Features • High-performance, Low-power AVR® 8-bit Microcontroller • Advanced RISC Architecture • • • • • • • • – 131 Powerful Instructions – Most Single-clock Cycle Execution – 32 x 8 General Purpose Working Registers – Fully Static Operation – Up to 16 MIPS Throughput at 16 MHz – On-chip 2-cycle Multiplier High Endurance Non-volatile Memory segments – 16K Bytes of In-System Self-programmable Flash program memory – 512 Bytes EEPROM – 1K Byte 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 JTAG (IEEE std. 1149.1 Compliant) Interface – Boundary-scan Capabilities According to the JTAG Standard – Extensive On-chip Debug Support – Programming of Flash, EEPROM, Fuses, and Lock Bits through the JTAG Interface Peripheral Features – Two 8-bit Timer/Counters with Separate Prescalers and Compare Modes – One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and Capture Mode – Real Time Counter with Separate Oscillator – Four PWM Channels – 8-channel, 10-bit ADC • 8 Single-ended Channels • 7 Differential Channels in TQFP Package Only • 2 Differential Channels with Programmable Gain at 1x, 10x, or 200x – Byte-oriented Two-wire Serial Interface – Programmable Serial USART – Master/Slave SPI Serial Interface – Programmable Watchdog Timer with Separate On-chip Oscillator – On-chip Analog Comparator Special Microcontroller Features – Power-on Reset and Programmable Brown-out Detection – Internal Calibrated RC Oscillator – External and Internal Interrupt Sources – Six Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, Standby and Extended Standby I/O and Packages – 32 Programmable I/O Lines – 40-pin PDIP, 44-lead TQFP, and 44-pad QFN/MLF Operating Voltages – 2.7 - 5.5V for ATmega16A Speed Grades – 0 - 16 MHz for ATmega16A Power Consumption @ 1 MHz, 3V, and 25°C for ATmega16A – Active: 0.6 mA – Idle Mode: 0.2 mA – Power-down Mode: < 1µA 8-bit Microcontroller with 16K Bytes In-System Programmable Flash ATmega16A Summary 8154BS–AVR–07/09 ATmega16A 1. Pin Configurations Figure 1-1. Pinout ATmega16A PDIP (XCK/T0) PB0 (T1) PB1 (INT2/AIN0) PB2 (OC0/AIN1) PB3 (SS) PB4 (MOSI) PB5 (MISO) PB6 (SCK) PB7 RESET VCC GND XTAL2 XTAL1 (RXD) PD0 (TXD) PD1 (INT0) PD2 (INT1) PD3 (OC1B) PD4 (OC1A) PD5 (ICP1) PD6 PA0 (ADC0) PA1 (ADC1) PA2 (ADC2) PA3 (ADC3) PA4 (ADC4) PA5 (ADC5) PA6 (ADC6) PA7 (ADC7) AREF GND AVCC PC7 (TOSC2) PC6 (TOSC1) PC5 (TDI) PC4 (TDO) PC3 (TMS) PC2 (TCK) PC1 (SDA) PC0 (SCL) PD7 (OC2) PB4 (SS) PB3 (AIN1/OC0) PB2 (AIN0/INT2) PB1 (T1) PB0 (XCK/T0) GND VCC PA0 (ADC0) PA1 (ADC1) PA2 (ADC2) PA3 (ADC3) TQFP/QFN/MLF (MOSI) PB5 (MISO) PB6 (SCK) PB7 RESET VCC GND XTAL2 XTAL1 (RXD) PD0 (TXD) PD1 (INT0) PD2 PD3 PD4 PD5 PD6 PD7 VCC GND (SCL) PC0 (SDA) PC1 (TCK) PC2 (TMS) PC3 (INT1) (OC1B) (OC1A) (ICP1) (OC2) NOTE: Bottom pad should be soldered to ground. PA4 (ADC4) PA5 (ADC5) PA6 (ADC6) PA7 (ADC7) AREF GND AVCC PC7 (TOSC2) PC6 (TOSC1) PC5 (TDI) PC4 (TDO) 2 8154BS–AVR–07/09 ATmega16A 2. Overview The ATmega16A 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 ATmega16A achieves throughputs approaching 1 MIPS per MHz allowing the system designer to optimize power consumption versus processing speed. 