTP|mMTIMSC_TRST), MTIMSC; mask interrupt and clear
; flag
mov #(MTIM_BUS_CLK|MTIM_DIV_256), MTIMCLK; Reset Timer resolution
rts
NoReading:
mov #$00, SensorReading ; Smallest Number
clr ACMPSC ; disable ACMP
mov #(mMTIMSC_TSTP|mMTIMSC_TRST), MTIMSC ; mask interrupt and clear
; flag
mov #(MTIM_BUS_CLK|MTIM_DIV_256), MTIMCLK; Reset Timer resolution
rts
Table 3-2. RC Charging Profile Against Timer Count
Time (µs) Voltage across the
Temperature Sensor (V)
ADC Readout
(Timer Count)
00 0
20.10 1
40.19 2
60.28 3
and so on...
86 2.82 43
88 2.87 44
90 2.91 45
and so on...
126 3.52 63

Implementation
Variable Speed DC Fan Control using the MC9RS08KA2, Rev. 0
20 Freescale Semiconductor
As described in the previous section the overall dead-time duration should be deterministic, the double
WAIT statements in the subroutine can ensure the execution time to be mostly constant. When the MCU
is woken up from the first WAIT (which is normally triggered by the comparator), the timer counter value
is captured and the MCU is then returned to WAIT mode until the timer is overflowed. The subroutine
execution time would be equivalent to the timer overflow period (~128µs) plus some software overhead.
3.4.1 Temperature Conversion
In general, the channel resistance of the temperature sensor reduces as the temperature increases. The
corresponding channel resistance against temperature can usually be retrieved from the sensor data
sheet. For this application the operating temperature range is defined from 25°C to 100°C. When the
ambient temperature is 100°C or above the motor is at maximum speed. The speed drops as the
temperature decreases in 5°C steps. Given the sensor channel resistance values the voltage across the
sensor can be calculated. The corresponding motor speed for a specific temperature range are also
defined and shown in Table 3-3.
EQ 3-2 shows how the target PWM period value is calculated. The target value is compared with the
measured PWM period every 180 degrees of rotation. The ADC readout delay is considered as constant,
therefore, it is omitted from the motor speed measurement and should be deducted from the target period
calculation, too.
(EQ 3-2)
The timer resolution used in the application is 64µs, the ADC readout time contributes a constant delay
to the overall PWM period, which is ~128µs in this application. The target PWM period used for motor
speed control is shown in Table 3-3. The table is stored in the upper memory (FLASH). In RS08
architecture upper memory access is done through the paging window (address $00C0 to $00FF) where
the PAGESEL register is defining the page to be accessed. Simple table lookup method which uses the
captured timer value from the temperature sensor readout as an index in the paging window for the target
PWM period conversion.
For software implementation, the target motor speed must be deduced in terms of timer counts, where it
is used as the target PWM period per commutation. By using Table 3-2 and Table 3-3, a look-up table
can be constructed where the ADC readout value is used as an index to retrieve the target PWM period
for a specific temperature range.
TetPWMPeriodarg
60 RPM⁄4
---------------------- A D C D e l a y–
TimerResolution
----------------------------------------------------------=