ATmega164PA - Complete

8-bit AVR Microcontrollers
ATmega164PA
DATASHEET COMPLETE
Introduction
®
The Atmel ATmega164PA 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 ATmega164PA achieves throughputs
close to 1MIPS per MHz. This empowers system designer to optimize the
device for power consumption versus processing speed.
Feature
High Performance, Low Power Atmel®AVR® 8-Bit Microcontroller Family
•
Advanced RISC Architecture
– 131 Powerful Instructions
– Most Single Clock Cycle Execution
– 32 x 8 General Purpose Working Registers
– Fully Static Operation
– Up to 20 MIPS Throughput at 20MHz
– On-chip 2-cycle Multiplier
•
High Endurance Non-volatile Memory Segments
– 16KBytes of In-System Self-Programmable Flash Program
Memory
– 512bytesBytes EEPROM
– 1KBytes Internal SRAM
– Write/Erase Cycles: 10,000 Flash/100,000 EEPROM
– Data Retention: 20 Years at 85°C/100 Years at 25°C(1)
– Optional Boot Code Section with Independent Lock Bits
• In-System Programming by On-chip Boot Program
• True Read-While-Write Operation
– Programming Lock for Software Security
•
Atmel QTouch® Library Support
– Capacitive Touch Buttons, Sliders and Wheels
– QTouch and QMatrix acquisition
– Up to 64 Sense Channels
Atmel-42713A-ATmega164PA_Datasheet_Complete-05/2016
•
•
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 Prescaler and Compare Mode
– One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and Capture Mode
– Real Time Counter with Separate Oscillator
–
–
•
•
•
•
•
Six PWM Channels
8-channel 10-bit ADC
• Differential Mode with Selectable Gain at 1×, 10× or 200×
– One Byte-oriented 2-wire Serial Interface (Philips I2C compatible)
– Two Programmable Serial USART
– One Master/Slave SPI Serial Interface
– Programmable Watchdog Timer with Separate On-chip Oscillator
– On-chip Analog Comparator
– Interrupt and Wake-up on Pin Change
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
– 44-pad VQFN/QFN
– 44-pad DRQFN
– 49-ball VFBGA
Operating Voltage:
– 1.8 - 5.5V
Speed Grades
– 0 - 4MHz @ 1.8V - 5.5V
– 0 - 10MHz @ 2.7V - 5.5V
– 0 - 20MHz @ 4.5 - 5.5V
Power Consumption at 1MHz, 1.8V, 25°C
– Active Mode: 0.4mA
– Power-down Mode: 0.1μA
– Power-save Mode: 0.6μA (Including 32kHz RTC)
Note: 1. Refer to Data Retention
Related Links
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Data Retention on page 22
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Table of Contents
Introduction......................................................................................................................1
Feature............................................................................................................................ 1
1. Description...............................................................................................................10
2. Configuration Summary........................................................................................... 11
3. Ordering Information ...............................................................................................12
4. Block Diagram......................................................................................................... 14
5. Pin Configurations................................................................................................... 15
5.1.
5.2.
Pinout......................................................................................................................................... 15
Pin Descriptions..........................................................................................................................18
6. I/O Multiplexing........................................................................................................ 20
7. General Information................................................................................................. 22
7.1.
7.2.
7.3.
7.4.
Resources.................................................................................................................................. 22
Data Retention............................................................................................................................22
About Code Examples................................................................................................................22
Capacitive Touch Sensing.......................................................................................................... 22
8. AVR CPU Core........................................................................................................ 23
8.1.
8.2.
8.3.
8.4.
8.5.
8.6.
Overview.....................................................................................................................................23
ALU – Arithmetic Logic Unit........................................................................................................24
Status Register...........................................................................................................................24
General Purpose Register File................................................................................................... 26
Stack Pointer.............................................................................................................................. 27
Instruction Execution Timing...................................................................................................... 30
8.7.
Reset and Interrupt Handling..................................................................................................... 31
9. AVR Memories.........................................................................................................33
9.1.
9.2.
Overview.....................................................................................................................................33
In-System Reprogrammable Flash Program Memory................................................................ 33
9.3.
9.4.
9.5.
9.6.
SRAM Data Memory...................................................................................................................34
EEPROM Data Memory............................................................................................................. 35
I/O Memory.................................................................................................................................36
Register Description................................................................................................................... 37
10. System Clock and Clock Options............................................................................ 47
10.1.
10.2.
10.3.
10.4.
Clock Systems and Their Distribution.........................................................................................47
Clock Sources............................................................................................................................ 48
Low Power Crystal Oscillator......................................................................................................50
Full Swing Crystal Oscillator.......................................................................................................51
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10.5. Low Frequency Crystal Oscillator...............................................................................................52
10.6. Calibrated Internal RC Oscillator................................................................................................54
10.7. 128kHz Internal Oscillator.......................................................................................................... 55
10.8. External Clock............................................................................................................................ 55
10.9. Timer/Counter Oscillator.............................................................................................................56
10.10. Clock Output Buffer....................................................................................................................56
10.11. System Clock Prescaler............................................................................................................. 57
10.12. Register Description...................................................................................................................57
11. PM - Power Management and Sleep Modes........................................................... 61
11.1.
11.2.
11.3.
11.4.
11.5.
11.6.
11.7.
11.8.
11.9.
11.10.
11.11.
11.12.
Overview.....................................................................................................................................61
Sleep Modes...............................................................................................................................61
BOD Disable...............................................................................................................................62
Idle Mode....................................................................................................................................62
ADC Noise Reduction Mode.......................................................................................................62
Power-Down Mode.....................................................................................................................63
Power-save Mode.......................................................................................................................63
Standby Mode............................................................................................................................ 64
Extended Standby Mode............................................................................................................ 64
Power Reduction Register..........................................................................................................64
Minimizing Power Consumption................................................................................................. 64
Register Description................................................................................................................... 66
12. SCRST - System Control and Reset....................................................................... 72
12.1.
12.2.
12.3.
12.4.
12.5.
12.6.
12.7.
12.8.
12.9.
Resetting the AVR...................................................................................................................... 72
Reset Sources............................................................................................................................72
Power-on Reset..........................................................................................................................73
External Reset............................................................................................................................74
Brown-out Detection...................................................................................................................74
Watchdog System Reset............................................................................................................ 75
Internal Voltage Reference.........................................................................................................75
Watchdog Timer......................................................................................................................... 76
Register Description................................................................................................................... 78
13. Interrupts................................................................................................................. 82
13.1. Overview.....................................................................................................................................82
13.2. Interrupt Vectors in ATmega164PA............................................................................................ 82
13.3. Register Description................................................................................................................... 85
14. External Interrupts................................................................................................... 88
14.1. EXINT - External Interrupts........................................................................................................ 88
15. I/O-Ports................................................................................................................ 100
15.1.
15.2.
15.3.
15.4.
Overview...................................................................................................................................100
Ports as General Digital I/O......................................................................................................101
Alternate Port Functions...........................................................................................................104
Register Description................................................................................................................. 117
16. TC0 - 8-bit Timer/Counter0 with PWM...................................................................132
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16.1. Features................................................................................................................................... 132
16.2.
16.3.
16.4.
16.5.
16.6.
16.7.
16.8.
16.9.
Overview...................................................................................................................................132
Timer/Counter Clock Sources.................................................................................................. 134
Counter Unit............................................................................................................................. 134
Output Compare Unit................................................................................................................135
Compare Match Output Unit.....................................................................................................137
Modes of Operation..................................................................................................................138
Timer/Counter Timing Diagrams...............................................................................................142
Register Description................................................................................................................. 144
17. TC1 - 16-bit Timer/Counter1 with PWM.................................................................157
17.1. Overview...................................................................................................................................157
17.2. Features................................................................................................................................... 157
17.3. Block Diagram.......................................................................................................................... 157
17.4. Definitions.................................................................................................................................158
17.5. Registers.................................................................................................................................. 159
17.6. Accessing 16-bit Registers.......................................................................................................159
17.7. Timer/Counter Clock Sources.................................................................................................. 162
17.8. Counter Unit............................................................................................................................. 162
17.9. Input Capture Unit.................................................................................................................... 163
17.10. Output Compare Units............................................................................................................. 165
17.11. Compare Match Output Unit.....................................................................................................167
17.12. Modes of Operation..................................................................................................................168
17.13. Timer/Counter Timing Diagrams.............................................................................................. 176
17.14. Register Description.................................................................................................................177
18. Timer/Counter 0, 1 Prescalers...............................................................................194
18.1.
18.2.
18.3.
18.4.
Internal Clock Source............................................................................................................... 194
Prescaler Reset........................................................................................................................194
External Clock Source..............................................................................................................194
Register Description................................................................................................................. 195
19. TC2 - 8-bit Timer/Counter2 with PWM and Asynchronous Operation................... 197
19.1. Features................................................................................................................................... 197
19.2. Overview...................................................................................................................................197
19.3. Timer/Counter Clock Sources.................................................................................................. 199
19.4. Counter Unit............................................................................................................................. 199
19.5. Output Compare Unit................................................................................................................200
19.6. Compare Match Output Unit.....................................................................................................202
19.7. Modes of Operation..................................................................................................................203
19.8. Timer/Counter Timing Diagrams...............................................................................................207
19.9. Asynchronous Operation of Timer/Counter2............................................................................ 208
19.10. Timer/Counter Prescaler.......................................................................................................... 210
19.11. Register Description................................................................................................................. 210
20. SPI – Serial Peripheral Interface........................................................................... 223
20.1. Features................................................................................................................................... 223
20.2. Overview...................................................................................................................................223
20.3. SS Pin Functionality................................................................................................................. 227
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20.4. Data Modes.............................................................................................................................. 227
20.5. Register Description................................................................................................................. 228
21. USART - Universal Synchronous Asynchronous Receiver Transceiver................233
21.1. Features................................................................................................................................... 233
21.2. Overview...................................................................................................................................233
21.3. Block Diagram.......................................................................................................................... 233
21.4. Clock Generation......................................................................................................................234
21.5. Frame Formats.........................................................................................................................237
21.6. USART Initialization..................................................................................................................238
21.7. Data Transmission – The USART Transmitter......................................................................... 239
21.8. Data Reception – The USART Receiver.................................................................................. 241
21.9. Asynchronous Data Reception.................................................................................................245
21.10. Multi-Processor Communication Mode.................................................................................... 247
21.11. Examples of Baud Rate Setting............................................................................................... 248
21.12. Register Description.................................................................................................................251
22. USARTSPI - USART in SPI Mode.........................................................................262
22.1.
22.2.
22.3.
22.4.
22.5.
22.6.
22.7.
22.8.
Features................................................................................................................................... 262
Overview...................................................................................................................................262
Clock Generation......................................................................................................................262
SPI Data Modes and Timing.....................................................................................................263
Frame Formats.........................................................................................................................263
Data Transfer............................................................................................................................265
AVR USART MSPIM vs. AVR SPI............................................................................................266
Register Description................................................................................................................. 267
23. TWI - 2-wire Serial Interface..................................................................................268
23.1.
23.2.
23.3.
23.4.
23.5.
23.6.
23.7.
23.8.
23.9.
Features................................................................................................................................... 268
Two-Wire Serial Interface Bus Definition..................................................................................268
Data Transfer and Frame Format.............................................................................................269
Multi-master Bus Systems, Arbitration and Synchronization....................................................272
Overview of the TWI Module.................................................................................................... 274
Using the TWI...........................................................................................................................276
Transmission Modes................................................................................................................ 279
Multi-master Systems and Arbitration.......................................................................................295
Register Description................................................................................................................. 297
24. AC - Analog Comparator....................................................................................... 305
24.1. Overview...................................................................................................................................305
24.2. Analog Comparator Multiplexed Input...................................................................................... 305
24.3. Register Description................................................................................................................. 306
25. ADC - Analog to Digital Converter......................................................................... 311
25.1.
25.2.
25.3.
25.4.
25.5.
Features....................................................................................................................................311
Overview...................................................................................................................................311
Starting a Conversion...............................................................................................................313
Prescaling and Conversion Timing...........................................................................................314
Changing Channel or Reference Selection.............................................................................. 317
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25.6. ADC Noise Canceler................................................................................................................ 319
25.7. ADC Conversion Result............................................................................................................323
25.8. Register Description................................................................................................................. 325
26. JTAG Interface and On-chip Debug System..........................................................337
26.1. Features................................................................................................................................... 337
26.2. Overview...................................................................................................................................337
26.3. TAP – Test Access Port............................................................................................................ 338
26.4. TAP Controller.......................................................................................................................... 339
26.5. Using the Boundary-scan Chain...............................................................................................340
26.6. Using the On-chip Debug System............................................................................................ 340
26.7. On-chip Debug Specific JTAG Instructions.............................................................................. 341
26.8. Using the JTAG Programming Capabilities.............................................................................. 341
26.9. Bibliography..............................................................................................................................342
26.10. IEEE 1149.1 (JTAG) Boundary-scan........................................................................................342
26.11. Data Registers..........................................................................................................................343
26.12. Boundry-scan Specific JTAG Instructions................................................................................ 344
26.13. Boundary-scan Chain...............................................................................................................346
26.14. ATmega164PA Boundary-scan Order...................................................................................... 349
26.15. Boundary-scan Description Language Files............................................................................ 351
26.16. Register Description.................................................................................................................351
27. BTLDR - Boot Loader Support – Read-While-Write Self-Programming................ 356
27.1.
27.2.
27.3.
27.4.
27.5.
27.6.
27.7.
27.8.
27.9.
Features................................................................................................................................... 356
Overview...................................................................................................................................356
Application and Boot Loader Flash Sections............................................................................356
Read-While-Write and No Read-While-Write Flash Sections...................................................357
Entering the Boot Loader Program...........................................................................................359
Boot Loader Lock Bits.............................................................................................................. 360
Addressing the Flash During Self-Programming...................................................................... 361
Self-Programming the Flash.....................................................................................................362
Register Description................................................................................................................. 370
28. MEMPROG- Memory Programming......................................................................373
28.1. Program And Data Memory Lock Bits...................................................................................... 373
28.2. Fuse Bits...................................................................................................................................374
28.3. Signature Bytes........................................................................................................................ 377
28.4. Calibration Byte........................................................................................................................ 377
28.5. Serial Number...........................................................................................................................377
28.6. Page Size................................................................................................................................. 377
28.7. Parallel Programming Parameters, Pin Mapping, and Commands.......................................... 378
28.8. Parallel Programming...............................................................................................................380
28.9. Serial Downloading...................................................................................................................387
28.10. Programming Via the JTAG Interface.......................................................................................392
29. Electrical Characteristics....................................................................................... 406
29.1. Absolute Maximum Ratings......................................................................................................406
29.2. DC Characteristics....................................................................................................................406
29.3. Speed Grades.......................................................................................................................... 409
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29.4. Clock Characteristics................................................................................................................409
29.5. System and Reset Characteristics........................................................................................... 410
29.6. External interrupts characteristics.............................................................................................411
29.7. SPI Timing Characteristics....................................................................................................... 412
29.8. Two-wire Serial Interface Characteristics................................................................................. 413
29.9. ADC characteristics..................................................................................................................415
29.10. Parallel Programming Characteristics......................................................................................419
30. Typical Characteristics...........................................................................................421
30.1. Active Supply Current...............................................................................................................421
30.2. Idle Supply Current...................................................................................................................423
30.3. Supply Current of I/O Modules................................................................................................. 424
30.4. Power-down Supply Current.....................................................................................................426
30.5. Power-save Supply Current......................................................................................................427
30.6. Standby Supply Current........................................................................................................... 427
30.7. Pin Pull-Up................................................................................................................................428
30.8. Pin Driver Strength................................................................................................................... 430
30.9. Pin Threshold and Hysteresis...................................................................................................431
30.10. BOD Threshold........................................................................................................................ 433
30.11. Internal Oscillator Speed.......................................................................................................... 435
30.12. Current Consumption of Peripheral Units................................................................................ 436
30.13. Current Consumption in Reset and Reset Pulse Width........................................................... 438
31. Register Summary.................................................................................................440
32. Instruction Set Summary....................................................................................... 444
33. Packaging Information...........................................................................................448
33.1.
33.2.
33.3.
33.4.
33.5.
40-pin PDIP.............................................................................................................................. 448
44-pin TQFP.............................................................................................................................449
44-pin VQFN.............................................................................................................................450
44-pin QFN...............................................................................................................................451
49-pin VFBGA.......................................................................................................................... 452
34. Datasheet Revision History................................................................................... 453
34.1. Rev. A – 05/2016...................................................................................................................... 453
35. Errata.....................................................................................................................454
35.1. Rev. E....................................................................................................................................... 454
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1.
Description
The Atmel® ATmega164PA 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 ATmega164PA achieves
throughputs close to 1MIPS per MHz. This empowers system designer to optimize the device for power
consumption versus processing speed.
The Atmel 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 a 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 ATmega164PA provides the following features: 16Kbytes of In-System Programmable Flash with
Read-While-Write capabilities, 512bytesbytes EEPROM, 1Kbytes SRAM, 32 general purpose I/O lines,
32 general purpose working registers, Real Time Counter (RTC), three flexible Timer/Counters with
compare modes and PWM, two serial programmable USARTs , one byte-oriented 2-wire Serial Interface
(I2C), a 8- channel 10-bit ADC with optional differential input stage with programmable gain, a
programmable Watchdog Timer with internal Oscillator, an SPI serial port, IEEE std. 1149.1 compliant
JTAG test interface, also used for accessing the On-chip Debug system and programming and six
software selectable power saving modes. The Idle mode stops the CPU while allowing the 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 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.
Atmel offers the QTouch® library for embedding capacitive touch buttons, sliders and wheels functionality
into AVR microcontrollers. The patented charge-transfer signal acquisition offers robust sensing and
includes fully debounced reporting of touch keys and includes Adjacent Key Suppression® (AKS™)
technology for unambiguous detection of key events. The easy-to-use QTouch Suite toolchain allows you
to explore, develop and debug your own touch applications.
The device is manufactured using Atmel’s high density non-volatile 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 ATmega164PA is a powerful microcontroller
that provides a highly flexible and cost effective solution to many embedded control applications.
The ATmega164PA 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.
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2.
Configuration Summary
The table below compares the device series of feature and pin compatible devices, providing a seamless
migration path.
Table 2-1. Configuration Summary and Device Comparison
Features
ATmega164PA
ATmega324PA
ATmega644PA
ATmega1284P
Pin Count
40/44/49
40/44/49
40/44
40/44
Flash (Bytes)
16K
32K
64K
128K
SRAM (Bytes)
1K
2K
4K
16K
EEPROM (Bytes)
512
1K
2K
4K
General Purpose
I/O Lines
32
32
32
32
SPI
1
1
1
1
TWI (I2C)
1
1
1
1
USART
2
2
2
2
10-bit 15ksps
10-bit 15ksps
10-bit 15ksps
10-bit 15ksps
ADC Channels
8
8
8
8
Analog Comparator
1
1
1
1
8-bit Timer/
Counters
2
2
2
2
16-bit Timer/
Counters
1
1
1
2
PWM channels
6
6
6
8
PDIP
PDIP
PDIP
PDIP
TQFP
TQFP
TQFP
TQFP
VQFN/QFN
VQFN/QFN
VQFN/QFN
VQFNQFN
DRQFN
DRQFN
VFBGA
VFBGA
ADC
Packages
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3.
Ordering Information
Speed [MHz](3)
Power Supply [V]
20
1.8 - 5.5
20
1.8 - 5.5
Ordering Code(2)
Package(1)
Operational Range
ATmega164PA-AU
44A
Industrial
(-40°C to 85°C)
ATmega164PA-AUR(5)
44A
ATmega164PA-PU
40P6
ATmega164PA-MU
44M1
ATmega164PA-MUR(5)
44M1
ATmega164PA-MCH(4)
44MC
ATmega164PA-MCHR(4)(5)
44MC
ATmega164PA-CU
49C2
ATmega164PA-CUR(5)
49C2
ATmega164PA-AN
44A
ATmega164PA-ANR(5)
44A
ATmega164PA-PN
40P6
ATmega164PA-MN
44M1
ATmega164PA-MNR(5)
44M1
Industrial
(-40°C to 105°C)
Note: 1. This device can also be supplied in wafer form. Please contact your local Atmel sales office for
detailed ordering information and minimum quantities.
2. Pb-free packaging, complies to the European Directive for Restriction of Hazardous Substances
(RoHS directive). Also Halide free and fully Green.
3. Refer to Speed Grades for Speed vs. VCC
4. NiPdAu Lead Finish.
5. Tape & Reel.
Package Type
40P6 40-pin, 0.600” Wide, Plastic Dual Inline Package (PDIP)
44A
44-lead, Thin (1.0mm) Plastic Quad Flat Package (TQFP)
44M1 44-pad, 7 × 7 × 1.0mm body, lead pitch 0.50mm, Thermally Enhanced Plastic Very Thin Quad Flat NoLead (VQFN)
44MC 44-lead (2-row Staggered), 5 × 5 × 1.0mm body, 2.60 × 2.60mm Exposed Pad, Quad Flat No-Lead
Package (QFN)
49C2 49-ball, (7 × 7 Array) 0.65mm Pitch, 5 × 5 × 1mm, Very Thin, Fine-Pitch Ball Grid Array Package (VFBGA)
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Related Links
Speed Grades on page 409
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4.
Block Diagram
Figure 4-1. Block Diagram
SRAM
TCK
TMS
TDI
TDO
JTAG
CPU
OCD
Clock generation
TOSC1
32.768kHz
XOSC
TOSC2
XTAL1
16MHz LP
XOSC
XTAL2
VCC
RESET
GND
8MHz
Calib RC
128kHz int
osc
External
clock
Power
Supervision
POR/BOD &
RESET
ADC[7:0]
AREF
PCINT[31:0]
INT[2:0]
OC1A/B
T1
ICP1
OC2A
OC2B
NVM
programming
Power
management
and clock
control
Watchdog
Timer
ADC
EXTINT
TC 1
(16-bit)
TC 2
(8-bit async)
FLASH
D
A
T
A
B
U
S
I/O
PORTS
I
N
/
O
U
T
EEPROM
GPIOR[2:0]
D
A
T
A
B
U
S
EEPROMIF
TC 0
(8-bit)
SPI
AC
Internal
Reference
USART 0
RxD0
TxD0
XCK0
USART 1
RxD1
TxD1
XCK1
TWI
PA[7:0]
PB[7:0]
PC[7:0]
PD[7:0]
T0
OC0A
OC0B
MISO
MOSI
SCK
SS
AIN0
AIN1
ACO
ADCMUX
SDA
SCL
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5.
Pin Configurations
5.1.
Pinout
5.1.1.
PDIP
(PCINT8/XCK0/T0)
(ADC0/PCINT0)
(PCINT9/CLKO/T1)
(ADC1/PCINT1)
(PCINT10/INT2/AIN0)
(ADC2/PCINT2)
(PCINT11/OC0A/AIN1)
(ADC3/PCINT3)
(PCINT12/OC0B/
(ADC4/PCINT4)
(PCINT13/MOSI)
(ADC5/PCINT5)
(PCINT14/MISO)
(ADC6/PCINT6)
(PCINT15//SCK)
(ADC7/PCINT7)
(TOSC2/PCINT23)
(TOSC1/PCINT22)
(PCINT24/RXD0)
(TDI/PCINT21)
(PCINT25/TXD0)
(TDO/PCINT20)
(PCINT26/RXD1/INT0)
(TMS/PCINT19)
(PCINT27/TXD1/INT1)
(TCK/PCINT18)
(PCINT28/XCK1/OC1B)
(SDA/PCINT17)
(PCINT29/OC1A)
(SCL/PCINT16)
(PCINT30/OC2B/ICP)
(OC2A/PCINT31)
Power
Ground
Programming/debug
Digital
Analog
Crystal/Osc
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PB1 (T1/CLKO/PCINT9)
PB0 (XCK0/T0/PCINT8)
GND
VCC
PA0 (ADC0/PCINT0)
PA1 (ADC1/PCINT1)
PA2 (ADC2/PCINT2)
PA3 (ADC3/PCINT3)
41
40
39
38
37
36
35
34
Crystal/Osc
PB2 (AIN0/INT2/PCINT10)
Analog
42
Digital
PB3 (AIN1/OC0A/PCINT11)
Programming/debug
43
Ground
PB4 (SS/OC0B/PCINT12)
Power
44
TQFN and QFN
GND
XTAL2
7
27
AVCC
XTAL1
8
26
PC7 (TOSC2/PCINT23)
(PCINT24/RXD0) PD0
9
25
PC6 (TOSC1/PCINT22)
(PCINT25/TXD0) PD1
10
24
PC5 (TDI/PCINT21)
(PCINT26/RXD1/INT0) PD2
11
23
PC4 (TDO/PCINT20)
22
28
(PCINT19/TMS) PC3
6
21
GND
(PCINT18/TCK) PC2
AREF
20
29
(PCINT17/SDA) PC1
5
19
VCC
(PCINT16/SCL) PC0
PA7 (ADC7/PCINT7)
18
30
GND
4
17
RESET
VCC
PA6 (ADC6/PCINT6)
16
31
(PCINT31/OC2A) PD7
3
15
(PCINT15/SCK) PB7
(PCINT30/OC2B/ICP1) PD6
PA5 (ADC5/PCINT5)
14
(PCINT14/MISO) PB6
32
(PCINT29/OC1A) PD5
PA4 (ADC4/PCINT4)
2
13
33
(PCINT28/XCK1/OC1B) PD4
1
12
(PCINT13/MOSI) PB5
(PCINT27/TXD1/INT1) PD3
5.1.2.
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DRQFN
Top view
Bottom view
B6
A7
B7
A8
A12
B10
B8
A10
B9
A11
B10
A12
B7
A9
B6
A8
A9
B5
A6
A1
B1
A2
B2
A3
B3
A4
B4
A5
B5
A6
A10
B8
B4
A5
A18
B15
A17
B14
A16
B13
A15
B12
A14
B11
A13
A11
B9
B3
A4
A24
B20
B2
A3
A23
B19
A2
A22
B18
A18
B15
A17
B14
A16
B13
A15
B12
A14
B11
A13
B1
A21
B17
A20
B16
A19
A19
B16
A20
B17
A21
B18
A22
B19
A23
B20
A24
A1
A7
5.1.3.
Table 5-1. DRQFN Pinout
A1
PB5
A7
PD3
A13
PC4
A19
PA3
B1
PB6
B6
PD4
B11
PC5
B16
PA2
A2
PB7
A8
PD5
A14
PC6
A20
PA1
B2
RESET
B7
PD6
B12
PC7
B17
PA0
A3
VCC
A9
PD7
A15
AVCC
A21
VCC
B3
GND
B8
VCC
B13
GND
B18
GND
A4
XTAL2
A10
GND
A16
AREF
A22
PB0
B4
XTAL1
B9
PC0
B14
PA7
B19
PB1
A5
PD0
A11
PC1
A17
PA6
A23
PB2
B5
PD1
B10
PC2
B15
PA5
B20
PB3
A6
PD2
A12
PC3
A18
PA4
A24
PB4
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5.1.4.
VFBGA
7
6
02
C
VC
PB
00
PB
AR
EF
01
06
PA
PB
C
06
PC
07
PC
04
PC
03
PC
PB
PC
05
02
PC
01
PC
05
PB
C
VC
07
00
7
2
PD
AL
XT
07
05
PD
01
PD
00
06
PD
PD
C
VC
04
PD
0
PA
C
AV
03
PB
04
PB
PD
PC
03
1
AL
XT
02
PD
Programming/debug
5.2.
Pin Descriptions
5.2.1.
VCC
Digital supply voltage.
5.2.2.
GND
Ground.
5.2.3.
Port A (PA[7:0])
This port serves as analog inputs to the Analog-to-digital Converter.
This is an 8-bit, bi-directional I/O port with internal pull-up resistors, individually selectable for each bit.
The output buffers have symmetrical drive characteristics, with both high sink and source capability. As
inputs, the port pins that are externally pulled low will source current if pull-up resistors are activated. Port
pins are tri-stated when a reset condition becomes active, even if the clock is not running.
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5.2.4.
Port B (PB[7:0])
This is an 8-bit, bi-directional I/O port with internal pull-up resistors, individually selectable for each bit.
The output buffers have symmetrical drive characteristics, with both high sink and source capability. As
inputs, the port pins that are externally pulled low will source current if pull-up resistors are activated. Port
pins are tri-stated when a reset condition becomes active, even if the clock is not running.
This port also serves the functions of various special features.
5.2.5.
Port C (PC[7:0])
This is an 8-bit, bi-directional I/O port with internal pull-up resistors, individually selectable for each bit.
The output buffers have symmetrical drive characteristics, with both high sink and source capability. As
inputs, the port pins that are externally pulled low will source current if pull-up resistors are activated. Port
pins are tri-stated when a reset condition becomes active, even if the clock is not running.
This port also serves the functions of the JTAG interface, along with special features.
5.2.6.
Port D (PD[7:0])
This is an 8-bit, bi-directional I/O port with internal pull-up resistors, individually selectable for each bit.
The output buffers have symmetrical drive characteristics, with both high sink and source capability. As
inputs, the port pins that are externally pulled low will source current if pull-up resistors are activated. Port
pins are tri-stated when a reset condition becomes active, even if the clock is not running.
This port also serves the functions of various special features.
5.2.7.
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. Shorter pulses are not guaranteed to generate a reset.
5.2.8.
XTAL1
Input to the inverting Oscillator amplifier and input to the internal clock operating circuit.
5.2.9.
XTAL2
Output from the inverting Oscillator amplifier.
5.2.10.
AVCC
AVCC is the supply voltage pin for Port A and the Analog-to-digital 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.
5.2.11.
AREF
This is the analog reference pin for the Analog-to-digital Converter.
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6.
I/O Multiplexing
Each pin is by default controlled by the PORT as a general purpose I/O and alternatively it can be
assigned to one of the peripheral functions.
The following table describes the peripheral signals multiplexed to the PORT I/O pins.
Table 6-1. PORT Function Multiplexing
32-pin
40-pin
TQFP/
PIPD
QFN/
Pin #
MLF Pin
#
DRQFN
Pin#
VFBGA
Pin#
PAD
EXTINT
PCINT
ADC/AC OSC
T/C # 0
T/C # 1
USART
I2C
SPI
JTAG
1
6
A1
B2
PB[5]
PCINT1
3
MOSI
2
7
B1
B1
PB[6]
PCINT1
4
MISO
3
8
A2
C3
PB[7]
PCINT1
5
SCK
4
9
B2
C2
RESET
5
10
A3
A5
VCC
6
11
B3
A1
GND
7
12
A4
D2
XTAL2
8
13
B4
E1
XTAL1
9
14
A5
D3
PD[0]
PCINT2
4
RxD0
10
15
B5
E2
PD[1]
PCINT2
5
TxD0
11
16
A6
F1
PD[2]
INT0
PCINT2
6
RxD1
12
17
A7
F2
PD[3]
INT1
PCINT2
7
TXD1
13
18
B6
G2
PD[4]
PCINT2
8
OC1B
14
19
A8
E3
PD[5]
PCINT2
9
OC1A
15
20
B7
F3
PD[6]
PCINT3
0
OC2B
16
21
A9
E4
PD[7]
PCINT3
1
OC2A
17
-
B8
C1
VCC
RxD2
MISO1
18
-
A10
A4
GND
TxD2
MOSI1
19
22
B9
F4
PC[0]
PCINT1
6
SCL
20
23
A11
G5
PC[1]
PCINT1
7
SDA
21
24
B10
F5
PC[2]
PCINT1
8
TCK
22
25
A12
G6
PC[3]
PCINT1
9
TMS
23
26
A13
F6
PC[4]
PCINT2
0
TDO
XCK1
ICP1
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32-pin
40-pin
TQFP/
PIPD
QFN/
Pin #
MLF Pin
#
DRQFN
Pin#
VFBGA
Pin#
PAD
EXTINT
PCINT
ADC/AC OSC
T/C # 0
T/C # 1
USART
I2C
24
27
B11
E5
PC[5]
PCINT2
1
25
28
A14
F7
PC[6]
PCINT2
2
TOSC1
26
29
B12
E6
PC[7]
PCINT2
3
TOSC2
27
30
A15
E7
AVCC
28
31
B13
D1
GND
29
32
A16
C7
AREF
30
33
B14
D6
PA[7]
PCINT7
ADC7
31
34
A17
C6
PA[6]
PCINT6
ADC6
32
35
B15
B7
PA[5]
PCINT5
ADC5
33
36
A18
D5
PA[4]
PCINT4
ADC4
34
37
A19
B6
PA[3]
PCINT3
ADC3
35
38
B16
A6
PA[2]
PCINT2
ADC2
36
39
A20
C5
PA[1]
PCINT1
ADC1
37
40
B17
B5
PA[0]
PCINT0
ADC0
38
-
A21
G3
VCC
SDA1
39
-
B18
A7
GND
SCL1
40
1
A22
B4
PB[0]
PCINT8
41
2
B19
C4
PB[1]
PCINT9
42
3
A23
A3
PB[2]
43
4
B20
B3
44
5
A24
-
-
-
SPI
JTAG
TDI
AREF
INT2
T0
XCK0
CLKO
PCINT1
0
AIN0
PB[3]
PCINT1
1
AIN1
A2
PB[4]
PCINT1
2
-
D4
GND
-
-
D7
GND
-
-
G1
GND
-
-
-
G4
GND
-
-
-
G7
GND
T1
OC0A
OC0B
SS
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7.
General Information
7.1.
Resources
A comprehensive set of development tools, application notes, and datasheets are available for download
on http://www.atmel.com/avr.
7.2.
Data Retention
Reliability Qualification results show that the projected data retention failure rate is much less than 1 PPM
over 20 years at 85°C or 100 years at 25°C.
7.3.
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. Confirm with the C compiler documentation for more details.
For I/O Registers located in extended I/O map, “IN”, “OUT”, “SBIS”, “SBIC”, “CBI”, and “SBI” instructions
must be replaced with instructions that allow access to extended I/O. Typically “LDS” and “STS”
combined with “SBRS”, “SBRC”, “SBR”, and “CBR”.
7.4.
Capacitive Touch Sensing
7.4.1.
QTouch Library
®
®
The Atmel QTouch Library provides a simple to use solution to realize touch sensitive interfaces on
®
most Atmel AVR microcontrollers. The QTouch Library includes support for the Atmel QTouch and Atmel
®
QMatrix acquisition methods.
Touch sensing can be added to any application by linking the appropriate Atmel QTouch Library for the
AVR Microcontroller. This is done by using a simple set of APIs to define the touch channels and sensors,
and then calling the touch sensing API’s to retrieve the channel information and determine the touch
sensor states.
The QTouch Library is FREE and downloadable from the Atmel website at the following location: http://
www.atmel.com/technologies/touch/. For implementation details and other information, refer to the Atmel
QTouch Library User Guide - also available for download from the Atmel website.
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8.
AVR CPU Core
8.1.
Overview
This section discusses the AVR core architecture in general. The main function of the CPU core is to
ensure correct program execution. The CPU must therefore be able to access memories, perform
calculations, control peripherals, and handle interrupts.
Figure 8-1. Block Diagram of the AVR Architecture
Register file
R31 (ZH)
R29 (YH)
R27 (XH)
R25
R23
R21
R19
R17
R15
R13
R11
R9
R7
R5
R3
R1
R30 (ZL)
R28 (YL)
R26 (XL)
R24
R22
R20
R18
R16
R14
R12
R10
R8
R6
R4
R2
R0
Program
counter
Flash program
memory
Instruction
register
Instruction
decode
Data memory
Stack
pointer
Status
register
ALU
In order to maximize performance and parallelism, the AVR uses a Harvard architecture – with separate
memories and buses for program and data. Instructions in the program memory are executed with a
single level pipelining. While one instruction is being executed, the next instruction is pre-fetched from the
program memory. This concept enables instructions to be executed in every clock cycle. The program
memory is In-System Reprogrammable Flash memory.
The fast-access Register File contains 32 x 8-bit general purpose working registers with a single clock
cycle access time. This allows single-cycle Arithmetic Logic Unit (ALU) operation. In a typical ALU
operation, two operands are output from the Register File, the operation is executed, and the result is
stored back in the Register File – in one clock cycle.
Six of the 32 registers can be used as three 16-bit indirect address register pointers for Data Space
addressing – enabling efficient address calculations. One of the these address pointers can also be used
as an address pointer for look up tables in Flash program memory. These added function registers are
the 16-bit X-, Y-, and Z-register, described later in this section.
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The ALU supports arithmetic and logic operations between registers or between a constant and a
register. Single register operations can also be executed in the ALU. After an arithmetic operation, the
Status Register is updated to reflect information about the result of the operation.
Program flow is provided by conditional and unconditional jump and call instructions, able to directly
address the whole address space. Most AVR instructions have a single 16-bit word format. Every
program memory address contains a 16- or 32-bit instruction.
Program Flash memory space is divided in two sections, the Boot Program section and the Application
Program section. Both sections have dedicated Lock bits for write and read/write protection. The SPM
instruction that writes into the Application Flash memory section must reside in the Boot Program section.
During interrupts and subroutine calls, the return address Program Counter (PC) is stored on the Stack.
The Stack is effectively allocated in the general data SRAM, and consequently the Stack size is only
limited by the total SRAM size and the usage of the SRAM. All user programs must initialize the SP in the
Reset routine (before subroutines or interrupts are executed). The Stack Pointer (SP) is read/write
accessible in the I/O space. The data SRAM can easily be accessed through the five different addressing
modes supported in the AVR architecture.
The memory spaces in the AVR architecture are all linear and regular memory maps.
A flexible interrupt module has its control registers in the I/O space with an additional Global Interrupt
Enable bit in the Status Register. All interrupts have a separate Interrupt Vector in the Interrupt Vector
table. The interrupts have priority in accordance with their Interrupt Vector position. The lower the
Interrupt Vector address, the higher the priority.
The I/O memory space contains 64 addresses for CPU peripheral functions as Control Registers, SPI,
and other I/O functions. The I/O Memory can be accessed directly, or as the Data Space locations
following those of the Register File, 0x20 - 0x5F. In addition, this device has Extended I/O space from
0x60 - 0xFF in SRAM where only the ST/STS/STD and LD/LDS/LDD instructions can be used.
8.2.
ALU – Arithmetic Logic Unit
The high-performance AVR ALU operates in direct connection with all the 32 general purpose working
registers. Within a single clock cycle, arithmetic operations between general purpose registers or between
a register and an immediate are executed. The ALU operations are divided into three main categories –
arithmetic, logical, and bit-functions. Some implementations of the architecture also provide a powerful
multiplier supporting both signed/unsigned multiplication and fractional format. See Instruction Set
Summary section for a detailed description.
Related Links
Instruction Set Summary on page 444
8.3.
Status Register
The Status Register contains information about the result of the most recently executed arithmetic
instruction. This information can be used for altering program flow in order to perform conditional
operations. The Status Register is updated after all ALU operations, as specified in the Instruction Set
Reference. This will in many cases remove the need for using the dedicated compare instructions,
resulting in faster and more compact code.
The Status Register is not automatically stored when entering an interrupt routine and restored when
returning from an interrupt. This must be handled by software.
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8.3.1.
Status Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
Name: SREG
Offset: 0x5F
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x3F
Bit
Access
Reset
7
6
5
4
3
2
1
0
I
T
H
S
V
N
Z
C
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bit 7 – I: Global Interrupt Enable
The Global Interrupt Enable bit must be set for the interrupts to be enabled. The individual interrupt
enable control is then performed in separate control registers. If the Global Interrupt Enable Register is
cleared, none of the interrupts are enabled independent of the individual interrupt enable settings. The Ibit is cleared by hardware after an interrupt has occurred, and is set by the RETI instruction to enable
subsequent interrupts. The I-bit can also be set and cleared by the application with the SEI and CLI
instructions, as described in the instruction set reference.
Bit 6 – T: Copy Storage
The Bit Copy instructions BLD (Bit LoaD) and BST (Bit STore) use the T-bit as source or destination for
the operated bit. A bit from a register in the Register File can be copied into T by the BST instruction, and
a bit in T can be copied into a bit in a register in the Register File by the BLD instruction.
Bit 5 – H: Half Carry Flag
The Half Carry Flag H indicates a Half Carry in some arithmetic operations. Half Carry Flag is useful in
BCD arithmetic. See the Instruction Set Description for detailed information.
Bit 4 – S: Sign Flag, S = N ㊉ V
The S-bit is always an exclusive or between the Negative Flag N and the Two’s Complement Overflow
Flag V. See the Instruction Set Description for detailed information.
Bit 3 – V: Two’s Complement Overflow Flag
The Two’s Complement Overflow Flag V supports two’s complement arithmetic. See the Instruction Set
Description for detailed information.
Bit 2 – N: Negative Flag
The Negative Flag N indicates a negative result in an arithmetic or logic operation. See the Instruction Set
Description for detailed information.
Bit 1 – Z: Zero Flag
The Zero Flag Z indicates a zero result in an arithmetic or logic operation. See the Instruction Set
Description for detailed information.
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Bit 0 – C: Carry Flag
The Carry Flag C indicates a carry in an arithmetic or logic operation. See the Instruction Set Description
for detailed information.
8.4.
General Purpose Register File
The Register File is optimized for the AVR Enhanced RISC instruction set. In order to achieve the
required performance and flexibility, the following input/output schemes are supported by the Register
File:
•
•
•
•
One 8-bit output operand and one 8-bit result input
Two 8-bit output operands and one 8-bit result input
Two 8-bit output operands and one 16-bit result input
One 16-bit output operand and one 16-bit result input
Figure 8-2. AVR CPU General Purpose Working Registers
7
0
Addr.
R0
0x00
R1
0x01
R2
0x02
…
R13
0x0D
Ge ne ra l
R14
0x0E
P urpos e
R15
0x0F
Working
R16
0x10
Re gis te rs
R17
0x11
…
R26
0x1A
X-re gis te r Low Byte
R27
0x1B
X-re gis te r High Byte
R28
0x1C
Y-re gis te r Low Byte
R29
0x1D
Y-re gis te r High Byte
R30
0x1E
Z-re gis te r Low Byte
R31
0x1F
Z-re gis te r High Byte
Most of the instructions operating on the Register File have direct access to all registers, and most of
them are single cycle instructions. As shown in the figure, each register is also assigned a data memory
address, mapping them directly into the first 32 locations of the user Data Space. Although not being
physically implemented as SRAM locations, this memory organization provides great flexibility in access
of the registers, as the X-, Y-, and Z-pointer registers can be set to index any register in the file.
8.4.1.
The X-register, Y-register, and Z-register
The registers R26...R31 have some added functions to their general purpose usage. These registers are
16-bit address pointers for indirect addressing of the data space. The three indirect address registers X,
Y, and Z are defined as described in the figure.
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Figure 8-3. The X-, Y-, and Z-registers
15
X-re gis te r
XH
7
0
15
Y-re gis te r
Z-re gis te r
XL
7
0
R27
R26
YH
YL
7
0
0
0
7
0
R29
R28
15
ZH
ZL
7
0
7
0
0
R31
R30
In the different addressing modes these address registers have functions as fixed displacement,
automatic increment, and automatic decrement (see the instruction set reference for details).
Related Links
Instruction Set Summary on page 444
8.5.
Stack Pointer
The Stack is mainly used for storing temporary data, for storing local variables and for storing return
addresses after interrupts and subroutine calls. The Stack is implemented as growing from higher to
lower memory locations. The Stack Pointer Register always points to the top of the Stack.
The Stack Pointer points to the data SRAM Stack area where the Subroutine and Interrupt Stacks are
located. A Stack PUSH command will decrease the Stack Pointer. The Stack in the data SRAM must be
defined by the program before any subroutine calls are executed or interrupts are enabled. Initial Stack
Pointer value equals the last address of the internal SRAM and the Stack Pointer must be set to point
above start of the SRAM. See the table for Stack Pointer details.
Table 8-1. Stack Pointer Instructions
Instruction Stack pointer
Description
PUSH
Decremented by 1 Data is pushed onto the stack
CALL
Decremented by 2 Return address is pushed onto the stack with a subroutine call or
interrupt
ICALL
RCALL
POP
Incremented by 1
Data is popped from the stack
RET
Incremented by 2
Return address is popped from the stack with return from subroutine or
return from interrupt
RETI
The AVR Stack Pointer is implemented as two 8-bit registers in the I/O space. The number of bits actually
used is implementation dependent. Note that the data space in some implementations of the AVR
architecture is so small that only SPL is needed. In this case, the SPH Register will not be present.
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8.5.1.
Stack Pointer Register High byte
When using the I/O specific commands IN and OUT, the I/O addresses 0x00 - 0x3F must be used. When
addressing I/O Registers as data space using LD and ST instructions, 0x20 must be added to these offset
addresses. The device is a complex microcontroller with more peripheral units than can be supported
within the 64 locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space
from 0x60 in SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: SPH
Offset: 0x5E
Reset: RAMEND
Property: When addressing I/O Registers as data space the offset address is 0x3E
Bit
7
6
5
4
3
2
1
0
(SP[11:8]) SPH
Access
Reset
RW
RW
RW
RW
0
0
0
0
Bits 3:0 – (SP[11:8]) SPH: Stack Pointer Register
SPH and SPL are combined into SP. It means SPH[4:0] is SP[11:8].
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8.5.2.
Stack Pointer Register Low byte
When using the I/O specific commands IN and OUT, the I/O addresses 0x00 - 0x3F must be used. When
addressing I/O Registers as data space using LD and ST instructions, 0x20 must be added to these offset
addresses. The device is a complex microcontroller with more peripheral units than can be supported
within the 64 locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space
from 0x60 in SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: SPL
Offset: 0x5D
Reset: 0x11111111
Property: When addressing I/O Registers as data space the offset address is 0x3D
Bit
7
6
5
4
3
2
1
0
(SP[7:0]) SPL
Access
Reset
RW
RW
RW
RW
RW
RW
RW
RW
0
0
0
0
0
0
0
1
Bits 7:0 – (SP[7:0]) SPL: Stack Pointer Register
SPH and SPL are combined into SP. It means SPL[7:0] is SP[7:0].
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8.5.3.
Extended Z-pointer Register for ELPM/SPM
When using the I/O specific commands IN and OUT, the I/O addresses 0x00 - 0x3F must be used. When
addressing I/O Registers as data space using LD and ST instructions, 0x20 must be added to these offset
addresses. The device is a complex microcontroller with more peripheral units than can be supported
within the 64 locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space
from 0x60 in SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: RAMPZ
Offset: 0x5B
Reset: 0x0
Property: When addressing I/O Registers as data space the offset address is 0x3B
Bit
7
6
5
4
3
2
1
0
RAMPZ[7:0]
Access
Reset
RW
RW
RW
RW
RW
RW
RW
RW
0
0
0
0
0
0
0
0
Bits 7:0 – RAMPZ[7:0]: Extended Z-pointer Register for ELPM/SPM
For ELPM/SPM instructions, the Z-pointer is a concatenation of RAMPZ, ZH, and ZL, as shown in the
below figure. Note that LPM is not affected by the RAMPZ setting.
Figure 8-4. The Z-pointer used by ELPM and SPM
Bit (Individually)
7
0
7
0
RAMPZ
Bit (Z-pointer)
23
7
ZH
16
0
ZL
15
8
7
0
The actual number of bits is implementation dependent. Unused bits in an implementation will always
read as zero. For compatibility with future devices, be sure to write these bits to zero.
8.6.
Instruction Execution Timing
This section describes the general access timing concepts for instruction execution. The AVR CPU is
driven by the CPU clock clkCPU, directly generated from the selected clock source for the chip. No internal
clock division is used. The Figure below shows the parallel instruction fetches and instruction executions
enabled by the Harvard architecture and the fast-access Register File concept. This is the basic pipelining
concept to obtain up to 1 MIPS per MHz with the corresponding unique results for functions per cost,
functions per clocks, and functions per power-unit.
Figure 8-5. The Parallel Instruction Fetches and Instruction Executions
T1
T2
T3
T4
clkCPU
1st Instruction Fetch
1st Instruction Execute
2nd Instruction Fetch
2nd Instruction Execute
3rd Instruction Fetch
3rd Instruction Execute
4th Instruction Fetch
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The following Figure shows the internal timing concept for the Register File. In a single clock cycle an
ALU operation using two register operands is executed, and the result is stored back to the destination
register.
Figure 8-6. Single Cycle ALU Operation
T1
T2
T3
T4
clkCPU
Total Execution Time
Register Operands Fetch
ALU Operation Execute
Result Write Back
8.7.
Reset and Interrupt Handling
The AVR provides several different interrupt sources. These interrupts and the separate Reset Vector
each have a separate program vector in the program memory space. All interrupts are assigned individual
enable bits which must be written logic one together with the Global Interrupt Enable bit in the Status
Register in order to enable the interrupt. Depending on the Program Counter value, interrupts may be
automatically disabled when Boot Lock bits BLB02 or BLB12 are programmed. This feature improves
software security.
The lowest addresses in the program memory space are by default defined as the Reset and Interrupt
Vectors. They have determined priority levels: The lower the address the higher is the priority level.
RESET has the highest priority, and next is INT0 – the External Interrupt Request 0. The Interrupt Vectors
can be moved to the start of the Boot Flash section by setting the IVSEL bit in the MCU Control Register
(MCUCR). The Reset Vector can also be moved to the start of the Boot Flash section by programming
the BOOTRST Fuse.
When an interrupt occurs, the Global Interrupt Enable I-bit is cleared and all interrupts are disabled. The
user software can write logic one to the I-bit to enable nested interrupts. All enabled interrupts can then
interrupt the current interrupt routine. The I-bit is automatically set when a Return from Interrupt
instruction – RETI – is executed.
There are basically two types of interrupts:
The first type is triggered by an event that sets the Interrupt Flag. For these interrupts, the Program
Counter is vectored to the actual Interrupt Vector in order to execute the interrupt handling routine, and
hardware clears the corresponding Interrupt Flag. Interrupt Flags can also be cleared by writing a logic
one to the flag bit position(s) to be cleared. If an interrupt condition occurs while the corresponding
interrupt enable bit is cleared, the Interrupt Flag will be set and remembered until the interrupt is enabled,
or the flag is cleared by software. Similarly, if one or more interrupt conditions occur while the Global
Interrupt Enable bit is cleared, the corresponding Interrupt Flag(s) will be set and remembered until the
Global Interrupt Enable bit is set, and will then be executed by order of priority.
The second type of interrupts will trigger as long as the interrupt condition is present. These interrupts do
not necessarily have Interrupt Flags. If the interrupt condition disappears before the interrupt is enabled,
the interrupt will not be triggered. When the AVR exits from an interrupt, it will always return to the main
program and execute one more instruction before any pending interrupt is served.
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The Status Register is not automatically stored when entering an interrupt routine, nor restored when
returning from an interrupt routine. This must be handled by software.
When using the CLI instruction to disable interrupts, the interrupts will be immediately disabled. No
interrupt will be executed after the CLI instruction, even if it occurs simultaneously with the CLI instruction.
The following example shows how this can be used to avoid interrupts during the timed EEPROM write
sequence.
Assembly Code Example
in r16, SREG ; store SREG value
cli ; disable interrupts during timed sequence
sbi EECR, EEMPE ; start EEPROM write
sbi EECR, EEPE
out SREG, r16 ; restore SREG value (I-bit)
C Code Example
char cSREG;
cSREG = SREG; /* store SREG value */
/* disable interrupts during timed sequence */
_CLI();
EECR |= (1<<EEMPE); /* start EEPROM write */
EECR |= (1<<EEPE);
SREG = cSREG; /* restore SREG value (I-bit) */
Note: Please refer to About Code Examples.
When using the SEI instruction to enable interrupts, the instruction following SEI will be executed before
any pending interrupts, as shown in this example.
Assembly Code Example
sei ; set Global Interrupt Enable
sleep ; enter sleep, waiting for interrupt
; note: will enter sleep before any pending interrupt(s)
C Code Example
__enable_interrupt(); /* set Global Interrupt Enable */
__sleep(); /* enter sleep, waiting for interrupt */
/* note: will enter sleep before any pending interrupt(s) */
Note: Please refer to About Code Examples.
Related Links
Memory Programming on page 373
Boot Loader Support – Read-While-Write Self-Programming on page 356
8.7.1.
Interrupt Response Time
The interrupt execution response for all the enabled AVR interrupts is four clock cycles minimum. After
four clock cycles the program vector address for the actual interrupt handling routine is executed. During
this four clock cycle period, the Program Counter is pushed onto the Stack. The vector is normally a jump
to the interrupt routine, and this jump takes three clock cycles. If an interrupt occurs during execution of a
multi-cycle instruction, this instruction is completed before the interrupt is served. If an interrupt occurs
when the MCU is in sleep mode, the interrupt execution response time is increased by four clock cycles.
This increase comes in addition to the start-up time from the selected sleep mode. A return from an
interrupt handling routine takes four clock cycles. During these four clock cycles, the Program Counter
(two bytes) is popped back from the Stack, the Stack Pointer is incremented by two, and the I-bit in SREG
is set.
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9.
AVR Memories
9.1.
Overview
This section describes the different memory types in the device. The AVR architecture has two main
memory spaces, the Data Memory and the Program Memory space. In addition, the device features an
EEPROM Memory for data storage. All memory spaces are linear and regular.
9.2.
In-System Reprogrammable Flash Program Memory
The ATmega164PA contains 16Kbytes On-chip In-System Reprogrammable Flash memory for program
storage. Since all AVR instructions are 16 or 32 bits wide, the Flash is organized as 32 x 16.
The Flash memory has an endurance of at least 10,000 write/erase cycles. The ATmega164PA Program
Counter (PC) is 13 bits wide, thus addressing the 32 program memory locations. The operation of Boot
Program section and associated Boot Lock bits for software protection are described in detail in Boot
Loader Support – Read-While-Write Self-Programming. Refer to Memory Programming for the description
on Flash data serial downloading using the SPI pins or the JTAG interface.
Constant tables can be allocated within the entire program memory address space, using the Load
Program Memory (LPM) instruction.
Timing diagrams for instruction fetch and execution are presented in Instruction Exectution Timing.
Figure 9-1. Program Memory Map ATmega164PA
Program Memory
0x0000
Application Flash Section
Boot Flash Section
0x1FFF
Related Links
BTLDR - Boot Loader Support – Read-While-Write Self-Programming on page 356
MEMPROG- Memory Programming on page 373
Instruction Execution Timing on page 30
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9.3.
SRAM Data Memory
The following figure shows how the device SRAM Memory is organized.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in the Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60
- 0xFF in SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
The lower 4352 data memory locations address both the Register File, the I/O memory, Extended I/O
memory, and the internal data SRAM. The first 32 locations address the Register File, the next 64
location the standard I/O memory, then 160 locations of Extended I/O memory, and the next 4096
locations address the internal data SRAM.
The five different addressing modes for the data memory cover:
•
Direct
– The direct addressing reaches the entire data space.
•
Indirect with Displacement
– The Indirect with Displacement mode reaches 63 address locations from the base address
given by the Y- or Z-register.
•
Indirect
– In the Register File, registers R26 to R31 feature the indirect addressing pointer registers.
•
Indirect with Pre-decrement
– The address registers X, Y, and Z are decremented.
•
Indirect with Post-increment
– The address registers X, Y, and Z are incremented.
The 32 general purpose working registers, 64 I/O Registers, 160 Extended I/O Registers, and the 1K
bytes of internal data SRAM in the device are all accessible through all these addressing modes.
Figure 9-2. Data Memory Map with 1024 byte internal data SRAM
(1024x8)
0x04FF
9.3.1.
Data Memory Access Times
The internal data SRAM access is performed in two clkCPU cycles as described in the following Figure.
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Figure 9-3. On-chip Data SRAM Access Cycles
T1
T2
T3
Compute Address
Address valid
clkCPU
Address
Write
Data
WR
Read
Data
RD
Memory Access Instruction
9.4.
Next Instruction
EEPROM Data Memory
The ATmega164PA contains 512bytes bytes of data EEPROM memory. It is organized as a separate data
space, in which single bytes can be read and written. The EEPROM has an endurance of at least
100,000 write/erase cycles. The access between the EEPROM and the CPU is described in the following,
specifying the EEPROM Address Registers, the EEPROM Data Register, and the EEPROM Control
Register.
See the related links for a detailed description on EEPROM Programming in SPI or Parallel Programming
mode.
Related Links
MEMPROG- Memory Programming on page 373
9.4.1.
EEPROM Read/Write Access
The EEPROM Access Registers are accessible in the I/O space.
The write access time for the EEPROM is given in Table 9-2 EEPROM Programming Time. A self-timing
function, however, lets the user software detect when the next byte can be written. If the user code
contains instructions that write the EEPROM, some precautions must be taken. In heavily filtered power
supplies, VCC is likely to rise or fall slowly on power-up/down. This causes the device for some period of
time to run at a voltage lower than specified as minimum for the clock frequency used. Please refer to
Preventing EEPROM Corruption for details on how to avoid problems in these situations.
In order to prevent unintentional EEPROM writes, a specific write procedure must be followed. Refer to
the description of the EEPROM Control Register for details on this.
When the EEPROM is read, the CPU is halted for four clock cycles before the next instruction is
executed. When the EEPROM is written, the CPU is halted for two clock cycles before the next instruction
is executed.
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9.4.2.
Preventing EEPROM Corruption
During periods of low VCC, the EEPROM data can be corrupted because the supply voltage is too low for
the CPU and the EEPROM to operate properly. These issues are the same as for board level systems
using EEPROM, and the same design solutions should be applied.
An EEPROM data corruption can be caused by two situations when the voltage is too low. First, a regular
write sequence to the EEPROM requires a minimum voltage to operate correctly. Secondly, the CPU itself
can execute instructions incorrectly, if the supply voltage is too low.
EEPROM data corruption can easily be avoided by following this design recommendation:
Keep the AVR RESET active (low) during periods of insufficient power supply voltage. This can be done
by enabling the internal Brown-out Detector (BOD). If the detection level of the internal BOD does not
match the needed detection level, an external low VCC reset Protection circuit can be used. If a reset
occurs while a write operation is in progress, the write operation will be completed provided that the
power supply voltage is sufficient.
9.5.
I/O Memory
The I/O space definition of the device is shown in the Register Summary.
All device I/Os and peripherals are placed in the I/O space. All I/O locations may be accessed by the
LD/LDS/LDD and ST/STS/STD instructions, transferring data between the 32 general purpose working
registers and the I/O space. I/O Registers within the address range 0x00-0x1F are directly bit-accessible
using the SBI and CBI instructions. In these registers, the value of single bits can be checked by using
the SBIS and SBIC instructions.
When using the I/O specific commands IN and OUT, the I/O addresses 0x00-0x3F must be used. When
addressing I/O Registers as data space using LD and ST instructions, 0x20 must be added to these
addresses. The device is a complex microcontroller with more peripheral units than can be supported
within the 64 location reserved in Opcode for the IN and OUT instructions. For the Extended I/O space
from 0x60..0xFF in SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
For compatibility with future devices, reserved bits should be written to zero if accessed. Reserved I/O
memory addresses should never be written.
Some of the Status Flags are cleared by writing a '1' to them; this is described in the flag descriptions.
Note that, unlike most other AVRs, the CBI and SBI instructions will only operate on the specified bit, and
can therefore be used on registers containing such Status Flags. The CBI and SBI instructions work with
registers 0x00-0x1F only.
The I/O and Peripherals Control Registers are explained in later sections.
Related Links
MEMPROG- Memory Programming on page 373
Register Summary on page 440
Instruction Set Summary on page 444
9.5.1.
General Purpose I/O Registers
The device contains three General Purpose I/O Registers, General Purpose I/O Register 0/1/2 (GPIOR
0/1/2). These registers can be used for storing any information, and they are particularly useful for storing
global variables and Status Flags. General Purpose I/O Registers within the address range 0x00 - 0x1F
are directly bit-accessible using the SBI, CBI, SBIS, and SBIC instructions.
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9.6.
Register Description
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9.6.1.
EEPROM Address Register High
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: EEARH
Offset: 0x42
Reset: 0x0X
Property: When addressing as I/O Register: address offset is 0x22
Bit
7
6
5
4
3
2
1
0
EEAR8
Access
R/W
Reset
x
Bit 0 – EEAR8: EEPROM Address 8
Refer to EEARL.
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9.6.2.
EEPROM Address Register Low
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: EEARL
Offset: 0x41
Reset: 0xXX
Property: When addressing as I/O Register: address offset is 0x21
Bit
Access
Reset
7
6
5
4
3
2
1
0
EEAR7
EEAR6
EEAR5
EEAR4
EEAR3
EEAR2
EEAR1
EEAR0
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
x
x
x
x
x
x
x
x
Bits 7:0 – EEARn: EEPROM Address
The EEPROM Address Registers – EEARH and EEARL specify the EEPROM address in the 512bytes
Bytes EEPROM space. The EEPROM data bytes are addressed linearly between 0 and 1023. The initial
value of EEAR is undefined. A proper value must be written before the EEPROM may be accessed.
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9.6.3.
EEPROM Data Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: EEDR
Offset: 0x40
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x20
Bit
7
6
5
4
3
2
1
0
EEDR[7:0]
Access
Reset
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – EEDR[7:0]: EEPROM Data
For the EEPROM write operation, the EEDR Register contains the data to be written to the EEPROM in
the address given by the EEAR Register. For the EEPROM read operation, the EEDR contains the data
read out from the EEPROM at the address given by EEAR.
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9.6.4.
EEPROM Control Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: EECR
Offset: 0x3F
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x1F
Bit
7
6
5
4
3
2
1
0
EEPM1
EEPM0
EERIE
EEMPE
EEPE
EERE
R/W
R/W
R/W
R/W
R/W
R/W
x
x
0
0
x
0
Access
Reset
Bits 5:4 – EEPMn: EEPROM Programming Mode Bits [n = 1:0]
The EEPROM Programming mode bit setting defines which programming action that will be triggered
when writing EEPE. It is possible to program data in one atomic operation (erase the old value and
program the new value) or to split the Erase and Write operations in two different operations. The
Programming times for the different modes are shown in the table below. While EEPE is set, any write to
EEPMn will be ignored. During reset, the EEPMn bits will be reset to 0b00 unless the EEPROM is busy
programming.
Table 9-1. EEPROM Mode Bits
EEPM[1:0]
Programming Time
Operation
00
3.4ms
Erase and Write in one operation (Atomic Operation)
01
1.8ms
Erase Only
10
1.8ms
Write Only
11
-
Reserved for future use
Bit 3 – EERIE: EEPROM Ready Interrupt Enable
Writing EERIE to one enables the EEPROM Ready Interrupt if the I bit in SREG is set. Writing EERIE to
zero disables the interrupt. The EEPROM Ready interrupt generates a constant interrupt when EEPE is
cleared. The interrupt will not be generated during EEPROM write or SPM.
Bit 2 – EEMPE: EEPROM Master Write Enable
The EEMPE bit determines whether writing EEPE to '1' causes the EEPROM to be written.
When EEMPE is '1', setting EEPE within four clock cycles will write data to the EEPROM at the selected
address.
If EEMPE is zero, setting EEPE will have no effect. When EEMPE has been written to '1' by software,
hardware clears the bit to zero after four clock cycles. See the description of the EEPE bit for an
EEPROM write procedure.
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Bit 1 – EEPE: EEPROM Write Enable
The EEPROM Write Enable Signal EEPE is the write strobe to the EEPROM. When address and data are
correctly set up, the EEPE bit must be written to '1' to write the value into the EEPROM. The EEMPE bit
must be written to '1' before EEPE is written to '1', otherwise no EEPROM write takes place. The following
procedure should be followed when writing the EEPROM (the order of steps 3 and 4 is not essential):
1. Wait until EEPE becomes zero.
2. Wait until SPMEN in SPMCSR becomes zero.
3. Write new EEPROM address to EEAR (optional).
4. Write new EEPROM data to EEDR (optional).
5.
6.
Write a '1' to the EEMPE bit while writing a zero to EEPE in EECR.
Within four clock cycles after setting EEMPE, write a '1' to EEPE.
The EEPROM can not be programmed during a CPU write to the Flash memory. The software must
check that the Flash programming is completed before initiating a new EEPROM write. Step 2 is only
relevant if the software contains a Boot Loader allowing the CPU to program the Flash. If the Flash is
never being updated by the CPU, step 2 can be omitted.
Caution: An interrupt between step 5 and step 6 will make the write cycle fail, since the EEPROM Master
Write Enable will time-out. If an interrupt routine accessing the EEPROM is interrupting another
EEPROM access, the EEAR or EEDR Register will be modified, causing the interrupted
EEPROM access to fail. It is recommended to have the Global Interrupt Flag cleared during all
the steps to avoid these problems.
When the write access time has elapsed, the EEPE bit is cleared by hardware. The user
software can poll this bit and wait for a zero before writing the next byte. When EEPE has been
set, the CPU is halted for two cycles before the next instruction is executed.
Bit 0 – EERE: EEPROM Read Enable
The EEPROM Read Enable Signal EERE is the read strobe to the EEPROM. When the correct address
is set up in the EEAR Register, the EERE bit must be written to a '1' to trigger the EEPROM read. The
EEPROM read access takes one instruction, and the requested data is available immediately. When the
EEPROM is read, the CPU is halted for four cycles before the next instruction is executed.
The user should poll the EEPE bit before starting the read operation. If a write operation is in progress, it
is neither possible to read the EEPROM, nor to change the EEAR Register.
The calibrated Oscillator is used to time the EEPROM accesses. See the following table for typical
programming times for EEPROM access from the CPU.
Table 9-2. EEPROM Programming Time
Symbol
Number of Calibrated RC Oscillator Cycles
Typ. Programming Time
EEPROM write (from CPU)
26,368
3.3ms
The following code examples show one assembly and one C function for writing to the EEPROM. The
examples assume that interrupts are controlled (e.g. by disabling interrupts globally) so that no interrupts
will occur during execution of these functions. The examples also assume that no Flash Boot Loader is
present in the software. If such code is present, the EEPROM write function must also wait for any
ongoing SPM command to finish.
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Assembly Code Example(1)
EEPROM_write:
; Wait for completion of previous write
sbic
EECR,EEPE
rjmp
EEPROM_write
; Set up address (r18:r17) in address register
out
EEARH, r18
out
EEARL, r17
; Write data (r16) to Data Register
out
EEDR,r16
; Write logical one to EEMPE
sbi
EECR,EEMPE
; Start eeprom write by setting EEPE
sbi
EECR,EEPE
ret
C Code Example(1)
void EEPROM_write(unsigned int uiAddress, unsigned char ucData)
{
/* Wait for completion of previous write */
while(EECR & (1<<EEPE))
;
/* Set up address and Data Registers */
EEAR = uiAddress;
EEDR = ucData;
/* Write logical one to EEMPE */
EECR |= (1<<EEMPE);
/* Start eeprom write by setting EEPE */
EECR |= (1<<EEPE);
}
Note: (1) Please refer to About Code Examples
The next code examples show assembly and C functions for reading the EEPROM. The examples
assume that interrupts are controlled so that no interrupts will occur during execution of these functions.
Assembly Code Example(1)
EEPROM_read:
; Wait for completion of previous write
sbic
EECR,EEPE
rjmp
EEPROM_read
; Set up address (r18:r17) in address register
out
EEARH, r18
out
EEARL, r17
; Start eeprom read by writing EERE
sbi
EECR,EERE
; Read data from Data Register
in
r16,EEDR
ret
C Code Example(1)
unsigned char EEPROM_read(unsigned int uiAddress)
{
/* Wait for completion of previous write */
while(EECR & (1<<EEPE))
;
/* Set up address register */
EEAR = uiAddress;
/* Start eeprom read by writing EERE */
EECR |= (1<<EERE);
/* Return data from Data Register */
return EEDR;
}
Note: (1) Please refer to About Code Examples
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9.6.5.
GPIOR2 – General Purpose I/O Register 2
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: GPIOR2
Offset: 0x4B
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x2B
Bit
7
6
5
4
3
2
1
0
GPIOR2[7:0]
Access
Reset
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – GPIOR2[7:0]: General Purpose I/O
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9.6.6.
GPIOR1 – General Purpose I/O Register 1
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: GPIOR1
Offset: 0x4A
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x2A
Bit
7
6
5
4
3
2
1
0
GPIOR1[7:0]
Access
Reset
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – GPIOR1[7:0]: General Purpose I/O
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9.6.7.
GPIOR0 – General Purpose I/O Register 0
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: GPIOR0
Offset: 0x3E
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x1E
Bit
7
6
5
4
3
2
1
0
GPIOR0[7:0]
Access
Reset
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – GPIOR0[7:0]: General Purpose I/O
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10.
System Clock and Clock Options
10.1.
Clock Systems and Their Distribution
The following figure illustrates the principal clock systems in the device and their distribution. All the
clocks need not be active at a given time. In order to reduce power consumption, the clocks to modules
not being used can be halted by using different sleep modes. The clock systems are described in the
following sections.
The system clock frequency refers to the frequency generated from the System Clock Prescaler. All clock
outputs from the AVR Clock Control Unit runs in the same frequency.
Figure 10-1. Clock Distribution
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10.1.1.
CPU Clock – clkCPU
The CPU clock is routed to parts of the system concerned with operation of the AVR core. Examples of
such modules are the General Purpose Register File, the Status Register and the data memory holding
the Stack Pointer. Halting the CPU clock inhibits the core from performing general operations and
calculations.
10.1.2.
I/O Clock – clkI/O
The I/O clock is used by the majority of the I/O modules, like Timer/Counters, SPI, and USART. The I/O
clock is also used by the External Interrupt module, but the start condition detection in the USI module is
carried out asynchronously when clkI/O is halted, TWI address recognition in all sleep modes.
Note: If a level triggered interrupt is used for wake-up from Power-down, the required level must be held
long enough for the MCU to complete the wake-up to trigger the level interrupt. If the level disappears
before the end of the Start-up Time, the MCU will still wake up, but no interrupt will be generated. The
start-up time is defined by the SUT and CKSEL Fuses.
10.1.3.
Flash Clock – clkFLASH
The Flash clock controls operation of the Flash interface. The Flash clock is usually active simultaneously
with the CPU clock.
10.1.4.
Asynchronous Timer Clock – clkASY
The Asynchronous Timer clock allows Asynchronous Timer/Counters to be clocked directly from an
external clock or an external 32kHz clock crystal. The dedicated clock domain allows using this Timer/
Counter as a real-time counter even when the device is in sleep mode.
10.1.5.
ADC Clock – clkADC
The ADC is provided with a dedicated clock domain. This allows halting the CPU and I/O clocks in order
to reduce noise generated by digital circuitry. This gives more accurate ADC conversion results.
10.2.
Clock Sources
The device has the following clock source options, selectable by Flash Fuse bits as shown below. The
clock from the selected source is input to the AVR clock generator, and routed to the appropriate
modules.
Table 10-1. Device Clocking Options Select
Device Clocking Option
CKSEL[3:0]
Low Power Crystal Oscillator
1111 - 1000
Full Swing Crystal Oscillator
0111 - 0110
Low Frequency Crystal Oscillator
0101 - 0100
Internal 128kHz RC Oscillator
0011
Calibrated Internal RC Oscillator
0010
External Clock
0000
Reserved
0001
Note: For all fuses, '1' means unprogrammed while '0' means programmed.
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10.2.1.
Default Clock Source
The device is shipped with internal RC oscillator at 8.0MHz and with the fuse CKDIV8 programmed,
resulting in 1.0MHz system clock. The startup time is set to maximum, and the time-out period is enabled:
CKSEL=0010, SUT=10, CKDIV8=0. This default setting ensures that all users can make their desired
clock source setting using any available programming interface.
10.2.2.
Clock Startup Sequence
Any clock source needs a sufficient VCC to start oscillating and a minimum number of oscillating cycles
before it can be considered stable.
To ensure sufficient VCC, the device issues an internal reset with a time-out delay (tTOUT) after the device
reset is released by all other reset sources. See the Related Links for a description of the start conditions
for the internal reset. The delay (tTOUT) is timed from the Watchdog Oscillator and the number of cycles in
the delay is set by the SUTx and CKSELx fuse bits. The selectable delays are shown in the Table below.
The frequency of the Watchdog Oscillator is voltage dependent.
Table 10-2. Number of Watchdog Oscillator Cycles
Typ. Time-out (VCC = 5.0V)
Typ. Time-out (VCC = 3.0V)
Number of Cycles
0ms
0ms
0
4.1ms
4.3ms
512
65ms
69ms
8K (8,192)
Main purpose of the delay is to keep the device in reset until it is supplied with minimum VCC. The delay
will not monitor the actual voltage, so it is required to select a delay longer than the VCC rise time. If this is
not possible, an internal or external Brown-Out Detection circuit should be used. A BOD circuit will ensure
sufficient VCC before it releases the reset, and the time-out delay can be disabled. Disabling the time-out
delay without utilizing a Brown-Out Detection circuit is not recommended.
The oscillator is required to oscillate for a minimum number of cycles before the clock is considered
stable. An internal ripple counter monitors the oscillator output clock, and keeps the internal reset active
for a given number of clock cycles. The reset is then released and the device will start to execute. The
recommended oscillator start-up time is dependent on the clock type, and varies from 6 cycles for an
externally applied clock to 32K cycles for a low frequency crystal.
The start-up sequence for the clock includes both the time-out delay and the start-up time when the
device starts up from reset. When starting up from Power-save or Power-down mode, VCC is assumed to
be at a sufficient level and only the start-up time is included.
10.2.3.
Low Power Crystal Oscillator
Pins XTAL1 and XTAL2 are input and output, respectively, of an inverting amplifier which can be
configured for use as an On-chip Oscillator, as shown in the Figure below. Either a quartz crystal or a
ceramic resonator may be used.
C1 and C2 should always be equal for both crystals and resonators. The optimal value of the capacitors
depends on the crystal or resonator in use, the amount of stray capacitance, and the electromagnetic
noise of the environment. Some initial guidelines for choosing capacitors for use with crystals are given in
the next Table. For ceramic resonators, the capacitor values given by the manufacturer should be used.
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Figure 10-2. Crystal Oscillator Connections
C2
XTAL2
C1
XTAL1
GND
Related Links
Low Power Crystal Oscillator on page 50
Full Swing Crystal Oscillator on page 51
Low Frequency Crystal Oscillator on page 52
10.3.
Low Power Crystal Oscillator
This Crystal Oscillator is a low power oscillator, with reduced voltage swing on the XTAL2 output. It gives
the lowest power consumption, but is not capable of driving other clock inputs, and may be more
susceptible to noise in noisy environments. In these cases, refer to Full Swing Crystal Oscillator.
The crystal should be connected as described in Clock Source Connections.
The Low Power Oscillator can operate in three different modes, each optimized for a specific frequency
range. The operating mode is selected by the fuses CKSEL[3:1], as shown in the following table:
Table 10-3. Low Power Crystal Oscillator Operating Modes(1)
Frequency Range
[MHz]
CKSEL[3:1](2)
Range for
Capacitors C1 and C2 [pF]
0.4 - 0.9
100(3)
–
0.9 - 3.0
101
12 - 22
3.0 - 8.0
110
12 - 22
8.0 - 16.0
111
12 - 22
Note: 1. If the crystal frequency exceeds the specification of the device (depends on VCC), the CKDIV8 Fuse
can be programmed in order to divide the internal frequency by 8. It must be ensured that the
resulting divided clock meets the frequency specification of the device.
2. This is the recommended CKSEL settings for the difference frequency ranges.
3. This option should not be used with crystals, only with ceramic resonators.
The CKSEL0 Fuse together with the SUT[1:0] Fuses select the start-up times, as shown in the following
table:
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Table 10-4. Start-up Times for the Low Power Crystal Oscillator Clock Selection
Oscillator Source / Power
Conditions
Start-up Time from
Power-down and
Power-save
Additional Delay from
Reset
(VCC = 5.0V)
CKSEL0 SUT[1:0]
Ceramic resonator, fast rising power
258 CK
14CK + 4.1ms(1)
0
00
Ceramic resonator, slowly rising
power
258 CK
14CK + 65ms(1)
0
01
Ceramic resonator, BOD enabled
1K CK
14CK(2)
0
10
Ceramic resonator, fast rising power
1K CK
14CK + 4.1ms(2)
0
11
Ceramic resonator, slowly rising
power
1K CK
14CK + 65ms(2)
1
00
Crystal Oscillator, BOD enabled
16K CK
14CK
1
01
Crystal Oscillator, fast rising power
16K CK
14CK + 4.1ms
1
10
Crystal Oscillator, slowly rising power 16K CK
14CK + 65ms
1
11
Note: 1. These options should only be used when not operating close to the maximum frequency of the
device, and only if frequency stability at start-up is not important for the application. These options
are not suitable for crystals.
2. These options are intended for use with ceramic resonators and will ensure frequency stability at
start-up. They can also be used with crystals when not operating close to the maximum frequency
of the device, and if frequency stability at start-up is not important for the application.
Related Links
Low Power Crystal Oscillator on page 49
10.4.
Full Swing Crystal Oscillator
This Crystal Oscillator is a full swing oscillator, with rail-to-rail swing on the XTAL2 output. This is useful
for driving other clock inputs and in noisy environments. The current consumption is higher than for the
Low Power Crystal Oscillator. Note that the Full Swing Crystal Oscillator will only operate for
VCC=2.7-5.5V.
Some initial guidelines for choosing capacitors for use with crystals are given in Table 10-6 Start-Up
Times for the Full Swing Crystal Oscillator Clock Selection. The crystal should be connected as described
in Clock Source Connections”.
The operating mode is selected based on the fuses CKSEL[3:1] as shown in the table:
Table 10-5. Full Swing Crystal Oscillator operating modes
Frequency Range(1) [MHz]
CKSEL[3:1]
Recommended Range for Capacitors C1 and C2 [pF]
0.4 - 20
011
12 - 22
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1.
If the crystal frequency exceeds the specification of the device (depends on VCC), the CKDIV8 Fuse
can be programmed in order to divide the internal frequency by 8. It must be ensured that the
resulting divided clock meets the frequency specification of the device.
For the Crystall Oscillator connections refer to Low Power Crystal Oscillator.
Table 10-6. Start-Up Times for the Full Swing Crystal Oscillator Clock Selection
Oscillator Source / Power
Conditions
Start-Up Time from
Power-down and
Power-save
Additional Delay
from Reset
(VCC = 5.0V)
CKSEL0
SUT[1:0]
Ceramic resonator, fast rising power
258 CK
14CK + 4.1ms(1)
0
00
Ceramic resonator, slowly rising
power
258 CK
14CK + 65ms(1)
0
01
Ceramic resonator, BOD enabled
1K CK
14CK(2)
0
10
Ceramic resonator, fast rising power
1K CK
14CK + 4.1ms(2)
0
11
Ceramic resonator, slowly rising
power
1K CK
14CK + 65ms(2)
1
00
Crystal Oscillator, BOD enabled
16K CK
14CK
1
01
Crystal Oscillator, fast rising power
16K CK
14CK + 4.1ms
1
10
Crystal Oscillator, slowly rising power
16K CK
14CK + 65ms
1
11
Note: 1. These options should only be used when not operating close to the maximum frequency of the
device, and only if frequency stability at start-up is not important for the application. These options
are not suitable for crystals.
2. These options are intended for use with ceramic resonators and will ensure frequency stability at
start-up. They can also be used with crystals when not operating close to the maximum frequency
of the device, and if frequency stability at start-up is not important for the application.
Related Links
Low Power Crystal Oscillator on page 49
10.5.
Low Frequency Crystal Oscillator
The Low-frequency Crystal Oscillator is optimized for use with a 32.768kHz watch crystal. When selecting
crystals, load capacitance and crystal’s Equivalent Series Resistance (ESR) must be taken into
consideration. Both values are specified by the crystal vendor. The oscillator is optimized for very low
power consumption, and thus when selecting crystals, consider the Maximum ESR Recommendations:
Table 10-7. Maximum ESR Recommendation for 32.768kHz Crystal
Crystal CL [pF]
Max. ESR [kΩ](1)
9.0
65
12.5
30
Note: 1. Maximum ESR is typical value based on characterization.
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The Low-frequency Crystal Oscillator provides an internal load capacitance at each TOSC pin:
Table 10-8. Capacitance for Low-Frequency Oscillator
32kHz Osc. Type
Cap. (XTAL1/TOSC1)
Cap. (XTAL2/TSOC2)
System Osc.
18pF
8pF
Timer Osc.
6pF
6pF
The capacitance (Ce+Ci) needed at each TOSC pin can be calculated by using:
� = 2C� − ��
where:
•
•
•
•
Ce - is optional external capacitors as described in Figure 10-2 Crystal Oscillator Connections.
Ci - is the pin capacitance in the above table.
CL - is the load capacitance for a 32.768kHz crystal specified by the crystal vendor.
CS - is the total stray capacitance for one TOSC pin.
Crystals specifying a load capacitance (CL) higher than 6pF require external capacitors applied as
described in Low Power Crystal Oscillator.
When this oscillator is selected, start-up times are determined by the SUT Fuses and CKSEL0 as shown
in the following table.
Table 10-9. Start-up Times for the Low Frequency Crystal Oscillator Clock Selection
Power Conditions Start-up Time from
Power-down and
Power-save
Additional Delay from Reset
(VCC = 5.0V)
CKSEL[0] SUT[1:0]
BOD enabled
1K CK
14CK(1)
0
00
Fast rising power
1K CK
14CK + 4.1 ms(1)
0
01
Slowly rising power 1K CK
14CK + 65 ms(1)
0
10
0
11
Reserved
BOD enabled
32K CK
14CK
1
00
Fast rising power
32K CK
14CK + 4.1 ms
1
01
Slowly rising power 32K CK
14CK + 65 ms
1
10
1
11
Reserved
Note: 1. This option should only be used if frequency stability at start-up is not important for the application.
Related Links
Low Power Crystal Oscillator on page 49
Timer/Counter Oscillator on page 56
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10.6.
Calibrated Internal RC Oscillator
By default, the Internal RC Oscillator provides an 8.0MHz clock. Though voltage and temperature
dependent, this clock can be very accurately calibrated by the user. The device is shipped with the
CKDIV8 Fuse programmed.
This clock may be selected as the system clock by programming the CKSEL Fuses as shown in the
following Table. If selected, it will operate with no external components. During reset, hardware loads the
pre-programmed calibration value into the OSCCAL Register and thereby automatically calibrates the RC
Oscillator.
By changing the OSCCAL register from SW, it is possible to get a higher calibration accuracy than by
using the factory calibration.
When this Oscillator is used as the chip clock, the Watchdog Oscillator will still be used for the Watchdog
Timer and for the Reset Time-Out. For more information on the pre-programmed calibration value.
Table 10-10. Internal Calibrated RC Oscillator Operating Modes
Frequency Range(1) [MHz]
CKSEL[3:0]
7.3 - 8.1
0010(2)
Note: 1. If 8MHz frequency exceeds the specification of the device (depends on VCC), the CKDIV8 Fuse can
be programmed in order to divide the internal frequency by 8.
2. The device is shipped with this option selected.
When this Oscillator is selected, start-up times are determined by the SUT Fuses:
Table 10-11. Start-Up Times for the Internal Calibrated RC Oscillator Clock Selection - SUT
Power Conditions
Start-Up Time from Power-down
and Power-Save
Additional Delay from Reset SUT[1:0]
(VCC = 5.0V)
BOD enabled
6 CK
14CK
00
Fast rising power
6 CK
14CK + 4.1ms
01
Slowly rising power
6 CK
14CK + 65ms
10(1)
Reserved
11
Note: 1. The device is shipped with this option selected.
Related Links
Clock Characteristics on page 409
System Clock Prescaler on page 57
Calibration Byte on page 377
OSCCAL on page 58
Fuse Bits on page 374
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10.7.
128kHz Internal Oscillator
The 128kHz internal Oscillator is a low power Oscillator providing a clock of 128kHz. The frequency is
nominal at 3V and 25°C. This clock may be select as the system clock by programming the CKSEL Fuses
to '0011':
Table 10-12. 128kHz Internal Oscillator Operating Modes
Nominal Frequency(1)
CKSEL[3:0]
128kHz
0011
Note: 1. The 128kHz oscillator is a very low power clock source, and is not designed for high accuracy.
When this clock source is selected, start-up times are determined by the SUT Fuses:
Table 10-13. Start-Up Times for the 128kHz Internal Oscillator
Power Conditions
Start-Up Time from Power-down
and Power-save
Additional Delay from Reset SUT[1:0]
BOD enabled
6 CK
14CK
00
Fast rising power
6 CK
14CK + 4ms
01
Slowly rising power
6 CK
14CK + 64ms
10
Reserved
10.8.
11
External Clock
To drive the device from an external clock source, EXTCLK should be driven as shown in the Figure
below. To run the device on an external clock, the CKSEL Fuses must be programmed to '0000':
Table 10-14. External Clock Frequency
Frequency
CKSEL[3:0]
0 - 20MHz
0000
Figure 10-3. External Clock Drive Configuration
EXTERNAL
CLOCK
SIGNAL
EXTCLK
GND
When this clock source is selected, start-up times are determined by the SUT Fuses:
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Table 10-15. Start-Up Times for the External Clock Selection - SUT
Power Conditions
Start-Up Time from Power-down
and Power-save
Additional Delay from Reset SUT[1:0]
(VCC = 5.0V)
BOD enabled
6 CK
14CK
00
Fast rising power
6 CK
14CK + 4.1ms
01
Slowly rising power
6 CK
14CK + 65ms
10
Reserved
11
When applying an external clock, it is required to avoid sudden changes in the applied clock frequency to
ensure stable operation of the MCU. A variation in frequency of more than 2% from one clock cycle to the
next can lead to unpredictable behavior. If changes of more than 2% is required, ensure that the MCU is
kept in Reset during the changes.
The System Clock Prescaler can be used to implement run-time changes of the internal clock frequency
while still ensuring stable operation.
Related Links
System Clock Prescaler on page 57
10.9.
Timer/Counter Oscillator
The device uses the same crystal oscillator for Low-frequency Oscillator and Timer/Counter Oscillator.
See Low Frequency Crystal Oscillator for details on the oscillator and crystal requirements.
On this device, the Timer/Counter Oscillator Pins (TOSC1 and TOSC2) are shared with XTAL1 and
XTAL2. When using the Timer/Counter Oscillator, the system clock needs to be four times the oscillator
frequency. Due to this and the pin sharing, the Timer/Counter Oscillator can only be used when the
Calibrated Internal RC Oscillator is selected as system clock source.
Applying an external clock source to TOSC1 can be done if the Enable External Clock Input bit in the
Asynchronous Status Register (ASSR.EXCLK) is written to '1'. See the description of the Asynchronous
Operation of Timer/Counter2 for further description on selecting external clock as input instead of a
32.768kHz watch crystal.
Related Links
Low Frequency Crystal Oscillator on page 52
OCR2B on page 218
ASSR on page 221
10.10. Clock Output Buffer
The device can output the system clock on the CLKO pin. To enable the output, the CKOUT Fuse has to
be programmed. This mode is suitable when the chip clock is used to drive other circuits on the system.
The clock also will be output during reset, and the normal operation of I/O pin will be overridden when the
fuse is programmed. Any clock source, including the internal RC Oscillator, can be selected when the
clock is output on CLKO. If the System Clock Prescaler is used, it is the divided system clock that is
output.
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10.11. System Clock Prescaler
The device has a system clock prescaler, and the system clock can be divided by configuring the Clock
Prescale Register (CLKPR). This feature can be used to decrease the system clock frequency and the
power consumption when the requirement for processing power is low. This can be used with all clock
source options, and it will affect the clock frequency of the CPU and all synchronous peripherals. clkI/O,
clkADC, clkCPU, and clkFLASH are divided by a factor as shown in the CLKPR description.
When switching between prescaler settings, the System Clock Prescaler ensures that no glitches occurs
in the clock system. It also ensures that no intermediate frequency is higher than neither the clock
frequency corresponding to the previous setting, nor the clock frequency corresponding to the new
setting. The ripple counter that implements the prescaler runs at the frequency of the undivided clock,
which may be faster than the CPU's clock frequency. Hence, it is not possible to determine the state of
the prescaler - even if it were readable, the exact time it takes to switch from one clock division to the
other cannot be exactly predicted. From the time the Clock Prescaler Selection bits (CLKPS[3:0]) values
are written, it takes between T1 + T2 and T1 + 2 * T2 before the new clock frequency is active. In this
interval, two active clock edges are produced. Here, T1 is the previous clock period, and T2 is the period
corresponding to the new prescaler setting.
To avoid unintentional changes of clock frequency, a special write procedure must be followed to change
the CLKPS bits:
1.
2.
Write the Clock Prescaler Change Enable (CLKPCE) bit to '1' and all other bits in CLKPR to zero:
CLKPR=0x80.
Within four cycles, write the desired value to CLKPS[3:0] while writing a zero to CLKPCE:
CLKPR=0x0N
Interrupts must be disabled when changing prescaler setting to make sure the write procedure is not
interrupted.
Related Links
Calibrated Internal RC Oscillator on page 54
External Clock on page 55
CLKPR on page 59
10.12. Register Description
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10.12.1. Oscillator Calibration Register
Name: OSCCAL
Offset: 0x66
Reset: Device Specific Calibration Value
Property: Bit
Access
Reset
7
6
5
4
3
2
1
0
CAL7
CAL6
CAL5
CAL4
CAL3
CAL2
CAL1
CAL0
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
x
x
x
x
x
x
x
x
Bits 7:0 – CALn: Oscillator Calibration Value [n = 7:0]
The Oscillator Calibration Register is used to trim the Calibrated Internal RC Oscillator to remove process
variations from the oscillator frequency. A pre-programmed calibration value is automatically written to
this register during chip reset, giving the Factory calibrated frequency as specified in the Clock
Characteristics section of Electrical Characteristics chapter.. The application software can write this
register to change the oscillator frequency. The oscillator can be calibrated to frequencies as specified in
the Clock Characteristics section of Electrical Characteristics chapter.. Calibration outside that range is
not guaranteed.
Note that this oscillator is used to time EEPROM and Flash write accesses, and these write times will be
affected accordingly. If the EEPROM or Flash are written, do not calibrate to more than 8.8MHz.
Otherwise, the EEPROM or Flash write may fail.
The CAL7 bit determines the range of operation for the oscillator. Setting this bit to 0 gives the lowest
frequency range, setting this bit to 1 gives the highest frequency range. The two frequency ranges are
overlapping, in other words a setting of OSCCAL=0x7F gives a higher frequency than OSCCAL=0x80.
The CAL[6:0] bits are used to tune the frequency within the selected range. A setting of 0x00 gives the
lowest frequency in that range, and a setting of 0x7F gives the highest frequency in the range.
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10.12.2. Clock Prescaler Register
Name: CLKPR
Offset: 0x61
Reset: Refer to the bit description
Property: Bit
Access
Reset
3
2
1
0
CLKPCE
7
6
5
4
CLKPS3
CLKPS2
CLKPS1
CLKPS0
R/W
R/W
R/W
R/W
R/W
0
x
x
x
x
Bit 7 – CLKPCE: Clock Prescaler Change Enable
The CLKPCE bit must be written to logic one to enable change of the CLKPS bits. The CLKPCE bit is
only updated when the other bits in CLKPR are simultaneously written to zero. CLKPCE is cleared by
hardware four cycles after it is written or when CLKPS bits are written. Rewriting the CLKPCE bit within
this time-out period does neither extend the time-out period, nor clear the CLKPCE bit.
Bits 3:0 – CLKPSn: Clock Prescaler Select n [n = 3:0]
These bits define the division factor between the selected clock source and the internal system clock.
These bits can be written run-time to vary the clock frequency to suit the application requirements. As the
divider divides the master clock input to the MCU, the speed of all synchronous peripherals is reduced
when a division factor is used. The division factors are given in the table below.
The CKDIV8 Fuse determines the initial value of the CLKPS bits. If CKDIV8 is unprogrammed, the
CLKPS bits will be reset to “0000”. If CKDIV8 is programmed, CLKPS bits are reset to “0011”, giving a
division factor of 8 at start up. This feature should be used if the selected clock source has a higher
frequency than the maximum frequency of the device at the present operating conditions. Note that any
value can be written to the CLKPS bits regardless of the CKDIV8 Fuse setting. The Application software
must ensure that a sufficient division factor is chosen if the selected clock source has a higher frequency
than the maximum frequency of the device at the present operating conditions. The device is shipped with
the CKDIV8 Fuse programmed.
Table 10-16. Clock Prescaler Select
CLKPS[3:0]
Clock Division Factor
0000
1
0001
2
0010
4
0011
8
0100
16
0101
32
0110
64
0111
128
1000
256
1001
Reserved
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CLKPS[3:0]
Clock Division Factor
1010
Reserved
1011
Reserved
1100
Reserved
1101
Reserved
1110
Reserved
1111
Reserved
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11.
11.1.
PM - Power Management and Sleep Modes
Overview
Sleep modes enable the application to shut down unused modules in the MCU, thereby saving power.
The device provides various sleep modes allowing the user to tailor the power consumption to the
application requirements.
When enabled, the Brown-out Detector (BOD) actively monitors the power supply voltage during the
sleep periods. To further save power, it is possible to disable the BOD in some sleep modes. See also
BOD Disable.
11.2.
Sleep Modes
The following Table shows the different sleep modes, BOD disable ability and their wake-up sources.
Table 11-1. Active Clock Domains and Wake-up Sources in the Different Sleep Modes.
Active Clock Domains
Sleep Mode
clkCPU
Idle
ADC Noise
Reduction
clkFLASH
Oscillators
Wake-up Sources
clkADC
clkASY
Main Clock
Source Enabled
Timer Oscillator
Enabled
INT and PCINT
TWI Address
Match
Timer2
SPM/EEPROM
Ready
ADC
WDT
Other I/O
Yes
Yes
Yes
Yes
Yes(2)
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes(2)
Yes(3)
Yes
Yes(2)
Yes
Yes
Yes
Yes(3)
Yes
Yes(3)
Yes
Yes(3)
Yes
Yes(3)
Yes
Power-down
Power-save
Yes(2)
Yes
Standby(1)
Yes
Extended Standby
Software
BOD Disable
clkIO
Yes(2)
Yes
Yes(2)
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Note: 1. Only recommended with external crystal or resonator selected as clock source.