3 8154BS–AVR–07/09 ATmega16A 2.1 Block Diagram Figure 2-1. Block Diagram PA0 - PA7 PC0 - PC7 PORTA DRIVERS/BUFFERS PORTC DRIVERS/BUFFERS PORTA DIGITAL INTERFACE PORTC DIGITAL INTERFACE VCC GND AVCC MUX & ADC ADC INTERFACE TWI AREF PROGRAM COUNTER STACK POINTER PROGRAM FLASH SRAM TIMERS/ COUNTERS OSCILLATOR INTERNAL OSCILLATOR XTAL1 INSTRUCTION REGISTER GENERAL PURPOSE REGISTERS WATCHDOG TIMER OSCILLATOR XTAL2 X INSTRUCTION DECODER Y MCU CTRL. & TIMING RESET Z CONTROL LINES ALU INTERRUPT UNIT AVR CPU STATUS REGISTER EEPROM PROGRAMMING LOGIC SPI USART + - INTERNAL CALIBRATED OSCILLATOR COMP. INTERFACE PORTB DIGITAL INTERFACE PORTD DIGITAL INTERFACE PORTB DRIVERS/BUFFERS PORTD DRIVERS/BUFFERS PB0 - PB7 PD0 - PD7 4 8154BS–AVR–07/09 ATmega16A The AVR core combines a rich instruction set with 32 general purpose working registers. All the 32 registers are directly connected to the Arithmetic Logic Unit (ALU), allowing two independent registers to be accessed in one single instruction executed in one clock cycle. The resulting architecture is more code efficient while achieving throughputs up to ten times faster than conventional CISC microcontrollers. The ATmega16A provides the following features: 16K bytes of In-System Programmable Flash Program memory with Read-While-Write capabilities, 512 bytes EEPROM, 1K byte SRAM, 32 general purpose I/O lines, 32 general purpose working registers, a JTAG interface for Boundaryscan, On-chip Debugging support and programming, three flexible Timer/Counters with compare modes, Internal and External Interrupts, a serial programmable USART, a byte oriented Two-wire Serial Interface, an 8-channel, 10-bit ADC with optional differential input stage with programmable gain (TQFP package only), a programmable Watchdog Timer with Internal Oscillator, an SPI serial port, and six software selectable power saving modes. The Idle mode stops the CPU while allowing the USART, Two-wire interface, A/D Converter, SRAM, Timer/Counters, SPI port, and interrupt system to continue functioning. The Power-down mode saves the register contents but freezes the Oscillator, disabling all other chip functions until the next External Interrupt or Hardware Reset. In Power-save mode, the Asynchronous Timer continues to run, allowing the user to maintain a timer base while the rest of the device is sleeping. The ADC Noise Reduction mode stops the CPU and all I/O modules except Asynchronous Timer and ADC, to minimize switching noise during ADC conversions. In Standby mode, the crystal/resonator Oscillator is running while the rest of the device is sleeping. This allows very fast start-up combined with low-power consumption. In Extended Standby mode, both the main Oscillator and the Asynchronous Timer continue to run. The device is manufactured using Atmel’s high density nonvolatile memory technology. The Onchip 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 ATmega16A is a powerful microcontroller that provides a highly-flexible and costeffective solution to many embedded control applications. The ATmega16A AVR is supported with a full suite of program and system development tools including: C compilers, macro assemblers, program debugger/simulators, in-circuit emulators, and evaluation kits. 5 8154BS–AVR–07/09 ATmega16A 2.2 2.2.1 Pin Descriptions VCC Digital supply voltage. 2.2.2 GND Ground. 2.2.3 Port A (PA7:PA0) Port A serves as the analog inputs to the A/D Converter. Port A also serves as an 8-bit bi-directional I/O port, if the A/D Converter is not used. Port pins can provide internal pull-up resistors (selected for each bit). The Port A output buffers have symmetrical drive characteristics with both high sink and source capability. When pins PA0 to PA7 are used as inputs and are externally pulled low, they will source current if the internal pull-up resistors are activated. The Port A pins are tri-stated when a reset condition becomes active, even if the clock is not running. 