Features • High-performance, Low-power AVR® 8-bit Microcontroller • Advanced RISC Architecture • • • • • • • • – 131 Powerful Instructions – Most Single-clock Cycle Execution – 32 x 8 General Purpose Working Registers – Fully Static Operation – Up to 16 MIPS Throughput at 16 MHz – On-chip 2-cycle Multiplier Nonvolatile Program and Data Memories – 16K Bytes of In-System Self-Programmable Flash Endurance: 10,000 Write/Erase Cycles – Optional Boot Code Section with Independent Lock Bits In-System Programming by On-chip Boot Program True Read-While-Write Operation – 512 Bytes EEPROM Endurance: 100,000 Write/Erase Cycles – 1K Byte Internal SRAM – Programming Lock for Software Security JTAG (IEEE std. 1149.1 Compliant) Interface – Boundary-scan Capabilities According to the JTAG Standard – Extensive On-chip Debug Support – Programming of Flash, EEPROM, Fuses, and Lock Bits through the JTAG Interface Peripheral Features – Two 8-bit Timer/Counters with Separate Prescalers and Compare Modes – One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and Capture Mode – Real Time Counter with Separate Oscillator – Four PWM Channels – 8-channel, 10-bit ADC 8 Single-ended Channels 7 Differential Channels in TQFP Package Only 2 Differential Channels with Programmable Gain at 1x, 10x, or 200x – Byte-oriented Two-wire Serial Interface – Programmable Serial USART – Master/Slave SPI Serial Interface – Programmable Watchdog Timer with Separate On-chip Oscillator – On-chip Analog Comparator Special Microcontroller Features – Power-on Reset and Programmable Brown-out Detection – Internal Calibrated RC Oscillator – External and Internal Interrupt Sources – Six Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, Standby and Extended Standby I/O and Packages – 32 Programmable I/O Lines – 40-pin PDIP, 44-lead TQFP, and 44-pad MLF Operating Voltages – 2.7 - 5.5V for ATmega16L – 4.5 - 5.5V for ATmega16 Speed Grades – 0 - 8 MHz for ATmega16L – 0 - 16 MHz for ATmega16 Power Consumption @ 1 MHz, 3V, and 25°C for ATmega16L – Active: 1.1 mA – Idle Mode: 0.35 mA – Power-down Mode: < 1 µA 8-bit Microcontroller with 16K Bytes In-System Programmable Flash ATmega16 ATmega16L Preliminary Summary Rev. 2466FS–AVR–02/03 Note: This is a summary document. A complete document is available on our web site at www.atmel.com . 1 Pin Configurations Figure 1. Pinouts ATmega16 PDIP (XCK/T0) PB0 (T1) PB1 (INT2/AIN0) PB2 (OC0/AIN1) PB3 (SS) PB4 (MOSI) PB5 (MISO) PB6 (SCK) PB7 RESET VCC GND XTAL2 XTAL1 (RXD) PD0 (TXD) PD1 (INT0) PD2 (INT1) PD3 (OC1B) PD4 (OC1A) PD5 (ICP) PD6 PA0 (ADC0) PA1 (ADC1) PA2 (ADC2) PA3 (ADC3) PA4 (ADC4) PA5 (ADC5) PA6 (ADC6) PA7 (ADC7) AREF GND AVCC PC7 (TOSC2) PC6 (TOSC1) PC5 (TDI) PC4 (TDO) PC3 (TMS) PC2 (TCK) PC1 (SDA) PC0 (SCL) PD7 (OC2) PB4 (SS) PB3 (AIN1/OC0) PB2 (AIN0/INT2) PB1 (T1) PB0 (XCK/T0) GND VCC PA0 (ADC0) PA1 (ADC1) PA2 (ADC2) PA3 (ADC3) TQFP/MLF (MOSI) PB5 (MISO) PB6 (SCK) PB7 RESET VCC GND XTAL2 XTAL1 (RXD) PD0 (TXD) PD1 (INT0) PD2 (INT1) (OC1B) (OC1A) (ICP) (OC2) PD3 PD4 PD5 PD6 PD7 VCC GND (SCL) PC0 (SDA) PC1 (TCK) PC2 (TMS) PC3 PA4 (ADC4) PA5 (ADC5) PA6 (ADC6) PA7 (ADC7) AREF GND AVCC PC7 (TOSC2) PC6 (TOSC1) PC5 (TDI) PC4 (TDO) Disclaimer 2 Typical values contained in this data sheet are based on simulations and characterization of other AVR microcontrollers manufactured on the same process technology. Min and Max values will be available after the device is characterized. ATmega16(L) 2466FS–AVR–02/03 ATmega16(L) Overview The ATmega16 is a low-power CMOS 8-bit microcontroller based on the AVR enhanced RISC architecture. By executing powerful instructions in a single clock cycle, the ATmega16 achieves throughputs approaching 1 MIPS per MHz allowing the system designer to optimize power consumption versus processing speed. Block Diagram Figure 2. Block Diagram PA0 - PA7 PC0 - PC7 PORTA DRIVERS/BUFFERS PORTC DRIVERS/BUFFERS PORTA DIGITAL INTERFACE PORTC DIGITAL INTERFACE VCC GND AVCC MUX & ADC ADC INTERFACE TWI AREF PROGRAM COUNTER STACK POINTER PROGRAM FLASH SRAM TIMERS/ COUNTERS OSCILLATOR INTERNAL OSCILLATOR XTAL1 INSTRUCTION REGISTER GENERAL PURPOSE REGISTERS WATCHDOG TIMER OSCILLATOR XTAL2 X INSTRUCTION DECODER Y MCU