2. If Timer/Counter2 is running in asynchronous mode.
3. For INT1 and INT0, only level interrupt.
To enter any of the six sleep modes, the Sleep Enable bit in the Sleep Mode Control Register (SMCR.SE)
must be written to '1' and a SLEEP instruction must be executed. Sleep Mode Select bits
(SMCR.SM[2:0]) select which sleep mode (Idle, ADC Noise Reduction, Power-down, Power-save,
Standby, or Extended Standby) will be activated by the SLEEP instruction.
Note: The block diagram in the section System Clock and Clock Options provides an overview over the
different clock systems in the device, and their distribution. This figure is helpful in selecting an
appropriate sleep mode.
If an enabled interrupt occurs while the MCU is in a sleep mode, the MCU wakes up. The MCU is then
halted for four cycles in addition to the start-up time, executes the interrupt routine, and resumes
execution from the instruction following SLEEP. The contents of the Register File and SRAM are
unaltered when the device wakes up from sleep. If a reset occurs during sleep mode, the MCU wakes up
and executes from the Reset Vector.
Related Links
Clock Systems and Their Distribution on page 47
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11.3.
BOD Disable
When the Brown-out Detector (BOD) is enabled by BODLEVEL fuses (see also section Fuse Bits), the
BOD is actively monitoring the power supply voltage during a sleep period. To save power, it is possible to
disable the BOD by software for some of the sleep modes. The sleep mode power consumption will then
be at the same level as when BOD is globally disabled by fuses. If BOD is disabled in software, the BOD
function is turned off immediately after entering the sleep mode. Upon wake-up from sleep, BOD is
automatically enabled again. This ensures safe operation in case the VCC level has dropped during the
sleep period.
When the BOD has been disabled, the wake-up time from sleep mode will be approximately 60μs to
ensure that the BOD is working correctly before the MCU continues executing code.
BOD disable is controlled by the BOD Sleep bit in the MCU Control Register (MCUCR.BODS). Writing
this bit to '1' turns off the BOD in relevant sleep modes, while a zero in this bit keeps BOD active. The
default setting, BODS=0, keeps BOD active.
Note: Writing to the BODS bit is controlled by a timed sequence and an enable bit.
Related Links
MCUCR on page 69
Fuse Bits on page 374
11.4.
Idle Mode
When the SM[2:0] bits are written to '000', the SLEEP instruction makes the MCU enter Idle mode,
stopping the CPU but allowing the SPI, USART, Analog Comparator, 2-wire Serial Interface, Timer/
Counters, Watchdog, and the interrupt system to continue operating. This sleep mode basically halts
clkCPU and clkFLASH, while allowing the other clocks to run.
Idle mode enables the MCU to wake up from external triggered interrupts as well as internal ones like the
Timer Overflow and USART Transmit Complete interrupts. If wake-up from the Analog Comparator
interrupt is not required, the Analog Comparator can be powered down by setting the ACD bit in the
Analog Comparator Control and Status Register – ACSR. This will reduce power consumption in Idle
mode.
Related Links
ACSR on page 308
11.5.
ADC Noise Reduction Mode
When the SM[2:0] bits are written to '001', the SLEEP instruction makes the MCU enter ADC Noise
Reduction mode, stopping the CPU but allowing the ADC, the external interrupts, the 2-wire Serial
Interface address watch, Timer/Counter2(1), and the Watchdog to continue operating (if enabled). This
sleep mode basically halts clkI/O, clkCPU, and clkFLASH, while allowing the other clocks to run.
This improves the noise environment for the ADC, enabling higher resolution measurements. If the ADC
is enabled, a conversion starts automatically when this mode is entered. Apart from the ADC Conversion
Complete interrupt, only these events can wake up the MCU from ADC Noise Reduction mode:
•
External Reset
•
Watchdog System Reset
•
Watchdog Interrupt
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•
•
•
•
•
•
Brown-out Reset
2-wire Serial Interface address match
Timer/Counter2 interrupt
SPM/EEPROM ready interrupt
External level interrupt on INT
Pin change interrupt
Note: 1. Timer/Counter2 will only keep running in asynchronous mode.
Related Links
8-bit Timer/Counter2 with PWM and Asynchronous Operation on page 197
11.6.
Power-Down Mode
When the SM[2:0] bits are written to '010', the SLEEP instruction makes the MCU enter Power-Down
mode. In this mode, the external Oscillator is stopped, while the external interrupts, the 2-wire Serial
Interface address watch, and the Watchdog continue operating (if enabled).
Only one of these events can wake up the MCU:
•
External Reset
•
•
•
•
•
•
Watchdog System Reset
Watchdog Interrupt
Brown-out Reset
2-wire Serial Interface address match
External level interrupt on INT
Pin change interrupt
This sleep mode basically halts all generated clocks, allowing operation of asynchronous modules only.
Note: If a level triggered interrupt is used for wake-up from Power-Down, the required level must be held
long enough for the MCU to complete the wake-up to trigger the level interrupt. If the level disappears
before the end of the Start-up Time, the MCU will still wake up, but no interrupt will be generated. The
start-up time is defined by the SUT and CKSEL Fuses.
When waking up from Power-Down mode, there is a delay from the wake-up condition occurs until the
wake-up becomes effective. This allows the clock to restart and become stable after having been
stopped. The wake-up period is defined by the same CKSEL Fuses that define the Reset Time-out
period.
Related Links
Clock Sources on page 48
EXINT - External Interrupts on page 88
11.7.
Power-save Mode
When the SM[2:0] bits are written to 011, the SLEEP instruction makes the MCU enter Power-save mode.
This mode is identical to Power-down, with one exception:
If Timer/Counter2 is enabled, it will keep running during sleep. The device can wake up from either Timer
Overflow or Output Compare event from Timer/Counter2 if the corresponding Timer/Counter2 interrupt
enable bits are set in TIMSK2, and the Global Interrupt Enable bit in SREG is set.
If Timer/Counter2 is not running, Power-down mode is recommended instead of Power-save mode.
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The Timer/Counter2 can be clocked both synchronously and asynchronously in Power-save mode. If
Timer/Counter2 is not using the asynchronous clock, the Timer/Counter Oscillator is stopped during
sleep. If Timer/Counter2 is not using the synchronous clock, the clock source is stopped during sleep.
Even if the synchronous clock is running in Power-save, this clock is only available for Timer/Counter2.
11.8.
Standby Mode
When the SM[2:0] bits are written to '110' and an external crystal/resonator clock option is selected, the
SLEEP instruction makes the MCU enter Standby mode. This mode is identical to Power-Down with the
exception that the Oscillator is kept running. From Standby mode, the device wakes up in six clock
cycles.
11.9.
Extended Standby Mode
When the SM[2:0] bits are written to '111' and an external crystal/resonator clock option is selected, the
SLEEP instruction makes the MCU enter Extended Standby mode. This mode is identical to Power-Save
mode with the exception that the Oscillator is kept running. From Extended Standby mode, the device
wakes up in six clock cycles.
11.10. Power Reduction Register
The Power Reduction Register (PRR) provides a method to stop the clock to individual peripherals to
reduce power consumption. The current state of the peripheral is frozen and the I/O registers can not be
read or written. Resources used by the peripheral when stopping the clock will remain occupied, hence
the peripheral should in most cases be disabled before stopping the clock. Waking up a module, which is
done by clearing the corresponding bit in the PRR, puts the module in the same state as before
shutdown.
Module shutdown can be used in Idle mode and Active mode to significantly reduce the overall power
consumption. In all other sleep modes, the clock is already stopped.
Related Links
PRR0 on page 71
11.11. Minimizing Power Consumption
There are several possibilities to consider when trying to minimize the power consumption in an AVR
controlled system. In general, sleep modes should be used as much as possible, and the sleep mode
should be selected so that as few as possible of the device’s functions are operating. All functions not
needed should be disabled. In particular, the following modules may need special consideration when
trying to achieve the lowest possible power consumption.
11.11.1. Analog to Digital Converter
If enabled, the ADC will be enabled in all sleep modes. To save power, the ADC should be disabled
before entering any sleep mode. When the ADC is turned off and on again, the next conversion will be an
extended conversion.
Related Links
Analog-to-Digital Converter on page 311
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11.11.2. Analog Comparator
When entering Idle mode, the Analog Comparator should be disabled if not used. When entering ADC
Noise Reduction mode, the Analog Comparator should be disabled. In other sleep modes, the Analog
Comparator is automatically disabled. However, if the Analog Comparator is set up to use the Internal
Voltage Reference as input, the Analog Comparator should be disabled in all sleep modes. Otherwise,
the Internal Voltage Reference will be enabled, independent of sleep mode.
Related Links
Analog Comparator on page 305
11.11.3. Brown-Out Detector
If the Brown-Out Detector (BOD) is not needed by the application, this module should be turned off. If the
BOD is enabled by the BODLEVEL Fuses, it will be enabled in all sleep modes, and hence, always
consume power. In the deeper sleep modes, this will contribute significantly to the total current
consumption.
Related Links
Brown-out Detection on page 74
11.11.4. Internal Voltage Reference
The Internal Voltage Reference will be enabled when needed by the Brown-Out Detection, the Analog
Comparator or the Analog-to-Digital Converter. If these modules are disabled as described in the sections
above, the internal voltage reference will be disabled and it will not be consuming power. When turned on
again, the user must allow the reference to start up before the output is used. If the reference is kept on in
sleep mode, the output can be used immediately.
Related Links
Internal Voltage Reference on page 75
11.11.5. Watchdog Timer
If the Watchdog Timer is not needed in the application, the module should be turned off. If the Watchdog
Timer is enabled, it will be enabled in all sleep modes and hence always consume power. In the deeper
sleep modes, this will contribute significantly to the total current consumption.
Related Links
Watchdog Timer on page 76
11.11.6. Port Pins
When entering a sleep mode, all port pins should be configured to use minimum power. The most
important is then to ensure that no pins drive resistive loads. In sleep modes where both the I/O clock
(clkI/O) and the ADC clock (clkADC) are stopped, the input buffers of the device will be disabled. This
ensures that no power is consumed by the input logic when not needed. In some cases, the input logic is
needed for detecting wake-up conditions, and it will then be enabled. Refer to the section Digital Input
Enable and Sleep Modes for details on which pins are enabled. If the input buffer is enabled and the input
signal is left floating or have an analog signal level close to VCC/2, the input buffer will use excessive
power.
For analog input pins, the digital input buffer should be disabled at all times. An analog signal level close
to VCC/2 on an input pin can cause significant current even in active mode. Digital input buffers can be
disabled by writing to the Digital Input Disable Registers (DIDR0 for ADC, DIDR1 for AC).
Related Links
Digital Input Enable and Sleep Modes on page 104
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DIDR1 on page 310
DIDR0 on page 336
11.11.7. On-chip Debug System
If the On-chip debug system is enabled by the OCDEN Fuse and the chip enters sleep mode, the main
clock source is enabled and hence always consumes power. In the deeper sleep modes, this will
contribute significantly to the total current consumption.
There are three alternative ways to disable the OCD system:
•
Disable the OCDEN Fuse
•
Disable the JTAGEN Fuse
•
Write one to the JTD bit in MCUCR
11.12. Register Description
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11.12.1. Sleep Mode Control Register
The Sleep Mode Control Register contains control bits for power management.
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: SMCR
Offset: 0x53
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x33
Bit
7
6
5
4
Access
Reset
3
2
1
0
SM2
SM1
SM0
SE
R/W
R/W
R/W
R/W
0
0
0
0
Bit 3 – SM2: Sleep Mode Select 2
The SM[2:0] bits select between the five available sleep modes.
Table 11-2. Sleep Mode Select
SM2,SM1,SM0
Sleep Mode
000
Idle
001
ADC Noise Reduction
010
Power-down
011
Power-save
100
Reserved
101
Reserved
110
Standby(1)
111
Extended Standby(1)
Note: 1. Standby mode is only recommended for use with external crystals or resonators.
Bit 2 – SM1: Sleep Mode Select 1
Refer to SM2.
Bit 1 – SM0: Sleep Mode Select 0
Refer to SM2.
Bit 0 – SE: Sleep Enable
The SE bit must be written to logic one to make the MCU enter the sleep mode when the SLEEP
instruction is executed. To avoid the MCU entering the sleep mode unless it is the programmer’s purpose,
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it is recommended to write the Sleep Enable (SE) bit to one just before the execution of the SLEEP
instruction and to clear it immediately after waking up.
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11.12.2. MCU Control Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: MCUCR
Offset: 0x55
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x35
Bit
Access
Reset
7
6
5
4
1
0
JTD
BODS
BODSE
PUD
3
2
IVSEL
IVCE
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
Bit 7 – JTD
When this bit is zero, the JTAG interface is enabled if the JTAGEN Fuse is programmed. If this bit is one,
the JTAG interface is disabled. In order to avoid unintentional disabling or enabling of the JTAG interface,
a timed sequence must be followed when changing this bit: The application software must write this bit to
the desired value twice within four cycles to change its value. Note that this bit must not be altered when
using the On-chip Debug system.
Bit 6 – BODS: BOD Sleep
The BODS bit must be written to '1' in order to turn off BOD during sleep. Writing to the BODS bit is
controlled by a timed sequence and the enable bit BODSE. To disable BOD in relevant sleep modes, both
BODS and BODSE must first be written to '1'. Then, BODS must be written to '1' and BODSE must be
written to zero within four clock cycles.
The BODS bit is active three clock cycles after it is set. A sleep instruction must be executed while BODS
is active in order to turn off the BOD for the actual sleep mode. The BODS bit is automatically cleared
after three clock cycles.
Bit 5 – BODSE: BOD Sleep Enable
BODSE enables setting of BODS control bit, as explained in BODS bit description. BOD disable is
controlled by a timed sequence.
Bit 4 – PUD: Pull-up Disable
When this bit is written to one, the pull-ups in the I/O ports are disabled even if the DDxn and PORTxn
Registers are configured to enable the pull-ups ({DDxn, PORTxn} = 0b01).
Bit 1 – IVSEL: Interrupt Vector Select
When the IVSEL bit is cleared (zero), the Interrupt Vectors are placed at the start of the Flash memory.
When this bit is set (one), the Interrupt Vectors are moved to the beginning of the Boot Loader section of
the Flash. The actual address of the start of the Boot Flash Section is determined by the BOOTSZ Fuses.
To avoid unintentional changes of Interrupt Vector tables, a special write procedure must be followed to
change the IVSEL bit:
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1.
2.
Write the Interrupt Vector Change Enable (IVCE) bit to one.
Within four cycles, write the desired value to IVSEL while writing a zero to IVCE.
Interrupts will automatically be disabled while this sequence is executed. Interrupts are disabled in the
cycle IVCE is set, and they remain disabled until after the instruction following the write to IVSEL. If
IVSEL is not written, interrupts remain disabled for four cycles. The I-bit in the Status Register is
unaffected by the automatic disabling.
Note: If Interrupt Vectors are placed in the Boot Loader section and Boot Lock bit BLB02 is
programmed, interrupts are disabled while executing from the Application section. If Interrupt Vectors are
placed in the Application section and Boot Lock bit BLB12 is programed, interrupts are disabled while
executing from the Boot Loader section.
Bit 0 – IVCE: Interrupt Vector Change Enable
The IVCE bit must be written to logic one to enable change of the IVSEL bit. IVCE is cleared by hardware
four cycles after it is written or when IVSEL is written. Setting the IVCE bit will disable interrupts, as
explained in the IVSEL description above. See Code Example below.
Assembly Code Example
Move_interrupts:
; Get MCUCR
in
r16, MCUCR
mov
r17, r16
; Enable change of Interrupt Vectors
ori
r16, (1<<IVCE)
out
MCUCR, r16
; Move interrupts to Boot Flash section
ori
r17, (1<<IVSEL)
out
MCUCR, r17
ret
C Code Example
void Move_interrupts(void)
{
uchar temp;
/* GET MCUCR*/
temp = MCUCR;
/* Enable change of Interrupt Vectors */
MCUCR = temp|(1<<IVCE);
/* Move interrupts to Boot Flash section */
MCUCR = temp|(1<<IVSEL);
}
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11.12.3. Power Reduction Register 0
Name: PRR0
Offset: 0x64
Reset: 0x00
Property: Bit
Access
Reset
7
6
5
4
3
2
1
0
PRTWI
PRTIM2
PRTIM0
PRUSART1
PRTIM1
PRSPI0
PRUSART0
PRADC
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bit 7 – PRTWI: Power Reduction TWI
Writing a logic one to this bit shuts down the TWI by stopping the clock to the module. When waking up
the TWI again, the TWI should be re initialized to ensure proper operation.
Bit 6 – PRTIM2: Power Reduction Timer/Counter2
Writing a logic one to this bit shuts down the Timer/Counter2 module in synchronous mode (AS2 is 0).
When the Timer/Counter2 is enabled, operation will continue like before the shutdown.
Bit 5 – PRTIM0: Power Reduction Timer/Counter0
Writing a logic one to this bit shuts down the Timer/Counter0 module. When the Timer/Counter0 is
enabled, operation will continue like before the shutdown.
Bit 4 – PRUSART1: Power Reduction USART1
Writing a logic one to this bit shuts down the USART by stopping the clock to the module. When waking
up the USART again, the USART should be re initialized to ensure proper operation.
Bit 3 – PRTIM1: Power Reduction Timer/Counter1
Writing a logic one to this bit shuts down the Timer/Counter1 module. When the Timer/Counter1 is
enabled, operation will continue like before the shutdown.
Bit 2 – PRSPI0: Power Reduction Serial Peripheral Interface 0
If using debugWIRE On-chip Debug System, this bit should not be written to one. Writing a logic one to
this bit shuts down the Serial Peripheral Interface by stopping the clock to the module. When waking up
the SPI again, the SPI should be re initialized to ensure proper operation.
Bit 1 – PRUSART0: Power Reduction USART0
Writing a logic one to this bit shuts down the USART by stopping the clock to the module. When waking
up the USART again, the USART should be re initialized to ensure proper operation.
Bit 0 – PRADC: Power Reduction ADC
Writing a logic one to this bit shuts down the ADC. The ADC must be disabled before shut down. The
analog comparator cannot use the ADC input MUX when the ADC is shut down.
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12.
SCRST - System Control and Reset
12.1.
Resetting the AVR
During reset, all I/O Registers are set to their initial values, and the program starts execution from the
Reset Vector. The instruction placed at the Reset Vector must be an Absolute Jump instruction (JMP) to
the reset handling routine for ATmega164PA. If the program never enables an interrupt source, the
Interrupt Vectors are not used, and regular program code can be placed at these locations. This is also
the case if the Reset Vector is in the Application section while the Interrupt Vectors are in the Boot section
or vice versa. The circuit diagram in the next section shows the reset logic.
The I/O ports of the AVR are immediately reset to their initial state when a reset source goes active. This
does not require any clock source to be running.
After all reset sources have gone inactive, a delay counter is invoked, stretching the internal reset. This
allows the power to reach a stable level before normal operation starts. The time-out period of the delay
counter is defined by the user through the SUT and CKSEL Fuses. The different selections for the delay
period are presented in the System Clock and Clock Options chapter.
Related Links
System Clock and Clock Options on page 47
12.2.
Reset Sources
The device has the following sources of reset:
•
•
•
•
•
Power-on Reset. The MCU is reset when the supply voltage is less than the Power-on Reset
threshold (VPOT).
External Reset. The MCU is reset when a low level is present on the RESET pin for longer than the
minimum pulse length.
Watchdog System Reset. The MCU is reset when the Watchdog Timer period expires and the
Watchdog System Reset mode is enabled.
Brown-out Reset. The MCU is reset when the supply voltage VCC is less than the Brown-out Reset
threshold (VBOT) and the Brown-out Detector is enabled.
JTAG AVR Reset. The MCU is reset as long as there is a logic one in the Reset Register, one of the
scan chains of the JTAG system. Refer to the section IEEE 1149.1 (JTAG) Boundary-scan for
details.
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Figure 12-1. Reset Logic
DATA BUS
P ORF
BORF
EXTRF
WDRF
J TRF
MCU S ta tus
Re gis te r (MCUS R)
Powe r-on Re s e t
Circuit
Brown-out
Re s e t Circuit
BODLEVEL [2..0]
P ull-up Re s is tor
S P IKE
FILTER
J TAG Re s e t
Re gis te r
Wa tchdog
Os cilla tor
Clock
Ge ne ra tor
CK
De lay Counte rs
TIMEOUT
CKS EL[3:0]
S UT[1:0]
Related Links
IEEE 1149.1 (JTAG) Boundary-scan on page 342
12.3.
Power-on Reset
A Power-on Reset (POR) pulse is generated by an On-chip detection circuit. The POR is activated
whenever VCC is below the detection level. The POR circuit can be used to trigger the start-up Reset, as
well as to detect a failure in supply voltage.
A Power-on Reset (POR) circuit ensures that the device is reset from Power-on. Reaching the Power-on
Reset threshold voltage invokes the delay counter, which determines how long the device is kept in Reset
after VCC rise. The Reset signal is activated again, without any delay, when VCC decreases below the
detection level.
Figure 12-2. MCU Start-up, RESET Tied to VCC
VCC
RESET
TIME-OUT
VPOT
VRST
tTOUT
INTERNAL
RESET
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Figure 12-3. MCU Start-up, RESET Extended Externally
VCC
VPOT
RESET
TIME-OUT
VRST
tTOUT
INTERNAL
RESET
12.4.
External Reset
An External Reset is generated by a low level on the RESET pin. Reset pulses longer than the minimum
pulse width will generate a reset, even if the clock is not running. Shorter pulses are not guaranteed to
generate a reset. When the applied signal reaches the Reset Threshold Voltage (VRST) on its positive
edge, the delay counter starts the MCU after the Time-out period (tTOUT ) has expired. The External Reset
can be disabled by the RSTDISBL fuse.
Figure 12-4. External Reset During Operation
CC
12.5.
Brown-out Detection
The device has an On-chip Brown-out Detection (BOD) circuit for monitoring the VCC level during
operation by comparing it to a fixed trigger level. The trigger level for the BOD can be selected by the
BODLEVEL Fuses. The trigger level has a hysteresis to ensure spike free Brown-out Detection. The
hysteresis on the detection level should be interpreted as VBOT+ = VBOT + VHYST/2 and VBOT- = VBOT VHYST/2. When the BOD is enabled, and VCC decreases to a value below the trigger level (VBOT- in the
following figure), the Brown-out Reset is immediately activated. When VCC increases above the trigger
level (VBOT+ in the following figure), the delay counter starts the MCU after the Time-out period tTOUT has
expired.
The BOD circuit will only detect a drop in VCC if the voltage stays below the trigger level for longer than
tBOD.
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Figure 12-5. Brown-out Reset During Operation
VCC
VBOT-
VBOT+
RESET
t TOUT
TIME-OUT
INTERNAL
RESET
12.6.
Watchdog System Reset
When the Watchdog times out, it will generate a short reset pulse of one CK cycle duration. On the falling
edge of this pulse, the delay timer starts counting the Time-out period tTOUT.
Figure 12-6. Watchdog System Reset During Operation
CC
CK
12.7.
Internal Voltage Reference
The device features an internal bandgap reference. This reference is used for Brown-out Detection, and it
can be used as an input to the Analog Comparator or the ADC.
12.7.1.
Voltage Reference Enable Signals and Start-up Time
The voltage reference has a start-up time that may influence the way it should be used. To save power,
the reference is not always turned on. The reference is on during the following situations:
1. When the BOD is enabled (by programming the BODLEVEL [2:0] Fuses).
2. When the bandgap reference is connected to the Analog Comparator (by setting the ACBG bit in
ACSR (ACSR.ACBG)).
3. When the ADC is enabled.
Thus, when the BOD is not enabled, after setting ACSR.ACBG or enabling the ADC, the user must
always allow the reference to start up before the output from the Analog Comparator or ADC is used. To
reduce power consumption in Power-Down mode, the user can avoid the three conditions above to
ensure that the reference is turned off before entering Power-Down mode.
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12.8.
Watchdog Timer
If the watchdog timer is not needed in the application, the module should be turned off. If the watchdog
timer is enabled, it will be enabled in all sleep modes and hence always consume power. In the deeper
sleep modes, this will contribute significantly to the total current consumption.
Refer to Watchdog System Reset for details on how to configure the watchdog timer.
Features
•
•
•
•
12.8.2.
Clocked from separate On-chip Oscillator
Three operating modes:
– Interrupt
– System Reset
– Interrupt and System Reset
Selectable Time-out period from 16ms to 8s
Possible Hardware fuse Watchdog always on (WDTON) for fail-safe mode
Overview
The device has an Enhanced Watchdog Timer (WDT). The WDT is a timer counting cycles of a separate
on-chip 128kHz oscillator. The WDT gives an interrupt or a system reset when the counter reaches a
given time-out value. In normal operation mode, it is required that the system uses the Watchdog Timer
Reset (WDR) instruction to restart the counter before the time-out value is reached. If the system doesn't
restart the counter, an interrupt or system reset will be issued.
Figure 12-7. Watchdog Timer
128kHz
OSCILLATOR
WATCHDOG
RESET
WDE
OSC/2K
OSC/4K
OSC/8K
OSC/16K
OSC/32K
OSC/64K
OSC/128K
OSC/256K
OSC/512K
OSC/1024K
12.8.1.
WDP0
WDP1
WDP2
WDP3
MCU RESET
WDIF
WDIE
INTERRUPT
In Interrupt mode, the WDT gives an interrupt when the timer expires. This interrupt can be used to wake
the device from sleep-modes, and also as a general system timer. One example is to limit the maximum
time allowed for certain operations, giving an interrupt when the operation has run longer than expected.
In System Reset mode, the WDT gives a reset when the timer expires. This is typically used to prevent
system hang-up in case of runaway code. The third mode, Interrupt and System Reset mode, combines
the other two modes by first giving an interrupt and then switch to System Reset mode. This mode will for
instance allow a safe shutdown by saving critical parameters before a system reset.
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The Watchdog always on (WDTON) fuse, if programmed, will force the Watchdog Timer to System Reset
mode. With the fuse programmed the System Reset mode bit (WDE) and Interrupt mode bit (WDIE) are
locked to 1 and 0 respectively. To further ensure program security, alterations to the Watchdog set-up
must follow timed sequences. The sequence for clearing WDE and changing time-out configuration is as
follows:
1.
In the same operation, write a logic one to the Watchdog change enable bit (WDCE) and Watchdog
System Reset Enable (WDE) in Watchdog Timer Control Register (WDTCSR.WDCE and
WDTCSR.WDE). A logic one must be written to WDTCSR.WDE regardless of the previous value of
the WDTCSR.WDE.
2.
Within the next four clock cycles, write the WDTCSR.WDE and Watchdog prescaler bits group
(WDTCSR.WDP) as desired, but with the WDTCSR.WDCE cleared. This must be done in one
operation.
The following examples show a function for turning off the Watchdog Timer. The
examples assume that interrupts are controlled (e.g. by disabling interrupts globally) so
that no interrupts will occur during the execution of these functions.
Assembly Code Example
WDT_off:
; Turn off global interrupt
cli
; Reset Watchdog Timer
wdr
; Clear WDRF in MCUSR
in
r16, MCUSR
andi
r16, (0xff & (0<<WDRF))
out
MCUSR, r16
; Write '1' to WDCE and WDE
; Keep old prescaler setting to prevent unintentional time-out
lds
r16, WDTCSR
ori
r16, (1<<WDCE) | (1<<WDE)
sts
WDTCSR, r16
; Turn off WDT
ldi
r16, (0<<WDE)
sts
WDTCSR, r16
; Turn on global interrupt
sei
ret
C Code Example
void WDT_off(void)
{
__disable_interrupt();
__watchdog_reset();
/* Clear WDRF in MCUSR */
MCUSR &= ~(1<<WDRF);
/* Write logical one to WDCE and WDE */
/* Keep old prescaler setting to prevent unintentional time-out */
WDTCSR |= (1<<WDCE) | (1<<WDE);
/* Turn off WDT */
WDTCSR = 0x00;
__enable_interrupt();
}
Note: If the Watchdog is accidentally enabled, for example by a runaway pointer or
brown-out condition, the device will be reset and the Watchdog Timer will stay enabled. If
the code is not set up to handle the Watchdog, this might lead to an eternal loop of timeout resets. To avoid this situation, the application software should always clear the
Watchdog System Reset Flag (WDRF) and the WDE control bit in the initialization
routine, even if the Watchdog is not in use.
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The following code examples shows how to change the time-out value of the Watchdog
Timer.
Assembly Code Example
WDT_Prescaler_Change:
; Turn off global interrupt
cli
; Reset Watchdog Timer
wdr
; Start timed sequence
lds r16, WDTCSR
ori r16, (1<<WDCE) | (1<<WDE)
sts WDTCSR, r16
; -- Got four cycles to set the new values from here ; Set new prescaler(time-out) value = 64K cycles (~0.5 s)
ldi r16, (1<<WDE) | (1<<WDP2) | (1<<WDP0)
sts WDTCSR, r16
; -- Finished setting new values, used 2 cycles ; Turn on global interrupt
sei
ret
C Code Example
void WDT_Prescaler_Change(void)
{
__disable_interrupt();
__watchdog_reset();
/* Start timed sequence */
WDTCSR |= (1<<WDCE) | (1<<WDE);
/* Set new prescaler(time-out) value = 64K cycles (~0.5 s) */
WDTCSR = (1<<WDE) | (1<<WDP2) | (1<<WDP0);
__enable_interrupt();
}
Note: The Watchdog Timer should be reset before any change of the WDTCSR.WDP
bits, since a change in the WDTCSR.WDP bits can result in a time-out when switching to
a shorter time-out period.
12.9.
Register Description
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12.9.1.
MCU Status Register
To make use of the Reset Flags to identify a reset condition, the user should read and then Reset the
MCUSR as early as possible in the program. If the register is cleared before another reset occurs, the
source of the reset can be found by examining the Reset Flags.
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: MCUSR
Offset: 0x54
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x34
Bit
Access
Reset
7
6
5
4
3
2
1
0
JTRF
WDRF
BORF
EXTRF
PORF
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
Bit 4 – JTRF: JTAG Reset Flag
This bit is set if a reset is being caused by a logic one in the JTAG Reset Register selected by the JTAG
instruction AVR_RESET. This bit is reset by a Power-on Reset, or by writing a logic zero to the flag.
Bit 3 – WDRF: Watchdog System Reset Flag
This bit is set if a Watchdog System Reset occurs. The bit is reset by a Power-on Reset, or by writing a '0'
to it.
Bit 2 – BORF: Brown-out Reset Flag
This bit is set if a Brown-out Reset occurs. The bit is reset by a Power-on Reset, or by writing a '0' to it.
Bit 1 – EXTRF: External Reset Flag
This bit is set if an External Reset occurs. The bit is reset by a Power-on Reset, or by writing a '0' to it.
Bit 0 – PORF: Power-on Reset Flag
This bit is set if a Power-on Reset occurs. The bit is reset only by writing a '0' to it.
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12.9.2.
WDTCSR – Watchdog Timer Control Register
Name: WDTCSR
Offset: 0x60
Reset: 0x00
Property:
Bit
Access
7
6
5
4
3
WDIF
WDIE
WDP[3]
WDCE
WDE
R/W
R/W
R/W
R/W
R/W
0
0
0
Reset
2
1
0
WDP[2:0]
R/W
R/W
R/W
0
0
0
Bit 7 – WDIF: Watchdog Interrupt Flag
This bit is set when a timeout occurs in the Watchdog Timer and the Watchdog Timer is configured for
interrupt. WDIF is cleared by hardware when executing the corresponding interrupt handling vector.
Alternatively, WDIF is cleared by writing a '1' to it. When the I-bit in SREG and WDIE are set, the
Watchdog Timeout Interrupt is executed.
Bit 6 – WDIE: Watchdog Interrupt Enable
When this bit is written to '1' and the I-bit in the Status Register is set, the Watchdog Interrupt is enabled.
If WDE is cleared in combination with this setting, the Watchdog Timer is in Interrupt Mode, and the
corresponding interrupt is executed if timeout in the Watchdog Timer occurs. If WDE is set, the Watchdog
Timer is in Interrupt and System Reset Mode. The first timeout in the Watchdog Timer will set WDIF.
Executing the corresponding interrupt vector will clear WDIE and WDIF automatically by hardware (the
Watchdog goes to System Reset Mode).
This is useful for keeping the Watchdog Timer security while using the interrupt. To stay in Interrupt and
System Reset Mode, WDIE must be set after each interrupt. This should however not be done within the
interrupt service routine itself, as this might compromise the safety function of the Watchdog System
Reset mode. If the interrupt is not executed before the next timeout, a System Reset will be applied.
Table 12-1. Watchdog Timer Configuration
WDTON(1) WDE WDIE Mode
Action on Time-out
1
0
0
Stopped
None
1
0
1
Interrupt Mode
Interrupt
1
1
0
System Reset Mode
Reset
1
1
1
Interrupt and System Reset Mode Interrupt, then go to System Reset Mode
0
x
x
System Reset Mode
Reset
Note: 1. WDTON Fuse set to '0' means programmed and '1' means unprogrammed.
Bit 5 – WDP[3]: Watchdog Timer Prescaler 3
Bit 4 – WDCE: Watchdog Change Enable
This bit is used in timed sequences for changing WDE and prescaler bits. To clear the WDE bit, and/or
change the prescaler bits, WDCE must be set. Once written to '1', hardware will clear WDCE after four
clock cycles.
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Bit 3 – WDE: Watchdog System Reset Enable
WDE is overridden by WDRF in MCUSR. This means that WDE is always set when WDRF is set. To
clear WDE, WDRF must be cleared first. This feature ensures multiple resets during conditions causing
failure, and a safe startup after the failure.
Bits 2:0 – WDP[2:0]: Watchdog Timer Prescaler 2, 1, and 0
The WDP[3:0] bits determine the Watchdog Timer prescaling when the Watchdog Timer is running. The
different prescaling values and their corresponding timeout periods are shown in the following table.
Table 12-2. Watchdog Timer Prescale Select
WDP[3]
WDP[2]
WDP[1]
WDP[0]
Number of WDT Oscillator (Cycles)
Oscillator
0
0
0
0
2K (2048)
16ms
0
0
0
1
4K (4096)
32ms
0
0
1
0
8K (8192)
64ms
0
0
1
1
16K (16384)
0.125s
0
1
0
0
32K (32768)
0.25s
0
1
0
1
64K (65536)
0.5s
0
1
1
0
128K (131072)
1.0s
0
1
1
1
256K (262144)
2.0s
1
0
0
0
512K (524288)
4.0s
1
0
0
1
1024K (1048576)
8.0s
1
0
1
0
Reserved
1
0
1
1
1
1
0
0
1
1
0
1
1
1
1
0
1
1
1
1
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13.
Interrupts
13.1.
Overview
This section describes the specifics of the interrupt handling of the device. For a general explanation of
the AVR interrupt handling, refer to the description of Reset and Interrupt Handling.
In general:
•
Each Interrupt Vector occupies two instruction words.
•
The Reset Vector is affected by the BOOTRST fuse, and the Interrupt Vector start address is
affected by the IVSEL bit in MCUCR (MCUCR.IVSEL)
Related Links
Reset and Interrupt Handling on page 31
13.2.
Interrupt Vectors in ATmega164PA
Table 13-1. Reset and Interrupt Vectors in ATmega164PA
Vector No Program Address(2) Source
Interrupts definition
1
0x0000(1)
RESET
External Pin, Power-on Reset, Brown-out Reset and Watchdog System
Reset
2
0x0002
INT0
External Interrupt Request 0
3
0x0004
INT1
External Interrupt Request 1
4
0x0006
INT2
External Interrupt Request 2
5
0x0008
PCINT0
Pin Change Interrupt Request 0
6
0x000A
PCINT1
Pin Change Interrupt Request 1
7
0x000C
PCINT2
Pin Change Interrupt Request 2
8
0x000E
PCINT3
Pin Change Interrupt Request 3
9
0x0010
WDT
Watchdog Time-out Interrupt
10
0x0012
TIMER2_COMPA Timer/Counter2 Compare Match A
11
0x0014
TIMER2_COMPB Timer/Coutner2 Compare Match B
12
0x0016
TIMER2_OVF
Timer/Counter2 Overflow
13
0x0018
TIMER1_CAPT
Timer/Counter1 Capture Event
14
0x001A
TIMER1_COMPA Timer/Counter1 Compare Match A
15
0x001C
TIMER1_COMPB Timer/Coutner1 Compare Match B
16
0x001E
TIMER1_OVF
17
0x0020
TIMER0_COMPA Timer/Counter0 Compare Match A
18
0x0022
TIMER0_COMPB Timer/Coutner0 Compare Match B
19
0x0024
TIMER0_OVF
Timer/Counter0 Overflow
20
0x0026
SPI_STC
SPI Serial Transfer Complete
Timer/Counter1 Overflow
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Vector No Program Address(2) Source
Interrupts definition
21
0x0028
USART_RX
USART Rx Complete
22
0x002A
USART_UDRE
USART Data Register Empty
23
0x002C
USART_TX
USART Tx Complete
24
0x002E
ANALOG_COMP Analog Comparator
25
0x0030
ADC
ADC Conversion Complete
26
0x0032
EE_READY
EEPROM Ready
27
0x0034
TWI
TWI Transfer complete
28
0x0036
SPM_READY
Store Program Memory Ready
29
0x0038
USART1_RX
USART1 Rx Complete
30
0x003A
USART1_UDRE
USART1, Data Register Empty
31
0x003C
USART1_TX
USART1, Tx Complete
Note: 1. When the BOOTRST Fuse is programmed, the device will jump to the Boot Loader address at
reset, see Memory programming
2. When the IVSEL bit in MCUCR is set, Interrupt Vectors will be moved to the start of the Boot Flash
Section. The address of each Interrupt Vector will then be the address in this table added to the
start address of the Boot Flash Section.
The table below shows reset and Interrupt Vectors placement for the various combinations of BOOTRST
and MCUCR.IVSEL settings. If the program never enables an interrupt source, the Interrupt Vectors are
not used, and regular program code can be placed at these locations. This is also the case if the Reset
Vector is in the Application section while the Interrupt Vectors are in the Boot section or vice versa.
Table 13-2. Reset and Interrupt Vectors placement
BOOTRST
IVSEL
Reset Address
Interrupt Vectors Start Address
1
0
0x0000
0x0002
1
1
0x0000
Boot Reset Address + 0x0002
0
0
Boot Reset Address
0x0002
0
1
Boot Reset Address
Boot Reset Address + 0x0002
Note: The Boot Reset Address is shown in Table Boot size configuration in Boot Loader Parameters.
For the BOOTRST Fuse “1” means unprogrammed while “0” means programmed.
Address
0x0000
0x0002
0x0004
0x0006
0x0008
0x000A
0x000C
0x000E
0x0010
0x0012
0x0014
0x0016
0x0018
Labels
Code
jmp
jmp
jmp
jmp
jmp
jmp
jmp
jmp
jmp
jmp
jmp
jmp
jmp
RESET
INT0
INT1
INT2
PCINT0
PCINT1
PCINT2
PCINT3
WDT
TIM2_COMPA
TIM2_COMPB
TIM2_OVF
TIM1_CAPT
Comments
; Reset
; IRQ0
; IRQ1
; IRQ2
; PCINT0
; PCINT1
; PCINT2
; PCINT3
; Watchdog Timeout
; Timer2 CompareA
; Timer2 CompareB
; Timer2 Overflow
; Timer1 Capture
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0x001A
0x001C
0x001E
0x0020
0x0022
0x0024
0x0026
0x0028
0x002A
0x002C
0x002E
0x0030
0x0032
0x0034
0x0036
0x0038
0x003A
0x003C
;
0x003E
0x003F
0x0040
0x0041
0x0042
0x0043
...
RESET:
...
jmp
jmp
jmp
jmp
jmp
jmp
jmp
jmp
jmp
jmp
jmp
jmp
jmp
jmp
jmp
jmp
jmp
jmp
TIM1_COMPA
TIM1_COMPB
TIM1_OVF
TIM0_COMPA
TIM0_COMPB
TIM0_OVF
SPI_STC
USART_RXC
USART_UDRE
USART_TXC
ANA_COMP
ADC
EE_RDY
TWI
SPM_RDY
USART1_RXC
USART1_UDRE
USART1_TXC
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
ldi
out
ldi
out
sei
<instr>
...
r16,high(RAMEND)
SPH,r16
r16,low(RAMEND)
SPL,r16
; Main program start
; Set Stack Pointer to top of RAM
xxx
Timer1 CompareA
Timer1 CompareB
Timer1 Overflow
Timer0 CompareA
Timer0 CompareB
Timer0 Overflow
SPI Transfer Complete
USART RX Complete
USART UDR Empty
USART TX Complete
Analog Comparator
ADC Conversion Complete
EEPROM Ready
2-wire Serial
SPM Ready
USART1 RX Complete
USART1 UDR Empty
USART1 TX Complete
; Enable interrupts
...
When the BOOTRST Fuse is unprogrammed, the Boot section size set to 8Kbytes and the
MCUCR.IVSEL is set before any interrupts are enabled, the most typical and general program setup for
the Reset and Interrupt Vector Addresses is:
Address
Labels
0x00000
RESET:
0x00001
0x00002
0x00003
0x00004
0x00005
;
.org 0x1F002
0x1F002
0x1F004
...
0x1FO36
Code
ldi
r16,high(RAMEND)
out
SPH,r16
ldi
r16,low(RAMEND)
out
SPL,r16
sei
<instr> xxx
Comments
; Main program start
; Set Stack Pointer to top of RAM
jmp
jmp
...
jmp
; IRQ0 Handler
; IRQ1 Handler
;
; SPM Ready Handler
EXT_INT0
EXT_INT1
...
SPM_RDY
; Enable interrupts
When the BOOTRST Fuse is programmed and the Boot section size set to 8Kbytes, the most typical and
general program setup for the Reset and Interrupt Vector Addresses is:
Address
Labels
.org 0x0002
0x00002
0x00004
...
0x00036
;
.org
0x1F000
0x1F000
RESET:
0x1F001
0x1F002
0x1F003
0x1F004
0x1F005
Code
Comments
jmp
jmp
...
jmp
EXT_INT0
EXT_INT1
...
SPM_RDY
; IRQ0 Handler
; IRQ1 Handler
;
; SPM Ready Handler
ldi
out
ldi
out
sei
<instr>
r16,high(RAMEND)
SPH,r16
r16,low(RAMEND)
SPL,r16
; Main program start
; Set Stack Pointer to top of RAM
xxx
; Enable interrupts
When the BOOTRST Fuse is programmed, the Boot section size set to 8Kbytes and the MCUCR.IVSEL
Register is set before any interrupts are enabled, the most typical and general program setup for the
Reset and Interrupt Vector Addresses is:
Address
Labels
;
.org 0x1F000
0x1F000
0x1F002
Code
jmp
jmp
Comments
RESET
EXT_INT0
; Reset handler
; IRQ0 Handler
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0x1F004
...
0x1F036
;
0x1F03E
0x1F03F
0x1F040
0x1F041
0x1F042
0x1FO43
RESET:
jmp
...
jmp
EXT_INT1
...
SPM_RDY
; IRQ1 Handler
;
; SPM Ready Handler
ldi
out
ldi
out
sei
<instr>
r16,high(RAMEND)
SPH,r16
r16,low(RAMEND)
SPL,r16
; Main program start
; Set Stack Pointer to top of RAM
xxx
; Enable interrupts
13.3.
Register Description
13.3.1.
Moving Interrupts Between Application and Boot Space
The MCU Control Register controls the placement of the Interrupt Vector table.
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13.3.2.
MCU Control Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: MCUCR
Offset: 0x55
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x35
Bit
Access
Reset
7
6
5
4
1
0
JTD
BODS
BODSE
PUD
3
2
IVSEL
IVCE
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
Bit 7 – JTD
When this bit is zero, the JTAG interface is enabled if the JTAGEN Fuse is programmed. If this bit is one,
the JTAG interface is disabled. In order to avoid unintentional disabling or enabling of the JTAG interface,
a timed sequence must be followed when changing this bit: The application software must write this bit to
the desired value twice within four cycles to change its value. Note that this bit must not be altered when
using the On-chip Debug system.
Bit 6 – BODS: BOD Sleep
The BODS bit must be written to '1' in order to turn off BOD during sleep. Writing to the BODS bit is
controlled by a timed sequence and the enable bit BODSE. To disable BOD in relevant sleep modes, both
BODS and BODSE must first be written to '1'. Then, BODS must be written to '1' and BODSE must be
written to zero within four clock cycles.
The BODS bit is active three clock cycles after it is set. A sleep instruction must be executed while BODS
is active in order to turn off the BOD for the actual sleep mode. The BODS bit is automatically cleared
after three clock cycles.
Bit 5 – BODSE: BOD Sleep Enable
BODSE enables setting of BODS control bit, as explained in BODS bit description. BOD disable is
controlled by a timed sequence.
Bit 4 – PUD: Pull-up Disable
When this bit is written to one, the pull-ups in the I/O ports are disabled even if the DDxn and PORTxn
Registers are configured to enable the pull-ups ({DDxn, PORTxn} = 0b01).
Bit 1 – IVSEL: Interrupt Vector Select
When the IVSEL bit is cleared (zero), the Interrupt Vectors are placed at the start of the Flash memory.
When this bit is set (one), the Interrupt Vectors are moved to the beginning of the Boot Loader section of
the Flash. The actual address of the start of the Boot Flash Section is determined by the BOOTSZ Fuses.
To avoid unintentional changes of Interrupt Vector tables, a special write procedure must be followed to
change the IVSEL bit:
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1.
2.
Write the Interrupt Vector Change Enable (IVCE) bit to one.
Within four cycles, write the desired value to IVSEL while writing a zero to IVCE.
Interrupts will automatically be disabled while this sequence is executed. Interrupts are disabled in the
cycle IVCE is set, and they remain disabled until after the instruction following the write to IVSEL. If
IVSEL is not written, interrupts remain disabled for four cycles. The I-bit in the Status Register is
unaffected by the automatic disabling.
Note: If Interrupt Vectors are placed in the Boot Loader section and Boot Lock bit BLB02 is
programmed, interrupts are disabled while executing from the Application section. If Interrupt Vectors are
placed in the Application section and Boot Lock bit BLB12 is programed, interrupts are disabled while
executing from the Boot Loader section.
Bit 0 – IVCE: Interrupt Vector Change Enable
The IVCE bit must be written to logic one to enable change of the IVSEL bit. IVCE is cleared by hardware
four cycles after it is written or when IVSEL is written. Setting the IVCE bit will disable interrupts, as
explained in the IVSEL description above. See Code Example below.
Assembly Code Example
Move_interrupts:
; Get MCUCR
in
r16, MCUCR
mov
r17, r16
; Enable change of Interrupt Vectors
ori
r16, (1<<IVCE)
out
MCUCR, r16
; Move interrupts to Boot Flash section
ori
r17, (1<<IVSEL)
out
MCUCR, r17
ret
C Code Example
void Move_interrupts(void)
{
uchar temp;
/* GET MCUCR*/
temp = MCUCR;
/* Enable change of Interrupt Vectors */
MCUCR = temp|(1<<IVCE);
/* Move interrupts to Boot Flash section */
MCUCR = temp|(1<<IVSEL);
}
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14.
External Interrupts
14.1.
EXINT - External Interrupts
The External Interrupts are triggered by the INT pin or any of the PCINT pins. Observe that, if enabled,
the interrupts will trigger even if the INT or PCINT pins are configured as outputs. This feature provides a
way of generating a software interrupt.
The Pin Change Interrupt Request 3 (PCI3) will trigger if any enabled PCINT[31:24] pin toggles. The Pin
Change Interrupt Request 2 (PCI2) will trigger if any enabled PCINT[23:16] pin toggles. The Pin Change
Interrupt Request 1 (PCI1) will trigger if any enabled PCINT[15:8] pin toggles. The Pin Change Interrupt
Request 0 (PCI0) will trigger if any enabled PCINT[7:0] pin toggles. The PCMSK3, PCMSK2, PCMSK1
and PCMSK0 Registers control which pins contribute to the pin change interrupts. Pin change interrupts
on PCINT are detected asynchronously. This implies that these interrupts can be used for waking the part
also from sleep modes other than Idle mode.
The external interrupts can be triggered by a falling or rising edge or a low level. This is set up as
indicated in the specification for the External Interrupt Control Register A (EICRA). When the external
interrupts are enabled and are configured as level triggered, the interrupts will trigger as long as the pin is
held low. Note that recognition of falling or rising edge interrupts on INT requires the presence of an I/O
clock. Low level interrupt on INT is detected asynchronously. This implies that this interrupt can be used
for waking the part also from sleep modes other than Idle mode. The I/O clock is halted in all sleep modes
except Idle mode.
Note: Note that if a level triggered interrupt is used for wake-up from Power-down, the required level
must be held long enough for the MCU to complete the wake-up to trigger the level interrupt. If the level
disappears before the end of the Start-up Time, the MCU will still wake up, but no interrupt will be
generated. The start-up time is defined by the SUT and CKSEL Fuses.
Related Links
System Clock and Clock Options on page 47
14.1.1.
Pin Change Interrupt Timing
An example of timing of a pin change interrupt is shown in the following figure.
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Figure 14-1. Timing of pin change interrupts
pin_lat
PCINT(0)
D
LE
clk
pcint_in_(0)
Q
pin_sync
0
pcint_syn
PCINT(0) in PCMSK(x)
pcint_setflag
PCIF
x
clk
clk
PCINT(0)
pin_lat
pin_sync
pcint_in_(0)
pcint_syn
pcint_setflag
PCIF
14.1.2.
Register Description
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14.1.2.1. External Interrupt Control Register A
The External Interrupt Control Register A contains control bits for interrupt sense control.
Name: EICRA
Offset: 0x69
Reset: 0x00
Property: Bit
7
6
Access
Reset
5
4
3
2
1
0
ISC21
ISC20
ISC11
ISC10
ISC01
ISC00
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
Bits 5:4 – ISC2n: Interrupt Sense Control 2 [n = 1:0]
The External Interrupt 2 is activated by the external pin INT2 if the SREG I-flag and the corresponding
interrupt mask are set. The level and edges on the external INT2 pin that activate the interrupt are defined
in table below. The value on the INT2 pin is sampled before detecting edges. If edge or toggle interrupt is
selected, pulses that last longer than one clock period will generate an interrupt. Shorter pulses are not
guaranteed to generate an interrupt. If low level interrupt is selected, the low level must be held until the
completion of the currently executing instruction to generate an interrupt.
Value
Description
00
The low level of INT2 generates an interrupt request.
01
Any logical change on INT2 generates an interrupt request.
10
The falling edge of INT2 generates an interrupt request.
11
The rising edge of INT2 generates an interrupt request.
Bits 3:2 – ISC1n: Interrupt Sense Control 1 [n = 1:0]
The External Interrupt 1 is activated by the external pin INT1 if the SREG I-flag and the corresponding
interrupt mask are set. The level and edges on the external INT1 pin that activate the interrupt are defined
in the table below. The value on the INT1 pin is sampled before detecting edges. If edge or toggle
interrupt is selected, pulses that last longer than one clock period will generate an interrupt. Shorter
pulses are not guaranteed to generate an interrupt. If low level interrupt is selected, the low level must be
held until the completion of the currently executing instruction to generate an interrupt.
Value
Description
00
The low level of INT1 generates an interrupt request.
01
Any logical change on INT1 generates an interrupt request.
10
The falling edge of INT1 generates an interrupt request.
11
The rising edge of INT1 generates an interrupt request.
Bits 1:0 – ISC0n: Interrupt Sense Control 0 [n = 1:0]
The External Interrupt 0 is activated by the external pin INT0 if the SREG I-flag and the corresponding
interrupt mask are set. The level and edges on the external INT0 pin that activate the interrupt are defined
in table below. The value on the INT0 pin is sampled before detecting edges. If edge or toggle interrupt is
selected, pulses that last longer than one clock period will generate an interrupt. Shorter pulses are not
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guaranteed to generate an interrupt. If low level interrupt is selected, the low level must be held until the
completion of the currently executing instruction to generate an interrupt.
Value
Description
00
The low level of INT0 generates an interrupt request.
01
Any logical change on INT0 generates an interrupt request.
10
The falling edge of INT0 generates an interrupt request.
11
The rising edge of INT0 generates an interrupt request.
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14.1.2.2. External Interrupt Mask Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: EIMSK
Offset: 0x3D
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x1D
Bit
Access
Reset
7
6
5
4
3
2
1
0
INT2
INT1
INT0
R/W
R/W
R/W
0
0
0
Bit 2 – INT2: External Interrupt Request 2 Enable
When the INT2 bit is set and the I-bit in the Status Register (SREG) is set, the external pin interrupt is
enabled. The Interrupt Sense Control2 bits 1/0 (ISC21 and ISC20) in the External Interrupt Control
Register A (EICRA) define whether the external interrupt is activated on rising and/or falling edge of the
INT2 pin or level sensed. Activity on the pin will cause an interrupt request even if INT2 is configured as
an output. The corresponding interrupt of External Interrupt Request 2 is executed from the INT2 Interrupt
Vector.
Bit 1 – INT1: External Interrupt Request 1 Enable
When the INT1 bit is set and the I-bit in the Status Register (SREG) is set, the external pin interrupt is
enabled. The Interrupt Sense Control1 bits 1/0 (ISC11 and ISC10) in the External Interrupt Control
Register A (EICRA) define whether the external interrupt is activated on rising and/or falling edge of the
INT1 pin or level sensed. Activity on the pin will cause an interrupt request even if INT1 is configured as
an output. The corresponding interrupt of External Interrupt Request 1 is executed from the INT1 Interrupt
Vector.
Bit 0 – INT0: External Interrupt Request 0 Enable
When the INT0 bit is set and the I-bit in the Status Register (SREG) is set, the external pin interrupt is
enabled. The Interrupt Sense Control0 bits 1/0 (ISC01 and ISC00) in the External Interrupt Control
Register A (EICRA) define whether the external interrupt is activated on rising and/or falling edge of the
INT0 pin or level sensed. Activity on the pin will cause an interrupt request even if INT0 is configured as
an output. The corresponding interrupt of External Interrupt Request 0 is executed from the INT0 Interrupt
Vector.
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14.1.2.3. External Interrupt Flag Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: EIFR
Offset: 0x3C
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x1C
Bit
Access
Reset
7
6
5
4
3
2
1
0
INTF2
INTF1
INTF0
R/W
R/W
R/W
0
0
0
Bit 2 – INTF2: External Interrupt Flag 2
When an edge or logic change on the INT2 pin triggers an interrupt request, INTF2 will be set. If the I-bit
in SREG and the INT2 bit in EIMSK are set, the MCU will jump to the corresponding Interrupt Vector. The
flag is cleared when the interrupt routine is executed. Alternatively, the flag can be cleared by writing '1' to
it. This flag is always cleared when INT2 is configured as a level interrupt.
Bit 1 – INTF1: External Interrupt Flag 1
When an edge or logic change on the INT1 pin triggers an interrupt request, INTF1 will be set. If the I-bit
in SREG and the INT1 bit in EIMSK are set, the MCU will jump to the corresponding Interrupt Vector. The
flag is cleared when the interrupt routine is executed. Alternatively, the flag can be cleared by writing '1' to
it. This flag is always cleared when INT1 is configured as a level interrupt.
Bit 0 – INTF0: External Interrupt Flag 0
When an edge or logic change on the INT0 pin triggers an interrupt request, INTF0 will be set. If the I-bit
in SREG and the INT0 bit in EIMSK are set, the MCU will jump to the corresponding Interrupt Vector. The
flag is cleared when the interrupt routine is executed. Alternatively, the flag can be cleared by writing '1' to
it. This flag is always cleared when INT0 is configured as a level interrupt.
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14.1.2.4. Pin Change Interrupt Control Register
Name: PCICR
Offset: 0x68
Reset: 0x00
Property: Bit
Access
Reset
7
6
5
4
3
2
1
0
PCIE3
PCIE2
PCIE1
PCIE0
R/W
R/W
R/W
R/W
0
0
0
0
Bit 3 – PCIE3: Pin Change Interrupt Enable 3
When the PCIE3 bit is set and the I-bit in the Status Register (SREG) is set, pin change interrupt 3 is
enabled. Any change on any enabled PCINT[31:24] pin will cause an interrupt. The corresponding
interrupt of Pin Change Interrupt Request is executed from the PCI3 Interrupt Vector. PCINT[31:24] pins
are enabled individually by the PCMSK3 Register.
Bit 2 – PCIE2: Pin Change Interrupt Enable 2
When the PCIE2 bit is set and the I-bit in the Status Register (SREG) is set, pin change interrupt 2 is
enabled. Any change on any enabled PCINT[23:16] pin will cause an interrupt. The corresponding
interrupt of Pin Change Interrupt Request is executed from the PCI2 Interrupt Vector. PCINT[23:16] pins
are enabled individually by the PCMSK2 Register.
Bit 1 – PCIE1: Pin Change Interrupt Enable 1
When the PCIE1 bit is set and the I-bit in the Status Register (SREG) is set, pin change interrupt 1 is
enabled. Any change on any enabled PCINT[14:8] pin will cause an interrupt. The corresponding interrupt
of Pin Change Interrupt Request is executed from the PCI1 Interrupt Vector. PCINT[14:8] pins are
enabled individually by the PCMSK1 Register.
Bit 0 – PCIE0: Pin Change Interrupt Enable 0
When the PCIE0 bit is set and the I-bit in the Status Register (SREG) is set, pin change interrupt 0 is
enabled. Any change on any enabled PCINT[7:0] pin will cause an interrupt. The corresponding interrupt
of Pin Change Interrupt Request is executed from the PCI0 Interrupt Vector. PCINT[7:0] pins are enabled
individually by the PCMSK0 Register.
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14.1.2.5. Pin Change Interrupt Flag Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: PCIFR
Offset: 0x3B
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x1B
Bit
Access
Reset
7
6
5
4
3
2
1
0
PCIF3
PCIF2
PCIF1
PCIF0
R/W
R/W
R/W
R/W
0
0
0
0
Bit 3 – PCIF3: Pin Change Interrupt Flag 3
When a logic change on any PCINT[31:24] pin triggers an interrupt request, PCIF3 will be set. If the I-bit
in SREG and the PCIE3 bit in PCICR are set, the MCU will jump to the corresponding Interrupt Vector.
The flag is cleared when the interrupt routine is executed. Alternatively, the flag can be cleared by writing
'1' to it.
Bit 2 – PCIF2: Pin Change Interrupt Flag 2
When a logic change on any PCINT[23:16] pin triggers an interrupt request, PCIF2 will be set. If the I-bit
in SREG and the PCIE2 bit in PCICR are set, the MCU will jump to the corresponding Interrupt Vector.
The flag is cleared when the interrupt routine is executed. Alternatively, the flag can be cleared by writing
'1' to it.
Bit 1 – PCIF1: Pin Change Interrupt Flag 1
When a logic change on any PCINT[15:8] pin triggers an interrupt request, PCIF1 will be set. If the I-bit in
SREG and the PCIE1 bit in PCICR are set, the MCU will jump to the corresponding Interrupt Vector. The
flag is cleared when the interrupt routine is executed. Alternatively, the flag can be cleared by writing '1' to
it.
Bit 0 – PCIF0: Pin Change Interrupt Flag 0
When a logic change on any PCINT[7:0] pin triggers an interrupt request, PCIF0 will be set. If the I-bit in
SREG and the PCIE0 bit in PCICR are set, the MCU will jump to the corresponding Interrupt Vector. The
flag is cleared when the interrupt routine is executed. Alternatively, the flag can be cleared by writing '1' to
it.
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14.1.2.6. Pin Change Mask Register 0
Name: PCMSK0
Offset: 0x6B
Reset: 0x00
Property: Bit
Access
Reset
7
6
5
4
3
2
1
0
PCINT7
PCINT6
PCINT5
PCINT4
PCINT3
PCINT2
PCINT1
PCINT0
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – PCINTn: Pin Change Enable Mask [n = 7:0]
Each PCINT[7:0] bit selects whether pin change interrupt is enabled on the corresponding I/O pin. If
PCINT[7:0] is set and the PCIE0 bit in PCICR is set, pin change interrupt is enabled on the corresponding
I/O pin. If PCINT[7:0] is cleared, pin change interrupt on the corresponding I/O pin is disabled.
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14.1.2.7. Pin Change Mask Register 1
Name: PCMSK1
Offset: 0x6C
Reset: 0x00
Property: Bit
Access
Reset
7
6
5
4
3
2
1
0
PCINT15
PCINT14
PCINT13
PCINT12
PCINT11
PCINT10
PCINT9
PCINT8
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 0, 1, 2, 3, 4, 5, 6, 7 – PCINT8, PCINT9, PCINT10, PCINT11, PCINT12, PCINT13, PCINT14,
PCINT15: Pin Change Enable Mask
Each PCINT[15:8]-bit selects whether pin change interrupt is enabled on the corresponding I/O pin. If
PCINT[15:8] is set and the PCIE1 bit in PCICR is set, pin change interrupt is enabled on the
corresponding I/O pin. If PCINT[15:8] is cleared, pin change interrupt on the corresponding I/O pin is
disabled.
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14.1.2.8. Pin Change Mask Register 2
Name: PCMSK2
Offset: 0x6D
Reset: 0x00
Property: Bit
Access
Reset
7
6
5
4
3
2
1
0
PCINT23
PCINT22
PCINT21
PCINT20
PCINT19
PCINT18
PCINT17
PCINT16
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 0, 1, 2, 3, 4, 5, 6, 7 – PCINT16, PCINT17, PCINT18, PCINT19, PCINT20, PCINT21, PCINT22,
PCINT23: Pin Change Enable Mask
Each PCINT[23:16]-bit selects whether pin change interrupt is enabled on the corresponding I/O pin. If
PCINT[23:16] is set and the PCIE2 bit in PCICR is set, pin change interrupt is enabled on the
corresponding I/O pin. If PCINT[23:16] is cleared, pin change interrupt on the corresponding I/O pin is
disabled.
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14.1.2.9. Pin Change Mask Register 3
Name: PCMSK3
Offset: 0x73
Reset: 0x00
Property: Bit
Access
Reset
7
6
5
4
3
2
1
0
PCINT31
PCINT30
PCINT29
PCINT28
PCINT27
PCINT26
PCINT25
PCINT24
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 0, 1, 2, 3, 4, 5, 6, 7 – PCINT24, PCINT25, PCINT26, PCINT27, PCINT28, PCINT29, PCINT30,
PCINT31: Pin Change Enable Mask
Each PCINT[31:24]-bit selects whether pin change interrupt is enabled on the corresponding I/O pin. If
PCINT[31:24] is set and the PCIE3 bit in PCICR is set, pin change interrupt is enabled on the
corresponding I/O pin. If PCINT[31:24] is cleared, pin change interrupt on the corresponding I/O pin is
disabled.
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15.
I/O-Ports
15.1.
Overview
All AVR ports have true Read-Modify-Write functionality when used as general digital I/O ports. This
means that the direction of one port pin can be changed without unintentionally changing the direction of
any other pin with the SBI and CBI instructions. The same applies when changing drive value (if
configured as output) or enabling/disabling of pull-up resistors (if configured as input). Each output buffer
has symmetrical drive characteristics with both high sink and source capability. The pin driver is strong
enough to drive LED displays directly. All port pins have individually selectable pull-up resistors with a
supply-voltage invariant resistance. All I/O pins have protection diodes to both VCC and Ground as
indicated in the following figure.
Figure 15-1. I/O Pin Equivalent Schematic
R pu
Logic
Pxn
C pin
See Figure
"General Digital I/O" for
Details
All registers and bit references in this section are written in general form. A lower case “x” represents the
numbering letter for the port, and a lower case “n” represents the bit number. However, when using the
register or bit defines in a program, the precise form must be used. For example, PORTB3 for bit no. 3 in
Port B, here documented generally as PORTxn.
Three I/O memory address locations are allocated for each port, one each for the Data Register –
PORTx, Data Direction Register – DDRx, and the Port Input Pins – PINx. The Port Input Pins I/O location
is read only, while the Data Register and the Data Direction Register are read/write. However, writing '1'
to a bit in the PINx Register will result in a toggle in the corresponding bit in the Data Register. In addition,
the Pull-up Disable – PUD bit in MCUCR disables the pull-up function for all pins in all ports when set.
Using the I/O port as General Digital I/O is described in next section. Most port pins are multiplexed with
alternate functions for the peripheral features on the device. How each alternate function interferes with
the port pin is described in Alternate Port Functions section in this chapter. Refer to the individual module
sections for a full description of the alternate functions.
Enabling the alternate function of some of the port pins does not affect the use of the other pins in the
port as general digital I/O.
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15.2.
Ports as General Digital I/O
The ports are bi-directional I/O ports with optional internal pull-ups. The following figure shows the
functional description of one I/O-port pin, here generically called Pxn.
Figure 15-2. General Digital I/O(1)
PUD
Q
D
DDxn
Q CLR
WDx
RESET
1
Q
Pxn
D
0
PORTxn
Q CLR
RESET
SLEEP
RRx
SYNCHRONIZER
D
Q
L
Q
D
WRx
WPx
DATA BUS
RDx
RPx
Q
PINxn
Q
clk I/O
PUD:
SLEEP:
clkI/O:
PULLUP DISABLE
SLEEP CONTROL
I/O CLOCK
WDx:
RDx:
WRx:
RRx:
RPx:
WPx:
WRITE DDRx
READ DDRx
WRITE PORTx
READ PORTx REGISTER
READ PORTx PIN
WRITE PINx REGISTER
Note: 1. WRx, WPx, WDx, RRx, RPx, and RDx are common to all pins within the same port. clkI/O,
SLEEP, and PUD are common to all ports.
15.2.1.
Configuring the Pin
Each port pin consists of three register bits: DDxn, PORTxn, and PINxn. As shown in the Register
Description, the DDxn bits are accessed at the DDRx I/O address, the PORTxn bits at the PORTx I/O
address, and the PINxn bits at the PINx I/O address.
The DDxn bit in the DDRx Register selects the direction of this pin. If DDxn is written to '1', Pxn is
configured as an output pin. If DDxn is written to '0', Pxn is configured as an input pin.
If PORTxn is written to '1' when the pin is configured as an input pin, the pull-up resistor is activated. To
switch the pull-up resistor off, PORTxn has to be written to '0' or the pin has to be configured as an output
pin. The port pins are tri-stated when reset condition becomes active, even if no clocks are running.
If PORTxn is written to '1' when the pin is configured as an output pin, the port pin is driven high. If
PORTxn is written logic zero when the pin is configured as an output pin, the port pin is driven low.
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15.2.2.
Toggling the Pin
Writing a '1' to PINxn toggles the value of PORTxn, independent on the value of DDRxn. The SBI
instruction can be used to toggle one single bit in a port.
15.2.3.
Switching Between Input and Output
When switching between tri-state ({DDxn, PORTxn} = 0b00) and output high ({DDxn, PORTxn} = 0b11),
an intermediate state with either pull-up enabled {DDxn, PORTxn} = 0b01) or output low ({DDxn,
PORTxn} = 0b10) must occur. Normally, the pull-up enabled state is fully acceptable, as a highimpedance environment will not notice the difference between a strong high driver and a pull-up. If this is
not the case, the PUD bit in the MCUCR Register can be set to disable all pull-ups in all ports.
Switching between input with pull-up and output low generates the same problem. The user must use
either the tri-state ({DDxn, PORTxn} = 0b00) or the output high state ({DDxn, PORTxn} = 0b11) as an
intermediate step.
The following table summarizes the control signals for the pin value.
Table 15-1. Port Pin Configurations
DDxn
PORTxn
PUD
(in MCUCR)
I/O
Pull-up
Comment
0
0
X
Input
No
Tri-state (Hi-Z)
0
1
0
Input
Yes
Pxn will source current if ext. pulled low
0
1
1
Input
No
Tri-state (Hi-Z)
1
0
X
Output
No
Output Low (Sink)
1
1
X
Output
No
Output High (Source)
15.2.4.
Reading the Pin Value
Independent of the setting of Data Direction bit DDxn, the port pin can be read through the PINxn
Register bit. As shown in Ports as General Digital I/O, the PINxn Register bit and the preceding latch
constitute a synchronizer. This is needed to avoid metastability if the physical pin changes value near the
edge of the internal clock, but it also introduces a delay. The following figure shows a timing diagram of
the synchronization when reading an externally applied pin value. The maximum and minimum
propagation delays are denoted tpd,max and tpd,min respectively.
Figure 15-3. Synchronization when Reading an Externally Applied Pin value
SYSTEM CLK
INSTRUCTIONS
XXX
XXX
in r17, PINx
SYNC LATCH
PINxn
r17
0x00
0xFF
t pd, max
t pd, min
Consider the clock period starting shortly after the first falling edge of the system clock. The latch is
closed when the clock is low, and goes transparent when the clock is high, as indicated by the shaded
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region of the “SYNC LATCH” signal. The signal value is latched when the system clock goes low. It is
clocked into the PINxn Register at the succeeding positive clock edge. As indicated by the two arrows
tpd,max and tpd,min, a single signal transition on the pin will be delayed between ½ and 1½ system clock
period depending upon the time of assertion.
When reading back a software assigned pin value, a nop instruction must be inserted as indicated in the
following figure. The out instruction sets the “SYNC LATCH” signal at the positive edge of the clock. In
this case, the delay tpd through the synchronizer is 1 system clock period.
Figure 15-4. Synchronization when Reading a Software Assigned Pin Value
SYSTEM CLK
r16
INSTRUCTIONS
0xFF
out PORTx, r16
nop
in r17, PINx
SYNC LATCH
PINxn
r17
0x00
0xFF
t pd
The following code example shows how to set port B pins 0 and 1 high, 2 and 3 low, and define the port
pins from 4 to 7 as input with pull-ups assigned to port pins 6 and 7. The resulting pin values are read
back again, but as previously discussed, a nop instruction is included to be able to read back the value
recently assigned to some of the pins.
Assembly Code Example(1)
...
; Define pull-ups and set outputs high
; Define directions for port pins
ldi r16,(1<<PB7)|(1<<PB6)|(1<<PB1)|(1<<PB0)
ldi r17,(1<<DDB3)|(1<<DDB2)|(1<<DDB1)|(1<<DDB0)
out PORTB,r16
out DDRB,r17
; Insert nop for synchronization
nop
; Read port pins
in r16,PINB
...
Note: 1. For the assembly program, two temporary registers are used to minimize the
time from pull-ups are set on pins 0, 1, 6, and 7, until the direction bits are correctly set,
defining bit 2 and 3 as low and redefining bits 0 and 1 as strong high drivers.
C Code Example
unsigned char i;
...
/* Define pull-ups and set outputs high */
/* Define directions for port pins */
PORTB = (1<<PB7)|(1<<PB6)|(1<<PB1)|(1<<PB0);
DDRB = (1<<DDB3)|(1<<DDB2)|(1<<DDB1)|(1<<DDB0);
/* Insert nop for synchronization*/
__no_operation();
/* Read port pins */
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i = PINB;
...
15.2.5.
Digital Input Enable and Sleep Modes
As shown in the figure of General Digital I/O, the digital input signal can be clamped to ground at the input
of the Schmitt Trigger. The signal denoted SLEEP in the figure, is set by the MCU Sleep Controller in
Power-down mode and Standby mode to avoid high power consumption if some input signals are left
floating, or have an analog signal level close to VCC/2.
SLEEP is overridden for port pins enabled as external interrupt pins. If the external interrupt request is not
enabled, SLEEP is active also for these pins. SLEEP is also overridden by various other alternate
functions as described in Alternate Port Functions section in this chapter.
If a logic high level is present on an asynchronous external interrupt pin configured as “Interrupt on Rising
Edge, Falling Edge, or Any Logic Change on Pin” while the external interrupt is not enabled, the
corresponding External Interrupt Flag will be set when resuming from the above mentioned Sleep mode,
as the clamping in these sleep mode produces the requested logic change.
15.2.6.
Unconnected Pins
If some pins are unused, it is recommended to ensure that these pins have a defined level. Even though
most of the digital inputs are disabled in the deep sleep modes as described above, floating inputs should
be avoided to reduce current consumption in all other modes where the digital inputs are enabled (Reset,
Active mode and Idle mode).
The simplest method to ensure a defined level of an unused pin, is to enable the internal pull-up. In this
case, the pull-up will be disabled during reset. If low power consumption during reset is important, it is
recommended to use an external pull-up or pull-down. Connecting unused pins directly to VCC or GND is
not recommended, since this may cause excessive currents if the pin is accidentally configured as an
output.
15.3.
Alternate Port Functions
Most port pins have alternate functions in addition to being general digital I/Os. The following figure
shows how the port pin control signals from the simplified Figure 15-2 General Digital I/O(1) can be
overridden by alternate functions. The overriding signals may not be present in all port pins, but the figure
serves as a generic description applicable to all port pins in the AVR microcontroller family.
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Figure 15-5. Alternate Port Functions(1)
PUOExn
1
PUOVxn
PUD
0
DDOExn
1
DDOVxn
Q
D
DDxn
0
Q CLR
PVOExn
WDx
RESET
RDx
1
DATA BUS
PVOVxn
1
Pxn
Q
0
D
0
PORTxn
Q CLR
DIEOExn
1
0
DIEOVxn
WPx
RESET
WRx
RRx
SLEEP
SYNCHRONIZER
D
SET
Q
D
RPx
Q
PINxn
L
CLR
Q
CLR
Q
clk I/O
DIxn
AIOxn
PUOExn:
PUOVxn:
DDOExn:
DDOVxn:
PVOExn:
PVOVxn:
DIEOExn:
DIEOVxn:
SLEEP:
Pxn PULL-UP OVERRIDE ENABLE
Pxn PULL-UP OVERRIDE VALUE
Pxn DATA DIRECTION OVERRIDE ENABLE
Pxn DATA DIRECTION OVERRIDE VALUE
Pxn PORT VALUE OVERRIDE ENABLE
Pxn PORT VALUE OVERRIDE VALUE
Pxn DIGITAL INPUT-ENABLE OVERRIDE ENABLE
Pxn DIGITAL INPUT-ENABLE OVERRIDE VALUE
SLEEP CONTROL
PUD:
WDx:
RDx:
RRx:
WRx:
RPx:
WPx:
clkI/O:
DIxn:
AIOxn:
PULLUP DISABLE
WRITE DDRx
READ DDRx
READ PORTx REGISTER
WRITE PORTx
READ PORTx PIN
WRITE PINx
I/O CLOCK
DIGITAL INPUT PIN n ON PORTx
ANALOG INPUT/OUTPUT PIN n ON PORTx
Note: 1. WRx, WPx, WDx, RRx, RPx, and RDx are common to all pins within the same port. clkI/O,
SLEEP, and PUD are common to all ports. All other signals are unique for each pin.
The following table summarizes the function of the overriding signals. The pin and port indexes from
previous figure are not shown in the succeeding tables. The overriding signals are generated internally in
the modules having the alternate function.
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Table 15-2. Generic Description of Overriding Signals for Alternate Functions
Signal Name
Full Name
Description
PUOE
Pull-up Override
Enable
If this signal is set, the pull-up enable is controlled by the PUOV signal.
If this signal is cleared, the pull-up is enabled when {DDxn, PORTxn,
PUD} = 0b010.
PUOV
Pull-up Override Value
If PUOE is set, the pull-up is enabled/disabled when PUOV is set/
cleared, regardless of the setting of the DDxn, PORTxn, and PUD
Register bits.
DDOE
Data Direction
Override Enable
If this signal is set, the Output Driver Enable is controlled by the DDOV
signal. If this signal is cleared, the Output driver is enabled by the DDxn
Register bit.
DDOV
Data Direction
Override Value
If DDOE is set, the Output Driver is enabled/disabled when DDOV is
set/cleared, regardless of the setting of the DDxn Register bit.
PVOE
Port Value Override
Enable
If this signal is set and the Output Driver is enabled, the port value is
controlled by the PVOV signal. If PVOE is cleared, and the Output
Driver is enabled, the port Value is controlled by the PORTxn Register
bit.
PVOV
Port Value Override
Value
If PVOE is set, the port value is set to PVOV, regardless of the setting of
the PORTxn Register bit.
DIEOE
Digital Input Enable
Override Enable
If this bit is set, the Digital Input Enable is controlled by the DIEOV
signal. If this signal is cleared, the Digital Input Enable is determined by
MCU state (Normal mode, sleep mode).
DIEOV
Digital Input Enable
Override Value
If DIEOE is set, the Digital Input is enabled/disabled when DIEOV is set/
cleared, regardless of the MCU state (Normal mode, sleep mode).
DI
Digital Input
This is the Digital Input to alternate functions. In the figure, the signal is
connected to the output of the Schmitt Trigger but before the
synchronizer. Unless the Digital Input is used as a clock source, the
module with the alternate function will use its own synchronizer.
AIO
Analog Input/Output
This is the Analog Input/output to/from alternate functions. The signal is
connected directly to the pad, and can be used bi-directionally.
The following subsections shortly describe the alternate functions for each port, and relate the overriding
signals to the alternate function. Refer to the alternate function description for further details.
Related Links
Fuse Bits on page 374
15.3.1.
Alternate Functions of Port A
The Port A pins with alternate functions are shown in the table below:
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Table 15-3. Port A Pins Alternate Functions
Port Pin
Alternate Functions
PA7
ADC7 (ADC input channel 7)
PCINT7 (Pin Change Interrupt 7)
PA6
ADC6 (ADC input channel 6)
PCINT6 (Pin Change Interrupt 6)
PA5
ADC5 (ADC input channel 5)
PCINT5 (Pin Change Interrupt 5)
PA4
ADC4 (ADC input channel 4)
PCINT4 (Pin Change Interrupt 4)
PA3
ADC3 (ADC input channel 3)
PCINT3 (Pin Change Interrupt 3)
PA2
ADC2 (ADC input channel 2)
PCINT2 (Pin Change Interrupt 2)
PA1
ADC1 (ADC input channel 1)
PCINT1 (Pin Change Interrupt 1)
PA0
ADC0 (ADC input channel 0)
PCINT0 (Pin Change Interrupt 0)
The alternate pin configuration is as follows:
•
ADC[7:0]/PCINT[7:0] – Port A, Bit [7:0]
– ADC[7:0]: Analog to Digital Converter Channels [7:0].
– PCINT[7:0]: Pin Change Interrupt source [7:0]. The PA[7:0] pins can serve as external
interrupt sources.
Table 15-4. Overriding Signals for Alternate Functions in PA7...PA4
Signal PA7/ADC7/ PCINT7
Name
PA6/ADC6/ PCINT6
PA5/ADC5/ PCINT5
PA4/ADC4/ PCINT4
PUOE 0
0
0
0
PUOV 0
0
0
0
DDOE 0
0
0
0
DDOV 0
0
0
0
PVOE 0
0
0
0
PVOV 0
0
0
0
DIEOE PCINT7 • PCIE0 +
ADC7D
PCINT6 • PCIE0 +
ADC6D
PCINT5 • PCIE0 +
ADC5D
PCINT4 • PCIE0 +
ADC4D
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Signal PA7/ADC7/ PCINT7
Name
PA6/ADC6/ PCINT6
PA5/ADC5/ PCINT5
PA4/ADC4/ PCINT4
DIEOV PCINT7 • PCIE0
PCINT6 • PCIE0
PCINT5 • PCIE0
PCINT4 • PCIE0
DI
PCINT7 INPUT
PCINT6 INPUT
PCINT5 INPUT
PCINT4 INPUT
AIO
ADC7 INPUT
ADC6 INPUT
ADC5 INPUT
ADC4 INPUT
Table 15-5. Overriding Signals for Alternate Functions in PA3...PA0
Signal PA3/ADC3/ PCINT3
Name
PA2/ADC2/ PCINT2
PA1/ADC1/ PCINT1
PA0/ADC0/ PCINT0
PUOE 0
0
0
0
PUOV 0
0
0
0
DDOE 0
0
0
0
DDOV 0
0
0
0
PVOE 0
0
0
0
PVOV 0
0
0
0
DIEOE PCINT3 • PCIE0 +
ADC3D
PCINT2 • PCIE0 +
ADC2D
PCINT1 • PCIE0 +
ADC1D
PCINT0 • PCIE0 +
ADC0D
DIEOV PCINT3 • PCIE0
PCINT2 • PCIE0
PCINT1 • PCIE0
PCINT0 • PCIE0
DI
PCINT3 INPUT
PCINT2 INPUT
PCINT1 INPUT
PCINT0 INPUT
AIO
ADC3 INPUT
ADC2 INPUT
ADC1 INPUT
ADC0 INPUT
15.3.2.
Alternate Functions of Port B
The Port B pins with alternate functions are shown in the table below:
Table 15-6. Port B Pins Alternate Functions
Port Pin
Alternate Functions
PB7
SCK (SPI Bus Master clock input)
PCINT15 (Pin Change Interrupt 15)
PB6
MISO (SPI Bus Master Input/Slave Output)
PCINT14 (Pin Change Interrupt 14)
PB5
MOSI (SPI Bus Master Output/Slave Input)
PCINT13 (Pin Change Interrupt 13)
PB4
SS (SPI Slave Select input)
OC0B (Timer/Counter 0 Output Compare Match B Output)
PCINT12 (Pin Change Interrupt 12)
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Port Pin
Alternate Functions
PB3
AIN1 (Analog Comparator Negative Input)
OC0A (Timer/Counter 0 Output Compare Match A Output)
PCINT11 (Pin Change Interrupt 11)
PB2
AIN0 (Analog Comparator Positive Input)
INT2 (External Interrupt 2 Input)
PCINT10 (Pin Change Interrupt 10)
PB1
T1 (Timer/Counter 1 External Counter Input)
CLKO (Divided System Clock Output)
PCINT9 (Pin Change Interrupt 9)
PB0
T0 (Timer/Counter 0 External Counter Input)
XCK0 (USART0 External Clock Input/Output)
PCINT8 (Pin Change Interrupt 8)
The alternate pin configuration is as follows:
•
SCK/PCINT15 – Port B, Bit 7
– SCK: Master Clock output, Slave Clock input pin for SPI0 channel. When the SPI0 is enabled
as a slave, this pin is configured as an input regardless of the setting of DDB7. When the
SPI0 is enabled as a master, the data direction of this pin is controlled by DDB7. When the
pin is forced to be an input, the pull-up can still be controlled by the PORTB7 bit.
– PCINT15: Pin Change Interrupt source 15. The PB7 pin can serve as an external interrupt
source.
•
MISO/PCINT14 – Port B, Bit 6
– MISO: Master Data input, Slave Data output pin for SPI channel. When the SPI0 is enabled
as a master, this pin is configured as an input regardless of the setting of DDB6. When the
SPI is enabled as a slave, the data direction of this pin is controlled by DDB6. When the pin is
forced to be an input, the pull-up can still be controlled by the PORTB6 bit.
– PCINT14: Pin Change Interrupt source 14. The PB6 pin can serve as an external interrupt
source.
•
MOSI/PCINT13 – Port B, Bit 5
– MOSI: SPI Master Data output, Slave Data input for SPI channel. When the SPI0 is enabled
as a slave, this pin is configured as an input regardless of the setting of DDB5. When the SPI
is enabled as a master, the data direction of this pin is controlled by DDB5. When the pin is
forced to be an input, the pull-up can still be controlled by the PORTB5 bit.
– PCINT13: Pin Change Interrupt source 13. The PB5 pin can serve as an external interrupt
source.
•
SS/OC0B/PCINT12 – Port B, Bit 4
– SS: Slave Port Select input. When the SPI is enabled as a slave, this pin is configured as an
input regardless of the setting of DDB4. As a slave, the SPI0 is activated when this pin is
driven low. When the SPI is enabled as a master, the data direction of this pin is controlled by
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–
–
DDB4. When the pin is forced to be an input, the pull-up can still be controlled by the
PORTB4 bit.
OC0B: Output Compare Match B output. The PB4 pin can serve as an external output for the
Timer/Counter0 Output Compare. The pin has to be configured as an output (DDB4 set “1”) to
serve this function. The OC0B pin is also the output pin for the PWM mode timer function.
PCINT12: Pin Change Interrupt source 12. The PB4 pin can serve as an external interrupt
source.
•
AIN1/OC0A/PCINT11– Port B, Bit 3
– AIN1: Analog Comparator Negative input. This pin is directly connected to the negative input
of the Analog Comparator.
– OC0A: Output Compare Match A output. The PB3 pin can serve as an external output for the
Timer/Counter0 Output Compare. The pin has to be configured as an output (DDB3 set “1”) to
serve this function. The OC0A pin is also the output pin for the PWM mode timer function.
– PCINT11: Pin Change Interrupt source 11. The PB3 pin can serve as an external interrupt
source.
•
AIN0/INT2/PCINT10 – Port B, Bit 2
– AIN0: Analog Comparator Positive input. This pin is directly connected to the positive input of
the Analog Comparator.
– INT2: External Interrupt source 2. The PB2 pin can serve as an External Interrupt source to
the MCU.
– PCINT10: Pin Change Interrupt source 10. The PB2 pin can serve as an external interrupt
source.
•
T1/CLKO/PCINT9 – Port B, Bit 1
– T1: Timer/Counter1 counter source.
– CLKO: Divided System Clock: The divided system clock can be output on the PB1 pin. The
divided system clock will be output if the CKOUT Fuse is programmed, regardless of the
PORTB1 and DDB1 settings. It will also be output during reset.
– PCINT9: Pin Change Interrupt source 9. The PB1 pin can serve as an external interrupt
source.
•
T0/XCK0/PCINT8 – Port B, Bit 0
– T0: Timer/Counter0 counter source.
– XCK0: USART0 External clock. The Data Direction Register (DDB0) controls whether the
clock is output (DDB0 set “1”) or input (DDB0 cleared). The XCK0 pin is active only when the
USART0 operates in Synchronous mode.
– PCINT8: Pin Change Interrupt source 8. The PB0 pin can serve as an external interrupt
source.
Table 15-7 Overriding Signals for Alternate Functions in PB[7:4] and Table 15-8 Overriding Signals for
Alternate Functions in PB[3:0] relate the alternate functions of Port B to the overriding signals shown in
Figure 15-5 Alternate Port Functions(1). SPI MSTR INPUT and SPI SLAVE OUTPUT constitute the
MISO signal, while MOSI is divided into SPI MSTR OUTPUT and SPI SLAVE INPUT.
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Table 15-7. Overriding Signals for Alternate Functions in PB[7:4]
Signal
Name
PB7/SCK/PCINT15
PB6/MISO/PCINT14
PB5/MOSI/PCINT13
PB4/SS/OC0B/PCINT12
PUOE
SPE • MSTR
SPE • MSTR
SPE • MSTR
SPE • MSTR
PUOV
PORTB7 • PUD
PORTB6 • PUD
PORTB5 • PUD
PORTB4 • PUD
DDOE
SPE • MSTR
SPE • MSTR
SPE • MSTR
SPE • MSTR
DDOV
0
0
0
0
PVOE
SPE • MSTR
SPE • MSTR
SPE • MSTR
OC0B ENABLE
PVOV
SCK OUTPUT
SPI SLAVE OUTPUT
SPI MSTR OUTPUT
OC0B
DIEOE
PCINT15 • PCIE1
PCINT14 • PCIE1
PCINT13 • PCIE1
PCINT12 • PCIE1
DIEOV
1
1
1
1
DI
SCK INPUT
PCINT15 INPUT
SPI MSTR INPUT
PCINT14 INPUT
SPI SLAVE INPUT
PCINT13 INPUT
SPI SS
PCINT12 INPUT
AIO
-
-
–
–
Table 15-8. Overriding Signals for Alternate Functions in PB[3:0]
Signal PB3/AIN1/OC0A/PCINT11 PB2/AIN0/INT2/PCINT10 PB1/T1/CLKO/PCINT9 PB0/T0/XCK0/PCINT8
Name
PUOE
0
0
0
0
PUOV
0
0
0
0
DDOE
0
0
CKOUT
0
DDOV
0
0
CKOUT
0
PVOE
OC0A ENABLE
0
CKOUT
0
PVOV
OC0A
0
CLK I/O
0
INT2 ENABLE
PCINT9 • PCIE1
PCINT8 • PCIE1
DIEOE PCINT11 • PCIE1
PCINT10 • PCIE1
DIEOV 1
1
1
1
DI
PCINT11 INPUT
INT2 INPUT
PCINT10 INPUT
T1 INPUT
PCINT9 INPUT
T0 INPUT
PCINT8 INPUT
AIO
AIN1 INPUT
AIN0 INPUT
–
–
15.3.3.
Alternate Functions of Port C
The Port C pins with alternate functions are shown in the table below:
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Table 15-9. Port C Pins Alternate Functions
Port Pin
Alternate Function
PC7
TOSC2 (Timer Oscillator pin 2)
PCINT23 (Pin Change Interrupt 23)
PC6
TOSC1 (Timer Oscillator pin 1)
PCINT22 (Pin Change Interrupt 22)
PC5
TDI (JTAG Test Data Input)
PCINT21 (Pin Change Interrupt 21)
PC4
TDO (JTAG Test Data Output)
PCINT20 (Pin Change Interrupt 20)
PC3
TMS (JTAG Test Mode Select)
PCINT19 (Pin Change Interrupt 19)
PC2
TCK (JTAG Test Clock)
PCINT18 (Pin Change Interrupt 18)
PC1
SDA (two-wire Serial Bus Data Input/Output Line)
PCINT17 (Pin Change Interrupt 17)
PC0
SCL (two-wire Serial Bus Clock Line)
PCINT16 (Pin Change Interrupt 16)
The alternate pin configuration is as follows:
•
TOSC2/PCINT23 – Port C, Bit 7
– TOSC2: Timer Oscillator pin 2. The PC7 pin can serve as an external interrupt source to the
MCU.
– PCINT23: Pin Change Interrupt source 23. The PC7 pin can serve as an external interrupt
source.
•
TOSC1/PCINT22 – Port C, Bit 6
– TOSC1: Timer Oscillator pin 1. The PC6 pin can serve as an external interrupt source to the
MCU.
– PCINT22: Pin Change Interrupt source 22. The PC6 pin can serve as an external interrupt
source.
•
TDI/PCINT21 – Port C, Bit 5
– TDI: JTAG Test Data Input.
– PCINT21: Pin Change Interrupt source 21. The PC5 pin can serve as an external interrupt
source.
•
TDO/PCINT20 – Port C, Bit 4
– TDO: JTAG Test Data Output.
– PCINT20: Pin Change Interrupt source 20. The PC4 pin can serve as an external interrupt
source.
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•
TMS/PCINT19 – Port C, Bit 3
– TMS: JTAG Test Mode Select.
– PCINT19: Pin Change Interrupt source 19. The PC3 pin can serve as an external interrupt
source.
•
TCK/PCINT18 – Port C, Bit 2
– TCK: JTAG Test Clock.
– PCINT18: Pin Change Interrupt source 18. The PC2 pin can serve as an external interrupt
source.
•
SDA/PCINT17 – Port C, Bit 1
– SDA: two-wire Serial Bus Data Input/Output Line
– PCINT17: Pin Change Interrupt source 17. The PC1 pin can serve as an external interrupt
source.
•
SCL/PCINT16 – Port C, Bit 0
– SCL: two-wire Serial Bus Clock Line.
– PCINT16: Pin Change Interrupt source 16. The PC0 pin can serve as an external interrupt
source.
The tables below relate the alternate functions of Port C to the overriding signals shown in Figure 15-5 Alternate Port Functions(1).
Table 15-10. Overriding Signals for Alternate Functions in PC[7:4]
Signal PC7/TOSC2/PCINT23
Name
PC6/TOSC1/PCINT22
PC5/TDI/PCINT21
PC4/TDO/PCINT20
PUOE AS2 • EXCLK
AS2
JTAGEN
JTAGEN
PUOV 0
0
1
1
DDOE AS2 • EXCLK
AS2
JTAGEN
JTAGEN
DDOV 0
0
0
SHIFT_IR + SHIFT_DR
PVOE 0
0
0
JTAGEN
PVOV 0
0
0
TDO
DIEOE AS2 • EXCLK + PCINT23 • AS2 + PCINT22 •
PCIE2
PCIE2
JTAGEN + PCINT21 •
PCIE2
JTAGEN + PCINT20 •
PCIE2
DIEOV AS2
EXCLK + AS2
JTAGEN
JTAGEN
DI
PCINT23 INPUT
PCINT22 INPUT
PCINT21 INPUT
PCINT20 INPUT
AIO
TC2 OSC OUTPUT
TC1 OSC INPUT
TDI INPUT
-
Table 15-11. Overriding Signals for Alternate Functions in PC[3:0]
Signal PC3/TMS/PCINT19
Name
PC2/TCK/PCINT18
PC1/SDA/PCINT17 PC0/SCL/PCINT16
PUOE
JTAGEN
JTAGEN
TWEN
TWEN
PUOV
1
1
PORTC1 • PUD
PORTC0 • PUD
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Signal PC3/TMS/PCINT19
Name
PC2/TCK/PCINT18
PC1/SDA/PCINT17 PC0/SCL/PCINT16
DDOE JTAGEN
JTAGEN
TWEN
TWEN
DDOV 0
0
0
0
PVOE
0
0
TWEN
TWEN
PVOV
0
0
SDA OUT
SCL OUT
DIEOE JTAGEN + PCINT19 • PCIE2
JTAGEN + PCINT18 • PCIE2
PCINT17 • PCIE2
PCINT16 • PCIE2
DIEOV JTAGEN
JTAGEN
1
1
DI
PCINT19 INPUT
PCINT18 INPUT
PCINT17 INPUT
PCINT16 INPUT
AIO
TMS INPUT
TCK INPUT
SDA INPUT
SCL INPUT
15.3.4.