2.2.4 Port B (PB7:PB0) Port B is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The Port B output buffers have symmetrical drive characteristics with both high sink and source capability. As inputs, Port B pins that are externally pulled low will source current if the pull-up resistors are activated. The Port B pins are tri-stated when a reset condition becomes active, even if the clock is not running. Port B also serves the functions of various special features of the ATmega16A as listed on page 57. 2.2.5 Port C (PC7:PC0) Port C is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The Port C output buffers have symmetrical drive characteristics with both high sink and source capability. As inputs, Port C pins that are externally pulled low will source current if the pull-up resistors are activated. The Port C pins are tri-stated when a reset condition becomes active, even if the clock is not running. If the JTAG interface is enabled, the pull-up resistors on pins PC5(TDI), PC3(TMS) and PC2(TCK) will be activated even if a reset occurs. Port C also serves the functions of the JTAG interface and other special features of the ATmega16A as listed on page 60. 2.2.6 Port D (PD7:PD0) Port D is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The Port D output buffers have symmetrical drive characteristics with both high sink and source capability. As inputs, Port D pins that are externally pulled low will source current if the pull-up resistors are activated. The Port D pins are tri-stated when a reset condition becomes active, even if the clock is not running. Port D also serves the functions of various special features of the ATmega16A as listed on page 62. 6 8154BS–AVR–07/09 ATmega16A 2.2.7 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. The minimum pulse length is given in Table 27-2 on page 296. Shorter pulses are not guaranteed to generate a reset. 2.2.8 XTAL1 Input to the inverting Oscillator amplifier and input to the internal clock operating circuit. 2.2.9 XTAL2 Output from the inverting Oscillator amplifier. 2.2.10 AVCC AVCC is the supply voltage pin for Port A and the A/D Converter. It should be externally connected to VCC, even if the ADC is not used. If the ADC is used, it should be connected to VCC through a low-pass filter. 2.2.11 AREF AREF is the analog reference pin for the A/D Converter. 3. Resources A comprehensive set of development tools, application notes and datasheets are available for download on http://www.atmel.com/avr. Note: 1. 4. 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 8154BS–AVR–07/09 ATmega16A 5. Register Summary Address Name Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 $3F ($5F) SREG I T H S V N Z C 9 $3E ($5E) SPH – – – – – SP10 SP9 SP8 12 SP4 SP3 SP2 SP1 SP0 12 – – – IVSEL IVCE 47, 69 $3D ($5D) SPL $3C ($5C) OCR0 $3B ($5B) GICR SP7 SP6 SP5 Timer/Counter0 Output Compare Register INT1 INT0 Page 85 INT2 $3A ($5A) GIFR INTF1 INTF0 INTF2 – – – – – 69 $39 ($59) TIMSK OCIE2 TOIE2 TICIE1 OCIE1A OCIE1B TOIE1 OCIE0 TOIE0 85, 115, 134 85, 115, 134 $38 ($58) TIFR OCF2 TOV2 ICF1 OCF1A OCF1B TOV1 OCF0 TOV0 $37 ($57) SPMCR SPMIE RWWSB – RWWSRE BLBSET PGWRT PGERS SPMEN 255 $36 ($56) TWCR TWINT TWEA TWSTA TWSTO TWWC TWEN – TWIE 200 $35 ($55) MCUCR SM2 SE SM1 SM0 ISC11 ISC10 ISC01 ISC00 36, 67 $34 ($54) MCUCSR JTD ISC2 – JTRF WDRF BORF EXTRF PORF 41, 68, 249 $33 ($53) TCCR0 FOC0 WGM00 COM01 COM00 WGM01 CS02 CS01 CS00 82 $32 ($52) TCNT0 OSCCAL $31(1) ($51)(1) OCDR Timer/Counter0 (8 Bits) 84 Oscillator Calibration Register 31 On-Chip Debug Register 231 $30 ($50) SFIOR ADTS2 ADTS1 ADTS0 – ACME PUD PSR2 PSR10 65,87,134,205,225 $2F ($4F) TCCR1A COM1A1 COM1A0 COM1B1 COM1B0 FOC1A FOC1B WGM11 WGM10 109 $2E ($4E) TCCR1B ICNC1 ICES1 – WGM13 WGM12 CS12 CS11 CS10 112 $2D ($4D) TCNT1H Timer/Counter1 – Counter Register High