CTRL. & TIMING RESET Z CONTROL LINES ALU INTERRUPT UNIT AVR CPU STATUS REGISTER EEPROM PROGRAMMING LOGIC SPI USART + - INTERNAL CALIBRATED OSCILLATOR COMP. INTERFACE PORTB DIGITAL INTERFACE PORTD DIGITAL INTERFACE PORTB DRIVERS/BUFFERS PORTD DRIVERS/BUFFERS PB0 - PB7 PD0 - PD7 3 2466FS–AVR–02/03 The AVR core combines a rich instruction set with 32 general purpose working registers. All the 32 registers are directly connected to the Arithmetic Logic Unit (ALU), allowing two independent registers to be accessed in one single instruction executed in one clock cycle. The resulting architecture is more code efficient while achieving throughputs up to ten times faster than conventional CISC microcontrollers. The ATmega16 provides the following features: 16K bytes of In-System Programmable Flash Program memory with Read-While-Write capabilities, 512 bytes EEPROM, 1K byte SRAM, 32 general purpose I/O lines, 32 general purpose working registers, a JTAG interface for Boundary-scan, On-chip Debugging support and programming, three flexible Timer/Counters with compare modes, Internal and External Interrupts, a serial programmable USART, a byte oriented Two-wire Serial Interface, an 8-channel, 10-bit ADC with optional differential input stage with programmable gain (TQFP package only), a programmable Watchdog Timer with Internal Oscillator, an SPI serial port, and six software selectable power saving modes. The Idle mode stops the CPU while allowing the USART, Two-wire interface, A/D Converter, SRAM, Timer/Counters, SPI port, and interrupt system to continue functioning. The Power-down mode saves the register contents but freezes the Oscillator, disabling all other chip functions until the next External Interrupt or Hardware Reset. In Power-save mode, the Asynchronous Timer continues to run, allowing the user to maintain a timer base while the rest of the device is sleeping. The ADC Noise Reduction mode stops the CPU and all I/O modules except Asynchronous Timer and ADC, to minimize switching noise during ADC conversions. In Standby mode, the crystal/resonator Oscillator is running while the rest of the device is sleeping. This allows very fast start-up combined with low-power consumption. In Extended Standby mode, both the main Oscillator and the Asynchronous Timer continue to run. The device is manufactured using Atmel’s high density nonvolatile memory technology. The On-chip ISP Flash allows the program memory to be reprogrammed in-system through an SPI serial interface, by a conventional nonvolatile memory programmer, or by an On-chip Boot program running on the AVR core. The boot program can use any interface to download the application program in the Application Flash memory. Software in the Boot Flash section will continue to run while the Application Flash section is updated, providing true Read-While-Write operation. By combining an 8-bit RISC CPU with In-System Self-Programmable Flash on a monolithic chip, the Atmel ATmega16 is a powerful microcontroller that provides a highly-flexible and cost-effective solution to many embedded control applications. The ATmega16 AVR is supported with a full suite of program and system development tools including: C compilers, macro assemblers, program debugger/simulators, In-Circuit Emulators, and evaluation kits. Pin Descriptions VCC Digital supply voltage. GND Ground. Port A (PA7..PA0) Port A serves as the analog inputs to the A/D Converter. Port A also serves as an 8-bit bi-directional I/O port, if the A/D Converter is not used. Port pins can provide internal pull-up resistors (selected for each bit). The Port A output buffers have symmetrical drive characteristics with both high sink and source capability. When pins PA0 to PA7 are used as inputs and are externally pulled low, they will source current if the internal pull-up resistors are activated. The Port A pins are tri-stated when a reset condition becomes active, even if the clock is not running. 