Alternate Functions of Port D
The Port D pins with alternate functions are shown in the table below:
Table 15-12. Port D Pins Alternate Functions
Port Pin
Alternate Function
PD7
OC2A (Timer/Counter2 Output Compare Match A Output)
PCINT31 (Pin Change Interrupt 31)
PD6
ICP1 (Timer/Counter1 Input Capture Trigger)
OC2B (Timer/Counter2 Output Compare Match B Output)
PCINT30 (Pin Change Interrupt 30)
PD5
OC1A (Timer/Counter1 Output Compare Match A Output)
PCINT29 (Pin Change Interrupt 29)
PD4
OC1B (Timer/Counter1 Output Compare Match B Output)
XCK1 (USART1 External Clock Input/Output)
PCINT28 (Pin Change Interrupt 28)
PD3
INT1 (External Interrupt1 Input)
TXD1 (USART1 Transmit Pin)
PCINT27 (Pin Change Interrupt 27)
PD2
INT0 (External Interrupt0 Input)
RXD1 (USART1 Receive Pin)
PCINT26 (Pin Change Interrupt 26)
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Port Pin
Alternate Function
PD1
TXD0 (USART0 Transmit Pin)
PCINT25 (Pin Change Interrupt 25)
PD0
RXD0 (USART0 Receive Pin)
PCINT24 (Pin Change Interrupt 24)
The alternate pin configuration is as follows:
•
OC2A/PCINT31 – Port D, Bit 7
– OC2A: Output Compare Match output. The PD7 pin can serve as an external output for the
Timer/Counter2 Compare Match A. The PD7 pin has to be configured as an output (DDD7 set
'1') to serve this function. The OC2A pin is also the output pin for the PWM mode timer
function.
– PCINT31: Pin Change Interrupt source 31. The PD7 pin can serve as an external interrupt
source.
•
ICP1/OC2B/PCINT30 – Port D, Bit 6
– ICP1: Input Capture Pin 1. The PD6 pin can act as an input capture pin for Timer/Counter1.
– OC2B: Output Compare Match B output. The PD6 pin can serve as an external output for the
Timer/Counter2 Output Compare B. The pin has to be configured as an output (DDD6 set '1')
to serve this function. The OC2B pin is also the output pin for the PWM mode timer function.
– PCINT30: Pin Change Interrupt source 30. The PD6 pin can serve as an external interrupt
source.
•
OC1A/PCINT29 – Port D, Bit 5
– OC1A: Output Compare Match output. The PD5 pin can serve as an external output for the
Timer/Counter1 Compare Match A. The PD5 pin has to be configured as an output (DDD5 set
'1') to serve this function. The OC1A pin is also the output pin for the PWM mode timer
function.
– PCINT29: Pin Change Interrupt source 29. The PD5 pin can serve as an external interrupt
source.
•
OC1B/XCK1/PCINT28 – Port D, Bit 4
– OC1B: Output Compare Match B output. The PD4 pin can serve as an external output for the
Timer/Counter1 Output Compare B. The pin has to be configured as an output (DDD4 set '1')
to serve this function. The OC1B pin is also the output pin for the PWM mode timer function.
– XCK1: USART1 external clock.
– PCINT28: Pin Change Interrupt source 28. The PD4 pin can serve as an external interrupt
source.
•
INT1/TXD1/PCINT27 – Port D, Bit 3
– INT1: External Interrupt source 1. The PD3 pin can serve as an external interrupt source.
– TXD1: Transmit Data (Data output pin for the USART). When the USART Transmitter is
enabled, this pin is configured as an output regardless of the value of DDD3.
– PCINT27: Pin Change Interrupt source 27. The PD3 pin can serve as an external interrupt
source.
•
INT0/RXD1/PCINT26 – Port D, Bit 2
– INT0: External Interrupt source 0. The PD2 pin can serve as an external interrupt source.
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–
–
RXD1: Receive Data (Data input pin for the USART1). When the USART1 Receiver is
enabled this pin is configured as an input regardless of the value of DDD2. When the USART
forces this pin to be an input, the pull-up can still be controlled by the PORTD2 bit.
PCINT26: Pin Change Interrupt source 26. The PD2 pin can serve as an external interrupt
source.
•
TXD0/PCINT25 – Port D, Bit 1
– TXD0: Transmit Data (Data output pin for the USART0). When the USART0 Transmitter is
enabled, this pin is configured as an output regardless of the value of DDD1.
– PCINT25: Pin Change Interrupt source 25. The PD1 pin can serve as an external interrupt
source.
•
RXD0/PCINT24 – Port D, Bit 0
– RXD0: Receive Data (Data input pin for the USART0). When the USART0 Receiver is
enabled this pin is configured as an input regardless of the value of DDD0. When the USART
forces this pin to be an input, the pull-up can still be controlled by the PORTD0 bit.
– PCINT24: Pin Change Interrupt source 24. The PD0 pin can serve as an external interrupt
source.
The tables below relate the alternate functions of Port D to the overriding signals shown in Figure 15-5 Alternate Port Functions(1).
Table 15-13. Overriding Signals for Alternate Functions PD[7:4]
Signal PD7/OC2A/PCINT31 PD6/ICP1/OC2B/PCINT30
Name
PD5/OC1A/PCINT29 PD4/OC1B/XCK1/PCINT28
PUOE
0
0
0
0
PUO
0
0
0
0
DDOE 0
0
0
0
DDOV 0
0
0
0
PVOE
OC2A ENABLE
OC2B ENABLE
OC1A ENABLE
OC1B ENABLE
PVOV
OC2A
OC2B
OC1A
OC1B
DIEOE PCINT31 • PCIE3
PCINT30 • PCIE3
PCINT29 • PCIE3
PCINT28 • PCIE3
DIEOV 1
1
1
1
DI
ICP1 INPUT
PCINT29 INPUT
PCINT28 INPUT
–
–
PCINT31 INPUT
PCINT30 INPUT
AIO
-
-
Table 15-14. Overriding Signals for Alternate Functions in PD[3:0](1)
Signal PD3/INT1/TXD1/PCINT27
Name
PD2/INT0/RXD1/PCINT26
PD1/TXD0/PCINT25
PD0/RXD0/PCINT24
PUOE
TXEN1
RXEN1
TXEN0
RXEN0
PUO
0
PORTD2 • PUD
0
PORTD0 • PUD
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Signal PD3/INT1/TXD1/PCINT27
Name
PD2/INT0/RXD1/PCINT26
PD1/TXD0/PCINT25
PD0/RXD0/PCINT24
DDOE
TXEN1
RXEN1
TXEN0
RXEN0
DDOV
1
0
1
0
PVOE
TXEN1
0
TXEN0
0
PVOV
TXD1
0
TXD0
0
INT2 ENABLE
PCINT25 • PCIE3
PCINT24 • PCIE3
1
1
PCINT25 INPUT
RXD0
PCINT24 INPUT
–
–
DIEOE INT1 ENABLE
PCINT27 • PCIE3
DIEOV 1
DI
AIO
INT1 INPUT
PCINT27 INPUT
–
PCINT26 • PCIE3
1
INT0 INPUT
RXD1
PCINT26 INPUT
–
Note: 1. When enabled, the two-wire Serial Interface enables Slew-Rate controls on the output pins PD0
and PD1. This is not shown in this table. In addition, spike filters are connected between the AIO
outputs shown in the port figure and the digital logic of the TWI module.
15.4.
Register Description
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15.4.1.
MCU Control Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: MCUCR
Offset: 0x55
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x35
Bit
Access
Reset
7
6
5
4
1
0
JTD
BODS
BODSE
PUD
3
2
IVSEL
IVCE
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
Bit 7 – JTD
When this bit is zero, the JTAG interface is enabled if the JTAGEN Fuse is programmed. If this bit is one,
the JTAG interface is disabled. In order to avoid unintentional disabling or enabling of the JTAG interface,
a timed sequence must be followed when changing this bit: The application software must write this bit to
the desired value twice within four cycles to change its value. Note that this bit must not be altered when
using the On-chip Debug system.
Bit 6 – BODS: BOD Sleep
The BODS bit must be written to '1' in order to turn off BOD during sleep. Writing to the BODS bit is
controlled by a timed sequence and the enable bit BODSE. To disable BOD in relevant sleep modes, both
BODS and BODSE must first be written to '1'. Then, BODS must be written to '1' and BODSE must be
written to zero within four clock cycles.
The BODS bit is active three clock cycles after it is set. A sleep instruction must be executed while BODS
is active in order to turn off the BOD for the actual sleep mode. The BODS bit is automatically cleared
after three clock cycles.
Bit 5 – BODSE: BOD Sleep Enable
BODSE enables setting of BODS control bit, as explained in BODS bit description. BOD disable is
controlled by a timed sequence.
Bit 4 – PUD: Pull-up Disable
When this bit is written to one, the pull-ups in the I/O ports are disabled even if the DDxn and PORTxn
Registers are configured to enable the pull-ups ({DDxn, PORTxn} = 0b01).
Bit 1 – IVSEL: Interrupt Vector Select
When the IVSEL bit is cleared (zero), the Interrupt Vectors are placed at the start of the Flash memory.
When this bit is set (one), the Interrupt Vectors are moved to the beginning of the Boot Loader section of
the Flash. The actual address of the start of the Boot Flash Section is determined by the BOOTSZ Fuses.
To avoid unintentional changes of Interrupt Vector tables, a special write procedure must be followed to
change the IVSEL bit:
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1.
2.
Write the Interrupt Vector Change Enable (IVCE) bit to one.
Within four cycles, write the desired value to IVSEL while writing a zero to IVCE.
Interrupts will automatically be disabled while this sequence is executed. Interrupts are disabled in the
cycle IVCE is set, and they remain disabled until after the instruction following the write to IVSEL. If
IVSEL is not written, interrupts remain disabled for four cycles. The I-bit in the Status Register is
unaffected by the automatic disabling.
Note: If Interrupt Vectors are placed in the Boot Loader section and Boot Lock bit BLB02 is
programmed, interrupts are disabled while executing from the Application section. If Interrupt Vectors are
placed in the Application section and Boot Lock bit BLB12 is programed, interrupts are disabled while
executing from the Boot Loader section.
Bit 0 – IVCE: Interrupt Vector Change Enable
The IVCE bit must be written to logic one to enable change of the IVSEL bit. IVCE is cleared by hardware
four cycles after it is written or when IVSEL is written. Setting the IVCE bit will disable interrupts, as
explained in the IVSEL description above. See Code Example below.
Assembly Code Example
Move_interrupts:
; Get MCUCR
in
r16, MCUCR
mov
r17, r16
; Enable change of Interrupt Vectors
ori
r16, (1<<IVCE)
out
MCUCR, r16
; Move interrupts to Boot Flash section
ori
r17, (1<<IVSEL)
out
MCUCR, r17
ret
C Code Example
void Move_interrupts(void)
{
uchar temp;
/* GET MCUCR*/
temp = MCUCR;
/* Enable change of Interrupt Vectors */
MCUCR = temp|(1<<IVCE);
/* Move interrupts to Boot Flash section */
MCUCR = temp|(1<<IVSEL);
}
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15.4.2.
Port A Data Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: PORTA
Offset: 0x22
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x02
Bit
Access
Reset
7
6
5
4
3
2
1
0
PORTA7
PORTA6
PORTA5
PORTA4
PORTA3
PORTA2
PORTA1
PORTA0
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – PORTAn: Port A Data [n = 0:7]
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15.4.3.
Port A Data Direction Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: DDRA
Offset: 0x21
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x01
Bit
Access
Reset
7
6
5
4
3
2
1
0
DDRA7
DDRA6
DDRA5
DDRA4
DDRA3
DDRA2
DDRA1
DDRA0
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – DDRAn: Port A Data Direction [n = 7:0]
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15.4.4.
Port A Input Pins Address
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: PINA
Offset: 0x20
Reset: N/A
Property: When addressing as I/O Register: address offset is 0x00
Bit
Access
Reset
7
6
5
4
3
2
1
0
PINA7
PINA6
PINA5
PINA4
PINA3
PINA2
PINA1
PINA0
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
x
x
x
x
x
x
x
x
Bits 7:0 – PINAn: Port A Input Pins Address [n = 7:0]
Writing to the pin register provides toggle functionality for IO. Refer to Toggling the Pin.
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15.4.5.
Port B Data Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: PORTB
Offset: 0x25
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x05
Bit
Access
Reset
7
6
5
4
3
2
1
0
PORTB7
PORTB6
PORTB5
PORTB4
PORTB3
PORTB2
PORTB1
PORTB0
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – PORTBn: Port B Data [n = 0:7]
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15.4.6.
Port B Data Direction Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: DDRB
Offset: 0x24
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x04
Bit
Access
Reset
7
6
5
4
3
2
1
0
DDRB7
DDRB6
DDRB5
DDRB4
DDRB3
DDRB2
DDRB1
DDRB0
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – DDRBn: Port B Data Direction [n = 7:0]
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15.4.7.
Port B Input Pins Address
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: PINB
Offset: 0x23
Reset: N/A
Property: When addressing as I/O Register: address offset is 0x03
Bit
Access
Reset
7
6
5
4
3
2
1
0
PINB7
PINB6
PINB5
PINB4
PINB3
PINB2
PINB1
PINB0
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
x
x
x
x
x
x
x
x
Bits 7:0 – PINBn: Port B Input Pins Address [n = 7:0]
Writing to the pin register provides toggle functionality for IO. Refer to Toggling the Pin.
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15.4.8.
Port C Data Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: PORTC
Offset: 0x28
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x08
Bit
Access
Reset
7
6
5
4
3
2
1
0
PORTC7
PORTC6
PORTC5
PORTC4
PORTC3
PORTC2
PORTC1
PORTC0
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – PORTCn: Port C Data [n = 7:0]
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15.4.9.
Port C Data Direction Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: DDRC
Offset: 0x27
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x07
Bit
Access
Reset
7
6
5
4
3
2
1
0
DDRC7
DDRC6
DDRC5
DDRC4
DDRC3
DDRC2
DDRC1
DDRC0
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – DDRCn: Port C Data Direction [n = 7:0]
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15.4.10. Port C Input Pins Address
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: PINC
Offset: 0x26
Reset: N/A
Property: When addressing as I/O Register: address offset is 0x06
Bit
Access
Reset
7
6
5
4
3
2
1
0
PINC7
PINC6
PINC5
PINC4
PINC3
PINC2
PINC1
PINC0
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
x
x
x
x
x
x
x
Bits 7:0 – PINCn: Port C Input Pins Address [n = 7:0]
Writing to the pin register provides toggle functionality for IO. Refer to Toggling the Pin.
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15.4.11. Port D Data Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: PORTD
Offset: 0x2B
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x0B
Bit
Access
Reset
7
6
5
4
3
2
1
0
PORTD7
PORTD6
PORTD5
PORTD4
PORTD3
PORTD2
PORTD1
PORTD0
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – PORTDn: Port D Data [n = 7:0]
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15.4.12. Port D Data Direction Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: DDRD
Offset: 0x2A
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x0A
Bit
Access
Reset
7
6
5
4
3
2
1
0
DDRD7
DDRD6
DDRD5
DDRD4
DDRD3
DDRD2
DDRD1
DDRD0
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – DDRDn: Port D Data Direction [n = 7:0]
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15.4.13. Port D Input Pins Address
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: PIND
Offset: 0x29
Reset: N/A
Property: When addressing as I/O Register: address offset is 0x09
Bit
Access
Reset
7
6
5
4
3
2
1
0
PIND7
PIND6
PIND5
PIND4
PIND3
PIND2
PIND1
PIND0
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
x
x
x
x
x
x
x
x
Bits 7:0 – PINDn: Port D Input Pins Address [n = 7:0]
Writing to the pin register provides toggle functionality for IO. Refer to Toggling the Pin.
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16.
TC0 - 8-bit Timer/Counter0 with PWM
Related Links
Timer/Counter0 and Timer/Counter1 Prescalers on page 194
16.1.
Features
•
•
•
•
•
•
•
16.2.
Two independent Output Compare Units
Double Buffered Output Compare Registers
Clear Timer on Compare Match (Auto Reload)
Glitch free, phase correct Pulse Width Modulator (PWM)
Variable PWM period
Frequency generator
Three independent interrupt sources (TOV0, OCF0A, and OCF0B)
Overview
Timer/Counter0 (TC0) is a general purpose 8-bit Timer/Counter module, with two independent Output
Compare Units, and PWM support. It allows accurate program execution timing (event management) and
wave generation.
A simplified block diagram of the 8-bit Timer/Counter is shown below. CPU accessible I/O Registers,
including I/O bits and I/O pins, are shown in bold. The device-specific I/O Register and bit locations are
listed in the Register Description. For the actual placement of I/O pins, refer to the pinout diagram.
The TC0 is enabled by writing the PRTIM0 bit in ”Minimizing Power Consumption” to '0'.
The TC0 is enabled when the PRTIM0 bit in the Power Reduction Register (0.PRTIM0) is written to '1'.
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Figure 16-1. 8-bit Timer/Counter Block Diagram
Count
Clear
Direction
TOVn
(Int.Req.)
Control Logic
Clock Select
clkTn
Edge
Detector
TOP
BOTTOM
( From Prescaler )
Timer/Counter
TCNTn
Tn
=0
=
OCnA
(Int.Req.)
Waveform
Generation
=
OCnA
DATA BUS
OCRnA
Fixed
TOP
Value
Waveform
Generation
=
OCnB
OCRnB
TCCRnA
16.2.1.
OCnB
(Int.Req.)
TCCRnB
Definitions
Many register and bit references in this section are written in general form:
•
n=0 represents the Timer/Counter number
•
x=A,B represents the Output Compare Unit A or B
However, when using the register or bit definitions in a program, the precise form must be used, i.e.,
TCNT0 for accessing Timer/Counter0 counter value.
The following definitions are used throughout the section:
Table 16-1. Definitions
Constant Description
BOTTOM The counter reaches the BOTTOM when it becomes zero (0x00 for 8-bit counters, or 0x0000
for 16-bit counters).
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16.2.2.
MAX
The counter reaches its Maximum when it becomes 0xFF (decimal 255, for 8-bit counters) or
0xFFFF (decimal 65535, for 16-bit counters).
TOP
The counter reaches the TOP when it becomes equal to the highest value in the count
sequence. The TOP value can be assigned to be the fixed value MAX or the value stored in
the OCR0A Register. The assignment is dependent on the mode of operation.
Registers
The Timer/Counter 0 register (TCNT0) and Output Compare TC0x registers (OCR0x) are 8-bit registers.
Interrupt request (abbreviated to Int.Req. in the block diagram) signals are all visible in the Timer Interrupt
Flag Register 0 (TIFR0). All interrupts are individually masked with the Timer Interrupt Mask Register 0
(TIMSK0). TIFR0 and TIMSK0 are not shown in the figure.
The TC can be clocked internally, via the prescaler, or by an external clock source on the T0 pin. The
Clock Select logic block controls which clock source and edge is used by the Timer/Counter to increment
(or decrement) its value. The TC is inactive when no clock source is selected. The output from the Clock
Select logic is referred to as the timer clock (clkT0).
The double buffered Output Compare Registers (OCR0A and OCR0B) are compared with the Timer/
Counter value at all times. The result of the compare can be used by the Waveform Generator to
generate a PWM or variable frequency output on the Output Compare pins (OC0A and OC0B). See
Output Compare Unit for details. The compare match event will also set the Compare Flag (OCF0A or
OCF0B) which can be used to generate an Output Compare interrupt request.
Related Links
Timer/Counter 0, 1 Prescalers on page 194
16.3.
Timer/Counter Clock Sources
The TC can be clocked by an internal or an external clock source. The clock source is selected by writing
to the Clock Select (CS0[2:0]) bits in the Timer/Counter Control Register (TCCR0B).
16.4.
Counter Unit
The main part of the 8-bit Timer/Counter is the programmable bi-directional counter unit. Below is the
block diagram of the counter and its surroundings.
Figure 16-2. Counter Unit Block Diagram
TOVn
(Int.Req.)
DATA BUS
Clock Select
count
TCNTn
clear
direction
Control Logic
clkTn
Edge
Detector
Tn
( From Prescaler )
bottom
top
Note: The “n” in the register and bit names indicates the device number (n = 0 for Timer/Counter 0), and
the “x” indicates Output Compare unit (A/B).
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Table 16-2. Signal description (internal signals)
Signal Name
Description
count
Increment or decrement TCNT0 by 1.
direction
Select between increment and decrement.
clear
Clear TCNT0 (set all bits to zero).
clkTn
Timer/Counter clock, referred to as clkT0 in the following.
top
Signalize that TCNT0 has reached maximum value.
bottom
Signalize that TCNT0 has reached minimum value (zero).
Depending of the mode of operation used, the counter is cleared, incremented, or decremented at each
timer clock (clkT0). clkT0 can be generated from an external or internal clock source, selected by the Clock
Select bits (CS0[2:0]). When no clock source is selected (CS0=0x0) the timer is stopped. However, the
TCNT0 value can be accessed by the CPU, regardless of whether clkT0 is present or not. A CPU write
overrides (has priority over) all counter clear or count operations.
The counting sequence is determined by the setting of the WGM01 and WGM00 bits located in the Timer/
Counter Control Register (TCCR0A) and the WGM02 bit located in the Timer/Counter Control Register B
(TCCR0B). There are close connections between how the counter behaves (counts) and how waveforms
are generated on the Output Compare outputs OC0A and OC0B. For more details about advanced
counting sequences and waveform generation, see Modes of Operation.
The Timer/Counter Overflow Flag (TOV0) is set according to the mode of operation selected by the
WGM0[2:0] bits. TOV0 can be used for generating a CPU interrupt.
16.5.
Output Compare Unit
The 8-bit comparator continuously compares TCNT0 with the Output Compare Registers (OCR0A and
OCR0B). Whenever TCNT0 equals OCR0A or OCR0B, the comparator signals a match. A match will set
the Output Compare Flag (OCF0A or OCF0B) at the next timer clock cycle. If the corresponding interrupt
is enabled, the Output Compare Flag generates an Output Compare interrupt. The Output Compare Flag
is automatically cleared when the interrupt is executed. Alternatively, the flag can be cleared by software
by writing a '1' to its I/O bit location. The Waveform Generator uses the match signal to generate an
output according to operating mode set by the WGM02, WGM01, and WGM00 bits and Compare Output
mode (COM0x[1:0]) bits. The max and bottom signals are used by the Waveform Generator for handling
the special cases of the extreme values in some modes of operation.
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Figure 16-3. Output Compare Unit, Block Diagram
DATA BUS
OCRnx
TCNTn
= (8-bit Comparator )
OCFnx (Int.Req.)
top
bottom
Waveform Generator
OCnx
FOCn
WGMn[1:0]
COMnx[1:0]
Note: The “n” in the register and bit names indicates the device number (n = 0 for Timer/Counter 0), and
the “x” indicates Output Compare unit (A/B).
The OCR0x Registers are double buffered when using any of the Pulse Width Modulation (PWM) modes.
When double buffering is enabled, the CPU has access to the OCR0x Buffer Register. The double
buffering synchronizes the update of the OCR0x Compare Registers to either top or bottom of the
counting sequence. The synchronization prevents the occurrence of odd-length, non-symmetrical PWM
pulses, thereby making the output glitch-free.
The double buffering is disabled for the normal and Clear Timer on Compare (CTC) modes of operation,
and the CPU will access the OCR0x directly.
16.5.1.
Force Output Compare
In non-PWM waveform generation modes, the match output of the comparator can be forced by writing a
'1' to the Force Output Compare (TCCR0C.FOC0x) bit. Forcing compare match will not set the OCF0x
Flag or reload/clear the timer, but the OC0x pin will be updated as if a real compare match had occurred
(the TCCR0A.COM0x[1:0] bits define whether the OC0x pin is set, cleared or toggled).
16.5.2.
Compare Match Blocking by TCNT0 Write
All CPU write operations to the TCNT0 Register will block any compare match that occur in the next timer
clock cycle, even when the timer is stopped. This feature allows OCR0x to be initialized to the same value
as TCNT0 without triggering an interrupt when the Timer/Counter clock is enabled.
16.5.3.
Using the Output Compare Unit
Since writing TCNT0 in any mode of operation will block all compare matches for one timer clock cycle,
there are risks involved when changing TCNT0 when using the Output Compare Unit, independently of
whether the Timer/Counter is running or not. If the value written to TCNT0 equals the OCR0x value, the
compare match will be missed, resulting in incorrect waveform generation. Similarly, do not write the
TCNT0 value equal to BOTTOM when the counter is down counting.
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The setup of the OC0x should be performed before setting the Data Direction Register for the port pin to
output. The easiest way of setting the OC0x value is to use the Force Output Compare (FOC0x) strobe
bits in Normal mode. The OC0x Registers keep their values even when changing between Waveform
Generation modes.
Be aware that the TCCR0A.COM0x[1:0] bits are not double buffered together with the compare value.
Changing the TCCR0A.COM0x[1:0] bits will take effect immediately.
Compare Match Output Unit
The Compare Output mode bits in the Timer/Counter Control Register A (TCCR0A.COM0x) have two
functions:
•
•
The Waveform Generator uses the COM0x bits for defining the Output Compare (OC0x) register
state at the next compare match.
The COM0x bits control the OC0x pin output source
The figure below shows a simplified schematic of the logic affected by COM0x. The I/O Registers, I/O
bits, and I/O pins in the figure are shown in bold. Only the parts of the general I/O port control registers
that are affected by the COM0x bits are shown, namely PORT and DDR.
On system reset the OC0x Register is reset to 0x00.
Note: 'OC0x state' is always referring to internal OC0x registers, not the OC0x pin.
Figure 16-4. Compare Match Output Unit, Schematic
COMnx[1]
COMnx[0]
FOCnx
Waveform
Generator
D
Q
1
OCnx
D
DATA BUS
16.6.
0
OCnx
Pin
Q
PORT
D
Q
DDR
clk I/O
Note: The “n” in the register and bit names indicates the device number (n = 0 for Timer/Counter 0), and
the “x” indicates Output Compare unit (A/B).
The general I/O port function is overridden by the Output Compare (OC0x) from the Waveform Generator
if either of the COM0x[1:0] bits are set. However, the OC0x pin direction (input or output) is still controlled
by the Data Direction Register (DDR) for the port pin. In the Data Direction Register, the bit for the OC1x
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pin (DDR.OC0x) must be set as output before the OC0x value is visible on the pin. The port override
function is independent of the Waveform Generation mode.
The design of the Output Compare pin logic allows initialization of the OC0x register state before the
output is enabled. Some TCCR0A.COM0x[1:0] bit settings are reserved for certain modes of operation.
The TCCR0A.COM0x[1:0] bits have no effect on the Input Capture unit.
Related Links
Register Description on page 144
16.6.1.
Compare Output Mode and Waveform Generation
The Waveform Generator uses the TCCR0A.COM0x[1:0] bits differently in Normal, CTC, and PWM
modes. For all modes, setting the TCCR0A.COM0x[1:0]=0x0 tells the Waveform Generator that no action
on the OC0x Register is to be performed on the next compare match. Refer also to the descriptions of the
output modes.
A change of the TCCR0A.COM0x[1:0] bits state will have effect at the first compare match after the bits
are written. For non-PWM modes, the action can be forced to have immediate effect by using the
TCCR0C.FOC0x strobe bits.
16.7.
Modes of Operation
The mode of operation determines the behavior of the Timer/Counter and the Output Compare pins. It is
defined by the combination of the Waveform Generation mode bits and Compare Output mode
(TCCR0A.WGM0[2:0]) bits in the Timer/Counter control Registers A and B (TCCR0A.COM0x[1:0]). The
Compare Output mode bits do not affect the counting sequence, while the Waveform Generation mode
bits do. The COM0x[1:0] bits control whether the PWM output generated should be inverted or not
(inverted or non-inverted PWM). For non-PWM modes the COM0x[1:0] bits control whether the output
should be set, cleared, or toggled at a compare match (See previous section Compare Match Output
Unit).
For detailed timing information refer to the following section Timer/Counter Timing Diagrams.
Related Links
Compare Match Output Unit on page 202
Timer/Counter Timing Diagrams on page 142
16.7.1.
Normal Mode
The simplest mode of operation is the Normal mode (WGM0[2:0] = 0x0). In this mode the counting
direction is always up (incrementing), and no counter clear is performed. The counter simply overruns
when it passes its maximum 8-bit value (TOP=0xFF) and then restarts from the bottom (0x00). In Normal
mode operation, the Timer/Counter Overflow Flag (TOV0) will be set in the same clock cycle in which the
TCNT0 becomes zero. In this case, the TOV0 Flag behaves like a ninth bit, except that it is only set, not
cleared. However, combined with the timer overflow interrupt that automatically clears the TOV0 Flag, the
timer resolution can be increased by software. There are no special cases to consider in the Normal
mode, a new counter value can be written anytime.
The Output Compare unit can be used to generate interrupts at some given time. Using the Output
Compare to generate waveforms in Normal mode is not recommended, since this will occupy too much of
the CPU time.
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16.7.2.
Clear Timer on Compare Match (CTC) Mode
In Clear Timer on Compare or CTC mode (WGM0[2:0]=0x2), the OCR0A Register is used to manipulate
the counter resolution: the counter is cleared to ZERO when the counter value (TCNT0) matches the
OCR0A. The OCR0A defines the top value for the counter, hence also its resolution. This mode allows
greater control of the compare match output frequency. It also simplifies the counting of external events.
The timing diagram for the CTC mode is shown below. The counter value (TCNT0) increases until a
compare match occurs between TCNT0 and OCR0A, and then counter (TCNT0) is cleared.
Figure 16-5. CTC Mode, Timing Diagram
OCnx Interrupt Flag Set
TCNTn
OCn
(Toggle)
Period
(COMnx[1:0] = 0x1)
1
2
3
4
An interrupt can be generated each time the counter value reaches the TOP value by setting the OCF0A
Flag. If the interrupt is enabled, the interrupt handler routine can be used for updating the TOP value.
Note: Changing TOP to a value close to BOTTOM while the counter is running must be done with care,
since the CTC mode does not provide double buffering. If the new value written to OCR0A is lower than
the current value of TCNT0, the counter will miss the compare match. The counter will then count to its
maximum value (0xFF for a 8-bit counter, 0xFFFF for a 16-bit counter) and wrap around starting at 0x00
before the compare match will occur.
For generating a waveform output in CTC mode, the OC0A output can be set to toggle its logical level on
each compare match by writing the two least significant Compare Output mode bits in the Timer/Counter
Control Register A Control to toggle mode (TCCR0A.COM0A[1:0]=0x1). The OC0A value will only be
visible on the port pin unless the data direction for the pin is set to output. The waveform generated will
have a maximum frequency of fOC0 = fclk_I/O/2 when OCR0A is written to 0x00. The waveform frequency
is defined by the following equation:
�OCnx =
�clk_I/O
2 ⋅ � ⋅ 1 + OCRnx
N represents the prescaler factor (1, 8, 64, 256, or 1024).
As for the Normal mode of operation, the Timer/Counter Overflow Flag TOV0 is set in the same clock
cycle that the counter wraps from MAX to 0x00.
16.7.3.
Fast PWM Mode
The Fast Pulse Width Modulation or Fast PWM modes (WGM0[2:0]=0x3 or WGM0[2:0]=0x7) provide a
high frequency PWM waveform generation option. The Fast PWM modes differ from the other PWM
options by their single-slope operation. The counter counts from BOTTOM to TOP, then restarts from
BOTTOM. TOP is defined as 0xFF when WGM0[2:0]=0x3. TOP is defined as OCR0A when
WGM0[2:0]=0x7.
In non-inverting Compare Output mode, the Output Compare register (OC0x) is cleared on the compare
match between TCNT0 and OCR0x, and set at BOTTOM. In inverting Compare Output mode, the output
is set on compare match and cleared at BOTTOM. Due to the single-slope operation, the operating
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frequency of the Fast PWM mode can be twice as high as the phase correct PWM modes, which use
dual-slope operation. This high frequency makes the Fast PWM mode well suited for power regulation,
rectification, and DAC applications. High frequency allows physically small sized external components
(coils, capacitors), and therefore reduces total system cost.
In Fast PWM mode, the counter is incremented until the counter value matches the TOP value. The
counter is then cleared at the following timer clock cycle. The timing diagram for the Fast PWM mode is
shown below. The TCNT0 value is in the timing diagram shown as a histogram for illustrating the singleslope operation. The diagram includes non-inverted and inverted PWM outputs. The small horizontal lines
on the TCNT0 slopes mark compare matches between OCR0x and TCNT0.
Figure 16-6. Fast PWM Mode, Timing Diagram
OCRnx Interrupt Flag Set
OCRnx Update and
TOVn Interrupt Flag Set
TCNTn
OCnx
(COMnx[1:0] = 0x2)
OCnx
(COMnx[1:0] = 0x3)
Period
1
2
3
4
5
6
7
The Timer/Counter Overflow Flag (TOV0) is set each time the counter reaches TOP. If the interrupt is
enabled, the interrupt handler routine can be used for updating the compare value.
In Fast PWM mode, the compare unit allows generation of PWM waveforms on the OC0x pins. Writing
the TCCR0A.COM0x[1:0] bits to 0x2 will produce a non-inverted PWM; TCCR0A.COM0x[1:0]=0x3 will
produce an inverted PWM output. Writing the TCCR0A.COM0A[1:0] bits to 0x1 allows the OC0A pin to
toggle on Compare Matches if the TCCRnB.WGMn2 bit is set. This option is not available for the OC0B
pin. The actual OC0x value will only be visible on the port pin if the data direction for the port pin is set as
output. The PWM waveform is generated by setting (or clearing) the OC0x Register at the compare
match between OCR0x and TCNT0, and clearing (or setting) the OC0x Register at the timer clock cycle
the counter is cleared (changes from TOP to BOTTOM).
The PWM frequency for the output can be calculated by the following equation:
�OCnxPWM =
�clk_I/O
� ⋅ 256
N represents the prescale divider (1, 8, 64, 256, or 1024).
The extreme values for the OCR0A register represents special cases for PWM waveform output in the
Fast PWM mode: If OCR0A is written equal to BOTTOM, the output will be a narrow spike for each MAX
+1 timer clock cycle. Writing OCR0A=MAX will result in a constantly high or low output (depending on the
polarity of the output set by the COM0A[1:0] bits.)
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A frequency waveform output with 50% duty cycle can be achieved in Fast PWM mode by selecting
OC0x to toggle its logical level on each compare match (COM0x[1:0]=0x1). The waveform generated will
have a maximum frequency of fOC0 = fclk_I/O/2 when OCR0A=0x00. This feature is similar to the OC0A
toggle in CTC mode, except double buffering of the Output Compare unit is enabled in the Fast PWM
mode.
16.7.4.
Phase Correct PWM Mode
The Phase Correct PWM mode (WGM0[2:0]=0x1 or WGM0[2:0]=0x5) provides a high resolution, phase
correct PWM waveform generation. The Phase Correct PWM mode is based on dual-slope operation:
The counter counts repeatedly from BOTTOM to TOP, and then from TOP to BOTTOM. When
WGM0[2:0]=0x1 TOP is defined as 0xFF. When WGM0[2:0]=0x5, TOP is defined as OCR0A. In noninverting Compare Output mode, the Output Compare (OC0x) bit is cleared on compare match between
TCNT0 and OCR0x while up-counting, and OC0x is set on the compare match while down-counting. In
inverting Output Compare mode, the operation is inverted. The dual-slope operation has a lower
maximum operation frequency than single slope operation. Due to the symmetric feature of the dual-slope
PWM modes, these modes are preferred for motor control applications.
In Phase Correct PWM mode the counter is incremented until the counter value matches TOP. When the
counter reaches TOP, it changes the count direction. The TCNT0 value will be equal to TOP for one timer
clock cycle. The timing diagram for the Phase Correct PWM mode is shown below. The TCNT0 value is
shown as a histogram for illustrating the dual-slope operation. The diagram includes non-inverted and
inverted PWM outputs. The small horizontal line marks on the TCNT0 slopes represent compare matches
between OCR0x and TCNT0.
Figure 16-7. Phase Correct PWM Mode, Timing Diagram
OCnx Interrupt Flag Set
OCRnx Update
TOVn Interrupt Flag Set
TCNTn
OCnx
(COMnx[1:0] = 2)
OCnx
(COMnx[1:0] = 3)
Period
1
2
3
Note: The “n” in the register and bit names indicates the device number (n = 0 for Timer/Counter 0), and
the “x” indicates Output Compare unit (A/B).
The Timer/Counter Overflow Flag (TOV0) is set each time the counter reaches BOTTOM. The Interrupt
Flag can be used to generate an interrupt each time the counter reaches the BOTTOM value.
In Phase Correct PWM mode, the compare unit allows generation of PWM waveforms on the OC0x pin.
Writing the COM0x[1:0] bits to 0x2 will produce a non-inverted PWM. An inverted PWM output can be
generated by writing COM0x[1:0]=0x3. Setting the Compare Match Output A Mode bit to '1'
(TCCR0A.COM0A0) allows the OC0A pin to toggle on Compare Matches if the TCCR0B.WGM02 bit is
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set. This option is not available for the OC0B pin. The actual OC0x value will only be visible on the port
pin if the data direction for the port pin is set as output. The PWM waveform is generated by clearing (or
setting) the OC0x Register at the compare match between OCR0x and TCNT0 when the counter
increments, and setting (or clearing) the OC0x Register at compare match between OCR0x and TCNT0
when the counter decrements. The PWM frequency for the output when using Phase Correct PWM can
be calculated by:
�OCnxPCPWM =
�clk_I/O
� ⋅ 510
N represents the prescaler factor (1, 8, 64, 256, or 1024).
The extreme values for the OCR0A Register represent special cases when generating a PWM waveform
output in the Phase Correct PWM mode: If the OCR0A register is written equal to BOTTOM, the output
will be continuously low. If OCR0A is written to MAX, the output will be continuously high for non-inverted
PWM mode. For inverted PWM the output will have the opposite logic values.
At the very start of period 2 in the timing diagram above, OC0x has a transition from high to low even
though there is no Compare Match. This transition serves to guarantee symmetry around BOTTOM.
There are two cases that give a transition without Compare Match:
•
•
16.8.
OCR0x changes its value from MAX, as in the timing diagram. When the OCR0A value is MAX, the
OC0 pin value is the same as the result of a down-counting Compare Match. To ensure symmetry
around BOTTOM the OC0x value at MAX must correspond to the result of an up-counting Compare
Match.
The timer starts up-counting from a value higher than the one in OCR0x, and for that reason misses
the Compare Match and consequently, the OC0x does not undergo the change that would have
happened on the way up.
Timer/Counter Timing Diagrams
The Timer/Counter is a synchronous design and the timer clock (clkT0) is therefore shown as a clock
enable signal in the following figures. If the given instance of the TC0 supports an asynchronous mode,
clkI/O should be replaced by the TC oscillator clock.
The figures include information on when interrupt flags are set. The first figure below illustrates timing
data for basic Timer/Counter operation close to the MAX value in all modes other than Phase Correct
PWM mode.
Figure 16-8. Timer/Counter Timing Diagram, no Prescaling
clkI/O
clkTn
(clkI/O /1)
TCNTn
MAX - 1
MAX
BOTTOM
BOTTOM + 1
TOVn
Note: The “n” in the register and bit names indicates the device number (n = 0 for Timer/Counter 0), and
the “x” indicates Output Compare unit (A/B).
The next figure shows the same timing data, but with the prescaler enabled.
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Figure 16-9. Timer/Counter Timing Diagram, with Prescaler (fclk_I/O/8)
clkI/O
clkTn
(clkI/O /8)
TCNTn
MAX - 1
MAX
BOTTOM
BOTTOM + 1
TOVn
Note: The “n” in the register and bit names indicates the device number (n = 0 for Timer/Counter 0), and
the “x” indicates Output Compare unit (A/B).
The next figure shows the setting of OCF0B in all modes and OCF0A in all modes (except CTC mode
and PWM mode where OCR0A is TOP).
Figure 16-10. Timer/Counter Timing Diagram, Setting of OCF0x, with Prescaler (fclk_I/O/8)
clkI/O
clkTn
(clkI/O /8)
TCNTn
OCRnx - 1
OCRnx
OCRnx
OCRnx + 1
OCRnx + 2
OCRnx Value
OCFnx
Note: The “n” in the register and bit names indicates the device number (n = 0 for Timer/Counter 0), and
the “x” indicates Output Compare unit (A/B).
The next figure shows the setting of OCF0A and the clearing of TCNT0 in CTC mode and fast PWM
mode where OCR0A is TOP.
Figure 16-11. Timer/Counter Timing Diagram, Clear Timer on Compare Match mode, with Prescaler (fclk_I/O/8)
clkI/O
clkTn
(clkI/O /8)
TCNTn
(CTC)
OCRnx
TOP - 1
TOP
BOTTOM
BOTTOM + 1
TOP
OCFnx
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Note: The “n” in the register and bit names indicates the device number (n = 0 for Timer/Counter 0), and
the “x” indicates Output Compare unit (A/B).
16.9.
Register Description
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16.9.1.
TC0 Control Register A
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: TCCR0A
Offset: 0x44
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x24
Bit
Access
Reset
7
6
5
4
COM0A1
COM0A0
COM0B1
R/W
R/W
R/W
0
0
0
3
2
1
0
COM0B0
WGM01
WGM00
R/W
R/W
R/W
0
0
0
Bits 7:6 – COM0An: Compare Output Mode for Channel A [n = 1:0]
These bits control the Output Compare pin (OC0A) behavior. If one or both of the COM0A[1:0] bits are
set, the OC0A output overrides the normal port functionality of the I/O pin it is connected to. However,
note that the Data Direction Register (DDR) bit corresponding to the OC0A pin must be set in order to
enable the output driver.
When OC0A is connected to the pin, the function of the COM0A[1:0] bits depends on the WGM0[2:0] bit
setting. The table below shows the COM0A[1:0] bit functionality when the WGM0[2:0] bits are set to a
normal or CTC mode (non- PWM).
Table 16-3. Compare Output Mode, non-PWM
COM0A1
COM0A0
Description
0
0
Normal port operation, OC0A disconnected.
0
1
Toggle OC0A on Compare Match.
1
0
Clear OC0A on Compare Match.
1
1
Set OC0A on Compare Match .
The table below shows the COM0A[1:0] bit functionality when the WGM0[1:0] bits are set to fast PWM
mode.
Table 16-4. Compare Output Mode, Fast PWM(1)
COM0A1 COM0A0 Description
0
0
Normal port operation, OC0A disconnected.
0
1
WGM02 = 0: Normal Port Operation, OC0A Disconnected
WGM02 = 1: Toggle OC0A on Compare Match
1
0
Clear OC0A on Compare Match, set OC0A at BOTTOM (non-inverting mode)
1
1
Set OC0A on Compare Match, clear OC0A at BOTTOM (inverting mode)
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Note: 1. A special case occurs when OCR0A equals TOP and COM0A1 is set. In this case the compare
match is ignored, but the set or clear is done at BOTTOM. Refer to Fast PWM Mode for details.
The table below shows the COM0A[1:0] bit functionality when the WGM0[2:0] bits are set to phase
correct PWM mode.
Table 16-5. Compare Output Mode, Phase Correct PWM Mode(1)
COM0A1 COM0A0 Description
0
0
Normal port operation, OC0A disconnected.
0
1
WGM02 = 0: Normal Port Operation, OC0A Disconnected.
WGM02 = 1: Toggle OC0A on Compare Match.
1
0
Clear OC0A on Compare Match when up-counting. Set OC0A on Compare Match
when down-counting.
1
1
Set OC0A on Compare Match when up-counting. Clear OC0A on Compare Match
when down-counting.
Note: 1. A special case occurs when OCR0A equals TOP and COM0A1 is set. In this case, the Compare
Match is ignored, but the set or clear is done at TOP. Refer to Phase Correct PWM Mode for
details.
Bits 5:4 – COM0Bn: Compare Output Mode for Channel B [n = 1:0]
These bits control the Output Compare pin (OC0B) behavior. If one or both of the COM0B[1:0] bits are
set, the OC0B output overrides the normal port functionality of the I/O pin it is connected to. However,
note that the Data Direction Register (DDR) bit corresponding to the OC0B pin must be set in order to
enable the output driver.
When OC0B is connected to the pin, the function of the COM0B[1:0] bits depends on the WGM0[2:0] bit
setting. The table shows the COM0B[1:0] bit functionality when the WGM0[2:0] bits are set to a normal or
CTC mode (non- PWM).
Table 16-6. Compare Output Mode, non-PWM
COM0B1
COM0B0
Description
0
0
Normal port operation, OC0B disconnected.
0
1
Toggle OC0B on Compare Match.
1
0
Clear OC0B on Compare Match.
1
1
Set OC0B on Compare Match.
The table below shows the COM0B[1:0] bit functionality when the WGM0[2:0] bits are set to fast PWM
mode.
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Table 16-7. Compare Output Mode, Fast PWM(1)
COM0B1 COM0B0 Description
0
0
Normal port operation, OC0B disconnected.
0
1
Reserved
1
0
Clear OC0B on Compare Match, set OC0B at BOTTOM, (non-inverting mode)
1
1
Set OC0B on Compare Match, clear OC0B at BOTTOM, (inverting mode)
Note: 1. A special case occurs when OCR0B equals TOP and COM0B1 is set. In this case, the Compare
Match is ignored, but the set or clear is done at TOP. Refer to Fast PWM Mode for details.
The table below shows the COM0B[1:0] bit functionality when the WGM0[2:0] bits are set to phase
correct PWM mode.
Table 16-8. Compare Output Mode, Phase Correct PWM Mode(1)
COM0B1 COM0B0 Description
0
0
Normal port operation, OC0B disconnected.
0
1
Reserved
1
0
Clear OC0B on Compare Match when up-counting. Set OC0B on Compare Match
when down-counting.
1
1
Set OC0B on Compare Match when up-counting. Clear OC0B on Compare Match
when down-counting.
Note: 1. A special case occurs when OCR0B equals TOP and COM0B1 is set. In this case, the Compare
Match is ignored, but the set or clear is done at TOP. Refer to Phase Correct PWM Mode for
details.
Bits 1:0 – WGM0n: Waveform Generation Mode [n = 1:0]
Combined with the WGM02 bit found in the TCCR0B Register, these bits control the counting sequence
of the counter, the source for maximum (TOP) counter value, and what type of waveform generation to be
used. Modes of operation supported by the Timer/Counter unit are: Normal mode (counter), Clear Timer
on Compare Match (CTC) mode, and two types of Pulse Width Modulation (PWM) modes (see Modes of
Operation).
Table 16-9. Waveform Generation Mode Bit Description
Mode WGM02 WGM01 WGM00
Timer/Counter Mode of Operation
TOP
Update of OCR0x at
TOV Flag Set on(1)(2)
0xFF
Immediate
MAX
0
0
0
0
Normal
1
0
0
1
PWM, Phase Correct
0xFF
TOP
BOTTOM
2
0
1
0
CTC
OCRA
Immediate
MAX
3
0
1
1
Fast PWM
0xFF
BOTTOM
MAX
4
1
0
0
Reserved
-
-
-
5
1
0
1
PWM, Phase Correct
OCRA
TOP
BOTTOM
6
1
1
0
Reserved
-
-
-
7
1
1
1
Fast PWM
OCRA
BOTTOM
TOP
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1.
2.
MAX = 0xFF
BOTTOM = 0x00
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16.9.2.
TC0 Control Register B
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: TCCR0B
Offset: 0x45
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x25
Bit
Access
Reset
7
6
3
2
1
0
FOC0A
FOC0B
5
4
WGM02
CS02
CS01
CS00
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
Bit 7 – FOC0A: Force Output Compare A
The FOC0A bit is only active when the WGM bits specify a non-PWM mode.
To ensure compatibility with future devices, this bit must be set to zero when TCCR0B is written when
operating in PWM mode. When writing a logical one to the FOC0A bit, an immediate Compare Match is
forced on the Waveform Generation unit. The OC0A output is changed according to its COM0A[1:0] bits
setting. The FOC0A bit is implemented as a strobe. Therefore it is the value present in the COM0A[1:0]
bits that determines the effect of the forced compare.
A FOC0A strobe will not generate any interrupt, nor will it clear the timer in CTC mode using OCR0A as
TOP.
The FOC0A bit is always read as zero.
Bit 6 – FOC0B: Force Output Compare B
The FOC0B bit is only active when the WGM bits specify a non-PWM mode.
To ensure compatibility with future devices, this bit must be set to zero when TCCR0B is written when
operating in PWM mode. When writing a logical one to the FOC0B bit, an immediate Compare Match is
forced on the Waveform Generation unit. The OC0B output is changed according to its COM0B[1:0] bits
setting. The FOC0B bit is implemented as a strobe. Therefore it is the value present in the COM0B[1:0]
bits that determines the effect of the forced compare.
A FOC0B strobe will not generate any interrupt, nor will it clear the timer in CTC mode using OCR0B as
TOP.
The FOC0B bit is always read as zero.
Bit 3 – WGM02: Waveform Generation Mode
Refer to TCCR0A.
Bits 2:0 – CS0n: Clock Select [n = 0..2]
The three Clock Select bits select the clock source to be used by the Timer/Counter.
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Table 16-10. Clock Select Bit Description
CA02
CA01
CS00
Description
0
0
0
No clock source (Timer/Counter stopped).
0
0
1
clkI/O/1 (No prescaling)
0
1
0
clkI/O/8 (From prescaler)
0
1
1
clkI/O/64 (From prescaler)
1
0
0
clkI/O/256 (From prescaler)
1
0
1
clkI/O/1024 (From prescaler)
1
1
0
External clock source on T0 pin. Clock on falling edge.
1
1
1
External clock source on T0 pin. Clock on rising edge.
If external pin modes are used for the Timer/Counter0, transitions on the T0 pin will clock the counter
even if the pin is configured as an output. This feature allows software control of the counting.
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16.9.3.
TC0 Interrupt Mask Register
Name: TIMSK0
Offset: 0x6E
Reset: 0x00
Property: Bit
Access
Reset
7
6
5
4
3
2
1
0
OCIE0B
OCIE0A
TOIE0
R/W
R/W
R/W
0
0
0
Bit 2 – OCIE0B: Timer/Counter0, Output Compare B Match Interrupt Enable
When the OCIE0B bit is written to one, and the I-bit in the Status Register is set, the Timer/Counter
Compare Match B interrupt is enabled. The corresponding interrupt is executed if a Compare Match in
Timer/Counter occurs, i.e., when the OCF0B bit is set in TIFR0.
Bit 1 – OCIE0A: Timer/Counter0, Output Compare A Match Interrupt Enable
When the OCIE0A bit is written to one, and the I-bit in the Status Register is set, the Timer/Counter0
Compare Match A interrupt is enabled. The corresponding interrupt is executed if a Compare Match in
Timer/Counter0 occurs, i.e., when the OCF0A bit is set in TIFR0.
Bit 0 – TOIE0: Timer/Counter0, Overflow Interrupt Enable
When the TOIE0 bit is written to one, and the I-bit in the Status Register is set, the Timer/Counter0
Overflow interrupt is enabled. The corresponding interrupt is executed if an overflow in Timer/Counter0
occurs, i.e., when the TOV0 bit is set in TIFR0.
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16.9.4.
General Timer/Counter Control Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: GTCCR
Offset: 0x43
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x23
Bit
Access
Reset
1
0
TSM
7
6
5
4
3
2
PSRASY
PSRSYNC
R/W
R/W
R/W
0
0
0
Bit 7 – TSM: Timer/Counter Synchronization Mode
Writing the TSM bit to one activates the Timer/Counter Synchronization mode. In this mode, the value
that is written to the PSRASY and PSRSYNC bits is kept, hence keeping the corresponding prescaler
reset signals asserted. This ensures that the corresponding Timer/Counters are halted and can be
configured to the same value without the risk of one of them advancing during configuration. When the
TSM bit is written to zero, the PSRASY and PSRSYNC bits are cleared by hardware, and the Timer/
Counters start counting simultaneously.
Bit 1 – PSRASY: Prescaler Reset Timer/Counter2
When this bit is one, the Timer/Counter2 prescaler will be reset. This bit is normally cleared immediately
by hardware. If the bit is written when Timer/Counter2 is operating in asynchronous mode, the bit will
remain one until the prescaler has been reset. The bit will not be cleared by hardware if the TSM bit is
set.
Bit 0 – PSRSYNC: Prescaler Reset
When this bit is one, Timer/Counter1 and Timer/Counter0 prescaler will be Reset. This bit is normally
cleared immediately by hardware, except if the TSM bit is set. Note that Timer/Counter1 and Timer/
Counter0 share the same prescaler and a reset of this prescaler will affect both timers.
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16.9.5.
TC0 Counter Value Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: TCNT0
Offset: 0x46
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x26
Bit
7
6
5
4
3
2
1
0
TCNT0[7:0]
Access
Reset
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – TCNT0[7:0]: TC0 Counter Value
The Timer/Counter Register gives direct access, both for read and write operations, to the Timer/Counter
unit 8-bit counter. Writing to the TCNT0 Register blocks (removes) the Compare Match on the following
timer clock. Modifying the counter (TCNT0) while the counter is running, introduces a risk of missing a
Compare Match between TCNT0 and the OCR0x Registers.
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16.9.6.
TC0 Output Compare Register A
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: OCR0A
Offset: 0x47
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x27
Bit
7
6
5
4
3
2
1
0
OCR0A[7:0]
Access
Reset
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – OCR0A[7:0]: Output Compare 0 A
The Output Compare Register A contains an 8-bit value that is continuously compared with the counter
value (TCNT0). A match can be used to generate an Output Compare interrupt, or to generate a
waveform output on the OC0A pin.
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16.9.7.
TC0 Output Compare Register B
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: OCR0B
Offset: 0x48
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x28
Bit
7
6
5
4
3
2
1
0
OCR0B[7:0]
Access
Reset
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – OCR0B[7:0]: Output Compare 0 B
The Output Compare Register B contains an 8-bit value that is continuously compared with the counter
value (TCNT0). A match can be used to generate an Output Compare interrupt, or to generate a
waveform output on the OC0B pin.
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16.9.8.
TC0 Interrupt Flag Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: TIFR0
Offset: 0x35
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x15
Bit
Access
Reset
7
6
5
4
3
2
1
0
OCF0B
OCF0A
TOV0
R/W
R/W
R/W
0
0
0
Bit 2 – OCF0B: Timer/Counter0, Output Compare B Match Flag
The OCF0B bit is set when a Compare Match occurs between the Timer/Counter and the data in OCR0B
– Output Compare Register0 B. OCF0B is cleared by hardware when executing the corresponding
interrupt handling vector. Alternatively, OCF0B is cleared by writing a logic one to the flag. When the I-bit
in SREG, OCIE0B (Timer/Counter Compare B Match Interrupt Enable), and OCF0B are set, the Timer/
Counter Compare Match Interrupt is executed.
Bit 1 – OCF0A: Timer/Counter0, Output Compare A Match Flag
The OCF0A bit is set when a Compare Match occurs between the Timer/Counter0 and the data in
OCR0A – Output Compare Register0. OCF0A is cleared by hardware when executing the corresponding
interrupt handling vector. Alternatively, OCF0A is cleared by writing a logic one to the flag. When the I-bit
in SREG, OCIE0A (Timer/Counter0 Compare Match Interrupt Enable), and OCF0A are set, the Timer/
Counter0 Compare Match Interrupt is executed.
Bit 0 – TOV0: Timer/Counter0, Overflow Flag
The bit TOV0 is set when an overflow occurs in Timer/Counter0. TOV0 is cleared by hardware when
executing the corresponding interrupt handling vector. Alternatively, TOV0 is cleared by writing a logic one
to the flag. When the SREG I-bit, TOIE0 (Timer/Counter0 Overflow Interrupt Enable), and TOV0 are set,
the Timer/Counter0 Overflow interrupt is executed.
The setting of this flag is dependent of the WGM02:0 bit setting. Refer to Table 16-9 Waveform
Generation Mode Bit Description.
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17.
TC1 - 16-bit Timer/Counter1 with PWM
Related Links
Timer/Counter0 and Timer/Counter1 Prescalers on page 194
17.1.
Overview
The 16-bit Timer/Counter unit allows accurate program execution timing (event management), wave
generation, and signal timing measurement.
A block diagram of the 16-bit Timer/Counter is shown below. CPU accessible I/O Registers, including I/O
bits and I/O pins, are shown in bold. The device-specific I/O Register and bit locations are listed in
Register Description. For the actual placement of I/O pins, refer to the Pin Configurations description.
Related Links
I/O-Ports on page 100
Pinout on page 15
17.2.
Features
•
•
•
•
•
•
•
•
•
•
•
17.3.
True 16-bit Design (i.e., allows 16-bit PWM)
Two independent Output Compare Units
Double Buffered Output Compare Registers
One Input Capture Unit
Input Capture Noise Canceler
Clear Timer on Compare Match (Auto Reload)
Glitch-free, Phase Correct Pulse Width Modulator (PWM)
Variable PWM Period
Frequency Generator
External Event Counter
Independent interrupt Sources (TOV, OCFA, OCFB, and ICF)
Block Diagram
The Power Reduction TC1 bit in the Power Reduction Register (PRR0.PRTIM1) must be written to zero
to enable the TC1 module.
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Figure 17-1. 16-bit Timer/Counter Block Diagram
Count
Clear
Direction
TOVn
(Int.Req.)
Control Logic
Clock Select
clkTn
Edge
Detector
TOP
BOTTOM
( From Prescaler )
Timer/Counter
TCNTn
Tn
=
=0
OCnA
(Int.Req.)
Waveform
Generation
=
OCnA
DATA BUS
OCRnA
OCnB
(Int.Req.)
Fixed
TOP
Values
Waveform
Generation
=
OCRnB
OCnB
( From Analog
Comparator Ouput )
ICFn (Int.Req.)
Edge
Detector
ICRn
Noise
Canceler
ICPn
TCCRnA
TCCRnB
See the related links for actual pin placement.
17.4.
Definitions
Many register and bit references in this section are written in general form:
•
n=1 represents the Timer/Counter number
•
x=A,B represents the Output Compare Unit A or B
However, when using the register or bit definitions in a program, the precise form must be used, i.e.,
TCNT1 for accessing Timer/Counter1 counter value.
The following definitions are used throughout the section:
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Table 17-1. Definitions
Constant Description
BOTTOM The counter reaches the BOTTOM when it becomes zero (0x00 for 8-bit counters, or 0x0000
for 16-bit counters).
17.5.
MAX
The counter reaches its Maximum when it becomes 0xFF (decimal 255, for 8-bit counters) or
0xFFFF (decimal 65535, for 16-bit counters).
TOP
The counter reaches the TOP when it becomes equal to the highest value in the count
sequence. The TOP value can be assigned to be the fixed value MAX or the value stored in
the OCR1A Register. The assignment is dependent on the mode of operation.
Registers
The Timer/Counter (TCNT1), Output Compare Registers (OCRA/B), and Input Capture Register (ICR1)
are all 16-bit registers. Special procedures must be followed when accessing the 16-bit registers. These
procedures are described in section Accessing 16-bit Registers.
The Timer/Counter Control Registers (TCCR1A/B/C) are 8-bit registers and have no CPU access
restrictions. Interrupt requests (abbreviated to Int.Req. in the block diagram) signals are all visible in the
Timer Interrupt Flag Register (TIFR1). All interrupts are individually masked with the Timer Interrupt Mask
Register (TIMSK1). TIFR1 and TIMSK1 are not shown in the figure.
The Timer/Counter can be clocked internally, via the prescaler, or by an external clock source on the T1
pin. The Clock Select logic block controls which clock source and edge the Timer/Counter uses to
increment (or decrement) its value. The Timer/Counter is inactive when no clock source is selected. The
output from the Clock Select logic is referred to as the timer clock (clkT1).
The double buffered Output Compare Registers (OCR1A/B) are compared with the Timer/Counter value
at all time. The result of the compare can be used by the Waveform Generator to generate a PWM or
variable frequency output on the Output Compare pin (OC1A/B). See Output Compare Units. The
compare match event will also set the Compare Match Flag (OCF1A/B) which can be used to generate
an Output Compare interrupt request.
The Input Capture Register can capture the Timer/Counter value at a given external (edge triggered)
event on either the Input Capture pin (ICP1) or on the Analog Comparator pins. The Input Capture unit
includes a digital filtering unit (Noise Canceler) for reducing the chance of capturing noise spikes.
The TOP value, or maximum Timer/Counter value, can in some modes of operation be defined by either
the OCR1A Register, the ICR1 Register, or by a set of fixed values. When using OCR1A as TOP value in
a PWM mode, the OCR1A Register can not be used for generating a PWM output. However, the TOP
value will in this case be double buffered allowing the TOP value to be changed in run time. If a fixed TOP
value is required, the ICR1 Register can be used as an alternative, freeing the OCR1A to be used as
PWM output.
17.6.
Accessing 16-bit Registers
The TCNT1, OCR1A/B, and ICR1 are 16-bit registers that can be accessed by the AVR CPU via the 8-bit
data bus. The 16-bit register must be accessed byte-wise, using two read or write operations. Each 16-bit
timer has a single 8-bit TEMP register for temporary storing of the high byte of the 16-bit access. The
same temporary register is shared between all 16-bit registers within each 16-bit timer.
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Accessing the low byte triggers the 16-bit read or write operation: When the low byte of a 16-bit register is
written by the CPU, the high byte that is currently stored in TEMP and the low byte being written are both
copied into the 16-bit register in the same clock cycle. When the low byte of a 16-bit register is read by
the CPU, the high byte of the 16-bit register is copied into the TEMP register in the same clock cycle as
the low byte is read, and must be read subsequently.
Note: To perform a 16-bit write operation, the high byte must be written before the low byte. For a 16-bit
read, the low byte must be read before the high byte.
Not all 16-bit accesses uses the temporary register for the high byte. Reading the OCR1A/B 16-bit
registers does not involve using the temporary register.
16-bit Access
The following code examples show how to access the 16-bit Timer Registers assuming that no interrupts
updates the temporary register. The same principle can be used directly for accessing the OCR1A/B and
ICR1 Registers. Note that when using C, the compiler handles the 16-bit access.
Assembly Code Example(1)
...
; Set TCNT1 to 0x01FF
ldi
r17,0x01
ldi
r16,0xFF
out
TCNT1H,r17
out
TCNT1L,r16
; Read TCNT1 into r17:r16
in
r16,TCNT1L
in
r17,TCNT1H
...
The assembly code example returns the TCNT1 value in the r17:r16 register pair.
C Code Example(1)
unsigned int i;
...
/* Set TCNT1 to 0x01FF */
TCNT1 = 0x1FF;
/* Read TCNT1 into i */
i = TCNT1;
...
Note: 1. The example code assumes that the part specific header file is included. For I/O Registers located
in extended I/O map, “IN”, “OUT”, “SBIS”, “SBIC”, “CBI”, and “SBI” instructions must be replaced
with instructions that allow access to extended I/O. Typically “LDS” and “STS” combined with
“SBRS”, “SBRC”, “SBR”, and “CBR”.
Atomic Read
It is important to notice that accessing 16-bit registers are atomic operations. If an interrupt occurs
between the two instructions accessing the 16-bit register, and the interrupt code updates the temporary
register by accessing the same or any other of the 16-bit Timer Registers, then the result of the access
outside the interrupt will be corrupted. Therefore, when both the main code and the interrupt code update
the temporary register, the main code must disable the interrupts during the 16-bit access.
The following code examples show how to perform an atomic read of the TCNT1 Register contents. The
OCR1A/B or ICR1 Registers can be ready by using the same principle.
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Assembly Code Example(1)
TIM16_ReadTCNT1:
; Save global interrupt flag
in
r18,SREG
; Disable interrupts
cli
; Read TCNT1 into r17:r16
in
r16,TCNT1L
in
r17,TCNT1H
; Restore global interrupt flag
out
SREG,r18
ret
The assembly code example returns the TCNT1 value in the r17:r16 register pair.
C Code Example(1)
unsigned int TIM16_ReadTCNT1( void )
{
unsigned char sreg;
unsigned int i;
/* Save global interrupt flag */
sreg = SREG;
/* Disable interrupts */
_CLI();
/* Read TCNT1 into i */
i = TCNT1;
/* Restore global interrupt flag */
SREG = sreg;
return i;
}
Note: 1. The example code assumes that the part specific header file is included. For I/O Registers located
in extended I/O map, “IN”, “OUT”, “SBIS”, “SBIC”, “CBI”, and “SBI” instructions must be replaced
with instructions that allow access to extended I/O. Typically “LDS” and “STS” combined with
“SBRS”, “SBRC”, “SBR”, and “CBR”.
Atomic Write
The following code examples show how to do an atomic write of the TCNT1 Register contents. Writing
any of the OCR1A/B or ICR1 Registers can be done by using the same principle.
Assembly Code Example(1)
TIM16_WriteTCNT1:
; Save global interrupt flag
in
r18,SREG
; Disable interrupts
cli
; Set TCNT1 to r17:r16
out
TCNT1H,r17
out
TCNT1L,r16
; Restore global interrupt flag
out
SREG,r18
ret
The assembly code example requires that the r17:r16 register pair contains the value to
be written to TCNT1.
C Code Example(1)
void TIM16_WriteTCNT1( unsigned int i )
{
unsigned char sreg;
unsigned int i;
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}
/* Save global interrupt flag */
sreg = SREG;
/* Disable interrupts */
_CLI();
/* Set TCNT1 to i */
TCNT1 = i;
/* Restore global interrupt flag */
SREG = sreg;
Note: 1. The example code assumes that the part specific header file is included. For I/O
Registers located in extended I/O map, “IN”, “OUT”, “SBIS”, “SBIC”, “CBI”, and
“SBI” instructions must be replaced with instructions that allow access to extended
I/O. Typically “LDS” and “STS” combined with “SBRS”, “SBRC”, “SBR”, and “CBR”.
Related Links
About Code Examples on page 22
17.6.1.
Reusing the Temporary High Byte Register
If writing to more than one 16-bit register where the high byte is the same for all registers written, the high
byte only needs to be written once. However, the same rule of atomic operation described previously also
applies in this case.
17.7.
Timer/Counter Clock Sources
The Timer/Counter can be clocked by an internal or an external clock source. The clock source is
selected by the Clock Select logic which is controlled by the Clock Select bits in the Timer/Counter control
Register B (TCCR1B.CS[2:0]).
Related Links
Timer/Counter 0, 1 Prescalers on page 194
17.8.
Counter Unit
The main part of the 16-bit Timer/Counter is the programmable 16-bit bi-directional counter unit, as shown
in the block diagram:
Figure 17-2. Counter Unit Block Diagram
DATA BUS (8-bit)
TOVn
(Int.Req.)
TEMP (8-bit)
Clock Select
Count
TCNTnH (8-bit)
TCNTnL (8-bit)
TCNTn (16-bit Counter)
Clear
Direction
Control Logic
clkTn
Edge
Detector
Tn
( From Prescaler )
TOP
BOTTOM
Note: The “n” in the register and bit names indicates the device number (n = 1 for Timer/Counter 1), and
the “x” indicates Output Compare unit (A/B).
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Table 17-2. Signal description (internal signals)
Signal Name
Description
Count
Increment or decrement TCNT1 by 1.
Direction
Select between increment and decrement.
Clear
Clear TCNT1 (set all bits to zero).
clkT1
Timer/Counter clock.
TOP
Signalize that TCNT1 has reached maximum value.
BOTTOM
Signalize that TCNT1 has reached minimum value (zero).
The 16-bit counter is mapped into two 8-bit I/O memory locations: Counter High (TCNT1H) containing the
upper eight bits of the counter, and Counter Low (TCNT1L) containing the lower eight bits. The TCNT1H
Register can only be accessed indirectly by the CPU. When the CPU does an access to the TCNT1H I/O
location, the CPU accesses the high byte temporary register (TEMP). The temporary register is updated
with the TCNT1H value when the TCNT1L is read, and TCNT1H is updated with the temporary register
value when TCNT1L is written. This allows the CPU to read or write the entire 16-bit counter value within
one clock cycle via the 8-bit data bus.
Note: That there are special cases when writing to the TCNT1 Register while the counter is counting will
give unpredictable results. These special cases are described in the sections where they are of
importance.
Depending on the selected mode of operation, the counter is cleared, incremented, or decremented at
each timer clock (clkT1). The clock clkT1 can be generated from an external or internal clock source, as
selected by the Clock Select bits in the Timer/Counter1 Control Register B (TCCR1B.CS[2:0]). When no
clock source is selected (CS[2:0]=0x0) the timer is stopped. However, the TCNT1 value can be accessed
by the CPU, independent of whether clkT1 is present or not. A CPU write overrides (i.e., has priority over)
all counter clear or count operations.
The counting sequence is determined by the setting of the Waveform Generation mode bits in the Timer/
Counter Control Registers A and B (TCCR1B.WGM1[3:2] and TCCR1A.WGM1[1:0]). There are close
connections between how the counter behaves (counts) and how waveforms are generated on the Output
Compare outputs OC0x. For more details about advanced counting sequences and waveform generation,
see Modes of Operation.
The Timer/Counter Overflow Flag in the TC1 Interrupt Flag Register (TIFR1.TOV) is set according to the
mode of operation selected by the WGM1[3:0] bits. TOV can be used for generating a CPU interrupt.
17.9.
Input Capture Unit
The Timer/Counter1 incorporates an Input Capture unit that can capture external events and give them a
time-stamp indicating time of occurrence. The external signal indicating an event, or multiple events, can
be applied via the ICP1 pin or alternatively, via the analog-comparator unit. The time-stamps can then be
used to calculate frequency, duty-cycle, and other features of the signal applied. Alternatively the timestamps can be used for creating a log of the events.
The Input Capture unit is illustrated by the block diagram below. The elements of the block diagram that
are not directly a part of the Input Capture unit are gray shaded. The lower case “n” in register and bit
names indicates the Timer/Counter number.
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Figure 17-3. Input Capture Unit Block Diagram for TC1
DATA BUS
(8-bit)
TEMP (8-bit)
ICRnH (8-bit)
WRITE
ICRnL (8-bit)
TCNTnH (8-bit)
ICRn (16-bit Register)
ACO*
Analog
Comparator
TCNTnL (8-bit)
TCNTn (16-bit Counter)
ACIC*
ICNC
ICES
Noise
Canceler
Edge
Detector
ICFn (Int.Req.)
ICPn
Note: The “n” in the register and bit names indicates the device number (n = 1 for Timer/Counter 1), and
the “x” indicates Output Compare unit (A/B).
When a change of the logic level (an event) occurs on the Input Capture pin (ICP1), or alternatively on the
Analog Comparator output (ACO), and this change confirms to the setting of the edge detector, a capture
will be triggered: the 16-bit value of the counter (TCNT1) is written to the Input Capture Register (ICR1).
The Input Capture Flag (ICF) is set at the same system clock cycle as the TCNT1 value is copied into the
ICR1 Register. If enabled (TIMSK1.ICIE=1), the Input Capture Flag generates an Input Capture interrupt.
The ICF1 Flag is automatically cleared when the interrupt is executed. Alternatively the ICF Flag can be
cleared by software by writing '1' to its I/O bit location.
Reading the 16-bit value in the Input Capture Register (ICR1) is done by first reading the low byte
(ICR1L) and then the high byte (ICR1H). When the low byte is read form ICR1L, the high byte is copied
into the high byte temporary register (TEMP). When the CPU reads the ICR1H I/O location it will access
the TEMP Register.
The ICR1 Register can only be written when using a Waveform Generation mode that utilizes the ICR1
Register for defining the counter’s TOP value. In these cases the Waveform Generation mode bits
(WGM1[3:0]) must be set before the TOP value can be written to the ICR1 Register. When writing the
ICR1 Register, the high byte must be written to the ICR1H I/O location before the low byte is written to
ICR1L.
See also Accessing 16-bit Registers.
17.9.1.
Input Capture Trigger Source
The main trigger source for the Input Capture unit is the Input Capture pin (ICP1). Timer/Counter1 can
alternatively use the Analog Comparator output as trigger source for the Input Capture unit. The Analog
Comparator is selected as trigger source by setting the Analog Comparator Input Capture (ACIC) bit in
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the Analog Comparator Control and Status Register (ACSR). Be aware that changing trigger source can
trigger a capture. The Input Capture Flag must therefore be cleared after the change.
Both the Input Capture pin (ICP1) and the Analog Comparator output (ACO) inputs are sampled using the
same technique as for the T1 pin. The edge detector is also identical. However, when the noise canceler
is enabled, additional logic is inserted before the edge detector, which increases the delay by four system
clock cycles. The input of the noise canceler and edge detector is always enabled unless the Timer/
Counter is set in a Waveform Generation mode that uses ICR1 to define TOP.
An Input Capture can be triggered by software by controlling the port of the ICP1 pin.
Related Links
Timer/Counter 0, 1 Prescalers on page 194
17.9.2.
Noise Canceler
The noise canceler improves noise immunity by using a simple digital filtering scheme. The noise
canceler input is monitored over four samples, and all four must be equal for changing the output that in
turn is used by the edge detector.
The noise canceler is enabled by setting the Input Capture Noise Canceler bit in the Timer/Counter
Control Register B (TCCR1B.ICNC). When enabled, the noise canceler introduces an additional delay of
four system clock cycles between a change applied to the input and the update of the ICR1 Register. The
noise canceler uses the system clock and is therefore not affected by the prescaler.
17.9.3.
Using the Input Capture Unit
The main challenge when using the Input Capture unit is to assign enough processor capacity for
handling the incoming events. The time between two events is critical. If the processor has not read the
captured value in the ICR1 Register before the next event occurs, the ICR1 will be overwritten with a new
value. In this case the result of the capture will be incorrect.
When using the Input Capture interrupt, the ICR1 Register should be read as early in the interrupt handler
routine as possible. Even though the Input Capture interrupt has relatively high priority, the maximum
interrupt response time is dependent on the maximum number of clock cycles it takes to handle any of
the other interrupt requests.
Using the Input Capture unit in any mode of operation when the TOP value (resolution) is actively
changed during operation, is not recommended.
Measurement of an external signal’s duty cycle requires that the trigger edge is changed after each
capture. Changing the edge sensing must be done as early as possible after the ICR1 Register has been
read. After a change of the edge, the Input Capture Flag (ICF) must be cleared by software (writing a
logical one to the I/O bit location). For measuring frequency only, the clearing of the ICF Flag is not
required (if an interrupt handler is used).
17.10. Output Compare Units
The 16-bit comparator continuously compares TCNT1 with the Output Compare Register (OCR1x). If
TCNT equals OCR1x the comparator signals a match. A match will set the Output Compare Flag
(TIFR1.OCFx) at the next timer clock cycle. If enabled (TIMSK1.OCIEx = 1), the Output Compare Flag
generates an Output Compare interrupt. The OCFx Flag is automatically cleared when the interrupt is
executed. Alternatively the OCFx Flag can be cleared by software by writing a logical one to its I/O bit
location. The Waveform Generator uses the match signal to generate an output according to operating
mode set by the Waveform Generation mode (WGM1[3:0]) bits and Compare Output mode (COM1x[1:0])
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bits. The TOP and BOTTOM signals are used by the Waveform Generator for handling the special cases
of the extreme values in some modes of operation, see Modes of Operation.
A special feature of Output Compare unit A allows it to define the Timer/Counter TOP value (i.e., counter
resolution). In addition to the counter resolution, the TOP value defines the period time for waveforms
generated by the Waveform Generator.
Below is a block diagram of the Output Compare unit. The elements of the block diagram that are not
directly a part of the Output Compare unit are gray shaded.
Figure 17-4. Output Compare Unit, Block Diagram
DATA BUS (8-bit)
TEMP (8-bit)
OCRnxH Buf. (8-bit)
OCRnxL Buf. (8-bit)
TCNTnH (8-bit)
OCRnx Buffer (16-bit Register)
OCRnxH (8-bit)
TCNTnL (8-bit)
TCNTn (16-bit Counter)
OCRnxL (8-bit)
OCRnx (16-bit Register)
= (16-bit Comparator )
OCFnx (Int.Req.)
TOP
BOTTOM
Waveform Generator
WGMn[3:0]
OCnx
COMnx[1:0]
Note: The “n” in the register and bit names indicates the device number (n = 1 for Timer/Counter 1), and
the “x” indicates Output Compare unit (A/B).
The OCR1x Register is double buffered when using any of the twelve Pulse Width Modulation (PWM)
modes. For the Normal and Clear Timer on Compare (CTC) modes of operation, the double buffering is
disabled. The double buffering synchronizes the update of the OCR1x Compare Register to either TOP or
BOTTOM of the counting sequence. The synchronization prevents the occurrence of odd-length, nonsymmetrical PWM pulses, thereby making the output glitch-free.
When double buffering is enabled, the CPU has access to the OCR1x Buffer Register. When double
buffering is disabled, the CPU will access the OCR1x directly.
The content of the OCR1x (Buffer or Compare) Register is only changed by a write operation (the Timer/
Counter does not update this register automatically as the TCNT1 and ICR1 Register). Therefore OCR1x
is not read via the high byte temporary register (TEMP). However, it is good practice to read the low byte
first as when accessing other 16-bit registers. Writing the OCR1x Registers must be done via the TEMP
Register since the compare of all 16 bits is done continuously. The high byte (OCR1xH) has to be written
first. When the high byte I/O location is written by the CPU, the TEMP Register will be updated by the
value written. Then when the low byte (OCR1xL) is written to the lower eight bits, the high byte will be
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copied into the upper 8-bits of either the OCR1x buffer or OCR1x Compare Register in the same system
clock cycle.
For more information of how to access the 16-bit registers refer to Accessing 16-bit Registers.
17.10.1. Force Output Compare
In non-PWM Waveform Generation modes, the match output of the comparator can be forced by writing a
one to the Force Output Compare (TCCR1C.FOC1x) bit. Forcing compare match will not set the OCF1x
Flag or reload/clear the timer, but the OC1x pin will be updated as if a real compare match had occurred
(the TCCR1C.COM1x[1:0] bits settings define whether the OC1x pin is set, cleared or toggled).
17.10.2. Compare Match Blocking by TCNT1 Write
All CPU writes to the TCNT1 Register will block any compare match that occurs in the next timer clock
cycle, even when the timer is stopped. This feature allows OCR1x to be initialized to the same value as
TCNT1 without triggering an interrupt when the Timer/Counter clock is enabled.
17.10.3. Using the Output Compare Unit
Since writing TCNT1 in any mode of operation will block all compare matches for one timer clock cycle,
there are risks involved when changing TCNT1 when using any of the Output Compare channels,
independent of whether the Timer/Counter is running or not. If the value written to TCNT1 equals the
OCR1x value, the compare match will be missed, resulting in incorrect waveform generation. Do not write
the TCNT1 equal to TOP in PWM modes with variable TOP values. The compare match for the TOP will
be ignored and the counter will continue to 0xFFFF. Similarly, do not write the TCNT1 value equal to
BOTTOM when the counter is downcounting.
The setup of the OC1x should be performed before setting the Data Direction Register for the port pin to
output. The easiest way of setting the OC1x value is to use the Force Output Compare (FOC1x) strobe
bits in Normal mode. The OC1x Register keeps its value even when changing between Waveform
Generation modes.
Be aware that the TCCR1A.COM1x[1:0] bits are not double buffered together with the compare value.
Changing the TCCR1A.COM1x[1:0] will take effect immediately.
17.11. Compare Match Output Unit
The Compare Output mode (TCCR1A.COM1x[1:0]) bits have two functions. The Waveform Generator
uses the TCCR1A.COM1x[1:0] bits for defining the Output Compare (OC1x) state at the next compare
match. Secondly the TCCR1A.COM1x[1:0] bits control the OC1x pin output source. The figure below
shows a simplified schematic of the logic affected by the TCCR1A.COM1x[1:0] bit setting. The I/O
Registers, I/O bits, and I/O pins in the figure are shown in bold. Only the parts of the general I/O Port
Control Registers (DDR and PORT) that are affected by the TCCR1A.COM1x[1:0] bits are shown. When
referring to the OC1x state, the reference is for the internal OC1x Register, not the OC1x pin. If a system
reset occur, the OC1x Register is reset to “0”.
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Figure 17-5. Compare Match Output Unit, Schematic
COMnx[1]
COMnx[0]
FOCnx
Waveform
Generator
D
Q
1
OCnx
DATA BUS
D
0
OCnx
Pin
Q
PORT
D
Q
DDR
clk I/O
Note: The “n” in the register and bit names indicates the device number (n = 1 for Timer/Counter 1), and
the “x” indicates Output Compare unit (A/B).
The general I/O port function is overridden by the Output Compare (OC1x) from the Waveform Generator
if either of the TCCR1A.COM1x[1:0] bits are set. However, the OC1x pin direction (input or output) is still
controlled by the Data Direction Register (DDR) for the port pin. The Data Direction Register bit for the
OC1x pin (DDR_OC1x) must be set as output before the OC1x value is visible on the pin. The port
override function is generally independent of the Waveform Generation mode, but there are some
exceptions.
The design of the Output Compare pin logic allows initialization of the OC1x state before the output is
enabled. Note that some TCCR1A.COM1x[1:0] bit settings are reserved for certain modes of operation.
The TCCR1A.COM1x[1:0] bits have no effect on the Input Capture unit.
17.11.1. Compare Output Mode and Waveform Generation
The Waveform Generator uses the TCCR1A.COM1x[1:0] bits differently in normal, CTC, and PWM
modes. For all modes, setting the TCCR1A.COM1x[1:0] = 0 tells the Waveform Generator that no action
on the OC1x Register is to be performed on the next compare match. Refer also to the descriptions of the
output modes.
A change of the TCCR1A.COM1x[1:0] bits state will have effect at the first compare match after the bits
are written. For non-PWM modes, the action can be forced to have immediate effect by using the
TCCR1C.FOC1x strobe bits.
17.12. Modes of Operation
The mode of operation, i.e., the behavior of the Timer/Counter and the Output Compare pins, is defined
by the combination of the Waveform Generation mode (WGM1[3:0]) and Compare Output mode
(TCCR1A.COM1x[1:0]) bits. The Compare Output mode bits do not affect the counting sequence, while
the Waveform Generation mode bits do. The TCCR1A.COM1x[1:0] bits control whether the PWM output
generated should be inverted or not (inverted or non-inverted PWM). For non-PWM modes the
TCCR1A.COM1x[1:0] bits control whether the output should be set, cleared, or toggle at a compare
match.
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Related Links
Timer/Counter Timing Diagrams on page 176
Compare Match Output Unit on page 167
17.12.1. Normal Mode
The simplest mode of operation is the Normal mode (TCCR1A.WGM1[3:0]=0x0). In this mode the
counting direction is always up (incrementing), and no counter clear is performed. The counter simply
overruns when it passes its maximum 16-bit value (MAX=0xFFFF) and then restarts from
BOTTOM=0x0000. In normal operation the Timer/Counter Overflow Flag (TIFR1.TOV) will be set in the
same timer clock cycle as the TCNT1 becomes zero. In this case, the TOV Flag in behaves like a 17th
bit, except that it is only set, not cleared. However, combined with the timer overflow interrupt that
automatically clears the TOV Flag, the timer resolution can be increased by software. There are no
special cases to consider in the Normal mode, a new counter value can be written anytime.
The Input Capture unit is easy to use in Normal mode. However, observe that the maximum interval
between the external events must not exceed the resolution of the counter. If the interval between events
are too long, the timer overflow interrupt or the prescaler must be used to extend the resolution for the
capture unit.
The Output Compare units can be used to generate interrupts at some given time. Using the Output
Compare to generate waveforms in Normal mode is not recommended, since this will occupy too much of
the CPU time.
17.12.2. Clear Timer on Compare Match (CTC) Mode
In Clear Timer on Compare or CTC modes (mode 4 or 12, WGM1[3:0]=0x4 or 0xC), the OCR1A or ICR1
registers are used to manipulate the counter resolution: the counter is cleared to ZERO when the counter
value (TCNT1) matches either the OCR1A (if WGM1[3:0]=0x4) or the ICR1 (WGM1[3:0]=0xC). The
OCR1A or ICR1 define the top value for the counter, hence also its resolution. This mode allows greater
control of the compare match output frequency. It also simplifies the operation of counting external
events.
The timing diagram for the CTC mode is shown below. The counter value (TCNT1) increases until a
compare match occurs with either OCR1A or ICR1, and then TCNT1 is cleared.
Figure 17-6. CTC Mode, Timing Diagram
OCnA Interrupt Flag Set
or ICFn Interrupt Flag Set
(Interrupt on TOP)
TCNTn
OCnA
(Toggle)
Period
(COMnA[1:0] = 0x1)
1
2
3
4
Note: The “n” in the register and bit names indicates the device number (n = 1 for Timer/Counter 1), and
the “x” indicates Output Compare unit (A/B).
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An interrupt can be generated at each time the counter value reaches the TOP value by either using the
OCF1A or ICF1 Flag, depending on the actual CTC mode. If the interrupt is enabled, the interrupt handler
routine can be used for updating the TOP value.
Note: Changing TOP to a value close to BOTTOM while the counter is running must be done with care,
since the CTC mode does not provide double buffering. If the new value written to OCR1A is lower than
the current value of TCNT1, the counter will miss the compare match. The counter will then count to its
maximum value (0xFF for a 8-bit counter, 0xFFFF for a 16-bit counter) and wrap around starting at 0x00
before the compare match will occur.
In many cases this feature is not desirable. An alternative will then be to use the Fast PWM mode using
OCR1A for defining TOP (WGM1[3:0]=0xF), since the OCR1A then will be double buffered.
For generating a waveform output in CTC mode, the OC1A output can be set to toggle its logical level on
each compare match by setting the Compare Output mode bits to toggle mode (COM1A[1:0]=0x1). The
OC1A value will not be visible on the port pin unless the data direction for the pin is set to output
(DDR_OC1A=1). The waveform generated will have a maximum frequency of fOC1A = fclk_I/O/2 when
OCR1A is set to ZERO (0x0000). The waveform frequency is defined by the following equation:
�OCnA =
�clk_I/O
2 ⋅ � ⋅ 1 + OCRnA
Note: •
The “n” indicates the device number (n = 1 for Timer/Counter 1), and the “x” indicates Output
Compare unit (A/B).
•
N represents the prescaler factor (1, 8, 64, 256, or 1024).
As for the Normal mode of operation, the Timer Counter TOV Flag is set in the same timer clock cycle
that the counter counts from MAX to 0x0000.
17.12.3. Fast PWM Mode
The Fast Pulse Width Modulation or Fast PWM modes (modes 5, 6, 7, 14,and 15, WGM1[3:0]= 0x5, 0x6,
0x7, 0xE, 0xF) provide a high frequency PWM waveform generation option. The Fast PWM differs from
the other PWM options by its single-slope operation. The counter counts from BOTTOM to TOP then
restarts from BOTTOM.
In non-inverting Compare Output mode, the Output Compare (OC1x) is cleared on the compare match
between TCNT1 and OCR1x, and set at BOTTOM. In inverting Compare Output mode output is set on
compare match and cleared at BOTTOM. Due to the single-slope operation, the operating frequency of
the Fast PWM mode can be twice as high as the phase correct and phase and frequency correct PWM
modes that use dual-slope operation. This high frequency makes the Fast PWM mode well suited for
power regulation, rectification, and DAC applications. High frequency allows physically small sized
external components (coils, capacitors), hence reduces total system cost.
The PWM resolution for Fast PWM can be fixed to 8-, 9-, or 10-bit, or defined by either ICR1 or OCR1A.
The minimum resolution allowed is 2-bit (ICR1 or OCR1A register set to 0x0003), and the maximum
resolution is 16-bit (ICR1 or OCR1A registers set to MAX). The PWM resolution in bits can be calculated
by using the following equation:
�FPWM =
log TOP+1
log 2
In Fast PWM mode the counter is incremented until the counter value matches either one of the fixed
values 0x00FF, 0x01FF, or 0x03FF (WGM1[3:0] = 0x5, 0x6, or 0x7), the value in ICR1 (WGM1[3:0]=0xE),
or the value in OCR1A (WGM1[3:0]=0xF). The counter is then cleared at the following timer clock cycle.
The timing diagram for the Fast PWM mode using OCR1A or ICR1 to define TOP is shown below. The
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TCNT1 value is in the timing diagram shown as a histogram for illustrating the single-slope operation. The
diagram includes non-inverted and inverted PWM outputs. The small horizontal lines on the TCNT1
slopes mark compare matches between OCR1x and TCNT1. The OC1x Interrupt Flag will be set when a
compare match occurs.
Figure 17-7. Fast PWM Mode, Timing Diagram
OCRnx/TOP Update and
TOVn Interrupt Flag Set and
OCnA Interrupt Flag Set
or ICFn Interrupt Flag Set
(Interrupt on TOP)
TCNTn
OCnx
(COMnx[1:0] = 0x2)
OCnx
(COMnx[1:0] = 0x3)
Period
1
2
3
4
5
6
7
8
Note: The “n” in the register and bit names indicates the device number (n = 1 for Timer/Counter 1), and
the “x” indicates Output Compare unit (A/B).
The Timer/Counter Overflow Flag (TOV1) is set each time the counter reaches TOP. In addition, when
either OCR1A or ICR1 is used for defining the TOP value, the OC1A or ICF1 Flag is set at the same timer
clock cycle TOV1 is set. If one of the interrupts are enabled, the interrupt handler routine can be used for
updating the TOP and compare values.
When changing the TOP value the program must ensure that the new TOP value is higher or equal to the
value of all of the Compare Registers. If the TOP value is lower than any of the Compare Registers, a
compare match will never occur between the TCNT1 and the OCR1x. Note that when using fixed TOP
values the unused bits are masked to zero when any of the OCR1x Registers are written.
The procedure for updating ICR1 differs from updating OCR1A when used for defining the TOP value.
The ICR1 Register is not double buffered. This means that if ICR1 is changed to a low value when the
counter is running with none or a low prescaler value, there is a risk that the new ICR1 value written is
lower than the current value of TCNT1. As result, the counter will miss the compare match at the TOP
value. The counter will then have to count to the MAX value (0xFFFF) and wrap around starting at
0x0000 before the compare match can occur. The OCR1A Register however, is double buffered. This
feature allows the OCR1A I/O location to be written anytime. When the OCR1A I/O location is written the
value written will be put into the OCR1A Buffer Register. The OCR1A Compare Register will then be
updated with the value in the Buffer Register at the next timer clock cycle the TCNT1 matches TOP. The
update is done at the same timer clock cycle as the TCNT1 is cleared and the TOV1 Flag is set.
Using the ICR1 Register for defining TOP works well when using fixed TOP values. By using ICR1, the
OCR1A Register is free to be used for generating a PWM output on OC1A. However, if the base PWM
frequency is actively changed (by changing the TOP value), using the OCR1A as TOP is clearly a better
choice due to its double buffer feature.
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In Fast PWM mode, the compare units allow generation of PWM waveforms on the OC1x pins. Writing
the COM1x[1:0] bits to 0x2 will produce an inverted PWM and a non-inverted PWM output can be
generated by writing the COM1x[1:0] to 0x3. The actual OC1x value will only be visible on the port pin if
the data direction for the port pin is set as output (DDR_OC1x). The PWM waveform is generated by
setting (or clearing) the OC1x Register at the compare match between OCR1x and TCNT1, and clearing
(or setting) the OC1x Register at the timer clock cycle the counter is cleared (changes from TOP to
BOTTOM).
The PWM frequency for the output can be calculated by the following equation:
�OCnxPWM =
�clk_I/O
� ⋅ 1 + TOP
Note: •
The “n” in the register and bit names indicates the device number (n = 1 for Timer/Counter 1), and
the “x” indicates Output Compare unit (A/B).
•
N represents the prescale divider (1, 8, 64, 256, or 1024).
The extreme values for the OCR1x registers represents special cases when generating a PWM waveform
output in the Fast PWM mode. If the OCR1x is set equal to BOTTOM (0x0000) the output will be a narrow
spike for each TOP+1 timer clock cycle. Setting the OCR1x equal to TOP will result in a constant high or
low output (depending on the polarity of the output which is controlled by COM1x[1:0]).
A frequency waveform output with 50% duty cycle can be achieved in Fast PWM mode by selecting
OC1A to toggle its logical level on each compare match (COM1A[1:0]=0x1). This applies only if OCR1A is
used to define the TOP value (WGM1[3:0]=0xF). The waveform generated will have a maximum
frequency of fOC1A = fclk_I/O/2 when OCR1A is set to zero (0x0000). This feature is similar to the OC1A
toggle in CTC mode, except the double buffer feature of the Output Compare unit is enabled in the Fast
PWM mode.
17.12.4. Phase Correct PWM Mode
The Phase Correct Pulse Width Modulation or Phase Correct PWM modes (WGM1[3:0]= 0x1, 0x2, 0x3,
0xA, and 0xB) provide a high resolution, phase correct PWM waveform generation option. The Phase
Correct PWM mode is, like the phase and frequency correct PWM mode, based on a dual-slope
operation. The counter counts repeatedly from BOTTOM (0x0000) to TOP and then from TOP to
BOTTOM. In non-inverting Compare Output mode, the Output Compare (OC1x) is cleared on the
compare match between TCNT1 and OCR1x while up-counting, and set on the compare match while
down-counting. In inverting Output Compare mode, the operation is inverted. The dual-slope operation
has lower maximum operation frequency than single slope operation. However, due to the symmetric
feature of the dual-slope PWM modes, these modes are preferred for motor control applications.