Byte 113 $2C ($4C) TCNT1L 113 $2B ($4B) OCR1AH Timer/Counter1 – Counter Register Low Byte Timer/Counter1 – Output Compare Register A High Byte $2A ($4A) OCR1AL Timer/Counter1 – Output Compare Register A Low Byte 114 $29 ($49) OCR1BH Timer/Counter1 – Output Compare Register B High Byte 114 114 $28 ($48) OCR1BL Timer/Counter1 – Output Compare Register B Low Byte 114 $27 ($47) ICR1H Timer/Counter1 – Input Capture Register High Byte 114 $26 ($46) ICR1L Timer/Counter1 – Input Capture Register Low Byte $25 ($45) TCCR2 $24 ($44) TCNT2 Timer/Counter2 (8 Bits) $23 ($43) OCR2 Timer/Counter2 Output Compare Register $22 ($42) ASSR $21 ($41) $20(2) ($40)(2) FOC2 WGM20 COM21 114 COM20 WGM21 CS22 CS21 CS20 130 133 133 – – – – AS2 TCN2UB OCR2UB TCR2UB WDTCR – – – WDTOE WDE WDP2 WDP1 WDP0 UBRRH URSEL – – – UBRR[11:8] 133 42 170 UCSRC URSEL UMSEL UPM1 UPM0 USBS UCSZ1 UCSZ0 UCPOL 169 $1F ($3F) EEARH – – – – – – – EEAR8 19 $1E ($3E) EEARL EEPROM Address Register Low Byte $1D ($3D) EEDR EEPROM Data Register $1C ($3C) EECR – – – – EERIE EEMWE EEWE EERE $1B ($3B) PORTA PORTA7 PORTA6 PORTA5 PORTA4 PORTA3 PORTA2 PORTA1 PORTA0 65 $1A ($3A) DDRA DDA7 DDA6 DDA5 DDA4 DDA3 DDA2 DDA1 DDA0 65 65 19 20 20 $19 ($39) PINA PINA7 PINA6 PINA5 PINA4 PINA3 PINA2 PINA1 PINA0 $18 ($38) PORTB PORTB7 PORTB6 PORTB5 PORTB4 PORTB3 PORTB2 PORTB1 PORTB0 65 $17 ($37) DDRB DDB7 DDB6 DDB5 DDB4 DDB3 DDB2 DDB1 DDB0 65 $16 ($36) PINB PINB7 PINB6 PINB5 PINB4 PINB3 PINB2 PINB1 PINB0 66 $15 ($35) PORTC PORTC7 PORTC6 PORTC5 PORTC4 PORTC3 PORTC2 PORTC1 PORTC0 66 $14 ($34) DDRC DDC7 DDC6 DDC5 DDC4 DDC3 DDC2 DDC1 DDC0 66 $13 ($33) PINC PINC7 PINC6 PINC5 PINC4 PINC3 PINC2 PINC1 PINC0 66 $12 ($32) PORTD PORTD7 PORTD6 PORTD5 PORTD4 PORTD3 PORTD2 PORTD1 PORTD0 66 $11 ($31) DDRD DDD7 DDD6 DDD5 DDD4 DDD3 DDD2 DDD1 DDD0 66 PIND7 PIND6 PIND5 PIND4 PIND3 PIND2 PIND1 PIND0 $10 ($30) PIND $0F ($2F) SPDR SPI Data Register 66 145 $0E ($2E) SPSR SPIF WCOL – – – – – SPI2X 144 $0D ($2D) SPCR SPIE SPE DORD MSTR CPOL CPHA SPR1 SPR0 143 $0C ($2C) UDR $0B ($2B) UCSRA USART I/O Data Register 166 $0A ($2A) UCSRB $09 ($29) UBRRL $08 ($28) ACSR ACD ACBG $07 ($27) ADMUX REFS1 $06 ($26) ADCSRA ADEN $05 ($25) ADCH ADC Data Register High Byte 224 $04 ($24) ADCL ADC Data Register Low Byte 224 $03 ($23) TWDR Two-wire Serial Interface Data Register $02 ($22) TWAR RXC TXC UDRE FE DOR PE U2X MPCM 167 RXCIE TXCIE UDRIE RXEN TXEN UCSZ2 RXB8 TXB8 168 ACO ACI ACIE ACIC ACIS1 ACIS0 205 REFS0 ADLAR MUX4 MUX3 MUX2 MUX1 MUX0 221 ADSC ADATE ADIF ADIE ADPS2 ADPS1 ADPS0 223 USART Baud Rate Register Low Byte TWA6 TWA5 TWA4 170 202 TWA3 TWA2 TWA1 TWA0 TWGCE 203 8 8154BS–AVR–07/09 ATmega16A Address Name Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Page $01 ($21) TWSR TWS7 TWS6 TWS5 TWS4 TWS3 – TWPS1 TWPS0 202 $00 ($20) TWBR Notes: Two-wire Serial Interface Bit Rate Register 200 1. When the OCDEN Fuse is unprogrammed, the OSCCAL Register is always accessed on this address. Refer to the debugger specific documentation for details on how to use the OCDR Register. 2. Refer to the USART description for details on how to access UBRRH and UCSRC. 3. For compatibility with future devices, reserved bits should be written to zero if accessed. Reserved I/O memory addresses should never be written. 