4 ATmega16(L) 2466FS–AVR–02/03 ATmega16(L) Port B (PB7..PB0) Port B is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The Port B output buffers have symmetrical drive characteristics with both high sink and source capability. As inputs, Port B pins that are externally pulled low will source current if the pull-up resistors are activated. The Port B pins are tri-stated when a reset condition becomes active, even if the clock is not running. Port B also serves the functions of various special features of the ATmega16 as listed on page 56. Port C (PC7..PC0) Port C is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The Port C output buffers have symmetrical drive characteristics with both high sink and source capability. As inputs, Port C pins that are externally pulled low will source current if the pull-up resistors are activated. The Port C pins are tri-stated when a reset condition becomes active, even if the clock is not running. If the JTAG interface is enabled, the pull-up resistors on pins PC5(TDI), PC3(TMS) and PC2(TCK) will be activated even if a reset occurs. Port C also serves the functions of the JTAG interface and other special features of the ATmega16 as listed on page 59. Port D (PD7..PD0) Port D is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The Port D output buffers have symmetrical drive characteristics with both high sink and source capability. As inputs, Port D pins that are externally pulled low will source current if the pull-up resistors are activated. The Port D pins are tri-stated when a reset condition becomes active, even if the clock is not running. Port D also serves the functions of various special features of the ATmega16 as listed on page 61. RESET Reset Input. A low level on this pin for longer than the minimum pulse length will generate a reset, even if the clock is not running. The minimum pulse length is given in Table 15 on page 36. Shorter pulses are not guaranteed to generate a reset. XTAL1 Input to the inverting Oscillator amplifier and input to the internal clock operating circuit. XTAL2 Output from the inverting Oscillator amplifier. AVCC AVCC is the supply voltage pin for Port A and the A/D Converter. It should be externally connected to VCC, even if the ADC is not used. If the ADC is used, it should be connected to VCC through a low-pass filter. AREF AREF is the analog reference pin for the A/D Converter. About Code Examples This documentation contains simple code examples that briefly show how to use various parts of the device. These code examples assume that the part specific header file is included before compilation. Be aware that not all C Compiler vendors include bit definitions in the header files and interrupt handling in C is compiler dependent. Please confirm with the C Compiler documentation for more details. 5 2466FS–AVR–02/03 Register Summary Address Name Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 $3F ($5F) SREG I T H S V N Z C 7 $3E ($5E) SPH – – – – – SP10 SP9 SP8 10 SP4 SP3 SP2 SP1 SP0 10 – – – IVSEL IVCE 46, 66 $3D ($5D) SPL $3C ($5C) OCR0 $3B ($5B) GICR INT1 INT0 82 INT2 $3A ($5A) GIFR INTF1 INTF0 INTF2 – – – – – 67 $39 ($59) TIMSK OCIE2 TOIE2 TICIE1 OCIE1A OCIE1B TOIE1 OCIE0 TOIE0 82, 113, 131 $38 ($58) TIFR OCF2 TOV2 ICF1 OCF1A OCF1B TOV1 OCF0 TOV0 83, 114, 132 $37 ($57) SPMCR SPMIE RWWSB – RWWSRE BLBSET PGWRT PGERS SPMEN 250 $36 ($56) TWCR TWINT TWEA TWSTA TWSTO TWWC TWEN – TWIE 179 $35 ($55) MCUCR SM2 SE SM1 SM0 ISC11 ISC10 ISC01 ISC00 30, 65 $34 ($54) MCUCSR JTD ISC2 – JTRF WDRF BORF EXTRF PORF 39, 66, 230 $33 ($53) TCCR0 FOC0 WGM00 COM01 COM00 WGM01 CS02 CS01 CS00 $32 ($52) TCNT0 $31(1) ($51)(1) OSCCAL OCDR Timer/Counter0 (8 Bits) 80 82 Oscillator Calibration Register 28 On-Chip Debug Register 226 $30 ($50) SFIOR ADTS2 ADTS1 ADTS0 – ACME PUD PSR2 PSR10 $2F ($4F) TCCR1A COM1A1 COM1A0 COM1B1 COM1B0 FOC1A FOC1B WGM11 WGM10 108 $2E ($4E) TCCR1B ICNC1 ICES1 – WGM13 WGM12 CS12 CS11 CS10 111 $2D ($4D) TCNT1H Timer/Counter1 – Counter Register High Byte 112 $2C ($4C) TCNT1L Timer/Counter1 – Counter Register Low Byte 112 $2B ($4B) OCR1AH Timer/Counter1 – Output Compare Register A High Byte 112 $2A ($4A) OCR1AL Timer/Counter1 – Output Compare Register A Low Byte 112 $29 ($49) OCR1BH Timer/Counter1 – Output Compare Register B High Byte 112 $28 ($48) OCR1BL Timer/Counter1 – Output Compare Register B Low Byte 112 $27 ($47) ICR1H Timer/Counter1 – Input Capture Register