The PWM resolution for the Phase Correct PWM mode can be fixed to 8-, 9-, or 10-bit, or defined by
either ICR1 or OCR1A. The minimum resolution allowed is 2-bit (ICR1 or OCR1A set to 0x0003), and the
maximum resolution is 16-bit (ICR1 or OCR1A set to MAX). The PWM resolution in bits can be calculated
by using the following equation:
�PCPWM =
log TOP+1
log 2
In Phase Correct PWM mode the counter is incremented until the counter value matches either one of the
fixed values 0x00FF, 0x01FF, or 0x03FF (WGM1[3:0]= 0x1, 0x2, or 0x3), the value in ICR1
(WGM1[3:0]=0xA), or the value in OCR1A (WGM1[3:0]=0xB). The counter has then reached the TOP and
changes the count direction. The TCNT1 value will be equal to TOP for one timer clock cycle. The timing
diagram for the Phase Correct PWM mode is shown below, using OCR1A or ICR1 to define TOP. The
TCNT1 value is in the timing diagram shown as a histogram for illustrating the dual-slope operation. The
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diagram includes non-inverted and inverted PWM outputs. The small horizontal lines on the TCNT1
slopes mark compare matches between OCR1x and TCNT1. The OC1x Interrupt Flag will be set when a
compare match occurs.
Figure 17-8. Phase Correct PWM Mode, Timing Diagram
OCRnx/TOP Update and
OCnA Interrupt Flag Set
or ICFn Interrupt Flag Set
(Interrupt on TOP)
TOVn Interrupt Flag Set
(Interrupt on Bottom)
TCNTn
OCnx
(COMnx[1:0]] = 0x2)
OCnx
(COMnx[1:0] = 0x3)
Period
1
2
3
4
Note: The “n” in the register and bit names indicates the device number (n = 1 for Timer/Counter 1), and
the “x” indicates Output Compare unit (A/B).
The Timer/Counter Overflow Flag (TOV1) is set each time the counter reaches BOTTOM. When either
OCR1A or ICR1 is used for defining the TOP value, the OC1A or ICF1 Flag is set accordingly at the same
timer clock cycle as the OCR1x Registers are updated with the double buffer value (at TOP). The
Interrupt Flags can be used to generate an interrupt each time the counter reaches the TOP or BOTTOM
value.
When changing the TOP value the program must ensure that the new TOP value is higher or equal to the
value of all of the Compare Registers. If the TOP value is lower than any of the Compare Registers, a
compare match will never occur between the TCNT1 and the OCR1x. Note that when using fixed TOP
values, the unused bits are masked to zero when any of the OCR1x registers is written. As illustrated by
the third period in the timing diagram, changing the TOP actively while the Timer/Counter is running in the
phase correct mode can result in an unsymmetrical output. The reason for this can be found in the time of
update of the OCR1x Register. Since the OCR1x update occurs at TOP, the PWM period starts and ends
at TOP. This implies that the length of the falling slope is determined by the previous TOP value, while the
length of the rising slope is determined by the new TOP value. When these two values differ the two
slopes of the period will differ in length. The difference in length gives the unsymmetrical result on the
output.
It is recommended to use the phase and frequency correct mode instead of the phase correct mode when
changing the TOP value while the Timer/Counter is running. When using a static TOP value, there are
practically no differences between the two modes of operation.
In Phase Correct PWM mode, the compare units allow generation of PWM waveforms on the OC1x pins.
Writing COM1x[1:0] bits to 0x2 will produce a non-inverted PWM. An inverted PWM output can be
generated by writing the COM1x[1:0] to 0x3. The actual OC1x value will only be visible on the port pin if
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the data direction for the port pin is set as output (DDR_OC1x). The PWM waveform is generated by
setting (or clearing) the OC1x Register at the compare match between OCR1x and TCNT1 when the
counter increments, and clearing (or setting) the OC1x Register at compare match between OCR1x and
TCNT1 when the counter decrements. The PWM frequency for the output when using Phase Correct
PWM can be calculated by the following equation:
�OCnxPCPWM =
�clk_I/O
2 ⋅ � ⋅ TOP
N represents the prescale divider (1, 8, 64, 256, or 1024).
The extreme values for the OCR1x Register represent special cases when generating a PWM waveform
output in the Phase Correct PWM mode. If the OCR1x is set equal to BOTTOM the output will be
continuously low and if set equal to TOP the output will be continuously high for non-inverted PWM mode.
For inverted PWM the output will have the opposite logic values. If OCR1A is used to define the TOP
value (WGM1[3:0]=0xB) and COM1A[1:0]=0x1, the OC1A output will toggle with a 50% duty cycle.
17.12.5. Phase and Frequency Correct PWM Mode
The phase and frequency correct Pulse Width Modulation, or phase and frequency correct PWM mode
(WGM1[3:0] = 0x8 or 0x9) provides a high resolution phase and frequency correct PWM waveform
generation option. The phase and frequency correct PWM mode is, like the phase correct PWM mode,
based on a dual-slope operation. The counter counts repeatedly from BOTTOM (0x0000) to TOP and
then from TOP to BOTTOM. In non-inverting Compare Output mode, the Output Compare (OC1x) is
cleared on the compare match between TCNT1 and OCR1x while up-counting, and set on the compare
match while down-counting. In inverting Compare Output mode, the operation is inverted. The dual-slope
operation gives a lower maximum operation frequency compared to the single-slope operation. However,
due to the symmetric feature of the dual-slope PWM modes, these modes are preferred for motor control
applications.
The main difference between the phase correct, and the phase and frequency correct PWM mode is the
time the OCR1x Register is updated by the OCR1x Buffer Register, (see Figure 17-8 Phase Correct
PWM Mode, Timing Diagram and the Timing Diagram below).
The PWM resolution for the phase and frequency correct PWM mode can be defined by either ICR1 or
OCR1A. The minimum resolution allowed is 2-bit (ICR1 or OCR1A set to 0x0003), and the maximum
resolution is 16-bit (ICR1 or OCR1A set to MAX). The PWM resolution in bits can be calculated using the
following equation:
�PFCPWM =
log TOP+1
log 2
In phase and frequency correct PWM mode the counter is incremented until the counter value matches
either the value in ICR1 (WGM1[3:0]=0x8), or the value in OCR1A (WGM1[3:0]=0x9). The counter has
then reached the TOP and changes the count direction. The TCNT1 value will be equal to TOP for one
timer clock cycle. The timing diagram for the phase correct and frequency correct PWM mode is shown
below. The figure shows phase and frequency correct PWM mode when OCR1A or ICR1 is used to
define TOP. The TCNT1 value is in the timing diagram shown as a histogram for illustrating the dual-slope
operation. The diagram includes non-inverted and inverted PWM outputs. The small horizontal line marks
on the TCNT1 slopes represent compare matches between OCR1x and TCNT1. The OC1x Interrupt Flag
will be set when a compare match occurs.
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Figure 17-9. Phase and Frequency Correct PWM Mode, Timing Diagram
OCnA Interrupt Flag Set
or ICFn Interrupt Flag Set
(Interrupt on TOP)
OCRnx/TOP Updateand
TOVn Interrupt Flag Set
(Interrupt on Bottom)
TCNTn
OCnx
(COMnx[1:0] = 0x2)
OCnx
(COMnx[1:0] = 0x3)
Period
1
2
3
4
Note: The “n” in the register and bit names indicates the device number (n = 1 for Timer/Counter 1), and
the “x” indicates Output Compare unit (A/B).
The Timer/Counter Overflow Flag (TOV1) is set at the same timer clock cycle as the OCR1x Registers
are updated with the double buffer value (at BOTTOM). When either OCR1A or ICR1 is used for defining
the TOP value, the OC1A or ICF1 Flag set when TCNT1 has reached TOP. The Interrupt Flags can then
be used to generate an interrupt each time the counter reaches the TOP or BOTTOM value.
When changing the TOP value the program must ensure that the new TOP value is higher or equal to the
value of all of the Compare Registers. If the TOP value is lower than any of the Compare Registers, a
compare match will never occur between the TCNT1 and the OCR1x.
As shown in the timing diagram above, the output generated is, in contrast to the phase correct mode,
symmetrical in all periods. Since the OCR1x Registers are updated at BOTTOM, the length of the rising
and the falling slopes will always be equal. This gives symmetrical output pulses and is therefore
frequency correct.
Using the ICR1 Register for defining TOP works well when using fixed TOP values. By using ICR1, the
OCR1A Register is free to be used for generating a PWM output on OC1A. However, if the base PWM
frequency is actively changed by changing the TOP value, using the OCR1A as TOP is clearly a better
choice due to its double buffer feature.
In phase and frequency correct PWM mode, the compare units allow generation of PWM waveforms on
the OC1x pins. Setting the COM1x[1:0] bits to 0x2 will produce a non-inverted PWM and an inverted
PWM output can be generated by setting the COM1x[1:0] to 0x3 (See description of TCCRA.COM1x).
The actual OC1x value will only be visible on the port pin if the data direction for the port pin is set as
output (DDR_OC1x). The PWM waveform is generated by setting (or clearing) the OC1x Register at the
compare match between OCR1x and TCNT1 when the counter increments, and clearing (or setting) the
OC1x Register at compare match between OCR1x and TCNT1 when the counter decrements. The PWM
frequency for the output when using phase and frequency correct PWM can be calculated by the
following equation:
�OCnxPFCPWM =
�clk_I/O
2 ⋅ � ⋅ TOP
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Note: •
The “n” in the register and bit names indicates the device number (n = 1 for Timer/Counter 1), and
the “x” indicates Output Compare unit (A/B).
•
N represents the prescale divider (1, 8, 64, 256, or 1024).
The extreme values for the OCR1x Register represents special cases when generating a PWM waveform
output in the phase correct PWM mode. If the OCR1x is set equal to BOTTOM the output will be
continuously low and if set equal to TOP the output will be set to high for non-inverted PWM mode. For
inverted PWM the output will have the opposite logic values. If OCR1A is used to define the TOP value
(WGM1[3:0]=0x9) and COM1A[1:0]=0x1, the OC1A output will toggle with a 50% duty cycle.
17.13. Timer/Counter Timing Diagrams
The Timer/Counter is a synchronous design and the timer clock (clkT1) is therefore shown as a clock
enable signal in the following figures. The figures include information on when Interrupt Flags are set, and
when the OCR1x Register is updated with the OCR1x buffer value (only for modes utilizing double
buffering). The first figure shows a timing diagram for the setting of OCF1x.
Figure 17-10. Timer/Counter Timing Diagram, Setting of OCF1x, no Prescaling
clkI/O
clkTn
(clkI/O /1)
TCNTn
OCRnx - 1
OCRnx
OCRnx
OCRnx + 1
OCRnx + 2
OCRnx Value
OCFnx
Note: The “n” in the register and bit names indicates the device number (n = 1 for Timer/Counter 1), and
the “x” indicates Output Compare unit (A/B).
The next figure shows the same timing data, but with the prescaler enabled.
Figure 17-11. Timer/Counter Timing Diagram, Setting of OCF1x, with Prescaler (fclk_I/O/8)
clkI/O
clkTn
(clkI/O /8)
TCNTn
OCRnx
OCRnx - 1
OCRnx
OCRnx + 1
OCRnx + 2
OCRnx Value
OCFnx
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Note: The “n” in the register and bit names indicates the device number (n = 1 for Timer/Counter 1), and
the “x” indicates Output Compare unit (A/B).
The next figure shows the count sequence close to TOP in various modes. When using phase and
frequency correct PWM mode the OCR1x Register is updated at BOTTOM. The timing diagrams will be
the same, but TOP should be replaced by BOTTOM, TOP-1 by BOTTOM+1 and so on. The same
renaming applies for modes that set the TOV1 Flag at BOTTOM.
Figure 17-12. Timer/Counter Timing Diagram, no Prescaling.
clkI/O
clkTn
(clkI/O /1)
TCNTn
(CTC and FPWM)
TCNTn
(PC and PFC PWM)
TOP - 1
TOP
BOTTOM
TOP - 1
TOP
TOP - 1
BOTTOM + 1
TOP - 2
TOVn (FPWM)
and ICF n (if used
as TOP)
OCRnx
(Update at TOP)
New OCRnx Value
Old OCRnx Value
Note: The “n” in the register and bit names indicates the device number (n = 1 for Timer/Counter 1), and
the “x” indicates Output Compare unit (A/B).
The next figure shows the same timing data, but with the prescaler enabled.
Figure 17-13. Timer/Counter Timing Diagram, with Prescaler (fclk_I/O/8)
clkI/O
clkTn
(clkI/O/8)
TCNTn
(CTC and FPWM)
TCNTn
(PC and PFC PWM)
TOP - 1
TOP
BOTTOM
TOP - 1
TOP
TOP - 1
BOTTOM + 1
TOP - 2
TOVn(FPWM)
and ICF n (if used
as TOP)
OCRnx
(Update at TOP)
Old OCRnx Value
New OCRnx Value
Note: The “n” in the register and bit names indicates the device number (n = 1 for Timer/Counter 1), and
the “x” indicates Output Compare unit (A/B).
17.14. Register Description
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17.14.1. TC1 Control Register A
Name: TCCR1A
Offset: 0x80
Reset: 0x00
Property: Bit
Access
Reset
7
6
5
4
1
0
COM1
COM1
COM1
COM1
3
2
WGM11
WGM10
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
Bits 4, 5, 6, 7 – COM1, COM1, COM1, COM1: Compare Output Mode for Channel
The COM1A[1:0] and COM1B[1:0] control the Output Compare pins (OC1A and OC1B respectively)
behavior. If one or both of the COM1A[1:0] bits are written to one, the OC1A output overrides the normal
port functionality of the I/O pin it is connected to. If one or both of the COM1B[1:0] bit are written to one,
the OC1B output overrides the normal port functionality of the I/O pin it is connected to. However, note
that the Data Direction Register (DDR) bit corresponding to the OC1A or OC1B pin must be set in order
to enable the output driver.
When the OC1A or OC1B is connected to the pin, the function of the COM1x[1:0] bits is dependent of the
WGM1[3:0] bits setting. The table below shows the COM1x[1:0] bit functionality when the WGM1[3:0] bits
are set to a Normal or a CTC mode (non-PWM).
Table 17-3. Compare Output Mode, non-PWM
COM1A1/COM1B1 COM1A0/COM1B0 Description
0
0
Normal port operation, OC1A/OC1B disconnected.
0
1
Toggle OC1A/OC1B on Compare Match.
1
0
Clear OC1A/OC1B on Compare Match (Set output to low
level).
1
1
Set OC1A/OC1B on Compare Match (Set output to high
level).
The table below shows the COM1x[1:0] bit functionality when the WGM1[3:0] bits are set to the fast PWM
mode.
Table 17-4. Compare Output Mode, Fast PWM
COM1A1/
COM1B1
COM1A0/
COM1B0
Description
0
0
Normal port operation, OC1A/OC1B disconnected.
0
1
WGM1[3:0] = 14 or 15: Toggle OC1A on Compare Match, OC1B
disconnected (normal port operation). For all other WGM1 settings,
normal port operation, OC1A/OC1B disconnected.
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COM1A1/
COM1B1
COM1A0/
COM1B0
Description
1
0
Clear OC1A/OC1B on Compare Match, set OC1A/OC1B at
BOTTOM (non-inverting mode)
1
1
Set OC1A/OC1B on Compare Match, clear OC1A/OC1B at
BOTTOM (inverting mode)
Note: 1. A special case occurs when OCR1A/OCR1B equals TOP and COM1A1/COM1B1 is set. In this
case the compare match is ignored, but the set or clear is done at BOTTOM. Refer to Fast PWM
Mode for details.
The table below shows the COM1x1:0 bit functionality when the WGM1[3:0] bits are set to the phase
correct or the phase and frequency correct, PWM mode.
Table 17-5. Compare Output Mode, Phase Correct and Phase and Frequency Correct PWM
COM1A1/
COM1B1
COM1A0/
COM1B0
Description
0
0
Normal port operation, OC1A/OC1B disconnected.
0
1
WGM1[3:0] = 9 or 11: Toggle OC1A on Compare Match, OC1B
disconnected (normal port operation). For all other WGM1 settings,
normal port operation, OC1A/OC1B disconnected.
1
0
Clear OC1A/OC1B on Compare Match when up-counting. Set
OC1A/OC1B on Compare Match when down-counting.
1
1
Set OC1A/OC1B on Compare Match when up-counting. Clear
OC1A/OC1B on Compare Match when down-counting.
Note: 1. A special case occurs when OCR1A/OCR1B equals TOP and COM1A1/COM1B1 is set. Refer to
Phase Correct PWM Mode for details.
Bits 0, 1 – WGM10, WGM11: Waveform Generation Mode
Combined with the WGM1[3:2] bits found in the TCCR1B Register, these bits control the counting
sequence of the counter, the source for maximum (TOP) counter value, and what type of waveform
generation to be used. Modes of operation supported by the Timer/Counter unit are: Normal mode
(counter), Clear Timer on Compare match (CTC) mode, and three types of Pulse Width Modulation
(PWM) modes. (See Modes of Operation).
Table 17-6. Waveform Generation Mode Bit Description
Mode
WGM13
WGM12
WGM11
WGM10
(CTC1)(1)
(PWM11)(1)
(PWM10)(1)
Timer/
Counter
TOP
Update of
TOV1 Flag
OCR1x at
Set on
Mode of
Operation
0
0
0
0
0
Normal
0xFFFF
Immediate
MAX
1
0
0
0
1
PWM, Phase
Correct, 8-bit
0x00FF
TOP
BOTTOM
2
0
0
1
0
PWM, Phase
Correct, 9-bit
0x01FF
TOP
BOTTOM
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Mode
WGM13
WGM12
WGM11
WGM10
(CTC1)(1)
(PWM11)(1)
(PWM10)(1)
Timer/
Counter
TOP
Update of
TOV1 Flag
OCR1x at
Set on
Mode of
Operation
3
0
0
1
1
PWM, Phase
Correct, 10-bit
0x03FF
TOP
BOTTOM
4
0
1
0
5
0
1
0
0
CTC
OCR1A
Immediate
MAX
1
Fast PWM, 8bit
0x00FF
BOTTOM
TOP
6
0
1
1
0
Fast PWM, 9bit
0x01FF
BOTTOM
TOP
7
0
1
1
1
Fast PWM, 10bit
0x03FF
BOTTOM
TOP
8
1
0
0
0
PWM, Phase
and Frequency
Correct
ICR1
BOTTOM
BOTTOM
9
1
0
0
1
PWM, Phase
and Frequency
Correct
OCR1A
BOTTOM
BOTTOM
10
1
0
1
0
PWM, Phase
Correct
ICR1
TOP
BOTTOM
11
1
0
1
1
PWM, Phase
Correct
OCR1A
TOP
BOTTOM
12
1
1
0
0
CTC
ICR1
Immediate
MAX
13
1
1
0
1
Reserved
-
-
-
14
1
1
1
0
Fast PWM
ICR1
BOTTOM
TOP
15
1
1
1
1
Fast PWM
OCR1A
BOTTOM
TOP
Note: 1. The CTC1 and PWM1[1:0] bit definition names are obsolete. Use the WGM1[3:0] definitions.
However, the functionality and location of these bits are compatible with previous versions of the
timer.
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17.14.2. TC1 Control Register B
Name: TCCR1B
Offset: 0x81
Reset: 0x00
Property: Bit
Access
7
6
4
3
2
1
0
ICNC1
ICES1
WGM13
WGM12
CS12
CS11
CS10
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
Reset
5
Bit 7 – ICNC1: Input Capture Noise Canceler
Writing this bit to '1' activates the Input Capture Noise Canceler. When the noise canceler is activated, the
input from the Input Capture pin (ICP1) is filtered. The filter function requires four successive equal valued
samples of the ICP1 pin for changing its output. The Input Capture is therefore delayed by four Oscillator
cycles when the noise canceler is enabled.
Bit 6 – ICES1: Input Capture Edge Select
This bit selects which edge on the Input Capture pin (ICP1) that is used to trigger a capture event. When
the ICES1 bit is written to zero, a falling (negative) edge is used as trigger, and when the ICES1 bit is
written to '1', a rising (positive) edge will trigger the capture.
When a capture is triggered according to the ICES1 setting, the counter value is copied into the Input
Capture Register (ICR1). The event will also set the Input Capture Flag (ICF1), and this can be used to
cause an Input Capture Interrupt, if this interrupt is enabled.
When the ICR1 is used as TOP value (see description of the WGM1[3:0] bits located in the TCCR1A and
the TCCR1B Register), the ICP1 is disconnected and consequently the Input Capture function is
disabled.
Bits 3, 4 – WGM12, WGM13: Waveform Generation Mode
Refer to TCCR1A.
Bits 0, 1, 2 – CS1n0, CS1n1, CS1n2: Clock Select [n = 0..2]
The three Clock Select bits select the clock source to be used by the Timer/Counter. Refer to Figure
17-10 Timer/Counter Timing Diagram, Setting of OCF1x, no Prescaling and Figure 17-11 Timer/Counter
Timing Diagram, Setting of OCF1x, with Prescaler (fclk_I/O/8).
Table 17-7. Clock Select Bit Description
CS12
CS11
CS10
0
0
0
No clock source (Timer/Counter stopped).
1
clkI/O/1 (No prescaling)
0
Description
0
1
0
clkI/O/8 (From prescaler)
0
1
1
clkI/O/64 (From prescaler)
1
0
0
clkI/O/256 (From prescaler)
1
0
1
clkI/O/1024 (From prescaler)
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CS12
CS11
CS10
Description
1
1
0
External clock source on T1 pin. Clock on falling edge.
1
1
1
External clock source on T1 pin. Clock on rising edge.
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17.14.3. TC1 Control Register C
Name: TCCR1C
Offset: 0x82
Reset: 0x00
Property: Bit
Access
Reset
7
6
FOC1A
FOC1B
R/W
R/W
0
0
5
4
3
2
1
0
Bit 7 – FOC1A: Force Output Compare for Channel A
Bit 6 – FOC1B: Force Output Compare for Channel B
The FOC1A/FOC1B bits are only active when the WGM1[3:0] bits specifies a non-PWM mode. When
writing a logical one to the FOC1A/FOC1B bit, an immediate compare match is forced on the Waveform
Generation unit. The OC1A/OC1B output is changed according to its COM1x[1:0] bits setting. Note that
the FOC1A/FOC1B bits are implemented as strobes. Therefore it is the value present in the COM1x[1:0]
bits that determine the effect of the forced compare.
A FOC1A/FOC1B strobe will not generate any interrupt nor will it clear the timer in Clear Timer on
Compare match (CTC) mode using OCR1A as TOP. The FOC1A/FOC1B bits are always read as zero.
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17.14.4. TC1 Counter Value Low byte
Name: TCNT1L
Offset: 0x84
Reset: 0x00
Property: Bit
7
6
5
4
3
2
1
0
TCNT1L[7:0]
Access
Reset
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – TCNT1L[7:0]: Timer/Counter 1 Counter Value Low byte
The two Timer/Counter I/O locations (TCNT1H and TCNT1L, combined TCNT1) give direct access, both
for read and for write operations, to the Timer/Counter unit 16-bit counter. To ensure that both the high
and low bytes are read and written simultaneously when the CPU accesses these registers, the access is
performed using an 8-bit temporary High Byte Register (TEMP). This temporary register is shared by all
the other 16-bit registers. Refer to Accessing 16-bit Registers for details.
Modifying the counter (TCNT1) while the counter is running introduces a risk of missing a compare match
between TCNT1 and one of the OCR1x Registers.
Writing to the TCNT1 Register blocks (removes) the compare match on the following timer clock for all
compare units.
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17.14.5. TC1 Counter High byte
Name: TCNT1H
Offset: 0x85
Reset: 0x00
Property: Bit
7
6
5
4
3
2
1
0
TCNT1H[7:0]
Access
Reset
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – TCNT1H[7:0]: Timer/Counter 1 High byte
Refer to TCNT1L.
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17.14.6. Input Capture Register 1 Low byte
Name: ICR1L
Offset: 0x86
Reset: 0x00
Property: Bit
7
6
5
4
3
2
1
0
ICR1L[7:0]
Access
Reset
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – ICR1L[7:0]: Input Capture 1 Low byte
The Input Capture is updated with the counter (TCNT1) value each time an event occurs on the ICP1 pin
(or optionally on the Analog Comparator output for Timer/Counter1). The Input Capture can be used for
defining the counter TOP value.
The Input Capture Register is 16-bit in size. To ensure that both the high and low bytes are read
simultaneously when the CPU accesses these registers, the access is performed using an 8-bit
temporary High Byte Register (TEMP). This temporary register is shared by all the other 16-bit registers.
Refer to Accessing 16-bit Registers for details.
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17.14.7. Input Capture Register 1 High byte
Name: ICR1H
Offset: 0x87
Reset: 0x00
Property: Bit
7
6
5
4
3
2
1
0
ICR1H[7:0]
Access
Reset
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – ICR1H[7:0]: Input Capture 1 High byte
Refer to ICR1L.
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17.14.8. Output Compare Register 1 A Low byte
Name: OCR1AL
Offset: 0x88
Reset: 0x00
Property: Bit
7
6
5
4
3
2
1
0
OCR1AL[7:0]
Access
Reset
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – OCR1AL[7:0]: Output Compare 1 A Low byte
The Output Compare Registers contain a 16-bit value that is continuously compared with the counter
value (TCNT1). A match can be used to generate an Output Compare interrupt, or to generate a
waveform output on the OC1x pin.
The Output Compare Registers are 16-bit in size. To ensure that both the high and low bytes are written
simultaneously when the CPU writes to these registers, the access is performed using an 8-bit temporary
High Byte Register (TEMP). This temporary register is shared by all the other 16-bit registers. Refer to
Accessing 16-bit Registers for details.
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17.14.9. Output Compare Register 1 A High byte
Name: OCR1AH
Offset: 0x89
Reset: 0x00
Property: Bit
7
6
5
4
3
2
1
0
OCR1AH[7:0]
Access
Reset
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – OCR1AH[7:0]: Output Compare 1 A High byte
Refer to OCR1AL.
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17.14.10. Output Compare Register 1 B Low byte
Name: OCR1BL
Offset: 0x8A
Reset: 0x00
Property: Bit
7
6
5
4
3
2
1
0
OCR1BL[7:0]
Access
Reset
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – OCR1BL[7:0]: Output Compare 1 B Low byte
Refer to OCR1AL.
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17.14.11. Output Compare Register 1 B High byte
Name: OCR1BH
Offset: 0x8B
Reset: 0x00
Property: Bit
7
6
5
4
3
2
1
0
OCR1BH[7:0]
Access
Reset
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – OCR1BH[7:0]: Output Compare 1 B High byte
Refer to OCR1AL.
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17.14.12. Timer/Counter 1 Interrupt Mask Register
Name: TIMSK1
Offset: 0x6F
Reset: 0x00
Property: Bit
Access
Reset
7
6
2
1
0
ICIE
5
4
3
OCIEB
OCIEA
TOIE
R/W
R/W
R/W
R/W
0
0
0
0
Bit 5 – ICIE: Input Capture Interrupt Enable
When this bit is written to '1', and the I-flag in the Status Register is set (interrupts globally enabled), the
Timer/Counter1 Input Capture interrupt is enabled. The corresponding Interrupt Vector is executed when
the ICF Flag, located in TIFR1, is set.
Bit 2 – OCIEB: Output Compare B Match Interrupt Enable
When this bit is written to '1', and the I-flag in the Status Register is set (interrupts globally enabled), the
Timer/Counter Output Compare B Match interrupt is enabled. The corresponding Interrupt Vector is
executed when the OCFB Flag, located in TIFR1, is set.
Bit 1 – OCIEA: Output Compare A Match Interrupt Enable
When this bit is written to '1', and the I-flag in the Status Register is set (interrupts globally enabled), the
Timer/Counter Output Compare A Match interrupt is enabled. The corresponding Interrupt Vector is
executed when the OCFA Flag, located in TIFR1, is set.
Bit 0 – TOIE: Overflow Interrupt Enable
When this bit is written to '1', and the I-flag in the Status Register is set (interrupts globally enabled), the
Timer/Counter 1 Overflow interrupt is enabled. The corresponding Interrupt Vector is executed when the
TOV Flag, located in TIFR1, is set.
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17.14.13. TC1 Interrupt Flag Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: TIFR1
Offset: 0x36
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x16
Bit
Access
Reset
7
6
2
1
0
ICF1
5
4
3
OCF1B
OCF1A
TOV1
R/W
R/W
R/W
R/W
0
0
0
0
Bit 5 – ICF1: Timer/Counter1, Input Capture Flag 1
This flag is set when a capture event occurs on the ICP1 pin. When the Input Capture Register (ICR1) is
set by the WGM1[3:0] to be used as the TOP value, the ICF Flag is set when the counter reaches the
TOP value.
ICF is automatically cleared when the Input Capture Interrupt Vector is executed. Alternatively, ICF can
be cleared by writing a logic one to its bit location.
Bit 2 – OCF1B: Timer/Counter1, Output Compare B Match Flag 1
This flag is set in the timer clock cycle after the counter (TCNT1) value matches the Output Compare
Register B (OCR1B).
Note that a Forced Output Compare (FOCB) strobe will not set the OCF1B Flag.
OCFB is automatically cleared when the Output Compare Match B Interrupt Vector is executed.
Alternatively, OCF1B can be cleared by writing a logic one to its bit location.
Bit 1 – OCF1A: Timer/Counter1, Output Compare A Match Flag 1
This flag is set in the timer clock cycle after the counter (TCNT1) value matches the Output Compare
Register A (OCR1A).
Note that a Forced Output Compare (FOCA) strobe will not set the OCF1A Flag.
OCFA is automatically cleared when the Output Compare Match A Interrupt Vector is executed.
Alternatively, OCF1A can be cleared by writing a logic one to its bit location.
Bit 0 – TOV1: Timer/Counter1, Overflow Flag 1
The setting of this flag is dependent of the WGM1[3:0] bits setting. In Normal and CTC modes, the TOV1
Flag is set when the timer overflows. Refer to the Waveform Generation Mode bit description for the TOV
Flag behavior when using another WGM1[3:0] bit setting.
TOV1 is automatically cleared when the Timer/Counter 1 Overflow Interrupt Vector is executed.
Alternatively, TOV1 can be cleared by writing a logic one to its bit location.
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18.
Timer/Counter 0, 1 Prescalers
The 8-bit Timer/Counter0 (TC0) , 16-bit Timer/Counters 1 (TC1) share the same prescaler module, but
the Timer/Counters can have different prescaler settings. The following description applies to: TC0 , TC1 .
Related Links
8-bit Timer/Counter0 with PWM on page 132
16-bit Timer/Counter1 with PWM on page 157
18.1.
Internal Clock Source
The Timer/Counter can be clocked directly by the system clock (by setting the CSn[2:0]=0x1). This
provides the fastest operation, with a maximum Timer/Counter clock frequency equal to system clock
frequency (fCLK_I/O). Alternatively, one of four taps from the prescaler can be used as a clock source. The
prescaled clock has a frequency of either fCLK_I/O/8, fCLK_I/O/64, fCLK_I/O/256, or fCLK_I/O/1024.
18.2.
Prescaler Reset
The prescaler is free running, i.e., operates independently of the Clock Select logic of the Timer/Counter,
and it is shared by Timer/Counter1 and Timer/Counter0. Since the prescaler is not affected by the Timer/
Counter’s clock select, the state of the prescaler will have implications for situations where a prescaled
clock is used. One example of prescaling artifacts occurs when the timer is enabled and clocked by the
prescaler (0x6 > CSn[2:0] > 0x1). The number of system clock cycles from when the timer is enabled to
the first count occurs can be from 1 to N+1 system clock cycles, where N equals the prescaler divisor (8,
64, 256, or 1024).
It is possible to use the prescaler reset for synchronizing the Timer/Counter to program execution.
However, care must be taken if the other Timer/Counter that shares the same prescaler also uses
prescaling. A prescaler reset will affect the prescaler period for all Timer/Counters it is connected to.
18.3.
External Clock Source
An external clock source applied to the T1/T0 pin can be used as Timer/Counter clock (clkT1/clkT0). The
T1/T0 pin is sampled once every system clock cycle by the pin synchronization logic. The synchronized
(sampled) signal is then passed through the edge detector. See also the block diagram of the T1/T0
synchronization and edge detector logic below. The registers are clocked at the positive edge of the
internal system clock (clkI/O). The latch is transparent in the high period of the internal system clock.
The edge detector generates one clkT1/clkT0 pulse for each positive (CSn[2:0]=0x7) or negative
(CSn[2:0]=0x6) edge it detects.
Figure 18-1. T1/T0 Pin Sampling
Tn
D
Q
D
Q
D
Tn_sync
(To Clock
Select Logic)
Q
LE
clk I/O
Synchronization
Edge Detector
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The synchronization and edge detector logic introduces a delay of 2.5 to 3.5 system clock cycles from an
edge has been applied to the T1/T0 pin to the counter is updated.
Enabling and disabling of the clock input must be done when T1/T0 has been stable for at least one
system clock cycle, otherwise it is a risk that a false Timer/Counter clock pulse is generated.
Each half period of the external clock applied must be longer than one system clock cycle to ensure
correct sampling. The external clock must be guaranteed to have less than half the system clock
frequency (fTn < fclk_I/O/2) given a 50% duty cycle. Since the edge detector uses sampling, the maximum
frequency of an external clock it can detect is half the sampling frequency (Nyquist sampling theorem).
However, due to variation of the system clock frequency and duty cycle caused by the tolerances of the
oscillator source (crystal, resonator, and capacitors), it is recommended that maximum frequency of an
external clock source is less than fclk_I/O/2.5.
An external clock source can not be prescaled.
Figure 18-2. Prescaler for Timer/Counter0 and Timer/Counter1(1)
clk I/O
10-BIT T/C PRESCALER
CK/1024
CK/256
PSR10
CK/64
CK/8
Clear
OFF
Tn
Synchronization
CSn0
CSn1
CSn2
TIMER /COUNTERn CLOCK
SOURCE clk Tn
Note: 1. The synchronization logic on the input pins (T1/T0) is shown in the block diagram above.
18.4.
Register Description
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18.4.1.
General Timer/Counter Control Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: GTCCR
Offset: 0x43
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x23
Bit
Access
Reset
1
0
TSM
7
6
5
4
3
2
PSRASY
PSRSYNC
R/W
R/W
R/W
0
0
0
Bit 7 – TSM: Timer/Counter Synchronization Mode
Writing the TSM bit to one activates the Timer/Counter Synchronization mode. In this mode, the value
that is written to the PSRASY and PSRSYNC bits is kept, hence keeping the corresponding prescaler
reset signals asserted. This ensures that the corresponding Timer/Counters are halted and can be
configured to the same value without the risk of one of them advancing during configuration. When the
TSM bit is written to zero, the PSRASY and PSRSYNC bits are cleared by hardware, and the Timer/
Counters start counting simultaneously.
Bit 1 – PSRASY: Prescaler Reset Timer/Counter2
When this bit is one, the Timer/Counter2 prescaler will be reset. This bit is normally cleared immediately
by hardware. If the bit is written when Timer/Counter2 is operating in asynchronous mode, the bit will
remain one until the prescaler has been reset. The bit will not be cleared by hardware if the TSM bit is
set.
Bit 0 – PSRSYNC: Prescaler Reset
When this bit is one, Timer/Counter1 and Timer/Counter0 prescaler will be Reset. This bit is normally
cleared immediately by hardware, except if the TSM bit is set. Note that Timer/Counter1 and Timer/
Counter0 share the same prescaler and a reset of this prescaler will affect both timers.
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19.
TC2 - 8-bit Timer/Counter2 with PWM and Asynchronous Operation
19.1.
Features
•
•
•
•
•
•
•
19.2.
Single Channel Counter
Clear Timer on Compare Match (Auto Reload)
Glitch-free, Phase Correct Pulse Width Modulator (PWM)
Frequency Generator
10-bit Clock Prescaler
Overflow and Compare Match Interrupt Sources (TOV2, OCF2A, and OCF2B)
Allows Clocking from External 32kHz Watch Crystal Independent of the I/O Clock
Overview
Timer/Counter2 (TC2) is a general purpose, single channel, 8-bit Timer/Counter module.
A simplified block diagram of the 8-bit Timer/Counter is shown below. CPU accessible I/O Registers,
including I/O bits and I/O pins, are shown in bold. The device-specific I/O Register and bit locations are
listed in the following Register Description. For the actual placement of I/O pins, refer to the pinout
diagram.
The TC2 is enabled when the PRTIM2 bit in the Power Reduction Register (PRR.PRTIM2) is written to '1'.
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Figure 19-1. 8-bit Timer/Counter Block Diagram
Count
Clear
Direction
TOVn
(Int.Req.)
Control Logic
Clock Select
clkTn
Edge
Detector
TOP
BOTTOM
( From Prescaler )
Timer/Counter
TCNTn
Tn
=
=0
OCnA
(Int.Req.)
Waveform
Generation
=
OCnA
OCRnA
DATA BUS
Fixed
TOP
Value
OCnB
(Int.Req.)
Waveform
Generation
=
OCnB
OCRnB
TCCRnA
TCCRnB
Related Links
Pin Configurations on page 15
19.2.1.
Definitions
Many register and bit references in this section are written in general form:
•
n=2 represents the Timer/Counter number
•
x=A,B represents the Output Compare Unit A or B
However, when using the register or bit definitions in a program, the precise form must be used, i.e.,
TCNT2 for accessing Timer/Counter2 counter value.
The following definitions are used throughout the section:
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Table 19-1. Definitions
Constant Description
BOTTOM The counter reaches the BOTTOM when it becomes zero (0x00).
19.2.2.
MAX
The counter reaches its maximum when it becomes 0xFF (decimal 255).
TOP
The counter reaches the TOP when it becomes equal to the highest value in the count
sequence. The TOP value can be assigned to be the fixed value 0xFF (MAX) or the value
stored in the OCR2A Register. The assignment is dependent on the mode of operation.
Registers
The Timer/Counter (TCNT2) and Output Compare Register (OCR2A and OCR2B) are 8-bit registers.
Interrupt request (shorten as Int.Req.) signals are all visible in the Timer Interrupt Flag Register (TIFR2).
All interrupts are individually masked with the Timer Interrupt Mask Register (TIMSK2). TIFR2 and
TIMSK2 are not shown in the figure.
The Timer/Counter can be clocked internally, via the prescaler, or asynchronously clocked from the
TOSC1/2 pins, as detailed later in this section. The asynchronous operation is controlled by the
Asynchronous Status Register (ASSR). The Clock Select logic block controls which clock source he
Timer/Counter uses to increment (or decrement) its value. The Timer/Counter is inactive when no clock
source is selected. The output from the Clock Select logic is referred to as the timer clock (clkT2).
The double buffered Output Compare Register (OCR2A and OCR2B) are compared with the Timer/
Counter value at all times. The result of the compare can be used by the Waveform Generator to
generate a PWM or variable frequency output on the Output Compare pins (OC2A and OC2B). See
Output Compare Unit for details. The compare match event will also set the Compare Flag (OCF2A or
OCF2B) which can be used to generate an Output Compare interrupt request.
19.3.
Timer/Counter Clock Sources
The Timer/Counter can be clocked by an internal synchronous or an external asynchronous clock source:
The clock source clkT2 is by default equal/synchronous to the MCU clock, clkI/O.
When the Asynchronous TC2 bit in the Asynchronous Status Register (ASSR.AS2) is written to '1', the
clock source is taken from the Timer/Counter Oscillator connected to TOSC1 and TOSC2.
For details on asynchronous operation, see the description of the ASSR. For details on clock sources and
prescaler, see Timer/Counter Prescaler.
19.4.
Counter Unit
The main part of the 8-bit Timer/Counter is the programmable bi-directional counter unit. Below is the
block diagram of the counter and its surroundings.
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Figure 19-2. Counter Unit Block Diagram
TOVn
(Int.Req.)
DATA BUS
TOSC1
count
TCNTn
clear
clk Tn
Control Logic
Prescaler
T/C
Oscillator
direction
bottom
TOSC2
clkI/O
top
Table 19-2. Signal description (internal signals):
Signal name Description
count
Increment or decrement TCNT2 by 1.
direction
Selects between increment and decrement.
clear
Clear TCNT2 (set all bits to zero).
clkTn
Timer/Counter clock, referred to as clkT2 in the following.
top
Signalizes that TCNT2 has reached maximum value.
bottom
Signalizes that TCNT2 has reached minimum value (zero).
Depending on the mode of operation used, the counter is cleared, incremented, or decremented at each
timer clock (clkT2). clkT2 can be generated from an external or internal clock source, selected by the Clock
Select bits (CS2[2:0]). When no clock source is selected (CS2[2:0]=0x0) the timer is stopped. However,
the TCNT2 value can be accessed by the CPU, regardless of whether clkT2 is present or not. A CPU write
overrides (has priority over) all counter clear or count operations.
The counting sequence is determined by the setting of the WGM21 and WGM20 bits located in the Timer/
Counter Control Register (TCCR2A) and the WGM22 bit located in the Timer/Counter Control Register B
(TCCR2B). There are close connections between how the counter behaves (counts) and how waveforms
are generated on the Output Compare outputs OC2A and OC2B. For more details about advanced
counting sequences and waveform generation, see "Modes of Operation".
The Timer/Counter Overflow Flag (TOV2) is set according to the mode of operation selected by the
TCC2B.WGM2[2:0] bits. TOV2 can be used for generating a CPU interrupt.
19.5.
Output Compare Unit
The 8-bit comparator continuously compares TCNT2 with the Output Compare Register (OCR2A and
OCR2B). Whenever TCNT2 equals OCR2A or OCR2B, the comparator signals a match. A match will set
the Output Compare Flag (OCF2A or OCF2B) at the next timer clock cycle. If the corresponding interrupt
is enabled, the Output Compare Flag generates an Output Compare interrupt. The Output Compare Flag
is automatically cleared when the interrupt is executed. Alternatively, the Output Compare Flag can be
cleared by software by writing a logical one to its I/O bit location. The Waveform Generator uses the
match signal to generate an output according to operating mode set by the WGM2[2:0] bits and Compare
Output mode (COM2x[1:0]) bits. The max and bottom signals are used by the Waveform Generator for
handling the special cases of the extreme values in some modes of operation (See Modes of Operation).
The following figure shows a block diagram of the Output Compare unit.
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Figure 19-3. Output Compare Unit, Block Diagram
DATA BUS
TCNTn
OCRnx
= (8-bit Comparator )
OCFnx (Int.Req.)
top
bottom
Waveform Generator
OCnx
FOCn
WGMn[1:0]
COMnx[1:0]
The OCR2x Register is double buffered when using any of the Pulse Width Modulation (PWM) modes.
For the Normal and Clear Timer on Compare (CTC) modes of operation, the double buffering is disabled.
The double buffering synchronizes the update of the OCR2x Compare Register to either top or bottom of
the counting sequence. The synchronization prevents the occurrence of odd-length, non-symmetrical
PWM pulses, thereby making the output glitch-free.
The OCR2x Register access may seem complex, but this is not case. When the double buffering is
enabled, the CPU has access to the OCR2x Buffer Register, and if double buffering is disabled the CPU
will access the OCR2x directly.
Related Links
Modes of Operation on page 138
19.5.1.
Force Output Compare
In non-PWM waveform generation modes, the match output of the comparator can be forced by writing a
one to the Force Output Compare (FOC2x) bit. Forcing compare match will not set the OCF2x Flag or
reload/clear the timer, but the OC2x pin will be updated as if a real compare match had occurred (the
COM2x[1:0] bits settings define whether the OC2x pin is set, cleared or toggled).
19.5.2.
Compare Match Blocking by TCNT2 Write
All CPU write operations to the TCNT2 Register will block any compare match that occurs in the next
timer clock cycle, even when the timer is stopped. This feature allows OCR2x to be initialized to the same
value as TCNT2 without triggering an interrupt when the Timer/Counter clock is enabled.
19.5.3.
Using the Output Compare Unit
Since writing TCNT2 in any mode of operation will block all compare matches for one timer clock cycle,
there are risks involved when changing TCNT2 when using the Output Compare channel, independently
of whether the Timer/Counter is running or not. If the value written to TCNT2 equals the OCR2x value, the
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compare match will be missed, resulting in incorrect waveform generation. Similarly, do not write the
TCNT2 value equal to BOTTOM when the counter is downcounting.
The setup of the OC2x should be performed before setting the Data Direction Register for the port pin to
output. The easiest way of setting the OC2x value is to use the Force Output Compare (FOC2x) strobe bit
in Normal mode. The OC2x Register keeps its value even when changing between Waveform Generation
modes.
Be aware that the COM2x[1:0] bits are not double buffered together with the compare value. Changing
the COM2x[1:0] bits will take effect immediately.
Compare Match Output Unit
The Compare Output mode (COM2x[1:0]) bits have two functions. The Waveform Generator uses the
COM2x[1:0] bits for defining the Output Compare (OC2x) state at the next compare match. Also, the
COM2x[1:0] bits control the OC2x pin output source. The following figure shows a simplified schematic of
the logic affected by the COM2x[1:0] bit setting. The I/O Registers, I/O bits, and I/O pins in the figure are
shown in bold. Only the parts of the general I/O Port Control Registers (DDR and PORT) that are affected
by the COM2x[1:0] bits are shown. When referring to the OC2x state, the reference is for the internal
OC2x Register, not the OC2x pin.
Figure 19-4. Compare Match Output Unit, Schematic
COMnx[1]
COMnx[0]
FOCnx
Waveform
Generator
D
Q
1
OCnx
D
DATA BUS
19.6.
0
OCnx
Pin
Q
PORT
D
Q
DDR
clk I/O
The general I/O port function is overridden by the Output Compare (OC2x) from the Waveform Generator
if either of the COM2x1:0 bits are set. However, the OC2x pin direction (input or output) is still controlled
by the Data Direction Register (DDR) for the port pin. The Data Direction Register bit for the OC2x pin
(DDR_OC2x) must be set as output before the OC2x value is visible on the pin. The port override function
is independent of the Waveform Generation mode.
The design of the Output Compare pin logic allows initialization of the OC2x state before the output is
enabled. Note that some COM2x[1:0] bit settings are reserved for certain modes of operation. See
Register Description.
Related Links
Modes of Operation on page 138
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19.6.1.
Compare Output Mode and Waveform Generation
The Waveform Generator uses the COM2x[1:0] bits differently in normal, CTC, and PWM modes. For all
modes, setting the COM2x[1:0] = 0 tells the Waveform Generator that no action on the OC2x Register is
to be performed on the next compare match. Refer also to the descriptions of the output modes.
A change of the COM2x[1:0] bits state will have effect at the first compare match after the bits are written.
For non-PWM modes, the action can be forced to have immediate effect by using the FOC2x strobe bits.
19.7.
Modes of Operation
The mode of operation, i.e., the behavior of the Timer/Counter and the Output Compare pins, is defined
by the combination of the Waveform Generation mode (WGM2[2:0]) and Compare Output mode
(COM2x[1:0]) bits. The Compare Output mode bits do not affect the counting sequence, while the
Waveform Generation mode bits do. The COM2x[1:0] bits control whether the PWM output generated
should be inverted or not (inverted or non-inverted PWM). For non-PWM modes the COM2x[1:0] bits
control whether the output should be set, cleared, or toggled at a compare match (See Compare Match
Output Unit).
For detailed timing information refer to Timer/Counter Timing Diagrams.
19.7.1.
Normal Mode
The simplest mode of operation is the Normal mode (WGM2[2:0] = 0). In this mode the counting direction
is always up (incrementing), and no counter clear is performed. The counter simply overruns when it
passes its maximum 8-bit value (TOP = 0xFF) and then restarts from the bottom (0x00). In normal
operation the Timer/Counter Overflow Flag (TOV2) will be set in the same timer clock cycle as the TCNT2
becomes zero. The TOV2 Flag in this case behaves like a ninth bit, except that it is only set, not cleared.
However, combined with the timer overflow interrupt that automatically clears the TOV2 Flag, the timer
resolution can be increased by software. There are no special cases to consider in the Normal mode, a
new counter value can be written anytime.
The Output Compare unit can be used to generate interrupts at some given time. Using the Output
Compare to generate waveforms in Normal mode is not recommended, since this will occupy too much of
the CPU time.
19.7.2.
Clear Timer on Compare Match (CTC) Mode
In Clear Timer on Compare or CTC mode (WGM2[2:0] = 2), the OCR2A Register is used to manipulate
the counter resolution. In CTC mode the counter is cleared to zero when the counter value (TCNT2)
matches the OCR2A. The OCR2A defines the top value for the counter, hence also its resolution. This
mode allows greater control of the compare match output frequency. It also simplifies the operation of
counting external events.
The timing diagram for the CTC mode is as follows. The counter value (TCNT2) increases until a
compare match occurs between TCNT2 and OCR2A, and then counter (TCNT2) is cleared.
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Figure 19-5. CTC Mode, Timing Diagram
OCnx Interrupt Flag Set
TCNTn
OCn
(Toggle)
(COMnx[1:0] = 0x1)
Period
1
2
3
4
An interrupt can be generated each time the counter value reaches the TOP value by using the OCF2A
Flag. If the interrupt is enabled, the interrupt handler routine can be used for updating the TOP value.
However, changing TOP to a value close to BOTTOM when the counter is running with none or a low
prescaler value must be done with care since the CTC mode does not have the double buffering feature.
If the new value written to OCR2A is lower than the current value of TCNT2, the counter will miss the
compare match. The counter will then have to count to its maximum value (0xFF) and wrap around
starting at 0x00 before the compare match can occur.
For generating a waveform output in CTC mode, the OC2A output can be set to toggle its logical level on
each compare match by setting the Compare Output mode bits to toggle mode (COM2A[1:0] = 1). The
OC2A value will not be visible on the port pin unless the data direction for the pin is set to output. The
waveform generated will have a maximum frequency of fOC2A = fclk_I/O/2 when OCR2A is set to zero
(0x00). The waveform frequency is defined by the following equation:
�OCnx =
�clk_I/O
2 ⋅ � ⋅ 1 + OCRnx
The N variable represents the prescale factor (1, 8, 32, 64, 128, 256, or 1024).
As for the Normal mode of operation, the TOV2 Flag is set in the same timer clock cycle that the counter
counts from MAX to 0x00.
19.7.3.
Fast PWM Mode
The fast Pulse Width Modulation or fast PWM mode (WGM2[2:0] = 0x3 or 0x7) provides a high frequency
PWM waveform generation option. The fast PWM differs from the other PWM option by its single-slope
operation. The counter counts from BOTTOM to TOP then restarts from BOTTOM. TOP is defined as
0xFF when WGM2[2:0] = 0x3, and OCR2A when WGM2[2:0] = 0x7. In non-inverting Compare Output
mode, the Output Compare (OC2x) is cleared on the compare match between TCNT2 and OCR2x, and
set at BOTTOM. In inverting Compare Output mode, the output is set on compare match and cleared at
BOTTOM. Due to the single-slope operation, the operating frequency of the fast PWM mode can be twice
as high as the phase correct PWM mode that uses dual-slope operation. This high frequency makes the
fast PWM mode well suited for power regulation, rectification, and DAC applications. High frequency
allows physically small sized external components (coils, capacitors), and therefore reduces total system
cost.
In fast PWM mode, the counter is incremented until the counter value matches the TOP value. The
counter is then cleared at the following timer clock cycle. The timing diagram for the fast PWM mode is
depicted in the following figure. The TCNT2 value is in the timing diagram shown as a histogram for
illustrating the single-slope operation. The diagram includes non-inverted and inverted PWM outputs. The
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small horizontal line marks on the TCNT2 slopes represent compare matches between OCR2x and
TCNT2.
Figure 19-6. Fast PWM Mode, Timing Diagram
OCRnx Interrupt Flag Set
OCRnx Update and
TOVn Interrupt Flag Set
TCNTn
OCnx
(COMnx[1:0] = 0x2)
OCnx
(COMnx[1:0] = 0x3)
Period
1
2
3
4
5
6
7
The Timer/Counter Overflow Flag (TOV2) is set each time the counter reaches TOP. If the interrupt is
enabled, the interrupt handler routine can be used for updating the compare value.
In fast PWM mode, the compare unit allows generation of PWM waveforms on the OC2x pin. Setting the
COM2x1:0 bits to two will produce a non-inverted PWM and an inverted PWM output can be generated
by setting the COM2x[1:0] to three. TOP is defined as 0xFF when WGM2[2:0] = 0x3, and OCR2A when
MGM2[2:0] = 0x7. The actual OC2x value will only be visible on the port pin if the data direction for the
port pin is set as output. The PWM waveform is generated by setting (or clearing) the OC2x Register at
the compare match between OCR2x and TCNT2, and clearing (or setting) the OC2x Register at the timer
clock cycle the counter is cleared (changes from TOP to BOTTOM).
The PWM frequency for the output can be calculated by the following equation:
�OCnxPWM =
�clk_I/O
� ⋅ 256
The N variable represents the prescale factor (1, 8, 32, 64, 128, 256, or 1024).
The extreme values for the OCR2A Register represent special cases when generating a PWM waveform
output in the fast PWM mode. If the OCR2A is set equal to BOTTOM, the output will be a narrow spike for
each MAX+1 timer clock cycle. Setting the OCR2A equal to MAX will result in a constantly high or low
output (depending on the polarity of the output set by the COM2A[1:0] bits.)
A frequency (with 50% duty cycle) waveform output in fast PWM mode can be achieved by setting OC2x
to toggle its logical level on each compare match (COM2x[1:0] = 1). The waveform generated will have a
maximum frequency of foc2 = fclk_I/O/2 when OCR2A is set to zero. This feature is similar to the OC2A
toggle in CTC mode, except the double buffer feature of the Output Compare unit is enabled in the fast
PWM mode.
19.7.4.
Phase Correct PWM Mode
The phase correct PWM mode (WGM2[2:0] = 0x1 or 0x5) provides a high resolution phase correct PWM
waveform generation option. The phase correct PWM mode is based on a dual-slope operation. The
counter counts repeatedly from BOTTOM to TOP and then from TOP to BOTTOM. TOP is defined as
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0xFF when WGM2[2:0] = 0x3, and OCR2A when MGM2[2:0] = 7. In non-inverting Compare Output mode,
the Output Compare (OC2x) is cleared on the compare match between TCNT2 and OCR2x while
upcounting, and set on the compare match while downcounting. In inverting Output Compare mode, the
operation is inverted. The dual-slope operation has lower maximum operation frequency than single slope
operation. However, due to the symmetric feature of the dual-slope PWM modes, these modes are
preferred for motor control applications.
In phase correct PWM mode the counter is incremented until the counter value matches TOP. When the
counter reaches TOP, it changes the count direction. The TCNT2 value will be equal to TOP for one timer
clock cycle. The timing diagram for the phase correct PWM mode is shown on Figure 19-7 Phase Correct
PWM Mode, Timing Diagram. The TCNT2 value is in the timing diagram shown as a histogram for
illustrating the dual-slope operation. The diagram includes non-inverted and inverted PWM outputs. The
small horizontal line marks on the TCNT2 slopes represent compare matches between OCR2x and
TCNT2.
Figure 19-7. Phase Correct PWM Mode, Timing Diagram
OCnx Interrupt Flag Set
OCRnx Update
TOVn Interrupt Flag Set
TCNTn
OCnx
(COMnx[1:0] = 2)
OCnx
(COMnx[1:0] = 3)
Period
1
2
3
The Timer/Counter Overflow Flag (TOV2) is set each time the counter reaches BOTTOM. The Interrupt
Flag can be used to generate an interrupt each time the counter reaches the BOTTOM value.
In phase correct PWM mode, the compare unit allows generation of PWM waveforms on the OC2x pin.
Setting the COM2x[1:0] bits to two will produce a non-inverted PWM. An inverted PWM output can be
generated by setting the COM2x[1:0] to three. TOP is defined as 0xFF when WGM2[2:0] = 0x3, and
OCR2A when WGM2[2:0] = 7. The actual OC2x value will only be visible on the port pin if the data
direction for the port pin is set as output. The PWM waveform is generated by clearing (or setting) the
OC2x Register at the compare match between OCR2x and TCNT2 when the counter increments, and
setting (or clearing) the OC2x Register at compare match between OCR2x and TCNT2 when the counter
decrements. The PWM frequency for the output when using phase correct PWM can be calculated by the
following equation:
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�OCnxPCPWM =
�clk_I/O
� ⋅ 510
The N variable represents the prescale factor (1, 8, 32, 64, 128, 256, or 1024).
The extreme values for the OCR2A Register represent special cases when generating a PWM waveform
output in the phase correct PWM mode. If the OCR2A is set equal to BOTTOM, the output will be
continuously low and if set equal to MAX the output will be continuously high for non-inverted PWM
mode. For inverted PWM the output will have the opposite logic values.
At the very start of period 2 in the above figure OC2x has a transition from high to low even though there
is no Compare Match. The point of this transition is to guarantee symmetry around BOTTOM. There are
two cases that give a transition without Compare Match.
•
OCR2A changes its value from MAX, as shown in the preceeding figure. When the OCR2A value is
MAX the OC2 pin value is the same as the result of a down-counting compare match. To ensure
symmetry around BOTTOM the OC2 value at MAX must correspond to the result of an up-counting
Compare Match.
•
The timer starts counting from a value higher than the one in OCR2A, and for that reason misses
the Compare Match and hence the OC2 change that would have happened on the way up.
19.8.
Timer/Counter Timing Diagrams
The following figures show the Timer/Counter in synchronous mode, and the timer clock (clkT2) is
therefore shown as a clock enable signal. In asynchronous mode, clkI/O should be replaced by the Timer/
Counter Oscillator clock. The figures include information on when Interrupt Flags are set. The following
figure contains timing data for basic Timer/Counter operation. The figure shows the count sequence close
to the MAX value in all modes other than phase correct PWM mode.
Figure 19-8. Timer/Counter Timing Diagram, no Prescaling
clkI/O
clkTn
(clkI/O /1)
TCNTn
MAX - 1
MAX
BOTTOM
BOTTOM + 1
TOVn
The following figure shows the same timing data, but with the prescaler enabled.
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Figure 19-9. Timer/Counter Timing Diagram, with Prescaler (fclk_I/O/8)
clkI/O
clkTn
(clkI/O /8)
TCNTn
MAX - 1
MAX
BOTTOM
BOTTOM + 1
TOVn
The following figure shows the setting of OCF2A in all modes except CTC mode.
Figure 19-10. Timer/Counter Timing Diagram, Setting of OCF2A, with Prescaler (fclk_I/O/8)
clkI/O
clkTn
(clkI/O /8)
TCNTn
OCRnx - 1
OCRnx
OCRnx
OCRnx + 1
OCRnx + 2
OCRnx Value
OCFnx
The following figure shows the setting of OCF2A and the clearing of TCNT2 in CTC mode.
Figure 19-11. Timer/Counter Timing Diagram, Clear Timer on Compare Match mode, with Prescaler (fclk_I/O/8)
clkI/O
clkTn
(clkI/O /8)
TCNTn
(CTC)
TOP - 1
TOP
OCRnx
BOTTOM
BOTTOM + 1
TOP
OCFnx
19.9.
Asynchronous Operation of Timer/Counter2
When TC2 operates asynchronously, some considerations must be taken:
•
When switching between asynchronous and synchronous clocking of TC2, the registers TCNT2,
OCR2x, and TCCR2x might be corrupted. A safe procedure for switching clock source is:
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•
•
•
•
•
•
•
1. Disable the TC2 interrupts by clearing OCIE2x and TOIE2.
2. Select clock source by setting AS2 as appropriate.
3. Write new values to TCNT2, OCR2x, and TCCR2x.
4. To switch to asynchronous operation: Wait for TCN2xUB, OCR2xUB, and TCR2xUB.
5. Clear the TC2 Interrupt Flags.
6. Enable interrupts, if needed.
The CPU main clock frequency must be more than four times the oscillator frequency.
When writing to one of the registers TCNT2, OCR2x, or TCCR2x, the value is transferred to a
temporary register, and latched after two positive edges on TOSC1. The user should not write a
new value before the contents of the temporary register have been transferred to its destination.
Each of the five mentioned registers has its individual temporary register, which means that e.g.
writing to TCNT2 does not disturb an OCR2x write in progress. The Asynchronous Status Register
(ASSR) indicates that a transfer to the destination register has taken place.
When entering Power-save or ADC Noise Reduction mode after having written to TCNT2, OCR2x,
or TCCR2x, the user must wait until the written register has been updated if TC2 is used to wake up
the device. Otherwise, the MCU will enter sleep mode before the changes are effective. This is
particularly important if any of the Output Compare2 interrupts is used to wake up the device, since
the Output Compare function is disabled during writing to OCR2x or TCNT2. If the write cycle is not
finished, and the MCU enters sleep mode before the corresponding OCR2xUB bit returns to zero,
the device will never receive a compare match interrupt, and the MCU will not wake up.
If TC2 is used to wake the device up from Power-save or ADC Noise Reduction mode, precautions
must be taken if the user wants to re-enter one of these modes: If re-entering sleep mode within the
TOSC1 cycle, the interrupt will immediately occur and the device wake up again. The result is
multiple interrupts and wake-ups within one TOSC1 cycle from the first interrupt. If the user is in
doubt whether the time before re-entering Power-save or ADC Noise Reduction mode is sufficient,
the following algorithm can be used to ensure that one TOSC1 cycle has elapsed:
1. Write a value to TCCR2x, TCNT2, or OCR2x.
2. Wait until the corresponding Update Busy Flag in ASSR returns to zero.
3. Enter Power-save or ADC Noise Reduction mode.
When the asynchronous operation is selected, the 32.768kHz oscillator for TC2 is always running,
except in Power-down and Standby modes. After a Power-up Reset or wake-up from Power-down
or Standby mode, the user should be aware of the fact that this oscillator might take as long as one
second to stabilize. The user is advised to wait for at least one second before using TC2 after
power-up or wake-up from Power-down or Standby mode. The contents of all TC2 Registers must
be considered lost after a wake-up from Power-down or Standby mode due to unstable clock signal
upon start-up, no matter whether the Oscillator is in use or a clock signal is applied to the TOSC1
pin.
Description of wake up from Power-save or ADC Noise Reduction mode when the timer is clocked
asynchronously: When the interrupt condition is met, the wake up process is started on the
following cycle of the timer clock, that is, the timer is always advanced by at least one before the
processor can read the counter value. After wake-up, the MCU is halted for four cycles, it executes
the interrupt routine, and resumes execution from the instruction following SLEEP.
Reading of the TCNT2 Register shortly after wake-up from Power-save may give an incorrect
result. Since TCNT2 is clocked on the asynchronous TOSC clock, reading TCNT2 must be done
through a register synchronized to the internal I/O clock domain. Synchronization takes place for
every rising TOSC1 edge. When waking up from Power-save mode, and the I/O clock (clkI/O) again
becomes active, TCNT2 will read as the previous value (before entering sleep) until the next rising
TOSC1 edge. The phase of the TOSC clock after waking up from Power-save mode is essentially
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•
unpredictable, as it depends on the wake-up time. The recommended procedure for reading
TCNT2 is thus as follows:
1. Wait for the corresponding Update Busy Flag to be cleared.
2. Read TCNT2.
During asynchronous operation, the synchronization of the Interrupt Flags for the asynchronous
timer takes 3 processor cycles plus one timer cycle. The timer is therefore advanced by at least one
before the processor can read the timer value causing the setting of the Interrupt Flag. The Output
Compare pin is changed on the timer clock and is not synchronized to the processor clock.
19.10. Timer/Counter Prescaler
Figure 19-12. Prescaler for TC2
PSRASY
clkT2S/1024
clkT2S/256
clkT2S/128
clkT2S/64
AS2
10-BIT T/C PRESCALER
Clear
clkT2S/32
TOSC1
clkT2S
clkT2S/8
clkI/O
0
CS20
CS21
CS22
TIMER/COUNTER2 CLOCK SOURCE
clkT2
The clock source for TC2 is named clkT2S. It is by default connected to the main system I/O clock clkI/O.
By writing a '1' to the Asynchronous TC2 bit in the Asynchronous Status Register (ASSR.AS2), TC2 is
asynchronously clocked from the TOSC1 pin. This enables use of TC2 as a Real Time Counter (RTC).
When AS2 is set, pins TOSC1 and TOSC2 are disconnected from Port B. A crystal can then be
connected between the TOSC1 and TOSC2 pins to serve as an independent clock source for TC2. The
Oscillator is optimized for use with a 32.768kHz crystal.
For TC2, the possible prescaled selections are: clkT2S/8, clkT2S/32, clkT2S/64, clkT2S/128, clkT2S/256, and
clkT2S/1024. Additionally, clkT2S as well as 0 (stop) may be selected. The prescaler is reset by writing a '1'
to the Prescaler Reset TC2 bit in the General TC2 Control Register (GTCCR.PSRASY). This allows the
user to operate with a defined prescaler.
19.11. Register Description
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19.11.1. TC2 Control Register A
Name: TCCR2A
Offset: 0xB0
Reset: 0x00
Property: Bit
Access
Reset
7
6
5
4
COM2A1
COM2A0
COM2B1
R/W
R/W
R/W
0
0
0
3
2
1
0
COM2B0
WGM21
WGM20
R/W
R/W
R/W
0
0
0
Bits 7:6 – COM2An: Compare Output Mode for Channel A [n = 1:0]
These bits control the Output Compare pin (OC2A) behavior. If one or both of the COM2A[1:0] bits are
set, the OC2A output overrides the normal port functionality of the I/O pin it is connected to. However,
note that the Data Direction Register (DDR) bit corresponding to the OC2A pin must be set in order to
enable the output driver.
When OC2A is connected to the pin, the function of the COM2A[1:0] bits depends on the WGM2[2:0] bit
setting. The table below shows the COM2A[1:0] bit functionality when the WGM2[2:0] bits are set to a
normal or CTC mode (non- PWM).
Table 19-3. Compare Output Mode, non-PWM
COM2A1
COM2A0
Description
0
0
Normal port operation, OC2A disconnected.
0
1
Toggle OC2A on Compare Match.
1
0
Clear OC2A on Compare Match.
1
1
Set OC2A on Compare Match .
The table below shows the COM2A[1:0] bit functionality when the WGM2[1:0] bits are set to fast PWM
mode.
Table 19-4. Compare Output Mode, Fast PWM(1)
COM2A1 COM2A0 Description
0
0
Normal port operation, OC2A disconnected.
0
1
WGM22 = 0: Normal Port Operation, OC2A Disconnected
WGM22 = 1: Toggle OC2A on Compare Match
1
0
Clear OC2A on Compare Match, set OC2A at BOTTOM (non-inverting mode)
1
1
Set OC2A on Compare Match, clear OC2A at BOTTOM (inverting mode)
Note: 1. A special case occurs when OCR2A equals TOP and COM2A1 is set. In this case the compare
match is ignored, but the set or clear is done at BOTTOM. Refer to Fast PWM Mode for details.
The table below shows the COM2A[1:0] bit functionality when the WGM2[2:0] bits are set to phase
correct PWM mode.
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Table 19-5. Compare Output Mode, Phase Correct PWM Mode(1)
COM2A1 COM2A0 Description
0
0
Normal port operation, OC2A disconnected.
0
1
WGM22 = 0: Normal Port Operation, OC2A Disconnected.
WGM22 = 1: Toggle OC2A on Compare Match.
1
0
Clear OC2A on Compare Match when up-counting. Set OC2A on Compare Match
when down-counting.
1
1
Set OC2A on Compare Match when up-counting. Clear OC2A on Compare Match
when down-counting.
Note: 1. A special case occurs when OCR2A equals TOP and COM2A1 is set. In this case, the Compare
Match is ignored, but the set or clear is done at TOP. Refer to Phase Correct PWM Mode for
details.
Bits 5:4 – COM2Bn: Compare Output Mode for Channel B [n = 1:0]
These bits control the Output Compare pin (OC2B) behavior. If one or both of the COM2B[1:0] bits are
set, the OC2B output overrides the normal port functionality of the I/O pin it is connected to. However,
note that the Data Direction Register (DDR) bit corresponding to the OC2B pin must be set in order to
enable the output driver.
When OC2B is connected to the pin, the function of the COM2B[1:0] bits depends on the WGM2[2:0] bit
setting. The table shows the COM2B[1:0] bit functionality when the WGM2[2:0] bits are set to a normal or
CTC mode (non- PWM).
Table 19-6. Compare Output Mode, non-PWM
COM2B1
COM2B0
Description
0
0
Normal port operation, OC2B disconnected.
0
1
Toggle OC2B on Compare Match.
1
0
Clear OC2B on Compare Match.
1
1
Set OC2B on Compare Match.
The table below shows the COM0B[1:0] bit functionality when the WGM0[2:0] bits are set to fast PWM
mode.
Table 19-7. Compare Output Mode, Fast PWM(1)
COM0B1 COM0B0 Description
0
0
Normal port operation, OC0B disconnected.
0
1
Reserved
1
0
Clear OC0B on Compare Match, set OC0B at BOTTOM, (non-inverting mode)
1
1
Set OC0B on Compare Match, clear OC0B at BOTTOM, (inverting mode)
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1.
A special case occurs when OCR2B equals TOP and COM2B[1] is set. In this case, the Compare
Match is ignored, but the set or clear is done at TOP. Refer to Fast PWM Mode for details.
The table below shows the COM2B[1:0] bit functionality when the WGM2[2:0] bits are set to phase
correct PWM mode.
Table 19-8. Compare Output Mode, Phase Correct PWM Mode(1)
COM2B1 COM2B0 Description
0
0
Normal port operation, OC2B disconnected.
0
1
Reserved
1
0
Clear OC2B on Compare Match when up-counting. Set OC2B on Compare Match
when down-counting.
1
1
Set OC2B on Compare Match when up-counting. Clear OC2B on Compare Match
when down-counting.
Note: 1. A special case occurs when OCR2B equals TOP and COM2B1 is set. In this case, the Compare
Match is ignored, but the set or clear is done at TOP. Refer to Phase Correct PWM Mode for
details.
Bits 1:0 – WGM2n: Waveform Generation Mode [n = 1:0]
Combined with the WGM22 bit found in the TCCR2B Register, these bits control the counting sequence
of the counter, the source for maximum (TOP) counter value, and what type of waveform generation to be
used. Modes of operation supported by the Timer/Counter unit are: Normal mode (counter), Clear Timer
on Compare Match (CTC) mode, and two types of Pulse Width Modulation (PWM) modes (see Modes of
Operation).
Table 19-9. Waveform Generation Mode Bit Description
Mode
WGM22
WGM21
WGM20
Timer/Counter
Mode of
Operation
TOP
Update of
OCR0x at
0
0
0
1
0
0
2
0
1
3
0
1
4
1
5
TOV Flag Set
on(1)
0
Normal
0xFF
Immediate
MAX
1
PWM, Phase
Correct
0xFF
TOP
BOTTOM
0
CTC
OCRA
Immediate
MAX
1
Fast PWM
0xFF
BOTTOM
MAX
0
0
Reserved
-
-
-
1
0
1
PWM, Phase
Correct
OCRA
TOP
BOTTOM
6
1
1
0
Reserved
-
-
-
7
1
1
1
Fast PWM
OCRA
BOTTOM
TOP
Note: 1. MAX = 0xFF
2. BOTTOM = 0x00
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19.11.2. TC2 Control Register B
Name: TCCR2B
Offset: 0xB1
Reset: 0x00
Property: Bit
Access
Reset
7
6
3
2
1
0
FOC2A
FOC2B
5
4
WGM22
CS22
CS21
CS20
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
Bit 7 – FOC2A: Force Output Compare A
The FOC2A bit is only active when the WGM bits specify a non-PWM mode.
To ensure compatibility with future devices, this bit must be set to zero when TCCR2B is written when
operating in PWM mode. When writing a logical one to the FOC2A bit, an immediate Compare Match is
forced on the Waveform Generation unit. The OC2A output is changed according to its COM2A[1:0] bits
setting. Note that the FOC2A bit is implemented as a strobe. Therefore it is the value present in the
COM2A[1:0] bits that determines the effect of the forced compare.
A FOC2A strobe will not generate any interrupt, nor will it clear the timer in CTC mode using OCR2A as
TOP.
The FOC2A bit is always read as zero.
Bit 6 – FOC2B: Force Output Compare B
The FOC2B bit is only active when the WGM bits specify a non-PWM mode.
To ensure compatibility with future devices, this bit must be set to zero when TCCR2B is written when
operating in PWM mode. When writing a logical one to the FOC2B bit, an immediate Compare Match is
forced on the Waveform Generation unit. The OC2B output is changed according to its COM2B[1:0] bits
setting. Note that the FOC2B bit is implemented as a strobe. Therefore it is the value present in the
COM2B[1:0] bits that determines the effect of the forced compare.
A FOC2B strobe will not generate any interrupt, nor will it clear the timer in CTC mode using OCR2B as
TOP.
The FOC2B bit is always read as zero.
Bit 3 – WGM22: Waveform Generation Mode
Refer to TCCR2A.
Bits 2:0 – CS2n: Clock Select [n = 0..2]
The three Clock Select bits select the clock source to be used by the Timer/Counter.
Table 19-10. Clock Select Bit Description
CA22
CA21
CS20
0
0
0
No clock source (Timer/Counter stopped).
1
clkI/O/1 (No prescaling)
0
clkI/O/8 (From prescaler)
0
0
1
Description
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CA22
CA21
CS20
Description
0
1
1
clkI/O/32 (From prescaler)
1
0
0
clkI/O/64 (From prescaler)
1
0
1
clkI/O/128 (From prescaler)
1
1
0
clkI/O/256 (From prescaler)
1
1
1
clkI/O/1024 (From prescaler)
If external pin modes are used for the Timer/Counter0, transitions on the T0 pin will clock the counter
even if the pin is configured as an output. This feature allows software control of the counting.
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19.11.3. TC2 Counter Value Register
Name: TCNT2
Offset: 0xB2
Reset: 0x00
Property: Bit
7
6
5
4
3
2
1
0
TCNT2[7:0]
Access
Reset
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – TCNT2[7:0]: Timer/Counter 2 Counter Value
The Timer/Counter Register gives direct access, both for read and write operations, to the Timer/Counter
unit 8-bit counter. Writing to the TCNT2 Register blocks (removes) the Compare Match on the following
timer clock. Modifying the counter (TCNT2) while the counter is running, introduces a risk of missing a
Compare Match between TCNT2 and the OCR2x Registers.
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19.11.4. TC2 Output Compare Register A
Name: OCR2A
Offset: 0xB3
Reset: 0x00
Property: Bit
7
6
5
4
3
2
1
0
OCR2A[7:0]
Access
Reset
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – OCR2A[7:0]: Output Compare 2 A
The Output Compare Register A contains an 8-bit value that is continuously compared with the counter
value (TCNT2). A match can be used to generate an Output Compare interrupt, or to generate a
waveform output on the OC2A pin.
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19.11.5. TC2 Output Compare Register B
Name: OCR2B
Offset: 0xB4
Reset: 0x00
Property: Bit
7
6
5
4
3
2
1
0
OCR2B[7:0]
Access
Reset
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – OCR2B[7:0]: Output Compare 2 B
The Output Compare Register B contains an 8-bit value that is continuously compared with the counter
value (TCNT2). A match can be used to generate an Output Compare interrupt, or to generate a
waveform output on the OC2B pin.
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19.11.6. TC2 Interrupt Mask Register
Name: TIMSK2
Offset: 0x70
Reset: 0x00
Property: Bit
Access
Reset
7
6
5
4
3
2
1
0
OCIE2B
OCIE2A
TOIE2
R/W
R/W
R/W
0
0
0
Bit 2 – OCIE2B: Timer/Counter2, Output Compare B Match Interrupt Enable
When the OCIE2B bit is written to '1' and the I-bit in the Status Register is set (one), the Timer/Counter2
Compare Match B interrupt is enabled. The corresponding interrupt is executed if a compare match in
Timer/Counter2 occurs, i.e., when the OCF2B bit is set in TIFR2.
Bit 1 – OCIE2A: Timer/Counter2, Output Compare A Match Interrupt Enable
When the OCIE2A bit is written to '1' and the I-bit in the Status Register is set (one), the Timer/Counter2
Compare Match A interrupt is enabled. The corresponding interrupt is executed if a compare match in
Timer/Counter2 occurs, i.e., when the OCF2A bit is set in TIFR2.
Bit 0 – TOIE2: Timer/Counter2, Overflow Interrupt Enable
When the TOIE2 bit is written to '1' and the I-bit in the Status Register is set (one), the Timer/Counter2
Overflow interrupt is enabled. The corresponding interrupt is executed if an overflow in Timer/Counter2
occurs, i.e., when the TOV2 bit is set in TIFR2.
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19.11.7. TC2 Interrupt Flag Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: TIFR2
Offset: 0x37
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x17
Bit
Access
Reset
7
6
5
4
3
2
1
0
OCF2B
OCF2A
TOV2
R/W
R/W
R/W
0
0
0
Bit 2 – OCF2B: Timer/Counter2, Output Compare B Match Flag
The OCF2B bit is set (one) when a compare match occurs between the Timer/Counter2 and the data in
OCR2B – Output Compare Register2. OCF2B is cleared by hardware when executing the corresponding
interrupt handling vector. Alternatively, OCF2B is cleared by writing a logic one to the flag. When the I-bit
in SREG, OCIE2B (Timer/Counter2 Compare match Interrupt Enable), and OCF2B are set (one), the
Timer/Counter2 Compare match Interrupt is executed.
Bit 1 – OCF2A: Timer/Counter2, Output Compare A Match Flag
The OCF2A bit is set (one) when a compare match occurs between the Timer/Counter2 and the data in
OCR2A – Output Compare Register2. OCF2A is cleared by hardware when executing the corresponding
interrupt handling vector. Alternatively, OCF2A is cleared by writing a logic one to the flag. When the I-bit
in SREG, OCIE2A (Timer/Counter2 Compare match Interrupt Enable), and OCF2A are set (one), the
Timer/Counter2 Compare match Interrupt is executed.
Bit 0 – TOV2: Timer/Counter2, Overflow Flag
The TOV2 bit is set (one) when an overflow occurs in Timer/Counter2. TOV2 is cleared by hardware
when executing the corresponding interrupt handling vector. Alternatively, TOV2 is cleared by writing a
logic one to the flag. When the SREG I-bit, TOIE2A (Timer/Counter2 Overflow Interrupt Enable), and
TOV2 are set (one), the Timer/Counter2 Overflow interrupt is executed. In PWM mode, this bit is set
when Timer/Counter2 changes counting direction at 0x00.
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19.11.8. Asynchronous Status Register
Name: ASSR
Offset: 0xB6
Reset: 0x00
Property: Bit
7
6
5
4
3
2
1
0
EXCLK
AS2
TCN2UB
OCR2AUB
OCR2BUB
TCR2AUB
TCR2BUB
Access
R
R
R
R
R
R
R
Reset
0
0
0
0
0
0
0
Bit 6 – EXCLK: Enable External Clock Input
When EXCLK is written to one, and asynchronous clock is selected, the external clock input buffer is
enabled and an external clock can be input on Timer Oscillator 1 (TOSC1) pin instead of a 32kHz crystal.
Writing to EXCLK should be done before asynchronous operation is selected. Note that the crystal
Oscillator will only run when this bit is zero.
Bit 5 – AS2: Asynchronous Timer/Counter2
When AS2 is written to zero, Timer/Counter2 is clocked from the I/O clock, clkI/O. When AS2 is written to
one, Timer/Counter2 is clocked from a crystal Oscillator connected to the Timer Oscillator 1 (TOSC1) pin.
When the value of AS2 is changed, the contents of TCNT2, OCR2A, OCR2B, TCCR2A and TCCR2B
might be corrupted.
Bit 4 – TCN2UB: Timer/Counter2 Update Busy
When Timer/Counter2 operates asynchronously and TCNT2 is written, this bit becomes set. When
TCNT2 has been updated from the temporary storage register, this bit is cleared by hardware. A logical
zero in this bit indicates that TCNT2 is ready to be updated with a new value.
Bit 3 – OCR2AUB: Enable External Clock Input
When Timer/Counter2 operates asynchronously and OCR2A is written, this bit becomes set. When
OCR2A has been updated from the temporary storage register, this bit is cleared by hardware. A logical
zero in this bit indicates that OCR2A is ready to be updated with a new value.
Bit 2 – OCR2BUB: Output Compare Register2 Update Busy
When Timer/Counter2 operates asynchronously and OCR2B is written, this bit becomes set. When
OCR2B has been updated from the temporary storage register, this bit is cleared by hardware. A logical
zero in this bit indicates that OCR2B is ready to be updated with a new value.
Bit 1 – TCR2AUB: Timer/Counter Control Register2 Update Busy
When Timer/Counter2 operates asynchronously and TCCR2A is written, this bit becomes set. When
TCCR2A has been updated from the temporary storage register, this bit is cleared by hardware. A logical
zero in this bit indicates that TCCR2A is ready to be updated with a new value.
Bit 0 – TCR2BUB: Timer/Counter Control Register2 Update Busy
When Timer/Counter2 operates asynchronously and TCCR2B is written, this bit becomes set. When
TCCR2B has been updated from the temporary storage register, this bit is cleared by hardware. A logical
zero in this bit indicates that TCCR2B is ready to be updated with a new value.
If a write is performed to any of the five Timer/Counter2 Registers while its update busy flag is set, the
updated value might get corrupted and cause an unintentional interrupt to occur.
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19.11.9. General Timer/Counter Control Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: GTCCR
Offset: 0x43
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x23
Bit
Access
Reset
1
0
TSM
7
6
5
4
3
2
PSRASY
PSRSYNC
R/W
R/W
R/W
0
0
0
Bit 7 – TSM: Timer/Counter Synchronization Mode
Writing the TSM bit to one activates the Timer/Counter Synchronization mode. In this mode, the value
that is written to the PSRASY and PSRSYNC bits is kept, hence keeping the corresponding prescaler
reset signals asserted. This ensures that the corresponding Timer/Counters are halted and can be
configured to the same value without the risk of one of them advancing during configuration. When the
TSM bit is written to zero, the PSRASY and PSRSYNC bits are cleared by hardware, and the Timer/
Counters start counting simultaneously.
Bit 1 – PSRASY: Prescaler Reset Timer/Counter2
When this bit is one, the Timer/Counter2 prescaler will be reset. This bit is normally cleared immediately
by hardware. If the bit is written when Timer/Counter2 is operating in asynchronous mode, the bit will
remain one until the prescaler has been reset. The bit will not be cleared by hardware if the TSM bit is
set.
Bit 0 – PSRSYNC: Prescaler Reset
When this bit is one, Timer/Counter1 and Timer/Counter0 prescaler will be Reset. This bit is normally
cleared immediately by hardware, except if the TSM bit is set. Note that Timer/Counter1 and Timer/
Counter0 share the same prescaler and a reset of this prescaler will affect both timers.
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20.
SPI – Serial Peripheral Interface
20.1.
Features
•
•
•
•
•
•
•
•
20.2.
Full-duplex, Three-wire Synchronous Data Transfer
Master or Slave Operation
LSB First or MSB First Data Transfer
Seven Programmable Bit Rates
End of Transmission Interrupt Flag
Write Collision Flag Protection
Wake-up from Idle Mode
Double Speed (CK/2) Master SPI Mode
Overview
The Serial Peripheral Interface (SPI) allows high-speed synchronous data transfer between the device
and peripheral units, or between several AVR devices.
The USART can also be used in Master SPI mode, please refer to USART in SPI Mode chapter.
To enable the SPI module, Power Reduction Serial Peripheral Interface bit in the Power Reduction
Register (0.PRSPI0) must be written to '0'.
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Figure 20-1. SPI Block Diagram
SPI2X
SPI2X
DIVIDER
/2/4/8/16/32/64/128
Note: Refer to the pin-out description and the IO Port description for SPI pin placement.
The interconnection between Master and Slave CPUs with SPI is shown in the figure below. The system
consists of two shift registers, and a Master Clock generator. The SPI Master initiates the communication
cycle when pulling low the Slave Select SS pin of the desired Slave. Master and Slave prepare the data
to be sent in their respective shift Registers, and the Master generates the required clock pulses on the
SCK line to interchange data. Data is always shifted from Master to Slave on the Master Out – Slave In,
MOSI, line, and from Slave to Master on the Master In – Slave Out, MISO, line. After each data packet,
the Master will synchronize the Slave by pulling high the Slave Select, SS, line.
When configured as a Master, the SPI interface has no automatic control of the SS line. This must be
handled by user software before communication can start. When this is done, writing a byte to the SPI
Data Register starts the SPI clock generator, and the hardware shifts the eight bits into the Slave. After
shifting one byte, the SPI clock generator stops, setting the end of Transmission Flag (SPIF). If the SPI
Interrupt Enable bit (SPIE) in the SPCR Register is set, an interrupt is requested. The Master may
continue to shift the next byte by writing it into SPDR, or signal the end of packet by pulling high the Slave
Select, SS line. The last incoming byte will be kept in the Buffer Register for later use.
When configured as a Slave, the SPI interface will remain sleeping with MISO tri-stated as long as the SS
pin is driven high. In this state, software may update the contents of the SPI Data Register, SPDR, but the
data will not be shifted out by incoming clock pulses on the SCK pin until the SS pin is driven low. As one
byte has been completely shifted, the end of Transmission Flag, SPIF is set. If the SPI Interrupt Enable
bit, SPIE, in the SPCR Register is set, an interrupt is requested. The Slave may continue to place new
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data to be sent into SPDR before reading the incoming data. The last incoming byte will be kept in the
Buffer Register for later use.
Figure 20-2. SPI Master-slave Interconnection
SHIFT
ENABLE
The system is single buffered in the transmit direction and double buffered in the receive direction. This
means that bytes to be transmitted cannot be written to the SPI Data Register before the entire shift cycle
is completed. When receiving data, however, a received character must be read from the SPI Data
Register before the next character has been completely shifted in. Otherwise, the first byte is lost.
In SPI Slave mode, the control logic will sample the incoming signal of the SCK pin. To ensure correct
sampling of the clock signal, the minimum low and high periods should be longer than two CPU clock
cycles.
When the SPI is enabled, the data direction of the MOSI, MISO, SCK, and SS pins is overridden
according to the table below. For more details on automatic port overrides, refer to the IO Port
description.
Table 20-1. SPI Pin Overrides
Pin
Direction, Master SPI
Direction, Slave SPI
MOSI
User Defined
Input
MISO
Input
User Defined
SCK
User Defined
Input
SS
User Defined
Input
Note: 1. See the IO Port description for how to define the SPI pin directions.
The following code examples show how to initialize the SPI as a Master and how to perform a simple
transmission. DDR_SPI in the examples must be replaced by the actual Data Direction Register
controlling the SPI pins. DD_MOSI, DD_MISO and DD_SCK must be replaced by the actual data direction
bits for these pins. E.g. if MOSI is placed on pin PB5, replace DD_MOSI with DDB5 and DDR_SPI with
DDRB.
Assembly Code Example
SPI_MasterInit:
; Set MOSI and SCK output, all others input
ldi
r17,(1<<DD_MOSI)|(1<<DD_SCK)
out
DDR_SPI,r17
; Enable SPI, Master, set clock rate fck/16
ldi
r17,(1<<SPE)|(1<<MSTR)|(1<<SPR0)
out
SPCR,r17
ret
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SPI_MasterTransmit:
; Start transmission of data (r16)
out
SPDR,r16
Wait_Transmit:
; Wait for transmission complete
in
r16, SPSR
sbrs
r16, SPIF
rjmp
Wait_Transmit
ret
C Code Example
void SPI_MasterInit(void)
{
/* Set MOSI and SCK output, all others input */
DDR_SPI = (1<<DD_MOSI)|(1<<DD_SCK);
/* Enable SPI, Master, set clock rate fck/16 */
SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR0);
}
void SPI_MasterTransmit(char cData)
{
/* Start transmission */
SPDR = cData;
/* Wait for transmission complete */
while(!(SPSR & (1<<SPIF)))
;
}
The following code examples show how to initialize the SPI as a Slave and how to
perform a simple reception.
Assembly Code Example
SPI_SlaveInit:
; Set MISO output, all others input
ldi
r17,(1<<DD_MISO)
out
DDR_SPI,r17
; Enable SPI
ldi
r17,(1<<SPE)
out
SPCR,r17
ret
SPI_SlaveReceive:
; Wait for reception complete
in
r16, SPSR
sbrs
r16, SPIF
rjmp SPI_SlaveReceive
; Read received data and return
in
r16,SPDR
ret
C Code Example
void SPI_SlaveInit(void)
{
/* Set MISO output, all others input */
DDR_SPI = (1<<DD_MISO);
/* Enable SPI */
SPCR = (1<<SPE);
}
char SPI_SlaveReceive(void)
{
/* Wait for reception complete */
while(!(SPSR & (1<<SPIF)))
;
/* Return Data Register */
return SPDR;
}
Related Links
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Pin Descriptions on page 18
USARTSPI - USART in SPI Mode on page 262
PM - Power Management and Sleep Modes on page 61
I/O-Ports on page 100
About Code Examples on page 22
20.3.
SS Pin Functionality
20.3.1.
Slave Mode
When the SPI is configured as a Slave, the Slave Select (SS) pin is always input. When SS is held low,
the SPI is activated, and MISO becomes an output if configured so by the user. All other pins are inputs.
When SS is driven high, all pins are inputs, and the SPI is passive, which means that it will not receive
incoming data. The SPI logic will be reset once the SS pin is driven high.
The SS pin is useful for packet/byte synchronization to keep the slave bit counter synchronous with the
master clock generator. When the SS pin is driven high, the SPI slave will immediately reset the send and
receive logic, and drop any partially received data in the Shift Register.
20.3.2.
Master Mode
When the SPI is configured as a Master (MSTR in SPCR is set), the user can determine the direction of
the SS pin.
If SS is configured as an output, the pin is a general output pin which does not affect the SPI system.
Typically, the pin will be driving the SS pin of the SPI Slave.
If SS is configured as an input, it must be held high to ensure Master SPI operation. If the SS pin is driven
low by peripheral circuitry when the SPI is configured as a Master with the SS pin defined as an input, the
SPI system interprets this as another master selecting the SPI as a slave and starting to send data to it.
To avoid bus contention, the SPI system takes the following actions:
1.
2.
The MSTR bit in SPCR is cleared and the SPI system becomes a Slave. As a result of the SPI
becoming a Slave, the MOSI and SCK pins become inputs.
The SPIF Flag in SPSR is set, and if the SPI interrupt is enabled, and the I-bit in SREG is set, the
interrupt routine will be executed.
Thus, when interrupt-driven SPI transmission is used in Master mode, and there exists a possibility that
SS is driven low, the interrupt should always check that the MSTR bit is still set. If the MSTR bit has been
cleared by a slave select, it must be set by the user to re-enable SPI Master mode.
20.4.
Data Modes
There are four combinations of SCK phase and polarity with respect to serial data, which are determined
by control bits CPHA and CPOL. Data bits are shifted out and latched in on opposite edges of the SCK
signal, ensuring sufficient time for data signals to stabilize. The following table, summarizes SPCR.CPOL
and SPCR.CPHA settings.
Table 20-2. SPI Modes
SPI Mode
Conditions
Leading Edge
Trailing Edge
0
CPOL=0, CPHA=0
Sample (Rising)
Setup (Falling)
1
CPOL=0, CPHA=1
Setup (Rising)
Sample (Falling)
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SPI Mode
Conditions
Leading Edge
Trailing Edge
2
CPOL=1, CPHA=0
Sample (Falling)
Setup (Rising)
3
CPOL=1, CPHA=1
Setup (Falling)
Sample (Rising)
The SPI data transfer formats are shown in the following figure.
Figure 20-3. SPI Transfer Format with CPHA = 0
SCK (CPOL = 0)
mode 0
SCK (CPOL = 1)
mode 2
SAMPLE I
MOSI/MISO
CHANGE 0
MOSI PIN
CHANGE 0
MISO PIN
SS
MSB first (DORD = 0)
LSB first (DORD = 1)
MSB
LSB
Bit 6
Bit 1
Bit 5
Bit 2
Bit 4
Bit 3
Bit 3
Bit 4
Bit 2
Bit 5
Bit 1
Bit 6
LSB
MSB
Figure 20-4. SPI Transfer Format with CPHA = 1
SCK (CPOL = 0)
mode 1
SCK (CPOL = 1)
mode 3
SAMPLE I
MOSI/MISO
CHANGE 0
MOSI PIN
CHANGE 0
MISO PIN
SS
MSB first (DORD = 0)
LSB first (DORD = 1)
20.5.
MSB
LSB
Bit 6
Bit 1
Bit 5
Bit 2
Bit 4
Bit 3
Bit 3
Bit 4
Bit 2
Bit 5
Bit 1
Bit 6
LSB
MSB
Register Description
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20.5.1.
SPI Control Register 0
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: SPCR0
Offset: 0x4C
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x2C
Bit
Access
Reset
7
6
5
4
3
2
1
0
SPIE0
SPE0
DORD0
MSTR0
CPOL0
CPHA0
SPR01
SPR00
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bit 7 – SPIE0: SPI0 Interrupt Enable
This bit causes the SPI interrupt to be executed if SPIF bit in the SPSR Register is set and if the Global
Interrupt Enable bit in SREG is set.
Bit 6 – SPE0: SPI0 Enable
When the SPE bit is written to one, the SPI is enabled. This bit must be set to enable any SPI operations.
Bit 5 – DORD0: Data0 Order
When the DORD bit is written to one, the LSB of the data word is transmitted first.
When the DORD bit is written to zero, the MSB of the data word is transmitted first.
Bit 4 – MSTR0: Master/Slave0 Select
This bit selects Master SPI mode when written to one, and Slave SPI mode when written logic zero. If SS
is configured as an input and is driven low while MSTR is set, MSTR will be cleared, and SPIF in SPSR
will become set. The user will then have to set MSTR to re-enable SPI Master mode.