4. Some of the Status Flags are cleared by writing a logical one to them. Note that the CBI and SBI instructions will operate on all bits in the I/O Register, writing a one back into any flag read as set, thus clearing the flag. The CBI and SBI instructions work with registers $00 to $1F only. 9 8154BS–AVR–07/09 ATmega16A 6. Instruction Set Summary Mnemonics Operands Description Operation Flags #Clocks ARITHMETIC AND LOGIC INSTRUCTIONS ADD Rd, Rr Add two Registers Rd ← Rd + Rr Z,C,N,V,H ADC Rd, Rr Add with Carry two Registers Rd ← Rd + Rr + C Z,C,N,V,H 1 ADIW Rdl,K Add Immediate to Word Rdh:Rdl ← Rdh:Rdl + K Z,C,N,V,S 2 SUB Rd, Rr Subtract two Registers Rd ← Rd - Rr Z,C,N,V,H 1 SUBI Rd, K Subtract Constant from Register Rd ← Rd - K Z,C,N,V,H 1 SBC Rd, Rr Subtract with Carry two Registers Rd ← Rd - Rr - C Z,C,N,V,H 1 1 SBCI Rd, K Subtract with Carry Constant from Reg. Rd ← Rd - K - C Z,C,N,V,H 1 SBIW Rdl,K Subtract Immediate from Word Rdh:Rdl ← Rdh:Rdl - K Z,C,N,V,S 2 1 AND Rd, Rr Logical AND Registers Rd ← Rd • Rr Z,N,V ANDI Rd, K Logical AND Register and Constant Rd ← Rd • K Z,N,V 1 OR Rd, Rr Logical OR Registers Rd ← Rd v Rr Z,N,V 1 ORI Rd, K Logical OR Register and Constant Rd ← Rd v K Z,N,V 1 EOR Rd, Rr Exclusive OR Registers Rd ← Rd ⊕ Rr Z,N,V 1 COM Rd One’s Complement Rd ← $FF − Rd Z,C,N,V 1 NEG Rd Two’s Complement Rd ← $00 − Rd Z,C,N,V,H 1 SBR Rd,K Set Bit(s) in Register Rd ← Rd v K Z,N,V 1 CBR Rd,K Clear Bit(s) in Register Rd ← Rd • ($FF - K) Z,N,V 1 INC Rd Increment Rd ← Rd + 1 Z,N,V 1 DEC Rd Decrement Rd ← Rd − 1 Z,N,V 1 TST Rd Test for Zero or Minus Rd ← Rd • Rd Z,N,V 1 CLR Rd Clear Register Rd ← Rd ⊕ Rd Z,N,V 1 SER Rd Set Register Rd ← $FF None 1 MUL Rd, Rr Multiply Unsigned R1:R0 ← Rd x Rr Z,C 2 MULS Rd, Rr Multiply Signed R1:R0 ← Rd x Rr Z,C 2 MULSU Rd, Rr Multiply Signed with Unsigned R1:R0 ← Rd x Rr Z,C 2 FMUL Rd, Rr Fractional Multiply Unsigned R1:R0 ← (Rd x Rr) << Z,C 2 FMULS Rd, Rr Fractional Multiply Signed Z,C 2 FMULSU Rd, Rr Fractional Multiply Signed with Unsigned 1 R1:R0 ← (Rd x Rr) << 1 R1:R0 ← (Rd x Rr) << 1 Z,C 2 Relative Jump PC ← PC + k + 1 None 2 Indirect Jump to (Z) PC ← Z None 2 3 BRANCH INSTRUCTIONS RJMP k IJMP JMP k Direct Jump PC ← k None RCALL k Relative Subroutine Call PC ← PC + k + 1 None 3 Indirect Call to (Z) PC ← Z None 3 ICALL Direct Subroutine Call PC ← k None 4 RET Subroutine Return PC ← STACK None 4 RETI Interrupt Return PC ← STACK I if (Rd = Rr) PC ← PC + 2 or 3 None CALL k 4 CPSE Rd,Rr Compare, Skip if Equal 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 SBRC Rr, b Skip if Bit in Register Cleared if (Rr(b)=0) PC ← PC + 2 or 3 None 1 1/2/3 SBRS Rr, b Skip if Bit in Register is Set if (Rr(b)=1) PC ← PC + 2 or 3 None 1/2/3 SBIC P, b Skip if Bit in I/O Register Cleared if (P(b)=0) PC ← PC + 2 or 3 None 1/2/3 SBIS P, b Skip if Bit in I/O Register is Set if (P(b)=1) PC ← PC + 2 or 3 None 1/2/3 BRBS s, k Branch if Status Flag Set if (SREG(s) = 1) then PC←PC+k + 1 None 1/2 BRBC s, k Branch if Status Flag Cleared if (SREG(s) = 0) then PC←PC+k + 1 None 1/2 BREQ k Branch if Equal if (Z = 1) then PC ← PC + k + 1 None 1/2 BRNE k Branch if Not Equal if (Z = 0) then PC ← PC + k + 1 None 1/2 BRCS k Branch if Carry Set if (C = 1) then PC ← PC + k + 1 None 1/2 BRCC k Branch if Carry Cleared if (C = 0) then PC ← PC + k + 1 None 1/2 BRSH k Branch if Same or Higher if (C = 0) then PC ← PC + k + 1 None 1/2 BRLO k Branch if Lower if (C = 1) then PC ← PC + k + 1 None 1/2 BRMI k Branch if Minus if (N = 1) then PC ← PC + k + 1 None 1/2 BRPL k Branch if Plus if (N = 0) then PC ← PC + k + 1 None 1/2 BRGE k Branch if Greater or Equal, Signed if (N ⊕ V= 0) then PC ← PC + k + 1 None 1/2 BRLT k Branch if Less Than Zero, Signed if (N ⊕ V= 1) then PC ← PC + k + 1 None 1/2 BRHS k Branch if Half Carry Flag Set if (H = 1) then PC ← PC + k + 1 None 1/2 BRHC k Branch if Half Carry Flag Cleared if (H = 0) then PC ← PC + k + 1 None 1/2 BRTS k Branch if T Flag Set if (T = 1) then PC ← PC + k + 1 None 1/2 10 8154BS–AVR–07/09 ATmega16A Mnemonics Operands