High Byte 113 $26 ($46) ICR1L Timer/Counter1 – Input Capture Register Low Byte $25 ($45) TCCR2 $24 ($44) TCNT2 $23 ($43) OCR2 $22 ($42) ASSR $21 ($41) $20(2) ($40)(2) 6 SP7 SP6 SP5 Timer/Counter0 Output Compare Register Page FOC2 WGM20 COM21 55,85,133,200,220 113 COM20 WGM21 CS22 CS21 CS20 Timer/Counter2 (8 Bits) Timer/Counter2 Output Compare Register 126 128 128 – – – – AS2 TCN2UB OCR2UB TCR2UB WDTCR – – – WDTOE WDE WDP2 WDP1 WDP0 UBRRH URSEL – – – UBRR[11:8] 129 41 166 UCSRC URSEL UMSEL UPM1 UPM0 USBS UCSZ1 UCSZ0 UCPOL 164 $1F ($3F) EEARH – – – – – – – EEAR8 17 $1E ($3E) EEARL EEPROM Address Register Low Byte $1D ($3D) EEDR EEPROM Data Register $1C ($3C) EECR – – – – EERIE EEMWE EEWE EERE 17 $1B ($3B) PORTA PORTA7 PORTA6 PORTA5 PORTA4 PORTA3 PORTA2 PORTA1 PORTA0 63 $1A ($3A) DDRA DDA7 DDA6 DDA5 DDA4 DDA3 DDA2 DDA1 DDA0 63 $19 ($39) PINA PINA7 PINA6 PINA5 PINA4 PINA3 PINA2 PINA1 PINA0 63 $18 ($38) PORTB PORTB7 PORTB6 PORTB5 PORTB4 PORTB3 PORTB2 PORTB1 PORTB0 63 $17 ($37) DDRB DDB7 DDB6 DDB5 DDB4 DDB3 DDB2 DDB1 DDB0 63 $16 ($36) PINB PINB7 PINB6 PINB5 PINB4 PINB3 PINB2 PINB1 PINB0 64 $15 ($35) PORTC PORTC7 PORTC6 PORTC5 PORTC4 PORTC3 PORTC2 PORTC1 PORTC0 64 $14 ($34) DDRC DDC7 DDC6 DDC5 DDC4 DDC3 DDC2 DDC1 DDC0 64 $13 ($33) PINC PINC7 PINC6 PINC5 PINC4 PINC3 PINC2 PINC1 PINC0 64 $12 ($32) PORTD PORTD7 PORTD6 PORTD5 PORTD4 PORTD3 PORTD2 PORTD1 PORTD0 64 $11 ($31) DDRD DDD7 DDD6 DDD5 DDD4 DDD3 DDD2 DDD1 DDD0 64 $10 ($30) PIND PIND7 PIND6 PIND5 PIND4 PIND3 PIND2 PIND1 PIND0 64 17 17 $0F ($2F) SPDR $0E ($2E) SPSR SPI Data Register SPIF WCOL – – – – – SPI2X 140 $0D ($2D) SPCR SPIE SPE DORD MSTR CPOL CPHA SPR1 SPR0 $0C ($2C) UDR USART I/O Data Register 140 138 161 $0B ($2B) UCSRA RXC TXC UDRE FE DOR PE U2X MPCM $0A ($2A) UCSRB RXCIE TXCIE UDRIE RXEN TXEN UCSZ2 RXB8 TXB8 $09 ($29) UBRRL USART Baud Rate Register Low Byte 162 163 166 $08 ($28) ACSR ACD ACBG ACO ACI ACIE ACIC ACIS1 ACIS0 $07 ($27) ADMUX REFS1 REFS0 ADLAR MUX4 MUX3 MUX2 MUX1 MUX0 216 $06 ($26) ADCSRA ADEN ADSC ADATE ADIF ADIE ADPS2 ADPS1 ADPS0 218 $05 ($25) ADCH ADC Data Register High Byte 219 $04 ($24) ADCL ADC Data Register Low Byte 219 $03 ($23) TWDR Two-wire Serial Interface Data Register $02 ($22) TWAR TWA6 TWA5 TWA4 200 181 TWA3 TWA2 TWA1 TWA0 TWGCE 181 ATmega16(L) 2466FS–AVR–02/03 ATmega16(L) Address Name Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Page $01 ($21) TWSR TWS7 TWS6 TWS5 TWS4 TWS3 – TWPS1 TWPS0 180 $00 ($20) TWBR Notes: Two-wire Serial Interface Bit Rate Register 179 1. When the OCDEN Fuse is unprogrammed, the OSCCAL Register is always accessed on this address. Refer to the debugger specific documentation for details on how to use the OCDR Register. 2. Refer to the USART description for details on how to access UBRRH and UCSRC. 3. For compatibility with future devices, reserved bits should be written to zero if accessed. Reserved I/O memory addresses should never be written. 4. Some of the status flags are cleared by writing a logical one to them. Note that the CBI and SBI instructions will operate on all bits in the I/O register, writing a one back into any flag read as set, thus clearing the flag. The CBI and SBI instructions work with registers $00 to $1F only. 7 2466FS–AVR–02/03 Instruction Set Summary Mnemonics Operands Description Operation Flags #Clocks ARITHMETIC AND LOGIC INSTRUCTIONS ADD Rd, Rr Add two Registers Rd ← Rd + Rr Z,C,N,V,H ADC Rd, Rr Add with Carry two Registers Rd ← Rd + Rr + C Z,C,N,V,H 1 ADIW Rdl,K Add Immediate to Word Rdh:Rdl ← Rdh:Rdl + K Z,C,N,V,S 2 SUB Rd, Rr Subtract two Registers Rd ← Rd - Rr Z,C,N,V,H 1 SUBI Rd, K Subtract Constant from Register Rd ← Rd - K Z,C,N,V,H 1 SBC Rd, Rr Subtract with Carry two Registers Rd ← Rd - Rr - C Z,C,N,V,H 1 SBCI Rd, K Subtract with Carry Constant from Reg. Rd ← Rd - K - C Z,C,N,V,H 1 SBIW Rdl,K Subtract Immediate from Word Rdh:Rdl ← Rdh:Rdl - K Z,C,N,V,S 2 AND Rd, Rr Logical AND Registers Rd ← Rd • Rr Z,N,V 1 ANDI Rd, K Logical AND Register and Constant Rd ← Rd • K Z,N,V 1 OR Rd, Rr Logical OR Registers Rd ← Rd v Rr Z,N,V 1 ORI Rd, K Logical OR Register and Constant Rd ← Rd v K Z,N,V 1 EOR Rd, Rr Exclusive OR Registers Rd ← Rd ⊕ Rr Z,N,V 1 COM Rd One’s Complement