Bit 3 – CPOL0: Clock0 Polarity
When this bit is written to one, SCK is high when idle. When CPOL is written to zero, SCK is low when
idle. Refer to Figure 20-3 SPI Transfer Format with CPHA = 0 and Figure 20-4 SPI Transfer Format with
CPHA = 1 for an example. The CPOL functionality is summarized below:
Table 20-3. CPOL0 Functionality
CPOL0
Leading Edge
Trailing Edge
0
Rising
Falling
1
Falling
Rising
Bit 2 – CPHA0: Clock0 Phase
The settings of the Clock Phase bit (CPHA) determine if data is sampled on the leading (first) or trailing
(last) edge of SCK. Refer to Figure 20-3 SPI Transfer Format with CPHA = 0 and Figure 20-4 SPI
Transfer Format with CPHA = 1 for an example. The CPHA functionality is summarized below:
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Table 20-4. CPHA0 Functionality
CPHA0
Leading Edge
Trailing Edge
0
Sample
Setup
1
Setup
Sample
Bits 1:0 – SPR0n: SPI0 Clock Rate Select n [n = 1:0]
These two bits control the SCK rate of the device configured as a Master. SPR1 and SPR0 have no effect
on the Slave. The relationship between SCK and the Oscillator Clock frequency fosc is shown in the table
below.
Table 20-5. Relationship between SCK and Oscillator Frequency
SPI2X
SPR01
SPR00
SCK Frequency
0
0
0
fosc/4
0
0
1
fosc/16
0
1
0
fosc/64
0
1
1
fosc/128
1
0
0
fosc/2
1
0
1
fosc/8
1
1
0
fosc/32
1
1
1
fosc/64
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20.5.2.
SPI Status Register 0
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: SPSR0
Offset: 0x4D
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x2D
Bit
7
6
SPIF0
WCOL0
5
4
3
2
1
SPI2X0
0
Access
R
R
R/W
Reset
0
0
0
Bit 7 – SPIF0: SPI Interrupt Flag
When a serial transfer is complete, the SPIF Flag is set. An interrupt is generated if SPIE in SPCR is set
and global interrupts are enabled. If SS is an input and is driven low when the SPI is in Master mode, this
will also set the SPIF Flag. SPIF is cleared by hardware when executing the corresponding interrupt
handling vector. Alternatively, the SPIF bit is cleared by first reading the SPI Status Register with SPIF
set, then accessing the SPI Data Register (SPDR).
Bit 6 – WCOL0: Write Collision Flag
The WCOL bit is set if the SPI Data Register (SPDR) is written during a data transfer. The WCOL bit (and
the SPIF bit) are cleared by first reading the SPI Status Register with WCOL set, and then accessing the
SPI Data Register.
Bit 0 – SPI2X0: Double SPI Speed Bit
When this bit is written logic one the SPI speed (SCK Frequency) will be doubled when the SPI is in
Master mode (refer to Table 20-5 Relationship between SCK and Oscillator Frequency). This means that
the minimum SCK period will be two CPU clock periods. When the SPI is configured as Slave, the SPI is
only guaranteed to work at fosc/4 or lower.
The SPI interface is also used for program memory and EEPROM downloading or uploading. See Serial
Downloading for serial programming and verification.
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20.5.3.
SPI Data Register 0
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: SPDR0
Offset: 0x4E
Reset: 0xXX
Property: When addressing as I/O Register: address offset is 0x2E
Bit
7
6
5
4
3
2
1
0
SPID[7:0]
Access
Reset
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
x
x
x
x
x
x
x
x
Bits 7:0 – SPID[7:0]: SPI Data
The SPI Data Register is a read/write register used for data transfer between the Register File and the
SPI Shift Register. Writing to the register initiates data transmission. Reading the register causes the Shift
Register Receive buffer to be read.
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21.
USART - Universal Synchronous Asynchronous Receiver Transceiver
21.1.
Features
•
•
•
•
•
•
•
•
•
•
•
•
•
21.2.
Two USART instances USART0, USART1
Full Duplex Operation (Independent Serial Receive and Transmit Registers)
Asynchronous or Synchronous Operation
Master or Slave Clocked Synchronous Operation
High Resolution Baud Rate Generator
Supports Serial Frames with 5, 6, 7, 8, or 9 data bits and 1 or 2 stop bits
Odd or Even Parity Generation and Parity Check Supported by Hardware
Data OverRun Detection
Framing Error Detection
Noise Filtering Includes False Start Bit Detection and Digital Low Pass Filter
Three Separate Interrupts on TX Complete, TX Data Register Empty and RX Complete
Multi-processor Communication Mode
Double Speed Asynchronous Communication Mode
Overview
The Universal Synchronous and Asynchronous serial Receiver and Transmitter (USART) is a highly
flexible serial communication device.
The USART can also be used in Master SPI mode. The Power Reduction USART bit in the Power
Reduction Register (0.PRUSARTn) must be written to '0' in order to enable USARTn. USART 0 and 1 are
in 0.
Related Links
USARTSPI - USART in SPI Mode on page 262
I/O-Ports on page 100
Pinout on page 15
21.3.
Block Diagram
In the USART Block Diagram, the CPU accessible I/O Registers and I/O pins are shown in bold. The
dashed boxes in the block diagram separate the three main parts of the USART (listed from the top):
Clock Generator, Transmitter, and Receiver. Control Registers are shared by all units. The Clock
Generation logic consists of synchronization logic for external clock input used by synchronous slave
operation, and the baud rate generator. The XCKn (Transfer Clock) pin is only used by synchronous
transfer mode. The Transmitter consists of a single write buffer, a serial Shift Register, Parity Generator,
and Control logic for handling different serial frame formats. The write buffer allows a continuous transfer
of data without any delay between frames. The Receiver is the most complex part of the USART module
due to its clock and data recovery units. The recovery units are used for asynchronous data reception. In
addition to the recovery units, the Receiver includes a Parity Checker, Control logic, a Shift Register, and
a two level receive buffer (UDRn). The Receiver supports the same frame formats as the Transmitter, and
can detect Frame Error, Data OverRun, and Parity Errors.
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Figure 21-1. USART Block Diagram
Clock Generator
UBRRn [H:L]
OSC
BAUD RATE GENERATOR
SYNC LOGIC
PIN
CONTROL
XCKn
Transmitter
TX
CONTROL
DATA BUS
UDRn(Transmit)
PARITY
GENERATOR
PIN
CONTROL
TRANSMIT SHIFT REGISTER
TxDn
Receiver
UCSRnA
CLOCK
RECOVERY
RX
CONTROL
RECEIVE SHIFT REGISTER
DATA
RECOVERY
PIN
CONTROL
UDRn (Receive)
PARITY
CHECKER
UCSRnB
RxDn
UCSRnC
Note: Refer to the Pin Configurations and the I/O-Ports description for USART pin placement.
21.4.
Clock Generation
The Clock Generation logic generates the base clock for the Transmitter and Receiver. The USART
supports four modes of clock operation: Normal asynchronous, Double Speed asynchronous, Master
synchronous and Slave synchronous mode. The USART Mode Select bit 0 in the USART Control and
Status Register n C (UCSRnC.UMSELn0) selects between asynchronous and synchronous operation.
Double Speed (asynchronous mode only) is controlled by the U2X found in the UCSRnA Register. When
using synchronous mode (UMSELn0=1), the Data Direction Register for the XCKn pin (DDR_XCKn)
controls whether the clock source is internal (Master mode) or external (Slave mode). The XCKn pin is
only active when using synchronous mode.
Below is a block diagram of the clock generation logic.
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Figure 21-2. Clock Generation Logic, Block Diagram
UBRRn
U2Xn
fosc
Prescaling
Down-Counter
UBRRn+1
/2
/4
/2
0
1
0
OSC
DDR_XCKn
xcki
XCKn
Pin
Sync
Register
Edge
Detector
xcko
0
UMSELn
1
DDR_XCKn
txclk
1
UCPOLn
1
0
rxclk
Signal description:
21.4.1.
•
•
•
txclk: Transmitter clock (internal signal).
rxclk: Receiver base clock (internal signal).
xcki: Input from XCKn pin (internal signal). Used for synchronous slave operation.
•
•
xcko: Clock output to XCKn pin (internal signal). Used for synchronous master operation.
fosc: System clock frequency.
Internal Clock Generation – The Baud Rate Generator
Internal clock generation is used for the asynchronous and the synchronous master modes of operation.
The description in this section refers to the Clock Generation Logic block diagram in the previous section..
The USART Baud Rate Register (UBRRn) and the down-counter connected to it function as a
programmable prescaler or baud rate generator. The down-counter, running at system clock (fosc), is
loaded with the UBRRn value each time the counter has counted down to zero or when the UBRRnL
Register is written. A clock is generated each time the counter reaches zero. This clock is the baud rate
generator clock output (= fosc/(UBRRn+1)). The Transmitter divides the baud rate generator clock output
by 2, 8, or 16 depending on mode. The baud rate generator output is used directly by the Receiver’s clock
and data recovery units. However, the recovery units use a state machine that uses 2, 8, or 16 states
depending on mode set by the state of the UMSEL, U2X and DDR_XCK bits.
The table below contains equations for calculating the baud rate (in bits per second) and for calculating
the UBRRn value for each mode of operation using an internally generated clock source.
Table 21-1. Equations for Calculating Baud Rate Register Setting
Operating Mode
Asynchronous Normal mode
(U2X = 0)
Asynchronous Double Speed
mode (U2X = 1)
Synchronous Master mode
Equation for Calculating Baud
Rate(1)
BAUD =
BAUD =
BAUD =
Equation for Calculating UBRRn
Value
�OSC
16 ����� + 1
����� =
�OSC
2 ����� + 1
����� =
�OSC
8 ����� + 1
����� =
�OSC
−1
16BAUD
�OSC
−1
8BAUD
�OSC
−1
2BAUD
Note: 1. The baud rate is defined to be the transfer rate in bits per second (bps)
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BAUD
Baud rate (in bits per second, bps)
fOSC
System oscillator clock frequency
UBRRn Contents of the UBRRnH and UBRRnL Registers, (0-4095).
Some examples of UBRRn values for some system clock frequencies are found in Examples
of Baud Rate Settings.
21.4.2.
Double Speed Operation (U2X)
The transfer rate can be doubled by setting the U2X bit in UCSRnA. Setting this bit only has effect for the
asynchronous operation. Set this bit to zero when using synchronous operation.
Setting this bit will reduce the divisor of the baud rate divider from 16 to 8, effectively doubling the transfer
rate for asynchronous communication. However, in this case, the Receiver will only use half the number
of samples (reduced from 16 to 8) for data sampling and clock recovery, and therefore a more accurate
baud rate setting and system clock are required when this mode is used.
For the Transmitter, there are no downsides.
21.4.3.
External Clock
External clocking is used by the synchronous slave modes of operation. The description in this section
refers to the Clock Generation Logic block diagram in the previous section.
External clock input from the XCKn pin is sampled by a synchronization register to minimize the chance
of meta-stability. The output from the synchronization register must then pass through an edge detector
before it can be used by the Transmitter and Receiver. This process introduces a two CPU clock period
delay and therefore the maximum external XCKn clock frequency is limited by the following equation:
�XCKn <
�OSC
4
The value of fosc depends on the stability of the system clock source. It is therefore recommended to add
some margin to avoid possible loss of data due to frequency variations.
21.4.4.
Synchronous Clock Operation
When synchronous mode is used (UMSEL = 1), the XCKn pin will be used as either clock input (Slave) or
clock output (Master). The dependency between the clock edges and data sampling or data change is the
same. The basic principle is that data input (on RxDn) is sampled at the opposite XCKn clock edge of the
edge the data output (TxDn) is changed.
Figure 21-3. Synchronous Mode XCKn Timing
UCPOL = 1
XCKn
RxDn / TxDn
Sample
UCPOL = 0
XCKn
RxDn / TxDn
Sample
The UCPOL bit UCRSC selects which XCKn clock edge is used for data sampling and which is used for
data change. As the above timing diagram shows, when UCPOL is zero, the data will be changed at
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rising XCKn edge and sampled at falling XCKn edge. If UCPOL is set, the data will be changed at falling
XCKn edge and sampled at rising XCKn edge.
21.5.
Frame Formats
A serial frame is defined to be one character of data bits with synchronization bits (start and stop bits),
and optionally a parity bit for error checking. The USART accepts all 30 combinations of the following as
valid frame formats:
•
•
•
•
1 start bit
5, 6, 7, 8, or 9 data bits
no, even or odd parity bit
1 or 2 stop bits
A frame starts with the start bit, followed by the data bits (from five up to nine data bits in total): first the
least significant data bit, then the next data bits ending with the most significant bit. If enabled, the parity
bit is inserted after the data bits, before the one or two stop bits. When a complete frame is transmitted, it
can be directly followed by a new frame, or the communication line can be set to an idle (high) state. the
figure below illustrates the possible combinations of the frame formats. Bits inside brackets are optional.
Figure 21-4. Frame Formats
FRAME
(IDLE)
St
0
1
2
3
4
[5]
[6]
[7]
[8]
[P]
Sp
(St / IDLE)
St
Start bit, always low.
(n)
Data bits (0 to 8).
P
Parity bit. Can be odd or even.
Sp
Stop bit, always high.
IDLE
No transfers on the communication line (RxDn or TxDn). An IDLE line must be high.
The frame format used by the USART is set by:
•
Character Size bits (UCSRnC.UCSZn[2:0]) select the number of data bits in the frame.
•
Parity Mode bits (UCSRnC.UPMn[1:0]) enable and set the type of parity bit.
•
Stop Bit Select bit (UCSRnC.USBSn) select the number of stop bits. The Receiver ignores the
second stop bit.
The Receiver and Transmitter use the same setting. Note that changing the setting of any of these bits
will corrupt all ongoing communication for both the Receiver and Transmitter. An FE (Frame Error) will
only be detected in cases where the first stop bit is zero.
21.5.1.
Parity Bit Calculation
The parity bit is calculated by doing an exclusive-or of all the data bits. If odd parity is used, the result of
the exclusive or is inverted. The relation between the parity bit and data bits is as follows:
�even = �� +
Peven
− 1 ⊕ … ⊕ �3 ⊕ �2 ⊕ �1 ⊕ �0 ⊕ 0�odd
Parity bit using even parity
= �� +
− 1 ⊕ … ⊕ �3 ⊕ � 2 ⊕ �1 ⊕ �0 ⊕ 1
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Podd
dn
Parity bit using odd parity
Data bit n of the character
If used, the parity bit is located between the last data bit and first stop bit of a serial frame.
21.6.
USART Initialization
The USART has to be initialized before any communication can take place. The initialization process
normally consists of setting the baud rate, setting frame format and enabling the Transmitter or the
Receiver depending on the usage. For interrupt driven USART operation, the Global Interrupt Flag should
be cleared (and interrupts globally disabled) when doing the initialization.
Before doing a re-initialization with changed baud rate or frame format, be sure that there are no ongoing
transmissions during the period the registers are changed. The TXC Flag (UCSRnA.TXC) can be used to
check that the Transmitter has completed all transfers, and the RXC Flag can be used to check that there
are no unread data in the receive buffer. The UCSRnA.TXC must be cleared before each transmission
(before UDRn is written) if it is used for this purpose.
The following simple USART initialization code examples show one assembly and one C
function that are equal in functionality. The examples assume asynchronous operation
using polling (no interrupts enabled) and a fixed frame format. The baud rate is given as
a function parameter. For the assembly code, the baud rate parameter is assumed to be
stored in the r17, r16 Registers.
Assembly Code Example
USART_Init:
; Set baud rate to UBRR0
out
UBRR0H, r17
out
UBRR0L, r16
; Enable receiver and transmitter
ldi
r16, (1<<RXEN0)|(1<<TXEN0)
out
UCSR0B,r16
; Set frame format: 8data, 2stop bit
ldi
r16, (1<<USBS0)|(3<<UCSZ00)
out
UCSR0C,r16
ret
C Code Example
#define FOSC 1843200 // Clock Speed
#define BAUD 9600
#define MYUBRR FOSC/16/BAUD-1
void main( void )
{
...
USART_Init(MYUBRR)
...
}
void USART_Init( unsigned int ubrr)
{
/*Set baud rate */
UBRR0H = (unsigned char)(ubrr>>8);
UBRR0L = (unsigned char)ubrr;
Enable receiver and transmitter */
UCSR0B = (1<<RXEN0)|(1<<TXEN0);
/* Set frame format: 8data, 2stop bit */
UCSR0C = (1<<USBS0)|(3<<UCSZ00);
}
More advanced initialization routines can be written to include frame format as
parameters, disable interrupts, and so on. However, many applications use a fixed setting
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of the baud and control registers, and for these types of applications the initialization
code can be placed directly in the main routine, or be combined with initialization code for
other I/O modules.
Related Links
About Code Examples on page 22
21.7.
Data Transmission – The USART Transmitter
The USART Transmitter is enabled by setting the Transmit Enable (TXEN) bit in the UCSRnB Register.
When the Transmitter is enabled, the normal port operation of the TxDn pin is overridden by the USART
and given the function as the Transmitter’s serial output. The baud rate, mode of operation and frame
format must be set up once before doing any transmissions. If synchronous operation is used, the clock
on the XCKn pin will be overridden and used as transmission clock.
21.7.1.
Sending Frames with 5 to 8 Data Bits
A data transmission is initiated by loading the transmit buffer with the data to be transmitted. The CPU
can load the transmit buffer by writing to the UDRn I/O location. The buffered data in the transmit buffer
will be moved to the Shift Register when the Shift Register is ready to send a new frame. The Shift
Register is loaded with new data if it is in idle state (no ongoing transmission) or immediately after the last
stop bit of the previous frame is transmitted. When the Shift Register is loaded with new data, it will
transfer one complete frame at the rate given by the Baud Register, U2X bit or by XCKn depending on
mode of operation.
The following code examples show a simple USART transmit function based on polling of
the Data Register Empty (UDRE) Flag. When using frames with less than eight bits, the
most significant bits written to the UDR0 are ignored. The USART 0 has to be initialized
before the function can be used. For the assembly code, the data to be sent is assumed
to be stored in Register R17.
Assembly Code Example
USART_Transmit:
; Wait for empty transmit buffer
in
r17, UCSR0A
sbrs
r17, UDRE
rjmp
USART_Transmit
; Put data (r16) into buffer, sends the data
out
UDR0,r16
ret
C Code Example
void USART_Transmit( unsigned char data )
{
/* Wait for empty transmit buffer */
while ( !( UCSR0A & (1<<UDRE)) )
;
/* Put data into buffer, sends the data */
UDR0 = data;
}
The function simply waits for the transmit buffer to be empty by checking the UDRE Flag,
before loading it with new data to be transmitted. If the Data Register Empty interrupt is
utilized, the interrupt routine writes the data into the buffer.
Related Links
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About Code Examples on page 22
21.7.2.
Sending Frames with 9 Data Bit
If 9-bit characters are used (UCSZn = 7), the ninth bit must be written to the TXB8 bit in UCSRnB before
the low byte of the character is written to UDRn.
The ninth bit can be used for indicating an address frame when using multi processor communication
mode or for other protocol handling as for example synchronization.
The following code examples show a transmit function that handles 9-bit characters. For
the assembly code, the data to be sent is assumed to be stored in registers R17:R16.
Assembly Code Example
USART_Transmit:
; Wait for empty transmit buffer
in
r18, UCSR0A
sbrs
r18, UDRE
rjmp
USART_Transmit
; Copy 9th bit from r17 to TXB8
cbi
UCSR0B,TXB8
sbrc
r17,0
sbi
UCSR0B,TXB8
; Put LSB data (r16) into buffer, sends the data
out
UDR0,r16
ret
C Code Example
void USART_Transmit( unsigned int data )
{
/* Wait for empty transmit buffer */
while ( !( UCSR0A & (1<<UDRE))) )
;
/* Copy 9th bit to TXB8 */
UCSR0B &= ~(1<<TXB8);
if ( data & 0x0100 )
UCSR0B |= (1<<TXB8);
/* Put data into buffer, sends the data */
UDR0 = data;
}
Note: These transmit functions are written to be general functions. They can be
optimized if the contents of the UCSRnB is static. For example, only the TXB8 bit of the
UCSRnB Register is used after initialization.
Related Links
About Code Examples on page 22
21.7.3.
Transmitter Flags and Interrupts
The USART Transmitter has two flags that indicate its state: USART Data Register Empty (UDRE) and
Transmit Complete (TXC). Both flags can be used for generating interrupts.
The Data Register Empty (UDRE) Flag indicates whether the transmit buffer is ready to receive new data.
This bit is set when the transmit buffer is empty, and cleared when the transmit buffer contains data to be
transmitted that has not yet been moved into the Shift Register. For compatibility with future devices,
always write this bit to zero when writing the UCSRnA Register.
When the Data Register Empty Interrupt Enable (UDRIE) bit in UCSRnB is written to '1', the USART Data
Register Empty Interrupt will be executed as long as UDRE is set (provided that global interrupts are
enabled). UDRE is cleared by writing UDRn. When interrupt-driven data transmission is used, the Data
Register Empty interrupt routine must either write new data to UDRn in order to clear UDRE or disable
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the Data Register Empty interrupt - otherwise, a new interrupt will occur once the interrupt routine
terminates.
The Transmit Complete (TXC) Flag bit is set when the entire frame in the Transmit Shift Register has
been shifted out and there are no new data currently present in the transmit buffer. The TXC Flag bit is
either automatically cleared when a transmit complete interrupt is executed, or it can be cleared by writing
a '1' to its bit location. The TXC Flag is useful in half-duplex communication interfaces (like the RS-485
standard), where a transmitting application must enter receive mode and free the communication bus
immediately after completing the transmission.
When the Transmit Compete Interrupt Enable (TXCIE) bit in UCSRnB is written to '1', the USART
Transmit Complete Interrupt will be executed when the TXC Flag becomes set (provided that global
interrupts are enabled). When the transmit complete interrupt is used, the interrupt handling routine does
not have to clear the TXC Flag, this is done automatically when the interrupt is executed.
21.7.4.
Parity Generator
The Parity Generator calculates the parity bit for the serial frame data. When parity bit is enabled
(UCSRnC.UPM[1]=1), the transmitter control logic inserts the parity bit between the last data bit and the
first stop bit of the frame that is sent.
21.7.5.
Disabling the Transmitter
When writing the TX Enable bit in the USART Control and Status Register n B (UCSRnB.TXEN) to zero,
the disabling of the Transmitter will not become effective until ongoing and pending transmissions are
completed, i.e., when the Transmit Shift Register and Transmit Buffer Register do not contain data to be
transmitted. When disabled, the Transmitter will no longer override the TxDn pin.
21.8.
Data Reception – The USART Receiver
The USART Receiver is enabled by writing the Receive Enable (RXEN) bit in the UCSRnB Register to '1'.
When the Receiver is enabled, the normal pin operation of the RxDn pin is overridden by the USART and
given the function as the Receiver’s serial input. The baud rate, mode of operation and frame format must
be set up once before any serial reception can be done. If synchronous operation is used, the clock on
the XCKn pin will be used as transfer clock.
21.8.1.
Receiving Frames with 5 to 8 Data Bits
The Receiver starts data reception when it detects a valid start bit. Each bit that follows the start bit will be
sampled at the baud rate or XCKn clock, and shifted into the Receive Shift Register until the first stop bit
of a frame is received. A second stop bit will be ignored by the Receiver. When the first stop bit is
received, i.e., a complete serial frame is present in the Receive Shift Register, the contents of the Shift
Register will be moved into the receive buffer. The receive buffer can then be read by reading the UDRn
I/O location.
The following code example shows a simple USART receive function based on polling of
the Receive Complete (RXC) Flag. When using frames with less than eight bits the most
significant bits of the data read from the UDR0 will be masked to zero. The USART 0 has
to be initialized before the function can be used. For the assembly code, the received
data will be stored in R16 after the code completes.
Assembly Code Example
USART_Receive:
; Wait for data to be received
in
r17, UCSR0A
sbrs r17, RXC
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rjmp USART_Receive
; Get and return received data from buffer
in
r16, UDR0
ret
C Code Example
unsigned char USART_Receive( void )
{
/* Wait for data to be received */
while ( !(UCSR0A & (1<<RXC)) )
;
/* Get and return received data from buffer */
return UDR0;
}
For I/O Registers located in extended I/O map, “IN”, “OUT”, “SBIS”, “SBIC”, “CBI”, and
“SBI” instructions must be replaced with instructions that allow access to extended I/O.
Typically “LDS” and “STS” combined with “SBRS”, “SBRC”, “SBR”, and “CBR”.
The function simply waits for data to be present in the receive buffer by checking the
RXC Flag, before reading the buffer and returning the value.
Related Links
About Code Examples on page 22
21.8.2.
Receiving Frames with 9 Data Bits
If 9-bit characters are used (UCSZn=7) the ninth bit must be read from the RXB8 bit in UCSRnB before
reading the low bits from the UDRn. This rule applies to the FE, DOR and UPE Status Flags as well.
Read status from UCSRnA, then data from UDRn. Reading the UDRn I/O location will change the state of
the receive buffer FIFO and consequently the TXB8, FE, DOR and UPE bits, which all are stored in the
FIFO, will change.
The following code example shows a simple receive function for USART0 that handles
both nine bit characters and the status bits. For the assembly code, the received data will
be stored in R17:R16 after the code completes.
Assembly Code Example
USART_Receive:
; Wait for data to be received
in
r16, UCSR0A
sbrs
r16, RXC
rjmp
USART_Receive
; Get status and 9th bit, then data from buffer
in
r18, UCSR0A
in
r17, UCSR0B
in
r16, UDR0
; If error, return -1
andi
r18,(1<<FE)|(1<<DOR)|(1<<UPE)
breq
USART_ReceiveNoError
ldi
r17, HIGH(-1)
ldi
r16, LOW(-1)
USART_ReceiveNoError:
; Filter the 9th bit, then return
lsr
r17
andi
r17, 0x01
ret
C Code Example
unsigned int USART_Receive( void )
{
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}
unsigned char status, resh, resl;
/* Wait for data to be received */
while ( !(UCSR0A & (1<<RXC)) )
;
/* Get status and 9th bit, then data */
/* from buffer */
status = UCSR0A;
resh = UCSR0B;
resl = UDR0;
/* If error, return -1 */
if ( status & (1<<FE)|(1<<DOR)|(1<<UPE) )
return -1;
/* Filter the 9th bit, then return */
resh = (resh >> 1) & 0x01;
return ((resh << 8) | resl);
The receive function example reads all the I/O Registers into the Register File before any
computation is done. This gives an optimal receive buffer utilization since the buffer
location read will be free to accept new data as early as possible.
Related Links
About Code Examples on page 22
21.8.3.
Receive Compete Flag and Interrupt
The USART Receiver has one flag that indicates the Receiver state.
The Receive Complete (RXC) Flag indicates if there are unread data present in the receive buffer. This
flag is one when unread data exist in the receive buffer, and zero when the receive buffer is empty (i.e.,
does not contain any unread data). If the Receiver is disabled (RXEN = 0), the receive buffer will be
flushed and consequently the RXCn bit will become zero.
When the Receive Complete Interrupt Enable (RXCIE) in UCSRnB is set, the USART Receive Complete
interrupt will be executed as long as the RXC Flag is set (provided that global interrupts are enabled).
When interrupt-driven data reception is used, the receive complete routine must read the received data
from UDR in order to clear the RXC Flag, otherwise a new interrupt will occur once the interrupt routine
terminates.
21.8.4.
Receiver Error Flags
The USART Receiver has three Error Flags: Frame Error (FE), Data OverRun (DOR) and Parity Error
(UPE). All can be accessed by reading UCSRnA. Common for the Error Flags is that they are located in
the receive buffer together with the frame for which they indicate the error status. Due to the buffering of
the Error Flags, the UCSRnA must be read before the receive buffer (UDRn), since reading the UDRn I/O
location changes the buffer read location. Another equality for the Error Flags is that they can not be
altered by software doing a write to the flag location. However, all flags must be set to zero when the
UCSRnA is written for upward compatibility of future USART implementations. None of the Error Flags
can generate interrupts.
The Frame Error (FE) Flag indicates the state of the first stop bit of the next readable frame stored in the
receive buffer. The FE Flag is zero when the stop bit was correctly read as '1', and the FE Flag will be one
when the stop bit was incorrect (zero). This flag can be used for detecting out-of-sync conditions,
detecting break conditions and protocol handling. The FE Flag is not affected by the setting of the USBS
bit in UCSRnC since the Receiver ignores all, except for the first, stop bits. For compatibility with future
devices, always set this bit to zero when writing to UCSRnA.
The Data OverRun (DOR) Flag indicates data loss due to a receiver buffer full condition. A Data OverRun
occurs when the receive buffer is full (two characters), a new character is waiting in the Receive Shift
Register, and a new start bit is detected. If the DOR Flag is set, one or more serial frames were lost
between the last frame read from UDR, and the next frame read from UDR. For compatibility with future
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devices, always write this bit to zero when writing to UCSRnA. The DOR Flag is cleared when the frame
received was successfully moved from the Shift Register to the receive buffer.
The Parity Error (UPE) Flag indicates that the next frame in the receive buffer had a Parity Error when
received. If Parity Check is not enabled the UPE bit will always read '0'. For compatibility with future
devices, always set this bit to zero when writing to UCSRnA. For more details see Parity Bit Calculation
and 'Parity Checker' below.
21.8.5.
Parity Checker
The Parity Checker is active when the high USART Parity Mode bit 1 in the USART Control and Status
Register n C (UCSRnC.UPM[1]) is written to '1'. The type of Parity Check to be performed (odd or even)
is selected by the UCSRnC.UPM[0] bit. When enabled, the Parity Checker calculates the parity of the
data bits in incoming frames and compares the result with the parity bit from the serial frame. The result
of the check is stored in the receive buffer together with the received data and stop bits. The USART
Parity Error Flag in the USART Control and Status Register n A (UCSRnA.UPE) can then be read by
software to check if the frame had a Parity Error.
The UPEn bit is set if the next character that can be read from the receive buffer had a Parity Error when
received and the Parity Checking was enabled at that point (UPM[1] = 1). This bit is valid until the receive
buffer (UDRn) is read.
21.8.6.
Disabling the Receiver
In contrast to the Transmitter, disabling of the Receiver will be immediate. Data from ongoing receptions
will therefore be lost. When disabled (i.e., UCSRnB.RXEN is written to zero) the Receiver will no longer
override the normal function of the RxDn port pin. The Receiver buffer FIFO will be flushed when the
Receiver is disabled. Remaining data in the buffer will be lost.
21.8.7.
Flushing the Receive Buffer
The receiver buffer FIFO will be flushed when the Receiver is disabled, i.e., the buffer will be emptied of
its contents. Unread data will be lost. If the buffer has to be flushed during normal operation, due to for
instance an error condition, read the UDRn I/O location until the RXCn Flag is cleared.
The following code shows how to flush the receive buffer of USART0.
Assembly Code Example
USART_Flush:
in
r16, UCSR0A
sbrs
r16, RXC
ret
in
r16, UDR0
rjmp
USART_Flush
C Code Example
void USART_Flush( void )
{
unsigned char dummy;
while ( UCSR0A & (1<<RXC) ) dummy = UDR0;
}
Related Links
About Code Examples on page 22
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21.9.
Asynchronous Data Reception
The USART includes a clock recovery and a data recovery unit for handling asynchronous data reception.
The clock recovery logic is used for synchronizing the internally generated baud rate clock to the
incoming asynchronous serial frames at the RxDn pin. The data recovery logic samples and low pass
filters each incoming bit, thereby improving the noise immunity of the Receiver. The asynchronous
reception operational range depends on the accuracy of the internal baud rate clock, the rate of the
incoming frames, and the frame size in number of bits.
21.9.1.
Asynchronous Clock Recovery
The clock recovery logic synchronizes internal clock to the incoming serial frames. The figure below
illustrates the sampling process of the start bit of an incoming frame. The sample rate is 16-times the
baud rate for Normal mode, and 8 times the baud rate for Double Speed mode. The horizontal arrows
illustrate the synchronization variation due to the sampling process. Note the larger time variation when
using the Double Speed mode (UCSRnA.U2X=1) of operation. Samples denoted '0' are samples taken
while the RxDn line is idle (i.e., no communication activity).
Figure 21-5. Start Bit Sampling
RxDn
IDLE
START
BIT 0
Sample
(U2X = 0)
0
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
1
2
3
Sample
(U2X = 1)
0
1
2
3
4
5
6
7
8
1
2
When the clock recovery logic detects a high (idle) to low (start) transition on the RxDn line, the start bit
detection sequence is initiated. Let sample 1 denote the first zero-sample as shown in the figure. The
clock recovery logic then uses samples 8, 9, and 10 for Normal mode, and samples 4, 5, and 6 for Double
Speed mode (indicated with sample numbers inside boxes on the figure), to decide if a valid start bit is
received. If two or more of these three samples have logical high levels (the majority wins), the start bit is
rejected as a noise spike and the Receiver starts looking for the next high to low-transition on RxDn. If
however, a valid start bit is detected, the clock recovery logic is synchronized and the data recovery can
begin. The synchronization process is repeated for each start bit.
21.9.2.
Asynchronous Data Recovery
When the receiver clock is synchronized to the start bit, the data recovery can begin. The data recovery
unit uses a state machine that has 16 states for each bit in Normal mode and eight states for each bit in
Double Speed mode. The figure below shows the sampling of the data bits and the parity bit. Each of the
samples is given a number that is equal to the state of the recovery unit.
Figure 21-6. Sampling of Data and Parity Bit
RxDn
BIT n
Sample
(U2X = 0)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
1
Sample
(U2X = 1)
1
2
3
4
5
6
7
8
1
The decision of the logic level of the received bit is taken by doing a majority voting of the logic value to
the three samples in the center of the received bit: If two or all three center samples (those marked by
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their sample number inside boxes) have high levels, the received bit is registered to be a logic '1'. If two
or all three samples have low levels, the received bit is registered to be a logic '0'. This majority voting
process acts as a low pass filter for the incoming signal on the RxDn pin. The recovery process is then
repeated until a complete frame is received, including the first stop bit. The Receiver only uses the first
stop bit of a frame.
The following figure shows the sampling of the stop bit and the earliest possible beginning of the start bit
of the next frame.
Figure 21-7. Stop Bit Sampling and Next Start Bit Sampling
RxD
STOP 1
(A)
(B)
(C)
Sample
(U2X = 0)
1
2
3
4
5
6
7
8
9
10
0/1
0/1
0/1
Sample
(U2X = 1)
1
2
3
4
5
6
0/1
The same majority voting is done to the stop bit as done for the other bits in the frame. If the stop bit is
registered to have a logic '0' value, the Frame Error (UCSRnA.FE) Flag will be set.
A new high to low transition indicating the start bit of a new frame can come right after the last of the bits
used for majority voting. For Normal Speed mode, the first low level sample can be taken at point marked
(A) in the figure above. For Double Speed mode, the first low level must be delayed to (B). (C) marks a
stop bit of full length. The early start bit detection influences the operational range of the Receiver.
21.9.3.
Asynchronous Operational Range
The operational range of the Receiver is dependent on the mismatch between the received bit rate and
the internally generated baud rate. If the Transmitter is sending frames at too fast or too slow bit rates, or
the internally generated baud rate of the Receiver does not have a similar base frequency (see
recommendations below), the Receiver will not be able to synchronize the frames to the start bit.
The following equations can be used to calculate the ratio of the incoming data rate and internal receiver
baud rate.
�slow =
•
•
•
•
•
�+1 �
� − 1 + � ⋅ � + ��
�fast =
�+2 �
� + 1 � + ��
D: Sum of character size and parity size (D = 5 to 10 bit)
S: Samples per bit. S = 16 for Normal Speed mode and S = 8 for Double Speed mode.
SF: First sample number used for majority voting. SF = 8 for normal speed and SF = 4
for Double Speed mode.
SM: Middle sample number used for majority voting. SM = 9 for normal speed and
SM = 5 for Double Speed mode.
Rslow : is the ratio of the slowest incoming data rate that can be accepted in relation to the
receiver baud rate. Rfast is the ratio of the fastest incoming data rate that can be
accepted in relation to the receiver baud rate.
The following tables list the maximum receiver baud rate error that can be tolerated. Note that Normal
Speed mode has higher toleration of baud rate variations.
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Table 21-2. Recommended Maximum Receiver Baud Rate Error for Normal Speed Mode (U2X = 0)
D
# (Data+Parity Bit)
Rslow [%]
Rfast [%]
Max. Total Error [%]
Recommended Max.
Receiver Error [%]
5
93.20
106.67
+6.67/-6.8
±3.0
6
94.12
105.79
+5.79/-5.88
±2.5
7
94.81
105.11
+5.11/-5.19
±2.0
8
95.36
104.58
+4.58/-4.54
±2.0
9
95.81
104.14
+4.14/-4.19
±1.5
10
96.17
103.78
+3.78/-3.83
±1.5
Table 21-3. Recommended Maximum Receiver Baud Rate Error for Double Speed Mode (U2X = 1)
D
# (Data+Parity Bit)
Rslow [%]
Rfast [%]
Max Total Error [%]
Recommended Max
Receiver Error [%]
5
94.12
105.66
+5.66/-5.88
±2.5
6
94.92
104.92
+4.92/-5.08
±2.0
7
95.52
104,35
+4.35/-4.48
±1.5
8
96.00
103.90
+3.90/-4.00
±1.5
9
96.39
103.53
+3.53/-3.61
±1.5
10
96.70
103.23
+3.23/-3.30
±1.0
The recommendations of the maximum receiver baud rate error was made under the assumption that the
Receiver and Transmitter equally divides the maximum total error.
There are two possible sources for the receivers baud rate error. The Receiver’s system clock (EXTCLK)
will always have some minor instability over the supply voltage range and the temperature range. When
using a crystal to generate the system clock, this is rarely a problem, but for a resonator, the system clock
may differ more than 2% depending of the resonator's tolerance. The second source for the error is more
controllable. The baud rate generator can not always do an exact division of the system frequency to get
the baud rate wanted. In this case an UBRRn value that gives an acceptable low error can be used if
possible.
21.10. Multi-Processor Communication Mode
Setting the Multi-Processor Communication mode (MPCMn) bit in UCSRnA enables a filtering function of
incoming frames received by the USART Receiver. Frames that do not contain address information will
be ignored and not put into the receive buffer. This effectively reduces the number of incoming frames
that has to be handled by the CPU, in a system with multiple MCUs that communicate via the same serial
bus. The Transmitter is unaffected by the MPCMn setting, but has to be used differently when it is a part
of a system utilizing the Multi-processor Communication mode.
If the Receiver is set up to receive frames that contain 5 to 8 data bits, then the first stop bit indicates if
the frame contains data or address information. If the Receiver is set up for frames with 9 data bits, then
the ninth bit (RXB8) is used for identifying address and data frames. When the frame type bit (the first
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stop or the ninth bit) is '1', the frame contains an address. When the frame type bit is '0', the frame is a
data frame.
The Multi-Processor Communication mode enables several slave MCUs to receive data from a master
MCU. This is done by first decoding an address frame to find out which MCU has been addressed. If a
particular slave MCU has been addressed, it will receive the following data frames as normal, while the
other slave MCUs will ignore the received frames until another address frame is received.
21.10.1. Using MPCMn
For an MCU to act as a master MCU, it can use a 9-bit character frame format (UCSZ1=7). The ninth bit
(TXB8) must be set when an address frame (TXB8=1) or cleared when a data frame (TXB=0) is being
transmitted. The slave MCUs must in this case be set to use a 9-bit character frame format.
The following procedure should be used to exchange data in Multi-Processor Communication Mode:
1.
2.
3.
4.
5.
All Slave MCUs are in Multi-Processor Communication mode (MPCM in UCSRnA is set).
The Master MCU sends an address frame, and all slaves receive and read this frame. In the Slave
MCUs, the RXC Flag in UCSRnA will be set as normal.
Each Slave MCU reads the UDRn Register and determines if it has been selected. If so, it clears
the MPCM bit in UCSRnA, otherwise it waits for the next address byte and keeps the MPCM
setting.
The addressed MCU will receive all data frames until a new address frame is received. The other
Slave MCUs, which still have the MPCM bit set, will ignore the data frames.
When the last data frame is received by the addressed MCU, the addressed MCU sets the MPCM
bit and waits for a new address frame from master. The process then repeats from step 2.
Using any of the 5- to 8-bit character frame formats is possible, but impractical since the Receiver must
change between using n and n+1 character frame formats. This makes full-duplex operation difficult since
the Transmitter and Receiver uses the same character size setting. If 5- to 8-bit character frames are
used, the Transmitter must be set to use two stop bit (USBS = 1) since the first stop bit is used for
indicating the frame type.
Do not use Read-Modify-Write instructions (SBI and CBI) to set or clear the MPCM bit. The MPCM bit
shares the same I/O location as the TXC Flag and this might accidentally be cleared when using SBI or
CBI instructions.
21.11. Examples of Baud Rate Setting
For standard crystal and resonator frequencies, the most commonly used baud rates for asynchronous
operation can be generated by using the UBRRn settings as listed in the table below.
UBRRn values which yield an actual baud rate differing less than 0.5% from the target baud rate, are bold
in the table. Higher error ratings are acceptable, but the Receiver will have less noise resistance when the
error ratings are high, especially for large serial frames (see also section Asynchronous Operational
Range). The error values are calculated using the following equation:
����� % =
BaudRateClosest Match
−1
BaudRate
2
100 %
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Table 21-4. Examples of UBRRn Settings for Commonly Used Oscillator Frequencies
Baud
Rate
[bps]
fosc = 1.0000MHz
fosc = 1.8432MHz
fosc = 2.0000MHz
U2X = 0
U2X = 1
U2X = 0
U2X = 1
UBRRn Error
UBRRn Error
UBRRn Error
UBRRn Error UBRRn Error
UBRRn Error
2400
25
0.2%
51
0.2%
47
0.0%
95
0.0%
51
0.2%
103
0.2%
4800
12
0.2%
25
0.2%
23
0.0%
47
0.0%
25
0.2%
51
0.2%
9600
6
-7.0%
12
0.2%
11
0.0%
23
0.0%
12
0.2%
25
0.2%
14.4k
3
8.5%
8
-3.5%
7
0.0%
15
0.0%
8
-3.5%
16
2.1%
19.2k
2
8.5%
6
-7.0%
5
0.0%
11
0.0%
6
-7.0%
12
0.2%
28.8k
1
8.5%
3
8.5%
3
0.0%
7
0.0%
3
8.5%
8
-3.5%
38.4k
1
-18.6% 2
8.5%
2
0.0%
5
0.0%
2
8.5%
6
-7.0%
57.6k
0
8.5%
1
8.5%
1
0.0%
3
0.0%
1
8.5%
3
8.5%
76.8k
–
–
1
-18.6% 1
-25.0% 2
0.0%
1
-18.6% 2
8.5%
115.2k
–
–
0
8.5%
0
0.0%
1
0.0%
0
8.5%
1
8.5%
230.4k
–
–
–
–
–
–
0
0.0%
–
–
–
–
250k
–
–
–
–
–
–
–
–
–
–
0
0.0%
Max.(1) 62.5kbps
125kbps
115.2kbps
U2X = 0
230.4kbps
U2X = 1
125kbps
250kbps
Note: 1. UBRRn = 0, Error = 0.0%
Table 21-5. Examples of UBRRn Settings for Commonly Used Oscillator Frequencies
Baud
Rate
[bps]
fosc = 3.6864MHz
fosc = 4.0000MHz
fosc = 7.3728MHz
U2X = 0
U2X = 1
U2X = 0
U2X = 1
U2X = 0
U2X = 1
UBRRn Error
UBRRn Error
UBRRn Error
UBRRn Error
UBRRn Error
UBRRn Error
2400
95
0.0%
191
0.0%
103
0.2%
207
0.2%
191
0.0%
383
0.0%
4800
47
0.0%
95
0.0%
51
0.2%
103
0.2%
95
0.0%
191
0.0%
9600
23
0.0%
47
0.0%
25
0.2%
51
0.2%
47
0.0%
95
0.0%
14.4k
15
0.0%
31
0.0%
16
2.1%
34
-0.8% 31
0.0%
63
0.0%
19.2k
11
0.0%
23
0.0%
12
0.2%
25
0.2%
23
0.0%
47
0.0%
28.8k
7
0.0%
15
0.0%
8
-3.5% 16
2.1%
15
0.0%
31
0.0%
38.4k
5
0.0%
11
0.0%
6
-7.0% 12
0.2%
11
0.0%
23
0.0%
57.6k
3
0.0%
7
0.0%
3
8.5%
8
-3.5% 7
0.0%
15
0.0%
76.8k
2
0.0%
5
0.0%
2
8.5%
6
-7.0% 5
0.0%
11
0.0%
115.2k
1
0.0%
3
0.0%
1
8.5%
3
8.5%
3
0.0%
7
0.0%
230.4k
0
0.0%
1
0.0%
0
8.5%
1
8.5%
1
0.0%
3
0.0%
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Baud
Rate
[bps]
fosc = 3.6864MHz
fosc = 4.0000MHz
fosc = 7.3728MHz
U2X = 0
U2X = 1
U2X = 0
U2X = 1
U2X = 0
U2X = 1
UBRRn Error
UBRRn Error
UBRRn Error
UBRRn Error
UBRRn Error
UBRRn Error
250k
0
-7.8% 1
-7.8% 0
0.0%
1
0.0%
1
-7.8% 3
-7.8%
0.5M
–
–
0
-7.8% –
–
0
0.0%
0
-7.8% 1
-7.8%
1M
–
–
–
–
–
–
–
–
–
-7.8%
Max.(1) 230.4kbps
460.8kbps
–
250kbps
0.5Mbps
460.8kbps
0
921.6kbps
(1) UBRRn = 0, Error = 0.0%
Table 21-6. Examples of UBRRn Settings for Commonly Used Oscillator Frequencies
Baud
Rate
[bps]
fosc = 8.0000MHz
fosc = 11.0592MHz
fosc = 14.7456MHz
U2X = 0
U2X = 1
U2X = 0
U2X = 1
U2X = 0
U2X = 1
UBRRn Error
UBRRn Error
UBRRn Error
UBRRn Error
UBRRn Error
UBRRn Error
2400
207
0.2%
416
-0.1% 287
0.0%
575
0.0%
383
0.0%
767
0.0%
4800
103
0.2%
207
0.2%
143
0.0%
287
0.0%
191
0.0%
383
0.0%
9600
51
0.2%
103
0.2%
71
0.0%
143
0.0%
95
0.0%
191
0.0%
14.4k
34
-0.8% 68
0.6%
47
0.0%
95
0.0%
63
0.0%
127
0.0%
19.2k
25
0.2%
51
0.2%
35
0.0%
71
0.0%
47
0.0%
95
0.0%
28.8k
16
2.1%
34
-0.8% 23
0.0%
47
0.0%
31
0.0%
63
0.0%
38.4k
12
0.2%
25
0.2%
17
0.0%
35
0.0%
23
0.0%
47
0.0%
57.6k
8
-3.5% 16
2.1%
11
0.0%
23
0.0%
15
0.0%
31
0.0%
76.8k
6
-7.0% 12
0.2%
8
0.0%
17
0.0%
11
0.0%
23
0.0%
115.2k
3
8.5%
8
-3.5% 5
0.0%
11
0.0%
7
0.0%
15
0.0%
230.4k
1
8.5%
3
8.5%
2
0.0%
5
0.0%
3
0.0%
7
0.0%
250k
1
0.0%
3
0.0%
2
-7.8% 5
-7.8% 3
-7.8% 6
5.3%
0.5M
0
0.0%
1
0.0%
–
–
2
-7.8% 1
-7.8% 3
-7.8%
1M
–
–
0
0.0%
–
–
–
–
-7.8% 1
-7.8%
Max.(1) 0.5Mbps
1Mbps
691.2kbps
0
1.3824Mbps
921.6kbps
1.8432Mbps
(1) UBRRn = 0, Error = 0.0%
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Table 21-7. Examples of UBRRn Settings for Commonly Used Oscillator Frequencies
Baud
Rate
[bps]
fosc = 16.0000MHz
fosc = 18.4320MHz
fosc = 20.0000MHz
U2X = 0
U2X = 1
U2X = 0
U2X = 1
U2X = 0
U2X = 1
UBRRn Error
UBRRn Error
UBRRn Error
UBRRn Error
UBRRn Error
UBRRn Error
2400
416
-0.1% 832
0.0%
479
0.0%
959
0.0%
520
0.0%
1041
0.0%
4800
207
0.2%
416
-0.1% 239
0.0%
479
0.0%
259
0.2%
520
0.0%
9600
103
0.2%
207
0.2%
0.0%
239
0.0%
129
0.2%
259
0.2%
14.4k
68
0.6%
138
-0.1% 79
0.0%
159
0.0%
86
-0.2% 173
-0.2%
19.2k
51
0.2%
103
0.2%
59
0.0%
119
0.0%
64
0.2%
129
0.2%
28.8k
34
-0.8% 68
0.6%
39
0.0%
79
0.0%
42
0.9%
86
-0.2%
38.4k
25
0.2%
51
0.2%
29
0.0%
59
0.0%
32
-1.4% 64
0.2%
57.6k
16
2.1%
34
-0.8% 19
0.0%
39
0.0%
21
-1.4% 42
0.9%
76.8k
12
0.2%
25
0.2%
14
0.0%
29
0.0%
15
1.7%
32
-1.4%
115.2k
8
-3.5% 16
2.1%
9
0.0%
19
0.0%
10
-1.4% 21
-1.4%
230.4k
3
8.5%
8
-3.5% 4
0.0%
9
0.0%
4
8.5%
10
-1.4%
250k
3
0.0%
7
0.0%
4
-7.8% 8
2.4%
4
0.0%
9
0.0%
0.5M
1
0.0%
3
0.0%
–
–
4
-7.8% –
–
4
0.0%
1M
0
0.0%
1
0.0%
–
–
–
–
–
–
–
Max.(1) 1Mbps
2Mbps
119
1.152Mbps
2.304Mbps
–
1.25Mbps
2.5Mbps
(1) UBRRn = 0, Error = 0.0%
Related Links
Asynchronous Operational Range on page 246
21.12. Register Description
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21.12.1. USART I/O Data Register n
The USART Transmit Data Buffer Register and USART Receive Data Buffer Registers share the same
I/O address referred to as USART Data Register or UDRn. The Transmit Data Buffer Register (TXB) will
be the destination for data written to the UDR1 Register location. Reading the UDRn Register location will
return the contents of the Receive Data Buffer Register (RXB).
For 5-, 6-, or 7-bit characters the upper unused bits will be ignored by the Transmitter and set to zero by
the Receiver.
The transmit buffer can only be written when the UDRE Flag in the UCSRnA Register is set. Data written
to UDRn when the UCSRnA.UDRE Flag is not set, will be ignored by the USART Transmitter n. When
data is written to the transmit buffer, and the Transmitter is enabled, the Transmitter will load the data into
the Transmit Shift Register when the Shift Register is empty. Then the data will be serially transmitted on
the TxDn pin.
The receive buffer consists of a two level FIFO. The FIFO will change its state whenever the receive
buffer is accessed. Due to this behavior of the receive buffer, do not use Read-Modify-Write instructions
(SBI and CBI) on this location. Be careful when using bit test instructions (SBIC and SBIS), since these
also will change the state of the FIFO.
Name: UDRn
Offset: 0xC6 + n*0x08 [n=0..1]
Reset: 0x00
Property: Bit
7
6
5
4
3
2
1
0
TXB / RXB[7:0]
Access
Reset
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – TXB / RXB[7:0]: USART Transmit / Receive Data Buffer
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21.12.2. USART Control and Status Register n A
Name: UCSR0A, UCSR1A
Offset: 0xC0 + n*0x08 [n=0..1]
Reset: 0x20
Property: Bit
7
6
5
4
3
2
1
0
RXC
TXC
UDRE
FE
DOR
UPE
U2X
MPCM
Access
R
R/W
R
R
R
R
R/W
R/W
Reset
0
0
1
0
0
0
0
0
Bit 7 – RXC: USART Receive Complete
This flag bit is set when there are unread data in the receive buffer and cleared when the receive buffer is
empty (i.e., does not contain any unread data). If the Receiver is disabled, the receive buffer will be
flushed and consequently the RXC bit will become zero. The RXC Flag can be used to generate a
Receive Complete interrupt (see description of the RXCIE bit).
Bit 6 – TXC: USART Transmit Complete
This flag bit is set when the entire frame in the Transmit Shift Register has been shifted out and there are
no new data currently present in the transmit buffer (UDRn). The TXC Flag bit is automatically cleared
when a transmit complete interrupt is executed, or it can be cleared by writing a one to its bit location. The
TXC Flag can generate a Transmit Complete interrupt (see description of the TXCIE bit).
Bit 5 – UDRE: USART Data Register Empty
The UDRE Flag indicates if the transmit buffer (UDRn) is ready to receive new data. If UDRE is one, the
buffer is empty, and therefore ready to be written. The UDRE Flag can generate a Data Register Empty
interrupt (see description of the UDRIE bit). UDRE is set after a reset to indicate that the Transmitter is
ready.
Bit 4 – FE: Frame Error
This bit is set if the next character in the receive buffer had a Frame Error when received. I.e., when the
first stop bit of the next character in the receive buffer is zero. This bit is valid until the receive buffer
(UDRn) is read. The FEn bit is zero when the stop bit of received data is one. Always set this bit to zero
when writing to UCSRnA.
This bit is reserved in Master SPI Mode (MSPIM).
Bit 3 – DOR: Data OverRun
This bit is set if a Data OverRun condition is detected. A Data OverRun occurs when the receive buffer is
full (two characters), it is a new character waiting in the Receive Shift Register, and a new start bit is
detected. This bit is valid until the receive buffer (UDRn) is read. Always set this bit to zero when writing
to UCSRnA.
This bit is reserved in Master SPI Mode (MSPIM).
Bit 2 – UPE: USART Parity Error
This bit is set if the next character in the receive buffer had a Parity Error when received and the Parity
Checking was enabled at that point (UCSRnC.UPM1 = 1). This bit is valid until the receive buffer (UDRn)
is read. Always set this bit to zero when writing to UCSRnA.
This bit is reserved in Master SPI Mode (MSPIM).
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Bit 1 – U2X: Double the USART Transmission Speed
This bit only has effect for the asynchronous operation. Write this bit to zero when using synchronous
operation.
Writing this bit to one will reduce the divisor of the baud rate divider from 16 to 8 effectively doubling the
transfer rate for asynchronous communication.
This bit is reserved in Master SPI Mode (MSPIM).
Bit 0 – MPCM: Multi-processor Communication Mode
This bit enables the Multi-processor Communication mode. When the MPCM bit is written to one, all the
incoming frames received by the USART Receiver n that do not contain address information will be
ignored. The Transmitter is unaffected by the MPCM setting. Refer to Multi-Processor Communication
Mode for details.
This bit is reserved in Master SPI Mode (MSPIM).
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21.12.3. USART Control and Status Register n B
Name: UCSR0B, UCSR1B
Offset: 0xC1 + n*0x08 [n=0..1]
Reset: 0x00
Property: Bit
Access
Reset
7
6
5
4
3
2
1
0
RXCIE
TXCIE
UDRIE
RXEN
TXEN
UCSZ2
RXB8
TXB8
R/W
R/W
R/W
R/W
R/W
R/W
R
R/W
0
0
0
0
0
0
0
0
Bit 7 – RXCIE: RX Complete Interrupt Enable
Writing this bit to one enables interrupt on the UCSRnA.RXC Flag. A USART Receive Complete interrupt
will be generated only if the RXCIE bit is written to one, the Global Interrupt Flag in SREG is written to
one and the RXC bit in UCSRnA is set.
Bit 6 – TXCIE: TX Complete Interrupt Enable
Writing this bit to one enables interrupt on the TXC Flag. A USART Transmit Complete interrupt will be
generated only if the TXCIE bit is written to one, the Global Interrupt Flag in SREG is written to one and
the TXC bit in UCSRnA is set.
Bit 5 – UDRIE: USART Data Register Empty Interrupt Enable
Writing this bit to one enables interrupt on the UDRE Flag. A Data Register Empty interrupt will be
generated only if the UDRIE bit is written to one, the Global Interrupt Flag in SREG is written to one and
the UDRE bit in UCSRnA is set.
Bit 4 – RXEN: Receiver Enable
Writing this bit to one enables the USART Receiver. The Receiver will override normal port operation for
the RxDn pin when enabled. Disabling the Receiver will flush the receive buffer invalidating the FE, DOR,
and UPE Flags.
Bit 3 – TXEN: Transmitter Enable
Writing this bit to one enables the USART Transmitter. The Transmitter will override normal port operation
for the TxDn pin when enabled. The disabling of the Transmitter (writing TXEN to zero) will not become
effective until ongoing and pending transmissions are completed, i.e., when the Transmit Shift Register
and Transmit Buffer Register do not contain data to be transmitted. When disabled, the Transmitter will no
longer override the TxDn port.
Bit 2 – UCSZ2: Character Size
The UCSZ2 bits combined with the UCSZ[1:0] bit in UCSRnC sets the number of data bits (Character
Size) in a frame the Receiver and Transmitter use.
This bit is reserved in Master SPI Mode (MSPIM).
Bit 1 – RXB8: Receive Data Bit 8
RXB8 is the ninth data bit of the received character when operating with serial frames with nine data bits.
Must be read before reading the low bits from UDRn.
This bit is reserved in Master SPI Mode (MSPIM).
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Bit 0 – TXB8: Transmit Data Bit 8
TXB8 is the ninth data bit in the character to be transmitted when operating with serial frames with nine
data bits. Must be written before writing the low bits to UDRn.
This bit is reserved in Master SPI Mode (MSPIM).
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21.12.4. USART Control and Status Register n C
Name: UCSR0C, UCSR1C
Offset: 0xC2 + n*0x08 [n=0..1]
Reset: 0x06
Property: Bit
7
6
5
UMSEL[1:0]
Access
Reset
4
UPM[1:0]
3
2
1
0
USBS
UCSZ1 /
UCSZ0 /
UCPOL
UDORD
UCPHA
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
1
1
0
Bits 7:6 – UMSEL[1:0]: USART Mode Select
These bits select the mode of operation of the USARTn
Table 21-8. USART Mode Selection
UMSEL[1:0]
Mode
00
Asynchronous USART
01
Synchronous USART
10
Reserved
11
Master SPI (MSPIM)(1)
Note: 1. The UDORD, UCPHA, and UCPOL can be set in the same write operation where the MSPIM is
enabled.
Bits 5:4 – UPM[1:0]: USART Parity Mode
These bits enable and set type of parity generation and check. If enabled, the Transmitter will
automatically generate and send the parity of the transmitted data bits within each frame. The Receiver
will generate a parity value for the incoming data and compare it to the UPM setting. If a mismatch is
detected, the UPE Flag in UCSRnA will be set.
Table 21-9. USART Mode Selection
UPM[1:0]
ParityMode
00
Disabled
01
Reserved
10
Enabled, Even Parity
11
Enabled, Odd Parity
These bits are reserved in Master SPI Mode (MSPIM).
Bit 3 – USBS: USART Stop Bit Select
This bit selects the number of stop bits to be inserted by the Transmitter n. The Receiver ignores this
setting.
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Table 21-10. Stop Bit Settings
USBS
Stop Bit(s)
0
1-bit
1
2-bit
This bit is reserved in Master SPI Mode (MSPIM).
Bit 2 – UCSZ1 / UDORD: USART Character Size / Data Order
UCSZ1[1:0]: USART Modes: The UCSZ1[1:0] bits combined with the UCSZ12 bit in UCSR1B sets the
number of data bits (Character Size) in a frame the Receiver and Transmitter use.
Table 21-11. Character Size Settings
UCSZ1[2:0]
Character Size
000
5-bit
001
6-bit
010
7-bit
011
8-bit
100
Reserved
101
Reserved
110
Reserved
111
9-bit
UDORD0: Master SPI Mode: When set to one the LSB of the data word is transmitted first. When set to
zero the MSB of the data word is transmitted first. Refer to the USART in SPI Mode - Frame Formats for
details.
Bit 1 – UCSZ0 / UCPHA: USART Character Size / Clock Phase
UCSZ0: USART Modes: Refer to UCSZ1.
UCPHA: Master SPI Mode: The UCPHA bit setting determine if data is sampled on the leasing edge
(first) or tailing (last) edge of XCK. Refer to the SPI Data Modes and Timing for details.
Bit 0 – UCPOL: Clock Polarity
USART n Modes: This bit is used for synchronous mode only. Write this bit to zero when asynchronous
mode is used. The UCPOL bit sets the relationship between data output change and data input sample,
and the synchronous clock (XCKn).
Table 21-12. USART Clock Polarity Settings
UCPOL
Transmitted Data Changed (Output of TxDn
Pin)
Received Data Sampled (Input on RxDn
Pin)
0
Rising XCKn Edge
Falling XCKn Edge
1
Falling XCKn Edge
Rising XCKn Edge
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Master SPI Mode: The UCPOL bit sets the polarity of the XCKn clock. The combination of the UCPOL
and UCPHA bit settings determine the timing of the data transfer. Refer to the SPI Data Modes and
Timing for details.
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21.12.5. USART Baud Rate n Register Low
Name: UBRR0L, UBRR1L
Offset: 0xC4 + n*0x08 [n=0..1]
Reset: 0x00
Property: Bit
7
6
5
4
3
2
1
0
UBRR[7:0]
Access
Reset
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – UBRR[7:0]: USART Baud Rate [7:0]
This is a 12-bit register which contains the USART baud rate. The UBRRnH contains the four most
significant bits and the UBRRnL contains the eight least significant bits of the USART n baud rate.
Ongoing transmissions by the Transmitter and Receiver will be corrupted if the baud rate is changed.
Writing UBRRnL will trigger an immediate update of the baud rate prescaler.
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21.12.6. USART Baud Rate n Register High
Name: UBRR0H, UBRR1H
Offset: 0xC5 + n*0x08 [n=0..1]
Reset: 0x00
Property: Bit
7
6
5
4
3
2
1
0
UBRR[3:0]
Access
Reset
R/W
R/W
R/W
R/W
0
0
0
0
Bits 3:0 – UBRR[3:0]: USART Baud Rate [11:8]
Refer to UBRR0L, UBRR1L.
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22.
USARTSPI - USART in SPI Mode
22.1.
Features
•
•
•
•
•
•
•
•
22.2.
Full Duplex, Three-wire Synchronous Data Transfer
Master Operation
Supports all four SPI Modes of Operation (Mode 0, 1, 2, and 3)
LSB First or MSB First Data Transfer (Configurable Data Order)
Queued Operation (Double Buffered)
High Resolution Baud Rate Generator
High Speed Operation (fXCKmax = fCK/2)
Flexible Interrupt Generation
Overview
The Universal Synchronous and Asynchronous serial Receiver and Transmitter (USART) can be set to a
master SPI compliant mode of operation.
Setting both UMSELn[1:0] bits to one enables the USART in MSPIM logic. In this mode of operation the
SPI master control logic takes direct control over the USART resources. These resources include the
transmitter and receiver shift register and buffers, and the baud rate generator. The parity generator and
checker, the data and clock recovery logic, and the RX and TX control logic is disabled. The USART RX
and TX control logic is replaced by a common SPI transfer control logic. However, the pin control logic
and interrupt generation logic is identical in both modes of operation.
The I/O register locations are the same in both modes. However, some of the functionality of the control
registers changes when using MSPIM.
22.3.
Clock Generation
The Clock Generation logic generates the base clock for the Transmitter and Receiver. For USART
MSPIM mode of operation only internal clock generation (i.e. master operation) is supported. The Data
Direction Register for the XCKn pin (DDR_XCKn) must therefore be set to one (i.e. as output) for the
USART in MSPIM to operate correctly. Preferably the DDR_XCKn should be set up before the USART in
MSPIM is enabled (i.e. TXENn and RXENn bit set to one).
The internal clock generation used in MSPIM mode is identical to the USART synchronous master mode.
The table below contains the equations for calculating the baud rate or UBRRn setting for Synchronous
Master Mode.
Table 22-1. Equations for Calculating Baud Rate Register Setting
Operating Mode
Synchronous Master
mode
Equation for Calculating Baud
Rate(1)
BAUD =
�OSC
2 ����� + 1
Equation for Calculating UBRRn
Value
����� =
�OSC
+ −1
2BAUD
Note: 1. The baud rate is defined to be the transfer rate in bit per second (bps)
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22.4.
BAUD
Baud rate (in bits per second, bps)
fOSC
System Oscillator clock frequency
UBRRn
Contents of the UBRRnH and UBRRnL Registers, (0-4095)
SPI Data Modes and Timing
There are four combinations of XCKn (SCK) phase and polarity with respect to serial data, which are
determined by control bits UCPHAn and UCPOLn. The data transfer timing diagrams are shown in the
following figure. Data bits are shifted out and latched in on opposite edges of the XCKn signal, ensuring
sufficient time for data signals to stabilize. The UCPOLn and UCPHAn functionality is summarized in the
following table. Note that changing the setting of any of these bits will corrupt all ongoing communication
for both the Receiver and Transmitter.
Table 22-2. UCPOLn and UCPHAn Functionality
UCPOLn
UCPHAn
SPI Mode
Leading Edge
Trailing Edge
0
0
0
Sample (Rising)
Setup (Falling)
0
1
1
Setup (Rising)
Sample (Falling)
1
0
2
Sample (Falling)
Setup (Rising)
1
1
3
Setup (Falling)
Sample (Rising)
Figure 22-1. UCPHAn and UCPOLn data transfer timing diagrams.
UCPHA=0
UCPHA=1
UCPOL=0
22.5.
UCPOL=1
XCK
XCK
Data setup (TXD)
Data setup (TXD)
Data sample (RXD)
Data sample (RXD)
XCK
XCK
Data setup (TXD)
Data setup (TXD)
Data sample (RXD)
Data sample (RXD)
Frame Formats
A serial frame for the MSPIM is defined to be one character of eight data bits. The USART in MSPIM
mode has two valid frame formats:
•
•
8-bit data with MSB first
8-bit data with LSB first
A frame starts with the least or most significant data bit. Then the next data bits, up to a total of eight, are
succeeding, ending with the most or least significant bit accordingly. When a complete frame is
transmitted, a new frame can directly follow it, or the communication line can be set to an idle (high) state.
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The UDORDn bit in UCSRnC sets the frame format used by the USART in MSPIM mode. The Receiver
and Transmitter use the same setting. Note that changing the setting of any of these bits will corrupt all
ongoing communication for both the Receiver and Transmitter.
16-bit data transfer can be achieved by writing two data bytes to UDRn. A UART transmit complete
interrupt will then signal that the 16-bit value has been shifted out.
22.5.1.
USART MSPIM Initialization
The USART in MSPIM mode has to be initialized before any communication can take place. The
initialization process normally consists of setting the baud rate, setting master mode of operation (by
setting DDR_XCKn to one), setting frame format and enabling the Transmitter and the Receiver. Only the
transmitter can operate independently. For interrupt driven USART operation, the Global Interrupt Flag
should be cleared (and thus interrupts globally disabled) when doing the initialization.
Note: To ensure immediate initialization of the XCKn output the baud-rate register (UBRRn) must be
zero at the time the transmitter is enabled. Contrary to the normal mode USART operation the UBRRn
must then be written to the desired value after the transmitter is enabled, but before the first transmission
is started. Setting UBRRn to zero before enabling the transmitter is not necessary if the initialization is
done immediately after a reset since UBRRn is reset to zero.
Before doing a re-initialization with changed baud rate, data mode, or frame format, be sure that there is
no ongoing transmissions during the period the registers are changed. The TXCn Flag can be used to
check that the Transmitter has completed all transfers, and the RXCn Flag can be used to check that
there are no unread data in the receive buffer. Note that the TXCn Flag must be cleared before each
transmission (before UDRn is written) if it is used for this purpose.
The following simple USART initialization code examples show one assembly and one C function that are
equal in functionality. The examples assume polling (no interrupts enabled). The baud rate is given as a
function parameter. For the assembly code, the baud rate parameter is assumed to be stored in the
r17:r16 registers.
Assembly Code Example
clr r18
out UBRRnH,r18
out UBRRnL,r18
; Setting the XCKn port pin as output, enables master mode.
sbi XCKn_DDR, XCKn
; Set MSPI mode of operation and SPI data mode 0.
ldi r18, (1<<UMSELn1)|(1<<UMSELn0)|(0<<UCPHAn)|(0<<UCPOLn)
out UCSRnC,r18
; Enable receiver and transmitter.
ldi r18, (1<<RXENn)|(1<<TXENn)
out UCSRnB,r18
; Set baud rate.
; IMPORTANT: The Baud Rate must be set after the transmitter is enabled!
out UBRRnH, r17
out UBRRnL, r18
ret
C Code Example
{
UBRRn = 0;
/* Setting the XCKn port pin as output, enables master mode. */
XCKn_DDR |= (1<<XCKn);
/* Set MSPI mode of operation and SPI data mode 0. */
UCSRnC = (1<<UMSELn1)|(1<<UMSELn0)|(0<<UCPHAn)|(0<<UCPOLn);
/* Enable receiver and transmitter. */
UCSRnB = (1<<RXENn)|(1<<TXENn);
/* Set baud rate. */
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/* IMPORTANT: The Baud Rate must be set after the transmitter is enabled */
UBRRn = baud;
}
Related Links
About Code Examples on page 22
22.6.
Data Transfer
Using the USART in MSPI mode requires the Transmitter to be enabled, i.e. the TXENn bit in the
UCSRnB register is set to one. When the Transmitter is enabled, the normal port operation of the TxDn
pin is overridden and given the function as the Transmitter's serial output. Enabling the receiver is
optional and is done by setting the RXENn bit in the UCSRnB register to one. When the receiver is
enabled, the normal pin operation of the RxDn pin is overridden and given the function as the Receiver's
serial input. The XCKn will in both cases be used as the transfer clock.
After initialization the USART is ready for doing data transfers. A data transfer is initiated by writing to the
UDRn I/O location. This is the case for both sending and receiving data since the transmitter controls the
transfer clock. The data written to UDRn is moved from the transmit buffer to the shift register when the
shift register is ready to send a new frame.
Note: To keep the input buffer in sync with the number of data bytes transmitted, the UDRn register
must be read once for each byte transmitted. The input buffer operation is identical to normal USART
mode, i.e. if an overflow occurs the character last received will be lost, not the first data in the buffer. This
means that if four bytes are transferred, byte 1 first, then byte 2, 3, and 4, and the UDRn is not read
before all transfers are completed, then byte 3 to be received will be lost, and not byte 1.
The following code examples show a simple USART in MSPIM mode transfer function based on polling of
the Data Register Empty (UDREn) Flag and the Receive Complete (RXCn) Flag. The USART has to be
initialized before the function can be used. For the assembly code, the data to be sent is assumed to be
stored in Register R16 and the data received will be available in the same register (R16) after the function
returns.
The function simply waits for the transmit buffer to be empty by checking the UDREn Flag, before loading
it with new data to be transmitted. The function then waits for data to be present in the receive buffer by
checking the RXCn Flag, before reading the buffer and returning the value.
Assembly Code Example
USART_MSPIM_Transfer:
; Wait for empty transmit buffer
in r16, UCSRnA
sbrs r16, UDREn
rjmp USART_MSPIM_Transfer
; Put data (r16) into buffer, sends the data
out UDRn,r16
; Wait for data to be received
USART_MSPIM_Wait_RXCn:
in r16, UCSRnA
sbrs r16, RXCn
rjmp USART_MSPIM_Wait_RXCn
; Get and return received data from buffer
in r16, UDRn
ret
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C Code Example
{
/* Wait for empty transmit buffer */
while ( !( UCSRnA & (1<<UDREn)) );
/* Put data into buffer, sends the data */
UDRn = data;
/* Wait for data to be received */
while ( !(UCSRnA & (1<<RXCn)) );
/* Get and return received data from buffer */
return UDRn;
}
Related Links
About Code Examples on page 22
22.6.1.
Transmitter and Receiver Flags and Interrupts
The RXCn, TXCn, and UDREn flags and corresponding interrupts in USART in MSPIM mode are
identical in function to the normal USART operation. However, the receiver error status flags (FE, DOR,
and PE) are not in use and is always read as zero.
22.6.2.
Disabling the Transmitter or Receiver
The disabling of the transmitter or receiver in USART in MSPIM mode is identical in function to the normal
USART operation.
22.7.
AVR USART MSPIM vs. AVR SPI
The USART in MSPIM mode is fully compatible with the AVR SPI regarding:
•
•
•
•
Master mode timing diagram
The UCPOLn bit functionality is identical to the SPI CPOL bit
The UCPHAn bit functionality is identical to the SPI CPHA bit
The UDORDn bit functionality is identical to the SPI DORD bit
However, since the USART in MSPIM mode reuses the USART resources, the use of the USART in
MSPIM mode is somewhat different compared to the SPI. In addition to differences of the control register
bits, and that only master operation is supported by the USART in MSPIM mode, the following features
differ between the two modules:
•
•
•
•
•
•
The USART in MSPIM mode includes (double) buffering of the transmitter. The SPI has no buffer
The USART in MSPIM mode receiver includes an additional buffer level
The SPI WCOL (Write Collision) bit is not included in USART in MSPIM mode
The SPI double speed mode (SPI2X) bit is not included. However, the same effect is achieved by
setting UBRRn accordingly
Interrupt timing is not compatible
Pin control differs due to the master only operation of the USART in MSPIM mode
A comparison of the USART in MSPIM mode and the SPI pins is shown in the table below.
Table 22-3. Comparison of USART in MSPIM mode and SPI pins
USART_MSPIM
SPI
Comments
TxDn
MOSI
Master Out only
RxDn
MISO
Master In only
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22.8.
USART_MSPIM
SPI
Comments
XCKn
SCK
(Functionally identical)
(N/A)
SS
Not supported by USART in MSPIM
Register Description
Refer to the USART Register Description.
Related Links
Register Description on page 251
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23.
TWI - 2-wire Serial Interface
23.1.
Features
•
•
•
•
•
•
•
•
•
•
•
23.2.
Simple, yet Powerful and Flexible Communication Interface, only two Bus Lines Needed
Both Master and Slave Operation Supported
Device can Operate as Transmitter or Receiver
7-bit Address Space Allows up to 128 Different Slave Addresses
Multi-master Arbitration Support
Up to 400kHz Data Transfer Speed
Slew-rate Limited Output Drivers
Noise Suppression Circuitry Rejects Spikes on Bus Lines
Fully Programmable Slave Address with General Call Support
Address Recognition Causes Wake-up When AVR is in Sleep Mode
Compatible with Philips’ I2C protocol
Two-Wire Serial Interface Bus Definition
The Two-Wire Serial Interface (TWI) is ideally suited for typical microcontroller applications. The TWI
protocol allows the systems designer to interconnect up to 128 different devices using only two bidirectional bus lines: one for clock (SCL) and one for data (SDA). The only external hardware needed to
implement the bus is a single pull-up resistor for each of the TWI bus lines. All devices connected to the
bus have individual addresses, and mechanisms for resolving bus contention are inherent in the TWI
protocol.
Figure 23-1. TWI Bus Interconnection
VCC
Device 1
Device 2
Device 3
........
Device n
R1
R2
SD A
SCL
23.2.1.
TWI Terminology
The following definitions are frequently encountered in this section.
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Table 23-1. TWI Terminology
Term
Description
Master
The device that initiates and terminates a transmission. The Master also generates the
SCL clock.
Slave
The device addressed by a Master.
Transmitter The device placing data on the bus.
Receiver
The device reading data from the bus.
This device has one instance of TWI. For this reason, the instance index n is omitted.
The Power Reduction TWI bit in the Power Reduction Register (PRRn.PRTWI) must be written to '0' to
enable the two-wire Serial Interface.
TWI0 is in 0.
Related Links
Power Management and Sleep Modes on page 61
23.2.2.
Electrical Interconnection
As depicted in the TWI Bus Definition, both bus lines are connected to the positive supply voltage through
pull-up resistors. The bus drivers of all TWI-compliant devices are open-drain or open-collector. This
implements a wired-AND function which is essential to the operation of the interface. A low level on a TWI
bus line is generated when one or more TWI devices output a zero. A high level is output when all TWI
devices tri-state their outputs, allowing the pull-up resistors to pull the line high. Note that all AVR devices
connected to the TWI bus must be powered in order to allow any bus operation.
The number of devices that can be connected to the bus is only limited by the bus capacitance limit of
400pF and the 7-bit slave address space. Two different sets of specifications are presented there, one
relevant for bus speeds below 100kHz, and one valid for bus speeds up to 400kHz.
23.3.
Data Transfer and Frame Format
23.3.1.
Transferring Bits
Each data bit transferred on the TWI bus is accompanied by a pulse on the clock line. The level of the
data line must be stable when the clock line is high. The only exception to this rule is for generating start
and stop conditions.
Figure 23-2. Data Validity
SDA
SCL
Data Stable
Data Stable
Data Change
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23.3.2.
START and STOP Conditions
The Master initiates and terminates a data transmission. The transmission is initiated when the Master
issues a START condition on the bus, and it is terminated when the Master issues a STOP condition.
Between a START and a STOP condition, the bus is considered busy, and no other master should try to
seize control of the bus. A special case occurs when a new START condition is issued between a START
and STOP condition. This is referred to as a REPEATED START condition, and is used when the Master
wishes to initiate a new transfer without relinquishing control of the bus. After a REPEATED START, the
bus is considered busy until the next STOP. This is identical to the START behavior, and therefore START
is used to describe both START and REPEATED START for the remainder of this datasheet, unless
otherwise noted. As depicted below, START and STOP conditions are signalled by changing the level of
the SDA line when the SCL line is high.
Figure 23-3. START, REPEATED START and STOP conditions
SDA
SCL
START
23.3.3.
STOP
START
REPEATED START
STOP
Address Packet Format
All address packets transmitted on the TWI bus are 9 bits long, consisting of 7 address bits, one READ/
WRITE control bit and an acknowledge bit. If the READ/WRITE bit is set, a read operation is to be
performed, otherwise a write operation should be performed. When a Slave recognizes that it is being
addressed, it should acknowledge by pulling SDA low in the ninth SCL (ACK) cycle. If the addressed
Slave is busy, or for some other reason can not service the Master’s request, the SDA line should be left
high in the ACK clock cycle. The Master can then transmit a STOP condition, or a REPEATED START
condition to initiate a new transmission. An address packet consisting of a slave address and a READ or
a WRITE bit is called SLA+R or SLA+W, respectively.
The MSB of the address byte is transmitted first. Slave addresses can freely be allocated by the designer,
but the address '0000 000' is reserved for a general call.
When a general call is issued, all slaves should respond by pulling the SDA line low in the ACK cycle. A
general call is used when a Master wishes to transmit the same message to several slaves in the system.
When the general call address followed by a Write bit is transmitted on the bus, all slaves set up to
acknowledge the general call will pull the SDA line low in the ACK cycle. The following data packets will
then be received by all the slaves that acknowledged the general call. Note that transmitting the general
call address followed by a Read bit is meaningless, as this would cause contention if several slaves
started transmitting different data.
All addresses of the format '1111 xxx' should be reserved for future purposes.
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Figure 23-4. Address Packet Format
Addr MSB
Addr LSB
R/W
ACK
7
8
9
SD A
SCL
1
2
START
23.3.4.
Data Packet Format
All data packets transmitted on the TWI bus are nine bits long, consisting of one data byte and an
acknowledge bit. During a data transfer, the Master generates the clock and the START and STOP
conditions, while the Receiver is responsible for acknowledging the reception. An Acknowledge (ACK) is
signalled by the Receiver pulling the SDA line low during the ninth SCL cycle. If the Receiver leaves the
SDA line high, a NACK is signalled. When the Receiver has received the last byte, or for some reason
cannot receive any more bytes, it should inform the Transmitter by sending a NACK after the final byte.
The MSB of the data byte is transmitted first.
Figure 23-5. Data Packet Format
Data MSB
Data LSB
ACK
8
9
Aggregate
SD A
SDA from
Transmitter
SDA from
Receiv er
SCL from
Master
1
SLA+R/W
23.3.5.
2
7
Data Byte
ST OP, REPEA TED
START or Ne xt
Data Byte
Combining Address and Data Packets into a Transmission
A transmission basically consists of a START condition, a SLA+R/W, one or more data packets and a
STOP condition. An empty message, consisting of a START followed by a STOP condition, is illegal. Note
that the "Wired-ANDing" of the SCL line can be used to implement handshaking between the Master and
the Slave. The Slave can extend the SCL low period by pulling the SCL line low. This is useful if the clock
speed set up by the Master is too fast for the Slave, or the Slave needs extra time for processing between
the data transmissions. The Slave extending the SCL low period will not affect the SCL high period, which
is determined by the Master. As a consequence, the Slave can reduce the TWI data transfer speed by
prolonging the SCL duty cycle.
The following figure depicts a typical data transmission. Note that several data bytes can be transmitted
between the SLA+R/W and the STOP condition, depending on the software protocol implemented by the
application software.
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Figure 23-6. Typical Data Transmission
Addr MSB
Addr LSB
R/W
ACK
Data MSB
7
8
9
1
Data LSB
ACK
8
9
SD A
SCL
1
START
23.4.
2
SLA+R/W
2
7
Data Byte
ST OP
Multi-master Bus Systems, Arbitration and Synchronization
The TWI protocol allows bus systems with several masters. Special concerns have been taken in order to
ensure that transmissions will proceed as normal, even if two or more masters initiate a transmission at
the same time. Two problems arise in multi-master systems:
•
•
An algorithm must be implemented allowing only one of the masters to complete the transmission.
All other masters should cease transmission when they discover that they have lost the selection
process. This selection process is called arbitration. When a contending master discovers that it
has lost the arbitration process, it should immediately switch to Slave mode to check whether it is
being addressed by the winning master. The fact that multiple masters have started transmission at
the same time should not be detectable to the slaves, i.e. the data being transferred on the bus
must not be corrupted.
Different masters may use different SCL frequencies. A scheme must be devised to synchronize
the serial clocks from all masters, in order to let the transmission proceed in a lockstep fashion.
This will facilitate the arbitration process.
The wired-ANDing of the bus lines is used to solve both these problems. The serial clocks from all
masters will be wired-ANDed, yielding a combined clock with a high period equal to the one from the
Master with the shortest high period. The low period of the combined clock is equal to the low period of
the Master with the longest low period. Note that all masters listen to the SCL line, effectively starting to
count their SCL high and low time-out periods when the combined SCL line goes high or low,
respectively.
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Figure 23-7. SCL Synchronization Between Multiple Masters
TAlow
TAhigh
SCL from
Master A
TBlow
TBhigh
SCL from
Master B
SCL Bus
Line
Masters Start
Counting Low Period
Masters Start
Counting High Period
Arbitration is carried out by all masters continuously monitoring the SDA line after outputting data. If the
value read from the SDA line does not match the value the Master had output, it has lost the arbitration.
Note that a Master can only lose arbitration when it outputs a high SDA value while another Master
outputs a low value. The losing Master should immediately go to Slave mode, checking if it is being
addressed by the winning Master. The SDA line should be left high, but losing masters are allowed to
generate a clock signal until the end of the current data or address packet. Arbitration will continue until
only one Master remains, and this may take many bits. If several masters are trying to address the same
Slave, arbitration will continue into the data packet.
Figure 23-8. Arbitration Between Two Masters
START
SD A from
Master A
Master A Loses
Arbitration, SD AA SDA
SD A from
Master B
SD A Line
Synchroniz ed
SCL Line
Note that arbitration is not allowed between:
•
•
•
A REPEATED START condition and a data bit
A STOP condition and a data bit
A REPEATED START and a STOP condition
It is the user software’s responsibility to ensure that these illegal arbitration conditions never occur. This
implies that in multi-master systems, all data transfers must use the same composition of SLA+R/W and
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data packets. In other words; All transmissions must contain the same number of data packets, otherwise
the result of the arbitration is undefined.
23.5.
Overview of the TWI Module
The TWI module is comprised of several submodules, as shown in the following figure. The registers
drawn in a thick line are accessible through the AVR data bus.
Figure 23-9. Overview of the TWI Module
Sle w-rate
Control
SD A
Spik e
Filter
Sle w-rate
Control
Spik e
Filter
Bus Interf ace Unit
START / ST OP
Control
Spik e Suppression
Arbitration detection
Address/Data Shift
Register (TWDR)
Bit Rate Gener ator
Prescaler
Bit Rate Register
(TWBR)
Ack
Address Match Unit
Address Register
(TWAR)
Address Comparator
Control Unit
Status Register
(TWSR)
Control Register
(TWCR)
State Machine and
Status control
TWI Unit
SCL
23.5.1.
SCL and SDA Pins
These pins interface the AVR TWI with the rest of the MCU system. The output drivers contain a slewrate limiter in order to conform to the TWI specification. The input stages contain a spike suppression unit
removing spikes shorter than 50ns. Note that the internal pull-ups in the AVR pads can be enabled by
setting the PORT bits corresponding to the SCL and SDA pins, as explained in the I/O Port section. The
internal pull-ups can in some systems eliminate the need for external ones.
23.5.2.
Bit Rate Generator Unit
This unit controls the period of SCL when operating in a Master mode. The SCL period is controlled by
settings in the TWI Bit Rate Register (TWBRn) and the Prescaler bits in the TWI Status Register
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(TWSRn). Slave operation does not depend on Bit Rate or Prescaler settings, but the CPU clock
frequency in the Slave must be at least 16 times higher than the SCL frequency. Note that slaves may
prolong the SCL low period, thereby reducing the average TWI bus clock period.
The SCL frequency is generated according to the following equation:
SCL frequency =
•
•
CPU Clock frequency
16 + 2(TWBR) ⋅ PrescalerValue
TWBR = Value of the TWI Bit Rate Register TWBRn
PrescalerValue = Value of the prescaler, see description of the TWI Prescaler bits in the TWSR
Status Register description (TWSRn.TWPS[1:0])
Note: Pull-up resistor values should be selected according to the SCL frequency and the capacitive bus
line load. See the Two-Wire Serial Interface Characteristics for a suitable value of the pull-up resistor.
Related Links
Two-wire Serial Interface Characteristics on page 413
23.5.3.
Bus Interface Unit
This unit contains the Data and Address Shift Register (TWDRn), a START/STOP Controller and
Arbitration detection hardware. The TWDRn contains the address or data bytes to be transmitted, or the
address or data bytes received. In addition to the 8-bit TWDRn, the Bus Interface Unit also contains a
register containing the (N)ACK bit to be transmitted or received. This (N)ACK Register is not directly
accessible by the application software. However, when receiving, it can be set or cleared by manipulating
the TWI Control Register (TWCRn). When in Transmitter mode, the value of the received (N)ACK bit can
be determined by the value in the TWSRn.
The START/STOP Controller is responsible for generation and detection of START, REPEATED START,
and STOP conditions. The START/STOP controller is able to detect START and STOP conditions even
when the AVR MCU is in one of the sleep modes, enabling the MCU to wake up if addressed by a Master.
If the TWI has initiated a transmission as Master, the Arbitration Detection hardware continuously
monitors the transmission trying to determine if arbitration is in process. If the TWI has lost an arbitration,
the Control Unit is informed. Correct action can then be taken and appropriate status codes generated.
23.5.4.
Address Match Unit
The Address Match unit checks if received address bytes match the seven-bit address in the TWI
Address Register (TWARn). If the TWI General Call Recognition Enable bit (TWARn.TWGCE) is written
to '1', all incoming address bits will also be compared against the General Call address. Upon an address
match, the Control Unit is informed, allowing correct action to be taken. The TWI may or may not
acknowledge its address, depending on settings in the TWI Control Register (TWCRn). The Address
Match unit is able to compare addresses even when the AVR MCU is in sleep mode, enabling the MCU to
wake up if addressed by a Master.
23.5.5.
Control Unit
The Control unit monitors the TWI bus and generates responses corresponding to settings in the TWI
Control Register (TWCRn). When an event requiring the attention of the application occurs on the TWI
bus, the TWI Interrupt Flag (TWINT) is asserted. In the next clock cycle, the TWI Status Register
(TWSRn) is updated with a status code identifying the event. The TWSRn only contains relevant status
information when the TWI Interrupt Flag is asserted. At all other times, the TWSRn contains a special
status code indicating that no relevant status information is available. As long as the TWINT Flag is set,
the SCL line is held low. This allows the application software to complete its tasks before allowing the TWI
transmission to continue.
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The TWINT Flag is set in the following situations:
After the TWI has transmitted a START/REPEATED START condition
After the TWI has transmitted SLA+R/W
After the TWI has transmitted an address byte
After the TWI has lost arbitration
After the TWI has been addressed by own slave address or general call
After the TWI has received a data byte
After a STOP or REPEATED START has been received while still addressed as a Slave
•
When a bus error has occurred due to an illegal START or STOP condition
Using the TWI
The AVR TWI is byte-oriented and interrupt based. Interrupts are issued after all bus events, like
reception of a byte or transmission of a START condition. Because the TWI is interrupt-based, the
application software is free to carry on other operations during a TWI byte transfer. Note that the TWI
Interrupt Enable (TWIE) bit in TWCRn together with the Global Interrupt Enable bit in SREG allow the
application to decide whether or not assertion of the TWINT Flag should generate an interrupt request. If
the TWIE bit is cleared, the application must poll the TWINT Flag in order to detect actions on the TWI
bus.
When the TWINT Flag is asserted, the TWI has finished an operation and awaits application response. In
this case, the TWI Status Register (TWSRn) contains a value indicating the current state of the TWI bus.
The application software can then decide how the TWI should behave in the next TWI bus cycle by
manipulating the TWCRn and TWDRn Registers.
The following figure illustrates a simple example of how the application can interface to the TWI
hardware. In this example, a Master wishes to transmit a single data byte to a Slave. A more detailed
explanation follows later in this section. Simple code examples are presented in the table below.
Application
Action
Figure 23-10. Interfacing the Application to the TWI in a Typical Transmission
1. Application
writes to TWCRto
initiate
transmission of
START
TWI bus
TWI
Hardware
Action
23.6.
•
•
•
•
•
•
•
1.
3. Check TWSR to see if START was
sent. Application loads SLA+W into
TWDR, and loads appropriate control
signals into TWCR, making sure that
TWINT is written to one,
and TWSTA is written to zero.
START
2.TWINT set.
Status code indicates
START condition sent
SLA+W
5. Check TWSRto see if SLA+W was
sent and ACK received.
Application loads data into TWDR, and
loads appropriate control signals into
TWCR, making sure that TWINT is
written to one
A
4.TWINT set.
Status code indicates
SLA+W sent, ACK
received
Data
7. Check TWSRto see if data was sent
and ACK received.
Application loads appropriate control
signals to send STOP into TWCR,
making sure that TWINT is written to one
A
6.TWINT set.
Status code indicates
data sent, ACK received
STOP
Indicates
TWINT set
The first step in a TWI transmission is to transmit a START condition. This is done by writing a
specific value into TWCRn, instructing the TWI n hardware to transmit a START condition. Which
value to write is described later on. However, it is important that the TWINT bit is set in the value
written. Writing a one to TWINT clears the flag. The TWI n will not start any operation as long as the
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2.
3.
4.
5.
6.
7.
TWINT bit in TWCRn is set. Immediately after the application has cleared TWINT, the TWI n will
initiate transmission of the START condition.
When the START condition has been transmitted, the TWINT Flag in TWCRn is set, and TWSRn is
updated with a status code indicating that the START condition has successfully been sent.
The application software should now examine the value of TWSRn, to make sure that the START
condition was successfully transmitted. If TWSRn indicates otherwise, the application software
might take some special action, like calling an error routine. Assuming that the status code is as
expected, the application must load SLA+W into TWDR. Remember that TWDRn is used both for
address and data. After TWDRn has been loaded with the desired SLA+W, a specific value must be
written to TWCRn, instructing the TWI n hardware to transmit the SLA+W present in TWDRn.
Which value to write is described later on. However, it is important that the TWINT bit is set in the
value written. Writing a one to TWINT clears the flag. The TWI will not start any operation as long
as the TWINT bit in TWCRn is set. Immediately after the application has cleared TWINT, the TWI
will initiate transmission of the address packet.
When the address packet has been transmitted, the TWINT Flag in TWCRn is set, and TWSRn is
updated with a status code indicating that the address packet has successfully been sent. The
status code will also reflect whether a Slave acknowledged the packet or not.
The application software should now examine the value of TWSRn, to make sure that the address
packet was successfully transmitted, and that the value of the ACK bit was as expected. If TWSRn
indicates otherwise, the application software might take some special action, like calling an error
routine. Assuming that the status code is as expected, the application must load a data packet into
TWDRn. Subsequently, a specific value must be written to TWCRn, instructing the TWI n hardware
to transmit the data packet present in TWDRn. Which value to write is described later on. However,
it is important that the TWINT bit is set in the value written. Writing a one to TWINT clears the flag.
The TWI n will not start any operation as long as the TWINT bit in TWCRn is set. Immediately after
the application has cleared TWINT, the TWI will initiate transmission of the data packet.
When the data packet has been transmitted, the TWINT Flag in TWCRn is set, and TWSRn is
updated with a status code indicating that the data packet has successfully been sent. The status
code will also reflect whether a Slave acknowledged the packet or not.
The application software should now examine the value of TWSRn, to make sure that the data
packet was successfully transmitted, and that the value of the ACK bit was as expected. If TWSR
indicates otherwise, the application software might take some special action, like calling an error
routine. Assuming that the status code is as expected, the application must write a specific value to
TWCRn, instructing the TWI n hardware to transmit a STOP condition. Which value to write is
described later on. However, it is important that the TWINT bit is set in the value written. Writing a
one to TWINT clears the flag. The TWI n will not start any operation as long as the TWINT bit in
TWCRn is set. Immediately after the application has cleared TWINT, the TWI will initiate
transmission of the STOP condition. Note that TWINT is not set after a STOP condition has been
sent.
Even though this example is simple, it shows the principles involved in all TWI transmissions. These can
be summarized as follows:
•
•
•
When the TWI has finished an operation and expects application response, the TWINT Flag is set.