Description Operation Flags 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 None 1 None 1 #Clocks DATA TRANSFER INSTRUCTIONS MOV Rd, Rr Move Between Registers MOVW Rd, Rr Copy Register Word Rd ← Rr Rd+1:Rd ← Rr+1:Rr LDI Rd, K Load Immediate Rd ← K None 1 LD Rd, X Load Indirect Rd ← (X) None 2 LD Rd, X+ Load Indirect and Post-Inc. Rd ← (X), X ← X + 1 None 2 LD Rd, - X Load Indirect and Pre-Dec. X ← X - 1, Rd ← (X) None 2 2 LD Rd, Y Load Indirect Rd ← (Y) None LD Rd, Y+ Load Indirect and Post-Inc. Rd ← (Y), Y ← Y + 1 None 2 LD Rd, - Y Load Indirect and Pre-Dec. Y ← Y - 1, Rd ← (Y) None 2 LDD Rd,Y+q Load Indirect with Displacement Rd ← (Y + q) None 2 LD Rd, Z Load Indirect Rd ← (Z) None 2 LD Rd, Z+ Load Indirect and Post-Inc. Rd ← (Z), Z ← Z+1 None 2 LD Rd, -Z Load Indirect and Pre-Dec. Z ← Z - 1, Rd ← (Z) None 2 LDD Rd, Z+q Load Indirect with Displacement Rd ← (Z + q) None 2 2 LDS Rd, k Load Direct from SRAM Rd ← (k) None ST X, Rr Store Indirect (X) ← Rr None 2 ST X+, Rr Store Indirect and Post-Inc. (X) ← Rr, X ← X + 1 None 2 ST - X, Rr Store Indirect and Pre-Dec. X ← X - 1, (X) ← Rr None 2 ST Y, Rr Store Indirect (Y) ← Rr None 2 ST Y+, Rr Store Indirect and Post-Inc. (Y) ← Rr, Y ← Y + 1 None 2 ST - Y, Rr Store Indirect and Pre-Dec. Y ← Y - 1, (Y) ← Rr None 2 STD Y+q,Rr Store Indirect with Displacement (Y + q) ← Rr None 2 ST Z, Rr Store Indirect (Z) ← Rr None 2 ST Z+, Rr Store Indirect and Post-Inc. (Z) ← Rr, Z ← Z + 1 None 2 ST -Z, Rr Store Indirect and Pre-Dec. Z ← Z - 1, (Z) ← Rr None 2 STD Z+q,Rr Store Indirect with Displacement (Z + q) ← Rr None 2 STS k, Rr Store Direct to SRAM (k) ← Rr None 2 Load Program Memory R0 ← (Z) None 3 LPM LPM Rd, Z Load Program Memory Rd ← (Z) None 3 LPM Rd, Z+ Load Program Memory and Post-Inc Rd ← (Z), Z ← Z+1 None 3 Store Program Memory (Z) ← R1:R0 None - In Port Rd ← P None 1 SPM IN Rd, P OUT P, Rr Out Port P ← Rr None 1 PUSH Rr Push Register on Stack STACK ← Rr None 2 POP Rd Pop Register from Stack Rd ← STACK None 2 BIT AND BIT-TEST INSTRUCTIONS SBI P,b Set Bit in I/O Register I/O(P,b) ← 1 None 2 CBI P,b Clear Bit in I/O Register I/O(P,b) ← 0 None 2 LSL Rd Logical Shift Left Rd(n+1) ← Rd(n), Rd(0) ← 0 Z,C,N,V 1 LSR Rd Logical Shift Right Rd(n) ← Rd(n+1), Rd(7) ← 0 Z,C,N,V 1 ROL Rd Rotate Left Through Carry Rd(0)←C,Rd(n+1)← Rd(n),C←Rd(7) Z,C,N,V 1 ROR Rd Rotate Right Through Carry Rd(7)←C,Rd(n)← Rd(n+1),C←Rd(0) Z,C,N,V 1 ASR Rd Arithmetic Shift Right Rd(n) ← Rd(n+1), n=0:6 Z,C,N,V 1 SWAP Rd Swap Nibbles Rd(3:0)←Rd(7:4),Rd(7:4)←Rd(3:0) None 1 BSET s Flag Set SREG(s) ← 1 SREG(s) 1 BCLR s Flag Clear SREG(s) ← 0 SREG(s) 1 BST Rr, b Bit Store from Register to T T ← Rr(b) T 1 BLD Rd, b Bit load from T to Register Rd(b) ← T None 1 1 SEC Set Carry C←1 C 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 1 SES Set Signed Test Flag S←1 S CLS Clear Signed Test Flag S←0 S 1 SEV Set Twos Complement Overflow. V←1 V 1 CLV Clear Twos Complement Overflow V←0 V 1 11 8154BS–AVR–07/09 ATmega16A Mnemonics Operands SET CLT SEH CLH MCU CONTROL INSTRUCTIONS NOP SLEEP WDR BREAK Flags Description Operation Set T in SREG Clear T in SREG Set Half Carry Flag in SREG Clear Half Carry Flag in SREG T←1 T←0 H←1 H←0 T T H H No Operation Sleep Watchdog Reset Break (see specific descr. for Sleep function) (see specific descr. for WDR/timer) For On-Chip Debug Only None None None None #Clocks 1 1 1 1 1 1 1 N/A 12 8154BS–AVR–07/09 ATmega16A 7. Ordering Information Speed (MHz) Power Supply Ordering Code (1) 16 Note: 2.7 - 5.5V ATmega16A-AU ATmega16A-PU(1) ATmega16A-MU(1) Package Operation Range 44A 40P6 44M1 Industrial (-40oC to 85oC) 1. Pb-free packaging complies to the