Rd ← $FF − Rd Z,C,N,V 1 NEG Rd Two’s Complement Rd ← $00 − Rd Z,C,N,V,H 1 SBR Rd,K Set Bit(s) in Register Rd ← Rd v K Z,N,V 1 CBR Rd,K Clear Bit(s) in Register Rd ← Rd • ($FF - K) Z,N,V 1 1 INC Rd Increment Rd ← Rd + 1 Z,N,V 1 DEC Rd Decrement Rd ← Rd − 1 Z,N,V 1 TST Rd Test for Zero or Minus Rd ← Rd • Rd Z,N,V 1 CLR Rd Clear Register Rd ← Rd ⊕ Rd Z,N,V 1 SER Rd Set Register Rd ← $FF None 1 MUL Rd, Rr Multiply Unsigned R1:R0 ← Rd x Rr Z,C 2 MULS Rd, Rr Multiply Signed R1:R0 ← Rd x Rr Z,C 2 MULSU Rd, Rr Multiply Signed with Unsigned R1:R0 ← Rd x Rr Z,C 2 FMUL Rd, Rr Fractional Multiply Unsigned R1:R0 ← (Rd x Rr) << Z,C 2 FMULS Rd, Rr Fractional Multiply Signed Z,C 2 FMULSU Rd, Rr Fractional Multiply Signed with Unsigned 1 R1:R0 ← (Rd x Rr) << 1 R1:R0 ← (Rd x Rr) << 1 Z,C 2 BRANCH INSTRUCTIONS RJMP k IJMP Relative Jump PC ← PC + k + 1 None 2 Indirect Jump to (Z) PC ← Z None 2 3 JMP k Direct Jump PC ← k None RCALL k Relative Subroutine Call PC ← PC + k + 1 None 3 Indirect Call to (Z) PC ← Z None 3 ICALL Direct Subroutine Call PC ← k None 4 RET Subroutine Return PC ← STACK None 4 RETI Interrupt Return PC ← STACK I Compare, Skip if Equal if (Rd = Rr) PC ← PC + 2 or 3 None CALL k 4 CPSE Rd,Rr CP Rd,Rr Compare Rd − Rr Z, N,V,C,H 1 CPC Rd,Rr Compare with Carry Rd − Rr − C Z, N,V,C,H 1 CPI Rd,K Compare Register with Immediate Rd − K Z, N,V,C,H SBRC Rr, b Skip if Bit in Register Cleared if (Rr(b)=0) PC ← PC + 2 or 3 None 1/2/3 SBRS Rr, b Skip if Bit in Register is Set if (Rr(b)=1) PC ← PC + 2 or 3 None 1/2/3 SBIC P, b Skip if Bit in I/O Register Cleared if (P(b)=0) PC ← PC + 2 or 3 None 1/2/3 SBIS P, b Skip if Bit in I/O Register is Set if (P(b)=1) PC ← PC + 2 or 3 None 1/2/3 BRBS s, k Branch if Status Flag Set if (SREG(s) = 1) then PC←PC+k + 1 None 1/2 BRBC s, k Branch if Status Flag Cleared if (SREG(s) = 0) then PC←PC+k + 1 None 1/2 BREQ k Branch if Equal if (Z = 1) then PC ← PC + k + 1 None 1/2 BRNE k Branch if Not Equal if (Z = 0) then PC ← PC + k + 1 None 1/2 BRCS k Branch if Carry Set if (C = 1) then PC ← PC + k + 1 None 1/2 BRCC k Branch if Carry Cleared if (C = 0) then PC ← PC + k + 1 None 1/2 BRSH k Branch if Same or Higher if (C = 0) then PC ← PC + k + 1 None 1/2 BRLO k Branch if Lower if (C = 1) then PC ← PC + k + 1 None 1/2 BRMI k Branch if Minus if (N = 1) then PC ← PC + k + 1 None 1/2 BRPL k Branch if Plus if (N = 0) then PC ← PC + k + 1 None 1/2 BRGE k Branch if Greater or Equal, Signed if (N ⊕ V= 0) then PC ← PC + k + 1 None 1/2 BRLT k Branch if Less Than Zero, Signed if (N ⊕ V= 1) then PC ← PC + k + 1 None 1/2 BRHS k Branch if Half Carry Flag Set if (H = 1) then PC ← PC + k + 1 None 1/2 BRHC k Branch if Half Carry Flag Cleared if (H = 0) then PC ← PC + k + 1 None 1/2 BRTS k Branch if T Flag Set if (T = 1) then PC ← PC + k + 1 None 1/2 BRTC k Branch if T Flag Cleared if (T = 0) then PC ← PC + k + 1 None 1/2 BRVS k Branch if Overflow Flag is Set if (V = 1) then PC ← PC + k + 1 None 1/2 BRVC k Branch if Overflow Flag is Cleared if (V = 0) then PC ← PC + k + 1 None 1/2 8 1/2/3 1 ATmega16(L) 2466FS–AVR–02/03 ATmega16(L) Mnemonics Operands Description Operation Flags #Clocks BRIE k Branch if Interrupt Enabled if ( I = 1) then PC ← PC + k + 1 None 1/2 BRID k Branch if Interrupt Disabled if ( I = 0) then PC ← PC + k + 1 None 1/2 DATA TRANSFER INSTRUCTIONS MOV Rd, Rr Move Between Registers 1 Rd, Rr Copy Register Word Rd ← Rr Rd+1:Rd ← Rr+1:Rr None MOVW None 1 LDI Rd, K Load Immediate Rd ← K None 1 LD Rd, X Load Indirect Rd ← (X) None 2 LD Rd, X+ Load Indirect and Post-Inc. Rd ← (X), X ← X + 1 None 2 LD Rd, - X Load Indirect and Pre-Dec. X ← X - 1, Rd ← (X) None 2 LD Rd, Y Load Indirect Rd ← (Y) None 2 LD Rd, Y+ Load Indirect and Post-Inc. Rd ← (Y), Y ← Y + 1 None 2 LD Rd, - Y Load Indirect and Pre-Dec. Y ← Y - 1, Rd ← (Y) None 2 LDD Rd,Y+q Load Indirect with Displacement Rd ← (Y + q) None 2 LD Rd, Z Load Indirect Rd ← (Z) None 2 LD Rd, Z+ Load Indirect and Post-Inc. Rd ← (Z), Z ← Z+1 None 2 LD Rd, -Z Load Indirect and Pre-Dec. Z ← Z - 1, Rd ← (Z) None 2 LDD Rd, Z+q Load Indirect with Displacement Rd ← (Z + q) None 2 LDS Rd, k Load Direct from SRAM Rd ← (k) None 2 ST X, Rr Store Indirect (X) ← Rr None 2 ST X+, Rr