The SCL line is pulled low until TWINT is cleared.
When the TWINT Flag is set, the user must update all TWI n Registers with the value relevant for
the next TWI n bus cycle. As an example, TWDRn must be loaded with the value to be transmitted
in the next bus cycle.
After all TWI n Register updates and other pending application software tasks have been
completed, TWCRn is written. When writing TWCRn, the TWINT bit should be set. Writing a one to
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TWINT clears the flag. The TWI n will then commence executing whatever operation was specified
by the TWCRn setting.
The following table lists assembly and C implementation examples for TWI0. Note that the code below
assumes that several definitions have been made, e.g. by using include-files.
Table 23-2. Assembly and C Code Example
Assembly Code Example
1
2
3
4
5
6
C Example
Comments
Send START condition
ldi r16, (1<<TWINT)|
(1<<TWSTA)|(1<<TWEN)
out TWCR0, r16
TWCR0 = (1<<TWINT)|
(1<<TWSTA)|(1<<TWEN)
wait1:
in r16,TWCR0
sbrs r16,TWINT
rjmp wait1
while (!(TWCR0 &
(1<<TWINT)));
Wait for TWINT Flag set. This indicates
that the START condition has been
transmitted.
in r16,TWSR0
andi r16, 0xF8
cpi r16, START
brne ERROR
if ((TWSR0 & 0xF8) !=
START)
ERROR();
Check value of TWI Status Register. Mask
prescaler bits. If status different from
START go to ERROR.
ldi r16, SLA_W
out TWDR0, r16
ldi r16, (1<<TWINT) |
(1<<TWEN)
out TWCR0, r16
TWDR0 = SLA_W;
TWCR0 = (1<<TWINT) |
(1<<TWEN);
Load SLA_W into TWDR Register. Clear
TWINT bit in TWCR to start transmission of
address.
wait2:
in r16,TWCR0
sbrs r16,TWINT
rjmp wait2
while (!(TWCR0 &
(1<<TWINT)));
Wait for TWINT Flag set. This indicates
that the SLA+W has been transmitted, and
ACK/NACK has been received.
in r16,TWSR0
andi r16, 0xF8
cpi r16, MT_SLA_ACK
brne ERROR
if ((TWSR0 & 0xF8) !=
MT_SLA_ACK) ERROR();
Check value of TWI Status Register. Mask
prescaler bits. If status different from
MT_SLA_ACK go to ERROR.
ldi r16, DATA
out TWDR0, r16
ldi r16, (1<<TWINT) |
(1<<TWEN)
out TWCR, r16
TWDR0 = DATA;
TWCR0 = (1<<TWINT) |
(1<<TWEN);
Load DATA into TWDR Register. Clear
TWINT bit in TWCR to start transmission of
data.
wait3:
in r16,TWCR0
sbrs r16,TWINT
rjmp wait3
while (!(TWCR0 &
(1<<TWINT)));
Wait for TWINT Flag set. This indicates
that the DATA has been transmitted, and
ACK/NACK has been received.
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Assembly Code Example
7
C Example
in r16,TWSR0
andi r16, 0xF8
cpi r16, MT_DATA_ACK
brne ERROR
if ((TWSR0 & 0xF8) !=
MT_DATA_ACK) ERROR();
ldi r16, (1<<TWINT)|
(1<<TWEN)| (1<<TWSTO)
out TWCR0, r16
TWCR0 = (1<<TWINT)|
(1<<TWEN)|(1<<TWSTO);
23.7.
Comments
Check value of TWI Status Register. Mask
prescaler bits. If status different from
MT_DATA_ACK go to ERROR.
Transmit STOP condition.
Transmission Modes
The TWI can operate in one of four major modes:
•
Master Transmitter (MT)
•
Master Receiver (MR)
•
Slave Transmitter (ST)
•
Slave Receiver (SR)
Several of these modes can be used in the same application. As an example, the TWI can use MT mode
to write data into a TWI EEPROM, MR mode to read the data back from the EEPROM. If other masters
are present in the system, some of these might transmit data to the TWI, and then SR mode would be
used. It is the application software that decides which modes are legal.
The following sections describe each of these modes. Possible status codes are described along with
figures detailing data transmission in each of the modes. These figures use the following abbreviations:
S
START condition
Rs
REPEATED START condition
R
Read bit (high level at SDA)
W
Write bit (low level at SDA)
A
Acknowledge bit (low level at SDA)
A
Not acknowledge bit (high level at SDA)
Data
8-bit data byte
P
STOP condition
SLA
Slave Address
Circles are used to indicate that the TWINT Flag is set. The numbers in the circles show the status code
held in TWSRn, with the prescaler bits masked to zero. At these points, actions must be taken by the
application to continue or complete the TWI transfer. The TWI transfer is suspended until the TWINT Flag
is cleared by software.
When the TWINT Flag is set, the status code in TWSRn is used to determine the appropriate software
action. For each status code, the required software action and details of the following serial transfer are
given below in the Status Code table for each mode. Note that the prescaler bits are masked to zero in
these tables.
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23.7.1.
Master Transmitter Mode
In the Master Transmitter (MT) mode, a number of data bytes are transmitted to a Slave Receiver, see
figure below. In order to enter a Master mode, a START condition must be transmitted. The format of the
following address packet determines whether MT or Master Receiver (MR) mode is to be entered: If SLA
+W is transmitted, MT mode is entered, if SLA+R is transmitted, MR mode is entered. All the status codes
mentioned in this section assume that the prescaler bits are zero or are masked to zero.
Figure 23-11. Data Transfer in Master Transmitter Mode
VCC
Device 1
Device 2
MASTER
TRANSMITTER
SLAVE
RECEIVER
Device 3
........
Device n
R1
R2
SD A
SCL
A START condition is sent by writing a value to the TWI Control Register n (TWCRn) of the type
TWCRn=1x10x10x:
•
•
•
The TWI Enable bit (TWCRn.TWEN) must be written to '1' to enable the 2-wire Serial Interface
The TWI Start Condition bit (TWCRn.TWSTA) must be written to '1' to transmit a START condition
The TWI Interrupt Flag (TWCRn.TWINT) must be written to '1' to clear the flag.
The TWI n will then test the 2-wire Serial Bus and generate a START condition as soon as the bus
becomes free. After a START condition has been transmitted, the TWINT Flag is set by hardware, and
the status code in TWSRn will be 0x08 (see Status Code table below). In order to enter MT mode, SLA
+W must be transmitted. This is done by writing SLA+W to the TWI Data Register (TWDRn). Thereafter,
the TWCRn.TWINT Flag should be cleared (by writing a '1' to it) to continue the transfer. This is
accomplished by writing a value to TWRC of the type TWCR=1x00x10x.
When SLA+W have been transmitted and an acknowledgment bit has been received, TWINT is set again
and a number of status codes in TWSR are possible. Possible status codes in Master mode are 0x18,
0x20, or 0x38. The appropriate action to be taken for each of these status codes is detailed in the Status
Code table below.
When SLA+W has been successfully transmitted, a data packet should be transmitted. This is done by
writing the data byte to TWDR. TWDR must only be written when TWINT is high. If not, the access will be
discarded, and the Write Collision bit (TWWC) will be set in the TWCRn Register. After updating TWDRn,
the TWINT bit should be cleared (by writing '1' to it) to continue the transfer. This is accomplished by
writing again a value to TWCRn of the type TWCRn=1x00x10x.
This scheme is repeated until the last byte has been sent and the transfer is ended, either by generating
a STOP condition or a by a repeated START condition. A repeated START condition is accomplished by
writing a regular START value TWCRn=1x10x10x. A STOP condition is generated by writing a value of
the type TWCRn=1x01x10x.
After a repeated START condition (status code 0x10), the 2-wire Serial Interface can access the same
Slave again, or a new Slave without transmitting a STOP condition. Repeated START enables the Master
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to switch between Slaves, Master Transmitter mode and Master Receiver mode without losing control of
the bus.
Table 23-3. Status Codes for Master Transmitter Mode
Status
Code
(TWSR)
Status of the 2-wire
Serial Bus and 2-wire
Serial Interface
Hardware
Application Software Response
0x08
A START condition has
been transmitted
Load SLA+W
0x10
Prescaler
Bits are 0
0x18
0x20
0x28
To/from TWDR
Next Action Taken by TWI Hardware
To TWCRn
STA
STO
TWINT
TWEA
0
0
1
X
SLA+W will be transmitted;
ACK or NOT ACK will be received
A repeated START
condition has been
transmitted
Load SLA+W or 0
0
1
X
SLA+W will be transmitted;
ACK or NOT ACK will be received
Load SLA+R
0
0
1
X
SLA+R will be transmitted;
Logic will switch to Master Receiver mode
SLA+W has been
transmitted;
ACK has been received
Load data byte
or
0
0
1
X
Data byte will be transmitted and ACK or
NOT ACK will be received
No TWDR
action or
1
0
1
X
Repeated START will be transmitted
No TWDR
action or
0
1
1
X
STOP condition will be transmitted and
TWSTO Flag will be reset
No TWDR
action
1
1
1
X
STOP condition followed by a START
condition will be transmitted and TWSTO
Flag will be reset
Load data byte
or
0
0
1
X
Data byte will be transmitted and ACK or
NOT ACK will be received
No TWDR
action or
1
0
1
X
Repeated START will be transmitted
No TWDR
action or
0
1
1
X
STOP condition will be transmitted and
TWSTO Flag will be reset
No TWDR
action
1
1
1
X
STOP condition followed by a START
condition will be transmitted and TWSTO
Flag will be reset
Load data byte
or
0
0
1
X
Data byte will be transmitted and ACK or
NOT ACK will be received
No TWDR
action or
1
0
1
X
Repeated START will be transmitted
No TWDR
action or
1
0
1
X
STOP condition will be transmitted and
TWSTO Flag will be reset
No TWDR
action
1
1
1
X
STOP condition followed by a START
condition will be transmitted and TWSTO
Flag will be reset
SLA+W has been
transmitted;
NOT ACK has been
received
Data byte has been
transmitted;
ACK has been received
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Status
Code
(TWSR)
Prescaler
Bits are 0
0x30
0x38
Status of the 2-wire
Serial Bus and 2-wire
Serial Interface
Hardware
Application Software Response
Data byte has been
transmitted;
NOT ACK has been
received
Arbitration lost in SLA
+W or data bytes
To/from TWDR
Next Action Taken by TWI Hardware
To TWCRn
STA
STO
TWINT
TWEA
Load data byte
or
0
0
1
X
Data byte will be transmitted and ACK or
NOT ACK will be received
No TWDR
action or
1
0
1
X
Repeated START will be transmitted
No TWDR
action or
0
1
1
X
STOP condition will be transmitted and
TWSTO Flag will be reset
No TWDR
action
1
1
1
X
STOP condition followed by a START
condition will be transmitted and TWSTO
Flag will be reset
No TWDR
action or
0
0
1
X
2-wire Serial Bus will be released and not
addressed Slave mode entered
No TWDR
action
1
0
1
X
A START condition will be transmitted
when the bus becomes free
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Figure 23-12. Formats and States in the Master Transmitter Mode
MT
Successfull
transmission
to a sla ve
receiv er
S
SLA
0x08
W
A
DATA
0x18
A
P
0x28
Next transfer
star ted with a
repeated star t
condition
RS
SLA
W
0x10
Not acknowledge
received after the
slave address
A
R
P
0x20
MR
Not acknowledge
receiv ed after a data
byte
A
P
0x30
Arbitration lost in sla ve
address or data b yte
A or A
Other master
contin ues
A or A
0x38
Arbitration lost and
addressed as sla ve
A
0x68
From master to sla ve
From sla ve to master
23.7.2.
Other master
contin ues
0x38
Other master
contin ues
To corresponding
states in sla ve mode
0x78 0xB0
DATA
A
n
Any number of data b ytes
and their associated ac kno wledge bits
This number (contained in TWSR) corresponds
to a defined state of the 2-Wire Ser ial Bus
. The
prescaler bits are z ero or mask ed to z ero
Master Receiver Mode
In the Master Receiver (MR) mode, a number of data bytes are received from a Slave Transmitter (see
next figure). In order to enter a Master mode, a START condition must be transmitted. The format of the
following address packet determines whether Master Transmitter (MT) or MR mode is to be entered. If
SLA+W is transmitted, MT mode is entered, if SLA+R is transmitted, MR mode is entered. All the status
codes mentioned in this section assume that the prescaler bits are zero or are masked to zero.
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Figure 23-13. Data Transfer in Master Receiver Mode
VCC
Device 1
Device 2
MASTER
RECEIVER
SLAVE
TRANSMITTER
Device 3
........
Device n
R1
R2
SD A
SCL
A START condition is sent by writing to the TWI Control register (TWCRn) a value of the type
TWCRn=1x10x10x:
•
TWCRn.TWEN must be written to '1' to enable the 2-wire Serial Interface
•
TWCRn.TWSTA must be written to '1' to transmit a START condition
•
TWCRn.TWINT must be cleared by writing a '1' to it.
The TWI will then test the 2-wire Serial Bus and generate a START condition as soon as the bus
becomes free. After a START condition has been transmitted, the TWINT Flag is set by hardware, and
the status code in TWSRn will be 0x08 (see Status Code table below). In order to enter MR mode, SLA
+R must be transmitted. This is done by writing SLA+R to TWDR. Thereafter, the TWINT flag should be
cleared (by writing '1' to it) to continue the transfer. This is accomplished by writing the a value to TWCRn
of the type TWCRn=1x00x10x.
When SLA+R have been transmitted and an acknowledgment bit has been received, TWINT is set again
and a number of status codes in TWSRn are possible. Possible status codes in Master mode are 0x38,
0x40, or 0x48. The appropriate action to be taken for each of these status codes is detailed in the table
below. Received data can be read from the TWDR Register when the TWINT Flag is set high by
hardware. This scheme is repeated until the last byte has been received. After the last byte has been
received, the MR should inform the ST by sending a NACK after the last received data byte. The transfer
is ended by generating a STOP condition or a repeated START condition. A repeated START condition is
sent by writing to the TWI Control register (TWCRn) a value of the type TWCRn=1x10x10x again. A
STOP condition is generated by writing TWCRn=1xx01x10x:
After a repeated START condition (status code 0x10) the 2-wire Serial Interface can access the same
Slave again, or a new Slave without transmitting a STOP condition. Repeated START enables the Master
to switch between Slaves, Master Transmitter mode and Master Receiver mode without losing control
over the bus.
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Table 23-4. Status codes for Master Receiver Mode
Status
Code
(TWSRn)
Status of the 2-wire
Serial Bus and 2-wire
Serial Interface
Hardware
Application Software Response
0x08
A START condition has
been transmitted
0x10
A repeated START
condition has been
transmitted
Prescaler
Bits are 0
To/from TWD
Next Action Taken by TWI Hardware
To TWCRn
STA
STO
TWINT
TWEA
Load SLA+R
0
0
1
X
SLA+R will be transmitted
ACK or NOT ACK will be received
Load SLA+R
0
0
1
X
SLA+R will be transmitted
ACK or NOT ACK will be received
Load SLA+W
0
0
1
X
SLA+W will be transmitted
Logic will switch to Master Transmitter
mode
0x38
0x40
0x48
0x50
0x58
Arbitration lost in SLA+R No TWDR
or NOT ACK bit
action
SLA+R has been
transmitted;
ACK has been received
No TWDR
action
SLA+R has been
transmitted;
NOT ACK has been
received
Data byte has been
received;
ACK has been returned
Read data byte
Data byte has been
received;
NOT ACK has been
returned
Read data byte
0
0
1
X
2-wire Serial Bus will be released and not
addressed Slave mode will be entered
1
0
1
X
A START condition will be transmitted
when the bus becomes free
0
0
1
0
Data byte will be received and NOT ACK
will be returned
0
0
1
1
Data byte will be received and ACK will be
returned
1
0
1
X
Repeated START will be transmitted
0
1
1
X
STOP condition will be transmitted and
TWSTO Flag will be reset
1
1
1
X
STOP condition followed by a START
condition will be transmitted and TWSTO
Flag will be reset
0
0
1
0
Data byte will be received and NOT ACK
will be returned
0
0
1
1
Data byte will be received and ACK will be
returned
1
0
1
X
Repeated START will be transmitted
0
1
1
X
STOP condition will be transmitted and
TWSTO Flag will be reset
1
1
1
X
STOP condition followed by a START
condition will be transmitted and TWSTO
Flag will be reset
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Figure 23-14. Formats and States in the Master Receiver Mode
MR
Successfull
reception
from a sla v e
receiv er
S
SLA
0x08
R
A
DATA
0x40
A
DATA
0x50
A
P
0x58
Next transf er
star ted with a
repeated star t
condition
RS
SLA
R
0x10
Not ac kno wledge
received after the
slave address
A
W
P
0x48
Arbitration lost in sla ve
address or data b yte
MT
A or A
Other master
contin ues
0x38
Arbitration lost and
addressed as sla ve
A
0x38
Other master
contin ues
To corresponding
states in sla ve mode
0x68 0x78 0xB0
From master to sla ve
From slave to master
23.7.3.
Other master
contin ues
A
DATA
A
n
Any number of data b ytes
and their associated ac kno wledge bits
This number (contained in TWSR) corresponds
to a defined state of the 2-Wire Ser ial Bus
. The
prescaler bits are z ero or mask ed to z ero
Slave Transmitter Mode
In the Slave Transmitter (ST) mode, a number of data bytes are transmitted to a Master Receiver, as in
the figure below. All the status codes mentioned in this section assume that the prescaler bits are zero or
are masked to zero.
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Figure 23-15. Data Transfer in Slave Transmitter Mode
VCC
Device 1
Device 2
SLAVE
TRANSMITTER
MASTER
RECEIVER
Device 3
........
Device n
R1
R2
SD A
SCL
To initiate the SR mode, the TWI (Slave) Address Register (TWARn) and the TWI Control Register
(TWCRn) must be initialized as follows:
The upper seven bits of TWARn are the address to which the 2-wire Serial Interface will respond when
addressed by a Master (TWARn.TWA[6:0]). If the LSB of TWARn is written to TWARn.TWGCI=1, the TWI
will respond to the general call address (0x00), otherwise it will ignore the general call address.
TWCRn must hold a value of the type TWCRn=0100010x - TWEN must be written to one to enable the
TWI. The TWEA bit must be written to one to enable the acknowledgment of the device’s own slave
address or the general call address. TWSTA and TWSTO must be written to zero.
When TWARn and TWCRn have been initialized, the TWI waits until it is addressed by its own slave
address (or the general call address if enabled) followed by the data direction bit. If the direction bit is “1”
(read), the TWI will operate in ST mode, otherwise SR mode is entered. After its own slave address and
the write bit have been received, the TWINT Flag is set and a valid status code can be read from TWSRb.
The status code is used to determine the appropriate sofTWARne action. The appropriate action to be
taken for each status code is detailed in the table below. The ST mode may also be entered if arbitration
is lost while the TWI is in the Master mode (see state 0xB0).
If the TWCRn.TWEA bit is written to zero during a transfer, the TWI will transmit the last byte of the
transfer. State 0xC0 or state 0xC8 will be entered, depending on whether the Master Receiver transmits a
NACK or ACK after the final byte. The TWI is switched to the not addressed Slave mode, and will ignore
the Master if it continues the transfer. Thus the Master Receiver receives all '1' as serial data. State 0xC8
is entered if the Master demands additional data bytes (by transmitting ACK), even though the Slave has
transmitted the last byte (TWEA zero and expecting NACK from the Master).
While TWCRn.TWEA is zero, the TWI does not respond to its own slave address. However, the 2-wire
Serial Bus is still monitored and address recognition may resume at any time by setting TWEA. This
implies that the TWEA bit may be used to temporarily isolate the TWI from the 2-wire Serial Bus.
In all sleep modes other than Idle mode, the clock system to the TWI is turned off. If the TWEA bit is set,
the interface can still acknowledge its own slave address or the general call address by using the 2-wire
Serial Bus clock as a clock source. The part will then wake up from sleep and the TWI will hold the SCL
clock will low during the wake up and until the TWINT Flag is cleared (by writing '1' to it). Further data
transmission will be carried out as normal, with the AVR clocks running as normal. Observe that if the
AVR is set up with a long start-up time, the SCL line may be held low for a long time, blocking other data
transmissions.
Note: The 2-wire Serial Interface Data Register (TWDRn) does not reflect the last byte present on the
bus when waking up from these Sleep modes.
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Table 23-5. Status Codes for Slave Transmitter Mode
Status
Code
(TWSRb)
Prescaler
Bits are 0
0xA8
0xB0
Status of the 2-wire
Serial Bus and 2-wire
Serial Interface
Hardware
Application SofTWARne Response
To/from
TWDRn
To TWCRn
STA
STO
TWINT TWEA
Own SLA+R has been
received;
ACK has been returned
Load data byte
X
0
1
0
Last data byte will be transmitted and NOT
ACK should be received
X
0
1
1
Data byte will be transmitted and ACK
should be received
Arbitration lost in SLA
+R/W as Master;
Load data byte
X
0
1
0
Last data byte will be transmitted and NOT
ACK should be received
X
0
1
1
Data byte will be transmitted and ACK
should be received
X
0
1
0
Last data byte will be transmitted and NOT
ACK should be received
X
0
1
1
Data byte will be transmitted and ACK
should be received
0
0
1
0
Switched to the not addressed Slave
mode;
no recognition of own SLA or GCA
0
0
1
1
Switched to the not addressed Slave
mode;
own SLA+R has been
received;
Next Action Taken by TWI Hardware
ACK has been returned
0xB8
Data byte in TWDRn has
been transmitted;
Load data byte
ACK has been received
0xC0
Data byte in TWDRn has
been transmitted;
NOT ACK has been
received
No TWDRn
action
own SLA will be recognized;
GCA will be recognized if TWGCE = “1”
1
0
1
0
Switched to the not addressed Slave
mode;
no recognition of own SLA or GCA;
a START condition will be transmitted
when the bus becomes free
1
0
1
1
Switched to the not addressed Slave
mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = “1”; a
START condition will be transmitted when
the bus becomes free
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Status
Code
(TWSRb)
Prescaler
Bits are 0
0xC8
Status of the 2-wire
Serial Bus and 2-wire
Serial Interface
Hardware
Application SofTWARne Response
To/from
TWDRn
To TWCRn
STA
STO
TWINT TWEA
Last data byte in TWDRn
has been transmitted
(TWEA = “0”);
No TWDRn
action
0
0
1
0
Switched to the not addressed Slave
mode;
no recognition of own SLA or GCA
0
0
1
1
Switched to the not addressed Slave
mode;
ACK has been received
Next Action Taken by TWI Hardware
own SLA will be recognized;
GCA will be recognized if TWGCE = “1”
1
0
1
0
Switched to the not addressed Slave
mode;
no recognition of own SLA or GCA;
a START condition will be transmitted
when the bus
becomes free
1
0
1
1
Switched to the not addressed Slave
mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = “1”; a
START condition will be transmitted when
the bus becomes free
Figure 23-16. Formats and States in the Slave Transmitter Mode
Reception of the o wn
sla ve address and one or
more data b ytes
S
SLA
R
A
DATA
0xA8
Arbitration lost as master
and addressed as sla ve
A
DATA
0xB8
A
P or S
0xC0
A
0xB0
Last data b yte tr ansmitted.
Switched to not addressed
slave (TWEA = '0')
A
All 1's
P or S
0xC8
From master to sla ve
From slave to master
DATA
A
n
Any number of data b ytes
and their associated ac kno wledge bits
This number (contained in TWSR) corresponds
to a defined state of the 2-Wire Ser ial Bus
. The
prescaler bits are z ero or mask ed to z ero
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23.7.4.
Slave Receiver Mode
In the Slave Receiver (SR) mode, a number of data bytes are received from a Master Transmitter (see
figure below). All the status codes mentioned in this section assume that the prescaler bits are zero or are
masked to zero.
Figure 23-17. Data transfer in Slave Receiver mode
VCC
Device 1
Device 2
SLAVE
RECEIVER
MASTER
TRANSMITTER
Device 3
........
Device n
R1
R2
SD A
SCL
To initiate the SR mode, the TWI (Slave) Address Register n (TWARn) and the TWI Control Register n
(TWCRn) must be initialized as follows:
The upper seven bits of TWARn are the address to which the 2-wire Serial Interface will respond when
addressed by a Master (TWARn.TWA[6:0]). If the LSB of TWARn is written to TWARn.TWGCI=1, the TWI
n will respond to the general call address (0x00), otherwise it will ignore the general call address.
TWCRn must hold a value of the type TWCRn=0100010x - TWCRn.TWEN must be written to '1' to
enable the TWI. TWCRn.TWEA bit must be written to '1' to enable the acknowledgment of the device’s
own slave address or the general call address. TWCRn.TWSTA and TWSTO must be written to zero.
When TWARn and TWCRn have been initialized, the TWI waits until it is addressed by its own slave
address (or the general call address, if enabled) followed by the data direction bit. If the direction bit is '0'
(write), the TWI will operate in SR mode, otherwise ST mode is entered. After its own slave address and
the write bit have been received, the TWINT Flag is set and a valid status code can be read from TWSR.
The status code is used to determine the appropriate software action, as detailed in the table below. The
SR mode may also be entered if arbitration is lost while the TWI is in the Master mode (see states 0x68
and 0x78).
If the TWCRn.TWEA bit is reset during a transfer, the TWI will return a "Not Acknowledge" ('1') to SDA
after the next received data byte. This can be used to indicate that the Slave is not able to receive any
more bytes. While TWEA is zero, the TWI does not acknowledge its own slave address. However, the 2wire Serial Bus is still monitored and address recognition may resume at any time by setting TWEA. This
implies that the TWEA bit may be used to temporarily isolate the TWI from the 2-wire Serial Bus.
In all sleep modes other than Idle mode, the clock system to the TWI is turned off. If the TWEA bit is set,
the interface can still acknowledge its own slave address or the general call address by using the 2-wire
Serial Bus clock as a clock source. The part will then wake up from sleep and the TWI will hold the SCL
clock low during the wake up and until the TWINT Flag is cleared (by writing '1' to it). Further data
reception will be carried out as normal, with the AVR clocks running as normal. Observe that if the AVR is
set up with a long start-up time, the SCL line may be held low for a long time, blocking other data
transmissions.
Note: The 2-wire Serial Interface Data Register (TWDRn) does not reflect the last byte present on the
bus when waking up from these Sleep modes.
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Table 23-6. Status Codes for Slave Receiver Mode
Status
Code
(TWSR)
Prescaler
Bits are 0
0x60
0x68
Status of the 2-wire
Serial Bus and 2-wire
Serial Interface
Hardware
Application SofTWARne Response
To/from
TWDRn
To TWCRn
STA
STO
TWINT TWEA
Own SLA+W has been
received;
ACK has been returned
No TWDRn
action
X
0
1
0
Data byte will be received and NOT ACK
will be returned
X
0
1
1
Data byte will be received and ACK will be
returned
Arbitration lost in SLA
+R/W as Master;
No TWDRn
action
X
0
1
0
Data byte will be received and NOT ACK
will be returned
X
0
1
1
Data byte will be received and ACK will be
returned
X
0
1
0
Data byte will be received and NOT ACK
will be returned
X
0
1
1
Data byte will be received and ACK will be
returned
X
0
1
0
Data byte will be received and NOT ACK
will be returned
X
0
1
1
Data byte will be received and ACK will be
returned
X
0
1
0
Data byte will be received and NOT ACK
will be returned
X
0
1
1
Data byte will be received and ACK will be
returned
own SLA+W has been
received;
Next Action Taken by TWI Hardware
ACK has been returned
0x70
General call address has
been received;
No TWDRn
action
ACK has been returned
0x78
Arbitration lost in SLA
+R/W as Master;
No TWDRn
action
General call address has
been received;
ACK has been returned
0x80
Previously addressed
with own SLA+W;
data has been received;
ACK has been returned
Read data byte
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Status
Code
(TWSR)
Prescaler
Bits are 0
0x88
Status of the 2-wire
Serial Bus and 2-wire
Serial Interface
Hardware
Application SofTWARne Response
Next Action Taken by TWI Hardware
To/from
TWDRn
To TWCRn
STA
STO
TWINT TWEA
Previously addressed
with own SLA+W;
Read data byte
0
0
1
0
Switched to the not addressed Slave
mode;
no recognition of own SLA or GCA
0
0
1
1
Switched to the not addressed Slave
mode;
data has been received;
NOT ACK has been
returned
own SLA will be recognized;
GCA will be recognized if TWGCE = “1”
1
0
1
0
Switched to the not addressed Slave
mode;
no recognition of own SLA or GCA;
a START condition will be transmitted
when the bus
becomes free
1
0
1
1
Switched to the not addressed Slave
mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = “1”; a
START condition will be transmitted when
the bus becomes free
0x90
Previously addressed
with general call;
data has been received;
ACK has been returned
Read data byte
X
0
1
0
Data byte will be received and NOT ACK
will be returned
X
0
1
1
Data byte will be received and ACK will be
returned
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Status
Code
(TWSR)
Prescaler
Bits are 0
0x98
Status of the 2-wire
Serial Bus and 2-wire
Serial Interface
Hardware
Application SofTWARne Response
Next Action Taken by TWI Hardware
To/from
TWDRn
To TWCRn
STA
STO
TWINT TWEA
Previously addressed
with general call;
Read data byte
0
0
1
0
Switched to the not addressed Slave
mode;
no recognition of own SLA or GCA
0
0
1
1
Switched to the not addressed Slave
mode;
data has been received;
NOT ACK has been
returned
own SLA will be recognized;
GCA will be recognized if TWGCE = “1”
1
0
1
0
Switched to the not addressed Slave
mode;
no recognition of own SLA or GCA;
a START condition will be transmitted
when the bus becomes free
1
0
1
1
Switched to the not addressed Slave
mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = “1”; a
START condition will be transmitted when
the bus becomes free
0xA0
A STOP condition or
repeated START
condition has been
received while still
addressed as Slave
No action
0
0
1
0
Switched to the not addressed Slave
mode;
no recognition of own SLA or GCA
0
0
1
1
Switched to the not addressed Slave
mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = “1”
1
0
1
0
Switched to the not addressed Slave
mode;
no recognition of own SLA or GCA;
a START condition will be transmitted
when the bus
becomes free
1
0
1
1
Switched to the not addressed Slave
mode;
own SLA will be recognized;
GCA will be recognized if TWGCE = “1”; a
START condition will be transmitted when
the bus becomes free
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Figure 23-18. Formats and States in the Slave Receiver Mode
Reception of the o wn
sla ve address and one or
more data b ytes. All are
acknowledged
S
SLA
W
A
DATA
0x60
A
DATA
0x80
Last data b yte receiv ed
is not ac kno wledged
A
P or S
0x80
0xA0
A
P or S
0x88
Arbitration lost as master
and addressed as sla ve
A
0x68
Reception of the gener al call
address and one or more data
bytes
General Call
A
DATA
0x70
A
DATA
0x90
Last data b yte receiv ed is
not ac knowledged
A
P or S
0x90
0xA0
A
P or S
0x98
Arbitration lost as master and
addressed as sla ve b y gener al call
A
0x78
From master to sla ve
From sla ve to master
23.7.5.
DATA
A
n
Any number of data b ytes
and their associated ac kno wledge bits
This n umber (contained in TWSR) corresponds
to a defined state of the 2-Wire Ser ial Bus
. The
prescaler bits are z ero or mask ed to z ero
Miscellaneous States
There are two status codes that do not correspond to a defined TWI state, see the table in this section.
Status 0xF8 indicates that no relevant information is available because the TWINT Flag is not set. This
occurs between other states, and when the TWI is not involved in a serial transfer.
Status 0x00 indicates that a bus error has occurred during a 2-wire Serial Bus transfer. A bus error occurs
when a START or STOP condition occurs at an illegal position in the format frame. Examples of such
illegal positions are during the serial transfer of an address byte, a data byte, or an acknowledge bit.
When a bus error occurs, TWINT is set. To recover from a bus error, the TWSTO Flag must set and
TWINT must be cleared by writing a logic one to it. This causes the TWI to enter the not addressed Slave
mode and to clear the TWSTO Flag (no other bits in TWCRn are affected). The SDA and SCL lines are
released, and no STOP condition is transmitted.
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Table 23-7. Miscellaneous States
Status
Code
(TWSR)
Status of the 2-wire
Serial Bus and 2-wire
Serial Interface
Hardware
Application Software Response
To/from
TWDRn
To TWCRn
0xF8
No relevant state
information available;
TWINT = “0”
No TWDRn
action
No TWCRn action
0x00
Bus error due to an
illegal START or STOP
condition
No TWDRn
action
0
Prescaler
Bits are 0
23.7.6.
STA
STO
1
Next Action Taken by TWI Hardware
TWINT
1
TWEA
Wait or proceed current transfer
X
Only the internal hardware is affected, no
STOP condition is sent on the bus. In all
cases, the bus is released and TWSTO is
cleared.
Combining Several TWI Modes
In some cases, several TWI modes must be combined in order to complete the desired action. Consider
for example reading data from a serial EEPROM. Typically, such a transfer involves the following steps:
1.
2.
3.
4.
The transfer must be initiated.
The EEPROM must be instructed what location should be read.
The reading must be performed.
The transfer must be finished.
Note that data is transmitted both from Master to Slave and vice versa. The Master must instruct the
Slave what location it wants to read, requiring the use of the MT mode. Subsequently, data must be read
from the Slave, implying the use of the MR mode. Thus, the transfer direction must be changed. The
Master must keep control of the bus during all these steps, and the steps should be carried out as an
atomical operation. If this principle is violated in a multi master system, another Master can alter the data
pointer in the EEPROM between steps 2 and 3, and the Master will read the wrong data location. Such a
change in transfer direction is accomplished by transmitting a REPEATED START between the
transmission of the address byte and reception of the data. After a REPEATED START, the Master keeps
ownership of the bus. The flow in this transfer is depicted in the following figure:
Figure 23-19. Combining Several TWI Modes to Access a Serial EEPROM
Master Transmitter
S
SLA+W
A
ADDRESS
A
S = ST ART
Transmitted from master to sla
23.8.
Rs
SLA+R
Master Receiv er
A
Rs = REPEA TED ST ART
ve
DATA
A
P
P = ST OP
Transmitted from sla ve to master
Multi-master Systems and Arbitration
If multiple masters are connected to the same bus, transmissions may be initiated simultaneously by one
or more of them. The TWI standard ensures that such situations are handled in such a way that one of
the masters will be allowed to proceed with the transfer, and that no data will be lost in the process. An
example of an arbitration situation is depicted below, where two masters are trying to transmit data to a
Slave Receiver.
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Figure 23-20. An Arbitration Example
VCC
Device 1
Device 2
Device 3
MASTER
TRANSMITTER
MASTER
TRANSMITTER
SLAVE
RECEIVER
........
Device n
R1
R2
SD A
SCL
Several different scenarios may arise during arbitration, as described below:
•
•
•
Two or more masters are performing identical communication with the same Slave. In this case,
neither the Slave nor any of the masters will know about the bus contention.
Two or more masters are accessing the same Slave with different data or direction bit. In this case,
arbitration will occur, either in the READ/WRITE bit or in the data bits. The masters trying to output
a '1' on SDA while another Master outputs a zero will lose the arbitration. Losing masters will switch
to not addressed Slave mode or wait until the bus is free and transmit a new START condition,
depending on application software action.
Two or more masters are accessing different slaves. In this case, arbitration will occur in the SLA
bits. Masters trying to output a '1' on SDA while another Master outputs a zero will lose the
arbitration. Masters losing arbitration in SLA will switch to Slave mode to check if they are being
addressed by the winning Master. If addressed, they will switch to SR or ST mode, depending on
the value of the READ/WRITE bit. If they are not being addressed, they will switch to not addressed
Slave mode or wait until the bus is free and transmit a new START condition, depending on
application software action.
This is summarized in the next figure. Possible status values are given in circles.
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Figure 23-21. Possible Status Codes Caused by Arbitration
START
SLA
Data
Arbitration lost in SLA
Own
Address / General Call
received
No
STOP
Arbitration lost in Data
38
TWI bus will be released and not addressed slave mode will be entered
A START condition will be transmitted when the bus becomes free
Yes
Direction
Write
68/78
Read
B0
23.9.
Data byte will be received and NOT ACK will be returned
Data byte will be received and ACK will be returned
Last data byte will be transmitted and NOT ACK should be received
Data byte will be transmitted and ACK should be received
Register Description
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23.9.1.
TWI Bit Rate Register
Name: TWBR
Offset: 0xB8
Reset: 0x00
Property: Bit
Access
Reset
7
6
5
4
3
2
1
0
TWBR7
TWBR6
TWBR5
TWBR4
TWBR3
TWBR2
TWBR1
TWBR0
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:0 – TWBRn: TWI Bit Rate Register [n = 7:0]
TWBR selects the division factor for the bit rate generator. The bit rate generator is a frequency divider
which generates the SCL clock frequency in the Master modes.
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23.9.2.
TWI Status Register
Name: TWSR
Offset: 0xB9
Reset: 0xF8
Property: Bit
7
6
5
4
3
1
0
TWS4
TWS3
TWS2
TWS1
TWS0
2
TWPS1
TWPS0
Access
R
R
R
R
R
R/W
R/W
Reset
1
1
1
1
1
0
0
Bits 3, 4, 5, 6, 7 – TWSn: TWI Status Bit
The TWS[7:3] reflect the status of the TWI logic and the 2-wire Serial Bus. The different status codes are
described later in this section. Note that the value read from TWSR contains both the 5-bit status value
and the 2-bit prescaler value. The application designer should mask the prescaler bits to zero when
checking the Status bits. This makes status checking independent of prescaler setting. This approach is
used in this datasheet, unless otherwise noted.
Bits 0, 1 – TWPSn: TWI Prescaler
These bits can be read and written, and control the bit rate prescaler.
Table 23-8. TWI Bit Rate Prescaler
TWS[1:0]
Prescaler Value
00
1
01
4
10
16
11
64
To calculate bit rates, refer to Bit Rate Generator Unit. The value of TWPS1...0 is used in the equation.
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23.9.3.
TWI (Slave) Address Register
The TWAR should be loaded with the 7-bit Slave address (in the seven most significant bits of TWAR) to
which the TWI will respond when programmed as a Slave Transmitter or Receiver, and not needed in the
Master modes. In multi master systems, TWAR must be set in masters which can be addressed as
Slaves by other Masters.
The LSB of TWAR is used to enable recognition of the general call address (0x00). There is an
associated address comparator that looks for the slave address (or general call address if enabled) in the
received serial address. If a match is found, an interrupt request is generated.
Name: TWAR
Offset: 0xBA
Reset: 0xFE
Property: Bit
Access
Reset
7
6
5
4
3
2
1
0
TWA6
TWA5
TWA4
TWA3
TWA2
TWA1
TWA0
TWGCE
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
1
1
1
1
1
1
1
0
Bit 0 – TWGCE: TWI General Call Recognition Enable Bit
If set, this bit enables the recognition of a General Call given over the 2-wire Serial Bus.
Bits 1, 2, 3, 4, 5, 6, 7 – TWAn: TWI (Slave) Address
These seven bits constitute the slave address of the TWI unit.
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23.9.4.
TWI Data Register
In Transmit mode, TWDR contains the next byte to be transmitted. In Receive mode, the TWDR contains
the last byte received. It is writable while the TWI is not in the process of shifting a byte. This occurs when
the TWI Interrupt Flag (TWINT) is set by hardware. Note that the Data Register cannot be initialized by
the user before the first interrupt occurs. The data in TWDR remains stable as long as TWINT is set.
While data is shifted out, data on the bus is simultaneously shifted in. TWDR always contains the last
byte present on the bus, except after a wake up from a sleep mode by the TWI interrupt. In this case, the
contents of TWDR is undefined. In the case of a lost bus arbitration, no data is lost in the transition from
Master to Slave. Handling of the ACK bit is controlled automatically by the TWI logic, the CPU cannot
access the ACK bit directly.
Name: TWDR
Offset: 0xBB
Reset: 0xFF
Property: Bit
Access
Reset
7
6
5
4
3
2
1
0
TWD7
TWD6
TWD5
TWD4
TWD3
TWD2
TWD1
TWD0
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
1
1
1
1
1
1
1
1
Bits 0, 1, 2, 3, 4, 5, 6, 7 – TWDn: TWI Data
These eight bits constitute the next data byte to be transmitted, or the latest data byte received on the 2wire Serial Bus.
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23.9.5.
TWI Control Register
The TWCR is used to control the operation of the TWI. It is used to enable the TWI, to initiate a Master
access by applying a START condition to the bus, to generate a Receiver acknowledge, to generate a
stop condition, and to control halting of the bus while the data to be written to the bus are written to the
TWDR. It also indicates a write collision if data is attempted written to TWDR while the register is
inaccessible.
Name: TWCR
Offset: 0xBC
Reset: 0x00
Property: Bit
Access
Reset
7
6
5
4
3
2
TWINT
TWEA
TWSTA
TWSTO
TWWC
TWEN
1
TWIE
0
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
Bit 7 – TWINT: TWI Interrupt Flag
This bit is set by hardware when the TWI has finished its current job and expects application software
response. If the I-bit in SREG and TWIE in TWCR are set, the MCU will jump to the TWI Interrupt Vector.
While the TWINT Flag is set, the SCL low period is stretched. The TWINT Flag must be cleared by
software by writing a logic one to it.
Note that this flag is not automatically cleared by hardware when executing the interrupt routine. Also
note that clearing this flag starts the operation of the TWI, so all accesses to the TWI Address Register
(TWAR), TWI Status Register (TWSR), and TWI Data Register (TWDR) must be complete before clearing
this flag.
Bit 6 – TWEA: TWI Enable Acknowledge
The TWEA bit controls the generation of the acknowledge pulse. If the TWEA bit is written to one, the
ACK pulse is generated on the TWI bus if the following conditions are met:
1.
2.
3.
The device’s own slave address has been received.
A general call has been received, while the TWGCE bit in the TWAR is set.
A data byte has been received in Master Receiver or Slave Receiver mode.
By writing the TWEA bit to zero, the device can be virtually disconnected from the 2-wire Serial Bus
temporarily. Address recognition can then be resumed by writing the TWEA bit to one again.
Bit 5 – TWSTA: TWI START Condition
The application writes the TWSTA bit to one when it desires to become a Master on the 2-wire Serial Bus.
The TWI hardware checks if the bus is available, and generates a START condition on the bus if it is free.
However, if the bus is not free, the TWI waits until a STOP condition is detected, and then generates a
new START condition to claim the bus Master status. TWSTA must be cleared by software when the
START condition has been transmitted.
Bit 4 – TWSTO: TWI STOP Condition
Writing the TWSTO bit to one in Master mode will generate a STOP condition on the 2-wire Serial Bus.
When the STOP condition is executed on the bus, the TWSTO bit is cleared automatically. In Slave
mode, setting the TWSTO bit can be used to recover from an error condition. This will not generate a
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STOP condition, but the TWI returns to a well-defined unaddressed Slave mode and releases the SCL
and SDA lines to a high impedance state.
Bit 3 – TWWC: TWI Write Collision Flag
The TWWC bit is set when attempting to write to the TWI Data Register – TWDR when TWINT is low.
This flag is cleared by writing the TWDR Register when TWINT is high.
Bit 2 – TWEN: TWI Enable
The TWEN bit enables TWI operation and activates the TWI interface. When TWEN is written to one, the
TWI takes control over the I/O pins connected to the SCL and SDA pins, enabling the slew-rate limiters
and spike filters. If this bit is written to zero, the TWI is switched off and all TWI transmissions are
terminated, regardless of any ongoing operation.
Bit 0 – TWIE: TWI Interrupt Enable
When this bit is written to one, and the I-bit in SREG is set, the TWI interrupt request will be activated for
as long as the TWINT Flag is high.
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23.9.6.
TWI (Slave) Address Mask Register
Name: TWAMR
Offset: 0xBD
Reset: 0x00
Property: Bit
Access
Reset
7
6
5
4
3
2
1
TWAM6
TWAM5
TWAM4
TWAM3
TWAM2
TWAM1
TWAM0
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 1, 2, 3, 4, 5, 6, 7 – TWAMn: TWI (Slave) Address
The TWAMR can be loaded with a 7-bit Slave Address mask. Each of the bits in TWAMR can mask
(disable) the corresponding address bits in the TWI Address Register (TWAR). If the mask bit is set to
one then the address match logic ignores the compare between the incoming address bit and the
corresponding bit in TWAR.
Figure 23-22. TWI Address Match Logic
TWAR0
Address
Match
Address
Bit 0
TWAMR0
Address Bit Comparator 0
Address Bit Comparator 6:1
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24.
AC - Analog Comparator
24.1.
Overview
The Analog Comparator compares the input values on the positive pin AIN0 and negative pin AIN1. When
the voltage on the positive pin AIN0 is higher than the voltage on the negative pin AIN1, the Analog
Comparator output, ACO, is set. The comparator’s output can be set to trigger the Timer/Counter1 Input
Capture function. In addition, the comparator can trigger a separate interrupt, exclusive to the Analog
Comparator. The user can select Interrupt triggering on comparator output rise, fall or toggle. A block
diagram of the comparator and its surrounding logic is shown below.
The Power Reduction ADC bit in the Power Reduction Register (0.PRADC) must be written to '0' in order
to be able to use the ADC input MUX.
Figure 24-1. Analog Comparator Block Diagram
BANDGAP
REFERENCE
ACBG
ACME
ADEN
ADC MULTIPLEXER
OUTPUT (1)
Note: Refer to the Pin Configuration and the I/O Ports description for Analog Comparator pin placement
Related Links
I/O-Ports on page 100
Power Management and Sleep Modes on page 61
Minimizing Power Consumption on page 64
Pinout on page 15
24.2.
Analog Comparator Multiplexed Input
It is possible to select any of the ADC[7:0] pins to replace the negative input to the Analog Comparator.
The ADC multiplexer is used to select this input, and consequently, the ADC must be switched off to
utilize this feature. If the Analog Comparator Multiplexer Enable bit in the ADC Control and Status
Register B (ADCSRB.ACME) is '1' and the ADC is switched off (ADCSRA.ADEN=0), the three least
significant Analog Channel Selection bits in the ADC Multiplexer Selection register (ADMUX.MUX[2:0])
select the input pin to replace the negative input to the Analog Comparator, as shown in the table below.
When ADCSRB.ACME=0 or ADCSRA.ADEN=1, AIN1 is applied to the negative input of the Analog
Comparator.
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Table 24-1. Analog Comparator Multiplexed Input
24.3.
ACME
ADEN
MUX[2:0]
Analog Comparator Negative Input
0
x
xxx
AIN1
1
1
xxx
AIN1
1
0
000
ADC0
1
0
001
ADC1
1
0
010
ADC2
1
0
011
ADC3
1
0
100
ADC4
1
0
101
ADC5
1
0
110
ADC6
1
0
111
ADC7
Register Description
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24.3.1.
ADC Control and Status Register B
Name: ADCSRB
Offset: 0x7B
Reset: 0x00
Property: Bit
7
6
Access
2
1
0
ACME
ADTS2
ADTS1
ADTS0
R/W
R/W
R/W
R/W
0
0
0
0
Reset
5
4
3
Bit 6 – ACME: Analog Comparator Multiplexer Enable
When this bit is written logic one and the ADC is switched off (ADEN in ADCSRA is zero), the ADC
multiplexer selects the negative input to the Analog Comparator. When this bit is written logic zero, AIN1
is applied to the negative input of the Analog Comparator. For a detailed description of this bit, see
Analog Comparator Multiplexed Input..
Bits 2:0 – ADTSn: ADC Auto Trigger Source [n = 2:0]
If ADATE in ADCSRA is written to one, the value of these bits selects which source will trigger an ADC
conversion. If ADATE is cleared, the ADTS[2:0] settings will have no effect. A conversion will be triggered
by the rising edge of the selected Interrupt Flag. Note that switching from a trigger source that is cleared
to a trigger source that is set, will generate a positive edge on the trigger signal. If ADEN in ADCSRA is
set, this will start a conversion. Switching to Free Running mode (ADTS[2:0]=0) will not cause a trigger
event, even if the ADC Interrupt Flag is set.
Table 24-2. ADC Auto Trigger Source Selection
ADTS[2:0]
Trigger Source
000
Free Running mode
001
Analog Comparator
010
External Interrupt Request 0
011
Timer/Counter0 Compare Match A
100
Timer/Counter0 Overflow
101
Timer/Counter1 Compare Match B
110
Timer/Counter1 Overflow
111
Timer/Counter1 Capture Event
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24.3.2.
Analog Comparator Control and Status Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: ACSR
Offset: 0x50
Reset: N/A
Property: When addressing as I/O Register: address offset is 0x30
Bit
Access
Reset
7
6
5
4
3
2
1
0
ACD
ACBG
ACO
ACI
ACIE
ACIC
ACIS1
ACIS0
R/W
R/W
R
R/W
R/W
R/W
R/W
R/W
0
0
a
0
0
0
0
0
Bit 7 – ACD: Analog Comparator Disable
When this bit is written logic one, the power to the Analog Comparator is switched off. This bit can be set
at any time to turn off the Analog Comparator. This will reduce power consumption in Active and Idle
mode. When changing the ACD bit, the Analog Comparator Interrupt must be disabled by clearing the
ACIE bit in ACSR. Otherwise an interrupt can occur when the bit is changed.
Bit 6 – ACBG: Analog Comparator Bandgap Select
When this bit is set, a fixed bandgap reference voltage replaces the positive input to the Analog
Comparator. When this bit is cleared, AIN0 is applied to the positive input of the Analog Comparator.
When the bandgap reference is used as input to the Analog Comparator, it will take a certain time for the
voltage to stabilize. If not stabilized, the first conversion may give a wrong value.
Bit 5 – ACO: Analog Comparator Output
The output of the Analog Comparator is synchronized and then directly connected to ACO. The
synchronization introduces a delay of 1 - 2 clock cycles.
Bit 4 – ACI: Analog Comparator Interrupt Flag
This bit is set by hardware when a comparator output event triggers the interrupt mode defined by ACIS1
and ACIS0. The Analog Comparator interrupt routine is executed if the ACIE bit is set and the I-bit in
SREG is set. ACI is cleared by hardware when executing the corresponding interrupt handling vector.
Alternatively, ACI is cleared by writing a logic one to the flag.
Bit 3 – ACIE: Analog Comparator Interrupt Enable
When the ACIE bit is written logic one and the I-bit in the Status Register is set, the Analog Comparator
interrupt is activated. When written logic zero, the interrupt is disabled.
Bit 2 – ACIC: Analog Comparator Input Capture Enable
When written logic one, this bit enables the input capture function in Timer/Counter1 to be triggered by
the Analog Comparator. The comparator output is in this case directly connected to the input capture
front-end logic, making the comparator utilize the noise canceler and edge select features of the Timer/
Counter1 Input Capture interrupt. When written logic zero, no connection between the Analog
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Comparator and the input capture function exists. To make the comparator trigger the Timer/Counter1
Input Capture interrupt, the ICIE1 bit in the Timer Interrupt Mask Register (TIMSK1) must be set.
Bits 1:0 – ACISn: Analog Comparator Interrupt Mode Select [n = 1:0]
These bits determine which comparator events that trigger the Analog Comparator interrupt.
Table 24-3. ACIS[1:0] Settings
ACIS1
ACIS0
Interrupt Mode
0
0
Comparator Interrupt on Output Toggle.
0
1
Reserved
1
0
Comparator Interrupt on Falling Output Edge.
1
1
Comparator Interrupt on Rising Output Edge.
When changing the ACIS1/ACIS0 bits, the Analog Comparator Interrupt must be disabled by clearing its
Interrupt Enable bit in the ACSR Register. Otherwise an interrupt can occur when the bits are changed.
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24.3.3.
Digital Input Disable Register 1
Name: DIDR1
Offset: 0x7F
Reset: 0x00
Property: Bit
7
6
5
Access
Reset
4
3
2
1
0
AIN1D
AIN0D
R/W
R/W
0
0
Bit 1 – AIN1D: AIN1 Digital Input Disable
Bit 0 – AIN0D: AIN0 Digital Input Disable
When this bit is written logic one, the digital input buffer on the AIN1/0 pin is disabled. The corresponding
PIN Register bit will always read as zero when this bit is set. When an analog signal is applied to the
AIN1/0 pin and the digital input from this pin is not needed, this bit should be written logic one to reduce
power consumption in the digital input buffer.
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25.
ADC - Analog to Digital Converter
25.1.
Features
•
•
•
•
•
•
•
•
•
•
•
•
•
•
10-bit Resolution
0.5 LSB Integral Non-Linearity
±2 LSB Absolute Accuracy
13 - 260μs Conversion Time
Up to 15kSPS at Maximum Resolution
8 Multiplexed Single Ended Input Channels
Differential mode with selectable gain at 1x, 10x or 200x(1)
Optional Left Adjustment for ADC Result Readout
0 - VCC ADC Input Voltage Range
2.7V - VCC Differential ADC Voltage Range
Selectable 2.56V or 1.1V ADC Reference Voltage
Free Running or Single Conversion Mode
Interrupt on ADC Conversion Complete
Sleep Mode Noise Canceler
Note: 1. The differential input channels are not tested for devices in PDIP Package. This feature is only
guaranteed to work for devices in TQFP and VQFN/QFN/MLF Packages.
25.2.
Overview
The device features a 10-bit successive approximation ADC. The ADC is connected to an 8-channel
Analog Multiplexer which allows 8 single-ended voltage inputs constructed from the pins of Port A. The
single-ended voltage inputs refer to 0V (GND).
The device also supports 16 differential voltage input combinations. Two of the differential inputs (ADC1,
ADC0 and ADC3, ADC2) are equipped with a programmable gain stage. This provides amplification steps
of 0 dB (1x), 20 dB (10x), or 46 dB (200x) on the differential input voltage before the A/D conversion.
Seven differential analog input channels share a common negative terminal (ADC1), while any other ADC
input can be selected as the positive input terminal. If 1x or 10x gain is used, 8-bit resolution can be
expected. If 200x gain is used, 6- bit resolution can be expected. Note that internal references of 1.1V
should not be used on 10x and 200x gain.
The ADC contains a Sample and Hold circuit which ensures that the input voltage to the ADC is held at a
constant level during conversion. A block diagram of the ADC is shown below.
The ADC has a separate analog supply voltage pin, AVCC. AVCC must not differ more than ±0.3V from
VCC. See section ADC Noise Canceler on how to connect this pin.
The Power Reduction ADC bit in the Power Reduction Register (PRR.PRADC) must be written to '0' in
order to be enable the ADC.
The ADC converts an analog input voltage to a 10-bit digital value through successive approximation. The
minimum value represents GND and the maximum value represents the voltage on the AREF pin minus 1
LSB. Optionally, AVCC or an internal 2.56V reference voltage may be connected to the AREF pin by
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writing to the REFSn bits in the ADMUX Register. The internal voltage reference must be decoupled by
an external capacitor at the AREF pin to improve noise immunity.
Figure 25-1. Analog to Digital Converter Block Schematic Operation
ADC CONVERSION
COMPLETE IRQ
INTERRUPT
FLAGS
ADTS[2:0]
15
TRIGGER
SELECT
ADC[9:0]
ADPS0
ADPS1
ADPS2
ADIF
ADATE
ADEN
ADSC
MUX1
0
ADC DATA REGISTER
(ADCH/ADCL)
ADC CTRL. & ST ATUS
REGISTER (ADCSRA)
MUX0
MUX2
MUX4
MUX3
ADLAR
REFS0
REFS1
ADC MULTIPLEXER
SELECT (ADMUX)
ADIE
ADIF
8-BIT DATA BUS
MUX DECODER
CHANNEL SELECTION
PRESCALER
AVCC
START
CONVERSION LOGIC
INTERNAL
REFERENCE
SAMPLE & HOLD
COMPARATOR
AREF
10-BIT DAC
+
AGND
BANDGAP
REFERENCE
SINGLE ENDED / DIFFERENTIAL SELECTION
ADC7
ADC5
ADC MULTIPLEXER
OUTPUT
+
ADC6
POS.
INPUT
MUX
ADC4
-
ADC3
ADC2
ADC1
ADC0
NEG.
INPUT
MUX
The analog input channel is selected by writing to the MUX bits in the ADC Multiplexer Selection register
ADMUX.MUX[3:0]. Any of the ADC input pins, as well as GND and a fixed bandgap voltage reference,
can be selected as single ended inputs to the ADC. The ADC is enabled by writing a '1' to the ADC
Enable bit in the ADC Control and Status Register A (ADCSRA.ADEN). Voltage reference and input
channel selections will not take effect until ADEN is set. The ADC does not consume power when ADEN
is cleared, so it is recommended to switch off the ADC before entering power saving sleep modes.
If differential channels are selected, the differential gain stage amplifies the voltage difference between
the selected input channel pair by the selected gain factor. This amplified value then becomes the analog
input to the ADC. If single ended channels are used, the gain amplifier is bypassed altogether.
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The ADC generates a 10-bit result which is presented in the ADC Data Registers, ADCH and ADCL. By
default, the result is presented right adjusted, but can optionally be presented left adjusted by setting the
ADC Left Adjust Result bit ADMUX.ADLAR.
If the result is left adjusted and no more than 8-bit precision is required, it is sufficient to read ADCH.
Otherwise, ADCL must be read first, then ADCH, to ensure that the content of the Data Registers belongs
to the same conversion: Once ADCL is read, ADC access to Data Registers is blocked. This means that if
ADCL has been read, and a second conversion completes before ADCH is read, neither register is
updated and the result from the second conversion is lost. When ADCH is read, ADC access to the
ADCH and ADCL Registers is re-enabled.
The ADC has its own interrupt which can be triggered when a conversion completes. When ADC access
to the Data Registers is prohibited between reading of ADCH and ADCL, the interrupt will trigger even if
the result is lost.
Related Links
Power Management and Sleep Modes on page 61
Power Reduction Register on page 64
25.3.
Starting a Conversion
A single conversion is started by writing a '0' to the Power Reduction ADC bit in the Power Reduction
Register (PRR.PRADC), and writing a '1' to the ADC Start Conversion bit in the ADC Control and Status
Register A (ADCSRA.ADSC). ADCS will stay high as long as the conversion is in progress, and will be
cleared by hardware when the conversion is completed. If a different data channel is selected while a
conversion is in progress, the ADC will finish the current conversion before performing the channel
change.
Alternatively, a conversion can be triggered automatically by various sources. Auto Triggering is enabled
by setting the ADC Auto Trigger Enable bit (ADCSRA.ADATE). The trigger source is selected by setting
the ADC Trigger Select bits in the ADC Control and Status Register B (ADCSRB.ADTS). See the
description of the ADCSRB.ADTS for a list of available trigger sources.
When a positive edge occurs on the selected trigger signal, the ADC prescaler is reset and a conversion
is started. This provides a method of starting conversions at fixed intervals. If the trigger signal still is set
when the conversion completes, a new conversion will not be started. If another positive edge occurs on
the trigger signal during conversion, the edge will be ignored. Note that an interrupt flag will be set even if
the specific interrupt is disabled or the Global Interrupt Enable bit in the AVR Status REgister (SREG.I) is
cleared. A conversion can thus be triggered without causing an interrupt. However, the Interrupt Flag
must be cleared in order to trigger a new conversion at the next interrupt event.
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Figure 25-2. ADC Auto Trigger Logic
ADTS[2:0]
PRESCALER
START
ADIF
CLKADC
ADATE
SOURCE 1
.
.
.
.
CONVERSION
LOGIC
EDGE
DETECTOR
SOURCE n
ADSC
Using the ADC Interrupt Flag as a trigger source makes the ADC start a new conversion as soon as the
ongoing conversion has finished. The ADC then operates in Free Running mode, constantly sampling
and updating the ADC Data Register. The first conversion must be started by writing a '1' to
ADCSRA.ADSC. In this mode the ADC will perform successive conversions independently of whether the
ADC Interrupt Flag (ADIF) is cleared or not.
If Auto Triggering is enabled, single conversions can be started by writing ADCSRA.ADSC to '1'. ADSC
can also be used to determine if a conversion is in progress. The ADSC bit will be read as '1' during a
conversion, independently of how the conversion was started.
Prescaling and Conversion Timing
Figure 25-3. ADC Prescaler
ADEN
START
Reset
CK/128
CK/64
CK/32
CK/16
CK/8
CK/4
7-BIT ADC PRESCALER
CK
CK/2
25.4.
ADPS0
ADPS1
ADPS2
ADC CLOCK SOURCE
By default, the successive approximation circuitry requires an input clock frequency between 50kHz and
200kHz to get maximum resolution. If a lower resolution than 10 bits is needed, the input clock frequency
to the ADC can be higher than 200kHz to get a higher sample rate.
The ADC module contains a prescaler, which generates an acceptable ADC clock frequency from any
CPU frequency above 100kHz. The prescaling is selected by the ADC Prescaler Select bits in the ADC
Control and Status Register A (ADCSRA.ADPS). The prescaler starts counting from the moment the ADC
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is switched on by writing the ADC Enable bit ADCSRA.ADEN to '1'. The prescaler keeps running for as
long as ADEN=1, and is continuously reset when ADEN=0.
When initiating a single ended conversion by writing a '1' to the ADC Start Conversion bit
(ADCSRA.ADSC), the conversion starts at the following rising edge of the ADC clock cycle.
A normal conversion takes 13 ADC clock cycles. The first conversion after the ADC is switched on (i.e.,
ADCSRA.ADEN is written to '1') takes 25 ADC clock cycles in order to initialize the analog circuitry.
When the bandgap reference voltage is used as input to the ADC, it will take a certain time for the voltage
to stabilize. If not stabilized, the first value read after the first conversion may be wrong.
The actual sample-and-hold takes place 1.5 ADC clock cycles after the start of a normal conversion and
13.5 ADC clock cycles after the start of an first conversion. When a conversion is complete, the result is
written to the ADC Data Registers (ADCL and ADCH), and the ADC Interrupt Flag (ADCSRA.ADIF) is set.
In Single Conversion mode, ADCSRA.ADSC is cleared simultaneously. The software may then set
ADCSRA.ADSC again, and a new conversion will be initiated on the first rising ADC clock edge.
When Auto Triggering is used, the prescaler is reset when the trigger event occurs. This assures a fixed
delay from the trigger event to the start of conversion. In this mode, the sample-and-hold takes place two
ADC clock cycles after the rising edge on the trigger source signal. Three additional CPU clock cycles are
used for synchronization logic.
In Free Running mode, a new conversion will be started immediately after the conversion completes,
while ADCRSA.ADSC remains high. See also the ADC Conversion Time table below.
Figure 25-4. ADC Timing Diagram, First Conversion (Single Conversion Mode)
Next
Conversion
First Conversion
Cycle Number
1
2
12
13
14
15
16
17
18
19
20
21
22
23
24
25
1
2
3
ADC Clock
ADEN
ADSC
ADIF
Sign and MSB of Result
ADCH
LSB of Result
ADCL
MUX and REFS
Update
Sample and Hold
Conversion
Complete
MUX and REFS
Update
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Figure 25-5. ADC Timing Diagram, Single Conversion
One Conversion
1
Cycle Number
2
3
4
5
6
Next Conversion
7
8
9
10
11
12
13
1
2
3
ADC Clock
ADSC
ADIF
ADCH
Sign and MSB of Result
ADCL
LSB of Result
Sample and Hold
Conversion
Complete
MUX and REFS
Update
MUX and REFS
Update
Figure 25-6. ADC Timing Diagram, Auto Triggered Conversion
One Conversion
1
Cycle Number
2
3
4
5
6
7
8
Next Conversion
10
9
11
12
13
1
2
ADC Clock
Trigger
Source
ADATE
ADIF
ADCH
Sign and MSB of Result
ADCL
LSB of Result
Prescaler
Reset
Sample &
Hold
Conversion
Complete
Prescaler
Reset
MUX and REFS
Update
Figure 25-7. ADC Timing Diagram, Free Running Conversion
One Conversion
Cycle Number
11
12
Next Conversion
13
1
3
2
4
ADC Clock
ADSC
ADIF
ADCH
Sign and MSB of Result
ADCL
LSB of Result
Conversion
Complete
Sample and Hold
MUX and REFS
Update
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Table 25-1. ADC Conversion Time
Condition
Sample & Hold
(Cycles from Start of Conversion)
Conversion Time
(Cycles)
First conversion
14.5
25
Normal conversions, single ended
1.5
13
Auto Triggered conversions
2
13.5
Normal conversions, differential
1.5/2.5
13/14
25.4.1.
Differential Gain Channels
When using differential gain channels, certain aspects of the conversion need to be taken into
consideration. Note that the differential channels should not be used with an AREF < 2V.
Differential conversions are synchronized to the internal clock CKADC2 equal to half the ADC clock. This
synchronization is done automatically by the ADC interface in such a way that the sample-and-hold
occurs at a specific phase of CKADC2. A conversion initiated by the user (that is, all single conversions,
and the first free running conversion) when CKADC2 is low will take the same amount of time as a single
ended conversion (13 ADC clock cycles from the next prescaled clock cycle). A conversion initiated by
the user when CKADC2 is high will take 14 ADC clock cycles due to the synchronization mechanism. In
Free Running mode, a new conversion is initiated immediately after the previous conversion completes,
and since CKADC2 is high at this time, all automatically started (that is, all but the first) free running
conversions will take 14 ADC clock cycles.
The gain stage is optimized for a bandwidth of 4kHz at all gain settings. Higher frequencies may be
subjected to non-linear amplification. An external low-pass filter should be used if the input signal
contains higher frequency components than the gain stage bandwidth. Note that the ADC clock frequency
is independent of the gain stage bandwidth limitation. For example, the ADC clock period may be 6 μs,
allowing a channel to be sampled at 12kSPS, regardless of the bandwidth of this channel.
If differential gain channels are used and conversions are started by Auto Triggering, the ADC must be
switched off between conversions. When Auto Triggering is used, the ADC prescaler is reset before the
conversion is started. Since the gain stage is dependent of a stable ADC clock prior to the conversion,
this conversion will not be valid. By disabling and then re-enabling the ADC between each conversion
(writing ADEN in ADCSRA to “0” then to “1”), only extended conversions are performed. The result from
the extended conversions will be valid. See Prescaling and Conversion Timing section
25.5.
Changing Channel or Reference Selection
The Analog Channel Selection bits (MUX) and the Reference Selection bits (REFS) bits in the ADC
Multiplexer Selection Register (ADMUX.MUX[3:0] and ADMUX.REFS[1:0]) are single buffered through a
temporary register to which the CPU has random access. This ensures that the channels and reference
selection only takes place at a safe point during the conversion. The channel and reference selection is
continuously updated until a conversion is started. Once the conversion starts, the channel and reference
selection is locked to ensure a sufficient sampling time for the ADC. Continuous updating resumes in the
last ADC clock cycle before the conversion completes (indicated by ADCSRA.ADIF set). Note that the
conversion starts on the following rising ADC clock edge after ADSC is written. The user is thus advised
not to write new channel or reference selection values to ADMUX until one ADC clock cycle after the ADC
Start Conversion bit (ADCRSA.ADSC) was written.
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If Auto Triggering is used, the exact time of the triggering event can be indeterministic. Special care must
be taken when updating the ADMUX Register, in order to control which conversion will be affected by the
new settings.
If both the ADC Auto Trigger Enable and ADC Enable bits (ADCRSA.ADATE, ADCRSA.ADEN) are
written to '1', an interrupt event can occur at any time. If the ADMUX Register is changed in this period,
the user cannot tell if the next conversion is based on the old or the new settings. ADMUX can be safely
updated in the following ways:
1.
When ADATE or ADEN is cleared.
1.1.
During conversion, minimum one ADC clock cycle after the trigger event.
1.2.
After a conversion, before the Interrupt Flag used as trigger source is cleared.
When updating ADMUX in one of these conditions, the new settings will affect the next ADC conversion.
Special care should be taken when changing differential channels. Once a differential channel has been
selected, the gain stage may take as much as 125 μs to stabilize to the new value. Thus conversions
should not be started within the first 125 μs after selecting a new differential channel. Alternatively,
conversion results obtained within this period should be discarded. The same settling time should be
observed for the first differential conversion after changing ADC reference (by changing the REFS[1:0]
bits in ADMUX).
25.5.1.
ADC Input Channels
When changing channel selections, the user should observe the following guidelines to ensure that the
correct channel is selected:
•
In Single Conversion mode, always select the channel before starting the conversion. The channel
selection may be changed one ADC clock cycle after writing one to ADSC. However, the simplest
method is to wait for the conversion to complete before changing the channel selection.
•
In Free Running mode, always select the channel before starting the first conversion. The channel
selection may be changed one ADC clock cycle after writing one to ADSC. However, the simplest
method is to wait for the first conversion to complete, and then change the channel selection. Since
the next conversion has already started automatically, the next result will reflect the previous
channel selection. Subsequent conversions will reflect the new channel selection.
The user is advised not to write new channel or reference selection values during Free Running mode.
When switching to a differential gain channel, the first conversion result may have a poor accuracy due to
the required settling time for the automatic offset cancellation circuitry. The user should preferably
disregard the first conversion result.
25.5.2.
ADC Voltage Reference
The reference voltage for the ADC (VREF) indicates the conversion range for the ADC. Single ended
channels that exceed VREF will result in codes close to 0x3FF. VREF can be selected as either AVCC,
internal 2.56V reference, or external AREF pin.
AVCC is connected to the ADC through a passive switch. The internal 2.56V reference is generated from
the internal bandgap reference (VBG) through an internal amplifier. In either case, the external AREF pin
is directly connected to the ADC, and the reference voltage can be made more immune to noise by
connecting a capacitor between the AREF pin and ground. VREF can also be measured at the AREF pin
with a high impedance voltmeter. Note that VREF is a high impedance source, and only a capacitive load
should be connected in a system.
If the user has a fixed voltage source connected to the AREF pin, the user may not use the other
reference voltage options in the application, as they will be shorted to the external voltage. If no external
voltage is applied to the AREF pin, the user may switch between AVCC and 2.56V as reference selection.
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The first ADC conversion result after switching reference voltage source may be inaccurate, and the user
is advised to discard this result.
If differential channels are used, the selected reference should not be closer to AVCC than indicated in
ADC Characteristics of Electrical Characteristics chapter.
25.6.
ADC Noise Canceler
The ADC features a noise canceler that enables conversion during sleep mode to reduce noise induced
from the CPU core and other I/O peripherals. The noise canceler can be used with ADC Noise Reduction
and Idle mode. To make use of this feature, the following procedure should be used:
1.
2.
3.
Make sure that the ADC is enabled and is not busy converting. Single Conversion mode must be
selected and the ADC conversion complete interrupt must be enabled.
Enter ADC Noise Reduction mode (or Idle mode). The ADC will start a conversion once the CPU
has been halted.
If no other interrupts occur before the ADC conversion completes, the ADC interrupt will wake up
the CPU and execute the ADC Conversion Complete interrupt routine. If another interrupt wakes up
the CPU before the ADC conversion is complete, that interrupt will be executed, and an ADC
Conversion Complete interrupt request will be generated when the ADC conversion completes. The
CPU will remain in active mode until a new sleep command is executed.
Note: The ADC will not be automatically turned off when entering other sleep modes than Idle mode and
ADC Noise Reduction mode. The user is advised to write zero to ADCRSA.ADEN before entering such
sleep modes to avoid excessive power consumption.
25.6.1.
Analog Input Circuitry
The analog input circuitry for single ended channels is illustrated below. An analog source applied to
ADCn is subjected to the pin capacitance and input leakage of that pin, regardless of whether that
channel is selected as input for the ADC. When the channel is selected, the source must drive the S/H
capacitor through the series resistance (combined resistance in the input path).
The ADC is optimized for analog signals with an output impedance of approximately 10 kΩ or less. If such
a source is used, the sampling time will be negligible. If a source with higher impedance is used, the
sampling time will depend on how long time the source needs to charge the S/H capacitor, with can vary
widely. The user is recommended to only use low impedance sources with slowly varying signals, since
this minimizes the required charge transfer to the S/H capacitor.
Signal components higher than the Nyquist frequency (fADC/2) should not be present for either kind of
channels, to avoid distortion from unpredictable signal convolution. The user is advised to remove high
frequency components with a low-pass filter before applying the signals as inputs to the ADC.
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Figure 25-8. Analog Input Circuitry
IIH
ADCn
1..100k Ω
IIL
CS/H= 14pF
VCC/2
25.6.2.
Analog Noise Canceling Techniques
Digital circuitry inside and outside the device generates EMI which might affect the accuracy of analog
measurements. If conversion accuracy is critical, the noise level can be reduced by applying the following
techniques:
1.
2.
3.
4.
Keep analog signal paths as short as possible. Make sure analog tracks run over the ground plane,
and keep them well away from high-speed switching digital tracks.
The AVCC pin on the device should be connected to the digital VCC supply voltage via an LC
network as shown in the figure below.
Use the ADC noise canceler function to reduce induced noise from the CPU.
If any ADC port pins are used as digital outputs, it is essential that these do not switch while a
conversion is in progress.
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Analog Ground Plane
PA3 (ADC3)
PA2 (ADC2)
PA1 (ADC1)
PA0 (ADC0)
VCC
GND
Figure 25-9. ADC Power Connections
PA4 (ADC4)
PA5 (ADC5)
PA6 (ADC6)
AREF
10μH
PA7 (ADC7)
AVCC
100nF
GND
PC7
25.6.3.
Offset Compensation Schemes
The gain stage has a built-in offset cancellation circuitry that nulls the offset of differential measurements
as much as possible. The remaining offset in the analog path can be measured directly by selecting the
same channel for both differential inputs. This offset residue can be then subtracted in software from the
measurement results. Using this kind of software based offset correction, offset on any channel can be
reduced below one LSB.
25.6.4.
ADC Accuracy Definitions
An n-bit single-ended ADC converts a voltage linearly between GND and VREF in 2n steps (LSBs). The
lowest code is read as 0, and the highest code is read as 2n-1.
Several parameters describe the deviation from the ideal behavior:
•
Offset: The deviation of the first transition (0x000 to 0x001) compared to the ideal transition (at 0.5
LSB). Ideal value: 0 LSB.
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Figure 25-10. Offset Error
Output Code
Ideal ADC
Actual ADC
Offset
Error
•
VREF Input Voltage
Gain error: After adjusting for offset, the gain error is found as the deviation of the last transition
(0x3FE to 0x3FF) compared to the ideal transition (at 1.5 LSB below maximum). Ideal value: 0 LSB.
Figure 25-11. Gain Error
Gain
Error
Output Code
Ideal ADC
Actual ADC
VREF
•
Input Voltage
Integral Non-linearity (INL): After adjusting for offset and gain error, the INL is the maximum
deviation of an actual transition compared to an ideal transition for any code. Ideal value: 0 LSB.
Figure 25-12. Integral Non-linearity (INL)
Output Code
INL
Ideal ADC
Actual ADC
VREF
Input Voltage
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•
Differential Non-linearity (DNL): The maximum deviation of the actual code width (the interval
between two adjacent transitions) from the ideal code width (1 LSB). Ideal value: 0 LSB.
Figure 25-13. Differential Non-linearity (DNL)
Output Code
0x3FF
1 LSB
DNL
0x000
0
•
•
25.7.
VREF
Input Voltage
Quantization Error: Due to the quantization of the input voltage into a finite number of codes, a
range of input voltages (1 LSB wide) will code to the same value. Always ±0.5 LSB.
Absolute accuracy: The maximum deviation of an actual (unadjusted) transition compared to an
ideal transition for any code. This is the compound effect of offset, gain error, differential error, nonlinearity, and quantization error. Ideal value: ±0.5 LSB.
ADC Conversion Result
After the conversion is complete (ADCSRA.ADIF is set), the conversion result can be found in the ADC
Result Registers (ADCL, ADCH).
For single ended conversion, the result is
ADC =
�IN ⋅ 1024
�REF
where VIN is the voltage on the selected input pin, and VREF the selected voltage reference (see also
descriptions of ADMUX.REFSn and ADMUX.MUX). 0x000 represents analog ground, and 0x3FF
represents the selected reference voltage minus one LSB.
If differential channels are used, the result is
ADC =
���� − ���� ⋅ ���� ⋅ 512
�REF
where VPOS is the voltage on the positive input pin, VNEG the voltage on the negative input pin, GAIN the
selected gain factor, and VREF the selected voltage reference. The result is presented in two’s
complement form, from 0x200 (-512d) through 0x1FF (+511d). Note that if the user wants to perform a
quick polarity check of the results, it is sufficient to read the MSB of the result (ADC9 in ADCH). If this bit
is one, the result is negative, and if this bit is zero, the result is positive. The figure below shows the
decoding of the differential input range.
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Figure 25-14. Differential Measurement Range
Output Code
0x1FF
0x000
- VREF /GAIN
0x3FF
0
VREF /GAIN
Diffe re ntia l Input
Volta ge (Volts )
0x200
The table below shows the resulting output codes if the differential input channel pair (ADCn - ADCm) is
selected with a gain of GAIN and a reference voltage of VREF.
Table 25-2. Correlation between Input Voltage and Output Codes
VADCn
Read code
Corresponding Decimal Value
VADCm + VREF/GAIN
0x1FF
511
VADCm + 0.999 VREF/GAIN
0x1FF
511
VADCm + 0.998 VREF/GAIN
0x1FE
510
...
...
...
VADCm + 0.001 VREF/GAIN
0x001
1
VADCm
0x000
0
VADCm - 0.001 VREF/GAIN
0x3FF
-1
...
...
...
VADCm - 0.999 VREF/GAIN
0x201
-511
VADCm - VREF/GAIN
0x200
-512
Example:
ADMUX = 0xED (ADC3 - ADC2, 10× gain, 2.56V reference, left adjusted result)
Voltage on ADC3 is 300 mV, voltage on ADC2 is 500 mV.
ADCR = 512 × 10 × (300 - 500) / 2560 = -400 = 0x270
ADCL will thus read 0x00, and ADCH will read 0x9C.
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Writing zero to ADLAR right adjusts the result: ADCL = 0x70, ADCH = 0x02.
25.8.
Register Description
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25.8.1.
ADC Multiplexer Selection Register
Name: ADMUX
Offset: 0x7C
Reset: 0x00
Property: Bit
Access
Reset
7
6
5
4
3
2
1
0
REFS1
REFS0
ADLAR
MUX4
MUX3
MUX2
MUX1
MUX0
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 7:6 – REFSn: Reference Selection [n = 1:0]
These bits select the voltage reference for the ADC. If these bits are changed during a conversion, the
change will not go in effect until this conversion is complete (ADIF in ADCSRA is set). The internal
voltage reference options may not be used if an external reference voltage is being applied to the AREF
pin.
Table 25-3. ADC Voltage Reference Selection
REFS[1:0]
Voltage Reference Selection
00
AREF, Internal Vref turned off
01
AVCC with external capacitor at AREF pin
10
Internal 1.1V Voltage Reference with external capacitor at AREF pin
11
Internal 2.56V Voltage Reference with external capacitor at AREF pin
Note: If differential channels are selected, only 2.56V should be used as Internal Voltage Reference.
Bit 5 – ADLAR: ADC Left Adjust Result
The ADLAR bit affects the presentation of the ADC conversion result in the ADC Data Register. Write one
to ADLAR to left adjust the result. Otherwise, the result is right adjusted. Changing the ADLAR bit will
affect the ADC Data Register immediately, regardless of any ongoing conversions. For a complete
description of this bit, see ADCL and ADCH.
Bits 4:0 – MUXn: Analog Channel and Gain Selection Bits [n = 4:0]
The value of these bits selects which combination of analog inputs are connected to the ADC. These bits
also select the gain for the differential channels. If these bits are changed during a conversion, the
change will not go in effect until this conversion is complete. (ADIF in ADCSRA is set).
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Table 25-4. Input Channel and Gain Selections
MUX[4:0]
Single Ended
Input
Positive
Differential Input
Negative
Differential Input
Gain
00000
ADC0
N/A
00001
ADC1
00010
ADC2
00011
ADC3
00100
ADC4
00101
ADC5
00110
ADC6
00111
ADC7
01000
N/A
ADC0
ADC0
10x
01001
ADC1
ADC0
10x
01010
ADC0
ADC0
200x
01011
ADC1
ADC0
200x
01100
ADC2
ADC2
10x
01101
ADC3
ADC2
10x
01110
ADC2
ADC2
200x
01111
ADC3
ADC2
200x
ADC0
ADC1
1x
10001
ADC1
ADC1
1x
10010
ADC2
ADC1
1x
10011
ADC3
ADC1
1x
10100
ADC4
ADC1
1x
10101
ADC5
ADC1
1x
10110
ADC6
ADC1
1x
11111
ADC7
ADC1
1x
11000
ADC0
ADC2
1x
11000
ADC1
ADC2
1x
11001
ADC2
ADC2
1x
11010
ADC3
ADC2
1x
11011
ADC4
ADC2
1x
11100
ADC5
ADC2
1x
10000
N/A
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MUX[4:0]
Single Ended
Input
Positive
Differential Input
11110
1.1V (VBG)
N/A
11111
0V (GND)
Negative
Differential Input
Gain
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25.8.2.
ADC Control and Status Register A
Name: ADCSRA
Offset: 0x7A
Reset: 0x00
Property: Bit
Access
Reset
7
6
5
4
3
2
1
0
ADEN
ADSC
ADATE
ADIF
ADIE
ADPS2
ADPS1
ADPS0
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bit 7 – ADEN: ADC Enable
Writing this bit to one enables the ADC. By writing it to zero, the ADC is turned off. Turning the ADC off
while a conversion is in progress, will terminate this conversion.
Bit 6 – ADSC: ADC Start Conversion
In Single Conversion mode, write this bit to one to start each conversion. In Free Running mode, write
this bit to one to start the first conversion. The first conversion after ADSC has been written after the ADC
has been enabled, or if ADSC is written at the same time as the ADC is enabled, will take 25 ADC clock
cycles instead of the normal 13. This first conversion performs initialization of the ADC.
ADSC will read as one as long as a conversion is in progress. When the conversion is complete, it returns
to zero. Writing zero to this bit has no effect.
Bit 5 – ADATE: ADC Auto Trigger Enable
When this bit is written to one, Auto Triggering of the ADC is enabled. The ADC will start a conversion on
a positive edge of the selected trigger signal. The trigger source is selected by setting the ADC Trigger
Select bits, ADTS in ADCSRB.
Bit 4 – ADIF: ADC Interrupt Flag
This bit is set when an ADC conversion completes and the Data Registers are updated. The ADC
Conversion Complete Interrupt is executed if the ADIE bit and the I-bit in SREG are set. ADIF is cleared
by hardware when executing the corresponding interrupt handling vector. Alternatively, ADIF is cleared by
writing a logical one to the flag. Beware that if doing a Read-Modify-Write on ADCSRA, a pending
interrupt can be disabled. This also applies if the SBI and CBI instructions are used.
Bit 3 – ADIE: ADC Interrupt Enable
When this bit is written to one and the I-bit in SREG is set, the ADC Conversion Complete Interrupt is
activated.
Bits 2:0 – ADPSn: ADC Prescaler Select [n = 2:0]
These bits determine the division factor between the system clock frequency and the input clock to the
ADC.
Table 25-5. Input Channel Selection
ADPS[2:0]
Division Factor
000
2
001
2
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ADPS[2:0]
Division Factor
010
4
011
8
100
16
101
32
110
64
111
128
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25.8.3.
ADC Data Register Low (ADLAR=0)
When an ADC conversion is complete, the result is found in these two registers. If differential channels
are used, the result is presented in two’s complement form.
When ADCL is read, the ADC Data Register is not updated until ADCH is read. Consequently, if the result
is left adjusted and no more than 8-bit precision is required, it is sufficient to read ADCH. Otherwise,
ADCL must be read first, then ADCH.
The ADLAR bit and the MUXn bits in ADMUX affect the way the result is read from the registers. If
ADLAR is set, the result is left adjusted. If ADLAR is cleared (default), the result is right adjusted.
Name: ADCL
Offset: 0x78
Reset: 0x00
Property: ADLAR = 0
Bit
7
6
5
4
3
2
1
0
ADC7
ADC6
ADC5
ADC4
ADC3
ADC2
ADC1
ADC0
Access
R
R
R
R
R
R
R
R
Reset
0
0
0
0
0
0
0
0
Bits 7:0 – ADCn: ADC Conversion Result [n = 7:0]
These bits represent the result from the conversion. Refer to ADC Conversion Result for details.
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25.8.4.
ADC Data Register High (ADLAR=0)
Name: ADCH
Offset: 0x79
Reset: 0x00
Property: ADLAR = 0
Bit
7
6
5
4
3
2
1
0
ADC9
ADC8
Access
R
R
Reset
0
0
Bit 1 – ADC9: ADC Conversion Result
Refer to ADCL.
Bit 0 – ADC8: ADC Conversion Result
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25.8.5.
ADC Data Register Low (ADLAR=1)
Name: ADCL
Offset: 0x78
Reset: 0x00
Property: ADLAR = 1
Bit
7
6
ADC1
ADC0
Access
R
R
Reset
0
0
5
4
3
2
1
0
Bit 7 – ADC1: ADC Conversion Result
Refer to ADCL.
Bit 6 – ADC0: ADC Conversion Result
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25.8.6.
ADC Data Register High (ADLAR=1)
Name: ADCH
Offset: 0x79
Reset: 0x00
Property: ADLAR = 1
Bit
7
6
5
4
3
2
1
0
ADC9
ADC8
ADC7
ADC6
ADC5
ADC4
ADC3
ADC2
Access
R
R
R
R
R
R
R
R
Reset
0
0
0
0
0
0
0
0
Bit 7 – ADC9: ADC Conversion Result 9
Refer to ADCL.
Bit 6 – ADC8: ADC Conversion Result 8
Refer to ADCL.
Bit 5 – ADC7: ADC Conversion Result 7
Refer to ADCL.
Bit 4 – ADC6: ADC Conversion Result 6
Refer to ADCL.
Bit 3 – ADC5: ADC Conversion Result 5
Refer to ADCL.
Bit 2 – ADC4: ADC Conversion Result 4
Refer to ADCL.
Bit 1 – ADC3: ADC Conversion Result 3
Refer to ADCL.
Bit 0 – ADC2: ADC Conversion Result 2
Refer to ADCL.
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25.8.7.
ADC Control and Status Register B
Name: ADCSRB
Offset: 0x7B
Reset: 0x00
Property: Bit
7
6
Access
2
1
0
ACME
ADTS2
ADTS1
ADTS0
R/W
R/W
R/W
R/W
0
0
0
0
Reset
5
4
3
Bit 6 – ACME: Analog Comparator Multiplexer Enable
When this bit is written logic one and the ADC is switched off (ADEN in ADCSRA is zero), the ADC
multiplexer selects the negative input to the Analog Comparator. When this bit is written logic zero, AIN1
is applied to the negative input of the Analog Comparator. For a detailed description of this bit, see
Analog Comparator Multiplexed Input..
Bits 2:0 – ADTSn: ADC Auto Trigger Source [n = 2:0]
If ADATE in ADCSRA is written to one, the value of these bits selects which source will trigger an ADC
conversion. If ADATE is cleared, the ADTS[2:0] settings will have no effect. A conversion will be triggered
by the rising edge of the selected Interrupt Flag. Note that switching from a trigger source that is cleared
to a trigger source that is set, will generate a positive edge on the trigger signal. If ADEN in ADCSRA is
set, this will start a conversion. Switching to Free Running mode (ADTS[2:0]=0) will not cause a trigger
event, even if the ADC Interrupt Flag is set.
Table 25-6. ADC Auto Trigger Source Selection
ADTS[2:0]
Trigger Source
000
Free Running mode
001
Analog Comparator
010
External Interrupt Request 0
011
Timer/Counter0 Compare Match A
100
Timer/Counter0 Overflow
101
Timer/Counter1 Compare Match B
110
Timer/Counter1 Overflow
111
Timer/Counter1 Capture Event
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25.8.8.
Digital Input Disable Register 0
When the respective bits are written to logic one, the digital input buffer on the corresponding ADC pin is
disabled. The corresponding PIN Register bit will always read as zero when this bit is set. When an
analog signal is applied to the ADC7...0 pin and the digital input from this pin is not needed, this bit should
be written logic one to reduce power consumption in the digital input buffer.
Name: DIDR0
Offset: 0x7E
Reset: 0x00
Property: Bit
Access
Reset
7
6
5
4
3
2
1
0
ADC7D
ADC6D
ADC5D
ADC4D
ADC3D
ADC2D
ADC1D
ADC0D
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Bits 0, 1, 2, 3, 4, 5, 6, 7 – ADC0D, ADC1D, ADC2D, ADC3D, ADC4D, ADC5D, ADC6D, ADC7D: ADC
Digital Input Disable
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26.
JTAG Interface and On-chip Debug System
26.1.
Features
•
•
•
•
•
•
26.2.
JTAG (IEEE std. 1149.1 Compliant) Interface
Boundary-scan Capabilities According to the IEEE std. 1149.1 (JTAG) Standard
Debugger Access to:
– All Internal Peripheral Units
– Internal and External RAM
– The Internal Register File
– Program Counter
– EEPROM and Flash Memories
Extensive On-chip Debug Support for Break Conditions, Including:
– AVR Break Instruction
– Break on Change of Program Memory Flow
– Single Step Break
– Program Memory Breakpoints on Single Address or Address Range
– Data Memory Breakpoints on Single Address or Address Range
Programming of Flash, EEPROM, Fuses, and Lock Bits through the JTAG Interface
On-chip Debugging Supported by Atmel Studio
Overview
The AVR IEEE std. 1149.1 compliant JTAG interface can be used for:
•
•
•
Testing PCBs by using the JTAG Boundary-scan capability
Programming the non-volatile memories, Fuses and Lock bits
On-chip debugging
A brief description is given in the following sections. Detailed descriptions for Programming via the JTAG
interface, and using the Boundary-scan Chain can be found in the sections Programming Via the JTAG
Interface and IEEE 1149.1 (JTAG) Boundary-scan, respectively. The On-chip Debug support is
considered being private JTAG instructions, and distributed within ATMEL and to selected third party
vendors only.
Figure 26-1 Block Diagram shows the JTAG interface and the On-chip Debug system. The TAP
Controller is a state machine controlled by the TCK and TMS signals. The TAP Controller selects either
the JTAG Instruction Register or one of several Data Registers as the scan chain (Shift Register) between
the TDI – input and TDO – output. The Instruction Register holds JTAG instructions controlling the
behavior of a Data Register.
The ID-Register, Bypass Register, and the Boundary-scan Chain are the data registers used for boardlevel testing. The JTAG Programming Interface (actually consisting of several physical and virtual Data
Registers) is used for serial programming via the JTAG interface. The Internal Scan Chain and Break
Point Scan Chain are used for On-chip debugging only.
Related Links
Programming Via the JTAG Interface on page 392
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TAP – Test Access Port
The JTAG interface is accessed through four of the AVR’s pins. In JTAG terminology, these pins
constitute the Test Access Port – TAP. These pins are:
•
•
•
•
TMS: Test mode select. This pin is used for navigating through the TAP-controller state machine.
TCK: Test clock. JTAG operation is synchronous to TCK.
TDI: Test Data In. Serial input data to be shifted in to the Instruction Register or Data Register
(Scan Chains).
TDO: Test Data Out. Serial output data from Instruction Register or Data Register.
The IEEE std. 1149.1 also specifies an optional TAP signal; TRST – Test ReSeT – which is not provided.
When the JTAGEN fuse is unprogrammed, these four TAP pins are normal port pins and the TAP
controller is in reset. When programmed and the JTD bit in MCUCSR is cleared, the TAP input signals
are internally pulled high and the JTAG is enabled for Boundary-scan and programming. In this case, the
TAP output pin (TDO) is left floating in states where the JTAG TAP controller is not shifting data, and must
therefore be connected to a pull-up resistor or other hardware having pull-ups (for instance the TDI-input
of the next device in the scan chain). The device is shipped with this fuse programmed.
For the On-chip Debug system, in addition to the JTAG interface pins, the RESET pin is monitored by the
debugger to be able to detect External Reset sources. The debugger can also pull the RESET pin low to
reset the whole system, assuming only open collectors on the Reset line are used in the application.
Figure 26-1. Block Diagram
I/O P ORT 0
DEVICE BOUNDARY
BOUNDARY S CAN CHAIN
J TAG P ROGRAMMING
INTERFACE
INS TRUCTION
REGIS TER
ID
REGIS TER
M
U
X
FLAS H
MEMORY
Addre s s
Da ta
BREAKP OINT
UNIT
BYP AS S
REGIS TER
AVR CP U
INTERNAL
S CAN
CHAIN
PC
Ins truction
FLOW CONTROL
UNIT
DIGITAL
P ERIP HERAL
UNITS
BREAKP OINT
S CAN CHAIN
ADDRES S
DECODER
J TAG / AVR CORE
COMMUNICATION
INTERFACE
OCD S TATUS
AND CONTROL
Ana log inputs
TAP
CONTROLLER
Control & Clock line s
TDI
TDO
TCK
TMS
ANALOG
P ERIP HERIAL
UNITS
26.3.
I/O P ORT n
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Figure 26-2. TAP Controller State Diagram
1
Te s t-Logic-Re s e t
0
0
Run-Te s t/Idle
1
S e le ct-DR S ca n
1
S e le ct-IR S ca n
0
0
1
1
Ca pture -DR
Ca pture -IR
0
0
S hift-DR
S hift-IR
0
1
Exit1-DR
0
P a us e -DR
0
0
P a us e -IR
1
1
0
Exit2-DR
Exit2-IR
1
1
Upda te -DR
26.4.
1
Exit1-IR
0
1
0
1
1
0
1
Upda te -IR
0
1
0
TAP Controller
The TAP controller is a 16-state finite state machine that controls the operation of the Boundary-scan
circuitry, JTAG programming circuitry, or On-chip Debug system. The state transitions depicted in Figure
26-2 TAP Controller State Diagram depend on the signal present on TMS (shown adjacent to each state
transition) at the time of the rising edge at TCK. The initial state after a Power-on Reset is Test-LogicReset.