European Directive for Restriction of Hazardous Substances (RoHS directive). Also Halide free and fully Green. Package Type 44A 44-lead, Thin (1.0 mm) Plastic Gull Wing Quad Flat Package (TQFP) 40P6 40-pin, 0.600” Wide, Plastic Dual Inline Package (PDIP) 44M1 44-pad, 7 x 7 x 1.0 mm body, lead pitch 0.50 mm, Quad Flat No-Lead/Micro Lead Frame Package (QFN/MLF) 13 8154BS–AVR–07/09 ATmega16A 8. Packaging Information 44A PIN 1 B PIN 1 IDENTIFIER E1 e E D1 D C 0˚~7˚ A1 A2 A L COMMON DIMENSIONS (Unit of Measure = mm) Notes: 1. This package conforms to JEDEC reference MS-026, Variation ACB. 2. Dimensions D1 and E1 do not include mold protrusion. Allowable protrusion is 0.25 mm per side. Dimensions D1 and E1 are maximum plastic body size dimensions including mold mismatch. 3. Lead coplanarity is 0.10 mm maximum. SYMBOL MIN NOM MAX A – – 1.20 A1 0.05 – 0.15 A2 0.95 1.00 1.05 D 11.75 12.00 12.25 D1 9.90 10.00 10.10 E 11.75 12.00 12.25 E1 9.90 10.00 10.10 B 0.30 – 0.45 C 0.09 – 0.20 L 0.45 – 0.75 e NOTE Note 2 Note 2 0.80 TYP 10/5/2001 R 2325 Orchard Parkway San Jose, CA 95131 TITLE 44A, 44-lead, 10 x 10 mm Body Size, 1.0 mm Body Thickness, 0.8 mm Lead Pitch, Thin Profile Plastic Quad Flat Package (TQFP) DRAWING NO. REV. 44A B 14 8154BS–AVR–07/09 ATmega16A 40P6 D PIN 1 E1 A SEATING PLANE A1 L B B1 e E 0º ~ 15º C eB Notes: COMMON DIMENSIONS (Unit of Measure = mm) REF 1. This package conforms to JEDEC reference MS-011, Variation AC. 2. Dimensions D and E1 do not include mold Flash or Protrusion. Mold Flash or Protrusion shall not exceed 0.25 mm (0.010"). 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 09/28/01 R 2325 Orchard Parkway San Jose, CA 95131 TITLE 40P6, 40-lead (0.600"/15.24 mm Wide) Plastic Dual Inline Package (PDIP) DRAWING NO. 40P6 REV. B 15 8154BS–AVR–07/09 ATmega16A 44M1 D Marked Pin# 1 ID E SEATING PLANE A1 TOP VIEW A3 A K L Pin #1 Corner D2 1 2 3 Option A SIDE VIEW Pin #1 Triangle E2 Option B K Option C b e Pin #1 Chamfer (C 0.30) Pin #1 Notch (0.20 R) BOTTOM VIEW COMMON DIMENSIONS (Unit of Measure = mm) SYMBOL MIN NOM MAX A 0.80 0.90 1.00 A1 – 0.02 0.05 A3 0.20 REF b 0.18 0.23 0.30 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 (SAW Singulation) VKKD-3. NOTE 0.50 BSC L 0.59 0.64 0.69 K 0.20 0.26 0.41 9/26/08 Package Drawing Contact: [email protected] TITLE 44M1, 44-pad, 7 x 7 x 1.0 mm Body, Lead Pitch 0.50 mm, 5.20 mm Exposed Pad, Thermally Enhanced Plastic Very Thin Quad Flat No Lead Package (VQFN) GPC ZWS DRAWING NO. REV. 44M1 H 16 8154BS–AVR–07/09 ATmega16A 9. Errata The revision letter in this section refers to the revision of the ATmega16A device. 9.1 ATmega16A rev. N to rev. Q • • • • First Analog Comparator conversion may be delayed Interrupts may be lost when writing the timer registers in the asynchronous timer IDCODE masks data from TDI input Reading EEPROM by using ST or STS to set EERE bit triggers unexpected interrupt request 1. First Analog Comparator conversion may be delayed If the device is powered by a slow rising VCC, the first Analog Comparator conversion will take longer than expected on some devices. Problem Fix/Workaround When the device has been powered or reset, disable then enable theAnalog Comparator before the first conversion. 2. Interrupts may be lost when writing the timer registers in the asynchronous timer The interrupt will be lost if a timer register that is synchronous timer clock is written when the asynchronous Timer/Counter register (TCNTx) is 0x00. Problem Fix/Workaround Always check that the asynchronous Timer/Counter register neither have the value 0xFF nor 0x00 before writing to the asynchronous Timer Control Register (TCCRx), asynchronous Timer Counter Register (TCNTx), or asynchronous Output Compare Register (OCRx). 