Store Indirect and Post-Inc. (X) ← Rr, X ← X + 1 None 2 ST - X, Rr Store Indirect and Pre-Dec. X ← X - 1, (X) ← Rr None 2 ST Y, Rr Store Indirect (Y) ← Rr None 2 ST Y+, Rr Store Indirect and Post-Inc. (Y) ← Rr, Y ← Y + 1 None 2 ST - Y, Rr Store Indirect and Pre-Dec. Y ← Y - 1, (Y) ← Rr None 2 STD Y+q,Rr Store Indirect with Displacement (Y + q) ← Rr None 2 ST Z, Rr Store Indirect (Z) ← Rr None 2 ST Z+, Rr Store Indirect and Post-Inc. (Z) ← Rr, Z ← Z + 1 None 2 ST -Z, Rr Store Indirect and Pre-Dec. Z ← Z - 1, (Z) ← Rr None 2 STD Z+q,Rr Store Indirect with Displacement (Z + q) ← Rr None 2 STS k, Rr Store Direct to SRAM (k) ← Rr None 2 Load Program Memory R0 ← (Z) None 3 LPM Rd, Z Load Program Memory Rd ← (Z) None 3 LPM Rd, Z+ Load Program Memory and Post-Inc Rd ← (Z), Z ← Z+1 None 3 Store Program Memory (Z) ← R1:R0 None - In Port Rd ← P None 1 1 LPM SPM IN Rd, P OUT P, Rr Out Port P ← Rr None PUSH Rr Push Register on Stack STACK ← Rr None 2 POP Rd Pop Register from Stack Rd ← STACK None 2 BIT AND BIT-TEST INSTRUCTIONS SBI P,b Set Bit in I/O Register I/O(P,b) ← 1 None 2 CBI P,b Clear Bit in I/O Register I/O(P,b) ← 0 None 2 LSL Rd Logical Shift Left Rd(n+1) ← Rd(n), Rd(0) ← 0 Z,C,N,V 1 LSR Rd Logical Shift Right Rd(n) ← Rd(n+1), Rd(7) ← 0 Z,C,N,V 1 ROL Rd Rotate Left Through Carry Rd(0)←C,Rd(n+1)← Rd(n),C←Rd(7) Z,C,N,V 1 ROR Rd Rotate Right Through Carry Rd(7)←C,Rd(n)← Rd(n+1),C←Rd(0) Z,C,N,V 1 ASR Rd Arithmetic Shift Right Rd(n) ← Rd(n+1), n=0..6 Z,C,N,V 1 SWAP Rd Swap Nibbles Rd(3..0)←Rd(7..4),Rd(7..4)←Rd(3..0) None 1 BSET s Flag Set SREG(s) ← 1 SREG(s) 1 BCLR s Flag Clear SREG(s) ← 0 SREG(s) 1 BST Rr, b Bit Store from Register to T T ← Rr(b) T 1 BLD Rd, b Bit load from T to Register Rd(b) ← T None 1 SEC Set Carry C←1 C 1 CLC Clear Carry C←0 C 1 SEN Set Negative Flag N←1 N 1 CLN Clear Negative Flag N←0 N 1 SEZ Set Zero Flag Z←1 Z 1 CLZ Clear Zero Flag Z←0 Z 1 SEI Global Interrupt Enable I←1 I 1 CLI Global Interrupt Disable I←0 I 1 SES Set Signed Test Flag S←1 S 1 CLS Clear Signed Test Flag S←0 S 1 SEV Set Twos Complement Overflow. V←1 V 1 CLV SET CLT SEH Clear Twos Complement Overflow Set T in SREG Clear T in SREG Set Half Carry Flag in SREG V←0 T←1 T←0 H←1 V T T H 1 1 1 1 9 2466FS–AVR–02/03 Mnemonics Operands CLH MCU CONTROL INSTRUCTIONS NOP SLEEP WDR BREAK 10 Flags Description Operation Clear Half Carry Flag in SREG H←0 H No Operation Sleep Watchdog Reset Break (see specific descr. for Sleep function) (see specific descr. for WDR/timer) For On-Chip Debug Only None None None None #Clocks 1 1 1 1 N/A ATmega16(L) 2466FS–AVR–02/03 ATmega16(L) Ordering Information Speed (MHz) Power Supply 8 2.7 - 5.5V 16 4.5 - 5.5V Ordering Code Package ATmega16L-8AC ATmega16L-8PC ATmega16L-8MC 44A 40P6 44M1 Operation Range Commercial (0oC to 70oC) ATmega16L-8AI ATmega16L-8PI ATmega16L-8MI 44A 40P6 44M1 Industrial (-40oC to 85oC) ATmega16-16AC ATmega16-16PC ATmega16-16MI 44A 40P6 44M1 Commercial (0oC to 70oC) ATmega16-16AI ATmega16-16PI ATmega16-16MC 44A 40P6 44M1 Industrial (-40oC to 85oC) Package Type 44A 44-lead, Thin (1.0 mm) Plastic Gull Wing Quad Flat Package (TQFP) 40P6 40-pin, 0.600” Wide, Plastic Dual Inline Package (PDIP) 44M1 44-pad, 7 x 7 x 1.0 mm body, lead pitch 0.50 mm, Micro Lead Frame Package (MLF) 11 2466FS–AVR–02/03 Packaging Information 44A PIN 1 B PIN 1 IDENTIFIER E1 e E D1 D C 0˚~7˚ A1 A2 A L COMMON DIMENSIONS (Unit of Measure = mm) Notes: 1. This package conforms to JEDEC reference MS-026, Variation ACB. 2. Dimensions D1 and E1 do not include mold protrusion. Allowable protrusion is 0.25 mm per side. Dimensions D1 and E1 are maximum plastic body size dimensions including mold mismatch. 