As a definition in this document, the LSB is shifted in and out first for all Shift Registers.
Assuming Run-Test/Idle is the present state, a typical scenario for using the JTAG interface is:
•
At the TMS input, apply the sequence 1, 1, 0, 0 at the rising edges of TCK to enter the Shift
Instruction Register – Shift-IR state. While in this state, shift the 4 bits of the JTAG instructions into
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•
•
•
the JTAG instruction register from the TDI input at the rising edge of TCK. The TMS input must be
held low during input of the 3 LSBs in order to remain in the Shift-IR state. The MSB of the
instruction is shifted in when this state is left by setting TMS high. While the instruction is shifted in
from the TDI pin, the captured IR-state 0x01 is shifted out on the TDO pin. The JTAG Instruction
selects a particular Data Register as path between TDI and TDO and controls the circuitry
surrounding the selected Data Register.
Apply the TMS sequence 1, 1, 0 to re-enter the Run-Test/Idle state. The instruction is latched onto
the parallel output from the Shift Register path in the Update-IR state. The Exit-IR, Pause-IR, and
Exit2-IR states are only used for navigating the state machine.
At the TMS input, apply the sequence 1, 0, 0 at the rising edges of TCK to enter the Shift Data
Register – Shift-DR state. While in this state, upload the selected Data Register (selected by the
present JTAG instruction in the JTAG Instruction Register) from the TDI input at the rising edge of
TCK. In order to remain in the Shift-DR state, the TMS input must be held low during input of all bits
except the MSB. The MSB of the data is shifted in when this state is left by setting TMS high. While
the Data Register is shifted in from the TDI pin, the parallel inputs to the Data Register captured in
the Capture-DR state is shifted out on the TDO pin.
Apply the TMS sequence 1, 1, 0 to re-enter the Run-Test/Idle state. If the selected Data Register
has a latched parallel-output, the latching takes place in the Update-DR state. The Exit-DR, PauseDR, and Exit2-DR states are only used for navigating the state machine.
As shown in the state diagram, the Run-Test/Idle state need not be entered between selecting JTAG
instruction and using Data Registers, and some JTAG instructions may select certain functions to be
performed in the Run- Test/Idle, making it unsuitable as an Idle state.
Note: 1. Independent of the initial state of the TAP Controller, the Test-Logic-Reset state can always be
entered by holding TMS high for 5 TCK clock periods.
For detailed information on the JTAG specification, refer to the literature listed in Bibliography.
26.5.
Using the Boundary-scan Chain
A complete description of the Boundary-scan capabilities are given in the section IEEE 1149.1 (JTAG)
Boundary-scan.
26.6.
Using the On-chip Debug System
As shown in Figure 26-1 Block Diagram, the hardware support for On-chip Debugging consists mainly of:
•
•
•
A scan chain on the interface between the internal AVR CPU and the internal peripheral units
Break point unit
Communication interface between the CPU and JTAG system
All read or modify/write operations needed for implementing the Debugger are done by applying AVR
instructions via the internal AVR CPU Scan Chain. The CPU sends the result to an I/O memory mapped
location which is part of the communication interface between the CPU and the JTAG system.
The Break point Unit implements Break on Change of Program Flow, Single Step Break, two Program
Memory Break points, and two combined break points. Together, the four break points can be configured
as either:
•
•
•
4 Single Program Memory break points
3 Single Program Memory break points + 1 single Data Memory break point
2 Single Program Memory break points + 2 single Data Memory break points
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•
•
2 Single Program Memory break points + 1 Program Memory break point with mask (“range break
point”)
2 Single Program Memory break points + 1 Data Memory break point with mask (“range break
point”)
A debugger, like the Atmel Studio®, may however use one or more of these resources for its internal
purpose, leaving less flexibility to the end-user.
A list of the On-chip Debug specific JTAG instructions is given in On-chip Debug Specific JTAG
Instructions.
The JTAGEN fuse must be programmed to enable the JTAG Test Access Port. In addition, the OCDEN
fuse must be programmed and no Lock bits must be set for the On-chip Debug system to work. As a
security feature, the On-chip Debug system is disabled when any Lock bits are set. Otherwise, the Onchip Debug system would have provided a back-door into a secured device.
The Atmel Studio enables the user to fully control execution of programs on an AVR device with On-chip
Debug capability, AVR In-Circuit Emulator, or the built-in AVR Instruction Set Simulator. Atmel Studio
supports source level execution of Assembly programs assembled with Atmel Corporation’s AVR
Assembler and C programs compiled with third party vendors’ compilers.
For a full description of the Atmel Studio, please refer to the Atmel Studio User Guide found in the
Online Help in Atmel Studio. Only highlights are presented in this document.
All necessary execution commands are available in Atmel Studio, both on source level and on
disassembly level. The user can execute the program, single step through the code either by tracing into
or stepping over functions, step out of functions, place the cursor on a statement and execute until the
statement is reached, stop the execution, and reset the execution target. In addition, the user can have
an unlimited number of code break points (using the BREAK instruction) and up to two data memory
break points, alternatively combined as a mask (range) break point.
26.7.
On-chip Debug Specific JTAG Instructions
The On-chip debug support is considered being private JTAG instructions, and distributed within ATMEL
and to selected third-party vendors only. Instruction opcodes are listed for reference.
PRIVATE0; 0x8
Private JTAG instruction for accessing On-chip Debug system.
PRIVATE1; 0x9
Private JTAG instruction for accessing On-chip Debug system.
PRIVATE2; 0xA
Private JTAG instruction for accessing On-chip Debug system.
PRIVATE3; 0xB
Private JTAG instruction for accessing On-chip Debug system.
26.8.
Using the JTAG Programming Capabilities
Programming of AVR parts via JTAG is performed via the four-pin JTAG port, TCK, TMS, TDI, and TDO.
These are the only pins that need to be controlled/observed to perform JTAG programming (in addition to
power pins). It is not required to apply 12V externally. The JTAGEN fuse must be programmed and the
JTD bit in the MCUCSR Register must be cleared to enable the JTAG Test Access Port.
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The JTAG programming capability supports:
•
•
•
•
Flash programming and verifying
EEPROM programming and verifying
Fuse programming and verifying
Lock bit programming and verifying
The Lock bit security is exactly as in Parallel Programming mode. If the Lock bits LB1 or LB2 are
programmed, the OCDEN Fuse cannot be programmed unless first doing a chip erase. This is a security
feature that ensures no back-door exists for reading out the content of a secured device.
The details on programming through the JTAG interface and programming specific JTAG instructions are
given in the section Programming Via the JTAG Interface.
Related Links
Programming Via the JTAG Interface on page 392
26.9.
Bibliography
For more information about general Boundary-scan, the following literature can be consulted:
•
•
IEEE: IEEE Std 1149.1-1990. IEEE Standard Test Access Port and Boundary-scan Architecture,
IEEE, 1993
Colin Maunder: The Board Designers Guide to Testable Logic Circuits, Addison-Wesley, 1992
26.10. IEEE 1149.1 (JTAG) Boundary-scan
Related Links
Reset Sources on page 72
26.10.1. Features
•
•
•
•
•
JTAG (IEEE std. 1149.1 Compliant) Interface
Boundary-scan Capabilities According to the JTAG Standard
Full Scan of all Port Functions as well as Analog Circuitry having Off-chip Connections
Supports the Optional IDCODE Instruction
Additional Public AVR_RESET Instruction to Reset the AVR
26.10.2. System Overview
The Boundary-scan Chain has the capability of driving and observing the logic levels on the digital I/O
pins, as well as the boundary between digital and analog logic for analog circuitry having off-chip
connections. At system level, all ICs having JTAG capabilities are connected serially by the TDI/TDO
signals to form a long Shift Register. An external controller sets up the devices to drive values at their
output pins, and observe the input values received from other devices. The controller compares the
received data with the expected result. In this way, Boundary-scan provides a mechanism for testing
interconnections and integrity of components on Printed Circuits Boards by using the four TAP signals
only.
The four IEEE 1149.1 defined mandatory JTAG instructions IDCODE, BYPASS, SAMPLE/PRELOAD, and
EXTEST, as well as the AVR specific public JTAG instruction AVR_RESET can be used for testing the
Printed Circuit Board. Initial scanning of the data register path will show the ID-code of the device, since
IDCODE is the default JTAG instruction. It may be desirable to have the AVR device in reset during test
mode. If not reset, inputs to the device may be determined by the scan operations, and the internal
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software may be in an undetermined state when exiting the test mode. Entering Reset, the outputs of any
Port Pin will instantly enter the high impedance state, making the HIGHZ instruction redundant. If needed,
the BYPASS instruction can be issued to make the shortest possible scan chain through the device. The
device can be set in the Reset state either by pulling the external RESET pin low, or issuing the
AVR_RESET instruction with appropriate setting of the Reset Data Register.
The EXTEST instruction is used for sampling external pins and loading output pins with data. The data
from the output latch will be driven out on the pins as soon as the EXTEST instruction is loaded into the
JTAG IR-register. Therefore, the SAMPLE/PRELOAD should also be used for setting initial values to the
scan ring, to avoid damaging the board when issuing the EXTEST instruction for the first time. SAMPLE/
PRELOAD can also be used for taking a snapshot of the external pins during normal operation of the
part.
The JTAGEN fuse must be programmed and the JTD bit in the I/O register MCUCSR must be cleared to
enable the JTAG Test Access Port.
When using the JTAG interface for Boundary-scan, using a JTAG TCK clock frequency higher than the
internal chip frequency is possible. The chip clock is not required to run.
26.11. Data Registers
The data registers relevant for Boundary-scan operations are:
•
•
•
•
Bypass Register
Device Identification Register
Reset Register
Boundary-scan Chain
26.11.1. Bypass Register
The Bypass Register consists of a single Shift Register stage. When the Bypass Register is selected as
path between TDI and TDO, the register is reset to 0 when leaving the Capture-DR controller state. The
Bypass Register can be used to shorten the scan chain on a system when the other devices are to be
tested.
26.11.2. Device Identification Register
The figure below shows the structure of the Device Identification Register.
Figure 26-3. The format of the Device Identification Register
LSB
MSB
Bit
Device ID
28
31
27
12 11
Version
Part Number
4 bits
16 bits
1
Manufacturer ID
11 bits
0
1
1-bit
26.11.2.1. Version
Version is a 4-bit number identifying the revision of the component. The JTAG version number follows the
revision of the device, and wraps around at revision P (0xF). Revision A and Q is 0x0, revision B and R is
0x1 and so on.
26.11.2.2. Part Number
The part number is a 16-bit code identifying the component. The JTAG Part Number for ATmega164PA is
listed in the table below.
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Table 26-1. AVR JTAG Part Number
Part Number
JTAG Part Number
ATmega164PA
940A
26.11.2.3. Manufacturer ID
The Manufacturer ID is a 11-bit code identifying the manufacturer. The JTAG manufacturer ID for ATMEL
is listed in the table below.
Table 26-2. Manufacturer ID
Manufacturer
JTAG Manufacturer ID (Hex)
ATMEL
0x01F
26.11.3. Reset Register
The Reset Register is a Test Data Register used to reset the part. Since the AVR tri-states Port Pins
when reset, the Reset Register can also replace the function of the unimplemented optional JTAG
instruction HIGHZ.
A high value in the Reset Register corresponds to pulling the External Reset low. The part is reset as long
as there is a high value present in the Reset Register. Depending on the Fuse settings for the clock
options, the part will remain reset for a Reset Time-Out Period (refer to Clock Sources) after releasing the
Reset Register. The output from this Data Register is not latched, so the Reset will take place
immediately, as shown in the figure below.
Figure 26-4. Reset Register
To
TDO
From Othe r Inte rna l a nd
Exte rna l Re s e t S ource s
From
TDI
D
Q
Inte rna l Re s e t
ClockDR · AVR_RES ET
26.11.4. Boundary-scan Chain
The Boundary-scan Chain has the capability of driving and observing the logic levels on the digital I/O
pins, as well as the boundary between digital and analog logic for analog circuitry having off-chip
connections. Refer to Boundary-scan Chain for a complete description.
26.12. Boundry-scan Specific JTAG Instructions
The Instruction Register is 4-bit wide, supporting up to 16 instructions. Listed below are the JTAG
instructions useful for Boundary-scan operation. Note that the optional HIGHZ instruction is not
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implemented, but all outputs with tri-state capability can be set in high-impedant state by using the
AVR_RESET instruction, since the initial state for all port pins is tri-state.
As a definition in this data sheet, the LSB is shifted in and out first for all Shift Registers.
The OPCODE for each instruction is shown behind the instruction name in hex format. The text describes
which data register is selected as path between TDI and TDO for each instruction.
26.12.1. EXTEST; 0x0
Mandatory JTAG instruction for selecting the Boundary-scan Chain as Data Register for testing circuitry
external to the AVR package. For port-pins, Pull-up Disable, Output Control, Output Data, and Input Data
are all accessible in the scan chain. For Analog circuits having off-chip connections, the interface
between the analog and the digital logic is in the scan chain. The contents of the latched outputs of the
Boundary-scan chain is driven out as soon as the JTAG IR-register is loaded with the EXTEST
instruction.
The active states are:
•
•
•
Capture-DR: Data on the external pins are sampled into the Boundary-scan Chain.
Shift-DR: The Internal Scan Chain is shifted by the TCK input.
Update-DR: Data from the scan chain is applied to output pins.
26.12.2. IDCODE; 0x1
Optional JTAG instruction selecting the 32-bit ID Register as Data Register. The ID Register consists of a
version number, a device number and the manufacturer code chosen by JEDEC. This is the default
instruction after power-up.
The active states are:
•
•
Capture-DR: Data in the IDCODE Register is sampled into the Boundary-scan Chain.
Shift-DR: The IDCODE scan chain is shifted by the TCK input.
26.12.3. SAMPLE_PRELOAD; 0x2
Mandatory JTAG instruction for pre-loading the output latches and taking a snap-shot of the input/output
pins without affecting the system operation. However, the output latches are not connected to the pins.
The Boundary-scan Chain is selected as Data Register.
The active states are:
•
•
•
Capture-DR: Data on the external pins are sampled into the Boundary-scan Chain.
Shift-DR: The Boundary-scan Chain is shifted by the TCK input.
Update-DR: Data from the Boundary-scan Chain is applied to the output latches. However, the
output latches are not connected to the pins.
26.12.4. AVR_RESET; 0xC
The AVR specific public JTAG instruction for forcing the AVR device into the Reset mode or releasing the
JTAG Reset source. The TAP controller is not reset by this instruction. The one bit Reset Register is
selected as Data Register. Note that the Reset will be active as long as there is a logic 'one' in the Reset
Chain. The output from this chain is not latched.
The active states are:
•
Shift-DR: The Reset Register is shifted by the TCK input.
26.12.5. BYPASS; 0xF
Mandatory JTAG instruction selecting the Bypass Register for Data Register.
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The active states are:
•
•
Capture-DR: Loads a logic “0” into the Bypass Register.
Shift-DR: The Bypass Register cell between TDI and TDO is shifted.
26.13. Boundary-scan Chain
The Boundary-scan chain has the capability of driving and observing the logic levels on the digital I/O
pins, as well as the boundary between digital and analog logic for analog circuitry having off-chip
connections.
26.13.1. Scanning the Digital Port Pins
The first figure below shows the Boundary-scan Cell for a bi-directional port pin with pull-up function. The
cell consists of a standard Boundary-scan cell for the Pull-up Enable – PUExn – function, and a bidirectional pin cell that combines the three signals, Output Control – OCxn, Output Data – ODxn, and
Input Data – IDxn, into only a two-stage Shift Register. The port and pin indexes are not used in the
following description
The Boundary-scan logic is not included in the figures in the Data Sheet. Figure 26-6 General Port Pin
Schematic diagram shows a simple digital Port Pin as described in the section I/O Ports. The Boundaryscan details from the first figure below replaces the dashed box in Figure 26-6 General Port Pin
Schematic diagram.
When no alternate port function is present, the Input Data – ID corresponds to the PINxn Register value
(but ID has no synchronizer), Output Data corresponds to the PORT Register, Output Control
corresponds to the Data Direction – DD Register, and the Pull-up Enable – PUExn – corresponds to logic
expression PUD · DDxn · PORTxn.
Digital alternate port functions are connected outside the dotted box in Figure 26-6 General Port Pin
Schematic diagram to make the scan chain read the actual pin value. For Analog function, there is a
direct connection from the external pin to the analog circuit, and a scan chain is inserted on the interface
between the digital logic and the analog circuitry.
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Figure 26-5. Boundary-scan Cell for Bi-directional Port Pin with Pull-Up Function.
S hiftDR
To Ne xt Ce ll
EXTES T
P ullup Ena ble (P UE)
Vcc
0
FF2
0
D
1
LD2
Q
D
1
Q
G
Output Control (OC)
FF1
0
D
1
LD1
Q
D
Q
0
1
G
Output Da ta (OD)
0
1
FF0
0
D
1
LD0
Q
D
Q
0
1
P ort P in (P Xn)
G
Input Da ta (ID)
From La s t Ce ll
ClockDR
Upda te DR
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Figure 26-6. General Port Pin Schematic diagram
S e e Bounda ry-S ca n de s cription
for de ta ils !
P UExn
P UD
D
Q
DDxn
Q
CLR
RES ET
OCxn
WDx
D
Q
P xn
ODxn
PORTxn
Q
IDxn
CLR
RES ET
WP x
DATA BUS
RDx
RRx
S LEEP
S YNCHRONIZER
D
D
Q
RP x
Q
PINxn
L
Q
Q
CLK I/O
P UD:
P UExn:
OCxn:
ODxn:
IDxn:
S LEEP :
P ULLUP DIS ABLE
P ULLUP ENABLE for pin P xn
OUTP UT CONTROL for pin P xn
OUTP UT DATA to pin P xn
INP UT DATA from pin P xn
S LEEP CONTROL
WDx:
RDx:
WP x:
RRx:
RP x:
CLK I/O :
WRITE DDRx
READ DDRx
WRITE P ORTx
READ P ORTx REGIS TER
READ P ORTx P IN
I/O CLOCK
Related Links
I/O-Ports on page 100
26.13.2. Scanning the RESET Pin
The RESET pin accepts 5V active low logic for standard Reset operation, and 12V active high logic for
High Voltage Parallel programming. An observe-only cell as shown in the figure below is inserted both for
the 5V Reset signal; RSTT, and the 12V Reset signal; RSTHV.
Figure 26-7. Observe-only Cell
To
ne xt
ce ll
S hiftDR
From s ys te m pin
To s ys te m logic
FF1
0
D
1
From
pre vious
ce ll
Q
ClockDR
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26.14. ATmega164PA Boundary-scan Order
The table below shows the Scan order between TDI and TDO when the Boundary-scan Chain is selected
as data path. Bit 0 is the LSB; the first bit scanned in, and the first bit scanned out. The scan order follows
the pin-out order as far as possible. Therefore, the bits of Port A are scanned in the opposite bit order of
the other ports.
Exceptions from the rules are the scan chains for the analog circuits, which constitute the most significant
bits of the scan chain regardless of which physical pin they are connected to. In Figure 26-5 Boundaryscan Cell for Bi-directional Port Pin with Pull-Up Function., PXn. Data corresponds to FF0, PXn. Control
corresponds to FF1, and PXn. Pullup_enable corresponds to FF2. Bit 2, 3, 4, and 5 of Port C is not in the
scan chain, since these pins constitute the TAP pins when the JTAG is enabled.
Table 26-3. ATmega164PA Boundary-scan Order (TBD)
Bit Number
Signal Name
Module
56
PB0.Data
Port B
55
PB0.Control
54
PB1.Data
53
PB1.Control
52
PB2.Data
51
PB2.Control
50
PB3.Data
49
PB3.Control
48
PB4.Data
47
PB4.Control
46
PB5.Data
45
PB5.Control
44
PB6.Data
43
PB6.Control
42
PB7.Data
41
PB7.Control
40
RSTT
Reset Logic (Observe Only)
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Bit Number
Signal Name
Module
39
PD0.Data
Port D
38
PD0.Control
37
PD1.Data
36
PD1.Control
35
PD2.Data
34
PD2.Control
33
PD3.Data
32
PD3.Control
31
PD4.Data
30
PD4.Control
29
PD5.Data
28
PD5.Control
27
PD6.Data
26
PD6.Control
25
PD7.Data
24
PD7.Control
23
PC0.Data
22
PC0.Control
21
PC1.Data
20
PC1.Control
19
PC6.Data
18
PC6.Control
17
PC7.Data
16
PC7.Control
Port C
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Bit Number
Signal Name
Module
15
PA7.Data
Port A
14
PA7.Control
13
PA6.Data
12
PA6.Control
11
PA5.Data
10
PA5.Control
9
PA4.Data
8
PA4.Control
7
PA3.Data
6
PA3.Control
5
PA2.Data
4
PA2.Control
3
PA1.Data
2
PA1.Control
1
PA0.Data
0
PA0.Control
26.15. Boundary-scan Description Language Files
Boundary-scan Description Language (BSDL) files describe Boundary-scan capable devices in a
standard format used by automated test-generation software. The order and function of bits in the
Boundary-scan Data Register are included in this description.
26.16. Register Description
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26.16.1. OCDR – On-chip Debug Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: OCDR
Offset: 0x51
Reset: 0x20
Property: When addressing as I/O Register: address offset is 0x31
Bit
7
6
5
4
3
2
1
0
IDRD/OCDR7
OCDR6
OCDR5
OCDR4
OCDR3
OCDR2
OCDR1
OCDR0
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
0
0
Access
Reset
Bit 7 – IDRD/OCDR7: USART Receive Complete
The OCDR Register provides a communication channel from the running program in the microcontroller
to the debugger. The CPU can transfer a byte to the debugger by writing to this location. At the same
time, an internal flag; I/O Debug Register Dirty – IDRD – is set to indicate to the debugger that the
register has been written. When the CPU reads the OCDR Register the 7 LSB will be from the OCDR
Register, while the MSB is the IDRD bit. The debugger clears the IDRD bit when it has read the
information.
In some AVR devices, this register is shared with a standard I/O location. In this case, the OCDR Register
can only be accessed if the OCDEN fuse is programmed, and the debugger enables access to the OCDR
Register. In all other cases, the standard I/O location is accessed.
•
•
Bit 7 is MSB
Bit 1 is LSB
Refer to the debugger documentation for further information on how to use this register.
Bits 6:0 – OCDRn: On-chip Debug Register n [n = 6:0]
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26.16.2. MCU Control Register
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: MCUCR
Offset: 0x55
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x35
Bit
Access
Reset
7
6
5
4
1
0
JTD
BODS
BODSE
PUD
3
2
IVSEL
IVCE
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
Bit 7 – JTD
When this bit is zero, the JTAG interface is enabled if the JTAGEN Fuse is programmed. If this bit is one,
the JTAG interface is disabled. In order to avoid unintentional disabling or enabling of the JTAG interface,
a timed sequence must be followed when changing this bit: The application software must write this bit to
the desired value twice within four cycles to change its value. Note that this bit must not be altered when
using the On-chip Debug system.
Bit 6 – BODS: BOD Sleep
The BODS bit must be written to '1' in order to turn off BOD during sleep. Writing to the BODS bit is
controlled by a timed sequence and the enable bit BODSE. To disable BOD in relevant sleep modes, both
BODS and BODSE must first be written to '1'. Then, BODS must be written to '1' and BODSE must be
written to zero within four clock cycles.
The BODS bit is active three clock cycles after it is set. A sleep instruction must be executed while BODS
is active in order to turn off the BOD for the actual sleep mode. The BODS bit is automatically cleared
after three clock cycles.
Bit 5 – BODSE: BOD Sleep Enable
BODSE enables setting of BODS control bit, as explained in BODS bit description. BOD disable is
controlled by a timed sequence.
Bit 4 – PUD: Pull-up Disable
When this bit is written to one, the pull-ups in the I/O ports are disabled even if the DDxn and PORTxn
Registers are configured to enable the pull-ups ({DDxn, PORTxn} = 0b01).
Bit 1 – IVSEL: Interrupt Vector Select
When the IVSEL bit is cleared (zero), the Interrupt Vectors are placed at the start of the Flash memory.
When this bit is set (one), the Interrupt Vectors are moved to the beginning of the Boot Loader section of
the Flash. The actual address of the start of the Boot Flash Section is determined by the BOOTSZ Fuses.
To avoid unintentional changes of Interrupt Vector tables, a special write procedure must be followed to
change the IVSEL bit:
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1.
2.
Write the Interrupt Vector Change Enable (IVCE) bit to one.
Within four cycles, write the desired value to IVSEL while writing a zero to IVCE.
Interrupts will automatically be disabled while this sequence is executed. Interrupts are disabled in the
cycle IVCE is set, and they remain disabled until after the instruction following the write to IVSEL. If
IVSEL is not written, interrupts remain disabled for four cycles. The I-bit in the Status Register is
unaffected by the automatic disabling.
Note: If Interrupt Vectors are placed in the Boot Loader section and Boot Lock bit BLB02 is
programmed, interrupts are disabled while executing from the Application section. If Interrupt Vectors are
placed in the Application section and Boot Lock bit BLB12 is programed, interrupts are disabled while
executing from the Boot Loader section.
Bit 0 – IVCE: Interrupt Vector Change Enable
The IVCE bit must be written to logic one to enable change of the IVSEL bit. IVCE is cleared by hardware
four cycles after it is written or when IVSEL is written. Setting the IVCE bit will disable interrupts, as
explained in the IVSEL description above. See Code Example below.
Assembly Code Example
Move_interrupts:
; Get MCUCR
in
r16, MCUCR
mov
r17, r16
; Enable change of Interrupt Vectors
ori
r16, (1<<IVCE)
out
MCUCR, r16
; Move interrupts to Boot Flash section
ori
r17, (1<<IVSEL)
out
MCUCR, r17
ret
C Code Example
void Move_interrupts(void)
{
uchar temp;
/* GET MCUCR*/
temp = MCUCR;
/* Enable change of Interrupt Vectors */
MCUCR = temp|(1<<IVCE);
/* Move interrupts to Boot Flash section */
MCUCR = temp|(1<<IVSEL);
}
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26.16.3. MCU Status Register
To make use of the Reset Flags to identify a reset condition, the user should read and then Reset the
MCUSR as early as possible in the program. If the register is cleared before another reset occurs, the
source of the reset can be found by examining the Reset Flags.
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: MCUSR
Offset: 0x54
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x34
Bit
Access
Reset
7
6
5
4
3
2
1
0
JTRF
WDRF
BORF
EXTRF
PORF
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
Bit 4 – JTRF: JTAG Reset Flag
This bit is set if a reset is being caused by a logic one in the JTAG Reset Register selected by the JTAG
instruction AVR_RESET. This bit is reset by a Power-on Reset, or by writing a logic zero to the flag.
Bit 3 – WDRF: Watchdog System Reset Flag
This bit is set if a Watchdog System Reset occurs. The bit is reset by a Power-on Reset, or by writing a '0'
to it.
Bit 2 – BORF: Brown-out Reset Flag
This bit is set if a Brown-out Reset occurs. The bit is reset by a Power-on Reset, or by writing a '0' to it.
Bit 1 – EXTRF: External Reset Flag
This bit is set if an External Reset occurs. The bit is reset by a Power-on Reset, or by writing a '0' to it.
Bit 0 – PORF: Power-on Reset Flag
This bit is set if a Power-on Reset occurs. The bit is reset only by writing a '0' to it.
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27.
BTLDR - Boot Loader Support – Read-While-Write Self-Programming
27.1.
Features
•
•
•
•
•
•
•
Read-While-Write Self-Programming
Flexible Boot Memory Size
High Security (Separate Boot Lock Bits for a Flexible Protection)
Separate Fuse to Select Reset Vector
Optimized Page(1) Size
Code Efficient Algorithm
Efficient Read-Modify-Write Support
Note: 1. A page is a section in the Flash consisting of several bytes (see Table. No. of Words in a Page
and No. of Pages in the Flash in Page Size) used during programming. The page organization does not
affect normal operation.
Related Links
Page Size on page 377
27.2.
Overview
In this device, the Boot Loader Support provides a real Read-While-Write Self-Programming mechanism
for downloading and uploading program code by the MCU itself. This feature allows flexible application
software updates controlled by the MCU using a Flash-resident Boot Loader program. The Boot Loader
program can use any available data interface and associated protocol to read code and write (program)
that code into the Flash memory, or read the code from the program memory. The program code within
the Boot Loader section has the capability to write into the entire Flash, including the Boot Loader
memory. The Boot Loader can thus even modify itself, and it can also erase itself from the code if the
feature is not needed anymore. The size of the Boot Loader memory is configurable with fuses and the
Boot Loader has two separate sets of Boot Lock bits which can be set independently. This gives the user
a unique flexibility to select different levels of protection.
27.3.
Application and Boot Loader Flash Sections
The Flash memory is organized in two main sections, the Application section and the Boot Loader
section. The size of the different sections is configured by the BOOTSZ Fuses. These two sections can
have different level of protection since they have different sets of Lock bits.
27.3.1.
Application Section
The Application section is the section of the Flash that is used for storing the application code. The
protection level for the Application section can be selected by the application Boot Lock bits (Boot Lock
bits 0). The Application section can never store any Boot Loader code since the SPM instruction is
disabled when executed from the Application section.
27.3.2.
BLS – Boot Loader Section
While the Application section is used for storing the application code, the Boot Loader software must be
located in the BLS since the SPM instruction can initiate a programming when executing from the BLS
only. The SPM instruction can access the entire Flash, including the BLS itself. The protection level for
the Boot Loader section can be selected by the Boot Loader Lock bits (Boot Lock bits 1).
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27.4.
Read-While-Write and No Read-While-Write Flash Sections
Whether the CPU supports Read-While-Write or if the CPU is halted during a Boot Loader software
update is dependent on which address that is being programmed. In addition to the two sections that are
configurable by the BOOTSZ Fuses as described above, the Flash is also divided into two fixed sections,
the Read-While-Write (RWW) section and the No Read-While-Write (NRWW) section. The limit between
the RWW- and NRWW sections is given in the Boot Loader Parameters section and Figure 27-2 Memory
Sections. The main difference between the two sections is:
•
•
When erasing or writing a page located inside the RWW section, the NRWW section can be read
during the operation
When erasing or writing a page located inside the NRWW section, the CPU is halted during the
entire operation
The user software can never read any code that is located inside the RWW section during a Boot Loader
software operation. The syntax “Read-While-Write section” refers to which section that is being
programmed (erased or written), not which section that actually is being read during a Boot Loader
software update.
27.4.1.
RWW – Read-While-Write Section
If a Boot Loader software update is programming a page inside the RWW section, it is possible to read
code from the Flash, but only code that is located in the NRWW section. During an on-going
programming, the software must ensure that the RWW section never is being read. If the user software is
trying to read code that is located inside the RWW section (i.e., by a call/jmp/lpm or an interrupt) during
programming, the software might end up in an unknown state. To avoid this, the interrupts should either
be disabled or moved to the Boot Loader section. The Boot Loader section is always located in the
NRWW section. The RWW Section Busy bit (RWWSB) in the Store Program Memory Control and Status
Register (SPMCSR) will be read as logical one as long as the RWW section is blocked for reading. After
a programming is completed, the RWWSB must be cleared by software before reading code located in
the RWW section. Please refer to SPMCSR – Store Program Memory Control and Status Register in this
chapter for details on how to clear RWWSB.
27.4.2.
NRWW – No Read-While-Write Section
The code located in the NRWW section can be read when the Boot Loader software is updating a page in
the RWW section. When the Boot Loader code updates the NRWW section, the CPU is halted during the
entire Page Erase or Page Write operation.
Table 27-1. Read-While-Write Features
Which Section does the Zpointer Address during the
Programming?
Which Section can be read
during Programming?
CPU Halted? Read-While-Write
Supported?
RWW Section
NRWW Section
No
Yes
NRWW Section
None
Yes
No
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Figure 27-1. Read-While-Write vs. No Read-While-Write
Read-While-Write
(RWW) Section
Z-pointer
Addresses RWW
Section
Code Located in
NRWW Section
Can be Read During
the Operation
Z-pointer
Addresses NRWW
Section
No Read-While-Write
(NRWW) Section
CPU is Halted
During the Operation
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Figure 27-2. Memory Sections
Program Memory
BOOTSZ = '10'
Program Memory
BOOTSZ = '11'
0x0000
Application Flash Section
Read-While-Write Section
No Read-While-Write Section
End Application
Start Boot Loader
Flashend
0x0000
Application Flash Section
End RWW
Start NRWW
Application Flash Section
End Application
Start Boot Loader
Boot Loader Flash Section
Flashend
Application Flash Section
End RWW
Start NRWW
Application Flash Section
Boot Loader Flash Section
End Application
Start Boot Loader
Flashend
Program Memory
BOOTSZ = '00'
Read-While-Write Section
Boot Loader Flash Section
Program Memory
BOOTSZ = '01'
27.5.
Read-While-Write Section
End RWW
Start NRWW
No Read-While-Write Section
Application Flash Section
No Read-While-Write Section
No Read-While-Write Section
Read-While-Write Section
0x0000
0x0000
Application Flash Section
End RWW, End Application
Start NRWW, Start Boot Loader
Boot Loader Flash Section
Flashend
Entering the Boot Loader Program
Entering the Boot Loader takes place by a jump or call from the application program. This may be initiated
by a trigger such as a command received via USART, or SPI interface. Alternatively, the Boot Reset Fuse
can be programmed so that the Reset Vector is pointing to the Boot Flash start address after a reset. In
this case, the Boot Loader is started after a reset. After the application code is loaded, the program can
start executing the application code. The fuses cannot be changed by the MCU itself. This means that
once the Boot Reset Fuse is programmed, the Reset Vector will always point to the Boot Loader Reset
and the fuse can only be changed through the serial or parallel programming interface.
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Table 27-2. Boot Reset Fuse
BOOTRST
Reset Address
1
Reset Vector = Application Reset (address 0x0000)
0
Reset Vector = Boot Loader Reset, as described by the Boot Loader Parameters
Note: '1' means unprogrammed, '0' means programmed.
27.6.
Boot Loader Lock Bits
If no Boot Loader capability is needed, the entire Flash is available for application code. The Boot Loader
has two separate sets of Boot Lock bits which can be set independently. This gives the user a unique
flexibility to select different levels of protection.
The user can select:
•
•
•
•
To protect the entire Flash from a software update by the MCU
To protect only the Boot Loader Flash section from a software update by the MCU
To protect only the Application Flash section from a software update by the MCU
Allow software update in the entire Flash
The Boot Lock bits can be set in software and in Serial or Parallel Programming mode, but they can be
cleared by a Chip Erase command only. The general Write Lock (Lock Bit mode 2) does not control the
programming of the Flash memory by SPM instruction. Similarly, the general Read/Write Lock (Lock Bit
mode 1) does not control reading nor writing by LPM/SPM, if it is attempted.
Table 27-3. Boot Lock Bit0 Protection Modes (Application Section)
BLB0
Mode
BLB02 BLB01 Protection
1
1
1
No restrictions for SPM or LPM accessing the Application section.
2
1
0
SPM is not allowed to write to the Application section.
3
0
0
SPM is not allowed to write to the Application section, and LPM executing
from the Boot Loader section is not allowed to read from the Application
section. If Interrupt Vectors are placed in the Boot Loader section,
interrupts are disabled while executing from the Application section.
4
0
1
LPM executing from the Boot Loader section is not allowed to read from
the Application section. If Interrupt Vectors are placed in the Boot Loader
section, interrupts are disabled while executing from the Application
section.
Note: “1” means unprogrammed, “0” means programmed.
Table 27-4. Boot Lock Bit1 Protection Modes (Boot Loader Section)
BLB1
Mode
BLB12 BLB11 Protection
1
1
1
No restrictions for SPM or LPM accessing the Boot Loader section.
2
1
0
SPM is not allowed to write to the Boot Loader section.
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BLB1
Mode
BLB12 BLB11 Protection
3
0
0
SPM is not allowed to write to the Boot Loader section, and LPM executing
from the Application section is not allowed to read from the Boot Loader
section. If Interrupt Vectors are placed in the Application section, interrupts
are disabled while executing from the Boot Loader section.
4
0
1
LPM executing from the Application section is not allowed to read from the
Boot Loader section. If Interrupt Vectors are placed in the Application
section, interrupts are disabled while executing from the Boot Loader
section.
Note: “1” means unprogrammed, “0” means programmed.
27.7.
Addressing the Flash During Self-Programming
The Z-pointer is used to address the SPM commands.
Bit
15
14
13
12
11
10
9
8
ZH (R31)
Z15
Z14
Z13
Z12
Z11
Z10
Z9
Z8
ZL (R30)
Z7
Z6
Z5
Z4
Z3
Z2
Z1
Z0
7
6
5
4
3
2
1
0
Since the Flash is organized in pages, the Program Counter can be treated as having two different
sections. One section, consisting of the least significant bits, is addressing the words within a page, while
the most significant bits are addressing the pages. This is shown in the following figure. The Page Erase
and Page Write operations are addressed independently. Therefore it is of major importance that the Boot
Loader software addresses the same page in both the Page Erase and Page Write operation. Once a
programming operation is initiated, the address is latched and the Z-pointer can be used for other
operations.
The only SPM operation that does not use the Z-pointer is Setting the Boot Loader Lock bits. The content
of the Z-pointer is ignored and will have no effect on the operation. The LPM instruction does also use the
Z-pointer to store the address. Since this instruction addresses the Flash byte-by-byte, also the LSB (bit
Z0) of the Z-pointer is used.
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Figure 27-3. Addressing the Flash During SPM
BIT
15
ZPAGEMSB
ZPCMSB
1 0
0
Z - REGISTER
PROGRAM
COUNTER
PCMSB
PAGEMSB
PCPAGE
PCWORD
PAGE ADDRESS
WITHIN THE FLASH
PROGRAM MEMORY
PAGE
WORD ADDRESS
WITHIN A PAGE
PAGE
INSTRUCTION WORD
PCWORD[PAGEMSB:0]:
00
01
02
PAGEEND
Note: The different variables used in this figure are listed in the Related Links.
27.8.
Self-Programming the Flash
The program memory is updated in a page by page fashion. Before programming a page with the data
stored in the temporary page buffer, the page must be erased. The temporary page buffer is filled one
word at a time using SPM and the buffer can be filled either before the Page Erase command or between
a Page Erase and a Page Write operation:
Alternative 1, fill the buffer before a Page Erase
•
Fill temporary page buffer
•
Perform a Page Erase
•
Perform a Page Write
Alternative 2, fill the buffer after Page Erase
•
Perform a Page Erase
•
Fill temporary page buffer
•
Perform a Page Write
If only a part of the page needs to be changed, the rest of the page must be stored (for example in the
temporary page buffer) before the erase, and then be rewritten. When using alternative 1, the Boot
Loader provides an effective Read-Modify-Write feature which allows the user software to first read the
page, do the necessary changes, and then write back the modified data. If alternative 2 is used, it is not
possible to read the old data while loading since the page is already erased. The temporary page buffer
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can be accessed in a random sequence. It is essential that the page address used in both the Page
Erase and Page Write operation is addressing the same page. Please refer to Simple Assembly Code
Example for a Boot Loader.
27.8.1.
Performing Page Erase by SPM
To execute Page Erase, set up the address in the Z-pointer, write “0x0000011” to Store Program Memory
Control and Status Register (SPMCSR) and execute SPM within four clock cycles after writing SPMCSR.
The data in R1 and R0 is ignored. The page address must be written to PCPAGE in the Z-register. Other
bits in the Z-pointer will be ignored during this operation.
•
•
27.8.2.
Page Erase to the RWW section: The NRWW section can be read during the Page Erase.
Page Erase to the NRWW section: The CPU is halted during the operation.
Filling the Temporary Buffer (Page Loading)
To write an instruction word, set up the address in the Z-pointer and data in [R1:R0], write “0x00000001”
to SPMCSR and execute SPM within four clock cycles after writing SPMCSR. The content of PCWORD
([Z5:Z1]) in the Z-register is used to address the data in the temporary buffer. The temporary buffer will
auto-erase after a Page Write operation or by writing the RWWSRE bit in SPMCSR
(SPMCSR.RWWSRE). It is also erased after a system reset. It is not possible to write more than one time
to each address without erasing the temporary buffer.
If the EEPROM is written in the middle of an SPM Page Load operation, all data loaded will be lost.
27.8.3.
Performing a Page Write
To execute Page Write, set up the address in the Z-pointer, write “0x0000101” to SPMCSR and execute
SPM within four clock cycles after writing SPMCSR. The data in R1 and R0 is ignored. The page address
must be written to PCPAGE ([Z5:Z1]). Other bits in the Z-pointer must be written to zero during this
operation.
•
•
27.8.4.
Page Write to the RWW section: The NRWW section can be read during the Page Write
Page Write to the NRWW section: The CPU is halted during the operation
Using the SPM Interrupt
If the SPM interrupt is enabled, the SPM interrupt will generate a constant interrupt when the SPMEN bit
in SPMCSR is cleared (SPMCSR.SPMEN). This means that the interrupt can be used instead of polling
the SPMCSR Register in software. When using the SPM interrupt, the Interrupt Vectors should be moved
to the Boot Loader Section (BLS) section to avoid that an interrupt is accessing the RWW section when it
is blocked for reading. How to move the interrupts is described in Interrupts chapter.
Related Links
Overview on page 82
27.8.5.
Consideration While Updating Boot Loader Section (BLS)
Special care must be taken if the user allows the Boot Loader Section (BLS) to be updated by leaving
Boot Lock bit11 unprogrammed. An accidental write to the Boot Loader itself can corrupt the entire Boot
Loader, and further software updates might be impossible. If it is not necessary to change the Boot
Loader software itself, it is recommended to program the Boot Lock bit11 to protect the Boot Loader
software from any internal software changes.
27.8.6.
Prevent Reading the RWW Section During Self-Programming
During Self-Programming (either Page Erase or Page Write), the RWW section is always blocked for
reading. The user software itself must prevent that this section is addressed during the self programming
operation. The RWWSB in the SPMCSR (SPMCSR.RWWSB) will be set as long as the RWW section is
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busy. During Self-Programming the Interrupt Vector table should be moved to the BLS as described in
Watchdog Timer chapter, or the interrupts must be disabled. Before addressing the RWW section after
the programming is completed, the user software must clear the SPMCSR.RWWSB by writing the
SPMCSR.RWWSRE. Please refer to Simple Assembly Code Example for a Boot Loader for an example.
Related Links
Watchdog System Reset on page 75
27.8.7.
Setting the Boot Loader Lock Bits by SPM
To set the Boot Loader Lock bits and general Lock Bits, write the desired data to R0, write “0x0001001” to
SPMCSR and execute SPM within four clock cycles after writing SPMCSR.
Bit
7
6
5
4
3
2
1
0
R0
1
1
BLB12
BLB11
BLB02
BLB01
LB2
LB1
The tables in Boot Loader Lock Bits show how the different settings of the Boot Loader bits affect the
Flash access.
If bits 5...0 in R0 are cleared (zero), the corresponding Lock bit will be programmed if an SPM instruction
is executed within four cycles after BLBSET and SPMEN are set in SPMCSR (SPMCSR.BLBSET and
SPMCSR.SPMEN). The Z-pointer don’t care during this operation, but for future compatibility it is
recommended to load the Z-pointer with 0x0001 (same as used for reading the lOck bits). For future
compatibility it is also recommended to set bits 7 and 6 in R0 to “1” when writing the Lock bits. When
programming the Lock bits the entire Flash can be read during the operation.
27.8.8.
EEPROM Write Prevents Writing to SPMCSR
An EEPROM write operation will block all software programming to Flash. Reading the Fuses and Lock
bits from software will also be prevented during the EEPROM write operation. It is recommended that the
user checks the status bit (EEPE) in the EECR Register (EECR.EEPE) and verifies that the bit is cleared
before writing to the SPMCSR Register.
27.8.9.
Reading the Fuse and Lock Bits from Software
It is possible to read both the Fuse and Lock bits (LB) from software. To read the Lock bits, load the Zpointer with 0x0001 and set the BLBSET and SPMEN bits in SPMCSR (SPMCSR.BLBSET and
SPMCSR.SPMEN). When an LPM instruction is executed within three CPU cycles after the BLBSET and
SPMEN bits are set in SPMCSR (SPMCSR.BLBSET and SPMCSR.SPMEN), the value of the Lock bits
will be loaded in the destination register. The SPMCSR.BLBSET and SPMCSR.SPMEN will auto-clear
upon completion of reading the Lock bits or if no LPM instruction is executed within three CPU cycles or
no SPM instruction is executed within four CPU cycles. When SPMCSR.BLBSET and SPMCSR.SPMEN
are cleared, LPM will work as described in the Instruction set Manual.
Bit
7
6
5
4
3
2
1
0
Rd
–
–
–
BLB12
–
BLB11
–
BLB02
–
BLB01
LB2
LB1
The algorithm for reading the Fuse Low byte (FLB) is similar to the one described above for reading the
Lock bits. To read the Fuse Low byte, load the Z-pointer with 0x0000 and set the BLBSET and SPMEN
bits in SPMCSR (SPMCSR.BLBSET and SPMCSR.SPMEN). When an LPM instruction is executed within
three cycles after the SPMCSR.BLBSET and SPMCSR.SPMEN are set, the value of the Fuse Low byte
(FLB) will be loaded in the destination register as shown below.
Bit
7
6
5
4
3
2
1
0
Rd
FLB7
FLB6
FLB5
FLB4
FLB3
FLB2
FLB1
FLB0
Similarly, when reading the Fuse High byte (FHB), load 0x0003 in the Z-pointer. When an LPM instruction
is executed within three cycles after the SPMCSR.BLBSET and SPMCSR.SPMEN are set, the value of
the Fuse High byte (FHB) will be loaded in the destination register as shown below.
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Bit
7
6
5
4
3
2
1
0
Rd
FHB7
FHB6
FHB5
FHB4
FHB3
FHB2
FHB1
FHB0
When reading the Extended Fuse byte (EFB), load 0x0002 in the Z-pointer. When an LPM instruction is
executed within three cycles after the SPMCSR.BLBSET and SPMCSR.SPMEN are set, the value of the
Extended Fuse byte (EFB) will be loaded in the destination register as shown below.
Bit
7
6
5
4
3
2
1
0
Rd
–
–
–
–
–
EFB2
EFB1
EFB0
Fuse and Lock bits that are programmed read as '0'. Fuse and Lock bits that are unprogrammed, will read
as '1'.
Related Links
Fuse Bits on page 374
27.8.10. Reading the Signature Row from Software
To read the Signature Row from software, load the Z-pointer with the signature byte address given in the
following table and set the SIGRD and SPMEN bits in SPMCSR (SPMCSR.SIGRD and
SPMCSR.SPMEN). When an LPM instruction is executed within three CPU cycles after the
SPMCSR.SIGRD and SPMCSR.SPMEN are set, the signature byte value will be loaded in the destination
register. The SPMCSR.SIGRD and SPMCSR.SPMEN will auto-clear upon completion of reading the
Signature Row Lock bits or if no LPM instruction is executed within three CPU cycles. When
SPMCSR.SIGRD and SPMCSR.SPMEN are cleared, LPM will work as described in the Instruction set
Manual.
Table 27-5. Signature Row Addressing
Signature Byte
Z-pointer Address
Device Signature Byte 1
0x0000
Device Signature Byte 2
0x0002
Device Signature Byte 3
0x0004
RC Oscillator Calibration Byte
0x0001
Serial Number Byte 1
0x000E
Serial Number Byte 0
0x000F
Serial Number Byte 3
0x0010
Serial Number Byte 2
0x0011
Serial Number Byte 5
0x0012
Serial Number Byte 4
0x0013
Serial Number Byte 6
0x0015
Serial Number Byte 7
0x0016
Serial Number Byte 8
0x0017
Note: All other addresses are reserved for future use.
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27.8.11. Preventing Flash Corruption
During periods of low VCC, the Flash program can be corrupted because the supply voltage is too low for
the CPU and the Flash to operate properly. These issues are the same as for board level systems using
the Flash, and the same design solutions should be applied.
A Flash program corruption can be caused by two situations when the voltage is too low. First, a regular
write sequence to the Flash requires a minimum voltage to operate correctly. Secondly, the CPU itself can
execute instructions incorrectly, if the supply voltage for executing instructions is too low.
Flash corruption can easily be avoided by following these design recommendations (one is sufficient):
1.
2.
3.
If there is no need for a Boot Loader update in the system, program the Boot Loader Lock bits to
prevent any Boot Loader software updates.
Keep the AVR RESET active (low) during periods of insufficient power supply voltage. This can be
done by enabling the internal Brown-out Detector (BOD) if the operating voltage matches the
detection level. If not, an external low VCC reset protection circuit can be used. If a reset occurs
while a write operation is in progress, the write operation will be completed provided that the power
supply voltage is sufficient.
Keep the AVR core in Power-down sleep mode during periods of low VCC. This will prevent the
CPU from attempting to decode and execute instructions, effectively protecting the SPMCSR
Register and thus the Flash from unintentional writes.
27.8.12. Programming Time for Flash when Using SPM
The calibrated RC Oscillator is used to time Flash accesses. The following table shows the typical
programming time for Flash accesses from the CPU.
Table 27-6. SPM Programming Time
Symbol
Min. Programming Time Max. Programming Time
Flash write (Page Erase, Page Write, and write
Lock bits by SPM)
3.7ms
4.5ms
Note: Minimum and maximum programming time is per individual operation.
27.8.13. Simple Assembly Code Example for a Boot Loader
;-the routine writes one page of data from RAM to Flash
; the first data location in RAM is pointed to by the Y pointer
; the first data location in Flash is pointed to by the Z-pointer
;-error handling is not included
;-the routine must be placed inside the Boot space
; (at least the Do_spm sub routine). Only code inside NRWW section can
; be read during Self-Programming (Page Erase and Page Write).
;-registers used: r0, r1, temp1 (r16), temp2 (r17), looplo (r24),
; loophi (r25), spmcrval (r20)
; storing and restoring of registers is not included in the routine
; register usage can be optimized at the expense of code size
;-It is assumed that either the interrupt table is moved to the Boot
; loader section or that the interrupts are disabled.
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.equ PAGESIZEB = PAGESIZE*2 ;PAGESIZEB is page size in BYTES, not words
.org SMALLBOOTSTART
Write_page:
; Page Erase
ldi spmcrval, (1<<PGERS) | (1<<SPMEN)
call Do_spm
; re-enable the RWW section
ldi spmcrval, (1<<RWWSRE) | (1<<SPMEN)
call Do_spm
; transfer data from RAM to Flash page buffer
ldi looplo, low(PAGESIZEB)
;init loop variable
ldi loophi, high(PAGESIZEB) ;not required for PAGESIZEB<=256
Wrloop:
ld r0, Y+
ld r1, Y+
ldi spmcrval, (1<<SPMEN)
call Do_spm
adiw ZH:ZL, 2
sbiw loophi:looplo, 2 ;use subi for PAGESIZEB<=256
brne Wrloop
; execute Page Write
subi ZL, low(PAGESIZEB) ;restore pointer
sbci ZH, high(PAGESIZEB) ;not required for PAGESIZEB<=256
ldi spmcrval, (1<<PGWRT) | (1<<SPMEN)
call Do_spm
; re-enable the RWW section
ldi spmcrval, (1<<RWWSRE) | (1<<SPMEN)
call Do_spm
; read back and check, optional
ldi looplo, low(PAGESIZEB) ;init loop variable
ldi loophi, high(PAGESIZEB) ;not required for PAGESIZEB<=256
subi YL, low(PAGESIZEB) ;restore pointer
sbci YH, high(PAGESIZEB)
Rdloop:
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lpm r0, Z+
ld r1, Y+
cpse r0, r1
jmp Error
sbiw loophi:looplo, 1 ;use subi for PAGESIZEB<=256
brne Rdloop
; return to RWW section
; verify that RWW section is safe to read
Return:
in temp1, SPMCSR
sbrs temp1, RWWSB ; If RWWSB is set, the RWW section is not ready yet
ret
; re-enable the RWW section
ldi spmcrval, (1<<RWWSRE) | (1<<SPMEN)
call Do_spm
rjmp Return
Do_spm:
; check for previous SPM complete
Wait_spm:
in temp1, SPMCSR
sbrc temp1, SPMEN
rjmp Wait_spm
; input: spmcrval determines SPM action
; disable interrupts if enabled, store status
in temp2, SREG
cli
; check that no EEPROM write access is present
Wait_ee:
sbic EECR, EEPE
rjmp Wait_ee
; SPM timed sequence
out SPMCSR, spmcrval
spm
; restore SREG (to enable interrupts if originally enabled)
out SREG, temp2
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ret
27.8.14. ATmega164PA Boot Loader Parameters
In the following tables, the parameters used in the description of the self programming are given.
Table 27-7. Boot Size Configuration, ATmega164PA
BOOTSZ1 BOOTSZ0 Boot
Size
Pages Application
Flash Section
Boot
Loader
Flash
Section
End
Application
Section
Boot Reset
Address
(Start Boot
Loader
Section)
1
1
128
words
2
0x0000 0x1F7F
0x1F80 0x1FFF
0x1E7F
0x1F80
1
0
256
words
4
0x0000 0x1EFF
0x1F00 0x1FFF
0x1EFF
0x1F00
0
1
512
words
8
0x0000 0x1DFF
0x1E00 0x1FFF
0x1DFF
0x1E00
0
0
1024
words
16
0x0000 0x3BFF
0x1C00 0x1FFF
0x1FFF
0x1C00
Note: The different BOOTSZ Fuse configurations are shown in Figure 27-2 Memory Sections
Table 27-8. Read-While-Write Limit, ATmega164PA
Section
Pages
Address
Read-While-Write section (RWW)
112
0x0000 - 0x1BFF
No Read-While-Write section (NRWW)
16
0x1C00 - 0x1FFF
Note: For details about these two section, see NRWW – No Read-While-Write Section and RWW –
Read-While-Write Section.
Table 27-9. Explanation of Different Variables used in Figure and the Mapping to the Z-pointer, ATmega164PA
Variable
Corresponding
Variable (1)
Description
PCMSB
12
Most significant bit in the Program Counter. (The Program
Counter is 13 bits PC[12:0])
PAGEMSB
5
Most significant bit which is used to address the words
within one page (64 words in a page requires 6 bits PC
[5:0]).
ZPCMSB
Z13
Bit in Z-register that is mapped to PCMSB. Because Z0 is
not used, the ZPCMSB equals PCMSB + 1.
ZPAGEMSB
Z6
Bit in Z-register that is mapped to PAGEMSB. Because
Z0 is not used, the ZPAGEMSB equals PAGEMSB + 1.
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Variable
Corresponding
Variable (1)
Description
PCPAGE
PC[12:6] Z14:Z7
Program counter page address: Page select, for page
erase and page write
PCWORD
PC[5:0]
Program counter word address: Word select, for filling
temporary buffer (must be zero during page write
operation)
Z6:Z1
Note: 1. Z0: should be zero for all SPM commands, byte select for the LPM instruction.
See Addressing the Flash During Self-Programming for details about the use of Z-pointer during
Self- Programming.
27.9.
Register Description
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27.9.1.
SPMCSR – Store Program Memory Control and Status Register
The Store Program Memory Control and Status Register contains the control bits needed to control the
Boot Loader operations.
When addressing I/O Registers as data space using LD and ST instructions, the provided offset must be
used. When using the I/O specific commands IN and OUT, the offset is reduced by 0x20, resulting in an
I/O address offset within 0x00 - 0x3F.
The device is a complex microcontroller with more peripheral units than can be supported within the 64
locations reserved in Opcode for the IN and OUT instructions. For the Extended I/O space from 0x60 in
SRAM, only the ST/STS/STD and LD/LDS/LDD instructions can be used.
Name: SPMCSR
Offset: 0x57
Reset: 0x00
Property: When addressing as I/O Register: address offset is 0x37
Bit
Access
Reset
7
6
5
4
3
2
1
0
SPMIE
RWWSB
SIGRD
RWWSRE
BLBSET
PGWRT
PGERS
SPMEN
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
0
0
0
0
0
0
Bit 7 – SPMIE: SPM Interrupt Enable
When the SPMIE bit is written to one, and the I-bit in the Status Register is set (one), the SPM ready
interrupt will be enabled. The SPM ready Interrupt will be executed as long as the SPMEN bit in the
SPMCSR Register is cleared.
Bit 6 – RWWSB: Read-While-Write Section Busy
When a Self-Programming (Page Erase or Page Write) operation to the RWW section is initiated, the
RWWSB will be set (one) by hardware. When the RWWSB bit is set, the RWW section cannot be
accessed. The RWWSB bit will be cleared if the RWWSRE bit is written to one after a Self-Programming
operation is completed. Alternatively the RWWSB bit will automatically be cleared if a page load operation
is initiated.
Bit 5 – SIGRD: Signature Row Read
If this bit is written to one at the same time as SPMEN, the next LPM instruction within three clock cycles
will read a byte from the signature row into the destination register. Please refer to Reading the Fuse and
Lock Bits from Software in this chapter. An SPM instruction within four cycles after SIGRD and SPMEN
are set will have no effect. This operation is reserved for future use and should not be used.
Bit 4 – RWWSRE: Read-While-Write Section Read Enable
When programming (Page Erase or Page Write) to the RWW section, the RWW section is blocked for
reading (the RWWSB will be set by hardware). To re-enable the RWW section, the user software must
wait until the programming is completed (SPMEN will be cleared). Then, if the RWWSRE bit is written to
one at the same time as SPMEN, the next SPM instruction within four clock cycles re-enables the RWW
section. The RWW section cannot be re-enabled while the Flash is busy with a Page Erase or a Page
Write (SPMEN is set). If the RWWSRE bit is written while the Flash is being loaded, the Flash load
operation will abort and the data loaded will be lost.
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Bit 3 – BLBSET: Boot Lock Bit Set
If this bit is written to one at the same time as SPMEN, the next SPM instruction within four clock cycles
sets Boot Lock bits and Memory Lock bits, according to the data in R0. The data in R1 and the address in
the Z-pointer are ignored. The BLBSET bit will automatically be cleared upon completion of the Lock bit
set, or if no SPM instruction is executed within four clock cycles.
An LPM instruction within three cycles after BLBSET and SPMEN are set in the SPMCSR Register
(SPMCSR.BLBSET and SPMCSR.SPMEN), will read either the Lock bits or the Fuse bits (depending on
Z0 in the Z-pointer) into the destination register. Please refer to Reading the Fuse and Lock Bits from
Software in this chapter.
Bit 2 – PGWRT: Page Write
If this bit is written to one at the same time as SPMEN, the next SPM instruction within four clock cycles
executes Page Write, with the data stored in the temporary buffer. The page address is taken from the
high part of the Zpointer. The data in R1 and R0 are ignored. The PGWRT bit will auto-clear upon
completion of a Page Write, or if no SPM instruction is executed within four clock cycles. The CPU is
halted during the entire Page Write operation if the NRWW section is addressed.
Bit 1 – PGERS: Page Erase
If this bit is written to one at the same time as SPMEN, the next SPM instruction within four clock cycles
executes Page Erase. The page address is taken from the high part of the Z-pointer. The data in R1 and
R0 are ignored. The PGERS bit will auto-clear upon completion of a Page Erase, or if no SPM instruction
is executed within four clock cycles. The CPU is halted during the entire Page Write operation if the
NRWW section is addressed.
Bit 0 – SPMEN: Store Program Memory
This bit enables the SPM instruction for the next four clock cycles. If written to one together with either
RWWSRE, BLBSET, PGWRT or PGERS, the following SPM instruction will have a special meaning, see
description above. If only SPMEN is written, the following SPM instruction will store the value in R1:R0 in
the temporary page buffer addressed by the Z-pointer. The LSB of the Z-pointer is ignored. The SPMEN
bit will auto-clear upon completion of an SPM instruction, or if no SPM instruction is executed within four
clock cycles. During Page Erase and Page Write, the SPMEN bit remains high until the operation is
completed.
Writing any other combination than “0x10001”, “0x01001”, “0x00101”, “0x00011” or “0x00001” in the lower
five bits will have no effect.
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28.
MEMPROG- Memory Programming
28.1.
Program And Data Memory Lock Bits
The devices provides Lock bits. These can be left unprogrammed ('1') or can be programmed ('0') to
obtain the additional features listed in Table. Lock Bit Protection Modes in this section. The Lock bits can
only be erased to “1” with the Chip Erase command.
Table 28-1. Lock Bit Byte(1)
Lock Bit Byte
Bit No.
Description
Default Value
7
–
1 (unprogrammed)
6
–
1 (unprogrammed)
BLB12
5
Boot Lock bit
1 (unprogrammed)
BLB11
4
Boot Lock bit
1 (unprogrammed)
BLB02
3
Boot Lock bit
1 (unprogrammed)
BLB01
2
Boot Lock bit
1 (unprogrammed)
LB2
1
Lock bit
1 (unprogrammed)
LB1
0
Lock bit
1 (unprogrammed)
Note: 1. '1' means unprogrammed, '0' means programmed.
Table 28-2. Lock Bit Protection Modes(1)(2)
Memory Lock Bits
Protection Type
LB Mode LB2 LB1
1
1
1
No memory lock features enabled.
2
1
0
Further programming of the Flash and EEPROM is disabled in Parallel and Serial
Programming mode. The Fuse bits are locked in both Serial and Parallel
Programming mode.(1)
3
0
0
Further programming and verification of the Flash and EEPROM is disabled in
Parallel and Serial Programming mode. The Boot Lock bits and Fuse bits are
locked in both Serial and Parallel Programming mode.(1)
Note: 1. Program the Fuse bits and Boot Lock bits before programming the LB1 and LB2.
2. '1' means unprogrammed, '0' means programmed.
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Table 28-3. Lock Bit Protection - BLB0 Mode(1)(2).
BLB0
Mode
BLB02 BLB01
1
1
1
No restrictions for SPM or Load Program Memory (LPM) instruction
accessing the Application section.
2
1
0
SPM is not allowed to write to the Application section.
3
0
0
SPM is not allowed to write to the Application section, and LPM executing
from the Boot Loader section is not allowed to read from the Application
section. If Interrupt Vectors are placed in the Boot Loader section,
interrupts are disabled while executing from the Application section.
4
0
1
LPM executing from the Boot Loader section is not allowed to read from
the Application section. If Interrupt Vectors are placed in the Boot Loader
section, interrupts are disabled while executing from the Application
section.
Table 28-4. Lock Bit Protection - BLB1 Mode(1)(2)
BLB1
Mode
BLB12 BLB11
1
1
1
No restrictions for SPM or LPM accessing the Boot Loader section.
2
1
0
SPM is not allowed to write to the Boot Loader section.
3
0
0
SPM is not allowed to write to the Boot Loader section, and LPM executing
from the Application section is not allowed to read from the Boot Loader
section. If Interrupt Vectors are placed in the Application section, interrupts
are disabled while executing from the Boot Loader section.
4
0
1
LPM executing from the Application section is not allowed to read from the
Boot Loader section. If Interrupt Vectors are placed in the Application
section, interrupts are disabled while executing from the Boot Loader
section.
Note: 1. Program the Fuse bits and Boot Lock bits before programming the LB1 and LB2.
2. '1' means unprogrammed; '0' means programmed.
28.2.
Fuse Bits
The device has three Fuse bytes. The following tables describe briefly the functionality of all the fuses
and how they are mapped into the Fuse bytes. Note that the fuses are read as logical zero, '0', if they are
programmed.
Table 28-5. Extended Fuse Byte
Extended Fuse Byte
Bit No.
Description
Default Value
–
7
–
0
–
6
–
0
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Extended Fuse Byte
Bit No.
Description
Default Value
–
5
–
0
–
4
–
0
-
3
-
0 (0: Disabled)
BODLEVEL2
(1)
2
Brown-out Detector trigger level
1 (unprogrammed)
BODLEVEL1
(1)
1
Brown-out Detector trigger level
1 (unprogrammed)
BODLEVEL0
(1)
0
Brown-out Detector trigger level
1 (unprogrammed)
Note: 1. Please refer to Table. BODLEVEL Fuse Coding in System and Reset Characteristics for
BODLEVEL Fuse decoding. TBD
Table 28-6. Fuse High Byte.
High Fuse Byte Bit No. Description
Default Value
OCDEN(1)
7
Enable OCD
1 (unprogrammed, OCD disabled)
JTAGEN
6
Enable JTAG
0 (programmed, JTAG enabled)
SPIEN(2)
5
Enable Serial Program and Data
Downloading
0 (programmed, SPI prog. enabled)
WDTON(3)
4
Watchdog Timer Always On
1 (unprogrammed)
EESAVE
3
EEPROM memory is preserved
through the Chip Erase
1 (unprogrammed), EEPROM not
reserved
BOOTSZ1(4)
2
Select Boot Size
0 (programmed)
BOOTSZ0(4)
1
Select Boot Size
0 (programmed)
BOOTRST(4)
0
Select Boot Size
1 (unprogrammed)
Note: 1. Never ship a product with the OCDEN Fuse programmed regardless of the setting of Lock bits and
JTAGEN Fuse. A programmed OCDEN Fuse enables some parts of the clock system to be running
in all sleep modes. This may increase the power consumption.
2. The SPIEN Fuse is not accessible in serial programming mode.
3. Please refer to WDTCSR – Watchdog Timer Control Register for details.
4. The default value of BOOTSZ[1:0] results in maximum Boot Size. See Boot size configuration table
for details.
Table 28-7. Fuse High Byte.
High Fuse Byte Bit No. Description
Default Value
RSTDISBL(1)
7
External Reset Disable
1 (unprogrammed)
DWEN
6
debugWIRE Enable
1 (unprogrammed)
SPIEN(2)
5
Enable Serial Program and Data
Downloading
0 (programmed, SPI programming
enabled)
WDTON(3)
4
Watchdog Timer Always On
1 (unprogrammed)
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High Fuse Byte Bit No. Description
Default Value
EESAVE
3
EEPROM memory is preserved through
the Chip Erase
1 (unprogrammed), EEPROM not
reserved
BODLEVEL2(4)
2
Brown-out Detector trigger level
1 (unprogrammed)
BODLEVEL1(4)
1
Brown-out Detector trigger level
1 (unprogrammed)
BODLEVEL0(4)
0
Brown-out Detector trigger level
1 (unprogrammed)
Note: 1. Please refer to Alternate Functions of Port C in I/O-Ports chapter for description of RSTDISBL
Fuse.
2. The SPIEN Fuse is not accessible in serial programming mode.
3. Please refer to WDTCSR – Watchdog Timer Control Register for details.
4. Please refer to Table BODLEVEL Fuse Coding in System and Reset Characteristics for BODLEVEL
Fuse decoding.
Table 28-8. Fuse Low Byte
Low Fuse Byte
Bit No.
Description
Default Value
CKDIV8(4)
7
Divide clock by 8
0 (programmed)
CKOUT(3)
6
Clock output
1 (unprogrammed)
SUT1
5
Select start-up time
1 (unprogrammed)(1)
SUT0
4
Select start-up time
0 (programmed)(1)
CKSEL3
3
Select Clock source
0 (programmed)(2)
CKSEL2
2
Select Clock source
0 (programmed)(2)
CKSEL1
1
Select Clock source
1 (unprogrammed)(2)
CKSEL0
0
Select Clock source
0 (programmed)(2)
Note: 1. The default value of SUT[1:0] results in maximum start-up time for the default clock source. See
Table. Start-up times for the internal calibrated RC Oscillator clock selection in Calibrated Internal
RC Oscillator of System Clock and Clock Options chapter for details.
2. The default setting of CKSEL[3:0] results in internal RC Oscillator @ 8MHz. See Table 'Internal
Calibrated RC Oscillator Operating Modes' in Calibrated Internal RC Oscillator of the System Clock
and Clock Options chapter for details.
3. The CKOUT Fuse allows the system clock to be output on PORTB0. Please refer to Clock Output
Buffer section in the System Clock and Clock Options chapter for details.
4. Please refer to System Clock Prescaler section in the System Clock and Clock Options chapter for
details.
The status of the Fuse bits is not affected by Chip Erase. Note that the Fuse bits are locked if Lock bit1
(LB1) is programmed. Program the Fuse bits before programming the Lock bits.
Related Links
Alternate Port Functions on page 104
Calibrated Internal RC Oscillator on page 54
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WDTCSR on page 80
System and Reset Characteristics on page 410
Clock characteristics on page 410
28.2.1.
Latching of Fuses
The fuse values are latched when the device enters programming mode and changes of the fuse values
will have no effect until the part leaves Programming mode. This does not apply to the EESAVE Fuse
which will take effect once it is programmed. The fuses are also latched on Power-up in Normal mode.
28.3.
Signature Bytes
All Atmel microcontrollers have a three-byte signature code which identifies the device. This code can be
read in both serial and parallel mode, also when the device is locked. The three bytes reside in a
separate address space. For the device the signature bytes are given in the following table.
Table 28-9. Device and JTAG ID
Part
ATmega164PA
28.4.
Signature Bytes Address
JTAG
0x000
0x001
0x002
Part number
Manufacture ID
0x1E
0x94
0x0A
940A
0x1F
Calibration Byte
The device has a byte calibration value for the Internal RC Oscillator. This byte resides in the high byte of
address 0x000 in the signature address space. During reset, this byte is automatically written into the
OSCCAL Register to ensure correct frequency of the calibrated RC Oscillator.
Related Links
Calibrated Internal RC Oscillator on page 54
28.5.
Serial Number
Each individual part has a specific serial number. This can be used to identify a specify part while it is in
the field.
The serial number consists of nine bytes which can be accessed from the signature address space.
28.6.
Page Size
Table 28-10. No. of Words in a Page and No. of Pages in the Flash
Device
Flash Size
Page Size
PCWORD
No. of
Pages
PCPAGE
PCMSB
ATmega164PA
8K words
(16Kbytes)
64 words
PC[5:0]
128
PC[12:6]
12
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Table 28-11. No. of Words in a Page and No. of Pages in the EEPROM
Device
EEPROM
Size
Page
Size
PCWORD
No. of
Pages
PCPAGE
EEAMSB
ATmega164PA
512bytes
4bytes
EEA[1:0]
128
EEA[8:2]
8
Related Links
Programming the Flash on page 381
28.7.
Parallel Programming Parameters, Pin Mapping, and Commands
This section describes how to parallel program and verify Flash Program memory, EEPROM Data
memory, Memory Lock bits, and Fuse bits in the device. Pulses are assumed to be at least 250ns unless
otherwise noted.
28.7.1.
Signal Names
In this section, some pins of this device are referenced by signal names describing their functionality
during parallel programming, please refer to Figure. Parallel Programming and Table. Pin Name Mapping
in this section. Pins not described in the following table are referenced by pin names.
The XA1/XA0 pins determine the action executed when the XTAL1 pin is given a positive pulse. The bit
coding is shown in the table, XA1 and XA0 Coding.
When pulsing WR or OE, the command loaded determines the action executed. The different Commands
are shown in the table, Command Byte Bit Coding Command Byte Command Executed.
Figure 28-1. Parallel Programming
+4.5 - 5.5V
RDY/BSY
PD1
OE
PD2
WR
PD3
BS1
PD4
XA0
PD5
XA1
PD6
PAGEL
PD7
+12V
BS2
VCC
+4.5 - 5.5V
AVCC
PB[7:0]
DATA
RESET
PC2
XTAL1
GND
Note: VCC - 0.3V < AVCC < VCC + 0.3V, however, AVCC should always be within 4.5 - 5.5V
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Table 28-12. Pin Name Mapping
Signal Name in
Programming Mode
Pin Name I/O Function
RDY/BSY
PD1
O
0: Device is busy programming, 1: Device is ready for new
command
OE
PD2
I
Output Enable (Active low)
WR
PD3
I
Write Pulse (Active low)
BS1
PD4
I
Byte Select 1 (“0” selects Low byte, “1” selects High byte)
XA0
PD5
I
XTAL Action Bit 0
XA1
PD6
I
XTAL Action Bit 1
PAGEL
PD7
I
Program memory and EEPROM Data Page Load
BS2
PC2
I
Byte Select 2 (“0” selects Low byte, “1” selects 2’nd High
byte)
DATA
PB[7:0]
I/O Bi-directional Data bus (Output when OE is low)
Table 28-13. BS2 and BS1 encoding.
BS2 BS1 Flash / EEPROM
address
Flash data
loading / reading
Fuse programming Reading fuse and lock
bits
0
0
Low Byte
Low Byte
Low Byte
Fuse Low Byte
0
1
High Byte
High Byte
High Byte
Lockbits
1
0
Extended High Byte
Reserved
Extended Byte
Extended Fuse Byte
1
1
Reserved
Reserved
Reserved
Fuse High Byte
Table 28-14. Pin Values Used to Enter Programming Mode
Pin
Symbol
Value
PAGEL
Prog_enable[3]
0
XA1
Prog_enable[2]
0
XA0
Prog_enable[1]
0
BS1
Prog_enable[0]
0
Table 28-15. XA1 and XA0 Coding
XA1 XA0 Action when XTAL1 is Pulsed
0
0
Load Flash or EEPROM Address (High or low address byte determined by BS1)
0
1
Load Data (High or Low data byte for Flash determined by BS1)
1
0
Load Command
1
1
No Action, Idle
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Table 28-16. Command Byte Bit Coding
Command Byte
Command Executed
1000 0000
Chip Erase
0100 0000
Write Fuse bits
0010 0000
Write Lock bits
0001 0000
Write Flash
0001 0001
Write EEPROM
0000 1000
Read Signature Bytes and Calibration byte
0000 0100
Read Fuse and Lock bits
0000 0010
Read Flash
0000 0011
Read EEPROM
28.8.
Parallel Programming
28.8.1.
Enter Programming Mode
The following algorithm puts the device in Parallel (High-voltage) Programming mode:
1.
2.
3.
4.
5.
6.
Set Prog_enable pins listed in Pin Values Used to Enter Programming Mode of Signal Names
section “0x0000”, RESET pin to 0V and VCC to 0V.
Apply 4.5 - 5.5V between VCC and GND.
Ensure that VCC reaches at least 1.8V within the next 20μs.
Wait 20 - 60μs, and apply 11.5 - 12.5V to RESET.
Keep the Prog_enable pins unchanged for at least 10μs after the High-voltage has been applied to
ensure the Prog_enable Signature has been latched.
Wait at least 300μs before giving any parallel programming commands.
Exit Programming mode by power the device down or by bringing RESET pin to 0V.
If the rise time of the VCC is unable to fulfill the requirements listed above, the following alternative
algorithm can be used.
1.
2.
3.
4.
5.
6.
28.8.2.
Set Prog_enable pins listed in Pin Values Used to Enter Programming Mode of Signal Names
section to “0000”, RESET pin to 0V and VCC to 0V.
Apply 4.5 - 5.5V between VCC and GND.
Monitor VCC, and as soon as VCC reaches 0.9 - 1.1V, apply 11.5 - 12.5V to RESET.
Keep the Prog_enable pins unchanged for at least 10μs after the High-voltage has been applied to
ensure the Prog_enable Signature has been latched.
Wait until VCC actually reaches 4.5 - 5.5V before giving any parallel programming commands.
Exit Programming mode by power the device down or by bringing RESET pin to 0V.
Considerations for Efficient Programming
The loaded command and address are retained in the device during programming. For efficient
programming, the following should be considered.
•
The command needs only be loaded once when writing or reading multiple memory locations.
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•
•
28.8.3.
Skip writing the data value 0xFF, that is the contents of the entire EEPROM (unless the EESAVE
Fuse is programmed) and Flash after a Chip Erase.
Address high byte needs only be loaded before programming or reading a new 256 word window in
Flash or 256byte EEPROM. This consideration also applies to Signature bytes reading.
Chip Erase
The Chip Erase will erase the Flash, the SRAM and the EEPROM memories plus Lock bits. The Lock bits
are not reset until the program memory has been completely erased. The Fuse bits are not changed. A
Chip Erase must be performed before the Flash and/or EEPROM are reprogrammed.
Note: The EEPRPOM memory is preserved during Chip Erase if the EESAVE Fuse is programmed.
Load Command “Chip Erase”:
28.8.4.
1.
2.
3.
4.
5.
Set XA1, XA0 to “10”. This enables command loading.
Set BS1 to “0”.
Set DATA to “1000 0000”. This is the command for Chip Erase.
Give XTAL1 a positive pulse. This loads the command.
Give WR a negative pulse. This starts the Chip Erase. RDY/BSY goes low.
6.
Wait until RDY/BSY goes high before loading a new command.
Programming the Flash
The Flash is organized in pages as number of Words in a Page and number of Pages in the Flash. When
programming the Flash, the program data is latched into a page buffer. This allows one page of program
data to be programmed simultaneously. The following procedure describes how to program the entire
Flash memory:
Step A. Load Command “Write Flash”
1. Set XA1, XA0 to “10”. This enables command loading.
2. Set BS1 to “0”.
3. Set DATA to “0001 0000”. This is the command for Write Flash.
4. Give XTAL1 a positive pulse. This loads the command.
Step B. Load Address Low Byte
1. Set XA1, XA0 to “00”. This enables address loading.
2. Set BS1 to “0”. This selects low address.
3. Set DATA = Address low byte (0x00 - 0xFF).
4. Give XTAL1 a positive pulse. This loads the address low byte.
Step C. Load Data Low Byte
1. Set XA1, XA0 to “01”. This enables data loading.
2. Set DATA = Data low byte (0x00 - 0xFF).
3. Give XTAL1 a positive pulse. This loads the data byte.
Step D. Load Data High Byte
1. Set BS1 to “1”. This selects high data byte.
2. Set XA1, XA0 to “01”. This enables data loading.
3. Set DATA = Data high byte (0x00 - 0xFF).
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4.
Give XTAL1 a positive pulse. This loads the data byte.
Step E. Latch Data
1. Set BS1 to “1”. This selects high data byte.
2. Give PAGEL a positive pulse. This latches the data bytes. (Please refer to the figure, Programming
the Flash Waveforms, in this section for signal waveforms)
Step F. Repeat B Through E Until the Entire Buffer Is Filled or Until All Data Within the Page Is
Loaded
While the lower bits in the address are mapped to words within the page, the higher bits address the
pages within the FLASH. This is illustrated in the following figure, Addressing the Flash Which is
Organized in Pages, in this section. Note that if less than eight bits are required to address words in the
page (pagesize < 256), the most significant bit(s) in the address low byte are used to address the page
when performing a Page Write.
Step G. Load Address High Byte
1. Set XA1, XA0 to “00”. This enables address loading.
2. Set BS1 to “1”. This selects high address.
3. Set DATA = Address high byte (0x00 - 0xFF).
4. Give XTAL1 a positive pulse. This loads the address high byte.
Step H. Program Page
1. Give WR a negative pulse. This starts programming of the entire page of data. RDY/BSY goes low.
2.
Wait until RDY/BSY goes high (Please refer to the figure, Programming the Flash Waveforms, in
this section for signal waveforms).
Step I. Repeat B Through H Until the Entire Flash Is Programmed or Until All Data Has Been
Programmed
Step J. End Page Programming
1. 1. Set XA1, XA0 to “10”. This enables command loading.
2. Set DATA to “0000 0000”. This is the command for No Operation.
3. Give XTAL1 a positive pulse. This loads the command, and the internal write signals are reset.
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Figure 28-2. Addressing the Flash Which Is Organized in Pages
PROGRAM
COUNTER
PCMSB
PAGEMSB
PCPAGE
PCWORD
PAGE ADDRESS
WITHIN THE FLASH
WORD ADDRESS
WITHIN A PAGE
PROGRAM MEMORY
PAGE
PAGE
PCWORD[PAGEMSB:0]:
00
INSTRUCTION WORD
01
02
PAGEEND
Note: PCPAGE and PCWORD are listed in the table of No. of Words in a Page and No. of Pages in the
Flash in Page Size section.
Programming the Flash Waveforms
F
DATA
A
B
C
D
E
0x10
ADDR. LOW
DATA LOW
DATA HIGH
XX
B
ADDR. LOW
C
D
DATA LOW
DATA HIGH
E
XX
G
ADDR. HIGH
H
XX
XA1
XA0
BS1
XTAL1
WR
RDY/BSY
RESET +12V
OE
PAGEL
BS2
Note: “XX” is don’t care. The letters refer to the programming description above.
Related Links
Page Size on page 377
28.8.5.
Programming the EEPROM
The EEPROM is organized in pages, please refer to table, No. of Words in a Page and No. of Pages in
the EEPROM, in the Page Size section. When programming the EEPROM, the program data is latched
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into a page buffer. This allows one page of data to be programmed simultaneously. The programming
algorithm for the EEPROM data memory is as follows (For details on Command, Address and Data
loading, please refer to Programming the Flash):
1.
2.
3.
4.
5.
Step A: Load Command “0001 0001”.
Step G: Load Address High Byte (0x00 - 0xFF).
Step B: Load Address Low Byte (0x00 - 0xFF).
Step C: Load Data (0x00 - 0xFF).
Step E: Latch data (give PAGEL a positive pulse).
6.
7.
Step K:Repeat 3 through 5 until the entire buffer is filled.
Step L: Program EEPROM page
7.1.
Set BS1 to “0”.
7.2.
Give WR a negative pulse. This starts programming of the EEPROM page. RDY/BSY goes
low.
7.3.
Wait until to RDY/BSY goes high before programming the next page (Please refer to the
following figure for signal waveforms).
Figure 28-3. Programming the EEPROM Waveforms
K
DATA
A
G
B
0x11
ADDR. HIGH
ADDR. LOW
C
DATA
E
XX
B
ADDR. LOW
C
DATA
E
L
XX
XA1
XA0
BS1
XTAL1
WR
RDY/BSY
RESET +12V
OE
PAGEL
BS2
28.8.6.
28.8.7.
Reading the Flash
The algorithm for reading the Flash memory is as follows (Please refer to Programming the Flash in this
chapter for details on Command and Address loading):
1.
2.
3.
4.
Step A: Load Command “0000 0010”.
Step G: Load Address High Byte (0x00 - 0xFF).
Step B: Load Address Low Byte (0x00 - 0xFF).
Set OE to “0”, and BS1 to “0”. The Flash word low byte can now be read at DATA.
5.
6.
Set BS1 to “1”. The Flash word high byte can now be read at DATA.
Set OE to “1”.
Reading the EEPROM
The algorithm for reading the EEPROM memory is as follows (Please refer to Programming the Flash for
details on Command and Address loading):
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1.
2.
3.
4.
5.
28.8.8.
Programming the Fuse Low Bits
The algorithm for programming the Fuse Low bits is as follows (Please refer to Programming the Flash for
details on Command and Data loading):
1.
2.
3.
28.8.9.
Step A: Load Command “0000 0011”.
Step G: Load Address High Byte (0x00 - 0xFF).
Step B: Load Address Low Byte (0x00 - 0xFF).
Set OE to “0”, and BS1 to “0”. The EEPROM Data byte can now be read at DATA.
Set OE to “1”.
Step A: Load Command “0100 0000”.
Step C: Load Data Low Byte. Bit n = “0” programs and bit n = “1” erases the Fuse bit.
Give WR a negative pulse and wait for RDY/BSY to go high.
Programming the Fuse High Bits
The algorithm for programming the Fuse High bits is as follows (Please refer to Programming the Flash
for details on Command and Data loading):
1.
2.
3.
4.
5.
Step A: Load Command “0100 0000”.
Step C: Load Data Low Byte. Bit n = “0” programs and bit n = “1” erases the Fuse bit.
Set BS1 to “1” and BS2 to “0”. This selects high data byte.
Give WR a negative pulse and wait for RDY/BSY to go high.
Set BS1 to “0”. This selects low data byte.
28.8.10. Programming the Extended Fuse Bits
The algorithm for programming the Extended Fuse bits is as follows (Please refer to Programming the
Flash for details on Command and Data loading):
1.
2.
3.
4.
5.
Step A: Load Command “0100 0000”.
Step C: Load Data Low Byte. Bit n = “0” programs and bit n = “1” erases the Fuse bit.
Set BS1 to “0” and BS2 to “1”. This selects extended data byte.
Give WR a negative pulse and wait for RDY/BSY to go high.
Set BS2 to “0”. This selects low data byte.
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Figure 28-4. Programming the FUSES Waveforms
Write Fuse Low byte
A
DATA
0x40
A
C
DATA
XX
Write Extended Fuse byte
Write Fuse high byte
0x40
A
C
DATA
XX
0x40
C
DATA
XX
XA1
XA0
BS1
BS2
XTAL1
WR
RDY/BSY
RESET +12V
OE
PAGEL
28.8.11. Programming the Lock Bits
The algorithm for programming the Lock bits is as follows (Please refer to Programming the Flash for
details on Command and Data loading):
1.
2.
3.
Step A: Load Command “0010 0000”.
Step C: Load Data Low Byte. Bit n = “0” programs the Lock bit. If LB mode 3 is programmed (LB1
and LB2 is programmed), it is not possible to program the Boot Lock bits by any External
Programming mode.
Give WR a negative pulse and wait for RDY/BSY to go high.
The Lock bits can only be cleared by executing Chip Erase.
28.8.12. Reading the Fuse and Lock Bits
The algorithm for reading the Fuse and Lock bits is as follows (Please refer to Programming the Flash for
details on Command loading):
1.
2.
3.
4.
5.
6.
Step A: Load Command “0000 0100”.
Set OE to “0”, BS2 to “0” and BS1 to “0”. The status of the Fuse Low bits can now be read at DATA
(“0” means programmed).
Set OE to “0”, BS2 to “1” and BS1 to “1”. The status of the Fuse High bits can now be read at DATA
(“0” means programmed).
Set OE to “0”, BS2 to “1”, and BS1 to “0”. The status of the Extended Fuse bits can now be read at
DATA (“0” means programmed).
Set OE to “0”, BS2 to “0” and BS1 to “1”. The status of the Lock bits can now be read at DATA (“0”
means programmed).
Set OE to “1”.
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Figure 28-5. Mapping Between BS1, BS2 and the Fuse and Lock Bits During Read
0
Fuse Low Byte
0
Extended Fuse Byte
1
DATA
BS2
0
Lock Bits
1
Fuse High Byte
1
BS1
BS2
28.8.13. Reading the Signature Bytes
The algorithm for reading the Signature bytes is as follows (Please refer to Programming the Flash for
details on Command and Address loading):
1.
2.
3.
4.
Step A: Load Command “0000 1000”.
Step B: Load Address Low Byte (0x00 - 0x02).
Set OE to “0”, and BS1 to “0”. The selected Signature byte can now be read at DATA.
Set OE to “1”.
28.8.14. Reading the Calibration Byte
The algorithm for reading the Calibration byte is as follows (Please refer to Programming the Flash for
details on Command and Address loading):
1.
2.
3.
4.
Step A: Load Command “0000 1000”.
Step B: Load Address Low Byte, 0x00.
Set OE to “0”, and BS1 to “1”. The Calibration byte can now be read at DATA.
Set OE to “1”.
28.8.15. Parallel Programming Characteristics
For characteristics of the Parallel Programming, please refer to Parallel Programming Characteristics.
Related Links
Parallel Programming Characteristics on page 419
28.9.
Serial Downloading
Both the Flash and EEPROM memory arrays can be programmed using the serial SPI bus while RESET
is pulled to GND. The serial interface consists of pins SCK, MOSI (input) and MISO (output). After
RESET is set low, the Programming Enable instruction needs to be executed first before program/erase
operations can be executed.
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Figure 28-6. Serial Programming and Verify
+1.8 - 5.5V
VCC
+1.8 - 5.5V(2)
MOSI
AVCC
MISO
SCK
EXTCLK
RESET
GND
Note: 1.
2.
If the device is clocked by the internal Oscillator, it is no need to connect a clock source to the
XTAL1 pin.
VCC - 0.3V < AVCC < VCC + 0.3V, however, AVCC should always be within 1.8 - 5.5V
When programming the EEPROM, an auto-erase cycle is built into the self-timed programming operation
(in the Serial mode ONLY) and there is no need to first execute the Chip Erase instruction. The Chip
Erase operation turns the content of every memory location in both the Program and EEPROM arrays
into 0xFF.
Depending on CKSEL Fuses, a valid clock must be present. The minimum low and high periods for the
serial clock (SCK) input are defined as follows:
•
•
28.9.1.
Low: > 2 CPU clock cycles for fck < 12MHz, 3 CPU clock cycles for fck ≥ 12MHz
High: > 2 CPU clock cycles for fck < 12MHz, 3 CPU clock cycles for fck ≥ 12MHz
Serial Programming Pin Mapping
Table 28-17. Pin Mapping Serial Programming
Symbol
Pins
I/O
Description
MOSI
PB5
I
Serial Data in
MISO
PB6
O
Serial Data out
SCK
PB7
I
Serial Clock
Note: The pin mapping for SPI programming is listed. Not all parts use the SPI pins dedicated for the
internal SPI interface.
28.9.2.
Serial Programming Algorithm
When writing serial data to the device, data is clocked on the rising edge of SCK.
When reading data from the device, data is clocked on the falling edge of SCK. Please refer to the figure,
Serial Programming Waveforms in SPI Serial Programming Characteristics section for timing details.
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To program and verify the device in the serial programming mode, the following sequence is
recommended (See Serial Programming Instruction set in Table 28-19 Serial Programming Instruction
Set (Hexadecimal values):
1.
2.
3.
4.
5.
6.
7.
8.
Power-up sequence:
Apply power between VCC and GND while RESET and SCK are set to “0”. In some systems, the
programmer can not guarantee that SCK is held low during power-up. In this case, RESET must be
given a positive pulse of at least two CPU clock cycles duration after SCK has been set to “0”.
Wait for at least 20ms and enable serial programming by sending the Programming Enable serial
instruction to pin MOSI.
The serial programming instructions will not work if the communication is out of synchronization.
When in sync. the second byte (0x53), will echo back when issuing the third byte of the
Programming Enable instruction. Whether the echo is correct or not, all four bytes of the instruction
must be transmitted. If the 0x53 did not echo back, give RESET a positive pulse and issue a new
Programming Enable command.
The Flash is programmed one page at a time. The memory page is loaded one byte at a time by
supplying the 6 LSB of the address and data together with the Load Program Memory Page
instruction. To ensure correct loading of the page, the data low byte must be loaded before data
high byte is applied for a given address. The Program Memory Page is stored by loading the Write
Program Memory Page instruction with the 7 MSB of the address. If polling (RDY/BSY) is not used,
the user must wait at least tWD_FLASH before issuing the next page . Accessing the serial
programming interface before the Flash write operation completes can result in incorrect
programming.
A: The EEPROM array is programmed one byte at a time by supplying the address and data
together with the appropriate Write instruction. An EEPROM memory location is first automatically
erased before new data is written. If polling (RDY/BSY) is not used, the user must wait at least
tWD_EEPROM before issuing the next byte. In a chip erased device, no 0xFFs in the data file(s) need
to be programmed.
B: The EEPROM array is programmed one page at a time. The Memory page is loaded one byte at
a time by supplying the 6 LSB of the address and data together with the Load EEPROM Memory
Page instruction. The EEPROM Memory Page is stored by loading the Write EEPROM Memory
Page Instruction with the 7 MSB of the address. When using EEPROM page access only byte
locations loaded with the Load EEPROM Memory Page instruction is altered. The remaining
locations remain unchanged. If polling (RDY/BSY) is not used, the used must wait at least
tWD_EEPROM before issuing the next byte. In a chip erased device, no 0xFF in the data file(s) need to
be programmed.
Any memory location can be verified by using the Read instruction which returns the content at the
selected address at serial output MISO.
At the end of the programming session, RESET can be set high to commence normal operation.
Power-off sequence (if needed):
Set RESET to “1”.
Turn VCC power off.
Table 28-18. Typical Wait Delay Before Writing the Next Flash or EEPROM Location
Symbol
Minimum Wait Delay
tWD_FLASH
2.6ms
tWD_EEPROM
3.6ms
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28.9.3.
Symbol
Minimum Wait Delay
tWD_ERASE
10.5ms
tWD_FUSE
4.5ms
Serial Programming Instruction Set
This section describes the Instruction Set.
Table 28-19. Serial Programming Instruction Set (Hexadecimal values)
Instruction/Operation
Instruction Format
Byte 1 Byte 2
Byte 3
Byte 4
Programming Enable
0xAC
0x53
0x00
0x00
Chip Erase (Program Memory/EEPROM)
0xAC
0x80
0x00
0x00
Poll RDY/BSY
0xF0
0x00
0x00
data byte out
Load Extended Address byte(1)
0x4D
0x00
Extended adr 0x00
Load Program Memory Page, High byte
0x48
0x00
adr LSB
high data byte in
Load Program Memory Page, Low byte
0x40
0x00
adr LSB
low data byte in
Load EEPROM Memory Page (page access)
0xC1
0x00
0000 000aa
data byte in
Read Program Memory, High byte
0x28
adr MSB
adr LSB
high data byte out
Read Program Memory, Low byte
0x20
adr MSB
adr LSB
low data byte out
Read EEPROM Memory
0xA0
0000 00aa aaaa aaaa
data byte out
Read Lock bits
0x58
0x00
0x00
data byte out
Read Signature Byte
0x30
0x00
0000 000aa
data byte out
Read Fuse bits
0x50
0x00
0x00
data byte out
Read Fuse High bits
0x58
0x08
0x00
data byte out
Read Extended Fuse Bits
0x50
0x08
0x00
data byte out
Read Calibration Byte
0x38
0x00
0x00
data byte out
Write Program Memory Page
0x4C
adr MSB(8) adr LSB(8)
0x00
Write EEPROM Memory
0xC0
0000 00aa aaaa aaaa
data byte in
Write EEPROM Memory Page (page access)
0xC2
0000 00aa aaaa aa00
0x00
Write Lock bits
0xAC
0xE0
0x00
data byte in
Write Fuse bits
0xAC
0xA0
0x00
data byte in
Load Instructions
Read Instructions
Write Instructions(6)
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Instruction/Operation
Instruction Format
Byte 1 Byte 2
Byte 3
Byte 4
Write Fuse High bits
0xAC
0xA8
0x00
data byte in
Write Extended Fuse Bits
0xAC
0xA4
0x00
data byte in
Note: 1. Not all instructions are applicable for all parts.