3. IDCODE masks data from TDI input The JTAG instruction IDCODE is not working correctly. Data to succeeding devices are replaced by all-ones during Update-DR. Problem Fix / Workaround – If ATmega16A is the only device in the scan chain, the problem is not visible. – Select the Device ID Register of the ATmega16A by issuing the IDCODE instruction or by entering the Test-Logic-Reset state of the TAP controller to read out the contents of its Device ID Register and possibly data from succeeding devices of the scan chain. Issue the BYPASS instruction to the ATmega16A while reading the Device ID Registers of preceding devices of the boundary scan chain. – If the Device IDs of all devices in the boundary scan chain must be captured simultaneously, the ATmega16A must be the fist device in the chain. 4. Reading EEPROM by using ST or STS to set EERE bit triggers unexpected interrupt request. Reading EEPROM by using the ST or STS command to set the EERE bit in the EECR register triggers an unexpected EEPROM interrupt request. Problem Fix / Workaround Always use OUT or SBI to set EERE in EECR. 17 8154BS–AVR–07/09 ATmega16A 10. 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. Rev. 8154B – 07/09 1. Updated “Errata” on page 343. 2. Updated the last page with Atmel’s new addresses. 1. Initial revision (Based on the ATmega16/L datasheet revision 2466R-AVR-05/08) Rev. 8154A – 06/08 Changes done comparted ATmega16/L datasheet revision 2466R-AVR-05/08: - Updated description in “Stack Pointer” on page 12. - All Electrical characteristics is moved to “Electrical Characteristics” on page 293. - Register descriptions are moved to sub sections at the end of each chapter. - Added “Speed Grades” on page 295. - New graphs in “Typical Characteristics” on page 305. - New “Ordering Information” on page 13. 18 8154BS–AVR–07/09 Headquarters International Atmel Corporation 2325 Orchard Parkway San Jose, CA 95131 USA Tel: 1(408) 441-0311 Fax: 1(408) 487-2600 Atmel Asia Unit 1-5 & 16, 19/F BEA Tower, Millennium City 5 418 Kwun Tong Road Kwun Tong, Kowloon Hong Kong Tel: (852) 2245-6100 Fax: (852) 2722-1369 Atmel Europe Le Krebs 8, Rue Jean-Pierre Timbaud BP 309 78054 Saint-Quentin-enYvelines Cedex France Tel: (33) 1-30-60-70-00 Fax: (33) 1-30-60-71-11 Atmel Japan 9F, Tonetsu Shinkawa Bldg. 1-24-8 Shinkawa Chuo-ku, Tokyo 104-0033 Japan Tel: (81) 3-3523-3551 Fax: (81) 3-3523-7581 Technical Support [email protected] Sales Contact www.atmel.com/contacts Product Contact Web Site www.atmel.com Literature Requests www.atmel.com/literature Disclaimer: The information in this document is provided in connection with Atmel products. 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Atmel makes no representations or warranties with respect to the accuracy or completeness of the contents of this document and reserves the right to make changes to specifications and product descriptions at any time without notice. Atmel does not make any commitment to update the information contained herein. Unless specifically provided otherwise, Atmel products are not suitable for, and shall not be used in, automotive applications. Atmel’s products are not intended, authorized, or warranted for use as components in applications intended to support or sustain life. © 2009 Atmel Corporation. All rights reserved. Atmel®, Atmel logo and combinations thereof, AVR® and others are registered trademarks or trademarks of Atmel Corporation or its subsidiaries. Other terms and product names may be trademarks of others. 8154BS–AVR–07/09