3. Lead coplanarity is 0.10 mm maximum. SYMBOL MIN NOM MAX A – – 1.20 A1 0.05 – 0.15 A2 0.95 1.00 1.05 D 11.75 12.00 12.25 D1 9.90 10.00 10.10 E 11.75 12.00 12.25 E1 9.90 10.00 10.10 B 0.30 – 0.45 C 0.09 – 0.20 L 0.45 – 0.75 e NOTE Note 2 Note 2 0.80 TYP 10/5/2001 R 12 2325 Orchard Parkway San Jose, CA 95131 TITLE 44A, 44-lead, 10 x 10 mm Body Size, 1.0 mm Body Thickness, 0.8 mm Lead Pitch, Thin Profile Plastic Quad Flat Package (TQFP) DRAWING NO. REV. 44A B ATmega16(L) 2466FS–AVR–02/03 ATmega16(L) 40P6 D PIN 1 E1 A SEATING PLANE A1 L B1 B e E COMMON DIMENSIONS (Unit of Measure = mm) 0º ~ 15º REF C SYMBOL eB Notes: 1. This package conforms to JEDEC reference MS-011, Variation AC. 2. Dimensions D and E1 do not include mold Flash or Protrusion. Mold Flash or Protrusion shall not exceed 0.25 mm (0.010"). MIN NOM MAX NOTE A – – 4.826 A1 0.381 – – D 52.070 – 52.578 Note 2 E 15.240 – 15.875 E1 13.462 – 13.970 Note 2 B 0.356 – 0.559 B1 1.041 – 1.651 L 3.048 – 3.556 C 0.203 – 0.381 eB 15.494 – 17.526 e 2.540 TYP 09/28/01 R 2325 Orchard Parkway San Jose, CA 95131 TITLE 40P6, 40-lead (0.600"/15.24 mm Wide) Plastic Dual Inline Package (PDIP) DRAWING NO. REV. 40P6 B 13 2466FS–AVR–02/03 44M1 D Marked Pin# 1 ID E SEATING PLANE A1 TOP VIEW A3 A L Pin #1 Corner D2 SIDE VIEW COMMON DIMENSIONS (Unit of Measure = mm) E2 SYMBOL MIN NOM MAX A 0.80 0.90 1.00 A1 – 0.02 0.05 A3 b 0.25 REF 0.18 D e b D2 E2 L 0.30 5.20 5.40 7.00 BSC 5.00 e Note: JEDEC Standard MO-220, Fig. 1 (SAW Singulation) VKKD-1. 0.23 7.00 BSC 5.00 E BOTTOM VIEW NOTE 5.20 5.40 0.50 BSC 0.35 0.55 0.75 01/15/03 R 14 2325 Orchard Parkway San Jose, CA 95131 TITLE 44M1, 44-pad, 7 x 7 x 1.0 mm Body, Lead Pitch 0.50 mm Micro Lead Frame Package (MLF) DRAWING NO. REV. 44M1 C ATmega16(L) 2466FS–AVR–02/03 ATmega16(L) Erratas The revision letter in this section refers to the revision of the ATmega16 device. ATmega16(L) Rev. G. There are no errata for this revision of ATmega16. ATmega16(L) Rev. H. There are no errata for this revision of ATmega16. 15 2466FS–AVR–02/03 Data Sheet Change Log for ATmega16 This section contains a log on the changes made to the data sheet for ATmega16. Changes from Rev. 2466B-09/01 to Rev. 2466C-03/02 All page numbers refer to this document. 1. Updated typical EEPROM programming time, Table 1 on page 18. 2. Updated typical start-up time in the following tables: Table 3 on page 23, Table 5 on page 25, Table 6 on page 26, Table 8 on page 27, Table 9 on page 27, and Table 10 on page 28. 3. Updated Table 17 on page 41 with typical WDT Time-out. 4. Added Some Preliminary Test Limits and Characterization Data. Removed some of the TBD's in the following tables and pages: Table 15 on page 36, Table 16 on page 40, Table 116 on page 272 (table removed in document review #D), “Electrical Characteristics” on page 290, Table 119 on page 292, Table 121 on page 294, and Table 122 on page 296. 5. Updated TWI Chapter. Added the note at the end of the “Bit Rate Generator Unit” on page 177. 6. Corrected description of ADSC bit in “ADC Control and Status Register A – ADCSRA” on page 218. 7. Improved description on how to do a polarity check of the ADC diff results in “ADC Conversion Result” on page 215. 8. Added JTAG version number for rev. H in Table 87 on page 228. 9. Added not regarding OCDEN Fuse below Table 105 on page 260. 10. Updated Programming Figures: Figure 127 on page 262 and Figure 136 on page 273 are updated to also reflect that AVCC must be connected during Programming mode. Figure 131 on page 269 added to illustrate how to program the fuses. 11. Added a note regarding usage of the “PROG_PAGELOAD ($6)” on page 279 and “PROG_PAGEREAD ($7)” on page 279. 12. Removed alternative algortihm for leaving JTAG Programming mode. See “Leaving Programming Mode” on page 287. 13. Added Calibrated RC Oscillator characterization curves in section “ATmega16 Typical Characteristics – Preliminary Data” on page 298. 14. Corrected ordering code for MLF package (16MHz) in “Ordering Information” on page 11. 15. Corrected Table 90, “Scan Signals for the Oscillators(1)(2)(3),” on page 234. 16 ATmega16(L) 2466FS–AVR–02/03 ATmega16(L) Changes from Rev. 2466C-03/02 to Rev. 2466D-09/02 All page numbers refer to this document. 1. Changed all Flash write/erase cycles from 1,000 to 10,000. 2. Updated the following tables: Table 4 on page 24, Table 15 on page 36, Table 42 on page 82, Table 45 on page 109, Table 46 on page 109, Table 59 on page 141, Table 67 on page 166, Table 90 on page 234, Table 102 on page 258, “DC Characteristics” on page 290, Table 119 on page 292, Table 121 on page 294, and Table 122 on page 296. 