2. a = address.
3. Bits are programmed ‘0’, unprogrammed ‘1’.
4. To ensure future compatibility, unused Fuses and Lock bits should be unprogrammed (‘1’) .
5. Refer to the corresponding section for Fuse and Lock bits, Calibration and Signature bytes and
Page size.
6. Instructions accessing program memory use a word address. This address may be random within
the page range.
7. See http://www.atmel.com/avr for Application Notes regarding programming and programmers.
8. WORDS.
If the LSB in RDY/BSY data byte out is ‘1’, a programming operation is still pending. Wait until this bit
returns ‘0’ before the next instruction is carried out.
Within the same page, the low data byte must be loaded prior to the high data byte.
After data is loaded to the page buffer, program the EEPROM page, Please refer to the following figure.
Figure 28-7. Serial Programming Instruction example
Serial Programming Instruction
Load Program Memory Page (High/Low Byte)/
Load EEPROM Memory Page (page access)
Byte 1
Byte 2
Adr MSB
Bit 15 B
Byte 3
Write Program Memory Page/
Write EEPROM Memory Page
Byte 1
Byte 4
Byte 2
Adr LSB
Adr MSB
Bit 15 B
0
Byte 3
Byte 4
Adr LSB
0
Page Buffer
Page Offset
Page 0
Page 1
Page 2
Page Number
Page N-1
Program Memory/
EEPROM Memory
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28.9.4.
SPI Serial Programming Characteristics
Figure 28-8. Serial Programming Waveforms
SERIAL DATA INPUT
(MOSI)
MSB
LSB
SERIAL DATA OUTPUT
(MISO)
MSB
LSB
SERIAL CLOCK INPUT
(SCK)
SAMPLE
28.10. Programming Via the JTAG Interface
Programming through the JTAG interface requires control of the four JTAG specific pins: TCK, TMS, TDI,
and TDO. Control of the Reset and clock pins is not required.
To be able to use the JTAG interface, the JTAGEN fuse must be programmed. The device is default
shipped with the Fuse programmed. In addition, the JTD bit in MCUCSR must be cleared. Alternatively, if
the JTD bit is set, the external reset can be forced low. Then, the JTD bit will be cleared after two chip
clocks, and the JTAG pins are available for programming. This provides a means of using the JTAG pins
as normal port pins in running mode while still allowing In-System Programming via the JTAG interface.
Note that this technique can not be used when using the JTAG pins for Boundary-scan or On-chip Debug.
In these cases the JTAG pins must be dedicated for this purpose.
As a definition in this data sheet, the LSB is shifted in and out first of all Shift Registers.
28.10.1. Programming Specific JTAG Instructions
The instruction register is 4-bit wide, supporting up to 16 instructions. The JTAG instructions useful for
Programming are listed below.
The OPCODE for each instruction is shown behind the instruction name in hex format. The text describes
which data register is selected as path between TDI and TDO for each instruction.
The Run-Test/Idle state of the TAP controller is used to generate internal clocks. It can also be used as an
idle state between JTAG sequences. The state machine sequence for changing the instruction word is
shown in the figure below.
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Figure 28-9. State Machine Sequence for Changing the Instruction Word
1
Te s t-Logic-Re s e t
0
0
Run-Te s t/Idle
1
1
S e le ct-DR S ca n
S e le ct-IR S ca n
0
0
1
1
Ca pture -DR
Ca pture -IR
0
0
S hift-DR
S hift-IR
0
1
Exit1-DR
1
Exit1-IR
0
0
Pa us e -DR
0
0
Pa us e -IR
1
1
0
Exit2-DR
Exit2-IR
1
1
Upda te -DR
1
0
1
1
0
1
Upda te -IR
1
0
0
28.10.2. AVR_RESET (0xC)
The AVR specific public JTAG instruction for setting the AVR device in the Reset mode or taking the
device out from the Reset mode. The TAP controller is not reset by this instruction. The one bit Reset
Register is selected as Data Register. Note that the reset will be active as long as there is a logic 'one' in
the Reset Chain. The output from this chain is not latched.
The active states are:
•
Shift-DR: The Reset Register is shifted by the TCK input.
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28.10.3. PROG_ENABLE (0x4)
The AVR specific public JTAG instruction for enabling programming via the JTAG port. The 16-bit
Programming Enable Register is selected as data register. The active states are the following:
•
•
Shift-DR: the programming enable signature is shifted into the data register.
Update-DR: the programming enable signature is compared to the correct value, and Programming
mode is entered if the signature is valid.
28.10.4. PROG_COMMANDS (0x5)
The AVR specific public JTAG instruction for entering programming commands via the JTAG port. The 15bit Programming Command Register is selected as data register. The active states are the following:
•
•
•
•
Capture-DR: the result of the previous command is loaded into the data register.
Shift-DR: the data register is shifted by the TCK input, shifting out the result of the previous
command and shifting in the new command.
Update-DR: the programming command is applied to the Flash inputs.
Run-Test/Idle: one clock cycle is generated, executing the applied command.
28.10.5. PROG_PAGELOAD (0x6)
The AVR specific public JTAG instruction to directly load the Flash data page via the JTAG port. The
2048-bit Virtual Flash Page Load Register is selected as data register. This is a virtual scan chain with
length equal to the number of bits in one Flash page. Internally the Shift Register is 8-bit. Unlike most
JTAG instructions, the Update-DR state is not used to transfer data from the Shift Register. The data are
automatically transferred to the Flash page buffer byte by byte in the Shift-DR state by an internal state
machine. This is the only active state:
•
Shift-DR: Flash page data are shifted in from TDI by the TCK input, and automatically loaded into
the Flash page one byte at a time.
Note: 1. The JTAG instruction PROG_PAGELOAD can only be used if the AVR device is the first device
in JTAG scan chain. If the AVR cannot be the first device in the scan chain, the byte-wise programming
algorithm must be used.
28.10.6. PROG_PAGEREAD (0x7)
The AVR specific public JTAG instruction to read one full Flash data page via the JTAG port. The 2056-bit
Virtual Flash Page Read Register is selected as data register. This is a virtual scan chain with length
equal to the number of bits in one Flash page plus 8. Internally the Shift Register is 8-bit. Unlike most
JTAG instructions, the Capture-DR state is not used to transfer data to the Shift Register. The data are
automatically transferred from the Flash page buffer byte by byte in the Shift-DR state by an internal state
machine. This is the only active state:
•
Shift-DR: Flash data are automatically read one byte at a time and shifted out on TDO by the TCK
input. The TDI input is ignored.
Note: 1. The JTAG instruction PROG_PAGEREAD can only be used if the AVR device is the first device
in JTAG scan chain. If the AVR cannot be the first device in the scan chain, the byte-wise programming
algorithm must be used.
28.10.7. Data Registers
The data registers are selected by the JTAG instruction registers described in section Programming
Specific JTAG Instructions. The data registers relevant for programming operations are:
•
Reset Register
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•
•
•
•
Programming Enable Register
Programming Command Register
Virtual Flash Page Load Register
Virtual Flash Page Read Register
28.10.8. Reset Register
The Reset Register is a Test Data Register used to reset the part during programming. It is required to
reset the part before entering programming mode.
A high value in the Reset Register corresponds to pulling the external Reset low. The part is reset as long
as there is a high value present in the Reset Register. Depending on the Fuse settings for the clock
options, the part will remain reset for a Reset Time-Out Period (refer to Clock Sources) after releasing the
Reset Register. The output from this Data Register is not latched, so the reset will take place immediately,
as shown in figure Reset Register.
28.10.9. Programming Enable Register
The Programming Enable Register is a 16-bit register. The contents of this register is compared to the
programming enable signature, binary code 1010_0011_0111_0000. When the contents of the register is
equal to the programming enable signature, programming via the JTAG port is enabled. The Register is
reset to 0 on Power-on Reset, and should always be reset when leaving Programming mode.
Figure 28-10. Programming Enable Register
TDI
D
A
T
A
$A370
=
D
Q
P rogra mming e na ble
ClockDR & P ROG_ENABLE
TDO
28.10.10. Programming Command Register
The Programming Command Register is a 15-bit register. This register is used to serially shift in
programming commands, and to serially shift out the result of the previous command, if any. The JTAG
Programming Instruction Set is shown in the following table. The state sequence when shifting in the
programming commands is illustrated in State Machine Sequence for Changing/Reading the Data Word
further down in this section.
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Figure 28-11. Programming Command Register
TDI
S
T
R
O
B
E
S
Fla s h
EEP ROM
Fus e s
Lock Bits
A
D
D
R
E
S
S
/
D
A
T
A
TDO
Table 28-20. JTAG Programming Instruction Set
a = address high bits, b = address low bits, H = 0 - Low byte, 1 - High Byte, o = data out, i = data in, x =
don’t care
Instruction
TDI sequence
TDO sequence
1a. Chip erase
0100011_10000000
0110001_10000000
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
0110011_10000000
xxxxxxx_xxxxxxxx
0110011_10000000
xxxxxxx_xxxxxxxx
1b. Poll for chip erase complete
0110011_10000000
xxxxxox_xxxxxxxx
2a. Enter Flash Write
0100011_00010000
xxxxxxx_xxxxxxxx
2b. Load Address High Byte
0000111_aaaaaaaa
xxxxxxx_xxxxxxxx
2c. Load Address Low Byte
0000011_bbbbbbbb
xxxxxxx_xxxxxxxx
2d. Load Data Low Byte
0010011_iiiiiiii
xxxxxxx_xxxxxxxx
2e. Load Data High Byte
0010111_iiiiiiii
xxxxxxx_xxxxxxxx
2f. Latch Data
0110111_00000000
1110111_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
0110111_00000000
xxxxxxx_xxxxxxxx
Notes
(2)
(9)
(1)
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Instruction
TDI sequence
TDO sequence
Notes
2g. Write Flash Page
0110111_00000000
0110101_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
(1)
0110111_00000000
xxxxxxx_xxxxxxxx
0110111_00000000
xxxxxxx_xxxxxxxx
2h. Poll for Page Write complete
0110111_00000000
xxxxxox_xxxxxxxx
3a. Enter Flash Read
0100011_00000010
xxxxxxx_xxxxxxxx
3b. Load Address High Byte
0000111_aaaaaaaa
xxxxxxx_xxxxxxxx
3c. Load Address Low Byte
0000011_bbbbbbbb
xxxxxxx_xxxxxxxx
3d. Read Data Low and High Byte
0110010_00000000
0110110_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_oooooooo
0110111_00000000
xxxxxxx_oooooooo
4a. Enter EEPROM Write
0100011_00010001
xxxxxxx_xxxxxxxx
4b. Load Address High Byte
0000111_aaaaaaaa
xxxxxxx_xxxxxxxx
4c. Load Address Low Byte
0000011_bbbbbbbb
xxxxxxx_xxxxxxxx
4d. Load Data Byte
0010011_iiiiiiii
xxxxxxx_xxxxxxxx
4e. Latch Data
0110111_00000000
1110111_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
0110111_00000000
xxxxxxx_xxxxxxxx
0110011_00000000
0110001_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
0110011_00000000
xxxxxxx_xxxxxxxx
0110011_00000000
xxxxxxx_xxxxxxxx
4g. Poll for Page Write complete
0110011_00000000
xxxxxox_xxxxxxxx
5a. Enter EEPROM Read
0100011_00000011
xxxxxxx_xxxxxxxx
5b. Load Address High Byte
0000111_aaaaaaaa
xxxxxxx_xxxxxxxx
5c. Load Address Low Byte
0000011_bbbbbbbb
xxxxxxx_xxxxxxxx
5d. Read Data Byte
0110011_bbbbbbbb
0110010_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
0110011_00000000
xxxxxxx_oooooooo
6a. Enter Fuse Write
0100011_01000000
xxxxxxx_xxxxxxxx
6b. Load Data Low Byte(6)
0010011_iiiiiiii
xxxxxxx_xxxxxxxx
4f. Write EEPROM Page
(2)
(9)
low byte
high byte
(9)
(1)
(1)
(2)
(9)
(3)
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Instruction
TDI sequence
TDO sequence
Notes
6c. Write Fuse Extended byte
0111011_00000000
0111001_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
(1)
0111011_00000000
xxxxxxx_xxxxxxxx
0111011_00000000
xxxxxxx_xxxxxxxx
6d. Poll for Fuse Write complete
0110111_00000000
xxxxxox_xxxxxxxx
(2)
6e. Load Data Low Byte(7)
0010011_iiiiiiii
xxxxxxx_xxxxxxxx
(3)
6f. Write Fuse High byte
0110111_00000000
0110101_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
(1)
0110111_00000000
xxxxxxx_xxxxxxxx
0110111_00000000
xxxxxxx_xxxxxxxx
6g. Poll for Fuse Write complete
0110111_00000000
xxxxxox_xxxxxxxx
(2)
6h. Load Data Low Byte(7)
0010011_iiiiiiii
xxxxxxx_xxxxxxxx
(3)
6i. Write Fuse Low byte
0110011_00000000
0110001_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
(1)
0110011_00000000
xxxxxxx_xxxxxxxx
0110011_00000000
xxxxxxx_xxxxxxxx
6j. Poll for Fuse Write complete
0110011_00000000
xxxxxox_xxxxxxxx
7a. Enter Lock bit Write
0100011_00100000
xxxxxxx_xxxxxxxx
7b. Load Data Byte(9)
0010011_11iiiiii
xxxxxxx_xxxxxxxx
(4)
7c. Write Lock bits
0110011_00000000
0110001_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
(1)
0110011_00000000
xxxxxxx_xxxxxxxx
0110011_00000000
xxxxxxx_xxxxxxxx
7d. Poll for Lock bit Write complete
0110011_00000000
xxxxxox_xxxxxxxx
8a. Enter Fuse/Lock bit Read
0100011_00000100
xxxxxxx_xxxxxxxx
8b. Read Extended Fuse Byte(6)
0111010_00000000
0111011_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_oooooooo
8c. Read Fuse High Byte(7)
0111110_00000000
0111111_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_oooooooo
8d. Read Fuse Low Byte(8)
0110010_00000000
0110011_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_oooooooo
8e. Read Lock bits(9)
0110110_00000000
0110111_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_xxoooooo
(2)
(2)
(5)
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Instruction
TDI sequence
TDO sequence
Notes
8f. Read Fuses and Lock bits
0111010_00000000
0111110_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_oooooooo
(5)
fuse ext. byte
0110010_00000000
xxxxxxx_oooooooo
fuse high byte
0110110_00000000
xxxxxxx_oooooooo
fuse low byte
0110111_00000000
xxxxxxx_oooooooo
lock bits
9a. Enter Signature Byte Read
0100011_00001000
xxxxxxx_xxxxxxxx
9b. Load Address Byte
0000011_bbbbbbbb
xxxxxxx_xxxxxxxx
9c. Read Signature Byte
0110010_00000000
0110011_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_oooooooo
10a. Enter Calibration Byte Read
0100011_00001000
xxxxxxx_xxxxxxxx
10b. Load Address Byte
0000011_bbbbbbbb
xxxxxxx_xxxxxxxx
10c. Read Calibration Byte
0110110_00000000
0110111_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_oooooooo
11a. Load No Operation Command
0100011_00000000
0110011_00000000
xxxxxxx_xxxxxxxx
xxxxxxx_xxxxxxxx
Note: 1. This command sequence is not required if the seven MSB are correctly set by the previous
command sequence (which is normally the case).
2. Repeat until o = “1”.
3. Set bits to “0” to program the corresponding fuse, “1” to unprogram the Fuse.
4. Set bits to “0” to program the corresponding lock bit, “1” to leave the Lock bit unchanged.
5. “0” = programmed, “1” = unprogrammed.
6. The bit mapping for Fuses Extended byte is listed in Extended Fuse Byte table of Fuse Bits section.
7. The bit mapping for Fuses High byte is listed in Fuse High Byte table of Fuse Bits section.
8. The bit mapping for Fuses Low byte is listed in Fuse Low Byte table of Fuse Bits section.
9. The bit mapping for Lock bits byte is listed in Lock Bit Byte table of Program and Data Memory Lock
Bits section.
10. Address bits exceeding PCMSB and EEAMSB (Command Byte Bit Coding in Signal Names section
and Page Size section) are don’t care
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Figure 28-12. State Machine Sequence for Changing/Reading the Data Word
1
Te s t-Logic-Re s e t
0
0
Run-Te s t/Idle
1
S e le ct-DR S ca n
1
S e le ct-IR S ca n
0
0
1
1
Ca pture -DR
Ca pture -IR
0
0
S hift-DR
S hift-IR
0
1
Exit1-DR
1
Exit1-IR
0
0
Pa us e -DR
0
0
Pa us e -IR
1
1
0
Exit2-DR
Exit2-IR
1
1
Upda te -DR
1
0
1
1
0
1
Upda te -IR
0
1
0
28.10.11. Virtual Flash Page Load Register
The Virtual Flash Page Load Register is a virtual scan chain with length equal to the number of bits in one
Flash page. Internally the Shift Register is 8-bit, and the data are automatically transferred to the Flash
page buffer byte by byte. Shift in all instruction words in the page, starting with the LSB of the first
instruction in the page and ending with the MSB of the last instruction in the page. This provides an
efficient way to load the entire Flash page buffer before executing Page Write.
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Figure 28-13. Virtual Flash Page Load Register
S TROBES
TDI
S ta te
ma chine
ADDRES S
Fla s h
EEP ROM
Fus e s
Lock Bits
D
A
T
A
TDO
28.10.12. Virtual Flash Page Read Register
The Virtual Flash Page Read Register is a virtual scan chain with length equal to the number of bits in
one Flash page plus 8. Internally the Shift Register is 8-bit, and the data are automatically transferred
from the Flash data page byte by byte. The first eight cycles are used to transfer the first byte to the
internal Shift Register, and the bits that are shifted out during these 8 cycles should be ignored. Following
this initialization, data are shifted out starting with the LSB of the first instruction in the page and ending
with the MSB of the last instruction in the page. This provides an efficient way to read one full Flash page
to verify programming.
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Figure 28-14. Virtual Flash Page Read Register
S TROBES
TDI
S ta te
ma chine
ADDRES S
Fla s h
EEP ROM
Fus e s
Lock Bits
D
A
T
A
TDO
28.10.13. Programming Algorithm
All references below of type “1a”, “1b”, and so on, refer to Table 28-20 JTAG Programming Instruction
Set .
28.10.14. Entering Programming Mode
1.
2.
Enter JTAG instruction AVR_RESET and shift 1 in the Reset Register.
Enter instruction PROG_ENABLE and shift 1010_0011_0111_0000 in the Programming Enable
Register.
28.10.15. Leaving Programming Mode
1.
2.
3.
4.
Enter JTAG instruction PROG_COMMANDS.
Disable all programming instructions by using no operation instruction 11a.
Enter instruction PROG_ENABLE and shift 0000_0000_0000_0000 in the programming Enable
Register.
Enter JTAG instruction AVR_RESET and shift 0 in the Reset Register.
28.10.16. Performing Chip Erase
1.
2.
3.
Enter JTAG instruction PROG_COMMANDS.
Start chip erase using programming instruction 1a.
Poll for chip erase complete using programming instruction 1b, or wait for tWLRH_CE (refer to table
Command Byte Bit Coding in section Parallel Programming Parameters, Pin Mapping, and
Commands).
28.10.17. Programming the Flash
Before programming the Flash a Chip Erase must be performed. See Performing Chip Erase.
1.
2.
Enter JTAG instruction PROG_COMMANDS.
Enable Flash write using programming instruction 2a.
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3.
4.
5.
6.
7.
8.
9.
Load address high byte using programming instruction 2b.
Load address low byte using programming instruction 2c.
Load data using programming instructions 2d, 2e and 2f.
Repeat steps 4 and 5 for all instruction words in the page.
Write the page using programming instruction 2g.
Poll for Flash write complete using programming instruction 2h, or wait for tWLRH (refer to table
Parallel Programming Characteristics, VCC = 5V ±10% in chapter Parallel Programming
Characteristics).
Repeat steps 3 to 7 until all data have been programmed.
A more efficient data transfer can be achieved using the PROG_PAGELOAD instruction:
1.
2.
3.
4.
5.
6.
7.
8.
9.
Enter JTAG instruction PROG_COMMANDS.
Enable Flash write using programming instruction 2a.
Load the page address using programming instructions 2b and 2c. PCWORD (refer to Command
Byte Bit Coding table in Signal Names section) is used to address within one page and must be
written as 0.
Enter JTAG instruction PROG_PAGELOAD.
Load the entire page by shifting in all instruction words in the page, starting with the LSB of the first
instruction in the page and ending with the MSB of the last instruction in the page.
Enter JTAG instruction PROG_COMMANDS.
Write the page using programming instruction 2g.
Poll for Flash write complete using programming instruction 2h, or wait for tWLRH (refer to table
Parallel Programming Characteristics, VCC = 5V ±10% in chapter Parallel Programming
Characteristics).
Repeat steps 3 to 8 until all data have been programmed.
28.10.18. Reading the Flash
1.
2.
3.
4.
5.
Enter JTAG instruction PROG_COMMANDS.
Enable Flash read using programming instruction 3a.
Load address using programming instructions 3b and 3c.
Read data using programming instruction 3d.
Repeat steps 3 and 4 until all data have been read.
A more efficient data transfer can be achieved using the PROG_PAGEREAD instruction:
1.
2.
3.
4.
5.
6.
7.
Enter JTAG instruction PROG_COMMANDS.
Enable Flash read using programming instruction 3a.
Load the page address using programming instructions 3b and 3c. PCWORD (refer to table
Command Byte Bit Coding in section Parallel Programming Parameters, Pin Mapping, and
Commands) is used to address within one page and must be written as 0.
Enter JTAG instruction PROG_PAGEREAD.
Read the entire page by shifting out all instruction words in the page, starting with the LSB of the
first instruction in the page and ending with the MSB of the last instruction in the page. Remember
that the first 8 bits shifted out should be ignored.
Enter JTAG instruction PROG_COMMANDS.
Repeat steps 3 to 6 until all data have been read.
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28.10.19. Programming the EEPROM
Before programming the EEPROM a Chip Erase must be performed. See Performing Chip Erase.
1.
2.
3.
4.
5.
6.
Enter JTAG instruction PROG_COMMANDS.
Enable EEPROM write using programming instruction 4a.
Load address high byte using programming instruction 4b.
Load address low byte using programming instruction 4c.
Load data using programming instructions 4d and 4e.
Repeat steps 4 and 5 for all data bytes in the page.
7.
8.
Write the data using programming instruction 4f.
Poll for EEPROM write complete using programming instruction 4g, or wait for tWLRH (refer to table
Parallel Programming Characteristics, VCC = 5V ±10% in chapter Parallel Programming
Characteristics).
Repeat steps 3 to 8 until all data have been programmed.
9.
Note that the PROG_PAGELOAD instruction can not be used when programming the EEPROM
28.10.20. Reading the EEPROM
1.
2.
3.
4.
5.
Enter JTAG instruction PROG_COMMANDS.
Enable EEPROM read using programming instruction 5a.
Load address using programming instructions 5b and 5c.
Read data using programming instruction 5d.
Repeat steps 3 and 4 until all data have been read.
Note that the PROG_PAGEREAD instruction can not be used when reading the EEPROM
28.10.21. Programming the Fuses
1.
2.
3.
Enter JTAG instruction PROG_COMMANDS.
Enable Fuse write using programming instruction 6a.
Load data byte using programming instructions 6b. A bit value of “0” will program the corresponding
fuse, a “1” will unprogram the fuse.
4. Write Extended Fuse byte using programming instruction 6c.
5. Poll for Fuse write complete using programming instruction 6d, or wait for tWLRH (refer to table
Parallel Programming Characteristics, VCC = 5V ±10% in chapter Parallel Programming
Characteristics).
6. Load data byte using programming instructions 6e. A bit value of “0” will program the corresponding
fuse, a “1” will unprogram the fuse.
7. Write Fuse high byte using programming instruction 6f.
8. Poll for Fuse write complete using programming instruction 6g, or wait for tWLRH (refer to table
Parallel Programming Characteristics, VCC = 5V ±10% in chapter Parallel Programming
Characteristics).
9. Load data byte using programming instructions 6h. A “0” will program the fuse, a “1” will unprogram
the fuse.
10. Write Fuse low byte using programming instruction 6i.
11. Poll for Fuse write complete using programming instruction 6j, or wait for tWLRH (refer to table
Parallel Programming Characteristics, VCC = 5V ±10% in chapter Parallel Programming
Characteristics).
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28.10.22. Programming the Lock Bits
1.
2.
3.
4.
5.
Enter JTAG instruction PROG_COMMANDS.
Enable Lock bit write using programming instruction 7a.
Load data using programming instructions 7b. A bit value of “0” will program the corresponding lock
bit, a “1” will leave the lock bit unchanged.
Write Lock bits using programming instruction 7c.
Poll for Lock bit write complete using programming instruction 7d, or wait for tWLRH (refer to table
Parallel Programming Characteristics, VCC = 5V ±10% in chapter Parallel Programming
Characteristics).
28.10.23. Reading the Fuses and Lock Bits
1.
2.
3.
Enter JTAG instruction PROG_COMMANDS.
Enable Fuse/Lock bit read using programming instruction 8a.
– To read all Fuses and Lock bits, use programming instruction 8f.
– To only read Extended Fuse byte, use programming instruction 8b.
– To only read Fuse high byte, use programming instruction 8c.
– To only read Fuse low byte, use programming instruction 8d.
– To only read Lock bits, use programming instruction 8e.
28.10.24. Reading the Signature Bytes
1.
2.
3.
4.
5.
Enter JTAG instruction PROG_COMMANDS.
Enable Signature byte read using programming instruction 9a.
Load address 0x00 using programming instruction 9b.
Read first signature byte using programming instruction 9c.
Repeat steps 3 and 4 with address 0x01 and address 0x02 to read the second and third signature
bytes, respectively.
28.10.25. Reading the Calibration Byte
1.
2.
3.
4.
Enter JTAG instruction PROG_COMMANDS.
Enable Calibration byte read using programming instruction 10a.
Load address 0x00 using programming instruction 10b.
Read the calibration byte using programming instruction 10c.
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29.
Electrical Characteristics
29.1.
Absolute Maximum Ratings
Table 29-1. Absolute Maximum Ratings
Operating Temperature
-55°C to +125°C
Storage Temperature
-65°C to +150°C
Voltage on any Pin except RESET
with respect to Ground
-0.5V to VCC+0.5V
Voltage on RESET
with respect to Ground
-0.5V to +13.0V
Maximum Operating Voltage
6.0V
DC Current per I/O Pin
40.0mA
DC Current VCC and GND Pins
200.0mA
Note: Stresses beyond those listed under “Absolute Maximum Ratings” may cause permanent damage
to the device. This is a stress rating only and functional operation of the device at these or other
conditions beyond those indicated in the operational sections of this specification is not implied. Exposure
to absolute maximum rating conditions for extended periods may affect device reliability.
29.2.
DC Characteristics
Table 29-2. Common DC characteristics TA = -40°C to 105°C, VCC = 1.8V to 5.5V (unless otherwise noted)
Symbol Parameter
Condition
Min.
Typ.
Max.
Units
V
Input Low Voltage, except XTAL1 VCC = 1.8V - 2.4V
and RESET pin
VCC = 2.4V - 5.5V
-0.5
0.2VCC(1)
-0.5
0.3VCC(1)
VIL1
Input Low Voltage,
XTAL1 pin
VCC = 1.8V - 5.5V
-0.5
0.1VCC(1)
V
VIL2
Input Low Voltage,
RESET pin
VCC = 1.8V - 5.5V
-0.5
0.1VCC(1)
V
VIH
Input High Voltage, except
XTAL1 and RESET pins
VCC = 1.8V - 2.4V
0.7VCC(2)
VCC + 0.5
V
VCC = 2.4V - 5.5V
0.6VCC(2)
VCC + 0.5
Input High Voltage,
XTAL1 pin
VCC = 1.8V - 2.4V
0.8VCC(2)
VCC + 0.5
VCC = 2.4V - 5.5V
0.7VCC(2)
VCC + 0.5
Input High Voltage,
RESET pin
VCC = 1.8V - 5.5V
0.9VCC(2)
VCC + 0.5
VIL
VIH1
VIH2
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V
406
Symbol Parameter
VOL
Output Low Voltage(4)
except RESET pin
Condition
IOL = 20mA,
VCC = 5V
IOL = 10mA,
VCC = 3V
VOH
Output High Voltage(3)
except Reset pin
Min.
Max.
Units
TA=85°C
0.9
V
TA=105°C
1.0
TA=85°C
0.6
TA=105°C
0.7
IOH = -20mA, TA=85°C
TA=105°C
VCC = 5V
4.2
IOH = -10mA, TA=85°C
TA=105°C
VCC = 3V
2.3
Typ.
4.0
2.1
V
IIL
Input Leakage
Current I/O Pin
VCC = 5.5V, pin low
(absolute value)
1
μA
IIH
Input Leakage
Current I/O Pin
VCC = 5.5V, pin high
(absolute value)
1
μA
RRST
Reset Pull-up Resistor
30
60
kΩ
RPU
I/O Pin Pull-up Resistor
20
50
kΩ
VACIO
Analog Comparator
Input Offset Voltage
40
mV
50
nA
<10
VCC = 5V,
Vin = VCC/2
IACLK
Analog Comparator
Input Leakage Current
VCC=5V
,
-50
Vin = VCC/2
tACID
Analog Comparator Propagation
Delay
VCC = 2.7V
750
VCC = 4.0V
500
ns
Note: 1. “Max.” means the highest value where the pin is guaranteed to be read as low.
2. “Min.” means the lowest value where the pin is guaranteed to be read as high.
3. Although each I/O port can sink more than the test conditions (20mA at VCC = 5V, 10mA at VCC =
3V) under steady state conditions (non-transient), the following must be observed:
3.1.
The sum of all IOL, for ports PB0-PB7, XTAL2, PD0-PD7 should not exceed 100mA.
3.2.
The sum of all IOH, for ports PA0-PA3, PC0-PC7 should not exceed 100mA.
If IOL exceeds the test condition, VOL may exceed the related specification. Pins are not
guaranteed to sink current greater than the listed test condition.
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4.
Although each I/O port can source more than the test conditions (20mA at VCC = 5V, 10mA at VCC
= 3V) under steady state conditions (non-transient), the following must be observed:
4.1.
The sum of all IOL, for ports PB0-PB7, XTAL2, PD0-PD7 should not exceed 100mA.
4.2.
The sum of all IOH, for ports PA0-PA3, PC0-PC7 should not exceed 100mA.
If IOH exceeds the test condition, VOH may exceed the related specification. Pins are not
guaranteed to source current greater than the listed test condition.
Related Links
Minimizing Power Consumption on page 64
29.2.1.
Power Consumption
Table 29-3. ATmega164PA DC Characteristics - TA = -40°C to 85°C, VCC = 1.8V to 5.5V (unless otherwise
noted)
Symbol Parameter
ICC
Power Supply Current(1)
Power-save mode(3)
Power-down mode(3)
Condition
Min. Typ.(2) Max. Units
Active 1MHz, VCC = 2V
-
0.3
0.5
Active 4MHz, VCC = 3V
-
1.4
2.7
Active 8MHz, VCC = 5V
-
4.8
9.0
Idle 1MHz, VCC = 2V
-
0.07
0.15
Idle 4MHz, VCC = 3V
-
0.25
0.7
Idle 8MHz, VCC = 5V
-
1.0
5.0
32 kHz TOSC enabled, VCC = 1.8V
-
0.5
-
32 kHz TOSC enabled, VCC = 3V
-
0.6
-
WDT enabled, VCC = 3V
-
5.0
8.0
WDT disabled, VCC = 3V
-
0.17
2.0
mA
μA
Note: 1. All bits set in the ”PRR – Power Reduction Register ”.
2. Typical values at 25°C. Maximum values are test limits in production.
3. The current consumption values include input leakage current.
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Table 29-4. ATmega164PA DC Characteristics - TA = -40°C to 105°C, VCC = 1.8V to 5.5V (unless otherwise
noted)
Symbol
Parameter
Condition
Min.
Typ.
Max.
Units
ICC
Power Supply Current(1)
Active 1MHz, VCC = 2V
-
-
0.7
mA
Active 4MHz, VCC = 3V
-
-
3
Active 8MHz, VCC = 5V
-
-
11
Idle 1MHz, VCC = 2V
-
-
0.17
Idle 4MHz, VCC = 3V
-
-
0.85
Idle 8MHz, VCC = 5V
-
-
6
WDT enabled, VCC = 3V
-
-
15
WDT disabled, VCC = 3V
-
-
5
Power-down mode(2)
μA
Note: 1. All bits set in the ”PRR – Power Reduction Register ”
2. The current consumption values include input leakage current.
29.3.
Speed Grades
Maximum frequency is dependent on VCC. As shown in Figure. Maximum Frequency vs. VCC, the
Maximum Frequency vs. VCC curve is linear between 1.8V < VCC < 2.7V and between 2.7V < VCC < 4.5V.
Figure 29-1. Maximum Frequency vs. VCC
20MHz
10MHz
Safe Operating Area
4MHz
1.8V
29.4.
2.7V
4.5V
5.5V
Clock Characteristics
Related Links
Calibrated Internal RC Oscillator on page 54
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29.4.1.
Clock characteristics
Table 29-5. Calibration accuracy of internal RC oscillator.
Frequency
VCC
Temperature
Calibration accuracy
Factory calibration
8.0MHz
3V
25°C
±10%
User calibration
7.3 - 8.1MHz
1.8 - 5.5V
-40°C - 85°C
±1%
Related Links
Fuse Bits on page 374
29.4.2.
External Clock Drive Waveforms
Figure 29-2. External Clock Drive Waveforms
VIH1
VIL1
29.4.3.
External Clock Drive
Table 29-6. External Clock Drive
Symbol Parameter
29.5.
VCC= 1.8 - 5.5V VCC= 2.7 - 5.5V VCC= 4.5 - 5.5V Units
Min.
Max.
Min.
Max.
Min.
Max.
1/tCLCL
Oscillator Frequency
0
4
0
10
0
20
MHz
tCLCL
Clock Period
250
-
100
-
50
-
ns
tCHCX
High Time
100
-
40
-
20
-
ns
tCLCX
Low Time
100
-
40
-
20
-
ns
tCLCH
Rise Time
-
2.0
-
1.6
-
0.5
μs
tCHCL
Fall Time
-
2.0
-
1.6
-
0.5
μs
ΔtCLCL
Change in period from one clock
cycle to the next
-
2
-
2
-
2
%
System and Reset Characteristics
Table 29-7. Reset, Brown-out and Internal Voltage Characteristics
Symbol Parameter
Min.
Typ Max
Units
Power-on Reset Threshold Voltage (rising)
1.1
1.4
1.6
V
Power-on Reset Threshold Voltage (falling)(1)
0.6
1.3
1.6
V
VRST
RESET Pin Threshold Voltage
0.2 VCC -
0.9 VCC V
tRST
Minimum pulse width on RESET Pin
-
2.5
VPOT
Condition
-
μs
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Symbol Parameter
Condition
Min.
Typ Max
Units
VHYST
Brown-out Detector Hysteresis
-
50
-
mV
tBOD
Min. Pulse Width on Brown-out Reset
-
2
-
μs
VBG
Bandgap reference voltage
VCC=2.7
, TA=25°C
1.0
1.1
1.2
V
tBG
Bandgap reference start-up time
VCC=2.7
, TA=25°C
-
40
70
μs
IBG
Bandgap reference current consumption
VCC=2.7
, TA=25°C
-
10
-
μA
Note: 1. The Power-on Reset will not work unless the supply voltage has been below VPOT (falling)
Table 29-8. BODLEVEL Fuse Coding
BODLEVEL [2:0] Fuses
Min. VBOT
Typ VBOT
Max VBOT
Units
111
BOD Disabled
110
1.7
1.8
2.0
V
101
2.5
2.7
2.9
100
4.1
4.3
4.5
011
Reserved
010
001
000
Note: 1. VBOT may be below nominal minimum operating voltage for some devices. For devices where this
is the case, the device is tested down to VCC = VBOT during the production test. This guarantees
that a Brown-Out Reset will occur before VCC drops to a voltage where correct operation of the
microcontroller is no longer guaranteed. The test is performed using BODLEVEL = 110 and 101 .
Related Links
Fuse Bits on page 374
29.6.
External interrupts characteristics
Table 29-9. Asynchronous external interrupt characteristics.
Symbol
Parameter
Min.
Typ.
Max.
Units
tINT
Minimum pulse
width for
asynchronous
external
interrupt
-
50
-
ns
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29.7.
SPI Timing Characteristics
Table 29-10. SPI Timing Parameters
Description
Mode
SCK period
Master -
See Table. Relationship Between SCK and the
Oscillator Frequency in "SPCR – SPI Control Register"
SCK high/low
Master -
50% duty cycle
-
Rise/Fall time
Master -
3.6
-
Setup
Master -
10
-
Hold
Master -
10
-
Out to SCK
Master -
0.5 • tsck
-
SCK to out
Master -
10
-
SCK to out high
Master -
10
-
SS low to out
Slave
-
15
-
SCK period
Slave
4 • tck -
-
SCK high/low(1)
Slave
2 • tck -
-
Rise/Fall time
Slave
-
-
1600
Setup
Slave
10
-
-
Hold
Slave
tck
-
-
SCK to out
Slave
-
15
-
SCK to SS high
Slave
20
-
-
SS high to tri-state Slave
-
10
-
SS low to SCK
2 • tck -
Slave
Min.
Typ
Max Units
ns
-
Note: 1. In SPI Programming mode the minimum SCK high/low period is:
•
•
2 tCLCL for fCK < 12MHz
3 tCLCL for fCK > 12MHz
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Figure 29-3. SPI Interface Timing Requirements (Master Mode)
SS
6
1
SCK
(CPOL = 0)
2
2
SCK
(CPOL = 1)
4
MISO
(Data Input)
5
3
...
MSB
LSB
7
MOSI
(Data Output)
8
MSB
...
LSB
Figure 29-4. SPI Interface Timing Requirements (Slave Mode)
SS
10
9
16
SCK
(CPOL = 0)
11
11
SCK
(CPOL = 1)
13
MOSI
(Data Input)
14
12
MSB
...
LSB
15
MISO
(Data Output)
29.8.
17
MSB
...
LSB
X
Two-wire Serial Interface Characteristics
Table in this section describes the requirements for devices connected to the 2-wire Serial Bus. The 2wire Serial Interface meets or exceeds these requirements under the noted conditions.
Timing symbols refer to Figure 1.
Table 29-11. Two-wire Serial Bus Requirements
Symbol Parameter
Condition
Min.
Max
Units
V
VIL
Input Low-voltage
-0.5
0.3 VCC
VIH
Input High-voltage
0.7 VCC
VCC + 0.5 V
Vhys(1)
Hysteresis of Schmitt Trigger
Inputs
0.05 VCC(2)
–
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413
Symbol Parameter
Condition
Min.
Max
Units
VOL(1)
Output Low-voltage
3mA sink current
0
0.4
V
tr(1)
Rise Time for both SDA and
SCL
tof(1)
Output Fall Time from VIHmin to
VILmax
tSP(1)
Spikes Suppressed by Input
Filter
Ii
Input Current each I/O Pin
Ci(1)
Capacitance for each I/O Pin
fSCL
SCL Clock Frequency
Rp
Value of Pull-up resistor
tHD;STA
tLOW
tHIGH
tSU;STA
tHD;DAT
tSU;DAT
tSU;STO
tBUF
Hold Time (repeated) START
Condition
Low Period of the SCL Clock
High period of the SCL clock
Set-up time for a repeated
START condition
Data hold time
Data setup time
Setup time for STOP condition
Bus free time between a STOP
and START condition
10pF < Cb < 400pF(3)
20 + 0.1Cb(3)(2) 300
ns
20 + 0.1Cb(3)(2) 250
ns
0
50(2)
ns
-10
10
μA
–
10
pF
fCK(4) > max(16fSCL,
250kHz)(5)
0
400
kHz
fSCL ≤ 100kHz
1000ns
��
�
fSCL > 100kHz
�CC − 0.4V
3mA
0.1VCC < Vi < 0.9VCC
fSCL ≤ 100kHz
�CC − 0.4V
3mA
4.0
300ns
��
–
μs
fSCL > 100kHz
0.6
–
μs
fSCL ≤ 100kHz
4.7
–
μs
fSCL > 100kHz
1.3
–
μs
fSCL ≤ 100kHz
4.0
–
μs
fSCL > 100kHz
0.6
–
μs
fSCL ≤ 100kHz
4.7
–
μs
fSCL > 100kHz
0.6
–
μs
fSCL ≤ 100kHz
0
3.45
μs
fSCL > 100kHz
0
0.9
μs
fSCL ≤ 100kHz
250
–
ns
fSCL > 100kHz
100
–
ns
fSCL ≤ 100kHz
4.0
–
μs
fSCL > 100kHz
0.6
–
μs
fSCL ≤ 100kHz
4.7
–
μs
fSCL > 100kHz
1.3
–
μs
�
Note: 1. This parameter is characterized and not 100% tested.
2. Required only for fSCL > 100kHz.
3. Cb = capacitance of one bus line in pF.
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4.
5.
fCK = CPU clock frequency.
This requirement applies to all 2-wire Serial Interface operation. Other devices connected to the 2wire Serial Bus need only obey the general fSCL requirement.
Figure 29-5. Two-wire Serial Bus Timing
t of
t HIGH
t LOW
tr
t LOW
SCL
t SU;STA
t HD;STA
t HD;DAT
t SU;DAT
t SU;STO
SDA
t BUF
29.9.
ADC characteristics
Table 29-12. ADC Characteristics, Single Ended Channel
Min.(1)
Typ Max
Units
-
10
-
Bits
VREF = 4V, VCC = 4V,
ADC clock = 200kHz
-
1.9
-
LSB
VREF = 4V, VCC = 4V,
ADC clock = 1MHz
-
3.25 -
LSB
VREF = 4V, VCC = 4V,
ADC clock = 200kHz
Noise Reduction Mode
-
1.9
-
LSB
VREF = 4V, VCC = 4V,
ADC clock = 1MHz
Noise Reduction Mode
-
3.25 -
LSB
Integral Non-Linearity (INL)
VREF = 4V, VCC = 4V,
ADC clock = 200kHz
-
1.1
-
LSB
Differential Non-Linearity (DNL)
VREF = 4V, VCC = 4V,
ADC clock = 200kHz
-
0.3
-
LSB
Gain Error
VREF = 4V, VCC = 4V,
ADC clock = 200kHz
-
1.6
-
LSB
Offset Error
VREF = 4V, VCC = 4V,
ADC clock = 200kHz
-
-1.5 -
LSB
Conversion Time
Free Running Conversion 13
-
260
μs
Clock Frequency
50
-
1000
kHz
AVCC(1)
Analog Supply Voltage
VCC - 0.3 -
VCC + 0.3 V
VREF
Reference Voltage
1.0
-
AVCC
V
VIN
Input Voltage
GND
-
VREF
V
Symbol Parameter
Condition
Resolution
Absolute accuracy (Including
INL, DNL, quantization error,
gain and offset error)
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Min.(1)
Typ Max
Units
Input Bandwidth
-
38.5 -
kHz
VINT
Internal Voltage Reference
1.0
1.1
1.2
V
RREF
Reference Input Resistance
-
32
-
kΩ
RAIN
Analog Input Resistance
-
100 -
Symbol Parameter
Condition
MΩ
Note: 1. Values are guidelines only.
Table 29-13. ADC Characteristics, Differential Channels
Symbol
Parameter
Condition
Min(1)
Typ(1)
Max(1)
Units
Resolution
Gain = 1×
-
10
-
Bits
Gain = 10×
-
10
-
Gain = 200×
-
7
-
Gain = 1×,
VCC = 5V,
VREF = 4V
ADC clock =
200 kHz
-
19.5
-
Gain = 10×,
VCC = 5 V,
VREF = 4V
ADC clock =
200 kHz
-
20.5
-
8.5
-
Absolute
Accuracy
(Including
INL, DNL
Quantization
Error and
Offset Error)
Gain = 200×, VCC = 5V,
VREF = 4V
ADC clock =
200 kHz
LSB
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Symbol
Min(1)
Typ(1)
Max(1)
Units
Integral Non- Gain = 1×,
linearity (INL) VCC = 5V,
VREF = 4V
ADC clock =
200 kHz
-
2.25
-
LSB
Gain = 10×,
VCC = 5V,
VREF = 4V
ADC clock =
200 kHz
-
4.25
-
Gain = 200×, VCC = 5V,
VREF = 4V
ADC clock =
200 kHz
11.5
-
Gain = 1×,
VCC = 5V,
VREF = 4V
ADC clock =
200 kHz
-
0.75
-
Gain = 10×,
VCC = 5V,
VREF = 4V
ADC clock =
200 kHz
-
0.75
-
Gain = 200×, VCC = 5V,
VREF = 4V
ADC clock =
200 kHz
9.5
-
Gain = 1×,
VCC = 5V,
VREF = 4V
ADC clock =
200 kHz
-
19.5
-
Gain = 10×,
VCC = 5V,
VREF = 4V
ADC clock =
200 kHz
-
19.5
-
6.5
-
Parameter
Differential
Non-linearity
(DNL)
Gain Error
Condition
Gain = 200×, VCC = 5V,
VREF = 4V
ADC clock =
200 kHz
LSB
LSB
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Symbol
Parameter
Condition
Min(1)
Typ(1)
Max(1)
Units
Gain = 1×,
VCC = 5V,
VREF = 4V
ADC clock =
200 kHz
-
1
-
LSB
Gain = 10×,
VCC = 5V,
VREF = 4V
ADC clock =
200 kHz
-
1.25
-
2.5
-
Gain = 200×, VCC = 5V,
VREF = 4V
ADC clock =
200 kHz
Conversion
Time
13
-
260
μs
Clock
Frequency
50
-
1000
kHz
AVCC
Analog
Supply
Voltage
VCC - 0.3
-
VCC + 0.3
V
VREF
Reference
Voltage
2.0
-
AVCC - 0.5
VIN
Input
Differential
Voltage
0
-
AVCC
ADC
Conversion
Output
-511
-
511
LSB
Input
Bandwidth
-
4
-
kHz
V
VINT1
Internal
Voltage
Reference
1.1V
1.0
1.1
1.2
VINT2
Internal
Voltage
Reference
2.56V
2.33
2.56
2.79
RREF
Reference
Input
Resistance
-
32
-
kΩ
Note: Atmel ATmega164PA [DATASHEET]
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1.
Values are guidelines only.
29.10. Parallel Programming Characteristics
Table 29-14. Parallel programming characteristics, VCC = 5V ±10%.
Symbol
Parameter
Min.
Typ.
Max.
Units
VPP
Programming Enable Voltage
11.5
-
12.5
V
IPP
Programming Enable Current
-
250
µA
tDVXH
Data and Control Valid before XTAL1 High
67
-
-
ns
tXLXH
XTAL1 Low to XTAL1 High
200
-
-
ns
tXHXL
XTAL1 Pulse Width High
150
-
-
ns
tXLDX
Data and Control Hold after XTAL1 Low
67
-
-
ns
tXLWL
XTAL1 Low to WR Low
0
-
-
ns
tXLPH
XTAL1 Low to PAGEL high
0
-
-
ns
tPLXH
PAGEL low to XTAL1 high
150
-
-
ns
tBVPH
BS1 Valid before PAGEL High
67
-
-
ns
tPHPL
PAGEL Pulse Width High
150
-
-
ns
tPLBX
BS1 Hold after PAGEL Low
67
-
-
ns
tWLBX
BS2/1 Hold after WR Low
67
-
-
ns
tPLWL
PAGEL Low to WR Low
67
-
-
ns
tBVWL
BS2/1 Valid to WR Low
67
-
-
ns
tWLWH
WR Pulse Width Low
150
-
-
ns
tWLRL
WR Low to RDY/BSY Low
0
-
1
µs
tWLRH
WR Low to RDY/BSY High(1)
3.7
-
4.5
ms
tWLRH_CE
WR Low to RDY/BSY High for Chip Erase(2)
7.5
-
9
tXLOL
XTAL1 Low to OE Low
0
-
-
tBVDV
BS1 Valid to DATA valid
0
-
250
tOLDV
OE Low to DATA Valid
-
-
250
tOHDZ
OE High to DATA Tri-stated
-
-
250
ns
Note: 1. tWLRH is valid for the Write Flash, Write EEPROM, Write Fuse bits and Write Lock bits commands.
2. tWLRH_CE is valid for the Chip Erase command.
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Figure 29-6. Parallel programming timing, including some general timing requirements.
tXLWL
tXHXL
XTAL1
tDVXH
Da ta & Contol
(DATA, XA0/1, BS 1, BS 2)
tXLDX
tP LBX t BVWL
tBVP H
P AGEL
tWLBX
tP HP L
tWLWH
WR
tP LWL
WLRL
RDY/BS Y
tWLRH
Figure 29-7. Parallel programming timing, loading sequence with timing requirements
.
LOAD ADDRESS
(LOW BYTE)
LOAD DATA LOAD DATA
(HIGH BYTE)
LOAD DATA
(LOW BYTE)
tXLP H
t XLXH
LOAD ADDRESS
(LOW BYTE)
tP LXH
XTAL1
BS1
PAGEL
DATA
ADDR0 (Low Byte)
DATA (Low Byte)
DATA (High Byte)
ADDR1 (Low Byte)
XA0
XA1
Note: The timing requirements shown in Figure 29-6 Parallel programming timing, including some
general timing requirements. (that is, tDVXH, tXHXL, and tXLDX) also apply to loading operation.
Figure 29-8. Parallel programming timing, reading sequence (within the same page) with timing requirements
LOAD ADDRESS
(LOW BYTE)
READ DATA
(LOW BYTE)
READ DATA
(HIGH BYTE)
LOAD ADDRESS
(LOW BYTE)
tXLOL
XTAL1
tBVDV
BS1
tOLDV
OE
DATA
tOHDZ
ADDR0 (Low Byte)
DATA (Low Byte)
DATA (High Byte)
ADDR1 (Low Byte)
XA0
XA1
Note: The timing requirements shown in Figure 29-6 Parallel programming timing, including some
general timing requirements. (that is, tDVXH, tXHXL, and tXLDX) also apply to loading operation.
Related Links
Parallel Programming Characteristics on page 387
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30.
Typical Characteristics
The following charts show typical behavior. These figures are not tested during manufacturing. All current
consumption measurements are performed with all I/O pins configured as inputs and with internal pull-ups
enabled. A sine wave generator with rail-to-rail output is used as clock source.
All Active- and Idle current consumption measurements are done with all bits in the PRR registers set and
thus, the corresponding I/O modules are turned off. Also the Analog Comparator is disabled during these
measurements. The power consumption in Power-down mode is independent of clock selection.
The current consumption is a function of several factors such as: operating voltage, operating frequency,
loading of I/O pins, switching rate of I/O pins, code executed and ambient temperature. The dominating
factors are operating voltage and frequency.
The current drawn from capacitive loaded pins may be estimated (for one pin) as CL × VCC × f where CL =
load capacitance, VCC = operating voltage and f = average switching frequency of I/O pin.
The parts are characterized at frequencies higher than test limits. Parts are not guaranteed to function
properly at frequencies higher than the ordering code indicates.
The difference between current consumption in Power-down mode with Watchdog Timer enabled and
Power-down mode with Watchdog Timer disabled represents the differential current drawn by the
Watchdog Timer.
Active Supply Current
Figure 30-1. Active Supply Current vs. Low Frequency (0.1 - 1.0MHz)
1.2
5.5 V
1
5.0 V
0.8
ICC (mA)
30.1.
4.5 V
4.0 V
0.6
3.3 V
0.4
2.7 V
1.8 V
0.2
0
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Fre que ncy (MHz)
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Figure 30-2. Active Supply Current vs. Frequency (1 - 20MHz)
12
5.5V
5.0V
10
4.5V
ICC (mA)
8
6
4.0V
4
3.3V
2
2.7V
1.8V
0
0
2
4
6
8
10
12
14
16
18
20
Fre que ncy (MHz)
Figure 30-3. Active Supply Current vs. VCC (Internal RC Oscillator, 8 MHz)
6
5
[°C]
105
ICC [mA]
4
85
25
3
- 40
2
1
0
1.5
2
2.5
3
3.5
4
4.5
5
5.5
VCC [V]
Figure 30-4. Active Supply Current vs. VCC (Internal RC Oscillator, 1 MHz)
1.4
1.2
[°C]
105
ICC [mA]
1
85
0.8
25
- 40
0.6
0.4
0.2
0
1.5
2
2.5
3
3.5
4
4.5
5
5.5
VCC [V]
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Figure 30-5. Active Supply Current vs. VCC (Internal RC Oscillator, 128 kHz)
0.25
0.225
[°C]
0.2
105
ICC [mA]
0.175
85
25
0.15
- 40
0.125
0.1
0.075
0.05
1.5
2
2.5
3
3.5
4
4.5
5
5.5
VCC [V]
Idle Supply Current
Figure 30-6. Idle Supply Current vs. Low Frequency (0.1 - 1.0MHz)
0.2
5.5 V
5.0 V
4.5 V
0.15
ICC (mA)
4.0 V
3.3 V
0.1
2.7 V
1.8 V
0.05
0
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Fre que ncy (MHz)
Figure 30-7. Idle Supply Current vs. Frequency (1 - 20MHz)
3
5.5V
2.5
5.0V
2
ICC (mA)
30.2.
4.5V
1.5
4.0V
1
3.3V
0.5
2.7V
1.8V
0
0
2
4
6
8
10
12
14
16
18
20
Fre que ncy (MHz)
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Figure 30-8. Idle Supply Current vs. VCC (Internal RC Oscillator, 8 MHz)
1.2
1.1
[°C]
105
85
25
-40
1
0.9
ICC [mA]
0.8
0.7
0.6
0.5
0.4
0.3
0.2
1.5
2
2.5
3
VCC [V]
3.5
4
4.5
5
5.5
Figure 30-9. Idle Supply Current vs. VCC (Internal RC Oscillator, 1 MHz)
1.2
[°C]
105
1
85
25
-40
ICC [mA]
0.8
0.6
0.4
0.2
0
1.5
2
2.5
3
VCC [V]
3.5
4
4.5
5
5.5
Figure 30-10. Idle Supply Current vs. VCC (Internal RC Oscillator, 128 kHz)
0.11
[°C]
105
0.1
85
ICC [mA]
0.09
25
- 40
0.08
0.07
0.06
0.05
0.04
1.5
30.3.
2
2.5
3
VCC [V]
3.5
4
4.5
5
5.5
Supply Current of I/O Modules
The tables and formulas below can be used to calculate the additional current consumption for the
different I/O modules in Active and Idle mode. The enabling or disabling of the I/O modules are controlled
by the Power Reduction Register. See ”PRR – Power Reduction Register” for details.
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Table 30-1. Additional Current Consumption for the different I/O modules (absolute values)
PRR bit
Typical numbers (μA)
VCC = 2V, F = 1MHz
VCC = 3V, F = 4MHz
VCC = 5V, F = 8MHz
PRUSART1
3.1
20.9
96.7
PRUSART0
2.9
21.6
101.0
PRTWI
6.1
44.0
205.8
PRTIM2
5.9
40.1
182.0
PRTIM1
3.7
26.1
113.2
PRTIM0
1.4
9.4
38.8
PRADC
11.7
55.5
249.5
PRSPI
5.1
37.9
195.5
Table 30-2. Additional Current Consumption (percentage) in Active and Idle mode
PRR bit
Additional Current consumption
compared to Active with external clock
(See Figure 30-1 Active Supply Current
vs. Low Frequency (0.1 - 1.0MHz) and
Figure 30-2 Active Supply Current vs.
Frequency (1 - 20MHz))
Additional Current consumption
compared to Idle with external clock (See
Figure 30-6 Idle Supply Current vs. Low
Frequency (0.1 - 1.0MHz) and Figure
30-7 Idle Supply Current vs. Frequency
(1 - 20MHz))
PRUSART1
1.5%
7.4%
PRUSART0
1.5%
7.5%
PRTWI
3.2%
15.4%
PRTIM2
2.9%
14.0%
PRTIM1
1.8%
8.8%
PRTIM0
0.7%
3.1%
PRADC
4.4%
20.9%
PRSPI
2.9%
13.8%
It is possible to calculate the typical current consumption based on the numbers from Table 30-2 Additional Current Consumption (percentage) in Active and Idle mode for other VCC and frequency
settings than listed in Table 30-1 Additional Current Consumption for the different I/O modules (absolute
values).
Calculate the expected current consumption in idle mode with TIMER1, ADC, and SPI
enabled at VCC = 2.0V and F = 1MHz. From Table 30-2 Additional Current Consumption
(percentage) in Active and Idle mode, third column, we see that we need to add 8.8% for
the TIMER1, 20.9% for the ADC, and 13.8% for the SPI module. Reading from Figure
30-6 Idle Supply Current vs. Low Frequency (0.1 - 1.0MHz), we find that the idle current
consumption is ~0.073 mA at VCC = 2.0V and F = 1MHz. The total current consumption
in idle mode with TIMER1, ADC, and SPI enabled, gives:
Atmel ATmega164PA [DATASHEET]
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�������� ≈ 0.073�� ⋅ 1 + 0.088 + 0.209 + 0.138 ≈ 0.105��
Power-down Supply Current
Figure 30-11. Power-down Supply Current vs. VCC (Watchdog Timer Disabled)
4.5
4
[°C]
3.5
105
85
3
ICC [uA]
25
2.5
- 40
2
1.5
1
0.5
0
1.5
2
2.5
3
VCC [V]
3.5
4
4.5
5
5.5
Figure 30-12. Power-down Supply Current vs. VCC (Watchdog Timer Enabled)
12
10
8
ICC [uA]
30.4.
[°C]
105
85
6
25
- 40
4
2
1.5
2
2.5
3
3.5
4
4.5
5
5.5
VCC [V]
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30.5.
Power-save Supply Current
Figure 30-13. Power-save Supply Current vs. VCC (Watchdog Timer Disabled and 32kHz crystal oscillator
running)
1.8
1.5
25 °C
ICC (uA)
1.2
0.9
0.6
0.3
0
1.5
2
2.5
3
3.5
4
4.5
5
5.5
VCC (V)
Standby Supply Current
Figure 30-14. Standby Supply Current vs. VCC (Watchdog Timer Disabled)
0.2
6MHz_xta l
6MHz_re s
0.18
0.16
0.14
ICC (mA)
30.6.
4MHz_re s
4MHz_xta l
0.12
0.1
2MHz_re s
2MHz_xta l
1MHz_re s
0.08
0.06
450kHz_re s
0.04
0.02
0
1.5
2
2.5
3
3.5
4
4.5
5
5.5
VCC (V)
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Pin Pull-Up
Figure 30-15. I/O Pin Pull-up Resistor Current vs. Input Voltage (VCC = 1.8V)
50
[°C]
45
105
40
85
IOP [uA]
35
25
30
- 40
25
20
15
10
5
0
0
0.2
0.4
0.6
0.8
VOP [V]
1
1.2
1.4
1.6
1.8
2
Figure 30-16. I/O Pin Pull-up Resistor Current vs. Input Voltage (VCC = 2.7V)
80
70
[°C]
105
60
85
IOP [uA]
50
25
- 40
40
30
20
10
0
0
0.5
1
VOP [V]
1.5
2
2.5
3
Figure 30-17. I/O Pin Pull-up Resistor Current vs. Input Voltage (VCC = 5V)
140
120
[°C]
100
IOP [uA]
30.7.
105
85
80
25
- 40
60
40
20
0
0
1
2
VOP [V]
3
4
5
6
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Figure 30-18. Reset Pull-up Resistor Current vs. Reset Pin Voltage (VCC = 1.8V)
35
30
[°C]
IRE S ET [uA]
25
105
85
20
25
- 40
15
10
5
0
0
0.2
0.4
0.6
0.8
VRE S ET [V]
1
1.2
1.4
1.6
1.8
2
Figure 30-19. Reset Pull-up Resistor Current vs. Reset Pin Voltage (VCC = 2.7V)
60
50
[°C]
105
IRE S ET [uA]
40
85
25
30
- 40
20
10
0
0
0.5
1
VRE S ET [V]
1.5
2
2.5
3
Figure 30-20. Reset Pull-up Resistor Current vs. Reset Pin Voltage (VCC = 5V)
120
100
[°C]
105
IRE S ET [uA]
80
85
25
60
- 40
40
20
0
0
1
2
VRE S ET [V]
3
4
5
6
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Pin Driver Strength
Figure 30-21. I/O Pin Output Voltage vs. Sink Current (VCC = 3V)
1
[°C]
0.8
105
VOL [V]
85
25
0.6
- 40
0.4
0.2
0
0
4
8
IOL [mA]
12
16
20
Figure 30-22. I/O Pin Output Voltage vs. Sink Current (VCC = 5V)
0.6
105
0.5
85
25
0.4
VOL [V]
- 40
0.3
0.2
0.1
0
0
4
8
IOL [mA]
12
16
20
Figure 30-23. I/O Pin Output Voltage vs. Source Current (VCC = 3V)
3.2
3
[°C]
105
2.8
VOH [V]
30.8.
85
25
2.6
- 40
2.4
2.2
2
1.8
0
4
8
IOH [mA]
12
16
20
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Figure 30-24. I/O Pin Output Voltage vs. Source Current (VCC = 5V)
5.1
5
4.9
VOH [V]
4.8
[°C]
105
4.7
85
4.6
25
- 40
4.5
4.4
4.3
0
8
IOH [mA]
12
16
20
Pin Threshold and Hysteresis
Figure 30-25. I/O Pin Input Threshold vs. VCC (VIH , I/O Pin Read as ‘1’)
3
[°C]
2.5
105
Th re s hold [V]
85
25
2
-40
1.5
1
0.5
1.5
2
2.5
3
VCC [V]
3.5
4
4.5
5
5.5
Figure 30-26. I/O Pin Input Threshold vs. VCC (VIL, I/O Pin Read as ‘0’)
2.5
[°C]
105
2
85
Th re s hold [V]
30.9.
4
25
1.5
- 40
1
0.5
0
1.5
2
2.5
3
VCC [V]
3.5
4
4.5
5
5.5
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Figure 30-27. I/O Pin Input Hysteresis vs. VCC
0.6
In p ut Hys te res is [mV]
[°C]
105
0.5
85
25
- 40
0.4
0.3
0.2
1.5
2
2.5
3
VCC [V]
3.5
4
4.5
5
5.5
Figure 30-28. Reset Pin Input Threshold vs. VCC (VIH , I/O Pin Read as ‘1’)
2.4
2.2
[°C]
105
Th re s hold [V]
2
85
25
1.8
- 40
1.6
1.4
1.2
1
1.5
2
2.5
3
VCC [V]
3.5
4
4.5
5
5.5
Figure 30-29. Reset Pin Input Threshold vs. VCC (VIL, I/O Pin Read as ‘0’)
2.5
[°C]
2.3
105
2.1
85
25
Th re s hold [V]
1.9
- 40
1.7
1.5
1.3
1.1
0.9
0.7
0.5
1.5
2
2.5
3
VCC [V]
3.5
4
4.5
5
5.5
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Figure 30-30. Reset Pin Input Hysteresis vs. VCC
0.7
[°C]
105
0.6
In p ut Hys te res is [mV]
85
0.5
25
- 40
0.4
0.3
0.2
0.1
0
1.5
2
2.5
3
VCC [V]
3.5
4
4.5
5
5.5
30.10. BOD Threshold
Figure 30-31. BOD Threshold vs. Temperature (VCC = 4.3V)
4.34
4.32
Th re s hold [V]
4.3
Rising Vcc
4.28
4.26
4.24
Falling Vcc
4.22
4.2
20
30
40
50
60
Temp erature [°C]
70
80
90
100
11 0
Figure 30-32. BOD Threshold vs. Temperature (VCC = 2.7V)
2.78
2.76
Rising Vcc
Th re s hold [V9
2.74
2.72
2.7
Falling Vcc
2.68
2.66
-40
-30
-20
-10
0
10
20
30
40
Temp erature [°C]
50
60
70
80
90
100
11 0
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Figure 30-33. BOD Threshold vs. Temperature (VCC = 1.8V)
1.85
1.845
1.84
Th re s hold [V]
1.835
Rising Vcc
1.83
1.825
1.82
1.815
1.81
1.805
Falling Vcc
1.8
-40
-30
-20
-10
0
10
20
30
40
Temp erature [°C]
50
60
70
80
90
100
11 0
Figure 30-34. Calibrated Bandgap Voltage vs. VCC
1.11
1.108
Ba n d g a p Vo lta ge [V]
1.106
1.104
1.102
[°C]
105
1.1
85
1.098
25
1.096
- 40
1.094
1.092
1.09
1.5
2
2.5
3
3.5
4
4.5
5
5.5
Vcc [V]
Figure 30-35. Calibrated Bandgap Voltage vs. Temperature
1.11 2
[V]
5.5
Ba n d g a p Vo lta ge (V)
1.108
4.5
1.104
3.6
2.7
1.1
1.8
1.096
1.092
1.088
-40
-20
0
20
40
60
80
100
Temp erature [°C]
Atmel ATmega164PA [DATASHEET]
Atmel-42713A-ATmega164PA_Datasheet_Complete-05/2016
434
30.11. Internal Oscillator Speed
Figure 30-36. Watchdog Oscillator Frequency vs. Temperature
134
[V]
4.5
4
132
3.3
F RC 8kHz]
130
2.7
2.1
128
126
124
122
120
-40
-30
-20
-10
0
10
20
30
40
Temp erature [°C]
50
60
70
80
90
100
11 0
Figure 30-37. Watchdog Oscillator Frequency vs. VCC
133
130
[°C]
F RC [kHz]
105
127
85
124
- 40
25
121
11 8
11 5
2
2.5
3
3.5
VCC [V]
4
4.5
5
5.5
Figure 30-38. Calibrated 8MHz RC Oscillator vs. VCC
8.4
8.2
[°C]
F RC [MHz]
105
8
85
7.8
- 40
25
7.6
7.4
7.2
1.5
2
2.5
3
VCC [V]
3.5
4
4.5
5
5.5
Atmel ATmega164PA [DATASHEET]
Atmel-42713A-ATmega164PA_Datasheet_Complete-05/2016
435
Figure 30-39. Calibrated 8MHz RC Oscillator vs. Temperature
8.4
5.0V
8.3
3.0V
F RC [MHz]
8.2
8.1
8
7.9
7.8
7.7
-50
-40
-30
-20
-10
0
10
20
30
Temp erature [°C]
40
50
60
70
80
90
100
11 0
Figure 30-40. Calibrated 8MHz RC Oscillator vs. OSCCAL Value
18
16
14
[°C]
105
12
F RC [MHz]
85
10
25
8
- 40
6
4
2
0
0
16
32
48
64
80
96
11 2
128
144
160
176
192
208
224
240
OSC CAL [X1]
30.12. Current Consumption of Peripheral Units
Figure 30-41. ADC Current vs. VCC (AREF = AVCC)
320
105
280
85
25
ICC [uA]
240
- 40
200
160
120
80
1.5
2
2.5
3
VCC [V]
3.5
4
4.5
5
5.5
Atmel ATmega164PA [DATASHEET]
Atmel-42713A-ATmega164PA_Datasheet_Complete-05/2016
436
Figure 30-42. Analog Comparator Current vs. VCC
100
90
[°C]
105
80
85
25
ICC [uA]
70
- 40
60
50
40
30
20
10
0
1.5
2
2.5
3
VCC [V]
3.5
4
4.5
5
5.5
Figure 30-43. AREF External Reference Current vs. VCC
200
[°C]
105
160
85
ICC [uA]
25
120
- 40
80
40
0
1.5
2
2.5
3
VCC [V]
3.5
4
4.5
5
5.5
Figure 30-44. Brownout Detector Current vs. VCC
27
[°C]
105
24
85
25
ICC [uA]
21
- 40
18
15
12
9
1.5
2
2.5
3
VCC [V]
3.5
4
4.5
5
5.5
Atmel ATmega164PA [DATASHEET]
Atmel-42713A-ATmega164PA_Datasheet_Complete-05/2016
437
Figure 30-45. Programming Current vs. VCC
12
[°C]
105
10
85
8
25
ICC [mA]
- 40
6
4
2
0
1.5
2
2.5
3
VCC [V]
3.5
4
4.5
5
5.5
Figure 30-46. Watchdog Timer Current vs. VCC
9
8
105
85
7
25
6
ICC [uA]
- 40
5
4
3
2
1
0
1.5
2
2.5
3
VCC [V]
3.5
4
4.5
5
5.5
30.13. Current Consumption in Reset and Reset Pulse Width
Figure 30-47. Reset supply current vs. Low Frequency (0.1 - 1.0Mhz)
0.1
5.5 V
0.08
5.0 V
ICC (mA)
4.5 V
0.06
4.0 V
3.3 V
0.04
2.7 V
1.8 V
0.02
0
0
0.2
0.4
0.6
0.8
1
Fre que ncy (MHz)
Atmel ATmega164PA [DATASHEET]
Atmel-42713A-ATmega164PA_Datasheet_Complete-05/2016
438
Figure 30-48. Reset supply current vs. Frequency (1 - 20Mhz)
1.8
5.5V
1.5
5.0V
4.5V
ICC (mA)
1.2
0.9
4.0V
0.6
3.3V
0.3
2.7V
1.8V
0
0
2
4
6
8
10
12
14
16
18
20
Fre que ncy (MHz)
Figure 30-49. Minimum Reset Pulsewidth vs. VCC
160 0
140 0
Puls e wid th [ns ]
120 0
100 0
800
[oC]
105
600
85
400
25
- 40
200
0
1.5
2
2.5
3
VCC [V]
3.5
4
4.5
5
5.5
Atmel ATmega164PA [DATASHEET]
Atmel-42713A-ATmega164PA_Datasheet_Complete-05/2016
439
31.
Register Summary
Offset
Name
Bit Pos.
0x20
PINA
7:0
0x21
DDRA
7:0
DDRA7
DDRA6
DDRA5
DDRA4
DDRA3
DDRA2
DDRA1
DDRA0
0x22
PORTA
7:0
PORTA7
PORTA6
PORTA5
PORTA4
PORTA3
PORTA2
PORTA1
PORTA0
0x23
PINB
7:0
PINB7
PINB6
PINB5
PINB4
PINB3
PINB2
PINB1
PINB0
0x24
DDRB
7:0
DDRB7
DDRB6
DDRB5
DDRB4
DDRB3
DDRB2
DDRB1
DDRB0
0x25
PORTB
7:0
PORTB7
PORTB6
PORTB5
PORTB4
PORTB3
PORTB2
PORTB1
PORTB0
0x26
PINC
7:0
PINC7
PINC6
PINC5
PINC4
PINC3
PINC2
PINC1
PINC0
0x27
DDRC
7:0
DDRC7
DDRC6
DDRC5
DDRC4
DDRC3
DDRC2
DDRC1
DDRC0
0x28
PORTC
7:0
PORTC7
PORTC6
PORTC5
PORTC4
PORTC3
PORTC2
PORTC1
PORTC0
PINA7
PINA6
PINA5
PINA4
PINA3
PINA2
PINA1
PINA0
0x29
PIND
7:0
PIND7
PIND6
PIND5
PIND4
PIND3
PIND2
PIND1
PIND0
0x2A
DDRD
7:0
DDRD7
DDRD6
DDRD5
DDRD4
DDRD3
DDRD2
DDRD1
DDRD0
0x2B
PORTD
7:0
PORTD7
PORTD6
PORTD5
PORTD4
PORTD3
PORTD2
PORTD1
PORTD0
OCF0B
OCF0A
TOV0
OCF1B
OCF1A
TOV1
OCF2B
OCF2A
TOV2
PCIF2
PCIF1
PCIF0
INTF2
INTF1
INTF0
INT2
INT1
INT0
EEMPE
EEPE
EERE
EEAR2
EEAR1
EEAR0
0x2C
...
Reserved
0x34
0x35
TIFR0
7:0
0x36
TIFR1
7:0
0x37
TIFR2
7:0
ICF1
0x38
...
Reserved
0x3A
0x3B
PCIFR
7:0
0x3C
EIFR
7:0
0x3D
EIMSK
7:0
0x3E
GPIOR0
7:0
0x3F
EECR
7:0
PCIF3
GPIOR0[7:0]
EEPM1
EEPM0
EEAR5
EEAR4
EERIE
0x40
EEDR
7:0
0x41
EEARL
7:0
EEDR[7:0]
0x42
EEARH
7:0
0x43
GTCCR
7:0
TSM
0x44
TCCR0A
7:0
COM0A1
COM0A0
0x45
TCCR0B
7:0
FOC0A
FOC0B
0x46
TCNT0
7:0
TCNT0[7:0]
0x47
OCR0A
7:0
OCR0A[7:0]
0x48
OCR0B
7:0
OCR0B[7:0]
0x49
Reserved
0x4A
GPIOR1
7:0
GPIOR1[7:0]
0x4B
GPIOR2
7:0
0x4C
SPCR0
7:0
SPIE0
SPE0
0x4D
SPSR0
7:0
SPIF0
WCOL0
0x4E
SPDR0
7:0
0x4F
Reserved
EEAR7
EEAR6
EEAR3
EEAR8
COM0B1
PSRASY
PSRSYNC
WGM01
WGM00
CS02
CS01
CS00
CPHA0
SPR01
SPR00
COM0B0
WGM02
GPIOR2[7:0]
DORD0
MSTR0
CPOL0
SPI2X0
SPID[7:0]
0x50
ACSR
7:0
ACD
ACBG
ACO
ACI
ACIE
ACIC
ACIS1
ACIS0
0x51
OCDR
7:0
IDRD/OCDR7
OCDR6
OCDR5
OCDR4
OCDR3
OCDR2
OCDR1
OCDR0
Atmel ATmega164PA [DATASHEET]
Atmel-42713A-ATmega164PA_Datasheet_Complete-05/2016
440
Offset
Name
0x52
Reserved
Bit Pos.
0x53
SMCR
7:0
0x54
MCUSR
7:0
0x55
MCUCR
7:0
JTD
BODS
BODSE
PUD
0x56
Reserved
0x57
SPMCSR
7:0
SPMIE
RWWSB
SIGRD
RWWSRE
JTRF
SM2
SM1
SM0
SE
WDRF
BORF
EXTRF
PORF
IVSEL
IVCE
PGERS
SPMEN
BLBSET
PGWRT
0x58
...
Reserved
0x5A
0x5B
RAMPZ
0x5C
Reserved
7:0
RAMPZ[7:0]
(SP[7:0]) SPL
0x5D
SPL
7:0
0x5E
SPH
7:0
0x5F
SREG
7:0
0x60
WDTCSR
0x61
CLKPR
(SP[11:8]) SPH
I
T
H
S
7:0
WDIF
WDIE
WDP[3]
WDCE
7:0
CLKPCE
7:0
PRTWI
PRTIM2
PRTIM0
7:0
CAL7
CAL6
V
N
WDE
Z
C
WDP[2:0]
CLKPS3
CLKPS2
CLKPS1
CLKPS0
PRUSART1
PRTIM1
PRSPI0
PRUSART0
PRADC
CAL5
CAL4
CAL3
CAL2
CAL1
CAL0
PCIE3
PCIE2
PCIE1
PCIE0
ISC21
ISC20
ISC11
ISC10
ISC01
ISC00
0x62
...
Reserved
0x63
0x64
PRR0
0x65
Reserved
0x66
OSCCAL
0x67
Reserved
0x68
PCICR
7:0
0x69
EICRA
7:0
0x6A
Reserved
0x6B
PCMSK0
7:0
PCINT7
PCINT6
PCINT5
PCINT4
PCINT3
PCINT2
PCINT1
PCINT0
0x6C
PCMSK1
7:0
PCINT15
PCINT14
PCINT13
PCINT12
PCINT11
PCINT10
PCINT9
PCINT8
0x6D
PCMSK2
7:0
PCINT23
PCINT22
PCINT21
PCINT20
PCINT19
PCINT18
PCINT17
PCINT16
0x6E
TIMSK0
7:0
OCIE0B
OCIE0A
TOIE0
0x6F
TIMSK1
7:0
OCIEB
OCIEA
TOIE
0x70
TIMSK2
7:0
OCIE2B
OCIE2A
TOIE2
ICIE
0x71
...
Reserved
0x72
0x73
PCMSK3
7:0
PCINT31
PCINT30
PCINT29
PCINT28
PCINT27
PCINT26
PCINT25
PCINT24
ADCL
7:0
ADC7
ADC6
ADC5
ADC4
ADC3
ADC2
ADC1
ADC0
ADC9
ADC8
ADEN
ADSC
ADATE
ADIF
ADIE
ADPS2
ADPS1
ADPS0
ADTS2
ADTS1
ADTS0
0x74
...
Reserved
0x77
0x78
0x79
ADCH
7:0
0x7A
ADCSRA
7:0
0x7B
ADCSRB
7:0
0x7C
ADMUX
7:0
REFS1
REFS0
ADLAR
MUX4
MUX3
MUX2
MUX1
MUX0
0x7D
Reserved
0x7E
DIDR0
7:0
ADC7D
ADC6D
ADC5D
ADC4D
ADC3D
ADC2D
ADC1D
ADC0D
0x7F
DIDR1
7:0
AIN1D
AIN0D
ACME
Atmel ATmega164PA [DATASHEET]
Atmel-42713A-ATmega164PA_Datasheet_Complete-05/2016
441
Offset
Name
Bit Pos.
0x80
TCCR1A
7:0
COM1
COM1
0x81
TCCR1B
7:0
ICNC1
ICES1
0x82
TCCR1C
7:0
FOC1A
FOC1B
0x83
Reserved
0x84
TCNT1L
7:0
TCNT1L[7:0]
0x85
TCNT1H
7:0
TCNT1H[7:0]
0x86
ICR1L
7:0
ICR1L[7:0]
0x87
ICR1H
7:0
ICR1H[7:0]
COM1
COM1
WGM13
WGM12
0x88
OCR1AL
7:0
OCR1AL[7:0]
0x89
OCR1AH
7:0
OCR1AH[7:0]
0x8A
OCR1BL
7:0
OCR1BL[7:0]
0x8B
OCR1BH
7:0
OCR1BH[7:0]
CS12
WGM11
WGM10
CS11
CS10
0x8C
...
Reserved
0xAF
0xB0
TCCR2A
7:0
COM2A1
COM2A0
0xB1
TCCR2B
7:0
FOC2A
FOC2B
0xB2
TCNT2
7:0
TCNT2[7:0]
0xB3
OCR2A
7:0
OCR2A[7:0]
0xB4
OCR2B
7:0
OCR2B[7:0]
0xB5
Reserved
0xB6
ASSR
0xB7
Reserved
0xB8
TWBR
7:0
0xB9
TWSR
7:0
0xBA
TWAR
7:0
TWA6
TWA5
TWA4
TWA3
TWA2
0xBB
TWDR
7:0
TWD7
TWD6
TWD5
TWD4
TWD3
0xBC
TWCR
7:0
TWINT
TWEA
TWSTA
TWSTO
TWWC
TWEN
0xBD
TWAMR
7:0
TWAM6
TWAM5
TWAM4
TWAM3
TWAM2
TWAM1
TWAM0
UPE
U2X
MPCM
TXB8
7:0
COM2B1
COM2B0
WGM22
WGM21
WGM20
CS22
CS21
CS20
EXCLK
AS2
TCN2UB
OCR2AUB
OCR2BUB
TCR2AUB
TCR2BUB
TWBR7
TWBR6
TWBR5
TWBR4
TWBR3
TWBR2
TWBR1
TWBR0
TWS4
TWS3
TWS2
TWS1
TWS0
TWPS1
TWPS0
TWA1
TWA0
TWGCE
TWD2
TWD1
TWD0
TWIE
0xBE
...
Reserved
0xBF
0xC0
UCSR0A
7:0
RXC
TXC
UDRE
FE
DOR
0xC1
UCSR0B
7:0
RXCIE
TXCIE
UDRIE
RXEN
TXEN
0xC2
UCSR0C
0xC3
Reserved
7:0
UMSEL[1:0]
UPM[1:0]
USBS
0xC4
UBRR0L
7:0
0xC5
UBRR0H
7:0
0xC6
UDR0
7:0
0xC7
Reserved
0xC8
UCSR1A
7:0
RXC
TXC
UDRE
FE
DOR
0xC9
UCSR1B
7:0
RXCIE
TXCIE
UDRIE
RXEN
TXEN
0xCA
UCSR1C
0xCB
Reserved
0xCC
UBRR1L
7:0
7:0
UCSZ2
RXB8
UCSZ1 /
UCSZ0 /
UDORD
UCPHA
UCPOL
UBRR[7:0]
UBRR[3:0]
TXB / RXB[7:0]
UMSEL[1:0]
UPM[1:0]
USBS
UPE
U2X
MPCM
TXB8
UCSZ2
RXB8
UCSZ1 /
UCSZ0 /
UDORD
UCPHA
UCPOL
UBRR[7:0]
Atmel ATmega164PA [DATASHEET]
Atmel-42713A-ATmega164PA_Datasheet_Complete-05/2016
442
Offset
Name
Bit Pos.
0xCD
UBRR1H
7:0
0xCE
UDR1
7:0
UBRR[3:0]
TXB / RXB[7:0]
Atmel ATmega164PA [DATASHEET]
Atmel-42713A-ATmega164PA_Datasheet_Complete-05/2016
443
32.
Instruction Set Summary
ARITHMETIC AND LOGIC INSTRUCTIONS
Mnemonics
Operands
Description
Operation
Flags
#Clocks
ADD
Rd, Rr
Add two Registers without Carry
Rd ← Rd + Rr
Z,C,N,V,H
1
ADC
Rd, Rr
Add two Registers with Carry
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 two Registers with Carry
Rd ← Rd - Rr - C
Z,C,N,V,H
1
SBCI
Rd, K
Subtract Constant from Reg with Carry.
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 ← 0xFF - Rd
Z,C,N,V
1
NEG
Rd
Two’s Complement
Rd ← 0x00 - 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 · (0xFF - K)
Z,N,V
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 ← 0xFF
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) << 1
Z,C
2
FMULS
Rd, Rr
Fractional Multiply Signed
R1:R0 ← (Rd x Rr) << 1
Z,C
2
FMULSU
Rd, Rr
Fractional Multiply Signed with Unsigned
R1:R0 ← (Rd x Rr) << 1
Z,C
2
BRANCH INSTRUCTIONS
Mnemonics
Operands
Description
Operation
Flags
#Clocks
RJMP
k
Relative Jump
PC ← PC + k + 1
None
2
Indirect Jump to (Z)
PC ← Z
None
2
IJMP
JMP(1)
k
Direct Jump
PC ← k
None
3
RCALL
k
Relative Subroutine Call
PC ← PC + k + 1
None
3
Atmel ATmega164PA [DATASHEET]
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444
BRANCH INSTRUCTIONS
Mnemonics
Operands
Description
Operation
Flags
#Clocks
Indirect Call to (Z)
PC ← Z
None
3
Direct Subroutine Call
PC ← k
None
4
RET
Subroutine Return
PC ← STACK
None
4
RETI
Interrupt Return
PC ← STACK
I
4
ICALL
CALL(1)
k
CPSE
Rd,Rr
Compare, Skip if Equal
if (Rd = Rr) PC ← PC + 2 or 3
None
1/2/3
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
1
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
A, b
Skip if Bit in I/O Register Cleared
if (I/O(A,b)=1) PC ← PC + 2 or 3
None
1/2/3
SBIS
A, b
Skip if Bit in I/O Register is Set
if (I/O(A,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
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
BIT AND BIT-TEST INSTRUCTIONS
Mnemonics
Operands
Description
Operation
Flags
#Clocks
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
Atmel ATmega164PA [DATASHEET]
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445
BIT AND BIT-TEST INSTRUCTIONS
Mnemonics
Operands
Description
Operation
Flags
#Clocks
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 Two’s Complement Overflow.
V←1
V
1
CLV
Clear Two’s Complement Overflow
V←0
V
1
SET
Set T in SREG
T←1
T
1
CLT
Clear T in SREG
T←0
T
1
SEH
Set Half Carry Flag in SREG
H←1
H
1
CLH
Clear Half Carry Flag in SREG
H←0
H
1
DATA TRANSFER INSTRUCTIONS
Mnemonics
Operands
Description
Operation
Flags
#Clocks
MOV
Rd, Rr
Move Between Registers
Rd ← Rr
None
1
MOVW
Rd, Rr
Copy Register Word
Rd+1:Rd ← Rr+1:Rr
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-Increment
Rd ← (X), X ← X + 1
None
2
LD
Rd, - X
Load Indirect and Pre-Decrement
X ← X - 1, Rd ← (X)
None
2
LD
Rd, Y
Load Indirect
Rd ← (Y)
None
2
LD
Rd, Y+
Load Indirect and Post-Increment
Rd ← (Y), Y ← Y + 1
None
2
Atmel ATmega164PA [DATASHEET]
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446
DATA TRANSFER INSTRUCTIONS
Mnemonics
Operands
Description
Operation
Flags
#Clocks
LD
Rd, - Y
Load Indirect and Pre-Decrement
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-Increment
Rd ← (Z), Z ← Z+1
None
2
LD
Rd, -Z
Load Indirect and Pre-Decrement
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-Increment
(X) ← Rr, X ← X + 1
None
2
ST
- X, Rr
Store Indirect and Pre-Decrement
X ← X - 1, (X) ← Rr
None
2
ST
Y, Rr
Store Indirect
(Y) ← Rr
None
2
ST
Y+, Rr
Store Indirect and Post-Increment
(Y) ← Rr, Y ← Y + 1
None
2
ST
- Y, Rr
Store Indirect and Pre-Decrement
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-Increment
(Z) ← Rr, Z ← Z + 1
None
2
ST
-Z, Rr
Store Indirect and Pre-Decrement
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
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
-
SPM
IN
Rd, A
In from I/O Location
Rd ← I/O (A)
None
1
OUT
A, Rr
Out to I/O Location
I/O (A) ← Rr
None
1
PUSH
Rr
Push Register on Stack
STACK ← Rr
None
2
POP
Rd
Pop Register from Stack
Rd ← STACK
None
2
MCU CONTROL INSTRUCTIONS
Mnemonics
Operands
Description
Operation
Flags
#Clocks
NOP
No Operation
No Operation
None
1
SLEEP
Sleep
(see specific descr. for Sleep function)
None
1
WDR
Watchdog Reset
(see specific descr. for WDR/timer)
None
1
BREAK
Break
For On-chip Debug Only
None
N/A
Atmel ATmega164PA [DATASHEET]
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447
33.
Packaging Information
33.1.
40-pin PDIP
D
PIN
1
E1
A
SEATING PLANE
A1
L
B
B1
e
E
0º ~ 15º
C
COMMON DIMENSIONS
(Unit of Measure = mm)
REF
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 0.25mm (0.010").
SYMBOL
MIN
NOM
MAX
A
–
–
4.826
A1
0.381
–
–
D
52.070
–
52.578
E
15.240
–
15.875
E1
13.462
–
13.970
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
NOTE
Note 2
Note 2
2.540 TYP
13/02/2014
40P6, 40-lead (0.600"/15.24mm Wide) Plastic Dual
Inline Package (PDIP)
C
40P6
Atmel ATmega164PA [DATASHEET]
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448
33.2.
44-pin TQFP
P IN 1 IDENTIFIER
P IN 1
B
e
E1
E
A1
A2
D1
D
C
0°~7°
L
A
COMMON DIMENS IONS
(Unit of Me a s ure = mm)
Note s :
1. This pa cka ge conforms to J EDEC re fe re nce MS -026, Va ria tion ACB.
2. Dime ns ions D1 a nd E1 do not include mold protrus ion. Allowa ble
protrus ion is 0.25mm pe r s ide . Dime ns ions D1 a nd E1 a re ma ximum
pla s tic body s ize dime ns ions including mold mis ma tch.
3. Le a d copla na rity is 0.10mm ma ximum.
S YMBOL
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
0.37
0.45
C
0.09
(0.17)
0.20
L
0.45
0.60
0.75
e
NOTE
Note 2
Note 2
0.80 TYP
06/02/2014
44A, 44-le a d, 10 x 10mm body s ize , 1.0mm body thickne s s ,
0.8 mm le a d pitch, thin profile pla s tic qua d fla t pa cka ge (TQFP )
44A
Atmel ATmega164PA [DATASHEET]
Atmel-42713A-ATmega164PA_Datasheet_Complete-05/2016
C
449
33.3.
44-pin VQFN
D
Marked Pin# 1 I D
E
SE ATING PLANE
A1
TOP VIEW
A3
A
K
L
Pin #1 Co rne r
D2
1
2
3
Option A
SIDE VIEW
Pin #1
Triangl e
COMMON DIMENSIONS
(Unit of Measure = mm)
MIN
NOM
MAX
A
0.80
0.90
1.00
A1
–
0.02
0.05
SYMBOL
E2
Option B
K
Option C
b
e
Pin #1
Cham fe r
(C 0.30)
Pin #1
Notch
(0.20 R)
BOTTOM VIEW
A3
0.20 REF
b
0.18
0.23
D
6.90
7.00
7.10
D2
5.00
5.20
5.40
E
6.90
7.00
7.10
E2
5.00
5.20
5.40
e
Note : JEDEC Standard MO-220, Fig
. 1 (S AW Singulation) VKKD-3 .
NOTE
0.30
0.50 BSC
L
0.59
0.64
0.69
K
0.20
0.26
0.41
9/26/08
Package Drawing Contact:
avr@atmel.com
TITLE
44M1, 44-pad, 7 x 7 x 1.0mm body, lead
pitch 0.50mm, 5.20mm exposed pad, thermally
enhanced plastic very thin quad flat no
lead package (VQFN)
GPC
ZWS
DRAWING NO.
REV.
44M1
H
Atmel ATmega164PA [DATASHEET]
Atmel-42713A-ATmega164PA_Datasheet_Complete-05/2016
450
33.4.
44-pin QFN
C
Pin 1 ID
D
SIDE VIEW
y
A1
E
A
TOP VIEW
eT/2
A19
eR
A24
B20
B16
A1
A18
COMMON DIMENSIONS
(Unit of Measure = mm)
B1
B15
b
R0.20
0.40
D2
eT
SYMBOL
MIN
NOM
MAX
A
0.80
0.90
1.00
A1
0.00
0.02
0.05
b
0.18
0.23
0.30
C
B5
B11
A6
A13
B10
B6
A12
A7
L
L
E2
BOTTOM VIEW
Note:
1. The terminal #1 ID is a Laser-marked Feature.
L
NOTE
0.20 REF
D
4.90
5.00
5.10
D2
2.55
2.60
2.65
E
4.90
5.00
5.10
E2
2.55
2.60
2.65
eT
–
0.70
–
eR
–
0.40
–
K
0.45
–
–
L
0.30
0.35
0.40
y
0.00
–
0.075
9/13/07
Package Drawing Contact:
packagedrawings@atmel.com
TITLE
44MC, 44QFN (2-Row Staggered), 5 x 5 x 1.00mm Body,
2.60 x 2.60mm Exposed Pad, Quad Flat No Lead Package
DRAWING NO.
44MC
Atmel ATmega164PA [DATASHEET]
Atmel-42713A-ATmega164PA_Datasheet_Complete-05/2016
.
REV
A
451
33.5.
49-pin VFBGA
E
A1 BALL ID
0.10
D
A1
TOP VIEW
A
A2
SIDEVIEW
E1
G
e
F
E
D
D1
COMMON DIMENSIONS
(Unit of Measure = mm)
C
B
SYMBOL
A
A
1
A1 BALL CORNER
2
3
4
5
b
6
7
e
49 - Ø0.35 ±0.05
BOTTOM VIEW
MIN
NOM
MAX
–
–
1.00
A1
0.20
–
–
A2
0.65
–
–
D
4.90
5.00
5.10
D1
E4.90
3.90 BSC
5.00
5.10
E1
b
NOTE
3.90 BSC
0.30
0.35
e
0.40
0.65 BSC
3/14/08
TITLE
49C2, 49-ball (7 x 7 array), 0.65mm pitch,
Package Drawing Contact:
packagedrawings@atmel.com 5.0 x 5.0 x 1.0mm, very thin, f ne-pitch
ball grid array package (VFBGA)
GPC
CBD
DRAWING NO.
49C2
Atmel ATmega164PA [DATASHEET]
Atmel-42713A-ATmega164PA_Datasheet_Complete-05/2016
REV.
A
452
34.
Datasheet Revision History
Please note that the referring page numbers in this section are referred to this document. The referring
revision in this section are referring to the document revision.
34.1.
Rev. A – 05/2016
Initial Document Release:
Based on the Atmel-8272G-AVR-01/2015 datasheet which was a common datasheet for following 8-bit
AVR microcontrollers: ATmega164A, ATmega164PA, ATmega324A, ATmega324PA, ATmega644A,
ATmega644PA, ATmega1284 and ATmega1284P. The Atmel-8272G-AVR-01/2015 is now split into
separate datasheets for each of these microcontrollers.
Atmel ATmega164PA [DATASHEET]
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453
35.
Errata
35.1.
Rev. E
No known errata.
Atmel ATmega164PA [DATASHEET]
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454
Atmel Corporation
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2016 Atmel Corporation. / Rev.: Atmel-42713A-ATmega164PA_Datasheet_Complete-05/2016
®
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