3. Updated “Erratas” on page 15. Changes from Rev. 2466D-09/02 to Rev. 2466E-10/02 All page numbers refer to this document. Changes from Rev. 2466E-10/02 to Rev. 2466F-02/03 All page numbers refer to this document. 1. Updated “DC Characteristics” on page 290. 1. Added note about masking out unused bits when reading the Program Counter in “Stack Pointer” on page 10. 2. Added Chip Erase as a first step in “Programming the Flash” on page 287 and “Programming the EEPROM” on page 288. 3. Added the section “Unconnected pins” on page 53. 4. Added tips on how to disable the OCD system in “On-chip Debug System” on page 34. 5. Removed reference to the “Multi-purpose Oscillator” application note and “32 kHz Crystal Oscillator” application note, which do not exist. 6. Added information about PWM symmetry for Timer0 and Timer2. 7. Added note in “Filling the Temporary Buffer (Page Loading)” on page 253 about writing to the EEPROM during an SPM Page Load. 8. Removed ADHSM completely. 9. Added Table 73, “TWI Bit Rate Prescaler,” on page 181 to describe the TWPS bits in the “TWI Status Register – TWSR” on page 180. 10. Added section “Default Clock Source” on page 23. 11. Added note about frequency variation when using an external clock. Note added in “External Clock” on page 29. An extra row and a note added in Table 118 on page 292. 12. Various minor TWI corrections. 13. Added “Power Consumption” data in “Features” on page 1. 14. Added section “EEPROM Write During Power-down Sleep Mode” on page 20 . 17 2466FS–AVR–02/03 15. Added note about Differential Mode with Auto Triggering in “Prescaling and Conversion Timing” on page 206. 16. Added updated “Packaging Information” on page 12. 18 ATmega16(L) 2466FS–AVR–02/03 ATmega16(L) 19 2466FS–AVR–02/03 Atmel Headquarters Atmel Operations Corporate Headquarters Memory 2325 Orchard Parkway San Jose, CA 95131 TEL 1(408) 441-0311 FAX 1(408) 487-2600 Europe Atmel Sarl Route des Arsenaux 41 Case Postale 80 CH-1705 Fribourg Switzerland TEL (41) 26-426-5555 FAX (41) 26-426-5500 Asia Room 1219 Chinachem Golden Plaza 77 Mody Road Tsimhatsui East Kowloon Hong Kong TEL (852) 2721-9778 FAX (852) 2722-1369 Japan 9F, Tonetsu Shinkawa Bldg. 1-24-8 Shinkawa Chuo-ku, Tokyo 104-0033 Japan TEL (81) 3-3523-3551 FAX (81) 3-3523-7581 2325 Orchard Parkway San Jose, CA 95131 TEL 1(408) 441-0311 FAX 1(408) 436-4314 RF/Automotive Theresienstrasse 2 Postfach 3535 74025 Heilbronn, Germany TEL (49) 71-31-67-0 FAX (49) 71-31-67-2340 Microcontrollers 2325 Orchard Parkway San Jose, CA 95131 TEL 1(408) 441-0311 FAX 1(408) 436-4314 La Chantrerie BP 70602 44306 Nantes Cedex 3, France TEL (33) 2-40-18-18-18 FAX (33) 2-40-18-19-60 ASIC/ASSP/Smart Cards 1150 East Cheyenne Mtn. Blvd. Colorado Springs, CO 80906 TEL 1(719) 576-3300 FAX 1(719) 540-1759 Biometrics/Imaging/Hi-Rel MPU/ High Speed Converters/RF Datacom Avenue de Rochepleine BP 123 38521 Saint-Egreve Cedex, France TEL (33) 4-76-58-30-00 FAX (33) 4-76-58-34-80 Zone Industrielle 13106 Rousset Cedex, France TEL (33) 4-42-53-60-00 FAX (33) 4-42-53-60-01 1150 East Cheyenne Mtn. Blvd. Colorado Springs, CO 80906 TEL 1(719) 576-3300 FAX 1(719) 540-1759 Scottish Enterprise Technology Park Maxwell Building East Kilbride G75 0QR, Scotland TEL (44) 1355-803-000 FAX (44) 1355-242-743 e-mail [email protected] Web Site http://www.atmel.com © Atmel Corporation 2003. Atmel Corporation makes no warranty for the use of its products, other than those expressly contained in the Company’s standard warranty which is detailed in Atmel’s Terms and Conditions located on the Company’s web site. The Company assumes no responsibility for any errors which may appear in this document, reserves the right to change devices or specifications detailed herein at any time without notice, and does not make any commitment to update the information contained herein. No licenses to patents or other intellectual property of Atmel are granted by the Company in connection with the sale of Atmel products, expressly or by implication. Atmel’s products are not authorized for use as critical components in life support devices or systems. ATMEL ®, AVR ®, and AVR Studio® are the registered trademarks of Atmel. Other terms and product names may be the trademarks of others. Printed on recycled paper. 2466FS–AVR–02/03 0M